@1612415032.02EST = =mMAIN_scheduler =tMAIN @EST1612415033.77 #"core_reset"Sent BREAK + #t@59526 receive with ifg=0x10, ie=0xFD + #@59853 receive with ifg=0x80, ie=0xFD + #@45972 sendCRC with ifg=0x20, ie=0x7F #@46419 sendCRC with ifg=0x20, ie=0x7F + #@48009 sendCRC with ifg=0x08, ie=0x5F + #@11744 sendCRC with ifg=0x20, ie=0x7F #@12191 sendCRC with ifg=0x20, ie=0x7F + #@13781 sendCRC with ifg=0x08, ie=0x5F #@20952 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +355 "Can"\ 2/ + \ 2/ + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %N\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X GoodNews.email "ESProman is up-to-date" + .GoodNews.email "ESProman is up-to-date" +7275 #-> GoodNews.xray +47002 "Can"\ /- +32308 #t-> quit +5 #mEXIT @1612415962.65EST @1612466764.83EST = =tMAIN =mMAIN_scheduler @EST1612466766.55 #"core_reset"Sent BREAK + #t@700 sendCRC with ifg=0x20, ie=0x7F + #@2535 sendCRC with ifg=0x08, ie=0x5F + #@45730 sendCRC with ifg=0x20, ie=0x7F #@46177 sendCRC with ifg=0x20, ie=0x7F + #@47493 sendCRC with ifg=0x20, ie=0x7F #@47709 sendCRC with ifg=0x20, ie=0x7F + #@48863 sendCRC with ifg=0x20, ie=0x7F + #@50229 sendCRC with ifg=0x08, ie=0x5F #@8345 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +358 "Can"\ 41 +2 \ 41 #tPolling Can every 10:00 +124 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X ESP.readyt? + !o:NoMethodError : mesgu:NameError::message.undefined method `readyt?' for ESP:Module: name: readyt?: args[:bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +447 #-> ESP.ready? +2 "collection"'% +3 "core" %\ + "sampler")% +4 "core" %  + "manipulator"&% +4 "core" %\  !  + "manipulator"&& +3 "core" & }  + "storage"(& +4 "core" &[ V V 9\ + "storage"(% +4 "core" %S S S \ + "collection"'& +3 "core" &\ +2 "processing"%& +3 "core" &\ + "processing"%% +4 "core" %\ +1578 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +76 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +3 "manipulator"&/ + & * +44 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&!(d +10 "core" / +429 ( +2 "manipulator"&"& +4 "core" &d B  + "manipulator"&#% +3 "core" % \  &  +947 #t-> Arm.home + "manipulator"&$& +3 "core" &d   + "manipulator"&%% +4 "core" % \  U  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&&( +180 "core" ( +2 "manipulator"&'& +4 "core" & [ ] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" & ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&)' +42 "core" ' +2 "manipulator"&*& +4 "core" & ] + "manipulator"&+% +4 "core" % +26018 #t-> Arm.garage + "manipulator"&,& +3 "core" & S ] +2 "manipulator"&-% +3 "core" % n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +43 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&/(, +111 "core" ( +2 "manipulator"&0& +4 "core" &, ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &, ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&2'Ϧ +75 "core" '  \  Ǟ +3 !to:Slide::Error\ :@checkpoint: omitted: mesg")Forearm speedErr at CC + 4739 counts: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi\ :deltaPressi : voltagef12.451677957781051: @type2F:@destinationi%: @error: speedErr: @tagi7: @sourcei+:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:349:in `to'"8/home/esp/esp2/lib/slide.rb:69:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:349:in `to'"0/home/esp/esp2/utils/misc.rb:91:in `extend'",/home/esp/esp2/utils/misc.rb:35:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1537 #-> Hand.open + .Hand.open + "manipulator"&31 +59 "core" 1 +806 #t-> Arm.garage + "manipulator"&4& +3 "core" &, z & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&5(, +2 "core" ( +2 "manipulator"&6& +3 "core" &, y & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +2 "core" &, 8 & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage + "manipulator"&8'Ϧ +57 "core" ' +2 "manipulator"&9& +4 "core" &,  & + "manipulator"&:% +4 "core" %ϳ    +821 #t-> Hand.close + .Hand.close + "manipulator"&;/ +56 "core" / +603 #t-> Arm.home + "manipulator"&<& +3 "core" &,  & + "manipulator"&=% +4 "core" % ϳ  #  +2 .tForearm.seek :retract + "manipulator"&>'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&?( +117 "core" ( +2 "manipulator"&@& +4 "core" &  0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" & % 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&B' +49 "core" ' +2 "manipulator"&C& +4 "core" & U 0 + "manipulator"&D% +4 "core" % +2493 #t-> Arm.CC + "manipulator"&E& +3 "core" & 0 +2 "manipulator"&F% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +40 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&H( +339 "core" ( +2 "manipulator"&I& +4 "core" &(  >O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &' T >O + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&K'" +92 "core" ' +2 "manipulator"&L& +4 "core" &( I >O + "manipulator"&M% +4 "core" %* U +3026 #t-> CC.close + "manipulator"&N& +3 "core" &( _ >O +2 "manipulator"&O% +4 "core" %* +2 "collection"'P& +3 "core" &\ +2 "collection"'Q& +4 "core" &\ +2 .tCC.seek :closed + "collection"'R(V +6 "core" &\  +9 &1~\ *x +10 &c\ > +9 &ox\ N +9 &1\\\ M +10 &Z\ M +9 &Y\ M +9 &w\\\ M +10 &9\\\ M +9 &Y\ M +39 &\\\ M +8 & Z\ M + &"AZ\ M + &$Y\ M + &%[\ M +6 &'^\ M +10 &)J\\\ M +9 &+ ]\ M +10 &,[\ M +9 &.\\\ M +10 &0QZ\ M +9 &2]\ M +9 &3]\ M +9 &5[\ M +10 &7ZY\ M +9 &9\\\ M +10 &:\\\ M +9 &<^\ M +9 &>`^~\ N +10 &@#\\\ M +9 &AZ\ M +9 &C`\ N +10 &Egf\ N +9 &G&p\ O +10 &H\ Q +9 &J\ V +9 &LQ\ X +10 &N\ W +9 &O\ Y +9 &Q\ Y +10 &ST\ Z +9 &U~\ Z +10 &VbB\ 1 +9 &Vx{\ L +5 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + "collection"'S& +4 "core" &Ve|\ L + &Ve\ L +500 #t-> Hand.open + .Hand.open + "manipulator"&T1 +54 "core" 1 +405 #t-> Arm.home + "manipulator"&U& +3 "core" &( ! x >O +2 "manipulator"&V% +4 "core" % * @ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&X( +338 "core" ( +2 "manipulator"&Y& +4 "core" &  : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & : + .tForearm.seek :home +2 "manipulator"&[' +44 "core" ' +2 "manipulator"&\\& +4 "core" &  : + "manipulator"&]% +4 "core" % l ~ +8253 #t-> Arm.CC + "manipulator"&^& +3 "core" &  : +2 "manipulator"&_% +4 "core" % ~ + .tForearm.seek :retract +2 "manipulator"&`'\ +34 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&a( +351 "core" ( +2 "manipulator"&b& +59 "core" & # + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +2 "core" &  + +2 .tForearm.seek CC + "manipulator"&d'" +98 "core" ' +2 "manipulator"&e& +4 "core" & c + + "manipulator"&f% +4 "core" %3 +442 #t-> Hand.close + .Hand.close + "manipulator"&g/ +60 "core" / +873 #t-> Arm.home + "manipulator"&h& +3 "core" & w + + "manipulator"&i% +4 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&j'\ +40 "core" '  N b +2 !to:Slide::Error\ :@checkpoint: omitted: mesg")Forearm speedErr at CC + 1251 counts: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmig:erri: inPressi : outPressi:deltaPressiN : voltagef12.456587137947963: @type2F:@destinationi%: @error: speedErr: @tagio: @sourcei+:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"2/home/esp/esp2/utils/misc.rb:64:in `withdraw'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +642 #-> CC +2 "collection"'k& +3 "core" &Vc\ L +358 #t-> Flush +2006 #-> Arm.open + "manipulator"&l& +3 "core" & i , +2 !to:Axis::Error: mesg"!Unknown Elbow position: open:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'"./home/esp/esp2/lib/axis.rb:658:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +316 #-> Hand.open + .Hand.open + "manipulator"&m1 +704 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[6D:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&n1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[6D:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[6E:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 + "manipulator"&o1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[6E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +160 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 + #until Hand finishes opening +542 !o:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[6F:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #3 of 3 + "manipulator"&p1 +2 "core" 1 !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[6F:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +23 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +2 #until Hand finishes opening +679 !o:I2C::Request::Timeout :@checkpoint: omitted: mesg"^Hand could not finish opening because\ No Response to I2C::Servo::Release3Request[70:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +203 "Can"\ A? +1464 #t-> Hand.close + .Hand.close + "manipulator"&q/ +3 "core" 1 !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[70:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +23 / +667 #t-> CC.open + .CC.seek :open +2 "collection"'r( +415 "core" ( +2 "collection"'s& +4 "core" &\ +321 #t-> Arm.home + "manipulator"&t& +3 "core" & O + + "manipulator"&u% +4 "core" % n ! +2 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&w( +332 "core" ( +2 "manipulator"&x& +4 "core" & C O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & P O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&z' +47 "core" ' +3 "manipulator"&{& +4 "core" & # O + "manipulator"&|% +3 "core" % 9 +451 #t-> Flush.garage +807 #-> Arm.garage + "manipulator"&}& +3 "core" & b O +2 "manipulator"&~% +3 "core" % b 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +43 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(, +116 "core" ( +2 "manipulator"&& +4 "core" &, m ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, c & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'Ϧ +109 "core" ' +2 "manipulator"&& +4 "core" &, .  + "manipulator"&% +4 "core" %Ϯ  d +404 #t-> Hand.open + .Hand.open + "manipulator"& 1 +53 "core" 1 +429 #t-> Arm.home + "manipulator"& & +3 "core" &,  +2 "manipulator"& % +4 "core" % Ϭ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&( +109 "core" ( +2 "manipulator"&& +4 "core" & 7 W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ; W +2 .tForearm.seek :home + "manipulator"&' +44 "core" ' +2 "manipulator"&& +4 "core" & W + "manipulator"&% +4 "core" %  +7091 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :home + "storage"(' +46 "core" ' +2 "storage"(% +4 "core" %\ <\ # v\ +23964 #t-> SE.to 0 +2 .SE.seek :"Top Plate" + "storage"(' +259 "core" ' [  #\  +3 !to:Slide::Error\ :@checkpoint: omitted: mesg"?Storage Elevator overCurrent at 0.03 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi[ : outPressi :deltaPressi# : voltagef13.354967108492882C: @type2F:@destinationi%: @error:overCurrent: @tagi: @sourcei-:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1072 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +48 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 + "manipulator"&/ +2 &* +56 "core" / +2 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&(d +232 "core" ( +2 "manipulator"&& +4 "core" &d  !w + "manipulator"&% +3 "core" % \   +622 #t-> Arm.SE + "manipulator"&& +3 "core" &d 6 !w +2 !to:Axis::Error: mesg"Unknown Elbow position: SE:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'"./home/esp/esp2/lib/axis.rb:658:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2893 #-> Arm.SC + "manipulator"& & +3 "core" &d !w +2 !to:Axis::Error: mesg"Unknown Elbow position: SC:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'"./home/esp/esp2/lib/axis.rb:658:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2360 #-> Hand.open + .Hand.open + "manipulator"&"1 +60 "core" 1 +1777 #t-> Arm.home + "manipulator"&#& +3 "core" &d J !w + "manipulator"&$% +4 "core" % \  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&%( +191 "core" ( +2 "manipulator"&'& +4 "core" &\  ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &\ M ( +2 .tForearm.seek :home + "manipulator"&*' +41 "core" ' +2 "manipulator"&+& +4 "core" &\ \\ ( + "manipulator"&!% +4 "core" %  \ +584 #t-> Arm.ready + "manipulator"&& +3 "core" &\ ( +2 !to:Axis::Error: mesg""Unknown Elbow position: ready:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'"./home/esp/esp2/lib/axis.rb:658:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +342 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&,'\ +48 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +3 "manipulator"&-/ &0* +57 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +3 "core" / + "manipulator"&1(d +259 "core" ( +2 "manipulator"&2& +4 "core" &d G  + "manipulator"&)% +4 "core" % \   +425 #t-> Hand.open + .Hand.open + "manipulator"&&1 +62 "core" 1 +3670 #t-> Arm.stretch +2 .Forearm.seek :retract + "manipulator"&.'\ +2 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&3( +123 "core" ( +2 "manipulator"&4& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted + "manipulator"&6'\ +16 "core" ' +2 "manipulator"&7% +4 "core" %\ b  + "manipulator"&9& +4 "core" & /  + "manipulator"&:% +4 "core" %\ J  +877 #t-> Arm.extend + "manipulator"&/& +3 "core" & s  +2 "storage"(;& +3 "core" &[ S \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tForearm.seek 7 + 700 counts + "manipulator"&<'w +93 "core" ' +2 "manipulator"&=& +4 "core" &  + "manipulator"&@% +4 "core" %j J +573 #t-> Hand.close + .Hand.close + "manipulator"&A/ +705 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[41:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&C/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[41:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +217 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 + #until Hand finishes closing +486 !o:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[43:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 + "manipulator"&8/ +2 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[43:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[38:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #3 of 3 + "manipulator"&D/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[38:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +341 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +2 #until Hand finishes closing +361 !o:I2C::Request::Timeout :@checkpoint: omitted: mesg"[Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[44:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +684 #-> Arm.home + "manipulator"&5& +3 "core" & -  + "manipulator"&>% +4 "core" % j 3 J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E'\ +44 "core" '!   b +2 !to:Slide::Error\ :@checkpoint: omitted: mesg")Forearm speedErr at CC + 2540 counts: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti!:pwmig:erri: inPressi : outPressi:deltaPressi : voltagef12.456587137947963: @type2F:@destinationi%: @error: speedErr: @tagiJ: @sourcei+:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"2/home/esp/esp2/utils/misc.rb:64:in `withdraw'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1233 #-> Hand.open + .Hand.open + "manipulator"&F1 +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[44:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +41 1 +425 #t-> Arm.home + "manipulator"&B& +3 "core" & O  + "manipulator"&?% +4 "core" %׾  P +2 .tForearm.seek :retract + "manipulator"&I'\ +79 "core" ' +2 .tElbow.seek :home +2 "manipulator"&J( +233 "core" ( +38 "manipulator"&L& +12 "core" & I / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" & l / +2 .tForearm.seek :home + "manipulator"&G' +38 "core" ' +2 "manipulator"&N& +4 "core" & t / + "manipulator"&O% +4 "core" % a C +10 "Can"\ ., +854 #t-> Arm.stretch +2 .Forearm.seek :retract + "manipulator"&P'\ +36 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&\ ( +252 "core" ( +2 "manipulator"&S& +4 "core" & | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted + "manipulator"&Q'\ +3 "core" ' +2 "manipulator"&T% +3 "core" %\  :  +2 "manipulator"&U& +4 "core" & < + "manipulator"&V% +4 "core" %\   +2777 #t-> SE.home.to :down + .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(K'X +305 "core" ' +2 "storage"(H% +4 "core" %a\  Z a\ +1565 #t-> SE.to 0 +2 .SE.seek :"Top Plate" +2 "storage"(Y' +262 "core" '\ \ +3 !to:Slide::Error\ :@checkpoint: omitted: mesg"?Storage Elevator overCurrent at 0.04 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti\ :pwmi:erri: inPressi : outPressi :deltaPressi: voltagef13.399149729995091: @type2F:@destinationi%: @error:overCurrent: @tagi^: @sourcei-:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"(ESP):46:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +753 #-> SE.home.to :down + .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(Z'X +304 "core" ' +2 "storage"(\\% +4 "core" %b [\  5\ +52822 "Can"\ 1. +1268 #t-> PC.loadPuck 2, :SVS + #Loading 2 puck from tube SVS into Processing Clamp + "processing"%]& +3 "core" &\ +2 "manipulator"&W% +4 "core" %\    + "storage"(^% +4 "core" %a S S %\ + "storage"(_. +3 "core" . +2 .tSE.seek :down + "storage"(['X +3 "core" ' +2 .tSE.coast "storage"(5 +3 "manipulator"&X% +3 "core" %\   +2 !to:Axis::Error: mesg"+Unknown Storage Carousel position: SVS:@axisName"Storage Carousel:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:358:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:358:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"(ESP):48:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2230 #-> PC.loadPuck SVS, :2 + !o:SyntaxError: mesg"compile error\ (ESP):49: syntax error, unexpected tINTEGER, expecting tSTRING_CONTENT or tSTRING_DBEG or tSTRING_DVAR or tSTRING_END:bt["(ESP):49:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2421 #-> PC.loadPuck 2 + !o:RuntimeError: mesg" No Storage.srcTube defined!:bt[\ "4/home/esp/esp2/utils/puckmoves.rb:351:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"(ESP):50:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +985 #-> PC.loadPuck 2, :2 + !o:SyntaxError: mesg"compile error\ (ESP):51: syntax error, unexpected tINTEGER, expecting tSTRING_CONTENT or tSTRING_DBEG or tSTRING_DVAR or tSTRING_END:bt["(ESP):51:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3897 #-> PC.loadPuck 2,2 +2 #Loading 2 puck from tube 2 into Processing Clamp + "processing"%b& +3 "core" &\ +2 "manipulator"&c% +3 "core" %\   +2 "storage"(e% +3 "core" %a S S e\ +2 "storage"(f. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(`( +1602 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (g& +2 "core" & \ \ \ +2 "manipulator"&h& +4 "core" & + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +26 "core" ( +2 "manipulator"&j& +4 "core" &  # + "storage"(d& +4 "core" & \  \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +96 "core" ' +2 "storage"(l& +4 "core" & \ \  ^\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +270 "core" ' +2 "storage"(n- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :pick + "storage"(o' +28 "core" ' +3 .tSE.seek :down + "storage"(p'X +273 "core" ' +2 .tSE.coast + "storage"(5 +2 "manipulator"&q% +4 "core" %ъ = L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' +2 !to:Puck::Error: mesg"Tube 2 is Empty:bt[ "4/home/esp/esp2/utils/puckmoves.rb:368:in `load'"4/home/esp/esp2/utils/puckmoves.rb:358:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:358:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"(ESP):52:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2839 #-> PC.loadPuck 2,5 +2 #Loading 2 puck from tube 5 into Processing Clamp + "processing"%s& +3 "core" &)\ +2 "manipulator"&t% +3 "core" %\    +2 "storage"(u% +3 "core" %S\ \ \ +2 "storage"(a. +2 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(x(<* +965 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (y& +2 "core" &<'\ \  '\  +2 "manipulator"&{& +3 "core" &  j +2 .tElbow.seek 5 +2 "manipulator"&|( +51 "core" ( +2 "manipulator"&v& +4 "core" &  o + "storage"(}& +4 "core" &<'\ \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&~'ы +91 "core" ' +2 "storage"(& +4 "core" &<'\ 5\ 6 |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (z& +3 "core" &<'\ 1\  + "manipulator"&& +4 "core" & 4 n + .tElbow.seek 5 + "manipulator"&w( +4 "core" ( +3 "manipulator"&& +4 "core" & n + "storage"( & +4 "core" &<'\ \  \\\  +2 .tForearm.seek 5 + 300 counts + "manipulator"& ' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & n + "manipulator"&% +4 "core" % O > + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.seek PC + "manipulator"&(s +152 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +99 "core" ( +2 "manipulator"&& +4 "core" &k "  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k u  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"&& +4 "core" &k  +2 "manipulator"&% +3 "core" % +2 "processing"%& +3 "core" &\ +2 "processing"%& +5 "core" &\ + .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &3}\ )w +10 &b\ > +9 &~y\ N +10 &AZ#\ M +9 &\\\ M +9 &]\ N +10 &_\ N +9 &J^\ M +9 &\ `\ N +10 &`\ M +9 & \\ \ M +10 &"P^\ N +9 &$]\ M +9 &%\\\ M +10 &'b\ M +9 &)X_\ N +9 &+_\ N +10 &,_\ M +9 &.c\ N +10 &0b`\ M +9 &2"`\ N +9 &3_\ M +10 &5b\ M +9 &7j_\ M +9 &9*b\ N +10 &:^\ M +9 &<a\ N +10 &>q`\ M +9 &@2e\ N +9 &Aa\ M +10 &Ce\ N +9 &Ewd\ N +9 &G5s\ O +10 &H\ R +9 &J\ S +10 &Lq\ S +9 &N2\ S +9 &O\ S +10 &Q\ S +9 &Sw\ S +9 &U9\ S +10 &V\ S +9 &X\ S +10 &Z&\\\ "i +9 &ZZ\ , +9 ( + &Z\ ) +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&% +4 "core" % ` + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tSC.coast + "storage"(6 +5268 #t-> PC.unloadPuck 5,2 + "processing"%& +4 "core" &Z\ ) + !to:Puck::Warning: mesg"1Unloading Puck.from 5, 2 to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:421:in `unload'":/home/esp/esp2/utils/puckmoves.rb:967:in `unloadPuck'"(ESP):54:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing 2 puck in Processing Clamp to tube 5 + "manipulator"& % +4 "core" %\    + "storage"("% +4 "core" %b\ J\ I\ + "storage"(#. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"($(<* +15 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ('& +2 "core" &<(' \  +2 "manipulator"&(& +3 "core" &k   +2 "manipulator"&+% +3 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&!( +263 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &<(( \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +93 "core" ' +2 "storage"(-& +4 "core" &<((\ \  0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +2 .tSE.seek :beamBreak + "storage"(*'i +285 "core" ' +2 "storage"(%- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +2 "core" & -  +2 "storage"()& +3 "core" &<(' A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&0' +36 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(4- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(7'U +30 "core" ' +2 "manipulator"&9% +4 "core" % n m + "storage"(:& +4 "core" &<(' \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 311 counts + "manipulator"&,' +19 "core" ' +2 "manipulator"&1& +4 "core" &   + "storage"(.& +4 "core" &<(' O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&/'ы +30 "core" ' + .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'D +45 "core" ' + "manipulator"&=& +4 "core" &   + "manipulator"&@% +4 "core" %ѱ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&A(s +250 "core" ( + "manipulator"&C& +4 "core" &h   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &h X  +2 .tForearm.seek PC + "manipulator"&D' +94 "core" ' +2 .tHand.close + "manipulator"&5/ +60 "core" / +2 .tPC.seek :open +2 "processing"%>( +439 "core" ( +2 "storage"(E& +4 "core" &<(& a\  + "storage"(<& +3 "core" &<(& k\  +2 "manipulator"&F& +3 "core" &h   +2 "manipulator"&B% +3 "core" %  +2 .tForearm.seek :retract + "manipulator"&?'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&L( +270 "core" ( +2 "manipulator"&M& +4 "core" & / v + "storage"(3& +4 "core" &<(& \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&N' +108 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&I1 +56 "core" 1 +2 "manipulator"&S% +4 "core" %   +2 "storage"(G& +3 "core" &<(& Z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&T' +13 "core" ' +2 "manipulator"&U& +4 "core" & t + "storage"(V& +42 "core" &<(& \  +11 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&J'ы +27 "core" ' + "storage"(P% +4 "core" %F\ \ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(H'X +98 (Y% +3 "core" %C .\ Va +2 "manipulator"&K% +3 "core" % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +88 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +4889 #t-> SE.to 0 +2 .SE.seek :"Top Plate" + "storage"(]' +270 "core" ' W\ ~ +3 !to:Slide::Error\ :@checkpoint: omitted: mesg".Storage Elevator overCurrent at Top Plate: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressiW :deltaPressi: voltagef13.35005792832597*: @type2F:@destinationi%: @error:overCurrent: @tagib: @sourcei-:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"(ESP):55:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2771 #-> SE.home.to :down + .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(W'X +310 "core" ' +2 "storage"(^% +4 "core" %a\  T \ +1559 #t-> Arm.loadPuck 5,2 + !o:ArgumentError: mesg"(wrong number of arguments (3 for 2):bt[\ ",/home/esp/esp2/utils/misc.rb:39:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):57:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +806 #-> Arm.loadPuck + "manipulator"&_& +3 "core" & t +2 !to:Axis::Error: mesg"%Unknown Elbow position: loadPuck:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'"./home/esp/esp2/lib/axis.rb:658:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):58:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1628 #-> Hand.loadPuck + !o:NoMethodError : mesgu:NameError::message1undefined method `loadPuck' for Hand:Gripper: name: loadPuck: args[:bt["(ESP):59:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +20619 "Can"\ 0. +60004 \ 1/ +60003 \ 1. +4701 #t-> Arm.home + "manipulator"&X& +3 "core" &  t +2 "manipulator"&Z% +4 "core" %\  J  + .tElbow.seek :home +2 "manipulator"&[( +235 "core" ( +2 "manipulator"&b& +4 "core" &  B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &  B +2 .tForearm.seek :home + "manipulator"&e' +37 "core" ' +2 "manipulator"&f& +4 "core" & ] B + "manipulator"&g% +4 "core" % / - +4270 #t-> Arm.garge + "manipulator"&h& +3 "core" & M B +2 !to:Axis::Error: mesg""Unknown Elbow position: garge:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:504:in `baseRaw'",/home/esp/esp2/lib/axis.rb:285:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:269:in `fetch'",/home/esp/esp2/lib/axis.rb:280:in `raw'",/home/esp/esp2/lib/axis.rb:544:in `raw'"./home/esp/esp2/lib/axis.rb:658:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):61:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +826 #-> Arm.garage + "manipulator"&j& +3 "core" & o B +2 "manipulator"&d% +3 "core" % ? - +2 .tForearm.seek :retract + "manipulator"&l'\ +36 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&\ (, +111 "core" ( +2 "manipulator"&Q& +4 "core" &, + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &, ? + +2 .tForearm.seek :garage + "manipulator"&m'Ϧ +100 "core" ' +2 "manipulator"&q& +4 "core" &,  + + "manipulator"&o% +4 "core" %ϱ V +544 #t-> Hand.close + .Hand.close + "manipulator"&p/ +59 "core" / +1486 #t-> Arm.CC + "manipulator"&k& +3 "core" &, > + +2 "manipulator"&s% +4 "core" % ϱ o V + .tForearm.seek :retract +2 "manipulator"&t'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&u( +274 "core" ( +2 "manipulator"&a& +4 "core" &1 c F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &0 F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&y'" +100 "core" ' +4 "manipulator"&{& +3 "core" &-  , Bl +2 "manipulator"&v% +3 "core" % - +625 #t-> CC.close + "manipulator"&}& +3 "core" &-  ) Bl +2 "manipulator"&% +4 "core" %  & +2 "collection"'i& +3 "core" &h\ +2 "collection"'R& +4 "core" &J\ +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &i\  +10 &1g\ *z +9 &eo\ ? +10 &wzb\ N +9 &=[l\ M +9 &_h\ M +10 &^e\ M +9 &]c\ M +10 &C^n\ M +9 &Zn\ M +9 &]k\ M +10 & `a\ M +9 &"J_a\ N +9 &$^\\\ M +10 &%``\ M +9 &'_b\ M +10 &)T\\c\ M +9 &+_f\ N +9 &,\\b\ M +10 &.^\\\ M +9 &0[`b\ M +10 &2\\Y\ N +9 &3]^\ M +9 &5\\[\ M +10 &7c\\c\ M +9 &9&ZU\ M +9 &:_\\\ N +10 &<`_\ M +9 &>j^[\ N +10 &@-\\e\ M +9 &A]a\ N +9 &C_d\ N +10 &Eqfh\ N +9 &G0qW\ O +9 &Hl\ Q +10 &Jb\ V +9 &L]m\ X +10 &Nn\ X +9 &Op\ X +9 &Qq\ X +10 &S`m\ Y +9 &U"p\ Y +9 &VjB\ 0 +10 &Vyq\ M +5 ( +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 "collection"'z& +4 "core" &Vhl\ M + &Vhp\ M +5662 #t-> Hand.open + .Hand.open + "manipulator"&1 +58 "core" 1 +16355 #t-> access 5 +2 .SE.seek :down +2 "storage"('X +3 "core" ' + "manipulator"& % +4 "core" %  +2 "manipulator"& % +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +105 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&(d +209 "core" ( +2 "manipulator"&|% +4 "core" %\   + "manipulator"&~& +4 "core" &d i + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +966 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +2 "core" & \ +4124 #t-> Arm.CC + "manipulator"&& +3 "core" &d @ i +2 "manipulator"&% +4 "core" %\  S  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&w( +224 "core" ( +2 "manipulator"&& +4 "core" &* i @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &)  I @Y + .tForearm.seek CC +2 "manipulator"&'" +91 "core" ' +2 "manipulator"&& +4 "core" &*  ) @Y + "manipulator"&% +4 "core" % y  +288 #t-> Hand.close + .Hand.close + "manipulator"& / +62 "core" / +265 #t-> CC.open + .CC.seek :open +2 "collection"'( +417 "core" ( +2 "collection"'& +4 "core" &5\ +418 #t-> Arm.garage + "manipulator"&& +3 "core" &* I @Y + "manipulator"&% +4 "core" %  U  +2 .tForearm.seek :retract + "manipulator"&x'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(, +281 "core" ( +2 "manipulator"& & +4 "core" &,  B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &, x B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&#'Ϧ +99 "core" ' +2 "manipulator"&'& +4 "core" &, > B + "manipulator"&(% +4 "core" %ϫ +350 #t-> Hand.open + .Hand.open + "manipulator"&+1 +59 "core" 1 +411 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +143 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 + "manipulator"&/ +2 &* +56 "core" * + / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&-(d +317 "core" ( +2 "manipulator"&& +4 "core" &d * + "manipulator"&%% +4 "core" % \    +5861 #t-> exit +5 #mEXIT @1612470885.07EST @1612471004.75EST = =mMAIN_scheduler =tMAIN @EST1612471006.47 #"core_reset"Sent BREAK + #t@4006 receive with ifg=0x10, ie=0xFD + #@4645 receive with ifg=0x10, ie=0xFD + #@5303 receive with ifg=0x10, ie=0xFD #@5944 receive with ifg=0x10, ie=0xFD + #@6594 receive with ifg=0x10, ie=0xFD + #@7244 receive with ifg=0x10, ie=0xFD #@7894 receive with ifg=0x10, ie=0xFD + #@8220 receive with ifg=0x80, ie=0xFD #@44654 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +358 "Can"\ B? +9 \ B? #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %}\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %5\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %  +2 .tSS.configure :default +2 "sampler")#.0X ESP.erady? + !o:NoMethodError : mesgu:NameError::message-undefined method `erady?' for ESP:Module: name: erady?: args[:bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +468 #-> ESP.ready? + "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %  + "manipulator"&% +4 "core" %\  7  + "manipulator"&& +3 "core" &d ) + "storage"(& +4 "core" & \ \ \ + "storage"(% +3 "core" %a\ \  \ +2 "collection"'& +3 "core" &|\ +2 "processing"%& +3 "core" &'\ +2 "processing"%% +3 "core" %@\ +706 #t-> Arm.garage + "manipulator"& & +3 "core" &d 5 ) +2 "manipulator"&!% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&"(, +135 "core" ( + "manipulator"&#& +4 "core" &, B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &, B B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&%'Ϧ +76 "core" ' M ƞ +3 !to:Slide::Error\ :@checkpoint: omitted: mesg")Forearm speedErr at CC + 4717 counts: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiM : voltagef12.446768777614139t: @type2F:@destinationi%: @error: speedErr: @tagi*: @sourcei+:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:349:in `to'"8/home/esp/esp2/lib/slide.rb:69:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:349:in `to'"0/home/esp/esp2/utils/misc.rb:91:in `extend'",/home/esp/esp2/utils/misc.rb:35:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +453 #-> Hand.open + .Hand.open + "manipulator"&&1 +60 "core" 1 +686 #t-> Arm.garage + "manipulator"&'& +3 "core" &,  B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&((, +3 "core" ( + "manipulator"&)& +4 "core" &, % B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &,  B + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&+'Ϧ +53 "core" ' +2 "manipulator"&,& +4 "core" &, B + "manipulator"&-% +4 "core" %ϵ Y +409 #t-> Hand.close +2 .Hand.close + "manipulator"&./ +54 "core" / +634 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&/'\ +142 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&0* +54 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&1(d +308 "core" ( +3 "manipulator"&2& +4 "core" &d " $ + "manipulator"&3% +4 "core" %\    @1612471190.86EST = =mMAIN_scheduler =tMAIN @EST1612471193.93 #"core_reset"Sent BREAK +3 #t@31923 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +215 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +311 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +649 "Can"\  + \  #tPolling Can every 10:00 +2 #Cleanly exited at 15:36:56EST04-Feb-21 +3096 #-> ESP.ready! +3 #Powering core bus +485 .Gate.power :raw,:ON +3 "sampler") +15 ) +2 "core"  + "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %+  + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %@  +2 .tSS.configure :default +2 "sampler")#.0X Arm.garage + "manipulator"&;& +3 "core" & * Q +2 "manipulator"&<% +4 "core" %\  x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&=(, +183 "core" ( + "manipulator"&>& +4 "core" &,  P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &, : P +2 .tForearm.seek :garage + "manipulator"&@'Ϧ +111 "core" ' + "manipulator"&A& +4 "core" &,  3 O + "manipulator"&B% +4 "core" %Ϫ  _ +375 #t-> Hand.open + .Hand.open + "manipulator"&C1 +61 "core" 1 +462 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&D'\ +143 "core" ' + ."closeHand"Hand.close +3 .tElbow.jog 1500 +3 "manipulator"&E/ + &F* +53 "core" / +11 * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&G(d +312 "core" ( + "manipulator"&H& +4 "core" &d $ + "manipulator"&I% +4 "core" % \    +520 #t-> exit +6 #mEXIT @1612471309.88EST @1612471414.02EST = =mMAIN_scheduler =tMAIN @EST1612471416.96 #"core_reset"Sent BREAK +3 #t@16908 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +483 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +463 "Can"\  + \  + #tPolling Can every 10:00 +2 #Cleanly exited at 15:41:49EST04-Feb-21 +2126 #-> ESP.ready? +485 #-> ESP.ready! +3 #Powering core bus +495 .Gate.power :raw,:ON +2 "sampler") +47 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %-  + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %+  +2 .tSS.configure :default +2 "sampler")#.0X  +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +3 "core" + .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +3 "processing"%% +3 "core" %\ + "manipulator"&% +4 ."rdySampler"Intake.select :close +4 .Exhaust.select :close + .CTV.dial :air +2 "collection"'  +3 "core" %2  + %  + ."rdyProcessing"PSV.dial :air +3 "manipulator"&% + "processing"%  +6 "core"  + %  +  +3 ."rdyProcessing"PS.reconfigure :default + ."rdySampler"CSV.dial :waste1 +4 .tForearm.reconfigure :loose +2 "processing"%#A d`xb + "collection"' +3 "manipulator"&#@2^d^b +5 .tForearm.home.seek :retract +2 ."rdyProcessing"PS.home.seek 0ml +2 "manipulator"&'\ + "processing"%' +5 "core" + ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  + "sampler") +5 "core"  +2 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +3 "collection"'#d @b +3 "sampler")#.0X Hand.open + .Hand.open + "manipulator"&;1 +63 "core" 1 +1219 #t-> Hand.close + .Hand.close + "manipulator"& ESP.ready? +2 "collection"'% +3 "core" %d\ +2 "sampler")% +3 "core" % \  +2 "manipulator"&% +3 "core" %\    + "manipulator"&& +4 "core" & *  + "storage"(& +4 "core" &'\ (\ / @\  + "storage"(% +3 "core" %O\ /\ 3\ +2 "collection"'& +3 "core" &j\  + "processing"%& +4 "core" &Q\  + "processing"%% +3 "core" %Z\ +1171 #t-> require 'PrimeReagent.rb' +2 !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1611 #-> exit +5 #mEXIT @1612472687.13EST @1613762586.64EST = =mMAIN_scheduler =tMAIN @EST1613762588.38 #"core_reset"Sent BREAK +2 #t@63836 receive with ifg=0x10, ie=0xFD #@64470 receive with ifg=0x10, ie=0xFD + #@65126 receive with ifg=0x10, ie=0xFD #@224 receive with ifg=0x10, ie=0xFD + #@859 receive with ifg=0x10, ie=0xFD + #@1493 receive with ifg=0x10, ie=0xFD #@2127 receive with ifg=0x10, ie=0xFD + #@2453 receive with ifg=0x80, ie=0xFD #@40786 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +355 "Can"+\ >< + +\ >< + #tPolling Can every 10:00 +123 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b + .tCS.hold + "collection"'+ +6 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % }  + .tSS.configure :default +3 "sampler")#.0X ESP.ready? +2 "collection"'% +3 "core" %\ +2 "sampler")% +3 "core" % ~  +2 "manipulator"&% +3 "core" %\    + "manipulator"&& +4 "core" &   + "storage"(& +3 "core" &(\ '\ '\  +2 "storage"(% +3 "core" %O\ \  e\ + "collection"'& +4 "core" &\  + "processing"%& +3 "core" &\  +2 "processing"%% +3 "core" % \ +1297 #t-> require 'shuffle.rb' +3209 #-> shuffle 5..7 + #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +3 "core" &\  +2 .tHand.open + "manipulator"&!1 +64 "core" 1 + "manipulator"&"% +4 "core" % \    +2 "storage"(#% +3 "core" %O\ '\ (\ + "storage"($. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(%(<* +652 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (&& +3 "core" &<'8 \  + "manipulator"&'& +4 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&(( +4 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(*& +3 "core" &<'8 \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&+'ы +95 "core" ' + "storage"(,& +4 "core" &<'8\ \  .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'i +282 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &<(6 \  +2 "manipulator"&0& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&1( +4 "core" ( + "manipulator"&2& +3 "core" &   +2 "storage"(3& +3 "core" &<(6 \  b\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&4' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +4 "storage"(7'X +3 "core" & 0  +2 "manipulator"&8% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&:( +154 "core" ( + "manipulator"&;& +4 "core" &"  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&<& +3 ."downElevator"SE.coast +2 "storage"(5 +3 "core" &" < 9% + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='" +96 "core" ' + "manipulator"&>& +4 "core" &#  9% +2 "manipulator"&?% +3 "core" %  +2 "collection"'@& +4 "core" &\  +2 "collection"'A& +5 "core" &\  +2 .tCC.seek :closed + "collection"'B(V +5 "core" &\  +9 &5\ +} +9 &f\ @ +9 &aw\ N +10 &%\\\ M +9 &`\ M +9 &`\ N +10 &j_\ N +9 &-`\ M +10 &]\ M +9 &b \ M +9 & sc0\ M +10 &"5b?\ M +9 &#`I\ N +9 &%ba\ N +10 &'{`C\ M +9 &)>ao\ M +10 &*as\ M +9 &,[\ M +9 &.a>\ M +10 &0D`\ N +9 &2`\ M +9 &3`\ M +10 &5`R\ M +9 &7Mba\ M +10 &9_?\ M +9 &:_[\ N +9 &<eI\ M +10 &>U^R\ M +9 &@]V\ M +9 &A^U\ M +10 &CaM\ M +9 &EZiJ\ N +10 &GsH\ P +9 &HI\ Q +9 &JJ\ V +10 &LGI\ X +9 &N\ L\ W +9 &OJ\ X +10 &QI\ X +9 &SIJ\ Z +10 &U H\ Y +9 &V[JG\ 4 +9 &V`@\ G +2 ( +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open + "manipulator"&C1 +63 "core" 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E'\ +92 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%F& +4 "core" &\  +2 "manipulator"&G% +3 "core" %\  t  +2 "storage"(H% +3 "core" %a\ \  $\ +2 "storage"(I. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(J(<* +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (K& +3 "core" &<' \  4\  +2 "manipulator"&L& +3 "core" & " & 8! + "manipulator"&M% +4 "core" %\  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +37 "manipulator"&N( +164 "core" ( + "manipulator"&O& +4 "core" &   +2 "storage"(P& +3 "core" &<'\ '\ '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Q'ы +102 "core" ' + "storage"(R& +4 "core" &<'\ %\ I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'i +288 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &<'\ \ \  + "manipulator"&V& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&W( +3 "core" ( + "manipulator"&X& +4 "core" & P  + "storage"(Y& +4 "core" &<'\ \  (\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&Z' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\\& +3 "storage"(]'X +6 "core" &   +2 "manipulator"&^% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&`(s +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +81 "core" ( + "manipulator"&a& +4 "core" &n z $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &n  $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +102 "core" ' + "manipulator"&d& +4 "core" &n  $ +2 "manipulator"&e% +3 "core" % " +2 "processing"%f& +4 "core" &\  +2 "processing"%g& +4 "core" &R\  +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &N\  +9 &7}S\ +| +9 &g\ @ +9 &fy\ O +10 &,^\ M +9 &]\ M +10 &\\\ N +9 &r^\ M +9 &4_\ M +10 &c\ N +9 &b\ N +9 & zb\ M +10 &";a\ N +9 &#]\ N +10 &%]\ N +9 &'d\ N +9 &)C_\ N +10 &+b\ N +9 &,_\ N +9 &.^\ M +10 &0L]\ M +9 &2 b\ N +10 &3]\ M +9 &5`\ N +9 &7T\\\ M +10 &9a\ M +9 &:^\ M +9 &<c\ N +10 &>\\]\ M +9 &@a\ N +10 &A_\ N +9 &Ca\ N +9 &E_h\ O +10 &Gs\ P +9 &H\ R +9 &J\ S +10 &LY\ T +9 &N\ T +10 &O\ T +9 &Q\ S +9 &Sa\ T +10 &U"\ T +9 &V\ T +9 &X\ T +10 &Zd\ (z +9 &Z`\ 8 +10 ( + &Z)\ 1 +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&i1 +62 "core" 1 + "manipulator"&j% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k'\ +93 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%l& +4 "core" &Z*\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&m% +4 "core" %\   \ + "storage"(n% +4 "core" %^ +\ + "storage"(o. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(p(<* +11 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (q& +3 "core" &<' \  + "manipulator"&r& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]@K-0-\ b +2 "core" &n  $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&s(s + "storage"(t'i +4 "core" ( +2 "manipulator"&u& +3 "core" &n  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &n T $ +2 .tForearm.seek PC + "manipulator"&w' +96 "core" ' + .tHand.close + "manipulator"&x/ +64 "core" / +2 .tPC.seek :open +2 "processing"%y( +85 "core" ' + "storage"(z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'y +44 "core" ' +296 ( + "storage"(|& +4 "core" &<' {\  + "manipulator"&}& +4 "core" &n  $ + "manipulator"&~% +4 "core" %  ! +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +261 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &<' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +95 "core" ' + .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +48 "core" ' + #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(& +4 "core" &<' x v \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &<' v x \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +59 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &<' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +26 "core" ' + "manipulator"&% +4 "core" %  ( +2 "storage"(& +4 "core" &<' \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts + "manipulator"& ' +19 "core" ' + "manipulator"&!& +4 "core" &   +2 "storage"("& +4 "core" &<' Q\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +28 "core" ' + "storage"($% +4 "core" %q\  \ +2 ."downElevator"SE.seek :down +5 "storage"('X +98 (&% +3 "core" %3C \ \ V_ +2 "manipulator"&'% +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +95 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (*& +4 "core" &<' !\ +2 "collection"',& +3 "core" &VZT\ G +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\   + "storage"(% +4 "core" %c\ )\ ) \ + "storage"(.. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(/(<* +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (0& +2 "core" &<'\ (\ (\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&2( +3 "core" ( +2 "manipulator"&3& +3 "core" & P  +2 "storage"(5& +3 "core" &<'\ *\ ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&6'ы +98 "core" ' + "storage"(8& +4 "core" &<'\ \ # l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('i +295 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&;& +3 "core" &   + "storage"(<& +4 "core" &<'\  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&-' +33 "core" ' + .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +3 "core" -' +4 .tSE.seek 0.09 Pucks below Top Plate +3 "storage"(?'V +42 "core" ' + "manipulator"&@% +4 "core" %  C +2 "storage"(1& +3 "core" &<' \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&7' +13 "core" ' + "manipulator"&9& +4 "core" &   +2 "storage"(\ & +3 "core" &<'\ '\ ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&C'ы +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(D'E +41 "core" ' + "manipulator"&F& +4 "core" &   +2 "manipulator"&G% +3 "core" %ъ  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&I( +153 "core" ( +2 "manipulator"&A& +4 "core" &'  =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +2 "core" && P =A +2 .tForearm.seek CC + "manipulator"&L'" +97 "core" ' + .tHand.close + "manipulator"&M/ +64 "core" / + .tCC.seek :open +2 "collection"'=( +413 "core" ( + "storage"(O& +4 "core" &<'\ %\ \  +2 "storage"(P& +3 "core" &<'\ )\ * \  + "manipulator"&%& +4 "core" & #  :* + "manipulator"&R% +4 "core" % .  + .tForearm.seek :retract +2 "manipulator"&:'\ +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&E( +158 "core" ( + "manipulator"&T& +4 "core" &  ~ +2 "storage"(U& +3 "core" &<' e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&V' +106 "core" ' + .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&[% +4 "core" %   + "storage"(\\& +3 "core" &<'\ (\ ' \ \  +2 .tForearm.force -20 + "manipulator"&5 +39 .tForearm.seek 5 + 317 counts +70 "manipulator"&^' +12 "core" ' + "manipulator"&N& +4 "core" & : z +2 "storage"(Q& +3 "core" &<'   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +28 "core" ' + "storage"(Z% +4 "core" %N  +3 ."downElevator"SE.seek :down +2 "storage"(a'X +99 (b% +3 "core" %<?\ >\ @\ U] +2 "manipulator"&W% +3 "core" %}  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +87 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'e& +5 "core" & \ + "manipulator"&f% +4 "core" %\    +2 "storage"(]% +3 "core" %`  +2 "storage"(_. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"( (K +341 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (i& +3 "core" &K5\ \ \  + "manipulator"&j& +4 "core" &  z + .tElbow.seek 6 +2 "manipulator"&l( +42 "core" ( + "manipulator"&m& +4 "core" &,   + "storage"(n& +4 "core" &K4\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&o'a +97 "core" ' + "storage"(g& +4 "core" &K4\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'i +283 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &K2 \  +2 "manipulator"&v& +3 "core" &,   +2 .tElbow.seek 6 + "manipulator"&c( +21 "core" ( +6 "manipulator"&x& +4 "core" &   +2 "storage"(J& +3 "core" &K2 -\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&z' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(h'X +8 "core" &   +2 "manipulator"&t% +3 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +153 "core" ( + "manipulator"&~& +5 "core" ' + &(  >J + .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&w& +6 "core" &' >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +106 "core" ' +3 "manipulator"&& +4 "core" &( n >J +2 "manipulator"&s% +3 "core" %"  +2 "collection"'& +4 "core" &\ +2 "collection"'& +4 "core" &\ +2 .tCC.seek :closed + "collection"' (V +4 "core" &\ +9 &?\ %f +9 &V/\ 8 +9 &,\ L +10 &].\ M +9 &t_2\ M +10 &5\\\ M +9 &_\ M +9 &_(\ M +10 &|\\j\ M +9 &=_D\ M +9 &^L\ N +10 &!^R\ M +9 &#\\6\ M +10 &%E`C\ M +9 &']@\ M +9 &(]?\ M +10 &*^A\ M +9 &,NZ=\ M +9 &.]>\ M +10 &/]=\ M +9 &1a:\ M +10 &3V]A\ M +9 &5\\8\ M +9 &6]8\ M +10 &8[7\ M +9 &:^_0\ M +9 &<^-\ M +10 &=Z+\ M +9 &?^/\ M +10 &Ae\\0\ M +9 &C(`(\ M +9 &Df-\ N +10 &Fi&\ N +9 &Hex#\ P +9 &J8\ T +10 &K\ W +9 &M.\ X +10 &OW(\ X +9 &Q*\ X +9 &R!\ Y +10 &T \ Y +9 &V6v)\ . +9 &V\ [ +10 ( + &VG\ W +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\  F  + "storage"(% +4 "core" %R \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K \  +2 "manipulator"&{& +3 "core" &' >J +2 "manipulator"&!% +3 "core" %\  t  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +162 "core" ( + "manipulator"& & +4 "core" & W +2 "storage"($& +3 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' + "storage"(& +4 "core" &K \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +277 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ('& +3 "core" &K \  + "manipulator"&& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +26 "core" ( + "manipulator"&& +4 "core" &  # + "storage"(& +4 "core" &K s\  +2 .tForearm.seek 6 + 300 counts + "manipulator"& ' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"('X +7 "core" & "{ + "manipulator"&% +4 "core" %  = +2 .tForearm.seek :retract + "manipulator"&.'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +155 "core" ' + ."downElevator"SE.coast + "storage"(5 +103 "core" ( +2 "manipulator"&0& +4 "core" &l [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &l   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&3' +102 "core" ' + "manipulator"&5& +4 "core" &l   +2 "manipulator"&#% +3 "core" % < +2 "processing"%8& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%p(Z +5 "core" &\  +9 &1\ *x +10 &c\ > +9 &p}\ N +9 &4_\ M +10 &b\ N +9 &`\ M +10 &z]\ M +9 &<\\\ M +9 &b\ M +10 &`\ N +9 & `\ M +9 &"Db\ M +10 &$_\ M +9 &%b\ M +10 &'a\ M +9 &)M]\ M +9 &+b\ M +10 &,`\ M +9 &.`\ M +9 &0T]\ M +10 &2^\ M +9 &3]\ M +10 &5]\ M +9 &7\\`\ M +9 &9_\ N +10 &:^\ M +9 &<]\ M +9 &>d\\\ M +10 &@%`\ N +9 &A]\ M +10 &C_\ N +9 &Ek`\ N +9 &G)l\ O +10 &H~\ Q +9 &J\ S +9 &Lc\ S +10 &N%\ S +9 &O\ S +10 &Q\ S +9 &Si\ T +9 &U+\ T +10 &V\ T +9 &X\ T +9 &Z_\ "i +10 &Z!j\ 2 +9 ( + &Z\ * +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&)% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%;& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" %\   +2 "storage"(>% +3 "core" %a ;\ + "storage"(@. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(1(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +4 "core" &K J\  +2 "manipulator"&\ & +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]@K-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(F'i +3 "core" &l  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&G(s +2 "core" ( +2 "manipulator"&6& +3 "core" &l   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &l ,  +2 .tForearm.seek PC + "manipulator"&(' +95 "core" ' + .tHand.close + "manipulator"&-/ +56 "core" / +3 .tPC.seek :open + "processing"%7( +83 "core" ' + "storage"(?- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(A'y +46 "core" ' +293 ( + "storage"(K& +4 "core" &K {\  + "manipulator"&C& +4 "core" &l   + "manipulator"&4% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&M'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&H( +261 "core" ( + "manipulator"&B& +4 "core" &    + "storage"(O& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&P'a +99 "core" ' + .tHand.open + "manipulator"&%1 +64 "core" 1 + "storage"(R- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(T'E +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(U' +46 "core" ' +3 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' + "storage"(I& +4 "core" &K {  0\  +2 "manipulator"&Y& +3 "core" &    +2 .tElbow.seek 6 + "manipulator"&[( +8 "core" ( + "manipulator"&\\& +4 "core" &  :  +2 "storage"(:& +3 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&N'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +61 "core" ' + "manipulator"&Z& +4 "core" &    +2 "storage"(E& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&b'Υ +31 "core" ' +39 .tElbow.hold +11 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(V'i +30 "core" ' + "manipulator"&^% +4 "core" %ζ  +2 "storage"(e& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&f' +12 "core" ' + "manipulator"&]& +4 "core" &    +2 "storage"(_& +4 "core" &K %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&D'a +33 "core" ' + "storage"(S% +4 "core" %p i\ +3 ."downElevator"SE.seek :down +3 "storage"(a'X +98 (/% +3 "core" %G \ Wa +2 "manipulator"&i% +4 "core" %?  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +97 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (m& +4 "core" &K\  x\ + "collection"'n& +4 "core" &V\ W + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&g% +4 "core" %\    +2 "storage"(X% +3 "core" %a\ \ \ +2 "storage"(d. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(r(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (u& +3 "core" &K\ \  \  +2 "manipulator"&v& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&x( +8 "core" ( + "manipulator"&J& +4 "core" &   +2 "storage"(`& +3 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&k'a +97 "core" ' + "storage"(t& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'i +284 "core" ' +2 "storage"(o- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +2 "core" &   +2 "storage"(w& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&q'Υ +31 "core" ' + .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(s'M +32 "core" ' + "manipulator"&c% +4 "core" %θ q + "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&h' +13 "core" ' + "manipulator"&|& +4 "core" &   +2 "storage"(=& +3 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('< +44 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %R  u + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ( +2 "manipulator"&& +4 "core" &*  @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &* } @Y +2 .tForearm.seek CC + "manipulator"&{'" +92 "core" ' + .tHand.close + "manipulator"&!/ +53 "core" / + .tCC.seek :open +2 "collection"'( +413 "core" ( +2 "storage"( & +4 "core" &K\ '\ ( -\  +2 "storage"($& +3 "core" &K\ (\ ' \  + "manipulator"& & +4 "core" &*  @Y + "manipulator"&% +4 "core" % /  +2 .tForearm.seek :retract + "manipulator"&}'\ +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( + "manipulator"&&& +4 "core" &    +2 "storage"('& +3 "core" &K\ 9\ 8\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +106 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&*% +4 "core" % ζ \ & + "storage"(,& +3 "core" &K 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&' +14 "core" ' + "manipulator"&"& +4 "core" &  +2 "storage"(& +3 "core" &K E D n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +33 "core" ' + "storage"( % +4 "core" %> L G \ +3 ."downElevator"SE.seek :down +2 "storage"(0'X +99 (% +3 "core" %@\ =\ :\ U] +2 "manipulator"&% +3 "core" %C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'#& +4 "core" &0\ +2 "manipulator"&8% +3 "core" %\    +2 "storage"(% +4 "core" %T  + "storage"(.. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(y([ +335 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &[\ \  S\  + "manipulator"&)& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&;( +3 "core" ( + "manipulator"&<& +5 "core" &  + "storage"(>& +3 "core" &[\ ?\ $ O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts + "manipulator"&@'w +100 "core" ' + "storage"(& +4 "core" &[\  t \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'i +283 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &[\ (\ \  +2 "manipulator"&2& +3 "core" &  +2 .tElbow.seek 7 + "manipulator"&3( +3 "core" ( + "manipulator"&-& +4 "core" &  + "storage"(& +4 "core" &[\ "\ % Q\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&?' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&+& +3 "storage"(p'X +7 "core" &  + "manipulator"&F% +4 "core" %  F +2 .tForearm.seek :retract + "manipulator"&K'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&C( +157 "core" ( + "manipulator"&4& +5 "core" &.  Dw ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&(& +4 "core" &.  Dv +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'" +102 "core" ' + "manipulator"&O& +4 "core" &.   Du +2 "manipulator"&G% +3 "core" %$   +2 "collection"'%& +4 "core" &2\ +2 "collection"'R& +4 "core" &B\ +2 .tCC.seek :closed +2 "collection"'L(V +3 "core" &I\  +10 &1I\ +{ +9 &cK\ > +9 &yK\ M +10 &N]L\ M +9 &[F\ M +9 &ZJ\ L +10 &]H\ M +9 &V_A\ M +10 &aA\ M +9 &`=\ M +9 & a?\ M +10 &"^]>\ M +9 &$!]@\ L +9 &%_?\ M +10 &'Z:\ M +9 &)f_@\ M +10 &+(`7\ M +9 &,[5\ L +9 &.]-\ M +10 &0mb.\ M +9 &21\\1\ L +9 &3\\3\ L +10 &5_4\ M +9 &7v]0\ M +10 &97]3\ M +9 &:]'\ L +9 &<_\ L +10 &>~\\\ M +9 &@A`\ L +10 &B\\\ M +9 &C]\ M +9 &Ee\ M +10 &GBq \ O +9 &H\ P +9 &J\ U +10 &Lp \ W +9 &N2\ W +10 &O\ X +9 &Q \ X +9 &Sr\ Y +10 &U1\ Y +9 &VyB\ , +9 &V\ V +3 ( + "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&I1 +53 "core" 1 + "manipulator"&Y% +4 "core" % $ $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\'\ +99 "core" ' +3 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%:& +5 "core" &\ + "manipulator"&M% +3 "core" %\ 3  +2 "storage"(Z% +3 "core" %R \ +2 "storage"(E. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(A([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (T& +3 "core" &[ C\  +2 "manipulator"&^& +3 "core" &+ j Ae +2 "manipulator"&e% +3 "core" %\ @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&]( +158 "core" ( + "manipulator"&_& +4 "core" & n  +2 "storage"(H& +3 "core" &[\ \  .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&P'w +96 "core" ' + "storage"(S& +4 "core" &[\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'i +278 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (/& +2 "core" &[ q\  +2 "manipulator"&i& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&[( +3 "core" ( + "manipulator"&Q& +4 "core" &   + "storage"(b& +4 "core" &[\ \ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&f' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(g'X +8 "core" &   +2 "manipulator"&X% +4 "core" %  ? +2 .tForearm.seek :retract + "manipulator"&d'\ +100 "core" ' +50 .tElbow.seek PC +2 "manipulator"&V(s +106 "core" ' + ."downElevator"SE.coast + "storage"(5 +140 "core" ( + "manipulator"&u& +4 "core" &n W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +2 "core" &n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&J' +99 "core" ' + "manipulator"&`& +4 "core" &n @ +2 "manipulator"&D% +3 "core" % -  +2 "processing"%t& +4 "core" &\ +2 "processing"%a& +5 "core" &\ +2 .tPC.seek :closed + "processing"%1(Z +4 "core" &\  +9 &2\ )w +9 &c\ > +9 &u{\ N +10 &8_\ M +9 &_\ M +10 &_\ M +9 &|^\ N +9 &A^\ M +10 &`\ M +9 &_\ M +9 & _\ M +10 &"F_\ N +9 &$\ ]\ M +10 &%_\ M +9 &'`\ M +9 &)O_\ M +10 &+\\\ M +9 &,^\ M +9 &.`\ M +10 &0W`\ M +9 &2]\ M +10 &3_\ M +9 &5_\ M +9 &7`[\ M +10 &9"`\ M +9 &:]\ M +9 &<_\ M +10 &>g_\ M +9 &@)c\ M +10 &A_\ M +9 &Ca\ M +9 &Enc\ N +10 &G-n\ O +9 &H\ Q +9 &J\ S +10 &Lg\ S +9 &N*\ R +10 &O\ S +9 &Q\ S +9 &Sm\ S +10 &U/\ S +9 &V\ T +9 &X\ T +10 &Z _\ "i +9 &Z g\ 2 +10 ( + &Z \ + +2 "processing"%a& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&W1 +62 "core" 1 + "manipulator"&j% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%~& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&w% +4 "core" %\  \\  + "storage"(% +4 "core" %b \ + "storage"(c. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (|& +3 "core" &[ '\  +2 "manipulator"&=& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]@K-0-\ b +3 "core" &n 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i +2 "manipulator"&(s +4 "core" ( + "manipulator"&k& +4 "core" &n / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +2 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&l' +94 "core" ' + .tHand.close + "manipulator"&q/ +57 "core" / + .tPC.seek :open +2 "processing"%h( +91 "core" ' + "storage"(s- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +46 "core" ' +287 ( + "storage"(& +4 "core" &[ A\  + "manipulator"&& +4 "core" &n  + "manipulator"&z% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +258 "core" ( + "manipulator"& & +4 "core" &  \ +2 "storage"( & +3 "core" &[ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&$'w +95 "core" ' + .tHand.open + "manipulator"& 1 +59 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(&'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"('' +51 "core" ' + #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(& +4 "core" &[ C\  + "manipulator"&& +4 "core" & * \ + .tElbow.seek 7 +2 "manipulator"&*( +8 "core" ( + "manipulator"&,& +4 "core" &  +2 "storage"("& +3 "core" &[ 8\  +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&'w +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + "manipulator"&}& +4 "core" &  +2 "storage"(& +3 "core" &[ a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'λ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(#& +4 "core" &[ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&8' +15 "core" ' +3 "manipulator"&& +4 "core" &   +2 "storage"(.& +4 "core" &[\ \  \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts + "manipulator"&'w +22 "core" ' + "storage"( % +4 "core" %k\ \ ' <\  +3 ."downElevator"SE.seek :down +3 "storage"(0'X +98 (r% +3 "core" %D \ V` +2 "manipulator"&% +4 "core" %ц  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +96 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (<& +3 "core" &[ \  \ +2 "collection"'>& +3 "core" &V}#\ V +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\  Y - +2 "storage"(% +3 "core" %`\ \ \ +2 "storage"(5. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(\ ([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (6& +3 "core" &[ U\  +2 "manipulator"&2& +3 "core" &   +2 .tElbow.seek 7 + "manipulator"&-( +8 "core" ( + "manipulator"&& +4 "core" & e  +2 "storage"(& +3 "core" &[\  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&+'w +102 "core" ' +3 "storage"(F& +4 "core" &[\ \  /\  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'i +284 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&4& +3 "core" &   + "storage"((& +4 "core" &[ g\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&9'λ +37 "core" ' + .tElbow.hold + "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(G'O +30 "core" ' + "manipulator"&3% +4 "core" %  f + "storage"(%& +4 "core" &[ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&p' +13 "core" ' + "manipulator"&K& +4 "core" &   +2 "storage"(& +3 "core" &[ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&I'w +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(Y'> +41 "core" ' +2 "manipulator"&:& +4 "core" &   +2 "manipulator"&M% +4 "core" %ѹ  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&E( +154 "core" ( + "manipulator"&R& +4 "core" &+  A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &+  A_ +2 .tForearm.seek CC + "manipulator"&^'" +101 "core" ' + .tHand.close + "manipulator"&e/ +59 "core" / + .tCC.seek :open +2 "collection"'B( +416 "core" ( + "storage"(_& +4 "core" &[\ \ ( I\  + "storage"(H& +4 "core" &[ +\  + "manipulator"&y& +4 "core" &*  @^ + "manipulator"&S% +4 "core" % 3  +2 .tForearm.seek :retract + "manipulator"&C'\ +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&\\( +156 "core" ( + "manipulator"&N& +4 "core" &   + "storage"(/& +4 "core" &[ A A \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 + "manipulator"&i'λ +108 "core" ' + .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&b1 +59 "core" 1 +2 "manipulator"&m% +3 "core" % ( ] r +2 "storage"(n& +3 "core" &[\ \ \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&X' +20 "core" ' +2 "manipulator"&]& +5 "core" &   + "storage"(P& +3 "core" &[ r\ # 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&U'w +35 "core" ' + "storage"(f% +4 "core" %> C D ~\ +3 ."downElevator"SE.seek :down +2 "storage"(u'X +99 (v% +3 "core" %<\ @\ ? \ U] +2 "manipulator"&[% +3 "core" %n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +96 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +28924 "Can"*\ ,* +45274 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%D +73 "core" ~ +516 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%t @ +71 "core" B +394 #t-> PRV.AB1 +2 .PRV.dial :AB1 + "processing"%g @ +100 "core" B +3274 #t-> PS.pull 2 + "processing"%d% +43 "core" %\ +12 .tPS.seek 2ml + "processing"%7' +2104 "core" ' + "processing"%W% +4 "core" %\  +1746 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%j  +100 "core"  +503 #t-> PS.empty +2 .PS.seek 0ml + "processing"%~' +2102 "core" ' + "processing"%w% +4 "core" %\ +826 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +102 "core" +824 #t-> PS.pull 0.4 + "processing"%c% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%a'F +485 "core" ' + "processing"%|% +4 "core" %C\  +1412 "Can"0\ .+ +898 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%=' +2195 "core" ' + "processing"%k% +4 "core" %\  +2526 #t-> PSV.waste2 +2 .PSV.dial :waste2 + "processing"%x  +130 "core"  +32699 #t-> PS.empty +2 .PS.seek 0ml + "processing"%J' +2609 "core" ' + "processing"%q% +4 "core" %\ +548 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%A +131 "core" ~ +822 #t-> PS.pull 0.4 + "processing"%s% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%V'G +486 "core" ' + "processing"%o% +4 "core" %C\  +1603 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%1' +2205 "core" ' + "processing"%% +4 "core" %\  +991 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +101 "core"  +424 #t-> PS.empty +4 .PS.seek 0ml +2 "processing"%' +2604 "core" ' + "processing"%z% +4 "core" %\ +517 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%l +102 "core" +560 #t-> PS.pull 0.4 + "processing"% % +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"% 'F +479 "core" ' + "processing"%% +4 "core" %E\  +2285 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"% ' +2204 "core" ' + "processing"%% +4 "core" %\  +1070 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%{  +102 "core"  +280 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +1344 "Can"2\ 30 +1252 "core" ' + "processing"%% +4 "core" %\ +520 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%, +102 "core" +58122 "Can"6\ .+ +60003 2\ .+ +60004 4\ -+ +60003 8\ -* +40057 #t-> PS.pull 0.4 + "processing"%"% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%!'J +487 "core" ' + "processing"%}% +4 "core" %K\  +3411 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2199 "core" ' + "processing"%% +4 "core" %\  +2298 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +102 "core"  +318 #t-> PS.empty +2 .PS.seek 0ml + "processing"%#' +2606 "core" ' + "processing"%% +4 "core" %\ +2142 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%& +101 "core" +520 #t-> PS.pull 0.4 + "processing"%.% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"% 'D +480 "core" ' + "processing"%% +4 "core" %C\  +1389 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%$' +2197 "core" ' + "processing"%'% +4 "core" %\  +1478 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%r  +115 "core"  +45 "Can"<\ -* +261 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2602 "core" ' + "processing"%% +4 "core" %\ +796 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%* +101 "core" +930 #t-> PS.pull 0.4 + "processing"% % +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%'@ +482 "core" ' + "processing"%8% +4 "core" %A\  +1525 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%<' +2199 "core" ' + "processing"%>% +4 "core" %\  +1076 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +102 "core"  +896 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2599 "core" ' +3 "processing"%% +8 "core" %\ +1392 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%5 +102 "core" +1042 #t-> ps.pull 0.1 + !o:NoMethodError : mesgu:NameError::message+undefined method `pull' for :ps:Symbol: name: pull: args[f0.10000000000000001:bt["(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +912 #-> PS.pull 0.1 + "processing"%6% +3 "core" %\ +2 .tPS.seek 0.1ml + "processing"%2'r +177 "core" ' + "processing"%% +4 "core" %m\  +164 #t-> PS.pull 0.1 + "processing"%% +3 "core" %m\  +2 .tPS.seek 0.2ml +2 "processing"%' +179 "core" ' +3 "processing"%F% +4 "core" % \  +197 #t-> PS.pull 0.1 + "processing"%0% +3 "core" % \  +2 .tPS.seek 0.3ml +2 "processing"%' +188 "core" ' + "processing"%% +4 "core" % \  +129 #t-> PS.pull 0.1 +2 "processing"%)% +3 "core" %\  +2 .tPS.seek 0.4ml +2 "processing"%@'A +179 "core" ' + "processing"%4% +4 "core" %?\  +34093 #t-> PS.pull 0.5 + "processing"%(% +3 "core" %? \  +2 .tPS.seek 0.9ml + "processing"%O'GE +589 "core" ' + "processing"%3% +4 "core" %GB \  +594 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%%  +104 "core"  +345 #t-> PS.empty +2 .PS.seek 0ml + "processing"%K' +993 "core" ' + "processing"%% +4 "core" %\ +592 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%: +45 "core"  +809 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +1944 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%M' +1526 "Can"O\ 20 +1082 "core" ' + "processing"%+% +4 "core" %\  +1090 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%- +73 "core" +401 #t-> PTV.PRV + .PTV.dial PRV +478 #-> PRV.air + .PRV.dial :air +2 "processing"%;  +71 "core"  +856 #t-> PS.empty +2 .PS.seek 0ml + "processing"%9' +2598 "core" ' + "processing"%p% +4 "core" %\ +599 #t-> PSV.PSR +39 .PSV.dial PSR +10 "processing"%G +73 "core"  +525 #t-> PSR.flush + .PSR.select :flush +621 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%R' +2604 "core" ' + "processing"%T% +4 "core" %\  +607 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%I +72 "core" +405 #t-> PTV.PRV + .PTV.dial PRV +430 #-> PRV.air + .PRV.dial :air +1469 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%?' +2606 "core" ' + "processing"%e% +4 "core" %\ +627 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%Z +85 "core"  +359 #t-> PSR.air + .PSR.select :air +2 "processing"% +285 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%L' +2598 "core" ' + "processing"%_% +4 "core" %\  +572 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%H +71 "core" +658 #t-> PTV.PRV + .PTV.dial PRV +796 #-> PRV.air + .PRV.dial :air +535 #-> PS.empty +2 .PS.seek 0ml + "processing"%y' +2598 "core" ' + "processing"%S% +4 "core" %\ +544 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%N +73 "core" +342 #t-> PSR.air + .PSR.select :air +563 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%/' +2609 "core" ' +12 "processing"%^% +4 "core" %\  +494 #t-> PSV.PTV +3 .PSV.dial PTV + "processing"%E +74 "core" +306 #t-> PTV.PRV + .PTV.dial PRV +419 #-> PRV.air + .PRV.dial :air +556 #-> PS.empty +2 .PS.seek 0ml + "processing"%b' +2601 "core" ' + "processing"%m% +4 "core" %\ +25420 "Can"<\ -* +60003 7\ -+ +45347 #t-> exit +5 #mEXIT @1613769648.10EST @1614004716.03EST = =mMAIN_scheduler =tMAIN @EST1614004717.74 #"core_reset"Sent BREAK + #t@2932 receive with ifg=0x10, ie=0xFD + #@3566 receive with ifg=0x10, ie=0xFD + #@4221 receive with ifg=0x10, ie=0xFD #@4855 receive with ifg=0x10, ie=0xFD + #@5489 receive with ifg=0x10, ie=0xFD + #@6123 receive with ifg=0x10, ie=0xFD #@6757 receive with ifg=0x10, ie=0xFD + #@7083 receive with ifg=0x80, ie=0xFD #@49066 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +266 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +366 "Can"\ 20 + \ 20 + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %1\ + .tCS.configure :default +3 "collection"'#P d@b + .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +2 "sampler")#.0X ESP.ready? +2 "collection"'% +3 "core" %/\ +2 "sampler")% +4 "core" %  + "manipulator"&% +3 "core" %\    + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &[\ W\ X \ + "storage"(% +3 "core" %S\ I\ J a\ +2 "collection"'& +3 "core" &\ +2 "processing"%& +3 "core" &d\ + "processing"%% +4 "core" %I\ +46451 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +5 "core" +3788 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"% @ +4 "core" A +1489 #t-> PRV.AB2 +2 .PRV.dial :AB2 + "processing"%!  +43 "core"  +2444 #t-> PS.pull 2 + "processing"%"% +3 "core" %!\ +2 .tPS.seek 2ml +2 "processing"%#' +1664 "Can"\ 30 +431 "core" ' + "processing"%$% +4 "core" %J\  +2425 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%%  +104 "core"  +368 #t-> PS.empty +2 .PS.seek 0ml + "processing"%&' +2098 "core" ' + "processing"%'% +4 "core" %]\ +713 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%( +104 "core" +655 #t-> PS.pull 0.4 + "processing"%)% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%*'D +487 "core" ' + "processing"%+% +4 "core" %F\  +1623 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%,' +2194 "core" ' + "processing"%-% +4 "core" %_\  +29210 #t-> PSV.waste2 +2 .PSV.dial :waste2 + "processing"%.  +130 "core"  +482 #t-> PS.empty +2 .PS.seek 0ml + "processing"%/' +2601 "core" ' + "processing"%0% +4 "core" %\ +772 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%1 +130 "core"  +658 #t-> PS.pull 0.4 + "processing"%2% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%3'J +484 "core" ' + "processing"%4% +4 "core" %I\  +1538 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%5' +2191 "core" ' + "processing"%6% +4 "core" %\  +1057 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%7  +102 "core"  +262 #t-> PS.empty +2 .PS.seek 0ml + "processing"%8' +2600 "core" ' + "processing"%9% +4 "core" %\ +654 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%: +103 "core" +700 #t-> PS.pull 0.4 + "processing"%;% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%<'E +483 "core" ' + "processing"%=% +4 "core" %I\  +2649 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%>' +1890 "Can"\ 30 +306 "core" ' + "processing"%?% +4 "core" %\  +1412 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%@  +103 "core"  +470 #t-> PS.empty +2 .PS.seek 0ml + "processing"%A' +2595 "core" ' + "processing"%B% +4 "core" %\ +973 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%C +103 "core" +2111 #t-> PS>pull 0.4 + !o:SyntaxError: mesg"Ycompile error\ (ESP):24: syntax error, unexpected tFLOAT, expecting kDO or '{' or '(':bt["(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +927 #-> PS.pull 0.4 + "processing"%D% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%E'J +484 "core" ' + "processing"%F% +4 "core" %H\  +9434 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%G' +2205 "core" ' + "processing"%H% +4 "core" %\  +1661 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%I  +101 "core"  +360 #t-> PS.empty +2 .PS.seek 0ml + "processing"%J' +2595 "core" ' + "processing"%K% +4 "core" %\ +896 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%L +103 "core" +550 #t-> PS.pull 0.4 + "processing"%M% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%N'H +485 "core" ' + "processing"%O% +4 "core" %G\  +1559 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%P' +2199 "core" ' + "processing"%Q% +4 "core" %\  +1673 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%R  +103 "core"  +314 #t-> PS.empty +2 .PS.seek 0ml + "processing"%S' +2602 "core" ' + "processing"%T% +4 "core" %\ +1530 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%U +103 "core" +821 #t-> PS.pull 0.4 + "processing"%V% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%W'I +483 "core" ' + "processing"%X% +4 "core" %E\  +1581 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%Y' +2196 "core" ' + "processing"%Z% +4 "core" %\  +1352 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%[  +104 "core"  +329 #t-> PS.empty +2 .PS.seek 0ml + "processing"%\\' +2607 "core" ' + "processing"%]% +4 "core" %\ +672 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%^ +104 "core" +1303 #t-> PS.pull 0.1 + "processing"%_% +3 "core" %\ +2 .tPS.seek 0.1ml + "processing"%`'t +184 "core" ' + "processing"%a% +4 "core" %u\  +190 #t-> PS.pull 0.1 + "processing"%b% +3 "core" %u\  +2 .tPS.seek 0.2ml +2 "processing"%c' +178 "core" ' + "processing"%d% +4 "core" %\  +365 #t-> PS.pull 0.1 + "processing"%e% +3 "core" %\  +2 .tPS.seek 0.3ml +2 "processing"%f' +178 "core" ' + "processing"%g% +4 "core" %\  +148 #t-> PS.pull 0.1 + "processing"%h% +3 "core" %\  +2 .tPS.seek 0.4ml +2 "processing"%i'G +183 "core" ' + "processing"%j% +4 "core" %E\  +109 #t-> PS.pull 0.1 + "processing"%k% +3 "core" %E\  +2 .tPS.seek 0.5ml +2 "processing"%l' +184 "core" ' + "processing"%m% +4 "core" %\  +8587 "Can"\ .+ +26279 #t-> PS.pull 0.5 + "processing"%n% +3 "core" %\  +2 .tPS.seek 1ml +2 "processing"%o'S +581 "core" ' + "processing"%p% +4 "core" %S\  +1297 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%q  +103 "core"  +284 #t-> PS.empty +2 .PS.seek 0ml + "processing"%r' +1095 "core" ' + "processing"%s% +4 "core" %\ +722 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%t +44 "core"  +609 #t-> PSR.flush + .PSR.select :flush +3 "processing"%j +717 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%u' +2606 "core" ' + "processing"%v% +4 "core" %\  +389 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%w +72 "core" +442 #t-> PTV.PRV + .PTV.dial PRV +504 #-> PRV.air +3 .PRV.dial :air + "processing"%x  +42 "core"  +553 #t-> PS.empty +2 .PS.seek 0ml + "processing"%y' +2598 "core" ' + "processing"%z% +4 "core" %\ +482 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%{ +72 "core" +383 #t-> PSR.flush + .PSR.select :flush +362 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%|' +2601 "core" ' + "processing"%}% +4 "core" %\  +391 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%~ +73 "core" +388 #t-> PTV.PRV + .PTV.dial PRV +375 #-> PRV.air + .PRV.dial :air +439 #-> PS.empty +2 .PS.seek 0ml + "processing"%' +2612 "core" ' + "processing"%% +4 "core" %\ +541 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"% +72 "core"  +384 #t-> PSR.air + .PSR.select :air +2 "processing"% +358 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2611 "core" ' + "processing"%% +4 "core" %\  +487 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +74 "core" +378 #t-> PTV.PRV + .PTV.dial PRV +346 #-> PRV.air + .PRV.dial :air +385 #-> PS.empty +2 .PS.seek 0ml + "processing"%' +2608 "core" ' + "processing"%\ % +4 "core" %\ +627 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +72 "core" +289 #t-> PSR.air + .PSR.select :air +508 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2598 "core" ' + "processing"%% +4 "core" %\  +422 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +5 "Can"\ ro +68 "core" +352 #t-> PTV.PRV + .PTV.dial PRV +501 #-> PRV.air + .PRV.dial :air +281 #-> PS.empty +2 .PS.seek 0ml + "processing"%' +2605 "core" ' + "processing"%% +4 "core" %\ +56187 "Can"\ /, +41279 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1614008136.47EST @1614028999.12EST = =mMAIN_scheduler =tMAIN @EST1614029000.83 #"core_reset"Sent BREAK +2 #t@23152 receive with ifg=0x10, ie=0xFD #@23787 receive with ifg=0x10, ie=0xFD + #@24443 receive with ifg=0x10, ie=0xFD + #@25077 receive with ifg=0x10, ie=0xFD #@25711 receive with ifg=0x10, ie=0xFD + #@26345 receive with ifg=0x10, ie=0xFD #@26979 receive with ifg=0x10, ie=0xFD + #@27305 receive with ifg=0x80, ie=0xFD #@11975 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +268 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +353 "Can"0\ 1. + 0\ 1. + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %!\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb + .tPS.hold + "processing"%+ +6 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % u \  + .tSS.configure :default +3 "sampler")#.0X PS.reconfigure PSslow +2 .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %% +2 "core" %\ +781 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing + "processing"%  +71 "core" +799 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +42 "core" +370 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +100 "core" +1960 #t-> PS>pull 1.5 + !o:SyntaxError: mesg"Xcompile error\ (ESP):5: syntax error, unexpected tFLOAT, expecting kDO or '{' or '(':bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +974 #-> PS.pull 1.5 + "processing"%% +3 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%' +3068 "core" ' + "processing"%% +4 "core" %\  +808 #t-> PRV.ab1 + .PRV.dial :ab1 +2 "processing"% @ +98 "core" ? +2994 #t-> PS.pull .15 + "processing"%% +3 "core" %\  +2 .tPS.seek 1.65ml +2 "processing"%' +356 "core" ' + "processing"% % +4 "core" %\ +506 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%!  +99 "core"  +531 #t-> PS.pull .3 + "processing"%"% +3 "core" %\ +2 .tPS.seek 1.95ml +2 "processing"%#'˦ +661 "core" ' + "processing"%$% +4 "core" %˦\  +2345 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%%' +3985 "core" ' + "processing"%&% +4 "core" %\ +1672 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %'% +2 "core" %\ +10662 #t-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +2 %(% +2 "core" %\ +637 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +520 #-> PSV.mixloop +2 .PSV.dial :mixloop +420 #-> PRV.sipper + .PRV.dial :sipper +600 #-> PS.pull 1.5 + "processing"%)% +3 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%*' +3073 "core" ' + "processing"%+% +4 "core" %\  +731 #t-> PRV.ab1 + .PRV.dial :ab1 +2 "processing"%, @ +99 "core" ? +1527 #t-> PS.pull .15 + "processing"%-% +3 "core" %\  +2 .tPS.seek 1.65ml + "processing"%.' +344 "core" ' + "processing"%/% +4 "core" %\  +463 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%0  +99 "core"  +958 #t-> PS.pull .3 + "processing"%1% +3 "core" %\  +2 .tPS.seek 1.95ml + "processing"%2'˙ +649 "core" ' + "processing"%3% +4 "core" %˞\  +1353 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%4' +3984 "core" ' + "processing"%5% +4 "core" %\ +2022 #t-> Ps.reconfigure PSconfig +2 !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):23:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +802 "Can"\ .+ +10 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %6% +2 "core" %\ +1804 #t-> PS.reconfigure PSslow +2 .PS.reconfigure :slow +2 "processing"%#A 2`xb +2 %7% +2 "core" %\ +620 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +463 #-> PSV.mixloop +2 .PSV.dial :mixloop +470 #-> PRV.sipper +2 .PRV.dial :sipper +581 #-> PS.pull 1.5 + "processing"%8% +3 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%9' +3071 "core" ' + "processing"%:% +4 "core" %\  +794 #t-> PRV.ab1 + .PRV.dial :ab1 +36 "processing"%; @ +105 "core" > +938 #t-> PS.pull .15 + "processing"%<% +3 "core" %\  +2 .tPS.seek 1.65ml +2 "processing"%=' +348 "core" ' + "processing"%>% +4 "core" %\  +356 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%?  +100 "core"  +574 #t-> PS.pull .3 + "processing"%@% +3 "core" %\  +2 .tPS.seek 1.95ml +2 "processing"%A'˝ +651 "core" ' + "processing"%B% +4 "core" %ˡ\  +1264 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%C' +3985 "core" ' + "processing"%D% +4 "core" %\ +1589 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +3 %E% +2 "core" %\ +1002 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'F& +3 "core" &1\ + .tHand.open + "manipulator"&G1 +27 "core" 1 + "manipulator"&H& +4 "core" & Y  + "manipulator"&I% +4 "core" %\  D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&J(, +174 "core" ( + "manipulator"&K& +4 "core" &, j 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &,  5 +2 .tForearm.seek :garage + "manipulator"&M'Ϧ +103 "core" ' + .tHand.close + "manipulator"&N/ +63 "core" / + "manipulator"&O& +4 "core" &,  5 + "manipulator"&P% +4 "core" % ϴ   +2 .tForearm.seek :retract + "manipulator"&Q'\ +106 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&R( +278 "core" ( + "manipulator"&S& +4 "core" &$  ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &$  ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&U'" +93 "core" ' + "manipulator"&V& +4 "core" &% U ;5 +2 "manipulator"&W% +3 "core" %  +2 "collection"'X& +3 "core" &0\ +2 "collection"'Y& +5 "core" &1\ +2 .tCC.seek :closed + "collection"'Z(V +3 "core" &6\ +9 &44\ $c +9 &U2\ 7 +10 &2\ L +9 &^2\ M +10 &ab4\ M +9 &#`6\ M +9 &_0\ N +10 &a0\ M +9 &i`3\ M +9 &*_4\ N +10 &`3\ M +9 &!c3\ M +10 &#qb0\ M +9 &%2a0\ N +9 &&]/\ M +10 &(\\3\ M +9 &*y\\*\ M +9 &,<[+\ M +10 &-^3\ N +9 &/^+\ M +10 &1].\ M +9 &3D[+\ M +9 &5^1\ M +10 &6^2\ M +9 &8`/\ M +9 &:Ja&\ N +10 &< b"\ M +9 &=b)\ M +11 &?]!\ M +8 &ASa \ M +9 &Cb!\ N +10 &Df*\ N +9 &Fm\ O +9 &HQ"\ Q +10 &J$\ U +9 &K"\ X +10 &M#\ X +9 &OD%\ X +9 &Q\ X +10 &R\ Y +9 &T"\ Y +9 &V"u\ . +10 &V(\ T +9 ( +2 &Vt\ P + "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + "collection"'[& +4 "core" &Vt\ P + .tHand.open + "manipulator"&\\1 +53 "core" 1 + "manipulator"&]% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^'\ +101 "core" ' +693 #t-> CTV.air + .CTV.dial :air +2 "collection"'_  +5 "core"  +669 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%` +102 "core"  +350 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +235 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%a' +2597 "core" ' + "processing"%b% +4 "core" %\  +768 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%c +103 "core" +616 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +867 #-> PRV.sipper +2 .PRV.dial :sipper +963 #-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%d' +2603 "core" ' + "processing"%e% +4 "core" %\ +1271 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%f  +129 "core"  +361 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%g +102 "core"  +186 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%h' +2603 "core" ' + "processing"%i% +4 "core" %\  +628 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%j +101 "core" +1060 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%k' +2614 "core" ' + "processing"%l% +4 "core" %\ +1807 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%m +102 "core"  +371 #t-> PSR.air + .PSR.select :air +2 "processing"% +763 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%n' +2602 "core" ' + "processing"%o% +4 "core" %\  +486 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%p +103 "core" +823 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%q' +2612 "core" ' + "processing"%r% +4 "core" %\ +7026 "Can"R\ RO +4733 #t-> CTV.air + .CTV.dial :air +446 #-> PSV.PSR + .PSV.dial PSR +2 "processing"%s +100 "core"  +688 #t-> PSR.flush + .PSR.select :flush +2 "processing"%@ +1462 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%t' +2605 "core" ' + "processing"%u% +4 "core" %\  +1167 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%v +102 "core" +482 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +797 #-> PRV.sipper + .PRV.dial :sipper +2 "processing"%w  +127 "core"  +1381 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%x' +2601 "core" ' + "processing"%y% +4 "core" %\ +1580 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%z  +127 "core"  +299 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%{ +101 "core" +365 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%|' +2602 "core" ' + "processing"%}% +4 "core" %\  +1990 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%~ +102 "core" +559 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +126 "core"  +5228 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %\ +4381 #t-> PSR.air + .PSR.select :air +2 "processing"% +674 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +110 "core" +1042 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %\  +539 #t-> PSV.mixloop +3 .PSV.dial :mixloop + "processing"% +102 "core" +1413 #t-> PRV.sipper +2 .PRV.dial :sipper +966 #-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%\ ' +2604 "core" ' + "processing"% % +4 "core" %\ +2647 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +102 "core"  +270 #t-> PSR.air + .PSR.select :air +420 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2609 "core" ' + "processing"%% +4 "core" %\  +753 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +103 "core" +1266 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%' +1718 "Can"G\ LJ +881 "core" ' + "processing"%% +4 "core" %\ +8785 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +4 !o:Storage::Warning: mesg"/Exiting with FlushPuck in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:545:in `writeAll'"2/home/esp/esp2/utils/storage.rb:540:in `each'"6/home/esp/esp2/utils/storage.rb:540:in `writeAll'"2/home/esp/esp2/utils/storage.rb:536:in `open'"6/home/esp/esp2/utils/storage.rb:536:in `writeAll'"(/home/esp/esp2/utils/storage.rb:552"4/home/esp/esp2/lib/framework.rb:160:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"-/home/esp/esp2/lib/thread.rb:754:in `[]'"0/home/esp/esp2/lib/thread.rb:754:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 #mEXIT @1614030903.79EST @1614096764.75EST = =mMAIN_scheduler =tMAIN @EST1614096766.48 #"core_reset"Sent BREAK +2 #t@21645 receive with ifg=0x10, ie=0xFD #@22278 receive with ifg=0x10, ie=0xFD + #@22932 receive with ifg=0x10, ie=0xFD + #@23565 receive with ifg=0x10, ie=0xFD #@24201 receive with ifg=0x10, ie=0xFD + #@24834 receive with ifg=0x10, ie=0xFD #@25467 receive with ifg=0x10, ie=0xFD + #@25793 receive with ifg=0x80, ie=0xFD + #@58938 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +352 "Can"2\ JH + 2\ JH + #tPolling Can every 10:00 +123 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %T\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \  + .tSS.configure :default +3 "sampler")#.0X PS.reconfigure PSslow + .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %!% +2 "core" %\ +689 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing + "processing"%"  +6 "core" +674 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%# +6 "core" +517 #t-> PRV.sipper +3 .PRV.dial :sipper + "processing"%$  +5 "core"  +1323 #t-> PS.pull 1.5 + "processing"%%% +3 "core" %\ +3 .tPS.seek 1.5ml + "processing"%&' +3069 "core" ' + "processing"%'% +4 "core" %\  +500 #t-> PRV.ab2 +3 .PRV.dial :ab2 + "processing"%(  +72 "core"  +1727 #t-> PS.pull .3 + "processing"%)% +3 "core" %x\  +2 .tPS.seek 1.8ml +2 "processing"%*' +647 "core" ' + "processing"%+% +4 "core" %\  +384 #t-> PRV.sipper +2 .PRV.dial :sipper +2 "processing"%,  +72 "core" +794 #t-> PS.pull .3 + "processing"%-% +3 "core" %\  +2 .tPS.seek 2.1ml +2 "processing"%.'ކ +651 "core" ' + "processing"%/% +4 "core" %ނ~\  +1678 #t-> delay 8; PS.empty + .delay 8 seconds +804 .PS.seek 0ml + "processing"%0' +4290 "core" ' + "processing"%1% +4 "core" %\ +3712 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +484 #-> PSV.mixloop +2 .PSV.dial :mixloop +314 #-> PRV.sipper +2 .PRV.dial :sipper +593 #-> PS.pull 1.5 + "processing"%2% +3 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%3' +3069 "core" ' + "processing"%4% +4 "core" %\  +797 #t-> PRV.ab2 +2 .PRV.dial :ab2 + "processing"%5  +70 "core"  +1155 #t-> PS.pull .3 + "processing"%6% +3 "core" %|\  +2 .tPS.seek 1.8ml +2 "processing"%7' +653 "core" ' + "processing"%8% +4 "core" %\  +750 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%9  +73 "core" +342 #t-> PS.pull .3 + "processing"%:% +3 "core" %\  +2 .tPS.seek 2.1ml + "processing"%;'މ +648 "core" ' + "processing"%<% +4 "core" %ކ\  +1705 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%=' +4288 "core" ' + "processing"%>% +4 "core" %\ +2624 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +423 #-> PSV.mixloop +2 .PSV.dial :mixloop +406 #-> PRV.sipper +2 .PRV.dial :sipper +820 #-> PS.pull 1.5 + "processing"%?% +3 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%@' +3068 "core" ' + "processing"%A% +4 "core" %\  +734 #t-> PRV.ab2 + .PRV.dial :ab2 +2 "processing"%B  +71 "core"  +741 #t-> PS.pull .3 + "processing"%C% +3 "core" %\  +2 .tPS.seek 1.8ml +2 "processing"%D' +657 "core" ' + "processing"%E% +4 "core" %\  +516 #t-> PRV.sipper +3 .PRV.dial :sipper + "processing"%F  +72 "core" +1107 #t-> PS.pull .3 +8 "processing"%G% +3 "core" %\  +2 .tPS.seek 2.1ml + "processing"%H'ޅ +657 "core" ' + "processing"%I% +4 "core" %ފ\  +1287 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%J' +4285 "core" ' + "processing"%K% +4 "core" %\ +1321 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +416 #-> PSV.mixloop +2 .PSV.dial :mixloop +271 "Can"\ IG +97 #t-> PRV.sipper +2 .PRV.dial :sipper +711 #-> PS.pull 1.5 + "processing"%L% +3 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%M' +3071 "core" ' + "processing"%N% +4 "core" %\  +4401 #t-> PRV.ab1 +2 .PRV.dial :ab1 + "processing"%O @ +100 "core" ? +1937 #t-> PS.pull .15 + "processing"%P% +3 "core" %\  +2 .tPS.seek 1.65ml + "processing"%Q' +344 "core" ' + "processing"%R% +4 "core" %\  +1034 #t-> PS.pull .15 + "processing"%S% +3 "core" %\  +2 .tPS.seek 1.8ml +2 "processing"%T' +346 "core" ' + "processing"%U% +4 "core" %\  +1301 #t-> PS.pull .15 + "processing"%V% +3 "core" %\  +2 .tPS.seek 1.95ml +2 "processing"%W'˞ +352 "core" ' + "processing"%X% +4 "core" %˙\  +1969 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%Y  +101 "core"  +415 #t-> PS.pull .3 +2 "processing"%Z% +3 "core" %˙\  +3 .tPS.seek 2.25ml + "processing"%['i +654 "core" ' + "processing"%\\% +4 "core" %e\  +1990 #t-> delay 8;PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%]' +4578 "core" ' + "processing"%^% +4 "core" %\ +35720 "Can"8\ HF +35849 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %_% +2 "core" %\ +1914 #t-> Flush.CC +2 "collection"'`& +3 "core" &Vn\ P + "collection"'a& +4 "core" &Vn\ P +757 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&b& +3 "core" &#  ;5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&c( +2 "core" ( + "manipulator"&d& +4 "core" &# \ ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +2 "core" &"  ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +97 "core" ' + .tHand.close + "manipulator"&g/ +62 "core" / + .tCC.seek :open +2 "collection"'h( +413 "core" ( + "manipulator"&i& +4 "core" &#  ;5 + "manipulator"&j% +4 "core" % )   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k'\ +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&l(, +276 "core" ( + "manipulator"&m& +4 "core" &,  [ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &, P [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&o'Ϧ +110 "core" ' +3 .tHand.open +2 "manipulator"&p1 +62 "core" 1 + "manipulator"&q% +4 "core" % ϩ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +104 "core" ' +538 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'s& +3 "core" &\  +2 "manipulator"&t& +4 "core" &,  [ + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(, +2 "core" ( + "manipulator"&v& +4 "core" &, 3 [ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &,  [ +2 .tForearm.seek :garage + "manipulator"&x'Ϧ +100 "core" ' + .tHand.close + "manipulator"&y/ +57 "core" / + "manipulator"&z& +4 "core" &,  [ +2 "manipulator"&{% +3 "core" % Ϻ  O +2 .tForearm.seek :retract + "manipulator"&|'\ +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&}( +276 "core" ( +2 "manipulator"&~& +4 "core" &)  @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( B @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + "manipulator"&& +4 "core" &)  @Y +2 "manipulator"&% +3 "core" %(  +2 "collection"'& +4 "core" &\  + "collection"'& +5 "core" &\  +2 .tCC.seek :closed + "collection"'(V +4 "core" &\  +9 &5$\ +} +9 &h\ ? +9 &s^\ M +10 &mZ\ L +9 &/_\ L +10 &_\ K +9 &\\\ K +9 &uY\ L +10 &7[\ L +9 &_\ L +9 & ] \ L +10 &"}[\ L +9 &$?Z\ L +10 &&Z\ L +9 &'_,\ L +9 &)\\\ L +10 &+G\\!\ L +9 &-\ `\ K +9 &.]N\ K +10 &0b\ L +9 &2P_\ K +10 &4`\ L +9 &5^\ \ L +9 &7[\ K +10 &9X[-\ K +9 &;^\ K +9 &<[ \ L +10 &>Z\ K +9 &@_[\ L +10 &B"\\\ K +9 &C_\ K +9 &E_\ L +11 &Gcl\ M +8 &I{\ O +9 &J\ U +10 &L\ \ W +9 &NO\ V +10 &P\ W +9 &Q\ W +9 &S \ Y +10 &UN\ N +9 &VqH\ \ , +9 &Vu\ R +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + "collection"'\ & +4 "core" &Vt\ R +2 .tHand.open + "manipulator"& 1 +60 "core" 1 + "manipulator"&% +4 "core" % (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +482 #t-> CTV.air + .CTV.dial :air +2 "collection"'  +4 "core"  +468 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +102 "core"  +370 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +396 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2600 "core" ' + "processing"%% +4 "core" %\  +705 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +104 "core" +611 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +1785 #-> PRV.sipper +2 .PRV.dial :sipper +3292 #-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%' +2612 "core" ' + "processing"%% +4 "core" %\ +2957 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%  +129 "core"  +440 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +102 "core"  +282 "Can">\ KI +198 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2600 "core" ' + "processing"%% +4 "core" %\  +1970 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +103 "core" +557 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +128 "core"  +1239 #t-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%' +2606 "core" ' + "processing"% % +4 "core" %\ +2437 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%! +101 "core" +348 #t-> PSR.air + .PSR.select :air +2 "processing"% +437 #t-> PSR.air + .PSR.select :air +572 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%"' +2602 "core" ' + "processing"%#% +4 "core" %\  +512 #t-> PSV.mixloop +2 .PSV.dial :mixloop +2 "processing"%$ +103 "core" +250 #t-> PRV.sipper +2 .PRV.dial :sipper +1085 #-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%%' +2609 "core" ' + "processing"%% +4 "core" %\ +2431 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%' +113 "core" +1060 #t-> PSR.air + .PSR.select :air +553 #-> PS.fill +4 .PS.seek 2.5ml + "processing"%(' +2595 "core" ' + "processing"%)% +4 "core" %\  +667 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%& +103 "core" +2673 #t-> PRV.sipper +2 .PRV.dial :sipper +829 #-> delay 8; PS.empty + .delay 8 seconds +803 .PS.seek 0ml + "processing"%+' +2597 "core" ' + "processing"%,% +4 "core" %\ +23442 "Can"=\ IG +60003 B\ IG +16432 #t-> exit +4 !o:Storage::Warning: mesg"/Exiting with FlushPuck in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:545:in `writeAll'"2/home/esp/esp2/utils/storage.rb:540:in `each'"6/home/esp/esp2/utils/storage.rb:540:in `writeAll'"2/home/esp/esp2/utils/storage.rb:536:in `open'"6/home/esp/esp2/utils/storage.rb:536:in `writeAll'"(/home/esp/esp2/utils/storage.rb:552"4/home/esp/esp2/lib/framework.rb:160:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"-/home/esp/esp2/lib/thread.rb:754:in `[]'"0/home/esp/esp2/lib/thread.rb:754:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 #mEXIT @1614099936.48EST @1614104516.51EST = =mMAIN_scheduler =tMAIN @EST1614104518.22 #"core_reset"Sent BREAK +2 #t@46137 receive with ifg=0x10, ie=0xFD #@46770 receive with ifg=0x10, ie=0xFD + #@47426 receive with ifg=0x10, ie=0xFD #@48059 receive with ifg=0x10, ie=0xFD + #@48692 receive with ifg=0x10, ie=0xFD + #@49325 receive with ifg=0x10, ie=0xFD #@49960 receive with ifg=0x10, ie=0xFD + #@50291 receive with ifg=0x80, ie=0xFD #@43751 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +265 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +343 "Can".\ KJ + .\ KJ + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +6 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \  + .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +32770 #-> primeCSRaqmeoh + #**Prepare to clean and prime CSR AqMeOH reagent** + .CSV.dial :air +2 "collection"'! @ +91 "core" B +2 .tCS.seek 0ml + "collection"'"' +5 "core" ' + .tCSV.dial CSR +2 "collection"'#  +86 "core"  + .tCSR.select :AqMeOH +2 "collection"'\ +10 #tAwaiting answer to "**Disinfect and attach CSR AqMeOH fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +941 .CS.seek 10ml +2 "collection"'$' V +2583 "core" ' + .tCSV.dial :waste1 +2 "collection"'% +163 "core" +2 .tCS.seek 0ml + "collection"'&' +2575 "core" ' + .tCSV.dial CSR +2 "collection"''  +162 "core"  +2 .tCS.seek 10ml + "collection"'(' V +2582 "core" ' + .tCSV.dial :waste1 +2 "collection"') +161 "core" +2 .tCS.seek 0ml + "collection"'*' +2589 "core" ' + .tCSV.dial CSR +2 "collection"'+  +164 "core"  +2 .tCS.seek 10ml + "collection"',' V +2580 "core" ' + .tCSV.dial :waste1 +2 "collection"'- +161 "core" +2 .tCS.seek 0ml + "collection"'.' +2580 "core" ' + .tCSV.dial CSR +2 "collection"'/  +164 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2463 "collection"'0% +3 "core" %\ +2 .tCS.seek 0.5ml + "collection"'1' +201 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +5386 "Can"1\ JG +18 .tCS.seek 10ml +2 "collection"'2' V +2477 "core" ' + .tCSV.dial :waste2 +2 "collection"'3 +50 "core"  +2 .tCS.seek 0ml + "collection"'4' +2585 "core" ' + .tCSV.dial CSR +2 "collection"'5  +44 "core"  +2 .tCS.seek 10ml + "collection"'6' V +2584 "core" ' + .tCSV.dial :waste2 +2 "collection"'7 +64 "core"  +2 .tCS.seek 0ml + "collection"'8' +2580 "core" ' + .tCSV.dial CSR +2 "collection"'9  +42 "core"  +2 .tCS.seek 10ml + "collection"':' V +2574 "core" ' + .tCSV.dial :waste2 +2 "collection"'; +52 "core"  +2 .tCS.seek 0ml + "collection"'<' +2580 "core" ' + .tCSV.dial CSR +2 "collection"'=  +43 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +2244 "collection"'>% +3 "core" %\ +2 .tCS.seek 0.5ml + "collection"'?' +209 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2180 .CS.seek 10ml +2 "collection"'@' V +2461 "core" ' + .tCSV.dial :waste1 +2 "collection"'A +129 "core" +2 .tCS.seek 0ml + "collection"'B' +2583 "core" ' + .tCSV.dial CSR +2 "collection"'C  +130 "core"  +2 .tCS.seek 10ml + "collection"'D' V +2580 "core" ' + .tCSV.dial :waste1 +2 "collection"'E +131 "core" +2 .tCS.seek 0ml + "collection"'F' +2579 "core" ' + .tCSV.dial CSR +2 "collection"'G  +129 "core"  +2 .tCS.seek 10ml + "collection"'H' V +2577 "core" ' + .tCSV.dial :waste1 +2 "collection"'I +132 "core" +2 .tCS.seek 0ml + "collection"'J' +2581 "core" ' + .tCSV.dial CSR +2 "collection"'K  +130 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2272 "collection"'L% +9 "core" %\ +2 .tCS.seek 0.5ml +2 "collection"'M' +209 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +20960 "Can"1\ JH +5460 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +2829 #**Priming reagent line** + "collection"'N% +3 "core" %\  +2 .tCS.seek 5.501ml +2 "collection"'O' +1326 "core" ' + .tCSV.dial :waste1 +2 "collection"'P +131 "core" +2 .tCS.seek 0ml + "collection"'Q' +1454 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"'  +9 .tCSV.dial CSR + "collection"'R  +129 "core"  + "collection"'S% +4 "core" %\ +2 .tCS.seek 5ml +2 "collection"'T'q +1335 "core" ' + .tCSV.dial :waste1 +2 "collection"'U +131 "core" +2 .tCS.seek 0ml + "collection"'V' +1332 "core" ' + .tCSR.select :air + "collection"' +10 .tCSV.dial CSR + "collection"'W  +131 "core"  +2 .tCS.seek 10ml + "collection"'X' V +2584 "core" ' + .tCSV.dial :waste1 +2 "collection"'Y +131 "core" +2 .tCS.seek 0ml + "collection"'Z' +2585 "core" ' + #t**SUCCESSFULLY PRIMED CSR AQMEOH REAGENT** +36193 #-> PTV.PRVmixing +2 .PTV.dial :PRVmixing + "processing"%[  +5 "core" +784 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%\\ +5 "core" +729 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%]  +16 "core" +1402 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%^' +1234 "Can"%\ ON +1363 "core" ' + "processing"%_% +4 "core" %\  +552 #t-> PSV.waste1 +3 .PSV.dial :waste1 + "processing"%`  +131 "core"  +361 #t-> PS.empty +2 .PS.seek 0ml + "processing"%a' +2600 "core" ' + "processing"%b% +4 "core" %\ +1067 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%c +133 "core" +1225 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +756 #-> PRV.sipper +2 .PRV.dial :sipper +3896 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1002 "processing"%d% +3 "core" %7\ +2 .tPS.seek 1.5ml +2 "processing"%e' +1597 "core" ' + "processing"%f% +4 "core" %)\  +2360 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%g  +126 "core"  +574 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'h  +100 "core" +890 #t-> PS.reconfigure PSslow +2 .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %i% +2 "core" %$\  +1934 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1002 "processing"%j% +3 "core" %,\  +2 .tPS.seek 0.9ml +2 "processing"%k'GP +1263 "core" ' + "processing"%l% +4 "core" %GM6\ +892 #t-> PRV.air + .PRV.dial :air +2 "processing"%m  +43 "core"  +805 #t-> PS.reconfigure Psconfig +2 !o:NameError: mesg"$uninitialized constant Psconfig: name: Psconfig:bt["(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1440 #-> PS.empty +2 .PS.seek 0ml + "processing"%n' +1860 "core" ' + "processing"%o% +4 "core" %4\ +426 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%p  +99 "core" +390 #t-> Ps.fill + !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +369 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%q' +5095 "core" ' + "processing"%r% +4 "core" %/\  +617 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%s  +142 "core"  +733 #t-> PS.empty +2 .PS.seek 0ml + "processing"%t' +5088 "core" ' + "processing"%u% +4 "core" %.\ +1142 #t-> PTV.to :PRVmixing +2 .PTV.dial :PRVmixing +979 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%v +131 "core" +434 #t-> PRV.CBV +2 .PRV.dial CBV +2 "processing"%w  +126 "core" +324 #t-> CBV.PRV + .CBV.dial PRV +1019 #-> Ps.reconfigure PSslow +2 !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1443 #-> PS.reconfigure PSslow +2 "processing"%x% +3 "core" %,\ +1428 #t-> PS.pull .15 + "processing"%y% +3 "core" %8\ +3 .tPS.seek 0.15ml +2 "processing"%z' +346 "core" ' + "processing"%{% +4 "core" %/\  +486 #t-> PRV.air +2 .PRV.dial :air + "processing"%|  +42 "core"  +742 #t-> PS.pull .3 + "processing"%}% +3 "core" %+\  +2 .tPS.seek 0.45ml +2 "processing"%~' +651 "core" ' + "processing"%% +4 "core" %<\  +461 #t-> PSV.air + .PSV.dial :air +2 "processing"%  +44 "core"  +551 #t-> PS.pull 1.2 +2 "processing"%% +3 "core" %8\  +2 .tPS.seek 1.65ml +2 "processing"%' +2465 "core" ' + "processing"%% +4 "core" %3\  +567 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +44 "core" +339 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +98 "core" +386 #t-> PS.sipper +2 !o:NoMethodError : mesgu:NameError::message-undefined method `sipper' for PS:Syringe: name: sipper: args[:bt[ "8/home/esp/esp2/lib/slide.rb:387:in `method_missing'"(ESP):38:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +952 #-> PRV.sipper +2 .PRV.dial :sipper +1260 #-> PS.empty +2 .PS.seek 0ml + "processing"%\ ' +2432 "Can"<\ RO +938 "core" ' + "processing"% % +4 "core" %4\ +1950 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +3 %% +2 "core" %4\ +424 #t-> CTV.air + .CTV.dial :air +2 "collection"'  +5 "core"  +952 #t-> Flush.CC + "collection"'& +3 "core" &Vr\ R +2 "collection"'& +4 "core" &Vr\ R +796 #t-> PRV.connect CBV + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  +128 "core"  +314 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +101 "core"  +464 #t-> PSR.flush + .PSR.select :flush +3 "processing"%j +268 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %4\  +785 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +436 #-> PSV.mixloop + .PSV.dial :mixloop +2 "processing"% +104 "core" +342 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2605 "core" ' + "processing"%% +4 "core" %4\ +432 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +114 "core"  +221 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2603 "core" ' + "processing"%% +4 "core" %5\  +492 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +101 "core" +654 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2601 "core" ' + "processing"% % +4 "core" %+\ +415 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%! +102 "core"  +222 #t-> PSR.air + .PSR.select :air +2 "processing"% +343 #t-> Ps.fill + !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):57:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +293 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%#' +2598 "core" ' + "processing"%% +4 "core" %/\  +538 #t-> PSV.mixloop +3 .PSV.dial :mixloop +2 "processing"%" +102 "core" +439 #t-> PS.empty +2 .PS.seek 0ml + "processing"%%' +2598 "core" ' + "processing"%$% +4 "core" %.\ +371 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%' +101 "core"  +351 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%&' +2598 "core" ' + "processing"%)% +4 "core" %2\  +432 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%( +103 "core" +276 #t-> PS.empty +2 .PS.seek 0ml + "processing"%+' +2596 "core" ' + "processing"%*% +4 "core" %.\ +543 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&-& +3 "core" &(  @Y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +40 .tElbow.seek CC +10 "manipulator"&,( +2 "core" ( +2 "manipulator"&/& +3 "core" &(  @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &(  @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&.'" +97 "core" ' + .tHand.close + "manipulator"&1/ +61 "core" / + .tCC.seek :open +2 "collection"'3( +417 "core" ( + "manipulator"&2& +4 "core" &) K @Y + "manipulator"&5% +4 "core" % ) e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&7(, +279 "core" ( + "manipulator"&6& +4 "core" &,  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +2 "core" &, ! 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&8'Ϧ +108 "core" ' +2 .tHand.open +2 "manipulator"&;1 +64 "core" 1 + "manipulator"&:% +4 "core" % ϭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +6986 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +442 #-> PSV.mixloop +2 .PSV.dial :mixloop +402 #-> PRV.sipper +2 .PRV.dial :sipper + "processing"%>  +125 "core" +727 #t-> PS.fil +2 !o:NoMethodError : mesgu:NameError::message*undefined method `fil' for PS:Syringe: name:fil: args[:bt[ "8/home/esp/esp2/lib/slide.rb:387:in `method_missing'"(ESP):69:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +436 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%<' +2602 "core" ' + "processing"%?% +4 "core" %.\  +700 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%A  +130 "core"  +565 #t-> PS.empty +2 .PS.seek 0ml + "processing"%@' +2604 "core" ' + "processing"%C% +4 "core" %*\ +803 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%B +129 "core" +605 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +776 #-> PRV.sipper +2 .PRV.dial :sipper +3057 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1002 "processing"%E% +3 "core" %1\ +2 .tPS.seek 1.5ml +2 "processing"%D' +917 "Can"9\ 53 +672 "core" ' + "processing"%G% +4 "core" %2\  +3280 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%F  +124 "core"  +432 #t-> CBV.PRV +2 .CBV.dial PRV +748 #-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +3 %I% +2 "core" %8\  +1249 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 "processing"%H% +2 "core" %9\  +2 .tPS.seek 0.9ml +2 "processing"%K'GG +1253 "core" ' + "processing"%L% +4 "core" %GH0\ +1253 #t-> PRV.air +2 .PRV.dial :air + "processing"%J  +42 "core"  +822 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +3 %N% +2 "core" %GHB\ +1261 #t-> PS.empty +2 .PS.seek 0ml + "processing"%M' +992 "core" ' + "processing"%P% +4 "core" %(\ +579 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%O  +99 "core" +547 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%R' +2605 "core" ' + "processing"%S% +4 "core" %/\  +647 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%Q  +131 "core"  +439 #t-> PS.empty +2 .PS.seek 0ml + "processing"%U' +2600 "core" ' + "processing"%T% +4 "core" %4\ +1933 #t-> PTV.to :PRVmixing + .PTV.dial :PRVmixing +785 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%W +129 "core" +574 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%V  +125 "core"  +382 #t-> CBV.PRV +3 .CBV.dial PRV +660 #-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +3 %Y% +2 "core" %8\ +924 #t-> PS.pull .15 + "processing"%X% +3 "core" %A\ +2 .tPS.seek 0.15ml +2 "processing"%[' +347 "core" ' + "processing"%\\% +4 "core" %0\  +458 #t-> PRV.air + .PRV.dial :air +2 "processing"%]  +43 "core"  +515 #t-> PS.pull .3 + "processing"%% +3 "core" %=\  +2 .tPS.seek 0.45ml +2 "processing"%_' +658 "core" ' + "processing"%`% +4 "core" %.\  +348 #t-> PSV.air +2 .PSV.dial :air + "processing"%^  +55 "core" +1054 #t-> PS.pull 1.2 + "processing"%b% +3 "core" %@\  +2 .tPS.seek 1.65ml + "processing"%c' +2463 "core" ' + "processing"%d% +4 "core" %/\  +526 #t-> PSV.mixloop +3 .PSV.dial :mixloop +2 "processing"%a +42 "core" +587 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%f  +99 "core" +1530 #t-> PS.empty +2 .PS.seek 0ml + "processing"%g' +3372 "core" ' + "processing"%h% +4 "core" %1\ +2468 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %i% +2 "core" %+\ +403 #t-> CTV.air + .CTV.dial :air +315 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'j& +3 "core" & \ +2 "manipulator"&e& +3 "core" &,  3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&l(, +3 "core" ( + "manipulator"&m& +4 "core" &,  3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &,  3 +2 .tForearm.seek :garage + "manipulator"&o'Ϧ +103 "core" ' + .tHand.close + "manipulator"&p/ +59 "core" / + "manipulator"&n& +4 "core" &,  3 +2 "manipulator"&r% +3 "core" % Ϲ   +2 .tForearm.seek :retract + "manipulator"&s'\ +107 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&q( +281 "core" ( + "manipulator"&u& +4 "core" &, 5 Bl + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &, Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w'" +104 "core" ' + "manipulator"&x& +4 "core" &,  Bl +2 "manipulator"&y% +3 "core" %"  +2 "collection"'t& +4 "core" &  \ + "collection"'{& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'|(V +4 "core" & #\ +8 & 2  \ %g +10 &U  "\ 8 +9 &  !\ M +9 &Z \ M +10 &e^  \ M +9 &'\\   \ M +10 &Z \ M +9 &] %\ M +9 &n] !\ M +10 &0]  \ M +9 &\\  \ M +9 &!Z \ M +10 &#u]  \ M +9 &%8^  \ M +10 &&\\  \ M +9 &(\\ \ M +9 &*~\\ \ M +10 &,@\\ \ M +9 &.\\  \ M +9 &/\\ \ M +10 &1]\ M +9 &3G\\  \ M +10 &5 X  \ M +9 &6\\\ M +9 &8Z   \ M +10 &:Q]  \ M +9 &<^ \ M +9 &=]  \ M +10 &?] \ M +9 &AY]  \ M +10 &C\\  \ M +9 &D` \ N +9 &Ff   \ N +10 &HW|   \ P +9 &J \ T +9 &K \ X +10 &M\ X +9 &OG\ X +10 &Q \ X +9 &R\ Y +9 &T\ Y +10 &V(v\ . +9 &V#\ S +6 ( + "collection"'{& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + "collection"'}& +4 "core" &Vy\ R + &Vz\ R + .tHand.open + "manipulator"&z1 +54 "core" 1 + "manipulator"&% +4 "core" % "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +607 #t-> PRV.connect CBV + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  +126 "core"  +397 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%~ +101 "core"  +402 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%@ +363 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %+\  +869 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +441 #-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +103 "core" +282 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2606 "core" ' + "processing"% % +4 "core" %8\ +451 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +102 "core"  +322 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2604 "core" ' + "processing"%% +4 "core" %,\  +536 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +103 "core" +293 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2595 "core" ' + "processing"%% +4 "core" %5\ +395 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%\ +101 "core"  +436 #t-> PSR.air + .PSR.select :air +2 "processing"% +19 "Can""\ KI +717 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2612 "core" ' + "processing"%% +4 "core" %2\  +460 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +102 "core" +336 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2603 "core" ' + "processing"%% +4 "core" %?\ +456 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +100 "core" +204 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %C\  +506 #t-> PSV.mixloop +2 .PSV.dial :mixloop +2 "processing"% +102 "core" +252 #t-> PS.empty +2 .PS.seek 0ml + "processing"% ' +2609 "core" ' + "processing"%!% +4 "core" %6\ +617 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &+  Bl +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" &+  Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +2 "core" &+  Bl +2 .tForearm.seek CC +2 "manipulator"&$'" +94 "core" ' + .tHand.close + "manipulator"&'/ +60 "core" / + .tCC.seek :open +2 "collection"'%( +421 "core" ( + "manipulator"&)& +4 "core" &+  Bl + "manipulator"&(% +4 "core" % "  +2 .tForearm.seek :retract + "manipulator"&&'\ +101 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&*(, +283 "core" ( + "manipulator"&-& +4 "core" &,  6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" &,  6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&0'Ϧ +104 "core" ' + .tHand.open + "manipulator"&11 +58 "core" 1 + "manipulator"&% +4 "core" % ϯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +34423 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +384 #-> PSV.mixloo +2 !o:NoMethodError : mesgu:NameError::message,undefined method `mixloo' for PSV:Shaft: name: mixloo: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):126:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +278 #-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +127 "core" +397 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%2' +2609 "core" ' + "processing"%5% +4 "core" %2\  +581 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%.  +130 "core"  +613 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%6' +2605 "core" ' + "processing"%9% +4 "core" %,\ +578 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%, +131 "core" +710 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +392 #-> PRV.sipper +2 .PRV.dial :sipper +375 "Can""\ 30 +1153 #t-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 "processing"%;% +2 "core" %2\ +2 .tPS.seek 1.5ml +2 "processing"%:' +1595 "core" ' + "processing"%4% +4 "core" %0\  +1545 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%8  +125 "core" +337 #t-> CBV.PRV + .CBV.dial PRV +793 #-> PS.reconfigure PSslow +2 .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %>% +2 "core" %4\  +1304 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1002 "processing"%+% +3 "core" %-\  +2 .tPS.seek 0.9ml +2 "processing"%?'GH +1264 "core" ' + "processing"%A% +4 "core" %GD9\ +459 #t-> PRV.air + .PRV.dial :air +2 "processing"%<  +42 "core"  +824 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %C% +2 "core" %GD/\ +452 #t-> PS.empty +2 .PS.seek 0ml + "processing"%B' +987 "core" ' + "processing"%E% +4 "core" %A\ +662 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%@  +99 "core" +496 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%G' +2598 "core" ' + "processing"%F% +4 "core" %3\  +459 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%I  +130 "core"  +350 #t-> PS.empty +2 .PS.seek 0ml + "processing"%H' +2594 "core" ' + "processing"%D% +4 "core" %7\ +937 #t-> PTV.to :PRVmixing +2 .PTV.dial :PRVmixing +910 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%L +132 "core" +398 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%J  +127 "core"  +370 #t-> CBV.PRV +2 .CBV.dial PRV +846 #-> PS.reconfigure PSslow +2 .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %N% +2 "core" %+\ +2449 #t-> PS.pull .15 + "processing"%K% +3 "core" %=\ +2 .tPS.seek 0.15ml +2 "processing"%P' +349 "core" ' + "processing"%O% +4 "core" %6\  +594 #t-> PRV.air + .PRV.dial :air +2 "processing"%M  +41 "core"  +635 #t-> PS.pull .3 + "processing"%S% +3 "core" %2\  +2 .tPS.seek 0.45ml + "processing"%Q' +658 "core" ' + "processing"%R% +4 "core" %A\  +793 #t-> PSV.air + .PSV.dial :air +2 "processing"%T  +43 "core"  +362 #t-> PS.pull 1.2 + "processing"%W% +3 "core" %?\  +2 .tPS.seek 1.65ml +2 "processing"%V' +2474 "core" ' + "processing"%Y% +4 "core" %=\  +469 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%X +45 "core" +350 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%U  +98 "core" +522 #t-> PS.empty +2 .PS.seek 0ml + "processing"%\\' +3374 "core" ' + "processing"%]% +4 "core" %7\ +3249 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +3 %% +2 "core" %+\ +442 #t-> CTV.air + .CTV.dial :air +314 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'[& +3 "core" &  \ +2 "manipulator"&`& +4 "core" &,  6 + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(, +7 "core" ( + "manipulator"&b& +4 "core" &,  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +2 "core" &,  2 +2 .tForearm.seek :garage + "manipulator"&d'Ϧ +102 "core" ' + .tHand.close + "manipulator"&a/ +63 "core" / + "manipulator"&f& +4 "core" &,  2 +2 "manipulator"&c% +3 "core" % Ϲ  1 +2 .tForearm.seek :retract + "manipulator"&h'\ +106 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&i( +280 "core" ( + "manipulator"&j& +4 "core" &+  Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &+  Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +103 "core" ' + "manipulator"&k& +4 "core" &+  Ab +2 "manipulator"&p% +3 "core" %  +2 "collection"'n& +4 "core" & \ +2 "collection"'r& +4 "core" &   \ +2 .tCC.seek :closed +2 "collection"'7(V +4 "core" & \ \ +8 & +  \ #b +9 &V  \ 8 +9 &} \ L +10 &X  \ L +9 &a_   \ M +9 &#[  \ M +10 &Y  \ M +9 &\\   \ M +10 &jX  \ M +9 &,\\  \ M +9 &[  \ M +10 &!Z  \ M +9 &#q\\  \ M +9 &%3^\  \ M +10 &&\\  \ M +9 &([  \ M +10 &*y\\  \ M +9 &,;\\  \ M +9 &-\\ \ M +10 &/\\ \ N +9 &1]  \ M +9 &3DZ  \ M +10 &5[ \ M +9 &6]  \ M +10 &8[ \ M +9 &:K]  \ M +9 &< _  \ N +10 &=] \ M +9 &?Z  \ M +9 &AS\\  \ M +10 &C_  \ M +9 &D`  \ N +10 &Ff  \ N +9 &HTy \ P +9 &J \ T +10 &K\ \ X +9 &M\ X +9 &OD\ X +10 &Q\ X +9 &R\ Y +10 &T\ Y +9 &V$v\ . +9 &V%\ R +11 ( + &Vu\ P + "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + "collection"'=& +4 "core" &Vu\ P + .tHand.open + "manipulator"&o1 +54 "core" 1 + "manipulator"&u% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v'\ +100 "core" ' +729 #t-> PRV.connect CBV + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%l  +125 "core"  +520 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%x +99 "core"  +668 #t-> PSR.flush + .PSR.select :flush +2 "processing"%@ +538 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%y' +2603 "core" ' + "processing"%t% +4 "core" %5\  +591 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +493 #-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%s +104 "core" +235 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%3' +2597 "core" ' + "processing"%}% +4 "core" %:\ +419 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%z +101 "core"  +214 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2607 "core" ' + "processing"%{% +4 "core" %@\  +439 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%w +103 "core" +289 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%' +2598 "core" ' + "processing"%~% +4 "core" %?\ +471 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%g +102 "core"  +461 #t-> PSR.air + .PSR.select :air +2 "processing"% +49 "Can""\ GD +362 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2607 "core" ' + "processing"%% +4 "core" %8\  +508 #t-> PSV.mixloop +3 .PSV.dial :mixloop + "processing"% +102 "core" +259 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"% ' +2599 "core" ' + "processing"%% +4 "core" %4\ +392 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +113 "core"  +189 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %3\  +570 #t-> PSV.mixloop + .PSV.dial :mixloop +2 "processing"% +102 "core" +223 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%' +2606 "core" ' + "processing"%\ % +4 "core" %5\ +1121 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &(  ?P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +35 "core" ( + "manipulator"&& +4 "core" &  P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &  P +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tCC.seek :open +2 "collection"'( +417 "core" ( + "manipulator"&& +4 "core" &  P + "manipulator"&% +4 "core" % 6  + .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&!(, +278 "core" ( + "manipulator"&& +4 "core" &,  + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +2 "core" &,  + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&#'Ϧ +112 "core" ' +2 .tHand.open + "manipulator"&'1 +58 "core" 1 + "manipulator"&q% +4 "core" % ϫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +44263 "Can"&\ 0. +14375 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1614110068.53EST @1614110477.44EST = =mMAIN_scheduler =tMAIN @EST1614110479.16 #"core_reset"Sent BREAK +2 #t@49556 sendCRC with ifg=0x20, ie=0x7F #@51391 sendCRC with ifg=0x08, ie=0x5F + #@28453 idle with ifg=0x84, ie=0x75 #@29134 select with ifg=0x10, ie=0xF5 + #@29781 receive with ifg=0x10, ie=0xFD + #@30428 receive with ifg=0x10, ie=0xFD #@31074 receive with ifg=0x10, ie=0xFD + #@31401 receive with ifg=0x80, ie=0xFD #@50842 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +345 "Can")\ 30 + )\ 30 + #tPolling Can every 10:00 +123 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +3 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %9\ + .tPS.configure :default +3 "processing"%#A d`xb + .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %  +2 .tSS.configure :default +2 "sampler")#.0X PTV.PRVmixing +2 .PTV.dial :PRVmixing + "processing"%  +5 "core" +407 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +15 "core" +533 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +125 "core"  +213 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2601 "core" ' + "processing"%% +4 "core" %7\  +434 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%  +132 "core"  +274 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2603 "core" ' + "processing"%% +4 "core" %,\ +625 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +131 "core" +481 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +540 #-> PRV.sipper +4 .PRV.dial :sipper +1224 #-> delay 10: PS.pull 1.5 +2 !o:SyntaxError: mesg"jcompile error\ (ESP):10: syntax error, unexpected ':', expecting $end\ delay 10: PS.pull 1.5\ ^:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1671 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1002 "processing"%% +3 "core" %1\ +2 .tPS.seek 1.5ml +2 "processing"% ' +1591 "core" ' + "processing"%!% +4 "core" %/\  +1723 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%"  +127 "core"  +272 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'#  +4 "core" +728 #t-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +2 %$% +2 "core" %+\  +1330 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1002 "processing"%%% +3 "core" %(\  +2 .tPS.seek 0.9ml +2 "processing"%&'GJ +1255 "core" ' + "processing"%'% +4 "core" %GK.\ +745 #t-> PRV.air + .PRV.dial :air +2 "processing"%(  +41 "core"  +608 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +3 %)% +2 "core" %GK/\ +346 #t-> PS.empty +2 .PS.seek 0ml + "processing"%*' +990 "core" ' + "processing"%+% +4 "core" %(\ +539 #t-> PRV.sipper +3 .PRV.dial :sipper + "processing"%,  +99 "core" +407 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%-' +2598 "core" ' + "processing"%.% +4 "core" %.\  +422 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%/  +128 "core"  +363 #t-> PS.empty +2 .PS.seek 0ml + "processing"%0' +2607 "core" ' + "processing"%1% +4 "core" %9\ +1241 #t-> PTV.to :PRVmixing + .PTV.dial :PRVmixing +793 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%2 +129 "core" +483 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%3  +125 "core"  +357 #t-> CBV.PRV + .CBV.dial PRV +877 #-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +2 %4% +2 "core" %#\ +1046 #t-> PS.pull .15 + "processing"%5% +3 "core" %6\ +2 .tPS.seek 0.15ml +2 "processing"%6' +352 "core" ' + "processing"%7% +4 "core" %2\  +513 #t-> PRV.air + .PRV.dial :air +2 "processing"%8  +43 "core"  +425 #t-> PS.pull .3 + "processing"%9% +3 "core" %5\  +2 .tPS.seek 0.45ml +2 "processing"%:' +646 "core" ' + "processing"%;% +4 "core" %?\  +498 #t-> PSV.air +2 .PSV.dial :air +35 "processing"%<  +50 "core"  +854 #t-> PS.pull 1.2 + "processing"%=% +3 "core" %/\  +2 .tPS.seek 1.65ml +2 "processing"%>' +2464 "core" ' + "processing"%?% +4 "core" %"\  +786 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%@ +45 "core" +357 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%A  +98 "core" +1243 #t-> PS.empty +2 .PS.seek 0ml + "processing"%B' +3373 "core" ' + "processing"%C% +4 "core" %2\ +2185 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %D% +2 "core" %1\ +514 #t-> CTV.air + .CTV.dial :air +2 "collection"'E  +5 "core"  +740 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'F& +3 "core" &  \ + .tHand.open + "manipulator"&G1 +24 "core" 1 + "manipulator"&H& +4 "core" &,  + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&I(, +3 "core" ( + "manipulator"&J& +4 "core" &,  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +2 "core" &,  + +2 .tForearm.seek :garage +2 "manipulator"&L'Ϧ +103 "core" ' + .tHand.close + "manipulator"&M/ +63 "core" / + "manipulator"&N& +4 "core" &, " + +2 "manipulator"&O% +3 "core" % ϵ 9 # +2 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Q( +279 "core" ( + "manipulator"&R& +4 "core" &*  @^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &*  @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'" +102 "core" ' + "manipulator"&U& +4 "core" &*  @^ +2 "manipulator"&V% +3 "core" %"  +2 "collection"'W& +3 "core" & \ +2 "collection"'X& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'Y(V +4 "core" & \  +9 &/ \ +{ +10 &e \ ? +9 &xx \ N +9 &<Y  \ M +10 &] \ M +9 &\\ \ M +10 &\\\ N +9 &EZ\ M +9 &\\ \ M +10 &[ \ N +9 & \\ \ M +9 &"L\\ \ M +10 &$]\ M +9 &%] \ M +10 &'\\ \ M +9 &)TZ  \ M +9 &+\\ \ M +10 &,^ \ M +9 &.\\ \ M +9 &0]] \ M +10 &2\\  \ M +9 &3] \ M +10 &5[ \ N +9 &7eZ\ \ M +9 &9'] \ M +10 &:\\ \ M +9 &<`\ M +9 &>k^ \ N +10 &@.\\ \ M +9 &A] \ M +10 &C\\\ M +9 &Et` \ M +9 &G1p \ O +10 &H \ Q +9 &J \ V +9 &L]\ \ X +10 &N!\ W +9 &O\ X +10 &Q\ X +9 &Sa\ Y +9 &U"\ Z +10 &VpD\ / +9 &Vw\ S +2 ( +2 "collection"'X& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 "collection"'Z& +3 "core" &Vm\ S + .tHand.open +2 "manipulator"&[1 +59 "core" 1 + "manipulator"&\\% +4 "core" % !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]'\ +93 "core" ' +683 #t-> PRV.connect CBV + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%^  +127 "core"  +337 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%_ +112 "core"  +840 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +757 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%`' +2605 "core" ' + "processing"%a% +4 "core" %0\  +571 "Can"3\ HE +320 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +543 #-> PSV.mixloop +3 .PSV.dial :mixloop +2 "processing"%b +101 "core" +832 #t-> PS.empty +2 .PS.seek 0ml + "processing"%c' +2605 "core" ' + "processing"%d% +4 "core" %!\ +587 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%e +113 "core"  +180 #t-> Ps.fill + !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):47:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +337 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%f' +2599 "core" ' + "processing"%g% +4 "core" %4\  +494 #t-> PSV.mixloop +2 .PSV.dial :mixloop +4 "processing"%h +102 "core" +325 #t-> PS.empty +2 .PS.seek 0ml + "processing"%i' +2594 "core" ' + "processing"%j% +4 "core" %0\ +429 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%k +102 "core"  +257 #t-> PSR.air + .PSR.select :air +2 "processing"% +314 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%l' +2605 "core" ' + "processing"%m% +4 "core" %4\  +480 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%n +101 "core" +268 #t-> PS.empty +2 .PS.seek 0ml + "processing"%o' +2603 "core" ' + "processing"%p% +4 "core" %/\ +418 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%q +102 "core"  +211 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%r' +2599 "core" ' + "processing"%s% +4 "core" %*\  +423 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%t +103 "core" +276 #t-> PS.empty +2 .PS.seek 0ml + "processing"%u' +2608 "core" ' + "processing"%v% +18 "core" %5\ +428 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&w& +3 "core" &)  @] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&x( +2 "core" ( +2 "manipulator"&y& +3 "core" &(  @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" &(  @] +2 .tForearm.seek CC + "manipulator"&{'" +96 "core" ' + .tHand.close + "manipulator"&|/ +65 "core" / + .tCC.seek :open +2 "collection"'}( +421 "core" ( + "manipulator"&~& +4 "core" &)  @] + "manipulator"&% +3 "core" % $  +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +288 "core" ( + "manipulator"&& +4 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +112 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&\ % +4 "core" % ϫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +104 "core" ' +32507 "Can"+\ 20 +26232 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1614111947.22EST @1614114371.41EST = =mMAIN_scheduler =tMAIN @EST1614114373.14 #"core_reset"Sent BREAK +2 #t@34992 sendCRC with ifg=0x20, ie=0x7F #@36827 sendCRC with ifg=0x08, ie=0x5F + #@22279 idle with ifg=0x84, ie=0x75 #@22963 select with ifg=0x10, ie=0xF5 + #@23610 receive with ifg=0x10, ie=0xFD + #@24257 receive with ifg=0x10, ie=0xFD #@24904 receive with ifg=0x10, ie=0xFD + #@25231 receive with ifg=0x80, ie=0xFD #@42873 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +272 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +364 "Can"6\ 85 +19 6\ 85 + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +6 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +2 "sampler")#.0X PTV.PRVmixing +2 .PTV.dial :PRVmixing + "processing"%  +5 "core" +389 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +5 "core" +343 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +125 "core" +332 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2608 "core" ' + "processing"%% +4 "core" %\  +1958 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +131 "core"  +252 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2605 "core" ' + "processing"%% +4 "core" %\ +1267 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +129 "core" +745 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +352 #-> PRV.sipper +2 .PRV.dial :sipper +1771 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 "processing"%% +2 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"% ' +1588 "core" ' + "processing"%!% +4 "core" %\  +903 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%"  +125 "core" +658 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'#  +4 "core" +776 #t-> PSreconfigure PSslow + !o:NoMethodError : mesg"6undefined method `PSreconfigure' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1106 #-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +2 %$% +2 "core" %\  +2058 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1002 "processing"%%% +3 "core" %\  +2 .tPS.seek 0.9ml + "processing"%&'GJ +1258 "core" ' + "processing"%'% +4 "core" %GO\ +838 #t-> PRV.air + .PRV.dial :air +2 "processing"%(  +42 "core"  +1151 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +2 %)% +2 "core" %GO\ +573 #t-> PS.empty +2 .PS.seek 0ml + "processing"%*' +996 "core" ' + "processing"%+% +4 "core" %\ +674 #t-> PS.empty +2 .PS.seek 0ml + "processing"%,' +6 "core" ' + "processing"%-% +4 "core" %\ +1517 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%.  +98 "core" +274 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%/' +2597 "core" ' + "processing"%0% +4 "core" %\  +885 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%1  +130 "core"  +579 #t-> PS.empty +2 .PS.seek 0ml + "processing"%2' +2607 "core" ' + "processing"%3% +4 "core" %\ +1017 #t-> PTV.to :PRVmixing + .PTV.dial :PRVmixing +816 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%4 +131 "core" +593 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%5  +125 "core"  +416 #t-> CBV.PRV +2 .CBV.dial PRV +721 #-> PS.reconfigure PSslow +3 .PS.reconfigure :slow +4 "processing"%#A 2`xb +3 %6% +5 "core" %\ +1139 #t-> PS.pull .18 + "processing"%7% +3 "core" %\ +2 .tPS.seek 0.18ml + "processing"%8' +409 "core" ' + "processing"%9% +4 "core" %\  +508 #t-> PRV.air + .PRV.dial :air +2 "processing"%:  +42 "core"  +351 #t-> PS.pull .3 + "processing"%;% +3 "core" %\  +2 .tPS.seek 0.48ml +2 "processing"%<'S +658 "core" ' +7 "processing"%=% +4 "core" %U\  +369 #t-> PSV.air + .PSV.dial :air +2 "processing"%>  +44 "core"  +429 #t-> PS.pull 1.2 + "processing"%?% +3 "core" %U\  +2 .tPS.seek 1.68ml +2 "processing"%@' +2467 "core" ' + "processing"%A% +4 "core" %\  +458 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%B +44 "core" +357 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%C  +99 "core" +1281 #t-> PS.empty +2 .PS.seek 0ml + "processing"%D' +3441 "core" ' + "processing"%E% +4 "core" %\ +1980 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %F% +2 "core" %\ +440 #t-> CTV.air + .CTV.dial :air +2 "collection"'G  +14 "core" +337 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'H& +3 "core" &"\ + .tHand.open +2 "manipulator"&I1 +25 "core" 1 + "manipulator"&J& +4 "core" &, _  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&K(, +3 "core" ( +2 "manipulator"&L& +3 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +2 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&N'Ϧ +107 "core" ' + .tHand.close + "manipulator"&O/ +59 "core" / + "manipulator"&P& +4 "core" &, t  + "manipulator"&Q% +4 "core" % Ϸ +2 .tForearm.seek :retract + "manipulator"&R'\ +106 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&S( +280 "core" ( + "manipulator"&T& +4 "core" &,  Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +2 "core" &, 2 Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'" +93 "core" ' + "manipulator"&W& +4 "core" &,  Bk +2 "manipulator"&X% +3 "core" %+ -  +2 "collection"'Y& +3 "core" &\ +2 "collection"'Z& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'[(V +4 "core" & \  +9 &0~\ +z +10 &d\ ? +9 &ox\ N +10 &3X\ M +9 &^ \ N +9 &\\\ M +10 &x\\ \ N +9 &;\\ \ M +9 &Z \ M +10 &\\  \ N +9 & ]\ N +10 &"C^\ M +9 &$Y  \ M +9 &%[\ M +10 &'\\\ N +9 &)L\\\ M +9 &+ ]\ N +10 &,[\ M +9 &.]\ N +10 &0S]\ M +9 &2Y\ M +9 &3]\ N +10 &5[ \ M +9 &7[\\ \ M +9 &9\\B\ N +10 &:]\ M +9 &<\\ k\ M +10 &>dZ\ M +9 &@$]y\ N +9 &A] \ M +10 &C`  \ M +9 &Eid z\ N +9 &G(pW\ O +10 &H\ Q +9 &J \ V +10 &LT \ X +9 &N  \ X +9 &Oz\ Y +10 &Qt\ Y +9 &SW\ Z +9 &U }\ Z +10 &VfC\ 1 +9 &V}\ O +2 ( +2 "collection"'Z& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 "collection"'\\& +3 "core" &Vvo\ O +2 .tHand.open + "manipulator"&]1 +59 "core" 1 + "manipulator"&^% +4 "core" % + n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&_'\ +99 "core" ' +6 "Can"N\ HF +733 #t-> PRV.connect CBV +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +3 "processing"%`  +126 "core"  +547 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%a +112 "core"  +387 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%j +762 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%b' +2602 "core" ' + "processing"%c% +4 "core" %\  +573 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +543 #-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%d +102 "core" +352 #t-> PS.empty +2 .PS.seek 0ml + "processing"%e' +2599 "core" ' + "processing"%f% +4 "core" %\ +381 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%g +101 "core"  +238 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%h' +2603 "core" ' + "processing"%i% +4 "core" %\  +387 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%j +102 "core" +245 #t-> PS.empty +2 .PS.seek 0ml + "processing"%k' +2605 "core" ' + "processing"%l% +4 "core" %\ +388 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%m +101 "core"  +273 #t-> PSR.air + .PSR.select :air +2 "processing"% +274 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%n' +2600 "core" ' + "processing"%o% +4 "core" %\  +551 #t-> PSV.mixloop +3 .PSV.dial :mixloop + "processing"%p +102 "core" +289 #t-> PS.empty +2 .PS.seek 0ml + "processing"%q' +2605 "core" ' + "processing"%r% +4 "core" %\ +961 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%s +113 "core"  +320 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%t' +2602 "core" ' + "processing"%u% +4 "core" %\  +387 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%v +100 "core" +389 #t-> PS.empty +2 .PS.seek 0ml + "processing"%w' +2603 "core" ' + "processing"%x% +4 "core" %\ +582 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&y& +3 "core" &+  Bj +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&z( +2 "core" ( + "manipulator"&{& +4 "core" &+ o Bj + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &*  Bj +2 .tForearm.seek CC + "manipulator"&}'" +92 "core" ' + .tHand.close + "manipulator"&~/ +62 "core" / + .tCC.seek :open +2 "collection"'( +415 "core" ( + "manipulator"&& +4 "core" &+ J Bj + "manipulator"&% +4 "core" % "  + .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +286 "core" ( + "manipulator"&& +4 "core" &,  ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,  ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\ 'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"& 1 +58 "core" 1 + "manipulator"&% +4 "core" % ϭ v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' +27242 "Can"<\ 1/ +37340 #t-> PTV.PRVmixing + .PTV.dial :PRVmixing +450 #-> PSV.mixloop +2 .PSV.dial :mixloop +460 #-> PRV.sipper + .PRV.dial :sipper +2 "processing"%  +126 "core" +387 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%' +2603 "core" ' + "processing"%% +4 "core" %\  +589 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +131 "core"  +282 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2603 "core" ' + "processing"%% +4 "core" %\ +760 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +130 "core" +463 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +642 #-> PRV.sipper + .PRV.dial :sipper +1179 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1002 "processing"%% +3 "core" %\ +2 .tPS.seek 1.5ml + "processing"%' +1602 "core" ' + "processing"%% +4 "core" %\  +950 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%  +126 "core"  +318 #t-> CBV.PRV + .CBV.dial PRV +731 #-> PS.reconfigure PSslow + .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %% +2 "core" %\  +912 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1002 "processing"%% +3 "core" %\  +2 .tPS.seek 0.9ml +2 "processing"%'GP +1260 "core" ' + "processing"%% +4 "core" %GP\ +598 #t-> PRV.air + .PRV.dial :air +2 "processing"%!  +41 "core"  +746 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +2 %"% +2 "core" %GP\ +487 #t-> PS.empty +2 .PS.seek 0ml + "processing"%#' +984 "core" ' + "processing"%$% +4 "core" %\ +516 #t-> PRV.sipper +2 .PRV.dial :sipper +2 "processing"%%  +98 "core" +251 #t-> PS.fill +46 .PS.seek 2.5ml +2 "processing"% ' +92 "Can"I\ 75 +2505 "core" ' + "processing"%'% +4 "core" %\  +606 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%(  +129 "core"  +191 #t-> PS.empty +2 .PS.seek 0ml + "processing"%)' +2603 "core" ' + "processing"%&% +4 "core" %\ +976 #t-> PTV.to :PRVmixing + .PTV.dial :PRVmixing +653 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%+ +129 "core" +344 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%-  +127 "core"  +279 #t-> CBV.PRV + .CBV.dial PRV +656 #-> PS.reconfigure PSslow +2 .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %*% +2 "core" %\ +964 #t-> PS.pull .18 + "processing"%.% +3 "core" %\ +2 .tPS.seek 0.18ml +2 "processing"%,' +408 "core" ' + "processing"%0% +4 "core" %\  +349 #t-> PRV.air + .PRV.dial :air +2 "processing"%1  +43 "core"  +351 #t-> PS.pull .3 + "processing"%/% +3 "core" %\  +2 .tPS.seek 0.48ml +2 "processing"%3'T +647 "core" ' + "processing"%4% +4 "core" %T\  +511 #t-> PSV.air +3 .PSV.dial :air + "processing"%5  +44 "core"  +491 #t-> PS.pull 1.2 +2 "processing"%6% +3 "core" %T\  +2 .tPS.seek 1.68ml + "processing"%7' +2468 "core" ' + "processing"%2% +4 "core" %\  +415 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%9 +44 "core" +379 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%:  +98 "core" +595 #t-> PS.empty +2 .PS.seek 0ml + "processing"%;' +3437 "core" ' + "processing"%8% +4 "core" %\ +1698 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +3 %=% +2 "core" %\ +288 #t-> CTV.air + .CTV.dial :air +563 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'>& +3 "core" &\ + "manipulator"&?& +4 "core" &,  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(, +8 "core" ( + "manipulator"&A& +4 "core" &,  $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &,  $ +2 .tForearm.seek :garage + "manipulator"&C'Ϧ +104 "core" ' + .tHand.close + "manipulator"&@/ +59 "core" / + "manipulator"&E& +4 "core" &, U $ + "manipulator"&F% +4 "core" % ϶ D +2 .tForearm.seek :retract + "manipulator"&G'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&H( +282 "core" ( + "manipulator"&I& +4 "core" &, \\ Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &,  Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'" +96 "core" ' + "manipulator"&M& +4 "core" &, p Bh +2 "manipulator"&O% +3 "core" %+ u +2 "collection"'P& +3 "core" &\ +2 "collection"'Q& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(V +4 "core" &\  +9 &1\ *y +10 &e\ ? +9 &ux }\ N +9 &9Y\ M +10 &Y\ M +9 &]\ M +9 &\\\ M +10 &AYV\ M +9 &]}\ N +10 &[|\ M +9 & _ z\ M +9 &"H] |\ N +10 &$ \\ {\ M +9 &%Z \ M +9 &'\\ z\ M +10 &)RY {\ M +9 &+]{\ M +10 &,W  ~\ M +9 &.] \ M +9 &0Y` ~\ M +10 &2\\|\ M +9 &3Z~\ M +10 &5[ |\ M +9 &7a[\ M +9 &9#]}\ M +10 &:Y  \ M +9 &<`\ M +9 &>i^\ M +10 &@,Y }\ M +9 &A] x\ M +10 &C[ ~\ M +9 &Eqa\ M +9 &G-n \ O +10 &H~}\ Q +9 &J~\ V +9 &L[ y\ X +10 &N y\ X +9 &Ox\ X +10 &Qx\ X +9 &S^v\ Y +9 &U {\ Y +10 &ViCy\ 0 +9 &Vtv\ O +6 ( + "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + "collection"'& +4 "core" &Viy\ O + &Vix\ O + .tHand.open + "manipulator"&N1 +63 "core" 1 + "manipulator"&T% +4 "core" % + ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U'\ +93 "core" ' +713 #t-> PRV.connect CBV +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +3 "processing"%K  +127 "core"  +317 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%W +102 "core"  +370 #t-> PSR.flush + .PSR.select :flush +3 "processing"%@ +340 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%X' +2602 "core" ' + "processing"%Y% +4 "core" %\  +2569 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +561 #-> PSV.mixloop +3 .PSV.dial :mixloop + "processing"%R +104 "core" +423 #t-> PS.empty +2 .PS.seek 0ml + "processing"% ' +2604 "core" ' + "processing"%\\% +4 "core" %\ +390 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%] +102 "core"  +263 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%^' +2603 "core" ' + "processing"%Z% +4 "core" %\  +409 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%V +101 "core" +350 #t-> PS.empty +2 .PS.seek 0ml + "processing"%`' +2607 "core" ' + "processing"%a% +4 "core" %\ +424 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%D +113 "core"  +279 #t-> PSR.air + .PSR.select :air +2 "processing"% +235 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%c' +2606 "core" ' + "processing"%d% +4 "core" %\  +403 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%b +101 "core" +199 #t-> PS.empty +2 .PS.seek 0ml + "processing"%f' +2598 "core" ' + "processing"%g% +4 "core" %\ +324 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%e +99 "core" +159 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%i' +2601 "core" ' + "processing"%j% +4 "core" %\  +498 #t-> PSV.mixloop +3 .PSV.dial :mixloop + "processing"%h +102 "core" +296 #t-> PS.empty +2 .PS.seek 0ml + "processing"%l' +2598 "core" ' + "processing"%m% +4 "core" %\ +664 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&k& +3 "core" &( K ?Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&o( +24 "core" ( + "manipulator"&p& +4 "core" &  + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &  + +2 .tForearm.seek CC + "manipulator"&r'" +101 "core" ' + .tHand.close + "manipulator"&s/ +64 "core" / + .tCC.seek :open +2 "collection"'q( +418 "core" ( + "manipulator"&u& +4 "core" &  + + "manipulator"&v% +4 "core" % )  + .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&x(, +280 "core" ( + "manipulator"&y& +4 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&|'Ϧ +108 "core" ' +3 .tHand.open + "manipulator"&~1 +53 "core" 1 + "manipulator"&S% +4 "core" % ϧ O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&_'\ +97 "core" ' +2166 "Can"A\ 1. +677 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1614116786.01EST @1614172994.66EST = =mMAIN_scheduler =tMAIN @EST1614172996.39 #"core_reset"Sent BREAK +2 #t@52832 sendCRC with ifg=0x20, ie=0x7F #@54666 sendCRC with ifg=0x08, ie=0x5F + #@32485 idle with ifg=0x84, ie=0x75 #@33169 select with ifg=0x10, ie=0xF5 + #@33817 receive with ifg=0x10, ie=0xFD + #@34464 receive with ifg=0x10, ie=0xFD #@35111 receive with ifg=0x10, ie=0xFD + #@35438 receive with ifg=0x80, ie=0xFD #@32126 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +270 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +359 "Can"B\ 31 + B\ 31 + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %:\ + .tPS.configure :default +3 "processing"%#A d`xb + .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  +2 .tSS.configure :default +2 "sampler")#.0X PTV.PRVmixing +2 .PTV.dial :PRVmixing + "processing"%  +8 "core" +444 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +5 "core" +353 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%  +126 "core" +276 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2599 "core" ' + "processing"%% +4 "core" %V\  +2023 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +131 "core"  +761 #t-> PS.empty +2 .PS.seek 0ml + "processing"%' +2605 "core" ' + "processing"%% +4 "core" %Z\ +1005 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"% +129 "core" +558 #t-> PTV.PRVmixing +2 .PTV.dial :PRVmixing +539 #-> PRV.sipper +2 .PRV.dial :sipper +1303 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1002 "processing"%% +3 "core" %O\ +2 .tPS.seek 1.5ml +2 "processing"% ' +1587 "core" ' + "processing"%!% +4 "core" %`\  +1442 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%"  +125 "core" +378 #t-> CBV.PRV +2 .CBV.dial PRV +2 "collection"'#  +4 "core" +851 #t-> PS.reconfigure PSslow + .PS.reconfigure :slow +3 "processing"%#A 2`xb +3 %$% +2 "core" %I\  +1405 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1002 "processing"%%% +3 "core" %K\  +2 .tPS.seek 0.9ml +2 "processing"%&'GH +1263 "core" ' + "processing"%'% +4 "core" %GG_\ +3911 #t-> PRV.air + .PRV.dial :air +2 "processing"%(  +42 "core"  +740 #t-> PS.reconfigure PSconfig + .PS.reconfigure :default +3 "processing"%#A d`xb +2 %)% +2 "core" %GGI\ +269 #t-> PS.empty +2 .PS.seek 0ml + "processing"%*' +981 "core" ' + "processing"%+% +4 "core" %`\ +1076 #t-> PRV.sipper +2 .PRV.dial :sipper + "processing"%,  +99 "core" +191 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%-' +2601 "core" ' + "processing"%.% +4 "core" %M\  +617 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%/  +130 "core"  +417 #t-> PS.empty +2 .PS.seek 0ml + "processing"%0' +2600 "core" ' + "processing"%1% +4 "core" %P\ +812 #t-> PTV.to :PRVmixing + .PTV.dial :PRVmixing +647 #-> PSV.to :mixloop + .PSV.dial :mixloop +2 "processing"%2 +131 "core" +352 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%3  +125 "core"  +278 #t-> CBV.PRV + .CBV.dial PRV +965 #-> PS.reconfigure PSslow + .PS.reconfigure :slow +2 "processing"%#A 2`xb +3 %4% +2 "core" %I\ +813 #t-> PS.pull .18 + "processing"%5% +3 "core" %^\ +2 .tPS.seek 0.18ml +2 "processing"%6' +417 "core" ' + "processing"%7% +4 "core" %c\  +612 #t-> PRV.air + .PRV.dial :air +2 "processing"%8  +43 "core"  +498 #t-> PS.pull .3 +2 "processing"%9% +3 "core" %J\  +2 .tPS.seek 0.48ml +2 "processing"%:'_ +655 "core" ' + "processing"%;% +4 "core" %`Y\  +690 #t-> PSV.air + .PSV.dial :air +2 "processing"%<  +44 "core"  +576 #t-> PS.pull 1.2 + "processing"%=% +43 "core" %`U\  +2 .tPS.seek 1.68ml +2 "processing"%>' +2472 "core" ' + "processing"%?% +4 "core" %V\  +503 #t-> PSV.mixloop +2 .PSV.dial :mixloop +2 "processing"%@ +44 "core" +451 #t-> PRV.sipper +2 .PRV.dial :sipper +2 "processing"%A  +100 "core" +691 #t-> PS.empty +2 .PS.seek 0ml + "processing"%B' +3432 "core" ' + "processing"%C% +4 "core" %o\ +2093 #t-> PS.reconfigure PSconfig +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 %D% +2 "core" %n\ +385 #t-> CTV.air + .CTV.dial :air +2 "collection"'E  +4 "core" +461 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'F& +3 "core" &\ + .tHand.open + "manipulator"&G1 +16 "core" 1 + "manipulator"&H& +4 "core" &,   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&I(, +4 "core" ( + "manipulator"&J& +4 "core" &, 4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +2 "core" &, X  +2 .tForearm.seek :garage +2 "manipulator"&L'Ϧ +105 "core" ' + .tHand.close + "manipulator"&M/ +60 "core" / + "manipulator"&N& +4 "core" &, v  +2 "manipulator"&O% +3 "core" % ϵ +2 .tForearm.seek :retract + "manipulator"&P'\ +105 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Q( +280 "core" ( + "manipulator"&R& +4 "core" &+ ] Ae + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &* ) Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'" +101 "core" ' + "manipulator"&U& +4 "core" &+ y Ae +2 "manipulator"&V% +3 "core" %#  +2 "collection"'W& +3 "core" &\ +2 "collection"'X& +5 "core" &\ + .tCC.seek :closed +2 "collection"'Y(V +4 "core" &}\  +10 &1~\ *z +9 &d\ ? +9 &ux\ O +10 &:Yw\ M +9 &_y\ N +9 &\\x\ M +10 &Zw\ N +9 &B\\y\ M +10 &Zx\ M +9 &Y\ M +9 & \\\ M +10 &"H_}\ N +9 &$ Z\ M +9 &%[\ M +10 &'Y\ M +9 &)R]\ M +10 &+^\ N +9 &,\\\ M +9 &.Y\ M +10 &0Y_{\ N +9 &2^}\ M +9 &3]\ M +10 &5Y{\ M +9 &7b_~\ M +10 &9$^~\ M +9 &:\\u\ N +9 &<az\ M +10 &>j\\u\ M +9 &@,Zy\ M +9 &A[x\ N +10 &Cbv\ M +9 &Epdt\ N +10 &G.ru\ O +9 &Ht\ Q +9 &Jr\ V +10 &L\\t\ X +9 &Nv\ W +9 &Or\ Y +10 &Qq\ X +9 &S^s\ Z +10 &Up\ Z +9 &VlCu\ 0 +9 &Vtt\ P +3 ( + "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + "collection"'Z& +4 "core" &Vl\ P + .tHand.open + "manipulator"&[1 +65 "core" 1 + "manipulator"&\\% +4 "core" % " B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]'\ +93 "core" ' +571 #t-> PRV.connect CBV + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%^  +128 "core"  +356 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%_ +113 "core"  +305 #t-> PSR.flush + .PSR.select :flush +3 "processing"%j +280 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%`' +439 "Can"Q\ NK +2161 "core" ' + "processing"%a% +4 "core" %j\  +515 #t-> PTV.PRVmixing +4 .PTV.dial :PRVmixing +387 #-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%b +102 "core" +207 #t-> PS.empty +2 .PS.seek 0ml + "processing"%c' +2599 "core" ' + "processing"%d% +4 "core" %r\ +401 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%e +104 "core"  +197 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%f' +2603 "core" ' + "processing"%g% +4 "core" %m\  +514 #t-> PSV.mixloop +3 .PSV.dial :mixloop +2 "processing"%h +102 "core" +423 #t-> PS.empty +2 .PS.seek 0ml + "processing"%i' +2601 "core" ' + "processing"%j% +4 "core" %s\ +420 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%k +103 "core"  +349 #t-> PSR.air + .PSR.select :air +2 "processing"% +669 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%l' +2601 "core" ' + "processing"%m% +4 "core" %y\  +464 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%n +103 "core" +320 #t-> PS.empty +2 .PS.seek 0ml + "processing"%o' +2608 "core" ' + "processing"%p% +4 "core" %i\ +505 #t-> PSV.PSR +3 .PSV.dial PSR + "processing"%q +104 "core"  +190 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%r' +2599 "core" ' + "processing"%s% +4 "core" %\  +482 #t-> PSV.mixloop +2 .PSV.dial :mixloop + "processing"%t +104 "core" +250 #t-> PS.empty +2 .PS.seek 0ml + "processing"%u' +2606 "core" ' + "processing"%v% +4 "core" %~\ +397 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&w& +3 "core" &* r Ad +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x( +2 "core" ( +2 "manipulator"&y& +3 "core" &* Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" &) p Ad +2 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' +2 .tHand.close +2 "manipulator"&|/ +62 "core" / + .tCC.seek :open +2 "collection"'}( +418 "core" ( + "manipulator"&~& +4 "core" &* I Ad + "manipulator"&% +4 "core" % " ( + .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +282 "core" ( + "manipulator"&& +4 "core" &, ( : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, h : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&\ % +4 "core" % ϰ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +106 "core" ' +232 #t-> exit +5 #mEXIT @1614173896.97EST @1614182085.82EST = =mMAIN_scheduler =tMAIN @EST1614182087.53 #"core_reset"Sent BREAK +2 #t@22756 sendCRC with ifg=0x20, ie=0x7F #@24591 sendCRC with ifg=0x08, ie=0x5F + #@21123 idle with ifg=0x84, ie=0x75 #@21803 select with ifg=0x10, ie=0xF5 + #@22452 receive with ifg=0x10, ie=0xFD + #@23102 receive with ifg=0x10, ie=0xFD #@23751 receive with ifg=0x10, ie=0xFD + #@24078 receive with ifg=0x80, ie=0xFD #@7551 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +366 "Can"A\ 52 + A\ 52 #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +3 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %Y\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X access 1 +3 .SE.seek :down + "storage"('X +4 "core" ' + "manipulator"&% +4 "core" %\    + "manipulator"&& +4 "core" &,  : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<* +655 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<- M\ +498 #t-> access 2 +3 .SE.seek :down +2 "storage"('X +3 "core" ' + "manipulator"&% +4 "core" %\    +2 "manipulator"&& +3 "core" &,  : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +342 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &K4 \  +831 #t-> access 7 +2 .SE.seek :down +2 "storage"( 'X +4 "core" ' + "manipulator"&!% +4 "core" %\    + "manipulator"&"& +4 "core" &,  : + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(#(,l +660 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ($& +3 "core" &,m @\ +1190 #t-> access 6 +2 .SE.seek :down +2 "storage"(%'X +2 "core" ' + "manipulator"&&% +4 "core" %\    +2 "manipulator"&'& +3 "core" &,  : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"((( +335 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ()& +3 "core" & \ +943 #t-> access 5 +2 .SE.seek :down + "storage"(*'X +3 "core" ' + "manipulator"&+% +4 "core" %\    +2 "manipulator"&,& +3 "core" &,  : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(-( +333 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (.& +3 "core" & >\ +1584 #t-> access 2 +2 .SE.seek :down + "storage"(/'X +2 "core" ' +2 "manipulator"&0% +4 "core" %\    +2 "manipulator"&1& +3 "core" &,  : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(2(K +1288 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (3& +3 "core" &K- \  +2933 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1614182221.94EST @1620826517.67EDT = =mMAIN_scheduler =tMAIN @EDT1620826519.49 #"core_reset"Sent BREAK +2 #t@63552 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +376 "Can"\ ` + \ ` #tPolling Can every 10:00 +2 #Cleanly exited at 10:57:01EST24-Feb-21 +732 #-> ESP.ready! +2 #Powering core bus +506 .Gate.power :raw,:ON +3 "sampler") +58 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %_\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %p  + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % _ _  + .tSS.configure :default +2 "sampler")#.0X exit +5 #mEXIT @1620826633.86EDT @1622744908.58EDT = =mMAIN_scheduler =tMAIN @EDT1622744910.30 #"core_reset"Sent BREAK +2 #t@15692 receive with ifg=0x10, ie=0xFD + #@16327 receive with ifg=0x10, ie=0xFD #@16984 receive with ifg=0x10, ie=0xFD + #@17620 receive with ifg=0x10, ie=0xFD + #@18255 receive with ifg=0x10, ie=0xFD #@18890 receive with ifg=0x10, ie=0xFD + #@19525 receive with ifg=0x10, ie=0xFD #@19856 receive with ifg=0x80, ie=0xFD + #@1494 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +345 "Can"\ B? + \ B? + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %U\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ t\ r \ w + .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +4 "core" % \ + "sampler")% +4 "core" %\ t\ s \ w + "manipulator"&% +4 "core" %\    + "manipulator"&& +3 "core" &   +2 "storage"(& +3 "core" &' |\  + "storage"(% +4 "core" %[ {\ + "collection"'& +3 "core" & \  +2 "processing"%& +3 "core" &M\  +2 "processing"%% +3 "core" %V\ +1024 #t-> access 2 +2 .SE.seek :down +2 "storage"( 'X +3 "core" ' + "manipulator"&!% +4 "core" %\    +2 "manipulator"&"& +3 "core" &   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(#(K +967 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 ($& +3 "core" &K5 \\\  +2534 #t-> access 3 + .SE.seek :down +2 "storage"(%'X +3 "core" ' + "manipulator"&&% +4 "core" %\    + "manipulator"&'& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"((([ +339 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ()& +2 "core" &[5 :\  +2248 #t-> access 4 +2 .SE.seek :down +2 "storage"(*'X +2 "core" ' +2 "manipulator"&+% +4 "core" %\    + "manipulator"&,& +4 "core" &   + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(-(S +1912 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (.& +3 "core" &V i\ +3282 #t-> shuffle 2..4 +2 !o:NoMethodError : mesg"0undefined method `shuffle' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1318 #-> require 'shuffle.rb' +588 #-> shuffle 2..4 +2 #Shuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'/& +4 "core" & \  + .tHand.open +2 "manipulator"&01 +62 "core" 1 +2 "manipulator"&1% +3 "core" % \  $ c  +2 "storage"(2% +3 "core" %[ \ +2 "storage"(3. +3 "core" .(S + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(4( +341 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (5& +2 "core" & 6 2\  +2 "manipulator"&6& +3 "core" & S  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&7( +24 "core" ( +2 "manipulator"&8& +3 "core" & $  "~ +2 "storage"(9& +4 "core" & 6 3\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +92 "core" ' +2 "storage"(;& +4 "core" & . g\  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +281 "core" ' +2 "storage"(=- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & - \  + "manipulator"&?& +4 "core" &  "z +2 .tElbow.seek 2 + "manipulator"&@( +3 "core" ( +2 "manipulator"&A& +3 "core" &   "z +2 "storage"(B& +3 "core" & - \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +64 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(F'X +7 "core" & P "z +2 "manipulator"&G% +3 "core" %  E +2 .tForearm.seek :retract +2 "manipulator"&H'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&I( +144 "core" ( +2 "manipulator"&J& +4 "core" &&  S =D + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&K& +4 "core" && I =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'" +103 "core" ' +2 "manipulator"&M& +4 "core" &' 0  =D + "manipulator"&N% +4 "core" %# @ +2 "collection"'O& +3 "core" & \  +2 "collection"'P& +5 "core" & \  +2 .tCC.seek :closed + "collection"'Q(V +6 "core" & \  +9 &4 \ +| +10 &e \ @ +9 &Oz \ O +53 &\\ \ N +2 &e \ O +2 &_ \ N + &Yb \ N +4 &b \ N + &_ \ O +3 &_ \ N +9 & a_ \ N +10 &"$` \ N +9 &#` \ O +9 &%_ \ N +10 &'h_ \ O +9 &)+_ \ N +9 &*_ \ N +10 &,\\ \ N +9 &.qa \ N +10 &03a \ N +9 &1_ \ O +9 &3_ \ N +10 &5y_ \ N +9 &7;^ \ N +10 &8_ \ O +9 &:b \ O +9 &<e \ N +10 &>Cb \ N +9 &@b \ N +9 &A` \ O +10 &Ca \ O +9 &EIk \ O +10 &Gs \ P +9 &H{ \ Q +9 &J} \ U +10 &L7 \ X +9 &M \ X +9 &O \ X +10 &Q| \ X +9 &S: \ Z +10 &T \ Z +9 &VSN \ 1 +9 &V \ P +5 ( +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&R1 +3 "core" &Vw \ P +51 1 + "manipulator"&S% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +101 "core" ' +3 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%U& +4 "core" &r\  + "manipulator"&V% +4 "core" %\   ( + "storage"(W% +4 "core" %a X\ + "storage"(X. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Y( +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Z& +3 "core" &  j g\  + "manipulator"&[& +4 "core" &% ! <? + "manipulator"&\\% +4 "core" %\   ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&]( +155 "core" ( +2 "manipulator"&^& +4 "core" &   + "storage"(_& +4 "core" &  `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +95 "core" ' +2 "storage"(a& +4 "core" &  \  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +284 "core" ' +2 "storage"(c- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &  L\  +2 "manipulator"&e& +3 "core" & +2 .tElbow.seek 2 + "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" & +2 "storage"(h& +4 "core" &  R\  + .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(l'X +8 "core" & g + "manipulator"&m% +4 "core" %   C +2 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&o(s +169 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +76 "core" ( +2 "manipulator"&p& +4 "core" &o ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &o 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&r' +97 "core" ' +2 "manipulator"&s& +4 "core" &o $ ) + "manipulator"&t% +4 "core" % W + "processing"%u& +4 "core" &w\  +2 "processing"%v& +5 "core" &\  +2 .tPC.seek :closed + "processing"%w(Z +5 "core" &q\ \  +10 &8u\ , +9 &gv\ A +9 &nyr\ P +10 &3_k\ N +9 &cm\ O +9 &ct\ N +10 &y`p\ N +9 &;`b\ N +10 &`k\ N +9 &`^\ N +9 & _]\ N +10 &"C_j\ N +9 &$]m\ N +9 &%`k\ N +10 &'ce\ O +9 &)L^l\ N +10 &+ cg\ N +9 &,bg\ N +9 &.dg\ O +10 &0Sak\ N +9 &2_i\ O +10 &3bn\ O +9 &5ck\ O +9 &7[bl\ N +10 &9bl\ O +9 &:`l\ O +9 &<bl\ O +10 &>c`m\ N +9 &@$_m\ O +9 &Abl\ N +10 &Cbk\ N +9 &Ehfj\ O +10 &G'ql\ P +9 &Hi\ S +9 &Jm\ T +10 &Lam\ T +9 &N"m\ U +9 &Ol\ U +10 &Ql\ T +9 &Shb\ U +10 &U)h\ U +9 &Vm\ U +9 &Xg\ U +10 &Z`e\ $n +9 &Z\\h\ . +8 ( +2 &ZX\ * +2 "processing"%v& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&x1 +57 "core" 1 + "manipulator"&y% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%{& +4 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&|% +3 "core" %\  "  +2 "storage"(}% +3 "core" %` W\ +2 "storage"(~. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +4 "core" &  \  +2 "manipulator"&& + ."raiseStack"SE.reconfigure :place +5 "storage"(#]@K-0-\ b +3 "core" &o o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&(s +3 "storage"('i +4 "core" ( +2 "manipulator"&& +4 "core" &o w + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o E +2 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open + "processing"% ( +88 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +289 ( + "storage"(& +4 "core" &  =\  +2 "manipulator"&& +3 "core" &o  +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +251 "core" ( +2 "manipulator"&& +4 "core" &\ ' A c + "storage"(& +4 "core" &  b\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +103 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +47 "core" ' +83 #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' + "storage"("& +4 "core" &    F\  + "manipulator"&& +4 "core" &\ r [ + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&$& +4 "core" & [ + "storage"(&& +4 "core" &  ( 0 4\  + .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' +2 "manipulator"&#& +4 "core" &\ * [ + "storage"()& +4 "core" &  v\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&+' +32 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(%'i +29 "core" ' +2 "manipulator"&(% +4 "core" % \ + "storage"(.& +4 "core" &  ~ ~ q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&/' +19 "core" ' +2 "manipulator"&0& +4 "core" &\ G [ + "storage"(1& +4 "core" &  ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +31 "core" ' +2 "storage"(3% +4 "core" %o \ +2 ."downElevator"SE.seek :down +3 "storage"(-'X +100 (5% +3 "core" %F z\ Va + "manipulator"&6% +4 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&8'\ +91 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (9& +4 "core" & S\ + "collection"';& +4 "core" &Vv \ P + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\    + "storage"(% +4 "core" %b \ + "storage"(=. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(>( +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +2 "core" &  1\  +2 "manipulator"&*& +4 "core" &\ [ + .tElbow.seek 2 +2 "manipulator"&A( +3 "core" ( + "manipulator"&B& +4 "core" &\  ^ [ + "storage"(D& +4 "core" &  k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +95 "core" ' +2 "storage"(G& +4 "core" &  c\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +284 "core" ' +2 "storage"(:- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &\ : [ + "storage"(K& +4 "core" &  +\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&<' +36 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(M- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(N'S +32 "core" ' +2 "manipulator"&O% +4 "core" %  + "storage"(@& +4 "core" &  x v \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&F' +16 "core" ' +2 "manipulator"&H& +4 "core" &\  / [ + "storage"(\ & +4 "core" &  H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(S'B +40 "core" ' +2 "manipulator"&U& +4 "core" &\ [ + "manipulator"&V% +4 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +134 "core" ' +2 .tElbow.seek CC + "manipulator"&X( +152 "core" ( +2 "manipulator"&P& +4 "core" &-  Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-  Cs +2 .tForearm.seek CC + "manipulator"&['" +97 "core" ' + .tHand.close +2 "manipulator"&\\/ +63 "core" / +2 .tCC.seek :open + "collection"'L( +417 "core" ( +2 "storage"(^& +4 "core" &  n\  + "storage"(_& +3 "core" &  \  +2 "manipulator"&4& +3 "core" & * *  @[ +2 "manipulator"&a% +3 "core" % * +2 .tForearm.seek :retract +2 "manipulator"&I'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&T( +153 "core" ( +2 "manipulator"&c& +4 "core" & = + "storage"(d& +4 "core" & \ \  =\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&e' +105 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +54 "core" 1 +2 "manipulator"&j% +4 "core" %   + "storage"(k& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&m' +15 "core" ' +3 "manipulator"&]& +4 "core" & C + "storage"(`& +4 "core" & \ \ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +36 "core" ' +2 "storage"(i% +4 "core" %D\ #\ # J\ +2 ."downElevator"SE.seek :down +3 "storage"(p'X +100 (q% +2 "core" %?\ \ \ U] +2 "manipulator"&f% +4 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s'\ +94 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'t& +4 "core" & A\ +2 "manipulator"&u% +4 "core" %\    + "storage"(l% +4 "core" %c\ \  \  + "storage"(n. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +340 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (x& +2 "core" &. X\  +2 "manipulator"&y& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&{( +15 "core" ( +2 "manipulator"&|& +4 "core" & T  + "storage"(}& +3 "core" &( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&~'9 +90 "core" ' +2 "storage"(v& +4 "core" &( \  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" && O\  + "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&r( +3 "core" ( + "manipulator"& & +4 "core" &  h  + "storage"(Y& +4 "core" && \  + .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +705 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[6F:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&z/ +2 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[6F:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[7A:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #2 of 3 + "manipulator"&w/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[7A:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +703 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[77:->26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #3 of 3 + "manipulator"&/ + "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[77:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +706 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:272:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):9:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"26]: @requesto:I2C::Servo::Grip3Request : @channeli: @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2054 #-> Hand.open + .Hand.open + "manipulator"&1 +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[04:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +32 1 +452 #t-> Arm.home + "manipulator"&& +3 "core" & :  + "manipulator"&% +4 "core" % ϳ  +2 .tForearm.seek :retract +3 "manipulator"& '\ +100 "core" ' +2 .tElbow.seek :home + "manipulator"&( +231 "core" ( +2 "manipulator"&& +3 "core" & [ , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & I , +2 .tForearm.seek :home + "manipulator"&' +38 "core" ' +2 "manipulator"&& +3 "core" &  > , +2 "manipulator"&% +3 "core" % T L +3732 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :home + "storage"(!' +301 "core" ' +2 "storage"("% +3 "core" % L\ +318 #t-> access 3 +3 .SE.seek :down + "storage"('X +39 "core" ' + "manipulator"&$% +4 "core" % 8 L +2 "manipulator"&&% +3 "core" % E L +2 .tForearm.seek :retract + "manipulator"&#'\ +43 "core" ' +2 .tElbow.seek :clear + "manipulator"&)(d +191 "core" ( +2 "manipulator"&% +3 "core" %\  L  +2 "manipulator"&& +3 "core" &d E ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"((([ +1283 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (.& +3 "core" &[4 i\  +1391 #t-> shuffle 2..4 +2 #Shuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'0& +4 "core" & \ + "manipulator"&1% +4 "core" %\ +  +2 "storage"(3% +3 "core" %a \ +2 "storage"(. +2 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +1601 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" & \ +2 "manipulator"&5& +3 "core" &d T ( +2 "manipulator"&6% +4 "core" %\   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +90 "core" ( +2 "manipulator"&& +4 "core" &  c 0 + "storage"( & +3 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&+'ќ +95 "core" ' +2 "storage"(/& +4 "core" & t\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'i +279 "core" ' +3 "storage"(;- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & S\ +2 "manipulator"&& +4 "core" &  0 + .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( + "manipulator"&%& +4 "core" &  0 + "storage"(?& +4 "core" & V\ + .tForearm.seek 2 + 300 counts +2 "manipulator"&*' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(2'X +7 "core" & 0 + "manipulator"&G% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&-'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ( +2 "manipulator"&,& +4 "core" &+ Bj + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +4 "core" &+ c Bj + ' + ."downElevator"SE.coast +3 .tForearm.reconfigure :tight +2 "storage"(5 +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'" +94 "core" ' +87 "manipulator"&J& +4 "core" &, U Bj + "manipulator"&K% +4 "core" %!  +2 "collection"'M& +4 "core" & \ +2 "collection"'O& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'@(V +5 "core" & \  +9 &1 \ *y +10 &c \ ? +9 &r} \ O +10 &6_ \ N +9 &d \ N +9 &] \ N +10 &|a \ N +9 &>` \ N +9 &b \ N +10 &_ \ N +9 & e \ N +10 &"Eb \ N +9 &$` \ N +9 &%b \ N +10 &'c \ N +9 &)Nb \ N +9 &+] \ N +10 &,] \ M +9 &.a \ N +10 &0U_ \ N +9 &2_ \ N +9 &3_ \ N +10 &5] \ M +9 &7^` \ N +9 &9 b \ N +10 &:c \ N +9 &<a \ N +10 &>f` \ N +9 &@(c \ N +9 &A^ \ N +10 &C` \ N +9 &Elg \ N +9 &G*o \ P +10 &H{ \ Q +9 &J \ U +10 &L[ \ W +9 &N \ W +9 &O \ X +10 &Q e\ X +9 &S\\ \ Y +9 &U \ Y +10 &VfB \ 0 +9 &Vv \ H +5 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&H1 +3 "core" &Vn \ H +60 1 + "manipulator"&\ % +4 "core" % ! 7 = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%V& +5 "core" &\ + "manipulator"&E% +4 "core" %\    + "storage"(A% +4 "core" %] {\ + "storage"(7. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(<( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (F& +3 "core" &  w\  + "manipulator"&N& +4 "core" &( S ?U + "manipulator"&P% +4 "core" %\  J  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Z( +156 "core" ( +2 "manipulator"&R& +4 "core" &  A  + "storage"(C& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +96 "core" ' +2 "storage"(W& +4 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +284 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &  a\  + "manipulator"&4& +4 "core" & L  + .tElbow.seek 2 +2 "manipulator"&a( +3 "core" ( + "manipulator"&c& +4 "core" &   +2 "storage"(d& +3 "core" &  [\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&[' +13 "core" ' +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&X/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(j'X +7 "core" &   + "manipulator"&k% +4 "core" %   N +2 .tForearm.seek :retract + "manipulator"&]'\ +94 "core" ' +3 .tElbow.seek PC + "manipulator"&`(s +160 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +83 "core" ( +2 "manipulator"&i& +4 "core" &m ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &m ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&q' +101 "core" ' +2 "manipulator"&f& +4 "core" &m # B + "manipulator"&T% +4 "core" % a +2 "processing"%e& +3 "core" &\ +3 "processing"%m& +4 "core" &\ +2 .tPC.seek :closed + "processing"%t(Z +5 "core" &Y\  +9 &2Z\ *z +10 &b[\ > +9 &sW\ O +9 &5^U\ N +10 &_]\ N +9 &c]\ N +10 &zc[\ O +9 &=`U\ N +9 &^[\ N +10 &^[\ N +9 & `[\ N +9 &"DaU\ O +10 &$]T\ N +9 &%c[\ N +10 &'bU\ O +9 &)LaZ\ O +9 &+cO\ N +10 &,aQ\ N +9 &.bM\ N +9 &0T`P\ O +10 &2bF\ O +9 &3`J\ N +10 &5_Q\ N +9 &7\\_K\ O +9 &9`D\ O +10 &:_G\ N +9 &<]N\ N +9 &>f\\G\ N +10 &@&a>\ O +9 &A`F\ N +10 &C_G\ O +9 &ElbB\ O +9 &G)pH\ P +10 &HE\ R +9 &JE\ T +9 &LeE\ T +10 &N'G\ T +9 &OE\ T +10 &QH\ T +9 &SjE\ U +9 &U-J\ T +10 &VE\ U +9 &XC\ U +9 &Z^D\ #l +10 &Z\\H\ , +8 ( +2 &Z=\ ) +2 "processing"%m& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&u1 +53 "core" 1 +2 "manipulator"&l% +4 "core" %  U + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%S& +5 "core" &Z=\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&b% +4 "core" %\  s  +2 "storage"(p% +3 "core" %a \ +2 "storage"(>. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(x( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (y& +3 "core" &  o\  + "manipulator"&|& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]@K-0-\ b +3 ."raiseStack"SE.seek :beamBreak + "storage"(}'i +3 "core" &m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&v(s +4 "core" ( +2 "manipulator"&g& +4 "core" &m ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &m * +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%( +83 "core" ' +2 "storage"( - +3 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'y +40 "core" ' +299 ( + "storage"({& +4 "core" &  V\  +2 "manipulator"&~& +3 "core" &m  +2 "manipulator"&o% +3 "core" %  +2 .tForearm.seek :retract + "manipulator"&z'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&w( +244 "core" ( +2 "manipulator"&& +4 "core" & L > + "storage"(& +4 "core" &  \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &  8 8 3\  +2 "manipulator"&r& +4 "core" & R > + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  > + "storage"("& +4 "core" &  B F \  +2 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(&' +56 "core" ' +2 "manipulator"&& +4 "core" & C > + "storage"(& +4 "core" &  C\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&!' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"& % +4 "core" % 6 + "storage"(.& +4 "core" &  O\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&0' +13 "core" ' +2 "manipulator"&1& +4 "core" & n > + "storage"(3& +4 "core" &  3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 "storage"((% +4 "core" %m Z\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (5% +3 "core" %G ^\ Va + "manipulator"&6% +4 "core" % W z +86 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +70 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +19 "core" ' + .tSC.coast +2 "storage"(6 +2 ( & +4 "core" & ]\ + "collection"'/& +4 "core" &Vm @\ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&)% +4 "core" %\  E  + "storage"(#% +4 "core" %R \ + "storage"(;. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &  \  +2 "manipulator"&& +4 "core" & @ > + .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( + "manipulator"&?& +4 "core" &  ? > + "storage"(B& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +92 "core" ' +2 "storage"(G& +4 "core" &  O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +283 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  > + "storage"(8& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&9' +31 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(J'S +29 "core" ' +2 "manipulator"&K% +4 "core" % + "storage"(M& +3 "core" &  N\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&2' +12 "core" ' +2 "manipulator"&-& +4 "core" & d = + "storage"(L& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\ 'B +39 "core" ' +2 "manipulator"&V& +4 "core" &  = + "manipulator"&E% +4 "core" %ъ M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +150 "core" ( +2 "manipulator"&O& +4 "core" &+ # 9 Aa + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &+  Aa + .tForearm.seek CC +2 "manipulator"&N'" +95 "core" ' + .tHand.close +2 "manipulator"&P/ +54 "core" / +2 .tCC.seek :open + "collection"':( +417 "core" ( +2 "storage"(R& +3 "core" &  \  +2 "storage"(C& +3 "core" &  O\  +2 "manipulator"&& +3 "core" &+  Aa +2 "manipulator"&W% +3 "core" % +  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&U( +154 "core" ( +2 "manipulator"&^& +4 "core" & 3 + "storage"(_& +3 "core" & \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&4' +103 "core" ' +2 .tElbow.hold + "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&d1 +54 "core" 1 +2 "manipulator"&X% +4 "core" % 7 : + "storage"(h& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&k' +20 "core" ' +4 "manipulator"&Z& +4 "core" & 5 + "storage"(\\& +4 "core" & \ #\ # *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +31 "core" ' +2 "storage"([% +4 "core" %G\ $\ # /\ +2 ."downElevator"SE.seek :down +3 "storage"(i'X +99 (I% +3 "core" %A \  #\ V^ + "manipulator"&a% +4 "core" %Ѳ W c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +93 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'T& +4 "core" & }\ + "manipulator"&e% +4 "core" %\ \   +2 "storage"(j% +53 "core" %S\ F\ F\ + "storage"(]. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +339 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (u& +2 "core" &' \  +2 "manipulator"&l& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&S( +16 "core" ( +2 "manipulator"&b& +4 "core" &  @ + "storage"(p& +4 "core" && \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +96 "core" ' +2 "storage"(y& +4 "core" && ,\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +278 "core" ' +2 "storage"(|- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" && O\  + "manipulator"&s& +4 "core" & ( +2 .tElbow.seek 3 + "manipulator"&q( +3 "core" ( + "manipulator"&& +4 "core" & S + "storage"(<& +4 "core" && \  +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +63 "core" / +5 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(t'X +7 "core" &  +2 "manipulator"&}% +3 "core" % ϲ C \ +2 .tForearm.seek :retract +2 "manipulator"&{'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&~( +155 "core" ( +2 ' + ."downElevator"SE.coast +2 "manipulator"&o& + "storage"(5 +6 "core" &+  c Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+  [ Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 "manipulator"&& +4 "core" &, / - Bg + "manipulator"&v% +4 "core" %$ 9 +2 "collection"'& +3 "core" & \ +2 "collection"'& +5 "core" & >\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & \  +9 &1 \ *x +10 &c \ > +9 &p{ \ N +9 &3] \ N +10 &c \ M +9 &] \ M +10 &xa \ N +9 &<] \ M +9 &^ \ M +10 &^ \ M +9 & a \ M +9 &"C` \ N +10 &$b \ N +9 &%e \ N +10 &'a \ M +9 &)Ka \ N +9 &+ b \ N +10 &,` \ M +9 &.c \ M +9 &0S_ \ N +10 &2\\ \ M +9 &3^ \ N +10 &5_ \ N +9 &7\\b \ M +9 &9` \ N +10 &:c \ M +9 &<b \ M +9 &>dc \ M +10 &@%b \ N +9 &A` \ N +10 &Cc \ M +9 &Eig \ N +9 &G(r K\ O +10 &H \ Q +9 &J \ V +9 &LV \ X +10 &N \ W +9 &O y\ X +10 &Q \ X +9 &SY \ Y +9 &U \ Y +10 &VcA \ 0 +9 &V y \ I +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&1 +3 "core" &Vm \ I +53 1 + "manipulator"&r% +4 "core" % $  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%"& +4 "core" &\ + "manipulator"&z% +4 "core" %\  *  +2 "storage"(% +4 "core" %R q\ + "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(Y( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" & l\  +2 "manipulator"&.& +3 "core" &* A @^ +2 "manipulator"&1% +3 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +152 "core" ( +2 "manipulator"&& +4 "core" & \ + "storage"((& +4 "core" & 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&w'9 +98 "core" ' +2 "storage"(& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(5- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" & g\  +2 "manipulator"&$& +3 "core" &  \ +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&&& +4 "core" & i \ +2 "storage"(!& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&0'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/'X +7 "core" &  \ +2 "manipulator"&)% +4 "core" % ϲ v k + .tForearm.seek :retract +2 "manipulator"&#'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&;(s +165 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &o Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +96 "core" ' +2 "manipulator"&B& +4 "core" &o I + "manipulator"&G% +4 "core" % \\  +2 "processing"%& +4 "core" &[\ +2 "processing"%& +4 "core" &T\ +2 .tPC.seek :closed + "processing"%x(Z +4 "core" &W\ +9 &CU\ $e +9 &UV\ 8 +10 &[\ L +9 &aQ\ N +9 &lcU\ N +10 &.`[\ N +9 &`[\ N +10 &_O\ N +9 &s`T\ N +9 &5`I\ N +10 &aI\ O +9 &!`H\ N +9 &#{`L\ N +10 &%=`E\ N +9 &&aH\ O +10 &(_J\ N +9 &*`H\ N +9 &,F]>\ N +10 &.bI\ N +9 &/`J\ N +9 &1]H\ N +10 &3M`H\ N +9 &5aF\ N +10 &6_D\ N +9 &8^H\ N +9 &:V^I\ N +10 &<_E\ N +9 &=_E\ N +9 &?^A\ N +10 &A^_>\ N +9 &C `?\ N +10 &DcB\ O +9 &Fe?\ O +9 &H^v>\ Q +10 &JB\ T +9 &KJ\ T +9 &MD\ S +10 &O]<\ T +9 &QG\ T +10 &R<\ U +9 &T>\ U +9 &Vc?\ T +10 &X$<\ U +9 &Yzu<\ 3 +9 &Z)y>\ N +10 &Z"7\ . +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%,& +4 "core" &Z"\\\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&8% +4 "core" %\  ~  + "storage"(=% +4 "core" %Z e\ + "storage"(K. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(M( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (-& +3 "core" & \  + "manipulator"&L& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]@K-0-\ b +2 "core" &o \\ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&V(s + "storage"(E'i +5 "core" ( + "manipulator"&D& +4 "core" &o  9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &o +2 .tForearm.seek PC +2 "manipulator"&'' +96 "core" ' +2 .tHand.close + "manipulator"&9/ +56 "core" / +2 .tPC.seek :open + "processing"%2( +95 "core" ' + "storage"(J- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(O'y +47 "core" ' +284 ( + "storage"(F& +4 "core" & o\  +2 "manipulator"&H& +3 "core" &o Q +2 "manipulator"&*% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&P'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&A( +253 "core" ( +2 "manipulator"&@& +4 "core" & & M "z + "storage"(R& +4 "core" & I\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +96 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(W- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"(7& +3 "core" & H N q\  +2 "manipulator"&d& +3 "core" & d +2 .tElbow.seek 3 + "manipulator"&X( +20 "core" ( +2 "manipulator"&h& +4 "core" & # 8 + "storage"(Z& +4 "core" & C C \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"([' +57 "core" ' +2 "manipulator"&& +4 "core" & H + "storage"(I& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'} +19 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'i +27 "core" ' +2 "manipulator"&k% +4 "core" %΃ $ + "storage"(T& +4 "core" & p\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 306 counts + "manipulator"&e'ϯ +25 "core" ' +3 "manipulator"&j& +4 "core" & m + "storage"(\ & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +20 "core" ' +2 "storage"(Q% +4 "core" %p q\ +2 ."downElevator"SE.seek :down +3 "storage"(i'X +100 (% +3 "core" %G 0\ Va + "manipulator"&u% +4 "core" %F : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +54 .tForearm.seek :retract + "manipulator"&l'\ +99 "core" ' +5 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (b& +4 "core" & \ + "collection"'p& +4 "core" &Vl \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&y% +4 "core" %\  7 +2 "storage"(c% +3 "core" %R f\ +2 "storage"(f. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(|( +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (g& +2 "core" & ~\  +2 "manipulator"&s& +4 "core" & Z + .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&<& +4 "core" & 1 + "storage"(`& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +90 "core" ' +3 "storage"(}& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +278 "core" ' +2 "storage"(>- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" & ~ + "storage"(& +4 "core" & ;\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&m'} +21 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'O +28 "core" ' +2 "manipulator"&% +4 "core" %| + "storage"(q& +4 "core" & S\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 299 counts +2 "manipulator"&t'Ϩ +25 "core" ' +2 "manipulator"&{& +4 "core" & $ + "storage"(:& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'> +44 "core" ' +2 "manipulator"&"& +5 "core" &  + "manipulator"&z% +4 "core" %^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( +2 "manipulator"&& +4 "core" &*  @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &*  @] +2 .tForearm.seek CC + "manipulator"&.'" +94 "core" ' + .tHand.close +2 "manipulator"&1/ +62 "core" / +2 .tCC.seek :open + "collection"'( +418 "core" ( +2 "storage"(& +3 "core" & \  +2 "storage"((& +3 "core" & \  +2 "manipulator"& & +3 "core" &* U @\\ +2 "manipulator"&% +4 "core" % 4 + .tForearm.seek :retract +2 "manipulator"&~'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&5& +4 "core" &  + "storage"(6& +4 "core" &\ "\  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&$'} +93 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +53 "core" 1 +2 "manipulator"& % +4 "core" % Ά # ; + "storage"(& +4 "core" &\ \ :\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&)'ϲ +25 "core" ' +3 "manipulator"&3& +4 "core" & s \ + "storage"(w& +4 "core" &\ $\ $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(0% +4 "core" %A\ !\ \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %C\ \ \ U^ + "manipulator"& % +4 "core" %" _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'G& +4 "core" & 6\ +2 "manipulator"&% +4 "core" %\   + "storage"(/% +4 "core" %[\ \ * %\ + "storage"(#. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,l +340 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +3 "core" &,j. \\\  + "manipulator"&& +4 "core" & , \ + .tElbow.seek 4 +2 "manipulator"&,( +3 "core" ( + "manipulator"&8& +4 "core" & ( \ + "storage"(=& +4 "core" &,j. \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&K'Ѽ +92 "core" ' +2 "storage"(& +4 "core" &,j. \  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +277 "core" ' +2 "storage"(L- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &,j- \  + "manipulator"&%& +4 "core" & 2 \ + .tElbow.seek 4 +2 "manipulator"&?( +3 "core" ( + "manipulator"&9& +4 "core" & 9 \ + "storage"(Y& +4 "core" &,j- \  + .tForearm.seek 4 + 300 counts +2 "manipulator"&J', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(x'X +7 "core" & ' \ +2 "manipulator"&E% +4 "core" % $  I + .tForearm.seek :retract +2 "manipulator"&F'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +151 "core" ( +2 "manipulator"&*& +4 "core" &( &  ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.coast +3 "manipulator"&'& + "storage"(5 +6 "core" &( ' ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&@'" +105 "core" ' +2 "manipulator"&R& +4 "core" &) $ J ?T + "manipulator"&V% +4 "core" %   ` +2 "collection"'& +4 "core" & O\ +2 "collection"'W& +6 "core" & S\ +2 .tCC.seek :closed + "collection"'N(V +4 "core" & W\ +8 &7 \ $d +10 &V \ 7 +9 & \ L +9 &^ \ M +10 &ab \ M +9 &#` \ M +10 &` \ N +9 &_ \ M +9 &i` \ M +10 &*_ \ N +9 &_ \ M +9 &!c \ M +10 &#p_ d\ N +9 &%2_ \ N +10 &&[ \ M +9 &(] \ N +9 &*y^ \ M +10 &,;\\ \ M +9 &-\\ \ M +9 &/a \ M +10 &1^ \ M +9 &3C\\ \ M +10 &5\\ \ M +9 &6a \ M +9 &8] \ N +10 &:J` \ N +9 &< \\ \ N +10 &=_ \ N +9 &?` \ N +9 &AR] \ N +10 &C` \ N +9 &Dg \ N +9 &Fp ~\ O +7 "Can"\ ZX +2 "core" &HP \ Q +10 &J \ U +9 &K \ W +10 &M \ W +9 &OD |\ X +10 &Q w\ X +9 &R t\ Y +9 &T ~\ Y +10 &V#t \ . +9 &V' \ P +8 ( +2 &Vk {\ I + "collection"'W& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&71 +52 "core" 1 +2 "manipulator"&d% +4 "core" % ' , V + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%Z& +4 "core" &t\ +2 "manipulator"&P% +3 "core" %\   +2 "storage"(% +3 "core" %R Z\ +2 "storage"(I. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(k(,l +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (O& +2 "core" &,j :\  +2 "manipulator"&T& +4 "core" &( ?T + "manipulator"&^% +4 "core" %\  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&j( +156 "core" ( +2 "manipulator"&\ & +4 "core" & K  + "storage"(Q& +4 "core" &,j \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +93 "core" ' +2 "storage"(C& +4 "core" &,j \  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'i +275 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +2 "core" &,j /\  +2 "manipulator"&\\& +4 "core" & H  + .tElbow.seek 4 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&[& +4 "core" & ]  + "storage"(a& +4 "core" &,j {\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&e', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& + "storage"(y'X +7 "core" &   + "manipulator"&c% +4 "core" % 1 }  +2 .tForearm.seek :retract + "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&f(s +159 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +107 "core" ( +7 "manipulator"&g& +4 "core" &k @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +94 "core" ' +2 "manipulator"&`& +4 "core" &k  + "manipulator"&}% +4 "core" %   +2 "processing"%]& +3 "core" &J\ +2 "processing"%i& +5 "core" &{\ +2 .tPC.seek :closed + "processing"%M(Z +5 "core" &=\  +10 &1A\ *y +9 &d=\ ? +10 &i}:\ O +9 &.\\;\ N +9 &_:\ N +10 &_@\ N +9 &t_=\ N +9 &5b:\ N +10 &`=\ N +9 &_:\ N +9 & {`;\ N +10 &"=_=\ N +9 &#]:\ N +10 &%_;\ N +9 &'c;\ N +9 &)F_>\ N +10 &+_<\ N +9 &,_;\ M +9 &.a7\ N +10 &0M_;\ N +9 &2`#\ N +10 &3_\ N +9 &5_8\ N +9 &7V^+\ N +10 &9_$\ N +9 &:a!\ N +9 &<^$\ M +10 &>]^L\ N +9 &@ _2\ N +10 &A`:\ N +9 &C`8\ N +9 &Edb \ N +10 &G$j\ O +9 &HV\ Q +10 &J\ S +9 &L\\\ T +9 &N\ S +10 &O\ T +9 &Q\ T +9 &Sc\ T +10 &U$\ T +9 &V\ U +9 &X\ T +10 &Zd\ 'x +9 &Zh\ 7 +9 ( +2 &Z%\ 0 +2 "processing"%i& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&U1 +56 "core" 1 +2 "manipulator"&l% +4 "core" % i  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%o& +4 "core" &Z%\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +3 "core" %\  $  +2 "storage"(% +3 "core" %a \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(q(,l +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ({& +4 "manipulator"&:& + "core" &,j \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]@K-0-\ b +2 "core" &k  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&"(s +4 "storage"(z'i +3 "core" ( + "manipulator"&n& +4 "core" &k  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k Z +2 .tForearm.seek PC + "manipulator"&S' +98 "core" ' +2 .tHand.close + "manipulator"&m/ +52 "core" / +2 .tPC.seek :open + "processing"%t( +99 "core" ' +2 "storage"(v- +3 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +38 "core" ' +288 ( + "storage"( & +4 "core" &,j X\  +2 "manipulator"&& +3 "core" &k G +2 "manipulator"& % +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&1'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +237 "core" ( +2 "manipulator"&& +4 "core" &  X G + "storage"(& +4 "core" &,j G\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&('Ѽ +96 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(6' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(& +3 "core" &,j D N P\  +2 "manipulator"&!& +3 "core" &  F +2 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & { F +2 "storage"(3& +3 "core" &,j C D \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(0' +61 "core" ' +2 "manipulator"&~& +4 "core" &  F + "storage"(& +4 "core" &,j _\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& ' +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +23 "core" ' +2 "manipulator"&)% +4 "core" % x + "storage"(G& +4 "core" &,j +\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'@ +20 "core" ' +3 "manipulator"&/& +4 "core" & F +2 "storage"(#& +4 "core" &,j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&r'Ѽ +26 "core" ' +2 "storage"(% +4 "core" %q @\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (|% +3 "core" %F '\ V` + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (8& +4 "core" &,j \ + "collection"'=& +4 "core" &Vk \ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %\   ) +2 "storage"(&% +3 "core" %a \ +2 "storage"(B. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(L(,l +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (D& +2 "core" &,j -\  +2 "manipulator"&%& +4 "core" & A F + .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( + "manipulator"&Y& +4 "core" &  8 F + "storage"(;& +4 "core" &,j H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&+'Ѽ +94 "core" ' +2 "storage"(E& +4 "core" &,j k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +286 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" &  F +2 "storage"('& +3 "core" &,j B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&-' +35 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(R- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(V'O +30 "core" ' +2 "manipulator"&% +4 "core" %  + "storage"(?& +3 "core" &,j B\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +49 "manipulator"&x'? +14 "core" ' +2 "manipulator"&F& +4 "core" & P F + "storage"(& +4 "core" &,j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&7'Ѽ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(d'> +40 "core" ' +2 "manipulator"&Z& +4 "core" &  F + "manipulator"&P% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&I( +148 "core" ( +2 "manipulator"&O& +4 "core" &( o ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &( 8 ?S +2 .tForearm.seek CC + "manipulator"&T'" +94 "core" ' + .tHand.close +2 "manipulator"&^/ +57 "core" / +3 .tCC.seek :open +2 "collection"'@( +415 "core" ( +2 "storage"(\ & +4 "core" &,j \  + "storage"(Q& +3 "core" &,j e\  +2 "manipulator"&& +3 "core" &(  ?S +2 "manipulator"&H% +3 "core" % '  +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&h( +164 "core" ( +2 "manipulator"&& +4 "core" & a h + "storage"(u& +4 "core" &,j\ \  *\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&\\' +107 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +58 "core" 1 +2 "manipulator"&b% +4 "core" %  & + "storage"(p& +4 "core" &,j \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&c'@ +14 "core" ' +2 "manipulator"&j& +4 "core" & p e + "storage"(A& +4 "core" &,j\ $\ $ '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&_'Ѽ +23 "core" ' +2 "storage"(e% +4 "core" %@\ $\ # "\ +2 ."downElevator"SE.seek :down +3 "storage"(g'X +100 (s% +5 "core" %g@\ \  E\ U\\ + "manipulator"&X% +4 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +1118 #t-> access 2 +2 .SE.seek :down + "storage"(}'X +2 "core" ' +2 "manipulator"&]% +4 "core" %\  5 + "manipulator"&y& +4 "core" & r e + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(4(K +654 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (2& +2 "core" &K- ;\  +940 #t-> access 3 +2 .SE.seek :down + "storage"(U'X +4 "core" ' +2 "manipulator"&l% +3 "core" %\ U 5 +2 "manipulator"&o& +3 "core" & I e +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +337 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" &[- \  +709 #t-> access 4 + .SE.seek :down +2 "storage"('X +3 "core" ' + "manipulator"&i% +4 "core" %\ z 5 +2 "manipulator"&{& +3 "core" &  e +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(:(S +1915 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (n& +3 "core" &U 0\ +1123 #t-> samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &  \ +2 "manipulator"&<& +4 "core" & Y e + "manipulator"&m% +3 "core" %\  5 +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&k(, +174 "core" ( +2 "manipulator"&v& +3 "core" &, E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &,   +2 .tForearm.seek :garage + "manipulator"&>'Ϧ +106 "core" ' +2 .tHand.close + "manipulator"&M/ +58 "core" / +2 "manipulator"&z& +3 "core" &, 5   +2 "manipulator"& % +3 "core" % ϴ ) +2 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +3 "manipulator"& ( +275 "core" ( +2 "manipulator"&S& +3 "core" && J =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" && ( =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +103 "core" ' +2 "manipulator"&"& +4 "core" && " =E + "manipulator"& % +4 "core" % 6 + "collection"'& +4 "core" & \ +2 "collection"'.& +4 "core" & \ +2 .tCC.seek :closed + "collection"'(V +4 "core" & \  +9 &1 \ *x +9 &b \ > +10 &sz \ N +9 &5` \ M +10 &c \ M +9 &` \ M +9 &{a \ M +10 &>a \ M +9 &` \ N +9 &^ \ N +10 & ] \ M +9 &"E_ \ M +10 &$] \ N +9 &%_ \ M +9 &'[ \ M +10 &)M\\ \ M +9 &+] \ M +9 &,Z \ M +10 &.\\ \ M +9 &0U^ \ M +10 &2_ \ M +9 &3] \ M +9 &5Z \ M +10 &7]\\ \ M +9 &9\\ \ M +9 &:] \ M +10 &<b \ N +9 &>e` \ M +10 &@&` \ N +9 &A_ \ N +9 &C_ \ N +10 &Elb \ N +9 &G*n \ O +9 &H| \ P +10 &J \ V +9 &LX \ W +10 &N \ W +9 &O \ Y +9 &Q \ X +10 &SY \ Z +9 &U \ Y +9 &VdA \ 1 +10 &Vy \ I +5 ( +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + "collection"'!& +4 "core" &Vl T\ I + &Vk \ I + .tHand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&3% +4 "core" %  !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +98 "core" ' +3 .tPSV.dial PSR,avoiding: PBV + "processing"%~ +3 "core"  +2 "processing"%  +130 "core"  +2 "processing"%)% +3 "core" %p\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%G' +1591 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml + "processing"%/' +1600 "core" ' + .tPSV.dial PSR +2 "processing"%# +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%5' +2602 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%  + "collection"'  +7 "core" +6 +2 .tPSV.dial :PTV,via: :air + "processing"%( +200 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'6 +3 "core"  +2 "collection"'|  +5 "core" +2 .tPTV.dial :PRV,avoiding: :puck + "processing"% +3 "core"  +2 "processing"%w @ +71 "core" ? +2 .tPS.seek 0ml +2 "processing"% ' +2600 "core" ' + .tPSV.dial :air +2 "processing"%0  +70 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2604 "core" ' + .tPSV.dial :PTV +2 "processing"% +72 "core" ~ +2 .tPS.seek 0ml + "processing"%8' +2600 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&=& +4 "core" && =E + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( +2 "manipulator"&&& +3 "core" &% ! R =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +2 "core" &% =E +2 .tForearm.seek CC +2 "manipulator"&$'" +93 "core" ' + .tHand.close +2 "manipulator"&D/ +64 "core" / +2 .tCC.seek :open + "collection"'%( +417 "core" ( + "manipulator"&Y& +4 "core" && T =E +2 "manipulator"&;% +3 "core" %  [ +2 .tForearm.seek :retract + "manipulator"&r'\ +100 "core" ' +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&E(, +275 "core" ( +2 "manipulator"&& +4 "core" &, g g + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &,  g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'Ϧ +109 "core" ' +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&K% +4 "core" % ϰ  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +103 "core" ' +1225 #t-> PS.flush + #Flushing Processing stage + "processing"%'% +3 "core" %q\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%R& +4 "core" &u\ + "manipulator"&& +4 "core" &, c g + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&?(, +2 "core" ( +2 "manipulator"&F& +3 "core" &, P g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &,  g +2 .tForearm.seek :garage + "manipulator"&Z'Ϧ +107 "core" ' +2 .tHand.close + "manipulator"&P/ +56 "core" / +2 "manipulator"&+& +4 "core" &, % b g + "manipulator"&9% +4 "core" % ϳ + .tForearm.seek :retract +2 "manipulator"&,'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&-(s +122 "core" ( +2 "manipulator"&x& +4 "core" &o r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &o 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +101 "core" ' +3 "manipulator"&W& +4 "core" &o  g +2 "manipulator"&7% +4 "core" % + "processing"%J& +4 "core" &p\ +2 "processing"%^& +5 "core" &t\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &=\  +10 &0<\ *y +9 &c=\ > +10 &q|;\ N +9 &4^<\ N +9 &b:\ N +10 &b:\ M +9 &{`;\ M +9 &=_?\ M +10 &`=\ M +9 &c;\ N +10 & _8\ M +9 &"Cb9\ N +9 &$\\<\ N +10 &%];\ N +9 &'e:\ N +9 &)Mb=\ M +10 &+`=\ M +9 &,]:\ N +10 &.b<\ N +9 &0S`9\ N +9 &2_8\ M +10 &3`;\ M +9 &5`=\ M +10 &7\\]9\ N +9 &9^=\ N +9 &:]?\ M +10 &<^9\ M +9 &>d\\;\ N +9 &@&]@\ N +10 &Aa9\ N +9 &Cc:\ N +9 &Ekc:\ N +10 &G)p9\ O +9 &H<\ Q +10 &J:\ S +9 &Lc9\ S +9 &N&7\ S +10 &O?\ S +9 &Q;\ T +9 &Sk=\ S +10 &U+<\ T +9 &V8\ T +10 &X=\ T +9 &Z_;\ #m +9 &Zb=\ / +9 ( +2 &Z>\ ) + "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + "processing"%N& +4 "core" &Zx\ ) +2 .tHand.open + "manipulator"&\ 1 +64 "core" 1 +2 "manipulator"&Q% +4 "core" % $  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tPSV.dial PSR + "processing"%H +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'S +1084 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%u' +1589 "core" ' + .tPSV.dial PTV +2 "processing"%T +72 "core" +2 .tPTV.dial :puck + "processing"%I  +73 "core"  +2 .tPBV.dial :waste1 + "processing"%a  +54 "core" +2 .tPS.seek 0ml +2 "processing"%b' +2597 "core" ' + .tPSV.dial PSR +2 "processing"%p +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%j' +592 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +2092 "core" ' + .tPSV.dial PTV +2 "processing"%e +73 "core" +2 .tPBV.dial PSV + "processing"%C U +54 "core" W +2 .tPS.seek 0ml +2 "processing"%s' +2600 "core" ' + .tPSV.dial PBV +2 "processing"%X @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%h' +2599 "core" ' + .tPSV.dial :waste1 +2 "processing"%\\  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%c' +2600 "core" ' + .tPSV.dial PSR +2 "processing"%d +43 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%_' +2603 "core" ' + .tPSV.dial PTV +2 "processing"%g +72 "core" +2 .tPBV.dial PSV + .PS.seek 0ml +2 "processing"%L' +2601 "core" ' + .tPSV.dial PBV +2 "processing"%] @ +55 "core" B +2 .tPS.seek 2.5ml +2 "processing"%y' +2604 "core" ' + .tPSV.dial :waste1 +2 "processing"%2  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%l' +1873 "Can"\ HF +734 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&o& +4 "core" &o  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&}(s +3 "core" ( +2 "manipulator"&4& +4 "core" &o  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o A +2 .tForearm.seek PC + "manipulator"&i' +98 "core" ' + .tHand.close +2 "manipulator"&{/ +59 "core" / +2 .tPC.seek :open + "processing"%U( +437 "core" ( +2 "manipulator"&& +3 "core" &o  +2 "manipulator"&n% +3 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&<(, +125 "core" ( +2 "manipulator"&m& +3 "core" &, ;  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &, j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&f'Ϧ +88 "core" ' + .tHand.open +2 "manipulator"&[1 +52 "core" 1 +2 "manipulator"&M% +4 "core" % ϰ  p + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +98 "core" ' +651 #t-> exit +5 #mEXIT @1622746141.67EDT @1627414481.10EDT = =mMAIN_scheduler =tMAIN @EDT1627414484.36 #"core_reset"Sent BREAK +2 #t@59897 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +548 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +405 "Can"5\ j 5\ j + #tPolling Can every 10:00 +2 #Cleanly exited at 14:49:01EDT03-Jun-21 +1180 #-> ESP.shutdown +2 #"shutdown"Shutdown +2 #tAsleep / Shutdown +15978 #-> Power.core :on + .Gate.power :core,:ON +2969 #-> Power.core :off + .Gate.power :core,:OFF +3540 #-> Power.core :on + .Gate.power :core,:ON +2563 #-> Power.core :off + .Gate.power :core,:OFF +2124 #-> Power.core :on + .Gate.power :core,:ON +2785 #-> Power.core :off + .Gate.power :core,:OFF +3414 #-> Power.core :on + .Gate.power :core,:ON +2707 #-> Power.core :off + .Gate.power :core,:OFF +5259 #-> Power.core :on + .Gate.power :core,:ON +2701 #-> Power.core :off + .Gate.power :core,:OFF +1029 #-> ESP.configure +3 #Powering core bus +473 .Gate.power :raw,:ON +3 "sampler") +37 ) +3 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" % N\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ |  + .tSS.configure :default +2 "sampler")#.0XRESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +382 "Can"\ c + \ c + #tPolling Can every 10:00 +2 #Cleanly exited at 15:42:50EDT27-Jul-21 +518 #-> ESP.ready! +2 #Powering core bus +469 .Gate.power :raw,:ON +4 "sampler") +24 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % o\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %0  +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ |9  + .tSS.configure :default +2 "sampler")#.0X\ > \  + "storage"(8% +4 "core" %X\ >\ > \ +2 "collection"'99 +2 "core" 9{ +2 "processing"%:9 +3 "core" 9pj +203 #t-> exit +5 #mEXIT @1629747875.17EDT @1629768590.97PDT = =mMAIN_scheduler =tMAIN @PDT1629768592.53 #t=0xFD +27 #"core_reset"Sent BREAK + #t@58274 receive with ifg=0x10, ie=0xFD + #@58907 receive with ifg=0x10, ie=0xFD #@59238 receive with ifg=0x80, ie=0xFD + #@30956 idle with ifg=0x00, ie=0x75 + #@55085 receive with ifg=0x10, ie=0xFD + #@55718 receive with ifg=0x10, ie=0xFD #@56373 receive with ifg=0x10, ie=0xFD + #@57007 receive with ifg=0x10, ie=0xFD #@57640 receive with ifg=0x10, ie=0xFD + #@58274 receive with ifg=0x10, ie=0xFD #@58907 receive with ifg=0x10, ie=0xFD + #@59238 receive with ifg=0x80, ie=0xFD #@48665 initial with ifg=0x00, ie=0xF5 + #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +8 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +374 "Can"\ EB + \ EB + #tPolling Can every 10:00 +3 #Cleanly exited at 15:44:35EDT23-Aug-21 +249 #-> can +3 "Can"\ C@ +1191 #t-> ESP.ready! +155 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %V\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ x\ u | +2 .tSS.configure :default +2 "sampler")#.0X Puck.count +2 "storage"(3% +3 "core" %X\ [\ Z i\ +2 .tSE.seek :down +2 "storage"(4'X +3 "core" ' +2 .tSE.stop + "storage"(5 +2 .tHand.open +2 "manipulator"&51 +58 "core" 1 + "manipulator"&6% +4 "core" % \  Q  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(7(S +653 "core" ( + .tSC.configure :limp +7 "storage"($\ 1b +2 (8& +4 "core" &U\ [\ Z {\ + "manipulator"&9& +4 "core" & + + .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&:(. +17 "core" ( + "manipulator"&;& +4 "core" &% w !p +2 "storage"(<& +3 "core" &W |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&='ѷ +98 "core" ' + "storage"(>& +4 "core" &W  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'i +270 "core" ' + "storage"(@- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A% +3 "core" %e U `\ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +100 (C% +2 "core" %zD ` `\ U^ +2 "manipulator"&D% +3 "core" %Ѳ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(F( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" & \ N\ X \  +2 "manipulator"&H& +4 "core" &% !p + .tElbow.seek 2 +2 "manipulator"&I( +22 "core" ( + "manipulator"&J& +4 "core" & D  +2 "storage"(K& +3 "core" & 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +85 "core" ' +2 "storage"(M& +4 "core" & )  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +269 "core" ' +2 "storage"(O- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P% +2 "core" %g V s +3 ."downElevator"SE.seek :down +3 "storage"(Q'X +100 (R% +2 "core" %G c a\ U] +2 "manipulator"&S% +3 "core" %ї F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(U( +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &\  y \  +2 "manipulator"&W& +4 "core" &  +2 .tElbow.seek 3 +36 "manipulator"&X( +18 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(Z& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +97 "core" ' + "storage"(\\& +4 "core" & A  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'i +268 "core" ' + "storage"(^- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_% +3 "core" %o j n  +3 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (a% +3 "core" %? c a\ TZ + "manipulator"&b% +4 "core" %5 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(d(,l +335 "core" ( +68 .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &,j5 \ Z m\  + "manipulator"&f& +5 "core" & \   + .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(i& +3 "core" &,h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&j'Ѽ +92 "core" ' +2 "storage"(k& +4 "core" &,h  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +270 "core" ' + "storage"(m- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n% +3 "core" %a w  +2 ."downElevator"SE.seek :down +4 "storage"(o'X +100 (p% +2 "core" %C ` a\ U\\ +2 "manipulator"&q% +3 "core" %Ѻ m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +94 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(s(<* +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &<+ a ` \  +2 "manipulator"&u& +4 "core" & ,  + .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( + "manipulator"&w& +4 "core" & 8  + "storage"(x& +4 "core" &<' 4  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&y'ы +97 "core" ' +2 "storage"(z& +4 "core" &<'  -  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'i +268 "core" ' +2 "storage"(|- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}% +3 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(~'X +99 (% +3 "core" %A n }\ TZ +2 "manipulator"&% +3 "core" %\\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K\ \ K o\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +33 "core" ( + "manipulator"& & +4 "core" & # +2 "storage"( & +3 "core" &K 8  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +107 "core" ' +2 "storage"(& +4 "core" &K G  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +270 "core" ' +2 "storage"(- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (% +2 "core" %_  ,  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %= c c\ UZ + "manipulator"&% +4 "core" %h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +335 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[\ /\ ; =\  +2 "manipulator"&& +3 "core" & f !w +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & L !w + "storage"(& +5 "core" &[   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"& 'w +97 "core" ' +2 "storage"(!& +4 "core" &[ r  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +269 "core" ' +2 "storage"(#- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($% +2 "core" %j t K +3 ."downElevator"SE.seek :down +3 "storage"(%'X +99 (&% +3 "core" %B ` b\ U\\ +2 "manipulator"&'% +4 "core" %} i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +87 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +856 #t-> exit +6 #mEXIT @1629768732.74PDT @1629769126.13PDT = =tMAIN =mMAIN_scheduler @PDT1629769127.93 #"core_reset"Sent BREAK +2 #t@24258 select with ifg=0x10, ie=0xF5 + #@24906 receive with ifg=0x10, ie=0xFD #@25555 receive with ifg=0x10, ie=0xFD + #@26203 receive with ifg=0x10, ie=0xFD + #@26530 receive with ifg=0x80, ie=0xFD #@65146 sendCRC with ifg=0x20, ie=0x7F + #@57 sendCRC with ifg=0x20, ie=0x7F #@1648 sendCRC with ifg=0x08, ie=0x5F + #@40371 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +7 #ESP2 v3.41 I2C Gateway v3.20 for core bus +282 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +372 "Can"\ 53} + \ 53} + #tPolling Can every 10:00 +3 #Cleanly exited at 18:32:12PDT23-Aug-21 +3238 #-> GoodNews.email "Updated to ESP Linux 2.73" +7 .GoodNews.email "Updated to ESP Linux 2.73" +745 #-> exit +4 #mEXIT @1629769174.62PDT @1632405910.23EDT = =tMAIN =mMAIN_scheduler @EDT1632405912.18 #"core_reset"Sent BREAK +2 #t@50049 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +297 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +408 "Can"\ e + \ e #tPolling Can every 10:00 +4 #Cleanly exited at 18:39:34PDT23-Aug-21 +599 #-> ESP.ready! +3 #Powering core bus +533 .Gate.power :raw,:ON +3 "sampler") +43 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \   + .tSS.configure :default +3 "sampler")#.0X access 2 +3 "storage"(;% +3 "core" %X\ \ & 7\ +2 "manipulator"&<% +4 "core" %\  "   + "manipulator"&=& +4 "core" & # !p +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +965 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &K \  +868 #t-> access 4 +3 "storage"(@% +3 "core" %X\ \ % O\ +2 "manipulator"&A% +4 "core" %\  C  +2 "manipulator"&B& +4 "core" &  !p +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(C(S +1594 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &V y\ +871 #t-> access 5 +3 "storage"(E% +3 "core" %X\ \  _\ +2 "manipulator"&F% +4 "core" %\   7  + "manipulator"&G& +4 "core" & ? !p +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(H( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" & \  +1672 #t-> require 'shuffle.rb' +932 #-> 5.times {shuffle 2..5} +2 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'J& +3 "core" & ;\  +2 .tHand.open +2 "manipulator"&K1 +59 "core" 1 +2 "manipulator"&L% +4 "core" % \  1   +2 "storage"(M% +3 "core" %X\ \ - <\ +2 "storage"(N. +3 "core" .( + "storage"(O& +4 "core" & \ \ 3 \  +2 "storage"(P& +3 "core" & \ \ & K\  +2 "manipulator"&Q& +4 "core" & " r !p + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&R( +13 "core" ( +2 "manipulator"&S& +4 "core" & ( H # +2 "storage"(T& +39 "core" & \ \  \  +8 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +94 "core" ' + "storage"(V& +4 "core" & \ %\ ' !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'i +282 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" & \ \  D\  + "manipulator"&Z& +5 "core" &  h # + .tElbow.seek 2 +2 "manipulator"&[( +4 "core" ( + "manipulator"&\\& +4 "core" & 2 # +2 "storage"(]& +4 "core" & \ \  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"(a'X +6 "core" & ! , # +2 "manipulator"&b% +4 "core" % \  3 +2 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +146 "core" ( + "manipulator"&e& +5 "core" &' % L ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &' " ;4 + ' +2 ."downElevator"SE.stop +4 .tForearm.reconfigure :tight +2 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&g'" +95 "core" ' +2 "manipulator"&h& +4 "core" &% ( ~ ;4 +2 "manipulator"&i% +4 "core" %   +2 "collection"'j& +4 "core" & 4\  +2 "collection"'k& +4 "core" & 0\  +2 .tCC.seek :closed +2 "collection"'l(V +4 "core" & Z\  +8 &O X\ %h +10 &vW _\ 9 +9 & _\ M +9 &_ `\ N +10 &Rb b\ N +9 &a a\ N +9 &c a\ N +10 &_ h\ N +9 &[` e\ N +10 &` m\ N +9 &d l\ N +9 &!c j\ N +10 &#ab `\ N +9 &%#d m\ N +9 &&` h\ N +10 &(_ d\ M +9 &*ka f\ N +10 &,.` g\ M +9 &-a a\ M +9 &/a a\ N +10 &1ra e\ N +9 &36_ g\ M +9 &4c f\ N +10 &6g f\ N +9 &8{` i\ N +9 &:<b o\ N +10 &;d j\ N +9 &=c f\ N +10 &?b m\ N +9 &ADc c\ N +9 &Cb g\ N +10 &Dl [\ O +9 &Fv b\ P +9 &H? d\ R +10 &I p\ V +9 &K i\ X +10 &Mt h\ X +9 &O6 h\ X +9 &P l\ Y +10 &R l\ Y +9 &Tx k\ Z +9 &Vt f\ 0 +10 &V( i\ M +9 ( +3 "collection"'k& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&m1 +4 "core" &Vg h\ E +52 1 +3 "manipulator"&n% +4 "core" %  ' T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%p& +5 "core" &\ \  + "manipulator"&q% +4 "core" %\   )  +2 "storage"(r% +4 "core" %S {\ + "storage"(s. +3 "core" .( + "storage"(t& +4 "core" & w\  +2 "storage"(u& +4 "core" & t\  + "manipulator"&v& +4 "core" &#\ ' :. +2 "manipulator"&w% +3 "core" %\ \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&x( +150 "core" ( +2 "manipulator"&y& +4 "core" & ( k +2 "storage"(z& +4 "core" & x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +94 "core" ' +2 "storage"(|& +4 "core" & \ \  p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +289 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & x\  + "manipulator"&& +4 "core" & u +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & ^\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" &   +2 "manipulator"& % +4 "core" %  \ ` +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"& & +4 "core" &{ y B j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &{   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&& +4 "core" &{ ( W  + "manipulator"&% +4 "core" %  T  +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &5\ +| +9 &e\ @ +10 &a~\ O +9 &%_\ N +9 &b\ N +10 &c\ N +9 &kb\ N +10 &-b\ N +9 &c\ N +9 &c\ O +10 & re\ N +9 &"4d\ N +9 &#c\ N +10 &%b\ N +9 &'{b\ N +10 &)=c\ N +9 &*c\ N +9 &,`\ N +10 &.c\ N +9 &0Fb\ N +9 &2c\ N +10 &3d\ N +9 &5c\ N +10 &7L`\ N +9 &9b\ N +9 &:`\ N +10 &<`\ N +9 &>W`\ M +9 &@c\ N +10 &Aa\ N +9 &Cd\ N +10 &E\\g\ N +9 &Gw\ P +9 &H\ R +10 &J\ S +9 &LS\ T +9 &N\ S +10 &O\ S +9 &Q\ S +10 &S[\ T +9 &U\ T +9 &V\ U +10 &X\ T +9 &Zc\ &t +9 &Z`\ 0 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ + +60 1 + "manipulator"&% +5 "core" % 4 '  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   O  + "storage"(% +4 "core" %c {\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & 9\  +2 "storage"("& +2 "manipulator"&%& +6 "core" & (\  + &{  d  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&'(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(('i +3 "core" ( + "manipulator"&)& +5 "core" &{  h  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &{ w  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&#/ +63 "core" / +2 .tPC.seek :open + "processing"%,( +91 "core" ' + "storage"(-- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(.'y +43 "core" ' +287 ( +2 "storage"(/& +4 "core" & c\  + "manipulator"&0& +4 "core" &{    + "manipulator"&1% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&2'\ +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&3( +244 "core" ( +2 "manipulator"&4& +4 "core" & # b P +2 "storage"(5& +4 "core" & _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +109 "core" ' + .tHand.open + "manipulator"&71 +54 "core" 1 +2 "storage"(8- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(:' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(<& +4 "core" & [\  + "manipulator"&=& +4 "core" &  < O +2 .tElbow.seek 2 + "manipulator"&!( +4 "core" ( + "manipulator"&?& +4 "core" & $ [ O +2 "storage"(@& +4 "core" & \  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +58 "core" ' + "manipulator"&>& +5 "core" &  Q O + "storage"(D& +5 "core" & m\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(G'i +23 "core" ' +2 "manipulator"&C% +5 "core" % [ + "storage"(I& +4 "core" & M\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&J' +17 "core" ' +3 "manipulator"&K& +4 "core" & # l O +2 "storage"(L& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +27 "core" ' + "storage"(N% +5 "core" %o z\  +2 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (P% +4 "core" %mJ W\ Wb + "manipulator"&Q% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +4 "core" & W\  + "collection"'V& +4 "core" &Vh n\ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +5 "core" %\   4  + "storage"(&% +4 "core" %b }\ +2 "storage"(X. +3 "core" .( + "storage"(Y& +4 "core" & \  +2 "storage"(Z& +4 "core" & h\  + "manipulator"& & +4 "core" &  I O +39 .tElbow.seek 2 +11 "manipulator"&\\( +4 "core" ( + "manipulator"&]& +5 "core" & % ] O + "storage"(_& +4 "core" & o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +91 "core" ' + "storage"(b& +5 "core" & e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +283 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" &   O + "storage"(f& +4 "core" & `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&W' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(i'X +41 "core" ' + "manipulator"&j% +5 "core" % \ + "storage"([& +4 "core" & 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&a' +15 "core" ' + "manipulator"&c& +5 "core" & " 8 O + "storage"(+& +4 "core" & f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'G +40 "core" ' + "manipulator"&p& +5 "core" &  M O + "manipulator"&q% +4 "core" %ў  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +148 "core" ( + "manipulator"&t& +5 "core" &, ( h Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &,  Bk +2 .tForearm.seek CC +2 "manipulator"&k'" +93 "core" ' + .tHand.close +2 "manipulator"&v/ +59 "core" / +2 .tCC.seek :open +2 "collection"'w( +416 "core" ( + "storage"(y& +4 "core" & \ \  S\  +2 "storage"(g& +3 "core" & \ \  V\  +2 "manipulator"&z& +4 "core" & ( >N + "manipulator"&|% +4 "core" % 2 +2 .tForearm.seek :retract + "manipulator"&d'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&o( +159 "core" ( +2 "manipulator"&~& +4 "core" & "   + "storage"(& +5 "core" & \ %\ % B\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  +2 "storage"(& +4 "core" & l\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"& ' +12 "core" ' + "manipulator"&x& +5 "core" & t  + "storage"({& +4 "core" & \ Q\ Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +29 "core" ' + "storage"(% +4 "core" %P\ R\ Q \ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 ( % +3 "core" %C\ \  \ U] + "manipulator"&% +4 "core" %ј \ X x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & j\ + "manipulator"&% +4 "core" %\ \  +2 "storage"(% +4 "core" %`\ D\ N @\ + "storage"(\ . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & M\  +2 "manipulator"&& +3 "core" & , P  +2 .tElbow.seek 3 +2 "manipulator"&( +18 "core" ( +2 "manipulator"&& +4 "core" & j r + "storage"(& +4 "core" &\ 3\ 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' + "storage"(& +5 "core" &\ 0\ ( \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :down +2 "storage"("'X +263 "core" ' +2 .tSE.stop + "storage"(5 +2 "manipulator"&)% +5 "core" %2\  O  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + !to:Puck::Error: mesg".2 pucks loaded in tube 3 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:257:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:583:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):6:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +5 #mEXIT @1632406310.13EDT @1632406344.00EDT = =tMAIN =mMAIN_scheduler @EDT1632406345.78 #"core_reset"Sent BREAK +3 #t@39997 sendCRC with ifg=0x20, ie=0x7F + #@41832 sendCRC with ifg=0x08, ie=0x5F #@63357 idle with ifg=0x84, ie=0x75 + #@64032 select with ifg=0x10, ie=0xF5 + #@64678 receive with ifg=0x10, ie=0xFD #@65325 receive with ifg=0x10, ie=0xFD + #@437 receive with ifg=0x10, ie=0xFD + #@765 receive with ifg=0x80, ie=0xFD #@32884 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +380 "Can"k\ 42~ + k\ 42~ + #tPolling Can every 10:00 +566 #-> ESP.ready? +305 #-> ESP.ready! +155 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % H\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ \  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +990 #-> 5.times {shuffle 2..5} +2 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'2& +4 "core" & k\ + .tHand.open +2 "manipulator"&31 +20 "core" 1 +2 "manipulator"&4% +4 "core" %\  {  +2 "storage"(5% +3 "core" %U \ +2 "storage"(6. +2 "core" ., +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & \ +2 "manipulator"&9& +4 "core" & r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +29 "core" ( + "manipulator"&;& +5 "core" & % F !t + "storage"(<& +4 "core" & \ %\ % J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +97 "core" ' +2 "storage"(>& +4 "core" & \ 3\ 2\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +277 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & o\ + "manipulator"&B& +4 "core" &  g !t +2 .tElbow.seek 2 + "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" & 1  !t +2 "storage"(E& +3 "core" & \ \  ;\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(I'X +7 "core" &  !t +2 "manipulator"&J% +3 "core" %   # 4 +2 .tForearm.seek :retract +2 "manipulator"&K'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +144 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&M& +4 "core" &* @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &* ; @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'" +98 "core" ' +2 "manipulator"&P& +4 "core" &* 1  @\\ +2 "manipulator"&Q% +4 "core" % j +2 "collection"'R& +3 "core" & l\ +3 "collection"'S& +6 "core" & l\ +2 .tCC.seek :closed +3 "collection"'T(V +3 "core" & j\ +5 & o\ 2 +10 &5E l\ 1 +9 &as l\ E +12 &k l\ N +7 &c m\ N +10 &a g\ N +9 &Mb c\ N +9 &a l\ N +10 &` d\ M +9 &_ `\ M +9 &Ub `\ N +10 &!` `\ M +9 &"b Y\ N +9 &$b \\\ N +10 &&^_ R\ M +9 &(_ ^\ N +9 &)] Q\ N +10 &+_ S\ M +9 &-f_ W\ M +10 &/(` ]\ M +9 &0b \\\ N +9 &2` _\ N +51 &4n_ Z\ M +7 &60b ^\ M + &7` ]\ N + &9_ `\ N &;tc _\ N + &=6` X\ N +5 &>_ \\\ N +9 &@e _\ N +10 &B|e _\ N +9 &D=g _\ N +9 &Eq \\\ P +10 &G \\\ Q +9 &Ir Y\ T +10 &K( _\ X +9 &L \\\ X +9 &N \\\ X +10 &Pn ^\ X +9 &R/ Z\ Y +9 &S _\ Z +10 &U ]\ F +9 &V4 X\ )y +10 &Vj ^\ G +2 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open + "manipulator"&U1 +61 "core" 1 + "manipulator"&V% +5 "core" %  : H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +5 "core" &\ + "manipulator"&Y% +4 "core" %\  !  + "storage"(Z% +4 "core" %c t\ +2 "storage"([. +3 "core" .( + "storage"(\\& +4 "core" & \ + "storage"(]& +4 "core" & W\ +2 "manipulator"&^& +3 "core" &( >K +2 "manipulator"&_% +4 "core" %\   {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +162 "core" ( +2 "manipulator"&a& +4 "core" &  >  + "storage"(b& +4 "core" & a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +90 "core" ' + "storage"(d& +4 "core" & |\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'i +286 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" & /\ +2 "manipulator"&h& +4 "core" &  /  + .tElbow.seek 2 +2 "manipulator"&i( +3 "core" ( + "manipulator"&j& +4 "core" & % 5  +2 "storage"(k& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +60 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(o'X +8 "core" &  V  + "manipulator"&p% +4 "core" %    H +2 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +104 "core" ( + "manipulator"&s& +5 "core" &j 3 \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +2 "core" &j  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&u' +98 "core" ' +2 "manipulator"&v& +5 "core" &l  % + "manipulator"&w% +4 "core" %  +2 "processing"%x& +3 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &\  +9 &/}\ *y +10 &d\ ? +9 &p\ O +10 &3b\ N +9 &a\ N +9 &a\ N +10 &xb\ O +9 &=`\ N +9 &b\ N +10 &a\ N +9 & b\ N +10 &"Eb\ N +9 &$`\ N +9 &%a\ N +10 &'b\ N +9 &)Ld\ N +9 &+a\ N +10 &,`\ N +9 &.a\ N +10 &0T_\ N +9 &2b\ N +9 &3a\ N +10 &5b\ N +9 &7]_\ N +9 &9_\ N +10 &:_\ N +9 &<`\ M +10 &>d`\ N +9 &@'b\ N +9 &Aa\ N +10 &Cc\ N +9 &Ejh\ O +9 &G'u\ P +10 &H\ R +9 &J\ T +10 &Ld\ S +9 &N&\ S +9 &O\ S +10 &Q\ S +9 &Sj\ T +9 &U,\ T +10 &V\ T +9 &X\ T +10 &Z_\ $o +9 &Z]\ , +9 ( +3 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&{1 +3 "core" &Z\ ( +53 1 +2 "manipulator"&|% +5 "core" % * u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 "processing"%~& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ #   < + "storage"(% +4 "core" %c Q\ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & x\ + "storage"(& +4 "manipulator"&& +4 "core" & A\ + &l m +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +2 "manipulator"& & +3 "core" &l q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &l ~ +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +294 ( + "storage"(& +4 "core" & \ + "manipulator"&& +4 "core" &l  H +2 "manipulator"&% +3 "core" %  P +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" & % + !w + "storage"(& +4 "core" & o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +52 "core" ' + #tLights, camera, ACTION! + "storage"("- +4 "core" -' +2 "storage"(#& +3 "core" & n u \ +2 "manipulator"&$& +4 "core" & m n + .tElbow.seek 2 +2 "manipulator"&%( +12 "core" ( +2 "manipulator"&&& +4 "core" & & - + "storage"('& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +58 "core" ' + "manipulator"&*& +4 "core" & ) i - +2 "storage"(+& +4 "core" & =\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,' +30 "core" ' + .tElbow.hold +2 "manipulator"&-, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +24 "core" ' +2 "manipulator"&/% +4 "core" % $ + "storage"(0& +4 "core" & S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&1' +12 "core" ' + "manipulator"&2& +5 "core" & " M - + "storage"(3& +4 "core" & +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +31 "core" ' +2 "storage"(5% +4 "core" %m (\ +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (% +5 "core" %G X\ V` + "manipulator"&8% +4 "core" %ѐ | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" & (\ +2 "collection"'<& +4 "core" &Vg K\ G + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&>% +3 "core" %\   +2 "storage"(% +4 "core" %Z \ + "storage"(. +3 "core" .( +2 "storage"(@& +3 "core" & \ +2 "storage"(A& +4 "core" & o\ + "manipulator"&B& +4 "core" & b - + .tElbow.seek 2 +2 "manipulator"&D( +8 "core" ( + "manipulator"&E& +5 "core" & ' o  + "storage"(G& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +101 "core" ' +2 "storage"(J& +4 "core" & \ $\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'i +287 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" &  +2 "storage"(N& +4 "core" & T\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?' +32 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'X +31 "core" ' +2 "manipulator"&R% +4 "core" % + "storage"(C& +4 "core" & =\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&I' +15 "core" ' +2 "manipulator"&K& +4 "core" &  + "storage"(\ & +4 "core" & |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'G +40 "core" ' +2 "manipulator"&X& +4 "core" &  +2 "manipulator"&Y% +3 "core" %і +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +154 "core" ( +2 "manipulator"&\\& +4 "core" &% & <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &% <: +2 .tForearm.seek CC +2 "manipulator"&S'" +94 "core" ' + .tHand.close +2 "manipulator"&^/ +61 "core" / +2 .tCC.seek :open + "collection"'_( +463 "core" ( + "storage"(O& +5 "core" & \  \ + "storage"(a& +4 "core" & r\ + "manipulator"&b& +4 "core" &%  K <: + "manipulator"&d% +4 "core" % / m  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +93 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +153 "core" ( +2 "manipulator"&f& +4 "core" & ' a  + "storage"(g& +4 "core" & \ \  ~\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +107 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&k1 +61 "core" 1 +2 "manipulator"&m% +4 "core" % ,  +2 "storage"(n& +3 "core" & U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&p' +13 "core" ' +2 "manipulator"&`& +4 "core" & n  +2 "storage"(c& +4 "core" & \ 3\ 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +25 "core" ' +2 "storage"(l% +4 "core" %J\ '\ 0 n\ +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (t% +2 "core" %G\ \  9\ V` +2 "manipulator"&i% +5 "core" %ѕ c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +86 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +5 "core" & +\ + "manipulator"&x% +4 "core" %\  &  + "storage"(o% +4 "core" %a\ 0\ ( D\ +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +2 "core" & \  +2 "manipulator"&|& +4 "core" & o  + .tElbow.seek 3 +2 "manipulator"&~( +14 "core" ( +2 "manipulator"&& +4 "core" & '  + "storage"(& +4 "core" &\ %\ % [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' + "storage"(& +4 "core" &\ D\ 6 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \  \  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&u& +4 "core" & & F  + "storage"(& +4 "core" &\ %\ ' \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z'X +7 "core" & b  +2 "manipulator"& % +3 "core" % ϣ +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &+ 3 7 Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ * Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +104 "core" ' + "manipulator"&& +5 "core" &+  # Ac + "manipulator"&% +4 "core" %* +2 "collection"'& +5 "core" & l\ +2 "collection"'& +6 "core" & <\ +2 .tCC.seek :closed + "collection"'"(V +5 "core" & i\  +8 &1 j\ *y +9 &c k\ > +10 &t{ i\ N +9 &8] b\ M +9 &c e\ N +10 &^ g\ N +9 &~] i\ M +10 &@_ k\ M +9 &] [\ N +9 &` c\ N +10 & ^ _\ M +9 &"Hb a\ M +9 &$ b _\ N +10 &%f \\\ M +9 &'b ]\ M +10 &)Pc ]\ M +9 &+c \\\ M +9 &,` _\ M +10 &.c W\ M +9 &0W] X\ N +9 &2a X\ M +10 &3b S\ M +9 &5a \\\ M +10 &7_b Z\ N +9 &9!` \\\ N +9 &:b ^\ N +10 &<e [\ M +9 &>h_ f\ M +9 &@*^ i\ M +10 &A_ a\ M +9 &C` e\ M +10 &Emj g\ N +9 &G,u g\ O +9 &H _\ R +10 &J _\ W +9 &L[ e\ W +9 &N g\ W +10 &O i\ X +9 &Q h\ X +10 &S\\ \\\ Z +9 &U ^\ Y +9 &ViB V\ 1 +10 &Vu d\ G +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator" +3 "core" &Vg c\ G +59 1 +2 "manipulator"&$% +4 "core" % %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +4 "core" &\ + "manipulator"&% +4 "core" %\  x  +2 "storage"(*% +4 "core" %^ q\ + "storage"(+. +3 "core" .( +2 "storage"(& +4 "core" & S\  + "storage"(/& +4 "core" & "\  +2 "manipulator"&0& +3 "core" &)   ?U +2 "manipulator"& % +4 "core" %\  K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&2( +163 "core" ( + "manipulator"&3& +5 "core" &  !  + "storage"(5& +4 "core" & ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + "storage"(& +5 "core" & _\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" & "\  +2 "manipulator"&(& +3 "core" & h  +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( + "manipulator"&)& +4 "core" &  + "storage"(,& +4 "core" & ^\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(>'X +7 "core" &   + "manipulator"&% +4 "core" % ϱ   +2 .tForearm.seek :retract +2 "manipulator"&.'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&@& +4 "core" &i F 3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &i 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +97 "core" ' + "manipulator"&E& +4 "core" &i ' n 3 +2 "manipulator"&G% +4 "core" %   + "processing"%4& +4 "core" &\ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &\ +6 & 3\ #b +10 &U\ 8 +9 &\ L +10 &_ \ N +9 &cc\ M +9 &$a\ N +10 &b\ M +9 &`\ N +10 &ka\ M +9 &,`\ N +9 &`\ N +10 &!a\ N +9 &#qc\ N +9 &%5`\ M +10 &&a\ M +9 &(`\ N +10 &*y^\ N +9 &,<`\ N +9 &-_\ N +10 &/_\ M +9 &1_\ N +9 &3D_\ N +10 &5_\ N +9 &6`\ M +10 &8_\ M +9 &:L_\ N +9 &<b\ N +10 &=`\ N +9 &?a\ N +9 &AT]\ N +10 &C`\ N +9 &De\ N +9 &Fp\ O +10 &HQ\ Q +9 &J\ S +10 &K\ T +9 &M\ S +9 &OS\ S +10 &Q\ S +9 &R\ T +9 &T\ T +10 &VX\ T +9 &X\ T +10 &Y{u\ 6 +9 &Z-\ R +9 &Z\ * +3 ( +2 "processing"%J& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&-1 +62 "core" 1 + "manipulator"&9% +4 "core" % %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +93 "core" ' +2 "processing"%M& +4 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&N% +3 "core" %\    +2 "storage"(P% +4 "core" %c \ + "storage"(R. +4 "core" .( + "storage"(C& +4 "core" & '\  +2 "storage"(K& +3 "manipulator"&\ & +4 "core" & B\  + &i  \\ 3 +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&X(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( + "manipulator"&H& +4 "core" &i ! n 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &i  E 3 +2 .tForearm.seek PC + "manipulator"&:' +110 "core" ' + .tHand.close +2 "manipulator"&?/ +59 "core" / +2 .tPC.seek :open +2 "processing"%I( +79 "core" ' + "storage"(Q- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\\'y +40 "core" ' +304 ( +2 "storage"(]& +4 "core" & \  + "manipulator"&U& +4 "core" &i @ 3 +2 "manipulator"&F% +3 "core" %  q j +2 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +250 "core" ( + "manipulator"&T& +5 "core" &  l + "storage"(O& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +100 "core" ' + .tHand.open +2 "manipulator"&b1 +58 "core" 1 +2 "storage"(d- +3 "core" -'y +51 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +29 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' +2 "storage"([& +3 "core" & f [\  +2 "manipulator"&k& +3 "core" &   h +2 .tElbow.seek 3 +2 "manipulator"&m( +14 "core" ( + "manipulator"&n& +5 "core" & * /  + "storage"(`& +4 "core" & w\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(l' +58 "core" ' +2 "manipulator"&L& +4 "core" &  + "storage"(t& +4 "core" & [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&i'} +29 "core" ' +2 .tElbow.hold + "manipulator"&W, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +21 "core" ' +2 "manipulator"&p% +4 "core" %  T +2 "storage"(w& +4 "core" & K\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&x'ϫ +13 "core" ' + "manipulator"&o& +5 "core" & <  + "storage"(q& +5 "core" & )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +23 "core" ' +2 "storage"(e% +5 "core" %t\  L\ +2 ."downElevator"SE.seek :down +4 "storage"(s'X +98 (7% +2 "core" %G E\ Va +2 "manipulator"&{% +5 "core" %O w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & 6\  + "collection"'& +4 "core" &Vf Y\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ %  G 3 +2 "storage"(j% +4 "core" %S }\ + "storage"(v. +4 "core" .( +2 "storage"(& +3 "core" & 4\  +2 "storage"(& +3 "core" & 6\  +2 "manipulator"& & +4 "core" &    + .tElbow.seek 3 +2 "manipulator"&u( +8 "core" ( +2 "manipulator"&& +4 "core" & "   +2 "storage"(r& +3 "core" & P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +98 "core" ' +2 "storage"( & +4 "core" & ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(& +3 "core" & [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +28 "core" ' + "manipulator"&% +4 "core" %Ό + = y +2 "storage"( & +3 "core" & w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&z'ϸ +12 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(_& +3 "core" & ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"($'F +45 "core" ' +2 "manipulator"&'& +4 "core" & s  + "manipulator"&% +4 "core" %P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&+( +153 "core" ( + "manipulator"&& +4 "core" &%  @ <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" &%  M <? +2 .tForearm.seek CC +2 "manipulator"&/'" +93 "core" ' +2 .tHand.close + "manipulator"&0/ +58 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(& +4 "core" &\  R\  +2 "storage"(3& +3 "core" & u\  +2 "manipulator"&5& +3 "core" &% ~ <> +2 "manipulator"&% +3 "core" % 0 O  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&&( +159 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(8& +3 "core" &\ \  d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&('} +94 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +55 "core" 1 +2 "manipulator"&;% +4 "core" % Α  + "storage"(<& +4 "core" &\ \  r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'Ͻ +26 "core" ' +3 "manipulator"&2& +4 "core" & ?  + "storage"(& +4 "core" &\ &\ * J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +24 "core" ' +2 "storage"(1% +4 "core" %M\ 6\ D \ +2 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (A% +3 "core" %D\ \ \ T\\ +2 "manipulator"&%% +4 "core" %D Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'G& +5 "core" & j\ + "manipulator"&4% +5 "core" %\   + "storage"(>% +5 "core" %^\ *\ 6 _\ + "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +2 "core" &,k \  +2 "manipulator"&9& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +3 "core" &  g  +2 "storage"(P& +3 "core" &,i\ $\ / \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&R'Ѽ +87 "core" ' +2 "storage"(C& +4 "core" &,i\ Q\ G Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'i +285 "core" ' +3 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &,i\ %\ % {\  +2 "manipulator"&H& +4 "core" & a  + .tElbow.seek 4 +2 "manipulator"&D( +3 "core" ( + "manipulator"&B& +4 "core" &  + "storage"(?& +4 "core" &,i\ (\ 3 j\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(6'X +8 "core" &   + "manipulator"&Y% +4 "core" % < _ +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +150 "core" ( + "manipulator"&F& +5 "core" &# ! K :- + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &:& +3 "core" &#  P :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'" +92 "core" ' + "manipulator"&O& +5 "core" &$ 4  :- + "manipulator"&X% +4 "core" % u +2 "collection"'b& +4 "core" & k\ +2 "collection"'d& +5 "core" & i\ +2 .tCC.seek :closed +2 "collection"'^(V +4 "core" & l\ +7 & - c\ $c +9 &V f\ 7 +10 & l\ L +9 &] m\ M +10 &d_ h\ N +9 &(_ f\ M +9 &b k\ M +10 &_ h\ M +9 &m` l\ M +9 &0_ k\ M +10 &_ g\ M +9 &!c l\ N +9 &#ub k\ M +10 &%7c h\ M +9 &&_ `\ M +10 &(_ h\ M +9 &*}` e\ M +9 &,?` b\ M +10 &._ U\ M +9 &/` [\ M +9 &1b Z\ M +10 &3G_ Z\ M +9 &5_ ^\ N +10 &6_ _\ M +9 &8_ W\ M +9 &:O` ^\ M +10 &<_ [\ M +9 &=` h\ M +9 &?` \\\ N +10 &AV] f\ N +9 &C` d\ N +10 &Dh e\ N +9 &Fp g\ O +9 &HT f\ Q +10 &J\ h\ U +9 &K f\ X +10 &M f\ X +9 &OH a\ X +9 &Q\ g\ X +10 &R h\ Y +9 &T c\ Y +9 &V&t a\ . +10 &V& f\ N +9 ( +3 "collection"'d& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&S1 +3 "core" &Vg h\ G +53 1 +2 "manipulator"&[% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%n& +5 "core" &\ + "manipulator"&`% +4 "core" %\   M  + "storage"(L% +4 "core" %b \ + "storage"(t. +3 "core" .(,l +2 "storage"(\\& +4 "core" &,i \  + "storage"(p& +4 "core" &,i \  + "manipulator"&w& +4 "core" &# ~ :- +2 "manipulator"&f% +4 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&o( +159 "core" ( +2 "manipulator"&q& +4 "core" & '  +2 "storage"(e& +3 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Z'Ѽ +105 "core" ' +2 "storage"(a& +45 "core" &,i \  k\  +11 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +285 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &,i 5\  +2 "manipulator"&c& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +3 "core" & 7  +2 "storage"(i& +4 "core" &,i \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&x', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &  0  +2 "manipulator"&j% +4 "core" % 5 # \ +2 .tForearm.seek :retract + "manipulator"&h'\ +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&v(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +5 "core" &n C   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n  p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +102 "core" ' + "manipulator"&& +5 "core" &n & W  + "manipulator"&r% +5 "core" % @ Y + "processing"%V& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &\ +7 &;\ $d +10 &V\ 7 +9 &\ L +9 &b\ N +10 &ib\ M +9 &+_\ M +10 &c\ N +9 &\\\ N +9 &pc\ N +10 &1b\ N +9 &b\ M +9 &!d\ N +10 &#x_\ N +9 &%:b\ N +10 &&`\ N +9 &(]\ N +9 &*]\ N +10 &,Cc\ M +9 &.b\ M +9 &/c\ N +10 &1`\ N +9 &3K]\ M +10 &5 _\ M +9 &6_\ M +9 &8a\ N +10 &:Sa\ M +9 &<b\ N +9 &=_\ N +10 &?_\ N +9 &A[[\ M +10 &C_\ M +9 &Dc\ N +9 &Fp\ O +10 &HW\ Q +9 &J\ R +9 &K\ S +10 &M\ S +9 &O[\ S +10 &Q\ S +9 &R\ T +9 &T\ T +10 &V`\ T +9 &X!\ T +10 &Yys\ 5 +9 &Z0\ H +9 &Z\ ) +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&W1 +62 "core" 1 + "manipulator"&|% +4 "core" % ' 8 Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +3 "processing"%& +5 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +3 "core" %` \ +2 "storage"(. +3 "core" .(,l + "storage"( & +4 "core" &,i \  +2 "storage"(& +3 "manipulator"&_& +6 "core" &,i }\  + &n    +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&'(s +2 "storage"('i +5 "core" ( + "manipulator"&}& +4 "core" &n  1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &n +  +2 .tForearm.seek PC +2 "manipulator"&~' +91 "core" ' +2 .tHand.close + "manipulator"&y/ +57 "core" / + .tPC.seek :open +2 "processing"%z( +95 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +280 ( + "storage"(& +4 "core" &,i d\  +2 "manipulator"&#& +3 "core" &n  +2 "manipulator"&% +3 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&*( +258 "core" ( + "manipulator"&"& +5 "core" & 1 i P + "storage"(& +4 "core" &,i y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&3'Ѽ +101 "core" ' +2 .tHand.open +2 "manipulator"&51 +56 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +4 "core" -' + "storage"(+& +4 "core" &,i p h\  + "manipulator"&,& +4 "core" & O +2 .tElbow.seek 4 +2 "manipulator"&;( +23 "core" ( + "manipulator"&<& +4 "core" & & X  +2 "storage"(2& +3 "core" &,i \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +57 "core" ' + "manipulator"&& +5 "core" & I  + "storage"(A& +4 "core" &,i N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&%' +27 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +25 "core" ' +2 "manipulator"&G% +4 "core" % ? +2 "storage"(& +4 "core" &,i e\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 314 counts + "manipulator"&4': +19 "core" ' + "manipulator"&>& +5 "core" &  + "storage"(.& +5 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&$'Ѽ +34 "core" ' + "storage"(!% +4 "core" %r \  $\ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 ( % +2 "core" %<I f\ Wb +2 "manipulator"&-% +5 "core" % k { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (N& +4 "core" &,i a\  +2 "collection"'P& +4 "core" &Vf =\ G + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&C% +3 "core" %\   a  +2 "storage"()% +4 "core" %a |\ + "storage"(E. +3 "core" .(,l + "storage"(\ & +4 "core" &,i \  +2 "storage"(J& +3 "core" &,i \  +2 "manipulator"&H& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&B( +24 "core" ( + "manipulator"&?& +4 "core" & ) b 8 +2 "storage"(& +4 "core" &,i }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +98 "core" ' + "storage"(Y& +5 "core" &,i\ \  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'i +294 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & X 8 + "storage"(:& +4 "core" &,i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&K' +28 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(X'Y +41 "core" ' + "manipulator"&b% +4 "core" % +2 "storage"(D& +3 "core" &,i h\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&6'@ +18 "core" ' +2 "manipulator"&]& +4 "core" &\ & ] +2 "storage"( & +3 "core" &,i |\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(['H +40 "core" ' +2 "manipulator"&n& +4 "core" & \\ + "manipulator"&`% +4 "core" %Ѫ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&t( +148 "core" ( +3 "manipulator"&\\& +4 "core" &. * F Dx + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &. w Dx +2 .tForearm.seek CC + "manipulator"&w'" +97 "core" ' + .tHand.close + "manipulator"&d/ +57 "core" / +2 .tCC.seek :open + "collection"'f( +417 "core" ( + "storage"(T& +4 "core" &,i t\  +2 "storage"(q& +3 "core" &,i {\  +2 "manipulator"&e& +3 "core" &* - A @Z +2 "manipulator"&a% +3 "core" % 1 0 R +2 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&k( +159 "core" ( +2 "manipulator"&7& +4 "core" & * `  +2 "storage"({& +3 "core" &,i\ \  R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&c' +110 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&i1 +62 "core" 1 +2 "manipulator"&% +4 "core" %    +2 "storage"(& +4 "core" &,i \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&j'> +13 "core" ' +2 "manipulator"&o& +4 "core" & Y  +2 "storage"(Z& +3 "core" &,i\ 2\ 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&g'Ѽ +63 "core" ' +11 "storage"(x% +4 "core" %P\ *\ 3 \ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +3 "core" %E\ \  \ U^ +2 "manipulator"&m% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'r& +5 "core" & H\ + "manipulator"&V% +4 "core" %\  }  +2 "storage"(% +4 "core" %^\ &\ ' m\ + "storage"(h. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(I(<* +333 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &<' \  +2 "manipulator"&|& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & ( &  +2 "storage"(& +3 "core" &<$\ %\ % \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +108 "core" ' + "storage"( & +4 "core" &<$\ Q\ Q h\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<$\ \  -\  +2 "manipulator"&}& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( + "manipulator"& & +4 "core" & C  + "storage"(y& +4 "core" &<$\ %\ % t\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(s'X +7 "core" &  + "manipulator"&% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &+ h Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &+ !  Ac +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'" +101 "core" ' + "manipulator"&& +5 "core" &+  Ac + "manipulator"&'% +4 "core" %( +2 "collection"'5& +4 "core" & F\ +2 "collection"'& +5 "core" & D\ +2 .tCC.seek :closed +3 "collection"'/(V +3 "core" & o\ +9 &6 n\ $c +9 &U p\ 7 +9 & l\ L +10 &_ l\ N +9 &d_ n\ M +9 &%^ m\ M +10 &a l\ N +9 &^ l\ M +9 &k_ k\ M +10 &.\\ k\ M +9 &_ l\ M +10 &!] j\ M +9 &#r` l\ N +9 &%5` e\ M +10 &&\\ b\ M +9 &(] k\ M +9 &*|^ l\ M +10 &,=] l\ M +9 &-^ _\ M +10 &/b k\ M +9 &1a i\ M +9 &3F` f\ M +10 &5_ _\ M +9 &6_ e\ M +9 &8^ a\ M +10 &:N` ^\ M +9 &<b \\\ M +10 &=_ X\ M +9 &?\\ a\ M +9 &AU] ]\ M +10 &C] Z\ M +9 &Df \\\ N +9 &Fm ]\ O +10 &HT~ ]\ P +9 &J ]\ U +10 &K ]\ W +9 &M _\ X +9 &OF f\ X +10 &Q e\ X +9 &R b\ Y +9 &T ^\ Z +10 &V%t c\ . +9 &V& e\ Q +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open + "manipulator"&+1 +4 "core" &Vk e\ H +50 1 + "manipulator"&,% +4 "core" % (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%<& +4 "core" &\ + "manipulator"&2% +4 "core" %\  a  +2 "storage"(% +4 "core" %b >\ + "storage"(A. +3 "core" .(<* +2 "storage"(& +3 "core" &<$ \  +2 "storage"(G& +3 "core" &<$ F\  +2 "manipulator"&& +4 "core" &* ) ~ @] + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&>( +164 "core" ( + "manipulator"&.& +5 "core" & U s + "storage"(*& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&!'ы +100 "core" ' + "storage"(3& +5 "core" &<$\ \ Q\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'i +284 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &<$ y\  +2 "manipulator"&& +4 "core" & 6 s + .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&1& +4 "core" & ? s + "storage"(%& +4 "core" &<$ G\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&4' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"(C'X +7 "core" & P s +2 "manipulator"&)% +4 "core" % i u +2 .tForearm.seek :retract +2 "manipulator"&E'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&((s +174 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +64 "core" ( +2 "manipulator"&\ & +4 "core" &u 3 m S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +4 "core" &u  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&H' +94 "core" ' +2 "manipulator"&?& +4 "core" &u ' i + "manipulator"&% +4 "core" %  )  +2 "processing"%$& +4 "core" &\ +2 "processing"%Y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &\  +9 &1\ *x +10 &b\ > +9 &y{\ N +9 &<^\ M +10 &^\ M +9 &_\ M +9 &_\ N +10 &C_\ N +9 &`\ M +10 &b\ N +9 & ]\ N +9 &"Kb\ N +10 &$`\ M +9 &%_\ M +9 &'b\ N +10 &)S`\ N +9 &+]\ N +10 &,a\ M +9 &.^\ M +9 &0[b\ N +10 &2`\ N +9 &3^\ M +9 &5b\ N +10 &7c_\ N +9 &9&b\ M +10 &:]\ M +9 &<^\ N +9 &>m[\ M +10 &@-b\ N +9 &A^\ M +9 &C`\ M +10 &Erb\ N +9 &G/p\ P +10 &H\ Q +9 &J\ S +9 &Lk\ S +10 &N-\ S +9 &O\ S +9 &Q\ S +10 &Sq\ T +9 &U3\ T +10 &V\ T +9 &X\ T +9 &Z![\ %p +10 &Z`\ 1 +8 ( +2 &Z \ , +3 "processing"%Y& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&&1 +63 "core" 1 + "manipulator"&9% +4 "core" % +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 "processing"%F& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&:% +4 "core" %\     + "storage"(O% +4 "core" %V ^\ + "storage"(b. +4 "core" .(<* + "storage"(D& +4 "core" &<$ 9\  +2 "storage"(]& +4 "manipulator"& & +4 "core" &<$ \  + &u +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&n(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'i +3 "core" ( + "manipulator"&=& +4 "core" &u  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &u +2 .tForearm.seek PC +2 "manipulator"&M' +95 "core" ' +2 .tHand.close + "manipulator"&K/ +62 "core" / + .tPC.seek :open +2 "processing"%6( +86 "core" ' +3 "storage"(X- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +47 "core" ' +286 ( + "storage"(p& +4 "core" &<$ \\\  +2 "manipulator"&S& +3 "core" &u   +2 "manipulator"&Q% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&L( +256 "core" ( + "manipulator"&^& +5 "core" &\  y Z + "storage"(T& +4 "core" &<$ i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&q'ы +109 "core" ' + .tHand.open +2 "manipulator"&e1 +56 "core" 1 +2 "storage"(a- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"(t& +4 "core" &<$ c h s\  +2 "manipulator"&i& +3 "core" &\ Z +2 .tElbow.seek 5 +2 "manipulator"&( +17 "core" ( + "manipulator"&& +5 "core" & ' l  + "storage"(o& +4 "core" &<$ \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&Z'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +57 "core" ' + "manipulator"&x& +4 "core" &  +2 "storage"(k& +4 "core" &<$ -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +35 "core" ' + .tElbow.hold +46 "manipulator"&m, +13 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate + "storage"(c'i +24 "core" ' + "manipulator"&j% +5 "core" % + "storage"(r& +5 "core" &<$ H\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"&V' +14 "core" ' + "manipulator"&& +5 "core" & c  + "storage"(h& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +24 "core" ' + "storage"(g% +5 "core" %o y\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %H <\ Wb +2 "manipulator"&W% +5 "core" %ѩ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<$\  i\  + "collection"'& +4 "core" &Vk P\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\  l  +2 "storage"(l% +4 "core" %S \ + "storage"(. +4 "core" .(<* + "storage"(_& +4 "core" &<$ \  +2 "storage"(& +4 "core" &<$ \  + "manipulator"&}& +4 "core" & 2  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&y& +3 "core" & b  +2 "storage"(v& +4 "core" &<$ X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +95 "core" ' +2 "storage"(& +4 "core" &<$ x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(~& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& ' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(''V +31 "core" ' +2 "manipulator"&5% +4 "core" % + "storage"(u& +4 "core" &<$ c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&s' +14 "core" ' + "manipulator"&& +4 "core" & M  +2 "storage"(f& +4 "core" &<$ x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&+'ы +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'E +54 "core" ' + "manipulator"&<& +5 "core" &  + "manipulator"&2% +5 "core" % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +151 "core" ( + "manipulator"&& +5 "core" &( .  ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &( ?T +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"("& +4 "core" &<$\  P\  + "storage"(.& +4 "core" &<$ 0\  +2 "manipulator"&*& +3 "core" &( L ?T +2 "manipulator"&3% +3 "core" % . 6 \ +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +159 "core" ( + "manipulator"& & +4 "core" & ' r  +2 "storage"(-& +3 "core" &<$\ \  i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&' +98 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&%1 +64 "core" 1 +2 "manipulator"&N% +4 "core" % 1 d + "storage"(P& +4 "core" &<$\ \  N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&)' +12 "core" ' +2 "manipulator"&>& +4 "core" & E  +2 "storage"(!& +3 "core" &<$\ '\ * D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +23 "core" ' +2 "storage"(4% +4 "core" %F\ C\ 3 \ +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (J% +2 "core" %D\ \  Q\ U^ +2 "manipulator"&;% +4 "core" %ѷ f y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & :\ + "manipulator"&$% +4 "core" %\ \ 1  +2 "storage"(C% +3 "core" %b\ M\ D S\ +2 "storage"(E. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z( +972 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" & X\ +2 "manipulator"&9& +3 "core" & z  +2 .tElbow.seek 2 +2 "manipulator"&F( +33 "core" ( + "manipulator"&:& +4 "core" & Z $ +2 "storage"(O& +3 "core" & \ )\ 0 c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +101 "core" ' + "storage"(D& +5 "core" & \ C\ G s\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +276 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" & \ #\  \ +2 "manipulator"&=& +3 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&B( +20 "core" ( + "manipulator"&H& +4 "core" & t  +2 "storage"(K& +3 "core" & \ '\ % /\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(@'X +8 "core" &  + "manipulator"&`% +4 "core" % \ +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&Q& +4 "core" &- Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &- Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&^'" +106 "core" ' +2 "manipulator"&T& +4 "core" &-  B Cr +2 "manipulator"&n% +3 "core" %3 < +2 "collection"'e& +4 "core" & f\ +2 "collection"'a& +6 "core" & B\ +3 .tCC.seek :closed + "collection"'w(V +5 "core" & l\ +7 &5 m\ $d +9 &V m\ 7 +10 & k\ L +9 &Z k\ M +9 &f_ h\ N +10 &*] l\ M +9 &` m\ M +9 &_ l\ M +10 &p^ l\ M +9 &1_ h\ M +10 &] a\ M +9 &!] j\ M +9 &#w_ i\ M +10 &%9] c\ M +9 &&] ]\ M +9 &(\\ f\ M +10 &*^ d\ M +9 &,A_ e\ M +9 &._ b\ M +10 &/a e\ M +9 &1` ^\ M +10 &3J_ g\ M +9 &5 _ f\ M +9 &6^ d\ M +10 &8\\ e\ M +9 &:R_ f\ M +9 &<_ b\ M +10 &=[ `\ M +9 &?_ T\ M +10 &AY] e\ M +9 &Cb R\ M +9 &Df T\ N +10 &Fn U\ O +9 &HV R\ Q +10 &J X\ U +9 &K L\ W +9 &M T\ W +10 &OJ U\ X +9 &Q P\ X +9 &R X\ X +10 &T V\ Y +9 &V)t Q\ . +9 &V! S\ M +9 ( +4 "collection"'a& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +41 .Hand.open +13 "manipulator"&t1 +4 "core" &Vk W\ H +51 1 + "manipulator"&i% +4 "core" % 3 7 p < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +89 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&o% +4 "core" %\  0   + "storage"(x% +4 "core" %c Z\ +2 "storage"(k. +3 "core" .( + "storage"(\\& +4 "core" & R\ +2 "storage"(7& +3 "core" & R\ +2 "manipulator"&j& +4 "core" &-  ] Cm + "manipulator"&r% +4 "core" %\  ,  J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&h& +4 "core" & % |  + "storage"(L& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +94 "core" ' +2 "storage"(g& +4 "core" & \ \  /\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"({'i +279 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & T\ +2 "manipulator"&W& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" & c  +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( 'X +7 "core" & v  + "manipulator"&l% +4 "core" %  E +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +70 "core" ( + "manipulator"&_& +5 "core" &| & g  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &|  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +99 "core" ' + "manipulator"&y& +5 "core" &| ! H  + "manipulator"&v% +4 "core" % 9 +2 "processing"%[& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &2\ *x +10 &c\ > +9 &z{\ N +9 &=]\ M +10 &]\ M +9 &]\ N +9 &]\ N +10 &D\\\ N +9 &]\ M +9 &^\ M +10 & _\ M +9 &"M^\ M +10 &$\\\ M +9 &%a\ N +9 &'b\ N +10 &)U^\ M +9 &+a\ N +9 &,a\ M +10 &.^\ M +9 &0\\a\ N +10 &2`\ N +12 &3\\\ N +6 &5b\ N +10 &7d_\ N +9 &9'\\\ M +9 &:\\\ M +10 &<_\ M +9 &>m_\ M +10 &@/\\\ M +9 &A[\ M +9 &C`\ M +10 &Erd\ N +9 &G1q\ O +9 &H\ R +10 &J\ S +9 &Ll\ S +10 &N0\ R +9 &O\ S +9 &Q\ T +10 &Sr\ T +9 &U4\ T +9 &V\ T +10 &X\ T +9 &Z"\\\ #m +10 &ZZ\ * +8 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&m1 +3 "core" &Z\ ' +57 1 +2 "manipulator"&|% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +4 "processing"%& +8 "core" &Z\ ' +4 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&~% +8 "core" %\   #  +3 "storage"(% +4 "core" %S h\ +2 "storage"(5. +3 "core" .( + "storage"(u& +4 "core" & K\ +3 "storage"(& +2 "manipulator"&f& +6 "core" & C\ + &|   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&<(s + "storage"(2'i +5 "core" ( + "manipulator"&& +4 "core" &| ! &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &|  $  +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%s( +88 "core" ' + "storage"('- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +286 ( + "storage"(G& +4 "core" & \ +2 "manipulator"&+& +3 "core" &|  +2 "manipulator"&% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +255 "core" ( +2 "manipulator"&/& +4 "core" & & \ +2 "storage"("& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +96 "core" ' + .tHand.open +2 "manipulator"&*1 +56 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(-' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(A& +3 "core" & } 9\ +2 "manipulator"&%& +4 "core" & \ + .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&P& +3 "core" & & \ +2 "storage"(>& +4 "core" & $\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&!'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +57 "core" ' + "manipulator"&#& +5 "core" & \ + "storage"(J& +4 "core" & z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&;' +30 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"()& +4 "core" & 4\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&$' +11 "core" ' +2 "manipulator"&C& +4 "core" & j \ +2 "storage"(E& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +24 "core" ' + "storage"(8% +5 "core" %o w\ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (I% +3 "core" % I D\ V` +2 "manipulator"&&% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (:& +4 "core" & \ y\ + "collection"'O& +4 "core" &Vk A\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&D% +4 "core" %\ l  + "storage"(1% +4 "core" %b \ +2 "storage"(?. +3 "core" .( + "storage"(]& +4 "core" & \  m\ + "storage"(Y& +4 "core" & \ +2 "manipulator"&=& +3 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&K& +3 "core" & ' 8 \ +2 "storage"((& +4 "core" & ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +101 "core" ' +2 "storage"(`& +4 "core" & \ \  .\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'i +285 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Q& +53 "core" & ^ \ +3 "storage"(M& +3 "core" & e\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +31 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'X +30 "core" ' +2 "manipulator"&e% +4 "core" % + "storage"(B& +5 "core" & '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&@' +17 "core" ' +2 "manipulator"&p& +4 "core" & \ +2 "storage"(& +3 "core" & w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(i'G +43 "core" ' + "manipulator"&a& +5 "core" & q \ + "manipulator"&% +5 "core" %ѵ , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +149 "core" ( + "manipulator"&k& +5 "core" && 2 u =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &&  =F +2 .tForearm.seek CC +2 "manipulator"&7'" +93 "core" ' + .tHand.close +2 "manipulator"&j/ +56 "core" / +2 .tCC.seek :open +2 "collection"'r( +416 "core" ( +2 "storage"(^& +4 "core" & \ |\ +2 "storage"(h& +3 "core" & n\ +2 "manipulator"&L& +3 "core" && Y =F +2 "manipulator"&g% +4 "core" % * s + .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&d( +152 "core" ( + "manipulator"&Z& +4 "core" & & \ +2 "storage"(& +4 "core" & \ "\ ' (\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&W' +104 "core" ' +2 .tElbow.hold + "manipulator"&U, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % 3   +2 "storage"(& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&l' +15 "core" ' +2 "manipulator"&& +4 "core" & S \ +2 "storage"(q& +3 "core" & \ 3\ 3\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +33 "core" ' + "storage"(V% +5 "core" %K\ 3\ 6 m\ +2 ."downElevator"SE.seek :down +3 "storage"(_'X +99 (% +3 "core" %C\ \  p\ V_ + "manipulator"&% +4 "core" %ї # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'v& +4 "core" & 5\ +2 "manipulator"&[% +3 "core" %\ ! / +2 "storage"( % +4 "core" %S\ 3\ 2\ + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(6( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +2 "core" & \  +2 "manipulator"&|& +4 "core" &  D \ + .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( + "manipulator"&~& +5 "core" &  n + "storage"(& +4 "core" &\ $\ % C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(5& +5 "core" &\ G\ 6 h\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &\ \  n\  +3 "manipulator"&& +3 "core" & n +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&}& +4 "core" & l n +2 "storage"( & +3 "core" &\ %\ % \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & n + "manipulator"&2% +4 "core" % Ϫ c z +2 .tForearm.seek :retract +2 "manipulator"&G'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +154 "core" ( +2 "manipulator"&& +4 "core" ' + &( % B ?U +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +3 "core" &(  g ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'" +100 "core" ' +2 "manipulator"&"& +4 "core" &) ?U +2 "manipulator"&<% +4 "core" %" +2 "collection"'*& +3 "core" & d\ +2 "collection"'3& +5 "core" & j\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & i\ +8 & . b\ $c +9 &U f\ 7 +9 & e\ L +10 &^ d\ M +9 &c^ f\ M +9 &%^ e\ M +10 &_ f\ M +9 &] g\ M +10 &kb g\ M +9 &.` i\ M +9 &_ a\ L +10 &!b i\ M +9 &#s_ e\ M +9 &%4` d\ M +10 &&^ g\ M +9 &(] a\ M +10 &*{^ d\ M +9 &,=^ c\ M +9 &-] h\ M +10 &/^ g\ M +9 &1] b\ M +9 &3E] `\ M +10 &5^ ]\ M +9 &6^ g\ M +10 &8] b\ M +9 &:K_ g\ N +9 &<_ `\ M +10 &=\\ e\ M +9 &?_ f\ M +9 &AU_ `\ M +10 &C_ _\ M +9 &De d\ N +10 &Fj b\ N +9 &HQ _\ Q +9 &J `\ U +10 &K S\ X +9 &M S\ X +9 &OE Q\ X +10 &Q R\ X +9 &R X\ Y +10 &T [\ Y +9 &V#s Q\ . +9 &V* V\ U +10 ( + &Vk ]\ I +2 "collection"'3& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&A1 +59 "core" 1 +2 "manipulator"&%% +4 "core" % " 5 q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ # A +2 "storage"(#% +4 "core" %_ ?\ + "storage"(J. +3 "core" .( + "storage"(& +4 "core" & +\  +2 "storage"()& +3 "core" & J\  +2 "manipulator"&& +4 "core" &( ?U + "manipulator"&C% +4 "core" %\ # -  A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E( +163 "core" ( + "manipulator"& & +5 "core" & ) n + "storage"(8& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(.& +4 "core" & q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +284 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" & \  +2 "manipulator"&!& +3 "core" & 3 n +2 .tElbow.seek 3 +2 "manipulator"&N( +3 "core" ( + "manipulator"&4& +4 "core" &  x n +2 "storage"(;& +3 "core" & X\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& + "storage"(D'X +7 "core" & n +2 "manipulator"&1% +3 "core" % Ϡ n 5 +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +51 "manipulator"&?(s +116 "core" ' + ."downElevator"SE.stop + "storage"(5 +131 "core" ( +2 "manipulator"&]& +4 "core" &o / h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &o   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +97 "core" ' + "manipulator"&K& +5 "core" &o %  + "manipulator"&(% +4 "core" %  j +2 "processing"%,& +4 "core" &\ +2 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &\  +9 &1\ *x +9 &b\ > +10 &u{\ N +9 &7\\\ N +9 &[\ N +10 &`\ N +9 &~`\ M +9 &?Z\ N +10 &]\ N +9 &a\ N +10 & b\ N +9 &"Hb\ M +9 &$ \\\ M +10 &%a\ N +9 &'`\ N +9 &)P\\\ M +10 &+^\ M +9 &,`\ N +10 &._\ N +9 &0X`\ M +9 &2\\\ M +10 &3\\\ N +9 &5`\ N +9 &7`_\ M +10 &9!`\ N +9 &:_\ M +10 &<\\\ M +9 &>h`\ M +9 &@*`\ M +10 &A_\ M +9 &Cb\ N +9 &Eob\ N +10 &G,s\ O +9 &H\ R +10 &J\ R +9 &Lh\ S +9 &N+\ \ R +10 &O\ S +9 &Q\ S +9 &Sm\ T +10 &U0\ S +9 &V\ T +10 &X\ T +9 &Z ]\ #l +9 &ZZ\ + +10 ( + &Z\ ( + "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&01 +63 "core" 1 +2 "manipulator"&9% +4 "core" % 1 ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 "processing"%Q& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&M% +3 "core" %\   2  +2 "storage"(T% +4 "core" %U H\ + "storage"(e. +3 "core" .( +2 "storage"(B& +3 "core" & j\  +2 "storage"(p& +4 "manipulator"&& +4 "core" & +\  + &o  H  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&a(s +3 "storage"('i +4 "core" ( + "manipulator"&R& +5 "core" &o !  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &o   +2 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' + .tHand.close + "manipulator"& / +54 "core" / +2 .tPC.seek :open +2 "processing"%@( +96 "core" ' + "storage"(n- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(k'y +43 "core" ' +284 ( + "storage"(\\& +4 "core" & \  +2 "manipulator"&t& +3 "core" &o  +2 "manipulator"&X% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&j'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&o( +266 "core" ( + "manipulator"&w& +5 "core" & ( ` r + "storage"(^& +4 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +106 "core" ' + .tHand.open + "manipulator"&L1 +52 "core" 1 +2 "storage"(g- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +4 "core" -' + "storage"(x& +4 "core" & z '\  + "manipulator"&& +4 "core" & n r +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  r +2 "storage"(& +3 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(V' +56 "core" ' +3 "manipulator"&S& +5 "core" & r + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&d, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +24 "core" ' + "manipulator"&l% +5 "core" %Α + "storage"(v& +5 "core" & $\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&['Ͻ +27 "core" ' +2 "manipulator"& & +4 "core" & ] r +2 "storage"(& +3 "core" & Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +16 "core" ' +2 "storage"({% +4 "core" %c x\ +3 ."downElevator"SE.seek :down +3 "storage"(_'X +99 (z% +2 "core" %F n\ V_ +2 "manipulator"&m% +5 "core" %+ ] + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +86 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (~& +4 "core" &\  \  + "collection"'& +4 "core" &Vk V\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %\   +2 "storage"(U% +4 "core" %V F\ +2 "storage"(y. +3 "core" .( +2 "storage"(& +3 "core" & r\  +2 "storage"(f& +3 "core" & n\  +2 "manipulator"&& +4 "core" & r +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( + "manipulator"& & +4 "core" & & ( r + "storage"(c& +4 "core" & m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' +2 "storage"(2& +4 "core" & \  g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o r + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&u'} +29 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(<'W +28 "core" ' + "manipulator"&*% +4 "core" %΅  t +2 "storage"( & +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"&'ϱ +12 "core" ' +2 "manipulator"&G& +4 "core" & D r +2 "storage"(r& +3 "core" & @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(%'F +40 "core" ' +2 "manipulator"&>& +4 "core" & > r +2 "manipulator"&% +3 "core" %P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&J( +159 "core" ( + "manipulator"&& +5 "core" &-  K Cq + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &- d Cq +2 .tForearm.seek CC + "manipulator"&)'" +101 "core" ' +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'C( +416 "core" ( + "storage"(/& +4 "core" &\ \  \  +2 "storage"( & +3 "core" & \  d\  +2 "manipulator"&8& +3 "core" &+ Aa +2 "manipulator"&.% +3 "core" % 1 I +3 .tForearm.seek :retract +2 "manipulator"&+'\ +101 "core" ' + .tElbow.reconfigure :tight +54 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P( +164 "core" ( + "manipulator"&I& +5 "core" & ( d { + "storage"(&& +4 "core" &\ %\ % Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&!'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +58 "core" 1 +2 "manipulator"&:% +5 "core" % Ί ( 4 b + "storage"(O& +4 "core" &\ %\ % \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&1'϶ +21 "core" ' +2 "manipulator"&E& +4 "core" & { +2 "storage"(& +3 "core" &\ '\ ( D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +30 "core" ' +2 "storage"($% +4 "core" %L\ 6\ 3 j\ +3 ."downElevator"SE.seek :down +3 "storage"(]'X +99 (Y% +3 "core" %F\ %\ $ \\\ U^ + "manipulator"&N% +4 "core" %- @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'(& +4 "core" & I\ +2 "manipulator"&,% +3 "core" %\ #  > +2 "storage"(D% +4 "core" %a\ 0\ 3 \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(s(,l +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &,i \  +2 "manipulator"&9& +3 "core" & { +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&M& +4 "core" & & ' { +2 "storage"(T& +3 "core" &,g\ (\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&e'Ѽ +95 "core" ' + "storage"(B& +5 "core" &,g\ D\ G h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &,g\ !\  z\  +2 "manipulator"&R& +4 "core" & Y { + .tElbow.seek 4 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&=& +3 "core" &  { +2 "storage"( & +3 "core" &,g\ &\ / E\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&n', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(\ 'X +7 "core" & { { + "manipulator"&% +4 "core" % $ } H +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +153 "core" ( +2 "manipulator"&X& +4 "core" ' + &* 6 | @Z +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &F& +2 "core" &* @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w'" +104 "core" ' + "manipulator"&^& +4 "core" &*  @Z +2 "manipulator"&a% +4 "core" %* +2 "collection"'L& +3 "core" & N\ +3 "collection"'g& +4 "core" & n\ +2 .tCC.seek :closed +2 "collection"'7(V +5 "core" & z\ +7 & - ~\ $d +9 &V s\ 7 +9 & p\ L +10 &_ h\ M +9 &h_ l\ M +9 &+] u\ M +10 &c i\ M +9 &_ e\ M +10 &qc b\ M +9 &4` l\ L +9 &^ g\ M +10 &!` m\ M +9 &#y` l\ M +9 &%;` l\ M +10 &&b k\ M +9 &(Z k\ M +10 &*\\ k\ M +9 &,D_ j\ L +9 &._ k\ M +10 &/a l\ M +9 &1` i\ M +9 &3Ka j\ M +10 &5 ] l\ M +9 &6] c\ M +10 &8a f\ M +9 &:Sc d\ M +9 &<` g\ M +10 &=c `\ M +9 &?` c\ L +9 &A[_ d\ M +10 &Cd f\ M +9 &Df `\ M +10 &Fn c\ N +9 &HX f\ P +9 &J ]\ U +10 &K e\ W +9 &M ]\ X +9 &OJ _\ X +10 &Q a\ X +9 &R g\ Y +10 &T e\ Y +9 &V)t a\ . +9 &V# _\ L +10 ( + &Vf g\ G +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&x1 +56 "core" 1 + "manipulator"&% +4 "core" % $ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&j% +3 "core" %\     +2 "storage"(S% +4 "core" %\\ {\ + "storage"(. +3 "core" .(,l +2 "storage"(l& +3 "core" &,g \  +2 "storage"(v& +4 "core" &,g X\  + "manipulator"&k& +4 "core" &*   @Y + "manipulator"&Z% +4 "core" %\  ) t  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"({& +4 "core" &,g\ \  *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&o'Ѽ +99 "core" ' + "storage"(h& +5 "core" &,g\ \  0\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" &,g v\  +2 "manipulator"&q& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&V& +3 "core" & o  +2 "storage"(& +3 "core" &,g t\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&[', +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(5'X +7 "core" &  + "manipulator"&U% +4 "core" % $ 8  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&y(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" &k 2 R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &k   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' + "manipulator"& & +4 "core" &k   +2 "manipulator"&c% +4 "core" % = q +2 "processing"%i& +3 "core" &\ +2 "processing"%2& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(Z +4 "core" &\  +9 &0~\ *x +10 &c\ > +9 &zz\ N +10 &<a\ M +9 &`\ N +9 &_\ M +10 &^\ M +9 &C_\ N +9 &]\ M +10 &b\ M +9 & ]\ M +9 &"L\\\ M +10 &$\\\ M +9 &%_\ N +10 &'a\ N +9 &)S_\ N +9 &+_\ N +10 &,_\ N +9 &._\ N +9 &0[_\ N +10 &2`\ N +9 &3]\ N +10 &5`\ N +9 &7d^\ M +9 &9&\\\ M +10 &:`\ M +9 &<^\ N +10 &>l]\ M +9 &@._\ M +9 &A^\ M +10 &C`\ M +9 &Eqg\ \ N +9 &G/r\ P +10 &H\ R +9 &J\ R +10 &Lk\ S +9 &N.\ S +9 &O\ S +10 &Q\ S +9 &Sq\ T +9 &U3\ T +10 &V\ T +9 &X\ T +9 &Z![\ %p +10 &Za\ 1 +9 ( + &Z\ , +3 "processing"%2& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&d1 +57 "core" 1 + "manipulator"&|% +4 "core" % & o q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' + "processing"%& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\   U  +2 "storage"("% +3 "core" %a i\ +2 "storage"(*. +3 "core" .(,l +2 "storage"( & +3 "core" &,g q\  +2 "storage"(G& +4 "manipulator"&r& +4 "core" &,g ~\  + &k    +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +53 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(>'i + "manipulator"&(s +5 "core" ( +2 "manipulator"&& +4 "core" &k ! P  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &k [  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&u/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(<- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +279 ( + "storage"(3& +4 "core" &,g 0\  +2 "manipulator"&A& +4 "core" &k _  + "manipulator"&'% +4 "core" % j " +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&#( +124 "Can"[\ KI +130 "core" ( +2 "manipulator"&& +4 "core" & ) U !t +2 "storage"(/& +3 "core" &,g D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +94 "core" ' +2 .tHand.open + "manipulator"&81 +54 "core" 1 +2 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(I' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(J& +3 "core" &,g \  +2 "manipulator"&;& +4 "core" &  H !q + .tElbow.seek 4 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&O& +3 "core" & $ . !q + "storage"(E& +4 "core" &,g a o {\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +62 "core" ' + "manipulator"&+& +5 "core" & V !q + "storage"(Y& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&N' +26 "core" ' +2 .tElbow.hold + "manipulator"&P, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(!'i +24 "core" ' +2 "manipulator"&1% +4 "core" %  +2 "storage"((& +4 "core" &,g @\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 306 counts + "manipulator"&,'2 +14 "core" ' +2 "manipulator"&D& +4 "core" & & , "| +2 "storage"(& +4 "core" &,g !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&%'Ѽ +24 "core" ' +2 "storage"(-% +4 "core" %l \ +3 ."downElevator"SE.seek :down +4 "storage"(]'X +99 (6% +3 "core" %F T\ Wa + "manipulator"&0% +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (M& +4 "core" &,g [\  +2 "collection"'T& +4 "core" &Ve b\ G + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&B% +3 "core" %\   W  +2 "storage"(4% +4 "core" %_ ,\ + "storage"(K. +3 "core" .(,l +2 "storage"(& +3 "core" &,g .\  +2 "storage"(`& +4 "core" &,g p\  + "manipulator"&R& +4 "core" &   "| + .tElbow.seek 4 +2 "manipulator"&=( +3 "core" ( + "manipulator"& & +4 "core" & 1 e "| +2 "storage"(?& +3 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&b'Ѽ +96 "core" ' + "storage"(& +4 "core" &,g \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +281 "core" ' +2 "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&X& +3 "core" & "{ +2 "storage"(F& +3 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p' +31 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(a'Y +29 "core" ' +2 "manipulator"&L% +4 "core" % t + "storage"(H& +4 "core" &,g \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&\ '@ +14 "core" ' + "manipulator"&\\& +4 "core" & & !p +2 "storage"(C& +4 "core" &,g q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&x'Ѽ +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +54 "core" ' + "manipulator"&& +5 "core" &  !p + "manipulator"&j% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +3 "manipulator"&l& +4 "core" & &  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" & 7 +2 .tForearm.seek CC + "manipulator"&v'" +98 "core" ' +2 .tHand.close + "manipulator"&k/ +55 "core" / +2 .tCC.seek :open +2 "collection"'Z( +416 "core" ( + "storage"(w& +4 "core" &,g _\  +2 "storage"(& +3 "core" &,g r\  +2 "manipulator"&{& +3 "core" &  ? 7 +2 "manipulator"&h% +4 "core" % 0  4 + .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +153 "core" ( + "manipulator"&z& +5 "core" & & r  + "storage"(m& +4 "core" &,g\ \  X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&q' +109 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&~% +4 "core" %   = p +2 "storage"(& +3 "core" &,g l\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&U'= +20 "core" ' +2 "manipulator"& & +4 "core" & 4  +2 "storage"(o& +3 "core" &,g\ $\ $ D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +16 "core" ' + "storage"([% +4 "core" %I\ *\ 6 t\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (f% +2 "core" %F\ \  \ V` +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'c& +5 "core" & H\ + "manipulator"&i% +4 "core" %\ s 2 +2 "storage"(5% +4 "core" %a\ 2\ 2\ +2 "storage"(W. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<* +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +2 "core" &<' S\  +2 "manipulator"&|& +4 "core" & Q  + .tElbow.seek 5 +51 "manipulator"&( +5 "core" ( +2 "manipulator"&& +3 "core" &  ^  +2 "storage"("& +3 "core" &<$\ %\ % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&*'ы +91 "core" ' +2 "storage"( & +4 "core" &<$\ G\ Q \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'i +277 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &<$\ \  F\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" & @  + "storage"(u& +4 "core" &<$\ %\ ' g\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(_'X +7 "core" & W  +2 "manipulator"&>% +4 "core" % n C +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +151 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&'& +2 "storage"(5 +6 "core" &$  j ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &$  ; ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' + "manipulator"&/& +5 "core" &% $ Y ;2 +2 "manipulator"&% +4 "core" %  d @ +2 "collection"'8& +4 "core" & T\ +2 "collection"'.& +5 "core" & s\ +3 .tCC.seek :closed + "collection"'&(V +5 "core" & t\ +7 &6 |\ $d +9 &W ~\ 7 +9 & t\ L +10 &] q\ M +9 &k] |\ M +10 &/\\ }\ L +9 &^ t\ M +9 &\\ r\ M +10 &ta i\ M +9 &6\\ a\ M +9 &] q\ L +10 &!_ l\ M +9 &#|] k\ M +10 &%>` j\ M +9 &'\\ f\ M +9 &([ \\\ M +10 &*] j\ L +9 &,G] i\ L +9 &. ] j\ L +10 &/^ j\ M +9 &1] k\ M +10 &3O] j\ L +9 &5_ j\ L +9 &6` ^\ M +10 &8\\ j\ L +9 &:V_ j\ M +9 &<_ j\ M +10 &=a j\ M +9 &?^ k\ M +9 &A^` _\ M +10 &C ^ d\ M +9 &Dc i\ M +10 &Fp `\ O +9 &H[ i\ P +9 &J _\ U +10 &K j\ X +9 &M c\ X +9 &ON _\ X +10 &Q e\ X +9 &R _\ Y +10 &T c\ Y +9 &V,u b\ - +9 &V$ c\ O +10 ( + &V` `\ I +2 "collection"'.& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&J1 +53 "core" 1 + "manipulator"&;% +5 "core" %  * Q @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%E& +4 "core" &\ + "manipulator"&% +4 "core" %\  ) n  +2 "storage"(+% +4 "core" %T \ + "storage"(Y. +3 "core" .(<* + "storage"(1& +4 "core" &<$ \  +2 "storage"(& +3 "core" &<$ \  +2 "manipulator"&(& +4 "core" &$ ;2 + "manipulator"&D% +4 "core" %\  g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&)( +162 "core" ( +2 "manipulator"&& +4 "core" & w l +2 "storage"(-& +3 "core" &<$ w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&#'ы +93 "core" ' + "storage"( & +5 "core" &<$\ \  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +277 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (0& +3 "core" &<$ y\  + "manipulator"&& +4 "core" & l +2 .tElbow.seek 5 + "manipulator"&:( +3 "core" ( +2 "manipulator"&$& +4 "core" & l l + "storage"(N& +4 "core" &<$ v\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&,' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(B'X +7 "core" & l + "manipulator"&4% +4 "core" % 3 G +2 .tForearm.seek :retract +2 "manipulator"&!'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&K(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&& +4 "core" &h 8 < , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &h X , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +98 "core" ' +2 "manipulator"& & +4 "core" &h & M , +2 "manipulator"&?% +4 "core" % w i + "processing"%%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &\ +8 &:\ $c +9 &T\ 7 +9 &\ L +10 &_\ M +9 &hc\ M +9 &*a\ M +10 &a\ M +9 &Z\ M +10 &pa\ M +9 &2`\ M +9 &`\ N +10 &!\\\ M +9 &#w` \ N +9 &%9^ \ N +10 &&]\ \ M +9 &(Z\ M +10 &*[\ M +9 &,B`\ M +9 &.b\ M +10 &/`\ M +9 &1`\ M +10 &3J]\ M +9 &5 Z\ M +9 &6]\ N +10 &8]\ M +9 &:R_\ M +9 &<_\ M +10 &=_\ M +9 &?]\ M +9 &AZ]\ M +10 &C[\ M +9 &Dc\ N +10 &Fk\ O +9 &HY{\ P +9 &J\ R +10 &K\ S +9 &M\ S +9 &OZ\ S +10 &Q\ S +9 &R\ S +10 &T\ T +9 &V_\ T +9 &X"\ S +10 &Yzr\ 4 +9 &Z0 \ H +9 &Z\ ) +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&P1 +59 "core" 1 + "manipulator"&9% +5 "core" % & z i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +94 "core" ' + "processing"%X& +4 "core" &Z\ \ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&F% +3 "core" %\ ! O 5 +2 "storage"(^% +4 "core" %S T\ + "storage"(L. +3 "core" .(<* + "storage"(H& +9 "core" &<$ t\  +2 "storage"(\\& +4 "manipulator"&C& +4 "core" &<$ i\  +6 &h j , +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'i +17 "core" ( + "manipulator"&b& +5 "core" &l  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' + .tHand.close +2 "manipulator"&p/ +52 "core" / + .tPC.seek :open +2 "processing"%\ ( +81 "core" ' + "storage"(a- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(l'y +43 "core" ' +299 ( +2 "storage"(g& +4 "core" &<$ T\  + "manipulator"&x& +4 "core" &l v + "manipulator"&n% +4 "core" % = +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&S( +255 "core" ( + "manipulator"&7& +4 "core" &\  % ] +2 "storage"(w& +3 "core" &<$ ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +96 "core" ' +2 .tHand.open + "manipulator"&{1 +55 "core" 1 +2 "storage"(h- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(z'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(m' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(& +3 "core" &<$ \  +2 "manipulator"&& +4 "core" &\ \\ +2 .tElbow.seek 5 + "manipulator"&~( +29 "core" ( + "manipulator"&& +5 "core" & s + "storage"( & +4 "core" &<$ z d\  +53 .tForearm.seek 5 + 700 counts +2 "manipulator"&o'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +55 "core" ' + "manipulator"&t& +4 "core" & z s +2 "storage"(f& +5 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +25 "core" ' +2 "manipulator"&c% +4 "core" % n z +2 "storage"(i& +4 "core" &<$ \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 318 counts + "manipulator"&U' +13 "core" ' + "manipulator"&5& +5 "core" & 3 s + "storage"(W& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +33 "core" ' +2 "storage"(% +4 "core" %j\  N\ +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (s% +2 "core" %G {\ V` +2 "manipulator"&d% +5 "core" %ч  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<$ j\  +2 "collection"'"& +4 "core" &V` 9\ I + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +3 "core" %\ 6  +2 "storage"(V% +4 "core" %`\ d\ + "storage"( . +4 "core" .(<* + "storage"(G& +4 "core" &<$\ z\  + "storage"(2& +4 "core" &<$\ l\  +2 "manipulator"&& +3 "core" & s +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" &  s +2 "storage"(y& +4 "core" &<$\  3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +93 "core" ' +2 "storage"(>& +4 "core" &<$\ \  4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & < s + "storage"(& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r' +34 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('U +27 "core" ' + "manipulator"&8% +4 "core" % x +2 "storage"(}& +3 "core" &<$ E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&_' +14 "core" ' + "manipulator"&3& +5 "core" & C t + "storage"(Z& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&J'ы +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'D +39 "core" ' +2 "manipulator"&E& +4 "core" & ^ t +2 "manipulator"&% +4 "core" %Ѯ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +151 "core" ( +2 "manipulator"&1& +4 "core" &$ @ . ;8 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &$  ;8 +2 .tForearm.seek CC + "manipulator"&('" +93 "core" ' + .tHand.close +2 "manipulator"&D/ +57 "core" / + .tCC.seek :open +2 "collection"'.( +416 "core" ( + "storage"(& +4 "core" &<$\ \  #\  +2 "storage"(& +3 "core" &<$ :\  +2 "manipulator"&-& +4 "core" &$ E ;7 + "manipulator"& % +4 "core" % #  + .tForearm.seek :retract +2 "manipulator"&A'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&O( +162 "core" ( + "manipulator"&6& +5 "core" & & b + "storage"(0& +4 "core" &<$\ !\  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +53 "core" 1 +2 "manipulator"&M% +4 "core" % ! c +2 "storage"(T& +3 "core" &<$ w\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&4' +13 "core" ' +2 "manipulator"&)& +4 "core" & n e +2 "storage"(#& +3 "core" &<$\ '\ ' g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +27 "core" ' + "storage"(,% +5 "core" %I\ 7\ * 3\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (`% +3 "core" %F\ \  A\ U^ +2 "manipulator"&:% +3 "core" %ш ' { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'?& +5 "core" & O\ + "manipulator"&%% +4 "core" %\  p  +2 "storage"(B% +4 "core" %a\ F\ D f\ + "storage"(!. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +973 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +3 (P& +4 "core" & \ + "manipulator"&9& +4 "core" & ' e +2 .tElbow.seek 2 + "manipulator"&X( +60 "core" ( +2 "manipulator"&F& +4 "core" & 2  + "storage"(^& +4 "core" & \ D\ B p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +85 "core" ' + "storage"(H& +5 "core" & \ D\ G D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +275 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" & \ #\  \ +2 "manipulator"&b& +4 "core" &  6  + .tElbow.seek 2 +2 "manipulator"&=( +5 "core" ( +2 "manipulator"&R& +4 "core" & %  + "storage"(p& +4 "core" & \ \ " b\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(]'X +7 "core" &   +2 "manipulator"&j% +3 "core" %  o +2 .tForearm.seek :retract +2 "manipulator"&g'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&n& +4 "core" &  q / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'" +105 "core" ' +2 "manipulator"&w& +4 "core" &  / +2 "manipulator"&% +4 "core" %( q +2 "collection"'{& +4 "core" & J\ +2 "collection"'h& +4 "core" & G\ +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" & t\  +9 &/~ v\ *y +9 &d r\ > +52 &yx q\ N +5 &=Z u\ M +2 &^ u\ M + &] s\ M + &` z\ M + &G] \ L +4 &] }\ M +9 &\\ ~\ M +9 & ^ w\ L +10 &"M_ u\ M +9 &$] t\ M +10 &%` k\ M +9 &'] ]\ L +9 &)V\\ i\ M +10 &+` d\ M +9 &,\\ k\ M +9 &.a h\ M +10 &0]^ ^\ M +9 &2 \\ c\ M +10 &3] f\ M +9 &5^ e\ M +9 &7f\\ k\ M +10 &9'_ g\ M +9 &:^ k\ M +9 &<_ `\ M +10 &>n] d\ M +9 &@0] i\ M +10 &A\\ j\ M +9 &C_ j\ M +9 &Ese j\ N +10 &G1u `\ O +9 &H f\ Q +9 &J g\ W +10 &L_ g\ W +9 &N! i\ W +9 &O f\ X +10 &Q a\ X +9 &S` e\ Z +10 &U# ]\ Y +9 &VjA h\ 1 +9 &Vn f\ H +6 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&1 +4 "core" &V` c\ H +50 1 +2 "manipulator"&% +4 "core" % # $ M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +3 "core" %\   H  +2 "storage"(t% +4 "core" %U j\ + "storage"(f. +3 "core" .( +2 "storage"(l& +3 "core" & 8\ +2 "storage"(z& +4 "core" & \ + "manipulator"&c& +4 "core" &   / +2 "manipulator"&i% +4 "core" %\   "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&S( +159 "core" ( + "manipulator"&5& +4 "core" & & B  +2 "storage"(W& +4 "core" & I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +282 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (d& +3 "core" & 0\ + "manipulator"&o& +4 "core" & S  +2 .tElbow.seek 2 +2 "manipulator"&~( +18 "core" ( + "manipulator"&[& +4 "core" &  ? i +2 "storage"(& +3 "core" & \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"( 'X +8 "core" & h + "manipulator"&V% +4 "core" %  C h +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&G(s +175 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&q& +4 "core" &n A ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &n %  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&u& +4 "core" &n & d +2 "manipulator"&y% +4 "core" %  C + "processing"%& +4 "core" &\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &1\ \ *z +9 &d\ > +10 &}z\ N +9 &@[\ M +10 &\\\ M +9 &_\ \ N +9 &\\\ M +10 &H_\ M +9 & \\\ N +9 &]\ N +10 & _\ M +9 &"P_ \ M +10 &$Z \ N +9 &%]\ N +9 &'a\ \ M +10 &)X`\ M +9 &+Z\ M +9 &,Z\ M +10 &.[\ M +9 &0_]\ N +10 &2!]\ N +9 &3]\ N +9 &5_\ N +10 &7h]\ M +9 &9*Z\ M +9 &:Y \ M +10 &<Z \ M +9 &>q]\ M +9 &@2^\ M +10 &AZ\ M +9 &C]\ \ N +10 &Eva\ N +9 &G5p\ O +9 &H \ R +10 &J\ S +9 &Lp\ S +10 &N2\ S +9 &O\ \ S +9 &Q \ S +10 &Sv\ S +9 &U9\ S +9 &V\ T +10 &X \ T +9 &Z%[ \ #l +9 &Z[ \ - +9 ( +4 "processing"%>& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +3 "core" &Z\ * +54 1 +2 "manipulator"&|% +4 "core" % ( u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 "processing"%'& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   D  + "storage"(/% +4 "core" %R g\ + "storage"(8. +3 "core" .( +2 "storage"(}& +3 "core" & q\ +2 "storage"(3& +5 "manipulator"&Z& +4 "core" & q\ + &n 7 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&E(s + "storage"('i +5 "core" ( +2 "manipulator"&& +3 "core" &n 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n k +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&r/ +64 "core" / +3 .tPC.seek :open +2 "processing"%_( +84 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +41 "core" ' +296 ( +2 "storage"(& +4 "core" & U\ + "manipulator"&J& +4 "core" &n +2 "manipulator"&<% +3 "core" % G +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&+( +247 "core" ( + "manipulator"&&& +4 "core" & & & +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + .tHand.open + "manipulator"&-1 +55 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +46 "core" ' +3 #tLights, camera, ACTION! + "storage"((- +4 "core" -' +2 "storage"(Y& +3 "core" & \ +2 "manipulator"&N& +3 "core" & W & +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( + "manipulator"&T& +4 "core" & & & +2 "storage"()& +3 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +57 "core" ' +2 "manipulator"&A& +4 "core" & D & + "storage"(`& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:' +33 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&4% +5 "core" % + "storage"(?& +4 "core" & h\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&%' +12 "core" ' + "manipulator"&B& +5 "core" & \\ & +2 "storage"(!& +3 "core" & G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +33 "core" ' + "storage"(I% +5 "core" %n \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (@% +3 "core" %,I "\ Wc + "manipulator"&P% +4 "core" %ў  m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +4 "core" & ?\ + "collection"'^& +4 "core" &V` 7\ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&H% +3 "core" %\ #  B +2 "storage"($% +4 "core" %T +\ + "storage"( . +3 "core" .( +2 "storage"(C& +3 "core" & \ +2 "storage"(\\& +4 "core" & \ + "manipulator"&b& +4 "core" &   & + .tElbow.seek 2 +52 "manipulator"&R( +5 "core" ( + "manipulator"&p& +4 "core" & 0 , & + "storage"(K& +4 "core" & H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +98 "core" ' +2 "storage"(j& +4 "core" & \  #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +282 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&n& +3 "core" &  & +2 "storage"(Q& +3 "core" & X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +30 "core" ' +2 "manipulator"&=% +4 "core" % +2 "storage"({& +3 "core" & a\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&]' +12 "core" ' +2 "manipulator"&g& +4 "core" & q & +2 "storage"(.& +3 "core" & w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('G +44 "core" ' + "manipulator"&& +5 "core" &  & + "manipulator"& % +5 "core" %є ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +148 "core" ( + "manipulator"&l& +4 "core" &( $ ] ?U +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &(  ?U +2 .tForearm.seek CC +2 "manipulator"&c'" +92 "core" ' +2 .tHand.close + "manipulator"&h/ +60 "core" / +2 .tCC.seek :open + "collection"'i( +416 "core" ( +2 "storage"(7& +4 "core" & '\ + "storage"(5& +4 "core" & \ +2 "manipulator"&W& +3 "core" &&  =C +2 "manipulator"&% +3 "core" % ,  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +153 "core" ( + "manipulator"&s& +5 "core" & Z \ + "storage"(d& +4 "core" & \ $\ % q\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&o' +103 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % ' + "storage"("& +4 "core" & M\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&V' +11 "core" ' +2 "manipulator"&S& +4 "core" & T \ +2 "storage"(& +4 "core" & \ *\ 0 &\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +23 "core" ' + "storage"(U% +5 "core" %H\ 5\ D \ +2 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (2% +3 "core" %F\ '\  \ Va +2 "manipulator"&~% +4 "core" %Ѱ I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'y& +5 "core" & o\ + "manipulator"&% +4 "core" %\   +2 "storage"( % +3 "core" %b\ D\ G 1\ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \  + "manipulator"&|& +4 "core" & j \ +2 .tElbow.seek 3 +2 "manipulator"&'( +15 "core" ( +2 "manipulator"&& +4 "core" & u +2 "storage"(/& +3 "core" &\ '\ B q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +93 "core" ' + "storage"(}& +5 "core" &\ G\ Q \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +290 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &\ %\ % ;\  + "manipulator"&& +4 "core" & 3 u + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & u u +2 "storage"(r& +3 "core" &\ 0\ ( 5\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& + "storage"('X +7 "core" & u +2 "manipulator"&% +4 "core" % ϣ ] +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&J( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&<& +4 "core" & . H 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ) 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'" +99 "core" ' +2 "manipulator"&& +4 "core" & % G 3 +2 "manipulator"&E% +3 "core" % +2 "collection"'-& +4 "core" & V\ +2 "collection"' & +6 "core" & ~\ +2 .tCC.seek :closed +2 "collection"'((V +4 "core" & |\ +6 & 5 p\ $e +10 &W {\ 8 +9 &} {\ L +10 &Y }\ M +9 &n\\ }\ M +9 &1\\ w\ M +10 &a x\ M +9 &\\ w\ L +9 &w\\ }\ M +10 &8` }\ M +9 &\\ v\ L +10 &!_ |\ M +9 &#~^ }\ M +9 &%A^ v\ M +10 &'[ n\ M +9 &([ h\ L +9 &*\\ p\ M +10 &,IZ n\ M +9 &. \\ s\ L +9 &/] r\ M +10 &1^ v\ M +9 &3P_ t\ M +10 &5] i\ L +9 &6] h\ M +9 &8] b\ M +10 &:Y\\ a\ M +9 &<] ^\ M +10 &=] _\ M +9 &?a ]\ M +9 &Ab\\ b\ L +10 &C#] e\ M +9 &Db i\ M +9 &Fj h\ N +10 &H_} h\ P +9 &J i\ U +10 &K i\ X +9 &M g\ X +9 &OQ i\ X +10 &Q c\ W +9 &R i\ Y +9 &T h\ Y +10 &V1v j\ . +9 &V i\ U +9 ( +2 &Vn e\ M +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&Y1 +64 "core" 1 + "manipulator"&N% +5 "core" %  0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"&D% +4 "core" %\   '  + "storage"(A% +4 "core" %b o\ + "storage"(`. +4 "core" .( + "storage"(1& +4 "core" & o\  + "storage"(4& +4 "core" & w\  + "manipulator"&?& +4 "core" &   3 + "manipulator"&B% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!( +157 "core" ( + "manipulator"&6& +5 "core" & $ K  + "storage"(I& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +104 "core" ' +2 "storage"(& +4 "core" & Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +284 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & \  + "manipulator"&#& +4 "core" & @  + .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( + "manipulator"&,& +4 "core" & a  +2 "storage"(:& +3 "core" & \  +51 .tForearm.seek 3 + 300 counts +3 "manipulator"&%'ϩ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(H'X +7 "core" & G  + "manipulator"&$% +5 "core" % K +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&C& +4 "core" &v M >  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &v  2  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +97 "core" ' + "manipulator"&p& +5 "core" &v  X  + "manipulator"&K% +5 "core" %  Y + "processing"%;& +4 "core" &\ +3 "processing"%j& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" & \ +7 & 2\ $c +9 &T \ 7 +9 & \ K +10 &^\ \ M +9 &gb\ M +9 &)`\ M +10 &`\ M +9 &^\ M +10 &n^ \ N +9 &1^\ M +9 &\\\ M +10 &![\ M +9 &#w`\ M +10 &%8] \ N +9 &&]\ M +9 &(Z\ M +10 &*Z\ M +9 &,@^ \ N +9 &._ \ M +10 &/[\ M +9 &1^\ N +9 &3I]\ \ M +10 &5 Y\ M +9 &6Y \ M +9 &8^ \ M +10 &:Q^\ M +9 &<]\ M +10 &=X\ M +9 &?\\\ N +9 &AY\\\ M +10 &CZ\ M +9 &D`\ N +9 &Fh\ N +10 &HU\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &OY\ S +10 &Q\ S +9 &R\ S +9 &T \ S +10 &V]\ T +9 &X\ T +10 &Yzr\ 4 +9 &Z0\ G +9 &Z\ ) +3 ( +2 "processing"%j& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&O1 +53 "core" 1 + "manipulator"&9% +5 "core" % 1 } Y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +91 "core" ' + "processing"%n& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %\  m  +2 "storage"(w% +4 "core" %U N\ + "storage"(=. +4 "core" .( + "storage"({& +4 "core" & %\  + "storage"(g& +4 "manipulator"&.& +4 "core" & /\  +2 &v  Y  +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s +2 "storage"( 'i +5 "core" ( +2 "manipulator"&e& +3 "core" &v  6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &v  +2 .tForearm.seek PC + "manipulator"&X' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"%]( +84 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'y +42 "core" ' +300 ( +2 "storage"(z& +4 "core" & c\  + "manipulator"&& +4 "core" &v b  +2 "manipulator"&a% +3 "core" % \  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&t( +253 "core" ( +2 "manipulator"&v& +4 "core" & $ S k + "storage"(7& +4 "core" & N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +98 "core" ' +2 .tHand.open + "manipulator"&W1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(s'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(f& +3 "core" & a h }\  +2 "manipulator"&& +4 "core" & k + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +3 "core" & % k +2 "storage"(S& +4 "core" & j a W\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +57 "core" ' +2 "manipulator"&x& +4 "core" &  k +2 "storage"(2& +3 "core" & x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +19 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +25 "core" ' + "manipulator"&y% +5 "core" %Ή  < + "storage"(V& +5 "core" & }\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +25 "core" ' + "manipulator"& & +5 "core" &  J j + "storage"( & +5 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +17 "core" ' +2 "storage"(m% +4 "core" %s /\ +3 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (% +3 "core" %C J\ Va +2 "manipulator"&% +4 "core" %4 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & >\  +2 "collection"'/& +4 "core" &Vm @\ M + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&}% +3 "core" %\ %  - I +2 "storage"([% +4 "core" %a ~\ + "storage"(u. +4 "core" .( + "storage"(3& +4 "core" & \  + "storage"(>& +4 "core" & k\  + "manipulator"&& +5 "core" &  v j + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +3 "core" & 0 Q j +2 "storage"(G& +4 "core" & h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +98 "core" ' + "storage"(& +5 "core" & e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +284 "core" ' +2 "storage"(8- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" & L j +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'V +29 "core" ' +2 "manipulator"&-% +4 "core" %Ή + "storage"(& +4 "core" & X\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +20 "core" ' + "manipulator"&& +5 "core" &  n i + "storage"(i& +4 "core" & x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'E +38 "core" ' + "manipulator"&)& +4 "core" &  i +2 "manipulator"&D% +4 "core" %B W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +148 "core" ( + "manipulator"&1& +5 "core" &* / ?W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +51 "core" && " ( >H +5 .tForearm.seek CC +2 "manipulator"&4'" +94 "core" ' + .tHand.close +2 "manipulator"&?/ +59 "core" / +2 .tCC.seek :open +2 "collection"'B( +419 "core" ( + "storage"(&& +4 "core" &\ \  \  +2 "storage"(6& +4 "core" &\ \  {\  + "manipulator"&I& +4 "core" & ' =G + "manipulator"&% +5 "core" % $ & + .tForearm.seek :retract +2 "manipulator"&J'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +160 "core" ( +2 "manipulator"&@& +4 "core" & & _ z +2 "storage"(P& +3 "core" &\ 3\ *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&#'} +93 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&:1 +62 "core" 1 +2 "manipulator"&F% +5 "core" % ΍ & N + "storage"(^& +4 "core" &\ 3\ 3\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&$'Ϲ +23 "core" ' +2 "manipulator"&!& +4 "core" & c z +2 "storage"(+& +4 "core" &\ '\ ( \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +24 "core" ' + "storage"(%% +5 "core" %N\ G\ 6 *\ +2 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (\\% +3 "core" %F\ %\ % \ V_ +2 "manipulator"&M% +3 "core" %I / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'K& +5 "core" & S\ + "manipulator"&;% +4 "core" %\    +2 "storage"(H% +3 "core" %`\ G\ D =\ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(_(,l +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (O& +3 "core" &,j 5\  + "manipulator"&9& +4 "core" &  z +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&Q& +3 "core" & G z +2 "storage"(w& +3 "core" &,g\ 3\ 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +87 "core" ' + "storage"({& +5 "core" &,g\ Q\ Q \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'i +285 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" &,g\ 0\ # t\  + "manipulator"&e& +4 "core" & z +2 .tElbow.seek 4 +2 "manipulator"&R( +3 "core" ( + "manipulator"&b& +4 "core" & z +2 "storage"(& +3 "core" &,g\ 3\ 3\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& + "storage"('X +8 "core" & . z + "manipulator"& % +4 "core" % + g +2 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&a& +5 "core" &) ) a ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &(  ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&v'" +96 "core" ' + "manipulator"&7& +4 "core" &) 5 E ?T +2 "manipulator"&% +4 "core" %(  m + "collection"'W& +4 "core" & s\ +3 "collection"'& +6 "core" & V\ +2 .tCC.seek :closed +2 "collection"'c(V +4 "core" & x\ +7 &6 t\ $c +10 &U t\ 7 +9 &~ |\ K +9 &Y v\ M +10 &\\] |\ L +9 &\\ \ M +9 &[ s\ M +10 &[ y\ M +9 &b_ {\ M +10 &%\\ |\ M +9 &^ z\ M +9 &!] w\ M +10 &#jZ }\ M +9 &%-] ~\ M +9 &&\\ l\ L +10 &(Z y\ M +9 &*sY t\ M +10 &,5\\ {\ M +9 &-] }\ L +9 &/\\ x\ M +10 &1{] |\ M +9 &3<^ |\ M +9 &4\\ ~\ M +10 &6_ t\ M +9 &8X y\ L +10 &:D\\ t\ M +9 &<] j\ M +9 &=\\ c\ L +10 &?] h\ M +9 &ANZ m\ L +9 &C] e\ M +10 &Db ]\ M +9 &Fj d\ N +10 &HI i\ Q +9 &J d\ U +9 &K f\ X +10 &M{ g\ X +9 &O< d\ X +9 &P d\ X +10 &R ^\ Y +9 &T g\ Y +10 &Vs c\ / +9 &V- j\ Y +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&f1 +3 "core" &Vj e\ I +52 1 +2 "manipulator"&% +5 "core" % ( 1  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%S& +4 "core" & \ + "manipulator"&h% +4 "core" %\ # e = +2 "storage"(x% +4 "core" %b S\ + "storage"(2. +3 "core" .(,l +2 "storage"(y& +3 "core" &,g :\  +2 "storage"(V& +4 "core" &,g !\  + "manipulator"&l& +4 "core" &) z ?T + "manipulator"& % +4 "core" %\ # = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +159 "core" ( +2 "manipulator"& & +4 "core" &  r x + "storage"(m& +4 "core" &,g r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&t'Ѽ +100 "core" ' +2 "storage"(5& +4 "core" &,g\  >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &,g \  +2 "manipulator"&& +3 "core" & 2 x +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&U& +4 "core" & / x + "storage"(~& +4 "core" &,g r\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& + "storage"(}'X +8 "core" & t x + "manipulator"&[% +4 "core" %   2 +2 .tForearm.seek :retract +2 "manipulator"&u'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&o(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&3& +4 "core" &h 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &i  K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"&r& +4 "core" &i & t +2 "manipulator"&G% +4 "core" % + "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &\ +8 &:\ $d +9 &U\ 7 +10 &\ K +9 &_\ N +9 &V`\ N +10 &`\ M +9 &]\ M +9 &[\ M +10 &^\\\ N +9 &!^\ M +9 &]\ N +10 &!_\ N +9 &#g\\\ M +10 &%)]\ M +9 &&_\ M +9 &(\\ \ M +10 &*o_ \ M +9 &,0[\ N +9 &-a \ M +10 &/Z\ M +9 &1w\\ \ M +10 &38_ \ N +9 &4]\ N +9 &6\\\ N +10 &8~[ \ N +9 &:AZ \ M +9 &<Z\ M +10 &=Y \ M +9 &?Z\ M +10 &AIY\ M +9 &C\ [\ N +9 &D` \ N +10 &Fk\ O +9 &HE\ \ Q +9 &J \ S +10 &K\ S +9 &M\ S +10 &OJ \ R +9 &Q \ S +13 &R\ S +6 &T\ T +11 &VN\ \ T +7 &X \ T +10 &Yzs\ : +9 &Z(n\ Q +10 &Z%\ / +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&k1 +56 "core" 1 +2 "manipulator"&|% +4 "core" %   +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&8'\ +96 "core" ' +2 "processing"%<& +4 "core" &Z#\ / + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\ ! 1 + "storage"(% +4 "core" %T \ + "storage"(-. +4 "core" .(,l + "storage"(& +4 "core" &,g \  +2 "storage"(& +4 "manipulator"&i& +4 "core" &,g \  + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&)(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'i +2 "core" ( + "manipulator"&*& +4 "core" &i ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i 2  +2 .tForearm.seek PC +2 "manipulator"&'' +99 "core" ' + .tHand.close +2 "manipulator"&Z/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(E- +4 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +46 "core" ' +288 ( + "storage"( & +5 "core" &,g \  + "manipulator"&Y& +4 "core" &i E + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&?'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&A( +240 "core" ( + "manipulator"&(& +4 "core" & % d I +2 "storage"(&& +4 "core" &,g w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&6'Ѽ +103 "core" ' + .tHand.open + "manipulator"&I1 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(`& +4 "core" &,g k j \  + "manipulator"&:& +4 "core" & I +2 .tElbow.seek 4 + "manipulator"&F( +4 "core" ( + "manipulator"&^& +5 "core" & & I + "storage"(!& +4 "core" &,g ` h 0\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&+'Ѽ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +57 "core" ' + "manipulator"&J& +4 "core" & I +2 "storage"(\\& +4 "core" &,g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&M' +30 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +25 "core" ' + "manipulator"&K% +5 "core" % n + "storage"($& +5 "core" &,g \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts + "manipulator"&;' +17 "core" ' + "manipulator"&H& +4 "core" & & m b +2 "storage"( & +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +30 "core" ' + "storage"(0% +5 "core" %p \ +2 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (\ % +3 "core" %I *\ Wb +2 "manipulator"&O% +4 "core" %Ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +4 "core" &,g /\  +2 "collection"'w& +3 "core" &Vj @\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&{% +4 "core" %\   3  +2 "storage"(,% +4 "core" %T )\ + "storage"(p. +3 "core" .(,l +2 "storage"(g& +3 "core" &,g \  +2 "storage"(j& +4 "core" &,g z\  + "manipulator"&e& +5 "core" & a + .tElbow.seek 4 +2 "manipulator"&b( +26 "core" ( + "manipulator"&& +5 "core" & &  % + "storage"(& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&L'Ѽ +97 "core" ' + "storage"( & +4 "core" &,g \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'i +278 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" &  % +2 "storage"(X& +4 "core" &,g 4\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&.' +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(7- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +28 "core" ' +2 "manipulator"&W% +4 "core" % T + "storage"(R& +4 "core" &,g 7\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&': +19 "core" ' + "manipulator"&z& +4 "core" &\  . M +2 "storage"(B& +4 "core" &,g P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&f'Ѽ +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"('H +46 "core" ' +2 "manipulator"&S& +4 "core" &\  M +2 "manipulator"&h% +4 "core" % \\ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +151 "core" ( +3 "manipulator"&y& +4 "core" &+   Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ \\ Bg +2 .tForearm.seek CC +2 "manipulator"&V'" +94 "core" ' +2 .tHand.close + "manipulator"&l/ +58 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(v& +4 "core" &,g\  n\  +2 "storage"( & +3 "core" &,g =\  +2 "manipulator"&m& +3 "core" &)  ?U +2 "manipulator"&5% +3 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&"( +161 "core" ( + "manipulator"&& +4 "core" & % t  +2 "storage"(& +3 "core" &,g\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +111 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&~1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  q e + "storage"(/& +5 "core" &,g \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&['? +14 "core" ' + "manipulator"&s& +4 "core" & c  +2 "storage"(t& +3 "core" &,g\ &\ 0 >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +24 "core" ' +2 "storage"(% +4 "core" %G\ 7\ G (\ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +100 (>% +2 "core" %F\ \ ' @\ Va +2 "manipulator"&% +4 "core" %ѽ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +49 "storage"(5 +5 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'G& +5 "core" & s\ + "manipulator"&% +4 "core" %\ \ K  +2 "storage"(}% +3 "core" %a\ Q\ Q \ +2 "storage"(u. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(](<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (k& +3 "core" &<( x\  +2 "manipulator"&|& +3 "core" & :  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"(& +4 "core" &<%\ '\ ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +97 "core" ' + "storage"(-& +4 "core" &<%\ Q\ Q \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<%\ 0\ $ N\  +2 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & t  +2 "storage"(Z& +3 "core" &<%\ 3\ 3\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(q'X +7 "core" &   + "manipulator"&D% +4 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &+  ! Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &* = Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('" +93 "core" ' +2 "manipulator"&&& +4 "core" &*  + @X +2 "manipulator"&)% +4 "core" % ; X  + "collection"'I& +4 "core" & g\ +2 "collection"'& +5 "core" & C\ +2 .tCC.seek :closed +2 "collection"'4(V +4 "core" & n\  +9 &1 q\ *z +9 &e k\ ? +10 &w o\ N +9 &DZ r\ M +9 &` {\ M +10 &\\ w\ L +9 &\\ o\ L +10 &L\\ z\ M +9 &Z v\ M +9 &\\ |\ L +10 & ] |\ M +9 &"S` |\ M +9 &$\\ w\ L +10 &%^ w\ M +9 &'Z w\ M +10 &)\\Y p\ M +9 &+\\ t\ M +9 &,Z t\ L +10 &.] |\ L +9 &0d^ z\ M +9 &2&Y |\ M +10 &3] t\ L +9 &5Z {\ L +10 &7m\\ |\ L +9 &9/[ {\ L +9 &:] w\ M +10 &<a {\ M +9 &>t\\ |\ M +9 &@6^ }\ M +10 &AZ y\ M +9 &C^ |\ M +10 &Ezc |\ M +9 &G7q p\ O +9 &H z\ R +10 &J q\ V +9 &Ld o\ W +9 &N' l\ W +10 &O p\ X +9 &Q p\ X +10 &Sg o\ Y +9 &U) o\ X +9 &Vn@ e\ 0 +10 &Vv f\ J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&`1 +3 "core" &Vj e\ J +59 1 + "manipulator"&:% +5 "core" %  6 p  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%!& +5 "core" &\ + "manipulator"&?% +4 "core" %\   S  +2 "storage"(J% +4 "core" %a =\ + "storage"(\\. +4 "core" .(<* +2 "storage"(1& +3 "core" &<% 1\  +2 "storage"(K& +3 "core" &<% E\  +2 "manipulator"&$& +4 "core" &*  S @W + "manipulator"&@% +4 "core" %\  K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +164 "core" ( +2 "manipulator"& & +4 "core" & & Z V + "storage"(0& +4 "core" &<% r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&A'ы +92 "core" ' +2 "storage"(6& +4 "core" &<% \  K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +282 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" &<% y\  +2 "manipulator"&+& +4 "core" & ' V + .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&%& +3 "core" & & s V +2 "storage"(M& +3 "core" &<% n\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"({'X +7 "core" & @ V +2 "manipulator"&,% +4 "core" % z N +2 .tForearm.seek :retract + "manipulator"&#'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +174 "core" ' + ."downElevator"SE.stop + "storage"(5 +66 "core" ( + "manipulator"&g& +4 "core" &w & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &w A ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&e' +107 "core" ' +2 "manipulator"&& +4 "core" &w & h ) +2 "manipulator"&% +3 "core" %  3 +2 "processing"%N& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &\ +7 & 3\ $c +10 &T\ 7 +9 &~\ K +9 &_\ N +10 &^\\\ N +9 &!`\ M +9 &^\ M +10 &_\ M +9 &fa\ N +10 &)^\ M +9 &^\ M +9 &!_\ N +10 &#o`\ M +9 &%1[\ M +9 &&\\\ M +10 &(`\ M +9 &*v[\ N +10 &,7_\ N +9 &-\\\ M +9 &/[\ M +10 &1^\ M +9 &3AZ\ M +9 &5Z\ M +10 &6Z \ M +9 &8\\\ M +9 &:H_\ N +10 &<\ \\ \ N +9 &=]\ M +10 &?] \ M +9 &ARZ\ M +9 &C^\ N +10 &D`\ N +9 &Fh \ O +10 &HO{\ Q +9 &J\ \ S +9 &K \ S +10 &M\ S +9 &OQ\ S +9 &Q\ S +10 &R\ T +9 &T\ T +10 &VU \ T +9 &X\ T +9 &Yzo\ 8 +10 &Z.\ K +9 &Z"\ , +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&T1 +54 "core" 1 + "manipulator"&9% +4 "core" % # " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +98 "core" ' + "processing"%a& +4 "core" &Z!\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&X% +4 "core" %\  \\  +2 "storage"(7% +3 "core" %a \ +2 "storage"(W. +3 "core" .(<* + "storage"(R& +4 "core" &<% \  + "storage"(z& +4 "manipulator"&B& +4 "core" &<% \  + &w ) +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&S(s +2 "storage"(h'i +5 "core" ( + "manipulator"&L& +4 "core" &w  ^ ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +2 "core" &w  ) +2 .tForearm.seek PC +2 "manipulator"&n' +94 "core" ' +2 .tHand.close + "manipulator"&./ +60 "core" / + .tPC.seek :open +2 "processing"%( +95 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(y'y +34 "core" ' +294 ( +2 "storage"(& +4 "core" &<% ^\  + "manipulator"&f& +4 "core" &w  ) + "manipulator"&% +4 "core" % p +2 .tForearm.seek :retract + "manipulator"&l'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&x( +253 "core" ( +2 "manipulator"&c& +4 "core" & ) # +2 "storage"(v& +3 "core" &<% F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +105 "core" ' + .tHand.open + "manipulator"&m1 +56 "core" 1 +51 "storage"(5- +5 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! + "storage"(V- +4 "core" -' +2 "storage"(2& +3 "core" &<% ~ .\  +2 "manipulator"&~& +4 "core" & ; "} + .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&/& +4 "core" & & 8 + "storage"(s& +4 "core" &<% J\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&t'ы +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(>& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&[% +4 "core" % + "storage"(G& +4 "core" &<% ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&'\ +14 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(}& +71 "core" &<% t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&u'ы +26 "core" ' +2 "storage"(d% +4 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +100 (_% +3 "core" %E f\ Wa + "manipulator"&k% +4 "core" %ј  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (<& +3 "core" &<%\ \  +2 "collection"'& +4 "core" &Vj O\ J + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&-% +4 "core" %\   +2 "storage"(U% +4 "core" %_ ~\ + "storage"(r. +3 "core" .(<* +2 "storage"(i& +3 "core" &<% b\  +2 "storage"(& +4 "core" &<% e\  + "manipulator"&*& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&Z& +4 "core" & I + "storage"(o& +4 "core" &<% s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +97 "core" ' +2 "storage"(D& +4 "core" &<%\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"('& +4 "core" &<% r\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&' +35 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"()'U +29 "core" ' + "manipulator"&I% +4 "core" % | +2 "storage"(& +3 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&q' +14 "core" ' +2 "manipulator"& & +4 "core" & + "storage"( & +4 "core" &<% w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&`'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'D +40 "core" ' + "manipulator"&!& +4 "core" & ; +2 "manipulator"&?% +4 "core" %т u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +156 "core" ( + "manipulator"&1& +4 "core" &- . Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- v Ct +2 .tForearm.seek CC + "manipulator"&K'" +94 "core" ' +2 .tHand.close + "manipulator"&$/ +61 "core" / + .tCC.seek :open +2 "collection"'@( +416 "core" ( +2 "storage"((& +4 "core" &<%\ \  %\  + "storage"( & +4 "core" &<%\  ,\  + "manipulator"&0& +4 "core" &* b @^ + "manipulator"&6% +5 "core" % ) j  + .tForearm.seek :retract +2 "manipulator"&Y'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +153 "core" ( + "manipulator"&\ & +5 "core" & % k  + "storage"(O& +4 "core" &<%\ $\ % :\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&+' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&M1 +59 "core" 1 +2 "manipulator"&Q% +4 "core" % 5  + "storage"(w& +4 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&,' +13 "core" ' + "manipulator"&H& +5 "core" &  +2 "storage"(A& +4 "core" &<%\ (\ ( P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&P'ы +21 "core" ' + "storage"(;% +4 "core" %G\ D\ D \ +3 ."downElevator"SE.seek :down +3 "storage"(g'X +99 (j% +3 "core" %C\ '\ $ n\ V_ + "manipulator"&F% +4 "core" %є G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & O\ + "manipulator"&N% +4 "core" %\   * +2 "storage"({% +3 "core" %`\ &\ ' \ +2 "storage"(#. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +968 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" & \ + "manipulator"&9& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&a( +32 "core" ( +2 "manipulator"&X& +4 "core" & ( m C + "storage"(7& +4 "core" & \ $\ % c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +103 "core" ' + "storage"(R& +5 "core" & \ N\ C c\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'i +278 "core" ' + "storage"(B- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & \ \  c\ +2 "manipulator"&L& +4 "core" &   C + .tElbow.seek 2 +2 "manipulator"&b( +24 "core" ( +2 "manipulator"&e& +4 "core" & E  +2 "storage"(.& +4 "core" & \ %\ % @\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(C'X +7 "core" & &  +2 "manipulator"&h% +4 "core" %  g g +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +151 "core" ( + "manipulator"&& +5 "core" ' + &-  . Cm + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +53 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&n& +4 "core" &- 4 Cm + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'" +98 "core" ' + "manipulator"&v& +4 "core" &- 2 S Cm +2 "manipulator"&S% +4 "core" %% \\ +2 "collection"'m& +4 "core" & \ +2 "collection"'5& +4 "core" & Z\ +2 .tCC.seek :closed +2 "collection"'l(V +4 "core" & \  +9 &0 \ *y +10 &d \ > +9 &|x }\ M +10 &AX q\ L +9 &] s\ M +9 &Z \ M +10 &\\ \ M +9 &HZ k\ M +9 &\ Z q\ M +10 &[ w\ L +9 & ] {\ M +10 &"O` x\ M +9 &$\\ q\ M +9 &%b q\ M +10 &'Y u\ M +9 &)XY v\ M +9 &+` ~\ M +10 &,Y t\ M +9 &.[ w\ M +10 &0`\\ w\ M +9 &2#Z u\ L +9 &3\\ s\ M +10 &5[ w\ M +9 &7iZ v\ L +9 &9*Y z\ M +10 &:_ {\ M +9 &<\\ r\ M +9 &>q] t\ L +10 &@2\\ u\ M +9 &A_ v\ M +10 &Ca |\ M +9 &Etd u\ N +9 &G2s s\ O +10 &H |\ Q +9 &J |\ W +9 &L` v\ X +10 &N# t\ W +9 &O t\ X +10 &Q t\ X +9 &Sc r\ Y +9 &U$ i\ Z +10 &VqC u\ 0 +9 &Vs q\ K +5 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&V1 +4 "core" &Vd r\ K +59 1 +2 "manipulator"&2% +4 "core" % % D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp + "processing"%/& +5 "core" &\ + "manipulator"&s% +4 "core" %\ # ; +2 "storage"(% +3 "core" %S T\ +2 "storage"(>. +3 "core" .( + "storage"(y& +5 "core" &  S\ + "storage"([& +4 "core" &  I\ + "manipulator"&G& +4 "core" &- ` Cm +2 "manipulator"&% +4 "core" %\ # [ ; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&x& +4 "core" &  +2 "storage"(}& +3 "core" &  j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +95 "core" ' + "storage"(& +4 "core" & \ \  "\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +282 "core" ' + "storage"(t- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &  \ + "manipulator"&& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( + "manipulator"&& +4 "core" & 0 +2 "storage"(& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&( +152 "core" ( +2 "manipulator"&5& +4 "core" &- & o Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +2 "core" &- Cm +2 .tForearm.seek CC +2 "manipulator"&['" +98 "core" ' + .tHand.close + "manipulator"&G/ +53 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(c& +4 "core" &  g\ +2 "storage"(x& +4 "core" &  \ + "manipulator"&}& +4 "core" &* k @\\ +2 "manipulator"&% +3 "core" % 3 1 +2 .tForearm.seek :retract +2 "manipulator"&f'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&~( +154 "core" ( + "manipulator"&t& +5 "core" &   + "storage"(_& +4 "core" & \ 3\ 3\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&' +101 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&<% +5 "core" %   + "storage"(& +4 "core" & \ \  ;\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"( & +5 "core" & \ *\ ' o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +22 "core" ' +2 "storage"(% +4 "core" %C\ C\ 6 `\ +3 ."downElevator"SE.seek :down +3 "storage"(i'X +99 (% +4 "core" %D\ \  z\ V` +2 "manipulator"&k% +5 "core" %Ѷ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'o& +5 "core" & [\ + "manipulator"&u% +4 "core" %\    +2 "storage"(-% +4 "core" %U\ B\ 6 \ + "storage"(U. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" & \  + "manipulator"&|& +4 "core" & :  + .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( + "manipulator"&'& +4 "core" & % v +2 "storage"(&& +3 "core" &\ 0\ ( \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +107 "core" ' +3 "storage"(& +5 "core" &\ G\ D \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &\ "\  t\  +2 "manipulator"&8& +4 "core" &  v + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&*& +4 "core" & a v +2 "storage"(& +3 "core" &\ %\ / \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(3'X +7 "core" & v + "manipulator"&?% +5 "core" % ϩ  + .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&`( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&E& +4 "core" &, 3 e Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, } Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'" +92 "core" ' + "manipulator"&(& +5 "core" &,  $ Bh + "manipulator"&!% +5 "core" %' x  + "collection"'0& +4 "core" & d\ +2 "collection"'6& +5 "core" & c\ +2 .tCC.seek :closed +2 "collection"'K(V +4 "core" & \  +9 &0 \ +z +9 &d \ > +9 &|x \ M +10 &@Z \ L +9 &] ~\ M +10 &Y }\ M +9 &[ w\ L +9 &H\\ {\ L +10 & \\ }\ M +9 &_ t\ M +9 & _ r\ M +10 &"O\\ k\ M +9 &$_ s\ M +10 &%] r\ M +9 &'^ t\ M +9 &)W\\ t\ M +10 &+_ z\ M +9 &,] v\ M +9 &._ z\ L +10 &0_] |\ M +9 &2!] }\ M +10 &3Z |\ M +9 &5X |\ L +9 &7gZ }\ M +10 &9([ }\ M +9 &:\\ w\ M +9 &<] s\ L +10 &>o\\ v\ M +9 &@1] ~\ M +10 &AY v\ M +9 &C] y\ M +9 &Eub y\ M +10 &G1n |\ O +9 &H~ w\ Q +9 &J {\ V +10 &L` ~\ W +9 &N" t\ W +10 &O t\ X +9 &Q }\ X +9 &Sa w\ Z +10 &U$ w\ Y +9 &VlB z\ 0 +9 &Vy }\ L +6 ( +2 "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&\\1 +4 "core" &Vp r\ L +49 1 +2 "manipulator"&M% +4 "core" % '  $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%H& +4 "core" &\ + "manipulator"&$% +4 "core" %\   \ +2 "storage"(Y% +3 "core" %S Y\ +2 "storage"(j. +3 "core" .( + "storage"(1& +4 "core" & N\  +2 "storage"(& +3 "core" & R\  +2 "manipulator"&,& +4 "core" &+ ! Bh + "manipulator"&\ % +4 "core" %\  0 \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{( +164 "core" ( +2 "manipulator"&#& +4 "core" & % h e +2 "storage"(P& +4 "core" & |\  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +92 "core" ' + "storage"( & +4 "core" &\  I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +282 "core" ' +2 "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & \  + "manipulator"&A& +4 "core" &  e +2 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&;& +4 "core" &  , e +2 "storage"(F& +3 "core" & f\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&N'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(R'X +7 "core" & e +2 "manipulator"&%% +3 "core" % Ϝ A +2 .tForearm.seek :retract +2 "manipulator"&+'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&B& +4 "core" &u %  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &u I  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' + "manipulator"&.& +4 "core" &u % +  +2 "manipulator"&p% +4 "core" %  +2 "processing"%h& +3 "core" &\ +3 "processing"%:& +12 "core" &\ + &\ +2 .tPC.seek :closed + "processing"%g(Z +5 "core" &\  +9 &3\ *z +10 &e\ ? +9 &y\ O +9 &KZ\ M +10 &\\#\ M +9 &]\ N +10 &[\ M +9 &SZ\ M +9 &\\ \ M +10 &Z\ M +9 & [\ N +9 &"Z]\ N +10 &$]\ M +9 &%^ \ M +10 &'_ \ N +9 &)c]\ M +9 &+%\\\ M +10 &,^ \ M +9 &.[\ M +9 &0j] \ N +10 &2-Z\ M +9 &3Y \ M +10 &5Y \ N +9 &7r\\ \ N +9 &94\\\ N +10 &:X\ M +9 &<^\ \ M +9 &>{] \ M +10 &@=_ \ M +9 &AY\ M +10 &C\\\ N +9 &Eb\ N +9 &G>r \ P +10 &H\ \ R +9 &J \ R +9 &L{ \ S +12 &N=\ S +7 &O\ S +10 &Q\ S +9 &S\ S +9 &UB\ T +10 &W\ T +9 &X\ T +9 &Z(Tw\ (w +10 &Zf\ 5 +9 ( +3 "processing"%:& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&^1 +4 "core" &Z#\ 0 +51 1 + "manipulator"&9% +4 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W'\ +99 "core" ' +2 "processing"%& +4 "core" &Z# \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +4 "core" %\ " H @ + "storage"(b% +4 "core" %b d\  + "storage"(S. +4 "core" .( + "storage"(m& +4 "core" & 3\  +2 "storage"(& +3 "manipulator"&@& +4 "core" & ,\  +2 &u   +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&/(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'i +2 "core" ( +2 "manipulator"&=& +3 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &u <  +2 .tForearm.seek PC + "manipulator"&a' +96 "core" ' +2 .tHand.close + "manipulator"&z/ +55 "core" / +2 .tPC.seek :open +2 "processing"%C( +91 "core" ' + "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(5'y +46 "core" ' +285 ( +2 "storage"(y& +4 "core" & \  + "manipulator"&V& +4 "core" &u A  + "manipulator"&% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +259 "core" ( +2 "manipulator"&l& +4 "core" & %  +2 "storage"(c& +3 "core" & t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +94 "core" ' +2 .tHand.open + "manipulator"&}1 +60 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(t'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(>& +4 "core" &  t\  + "manipulator"&& +4 "core" & K  +2 .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&& +3 "core" &  o  +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +23 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' + "manipulator"&f& +5 "core" &   + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&k'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&o% +4 "core" %· + "storage"(& +4 "core" & B\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&u'ϳ +11 "core" ' +2 "manipulator"&-& +4 "core" & g  +2 "storage"(U& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +23 "core" ' + "storage"(d% +5 "core" %m Z\ +2 ."downElevator"SE.seek :down +4 "storage"(i'X +98 (% +2 "core" %;G {\ Va +2 "manipulator"&"% +5 "core" %? u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +4 "core" & K\  + "collection"'&& +4 "core" &Vp I\ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ % ~ H + "storage"(% +4 "core" %b \  +2 "storage"(Z. +3 "core" .( + "storage"( & +4 "core" & \  + "storage"( & +4 "core" & G\  + "manipulator"&8& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( + "manipulator"&& +4 "core" & %  + "storage"(r& +4 "core" & m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +13 "Can"P\ B@ +82 "core" ' +2 "storage"(?& +4 "core" & L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&E& +3 "core" &   +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&D'} +28 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(!'V +27 "core" ' +2 "manipulator"&0% +4 "core" %· l + "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&3'ϳ +12 "core" ' +2 "manipulator"&& +4 "core" & .  + "storage"(& +4 "core" & j\  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(M'E +40 "core" ' + "manipulator"&H& +5 "core" &   + "manipulator"&$% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +159 "core" ( + "manipulator"&1& +5 "core" &. ) 3 Dy + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &. F Dx +2 .tForearm.seek CC +2 "manipulator"&,'" +91 "core" ' +2 .tHand.close + "manipulator"&6/ +52 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +415 "core" ( +2 "storage"(4& +4 "core" &\ \ \  +2 "storage"(#& +3 "core" & s\  +2 "manipulator"&P& +3 "core" &+  Ae +2 "manipulator"&`% +3 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +158 "core" ( +2 "manipulator"&]& +4 "core" & % c  + "storage"(T& +4 "core" &\ %\ % }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&A'} +105 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +56 "core" 1 +2 "manipulator"&X% +4 "core" % Ή %  6 +2 "storage"(7& +3 "core" &\ \  ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&%'ϵ +12 "core" ' +2 "manipulator"&{& +4 "core" & U  + "storage"(J& +5 "core" &\ A\ ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +19 "core" ' +2 "storage"(N% +4 "core" %H\ D\ C \ +3 ."downElevator"SE.seek :down +3 "storage"(B'X +99 ( % +4 "core" %F\ \ ' u\ V` +2 "manipulator"&Q% +4 "core" %7 C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'p& +3 "core" & `\ +2 "manipulator"&h% +5 "core" %\  :  + "storage"(R% +4 "core" %W\ Q\ R \ +2 "storage"(+. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(q(,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" &,j \  + "manipulator"&9& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&n& +4 "core" & E  + "storage"(b& +4 "core" &,g\ (\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +96 "core" ' + "storage"(m& +5 "core" &,g\ R\ R \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &,g\ \ \  + "manipulator"&=& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&L& +3 "core" & K  +2 "storage"(z& +3 "core" &,g\ 3\ 2\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&v', +34 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +3 "storage"(g'X +8 "core" &   + "manipulator"&s% +5 "core" % 6  I + .tForearm.seek :retract +2 "manipulator"&y'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +151 "core" ( + "manipulator"&& +5 "core" ' + &, n Bh +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &a& +3 "core" &+ ] Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'" +101 "core" ' +2 "manipulator"&c& +4 "core" &, ] Bh + "manipulator"&/% +4 "core" % Q +2 "collection"'}& +4 "core" & \ +2 "collection"'& +5 "core" & c\ +2 .tCC.seek :closed +3 "collection"'[(V +4 "core" & \  +8 &1 \ *y +9 &d \ > +10 &zv \ M +9 &=Z \ M +9 &\\ \ M +10 &] \ L +9 &Z \ L +9 &F[ \ M +10 &_ \ M +9 &] o\ M +10 & Z v\ M +9 &"NZ w\ M +9 &$[ u\ M +10 &%` u\ M +9 &'Y k\ M +9 &)VX l\ M +10 &+Z k\ M +9 &,X r\ M +10 &.Z x\ M +9 &0]_ p\ M +9 &2!Y u\ L +10 &3] q\ L +9 &5Z r\ L +9 &7gZ w\ L +10 &9(] u\ M +9 &:_ |\ M +10 &<] }\ M +9 &>nZ {\ M +9 &@1[ z\ L +10 &A[ ~\ M +9 &C` x\ M +9 &Erc |\ N +10 &G0n }\ O +9 &H t\ Q +10 &J w\ W +9 &L_ |\ W +9 &N" o\ W +10 &O {\ X +9 &Q s\ Y +9 &Sa p\ Y +10 &U" |\ Z +9 &VoB y\ 2 +10 &Vr |\ H +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&>1 +4 "core" &Vk y\ H +56 1 + "manipulator"&% +4 "core" %  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&G% +3 "core" %\ \ n  +2 "storage"(f% +4 "core" %b p\ + "storage"(. +3 "core" .(,l + "storage"(5& +4 "core" &,g u\  +2 "storage"(o& +3 "core" &,g m\  +2 "manipulator"&& +4 "core" &+  Bh + "manipulator"&t% +4 "core" %\ \ L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&-( +163 "core" ( + "manipulator"&U& +5 "core" &  F  + "storage"(d& +4 "core" &,g @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +93 "core" ' +2 "storage"(x& +4 "core" &,g\ \  "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &,g /\  + "manipulator"& & +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&& +3 "core" & Z  +2 "storage"(k& +3 "core" &,g \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& + "storage"('X +7 "core" &  +2 "manipulator"&% +4 "core" % ) V  +2 .tForearm.seek :retract + "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&& +5 "core" &l 9   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &l q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8' +104 "core" ' + "manipulator"&& +4 "core" &l % s  +2 "manipulator"&r% +4 "core" %   + "processing"%2& +4 "core" &\ +2 "processing"%?& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" & \ +7 &;\ $d +10 &U\ 7 +9 &~\ K +9 &]\ M +10 &a\\!\ N +9 &#]\ N +10 &^\ N +9 &_\ M +9 &j_\ M +10 &,]\ M +9 &`\ N +9 &!]\ M +49 &#q[ \ N +19 &%3]\ N + &&\\\ N &(Y\ M + &*y_\ N + &,;\\!\ N + &-]\ N +3 &/]\ M +10 &1]\ M +9 &3DZ\ M +10 &5Y\ M +9 &6Z\ M +9 &8]\ M +10 &:K] \ N +9 &< [\ N +9 &=Z\ N +10 &?Z \ N +9 &ATX \ M +10 &C_\ N +9 &D`\ N +9 &Fk \ O +10 &HP~\ Q +9 &J\ S +9 &K\ S +10 &M\ \ S +9 &OR \ S +10 &Q\ S +9 &R\ \ T +9 &T\ T +10 &VX\ T +9 &X\ T +9 &Yzp\ 7 +10 &Z0\ I +9 &Z\ ) +2 ( +3 "processing"%?& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&~1 +62 "core" 1 +2 "manipulator"&|% +4 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +100 "core" ' +2 "processing"%E& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ " u @ +2 "storage"((% +4 "core" %U \ + "storage"(0. +3 "core" .(,l +2 "storage"(& +3 "core" &,g \  +2 "storage"(& +4 "manipulator"&& +4 "core" &,g F\  +2 &l   +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&H(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"($'i +2 "core" ( +2 "manipulator"&& +3 "core" &l r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &l W  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&D/ +64 "core" / +2 .tPC.seek :open +2 "processing"%3( +81 "core" ' +2 "storage"(!- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +41 "core" ' +299 ( +2 "storage"(& +4 "core" &,g ;\  + "manipulator"&\\& +4 "core" &l E  +2 "manipulator"&)% +3 "core" % _ +2 .tForearm.seek :retract +2 "manipulator"&6'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Y( +257 "core" ( +2 "manipulator"&K& +4 "core" &\ ) ' _ + "storage"(4& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&#'Ѽ +94 "core" ' + .tHand.open +2 "manipulator"&P1 +61 "core" 1 +2 "storage"(`- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(]'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(T' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(j& +4 "core" &,g \  + "manipulator"&F& +4 "core" &\ ` _ +2 .tElbow.seek 4 +2 "manipulator"&X( +27 "core" ( + "manipulator"&7& +4 "core" &  J  +2 "storage"({& +4 "core" &,g \  +2 .tForearm.seek 4 + 700 counts + "manipulator"&J'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(N' +56 "core" ' +2 "manipulator"& & +4 "core" &   + "storage"( & +5 "core" &,g \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Q' +33 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(A'i +25 "core" ' + "manipulator"&p% +5 "core" % g + "storage"(%& +4 "core" &,g y\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 305 counts + "manipulator"&h'1 +13 "core" ' +2 "manipulator"&R& +4 "core" & H  +2 "storage"(+& +4 "core" &,g s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&M'Ѽ +23 "core" ' + "storage"(O% +5 "core" %o \ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +99 (% +3 "core" %I ;\ Wd +2 "manipulator"&^% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (n& +4 "core" &,g Q\  + "collection"'b& +4 "core" &Vk T\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&m% +4 "core" %\    + "storage"(;% +4 "core" %\\ _\ +2 "storage"(.. +3 "core" .(,l + "storage"(& +4 "core" &,g ^\  + "storage"(:& +4 "core" &,g j\  + "manipulator"&=& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&L( +36 "core" ( +2 "manipulator"&z& +4 "core" & %  + "storage"(& +5 "core" &,g o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&W'Ѽ +94 "core" ' +2 "storage"(s& +4 "core" &,g\ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(a& +3 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&@' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(c- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(/'X +29 "core" ' +2 "manipulator"&}% +4 "core" % + "storage"(e& +4 "core" &,g \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&g': +19 "core" ' + "manipulator"&y& +4 "core" &\  < X +2 "storage"(\ & +4 "core" &,g ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('G +53 "core" ' +2 "manipulator"&& +4 "core" &\  X +2 "manipulator"&G% +4 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ( +3 "manipulator"&5& +4 "core" &# ' t ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# (  k :1 +2 .tForearm.seek CC + "manipulator"&o'" +94 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'t( +413 "core" ( + "storage"(l& +4 "core" &,g\ \  j\  +2 "storage"(U& +3 "core" &,g\  0\  +2 "manipulator"&d& +3 "core" &#   :1 +2 "manipulator"&x% +3 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" & % h r +2 "storage"("& +3 "core" &,g\ %\ $ 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& ' +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +64 "core" 1 +2 "manipulator"&'% +4 "core" %  E n +2 "storage"(&& +4 "core" &,g \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +15 "core" ' + "manipulator"&-& +52 "core" &  +4 "storage"(& +3 "core" &,g\ (\ ( \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&_'Ѽ +26 "core" ' + "storage"(u% +5 "core" %L\ 7\ , d\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +3 "core" %D\ \  \ V` + "manipulator"&<% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'r& +5 "core" & _\ + "manipulator"&2% +4 "core" %\    +2 "storage"(% +4 "core" %a\ G\ D [\ + "storage"(Z. +4 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(C(<* +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +2 "core" &<' t\  +2 "manipulator"&|& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&E( +4 "core" ( + "manipulator"&& +4 "core" &  I  +2 "storage"((& +4 "core" &<#\ 2\ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +95 "core" ' + "storage"(?& +4 "core" &<#\ G\ Q \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<#\ $\  \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&*( +4 "core" ( + "manipulator"&8& +4 "core" &  + "storage"(D& +4 "core" &<#\ %\ % \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&!' +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(i'X +7 "core" & >  + "manipulator"&$% +4 "core" %  a E +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&)& +4 "core" &* @ \\ @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &*   @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&K'" +90 "core" ' +2 "manipulator"&4& +5 "core" &* '  @\\ + "manipulator"&H% +5 "core" %+ T  + "collection"'P& +4 "core" & \ +3 "collection"'`& +6 "core" & i\ +2 .tCC.seek :closed + "collection"',(V +4 "core" & \ +8 &< \ %g +10 &X \ 8 +9 &\ } \ L +9 &Z \ M +10 &\\ \ M +9 &N\\ \ L +10 &\\ \ L +9 &Z \ L +9 &Z \ L +10 &UY \ M +9 & Y \ M +9 &!Z \ M +10 &#\\ \ L +9 &%]\\ w\ M +10 &' ] \ L +9 &(Z k\ L +9 &*Y j\ M +10 &,eY n\ M +9 &.(X o\ L +9 &/Z r\ M +10 &1_ w\ M +9 &3n] t\ L +10 &50Z i\ L +9 &6_ h\ M +9 &8W s\ L +10 &:v[ m\ L +9 &<7\\ q\ M +9 &=] v\ M +10 &?_ }\ L +9 &A~Z z\ L +10 &C@\\ z\ L +9 &Da s\ M +9 &Fi g\ N +10 &H{~ y\ P +9 &J. q\ U +9 &K z\ W +10 &M }\ X +9 &Ol z\ X +10 &Q. |\ X +9 &R t\ Y +9 &T |\ Y +10 &V0d w\ 1 +9 &V }\ P +9 ( +2 &Vd }\ K +2 "collection"'`& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&j1 +52 "core" 1 +2 "manipulator"&F% +5 "core" % + ?  a  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp + "processing"%7& +5 "core" &\ + "manipulator"&{% +4 "core" %\  ,   +2 "storage"( % +3 "core" %U }\ +2 "storage"( . +3 "core" .(<* + "storage"(1& +4 "core" &<# \  +2 "storage"(p& +3 "core" &<# %\  +2 "manipulator"&%& +3 "core" &) @\\ +2 "manipulator"&]% +4 "core" %\  - \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +3 "manipulator"&R( +152 "core" ( +2 "manipulator"&+& +4 "core" &  G + "storage"(O& +4 "core" &<# h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Y'ы +99 "core" ' + "storage"(#& +4 "core" &<#\ O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +282 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" &<# \  +2 "manipulator"&J& +4 "core" & ~ + .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&N& +3 "core" & ? +2 "storage"(Q& +3 "core" &<# \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&h' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(m'X +7 "core" & +2 "manipulator"&;% +3 "core" % , +2 .tForearm.seek :retract +2 "manipulator"&.'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&A(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&& +4 "core" &j * +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +2 "core" &j @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +96 "core" ' + "manipulator"&z& +5 "core" &j % x + "manipulator"&% +4 "core" %  a +2 "processing"%M& +4 "core" &\ +2 "processing"%s& +5 "core" & \ +2 .tPC.seek :closed + "processing"%B(Z +5 "core" &\  +8 &1!\ *x +10 &c\ > +9 &wz\ N +10 &;\\ \ M +9 &]\ N +9 &] \ N +10 &]\ N +9 &B]\ M +9 &\\\ M +10 &_\ M +9 & _\ M +9 &"J_ \ M +10 &$ X \ M +9 &%_\ M +10 &'` \ M +9 &)R_ \ M +9 &+_\ M +10 &,^ \ M +9 &._\ M +9 &0Z_ \ M +10 &2_ \ M +9 &3]\ M +9 &5] \ N +10 &7b\\\ \ M +9 &9$_\ M +10 &:\\\ N +9 &<\\\ M +9 &>kY\ M +10 &@+\\\ N +9 &AZ\ M +9 &C\\\ M +10 &Eq_\ N +9 &G/k\ O +10 &H\ R +9 &J\ S +9 &Li\ S +10 &N+\ S +9 &O\ S +9 &Q\ S +10 &Sp\ S +9 &U1 \ T +10 &V\ T +9 &X\ T +9 &Z!]\ #l +10 &ZZ\ + +9 ( +3 "processing"%s& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&w1 +3 "core" &Z\ ( +58 1 + "manipulator"&9% +5 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' + "processing"%& +4 "core" &Z\ \ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&a% +5 "core" %\ \  8  + "storage"(c% +4 "core" %T \ + "storage"(}. +3 "core" .(<* +2 "storage"(e& +3 "core" &<# \  +3 "storage"(y& +2 "manipulator"&\ & +6 "core" &<# \  +2 &j +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(G'i +5 "core" ( + "manipulator"&W& +5 "core" &j  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &j  +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + .tHand.close + "manipulator"&@/ +65 "core" / +2 .tPC.seek :open +2 "processing"%g( +80 "core" ' + "storage"(/- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +46 "core" ' +296 ( + "storage"(& +4 "core" &<# w\  +2 "manipulator"&>& +4 "core" &j  y +53 "manipulator"&v% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&f( +244 "core" ( + "manipulator"&[& +4 "core" &  ^ ? +2 "storage"(l& +3 "core" &<# \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&U'ы +98 "core" ' + .tHand.open +2 "manipulator"&d1 +56 "core" 1 +4 "storage"(x- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"(& +4 "core" &<# \  + "manipulator"&k& +4 "core" &  ? +2 .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&&& +3 "core" & % $ ? +2 "storage"(-& +4 "core" &<# \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +57 "core" ' + "manipulator"&u& +5 "core" & ? + "storage"(& +4 "core" &<# \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& ' +34 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +27 "core" ' + "manipulator"&% +4 "core" % f +2 "storage"(r& +4 "core" &<# %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&2'\ +15 "core" ' + "manipulator"&& +4 "core" & r A +2 "storage"(Z& +4 "core" &<# j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +17 "core" ' +2 "storage"(_% +4 "core" %p X\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (q% +3 "core" %G \ Va +2 "manipulator"&~% +5 "core" %|  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<# _\  +2 "collection"'(& +3 "core" &Vd H\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&?% +4 "core" %\ #   @ +2 "storage"(% +3 "core" %V c\ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<# Q\  +2 "storage"(& +3 "core" &<# d\  +2 "manipulator"&& +4 "core" &  A + .tElbow.seek 5 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&D& +3 "core" & $  A +2 "storage"( & +4 "core" &<# \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +96 "core" ' + "storage"($& +5 "core" &<# \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'i +305 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &  A + "storage"(& +4 "core" &<# ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(4- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(H'V +30 "core" ' + "manipulator"&P% +5 "core" % + "storage"(*& +4 "core" &<# -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&i' +15 "core" ' +2 "manipulator"&& +4 "core" & ( A +2 "storage"(t& +3 "core" &<# n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(F'E +39 "core" ' +2 "manipulator"&7& +4 "core" &  A +2 "manipulator"&{% +4 "core" %ѩ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +151 "core" ( + "manipulator"&1& +4 "core" &- 8 7 Cs +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &-  L Cs +2 .tForearm.seek CC +2 "manipulator"&%'" +93 "core" ' +2 .tHand.close + "manipulator"&`/ +57 "core" / + .tCC.seek :open +2 "collection"']( +416 "core" ( +2 "storage"(K& +4 "core" &<#\ \ 7\  + "storage"(+& +4 "core" &<# a\  + "manipulator"&O& +4 "core" &- _ Cs +2 "manipulator"&#% +3 "core" % * W  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +155 "core" ( + "manipulator"&& +4 "core" & r  +2 "storage"(^& +3 "core" &<#\ 2\ 3 \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&J' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +56 "core" 1 +2 "manipulator"&n% +4 "core" % 4   + "storage"(b& +4 "core" &<# 0\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&;' +12 "core" ' +2 "manipulator"&R& +5 "core" & X  + "storage"(Y& +4 "core" &<#\ '\ ' W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T'ы +26 "core" ' + "storage"(h% +5 "core" %F\ Q\ 9 \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (:% +3 "core" %D\ %\ $ Q\ U_ +2 "manipulator"&X% +4 "core" %ю A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & V\ +2 "manipulator"&M% +4 "core" %\   + "storage"(m% +4 "core" %Z\ D\ N %\ +2 "storage"(.. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(3( +970 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +2 "core" & x\ +2 "manipulator"&9& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +36 "core" ( +2 "manipulator"&a& +4 "core" & 0 ) +2 "storage"(c& +3 "core" & \ \  A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +99 "core" ' +2 "storage"(s& +4 "core" & \ 2\ 0 !\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +283 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (y& +3 "core" & \ + "manipulator"&W& +4 "core" &* " "| +2 .tElbow.seek 2 + "manipulator"&L( +26 "core" ( +2 "manipulator"&=& +4 "core" & $ +  + "storage"(@& +4 "core" & \ "\ $ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +70 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +3 "storage"(B'X +7 "core" & $  + "manipulator"&G% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +155 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&v& + "storage"(5 +7 "core" &+ _ Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ 0 _ Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['" +101 "core" ' +2 "manipulator"&l& +4 "core" &, ) Bl + "manipulator"&% +4 "core" % J S +2 "collection"'d& +5 "core" & i\ +2 "collection"'x& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'o(V +4 "core" & \ +6 & - \ $c +10 &W \ 7 +9 &~ \ L +9 &Z \ M +10 &h^ \ M +9 &+] \ L +10 &Z \ M +9 &X \ L +9 &q[ \ L +10 &2Z \ M +9 &^ \ L +9 &!\\ \ L +10 &#y\\ \ L +9 &%9` \ M +9 &&Z \ L +10 &(Z \ L +9 &*^ \ L +10 &,BZ \ M +9 &.] \ L +9 &/] x\ L +10 &1` x\ M +9 &3J\\ }\ M +9 &5 _ z\ L +10 &6_ v\ L +9 &8Y o\ L +10 &:SZ m\ L +9 &<] n\ L +9 &=\\ p\ L +10 &?_ t\ L +9 &AZY h\ M +9 &C` h\ M +10 &De s\ M +9 &Fm t\ O +10 &HW} t\ P +9 &J w\ U +9 &K t\ W +10 &M s\ X +9 &OI y\ X +9 &Q\ r\ X +10 &R t\ Y +9 &T w\ Y +10 &V)u |\ . +9 &V& |\ R +9 ( +2 &V_ y\ J + "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&k% +5 "core" %   l S + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%-& +4 "core" &\ + "manipulator"&% +4 "core" %\   P  +2 "storage"(u% +3 "core" %U q\ +2 "storage"(. +3 "core" .( + "storage"(5& +4 "core" & g\ +2 "storage"(& +3 "core" & m\ +2 "manipulator"&r& +4 "core" &) ?T + "manipulator"&% +4 "core" %\  0 k  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&Z& +4 "core" &  u  +2 "storage"(_& +3 "core" & x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +97 "core" ' + "storage"(U& +5 "core" & \ \  6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +281 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" & \ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&V& +3 "core" &   +2 "storage"( & +3 "core" & _\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&2' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(?'X +8 "core" &   + "manipulator"&% +4 "core" %   T +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&& +4 "core" &u +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &u =  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&D& +4 "core" &v  v  +2 "manipulator"& % +4 "core" %  , + "processing"%& +4 "core" & \ +2 "processing"%$& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &2\ *y +9 &c\ > +9 &xy\ N +10 &;Z\ M +9 &Y\ M +9 &Z\ M +10 &Z\ M +9 &C]\ M +10 &`\ M +9 &]\ N +9 & ] \ M +10 &"KZ\ M +9 &$ X \ M +9 &%^ \ M +10 &'^ \ N +9 &)S\\\ M +10 &+Z \ M +9 &,X\ M +9 &.]\ M +10 &0[^ \ M +9 &2[ \ N +9 &3Z\ M +10 &5]\ M +9 &7b\\\ N +10 &9%\\\ M +9 &:X \ M +9 &<[ \ M +10 &>k]\ M +9 &@-\\\ M +9 &AZ\ N +10 &C_ \ N +9 &Eq`\ N +10 &G/q\ O +9 &H \ R +9 &J\ S +10 &Lj\ S +9 &N-\ S +9 &O\ S +10 &Q\ S +9 &Sq\ S +10 &U3\ S +9 &V\ S +9 &X\ T +10 &Z"\\\ #l +9 &ZW\ ' +9 ( +2 &Z\ % + "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&<1 +61 "core" 1 + "manipulator"&|% +4 "core" % % 0 , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +90 "core" ' + "processing"%)& +4 "core" &Z \ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   C  +2 "storage"(4% +3 "core" %P \ +2 "storage"(P. +3 "core" .( + "storage"(*& +4 "core" & \ +3 "storage"(& +2 "manipulator"&t& +6 "core" & \ + &v    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&7(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +2 "core" ( +2 "manipulator"&I& +3 "core" &v   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &v }  +2 .tForearm.seek PC +2 "manipulator"&E' +94 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%i( +96 "core" ' + "storage"(H- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +44 "core" ' +282 ( +2 "storage"(p& +4 "core" & \ + "manipulator"&j& +4 "core" &v 0  +2 "manipulator"&!% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +250 "core" ( + "manipulator"&,& +4 "core" & % a +2 "storage"(K& +4 "core" & e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +95 "core" ' + .tHand.open +2 "manipulator"&O1 +63 "core" 1 +2 "storage"(#- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(^' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"( & +4 "core" & @\ + "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&b& +4 "core" & %  +2 "storage"(R& +3 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(h' +62 "core" ' + "manipulator"&\\& +4 "core" &  +2 "storage"(:& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&X' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'i +23 "core" ' + "manipulator"&% +5 "core" % c 5 + "storage"(;& +56 "core" & z\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&M' +11 "core" ' +2 "manipulator"&m& +4 "core" & r +2 "storage"(.& +4 "core" & w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +20 "core" ' +2 "storage"(T% +4 "core" %n m\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (C% +3 "core" %F \ Va +2 "manipulator"&w% +4 "core" %є  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" & \  B\ + "collection"'c& +4 "core" &V_ m\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&s% +4 "core" %\   " +2 "storage"(N% +4 "core" %a p\ + "storage"(z. +3 "core" .( +2 "storage"(\ & +3 "core" & R\ +2 "storage"(y& +4 "core" & g\ + "manipulator"&W& +4 "core" & . +2 .tElbow.seek 2 + "manipulator"&=( +4 "core" ( + "manipulator"&@& +4 "core" & % 2 + "storage"(A& +4 "core" & P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +94 "core" ' +3 "storage"(G& +4 "core" & \ \  6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &  + "storage"(& +4 "core" & :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&e' +32 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +27 "core" ' +2 "manipulator"&L% +4 "core" % p + "storage"(d& +4 "core" & #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&B' +12 "core" ' +2 "manipulator"&& +4 "core" & h +2 "storage"(]& +3 "core" & D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'F +47 "core" ' +3 "manipulator"&-& +5 "core" &  + "manipulator"&% +4 "core" %ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&5& +4 "core" &' . K >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &'  >N +2 .tForearm.seek CC +2 "manipulator"&r'" +93 "core" ' + .tHand.close +2 "manipulator"&x/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"([& +4 "core" & \ \  D\ +2 "storage"(Z& +3 "core" & \  |\ +2 "manipulator"&_& +3 "core" &' M >N +2 "manipulator"&U% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&>'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&&( +157 "core" ( +2 "manipulator"&q& +4 "core" &   +2 "storage"(~& +3 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +64 "core" 1 + "manipulator"&% +5 "core" % & U  + "storage"((& +4 "core" & \ \ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&& +4 "core" & P  +2 "storage"(f& +4 "core" & \ '\ ( l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +29 "core" ' +2 "storage"(2% +4 "core" %E\ Q\ Q \ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (% +3 "core" %E\ %\ % e\ V` + "manipulator"&'% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & Z\ +2 "manipulator"&% +3 "core" %\ %  C +2 "storage"(?% +4 "core" %V\ 3\ 3\ + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(g( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" & ~\  +2 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&)( +15 "core" ( + "manipulator"&& +5 "core" &  n g + "storage"(4& +4 "core" &\ %\ % f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +92 "core" ' + "storage"(*& +5 "core" &\ Q\ R \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &\ \  V\  +2 "manipulator"&I& +4 "core" & g + .tElbow.seek 3 +2 "manipulator"&8( +5 "core" ( + "manipulator"&& +4 "core" & $ ! g + "storage"(& +4 "core" &\ %\ % \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&H'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"('X +7 "core" & ^ g +2 "manipulator"&{% +3 "core" % Ϥ  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +153 "core" ( + "manipulator"&!& +5 "core" ' + &&  3 =D +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &E& +2 "core" &&  =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +99 "core" ' +3 "manipulator"&K& +4 "core" && 0 =D + "manipulator"&7% +4 "core" %!  +2 "collection"'O& +4 "core" & Y\ +2 "collection"'#& +5 "core" & \ +2 .tCC.seek :closed + "collection"'%(V +4 "core" & \ +8 &> \ $e +10 &V \ 7 +9 &~ \ L +10 &Y \ M +9 &j^ \ M +9 &-\\ \ L +10 &\\ \ L +9 &Z \ L +9 &sZ \ L +10 &5[ \ L +9 &Z \ L +10 &![ \ M +9 &#z^ \ M +9 &%;Y ~\ M +10 &&Y |\ L +9 &(Y \ L +9 &*] \ M +10 &,DX \ M +9 &.W \ M +10 &/X \ M +9 &1\\ \ L +9 &3NZ \ L +10 &5^ \ M +9 &6] }\ L +9 &8W \ L +10 &:TY |\ M +9 &<] x\ M +9 &=Y s\ M +10 &?W q\ M +9 &A\\W r\ M +10 &C^ u\ M +9 &D_ w\ M +9 &Fi r\ N +10 &HZx t\ P +9 &J q\ U +9 &K q\ X +10 &M q\ X +9 &OL p\ X +10 &Q z\ X +9 &R y\ Y +9 &T {\ Y +10 &V+v y\ . +9 &V# t\ O +9 ( +2 &Vk t\ I +2 "collection"'#& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"& 1 +59 "core" 1 +2 "manipulator"&Q% +4 "core" % ! : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +51 "processing"%R& +5 "core" & \ +2 "manipulator"&`% +3 "core" %\  S  +2 "storage"(\\% +4 "core" %Q p\ + "storage"(:. +4 "core" .( + "storage"(1& +4 "core" & r\  + "storage"(& +4 "core" & l\  +2 "manipulator"&;& +3 "core" &&  =D +2 "manipulator"&% +3 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +162 "core" ( +2 "manipulator"&.& +4 "core" & % ` l +2 "storage"( & +3 "core" & k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +104 "core" ' + "storage"(T& +5 "core" & S\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +282 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" & k\  + "manipulator"&w& +4 "core" & d l +2 .tElbow.seek 3 +2 "manipulator"&n( +3 "core" ( + "manipulator"&h& +4 "core" & 4 l +2 "storage"(X& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&a'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(s'X +8 "core" & l + "manipulator"&N% +5 "core" % ϴ O d + .tForearm.seek :retract +2 "manipulator"&z'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&J& +4 "core" &| * "  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &| d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&W' +99 "core" ' +2 "manipulator"&@& +4 "core" &| % 2  +2 "manipulator"&A% +4 "core" %  + "processing"%F& +4 "core" &\ +2 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 & 2\ #b +9 &U \ 7 +10 &\ L +9 &^\ M +10 &fa\ M +9 &(Z\ M +9 &[\ M +10 &\\\ N +9 &m]\ N +9 &/\\\ N +10 &[ \ M +9 &!Z\ \ M +9 &#vZ \ M +10 &%7Z \ N +9 &&[\ N +10 &(\\ \ N +9 &*}[ \ N +9 &,@]\ M +10 &._\ M +9 &/]\ M +9 &1]\ M +10 &3H]\ M +9 &5 [ \ N +10 &6Z \ N +9 &8Z\ \ M +9 &:QZ \ M +10 &<\\ \ M +9 &=X\ M +9 &?] \ M +10 &AW[\ N +9 &C\\\ N +10 &D^\ M +9 &Fh \ O +9 &HU{\ Q +10 &J\ S +9 &K\ R +9 &M\ S +10 &OW\ S +9 &Q\ S +10 &R\ \ T +9 &T \ T +9 &V^ \ S +10 &X\ T +9 &Yzq\ 5 +9 &Z. \ H +10 &Z\ + +2 ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&61 +56 "core" 1 + "manipulator"&9% +5 "core" % 0 r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +3 "processing"%v& +4 "core" &Z\ + + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   0  +2 "storage"(l% +4 "core" %S i\ + "storage"(L. +3 "core" .( +2 "storage"(d& +3 "core" & p\  +2 "storage"(& +5 "manipulator"&]& +4 "core" & Y\  + &|    +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&-(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&S& +3 "core" &|  Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &|  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close +2 "manipulator"&e/ +55 "core" / + .tPC.seek :open +2 "processing"%B( +96 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +45 "core" ' +281 ( + "storage"(& +4 "core" & Z\  +2 "manipulator"&& +3 "core" &| g  +2 "manipulator"&/% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&u( +248 "core" ( + "manipulator"&o& +4 "core" & % K , +2 "storage"([& +3 "core" & s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +99 "core" ' +2 .tHand.open + "manipulator"&_1 +60 "core" 1 +3 "storage"(U- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(q'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(~' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' +2 "storage"(& +3 "core" & A\  +2 "manipulator"& & +4 "core" &   , + .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( + "manipulator"&(& +4 "core" & $ \ +2 "storage"(& +3 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +56 "core" ' +2 "manipulator"&>& +4 "core" &  \ +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&''} +29 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +21 "core" ' +2 "manipulator"&% +4 "core" %}  I +2 "storage"( & +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +11 "core" ' +2 "manipulator"&?& +4 "core" & X \ +2 "storage"(& +4 "core" & K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +23 "core" ' +2 "storage"("% +4 "core" %n\  O\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (3% +3 "core" %RJ I\ Wc +2 "manipulator"&<% +4 "core" %N I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \  + "collection"'4& +4 "core" &Vk G\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&*% +4 "core" %\ %   D + "storage"(V% +4 "core" %b \ +2 "storage"(D. +3 "core" .( + "storage"(& +4 "core" & \  +2 "storage"($& +4 "core" & ;\  + "manipulator"&I& +4 "core" &  \ + .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&& +4 "core" & $  +2 "storage"( & +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +101 "core" ' + "storage"({& +4 "core" & O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +285 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&!& +3 "core" &   +2 "storage"(E& +4 "core" & ^\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&t'} +28 "core" ' + .tElbow.hold +52 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(7'V +26 "core" ' +2 "manipulator"&O% +4 "core" %΅  F +2 "storage"(8& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ϱ +13 "core" ' + "manipulator"&p& +4 "core" &  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'E +41 "core" ' + "manipulator"&R& +5 "core" & 2  + "manipulator"&#% +4 "core" %N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +148 "core" ( +3 "manipulator"&:& +4 "core" &%  N <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &% <= +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&;/ +57 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( + "storage"(,& +4 "core" &\ \  M\  +2 "storage"(.& +3 "core" &\ \  S\  +2 "manipulator"& & +3 "core" && $ <= +2 "manipulator"&T% +3 "core" % #  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b( +157 "core" ( +2 "manipulator"&Y& +4 "core" &  y  +2 "storage"(C& +3 "core" &\ 2\ 3\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&w'} +96 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&X1 +60 "core" 1 +2 "manipulator"&M% +4 "core" % Α % + "storage"(c& +4 "core" &\ 3\ 3\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&N'Ͻ +26 "core" ' +2 "manipulator"&m& +4 "core" &  +2 "storage"(+& +4 "core" &\ &\ ( E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +22 "core" ' + "storage"(a% +5 "core" %M\ +\ 9 `\ +2 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (y% +3 "core" %H\ %\  ?\ Va +2 "manipulator"&n% +4 "core" %P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +95 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'A& +5 "core" & _\ + "manipulator"&F% +5 "core" %\ " \ : + "storage"(s% +5 "core" %R\ *\ ( G\ + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(i(,l +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &,k 4\  + "manipulator"&9& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( + "manipulator"&& +4 "core" & & M  +2 "storage"(l& +3 "core" &,h\ %\ % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&L'Ѽ +100 "core" ' + "storage"(d& +4 "core" &,h\ R\ R \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &,h\ #\  K\  +2 "manipulator"&S& +3 "core" & }  +2 .tElbow.seek 4 +2 "manipulator"&=( +3 "core" ( + "manipulator"&W& +4 "core" & X  +2 "storage"(e& +4 "core" &,h\ 2\ ( \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& + "storage"('X +7 "core" & 3  + "manipulator"&% +4 "core" % .  L +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ( + "manipulator"&/& +5 "core" ' + &( %  ?T +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +3 "core" &( ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'" +98 "core" ' + "manipulator"&[& +5 "core" &(  J ?T + "manipulator"&-% +4 "core" %$ v +2 "collection"'_& +5 "core" & \ +2 "collection"'U& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'r(V +5 "core" & \ +6 &4 \ $c +9 &U \ 7 +10 &~ \ L +9 &Y \ L +10 &jZ \ L +9 &+X \ M +9 &Z \ L +10 &Y \ M +9 &p[ \ M +9 &3X \ M +10 &W \ M +9 &!Y \ M +10 &#yY \ M +9 &%;Y \ M +9 &&X \ M +10 &(W ~\ L +9 &*Z \ L +9 &,DZ \ L +10 &.] \ M +9 &/] \ L +10 &1[ ~\ L +9 &3LY |\ L +9 &5 ] }\ M +10 &6] v\ M +9 &8Z }\ M +9 &:TX \ L +10 &<\\ }\ M +9 &=Y }\ M +10 &?] \ M +9 &A\\\\ {\ L +9 &C[ x\ L +10 &D` \ M +9 &Fg z\ N +9 &HX{ n\ P +10 &J u\ U +9 &K l\ W +10 &M g\ X +9 &OJ r\ X +9 &Q p\ X +10 &R p\ Y +9 &T u\ Y +9 &V+v o\ . +10 &V' u\ P +9 ( +3 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&1 +3 "core" &Vk v\ I +50 1 + "manipulator"& % +4 "core" % $ / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&x% +4 "core" %\ \  W  +2 "storage"(>% +3 "core" %` \ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,h \  + "storage"(5& +4 "core" &,h \  + "manipulator"& & +5 "core" &(  ?T + "manipulator"&?% +4 "core" %\ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&q& +4 "core" & - o +2 "storage"("& +3 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&u'Ѽ +96 "core" ' +2 "storage"(Z& +4 "core" &,h\ \  U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +283 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" &,h L\  + "manipulator"&f& +4 "core" & $ o +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&2& +4 "core" & $ o + "storage"('& +4 "core" &,h }\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"(*'X +7 "core" & o +2 "manipulator"&V% +3 "core" %  { P +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &r & R  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &r  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&I' +100 "core" ' + "manipulator"&& +4 "core" &r   +2 "manipulator"& % +4 "core" % B +2 "processing"%k& +3 "core" &\ +2 "processing"%{& +6 "core" &"\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 &C\ $d +10 &U \ 7 +9 &\ L +9 &\\ \ N +10 &g_\ N +9 &)]\ N +9 &\\\ N +10 &[\ N +9 &o\\\ N +9 &2[ \ M +10 &Y\ N +9 &!\\ \ N +10 &#w] \ N +9 &%9\\\ N +9 &&[ \ N +10 &(\\\ N +9 &*\\ \ N +9 &,A\\\ N +10 &.] \ N +9 &/\\\ M +10 &1X\ M +9 &3JX\ \ M +9 &5 \\\ M +10 &6\\ \ M +9 &8Z\ N +9 &:R[\ M +10 &<]\ M +9 &=Z \ N +10 &?[\ M +9 &AZW\ M +9 &C^\ N +10 &D`\ N +9 &Fk\ \ O +9 &HW}\ Q +10 &J\ S +9 &K\ S +10 &M\ S +9 &OY\ S +9 &Q\ S +10 &R\ S +9 &T \ S +9 &V_\ T +10 &X!\ T +9 &Yyq\ 5 +10 &Z/\ J +9 &Z\ ) +2 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&&1 +62 "core" 1 +2 "manipulator"&|% +4 "core" %  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' +2 "processing"%!& +4 "core" &Z \ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&E% +4 "core" %\   q  +2 "storage"(K% +3 "core" %T \ +2 "storage"(O. +3 "core" .(,l + "storage"(8& +4 "core" &,h `\  +2 "storage"(p& +4 "manipulator"&& +4 "core" &,h O\  + &r  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&R(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'i +3 "core" ( + "manipulator"&0& +4 "core" &r  z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &r g  +2 .tForearm.seek PC +2 "manipulator"&)' +95 "core" ' + .tHand.close + "manipulator"&t/ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(7- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(:'y +41 "core" ' +292 ( + "storage"(1& +4 "core" &,h D\  +2 "manipulator"& & +3 "core" &r   +2 "manipulator"&H% +3 "core" %   " +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +252 "core" ( +2 "manipulator"&%& +4 "core" & ( Y # +2 "storage"(,& +3 "core" &,h w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&.'Ѽ +95 "core" ' + .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "storage"(T- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Y'E +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(C' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\\& +3 "core" &,h W\  +2 "manipulator"&X& +4 "core" &  # + .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&c& +3 "core" & $ 5 # +2 "storage"(m& +4 "core" &,h l n \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&+'Ѽ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(a' +58 "core" ' +2 "manipulator"&j& +4 "core" &  # +2 "storage"(y& +4 "core" &,h s\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&n' +32 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +26 "core" ' +2 "manipulator"&A% +4 "core" % F +2 "storage"(N& +4 "core" &,h <\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&F'@ +18 "core" ' + "manipulator"&s& +4 "core" &  y "| +2 "storage"(z& +4 "core" &,h z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +29 "core" ' +2 "storage"(^% +4 "core" %s K\ +2 ."downElevator"SE.seek :down +4 "storage"(J'X +100 (g% +2 "core" %9I l\ Xd +2 "manipulator"&6% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +93 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,h K\  + "collection"'l& +4 "core" &Vk \ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&d% +4 "core" %\ % Y C +2 "storage"(h% +3 "core" %b \ +2 "storage"(@. +3 "core" .(,l + "storage"(& +5 "core" &,h \  + "storage"(G& +4 "core" &,h \  + "manipulator"&S& +4 "core" &  F "{ +2 .tElbow.seek 4 +2 "manipulator"&W( +3 "core" ( + "manipulator"&e& +4 "core" & (  "{ +2 "storage"(\ & +3 "core" &,h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&}'Ѽ +91 "core" ' +2 "storage"(& +4 "core" &,h j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +283 "core" ' +3 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +2 "core" &  "z +2 "storage"(& +3 "core" &,h ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&]' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(-'X +30 "core" ' +2 "manipulator"&_% +4 "core" %  + "storage"(=& +4 "core" &,h S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts +2 "manipulator"&'2 +13 "core" ' + "manipulator"&& +4 "core" & $ +2 "storage"(& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'G +41 "core" ' + "manipulator"&& +4 "core" &  $ +2 "manipulator"&x% +4 "core" %Ѳ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ( +2 "manipulator"&& +5 "core" &) ' T ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &( 7 ?U +2 .tForearm.seek CC +2 "manipulator"&U'" +98 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'?( +416 "core" ( + "storage"(o& +4 "core" &,h {\  + "storage"(q& +4 "core" &,h g\  +2 "manipulator"&"& +3 "core" &) ' ?T +2 "manipulator"&Z% +4 "core" % 4  + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&(( +161 "core" ( +2 "manipulator"&3& +4 "core" & c z + "storage"(<& +4 "core" &,h\ "\ ' 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +51 .tForearm.seek 4 +4 "manipulator"&f' +105 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&'1 +63 "core" 1 +3 "manipulator"&% +4 "core" %  L + "storage"(4& +4 "core" &,h z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&V'> +20 "core" ' + "manipulator"&& +5 "core" & c } + "storage"(u& +4 "core" &,h\ (\ 3 X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&~'Ѽ +32 "core" ' + "storage"(% +4 "core" %K\ R\ Q \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ($% +2 "core" %C\ /\ % W\ U^ +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] + #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +5 "core" & d\ + "manipulator"&k% +4 "core" %\ #  B +2 "storage"(*% +4 "core" %]\ '\ ' \ + "storage"(D. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(B(<* +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" &<) X\  + "manipulator"&|& +4 "core" &  } +2 .tElbow.seek 5 + "manipulator"&!( +3 "core" ( +2 "manipulator"&E& +3 "core" &  A } +2 "storage"(K& +4 "core" &<%\ (\ % \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&O'ы +94 "core" ' +2 "storage"({& +4 "core" &<%\ C\ N d\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &<%\ "\ - {\  +2 "manipulator"&0& +4 "core" & v } + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&I& +4 "core" & & } +2 "storage"(t& +4 "core" &<%\ 4\ 3\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&7' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"('X +7 "core" & ? } + "manipulator"&#% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&H& +4 "core" &+ # 8 A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &* A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +102 "core" ' +2 "manipulator"&,& +4 "core" &* = @^ +2 "manipulator"&R% +4 "core" %  = R + "collection"' & +5 "core" & \ +2 "collection"'T& +5 "core" & h\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \  +8 &0 \ *y +9 &d \ > +10 &yv \ M +9 &=W \ L +9 &[ \ L +10 &W \ L +9 &[ \ L +10 &DX \ M +9 &Y \ L +9 &Y \ L +10 & _ \ M +9 &"L\\ \ M +9 &$Z \ L +10 &%_ \ M +9 &'Z \ M +10 &)VW \ L +9 &+] \ M +9 &,[ \ M +10 &.Y \ L +9 &0][ \ L +9 &2] \ M +10 &3] \ M +9 &5W \ L +10 &7eZ \ L +9 &9'] \ L +9 &:Y \ M +10 &<Z }\ M +9 &>mY |\ L +9 &@/Y \ L +10 &A] }\ M +9 &C_ \ M +10 &Erd \ M +9 &G0m \ O +9 &H \ Q +10 &J {\ V +9 &L] ~\ W +9 &N \ W +10 &O y\ X +9 &Q y\ X +10 &Sa x\ Y +9 &U! |\ Y +9 &ViB t\ 1 +10 &Vu w\ J +5 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&\\1 +3 "core" &V` v\ J +53 1 + "manipulator"&X% +4 "core" %  & \\ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +96 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%m& +4 "core" & \ +2 "manipulator"&;% +3 "core" %\ k  +2 "storage"(j% +4 "core" %S 6\ + "storage"(y. +3 "core" .(<* + "storage"(:& +4 "core" &<% \  +2 "storage"(A& +3 "core" &<% _\  +2 "manipulator"&N& +4 "core" &* 7 @^ + "manipulator"&Y% +4 "core" %\ N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&s( +160 "core" ( + "manipulator"&z& +4 "core" &  t +2 "storage"(^& +4 "core" &<%\  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&`'ы +96 "core" ' +2 "storage"(.& +4 "core" &<%\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +275 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &<% `\  +2 "manipulator"&+& +3 "core" & a t +2 .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&a& +5 "core" & _ t + "storage"(n& +4 "core" &<% m\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&F' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(d'X +7 "core" & q t +2 "manipulator"&h% +4 "core" % \\  +2 .tForearm.seek :retract + "manipulator"&@'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w(s +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&& +4 "core" &u ( a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &u z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +96 "core" ' + "manipulator"&e& +5 "core" &u % Y  + "manipulator"&\ % +4 "core" % B @ +2 "processing"%Q& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +3 "core" &\  +9 &3~\ *z +9 &f\ ? +10 &x\ N +9 &I[\ M +9 & ]\ M +10 &]\ M +9 &]\ M +9 &Q\\\ M +10 &_\ M +9 &]!\ N +11 & ]\ M +8 &"X\\\ N +9 &$Z\ N +10 &%[\ M +9 &'Z\ M +9 &)a] \ M +10 &+$] \ M +9 &,[\ M +10 &.X\ M +9 &0h\\\ N +9 &2+\\\ M +10 &3X\ M +9 &5Z\ M +9 &7rX\ M +10 &93[\ M +9 &:W\ M +10 &<[\ M +9 &>xZ\ N +9 &@;[ \ M +10 &AZ \ M +9 &C_\ M +10 &E^\ N +9 &G>k \ O +9 &H\ Q +10 &J \ S +9 &Ly \ S +9 &N; \ S +10 &O\ \ S +9 &Q\ S +9 &S\ S +10 &UA \ S +9 &W \ T +10 &X\ T +9 &Z)Uv \ &s +9 &Ze\ 2 +10 ( + &Z\ - +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&b1 +55 "core" 1 + "manipulator"&9% +4 "core" % & < @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 "processing"%/& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  /  +2 "storage"([% +4 "core" %a \  + "storage"(_. +4 "core" .(<* + "storage"(=& +4 "core" &<% \  + "storage"(& +4 "manipulator"&& +4 "core" &<% \  + &u  ]  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'i +2 "core" ( + "manipulator"&}& +4 "core" &u  *  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &u   +53 .tForearm.seek PC +2 "manipulator"&v' +91 "core" ' + .tHand.close +2 "manipulator"&]/ +61 "core" / +3 .tPC.seek :open + "processing"%( +44 "core" ' + "storage"(-- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +337 ( + "storage"(5& +5 "core" &<% N\  + "manipulator"&& +4 "core" &u :  + "manipulator"&% +4 "core" %  8  +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&>( +257 "core" ( +2 "manipulator"&r& +4 "core" & % Q Q + "storage"(o& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&q'ы +93 "core" ' + .tHand.open + "manipulator"&"1 +62 "core" 1 +2 "storage"(Z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(3'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(& +3 "core" &<% \  +2 "manipulator"&'& +3 "core" & ( Q +2 .tElbow.seek 5 +2 "manipulator"&( +28 "core" ( + "manipulator"&4& +4 "core" & % f +2 "storage"(& +4 "core" &<% \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&u'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +62 "core" ' +2 "manipulator"&& +4 "core" &  f + "storage"($& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +25 "core" ' + "manipulator"&V% +5 "core" % H + "storage"( & +4 "core" &<% T\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&k' +12 "core" ' + "manipulator"&*& +5 "core" &  m + "storage"(D& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +33 "core" ' +2 "storage"(~% +4 "core" %r \ X\ +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (i% +3 "core" %J \ Wb + "manipulator"&&% +4 "core" %b D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &<%\  6\  +2 "collection"'K& +3 "core" &V` Y\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&{% +4 "core" %\ \   +2 "storage"(2% +4 "core" %a K\ + "storage"(. +4 "core" .(<* +2 "storage"(& +3 "core" &<% \  +2 "storage"(p& +4 "core" &<% \  + "manipulator"&0& +4 "core" &  m +2 .tElbow.seek 5 + "manipulator"&I( +4 "core" ( + "manipulator"&t& +4 "core" & % 8 m +2 "storage"(& +4 "core" &<% a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&P'ы +100 "core" ' +2 "storage"(#& +4 "core" &<%\ \  X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +283 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" &  m +2 "storage"()& +3 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&8' +134 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(R'U +31 "core" ' + "manipulator"& % +4 "core" % +2 "storage"(& +3 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&1& +5 "core" & m + "storage"(?& +4 "core" &<% ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(X'D +45 "core" ' +2 "manipulator"&m& +4 "core" & } m +2 "manipulator"&;% +3 "core" %ъ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +154 "core" ( + "manipulator"&:& +5 "core" && & T =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" && b =A +2 .tForearm.seek CC +2 "manipulator"&T'" +99 "core" ' +2 .tHand.close + "manipulator"&N/ +61 "core" / +2 .tCC.seek :open +2 "collection"'Y( +416 "core" ( + "storage"(%& +4 "core" &<%\  \  +2 "storage"(z& +3 "core" &<% #\  +2 "manipulator"&^& +3 "core" &&  =A +2 "manipulator"&.% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +159 "core" ( +2 "manipulator"&g& +4 "core" &  4 y + "storage"(6& +4 "core" &<%\ !\ $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&+' +103 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +53 "core" 1 +2 "manipulator"&% +4 "core" % # 8 8 +2 "storage"(l& +3 "core" &<%\ \  X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&h' +12 "core" ' +2 "manipulator"&s& +5 "core" & y + "storage"(`& +4 "core" &<%\ Q\ N C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&C'ы +24 "core" ' + "storage"(F% +4 "core" %F\ 9\ Q \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (G% +2 "core" %>\ &\  <\ U^ +2 "manipulator"&M% +4 "core" %ѹ r z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +7453 "Can"R\ 2/s +31058 #t-> access 2 +3 "storage"(\ % +3 "core" %b\ R\ P D\ +2 "manipulator"&Q% +3 "core" %\    +2 "manipulator"&d& +3 "core" &  y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(@(K +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K \  +648 #t-> access 3 +3 "storage"(b% +3 "core" %b\ Q\ R I\ + "manipulator"&9% +5 "core" %\    + "manipulator"&/& +4 "core" &  y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +2 "core" &[ \  +559 #t-> access 4 +2 "storage"(_% +3 "core" %b\ D\ D 0\ +2 "manipulator"&=% +4 "core" %\    +2 "manipulator"&& +3 "core" & ; y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((S +1917 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &T\  $\ +849 #t-> access 5 +2 "storage"(}% +3 "core" %b\ E\ E \ +2 "manipulator"&W% +4 "core" %\    + "manipulator"&S& +4 "core" &  y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(]( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" & \  @1632770466.87EDT = =mMAIN_scheduler =tMAIN @EDT1632770468.77 #"core_reset"Sent BREAK +2 #t@48366 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +404 "Can"?\ d + ?\ d + #tPolling Can every 10:00 +536 #-> ESP.ready! +3 #Powering core bus +534 .Gate.power :raw,:ON +3 "sampler") +13 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ #\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  +2 .tSS.configure :default +2 "sampler")#.0X access 4 +2 "storage"(;% +3 "core" %b \ +2 "manipulator"&<% +4 "core" %\  ! k  +2 "manipulator"&=& +3 "core" &\ * E ` +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(>(S +654 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &U *\ +947 #t-> access 6 +2 "storage"(@% +4 "core" %b \ + "manipulator"&A% +5 "core" %\  !  +2 "manipulator"&B& +3 "core" &\  N ` +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(C( +653 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" & \  +2959 #t-> require 'shuffle.rb' +1266 #-> 2.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'E& +4 "core" & F\  + .tHand.open +2 "manipulator"&F1 +52 "core" 1 +2 "manipulator"&G% +4 "core" % \  2   + "storage"(H% +4 "core" %b L\ + "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(J(,l +330 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &,i \  +2 "manipulator"&L& +4 "core" &\ )  ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +4 "core" &\ 2 ` ` + "storage"(O& +4 "core" &,f 1\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&P'Ѽ +95 "core" ' +2 "storage"(Q& +5 "core" &,f \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +279 "core" ' +2 "storage"(S- +3 "core" -' +37 .tSE.configure :default +8 "storage"(#QK-0-\ b +3 (T& +3 "core" &,f \  +2 "manipulator"&U& +3 "core" &\  ~ ` +2 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&W& +4 "core" & " N ` + "storage"(X& +4 "core" &,f D\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Y', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(\\'X +7 "core" & " j ` +2 "manipulator"&]% +4 "core" % "  \ +2 .tForearm.seek :retract + "manipulator"&^'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +153 "core" ( + "manipulator"&`& +5 "core" &(  ? ?Q + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &a& +3 "core" &( * ^ ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'" +95 "core" ' +2 "manipulator"&c& +4 "core" &)  9 ?Q +2 "manipulator"&d% +5 "core" %! t + "collection"'e& +4 "core" & G\  +2 "collection"'f& +6 "core" & w\  +2 .tCC.seek :closed +2 "collection"'g(V +4 "core" & @\  +8 &3 @\ *z +10 &d ?\ ? +9 &J{ @\ O +9 &] ;\ N +10 &b G\ N +9 &_ F\ N +9 &R_ B\ N +10 &\\ <\ N +9 &^ K\ N +10 &^ F\ N +9 & Za L\ N +9 &"` K\ O +10 &#^ <\ N +9 &%a I\ N +10 &'a] L\ O +9 &)%] K\ N +9 &*] G\ N +10 &,Y K\ N +9 &.i^ Q\ O +9 &0,] M\ N +10 &1Z A\ N +9 &3_ C\ N +9 &5r\\ B\ N +10 &73] G\ O +9 &8\\ D\ N +10 &:a C\ O +9 &=[ G\ N +10 &?_ C\ N +9 &A\\ ?\ N +9 &C] A\ O +10 &EAl B\ O +9 &Fv A\ Q +10 &H C\ S +9 &Jm B\ X +9 &L- =\ Y +10 &M I\ Y +9 &O G\ Y +9 &Qr D\ Y +10 &S0 C\ [ +9 &T G\ Z +10 &VQW O\ , +9 &V C\ H +5 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&h1 +3 "core" &Ve C\ H +60 1 + "manipulator"&i% +4 "core" % !   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%k& +4 "core" &\  + "manipulator"&l% +4 "core" %\ ! 3 +2 "storage"(m% +3 "core" %U V\ +2 "storage"(n. +3 "core" .(,l + "storage"(o& +4 "core" &,f O\  +2 "storage"(p& +3 "core" &,f T\  +2 "manipulator"&q& +4 "core" && =F + "manipulator"&r% +4 "core" %\ ! 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +156 "core" ( + "manipulator"&t& +5 "core" & 3  + "storage"(u& +4 "core" &,f M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&v'Ѽ +95 "core" ' +2 "storage"(w& +4 "core" &,f 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +285 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (z& +3 "core" &,f \  +2 "manipulator"&{& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&|( +3 "core" ( + "manipulator"&}& +4 "core" & ' B  + "storage"(~& +4 "core" &,f O\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('X +8 "core" &  C  + "manipulator"&% +4 "core" % 7  A +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +173 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&& +4 "core" &t = 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t ! | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' + "manipulator"&\ & +5 "core" &t 7 B + "manipulator"& % +4 "core" % ! > +2 "processing"% & +4 "core" &\  +2 "processing"% & +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &N\ $f +9 &xU\ 8 +9 &\ M +10 &`\ N +9 &Hc\ O +10 &\ `\ O +9 &^\ N +9 &\\\ N +10 &Qb\ N +9 &^\ O +9 &c\ N +10 &!]\ N +9 &#Y_\ N +9 &%b\ N +10 &&]\ N +9 &(_\ N +10 &*ab\ N +9 &,#b\ N +9 &-_\ O +10 &/_\ O +9 &1i\\\ N +9 &3,^ \ N +10 &4_\ O +9 &6_\ O +10 &8qa\ N +9 &:3`\ N +9 &;]\ O +10 &=_\ N +9 &?x\\\ O +9 &A:\\\ O +10 &B]\ O +9 &Dd\ O +10 &F|n\ P +9 &H8}\ R +9 &I\ T +10 &K\ T +9 &Mx\ T +9 &O9\ T +10 &P\ T +10 &R \ U +9 &T\ T +9 &V?\ U +9 &X\ U +10 &Yx\ 8 +9 &Z1\ P +9 &Z\ + +3 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" %  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\   <  + "storage"(% +4 "core" %` N\ + "storage"(. +3 "core" .(,l +2 "storage"(& +4 "core" &,f D\  +2 "storage"(& +2 "manipulator"&& +7 "core" &,f B\  + &t  v +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &t + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &t   +2 .tForearm.seek PC + "manipulator"&%' +97 "core" ' +2 .tHand.close + "manipulator"&'/ +58 "core" / +2 .tPC.seek :open + "processing"%(( +86 "core" ' +2 "storage"()- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +291 ( + "storage"(& +4 "core" &,f [\  +2 "manipulator"&#& +3 "core" &t  g +2 "manipulator"&,% +3 "core" %  Z +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&.( +243 "core" ( + "manipulator"&/& +4 "core" & 2  * +2 "storage"(0& +3 "core" &,f |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&1'Ѽ +96 "core" ' + .tHand.open + "manipulator"&21 +60 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(4'E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(5' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(7& +4 "core" &,f U P :\  + "manipulator"&8& +4 "core" &  g * +2 .tElbow.seek 4 + "manipulator"&9( +4 "core" ( + "manipulator"&:& +4 "core" &  m * +2 "storage"(;& +5 "core" &,f n m p\  +3 .tForearm.seek 4 + 700 counts + "manipulator"&<'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(=' +56 "core" ' + "manipulator"&!& +4 "core" &  * +2 "storage"(?& +4 "core" &,f 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&@' +32 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +22 "core" ' +2 "manipulator"&>% +4 "core" % . +2 "storage"(D& +4 "core" &,f w \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&E'? +18 "core" ' +2 "manipulator"&F& +4 "core" & ( P * +2 "storage"(G& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&H'Ѽ +33 "core" ' + "storage"(I% +5 "core" %s ;\ +2 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (K% +4 "core" %D \ Wd +2 "manipulator"&L% +4 "core" %ѻ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &,f ?\  +2 "collection"'Q& +4 "core" &Vd G\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %\  +2 "storage"(&% +3 "core" %b \ +2 "storage"(S. +3 "core" .(,l +2 "storage"(T& +3 "core" &,f \  +2 "storage"( & +4 "core" &,f \  + "manipulator"&U& +4 "core" & - * +2 .tElbow.seek 4 + "manipulator"&W( +4 "core" ( + "manipulator"&X& +4 "core" &  R * + "storage"(Z& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&['Ѽ +87 "core" ' + "storage"(]& +42 "core" &,f \  +12 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +293 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" &  E * + "storage"(a& +4 "core" &,f \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&R' +34 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(c- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(d'X +32 "core" ' + "manipulator"&e% +4 "core" % +2 "storage"(V& +4 "core" &,f \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&\\'@ +18 "core" ' +2 "manipulator"&^& +4 "core" &  I * +2 "storage"(+& +4 "core" &,f m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&h'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(i'G +46 "core" ' +2 "manipulator"&k& +4 "core" &  * +2 "manipulator"&l% +4 "core" %Ѭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +147 "core" ( +2 "manipulator"&n& +5 "core" && 1 o =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &% 2 =C +2 .tForearm.seek CC +2 "manipulator"&p'" +93 "core" ' +2 .tHand.close + "manipulator"&q/ +54 "core" / + .tCC.seek :open +2 "collection"'r( +416 "core" ( + "storage"(b& +4 "core" &,f T\  +2 "storage"(t& +4 "core" &,f \  + "manipulator"&u& +4 "core" && =C + "manipulator"&w% +4 "core" % # j +2 .tForearm.seek :retract + "manipulator"&_'\ +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&j( +160 "core" ( + "manipulator"&y& +4 "core" & ) | +2 "storage"(z& +4 "core" &,f \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&{' +106 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +57 "core" 1 + "manipulator"&% +5 "core" %   . + "storage"(& +4 "core" &,f \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&'= +14 "core" ' +3 "manipulator"&s& +4 "core" &  + "storage"(v& +4 "core" &,f\ \  \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&x'Ѽ +29 "core" ' +2 "storage"(% +4 "core" %O\ \  D\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %A H\ Va +2 "manipulator"&|% +4 "core" %Ѳ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +4 "core" & \ +2 "manipulator"& % +4 "core" %\   +2 "storage"(% +3 "core" %a\ \  o\ +2 "storage"(. +5 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(*(<* +329 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &<( '\ +2 "manipulator"&& +3 "core" & [  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &<%\ \  n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +90 "core" ' +2 "storage"(& +4 "core" &<%\ \  ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &<% \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&"( +3 "core" ( + "manipulator"& & +4 "core" & ' $  +2 "storage"('& +3 "core" &<% |\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&)' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +7 "core" &  3  +2 "manipulator"&% +4 "core" %   (  +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +148 "core" ( +2 "manipulator"&,& +4 "core" &$  6 ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&%& + "storage"(5 +5 "core" &$  ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&/'" +102 "core" ' +2 "manipulator"&0& +4 "core" &% , h ;4 +2 "manipulator"&% +3 "core" % g V +2 "collection"'2& +4 "core" & {\ +2 "collection"'3& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'6(V +4 "core" & L\  +9 &1 K\ *x +9 &b K\ > +10 &xy Q\ N +9 &:Y P\ M +9 &_ Q\ M +9 &_ R\ N +10 &_ O\ M +9 &A\\ P\ N +10 &[ T\ M +9 &\\ Q\ M +9 & ] O\ M +10 &"I] R\ N +9 &$ [ N\ N +9 &%_ P\ M +10 &'` N\ N +9 &)Q] R\ N +10 &+\\ R\ M +9 &,[ O\ M +9 &.] M\ N +10 &0Y[ O\ N +9 &2Y P\ N +9 &3Z M\ M +10 &5Z K\ M +9 &7`` J\ N +10 &9$Y K\ M +9 &:] J\ M +9 &<_ K\ N +10 &>jZ I\ M +9 &@,[ 9\ M +9 &A\\ B\ M +10 &C^ C\ N +10 &Enh G\ O +9 &G+v N\ P +9 &H H\ S +9 &J M\ X +10 &L[ H\ X +9 &N T\ X +9 &O K\ Y +10 &Q L\ Y +9 &S] G\ Z +10 &U P\ Z +9 &VjB L\ 1 +9 &Vv I\ H +6 ( + "collection"'3& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&71 +4 "core" &Vm \ R\ H +59 1 + "manipulator"&8% +5 "core" % ( N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%;& +4 "core" &\ + "manipulator"&-% +4 "core" %\  + "storage"(!% +4 "core" %U M\ +2 "storage"(?. +3 "core" .(<* + "storage"(>& +4 "core" &<% ^\  +2 "storage"(& +3 "core" &<% 4\  +2 "manipulator"&D& +3 "core" &$ ;3 +2 "manipulator"&F% +4 "core" %\ Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +157 "core" ( + "manipulator"&4& +5 "core" &    + "storage"(I& +4 "core" &<% {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&.'ы +93 "core" ' +2 "storage"(1& +4 "core" &<% I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(5'i +285 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &<% n\  +2 "manipulator"&<& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&=& +4 "core" &  + "storage"(@& +4 "core" &<% r\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&E' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& "storage"($'X +7 "core" &  K  +2 "manipulator"&&% +4 "core" % u  +2 .tForearm.seek :retract + "manipulator"&S'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&T& +4 "core" &u ? q a # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &u /  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&U' +99 "core" ' + "manipulator"&X& +4 "core" &u ' # +2 "manipulator"&Z% +4 "core" %  ) j +2 "processing"%H& +3 "core" & \ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &\  +8 &1\ *y +10 &b\ > +9 &s}\ O +10 &6]\ N +9 &\\\ N +9 &\\\ N +10 &|\\\ N +9 &?\\\ N +9 &b\ O +10 &`\ N +9 & _\ N +11 &"E`\ O +10 &$]\ O +8 &%_\ N +9 &'c\ N +9 &)M_ \ O +9 &+_\ N +10 &,\\\ N +9 &.`\ N +10 &0U`\ O +9 &2_\ O +9 &3^\ N +10 &5\\\ N +9 &7^\\\ N +9 &9 `\ N +10 &:^\ O +9 &<^\ O +10 &>f]\ N +9 &@']\ O +9 &A^\ N +10 &C_\ N +9 &Ekf\ O +9 &G+n\ P +10 &H \ R +9 &J\ S +10 &Le \ T +9 &N' \ T +9 &O\ T +10 &Q\ U +9 &Sk\ U +9 &U-\ U +10 &V\ U +9 &X\ U +10 &Z `\ #m +9 &Z`\ / +9 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&A1 +4 "core" &Z \ + +50 1 + "manipulator"&N% +5 "core" % + m j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P'\ +90 "core" ' +2 "processing"%`& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&a% +43 "core" %\     +11 "storage"(c% +4 "core" %b 7\ +2 "storage"(e. +3 "core" .(<* + "storage"(V& +4 "core" &<% \  +2 "storage"(^& +2 "manipulator"&+& +8 "core" &<% \  + &u . # +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&k(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'i +3 "core" ( + "manipulator"&[& +4 "core" &u  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &u 5 x # +2 .tForearm.seek PC + "manipulator"&M' +93 "core" ' +2 .tHand.close + "manipulator"&R/ +54 "core" / +3 .tPC.seek :open + "processing"%\\( +100 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +38 "core" ' +284 ( + "storage"(o& +5 "core" &<% z\  + "manipulator"&h& +4 "core" &u  S # + "manipulator"&Y% +4 "core" %   ? % +2 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&m( +253 "core" ( +2 "manipulator"&g& +4 "core" & ' d o + "storage"(b& +4 "core" &<% [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&t'ы +95 "core" ' +2 .tHand.open + "manipulator"&u1 +55 "core" 1 +2 "storage"(w- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(f& +4 "core" &<%\ \ \  +2 "manipulator"&~& +4 "core" &  m + .tElbow.seek 5 +2 "manipulator"&( +16 "core" ( + "manipulator"&& +5 "core" & ) (  + "storage"(s& +4 "core" &<% _ 3 R\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&v'ы +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&_& +5 "core" &  v  + "storage"(& +4 "core" &<% Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&|' +33 "core" ' + .tElbow.hold +2 "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"({'i +23 "core" ' + "manipulator"& % +5 "core" %   ' + "storage"(& +4 "core" &<% k j \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"& ' +14 "core" ' +2 "manipulator"&& +4 "core" & ! X  +2 "storage"(& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&i'ы +27 "core" ' +2 "storage"(x% +4 "core" %s \ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (J% +3 "core" %JH \ Wd +2 "manipulator"&% +4 "core" %э   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<% -\  +2 "collection"'& +4 "core" &Vl k\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\   2  +2 "storage"(}% +3 "core" %b ,\ +2 "storage"(\ . +3 "core" .(<* + "storage"(& +4 "core" &<% d\  +2 "storage"( & +3 "core" &<% \  +2 "manipulator"&& +4 "core" &  U  + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&'& +4 "core" & * y  + "storage"(& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +110 "core" ' + "storage"(& +5 "core" &<% E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +288 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &    +2 "storage"(%& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +35 "core" ' + .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('W +32 "core" ' + "manipulator"&2% +4 "core" %    s +2 "storage"("& +4 "core" &<% L [ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&'\ +18 "core" ' + "manipulator"&& +4 "core" & & -  +2 "storage"(r& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&7'ы +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(8'F +41 "core" ' + "manipulator"&;& +4 "core" &    +2 "manipulator"&-% +4 "core" %ф   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&?( +150 "core" ( +2 "manipulator"&3& +4 "core" &) 0 @W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &*  @W +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&D/ +51 "core" / +2 .tCC.seek :open +2 "collection"'F( +416 "core" ( +2 "storage"(/& +4 "core" &<% W\  + "storage"(4& +4 "core" &<% M\  +2 "manipulator"&I& +4 "core" && v =G + "manipulator"&1% +4 "core" % ! 5 +2 .tForearm.seek :retract + "manipulator"&#'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&:( +153 "core" ( +2 "manipulator"&K& +4 "core" &  6  + "storage"(L& +4 "core" &<% V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&<' +107 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +61 "core" 1 +2 "manipulator"&O% +5 "core" %  a + "storage"(Q& +4 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&&' +14 "core" ' + "manipulator"&G& +4 "core" & O  +2 "storage"(.& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&5'ы +43 "core" ' +2 "storage"(E% +4 "core" %I\ \  J\ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +99 ( % +3 "core" %D \ Wb +2 "manipulator"&9% +4 "core" % m t + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +94 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Z& +4 "core" & M\ +2 "manipulator"&H% +4 "core" %\    + "storage"($% +4 "core" %\\\ \  o\ +2 "storage"(S. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(((K +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &K \  +2 "manipulator"&N& +3 "core" & e  +2 .tElbow.seek 6 +2 "manipulator"&`( +26 "core" ( + "manipulator"&a& +4 "core" & 4 +2 "storage"(]& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +92 "core" ' + "storage"(e& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +281 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +2 "core" &K \  +2 "manipulator"&[& +4 "core" & 2 4 + .tElbow.seek 6 +2 "manipulator"&W( +22 "core" ( +2 "manipulator"&U& +4 "core" &  + "storage"(R& +4 "core" &K S\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(C'X +7 "core" & 1  +2 "manipulator"&l% +4 "core" %  E +2 .tForearm.seek :retract + "manipulator"&o'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&Y& +4 "core" &( ' q ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &( ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'" +99 "core" ' +2 "manipulator"&b& +4 "core" &(  ?R +2 "manipulator"&k% +4 "core" %+ +2 "collection"'u& +3 "core" & {\ +51 "collection"'w& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'p(V +4 "core" & O\  +8 &0 J\ +z +9 &b K\ > +10 &sw K\ N +9 &6Y R\ M +9 &] M\ M +10 &] L\ N +9 &{\\ @\ N +10 &>] M\ M +9 &[ N\ M +9 &] N\ N +10 & ] P\ N +9 &"EZ Q\ N +10 &$X R\ N +9 &%\\ P\ N +9 &'\\ M\ N +10 &)NY P\ M +9 &+Z O\ N +9 &,X J\ M +10 &.Z L\ M +9 &0V[ P\ M +9 &2Y L\ M +10 &3^ K\ N +9 &5Z K\ N +10 &7]^ L\ N +9 &9[ M\ N +9 &:Z L\ N +10 &<\\ H\ N +9 &>eY K\ N +10 &@(] I\ M +9 &AZ @\ M +9 &C\\ B\ M +10 &Ejc I\ O +9 &G)n D\ P +9 &H A\ R +10 &J A\ W +9 &LW <\ X +9 &N B\ X +10 &O A\ X +9 &Q ;\ X +10 &SY 6\ Z +9 &U A\ Z +9 &VeB 8\ 1 +10 &V\ s @\ H +5 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&f1 +4 "core" &V` A\ H +58 1 +2 "manipulator"&~% +4 "core" % +  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%s& +4 "core" &\ +2 "manipulator"&q% +4 "core" %\   +2 "storage"(_% +3 "core" %c H\ +2 "storage"(. +3 "core" .(K + "storage"(n& +4 "core" &K '\  +2 "storage"( & +4 "core" &K \  + "manipulator"&& +4 "core" &' t >I +2 "manipulator"&y% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(x& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&m'a +99 "core" ' + "storage"(t& +4 "core" &K "\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +294 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K n\  +2 "manipulator"&v& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(|& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& ' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +7 "core" &  +2 "manipulator"&}% +4 "core" %  5 +2 .tForearm.seek :retract + "manipulator"&\ '\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" &r 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &r [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&'& +4 "core" &r 2 +2 "manipulator"&% +3 "core" %  Y +2 "processing"%i& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +8 &.}\ +z +9 &b\ > +10 &q{\ O +9 &3^\ N +9 &`\ N +10 &_\ N +9 &yZ\ N +9 &:\\\ O +10 &^\ O +9 &^ \ N +10 & `\ N +9 &"C^\ N +9 &$Z\ N +10 &%`\ N +9 &'_\ O +9 &)K]\ N +10 &+ _\ N +9 &,]\ O +10 &.]\ N +9 &0S_\ N +9 &2^\ O +10 &3\\\ N +9 &5]\ O +9 &7[\\\ N +10 &9]\ O +9 &:\\\ N +10 &<]\ O +9 &>d\\\ N +9 &@%_\ N +10 &A]\ O +9 &C_\ O +9 &Eif\ O +10 &G&u\ Q +9 &H\ T +10 &J\ T +9 &Lb\ T +9 &N$\ T +10 &O\ T +9 &Q\ U +10 &Si\ T +9 &U)\ U +9 &V\ U +10 &X\ U +9 &Za\ %q +9 &ZW\ - +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&j1 +4 "core" &Z\ + +60 1 + "manipulator"&% +4 "core" % 6 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +3 "processing"%,& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&%% +4 "core" %\ # = +2 "storage"(0% +3 "core" %b \  +2 "storage"(2. +3 "core" .(K + "storage"("& +4 "core" &K \  +2 "storage"(& +2 "manipulator"&r& +7 "core" &K \  + &r +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&;(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'i +3 "core" ( + "manipulator"&& +4 "core" &r  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &r w +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%( +91 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(3'y +43 "core" ' +292 ( +2 "storage"(>& +4 "core" &K E\  + "manipulator"&7& +9 "core" &r !  + "manipulator"&)% +4 "core" %  9 +2 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&!( +272 "core" ( +2 "manipulator"&6& +4 "core" &   =  +2 "storage"(/& +4 "core" &K =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&4'a +98 "core" ' +2 .tHand.open + "manipulator"&I1 +54 "core" 1 +2 "storage"(1- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(K'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(L' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(?& +4 "core" &K # \  +2 "manipulator"&@& +3 "core" &  X  +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  ' [  +2 "storage"(G& +3 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(E' +57 "core" ' +2 "manipulator"&#& +4 "core" &  #  + "storage"( & +4 "core" &K \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&9'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&:, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +22 "core" ' + "manipulator"&&% +5 "core" %ι  + "storage"(Z& +4 "core" &K y { 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&H' +13 "core" ' + "manipulator"&$& +5 "core" &  t  + "storage"(S& +4 "core" &K >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&8'a +27 "core" ' + "storage"(5% +5 "core" %s \ +2 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (*% +3 "core" %=I m\ We +2 "manipulator"&A% +4 "core" %\\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &K G\  +2 "collection"']& +3 "core" &V` q\ H +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&e% +4 "core" %\   g  +2 "storage"(=% +3 "core" %` 7\ +2 "storage"(X. +3 "core" .(K + "storage"(+& +4 "core" &K #\  +2 "storage"(^& +3 "core" &K \  +2 "manipulator"&[& +4 "core" &   ;  + .tElbow.seek 6 +2 "manipulator"&U( +4 "core" ( + "manipulator"&R& +4 "core" &  ' 8  +2 "storage"(B& +4 "core" &K $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&P'a +100 "core" ' +2 "storage"(l& +4 "core" &K 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +287 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &   +2 "storage"(M& +3 "core" &K ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&V'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(k'Z +31 "core" ' + "manipulator"&u% +5 "core" %θ  6 + "storage"(W& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&C' +13 "core" ' +2 "manipulator"&o& +4 "core" & 2  + "storage"(F& +4 "core" &K 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&f'a +26 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"(~'I +40 "core" ' +2 "manipulator"&s& +4 "core" & c  +2 "manipulator"&q% +4 "core" %^  +44 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&n& +5 "core" &+ Bf + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &+  Bf +2 .tForearm.seek CC + "manipulator"& '" +101 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'y( +416 "core" ( + "storage"(g& +4 "core" &K 0\  +2 "storage"(& +4 "core" &K \  + "manipulator"&x& +4 "core" &*  B @W + "manipulator"&t% +4 "core" % 5  K +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +155 "core" ( + "manipulator"&J& +5 "core" & $   + "storage"(& +4 "core" &K h\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&v'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +62 "core" 1 +2 "manipulator"&% +5 "core" % ι   z + "storage"(& +4 "core" &K *\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&}' +32 "core" ' +3 "manipulator"&& +4 "core" &  +2 "storage"(m& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&z'a +26 "core" ' +2 "storage"( % +4 "core" %F\ \  B\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +3 "core" %C \\\ Va +2 "manipulator"&% +4 "core" %Ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +96 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & l\ +2 "manipulator"&i% +3 "core" %\  ,  +2 "storage"(% +4 "core" %V\ \  )\ +2 "storage"(\ . +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(\\(,l +658 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &,n q\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&,( +11 "core" ( +2 "manipulator"&%& +4 "core" & ' ` | + "storage"(0& +4 "core" &,r\ \  k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&2'Ѽ +92 "core" ' +2 "storage"(& +4 "core" &,r\ %\  O\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +285 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &,r d\ +2 "manipulator"&& +3 "core" &  ; | +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  K | + "storage"(& +4 "core" &,r T\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" &  | +2 "manipulator"&-% +4 "core" % # H +2 .tForearm.seek :retract + "manipulator"&>'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +153 "core" ( +2 "manipulator"&)& +4 "core" ' + &%  0 <? + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&& +6 "core" &% <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&6'" +102 "core" ' +2 "manipulator"&/& +4 "core" &%  w <? +2 "manipulator"&;% +3 "core" %) n +2 "collection"'I& +4 "core" & |\ +2 "collection"'1& +5 "core" & x\ +3 .tCC.seek :closed + "collection"'(V +4 "core" & E\  +8 &0 I\ *y +10 &d L\ > +9 &vu L\ N +10 &:W O\ M +9 &] J\ N +9 &[ G\ N +10 &~\\ B\ N +9 &@\\ F\ N +9 &\\ K\ N +10 &Z L\ N +9 & ] @\ N +10 &"I_ F\ M +9 &$ ^ @\ M +9 &%[ ?\ M +10 &'Z 0\ M +9 &)RW 6\ M +9 &+\\ 8\ N +10 &,Z ;\ M +9 &.] 9\ M +10 &0X\\ 9\ N +9 &2\\ 7\ M +9 &3\\ @\ M +10 &5\\ @\ M +9 &7`\\ ;\ N +9 &9#Z ?\ M +10 &:^ =\ M +9 &<` ?\ N +10 &>i\\ 9\ M +9 &@+] :\ M +9 &A\\ 1\ N +10 &C` ?\ N +9 &Eng 3\ N +9 &G*s 0\ P +10 &H 3\ R +9 &J 3\ W +10 &LZ 0\ X +9 &N /\ X +9 &O 3\ Y +10 &Q 0\ Y +9 &SZ 3\ [ +9 &U /\ Z +10 &ViD 9\ 1 +9 &Vs *\ I +6 ( + "collection"'1& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open + "manipulator"&?1 +4 "core" &Va "\ I +56 1 + "manipulator"&@% +4 "core" % )  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%G& +4 "core" &\ + "manipulator"&D% +4 "core" %\  " / +2 "storage"(#% +4 "core" %^ y\ + "storage"( . +3 "core" .(,l +2 "storage"(3& +4 "core" &,r }\ + "storage"(&& +4 "core" &,r z\ + "manipulator"&Z& +4 "core" &% <? + "manipulator"&$% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&K( +158 "core" ( + "manipulator"&S& +4 "core" &  +  +2 "storage"(5& +4 "core" &,r D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&!'Ѽ +96 "core" ' +2 "storage"(4& +4 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +285 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &,r 2\ +2 "manipulator"&.& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&E& +4 "core" & % \\  + "storage"(9& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(e'X +8 "core" &    + "manipulator"&=% +4 "core" % G  @ +2 .tForearm.seek :retract + "manipulator"&X'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&+& +4 "core" &h 4 k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &h ! } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&[' +97 "core" ' + "manipulator"&R& +5 "core" &j 9 + "manipulator"&B% +4 "core" %  [ +2 "processing"%8& +4 "core" &\ +2 "processing"%l& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%T(Z +5 "core" &\  +9 &1\ *y +10 &c\ > +9 &s{\ O +9 &5]\ N +10 &_\ N +9 &]\ N +9 &{^\ N +10 &=]\ N +9 &^\ N +10 &]\ N +9 & [\ N +9 &"F]\ N +10 &$\\\ N +9 &%]\ N +9 &'_\ N +10 &)N]\ N +9 &+_\ N +10 &,\\\ N +9 &.^\ N +9 &0W]\ N +10 &2]\ N +9 &3]\ N +9 &5\\\ N +10 &7_]\ N +9 &9"]\ M +10 &:\\\ N +9 &<]\ N +9 &>h[\ M +10 &@(]\ N +9 &A[\ N +9 &C_\ N +10 &Eld\ O +9 &G*p\ P +10 &H\ S +9 &J\ T +10 &Le\ T +9 &N'\ T +10 &O\ T +8 &Q\ T +10 &Sm\ T +9 &U-\ T +10 &V\ U +9 &X\ U +10 &Z `\ $n +9 &Z]\ 0 +8 ( +2 &Z\ - +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&:1 +63 "core" 1 +2 "manipulator"&N% +4 "core" % ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' + "processing"%Y& +5 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&M% +3 "core" %\   +2 "storage"(b% +4 "core" %b \ + "storage"(u. +3 "core" .(,l +2 "storage"(W& +4 "core" &,r @\ +2 "storage"(o& +2 "manipulator"&F& +7 "core" &,r P\ + &j +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&s(s + "storage"(q'i +7 "core" ( +2 "manipulator"&P& +4 "core" &j n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &j " W +2 .tForearm.seek PC +2 "manipulator"&`' +93 "core" ' + .tHand.close +2 "manipulator"&V/ +59 "core" / +2 .tPC.seek :open +53 "processing"%C( +38 "core" ' + "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +43 "core" ' +348 ( + "storage"(w& +4 "core" &,r c\ +2 "manipulator"&f& +4 "core" &j  7 + "manipulator"&d% +4 "core" %  7 ) +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&_( +245 "core" ( +2 "manipulator"&p& +4 "core" &  N "~ +2 "storage"(g& +3 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +110 "core" ' +2 .tHand.open + "manipulator"&x1 +63 "core" 1 +2 "storage"(t- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"(& +4 "core" &,r\ \ ! *\ +2 "manipulator"&|& +3 "core" & ! "~ +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & " ) "~ + "storage"(& +4 "core" &,r\ \ \ +3 .tForearm.seek 4 + 700 counts + "manipulator"&m'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +57 "core" ' +2 "manipulator"&h& +5 "core" &  X "~ +2 "storage"( & +3 "core" &,r Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(v'i +22 "core" ' +2 "manipulator"&}% +4 "core" %  H  +2 "storage"(& +4 "core" &,r  :\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&i'> +19 "core" ' + "manipulator"&& +4 "core" &  "} +2 "storage"(\ & +4 "core" &,r 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&~'Ѽ +28 "core" ' + "storage"(z% +5 "core" %s x\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ((% +2 "core" %I {\ We +2 "manipulator"&j% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (%& +4 "core" &,r e\ +2 "collection"'0& +4 "core" &V` l\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\  !  +2 "storage"(% +3 "core" %] \ +2 "storage"('. +3 "core" .(,l + "storage"(r& +4 "core" &,r q\ + "storage"(& +4 "core" &,r .\ +2 "manipulator"&& +3 "core" &  O "} +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & $ v "} +2 "storage"({& +3 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +87 "core" ' +2 "storage"(-& +4 "core" &,r W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +287 "core" ' +2 "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &  ! "} +2 "storage"(& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&"' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(/- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(;'X +32 "core" ' + "manipulator"&I% +5 "core" % $ + "storage"( & +4 "core" &,r t q \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +20 "core" ' +2 "manipulator"&>& +4 "core" & 2  "{ +2 "storage"(y& +4 "core" &,r ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&?'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(@'G +44 "core" ' + "manipulator"&G& +4 "core" & "{ +2 "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +147 "core" ( + "manipulator"&1& +5 "core" &'  j >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &' >N +2 .tForearm.seek CC + "manipulator"&&'" +94 "core" ' +2 .tHand.close + "manipulator"&Z/ +55 "core" / +2 .tCC.seek :open + "collection"'$( +417 "core" ( +2 "storage"(6& +4 "core" &,r \ +2 "storage"(S& +3 "core" &,r R\ +2 "manipulator"&5& +4 "core" && =D + "manipulator"&4% +4 "core" % $ + .tForearm.seek :retract +2 "manipulator"&7'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Q( +160 "core" ( +2 "manipulator"&*& +4 "core" &  ? u +2 "storage"(A& +4 "core" &,r s\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.' +105 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +54 "core" 1 +2 "manipulator"&a% +4 "core" %   f +2 "storage"(]& +4 "core" &,r 8\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&=': +12 "core" ' +2 "manipulator"&K& +4 "core" & C u +2 "storage"(!& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&L'Ѽ +24 "core" ' +2 "storage"(H% +4 "core" %G\ \  V\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +99 (^% +3 "core" %F >\ Va +2 "manipulator"&O% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'B& +4 "core" & B\ + "manipulator"&8% +4 "core" %\   3  +2 "storage"(e% +4 "core" %U \ + "storage"(X. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (:& +3 "core" &<' .\  +2 "manipulator"&N& +4 "core" & u + .tElbow.seek 5 +2 "manipulator"&Y( +9 "core" ( + "manipulator"&M& +5 "core" &  e + "storage"(b& +4 "core" &<$ t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&u'ы +101 "core" ' +2 "storage"(W& +4 "core" &<$\ \  o\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +285 "core" ' +2 "storage"(F- +3 "core" -' +50 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (o& +3 "core" &<$ \  +2 "manipulator"&P& +4 "core" &   e +2 .tElbow.seek 5 + "manipulator"&U( +3 "core" ( +2 "manipulator"&[& +4 "core" &  e + "storage"(V& +4 "core" &<$ f\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& +9 &xu ;\ N +9 &:Z @\ M +10 &^ <\ M +9 &[ >\ M +9 &\\ G\ M +10 &BZ ;\ M +9 &X D\ M +10 &Z :\ N +9 & \\ 9\ N +9 &"J] 9\ M +10 &$ X 7\ M +9 &%Z 8\ M +9 &'W >\ M +10 &)RZ 9\ M +9 &+X >\ M +10 &,Z 9\ M +9 &.X >\ M +9 &0Y\\ >\ N +10 &2Z F\ N +9 &3[ ?\ M +9 &5Y >\ M +10 &7b] 4\ M +9 &9$Z @\ M +10 &:\\ 9\ N +9 &<_ ?\ M +9 &>j] 7\ M +10 &@,Z 6\ M +9 &AX 9\ M +9 &C_ :\ M +10 &Eoc =\ N +10 &G,p A\ P +9 &H <\ R +9 &J >\ X +9 &LY A\ Y +10 &N 9\ X +9 &O .\ Y +9 &Q 7\ Y +10 &S\\ ;\ Z +9 &U G\ Z +10 &VgC <\ 1 +9 &V\ w 9\ I +5 ( +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&1 +3 "core" &V` 2\ I +60 1 +2 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ \ 3 8  +2 "storage"(h% +3 "core" %b w\  +2 "storage"( . +3 "core" .(<* +2 "storage"(}& +3 "core" &<$ \  +2 "storage"(n& +4 "core" &<$ 2\  + "manipulator"&& +4 "core" &(   >M +2 "manipulator"&J% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"&\ & +4 "core" &  ` +2 "storage"(z& +4 "core" &<$ ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&_'ы +93 "core" ' +2 "storage"(& +4 "core" &<$ #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" &<$ I\  +2 "manipulator"&m& +3 "core" & ` +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & % H ` + "storage"(& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"('X +7 "core" &  _ ` +2 "manipulator"&% +4 "core" %  .  +2 .tForearm.seek :retract +2 "manipulator"&''\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&v(s +175 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&r& +4 "core" &h N    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +104 "core" ' + "manipulator"&& +4 "core" &j ' f  +2 "manipulator"&{% +4 "core" %   j +2 "processing"%~& +4 "core" &\ +2 "processing"%-& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 & 1\ $c +10 &T\ 7 +9 &\ L +9 &^\ N +10 &Z_\ N +9 &\\\ N +10 &]\ N +9 &\\\ N +9 &c_\ N +10 &%\\\ N +9 &_\ N +9 &!\\\ N +10 &#l]\ N +9 &%.]\ N +9 &&[\ N +10 &(]\ N +9 &*u]\ M +10 &,5]\ N +9 &-]\ N +9 &/_\ N +10 &1|[\ N +9 &3=_\ N +9 &5\\\ M +10 &6]\ M +9 &8\\\ N +10 &:E`\ N +9 &< \\\ M +9 &=Z\ N +10 &?_\ N +9 &AO\\\ M +9 &C^\ N +10 &Db\ N +9 &Fk\ O +10 &HL{\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OM\ S +9 &Q\ T +10 &R\ T +9 &T\ T +10 &VQ\ U +9 &X\ U +9 &Yyo\ : +10 &Z'o\ Q +9 &Z(\ 1 +2 ( +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % ' U j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 "processing"%)& +4 "core" &Z,\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ # A + "storage"(/% +4 "core" %a  z \ +2 "storage"(I. +3 "core" .(<* + "storage"( & +4 "core" &<$ (\  + "storage"(>& +3 "manipulator"&y& +7 "core" &<$ \  + &j  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&G(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'i +2 "core" ( +2 "manipulator"&& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&,' +97 "core" ' + .tHand.close +2 "manipulator"&"/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"(;- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +44 "core" ' +282 ( +2 "storage"(3& +4 "core" &<$ a\  + "manipulator"&?& +4 "core" &j  V  +2 "manipulator"&% +3 "core" %  ` +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +238 "core" ( +2 "manipulator"&& +4 "core" &  # # + "storage"(6& +4 "core" &<$ 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&S'ы +94 "core" ' + .tHand.open +2 "manipulator"&51 +53 "core" 1 +2 "storage"(4- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(*'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(A' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' + "storage"( & +4 "core" &<$ [ h\  + "manipulator"&9& +4 "core" &   # +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&]& +4 "core" & ! + # +2 "storage"(K& +3 "core" &<$ & (\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&!'ы +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +57 "core" ' +2 "manipulator"&7& +4 "core" & . ^ # +2 "storage"(^& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +53 "manipulator"&O' +30 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +27 "core" ' + "manipulator"&=% +5 "core" % 2 + "storage"(B& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&8' +15 "core" ' + "manipulator"&e& +5 "core" & & ( + "storage"(X& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&@'ы +29 "core" ' +2 "storage"(L% +4 "core" %m 3\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (\\% +3 "core" %(H \ Wd +2 "manipulator"&:% +4 "core" %ѓ   m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &<$ +\  +2 "collection"'b& +3 "core" &V` l\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&W% +4 "core" %\ ' " : +2 "storage"(E% +4 "core" %] \ + "storage"(R. +3 "core" .(<* +2 "storage"(F& +4 "core" &<$ 8\  + "storage"(o& +4 "core" &<$ \  +2 "manipulator"&P& +4 "core" & \\ ( +2 .tElbow.seek 5 + "manipulator"&[( +4 "core" ( + "manipulator"&V& +4 "core" & % ( +2 "storage"(<& +4 "core" &<$ y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&c'ы +98 "core" ' + "storage"(q& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +284 "core" ' +2 "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" & $ ( +2 "storage"(`& +3 "core" &<$ C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l' +34 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(s'V +28 "core" ' +2 "manipulator"&x% +4 "core" %  X + "storage"(U& +4 "core" &<$ m m ^\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&T' +20 "core" ' + "manipulator"&w& +4 "core" &  f ) +2 "storage"($& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(|'E +40 "core" ' +2 "manipulator"&& +4 "core" & ) +2 "manipulator"&% +4 "core" %ѐ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +148 "core" ( + "manipulator"&t& +4 "core" &' 8 >I +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &' >I +2 .tForearm.seek CC +2 "manipulator"&n'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tCC.seek :open +2 "collection"'J( +416 "core" ( + "storage"(p& +4 "core" &<$ Q\  +2 "storage"(\ & +4 "core" &<$ \  + "manipulator"&z& +4 "core" &% <@ + "manipulator"&% +4 "core" % # +2 .tForearm.seek :retract + "manipulator"&f'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +153 "core" ( +2 "manipulator"&(& +4 "core" & ) @  + "storage"(j& +4 "core" &<$ /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&m' +106 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&%% +4 "core" %  + + "storage"(0& +4 "core" &<$ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" & & G  + "storage"(_& +4 "core" &<$ }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +21 "core" ' +2 "storage"(i% +4 "core" %H\ \  1\ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +98 (% +3 "core" %F 2\ Va +2 "manipulator"&% +4 "core" %l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'{& +4 "core" & I\ +2 "manipulator"&~% +3 "core" %\ #  * A +2 "storage"(% +4 "core" %b c\  + "storage"('. +3 "core" .(<* +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"(C(K +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K %\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&)( +31 "core" ( + "manipulator"&& +4 "core" & ' ( ; +2 "storage"(/& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&I'a +103 "core" ' + "storage"( & +4 "core" &K\ \  ^\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'i +286 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +68 "core" &K \  \  + "manipulator"&& +4 "core" & ; +2 .tElbow.seek 6 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&& +4 "core" &  _  + "storage"("& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +3 "storage"('X +7 "core" &   + "manipulator"&D% +4 "core" % m +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&?( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &.  K N Dx + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &. Dx +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&6& +4 "core" &.  4 Dw +2 "manipulator"&G% +4 "core" %  +2 "collection"'5& +4 "core" & \ +2 "collection"'4& +5 "core" & V\ +2 .tCC.seek :closed +2 "collection"'&(V +5 "core" & U\ +6 &7 R\ $d +10 &V =\ 7 +9 & 9\ L +9 &X A\ M +10 &o\\ 2\ M +9 &1Z =\ M +9 &\\ :\ M +10 &] 5\ M +9 &y[ E\ M +10 &:\\ @\ M +9 &Z 5\ M +9 &!] 0\ M +10 &#\\ 8\ M +9 &%A] ;\ M +10 &'X 8\ M +9 &(Y 9\ M +9 &*^ 8\ M +10 &,J[ 9\ M +9 &. [ 8\ M +9 &/Z .\ M +10 &1] 7\ M +9 &3QZ 8\ M +9 &5Z :\ M +10 &6] :\ M +9 &8Y 8\ M +10 &:Y\\ 8\ M +9 &<Z 3\ M +9 &=Y 8\ M +10 &?\\ 9\ M +9 &Aa[ 8\ M +9 &C$^ 7\ M +10 &D` ,\ N +10 &Fi 5\ O +9 &H^~ 9\ Q +9 &J 6\ U +9 &K 9\ X +10 &M 7\ X +9 &OO ;\ Y +9 &Q 0\ Y +10 &R .\ Z +9 &T .\ Z +10 &V.u 6\ . +9 &V# 8\ M +59 ( +4 &Vj 5\ I +5 &Vj 8\ I +3 &Vj 9\ I &Vj 6\ I + &Vj :\ I + &Vi <\ I + &Vj 7\ I +3 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"& 1 +4 "core" &Vj 9\ I +49 1 + "manipulator"&9% +5 "core" %  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%K& +4 "core" &\ + "manipulator"&Z% +4 "core" %\   +2 "storage"(7% +4 "core" %] $\ + "storage"(^. +4 "core" .(K + "storage"(1& +4 "core" &K \  + "storage"(*& +4 "core" &K \  +2 "manipulator"&=& +4 "core" &+ Ae + "manipulator"&B% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&e( +160 "core" ( +2 "manipulator"&X& +4 "core" &  W  +2 "storage"(#& +3 "core" &K u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&S'a +104 "core" ' +2 "storage"(L& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +285 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\\& +3 "core" &K \  +2 "manipulator"&:& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( + "manipulator"&H& +4 "core" & ' ?  +2 "storage"(O& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&8' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&b& "storage"(W'X +8 "core" &   + "manipulator"&E% +4 "core" % Ͼ    +2 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&F& +5 "core" &w M 6 \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &w  4 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +93 "core" ' +2 "manipulator"&V& +4 "core" &w & j \ +2 "manipulator"&<% +3 "core" %  $ : +2 "processing"%@& +4 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%+(Z +3 "core" &\ +6 & 0\ $c +10 &V\ 7 +9 &\ L +9 &`\ N +10 &c_\ N +9 &%\\\ N +9 &\\\ N +10 &Z\ N +9 &j\\\ N +10 &-[\ N +9 &]\ N +9 &!\\\ N +10 &#r\\\ N +9 &%4\\\ N +9 &&Z\ N +10 &(V\ N +9 &*{[\ N +10 &,=\\\ N +9 &-]\ N +9 &/[\ N +10 &1[\ N +9 &3EZ\ N +9 &5Z\ N +10 &6Z\ N +9 &8Y\ N +10 &:NZ\ N +9 &<[\ N +9 &=Y\ N +10 &?Z\ N +9 &AUZ\ N +9 &C\\\ N +10 &Dc\ O +9 &Fj\ P +10 &HP\ S +9 &J\ S +10 &K\ T +9 &M\ T +9 &OU\ S +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VY\ U +10 &X\ U +10 &Y{r\ 6 +9 &Z0\ I +9 &Z\ ) +2 ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&Q1 +52 "core" 1 + "manipulator"&N% +6 "core" % ' 1 : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +98 "core" ' +2 "processing"%d& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&`% +3 "core" %\ " ; +2 "storage"(g% +4 "core" %U \ + "storage"(x. +4 "core" .(K + "storage"(U& +4 "core" &K z\  + "storage"(w& +5 "manipulator"&$& +4 "core" &K ]\  + &w \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&c& +4 "core" &w 3 \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &w  \ +2 .tForearm.seek PC + "manipulator"&Y' +101 "core" ' +2 .tHand.close + "manipulator"&l/ +62 "core" / + .tPC.seek :open +2 "processing"%T( +81 "core" ' + "storage"(s- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(t'y +45 "core" ' +295 ( + "storage"(}& +4 "core" &K [\  +2 "manipulator"&& +3 "core" &w  / \ +2 "manipulator"&k% +4 "core" %  % + .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&h( +252 "core" ( + "manipulator"& & +4 "core" &  { "x +2 "storage"(p& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&\ 'a +98 "core" ' + .tHand.open +2 "manipulator"&z1 +62 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(j' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +4 "core" -' +2 "storage"( & +3 "core" &K N -\  +2 "manipulator"&& +4 "core" &  R !w +2 .tElbow.seek 6 + "manipulator"&%( +4 "core" ( + "manipulator"&0& +4 "core" & ! ` !w + "storage"(& +4 "core" &K M g\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&_'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +57 "core" ' +2 "manipulator"&f& +4 "core" & \ 8 !w +2 "storage"(& +4 "core" &K 1\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +22 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +23 "core" ' +2 "manipulator"&{% +4 "core" %ή V +2 "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&~' +13 "core" ' + "manipulator"&& +5 "core" & )  !w + "storage"('& +4 "core" &K G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&|'a +27 "core" ' + "storage"(% +5 "core" %s `\ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (% +3 "core" %J { ?\ Wb +2 "manipulator"&% +4 "core" %p   t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &K k\  +2 "collection"'/& +4 "core" &Vi l\ I + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"& % +4 "core" %\ !  3 +2 "storage"( % +3 "core" %S \ +2 "storage"(. +3 "core" .(K +2 "storage"(y& +4 "core" &K \  + "storage"(-& +4 "core" &K \  +2 "manipulator"&& +4 "core" & a !w + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" & & 5 !w + "storage"(v& +4 "core" &K x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&2'a +94 "core" ' + "storage"(D& +4 "core" &K j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +51 "storage"()'i +284 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  3 !w +2 "storage"(,& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&>'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(6- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(G'Z +31 "core" ' +2 "manipulator"&5% +4 "core" %η  | + "storage"(& +4 "core" &K k m x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&' +12 "core" ' + "manipulator"&3& +5 "core" & ( !w + "storage"(J& +4 "core" &K 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +56 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"(9'I +45 "core" ' + "manipulator"&K& +5 "core" & ) c !w + "manipulator"&Z% +5 "core" %W  ' e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +147 "core" ( +2 "manipulator"&1& +4 "core" &(  o ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &( ?R +2 .tForearm.seek CC +2 "manipulator"&='" +96 "core" ' +2 .tHand.close + "manipulator"&4/ +55 "core" / +2 .tCC.seek :open + "collection"'B( +416 "core" ( +2 "storage"(& +4 "core" &K o\  + "storage"(X& +4 "core" &K _\  + "manipulator"&#& +4 "core" &' =E +2 "manipulator"&L% +4 "core" % 6 +2 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&]( +159 "core" ( + "manipulator"&!& +5 "core" &    + "storage"(\\& +4 "core" &K Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&:'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&H, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +60 "core" 1 +2 "manipulator"&M% +5 "core" % θ  G + "storage"(b& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&E' +13 "core" ' + "manipulator"&e& +4 "core" &  E  +2 "storage"(S& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&A'a +28 "core" ' +2 "storage"(8% +4 "core" %L\ \  ?\ +2 ."downElevator"SE.seek :down +4 "storage"(F'X +98 (o% +3 "core" %F \ U^ +2 "manipulator"&a% +4 "core" %X r { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +61 "Can"\ 52 +60002 "\ 41{ +60002 -\ 42 +60002 <\ 42 +60002 /\ 42 +60002 4\ 42u +50015 #t-> 2.times {shuffle 4..6} +3 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'<& +3 "core" & h\ +2 "manipulator"&@% +4 "core" %\  7 + "storage"(W% +4 "core" %b\  @\ + "storage"(R. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +659 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &,n \ +2 "manipulator"&N& +4 "core" &  >  +2 .tElbow.seek 4 + "manipulator"&d( +15 "core" ( +2 "manipulator"&`& +4 "core" & ! | + "storage"(g& +4 "core" &,r V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&x'Ѽ +98 "core" ' +2 "storage"(U& +4 "core" &,r\ \  I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +278 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" &,r s\ +2 "manipulator"&c& +4 "core" & | +2 .tElbow.seek 4 + "manipulator"&[( +3 "core" ( +2 "manipulator"&P& +3 "core" & J | +2 "storage"(l& +4 "core" &,r s\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&s', +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(+'X +7 "core" &  | +2 "manipulator"&% +4 "core" % M K A +2 .tForearm.seek :retract + "manipulator"&}'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&k& +4 "core" &( ; >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &( >L +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 "core" ' + ."downElevator"SE.stop +2 .tForearm.seek CC +3 "storage"(5 +2 "manipulator"& '" +102 "core" ' +2 "manipulator"&p& +4 "core" &(  >L +2 "manipulator"&% +4 "core" % +2 "collection"'z& +4 "core" & i\ +2 "collection"'& +5 "core" & u\ +2 .tCC.seek :closed +2 "collection"'n(V +5 "core" & e\ +7 &5 e\ $d +10 &U ^\ 7 +9 & b\ L +9 &` S\ N +10 &\\^ T\ O +9 &^ _\ N +9 &\\ S\ N +10 &] ]\ O +11 &e^ [\ N +9 &(\\ d\ N +8 &] c\ O +9 &!` d\ N +10 &#m\\ a\ N +9 &%/a _\ N +9 &&] ]\ N +10 &(\\ W\ N +9 &*v_ R\ N +9 &,7] U\ N +10 &-] P\ N +9 &/_ V\ O +10 &1}a K\ N +9 &3?\\ K\ N +9 &5\\ O\ N +10 &6_ Q\ N +9 &8] Q\ N +9 &:G` Q\ N +10 &<b P\ O +9 &=a Q\ N +10 &?b Q\ N +9 &AO^ Q\ N +9 &C] Q\ N +10 &Dg S\ O +9 &Ft L\ Q +9 &HK B\ R +10 &J G\ W +10 &K O\ Z +9 &M} J\ Y +9 &O> M\ Z +9 &Q K\ Y +10 &R H\ Z +9 &T F\ [ +9 &V u G\ / +10 &V( G\ R +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"& 1 +4 "core" &Vf E\ G +58 1 +2 "manipulator"&% +4 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ 2  +2 "storage"(f% +4 "core" %U t\ + "storage"(. +3 "core" .(,l +2 "storage"({& +4 "core" &,r (\ + "storage"(& +4 "core" &,r <\ + "manipulator"&t& +4 "core" &' i >L + "manipulator"&% +4 "core" %\ (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&'( +158 "core" ( +2 "manipulator"&(& +4 "core" & ] | + "storage"(& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&h'Ѽ +97 "core" ' + "storage"(\ & +4 "core" &,r \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,r '\ +2 "manipulator"&_& +3 "core" &  | +2 .tElbow.seek 4 + "manipulator"&%( +4 "core" ( + "manipulator"&i& +4 "core" &  | +2 "storage"(& +4 "core" &,r s\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&~', +72 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"( 'X +8 "core" & i | + "manipulator"& % +4 "core" %  R +2 .tForearm.seek :retract +2 "manipulator"&m'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&y& +5 "core" &g & K < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &g F < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&"& +5 "core" &g E < + "manipulator"&v% +4 "core" %   +2 "processing"%|& +4 "core" &\ +2 "processing"%D& +5 "core" &\ +3 .tPC.seek :closed + "processing"%r(Z +5 "core" &\ +7 &8\ $c +9 &S\ 7 +9 &~\ L +10 &^\ N +9 &]`\ O +10 &!a\ N +9 &`\ O +9 &_\ N +10 &f^\ N +9 &(\\\ N +9 &_\ O +10 &!_\ O +9 &#n`\ N +9 &%0]\ N +10 &&_\ O +9 &(\\\ N +10 &*u`\ O +9 &,7_\ O +9 &-`\ N +10 &/\\\ N +9 &1~\\\ N +10 &3@]\ N +9 &5\\\ N +9 &6a\ N +10 &8`\ N +9 &:H`\ N +9 &< _\ O +10 &=^\ N +9 &?]\ N +9 &AP]\ N +10 &Cc\ O +9 &Dh\ O +10 &Fn\ P +9 &HM~\ R +9 &J\ \ T +10 &K\ T +9 &M\ T +9 &OO\ T +10 &Q\ T +10 &R\ T +9 &T\ T +10 &VV|\ T +8 &X\ U +10 &Y{s~\ 7 +9 &Z0\ J +9 &Zy\ ) +3 ( + "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&,% +4 "core" %\    +2 "storage"(6% +4 "core" %U M\ + "storage"(5. +3 "core" .(,l + "storage"(& +5 "core" &,r Y\ + "storage"(3& +2 "manipulator"&J& +7 "core" &,r \ + &g  < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&K(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(Z'i +19 "core" ( + "manipulator"&2& +5 "core" &k  \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k  \ +3 .tForearm.seek PC + "manipulator"&)' +93 "core" ' + .tHand.close + "manipulator"&>/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +72 "core" ' +2 "storage"(G- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +47 "core" ' +303 ( +2 "storage"(*& +4 "core" &,r =\ +2 "manipulator"& & +3 "core" &k K \ +2 "manipulator"&;% +4 "core" % # +2 .tForearm.seek :retract +2 "manipulator"&4'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&7( +248 "core" ( +2 "manipulator"&&& +4 "core" &   N + "storage"(& +4 "core" &,r (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&X'Ѽ +111 "core" ' + .tHand.open +2 "manipulator" +55 "core" 1 +2 "storage"(L- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\\' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(^& +4 "core" &,r\ (\ # ,\ + "manipulator"&O& +4 "core" & O N +2 .tElbow.seek 4 + "manipulator"&M( +24 "core" ( + "manipulator"&b& +5 "core" & ]  + "storage"(e& +4 "core" &,r ? )\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(8' +58 "core" ' + "manipulator"&?& +4 "core" &   +2 "storage"(o& +4 "core" &,r B\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&a' +28 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'i +24 "core" ' + "manipulator"&E% +5 "core" % 9 5 + "storage"(9& +4 "core" &,r Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&A'@ +18 "core" ' + "manipulator"&F& +5 "core" & J  + "storage"(<& +4 "core" &,r H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&@'Ѽ +36 "core" ' +2 "storage"(W% +4 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(R'X +98 (C% +3 "core" %G k\ Va +2 "manipulator"&Q% +4 "core" %  { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (`& +4 "core" &,r "\ +2 "collection"'g& +4 "core" &Ve T\ G + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&U% +4 "core" %\  {  + "storage"(H% +4 "core" %` \\\ +2 "storage"(V. +3 "core" .(,l + "storage"(w& +4 "core" &,r O\ + "storage"(q& +4 "core" &,r Y\ +2 "manipulator"&c& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&P( +3 "core" ( + "manipulator"&l& +4 "core" & \\  +2 "storage"(.& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&u'Ѽ +94 "core" ' +2 "storage"(& +4 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +284 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &   + "storage"(Y& +4 "core" &,r M\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&$' +18 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +27 "core" ' +2 "manipulator"&[% +4 "core" % C + "storage"(z& +4 "core" &,r 4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&}'; +13 "core" ' +2 "manipulator"&+& +4 "core" & L  +2 "storage"(B& +3 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('F +44 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( + "manipulator"&& +5 "core" &" . e 9$ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &" E 9$ +2 .tForearm.seek CC +3 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&t/ +64 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"( & +4 "core" &,r i\ +2 "storage"((& +3 "core" &,r ;\ +2 "manipulator"&& +4 "core" &" 9$ + "manipulator"&\ % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +155 "core" ( + "manipulator"&& +4 "core" &  ^  +2 "storage"(& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&_' +104 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" %  .  " + "storage"(/& +4 "core" &,r G\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"& '; +19 "core" ' +2 "manipulator"&'& +5 "core" & c  + "storage"(h& +4 "core" &,r ~\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&j'Ѽ +30 "core" ' +2 "storage"(~% +4 "core" %C\ \  ]\ +2 ."downElevator"SE.seek :down +3 "storage"(y'X +100 (-% +2 "core" %D \ V_ +2 "manipulator"&%% +4 "core" %Ѵ ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'v& +4 "core" & _\ + "manipulator"&|% +4 "core" %\    +2 "storage"( % +4 "core" %X @\ + "storage"(m. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(T(<* +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<' ^\  +2 "manipulator"&& +3 "core" & N  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&,& +4 "core" &   + "storage"(6& +5 "core" &<$ P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&5'ы +98 "core" ' + "storage"(& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'i +278 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" &<$ f\  + "manipulator"&2& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & K  + "storage"(>& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&G' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& "storage"(r'X +7 "core" &   +2 "manipulator"&Z% +4 "core" % L J +2 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +156 "core" ( +2 "manipulator"&;& +4 "core" ' + &* + @W +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&)& +6 "core" &* n @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'" +101 "core" ' + "manipulator"&& +5 "core" &* @W + "manipulator"&K% +4 "core" %* , +2 "collection"'#& +4 "core" & g\ +2 "collection"'L& +5 "core" & [\ +3 .tCC.seek :closed + "collection"'=(V +5 "core" & S\  +9 &1 [\ *y +10 &c [\ > +9 &zx [\ N +9 &<[ Y\ N +10 &^ V\ N +6 "Can"'\ LJ +3 "core" &[ Y\ M +9 &\\ [\ N +10 &EZ Y\ N +9 &\\ W\ N +10 &] L\ N +9 & ] S\ M +9 &"L^ P\ N +10 &$\\ Q\ N +9 &%^ F\ N +9 &'\\ =\ M +10 &)U\\ [\ N +9 &+` J\ N +9 &,Z F\ N +10 &.` C\ N +9 &0]] <\ N +10 &2Z :\ N +9 &3\\ ?\ M +9 &5[ E\ N +10 &7d` ?\ N +9 &9'Y >\ N +10 &:] E\ N +9 &<^ @\ N +9 &>m] F\ N +10 &@0\\ ;\ M +9 &A] <\ N +9 &C_ E\ N +10 &Ere =\ O +9 &G/u @\ P +10 &H A\ S +9 &J ;\ X +10 &L^ ;\ X +9 &N ;\ X +9 &O ;\ Z +9 &Q E\ Y +10 &S^ D\ [\ +9 &U! >\ [ +9 &VnC >\ 2 +10 &Vn >\ I +5 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&^1 +3 "core" &Vb 9\ I +59 1 + "manipulator"&O% +5 "core" % * + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +99 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%b& +4 "core" &\ +2 "manipulator"&e% +4 "core" %\  - + "storage"(?% +4 "core" %U T\ +2 "storage"(o. +3 "core" .(<* + "storage"(1& +4 "core" &<$ f\  +2 "storage"(E& +3 "core" &<$ ]\  +2 "manipulator"&9& +4 "core" &'  >I + "manipulator"&!% +4 "core" %\  - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&F( +159 "core" ( + "manipulator"&<& +4 "core" & # s +2 "storage"(W& +3 "core" &<$ C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&7'ы +95 "core" ' + "storage"(X& +4 "core" &<$ u\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +283 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<$ 7\  +2 "manipulator"&S& +4 "core" & @ s +2 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( + "manipulator"&8& +4 "core" &  s + "storage"(a& +4 "core" &<$ <\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&A' +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&g& "storage"(U'X +8 "core" & B s + "manipulator"&H% +4 "core" % ? +2 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&:& +5 "core" &i 6  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &i d +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +98 "core" ' + "manipulator"&l& +5 "core" &i $ + "manipulator"&.% +4 "core" % + +2 "processing"%@& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%R(Z +3 "core" &\ +6 & 8\ %f +9 &U\ 8 +10 &\ M +9 &]\ N +10 &k^\ N +9 &-`\ N +9 &`\ N +10 &Z\ N +9 &sb\ N +9 &4_\ O +10 &]\ N +9 &!\\\ N +10 &#{\\\ N +9 &%<[\ O +9 &&]\ O +10 &(^\ O +9 &*_\ O +9 &,D_\ O +10 &._\ O +9 &/^\ N +10 &1^\ N +9 &3M_\ N +9 &5_\ N +10 &6_\ N +9 &8]\ O +9 &:T]\ O +10 &<]\ N +9 &=]w\ N +10 &?]v\ N +9 &A]_s\ N +9 &C_q\ O +10 &Db{\ N +9 &Fl\ P +9 &HZ}v\ R +10 &Jy\ T +9 &K{\ T +10 &Mt\ T +9 &O\\|\ T +9 &Q{\ U +10 &R\ U +9 &T\ T +9 &Vay\ U +10 &X"~\ U +9 &Y{s\ 4 +10 &Z*|\ M +9 &Z"\ - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&]1 +53 "core" 1 + "manipulator"&N% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +91 "core" ' +2 "processing"%k& +55 "core" &Z n\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Y% +4 "core" %\  7  +2 "storage"(p% +4 "core" %a _\ + "storage"([. +3 "core" .(<* +2 "storage"(z& +4 "core" &<$ ]\  + "storage"(+& +5 "manipulator"&B& +4 "core" &<$ o\  + &i +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&u& +5 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &i - D +2 .tForearm.seek PC +2 "manipulator"&d' +91 "core" ' +2 .tHand.close + "manipulator"&$/ +52 "core" / +3 .tPC.seek :open +2 "processing"%}( +95 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +283 ( + "storage"({& +4 "core" &<$ \  +2 "manipulator"& & +4 "core" &i A + "manipulator"&s% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&t'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&f( +250 "core" ( +2 "manipulator"&n& +4 "core" & ) # +2 "storage"( & +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&('ы +97 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "storage"(\ - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &<$ G v\  +2 "manipulator"&& +4 "core" & * "{ +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&/& +4 "core" & # f "{ + "storage"('& +4 "core" &<$\ \ \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&h'ы +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(~' +56 "core" ' +2 "manipulator"&& +4 "core" &  "{ +2 "storage"(-& +3 "core" &<$ :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%' +32 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(_'i +27 "core" ' +2 "manipulator"& % +4 "core" %  m +2 "storage"(v& +4 "core" &<$ h h D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&|' +17 "core" ' + "manipulator"& & +5 "core" & ^ "} + "storage"(m& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +26 "core" ' +2 "storage"(j% +4 "core" %m }\ +3 ."downElevator"SE.seek :down +4 "storage"(y'X +99 (% +3 "core" %G  \ Wc +2 "manipulator"&% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (,& +4 "core" &<$ z\  +2 "collection"'6& +4 "core" &Va S\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\  w  + "storage"(i% +4 "core" %b ]\ +2 "storage"(". +3 "core" .(<* + "storage"(J& +4 "core" &<$ 0\  + "storage"(D& +4 "core" &<$ y\  +2 "manipulator"&2& +3 "core" & B "| +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&>& +4 "core" & # $ "| +2 "storage"(& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&I'ы +97 "core" ' +2 "storage"(Z& +4 "core" &<$ /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&;& +3 "core" &  "| +2 "storage"()& +4 "core" &<$ a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&3' +32 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(K'V +28 "core" ' + "manipulator"&% +5 "core" %  . + "storage"(#& +4 "core" &<$ < ; %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&r' +18 "core" ' + "manipulator"&*& +5 "core" &  _ # + "storage"(& +4 "core" &<$ )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(O'E +40 "core" ' + "manipulator"&b& +4 "core" & o # +2 "manipulator"&e% +4 "core" %ш  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&o( +150 "core" ( + "manipulator"&L& +5 "core" &' E >M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &'  >M +2 .tForearm.seek CC +2 "manipulator"&E'" +93 "core" ' +2 .tHand.close + "manipulator"&9/ +63 "core" / +2 .tCC.seek :open + "collection"'!( +417 "core" ( + "storage"(&& +4 "core" &<$ m\  +2 "storage"(<& +4 "core" &<$ \  + "manipulator"&W& +4 "core" && =F + "manipulator"&X% +4 "core" % * { +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&4( +159 "core" ( +2 "manipulator"&C& +4 "core" & P  + "storage"(Q& +4 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&S' +105 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +58 "core" 1 +2 "manipulator"&`% +4 "core" %   +2 "storage"(g& +3 "core" &<$ ]\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&H' +12 "core" ' +2 "manipulator"&F& +4 "core" & >  +2 "storage"(7& +4 "core" &<$ ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&\\'ы +30 "core" ' + "storage"(A% +5 "core" %H\ \  ]\ +2 ."downElevator"SE.seek :down +3 "storage"(:'X +100 (q% +2 "core" %B \ U_ +2 "manipulator"&M% +4 "core" %g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'.& +54 "core" & J\ + "manipulator"&@% +4 "core" %\    +2 "storage"(U% +4 "core" %]\ \ "\ + "storage"(V. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &K \  +2 "manipulator"&N& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&k( +31 "core" ( +2 "manipulator"&& +4 "core" &  6 2 + "storage"(Y& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +104 "core" ' +2 "storage"([& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +286 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &K >\  +2 "manipulator"&u& +4 "core" &  2 +2 .tElbow.seek 6 + "manipulator"&P( +21 "core" ( +2 "manipulator"&c& +4 "core" &\   + "storage"($& +4 "core" &K v\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&x& "storage"(R'X +8 "core" &\    +2 "manipulator"&% +4 "core" % Ͽ   +2 .tForearm.seek :retract + "manipulator"&{'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&s& +5 "core" &+ A  Ab + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &+ Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&n'" +93 "core" ' +2 "manipulator"& & +4 "core" &+ $ Ab +2 "manipulator"&% +4 "core" %% +2 "collection"'& +4 "core" & X\ +2 "collection"'\ & +5 "core" & [\ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \\\  +9 &2~ Z\ *y +9 &c \\\ > +10 &|w [\ N +9 &@Y ]\ M +10 &\\ U\ M +9 &] V\ M +9 &Z [\ M +10 &H] T\ M +9 & Z [\ N +9 &] R\ M +10 & Z O\ N +9 &"P[ U\ M +10 &$[ N\ M +9 &%] R\ M +9 &'^ Q\ M +10 &)X] D\ M +9 &+^ E\ N +9 &,Z 8\ M +10 &.Y <\ M +9 &0`\\ <\ M +10 &2"] @\ M +9 &3Y E\ M +9 &5Y D\ M +10 &7g\\ 6\ N +9 &9)Z :\ N +9 &:Z <\ M +10 &<] ?\ N +9 &>pZ D\ M +10 &@2Z <\ M +9 &A_ >\ N +9 &C_ C\ N +10 &Etc ?\ O +9 &G3n A\ P +9 &H <\ R +10 &J C\ W +9 &L` B\ X +10 &N! @\ X +9 &O 9\ Y +9 &Q 8\ Z +10 &Sb A\ Z +9 &U$ B\ Z +9 &VmC B\ 1 +10 &Vx E\ J +5 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&1 +3 "core" &Vl E\ J +59 1 +2 "manipulator"&% +4 "core" % ) 6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%'& +4 "core" &\ +2 "manipulator"&t% +4 "core" %\  % 5 + "storage"(% +4 "core" %d x T\ +2 "storage"(-. +3 "core" .(K + "storage"(& +4 "core" &K x ~ !\  +2 "storage"( & +3 "core" &K | { +\  +2 "manipulator"&v& +3 "core" &*  @Y +2 "manipulator"&% +4 "core" %\ ! 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +173 "core" ( +2 "manipulator"&m& +4 "core" &\ N f + "storage"(j& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&f'a +92 "core" ' +2 "storage"((& +4 "core" &K Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +288 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&h& +4 "core" & # e + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" & e +2 "storage"(%& +3 "core" &K \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&|' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& "storage"('X +7 "core" & n e +2 "manipulator"&i% +4 "core" % D < +2 .tForearm.seek :retract + "manipulator"&"'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&_(s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&J& +5 "core" &w 3   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &w D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&2' +100 "core" ' + "manipulator"&>& +5 "core" &w  r  + "manipulator"&% +4 "core" % + +2 "processing"%& +4 "core" &\ +2 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed + "processing"%y(Z +4 "core" &\ +8 & 0\ #b +10 &V\ 7 +9 &~\ L +10 &]\ N +9 &_`\ N +9 &!_\ N +10 &_\ N +9 &]\ N +9 &g`\ N +10 &)\\\ N +9 &]\ O +10 &!]\ N +9 &#o`\ N +9 &%1_\ N +10 &&\\\ N +9 &(Y\ N +9 &*w^\ N +10 &,9^\ N +9 &-]\ O +9 &/\\\ N +10 &1Z\ N +9 &3A_\ N +10 &5\\\ N +9 &6Y\ N +9 &8Z\ N +10 &:IX\ N +9 &< \\\ N +10 &=Z\ N +9 &?\\\ N +9 &AR[\ N +10 &C^\ O +9 &D_\ O +9 &Fk\ P +10 &HM~\ R +9 &J \ S +9 &K\ T +10 &M\ T +10 &OQ\ T +9 &Q\ T +9 &R\ T +9 &T\ T +10 &VV\ U +9 &X\ U +10 &Yzr\ 9 +9 &Z*~\ L +10 &Z$\ . +2 ( + "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&01 +52 "core" 1 + "manipulator"&% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 "processing"%;& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&)% +4 "core" %\    +2 "storage"(% +3 "core" %X v v >\ +2 "storage"(. +3 "core" .(K + "storage"(#& +4 "core" &K y A\  + "storage"(*& +5 "manipulator"&& +4 "core" &K y )\  + &w X  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&b(s + "storage"(e'i +6 "core" ( + "manipulator"&I& +4 "core" &w  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &w %   +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&3/ +63 "core" / +2 .tPC.seek :open +2 "processing"%r( +95 "core" ' + "storage"(K- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(L'y +46 "core" ' +283 ( + "storage"(1& +4 "core" &K \  + "manipulator"&^& +4 "core" &w J  +2 "manipulator"&G% +3 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&9'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&?( +262 "core" ( + "manipulator"&=& +4 "core" &  A  +2 "storage"(&& +4 "core" &K ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&<'a +93 "core" ' +2 .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "storage"(X- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(C'E +75 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Q' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +11 "core" -' +2 "storage"(o& +4 "core" &K H \  +2 "manipulator"&a& +9 "core" &   + .tElbow.seek 6 +2 "manipulator"&`( +4 "core" ( + "manipulator"&g& +9 "core" &   + "storage"(F& +4 "core" &K I 2\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7'a +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(A' +58 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(q& +4 "core" &K +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&M'Υ +33 "core" ' +2 .tElbow.hold + "manipulator"&4, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(S'i +27 "core" ' +2 "manipulator"&H% +4 "core" %η  +2 "storage"(.& +5 "core" &K j k \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&O' +12 "core" ' + "manipulator"&@& +5 "core" & 2  + "storage"(U& +4 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&V'a +29 "core" ' +2 "storage"(\\% +4 "core" %n L\ +2 ."downElevator"SE.seek :down +4 "storage"(:'X +99 (T% +3 "core" %"I [\ Wc +2 "manipulator"&]% +4 "core" %` S s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K 8\  + "collection"'Y& +4 "core" &Vl E\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&[% +4 "core" %\ !  3 +2 "storage"(8% +4 "core" %Y \ + "storage"(l. +3 "core" .(K +2 "storage"(B& +4 "core" &K f\  +2 "storage"(+& +3 "core" &K \  +2 "manipulator"&u& +4 "core" & [  + .tElbow.seek 6 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&$& +4 "core" & *  + "storage"(w& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&x'a +106 "core" ' +2 "storage"(& +4 "core" &K n\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +284 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&s& +3 "core" & c  +2 "storage"(d& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&z'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Z +31 "core" ' +2 "manipulator"&% +4 "core" %ι +2 "storage"(P& +3 "core" &K } \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&R' +12 "core" ' +2 "manipulator"&{& +4 "core" & V  + "storage"(!& +4 "core" &K +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('I +40 "core" ' + "manipulator"&'& +5 "core" & r  + "manipulator"&t% +4 "core" %U  q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&-( +155 "core" ( +2 "manipulator"&\ & +4 "core" &+  A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* A_ +2 .tForearm.seek CC + "manipulator"& '" +99 "core" ' + .tHand.close +2 "manipulator"&v/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(n& +4 "core" &K \  + "storage"(m& +4 "core" &K \  + "manipulator"&j& +4 "core" &(  ?V + "manipulator"&(% +4 "core" % 3 < +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&/( +156 "core" ( +2 "manipulator"&& +4 "core" & X  +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&h'Υ +110 "core" ' + .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +57 "core" 1 +2 "manipulator"&,% +5 "core" % ε  + "storage"(6& +4 "core" &K m\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts + "manipulator"&i' +18 "core" ' +3 "manipulator"& & +4 "core" & )  + "storage"(f& +4 "core" &K /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +16 "core" ' +2 "storage"(|% +4 "core" %O\ ]\ +2 ."downElevator"SE.seek :down +4 "storage"(J'X +99 (D% +2 "core" %A B\ U_ +2 "manipulator"&% +4 "core" %Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & `\ + "manipulator"&% +4 "core" %\  W  +2 "storage"(% +4 "core" %\\ 7\ + "storage"(". +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(}(,l +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &,n V\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&;( +12 "core" ( +2 "manipulator"&)& +4 "core" & " w  + "storage"(& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +97 "core" ' + "storage"(#& +4 "core" &,r\ \  D\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Z& +65 "core" &,r L\ + "manipulator"&I& +4 "core" & N  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&2& +4 "core" & 1  + "storage"(3& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&K', +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&5& + "storage"(y'X +8 "core" &   + "manipulator"&e% +4 "core" % 2 h  +2 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +154 "core" ( +3 "manipulator"&G& +4 "core" ' + &# , E :. + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 && +4 "core" &#  :. +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='" +93 "core" ' +3 "manipulator"&&& +4 "core" &# - :. +2 "manipulator"&b% +4 "core" %' .  +2 "collection"'W& +4 "core" & j\ +2 "collection"'X& +5 "core" & Q\ +2 .tCC.seek :closed + "collection"'9(V +5 "core" & O\ +7 & , [\ #b +10 &W [\ 8 +9 &| ]\ L +10 &Y \\\ N +9 &j\\ [\ M +9 &,W ]\ M +10 &_ Z\ M +9 &\\ \\\ M +9 &rX Y\ M +10 &4^ \\\ M +9 &\\ Y\ M +10 &!Z [\ M +9 &#zZ [\ M +9 &%<Y W\ M +10 &&Z V\ M +9 &(X U\ M +9 &*[ Q\ M +10 &,CY U\ N +9 &.Z T\ M +10 &/^ K\ M +9 &1_ W\ M +9 &3LZ Q\ M +10 &5Y R\ M +9 &6] K\ N +9 &8Y G\ M +10 &:T^ H\ M +9 &<_ H\ M +10 &=^ L\ M +9 &?] D\ M +9 &A[[ G\ N +10 &C] G\ N +9 &De G\ N +9 &Fm E\ O +10 &HX~ N\ Q +9 &J D\ V +10 &K E\ X +9 &M N\ Y +9 &OK N\ Y +10 &Q C\ Y +9 &R N\ Y +9 &T C\ Z +10 &V)u E\ . +9 &V% D\ R +9 ( +3 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&E1 +3 "core" &Vj @\ I +55 1 +3 "manipulator"&o% +4 "core" % ' # b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +4 "core" &\ +2 "manipulator"&F% +3 "core" %\   +2 "storage"( % +4 "core" %U s\ + "storage"(q. +3 "core" .(,l +2 "storage"(L& +4 "core" &,r q\ + "storage"(H& +4 "core" &,r h\ +2 "manipulator"&.& +4 "core" &# :. + "manipulator"&C% +4 "core" %\  8  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@( +160 "core" ( +2 "manipulator"&U& +4 "core" & +2 "storage"(\\& +4 "core" &,r 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&?'Ѽ +96 "core" ' + "storage"(<& +5 "core" &,r 0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +283 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &,r "\ +2 "manipulator"&7& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&`( +3 "core" ( + "manipulator"&A& +4 "core" & 5 +2 "storage"(M& +3 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&O', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(['X +8 "core" &  + "manipulator"&8% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&S(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&B& +4 "core" &u j 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &u : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&u' +102 "core" ' +2 "manipulator"&$& +4 "core" &u * +2 "manipulator"&w% +3 "core" % h +2 "processing"%V& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%:(Z +4 "core" &\ +8 &8\ $c +9 &T\ 7 +10 &\ L +9 &_\ N +9 &e_\ N +10 &(\\\ N +9 &\\\ N +9 &Z\ N +10 &n]\ N +9 &0]\ N +10 &\\\ N +9 &!\\\ N +9 &#u]\ N +10 &%8[\ N +9 &&Y\ N +9 &(\\\ N +10 &*}\\\ N +9 &,@]\ N +10 &.]\ N +9 &/\\\ M +9 &1\\\ N +10 &3IZ\ M +9 &5 [\ N +9 &6[\ N +10 &8[\ N +9 &:P[\ N +10 &<]\ N +9 &=Z\ N +9 &?Z\ N +10 &AXZ\ N +9 &C\\\ N +9 &D`\ N +10 &Fh\ P +9 &HU~\ Q +10 &J\ S +9 &K\ S +9 &M\ T +10 &OV\ T +9 &Q\ S +9 &R\ T +10 &T\ T +9 &V[\ U +10 &X\ U +9 &Y{p\ 5 +9 &Z3\ E +10 &Z\ ( +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&41 +62 "core" 1 + "manipulator"&N% +5 "core" %  d h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' + "processing"%s& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&d% +4 "core" %\  K  +2 "storage"( % +3 "core" %c r\ +2 "storage"(. +3 "core" .(,l +2 "storage"(P& +4 "core" &,r m\ + "storage"({& +2 "manipulator"&!& +7 "core" &,r s\ + &u  + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&'(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'i +3 "core" ( + "manipulator"&x& +4 "core" &u  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &u +2 .tForearm.seek PC +2 "manipulator"&k' +97 "core" ' +2 .tHand.close + "manipulator"&z/ +60 "core" / +2 .tPC.seek :open + "processing"%R( +97 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(\ 'y +46 "core" ' +297 ( + "storage"(& +4 "core" &,r O\ +2 "manipulator"&& +4 "core" &u + "manipulator"&% +4 "core" % F +2 .tForearm.seek :retract + "manipulator"&v'\ +101 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +258 "core" ( + "manipulator"&& +4 "core" & Z +2 "storage"(n& +4 "core" &,r <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&m'Ѽ +89 "core" ' + .tHand.open +2 "manipulator"&j1 +56 "core" 1 +2 "storage"((- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(-& +3 "core" &,r I P\ +2 "manipulator"&%& +4 "core" & 9 +2 .tElbow.seek 4 + "manipulator"&,( +11 "core" ( + "manipulator"&6& +5 "core" & C  + "storage"( & +4 "core" &,r I E\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&f'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(|' +57 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(D& +4 "core" &,r y\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&/, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +26 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(i& +4 "core" &,r } \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&'> +20 "core" ' +2 "manipulator"&& +4 "core" & ^  +2 "storage"("& +4 "core" &,r B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +29 "core" ' + "storage"(% +5 "core" %r M\ +2 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (% +3 "core" %+F d\ Wb +2 "manipulator"&0% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +142 "core" ' +14 ' + ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" &,r {\ +2 "collection"'& +4 "core" &Vj P\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&#% +4 "core" %\  9  +2 "storage"(~% +4 "core" %W \ + "storage"(>. +4 "core" .(,l + "storage"(*& +4 "core" &,r ]\ + "storage"(Z& +4 "core" &,r U\ +2 "manipulator"&I& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&2( +4 "core" ( +2 "manipulator"&3& +4 "core" & D  +2 "storage"(_& +4 "core" &,r 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +90 "core" ' +2 "storage"(e& +4 "core" &,r +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &  + "storage"(& +4 "core" &,r h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'W +28 "core" ' + "manipulator"&b% +5 "core" % : + "storage"(W& +4 "core" &,r h h u\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&y'? +12 "core" ' + "manipulator"&1& +4 "core" & c  +2 "storage"(& +4 "core" &,r U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&E'Ѽ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'F +40 "core" ' + "manipulator"&g& +4 "core" & O  +2 "manipulator"&F% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&q( +154 "core" ( +2 "manipulator"&L& +4 "core" &' 8 >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &' r >J +2 .tForearm.seek CC + "manipulator"&H'" +93 "core" ' +2 .tHand.close +2 "manipulator"&./ +63 "core" / +2 .tCC.seek :open +2 "collection"'C( +416 "core" ( +2 "storage"(=& +4 "core" &,r \ + "storage"(U& +4 "core" &,r \ + "manipulator"&\\& +4 "core" && 1 G =F +2 "manipulator"&<% +4 "core" % 4 '  +2 .tForearm.seek :retract + "manipulator"&^'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&a( +162 "core" ( +2 "manipulator"&T& +4 "core" & & k + "storage"(]& +4 "core" &,r @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&7' +103 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&M1 +53 "core" 1 +2 "manipulator"&% +5 "core" %  a Q + "storage"(Y& +4 "core" &,r c\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&8'@ +18 "core" ' +3 "manipulator"&@& +4 "core" & Y k + "storage"(?& +4 "core" &,r C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +29 "core" ' + "storage"(O% +5 "core" %K\  u\ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +100 (+% +2 "core" %A r\ U_ +2 "manipulator"&`% +4 "core" %ѹ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +91 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'w& +4 "core" & Z\ +2 "manipulator"&V% +4 "core" %\   + "storage"([% +4 "core" %b \  U\ +2 "storage"(l. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(r(<* +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &<( ^\  + "manipulator"&N& +4 "core" & ? k +2 .tElbow.seek 5 + "manipulator"&s( +8 "core" ( + "manipulator"&d& +4 "core" & , a +2 "storage"( & +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +95 "core" ' + "storage"(P& +4 "core" &<$\ \ % !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +286 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<$ \  +2 "manipulator"&x& +4 "core" & a +2 .tElbow.seek 5 + "manipulator"&c( +4 "core" ( + "manipulator"&u& +4 "core" & j a + "storage"(z& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +62 "core" / +3 ."downElevator"SE.seek :down +10 "manipulator"&p& + "storage"(:'X +7 "core" & 6 a +6 "manipulator"&t% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ( +2 "manipulator"&& +4 "core" ' + &# $ v :/ + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&k& +5 "core" &# :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' + "manipulator"&n& +5 "core" &# # ! :/ +2 "manipulator"&'% +4 "core" % ( +2 "collection"'j& +4 "core" & g\ +2 "collection"'(& +6 "core" & \\\ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" & `\ +5 & ^\ 5 +10 &AG~ ]\ 0 +9 &kr \\\ E +9 &b \\\ M +10 &Z [\ M +9 &\\ O\ M +10 &XZ L\ M +9 &\\ Q\ M +9 &\\ ]\ N +10 &Z \\\ M +9 &`\\ Y\ M +10 &! [ [\ N +9 &"\\ X\ M +9 &$Z W\ M +10 &&gV N\ M +9 &((Z Z\ N +9 &)Y Q\ M +10 &+Z U\ M +9 &-pW S\ M +9 &/1Z M\ M +10 &0] S\ M +9 &2Z H\ N +10 &4xY N\ M +9 &69Z Q\ M +9 &7W K\ M +10 &9Z H\ M +9 &;_ G\ M +9 &=AY J\ M +10 &?W P\ M +9 &@Y H\ M +10 &B[ G\ N +9 &DH` H\ N +9 &Ff G\ N +10 &Gz K\ Q +9 &I| H\ T +9 &K0 J\ Y +10 &L I\ X +9 &N F\ X +10 &Pu F\ Y +9 &R7 L\ Y +9 &S I\ Z +10 &U C\ H +9 &V5 j\ $n +9 &Vk X\ J +3 ( + "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&-1 +57 "core" 1 +2 "manipulator"&%% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&v% +4 "core" %\  +2 "storage"( % +4 "core" %b \ + "storage"(D. +3 "core" .(<* + "storage"(\ & +4 "core" &<$ \  +2 "storage"(& +4 "core" &<$ \  + "manipulator"&i& +4 "core" &# [ :. + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +159 "core" ( +2 "manipulator"&"& +4 "core" & T } + "storage"(& +4 "core" &<$ <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +98 "core" ' +2 "storage"(m& +54 "core" &<$ \\\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &<$ c\  +2 "manipulator"&f& +4 "core" & } +2 .tElbow.seek 5 + "manipulator"&,( +3 "core" ( +2 "manipulator"&|& +4 "core" & S } +2 "storage"(& +3 "core" &<$ Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(#'X +8 "core" &  } +2 "manipulator"&~% +4 "core" %  O + .tForearm.seek :retract +2 "manipulator"&>'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&h(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&*& +5 "core" &o #   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &o   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&I' +100 "core" ' +2 "manipulator"&3& +4 "core" &o  S  +2 "manipulator"&_% +4 "core" % +2 "processing"%& +3 "core" &\ +2 "processing"%e& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &\  +10 &1~\ *z +9 &c\ > +10 &xy\ O +9 &;Z\ N +9 &Z\ N +10 &]\ N +9 &]\ N +9 &D\\\ N +10 &]\ N +9 &\\\ N +9 & \\\ N +10 &"K[\ N +9 &$ Z\ N +10 &%\\\ N +9 &'^\ N +9 &)T\\\ N +10 &+\\\ M +9 &,[\ N +9 &.Z\ N +10 &0\\\\\ N +9 &2[\ N +10 &3[\ N +9 &5\\\ N +9 &7e[\ M +10 &9%\\\ N +9 &:Y\ N +9 &<Z\ M +10 &>kZ\ N +9 &@.\\\ N +10 &A^\ N +9 &C^\ N +10 &Eqb\ O +9 &G0m\ P +9 &H\ R +9 &J\ S +10 &Lk\ S +9 &N-\ S +10 &O\ T +9 &Q\ T +10 &Sp\ T +9 &U2\ T +9 &V\ T +9 &X\ U +10 &Z![\ %q +9 &Zc\ 3 +9 ( +3 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&/1 +3 "core" &Z"\ . +60 1 + "manipulator"&% +4 "core" %  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%G& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  +2 "storage"(% +3 "core" %b ^\ +2 "storage"(b. +3 "core" .(<* + "storage"(W& +4 "core" &<$ Q\  +2 "storage"(1& +2 "manipulator"&& +7 "core" &<$ U\  + &o  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&g(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(F'i +3 "core" ( + "manipulator"&5& +4 "core" &o f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &o a  +2 .tForearm.seek PC +2 "manipulator"&;' +91 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%y( +98 "core" ' +2 "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'y +46 "core" ' +276 ( + "storage"(X& +5 "core" &<$ \  + "manipulator"&E& +4 "core" &o   + "manipulator"&K% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +245 "core" ( +2 "manipulator"&9& +4 "core" &   : +2 "storage"(=& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&U'ы +94 "core" ' +2 .tHand.open + "manipulator"&\\1 +57 "core" 1 +2 "storage"(<- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(]' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(q& +3 "core" &<$ I 3\  +2 "manipulator"&M& +4 "core" & @ : +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&Y& +4 "core" &  : + "storage"(@& +4 "core" &<$ I 1\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&?'ы +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +57 "core" ' + "manipulator"&^& +5 "core" & B : + "storage"(+& +4 "core" &<$ )\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&`' +30 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +24 "core" ' +2 "manipulator"&w% +4 "core" % b +2 "storage"(8& +4 "core" &<$ r  E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&V' +18 "core" ' +2 "manipulator"&[& +4 "core" & > : +2 "storage"(l& +4 "core" &<$ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&o'ы +18 "core" ' + "storage"(Q% +5 "core" %p m\ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +100 (}% +2 "core" %G c\ Wd +2 "manipulator"&4% +4 "core" %ђ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +93 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (d& +4 "core" &<$ 1\  +2 "collection"' & +3 "core" &V` Q\ J +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&P% +4 "core" %\ # > < + "storage"(A% +4 "core" %T \ + "storage"($. +4 "core" .(<* + "storage"({& +4 "core" &<$ q\  + "storage"(& +4 "core" &<$ \  + "manipulator"&x& +4 "core" & m : +2 .tElbow.seek 5 + "manipulator"&u( +4 "core" ( + "manipulator"&z& +4 "core" &  : +2 "storage"(S& +3 "core" &<$ }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&p'ы +111 "core" ' + "storage"(t& +5 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ! : + "storage"(k& +4 "core" &<$ S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&!' +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''W +31 "core" ' +2 "manipulator"&j% +4 "core" %   + "storage"(c& +4 "core" &<$ ^ \\ '\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&:' +14 "core" ' + "manipulator"&& +4 "core" & ? > +2 "storage"(C& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +51 "storage"(%'F +41 "core" ' +2 "manipulator"& & +4 "core" & > +2 "manipulator"&v% +4 "core" %Ѥ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&D( +149 "core" ( + "manipulator"&\ & +4 "core" &* @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &* @Y +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&i/ +52 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(& +5 "core" &<$ (\  + "storage"("& +4 "core" &<$ e\  + "manipulator"&& +4 "core" & &   <> +2 "manipulator"&m% +4 "core" % 2 9 +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +167 "core" ( + "manipulator"&& +4 "core" & - c +2 "storage"(0& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&f' +107 "core" ' +2 .tElbow.hold + "manipulator"&|, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&)% +4 "core" %   + "storage"(& +5 "core" &<$ O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&~' +14 "core" ' + "manipulator"&& +4 "core" & O d +2 "storage"(& +4 "core" &<$ (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +32 "core" ' +2 "storage"(% +4 "core" %I\  +\ +3 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (Z% +3 "core" %C @\ V_ + "manipulator"&,% +4 "core" %р > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'_& +4 "core" & k\ +2 "manipulator"&% +4 "core" %\  3 + "storage"(#% +4 "core" %b E\ +2 "storage"(>. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(R(K +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (/& +3 "core" &K \ \  +2 "manipulator"&& +3 "core" & , d +2 .tElbow.seek 6 +2 "manipulator"&G( +49 "core" ( +2 "manipulator"&& +4 "core" &  E  +2 "storage"(& +4 "core" &K o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&b'a +87 "core" ' + "storage"(e& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'i +286 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K x\  +2 "manipulator"&5& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&2( +7 "core" ( +2 "manipulator"&I& +4 "core" & ?  + "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(J'X +8 "core" & l  + "manipulator"&F% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&X'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&E( +155 "core" ( + "manipulator"&K& +5 "core" &'  x >M + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &;& +2 "core" &' d >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'" +98 "core" ' +2 "manipulator"&=& +4 "core" &( 6 >M +2 "manipulator"&g% +4 "core" %!  +2 "collection"'\\& +4 "core" & j\ +2 "collection"'<& +5 "core" & c\ +2 .tCC.seek :closed + "collection"'H(V +5 "core" & k\  +9 &0 c\ +z +10 &c `\ > +9 &zu ^\ N +9 &>Z [\ M +10 &\\ [\ M +9 &Z [\ M +9 &[ X\ M +10 &EZ [\ M +9 &[ Z\ M +10 &Z T\ M +9 & \\ [\ M +9 &"L\\ \\\ M +10 &$[ \\\ M +9 &%Z \\\ M +9 &'[ [\ M +10 &)VZ \\\ M +9 &+[ Z\ M +10 &,Z X\ M +9 &.Z M\ M +9 &0^\\ Y\ M +10 &2 Z U\ M +9 &3Z Z\ M +10 &5Z V\ M +9 &7fZ \ M +9 &9)Z h\ L +10 &:\\ V\ M +9 &<Z L\ M +9 &>l\\ N\ M +10 &@/X T\ M +9 &A\\ R\ M +9 &C] P\ M +10 &Es` Q\ N +10 &G1p K\ O +9 &H L\ Q +9 &J M\ W +9 &L] Q\ X +10 &N F\ X +9 &O C\ Y +9 &Q F\ Y +10 &S` I\ Z +10 &U! F\ Z +9 &VjB P\ 1 +9 &Vr S\ J +5 ( +2 "collection"'<& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&q1 +3 "core" &Vj J\ J +59 1 +2 "manipulator"&M% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%@& +5 "core" &\ + "manipulator"&.% +4 "core" %\ # D = + "storage"(^% +4 "core" %V h h u\ +2 "storage"(+. +3 "core" .(K +2 "storage"(L& +3 "core" &K | n \  +2 "storage"(w& +4 "core" &K h h u\  + "manipulator"&8& +4 "core" && p =E + "manipulator"&T% +4 "core" %\ # = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +159 "core" ( +2 "manipulator"&l& +4 "core" & W  + "storage"(Q& +4 "core" &K S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +87 "core" ' +2 "storage"(U& +4 "core" &K F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +280 "core" ' +2 "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &K u\  +2 "manipulator"&?& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&O& +4 "core" & '  + "storage"(`& +4 "core" &K N\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&V' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(P'X +8 "core" &   +2 "manipulator"&A% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&7'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&{& +5 "core" &o 0 e ! $ + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &o $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x' +101 "core" ' +2 "manipulator"&z& +4 "core" &o ! $ +2 "manipulator"&S% +4 "core" % d T +2 "processing"%o& +4 "core" &\ +2 "processing"%t& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(Z +5 "core" &\ +6 &@\ %g +10 &W\ 8 +9 &\ M +9 &\\\ N +10 &v]\ N +9 &8^\ N +9 &[\ M +10 &Z\ N +9 &}[\ N +9 &@\\\ N +10 & \\\ N +9 &!\\\ N +10 &#_\ N +9 &%HZ\ N +9 &'\ ]\ N +10 &(Z\ N +9 &*_\ N +9 &,P\\\ N +10 &._\ N +9 &/Z\ M +10 &1Z\ N +9 &3XX\ N +9 &5Z\ M +10 &6[\ M +9 &8Z\ N +9 &:aZ\ M +10 &<"Z\ N +57 &=X\ N +2 &?Y\ N + &Ag\\\ N + &C)[\ N + &D_\ N + &Fi\ P +3 &Hb\ R +9 &J!\ S +9 &K\ T +10 &M\ T +9 &Og\ S +9 &Q'\ T +10 &R\ T +9 &T\ T +9 &Vk\ U +10 &X-\ U +9 &Y{p\ / +10 &Z'k\ J +9 &Z$\ 0 +2 ( +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&a1 +58 "core" 1 +2 "manipulator"&N% +4 "core" %  } T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&k% +4 "core" %\  &   +2 "storage"(n% +4 "core" %] l v .\ + "storage"(j. +4 "core" .(K + "storage"(c& +4 "core" &K j n\  +2 "storage"(& +4 "manipulator"&C& +4 "core" &K v w :\  + &o @ $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"& (s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'i +3 "core" ( + "manipulator"&p& +4 "core" &o $  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &o W $ +2 .tForearm.seek PC +2 "manipulator"&s' +96 "core" ' + .tHand.close + "manipulator"&!/ +60 "core" / +2 .tPC.seek :open + "processing"%:( +91 "core" ' + "storage"('- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(\ 'y +45 "core" ' +285 ( +2 "storage"((& +4 "core" &K .\  +2 "manipulator"&-& +4 "core" &o % $ + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&i'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"& ( +261 "core" ( +2 "manipulator"& & +4 "core" & n  + "storage"(& +4 "core" &K a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&"'a +95 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(D& +4 "core" &K\ \  0\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&& +9 "core" & I  + "storage"(& +4 "core" &K \  \  +2 .tForearm.seek 6 + 700 counts +7 "manipulator"&'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&& +5 "core" & v  + "storage"(Z& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&,'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +24 "core" ' + "manipulator"&~% +5 "core" %θ L + "storage"(_& +4 "core" &K r  S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&#& +5 "core" & U  +2 "storage"(>& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&%'a +29 "core" ' +2 "storage"(% +4 "core" %p \ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (r% +3 "core" %J z S\ Wd +2 "manipulator"&/% +4 "core" %` m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K A\  +2 "collection"'& +4 "core" &Vj P\ J + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&e% +4 "core" %\ # v 9 + "storage"(|% +4 "core" %` O\ +2 "storage"(3. +3 "core" .(K +2 "storage"(1& +3 "core" &K \  +2 "storage"(& +4 "core" &K X\  + "manipulator"&5& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&I( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(h& +4 "core" &K 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +111 "core" ' +3 "storage"(F& +4 "core" &K *\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +284 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +2 "core" &  +2 "storage"(;& +4 "core" &K ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&W'Υ +29 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(=- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"(g'Z +31 "core" ' +2 "manipulator"&\\% +4 "core" %θ + "storage"(2& +4 "core" &K _ ^ #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&J' +12 "core" ' + "manipulator"&X& +5 "core" &  + "storage"(& +4 "core" &K @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&q'a +47 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"(M'I +41 "core" ' +2 "manipulator"&@& +4 "core" &  +2 "manipulator"&.% +4 "core" %u ~ l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +152 "core" ( +2 "manipulator"&<& +4 "core" &( d ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &( ?T +2 .tForearm.seek CC +2 "manipulator"&w'" +92 "core" ' +2 .tHand.close + "manipulator"&8/ +57 "core" / + .tCC.seek :open +2 "collection"'T( +416 "core" ( +2 "storage"(9& +4 "core" &K \  + "storage"(l& +4 "core" &K ~\  +2 "manipulator"&Q& +3 "core" &( s >O +2 "manipulator"&U% +3 "core" % % r +2 .tForearm.seek :retract +2 "manipulator"&E'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Y( +152 "core" ( + "manipulator"&}& +4 "core" & $ \ +2 "storage"(4& +4 "core" &K =\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&?'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&`1 +56 "core" 1 + "manipulator"&d% +5 "core" % η ' + "storage"( & +4 "core" &K a\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts + "manipulator"&A' +12 "core" ' +3 "manipulator"&[& +4 "core" & \ + "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +50 "manipulator"&]'a +24 "core" ' + "storage"(V% +4 "core" %I\ \ 5\ +3 ."downElevator"SE.seek :down +3 "storage"({'X +99 (% +3 "core" %A ]\ V` +2 "manipulator"&% +4 "core" %k H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +19753 "Can"\ 42 +28623 #t-> exit +6 #mEXIT @1632775567.20EDT @1634240411.64EDT = =mMAIN_scheduler =tMAIN @EDT1634240415.25 #"core_reset"Sent BREAK +3 #t@11826 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +214 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +590 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +780 "Can"k\ ` +2 k\ ` +2 #tPolling Can every 10:00 +17 #Cleanly exited at 16:46:07EDT27-Sep-21 +671 #-> ESP.ready! +12 #Powering core bus +556 .Gate.power :raw,:ON +4 "sampler") +46 ) +3 "core"  +4 "collection"' +4 ' +8 "core"  +3 "processing"% +3 % +6 "core"  +8 "collection"' 9\ +5 ' 0\ +3 ' -\ +8 "processing"% 9\ +4 % 2\ +4 % *\ +3 % 0\ +7 "sampler")&\ +4 "collection"'% +6 "core" % 7\ +3 .tCS.configure :default +4 "collection"'#P d@b +4 "processing"%% +6 "core" %\ +3 .tPS.configure :default +4 "processing"%#A d`xb +5 "sampler")% +5 "core" %\ \   +3 .tSS.configure :default +4 "sampler")#.0X require 'shuffle.rb' +1267 #-> 5.times {shuffle 4..6} +4 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +4 "collection"';& +6 "core" & g\  +3 .tHand.open +2 "manipulator"&<1 +58 "core" 1 +3 "manipulator"&=% +9 "core" % \  T w +2 "storage"(>% +8 "core" %_\ Q\ Q \ +3 "storage"(?. +6 "core" .( +3 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +3 .tSC.seek 4 +4 "storage"(@(,l +336 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +5 (A& +7 "core" &,i\ \  D\  +4 "manipulator"&B& +7 "core" &\ f Z +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 .tElbow.seek 4 +3 "manipulator"&C( +15 "core" ( +3 "manipulator"&D& +8 "core" & # +3 "storage"(E& +8 "core" &,g\ B\ + G\  +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&F'Ѽ +95 "core" ' +3 "storage"(G& +8 "core" &,g\ C\ D \  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(H'i +281 "core" ' +3 "storage"(I- +7 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (J& +5 "core" &,g\ '\ " \  +4 "manipulator"&K& +8 "core" & # +3 .tElbow.seek 4 +6 "manipulator"&L( +6 "core" ( +2 "manipulator"&M& +8 "core" &  # +3 "storage"(N& +6 "core" &,g\ %\ % |\  +5 .tForearm.seek 4 + 300 counts +2 "manipulator"&O', +27 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&P/ +148 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&Q& +4 "storage"(R'X +14 "core" &   # +4 "manipulator"&S% +8 "core" % #   +4 .tForearm.seek :retract +3 "manipulator"&T'\ +93 "core" ' +3 .tElbow.seek CC +4 "manipulator"&U( +145 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +4 "manipulator"&V& +8 "core" &% ] <@ +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &W& +8 "core" &%  <@ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&X'" +100 "core" ' +2 "manipulator"&Y& +9 "core" &&  <@ +3 "manipulator"&Z% +8 "core" % ~ +4 "collection"'[& +8 "core" & h\  +4 "collection"'\\& +12 "core" & d\  +6 & l\  +7 .tCC.seek :closed +3 "collection"'](V +8 "core" & a\  +5 & a\  +2 &\ j\ @ +6 &#I k\ 1 +10 &Ps a\ F +10 &e c\ N +8 &b l\ N +11 &|_ f\ N +8 &@_ l\ M +10 &a k\ N +10 &] m\ N +8 &_ i\ M +10 &G` j\ N +10 &! b m\ N +8 &"b l\ N +10 &$` k\ N +9 &&P_ l\ M +10 &(` j\ M +10 &)b k\ N +8 &+c j\ N +10 &-Wb l\ N +10 &/_ l\ N +8 &0_ n\ N +10 &2_ l\ M +9 &4_^ m\ N +10 &6 d m\ N +10 &7_ m\ N +8 &9c l\ N +10 &;fb f\ N +10 &='a j\ N +9 &>_ g\ N +9 &@` c\ M +10 &Bna f\ N +9 &D/g [\ N +10 &Ep f\ P +9 &G `\ Q +9 &Ic ]\ U +10 &K c\ Y +9 &L \\\ Y +9 &N `\ Y +10 &P^ l\ Y +9 &R `\ Y +10 &S [\ Z +8 &U ]\ G +11 &V5 a\ , +9 &V\\ d\ E +2 ( +6 "collection"'\\& +6 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 1.97 +2 .Hand.open +4 "manipulator"&^1 +6 "core" &V_ `\ E +52 1 +3 "manipulator"&_% +8 "core" %  +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&`'\ +94 "core" ' +4 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +8 "core" &!\  +4 "manipulator"&b% +8 "core" %\  :  +3 "storage"(c% +8 "core" %U ~\ +3 "storage"(d. +6 "core" .(,l +2 "storage"(e& +8 "core" &,g |\  +3 "storage"(f& +7 "core" &,g \  +3 "manipulator"&g& +8 "core" &% D <@ +2 "manipulator"&h% +8 "core" %\    +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 4 +3 "manipulator"&i( +156 "core" ( +4 "manipulator"&j& +8 "core" &  `  +2 "storage"(k& +8 "core" &,g\ \  \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&l'Ѽ +104 "core" ' +3 "storage"(m& +9 "core" &,g\ \  \  +3 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(n'i +285 "core" ' +2 "storage"(o- +7 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +4 (p& +7 "core" &,g 3\  +3 "manipulator"&q& +7 "core" &  +3 .tElbow.seek 4 +4 "manipulator"&r( +8 "core" ( +3 "manipulator"&s& +8 "core" &   +3 "storage"(t& +8 "core" &,g \  +4 .tForearm.seek 4 + 300 counts + "manipulator"&u', +24 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&v/ +60 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&w& +3 "storage"(x'X +15 "core" &    +2 "manipulator"&y% +8 "core" % &  " +4 .tForearm.seek :retract +4 "manipulator"&z'\ +97 "core" ' +3 .tElbow.seek PC +4 "manipulator"&{(s +148 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +109 "core" ( +3 "manipulator"&|& +9 "core" &o   +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &}& +6 "core" &o 3  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&~' +104 "core" ' +4 "manipulator"&& +8 "core" &o  0  +3 "manipulator"&% +7 "core" %  P +4 "processing"%& +7 "core" & \  +4 "processing"%& +9 "core" &$\  +4 .tPC.seek :closed +6 "processing"%(Z +8 "core" & \  +2 &\  +6 &5\ +| +10 &d\ ? +8 &T}\ O +10 &]\ N +10 &b\ N +8 &b\ N +10 &\\a\ O +10 & `\ N +9 &c\ O +10 &a\ N +8 & fc\ N +10 &"'` \ N +10 &#_\ O +8 &%_\ N +10 &'lb\ O +10 &)/b\ N +9 &*`\ O +10 &,` \ N +8 &.t`\ O +10 &08`\ N +10 &1_ \ N +8 &3]\ N +10 &5~b\ N +10 &7@a\ N +8 &9b \ N +11 &:\\ \ N +8 &<a \ N +10 &>G_\ N +10 &@\ ^ \ N +8 &A` \ N +10 &C`\ N +10 &ENg \ O +9 &G s\ P +10 &H \ S +8 &J\ S +10 &LH \ S +10 &N  \ T +9 &O\ \ T +9 &Q\ T +13 &SN\ T +7 &U \ T +9 &V \ T +8 &X\ \ T +11 &Z\\r\ 4 +9 &Z;\ ( +3 ( +6 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +3 .Hand.open +3 "manipulator"&1 +7 "core" &Z \ ( +48 1 +3 "manipulator"&% +8 "core" %  ( +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +3 "processing"%& +8 "core" &Z\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 4 +3 "manipulator"& % +7 "core" %\   e  +4 "storage"(\ % +7 "core" %_ \ +3 "storage"( . +6 "core" .(,l +3 "storage"( & +7 "core" &,g \  +2 "storage"( & +4 "manipulator"&& +12 "core" &,g \  +2 &o  y  +7 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +7 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +8 .tElbow.seek PC +3 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +4 "core" ( +3 "manipulator"&& +7 "core" &o P  +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" &o <  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +4 .tHand.close +4 "manipulator"&/ +54 "core" / +4 .tPC.seek :open +3 "processing"%( +73 "core" ' +3 "storage"(- +7 "core" -'i +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +4 "storage"('y +44 "core" ' +293 ( +4 "storage"(& +8 "core" &,g \  +3 "manipulator"&& +8 "core" &o l  +2 "manipulator"&% +8 "core" % +3 .tForearm.seek :retract +9 "manipulator"&'\ +93 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +4 "manipulator"&"( +238 "core" ( +3 "manipulator"&%& +8 "core" &  u + +4 "storage"('& +8 "core" &,g v\  +3 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&)'Ѽ +100 "core" ' +4 .tHand.open +5 "manipulator"&(1 +55 "core" 1 +4 "storage"(- +7 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +35 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(#' +50 "core" ' +3 #tLights, camera, ACTION! +4 "storage"(,- +6 "core" -' +3 "storage"(-& +9 "core" &,g \  +2 "manipulator"&.& +7 "core" & + +4 .tElbow.seek 4 +4 "manipulator"&/( +6 "core" ( +3 "manipulator"&0& +8 "core" &  ? + +3 "storage"(1& +8 "core" &,g o\  +4 .tForearm.seek 4 + 700 counts +3 "manipulator"&2'Ѽ +7 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +5 .tSE.seek -0.08 Pucks below Top Plate +4 "storage"(3' +56 "core" ' +3 "manipulator"&4& +8 "core" & + +4 "storage"(5& +7 "core" &,g \  +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +3 "manipulator"&6' +38 "core" ' +3 .tElbow.hold +2 "manipulator"&7, +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +5 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(8'i +25 "core" ' +3 "manipulator"&9% +8 "core" % 8 +4 "storage"(:& +8 "core" &,g o\  +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 4 + 293 counts +3 "manipulator"&;'% +15 "core" ' +4 "manipulator"&<& +12 "core" & g + +4 "storage"(=& +8 "core" &,g\ \  ,\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 700 counts + "manipulator"&>'Ѽ +38 "core" ' +3 "storage"(?% +8 "core" %s\ \  \  +4 ."downElevator"SE.seek :down +5 "storage"(!'X +99 (A% +6 "core" %}J N\ Xe +4 "manipulator"&B% +8 "core" %ѽ y +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&D'\ +97 "core" ' +38 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (E& +8 "core" &,g\ \  \  +2 "collection"'G& +8 "core" &V] 1\ E +4 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&$% +8 "core" %\  +3 "storage"(&% +9 "core" %b\ \  \ +2 "storage"(I. +6 "core" .(,l +3 "storage"(J& +8 "core" &,g\ \ \  +3 "storage"( & +8 "core" &,g\ \ \  +3 "manipulator"&K& +7 "core" & + +5 .tElbow.seek 4 +3 "manipulator"&M( +7 "core" ( +3 "manipulator"&N& +8 "core" & b + +2 "storage"(P& +8 "core" &,g\ \  \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 700 counts +4 "manipulator"&Q'Ѽ +101 "core" ' +3 "storage"(S& +9 "core" &,g\ \  W\  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(C'i +292 "core" ' +3 "storage"(F- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&V& +10 "core" & + +3 "storage"(H& +7 "core" &,g v\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +4 "manipulator"&W' +134 "core" ' +2 .tElbow.hold +4 "manipulator"&O, +6 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 "storage"(L- +4 "core" -' +5 .tSE.seek 0.09 Pucks below Top Plate +4 "storage"(Y'W +31 "core" ' +2 "manipulator"&Z% +9 "core" %  z +3 "storage"([& +8 "core" &,g [\  +2 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 4 + 319 counts +2 "manipulator"&R'? +16 "core" ' +3 "manipulator"&T& +8 "core" & y = +3 "storage"(+& +8 "core" &,g\ \ \  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&^'Ѽ +24 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate +4 "storage"(_'F +42 "core" ' +3 "manipulator"&a& +8 "core" & = +4 "manipulator"&\\% +8 "core" %  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&b'\ +93 "core" ' +5 .tElbow.seek CC + "manipulator"&c( +148 "core" ( +3 "manipulator"&d& +8 "core" &" 0 u 9) +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &e& +5 "core" &" * & 9) +4 .tForearm.seek CC +4 "manipulator"&f'" +96 "core" ' +3 .tHand.close +3 "manipulator"&g/ +65 "core" / +3 .tCC.seek :open +4 "collection"'h( +419 "core" ( +3 "storage"(X& +9 "core" &,g\ \  (\  +2 "storage"(j& +9 "core" &,g\ \  =\  +3 "manipulator"&k& +7 "core" &"  9) +3 "manipulator"&U% +7 "core" % 5 / +4 .tForearm.seek :retract +3 "manipulator"&m'\ +95 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +4 "manipulator"&`( +155 "core" ( +3 "manipulator"&o& +14 "core" &  "  +3 "storage"(p& +9 "core" &,g\ /\ 1 #\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.seek 4 +4 "manipulator"&q' +110 "core" ' +2 .tElbow.hold +4 "manipulator"&s, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +3 "manipulator"&t1 +65 "core" 1 +4 "manipulator"&v% +8 "core" %   +4 "storage"(w& +7 "core" &,g n\  +3 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 4 + 319 counts +3 "manipulator"&y'? +14 "core" ' +3 "manipulator"&i& +9 "core" & u  +3 "storage"(l& +8 "core" &,g\ D\ D \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&n'Ѽ +24 "core" ' +3 "storage"(u% +10 "core" %H\ D\ D \ +5 ."downElevator"SE.seek :down +6 "storage"(|'X +99 (}% +5 "core" %E\ \ ( @\ V` +4 "manipulator"&r% +8 "core" % + +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +96 "core" ' +36 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +3 "collection"'& +9 "core" & t\ +2 "manipulator"&% +8 "core" %\ #   = +4 "storage"(x% +7 "core" %V\ 5\ C Q\ +3 "storage"(z. +6 "core" .(,l +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(*(<* +340 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (& +5 "core" &<)\ 7\  +3 "manipulator"&& +7 "core" &  S  +4 .tElbow.seek 5 +4 "manipulator"&( +6 "core" ( +3 "manipulator"& & +6 "core" & W  +4 "storage"(& +6 "core" &<&\ 2\ 2\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 700 counts +4 "manipulator"&\ 'ы +94 "core" ' +3 "storage"( & +8 "core" &<&\ Q\ R \  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"( 'i +276 "core" ' +4 "storage"(- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 ( & +4 "core" &<&\ %\ / \  +5 "manipulator"&& +7 "core" &  +3 .tElbow.seek 5 +4 "manipulator"&( +6 "core" ( +7 "manipulator"&~& +7 "core" &  +3 "storage"(& +8 "core" &<&\ /\ 1\  +4 .tForearm.seek 5 + 300 counts + "manipulator"&' +23 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&{/ +54 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&& +4 "storage"('X +15 "core" &   +3 "manipulator"&% +8 "core" %  +4 .tForearm.seek :retract +3 "manipulator"&'\ +99 "core" ' +3 .tElbow.seek CC +3 "manipulator"&( +138 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +12 "core" ( +2 "manipulator"&& +8 "core" &*   - @Y +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 && +7 "core" &* @Y +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +3 "manipulator"&%'" +105 "core" ' +2 "manipulator"&'& +9 "core" &* @Y +3 "manipulator"&% +8 "core" % +4 "collection"'(& +7 "core" & U\ +5 "collection"'& +9 "core" & ~\ +5 .tCC.seek :closed +4 "collection"',(V +8 "core" & \ +2 & v\ +7 & - |\ #b +7 &V u\ 8 +10 &~ ~\ L +8 &] ~\ N +10 &cZ u\ N +10 &&Y }\ M +8 &] t\ N +10 &_ n\ M +9 &l] k\ M +10 &-[ m\ N +10 &Z m\ N +8 &!\\ l\ N +10 &#t] f\ M +10 &%6] j\ M +8 &&\\ _\ M +10 &(^ g\ N +9 &*{] e\ N +10 &,>Z h\ M +10 &-Z g\ N +8 &/_ _\ M +10 &1^ c\ M +10 &3FZ e\ M +8 &5_ j\ N +10 &6^ f\ N +9 &8Y d\ N +10 &:L_ i\ N +10 &<^ h\ N +8 &=a `\ N +10 &?_ Y\ N +10 &AVZ `\ M +8 &C] f\ N +10 &Dd _\ N +10 &Fr k\ P +9 &HP e\ R +10 &J i\ V +9 &K `\ Y +9 &M `\ X +10 &OF b\ X +9 &Q g\ Y +9 &R _\ Z +10 &T ^\ Y +9 &V$t c\ / +10 &V% d\ Q +9 ( +2 &Vm g\ I +6 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open +2 "manipulator"&-1 +6 "core" &Vl k\ I +58 1 +3 "manipulator"&% +8 "core" %  " +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&.'\ +101 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%0& +8 "core" & \ +3 "manipulator"&1% +7 "core" %\ \   +4 "storage"(4% +7 "core" %U H\ +3 "storage"(5. +6 "core" .(<* +3 "storage"(& +7 "core" &<& \  +3 "storage"(& +8 "core" &<& j\  +2 "manipulator"&9& +8 "core" &( >H +3 "manipulator"&:% +7 "core" %\ \ /  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&"( +158 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"()& +4 "core" &<&\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&='ы +95 "core" ' + "storage"(#& +5 "core" &<&\ \  C\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +278 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &<& P\  +2 "manipulator"&A& +4 "core" & Q  +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( + "manipulator"&3& +4 "core" & Y  + "storage"(6& +4 "core" &<& \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&;' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'X +7 "core" & u  +2 "manipulator"&8% +4 "core" %    H + .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +5 .tElbow.seek PC +2 "manipulator"&I(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&J& +4 "core" &v % Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &v   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +102 "core" ' +2 "manipulator"&N& +4 "core" &v ' +2 "manipulator"&P% +3 "core" %\  Q +2 "processing"%>& +4 "core" & \ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed + "processing"%!(Z +5 "core" &\ +7 & (\ "_ +9 &U\ 8 +9 &\ L +10 &_\ N +13 &ab\ O +5 &%`\ N +10 &` \ N +9 &_\ N +10 &la\ N +9 &.`\ N +9 &b\ N +10 &!a\ N +9 &#r_\ N +9 &%4`\ N +10 &&` \ N +9 &(]\ N +10 &*|`\ N +9 &,>`\ N +9 &.b\ N +10 &/_\ M +9 &1` \ N +9 &3F_\ N +10 &5_\ N +9 &6] \ N +10 &8_\ N +9 &:N_\ N +9 &<_\ N +10 &=] \ M +9 &?_\ N +9 &AT_\ N +10 &C` \ N +9 &Dg\ N +9 &Fk\ O +10 &HS~ \ Q +9 &J \ S +10 &K\ T +9 &M\ S +9 &OU \ S +10 &Q\ S +9 &R\ T +10 &T\ T +9 &V[\ T +9 &X\ U +10 &Y{v\ 5 +9 &Z+\ M +9 &Z \ - +3 ( + "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&D% +4 "core" % \ ( l Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +89 "core" ' +2 "processing"%V& +6 "core" &Z'\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&H% +4 "core" %\   + "storage"(L% +4 "core" %_ l\ + "storage"(Z. +3 "core" .(<* +2 "storage"([& +3 "core" &<& :\  +2 "storage"(T& +2 "manipulator"&+& +6 "core" &<& u\  +2 &v +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&Q(s +54 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'i +2 "core" ( +2 "manipulator"&\\& +4 "core" &v d + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &v 3 +2 .tForearm.seek PC +2 "manipulator"&C' +100 "core" ' +2 .tHand.close + "manipulator"&W/ +58 "core" / +2 .tPC.seek :open +2 "processing"%R( +84 "core" ' +2 "storage"(Y- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +44 "core" ' +292 ( + "storage"(e& +4 "core" &<& H\  +2 "manipulator"&^& +4 "core" &v  g + "manipulator"&O% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +247 "core" ( + "manipulator"&]& +4 "core" & & q * +2 "storage"(X& +4 "core" &<& p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +92 "core" ' + .tHand.open + "manipulator"&k1 +52 "core" 1 +2 "storage"(U- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(p' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(c& +4 "core" &<& { y ;\  + "manipulator"&t& +4 "core" & * +2 .tElbow.seek 5 + "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +4 "core" & )  * +3 "storage"(i& +7 "core" &<& \  +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +12 "core" ' +4 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(m' +58 "core" ' + "manipulator"&u& +4 "core" & v * +2 "storage"(`& +4 "core" &<& `\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&}' +31 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +27 "core" ' +2 "manipulator"&y% +4 "core" % +2 "storage"(& +4 "core" &<& (\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&_& +4 "core" & + +2 "storage"(x& +4 "core" &<& 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&z'ы +33 "core" ' +2 "storage"(n% +4 "core" %h\ \  H\ +3 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (@% +4 "core" %I 9\ Va + "manipulator"&% +5 "core" %j v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +5 "core" &<& \  \  + "collection"'& +4 "core" &Vl [\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\  n + "storage"(s% +4 "core" %a\ \  \ + "storage"(. +4 "core" .(<* + "storage"(& +4 "core" &<&\ \ \  +2 "storage"( & +4 "core" &<&\ \ \  + "manipulator"&& +4 "core" & e + +2 .tElbow.seek 5 + "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" & V + + "storage"({& +5 "core" &<&\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +86 "core" ' + "storage"(& +4 "core" &<&\ \  .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & g + + "storage"( & +4 "core" &<& *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''W +31 "core" ' + "manipulator"&% +5 "core" % 4 +2 "storage"((& +4 "core" &<& *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +20 "core" ' + "manipulator"&& +5 "core" & % r 5 + "storage"(h& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('F +45 "core" ' +2 "manipulator"&0& +4 "core" & N 5 +2 "manipulator"&% +4 "core" %ѕ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +85 "core" ' + .tElbow.seek CC +2 "manipulator"&4( +150 "core" ( +2 "manipulator"&5& +4 "core" &% # ] <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &$ v <9 +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' + .tHand.close +2 "manipulator"&9/ +55 "core" / +2 .tCC.seek :open + "collection"':( +416 "core" ( +2 "storage"(%& +4 "core" &<&\ \  "\  + "storage"(<& +4 "core" &<&\ \  \  + "manipulator"&)& +4 "core" &$ ;8 + "manipulator"&#% +5 "core" % '  + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&.( +158 "core" ( +4 "manipulator"&2& +11 "core" &  +7 "storage"(/& +9 "core" &<&\ &\ & O\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.seek 5 +3 "manipulator"&A' +110 "core" ' + .tElbow.hold +6 #"reset-modem"Session Begun +3 "manipulator"&3, +2 #"reset-modem"-> Gate.cycleModemPower! 5 +5 .Gate.cycleModemPower! 5 +3 #Session Ended +4 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tHand.open +4 "manipulator"&61 +55 "core" 1 +4 "manipulator"&E% +8 "core" %  0 +3 "storage"(G& +9 "core" &<& \  +2 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 5 + 318 counts +3 "manipulator"&8' +15 "core" ' +3 "manipulator"&"& +8 "core" & +  +4 "storage"(=& +7 "core" &<&\ C\ D \  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +4 "manipulator"&?'ы +30 "core" ' +2 "storage"(;% +9 "core" %I\ C\ C \ +5 ."downElevator"SE.seek :down +5 "storage"(J'X +99 ( % +6 "core" % D\ '\ $ Y\ V_ +5 "manipulator"&B% +18 "core" %| v +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&N'\ +94 "core" ' +22 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'P& +4 "core" & K\ +2 "manipulator"&>% +4 "core" %\ #  ` 9 + "storage"($% +5 "core" %c\ C\ C \  + "storage"(&. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" &K s\  +2 "manipulator"&D& +4 "core" &  Q  + .tElbow.seek 6 +2 "manipulator"&V( +26 "core" ( +2 "manipulator"&H& +4 "core" & ( W  +2 "storage"(L& +3 "core" &K\ 2\ 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +6 "manipulator"&Z'a +95 "core" ' +2 "storage"([& +4 "core" &K\ A\ C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +285 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &K\ (\ ) \  +2 "manipulator"&\\& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&M( +19 "core" ( +2 "manipulator"&K& +5 "core" & & h  + "storage"(W& +4 "core" &K\ &\ & O\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&I' +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'X +7 "core" &  +2 "manipulator"&a% +4 "core" % / +2 .tForearm.seek :retract + "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&O& +5 "core" && / =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &&  p =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +102 "core" ' +2 "manipulator"&X& +5 "core" && =D + "manipulator"&Q% +4 "core" %# +2 "collection"'k& +4 "core" & Q\ +2 "collection"'U& +5 "core" & R\ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" & |\ +8 & - }\ #b +9 &V |\ 8 +9 &~ |\ L +10 &Y ~\ M +9 &k] }\ M +10 &-Y \ M +13 &[ ~\ M +5 &] ~\ N +10 &s\\ ~\ M +9 &4_ w\ N +10 &] x\ M +9 &!\\ l\ M +9 &#{` l\ M +51 &%<a f\ N +12 &'] r\ M + &([ `\ M +2 &*Z j\ M +4 &,E` h\ M + &.] _\ M + &/[ g\ M +3 &1a l\ M +10 &3M\\ k\ M +9 &5] i\ M +9 &6[ i\ M +10 &8] k\ M +9 &:U_ b\ M +9 &<_ j\ M +10 &=_ k\ M +9 &?[ k\ M +10 &A]] l\ M +9 &Ca k\ M +9 &De h\ N +10 &Fm d\ O +9 &HZ~ k\ Q +9 &J k\ U +10 &K i\ W +9 &M c\ X +10 &OM d\ X +9 &Q a\ Y +9 &R e\ Y +10 &T `\ Y +9 &V.u ^\ . +9 &V! c\ J +10 ( +2 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&c1 +4 "core" &Vm b\ H +49 1 +2 "manipulator"&t% +5 "core" % #  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%i& +4 "core" &)\ + "manipulator"&g% +9 "core" %\ \ A  + "storage"(u% +5 "core" %] \ + "storage"(`. +3 "core" .(K +2 "storage"(d& +3 "core" &K }\  +2 "storage"(y& +4 "core" &K \  + "manipulator"&& +4 "core" &% o <; + "manipulator"&o% +4 "core" %\ \ e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&_( +156 "core" ( + "manipulator"&x& +4 "core" &  +2 "storage"(n& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&b'a +93 "core" ' +2 "storage"(j& +4 "core" &K\ \  C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +285 "core" ' +2 "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K Q\  +2 "manipulator"&l& +4 "core" & + .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&m& +3 "core" & V +2 "storage"(}& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +7 "core" & W + "manipulator"&s% +5 "core" % +2 .tForearm.seek :retract + "manipulator"&q'\ +102 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&& +4 "core" &g $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &g  d +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + "manipulator"&& +5 "core" &j ) z + "manipulator"&{% +4 "core" %  $ * +2 "processing"%z& +3 "core" &-\ +3 "processing"%& +5 "core" &-\ +2 .tPC.seek :closed +3 "processing"%|(Z +3 "core" &,\ +6 &?-\ $e +9 &V)\ 7 +10 &!\ L +9 &]%\ N +10 &ga'\ N +9 &)^%\ N +9 &\\$\ N +10 &^#\ N +9 &o`"\ N +9 &1_\ N +10 &a\ O +9 &!^\ N +9 &#x_#\ N +10 &%:^\ N +9 &&^\ N +10 &(_\ N +9 &*\\\ N +9 &,A_\ N +10 &.a\ O +9 &/]\ N +10 &1\\\ N +9 &3I\\\ N +9 &5 ]\ N +10 &6_\ N +9 &8]\ N +9 &:T^\ M +10 &<]\ N +9 &=[\ N +9 &?\\\ M +10 &A[\\\ N +9 &C^\ N +10 &Dd\ O +9 &Fm\ O +9 &HV \ R +10 &J\ S +9 &K\ T +9 &M\ S +10 &OY\ T +9 &Q\ T +10 &R\ T +9 &T\ T +9 &V_\ T +10 &X \ U +9 &Y{s\ 3 +9 &Z)z \ Q +10 &Z#\ / +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&r1 +56 "core" 1 + "manipulator"&% +4 "core" % %  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +95 "core" ' + "processing"%& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %\ !  Y 4 +2 "storage"(% +4 "core" %U j\ + "storage"(. +3 "core" .(K +2 "storage"((& +3 "core" &K \  +2 "storage"(& +5 "manipulator"&h& +4 "core" &K \  + &j +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&0(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +3 "core" &j . A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &j  B +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%( +86 "core" ' + "storage"('- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(5'y +45 "core" ' +290 ( + "storage"(& +5 "core" &K l\  + "manipulator"&-& +4 "core" &j  # + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&1( +244 "core" ( + "manipulator"&,& +5 "core" & ! K h + "storage"(%& +4 "core" &K z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&<'a +90 "core" ' +2 .tHand.open + "manipulator"&)1 +57 "core" 1 +2 "storage"(#- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(/' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(4& +4 "core" &K x x *\  + "manipulator"&6& +4 "core" &  6 h +2 .tElbow.seek 6 + "manipulator"&E( +4 "core" ( +2 "manipulator"&G& +3 "core" & $ [ h +2 "storage"("& +4 "core" &K H\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&;& +5 "core" &  f h + "storage"(.& +4 "core" &K _\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +21 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(A'i +27 "core" ' +2 "manipulator"&8% +5 "core" %γ + "storage"(P& +4 "core" &K 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&>' +12 "core" ' +2 "manipulator"&$& +5 "core" & g + "storage"(&& +5 "core" &K q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +26 "core" ' +2 "storage"(?% +4 "core" %q\  N\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (*% +3 "core" %8F a\ Wb + "manipulator"&7% +5 "core" %g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" &K\  ~\  + "collection"'L& +4 "core" &Vl .\ H +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&[% +5 "core" %\  ( s  + "storage"(3% +4 "core" %c u\ + "storage"(N. +3 "core" .(K +2 "storage"(+& +3 "core" &K \  +2 "storage"(S& +4 "core" &K \  + "manipulator"&\\& +4 "core" &  ~ g +2 .tElbow.seek 6 +2 "manipulator"&K( +3 "core" ( + "manipulator"&W& +5 "core" & ) } g + "storage"(Y& +5 "core" &K c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +94 "core" ' +2 "storage"(a& +4 "core" &K\ \  G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +285 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & b g + "storage"(C& +4 "core" &K m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'Υ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(Q'Z +32 "core" ' +2 "manipulator"&k% +4 "core" %θ  +2 "storage"(M& +3 "core" &K V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&!' +13 "core" ' + "manipulator"&e& +5 "core" & & W g + "storage"(:& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&c'a +26 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(t'I +45 "core" ' + "manipulator"&i& +5 "core" & j g + "manipulator"&g% +4 "core" %i i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +146 "core" ( +2 "manipulator"&d& +4 "core" &# 0 r :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &# 3 e :/ +2 .tForearm.seek CC + "manipulator"&y'" +147 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'o( +416 "core" ( + "storage"(]& +4 "core" &K\ \  7\  +2 "storage"(x& +3 "core" &K\ \  @\  +2 "manipulator"&n& +4 "core" &"  9( + "manipulator"&j% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +152 "core" ( + "manipulator"&@& +4 "core" & ! I +2 "storage"(& +4 "core" &K\ 2\ 2\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&l'Υ +109 "core" ' + .tElbow.hold +2 "manipulator"&m, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"& % +4 "core" % ζ  +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&s' +12 "core" ' +2 "manipulator"&_& +4 "core" & & +2 "storage"(b& +4 "core" &K\ C\ C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&p'a +27 "core" ' +2 "storage"(% +4 "core" %K\ G\ Q 3\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +3 "core" %D\ &\ $ `\ V` + "manipulator"&v% +5 "core" %R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +5 "core" & N\ + "manipulator"&z% +4 "core" %\ \   +2 "storage"( % +4 "core" %b\ M\ J G\ + "storage"(q. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(R(,l +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (r& +3 "core" &,o\ \  m\ + "manipulator"&& +5 "core" & @ + .tElbow.seek 4 +2 "manipulator"&( +13 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(& +4 "core" &,s\ D\ E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +93 "core" ' + "storage"((& +4 "core" &,s\  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'i +277 "core" ' +6 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,s\ 1\ & =\ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&~( +3 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" &,s\ &\ ' \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'', +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(|'X +7 "core" & :  +2 "manipulator"&% +3 "core" % 8  I +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +156 "core" ( +2 "manipulator"&& +4 "core" ' + &' 1  >H +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +2 "core" &' +  >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +96 "core" ' + "manipulator"&%& +9 "core" && B  q =G +2 "manipulator"&0% +4 "core" %( k +2 "collection"')& +3 "core" & E\ +3 "collection"'#& +6 "core" & \ N\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & r\ +6 & s\ 4 +9 &?G |\ 0 +10 &hr x\ E +9 &c ~\ M +9 &^ x\ M +10 &] z\ M +9 &U\\ y\ M +10 &] |\ M +9 &] }\ M +9 &\\ {\ M +10 &\\^ }\ M +9 &!] }\ M +9 &"_ ~\ N +10 &$_ }\ M +9 &&d] }\ M +10 &(&] q\ M +9 &)[ s\ M +9 &+] w\ M +10 &-m\\ {\ M +9 &/0\\ o\ M +9 &0] p\ M +10 &2] q\ M +9 &4v] k\ M +10 &68_ k\ M +9 &7] ^\ M +9 &9[ ]\ M +10 &;|_ c\ M +9 &=?_ a\ M +9 &?] i\ M +10 &@] e\ M +9 &B` i\ M +10 &DGc j\ M +9 &Fj k\ N +9 &G| h\ P +10 &I{ i\ S +9 &K/ \ f\ X +9 &L j\ X +10 &N l\ X +9 &Pu k\ X +10 &R5 k\ Y +9 &S e\ Z +9 &U h\ G +10 &V3 g\ 'u +9 &Vb o\ J +2 ( +2 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&41 +54 "core" 1 +2 "manipulator"&6% +4 "core" % ( 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +91 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%"& +4 "core" &?\ +2 "manipulator"&9% +3 "core" %\  V  +2 "storage"(;% +4 "core" %U \ + "storage"(.. +3 "core" .(,l + "storage"(8& +5 "core" &,s `\ + "storage"(P& +4 "core" &,s {\ + "manipulator"&5& +4 "core" && =G +2 "manipulator"&$% +4 "core" %\  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +161 "core" ( + "manipulator"&2& +5 "core" & ( ~ } + "storage"(?& +4 "core" &,s\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&1'Ѽ +96 "core" ' +2 "storage"(<& +4 "core" &,s\ \  .\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +278 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (7& +3 "core" &,s I\ + "manipulator"&=& +4 "core" & R } +2 .tElbow.seek 4 + "manipulator"&E( +3 "core" ( +2 "manipulator"&& +3 "core" & D } +2 "storage"( & +3 "core" &,s\ \  \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&>', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(['X +8 "core" & } + "manipulator"&3% +4 "core" % , D Y +2 .tForearm.seek :retract + "manipulator"&N'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&+(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&A& +4 "core" &p C \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &p R \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +98 "core" ' +2 "manipulator"&W& +4 "core" &p % \ +2 "manipulator"&Y% +3 "core" %  . +2 "processing"%& +4 "core" &,\ +3 "processing"%a& +4 "core" &,\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &+\  +10 &1.\ *y +9 &b,\ > +9 &q{/\ N +10 &2_+\ N +9 &Z+\ N +10 &]*\ N +9 &y_*\ N +9 &;])\ N +10 &_+\ N +9 &_+\ N +9 & _+\ N +10 &"D`(\ N +9 &$]+\ N +10 &%_+\ N +9 &'`*\ N +9 &)J])\ N +10 &+ ^!\ N +9 &,] \ N +9 &.])\ N +10 &0S]*\ N +9 &2]*\ N +10 &3\\\ N +9 &5] \ N +9 &7\\]\ N +10 &9]\ M +9 &:]\ N +9 &<]\ N +10 &>c]\ N +9 &@%_\ N +10 &A]\ N +9 &C_\ N +9 &Ehf\ O +10 &G'q\ P +9 &H\ R +9 &J\ S +10 &Lb\ T +9 &N$\ T +10 &O\ S +9 &Q\ T +9 &Sg\ U +10 &U*\ T +9 &V\ U +9 &X\ U +10 &Zb\ %r +9 &Zd\ 5 +9 ( +3 "processing"%a& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&B1 +4 "core" &Z"\ / +57 1 + "manipulator"&D% +4 "core" %  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 "processing"%O& +4 "core" &Z" \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %\  _  + "storage"(X% +9 "core" %U _\ + "storage"(k. +3 "core" .(,l +2 "storage"(M& +3 "core" &,s 0\ +2 "storage"(e& +4 "manipulator"&:& +5 "core" &,s R\ + &p  \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(i'i + "manipulator"&g(s +5 "core" ( +2 "manipulator"&F& +3 "core" &p  j \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &p - 3 \ +2 .tForearm.seek PC +2 "manipulator"&V' +96 "core" ' + .tHand.close +2 "manipulator"&T/ +58 "core" / +2 .tPC.seek :open +2 "processing"%!( +86 "core" ' +2 "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +46 "core" ' +290 ( + "storage"(U& +4 "core" &,s |\ +2 "manipulator"&c& +4 "core" &p  \ + "manipulator"&I% +46 "core" %  4 +13 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&u( +246 "core" ( + "manipulator"&f& +5 "core" & ' g + "storage"(]& +4 "core" &,s |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&x'Ѽ +103 "core" ' +2 .tHand.open + "manipulator"&n1 +52 "core" 1 +3 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(`& +4 "core" &,s \ + "manipulator"&}& +4 "core" &\ z _ +2 .tElbow.seek 4 +2 "manipulator"& ( +19 "core" ( + "manipulator"&& +5 "core" & & Q + "storage"(_& +4 "core" &,s *\ +3 .tForearm.seek 4 + 700 counts + "manipulator"&b'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&^& +4 "core" & 0 +2 "storage"( & +4 "core" &,s\ \  7\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v' +30 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +26 "core" ' +2 "manipulator"&s% +4 "core" %  >  + "storage"({& +5 "core" &,s V\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&z'7 +20 "core" ' +2 "manipulator"& & +4 "core" & & Y +2 "storage"(q& +4 "core" &,s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +19 "core" ' +2 "storage"(p% +4 "core" %l\ \  7\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +5 "core" %F <\ Vb +2 "manipulator"&r% +4 "core" %Ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &,s \ + "collection"'& +4 "core" &Va <\ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&(% +5 "core" %\ #  a ; + "storage"(m% +4 "core" %b w\ + "storage"(. +4 "core" .(,l + "storage"(& +4 "core" &,s r\ +2 "storage"(& +4 "core" &,s \ + "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +4 "core" & 0 w \ +2 "storage"(& +3 "core" &,s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +99 "core" ' +2 "storage"(& +4 "core" &,s\ \  0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  \ + "storage"(& +4 "core" &,s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&h' +32 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(0'W +32 "core" ' + "manipulator"&)% +4 "core" % +2 "storage"(~& +4 "core" &,s i\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&|'? +18 "core" ' + "manipulator"&& +4 "core" &  D \ +2 "storage"(o& +4 "core" &,s\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&4'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'F +40 "core" ' + "manipulator"&"& +5 "core" & \ + "manipulator"&9% +5 "core" %Ѫ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +154 "core" ( +3 "manipulator"&8& +4 "core" &* l @^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &* l @^ +2 .tForearm.seek CC +2 "manipulator"&5'" +94 "core" ' + .tHand.close +2 "manipulator"&#/ +61 "core" / +2 .tCC.seek :open +2 "collection"'$( +415 "core" ( +2 "storage"(,& +4 "core" &,s\ \ \ + "storage"(2& +4 "core" &,s\ \ \ +2 "manipulator"&?& +3 "core" &(  - >N +2 "manipulator"&<% +3 "core" % .   +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +158 "core" ( +2 "manipulator"&*& +4 "core" & % c u + "storage"(7& +4 "core" &,s\ 2\ 1 /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&=' +103 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +57 "core" 1 +2 "manipulator"&H% +4 "core" %  $ W W +2 "storage"(L& +3 "core" &,s\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&3'? +18 "core" ' +2 "manipulator"&&& +5 "core" & u + "storage"(1& +4 "core" &,s\ D\ H l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&/'Ѽ +35 "core" ' + "storage"(>% +4 "core" %I\ G\ Q \ +3 ."downElevator"SE.seek :down +4 "storage"(A'X +98 (S% +3 "core" %D\ '\ 1 X\ V` + "manipulator"&E% +5 "core" %  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'Y& +4 "core" & F\ + "manipulator"&% +4 "core" %\    +2 "storage"([% +4 "core" %W\ =\ < \ + "storage"(N. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (B& +3 "core" &<)\ \  @\  +2 "manipulator"&D& +3 "core" & [ u +2 .tElbow.seek 5 +2 "manipulator"&O( +9 "core" ( + "manipulator"&C& +4 "core" &  u +2 "storage"(X& +4 "core" &<&\ P\ N ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&k'ы +93 "core" ' +2 "storage"(M& +4 "core" &<&\  } `\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +278 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" &<&\ /\ $ h\  +2 "manipulator"&F& +4 "core" &  u + .tElbow.seek 5 +2 "manipulator"&K( +8 "core" ( + "manipulator"&\\& +4 "core" &  u +2 "storage"(T& +3 "core" &<&\ 6\ & \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q' +13 "core" ' +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&+/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(J'X +7 "core" & u +2 "manipulator"&i% +4 "core" %  D +2 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&I& +4 "core" &, x Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &, * Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +97 "core" ' +2 "manipulator"&]& +4 "core" &, ,  T Bi +2 "manipulator"&g% +4 "core" % +2 "collection"'n& +3 "core" & |\ +3 "collection"'j& +4 "core" & z\ +3 .tCC.seek :closed +3 "collection"'y(V +4 "core" & }\ +5 & r\ 6 +10 &DG p\ 1 +9 &pr q\ E +9 &b {\ M +10 &] }\ M +9 &[ y\ M +10 &_Z s\ M +9 &!\\ z\ M +9 &] |\ M +10 &Y ~\ M +9 &f\\ u\ M +9 &!(\\ |\ M +10 &"] \ |\ M +9 &$^ }\ M +10 &&n[ |\ M +9 &(1\\ |\ M +9 &)Y |\ M +10 &+\\ }\ M +9 &-x[ |\ L +9 &/8\\ {\ M +10 &0\\ x\ M +9 &2\\ }\ M +10 &4~Z q\ M +9 &6A\\ q\ M +9 &8\\ p\ M +10 &9^ p\ M +9 &;_ p\ M +9 &=G\\ k\ M +10 &? Z k\ M +9 &@] d\ M +10 &B\\ e\ M +9 &DNb ^\ N +9 &F k d\ O +10 &Gz k\ Q +9 &I n\ T +9 &K9 d\ X +10 &L b\ X +9 &N h\ X +10 &P| l\ Y +9 &R> b\ Y +9 &S _\ Z +10 &U \ _\ G +9 &V, c\ &r +9 &Vj h\ P +3 ( +2 "collection"'j& +2 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&`1 +55 "core" 1 + "manipulator"&}% +4 "core" %  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &>\ + "manipulator"&_% +4 "core" %\  c  +2 "storage"(^% +4 "core" %U z\ +2 "storage"( . +3 "core" .(<* + "storage"(d& +4 "core" &<& \  + "storage"(s& +4 "core" &<& \  +2 "manipulator"&{& +4 "core" &+ [ A` + "manipulator"&@% +4 "core" %\  l  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +165 "core" ( + "manipulator"&q& +5 "core" & & w  + "storage"(p& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&u'ы +95 "core" ' + "storage"(x& +5 "core" &<&\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<& "\  + "manipulator"&b& +4 "core" & `  + .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &  `  +2 "storage"(v& +3 "core" &<& _\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(('X +7 "core" &  + "manipulator"&m% +4 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( +2 "manipulator"&& +4 "core" &n H [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n  G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&& +5 "core" &n ( L + "manipulator"&% +4 "core" %  ! +2 "processing"%t& +3 "core" &,\ +3 "processing"%& +4 "core" &*\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &*\ +6 & 1+\ $c +9 &T,\ 7 +10 &-\ L +9 &`,\ N +9 &``-\ N +10 &"^)\ N +9 &_+\ N +10 &\\)\ N +9 &f^,\ O +9 &*\\)\ N +10 &^*\ N +9 &!`0\ N +9 &#n_-\ O +10 &%2^+\ N +9 &&]*\ N +10 &(Z'\ N +9 &*w]+\ N +9 &,9]*\ N +10 &-_)\ N +9 &/]*\ N +9 &1]'\ M +10 &3C]+\ N +9 &5Z*\ N +10 &6\\*\ N +9 &8]*\ N +9 &:K\\)\ N +10 &< Z&\ N +9 &=\\%\ N +9 &?[+\ N +10 &AS\\\ N +9 &C]#\ N +9 &Db*\ N +10 &Fi(\ O +9 &HP|*\ Q +10 &J \ S +9 &K#\ T +9 &M\ T +10 &OP'\ T +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VW\ T +10 &X\ T +9 &Y|q\ 6 +9 &Z0\ L +10 &Z\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&w1 +62 "core" 1 + "manipulator"&% +5 "core" %  5 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z0\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\   4  + "storage"(%% +4 "core" %U (\ +2 "storage"(). +3 "core" .(<* + "storage"(~& +5 "core" &<& ;\  +2 "storage"(& +4 "manipulator"&o& +9 "core" &<& k\  + &n i +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"("'i +3 "manipulator"&9(s +3 "core" ( +2 "manipulator"&\ & +4 "core" &n  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n  +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&h/ +60 "core" / +2 .tPC.seek :open +2 "processing"%|( +87 "core" ' + "storage"(0- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'y +36 "core" ' +299 ( +2 "storage"(P& +4 "core" &<& +\  + "manipulator"&4& +4 "core" &n l + "manipulator"&'% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&;( +238 "core" ( +2 "manipulator"&& +4 "core" & % 1 +2 "storage"(,& +3 "core" &<& B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&2'ы +94 "core" ' +2 .tHand.open + "manipulator"&?1 +60 "core" 1 +2 "storage"(<- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(*'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(.& +4 "core" &<& q\  + "manipulator"& & +4 "core" &  1 +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( + "manipulator"&L& +4 "core" & #  1 +2 "storage"(&& +4 "core" &<& w w f\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&1'ы +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(>' +58 "core" ' + "manipulator"&-& +5 "core" &  1 + "storage"(S& +4 "core" &<& t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&E' +33 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +25 "core" ' + "manipulator"&3% +5 "core" % + "storage"(Y& +4 "core" &<& E\  +52 .tForearm.force -20 +6 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&[& +5 "core" & $ 1 + "storage"(N& +5 "core" &<& u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +27 "core" ' + "storage"(/% +4 "core" %k x\ +3 ."downElevator"SE.seek :down +4 "storage"(A'X +98 (R% +3 "core" %F X\ Va + "manipulator"&B% +5 "core" %ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &<& P\  + "collection"'X& +4 "core" &Vh d\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&M% +4 "core" %\ ! 3 + "storage"(% +4 "core" %Y "\ +2 "storage"(W. +3 "core" .(<* + "storage"(:& +4 "core" &<& s\  +2 "storage"(e& +4 "core" &<& x\  + "manipulator"&F& +4 "core" &  J 1 +2 .tElbow.seek 5 + "manipulator"&\\( +4 "core" ( +2 "manipulator"&T& +4 "core" &  M 1 + "storage"(+& +5 "core" &<& |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Z'ы +100 "core" ' +2 "storage"(i& +4 "core" &<& \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +284 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  1 +2 "storage"(V& +4 "core" &<& \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&a' +29 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(g'W +28 "core" ' + "manipulator"&n% +4 "core" % +2 "storage"(K& +4 "core" &<& \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&J' +13 "core" ' + "manipulator"&U& +4 "core" & w 1 +2 "storage"($& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&`'ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'F +40 "core" ' +2 "manipulator"&& +4 "core" & A 1 + "manipulator"&_% +4 "core" %b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +149 "core" ( + "manipulator"&d& +5 "core" &% << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &% << +2 .tForearm.seek CC + "manipulator"&{'" +100 "core" ' + .tHand.close +2 "manipulator"&j/ +53 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( +2 "storage"(f& +4 "core" &<&\ \  J\  +2 "storage"(q& +3 "core" &<&\ \ d\  +2 "manipulator"&p& +3 "core" &%  O << +2 "manipulator"&x% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( + "manipulator"&& +5 "core" &   + "storage"(r& +4 "core" &<&\ P\ M ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&b' +105 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +58 "core" 1 +2 "manipulator"& % +4 "core" %  K +2 "storage"(& +3 "core" &<&\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&m' +13 "core" ' +2 "manipulator"& & +5 "core" & t  + "storage"(u& +4 "core" &<&\ (\ 6 _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +30 "core" ' +2 "storage"(z% +4 "core" %L\ Q\ Q x\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %G\ &\ . g\ Va +2 "manipulator"& % +4 "core" %~ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & P\ +2 "manipulator"&t% +3 "core" %\   ! +2 "storage"((% +4 "core" %R\ C\ C \ + "storage"(l. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(!(K +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &K k\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +24 "core" ( +2 "manipulator"&& +4 "core" & % l "z +2 "storage"(%& +3 "core" &K\ /\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&)'a +109 "core" ' + "storage"(~& +4 "core" &K\ <\ G o\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ &\ ' :\  +2 "manipulator"&\ & +4 "core" &  "y +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & ' @ "y + "storage"(h& +4 "core" &K\ /\ & 1\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&0' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" &  l "y + "manipulator"&"% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&4( +148 "core" ( +2 "manipulator"&'& +4 "core" &, 6 u Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &, Q Bg + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +2 "manipulator"&,& +4 "core" &, Q Bg +2 "manipulator"&9% +3 "core" %$ x +2 "collection"'?& +4 "core" & w\ +3 "collection"'<& +4 "core" & O\ +3 .tCC.seek :closed + "collection"'5(V +4 "core" & m\  +9 &2 q\ )w +9 &c i\ > +9 &}v l\ M +10 &@\\ o\ L +9 &] n\ L +10 &\\ m\ L +9 &\\ n\ L +9 &G\\ j\ M +10 & ` q\ M +9 &Z x\ M +9 & ] w\ L +10 &"O] t\ M +9 &$[ p\ M +10 &%^ p\ L +9 &'\\ q\ L +9 &)XZ s\ L +10 &+_ v\ M +9 &,Y |\ M +9 &.Z w\ M +10 &0_\\ }\ M +9 &2"[ w\ L +10 &3_ v\ M +9 &5Y {\ L +9 &7g] }\ M +10 &9*_ r\ L +9 &:_ o\ M +9 &<b s\ M +10 &>o] t\ M +9 &@1Z u\ M +10 &A[ v\ M +9 &C] q\ L +9 &Esd }\ N +10 &G1p r\ O +9 &H y\ Q +9 &J s\ V +10 &L_ o\ W +9 &N! t\ W +10 &O o\ X +9 &Q s\ X +9 &Sa k\ Z +10 &U$ v\ Y +9 &VjA o\ 1 +9 &V u l\ I +6 ( +2 "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&.1 +4 "core" &V` k\ I +59 1 + "manipulator"& % +4 "core" % $ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%&& +55 "core" &=\ +2 "manipulator"&#% +3 "core" %\   +2 "storage"(-% +4 "core" %S r\ + "storage"(S. +3 "core" .(K +2 "storage"(8& +3 "core" &K L\  +2 "storage"(3& +4 "core" &K =\  + "manipulator"&Y& +4 "core" &*  @Z +2 "manipulator"&*% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +156 "core" ( +2 "manipulator"&N& +4 "core" &  +2 "storage"(;& +3 "core" &K\ \  8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&2'a +91 "core" ' +2 "storage"(/& +4 "core" &K\ \ T\  +2 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'i +278 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +3 "core" &K >\  + "manipulator"&B& +4 "core" & W  +2 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&>& +4 "core" &  L  +2 "storage"(E& +4 "core" &K \  \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(M'X +7 "core" &   + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&:& +4 "core" &v 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &v  A  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +105 "core" ' + "manipulator"&T& +5 "core" &v n  +2 "manipulator"&+% +3 "core" % ] p +2 "processing"%6& +4 "core" &:\ +2 "processing"%i& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%A(Z +3 "core" &)\ +9 & 1+\ $d +9 &U(\ 7 +9 &(\ L +10 &^)\ M +9 &g_+\ M +9 &(`.\ N +10 &a-\ M +9 &\\/\ M +9 &o_)\ M +10 &0a+\ N +9 &`*\ N +10 &!\\'\ M +9 &#v],\ N +9 &%7_'\ N +10 &&]'\ M +9 &(\\)\ M +9 &*~](\ N +10 &,@\\)\ N +9 &._"\ M +10 &/\\'\ N +9 &1_%\ N +9 &3HZ'\ N +10 &5\ Z*\ N +9 &6\\'\ M +10 &8\\)\ N +9 &:P_&\ N +9 &<Z)\ N +10 &=Z'\ N +9 &?^&\ N +10 &AXY(\ N +9 &C])\ N +9 &Dc&\ N +10 &Fk&\ O +9 &HS*\ R +9 &J'\ T +10 &K*\ T +9 &M'\ T +9 &OW'\ S +10 &Q'\ S +9 &R\ T +9 &T\ T +10 &V\\\ T +9 &X%\ U +10 &Y{t'\ 4 +9 &Z1\ G +9 &Z\ ) +3 ( + "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&G1 +55 "core" 1 +2 "manipulator"&D% +4 "core" % ' * p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +2 "processing"%I& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&V% +3 "core" %\ w 4 +2 "storage"(]% +3 "core" %a \ +2 "storage"(n. +3 "core" .(K + "storage"(K& +4 "core" &K 9\  +3 "storage"(U& +2 "manipulator"&$& +6 "core" &K r\  +2 &v  X  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(_'i +3 "core" ( + "manipulator"&Z& +5 "core" &v "  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &v :  +2 .tForearm.seek PC +2 "manipulator"&O' +96 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tPC.seek :open +2 "processing"%J( +97 "core" ' + "storage"(g- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +43 "core" ' +284 ( + "storage"(s& +4 "core" &K q\  +2 "manipulator"&`& +3 "core" &v ~  +2 "manipulator"&Q% +4 "core" % .  + .tForearm.seek :retract +2 "manipulator"&j'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&^( +259 "core" ( +2 "manipulator"&y& +4 "core" &  ( )  + "storage"(f& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&q'a +91 "core" ' +2 .tHand.open + "manipulator"&p1 +61 "core" 1 +3 "storage"(x- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +32 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"( & +4 "core" &K Y\  +2 "manipulator"&v& +3 "core" &  z  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +5 "core" &  &  + "storage"( & +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&u'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +62 "core" ' + "manipulator"&c& +5 "core" &  U  + "storage"(& +4 "core" &K P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +23 "core" ' +2 "manipulator"&m% +4 "core" %ζ e +2 "storage"(& +8 "core" &K *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&t' +13 "core" ' + "manipulator"&(& +5 "core" &  +  + "storage"(l& +5 "core" &K B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&}'a +32 "core" ' + "storage"(% +5 "core" %r\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %H K\ Wb + "manipulator"&w% +5 "core" %G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K z\  +2 "collection"'%& +3 "core" &V_ u\ I +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&~% +3 "core" %\ #   ? +2 "storage"(% +4 "core" %U \ + "storage"(. +3 "core" .(K +2 "storage"(o& +3 "core" &K 3\  +2 "storage"(& +4 "core" &K 2\  + "manipulator"&\ & +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&h& +4 "core" &  5  + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +98 "core" ' + "storage"("& +5 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &    + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' +2 .tElbow.hold + "manipulator"&0, +55 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(9'Z +30 "core" ' +2 "manipulator"&?% +4 "core" %ι +2 "storage"(& +4 "core" &K S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&P& +5 "core" &   + "storage"(@& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +31 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'I +40 "core" ' +2 "manipulator"&&& +4 "core" &  E  +2 "manipulator"&<% +4 "core" %? a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +154 "core" ( + "manipulator"&S& +4 "core" &, 3 Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &, ~ Bg +2 .tForearm.seek CC +2 "manipulator"&3'" +93 "core" ' + .tHand.close +2 "manipulator"&Y/ +62 "core" / +2 .tCC.seek :open +2 "collection"'*( +416 "core" ( + "storage"(& +4 "core" &K\ \  @\  +2 "storage"(N& +4 "core" &K\ \  \  + "manipulator"&;& +4 "core" &* J @X +2 "manipulator"&/% +3 "core" % % M +2 .tForearm.seek :retract +2 "manipulator"&4'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +156 "core" ( + "manipulator"&1& +4 "core" & ( 3  +2 "storage"(R& +4 "core" &K\ .\ $ R\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&B'Υ +109 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +63 "core" 1 +2 "manipulator"&C% +4 "core" % ι  ~ + "storage"(X& +5 "core" &K\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&[& +80 "core" & H  +2 "storage"(2& +4 "core" &K\ B\ N E\  +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&7'a +30 "core" ' +2 "storage"(% +4 "core" %K\ F\ P {\ +3 ."downElevator"SE.seek :down +3 "storage"(:'X +99 (e% +3 "core" %D\ &\ ' \ V` +2 "manipulator"&H% +4 "core" %T  u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'+& +4 "core" & ^\ +2 "manipulator"&6% +4 "core" %\ !  ] 7 + "storage"(M% +4 "core" %T\ H\ D \ +2 "storage"(W. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(|(,l +656 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &,n 0\ + "manipulator"&D& +5 "core" & ?  + .tElbow.seek 4 +2 "manipulator"&I( +18 "core" ( + "manipulator"&V& +4 "core" & % x  +2 "storage"(]& +4 "core" &,r\ 2\ 2 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +99 "core" ' +2 "storage"(K& +4 "core" &,r\ /\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +277 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &,r\ /\ $ >\ +2 "manipulator"&Z& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&F& +3 "core" & @  +2 "storage"(a& +3 "core" &,r\ 2\ 2\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&g', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(A'X +7 "core" &   + "manipulator"&_% +4 "core" % )   +2 .tForearm.seek :retract +2 "manipulator"&s'\ +45 "Can"U\ @> +50 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&Q& +5 "core" &- # V a Cr + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &- @ Cr +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'" +96 "core" ' + "manipulator"&f& +5 "core" &- V Cr + "manipulator"&% +5 "core" %' | + "collection"'p& +4 "core" & \ +3 "collection"'x& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'{(V +5 "core" & \ +6 &5 \ $d +9 &U \ 7 +10 & \ L +9 &Z \ M +9 &l\\ \ M +10 &.Y \ M +9 &Z \ M +10 &Z \ L +9 &t[ \ M +9 &6^ |\ M +10 &Y t\ M +9 &!\\ y\ M +9 &#{\\ q\ M +10 &%>Z v\ M +9 &'Z \ L +10 &(Y o\ M +9 &*] n\ M +9 &,G[ m\ L +10 &.Z y\ M +9 &/Y {\ M +9 &1\\ w\ M +10 &3N] q\ M +9 &5Y }\ M +10 &6\\ u\ M +9 &8\\ r\ M +9 &:V\\ t\ M +10 &<\\ t\ M +9 &=\\ q\ L +9 &?\\ t\ M +10 &A^Y {\ M +9 &C \\ v\ M +10 &Db s\ M +9 &Fk i\ O +9 &HZ t\ Q +10 &J t\ V +9 &K z\ X +9 &M s\ X +10 &OL t\ X +9 &Q t\ X +10 &R y\ Y +9 &T v\ Y +9 &V,u }\ . +10 &V$ u\ Q +8 ( +4 "collection"'x& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"& 1 +4 "core" &Vd o\ K +58 1 +2 "manipulator"&v% +4 "core" % ' S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &:\ +2 "manipulator"&j% +3 "core" %\ # f 9 +2 "storage"(c% +4 "core" %] \ + "storage"(. +3 "core" .(,l +2 "storage"(d& +4 "core" &,r \ + "storage"(m& +4 "core" &,r \ + "manipulator"&& +4 "core" &- [ Cr +2 "manipulator"&% +4 "core" %\ # \\ 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(( +153 "core" ( + "manipulator"&l& +4 "core" & ' h  +2 "storage"(& +3 "core" &,r k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&^'Ѽ +87 "core" ' + "storage"(q& +4 "core" &,r\ \  3\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &,r O\ +2 "manipulator"&u& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&z& +3 "core" &   +2 "storage"( & +4 "core" &,r |\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&t', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(~'X +7 "core" & F  +2 "manipulator"&% +4 "core" % 9 H e +2 .tForearm.seek :retract + "manipulator"&b'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&o& +6 "core" &t H S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t - s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek PC + "manipulator"&\ ' +103 "core" ' + "manipulator"&h& +5 "core" &t % + "manipulator"&% +4 "core" %  % +2 "processing"%}& +4 "core" &9\ +2 "processing"%"& +5 "core" &;\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &#\ +6 & 1'\ $c +10 &T*\ 7 +9 &)\ L +9 &_,\ M +10 &Y]&\ N +9 &[3\ N +9 &\\4\ N +10 &Z5\ M +9 &a_7\ N +10 &$_(\ M +9 &^+\ N +9 &!\\(\ N +10 &#hZ0\ N +9 &%*\\7\ N +9 &&]0\ N +10 &(\\)\ N +9 &*pa7\ N +10 &,3\\/\ N +9 &-\\/\ N +9 &/Z0\ M +10 &1y[6\ N +9 &3;_.\ N +9 &4_.\ M +10 &6\\.\ M +9 &8Z'\ N +10 &:C[4\ N +9 &<^(\ M +9 &=Z)\ M +10 &?_6\ M +9 &AL\\/\ M +9 &C ^)\ N +10 &Dc'\ N +9 &Fm*\ O +10 &HH}.\ Q +9 &J-\ S +9 &K*\ S +10 &M/\ T +9 &OJ4\ S +9 &Q 5\ T +10 &R4\ T +9 &T4\ T +10 &VN5\ U +9 &X.\ U +9 &Yzp3\ : +10 &Z'o.\ R +9 &Z((\ / +2 ( +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % . I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +99 "core" ' + "processing"%'& +5 "core" &Z%A\ / + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\ # > +2 "storage"(,% +4 "core" %c \ + "storage"(?. +3 "core" .(,l +2 "storage"(& +3 "core" &,r \ +3 "storage"(P& +2 "manipulator"&@& +7 "core" &,r \ + &t Q +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(<'i +3 "core" ( + "manipulator"&& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &t E +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +3 "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' + "storage"(9- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'y +42 "core" ' +289 ( +2 "storage"(8& +4 "core" &,r |\ +2 "manipulator"&.& +4 "core" &t   + "manipulator"&0% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&Y'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&#( +262 "core" ( + "manipulator"&5& +84 "core" & < K +2 "storage"(& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +106 "core" ' + .tHand.open + "manipulator"&;1 +52 "core" 1 +2 "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(1'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(R' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(-& +4 "core" &,r \ +2 "manipulator"&E& +4 "core" & - J +2 .tElbow.seek 4 + "manipulator"&C( +23 "core" ( + "manipulator"&X& +5 "core" &   + "storage"([& +4 "core" &,r z\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&4'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +62 "core" ' +2 "manipulator"&& +4 "core" & 7  + "storage"(L& +5 "core" &,r _\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&e' +18 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +25 "core" ' +2 "manipulator"&% +4 "core" % , 7 +2 "storage"(+& +4 "core" &,r T\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&6'3 +20 "core" ' +2 "manipulator"&M& +4 "core" & m  +2 "storage"(W& +4 "core" &,r w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +27 "core" ' +2 "storage"(7% +4 "core" %p\ \  \ +3 ."downElevator"SE.seek :down +3 "storage"(:'X +99 (!% +3 "core" %G \ Wc +2 "manipulator"&G% +4 "core" %Ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" &,r \ {\ +2 "collection"']& +4 "core" &Vd p\ K + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&K% +4 "core" %\    + "storage"(>% +4 "core" %b x\  + "storage"(T. +4 "core" .(,l + "storage"($& +4 "core" &,r \ + "storage"(i& +5 "core" &,r \ + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( + "manipulator"&a& +5 "core" & %  + "storage"(=& +4 "core" &,r 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&k'Ѽ +99 "core" ' + "storage"(_& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +284 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Q& +4 "core" & }  + "storage"(O& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&U' +31 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +29 "core" ' + "manipulator"&p% +5 "core" % n  + "storage"(\\& +4 "core" &,r b\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&A'@ +23 "core" ' + "manipulator"&s& +5 "core" & _  + "storage"(*& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(v'E +40 "core" ' +2 "manipulator"& & +4 "core" &   +2 "manipulator"&j% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ( +2 "manipulator"&x& +4 "core" &&  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &(  <@ +2 .tForearm.seek CC +2 "manipulator"&m'" +91 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(y& +4 "core" &,r\ '\ $ E\ +2 "storage"(l& +3 "core" &,r\ \ ' ?\ +2 "manipulator"&& +4 "core" && + <@ + "manipulator"&q% +4 "core" % * +2 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +5 "core" &  f x + "storage"(w& +5 "core" &,r\ B\ M\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +52 "manipulator"&u' +108 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +52 "core" 1 +3 "manipulator"&% +4 "core" %  E +2 "storage"(%& +3 "core" &,r\ \  F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&'9 +14 "core" ' +2 "manipulator"&(& +4 "core" & x + "storage"(^& +4 "core" &,r\ F\ I "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&r'Ѽ +22 "core" ' +2 "storage"(t% +4 "core" %H\ F\ Q r\ +3 ."downElevator"SE.seek :down +8 "storage"(o'X +94 (% +3 "core" %1C\ 1\ 0 9\ V` +2 "manipulator"& % +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & U\ +2 "manipulator"&}% +4 "core" %\ #  > + "storage"(~% +5 "core" %b\ H\ D\ + "storage"(b. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(J(<* +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<)\ \  =\  +2 "manipulator"&& +4 "core" & Z x + .tElbow.seek 5 +2 "manipulator"&'( +7 "core" ( +2 "manipulator"&& +4 "core" & & ! u +2 "storage"(,& +3 "core" &<&\ %\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&?'ы +95 "core" ' + "storage"(& +4 "core" &<&\ \ ; A\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +286 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &<&\ 1\ 0\  +2 "manipulator"&& +4 "core" & G u + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +3 "core" & x u +2 "storage"(& +4 "core" &<&\ H\ C \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&9' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +3 "storage"('X +6 "core" &  u +2 "manipulator"&<% +4 "core" %  E +2 .tForearm.seek :retract + "manipulator"&8'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&0& +4 "core" &, *  Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &+ e Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'" +94 "core" ' +2 "manipulator"&5& +5 "core" &,  Bf + "manipulator"&% +4 "core" %* @ +2 "collection"';& +4 "core" & \ +2 "collection"'/& +5 "core" & j\ +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" & \  +9 &1 \ *z +9 &d \ > +10 &~w \ M +9 &B[ \ M +9 &Z \ L +10 &[ \ L +9 &[ \ L +10 &J^ \ \ M +9 & Y \ L +9 &[ \ L +10 & \\ \ L +9 &"S\\ \ L +9 &$\\ \ M +10 &%Z }\ M +9 &'[ \ L +10 &)[Y \ L +9 &+[ \ L +9 &,Z w\ L +10 &.Z ~\ L +9 &0b\\ \ M +9 &2$W w\ M +10 &3Y v\ M +9 &5W u\ M +10 &7kX r\ L +9 &9-Z w\ L +9 &:[ m\ L +10 &<] s\ M +9 &>rZ t\ M +9 &@4Y q\ M +10 &AY p\ M +9 &C] r\ M +10 &Exd s\ M +9 &G3s ~\ P +9 &H \ Q +10 &J t\ W +9 &L` s\ X +9 &N" s\ X +10 &O n\ Y +9 &Q r\ X +10 &Sd \ r\ Z +9 &U& \ p\ Z +9 &VpB r\ 1 +10 &Vq r\ K +5 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&-1 +3 "core" &Vd v\ K +59 1 +2 "manipulator"&E% +4 "core" % * 0 $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%X& +4 "core" &>\ + "manipulator"&[% +4 "core" %\    +2 "storage"(% +4 "core" %a G\ + "storage"(L. +3 "core" .(<* +2 "storage"(S& +3 "core" &<& *\  +2 "storage"(& +4 "core" &<& \  +2 "manipulator"&+& +3 "core" &( 4 ?V +2 "manipulator"&1% +4 "core" %\  3 8  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&M( +158 "core" ( +2 "manipulator"&W& +4 "core" &  5 z +2 "storage"(7& +3 "core" &<&\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&#'ы +96 "core" ' + "storage"(N& +5 "core" &<&\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +284 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &<& T\  +2 "manipulator"&4& +4 "core" &  z + .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&2& +3 "core" & L z +2 "storage"(e& +4 "core" &<& f\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&6' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(K'X +7 "core" & X z + "manipulator"&>% +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&$(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&B& +4 "core" &v    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &v P  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +100 "core" ' +2 "manipulator"&a& +4 "core" &v  z  +2 "manipulator"&=% +4 "core" % w k +2 "processing"% & +4 "core" &D\ +2 "processing"%_& +5 "core" &S\ +3 .tPC.seek :closed + "processing"%:(Z +4 "core" &B\  +9 &1D\ *y +9 &cB\ > +9 &|z;\ N +10 &>\\8\ N +9 &[1\ M +9 &^2\ M +10 &`/\ M +9 &G_/\ M +10 &\ ]/\ M +9 &`7\ M +9 & ]8\ M +10 &"N`3\ N +9 &$Z7\ M +12 &%]7\ N +7 &'b2\ N +9 &)V_7\ N +10 &+_9\ M +9 &,Z8\ M +9 &._5\ N +10 &0_[5\ M +9 &2 \\7\ N +9 &3Z6\ M +10 &5Z7\ N +9 &7g^9\ M +10 &9(Z6\ N +9 &:Y8\ M +9 &<\\5\ M +10 &>n_6\ N +9 &@0_7\ N +9 &AZ6\ M +10 &C_8\ N +9 &Euc9\ N +10 &G3n9\ O +9 &H9\ R +9 &J9\ S +10 &Ll6\ T +9 &N/8\ S +9 &O9\ T +10 &Q6\ T +9 &Su9\ S +10 &U57\ T +9 &V:\ T +9 &X8\ U +10 &Z"Y:\ &s +9 &Z`8\ 2 +9 ( +3 "processing"%_& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&H1 +4 "core" &Z7\ - +57 1 + "manipulator"&D% +4 "core" % & } k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +90 "core" ' + "processing"%Q& +5 "core" &ZK\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&O% +3 "core" %\  Y  +2 "storage"(f% +4 "core" %S [\ + "storage"(p. +3 "core" .(<* +2 "storage"(\\& +3 "core" &<& \  +2 "storage"(s& +9 "manipulator"&*& +5 "core" &<& \  + &v   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"& (s +2 "storage"(j'i +6 "core" ( + "manipulator"&k& +4 "core" &v @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &v :  +53 .tForearm.seek PC +2 "manipulator"&I' +95 "core" ' +2 .tHand.close + "manipulator"&U/ +57 "core" / +3 .tPC.seek :open +2 "processing"%A( +37 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +44 "core" ' +340 ( + "storage"(d& +5 "core" &<& y\  + "manipulator"& & +4 "core" &v   + "manipulator"&g% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +256 "core" ( +2 "manipulator"&{& +4 "core" & )  T +2 "storage"(y& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +91 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' +2 "storage"(& +3 "core" &<& y \  +2 "manipulator"& & +4 "core" &\ T +2 .tElbow.seek 5 + "manipulator"&( +31 "core" ( +2 "manipulator"&%& +4 "core" &  | n + "storage"((& +4 "core" &<& \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +58 "core" ' + "manipulator"&`& +5 "core" &  n + "storage"(& +4 "core" &<&\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& ' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(u'i +60 "core" ' + "manipulator"&% +5 "core" %  j + "storage"(& +4 "core" &<& \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&}' +16 "core" ' + "manipulator"&~& +5 "core" & / q + "storage"(b& +5 "core" &<& Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&v'ы +28 "core" ' +2 "storage"(r% +4 "core" %p\ \ +3 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (|% +2 "core" %-B 1\ V` +2 "manipulator"&% +5 "core" %р  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<& \  +2 "collection"',& +3 "core" &Vd M\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %\    +2 "storage"(z% +4 "core" %c\ \ \ C\ + "storage"(h. +3 "core" .(<* +2 "storage"(@& +4 "core" &<&\  1\  + "storage"(P& +4 "core" &<&\ \ 9\  +2 "manipulator"&& +3 "core" &  q +2 .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"&& +4 "core" & $ q +2 "storage"(& +4 "core" &<&\ \ 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&)'ы +107 "core" ' + "storage"(<& +5 "core" &<&\ \  1\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +287 "core" ' +2 "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&0& +4 "core" &  q + "storage"(& +4 "core" &<& 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&"' +34 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +28 "core" ' +2 "manipulator"&;% +4 "core" % Y + "storage"(& +9 "core" &<& R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&8& +4 "core" & ( w +2 "storage"(& +3 "core" &<& \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'E +40 "core" ' + "manipulator"&X& +5 "core" & > w + "manipulator"&[% +5 "core" %w H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&L( +156 "core" ( +2 "manipulator"&S& +4 "core" &(  /  ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &(  ?P +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&+/ +55 "core" / +2 .tCC.seek :open +2 "collection"'1( +416 "core" ( +2 "storage"(&& +4 "core" &<&\ \  \  +2 "storage"(W& +3 "core" &<&\ \  \  +2 "manipulator"&7& +3 "core" &( W >K +2 "manipulator"&N% +4 "core" % 6 6 U  + .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Y( +163 "core" ( + "manipulator"&!& +4 "core" &  S f +2 "storage"(G& +3 "core" &<&\ '\ 1 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&4' +106 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +64 "core" 1 +2 "manipulator"&V% +4 "core" % / h +2 "storage"(]& +4 "core" &<&\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&>' +12 "core" ' + "manipulator"&M& +5 "core" & f + "storage"(#& +4 "core" &<&\ B\ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&R'ы +30 "core" ' + "storage"(6% +5 "core" %I\ H\ A \ +2 ."downElevator"SE.seek :down +4 "storage"(B'X +98 (i% +3 "core" %A\ $\ # 0\ V_ + "manipulator"&C% +5 "core" %s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'=& +4 "core" & \ +2 "manipulator"& % +4 "core" %\ " , ; + "storage"(K% +5 "core" %a\ J\ J ?\ + "storage"(T. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" &K t\  + "manipulator"&D& +5 "core" & V f + .tElbow.seek 6 +2 "manipulator"&Q( +34 "core" ( + "manipulator"&O& +4 "core" & & @ J +2 "storage"(f& +4 "core" &K\ (\ . \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&p'a +87 "core" ' + "storage"(\\& +5 "core" &K\ F\ < \  +51 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +286 "core" ' +2 "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" &K\ &\ ' Z\  + "manipulator"&k& +4 "core" &  J +2 .tElbow.seek 6 +2 "manipulator"&F( +26 "core" ( + "manipulator"&Z& +5 "core" &  + "storage"(U& +4 "core" &K\ H\ D\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(:'X +8 "core" &  + "manipulator"&j% +5 "core" % & +2 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&g& +4 "core" && = =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" && 0 L =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'" +102 "core" ' +2 "manipulator"&y& +5 "core" && : =D + "manipulator"& % +4 "core" %+ o +2 "collection"'& +4 "core" & d\ +2 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'m(V +5 "core" & \ +7 & - \ $c +9 &W \ 7 +9 & \ L +10 &Z \ M +9 &l[ \ L +9 &.Z \ L +10 &[ \ L +9 &Z \ L +10 &sY \ M +9 &6Y \ L +9 &Z \ M +10 &!_ \ M +9 &#z_ \ M +9 &%=Z \ M +10 &'\\ \ L +9 &(Z \ L +10 &*^ \ M +9 &,E] \ M +9 &.[ \ M +10 &/[ \ L +9 &1] \ M +9 &3L\\ \ M +10 &5Z \ \ L +9 &6` \ M +9 &8W \ L +10 &:U[ \ M +9 &<] \ L +10 &=\\ z\ L +9 &?\\ \ L +9 &A]^ \ M +10 &C_ \ M +9 &Dd \ M +10 &Fl w\ N +9 &HZ{ s\ P +9 &J r\ T +10 &K \ W +9 &M {\ W +12 &OM s\ X +7 &Q ~\ X +9 &R \ Y +9 &T s\ Y +10 &V+u \ / +9 &V# s\ O +9 ( +2 &Vj o\ I +2 "collection"'q& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"& % +5 "core" % + ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%%& +4 "core" &W\ + "manipulator"&(% +4 "core" %\ ! 4 2 +2 "storage"(`% +4 "core" %c {\ + "storage"(. +3 "core" .(K +2 "storage"(x& +3 "core" &K \  +2 "storage"(& +4 "core" &K \  + "manipulator"&& +4 "core" &&  =B + "manipulator"&% +4 "core" %\ ! 1 2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +155 "core" ( +2 "manipulator"&b& +4 "core" &  %   + "storage"(c& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&r'a +94 "core" ' + "storage"(l& +5 "core" &K\ \  ,\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'i +279 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &K X\  +2 "manipulator"&& +4 "core" &    + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +3 "core" &  2  +2 "storage"( & +4 "core" &K 3\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&}' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +4 "storage"('X +6 "core" &  Z  +2 "manipulator"&z% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +104 "core" ( +2 "manipulator"&u& +5 "core" &m 1  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &m   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + "manipulator"&& +5 "core" &m % 4 + "manipulator"&% +5 "core" % Z N + "processing"%v& +4 "core" &W\ +3 "processing"%<& +4 "core" &A\ +2 .tPC.seek :closed +2 "processing"%o(Z +5 "core" &B\ +6 & 0E\ $c +10 &UJ\ 7 +9 &F\ L +10 &^K\ N +9 &cbL\ N +9 &$]D\ N +10 &\\?\ M +9 &[B\ M +9 &j`:\ N +10 &-ZA\ N +9 &\\E\ N +10 &![@\ N +9 &#t\\B\ M +9 &%6]=\ M +10 &&\\8\ M +9 &(Z2\ M +9 &*|\\9\ M +10 &,=Z<\ N +9 &-\\2\ N +9 &/Z7\ M +10 &1\\7\ M +9 &3F\\9\ M +10 &5]8\ N +9 &6]6\ M +9 &8Y1\ M +10 &:N[9\ M +9 &<_5\ M +9 &=[8\ M +10 &?\\9\ N +9 &AVY6\ M +10 &C]7\ M +9 &Db5\ N +9 &Fm9\ O +10 &HQ8\ R +9 &J7\ S +9 &K4\ T +10 &M5\ S +9 &OS5\ T +10 &Q6\ T +9 &R6\ T +9 &T7\ T +10 &V[3\ T +9 &X7\ T +9 &Y|q6\ 5 +10 &Z.6\ J +9 &Z 5\ , +2 ( +2 "processing"%<& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" % % I N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +96 "core" ' +2 "processing"%0& +4 "core" &Z M\ , + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\ #  A + "storage"(5% +4 "core" %a \ + "storage"(;. +3 "core" .(K +2 "storage"(& +3 "core" &K \  +2 "storage"(8& +2 "manipulator"&& +6 "core" &K \  +2 &m 8 ! +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&X(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(['i +2 "core" ( +2 "manipulator"&)& +4 "core" &m ! . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &m +2 .tForearm.seek PC +2 "manipulator"&'' +97 "core" ' + .tHand.close +2 "manipulator"&"/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(S'y +43 "core" ' +289 ( + "storage"(/& +4 "core" &K \  +2 "manipulator"&-& +3 "core" &m | +2 "manipulator"&9% +4 "core" % S + .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +249 "core" ( + "manipulator"&3& +4 "core" & % Y a +2 "storage"(&& +4 "core" &K !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&W'a +100 "core" ' + .tHand.open +2 "manipulator"&71 +56 "core" 1 +2 "storage"(N- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(G' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(L& +4 "core" &K \  + "manipulator"&e& +4 "core" &  a +2 .tElbow.seek 6 + "manipulator"&V( +30 "core" ( + "manipulator"&]& +5 "core" & % T  + "storage"(M& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&#'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +60 "core" ' + "manipulator"&.& +5 "core" &   + "storage"(i& +60 "core" &K g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&C'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'i +23 "core" ' + "manipulator"&>% +5 "core" %η " + "storage"(=& +5 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"& ' +12 "core" ' +2 "manipulator"&K& +4 "core" & |  +2 "storage"(T& +3 "core" &K '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +32 "core" ' + "storage"(R% +5 "core" %o \ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +99 (J% +3 "core" %G \ Wb +2 "manipulator"&H% +4 "core" %P  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" &K \ Y\  +2 "collection"'f& +9 "core" &Vh P\ I + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\\% +4 "core" %\ # q ; + "storage"(2% +4 "core" %T g\ +2 "storage"(a. +3 "core" .(K + "storage"(*& +5 "core" &K {\  + "storage"(_& +4 "core" &K d\  + "manipulator"&k& +5 "core" & {  + .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&U& +3 "core" & %  +2 "storage"($& +4 "core" &K w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&n'a +98 "core" ' + "storage"(j& +5 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +277 "core" ' +2 "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &  +2 "storage"(I& +3 "core" &K $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +6 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"( 'Z +29 "core" ' +2 "manipulator"&% +4 "core" %η Z + "storage"(F& +4 "core" &K I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&:' +15 "core" ' +2 "manipulator"&d& +10 "core" & n  +3 "storage"(1& +8 "core" &K\ \  x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +25 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'I +45 "core" ' + "manipulator"&%& +5 "core" & 7  + "manipulator"&(% +5 "core" %j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&x& +4 "core" &+ Ab + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &*  Ab +3 .tForearm.seek CC + "manipulator"&q'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"({& +4 "core" &K\ \  7\  +2 "storage"(b& +3 "core" &K\ \  !\  +2 "manipulator"&c& +3 "core" &* @Y +2 "manipulator"&l% +4 "core" % - ) + .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +161 "core" ( + "manipulator"&^& +5 "core" &   + "storage"(|& +4 "core" &K\ J\ J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +62 "core" 1 + "manipulator"&% +5 "core" % ζ  E + "storage"(,& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&z' +17 "core" ' + "manipulator"&~& +4 "core" &  +2 "storage"(r& +4 "core" &K\ H\ D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&w'a +29 "core" ' + "storage"(}% +5 "core" %I\ I\ F 4\ +2 ."downElevator"SE.seek :down +3 "storage"(u'X +99 (P% +3 "core" %E\ '\ & \ V_ +2 "manipulator"&% +4 "core" %Y  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & f\ +2 "manipulator"&v% +3 "core" %\    +2 "storage"(% +4 "core" %Z\ P\ P \ + "storage"(h. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(A(,l +660 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,n 2\ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&0( +12 "core" ( +2 "manipulator"&& +4 "core" &  j  + "storage"(5& +5 "core" &,r\ J\ J \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +98 "core" ' + "storage"(& +4 "core" &,r\   I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &,r\ $\ # K\ + "manipulator"&)& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"&& +4 "core" & 1  + "storage"("& +4 "core" &,r\ %\ 6 D\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +22 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tHand.close +4 "manipulator"&@/ +56 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&?& +4 "storage"(o'X +15 "core" &   +3 "manipulator"&[% +9 "core" % 8 { f +4 .tForearm.seek :retract + "manipulator"&/'\ +95 "core" ' +3 .tElbow.seek CC +4 "manipulator"&-( +143 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +4 "manipulator"&9& +15 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6 "core" &- K Cq +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &'& +8 "core" &- . Cq +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +3 "manipulator"&3'" +96 "core" ' +3 "manipulator"&&& +8 "core" &- Cq +3 "manipulator"&X% +9 "core" %& / +3 "collection"'7& +7 "core" & w\ +4 "collection"'N& +10 "core" & \ +5 & \ +4 .tCC.seek :closed +2 "collection"'(V +11 "core" & \ +4 & \ 7 +7 &>H~ \ 1 +9 &lr \ E +9 &` \ M +10 &[ \ M +10 &] \ M +8 &\\[ \ M +11 &Y \ M +8 &[ \ M +10 &X \ L +10 &d\\ \ M +8 &!&] \ M +104 &"^ \ M +80 &$Z \ M +6 &&nY \ L +6 &(.] \ M +11 &)] \ M +2 &+\\ \ M +3 &-uZ \ L +7 &/7Z \ L +2 &0^ \ M +5 &2Y \ L +2 &4}[ \ L +2 &6>_ \ M +5 &8\\ \ M + &9X \ L +2 &;\\ \ M +2 &=F[ \ M +4 &?\\ \ M + &@_ \ M + &B_ \ M + &DMa \ M + &F h \ N + &Gv \ P &I \ S + &K6 \ X +2 &L \ \ X + &N \ X +3 &Pz \ X +6 &R< \ X +9 &S \ Z +9 &U \ G +10 &V3 \ %p +9 &Vm \ J +2 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&L1 +54 "core" 1 +2 "manipulator"&e% +4 "core" % & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%]& +4 "core" &C\ + "manipulator"&M% +4 "core" %\   +2 "storage"(.% +4 "core" %U v\ + "storage"(i. +3 "core" .(,l +2 "storage"(S& +3 "core" &,r \ +2 "storage"(!& +4 "core" &,r ^\ +2 "manipulator"&>& +4 "core" &- Cq + "manipulator"&=% +4 "core" %\  =  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&K& +4 "core" & b +2 "storage"(T& +3 "core" &,r j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&W'Ѽ +94 "core" ' +2 "storage"(R& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +276 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +2 "core" &,r \ +2 "manipulator"&#& +3 "core" & B +2 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&6& +4 "core" & J + "storage"(C& +4 "core" &,r\ \  \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& ', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(\\'X +8 "core" & y + "manipulator"&4% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&*& +5 "core" &r @ = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &r & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k' +101 "core" ' + "manipulator"&U& +5 "core" &r % M + "manipulator"&$% +4 "core" %  * +2 "processing"%E& +4 "core" &L\ +2 "processing"%j& +5 "core" &G\ +2 .tPC.seek :closed +3 "processing"%B(Z +3 "core" &K\ +6 &8O\ $c +9 &TL\ 7 +9 &F\ L +10 &]L\ N +9 &g_L\ N +10 &*ZK\ M +9 &ZI\ N +9 &ZE\ M +10 &p]K\ M +9 &1_K\ N +9 &^G\ N +10 &!ZF\ N +9 &#w_K\ N +10 &%9\\K\ N +9 &&\\K\ N +9 &(ZF\ M +10 &*[E\ N +9 &,A^K\ N +9 &.[A\ M +10 &/^@\ M +9 &1]A\ M +10 &3J]9\ M +9 &5 ]5\ M +9 &6^9\ M +10 &8]8\ M +9 &:R^<\ M +9 &<]2\ M +10 &=W9\ M +9 &?\\5\ M +10 &AZX>\ M +9 &C^2\ N +9 &D_0\ N +10 &Fj0\ O +9 &HW{3\ Q +9 &J,\ S +10 &K4\ S +9 &M7\ T +10 &OX8\ S +9 &Q8\ T +9 &R8\ T +10 &T6\ T +9 &V_8\ T +9 &X5\ T +10 &Yzn3\ 5 +9 &Z08\ I +10 &Z8\ ( +2 ( +2 "processing"%j& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&Y1 +59 "core" 1 + "manipulator"&D% +5 "core" % 5 y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +100 "core" ' +2 "processing"%g& +4 "core" &Z8\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&I% +4 "core" %\ % H + "storage"(y% +4 "core" %U `\ + "storage"(. +3 "core" .(,l +2 "storage"(F& +3 "core" &,r Q\ +3 "storage"(d& +2 "manipulator"&1& +7 "core" &,r H\ + &r  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(%'i +3 "manipulator"&((s +3 "core" ( +2 "manipulator"&n& +4 "core" &r 1 - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &r 2  +2 .tForearm.seek PC +2 "manipulator"&Q' +95 "core" ' +2 .tHand.close + "manipulator"&s/ +52 "core" / +2 .tPC.seek :open +2 "processing"%:( +91 "core" ' +2 "storage"( - +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +44 "core" ' +287 ( + "storage"(& +5 "core" &,r R\ + "manipulator"&& +4 "core" &r  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +260 "core" ( +2 "manipulator"&m& +4 "core" &  s  + "storage"({& +4 "core" &,r k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&b'Ѽ +104 "core" ' + .tHand.open +2 "manipulator"&c1 +53 "core" 1 +2 "storage"(l- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(^'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(|' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(& +4 "core" &,r U\ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +7 "core" ( + "manipulator"&,& +5 "core" &  _  + "storage"(~& +4 "core" &,r \ +3 .tForearm.seek 4 + 700 counts + "manipulator"&r'Ѽ +18 "core" ' +2 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +57 "core" ' +2 "manipulator"& & +4 "core" &   + "storage"(P& +5 "core" &,r E\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&z% +5 "core" % %  + "storage"(& +5 "core" &,r \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&v'< +18 "core" ' + "manipulator"&& +5 "core" & F  + "storage"(h& +4 "core" &,r P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +39 "core" ' +2 "storage"(w% +4 "core" %n I\ +2 ."downElevator"SE.seek :down +4 "storage"(u'X +98 (% +4 "core" %I M\ Wc + "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,r \ + "collection"'5& +4 "core" &Vk W\ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\    +2 "storage"(t% +3 "core" %Q =\ +2 "storage"(. +3 "core" .(,l + "storage"(8& +4 "core" &,r :\ +2 "storage"(<& +4 "core" &,r \ + "manipulator"&)& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" & $   + "storage"(@& +4 "core" &,r c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 4 + 700 counts +4 "manipulator"&?'Ѽ +93 "core" ' +2 "storage"([& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +285 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" &   +2 "storage"(& +3 "core" &,r w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\ - +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(&'W +32 "core" ' +2 "manipulator"&X% +4 "core" % m +2 "storage"(7& +4 "core" &,r Q\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts + "manipulator"&o'> +18 "core" ' +2 "manipulator"&/& +4 "core" &   +2 "storage"(& +4 "core" &,r z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&L'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(e'F +44 "core" ' +2 "manipulator"&]& +4 "core" &   +2 "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +151 "core" ( + "manipulator"&S& +4 "core" &'  >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &' >J + .tForearm.seek CC +2 "manipulator"&>'" +94 "core" ' +2 .tHand.close +2 "manipulator"&N/ +52 "core" / +2 .tCC.seek :open +2 "collection"'=( +416 "core" ( + "storage"(3& +4 "core" &,r\ \ \ +2 "storage"(K& +4 "core" &,r\ \ \ + "manipulator"&T& +4 "core" &( *  >I + "manipulator"&R% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +161 "core" ( + "manipulator"&J& +4 "core" & % M j +2 "storage"(H& +4 "core" &,r\ &\ & j\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&#' +102 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +62 "core" 1 +2 "manipulator"&O% +4 "core" %  - 9  +2 "storage"(f& +3 "core" &,r\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&4'@ +18 "core" ' +3 "manipulator"&& +4 "core" & ` j + "storage"(W& +5 "core" &,r\ J\ I )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +28 "core" ' + "storage"( % +5 "core" %H\ J\ P f\ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (_% +3 "core" %B\ '\ ' l\ U^ +2 "manipulator"&V% +4 "core" %Ѿ $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'$& +5 "core" & t\ + "manipulator"&E% +4 "core" %\   $ +2 "storage"(\\% +3 "core" %]\ $\ $ =\ +2 "storage"(2. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" &<)\ \  F\ +2 "manipulator"&D& +4 "core" & j + .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&I& +3 "core" &  ` j +2 "storage"(y& +4 "core" &<&\ .\ $ <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +97 "core" ' + "storage"(F& +4 "core" &<&\ A\ ; 8\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'i +278 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &<&\ $\ $ \  + "manipulator"&n& +4 "core" &  j +2 .tElbow.seek 5 + "manipulator"&Z( +3 "core" ( +2 "manipulator"&k& +3 "core" & n j +2 "storage"(s& +4 "core" &<&\ (\ $ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"& ' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(B'X +6 "core" & S j +2 "manipulator"&%% +4 "core" %  $ +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( + "manipulator"&& +5 "core" &+ -  Ab + ' +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &Q& +2 "core" &*   Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +104 "core" ' +2 "manipulator"&{& +4 "core" &+ R Ab +2 "manipulator"&(% +4 "core" % +2 "collection"'c& +4 "core" & \ +2 "collection"'l& +5 "core" & |\ +2 .tCC.seek :closed + "collection"'q(V +5 "core" & \  +8 &0 \ +z +9 &d \ > +10 &|v \ M +9 &@Y \ L +10 &\\ \ L +9 &^ \ L +9 &Y \ L +10 &IZ \ L +9 &\ _ \ L +9 &_ \ L +10 & ` \ L +9 &"O_ \ M +10 &$_ \ L +9 &%\\ \ L +9 &'] \ L +10 &)XW \ L +9 &+[ \ L +9 &,] \ \ M +10 &.\\ \ M +9 &0_Z \ M +10 &2"] \ L +9 &3Y \ M +9 &5W \ L +10 &7h[ \ L +9 &9*] \ L +9 &:` \ M +10 &<\\ \ M +9 &>o` \ M +10 &@1\\ \ M +9 &A\\ \ M +9 &C] \ L +10 &Eud \ M +9 &G2s \ O +9 &H \ Q +15 &J \ \ W +4 &L^ \ X +10 &N! \ W +9 &O \ Y +9 &Q \ Y +10 &Sb \ Y +9 &U# \ Z +9 &VoB \ 1 +10 &Vu \ K +5 ( +2 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&1 +3 "core" &Vo \ K +50 1 + "manipulator"& % +4 "core" %  0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%~& +4 "core" &^\ + "manipulator"&% +4 "core" %\  &  +2 "storage"( % +4 "core" %T {\ + "storage"(P. +3 "core" .(<* +2 "storage"(x& +3 "core" &<& ?\  +2 "storage"(z& +4 "core" &<& ;\  + "manipulator"&& +4 "core" &)  ?Q +2 "manipulator"&^% +3 "core" %\  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +156 "core" ( + "manipulator"&h& +4 "core" & q  +2 "storage"(`& +3 "core" &<& r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&w'ы +98 "core" ' + "storage"(b& +5 "core" &<&\ \ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +278 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<& y\  +2 "manipulator"&r& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( + "manipulator"&}& +4 "core" &  p  +2 "storage"(& +3 "core" &<& L\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&v' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +50 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"('X +7 "core" & q  +2 "manipulator"&t% +4 "core" % ; + .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +104 "core" ( + "manipulator"&8& +4 "core" &h / / 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &i X 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&)' +98 "core" ' +2 "manipulator"&"& +5 "core" &{ $ F  + "manipulator"&@% +5 "core" %  s + "processing"% & +5 "core" &\\\ +2 "processing"%[& +10 "core" &Z\ +3 .tPC.seek :closed +2 "processing"%u(Z +3 "core" &T\ +3 &S\  +9 &1S\ *x +9 &cL\ > +9 &r{Q\ N +10 &6\\L\ M +9 &_M\ M +10 &`O\ M +9 &{[G\ M +9 &=[B\ M +10 &]L\ M +9 &`J\ M +9 & aF\ N +10 &"D]D\ N +9 &$YB\ M +10 &%[B\ N +9 &'_O\ N +9 &)M_F\ M +10 &+\\P\ M +9 &,\\F\ M +9 &.^L\ N +10 &0U[C\ M +9 &2ZD\ M +10 &3ZK\ M +9 &5]F\ M +9 &7]_C\ M +10 &9`C\ M +9 &:]5\ M +9 &<^K\ M +10 &>e]C\ M +9 &@'_K\ M +10 &A]?\ M +9 &C\\?\ N +9 &Ek`L\ N +10 &G(nG\ P +9 &HA\ R +9 &JF\ S +10 &Ld2\ S +9 &N&6\ S +10 &O;\ S +9 &Q8\ S +9 &Sj-\ T +10 &U,6\ T +9 &V3\ T +9 &X9\ U +10 &Za8\ $n +9 &Za-\ 1 +9 ( +3 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +3 "core" &Z 6\ , +54 1 + "manipulator"&% +4 "core" % / W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 "processing"%9& +4 "core" &Z V\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  .  + "storage"(\ % +4 "core" %b \ +2 "storage"(X. +3 "core" .(<* + "storage"(7& +4 "core" &<& \  +2 "storage"(/& +4 "manipulator"&& +4 "core" &<& \  + &{   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&](s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(M'i +2 "core" ( +2 "manipulator"&?& +3 "core" &{  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{   +2 .tForearm.seek PC + "manipulator"&0' +93 "core" ' +2 .tHand.close + "manipulator"&'/ +53 "core" / +2 .tPC.seek :open +2 "processing"%o( +96 "core" ' +2 "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'y +43 "core" ' +283 ( +2 "storage"(!& +4 "core" &<& \  + "manipulator"&L& +4 "core" &{ ;  +2 "manipulator"&% +3 "core" % 0 ( +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +238 "core" ( + "manipulator"&& +5 "core" & % E < + "storage"(3& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&K'ы +95 "core" ' + .tHand.open +2 "manipulator"&T1 +56 "core" 1 +2 "storage"(R- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(H' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"(i& +4 "core" &<&  \  + "manipulator"&C& +4 "core" & # < +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( + "manipulator"&f& +5 "core" &  G < + "storage"(& +5 "core" &<&  )\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' +2 "manipulator"&-& +4 "core" & d < +2 "storage"(_& +3 "core" &<& T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V' +33 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +25 "core" ' + "manipulator"&4% +5 "core" % + "storage"($& +5 "core" &<& f\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&E' +12 "core" ' +2 "manipulator"&\\& +4 "core" & < +2 "storage"(2& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&e'ы +32 "core" ' +2 "storage"(G% +4 "core" %p h\ +3 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (A% +3 "core" %J 3\ Wd +2 "manipulator"&Y% +4 "core" %p 4 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (I& +4 "core" &<& M\  +2 "collection"'y& +4 "core" &Vo \ K +6 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&F% +5 "core" %\    + "storage"(6% +4 "core" %c T\ +2 "storage"(U. +3 "core" .(<* + "storage"(1& +4 "core" &<& U\  +2 "storage"(d& +3 "core" &<& f\  +2 "manipulator"&n& +4 "core" &  < + .tElbow.seek 5 +2 "manipulator"&k( +3 "core" ( + "manipulator"&s& +4 "core" &  < +2 "storage"(a& +4 "core" &<& _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&p'ы +96 "core" ' + "storage"(%& +4 "core" &<& \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +284 "core" ' +3 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  < + "storage"(Q& +4 "core" &<& t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&j' +39 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"({- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('V +24 "core" ' + "manipulator"&Z% +4 "core" % t +2 "storage"(c& +4 "core" &<& f\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&B' +16 "core" ' + "manipulator"&& +4 "core" & # K < +2 "storage"(=& +4 "core" &<& I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( 'E +45 "core" ' + "manipulator"&~& +5 "core" &  < + "manipulator"&% +5 "core" %z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +155 "core" ( + "manipulator"&x& +5 "core" & % a 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" & / l 3 +2 .tForearm.seek CC + "manipulator"&l'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +104 "core" / +3 .tCC.seek :open +2 "collection"'^( +415 "core" ( +2 "storage"(m& +4 "core" &<&\ \  \  + "storage"(h& +4 "core" &<&\ \ \  +2 "manipulator"&`& +4 "core" &  3 + "manipulator"&b% +4 "core" % 6   +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +161 "core" ( + "manipulator"&& +5 "core" &  f d + "storage"(& +4 "core" &<&\ $\ $ .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&r' +109 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +7 "manipulator"&% +5 "core" %  M +2 "storage"(5& +3 "core" &<& c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&t' +15 "core" ' +2 "manipulator"&& +4 "core" &  d +2 "storage"(w& +4 "core" &<&\ J\ J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&|'ы +24 "core" ' +2 "storage"(v% +4 "core" %G\ I\ F @\ +3 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (<% +3 "core" %|F\ %\ & S\ V` +2 "manipulator"&% +4 "core" %ѩ U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'@& +4 "core" & \ +2 "manipulator"& % +4 "core" %\    + "storage"(% +4 "core" %a\ A\ ? 4\ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K\ \  :\  +3 "manipulator"&& +3 "core" &  d +2 .tElbow.seek 6 +2 "manipulator"&9( +37 "core" ( + "manipulator"&& +4 "core" &  c < +2 "storage"(\ & +4 "core" &K\ 4\ D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&X'a +98 "core" ' + "storage"(7& +5 "core" &K\ <\ A m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" &K\ \  +\  +2 "manipulator"&?& +4 "core" & g < +2 .tElbow.seek 6 + "manipulator"&( +23 "core" ( + "manipulator"&)& +4 "core" & ,  +2 "storage"('& +4 "core" &K\ %\ % G\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&&' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(u'X +7 "core" &  +2 "manipulator"&M% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&!'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +148 "core" ( + "manipulator"&& +5 "core" &%  0 <@ + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&0& +5 "core" &% ] <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + "manipulator"&3& +5 "core" && C T <@ + "manipulator"&]% +4 "core" %  +2 "collection"'T& +4 "core" & \ +2 "collection"'R& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'>(V +4 "core" & E\  +8 &0 \ *y +10 &e \ > +9 &|u \ M +9 &AY \ L +10 &Z \ M +9 &W \ L +9 &Z \ L +10 &H] \ M +9 &\ [ \ M +10 &X \ L +9 & [ \ L +9 &"Q[ \ L +10 &$Z \ L +9 &%_ \ M +9 &'Y \ L +10 &)ZY \ L +9 &+] \ M +10 &,Z \ M +9 &.] \ L +9 &0`Y \ M +10 &2"W \ M +9 &3] \ L +9 &5W \ L +10 &7jZ \ L +9 &9+] \ L +10 &:_ \ M +9 &<_ \ M +9 &>p_ \ M +10 &@2[ \ M +9 &AY \ L +9 &C\\ \ M +10 &Euc \ N +9 &G5m \ N +10 &H \ Q +12 &J \ V +6 &L_ \ X +10 &N# \ \ W +9 &O \ X +9 &Q \ X +10 &Sb \ Z +9 &U$ \ Z +10 &VnB \ 1 +9 &Vt \ K +5 ( +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&i1 +3 "core" &Vd \ K +56 1 +3 "manipulator"&C% +4 "core" % $ . p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &n\ + "manipulator"&N% +4 "core" %\ # P @ +2 "storage"(-% +3 "core" %b (\ +2 "storage"(_. +3 "core" .(K + "storage"(S& +4 "core" &K 9\  +2 "storage"(4& +3 "core" &K k\  +2 "manipulator"&$& +4 "core" &% U <@ + "manipulator"&\\% +4 "core" %\ # m @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&J( +162 "core" ( +2 "manipulator"&2& +4 "core" & $  +2 "storage"(G& +3 "core" &K A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +98 "core" ' + "storage"(K& +4 "core" &K\ \  S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +284 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" &K [\  + "manipulator"&W& +4 "core" & }  +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( + "manipulator"& & +5 "core" &  + "storage"(V& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +3 "storage"(F'X +7 "core" & ]  + "manipulator"&6% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&U'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&1& +5 "core" &k ! 0  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +4 "core" &k  #  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +104 "core" ' +2 "manipulator"&s& +4 "core" &k ^  +2 "manipulator"&a% +3 "core" %  \\ +2 "processing"%e& +4 "core" &n\ +3 "processing"%%& +5 "core" &U\ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &Q\ +7 &9Q\ $c +9 &TU\ 7 +9 &Y\ L +10 &]M\ M +12 &a_W\ N +6 &$_Y\ M +10 &_W\ M +9 &][\ M +10 &j_\\\ M +9 &,ZX\ M +9 &]\\\ M +10 &!`Q\ M +9 &#r\\X\ M +9 &%3]X\ N +10 &&Y[\ M +9 &(YZ\ N +10 &*y\\T\ N +9 &,<ZX\ M +9 &-`W\ N +10 &/\\X\ M +9 &1YT\ M +9 &3DZU\ M +10 &5]U\ M +9 &6]Y\ N +10 &8ZV\ N +9 &:K\\O\ N +9 &< \\Z\ N +10 &=[Y\ N +9 &?[Q\ M +9 &ATWT\ M +10 &CZZ\ M +9 &D`Q\ N +9 &FlU\ O +10 &HOZ\ R +9 &J U\ S +10 &KP\ S +9 &MS\ S +9 &ORQ\ S +10 &QX\ S +9 &RP\ T +9 &TY\ T +10 &VWI\ T +9 &XX\ U +10 &YzoP\ 7 +9 &Z-N\ O +9 &ZA\ * +3 ( + "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&+1 +56 "core" 1 + "manipulator"&D% +4 "core" %  % L \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%& +4 "core" &ZP\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +51 "manipulator"&Q% +5 "core" %\ \ z  +2 "storage"({% +4 "core" %T @\ + "storage"(Z. +4 "core" .(K + "storage"(c& +4 "core" &K \  +2 "storage"(& +4 "manipulator"&=& +4 "core" &K \  + &k  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&~(s +2 "storage"('i +5 "core" ( + "manipulator"&p& +5 "core" &k  0  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &k  +2 .tForearm.seek PC + "manipulator"&g' +97 "core" ' +2 .tHand.close + "manipulator"&j/ +52 "core" / +2 .tPC.seek :open +2 "processing"%B( +93 "core" ' + "storage"((- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'y +46 "core" ' +284 ( + "storage"(z& +4 "core" &K v\  +2 "manipulator"&& +4 "core" &k w  + "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +260 "core" ( + "manipulator"&q& +5 "core" & % w + "storage"(m& +4 "core" &K &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&h'a +97 "core" ' + .tHand.open +2 "manipulator"&`1 +52 "core" 1 +2 "storage"(b- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(l- +3 "core" -' +2 "storage"(P& +4 "core" &K \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&5& +3 "core" &  z +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&w'a +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(v' +57 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(<& +3 "core" &K t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +28 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'i +28 "core" ' + "manipulator"&t% +5 "core" %ι  + "storage"(@& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"& ' +12 "core" ' +2 "manipulator"&& +4 "core" & I +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +32 "core" ' + "storage"(|% +5 "core" %p \ \ +2 ."downElevator"SE.seek :down +4 "storage"(8'X +98 (% +3 "core" %E q\ Wb +2 "manipulator"&% +4 "core" %N o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K \ \  + "collection"'\ & +4 "core" &Vc \ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&7% +4 "core" %\ \   +2 "storage"(}% +4 "core" %b\ \ `\ + "storage"(". +3 "core" .(K +2 "storage"(/& +3 "core" &K\ \ \  +2 "storage"([& +4 "core" &K\ \ \  + "manipulator"&?& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&)( +3 "core" ( + "manipulator"&'& +4 "core" & $  +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&;'a +86 "core" ' +2 "storage"(M& +4 "core" &K\ \  :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'i +283 "core" ' +3 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & c +2 "storage"(0& +4 "core" &K p\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(]'Z +39 "core" ' + "manipulator"&T% +4 "core" %ι +2 "storage"(& +4 "core" &K p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&u' +14 "core" ' + "manipulator"&!& +5 "core" & + "storage"(^& +4 "core" &K ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&i'a +36 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"(C'I +40 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&N% +4 "core" %H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&_( +150 "core" ( +2 "manipulator"&R& +4 "core" &% %  ;9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &% <9 +2 .tForearm.seek CC +2 "manipulator"&4'" +92 "core" ' + .tHand.close +2 "manipulator"&$/ +61 "core" / + .tCC.seek :open +2 "collection"'\\( +416 "core" ( +2 "storage"(& +4 "core" &K\ \ \  + "storage"(2& +4 "core" &K\ \  \  + "manipulator"&G& +4 "core" &% N ;6 + "manipulator"&K% +5 "core" % / 2 8 + .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +160 "core" ( +2 "manipulator"&A& +4 "core" &  y  +2 "storage"(Y& +4 "core" &K\ .\ 1 0\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&W'Υ +107 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +54 "core" 1 +2 "manipulator"&I% +4 "core" % θ  + "storage"(y& +4 "core" &K ]\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&6' +18 "core" ' + "manipulator"&J& +4 "core" & ;  +2 "storage"(.& +4 "core" &K\ J\ I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&H'a +34 "core" ' + "storage"(E% +5 "core" %L\ K\ P Q\ +2 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (d% +3 "core" %G\ &\ & g\ V` + "manipulator"&O% +5 "core" %f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'a& +4 "core" & !\ +2 "manipulator"&e% +54 "core" %\ \ `  + "storage"(F% +4 "core" %a\ ;\ ; Q\ +2 "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(o(,l +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +3 "core" &,o\ \  8\ +2 "manipulator"&D& +3 "core" & 6  +2 .tElbow.seek 4 +2 "manipulator"&( +14 "core" ( + "manipulator"&Q& +4 "core" & o +2 "storage"(%& +4 "core" &,s\ I\ H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{'Ѽ +88 "core" ' +2 "storage"(Z& +4 "core" &,s\ T\ Q \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +279 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,s\ \ # \ +2 "manipulator"&p& +3 "core" &  o +2 .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( + "manipulator"&n& +4 "core" & o +2 "storage"(j& +4 "core" &,s\ 8\ F ~\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&(', +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&#/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(*'X +7 "core" & : o + "manipulator"&% +4 "core" % : s _ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"& & +5 "core" &, > V Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &, u Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'" +96 "core" ' +2 "manipulator"&m& +4 "core" &*  0 @Z +2 "manipulator"&~% +4 "core" % P + "collection"'`& +5 "core" & ?\ +2 "collection"'b& +5 "core" & @\ +2 .tCC.seek :closed +2 "collection"'l(V +4 "core" & @\ +8 & + ;\ $d +9 &V~ T\ 7 +10 &~ E\ L +9 &Y ?\ L +9 &mZ 5\ L +10 &.\\ 5\ M +9 &_ 6\ M +9 &Z J\ M +10 &uY 0\ L +9 &7Z \ L +10 &] ~\ M +9 &!] \ L +9 &#}Z \ L +10 &%=^ \ M +9 &'W \ L +9 &(W \ L +10 &*Z \ L +9 &,G] \ L +10 &. ] \ L +9 &/Y \ M +9 &1_ \ L +10 &3OX \ L +9 &5[ \ L +9 &6] \ M +10 &8[ \ L +9 &:V] \ M +9 &<_ \ M +10 &=Z \ L +9 &?X \ M +10 &A_] \ L +9 &C!\\ \ L +9 &D` \ M +10 &Fi \ N +9 &HZ \ Q +9 &J \ V +10 &K \ W +9 &M \ X +10 &ON \ X +9 &Q \ X +9 &R \ Y +10 &T \ Y +9 &V-v \ . +9 &V$ \ R +10 ( + &Vd \ K +2 "collection"'b& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&P1 +52 "core" 1 + "manipulator"&% +4 "core" %  -  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &R\ +2 "manipulator"&% +4 "core" %\  ( [  + "storage"(% +4 "core" %b `\ +2 "storage"(<. +3 "core" .(,l + "storage"(x& +4 "core" &,s R\ +2 "storage"(t& +4 "core" &,s @\ + "manipulator"&@& +4 "core" &* & @Y +2 "manipulator"&% +4 "core" %\  Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" & _ p +2 "storage"(|& +4 "core" &,s\ \ S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +104 "core" ' +2 "storage"(h& +4 "core" &,s\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,s b\ +2 "manipulator"&w& +4 "core" &  p + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&v& +5 "core" &  [ p + "storage"(& +4 "core" &,s &\ +4 .tForearm.seek 4 + 300 counts +4 "manipulator"& ', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(7'X +7 "core" &  p +2 "manipulator"&}% +4 "core" % 7  K +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&"(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&/& +4 "core" &p ' M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &p p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +98 "core" ' +2 "manipulator"&'& +4 "core" &p & 9 +2 "manipulator"&% +3 "core" %  ` +2 "processing"% & +5 "core" &w\ +2 "processing"%M& +4 "core" &_\ +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &`\ +7 & 1c\ $c +10 &U[\ 7 +9 &~T\ K +9 &]Y\ N +10 &e_`\ M +9 &&]_\ N +9 &\\Z\ N +10 &\\V\ M +9 &l^Z\ N +10 &.\\Y\ N +9 &`[\ M +9 &!YS\ M +10 &#t_Y\ N +9 &%7\\[\ M +9 &&][\ M +10 &(\\Y\ N +9 &*|\\Z\ N +10 &,>][\ N +9 &.^Z\ N +9 &/XY\ M +10 &1\\[\ N +9 &3G\\[\ M +9 &5 \\[\ M +13 &6\\Y\ N +6 &8[Z\ N +10 &:N\\[\ N +9 &<\\Z\ M +9 &=\\[\ M +10 &?[Y\ N +9 &AV[Z\ N +9 &C^Y\ N +10 &DbU\ N +9 &FjZ\ O +10 &HRY\ R +9 &JZ\ S +9 &KY\ S +10 &MU\ T +10 &OUY\ S +8 &QY\ S +10 &RZ\ T +9 &TY\ T +10 &V\\Y\ T +9 &XZ\ U +9 &Y{uV\ 5 +10 &Z+Z\ M +9 &Z"Y\ . +2 ( +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&,1 +59 "core" 1 + "manipulator"&% +4 "core" % / : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +99 "core" ' +2 "processing"%& +4 "core" &Z"P\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&0% +4 "core" %\  x  + "storage"(3% +4 "core" %b Z\  +2 "storage"(T. +3 "core" .(,l + "storage"(& +4 "core" &,s H\ +2 "storage"(!& +4 "manipulator"&^& +4 "core" &,s O\ + &p F +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s +2 "storage"(N'i +5 "core" ( + "manipulator"&;& +5 "core" &p  0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &p  +3 .tForearm.seek PC + "manipulator"&9' +98 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tPC.seek :open + "processing"%u( +93 "core" ' +2 "storage"(]- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'y +46 "core" ' +284 ( + "storage"(S& +4 "core" &,s ?\ +2 "manipulator"&i& +3 "core" &p  +2 "manipulator"&&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&$'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&-( +259 "core" ( + "manipulator"&>& +4 "core" & % X  +2 "storage"(& +4 "core" &,s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +100 "core" ' + .tHand.open +2 "manipulator"&G1 +62 "core" 1 +2 "storage"(K- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +54 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(_& +4 "core" &,s \ + "manipulator"&V& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&I( +8 "core" ( + "manipulator"&y& +5 "core" &  C  + "storage"(J& +4 "core" &,s }\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&.'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +57 "core" ' +2 "manipulator"&L& +4 "core" & $  +2 "storage"(d& +3 "core" &,s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&O' +32 "core" ' +3 .tElbow.hold +2 "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(W'i +25 "core" ' +2 "manipulator"&6% +4 "core" % _  +2 "storage"(a& +4 "core" &,s \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 306 counts + "manipulator"&e'2 +14 "core" ' +2 "manipulator"&C& +4 "core" & h  +2 "storage"(F& +4 "core" &,s\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&U'Ѽ +24 "core" ' +2 "storage"(H% +5 "core" %s\ \  6\ +2 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (:% +3 "core" %jE X\ Wb + "manipulator"&+% +5 "core" % N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +4 "core" &,s\ \  j\ + "collection"'%& +4 "core" &Vd \ s\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&Z% +4 "core" %\ K  +2 "storage"( % +3 "core" %a\ \ \ +2 "storage"(s. +3 "core" .(,l + "storage"(=& +5 "core" &,s\ \  \ + "storage"(& +4 "core" &,s\ \ \ + "manipulator"&p& +5 "core" & V  + .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&j& +4 "core" & )  + "storage"(#& +4 "core" &,s\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +97 "core" ' + "storage"(& +5 "core" &,s\ \  4\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &   +2 "storage"(g& +3 "core" &,s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&c' +35 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'V +28 "core" ' + "manipulator"&`% +5 "core" %  T + "storage"(k& +5 "core" &,s ;\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&*'9 +19 "core" ' + "manipulator"&z& +4 "core" & T  +2 "storage"(\\& +4 "core" &,s\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&P'Ѽ +32 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +44 "core" ' + "manipulator"&& +4 "core" & w  +2 "manipulator"&% +4 "core" %Ѵ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +149 "core" ( + "manipulator"&x& +5 "core" &$  V ;3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &#  ;3 +2 .tForearm.seek CC +2 "manipulator"&@'" +93 "core" ' + .tHand.close +2 "manipulator"&b/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( + "storage"(q& +4 "core" &,s\ \ S\ +2 "storage"(& +3 "core" &,s\ \  \ +2 "manipulator"&|& +3 "core" &#  :. +2 "manipulator"&h% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&5( +164 "core" ( +2 "manipulator"&& +4 "core" & 0 u + "storage"(& +4 "core" &,s\ I\ I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&w' +100 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   c , +2 "storage"(\ & +3 "core" &,s\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&}'@ +19 "core" ' + "manipulator"&& +4 "core" & V u +2 "storage"( & +4 "core" &,s\ I\ I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +32 "core" ' +2 "storage"( % +4 "core" %E\ H\ F \ +3 ."downElevator"SE.seek :down +4 "storage"(/'X +99 ([% +2 "core" %D\ %\ # \ V` +2 "manipulator"&% +5 "core" % F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & <\ + "manipulator"& % +4 "core" %\ V  + "storage"(7% +5 "core" %V\ ^\ L `\ + "storage"(r. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(B(<* +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" &<)\ \  \  +2 "manipulator"&& +3 "core" & a u +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"&0& +5 "core" & # e + "storage"(3& +4 "core" &<&\ F\ P ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T'ы +95 "core" ' + "storage"(& +5 "core" &<&\ -\  g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +277 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (!& +3 "core" &<&\ 1\ % A\  + "manipulator"&;& +4 "core" & j e +2 .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( + "manipulator"&?& +4 "core" & \\ e + "storage"(& +4 "core" &<&\ #\ $ 4\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&]' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&"/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(8'X +8 "core" & L e + "manipulator"&N% +4 "core" %  s o +2 .tForearm.seek :retract +2 "manipulator"&S'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&&& +4 "core" &( ? V ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &( ' A ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek CC +2 "manipulator"&>'" +95 "core" ' +2 "manipulator"&& +5 "core" &)  0 ?V + "manipulator"&% +4 "core" %) 8  +2 "collection"'G& +4 "core" & E\ +2 "collection"'K& +6 "core" & E\ +2 .tCC.seek :closed +2 "collection"'$(V +4 "core" & G\ +7 &D L\ %g +9 &X D\ 8 +9 &{ G\ L +10 &Y M\ L +9 &[ K\ M +10 &AZ M\ M +9 &] B\ M +9 &W f\ L +10 &Y F\ L +9 &J] 8\ L +9 & ] <\ M +10 &!] ;\ L +9 &#[ :\ L +10 &%Q] D\ M +9 &'Z @\ M +9 &(W =\ L +10 &*] \\\ L +9 &,ZY +\ L +9 &.W M\ L +10 &/Y \ L +9 &1\\ Q\ L +10 &3b\\ \ L +9 &5#W \ M +9 &6\\ \ M +10 &8V \ L +9 &:iY \ M +9 &<+Z \ M +10 &=Y \ M +9 &?] \ L +10 &AqW \ M +9 &C3_ \ M +9 &Dc \ M +10 &Fj \ N +9 &Hl \ Q +9 &J" \ U +10 &K \ W +9 &M \ X +10 &O` \ X +9 &Q" \ X +9 &R \ Y +10 &T \ Y +9 &V5q \ , +9 &V% \ T +9 ( +3 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&41 +3 "core" &Vn \ L +50 1 +2 "manipulator"&_% +4 "core" % ) m  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%y& +9 "core" &k\ + "manipulator"&J% +4 "core" %\ !  7 +2 "storage"(L% +4 "core" %a \ + "storage"(d. +3 "core" .(<* +2 "storage"(R& +4 "core" &<& U\  + "storage"(6& +4 "core" &<& \  +2 "manipulator"&a& +3 "core" &( ?U +2 "manipulator"&A% +4 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +64 "Can"D\ IG +96 "core" ( + "manipulator"&F& +5 "core" & $ / t + "storage"(H& +4 "core" &<& 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&-'ы +103 "core" ' + "storage"(2& +4 "core" &<&\ \  "\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +283 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &<& \  + "manipulator"&.& +4 "core" & x t +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&E& +3 "core" & { t +2 "storage"(O& +4 "core" &<& W\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&e' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(Z'X +8 "core" & V t + "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&=& +4 "core" &q A   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q }  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +98 "core" ' + "manipulator"&j& +4 "core" &q  ^  +2 "manipulator"&#% +4 "core" % o + "processing"%U& +4 "core" &x\ +2 "processing"%& +5 "core" &b\ +2 .tPC.seek :closed +2 "processing"%1(Z +5 "core" &i\ +7 & 1m\ $c +9 &Uh\ 7 +9 &k\ L +10 &\\e\ M +9 &[^c\ N +10 &^h\ M +9 &_e\ M +9 &\\T\ N +10 &c^_\ N +9 &&[h\ M +9 &Z\\\ N +10 &!\\]\ M +9 &#l[Z\ M +10 &%,][\ N +9 &&Z\\\ M +9 &(ZV\ M +10 &*t_Z\ M +9 &,6]U\ M +9 &-_Y\ M +10 &/][\ M +9 &1|\\[\ M +9 &3>]Z\ M +10 &5\\Y\ M +9 &6][\ M +10 &8][\ M +9 &:FX[\ M +9 &<W_\ M +10 &=W[\ M +9 &?XZ\ M +10 &AOZ[\ M +9 &C]Z\ N +9 &D`[\ N +10 &FhZ\ O +9 &HJ{[\ Q +9 &JZ\ S +10 &K\\\ S +9 &M\\\ S +10 &OKZ\ T +9 &Q[\ S +9 &R[\ T +10 &TZ\ T +9 &VRZ\ T +9 &X[\ U +10 &Yzo[\ 9 +9 &Z)s\\\ N +9 &Z&Y\ / +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&f1 +56 "core" 1 + "manipulator"&D% +5 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 "processing"% & +4 "core" &Z%e\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&g% +4 "core" %\ # > +2 "storage"(m% +4 "core" %c \ + "storage"(`. +3 "core" .(<* +2 "storage"(k& +3 "core" &<& 8\  +2 "storage"(z& +2 "manipulator"&\\& +7 "core" &<& \  +2 &q y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &q  +2 .tForearm.seek PC +3 "manipulator"&' +3 "core" ' < ? $ \ xb +3 !"raiseStack"o:Slide::Error\ : mesg"6Storage Elevator overCurrent at down + 228 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @tagi: @sourcei-: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioni<: velocityi: currenti:pwmig:erri: inPressi? : outPressi$ :deltaPressi : voltagef13.320602847324498: @type2F:@destinationi%:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"6/home/esp/esp2/utils/puckmoves.rb:436:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:435:in `unload'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Retry #1 of 4 +3 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 ."raiseStack"SE.home.seek :down +2 "storage"(c'X +64 "core" ' + "storage"(*& +4 "core" &<& \  +3 ."raiseStack"SE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'i +7 "core" ' + .tHand.close +2 "manipulator"&x/ +61 "core" / +2 .tPC.seek :open +2 "processing"%t( +197 "core" ' + "storage"(P- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('y +45 "core" ' +179 ( +2 "storage"(b& +4 "core" &<& (\  +2 "manipulator"&& +3 "core" &q 2  +2 "manipulator"&l% +4 "core" % p + .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&|& +4 "core" & % G % +2 "storage"(h& +3 "core" &<& j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +98 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(@- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(<'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\ & +4 "core" &<& } \  + "manipulator"&& +4 "core" &  $ +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"& & +5 "core" & & ~ $ + "storage"(& +4 "core" &<& ~ \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&5& +4 "core" & * $ + "storage"(w& +5 "core" &<& o\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&}' +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +22 "core" ' +2 "manipulator"&7% +4 "core" %  F +2 "storage"(r& +4 "core" &<& Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" & % t % +2 "storage"(/& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&o'ы +32 "core" ' +2 "storage"(,% +4 "core" %r A\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (0% +3 "core" %3J \ Vb +2 "manipulator"&3% +4 "core" %p 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +4 "core" &<& m\  + "collection"''& +5 "core" &Vm u\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&^% +4 "core" %\ \   + "storage"(!% +5 "core" %U S\ + "storage"(;. +3 "core" .(<* +2 "storage"(?& +3 "core" &<& ]\  +2 "storage"(& +4 "core" &<& 5\  + "manipulator"&"& +5 "core" & , % + .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&N& +4 "core" &  Z % + "storage"(& +4 "core" &<& j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&T'ы +94 "core" ' + "storage"(&& +5 "core" &<& \ f\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'i +280 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&]& +3 "core" &  % +2 "storage"()& +3 "core" &<& \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'W +28 "core" ' + "manipulator"&S% +4 "core" % 8 @ +2 "storage"(& +4 "core" &<& ?\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&4' +13 "core" ' + "manipulator"&_& +5 "core" &  B $ + "storage"(y& +4 "core" &<& r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&J'ы +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(L'F +54 "core" ' + "manipulator"&d& +5 "core" &  $ + "manipulator"&R% +5 "core" %ѽ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +7 "manipulator"&K'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +150 "core" ( +3 "manipulator"&a& +4 "core" &% , <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &%  <: +2 .tForearm.seek CC + "manipulator"&>'" +91 "core" ' +2 .tHand.close + "manipulator"&F/ +63 "core" / +2 .tCC.seek :open +2 "collection"'H( +416 "core" ( + "storage"(2& +4 "core" &<&\ \  \  +2 "storage"(i& +4 "core" &<&\ \  \  + "manipulator"&V& +4 "core" &% ) <9 + "manipulator"&:% +4 "core" % % f +2 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +164 "core" ( +2 "manipulator"&E& +4 "core" & : P + "storage"(O& +5 "core" &<&\ I\ D\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Q' +105 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +56 "core" 1 +2 "manipulator"&C% +4 "core" %  # +2 "storage"(-& +4 "core" &<& 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&Y' +15 "core" ' + "manipulator"&e& +5 "core" & q Q + "storage"(=& +4 "core" &<&\ I\ I &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +27 "core" ' + "storage"(I% +5 "core" %K\ H\ I \ +2 ."downElevator"SE.seek :down +3 "storage"(j'X +99 (#% +3 "core" %D\ $\ # ,\ V` +2 "manipulator"&U% +4 "core" %ї +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +98 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'s& +4 "core" & ;\ +2 "manipulator"&u% +4 "core" %\   + "storage"(f% +4 "core" %b\ , ~ A\ + "storage"(D. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &K\ \  )\  +2 "manipulator"&m& +3 "core" & e Q +2 .tElbow.seek 6 +2 "manipulator"&`( +39 "core" ( + "manipulator"&k& +5 "core" &$ i  + "storage"(z& +4 "core" &K\ C\ F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&\\'a +101 "core" ' +2 "storage"(& +4 "core" &K\ D\ G u\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ \ ! \  +2 "manipulator"&*& +3 "core" &$ ,  +2 .tElbow.seek 6 +2 "manipulator"&p( +19 "core" ( +2 "manipulator"&x& +4 "core" &  + "storage"(W& +9 "core" &K\ %\ $ "\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{' +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(1'X +8 "core" & G  + "manipulator"&b% +4 "core" % k l +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&~& +4 "core" &$ - h ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &$  b ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +93 "core" ' +3 "manipulator"&h& +5 "core" &$ ! b ;8 + "manipulator"&% +4 "core" %& Z  +2 "collection"'& +4 "core" & @\ +2 "collection"'@& +5 "core" & B\ +2 .tCC.seek :closed +8 "collection"'(V +3 "core" & D\ +3 & F\  +9 &0 D\ *y +9 &d D\ > +9 &~u F\ M +10 &CY H\ L +9 &] F\ M +9 &Z L\ L +10 &Y A\ L +9 &K\\ L\ L +10 & ] M\ L +9 &\\ M\ L +9 & Y M\ M +10 &"R[ F\ M +9 &$Y F\ L +9 &%Z D\ L +10 &'] B\ L +9 &)[\\ B\ L +10 &+] F\ L +9 &,W >\ L +9 &.X >\ L +10 &0cY B\ L +9 &2&Y >\ L +9 &3[ >\ M +10 &5W 9\ L +9 &7k\\ 1\ L +10 &9,Z 1\ M +9 &:] /\ L +9 &<\\ W\ L +10 &>r] J\ M +9 &@5Z \ L +9 &AZ )\ L +10 &C_ N\ M +9 &Exc \ \ M +10 &G7l +\ N +9 &H ~\ Q +9 &J \ C\ V +10 &Lb \ X +9 &N& \ W +9 &O ,\ X +10 &Q \ X +9 &Se \ Y +10 &U& \ Z +9 &VsC \ . +9 &Vy \ M +6 ( + "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&\ 1 +4 "core" &Vp \ M +53 1 +2 "manipulator"&% +4 "core" % '    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &~\ + "manipulator"&q% +4 "core" %\ & + < +2 "storage"(5% +3 "core" %b t\ +2 "storage"(w. +3 "core" .(K + "storage"((& +4 "core" &K <\  +2 "storage"(7& +4 "core" &K 3\  + "manipulator"&r& +53 "core" &$  ;6 +3 "manipulator"&<% +4 "core" %\ ' < +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +154 "core" ( + "manipulator"&/& +5 "core" & $ W  + "storage"(& +4 "core" &K m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +100 "core" ' + "storage"(,& +4 "core" &K\ \  \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &K h\  +2 "manipulator"&3& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(}& +4 "core" &K ^\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +65 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(^'X +9 "core" & ^  + "manipulator"&!% +5 "core" % G +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&;(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&?& +4 "core" &w ' j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &w 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"' +94 "core" ' + "manipulator"&N& +5 "core" &w )  + "manipulator"&% +4 "core" %  % +2 "processing"%o& +4 "core" &x\ +2 "processing"%&& +4 "core" &c\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &d\ +7 &Aj\ $f +9 &Vl\ 8 +10 &~f\ L +9 &]g\ N +9 &t]`\ N +10 &7\\g\ M +9 &Ya\ M +9 &Zi\ M +10 &|]c\ N +9 &@Y`\ M +10 & `h\ N +9 &!\\d\ M +9 &#[k\ M +13 &%F]a\ N +6 &'\\d\ N +9 &(X]\ M +10 &*\\c\ M +9 &,NYV\ N +9 &.`b\ N +10 &/\\\\\ N +9 &1\\\\\ M +10 &3VX^\ N +9 &5ZW\ N +9 &6WZ\ N +10 &8Z[\ N +9 &:_XZ\ M +9 &- +4 "core" -' + "storage"(6& +5 "core" &K \  + "manipulator"& & +4 "core" & 6 "x +2 .tElbow.seek 6 + "manipulator"&C( +3 "core" ( +2 "manipulator"&-& +4 "core" &  "x + "storage"(e& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(I' +58 "core" ' +2 "manipulator"&+& +4 "core" &  "x + "storage"(#& +4 "core" &K @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'Υ +20 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'i +25 "core" ' +2 "manipulator"&Y% +4 "core" %ή +2 "storage"(s& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&u' +13 "core" ' + "manipulator"&f& +5 "core" & + "x + "storage"(D& +4 "core" &K g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&L'a +23 "core" ' +2 "storage"(% +4 "core" %r a\ +3 ."downElevator"SE.seek :down +3 "storage"(j'X +99 (B% +3 "core" %G \ Wb +2 "manipulator"&g% +5 "core" %я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (k& +4 "core" &K %\  + "collection"'z& +4 "core" &Vp )\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ \   +2 "storage"(%% +4 "core" %a 5\ + "storage"(Z. +3 "core" .(K +2 "storage"(n& +3 "core" &K \  +2 "storage"(& +4 "core" &K ^\  + "manipulator"&*& +4 "core" &  "x +2 .tElbow.seek 6 + "manipulator"&x( +4 "core" ( +2 "manipulator"&W& +3 "core" & R "x +2 "storage"(P& +4 "core" &K T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +100 "core" ' +2 "storage"(b& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +284 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &  "x + "storage"(& +4 "core" &K <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +27 "core" ' + "manipulator"&% +53 "core" %ι  +3 "storage"(p& +4 "core" &K M\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&1' +12 "core" ' + "manipulator"&& +5 "core" &  Q "x + "storage"(H& +4 "core" &K ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&\ 'a +25 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' + "manipulator"&& +5 "core" & Y "x + "manipulator"&q% +5 "core" %h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +152 "core" ( +2 "manipulator"&(& +5 "core" &- = Cn + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &, *  Cn +2 .tForearm.seek CC +2 "manipulator"&7'" +94 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open +2 "collection"'<( +415 "core" ( +2 "storage"(|& +4 "core" &K\ \  #\  +2 "storage"(/& +3 "core" &K\ \  \  +2 "manipulator"&& +3 "core" &* 0 @Z +2 "manipulator"&,% +4 "core" % * * +2 .tForearm.seek :retract + "manipulator"&l'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +157 "core" ( +2 "manipulator"&[& +4 "core" & \\  +2 "storage"(0& +3 "core" &K\ &\ $ z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&3'Υ +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&}1 +61 "core" 1 +2 "manipulator"&v% +5 "core" % ι +2 "storage"('& +4 "core" &K\  \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&!' +12 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K\ D\ G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +32 "core" ' +2 "storage"(% +4 "core" %H\ H\ B \ +3 ."downElevator"SE.seek :down +3 "storage"(?'X +99 (% +3 "core" %D\ &\ & T\ V` +2 "manipulator"& % +4 "core" %M S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +96 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +11998 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +2779 #t-> exit +6 #mEXIT @1634241927.12EDT @1639754541.12EST = =tMAIN =mMAIN_scheduler @EST1639754543.02 #"core_reset"Sent BREAK + #t@50928 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +402 "Can"F\ ] + F\ ] + #tPolling Can every 10:00 +17 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3554 #-> ESP.ready! +3 #Powering core bus +544 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % T V}\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %(\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ "\   +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2627 #-> 3.times {shuffle 4..6} +3 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"';& +3 "core" & S T\  +2 .tHand.open + "manipulator"&<1 +55 "core" 1 + "manipulator"&=% +4 "core" % \  & M  +2 "storage"(>% +4 "core" %_\ %\ & e\ + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(@(,l +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,i `\  +2 "manipulator"&B& +3 "core" & * j # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( + "manipulator"&D& +4 "core" & 1 ~ # + "storage"(E& +4 "core" &,g\ \ ! :\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +93 "core" ' +2 "storage"(G& +5 "core" &,g\ H\ 7 v\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +278 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,g\ \  G\  + "manipulator"&K& +5 "core" & # +43 .tElbow.seek 4 + "manipulator"&L( +4 "core" ( + "manipulator"&M& +4 "core" &  # + "storage"(N& +5 "core" &,g\ (\ ' \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&O', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'X +8 "core" &   # + "manipulator"&S% +4 "core" % !  \\ N +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +145 "core" ( +2 "manipulator"&V& +4 "core" && % i =B +2 ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&W& +5 "core" && " =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek CC +2 "manipulator"&X'" +98 "core" ' + "manipulator"&Y& +5 "core" && r =B + "manipulator"&Z% +4 "core" % +2 "collection"'[& +4 "core" & Q T\  +2 "collection"'\\& +4 "core" & Q S\  +3 .tCC.seek :closed + "collection"'](V +5 "core" & Q T\  +7 &J P U\ %i +9 &xW S S\ 9 +10 & P S\ N +9 &[ T U\ N +9 &T\\ P S\ N +10 &Y R S\ N +9 &] R T\ O +9 &\\ R V\ N +10 &\\] Q R\ N +9 &Z R O\ N +9 &] S R\ N +10 &!` S R\ O +9 &#d_ Q T\ N +10 &%&b R T\ N +9 &&\\ S R\ N +9 &([ R U\ N +10 &*l] S T\ N +9 &,/Y Q T\ N +10 &-\\ S T\ N +9 &/] R T\ N +9 &1u_ T S\ N +10 &38\\ T T\ N +9 &4` R V\ N +9 &6` S T\ N +10 &8|] Q S\ N +9 &:=a R S\ O +10 &;` R S\ O +9 &=` P T\ O +9 &?^ R T\ N +10 &AF] Q U\ N +9 &Cb R U\ N +9 &Di R T\ O +10 &Fu S T\ P +9 &H@ T S\ S +9 &I T U\ X +10 &K S T\ Y +9 &Mu T T\ Y +10 &O7 T U\ Y +9 &P S S\ Y +9 &R S T~\ [\ +10 &Ty S U\ Z +9 &Vu R S\ 1 +10 &V& T V\ J +8 ( +2 &Vh R U\ F +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&^1 +59 "core" 1 +2 "manipulator"&_% +4 "core" %  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%a& +4 "core" &D\  +2 "manipulator"&b% +3 "core" %\ ! 3 +2 "storage"(c% +4 "core" %T \ + "storage"(d. +3 "core" .(,l + "storage"(e& +4 "core" &,g \  +2 "storage"(f& +4 "core" &,g \  + "manipulator"&g& +4 "core" && =A + "manipulator"&h% +4 "core" %\ ! 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&i( +150 "core" ( +2 "manipulator"&j& +4 "core" & ' $  + "storage"(k& +5 "core" &,g d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +88 "core" ' +2 "storage"(m& +4 "core" &,g\ \  3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'i +287 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &,g 7\  + "manipulator"&q& +4 "core" & e  +2 .tElbow.seek 4 + "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +4 "core" & % `  + "storage"(t& +4 "core" &,g ~\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&w& "storage"(x'X +8 "core" &  %  + "manipulator"&y% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&|& +5 "core" &| 4  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &|  @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +99 "core" ' + "manipulator"&& +4 "core" &| )  +2 "manipulator"&% +4 "core" %  i +2 "processing"%& +4 "core" &E\  +2 "processing"%& +5 "core" &K\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &K\ \  +9 &6P\ +{ +9 &dK\ ? +10 &b}Q\ O +9 &&]K\ N +10 &`L\ N +9 &`L\ O +9 &k`K\ N +10 &-]L\ N +9 &bN\ N +12 &_P\ N +7 & saL\ N +9 &"5_L\ N +9 &#^K\ N +10 &%_L\ O +9 &'{`L\ N +10 &)=_K\ N +9 &+bM\ N +9 &,]K\ N +10 &.`M\ N +9 &0E_L\ N +10 &2]L\ N +9 &3_L\ N +9 &5`K\ N +10 &7N_L\ N +9 &9`L\ N +9 &:ZM\ N +10 &<_I\ N +9 &>U^L\ N +9 &@`K\ N +10 &A_K\ O +9 &CbK\ O +10 &E[fM\ O +9 &GuM\ Q +9 &HK\ S +10 &JL\ T +9 &LTL\ T +9 &NK\ T +10 &OG\ T +9 &QF\ T +10 &SZL\ U +9 &UH\ U +9 &VL\ U +10 &XN\ U +9 &ZkN\ - +9 &Z\ YL\ : +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&1 +4 "core" &ZGG\ : +54 1 +2 "manipulator"&% +4 "core" %  t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + "processing"%& +4 "core" &ZG.\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\ # 9 +2 "storage"(\ % +4 "core" %] \ + "storage"( . +3 "core" .(,l +2 "storage"( & +4 "core" &,g \  +2 "storage"( & +2 "manipulator"&& +7 "core" &,g H\  + &| d  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"('i +5 "core" ( +2 "manipulator"&& +4 "core" &|  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &|  +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%( +88 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +42 "core" ' +295 ( + "storage"(& +4 "core" &,g (\  +2 "manipulator"&& +3 "core" &|  0  +2 "manipulator"&% +4 "core" %  - + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"( +244 "core" ( + "manipulator"&%& +4 "core" &  4 +2 "storage"('& +4 "core" &,g q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&)'Ѽ +98 "core" ' + .tHand.open +2 "manipulator"&(1 +60 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" &,g $\  +2 "manipulator"&.& +4 "core" & o 4 + .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +4 "core" & & 4 + "storage"(1& +4 "core" &,g z\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +58 "core" ' + "manipulator"&4& +4 "core" &  W 4 +2 "storage"(5& +4 "core" &,g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&6' +29 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +25 "core" ' +2 "manipulator"&9% +4 "core" %  +2 "storage"(:& +4 "core" &,g \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +3 "manipulator"&;'; +19 "core" ' + "manipulator"&<& +5 "core" &  7 4 + "storage"(=& +4 "core" &,g j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +33 "core" ' +2 "storage"(?% +4 "core" %s (\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (A% +3 "core" %#G \ Wc +2 "manipulator"&B% +4 "core" % 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &,g \  +2 "collection"'G& +4 "core" &Vh T U\ F + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&$% +4 "core" %\  9 7 + "storage"(&% +4 "core" %U }\ +2 "storage"(I. +3 "core" .(,l + "storage"(J& +4 "core" &,g Q\  +2 "storage"(K& +4 "core" &,g R\  + "manipulator"& & +4 "core" & ` 4 +2 .tElbow.seek 4 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" & ( C 4 +2 "storage"(P& +4 "core" &,g T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +101 "core" ' + "storage"(S& +5 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +329 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &   4 +2 "storage"(W& +3 "core" &,g 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&H' +31 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Z'W +41 "core" ' +2 "manipulator"&[% +4 "core" %  D + "storage"(L& +4 "core" &,g ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&R'> +18 "core" ' +2 "manipulator"&T& +5 "core" & % 7 4 + "storage"(*& +4 "core" &,g |\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&^'Ѽ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'F +40 "core" ' +2 "manipulator"&a& +4 "core" &  4 +2 "manipulator"&b% +4 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +151 "core" ( +2 "manipulator"&e& +4 "core" && ' & =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &&  =G +2 .tForearm.seek CC +2 "manipulator"&f'" +95 "core" ' +2 .tHand.close + "manipulator"&g/ +55 "core" / +3 .tCC.seek :open + "collection"'h( +415 "core" ( +2 "storage"(X& +4 "core" &,g\ \  \  + "storage"(j& +4 "core" &,g \ \  +2 "manipulator"&k& +3 "core" && =G +2 "manipulator"&m% +4 "core" % # +2 .tForearm.seek :retract + "manipulator"&U'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&`( +160 "core" ( +2 "manipulator"&o& +4 "core" &  D w +2 "storage"(p& +3 "core" &,g\ '\ ' g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&q' +108 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +52 "core" 1 +2 "manipulator"&v% +4 "core" %  +2 "storage"(w& +4 "core" &,g F\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&y'> +19 "core" ' + "manipulator"&i& +4 "core" &    +2 "storage"(l& +4 "core" &,g\ E\ J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&n'Ѽ +16 "core" ' +2 "storage"(u% +4 "core" %G\ P\ F \ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (}% +2 "core" %D\ &\ ' \ V` +2 "manipulator"&r% +4 "core" %Ѳ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" & Q V\ + "manipulator"&% +4 "core" %\ !   1 +2 "storage"(x% +4 "core" %a\ D\ H\ + "storage"(z. +3 "core" .(,l +2 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(+(<* +332 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<( j\  +2 "manipulator"&& +3 "core" &  9  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +5 "core" & ( p  + "storage"(\ & +4 "core" &<%\ 1\ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +95 "core" ' + "storage"( & +5 "core" &<% {\  M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &<%\ $\ & R\  + "manipulator"&& +4 "core" & A  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&~& +4 "core" & b  + "storage"(& +4 "core" &<%\ H\ D \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & g  +2 "manipulator"&% +4 "core" % G C +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&& +4 "core" ' + &% & <; +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &% k <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +101 "core" ' +2 "manipulator"&'& +4 "core" &% e <; +2 "manipulator"&% +4 "core" %# + "collection"'(& +4 "core" & Q S\ +2 "collection"'& +5 "core" & R Tj\ +2 .tCC.seek :closed +2 "collection"',(V +4 "core" & Q R\  +9 &.~ P U\ +z +9 &c P S\ > +10 &my Q T\ N +9 &/\\ R U\ N +9 &_ P S\ N +10 &Z R P\ M +9 &v] Q S\ N +10 &8` R S\ N +9 &_ P R\ N +9 &_ Q R\ N +10 & ~b O T\ N +9 &"@] Q S\ N +9 &$] P Q\ N +10 &%] R S\ N +9 &'\\ Q S\ M +10 &)I\\ S S\ M +9 &+\ ] Q S\ N +9 &,_ R S\ N +10 &._ Q R\ N +9 &0P\\ R Q\ N +9 &2Z Q S\ N +10 &3Z R S\ N +9 &5Y S S\ N +9 &7Y\\ S S\ M +10 &9\\ R S\ M +12 &:_ P R\ N +7 &<` P S\ N +9 &>_^ P T\ N +9 &@"\\ R S\ N +10 &A\\ R S\ N +9 &C^ R Q\ N +9 &Ech P R\ O +10 &G!s S S\ Q +9 &H U S\ S +10 &J Q V\ X +9 &LN S U\ Y +9 &N R U\ X +10 &O S U\ Z +9 &Q R U\ Z +9 &SS Q U\ Z +10 &U S T\ [ +9 &V`D R T\ 1 +10 &V{ T Q\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&-1 +3 "core" &Vr Q S\ K +53 1 + "manipulator"&.% +5 "core" % #  > + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%1& +4 "core" &M\ + "manipulator"&% +4 "core" %\  5 +2 "storage"(4% +3 "core" %b \ +2 "storage"(5. +3 "core" .(<* +2 "storage"(9& +4 "core" &<% 3\  + "storage"(& +4 "core" &<% \  +2 "manipulator"&:& +3 "core" &% <: +2 "manipulator"&% +4 "core" %\ ! 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&<( +155 "core" ( +2 "manipulator"&=& +4 "core" & ( 9  + "storage"(?& +4 "core" &<% W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&"'ы +100 "core" ' +2 "storage"()& +4 "core" &<%\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +284 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &<% \  + "manipulator"&2& +4 "core" & s  + .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +4 "core" & & y  + "storage"(6& +4 "core" &<% >\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&;' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"($'X +8 "core" &   + "manipulator"&&% +4 "core" %  M D +2 .tForearm.seek :retract + "manipulator"&I'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&8(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&J& +5 "core" &t 0  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &t  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + "manipulator"&N& +5 "core" &t % + "manipulator"&P% +4 "core" %   * +2 "processing"%>& +4 "core" &]\ +2 "processing"%S& +9 "core" &d\ +4 .tPC.seek :closed + "processing"%!(Z +3 "core" &L\ +4 &K\ 3 +9 &5FM\ 1 +9 &^qL\ E +10 &iL\ O +9 &^M\ N +9 &_M\ N +10 &E_L\ N +9 &_M\ N +10 &`Q\ N +9 &^K\ N +9 &O`O\ N +10 &!^K\ N +9 &"_L\ N +9 &$_M\ N +10 &&X^N\ M +9 &(_L\ N +10 &)`N\ N +9 &+bM\ N +9 &-`_K\ M +10 &/!_K\ N +9 &0]L\ N +9 &2`K\ N +10 &4gbJ\ N +9 &6)\\K\ N +10 &7]L\ N +9 &9aJ\ N +9 &;obM\ N +10 &=2_L\ M +9 &>]K\ N +9 &@aK\ N +10 &Bw_E\ N +9 &D9bK\ N +10 &EjK\ O +9 &GyL\ Q +9 &IoK\ S +10 &K/K\ T +9 &LK\ S +9 &NK\ S +10 &PuK\ T +9 &R7L\ T +10 &SE\ T +9 &UJ\ U +9 &W{K\ T +10 &Y=J\ A +9 &Z_Ev>\ W +9 &ZCE\ 1 +6 ( + "processing"%S& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&71 +4 "core" &Z+K\ 1 +50 1 +2 "manipulator"&D% +4 "core" % < * +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 "processing"%V& +4 "core" &Z+L\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\  8 + "storage"(Y% +4 "core" %` \ + "storage"([. +4 "core" .(<* + "storage"(L& +52 "core" &<% `\  +2 "storage"(T& +2 "manipulator"&*& +7 "core" &<% \  + &t i +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&a(s + "storage"(b'i +6 "core" ( + "manipulator"&Q& +4 "core" &t z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &t 9 +2 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' +2 .tHand.close + "manipulator"&H/ +53 "core" / +2 .tPC.seek :open +2 "processing"%R( +98 "core" ' +2 "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +44 "core" ' +278 ( + "storage"(\\& +5 "core" &<% \  + "manipulator"&^& +4 "core" &u j + "manipulator"&O% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&g'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +251 "core" ( +2 "manipulator"&]& +4 "core" & $ \\ H +2 "storage"(X& +3 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +94 "core" ' +2 .tHand.open + "manipulator"&k1 +60 "core" 1 +2 "storage"(m- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(o'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' + "storage"(d& +4 "core" &<% j k \  +2 "manipulator"&t& +3 "core" & H +2 .tElbow.seek 5 +2 "manipulator"&v( +23 "core" ( + "manipulator"&w& +4 "core" &  !  +2 "storage"(i& +4 "core" &<% j _ \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +62 "core" ' + "manipulator"&U& +5 "core" &   + "storage"(}& +4 "core" &<% 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +24 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(y& +4 "core" &<% k\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&x& +4 "core" & $ a  +2 "storage"(z& +4 "core" &<% m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&_'ы +25 "core" ' +2 "storage"(n% +5 "core" %o \ +2 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (@% +3 "core" %C \ Wb +2 "manipulator"&% +4 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<% L\  +2 "collection"'\ & +4 "core" &Vr P S\ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +9 "core" %\ #  \ < + "storage"(s% +4 "core" %U B\ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<% b\  + "storage"( & +4 "core" &<% b\  +2 "manipulator"&& +3 "core" &  c  +2 .tElbow.seek 5 + "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" & ! $  + "storage"({& +4 "core" &<% Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +96 "core" ' +2 "storage"(& +4 "core" &<%\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &<% q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +6 "storage"('X +30 "core" ' + "manipulator"&(% +4 "core" % +2 "storage"(& +4 "core" &<% R\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&' +17 "core" ' + "manipulator"&& +4 "core" &  3  +2 "storage"(h& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&-'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(.'G +44 "core" ' + "manipulator"&1& +5 "core" &   + "manipulator"&% +4 "core" %ш  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +152 "core" ( +3 "manipulator"&9& +4 "core" &, a Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &,  Bh +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&:/ +51 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(%& +4 "core" &<% \ ;\  +2 "storage"(=& +3 "core" &<% s\  +2 "manipulator"&?& +4 "core" &, X Bg + "manipulator"&)% +4 "core" % % E +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +159 "core" ( + "manipulator"&A& +5 "core" & l r + "storage"(B& +4 "core" &<%\ %\ % D\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&2' +106 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +60 "core" 1 +2 "manipulator"&E% +4 "core" %  O + "storage"(G& +5 "core" &<% s\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&&' +15 "core" ' + "manipulator"&<& +4 "core" & m r +2 "storage"("& +4 "core" &<%\ D\ H U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +28 "core" ' + "storage"(;% +4 "core" %K\ Q\ F I\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +100 (K% +2 "core" %D\ &\ $ \ V` +2 "manipulator"&/% +4 "core" %e @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'P& +4 "core" & Q Rp\ +2 "manipulator"&>% +3 "core" %\  U 0 +2 "storage"($% +4 "core" %a\ C\ H\ + "storage"(I. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &K e\  +2 "manipulator"&D& +4 "core" & ( r + .tElbow.seek 6 +2 "manipulator"&V( +29 "core" ( +2 "manipulator"&W& +4 "core" & % m + "storage"(Y& +4 "core" &K\ '\ ' g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&['a +94 "core" ' + "storage"(L& +4 "core" &K\ E\ C\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'i +286 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (T& +3 "core" &K\ \  B\  + "manipulator"&Q& +4 "core" &  B l +2 .tElbow.seek 6 + "manipulator"&M( +3 "core" ( +2 "manipulator"& & +4 "core" & # d l + "storage"(H& +4 "core" &K\ &\ & \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(!'X +8 "core" & l + "manipulator"&b% +4 "core" % y h +2 .tForearm.seek :retract + "manipulator"&\\'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +147 "core" ( + "manipulator"&O& +5 "core" &+ 4 A` + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &C& +3 "core" &+ ) m A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +95 "core" ' + "manipulator"&X& +5 "core" &+  4 g A` + "manipulator"&a% +4 "core" %!  +2 "collection"'k& +4 "core" & Q Qt\ +2 "collection"'m& +5 "core" & N Pq\ +2 .tCC.seek :closed +2 "collection"'f(V +60 "core" & Q P\ + & N Q\ + & N R\ + & S Q\ + & Q R\ + & P S\ + & Q R\  +3 &0 O T\ *y +9 &c Q Q\ > +9 &py O Q\ N +10 &3Z R Q\ M +9 &\\ R R\ M +9 &[ O S\ M +10 &yZ P Q\ M +9 &<\\ Q T\ M +9 &_ O R\ M +10 &_ P Q\ M +9 & \\ O T\ N +10 &"B` O S\ N +9 &$_ P R\ M +9 &%] Q R\ M +10 &'_ Q R\ N +9 &)K] Q S\ M +9 &+ [ P R\ N +10 &,] P R\ N +9 &.^ R R\ N +10 &0R^ S R\ N +9 &2Y O Q\ M +9 &3\\ R R\ M +10 &5^ O R\ M +9 &7[` O S~\ M +9 &9_ Q Q\ M +10 &:b P S\ M +9 &<` R T\ M +9 &>b` O S\ N +10 &@%] R U\ M +9 &A[ Q S\ M +10 &C_ Q Q\ M +9 &Ehe R R\ N +9 &G$r Q Q\ P +10 &H O S\ R +9 &J Q T\ V +9 &LR P S\ Y +10 &N S S\ X +9 &O P S\ Y +10 &Q R S\ Y +9 &SV T T\ Z +9 &U P S\ [ +10 &VeE S S\ 1 +9 &Vr P S\ J +6 ( + "collection"'m& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&d1 +4 "core" &Va O S\ J +49 1 +2 "manipulator"&t% +4 "core" % " B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%g& +4 "core" &D\ +2 "manipulator"&i% +4 "core" %\  s + + "storage"(U% +4 "core" %] \  +2 "storage"(}. +3 "core" .(K + "storage"(e& +4 "core" &K \  + "storage"(& +4 "core" &K \  +2 "manipulator"&y& +3 "core" &+ U A_ +2 "manipulator"&o% +4 "core" %\  a + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&x( +157 "core" ( +2 "manipulator"&z& +4 "core" &  & /  + "storage"(n& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&c'a +100 "core" ' + "storage"(j& +5 "core" &K \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +284 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K n\  + "manipulator"&l& +4 "core" &  z  +2 .tElbow.seek 6 + "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +4 "core" &  $ '  + "storage"(r& +4 "core" &K z\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( 'X +8 "core" &    + "manipulator"&q% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +2 "manipulator"&& +5 "core" &r % B  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &r  |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &t % $  +2 "manipulator"&{% +3 "core" %  / +2 "processing"%_& +4 "core" &k\ +2 "processing"%& +5 "core" &d\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &H\ +8 & 0G\ #b +9 &UC\ 7 +9 &N\ L +10 &aP\ N +9 &^bP\ N +10 &"^U\ M +9 &_E\ N +9 &`C\ N +10 &h_O\ M +9 &)_H\ N +10 &cD\ N +9 &!_E\ N +9 &#nbJ\ N +10 &%1^E\ N +9 &&\\K\ N +9 &(]L\ N +10 &*w_K\ N +9 &,9bL\ N +9 &-`N\ N +10 &/aL\ N +9 &1]K\ M +10 &3A]M\ N +9 &5_K\ N +9 &6`E\ N +10 &8\\F\ N +9 &:J^K\ M +9 &<\ aL\ N +10 &=]N\ M +9 &?\\G\ M +10 &AQ]G\ N +9 &C]E\ N +9 &DcF\ O +10 &FkE\ O +9 &HLE\ R +9 &J F\ S +10 &KE\ T +9 &MC\ S +10 &OPB\ S +9 &QC\ S +9 &RC\ T +10 &TH\ T +9 &VUE\ T +9 &XC\ U +10 &Yzo?\ 8 +9 &Z0C\ H +10 &ZC\ ) +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&`1 +62 "core" 1 + "manipulator"&% +5 "core" %  h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 "processing"%& +4 "core" &ZM\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\  C  +2 "storage"('% +4 "core" %` q\ + "storage"((. +3 "core" .(K + "storage"(& +4 "core" &K X\  +2 "storage"(& +2 "manipulator"&h& +7 "core" &K R\  + &t ' 0  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&1(s + "storage"('i +5 "core" ( + "manipulator"&& +4 "core" &t  "  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &t  n  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +44 "core" ' +287 ( +2 "storage"(& +4 "core" &K }\  + "manipulator"&-& +4 "core" &t   + "manipulator"&% +4 "core" % +  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +245 "core" ( +2 "manipulator"&,& +4 "core" &  n & + "storage"(%& +4 "core" &K b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&='a +101 "core" ' +2 .tHand.open + "manipulator"&?1 +55 "core" 1 +2 "storage"()- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &K ~ \  + "manipulator"&6& +4 "core" &  u & +2 .tElbow.seek 6 + "manipulator"&E( +4 "core" ( + "manipulator"&G& +4 "core" & &  & + "storage"(<& +5 "core" &K ~ \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&"'a +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +62 "core" ' + "manipulator"&& +5 "core" &  S & + "storage"(K& +4 "core" &K c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&/'Υ +22 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +30 "core" ' + "manipulator"&&% +5 "core" %ι b + "storage"(P& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&>' +13 "core" ' + "manipulator"&$& +5 "core" & $ V & + "storage"(I& +4 "core" &K a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +23 "core" ' +2 "storage"(#% +5 "core" %n \ +2 ."downElevator"SE.seek :down +3 "storage"(J'X +100 (+% +2 "core" %F \ Wc +2 "manipulator"&7% +4 "core" %х +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &K R\  + "collection"'Y& +4 "core" &Va P R\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&L% +4 "core" %\  6 +2 "storage"(3% +4 "core" %_ ]\ + "storage"(N. +3 "core" .(K +2 "storage"(*& +9 "core" &K \  + "storage"(T& +4 "core" &K \  + "manipulator"&Q& +4 "core" & < & +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&H& +4 "core" &  ( & + "storage"(8& +5 "core" &K 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +95 "core" ' + "storage"(b& +5 "core" &K\ \ 6\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +287 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & & + "storage"(C& +4 "core" &K '\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&S'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(a'Z +41 "core" ' + "manipulator"&k% +4 "core" %η K +2 "storage"(M& +4 "core" &K =\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&!' +19 "core" ' + "manipulator"&\\& +5 "core" & $ & + "storage"(& +4 "core" &K @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(t'I +39 "core" ' +2 "manipulator"&g& +4 "core" &  % +2 "manipulator"&i% +4 "core" %c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +44 "manipulator"&U'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +143 "core" ( +3 "manipulator"&e& +4 "core" && 7 =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" && N =B +2 .tForearm.seek CC +2 "manipulator"&m'" +94 "core" ' +2 .tHand.close + "manipulator"&y/ +60 "core" / +2 .tCC.seek :open + "collection"'o( +416 "core" ( +2 "storage"(]& +4 "core" &K\ '\ & _\  + "storage"(z& +5 "core" &K\ \  {\  +2 "manipulator"&n& +3 "core" &% 7 <= +2 "manipulator"&j% +4 "core" % ( /  +2 .tForearm.seek :retract + "manipulator"&^'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&w( +156 "core" ( + "manipulator"&@& +5 "core" & % O  + "storage"(& +4 "core" &K\ I\ I N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&l'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&r1 +53 "core" 1 +2 "manipulator"& % +4 "core" % ι _ + "storage"(\ & +4 "core" &K\ \  \  +2 .tForearm.force -20 +5 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&q' +14 "core" ' +2 "manipulator"&x& +4 "core" & o  +2 "storage"(c& +4 "core" &K\ H\ E 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +24 "core" ' +2 "storage"(% +4 "core" %O\ H\ E 9\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +3 "core" %F\ /\ # G\ V` +2 "manipulator"&v% +4 "core" %h , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'{& +4 "core" & N Rn\ +2 "manipulator"&_% +3 "core" %\    +2 "storage"( % +4 "core" %T\ E\ M \ + "storage"(s. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(R(,l +657 "core" ( + .tSC.configure :limp +7 "storage"($\ 1b +3 (`& +2 "core" &,n\  \ +2 "manipulator"&& +4 "core" & M  + .tElbow.seek 4 +2 "manipulator"&( +12 "core" ( + "manipulator"&& +5 "core" &  j { + "storage"('& +4 "core" &,r\ $\ % C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&('Ѽ +95 "core" ' +2 "storage"(& +4 "core" &,r\ V\ S *\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r\ 0\ # b\ +2 "manipulator"&& +4 "core" & 5 { + .tElbow.seek 4 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &  { +2 "storage"(& +4 "core" &,r\ %\ % \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'X +7 "core" & t { +2 "manipulator"&% +4 "core" % 0 S I +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &%   ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &% F ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +92 "core" ' +2 "manipulator"&%& +4 "core" &% 7 } ;3 +2 "manipulator"&1% +4 "core" % <  +2 "collection"'?& +4 "core" & P Q\ +2 "collection"')& +5 "core" & O Q\ +2 .tCC.seek :closed +3 "collection"'(V +4 "core" & R R\ +6 & P Q\ 5 +9 &:G N P\ 0 +9 &cq O Q\ E +10 & e O P\ M +14 &] O R\ N +4 &\\ O P\ M +10 &P] M S\ M +9 &_ O P\ M +9 &Z P R\ M +10 &\\ O Q\ M +9 &W` O S\ M +10 &!^ P P\ M +9 &"] O Q\ M +9 &$` P S\ N +10 &&_\\ O Q\ M +9 &("_ O R\ M +9 &)\\ P R\ M +10 &+] P Q\ M +9 &-h^ P R\ M +10 &/)] O R\ M +9 &0_ P R\ M +9 &2] O R\ M +10 &4pY N Q\ M +9 &61] P R\ M +10 &7] P Q\ N +9 &9\\ O R\ M +9 &;w` P Q\ M +10 &=9[ P Q\ M +9 &>Z N Q\ M +9 &@_ O R\ M +10 &B~_ O R\ N +9 &D@b P P\ N +10 &Ei O Q\ O +9 &G} S R\ P +9 &Is P R\ T +10 &K' P R\ Y +9 &L P P\ X +9 &N O Q\ X +10 &Pn P R\ X +9 &R. P Q\ Y +9 &S P R\ Z +10 &U Q P\ H +9 &V4 Q S\ 'v +10 &Vf P S\ L +2 ( +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&51 +55 "core" 1 + "manipulator"&6% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +4 "core" &Z\ +2 "manipulator"&:% +4 "core" %\  e  + "storage"(% +4 "core" %b \ + "storage"(K. +3 "core" .(,l +2 "storage"(9& +4 "core" &,r G\ + "storage"(&& +4 "core" &,r N\ + "manipulator"&P& +4 "core" &#  :1 +2 "manipulator"&A% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$( +164 "core" ( + "manipulator"&I& +4 "core" & % U c +2 "storage"(#& +4 "core" &,r ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&4'Ѽ +101 "core" ' + "storage"(=& +5 "core" &,r\ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +282 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (7& +3 "core" &,r |\ + "manipulator"&"& +4 "core" &  c +2 .tElbow.seek 4 + "manipulator"&E( +3 "core" ( +2 "manipulator"&;& +4 "core" & $ ) c + "storage"(/& +4 "core" &,r f\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&>', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(L'X +7 "core" & c +2 "manipulator"&3% +4 "core" % 9  @ +2 .tForearm.seek :retract + "manipulator"&2'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&N(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +104 "core" ( + "manipulator"&*& +5 "core" &x *   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &x K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +102 "core" ' + "manipulator"&H& +4 "core" &y $ ;  +2 "manipulator"&8% +4 "core" %   +2 "processing"%.& +3 "core" &c\ +3 "processing"%b& +4 "core" &k\ +2 .tPC.seek :closed +2 "processing"%J(Z +5 "core" &`\  +9 &3h\ *y +9 &eZ\ ? +10 &z_\ O +9 &E][\ N +9 &`b\ N +10 &]a\ N +9 &_`\ M +10 &N]R\ M +9 &_P\ N +9 &aV\ N +10 & ]X\ M +9 &"U]M\ N +9 &$_M\ N +10 &%\\N\ N +9 &'^L\ N +10 &)]\\D\ N +9 &+ ]L\ M +9 &,\\L\ N +10 &._Q\ N +9 &0e_I\ N +9 &2'aL\ N +10 &3\\O\ N +9 &5]W\ M +10 &7n\\L\ M +13 &9/\\P\ N +5 &:YP\ N +10 &<ZM\ N +9 &>u[K\ N +9 &@7`M\ N +10 &A\\Q\ N +9 &C`W\ N +9 &EzgT\ O +10 &G9qS\ P +9 &HX\ R +10 &JR\ T +9 &LsT\ T +9 &N5X\ T +10 &OT\ T +9 &QK\ T +9 &SyO\ T +10 &U;V\ T +9 &VO\ T +10 &XK\ U +9 &Z%V{R\ (x +9 &Z[U\ 3 +9 ( +3 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&01 +4 "core" &Z%L\ 0 +50 1 + "manipulator"&D% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +101 "core" ' + "processing"%O& +5 "core" &Z%T\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&C% +4 "core" %\  n 7 + "storage"(X% +4 "core" %T \ + "storage"(k. +4 "core" .(,l + "storage"(M& +4 "core" &,r \ + "storage"(\\& +5 "manipulator"&& +4 "core" &,r \ + &y V  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&g(s + "storage"(i'i +5 "core" ( +2 "manipulator"&F& +4 "core" &y  j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &y Z  +2 .tForearm.seek PC + "manipulator"&V' +99 "core" ' +2 .tHand.close + "manipulator"&S/ +61 "core" / +3 .tPC.seek :open +2 "processing"%!( +81 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +52 "storage"(e'y +49 "core" ' +245 ( + "storage"(& +4 "core" &,r \ +2 "manipulator"&d& +4 "core" &y  P  + "manipulator"&Z% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&y'\ +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&U( +247 "core" ( + "manipulator"&f& +5 "core" & $ P !p + "storage"(]& +4 "core" &,r B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&z'Ѽ +100 "core" ' + .tHand.open +2 "manipulator"&n1 +58 "core" 1 +2 "storage"(j- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' + "storage"(}& +4 "core" &,r  *\ +2 "manipulator"&r& +3 "core" &  m +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&\ & +4 "core" & % u m + "storage"(x& +4 "core" &,r ~ \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&^& +4 "core" & m +2 "storage"( & +4 "core" &,r Z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&v' +26 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +23 "core" ' + "manipulator"&{% +10 "core" %  + "storage"(q& +4 "core" &,r 8\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&_'> +19 "core" ' +2 "manipulator"& & +4 "core" &  q l +2 "storage"(s& +4 "core" &,r N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +28 "core" ' +2 "storage"(p% +5 "core" %q q\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +2 "core" %G \ Wc +2 "manipulator"&`% +4 "core" %Ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,r 5\ + "collection"''& +4 "core" &Ve P Q[\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ !  0 +2 "storage"(u% +4 "core" %R S\ + "storage"(. +3 "core" .(,l +2 "storage"(h& +4 "core" &,r \\\ +2 "storage"(& +4 "core" &,r [\ + "manipulator"&& +4 "core" &  l +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  r l + "storage"(& +4 "core" &,r V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +100 "core" ' +2 "storage"(& +4 "core" &,r x\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"((- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & l +2 "storage"(& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +33 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(1'W +31 "core" ' + "manipulator"&?% +5 "core" % d ' + "storage"(~& +4 "core" &,r J\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&|'> +18 "core" ' + "manipulator"&& +4 "core" & % / i +2 "storage"(o& +4 "core" &,r O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'F +40 "core" ' +2 "manipulator"&<& +4 "core" & % h +2 "manipulator"&:% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +152 "core" ( +3 "manipulator"&9& +8 "core" &. M Du +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &&& +6 "core" &.  Du +4 .tForearm.seek CC +4 "manipulator"&P'" +95 "core" ' +6 .tHand.close + "manipulator"&)/ +66 "core" / +2 .tCC.seek :open +3 "collection"'A( +60 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +353 "core" ( +5 "storage"(,& +8 "core" &,r \  `\ +2 "storage"(I& +7 "core" &,r n\ +4 "manipulator"&#& +5 "core" &+ # A_ +2 "manipulator"&=% +3 "core" % ) 5 +2 .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +161 "core" ( + "manipulator"&+& +4 "core" &  ^  +2 "storage"(7& +4 "core" &,r\ (\ 6 F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&"' +101 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +54 "core" 1 + "manipulator"&W% +6 "core" %  5 8 H +2 "storage"(Y& +4 "core" &,r\ \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&3'@ +18 "core" ' +2 "manipulator"&$& +4 "core" & $ P  + "storage"(4& +4 "core" &,r\ J\ I :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&B'Ѽ +28 "core" ' +2 "storage"(>% +4 "core" %J\ C\ E ,\ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (T% +3 "core" %D\ '\ & |\ V` +2 "manipulator"&E% +5 "core" %Ѻ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'8& +4 "core" & M Q\ +2 "manipulator"&.% +4 "core" %\  T  + "storage"(L% +4 "core" %b\ H\ I 7\ +2 "storage"(2. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &<( B\  +2 "manipulator"&D& +3 "core" & Z  +2 .tElbow.seek 5 +2 "manipulator"&O( +8 "core" ( + "manipulator"&C& +4 "core" & % (  +2 "storage"(X& +3 "core" &<%\ (\ % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&k'ы +102 "core" ' + "storage"(M& +4 "core" &<%\ G\ = \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +52 (b& +3 "core" &<%\ \  \  + "manipulator"&F& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  (  + "storage"(S& +4 "core" &<%\ &\ % \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(J'X +7 "core" &  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&Z& +4 "core" &* M @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &*  @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +102 "core" ' +2 "manipulator"&]& +4 "core" &*  @W +2 "manipulator"&g% +4 "core" %" j +2 "collection"'n& +4 "core" & O Q~\ +2 "collection"'j& +5 "core" & O P\ +2 .tCC.seek :closed +2 "collection"'m(V +4 "core" & M P\ +8 &4 O Q\ $d +9 &V O P\ 7 +9 & M P\ L +10 &Z P O\ M +9 &c] M P\ M +10 &&] O O\ M +9 &_ L R\ M +9 &\\ M P\ M +10 &l] P Q\ M +9 &.] M P\ M +9 &] N P\ M +10 &!_ N Q\ N +9 &#r^ O O\ N +10 &%5] N P\ M +9 &&Y P R\ M +9 &(\\ N P\ M +10 &*|] L R\ M +9 &,=\\ M P\ M +9 &-] O O\ M +10 &/] O S\ M +9 &1] O O\ M +10 &3E[ O P\ M +11 &5Y N Q\ M +7 &6] M P\ M +10 &8X N O\ M +9 &:L] L P\ N +9 &<_ N P\ N +10 &=Z L P\ M +9 &?^ O R\ M +9 &AVY N Q\ M +10 &C^ N Q\ N +9 &Df M R~\ N +10 &Fn N O\ O +9 &HR N P\ Q +9 &J N P\ V +10 &K P P\ X +9 &M N Q\ X +10 &OD P O|\ Y +9 &Q P P\ X +9 &R O O\ Z +10 &T P O\ Z +9 &V!t N P\ / +9 &V' N P\ Q +9 ( +3 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&}1 +3 "core" &Vj O Pz\ K +59 1 +2 "manipulator"&r% +4 "core" % " _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%x& +4 "core" &k\ + "manipulator"&y% +4 "core" %\  f  +2 "storage"(^% +4 "core" %S [\ + "storage"( . +3 "core" .(<* +2 "storage"(e& +3 "core" &<% k\  +2 "storage"({& +4 "core" &<% h\  + "manipulator"&q& +4 "core" &( 5 ?V +2 "manipulator"&@% +4 "core" %\  * \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +152 "core" ( + "manipulator"&s& +5 "core" &  / + "storage"(p& +4 "core" &<% J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&U'ы +97 "core" ' +2 "storage"(z& +4 "core" &<%\ \  "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &<% -\  + "manipulator"&c& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & % z + "storage"(v& +9 "core" &<% 0\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&_' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"('X +7 "core" & z +2 "manipulator"&u% +4 "core" % z +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&l(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +3 "manipulator"&h& +4 "core" &p ) z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&& +4 "core" &p & P +2 "manipulator"&% +4 "core" %  ~ +2 "processing"%t& +3 "core" &l\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &e\  +9 &0_\ *y +9 &bj\ > +9 &nzk\ N +10 &0^j\ N +9 &\\k\ N +9 &`k\ N +10 &v]k\ N +9 &8\\k\ N +10 &_l\ N +9 &al\ N +9 & ~_a\ N +10 &"@`b\ N +9 &$[k\ N +9 &%`f\ N +10 &'^W\ N +9 &)G`a\ N +10 &+\ ^b\ N +9 &,[Z\ N +9 &.]S\ N +10 &0P`T\ N +9 &2\\P\ N +9 &3ZV\ N +10 &5\\Y\ N +9 &7Y[Y\ M +10 &9]Y\ N +9 &:ZP\ N +9 &<\\L\ N +10 &>`ZU\ N +9 &@"\\Y\ N +9 &AZ\\\ N +10 &C]X\ N +9 &EebZ\ O +10 &G%nX\ O +9 &H[\ R +9 &JW\ S +10 &L_X\ S +9 &N!Z\ S +9 &O[\ S +10 &QW\ T +9 &SeZ\ T +10 &U%Z\ U +9 &VW\ U +9 &XW\ U +10 &ZbX\ &u +9 &ZlW\ 5 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&w1 +4 "core" &Z Y\ - +54 1 + "manipulator"&% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +99 "core" ' +2 "processing"%& +4 "core" &Z i\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  9  + "storage"(%% +4 "core" %U K\ + "storage"(?. +3 "core" .(<* +2 "storage"(~& +4 "core" &<% T\  + "storage"(& +3 "manipulator"&o& +9 "core" &<% y\  + &p $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&<(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(:'i +3 "core" ( + "manipulator"& & +4 "core" &p S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%|( +99 "core" ' +2 "storage"(1- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +42 "core" ' +278 ( + "storage"(&& +4 "core" &<% d\  +2 "manipulator"&5& +3 "core" &p +2 "manipulator"&% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +259 "core" ( + "manipulator"&& +5 "core" & $ A + "storage"(,& +4 "core" &<% s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&I'ы +95 "core" ' + .tHand.open +2 "manipulator" +59 "core" 1 +2 "storage"(=- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(7' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(K& +4 "core" &<% } "\  + "manipulator"&/& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&W( +8 "core" ( + "manipulator"&Y& +4 "core" & $ 2  +2 "storage"($& +4 "core" &<% }\  +2 .tForearm.seek 5 + 700 counts +6 "manipulator"&4'ы +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(>' +58 "core" ' + "manipulator"&-& +5 "core" &   + "storage"(T& +4 "core" &<% B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&E' +33 "core" ' +51 .tElbow.hold +3 "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"("'i +27 "core" ' +2 "manipulator"&3% +4 "core" % +2 "storage"(8& +4 "core" &<% k\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&.' +14 "core" ' +2 "manipulator"&L& +3 "core" & w  +2 "storage"(2& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +29 "core" ' + "storage"(B% +5 "core" %m\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (R% +3 "core" %%F m\ Wb +2 "manipulator"&0% +4 "core" %щ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" &<% \ r\  +2 "collection"'X& +4 "core" &Vc Q Q\ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&M% +4 "core" %\  I  + "storage"(;% +4 "core" %] )\ +2 "storage"(H. +3 "core" .(<* + "storage"(\\& +4 "core" &<% \  +2 "storage"(b& +4 "core" &<% \  + "manipulator"&F& +4 "core" & g  +2 .tElbow.seek 5 + "manipulator"&Q( +4 "core" ( + "manipulator"&S& +4 "core" &  Y  + "storage"(N& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +105 "core" ' +2 "storage"(& +4 "core" &<%\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +289 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & c  + "storage"(V& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +23 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(g'W +28 "core" ' + "manipulator"&n% +4 "core" % +2 "storage"( & +4 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&J' +17 "core" ' + "manipulator"&i& +5 "core" &  d  + "storage"(A& +4 "core" &<% d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'F +40 "core" ' + "manipulator"&x& +5 "core" &   + "manipulator"&y% +4 "core" %ф  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +161 "core" ( + "manipulator"&e& +4 "core" &  F 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &  3 +2 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' + .tHand.close + "manipulator"&q/ +57 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( +2 "storage"(s& +4 "core" &<%\ &\ & "\  + "storage"(f& +4 "core" &<%\ '\ & c\  +2 "manipulator"&p& +3 "core" &  3 +2 "manipulator"&z% +4 "core" % (  +2 .tForearm.seek :retract + "manipulator"&d'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&\ ( +158 "core" ( + "manipulator"&& +5 "core" &  f + "storage"(`& +4 "core" &<%\ F\ C o\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&c' +110 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +58 "core" 1 +2 "manipulator"&% +5 "core" %  6 + "storage"('& +5 "core" &<%\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&u' +20 "core" ' + "manipulator"& & +4 "core" & g +2 "storage"(U& +4 "core" &<%\ %\ $ N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +21 "core" ' +2 "storage"(_% +3 "core" %J\ C\ C \ +3 ."downElevator"SE.seek :down +3 "storage"(h'X +99 (% +3 "core" %@\ &\ . \ V` +2 "manipulator"& % +4 "core" %~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" & M Ok\ + "manipulator"&t% +4 "core" %\   +2 "storage"(% +3 "core" %_\ ;\ < U\ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(!(K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &K\ \  e\  +2 "manipulator"&& +3 "core" & g +2 .tElbow.seek 6 + "manipulator"&( +36 "core" ( +2 "manipulator"&& +4 "core" &\  0 X + "storage"(%& +4 "core" &K\ I\ J T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&?'a +103 "core" ' +2 "storage"(~& +4 "core" &K\ -\ F r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +87 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &K\ \  K\  + "manipulator"& & +4 "core" &\  X +2 .tElbow.seek 6 + "manipulator"&( +27 "core" ( +2 "manipulator"&& +4 "core" & $ # y +2 "storage"(& +4 "core" &K\ %\ % X\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&1' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"('X +7 "core" & y +2 "manipulator"&:% +4 "core" % ) +2 .tForearm.seek :retract + "manipulator"&&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +154 "core" ( +2 "manipulator"&& +4 "core" &(  N >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &'  >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + "manipulator"&,& +5 "core" &( 4 >M + "manipulator"&<% +4 "core" % ( +2 "collection"'#& +4 "core" & K O\ +2 "collection"'=& +5 "core" & O P\ +2 .tCC.seek :closed + "collection"'P(V +5 "core" & N P\ +7 & 5 L Q\ $d +9 &W J O\ 7 +10 & M O\ L +9 &Z N O\ M +9 &c] M N\ M +10 &&\\ M Q\ M +9 &\\ M P\ M +10 &[ L O\ M +9 &k\\ O N\ M +9 &,\\ N P\ N +10 &[ L N\ M +9 &!] N N\ M +9 &#s[ L Q\ M +10 &%5^ K N\ M +9 &&[ L Q\ M +9 &([ N O\ M +10 &*|Z N O\ M +9 &,=\\ N P\ M +10 &-\\ L O\ M +9 &/\\ O Q\ M +9 &1[ O N\ M +10 &3F[ O L\ M +9 &5\\ O N\ M +9 &6] N O\ M +10 &8Z M P\ M +9 &:M] O P\ M +10 &<[ N O\ M +9 &=Z M P\ M +9 &?] O O\ M +10 &AU[ O O\ M +9 &C_ M O\ M +9 &De N O\ N +10 &Fj P N\ O +9 &HR} O O\ Q +10 &J M P\ U +9 &K O O\ X +9 &M N P\ X +10 &OC P P\ Y +9 &Q O O\ Y +9 &R N O\ Z +10 &T L O\ Z +9 &V$v O P\ / +10 &V$ L P\ O +8 ( +2 &Vl O P\ K +2 "collection"'=& +52 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +3 .Hand.open + "manipulator"&K1 +52 "core" 1 + "manipulator"&/% +5 "core" %  6 8 # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%$& +4 "core" &|\ +2 "manipulator"&)% +4 "core" %\  e . +2 "storage"(-% +4 "core" %R \ + "storage"(T. +3 "core" .(K +2 "storage"(9& +4 "core" &K \  + "storage"(+& +4 "core" &K \  + "manipulator"&3& +4 "core" &' ) >L +2 "manipulator"&8% +4 "core" %\  . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +153 "core" ( +2 "manipulator"&2& +4 "core" &\ ( + + "storage"(& +5 "core" &K 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&I'a +94 "core" ' +2 "storage"(B& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +277 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &K l\  +2 "manipulator"&0& +4 "core" &\  + .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&>& +4 "core" &\ # + "storage"(E& +4 "core" &K e\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&.' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(M'X +7 "core" &\ | +2 "manipulator"&;% +4 "core" % J +2 .tForearm.seek :retract + "manipulator"&H'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&\\& +4 "core" &w E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &w    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&F' +105 "core" ' +3 "manipulator"&S& +5 "core" &x %  + "manipulator"&N% +4 "core" % s +2 "processing"%6& +4 "core" &j\ +2 "processing"%& +5 "core" &k\ +2 .tPC.seek :closed +3 "processing"%*(Z +3 "core" &j\ +6 &k\ 8 +9 &EG~l\ 1 +10 &stl\ E +9 &hj\ O +9 &`h\ N +10 &\\g\ N +9 &_ak\ N +10 &"\\j\ M +9 &^k\ N +9 &]k\ N +10 &g]j\ N +9 &!)_g\ N +10 &"al\ N +9 &$\\k\ M +9 &&p\\k\ M +10 &(1\\i\ N +9 &)\\b\ N +9 &+Zb\ N +10 &-w[\\\ N +9 &/:]f\ M +11 &0]\\\ N +8 &2\\a\ N +9 &4~\\[\ N +10 &6A[]\ N +9 &8Z`\ M +9 &9]b\ N +10 &;ZZ\ N +9 &=J\\T\ M +9 &? [Y\ M +10 &@[\\\ M +9 &B][\ N +10 &DObQ\ N +9 &FjZ\ O +9 &Gz[\ Q +10 &IY\ T +9 &KGZ\ T +9 &M Y\ T +10 &NZ\ T +9 &PZ\ T +10 &ROQ\ T +9 &TZ\ T +9 &U[\ U +10 &W\\\ U +9 &YU\\\ A +9 &Zc>\\\ [ +10 &Z-Z\ / +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&G1 +3 "core" &Z%X\ / +57 1 +2 "manipulator"&D% +4 "core" %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +99 "core" ' + "processing"%Z& +5 "core" &Z%m\ / + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&V% +4 "core" %\ # ; + "storage"(]% +4 "core" %S \ +2 "storage"(n. +3 "core" .(K + "storage"( & +4 "core" &K \  +2 "storage"(i& +4 "manipulator"&A& +4 "core" &K \  + &x E  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&x(s + "storage"(y'i +5 "core" ( +2 "manipulator"&[& +4 "core" &x   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &x 6  +2 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%J( +97 "core" ' + "storage"(g- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +280 ( +2 "storage"(j& +4 "core" &K ~\  + "manipulator"&}& +4 "core" &x 2  +2 "manipulator"&a% +4 "core" % G # +2 .tForearm.seek :retract + "manipulator"&q'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&^( +234 "core" ( + "manipulator"&m& +4 "core" & ( u 6 +2 "storage"(s& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&f'a +96 "core" ' +2 .tHand.open + "manipulator"&p1 +61 "core" 1 +2 "storage"(z- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"( & +4 "core" &K ~\  + "manipulator"&v& +4 "core" & E 6 +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "Can"\ `^ +2 "manipulator"&'& +4 "core" &  A 6 + "storage"( & +5 "core" &K \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&U'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(_' +57 "core" ' +2 "manipulator"&d& +4 "core" &  6 +2 "storage"(& +4 "core" &K K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"& 'Υ +29 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +21 "core" ' +2 "manipulator"&u% +4 "core" %ι Z +2 "storage"(& +4 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&t' +12 "core" ' + "manipulator"&& +5 "core" & Q 6 + "storage"(& +4 "core" &K g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&r'a +34 "core" ' +2 "storage"(% +68 "core" %p \ +2 ."downElevator"SE.seek :down +4 "storage"(h'X +99 (% +2 "core" %H \ Wc +2 "manipulator"&w% +4 "core" %H t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K\  \  +2 "collection"'%& +4 "core" &Vc N Ok\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +4 "core" %\  e  +2 "storage"(% +3 "core" %S k\ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K C\  +2 "storage"(o& +4 "core" &K \  + "manipulator"& & +4 "core" &  6 +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 6 + "storage"(l& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&('a +101 "core" ' + "storage"(:& +5 "core" &K \ @\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +53 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & D 6 +2 "storage"(& +4 "core" &K F\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(<'Z +31 "core" ' + "manipulator"&#% +5 "core" %ζ B + "storage"(& +4 "core" &K J\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&&& +4 "core" &  B 6 + "storage"(@& +5 "core" &K p\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&K'a +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(/'I +54 "core" ' + "manipulator"&$& +5 "core" & L 6 + "manipulator"&)% +5 "core" %k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +150 "core" ( + "manipulator"&9& +4 "core" &-  Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &+ + Bl +2 .tForearm.seek CC +2 "manipulator"&='" +93 "core" ' + .tHand.close +2 "manipulator"&3/ +62 "core" / +3 .tCC.seek :open +2 "collection"'8( +415 "core" ( + "storage"(& +4 "core" &K\ \ \  +2 "storage"(2& +4 "core" &K\ \ \  + "manipulator"&& +4 "core" &,  Bk + "manipulator"&B% +4 "core" %  +  +2 .tForearm.seek :retract + "manipulator"&5'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Y( +159 "core" ( + "manipulator"&4& +5 "core" &  H j + "storage"(R& +4 "core" &K\ C\ I\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&0'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +60 "core" 1 +2 "manipulator"&C% +4 "core" % θ L + "storage"(X& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&;' +13 "core" ' +2 "manipulator"&L& +4 "core" & j + "storage"(I& +4 "core" &K\ B\ B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7'a +32 "core" ' + "storage"(.% +5 "core" %J\ E\ H <\ +2 ."downElevator"SE.seek :down +4 "storage"(\\'X +98 (b% +3 "core" %D\ %\ ' \ V_ +7 "manipulator"&W% +4 "core" %W  i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +4 "core" & L N\ +2 "manipulator"&6% +4 "core" %\    + "storage"(M% +4 "core" %a\ H\ I\ +2 "storage"(H. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(|(,l +659 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +2 "core" &,n \ +2 "manipulator"&D& +4 "core" & j + .tElbow.seek 4 +2 "manipulator"&Z( +36 "core" ( + "manipulator"&V& +4 "core" &\ % S \\ +2 "storage"(]& +4 "core" &,r\ $\ $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&n'Ѽ +87 "core" ' +2 "storage"(& +4 "core" &,r\ G\ ; V\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +285 "core" ' +2 "storage"(A- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" &,r\ &\ % \\\ + "manipulator"&[& +4 "core" &\  \\ +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&F& +4 "core" & $ \\ + "storage"(& +4 "core" &,r\ 0\ . \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&g', +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(*'X +7 "core" &\  \\ +2 "manipulator"&y% +4 "core" % 6  +2 .tForearm.seek :retract + "manipulator"&j'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +148 "core" ( + "manipulator"&a& +5 "core" &( ?U + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &O& +3 "core" &) * ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'" +100 "core" ' + "manipulator"&s& +4 "core" &)  h ?T +2 "manipulator"&x% +4 "core" %% ] L +2 "collection"'p& +4 "core" & L O\ +2 "collection"'z& +5 "core" & N P\ +2 .tCC.seek :closed + "collection"'{(V +5 "core" & K O\  +8 &1 K N\ *x +10 &c M N\ > +9 &tx N O8\ M +9 &6\\ K N\ M +10 &^ M M\ M +9 &] L O\ M +9 &|\\ N N\ M +10 &?] K M\ M +9 &] L P\ M +9 &_ M P\ M +10 & ] L O\ M +9 &"E^ L O\ M +10 &$] N O\ M +9 &%\\ N N\ M +9 &'] K N\ M +10 &)P\\ M N\ L +9 &+] K N\ M +9 &,[ I P\ M +10 &.\\ N O\ M +9 &0V^ M N\ M +10 &2\\ K P\ M +9 &3] N P\ M +9 &5\\ K P\ L +10 &7^] N M\ M +9 &9!] N N\ M +10 &:b M O\ M +9 &<_ L P\ N +9 &>f] L N\ M +10 &@)\\ L N\ M +9 &A] K O\ M +9 &C_ M N\ M +10 &Ekg M N\ N +9 &G(u K N\ P +9 &H M P\ Q +10 &J N M\ W +9 &LV K N\ X +10 &N K N\ X +9 &O M P\ Y +9 &Q J O\ Y +10 &SW M O\ Z +9 &U N Q\ Z +9 &VdC M N\ 1 +10 &Vv M Q\ K +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"& 1 +3 "core" &Ve L M\ K +56 1 +2 "manipulator"&v% +4 "core" % %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +89 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +4 "core" &i\ + "manipulator"&q% +4 "core" %\   +2 "storage"(d% +4 "core" %c e\ + "storage"(. +3 "core" .(,l +2 "storage"(e& +4 "core" &,r e\ + "storage"(u& +4 "core" &,r g\ + "manipulator"&& +5 "core" &) ?P + "manipulator"&% +4 "core" %\  A  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &  j +2 "storage"(^& +3 "core" &,r P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&f'Ѽ +94 "core" ' +2 "storage"(`& +4 "core" &,r\ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r a\ +2 "manipulator"&& +4 "core" &  j + .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( + "manipulator"&_& +4 "core" & $ j + "storage"( & +4 "core" &,r ]\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&t', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(~'X +7 "core" & 8 j + "manipulator"&% +4 "core" % =  [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +143 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +120 "core" ' + ."downElevator"SE.stop + "storage"(5 +146 "core" ( + "manipulator"&& +5 "core" &k 2 + \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +8 &o& +2 "core" &k t \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 "manipulator"&& +4 "core" &k ~ \ +2 "manipulator"&l% +4 "core" % . . + "processing"%r& +4 "core" &e\ +2 "processing"%:& +5 "core" &{\ +3 .tPC.seek :closed + "processing"%h(Z +4 "core" &i\  +9 &2o\ *x +10 &bb\ > +9 &{zj\ N +9 &=\\m\ N +10 &Zn\ N +9 &Zl\ M +9 &\\h\ M +10 &GYm\ M +9 & ]l\ M +10 &_h\ N +9 & [h\ N +9 &"O^h\ M +10 &$[m\ M +9 &%Zk\ N +9 &'`h\ N +10 &)W^h\ M +9 &+\\g\ M +10 &,^h\ N +9 &._i\ M +9 &0^\\h\ N +10 &2!Zh\ M +9 &3[g\ M +9 &5^i\ N +10 &7f\\h\ N +9 &9)^i\ M +10 &:[j\ M +9 &<_d\ N +9 &>n]_\ N +10 &@/]b\ N +9 &AYc\ N +9 &C\\j\ N +10 &Etbg\ N +9 &G1nc\ P +10 &H^\ R +9 &Jb\ S +9 &Lm[\ S +10 &N.`\ T +9 &O_\ T +9 &QW\ T +10 &St_\ T +9 &U5[\ T +10 &VZ\ U +9 &XZ\ T +9 &Z#Z}Z\ %q +10 &Z_S\ 1 +8 ( +2 &Z Y\ , +2 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&\ 1 +57 "core" 1 +2 "manipulator"&% +4 "core" %  c . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +89 "core" ' +2 "processing"%& +4 "core" &Z m\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  *  +2 "storage"(,% +4 "core" %U j\ + "storage"(#. +3 "core" .(,l +2 "storage"(& +3 "core" &,r q\ +2 "storage"(&& +4 "manipulator"&@& +5 "core" &,r m\ + &k  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&$(s +4 ."raiseStack"SE.seek :beamBreak + "storage"()'i +3 "core" ( + "manipulator"&(& +4 "core" &k \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k c \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"(<- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +46 "core" ' +294 ( +2 "storage"(+& +4 "core" &,r \ + "manipulator"&K& +4 "core" &k  ` \ + "manipulator"&1% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&-( +240 "core" ( +2 "manipulator"&P& +4 "core" &\ $  T + "storage"(& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&2'Ѽ +98 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(B- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(4'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(R' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(T& +4 "core" &,r }\ + "manipulator"&E& +4 "core" &\  s T +2 .tElbow.seek 4 + "manipulator"&C( +4 "core" ( + "manipulator"&X& +4 "core" &\ ( V T + "storage"(L& +4 "core" &,r }\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&I'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +58 "core" ' + "manipulator"&5& +4 "core" &\ ( T +2 "storage"(b& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&W' +23 "core" ' +2 .tElbow.hold + "manipulator"&Y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'i +25 "core" ' + "manipulator"&;% +5 "core" %  + "storage"(N& +4 "core" &,r ?\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&6'> +20 "core" ' +2 "manipulator"&M& +5 "core" &\  s T + "storage"(H& +5 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&/'Ѽ +16 "core" ' +2 "storage"(7% +4 "core" %p @\ +3 ."downElevator"SE.seek :down +4 "storage"(\\'X +99 (!% +3 "core" %G \ Wd +2 "manipulator"&G% +4 "core" %Ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +85 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +2 "core" &,r \ +2 "collection"']& +4 "core" &Vc K N\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %\     +2 "storage"(>% +4 "core" %Q u\ + "storage"(S. +3 "core" .(,l +2 "storage"(A& +4 "core" &,r \ + "storage"(i& +4 "core" &,r \ + "manipulator"&[& +4 "core" &\ T +2 .tElbow.seek 4 + "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" &\ % y T + "storage"("& +5 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&k'Ѽ +87 "core" ' + "storage"(y& +4 "core" &,r\ \  Z\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +284 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" &\ F T +2 "storage"(O& +4 "core" &,r i\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"& ' +30 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(s- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(x'W +32 "core" ' + "manipulator"&p% +4 "core" %  +2 "storage"(Q& +4 "core" &,r \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&*'@ +18 "core" ' +2 "manipulator"&j& +4 "core" &\ [ S +2 "storage"(8& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(v'F +41 "core" ' + "manipulator"& & +4 "core" &\  S +2 "manipulator"&q% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ( + "manipulator"&e& +65 "core" &% <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &% <? +2 .tForearm.seek CC + "manipulator"&z'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(m& +4 "core" &,r\ \  3\ + "storage"(& +4 "core" &,r\ \  \ + "manipulator"&^& +5 "core" && <? + "manipulator"&`% +5 "core" %  +2 .tForearm.seek :retract +51 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&'( +160 "core" ( + "manipulator"&U& +5 "core" & o + "storage"(& +4 "core" &,r\ #\ # %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +107 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +5 "core" %   + 1 + "storage"(%& +4 "core" &,r\ \  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'@ +18 "core" ' +2 "manipulator"&& +4 "core" & P o +2 "storage"(f& +4 "core" &,r\ I\ I (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +35 "core" ' + "storage"(t% +5 "core" %I\ A\ L\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (o% +3 "core" %F\ %\ & \ Va +2 "manipulator"&w% +4 "core" %Ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'l& +5 "core" & I P\ + "manipulator"&r% +4 "core" %\  o  +2 "storage"(~% +4 "core" %a\ ;\ ; H\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(J(<* +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" &<)\ \ F\  +2 "manipulator"&& +3 "core" &  o +2 .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&& +4 "core" &  r f + "storage"(,& +4 "core" &<&\ P\ K J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +101 "core" ' +2 "storage"(& +4 "core" &<&\ , } \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +285 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &<&\ "\ % 0\  +2 "manipulator"&(& +4 "core" & z f + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & N f +2 "storage"(& +3 "core" &<&\ I\ H \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(h'X +7 "core" &  f + "manipulator"&)% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&1& +5 "core" &+  K A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* * A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'" +95 "core" ' +3 "manipulator"&& +4 "core" &+ I A_ +2 "manipulator"&$% +4 "core" %  +2 "collection"'& +4 "core" & K M\ +2 "collection"'B& +5 "core" & K M\ +2 .tCC.seek :closed +2 "collection"'=(V +4 "core" & I O\  +8 &1 K O\ *x +10 &c K N\ > +9 &rv L M\ M +10 &3[ K N\ M +9 &Z K M\ M +9 &[ L M\ M +10 &z[ K N\ M +9 &;\\ K L\ M +9 &\\ L L\ M +10 &Z L M\ M +9 & ^ L L\ M +10 &"C] N M\ M +9 &$] J N\ M +9 &%] M P\ N +10 &'\\ K M\ M +9 &)LZ K O\ M +9 &+ \\ L O\ M +10 &,Z K M\ M +9 &.Y K N\ M +10 &0R\\ L O\ N +9 &2Y M M\ M +9 &3[ K N\ M +10 &5W J N\ M +9 &7\\Z L O\ M +9 &9Z K M\ M +10 &:\\ L M\ M +9 &<[ N N\ M +9 &>dX L M\ M +10 &@%Z K L\ M +9 &A\\ L M\ M +10 &C\\ N N\ N +9 &Eid L N\ N +9 &G&o L M\ P +10 &H L N\ R +9 &J M O\ W +9 &LT M M\ X +10 &N N L\ X +9 &O L O\ Y +10 &Q L N\ Y +9 &ST M N\ [ +9 &U K N\ [\ +10 &VbC M O\ 2 +9 &V~ N Q\ M +6 ( + "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&T1 +4 "core" &Vp N P\ M +59 1 +2 "manipulator"&E% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%L& +4 "core" &y\ +2 "manipulator"&3% +3 "core" %\  $  +2 "storage"(5% +4 "core" %_ \ + "storage"(b. +3 "core" .(<* +2 "storage"(;& +4 "core" &<& \  + "storage"(N& +4 "core" &<& \  +2 "manipulator"&9& +3 "core" &*  F @^ +2 "manipulator"&M% +4 "core" %\  + A  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&4( +165 "core" ( + "manipulator"&H& +5 "core" &  ` _ + "storage"(7& +4 "core" &<& _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&-'ы +97 "core" ' + "storage"(2& +4 "core" &<& \  7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +286 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &<& 7\  +2 "manipulator"&I& +4 "core" & _ + .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( + "manipulator"&.& +4 "core" & $ ( _ +2 "storage"(W& +3 "core" &<& I\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"('X +7 "core" & d _ +2 "manipulator"&>% +4 "core" % <  +2 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&A& +4 "core" &z 2   + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &i& +2 "core" &z  ?  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&[' +94 "core" ' + "manipulator"&& +5 "core" &z $ ,  + "manipulator"&"% +4 "core" %   +2 "processing"%/& +3 "core" &}\ +2 "processing"%y& +5 "core" &g\ +2 .tPC.seek :closed +2 "processing"%\\(Z +4 "core" &g\ +8 & 0j\ $d +10 &Vf\ 7 +9 &h\ L +9 &^d\ M +10 &[_h\ M +9 &\\e\ N +9 &`i\ M +10 &Zl\ M +9 &c\\i\ M +9 &$Zi\ N +10 &`e\ N +9 &!^e\ N +10 &#j\\d\ N +9 &%,`i\ N +9 &&]h\ N +10 &(Za\ N +9 &*rZd\ N +9 &,5_j\ M +10 &-]h\ N +9 &/[b\ M +10 &1{\\g\ M +9 &3=\\d\ M +9 &4\\b\ M +10 &6Zb\ N +9 &8]e\ N +9 &:D]b\ N +10 &<\\d\ N +9 &=[g\ M +10 &?[g\ M +9 &ALYh\ N +9 &C[c\ N +10 &D`b\ N +9 &Fjc\ O +9 &HJ}a\ Q +10 &Jb\ S +9 &Ka\ S +10 &M`\ T +9 &OKb\ S +9 &Q c\ T +10 &Ra\ T +9 &T\\\ T +9 &VP]\ T +10 &X_\ U +9 &Y{sS\ : +10 &Z'jQ\ P +9 &Z'R\ / +2 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&Y1 +53 "core" 1 +2 "manipulator"&D% +4 "core" % ( a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +94 "core" ' +2 "processing"%a& +4 "core" &Z$O\ / + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&O% +4 "core" %\  Z  + "storage"(s% +4 "core" %^ \ + "storage"(p. +3 "core" .(<* +2 "storage"(Q& +4 "core" &<& c\  + "storage"(j& +5 "manipulator"&8& +4 "core" &<& ,\  + &z   +3 ."raiseStack"SE.reconfigure :place +52 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& (s + "storage"(q'i +5 "core" ( +2 "manipulator"&k& +4 "core" &z  i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &z &  +2 .tForearm.seek PC +2 "manipulator"&Z' +95 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +3 .tPC.seek :open + "processing"%*( +93 "core" ' +2 "storage"(x- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +45 "core" ' +284 ( +2 "storage"(e& +4 "core" &<& \  + "manipulator"&u& +4 "core" &z  )  +2 "manipulator"&g% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +252 "core" ( + "manipulator"&{& +4 "core" & % e ) +2 "storage"(m& +4 "core" &<& 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +87 "core" ' + .tHand.open +2 "manipulator"&^1 +53 "core" 1 +2 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(z'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(U' +46 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &<& i\  +2 "manipulator"& & +3 "core" &  ? ' +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&%& +4 "core" &  ) ' + "storage"(& +4 "core" &<& Z\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&f'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +59 "core" ' +2 "manipulator"&}& +4 "core" & l ' +2 "storage"(o& +4 "core" &<& w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&w' +32 "core" ' +2 .tElbow.hold + "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&% +5 "core" % I + "storage"(l& +4 "core" &<& :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&r' +13 "core" ' +2 "manipulator"&~& +4 "core" &  w ' +2 "storage"(& +4 "core" &<& g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&v'ы +34 "core" ' + "storage"(% +5 "core" %n \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (|% +3 "core" %D b\ Wc +2 "manipulator"&\ % +4 "core" %]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<& \  +2 "collection"',& +4 "core" &Vp K N\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\  J  + "storage"(_% +4 "core" %a \ +2 "storage"(. +3 "core" .(<* +2 "storage"(@& +3 "core" &<& Q\  +2 "storage"(:& +4 "core" &<& N\  + "manipulator"&(& +4 "core" &  ' +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & | ' + "storage"(c& +4 "core" &<& 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&?'ы +99 "core" ' +2 "storage"()& +4 "core" &<& \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & ' + "storage"(& +4 "core" &<& 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&' +34 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"($'W +31 "core" ' + "manipulator"&% +5 "core" %  B + "storage"(& +4 "core" &<& S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&h' +16 "core" ' + "manipulator"&+& +4 "core" & & " ' +2 "storage"(& +4 "core" &<& 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(E'F +40 "core" ' +2 "manipulator"&L& +4 "core" &  ' +2 "manipulator"&3% +4 "core" %с Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +148 "core" ( + "manipulator"&B& +5 "core" &(  R ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &( r ?R +7 .tForearm.seek CC + "manipulator"&N'" +98 "core" ' + .tHand.close +2 "manipulator"&9/ +53 "core" / +2 .tCC.seek :open + "collection"'M( +417 "core" ( + "storage"(P& +4 "core" &<&\ \ \  + "storage"(H& +4 "core" &<&\ \ \  +2 "manipulator"&7& +4 "core" &( *  ?R + "manipulator"&2% +4 "core" % & +2 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +159 "core" ( + "manipulator"&!& +5 "core" &  P S + "storage"(G& +4 "core" &<&\ I\ I +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&I' +106 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +62 "core" 1 + "manipulator"&V% +5 "core" %   + "storage"(]& +5 "core" &<& r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&>' +14 "core" ' +2 "manipulator"&4& +4 "core" & 0 S +2 "storage"(-& +3 "core" &<&\ I\ I \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&R'ы +27 "core" ' +2 "storage"(6% +4 "core" %I\ >\ F \ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +100 (i% +2 "core" %C\ &\ % U\ V_ +2 "manipulator"&C% +4 "core" %ъ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'"& +4 "core" & K KA\ +2 "manipulator"&/% +4 "core" %\    + "storage"(% +4 "core" %Z\ L\ B \ +2 "storage"(0. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" &K \  +2 "manipulator"&D& +52 "core" & h S +2 .tElbow.seek 6 +2 "manipulator"&a( +43 "core" ( + "manipulator"&O& +5 "core" &\ $  T + "storage"(s& +4 "core" &K\ +\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +92 "core" ' + "storage"(Q& +5 "core" &K\ ;\ F \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +277 "core" ' +2 "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (y& +3 "core" &K\ "\  t\  +2 "manipulator"&k& +4 "core" & 2 S + .tElbow.seek 6 +2 "manipulator"&F( +25 "core" ( + "manipulator"&[& +4 "core" &  r x +2 "storage"( & +3 "core" &K\ $\ # \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&x' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(\\'X +7 "core" & Q x +2 "manipulator"&q% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&e'\ +103 "core" ' + .tElbow.seek CC +2 "manipulator"&u( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&g& +4 "core" && @  =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" && Y =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'" +96 "core" ' + "manipulator"&m& +5 "core" && 0 \ =F + "manipulator"& % +4 "core" % +2 "collection"'^& +4 "core" & J L^\ +2 "collection"'`& +5 "core" & H Lz\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & I K2\  +8 &1 J Ma\ *x +10 &c I L\ \ > +9 &sx H M\ N +10 &7Z I Lx\ M +9 &] I NT\ M +9 &_ K LL\ M +10 &}_ H L\ M +9 &@\\ K M\ M +9 &` J L\ M +10 &Z J K\ M +9 & ] J K\ M +10 &"H^ K K\ M +9 &$\ \\ K J\ M +9 &%^ K I\ M +10 &'[ H L\ M +9 &)P[ I J\ M +9 &+] H L\ M +10 &,^ J M\ M +9 &.\\ K L\ M +10 &0W\\ J K\ M +9 &2[ J L\ M +9 &3\\ J L\ M +10 &5Z L M\ M +9 &7__ K I\ M +9 &9"[ H J\ M +10 &:] I K\ M +9 &<^ J L\ M +9 &>h\\ I M\ M +10 &@+\\ J L\ L +9 &A\\ K L\ M +10 &C] I L\ M +9 &Elf J L\ N +9 &G*q I J\ O +10 &H J M\ Q +9 &J J K\ W +9 &LX K L\ X +10 &N L K\ X +9 &O L K\ Y +10 &Q K M\ Y +9 &SZ I K\ Z +9 &U J M\ Z +10 &VeB J L\ 1 +9 &Vw K K\ L +6 ( + "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&1 +4 "core" &Vc J L\ L +56 1 +2 "manipulator"& % +4 "core" %  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &k\ +2 "manipulator"&% +4 "core" %\  I  +2 "storage"(}% +3 "core" %a O\ +2 "storage"(o. +3 "core" .(K +2 "storage"(& +3 "core" &K <\  +2 "storage"(l& +4 "core" &K \  + "manipulator"& & +4 "core" && . x =D +2 "manipulator"&~% +3 "core" %\  v  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +158 "core" ( + "manipulator"&z& +4 "core" &\   +  +2 "storage"(& +4 "core" &K\ \ =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +92 "core" ' + "storage"(& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'i +283 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &K \  + "manipulator"&f& +4 "core" &\    +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&t& +4 "core" &\  \\  + "storage"(w& +4 "core" &K U\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&r' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&,& "storage"('X +8 "core" &\  j  + "manipulator"&% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&_'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&@& +4 "core" &h ? > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &h  U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +98 "core" ' + "manipulator"&& +5 "core" &h % + "manipulator"&c% +4 "core" % B 6 +2 "processing"%v& +4 "core" &r\ +2 "processing"%)& +5 "core" &x\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &e\  +9 &2j\ *y +9 &ci\ > +9 &}ye\ N +10 &@Ye\ M +9 &_c\ N +10 &]g\ M +9 &Z`\ N +9 &G]g\ M +10 &\ ]a\ M +9 &^h\ M +9 & [b\ N +10 &"O]p\ M +9 &$Zj\ M +10 &%]m\ N +9 &'`k\ M +9 &)W_c\ M +10 &+Zk\ M +9 &,Yg\ M +9 &.Zk\ M +10 &0_Zj\ M +9 &2!Zm\ M +9 &3Yr\ M +11 &5Zn\ M +8 &7h[n\ M +10 &9(\\l\ N +9 &:\\l\ N +10 &<]h\ N +9 &>o\\l\ M +9 &@1[r\ M +9 &AZ`\ M +10 &C^m\ N +9 &Eucm\ N +10 &G2pc\ P +9 &Hl\ S +9 &Jk\ S +10 &Lmi\ S +10 &N/c\ S +9 &Om\ T +9 &Qx\ T +9 &Stl\ T +10 &U6k\ T +9 &Ve\ T +9 &Xi\ T +10 &Z$\\g\ #k +9 &ZUk\ + +9 ( +2 "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&'1 +4 "core" &Zi\ ) +57 1 + "manipulator"&% +5 "core" %  b 6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' + "processing"%1& +4 "core" &Z\\\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\ 7 + "storage"(% +4 "core" %S 4\ + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K M\  + "storage"(+& +5 "manipulator"&& +4 "core" &K 2\  + &i  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&L(s + "storage"(3'i +5 "core" ( +2 "manipulator"&?& +4 "core" &i + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close +2 "manipulator"&&/ +60 "core" / +2 .tPC.seek :open + "processing"%h( +86 "core" ' +2 "storage"($- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(B'y +43 "core" ' +292 ( +3 "storage"(;& +4 "core" &K a\  + "manipulator"&T& +4 "core" &i  + "manipulator"&<% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&9'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&5( +254 "core" ( +2 "manipulator"&=& +4 "core" &  (  + "storage"(P& +4 "core" &K t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&H'a +94 "core" ' + .tHand.open + "manipulator"&71 +55 "core" 1 +3 "storage"(2- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(b& +4 "core" &K w y \  +2 "manipulator"&W& +4 "core" & 8  +2 .tElbow.seek 6 + "manipulator"&V( +54 "core" ( +2 "manipulator"&]& +4 "core" & 2  +2 "storage"(4& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&-'a +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +57 "core" ' +2 "manipulator"&K& +4 "core" &   +2 "storage"(i& +3 "core" &K\ \  B\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&C'Υ +31 "core" ' + .tElbow.hold +2 "manipulator"&X, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(I'i +23 "core" ' + "manipulator"&>% +5 "core" %η  + "storage"("& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&/' +12 "core" ' +2 "manipulator"&& +4 "core" & .  +2 "storage"(0& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +26 "core" ' + "storage"(R% +5 "core" %l\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (J% +3 "core" %*J u\ Wc +2 "manipulator"&Y% +4 "core" %i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K K\  + "collection"'s& +4 "core" &Vb I N\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Q% +4 "core" %\  #  +2 "storage"(.% +3 "core" %^ \ +2 "storage"(. +3 "core" .(K +2 "storage"(j& +3 "core" &K 1\  +2 "storage"(y& +4 "core" &K :\  + "manipulator"&k& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&[( +4 "core" ( + "manipulator"& & +4 "core" &   + "storage"(S& +4 "core" &K =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&n'a +92 "core" ' + "storage"(q& +5 "core" &K\ \ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'i +284 "core" ' +2 "storage"(p- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&g& +3 "core" &   +2 "storage"(Z& +4 "core" &K p\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"( 'Z +31 "core" ' +2 "manipulator"&^% +4 "core" %η  + "storage"(F& +4 "core" &K s\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&\\' +12 "core" ' + "manipulator"&e& +5 "core" & M  + "storage"(M& +4 "core" &K\ \  c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'I +45 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&% +4 "core" %X + p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +157 "core" ( +3 "manipulator"&& +4 "core" &- $ Cq + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &, Cq +2 .tForearm.seek CC + "manipulator"&l'" +94 "core" ' + .tHand.close +2 "manipulator"& / +54 "core" / +2 .tCC.seek :open +2 "collection"'~( +416 "core" ( + "storage"({& +4 "core" &K\ \  3\  +2 "storage"(z& +4 "core" &K\ \ l\  + "manipulator"&& +4 "core" &-  Cm + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&u'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&%( +157 "core" ( +2 "manipulator"&|& +4 "core" & m  + "storage"(\ & +4 "core" &K\ I\ I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&f'Υ +102 "core" ' + .tElbow.hold +2 "manipulator"&t, +8 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +52 "core" 1 +2 "manipulator"&% +5 "core" % ι 8 @ ' + "storage"(,& +4 "core" &K\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" & Z  +2 "storage"(d& +4 "core" &K\ I\ I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&U'a +28 "core" ' +2 "storage"(r% +3 "core" %L\ ;\ ; n\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (:% +2 "core" %F\ %\ $ .\ V` +2 "manipulator"&% +4 "core" %J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 @1632781226.06EDT = =mMAIN_scheduler =tMAIN @EDT1632781227.96 #"core_reset"Sent BREAK +2 #t@39116 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +394 "Can"s\ m + s\ m + #tPolling Can every 10:00 +17 !o:Storage::Warning: mesg"8Invalid entry in line 114 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +6 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 @EST1640114131.47 #-> ESP.ready! +4 #Powering core bus +534 .Gate.power :raw,:ON +2 "sampler") +53 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  +3 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %VX\ + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % 3 1n  + .tSS.configure :default +3 "sampler")#.0X\ +3 "manipulator"&% +2 ."rdySampler"Intake.select :close +5 .Exhaust.select :close +2 .CTV.dial :air +2 "collection"'  +2 "core" %Z\ + % +2 ."rdyProcessing"PSV.dial :air +4 "manipulator"&% + "processing"%  +5 "core" + % @ + +2 ."rdySampler"CSV.dial :waste1 +4 ."rdyProcessing"PS.reconfigure :default +2 .tForearm.reconfigure :loose +4 "collection"' +2 "processing"%#A d`xb +3 "manipulator"&#@2^d^b +5 .tForearm.home.seek :retract +2 ."rdyProcessing"PS.home.seek 0ml +3 "manipulator"&'\ + "processing"%' +5 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust + "sampler") +3 "core"  +2 "sampler") +4 "core"  +3 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +2 "collection"'#d @b +3 "sampler")#.0X require 'shuffle.rb' +2717 #-> 25.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" &XUc\  + .tHand.open +2 "manipulator"&<1 +52 "core" 1 +2 "manipulator"&=% +4 "core" % \  ( ,  +2 "storage"(>% +3 "core" %[\ \  e\ +2 "storage"(?. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(@(,l +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &,l n\  + "manipulator"&B& +4 "core" & + t C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +17 "core" ( + "manipulator"&D& +4 "core" & ' > # +2 "storage"(E& +4 "core" &,i P\  +2 .tForearm.seek 4 + 700 counts + "manipulator"&F'Ѽ +91 "core" ' + "storage"(G& +4 "core" &,i\ \  -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +36 "storage"(H'i +284 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,i n\  + "manipulator"&K& +4 "core" & " Z # +2 .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" & ) w # +2 "storage"(N& +3 "core" &,i q\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&O', +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'X +8 "core" &  ) # +2 "manipulator"&S% +4 "core" % '   f +2 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +3 .tElbow.seek CC +2 "manipulator"&U( +147 "core" ( +2 "manipulator"&V& +4 "core" ' + && * p =F + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &W& +2 "core" &&  6 =F +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'" +95 "core" ' +2 "manipulator"&Y& +4 "core" && ! B =F + "manipulator"&Z% +4 "core" % :  +2 "collection"'[& +4 "core" &VXd\  +2 "collection"'\\& +5 "core" &UX1\  +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &TX3\ \  +9 &5VW\ +| +9 &eVW \ @ +9 &\\zVU\ P +10 &!ZVS\ N +9 &`UW \ O +9 &]XV \ N +10 &g\\UW\ N +9 &*^XW\ N +9 &_XU\ N +10 &aUW \ N +9 & ocUW\ \ N +10 &"1cUW\ \ N +9 &#\\VV \ N +9 &%`WW \ N +10 &'w`UV\ N +9 &):\\VV\ N +10 &*aVW\ \ N +9 &,`VW \ N +9 &.^XV \ N +10 &0A\\VW \ N +9 &2\\XW\ N +9 &3^UY\ N +10 &5\\WW \ O +9 &7H`UW\ O +9 &9\ ^WW \ O +10 &:bTV\ O +9 &<aUU \ O +10 &>Q]WV \ N +9 &@\\VV\ N +9 &A]VU\ O +10 &C`WW\ O +9 &EUlVX\ P +10 &G|UY\ Q +9 &HWY \ T +9 &JUV\ Y +10 &LAWW\ Y +9 &NWW \ Z +9 &OTX\ Z +10 &QVW\ Z +12 &SCVX \ [ +7 &UUW\ \\ +9 &VVFXV\ 4 +9 &VpUW \ I +6 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&^1 +4 "core" &VcXW \ I +59 1 + "manipulator"&_% +4 "core" %  2 V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +4 "core" &\  +2 "manipulator"&b% +3 "core" %\  3 ,  +2 "storage"(c% +3 "core" %b \ +2 "storage"(d. +3 "core" .(,l + "storage"(e& +4 "core" &,i I\  +2 "storage"(f& +3 "core" &,i W\  +2 "manipulator"&g& +4 "core" &%  <; + "manipulator"&h% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&i( +157 "core" ( + "manipulator"&j& +4 "core" & ' > +2 "storage"(k& +3 "core" &,i 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +98 "core" ' + "storage"(m& +4 "core" &,i \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'i +286 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &,i '\  + "manipulator"&q& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +3 "core" & + X +2 "storage"(t& +3 "core" &,i '\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +61 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x'X +7 "core" &  * +2 "manipulator"&y% +3 "core" %    < +2 .tForearm.seek :retract +2 "manipulator"&z'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&|& +4 "core" &q , 0  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &q !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +93 "core" ' +2 "manipulator"&& +4 "core" &q   + "manipulator"&% +4 "core" %  z , +3 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\ \  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &5\ +| +9 &e\ @ +9 &a}\ P +10 &&^\ N +11 &_\ N +7 &b\ O +10 &k]\ O +9 &.]\ N +9 &_\ N +10 &c\ O +9 & s`\ O +10 &"5`\ O +9 &#_\ O +9 &%_\ O +10 &'|b\ N +9 &)>]\ N +9 &+c\ N +10 &,a\ N +9 &.b\ O +10 &0F`\ N +9 &2^\ N +9 &3]\ N +10 &5c\ N +9 &7N_\ N +9 &9b\ N +10 &:`\ N +9 &<`\ O +10 &>V^\ N +9 &@^\ N +9 &Ab\ N +10 &Cb\ O +9 &E]e\ O +10 &Gu\ P +9 &H\ S +9 &J\ S +10 &LU\ T +9 &N\ T +9 &O\ T +10 &Q\ T +9 &S[\ U +10 &U\ U +9 &V\ U +9 &X\ U +9 &Zh\ + +10 &Zo\ = +9 ( +2 &Z'\ 2 + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" % % 2 , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 "processing"%& +4 "core" &Z'\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %\  U  +2 "storage"(\ % +4 "core" %b \ + "storage"( . +3 "core" .(,l +2 "storage"( & +3 "core" &,i \  +2 "storage"( & +4 "manipulator"&& +4 "core" &,i K\  + &q  6  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &q - E  +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%( +97 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +281 ( +2 "storage"(& +4 "core" &,i \  + "manipulator"&& +4 "core" &q  x  + "manipulator"&% +4 "core" %  - & +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&"( +263 "core" ( +2 "manipulator"&%& +4 "core" & $ I  + "storage"('& +4 "core" &,i <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&('Ѽ +87 "core" ' + .tHand.open + "manipulator"&)1 +52 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(#' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" &,i I G h\  +2 "manipulator"&.& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( + "manipulator"&0& +4 "core" & ' B  +2 "storage"(1& +4 "core" &,i I H \  +2 .tForearm.seek 4 + 700 counts + "manipulator"&2'Ѽ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +56 "core" ' + "manipulator"&4& +5 "core" &   + "storage"(5& +4 "core" &,i g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6' +29 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +6 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +25 "core" ' + "manipulator"&9% +5 "core" % + "storage"(:& +4 "core" &,i n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&;'@ +19 "core" ' + "manipulator"&<& +5 "core" & T  + "storage"(=& +4 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +17 "core" ' +2 "storage"(?% +4 "core" %p e\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (A% +3 "core" %K '\ Xg +2 "manipulator"&B% +4 "core" %ѳ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &,i h\  + "collection"'G& +4 "core" &VbWX4\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %\  ~  +2 "storage"(&% +3 "core" %a r\ +2 "storage"(I. +3 "core" .(,l + "storage"(J& +4 "core" &,i o\  +2 "storage"(K& +4 "core" &,i j\  + "manipulator"& & +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( + "manipulator"&N& +4 "core" & ( "  +2 "storage"(P& +3 "core" &,i w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +40 .tForearm.seek 4 + 700 counts +11 "manipulator"&Q'Ѽ +92 "core" ' + "storage"(S& +4 "core" &,i N\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'i +286 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&V& +3 "core" & y  +2 "storage"(W& +3 "core" &,i ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&H' +32 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'V +31 "core" ' +2 "manipulator"&[% +4 "core" %  + "storage"(L& +4 "core" &,i \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&R'@ +15 "core" ' +2 "manipulator"&T& +4 "core" &  o  +2 "storage"(+& +4 "core" &,i l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&^'Ѽ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'E +40 "core" ' + "manipulator"&a& +5 "core" &   + "manipulator"&b% +4 "core" %ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +152 "core" ( +3 "manipulator"&e& +4 "core" && ( > =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" && 7 =E +2 .tForearm.seek CC +2 "manipulator"&f'" +91 "core" ' +2 .tHand.close + "manipulator"&g/ +60 "core" / +2 .tCC.seek :open + "collection"'h( +416 "core" ( +2 "storage"(X& +4 "core" &,i 0\  + "storage"(j& +4 "core" &,i I\  + "manipulator"&k& +4 "core" &% 1 <; + "manipulator"&m% +4 "core" % ! " +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +157 "core" ( +2 "manipulator"&o& +4 "core" & *  + "storage"(p& +4 "core" &,i\ \  `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&q' +105 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +63 "core" 1 +2 "manipulator"&v% +4 "core" %    9 +3 "storage"(w& +4 "core" &,i )\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&y'@ +19 "core" ' + "manipulator"&i& +4 "core" &  +2 "storage"(l& +4 "core" &,i\ \  !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&n'Ѽ +17 "core" ' + "storage"(u% +5 "core" %J\ %\  \ +2 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (}% +3 "core" %F q\ Vc + "manipulator"&r% +4 "core" %ѫ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &UV\ + "manipulator"&% +4 "core" %\ \  >  +2 "storage"(x% +4 "core" %S\ \  s\ +2 "storage"(z. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(*(<* +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<' j\  +2 "manipulator"&& +4 "core" &  D  +2 .tElbow.seek 5 + "manipulator"&( +8 "core" ( + "manipulator"& & +4 "core" & )   +2 "storage"(\ & +3 "core" &<$\ \  #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +87 "core" ' + "storage"( & +4 "core" &<$\ (\ % \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<$ F\  + "manipulator"&& +9 "core" & L  + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" & $ =  + "storage"(& +4 "core" &<$\ \  H\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &  ,  + "manipulator"&% +4 "core" %   | > +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &'   1 >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +100 "core" ' +2 "manipulator"&'& +4 "core" &' < c >K +2 "manipulator"&% +4 "core" %" +2 "collection"')& +8 "core" &TW\ +2 "collection"'& +6 "core" &UW\ +3 .tCC.seek :closed +2 "collection"',(V +4 "core" &UX\ +4 &SV\ 4 +10 &7HVV\ 1 +9 &`qUW\ E +10 &gUX\ N +9 &]TU\ N +9 &^UW\ N +10 &J`VV\ N +9 & _TV\ N +9 &aVW\ N +10 &\\TV\ N +9 &Q^VW\ N +10 &!]UV\ N +9 &"_TW\ N +9 &$`UV\ N +10 &&Z]UW\ N +9 &(\\VU\ M +9 &)[VU\ N +10 &+]TW\ N +9 &-a`UV\ N +10 &/$]UU\ N +9 &0bTV\ N +9 &2^WX \ N +10 &4j\\VX \ N +9 &6-_VX \ M +10 &7^WW \ N +9 &9ZVX\ N +9 &;q`UV\ N +10 &=3_TV \ N +9 &>\\RW \ M +9 &@^VV \ N +10 &Bz^VV\ N +9 &D:bUV \ N +9 &EkVV\ P +10 &GVW\ R +9 &InUW\ \ U +10 &K"XW\ Y +9 &LUW\ \ Y +10 &NUW\ Y +9 &PiWW \ Y +9 &R)UT\ Z +9 &SWW\ [ +10 &UVY\ H +9 &V5VW\ *~ +10 &VrVX\ L +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&-1 +54 "core" 1 +2 "manipulator"&.% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +101 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%1& +4 "core" &\ + "manipulator"&% +4 "core" %\  ' . +2 "storage"(4% +3 "core" %a \ +2 "storage"(5. +3 "core" .(<* + "storage"(& +4 "core" &<$ s\  + "storage"(9& +4 "core" &<$ >\  +2 "manipulator"&:& +3 "core" && =B +2 "manipulator"&% +4 "core" %\  H . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&<( +166 "core" ( + "manipulator"&=& +4 "core" & ( X X +2 "storage"(?& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&"'ы +98 "core" ' + "storage"((& +4 "core" &<$ V\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'i +284 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &<$ \  +2 "manipulator"&2& +4 "core" &   X +2 .tElbow.seek 5 + "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +3 "core" & $  X +2 "storage"(6& +3 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"($'X +7 "core" &  + X +2 "manipulator"&&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&J(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&8& +5 "core" &o 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &o  B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +100 "core" ' +2 "manipulator"&N& +4 "core" &o "  +2 "manipulator"&P% +3 "core" % ! M +2 "processing"%>& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed + "processing"%!(Z +5 "core" &\ +7 & 1\ $d +9 &V\ 7 +9 &\ L +10 &]\ N +9 &_`\ O +9 &#^\ N +10 &_\ O +9 &]\ N +10 &g`\ O +9 &*_\ N +9 &b\ N +10 &!_\ N +9 &#p]\ N +9 &%2_\ N +10 &&\\\ N +9 &(^\ N +10 &*x`\ N +9 &,:^\ N +9 &-`\ O +10 &/]\ N +9 &1`\ N +9 &3B_\ N +10 &5^\ N +9 &6Z\ N +10 &8]\ N +9 &:K^\ N +9 &< ]\ N +10 &=]\ N +9 &?]\ N +9 &ASZ\ N +10 &C_\ O +9 &De\ O +10 &Fj\ O +9 &HP\ R +9 &J \ S +10 &K\ T +9 &M\ S +9 &OQ\ T +10 &Q\ U +9 &R\ U +10 &T\ U +9 &VW\ U +9 &X\ U +10 &Y{q\ 6 +9 &Z/\ O +10 &Z\ ) +2 ( + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&71 +52 "core" 1 +2 "manipulator"&D% +4 "core" %  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 "processing"%V& +43 "core" &Z\ ) +11 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\  , / +2 "storage"(Y% +4 "core" %^ \ + "storage"([. +3 "core" .(<* +2 "storage"(L& +4 "core" &<$ C\  +2 "storage"(T& +2 "manipulator"&+& +7 "core" &<$ i\  + &o % G +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&a(s + "storage"(b'i +6 "core" ( + "manipulator"&Q& +4 "core" &o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &o L +2 .tForearm.seek PC +2 "manipulator"&C' +95 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +4 .tPC.seek :open +2 "processing"%R( +91 "core" ' +2 "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +287 ( + "storage"(\\& +4 "core" &<$ \  +2 "manipulator"&^& +4 "core" &o   + "manipulator"&O% +4 "core" %  e # +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +258 "core" ( + "manipulator"&]& +5 "core" &   + "storage"(X& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&j'ы +95 "core" ' +2 .tHand.open + "manipulator"&k1 +64 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' +3 "storage"(d& +7 "core" &<$ ' ' \  +4 "manipulator"&t& +9 "core" &  +4 .tElbow.seek 5 +4 "manipulator"&v( +9 "core" ( +2 "manipulator"&w& +4 "core" & & i +2 "storage"(i& +3 "core" &<$ - * \\\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +62 "core" ' + "manipulator"&U& +4 "core" & +2 "storage"(}& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r' +32 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +25 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(y& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +15 "core" ' + "manipulator"&x& +5 "core" &  y + "storage"(z& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&_'ы +28 "core" ' + "storage"(n% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (@% +3 "core" %I \ Wf + "manipulator"&% +4 "core" %ѫ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<$ \  +2 "collection"'\ & +4 "core" &VpYX\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +3 "core" %\ \  +2 "storage"(s% +4 "core" %R \ + "storage"(. +3 "core" .(<* +2 "storage"( & +3 "core" &<$ \  +2 "storage"(& +4 "core" &<$ Q\  + "manipulator"&& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" & +2 "storage"({& +3 "core" &<$ K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +89 "core" ' +2 "storage"(& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +31 "core" ' + "manipulator"&)% +3 "core" %  +2 "storage"(& +4 "core" &<$  { *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" & % + "storage"(h& +4 "core" &<$ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(.'E +39 "core" ' + "manipulator"&1& +5 "core" & + "manipulator"&% +4 "core" %v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +154 "core" ( +2 "manipulator"&& +4 "core" &* @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &*  U @\\ +2 .tForearm.seek CC +2 "manipulator"&9'" +93 "core" ' +2 .tHand.close + "manipulator"&:/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(%& +4 "core" &<$ T\  +2 "storage"(=& +3 "core" &<$ X\  +2 "manipulator"&?& +3 "core" &( 2 >M +2 "manipulator"&(% +3 "core" % 1 g +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +160 "core" ( +2 "manipulator"&A& +4 "core" &  Y  + "storage"(B& +4 "core" &<$\ \  .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&2' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +59 "core" 1 +2 "manipulator"&;% +4 "core" % \   + "storage"(G& +5 "core" &<$ k\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&&' +15 "core" ' +2 "manipulator"&<& +4 "core" & h  + "storage"("& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +28 "core" ' + "storage"(E% +5 "core" %O\ \ ( \ +2 ."downElevator"SE.seek :down +4 "storage"(8'X +99 (K% +2 "core" %G `\ Vb +2 "manipulator"&/% +4 "core" % u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'P& +5 "core" &WVJ\ + "manipulator"&>% +4 "core" %\   +2 "storage"($% +4 "core" %b\ %\ % l\ +2 "storage"(I. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &K Z\  +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&V( +33 "core" ( + "manipulator"&S& +4 "core" & ) > +2 "storage"(W& +3 "core" &K\ \  b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Y'a +92 "core" ' +7 "storage"([& +4 "core" &K\ 2\ ' e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +282 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (T& +3 "core" &K \  +2 "manipulator"&Q& +3 "core" & > +2 .tElbow.seek 6 + "manipulator"&M( +25 "core" ( +2 "manipulator"& & +4 "core" & & #  +2 "storage"(H& +3 "core" &K\ \  c\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&Z' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(!'X +7 "core" &  z  + "manipulator"&b% +4 "core" %  } +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +152 "core" ( +2 "manipulator"&O& +5 "core" && 0 = =E ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &C& +3 "core" &&  5 =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +96 "core" ' + "manipulator"&X& +5 "core" &&  7 =E +2 "manipulator"&a% +4 "core" % i  +41 "collection"'k& +14 "core" &TY\ +2 "collection"'m& +5 "core" &VW\ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" &UU\ +7 &6UW\ $d +9 &UVV\ 7 +10 &TV\ L +9 &\\UV\ N +9 &^aTV\ N +10 & ]WW\ N +9 &_VX\ N +9 &`VV\ M +10 &g_VV\ M +9 &)\\WX\ M +9 &`XW\ N +10 &!`WW\ N +9 &#o_VW\ M +10 &%0]VW\ N +9 &&\\VW\ M +9 &([RW\ M +10 &*w\\TV\ M +9 &,9]VT\ M +9 &-_WV\ N +10 &/_TU\ N +9 &1_TW\ M +10 &3B\\WW\ M +9 &5`UV\ M +9 &6`VU\ N +10 &8\\SW\ M +9 &:I_WV\ M +9 &<\ `SX\ N +10 &=bVW\ M +9 &?]UW\ N +10 &AQ`VV\ M +9 &C^UW\ N +9 &DbUW\ N +10 &FmWV\ O +9 &HNUW\ Q +9 &JVW\ V +10 &KVV\ X +9 &M~VW\ Y +10 &O@VW\ Y +9 &QVP\ Y +9 &RVW\ Z +10 &TUW\ Z +9 &VvWW\ / +10 &V(TV\ S +8 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&d1 +3 "core" &VeXV\ L +56 1 + "manipulator"&t% +5 "core" %  0 @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%w& +4 "core" & \ +2 "manipulator"&i% +4 "core" %\  w  +2 "storage"(U% +3 "core" %S O\ +2 "storage"(}. +3 "core" .(K + "storage"(e& +4 "core" &K \  +2 "storage"(o& +3 "core" &K \  +2 "manipulator"&& +4 "core" &&  =D + "manipulator"&y% +4 "core" %\   +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&x( +156 "core" ( + "manipulator"&z& +4 "core" & '  +2 "storage"(n& +3 "core" &K `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +96 "core" ' +2 "storage"(j& +4 "core" &K "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +288 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K \  + "manipulator"&l& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( + "manipulator"&u& +4 "core" & & R  + "storage"(r& +4 "core" &K A\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( 'X +7 "core" &  s  +2 "manipulator"&s% +4 "core" %  4  + .tForearm.seek :retract +2 "manipulator"&q'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +3 "manipulator"& & +4 "core" &h & ^ " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h   " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&& +4 "core" &h & R " +2 "manipulator"&{% +4 "core" % v +2 "processing"%_& +3 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%|(Z +3 "core" &\ +7 & 1\ $d +9 &U\ 7 +10 &\ L +9 &\\\ N +9 &c`\ N +10 &%`\ N +9 &]\ M +9 &\\\ N +10 &ja\ N +9 &-]\ N +10 &^\ N +9 &!_\ N +9 &#t]\ M +10 &%6]\ M +9 &&]\ N +9 &(_\ N +10 &*{\\\ N +9 &,=^\ N +10 &-c\ N +9 &/\\\ N +9 &1]\ M +10 &3E^\ N +9 &5`\ N +9 &6\\\ M +10 &8\\\ M +9 &:M\\\ N +10 &<`\ N +9 &=_\ N +9 &?Z\ N +10 &AV\\\ M +9 &C_\ N +10 &Dc\ N +9 &Fm\ P +9 &HP\ R +10 &J\ S +9 &K\ T +9 &M\ S +10 &OT\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VY\ T +10 &X\ U +9 &Y{t\ 6 +9 &Z.\ M +10 &Z\ * +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&`1 +56 "core" 1 + "manipulator"&% +4 "core" % " S u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\  6  +2 "storage"('% +3 "core" %a \ +2 "storage"(). +3 "core" .(K + "storage"(& +4 "core" &K v\  +2 "storage"(& +3 "manipulator"&h& +6 "core" &K \  + &h  Q " +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&1(s +2 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +23 "core" ( +2 "manipulator"&& +4 "core" &l * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &l  s +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +3 .tPC.seek :open + "processing"%( +69 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +318 ( + "storage"(& +5 "core" &K \  + "manipulator"&-& +3 "core" &m  / \ +2 "manipulator"&% +4 "core" %  ' +2 .tForearm.seek :retract +2 "manipulator"&:'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&4( +241 "core" ( + "manipulator"&,& +5 "core" &  ) c + "storage"(%& +3 "core" &K )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +97 "core" ' + .tHand.open + "manipulator"&?1 +60 "core" 1 +2 "storage"((- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(5& +3 "core" &K - - '\  +2 "manipulator"&6& +4 "core" &  > b +2 .tElbow.seek 6 + "manipulator"&;( +3 "core" ( +2 "manipulator"&G& +4 "core" & " \\ b + "storage"(<& +4 "core" &K # - X\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&"'a +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +57 "core" ' + "manipulator"&& +5 "core" & b + "storage"(K& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&/'Υ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +27 "core" ' + "manipulator"&P% +4 "core" %θ / +2 "storage"(&& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&>' +13 "core" ' + "manipulator"&$& +4 "core" & ' R b +2 "storage"(I& +4 "core" &K {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +27 "core" ' + "storage"(#% +4 "core" %q \ +3 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (*% +3 "core" %I \ Xf + "manipulator"&7% +4 "core" %e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (S& +3 "core" &K V\  +2 "collection"'W& +4 "core" &VdWW5\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&[% +4 "core" %\ "  h 1 + "storage"(3% +4 "core" %a H\ +2 "storage"(N. +3 "core" .(K + "storage"(+& +4 "core" &K Z\  +2 "storage"(T& +4 "core" &K \  + "manipulator"&Q& +4 "core" &\  @ b +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&H& +4 "core" &\  b + "storage"(J& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&F'a +92 "core" ' + "storage"(b& +4 "core" &K w\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +283 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & b +2 "storage"(C& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&L'Υ +32 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(a'Y +31 "core" ' + "manipulator"&k% +4 "core" %ι +2 "storage"(M& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&!' +12 "core" ' +2 "manipulator"&\\& +4 "core" &  R b + "storage"(& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(t'H +38 "core" ' +2 "manipulator"&w& +45 "core" & b +12 "manipulator"&i% +4 "core" %^ t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +152 "core" ( +3 "manipulator"&e& +4 "core" &. 6 ? Dv + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +2 "core" &- V Du +3 .tForearm.seek CC + "manipulator"&m'" +97 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'y( +415 "core" ( +2 "storage"(]& +4 "core" &K _\  + "storage"(z& +4 "core" &K w\  +2 "manipulator"&n& +3 "core" &- 3 Cs +2 "manipulator"&j% +3 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&g( +158 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"(& +3 "core" &K\ $\ $ H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&l'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +64 "core" 1 +2 "manipulator"& % +4 "core" % η  = + "storage"(\ & +5 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&s' +18 "core" ' +2 "manipulator"&x& +4 "core" &   + "storage"(c& +4 "core" &K\ '\ 1 t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +17 "core" ' +2 "storage"(% +4 "core" %R\ Q\ 9 P\ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +98 (% +3 "core" %D _\ Vb +2 "manipulator"&v% +4 "core" %i s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +4 "core" &TV \ +2 "manipulator"&_% +4 "core" %\  ,  + "storage"( % +4 "core" %a\ (\ ( }\ +2 "storage"(q. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(R(,l +657 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +2 "core" &,o q\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +13 "core" ( + "manipulator"&& +5 "core" & 0 a Z + "storage"('& +4 "core" &,r\ \  k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&)'Ѽ +89 "core" ' +2 "storage"(& +4 "core" &,r\ '\ % r\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &,r\ u\ +2 "manipulator"&& +4 "core" &  I Z +2 .tElbow.seek 4 + "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" &  5 Z +2 "storage"(& +4 "core" &,r\ \  P\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +2 "storage"(|'X +8 "core" &  Z + "manipulator"&% +4 "core" % ,    +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 .tElbow.seek CC +2 "manipulator"&-( +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &'  P >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +98 "core" ' + "manipulator"&%& +5 "core" &( 1 S >O + "manipulator"&1% +4 "core" % ^ +2 "collection"'?& +4 "core" &VVS\ +2 "collection"'(& +4 "core" &VW\ +3 .tCC.seek :closed + "collection"'9(V +5 "core" &UV#\ +7 &6TV\ $d +9 &VWV\ 7 +10 &VW\ L +9 &]VV\ M +9 &`]UU\ M +10 &"_VU\ M +9 &]VU\ M +9 &_SU\ N +10 &h]WU\ M +9 &*bVV\ M +9 &`VV\ M +10 &!aTX\ M +9 &#o]WS\ N +10 &%2_VV\ M +9 &&\\TV\ M +9 &(]VV\ M +10 &*x_UU\ M +9 &,;[UW\ M +9 &-_TV\ M +10 &/`VW\ M +9 &1cUW\ M +10 &3B]WV\ M +9 &5ZTW\ M +9 &6_VV \ N +10 &8\\VV\ M +9 &:J_VW\ M +9 &< ^UV\ N +10 &=bTU\ M +9 &?_WW\ M +10 &ARZUT \ M +9 &CbUX\ M +10 &DhWW\ \ N +9 &FtTW\ P +9 &HNUX\ Q +9 &JVV\ V +10 &KUW\ X +9 &MVW \ Y +10 &OAWW\ Y +9 &QUW\ X +9 &RTW \ Z +10 &TYV\ \ Z +9 &VtUX\ / +10 &V*TX\ U +8 ( +2 &VpWY\ L +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&51 +55 "core" 1 +2 "manipulator"&6% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +4 "core" & \ +2 "manipulator"&:% +3 "core" %\  X  +2 "storage"(% +4 "core" %Q s\ + "storage"(K. +3 "core" .(,l +2 "storage"(& +3 "core" &,r b\ +2 "storage"(P& +4 "core" &,r d\ + "manipulator"&&& +4 "core" && >N +2 "manipulator"&A% +3 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$( +163 "core" ( +2 "manipulator"&I& +4 "core" & * o R +2 "storage"(#& +3 "core" &,r "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&4'Ѽ +92 "core" ' +2 "storage"(=& +4 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'i +285 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +63 "core" &,r \ +2 "manipulator"&"& +4 "core" & R + .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&E& +4 "core" & & D R +3 "storage"(/& +3 "core" &,r a\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&>', +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +57 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&W& +2 "storage"(['X +8 "core" &  R + "manipulator"&3% +4 "core" % ) q B +2 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +110 "core" ( + "manipulator"&+& +5 "core" &j .  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &j  D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&Q' +99 "core" ' + "manipulator"&H& +5 "core" &n 2   + "manipulator"&J% +4 "core" % ' +2 "processing"%.& +3 "core" &\ +2 "processing"%b& +6 "core" &\ +2 .tPC.seek :closed + "processing"%8(Z +4 "core" &\ +9 & 2\ $c +9 &T\ 7 +9 &\ L +10 &\\\ N +9 &^]\ N +9 &!\\\ M +14 &]\ N +5 &[\ N +9 &e_\ N +10 &'\\\ N +9 &]\ N +10 &!\\\ M +9 &#n\\\ N +9 &%0\\\ N +10 &&[\ M +9 &(]\ N +10 &*w\\\ M +9 &,8\\\ N +9 &-[\ N +10 &/Z\ M +9 &1~\\\ N +9 &3@\\\ N +10 &5\\\ N +9 &6_\ N +9 &8^\ N +10 &:HY\ N +9 &<\ Y\ N +10 &=X\ N +9 &?Z\ M +9 &AQ[\ M +10 &C]\ N +9 &Da\ N +9 &Fh\ O +10 &HM}\ Q +10 &J\ T +9 &K\ T +9 &M\ S +10 &OO\ S +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VT\ T +9 &X\ U +10 &Y{s\ 8 +9 &Z.\ H +9 &Z!\ , +3 ( + "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&01 +59 "core" 1 + "manipulator"&D% +4 "core" % . R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +97 "core" ' +2 "processing"%O& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %\  ,  +2 "storage"(X% +3 "core" %` \ +2 "storage"(k. +3 "core" .(,l +2 "storage"(M& +3 "core" &,r \ +2 "storage"(\\& +2 "manipulator"&& +7 "core" &,r \ + &n   +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&w(s + "storage"(i'i +5 "core" ( + "manipulator"&F& +4 "core" &n   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &n  k  +2 .tForearm.seek PC +2 "manipulator"&V' +100 "core" ' + .tHand.close + "manipulator"&L/ +53 "core" / + .tPC.seek :open +2 "processing"%!( +92 "core" ' + "storage"(a- +46 "core" -'i +11 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +36 "core" ' +240 ( + "storage"(o& +4 "core" &,r @\ +2 "manipulator"&d& +4 "core" &o ! A  + "manipulator"&Z% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +239 "core" ( + "manipulator"&f& +4 "core" & "| +2 "storage"(]& +4 "core" &,r ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&z'Ѽ +92 "core" ' + .tHand.open + "manipulator"&n1 +59 "core" 1 +2 "storage"(j- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' + "storage"(}& +4 "core" &,r ! # \ + "manipulator"&r& +4 "core" &  "{ +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&\ & +4 "core" & 1 E "{ +2 "storage"(x& +4 "core" &,r , & %\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&^& +4 "core" &  , "{ + "storage"(& +4 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v' +23 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +21 "core" ' +2 "manipulator"&{% +4 "core" %  y + "storage"(s& +4 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&_'@ +20 "core" ' +2 "manipulator"& & +4 "core" & ' % "{ +2 "storage"(q& +4 "core" &,r Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&t'Ѽ +27 "core" ' +2 "storage"(p% +4 "core" %m '\  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +98 (% +3 "core" %QM Q\ Wf +2 "manipulator"&`% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,r \ + "collection"''& +4 "core" &VoXW\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ !  0 8 +2 "storage"(u% +3 "core" %b C\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,r \ +2 "storage"(h& +3 "core" &,r \ +2 "manipulator"&& +4 "core" & (  "z +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & 0 Z "z + "storage"(& +4 "core" &,r K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +97 "core" ' +2 "storage"(& +4 "core" &,r y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & - n "z + "storage"(& +4 "core" &,r e\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'U +31 "core" ' +2 "manipulator"&?% +4 "core" %  + "storage"(~& +4 "core" &,r \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts + "manipulator"&|'> +19 "core" ' + "manipulator"&& +5 "core" &  O "z + "storage"(y& +4 "core" &,r w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'D +41 "core" ' + "manipulator"&<& +4 "core" & x "z + "manipulator"&:% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +152 "core" ( +2 "manipulator"&& +4 "core" &' B d >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +2 "core" &'  E >N +3 .tForearm.seek CC + "manipulator"&&'" +93 "core" ' +2 .tHand.close + "manipulator"&(/ +53 "core" / +2 .tCC.seek :open +2 "collection"'A( +416 "core" ( + "storage"(,& +4 "core" &,r \ +2 "storage"(I& +3 "core" &,r \ +2 "manipulator"&#& +3 "core" &'  >N +2 "manipulator"&=% +4 "core" % /   + .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +159 "core" ( + "manipulator"&*& +4 "core" &  # g +2 "storage"(7& +4 "core" &,r\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&"' +104 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +53 "core" 1 + "manipulator"&S% +5 "core" %  I ( + "storage"(W& +3 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&3'@ +18 "core" ' +2 "manipulator"&$& +4 "core" & x g +2 "storage"(4& +3 "core" &,r\ '\ % 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +26 "core" ' + "storage"(>% +4 "core" %F\ '\ 2 (\ +3 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (T% +3 "core" %K\ \  H\ Wc +2 "manipulator"&;% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'J& +4 "core" &WUD\ +2 "manipulator"&.% +4 "core" %\   + "storage"([% +4 "core" %a\ '\ % \ +2 "storage"(2. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &<( \ + "manipulator"&D& +4 "core" & * C g +2 .tElbow.seek 5 + "manipulator"&O( +10 "core" ( + "manipulator"&C& +4 "core" & #  T +2 "storage"(X& +3 "core" &<%\ \  F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&k'ы +102 "core" ' +2 "storage"(M& +4 "core" &<%\ Q\ Q \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +282 "core" ' +2 "storage"(- +3 "core" -' +6 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +2 "core" &<%\ \  \ \  +52 "manipulator"&F& +4 "core" & } T +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&Q& +4 "core" & P T + "storage"(L& +4 "core" &<%\ \ & \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(8'X +8 "core" & Y T + "manipulator"&o% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&d'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&i& +4 "core" &, % Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &, Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'" +98 "core" ' +2 "manipulator"&]& +5 "core" &,  Q Bk + "manipulator"&w% +4 "core" %, +2 "collection"'n& +4 "core" &WV#\ +2 "collection"'j& +5 "core" &WW\ +2 .tCC.seek :closed +2 "collection"'m(V +4 "core" &UX\  +9 &1VW\ *z +9 &dVV\ ? +10 &vxVX\ N +9 &;YVW\ M +10 &]UT\ N +9 &\\VW\ M +9 &\\VV\ M +10 &CYVW\ M +9 &\\TX\ N +9 &[UV\ M +10 & _VW\ M +9 &"J`UX\ M +10 &$ _WW\ M +9 &%[WW\ M +9 &'\\VW\ M +10 &)SXVY\ M +9 &+]UT\ M +9 &,XTV\ M +10 &.]UW\ M +9 &0Z^VX\ M +10 &2XSV\ M +9 &3]UW\ M +9 &5\\TU\ M +10 &7b[WW\ M +9 &9#[XV\ N +9 &:_TV\ N +10 &<aUV\ M +9 &>jZTW\ M +10 &@+]UX\ N +9 &A]WV\ M +9 &C]VX\ M +10 &EmgTW\ O +9 &G+xWW \ P +9 &HWW\ \ R +10 &JWX\ X +9 &LXVW\ Y +10 &NUW\ X +9 &OVX\ X +9 &QXV\ Y +10 &S[WV\ [ +9 &UVX \ Z +9 &VgBWX\ 1 +10 &V|UW \ K +5 ( +2 "collection"'j& +9 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&}1 +4 "core" &VnVX\ K +51 1 +2 "manipulator"&r% +5 "core" % ,  ? + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +100 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%x& +4 "core" & \ + "manipulator"&% +4 "core" %\ ! 0 +2 "storage"(^% +3 "core" %T \ +2 "storage"(. +3 "core" .(<* +2 "storage"(e& +3 "core" &<% .\  +2 "storage"({& +4 "core" &<% \  + "manipulator"&s& +4 "core" &+ Bf +2 "manipulator"&@% +3 "core" %\ ! 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"& ( +161 "core" ( + "manipulator"&q& +5 "core" & )  _ + "storage"(p& +4 "core" &<% Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&U'ы +100 "core" ' +2 "storage"(z& +4 "core" &<% ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +6 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &<% `\  + "manipulator"&c& +4 "core" & _ +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & % _ +2 "storage"(v& +3 "core" &<% \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&_' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"('X +8 "core" &   _ + "manipulator"&u% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +174 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&& +4 "core" &u % . +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &u 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' +2 "manipulator"&& +4 "core" &u ( U +2 "manipulator"&% +4 "core" %  / + "processing"%t& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"% (Z +3 "core" &\ +6 &?\ $e +10 &V\ 7 +9 &\ L +10 &\\\ N +9 &k\\\ N +9 &-]\ N +10 &Y\ N +9 &Y\ M +9 &s\\\ N +10 &5_\ N +9 &_\ N +10 &!Z\ M +9 &#{Z\ N +9 &%=Y\ N +10 &&Y\ N +9 &(Z\ N +9 &*[\ M +10 &,E\\\ N +9 &._\ N +10 &/X\ N +9 &1X\ N +9 &3M\\\ N +10 &5]\ N +9 &6^\ N +9 &8\\\ N +10 &:UY\ N +9 &<^\ N +10 &=\\\ N +9 &?\\\ M +9 &A^Y\ M +10 &C]\ N +9 &D`\ N +9 &Fh\ O +10 &HZy\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &O[\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &Va\ T +9 &X#\ T +9 &Yzn\ 3 +10 &Z,}\ J +9 &Z#\ . +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&g1 +55 "core" 1 +2 "manipulator"&% +4 "core" % & f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +97 "core" ' +2 "processing"%& +4 "core" &Z"\ . +6 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ , 0 + "storage"(%% +4 "core" %U A\ + "storage"(?. +3 "core" .(<* +2 "storage"(~& +3 "core" &<% 4\  +2 "storage"(& +2 "manipulator"&y& +6 "core" &<% #\  + &u  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&<(s + "storage"(:'i +5 "core" ( +2 "manipulator"& & +3 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &u +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&/ +51 "core" / +2 .tPC.seek :open +2 "processing"%|( +95 "core" ' + "storage"(1- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +283 ( + "storage"(P& +4 "core" &<% :\  +2 "manipulator"&5& +3 "core" &u   +2 "manipulator"&% +3 "core" %  E  +2 .tForearm.seek :retract +2 "manipulator"&('\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +266 "core" ( +2 "manipulator"&9& +4 "core" & & $  + "storage"(,& +4 "core" &<% B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&I'ы +97 "core" ' + .tHand.open + "manipulator" +52 "core" 1 +2 "storage"(=- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(K& +4 "core" &<% T S k\  +2 "manipulator"&/& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( + "manipulator"&W& +4 "core" & &  +2 "storage"($& +3 "core" &<% F E \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&4'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +58 "core" ' + "manipulator"&-& +4 "core" &  +2 "storage"(T& +4 "core" &<% d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;' +33 "core" ' + .tElbow.hold +52 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +7 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +18 "core" ' + "manipulator"&J% +5 "core" %  p + "storage"(3& +4 "core" &<% J\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&.' +12 "core" ' + "manipulator"&[& +5 "core" & g  + "storage"(2& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +19 "core" ' + "storage"(B% +5 "core" %i ?\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +99 (R% +2 "core" %J b\ Wd +3 "manipulator"&0% +4 "core" %ѕ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" &<% \  +2 "collection"'X& +4 "core" &VnUV.\ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&M% +4 "core" %\  5 7 + "storage"(E% +4 "core" %a Z\ + "storage"(H. +4 "core" .(<* + "storage"(& +4 "core" &<% m\  +2 "storage"(\\& +4 "core" &<% \\\  + "manipulator"&F& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&L& +4 "core" & ( 2  +2 "storage"(N& +4 "core" &<% O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Y'ы +95 "core" ' +2 "storage"(o& +4 "core" &<% ,\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +283 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +2 "core" &   +2 "storage"(V& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&b' +31 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(w'U +31 "core" ' +2 "manipulator"& % +4 "core" % + "storage"(n& +4 "core" &<% M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&8' +13 "core" ' +2 "manipulator"&d& +4 "core" & Y  +2 "storage"(A& +3 "core" &<% V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&}'ы +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(r'D +42 "core" ' + "manipulator"&x& +5 "core" & w  + "manipulator"&% +4 "core" %l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&e& +4 "core" &- & v Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &- Cp +2 .tForearm.seek CC + "manipulator"&{'" +92 "core" ' + .tHand.close +2 "manipulator"&s/ +64 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( +2 "storage"(f& +4 "core" &<% \  + "storage"(q& +4 "core" &<% \  + "manipulator"&p& +4 "core" &- Cm +2 "manipulator"&z% +3 "core" % / +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +7 .tElbow.seek 5 +2 "manipulator"&\ ( +164 "core" ( + "manipulator"&& +5 "core" & & v D + "storage"(`& +4 "core" &<%\ \  ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&c' +108 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   C +3 "storage"('& +4 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&u' +14 "core" ' +2 "manipulator"& & +4 "core" & K D + "storage"(U& +4 "core" &<%\ %\ % \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +27 "core" ' +2 "storage"(_% +4 "core" %M\ %\ ( (\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (h% +3 "core" %G\ \  \ Vb +2 "manipulator"& % +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &VVL\ +2 "manipulator"&t% +4 "core" %\  [  +2 "storage"(% +4 "core" %`\ 2\ 2\  +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(!(K +330 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +2 "core" &K }\ +2 "manipulator"&& +4 "core" & D +2 .tElbow.seek 6 +2 "manipulator"&( +44 "core" ( +2 "manipulator"&& +4 "core" & + L + "storage"(%& +4 "core" &K\ \ % I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&?'a +94 "core" ' + "storage"(~& +5 "core" &K\ 6\ D N\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +7 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \  q\  +2 "manipulator"& & +4 "core" &\ ~ L +2 .tElbow.seek 6 + "manipulator"&( +26 "core" ( + "manipulator"&& +4 "core" & y ~ +2 "storage"(& +4 "core" &K\ $\ $ M\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&1' +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"( 'X +7 "core" & ~ + "manipulator"&:% +4 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&P'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &+ A A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'" +98 "core" ' + "manipulator"&,& +4 "core" &* ' : @^ +2 "manipulator"&<% +3 "core" %$ " B +3 "collection"'#& +4 "core" &UU\ +2 "collection"'=& +5 "core" &UU\ +2 .tCC.seek :closed +2 "collection"'&(V +4 "core" &WU\  +10 &2WW\ *y +10 &dTU\ > +8 &vxTT\ M +10 &:ZWV\ M +9 &^OV\ L +10 &]TV\ M +9 &\\VV\ M +9 &B\\WW\ M +10 &]VW\ M +9 &`UU\ M +9 & ^UV\ M +10 &"G_UX\ N +9 &$ \\UV\ M +9 &%^VV\ M +10 &']UV\ M +9 &)QZVV\ M +10 &+_VT\ M +9 &,\\WW\ M +9 &.^WX\ L +10 &0X_UV\ M +9 &2\\VW\ M +9 &3]UU\ M +10 &5\\SX\ L +9 &7a\\TV\ M +10 &9%]VU\ L +9 &:_VW \ M +9 &<aUT\ M +10 &>i_UV\ M +9 &@+]WX \ M +9 &A^VW\ \ M +10 &C`VW\ M +9 &EogVT\ N +10 &G,uWW\ O +9 &HVW \ Q +9 &JVW \ W +10 &LXUX\ X +9 &NWW\ X +9 &OWV\ Y +10 &QTV\ Y +9 &S[TW\ Z +10 &UVV\ Z +9 &VgBVX\ 1 +10 &VuVW\ K +5 ( + "collection"'=& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +62 .Hand.open +7 "manipulator"&K1 +5 "core" &VeUX\ K +47 1 +2 "manipulator"&/% +4 "core" % / & 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%$& +4 "core" &\ +2 "manipulator"&(% +4 "core" %\  7 M  + "storage"(-% +4 "core" %T *\ + "storage"(T. +3 "core" .(K +2 "storage"(& +4 "core" &K "\  + "storage"(*& +4 "core" &K \\\  + "manipulator"&J& +4 "core" &* p @[ +2 "manipulator"&3% +3 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +161 "core" ( + "manipulator"&2& +4 "core" &  z +2 "storage"(& +8 "core" &K z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&B'a +86 "core" ' +2 "storage"(I& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +281 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &K %\  + "manipulator"&0& +37 "core" & 4 +2 .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&>& +4 "core" &  + "storage"(;& +4 "core" &K [\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(M'X +7 "core" & +2 "manipulator"&E% +4 "core" % w  + .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&"& +5 "core" &w F  8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &w  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +102 "core" ' +2 "manipulator"&L& +4 "core" &w $ T +2 "manipulator"&N% +3 "core" % d +2 "processing"%6& +4 "core" &\ +2 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &\ +8 &@\ $e +9 &V\ 8 +10 &~\ L +9 &Y\ N +9 &r`\ N +10 &6Z\ M +9 &Z\ M +9 &Y\ M +10 &|[\ M +9 &=Z\ N +10 & ]\ M +9 &!_\ N +9 &#^\ M +10 &%EZ\ N +9 &'X\ M +9 &(Z\ M +10 &*^\ N +9 &,M\\\ N +9 &._\ M +10 &/^\ N +9 &1\\\ N +10 &3V\\\ M +9 &5]\ N +9 &6]\ M +10 &8W\ N +9 &:^\\\ M +9 &<X\ N +10 &=W\ M +9 &?W\ M +10 &AfY\ M +9 &C(\\\ M +10 &Da\ N +9 &Fj\ O +9 &Hb\ Q +10 &J\ S +9 &K\ T +9 &M\ S +10 &Od\ S +9 &Q%\ T +9 &R\ T +10 &T\ T +9 &Vi\ T +10 &X*\ U +9 &Y{s\ / +9 &Z(i\ H +10 &Z&\ / +2 ( + "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&G1 +56 "core" 1 + "manipulator"&D% +4 "core" % ) N d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k'\ +98 "core" ' + "processing"%i& +4 "core" &Z&\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&V% +4 "core" %\ # f < +2 "storage"(]% +3 "core" %\\ Z\ +2 "storage"( . +3 "core" .(K + "storage"(n& +4 "core" &K +\  +2 "storage"(d& +4 "manipulator"&A& +4 "core" &K "\  + &w +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&x(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +5 "core" ( +5 "manipulator"&Y& +9 "core" &w +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &Q& +5 "core" &w +5 .tForearm.seek PC +3 "manipulator"&O' +102 "core" ' +3 .tHand.close +2 "manipulator"&b/ +65 "core" / +4 .tPC.seek :open +4 "processing"%8( +52 "core" ' +3 "storage"(w- +12 "core" -'i +4 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +4 "storage"(e'y +48 "core" ' +73 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +224 "core" ( +3 "storage"(j& +8 "core" &K 6\  +4 "manipulator"&}& +4 "core" &w  R +4 "manipulator"&a% +9 "core" %  9 +4 .tForearm.seek :retract +3 "manipulator"&s'\ +101 "core" ' +6 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +5 "manipulator"&^( +268 "core" ( + "manipulator"&m& +4 "core" & ' $  +2 "storage"(f& +4 "core" &K q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&q'a +96 "core" ' +2 .tHand.open + "manipulator"&p1 +55 "core" 1 +2 "storage"(z- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +3 "core" -' +2 "storage"(& +4 "core" &K I T >\  +2 "manipulator"&v& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +27 "core" ( +2 "manipulator"&'& +4 "core" & 1 c "{ + "storage"( & +4 "core" &K ' 4 A\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&U'a +26 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(_' +57 "core" ' +2 "manipulator"&Z& +4 "core" & { "{ +2 "storage"(h& +4 "core" &K ~\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"& 'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +25 "core" ' +2 "manipulator"&% +4 "core" %γ + "storage"(u& +4 "core" &K +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&t' +12 "core" ' +2 "manipulator"&& +4 "core" & &  "{ +2 "storage"(& +4 "core" &K R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&r'a +32 "core" ' + "storage"(% +5 "core" %o 8\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %M .\ Xg +2 "manipulator"&g% +4 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K @\  + "collection"'%& +4 "core" &VeVW\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +4 "core" %\   W  + "storage"(% +4 "core" %N >\ +2 "storage"(. +3 "core" .(K + "storage"(y& +4 "core" &K w\  + "storage"(& +4 "core" &K l\  +2 "manipulator"& & +3 "core" &  L "{ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  ` "{ +2 "storage"(l& +4 "core" &K a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&)'a +103 "core" ' + "storage"(:& +4 "core" &K F\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"('i +284 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  K "{ +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(<'Y +30 "core" ' +2 "manipulator"&#% +4 "core" %θ  h +2 "storage"(& +4 "core" &K D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"& ' +11 "core" ' +2 "manipulator"&P& +4 "core" & (  "z + "storage"(@& +4 "core" &K Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&K'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(/'H +40 "core" ' + "manipulator"&=& +5 "core" & "z + "manipulator"&$% +4 "core" %M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +159 "core" ( +2 "manipulator"&T& +4 "core" &- 8 t Cn + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- H Bm +2 .tForearm.seek CC + "manipulator"&*'" +92 "core" ' +2 .tHand.close + "manipulator"&J/ +55 "core" / +2 .tCC.seek :open +2 "collection"'3( +158 "Can"e\ MK +258 "core" ( +2 "storage"(9& +4 "core" &K B\  + "storage"(2& +4 "core" &K k\  + "manipulator"&& +4 "core" &* @Z +2 "manipulator"&I% +3 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&W( +163 "core" ( +2 "manipulator"&4& +4 "core" &    +2 "storage"(R& +3 "core" &K\ $\ $ G\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&0'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +53 "core" 1 +2 "manipulator"&.% +4 "core" % ι +2 "storage"(X& +3 "core" &K `\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&E' +17 "core" ' + "manipulator"&[& +4 "core" &  v  +2 "storage"(B& +4 "core" &K\ '\ 2 P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&7'a +28 "core" ' + "storage"(C% +4 "core" %I\ 6\ D H\ +3 ."downElevator"SE.seek :down +3 "storage"("'X +99 (\\% +2 "core" %E\ \  G\ Wb +2 "manipulator"&S% +4 "core" %g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +5 "core" &VU$\ + "manipulator"&6% +4 "core" %\  D  +2 "storage"(M% +3 "core" %V\ 6\ D x\ +2 "storage"(H. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(|(,l +656 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" &,n \  \ +2 "manipulator"&D& +4 "core" &     + .tElbow.seek 4 +2 "manipulator"&i( +12 "core" ( + "manipulator"&V& +4 "core" & & v k +2 "storage"(]& +4 "core" &,r\ (\ 0 T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +97 "core" ' + "storage"(n& +5 "core" &,r\ F\ Q `\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'i +286 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &,r\ \  N\ + "manipulator"&Y& +4 "core" & Y k +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&F& +4 "core" & &  k +2 "storage"(b& +3 "core" &,r\ &\ ( N\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&w', +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&k& +2 "storage"(+'X +7 "core" & " k +2 "manipulator"&% +4 "core" % # . +2 .tForearm.seek :retract + "manipulator"&j'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&a& +4 "core" &* 8 + @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &* @Y +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'" +102 "core" ' + "manipulator"&f& +5 "core" &* h @Y + "manipulator"&x% +4 "core" %$ +2 "collection"'p& +4 "core" &UW\ +2 "collection"'z& +5 "core" &VWS\ +2 .tCC.seek :closed +2 "collection"'{(V +5 "core" &SU#\  +7 &0TU\ *y +10 &cUV#\ > +9 &nuWW\ M +9 &.YUW\ N +10 &ZVW\ M +9 &YVW\ M +9 &u[TX\ M +10 &7ZVU\ M +9 &[VW\ M +10 &[UW\ M +9 & }\\TV\ M +9 &">\\UW\ N +10 &$ZVX\ M +9 &%]UV\ M +9 &'[XU\ M +10 &)GZTV\ M +9 &+ [UT\ M +10 &,ZUU\ M +9 &.[WV\ M +9 &0N[UV\ N +10 &2YWU\ M +9 &3ZSV\ M +9 &5ZUW\ M +10 &7XZVU\ M +9 &9ZTU\ M +10 &:]UX\ M +9 &<[VW\ M +9 &>`]VW\ M +10 &@"ZVV\ M +9 &A[WV\ M +9 &C_TS\ M +10 &EdhWW\ N +9 &G!rVX\ P +10 &HVX\ R +9 &JVW\ X +9 &LOVV\ X +10 &NWV\ X +9 &OUX\ Y +9 &QTW\ Z +10 &SPUW\ [ +9 &UVW\ Z +10 &V]DWX\ 3 +9 &VxWW\ J +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&1 +4 "core" &VkWX\ J +59 1 + "manipulator"&v% +4 "core" % $ e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%'& +4 "core" &\ + "manipulator"& % +4 "core" %\  )  +2 "storage"(Z% +3 "core" %T C\ +2 "storage"(h. +3 "core" .(,l + "storage"(e& +4 "core" &,r 0\ + "storage"(& +4 "core" &,r "\ +2 "manipulator"&& +3 "core" &* 9 @Y +2 "manipulator"&u% +4 "core" %\  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&& +4 "core" & % "  + "storage"(^& +4 "core" &,r A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' +2 "storage"(q& +4 "core" &,r F\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" &,r t\ +2 "manipulator"&U& +3 "core" & j  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&_& +4 "core" & 5  + "storage"( & +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&t', +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(~'X +7 "core" &    +50 "manipulator"&% +5 "core" % 8 0 B +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y(s +123 "core" ' + ."downElevator"SE.stop + "storage"(5 +127 "core" ( +3 "manipulator"&c& +4 "core" &t 1  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +104 "core" ' + "manipulator"&& +4 "core" &t ( F +2 "manipulator"&l% +4 "core" %  +2 "processing"%r& +4 "core" & \ +2 "processing"%:& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &@\ %f +9 &V\ 8 +14 &}\ L +5 &Y\ N +9 &u_\ M +9 &7Y\ M +10 &Z\ M +9 &[\ N +10 &|\\\ N +9 &?Y\ M +9 & \\\ N +10 &!\\\ N +9 &#Y\ N +9 &%G]\ M +10 &'Y\ N +9 &(W\ M +10 &*Z\ M +9 &,N^\ N +9 &.]\ N +10 &/X\ M +9 &1Y\ M +9 &3WX\ M +10 &5Y\ M +9 &6\\\ N +10 &8Z\ N +9 &:_\\\ M +9 &% +4 "core" %] 9\ + "storage"(L. +3 "core" .(,l +2 "storage"(A& +4 "core" &,r J\ + "storage"(o& +4 "core" &,r \ +2 "manipulator"&Y& +3 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( + "manipulator"&b& +4 "core" & #  +2 "storage"(& +3 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&k'Ѽ +87 "core" ' + "storage"(& +4 "core" &,r \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'i +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" & f  +2 "storage"(O& +3 "core" &,r n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&d' +31 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(x'V +39 "core" ' +2 "manipulator"&Q% +4 "core" % x  + "storage"(p& +4 "core" &,r Z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&+'@ +18 "core" ' +2 "manipulator"&j& +4 "core" & ' f  + "storage"(3& +4 "core" &,r r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'E +38 "core" ' +2 "manipulator"&'& +4 "core" & f  +2 "manipulator"& % +4 "core" %ѳ E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&h( +159 "core" ( +2 "manipulator"&e& +4 "core" &-  Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &-  | Cp +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'u( +416 "core" ( + "storage"(m& +4 "core" &,r\  V\ +2 "storage"(& +3 "core" &,r o\ +2 "manipulator"&^& +4 "core" &- - ) Cp +51 "manipulator"&q% +4 "core" % 5  %  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +165 "core" ( +2 "manipulator"&& +4 "core" & ( & = + "storage"(g& +4 "core" &,r\ \ ' A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&U' +94 "core" ' +2 .tElbow.hold + "manipulator"&_, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&% +5 "core" %  ) 5 + "storage"(%& +4 "core" &,r\ \  k\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&': +19 "core" ' + "manipulator"&& +5 "core" & = + "storage"(& +4 "core" &,r\ %\ / G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +28 "core" ' +2 "storage"(t% +4 "core" %O\ C\ 5 z\ +3 ."downElevator"SE.seek :down +3 "storage"(c'X +98 (% +3 "core" %E\ \  =\ Vb +2 "manipulator"&% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'l& +4 "core" &VU\ +2 "manipulator"&r% +4 "core" %\ \   + "storage"(~% +4 "core" %R\ K\ I \ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<* +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" &<) \  +2 "manipulator"&& +4 "core" & h = +2 .tElbow.seek 5 + "manipulator"&( +9 "core" ( + "manipulator"&& +4 "core" & + +2 "storage"(,& +4 "core" &<&\ 1\ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&#'ы +106 "core" ' + "storage"(& +4 "core" &<&\ Q\ Q [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'i +286 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &<&\ \  \ \  + "manipulator"&)& +4 "core" & q + +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & c + + "storage"(& +4 "core" &<&\ '\ % y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<' +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"('X +7 "core" & + + "manipulator"&$% +4 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&1& +4 "core" &- G u - Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &. > Du +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'" +101 "core" ' +2 "manipulator"&9& +4 "core" &- Z Ct +2 "manipulator"&=% +4 "core" %( +2 "collection"'& +4 "core" &WV5\ +2 "collection"'I& +5 "core" &UX0\ +2 .tCC.seek :closed +2 "collection"'*(V +5 "core" &WU6\ +5 &UW2\ 7 +10 &7GVV+\ 1 +9 &ftUU!\ E +10 & aTV$\ N +9 &ZVW\ M +9 &ZTW#\ M +10 &UWVU"\ M +9 &\\VW&\ M +9 &[TV\ M +10 &ZVW\ M +9 &]\\TV$\ M +10 &!ZVW%\ M +9 &"]TU\ M +9 &$ZUW\ M +10 &&eZWW\ M +9 &(([UV\ M +9 &)YWV\ M +10 &+\\UT\ M +9 &-mZUX\ M +9 &/0[UW\ M +10 &0\\UW\ M +9 &2[XX\ M +10 &4uXTW\ M +9 &68[VW\ M +9 &7\\TV\ M +10 &9_VW\ M +9 &;|]XV\ M +9 &=?^TW\ M +10 &?ZUW \ M +9 &@]UW\ M +10 &B]WU\ M +9 &DF`XV\ M +9 &FjVW\ O +10 &G{XX\ P +9 &IxTW\ T +10 &K-UW\ Y +9 &LWV\ X +9 &NWX\ Y +10 &PsVW\ Y +9 &R3WV\ Y +9 &SUW\ Z +10 &UWV\ G +9 &V3WW\ )y +9 &VlWX\ K +3 ( + "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&-1 +63 "core" 1 + "manipulator"&;% +5 "core" % ( f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%[& +5 "core" &\ + "manipulator"&J% +4 "core" %\    + "storage"(5% +4 "core" %T '\ +2 "storage"(\\. +3 "core" .(<* + "storage"(T& +4 "core" &<& c\  +2 "storage"(E& +4 "core" &<& \  + "manipulator"&N& +4 "core" &+  Bk +2 "manipulator"&M% +3 "core" %\  P  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&4( +165 "core" ( + "manipulator"&H& +51 "core" & d Y + "storage"(7& +5 "core" &<& 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&('ы +94 "core" ' +2 "storage"(2& +4 "core" &<& }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +287 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +3 "core" &<& F\  + "manipulator"&B& +4 "core" &  Y +2 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( + "manipulator"&C& +4 "core" & % Y + "storage"(S& +4 "core" &<& \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +53 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&]& +2 "storage"(n'X +8 "core" & Y +2 "manipulator"&>% +4 "core" % E +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&A& +4 "core" &t 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &t  U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +100 "core" ' +2 "manipulator"&b& +4 "core" &t  F +2 "manipulator"&% +4 "core" %  P  + "processing"%/& +4 "core" &(\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &\ +8 & 1\ $d +9 &T\ 7 +9 & \ L +10 &\\\ M +9 &c[\ N +9 &%[\ N +10 &X\ M +9 &W\ M +10 &k]\ N +9 &,[\ N +9 &Z\ M +10 &!]\ M +9 &#tZ\ M +9 &%5X\ N +10 &&Y\ N +9 &(W\ M +10 &*|Y\ M +9 &,=Y\ N +9 &-^\ N +10 &/Z\ N +9 &1\\\ N +9 &3E^\ N +10 &5\\\ N +9 &6Z\ N +10 &8V\ M +9 &:NX\ M +9 &<\\\ M +10 &=\\\ M +9 &?\\\ M +10 &AV\\\ M +9 &C^\ M +9 &D^\ N +10 &Ff\ O +9 &HR|\ Q +10 &J\ S +9 &K\ S +9 &M\ S +9 &OS\ T +10 &Q\ S +9 &R\ T +10 &T\ T +9 &VY\ T +10 &X\ T +9 &Yzn\ 6 +9 &Z.\ M +10 &Z\ * +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&W1 +62 "core" 1 + "manipulator"&D% +5 "core" % & f  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +103 "core" ' +2 "processing"%a& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +4 "core" %\  5  + "storage"(f% +4 "core" %U i\ +2 "storage"(Q. +3 "core" .(<* + "storage"(p& +4 "core" &<& _\  +2 "storage"(j& + "manipulator"&3& +57 "core" &<& `\  +2 &t +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&'(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( + "manipulator"&k& +4 "core" &t ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &t q +2 .tForearm.seek PC +2 "manipulator"&i' +92 "core" ' +2 .tHand.close + "manipulator"&d/ +65 "core" / + .tPC.seek :open +2 "processing"%+( +89 "core" ' + "storage"(x- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +3 "storage"(e'y +42 "core" ' +289 ( + "storage"(z& +4 "core" &<& \  +2 "manipulator"&& +3 "core" &t   +2 "manipulator"&w% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Z( +271 "core" ( + "manipulator"&{& +4 "core" & / Z +2 "storage"(m& +4 "core" &<& x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +100 "core" ' + .tHand.open +2 "manipulator"&^1 +61 "core" 1 +2 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +33 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(h& +4 "core" &<& 7 8 <\  +2 "manipulator"& & +3 "core" & G +7 .tElbow.seek 5 + "manipulator"&( +8 "core" ( + "manipulator"&%& +4 "core" &  - x +2 "storage"(& +4 "core" &<& P I \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +56 "core" ' +2 "manipulator"&}& +4 "core" &  x +2 "storage"(& +4 "core" &<& 7\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +24 "core" ' + "manipulator"&% +5 "core" % + "storage"(l& +4 "core" &<& h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&r' +13 "core" ' +2 "manipulator"&~& +4 "core" & ) z +2 "storage"(& +4 "core" &<& -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&v'ы +32 "core" ' + "storage"(`% +5 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (|% +3 "core" %M }\ Xf +2 "manipulator"&\ % +4 "core" %k 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<& \  +2 "collection"',& +4 "core" &VnWW \ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\   +2 "storage"(_% +3 "core" %a (\ +2 "storage"(. +3 "core" .(<* + "storage"(P& +4 "core" &<& >\  +2 "storage"(:& +3 "core" &<& {\  +2 "manipulator"&)& +4 "core" &  z + .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & % + z +2 "storage"(y& +3 "core" &<& \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&?'ы +94 "core" ' + "storage"($& +4 "core" &<& \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +3 "storage"(#- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +8 "core" & : z +2 "storage"(& +3 "core" &<& H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&@' +34 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(9- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(='V +38 "core" ' + "manipulator"&% +5 "core" % + "storage"(& +4 "core" &<& o\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&& +4 "core" & $ B | +2 "storage"(u& +4 "core" &<& "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(;'E +39 "core" ' + "manipulator"&[& +5 "core" &  | + "manipulator"&J% +4 "core" %v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +162 "core" ( +2 "manipulator"&T& +4 "core" &*  * @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &* @Z +2 .tForearm.seek CC +2 "manipulator"&E'" +92 "core" ' +2 .tHand.close + "manipulator"&N/ +63 "core" / +2 .tCC.seek :open + "collection"'M( +416 "core" ( +2 "storage"(&& +4 "core" &<&\ \ \  + "storage"(H& +4 "core" &<& A\  +2 "manipulator"&7& +3 "core" &) ?S +2 "manipulator"&K% +3 "core" % * ) < +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +159 "core" ( + "manipulator"&!& +5 "core" & q  + "storage"(G& +4 "core" &<&\ :\ F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&B' +106 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +61 "core" 1 +2 "manipulator"&V% +5 "core" %   +2 "storage"(]& +3 "core" &<& s\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&>' +14 "core" ' +2 "manipulator"&4& +4 "core" & c  +2 "storage"((& +3 "core" &<&\ '\ ' 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&R'ы +27 "core" ' +2 "storage"(6% +4 "core" %J\ 2\ ' m\ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (o% +2 "core" %oH\ \  \ Wb +2 "manipulator"&.% +4 "core" %~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &RYa\ +2 "manipulator"&/% +4 "core" %\    + "storage"(n% +4 "core" %_\ 1\ 2\ +2 "storage"(L. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +334 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +3 "core" &K e\  +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&a( +37 "core" ( +2 "manipulator"&O& +4 "core" & 0 k 5 +2 "storage"(f& +3 "core" &K\ '\ ' z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' +2 "storage"(Q& +4 "core" &K\ 5\ ) +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +282 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" &K \  \  +2 "manipulator"&k& +3 "core" & 5 +2 .tElbow.seek 6 +2 "manipulator"&F( +25 "core" ( +3 "manipulator"&Y& +4 "core" & R v + "storage"(d& +4 "core" &K\ \  +\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&x' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"("'X +7 "core" &  U v + "manipulator"& % +4 "core" % ϼ   \ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&w& +4 "core" &+ U Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &+ q Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'" +98 "core" ' +2 "manipulator"&m& +4 "core" &+ p Ad +2 "manipulator"&'% +4 "core" %' +2 "collection"'^& +3 "core" &TYh\ +3 "collection"'q& +4 "core" &WV7\ +3 .tCC.seek :closed + "collection"'(V +5 "core" &UU7\ +7 &5UV1\ $c +9 &UUV5\ 7 +10 &VW4\ L +9 &[WW1\ M +10 &b\\UX-\ M +9 &%ZUV6\ M +9 &`WV.\ M +10 &\\WW*\ M +9 &l[WX.\ L +9 &,\\TU/\ M +10 &\\WU&\ M +9 &!\\UU(\ M +10 &#r\\UX$\ M +9 &%4\\TX!\ M +9 &&[UV%\ M +10 &(ZTV\ L +9 &*{\\NW$\ M +9 &,=ZUV-\ M +10 &-ZVV\ M +9 &/ZUV\ L +10 &1]WV\ M +9 &3CZVU\ M +9 &5ZUW\ M +10 &6[UU\ M +9 &8\\WV\ M +9 &:M\\TV\ M +10 &<\\UU\ M +9 &=\\TW\ M +9 &?\\UV\ M +10 &AU[TT\ M +9 &C\\UT\ L +10 &DaVT\ N +9 &FiVV\ O +9 &HQ}WX\ Q +10 &JVV\ U +9 &KVX\ X +9 &MWW\ X +10 &OBWW\ Y +9 &QWW\ X +10 &RTW\ Z +9 &TVW\ Z +9 &V uWV\ . +10 &V,VW\ W +9 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&h1 +4 "core" &VeVX\ M +55 1 +3 "manipulator"& % +4 "core" % ' 4 t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%%& +5 "core" &&\ + "manipulator"&% +4 "core" %\  - +2 "storage"(}% +4 "core" %` \ + "storage"(. +3 "core" .(K +2 "storage"(e& +4 "core" &K j\  + "storage"(& +4 "core" &K \  +2 "manipulator"&l& +3 "core" &* x @[ +2 "manipulator"&% +4 "core" %\  t - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&~( +161 "core" ( +2 "manipulator"&& +4 "core" & % 2  +2 "storage"(`& +3 "core" &K ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Z'a +99 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +281 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &K \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&t& +3 "core" & % "  +2 "storage"(& +4 "core" &K M\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&r' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"('X +6 "core" &  +2 "manipulator"&_% +4 "core" % r +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&U& +4 "core" &y ,  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &y z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +100 "core" ' +2 "manipulator"&& +4 "core" &y $ = +2 "manipulator"&y% +3 "core" %  $ +2 "processing"%v& +4 "core" &(\ +2 "processing"%$& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%c(Z +3 "core" &\ +7 &8\ $d +9 &U \ 7 +9 &\ L +10 &Y\ M +9 &k^\ N +9 &-Y\ N +10 &\\\ M +9 &W\ M +10 &tZ\ M +9 &5]\ \ N +9 &_\ M +10 &!X \ M +9 &#}Y \ M +9 &%=Z \ N +10 &&Z\ N +9 &(W\ M +10 &*X\ N +9 &,E[\ N +9 &.X\ M +10 &/[\ M +9 &1W\ N +9 &3NX\ M +10 &5W\ N +9 &6X\ M +9 &8W\ M +10 &:VY\ M +9 &<Z\ N +10 &=U\ M +9 &?Z\ M +9 &A^Z\ M +10 &C \\\ M +9 &D`\ N +10 &Fk\ O +9 &HY\ R +9 &J\ S +10 &K\ S +9 &M\ S +11 &O\\\ S +8 &Q\ S +9 &R\ T +10 &T\ T +9 &V`\ U +9 &X#\ T +10 &Y{s\ 3 +9 &Z)x\ N +9 &Z\ - +3 ( +2 "processing"%$& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&s1 +59 "core" 1 + "manipulator"&% +4 "core" % ' a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' + "processing"%1& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\  o  +2 "storage"(9% +3 "core" %_ ;\ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"(& +5 "manipulator"&u& +3 "core" &K [\  +2 &y [ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&[(s + "storage"(J'i +6 "core" ( + "manipulator"&?& +4 "core" &y + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &y +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&@/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +83 "core" ' +3 "storage"(=- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'y +45 "core" ' +290 ( + "storage"(I& +5 "core" &K d\  + "manipulator"&-& +4 "core" &y . + "manipulator"&<% +4 "core" % \\ % +2 .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&5( +268 "core" ( + "manipulator"&*& +5 "core" & %  ~ + "storage"(&& +3 "core" &K J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&H'a +96 "core" ' + .tHand.open + "manipulator"&71 +55 "core" 1 +2 "storage"(K- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(\\& +3 "core" &K F F \  +52 "manipulator"&S& +10 "core" &  ~ + .tElbow.seek 6 +2 "manipulator"&V( +4 "core" ( + "manipulator"&]& +4 "core" &  Q ~ + "storage"(4& +4 "core" &K P H \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&('a +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +59 "core" ' +2 "manipulator"&2& +4 "core" &  ~ +2 "storage"(o& +4 "core" &K X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&.'Υ +30 "core" ' +3 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +24 "core" ' + "manipulator"&% +4 "core" %ι X +2 "storage"(>& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&/' +13 "core" ' + "manipulator"&n& +5 "core" & ~ + "storage"(L& +4 "core" &K <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&;'a +30 "core" ' + "storage"(R% +5 "core" %q V\  +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (8% +3 "core" %`L :\ Xf +2 "manipulator"&W% +4 "core" %G  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &K S\  +2 "collection"'f& +4 "core" &VeWY\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Q% +4 "core" %\ "  \ 1 +2 "storage"(C% +4 "core" %b :\ + "storage"(b. +3 "core" .(K +2 "storage"(3& +4 "core" &K L\  + "storage"(j& +4 "core" &K F\  + "manipulator"&k& +4 "core" &  W ~ +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&d& +4 "core" & & / ~ +2 "storage"(0& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +99 "core" ' + "storage"( & +4 "core" &K ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" &  ~ +2 "storage"(i& +3 "core" &K 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&p'Υ +35 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(''Y +30 "core" ' + "manipulator"&^% +5 "core" %δ r + "storage"(F& +4 "core" &K D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&"' +22 "core" ' +3 "manipulator"&z& +8 "core" & Y ~ +3 "storage"(M& +5 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&h'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'H +47 "core" ' + "manipulator"&%& +5 "core" &  ~ + "manipulator"&% +4 "core" %o  } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( + "manipulator"&e& +5 "core" &(   ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &( * ?V +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close + "manipulator"&l/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"({& +4 "core" &K g\  + "storage"(& +4 "core" &K z\  + "manipulator"&`& +4 "core" &( I >I + "manipulator"&% +4 "core" % * ,  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&|& +5 "core" & & -  + "storage"(\ & +4 "core" &K\ \  5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % ζ +2 "storage"(,& +4 "core" &K V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&_' +14 "core" ' + "manipulator"&~& +4 "core" &   +2 "storage"(Z& +4 "core" &K\ %\ $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&g'a +34 "core" ' + "storage"(r% +4 "core" %L\ C\ C \ +3 ."downElevator"SE.seek :down +3 "storage"(U'X +99 (:% +3 "core" %F\ \  (\ Wb + "manipulator"&% +4 "core" %\\ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'y& +4 "core" &TT*\ +2 "manipulator"&v% +3 "core" %\   +2 "storage"(% +4 "core" %`\ D\ C \ +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(+(,l +659 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &,n S\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&1( +12 "core" ( +2 "manipulator"&& +4 "core" & % ' r +2 "storage"(9& +3 "core" &,r\ &\ ) M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +101 "core" ' + "storage"(& +4 "core" &,r\ Q\ F :\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &,r\  \\\ +2 "manipulator"&?& +4 "core" &  r + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&)& +4 "core" & % B r + "storage"(@& +4 "core" &,r\ \  \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&=', +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(c'X +8 "core" & r + "manipulator"&J% +4 "core" % ' _  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&<& +4 "core" &* @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'" +99 "core" ' + "manipulator"&&& +4 "core" &) g ?V +2 "manipulator"&[% +4 "core" %# +2 "collection"'7& +4 "core" &TU7\ +52 "collection"'K& +6 "core" &VV7\ +2 .tCC.seek :closed +3 "collection"'E(V +3 "core" &UU/\ +6 &SW5\ 7 +9 &6G~XV1\ 1 +9 &ftWU1\ E +10 &aTV6\ N +9 &\\UW7\ M +10 &YUT/\ M +9 &XYUU8\ L +9 &\\TV7\ M +10 &ZUV0\ M +9 &YTW8\ L +9 &^\\WW8\ M +10 &! ZTT1\ M +9 &"ZTW(\ M +10 &$\\UW-\ M +9 &&fYTV0\ M +9 &()ZUU&\ M +10 &)\\WV.\ M +9 &+ZWV)\ M +9 &-n]UV%\ M +10 &/1YTX+\ M +9 &0[WU"\ M +10 &2YUV!\ M +9 &4wZVT'\ M +9 &69^VV\ M +10 &7ZUW\ L +9 &9ZUU\ M +9 &;]VU\ M +10 &=A[TU\ M +9 &?YUW\ L +9 &@]VU\ M +10 &B\\WX\ M +9 &DH_VV\ M +10 &FjWW\ O +9 &GyTV\ P +9 &IzUW\ T +10 &K-TV\ Y +9 &LWW\ Y +9 &NVU\ X +10 &PtUW\ Y +9 &R5VV\ Y +10 &SVU\ [ +9 &UWU\ H +9 &V3UV\ &r +10 &VrVV\ N +6 ( +3 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&\\1 +3 "core" &VrUV\ N +55 1 +2 "manipulator"&S% +4 "core" % # r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%]& +4 "core" &\ + "manipulator"&4% +4 "core" %\  D  +2 "storage"(2% +3 "core" %^ Z\ +2 "storage"(o. +3 "core" .(,l + "storage"(T& +4 "core" &,r Z\ +2 "storage"(!& +3 "core" &,r \ +2 "manipulator"&& +4 "core" &( &  ?V + "manipulator"&>% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +163 "core" ( + "manipulator"&L& +4 "core" & # B i +2 "storage"(R& +3 "core" &,r k\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +96 "core" ' +2 "storage"(H& +9 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'i +284 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &,r [\ +2 "manipulator"&(& +3 "core" & \ i +2 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&6& +4 "core" & ( 8 i + "storage"(.& +4 "core" &,r $\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&/', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(Q'X +7 "core" & k i +2 "manipulator"&C% +4 "core" % &  ( +2 .tForearm.seek :retract + "manipulator"&B'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&b(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&3& +4 "core" &x ? q  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &x & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k' +99 "core" ' +2 "manipulator"&d& +4 "core" &x $ 0 +2 "manipulator"&0% +3 "core" % ` +2 "processing"%;& +4 "core" &\ +2 "processing"% & +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &\ +7 &8\ $e +10 &W \ 7 +9 &~\ L +9 &Z \ M +10 &n]\ N +9 &1[ \ M +10 &W \ M +9 &Y \ M +9 &wY \ M +10 &9[\ M +9 &Y\ M +9 &!\\ \ M +10 &#~\\\ N +9 &%B[ \ M +10 &'[\ M +9 &(W\ \ M +9 &*\\\ M +10 &,H[\ N +9 &. [\ M +9 &/[\ M +10 &1Z\ N +9 &3P\\\ N +10 &5\\\ N +9 &6Z\ M +9 &8W\ M +10 &:Z\\\ M +9 &<Z\ M +10 &=Y\ M +9 &?Z\ N +9 &AaZ\ M +10 &C#_\ M +9 &Dc\ N +9 &Fi\ O +10 &H]~\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &O`\ S +10 &Q!\ S +9 &R\ T +9 &T\ T +10 &Vd\ T +9 &X&\ T +10 &Yzn\ 2 +9 &Z(n\ L +9 &Z$\ 0 +3 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&X1 +59 "core" 1 + "manipulator"&D% +4 "core" % ( i ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%w& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&i% +4 "core" %\ " 9 +2 "storage"(m% +4 "core" %b \  + "storage"(^. +4 "core" .(,l + "storage"(F& +8 "core" &,r M\ +2 "storage"(z& +4 "manipulator"&M& +4 "core" &,r \ + &x r +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&%(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"& & +4 "core" &x r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &x ; +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' + .tHand.close +2 "manipulator"&p/ +55 "core" / +2 .tPC.seek :open + "processing"%"( +95 "core" ' +2 "storage"('- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +42 "core" ' +283 ( + "storage"(q& +4 "core" &,r W\ +2 "manipulator"&h& +3 "core" &x  +2 "manipulator"&x% +3 "core" %  4  +2 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}( +270 "core" ( +2 "manipulator"&& +4 "core" &  l  + "storage"({& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +96 "core" ' + .tHand.open +2 "manipulator"&`1 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(|'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &,r R S \ +2 "manipulator"&& +3 "core" & v  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&,& +4 "core" & % M  +2 "storage"(~& +4 "core" &,r S S K\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&Z'Ѽ +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(r' +57 "core" ' + "manipulator"&& +5 "core" &   + "storage"(:& +4 "core" &,r -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +3 "manipulator"&_% +5 "core" % m  + "storage"(y& +4 "core" &,r $\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&v'@ +20 "core" ' + "manipulator"&& +4 "core" &  g  +2 "storage"(& +9 "core" &,r [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +25 "core" ' + "storage"(g% +4 "core" %s G\ +3 ."downElevator"SE.seek :down +3 "storage"(U'X +99 ( % +3 "core" %O l\ Xg + "manipulator"&s% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,r H\ +2 "collection"'9& +4 "core" &VrVX\ N + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ #   : +2 "storage"(t% +54 "core" %R \ +2 "storage"(. +4 "core" .(,l + "storage"(& +4 "core" &,r \ +2 "storage"($& +3 "core" &,r u\ +2 "manipulator"&?& +4 "core" &  T  + .tElbow.seek 4 +2 "manipulator"&)( +4 "core" ( + "manipulator"&@& +4 "core" & %   +2 "storage"(P& +3 "core" &,r \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&#'Ѽ +96 "core" ' + "storage"(J& +4 "core" &,r R\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" &   +2 "storage"(& +4 "core" &,r B\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&u' +34 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['U +26 "core" ' + "manipulator"&7% +5 "core" %  \\ + "storage"( & +4 "core" &,r N\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&c'5 +15 "core" ' + "manipulator"&I& +5 "core" & % :  + "storage"(& +4 "core" &,r O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&\\'Ѽ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(S'D +39 "core" ' +2 "manipulator"&]& +4 "core" &   +2 "manipulator"&4% +4 "core" %ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +159 "core" ( + "manipulator"&T& +4 "core" &- W Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &- g Cs +2 .tForearm.seek CC +2 "manipulator"&K'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'>( +416 "core" ( +2 "storage"(*& +4 "core" &,r\ \  \ + "storage"(L& +4 "core" &,r 3\ + "manipulator"&R& +4 "core" &+ y Ab + "manipulator"&H% +4 "core" % 0 +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&N( +160 "core" ( +2 "manipulator"&8& +4 "core" & % ~ o +2 "storage"(W& +3 "core" &,r\ 2\ ( Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&(' +102 "core" ' +2 .tElbow.hold + "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +59 "core" 1 +2 "manipulator"&O% +4 "core" %  '  3 + "storage"(f& +4 "core" &,r\ \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts + "manipulator"&C'< +19 "core" ' +2 "manipulator"&n& +4 "core" &  o +2 "storage"(5& +4 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +22 "core" ' + "storage"(/% +5 "core" %H\ '\ ' U\ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +99 (j% +3 "core" %-I\ \  /\ Wc + "manipulator"&V% +4 "core" %Ѫ ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'0& +4 "core" &UV#\ +2 "manipulator"&;% +4 "core" %\   + "storage"(Q% +4 "core" %b\ 2\ / (\ +2 "storage"(B. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +2 "core" &<' \ +2 "manipulator"&D& +4 "core" &  o o +2 .tElbow.seek 5 + "manipulator"&w( +10 "core" ( + "manipulator"&i& +4 "core" & # s Y +2 "storage"(m& +3 "core" &<$\ (\ ' u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +92 "core" ' + "storage"(F& +4 "core" &<$\ I\ J c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &<$\ \  f\  +2 "manipulator"& & +3 "core" &  Y +2 .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&k& +4 "core" &  _ Y + "storage"(p& +4 "core" &<$\ \ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(A'X +6 "core" & Y +2 "manipulator"&% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"&x& +4 "core" &  ( . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" & ^ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&'" +97 "core" ' +2 "manipulator"&{& +4 "core" &  = . + "manipulator"&%% +4 "core" %& N +2 "collection"'`& +4 "core" &TX:\ +2 "collection"'& +6 "core" &UVh\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &UVD\ +8 &5TV7\ $d +9 &WSW9\ 7 +10 &~VV8\ L +9 &\\WV8\ L +9 &i\\SV9\ M +10 &,YVW;\ M +9 &_WU8\ M +10 &XTV7\ M +9 &rZVU9\ M +9 &4^TT8\ M +10 &ZMU7\ L +9 &!\\UV9\ M +9 &#y\\TV7\ M +10 &%<\\VV8\ M +9 &&ZWU8\ L +10 &(ZTW8\ M +9 &*]UU3\ M +9 &,EZWU2\ L +10 &.ZUW8\ M +9 &/]UW3\ M +9 &1\\UU-\ M +10 &3LYTW.\ M +9 &5\\TU7\ M +10 &6ZTU)\ L +9 &8YWU-\ M +9 &:SYUU1\ M +10 &<]UW5\ M +9 &=XUU.\ M +9 &?\\SX,\ L +10 &A\\\\UU/\ M +9 &C\\VV)\ M +10 &DbUV/\ M +9 &FnTV \ O +9 &HVUV'\ Q +10 &J TU+\ W +9 &KUV'\ X +9 &MVW\ X +10 &OGWU\ Y +9 &QVW \ Z +10 &RTW\ Z +9 &TWV\ [ +9 &V(vUX\ / +10 &V%UW\ R +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +3 "core" &VoTT!\ M +53 1 + "manipulator"&% +5 "core" % & 6 b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&,'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%~& +5 "core" &\ + "manipulator"&l% +4 "core" %\     + "storage"(% +4 "core" %a \ + "storage"(:. +3 "core" .(<* +2 "storage"(e& +3 "core" &<$ \  +2 "storage"(_& +4 "core" &<$ +\  +2 "manipulator"&y& +3 "core" & y . +2 "manipulator"&|% +4 "core" %\  g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&& +4 "core" &  P f + "storage"(g& +4 "core" &<$ q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +95 "core" ' +2 "storage"(& +4 "core" &<$ |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +51 "core" &<$ Y\  +3 "manipulator"&Z& +3 "core" &  f +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&r& +4 "core" &  d f + "storage"(& +4 "core" &<$ f\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"('X +8 "core" & ] f +2 "manipulator"&t% +4 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&& +5 "core" &p + c  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &p "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +100 "core" ' + "manipulator"&@& +4 "core" &p % }  +2 "manipulator"&P% +4 "core" %  = +2 "processing"% & +4 "core" & \ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(Z +5 "core" &\ +6 & 2\ $d +9 &V\ 7 +10 &\ L +9 &Y\ M +9 &cZ\ M +10 &%W\ M +9 &\\\ M +9 &Z\ M +10 &jZ\ N +9 &-Z\ M +9 &Y\ M +10 &!X\ M +9 &#s]\ M +10 &%4Z\ N +9 &&Y\ M +9 &([\ M +10 &*zZ\ N +9 &,=Z\ M +9 &-Y\ M +10 &/[\ M +9 &1\\\ M +10 &3E\\\ M +9 &5Z\ N +9 &6Z\ N +10 &8Y\ M +9 &:M\\\ M +9 &<Z\ M +10 &=\\\ M +9 &?Z\ M +10 &AVV\ M +9 &C\\\ N +9 &D]\ M +10 &Fh\ O +9 &HR{\ Q +9 &J\ S +10 &K\ S +9 &M\ S +31 &OR\ T + &Q\ T + &R\ T +5 &T\ T +9 &VW\ U +9 &X\ U +10 &Y|r\ 5 +9 &Z2\ I +10 &Z\ ( +2 ( + "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % 7 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%<& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +9 "core" %\  ]  + "storage"(&% +4 "core" %` ?\ +2 "storage"(7. +3 "core" .(<* + "storage"( & +4 "core" &<$ ?\  +2 "storage"(I& +4 "manipulator"&& +4 "core" &<$ |\  + &p   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&](s +2 "storage"(4'i +5 "core" ( + "manipulator"&#& +4 "core" &p   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &p 9   +2 .tForearm.seek PC +2 "manipulator"&1' +95 "core" ' + .tHand.close +2 "manipulator"&u/ +53 "core" / +3 .tPC.seek :open +2 "processing"%c( +97 "core" ' + "storage"([- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'y +46 "core" ' +279 ( +2 "storage"(!& +4 "core" &<$ \  + "manipulator"&\\& +4 "core" &p  + "manipulator"&=% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +273 "core" ( + "manipulator"&E& +5 "core" & $ = i + "storage"(*& +4 "core" &<$ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&L'ы +98 "core" ' +2 .tHand.open + "manipulator"&R1 +60 "core" 1 +2 "storage"(H- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(8'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +4 "core" -' + "storage"(o& +4 "core" &<$ F H \  +2 "manipulator"&.& +3 "core" &  i +2 .tElbow.seek 5 +2 "manipulator"&O( +8 "core" ( + "manipulator"&f& +4 "core" &  O b +2 "storage"(n& +4 "core" &<$ I H \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&5'ы +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +57 "core" ' + "manipulator"&-& +5 "core" &  b + "storage"(j& +4 "core" &<$ n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +28 "core" ' +2 "manipulator"&0% +4 "core" % +2 "storage"(C& +4 "core" &<$ C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&;' +15 "core" ' +2 "manipulator"&Q& +4 "core" &  q h +2 "storage"(B& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +37 "core" ' + "storage"(G% +4 "core" %r D\ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +99 (+% +2 "core" %#I 9\ Xe +2 "manipulator"&X% +4 "core" %с / +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &<$ \  +2 "collection"'m& +3 "core" &VnVV]\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&F% +4 "core" %\ "   < +2 "storage"(6% +4 "core" %\\ \ +2 "storage"(d. +3 "core" .(<* + "storage"(M& +4 "core" &<$ J\  +2 "storage"(z& +3 "core" &<$ \  +2 "manipulator"& & +4 "core" &  h + .tElbow.seek 5 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&p& +3 "core" & & h +2 "storage"(b& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +112 "core" ' + "storage"(& +4 "core" &<$ i\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'i +282 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" &  h +2 "storage"(a& +3 "core" &<$ l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& ' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&', +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"({- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Y'V +31 "core" ' +2 "manipulator"&%% +4 "core" % o + "storage"(`& +4 "core" &<$ '\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&A' +14 "core" ' + "manipulator"&q& +4 "core" &  i +2 "storage"(>& +4 "core" &<$ ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +40 "core" ' + "manipulator"&~& +5 "core" &  i + "manipulator"&l% +4 "core" %љ  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 .tElbow.seek CC +2 "manipulator"&:( +168 "core" ( + "manipulator"&e& +5 "core" &+  Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &, D Bh +2 .tForearm.seek CC +2 "manipulator"&y'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'|( +416 "core" ( +2 "storage"(& +4 "core" &<$ .\  + "storage"(& +4 "core" &<$ b\  +2 "manipulator"&g& +4 "core" & ( h >O + "manipulator"&% +4 "core" % $ _ +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +156 "core" ( + "manipulator"& & +4 "core" &  L  +2 "storage"(s& +4 "core" &<$\ &\  7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Z' +106 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" %  " +2 "storage"(9& +3 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&t' +15 "core" ' +2 "manipulator"&& +4 "core" & x  +2 "storage"(}& +4 "core" &<$\ 1\ . M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ 'ы +31 "core" ' + "storage"(v% +4 "core" %F\ %\ $ M\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ($% +3 "core" %H\ \  6\ Wc + "manipulator"&% +4 "core" %ѕ @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'P& +4 "core" &UO3\ +2 "manipulator"& % +4 "core" %\    +2 "storage"(% +3 "core" %a\ D\ 6 H\ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"("(K +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K \  +2 "manipulator"&& +4 "core" & .  +2 .tElbow.seek 6 + "manipulator"&<( +38 "core" ( + "manipulator"&& +4 "core" & $ 8 +2 "storage"(&& +4 "core" &K\ '\ $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7'a +96 "core" ' +2 "storage"( & +4 "core" &K\ C\ B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &K\ \  \  +2 "manipulator"&#& +8 "core" &  7 +2 .tElbow.seek 6 + "manipulator"&)( +22 "core" ( +2 "manipulator"&?& +4 "core" &  L  +2 "storage"(u& +3 "core" &K\ \ # /\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&[' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(U'X +8 "core" &  n  + "manipulator"&4% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&!'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&=& +4 "core" &) D @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &) ,  @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'" +98 "core" ' +2 "manipulator"&*& +4 "core" &* ] @Z +2 "manipulator"&]% +4 "core" % q +2 "collection"'R& +4 "core" &VVx\ +2 "collection"'H& +5 "core" &UV@\ +2 .tCC.seek :closed +2 "collection"'K(V +4 "core" &UU@\ +7 &5VWG\ $e +9 &VTTF\ 7 +10 &~VVG\ L +9 &\\WVG\ M +10 &f]UUG\ M +9 &*YSTI\ L +9 &ZSVD\ M +10 &XVWB\ M +9 &oYUVE\ M +9 &1YUU@\ M +10 &ZVV8\ M +9 &!ZUWC\ M +10 &#v\\TV8\ M +9 &%9ZUT7\ M +9 &&ZTU7\ L +10 &(ZVV7\ M +9 &*]VU3\ M +9 &,AWUW7\ M +10 &.ZVU7\ L +9 &/\\UU5\ M +10 &1ZUV3\ M +9 &3JZSV4\ L +9 &5 ZVU4\ M +10 &6]UW7\ M +9 &8\\VV7\ M +9 &:Q_VT8\ M +10 &<]VT6\ M +9 &=ZUV4\ M +10 &?[WU3\ M +9 &AZ[WW4\ L +9 &C\\TW6\ M +10 &DbTT+\ N +9 &FkUW4\ O +10 &HU{TT6\ Q +9 &J\ VW-\ U +9 &KTX,\ X +10 &MWX%\ Y +9 &OEVX&\ Y +9 &QTV+\ Y +10 &RVV*\ Z +9 &TVV,\ [ +9 &V#tTV%\ / +10 &V(WW%\ U +9 ( + &VeWX#\ N +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&o1 +62 "core" 1 +2 "manipulator"&.% +4 "core" %  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%n& +4 "core" &\ +2 "manipulator"&% +3 "core" %\  / f  +2 "storage"(-% +4 "core" %T `\ + "storage"(j. +3 "core" .(K +2 "storage"(T& +4 "core" &K \  + "storage"(0& +4 "core" &K 2\  +2 "manipulator"&C& +3 "core" &( | ?S +2 "manipulator"&8% +3 "core" %\  1 }  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Q( +154 "core" ( +2 "manipulator"&B& +4 "core" &  W  +2 "storage"(2& +3 "core" &K z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&G'a +96 "core" ' + "storage"(L& +4 "core" &K }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +286 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" &K \  +2 "manipulator"&5& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&O( +4 "core" ( + "manipulator"&/& +4 "core" & $   + "storage"(V& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&m& + "storage"(F'X +7 "core" & w  +2 "manipulator"&6% +3 "core" % ) f +2 .tForearm.seek :retract +2 "manipulator"&d'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&((s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +113 "core" ( +3 "manipulator"&M& +4 "core" &k + 0 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 "manipulator"&p& +4 "core" &l % = \ + "manipulator"&b% +4 "core" %    +2 "processing"%S& +4 "core" &\ +2 "processing"%& +5 "core" &$\ +3 .tPC.seek :closed + "processing"%3(Z +5 "core" &\  +8 &2\ *x +9 &c\ \ > +10 &|x\ \ N +9 &?V \ M +9 &W \ M +10 &\\ \ M +9 &Z \ N +9 &GX\ M +10 & U\ M +9 &Z \ M +10 & Z \ M +9 &"NY\ \ N +9 &$Y\ M +10 &%W\ M +9 &'] \ M +9 &)WY \ M +10 &+U\ M +9 &,Z\ M +10 &.X\ M +9 &0`X\ M +9 &2 [\ N +10 &3Z \ M +9 &5Z\ M +9 &7hV \ M +10 &9)Y\ M +9 &:W \ M +10 &<U \ M +9 &>oZ\ M +9 &@1] \ M +10 &A[\ M +9 &CZ \ N +10 &Eu_\ N +9 &G3n \ O +9 &H\ R +10 &J \ S +9 &Lo\ S +9 &N0 \ S +10 &O\ T +9 &Q\ S +10 &Ss\ T +9 &U6\ T +9 &V\ \ T +10 &X\ \ U +9 &Z"Y\ &t +9 &Zc\ 4 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 +51 .Hand.open +3 "manipulator"&N1 +4 "core" &Z\ - +59 1 + "manipulator"&D% +4 "core" % $ }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +96 "core" ' + "processing"%x& +5 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&a% +3 "core" %\  U  +2 "storage"({% +4 "core" %a K\ +2 "storage"(%. +3 "core" .(K + "storage"(`& +9 "core" &K \  +2 "storage"(q& +2 "manipulator"&>& +6 "core" &K .\  + &l  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&~(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(l'i +3 "core" ( + "manipulator"&& +4 "core" &l \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &l  \ +2 .tForearm.seek PC +2 "manipulator"&w' +94 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / + .tPC.seek :open +2 "processing"%A( +98 "core" ' + "storage"(Y- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +41 "core" ' +283 ( +2 "storage"(_& +4 "core" &K P\  + "manipulator"&& +4 "core" &l a \ +2 "manipulator"&'% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +244 "core" ( +2 "manipulator"&& +4 "core" & % 8 !p + "storage"(& +4 "core" &K #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +98 "core" ' +2 .tHand.open + "manipulator"&g1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(:& +4 "core" &K C E \  + "manipulator"&& +4 "core" & o +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&9& +4 "core" & $ o +2 "storage"(& +3 "core" &K 6 D q\  +3 .tForearm.seek 6 + 700 counts + "manipulator"&}'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(v' +61 "core" ' + "manipulator"&h& +4 "core" & ' a o +2 "storage"($& +4 "core" &K C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'i +22 "core" ' +2 "manipulator"&t% +4 "core" %ζ n +2 "storage"(P& +4 "core" &K 7\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"& ' +13 "core" ' + "manipulator"&& +5 "core" & % : o + "storage"(& +4 "core" &K b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +30 "core" ' + "storage"(\ % +5 "core" %s E\  +7 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %UM \ Xf + "manipulator"&% +4 "core" %L " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K $\  +2 "collection"'&& +4 "core" &VeWWa\ N + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +51 "core" %\ \ v  +2 "storage"(r% +4 "core" %b \  +2 "storage"(@. +3 "core" .(K + "storage"(& +4 "core" &K ^\  + "storage"(I& +4 "core" &K ^\  + "manipulator"&#& +4 "core" & a o +2 .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( + "manipulator"&u& +4 "core" &  I o + "storage"(& +4 "core" &K w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +90 "core" ' + "storage"(4& +4 "core" &K =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'i +284 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&=& +3 "core" &  o +2 "storage"(1& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&J'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(]'Y +31 "core" ' + "manipulator"&)% +4 "core" %ε  , +2 "storage"(R& +4 "core" &K U\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts + "manipulator"&U' +13 "core" ' + "manipulator"&!& +4 "core" &  D o +2 "storage"(|& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&o'a +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(.'H +38 "core" ' + "manipulator"&n& +5 "core" &  o + "manipulator"&% +4 "core" %т  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +150 "core" ( + "manipulator"&T& +4 "core" &" % D 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &H& +2 "core" &" } 9( +2 .tForearm.seek CC +2 "manipulator"&0'" +92 "core" ' + .tHand.close + "manipulator"&C/ +56 "core" / + .tCC.seek :open +2 "collection"'8( +416 "core" ( +2 "storage"(B& +4 "core" &K \ \  +2 "storage"(E& +5 "core" &K \  + "manipulator"&2& +4 "core" &"  9( + "manipulator"&L% +4 "core" % "   +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +162 "core" ( +2 "manipulator"&+& +4 "core" & $  +2 "storage"(X& +3 "core" &K\ '\ ' n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&5'Υ +102 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&V1 +57 "core" 1 + "manipulator"&i% +5 "core" % ι +  + "storage"(m& +4 "core" &K S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&6' +18 "core" ' +2 "manipulator"&Q& +4 "core" &  d  +2 "storage"(G& +3 "core" &K\ $\ % )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&W'a +16 "core" ' +2 "storage"(;% +4 "core" %R\ C\ B \ +3 ."downElevator"SE.seek :down +3 "storage"(M'X +99 (z% +2 "core" %D\ \ \ ^\ V` +2 "manipulator"&O% +4 "core" %] +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'b& +4 "core" &TU~\ +2 "manipulator"&S% +4 "core" %\    + "storage"(F% +4 "core" %R\ )\ & D\ +2 "storage"(d. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(c(,l +657 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &,n \ + "manipulator"&D& +5 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +48 "core" ( + "manipulator"&x& +4 "core" &\ ) m ` +2 "storage"(a& +3 "core" &,r\ '\ ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{'Ѽ +98 "core" ' + "storage"(%& +4 "core" &,r\ 7\ I '\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +283 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (>& +3 "core" &,r\ \ \ +2 "manipulator"&& +3 "core" &\  ` +4 .tElbow.seek 4 + "manipulator"&k( +28 "core" ( + "manipulator"& & +4 "core" & $ .  +2 "storage"( & +3 "core" &,r\ (\ ' \ +3 .tForearm.seek 4 + 300 counts + "manipulator"&Y', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(3'X +7 "core" &  + "manipulator"&l% +4 "core" % 4  Q +2 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&'& +4 "core" & 2  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +103 "core" ' +3 "manipulator"&& +3 "core" &  0 +2 "manipulator"&~% +4 "core" % > +2 "collection"'g& +4 "core" &SV}\ +2 "collection"'& +5 "core" &TU~\ +2 .tCC.seek :closed +2 "collection"'y(V +4 "core" &VVK\ +8 &4VVA\ $c +9 &USW=\ 7 +9 &}TUB\ L +10 &YTUB\ M +9 &cYTT@\ M +10 &%\\VVC\ M +9 &YVVH\ M +9 &YTUA\ L +10 &kZWVB\ M +9 &-]UVD\ M +9 &]UUE\ M +10 &![QVH\ L +9 &#r\\TVD\ M +10 &%6ZUVE\ L +9 &&ZUVB\ L +9 &(YTUF\ L +10 &*|ZTWA\ L +9 &,>ZXWA\ L +9 &-XUXF\ M +10 &/ZTW;\ L +9 &1\\UV@\ L +10 &3FZUU:\ L +9 &5XVW5\ M +9 &6XUV8\ M +10 &8VTV7\ L +9 &:L\\WW5\ M +9 &<\\VU1\ M +10 &=ZUW5\ L +9 &?[TV4\ M +10 &AU^UW6\ M +9 &C]VT.\ L +9 &DcUV)\ N +10 &FmTW4\ O +9 &HQ~VU6\ Q +10 &JTW6\ V +9 &KVW5\ X +9 &MVX6\ Y +10 &OAVV5\ Y +9 &QVV7\ Y +9 &RWW+\ Z +10 &TWW3\ Z +9 &VvTV6\ / +9 &V*WU6\ X +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&:1 +3 "core" &VrTV7\ N +53 1 +2 "manipulator"&% +4 "core" %  . > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  _ ' + "storage"(h% +4 "core" %T 8\ + "storage"($. +3 "core" .(,l +2 "storage"(t& +4 "core" &,r -\ + "storage"(e& +4 "core" &,r D\ +2 "manipulator"&P& +4 "core" &  0 + "manipulator"&% +4 "core" %\   ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +159 "core" ( + "manipulator"&& +4 "core" & % l O +2 "storage"(\ & +4 "core" &,r I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +106 "core" ' + "storage"(& +5 "core" &,r 0\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,r J\ +2 "manipulator"&}& +3 "core" &  O +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&v& +4 "core" & = O + "storage"(& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& ', +29 "core" ' +6 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(Z'X +8 "core" &  O + "manipulator"& % +4 "core" % 2 v +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&& +4 "core" &v 1 D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &v  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +91 "core" ' + "manipulator"&u& +5 "core" &v  4 + "manipulator"&% +4 "core" % t @ +2 "processing"%& +4 "core" &\ \ +2 "processing"%4& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +10 &2\ *x +9 &d\ > +9 &|w\ N +10 &@V \ M +9 &Z\ \ M +9 &\\ \ M +10 &Z \ M +9 &FW\ N +10 &\ X\ M +9 &Y\ M +9 & V\ M +10 &"NZ\ N +9 &$X \ M +9 &%Z \ N +10 &'[\ M +9 &)WY\ M +10 &+Z\ M +9 &,X\ M +9 &.X \ M +10 &0_\\ \ M +9 &2![\ M +9 &3W\ M +10 &5]\ M +9 &7fX\ N +10 &9*Y \ M +9 &:Y \ M +9 &<Y\ M +10 &>oY \ M +9 &@1Y\ M +9 &AW\ M +10 &CY \ N +9 &Ev_\ N +10 &G4n\ O +9 &H \ R +9 &J\ S +10 &Lm \ S +9 &N/ \ S +9 &O \ S +10 &Q\ T +9 &Ss \ T +9 &U4\ T +10 &V\ U +9 &X\ T +10 &Z#[\ $n +9 &Z_ \ 0 +9 ( +2 "processing"%4& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&,1 +3 "core" &Z \ + +51 1 + "manipulator"&% +4 "core" % & | @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +89 "core" ' +2 "processing"%=& +4 "core" &Z\ + + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&1% +3 "core" %\  |  +2 "storage"(*% +4 "core" %_ \ +2 "storage"(). +3 "core" .(,l + "storage"(R& +4 "core" &,r \\\ +2 "storage"(!& +5 "manipulator"&|& +3 "core" &,r m\ + &v  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(n'i +2 "manipulator"&(s +4 "core" ( + "manipulator"&& +4 "core" &v  U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &v | +2 .tForearm.seek PC +2 "manipulator"&<' +96 "core" ' +2 .tHand.close + "manipulator"&J/ +63 "core" / +2 .tPC.seek :open +2 "processing"%U( +80 "core" ' +2 "storage"(]- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(T'y +45 "core" ' +297 ( + "storage"(H& +4 "core" &,r *\ +2 "manipulator"&o& +16 "core" &v +2 "manipulator"&[% +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&C'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&-( +294 "core" ( + "manipulator"&K& +4 "core" & % B !p +2 "storage"(B& +3 "core" &,r i\ +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&E'Ѽ +98 "core" ' +2 .tHand.open + "manipulator"&21 +63 "core" 1 +2 "storage"(L- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(+'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(X' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(0- +4 "core" -' +2 "storage"(j& +3 "core" &,r F F \ +2 "manipulator"&V& +4 "core" & m +2 .tElbow.seek 4 +2 "manipulator"&i( +26 "core" ( + "manipulator"&m& +5 "core" & % R  + "storage"(Q& +4 "core" &,r S S Q\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +56 "core" ' + "manipulator"&\\& +5 "core" &   + "storage"(z& +4 "core" &,r r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O' +36 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +6 .tSE.seek 0.11 Pucks below Top Plate +6 "storage"(5'i +27 "core" ' +4 "manipulator"&b% +8 "core" % +3 "storage"(6& +8 "core" &,r *\ +3 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 4 + 317 counts + "manipulator"&S'= +21 "core" ' +3 "manipulator"&F& +8 "core" & N  +4 "storage"(d& +8 "core" &,r }\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&.'Ѽ +32 "core" ' +3 "storage"(W% +11 "core" %r |\ +7 ."downElevator"SE.seek :down +7 "storage"(M'X +99 ("% +7 "core" %H 1\ We +4 "manipulator"&N% +11 "core" %  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&D'\ +90 "core" ' +17 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19 "core" ' +3 ."downElevator"SE.stop +4 "storage"(5 +5 (x& +8 "core" &,r \ +4 "collection"'a& +7 "core" &VqVU%\ N +4 #tStoring generic puck in Collection Clamp to tube 4 +3 "manipulator"&%% +8 "core" %\   +3 "storage"(/% +7 "core" %T \ +3 "storage"(p. +7 "core" .(,l +2 "storage"(q& +9 "core" &,r \ +3 "storage"(>& +7 "core" &,r \ +4 "manipulator"&& +7 "core" &  +4 .tElbow.seek 4 +2 "manipulator"& ( +6 "core" ( +3 "manipulator"& & +9 "core" &  "  +3 "storage"((& +7 "core" &,r G\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 700 counts +3 "manipulator"&^'Ѽ +100 "core" ' +3 "storage"(l& +8 "core" &,r p\ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +4 "storage"('i +284 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &   + "storage"(w& +4 "core" &,r #\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&`' +37 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +39 "core" ' + "manipulator"&~% +5 "core" %  + "storage"(g& +4 "core" &,r \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&3'9 +15 "core" ' +2 "manipulator"&_& +4 "core" & %  + "storage"(8& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&:'Ѽ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +40 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %ѵ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +169 "core" ( +3 "manipulator"&t& +4 "core" &+ / L Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &*  Aa +2 .tForearm.seek CC +2 "manipulator"&'" +91 "core" ' +2 .tHand.close + "manipulator"&P/ +60 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &,r\ \  ?\ + "storage"(& +4 "core" &,r\ \  \ +2 "manipulator"&\ & +3 "core" &( l ?V +2 "manipulator"&% +3 "core" % / o  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +156 "core" ( +2 "manipulator"&& +4 "core" & % 2  + "storage"(& +4 "core" &,r\ /\ ' K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&}' +52 "Can"h\ 75 +49 "core" ' +2 .tElbow.hold + "manipulator"&v, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  " q G + "storage"(&& +4 "core" &,r\ \  t\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"& '> +19 "core" ' +3 "manipulator"& & +4 "core" &  ]  + "storage"(& +4 "core" &,r\ &\ ' W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&s'Ѽ +26 "core" ' +2 "storage"( % +4 "core" %O\ 6\ ( $\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (I% +3 "core" %E\ \  (\ Vb +2 "manipulator"&% +4 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +86 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &VV=\ +2 "manipulator"&% +4 "core" %\    +2 "storage"(Z% +4 "core" %R\ C\ 5 \ +2 "storage"(r. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(A(<* +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +2 "core" &<) s\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&1& +4 "core" & % K z + "storage"(*& +4 "core" &<%\ 1\ 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&)'ы +97 "core" ' + "storage"(R& +4 "core" &<%\ S\ Q x\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +285 "core" ' +3 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &<%\ '\ ' \  +2 "manipulator"&& +3 "core" & z +2 .tElbow.seek 5 + "manipulator"&?( +4 "core" ( + "manipulator"&#& +3 "core" & G z +2 "storage"(J& +4 "core" &<%\ /\ & :\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&]' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +60 "core" / +3 ."downElevator"SE.seek :down +57 "manipulator"&7& +2 "storage"('X +7 "core" &  z +2 "manipulator"&n% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&H'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&[& +4 "core" &+  T C Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &+ < Bj +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'" +94 "core" ' + "manipulator"&& +4 "core" &,   Bj +2 "manipulator"&B% +4 "core" %' /  +2 "collection"'2& +4 "core" &TUQ\ +2 "collection"'L& +6 "core" &TWO\ +2 .tCC.seek :closed +3 "collection"'0(V +3 "core" &TWM\ +5 &TUR\ 2 +10 &5GSUN\ 1 +9 &arTU@\ E +10 &_SWK\ N +9 &WUWW\ M +9 &YTUD\ M +10 &P\\WVQ\ M +9 &ZSUH\ L +9 &ZST?\ M +10 &VTU=\ M +9 &X[UW?\ M +10 &!XVT?\ M +9 &"[UVF\ M +9 &$[TVH\ M +10 &&`YUTH\ M +9 &(#YSWC\ L +9 &)YTW?\ L +10 &+YVUI\ M +9 &-iYUUH\ L +10 &/)YUUH\ M +9 &0ZTUH\ M +9 &2XWVC\ M +10 &4pYSUE\ M +9 &62WSVH\ M +9 &7YXV<\ L +10 &9YSW7\ M +9 &;x[TUD\ M +10 &=:ZTT8\ M +9 &>WTV;\ M +9 &@ZWU1\ M +10 &B[UV5\ M +9 &DA]TV5\ M +10 &EgVV3\ N +9 &GyUU0\ P +9 &IsTU0\ T +10 &K'UV4\ Y +9 &LTP5\ X +9 &NTV5\ Y +10 &PmUV0\ Y +9 &R-WW5\ Y +10 &SWW6\ [\ +9 &UVV.\ G +9 &V2VW,\ , +10 &VpUU5\ M +2 ( + "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&j1 +57 "core" 1 + "manipulator"&V% +4 "core" % ' +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%m& +4 "core" &!\ +2 "manipulator"&Q% +4 "core" %\ ! j 6 + "storage"(\\% +4 "core" %T 2\ + "storage"(z. +3 "core" .(<* +2 "storage"(T& +4 "core" &<% &\  + "storage"(+& +4 "core" &<% \  +2 "manipulator"&b& +3 "core" &+ B A` +2 "manipulator"&6% +4 "core" %\ ! R 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&F( +165 "core" ( + "manipulator"&-& +5 "core" & '  I + "storage"(d& +4 "core" &<% \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&E'ы +100 "core" ' +3 "storage"(X& +4 "core" &<% {\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +279 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &<% \  +2 "manipulator"&"& +4 "core" & H I + .tElbow.seek 5 +2 "manipulator"&N( +4 "core" ( + "manipulator"&;& +4 "core" & $  I + "storage"(O& +4 "core" &<% \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&S' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(5'X +7 "core" & I + "manipulator"&%% +4 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&q& +4 "core" &r ( d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &r `  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 "manipulator"& & +4 "core" &r  {  +2 "manipulator"&(% +3 "core" % U +2 "processing"%.& +4 "core" &(\ +2 "processing"%l& +7 "core" &\ +2 .tPC.seek :closed +3 "processing"%M(Z +3 "core" &\ +5 &\ 8 +9 &HI{\ 0 +10 &ss\ E +9 &a\ M +10 &Y\ M +9 &Y \ M +9 &]Z\ N +10 &!Z\ M +9 &Z\ M +10 &W\ M +9 &fZ\ M +9 &!'Y\ N +10 &"Z\ M +9 &$Y\ M +9 &&oY\ M +10 &(0Y\ M +9 &)Z\ N +10 &+Z\ M +9 &-v[\ M +9 &/8Y\ \ M +10 &0V \ M +9 &2[\ M +9 &4}Z\ N +10 &6@Y \ M +9 &8U\ M +9 &9Z\ M +10 &;U\ M +14 &=HY\ \ M +5 &?\ Y\ M +9 &@U\ M +9 &BZ\ N +10 &DPZ\ M +9 &Fb\ O +10 &Gq\ P +9 &I \ R +9 &KH\ S +10 &M\ \ S +9 &N\ S +10 &P\ T +9 &RM\ T +9 &T\ T +10 &U\ T +9 &W\ U +9 &YR\ B +10 &Z`;}\ a +9 &Z-\ - +5 ( +2 "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&f1 +4 "core" &Z\ - +52 1 + "manipulator"&D% +4 "core" %  % ? U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +2 "processing"%'& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&w% +4 "core" %\  5 +2 "storage"(k% +4 "core" %b U\ + "storage"(~. +3 "core" .(<* +2 "storage"(g& +4 "core" &<% k\  +2 "storage"(_& +5 "manipulator"&8& +3 "core" &<% j\  +2 &r )   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&^& +4 "core" &r s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &r , &  +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&`/ +54 "core" / +2 .tPC.seek :open + "processing"%3( +90 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +44 "core" ' +289 ( + "storage"(e& +4 "core" &<% o\  + "manipulator"&:& +4 "core" &r  +2 "manipulator"&Y% +3 "core" % I  +2 .tForearm.seek :retract +2 "manipulator"&P'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&h( +276 "core" ( +2 "manipulator"&y& +4 "core" & %   +2 "storage"(& +3 "core" &<% 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +96 "core" ' +2 .tHand.open + "manipulator"&\ 1 +53 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"($& +4 "core" &<% 7 9 \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&&& +4 "core" & $ n  +2 "storage"( & +3 "core" &<% H L u\  +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +60 "core" ' + "manipulator"&& +5 "core" &   + "storage"(I& +4 "core" &<% s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&9, +94 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +24 "core" ' +2 "manipulator"&% +4 "core" % Q + "storage"( & +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +12 "core" ' +4 "manipulator"&Z& +4 "core" & <  +2 "storage"(r& +58 "core" &<% K\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +25 "core" ' +2 "storage"(s% +4 "core" %o I\ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (c% +3 "core" %F 5\ Wc +2 "manipulator"&,% +4 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +4 "core" &<% K\  + "collection"'*& +4 "core" &VmVVb\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&R% +4 "core" %\  U ! +2 "storage"(v% +4 "core" %V y\ + "storage"(u. +3 "core" .(<* +2 "storage"(!& +4 "core" &<% w\  + "storage"(4& +4 "core" &<% x\  +2 "manipulator"&& +3 "core" & h  +2 .tElbow.seek 5 +2 "manipulator"&#( +3 "core" ( + "manipulator"&J& +4 "core" & % d  +2 "storage"(@& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&7'ы +94 "core" ' +2 "storage"(n& +5 "core" &<% |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='i +291 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +2 "core" &   +2 "storage"([& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&<' +30 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(B'V +31 "core" ' + "manipulator"&?% +4 "core" % W +2 "storage"(2& +4 "core" &<% H\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&' +13 "core" ' + "manipulator"&H& +4 "core" & -  + "storage"(& +5 "core" &<% P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&j'ы +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'E +41 "core" ' + "manipulator"&m& +5 "core" &   + "manipulator"&Q% +9 "core" %}  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +165 "core" ( + "manipulator"&T& +4 "core" &(  ( ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &(  ?T +2 .tForearm.seek CC +2 "manipulator"&+'" +96 "core" ' + .tHand.close +2 "manipulator"&b/ +53 "core" / +3 .tCC.seek :open + "collection"'6( +416 "core" ( + "storage"(K& +4 "core" &<% o\  +2 "storage"(-& +3 "core" &<% 2\  +2 "manipulator"&d& +3 "core" &) e ?P +2 "manipulator"&X% +3 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +166 "core" ( + "manipulator"&G& +4 "core" & % T g +2 "storage"(i& +4 "core" &<%\ &\ % \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&"' +107 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +62 "core" 1 +2 "manipulator"&x% +4 "core" %   d + "storage"(a& +4 "core" &<% 0\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts + "manipulator"&%' +17 "core" ' +2 "manipulator"&F& +4 "core" & h + "storage"(E& +4 "core" &<%\ 1\ 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +35 "core" ' + "storage"(S% +5 "core" %E\ (\ 5 E\ +2 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (>% +3 "core" %G\ \  >\ Vb + "manipulator"&N% +4 "core" %  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'(& +5 "core" &TVv\ + "manipulator"&.% +4 "core" %\    +2 "storage"(5% +4 "core" %_\ M\ P Z\ + "storage"(/. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(U(K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (f& +3 "core" &K )\  +2 "manipulator"&D& +3 "core" & > h +2 .tElbow.seek 6 + "manipulator"&'( +45 "core" ( +2 "manipulator"&w& +4 "core" &  n + "storage"(k& +4 "core" &K\ &\ % f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&~'a +91 "core" ' +2 "storage"(g& +4 "core" &K\ C\ G \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +282 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &K\ \  f\  + "manipulator"&^& +4 "core" &  l +2 .tElbow.seek 6 + "manipulator"& ( +33 "core" ( +2 "manipulator"&& +4 "core" & - X + "storage"(`& +4 "core" &K\ '\ ' \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(M'X +7 "core" & X + "manipulator"&% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&Y& +5 "core" &( >  ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( a ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'" +93 "core" ' +2 "manipulator"&& +5 "core" &) 2 { ?P + "manipulator"&% +4 "core" % ) 2 \ +2 "collection"'\ & +4 "core" &UUM\ +2 "collection"'& +5 "core" &TW\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &VVM\  +9 &1~UWV\ *z +9 &dUUX\ > +10 &xtWWR\ M +9 &;TUUF\ M +9 &ZTVW\ M +10 &VWWQ\ M +9 &WVWL\ M +9 &EYVVI\ L +10 &YTV@\ M +9 &\\VVE\ M +10 & YVVM\ M +9 &"L[UWE\ M +9 &$ ]UWK\ M +10 &%\\UVG\ M +9 &'WTUG\ M +9 &)TWVUB\ M +10 &+XSVI\ M +9 &,YTVG\ L +9 &.ZUW@\ L +10 &0\\[UVG\ M +9 &2VUTE\ M +10 &3YUT@\ L +9 &5WTWE\ L +9 &7eXTVF\ L +10 &9'YVU@\ L +9 &:ZVVH\ M +9 &<\\VVF\ M +10 &>lXWWH\ M +9 &@/YUVF\ L +10 &AZTWE\ M +9 &C_VV8\ M +10 &EpbUUA\ N +9 &G/nTWF\ O +9 &HUW?\ Q +10 &JVVD\ W +9 &LZVX@\ X +9 &NWU9\ X +10 &OVW5\ X +9 &QVV4\ Y +13 &S[UWD\ [ +6 &UWV8\ Z +9 &VgBVV6\ 1 +9 &VvTW8\ L +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open + "manipulator"&$1 +4 "core" &VeVX9\ L +50 1 +2 "manipulator"&% +4 "core" %  4  ~ \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" &(\ +2 "manipulator"&P% +3 "core" %\ # . 9 +2 "storage"(% +4 "core" %S z\ + "storage"(I. +3 "core" .(K +2 "storage"(t& +3 "core" &K h\  +2 "storage"(& +4 "core" &K 9\  +50 "manipulator"&& +5 "core" &' H >K +2 "manipulator"&h% +3 "core" %\ #  9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +159 "core" ( + "manipulator"&& +4 "core" & % q  +2 "storage"(Z& +4 "core" &K r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&r'a +95 "core" ' + "storage"(& +4 "core" &K K\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&c& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"(R'X +7 "core" & 6  +2 "manipulator"&v% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&}(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&!& +4 "core" &i - S  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &i |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +105 "core" ' +2 "manipulator"&J& +4 "core" &i ' `  +2 "manipulator"&@% +4 "core" %  +2 "processing"%& +3 "core" &,\ +2 "processing"%n& +6 "core" &+\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &3~\ *y +9 &c\ > +14 &v\ N +5 &DY\ M +9 &V\ M +10 &\\\ M +9 &Z\ N +9 &LY\ M +10 &W\ M +9 &[\ M +9 & W\ M +10 &"SZ \ N +9 &$Y \ M +10 &%[\ M +9 &'[ \ M +9 &)[Y\ N +10 &+Y\ M +9 &,Y\ N +10 &.X\ M +9 &0cZ\ N +9 &2&Z\ M +10 &3W\ M +9 &5]\ N +9 &7lY\ M +10 &9.\\\ M +9 &:Z\ M +9 &<Z\ M +10 &>t[ \ M +9 &@6[\ M +10 &AW\ M +9 &C_\ N +9 &Eyd\ N +10 &G7o\ P +9 &H\ R +9 &J\ S +10 &Lt\ S +9 &N6\ S +10 &O\ S +9 &Q\ T +9 &Sy\ T +10 &U;\ T +9 &V\ T +9 &X\ T +10 &Z&Xy\ &r +9 &Z_\ 4 +9 ( +3 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&91 +4 "core" &Z#\ / +61 1 + "manipulator"&% +4 "core" % 1 h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +99 "core" ' +2 "processing"%|& +5 "core" &Z#\ / + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&[% +4 "core" %\ " 9 +2 "storage"(% +3 "core" %` [\ +2 "storage"(?. +3 "core" .(K + "storage"(2& +4 "core" &K U\  +2 "storage"(H& +5 "manipulator"&& +3 "core" &K W\  +2 &i I  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&m(s +2 "storage"(Q'i +5 "core" ( + "manipulator"&7& +4 "core" &i  Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &i @  +2 .tForearm.seek PC +2 "manipulator"&=' +96 "core" ' + .tHand.close + "manipulator"&& +4 "core" &K K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&N'Υ +29 "core" ' +2 .tElbow.hold + "manipulator"&C, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +24 "core" ' +2 "manipulator"&%% +4 "core" %ζ 4 +2 "storage"((& +4 "core" &K m\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&.' +19 "core" ' + "manipulator"&5& +5 "core" &    + "storage"(/& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&V'a +19 "core" ' +2 "storage"(W% +4 "core" %o K\ +3 ."downElevator"SE.seek :down +3 "storage"(q'X +98 (A% +4 "core" %G L\ Wc +2 "manipulator"&f% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (w& +3 "core" &K 7\  +2 "collection"'k& +4 "core" &VdVUw\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&g% +4 "core" %\ #  ; +2 "storage"(;% +3 "core" %R \ +2 "storage"( . +3 "core" .(K + "storage"(_& +4 "core" &K ~\  +2 "storage"(l& +3 "core" &K \  +2 "manipulator"&^& +3 "core" &  ;  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&`& +4 "core" & & 4  +2 "storage"(p& +3 "core" &K P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&{'a +98 "core" ' +2 "storage"(& +4 "core" &K |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +287 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +2 "core" &   +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +31 "core" ' +54 "manipulator"&\ % +6 "core" %ι 5 + "storage"( & +4 "core" &K ^\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&M' +13 "core" ' + "manipulator"&e& +4 "core" & 1  +2 "storage"(6& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&$'a +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +38 "core" ' + "manipulator"& & +4 "core" &   +2 "manipulator"&P% +4 "core" %U ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I( +176 "core" ( + "manipulator"&t& +4 "core" &, 4 k Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- e Cm +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'h( +416 "core" ( + "storage"(y& +4 "core" &K\ \ \  +2 "storage"(& +3 "core" &K\ \  \  +2 "manipulator"&Z& +4 "core" &* + u @Y + "manipulator"&% +4 "core" % & 6 +2 .tForearm.seek :retract +2 "manipulator"&:'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&&( +158 "core" ( + "manipulator"&& +4 "core" &  H +2 "storage"(& +3 "core" &K\ I\ H 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&c'Υ +104 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&1% +4 "core" % ι I +2 "storage"(*& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&v' +18 "core" ' +2 "manipulator"& & +4 "core" &  p + "storage"(r& +4 "core" &K\ J\ E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&s'a +47 "core" ' +2 "storage"(% +4 "core" %R\ A\ C \ +3 ."downElevator"SE.seek :down +3 "storage"(!'X +98 (4% +3 "core" %8F\ \  -\ Va +2 "manipulator"&,% +4 "core" %Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'@& +5 "core" &XWQ\ + "manipulator"&% +4 "core" %\  W  +2 "storage"(R% +4 "core" %b\ %\ % \ + "storage"(u. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(3(,l +656 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &,o \ +2 "manipulator"&& +3 "core" & /  +2 .tElbow.seek 4 +2 "manipulator"&|( +19 "core" ( +2 "manipulator"&[& +4 "core" & 9 ? +2 "storage"(& +3 "core" &,s\ '\ ' m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&?'Ѽ +101 "core" ' +2 "storage"(n& +4 "core" &,s\ E\ H \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &,s\ \  5\ + "manipulator"&7& +4 "core" & s ? +2 .tElbow.seek 4 + "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" &  { ? + "storage"(<& +4 "core" &,s\ \  :\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&B', +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"('X +6 "core" & * ? +2 "manipulator"&Q% +4 "core" % . V j +2 .tForearm.seek :retract + "manipulator"&L'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&]& +4 "core" &- 0  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &-  Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +93 "core" ' +2 "manipulator"&K& +4 "core" &- 0 [ Cr + "manipulator"&m% +4 "core" %! E \ +2 "collection"'d& +4 "core" &TW\ +2 "collection"'X& +6 "core" &UU\ +2 .tCC.seek :closed +2 "collection"'+(V +5 "core" &VW[\ +7 & -VV_\ $d +9 &WTW_\ 7 +9 &}VV^\ L +10 &ZTX_\ M +9 &eZUUW\ M +13 &'ZVUP\ M +6 &\\WV]\ M +9 &WTW[\ L +10 &nWUWX\ L +9 &/YUV\\\ M +9 &ZTVQ\ M +10 &!WUUN\ M +9 &#uZUTP\ M +10 &%6\\UVI\ M +9 &&XVUK\ L +9 &(XUSJ\ M +10 &*}[TWI\ M +9 &,@WWVA\ L +9 &.WURM\ L +10 &/WTTK\ L +9 &1ZTWE\ M +9 &3GVWVH\ M +10 &5\ WVVB\ L +9 &6XTUF\ L +10 &8VVTH\ L +9 &:OYVU=\ M +9 &<ZVVG\ M +10 &=VQWH\ M +9 &?XUVB\ M +9 &AXWTW?\ L +10 &CYTVC\ M +9 &D_WVA\ N +10 &FkWV?\ O +9 &HQ~XV:\ Q +10 &JVW8\ V +9 &KVVE\ X +9 &MVW?\ Y +10 &OCWVB\ Y +9 &QVVD\ Y +9 &RUVA\ [ +10 &TVX@\ [ +9 &V$wTWF\ / +9 &V#TVF\ P +9 ( +3 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&z1 +3 "core" &VoWX=\ L +59 1 + "manipulator"&O% +5 "core" % ! 1 \ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%F& +5 "core" &\ + "manipulator"&b% +4 "core" %\  M  +2 "storage"(o% +4 "core" %\\ J\ + "storage"(>. +3 "core" .(,l +2 "storage"(%& +4 "core" &,s \ + "storage"(T& +4 "core" &,s &\ +2 "manipulator"&(& +3 "core" &- D Cq +2 "manipulator"&G% +3 "core" %\  X  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&5( +155 "core" ( + "manipulator"&/& +4 "core" & $ 6  +2 "storage"(W& +4 "core" &,s :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\\'Ѽ +96 "core" ' +2 "storage"(-& +4 "core" &,s T\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +284 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &,s d\ +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&x( +4 "core" ( + "manipulator"&S& +4 "core" &   +2 "storage"(N& +3 "core" &,s \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&.', +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(g'X +8 "core" &  + "manipulator"&;% +4 "core" % 6 8  +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&_& +5 "core" &n " ^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &n   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +94 "core" ' +2 "manipulator"&`& +4 "core" &n $ I +2 "manipulator"&p% +3 "core" %  Q % +2 "processing"%V& +4 "core" &\ +52 "processing"%& +5 "core" &,\ +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &\  +9 &3\ *y +9 &c\ > +10 &v\ N +9 &FV\ M +9 &[\ M +10 &[\ M +9 &Z\ N +9 &MX\ M +10 &W\ M +9 &Z\ N +9 & Z\ M +10 &"VW\ M +9 &$X\ N +10 &%Y\ M +9 &'\\\ N +9 &)]Z\ M +10 &+V\ M +9 &,[\ M +9 &.Y\ M +10 &0eW\ M +9 &2'[\ M +10 &3Z\ N +9 &5Z \ N +9 &7mY\ M +10 &9/X\ M +9 &:W\ M +9 &<Z\ \ M +10 &>vV\ M +9 &@6Z \ N +10 &AY\ N +9 &C]\ N +10 &Ezb\ N +9 &G9j \ O +9 &H \ R +10 &J\ S +9 &Lt \ S +9 &N5\ S +10 &O\ \ S +9 &Q \ S +9 &Sz\ \ T +10 &U;\ \ T +9 &V\ T +10 &X\ T +9 &Z&X~\ &s +9 &Zc\ 4 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&C1 +4 "core" &Z"\ . +58 1 + "manipulator"&D% +4 "core" % 9 % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +96 "core" ' + "processing"%Y& +5 "core" &Z" \ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\  # +2 "storage"(% +4 "core" %a \ + "storage"(\ . +4 "core" .(,l + "storage"( & +4 "core" &,s k\ +2 "storage"(e& +3 "manipulator"&6& +5 "core" &,s \ + &n " +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"& (s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'i +2 "core" ( +2 "manipulator"&{& +3 "core" &n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n  C +2 .tForearm.seek PC +2 "manipulator"&'' +101 "core" ' +2 .tHand.close + "manipulator"&8/ +54 "core" / +2 .tPC.seek :open +2 "processing"%M( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +41 "core" ' +293 ( + "storage"(& +5 "core" &,s \ + "manipulator"&$& +4 "core" &n  + +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +267 "core" ( +2 "manipulator"&& +4 "core" &  I  + "storage"(y& +4 "core" &,s {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&Z1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(I& +3 "core" &,s 9 < E\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&1( +3 "core" ( +2 "manipulator"&*& +4 "core" & $  + "storage"( & +4 "core" &,s E E \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&r'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +62 "core" ' + "manipulator"&:& +4 "core" & L  +2 "storage"(4& +4 "core" &,s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&,' +35 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(c'i +23 "core" ' + "manipulator"&v% +5 "core" %  a + "storage"(@& +4 "core" &,s F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&'5 +18 "core" ' +2 "manipulator"&R& +4 "core" & 9  +2 "storage"(u& +4 "core" &,s D\ +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 "storage"(s% +4 "core" %q T\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (U% +2 "core" %I \ Xf +2 "manipulator"&9% +4 "core" %Ѭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +75 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +4 "core" &,s \ +2 "collection"'& +4 "core" &VnUVG\ L + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&n% +4 "core" %\   +2 "storage"( % +4 "core" %a \ + "storage"(J. +4 "core" .(,l + "storage"(& +4 "core" &,s 0\ + "storage"(H& +4 "core" &,s l\ +2 "manipulator"&7& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&<& +4 "core" & %  +2 "storage"(}& +3 "core" &,s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&)'Ѽ +91 "core" ' +2 "storage"(Q& +4 "core" &,s }\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(|'i +284 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +2 "core" &   +3 "storage"(=& +3 "core" &,s 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&2' +33 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(K- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'U +39 "core" ' + "manipulator"&m% +4 "core" % c +2 "storage"(d& +3 "core" &,s K\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +19 "core" ' + "manipulator"&L& +5 "core" &   + "storage"(h& +4 "core" &,s I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&z'Ѽ +14 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(O'D +37 "core" ' + "manipulator"&F& +5 "core" &   + "manipulator"&b% +4 "core" %ѵ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +173 "core" ( +2 "manipulator"&X& +4 "core" &- ' Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &- Co +2 .tForearm.seek CC +2 "manipulator"&T'" +92 "core" ' + .tHand.close + "manipulator"&(/ +60 "core" / +2 .tCC.seek :open +2 "collection"'G( +415 "core" ( +2 "storage"(0& +4 "core" &,s\ \  J\ + "storage"(/& +4 "core" &,s\ \  \ + "manipulator"&W& +4 "core" &- % Cm +2 "manipulator"&-% +3 "core" % - K \ +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&a( +156 "core" ( + "manipulator"&A& +5 "core" & $ i  + "storage"(f& +4 "core" &,s\ (\ 1 #\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&E' +108 "core" ' + .tElbow.hold + "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +51 .tHand.open +2 "manipulator"&N1 +60 "core" 1 +3 "manipulator"&w% +4 "core" %  . K " + "storage"(k& +4 "core" &,s\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&;'= +19 "core" ' + "manipulator"&5& +4 "core" & a  +2 "storage"(\\& +4 "core" &,s\ N\ F ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&i'Ѽ +28 "core" ' + "storage"(.% +5 "core" %N\ <\ ? ?\ +2 ."downElevator"SE.seek :down +4 "storage"(_'X +99 (l% +2 "core" %KI\ \  &\ Wc +2 "manipulator"&x% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'p& +4 "core" &TUE\ + "manipulator"&V% +4 "core" %\  / +2 "storage"(g% +4 "core" %R\ %\ % I\ +2 "storage"( . +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +2 "core" &<' I\  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&Y( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(& +3 "core" &<$\ '\ ' u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ 'ы +90 "core" ' + "storage"( & +5 "core" &<$\ M\ E !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" &<$\ \ " /\  +2 "manipulator"&{& +4 "core" & e  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&^& +3 "core" & % +  +2 "storage"(8& +4 "core" &<$\ 2\ 1\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +64 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(q'X +7 "core" & W  +2 "manipulator"&P% +4 "core" %   F + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&& +5 "core" &. N ) E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &/ 3 E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 "manipulator"&y& +4 "core" &/ 8 E +2 "manipulator"& % +4 "core" %* Q + "collection"'Z& +4 "core" &UV_\ +2 "collection"'& +5 "core" &UW\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &VUZ\  +9 &1VVb\ *y +10 &dUU`\ > +9 &stUV_\ M +9 &6WUW\\\ M +9 &\\TUa\ M +10 &WUU_\ M +9 &}WVT\\\ L +10 &?XUW[\ L +9 &YVV^\ L +9 &XTWY\ L +10 & YWU`\ M +9 &"E]VTN\ M +9 &$ XUW[\ L +10 &%[UVK\ M +9 &'VTVL\ M +9 &)NVUWJ\ M +10 &+YVVU\ L +9 &,WUWP\ L +10 &.ZTUN\ M +9 &0U\\TUN\ M +9 &2XSWM\ L +10 &3YSVD\ L +9 &5WUVG\ L +9 &7_XVW>\ L +10 &9 WUWC\ M +9 &:ZVVK\ L +10 &<\\TUM\ M +9 &>fYTWN\ M +9 &@(\\UUI\ M +10 &A]TW=\ M +9 &CYTW>\ M +9 &EjeUV;\ N +10 &G'rWW:\ P +9 &HTV;\ R +10 &JWW:\ W +9 &LUWW;\ X +10 &NVU?\ X +9 &OTU<\ Y +9 &QWW:\ Y +9 &SVUW<\ Z +10 &UUV@\ [ +9 &VfDTWA\ 1 +10 &VwVVE\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open + "manipulator"&I1 +4 "core" &VnVWC\ K +53 1 + "manipulator"&% +4 "core" % * 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&% +4 "core" %\ # s ; + "storage"(:% +4 "core" %T `\ + "storage"(4. +3 "core" .(<* +2 "storage"(t& +4 "core" &<$ +\  + "storage"(v& +4 "core" &<$ ?\  +2 "manipulator"&@& +4 "core" &/ 6 E| + "manipulator"&% +4 "core" %\ # 4 ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&R( +162 "core" ( + "manipulator"&u& +4 "core" &  r +2 "storage"(s& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +87 "core" ' + "storage"(& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (9& +3 "core" &<$ \  + "manipulator"&r& +4 "core" &  r +2 .tElbow.seek 5 + "manipulator"&1( +4 "core" ( + "manipulator"&& +4 "core" &  c r +2 "storage"(,& +3 "core" &<$ q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(n'X +7 "core" & r +2 "manipulator"&c% +3 "core" % U R +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(s +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" &o ) _  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &o   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7' +106 "core" ' + "manipulator"&<& +5 "core" &o   + "manipulator"&}% +4 "core" % $ v +2 "processing"%& +4 "core" &\ +2 "processing"%Q& +4 "core" &*\ +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" &\  +8 &5\ *z +10 &f\ ? +9 &s\ N +9 &PY\ M +10 &\\\ M +9 &Z\ M +9 &Z\ M +10 &YU\ M +9 &W\ M +10 &Z\ M +9 & Y\ M +9 &"_Y\ N +10 &$"X\ M +9 &%U\ M +10 &'\\\ N +9 &)hX \ M +9 &+*U\ M +10 &,W\ N +9 &.W\ M +9 &0oY \ N +10 &21Y\ N +9 &3Y \ N +10 &5Z \ N +9 &7xW\ M +9 &9:V\ M +10 &:U\ M +9 &<Y\ N +9 &>Y \ M +11 &@A[\ N +12 &BY\ M +5 &CY\ N +10 &E_\ N +9 &GDn\ O +10 &H\ R +9 &J\ S +9 &L~\ S +10 &N@\ S +9 &P\ \ S +9 &Q\ T +10 &S \ T +9 &UF\ T +10 &W\ T +9 &X\ T +9 &Z*Pm\ , +10 &ZL\ / +5 ( +2 "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&&1 +4 "core" &Z$\ / +55 1 + "manipulator"&% +4 "core" % ( e v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +90 "core" ' +2 "processing"%]& +4 "core" &Z!\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&=% +4 "core" %\  y  +2 "storage"(K% +3 "core" %U E\ +2 "storage"(m. +3 "core" .(<* + "storage"(d& +4 "core" &<$ W\  +2 "storage"(L& +5 "manipulator"&h& +3 "core" &<$ 4\  + &o   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&F(s +2 "storage"(b'i +5 "core" ( + "manipulator"&)& +4 "core" &o p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o Y  +2 .tForearm.seek PC +2 "manipulator"&|' +96 "core" ' +2 .tHand.close + "manipulator"&2/ +63 "core" / +2 .tPC.seek :open +51 "processing"%( +33 "core" ' + "storage"(#- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +47 "core" ' +343 ( +2 "storage"(%& +4 "core" &<$ o\  +2 "manipulator"&z& +3 "core" &o   +2 "manipulator"&B% +8 "core" %  D +2 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&o( +273 "core" ( +2 "manipulator"&+& +4 "core" & % |  + "storage"(0& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&/'ы +101 "core" ' +2 .tHand.open + "manipulator"&W1 +60 "core" 1 +2 "storage"(-- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(>& +4 "core" &<$ i f \  +2 "manipulator"&N& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&w( +3 "core" ( + "manipulator"&k& +4 "core" &    +2 "storage"(5& +3 "core" &<$ i i \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +56 "core" ' +2 "manipulator"&.& +4 "core" &   +2 "storage"(a& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +21 "core" ' +2 "manipulator"&;% +4 "core" % E +2 "storage"(p& +4 "core" &<$ N\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&V'\ +12 "core" ' +2 "manipulator"&g& +4 "core" &  `  + "storage"( & +4 "core" &<$ <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&O'ы +26 "core" ' + "storage"(i% +4 "core" %o y\ +3 ."downElevator"SE.seek :down +3 "storage"(_'X +99 (3% +2 "core" %9L U\ Xf +2 "manipulator"&C% +4 "core" % * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<$ u\  + "collection"'& +4 "core" &VnVX}\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\  4 +2 "storage"(S% +3 "core" %a \ +2 "storage"(`. +3 "core" .(<* + "storage"(6& +4 "core" &<$ \  +2 "storage"(e& +3 "core" &<$ \  +2 "manipulator"&{& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&^( +4 "core" ( + "manipulator"&8& +4 "core" & & z  + "storage"("& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&~'ы +105 "core" ' + "storage"(P& +5 "core" &<$ x\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'i +287 "core" ' +3 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &   +2 "storage"('& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'V +32 "core" ' +2 "manipulator"& % +4 "core" % k + "storage"(Z& +4 "core" &<$ e\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&q' +12 "core" ' +2 "manipulator"&& +4 "core" & \\  +2 "storage"(G& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +44 "core" ' +2 "manipulator"& & +4 "core" &   + "manipulator"&% +4 "core" %ы O e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +164 "core" ( +2 "manipulator"&t& +4 "core" &*  k Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ > Bf +2 .tForearm.seek CC +2 "manipulator"&v'" +93 "core" ' + .tHand.close +2 "manipulator"&@/ +55 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &<$ k\  + "storage"(u& +4 "core" &<$ \  + "manipulator"&s& +4 "core" &, j Bf + "manipulator"&% +4 "core" % . - +2 .tForearm.seek :retract +2 "manipulator"&$'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&*( +165 "core" ( +2 "manipulator"&U& +4 "core" & %  ` + "storage"(9& +4 "core" &<$\ \  ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&r' +105 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&,1 +61 "core" 1 +2 "manipulator"&[% +4 "core" %  T +3 "storage"(& +3 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&c' +16 "core" ' + "manipulator"&R& +4 "core" & V a +2 "storage"(& +4 "core" &<$\ 2\ 1 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +15 "core" ' +2 "storage"(% +4 "core" %K\ C\ 6 \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (H% +3 "core" %G\ \  \ Vb +2 "manipulator"&1% +3 "core" %ц  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'}& +5 "core" &UW\ + "manipulator"&% +4 "core" %\  ^  +2 "storage"(n% +3 "core" %V\ &\ % \ +2 "storage"( . +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(M(K +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &K \  +2 "manipulator"&& +4 "core" & q a + .tElbow.seek 6 +2 "manipulator"&]( +40 "core" ( + "manipulator"&=& +4 "core" &\ % = E +2 "storage"(K& +3 "core" &K\ '\ ' g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&m'a +91 "core" ' +2 "storage"(d& +4 "core" &K\ D\ I (\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +280 "core" ' +2 "storage"(L- +4 "core" -' +2 .tSE.configure :default +51 "storage"(#QK-0-\ b +4 (Q& +2 "core" &K\ \  \  +2 "manipulator"&)& +3 "core" &  E +2 .tElbow.seek 6 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&7& +4 "core" &  '  + "storage"(2& +4 "core" &K\ 2\ 2\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&#' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&?& + "storage"(!'X +6 "core" & X  +2 "manipulator"&b% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +20 "core" ( +2 "manipulator"&B& +5 "core" &+  T W Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &+ Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'" +97 "core" ' + "manipulator"&0& +9 "core" &, . O Bk +2 "manipulator"&F% +4 "core" %* +2 "collection"'W& +4 "core" &TW_\ +2 "collection"'-& +5 "core" &UW[\ +2 .tCC.seek :closed +2 "collection"'T(V +4 "core" &UV[\  +10 &1STb\ *x +9 &dWVa\ > +9 &ruVVa\ N +10 &7WWWg\ M +9 &[UU_\ M +10 &VTWZ\ M +9 &~XSU]\ L +9 &@WUT`\ L +10 &WVVb\ L +9 &WMW`\ L +9 & YUVI\ M +10 &"G\\TVZ\ M +9 &$\ XTW^\ L +9 &%ZVVZ\ M +10 &'VUW_\ M +9 &)OUUT^\ M +10 &+WVW^\ M +9 &,UUW^\ L +9 &.XUU]\ M +10 &0W\\VU\\\ M +9 &2UVU[\ M +9 &3VSVX\ M +10 &5UVUN\ M +9 &7_UUXM\ M +10 &9"UTWQ\ L +9 &:ZRVK\ M +9 &<ZWWL\ M +10 &>g\\VUA\ M +9 &@)[VTL\ M +9 &AVUVB\ M +10 &CYVWC\ M +9 &Ek`UVN\ N +10 &G*mWWH\ O +9 &HUVE\ Q +9 &JSUP\ V +10 &LWWWB\ X +9 &NWW=\ W +10 &OWV=\ Y +9 &QVW=\ Y +9 &SXTVM\ Z +10 &UUXJ\ [ +9 &VgCVWE\ 1 +10 &VvVW>\ K +5 ( + "collection"'-& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open + "manipulator"&>1 +4 "core" &VeUV9\ K +56 1 + "manipulator"&N% +4 "core" % *  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%5& +4 "core" &\ +2 "manipulator"&(% +4 "core" %\ D  +2 "storage"(.% +3 "core" %T \ +2 "storage"(a. +3 "core" .(K + "storage"(X& +4 "core" &K Y\  +2 "storage"(;& +3 "core" &K c\  +2 "manipulator"&p& +4 "core" &+  Bk + "manipulator"&A% +4 "core" %\ 0   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&g( +152 "core" ( +2 "manipulator"& & +4 "core" & S  + "storage"(i& +4 "core" &K P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&o'a +97 "core" ' + "storage"(/& +4 "core" &K p\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'i +284 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &K 9\  + "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&w( +4 "core" ( + "manipulator"&j& +4 "core" &  K  + "storage"(l& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +6 "core" & |  +2 "manipulator"&S% +4 "core" % U +2 .tForearm.seek :retract + "manipulator"&E'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&`(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( + "manipulator"&6& +4 "core" &i 1 = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &i  T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{' +99 "core" ' + "manipulator"&8& +4 "core" &i $ L +2 "manipulator"&"% +4 "core" %  Y +2 "processing"%O& +4 "core" &\ +2 "processing"%P& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%_(Z +3 "core" &\ +6 &\ 6 +10 &?I{\ / +9 &dp\ D +10 &e\ N +9 &Y\ M +9 &U\ M +10 &K[\ M +9 & [\ M +9 &Z \ N +10 &W\ N +9 &RY\ N +9 &!U\ M +10 &"[\ N +9 &$X"\ M +10 &&\\T\ M +9 &(Z\ M +9 &)[\ M +10 &+W\ M +9 &-cU"\ M +14 &/%V\ M +5 &0W\ N +9 &2X\ M +10 &4kZ\ M +9 &6-X\ M +9 &7V\ M +10 &9Y\ M +9 &;sU\ M +9 &=5[\ M +10 &>Y\ N +9 &@Y\ N +10 &B{Z\ M +9 &D=\\ \ M +10 &Ed\ N +9 &Gw\ P +9 &Is\ S +10 &K6\ R +9 &L\ S +9 &N\ S +10 &Py \ S +9 &R: \ T +10 &S\ T +9 &U \ T +9 &W~\ T +10 &Y@\ A +9 &Z]Ar\ ^ +9 &Z6\ - +6 ( + "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&x1 +4 "core" &Z \ - +51 1 +2 "manipulator"&D% +4 "core" % " 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +96 "core" ' +3 "processing"%& +4 "core" &Z \ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&'% +3 "core" %\  3 * +2 "storage"(% +3 "core" %a [\  +2 "storage"( . +4 "core" .(K + "storage"(Z& +4 "core" &K X\  +2 "storage"(& +4 "manipulator"&G& +4 "core" &K _\  + &i . N +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"& (s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&~& +4 "core" &i l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &i c +2 .tForearm.seek PC +2 "manipulator"&Y' +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%q( +90 "core" ' +2 "storage"(y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +45 "core" ' +287 ( + "storage"(& +4 "core" &K 3\  +2 "manipulator"&I& +3 "core" &i u +2 "manipulator"&% +4 "core" % G +2 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&:( +264 "core" ( + "manipulator"&& +4 "core" & $ b  +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&u'a +98 "core" ' +2 .tHand.open + "manipulator"&s1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(U'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(9' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(4& +3 "core" &K S S \  +2 "manipulator"&,& +4 "core" &  4  +2 .tElbow.seek 6 +2 "manipulator"&[( +3 "core" ( + "manipulator"&& +4 "core" & % ?  + "storage"(R& +4 "core" &K R S\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +61 "core" ' + "manipulator"&$& +4 "core" &   +2 "storage"(H& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +51 "manipulator"&1'Υ +35 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'i +23 "core" ' +2 "manipulator"&}% +4 "core" %ε +2 "storage"(c& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&n& +4 "core" & $  +2 "storage"( & +4 "core" &K |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +35 "core" ' +2 "storage"(% +4 "core" %q ?\  +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (% +3 "core" %lK ~\ Xg +2 "manipulator"&&% +4 "core" %b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" &K q\  +2 "collection"'K& +4 "core" &VdUW|\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&d% +4 "core" %\ "  # ; +2 "storage"(% +4 "core" %a \ + "storage"(<. +3 "core" .(K +2 "storage"(L& +3 "core" &K g\  +2 "storage"(Q& +4 "core" &K {\  +2 "manipulator"&)& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&2& +3 "core" & %   +2 "storage"(J& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +89 "core" ' +2 "storage"(b& +4 "core" &K T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +279 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" &   +2 "storage"(h& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&|'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +27 "core" ' + "manipulator"&F% +4 "core" %η m +2 "storage"(W& +3 "core" &K .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&!' +13 "core" ' + "manipulator"&%& +4 "core" &   +2 "storage"(& +4 "core" &K b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&>'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(N'H +36 "core" ' +2 "manipulator"&5& +4 "core" &   +2 "manipulator"&(% +4 "core" %G S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +165 "core" ( +2 "manipulator"&-& +4 "core" &*  j @X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &)  @X +2 .tForearm.seek CC +2 "manipulator"&;'" +96 "core" ' +2 .tHand.close + "manipulator"&p/ +61 "core" / +2 .tCC.seek :open +2 "collection"'A( +416 "core" ( + "storage"(+& +4 "core" &K\ \  ,\  +2 "storage"( & +3 "core" &K\ \ \  +2 "manipulator"&i& +3 "core" &( # ( ?V +2 "manipulator"&/% +4 "core" % - + + .tForearm.seek :retract +2 "manipulator"&z'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&k( +196 "core" ( +2 "manipulator"&3& +4 "core" &  t j + "storage"(C& +4 "core" &K\ %\ % p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&\\'Υ +111 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&l1 +59 "core" 1 +3 "manipulator"&% +5 "core" % ε s + "storage"(& +4 "core" &K '\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&S' +20 "core" ' +2 "manipulator"&g& +4 "core" &  @ i + "storage"(o& +4 "core" &K\ H\ J \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&f'a +16 "core" ' +2 "storage"(V% +4 "core" %N\ E\ I Y\  +3 ."downElevator"SE.seek :down +3 "storage"(6'X +98 (e% +3 "core" %H\ \  *\ Vb +2 "manipulator"&w% +4 "core" %M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +96 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'"& +4 "core" &TW\ +2 "manipulator"&O% +4 "core" %\    + "storage"( % +4 "core" %S\ I\ D \ +2 "storage"(E. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +656 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &,o 9\ +2 "manipulator"&D& +4 "core" &  i +2 .tElbow.seek 4 +2 "manipulator"&( +26 "core" ( + "manipulator"&'& +4 "core" & \ M +2 "storage"(& +3 "core" &,r\ J\ I \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +96 "core" ' +6 "storage"(Z& +5 "core" &,r\ F\ Q k\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" &,r\ \  ;\ + "manipulator"&~& +4 "core" & t M +2 .tElbow.seek 4 + "manipulator"&^( +4 "core" ( + "manipulator"&{& +3 "core" &  L M +2 "storage"(& +5 "core" &,r\ &\ ' \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&y', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"(_'X +7 "core" & } M +2 "manipulator"&% +4 "core" % . #  + .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&& +4 "core" &* @ M @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &) @Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +2 "manipulator"&& +4 "core" &* . ( @Y +2 "manipulator"& % +4 "core" %!  +2 "collection"'s& +3 "core" &UV\ +2 "collection"'& +5 "core" &UT\ +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" &WUp\  +8 &2VVj\ )w +10 &cTVn\ > +9 &uwSVd\ M +9 &7XVV[\ M +10 &XTT[\ L +9 &XUV`\ M +9 &}ZTT[\ M +10 &@WTS[\ M +9 &]TU\\\ L +10 &WQW[\ M +9 & YVV\\\ L +9 &"HZUWc\ M +10 &$\ \\VVd\ M +9 &%^VVc\ M +9 &'\\TWc\ L +10 &)PWTWf\ M +9 &+\\UWb\ M +10 &,YVV\\\ M +9 &.XTW[\ M +9 &0XXWV`\ M +10 &2UTV]\ L +9 &3YSU_\ L +9 &5WUV`\ L +10 &7`[TU`\ M +9 &9"YTU]\ M +9 &:XTW^\ M +10 &<[TW]\ L +9 &>iYRV^\ L +10 &@)\\TUV\ M +9 &AWUWS\ M +9 &CYTTP\ M +10 &EmcVXP\ N +9 &G*nUWQ\ O +9 &HWVN\ R +10 &JUXU\ W +9 &LWWWN\ X +10 &NUWN\ X +9 &OUVM\ Y +9 &QWVN\ Y +10 &SWTUM\ [ +9 &UUVM\ Z +10 &VdCYVN\ 2 +9 &VwUWP\ K +5 ( +56 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open +2 "manipulator"&41 +4 "core" &VbUXF\ K + &VbUVJ\ K &VbVVL\ K + &VbTWH\ K + &VbVVK\ K + &VbVWV\ K +56 1 + "manipulator"&,% +4 "core" % ! 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%R& +5 "core" &%\ + "manipulator"&@% +4 "core" %\ ! 1 0 +2 "storage"($% +3 "core" %S \ +2 "storage"(H. +3 "core" .(,l + "storage"(t& +4 "core" &,r e\ +2 "storage"(U& +3 "core" &,r c\ +2 "manipulator"&}& +4 "core" &) 3 @X + "manipulator"&c% +4 "core" %\ ! K 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&n( +174 "core" ( + "manipulator"& & +4 "core" & % = +2 "storage"(:& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&u'Ѽ +103 "core" ' +2 "storage"(9& +5 "core" &,r S\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,r \ +2 "manipulator"&&& +3 "core" &  = +2 .tElbow.seek 4 +2 "manipulator"&[( +3 "core" ( + "manipulator"&& +4 "core" &  i = + "storage"(1& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(d'X +8 "core" & U = + "manipulator"&% +4 "core" % .  S +2 .tForearm.seek :retract +2 "manipulator"&<'\ +97 "core" ' +3 .tElbow.seek PC +2 "manipulator"&L(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&r& +4 "core" &s @   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &s    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +100 "core" ' + "manipulator"&2& +4 "core" &s $ 8  +2 "manipulator"&J% +4 "core" %  +2 "processing"%& +3 "core" &*\ +2 "processing"%b& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &#\ +7 &?(\ $e +10 &U~'\ 7 +9 &}*\ L +9 &X\ M +10 &q]\ M +9 &2X\ N +9 &Y"\ N +10 &W\ M +9 &y[%\ M +10 &:Y)\ N +9 &Z(\ N +9 &!Y*\ N +10 &#Y\ M +9 &%CV\ M +9 &'Z)\ M +10 &(Y-\ N +9 &*Y\ M +10 &,JY$\ N +9 &. Z#\ M +9 &/Y"\ M +10 &1U#\ M +9 &3RY&\ N +9 &5X%\ M +10 &6X%\ M +9 &8T%\ M +9 &:[W$\ M +10 &<U$\ M +9 &=Y"\ M +10 &?[ \ M +9 &AcY$\ M +9 &C%X\ M +10 &D^"\ N +9 &Fg(\ O +9 &H_{)\ Q +10 &J\ S +9 &K\ S +10 &M%\ S +9 &Ob \ S +9 &Q"\ T +10 &R%\ T +9 &T\ T +9 &Vg\ T +10 &X'\ U +9 &Y{s\ 0 +10 &Z&e!\ L +9 &Z#\ 0 +2 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&*1 +60 "core" 1 +2 "manipulator"&% +4 "core" % . 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +3 "processing"%B& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&h% +4 "core" %\  G  + "storage"(0% +4 "core" %` \ +2 "storage"(F. +3 "core" .(,l + "storage"(W& +4 "core" &,r }\ +2 "storage"(%& +4 "manipulator"&& +4 "core" &,r R\ + &s 0  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&5(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(('i +3 "core" ( + "manipulator"&?& +4 "core" &s E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &s 2 m  +2 .tForearm.seek PC +2 "manipulator"&]' +93 "core" ' + .tHand.close + "manipulator"&|/ +63 "core" / +2 .tPC.seek :open +2 "processing"%!( +93 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'y +41 "core" ' +289 ( + "storage"(X& +4 "core" &,r T\ +2 "manipulator"&>& +3 "core" &s 1  +2 "manipulator"&#% +3 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&.( +272 "core" ( + "manipulator"&T& +5 "core" & % B  +2 "storage"(+& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +105 "core" ' +2 .tHand.open +2 "manipulator"&i1 +63 "core" 1 +2 "storage"(/- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(;'E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(a& +4 "core" &,r i [ #\ + "manipulator"&l& +4 "core" & !  +2 .tElbow.seek 4 +2 "manipulator"&( +6 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(g& +3 "core" &,r m l \ +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(V' +60 "core" ' +2 "manipulator"&z& +4 "core" &   +2 "storage"(e& +3 "core" &,r P\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&w' +36 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\\'i +22 "core" ' +2 "manipulator"&"% +4 "core" % +2 "storage"(S& +4 "core" &,r '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&O'@ +13 "core" ' + "manipulator"& & +5 "core" & h  + "storage"(E& +4 "core" &,r x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +22 "core" ' +2 "storage"(f% +4 "core" %q /\ +3 ."downElevator"SE.seek :down +3 "storage"(6'X +98 (M% +3 "core" %D ?\ Wc +2 "manipulator"&x% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ('& +3 "core" &,r l\ +2 "collection"'& +4 "core" &VbVW9\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&Z% +4 "core" %\  y  +2 "storage"(j% +3 "core" %` F\ +2 "storage"(8. +3 "core" .(,l +2 "storage"(G& +4 "core" &,r I\ + "storage"(P& +4 "core" &,r N\ + "manipulator"&~& +4 "core" & N  +2 .tElbow.seek 4 +2 "manipulator"&{( +3 "core" ( + "manipulator"&& +4 "core" & % |  +2 "storage"(`& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +110 "core" ' + "storage"(& +4 "core" &,r |\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +50 "storage"( - +5 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(Y& +4 "core" &,r W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +37 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(^'U +31 "core" ' +2 "manipulator"& % +4 "core" % ] s + "storage"(s& +4 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&_'; +16 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(A& +4 "core" &,r >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&4'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'D +39 "core" ' +2 "manipulator"&R& +4 "core" & :  +2 "manipulator"&@% +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +162 "core" ( +2 "manipulator"&& +4 "core" &( 3  P ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &' Y ?P +2 .tForearm.seek CC + "manipulator"&U'" +94 "core" ' + .tHand.close +2 "manipulator"&}/ +63 "core" / + .tCC.seek :open +2 "collection"'c( +416 "core" ( + "storage"(& +5 "core" &,r\ \ @\ + "storage"( & +4 "core" &,r m\ +2 "manipulator"&:& +3 "core" &' @ >O +2 "manipulator"&9% +4 "core" % ) l  +2 .tForearm.seek :retract + "manipulator"&I'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( + "manipulator"&& +5 "core" &  # A + "storage"(& +4 "core" &,r\ '\ 1 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&&' +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&11 +61 "core" 1 +2 "manipulator"&=% +4 "core" %  ' n + "storage"(K& +4 "core" &,r\ \  D\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 314 counts + "manipulator"&': +14 "core" ' +3 "manipulator"&n& +4 "core" & ! A +2 "storage"(u& +3 "core" &,r\ %\ % B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +26 "core" ' + "storage"(% +5 "core" %H\ I\ 6 w\ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +98 (Q% +3 "core" %G\ \  2\ Wd +2 "manipulator"&[% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'J& +4 "core" &WU\ +2 "manipulator"&% +4 "core" %\    + "storage"(d% +4 "core" %`\ %\ % {\ + "storage"(<. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(q(<* +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +2 "core" &<+ A\  +2 "manipulator"&& +4 "core" &  A +2 .tElbow.seek 5 +2 "manipulator"&B( +15 "core" ( +2 "manipulator"&h& +4 "core" &   # + "storage"(0& +4 "core" &<'\ %\ ' i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&F'ы +95 "core" ' +2 "storage"(W& +4 "core" &<'\ I\ E N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &<'\ \  <\  + "manipulator"&?& +4 "core" &  # +2 .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( + "manipulator"&)& +4 "core" &  d # +2 "storage"(|& +3 "core" &<'\ &\ " \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"('X +8 "core" & ( # + "manipulator"&(% +3 "core" % i @ +3 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&#& +4 "core" &%  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &% c <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'" +96 "core" ' +2 "manipulator"&+& +4 "core" &%  - T <: +2 "manipulator"&5% +4 "core" % } +2 "collection"'i& +3 "core" &RU\ +3 "collection"'/& +5 "core" &TU\ +2 .tCC.seek :closed +2 "collection"'C(V +4 "core" &TUp\  +8 &1~RWq\ *x +9 &dUU`\ > +10 &stTX`\ N +9 &8UTVb\ M +9 &VTVc\ M +10 &UWW_\ M +9 &WTU]\ L +14 &AWVU[\ L +5 &WSV`\ M +9 &YUS]\ M +10 & ZUVc\ M +9 &"HWUWb\ M +9 &$\ WTT`\ M +10 &%XTU^\ M +9 &'WUV_\ L +10 &)QVUWa\ L +9 &+WTVg\ L +9 &,VVUc\ L +10 &.WUWb\ L +9 &0XXTU[\ M +9 &2YUT]\ M +10 &3UVU]\ L +9 &5VXW`\ M +10 &7_WVV`\ M +9 &9"TVU_\ M +9 &:WUU_\ M +10 &<YVV_\ M +9 &>hWUV_\ M +9 &@*UWVT\ M +10 &AWSVU\ L +9 &CZUS[\ M +9 &EmaTVP\ N +10 &G*oXTQ\ O +9 &HUV[\ R +10 &JUVV\ W +9 &LWVUN\ X +9 &NUVT\ X +10 &OWT^\ Y +9 &QVVZ\ Y +9 &SXVWS\ Z +10 &USVV\ [ +9 &ViEUV]\ 1 +10 &VvVWV\ K +5 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&a1 +3 "core" &VnVWN\ K +56 1 + "manipulator"&l% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &*\ + "manipulator"&g% +4 "core" %\  -  +2 "storage"(z% +3 "core" %b \ +2 "storage"(e. +3 "core" .(<* + "storage"(-& +4 "core" &<' '\  + "storage"("& +9 "core" &<' #\  +2 "manipulator"&S& +4 "core" &#  9 :0 + "manipulator"&;% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +166 "core" ( +2 "manipulator"&E& +4 "core" &  T D + "storage"(f& +4 "core" &<' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&.'ы +95 "core" ' +2 "storage"( & +4 "core" &<' \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'i +281 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (x& +3 "core" &<' !\  +2 "manipulator"&o& +3 "core" & \ D +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&V& +4 "core" & $ 8 D + "storage"(w& +4 "core" &<' e\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(Z'X +6 "core" & ; D +2 "manipulator"&j% +4 "core" %   +2 .tForearm.seek :retract +51 "manipulator"&8'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&\\(s +114 "core" ' + ."downElevator"SE.stop + "storage"(5 +131 "core" ( +2 "manipulator"&G& +5 "core" &o ; l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &o ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +102 "core" ' +2 "manipulator"&& +4 "core" &o % w +2 "manipulator"&`% +4 "core" %   + "processing"%N& +4 "core" &%\ +2 "processing"%& +5 "core" & \ +3 .tPC.seek :closed +3 "processing"%6(Z +3 "core" &!\ +6 &;*\ $d +9 &V*\ 7 +10 &~}%\ K +9 &Y%\ M +9 &b\\(\ N +10 &%Y,\ M +9 &W+\ M +9 &W$\ M +10 &kW&\ M +9 &-Y(\ M +10 &W#\ M +9 &!W*\ M +9 &#s]'\ M +10 &%5X%\ M +9 &&U&\ M +10 &(Z&\ M +9 &*{Z&\ M +9 &,<Z+\ N +10 &-Z*\ N +9 &/Y(\ N +9 &1X&\ N +10 &3EZ*\ M +9 &5Y)\ M +9 &6Z%\ M +10 &8Z(\ M +12 &:NW$\ M +7 &<Y)\ N +9 &=U(\ M +9 &?Z$\ M +10 &AUZ+\ M +9 &CW)\ N +10 &DZ'\ N +9 &Fe\ O +9 &HRv\ Q +10 &J%\ S +9 &K+\ S +9 &M$\ S +10 &OT'\ S +9 &Q&\ T +10 &R%\ T +9 &T\ T +9 &VW(\ U +10 &X\ T +9 &Yzm\ 7 +9 &Z0\ G +10 &Z\ ) +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&k1 +62 "core" 1 + "manipulator"&D% +5 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 "processing"%& +4 "core" &Z,\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Y% +4 "core" %\  o  +2 "storage"(% +3 "core" %a L\ +2 "storage"( . +3 "core" .(<* + "storage"(s& +4 "core" &<' \  +2 "storage"(& +5 "manipulator"&A& +4 "core" &<' #\  + &o 3 +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&R(s + "storage"(@'i +5 "core" ( + "manipulator"&\ & +4 "core" &o L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &o 6 +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%_( +85 "core" ' +2 "storage"(^- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +297 ( + "storage"(t& +4 "core" &<' F\  + "manipulator"&4& +4 "core" &o  R +2 "manipulator"&y% +3 "core" % g  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&$( +273 "core" ( +2 "manipulator"&v& +4 "core" & % p \ +2 "storage"(& +3 "core" &<' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +94 "core" ' +2 .tHand.open + "manipulator"&:1 +62 "core" 1 + "storage"(9- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(H& +3 "core" &<' J U G\  +2 "manipulator"&1& +4 "core" & k \ + .tElbow.seek 5 +2 "manipulator"&=( +4 "core" ( + "manipulator"&K& +4 "core" &  \ +2 "storage"(n& +3 "core" &<' B ; \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&u'ы +25 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&I& +4 "core" &  \ +2 "storage"(Q& +4 "core" &<' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&[' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(&'i +22 "core" ' + "manipulator"&% +4 "core" % V +2 "storage"(J& +4 "core" &<' \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +12 "core" ' + "manipulator"&d& +5 "core" &  + "storage"(<& +4 "core" &<' \  w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&,'ы +24 "core" ' + "storage"(% +4 "core" %s :\ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (% +3 "core" %N K\ Wf +2 "manipulator"&*% +4 "core" %ѷ , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (h& +4 "core" &<' e\  +2 "collection"'0& +3 "core" &VnVWK\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&W% +4 "core" %\ \   +2 "storage"(% +4 "core" %T \ + "storage"(2. +3 "core" .(<* +2 "storage"(& +4 "core" &<' \  + "storage"(b& +4 "core" &<' \  + "manipulator"&?& +4 "core" & : +2 .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( + "manipulator"&|& +4 "core" &  9 + "storage"(L& +4 "core" &<' M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&m'ы +93 "core" ' +2 "storage"((& +4 "core" &<' b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +283 "core" ' +2 "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &  +2 "storage"(]& +3 "core" &<' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(5'U +38 "core" ' +2 "manipulator"&i% +4 "core" % v + "storage"(7& +4 "core" &<' L\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&X& +4 "core" & l + "storage"(c& +4 "core" &<' G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&a'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(l'D +39 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&g% +4 "core" %n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +166 "core" ( +2 "manipulator"&-& +4 "core" &+ 3 V A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &*  A` +2 .tForearm.seek CC + "manipulator"&/'" +94 "core" ' +2 .tHand.close + "manipulator"&S/ +55 "core" / +2 .tCC.seek :open + "collection"';( +371 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +38 "core" ( +3 "storage"(T& +108 "core" &<'\ \  \  +6 "storage"(E& +6 "core" &<'\ \  C\  +4 "manipulator"&f& +8 "core" &+ A A_ +2 "manipulator"& % +8 "core" % + e 3 +4 .tForearm.seek :retract +4 "manipulator"&>'\ +95 "core" ' +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&p( +157 "core" ( + "manipulator"&M& +4 "core" & % o  +2 "storage"(x& +4 "core" &<'\ $\ % ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&o' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +56 "core" 1 +2 "manipulator"&'% +4 "core" %   + "storage"(& +4 "core" &<' b\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&j' +16 "core" ' + "manipulator"& & +5 "core" & G  + "storage"(.& +4 "core" &<'\ J\ H a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&3'ы +27 "core" ' + "storage"(O% +5 "core" %N\ =\ B \ +2 ."downElevator"SE.seek :down +3 "storage"(G'X +99 (P% +3 "core" %%F\ \  \ Va + "manipulator"&% +5 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'`& +4 "core" &VU\ + "manipulator"&N% +4 "core" %\    +2 "storage"(Z% +4 "core" %^\ B\ H \ + "storage"(8. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(!(K +177 "Can"]\ da +157 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &K S\  + "manipulator"&D& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +43 "core" ( + "manipulator"&Y& +9 "core" & $ H J +2 "storage"(& +3 "core" &K\ '\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +98 "core" ' + "storage"(s& +4 "core" &K\ K\ J R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \  6\  +2 "manipulator"&\ & +3 "core" &  J +2 .tElbow.seek 6 +2 "manipulator"&{( +25 "core" ( + "manipulator"&~& +4 "core" &  %  +2 "storage"(& +3 "core" &K\ 2\ 2\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&^' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\\/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(6'X +8 "core" &  + "manipulator"&@% +4 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&t'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&y& +5 "core" &+ ( H Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &,  Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'" +96 "core" ' + "manipulator"&& +4 "core" &, . O Bj +2 "manipulator"&R% +4 "core" % 4 +2 "collection"':& +4 "core" &VU0\ +2 "collection"'9& +6 "core" &XX\ +2 .tCC.seek :closed +2 "collection"'U(V +4 "core" &VW7\ +7 &4VVr\ $d +10 &U~UT}\ 7 +9 &yVT\ K +9 &TUX\ L +11 &aVTUw\ M +8 &$YVVs\ L +9 &YTVp\ L +10 &WSXq\ L +9 &iZUWq\ M +10 &,VSUa\ L +9 &WTXd\ M +9 &![TU_\ M +10 &#rWTW`\ L +9 &%3WTXZ\ M +9 &&UTW\\\ M +10 &(TTWR\ M +9 &*yUTV^\ M +10 &,;UTW[\ M +9 &-YSV[\ M +9 &/ZWWd\ M +10 &1\\UVc\ M +9 &3CTTVc\ M +9 &5YUU`\ M +10 &6XTV`\ M +9 &8UTXb\ L +9 &:KZWV^\ M +10 &< WWX[\ M +9 &=WTX]\ M +10 &?UTW_\ M +9 &ASTTV\\\ M +9 &CXTWZ\ L +10 &D\\VW\\\ M +9 &FdUWZ\ O +9 &HQvTW_\ P +10 &JUV_\ U +9 &KTW^\ X +10 &M}OV\\\ Y +9 &O@VV\\\ Y +9 &QUX`\ Y +10 &RTW^\ Z +9 &TUV]\ Z +9 &V wWX\\\ / +10 &V&VY\\\ R +9 ( + &VdTW]\ L +2 "collection"'9& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&H1 +58 "core" 1 +3 "manipulator"&1% +4 "core" %  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%n& +4 "core" &+\ +2 "manipulator"&}% +3 "core" %\  N  +2 "storage"(I% +4 "core" %T D\ + "storage"(Q. +3 "core" .(K +2 "storage"(& +3 "core" &K I\  +2 "storage"(& +4 "core" &K )\  + "manipulator"&J& +4 "core" &+ Bi +2 "manipulator"&% +3 "core" %\  9  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +156 "core" ( + "manipulator"&<& +4 "core" & K  +2 "storage"(& +3 "core" &K 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&$'a +96 "core" ' +2 "storage"( & +4 "core" &K P\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &K p\  +2 "manipulator"&u& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( + "manipulator"&& +4 "core" &  X  +2 "storage"([& +3 "core" &K |\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +3 "storage"(W'X +7 "core" &   +2 "manipulator"&% +3 "core" % ~  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&& +5 "core" &y  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &y  F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +99 "core" ' +2 "manipulator"&|& +4 "core" &y $ ` +2 "manipulator"&L% +4 "core" %  + + "processing"%,& +4 "core" &C\ +2 "processing"%(& +6 "core" &:\ +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &%\ +7 &;)\ #c +10 &U~&\ 7 +9 &{\ K +10 &X(\ M +9 &^[%\ M +9 & V \ M +10 &[$\ M +9 &X(\ M +9 &fW*\ M +10 &)U0\ M +9 &Z3\ N +9 &!W-\ M +10 &#nW-\ M +9 &%/Z*\ N +10 &&Y,\ M +9 &(V0\ M +9 &*v[+\ M +10 &,7Z,\ N +9 &-Z*\ M +9 &/Y)\ N +10 &1~Y)\ M +9 &3@[+\ M +10 &5Y+\ N +9 &6X*\ M +9 &8Y+\ M +10 &:HU*\ M +11 &<\ Y*\ M +7 &=Y+\ M +10 &?Y+\ M +9 &AQZ+\ M +10 &C\\+\ N +9 &D^+\ N +9 &Fi+\ O +10 &HM|'\ Q +9 &J +\ S +9 &K+\ S +10 &M+\ S +9 &OO+\ S +10 &Q+\ T +9 &R+\ T +9 &T*\ T +10 &VU+\ T +9 &X+\ T +9 &Y{l+\ 8 +10 &Z1*\ H +9 &Z*\ ( +3 ( + "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" %  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +93 "core" ' + "processing"%#& +4 "core" &Z(\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&]% +4 "core" %\    +2 "storage"(+% +4 "core" %b Y\ + "storage"(i. +53 "core" .(K +2 "storage"(7& +4 "core" &K J\  +2 "storage"(X& +3 "manipulator"&c& +6 "core" &K t\  + &y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +2 "core" ( +2 "manipulator"&m& +4 "core" &y _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &y +3 .tForearm.seek PC + "manipulator"&B' +101 "core" ' +2 .tHand.close + "manipulator"&%/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(5- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'y +46 "core" ' +291 ( + "storage"("& +4 "core" &K \  +2 "manipulator"&a& +4 "core" &y   + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +268 "core" ( +2 "manipulator"&C& +4 "core" & x  +2 "storage"(T& +3 "core" &K 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +96 "core" ' +2 .tHand.open + "manipulator"&f1 +55 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(M'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +4 "core" -' + "storage"(e& +4 "core" &K O R R\  +2 "manipulator"&w& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" & $ r  +2 "storage"( & +3 "core" &K P G 1\  +3 .tForearm.seek 6 + 700 counts + "manipulator"&.'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +60 "core" ' +2 "manipulator"&>& +4 "core" &   +2 "storage"(P& +4 "core" &K C\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' +2 .tElbow.hold + "manipulator"&p, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +22 "core" ' +2 "manipulator"&j% +4 "core" %η  +2 "storage"(`& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&N' +12 "core" ' +2 "manipulator"&Z& +4 "core" & .  +2 "storage"(8& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&l'a +26 "core" ' +2 "storage"(3% +4 "core" %q 8\ +3 ."downElevator"SE.seek :down +8 "storage"(G'X +93 (q% +3 "core" %{@ j\ Va +2 "manipulator"&k% +4 "core" %Y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &K +\  +2 "collection"'& +3 "core" &VcUVS\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&s% +4 "core" %\ # { < +2 "storage"(V% +4 "core" %S G\ + "storage"(. +4 "core" .(K + "storage"(A& +4 "core" &K ;\  + "storage"(& +4 "core" &K T\  +2 "manipulator"&\ & +4 "core" &  x  +2 .tElbow.seek 6 + "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" &  m  + "storage"(\\& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +93 "core" ' +2 "storage"(@& +4 "core" &K ,\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &   +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(R'Y +38 "core" ' + "manipulator"&:% +5 "core" %θ + "storage"({& +4 "core" &K V\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&6' +12 "core" ' +2 "manipulator"&t& +4 "core" &  9  + "storage"(;& +4 "core" &K y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&H'a +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(1'H +40 "core" ' + "manipulator"&n& +4 "core" &  +2 "manipulator"&}% +4 "core" %J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q( +167 "core" ( +2 "manipulator"&& +4 "core" &- 0  3 Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-   Cs +2 .tForearm.seek CC +2 "manipulator"&9'" +99 "core" ' +2 .tHand.close + "manipulator"&J/ +63 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(v& +4 "core" &K\ \ \  + "storage"(<& +4 "core" &K k\  + "manipulator"&& +4 "core" &- / Cn +2 "manipulator"& % +3 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&K( +156 "core" ( + "manipulator"&& +5 "core" & L  + "storage"(*& +4 "core" &K\ 2\ 1 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&u'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +61 "core" 1 +2 "manipulator"&h% +4 "core" % θ k + "storage"(0& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&' +19 "core" ' +3 "manipulator"&d& +4 "core" &  y  + "storage"($& +4 "core" &K\ C\ H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +31 "core" ' + "storage"(% +5 "core" %R\ F\ M *\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (b% +3 "core" %D\ \  1\ Va + "manipulator"&=% +4 "core" %ё +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'L& +4 "core" &WVp\ +2 "manipulator"&,% +4 "core" %\ & Q > +2 "storage"(W% +3 "core" %a\ &\ . j\ +2 "storage"(2. +3 "core" .(K +50 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(_(,l +655 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,n \ +2 "manipulator"&& +3 "core" & `  +2 .tElbow.seek 4 +2 "manipulator"&#( +17 "core" ( +2 "manipulator"&]& +4 "core" & % Y G + "storage"(+& +4 "core" &,q\ '\ ' e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&i'Ѽ +90 "core" ' + "storage"((& +4 "core" &,q\ G\ C \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +284 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" &,q\ \  B\ +2 "manipulator"&m& +4 "core" & : G + .tElbow.seek 4 +2 "manipulator"&)( +4 "core" ( + "manipulator"&?& +4 "core" & w G + "storage"(%& +4 "core" &,q\ &\ & \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&5', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&&/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(r'X +6 "core" & j G +2 "manipulator"&g% +4 "core" % #  K +2 .tForearm.seek :retract +2 "manipulator"&"'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" &* ~ S . Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &* 8 Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'" +92 "core" ' +2 "manipulator"&T& +4 "core" &+  . @ Aa +2 "manipulator"&% +4 "core" % + s  + "collection"'f& +4 "core" &VVi\ +2 "collection"' & +6 "core" &TV\ +2 .tCC.seek :closed +2 "collection"'/(V +5 "core" &TW\ +7 &5VV6\ $d +9 &U~UT5\ 7 +10 &yTW\ K +9 &TSVv\ M +9 &cZTV\ L +10 &%WTV\ L +9 &[UU~\ M +9 &UUTc\ L +10 &jWUT\ M +9 &+YUWz\ M +10 &WTVv\ L +9 &!\\TWs\ M +9 &#rWUTq\ M +10 &%5WUWr\ L +9 &&WSVe\ L +9 &(YUMa\ M +10 &*yXVUj\ M +9 &,=VSVc\ L +9 &-ZVUe\ M +10 &/YUVa\ L +9 &1YTV`\ L +10 &3CZTWd\ M +9 &5UTUa\ L +9 &6WTVl\ L +10 &8TVX\\\ L +9 &:LYUT[\ M +10 &<WUW_\ M +9 &=WVUZ\ L +9 &?XSV`\ L +10 &AUVUW`\ L +9 &CYVV[\ L +10 &D]VV`\ N +9 &FhUVb\ N +9 &HO|TWb\ Q +10 &JUWZ\ V +9 &KVW^\ X +9 &MVU\\\ X +10 &O@UVZ\ Y +9 &QTVZ\ Y +9 &RWU_\ Z +10 &TWW_\ Z +9 &V!vXWX\ / +9 &V%UXZ\ Q +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&e1 +3 "core" &VcVX_\ M +50 1 + "manipulator"&w% +4 "core" % 0 P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &:\ +2 "manipulator"&S% +4 "core" %\  ) C  +2 "storage"(>% +3 "core" %V N\ +2 "storage"(P. +3 "core" .(,l + "storage"(-& +4 "core" &,q \ + "storage"(j& +4 "core" &,q \ +2 "manipulator"&`& +3 "core" &* S Aa +2 "manipulator"&Z% +4 "core" %\  *  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&M( +158 "core" ( + "manipulator"&8& +5 "core" & . g + "storage"(3& +4 "core" &,q b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&z'Ѽ +96 "core" ' +2 "storage"(E& +4 "core" &,q\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +283 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (k& +3 "core" &,q ]\ +2 "manipulator"&.& +3 "core" & w g +2 .tElbow.seek 4 +2 "manipulator"&'( +3 "core" ( + "manipulator"&O& +4 "core" & r g +2 "storage"(& +3 "core" &,q \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(s'X +7 "core" & A g + "manipulator"&V% +4 "core" % 3   +2 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +3 "manipulator"&A& +4 "core" &u 1 [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +8 "core" &u  C  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +96 "core" ' +2 "manipulator"&& +4 "core" &u l  +2 "manipulator"&\\% +4 "core" % G  + "processing"%l& +4 "core" &L\ +2 "processing"%@& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &5\  +8 &1{3\ *x +10 &d;\ > +9 &nv0\ N +9 &3V+\ M +10 &Y9\ M +9 &Z/\ M +10 &vZ*\ N +9 &:W,\ M +9 &Y,\ M +10 &Y%\ M +9 & Z$\ M +9 &"B\\%\ M +10 &$X*\ M +9 &%Z)\ M +10 &'[&\ N +9 &)JY'\ M +9 &+ W)\ M +10 &,X0\ N +9 &.W*\ M +9 &0QY0\ M +10 &2V2\ M +9 &3X3\ M +10 &5Y.\ N +9 &7ZW-\ M +9 &9X(\ M +10 &:W2\ M +9 &<Y,\ N +10 &>bY,\ M +9 &@$Z)\ M +9 &AY*\ M +10 &C^0\ M +9 &Eh_,\ N +10 &G&k1\ O +9 &H,\ R +9 &J)\ S +10 &La,\ S +9 &N#*\ S +9 &O*\ S +10 &Q+\ S +9 &Sf+\ T +10 &U()\ T +9 &V+\ T +9 &X)\ T +10 &Z`'\ #m +9 &ZZ#\ , +9 ( + &Z+\ ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&p1 +54 "core" 1 +2 "manipulator"&D% +4 "core" %  /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' + "processing"%y& +4 "core" &Z3\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  X  +2 "storage"(% +4 "core" %b O\ + "storage"(:. +3 "core" .(,l +2 "storage"({& +4 "core" &,q "\ +2 "storage"(t& +3 "manipulator"&;& +6 "core" &,q \ + &u   +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&n(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(}'i +3 "core" ( + "manipulator"& & +4 "core" &u    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &u  +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%6( +92 "core" ' +2 "storage"(R- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +284 ( + "storage"(& +4 "core" &,q ,\ +2 "manipulator"&H& +3 "core" &u -  +2 "manipulator"&^% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&I( +267 "core" ( +2 "manipulator"&U& +4 "core" & $ b  + "storage"(v& +4 "core" &,q 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&<'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(*' +56 "core" ' +58 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(Q& +4 "core" &,q i j \ + "manipulator"&[& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&h( +8 "core" ( + "manipulator"&0& +4 "core" & B  +2 "storage"(d& +4 "core" &,q i j \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&$'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&4& +4 "core" &   +2 "storage"(b& +3 "core" &,q p\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&=' +38 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(u'i +24 "core" ' +2 "manipulator"&% +4 "core" % l +2 "storage"(L& +4 "core" &,q -\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&,'; +18 "core" ' + "manipulator"&W& +5 "core" &  + "storage"(2& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&1'Ѽ +17 "core" ' +2 "storage"(% +4 "core" %k \ M\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (!% +3 "core" %K \ Xf + "manipulator"&% +4 "core" %Ѹ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (]& +4 "core" &,q \ +2 "collection"'+& +4 "core" &VcTU]\ M + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&(% +4 "core" %\    +2 "storage"(% +3 "core" %\\ \ +2 "storage"(|. +3 "core" .(,l + "storage"(c& +4 "core" &,q s\ +2 "storage"(X& +3 "core" &,q 7\ +2 "manipulator"&m& +4 "core" & :  + .tElbow.seek 4 +2 "manipulator"&?( +4 "core" ( + "manipulator"&%& +4 "core" & % 7  +2 "storage"(&& +3 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +98 "core" ' +2 "storage"(g& +4 "core" &,q W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +283 "core" ' +3 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(B& +4 "core" &,q \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&7' +40 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +30 "core" ' +2 "manipulator"&f% +4 "core" %{ r ; + "storage"()& +4 "core" &,q \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts + "manipulator"&r'; +20 "core" ' + "manipulator"&"& +4 "core" & '  +2 "storage"(& +4 "core" &,q '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&e'Ѽ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'E +39 "core" ' + "manipulator"& & +5 "core" &   + "manipulator"&S% +4 "core" %ѣ 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +170 "core" ( + "manipulator"&-& +54 "core" &- Q Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &-  Cm +2 .tForearm.seek CC +2 "manipulator"&`'" +93 "core" ' + .tHand.close + "manipulator"& / +54 "core" / + .tCC.seek :open +2 "collection"'Z( +416 "core" ( +2 "storage"(C& +4 "core" &,q\ \ \ + "storage"(8& +4 "core" &,q l\ + "manipulator"&3& +4 "core" &- l Cm +2 "manipulator"&E% +3 "core" % 6 d +2 .tForearm.seek :retract +2 "manipulator"&a'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&q& +4 "core" & % >  +2 "storage"(k& +3 "core" &,q\ $\ & @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.' +102 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&Y% +4 "core" %  ( } ? + "storage"(& +4 "core" &,q\ \  G\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts + "manipulator"&V'> +19 "core" ' +2 "manipulator"&M& +4 "core" & B  +2 "storage"(z& +3 "core" &,q\ .\ & _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&x'Ѽ +36 "core" ' + "storage"(N% +5 "core" %J\ $\ , c\ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (% +3 "core" %kJ\ \ \ Wc +2 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\\& +4 "core" &VUk\ +2 "manipulator"&l% +4 "core" %\  &  + "storage"(s% +4 "core" %a\ J\ I \ + "storage"(o. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (p& +3 "core" &<( \  +2 "manipulator"&D& +3 "core" & Y  +2 .tElbow.seek 5 +2 "manipulator"&y( +12 "core" ( +2 "manipulator"&& +4 "core" &  j Y + "storage"(& +5 "core" &<%\ 1\ 1 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&:'ы +100 "core" ' + "storage"({& +4 "core" &<%\ O\ G ?\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'i +282 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@& +3 "core" &<%\ \  )\  + "manipulator"& & +4 "core" &  Y +2 .tElbow.seek 5 + "manipulator"&~( +4 "core" ( + "manipulator"&\ & +4 "core" & 9 Y +2 "storage"(& +3 "core" &<%\ '\ % \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&R' +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(G'X +7 "core" & | Y +2 "manipulator"&}% +4 "core" % -  + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&^& +4 "core" &+ = H Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ b Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +92 "core" ' + "manipulator"&v& +4 "core" &,  ] Bj +51 "manipulator"&n% +5 "core" %% :  +2 "collection"'& +4 "core" &VW0\ +2 "collection"' & +5 "core" &UU\ +2 .tCC.seek :closed +2 "collection"'J(V +5 "core" &VVZ\ +6 &4RTw\ $d +9 &UTVg\ 7 +10 &|SU\ L +9 &RUVe\ M +9 &fUTVj\ M +10 &(TTU\ M +9 &\\TW\ M +9 &ZVUd\ M +10 &mYTUh\ M +9 &1WRVw\ L +10 &USVz\ M +9 &!VWVu\ M +9 &#wYVV~\ L +10 &%8XSWu\ M +9 &&[WUj\ M +9 &(ZTWo\ L +10 &*~UWVs\ M +9 &,AUUUk\ L +10 &.WVVg\ L +9 &/VVUo\ M +9 &1WTUn\ M +10 &3IUUTk\ L +9 &5 VUUc\ L +9 &6ZUV`\ M +10 &8WUV_\ M +9 &:PVTW]\ M +10 &<WVU\\\ M +9 &=WTU\\\ L +9 &?UVVZ\ M +10 &AYTUWb\ L +9 &CYVT_\ M +10 &D^TW[\ M +9 &FhUWa\ O +9 &HS}TWc\ Q +10 &JUX_\ V +9 &KVV^\ X +9 &MUVc\ X +10 &OEWWb\ Y +9 &QVUc\ Y +10 &RVW\\\ [ +9 &TUUa\ Z +9 &V&wTWc\ / +9 &V#XWW\ P +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&91 +3 "core" &VdVVa\ L +59 1 +3 "manipulator"&Q% +4 "core" % % . A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%0& +5 "core" &7\ + "manipulator"&d% +4 "core" %\ # R 9 + "storage"(4% +4 "core" %T W\ +2 "storage"(b. +3 "core" .(<* + "storage"(& +4 "core" &<% ;\  +2 "storage"(& +3 "core" &<% (\  +2 "manipulator"&& +3 "core" &* O Ad +2 "manipulator"&L% +4 "core" %\ #  9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&W( +166 "core" ( + "manipulator"&2& +4 "core" & % V U +2 "storage"(& +3 "core" &<% R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +101 "core" ' + "storage"(<& +4 "core" &<% a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +285 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<% \  +2 "manipulator"&$& +3 "core" &  U +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&& +4 "core" &  U + "storage"(=& +4 "core" &<% _\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&]' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"(('X +7 "core" & d U +2 "manipulator"&% +4 "core" %  K + .tForearm.seek :retract +2 "manipulator"&|'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&c& +9 "core" &w   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &w   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 "manipulator"&%& +4 "core" &w  #  +2 "manipulator"&&% +4 "core" % Q + "processing"%1& +4 "core" &9\ +2 "processing"%g& +5 "core" &>\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &?\ +7 &@@\ $f +9 &W>\ 7 +10 &~>\ L +9 &Y>\ M +9 &wZ>\ M +10 &9W>\ M +9 &W>\ M +9 &W4\ M +10 &Z8\ M +9 &AX3\ M +9 & Z7\ M +10 &!X.\ M +9 &#Z-\ M +10 &%HY+\ M +9 &'\ W&\ M +9 &(W*\ M +10 &*Y)\ M +9 &,PY)\ M +9 &.Z&\ M +10 &/X!\ M +9 &1Y&\ M +10 &3XW.\ M +9 &5W1\ M +9 &6W-\ M +10 &8W1\ M +9 &:aX+\ M +9 &<#X0\ M +10 &=W-\ M +9 &?W2\ M +10 &AiW0\ M +9 &C*Y3\ M +10 &D`4\ N +9 &Fe3\ N +9 &Hd{3\ Q +9 &J!-\ S +10 &K-\ R +9 &M+\ S +10 &Og,\ S +13 &Q(/\ S +5 &R/\ T +10 &T*\ S +9 &Vk/\ T +9 &X-)\ T +10 &Y{r0\ / +9 &Z'j2\ K +10 &Z$+\ 0 +2 ( + "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&K1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ; * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +2 "processing"%& +4 "core" &Z#;\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&B% +4 "core" %\  p  +2 "storage"(T% +3 "core" %T M\ +2 "storage"(f. +3 "core" .(<* + "storage"()& +4 "core" &<% %\  +2 "storage"("& +3 "manipulator"&& +6 "core" &<% \  + &w C  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& (s + "storage"(S'i +6 "core" ( + "manipulator"&F& +4 "core" &w I  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &w , H  +2 .tForearm.seek PC +2 "manipulator"&#' +96 "core" ' +2 .tHand.close + "manipulator"&7/ +58 "core" / +2 .tPC.seek :open +2 "processing"%r( +88 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(e'y +35 "core" ' +302 ( +2 "storage"(-& +4 "core" &<% \  + "manipulator"&j& +4 "core" &w  "  + "manipulator"&5% +4 "core" %  h +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +6 "manipulator"&>( +267 "core" ( + "manipulator"&/& +4 "core" & N  +2 "storage"(C& +4 "core" &<% Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +101 "core" ' +2 .tHand.open + "manipulator"&31 +61 "core" 1 +2 "storage"(E- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(q'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(P& +3 "core" &<% i j \  +2 "manipulator"&& +4 "core" & c  +2 .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&& +4 "core" &  G  +2 "storage"(M& +3 "core" &<% j i \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&z'ы +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(N' +58 "core" ' + "manipulator"&a& +4 "core" & [  +2 "storage"(& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +22 "core" ' + "manipulator"&V% +4 "core" %  +3 "storage"(\\& +4 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&l' +20 "core" ' + "manipulator"&s& +4 "core" &  B  +2 "storage"(o& +4 "core" &<% c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&w'ы +19 "core" ' + "storage"(x% +5 "core" %p\ C\ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (_% +3 "core" %FL ^\ Xf +2 "manipulator"&p% +4 "core" %e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<% \  +2 "collection"'& +4 "core" &VcUW\ L +53 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&{% +4 "core" %\ # k ; +2 "storage"(O% +4 "core" %\\ \ + "storage"(. +3 "core" .(<* +2 "storage"(t& +3 "core" &<% I\  +2 "storage"(@& +4 "core" &<% \  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&\ ( +4 "core" ( + "manipulator"&& +4 "core" & & d  + "storage"(& +4 "core" &<% {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +98 "core" ' +2 "storage"(}& +4 "core" &<% \ \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'i +278 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&^& +3 "core" &   +2 "storage"(& +3 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&;' +33 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'V +27 "core" ' + "manipulator"&~% +5 "core" %  + "storage"(& +4 "core" &<% K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&G' +12 "core" ' +2 "manipulator"&& +4 "core" & V  +2 "storage"(Z& +3 "core" &<% r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&9'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'E +39 "core" ' +2 "manipulator"&0& +4 "core" & 0  +2 "manipulator"&d% +4 "core" %ш ! { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +162 "core" ( + "manipulator"& & +5 "core" &' w >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' u >N +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'L( +416 "core" ( +2 "storage"(U& +4 "core" &<%\ \  5\  + "storage"(2& +4 "core" &<%\ \  (\  + "manipulator"&& +4 "core" &' *  >J + "manipulator"&<% +4 "core" % ' # +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +165 "core" ( +2 "manipulator"&!& +4 "core" & % x ` + "storage"(& +4 "core" &<%\ '\ ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&$' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&=1 +56 "core" 1 +2 "manipulator"&,% +3 "core" %  o +2 "storage"(+& +5 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +14 "core" ' + "manipulator"&W& +5 "core" & l ` + "storage"(I& +4 "core" &<%\ $\ & )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&*'ы +25 "core" ' +2 "storage"(]% +4 "core" %H\ %\ $ d\ +3 ."downElevator"SE.seek :down +3 "storage"(c'X +98 (X% +3 "core" %yG\ \  ,\ Wd +2 "manipulator"&h% +4 "core" %Ѵ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'&& +4 "core" &VV\ + "manipulator"&1% +4 "core" %\ "  _ 9 +2 "storage"((% +4 "core" %`\ $\ . 0\ + "storage"(|. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(6(K +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &K O\  +2 "manipulator"&& +4 "core" & | ` + .tElbow.seek 6 +2 "manipulator"&( +41 "core" ( + "manipulator"&B& +5 "core" &, % [ ; + "storage"(T& +4 "core" &K\ '\ ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&f'a +97 "core" ' + "storage"()& +4 "core" &K\ H\ C \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &K\ \  '\  + "manipulator"&F& +4 "core" &, $ ; +2 .tElbow.seek 6 + "manipulator"&?( +24 "core" ( + "manipulator"&m& +4 "core" &  $  +2 "storage"(7& +4 "core" &K\ '\ ' i\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"('X +7 "core" & e  +2 "manipulator"&S% +4 "core" % 0 + .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&5& +4 "core" &+ f Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &+ ) X Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'" +97 "core" ' +2 "manipulator"&C& +4 "core" &, Bj +2 "manipulator"& % +4 "core" %, % + "collection"'3& +4 "core" &VU\ +2 "collection"'E& +5 "core" &VWr\ +2 .tCC.seek :closed +2 "collection"'`(V +4 "core" &VW\  +9 &1~WV\ *x +9 &dXUe\ > +9 &wsXU9\ N +10 &;TUV\ M +9 &ZUXe\ M +9 &XVV \ M +10 &USU\ L +9 &CUSV\ M +9 &TVV\ M +10 &YUUd\ M +9 & YVWc\ M +10 &"KUUTg\ M +9 &$ UTU;\ M +9 &%WXWe\ M +10 &'YUW}\ L +9 &)TTTU\ L +9 &+WUVz\ L +10 &,ZTTt\ M +9 &.YVU~\ M +10 &0\\XWV{\ L +9 &2UTWv\ M +9 &3ZUVi\ L +10 &5TVU_\ L +9 &7dVTW^\ L +9 &9&ZUWi\ L +10 &:WUW`\ M +9 &<YTWc\ L +10 &>kZUU_\ M +9 &@-ZUU^\ M +9 &AYUWW\ M +10 &CWUU`\ M +9 &Ep_SV_\ N +10 &G.kVUX\ O +9 &HVV[\ Q +9 &JWV^\ V +10 &LYVW\\\ X +9 &NVW_\ X +9 &OVW_\ Y +10 &QUWY\ Y +9 &S\\WXY\ Z +9 &UWXQ\ Z +10 &VhCTW^\ 0 +9 &V{VWY\ L +6 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&P1 +4 "core" &VnWW^\ L +56 1 +3 "manipulator"&% +4 "core" % ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%M& +4 "core" &-\ +2 "manipulator"& % +3 "core" %\  B  +2 "storage"(a% +3 "core" %T <\ +2 "storage"(. +3 "core" .(K + "storage"(e& +4 "core" &K _\  +2 "storage"(V& +3 "core" &K P\  +2 "manipulator"&\\& +4 "core" &+ Bj + "manipulator"&q% +4 "core" %\  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&s( +179 "core" ( + "manipulator"&o& +4 "core" & $ !q +2 "storage"(x& +3 "core" &K a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&>'a +96 "core" ' +2 "storage"(8& +4 "core" &K D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'i +284 "core" ' + "storage"(_- +54 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &K B\  +2 "manipulator"&z& +3 "core" & ` +2 .tElbow.seek 6 +2 "manipulator"&Y( +32 "core" ( + "manipulator"&N& +4 "core" &\  u Z +2 "storage"('& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&l' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"({'X +7 "core" &\ 7 Z + "manipulator"&.% +4 "core" %  d +2 .tForearm.seek :retract +2 "manipulator"&O'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&t& +4 "core" &l 6 \\ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &l _ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +104 "core" ' +2 "manipulator"&& +4 "core" &l $ = \ +2 "manipulator"&% +4 "core" %  R +2 "processing"%w& +4 "core" &H\ +2 "processing"%}& +4 "core" &<\ +3 .tPC.seek :closed + "processing"%A(Z +4 "core" &>\ +8 &96\ $c +10 &U5\ 7 +9 &|/\ L +9 &W.\ M +10 &a\\*\ M +9 &#Y(\ M +10 &Y"\ M +9 &X*\ M +9 &hX)\ M +10 &+U)\ M +9 &Y#\ M +9 &!U)\ M +10 &#pY(\ M +9 &%2[*\ M +10 &&W&\ M +9 &(Z#\ M +9 &*xY*\ M +10 &,:Y&\ M +9 &-Z)\ M +9 &/W-\ M +10 &1T+\ M +9 &3AY2\ N +10 &5X3\ M +9 &6X*\ N +9 &8X*\ M +10 &:JZ'\ M +9 &< Y.\ N +9 &=W+\ M +10 &?Y'\ N +9 &ARX+\ M +10 &CX1\ N +9 &Da+\ N +10 &Fh*\ O +9 &HN{,\ Q +9 &J '\ S +10 &K&\ S +9 &M(\ S +9 &OP+\ S +10 &Q+\ S +9 &R,\ T +9 &T+\ S +10 &VV*\ T +9 &X*\ T +10 &Y{n&\ 7 +9 &Z1)\ H +9 &Z%\ ( +3 ( + "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&D% +4 "core" %  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +101 "core" ' + "processing"%^& +4 "core" &Z+\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ # 8 ? +2 "storage"(v% +3 "core" %T O\ +2 "storage"(~. +3 "core" .(K + "storage"(& +4 "core" &K y\  +2 "storage"(& +2 "manipulator"&Z& +7 "core" &K C\  + &l 0 \ +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(0'i + "manipulator"&d(s +5 "core" ( + "manipulator"& & +4 "core" &l 2  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &l + V \ +2 .tForearm.seek PC +2 "manipulator"&y' +102 "core" ' +2 .tHand.close +5 "manipulator"&;/ +54 "core" / +3 .tPC.seek :open +2 "processing"%G( +79 "core" ' + "storage"(n- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +43 "core" ' +299 ( + "storage"(& +5 "core" &K J\  + "manipulator"&9& +3 "core" &l  K \ +2 "manipulator"&R% +4 "core" %  E +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +262 "core" ( +2 "manipulator"&J& +4 "core" & f + "storage"(U& +4 "core" &K T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&2'a +97 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(<- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(b& +4 "core" &K 8 < ;\  +2 "manipulator"&=& +3 "core" & - +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&+& +3 "core" &  d +2 "storage"(W& +4 "core" &K 8 ; C\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&I'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(]' +58 "core" ' + "manipulator"&H& +4 "core" & +2 "storage"(X& +3 "core" &K r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&h'Υ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"($'i +26 "core" ' + "manipulator"&% +5 "core" %ε l + "storage"(&& +4 "core" &K M\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&1' +13 "core" ' + "manipulator"&(& +4 "core" &  + "storage"(|& +5 "core" &K r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Q'a +27 "core" ' +2 "storage"(*% +4 "core" %r R\ +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (% +2 "core" %M Q\ Wf +2 "manipulator"&K% +4 "core" %O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (B& +4 "core" &K {\  +2 "collection"'T& +3 "core" &VnVW[\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&)% +4 "core" %\   @ + +2 "storage"(% +4 "core" %b K\ + "storage"(%. +4 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"("& +4 "core" &K \  + "manipulator"&F& +4 "core" & +2 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&7& +4 "core" & $ z +2 "storage"(u& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&i'a +96 "core" ' + "storage"(S& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +3 "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &  + "storage"(#& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&g'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"( 'Y +30 "core" ' + "manipulator"&3% +4 "core" %ζ ? + "storage"(?& +4 "core" &K ,\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&-& +4 "core" &  n +2 "storage"(L& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&P'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +41 "core" ' + "manipulator"&M& +5 "core" & M + "manipulator"& % +4 "core" %B 7 +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +8 .tForearm.seek :retract +2 "manipulator"&a'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +166 "core" ( +2 "manipulator"&e& +4 "core" && % 2 >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &( < >M +2 .tForearm.seek CC +2 "manipulator"&E'" +97 "core" ' + .tHand.close +2 "manipulator"&\\/ +63 "core" / + .tCC.seek :open +2 "collection"'q( +416 "core" ( + "storage"(/& +5 "core" &K $\  + "storage"(o& +4 "core" &K h\  + "manipulator"&x& +4 "core" &( ^ >M + "manipulator"&8% +4 "core" % 1 ` +2 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +159 "core" ( +2 "manipulator"&_& +4 "core" & $   +2 "storage"(p& +3 "core" &K\ \ x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&z'Υ +110 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +57 "core" 1 +2 "manipulator"&% +4 "core" % γ R +2 "storage"(& +4 "core" &K ~\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 314 counts +2 "manipulator"&.' +12 "core" ' +2 "manipulator"&s& +4 "core" &   + "storage"(>& +4 "core" &K\ C\ H ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&k'a +30 "core" ' +2 "storage"(l% +4 "core" %Q\ C\ C \ +3 ."downElevator"SE.seek :down +3 "storage"(t'X +98 (@% +3 "core" %D\ \  \ Va +2 "manipulator"&Y% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" &URa\ +2 "manipulator"&w% +4 "core" %\    + "storage"({% +4 "core" %b\ I\ J 3\  +2 "storage"(O. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(r(,l +656 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,l\ \  X\ +2 "manipulator"&D& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&^( +16 "core" ( + "manipulator"&& +5 "core" &  _ h + "storage"(v& +4 "core" &,p\ %\ % 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&~'Ѽ +95 "core" ' + "storage"(& +5 "core" &,p\ Q\ O 1\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +281 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,p\ \  e\ +2 "manipulator"& & +3 "core" & n h +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"& & +4 "core" &  E h + "storage"(;& +4 "core" &,p\ \ " (\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&n', +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +3 "storage"(A'X +6 "core" & h +2 "manipulator"&0% +4 "core" %   1 +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&R& +5 "core" &+ F y Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &+ $ Bj +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'" +105 "core" ' + "manipulator"&U& +4 "core" &, > Bj +2 "manipulator"&d% +4 "core" % 1 P +3 "collection"'& +3 "core" &VW~\ +2 "collection"'<& +6 "core" &TV\ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" &TT\ +6 &=SUi\ $e +9 &WUU\ 7 +10 &zWU?\ L +9 &UWUY\ L +9 &kUUU \ L +10 &-SRWt\ L +9 &UUV=\ M +9 &STV\ L +10 &sVVWd\ L +9 &4YUVf\ M +10 &VVT \ M +9 &!UVU\ L +9 &#zVTW\ M +10 &%<UVV\ M +9 &&XTW\ L +9 &(YUV\ M +10 &*WTWe\ L +9 &,EURWc\ L +9 &.YVVd\ L +10 &/TVU}\ L +9 &1WVVh\ L +10 &3MYTW~\ L +9 &5YUW}\ L +9 &6YUW5\ L +10 &8RTWl\ L +9 &:TUTUy\ M +9 &<VUWu\ M +10 &=YTWf\ M +9 &?XTWv\ M +10 &A]TVVq\ L +9 &CXVVr\ L +9 &D]WWh\ M +10 &FhUUb\ N +9 &HX}TTo\ Q +10 &J VV_\ V +9 &KUVc\ X +9 &MVW^\ X +10 &OIUW_\ Y +9 &Q VWd\ Y +10 &RTXd\ Z +9 &TUV_\ [ +9 &V*wUXo\ / +9 &V#VUi\ P +9 ( +3 "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&b1 +3 "core" &VbWWb\ M +56 1 + "manipulator"&=% +4 "core" %  1  P +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%W& +4 "core" &6\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(H% +3 "core" %W \ +2 "storage"(X. +3 "core" .(,l + "storage"( & +4 "core" &,p K\ + "storage"(& +4 "core" &,p \ +2 "manipulator"&&& +3 "core" &+  Bj +2 "manipulator"&(% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&!( +155 "core" ( + "manipulator"&|& +4 "core" & {  +2 "storage"(*& +4 "core" &,p Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&4'Ѽ +85 "core" ' +2 "storage"(2& +4 "core" &,p \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (K& +3 "core" &,p \ +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&,( +3 "core" ( + "manipulator"&]& +4 "core" & /  + "storage"(h& +4 "core" &,p K\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +3 "storage"()'X +6 "core" & 6  +2 "manipulator"&% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&& +4 "core" &r J ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +97 "core" ' +2 "manipulator"&7& +4 "core" &r $ % + "manipulator"&u% +4 "core" %   +2 "processing"%Q& +4 "core" &1\ +2 "processing"%S& +6 "core" &K\ +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &=\  +8 &3~6\ *x +10 &c2\ > +9 &{u6\ N +9 &=W>\ M +10 &Z8\ M +9 &Y:\ M +10 &Z6\ N +9 &FW3\ M +9 &Y7\ M +10 &Y;\ N +9 & W5\ M +10 &"LY5\ N +9 &$X>\ M +9 &%Y?\ M +10 &'\\9\ M +9 &)UY4\ M +9 &+T4\ M +10 &,X/\ M +9 &.V/\ M +9 &0]Z,\ M +10 &2Y-\ N +9 &3X-\ M +10 &5Z$\ M +9 &7eX$\ M +9 &9(T#\ M +10 &:V\ M +9 &<Y$\ M +10 &>mX)\ M +9 &@.Z"\ N +9 &AY \ M +10 &C^'\ N +9 &Esa!\ N +9 &G0m&\ P +10 &H \ R +9 &J!\ S +9 &Ll'\ S +10 &N-&\ S +9 &O'\ S +10 &Q*\ S +9 &Sr&\ T +9 &U3.\ T +60 &V,\ T +6 &X(\ T +3 &Z#](\ "j + &ZX&\ + + ( + &Z&\ ( &Z&\ ( + &Z&\ ( +4 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 +6 .Hand.open + "manipulator"&[1 +4 "core" &Z&\ ( +54 1 + "manipulator"&% +5 "core" % " [  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +98 "core" ' +2 "processing"%5& +4 "core" &Z&\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&#% +4 "core" %\ % : C +2 "storage"(C% +3 "core" %b B\ +2 "storage"(3. +3 "core" .(,l + "storage"(?& +4 "core" &,p \ +2 "storage"(-& +3 "manipulator"&L& +6 "core" &,p `\ + &r > +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&M(s +3 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +3 "core" ( +2 "manipulator"&i& +3 "core" &r 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &r +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&g/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +35 "core" ' +300 ( +2 "storage"(V& +4 "core" &,p \ + "manipulator"&P& +4 "core" &r  L +2 "manipulator"&% +3 "core" % r +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&a( +266 "core" ( +2 "manipulator"&`& +4 "core" & $ C  +2 "storage"(/& +3 "core" &,p \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&o'Ѽ +94 "core" ' +2 .tHand.open + "manipulator"&x1 +58 "core" 1 +2 "storage"(8- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(_'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(& +4 "core" &,p ] f [\ + "manipulator"&'& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(s& +4 "core" &,p _ g \ +2 .tForearm.seek 4 + 700 counts + "manipulator"&>'Ѽ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +58 "core" ' + "manipulator"&j& +4 "core" & I  +2 "storage"(@& +4 "core" &,p ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +30 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(.& +4 "core" &,p 3\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&w'= +20 "core" ' + "manipulator"&{& +4 "core" & ?  +2 "storage"(O& +4 "core" &,p \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +48 "core" ' +2 "storage"(k% +4 "core" %s C\ +3 ."downElevator"SE.seek :down +3 "storage"(t'X +98 (6% +3 "core" %F t\ Vc +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,p \ +2 "collection"'v& +4 "core" &VbVW\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\  +  +2 "storage"(N% +5 "core" %S \ + "storage"(. +3 "core" .(,l +2 "storage"(Z& +3 "core" &,p B\ +2 "storage"(& +4 "core" &,p \ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&;& +4 "core" & 7  +2 "storage"(& +3 "core" &,p 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&:'Ѽ +93 "core" ' +2 "storage"(0& +4 "core" &,p Y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +288 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&R& +8 "core" &   + "storage"(y& +4 "core" &,p d\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&}' +36 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'V +27 "core" ' +2 "manipulator"&d% +4 "core" % x + "storage"(& +4 "core" &,p O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&A'@ +14 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(q& +3 "core" &,p n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&b'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(='E +39 "core" ' +2 "manipulator"&W& +4 "core" & p  +2 "manipulator"&% +4 "core" %ѡ $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +170 "core" ( +2 "manipulator"& & +5 "core" &( 8 N ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &( 4  ?S +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' + .tHand.close + "manipulator"&&/ +62 "core" / +2 .tCC.seek :open + "collection"'(( +416 "core" ( +2 "storage"(J& +4 "core" &,p\ \  \ + "storage"(|& +4 "core" &,p\ \ \ +2 "manipulator"&*& +3 "core" &( y ?P +2 "manipulator"&2% +3 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +162 "core" ( +2 "manipulator"&& +4 "core" &  c Z + "storage"(K& +4 "core" &,p\ %\ $ U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&I' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +62 "core" 1 +2 "manipulator"&B% +4 "core" %  # F + "storage"(T& +4 "core" &,p\ &\ & o\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts + "manipulator"&'? +19 "core" ' +3 "manipulator"&!& +4 "core" & % Z + "storage"(4& +4 "core" &,p\ B\ D O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +27 "core" ' +2 "storage"(1% +4 "core" %O\ \ @ \ +2 ."downElevator"SE.seek :down +53 "storage"('X +49 ("% +3 "core" %D\ "\  R\ Vb +2 "manipulator"&,% +4 "core" %ѳ + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +107 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'u& +4 "core" &TW3\ + "manipulator"&Q% +5 "core" %\    + "storage"()% +4 "core" %b\ 5\ & ^\ +2 "storage"($. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(G(<* +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ([& +3 "core" &<( _\  +2 "manipulator"&& +4 "core" & g Z +2 .tElbow.seek 5 +2 "manipulator"&5( +8 "core" ( +2 "manipulator"&#& +4 "core" & % U E +2 "storage"(C& +3 "core" &<$\ &\ $ 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&3'ы +96 "core" ' + "storage"(S& +5 "core" &<$\ A\ B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'i +282 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &<$\ \  (\  +2 "manipulator"&i& +3 "core" &  E +2 .tElbow.seek 5 +2 "manipulator"&m( +3 "core" ( + "manipulator"&F& +4 "core" &  @ E + "storage"(g& +4 "core" &<$\ %\ $ g\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& ' +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(c'X +7 "core" & n E +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +29 "core" ( +2 "manipulator"&& +4 "core" &* ? 5 @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'" +105 "core" ' + "manipulator"&/& +4 "core" &* w @] +2 "manipulator"&M% +4 "core" %+ % > +2 "collection"'x& +4 "core" &UV=\ +2 "collection"'8& +5 "core" &VV@\ +2 .tCC.seek :closed +2 "collection"'E(V +4 "core" &WV9\  +8 &2}UVO\ )w +10 &cVVY\ > +9 &tsTVW\ N +9 &8TUUT\ M +10 &YTV)\ L +9 &UVV*\ M +10 &TUU/\ L +9 &@VTW,\ M +9 &WUV\ M +10 &TTUW\ M +9 & XTV\ M +9 &"GYTWo\ M +10 &$ VWV \ L +9 &%YTWg\ L +10 &'YVV~\ M +9 &)PWTVa\ M +9 &+TUV\ L +10 &,UUW7\ L +9 &.ZVW\ L +9 &0XVVVe\ M +10 &2TUVc\ L +9 &3VVU|\ L +9 &5XTSc\ M +10 &7`WVTd\ M +9 &9#XTV}\ L +10 &:[VU~\ M +9 &<XTUw\ M +9 &>gXVU}\ M +10 &@*TSU}\ M +9 &AUTT\ L +9 &CZSUv\ M +10 &Em`UVw\ N +9 &G+oVUx\ O +10 &HUWx\ Q +9 &JTVr\ W +10 &LWUVp\ X +9 &NUWr\ X +9 &OTX}\ Y +10 &QWWl\ Y +9 &SWVWn\ [ +9 &UWWw\ Z +10 &VcBXXr\ 1 +9 &V~UWk\ O +5 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&1 +3 "core" &VsVXe\ O +56 1 +3 "manipulator"&'% +4 "core" % + ?  N > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%s& +4 "core" &Q\ +2 "manipulator"&\\% +3 "core" %\ # W @ +2 "storage"(j% +4 "core" %` '\ +2 "storage"(@. +3 "core" .(<* + "storage"(e& +4 "core" &<$ O\  + "storage"(& +4 "core" &<$ R\  +2 "manipulator"&.& +3 "core" &( L ?V +2 "manipulator"&_% +3 "core" %\ # [ @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&{( +154 "core" ( +2 "manipulator"&O& +4 "core" & $  + "storage"(a& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&k'ы +98 "core" ' +2 "storage"(o& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +282 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &<$ \  +2 "manipulator"&& +4 "core" & H  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&l& +4 "core" &  H  + "storage"(Y& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&w' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& + "storage"('X +7 "core" & i  + "manipulator"&N% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&z(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&Z& +5 "core" &g B L  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &g Z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +103 "core" ' + "manipulator"&;& +5 "core" &g # w  + "manipulator"&% +4 "core" %  +2 "processing"%& +3 "core" &I\ +2 "processing"%0& +6 "core" &D\ +2 .tPC.seek :closed + "processing"%t(Z +4 "core" &9\  +9 &3~A\ )w +9 &cA\ > +9 &xs5\ N +10 &:W=\ M +9 &Y;\ M +10 &XF\ M +9 &U6\ M +9 &BW;\ M +10 &T9\ M +9 &Y/\ N +9 & W8\ M +10 &"KT<\ M +9 &$ U4\ N +9 &%W9\ M +10 &'Z4\ N +9 &)RX<\ M +10 &+Y@\ M +9 &,W7\ M +9 &.R,\ M +10 &0ZW-\ M +9 &2Y.\ M +9 &3W#\ M +10 &5X#\ N +9 &7bW(\ M +10 &9$X*\ M +9 &:S)\ M +9 &<W'\ M +10 &>jW&\ M +9 &@,X"\ M +9 &AW,\ M +10 &CY"\ N +9 &Eq\\(\ N +10 &G.k*\ O +9 &H*\ R +9 &J'\ S +10 &Lj-\ S +9 &N,.\ S +10 &O,\ S +9 &Q&\ S +9 &So5\ T +10 &U0/\ T +9 &V$\ T +9 &X*\ T +10 &Z"_/\ !g +9 &Zb(\ 1 +9 ( +2 &Z.\ * +2 "processing"%0& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +98 "core" ' + "processing"%R& +4 "core" &ZK\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&y% +4 "core" %\ % + [ D +2 "storage"(\ % +4 "core" %a \ + "storage"(d. +4 "core" .(<* + "storage"(& +4 "core" &<$ g\  +2 "storage"(& +3 "manipulator"&q& +5 "core" &<$ \  + &g 9 <  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&W(s +3 ."raiseStack"SE.seek :beamBreak + "storage"('i +24 "core" ( + "manipulator"&:& +4 "core" &k > b \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &k  \ +2 .tForearm.seek PC +2 "manipulator"&^' +102 "core" ' + .tHand.close +2 "manipulator"&}/ +55 "core" / +2 .tPC.seek :open +2 "processing"%A( +64 "core" ' + "storage"(U- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +43 "core" ' +315 ( + "storage"(<& +4 "core" &<$ X\  +2 "manipulator"&b& +3 "core" &k j \ +2 "manipulator"&n% +3 "core" % g +2 .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +265 "core" ( +51 "manipulator"&& +6 "core" & j z + "storage"(J& +4 "core" &<$ ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&|'ы +100 "core" ' + .tHand.open + "manipulator"&*1 +60 "core" 1 +3 "storage"(2- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(K' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(X& +3 "core" &<$ 8 = \\\  +2 "manipulator"&h& +4 "core" & \ z +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( + "manipulator"&T& +4 "core" & $ z +2 "storage"(!& +4 "core" &<$ T J\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&4'ы +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +58 "core" ' + "manipulator"&9& +5 "core" & 3 z + "storage"("& +4 "core" &<$ C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&,' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(I'i +22 "core" ' +2 "manipulator"&% +4 "core" %   +2 "storage"(u& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&Q' +15 "core" ' + "manipulator"&)& +5 "core" &  ~ + "storage"($& +4 "core" &<$ L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&='ы +22 "core" ' +2 "storage"(% +4 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (r% +4 "core" %L (\ Xf +2 "manipulator"&[% +4 "core" %Ѯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +4 "core" &<$ J\  + "collection"'C& +4 "core" &VsUVf\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&S% +4 "core" %\    +2 "storage"(]% +3 "core" %` J\ +2 "storage"(7. +3 "core" .(<* + "storage"(L& +4 "core" &<$ t\  +2 "storage"(-& +3 "core" &<$ \  +2 "manipulator"&i& +4 "core" & ~ + .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&g& +3 "core" & T ~ +2 "storage"(%& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&f'ы +96 "core" ' + "storage"( & +5 "core" &<$ R\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'i +285 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & Q ~ +2 "storage"(?& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'U +37 "core" ' +2 "manipulator"&M% +4 "core" % e + "storage"(x& +4 "core" &<$ -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&c' +14 "core" ' +2 "manipulator"&V& +4 "core" &   +2 "storage"((& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''D +39 "core" ' + "manipulator"&s& +4 "core" &   +2 "manipulator"&\\% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&@( +167 "core" ( +3 "manipulator"&e& +4 "core" &' L >L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &'  V >L +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&./ +55 "core" / +2 .tCC.seek :open +2 "collection"'_( +416 "core" ( + "storage"(`& +4 "core" &<$\ \  #\  +2 "storage"(O& +3 "core" &<$\ \ \  +2 "manipulator"&a& +4 "core" && G << + "manipulator"&o% +4 "core" % & * +2 .tForearm.seek :retract +2 "manipulator"&P'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&>& +4 "core" & $ _ Q +2 "storage"(6& +3 "core" &<$\ '\ ( y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&' +105 "core" ' +2 .tElbow.hold + "manipulator"&l, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +56 "core" 1 +2 "manipulator"&% +4 "core" %  _ + "storage"(v& +5 "core" &<$ /\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts + "manipulator"&N' +19 "core" ' +2 "manipulator"&{& +4 "core" & | R + "storage"(k& +46 "core" &<$\ %\ % \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&p'ы +16 "core" ' +2 "storage"(w% +4 "core" %I\ 6\ ) S\ +3 ."downElevator"SE.seek :down +3 "storage"(Z'X +99 (% +3 "core" %lA\ "\  `\ Wb + "manipulator"&% +4 "core" %ъ < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &SVI\ + "manipulator"&% +4 "core" %\ " 4 > +2 "storage"(% +4 "core" %_\ $\ # +\ + "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K w\  +2 "manipulator"&D& +4 "core" & \\ R +2 .tElbow.seek 6 + "manipulator"&R( +57 "core" ( + "manipulator"&y& +4 "core" &  a  +2 "storage"(\ & +4 "core" &K\ &\ & n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&d'a +100 "core" ' + "storage"(& +4 "core" &K\ E\ G '\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &K\ \  0\  +2 "manipulator"&:& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +17 "core" ( +2 "manipulator"& & +4 "core" &\  ~  + "storage"(}& +4 "core" &K\ &\ & \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&U' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(t'X +7 "core" &\  \\  +2 "manipulator"&% +53 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&<'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +108 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +54 "core" ( +2 "manipulator"&n& +4 "core" &+ > W Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &* l Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' + "manipulator"&W& +5 "core" &+ Ae + "manipulator"&J% +4 "core" %( F +2 "collection"'*& +4 "core" &TTC\ +2 "collection"'2& +5 "core" &TUG\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &VWA\ +6 & +UUA\ $c +9 &U~TSB\ 7 +10 &zVT@\ K +9 &SRT;\ M +9 &cWUT/\ M +10 &&STU2\ M +9 &ZSVN\ M +10 &WST0\ M +9 &lTUTM\ M +9 &/ZUUU\ L +10 &TSU\ M +9 &!UWW\ L +9 &#uWUU\ L +10 &%7WSUL\ L +9 &&TUTg\ M +10 &(XTU\ L +9 &*|YVTc\ M +14 &,>WTT\ M +5 &.RTTc\ L +9 &/VTU:\ L +9 &1UUT\ M +10 &3GXTT\ L +9 &5ZTV\ M +10 &6WTV\ M +9 &8RSTf\ L +9 &:NVTS;\ M +10 &<XTUy\ L +9 &=WTV9\ M +10 &?ZUUr\ M +9 &AWZTV~\ L +9 &CXUV\ M +10 &DZST|\ M +9 &FeTT~\ N +9 &HSvTV\ P +10 &JTT\ V +9 &KTV\ X +10 &MTT\ X +9 &OBWV\ Y +9 &QUV\ X +10 &RUV\ Z +9 &TUVu\ Z +10 &V"wTWu\ / +9 &V$TU|\ R +9 ( +2 "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&X1 +4 "core" &VcSX~\ M +55 1 + "manipulator"&h% +5 "core" % ( A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%!& +4 "core" &H\ +2 "manipulator"&&% +4 "core" %\   + "storage"(9% +4 "core" %V M\ + "storage"(". +3 "core" .(K +2 "storage"( & +4 "core" &K )\  + "storage"(& +4 "core" &K F\  +2 "manipulator"&u& +3 "core" &* Ac +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&)( +156 "core" ( + "manipulator"&$& +4 "core" &    +2 "storage"(& +4 "core" &K .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&H'a +92 "core" ' +2 "storage"(|& +4 "core" &K x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +283 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +7 ([& +3 "core" &K \  +2 "manipulator"&4& +3 "core" & 4  +2 .tElbow.seek 6 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&1& +3 "core" &   +2 "storage"(,& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&Q' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(S'X +7 "core" & a  +2 "manipulator"&]% +4 "core" % L = + .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&L(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&I& +4 "core" &u ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &u   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i' +98 "core" ' +2 "manipulator"&g& +4 "core" &u # h +2 "manipulator"&%% +3 "core" % |  +2 "processing"%=& +4 "core" &B\ +2 "processing"% & +5 "core" &I\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &K\ +7 &9B\ $c +9 &S}H\ 6 +9 &~~@\ K +10 &\\<\ M +9 &cZC\ M +9 &%Y8\ M +10 &WE\ M +9 &V8\ M +9 &jW>\ M +10 &,X>\ M +9 &Y=\ N +10 &!X@\ M +9 &#rY?\ M +9 &%3YA\ N +10 &&V6\ M +9 &(WB\ M +9 &*zW=\ M +10 &,;WA\ N +9 &-YA\ M +10 &/WB\ M +9 &1W5\ M +9 &3DY@\ M +10 &5W?\ M +9 &6W>\ M +9 &8WB\ M +10 &:LW=\ M +9 &<X=\ M +10 &=W0\ M +9 &?X<\ M +9 &ATX>\ M +10 &C]9\ M +9 &D`=\ N +9 &Fg.\ O +10 &HP{/\ Q +10 &J4\ S +9 &K2\ S +9 &M+\ S +9 &OR*\ S +10 &Q*\ T +9 &R)\ T +9 &T \ T +10 &VX"\ T +9 &X)\ T +10 &Yzn*\ 7 +10 &Z0'\ G +8 &Z*\ ( +3 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&+1 +63 "core" 1 +2 "manipulator"&% +4 "core" %  _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +3 "processing"%& +4 "core" &Z7\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&?% +4 "core" %\   + "storage"(m% +4 "core" %a \ + "storage"(M. +3 "core" .(K +2 "storage"(x& +3 "core" &K p\  +2 "storage"(V& +3 "manipulator"&(& +6 "core" &K ^\  + &u  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&s(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'i +2 "core" ( + "manipulator"&f& +4 "core" &u Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &u P +2 .tForearm.seek PC +2 "manipulator"&5' +95 "core" ' +3 .tHand.close +3 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%c( +92 "core" ' +2 "storage"(/- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +33 "core" ' +296 ( +2 "storage"(8& +4 "core" &K 8\  + "manipulator"&& +4 "core" &u * + "manipulator"& % +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&.'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +267 "core" ( + "manipulator"&E& +5 "core" & $  + "storage"(`& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&O'a +96 "core" ' + .tHand.open + "manipulator"&a1 +62 "core" 1 +2 "storage"(o- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(6' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(@& +4 "core" &K l l \  +2 "manipulator"&Y& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&v& +4 "core" & i  +2 "storage"({& +3 "core" &K l j \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&k'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(w' +57 "core" ' + "manipulator"&P& +4 "core" & F  +2 "storage"(& +4 "core" &K #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&% +4 "core" %θ  +2 "storage"(& +4 "core" &K '\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&N' +12 "core" ' + "manipulator"&& +5 "core" & L  + "storage"(& +4 "core" &K \  +3 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&''a +25 "core" ' +2 "storage"(p% +4 "core" %s "\ +4 ."downElevator"SE.seek :down +3 "storage"(Z'X +99 (G% +2 "core" %L {\ We +2 "manipulator"&% +4 "core" %X  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (y& +4 "core" &K \  + "collection"'\ & +4 "core" &VcVVj\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\    +2 "storage"(l% +4 "core" %b \ + "storage"(;. +4 "core" .(K + "storage"(q& +4 "core" &K \  + "storage"(0& +4 "core" &K u\  +2 "manipulator"&:& +3 "core" & =  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&}& +4 "core" &  Z  +2 "storage"(z& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&~'a +104 "core" ' + "storage"(& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +284 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(n& +3 "core" &K %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'Υ +31 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(J'Y +27 "core" ' + "manipulator"& % +5 "core" %ι + "storage"(*& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&t' +12 "core" ' +2 "manipulator"&<& +4 "core" & 4  +2 "storage"(_& +4 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&X'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(h'H +39 "core" ' + "manipulator"&!& +5 "core" & r  + "manipulator"&&% +4 "core" %J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&"( +159 "core" ( +3 "manipulator"& & +4 "core" &' O >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' >O +2 .tForearm.seek CC + "manipulator"&2'" +94 "core" ' + .tHand.close +2 "manipulator"&u/ +58 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &K\ \  '\  + "storage"($& +4 "core" &K\ \ \  + "manipulator"&& +4 "core" &' I >N +2 "manipulator"&|% +3 "core" % ' # +2 .tForearm.seek :retract +2 "manipulator"&b'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&T( +155 "core" ( + "manipulator"&r& +5 "core" &   3  + "storage"([& +4 "core" &K\ H\ E (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&4'Υ +103 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +56 "core" 1 +2 "manipulator"&#% +4 "core" % η 7 + "storage"(C& +4 "core" &K y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&]' +18 "core" ' +2 "manipulator"&)& +4 "core" &  \\  +2 "storage"(H& +3 "core" &K\ P\ P T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&K'a +28 "core" ' + "storage"(Q% +5 "core" %O\ - } /\  +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (-% +3 "core" %\\D\ \  A\ Vb + "manipulator"&B% +4 "core" %` \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'%& +4 "core" &UUF\ + "manipulator"&=% +4 "core" %\ " \ > +2 "storage"(S% +4 "core" %S\ %\ % ]\ + "storage"(7. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,l +656 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +5 (+& +5 "core" &,m \ +3 "manipulator"&& +7 "core" &    +4 .tElbow.seek 4 +3 "manipulator"&( +18 "core" ( +3 "manipulator"&?& +7 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +6 "core" & k r +3 "storage"(m& +9 "core" &,q\ $\ # r\ +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 700 counts +3 "manipulator"&M'Ѽ +98 "core" ' +4 "storage"(x& +8 "core" &,q\ C\ F \ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"( 'i +212 "Can"]\ GD +75 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &,q\ \ " &\ + "manipulator"&f& +4 "core" &  r +2 .tElbow.seek 4 + "manipulator"&F( +4 "core" ( + "manipulator"&i& +4 "core" & p r + "storage"(& +4 "core" &,q\ .\ # -\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&/', +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"('X +7 "core" &  r + "manipulator"&\\% +4 "core" % -  L +2 .tForearm.seek :retract +2 "manipulator"&8'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"& & +4 "core" &+ 9 s Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &* 2 b Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'" +97 "core" ' + "manipulator"&`& +4 "core" &+ . = Ad +2 "manipulator"&s% +4 "core" %%  +2 "collection"'a& +3 "core" &VUW\ +3 "collection"'o& +4 "core" &SVG\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &UVG\ +7 &4UVD\ $e +9 &WTWF\ 7 +9 &{TUP\ L +10 &UWVK\ M +9 &iUUUG\ L +9 &*XTWC\ M +10 &ZQUD\ M +9 &WTUC\ M +10 &qUUVC\ L +9 &2TSV4\ M +9 &STV6\ L +10 &!WSUB\ M +9 &#xZTT,\ M +10 &%:TTWW\ M +9 &&SUV\\\ M +9 &(STV]\ L +10 &*UVU\\\ L +9 &,CUTT\ L +9 &.WTN>\ M +10 &/XTW\\\ M +9 &1ZTV0\ M +9 &3KXUVt\ L +10 &5 UTW\ L +9 &6YVVb\ M +10 &8WUU\ L +9 &:SWUV"\ L +9 &<XSUf\ M +10 &=UUVi\ M +9 &?UWW\ M +9 &AZTUUd\ M +10 &CUVVb\ M +9 &D\\UW}\ M +10 &FgUUc\ O +9 &HWxTVi\ P +9 &J\ UUh\ V +10 &KUU}\ X +9 &MVUc\ Y +9 &OGVVb\ Y +13 &Q UV}\ Y +6 &RWVv\ Z +10 &TUW\ Z +9 &V%uTW\ . +10 &V'VV|\ T +8 ( +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&@1 +3 "core" &VrTWf\ N +50 1 + "manipulator"&Y% +4 "core" % $ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%{& +5 "core" &G\ + "manipulator"&.% +4 "core" %\   +2 "storage"(P% +54 "core" %b K\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,q a\ +2 "storage"(e& +3 "core" &,q \ +2 "manipulator"&& +4 "core" &* a Ad +2 "manipulator"&% +3 "core" %\  Q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&>& +4 "core" &  1 K +2 "storage"(j& +3 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&p'Ѽ +98 "core" ' + "storage"(O& +4 "core" &,q w\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +283 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &,q \\\ +2 "manipulator"&& +4 "core" &  K +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&w& +4 "core" &  w K +2 "storage"(& +3 "core" &,q \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"('X +6 "core" & V K +2 "manipulator"&l% +4 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&;(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&q& +5 "core" &v J \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +2 "core" &v % n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:' +95 "core" ' + "manipulator"&}& +5 "core" &v % u + "manipulator"&z% +4 "core" %   +2 "processing"%'& +4 "core" &X\ +2 "processing"%& +5 "core" &C\ +2 .tPC.seek :closed + "processing"%Z(Z +4 "core" &C\  +9 &4{C\ *z +9 &fC\ ? +9 &sC\ N +10 &QTD\ M +9 &WA\ M +9 &W@\ M +10 &X>\ M +9 &YUH\ M +10 &VK\ M +9 &XM\ M +9 & VJ\ M +10 &"`WK\ M +9 &$"VG\ M +9 &%WD\ M +10 &'YK\ M +9 &)hWL\ M +10 &++WL\ M +9 &,UK\ M +9 &.VB\ M +10 &0qWJ\ M +9 &23XC\ M +9 &3WJ\ M +10 &5VC\ M +9 &7zV@\ M +10 &9:ZH\ M +9 &:TK\ M +9 &<WA\ M +10 &>WE\ M +9 &@BYA\ M +9 &BW?\ M +10 &C\\J\ M +9 &E^A\ N +10 &GElF\ O +9 &HI\ R +9 &J@\ S +10 &LC\ S +9 &NAA\ S +10 &PB\ S +9 &Q=\ S +9 &SA\ S +10 &UG>\ T +9 &W @\ T +9 &XC\ T +10 &Z+Qq;\ *| +9 &ZQ=\ / +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +3 "core" &Z%4\ . +50 1 + "manipulator"&D% +4 "core" %  \\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +94 "core" ' +2 "processing"%& +4 "core" &Z%D\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&n% +4 "core" %\  ) + "storage"(W% +4 "core" %a \ +2 "storage"( . +3 "core" .(,l + "storage"(*& +4 "core" &,q (\ +2 "storage"(<& +3 "manipulator"&_& +5 "core" &,q :\ + &v +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&!(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'i +2 "core" ( +2 "manipulator"&~& +4 "core" &v ( 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &v +2 .tForearm.seek PC +2 "manipulator"&R' +96 "core" ' +2 .tHand.close + "manipulator"&^/ +60 "core" / + .tPC.seek :open +2 "processing"%t( +85 "core" ' + "storage"(J- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +34 "core" ' +302 ( +2 "storage"(& +4 "core" &,q \ + "manipulator"&X& +4 "core" &v i + "manipulator"&U% +4 "core" % w +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +251 "core" ( + "manipulator"&& +4 "core" & $ P !v +2 "storage"(& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&$'Ѽ +98 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(|- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(r'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +4 "core" -' + "storage"("& +4 "core" &,q ; < o\ +2 "manipulator"&,& +3 "core" &  !u +2 .tElbow.seek 4 +2 "manipulator"&#( +3 "core" ( + "manipulator"&C& +4 "core" &  k !u +2 "storage"()& +3 "core" &,q R S \ +3 .tForearm.seek 4 + 700 counts + "manipulator"&H'Ѽ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +61 "core" ' + "manipulator"&b& +4 "core" & 3 !u +2 "storage"(-& +4 "core" &,q {\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&B' +33 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'i +23 "core" ' + "manipulator"&]% +5 "core" % +2 "storage"(%& +4 "core" &,q |\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&='@ +14 "core" ' +2 "manipulator"&S& +4 "core" & D !t +2 "storage"(7& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&h'Ѽ +24 "core" ' +2 "storage"(K% +4 "core" %m \ +2 ."downElevator"SE.seek :down +4 "storage"(I'X +98 (% +3 "core" %I P\ Wf +2 "manipulator"&+% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (?& +4 "core" &,q J\ + "collection"'m& +4 "core" &VrTWl\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&x% +4 "core" %\  k  +2 "storage"(1% +3 "core" %^ +\ +2 "storage"(g. +3 "core" .(,l + "storage"((& +4 "core" &,q V\ + "storage"(V& +4 "core" &,q V\ +2 "manipulator"&f& +4 "core" & ; !t +2 .tElbow.seek 4 + "manipulator"&i( +4 "core" ( + "manipulator"&& +4 "core" &  !t + "storage"(L& +4 "core" &,q ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&3'Ѽ +107 "core" ' +3 "storage"(\\& +4 "core" &,q ~\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  !t +2 "storage"(5& +3 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"& ' +35 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +52 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'V +31 "core" ' +6 "manipulator"&F% +4 "core" % P + "storage"(a& +4 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +14 "core" ' +2 "manipulator"&8& +4 "core" & K !t +3 "storage"(& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&@'Ѽ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'E +40 "core" ' +2 "manipulator"&{& +4 "core" &  !t +2 "manipulator"&.% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&o( +156 "core" ( + "manipulator"&& +5 "core" &- E Cr + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- Cq +2 .tForearm.seek CC +2 "manipulator"&e'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( + "storage"(E& +5 "core" &,q w\ + "storage"(>& +4 "core" &,q o\ + "manipulator"&j& +4 "core" &- ' Cm + "manipulator"&O% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&v( +157 "core" ( +2 "manipulator"&k& +4 "core" &  i X + "storage"(G& +4 "core" &,q\ &\ ' \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +107 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&y% +5 "core" %  /    + "storage"(\ & +4 "core" &,q O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&l': +19 "core" ' + "manipulator"&& +5 "core" & d X + "storage"(p& +4 "core" &,q\ .\ 1 ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&6'Ѽ +19 "core" ' + "storage"(N% +4 "core" %H\ H\ I \ +3 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (0% +4 "core" %G\ \  \ Wc +2 "manipulator"&% +5 "core" %ѭ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'z& +5 "core" &TTQ\ + "manipulator"&'% +4 "core" %\  ?  +2 "storage"(% +4 "core" %a\ I\ I #\ + "storage"(. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(c(<* +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<) 0\  +2 "manipulator"&D& +4 "core" &  X +2 .tElbow.seek 5 + "manipulator"&( +10 "core" ( + "manipulator"&n& +4 "core" & #  F +2 "storage"(W& +4 "core" &<&\ #\ . t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +103 "core" ' + "storage"(*& +4 "core" &<&\ F\ > a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'i +284 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +3 (& +2 "core" &<&\ \  o\  +2 "manipulator"&~& +4 "core" & z F + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&:& +3 "core" &  F +2 "storage"(^& +4 "core" &<&\ &\ ' \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&J' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(Z'X +7 "core" & T F +2 "manipulator"&&% +4 "core" %  D +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&U& +4 "core" &+ T  Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &*  Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&& +4 "core" &+ s Ad +2 "manipulator"&!% +4 "core" %)    + "collection"'& +4 "core" &WVT\ +2 "collection"'|& +6 "core" &TWW\ +2 .tCC.seek :closed +3 "collection"'2(V +5 "core" &TVC\ +5 &TVE\ 7 +9 &:I{VVD\ 0 +9 &fsTVF\ D +10 &\ _STG\ M +9 &XTTH\ M +10 &XVVD\ L +9 &RXTT9\ M +9 &YVV=\ M +10 &UTU=\ L +9 &TWWB\ L +9 &ZYVTB\ M +10 &!WTU1\ M +9 &"ZUT7\ M +10 &$XTV-\ M +9 &&cRXU:\ L +9 &(&UTM3\ L +10 &)UTV[\ M +9 &+XSV]\ L +9 &-jTUUe\ M +10 &/,VWWZ\ M +9 &0TSV4\ L +9 &2UUX&\ L +10 &4rXVT\ M +9 &65VTT@\ L +10 &7UUW\\\ L +9 &9WVV1\ M +9 &;zVVT+\ M +10 &==TSVX\ L +9 &>USU\ L +10 &@TVT\ M +9 &BYUW\ M +9 &DC\\TVc\ M +10 &FeQV\ N +9 &GuSN\ P +9 &IvSW_\ T +10 &K,TU[\ X +9 &LTWc\ X +10 &NSWc\ X +9 &PoUVd\ Y +9 &R1TVb\ Y +10 &SUV~\ Z +9 &UUUb\ H +9 &V4TVy\ (w +10 &VfVV~\ K +2 ( +2 "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&"1 +60 "core" 1 + "manipulator"&,% +9 "core" % ) . )  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&C'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%)& +4 "core" &P\ +2 "manipulator"&u% +4 "core" %\   + "storage"(b% +4 "core" %T Y\ +2 "storage"(-. +2 "core" .(<* +2 "storage"( & +4 "core" &<& }\  + "storage"(]& +4 "core" &<& 3\  + "manipulator"&%& +4 "core" &* Ab +2 "manipulator"&r% +3 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&S( +153 "core" ( + "manipulator"&7& +4 "core" &   +2 "storage"(K& +3 "core" &<& $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&9'ы +110 "core" ' + "storage"($& +4 "core" &<& \ F\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &<& \  +2 "manipulator"&H& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&#( +3 "core" ( + "manipulator"&Q& +4 "core" & _  +2 "storage"(B& +3 "core" &<& Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&=' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(x'X +8 "core" & l  + "manipulator"&1% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&((s +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +103 "core" ( +3 "manipulator"&4& +5 "core" &i  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +103 "core" ' +2 "manipulator"&& +54 "core" &i t + "manipulator"&L% +4 "core" % @ +2 "processing"%h& +3 "core" &J\ +3 "processing"%\\& +6 "core" &L\ +3 .tPC.seek :closed +3 "processing"%I(Z +3 "core" &L\ +4 &E\ 8 +10 &IIxK\ 0 +9 &urF\ D +9 &cK\ N +10 &VJ\ M +9 &WK\ M +10 &`YL\ M +9 &"XL\ M +9 &WK\ M +10 &TL\ M +9 &iVK\ M +9 &!+UK\ M +10 &"XK\ M +9 &$WK\ M +10 &&rUK\ L +9 &(2WL\ M +9 &)XL\ M +10 &+VL\ M +9 &-xVL\ M +9 &/:VK\ M +10 &0WK\ M +9 &2WF\ M +10 &4WK\ M +9 &6CVE\ M +9 &8WK\ M +10 &9\\L\ M +9 &;UF\ M +9 &=JVE\ M +10 &? VD\ M +9 &@UI\ M +10 &BYK\ M +9 &DPYH\ N +9 &F`D\ N +10 &GrF\ P +9 &I>\ S +9 &KII\ S +10 &M K\ S +9 &NF\ S +10 &P:\ S +9 &RN?\ T +9 &T>\ T +10 &U;\ T +9 &W6\ T +9 &YT;\ B +10 &Zc><\ Y +9 &Z1A\ / +6 ( + "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&T1 +4 "core" &Z#;\ / +52 1 + "manipulator"&% +4 "core" % 2 # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' + "processing"% & +4 "core" &Z"I\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&5% +4 "core" %\  3  +2 "storage"(`% +3 "core" %T \ +2 "storage"(F. +3 "core" .(<* + "storage"(a& +4 "core" &<& \  +2 "storage"(8& +2 "manipulator"&& +6 "core" &<& \  + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&{(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'i +2 "core" ( +2 "manipulator"&3& +3 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &i / [ +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(s- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +302 ( + "storage"(& +4 "core" &<& k\  + "manipulator"&@& +4 "core" &i 7 +2 "manipulator"&/% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&P( +265 "core" ( + "manipulator"&& +4 "core" &  - { +2 "storage"(E& +3 "core" &<& U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&>'ы +93 "core" ' + .tHand.open +2 "manipulator"&j1 +58 "core" 1 +2 "storage"(O- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(k'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +56 "core" ' + #tLights, camera, ACTION! +3 "storage"(e- +3 "core" -' +2 "storage"(o& +4 "core" &<& = < \  +2 "manipulator"&& +3 "core" &  { +2 .tElbow.seek 5 +2 "manipulator"&y( +3 "core" ( + "manipulator"&\ & +4 "core" &  A { +2 "storage"(& +4 "core" &<& = > \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&p'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(N' +60 "core" ' +2 "manipulator"&& +4 "core" & _ { +2 "storage"(0& +4 "core" &<& K\  + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&z% +4 "core" % +2 "storage"(l& +4 "core" &<& &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&'' +14 "core" ' +2 "manipulator"&& +4 "core" & N | +2 "storage"(& +4 "core" &<& s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Y'ы +17 "core" ' + "storage"(6% +5 "core" %p z\ +2 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (A% +3 "core" %F \ We +2 "manipulator"&% +4 "core" %ч 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +65 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" &<& [\  +2 "collection"'W& +4 "core" &VhTUs\ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&*% +4 "core" %\    + "storage"(w% +4 "core" %M v\ + "storage"(}. +3 "core" .(<* +2 "storage"(<& +4 "core" &<& D\  + "storage"(& +4 "core" &<& a\  + "manipulator"&~& +4 "core" &  | +2 .tElbow.seek 5 +2 "manipulator"&:( +3 "core" ( + "manipulator"&^& +4 "core" &  | + "storage"(;& +4 "core" &<& x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&d'ы +95 "core" ' +2 "storage"(&& +4 "core" &<& \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +2 "core" & ` | +2 "storage"(R& +4 "core" &<& `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&_' +36 "core" ' + .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(!'U +31 "core" ' + "manipulator"& % +4 "core" % +2 "storage"(& +3 "core" &<& \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&Z' +19 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &<& 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&"'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'D +41 "core" ' + "manipulator"&)& +5 "core" &  + "manipulator"&u% +4 "core" %ђ y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +162 "core" ( + "manipulator"&|& +4 "core" &, / Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- Cm +3 .tForearm.seek CC +2 "manipulator"&]'" +93 "core" ' + .tHand.close +2 "manipulator"&%/ +58 "core" / +2 .tCC.seek :open + "collection"'r( +417 "core" ( + "storage"(& +4 "core" &<&\ \  \  + "storage"(7& +4 "core" &<&\ \ \  +2 "manipulator"&K& +3 "core" &, Bj +2 "manipulator"&$% +3 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +162 "core" ( + "manipulator"&& +5 "core" & $ > W + "storage"(+& +4 "core" &<&\ 1\ )\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&H' +108 "core" ' +49 .tElbow.hold +3 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&B1 +57 "core" 1 +2 "manipulator"&?% +5 "core" %  J + "storage"(m& +4 "core" &<& o\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&1' +14 "core" ' +2 "manipulator"&S& +4 "core" & \\ X +2 "storage"(9& +3 "core" &<&\ P\ P =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +18 "core" ' +6 "storage"(=% +4 "core" %N\ <\ A {\ +3 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (V% +3 "core" %&F\ \  &\ Va + "manipulator"&#% +4 "core" %у  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'L& +4 "core" &SU?\ +2 "manipulator"&h% +4 "core" %\    + "storage"(x% +4 "core" %`\ H\ H \ +2 "storage"(g. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(t(K +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &K I\  +2 "manipulator"&& +4 "core" &  X +2 .tElbow.seek 6 + "manipulator"& ( +43 "core" ( + "manipulator"&5& +4 "core" &8  c  +2 "storage"(`& +4 "core" &K\ %\ $ $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&F'a +92 "core" ' + "storage"(a& +4 "core" &K\ J\ H \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &K\ \  \  +2 "manipulator"&3& +4 "core" &8   +2 .tElbow.seek 6 + "manipulator"&i( +17 "core" ( +2 "manipulator"&f& +5 "core" &  Q  + "storage"( & +4 "core" &K\ &\ & \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&s' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&M& +3 "storage"(I'X +6 "core" &  +2 "manipulator"&.% +4 "core" %  * +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&@( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&/& +4 "core" &- A U Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  Co +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&'" +102 "core" ' +3 "manipulator"&E& +4 "core" &- Co + "manipulator"&{% +4 "core" %# I +2 "collection"'j& +4 "core" &SV^\ +2 "collection"'O& +4 "core" &TU_\ +2 .tCC.seek :closed +2 "collection"'e(V +4 "core" &OUP\  +9 &2}TWJ\ *x +9 &dSUJ\ > +9 &vsTVJ\ N +10 &;TTTL\ L +9 &VTWH\ L +9 &YTU=\ M +10 &WTTC\ M +9 &CSSWC\ L +10 &UUWG\ L +9 &UTVB\ M +9 & TTUF\ L +10 &"KWUTC\ L +9 &$ YSVD\ M +9 &%UTRE\ L +10 &'STV7\ M +9 &)RVVV7\ M +10 &+TTT7\ L +9 &,TQU7\ L +9 &.TUV6\ L +10 &0ZUTU8\ M +9 &2WSU6\ L +9 &3WTS4\ M +10 &5UVUW\ M +9 &7bUTV]\ M +10 &9%VST[\ L +9 &:WSUW\ L +9 &<VOTX\ M +10 &>kUTSZ\ L +9 &@-UTU[\ L +9 &AYTS0\ L +10 &CWTV\ L +9 &Ep]UT!\ M +9 &G.kTU\ O +10 &H}RU\ Q +9 &JTU_\ V +10 &LXTTg\ X +9 &NTUi\ X +9 &OUU\ Y +10 &QUU\ Y +9 &SYUVf\ [ +10 &UVV\ [ +9 &VjDSU\ 1 +9 &VpUVd\ M +6 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&o1 +4 "core" &VcTTg\ M +49 1 +3 "manipulator"&% +4 "core" % & ;  F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +95 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &e\ +2 "manipulator"&% +3 "core" %\  2 + +2 "storage"(% +3 "core" %b T\ +2 "storage"(0. +3 "core" .(K + "storage"(& +4 "core" &K C\  +2 "storage"(z& +3 "core" &K _\  +2 "manipulator"&l& +4 "core" &-  Cm + "manipulator"&k% +4 "core" %\  + +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +158 "core" ( + "manipulator"&& +5 "core" &     + "storage"(6& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&P'a +94 "core" ' +2 "storage"(>& +4 "core" &K\ U\  +2 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +283 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&p& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&y( +4 "core" ( + "manipulator"&N& +4 "core" &  y  +2 "storage"(& +3 "core" &K Q\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&n' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& + "storage"(*'X +7 "core" &    +2 "manipulator"&w% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&<& +5 "core" &o 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o  x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +96 "core" ' + "manipulator"&^& +4 "core" &o  F +2 "manipulator"&;% +4 "core" % P 1 + "processing"%Y& +4 "core" &f\ +2 "processing"%&& +5 "core" &T\ +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &X\  +8 &2~Y\ *x +9 &bZ\ = +10 &ytX\ N +9 &=U`\ M +10 &WQ\ M +9 &[S\ M +9 &XM\ M +10 &EYO\ M +14 &WV\ M +4 &[N\ M +10 & WK\ M +9 &"NWF\ L +9 &$UF\ M +10 &%XO\ L +9 &'ZL\ M +10 &)UWK\ M +9 &+UK\ L +9 &,VK\ M +10 &.UL\ M +9 &0]WK\ M +9 &2XK\ M +10 &3WK\ L +9 &5WK\ M +10 &7eWK\ M +9 &9&UM\ M +9 &:UK\ M +10 &<UL\ M +9 &>mUJ\ M +9 &@.VJ\ M +10 &AXJ\ M +9 &CZK\ M +10 &EqbK\ N +9 &G/nL\ O +9 &HK\ R +10 &JL\ S +9 &LkK\ S +10 &N-J\ S +9 &OK\ S +9 &QK\ S +10 &SpF\ T +9 &U2I\ T +10 &VG\ T +9 &XK\ T +9 &Z"]L\ #k +10 &ZUL\ * +8 ( +2 &ZF\ ( +2 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&v1 +64 "core" 1 + "manipulator"&D% +4 "core" %   1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +6 "processing"%U& +4 "core" &Z9\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&R% +4 "core" %\    + "storage"(% +4 "core" %b 5\ +2 "storage"( . +3 "core" .(K + "storage"(& +4 "core" &K ;\  +2 "storage"(& +4 "manipulator"&& +4 "core" &K 6\  + &o z +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&)(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'i +2 "core" ( + "manipulator"&d& +4 "core" &o U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &o * +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +50 .tHand.close +3 "manipulator"&_/ +55 "core" / +4 .tPC.seek :open +2 "processing"%Z( +37 "core" ' + "storage"(!- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'y +35 "core" ' +351 ( + "storage"( & +4 "core" &K \ \  +2 "manipulator"&"& +3 "core" &o  +2 "manipulator"&J% +4 "core" % x +2 .tForearm.seek :retract + "manipulator"&%'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&b( +297 "core" ( + "manipulator"&2& +4 "core" & # _ , +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7'a +98 "core" ' + .tHand.open + "manipulator"&K1 +60 "core" 1 +2 "storage"($- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +30 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(-& +4 "core" &K P R ;\  + "manipulator"&B& +4 "core" && k & +2 .tElbow.seek 6 +2 "manipulator"&?( +28 "core" ( + "manipulator"&m& +5 "core" & s + "storage"(S& +4 "core" &K = J `\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&9'a +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(X' +61 "core" ' + "manipulator"&=& +5 "core" & E s + "storage"(V& +4 "core" &K s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&#'Υ +34 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(H'i +23 "core" ' +2 "manipulator"&L% +4 "core" %η  +2 "storage"(1& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&h' +13 "core" ' + "manipulator"&x& +5 "core" & G s + "storage"(g& +4 "core" &K j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&,'a +30 "core" ' + "storage"([% +5 "core" %p T\ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (c% +3 "core" %L (\ Xf +2 "manipulator"&T% +4 "core" %P 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (5& +3 "core" &K T\  +2 "collection"'`& +4 "core" &VcVVB\ M + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&a% +4 "core" %\ h  + "storage"(Q% +4 "core" %` `\ +2 "storage"(. +3 "core" .(K + "storage"(8& +4 "core" &K ]\  +2 "storage"(\\& +4 "core" &K I\  + "manipulator"&3& +8 "core" & s s +2 .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( + "manipulator"& & +4 "core" & s +2 "storage"((& +4 "core" &K {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&M'a +94 "core" ' + "storage"(.& +4 "core" &K \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(F- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&/& +3 "core" &  s +2 "storage"(& +3 "core" &K 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +36 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(E'Y +28 "core" ' +2 "manipulator"&{% +4 "core" %ε w +2 "storage"(j& +3 "core" &K 1\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&I' +18 "core" ' + "manipulator"&& +5 "core" & P u + "storage"(r& +3 "core" &K c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&o'a +17 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +39 "core" ' + "manipulator"&& +5 "core" & Y u + "manipulator"&% +4 "core" %c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +168 "core" ( +3 "manipulator"&& +4 "core" &+ i Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &* Ac +2 .tForearm.seek CC + "manipulator"&l'" +94 "core" ' + .tHand.close +2 "manipulator"&O/ +56 "core" / +2 .tCC.seek :open +2 "collection"'k( +416 "core" ( + "storage"(& +4 "core" &K\  \  +2 "storage"(& +3 "core" &K !\  +2 "manipulator"&6& +3 "core" &+  A` +2 "manipulator"&>% +4 "core" % $  +2 .tForearm.seek :retract + "manipulator"&@'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +154 "core" ( +2 "manipulator"&A& +4 "core" &  b  +2 "storage"(& +3 "core" &K\ .\ & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&p'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&'% +4 "core" % ε R +2 "storage"(W& +3 "core" &K ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&w' +14 "core" ' +2 "manipulator"&& +4 "core" & d  +2 "storage"(P& +4 "core" &K\ B\ A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&G'a +28 "core" ' + "storage"(n% +5 "core" %R\ P\ M I\ +2 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (% +3 "core" %H\ \  '\ Vb +2 "manipulator"&y% +4 "core" %n & u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +5 "core" &TUO\ + "manipulator"&Y% +4 "core" %\ !  3 +2 "storage"(*% +4 "core" %^\ H\ 6 F\ +2 "storage"(}. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (v& +3 "core" &,n p\ +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&U( +15 "core" ( + "manipulator"&R& +4 "core" &   E +2 "storage"(& +4 "core" &,q\ $\ ' K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +95 "core" ' + "storage"(&& +4 "core" &,q\ G\ I\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"('i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &,q\ \  8\ +2 "manipulator"&d& +4 "core" & h E + .tElbow.seek 4 +2 "manipulator"&:( +4 "core" ( + "manipulator"&~& +4 "core" &  U E + "storage"(_& +4 "core" &,q\ %\ & \ +7 .tForearm.seek 4 + 300 counts + "manipulator"&!', +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(q'X +8 "core" & & E + "manipulator"&u% +4 "core" % 9  c +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&J& +4 "core" &* { @ U A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'" +100 "core" ' +3 "manipulator"&)& +9 "core" &+ A` + "manipulator"&% +4 "core" %  +2 "collection"'K& +4 "core" &TV`\ +2 "collection"'$& +5 "core" &WTL\ +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &TVO\ +7 &=UTP\ $e +10 &WUVP\ 7 +9 &{UUU\ L +9 &USTZ\ M +10 &lYVTW\ L +9 &/URUP\ L +10 &ZTTP\ M +9 &WTUO\ M +9 &tTUTJ\ L +10 &6UUUF\ L +9 &YVUO\ M +9 &!YVVG\ L +10 &#|WKVE\ L +9 &%=YVUF\ M +9 &'RTTG\ L +10 &(SVUG\ M +9 &*VUUF\ M +10 &,FTRTC\ L +9 &. TWVE\ L +9 &/YSV?\ L +10 &1UVU8\ M +9 &3MVUV9\ M +9 &5RWW8\ L +10 &6SWV/\ M +9 &8UST5\ M +10 &:VYUU)\ L +9 &<XTTT\ M +9 &=ZTV\ L +10 &?VVV\ L +9 &A]YTU\ M +9 &C ZST\ L +10 &D]TW\ M +9 &FgTV<\ O +10 &HY|VU[\ Q +9 &J TU \ V +9 &KTU(\ X +10 &MVVY\ X +9 &OJSW\ Y +9 &Q UXs\ Y +10 &RVU<\ Z +9 &TUUZ\ Z +10 &V(uUW\ . +9 &V'UV\ R +9 ( +2 &VoUS\ M + "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&-1 +55 "core" 1 +3 "manipulator"&B% +8 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%m& +5 "core" &V\ + "manipulator"&S% +4 "core" %\   + "storage"(=% +4 "core" %T 2\ +2 "storage"(V. +3 "core" .(,l + "storage"(|& +4 "core" &,q H\ +2 "storage"(& +4 "core" &,q 2\ + "manipulator"&L& +4 "core" &* A` +2 "manipulator"&1% +3 "core" %\  )   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&x( +158 "core" ( +2 "manipulator"&g& +4 "core" &  n ` + "storage"(b& +4 "core" &,q n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&['Ѽ +87 "core" ' + "storage"(7& +4 "core" &,q 1\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +286 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" &,q \ +2 "manipulator"&9& +3 "core" & q ` +2 .tElbow.seek 4 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&X& +3 "core" & d ` +2 "storage"(#& +4 "core" &,q L\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&h', +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& + "storage"(a'X +7 "core" & J ` +2 "manipulator"&Q% +3 "core" %   / +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H(s +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +113 "core" ( + "manipulator"&8& +4 "core" &k 1 + \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &k  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +94 "core" ' + "manipulator"& & +5 "core" &k  L \ + "manipulator"&(% +4 "core" % J 6 +2 "processing"%,& +3 "core" &T\ +2 "processing"%.& +6 "core" &T\ +2 .tPC.seek :closed +3 "processing"%4(Z +3 "core" &Y\ +6 &@b\ $e +9 &X_\ 7 +9 &{\\\ L +10 &YX\ M +9 &zX]\ L +10 &;W]\ M +9 &U_\ L +9 &UV\ M +10 &YU\ M +9 &BUQ\ M +9 & XO\ M +10 &!WO\ M +9 &#VL\ M +10 &%JYP\ M +9 &'VD\ L +9 &(WC\ M +10 &*XD\ M +9 &,RUJ\ M +9 &.WN\ M +10 &/UG\ L +9 &1VH\ M +9 &3[WK\ M +10 &5VO\ M +9 &6YM\ M +10 &8WL\ M +9 &:cWJ\ M +9 &<$ZK\ M +10 &=UL\ M +9 &?VK\ M +10 &AkUI\ M +9 &C-YL\ M +9 &D]L\ N +10 &FeL\ N +9 &HfzL\ Q +10 &J#F\ S +9 &KK\ S +9 &MK\ R +9 &OhK\ S +10 &Q)J\ S +9 &RE\ T +10 &TK\ T +9 &VnJ\ T +9 &X0E\ T +10 &YzpK\ . +9 &Z&dE\ I +9 &Z(J\ 1 +3 ( + "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&C1 +54 "core" 1 +2 "manipulator"&% +4 "core" % I 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 "processing"%/& +4 "core" &Z(P\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ # # @ +2 "storage"(i% +3 "core" %] 5\ +2 "storage"({. +3 "core" .(,l + "storage"(j& +4 "core" &,q `\ +2 "storage"(& +2 "manipulator"&r& +7 "core" &,q E\ + &k E \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&M& +4 "core" &k  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &k \ +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%I( +89 "core" ' +2 "storage"(E- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +293 ( + "storage"(z& +4 "core" &,q 3\ +2 "manipulator"&o& +4 "core" &k  \ + "manipulator"&s% +4 "core" % _  +2 .tForearm.seek :retract +2 "manipulator"&O'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +259 "core" ( + "manipulator"&e& +4 "core" &  z  +2 "storage"(& +3 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' + .tHand.open + "manipulator"&61 +63 "core" 1 +2 "storage"(>- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! + "storage"(l- +4 "core" -' +2 "storage"(0& +3 "core" &,q G C Y\ +2 "manipulator"&& +4 "core" & J  + .tElbow.seek 4 +2 "manipulator"&'( +4 "core" ( + "manipulator"&W& +4 "core" &  s  +2 "storage"(& +4 "core" &,q R S J\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&P'Ѽ +13 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +3 "storage"(n' +60 "core" ' + "manipulator"&@& +5 "core" &   + "storage"(& +4 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&y' +35 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(p'i +26 "core" ' + "manipulator"&;% +5 "core" % + "storage"(w& +4 "core" &,q U\ +2 .tForearm.force -20 +6 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&Y'? +17 "core" ' + "manipulator"&*& +5 "core" & l  + "storage"(}& +4 "core" &,q 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +47 "core" ' + "storage"(G% +5 "core" %m \ +2 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (t% +3 "core" %H :\ Wd +2 "manipulator"&v% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (R& +4 "core" &,q =\ +2 "collection"'& +4 "core" &VnSV\ M + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&&% +4 "core" %\  M ! +2 "storage"(N% +3 "core" %U u\ +2 "storage"(^. +3 "core" .(,l +2 "storage"(& +3 "core" &,q v\ +2 "storage"(& +3 "core" &,q z\ +2 "manipulator"&d& +4 "core" & {  +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( + "manipulator"&_& +4 "core" & $ G  +2 "storage"(& +3 "core" &,q c\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +87 "core" ' +2 "storage"(u& +4 "core" &,q i\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +286 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & _  +2 "storage"(& +4 "core" &,q \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +37 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"()- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(:'W +30 "core" ' +2 "manipulator"&% +4 "core" %  9 { + "storage"(K& +4 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&q'@ +15 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(k& +3 "core" &,q D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&-'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'F +39 "core" ' + "manipulator"&m& +5 "core" &   + "manipulator"&S% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +160 "core" ( +2 "manipulator"&|& +4 "core" &- A Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &- Cp +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close +2 "manipulator"&L/ +56 "core" / + .tCC.seek :open +2 "collection"'1( +416 "core" ( +2 "storage"(2& +4 "core" &,q\ \  \ + "storage"(g& +4 "core" &,q\ \  \ + "manipulator"&b& +4 "core" &- H Cn +2 "manipulator"&7% +3 "core" %  0 e  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +153 "core" ( + "manipulator"&c& +4 "core" &  +2 "storage"(T& +3 "core" &,q\ %\ . C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&9' +101 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +56 "core" 1 +2 "manipulator"&5% +4 "core" %  -   +2 "storage"(`& +3 "core" &,q\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&Q'@ +18 "core" ' +2 "manipulator"&x& +4 "core" &   + "storage"([& +4 "core" &,q\ -\ " .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&+'Ѽ +30 "core" ' +2 "storage"(h% +4 "core" %M\ 4\ A \ +2 ."downElevator"SE.seek :down +4 "storage"(8'X +98 (\\% +3 "core" %qD\ \  \ Vb +2 "manipulator"&?% +4 "core" %Ѵ z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'(& +4 "core" &UV6\ + "manipulator"&,% +4 "core" %\  - ! +2 "storage"(a% +3 "core" %`\ %\ $ H\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Z(<* +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (C& +3 "core" &<(( o\  +2 "manipulator"&& +3 "core" & L  +2 .tElbow.seek 5 +6 "manipulator"&/( +6 "core" ( + "manipulator"&& +4 "core" &  S  +2 "storage"(i& +3 "core" &<%\ $\ $ T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&{'ы +104 "core" ' + "storage"(j& +5 "core" &<%\ E\ ; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &<%\ \  7\  +2 "manipulator"&M& +4 "core" & c  +2 .tElbow.seek 5 + "manipulator"&f( +4 "core" ( + "manipulator"&3& +4 "core" &  + "storage"(& +4 "core" &<%\ %\ # d\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E' +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(4'X +7 "core" & r  +2 "manipulator"&% +4 "core" %  O s + .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&o( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&s& +5 "core" &' / d >K + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" && ) y >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&e'" +99 "core" ' + "manipulator"&& +4 "core" &( - A >J +2 "manipulator"&% +4 "core" %" +2 "collection"'6& +4 "core" &ST[\ +2 "collection"'>& +5 "core" &TUY\ +3 .tCC.seek :closed + "collection"'l(V +4 "core" &UUL\  +8 &2}SUJ\ *x +10 &dTTM\ > +9 &srUWP\ M +10 &7USTP\ L +9 &YSTQ\ L +9 &XTVP\ L +10 &}YTUP\ L +9 &?YTVQ\ L +9 &TSVO\ L +10 &TSUP\ L +9 & UTTQ\ M +10 &"FWTUJ\ M +9 &$ TTVP\ L +9 &%UTUO\ M +10 &'WSUJ\ M +9 &)OVUWG\ L +10 &+TTSH\ M +9 &,WTVH\ M +9 &.WSTG\ M +10 &0VXTVC\ M +9 &2VVVC\ M +9 &3WVTC\ L +10 &5UTUC\ L +9 &7_WTU<\ L +9 &9!STU@\ L +10 &:ZSV>\ M +9 &<YSV7\ M +10 &>gUTVN\ L +9 &@(YSTT\ M +9 &AYTUX\ L +10 &CYSUS\ L +9 &Ek`SV0\ N +10 &G)mUUS\ O +9 &HVUT\ Q +9 &JVVO\ W +58 &LVUTP\ W +9 &NUV'\ X + &OSUR\ Y + &QWU,\ Y + &SXVV\ Z &USTG\ Z + &VeCTW-\ 1 +4 &VxTU&\ M +6 ( +2 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&01 +4 "core" &VnVUY\ M +59 1 + "manipulator"&% +4 "core" % " 0 \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&W'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &i\ +2 "manipulator"&O% +4 "core" %\    +2 "storage"(@% +3 "core" %S \ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<% \\\  +2 "storage"(A& +4 "core" &<% %\  + "manipulator"&;& +4 "core" && " =F + "manipulator"&w% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&*( +171 "core" ( +2 "manipulator"&& +4 "core" &  e 2 +2 "storage"(}& +3 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +101 "core" ' + "storage"(& +4 "core" &<% S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +284 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" &<% Y\  + "manipulator"&v& +4 "core" &  2 +2 .tElbow.seek 5 + "manipulator"&'( +4 "core" ( + "manipulator"&n& +4 "core" &  Q 2 + "storage"(y& +4 "core" &<% Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Y' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(&'X +7 "core" & P 2 +2 "manipulator"&N% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&p'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( +3 "manipulator"&& +4 "core" &i ' T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&d' +94 "core" ' + "manipulator"&_& +4 "core" &i  8 +2 "manipulator"&% +4 "core" %  y  +2 "processing"%& +4 "core" &i\ +2 "processing"%u& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" &U\ +7 &;T\ $d +9 &V}V\ 7 +10 &zV\ K +9 &WX\ M +9 &gZY\ M +10 &)WW\ M +9 &VV\ M +9 &WX\ M +10 &nYZ\ N +9 &3YY\ M +10 &ZZ\ M +9 &!XW\ M +9 &#yYR\ M +10 &%:WW\ M +9 &&WT\ M +9 &(XO\ M +10 &*YD\ M +9 &,CY]\ M +10 &.YH\ M +9 &/WK\ M +9 &1VH\ M +10 &3KWL\ M +9 &5 VP\ M +9 &6WE\ M +10 &8WC\ M +9 &:QWI\ M +10 &<XG\ M +9 &=TH\ M +9 &?WK\ M +10 &AYVN\ M +9 &CUE\ M +9 &D^K\ N +10 &FcN\ O +9 &HWxL\ Q +10 &JM\ S +9 &KS\ S +10 &MK\ S +9 &OWK\ S +9 &QK\ S +9 &RE\ T +10 &TL\ S +9 &V]R\ T +10 &XL\ T +9 &Y|rK\ 4 +10 &Z-L\ G +9 &ZB\ , +2 ( +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&\ 1 +58 "core" 1 + "manipulator"&D% +4 "core" %  !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + "processing"%J& +5 "core" &ZC\ , + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\   +2 "storage"()% +3 "core" %b a\ +2 "storage"(. +3 "core" .(<* + "storage"(K& +4 "core" &<% i\  +2 "storage"( & +5 "manipulator"&k& +3 "core" &<% 1\  + &i  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&m(s + "storage"(S'i +6 "core" ( + "manipulator"& & +4 "core" &i 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &i  ' +2 .tForearm.seek PC +2 "manipulator"&U' +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"%q( +93 "core" ' +2 "storage"(:- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'y +43 "core" ' +285 ( +2 "storage"($& +4 "core" &<% \  + "manipulator"&-& +4 "core" &i +2 "manipulator"&!% +3 "core" % 5 +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +265 "core" ( +2 "manipulator"&]& +4 "core" & $ :  + "storage"(2& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&g'ы +109 "core" ' +2 .tHand.open + "manipulator"&b1 +52 "core" 1 +2 "storage"(7- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(T' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(V& +3 "core" &<% > @ 2\  +2 "manipulator"&#& +3 "core" & ;  +2 .tElbow.seek 5 +2 "manipulator"&5( +7 "core" ( + "manipulator"&`& +5 "core" &  \\ } + "storage"(x& +4 "core" &<% B O >\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(h' +61 "core" ' +2 "manipulator"&"& +4 "core" & v } + "storage"(\\& +4 "core" &<% D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&?' +32 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +21 "core" ' +3 "manipulator"&Q% +4 "core" % 1 +2 "storage"((& +4 "core" &<% J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&,' +13 "core" ' +2 "manipulator"&a& +4 "core" & p  +2 "storage"(& +4 "core" &<% M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&B'ы +29 "core" ' + "storage"(+% +5 "core" %i a\ +2 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (% +3 "core" %?N \ Xg + "manipulator"&C% +4 "core" %ъ 6 w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<% m\  + "collection"'i& +4 "core" &VmVU8\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&j% +4 "core" %\  9  +2 "storage"(X% +3 "core" %] Q\ +2 "storage"( . +3 "core" .(<* + "storage"(r& +4 "core" &<% U\  +2 "storage"(.& +3 "core" &<% 5\  +2 "manipulator"&M& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&3( +3 "core" ( + "manipulator"&& +4 "core" & u  +2 "storage"(H& +3 "core" &<% k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&F'ы +95 "core" ' +2 "storage"(& +4 "core" &<% }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +56 "storage"(/'i +283 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" & \  +2 "storage"( & +4 "core" &<% #\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'V +31 "core" ' + "manipulator"&% +4 "core" % ~ +2 "storage"(6& +3 "core" &<% 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&4' +15 "core" ' +2 "manipulator"&z& +4 "core" & d  +2 "storage"(1& +4 "core" &<% r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +40 "core" ' +2 "manipulator"&& +4 "core" & >  +2 "manipulator"&O% +4 "core" %Ѭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +170 "core" ( + "manipulator"&& +4 "core" &, - Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &- ] Cs +2 .tForearm.seek CC +2 "manipulator"&A'" +94 "core" ' + .tHand.close +2 "manipulator"&;/ +61 "core" / +2 .tCC.seek :open +2 "collection"'w( +416 "core" ( + "storage"(e& +4 "core" &<%\  ]\  +2 "storage"(& +3 "core" &<% K\  +2 "manipulator"&}& +3 "core" &- .  Bg +2 "manipulator"&% +4 "core" % ( + .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&W( +163 "core" ( +2 "manipulator"&t& +4 "core" & y o +2 "storage"(P& +4 "core" &<%\ '\ ' \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&v' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +64 "core" 1 + "manipulator"&R% +5 "core" %  p + "storage"(& +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&N' +16 "core" ' + "manipulator"&*& +5 "core" & L q + "storage"(& +4 "core" &<%\ %\ % V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&G'ы +25 "core" ' +2 "storage"(Y% +4 "core" %J\ J\ J \ +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +3 "core" %F\ \ \ Vb +2 "manipulator"&'% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &UWS\ +2 "manipulator"&% +3 "core" %\ 0 +2 "storage"(&% +4 "core" %a\ %\ % b\ +2 "storage"(p. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(I(K +335 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +4 "core" &K [\  +2 "manipulator"&D& +4 "core" &  q +2 .tElbow.seek 6 + "manipulator"&J( +41 "core" ( + "manipulator"&& +5 "core" &* $  + "storage"()& +4 "core" &K\ %\ & }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +95 "core" ' + "storage"(K& +4 "core" &K\ G\ I \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +282 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +18 "core" &K\ $\ $ 8\  + "manipulator"& & +4 "core" &* 7  +2 .tElbow.seek 6 + "manipulator"&~( +18 "core" ( +2 "manipulator"&d& +4 "core" & a  + "storage"(& +4 "core" &K\ &\ % \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&:' +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +55 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +2 "storage"(<'X +8 "core" & 7  + "manipulator"&S% +4 "core" %  i +2 .tForearm.seek :retract +2 "manipulator"&$'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&!& +4 "core" &- 8 G Co + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &- h Co +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +97 "core" ' + "manipulator"&2& +4 "core" &- -  Co +2 "manipulator"&m% +4 "core" %   +2 "collection"'b& +3 "core" &UV_\ +3 "collection"'7& +4 "core" &VVV\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &TUQ\ +8 &4SVO\ $c +9 &UTUO\ 7 +9 &{UVQ\ L +10 &UUTL\ L +9 &dWVUV\ M +10 &(SWUP\ L +9 &TUSN\ L +9 &TVUQ\ M +10 &nYVUQ\ L +9 &0XUVP\ L +10 &WUUO\ L +9 &!TSUP\ L +9 &#vVTWP\ L +10 &%7YUVP\ M +9 &&WUTO\ L +9 &(UUUO\ L +10 &*~WTTP\ L +9 &,?USSP\ M +9 &.VVUP\ M +10 &/VUWO\ M +9 &1XUUO\ M +10 &3HWTVP\ L +9 &5 WTVO\ M +9 &6WTVI\ M +10 &8UTVA\ M +9 &:OXTVE\ M +9 &<USVC\ M +10 &=YSU@\ L +9 &?UWTb\ L +10 &AYVUVH\ L +9 &CZTVi\ L +10 &D\\SUC\ M +9 &FiTW.\ N +9 &HVwUVc\ P +9 &J\ TT:\ U +10 &KVVP\ X +9 &MUWN\ X +10 &OEUWC\ X +9 &QTVR\ Y +9 &RUW>\ Z +10 &TUW\\\ Y +9 &V%vTW\\\ . +10 &V$UU4\ Q +8 ( +2 &VoVVS\ L +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&V1 +61 "core" 1 +2 "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%x& +4 "core" &c\ +2 "manipulator"&L% +4 "core" %\ # 1 : +2 "storage"("% +3 "core" %R 4\ +2 "storage"(\\. +3 "core" .(K + "storage"(|& +4 "core" &K B\  +2 "storage"(Q& +3 "core" &K 4\  +2 "manipulator"&(& +3 "core" &- Cm +2 "manipulator"&c% +4 "core" %\ # : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&a( +154 "core" ( +2 "manipulator"&& +4 "core" &  F  +2 "storage"(+& +3 "core" &K _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +99 "core" ' +2 "storage"(g& +4 "core" &K ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &K \  +2 "manipulator"&[& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&h& +4 "core" &  6  + "storage"(?& +4 "core" &K j\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&,' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(j'X +8 "core" & B  +40 "manipulator"&X% +15 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9(s +111 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +134 "core" ( +3 "manipulator"&r& +5 "core" &p B B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &p  s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M' +101 "core" ' +2 "manipulator"&& +4 "core" &p > +2 "manipulator"&H% +4 "core" %  R +2 "processing"%B& +3 "core" &y\ +3 "processing"%& +5 "core" &i\ +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &i\ +7 &Ef\ $f +9 &We\ 8 +9 &{^\ L +10 &T]\ M +9 &Yh\ M +10 &CWj\ M +9 &Wj\ L +9 &Wj\ M +10 &Xl\ M +9 &JZf\ M +9 & Yf\ M +10 &!Wj\ M +9 &#Xb\ L +10 &%SY`\ M +9 &'Vj\ M +9 &(Wd\ M +10 &*Wb\ M +9 &,ZZh\ M +9 &.WW\ M +10 &/W[\ L +9 &1W`\ M +10 &3dXb\ L +9 &5%XO\ M +9 &6[Y\ M +10 &8WT\ L +9 &:jWP\ M +9 &<.WL\ L +10 &=WY\ M +9 &?WK\ M +10 &ArXK\ M +9 &C3ZQ\ M +9 &DaO\ N +10 &FhE\ O +9 &HmK\ Q +10 &J,N\ R +9 &KP\ S +9 &MW\ S +10 &OqO\ S +9 &Q3V\ S +10 &RL\ S +9 &TO\ S +9 &VvM\ T +10 &X9W\ S +9 &Y{qQ\ * +9 &Z)_P\ * +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&%1 +3 "core" &ZV\ " +56 1 + "manipulator"&% +4 "core" %  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' + "processing"%s& +4 "core" &ZM\ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +9 "core" %\    +2 "storage"(% +3 "core" %\\ H\ +2 "storage"(. +3 "core" .(K + "storage"(6& +4 "core" &K +\  +2 "storage"(z& +5 "manipulator"&1& +4 "core" &K U\  + &p +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i +3 "manipulator"&O(s +3 "core" ( + "manipulator"&F& +4 "core" &p 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &p 0 p +2 .tForearm.seek PC +2 "manipulator"&/' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%4( +90 "core" ' + "storage"(f- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +286 ( + "storage"(>& +4 "core" &K c\  +2 "manipulator"&0& +4 "core" &p  + "manipulator"&E% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&@( +268 "core" ( +2 "manipulator"&l& +4 "core" &  g  + "storage"(e& +4 "core" &K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +95 "core" ' +2 .tHand.open + "manipulator"&}1 +56 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(t'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' +2 "storage"(& +3 "core" &K > > p\  +2 "manipulator"&y& +3 "core" &  M  +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&& +3 "core" &  #  +2 "storage"(*& +4 "core" &K ; C \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Y' +62 "core" ' + "manipulator"&o& +5 "core" &    + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&''Υ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(v'i +25 "core" ' +2 "manipulator"&N% +4 "core" %ζ + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&&& +9 "core" &   +2 "storage"(p& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +27 "core" ' +2 "storage"(G% +4 "core" %s S\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (Z% +3 "core" % I r\ Xe + "manipulator"&\ % +4 "core" %[  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K -\  + "collection"')& +4 "core" &VnTT:\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&K% +4 "core" %\   +2 "storage"(n% +3 "core" %a E\ +2 "storage"(_. +3 "core" .(K + "storage"( & +4 "core" &K g\  +2 "storage"(u& +3 "core" &K n\  +2 "manipulator"& & +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&d( +3 "core" ( +2 "manipulator"&& +4 "core" &   o  + "storage"(^& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +99 "core" ' +2 "storage"(S& +4 "core" &K s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +2 "core" &    +2 "storage"(U& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&k'Υ +34 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(m'Y +32 "core" ' + "manipulator"&~% +4 "core" %δ +2 "storage"(b& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&<' +18 "core" ' +2 "manipulator"&$& +4 "core" &  :  + "storage"(w& +4 "core" &K o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&V'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(#'H +40 "core" ' +2 "manipulator"&x& +4 "core" &   +2 "manipulator"&L% +4 "core" %q 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +170 "core" ( +2 "manipulator"&7& +4 "core" &* @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &*  @X +2 .tForearm.seek CC +2 "manipulator"&Q'" +92 "core" ' + .tHand.close + "manipulator"&(/ +54 "core" / +2 .tCC.seek :open + "collection"'c( +417 "core" ( + "storage"(]& +4 "core" &K \  P\  +2 "storage"(& +3 "core" &K a\  +2 "manipulator"&+& +3 "core" &*  @W +2 "manipulator"&g% +54 "core" % 4 . 2 +2 .tForearm.seek :retract +2 "manipulator"&-'\ +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&`( +155 "core" ( +2 "manipulator"&& +4 "core" & _  +2 "storage"(C& +3 "core" &K\ &\ & v\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&['Υ +107 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&?1 +60 "core" 1 +3 "manipulator"&% +4 "core" % δ  + "storage"(i& +4 "core" &K !\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&X' +12 "core" ' +2 "manipulator"&a& +4 "core" & X  +2 "storage"(=& +3 "core" &K\ $\ 5 D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&T'a +30 "core" ' +2 "storage"(,% +4 "core" %H\ I\ + ^\ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +98 (.% +3 "core" %F\ \ \ Wb +2 "manipulator"&5% +5 "core" %U  t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'H& +4 "core" &UUf\ +2 "manipulator"&B% +4 "core" %\ # k > +2 "storage"(j% +4 "core" %a\ $\ # \ + "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(q(,l +655 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" &,n \ 4\ +2 "manipulator"&& +3 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"&s( +16 "core" ( + "manipulator"& & +4 "core" & # 3 a +2 "storage"(& +4 "core" &,r\ %\ & n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' + "storage"(6& +4 "core" &,r\ ;\ F \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &,r\ \  0\ +2 "manipulator"&F& +4 "core" & [ a +2 .tElbow.seek 4 + "manipulator"&3( +4 "core" ( + "manipulator"&M& +4 "core" & V a +2 "storage"(& +3 "core" &,r\ #\ & \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&f', +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&{& + "storage"(8'X +8 "core" & 7 a +6 "manipulator"&% +4 "core" % 2 R +2 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&0( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +24 "core" ( + "manipulator"&E& +4 "core" &+ . Y Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &* Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&l'" +98 "core" ' +2 "manipulator"&e& +4 "core" &+ . A` +2 "manipulator"&O% +4 "core" % . +2 "collection"'}& +5 "core" &TWZ\ +2 "collection"'& +5 "core" &SUv\ +2 .tCC.seek :closed +2 "collection"'A(V +4 "core" &UTg\  +9 &2}TSU\ *x +9 &dUUW\ > +10 &urUSQ\ N +9 &:TTVN\ L +9 &VTTN\ L +10 &XTVT\ L +9 &XRTM\ L +12 &ASTUP\ M +7 &WUUP\ L +9 &XSTP\ M +10 & WUUP\ M +9 &"IYTWQ\ M +9 &$ VVTG\ M +10 &%URUP\ M +9 &'WTSG\ L +9 &)RWSTO\ L +10 &+TTUJ\ M +9 &,WTUG\ M +9 &.STTJ\ L +10 &0YUTWI\ M +9 &2WUUO\ L +10 &3YSUM\ L +9 &5RSUI\ L +9 &7aSWUH\ M +10 &9#UTTG\ M +9 &:XTUG\ M +9 &<UWTH\ M +10 &>jUTTC\ L +9 &@-UVVE\ L +10 &AYUVD\ M +9 &C[SMA\ M +9 &Eo_UUE\ M +10 &G,mSUD\ O +9 &HUTE\ Q +9 &JVVC\ W +10 &LWTV;\ X +9 &NUV7\ X +10 &OTVB\ Y +9 &QUX>\ X +9 &SYUV;\ Z +10 &UUV\ [ +9 &VjEUVR\ 1 +10 &VvUX:\ L +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +4 "core" &VoVV3\ L +59 1 + "manipulator"&y% +5 "core" %  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%*& +4 "core" &e\ +2 "manipulator"&;% +3 "core" %\   +2 "storage"(o% +4 "core" %R X\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,r Y\ +2 "storage"(N& +3 "core" &,r k\ +2 "manipulator"&& +4 "core" &* e A` + "manipulator"&t% +3 "core" %\  y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&&( +157 "core" ( +2 "manipulator"&p& +4 "core" &  | + "storage"(G& +4 "core" &,r A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&@'Ѽ +87 "core" ' + "storage"(& +4 "core" &,r h\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +285 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\ & +3 "core" &,r \ +2 "manipulator"&& +3 "core" & # | +2 .tElbow.seek 4 +2 "manipulator"&R( +3 "core" ( + "manipulator"&Y& +4 "core" &  w | + "storage"('& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"(K'X +7 "core" & 3 | +2 "manipulator"&n% +4 "core" % 7  F +2 .tForearm.seek :retract + "manipulator"&_'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&v& +4 "core" &n #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &n X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +106 "core" ' + "manipulator"&& +5 "core" &n x + "manipulator"&^% +4 "core" % ; ^ +2 "processing"%& +4 "core" &}\ +2 "processing"%S& +5 "core" &h\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &h\ +7 &;j\ $d +10 &V}j\ 7 +9 &zh\ K +9 &Xk\ M +10 &hZh\ M +9 &+Wj\ L +9 &Wi\ M +10 &Wk\ M +9 &oYl\ M +9 &2Yh\ M +10 &Zj\ M +9 &!Xh\ M +10 &#v\\k\ M +9 &%9Wk\ M +9 &&Wj\ M +10 &(Xh\ M +9 &*Yk\ L +10 &,AZi\ M +9 &.Yc\ M +9 &/Ve\ M +10 &1Wk\ M +9 &3KWk\ L +9 &5 Wh\ M +10 &6Wb\ M +9 &8Wi\ M +9 &:RXe\ M +10 &<Xh\ M +9 &=[\\\ M +10 &?WZ\ M +9 &AZW[\ M +9 &CZg\ M +10 &D]]\ N +11 &FeZ\ N +7 &HV{]\ Q +10 &J_\ S +9 &KT\ R +10 &M^\ R +9 &OYY\ R +9 &Q[\ S +10 &RY\ S +9 &T_\ T +9 &V]Z\ T +10 &XY\ T +9 &YzpZ\ 5 +10 &Z0R\ H +9 &ZX\ ( +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&W1 +54 "core" 1 + "manipulator"&D% +4 "core" %  $  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 "processing"%!& +4 "core" &Z[\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&U% +3 "core" %\  n  +2 "storage"(2% +4 "core" %T \ + "storage"(~. +3 "core" .(,l +2 "storage"(b& +4 "core" &,r \ + "storage"($& +4 "manipulator"&w& +54 "core" &,r K\ +2 &n  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&x(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(L'i +3 "core" ( + "manipulator"& & +4 "core" &n e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &n 0  +2 .tForearm.seek PC +2 "manipulator"&J' +100 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / +2 .tPC.seek :open +2 "processing"%<( +81 "core" ' + "storage"(m- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'y +44 "core" ' +298 ( +2 "storage"(|& +4 "core" &,r *\ +2 "manipulator"&V& +3 "core" &n ^ +2 "manipulator"&:% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"( +261 "core" ( +2 "manipulator"&& +4 "core" & o \ +2 "storage"(]& +3 "core" &,r a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +104 "core" ' + .tHand.open + "manipulator"&+1 +63 "core" 1 +2 "storage"(g- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(C' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(\\& +4 "core" &,r f [ \ +2 "manipulator"&?& +3 "core" & n \ +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&i& +4 "core" &  i \ +2 "storage"(a& +3 "core" &,r h i |\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +58 "core" ' +2 "manipulator"&-& +4 "core" & \ +2 "storage"(.& +3 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&5' +35 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(['i +24 "core" ' +2 "manipulator"&X% +4 "core" % +2 "storage"(H& +4 "core" &,r :\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&B'@ +19 "core" ' +2 "manipulator"&j& +4 "core" & R \ +2 "storage"( & +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&#'Ѽ +35 "core" ' +2 "storage"(T% +4 "core" %l \ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +98 (I% +3 "core" %K 5\ We +2 "manipulator"&%% +4 "core" % 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &,r r\ + "collection"'& +4 "core" &VnWWO\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&6% +4 "core" %\ # } < +2 "storage"(h% +3 "core" %` W\ +2 "storage"(. +3 "core" .(,l + "storage"(1& +4 "core" &,r \ +2 "storage"(z& +3 "core" &,r \ +2 "manipulator"&F& +4 "core" & \ + .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +3 "core" & # . \ +2 "storage"(9& +4 "core" &,r <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{'Ѽ +101 "core" ' + "storage"(& +4 "core" &,r v\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +2 "core" & . \ +2 "storage"(& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&/' +34 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(e- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(3'W +35 "core" ' +2 "manipulator"&O% +4 "core" % + "storage"(}& +4 "core" &,r \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&8'@ +13 "core" ' + "manipulator"&>& +4 "core" & [ \ +2 "storage"(c& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'F +39 "core" ' + "manipulator"&*& +5 "core" &  \ + "manipulator"&;% +4 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +169 "core" ( +3 "manipulator"&& +4 "core" &, Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ Bk +2 .tForearm.seek CC +2 "manipulator"&N'" +93 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tCC.seek :open + "collection"'t( +417 "core" ( + "storage"(l& +4 "core" &,r\ \  \ + "storage"(p& +4 "core" &,r\ \ \ +2 "manipulator"&G& +3 "core" &, ) G Bf +2 "manipulator"&% +3 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&0'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +171 "core" ( +2 "manipulator"&Z& +4 "core" &  V +2 "storage"(\ & +3 "core" &,r\ #\ # D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  $ ? +2 "storage"()& +4 "core" &,r\ '\ & {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&n'4 +14 "core" ' +2 "manipulator"&&& +4 "core" & V + "storage"(@& +4 "core" &,r\ &\ + \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&P'Ѽ +22 "core" ' +2 "storage"(% +4 "core" %J\ H\ + \ +3 ."downElevator"SE.seek :down +3 "storage"(v'X +98 (u% +3 "core" %jE\ %\ ! Y\ Wc +2 "manipulator"&R% +4 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +57 ' +5 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'^& +4 "core" &VTR\ +2 "manipulator"&% +3 "core" %\  !  +2 "storage"(K% +4 "core" %_\ I\ I ,\ + "storage"(_. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(4(<* +389 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +3 "core" &<( \  +2 "manipulator"&D& +3 "core" & + V +2 .tElbow.seek 5 +2 "manipulator"&!( +8 "core" ( +2 "manipulator"&U& +4 "core" &   C +2 "storage"(2& +3 "core" &<$\ %\ $ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&~'ы +94 "core" ' +2 "storage"(b& +4 "core" &<$\ F\ ; h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +283 "core" ' +2 "storage"($- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &<$\ \  \  +2 "manipulator"& & +3 "core" &  C +2 .tElbow.seek 5 +2 "manipulator"&d( +3 "core" ( + "manipulator"& & +4 "core" & M C + "storage"(k& +4 "core" &<$\ &\ & \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & K C +2 "manipulator"&L% +4 "core" %  3 +2 .tForearm.seek :retract + "manipulator"&|'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +25 "core" ( + "manipulator"&:& +5 "core" &) Q { 0 @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &* @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + "manipulator"&]& +4 "core" &* . @W +2 "manipulator"&x% +4 "core" %+  +2 "collection"'+& +4 "core" &STt\ +2 "collection"'g& +5 "core" &UU]\ +2 .tCC.seek :closed + "collection"'Q(V +5 "core" &VWd\ +7 &4TTd\ $d +9 &U~UU`\ 7 +10 &xTWg\ K +9 &UTVT\ L +9 &dTTTS\ L +10 &$UTV[\ M +9 &WSUR\ M +9 &WUVM\ L +10 &kXUTR\ L +9 &-RSTO\ L +10 &RUVT\ L +9 &!RTUW\ L +9 &#tUUWT\ L +10 &%4VSVJ\ M +9 &&RUUW\ L +9 &(VTVQ\ L +13 &*zUUUJ\ M +6 &,<WWVO\ M +9 &.QVUL\ L +10 &/UTUJ\ M +9 &1WUVO\ L +10 &3DUSVD\ M +9 &5UVTN\ M +9 &6UUVH\ L +10 &8QTVO\ L +9 &:LYTUF\ M +10 &<WUTC\ M +9 &=SSVG\ L +9 &?TVTG\ L +10 &AUWTT@\ L +9 &CYRTD\ M +9 &D\\SUF\ M +10 &FjSVL\ O +9 &HO{TUE\ Q +10 &JVUD\ V +9 &KVVB\ Y +9 &MVV@\ Y +10 &O@UVM\ Y +9 &QVWI\ Y +9 &RVWC\ Z +10 &TVUA\ Z +9 &V!vUV>\ / +9 &V)UV<\ T +9 ( +3 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&\\1 +3 "core" &VdVU@\ M +51 "Can"X\ KH +3 "core" 1 + "manipulator"&?% +5 "core" % + 0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +11 "core" &h\ +4 "manipulator"&(% +9 "core" %\ ! 5 +3 "storage"(-% +17 "core" %a \ +3 "storage"(.. +8 "core" .(<* +5 "storage"(7& +9 "core" &<$ P\  +3 "storage"(X& +7 "core" &<$ \  +4 "manipulator"&H& +7 "core" &( ?S +3 "manipulator"&% +7 "core" %\  0 5 +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +3 "manipulator"&j( +165 "core" ( +3 "manipulator"& & +9 "core" & 0 ` +2 "storage"(T& +8 "core" &<$ I\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +4 "manipulator"&"'ы +15 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +80 "core" ' +4 "storage"(& +8 "core" &<$ B\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(C'i +284 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &<$ \  +2 "manipulator"&=& +3 "core" & , ` +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&,& +4 "core" & Y ` + "storage"(5& +4 "core" &<$ o\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&B' +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(6'X +6 "core" & G ` +2 "manipulator"&h% +4 "core" %  K ` +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&1(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&[& +4 "core" &{ ' / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &{  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +93 "core" ' + "manipulator"&& +5 "core" &{ $ N + "manipulator"&9% +4 "core" %   +2 "processing"%#& +3 "core" &}\ +2 "processing"%& +6 "core" &{\ +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &k\ +7 &?i\ $d +9 &V~l\ 7 +10 &}g\ L +9 &Zf\ M +10 &c[i\ M +9 &%Yf\ M +9 &Wh\ M +10 &Wi\ M +9 &k\\h\ M +9 &-Ye\ M +10 &Zk\ M +9 &!Yg\ M +9 &#tYi\ M +10 &%5\\h\ M +9 &&Wk\ M +10 &(Xk\ M +9 &*{[j\ M +9 &,>Yk\ M +10 &.Zj\ M +9 &/[k\ M +10 &1Xk\ M +9 &3FWk\ M +9 &5[k\ M +10 &6Wl\ M +9 &8Tb\ M +9 &:NYh\ M +10 &<Xk\ L +9 &=Wc\ M +9 &?Xg\ L +10 &ATYl\ M +9 &C[l\ M +10 &D_h\ N +9 &Fge\ O +9 &HSyd\ P +10 &Jb\ S +9 &Kk\ S +9 &Mk\ S +10 &OTk\ S +9 &Qi\ S +10 &Ra\ S +9 &T`\ S +9 &VXb\ T +10 &Xb\ T +9 &Yxo`\ 8 +10 &Z(mU\ L +9 &Z$X\ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&`1 +55 "core" 1 + "manipulator"&% +3 "core" %  v  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%E& +4 "core" &Z#n\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\   5  +3 "storage"(e% +3 "core" %b X\ +2 "storage"(O. +3 "core" .(<* + "storage"(}& +4 "core" &<$ d\  +2 "storage"(>& +4 "manipulator"&c& +4 "core" &<$ =\  + &{ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(*'i +3 "manipulator"&;(s +3 "core" ( +2 "manipulator"&{& +3 "core" &{ 5 T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &{ i +2 .tForearm.seek PC +2 "manipulator"&s' +97 "core" ' + .tHand.close +2 "manipulator"&// +61 "core" / +2 .tPC.seek :open + "processing"%8( +85 "core" ' + "storage"(3- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +292 ( +2 "storage"(& +4 "core" &<$ \  + "manipulator"&& +4 "core" &{  + "manipulator"&f% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&o( +264 "core" ( +2 "manipulator"&A& +4 "core" &  Y  + "storage"(l& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&p'ы +87 "core" ' +2 .tHand.open + "manipulator"&G1 +55 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(Z'E +31 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +53 "storage"(\ ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(& +4 "core" &<$ d W J\  +2 "manipulator"&'& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( + "manipulator"&)& +4 "core" & 7  +2 "storage"(&& +4 "core" &<$ j i \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&@'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +63 "core" ' +2 "manipulator"&0& +4 "core" & X  +2 "storage"(u& +4 "core" &<$ w\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&R' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +22 "core" ' + "manipulator"&^% +5 "core" % ( 7  + "storage"(n& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&' +13 "core" ' + "manipulator"&K& +5 "core" & Y + "storage"(_& +5 "core" &<$ X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&y'ы +20 "core" ' +2 "storage"(P% +4 "core" %q \  4\ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +99 (q% +3 "core" %_L \ Xf +6 "manipulator"&W% +5 "core" %і  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (U& +4 "core" &<$ \  +2 "collection"'2& +4 "core" &VbUVJ\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&b% +4 "core" %\   " +2 "storage"(Y% +3 "core" %b D\ +2 "storage"(. +3 "core" .(<* + "storage"($& +4 "core" &<$ )\  +2 "storage"(S& +3 "core" &<$ d\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"& ( +30 "core" ( +2 "manipulator"&k& +4 "core" &  ! W +2 "storage"( & +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +96 "core" ' + "storage"(L& +5 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +279 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +2 "core" &\  W +2 "storage"(w& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J' +26 "core" ' + .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(x'V +29 "core" ' +2 "manipulator"&d% +4 "core" % h + "storage"(+& +4 "core" &<$ (\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&|& +5 "core" & $ + "storage"(t& +4 "core" &<$ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&\\'ы +48 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(?'E +40 "core" ' +2 "manipulator"&a& +4 "core" &  $ +2 "manipulator"&(% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +161 "core" ( + "manipulator"&.& +4 "core" &) 7 @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &* ) @X +2 .tForearm.seek CC +2 "manipulator"&X'" +91 "core" ' + .tHand.close +2 "manipulator"&H/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &<$\ \  \  +2 "storage"( & +3 "core" &<$\ \  \  +2 "manipulator"&T& +3 "core" &( % O ?U +2 "manipulator"&V% +3 "core" % , ; \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +161 "core" ( + "manipulator"&I& +4 "core" & J  +2 "storage"(%& +4 "core" &<$\ #\ $ ,\  + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&=' +107 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +55 "core" 1 +2 "manipulator"& % +4 "core" %  x + "storage"(& +5 "core" &<$ n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&h' +18 "core" ' +2 "manipulator"&j& +4 "core" & a  + "storage"("& +4 "core" &<$\ E\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&C'ы +22 "core" ' +2 "storage"(B% +4 "core" %N\  } V\ +3 ."downElevator"SE.seek :down +3 "storage"(['X +98 (z% +3 "core" %H\ $\ % x\ Va +2 "manipulator"&% +4 "core" %ѕ l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'9& +4 "core" &SSi\ +2 "manipulator"&#% +4 "core" %\  < % + "storage"(6% +4 "core" %b\ D\ H \ +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(<(K +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &K \  + "manipulator"&& +4 "core" & ^  +2 .tElbow.seek 6 + "manipulator"&E( +37 "core" ( + "manipulator"&& +4 "core" &* e # +2 "storage"(e& +4 "core" &K\ $\ & 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&O'a +104 "core" ' +2 "storage"(}& +4 "core" &K\ F\ ; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +283 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ \ \  + "manipulator"&{& +4 "core" &* # +2 .tElbow.seek 6 + "manipulator"&M( +19 "core" ( +3 "manipulator"&F& +4 "core" & Z  + "storage"(/& +4 "core" &K\ &\ $ w\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&3' +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(r'X +7 "core" & e  +2 "manipulator"&*% +3 "core" % t 5 +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +161 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&f& "storage"(5 +8 "core" &( Q ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &( & ! ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'" +146 "core" ' +2 "manipulator"&l& +5 "core" &( ?P + "manipulator"&;% +4 "core" %, N +2 "collection"'G& +4 "core" &TTu\ +2 "collection"'& +5 "core" &SWg\ +2 .tCC.seek :closed +2 "collection"'N(V +4 "core" &TTk\  +8 &3{TUh\ *x +9 &cVUd\ > +10 &ypUTh\ M +9 &<RSTn\ M +9 &WTTc\ L +10 &WRUN\ M +9 &TVUN\ M +10 &DUTTP\ M +9 &RTUJ\ L +9 &RTTO\ M +10 & VVVN\ M +9 &"LSTTK\ M +9 &$WRTY\ L +10 &%USTT\ L +9 &'WUSX\ M +10 &)TUTS[\ M +9 &+UQVU\ M +9 &,RSSP\ L +10 &.RRTX\ L +9 &0\\STTK\ M +9 &2RTUP\ L +10 &3WUVj\ M +9 &5TUTV\ L +10 &7fSSTI\ L +9 &9&UTRG\ M +9 &:YSTH\ M +10 &<YRUH\ M +9 &>kWRVD\ M +9 &@.RUVF\ M +10 &AWTTF\ L +9 &CWUSH\ L +10 &Eq\\TUL\ N +9 &G0hRTH\ O +9 &H}SSI\ Q +10 &JTTE\ V +9 &LZTVF\ X +9 &NUTE\ X +10 &OMRG\ Y +9 &QTUF\ Y +10 &S]TTG\ Z +9 &USWB\ [ +9 &VjCTUG\ 1 +10 &VzTVD\ M +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&1 +3 "core" &VnSVA\ M +50 1 +2 "manipulator"&% +4 "core" % , _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%)& +5 "core" &{\ + "manipulator"&&% +4 "core" %\   +2 "storage"(0% +3 "core" %` L\ +6 "storage"(u. +4 "core" .(K + "storage"(& +4 "core" &K &\  +2 "storage"(^& +3 "core" &K 6\  +2 "manipulator"&n& +4 "core" && a >O +2 "manipulator"&K% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Z( +156 "core" ( +2 "manipulator"&_& +4 "core" & $ Y  + "storage"(P& +4 "core" &K H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&o'a +100 "core" ' + "storage"(p& +4 "core" &K N\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +286 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &K `\  +2 "manipulator"&@& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & D  + "storage"(R& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(b'X +7 "core" & 4  +2 "manipulator"&Y% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( +3 "manipulator"&$& +4 "core" &k * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +100 "core" ' + "manipulator"&k& +4 "core" &l $ +2 "manipulator"& % +4 "core" %  r +2 "processing"%y& +4 "core" &\ +2 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed + "processing"%v(Z +4 "core" &l\  +9 &5{r\ *z +10 & fr\ ? +9 &pn\ N +9 &TVh\ M +10 &Wr\ M +10 &Vh\ M +8 &Wl\ M +10 &]Vc\ M +9 &Wh\ M +10 &[c\ M +9 & Wk\ M +9 &"dWk\ M +10 &$&Wj\ M +9 &%Vn\ M +9 &'Xn\ M +10 &)mWo\ M +9 &+/Vn\ M +10 &,Wh\ M +9 &.Vh\ M +9 &0uXk\ M +10 &27Xg\ M +9 &3Vl\ M +9 &5Yh\ M +10 &7|Wh\ M +9 &9?Wm\ M +10 &;Ui\ M +9 &<Uk\ M +9 &>Wg\ M +10 &@FYi\ M +14 &B Wh\ M +4 &CZh\ M +10 &E_i\ N +9 &GGpe\ O +10 &Ik\ R +9 &Jh\ R +9 &Le\ S +10 &NDj\ S +9 &Pi\ S +9 &Qh\ S +10 &Sc\ T +9 &UIg\ T +9 &W ]\ T +10 &Xc\ T +9 &Z-Okb\ - +10 &Z%\\\ # +5 ( +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&1 +3 "core" &Zh\ # +59 1 + "manipulator"&D% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +97 "core" ' +2 "processing"%:& +4 "core" &Zn\ # + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&w% +4 "core" %\ # A 9 + "storage"(]% +4 "core" %T ,\ + "storage"(d. +3 "core" .(K +2 "storage"(+& +3 "core" &K ?\  +2 "storage"(|& +3 "manipulator"&t& +6 "core" &K >\  + &l  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&a(s + "storage"(('i +4 "core" ( +2 "manipulator"&& +4 "core" &l L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &l +2 .tForearm.seek PC +2 "manipulator"&!' +97 "core" ' + .tHand.close + "manipulator"&J/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(x- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'y +41 "core" ' +286 ( +2 "storage"(7& +4 "core" &K -\  + "manipulator"&\\& +4 "core" &l A + "manipulator"&m% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&g( +258 "core" ( + "manipulator"&Q& +5 "core" &  $  + "storage"(& +4 "core" &K d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +100 "core" ' + .tHand.open +2 "manipulator"&T1 +56 "core" 1 +2 "storage"(V- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(I'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(%' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(X- +3 "core" -' +2 "storage"(-& +4 "core" &K Q H S\  +2 "manipulator"&5& +3 "core" & U  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" & r  +2 "storage"(j& +3 "core" &K G H\  +3 .tForearm.seek 6 + 700 counts + "manipulator"&"'a +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +58 "core" ' + "manipulator"&& +5 "core" &   + "storage"(z& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +22 "core" ' + "manipulator"&9% +5 "core" %ε + "storage"(h& +4 "core" &K ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&#' +13 "core" ' + "manipulator"&6& +4 "core" &  +2 "storage"(& +4 "core" &K S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +28 "core" ' + "storage"(C% +5 "core" %l -\  +2 ."downElevator"SE.seek :down +4 "storage"(['X +99 (4% +3 "core" %bL 3\ Xg + "manipulator"&`% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +51 (& +6 "core" &K D\  + "collection"'e& +4 "core" &VnUUQ\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&}% +4 "core" %\ !  7 +2 "storage"(,% +3 "core" %a R\ +2 "storage"(. +3 "core" .(K + "storage"(>& +4 "core" &K \  + "storage"(& +4 "core" &K 5\  +2 "manipulator"&{& +3 "core" & y  +2 .tElbow.seek 6 +2 "manipulator"&F( +4 "core" ( + "manipulator"&/& +4 "core" &   +2 "storage"(1& +4 "core" &K :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +92 "core" ' + "storage"(*& +5 "core" &K p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +283 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" & T  +2 "storage"(s& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&c'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(l'Y +32 "core" ' + "manipulator"&;% +4 "core" %θ +2 "storage"(G& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&r' +19 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +15 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' +2 "manipulator"&)& +4 "core" &   +2 "manipulator"&&% +4 "core" %Y $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +167 "core" ( +2 "manipulator"&& +4 "core" &- 5 Cq + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &, Cq +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&n/ +63 "core" / + .tCC.seek :open +2 "collection"'K( +416 "core" ( +2 "storage"(A& +4 "core" &K p\  + "storage"(_& +4 "core" &K \  + "manipulator"&P& +4 "core" &- w Cn + "manipulator"&p% +4 "core" % / f +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&'( +157 "core" ( +2 "manipulator"&q& +4 "core" & r  +2 "storage"(W& +3 "core" &K\ #\ $ ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&@'Υ +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&R1 +64 "core" 1 +2 "manipulator"&U% +4 "core" % ε 9 +2 "storage"(2& +5 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&Y' +13 "core" ' + "manipulator"&Z& +5 "core" & 0  + "storage"(o& +4 "core" &K\ 5\ $ q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&\ 'a +31 "core" ' + "storage"(% +5 "core" %L\ ,\ I G\ +2 ."downElevator"SE.seek :down +4 "storage"($'X +99 (S% +3 "core" %I\ \ \ Wc +2 "manipulator"&% +4 "core" %Q W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +4 "core" &STW\ +2 "manipulator"&y% +4 "core" %\    + "storage"(b% +4 "core" %b\ I\ I (\ + "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(8(,l +655 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,n\ \  -\ +2 "manipulator"&D& +4 "core" & /  +2 .tElbow.seek 4 +2 "manipulator"&:( +13 "core" ( + "manipulator"&w& +4 "core" & W _ +2 "storage"(]& +3 "core" &,r\ $\ $ )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +93 "core" ' + "storage"(+& +5 "core" &,r\ H\ E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +282 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &,r\ \ \ +2 "manipulator"&& +3 "core" &  _ +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"& & +4 "core" & C _ + "storage"(J& +4 "core" &,r\ &\ % \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&x', +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(v'X +7 "core" & L _ +2 "manipulator"&(% +4 "core" % )  r + .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&m& +4 "core" &* @ @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &*  & @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Q'" +97 "core" ' + "manipulator"&& +5 "core" &) L ?U + "manipulator"&a% +4 "core" %$ [ +2 "collection"'T& +4 "core" &RSy\ +2 "collection"'V& +5 "core" &UUq\ +3 .tCC.seek :closed + "collection"'X(V +5 "core" &TTo\ +6 &<STo\ $d +10 &V}SUo\ 7 +9 &zRTo\ L +9 &TSTi\ L +10 &lWUUg\ L +9 &.VUSi\ L +9 &YRTb\ M +10 &UTTn\ L +9 &uTSTo\ L +10 &5UTUe\ M +9 &WUUZ\ L +9 &!XSUg\ L +10 &#{STTb\ M +9 &%=USTT\ M +9 &'QTUP\ L +10 &(QTTV\ L +9 &*RTUS\ L +10 &,ERTVV\ M +9 &.URUQ\ M +9 &/UTTQ\ M +10 &1SRUU\ L +9 &3NRTTW\ L +9 &5RSUY\ L +10 &6RSTP\ M +9 &8SSUP\ M +10 &:UVTTP\ M +9 &<TUSP\ M +9 &=TSVK\ L +10 &?UTTO\ L +9 &A]XTUI\ M +9 &CWTUO\ M +10 &D\\SUO\ M +9 &FfSUP\ O +10 &HYzTUQ\ Q +9 &J TUP\ V +9 &KSTG\ X +10 &MUTO\ Y +9 &OJWVO\ Y +10 &Q VVO\ X +9 &RUUH\ Z +9 &TUTG\ Z +10 &V+wSUA\ / +9 &V"USM\ P +9 ( +2 &VbUUJ\ M + "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&-1 +52 "core" 1 +2 "manipulator"&5% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%j& +4 "core" &\ +2 "manipulator"&H% +4 "core" %\ % C + "storage"(% +4 "core" %T \ + "storage"(z. +3 "core" .(,l +2 "storage"(.& +3 "core" &,r \\\ +2 "storage"(9& +4 "core" &,r E\ +2 "manipulator"&h& +3 "core" &( ?S +2 "manipulator"&I% +4 "core" %\ % C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&6( +161 "core" ( +2 "manipulator"&& +4 "core" & $ *  + "storage"(C& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&g'Ѽ +103 "core" ' +2 "storage"( & +4 "core" &,r\ \  H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +51 "storage"(%'i +285 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &,r v\ +2 "manipulator"&"& +4 "core" &   +6 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&B& +4 "core" &   +2 "storage"(& +3 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&#', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(e'X +8 "core" & 5  + "manipulator"&}% +4 "core" % 8 @ A +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&>& +4 "core" &v -  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &v &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&{' +97 "core" ' +2 "manipulator"&/& +4 "core" &v O  +2 "manipulator"&1% +4 "core" %   +2 "processing"%?& +4 "core" &\ +2 "processing"%*& +5 "core" &\ +2 .tPC.seek :closed + "processing"%[(Z +5 "core" &w\  +8 & 4}r\ *z +9 &ff\ ? +10 &sh\ N +9 &ZSi\ M +10 &Wk\ M +9 &Zj\ M +9 &Yd\ M +10 &bWg\ M +9 &$Wk\ M +9 &[i\ M +10 & Vl\ M +9 &"jVi\ M +9 &$,Wi\ M +10 &%Wi\ L +9 &'Zj\ M +10 &)rXe\ M +9 &+4Wh\ M +9 &,Vm\ L +10 &.Wk\ M +9 &0zWi\ M +9 &2<Wm\ M +10 &3Wh\ L +9 &5We\ M +10 &7Xg\ M +9 &9DXe\ M +9 &;Tl\ M +10 &<Wi\ M +9 &>Wi\ M +9 &@LYe\ M +10 &BWk\ M +9 &C[d\ M +10 &E_i\ N +9 &GMmi\ O +9 &Im\ R +10 &Jh\ S +9 &Lj\ S +10 &NKi\ R +9 &P k\ S +9 &Qj\ S +10 &Sl\ S +9 &UOl\ T +10 &Wl\ T +9 &Xk\ T +9 &Z/Lff\ +} +13 &Z )b\ $ +2 ( + "processing"%*& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&i1 +3 "core" &Za\ $ +60 1 + "manipulator"&% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +2 "processing"%f& +4 "core" &Z[\ $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&s% +4 "core" %\  Y  + "storage"(M% +4 "core" %T \ +2 "storage"(;. +3 "core" .(,l + "storage"(G& +4 "core" &,r \ +2 "storage"(& +3 "manipulator"&& +6 "core" &,r <\ + &v D  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&)(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(&'i +3 "core" ( + "manipulator"&& +4 "core" &v *  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &v   +2 .tForearm.seek PC +2 "manipulator"&E' +102 "core" ' + .tHand.close +2 "manipulator"&c/ +56 "core" / +3 .tPC.seek :open +2 "processing"%r( +97 "core" ' + "storage"(l- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +280 ( +2 "storage"(^& +4 "core" &,r A\ + "manipulator"&& +4 "core" &v ^  + "manipulator"&3% +4 "core" % k +2 .tForearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +265 "core" ( +2 "manipulator"&N& +4 "core" & D  + "storage"(A& +4 "core" &,r c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&_'Ѽ +86 "core" ' + .tHand.open +2 "manipulator"&P1 +61 "core" 1 +2 "storage"(p- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(q'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(u& +4 "core" &,r l _ \ + "manipulator"&R& +4 "core" & j  +2 .tElbow.seek 4 +2 "manipulator"&U( +3 "core" ( + "manipulator"&2& +4 "core" & W  +2 "storage"(Z& +3 "core" &,r i k \ +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&& +4 "core" & !  +2 "storage"(S& +4 "core" &,r g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(@'i +22 "core" ' +2 "manipulator"&Y% +4 "core" % & +2 "storage"( & +4 "core" &,r R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&y'= +20 "core" ' + "manipulator"&b& +5 "core" &  + "storage"(& +4 "core" &,r v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +37 "core" ' +2 "storage"(\ % +4 "core" %n \ +3 ."downElevator"SE.seek :down +3 "storage"($'X +98 (<% +3 "core" %J H\ Wd +2 "manipulator"&% +4 "core" %  q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +99 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (w& +4 "core" &,r \ + "collection"']& +9 "core" &VbVV<\ M + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&+% +4 "core" %\ 3  + "storage"(% +4 "core" %a V\  + "storage"(k. +3 "core" .(,l +2 "storage"(t& +4 "core" &,r \ \ #\ + "storage"(|& +4 "core" &,r `\ +2 "manipulator"&& +3 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&J& +4 "core" & =  +2 "storage"(& +3 "core" &,r h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&~'Ѽ +105 "core" ' + "storage"((& +5 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'i +280 "core" ' +2 "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&m& +3 "core" &   +2 "storage"(!& +3 "core" &,r E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&L' +31 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'W +29 "core" ' +2 "manipulator"& % +4 "core" % b  + "storage"(T& +4 "core" &,r ]\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&v'> +18 "core" ' + "manipulator"&7& +4 "core" &   +2 "storage"(K& +4 "core" &,r J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&-'Ѽ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(5'F +39 "core" ' + "manipulator"&j& +5 "core" &  + "manipulator"&H% +54 "core" %ѵ x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +163 "core" ( +2 "manipulator"&.& +4 "core" &*  > @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &* &  @Z +2 .tForearm.seek CC +2 "manipulator"&V'" +94 "core" ' + .tHand.close + "manipulator"&h/ +54 "core" / +2 .tCC.seek :open +2 "collection"'I( +416 "core" ( +2 "storage"(Q& +4 "core" &,r\ \ \ +2 "storage"(& +3 "core" &,r\ \  \ +2 "manipulator"&C& +3 "core" &*  l @Y +2 "manipulator"& % +4 "core" % # - m +2 .tForearm.seek :retract + "manipulator"&\\'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&4& +4 "core" & M l +2 "storage"(`& +3 "core" &,r\ 5\ ' E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&"' +97 "core" ' + .tElbow.hold +2 "manipulator"&B, +59 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  #  +2 "storage"(=& +3 "core" &,r\ %\ & Y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&}'4 +14 "core" ' + "manipulator"&6& +4 "core" &  l +2 "storage"(g& +4 "core" &,r\ &\ + \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&%'Ѽ +22 "core" ' +2 "storage"(#% +4 "core" %J\ I\ + F\ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (% +3 "core" %mI\ &\ \ Wd + "manipulator"& % +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'1& +5 "core" &UT[\ + "manipulator"&?% +4 "core" %\  ' # +2 "storage"(e% +4 "core" %`\ E\ 6 V\ +2 "storage"(,. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &<( M\  + "manipulator"&& +4 "core" & ( l +2 .tElbow.seek 5 + "manipulator"&f( +11 "core" ( + "manipulator"&s& +4 "core" & % 7 G +2 "storage"(M& +3 "core" &<%\ $\ # *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&;'ы +92 "core" ' + "storage"(G& +4 "core" &<%\ F\ C\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<%\ \ \  +2 "manipulator"&& +3 "core" &  G +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&{& +4 "core" &  G + "storage"(c& +4 "core" &<%\ &\ % \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&l' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&O& + "storage"(['X +8 "core" & B G + "manipulator"&&% +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&3& +5 "core" &- R z 0 Cp + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &- u Co +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +94 "core" ' + "manipulator"&A& +5 "core" &- O Co + "manipulator"&)% +4 "core" %$  +2 "collection"'P& +4 "core" &UTp\ +3 "collection"'p& +5 "core" &VVx\ +3 .tCC.seek :closed + "collection"'(V +5 "core" &SVm\ +7 &4TVm\ $e +9 &V~UUm\ 7 +10 &yTUh\ L +9 &TTWo\ L +9 &dUSVo\ M +10 &&TSUi\ M +9 &UVUn\ M +9 &QTVm\ L +10 &lXUVn\ M +9 &/USTf\ L +10 &STRa\ L +9 &!UTTc\ M +9 &#uWTRd\ L +10 &%7WRV_\ L +9 &&TVTU\ M +9 &(WUTR\ L +10 &*|URUS\ M +9 &,>UWUR\ M +10 &.UTVS\ L +9 &/UUUP\ M +9 &1UTTT\ M +10 &3FUVUX\ M +9 &5URTR\ M +9 &6VTTV\ L +10 &8QTVP\ L +9 &:OTUTW\ L +10 &<USUQ\ L +9 &=XUTO\ M +9 &?VSUO\ L +10 &AXUTWP\ L +9 &CZRVN\ L +10 &D\\SVM\ M +9 &FhSWQ\ O +9 &HSyTUV\ P +10 &JSUP\ V +9 &KVWJ\ X +9 &MUVO\ Y +10 &OCTUJ\ Y +9 &QTVF\ X +9 &RUVK\ Z +10 &TUSP\ Z +9 &V"tVWG\ / +10 &V'TUH\ S +8 ( +3 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&u1 +3 "core" &VnSWG\ M +56 1 + "manipulator"&R% +4 "core" % $ ,   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Z& +5 "core" &\ + "manipulator"&n% +4 "core" %\   +2 "storage"(% +3 "core" %` V\ +2 "storage"(S. +3 "core" .(<* + "storage"(Y& +4 "core" &<% o\  + "storage"(& +4 "core" &<% g\  +2 "manipulator"& & +3 "core" &+ i Bl +2 "manipulator"&q% +4 "core" %\  x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +166 "core" ( + "manipulator"&& +4 "core" & # [ +2 "storage"(\ & +3 "core" &<% o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +98 "core" ' + "storage"(_& +4 "core" &<% )\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'i +283 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<% t\  +2 "manipulator"&o& +3 "core" & * [ +2 .tElbow.seek 5 +2 "manipulator"&U( +3 "core" ( + "manipulator"&& +9 "core" &  [ + "storage"(& +4 "core" &<% }\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(+'X +8 "core" &  [ + "manipulator"&% +4 "core" % D p +2 .tForearm.seek :retract +2 "manipulator"&k'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&t& +6 "core" &n &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &n   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&J& +4 "core" &n $ N  +2 "manipulator"&% +4 "core" % V  +2 "processing"%& +4 "core" &u\ +2 "processing"%(& +4 "core" &y\ +2 .tPC.seek :closed +2 "processing"%$(Z +5 "core" &p\  +8 &4}p\ *y +10 &eu\ > +9 &tv\ N +9 &DWk\ M +10 &Xr\ M +9 &Wv\ M +10 &Xr\ M +9 &KVq\ M +9 & Xy\ M +10 &Xv\ M +9 & Zm\ M +9 &"TWn\ M +10 &$We\ M +9 &%W^\ M +10 &'Yc\ M +9 &)\\Wc\ M +9 &+Wc\ M +10 &,Wc\ M +9 &.X^\ M +9 &0cYc\ M +10 &2%Yg\ M +9 &3Wc\ M +10 &5Xh\ M +9 &7lWk\ M +9 &9.Wi\ M +10 &:Wk\ M +9 &<Xj\ M +9 &>uXe\ M +10 &@6Zi\ M +9 &AXj\ M +10 &CZi\ M +9 &Ez^j\ N +9 &G8jb\ O +10 &Hb\ Q +9 &Ji\ R +62 &Ltb\ R +5 &N5i\ S + &O_\ S +2 &Qg\ S + &Sym\ S + &U;h\ S +2 &Ve\ T +3 &Xj\ T +7 &Z%Wyf\ &t +10 &Z^_\ 2 +9 ( +2 &Z^\ - +2 "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&'1 +58 "core" 1 +2 "manipulator"&D% +4 "core" % 3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +96 "core" ' + "processing"%m& +4 "core" &ZN\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&!% +4 "core" %\  / S  +2 "storage"(% +4 "core" %a C\ + "storage"( . +4 "core" .(<* + "storage"(T& +4 "core" &<% ,\  +2 "storage"(7& +3 "manipulator"&K& +5 "core" &<% 2\  +2 &n   +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&j(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(H'i +3 "core" ( + "manipulator"&~& +4 "core" &n `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &n (  +2 .tForearm.seek PC +2 "manipulator"&:' +96 "core" ' +2 .tHand.close + "manipulator"&L/ +56 "core" / +2 .tPC.seek :open +2 "processing"%v( +92 "core" ' +2 "storage"(a- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +2 "storage"(.'y +44 "core" ' +280 ( + "storage"(9& +4 "core" &<% \  +2 "manipulator"&-& +3 "core" &n   +2 "manipulator"&x% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +273 "core" ( + "manipulator"&X& +4 "core" & T z +2 "storage"(Q& +4 "core" &<% D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +114 "core" ' + .tHand.open + "manipulator"&C1 +52 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(`' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(z& +4 "core" &<% e [\  +2 "manipulator"&& +3 "core" &  z +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&=& +4 "core" & < z +2 "storage"(6& +3 "core" &<% X O\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&g'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(#' +60 "core" ' + "manipulator"&\\& +5 "core" &  z + "storage"(& +3 "core" &<% 9\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +28 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +25 "core" ' +2 "manipulator"&1% +4 "core" % a  +3 "storage"(}& +4 "core" &<% #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&?' +13 "core" ' + "manipulator"&e& +5 "core" &  + "storage"(,& +5 "core" &<% o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&5'ы +19 "core" ' + "storage"(%% +5 "core" %p !\ +2 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (8% +3 "core" %G \ Wc +2 "manipulator"&i% +4 "core" %ї  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +3 "core" &<% \  +2 "collection"'M& +9 "core" &VnTTB\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&G% +4 "core" %\ % E E +2 "storage"(B% +4 "core" %b \ + "storage"(/. +3 "core" .(<* + "storage"(& +4 "core" &<% A\  +2 "storage"(& +3 "core" &<% <\  +2 "manipulator"&& +3 "core" & -  +2 .tElbow.seek 5 +2 "manipulator"&{( +39 "core" ( +2 "manipulator"&c& +4 "core" & + + "storage"(& +4 "core" &<% H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&O'ы +88 "core" ' +3 "storage"(&& +4 "core" &<% W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +280 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & k * + "storage"(E& +4 "core" &<% L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&*' +33 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"()'U +31 "core" ' +2 "manipulator"&F% +4 "core" % - +2 "storage"(P& +3 "core" &<% y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&[' +15 "core" ' + "manipulator"&^& +5 "core" & ! E * + "storage"(I& +4 "core" &<% x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&u'ы +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'D +41 "core" ' + "manipulator"&Z& +4 "core" &  * +2 "manipulator"&n% +4 "core" %ч  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&S( +161 "core" ( + "manipulator"&Y& +4 "core" &' F >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &' >O +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"& / +55 "core" / +2 .tCC.seek :open +2 "collection"'q( +416 "core" ( +2 "storage"(N& +4 "core" &<%\ \  $\  + "storage"(& +4 "core" &<%\ \  \  + "manipulator"&\ & +4 "core" &'  : >L +2 "manipulator"&_% +3 "core" % & 1 g +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +162 "core" ( +2 "manipulator"&<& +4 "core" &  ] _ + "storage"(& +4 "core" &<%\ $\ $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&o' +104 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&w% +4 "core" %  ] + "storage"(]& +5 "core" &<% 0\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&' +15 "core" ' + "manipulator"&b& +4 "core" & 2 _ +2 "storage"(0& +4 "core" &<%\ E\ P #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +26 "core" ' + "storage"(y% +5 "core" %N\ ,\ O \ +52 ."downElevator"SE.seek :down +4 "storage"(t'X +99 (|% +3 "core" %'D\ \  \ Va + "manipulator"&U% +4 "core" %ѱ K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +86 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &SVh\ +2 "manipulator"&% +3 "core" %\    +2 "storage"(+% +4 "core" %^\ H\ H\ +2 "storage"(k. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(r(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ('& +3 "core" &K '\  +2 "manipulator"&D& +4 "core" &  _ + .tElbow.seek 6 +2 "manipulator"&m( +60 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(& +4 "core" &K\ H\ + :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +93 "core" ' +2 "storage"(T& +4 "core" &K\ >\ F \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +283 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &K\ \  O\  + "manipulator"&~& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(L& +3 "core" &K\ &\ $ \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&a' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +3 "storage"($'X +7 "core" & 7  +2 "manipulator"&H% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&x& +4 "core" &) R . @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &* e @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'" +99 "core" ' +3 "manipulator"&Q& +4 "core" &* R @W +2 "manipulator"&j% +4 "core" %  N +2 "collection"'C& +3 "core" &UV`\ +2 "collection"' & +6 "core" &RTb\ +2 .tCC.seek :closed +3 "collection"'V(V +3 "core" &TV`\ +5 &TTn\ 8 +10 &=IySUn\ 0 +9 &jsTTn\ D +9 &_STn\ L +10 &RUTl\ L +9 &WVVp\ L +10 &WUTTn\ M +9 &VTUo\ M +9 &WTTm\ L +10 &RSUf\ L +9 &_WSUn\ M +9 &!"UTUm\ L +10 &"YVTo\ L +9 &$WTUe\ M +10 &&hUTVg\ L +9 &(+SSVg\ L +9 &)UTT\\\ L +10 &+STTa\ L +9 &-oUTUU\ M +9 &/2VTTN\ L +10 &0XRUS\ L +9 &2USVX\ L +10 &4ySUVP\ L +9 &69USTT\ M +9 &7UUUP\ L +10 &9URVS\ M +9 &;XUUR\ M +9 &=CSSVS\ L +10 &?WSUN\ L +9 &@XSSV\ L +10 &BYUVO\ M +9 &DHYSUJ\ M +9 &F`UUF\ N +10 &GpRUO\ O +9 &I~UU\ S +9 &K2VVM\ W +10 &LUUO\ X +9 &NTVO\ X +10 &PsRUO\ Y +9 &R5TWP\ Y +9 &SUUO\ Z +10 &URSD\ G +9 &V3UUE\ 'u +10 &VoTUN\ M +2 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&z1 +53 "core" 1 +3 "manipulator"&% +4 "core" %  D G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%6& +4 "core" &{\ +2 "manipulator"&h% +3 "core" %\  i  +2 "storage"(\\% +4 "core" %R 5\ + "storage"(. +3 "core" .(K +2 "storage"(1& +3 "core" &K \  +2 "storage"(.& +3 "core" &K \  +2 "manipulator"&}& +4 "core" &( / < ?U +2 "manipulator"&e% +4 "core" %\  N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +154 "core" ( +2 "manipulator"&,& +4 "core" & ^  + "storage"(%& +4 "core" &K q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +94 "core" ' +2 "storage"(& +4 "core" &K N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +280 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +7 "core" &K \  +2 "manipulator"&g& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&#& +4 "core" &    + "storage"(& +4 "core" &K Y\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&?' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&M& + "storage"(G'X +6 "core" &   +2 "manipulator"&"% +4 "core" % Ͼ   + .tForearm.seek :retract +2 "manipulator"&B'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&/(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( +3 "manipulator"&& +4 "core" &i * \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i g \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&c& +4 "core" &i   \ +2 "manipulator"&% +3 "core" % g ! +2 "processing"%5& +4 "core" &\ +2 "processing"%&& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%>(Z +4 "core" &|\ +7 &Fw\ $e +9 &U}\ 7 +10 &|{\ L +9 &Yv\ M +10 &t[s\ M +9 &7Vp\ M +9 &Vv\ M +10 &Uu\ M +9 &|Wx\ M +9 &>Yx\ M +10 & Y}\ M +9 &!Wv\ M +9 &#Xs\ M +10 &%GWh\ M +9 &'Ul\ M +10 &(Wr\ M +9 &*Wd\ M +9 &,NXi\ M +10 &.Yn\ M +9 &/Wm\ M +9 &1Wp\ M +10 &3WWs\ M +9 &5Vm\ M +10 &6Zf\ M +9 &8Vc\ M +9 &:_Wm\ M +10 &< Zm\ M +9 &=Wd\ M +9 &?Uj\ M +10 &AgVl\ M +9 &C(Yk\ M +10 &D_q\ M +9 &Fgx\ O +9 &Hb|n\ Q +10 &Jl\ S +9 &Ke\ S +9 &Me\ S +10 &Oel\ S +12 &Q%j\ S +7 &Rk\ S +9 &Td\ T +9 &Vik\ T +10 &X+l\ T +9 &Yzpm\ 0 +9 &Z*rg\ F +10 &Z"l\ - +2 ( +2 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 "processing"%3& +4 "core" &Z!}\ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&E% +4 "core" %\   ! +2 "storage"(A% +4 "core" %b 2\ + "storage"(F. +4 "core" .(K + "storage"(P& +4 "core" &K \  +2 "storage"(^& +5 "manipulator"&I& +3 "core" &K \  +2 &i H \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&Z(s +2 "storage"(n'i +6 "core" ( + "manipulator"&O& +4 "core" &i ( \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &i + # \ +2 .tForearm.seek PC +2 "manipulator"&f' +98 "core" ' + .tHand.close + "manipulator"&*/ +55 "core" / +2 .tPC.seek :open +2 "processing"%[( +89 "core" ' + "storage"()- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Y'y +43 "core" ' +289 ( +2 "storage"(p& +4 "core" &K \  + "manipulator"&u& +4 "core" &i  \ + "manipulator"&l% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +51 "manipulator"&( +260 "core" ( + "manipulator"&& +4 "core" &  v  +2 "storage"(N& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +94 "core" ' + .tHand.open +2 "manipulator"&\ 1 +55 "core" 1 +2 "storage"(_- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(S& +4 "core" &K R R L\  +2 "manipulator"&& +4 "core" &  1  +2 .tElbow.seek 6 + "manipulator"&w( +4 "core" ( + "manipulator"&]& +4 "core" &   R  +2 "storage"(b& +3 "core" &K H F \  +3 .tForearm.seek 6 + 700 counts + "manipulator"&0'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(y' +62 "core" ' + "manipulator"&& +5 "core" &    + "storage"(2& +4 "core" &K D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&|'Υ +32 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +25 "core" ' +2 "manipulator"&% +4 "core" %θ p +2 "storage"(& +4 "core" &K &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&+& +4 "core" &  =  +2 "storage"(k& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&R'a +30 "core" ' +2 "storage"(W% +4 "core" %r B\ +3 ."downElevator"SE.seek :down +3 "storage"(t'X +99 (% +3 "core" %N -\ Xf + "manipulator"&'% +4 "core" %F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (!& +4 "core" &K p\  + "collection"'& +4 "core" &VnUV^\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&T% +4 "core" %\    +2 "storage"(% +4 "core" %a \ + "storage"(J. +3 "core" .(K +2 "storage"(7& +3 "core" &K '\  +2 "storage"((& +4 "core" &K 5\  +2 "manipulator"&~& +3 "core" &  ?  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&L& +4 "core" &     +2 "storage"(@& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +101 "core" ' +2 "storage"(H& +4 "core" &K s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +284 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" &  t  +2 "storage"(:& +15 "core" &K K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&K'Υ +33 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"( 'Y +31 "core" ' + "manipulator"&j% +4 "core" %ε r +2 "storage"(C& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&$' +20 "core" ' + "manipulator"&9& +4 "core" &  k  +2 "storage"(q& +4 "core" &K 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&z'a +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' +2 "manipulator"&6& +4 "core" &   +2 "manipulator"&h% +4 "core" %p  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +164 "core" ( +2 "manipulator"&1& +4 "core" &. %  Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +4 "core" &-  Ct +3 .tForearm.seek CC + "manipulator"&}'" +98 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'e( +416 "core" ( + "storage"(,& +4 "core" &K b\  +2 "storage"(X& +3 "core" &K \  +2 "manipulator"&%& +3 "core" &- i Cp +2 "manipulator"&% +3 "core" % " 9 +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&=( +156 "core" ( +2 "manipulator"&8& +4 "core" & @  + "storage"(i& +4 "core" &K\ %\ & ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&g'Υ +109 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&s% +4 "core" % ζ +2 "storage"(M& +3 "core" &K }\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&"' +14 "core" ' +2 "manipulator"&4& +4 "core" & I  +2 "storage"(& +3 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&`'a +25 "core" ' + "storage"(?% +5 "core" %L\ H\ H\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %D\ \ \ Wb + "manipulator"&% +4 "core" %m e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &TVd\ +2 "manipulator"&5% +4 "core" %\    + "storage"(G% +4 "core" %b\ \ ! \ +2 "storage"(B. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(v(,l +659 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +2 "core" &,n L\ +2 "manipulator"&& +4 "core" & C  +2 .tElbow.seek 4 + "manipulator"&3( +17 "core" ( + "manipulator"&E& +4 "core" &  , +2 "storage"(A& +4 "core" &,r\ $\ $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +98 "core" ' +3 "storage"(P& +4 "core" &,r\ H\ G \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'i +282 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" &,r\ \  0\ +2 "manipulator"&O& +3 "core" &  , +2 .tElbow.seek 4 +2 "manipulator"&{( +3 "core" ( + "manipulator"&& +4 "core" & ) , + "storage"(*& +4 "core" &,r\ %\ % o\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&)', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +63 "core" / +3 ."downElevator"SE.seek :down +53 "manipulator"&;& + "storage"(>'X +9 "core" &  , +2 "manipulator"&n% +4 "core" % - I +3 .tForearm.seek :retract +2 "manipulator"&p'\ +103 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +29 "core" ( + "manipulator"&l& +4 "core" &/ 7 Q E} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &/  E} +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' + "manipulator"&N& +5 "core" &/ L E} + "manipulator"&Z% +4 "core" %+ L +2 "collection"'\ & +4 "core" &SUT\ +2 "collection"'_& +6 "core" &SU\\\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &TTX\ +7 &4STS\ #c +9 &V}TT]\ 7 +10 &vSUT\ K +9 &QRT`\ L +9 &dUTOj\ M +10 &(QSSe\ L +9 &XSTh\ L +9 &VSTo\ M +10 &mTUTi\ L +9 &/QSRk\ L +10 &QSUn\ M +9 &!TTTn\ M +9 &#tUTUl\ M +10 &%7VUTo\ L +9 &&VTTn\ L +9 &(VSVn\ L +10 &*}VSTp\ L +9 &,?XRRp\ L +9 &.QUUp\ L +10 &/VTTi\ L +9 &1STUn\ M +10 &3FTPVd\ M +9 &5TRTd\ M +9 &6TUUc\ M +10 &8TQSZ\ M +14 &:NVUTN\ M +5 &<STS\ M +9 &=XSUS\ M +9 &?WTUQ\ M +10 &AWRSST\ L +9 &CVTTU\ L +9 &D[TSP\ M +10 &FhTVP\ O +9 &HRyVWQ\ Q +10 &JTUP\ V +9 &KTUK\ X +9 &MRSJ\ Y +10 &OBUVR\ Y +9 &QSWQ\ Y +9 &RVVO\ Z +10 &TTVI\ Z +9 &V$wRUN\ / +9 &V'UTO\ R +9 ( +3 "collection"'_& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&S1 +3 "core" &VnTVH\ L +53 1 + "manipulator"&% +4 "core" % ) } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%b& +4 "core" &\ +2 "manipulator"& % +3 "core" %\ !  7 +2 "storage"(% +3 "core" %S \ +2 "storage"(2. +3 "core" .(,l +2 "storage"(Y& +4 "core" &,r v\ + "storage"(& +4 "core" &,r o\ +2 "manipulator"&& +3 "core" &. > E| +2 "manipulator"&<% +4 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +161 "core" ( + "manipulator"&k& +4 "core" & $ a Z +2 "storage"(W& +4 "core" &,r $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +98 "core" ' + "storage"(& +5 "core" &,r J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &,r ]\ + "manipulator"&0& +4 "core" &  Z +2 .tElbow.seek 4 + "manipulator"&w( +3 "core" ( +2 "manipulator"&y& +3 "core" & M Z +2 "storage"(|& +4 "core" &,r z\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&!/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(T'X +6 "core" & Z +2 "manipulator"&% +4 "core" % C  b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&7(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( + "manipulator"&o& +4 "core" &h $ D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &h L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +91 "core" ' + "manipulator"&L& +5 "core" &i < + "manipulator"&@% +4 "core" %  A +2 "processing"%R& +4 "core" &\ +2 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed + "processing"%t(Z +4 "core" &\  +9 &3}\ *y +10 &d~\ > +9 &t\ N +10 &FV\ M +9 &W\ M +9 &V}\ M +10 &W\ M +9 &NV\ M +9 &X\ M +10 &X\ M +9 & W\ M +9 &"VW}\ M +10 &$U\ M +9 &%Y\ M +10 &'X}\ M +9 &)]W|\ M +9 &+Ww\ M +10 &,Vv\ M +9 &.X\ M +9 &0fX\ M +10 &2(W|\ M +9 &3Wr\ M +10 &5Ww\ L +9 &7nVw\ M +9 &90Xu\ M +10 &:Uk\ M +9 &<We\ M +9 &>uUk\ M +10 &@6Yf\ M +9 &AWe\ M +10 &C\\n\ M +9 &E{]w\ N +10 &G8jl\ O +9 &Hn\ R +9 &Jn\ R +10 &Ltf\ S +9 &N6r\ S +9 &On\ S +10 &Qr\ S +9 &Sy{\ T +9 &U;{\ T +10 &V|\ S +9 &Xv\ T +10 &Z%Vvs\ 'v +9 &Z_t\ 3 +9 ( + &Z#x\ . +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&U1 +62 "core" 1 + "manipulator"&D% +4 "core" % k A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' + "processing"%x& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&:% +4 "core" %\ \ h  +2 "storage"(Q% +4 "core" %_ N\ + "storage"(j. +3 "core" .(,l +2 "storage"(C& +3 "core" &,r 7\ +2 "storage"(9& +4 "manipulator"&q& +4 "core" &,r <\ + &i  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&6(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'i +2 "core" ( +2 "manipulator"&d& +3 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 .tHand.close + "manipulator"&K/ +57 "core" / +2 .tPC.seek :open + "processing"%$( +91 "core" ' + "storage"( - +4 "core" -'i + ."raiseStack"SE.configure :default +7 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'y +46 "core" ' +283 ( + "storage"(.& +4 "core" &,r \ +2 "manipulator"&z& +3 "core" &i  +2 "manipulator"&a% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\\( +243 "core" ( +2 "manipulator"&V& +4 "core" &  ^ !v + "storage"(,& +4 "core" &,r @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&X'Ѽ +97 "core" ' + .tHand.open +2 "manipulator"&%1 +52 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(8'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(i' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(}- +4 "core" -' + "storage"(& +4 "core" &,r S V T\ +2 "manipulator"&& +3 "core" &  !v +2 .tElbow.seek 4 +2 "manipulator"&s( +3 "core" ( + "manipulator"&M& +4 "core" &   !v +2 "storage"(4& +3 "core" &,r I J V\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(?' +62 "core" ' + "manipulator"&-& +5 "core" & [ !v + "storage"(& +4 "core" &,r S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +25 "core" ' +2 "manipulator"&% +4 "core" % - +2 "storage"("& +4 "core" &,r q\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&5'; +11 "core" ' + "manipulator"&G& +5 "core" & # !u + "storage"(B& +53 "core" &,r #\ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +24 "core" ' + "storage"(`% +5 "core" %l \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (r% +3 "core" %H \ We +2 "manipulator"& % +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &,r U\ +2 "collection"'A& +3 "core" &VnVU`\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&P% +4 "core" %\    +2 "storage"(#% +4 "core" %` \ + "storage"(c. +4 "core" .(,l + "storage"(I& +3 "core" &,r \ +2 "storage"(^& +4 "core" &,r \ +2 "manipulator"&O& +3 "core" & c !u +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&*& +4 "core" & 1 !u + "storage"(/& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +102 "core" ' +2 "storage"(n& +4 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +284 "core" ' + "storage"(F- +8 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" & l !u +2 "storage"(l& +3 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&f' +36 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"({'V +30 "core" ' + "manipulator"&Z% +4 "core" %  j +2 "storage"(\ & +4 "core" &,r \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&>'= +14 "core" ' + "manipulator"&p& +4 "core" & 4 !u +2 "storage"(e& +4 "core" &,r F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +55 "core" ' +2 "manipulator"&b& +4 "core" & !u +2 "manipulator"& % +4 "core" %ѵ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +157 "core" ( +2 "manipulator"&Y& +4 "core" &+ : Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &+  Bk +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +3 .tCC.seek :open +2 "collection"'<( +415 "core" ( + "storage"(& +4 "core" &,r\ J\ +2 "storage"(k& +3 "core" &,r t\ +2 "manipulator"&W& +4 "core" &, ' R Bi + "manipulator"&% +4 "core" % * =  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&]( +157 "core" ( + "manipulator"&& +4 "core" & ^ g +2 "storage"('& +4 "core" &,r\ &\ " ;\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&0' +107 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +57 "core" 1 +2 "manipulator"&!% +4 "core" %  ,  +2 "storage"(& +3 "core" &,r K\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'= +18 "core" ' +2 "manipulator"&+& +4 "core" & # g + "storage"(& +4 "core" &,r\ %\ % ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +25 "core" ' + "storage"(% +5 "core" %G\ K\ O H\ +2 ."downElevator"SE.seek :down +3 "storage"(o'X +99 ((% +3 "core" %F\ \  \ Wc + "manipulator"&w% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'@& +4 "core" &RSR\ +2 "manipulator"&R% +4 "core" %\ " @ 9 + "storage"(T% +4 "core" %b\ $\ $ 4\ +2 "storage"(J. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"([(<* +340 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<) @\  +2 "manipulator"&D& +3 "core" & A g +2 .tElbow.seek 5 +2 "manipulator"&x( +9 "core" ( + "manipulator"&:& +4 "core" & $ ` Q +2 "storage"(Q& +4 "core" &<%\ &\ & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +98 "core" ' +2 "storage"(C& +4 "core" &<%\ B\ G \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +283 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" &<%\ \  1\  +2 "manipulator"&d& +4 "core" &  Q +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" &   Q + "storage"(K& +4 "core" &<%\ #\ " I\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& ' +26 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(t'X +7 "core" &  Q +2 "manipulator"&h% +3 "core" %   c +2 .tForearm.seek :retract +2 "manipulator"&.'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&a& +4 "core" &. B O E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &/ E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'" +98 "core" ' +2 "manipulator"&,& +4 "core" &/ S E +2 "manipulator"&6% +4 "core" %" + "collection"'%& +4 "core" &TVd\ +2 "collection"'& +5 "core" &STe\ +2 .tCC.seek :closed +2 "collection"'}(V +5 "core" &UTX\ +7 &=TUY\ $e +9 &V}ST_\ 7 +9 &xTUe\ L +10 &TRTv\ L +9 &lUTTk\ M +10 &/TUUo\ L +9 &RTUm\ L +9 &QUUr\ L +10 &uTUTs\ L +9 &7WSUf\ L +9 &VTUm\ L +10 &!UUUe\ M +9 &#|UVUm\ M +10 &%>UTWl\ M +9 &'WSTm\ L +9 &(TUSl\ M +10 &*TSTg\ L +9 &,GRUSl\ L +9 &. QTV^\ L +10 &/USVa\ L +9 &1WUWl\ L +10 &3NTTTa\ M +9 &5TUVe\ M +9 &6TST[\ L +10 &8QUS`\ L +9 &:WTUT]\ L +9 &<VTU\\\ L +10 &=TTUV\ M +9 &?YTTP\ L +10 &A^XTUR\ M +9 &C WRSM\ M +9 &D[SUQ\ M +10 &FiTVM\ O +9 &HZ{RTV\ Q +10 &JTTT\ V +9 &KSV]\ W +9 &MTUR\ X +10 &OMVTR\ X +9 &Q UTT\ Y +9 &RVWL\ Y +10 &TUVO\ Z +9 &V*uUUV\ / +9 &VUVQ\ O +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +4 "core" &VgUV[\ N +56 1 + "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%4& +4 "core" &\ +2 "manipulator"& % +4 "core" %\ # = + "storage"(-% +4 "core" %S l\ +2 "storage"(. +3 "core" .(<* + "storage"(1& +4 "core" &<% X\  + "storage"(& +4 "core" &<% Y\  +51 "manipulator"&"& +5 "core" &. 0 Dz + "manipulator"&8% +4 "core" %\ # = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +162 "core" ( +2 "manipulator"&B& +4 "core" & # g T + "storage"(\\& +4 "core" &<% =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&X'ы +96 "core" ' + "storage"(`& +5 "core" &<% A\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<% P\  + "manipulator"& & +9 "core" & K T + .tElbow.seek 5 +2 "manipulator"&s( +4 "core" ( + "manipulator"&?& +4 "core" & C T + "storage"(& +4 "core" &<% c\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&5' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"(P'X +7 "core" & T +2 "manipulator"&#% +4 "core" % U H +2 .tForearm.seek :retract + "manipulator"&c'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&g(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&I& +5 "core" &z " T  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &^& +2 "core" &z \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +96 "core" ' +2 "manipulator"&*& +4 "core" &z  [  +2 "manipulator"&/% +3 "core" %  > +2 "processing"%& +4 "core" &\ +2 "processing"%n& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &1z\ *x +9 &b\ = +9 &pu\ N +10 &3W\ M +9 &W\ M +9 &W\ M +10 &yW\ M +9 &;U\ M +10 &X\ M +9 &X\ M +9 & W\ M +10 &"DW\ M +9 &$W~\ M +9 &%W\ M +10 &'\\\ M +9 &)KW\ M +10 &+ W\ M +9 &,U\ M +9 &.Y~\ M +10 &0TW\ M +9 &2U\ M +9 &3V\ M +10 &5V\ M +9 &7[Y\ M +10 &9V~\ M +9 &:V|\ L +9 &<Wv\ M +10 &>dWm\ M +9 &@%\\r\ M +9 &AVn\ L +10 &CZp\ M +9 &EiZr\ N +10 &G(ho\ O +9 &H~m\ Q +9 &Jm\ S +10 &Lcm\ R +9 &N%m\ R +10 &On\ S +9 &Qo\ S +9 &Sgy\ T +9 &U*y\ S +10 &Vu\ T +9 &Xz\ T +10 &Z_u\ $p +13 &ZUt\ ' +5 ( +2 &Zz\ % +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&=1 +52 "core" 1 + "manipulator"&% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +99 "core" ' +2 "processing"%&& +4 "core" &Zp\ % + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&l% +4 "core" %\  " + "storage"(N% +4 "core" %T _\ + "storage"(Z. +3 "core" .(<* +2 "storage"(\ & +4 "core" &<% \  +2 "storage"(p& +3 "manipulator"&e& +7 "core" &<% \  + &z W  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&b(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( + "manipulator"&;& +4 "core" &z   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z $  %  +2 .tForearm.seek PC +2 "manipulator"&3' +96 "core" ' +2 .tHand.close + "manipulator"&f/ +54 "core" / + .tPC.seek :open +2 "processing"%>( +89 "core" ' +2 "storage"({- +8 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Y'y +43 "core" ' +288 ( + "storage"(_& +4 "core" &<% \  +2 "manipulator"&S& +3 "core" &z   +2 "manipulator"&)% +4 "core" % \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +270 "core" ( +2 "manipulator"&& +4 "core" & & w + "storage"(& +4 "core" &<% l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&k'ы +94 "core" ' + .tHand.open + "manipulator"&W1 +60 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +37 "core" -' + "storage"(2& +4 "core" &<% e h g\  +2 "manipulator"&|& +4 "core" & w +2 .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( + "manipulator"&& +4 "core" & j w + "storage"(+& +4 "core" &<% h h I\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&u& +4 "core" & w +2 "storage"((& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&w' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'i +23 "core" ' +2 "manipulator"&@% +4 "core" % q +2 "storage"(& +4 "core" &<% B\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&R' +12 "core" ' +2 "manipulator"&T& +4 "core" & _  +2 "storage"(J& +4 "core" &<% 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +27 "core" ' +2 "storage"(% +4 "core" %n Z\ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +98 (v% +3 "core" %E ,\ Wd +2 "manipulator"&U% +4 "core" %ї ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (:& +4 "core" &<% e\  +2 "collection"'Q& +3 "core" &VgUVR\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&C% +4 "core" %\ \   +2 "storage"(y% +4 "core" %b \ + "storage"(L. +4 "core" .(<* + "storage"(9& +4 "core" &<% +\  + "storage"(q& +4 "core" &<% t\  + "manipulator"&d& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&~( +32 "core" ( +3 "manipulator"&K& +8 "core" &  n + "storage"(7& +4 "core" &<% )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +106 "core" ' + "storage"(h& +4 "core" &<% :\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +282 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & n + "storage"(m& +4 "core" &<% ~\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H' +26 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'U +28 "core" ' +50 "manipulator"&% +6 "core" % N + "storage"(%& +3 "core" &<% f\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&t' +13 "core" ' +2 "manipulator"&.& +4 "core" & ! & +2 "storage"(<& +3 "core" &<% 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('D +41 "core" ' + "manipulator"&4& +5 "core" &  & + "manipulator"& % +4 "core" %ѭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( + "manipulator"&1& +4 "core" &' >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( >M +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&"/ +56 "core" / +3 .tCC.seek :open +2 "collection"'8( +415 "core" ( + "storage"(V& +4 "core" &<% Z\  +2 "storage"(B& +3 "core" &<% X\  +2 "manipulator"&\\& +4 "core" &( @ >M + "manipulator"&`% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&M( +162 "core" ( + "manipulator"&& +4 "core" &  c Q +2 "storage"(r& +3 "core" &<%\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& ' +106 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&E% +4 "core" %  n + "storage"(A& +4 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&#' +17 "core" ' + "manipulator"&G& +5 "core" & 3 Q + "storage"(X& +4 "core" &<%\ $\ $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&i'ы +27 "core" ' + "storage"(5% +5 "core" %G\ O\ J o\ +2 ."downElevator"SE.seek :down +3 "storage"(I'X +99 (^% +3 "core" %F\ $\  -\ Va +2 "manipulator"&s% +3 "core" %x E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'/& +5 "core" &TUs\ + "manipulator"&% +4 "core" %\ " : @ +2 "storage"(P% +4 "core" %`\ .\ ' A\  +2 "storage"(c. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"($(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &K \  +2 "manipulator"&& +4 "core" & j Q + .tElbow.seek 6 +2 "manipulator"&&( +52 "core" ( + "manipulator"&l& +4 "core" &% !  B +2 "storage"(N& +3 "core" &K\ %\ & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Z'a +92 "core" ' + "storage"(\ & +4 "core" &K\ B\ H \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'i +283 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (n& +3 "core" &K\ \ {\  + "manipulator"&;& +4 "core" &%  B +2 .tElbow.seek 6 + "manipulator"&( +26 "core" ( + "manipulator"&O& +5 "core" & 2 x + "storage"(f& +4 "core" &K\ %\ % o\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"('X +8 "core" &  x + "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&)& +4 "core" &+ A : Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &+ Bj +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&& +4 "core" &, - Bi +2 "manipulator"&b% +3 "core" % +2 "collection"'W& +4 "core" &TUx\ +2 "collection"'& +5 "core" &TVh\ +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &TVf\ +9 &<TUi\ $d +9 &V}SUh\ 7 +9 &xUT_\ L +10 &SUT_\ L +9 &kVTTk\ L +9 &-UTS[\ L +10 &WSTh\ L +9 &WRTw\ L +10 &sWSTp\ L +9 &5QTTh\ L +9 &URUm\ L +10 &!URTb\ L +9 &#{WTLo\ L +9 &%=WSUd\ L +10 &&UTVe\ L +9 &(UUTe\ L +9 &*TRTd\ L +10 &,ERTTh\ L +9 &.QSUa\ L +10 &/VTUf\ L +9 &1WSUh\ L +9 &3LTRTe\ M +10 &5TUSh\ L +13 &6RTUd\ L +5 &8TTVh\ M +10 &:TVTT`\ M +9 &<WRSa\ M +10 &=TTTZ\ L +9 &?USU]\ L +9 &A\\VRU\\\ M +10 &CXTUV\ M +9 &DZTUO\ M +9 &FfSVX\ N +10 &HZsVUN\ P +9 &JUTR\ U +10 &KUVL\ X +9 &MSUS\ X +10 &OITTX\ Y +9 &Q TVO\ X +9 &RUWP\ Z +10 &TTUU\ Z +9 &V)wTVX\ / +9 &V!LWO\ N +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open + "manipulator"&21 +4 "core" &VmTTX\ K +56 1 +2 "manipulator"&% +4 "core" %  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +100 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&+% +4 "core" %\ \   +2 "storage"(u% +3 "core" %b (\ +2 "storage"((. +4 "core" .(K + "storage"(Y& +4 "core" &K }\  +2 "storage"(@& +3 "core" &K y\  +2 "manipulator"&& +3 "core" &+ . k Bf +2 "manipulator"&% +3 "core" %\ \ p  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&T( +157 "core" ( + "manipulator"&J& +5 "core" & E ~ + "storage"(& +4 "core" &K T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +89 "core" ' + "storage"(k& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +283 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (U& +3 "core" &K \  + "manipulator"&& +4 "core" &  ~ +2 .tElbow.seek 6 + "manipulator"&!( +4 "core" ( + "manipulator"&& +4 "core" & ~ + "storage"(w& +9 "core" &K (\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&R' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(C'X +7 "core" &  ~ +2 "manipulator"&y% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&L'\ +28 "Can"^\ SQ +71 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&9& +4 "core" &h # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +4 "core" &h 2 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&d' +101 "core" ' + "manipulator"&K& +4 "core" &h # J +2 "manipulator"&7% +4 "core" % +2 "processing"%& +52 "core" &\ +4 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed + "processing"%o(Z +4 "core" &\  +9 &3}\ *x +9 &c\ > +10 &pu\ N +9 &3X\ M +9 &W\ M +10 &W\ M +9 &xW\ M +9 &;V\ M +10 &X\ M +9 &X\ M +10 & W\ M +9 &"DW\ M +9 &$W\ M +10 &%X\ M +9 &'Y\ M +9 &)LW\ M +10 &+W\ M +9 &,W\ M +10 &.[\ M +9 &0SY\ M +9 &2W\ M +10 &3W\ M +9 &5Z|\ M +9 &7\\V~\ M +10 &9Wz\ L +9 &:W~\ M +10 &<X\ M +9 &>cV{\ M +9 &@&Yo\ M +10 &AXn\ L +9 &C[t\ N +9 &Eia{\ N +10 &G&mp\ O +11 &Hn\ R +11 &Jm\ R +9 &Lbr\ S +8 &N%r\ R +11 &Os\ S +8 &Qm\ T +9 &Sfs\ T +9 &U)t\ T +10 &Vu\ T +10 &Xs\ T +9 &Z^u\ #m +9 &ZZz\ , +8 ( +6 "processing"%h& +8 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 +3 .Hand.open + "manipulator"&]1 +7 "core" &Zz\ ( +2 &Z{\ ( +47 1 +2 "manipulator"&D% +8 "core" % $ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +3 "processing"%a& +9 "core" &Zz\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +8 "core" %\ " = +5 "storage"(,% +7 "core" %b \ +4 "storage"(. +5 "core" .(K +2 "storage"(%& +8 "core" &K \  +4 "storage"(.& +5 "manipulator"&<& +14 "core" &K \  +3 &h  0 +6 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +6 "storage"(#]@K-0-\ b +2 "manipulator"&4(s +11 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +23 "core" ( +3 "manipulator"& & +9 "core" &l \  1 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &~& +5 "core" &l e +5 .tForearm.seek PC +8 "manipulator"&x' +7 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +86 "core" ' +2 .tHand.close +4 "manipulator"&H/ +61 "core" / +4 .tPC.seek :open +2 "processing"%t( +37 "core" ' +3 "storage"(6- +6 "core" -'i +4 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(1'y +45 "core" ' +326 ( +2 "storage"(& +4 "core" &K \  + "manipulator"&& +4 "core" &l G + "manipulator"& % +4 "core" % n +2 .tForearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&-( +266 "core" ( + "manipulator"&}& +4 "core" & l | +2 "storage"(V& +3 "core" &K Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&B'a +92 "core" ' + .tHand.open + "manipulator"&\\1 +60 "core" 1 +2 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +54 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &K ; C \  +2 "manipulator"&& +4 "core" &  } +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( + "manipulator"&A& +4 "core" & ^ } +2 "storage"(G& +3 "core" &K S S 5\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&X'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(5' +61 "core" ' + "manipulator"&z& +4 "core" & } +2 "storage"(^& +9 "core" &K ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +24 "core" ' + "manipulator"&/% +5 "core" %ε x + "storage"(#& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&' +13 "core" ' + "manipulator"&P& +5 "core" &  } + "storage"(c& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +27 "core" ' + "storage"(i% +5 "core" %q\ >\ +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 ([% +4 "core" %H *\ Wd +2 "manipulator"&=% +4 "core" %M x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (l& +4 "core" &K \  + "collection"'N& +4 "core" &VmVUc\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&\ % +4 "core" %\  d  +2 "storage"(?% +3 "core" %b =\ +2 "storage"(*. +3 "core" .(K + "storage"(p& +4 "core" &K t\  +2 "storage"(n& +3 "core" &K L\  +2 "manipulator"&;& +4 "core" &  } + .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&f& +3 "core" & } +2 "storage"(g& +3 "core" &K 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +93 "core" ' +2 "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'i +288 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&)& +3 "core" & # } +2 "storage"(3& +3 "core" &K )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'Υ +32 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(b'Y +29 "core" ' +2 "manipulator"&% +4 "core" %η +2 "storage"(W& +3 "core" &K #\  +2 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 6 + 318 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&_& +4 "core" & s } + "storage"(8& +4 "core" &K I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&2'a +33 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' + "manipulator"&& +5 "core" & F } + "manipulator"&+% +4 "core" %B V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +165 "core" ( +2 "manipulator"&& +4 "core" &+ - Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &+ Z Bi +2 .tForearm.seek CC +2 "manipulator"&@'" +97 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &K F\  + "storage"(J& +4 "core" &K \  + "manipulator"&& +4 "core" &, k Bg + "manipulator"&k% +4 "core" % $ +2 .tForearm.seek :retract + "manipulator"&S'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&|( +157 "core" ( +2 "manipulator"&v& +4 "core" & {  + "storage"(U& +4 "core" &K\ \  R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +50 "manipulator"&'Υ +110 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +54 "core" 1 +3 "manipulator"&:% +5 "core" % ι Z + "storage"(Q& +4 "core" &K i\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&y' +13 "core" ' + "manipulator"&T& +4 "core" & &  +2 "storage"(& +4 "core" &K\ \ " 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&''a +30 "core" ' + "storage"(R% +4 "core" %N\ J\ + y\ +3 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (q% +3 "core" %I\ \  \ Vb +2 "manipulator"&!% +4 "core" %K \ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'7& +4 "core" &TV\ +2 "manipulator"&% +3 "core" %\    +2 "storage"(C% +4 "core" %_\ H\ I\ +2 "storage"(L. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(>(,l +657 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &,o I\ +2 "manipulator"&D& +4 "core" & H  +2 .tElbow.seek 4 +2 "manipulator"&a( +16 "core" ( + "manipulator"&m& +4 "core" &  l Y +2 "storage"(h& +4 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&,'Ѽ +93 "core" ' +2 "storage"(& +4 "core" &,r\ H\ I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +286 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &,r\ \ 1\ + "manipulator"& & +4 "core" & * Y +2 .tElbow.seek 4 + "manipulator"&~( +3 "core" ( +2 "manipulator"&d& +3 "core" & Y +2 "storage"(H& +4 "core" &,r\ %\ % u\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&6', +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(o'X +8 "core" &  Y + "manipulator"& % +4 "core" % !   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"& & +4 "core" &+ < \ 4 Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &+ , Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'" +96 "core" ' +2 "manipulator"&V& +4 "core" &+ A` +2 "manipulator"&4% +4 "core" %% +2 "collection"'\\& +3 "core" &TUs\ +2 "collection"'`& +5 "core" &TUx\ +2 .tCC.seek :closed +3 "collection"'(V +4 "core" &RUs\ +8 &4RTr\ $c +10 &UTTq\ 7 +9 &xRTo\ K +9 &QSUk\ L +10 &cUWUl\ L +9 &%UTUl\ L +10 &VUU]\ L +9 &VRUh\ L +12 &jURWa\ M +7 &-UUUh\ L +9 &VUVa\ L +9 &!UTTw\ L +10 &#tRUS{\ L +9 &%4UTVr\ M +9 &&UTUr\ L +10 &(QTVz\ L +9 &*{UVUg\ L +10 &,=XTUf\ L +9 &-TTSd\ L +9 &/VSTa\ L +10 &1UTTf\ L +9 &3EWTVi\ L +9 &5UTUf\ L +10 &6WTUh\ L +9 &8UTUf\ L +10 &:LVTLl\ M +9 &<TSUn\ L +9 &=YUUo\ M +10 &?VSSm\ L +9 &AURSUd\ L +9 &CTSTh\ L +10 &D\\TTk\ M +9 &FiTVm\ N +10 &HPyTUh\ Q +9 &JTTh\ U +10 &KTWf\ X +9 &MVUb\ X +9 &OAVU\ Y +9 &QTUb\ Y +10 &RUWc\ Z +9 &TUUa\ Z +10 &V tSUS\ / +9 &V(TVX\ V +9 ( +3 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open + "manipulator"&1 +4 "core" &VrWUY\ N +58 1 +2 "manipulator"&% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&A'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%G& +4 "core" &\ +2 "manipulator"&"% +9 "core" %\  '  + "storage"(z% +4 "core" %a W\ + "storage"(^. +3 "core" .(,l +2 "storage"(1& +4 "core" &,r \ +2 "storage"(/& +3 "core" &,r \ +2 "manipulator"&#& +4 "core" &* 5 A` + "manipulator"&% +4 "core" %\  m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&P( +159 "core" ( + "manipulator"&c& +4 "core" &  +2 "storage"(i& +3 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&-'Ѽ +89 "core" ' + "storage"(B& +4 "core" &,r b\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +287 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &,r ;\ +2 "manipulator"&X& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( + "manipulator"&5& +4 "core" & '  + "storage"(s& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +3 "storage"(\ 'X +6 "core" & C  +2 "manipulator"&?% +4 "core" % "  R +2 .tForearm.seek :retract + "manipulator"&*'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&p& +4 "core" &t p = _  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +3 "core" &t #  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +101 "core" ' +2 "manipulator"&f& +4 "core" &t   +2 "manipulator"&g% +3 "core" % q +2 "processing"%& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(Z +5 "core" &\  +8 &3~\ *x +9 &d\ > +9 &|t\ N +10 &?W\ M +9 &W\ M +9 &W\ M +10 &X\ M +9 &GY\ M +9 &\ W\ M +10 &W\ M +9 & V\ M +10 &"OV\ M +9 &$W\ M +9 &%X\ M +10 &'Z\ M +9 &)XW\ M +9 &+W\ L +10 &,U\ M +9 &.W\ M +10 &0`W\ M +9 &2!W\ M +9 &3W\ M +10 &5W\ M +9 &7hU\ M +9 &9*V~\ M +10 &:Uv\ L +9 &<W\ M +10 &>pZ\ M +9 &@2Z\ M +9 &A[v\ M +10 &C\\w\ M +9 &Euas\ N +9 &G4jv\ O +10 &Hp\ Q +9 &Js\ R +10 &Ln~\ S +9 &N0x\ S +9 &Om\ S +10 &Ql\ S +9 &Stg\ S +10 &U6r\ S +9 &Vm\ T +9 &Xn\ T +10 &Z"Yzm\ &s +9 &Zcm\ 2 +9 ( +2 &Zu\ , + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&M1 +59 "core" 1 + "manipulator"&% +4 "core" % # x q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +97 "core" ' + "processing"%)& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&3% +4 "core" %\ \  +2 "storage"(% +3 "core" %a ,\ +2 "storage"(. +3 "core" .(,l + "storage"(W& +4 "core" &,r M\ +2 "storage"(_& +5 "manipulator"&8& +4 "core" &,r 9\ + &t B  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(+'i +5 "core" ( +2 "manipulator"&F& +4 "core" &t   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &t   +2 .tForearm.seek PC +52 "manipulator"&&' +96 "core" ' + .tHand.close +2 "manipulator"&e/ +58 "core" / +3 .tPC.seek :open + "processing"%( +37 "core" ' + "storage"(b- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +342 ( + "storage"(Y& +4 "core" &,r \ +2 "manipulator"&2& +4 "core" &t  + "manipulator"&{% +4 "core" % c +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&u( +265 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &,r e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&J'Ѽ +105 "core" ' +2 .tHand.open + "manipulator"&1 +59 "core" 1 + "storage"(k- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(v'E +36 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(U' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"((& +4 "core" &,r \\ _ G\ +2 "manipulator"&w& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&:( +7 "core" ( + "manipulator"&Q& +5 "core" & j  + "storage"(T& +4 "core" &,r i _ i\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +12 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(S' +57 "core" ' +2 "manipulator"&R& +4 "core" &   +2 "storage"(q& +4 "core" &,r \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&!' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +27 "core" ' + "manipulator"&y% +5 "core" % + "storage"(7& +4 "core" &,r D\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'= +13 "core" ' + "manipulator"&C& +4 "core" & R  +2 "storage"(L& +4 "core" &,r N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +23 "core" ' +2 "storage"('% +4 "core" %o ]\ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 ($% +3 "core" %I >\ Xf + "manipulator"&]% +4 "core" % u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (m& +4 "core" &,r j\ +2 "collection"'h& +4 "core" &VrVSZ\ N + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %\  \\  +2 "storage"(% +4 "core" %Z V\ +2 "storage"(K. +3 "core" .(,l + "storage"(<& +4 "core" &,r \ +2 "storage"(.& +3 "core" &,r \ +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&d( +3 "core" ( + "manipulator"&H& +4 "core" & # w  +2 "storage"(0& +3 "core" &,r C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&j'Ѽ +90 "core" ' + "storage"( & +4 "core" &,r W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +287 "core" ' +3 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &   + "storage"(x& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&%' +34 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(V- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(4'W +28 "core" ' +2 "manipulator"&\\% +4 "core" % Y +2 "storage"(~& +3 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&o'@ +17 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &,r a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +39 "core" ' + "manipulator"&G& +4 "core" &   +2 "manipulator"&"% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +159 "core" ( +2 "manipulator"&^& +4 "core" && , =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" && =G +2 .tForearm.seek CC + "manipulator"&/'" +97 "core" ' +2 .tHand.close + "manipulator"&#/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(}& +4 "core" &,r\ \  D\ +2 "storage"(c& +4 "core" &,r\ \ \ + "manipulator"&i& +4 "core" && ( 9 =F + "manipulator"&B% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&A( +154 "core" ( +2 "manipulator"&[& +4 "core" & # I g + "storage"(=& +4 "core" &,r\ $\ & _\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&X' +103 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +55 "core" 1 +2 "manipulator"&l% +4 "core" %  -  +2 "storage"(N& +4 "core" &,r\ \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&?'@ +17 "core" ' +3 "manipulator"&P& +4 "core" & W g + "storage"(-& +4 "core" &,r\ I\ I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&r'Ѽ +30 "core" ' +2 "storage"(% +4 "core" %P\ @\ > U\ +3 ."downElevator"SE.seek :down +3 "storage"(p'X +98 (n% +8 "core" % I\ \  j\ Wc +2 "manipulator"&E% +4 "core" %ѹ + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'g& +4 "core" &SUu\ +2 "manipulator"&% +4 "core" %\ " \ = +2 "storage"(\ % +4 "core" %b\ #\ $ \ + "storage"(*. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(t(<* +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +3 "core" &<( 1\  + "manipulator"&& +4 "core" & f g +2 .tElbow.seek 5 + "manipulator"&)( +12 "core" ( +2 "manipulator"&3& +4 "core" & $ Z : + "storage"(& +4 "core" &<$\ %\ % s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +100 "core" ' +2 "storage"(W& +4 "core" &<$\ E\ : \  +50 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +284 "core" ' +3 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &<$\ \  8\  +2 "manipulator"&F& +4 "core" & L : +2 .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( + "manipulator"&;& +4 "core" &  : + "storage"(e& +4 "core" &<$\ %\ & L\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +3 "storage"(I'X +6 "core" &  : +2 "manipulator"&+% +4 "core" %  ? +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&{& +4 "core" &- \   Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &- : Cm +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' + "manipulator"&& +4 "core" &,  L Bl +2 "manipulator"&% +4 "core" % ( Y +2 "collection"'& +4 "core" &VTs\ +2 "collection"'k& +5 "core" &ST\ +2 .tCC.seek :closed +2 "collection"'@(V +4 "core" &UTt\  +9 &4|TUh\ *x +9 &e~WTm\ > +9 &pTTn\ M +10 &HQSTk\ L +9 & UTTj\ L +9 &WTU`\ L +10 &TTUn\ L +9 &OWSUl\ L +10 &UTRa\ M +9 &TTUg\ L +9 & USSt\ M +10 &"WTSVo\ L +9 &$VRSw\ L +9 &%VRTx\ L +10 &'VUUn\ L +9 &)_TSSw\ L +10 &+ TSUp\ M +9 &,TTUo\ L +9 &.TRTp\ M +10 &0gURSo\ L +9 &2(TUUf\ M +9 &3UTTe\ L +10 &5TSSd\ L +9 &7pQQUj\ L +9 &91TRTi\ L +10 &:YUTg\ L +9 &<TTTn\ L +10 &>wTRSg\ L +9 &@:RVUl\ L +9 &AXUUl\ L +10 &C[UTn\ M +9 &E}^TVo\ M +10 &G9mRUp\ O +9 &HTTd\ R +9 &JVUa\ W +10 &LeTUa\ X +9 &N&UUl\ X +9 &OUVa\ X +10 &QSTb\ Y +9 &SgTWk\ Z +9 &U(VUc\ Z +10 &VtDTT]\ . +9 &VrUV]\ Q +6 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&(1 +4 "core" &VkTW_\ Q +52 1 +2 "manipulator"&w% +4 "core" %    U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Q& +4 "core" &\ +2 "manipulator"&T% +3 "core" %\  F  +2 "storage"(R% +4 "core" %` \ + "storage"(q. +3 "core" .(<* +2 "storage"(& +3 "core" &<$ \  +2 "storage"(y& +4 "core" &<$ z\  + "manipulator"&7& +4 "core" &+  W Bi +2 "manipulator"&v% +3 "core" %\  , #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +161 "core" ( +2 "manipulator"&L& +4 "core" & m U + "storage"('& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&u'ы +98 "core" ' +2 "storage"(J& +4 "core" &<$ U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'i +286 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &<$ .\  +2 "manipulator"&& +3 "core" &  U +2 .tElbow.seek 5 +2 "manipulator"&:( +3 "core" ( + "manipulator"&S& +4 "core" & L U + "storage"(!& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +57 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&h& +2 "storage"('X +8 "core" & ! U + "manipulator"&% +4 "core" %  q +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&<& +4 "core" &| $  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &|  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' + "manipulator"&H& +4 "core" &| +2 "manipulator"&0% +4 "core" % 2 l + "processing"%& +4 "core" &\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &\ +8 &9\ $d +9 &V|\ 7 +9 &y\ K +10 &U\ M +9 &cY\ M +10 &&V\ L +9 &W\ M +9 &U\ L +10 &kX\ M +9 &-V\ M +9 &X\ L +10 &!W\ M +9 &#tX\ L +9 &%4W\ M +10 &&T\ M +9 &(W\ M +10 &*|U\ L +9 &,<W\ M +9 &-Y\ M +10 &/U\ M +9 &1W\ M +9 &3FW\ L +10 &5W\ M +9 &6V\ M +10 &8Y\ M +9 &:MW\ M +9 &<Z\ M +10 &=Ww\ L +9 &?Vz\ M +9 &AUW~\ M +10 &C\\|\ M +9 &D^u\ M +10 &Fc\ N +9 &HSx\ P +10 &J {\ S +9 &Ko\ R +9 &Mk\ S +9 &OSn\ S +10 &Qr\ S +9 &Rn\ S +10 &Ts\ S +9 &VXy\ T +9 &Xp\ S +10 &Y{nu\ 6 +9 &Z0n\ F +9 &Zt\ & +3 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&|1 +61 "core" 1 +2 "manipulator"&D% +4 "core" % $ : l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 "processing"% & +4 "core" &Z\ & + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&x% +3 "core" %\  5  +2 "storage"(V% +4 "core" %S \ + "storage"(\\. +3 "core" .(<* +2 "storage"(~& +3 "core" &<$ p\  +2 "storage"(& +5 "manipulator"&& +3 "core" &<$ U\  +2 &|  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&G(s + "storage"("'i +6 "core" ( + "manipulator"&j& +4 "core" &| A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &|  +2 .tForearm.seek PC +2 "manipulator"&a' +99 "core" ' + .tHand.close + "manipulator"&%/ +60 "core" / +2 .tPC.seek :open +2 "processing"%o( +83 "core" ' + "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +35 "core" ' +303 ( + "storage"(1& +5 "core" &<$ }\  + "manipulator"&& +4 "core" &|  +2 "manipulator"&6% +3 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&z( +269 "core" ( + "manipulator"&& +4 "core" & # c  +2 "storage"(}& +4 "core" &<$ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&c'ы +92 "core" ' + .tHand.open + "manipulator"&i1 +65 "core" 1 +2 "storage"(B- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(=' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +3 "core" -' +2 "storage"(`& +4 "core" &<$ 9 A z\  +2 "manipulator"&s& +3 "core" & $  +2 .tElbow.seek 5 +2 "manipulator"&l( +7 "core" ( + "manipulator"&N& +4 "core" & h  +2 "storage"(P& +4 "core" &<$ Q Q\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(n& +53 "core" &<$ g\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&E' +32 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +21 "core" ' + "manipulator"&g% +5 "core" % , + "storage"(?& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&' +21 "core" ' + "manipulator"&\ & +5 "core" &   + "storage"(*& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +25 "core" ' + "storage"(r% +5 "core" %l \  +2 ."downElevator"SE.seek :down +3 "storage"(p'X +99 (>% +3 "core" %jJ 1\ Xf +2 "manipulator"&M% +4 "core" %Ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +4 "core" &<$ s\  + "collection"'& +4 "core" &VjTTk\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&W% +4 "core" %\ # l @ +2 "storage"(5% +3 "core" %a \ +2 "storage"(f. +3 "core" .(<* + "storage"(8& +4 "core" &<$ \  +2 "storage"(_& +4 "core" &<$ \  + "manipulator"&F& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&e& +4 "core" & # K  +2 "storage"( & +4 "core" &<$ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Z'ы +95 "core" ' +2 "storage"(+& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&{& +3 "core" & Q  +2 "storage"(&& +3 "core" &<$ S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& ' +33 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(O'U +33 "core" ' +2 "manipulator"&% +4 "core" % B q + "storage"(& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&I'\ +15 "core" ' + "manipulator"&Y& +4 "core" & S  +2 "storage"(& +4 "core" &<$ x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&('ы +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'D +41 "core" ' +2 "manipulator"&Q& +4 "core" &   +2 "manipulator"&T% +4 "core" %Ѽ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +162 "core" ( + "manipulator"&& +5 "core" &+ $ Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &+ Bh +2 .tForearm.seek CC +2 "manipulator"&k'" +93 "core" ' + .tHand.close +2 "manipulator"&7/ +56 "core" / +2 .tCC.seek :open +2 "collection"'v( +416 "core" ( + "storage"(& +4 "core" &<$ B\  +2 "storage"(L& +3 "core" &<$ d\  +2 "manipulator"&'& +4 "core" &+ ; Ac + "manipulator"&J% +4 "core" %  R +2 .tForearm.seek :retract +2 "manipulator"&2'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( + "manipulator"&$& +4 "core" & " R N +2 "storage"(]& +3 "core" &<$\ $\ $ ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&' +109 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&!1 +61 "core" 1 +2 "manipulator"&m% +4 "core" %   + "storage"(h& +5 "core" &<$ F\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&C& +4 "core" & @ O +2 "storage"(u& +4 "core" &<$\ #\  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&U'ы +21 "core" ' +2 "storage"(% +4 "core" %N\ A\ B H\ +3 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (.% +2 "core" %E\ \ & 4\ Va +2 "manipulator"&:% +4 "core" %х  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +8 .tForearm.seek :retract +2 "manipulator"&H'\ +85 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'0& +5 "core" &SSo\ + "manipulator"&% +4 "core" %\  x  +2 "storage"(% +3 "core" %a\ I\ H \ +2 "storage"(K. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &K \  + "manipulator"&D& +4 "core" &  O +2 .tElbow.seek 6 + "manipulator"& ( +48 "core" ( +2 "manipulator"&x& +4 "core" &$  B H +2 "storage"(V& +3 "core" &K\ $\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&\\'a +87 "core" ' + "storage"(~& +4 "core" &K\ E\ H \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K\ \ \  +2 "manipulator"&j& +4 "core" &$  H +2 .tElbow.seek 6 + "manipulator"&d( +24 "core" ( +2 "manipulator"& & +4 "core" & w + "storage"(%& +4 "core" &K\ $\ # O\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&4' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(9'X +7 "core" &  w +2 "manipulator"&"% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&1'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ( + "manipulator"&6& +4 "core" &$ P ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&a& +3 "storage"(5 +4 "core" &# D ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +2 "manipulator"&}& +4 "core" &$ -  ;3 +2 "manipulator"&G% +8 "core" % +2 "collection"'i& +4 "core" &TV\ +2 "collection"'B& +5 "core" &UX\ +2 .tCC.seek :closed +2 "collection"'/(V +4 "core" &TVs\ +8 &3UUs\ $c +10 &S{TSp\ 6 +9 &zSUs\ K +9 &UTSg\ L +10 &`UVUl\ M +9 &#TUTn\ L +9 &WTS]\ L +10 &UTTa\ M +9 &iUTU_\ L +10 &+WUTj\ L +9 &URT`\ M +9 &!TRV`\ L +10 &#qWTTn\ L +9 &%2UPUo\ M +9 &&UVTw\ L +10 &(QTUz\ L +9 &*xUUTr\ M +10 &,;VTUq\ L +9 &-RVVs\ L +9 &/UTUr\ L +10 &1YTTq\ L +9 &3CUSVn\ L +9 &5RUSm\ L +10 &6WSTg\ L +9 &8TTVe\ L +10 &:KWTUe\ L +9 &< YTTf\ L +9 &=YSTY\ M +55 &?VTSf\ L +3 &ASRSVn\ L + &CUTTk\ M + &DXSUd\ M + &FfTTe\ N + &HPrVVm\ P +4 &JTUo\ U +9 &KVWn\ X +10 &M}RVg\ Y +9 &O?SUc\ Y +10 &QWVg\ X +9 &RTWc\ Z +9 &TSWa\ Z +10 &VuVW]\ . +9 &V*UWd\ V +9 ( +2 &VbUVc\ M +2 "collection"'B& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&`1 +58 "core" 1 +3 "manipulator"&s% +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&#% +4 "core" %\   +2 "storage"(% +4 "core" %X ?\ + "storage"(n. +4 "core" .(K + "storage"(^& +4 "core" &K \  +2 "storage"([& +3 "core" &K \  +2 "manipulator"&g& +4 "core" &# k ;3 + "manipulator"&?% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&\ ( +153 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(z& +4 "core" &K 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&c'a +103 "core" ' + "storage"(r& +4 "core" &K \  D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='i +280 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &K =\  + "manipulator"&-& +4 "core" & %  +2 .tElbow.seek 6 + "manipulator"&l( +12 "core" ( + "manipulator"&& +4 "core" & P \ +2 "storage"(E& +3 "core" &K U\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(W'X +6 "core" & N \ +2 "manipulator"&5% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&f'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +103 "core" ( +3 "manipulator"&8& +4 "core" &p & z \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &p o \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +95 "core" ' +2 "manipulator"&e& +4 "core" &q  3 \ +2 "manipulator"& % +3 "core" % \\  +2 "processing"%& +4 "core" &\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%p(Z +3 "core" &\ +7 &A\ $f +9 &W\ 8 +9 &y\ L +10 &U\ L +9 &|X\ M +9 &?W\ M +10 &W\ L +9 &W\ M +10 &X\ M +9 &G[\ M +9 & X\ M +10 &!V\ L +9 &#W\ M +9 &%OX\ M +10 &'Y\ M +9 &(W\ L +10 &*X\ M +9 &,WX\ M +9 &.[\ M +13 &/V\ M +6 &1V\ M +9 &3_W\ M +10 &5 Z\ M +9 &6X\ M +10 &8V\ M +9 &:hU\ L +9 &<)W\ M +10 &=V~\ L +9 &?V\ M +9 &AoU\ M +10 &C0Z\ M +9 &D`\ M +10 &Fh\ O +9 &Hi~\ Q +9 &J&\ S +10 &Kv\ R +9 &M\ S +9 &Om~\ S +10 &Q/\ S +9 &Rw\ S +10 &T|\ S +9 &Vsp\ S +9 &X5s\ S +10 &Yzml\ , +9 &Z'\\p\ > +9 ( +2 &Z n\ - +2 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&A1 +59 "core" 1 +2 "manipulator"&% +4 "core" % M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%{& +4 "core" &Z q\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&&% +4 "core" %\  <  +2 "storage"(% +4 "core" %T A\ + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K K\  +2 "storage"(Y& +3 "manipulator"&& +5 "core" &K ;\  + &q 7 \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&Q(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(T'i +3 "core" ( + "manipulator"&Z& +4 "core" &q & L \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &q   \ +2 .tForearm.seek PC +2 "manipulator"&)' +99 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%I( +92 "core" ' + "storage"(O- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +286 ( + "storage"(y& +4 "core" &K \  +2 "manipulator"&(& +4 "core" &q U \ + "manipulator"&b% +4 "core" % n +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&R( +266 "core" ( + "manipulator"&@& +4 "core" & d  +2 "storage"(& +3 "core" &K F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&L'a +98 "core" ' + .tHand.open + "manipulator"&'1 +57 "core" 1 +2 "storage"(J- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(]' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(q& +4 "core" &K D ? \  + "manipulator"&!& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(C& +3 "core" &K O R >\  +3 .tForearm.seek 6 + 700 counts + "manipulator"&u'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +61 "core" ' + "manipulator"&2& +4 "core" &   +2 "storage"(.& +4 "core" &K E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&:'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&0% +4 "core" %ζ D +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&& +5 "core" & }  + "storage"(K& +4 "core" &K _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&w'a +29 "core" ' + "storage"(U% +5 "core" %s\ '\  +2 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (t% +3 "core" %uJ B\ Wd +2 "manipulator"&|% +4 "core" %S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &K D\  +2 "collection"'V& +4 "core" &VbSV]\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +4 "core" %\   +2 "storage"(S% +3 "core" %` \ +2 "storage"(H. +3 "core" .(K + "storage"(& +4 "core" &K a\  + "storage"( & +4 "core" &K \  +2 "manipulator"&j& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&%& +4 "core" &  \\  +2 "storage"(& +3 "core" &K i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&,'a +98 "core" ' +2 "storage"("& +5 "core" &K y\  +51 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +284 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & ;  + "storage"(a& +4 "core" &K T\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(G'Y +31 "core" ' + "manipulator"&d% +5 "core" %ε + + "storage"(i& +4 "core" &K 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&9' +11 "core" ' +2 "manipulator"&1& +4 "core" & ]  +2 "storage"(v& +5 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&`'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(s'H +38 "core" ' +2 "manipulator"&P& +4 "core" & 2  +2 "manipulator"&#% +4 "core" %\\  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +158 "core" ( + "manipulator"&^& +4 "core" &( , ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &( ?S +2 .tForearm.seek CC +2 "manipulator"&B'" +93 "core" ' + .tHand.close +2 "manipulator"&g/ +61 "core" / +2 .tCC.seek :open +2 "collection"'?( +415 "core" ( +2 "storage"(*& +4 "core" &K\ \  E\  + "storage"(& +4 "core" &K\ \  E\  + "manipulator"&z& +4 "core" &( ( ?Q +2 "manipulator"&r% +3 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&N( +153 "core" ( +2 "manipulator"&>& +4 "core" & Z  + "storage"(M& +4 "core" &K\ %\ $ D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&-'Υ +105 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +62 "core" 1 +2 "manipulator"&3% +4 "core" % ζ  + "storage"(& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&5' +19 "core" ' + "manipulator"&\ & +4 "core" & s  +2 "storage"(c& +4 "core" &K\ I\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +21 "core" ' +2 "storage"(% +4 "core" %R\ I\ F \ +3 ."downElevator"SE.seek :down +3 "storage"(8'X +98 (_% +3 "core" %H\ \ \ Wb +2 "manipulator"&l% +4 "core" %Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +5 "core" &TU{\ + "manipulator"&% +4 "core" %\  "  +2 "storage"(W% +4 "core" %a\ H\ H \ \ + "storage"(f. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(o(,l +657 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,o f\ +2 "manipulator"&& +4 "core" & 8  +2 .tElbow.seek 4 +2 "manipulator"&{( +14 "core" ( +2 "manipulator"&&& +4 "core" &  U \\ + "storage"(& +4 "core" &,s\ #\ # $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +94 "core" ' +2 "storage"(& +4 "core" &,s\ E\ C \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &,s\ \ \ \ +2 "manipulator"&Z& +4 "core" &  \\ + .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&F& +4 "core" & G \\ +2 "storage"( & +3 "core" &,s\ $\ $ S\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&O', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(p'X +7 "core" & 2 \\ +2 "manipulator"&T% +4 "core" % *  N + .tForearm.seek :retract +2 "manipulator"&y'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&(( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( + "manipulator"&b& +4 "core" &* D A @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &* 8 @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'" +103 "core" ' +2 "manipulator"&& +4 "core" &* c @Y +2 "manipulator"&Q% +4 "core" %( y B + "collection"''& +4 "core" &PT\ +3 "collection"'J& +5 "core" &TT\ +3 .tCC.seek :closed + "collection"'k(V +4 "core" &RTx\ +8 &4QUt\ #c +10 &V}RUu\ 7 +9 &xTTw\ L +9 &TSS\ L +10 &hUSVy\ M +9 &+TUTv\ L +9 &WRT|\ L +10 &TTRw\ M +9 &qTSTm\ L +10 &3VSTr\ L +9 &UTUl\ M +9 &!UUT`\ L +10 &#ySTT^\ L +9 &%;WTUk\ L +9 &&UST`\ M +10 &(TSTb\ L +9 &*UST{\ M +10 &,CTUUw\ L +9 &.QPWl\ L +9 &/USTq\ M +10 &1URUr\ M +9 &3KTSTo\ L +9 &5 WSUm\ L +10 &6USVq\ L +9 &8QUSi\ L +10 &:SXJUg\ L +9 &<TTVn\ L +9 &=UTTe\ L +10 &?XTWf\ L +9 &A[XSU^\ L +9 &CZSUc\ M +10 &D^TTk\ M +9 &FiSTn\ O +10 &HXyTSg\ P +9 &J TUl\ V +10 &KTVe\ X +9 &MSUc\ X +9 &OHUTi\ X +9 &QTTe\ Y +10 &RVV]\ Z +9 &TUTc\ Z +10 &V'uTVf\ . +9 &V&TVl\ R +9 ( +2 &VbTWb\ M + "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&q1 +55 "core" 1 +2 "manipulator"&!% +4 "core" % ( %  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%C& +4 "core" &\ + "manipulator"&7% +4 "core" %\ # ^ @ +2 "storage"(2% +3 "core" %b T\ +2 "storage"(.. +3 "core" .(,l + "storage"(0& +4 "core" &,s \ + "storage"(& +4 "core" &,s J\ +2 "manipulator"&& +3 "core" &) h @Y +2 "manipulator"&% +4 "core" %\ # @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&$( +160 "core" ( + "manipulator"&K& +4 "core" & # C d +2 "storage"(U& +3 "core" &,s d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&R'Ѽ +95 "core" ' + "storage"(L& +3 "core" &,s v\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +281 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (|& +3 "core" &,s \ +2 "manipulator"&u& +3 "core" & # d +2 .tElbow.seek 4 +2 "manipulator"&m( +3 "core" ( + "manipulator"&& +4 "core" &  d +2 "storage"(:& +3 "core" &,s 4\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +53 "core" / +3 ."downElevator"SE.seek :down +52 "manipulator"&V& +3 "storage"(~'X +7 "core" & 2 d +2 "manipulator"&S% +4 "core" % $  D +2 .tForearm.seek :retract + "manipulator"&H'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +3 "manipulator"&& +4 "core" &w /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &w  x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&j' +94 "core" ' +2 "manipulator"&%& +4 "core" &w " F +2 "manipulator"&% +4 "core" % v  + "processing"%w& +4 "core" &\ +2 "processing"%"& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" &\  +8 &3~\ *x +10 &d\ > +9 &~u\ N +9 &BW\ M +10 &W\ M +9 &U\ M +9 &X\ M +10 &KU\ M +9 & X\ M +10 &[\ M +9 & W\ L +9 &"SW\ M +10 &$[\ M +9 &%W\ M +9 &'\\\ M +10 &)\\V\ L +9 &+W\ M +10 &,V\ L +9 &.W\ M +9 &0dY\ L +10 &2$W\ M +9 &3W\ L +9 &5W\ M +10 &7jY\ M +9 &9.V\ L +10 &:V\ M +9 &<U\ M +9 &>sW\ M +10 &@5Y\ M +9 &AV\ M +10 &CZ\ M +9 &Ex]\ N +9 &G6j\ O +10 &H\ Q +9 &J\ S +10 &Lq\ S +9 &N4\ R +9 &O\ S +10 &Q\ S +9 &Sws\ S +9 &U9s\ S +10 &Vs\ T +9 &Xs\ T +9 &Z"Uwp\ )z +10 &Zar\ 4 +9 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +4 "core" &Z w\ - +50 1 + "manipulator"&D% +4 "core" %  k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +94 "core" ' +2 "processing"%6& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&a% +4 "core" %\  4  +2 "storage"(}% +3 "core" %T H\ +2 "storage"(d. +3 "core" .(,l + "storage"(i& +4 "core" &,s <\ +2 "storage"(1& +5 "manipulator"&v& +3 "core" &,s R\ + &w  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&P(s + "storage"(#'i +6 "core" ( +2 "manipulator"&,& +3 "core" &w 2 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &w ? +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"%9( +92 "core" ' +2 "storage"(G- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +44 "core" ' +284 ( +2 "storage"([& +4 "core" &,s \ + "manipulator"&`& +4 "core" &w  + "manipulator"&4% +4 "core" % B +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +274 "core" ( + "manipulator"&/& +4 "core" & f s +2 "storage"(*& +3 "core" &,s B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +99 "core" ' +2 .tHand.open + "manipulator"&z1 +55 "core" 1 +2 "storage"(r- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(>'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(M' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +4 "core" -' + "storage"(n& +4 "core" &,s f _ %\ +2 "manipulator"&E& +3 "core" &  s +2 .tElbow.seek 4 +2 "manipulator"&3( +8 "core" ( + "manipulator"&& +4 "core" &  = i + "storage"(\ & +4 "core" &,s g _ y\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&& +4 "core" &  i +2 "storage"(_& +4 "core" &,s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&l' +29 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +22 "core" ' + "manipulator"& % +5 "core" %  4 + "storage"(5& +4 "core" &,s 0\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'? +20 "core" ' + "manipulator"&W& +5 "core" & , i + "storage"(f& +4 "core" &,s '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&s'Ѽ +24 "core" ' + "storage"(=% +5 "core" %o G\ +2 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (% +3 "core" %J S\ Wc +2 "manipulator"&A% +4 "core" %Ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +4 "core" &,s +\ + "collection"'& +4 "core" &VbUVe\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\  7  +2 "storage"(% +3 "core" %^ p\ +2 "storage"(e. +3 "core" .(,l + "storage"(& +4 "core" &,s V\ + "storage"(Y& +4 "core" &,s \ +2 "manipulator"&Z& +3 "core" &  i +2 .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( + "manipulator"& & +4 "core" & T i +2 "storage"(X& +3 "core" &,s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +96 "core" ' +3 "storage"(T& +4 "core" &,s 5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +2 "core" & a i +2 "storage"()& +4 "core" &,s \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&+' +35 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Q'W +32 "core" ' + "manipulator"&;% +4 "core" % 8 +2 "storage"('& +3 "core" &,s 7\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&p': +14 "core" ' + "manipulator"&y& +4 "core" & l i +2 "storage"(?& +4 "core" &,s C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&q'Ѽ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(!'F +40 "core" ' +2 "manipulator"&C& +4 "core" & ` i +2 "manipulator"&7% +4 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +163 "core" ( +2 "manipulator"&0& +4 "core" &) N @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &* 1 @Z +2 .tForearm.seek CC +2 "manipulator"&J'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(@& +4 "core" &,s \ +2 "storage"(K& +53 "core" &,s \ +2 "manipulator"&U& +4 "core" &* ( 4 @Z + "manipulator"&L% +4 "core" % " +2 .tForearm.seek :retract +2 "manipulator"&('\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&h( +155 "core" ( +2 "manipulator"&t& +4 "core" &    +2 "storage"(|& +3 "core" &,s\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&u' +104 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +52 "core" 1 +2 "manipulator"&x% +4 "core" %  $ n ; +2 "storage"(V& +4 "core" &,s\ \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&S'? +20 "core" ' + "manipulator"&$& +4 "core" &  [  +2 "storage"(R& +4 "core" &,s\ #\ # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&]'Ѽ +30 "core" ' + "storage"(% +4 "core" %M\ I\ H >\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +3 "core" %G\ \  \ Va +2 "manipulator"&m% +5 "core" % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &ST\ + "manipulator"&w% +4 "core" %\ \ /  +2 "storage"(~% +3 "core" %[\ D\ I \ +2 "storage"(H. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(I(<* +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<) <\  +2 "manipulator"&D& +3 "core" & 8  +2 .tElbow.seek 5 +2 "manipulator"&6( +13 "core" ( + "manipulator"&a& +5 "core" &  = K + "storage"(}& +4 "core" &<%\ I\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&d'ы +103 "core" ' + "storage"(i& +5 "core" &<%\ ^\ A p\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'i +283 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ("& +3 "core" &<%\ \  !\  +2 "manipulator"&,& +3 "core" & Y K +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&j& +4 "core" & t K + "storage"(& +4 "core" &<%\ &\ ' y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&G' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(<'X +7 "core" & l K +2 "manipulator"&#% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&4& +4 "core" &+ M   Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &, Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'" +96 "core" ' +3 "manipulator"&*& +4 "core" &, ( Bk +2 "manipulator"&P% +4 "core" % + "collection"'z& +4 "core" &SW\ +2 "collection"'r& +6 "core" &TT\ +2 .tCC.seek :closed + "collection"'B(V +5 "core" &UT\ +7 &4TV}\ #b +10 &U~RVw\ 7 +9 &vSUr\ K +9 &TTTz\ L +10 &fURUs\ L +9 &'TSUx\ M +10 &UUU~\ L +9 &RSTv\ L +9 &nRUUp\ L +10 &1WUTo\ L +9 &TTTh\ M +9 &!TUSl\ L +10 &#vRTV_\ L +9 &%8WSTl\ L +9 &&RSTm\ L +10 &(UTVa\ M +9 &*~USU`\ L +10 &,@RVSm\ L +9 &.VSUy\ L +9 &/VST|\ L +10 &1VSTm\ M +9 &3HTSVq\ L +9 &5\ QVUv\ L +10 &6WSUu\ L +9 &8TTTz\ M +10 &:PVSVr\ L +9 &<USTo\ L +9 &=XSUq\ L +10 &?STUd\ L +9 &AXSTTb\ L +9 &CWTTl\ L +10 &D\\SSe\ M +9 &FiSSl\ N +10 &HS{SVg\ Q +9 &JUUd\ V +12 &KTTd\ X +7 &MTVd\ X +9 &OETUd\ X +9 &QUSe\ Y +10 &RUTd\ Y +9 &TSTg\ Z +10 &V$uSVh\ . +9 &V'TUc\ T +9 ( +2 &VbRVo\ M +2 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&n1 +64 "core" 1 +2 "manipulator"&E% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%\ & +4 "core" &\ +2 "manipulator"&g% +3 "core" %\ ! ( 8 +2 "storage"(% +4 "core" %b \ + "storage"(_. +4 "core" .(<* + "storage"(^& +4 "core" &<% D\  + "storage"( & +4 "core" &<% 4\  +2 "manipulator"&5& +3 "core" &+ Bj +2 "manipulator"&>% +3 "core" %\  8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&W( +162 "core" ( + "manipulator"&f& +4 "core" & R A +2 "storage"(=& +3 "core" &<% e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +99 "core" ' +2 "storage"(& +4 "core" &<%\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" &<% \  +2 "manipulator"&c& +3 "core" &  A +2 .tElbow.seek 5 +2 "manipulator"&3( +3 "core" ( + "manipulator"&& +4 "core" &   A +2 "storage"(l& +3 "core" &<% -\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" & 8 A + "manipulator"&% +4 "core" % P  +2 .tForearm.seek :retract +2 "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&-& +4 "core" &k & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &k  ] \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z' +96 "core" ' + "manipulator"& & +4 "core" &k e \ +2 "manipulator"&X% +8 "core" %  +2 "processing"%s& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%8(Z +3 "core" &\ +7 &9\ $d +9 &U{\ 6 +9 &}\ K +10 &Y\ M +9 &iX\ M +9 &-W\ L +10 &W\ M +9 &U\ M +10 &rU\ M +9 &5X\ L +9 &Y\ M +10 &!U\ M +9 &#zW\ M +9 &%<Z\ M +10 &&U\ M +9 &(W\ L +10 &*Y\ M +9 &,CW\ M +9 &.W\ M +10 &/T\ M +9 &1U\ L +9 &3LV\ M +10 &5Y\ M +9 &6W\ M +10 &8U\ M +9 &:UW\ L +9 &<W\ L +10 &=U\ M +9 &?Y\ M +9 &A\\U\ M +10 &CY\ M +9 &D]\ M +10 &Fd\ N +9 &HXv\ Q +9 &J\ R +10 &K\ R +9 &M~\ S +9 &O[y\ R +10 &Q\ S +9 &Rr\ S +10 &Tu\ S +9 &V`v\ S +9 &X"q\ S +10 &Y{n|\ 2 +9 &Z-zs\ F +9 &Zp\ * +3 ( +2 "processing"%T& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&N1 +52 "core" 1 +2 "manipulator"&% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%b& +4 "core" &Zp\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&)% +4 "core" %\    +2 "storage"(% +3 "core" %b \ +2 "storage"(;. +3 "core" .(<* + "storage"('& +53 "core" &<% M\  +3 "storage"(y& +3 "manipulator"&?& +6 "core" &<% \  + &k ! \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&C(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(7'i +2 "core" ( +2 "manipulator"&& +4 "core" &k 2 \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &k + ? \ +3 .tForearm.seek PC + "manipulator"&{' +98 "core" ' +2 .tHand.close + "manipulator"&+/ +55 "core" / +2 .tPC.seek :open +2 "processing"%p( +92 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +8 ."raiseStack"SE.seek :place +2 "storage"(0'y +44 "core" ' +280 ( + "storage"(& +4 "core" &<% A\  +2 "manipulator"&q& +3 "core" &k / \ +2 "manipulator"&O% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +264 "core" ( + "manipulator"&k& +4 "core" &  " y +2 "storage"(@& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&K'ы +103 "core" ' + .tHand.open + "manipulator"&U1 +54 "core" 1 +2 "storage"(L- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(t'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(|' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(.& +4 "core" &<% k g \  +2 "manipulator"&:& +3 "core" &  y +2 .tElbow.seek 5 +2 "manipulator"&x( +7 "core" ( +2 "manipulator"&V& +4 "core" & O r +2 "storage"($& +3 "core" &<% k i \  +3 .tForearm.seek 5 + 700 counts + "manipulator"&R'ы +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 "manipulator"&(& +4 "core" &  r +2 "storage"( & +3 "core" &<% D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&m' +29 "core" ' + .tElbow.hold +2 "manipulator"&h, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(u'i +23 "core" ' + "manipulator"&S% +5 "core" % w + "storage"(& +4 "core" &<% F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&w' +14 "core" ' + "manipulator"&~& +5 "core" &  ] y + "storage"(H& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&!'ы +47 "core" ' + "storage"(]% +5 "core" %o s\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (o% +3 "core" %~H \ Va + "manipulator"&% +4 "core" %{ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +9 "core" &<% y\  + "collection"'}& +4 "core" &VbSUh\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&i% +4 "core" %\ % d F +2 "storage"(% +3 "core" %^ \ +2 "storage"(%. +3 "core" .(<* + "storage"(1& +4 "core" &<% >\  +2 "storage"("& +3 "core" &<% \  +2 "manipulator"&,& +4 "core" & J y + .tElbow.seek 5 +2 "manipulator"&j( +4 "core" ( + "manipulator"&& +4 "core" &  y +2 "storage"(& +3 "core" &<% D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +95 "core" ' +2 "storage"(#& +4 "core" &<% \ Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +282 "core" ' +3 "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&4& +3 "core" & P y + "storage"( & +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v' +29 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'V +39 "core" ' + "manipulator"& % +4 "core" % ) +2 "storage"(z& +4 "core" &<% 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&<' +19 "core" ' + "manipulator"&[& +5 "core" & * ~ + "storage"(& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&n'ы +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'E +38 "core" ' +2 "manipulator"&\ & +4 "core" &  ~ +2 "manipulator"&g% +4 "core" %њ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +168 "core" ( +3 "manipulator"&_& +4 "core" &* 1 @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &(  @\\ +2 .tForearm.seek CC + "manipulator"& '" +95 "core" ' +2 .tHand.close + "manipulator"&5/ +61 "core" / +2 .tCC.seek :open +2 "collection"'>( +416 "core" ( +2 "storage"(/& +4 "core" &<% \ w\  + "storage"(f& +4 "core" &<% \  + "manipulator"&=& +4 "core" &* @X + "manipulator"&% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & e L +2 "storage"(A& +4 "core" &<%\ #\ - H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&c' +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +64 "core" 1 +2 "manipulator"&&% +4 "core" %  + "storage"(& +5 "core" &<% |\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&W& +4 "core" & L +2 "storage"(& +4 "core" &<%\ H\ H &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&M'ы +27 "core" ' + "storage"(% +4 "core" %N\ F\ ; \ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (Y% +2 "core" %D\ \ \ Va +2 "manipulator"&3% +4 "core" %| a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'X& +4 "core" &TT~\ +2 "manipulator"&s% +4 "core" %\ \   + "storage"(% +4 "core" %b\ C\ H \ + "storage"(e. +3 "core" .(<* +2 .tSC.reconfigure :tight +50 "storage"($\ .\ 1~b +4 .tSC.seek 6 + "storage"(9(K +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &K D\  +2 "manipulator"&& +3 "core" & : L +2 .tElbow.seek 6 +2 "manipulator"&b( +40 "core" ( + "manipulator"&)& +4 "core" &) W 2 +2 "storage"(& +4 "core" &K\ $\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&;'a +102 "core" ' + "storage"('& +4 "core" &K\ N\ G t\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'i +283 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &K\ \ \  + "manipulator"&& +4 "core" &)  2 +2 .tElbow.seek 6 + "manipulator"&F( +21 "core" ( +2 "manipulator"&Z& +4 "core" &  + "storage"(+& +4 "core" &K\ $\ $ K\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Q' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(8'X +7 "core" & }  + "manipulator"&7% +4 "core" % '  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&O& +4 "core" &, =  Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &- 0 Cm +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'" +100 "core" ' +2 "manipulator"&@& +4 "core" &, Bl +2 "manipulator"&C% +4 "core" % D +2 "collection"'U& +4 "core" &SUt\ +2 "collection"'L& +5 "core" &SU{\ +2 .tCC.seek :closed +2 "collection"'J(V +5 "core" &TVy\  +8 &1yTU|\ *x +10 &dTS}\ > +9 &vqUSv\ M +9 &9SVUs\ M +10 &QTUs\ L +9 &TUTh\ M +9 &URTw\ M +10 &BTSTs\ L +9 &RTTq\ L +10 &QUU}\ L +9 & RTUo\ L +9 &"JWSUp\ L +10 &$ VTSm\ L +9 &%WSTl\ L +9 &'VUTl\ L +10 &)QTVUl\ M +14 &+TSTd\ L +5 &,TRTd\ L +9 &.TTRi\ L +9 &0ZRTTm\ L +10 &2VSUc\ L +9 &3USTj\ M +9 &5USTq\ L +10 &7bRSUn\ L +9 &9#URTj\ M +10 &:USUm\ M +9 &<VTTw\ M +9 &>jYTTq\ L +10 &@,WTTr\ L +9 &AWSTq\ L +9 &CZSSq\ M +10 &Ep]TTh\ M +9 &G.hUWn\ N +10 &H{TTc\ Q +9 &JTVo\ V +10 &LWSTf\ X +9 &NVUg\ X +9 &OUTd\ Y +10 &QSTe\ Y +9 &S[VUd\ Z +9 &UTTd\ Z +10 &VeBUUd\ 1 +9 &V{TUf\ L +5 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.17 + .Hand.open + "manipulator"&.1 +4 "core" &VnUVe\ L +53 1 +2 "manipulator"&:% +5 "core" %  - + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +102 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%$& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ \ 0  +2 "storage"((% +3 "core" %] \\\ +2 "storage"( . +3 "core" .(K + "storage"(0& +4 "core" &K D\  +2 "storage"(S& +3 "core" &K `\  +2 "manipulator"&& +4 "core" &+ J Bj + "manipulator"&t% +4 "core" %\ \ & d  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&~( +156 "core" ( + "manipulator"&H& +5 "core" & L  + "storage"(]& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&2'a +92 "core" ' + "storage"(K& +4 "core" &K S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +277 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K \  +2 "manipulator"&R& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( + "manipulator"&& +4 "core" & V  + "storage"(m& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&w' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(i'X +8 "core" & M  + "manipulator"&% +4 "core" % 3 = +2 .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&1& +4 "core" &t & " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &t ( +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&,' +98 "core" ' + "manipulator"&& +5 "core" &t $ h + "manipulator"&% +4 "core" % v +2 "processing"%!& +4 "core" &\ +2 "processing"%#& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &\ +7 &:\ #c +10 &T{\ 6 +9 &}\ K +10 &V\ M +9 &bZ\ M +9 &$W\ M +10 &W\ M +9 &U\ M +9 &kX\ M +10 &-W\ M +9 &Y\ M +9 &!W\ L +10 &#qY\ M +9 &%4W\ M +10 &&U\ M +9 &(W\ M +9 &*zW\ M +10 &,=W\ M +9 &-Y\ M +9 &/W\ L +10 &1V\ M +9 &3EW\ M +10 &5U\ M +9 &6W\ M +9 &8U\ M +10 &:MV\ M +9 &<Y\ M +9 &=V\ M +10 &?W\ M +9 &AUW\ M +10 &CY\ M +9 &D^\ N +9 &Fg\ O +10 &HO}\ Q +9 &J \ S +9 &K\ S +10 &M\ S +9 &OS\ S +10 &Q\ S +9 &R\ S +9 &T\ T +10 &VX\ T +9 &X\ T +9 &Y{m\ 5 +10 &Z0z\ M +9 &Zo\ ( +3 ( + "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&h1 +53 "core" 1 + "manipulator"&D% +4 "core" %  A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +97 "core" ' + "processing"%4& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %\ %  C +2 "storage"(*% +3 "core" %\\ C\ +2 "storage"( . +3 "core" .(K + "storage"(z& +4 "core" &K L\  +2 "storage"([& +5 "manipulator"&& +3 "core" &K \  +2 &t ` +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&\ (s +2 "storage"(g'i +5 "core" ( + "manipulator"&\\& +4 "core" &t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &t +2 .tForearm.seek PC +2 "manipulator"&6' +98 "core" ' +2 .tHand.close + "manipulator"&v/ +55 "core" / +2 .tPC.seek :open +2 "processing"%<( +87 "core" ' + "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'y +43 "core" ' +294 ( + "storage"(^& +4 "core" &K J\  +2 "manipulator"&n& +3 "core" &t y +2 "manipulator"&G% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +270 "core" ( + "manipulator"&B& +4 "core" &  $ O  +2 "storage"(/& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&f'a +95 "core" ' + .tHand.open +2 "manipulator"&=1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +54 "core" ' +3 #tLights, camera, ACTION! +55 "storage"( - +5 "core" -' + "storage"(r& +4 "core" &K G G \  +2 "manipulator"&l& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&&( +8 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(W& +4 "core" &K E D\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +62 "core" ' + "manipulator"&`& +5 "core" & )  + "storage"(Y& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&3'Υ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +25 "core" ' +2 "manipulator"&% +4 "core" %ι e  +2 "storage"(X& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&s' +13 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(e& +4 "core" &K f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +20 "core" ' +2 "storage"(M% +4 "core" %q \ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +98 (I% +3 "core" %I <\ Xe +2 "manipulator"&N% +4 "core" %o m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ()& +4 "core" &K k\  +2 "collection"'& +4 "core" &VnVVz\ L + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&'% +4 "core" %\    +2 "storage"(% +4 "core" %Q -\ + "storage"( . +4 "core" .(K + "storage"(?& +4 "core" &K (\  +2 "storage"(y& +3 "core" &K \  +2 "manipulator"&& +4 "core" & \  +2 .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&+& +4 "core" & }  + "storage"(& +4 "core" &K A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' +2 "storage"(7& +4 "core" &K s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +281 "core" ' +2 "storage"(;- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" & M  +2 "storage"({& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&T'Υ +28 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(C'Y +28 "core" ' + "manipulator"&F% +4 "core" %ι +2 "storage"(U& +3 "core" &K y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&8' +11 "core" ' +2 "manipulator"&& +4 "core" & {  +2 "storage"(>& +3 "core" &K i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(:'H +45 "core" ' + "manipulator"&$& +5 "core" &  + "manipulator"&% +4 "core" %L @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +168 "core" ( +2 "manipulator"&L& +5 "core" &. # Dx + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &-  Dx +2 .tForearm.seek CC +2 "manipulator"&S'" +100 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'t( +417 "core" ( + "storage"(k& +4 "core" &K W\  +2 "storage"(H& +3 "core" &K {\  +2 "manipulator"&]& +3 "core" &- Cr +2 "manipulator"&K% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&V( +155 "core" ( + "manipulator"&o& +4 "core" & `  +2 "storage"(& +3 "core" &K\ #\ $ N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&R'Υ +106 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +56 "core" 1 +2 "manipulator"&a% +4 "core" % θ + "storage"(}& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&' +13 "core" ' + "manipulator"&~& +4 "core" & x  +2 "storage"(2& +4 "core" &K\ 4\ ' @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&|'a +31 "core" ' + "storage"(w% +4 "core" %Q\ I\ I \ +2 ."downElevator"SE.seek :down +4 "storage"(1'X +99 ("% +3 "core" %D\ \ \ Va + "manipulator"&x% +4 "core" %m  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &STa\ +2 "manipulator"&!% +4 "core" %\ % v C + "storage"(i% +4 "core" %b\ $\ # =\ +2 "storage"(%. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,l +659 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" &,n m\ + "manipulator"&D& +4 "core" & 9  +2 .tElbow.seek 4 +2 "manipulator"&4( +41 "core" ( +2 "manipulator"& & +4 "core" & n b +2 "storage"(*& +3 "core" &,r\ \  -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +90 "core" ' + "storage"(z& +4 "core" &,r\ I\ H <\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &,r\ \ \ +2 "manipulator"&\\& +3 "core" &\ S ^ +2 .tElbow.seek 4 +2 "manipulator"&j( +3 "core" ( + "manipulator"&,& +4 "core" &  \\ ^ +2 "storage"(v& +3 "core" &,r\ \  ,\ +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&P', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"('X +7 "core" &\  ^ +2 "manipulator"&g% +4 "core" % $ % I + .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&G& +4 "core" &'  F ? >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &' >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&B'" +97 "core" ' +2 "manipulator"&/& +4 "core" &' q >O +2 "manipulator"&\ % +54 "core" % +2 "collection"'=& +4 "core" &RT\ +2 "collection"'& +5 "core" &SSr\ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &PSy\ +7 &4STm\ $d +9 &TzTR{\ 6 +10 &yTT{\ K +9 &TUTs\ L +9 &aTSSs\ M +10 &$TSSq\ L +9 &RRSu\ L +9 &VTSt\ L +10 &jUTTx\ L +9 &,RTSl\ L +9 &WRTr\ L +10 &!UTSc\ L +9 &#rRRSb\ L +10 &%5RUTi\ L +9 &&USTk\ M +9 &(TSV`\ L +10 &*{WRT`\ L +9 &,;WUT_\ M +9 &-UST_\ L +10 &/WSSg\ L +9 &1URUa\ M +10 &3DURTl\ L +9 &5WRSg\ L +9 &6USTt\ L +10 &8QTRo\ L +9 &:LWRTp\ L +9 &<YSUw\ L +10 &=YSSx\ M +9 &?WQU\ L +10 &ATSTTs\ L +9 &CURUq\ M +10 &DZRQq\ M +9 &FeTTo\ N +9 &HPxTTp\ P +9 &JTVo\ V +10 &KRTn\ X +9 &MUXr\ X +10 &OARVr\ X +9 &QTTo\ Y +10 &RTUp\ Z +9 &TTTd\ Z +9 &V uUUd\ / +10 &V'SUn\ P +8 ( +2 &VmSUd\ K +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&51 +61 "core" 1 +2 "manipulator"&r% +4 "core" %  ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&W% +4 "core" %\ !  7 + "storage"(`% +4 "core" %S E\ + "storage"(Y. +3 "core" .(,l +2 "storage"(_& +4 "core" &,r c\ + "storage"(& +3 "core" &,r =\ +2 "manipulator"&& +5 "core" &' k >O + "manipulator"&X% +4 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&e& +4 "core" & # N a + "storage"(M& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +97 "core" ' + "storage"(f& +4 "core" &,r\  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'i +280 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &,r M\ +2 "manipulator"&& +4 "core" & X a +2 .tElbow.seek 4 + "manipulator"&&( +3 "core" ( +2 "manipulator"&& +4 "core" &  H a + "storage"(3& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&s', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(''X +6 "core" & A a +2 "manipulator"&% +4 "core" % # W  +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&?& +4 "core" &y 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +4 "core" &y l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&+& +4 "core" &y # +2 "manipulator"&% +3 "core" %   +2 "processing"%E& +4 "core" &\ +2 "processing"%7& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &\  +8 &3}\ *x +9 &d\ > +10 &u\ N +9 &DV\ M +10 &W\ M +9 &W\ M +9 &W\ M +10 &MU\ M +9 &W\ M +9 &V\ M +10 & V\ M +9 &"VW\ L +10 &$V\ M +9 &%V\ M +9 &'W\ M +10 &)\\U\ M +9 &+V\ M +9 &,W\ M +10 &.W\ M +9 &0d\\\ M +10 &2&V\ M +9 &3U\ M +9 &5Z\ M +10 &7mV\ M +9 &90W\ L +9 &:V\ M +10 &<W\ M +9 &>tZ\ M +10 &@7Y\ M +9 &AW\ M +7 "Can"Z\ QO +2 "core" &CZ\ M +10 &Ez`\ N +9 &G8j\ O +9 &H\ Q +10 &J\ S +9 &Ls\ S +10 &N5\ S +9 &O\ S +10 &Q\ S +9 &Sx\ T +9 &U;\ S +10 &V\ S +9 &X\ T +9 &Z%Wy\ &t +10 &Z]\ 2 +8 ( +3 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +3 "core" &Z \ - +54 1 + "manipulator"&% +4 "core" % , \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +92 "core" ' + "processing"%O& +4 "core" &Z t\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&{% +4 "core" %\  E  +2 "storage"(@% +3 "core" %a \ +2 "storage"(F. +3 "core" .(,l + "storage"(U& +4 "core" &,r \ +2 "storage"(& +3 "manipulator"&>& +5 "core" &,r \ + &y \\ +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&$(s +2 "storage"('i +5 "core" ( + "manipulator"&& +4 "core" &y w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&b' +95 "core" ' + .tHand.close + "manipulator"&T/ +52 "core" / +2 .tPC.seek :open +2 "processing"%8( +96 "core" ' +3 "storage"(C- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'y +48 "core" ' +275 ( + "storage"(0& +4 "core" &,r \ +2 "manipulator"&.& +3 "core" &y h +2 "manipulator"&Q% +3 "core" % M +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(( +272 "core" ( + "manipulator"&J& +4 "core" & $ $  +2 "storage"(k& +3 "core" &,r X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&H'Ѽ +98 "core" ' + .tHand.open + "manipulator"&]1 +59 "core" 1 +2 "storage"(K- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"( & +4 "core" &,r d ] 0\ +2 "manipulator"&m& +3 "core" & r  +2 .tElbow.seek 4 +2 "manipulator"&a( +7 "core" ( +2 "manipulator"&}& +4 "core" &  (  +2 "storage"(~& +3 "core" &,r f [ 3\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(w' +59 "core" ' +2 "manipulator"&q& +12 "core" & 9  +4 "storage"("& +16 "core" &,r \ +4 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +5 "manipulator"&x' +32 "core" ' +3 .tElbow.hold +5 "manipulator"&V, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(R'i +31 "core" ' +4 "manipulator"&% +9 "core" % '  9 +3 "storage"(& +8 "core" &,r k\ +3 .tForearm.force -20 +3 "manipulator"&5 +7 .tForearm.seek 4 + 320 counts + "manipulator"&!'@ +23 "core" ' +2 "manipulator"&i& +9 "core" & `  +3 "storage"(%& +8 "core" &,r d\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 4 + 700 counts +2 "manipulator"&:'Ѽ +18 "core" ' +3 "storage"(|% +8 "core" %q Y\ +4 ."downElevator"SE.seek :down +6 "storage"(1'X +99 (9% +7 "core" %!J X\ We +4 "manipulator"&h% +9 "core" %ѡ  +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&D'\ +46 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +139 "core" ' +6 ' +3 ."downElevator"SE.stop +3 "storage"(5 +5 ( & +7 "core" &,r }\ +4 "collection"'*& +8 "core" &VcTTe\ K +3 #tStoring generic puck in Collection Clamp to tube 4 +3 "manipulator"&z% +8 "core" %\ h 7 +3 "storage"(% +8 "core" %^ Y\ +3 "storage"(. +5 "core" .(,l +3 "storage"([& +7 "core" &,r \ +3 "storage"(#& +8 "core" &,r \ +3 "manipulator"&\\& +7 "core" & ?  +4 .tElbow.seek 4 +4 "manipulator"&,( +7 "core" ( +3 "manipulator"&v& +6 "core" &   +3 "storage"(u& +8 "core" &,r \ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +4 "manipulator"&d'Ѽ +89 "core" ' +3 "storage"(g& +8 "core" &,r /\ +13 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(4'i +288 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&G& +3 "core" &  +2 "storage"(6& +4 "core" &,r %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\ 'W +31 "core" ' +2 "manipulator"&j% +4 "core" % + "storage"(=& +4 "core" &,r E\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&'= +16 "core" ' +2 "manipulator"&^& +4 "core" &  +2 "storage"(t& +3 "core" &,r w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +46 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'F +38 "core" ' +2 "manipulator"&& +4 "core" & I  +2 "manipulator"&W% +4 "core" % 4 p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +176 "core" ( +2 "manipulator"&& +4 "core" &%  ' <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &$  <? +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'X( +417 "core" ( + "storage"(B& +4 "core" &,r\ \ \ +2 "storage"(e& +3 "core" &,r\ \ \ +2 "manipulator"&M& +3 "core" &% r <? +2 "manipulator"&f% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&l( +157 "core" ( +2 "manipulator"&I& +4 "core" & S  +2 "storage"(N& +3 "core" &,r\ G\ I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&31 +58 "core" 1 +2 "manipulator"&)% +4 "core" %  5 e  + "storage"(& +4 "core" &,r\ \  Y\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&'; +18 "core" ' +2 "manipulator"&& +4 "core" & v  +2 "storage"(& +3 "core" &,r\ .\ % 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +17 "core" ' +2 "storage"(s% +4 "core" %L\ I\ I \ +3 ."downElevator"SE.seek :down +3 "storage"(?'X +98 (y% +3 "core" %sH\ \ $ U\ Vb +2 "manipulator"&&% +4 "core" %Ѣ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &TTs\ + "manipulator"&E% +4 "core" %\  >  +2 "storage"('% +3 "core" %`\ H\ H\ +2 "storage"( . +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(<(<* +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +7 "core" &<&\ \ " \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&O( +10 "core" ( +2 "manipulator"&{& +4 "core" &  3 b + "storage"(@& +4 "core" &<$\ #\ # @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&F'ы +107 "core" ' + "storage"(U& +4 "core" &<$\ _\ L ;\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" &<$\ &\ $ *\  +2 "manipulator"&& +4 "core" &  b + .tElbow.seek 5 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&& +3 "core" & G b +2 "storage"(T& +3 "core" &<$\ #\ # ,\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&C' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& + "storage"(-'X +7 "core" &  b +2 "manipulator"&% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&Q& +4 "core" &  / 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" & ( n 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'" +92 "core" ' +2 "manipulator"&k& +4 "core" & $ > 6 +2 "manipulator"&$% +4 "core" % y  + "collection"']& +4 "core" &SU\ +2 "collection"'K& +6 "core" &QT\ +2 .tCC.seek :closed +2 "collection"'S(V +3 "core" &VTr\ +9 &4QSy\ #b +9 &V~RR\ 7 +9 &yST|\ L +10 &UTU~\ L +9 &kVST~\ L +9 &-VST}\ L +10 &USTw\ L +9 &VSS|\ L +10 &sUTTu\ L +9 &6RRT~\ L +9 &TTTs\ L +10 &!RSTs\ L +9 &#{UTTw\ L +9 &%=RSVt\ L +10 &&WSRt\ L +9 &(TTSs\ L +10 &*VSTr\ L +9 &,EUQVo\ L +9 &.RRSs\ L +10 &/USTq\ L +9 &1TTTi\ L +10 &3LUTUm\ M +9 &5TQVo\ L +9 &6USTc\ M +10 &8TSSb\ L +9 &:UXQUl\ L +9 &<YSTd\ L +10 &=YTT^\ M +9 &?WSLc\ L +9 &A]SQS^\ L +10 &CUSSa\ L +9 &D\\TTT\ M +10 &FgTT]\ N +9 &HYzUT^\ P +9 &J SUa\ V +10 &KTV`\ W +9 &MRUb\ X +9 &OIRW^\ Y +10 &Q TSb\ X +9 &RSXn\ Z +10 &TRTo\ Y +9 &V)uTUl\ . +9 &V$WTn\ P +9 ( +3 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"& 1 +3 "core" &VbSTb\ L +59 1 +2 "manipulator"&m% +4 "core" %   _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%~& +5 "core" &\ + "manipulator"&% +4 "core" %\  / 0 . +2 "storage"(q% +3 "core" %S X\ +2 "storage"(". +3 "core" .(<* + "storage"(L& +4 "core" &<$ C\  +2 "storage"(o& +3 "core" &<$ N\  +2 "manipulator"&& +3 "core" & 0 6 +2 "manipulator"&% +4 "core" %\  & . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&(( +159 "core" ( +2 "manipulator"&H& +4 "core" & # . x + "storage"(i& +4 "core" &<$ &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&%'ы +95 "core" ' +2 "storage"(& +4 "core" &<$\  <\  +51 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(|'i +281 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &<$ \  +2 "manipulator"&9& +3 "core" & _ x +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&w& +4 "core" & U x +2 "storage"(x& +3 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&!' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(*'X +7 "core" & J x +2 "manipulator"&z% +4 "core" % N A +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&[& +4 "core" &v < " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &v % X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +94 "core" ' + "manipulator"&:& +4 "core" &v o +2 "manipulator"&v% +4 "core" % 8 ; +2 "processing"%u& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%1(Z +4 "core" &\  +9 &4}\ *z +9 &f\ ? +10 &s\ N +9 &QU\ M +9 &W\ M +10 &W\ L +9 &Y\ M +9 &ZU\ M +10 &W\ L +9 &W\ M +10 & W\ M +9 &"bW\ M +9 &$%W\ L +10 &%W\ M +9 &'Y\ M +9 &)jW\ M +10 &+-U\ L +9 &,V\ M +10 &.V\ M +9 &0rY\ M +9 &23U\ M +10 &3V\ M +9 &5V\ L +9 &7yV\ M +10 &9<U\ M +9 &:T\ M +10 &<W\ M +9 &>U\ M +9 &@CY\ M +10 &BW\ M +9 &CZ\ M +9 &E`\ N +10 &GEj\ O +9 &I\ Q +10 &J\ S +9 &L\ S +9 &NC\ R +10 &P\ S +9 &Q\ S +10 &S\ S +9 &UG\ T +9 &W\ T +10 &X\ T +9 &Z*Nk\ . +9 &Z&\ # +6 ( +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&V1 +4 "core" &Z\ # +60 1 + "manipulator"&D% +4 "core" % # l ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +3 "processing"%G& +4 "core" &Z\ # + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&6% +4 "core" %\ #  A + "storage"(/% +4 "core" %_ $\ +2 "storage"(j. +3 "core" .(<* + "storage"(=& +3 "core" &<$ \  +2 "storage"(^& +5 "manipulator"&t& +3 "core" &<$ ;\  +2 &v " F +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'i +3 "core" ( + "manipulator"&d& +4 "core" &v . < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &v N +2 .tForearm.seek PC +2 "manipulator"&4' +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' + "storage"(\ - +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +297 ( + "storage"(_& +5 "core" &<$ u\  + "manipulator"&5& +4 "core" &v +2 "manipulator"&P% +8 "core" % l +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&`( +273 "core" ( +2 "manipulator"& & +4 "core" & 0  + "storage"(B& +4 "core" &<$ A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&e'ы +97 "core" ' + .tHand.open + "manipulator"&M1 +60 "core" 1 +2 "storage"(f- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(I'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(N' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(Y& +4 "core" &<$ ^ e \  +2 "manipulator"&3& +3 "core" & \\  +2 .tElbow.seek 5 +2 "manipulator"&)( +7 "core" ( +2 "manipulator"&& +4 "core" & [  + "storage"(& +4 "core" &<$ X Z\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(s' +55 "core" ' +2 "manipulator"&n& +4 "core" & (  + "storage"(y& +4 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" % p +2 "storage"(& +4 "core" &<$ A\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&E' +12 "core" ' +2 "manipulator"&'& +4 "core" & p \ +2 "storage"( & +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&r'ы +33 "core" ' + "storage"(A% +4 "core" %s \ +3 ."downElevator"SE.seek :down +3 "storage"(?'X +99 (p% +3 "core" %K \ Xf +2 "manipulator"&% +4 "core" %o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 ({& +4 "core" &<$ O\  + "collection"'@& +4 "core" &VbTT\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&U% +4 "core" %\ # \ = +2 "storage"(% +3 "core" %` B\ +2 "storage"(+. +3 "core" .(<* + "storage"(& +4 "core" &<$ \  +2 "storage"(7& +4 "core" &<$ #\  + "manipulator"&& +4 "core" & < \ +2 .tElbow.seek 5 + "manipulator"&( +39 "core" ( + "manipulator"&T& +4 "core" & x "z +2 "storage"(c& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&;'ы +96 "core" ' +2 "storage"(& +4 "core" &<$ J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +285 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  "y + "storage"(b& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>' +28 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"($'U +30 "core" ' + "manipulator"&]% +4 "core" %  6 +2 "storage"(Z& +3 "core" &<$ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&-' +12 "core" ' +2 "manipulator"&0& +4 "core" & I ' + "storage"(X& +4 "core" &<$ g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'D +90 "core" ' + "manipulator"&~& +5 "core" & 3 ' + "manipulator"&% +4 "core" %p H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +169 "core" ( +3 "manipulator"&K& +4 "core" && 4  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +4 "core" && =A + .tForearm.seek CC +2 "manipulator"&o'" +98 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / + .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(J& +4 "core" &<$ \  +2 "storage"(H& +3 "core" &<$ s\  +2 "manipulator"&i& +3 "core" & " ' 9( +2 "manipulator"&% +4 "core" % $ +2 .tForearm.seek :retract + "manipulator"&.'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +163 "core" ( +2 "manipulator"&2& +4 "core" & $ V  +2 "storage"(a& +3 "core" &<$\ \  5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&9' +107 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +55 "core" 1 +2 "manipulator"&R% +4 "core" %  0 +2 "storage"( & +4 "core" &<$ p\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&z' +20 "core" ' +2 "manipulator"&(& +4 "core" & @  +2 "storage"(%& +3 "core" &<$\ $\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&|'ы +19 "core" ' +2 "storage"(!% +4 "core" %I\ M\ E \ +3 ."downElevator"SE.seek :down +3 "storage"(['X +99 (#% +2 "core" %F\ &\  "\ Va +2 "manipulator"&h% +4 "core" %x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'v& +4 "core" &TS\ +2 "manipulator"&u% +4 "core" %\ % P F +2 "storage"(*% +4 "core" %[\ $\ $ \ +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &K \  +2 "manipulator"&D& +4 "core" & G  +2 .tElbow.seek 6 + "manipulator"&G( +37 "core" ( +2 "manipulator"&6& +4 "core" & & q : + "storage"(/& +4 "core" &K\ $\ $ K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&j'a +96 "core" ' + "storage"(g& +4 "core" &K\ D\ G \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='i +283 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &K\ \ \  + "manipulator"&d& +4 "core" & 9 9 +2 .tElbow.seek 6 + "manipulator"&,( +22 "core" ( +2 "manipulator"&\\& +4 "core" & H  +2 "storage"(& +3 "core" &K\ %\ & T\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&\ ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +2 "storage"(1'X +8 "core" &  + "manipulator"&W% +4 "core" % O +2 .tForearm.seek :retract +2 "manipulator"&_'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&P& +4 "core" &' #  >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &' >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +100 "core" ' +2 "manipulator"&B& +5 "core" &' ? >N + "manipulator"&% +4 "core" %# 3 +2 "collection"'M& +4 "core" &SU\ +2 "collection"'f& +5 "core" &UT\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &RV{\  +8 &2}STs\ *x +9 &dST{\ > +10 &wpSU|\ M +9 &;TTUr\ L +9 &VTT|\ L +10 &UTS\ M +9 &STV~\ M +10 &CTUT\ L +9 &RUTw\ L +9 &QTSt\ L +10 & RSTz\ L +9 &"KWUVl\ L +9 &$ WRSx\ L +10 &%SQTu\ L +9 &'QRUu\ L +10 &)SQSSp\ L +9 &+WKSt\ L +9 &,UTSs\ M +10 &.USTs\ L +9 &0[SRTr\ L +9 &2QTTy\ L +10 &3WSTq\ L +9 &5TUUh\ M +10 &7cUUUh\ L +9 &9$URUe\ M +9 &:VSTo\ M +10 &<YSTi\ L +9 &>jTTSk\ M +9 &@,URT`\ M +10 &AWSU`\ L +9 &CWVU[\ L +10 &Ep\\RT_\ M +9 &G.hRR\\\ O +9 &H}UUk\ Q +10 &JTS`\ V +9 &L[TT^\ W +9 &NUUk\ X +10 &OUU^\ X +9 &QTTj\ X +10 &S\\VUq\ Z +9 &UTWx\ Z +9 &VgCUVq\ 0 +10 &VyUVp\ L +5 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&Y1 +3 "core" &VeUVy\ L +53 1 +2 "manipulator"&3% +5 "core" % # 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(n% +4 "core" %^ 3\ + "storage"(y. +3 "core" .(K +2 "storage"(& +4 "core" &K 7\  + "storage"(& +4 "core" &K \  +2 "manipulator"&& +3 "core" &'  >L +2 "manipulator"&'% +4 "core" %\   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +154 "core" ( + "manipulator"& & +4 "core" & o  +2 "storage"(A& +4 "core" &K p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&`'a +93 "core" ' +2 "storage"(e& +4 "core" &K \  k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +282 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&)( +3 "core" ( + "manipulator"&s& +4 "core" & 7  + "storage"(&& +4 "core" &K R\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(U'X +7 "core" & Y  +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&+'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +121 "core" ( + "manipulator"&& +4 "core" &j &  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &j O \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&T& +4 "core" &k # b  + "manipulator"&c% +4 "core" %  J +2 "processing"%r& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%?(Z +4 "core" &\ +7 &;\ $d +9 &X\ 7 +10 &{\ L +9 &W\ M +9 &mY\ M +10 &/W\ M +9 &W\ M +9 &W\ M +10 &tX\ M +9 &6W\ M +10 &W\ M +9 &!W\ M +9 &#|W\ M +10 &%>W\ M +9 &'W\ M +9 &(W\ M +10 &*X\ M +9 &,EW\ M +10 &.Y\ M +9 &/V\ M +9 &1V\ M +10 &3OW\ M +9 &5W\ M +9 &6U\ M +10 &8U\ M +9 &:XV\ L +10 &<V\ M +9 &=U\ L +9 &?U\ M +59 &A_V\ M +5 &C Z\ M + &D_\ N +3 &Fg\ N + &HZy\ Q +4 &J\ S + &K\ S + &M\ S +10 &O^\ R +9 &Q\ S +9 &R\ S +10 &T\ S +9 &Vb\ T +10 &X%\ S +9 &Yzm\ 2 +9 &Z+v\ I +10 &Z \ + +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&l1 +52 "core" 1 + "manipulator"&% +4 "core" % - + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 "processing"%Q& +4 "core" &Z \ + + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&b% +4 "core" %\  % q  + "storage"(k% +4 "core" %` \ + "storage"(]. +3 "core" .(K +2 "storage"(Z& +4 "core" &K \  + "storage"(0& +5 "manipulator"&X& +4 "core" &K \  + &k 3 _  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&~(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +9 "core" ( + "manipulator"&;& +4 "core" &k !   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&O' +99 "core" ' +2 .tHand.close + "manipulator"&>/ +61 "core" / +2 .tPC.seek :open +2 "processing"%-( +81 "core" ' + "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +44 "core" ' +299 ( + "storage"(L& +4 "core" &K \  +2 "manipulator"& & +3 "core" &k ~  +2 "manipulator"&C% +3 "core" % } +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&q( +257 "core" ( + "manipulator"&S& +4 "core" & C \ +2 "storage"(J& +3 "core" &K W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&H'a +96 "core" ' +2 .tHand.open + "manipulator"&i1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(2'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(a' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"("& +4 "core" &K \\ e \  + "manipulator"&x& +4 "core" & " \ +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( + "manipulator"& & +4 "core" & U \ +2 "storage"((& +4 "core" &K j _ `\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&%'a +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(!' +57 "core" ' +2 "manipulator"&.& +4 "core" & G \ +2 "storage"(#& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&h'Υ +28 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +69 "core" ' + "manipulator"&v% +4 "core" %ι  +2 "storage"(z& +4 "core" &K @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&u' +13 "core" ' + "manipulator"&*& +5 "core" & _ \ + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&m'a +28 "core" ' + "storage"(|% +5 "core" %s )\ +2 ."downElevator"SE.seek :down +4 "storage"(['X +99 (<% +2 "core" %N \ We +2 "manipulator"&V% +4 "core" %e R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (6& +4 "core" &K L\  +2 "collection"'/& +4 "core" &VeTSt\ L + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&g% +4 "core" %\  {  +2 "storage"(w% +4 "core" %a \ + "storage"(:. +3 "core" .(K +2 "storage"(t& +4 "core" &K \  + "storage"(^& +4 "core" &K \  +2 "manipulator"&d& +3 "core" &  \ +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&& +4 "core" &  f \ +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +99 "core" ' + "storage"(W& +5 "core" &K\  ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'i +285 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &  \ +2 "storage"(4& +3 "core" &K /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&='Υ +31 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(,'X +32 "core" ' + "manipulator"&% +4 "core" %ε  + "storage"(M& +4 "core" &K ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&1' +12 "core" ' +2 "manipulator"&_& +4 "core" &  + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Y'a +52 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(3'G +44 "core" ' + "manipulator"&& +4 "core" & g +2 "manipulator"&% +4 "core" %d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +171 "core" ( +2 "manipulator"&& +5 "core" &' N >K + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &' # >K +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close + "manipulator"&/ +53 "core" / + .tCC.seek :open +2 "collection"''( +416 "core" ( +2 "storage"( & +4 "core" &K \  + "storage"( & +4 "core" &K \  + "manipulator"&A& +4 "core" &&  =G +2 "manipulator"&e% +3 "core" % " +2 .tForearm.seek :retract +2 "manipulator"&5'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&p& +4 "core" & 8  + "storage"(& +4 "core" &K\ #\ $ =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +59 "core" 1 +2 "manipulator"&{% +4 "core" % θ + +5 "storage"(@& +3 "core" &K D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&I& +4 "core" & a  + "storage"(`& +4 "core" &K\ $\ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&N'a +80 "core" ' +2 "storage"(E% +4 "core" %K\ G\ B <\ +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (7% +3 "core" %F\ &\ $ z\ V` + "manipulator"&)% +4 "core" %K K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'c& +4 "core" &ST\ +2 "manipulator"&r% +3 "core" %\    +2 "storage"(U% +4 "core" %Y\ G\ H \ + "storage"(+. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +657 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +2 "core" &,o d\ +2 "manipulator"&& +4 "core" & A  +2 .tElbow.seek 4 +2 "manipulator"&Q( +15 "core" ( + "manipulator"&b& +4 "core" & # q h +2 "storage"(k& +4 "core" &,s\ %\ ' q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&]'Ѽ +96 "core" ' +2 "storage"(Z& +4 "core" &,s\ U\ Q b\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +285 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,s\ !\  F\ +2 "manipulator"&;& +4 "core" & h + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  [ h +2 "storage"(>& +3 "core" &,s\ $\ $ !\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&$', +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(?'X +7 "core" &  h +2 "manipulator"&% +4 "core" % $ Q + .tForearm.seek :retract +2 "manipulator"&L'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&C& +4 "core" &' x = S >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &' >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'" +105 "core" ' + "manipulator"&J& +4 "core" &' >N +2 "manipulator"&~% +4 "core" % +3 "collection"'i& +4 "core" &SS6\ +2 "collection"'& +6 "core" &US\ +2 .tCC.seek :closed +3 "collection"'o(V +3 "core" &TT\ +7 &4RS\ $d +9 &V}RT\ 7 +9 &vRT\ K +10 &USS\ L +9 &iRQS}\ L +9 &+QSQt\ L +10 &RTS\ L +9 &QST~\ L +9 &qRRT~\ L +10 &3RUS\ L +9 &QRT\ L +10 &!RTUv\ L +9 &#yWTT|\ L +9 &%;WTUv\ L +10 &&USSt\ L +9 &(TSSr\ M +9 &*TSTt\ L +14 &,CRSU{\ L +5 &.QRS|\ L +10 &/WQSx\ L +9 &1WTT|\ L +9 &3KUTTq\ L +10 &5 RRQt\ L +9 &6RSSu\ L +9 &8UQLs\ L +10 &:RUSSs\ M +9 &<TSRp\ L +10 &=TSSh\ M +9 &?WSTa\ M +9 &AZUSSh\ M +10 &CYSSk\ L +9 &D\\TQm\ M +10 &FiTTq\ O +9 &HWxQT`\ P +9 &J\ TRc\ V +10 &KSU[\ X +9 &MRT^\ X +10 &OGST`\ Y +9 &Q VU_\ Y +9 &RTU[\ Y +9 &TSSZ\ Z +10 &V'uSU^\ . +9 &V%ST`\ S +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&"1 +3 "core" &VsVTi\ N +59 1 +2 "manipulator"&x% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%(& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ =  + "storage"(.% +4 "core" %T \ + "storage"(#. +3 "core" .(,l +2 "storage"(K& +3 "core" &,s \ +2 "storage"(2& +4 "core" &,s \ + "manipulator"&v& +4 "core" &'  >N + "manipulator"&z% +4 "core" %\ Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&*( +163 "core" ( +2 "manipulator"&& +4 "core" & ^ g + "storage"(q& +4 "core" &,s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&H'Ѽ +86 "core" ' + "storage"(|& +4 "core" &,s \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'i +284 "core" ' +2 "storage"(%- +8 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" &,s #\ +2 "manipulator"&V& +3 "core" &  g +2 .tElbow.seek 4 +2 "manipulator"&R( +3 "core" ( + "manipulator"&!& +4 "core" &  o g + "storage"(h& +4 "core" &,s )\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&/& + "storage"(g'X +8 "core" &  g + "manipulator"&w% +4 "core" % "  Q +2 .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&9& +4 "core" &l > s N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &l U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&d' +101 "core" ' +2 "manipulator"&& +4 "core" &l # 9 +2 "manipulator"&% +4 "core" % f + "processing"%m& +4 "core" &\ +2 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%[(Z +4 "core" &\  +10 &4}\ *y +10 &d\ > +8 &s\ M +10 &JS\ M +9 & V\ M +10 &W\ M +9 &Y\ M +9 &RU\ M +10 &W\ M +9 &W\ M +9 & U\ M +10 &"[W\ M +9 &$V\ M +9 &%W\ M +10 &'\\\ M +9 &)aX\ M +10 &+$V\ M +9 &,V\ M +9 &.V\ M +10 &0jW\ M +9 &2,W\ M +9 &3W\ M +10 &5W\ M +9 &7rW\ M +10 &94W\ M +9 &:U\ M +9 &<U\ M +10 &>{V\ M +9 &@=X\ M +9 &AU\ M +10 &CZ\ N +9 &E`\ N +10 &G=j\ O +9 &H\ R +10 &J\ S +9 &Ly\ S +9 &N;\ S +9 &O\ S +10 &Q\ S +9 &S\ S +10 &UA\ S +9 &W\ S +10 &X\ T +9 &Z)Ut\ &s +9 &Z^\ 0 +9 ( +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&}1 +4 "core" &Z\ + +54 1 + "manipulator"&D% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 "processing"%P& +4 "core" &Z\ + + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&4% +4 "core" %\    + "storage"(B% +4 "core" %a 0\ + "storage"(. +3 "core" .(,l +2 "storage"(M& +3 "core" &,s \ +2 "storage"(_& +2 "manipulator"&& +7 "core" &,s \ + &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"& & +4 "core" &l " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &l +2 .tForearm.seek PC +2 "manipulator"&G' +96 "core" ' + .tHand.close +2 "manipulator"&=/ +63 "core" / + .tPC.seek :open +2 "processing"%1( +83 "core" ' + "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +306 ( + "storage"(f& +4 "core" &,s n\ +2 "manipulator"&Y& +3 "core" &l _ +2 "manipulator"&\ % +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +53 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 + "manipulator"&n( +267 "core" ( + "manipulator"&& +4 "core" & % k  +2 "storage"( & +4 "core" &,s [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +100 "core" ' + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(p'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(y& +4 "core" &,s F G \ +2 "manipulator"&&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&{( +8 "core" ( + "manipulator"&@& +4 "core" & $ I  +2 "storage"(I& +4 "core" &,s H G \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(5' +61 "core" ' + "manipulator"&E& +4 "core" &   +2 "storage"(& +4 "core" &,s \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&7' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" % ( 6 B +2 "storage"(c& +4 "core" &,s 2\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&r'= +17 "core" ' +2 "manipulator"&U& +4 "core" &  +2 "storage"(+& +4 "core" &,s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&3'Ѽ +41 "core" ' +2 "storage"(N% +4 "core" %q \ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (8% +3 "core" %C [\ Vc +2 "manipulator"&l% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &,s E\ + "collection"'k& +4 "core" &VsVV\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&Z% +4 "core" %\ # [ B +2 "storage"(s% +3 "core" %a \ +2 "storage"(T. +3 "core" .(,l + "storage"(0& +4 "core" &,s \ +2 "storage"(& +4 "core" &,s \ + "manipulator"&;& +4 "core" & ~  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&>& +4 "core" & $ ;  +2 "storage"(& +3 "core" &,s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +89 "core" ' +2 "storage"(& +4 "core" &,s k\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +279 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&C& +3 "core" & 4  +2 "storage"(O& +3 "core" &,s C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&X' +32 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +27 "core" ' + "manipulator"&~% +5 "core" % : + "storage"(i& +4 "core" &,s .\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&?'? +18 "core" ' + "manipulator"&L& +5 "core" & O  + "storage"('& +4 "core" &,s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&"'Ѽ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(x'F +38 "core" ' +2 "manipulator"&(& +4 "core" &   +2 "manipulator"&% +3 "core" %ѡ 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +175 "core" ( +2 "manipulator"&& +4 "core" &( 4 ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &' ?S +2 .tForearm.seek CC + "manipulator"&2'" +97 "core" ' +2 .tHand.close + "manipulator"&v/ +55 "core" / +2 .tCC.seek :open +2 "collection"'z( +416 "core" ( + "storage"(S& +4 "core" &,s\ \  \ +2 "storage"(& +3 "core" &,s\ \  3\ +2 "manipulator"&q& +3 "core" &( ' ?S +2 "manipulator"&|% +3 "core" % ' ( Q  +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +173 "core" ( +2 "manipulator"&%& +4 "core" &\  X +2 "storage"(<& +3 "core" &,s\ \ & D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&V' +101 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +54 "core" 1 +2 "manipulator"&6% +4 "core" %  6 P +2 "storage"(/& +4 "core" &,s\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&w'= +21 "core" ' + "manipulator"&*& +4 "core" &\ $ 1 W +2 "storage"(H& +4 "core" &,s\ \  m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&a'Ѽ +27 "core" ' +2 "storage"(u% +4 "core" %J\ %\ # <\ +3 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (^% +2 "core" %kG\ \  \ Wb +2 "manipulator"&R% +4 "core" %Ѯ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &RT\ + "manipulator"&m% +4 "core" %\   +2 "storage"(g% +4 "core" %^\ $\ $ \ + "storage"(:. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(-(<* +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (}& +3 "core" &<' .\  +2 "manipulator"&D& +3 "core" &  Q +2 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( + "manipulator"&4& +4 "core" & P Q + "storage"(B& +4 "core" &<$\ $\ $ -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +95 "core" ' + "storage"(M& +4 "core" &<$\ F\ B \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &<$\ \  \  +2 "manipulator"& & +4 "core" &  Q +2 .tElbow.seek 5 + "manipulator"&\\( +4 "core" ( + "manipulator"&d& +4 "core" &  C Q + "storage"(=& +4 "core" &<$\ "\  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&t/ +60 "core" / +53 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(['X +8 "core" & J Q + "manipulator"&% +4 "core" %  5 D +2 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&Y( +159 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&\ & +4 "core" &+ A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &+ A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +2 "manipulator"& & +4 "core" &+ $ A_ +2 "manipulator"&% +4 "core" %+ +2 "collection"'A& +4 "core" &RTO\ +2 "collection"'e& +6 "core" &ST\ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" &ST{\ +6 &TT\ 8 +9 &?HyTS\ 1 +9 &ptTU\ E +10 &YSV\ M +9 &TSTi\ L +10 &VTU\ L +9 &aTTT\ L +9 &$WTS\ L +10 &UWT\ L +9 &TSW\ M +10 &iUTUy\ L +9 &!+URU\ L +11 &"RTT|\ L +8 &$VTU\ M +9 &&qTSUu\ L +9 &(3URSv\ L +10 &)RVVt\ L +9 &+UTTr\ L +9 &-yUTTs\ L +10 &/<WTS{\ L +9 &0UUSm\ L +10 &2UTTp\ L +9 &4VST|\ L +9 &6CUVV\ L +10 &8WSSr\ L +9 &9URUz\ L +9 &;XTWx\ L +10 &=JWTSs\ M +9 &? VITv\ M +10 &@VTSq\ M +9 &BWSSr\ L +9 &DRXTUr\ M +10 &FbTSr\ N +9 &GtTTq\ P +9 &ITTq\ S +10 &K9QTn\ X +9 &LUTm\ Y +10 &NSWk\ W +9 &P}VUr\ Y +10 &R?SUl\ Y +9 &STUh\ Z +9 &UTUh\ G +10 &V/UUi\ &s +9 &VrTUa\ O +2 ( +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open + "manipulator"&y1 +64 "core" 1 + "manipulator"&&% +5 "core" % +  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%I& +5 "core" &\ + "manipulator"&% +4 "core" %\   +2 "storage"(E% +4 "core" %[ \ + "storage"(. +3 "core" .(<* +2 "storage"(& +4 "core" &<$ \  + "storage"(& +4 "core" &<$ U\  +2 "manipulator"&c& +8 "core" &\ * a @Y +2 "manipulator"&p% +3 "core" %\  |  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +163 "core" ( + "manipulator"&+& +4 "core" &  ' Z +2 "storage"(n& +3 "core" &<$ <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&N'ы +96 "core" ' +2 "storage"( & +4 "core" &<$ ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &<$ "\  +2 "manipulator"&`& +4 "core" & Z + .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&5& +4 "core" & Y Z + "storage"(7& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r' +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(Z'X +8 "core" & Z + "manipulator"&s% +4 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&0& +5 "core" &p 2 l  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &p   +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +101 "core" ' + "manipulator"&>& +5 "core" &p # a  + "manipulator"&% +4 "core" % 0 +2 "processing"%3& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &:\ $e +10 &X\ 8 +9 &x\ L +9 &W\ M +10 &hY\ M +9 &)V\ M +9 &U\ M +10 &U\ M +9 &oY\ M +10 &1Y\ M +9 &U\ M +9 &!W\ M +10 &#xY\ M +9 &%:W\ M +9 &&V\ M +10 &(X\ M +9 &*W\ M +9 &,AY\ M +10 &.Y\ M +9 &/U\ M +10 &1V\ M +9 &3IW\ M +9 &5 W\ M +10 &6W\ M +9 &8W\ M +9 &:QW\ M +10 &<W\ M +9 &=U\ M +10 &?V\ M +9 &A[V\ M +9 &CY\ M +10 &D]\ N +9 &Fc\ N +10 &HVx\ Q +9 &J\ R +9 &K\ S +14 &M\ S +5 &OX\ S +9 &Q\ S +10 &R\ T +9 &T\ T +10 &V^\ T +9 &X\ T +9 &Yzn\ 5 +9 &Z1\ E +10 &Z\ ' +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&)1 +53 "core" 1 + "manipulator"&% +4 "core" %  C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +2 "processing"%C& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +4 "core" %\ ! a 6 + "storage"(J% +4 "core" %b \ + "storage"(~. +4 "core" .(<* + "storage"(i& +4 "core" &<$ \  +2 "storage"(L& +3 "manipulator"&'& +5 "core" &<$ j\  + &p % 4  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&((s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&F& +4 "core" &p & =  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' + .tHand.close +2 "manipulator"&X/ +58 "core" / +2 .tPC.seek :open +2 "processing"%?( +91 "core" ' +3 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +284 ( + "storage"(K& +5 "core" &<$ a\  + "manipulator"&"& +4 "core" &p   +2 "manipulator"&$% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&v'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +287 "core" ( +2 "manipulator"&o& +4 "core" & e "z +2 "storage"(S& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +101 "core" ' + .tHand.open + "manipulator"&q1 +63 "core" 1 +2 "storage"(|- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +39 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(#& +4 "core" &<$ D B \  +2 "manipulator"&h& +3 "core" & ] "y +2 .tElbow.seek 5 +2 "manipulator"&6( +24 "core" ( +2 "manipulator"&/& +4 "core" & $ 8 ( + "storage"(*& +4 "core" &<$   ]\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&H'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +62 "core" ' +2 "manipulator"& & +4 "core" & Z ' +2 "storage"(^& +3 "core" &<$ 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&R' +34 "core" ' +2 .tElbow.hold + "manipulator"& , +8 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'i +24 "core" ' + "manipulator"&% +4 "core" %   C R +2 "storage"(w& +4 "core" &<$ } \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&m' +19 "core" ' +2 "manipulator"&g& +55 "core" & y , + "storage"(:& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&x'ы +21 "core" ' +2 "storage"(a% +4 "core" %q \  +3 ."downElevator"SE.seek :down +3 "storage"(9'X +98 (% +3 "core" %iL Q\ Xg +2 "manipulator"&}% +4 "core" %{ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +4 "core" &<$ \  +2 "collection"'B& +3 "core" &VqSSt\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&M% +4 "core" %\  ,  +2 "storage"(!% +4 "core" %a \  +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<$ \  + "storage"(W& +4 "core" &<$ 5\  +2 "manipulator"& & +4 "core" & c + +2 .tElbow.seek 5 +2 "manipulator"&d( +9 "core" ( +2 "manipulator"&=& +4 "core" & # E 0 +2 "storage"(t& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +95 "core" ' +2 "storage"(& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\ & +3 "core" &* > & +2 "storage"(G& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&_' +24 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +29 "core" ' +2 "manipulator"&A% +5 "core" %  F + "storage"(\\& +4 "core" &<$ x \\\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 294 counts +2 "manipulator"&[' +14 "core" ' +2 "manipulator"&f& +4 "core" &) J & + "storage"(z& +4 "core" &<$ 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&y'ы +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'D +40 "core" ' + "manipulator"&I& +5 "core" &)  & + "manipulator"&% +4 "core" %ѿ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +86 "core" ' + .tElbow.seek CC +2 "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" & 4 d 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" & ! B 8 +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +3 .tHand.close + "manipulator"&c/ +52 "core" / +2 .tCC.seek :open +2 "collection"'p( +419 "core" ( +2 "storage"(& +4 "core" &<$ \  ?\  + "storage"(+& +4 "core" &<$ V\  + "manipulator"&n& +4 "core" & "  & 8 + "manipulator"& % +4 "core" % 2 - +3 .tForearm.seek :retract + "manipulator"&Y'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&@( +161 "core" ( + "manipulator"&8& +4 "core" &  + w +2 "storage"(l& +3 "core" &<$\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&`' +107 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +54 "core" 1 +2 "manipulator"&b% +4 "core" %  J + "storage"(k& +4 "core" &<$ y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&s' +19 "core" ' +3 "manipulator"&U& +4 "core" & A x + "storage"(N& +4 "core" &<$\ %\ & >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +33 "core" ' + "storage"(r% +4 "core" %N\ D\ G\ +3 ."downElevator"SE.seek :down +3 "storage"(0'X +98 (% +3 "core" %F\ $\  z\ Wb +2 "manipulator"&{% +4 "core" %q - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &ST\ +2 "manipulator"&3% +3 "core" %\    +2 "storage"(Z% +4 "core" %_\ H\ * 2\ + "storage"(T. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(1(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ()& +3 "core" &K G\  +2 "manipulator"&& +3 "core" &  x +2 .tElbow.seek 6 +2 "manipulator"&C( +37 "core" ( + "manipulator"&O& +5 "core" &' : ( + "storage"(J& +4 "core" &K\ #\ % z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&~'a +87 "core" ' +2 "storage"(i& +4 "core" &K\ H\ C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +285 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \  '\  +2 "manipulator"&F& +3 "core" &' F ( +2 .tElbow.seek 6 +2 "manipulator"&( +21 "core" ( +2 "manipulator"&;& +4 "core" &   +2 "storage"(X& +3 "core" &K\ %\ % Z\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&' +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +3 "storage"('X +7 "core" &  +2 "manipulator"&% +3 "core" % 3 4 +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&"( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&$& +4 "core" &( 3 W ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &( % 4 ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'" +98 "core" ' +3 "manipulator"&S& +4 "core" &(  ?S +2 "manipulator"&(% +4 "core" % 8 +2 "collection"'q& +4 "core" &RT|\ +2 "collection"'|& +5 "core" &TT\ +2 .tCC.seek :closed +2 "collection"'2(V +4 "core" &TU\ +7 &4TU\ #c +10 &V~TS\ 7 +9 &vVS\ K +10 &SRRd\ L +9 &fTSS\ M +9 &)TRT\ L +10 &WTT\ L +9 &TRT\ L +9 &oRST~\ L +10 &1VSR\ L +9 &TTT\ M +10 &!TRV\ L +9 &#wWST|\ L +9 &%9VRS\ L +10 &&URU\ L +9 &(QRS{\ L +9 &*~TSTz\ M +10 &,ATUS{\ L +9 &.UST|\ L +9 &/TRS\ L +10 &1RSTu\ L +9 &3HTRSt\ M +10 &5 TTR{\ L +9 &6URSt\ M +9 &8SSSr\ L +10 &:QRRUv\ L +9 &<TPS~\ L +10 &=TTSt\ M +9 &?WRTw\ M +9 &AXUQTy\ M +10 &CWSTr\ M +9 &DZSSs\ M +9 &FdRTy\ N +10 &HVsTUv\ P +9 &J TTt\ T +9 &KUTl\ X +10 &MSRq\ X +9 &OGTUs\ X +10 &QSTl\ Y +9 &RRVh\ Y +9 &TSSm\ Z +10 &V'vUTl\ . +9 &V'UT`\ P +9 ( +3 "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open + "manipulator" +4 "core" &VdSU^\ K +56 1 + "manipulator"&h% +4 "core" %  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +103 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%/& +5 "core" &\ + "manipulator"&*% +4 "core" %\  g  + "storage"( % +4 "core" %` \ +2 "storage"(^. +3 "core" .(K + "storage"(& +54 "core" &K \  +2 "storage"(& +3 "core" &K \  +2 "manipulator"&%& +4 "core" &(  >K + "manipulator"&w% +4 "core" %\  M  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&g( +160 "core" ( + "manipulator"&.& +5 "core" & B  + "storage"(:& +4 "core" &K u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +101 "core" ' +2 "storage"(a& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +285 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&}& +4 "core" & 6  +2 .tElbow.seek 6 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&u& +4 "core" & F  + "storage"(R& +4 "core" &K u\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&4' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& + "storage"(M'X +8 "core" &  + "manipulator"&!% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +118 "core" ( + "manipulator"&V& +5 "core" &i #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &i ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&=& +4 "core" &j  K +2 "manipulator"&t% +3 "core" % z  +2 "processing"%x& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &b\  +8 &3~\ *x +10 &d\ > +9 &}u\ N +9 &@W\ M +10 &W\ M +9 &W\ M +10 &W\ M +9 &IV\ M +9 & W\ L +10 &X\ M +9 & W\ M +9 &"RW\ L +10 &$W\ M +9 &%X\ M +9 &'X\ M +10 &)XU\ M +9 &+V\ M +10 &,U\ M +9 &.Z\ M +9 &0aY\ M +10 &2#X\ M +9 &3Z\ M +11 &5X\ M +8 &7hZ\ M +9 &9+V\ M +10 &:V\ M +9 &<Z\ M +9 &>qX\ M +10 &@2]\ M +9 &AX\ M +10 &C\\\ M +9 &Ev_\ N +9 &G3m\ O +10 &H\ R +9 &J\ S +9 &Lo\ S +10 &N2\ R +9 &O\ S +9 &Q\ S +10 &St\ T +9 &U6\ T +10 &V\ T +9 &X\ T +9 &Z#Z\ %p +10 &Z_\ 0 +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +3 "manipulator"& 1 +4 "core" &Z\ + + &Z\ + +51 1 +2 "manipulator"&D% +4 "core" % n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 "processing"%\ & +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&G% +4 "core" %\    +2 "storage"( % +3 "core" %_ \ +2 "storage"(A. +3 "core" .(K + "storage"(\\& +4 "core" &K F\  +2 "storage"(f& +3 "manipulator"&z& +5 "core" &K #\  + &j V +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&I(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&j& +4 "core" &j 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &j / v +2 .tForearm.seek PC +2 "manipulator"&P' +97 "core" ' + .tHand.close + "manipulator"&_/ +60 "core" / +2 .tPC.seek :open +2 "processing"%[( +87 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +290 ( +2 "storage"(e& +4 "core" &K }\  + "manipulator"&y& +4 "core" &j H +2 "manipulator"&,% +3 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&E( +262 "core" ( + "manipulator"&& +5 "core" & # W  + "storage"(& +4 "core" &K 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&+'a +119 "core" ' +2 .tHand.open +2 "manipulator"&n1 +64 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(8'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(l' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &K O I 1\  +2 "manipulator"&7& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&k& +3 "core" & !  +2 "storage"(U& +4 "core" &K R Q O\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&N'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(r' +60 "core" ' +2 "manipulator"&Y& +4 "core" & ?  + "storage"(& +4 "core" &K ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&{'Υ +31 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(`'i +24 "core" ' + "manipulator"&s% +4 "core" %θ +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&3' +13 "core" ' + "manipulator"&Z& +4 "core" & 3  +2 "storage"(T& +5 "core" &K c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&&'a +26 "core" ' +2 "storage"(% +4 "core" %r >\  +2 ."downElevator"SE.seek :down +4 "storage"(0'X +99 (-% +3 "core" %jL \ Wc + "manipulator"&)% +4 "core" %g  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &K '\  +2 "collection"'J& +4 "core" &VeUVm\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&i% +4 "core" %\ \   +2 "storage"(5% +3 "core" %b \\\ +2 "storage"(>. +3 "core" .(K + "storage"('& +4 "core" &K y\  +2 "storage"(& +3 "core" &K r\  +2 "manipulator"&F& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( + "manipulator"&X& +4 "core" & 1  +2 "storage"(& +3 "core" &K g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&]'a +93 "core" ' +2 "storage"(& +4 "core" &K \  F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +284 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&$& +3 "core" &   +2 "storage"(Q& +4 "core" &K l\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&L'Υ +30 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate +51 "storage"('Y +25 "core" ' +2 "manipulator"&(% +4 "core" %ζ + "storage"(q& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&K& +4 "core" & E  +2 "storage"(p& +3 "core" &K 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&#'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(h'H +38 "core" ' + "manipulator"&/& +5 "core" & '  + "manipulator"&*% +4 "core" %U 2 u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +171 "core" ( +2 "manipulator"&|& +4 "core" && & # =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && D =A +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&%/ +60 "core" / +2 .tCC.seek :open +2 "collection"'w( +416 "core" ( +2 "storage"(o& +4 "core" &K\ \  A\  + "storage"(.& +4 "core" &K\ \  Q\  + "manipulator"&:& +4 "core" &%  <@ + "manipulator"&a% +4 "core" % 6  # +2 .tForearm.seek :retract +2 "manipulator"&"'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&v( +175 "core" ( +2 "manipulator"&H& +4 "core" & $ y !w + "storage"(& +4 "core" &K\ &\ & k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&}'Υ +102 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +54 "core" 1 +2 "manipulator"&m% +4 "core" % ι # + "storage"(B& +5 "core" &K *\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&!' +15 "core" ' + "manipulator"&g& +4 "core" & T !u +2 "storage"(& +4 "core" &K\ $\ $ (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&<'a +30 "core" ' + "storage"(4% +4 "core" %M\ &\ % I\ +3 ."downElevator"SE.seek :down +3 "storage"(V'X +99 (W% +3 "core" %xD\ \  \ \ V` + "manipulator"&6% +4 "core" %U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'t& +4 "core" &QR\ +2 "manipulator"&x% +4 "core" %\ # " @ + "storage"(M% +4 "core" %`\ &\ % y\  +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(?(,l +657 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &,o /\ + "manipulator"&D& +4 "core" &  !t +2 .tElbow.seek 4 + "manipulator"&\ ( +35 "core" ( + "manipulator"&G& +4 "core" &  A R +2 "storage"( & +3 "core" &,s\ %\ % M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +99 "core" ' +2 "storage"(\\& +4 "core" &,s\ C\ E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +282 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,s\ \  5\ +2 "manipulator"&j& +3 "core" & N R +2 .tElbow.seek 4 +2 "manipulator"&d( +3 "core" ( + "manipulator"& & +4 "core" & S R + "storage"(_& +4 "core" &,s\ $\ % i\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(9'X +7 "core" &  R +2 "manipulator"&% +4 "core" % 0   +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&,& +5 "core" &* < R @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &* @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +102 "core" ' + "manipulator"&& +5 "core" &* . @[ + "manipulator"&I% +4 "core" %& +2 "collection"'n& +4 "core" &ST\ +2 "collection"' & +5 "core" &QU6\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &QU\  +9 &1yTT\ *x +9 &dTU\ > +10 &uqSS\ M +9 &:RSS\ L +9 &UTV\\\ L +10 &VTV\ L +9 &~UUT\ M +10 &ATSS\ L +9 &RUT\ L +9 &VSU\ L +10 & TTS\ L +9 &"IWSU\ L +9 &$\ TTS\ M +10 &%USS\ L +9 &'QST\ L +10 &)QTITz\ L +9 &+RTV\ L +9 &,UST\ M +10 &.TRU\ L +9 &0YWSS~\ L +9 &2TUS\ M +10 &3TUTu\ L +14 &5VRS{\ L +5 &7`UTT{\ M +9 &9#TSU~\ L +9 &:RSVs\ L +10 &<TTS~\ M +9 &>hVTTu\ M +9 &@,RSTt\ L +10 &AWTTz\ L +9 &CVSSt\ M +10 &En]RUv\ M +9 &G*jTTw\ O +9 &HUTs\ Q +10 &JTTv\ W +9 &LWRTp\ X +9 &NRTs\ W +10 &OSUw\ X +9 &QUVr\ X +9 &SYRSq\ Z +10 &UTMr\ Z +9 &VfDTTq\ 1 +10 &V{SUr\ M +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +3 "core" &VnUTo\ M +56 1 + "manipulator"&7% +4 "core" % % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%k& +5 "core" &\ + "manipulator"&U% +4 "core" %\    +2 "storage"(Y% +3 "core" %^ \ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,s 4\ +2 "storage"(s& +3 "core" &,s 8\ +2 "manipulator"&& +4 "core" &* ! @[ + "manipulator"&Z% +4 "core" %\   A  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&8( +169 "core" ( + "manipulator"&T& +4 "core" & [ +2 "storage"(& +4 "core" &,s Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&E'Ѽ +103 "core" ' + "storage"(+& +4 "core" &,s N\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +286 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" &,s y\ +2 "manipulator"&N& +4 "core" & o [ +2 .tElbow.seek 4 + "manipulator"&b( +4 "core" ( + "manipulator"&r& +4 "core" & > [ + "storage"({& +4 "core" &,s Q\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&3', +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +3 "storage"(i'X +7 "core" &  [ +2 "manipulator"&5% +3 "core" % 2   +2 .tForearm.seek :retract +2 "manipulator"&`'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&>(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&'& +4 "core" &k + [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' + "manipulator"&X& +5 "core" &k # q + "manipulator"&% +54 "core" %  T  +3 "processing"%&& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%0(Z +3 "core" &\ +6 &E\ $f +10 &W\ 8 +9 &z\ L +10 &T\ M +9 &Y\ M +9 &BV\ M +10 &V\ M +9 &V\ M +9 &W\ M +10 &JV\ M +9 & X\ M +10 &!W\ M +9 &#X\ M +9 &%SX\ M +10 &'W\ M +9 &(W\ M +9 &*W\ M +10 &,ZW\ M +9 &.W\ M +9 &/V\ M +10 &1W\ M +9 &3cV\ M +10 &5%X\ M +9 &6Z\ M +9 &8V\ M +10 &:kU\ M +9 &<,Y\ M +9 &=V\ M +10 &?W\ M +9 &ArT\ M +10 &C3Z\ M +9 &D_\ N +9 &Fe\ N +10 &Hn|\ Q +9 &J+\ S +10 &K\ S +9 &M\ S +9 &Oq\ S +10 &Q2\ S +9 &R\ S +10 &T\ S +9 &Vv\ T +9 &X8\ T +10 &Yxo\ - +9 &Z'c\ D +9 &Z\ - +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&@1 +63 "core" 1 +3 "manipulator"&% +4 "core" % t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +91 "core" ' +2 "processing"%$& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Q% +3 "core" %\  z  +2 "storage"(S% +4 "core" %S 2\ +2 "storage"((. +3 "core" .(,l + "storage"(q& +4 "core" &,s {\ +2 "storage"(K& +2 "manipulator"&p& +7 "core" &,s b\ +2 &k / [ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&/(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(*'i +2 "core" ( +2 "manipulator"&]& +4 "core" &k  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &k "  +3 .tForearm.seek PC + "manipulator"&C' +96 "core" ' + .tHand.close +2 "manipulator"&L/ +61 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'y +45 "core" ' +287 ( + "storage"(& +4 "core" &,s t\ +2 "manipulator"&#& +3 "core" &k A +2 "manipulator"&% +4 "core" %  O  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +270 "core" ( +2 "manipulator"&2& +4 "core" &  +  + "storage"(o& +4 "core" &,s 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&.'Ѽ +88 "core" ' + .tHand.open + "manipulator"&:1 +52 "core" 1 +2 "storage"(a- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(^& +4 "core" &,s e \\\ +2 "manipulator"&R& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&B& +3 "core" & (  +2 "storage"(g& +4 "core" &,s W J e\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +58 "core" ' + "manipulator"&"& +5 "core" & \  + "storage"(W& +4 "core" &,s +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6' +20 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +25 "core" ' +2 "manipulator"&t% +65 "core" % ] +2 "storage"(!& +5 "core" &,s S\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&x'> +20 "core" ' +2 "manipulator"&M& +4 "core" &  +2 "storage"(& +4 "core" &,s ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&h'Ѽ +35 "core" ' + "storage"(<% +4 "core" %q ;\ +3 ."downElevator"SE.seek :down +3 "storage"(V'X +102 (1% +3 "core" %sG X\ Vc +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +4 "core" &,s /\ + "collection"' & +4 "core" &VnTTj\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\\% +4 "core" %\  N ' +2 "storage"(u% +3 "core" %R `\ +2 "storage"(=. +3 "core" .(,l + "storage"(z& +4 "core" &,s /\ +2 "storage"(& +3 "core" &,s 7\ +2 "manipulator"&j& +4 "core" & 1  + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&_& +4 "core" & " I  +2 "storage"(& +3 "core" &,s p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +101 "core" ' + "storage"(& +4 "core" &,s B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +284 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &   +2 "storage"(f& +3 "core" &,s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&P' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(d- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +30 "core" ' +2 "manipulator"&I% +4 "core" % 6  + "storage"(n& +4 "core" &,s I\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&9'@ +18 "core" ' +2 "manipulator"&e& +4 "core" & 6  +2 "storage"(w& +3 "core" &,s q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(7'F +38 "core" ' +2 "manipulator"&k& +5 "core" &  + "manipulator"&U% +4 "core" %љ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +171 "core" ( +2 "manipulator"&& +4 "core" &+ / # Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &+ p Ab +2 .tForearm.seek CC + "manipulator"& '" +92 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'Z( +417 "core" ( + "storage"(& +4 "core" &,s\ \  +\ +2 "storage"(T& +3 "core" &,s\ \ 0\ +2 "manipulator"&& +3 "core" &* } @^ +2 "manipulator"&+% +3 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c( +168 "core" ( +2 "manipulator"&-& +4 "core" &  z + "storage"()& +4 "core" &,s\ E\ H |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&N' +95 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , +42 .tElbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&{1 +60 "core" 1 +2 "manipulator"&O% +5 "core" % g + "storage"(J& +4 "core" &,s\ /\ & Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&5'9 +14 "core" ' + "manipulator"&8& +4 "core" & A z +2 "storage"(E& +4 "core" &,s\ B\ C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&l'Ѽ +23 "core" ' + "storage"(3% +5 "core" %I\ +\ H ,\ +2 ."downElevator"SE.seek :down +3 "storage"(''X +99 (% +3 "core" %rI\ \  V\ Wb + "manipulator"&b% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &ST\ +2 "manipulator"&&% +4 "core" %\    + "storage"(i% +4 "core" %^\ I\ I \ +2 "storage"(`. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"([(<* +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &<) D\  +2 "manipulator"&& +3 "core" &  z +2 .tElbow.seek 5 +2 "manipulator"&$( +3 "core" ( + "manipulator"&Q& +4 "core" &  O z + "storage"(S& +4 "core" &<%\ $\ # %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&('ы +98 "core" ' + "storage"(q& +5 "core" &<%\ ^\ A H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" &<%\ !\  \  +2 "manipulator"&]& +3 "core" & 5 z +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&F& +4 "core" & E z + "storage"(L& +4 "core" &<%\ #\ % A\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(0'X +7 "core" & , z + "manipulator"&*% +9 "core" %   + +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&& +5 "core" &% & h <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &% c <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'" +96 "core" ' + "manipulator"&o& +4 "core" &%  <; +2 "manipulator"&/% +4 "core" %" } +2 "collection"':& +4 "core" &TT\ +2 "collection"'a& +6 "core" &TT;\ +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &TV\ +9 &<TU\ $e +9 &V|ST\ 7 +9 &xSS \ L +10 &RSU\ L +9 &oUSUY\ L +9 &2UST \ L +10 &UTT\ L +9 &URT\ L +10 &xRTU\ L +9 &9UUU\ L +9 &TWT\ M +10 &!TQV\ L +9 &#USU\ L +9 &%BQQU\ L +10 &'TTS\ L +9 &(TRS\ L +10 &*TST~\ L +9 &,JRTT\ L +9 &. TSS\ L +10 &/STR{\ L +9 &1RSTu\ L +9 &3QTUTs\ L +10 &5UTVr\ L +9 &6UTUt\ L +10 &8UPS}\ L +9 &:ZURTv\ L +9 &<XTTr\ L +10 &=VTTt\ M +9 &?USUt\ L +9 &AaRST|\ L +10 &C"YUTt\ M +9 &D_STz\ M +10 &FiTTs\ O +9 &H^ySVq\ P +10 &JTUq\ V +9 &KUVr\ X +9 &MSUu\ X +10 &OMVUq\ Y +9 &QUTq\ X +9 &RTVr\ Z +10 &TTVo\ Y +9 &V-vSUu\ . +9 &V"TVs\ S +9 ( +3 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&^1 +3 "core" &VsSUl\ O +59 1 + "manipulator"&R% +4 "core" % " \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +99 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%g& +5 "core" &\ + "manipulator"&%% +4 "core" %\ T  + "storage"("% +4 "core" %R \ +6 "storage"(W. +3 "core" .(<* +2 "storage"(|& +3 "core" &<% \  +2 "storage"(H& +4 "core" &<% v\  + "manipulator"&t& +4 "core" &#  ;7 + "manipulator"&!% +4 "core" %\ ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&M( +167 "core" ( + "manipulator"&& +4 "core" & g Z +2 "storage"( & +3 "core" &<% x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&.'ы +95 "core" ' + "storage"(& +4 "core" &<% \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &<% N\  + "manipulator"&1& +4 "core" &  Z +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&4& +3 "core" &  l Z +2 "storage"(6& +4 "core" &<% \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&x' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&G/ +52 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +2 "storage"(\\'X +8 "core" &  Z + "manipulator"&u% +4 "core" % U I +2 .tForearm.seek :retract +2 "manipulator"&='\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +110 "core" ( +2 "manipulator"&z& +4 "core" &q & U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &q +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&j' +102 "core" ' + "manipulator"&_& +5 "core" &r <  + "manipulator"&% +4 "core" % m +2 "processing"%h& +3 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%V(Z +3 "core" &\ +6 &EQ\ $e +9 &W\ 8 +10 &y^\ L +9 &T\ M +9 &W\ M +10 &BV\ M +9 &V\ L +9 &U\ M +10 &W\ M +9 &IZ\ M +9 & W\ M +10 &!U\ M +9 &#W\ M +10 &%RX\ M +9 &'T\ M +9 &(W\ M +10 &*V\ L +9 &,ZW\ M +9 &.V\ M +10 &/Y\ M +9 &1U\ M +10 &3bU\ M +9 &5$V\ M +9 &6Z\ M +10 &8V\ L +9 &:iU\ M +9 &<,U\ M +10 &=Y\ M +9 &?U\ M +10 &ArU\ M +9 &C4Y\ M +9 &D\\\ M +13 &Fe\ N +6 &Hmy\ Q +9 &J,\ R +10 &K\ S +9 &M\ S +10 &Op\ S +9 &Q2\ S +9 &R\ S +10 &T\ T +9 &Vv\ S +9 &X7\ T +10 &Yym\ , +9 &Z)^\ * +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&v1 +4 "core" &Z\ " +60 1 + "manipulator"&D% +5 "core" % # k m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +94 "core" ' +2 "processing"%,& +4 "core" &Z\ " + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&f% +3 "core" %\   " +2 "storage"(d% +4 "core" %a \ + "storage"(I. +3 "core" .(<* +2 "storage"(n& +4 "core" &<% \  +2 "storage"(e& +4 "manipulator"&w& +4 "core" &<% \  + &r   +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(k'i +2 "manipulator"&U(s +5 "core" ( + "manipulator"&& +4 "core" &r 8  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &r W  +2 .tForearm.seek PC +2 "manipulator"&\ ' +100 "core" ' +2 .tHand.close + "manipulator"&P/ +56 "core" / +51 .tPC.seek :open +3 "processing"%9( +33 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "Can"d\ TR +2 "core" ' +346 ( +6 "storage"(s& +5 "core" &<% }\  +2 "manipulator"&& +4 "core" &r n  + "manipulator"&% +4 "core" %  z +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +265 "core" ( +2 "manipulator"&& +4 "core" & # 6  +2 "storage"(& +3 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&T'ы +91 "core" ' +2 .tHand.open +3 "manipulator"&1 +67 "core" 1 +2 "storage"(+- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"()' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +4 "core" -' + "storage"(& +4 "core" &<% E E\  +2 "manipulator"&{& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&O( +7 "core" ( +2 "manipulator"&J& +4 "core" &  G  + "storage"(8& +4 "core" &<% G F \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&E'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +62 "core" ' +2 "manipulator"&y& +4 "core" &   +2 "storage"(c& +3 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'i +25 "core" ' + "manipulator"&% +5 "core" % + "storage"(5& +4 "core" &<% I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&&' +21 "core" ' + "manipulator"&i& +5 "core" &   + "storage"(`& +4 "core" &<% :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&7'ы +22 "core" ' +2 "storage"(l% +4 "core" %s f\ +3 ."downElevator"SE.seek :down +3 "storage"(''X +98 (?% +5 "core" %GK \ Xe +2 "manipulator"&@% +4 "core" %ѓ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Q& +4 "core" &<% *\  +2 "collection"'S& +3 "core" &VrUTl\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&q% +4 "core" %\ % 1 C +2 "storage"(r% +4 "core" %b 4\  + "storage"(X. +3 "core" .(<* +2 "storage"(p& +4 "core" &<% \  + "storage"(K& +4 "core" &<% \  +2 "manipulator"&]& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&L& +3 "core" & # ?  +2 "storage"(>& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&~'ы +96 "core" ' + "storage"(*& +4 "core" &<% %\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'i +279 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &   +2 "storage"(C& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(o- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'V +28 "core" ' + "manipulator"&;% +4 "core" %  W X +2 "storage"(:& +3 "core" &<% K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&0' +20 "core" ' +2 "manipulator"&& +4 "core" & <  + "storage"(Z& +4 "core" &<% 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'E +38 "core" ' + "manipulator"&g& +5 "core" &  + "manipulator"&%% +4 "core" %n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&W( +167 "core" ( +2 "manipulator"&a& +4 "core" &* 8 Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &* Aa +2 .tForearm.seek CC +2 "manipulator"&H'" +96 "core" ' +2 .tHand.close + "manipulator"&t/ +52 "core" / +2 .tCC.seek :open +2 "collection"'!( +391 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +17 "core" ( +3 "storage"(2& +8 "core" &<% 9\  +3 "storage"(& +9 "core" &<% :\  +3 "manipulator"& & +7 "core" &* @^ +3 "manipulator"&% +7 "core" %  I +4 .tForearm.seek :retract +4 "manipulator"&#'\ +104 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek 5 +3 "manipulator"&B( +161 "core" ( +3 "manipulator"&& +10 "core" & f q +3 "storage"(m& +8 "core" &<%\ H\ G\  +3 .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +10 .tForearm.seek 5 +6 "manipulator"&1' +108 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +63 "core" 1 + "manipulator"&G% +5 "core" %  = + "storage"( & +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&u' +14 "core" ' +2 "manipulator"&M& +4 "core" &  r +2 "storage"(.& +3 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&<'ы +35 "core" ' +2 "storage"(x% +4 "core" %J\ &\ & -\ +2 ."downElevator"SE.seek :down +4 "storage"(z'X +98 (% +3 "core" %E\ \  \ Va +2 "manipulator"& % +4 "core" %Ѥ  h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &ST\ + "manipulator"&h% +4 "core" %\ 5 +2 "storage"(\\% +4 "core" %a\ &\ # ?\ + "storage"(=. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (v& +3 "core" &K \\\  + "manipulator"&D& +4 "core" & ^ r +2 .tElbow.seek 6 +2 "manipulator"&,( +42 "core" ( + "manipulator"&f& +4 "core" &&  f B +2 "storage"(d& +3 "core" &K\ $\ $ 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&I'a +115 "core" ' + "storage"(n& +53 "core" &K\ H\ G\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" &K\ \ \  +2 "manipulator"&& +3 "core" &&  B +7 .tElbow.seek 6 +2 "manipulator"& ( +20 "core" ( +2 "manipulator"&j& +4 "core" & [  + "storage"(P& +4 "core" &K\ %\ % X\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(V'X +8 "core" & '  + "manipulator"&k% +4 "core" % j q +2 .tForearm.seek :retract +2 "manipulator"&s'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &. h B  Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &. Dx +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +2 "manipulator"&& +4 "core" &. ) Dw +2 "manipulator"&U% +4 "core" %# 7 +2 "collection"'& +4 "core" &TT7\ +2 "collection"'+& +6 "core" &TT\ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &TR\ +6 &4TU\ $d +10 &V}QSG\ 7 +9 &xSR\ L +9 &SUT\ L +10 &lUTS\ L +9 &.QRU \ L +10 &RSUN\ L +9 &VKU\ L +9 &tVSU\ L +10 &6TPU\ L +9 &QTR\ L +9 &!VTT\ L +10 &#{USV\ M +9 &%>UUW\ L +10 &'PQU\ L +9 &(TRT\ M +9 &*TUT\ L +10 &,FWSU\ L +9 &. UTS\ L +9 &/TST\ L +10 &1RST\ L +9 &3OVRT\ L +10 &5URT|\ L +9 &6RTSu\ L +9 &8QRT{\ L +10 &:UURT~\ M +9 &<WSSu\ M +9 &=TSVs\ L +10 &?TTUs\ L +9 &A^RTTr\ L +10 &C!UUSq\ L +9 &D]UTs\ M +9 &FfST~\ N +10 &H[rTUr\ P +9 &JRSv\ T +10 &KSUt\ X +9 &MUVs\ X +9 &OKTVq\ X +10 &Q UUr\ Y +9 &RTUo\ Z +9 &TUUr\ Z +10 &V+uSTt\ . +9 &V#RUo\ N +9 ( +3 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open + "manipulator"&1 +4 "core" &VbTTo\ K +49 1 +2 "manipulator"&{% +4 "core" % # ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%8& +5 "core" &\ + "manipulator"&% +4 "core" %\  4  +2 "storage"(y% +3 "core" %a \  +2 "storage"(c. +3 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"(& +3 "core" &K \  +2 "manipulator"&5& +4 "core" &. Dv + "manipulator"&-% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&i( +179 "core" ( + "manipulator"&`& +4 "core" &  W R +2 "storage"(l& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Y'a +98 "core" ' + "storage"(T& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +284 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@& +3 "core" &K \  +2 "manipulator"&E& +3 "core" &  Q +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( + "manipulator"&3& +4 "core" &   Q +2 "storage"(& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&&' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&S& + "storage"(q'X +8 "core" &  Q + "manipulator"&r% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&N& +4 "core" &y & P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &y c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +101 "core" ' + "manipulator"&L& +4 "core" &y % 8 +2 "manipulator"&>% +4 "core" % q +2 "processing"%7& +4 "core" &'\ +2 "processing"%*& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%'(Z +4 "core" &W\  +9 &2zG\ )v +9 &b1\ = +9 &mv0\ N +10 &0X\ M +9 &Y\ M +9 &X\ M +10 &uX\ M +9 &7W\ M +9 &Y\ M +10 &X\ M +9 & }W\ M +10 &"@X\ M +9 &$W\ M +9 &%Y\ M +10 &'Z\ M +9 &)HW\ M +9 &+ W\ M +12 &,V\ M +7 &.X\ M +10 &0PW\ M +9 &2X\ M +9 &3W\ M +10 &5X\ M +9 &7XZ\ M +9 &9W\ M +10 &:U\ L +9 &<W\ M +10 &>aX\ M +9 &@"W\ M +9 &AX\ M +10 &C[\ M +9 &Ef_\ N +9 &G$m\ O +10 &H\ R +9 &J\ S +10 &L_\ S +9 &N!\ S +9 &O\ S +10 &Q\ S +9 &Sd\ T +9 &U'\ S +10 &V\ T +9 &X\ T +10 &Z`\ $p +9 &ZU\ ) +9 ( +2 &Z\ & +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&b1 +62 "core" 1 + "manipulator"&% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&C% +4 "core" %\  C  + "storage"(o% +4 "core" %T \ +2 "storage"(;. +3 "core" .(K + "storage"(:& +4 "core" &K G\  +2 "storage"(& +3 "manipulator"&Z& +6 "core" &K o\  + &y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&g(s +3 ."raiseStack"SE.seek :beamBreak +6 "storage"(%'i +3 "core" ( + "manipulator"&~& +4 "core" &y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&$' +96 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%0( +88 "core" ' +2 "storage"(/- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +35 "core" ' +299 ( + "storage"(|& +4 "core" &K \  +2 "manipulator"&^& +4 "core" &y K + "manipulator"&% +4 "core" % B +2 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&"( +267 "core" ( + "manipulator"&& +4 "core" &  d  +2 "storage"(2& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(m' +55 "core" ' + #tLights, camera, ACTION! + "storage"(H- +4 "core" -' +2 "storage"(W& +3 "core" &K G ? \  +2 "manipulator"&6& +3 "core" &  4  +2 .tElbow.seek 6 +2 "manipulator"&G( +4 "core" ( + "manipulator"& & +4 "core" &  $ F  +2 "storage"(M& +3 "core" &K < < T\  +3 .tForearm.seek 6 + 700 counts + "manipulator"&.'a +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +60 "core" ' + "manipulator"&#& +54 "core" &  '  +2 "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +31 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(1'i +25 "core" ' + "manipulator"&u% +5 "core" %θ : + "storage"(& +4 "core" &K ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&h' +12 "core" ' +2 "manipulator"&\\& +4 "core" &  ,  +2 "storage"(=& +4 "core" &K ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&R'a +37 "core" ' +2 "storage"(<% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(z'X +99 ([% +3 "core" %L +\ Xe +2 "manipulator"&v% +4 "core" %S / n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" &K g\  +2 "collection"'d& +3 "core" &VbTVi\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&n% +4 "core" %\ $ s 6 +2 "storage"(4% +4 "core" %R 2\ +2 "storage"(_. +3 "core" .(K + "storage"(w& +4 "core" &K U\  +2 "storage"(e& +3 "core" &K a\  +2 "manipulator"&& +4 "core" &  l  +2 .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&P& +3 "core" &    +2 "storage"(}& +4 "core" &K /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&A'a +87 "core" ' +2 "storage"(k& +9 "core" &K X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +284 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &    +2 "storage"(\ & +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(U'Y +31 "core" ' + "manipulator"& % +4 "core" %ε R +2 "storage"(& +3 "core" &K E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&V' +13 "core" ' + "manipulator"&s& +4 "core" & H  +2 "storage"(!& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +27 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"({'H +39 "core" ' + "manipulator"&8& +4 "core" & "  +2 "manipulator"&% +4 "core" %H 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +158 "core" ( +2 "manipulator"&& +5 "core" &+  Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &+ Bi +2 .tForearm.seek CC +2 "manipulator"&5'" +95 "core" ' + .tHand.close + "manipulator"&+/ +52 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( +2 "storage"(& +4 "core" &K\ \  7\  + "storage"(`& +4 "core" &K\ \  -\  + "manipulator"&l& +4 "core" &, d Bh +2 "manipulator"&T% +3 "core" % 0  + +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&J( +158 "core" ( +2 "manipulator"&?& +4 "core" & \  + "storage"(@& +4 "core" &K\ %\ # U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&E'Υ +106 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&Q% +4 "core" % δ b +2 "storage"(S& +3 "core" &K L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&r' +14 "core" ' +2 "manipulator"&i& +4 "core" & Q  +2 "storage"(Y& +3 "core" &K\ #\ # E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&)'a +25 "core" ' + "storage"(&% +5 "core" %O\ +\ % \ +2 ."downElevator"SE.seek :down +4 "storage"(N'X +99 (K% +3 "core" %MH\ \ [\ Vb +2 "manipulator"&O% +4 "core" %p " +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +95 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'>& +4 "core" &RT\ +2 "manipulator"&7% +3 "core" %\  A  +2 "storage"(q% +4 "core" %R\ I\ I $\ +2 "storage"(X. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(9(,l +661 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &,m c\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +13 "core" ( + "manipulator"&C& +4 "core" & X \\ +2 "storage"(o& +3 "core" &,q\ $\ $ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +92 "core" ' + "storage"(:& +4 "core" &,q\ D\ G\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &,q\ \ Z\ +2 "manipulator"&~& +4 "core" &  \\ +2 .tElbow.seek 4 + "manipulator"&F( +4 "core" ( + "manipulator"&]& +4 "core" & k \\ + "storage"(& +4 "core" &,q\ %\ $ 6\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&/', +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +52 "core" / +5 ."downElevator"SE.seek :down +2 "manipulator"&(& +2 "storage"(''X +7 "core" &  \\ +2 "manipulator"&%% +4 "core" % 2 j = +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &+ { S Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &+ Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 "manipulator"&2& +4 "core" &, Bf +2 "manipulator"&g% +4 "core" %' + "collection"' & +4 "core" &UU\ +2 "collection"'& +5 "core" &RS\ +2 .tCC.seek :closed +3 "collection"'H(V +3 "core" &TS\ +6 &TR\ 5 +10 &=GvST\ 0 +9 &jsTT\ E +9 &YUS\ M +10 &UOU\ L +9 &VST\ L +10 &ZTTT\ L +9 &RRS \ L +9 &VTS\ L +10 &UUR]\ L +9 &bTSR\ L +9 &!$QTTM\ L +10 &"QSS\ L +9 &$WTS\ L +10 &&jUTT\ L +9 &(+TRT~\ M +9 &)TST\ L +10 &+WRV\ L +9 &-rQTT\ L +9 &/4VQS\ L +10 &0VRS\ L +9 &2TRT\ L +9 &4zQTU\ L +10 &6<WRSx\ L +9 &7WST\ L +58 &9TTV\ M +5 &;WSS}\ L + &=DUTTw\ L +5 &?STUu\ M + &@VSRu\ M + &BTTTp\ M + &DJ\\STt\ M +3 &FcKTs\ N +10 &GqRTu\ P +9 &I~TVr\ S +9 &K2ST|\ X +10 &LSVt\ Y +9 &NTU\ X +9 &PvTVt\ X +10 &R6UUq\ Y +9 &SUVs\ Z +10 &USWr\ G +9 &V1VUv\ )z +9 &VoSUw\ N +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&W1 +63 "core" 1 +2 "manipulator"&6% +4 "core" % ' D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%M& +4 "core" &A\ + "manipulator"&t% +4 "core" %\ # B +2 "storage"(#% +4 "core" %S \ + "storage"(. +3 "core" .(,l +2 "storage"(a& +4 "core" &,q Y\ + "storage"(& +4 "core" &,q Z\ +2 "manipulator"&u& +3 "core" &+ 9 Bf +2 "manipulator"&% +3 "core" %\ # B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\\( +155 "core" ( +2 "manipulator"&=& +4 "core" & # M +2 "storage"("& +3 "core" &,q %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +93 "core" ' + "storage"(m& +4 "core" &,q \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +284 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" &,q \ + "manipulator"&.& +4 "core" & E +2 .tElbow.seek 4 +2 "manipulator"&G( +3 "core" ( + "manipulator"&x& +4 "core" & y + "storage"( & +4 "core" &,q \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&h', +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(n'X +8 "core" &  + "manipulator"&4% +4 "core" % 4 : C +2 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&1(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +6 "manipulator"&w& +4 "core" &p p +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &p T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&P& +4 "core" &p 2 +2 "manipulator"&}% +4 "core" % =  +2 "processing"%R& +4 "core" &\ +2 "processing"%k& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &$\ +7 &9\ $d +9 &V}\ 7 +10 &y8\ K +9 &U^\ M +9 &pYy\ M +10 &3W\ M +9 &WM\ M +9 &U\ L +10 &xW\ M +9 &;W\ M +10 &W\ M +9 &!ZN\ M +9 &#W\ M +10 &%BW\ M +9 &'W\ M +10 &(W\ M +9 &*V\ M +9 &,KW\ M +10 &. X\ M +9 &/V\ L +9 &1W\ M +10 &3RV\ M +9 &5V\ M +9 &6W\ M +10 &8U\ M +9 &:ZU\ M +10 &<V\ M +9 &=U\ M +9 &?V\ M +10 &AcV\ M +9 &C$Y\ M +9 &D]\ N +10 &Fc\ N +9 &H]z\ Q +10 &J\ S +9 &K\ S +10 &M\ R +9 &Oa\ S +11 &Q"\ S +7 &R\ T +10 &T\ T +9 &Vf\ T +10 &X(\ T +9 &Y{n\ 0 +9 &Z'c\ J +10 &Z$\ . +2 ( + "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&B1 +62 "core" 1 +2 "manipulator"&D% +4 "core" % ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +100 "core" ' +2 "processing"%& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\ % +4 "core" %\   + "storage"(% +4 "core" %] \ +2 "storage"( . +3 "core" .(,l + "storage"(& +4 "core" &,q \ +2 "storage"(s& +2 "manipulator"&!& +7 "core" &,q \ + &p  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&8(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&A& +4 "core" &p w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&,' +100 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +3 "processing"%V( +82 "core" ' +2 "storage"(U- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +297 ( + "storage"(& +4 "core" &,q \ +2 "manipulator"&& +3 "core" &p +2 "manipulator"&% +3 "core" % P +2 .tForearm.seek :retract +2 "manipulator"&+'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +6 "manipulator"&y( +266 "core" ( + "manipulator"& & +4 "core" &  ^  +2 "storage"(& +4 "core" &,q 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +98 "core" ' + .tHand.open + "manipulator"&l1 +60 "core" 1 +2 "storage"(T- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.79 Pucks below Top Plate + "storage"(@' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"(c& +4 "core" &,q Q Q \ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&S& +4 "core" & /  +2 "storage"(i& +4 "core" &,q R R N\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Y'Ѽ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(&' +62 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(K& +4 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O' +23 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +23 "core" ' +2 "manipulator"&r% +4 "core" % v +2 "storage"(>& +4 "core" &,q t\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&7'= +19 "core" ' + "manipulator"&q& +5 "core" &   + "storage"(X& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{'Ѽ +32 "core" ' + "storage"()% +5 "core" %p t\ +2 ."downElevator"SE.seek :down +3 "storage"(N'X +99 (% +3 "core" %I r\ Xe + "manipulator"&b% +4 "core" %Ѷ K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &,q {\ +2 "collection"'o& +4 "core" &VrTUr\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&:% +4 "core" %\  #  +2 "storage"(3% +3 "core" %_ \ +2 "storage"(L. +3 "core" .(,l + "storage"(& +4 "core" &,q \ + "storage"(Z& +4 "core" &,q \ +2 "manipulator"&~& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&]( +3 "core" ( + "manipulator"&& +4 "core" &  ;  +2 "storage"(p& +3 "core" &,q ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&('Ѽ +87 "core" ' + "storage"(%& +54 "core" &,q \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &   +2 "storage"($& +4 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&*' +32 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(g'W +32 "core" ' + "manipulator"& % +5 "core" % S  + "storage"(F& +4 "core" &,q 6\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&''= +18 "core" ' +2 "manipulator"&|& +4 "core" &   + "storage"(-& +4 "core" &,q T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&W'Ѽ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'F +38 "core" ' + "manipulator"&M& +5 "core" &   + "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +2 "manipulator"&& +4 "core" &* - A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &* S A` +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&u/ +52 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( + "storage"(& +4 "core" &,q\ \ G\ +2 "storage"(=& +3 "core" &,q\ \  (\ +2 "manipulator"&"& +3 "core" &* @^ +2 "manipulator"&m% +4 "core" % % b  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +151 "core" ( +2 "manipulator"&[& +4 "core" & # [  + "storage"(v& +4 "core" &,q\ "\ $ 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&.' +97 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&f% +5 "core" %  # - + "storage"(d& +4 "core" &,q\ &\ % c\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&4'= +19 "core" ' +2 "manipulator"&\\& +4 "core" & L  +2 "storage"(& +4 "core" &,q\ '\ % B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&<'Ѽ +18 "core" ' + "storage"(h% +5 "core" %I\ +\ & "\ +2 ."downElevator"SE.seek :down +4 "storage"(w'X +99 (e% +3 "core" %pG\ \  =\ Wc +2 "manipulator"&G% +4 "core" %Ѽ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'}& +5 "core" &TS\ + "manipulator"&R% +4 "core" %\    +2 "storage"(n% +4 "core" %`\ $\ $\ +2 "storage"(_. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(0(<* +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (B& +3 "core" &<' -\  +2 "manipulator"&D& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +8 "core" ( + "manipulator"&\ & +5 "core" & # I  + "storage"(& +4 "core" &<$\ %\ & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +105 "core" ' +2 "storage"(k& +4 "core" &<$\ H\ G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (!& +3 "core" &<$\ \  \  +2 "manipulator"&A& +3 "core" & M  +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( + "manipulator"&& +4 "core" & 6  +2 "storage"(& +3 "core" &<$\ %\ $ 6\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&U' +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& + "storage"(z'X +7 "core" & =  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &* ) @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &* 5 @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +100 "core" ' + "manipulator"&& +5 "core" &* U @W + "manipulator"&8% +4 "core" %  +2 "collection"'l& +4 "core" &QR\ +2 "collection"'T& +6 "core" &ST6\ +2 .tCC.seek :closed + "collection"'5(V +4 "core" &UUM\  +9 &1xRS\ *x +9 &eVT\ > +10 &yrST\ M +9 &=QTT\ L +10 &WRT\ L +9 &TSS\ L +9 &URS\ L +10 &EUTU\ L +9 &VSS \ L +9 &URS\ L +10 & QTT\ L +9 &"MUTU\ L +10 &$QTS\ L +9 &%VSS\ M +9 &'TTT\ L +10 &)TTTS\ M +9 &+URR\ L +9 &,WST\ L +10 &.UST\ L +9 &0]WST\ L +10 &2TSV\ L +9 &3QTS\ L +9 &5TRS\ L +10 &7eRSS\ L +9 &9'WTT\ L +9 &:WRT\ M +10 &<YQU|\ L +9 &>mYSUx\ L +11 &@/RRS~\ L +8 &AWRS}\ L +9 &CWVTu\ M +10 &Er]TTr\ M +9 &G.kTTu\ O +10 &HUTs\ Q +9 &JSTr\ W +9 &L]SRs\ W +9 &NTSv\ W +10 &OSWr\ X +9 &QTVq\ X +10 &S]TTt\ Z +9 &UTUt\ Z +9 &VhCVUu\ 0 +10 &V|TUw\ O +5 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&c1 +3 "core" &ViUTw\ O +56 1 + "manipulator"&% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%i& +4 "core" &w\ +2 "manipulator"&+% +3 "core" %\  : 7 +2 "storage"(% +4 "core" %R l\ + "storage"(K. +3 "core" .(<* +2 "storage"(& +3 "core" &<$ \  +2 "storage"(r& +4 "core" &<$ F\  +2 "manipulator"&>& +4 "core" &( ?U + "manipulator"&?% +4 "core" %\ !  7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&q( +161 "core" ( + "manipulator"&X& +4 "core" & $  T +2 "storage"()& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&y'ы +104 "core" ' +2 "storage"(`& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &<$ H\  +2 "manipulator"&Y& +4 "core" & S T + .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&&& +3 "core" &  S T +2 "storage"(O& +3 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&7' +20 "core" ' + .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +55 "core" / +3 ."downElevator"SE.seek :down +52 "manipulator"&o& +2 "storage"(:'X +8 "core" & @ T + "manipulator"&3% +4 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( + "manipulator"&E& +5 "core" &l > i + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &l q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +96 "core" ' + "manipulator"&& +4 "core" &m h +2 "manipulator"&p% +4 "core" % F +2 "processing"%{& +4 "core" &%\ +2 "processing"%%& +6 "core" &%\ +2 .tPC.seek :closed +3 "processing"%N(Z +4 "core" &O\ +5 &\ 6 +9 &GIx0\ 0 +9 &ts'\ D +10 &b%\ N +9 &Uc\ M +10 &Vo\ M +9 &^X]\ M +9 & W\ M +10 &W\ M +9 &U\ M +9 &gWa\ M +10 &!)U\ M +9 &"X\ M +10 &$U\ M +9 &&oU\ M +9 &(1V\ M +10 &)W\ M +9 &+W\ M +9 &-wV\ M +10 &/9V\ M +9 &0W\ M +10 &2W\ M +9 &4V\ M +9 &6AU\ M +10 &8Y\ M +9 &9Y\ M +9 &;V\ M +10 &=IV\ M +9 &? T\ L +10 &@V\ M +9 &BX\ M +9 &DN[\ N +10 &F]\ N +9 &Gn\ P +10 &I\ R +9 &KG\ S +9 &M\ S +9 &N\ S +10 &P\ S +9 &RM\ S +10 &T\ S +13 &U\ T +5 &W\ S +10 &YR\ B +9 &Zb=\ Z +9 &Z.\ - +6 ( + "processing"%%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&J1 +3 "core" &Z \ - +54 1 +2 "manipulator"&% +4 "core" % i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&;'\ +94 "core" ' + "processing"%& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&$% +4 "core" %\   +2 "storage"(2% +3 "core" %T \ +2 "storage"( . +3 "core" .(<* + "storage"(F& +4 "core" &<$ K\  +2 "storage"(|& +3 "manipulator"&-& +6 "core" &<$ g\  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&M(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'i +3 "core" ( + "manipulator"&(& +4 "core" &m ( 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &m 3 +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&*/ +56 "core" / +2 .tPC.seek :open +2 "processing"%'( +88 "core" ' +2 "storage"(g- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +291 ( +2 "storage"(a& +4 "core" &<$ b\  + "manipulator"&W& +4 "core" &m . + "manipulator"&/% +4 "core" % N +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +260 "core" ( + "manipulator"&H& +4 "core" &  +2 "storage"(& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&='ы +95 "core" ' + .tHand.open +2 "manipulator"&"1 +62 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(v' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<$ = = \  + "manipulator"& & +4 "core" & %  +2 .tElbow.seek 5 + "manipulator"&f( +4 "core" ( + "manipulator"&d& +4 "core" &  j  +2 "storage"(\\& +4 "core" &<$ = = \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +57 "core" ' + "manipulator"&^& +5 "core" &   + "storage"(e& +4 "core" &<$ F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&G' +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +25 "core" ' + "manipulator"&}% +4 "core" %  ) e +2 "storage"(4& +4 "core" &<$ j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&R'\ +21 "core" ' + "manipulator"&n& +5 "core" & Q  + "storage"(_& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +21 "core" ' + "storage"(<% +5 "core" %p W\ +2 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (9% +3 "core" %$I N\ Xe + "manipulator"&B% +4 "core" %ч + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\ & +4 "core" &<$ >\  +2 "collection"'& +3 "core" &VhTWv\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %\ \   +2 "storage"(x% +4 "core" %\\ \ + "storage"(P. +3 "core" .(<* +2 "storage"(s& +4 "core" &<$ \  + "storage"(!& +4 "core" &<$ \  +2 "manipulator"&A& +3 "core" & y  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & =  +2 "storage"(1& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +96 "core" ' + "storage"(& +5 "core" &<$ E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & :  + "storage"(,& +4 "core" &<$ '\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +37 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'U +31 "core" ' + "manipulator"&l% +4 "core" %x   0 +2 "storage"(j& +3 "core" &<$ { x \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&z' +19 "core" ' + "manipulator"&& +4 "core" & p  +2 "storage"(& +4 "core" &<$ =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&c'ы +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('D +40 "core" ' +2 "manipulator"&i& +4 "core" &   + "manipulator"&+% +4 "core" %ѩ a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +165 "core" ( +2 "manipulator"&& +4 "core" &+ Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &+ + Bk +2 .tForearm.seek CC + "manipulator"&r'" +93 "core" ' +2 .tHand.close + "manipulator"&>/ +57 "core" / + .tCC.seek :open +2 "collection"'?( +417 "core" ( +52 "storage"( & +4 "core" &<$ c\  + "storage"(X& +4 "core" &<$ S\  + "manipulator"&)& +4 "core" &, .  Bj + "manipulator"&`% +4 "core" % &   ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&S( +162 "core" ( + "manipulator"&& +5 "core" &   U + "storage"(b& +4 "core" &<$\ \  1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y' +108 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +55 "core" 1 +2 "manipulator"&C% +4 "core" %  ( +2 "storage"(o& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&3' +14 "core" ' +2 "manipulator"&q& +4 "core" & h V + "storage"(y& +4 "core" &<$\ #\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&@'ы +27 "core" ' + "storage"(7% +5 "core" %G\ &\ # \ +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 (Z% +3 "core" %~F\ \ \ Wb + "manipulator"&Q% +4 "core" %і  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'p& +9 "core" &ST\ + "manipulator"&{% +4 "core" %\  $  +2 "storage"(:% +3 "core" %b\ H\ H\ +2 "storage"(L. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(V(K +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (J& +3 "core" &K M\  +2 "manipulator"&& +3 "core" &  V +2 .tElbow.seek 6 +2 "manipulator"&( +43 "core" ( +2 "manipulator"&$& +4 "core" &, # j 7 + "storage"(2& +4 "core" &K\ #\ # \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +90 "core" ' + "storage"(F& +4 "core" &K\ H\ I \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +282 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &K\ \ \  &\  +2 "manipulator"&(& +4 "core" &, . 7 + .tElbow.seek 6 +2 "manipulator"&]( +23 "core" ( +2 "manipulator"&~& +4 "core" &  e t +2 "storage"(*& +3 "core" &K\ &\ & w\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&g' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& + "storage"(N'X +7 "core" & S t +2 "manipulator"&t% +4 "core" % Ͼ   + .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&W( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&/& +3 "core" &(  N ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( / < ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'" +95 "core" ' +2 "manipulator"&& +4 "core" &( 4 v ?P +2 "manipulator"&M% +4 "core" % v $ +2 "collection"'"& +4 "core" &OT:\ +2 "collection"'m& +6 "core" &RU5\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &QS\ +7 &4ST\ $c +9 &V~TSQ\ 7 +10 &xSU\ L +9 &RST\ L +9 &kVRS\ L +10 &-USS \ L +9 &WRT\ L +9 &UTM\ L +10 &sUTS\ L +9 &6VQUy\ L +10 &TTSv\ L +9 &!URS\ M +9 &#{UTS\ L +10 &%=WSS\ L +9 &&TVT\ L +14 &(UTV\ L +5 &*TSU\ L +9 &,DUTT\ M +9 &.SUU\ L +10 &/TUT\ L +9 &1RTS\ L +10 &3MTST\ L +9 &5VTS\ L +9 &6UTS\ L +10 &8TST\ M +9 &:VUSU\ L +9 &<YTS\ L +10 &=XRV\ L +9 &?XSS\ L +10 &A\\UTR\ M +9 &CWTT}\ M +9 &D]RUs\ M +10 &FcSTq\ N +9 &H[rTT\ P +10 &JTT}\ T +9 &KTU\ X +9 &MSV\ X +10 &OITU|\ Y +9 &Q UTs\ X +10 &RST|\ Z +9 &TSTu\ Z +9 &V,vUTs\ . +9 &V#RUs\ S +9 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +3 "core" &VfTTr\ O +59 1 +2 "manipulator"& % +4 "core" %  5 $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%\\& +4 "core" &]\ +2 "manipulator"&u% +3 "core" %\ % G +2 "storage"(^% +4 "core" %R \ + "storage"(e. +3 "core" .(K +2 "storage"(& +4 "core" &K \  + "storage"(}& +4 "core" &K \  +2 "manipulator"&4& +4 "core" &' >O + "manipulator"&[% +4 "core" %\ % G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&n( +153 "core" ( + "manipulator"&_& +5 "core" &    + "storage"(<& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&#'a +100 "core" ' + "storage"(=& +4 "core" &K !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'i +284 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" &K 0\  + "manipulator"&& +4 "core" &  ;  +2 .tElbow.seek 6 + "manipulator"&f( +4 "core" ( + "manipulator"&h& +4 "core" &  .  + "storage"(G& +4 "core" &K ,\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&R' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(k'X +7 "core" &  -  +2 "manipulator"&x% +4 "core" % . ! + .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&.(s +172 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&s& +5 "core" &n ( } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +2 "core" &n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +100 "core" ' + "manipulator"&& +4 "core" &n  J +2 "manipulator"&1% +4 "core" % v +2 "processing"%6& +3 "core" &+\ +2 "processing"%& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &&\ +6 &9%\ #c +10 &Tz'\ 6 +9 &~}%\ K +9 &Z \ M +10 &bYU\ M +9 &$Vm\ M +9 &UM\ M +10 &U0\ M +9 &kW\ M +10 &-X\ M +9 &W\ M +9 &!W\ M +10 &#sY\ M +9 &%5W\ M +9 &&V\ M +10 &(W\ M +9 &*{V\ M +10 &,=W\ M +9 &-X\ M +9 &/Z\ M +10 &1W\ M +9 &3DW\ M +9 &5W\ M +10 &6V\ M +9 &8U\ M +10 &:KY\ M +9 &<V\ M +9 &=V\ M +10 &?W\ M +9 &ATT\ M +10 &CY\ M +9 &DZ\ N +9 &Ff\ O +10 &HP}\ Q +9 &J \ S +9 &K\ S +10 &M\ R +9 &OS\ S +11 &Q\ S +8 &R\ S +9 &T\ S +10 &VX\ T +9 &X\ T +9 &Yyl\ 7 +10 &Z/\ I +9 &Z\ ' +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"& 1 +56 "core" 1 + "manipulator"&D% +4 "core" % g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + "processing"%& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&,% +4 "core" %\  3  +2 "storage"(% +3 "core" %T +\ +2 "storage"(l. +52 "core" .(K +3 "storage"(j& +3 "core" &K \  +2 "storage"(& +5 "manipulator"&& +3 "core" &K r\  + &n  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&i(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(+'i +3 "core" ( + "manipulator"&I& +4 "core" &n . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n   +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +3 .tPC.seek :open + "processing"%z( +83 "core" ' + "storage"(8- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +297 ( + "storage"(T& +4 "core" &K \  +2 "manipulator"&c& +4 "core" &n  + "manipulator"&U% +4 "core" % m +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +262 "core" ( + "manipulator"&5& +4 "core" &  i  +2 "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&X'a +93 "core" ' +2 .tHand.open + "manipulator"&)1 +60 "core" 1 +2 "storage"(`- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' + "storage"(K& +4 "core" &K R O \  +2 "manipulator"&O& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( + "manipulator"&o& +4 "core" & w  +2 "storage"(q& +4 "core" &K H E c\  +2 .tForearm.seek 6 + 700 counts + "manipulator"&y'a +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(7' +56 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(Z& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Q'Υ +31 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Y'i +23 "core" ' + "manipulator"&3% +5 "core" %ε Z + "storage"(p& +4 "core" &K o\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&{' +12 "core" ' + "manipulator"&:& +5 "core" & d  + "storage"(L& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +30 "core" ' + "storage"(@% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 (0% +3 "core" %I a\ Wd +2 "manipulator"&J% +4 "core" %h ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ($& +4 "core" &K d\  + "collection"'2& +4 "core" &VfRSy\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&F% +4 "core" %\  j ! +2 "storage"(&% +3 "core" %` b\ +2 "storage"(. +3 "core" .(K + "storage"(-& +4 "core" &K 8\  +2 "storage"(%& +3 "core" &K .\  +2 "manipulator"&(& +4 "core" & e  +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( + "manipulator"&*& +4 "core" & #  + "storage"(& +4 "core" &K R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&;'a +91 "core" ' + "storage"(t& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&/& +3 "core" & S  +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&|'Υ +25 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(M'Y +30 "core" ' + "manipulator"&"% +5 "core" %θ N  + "storage"(]& +4 "core" &K ,\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&N' +15 "core" ' +2 "manipulator"&a& +4 "core" & y  + "storage"(?& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +15 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'H +45 "core" ' + "manipulator"&\\& +5 "core" &  + "manipulator"&u% +4 "core" %_ 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +160 "core" ( +2 "manipulator"&m& +4 "core" &% /  <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% <= +2 .tForearm.seek CC +2 "manipulator"&}'" +93 "core" ' +2 .tHand.close + "manipulator"&4/ +52 "core" / +2 .tCC.seek :open +2 "collection"'[( +416 "core" ( +2 "storage"(H& +4 "core" &K \  \  + "storage"(_& +4 "core" &K v\  + "manipulator"&<& +4 "core" &% . <= + "manipulator"&=% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&d( +161 "core" ( + "manipulator"&9& +5 "core" & b  + "storage"(B& +4 "core" &K\ $\ % >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +104 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&G1 +58 "core" 1 +2 "manipulator"&\ % +4 "core" % ι , +2 "storage"(& +3 "core" &K (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&x' +12 "core" ' +3 "manipulator"&n& +4 "core" &   + "storage"(#& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&v'a +31 "core" ' +2 "storage"(R% +4 "core" %G\ -\ G %\ +3 ."downElevator"SE.seek :down +3 "storage"(s'X +98 (!% +3 "core" %H\ \  \ Vb +2 "manipulator"&f% +4 "core" %K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'1& +5 "core" &RS\ + "manipulator"&6% +4 "core" %\ # ) : +2 "storage"(k% +3 "core" %b\ %\ # ?\ +2 "storage"(P. +3 "core" .(K +49 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"('(,l +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &,o ]\ +2 "manipulator"&D& +3 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&,& +4 "core" &  * R +2 "storage"(& +4 "core" &,s\ %\ % K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +92 "core" ' +2 "storage"(& +5 "core" &,s\ C\ J \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,s\ \ \ \ +2 "manipulator"&I& +3 "core" & $ R +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&A& +4 "core" &  R + "storage"(& +4 "core" &,s\ \  q\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&8', +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(w'X +7 "core" &  R +2 "manipulator"&+% +4 "core" % @ = Y +2 .tForearm.seek :retract + "manipulator"&T'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +162 "core" ( + "manipulator"&U& +5 "core" &* @W + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +3 "core" &)  @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'" +98 "core" ' + "manipulator"& & +5 "core" &( ?V + "manipulator"&i% +4 "core" %+ +2 "collection"')& +4 "core" &VT"\ +2 "collection"'`& +5 "core" &PTW\ +2 .tCC.seek :closed +2 "collection"'r(V +4 "core" &ST\  +9 &3|RT\ *y +9 &dQS\ > +10 &}mSS\ M +9 &AQSS\ L +10 &QST\ L +9 &VST\ L +9 &TTR\ L +10 &IQST\ L +9 & WTS\ L +9 &UTT\ L +10 & RST\ L +9 &"QWTT\ L +9 &$TTT\ M +10 &%VTT\ M +9 &'URU\ L +10 &)ZWUV\ L +9 &+VTS\ L +9 &,RQT\ L +10 &.TTU\ L +9 &0aRRT\ L +9 &2#UST\ L +10 &3TST\ L +9 &5QTT\ L +10 &7iWTU\ L +9 &9*TTT\ M +9 &:UUT\ M +10 &<YSU\ L +9 &>qSRT\ L +10 &@3QUS\ L +9 &ARTU\ L +9 &CWTV~\ L +10 &Ev]SSu\ M +9 &G2jSU}\ O +9 &HTS\ Q +10 &JVV}\ W +9 &L_STw\ X +9 &N!TU\ X +10 &OTV|\ Y +9 &QUS\ Y +10 &SaTT\ Z +9 &U!TT\ [ +9 &VpCTT~\ 1 +10 &VySUz\ N +5 ( +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&K1 +3 "core" &VsUSv\ N +53 1 + "manipulator"&O% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%q& +5 "core" &(\ + "manipulator"&>% +4 "core" %\ #  > +2 "storage"(% +3 "core" %` o\ +2 "storage"(Z. +3 "core" .(,l + "storage"(& +4 "core" &,s E\ +2 "storage"(3& +3 "core" &,s @\ +2 "manipulator"&p& +4 "core" &( ?V + "manipulator"&% +4 "core" %\ # > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&:( +158 "core" ( + "manipulator"&L& +4 "core" &   u +2 "storage"(@& +3 "core" &,s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +104 "core" ' + "storage"(X& +4 "core" &,s I\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'i +286 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,s 0\ + "manipulator"&y& +4 "core" &  u +2 .tElbow.seek 4 + "manipulator"&C( +3 "core" ( +2 "manipulator"&7& +3 "core" & u +2 "storage"(Q& +3 "core" &,s \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&{', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +3 "storage"(F'X +12 "core" & _ u + "manipulator"&&% +4 "core" % *   +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&-& +4 "core" &i (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &i W  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +94 "core" ' + "manipulator"&*& +5 "core" &i   +3 "manipulator"&% +3 "core" % _  +2 "processing"%& +4 "core" &)\ +2 "processing"%t& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &\  +9 &3~&\ *x +10 &d'\ > +9 &{sP\ N +9 &@R-\ M +10 &WP\ M +9 &W\ M +9 &Y3\ M +10 &GT\ M +9 & W\ M +9 &V\ M +10 & W\ M +9 &"OW\ M +10 &$W\ M +9 &%W\ M +9 &'X\ M +10 &)XW\ M +9 &+V\ M +10 &,X\ M +9 &.V\ M +9 &0_X\ M +10 &2"W\ M +9 &3V\ L +9 &5W\ M +10 &7hW\ M +9 &9+U\ L +9 &:U\ M +10 &<V\ M +9 &>pW\ M +10 &@1[\ M +9 &AW\ M +9 &CZ\ M +10 &Et`\ N +9 &G2j\ O +10 &H\ R +9 &J\ S +9 &Ln\ S +10 &N0\ S +9 &O\ R +9 &Q\ S +10 &St\ S +9 &U5\ T +10 &V\ T +9 &X\ T +9 &Z#[~\ $n +10 &Zc\ 3 +8 ( +3 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&S1 +3 "core" &Z \ , +55 1 +2 "manipulator"&% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' + "processing"%/& +5 "core" &Z \ , + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  E ! +2 "storage"(% +3 "core" %a 0\ +2 "storage"(". +3 "core" .(,l + "storage"(]& +4 "core" &,s +\ +2 "storage"(a& +5 "manipulator"&?& +3 "core" &,s >\ + &i m  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&\\(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'i +2 "core" ( +2 "manipulator"&;& +4 "core" &i 0  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &i 9  +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&|/ +60 "core" / + .tPC.seek :open +2 "processing"%N( +93 "core" ' +2 "storage"(M- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'y +35 "core" ' +294 ( +2 "storage"(& +4 "core" &,s \ + "manipulator"&& +4 "core" &i Y  + "manipulator"&g% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&4'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&^( +264 "core" ( +2 "manipulator"&& +4 "core" &  }  + "storage"(H& +4 "core" &,s k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&_'Ѽ +122 "core" ' + .tHand.open + "manipulator"&<1 +53 "core" 1 + "storage"(=- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +57 "core" ' +51 #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(e& +4 "core" &,s B < \ + "manipulator"&G& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(n& +3 "core" &,s Q N H\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&#'Ѽ +29 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +6 "storage"(R' +57 "core" ' +2 "manipulator"&W& +4 "core" &   +2 "storage"(!& +3 "core" &,s N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&f' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&x% +4 "core" %  } +2 "storage"(1& +4 "core" &,s 3\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&6'@ +19 "core" ' +2 "manipulator"&k& +4 "core" & D  +2 "storage"(P& +4 "core" &,s m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"& 'Ѽ +16 "core" ' + "storage"(v% +5 "core" %n k\ +2 ."downElevator"SE.seek :down +5 "storage"(s'X +98 (V% +5 "core" %O M\ Xf + "manipulator"& % +4 "core" %Ѳ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (,& +4 "core" &,s ?\ +2 "collection"'& +4 "core" &VsTT\ N +6 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\ % Y D + "storage"(h% +4 "core" %P )\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,s \ +2 "storage"(& +4 "core" &,s [\ +2 "manipulator"&I& +3 "core" & g  +2 .tElbow.seek 4 +2 "manipulator"&A( +3 "core" ( + "manipulator"&& +4 "core" & $ ]  +2 "storage"(.& +4 "core" &,s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +95 "core" ' + "storage"(+& +4 "core" &,s |\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +2 "core" &   +2 "storage"(& +4 "core" &,s b\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&j' +31 "core" ' +6 .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'W +27 "core" ' +2 "manipulator"&% +4 "core" %  + "storage"()& +4 "core" &,s j\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&w'? +18 "core" ' +2 "manipulator"&T& +4 "core" & N  +2 "storage"([& +3 "core" &,s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&K'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(O'F +39 "core" ' +2 "manipulator"&q& +4 "core" & N  +2 "manipulator"&>% +4 "core" %Ѡ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +165 "core" ( +3 "manipulator"&& +4 "core" &( ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &'  ?U +2 .tForearm.seek CC + "manipulator"&3'" +97 "core" ' + .tHand.close +2 "manipulator"&p/ +60 "core" / + .tCC.seek :open +2 "collection"'( +420 "core" ( + "storage"(5& +4 "core" &,s \ @\ +2 "storage"(L& +3 "core" &,s F\ +2 "manipulator"&@& +3 "core" &(  ?T +2 "manipulator"&X% +4 "core" % % (  +2 .tForearm.seek :retract + "manipulator"&c'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&o( +159 "core" ( + "manipulator"&0& +4 "core" & # 1 s +2 "storage"(J& +3 "core" &,s\ \  L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&y' +95 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Q1 +58 "core" 1 + "manipulator"&$% +5 "core" %   z + "storage"(2& +4 "core" &,s\ \  Q\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&&'4 +16 "core" ' +2 "manipulator"&:& +5 "core" & n s + "storage"(& +4 "core" &,s\ \ $ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&b'Ѽ +46 "core" ' +2 "storage"({% +4 "core" %K\ G\ G\ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (%% +3 "core" %L\ \ $ \ Va + "manipulator"&C% +4 "core" %Ѩ 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +89 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &SS\ + "manipulator"&% +4 "core" %\  Y  +2 "storage"(F% +3 "core" %[\ G\ H\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(z(<* +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &<' s\ +2 "manipulator"&& +3 "core" &  s +2 .tElbow.seek 5 +2 "manipulator"&/( +8 "core" ( + "manipulator"&& +4 "core" & i +2 "storage"(& +3 "core" &<$\ #\ " A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&"'ы +96 "core" ' +2 "storage"(]& +4 "core" &<$\ G\ D \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +288 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (t& +3 "core" &<$\ &\ $ o\  +2 "manipulator"&;& +3 "core" & * i +2 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&(& +4 "core" &  L i + "storage"(|& +4 "core" &<$\ &\ 5 T\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&M' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +3 "storage"(E'X +7 "core" &  i +2 "manipulator"&u% +3 "core" % I - +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&g& +4 "core" &* <  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* C @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&H& +4 "core" &* 4 @X +50 "manipulator"&\\% +5 "core" % # P + "collection"'<& +4 "core" &VT7\ +2 "collection"'=& +7 "core" &RS7\ +2 .tCC.seek :closed +2 "collection"'}(V +4 "core" &QT\ +7 &4RT\ $d +9 &V{TT\ 7 +9 &vUU\ K +10 &SRS\ L +9 &lUSS\ L +9 &.TRS\ L +10 &UUU\ L +9 &TTT\ L +10 &sUSSx\ L +9 &5TRTz\ L +9 &TQU\ L +10 &!WSR(\ L +9 &#|UTT|\ L +9 &%=URU~\ L +10 &&UQS\ L +9 &(QPU\ L +9 &*UTT\ L +10 &,EUTS\ L +9 &.URS\ L +10 &/QQS\ L +9 &1VTT\ L +9 &3MUTU\ L +10 &5USV\ M +9 &6UTT\ L +9 &8TRT\ L +10 &:TUST\ M +9 &<VSS\ L +10 &=TQT\ L +13 &?TQT\ L +5 &A\\UTR\ M +10 &CWRT\ M +9 &DYSV\ M +9 &FhRU\ N +10 &HZySV}\ P +9 &J TV\ V +10 &KTV\ X +9 &MVU\ W +9 &OLUU\ X +10 &Q TU\ X +9 &RTV\ Z +9 &TTU}\ Y +10 &V)vVT\ . +9 &V'UT{\ R +9 ( +3 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&41 +4 "core" &VeSTs\ M +58 1 + "manipulator"&e% +4 "core" %  E O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &'\ +2 "manipulator"&n% +4 "core" %\ % H + "storage"(W% +4 "core" %a \ + "storage"(!. +3 "core" .(<* +2 "storage"(m& +4 "core" &<$ \  +2 "storage"(9& +3 "core" &<$ \  +2 "manipulator"&x& +4 "core" &' >N + "manipulator"&1% +4 "core" %\ %  H +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&k( +168 "core" ( +2 "manipulator"&P& +4 "core" &  k M +2 "storage"(v& +3 "core" &<$ >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +99 "core" ' +3 "storage"(_& +4 "core" &<$ Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'i +282 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<$ \\\  +2 "manipulator"&#& +4 "core" &  M + .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&R& +3 "core" & M +2 "storage"(f& +4 "core" &<$ I\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&,' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" & M M + "manipulator"&h% +4 "core" % Q u +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +170 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&& +4 "core" &x & s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +97 "core" ' +2 "manipulator"&& +4 "core" &x $ +2 "manipulator"&.% +4 "core" %  n + "processing"% & +4 "core" &d\ +2 "processing"%+& +5 "core" &4\ +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &8\ +7 &A;\ $e +10 &X+\ 7 +9 &{/\ L +10 &U3\ M +9 &wX&\ M +9 &9UH\ M +10 &U0\ M +9 &U&\ M +9 &~[&\ M +10 &AX,\ M +9 & X-\ M +10 &!V\ M +9 &#W~\ M +9 &%IU\ M +10 &' W\ M +9 &(V\ M +9 &*W\ M +10 &,RX\ M +9 &.[\ M +9 &/V\ M +10 &1U\ M +9 &3YT\ M +10 &5U\ M +9 &6V\ M +9 &8Y\ M +10 &:bV\ M +9 &<#Z\ M +10 &=U\ M +9 &?X\ M +9 &AjU\ M +10 &C,X\ M +9 &D\\\ M +10 &Fc\ O +9 &Hfv\ Q +9 &J#\ R +9 &K\ R +10 &M\ S +9 &Oh\ S +10 &Q*\ S +9 &R\ S +9 &T\ S +10 &Vm\ T +9 &X/\ T +9 &Y{m\ - +10 &Z)c\ A +9 &Z"\ . +3 ( + "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&d1 +57 "core" 1 + "manipulator"&D% +5 "core" %  { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +3 "processing"%U& +4 "core" &Z"\ . + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\  9  + "storage"( % +4 "core" %` 5\ + "storage"(. +3 "core" .(<* +2 "storage"()& +4 "core" &<$ 9\  +2 "storage"(T& + "manipulator"&[& +7 "core" &<$ m\  + &x 9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&q(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(>'i +3 "core" ( + "manipulator"& & +4 "core" &x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &x $ ` +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&j/ +60 "core" / +2 .tPC.seek :open +2 "processing"%w( +86 "core" ' +2 "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +292 ( + "storage"(`& +4 "core" &<$ N\  +2 "manipulator"&K& +3 "core" &x z +2 "manipulator"&8% +3 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +262 "core" ( + "manipulator"&r& +4 "core" &  +2 "storage"(5& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&L'ы +100 "core" ' +2 .tHand.open +2 "manipulator"&@1 +55 "core" 1 +2 "storage"(X- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(0'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +53 "core" ' + #tLights, camera, ACTION! + "storage"(3- +4 "core" -' +2 "storage"(Z& +3 "core" &<$ I N /\  +2 "manipulator"&Q& +4 "core" & I +2 .tElbow.seek 5 + "manipulator"&$( +4 "core" ( + "manipulator"&2& +4 "core" &  w +2 "storage"(:& +3 "core" &<$ G H \  +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +56 "core" ' + "manipulator"&c& +4 "core" & +2 "storage"(%& +4 "core" &<$ 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'i +23 "core" ' + "manipulator"&&% +5 "core" % 1 i p + "storage"(& +4 "core" &<$ j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&'\ +17 "core" ' + "manipulator"&F& +4 "core" & @ +2 "storage"(& +4 "core" &<$ >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&O'ы +27 "core" ' +2 "storage"(b% +4 "core" %s y\ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 ('% +2 "core" %I \ Xf +2 "manipulator"&S% +4 "core" %ь  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<$ =\  + "collection"'& +4 "core" &VeSU\ M +52 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&]% +3 "core" %\  -  +2 "storage"(7% +4 "core" %T F\ +2 "storage"(*. +3 "core" .(<* + "storage"(a& +4 "core" &<$ \  +2 "storage"(t& +3 "core" &<$ \  +2 "manipulator"&;& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&|& +3 "core" & m +2 "storage"(Y& +4 "core" &<$ D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +95 "core" ' + "storage"(u& +5 "core" &<$ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +278 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &  + "storage"(& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&?' +36 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\\'U +28 "core" ' + "manipulator"&~% +4 "core" %~ K +2 "storage"(<& +3 "core" &<$ h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&E'\ +19 "core" ' + "manipulator"&& +4 "core" & } +2 "storage"(& +4 "core" &<$ 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&4'ы +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(e'D +38 "core" ' + "manipulator"&& +5 "core" & q + "manipulator"&n% +4 "core" %њ D v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&!( +161 "core" ( + "manipulator"&=& +4 "core" &* $  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &+ o Ae +2 .tForearm.seek CC +2 "manipulator"&9'" +91 "core" ' + .tHand.close + "manipulator"&x/ +62 "core" / +2 .tCC.seek :open + "collection"'1( +417 "core" ( + "storage"(& +4 "core" &<$\ \  8\  +2 "storage"(P& +3 "core" &<$\ \  +\  +2 "manipulator"&v& +4 "core" &) 2 g ?V +2 "manipulator"&_% +3 "core" % ,  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +162 "core" ( +2 "manipulator"&V& +4 "core" & # 5 e +2 "storage"( & +4 "core" &<$\ %\ $ d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&#' +106 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&f1 +59 "core" 1 +2 "manipulator"&6% +4 "core" %  ' +2 "storage"(& +4 "core" &<$ 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&h' +14 "core" ' +2 "manipulator"&k& +4 "core" & $ g + "storage"(^& +4 "core" &<$\ H\ I \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&B'ы +30 "core" ' +2 "storage"(,% +4 "core" %N\ E\ H z\  +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (% +3 "core" %}G\ \  \ Va +2 "manipulator"&\ % +4 "core" %Ѡ  d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'.& +5 "core" &RR\ + "manipulator"& % +4 "core" %\ $  E +2 "storage"(% +4 "core" %a\ #\ # O\ + "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(N(K +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &K \  +2 "manipulator"&D& +3 "core" &  g +2 .tElbow.seek 6 +2 "manipulator"&U( +42 "core" ( +2 "manipulator"&& +4 "core" &- / 5 + "storage"( & +4 "core" &K\ \  g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +94 "core" ' + "storage"()& +4 "core" &K\ H\ H \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +282 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &K\ \ \  %\  +2 "manipulator"& & +3 "core" &- t 5 +2 .tElbow.seek 6 + "manipulator"&A( +21 "core" ( +2 "manipulator"&I& +4 "core" & V  + "storage"(j& +4 "core" &K\ \  f\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&i' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(s'X +7 "core" &   +2 "manipulator"&>% +3 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&`'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +162 "core" ( + "manipulator"&8& +5 "core" ' + &+ / Aa + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &* & S Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&r'" +98 "core" ' +3 "manipulator"&5& +4 "core" &+ ' Aa +2 "manipulator"&q% +3 "core" %  +2 "collection"'@& +4 "core" &SU\ +2 "collection"'X& +5 "core" &RS#\ +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" &RS\ +7 &4SS\ $d +9 &UyST \ 6 +10 &xRS\ K +9 &STT\ L +9 &fTRT\ L +10 &(QSS\ L +9 &VSU\ L +9 &TTS\ L +10 &oQSV\ L +9 &/TSS\ M +10 &TTS\ L +9 &!VTU\ L +9 &#uUSS\ M +10 &%8UTU\ L +9 &&RTR\ L +9 &(VTS\ L +10 &*~TSSQ\ L +9 &,@RRU`\ L +10 &.USTc\ L +9 &/TRTb\ L +9 &1RTR$\ L +10 &3GTQR\ M +9 &5\ TSS\ L +9 &6WUS\ L +10 &8SST\ L +9 &:PQTT\ L +10 &<TST\ M +12 &=WQT\ L +6 &?WTU\ L +10 &AXWTT\ L +9 &CXSS\ M +9 &D]SU\ M +10 &FcTT\ N +9 &HUqST\ P +10 &J\ TT\ U +9 &KST\ W +9 &MUW\ X +10 &OETTz\ X +9 &QUT\ Y +9 &RQT\ Z +10 &TSU\ Z +9 &V$tVT\ . +9 &V)TT\ U +9 ( +3 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&Z1 +3 "core" &VsVU\ N +49 1 +2 "manipulator"&Q% +5 "core" %  U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%:& +4 "core" &c\ +2 "manipulator"&p% +4 "core" %\ # @ +2 "storage"(c% +3 "core" %_ \ +2 "storage"(%. +3 "core" .(K + "storage"(&& +4 "core" &K \  + "storage"(& +4 "core" &K j\  +2 "manipulator"&& +3 "core" &* A` +2 "manipulator"&F% +4 "core" %\ #  @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +153 "core" ( +2 "manipulator"&& +4 "core" & # J  + "storage"(b& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +98 "core" ' +2 "storage"(L& +4 "core" &K G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +283 "core" ' +2 "storage"('- +53 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &K /\  +2 "manipulator"&& +4 "core" & x  + .tElbow.seek 6 +2 "manipulator"&$( +4 "core" ( + "manipulator"&{& +4 "core" & 4  + "storage"(C& +9 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(]'X +7 "core" &  +2 "manipulator"&y% +4 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&7'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&a& +5 "core" &p "  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &p ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +91 "core" ' + "manipulator"&|& +5 "core" &p  X + "manipulator"&Y% +4 "core" % d : +2 "processing"%O& +4 "core" &-\ +2 "processing"%u& +6 "core" &7\ +2 .tPC.seek :closed +3 "processing"%-(Z +3 "core" &*\ +6 &.\ 7 +9 &FIx.\ 0 +10 &ss'\ D +9 &b&\ N +9 &U'\ M +10 &U&\ L +9 &]W#\ M +9 & VG\ M +10 &W<\ L +9 &UL\ M +10 &fWY\ M +9 &!(UH\ M +9 &"ZD\ M +10 &$U\ M +9 &&oT\ L +9 &(/W\ M +10 &)W\ M +9 &+WM\ M +10 &-wU\ L +9 &/8V\ M +9 &0V\ M +10 &2X\ M +9 &4~U\ M +9 &6@U\ M +10 &8V\ M +9 &9X\ M +10 &;Y\ M +9 &=HV\ M +9 &? Y\ M +10 &@W\ M +9 &BY\ M +9 &DN\\\ M +10 &Fb\ N +9 &Gs\ P +10 &I\ S +9 &KF\ S +9 &M\ S +10 &N\ S +9 &P\ S +9 &RL\ S +10 &T\ S +9 &U\ T +10 &W\ T +9 &YR\ A +10 &Za={\ ] +9 &Z.\ - +5 ( +2 "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&o1 +3 "core" &Z \ - +58 1 + "manipulator"&% +4 "core" % w : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +98 "core" ' +2 "processing"%g& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ \   +2 "storage"(H% +3 "core" %_ \ +2 "storage"(~. +3 "core" .(K + "storage"(<& +4 "core" &K \  +2 "storage"(& +3 "manipulator"&& +5 "core" &K \  + &p  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(n'i +6 "core" ( + "manipulator"& & +4 "core" &p x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &p > +2 .tForearm.seek PC +2 "manipulator"&/' +96 "core" ' +2 .tHand.close + "manipulator"&?/ +53 "core" / +2 .tPC.seek :open + "processing"%E( +95 "core" ' + "storage"(\\- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='y +41 "core" ' +287 ( + "storage"(m& +4 "core" &K C\  +3 "manipulator"&4& +3 "core" &p W +2 "manipulator"&M% +3 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&x'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&W( +259 "core" ( +2 "manipulator"&}& +4 "core" &\   P  +2 "storage"(& +3 "core" &K y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&P'a +91 "core" ' +2 .tHand.open + "manipulator"&v1 +60 "core" 1 +2 "storage"(_- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(V'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(!& +4 "core" &K G G \  +2 "manipulator"&f& +3 "core" &\    +2 .tElbow.seek 6 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&& +8 "core" &\    +2 "storage"(k& +4 "core" &K N G \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&^'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +58 "core" ' +2 "Can"]\ GE + "manipulator"&& +4 "core" &\   +2 "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&\ 'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(#'i +25 "core" ' + "manipulator"&.% +5 "core" %ι  + "storage"(h& +4 "core" &K A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"& ' +12 "core" ' + "manipulator"&& +5 "core" &\  ]  + "storage"(& +5 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&e'a +36 "core" ' +2 "storage"(B% +4 "core" %q L\ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (z% +4 "core" %I H\ Xe +2 "manipulator"&d% +4 "core" %F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +99 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K B\  +2 "collection"' & +4 "core" &VsTS\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&)% +4 "core" %\  w  +2 "storage"(R% +3 "core" %T H\ +2 "storage"(. +3 "core" .(K + "storage"(T& +4 "core" &K \  +2 "storage"(+& +3 "core" &K v\  +2 "manipulator"& & +4 "core" &\    + .tElbow.seek 6 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&j& +3 "core" &\  2  +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&l'a +105 "core" ' + "storage"(>& +4 "core" &K S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +7 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &\   + "storage"(& +4 "core" &K A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&['Υ +28 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(q'Y +39 "core" ' + "manipulator"&A% +4 "core" %ε  +2 "storage"(@& +4 "core" &K E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts + "manipulator"&s' +13 "core" ' + "manipulator"&`& +4 "core" & `  +2 "storage"(1& +4 "core" &K ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&Z'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(Q'H +38 "core" ' + "manipulator"&:& +4 "core" & `  +2 "manipulator"&p% +4 "core" %f > +43 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&%( +156 "core" ( +2 "manipulator"&&& +4 "core" &# = :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &" 4 :1 +3 .tForearm.seek CC + "manipulator"&X'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'F( +417 "core" ( + "storage"(r& +4 "core" &K\ \  9\  +2 "storage"(& +4 "core" &K\ \ \  + "manipulator"&b& +4 "core" &# K :0 +2 "manipulator"&L% +3 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&2( +151 "core" ( + "manipulator"&'& +4 "core" &\  u  +2 "storage"(S& +4 "core" &K\ +\ $ r\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +59 "core" 1 +2 "manipulator"&% +4 "core" % δ + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&y' +13 "core" ' +2 "manipulator"&0& +5 "core" &  <  + "storage"(& +4 "core" &K\ B\ E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&J'a +29 "core" ' +2 "storage"(% +4 "core" %Q\ O\ R \ +2 ."downElevator"SE.seek :down +4 "storage"(a'X +99 (t% +3 "core" %A\ \  \ Va + "manipulator"&$% +4 "core" %O Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'Y& +4 "core" &PT\ +2 "manipulator"&O% +4 "core" %\ \   +2 "storage"(]% +3 "core" %a\ M\ E 8\ +2 "storage"(7. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(w(,l +660 "core" ( +2 .tSC.configure :limp +5 "storage"($\ 1b +4 (o& +8 "core" &,m\  l\ +3 "manipulator"&& +7 "core" &   +4 .tElbow.seek 4 +3 "manipulator"&g( +18 "core" ( +3 "manipulator"&& +8 "core" & t O +3 "storage"(H& +7 "core" &,q\ H\ H\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +4 "manipulator"&~'Ѽ +97 "core" ' +4 "storage"(u& +8 "core" &,q\ I\ I \ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(<'i +144 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +133 "core" ' +4 "storage"(- +4 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (& +4 "core" &,q\ \  \ +4 "manipulator"& & +8 "core" &  O +3 .tElbow.seek 4 +4 "manipulator"&(( +6 "core" ( +3 "manipulator"&;& +8 "core" & Y O +3 "storage"(?& +7 "core" &,q\ $\ $ \ +4 .tForearm.seek 4 + 300 counts +4 "manipulator"&\\', +23 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tHand.close +3 "manipulator"&*/ +54 "core" / +12 ."downElevator"SE.seek :down +10 "manipulator"&"& +12 "storage"(-'X +12 "core" &  O +2 "manipulator"&n% +15 "core" % ) & % +8 .tForearm.seek :retract +5 "manipulator"&m'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +128 "core" ' + ."downElevator"SE.stop + "storage"(5 +39 "core" ( + "manipulator"&M& +4 "core" &' R z + >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &' >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'" +100 "core" ' +2 "manipulator"&& +4 "core" && K =C +2 "manipulator"&% +4 "core" %& K + "collection"'v& +4 "core" &SS\ +2 "collection"'_& +6 "core" &RUC\ +2 .tCC.seek :closed +2 "collection"'9(V +3 "core" &RT\  +9 &3}TT\ *x +10 &eTT \ > +9 &|oSSS\ M +9 &?TST\ L +10 &VTTU\ L +9 &TST\ L +10 &TQU\ M +11 &GTSS\ L +7 &UTT\ M +10 &TTU\ L +9 & TSS\ M +9 &"OTVS\ L +10 &$URR\ L +9 &%VSS\ L +9 &'QSS\ L +10 &)WTTT\ L +9 &+UQJ\ M +10 &,USU\ L +9 &.VST\ L +9 &0_UST\ L +10 &2!UTQ\ L +9 &3TRT\ L +9 &5UQS\ L +10 &7gTRS\ L +9 &9)VSS[\ L +10 &:WRS\ M +9 &<YRT\ L +9 &>oYRR\ L +10 &@1WTR\ L +9 &AVRR\ M +9 &CUQS\ L +10 &Es]RR\ N +9 &G1kSS\ O +10 &HST{\ Q +9 &JTS{\ V +9 &L^RT\ W +10 &N RT\ W +9 &OUS\ Y +10 &QUT\ Y +9 &S`RS\ Z +9 &U!TT\ Z +10 &VlCTS\ 1 +9 &VpSU\ L +5 ( +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/27 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&!1 +3 "core" &VbSU\ L +53 1 + "manipulator"&f% +4 "core" % # q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%k& +4 "core" &p\ +2 "manipulator"&x% +3 "core" %\ \   +2 "storage"(% +8 "core" %S \ +2 "storage"(. +3 "core" .(,l + "storage"(=& +4 "core" &,q \ + "storage"(.& +4 "core" &,q \ +2 "manipulator"&h& +4 "core" &%  <@ + "manipulator"&% +4 "core" %\ \ ,  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&V( +166 "core" ( + "manipulator"&& +4 "core" & o V +2 "storage"(B& +3 "core" &,q w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&W'Ѽ +88 "core" ' +3 "storage"(P& +4 "core" &,q \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +62 "core" &,q m\ + "manipulator"&^& +4 "core" &  V +2 .tElbow.seek 4 +2 "manipulator"&6( +3 "core" ( + "manipulator"&,& +4 "core" & J V +2 "storage"(\ & +3 "core" &,q G\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& ', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +2 "storage"()'X +8 "core" & Q V + "manipulator"&R% +5 "core" % ! @ X +2 .tForearm.seek :retract +2 "manipulator"&#'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&T& +5 "core" &q " S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +2 "core" &q  E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' + "manipulator"&j& +4 "core" &q   +2 "manipulator"&% +4 "core" % + "processing"%e& +4 "core" &7\ +2 "processing"%>& +6 "core" &o\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &7\  +8 &4|=\ *x +10 &d7\ > +9 &r1\ N +9 &JT,\ M +10 & V+\ M +9 &U&\ M +9 &Y(\ M +10 &RU&\ M +9 &W&\ M +9 &WU\ M +10 & U:\ L +9 &"YU9\ M +10 &$U<\ M +9 &%U\ M +9 &'Y\ M +10 &)bW\ M +9 &+%U\ L +9 &,V\ M +10 &.U\ M +9 &0jV\ M +10 &2+T\ M +9 &3U\ M +9 &5V\ M +10 &7sV\ L +63 &94W\ M +5 &:T\ M + &<X\ M +5 &>zU\ M +2 &@<W\ M + &AY\ M + &CY\ M +2 &E[\ N +4 &G<j\ O +10 &H\ R +9 &J\ S +9 &Lx\ S +10 &N:\ S +9 &O\ S +10 &Q\ S +9 &S}\ T +9 &U@\ S +9 &W\ T +10 &X\ T +9 &Z&Rr\ ){ +10 &ZX\ 3 +8 ( +3 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&G1 +3 "core" &Z!\ 0 +55 1 +2 "manipulator"&D% +4 "core" % . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%8& +4 "core" &Z"\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\  5  +2 "storage"(5% +3 "core" %\\ S\ +2 "storage"(A. +3 "core" .(,l + "storage"(@& +4 "core" &,q \ +2 "storage"(`& +3 "manipulator"&1& +6 "core" &,q \ + &q 0 _ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&:(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(p'i +3 "core" ( +2 "manipulator"&l& +3 "core" &q & h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &q T +2 .tForearm.seek PC +2 "manipulator"&U' +95 "core" ' +2 .tHand.close + "manipulator"&[/ +60 "core" / +3 .tPC.seek :open + "processing"%s( +92 "core" ' +2 "storage"(q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +50 "core" ' +284 ( + "storage"(& +5 "core" &,q \ + "manipulator"&Z& +4 "core" &q # +2 "manipulator"&i% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c( +267 "core" ( + "manipulator"&3& +4 "core" & ]  +2 "storage"(r& +3 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +102 "core" ' +2 .tHand.open + "manipulator"&b1 +57 "core" 1 +2 "storage"(L- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(''E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +4 "core" -' + "storage"(%& +4 "core" &,q e [ \ +2 "manipulator"&C& +3 "core" & #  +2 .tElbow.seek 4 +2 "manipulator"&( +6 "core" ( +2 "manipulator"&& +4 "core" & $ p  +2 "storage"(0& +3 "core" &,q [ [\ +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' + "manipulator"&K& +4 "core" &   +2 "storage"(t& +4 "core" &,q {\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&$' +28 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&y% +5 "core" %  [ + "storage"(Y& +4 "core" &,q \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&O'@ +19 "core" ' + "manipulator"&]& +5 "core" &  + "storage"(7& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Q'Ѽ +19 "core" ' + "storage"(J% +5 "core" %m \ +2 ."downElevator"SE.seek :down +3 "storage"(a'X +99 (N% +3 "core" %L w\ Xf + "manipulator"&o% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,q )\ +2 "collection"'H& +4 "core" &VbUU\ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&u% +4 "core" %\   # + "storage"({% +4 "core" %a \ +2 "storage"(|. +3 "core" .(,l + "storage"(& +4 "core" &,q 8\ +2 "storage"(& +3 "core" &,q K\ +2 "manipulator"& & +3 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&?& +3 "core" &  W  +2 "storage"(*& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&"'Ѽ +86 "core" ' +3 "storage"(n& +5 "core" &,q R\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +282 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +2 "core" &   +2 "storage"(M& +4 "core" &,q m\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/' +27 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('W +31 "core" ' + "manipulator"&(% +4 "core" % # +2 "storage"(v& +3 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&-'@ +21 "core" ' + "manipulator"&m& +4 "core" &   +2 "storage"(F& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&!'Ѽ +40 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(f'F +45 "core" ' + "manipulator"&k& +5 "core" & K  + "manipulator"&x% +4 "core" %ѳ y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +164 "core" ( + "manipulator"&=& +4 "core" &# 9 ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &# '  ;5 +2 .tForearm.seek CC +2 "manipulator"&.'" +93 "core" ' + .tHand.close + "manipulator"&h/ +64 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(}& +4 "core" &,q\ \ \ + "storage"(& +4 "core" &,q F\ + "manipulator"&B& +4 "core" &#  p :- + "manipulator"&P% +4 "core" % " { +2 .tForearm.seek :retract +2 "manipulator"&4'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( +2 "manipulator"&z& +4 "core" & "  c +2 "storage"(d& +3 "core" &,q\ \  \ +7 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&^' +108 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&\ 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % /    +2 "storage"( & +3 "core" &,q =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&R'7 +17 "core" ' + "manipulator"&V& +4 "core" &  c + "storage"(W& +5 "core" &,q\ 8\ & :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +31 "core" ' +2 "storage"( % +4 "core" %H\ 4\ G 9\ +3 ."downElevator"SE.seek :down +3 "storage"(T'X +98 (+% +3 "core" %I\ \  \ Wc +2 "manipulator"&6% +4 "core" % B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &SQ\ +2 "manipulator"&e% +3 "core" %\  :  +2 "storage"()% +4 "core" %Z\ H\ H \ +2 "storage"(#. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(E(<* +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &<' b\  +2 "manipulator"&D& +4 "core" & : c +2 .tElbow.seek 5 +2 "manipulator"&8( +10 "core" ( +2 "manipulator"&& +4 "core" & ) D +2 "storage"(5& +3 "core" &<$\ &\ & L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&A'ы +101 "core" ' + "storage"(@& +4 "core" &<$\ E\ ; \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +282 "core" ' +2 "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (>& +3 "core" &<$\ \  F\  +2 "manipulator"&l& +4 "core" &  D +2 .tElbow.seek 5 + "manipulator"&I( +3 "core" ( +2 "manipulator"& & +3 "core" & ( D +2 "storage"([& +4 "core" &<$\ %\ # :\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&q' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & _ D +2 "manipulator"&p% +4 "core" % W B +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&i& +4 "core" &+ 6 Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &* Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'" +99 "core" ' +3 "manipulator"&r& +4 "core" &+ T Ae +2 "manipulator"&:% +4 "core" % +2 "collection"'b& +4 "core" &RR6\ +2 "collection"'L& +5 "core" &TU\ +2 .tCC.seek :closed +2 "collection"'X(V +4 "core" &QS\ +7 &4TRP\ $d +10 &V|SS\ 7 +9 &xTS[\ L +9 &SST\ L +10 &mURU\ L +9 &0URS\ L +10 &UQT\ L +9 &UTT\ L +9 &uTTS\ L +10 &8VST\ L +14 &TUT\ L +4 &!VST\ L +10 &#}TST\ L +9 &%?QRTU\ L +9 &'URS\ L +10 &(TNS\ L +9 &*UTTR\ L +10 &,GUQS\ L +9 &. QSS\ L +9 &/TSR\ M +10 &1UPT\ L +9 &3PQRS\ L +9 &5TRT\ L +10 &6RTS\ L +9 &8USSM\ L +10 &:WUSSS\ L +9 &<VSR\ L +9 &=XQS\ L +10 &?WPS\ L +9 &A_WRS\ L +9 &C YSR\ M +10 &D]RT\ M +9 &FhTU\ N +10 &HZzTT\ Q +9 &JST\ V +10 &KTT\ W +9 &MQS|\ X +9 &OLST\ X +10 &QVM\ X +9 &RQT\ Z +9 &TTT\ Z +10 &V,vTT\ . +9 &V#ST\ R +9 ( +2 &VrST\ N + "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&%1 +61 "core" 1 +3 "manipulator"&C% +4 "core" %   { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%0& +5 "core" &&\ + "manipulator"&% +4 "core" %\   +2 "storage"(K% +3 "core" %_ \ +2 "storage"(t. +3 "core" .(<* + "storage"(y& +4 "core" &<$ \  + "storage"(&& +4 "core" &<$ \  +2 "manipulator"&Y& +22 "core" &+ Ad +2 "manipulator"&'% +4 "core" %\  0  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +155 "core" ( + "manipulator"&7& +5 "core" & R  + "storage"(J& +4 "core" &<$ /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&c'ы +97 "core" ' +2 "storage"(& +4 "core" &<$ 1\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'i +280 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &<$ f\  +2 "manipulator"&& +3 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  w  +2 "storage"($& +3 "core" &<$ N\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&H& +2 "storage"(u'X +7 "core" & w  +2 "manipulator"&{% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&|(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&& +4 "core" &{ p = } +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &{ O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' + "manipulator"&?& +4 "core" &{ # o +2 "manipulator"&*% +4 "core" % +2 "processing"%Q& +3 "core" &8\ +2 "processing"%n& +5 "core" &p\ +2 .tPC.seek :closed +2 "processing"%a(Z +4 "core" &3\  +9 &4|<\ *z +9 & f7\ ? +10 &s*\ N +9 &SR)\ M +10 &W+\ M +9 &WR\ M +9 &V,\ M +10 &]U%\ L +9 &U&\ M +9 &W \ M +10 & V>\ M +9 &"cWK\ M +9 &$%U\ M +10 &%UA\ M +9 &'Wu\ M +10 &)kW\ M +9 &+-U\ M +9 &,U\ M +10 &.V\ M +9 &0tW\ M +10 &25T\ M +9 &3U\ M +9 &5U\ M +10 &7|U\\\ M +9 &9=Y\ M +9 &;T\ M +10 &<V\ M +9 &>U\ M +9 &@EX\ M +10 &BW\ M +9 &CY\ M +10 &E_\ N +9 &GFi\ O +9 &I\ R +10 &J\ S +9 &L\ S +9 &NC\ S +10 &P\ S +9 &Q\ T +10 &S\ T +9 &UI\ T +9 &W \ T +10 &X\ S +9 &Z+Ps\ ){ +9 &ZW\ 1 +9 ( +3 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&21 +3 "core" &Z#\ / +52 1 + "manipulator"&% +4 "core" % . . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +99 "core" ' +2 "processing"%<& +4 "core" &Z#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&M% +4 "core" %\   +2 "storage"(% +4 "core" %` I\ + "storage"((. +3 "core" .(<* +2 "storage"(v& +3 "core" &<$ \  +2 "storage"(m& +3 "manipulator"&F& +6 "core" &<$ {\  + &{  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&k(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'i +3 "core" ( + "manipulator"&"& +4 "core" &{ ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &{  +2 .tForearm.seek PC + "manipulator"&g' +96 "core" ' + .tHand.close + "manipulator"&// +56 "core" / + .tPC.seek :open +2 "processing"%-( +95 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +43 "core" ' +285 ( +2 "storage"(_& +4 "core" &<$ \  + "manipulator"&!& +4 "core" &{ ' + "manipulator"&\\% +4 "core" % ` +2 .tForearm.seek :retract +2 "manipulator"&h'\ +147 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +265 "core" ( +2 "manipulator"&9& +4 "core" &  R  +2 "storage"(}& +3 "core" &<$ f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +98 "core" ' + .tHand.open + "manipulator"&B1 +63 "core" 1 +2 "storage"(P- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(z'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(& +4 "core" &<$ D E\  +2 "manipulator"&\ & +4 "core" & ?  + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  )  +2 "storage"(V& +4 "core" &<$ E F\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +61 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(& +3 "core" &<$ e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&+' +35 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +24 "core" ' +2 "manipulator"&R% +4 "core" % V t +2 "storage"(& +4 "core" &<$ r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&e' +19 "core" ' +2 "manipulator"&)& +4 "core" & \\  +2 "storage"(#& +4 "core" &<$ b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&f'ы +21 "core" ' +2 "storage"( % +4 "core" %r A\ +3 ."downElevator"SE.seek :down +3 "storage"(T'X +98 (w% +3 "core" %bE \ Wd +2 "manipulator"&G% +4 "core" %т u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<$ \  + "collection"'5& +4 "core" &VqRT\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&@% +4 "core" %\ +  +2 "storage"(,% +3 "core" %] u\ +2 "storage"(j. +3 "core" .(<* + "storage"(1& +4 "core" &<$ \  +2 "storage"(>& +3 "core" &<$ ^\  +2 "manipulator"&l& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&[& +4 "core" &  N  +2 "storage"(& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +90 "core" ' + "storage"(p& +4 "core" &<$ "\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'i +279 "core" ' +2 "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&i& +3 "core" & F  +2 "storage"(U& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&`' +33 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(r- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(I'U +38 "core" ' + "manipulator"&:% +4 "core" %  ` \\ +2 "storage"(b& +3 "core" &<$ i o j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&'\ +19 "core" ' +2 "manipulator"&& +4 "core" & ;  +2 "storage"(& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&%'ы +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'D +38 "core" ' +2 "manipulator"&0& +4 "core" & 5  +2 "manipulator"&% +3 "core" %у \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +163 "core" ( +2 "manipulator"&y& +5 "core" &' S >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &&  >K +2 .tForearm.seek CC + "manipulator"&L'" +92 "core" ' +2 .tHand.close + "manipulator"&Y/ +58 "core" / +2 .tCC.seek :open +2 "collection"''( +416 "core" ( +2 "storage"(3& +4 "core" &<$\ \  \  + "storage"(7& +4 "core" &<$\ \ \  + "manipulator"&J& +4 "core" &(  >J + "manipulator"&% +4 "core" % &  % +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +156 "core" ( + "manipulator"&N& +4 "core" & # m g +2 "storage"(o& +4 "core" &<$\ %\ % e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  + "storage"(H& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&{' +13 "core" ' + "manipulator"&]& +4 "core" & P g +2 "storage"(c& +4 "core" &<$\ H\ - $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +27 "core" ' + "storage"(O% +5 "core" %G\ #\ * \\\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %iF\ \  t\ Va + "manipulator"&% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'*& +5 "core" &QST\ + "manipulator"&Q% +4 "core" %\  >  +2 "storage"(u% +3 "core" %a\ I\ I\ +2 "storage"(. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(s(K +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" &K \\\  +2 "manipulator"&& +4 "core" & ; g +2 .tElbow.seek 6 + "manipulator"&<( +46 "core" ( + "manipulator"&M& +4 "core" &- ! 6 > +2 "storage"(& +3 "core" &K\ &\ $ *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&('a +99 "core" ' +2 "storage"(v& +4 "core" &K\ G\ D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +282 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &K\ \  \  + "manipulator"&"& +4 "core" &- j > +2 .tElbow.seek 6 + "manipulator"&;( +25 "core" ( +2 "manipulator"& & +4 "core" &  | + "storage"(/& +4 "core" &K\ 0\ & )\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +113 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(a'X +7 "core" &  | +2 "manipulator"&x% +4 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&\\& +4 "core" &+ \ >  Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &* Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'" +97 "core" ' + "manipulator"&}& +4 "core" &+ .  A` +2 "manipulator"&k% +4 "core" %% +7 "collection"'B& +4 "core" &ST\ +2 "collection"'P& +5 "core" &QS2\ +2 .tCC.seek :closed +2 "collection"'.(V +4 "core" &QT\  +8 &3}RS\ *y +10 &e~RR\ > +9 &nQR\ M +9 &FQST\ L +10 &TSS\ L +9 &USS\ M +10 &TQT\ L +9 &MTQS\ L +9 &RRS\ L +10 &TST\ L +9 & TTS\ L +9 &"VQRR\ L +10 &$TRS\ L +9 &%URS\ M +9 &'TST\ L +10 &)]TSS\ L +9 &+URS\ L +10 &,QRS\ L +9 &.TRT\ \ L +9 &0eWQS\ L +10 &2'TQTa\ L +9 &3TPS\ M +9 &5TSSV\ L +10 &7lTPS\ M +9 &90TPT\ L +10 &:VST\ M +9 &<YRS\ L +9 &>uYSS\ L +10 &@7WTL\ L +9 &AWST\ L +9 &CZST\ M +10 &Ez_RS\ M +9 &G9iST|\ N +10 &H}RS\ Q +9 &JUS\ V +10 &LdRT\ X +9 &N&RT\ W +9 &OTU\ X +9 &QUS\ X +10 &SgSS\ Y +9 &U(ST\ Y +10 &Vm@RU\ 0 +9 &VzSU\ N +5 ( +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&1 +4 "core" &VsTT\ N +58 1 +2 "manipulator"&\ % +4 "core" % % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%V& +4 "core" &=\ +2 "manipulator"&h% +4 "core" %\  ( & + "storage"( % +4 "core" %R O\ + "storage"(. +3 "core" .(K +2 "storage"(=& +3 "core" &K \  +2 "storage"(R& +4 "core" &K R\  +2 "manipulator"&& +4 "core" &* ; A_ + "manipulator"&z% +4 "core" %\  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&)( +153 "core" ( +2 "manipulator"&#& +4 "core" & "  + "storage"( & +4 "core" &K `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'i +284 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &K 4\  +2 "manipulator"&W& +3 "core" & @  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&4& +4 "core" &  + "storage"(+& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(@'X +7 "core" & {  +2 "manipulator"&,% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +3 "manipulator"&1& +4 "core" &y & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &y n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +95 "core" ' + "manipulator"&[& +5 "core" &y $ S + "manipulator"&% +4 "core" % p +2 "processing"%f& +4 "core" &3\ +2 "processing"%p& +5 "core" &7\ +2 .tPC.seek :closed + "processing"%T(Z +5 "core" &9\ +7 &D6\ $e +9 &V}6\ 7 +9 &{6\ L +10 &U\ M +9 &vX1\ M +10 &8U2\ M +9 &U+\ M +9 &U)\ M +10 &~V&\ M +9 &AX%\ M +9 & Y%\ M +10 &!W&\ L +9 &#W6\ M +9 &%GWE\ M +10 &'\ U@\ M +9 &(V5\ M +10 &*US\ M +9 &,PWE\ M +9 &.X\ M +10 &/V\ M +9 &1U\ M +9 &3WU\ M +10 &5U\ M +9 &6U\ M +10 &8U\ M +9 &:_U\ M +9 &<"V\ M +10 &=U\ M +9 &?U\ M +9 &AiT\ M +10 &C*X\ M +9 &D^\ N +10 &Fe\ O +9 &Hb~\ R +10 &J!\ S +9 &K\ S +9 &M\ S +10 &Og\ S +9 &Q)\ S +9 &R\ T +10 &T\ S +9 &Vm\ S +10 &X-\ T +9 &Yzn\ / +9 &Z)m\ F +10 &Z"\ - +2 ( +2 "processing"%p& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&61 +60 "core" 1 + "manipulator"&D% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +104 "core" ' + "processing"%i& +4 "core" &Z!\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&U% +4 "core" %\ \ c  +2 "storage"(r% +3 "core" %U \ +2 "storage"(:. +3 "core" .(K + "storage"(b& +4 "core" &K \  +2 "storage"(& +2 "manipulator"&& +6 "core" &K \  + &y  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&0(s +3 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&8' +102 "core" ' + .tHand.close + "manipulator"&`/ +61 "core" / +2 .tPC.seek :open + "processing"%( +80 "core" ' + "storage"(I- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(y'y +43 "core" ' +300 ( + "storage"(&& +4 "core" &K A\  +2 "manipulator"&%& +3 "core" &y g +2 "manipulator"&q% +3 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&K( +261 "core" ( +2 "manipulator"&X& +4 "core" & ! M  + "storage"(3& +4 "core" &K P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&7'a +97 "core" ' + .tHand.open +2 "manipulator"&J1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(N'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(o' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(t& +4 "core" &K  . \  + "manipulator"&$& +4 "core" & F  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&H& +4 "core" & a  +2 "storage"(]& +4 "core" &K #  2\  +2 .tForearm.seek 6 + 700 counts + "manipulator"&c'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(O' +58 "core" ' + "manipulator"&Z& +4 "core" &   +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&*% +4 "core" %ι k +2 "storage"({& +4 "core" &K 2\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +51 "manipulator"&Q' +13 "core" ' + "manipulator"&u& +4 "core" &  +2 "storage"(& +4 "core" &K u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&C'a +23 "core" ' +2 "storage"(S% +4 "core" %p .\ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (E% +3 "core" %F i\ Vd +2 "manipulator"&2% +4 "core" %у  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" &K \  +2 "collection"'& +4 "core" &VqST\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&v% +4 "core" %\ D  +2 "storage"(% +4 "core" %a \ + "storage"(?. +3 "core" .(K +2 "storage"(F& +4 "core" &K \  +2 "storage"(n& +3 "core" &K '\  +2 "manipulator"&"& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&/& +4 "core" & L  +2 "storage"(|& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&~'a +92 "core" ' + "storage"(x& +4 "core" &K F\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +279 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & ^  +2 "storage"(g& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&m'Υ +29 "core" ' +2 .tElbow.hold + "manipulator"&, +7 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(k'Y +31 "core" ' + "manipulator"&B% +4 "core" %β +2 "storage"(;& +4 "core" &K E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&a' +13 "core" ' + "manipulator"&_& +5 "core" & , \ + "storage"('& +4 "core" &K j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(\ 'H +38 "core" ' + "manipulator"&V& +5 "core" & M \ + "manipulator"&h% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"&=& +4 "core" &. B E} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &. 7 E} +2 .tForearm.seek CC +2 "manipulator"&R'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'z( +416 "core" ( + "storage"(9& +4 "core" &K \ 3\  +2 "storage"(#& +3 "core" &K y\  +2 "manipulator"& & +4 "core" &. D{ + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&!'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +158 "core" ( + "manipulator"&w& +4 "core" & C  +2 "storage"(G& +3 "core" &K\ !\  B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&W'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&+1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ε  +2 "storage"(5& +3 "core" &K |\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&,' +20 "core" ' +2 "manipulator"&)& +4 "core" & & 7  +2 "storage"(& +3 "core" &K\ I\ H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +25 "core" ' + "storage"(e% +5 "core" %R\ A\ F |\ +2 ."downElevator"SE.seek :down +3 "storage"(1'X +99 (>% +3 "core" %K\ \ & \ Wc +2 "manipulator"&% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +93 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &RU\ +2 "manipulator"&f% +4 "core" %\ " " A +2 "storage"(@% +4 "core" %b\ \ 3 \ +2 "storage"(j. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(-(,l +657 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &,n m\ +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&i( +14 "core" ( +2 "manipulator"&U& +4 "core" & $ 2 K + "storage"(r& +4 "core" &,r\ $\ # <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&:'Ѽ +100 "core" ' +3 "storage"(p& +4 "core" &,r\ O\ I J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,r\ \ $ ,\ + "manipulator"&& +4 "core" &  K +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&l& +4 "core" & V K +2 "storage"(`& +3 "core" &,r\ $\ $ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&I', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +55 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&A& +2 "storage"(T'X +8 "core" &  K + "manipulator"&% +4 "core" % 1 2 y +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +3 .tElbow.seek CC +2 "manipulator"&%( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&q& +4 "core" &.  F | Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &. Du +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'" +101 "core" ' + "manipulator"&3& +4 "core" &- Ct +2 "manipulator"&0% +4 "core" %, 1 +2 "collection"'J& +3 "core" &TR\ +3 "collection"'& +5 "core" &SS\ +2 .tCC.seek :closed + "collection"'L(V +5 "core" &ST\ +7 &=RH\ $d +9 &XPS\ 7 +10 &xRS1\ L +9 &RSS\ L +10 &tUTS\ L +9 &7QSS\ L +9 &URT\ M +10 &TRT\ L +9 &|VRT\ L +9 &>TSS\ L +10 & QQS\ L +9 &!TST\ L +9 &#QUQ\ L +10 &%ETRS\ M +9 &'TRS\ L +10 &(UQS\ L +9 &*TUR\ L +9 &,ORQR\ L +10 &.TRR\ L +9 &/QTT\ L +10 &1UQS\ M +9 &3WTTV\ L +9 &5TSS\ M +10 &6USS\ L +9 &8VPS\ L +9 &:^UTT\ L +10 &<UQR\ M +9 &=URR\ M +10 &?URRJ\ M +9 &AeURU \ M +9 &C'WRT\ M +10 &D[RTY\ M +9 &FhRS\ N +9 &HazSSw\ Q +10 &JTR\ V +9 &KTS\ X +9 &MST\ X +10 &OSSU\ X +9 &QSV\ X +10 &RRS\ Z +9 &TUU\ Z +9 &V1uST\ / +10 &V RS\ X +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 + .Hand.open + "manipulator"&t1 +4 "core" &VvST\ R +58 1 + "manipulator"&$% +4 "core" % '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%]& +4 "core" &l\ +2 "manipulator"&Y% +3 "core" %\ \   +2 "storage"(Z% +54 "core" %a \ +2 "storage"(. +3 "core" .(,l + "storage"(*& +4 "core" &,r a\ +2 "storage"(y& +3 "core" &,r \ +3 "manipulator"&{& +4 "core" &- J Ct + "manipulator"&N% +4 "core" %\ \ e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&u( +161 "core" ( +2 "manipulator"&& +4 "core" & } d + "storage"(K& +4 "core" &,r T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +94 "core" ' +2 "storage"(7& +4 "core" &,r \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +282 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &,r \ +2 "manipulator"&2& +4 "core" & 7 d +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&O& +3 "core" &  S d +7 "storage"(& +3 "core" &,r %\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(v'X +7 "core" & y d + "manipulator"&% +4 "core" % . > N +2 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&F& +4 "core" &k A : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &k - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"' +103 "core" ' +2 "manipulator"&/& +4 "core" &k # d +2 "manipulator"&|% +3 "core" % +2 "processing"%C& +4 "core" &6\ +2 "processing"%x& +6 "core" &.\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &6\ +6 &2\ ; +9 &KIx8\ 1 +10 &}u~7\ E +9 &$_7\ N +9 &V7\ M +10 &U2\ M +9 &mW5\ M +9 &0V7\ L +10 &X)\ M +9 &U6\ M +10 &uW0\ M +9 &!7V \ M +9 &"V\ M +10 &$U)\ M +9 &&}U%\ M +9 &(>W \ M +10 &*W:\ M +9 &+V2\ M +10 &-U(\ M +9 &/FUC\ M +9 &1VB\ M +10 &2V\ M +9 &4U\ M +9 &6OVb\ M +10 &8U\ M +9 &9X\ M +10 &;U\ L +9 &=VU\ M +9 &?U\ M +10 &@U\ M +9 &BW\ M +9 &D\\Z\ N +10 &F_\ N +9 &Gu\ P +10 &I\ R +9 &KT\ S +9 &M\ S +10 &N\ S +9 &P\ S +10 &R[\ S +9 &T\ T +9 &U\ T +10 &W\ T +9 &Y`\ B +9 &ZmB\ R +10 &Z\ $ +2 ( + "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +5 "core" % u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' + "processing"%\\& +5 "core" &Z\ $ + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&g% +4 "core" %\ % 2 . L +2 "storage"(}% +4 "core" %c l\ +2 "storage"(B. +3 "core" .(,l + "storage"(;& +4 "core" &,r <\ +2 "storage"(_& +3 "manipulator"&'& +6 "core" &,r e\ + &k  @ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&V(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(h'i +3 "core" ( + "manipulator"&~& +4 "core" &k 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &k & Z +2 .tForearm.seek PC +2 "manipulator"&<' +96 "core" ' + .tHand.close + "manipulator"&m/ +58 "core" / +2 .tPC.seek :open +2 "processing"%a( +90 "core" ' + "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +45 "core" ' +285 ( +2 "storage"(P& +4 "core" &,r @\ + "manipulator"&& +4 "core" &k Z + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +248 "core" ( + "manipulator"&.& +4 "core" &\ $ V +2 "storage"(9& +4 "core" &,r `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&#'Ѽ +95 "core" ' + .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' +2 "storage"(& +3 "core" &,r E F\ +2 "manipulator"&+& +4 "core" &\ r U + .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&5& +4 "core" &\ $ t U +2 "storage"()& +3 "core" &,r F G\ +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +7 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(e' +58 "core" ' + "manipulator"&!& +4 "core" &\ $ U +2 "storage"(>& +4 "core" &,r V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +26 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +21 "core" ' + "manipulator"&% +5 "core" %  u + "storage"(,& +4 "core" &,r 7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&f'? +18 "core" ' +2 "manipulator"&@& +4 "core" &\ : U +2 "storage"(j& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +43 "core" ' +2 "storage"(d% +4 "core" %r \ +3 ."downElevator"SE.seek :down +3 "storage"(1'X +99 (s% +3 "core" %C ?\ Vb + "manipulator"&6% +4 "core" %Ѩ ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (U& +4 "core" &,r \ + "collection"'r& +4 "core" &VuRT\ R +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&p% +4 "core" %\    +2 "storage"(4% +3 "core" %` 0\  +2 "storage"([. +3 "core" .(,l + "storage"(& +4 "core" &,r X\ +2 "storage"(& +3 "core" &,r `\ +2 "manipulator"&& +4 "core" &\  U + .tElbow.seek 4 +2 "manipulator"&l( +4 "core" ( + "manipulator"&`& +4 "core" &\ B U +2 "storage"(^& +3 "core" &,r o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +93 "core" ' + "storage"(& +4 "core" &,r \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'i +285 "core" ' +3 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +2 "core" &\ ] U +2 "storage"(8& +4 "core" &,r '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&b' +32 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(3- +52 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(0'W +27 "core" ' +2 "manipulator"& % +4 "core" %   + "storage"(J& +4 "core" &,r ~\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&T'< +19 "core" ' + "manipulator"&&& +4 "core" &\ # V T +2 "storage"(z& +4 "core" &,r 3\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'F +41 "core" ' +2 "manipulator"&]& +4 "core" &\ T +2 "manipulator"&Y% +4 "core" %Ѩ ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ( +2 "manipulator"&& +4 "core" &) C @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +8 "core" &( T @Y +2 .tForearm.seek CC +2 "manipulator"&y'" +101 "core" ' + .tHand.close + "manipulator"&{/ +58 "core" / +2 .tCC.seek :open +2 "collection"'N( +420 "core" ( + "storage"(X& +4 "core" &,r \ +2 "storage"(& +3 "core" &,r \ +2 "manipulator"&K& +3 "core" &*  @X +2 "manipulator"&7% +4 "core" % % % + .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&H( +166 "core" ( + "manipulator"&c& +4 "core" & k A +2 "storage"(E& +4 "core" &,r\ #\ # K\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&2' +104 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&M% +4 "core" %  -  6 + "storage"(& +4 "core" &,r \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +19 "core" ' +2 "manipulator"&u& +4 "core" & G A +2 "storage"(S& +3 "core" &,r\ #\ $ ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&o'Ѽ +27 "core" ' +2 "storage"(Q% +4 "core" %K\ *\ I >\ +3 ."downElevator"SE.seek :down +3 "storage"(F'X +99 (n% +2 "core" %F\ "\  O\ Wc +2 "manipulator"&% +4 "core" %Ѧ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'|& +5 "core" &SSC\ + "manipulator"&C% +4 "core" %\ " + B +2 "storage"(v% +4 "core" %a\ #\ # %\ + "storage"(?. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<* l\  +2 "manipulator"&& +4 "core" & M A + .tElbow.seek 5 +2 "manipulator"&\\( +9 "core" ( +2 "manipulator"&g& +4 "core" & # j . + "storage"(}& +4 "core" &<&\ $\ $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&B'ы +88 "core" ' +2 "storage"(x& +4 "core" &<&\ F\ I \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'i +283 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &<&\ \ \ \  +2 "manipulator"&~& +4 "core" &  . +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&"& +3 "core" & E . +2 "storage"(m& +4 "core" &<&\ \ % \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&k' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"('X +7 "core" &  . +2 "manipulator"&h% +4 "core" %  G A +2 .tForearm.seek :retract + "manipulator"&P'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +167 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &- h Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &, J Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'" +98 "core" ' +2 "manipulator"&9& +4 "core" &- - Co +2 "manipulator"&V% +4 "core" %  +2 "collection"' & +4 "core" &ST\ +2 "collection"'& +5 "core" &RR\ +2 .tCC.seek :closed +2 "collection"'R(V +4 "core" &SS\  +9 &0yQS\ *x +9 &ePS\ > +9 &ypPR\ M +10 &>QRS\ L +9 &UQS\ L +9 &VRRd\ L +10 &TTR\ L +9 &ETUT\ L +10 &TSS\ M +9 &SRT\ L +9 & TSS\ L +10 &"MTTV\ L +9 &$URS\ L +9 &%UPR\ L +10 &'TRS\ L +9 &)VUSU\ L +10 &+TRS\ L +9 &,TTR\ L +9 &.TSS\ L +10 &0\\TSU\ M +9 &2 SRT\ L +9 &3TTS\ L +10 &5TRR\ L +9 &7eVQS\ L +10 &9'TTT\ L +9 &:WRR\ M +9 &<XSS\ L +10 &>mXRS\ L +9 &@/TRR\ L +9 &ARQQx\ L +10 &CUSSf\ M +9 &Es\\SS \ M +12 &G/jRS\ O +7 &H~SR\ Q +9 &JST\ W +10 &L[ST\ X +9 &NRT\ W +10 &OST\ Y +9 &QST\ Y +9 &S^SU\ Z +10 &UTT\ Z +9 &VjCTU\ 1 +9 &VwRU~\ L +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&1 +3 "core" &VePT\ L +59 1 +2 "manipulator"&+% +4 "core" %  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%)& +4 "core" &.\ +2 "manipulator"&% +3 "core" %\ # : +2 "storage"(!% +4 "core" %c \ + "storage"(>. +3 "core" .(<* +2 "storage"(=& +4 "core" &<& 6\  + "storage"(& +4 "core" &<& d\  +2 "manipulator"&,& +3 "core" &+ Bf +2 "manipulator"&w% +3 "core" %\ # D : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&@( +168 "core" ( +2 "manipulator"&j& +9 "core" &  y U + "storage"(d& +4 "core" &<& /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +104 "core" ' +2 "storage"(#& +4 "core" &<&\  /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +283 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &<& \  +2 "manipulator"&& +3 "core" & b U +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&e& +4 "core" & P U + "storage"(& +4 "core" &<& "\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&f' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"(p'X +7 "core" & Z U +2 "manipulator"&4% +4 "core" % o  + .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&W(s +171 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&& +4 "core" &n ( ;  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + "manipulator"&`& +53 "core" &q % \\  +3 "manipulator"&^% +4 "core" % Q  +2 "processing"%\ & +3 "core" &1\ +2 "processing"%& +6 "core" &.\ +2 .tPC.seek :closed +2 "processing"%1(Z +4 "core" &7\ +6 & 22\ $c +10 &U{0\ 6 +9 &{,\ K +10 &U)\ M +9 &`Y'\ M +9 &"V$\ M +10 &V+\ M +9 &V&\ M +9 &g[&\ M +10 &*W\ M +9 &W \ M +9 &!W\ M +10 &#rX%\ L +9 &%2X\ M +10 &&W5\ M +9 &(W#\ L +9 &*xW8\ M +10 &,;W:\ M +9 &-Z=\ M +9 &/Vq\ M +10 &1Wu\ L +9 &3CW\ M +10 &5W\ L +9 &6V{\ M +9 &8U\ L +10 &:JU\ M +9 &< U\ M +9 &=Y\ M +10 &?W\ M +9 &ASX\ M +10 &CY\ M +9 &D]\ N +9 &Fc\ N +10 &HPx\ P +9 &J\ \ S +9 &K\ R +10 &M\ R +9 &OR\ R +10 &Q\ S +9 &R\ S +9 &T\ T +10 &VW\ S +9 &X\ T +9 &Y{n\ 6 +10 &Z-\ P +9 &Z\ * +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"& 1 +56 "core" 1 +2 "manipulator"&D% +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +93 "core" ' + "processing"%q& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&8% +4 "core" %\   +2 "storage"(3% +3 "core" %T E\ +2 "storage"( . +3 "core" .(<* + "storage"(J& +4 "core" &<& \  +2 "storage"(&& +3 "manipulator"&z& +5 "core" &<& V\  + &q   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&](s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +2 "manipulator"&A& +4 "core" &q   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &q -  +3 .tForearm.seek PC + "manipulator"&i' +96 "core" ' + .tHand.close + "manipulator"&b/ +60 "core" / +4 .tPC.seek :open + "processing"%T( +92 "core" ' + "storage"(0- +4 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +285 ( + "storage"(*& +4 "core" &<& \  +2 "manipulator"&t& +3 "core" &q `  +2 "manipulator"&I% +4 "core" % + .tForearm.seek :retract + "manipulator"&{'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&Z( +257 "core" ( + "manipulator"&L& +5 "core" & |  + "storage"(X& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +101 "core" ' +2 .tHand.open + "manipulator"&K1 +61 "core" 1 +2 "storage"(7- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +7 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +56 "core" ' + #tLights, camera, ACTION! + "storage"(y- +4 "core" -' +2 "storage"(& +3 "core" &<& I W J\  +2 "manipulator"&& +4 "core" & "  + .tElbow.seek 5 +2 "manipulator"&M( +4 "core" ( + "manipulator"&& +4 "core" & S  +2 "storage"(u& +4 "core" &<& @ I \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +61 "core" ' + "manipulator"&%& +5 "core" &   + "storage"(n& +4 "core" &<& \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&H, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +22 "core" ' +2 "manipulator"&|% +4 "core" % o +2 "storage"(& +4 "core" &<& \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&C' +20 "core" ' +2 "manipulator"&v& +4 "core" & '  +2 "storage"(?& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&$'ы +20 "core" ' +2 "storage"(o% +4 "core" %n H\ +3 ."downElevator"SE.seek :down +3 "storage"(F'X +98 (-% +3 "core" %B \ Wd +2 "manipulator"&% +4 "core" %у  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (g& +4 "core" &<& W\  + "collection"'}& +4 "core" &VeSS\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&x% +4 "core" %\  7  +2 "storage"(O% +4 "core" %` V\ + "storage"(/. +3 "core" .(<* +2 "storage"(_& +3 "core" &<& \  + "storage"('& +4 "core" &<& ^\  +2 "manipulator"&~& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&"( +3 "core" ( + "manipulator"&m& +4 "core" & M  +2 "storage"(& +4 "core" &<& E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&('ы +90 "core" ' +2 "storage"(h& +4 "core" &<& \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +284 "core" ' +2 "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & [  +2 "storage"(<& +3 "core" &<& \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;' +35 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'U +30 "core" ' +2 "manipulator"&V% +4 "core" %  1 P + "storage"( & +4 "core" &<& x\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&P& +4 "core" &   +2 "storage"(N& +4 "core" &<& <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(+'D +40 "core" ' + "manipulator"&)& +4 "core" &   +2 "manipulator"&% +4 "core" %ђ  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +164 "core" ( + "manipulator"&& +4 "core" &+ / ' Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &+ Bi +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&,/ +57 "core" / +2 .tCC.seek :open + "collection"'w( +417 "core" ( +2 "storage"(.& +4 "core" &<&\ \ \  +2 "storage"(j& +3 "core" &<&\ \ \  +2 "manipulator"&d& +3 "core" &+ # N Ae +2 "manipulator"&#% +4 "core" % $   +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +162 "core" ( +2 "manipulator"&s& +4 "core" & [  + "storage"(6& +4 "core" &<&\ I\ I 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&' +105 "core" ' + .tElbow.hold +50 "manipulator"&e, +6 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&U% +4 "core" %  L + "storage"(r& +4 "core" &<& :\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&4' +18 "core" ' + "manipulator"&@& +4 "core" & t  +2 "storage"( & +4 "core" &<&\ $\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&G'ы +27 "core" ' + "storage"(f% +4 "core" %I\ +\ %\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %8D\ $\ $ -\ Va +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'^& +4 "core" &PT\ +2 "manipulator"&\ % +4 "core" %\ #  < +2 "storage"(p% +3 "core" %_\ $\ $ #\ +2 "storage"([. +3 "core" .(<* +2 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(a(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K \  +2 "manipulator"&D& +3 "core" & b  +2 .tElbow.seek 6 +2 "manipulator"&q( +36 "core" ( + "manipulator"&8& +5 "core" &/ $ i  + "storage"(3& +4 "core" &K\ #\ % P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +101 "core" ' +2 "storage"(J& +4 "core" &K\ E\ C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +282 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \ \  +2 "manipulator"&A& +3 "core" &/   +2 .tElbow.seek 6 +2 "manipulator"&l( +19 "core" ( +2 "manipulator"&& +4 "core" &  8  +2 "storage"(b& +3 "core" &K\ #\ $ =\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&0' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(1'X +7 "core" &   +2 "manipulator"&Y% +4 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&I& +4 "core" &+ C v Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &* Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&L'" +101 "core" ' +2 "manipulator"&X& +5 "core" &+ + Ae + "manipulator"&]% +4 "core" %* ' +2 "collection"'K& +4 "core" &SS\ +2 "collection"'7& +6 "core" &RT\ +2 .tCC.seek :closed + "collection"'y(V +5 "core" &QR\ +7 &4RR\ $d +10 &V}RS\ 7 +9 &wPTN\ L +9 &QRT\ L +10 &mTSS\ L +9 &0USS\ L +10 &USS\ L +9 &QQS\ L +9 &uTSQ\ L +10 &7TRS\ L +9 &UST\ L +9 &!TST\ L +10 &#}TRR\ L +9 &%?USS\ L +9 &'SSR\ L +10 &(TRS\ L +9 &*TPT\ L +10 &,HQRR\ L +9 &. TRR\ L +9 &/TST\ L +10 &1QRU\ L +9 &3PTQT\ L +9 &5TTP\ L +10 &6TTT\ M +9 &8SST\ L +10 &:WUTS\ L +9 &<TPT\ L +9 &=SSS\ L +10 &?WRS\ L +9 &A^TTS\ M +10 &C UPS\ M +9 &D[PU\ M +9 &FbPR\ N +10 &H]qRS\ P +9 &JSU\ U +9 &KTT\ X +10 &MSS\ X +9 &OLQT\ X +10 &Q RT\ Y +9 &RTT\ Z +9 &TRS\ Z +10 &V)tRT\ / +9 &V#RT\ Q +9 ( +2 &VbSS\ M + "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +3 "manipulator"&% +4 "core" % * N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%{& +4 "core" &2\ +2 "manipulator"&u% +3 "core" %\ % C +2 "storage"(%% +4 "core" %a \ + "storage"(n. +4 "core" .(K + "storage"(& +4 "core" &K C\  + "storage"(|& +4 "core" &K '\  +2 "manipulator"&& +3 "core" &* d Ad +2 "manipulator"&c% +3 "core" %\ % T C +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&v( +156 "core" ( + "manipulator"&?& +4 "core" & # s  +2 "storage"(o& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Z'a +98 "core" ' + "storage"(& +4 "core" &K M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +284 "core" ' + "storage"(-- +8 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K G\  +2 "manipulator"&S& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&M( +4 "core" ( + "manipulator"&Q& +4 "core" &   + "storage"(& +3 "core" &K \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&C' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(x'X +7 "core" &   +2 "manipulator"&O% +4 "core" %  j + .tForearm.seek :retract +2 "manipulator"&/'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_(s +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&2& +4 "core" &q %  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +99 "core" ' +2 "manipulator"&m& +4 "core" &q  Z  +2 "manipulator"&% +3 "core" % P +2 "processing"%$& +4 "core" &3\ +2 "processing"%h& +5 "core" &/\ +3 .tPC.seek :closed +2 "processing"%F(Z +3 "core" &0\ +7 &D1\ $f +9 &X9\ 8 +10 &z7\ L +9 &T/\ M +9 &~X2\ M +10 &AW4\ M +9 &W2\ M +9 &U/\ M +10 &W)\ M +9 &IU,\ M +10 & W-\ M +9 &!U\ M +9 &#W!\ M +10 &%RW \ M +9 &'U%\ M +9 &(W\ M +10 &*VY\ M +9 &,ZWC\ M +10 &.V\ M +9 &/V<\ L +9 &1VN\ M +10 &3bUK\ M +9 &5$V\ M +9 &6V\ L +10 &8U\ M +9 &:jUY\ M +10 &<,T\ M +9 &=U\ M +9 &?U\ M +10 &AqV\ M +9 &C3Z\ M +9 &D_\ N +10 &FgJ\ N +9 &Hl\ Q +10 &J*\ S +9 &K\ S +10 &M\ S +9 &Oq\ R +9 &Q1\ S +10 &R\ S +9 &T\ S +9 &Vu\ T +10 &X7\ T +13 &Y{o\ + +5 &Z)_\ * +9 ( +3 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&H1 +3 "core" &Z\ # +52 1 + "manipulator"&% +4 "core" % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" %\  h  + "storage"(9% +4 "core" %T \ +2 "storage"(V. +3 "core" .(K + "storage"( & +4 "core" &K \  +2 "storage"(P& +2 "manipulator"&N& +7 "core" &K \  + &q c  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&)(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&(& +4 "core" &q \\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &q \  +2 .tForearm.seek PC +2 "manipulator"&\\' +96 "core" ' +51 .tHand.close +3 "manipulator"&;/ +60 "core" / +2 .tPC.seek :open + "processing"%( +35 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +344 ( + "storage"(=& +5 "core" &K A\  + "manipulator"&& +4 "core" &q *  +2 "manipulator"&k% +3 "core" %  w +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +6 "manipulator"&!( +265 "core" ( +2 "manipulator"&R& +4 "core" &\     +2 "storage"(.& +3 "core" &K @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&j'a +90 "core" ' +2 .tHand.open + "manipulator"&d1 +58 "core" 1 +2 "storage"(#- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(s'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(6' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(>& +3 "core" &K I ? \  +2 "manipulator"&& +4 "core" &\  5  + .tElbow.seek 6 +2 "manipulator"&U( +4 "core" ( + "manipulator"&r& +4 "core" &\   Z  +2 "storage"(@& +4 "core" &K = = \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +60 "core" ' +2 "manipulator"&f& +4 "core" &\    +2 "storage"(& +4 "core" &K T\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +79 "core" ' + "manipulator"&^% +5 "core" %ε n + "storage"(4& +4 "core" &K *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&\ ' +12 "core" ' + "manipulator"&p& +5 "core" &\  9  + "storage"([& +4 "core" &K L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&+'a +30 "core" ' +2 "storage"(G% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %I 3\ Wd +2 "manipulator"& % +5 "core" %U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (8& +3 "core" &K (\  +2 "collection"'3& +4 "core" &VbTU\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&J% +4 "core" %\ " I @ +2 "storage"(e% +3 "core" %U c\ +2 "storage"(`. +3 "core" .(K + "storage"(z& +4 "core" &K I\  +2 "storage"(& +3 "core" &K &\  +2 "manipulator"&A& +4 "core" &\    +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&b& +4 "core" &\  " +  +2 "storage"(W& +3 "core" &K j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&:'a +99 "core" ' + "storage"(Y& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&I& +3 "core" &\  4  +2 "storage"(i& +4 "core" &K Y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&&'Υ +28 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(]'Y +38 "core" ' +2 "manipulator"&l% +4 "core" %ε ] + "storage"(K& +4 "core" &K /\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&1' +13 "core" ' + "manipulator"&*& +4 "core" & ;  +2 "storage"(w& +3 "core" &K S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +18 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +38 "core" ' + "manipulator"&{& +5 "core" & +  + "manipulator"&u% +4 "core" %j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +170 "core" ( +2 "manipulator"&n& +4 "core" &* @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( / @^ +2 .tForearm.seek CC +2 "manipulator"&|'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'c( +417 "core" ( + "storage"(L& +4 "core" &K\  X\  +2 "storage"(?& +3 "core" &K E\  +2 "manipulator"&o& +3 "core" &*  @[ +2 "manipulator"&% +4 "core" % )  + .tForearm.seek :retract +2 "manipulator"&t'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +153 "core" ( + "manipulator"&-& +4 "core" &  G  +2 "storage"(& +4 "core" &K\ %\ $ ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&S'Υ +109 "core" ' + .tElbow.hold +2 "manipulator"&Q, +80 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&g% +4 "core" % δ $ + "storage"(}& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&O' +18 "core" ' + "manipulator"&v& +4 "core" &   +2 "storage"(Z& +4 "core" &K\ H\ H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&E'a +17 "core" ' + "storage"(C% +4 "core" %R\ G\ B\ +3 ."downElevator"SE.seek :down +3 "storage"(2'X +98 ('% +3 "core" %G\ \  W\ Wb +2 "manipulator"&M% +4 "core" %V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" &TSE\ +2 "manipulator"&$% +4 "core" %\ h 5 +2 "storage"(x% +4 "core" %b\ #\ $\ + "storage"(/. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(T(,l +658 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" &,o ,\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +13 "core" ( + "manipulator"&<& +5 "core" & O ~ + "storage"(9& +4 "core" &,r\ $\ % Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&V'Ѽ +87 "core" ' +2 "storage"( & +4 "core" &,r\ N\ P U\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +51 .tSE.seek :beamBreak +3 "storage"(P'i +286 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (h& +3 "core" &,r\ "\ & /\ +2 "manipulator"&(& +4 "core" & P ~ +2 .tElbow.seek 4 +2 "manipulator"&"( +5 "core" ( +2 "manipulator"&~& +8 "core" & H ~ +3 "storage"(;& +8 "core" &,r\ #\ # 8\ +4 .tForearm.seek 4 + 300 counts +4 "manipulator"& ', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(F'X +8 "core" &  ~ + "manipulator"&% +4 "core" % (  M +2 .tForearm.seek :retract +2 "manipulator"&='\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&k& +3 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'" +103 "core" ' +3 "manipulator"&.& +4 "core" &!  /  8 +2 "manipulator"&)% +3 "core" % Q +2 "collection"'d& +4 "core" &ST\ +2 "collection"'#& +7 "core" &RT\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &QT\ +6 &=ST\ $e +9 &XSR\ 7 +10 &xRT\ L +9 &RTS\ L +9 &pTTS\ L +10 &1TUT\ M +9 &TST\ L +10 &STT\ L +9 &yQRT \ L +9 &:TSR\ L +10 &URS\ L +9 &!TQT\ L +9 &#TSS\ L +10 &%CQQT\ L +9 &'TQT\ M +9 &(SQS\ L +10 &*TRU\ M +9 &,IVRT\ M +10 &. SRT\ L +9 &/PSS\ L +9 &1TSS\ L +10 &3QSRS\ M +9 &5TRR\ L +14 &6TPR\ L +5 &8OST\ L +9 &:ZTPS\ L +10 &<UPR\ L +9 &=URR\ M +9 &?URT\ M +10 &AaTTS \ M +9 &C#UTT\ M +9 &DXST\ M +10 &FgRS\ O +9 &H^vRS\ P +10 &JSS\ U +9 &KQV\ X +9 &MSU\ Y +10 &OOQT\ X +9 &QST}\ Y +9 &RST\ Z +10 &TST\ Z +9 &V/wRU\ / +10 &V"ST\ Y +8 ( +3 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&>1 +3 "core" &VnQS\ S +56 1 +2 "manipulator"&% +4 "core" %  /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%@& +4 "core" &:\ +2 "manipulator"&,% +4 "core" %\   + "storage"(f% +4 "core" %` \ + "storage"(. +3 "core" .(,l +2 "storage"(& +4 "core" &,r \ + "storage"(s& +4 "core" &,r \ + "manipulator"&^& +4 "core" &  8 +2 "manipulator"&4% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&p( +162 "core" ( +2 "manipulator"&[& +4 "core" & x + "storage"(!& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&j'Ѽ +93 "core" ' + "storage"(G& +4 "core" &,r [\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +285 "core" ' + "storage"( - +12 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,r h\ + "manipulator"& & +4 "core" & $ x +2 .tElbow.seek 4 + "manipulator"&U( +4 "core" ( + "manipulator"&& +4 "core" & 2 x + "storage"(& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\ ', +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(J'X +7 "core" & - x +2 "manipulator"&e% +4 "core" % 6  R + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&`(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&z& +4 "core" &| % * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &|  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +100 "core" ' + "manipulator"&b& +5 "core" &| S + "manipulator"&W% +4 "core" %  k +2 "processing"%+& +4 "core" &2\ +2 "processing"%Y& +4 "core" &-\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &,\ +6 &;4\ #c +10 &U~2\ 7 +9 &y/\ K +10 &U9\ M +9 &eX0\ M +9 &(V9\ M +10 &V-\ L +9 &U/\ M +9 &nX2\ M +10 &/V-\ M +9 &X+\ M +10 &!W)\ M +9 &#vW)\ M +9 &%7Y(\ M +10 &&V \ M +9 &(W\ M +9 &*}Z'\ M +10 &,@X2\ M +9 &.V4\ M +9 &/Vd\ M +10 &1V@\ L +9 &3HVg\ M +10 &5 VB\ L +9 &6V\ M +9 &8U\ M +10 &:PW\ M +9 &<Yz\ M +10 &=Vu\ L +9 &?U\ L +9 &AXU\ M +10 &CY\ M +9 &D\\[\ M +9 &Fc\ N +10 &HSz\ Q +9 &J\ R +9 &K\ R +10 &M\ S +9 &OV\ S +10 &Q\ S +9 &R\ S +9 &T\ S +10 &V\\\ S +9 &X\ T +9 &Y{n\ 4 +10 &Z,{\ H +9 &Z\ * +3 ( + "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&51 +60 "core" 1 + "manipulator"&D% +4 "core" % & * k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 "processing"%I& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&i% +4 "core" %\ h  +2 "storage"(X% +3 "core" %` \ +2 "storage"(l. +3 "core" .(,l + "storage"(K& +4 "core" &,r +\ +2 "storage"(*& +5 "manipulator"&w& +3 "core" &,r ,\ +2 &| v +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&{(s + "storage"(u'i +5 "core" ( +2 "manipulator"&:& +3 "core" &| A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &| " ^ +2 .tForearm.seek PC +2 "manipulator"&q' +98 "core" ' +2 .tHand.close + "manipulator"&&/ +54 "core" / + .tPC.seek :open +2 "processing"%1( +90 "core" ' + "storage"(]- +4 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +41 "core" ' +292 ( + "storage"(& +4 "core" &,r r\ +2 "manipulator"&& +3 "core" &| Q +2 "manipulator"&0% +3 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +265 "core" ( + "manipulator"&y& +5 "core" & 8  + "storage"(L& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&?'Ѽ +93 "core" ' + .tHand.open + "manipulator"&o1 +62 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' + "storage"(7& +4 "core" &,r ; < \ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&g( +4 "core" ( + "manipulator"&}& +4 "core" & ]  +2 "storage"(v& +4 "core" &,r B < \ +2 .tForearm.seek 4 + 700 counts + "manipulator"&Z'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +62 "core" ' + "manipulator"&C& +5 "core" &   + "storage"(& +4 "core" &,r C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'' +27 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(S'i +25 "core" ' + "manipulator"&% +5 "core" %  e + "storage"(O& +4 "core" &,r y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&$'> +17 "core" ' +2 "manipulator"&x& +4 "core" &   +2 "storage"(/& +4 "core" &,r _\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +26 "core" ' +2 "storage"(E% +4 "core" %s \ +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (a% +2 "core" %LG \ Wd +2 "manipulator"&H% +4 "core" % ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (<& +9 "core" &,r ;\ + "collection"'9& +4 "core" &VkST\ S +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ \ ~  +2 "storage"(Q% +4 "core" %V \ + "storage"(m. +4 "core" .(,l + "storage"(N& +3 "core" &,r \ +2 "storage"(h& +4 "core" &,r \ +2 "manipulator"&(& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&;& +3 "core" & '  +2 "storage"(_& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 "Can"]\ EB +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +93 "core" ' + "storage"(& +4 "core" &,r \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &  +2 "storage"(\\& +3 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&P' +31 "core" ' + .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"()'V +32 "core" ' + "manipulator"&d% +4 "core" %  +2 "storage"("& +3 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&F'= +18 "core" ' + "manipulator"&=& +5 "core" & %  + "storage"(c& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +41 "core" ' + "manipulator"&@& +4 "core" &   +2 "manipulator"&,% +4 "core" %Ѵ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" && %  =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" && =E +2 .tForearm.seek CC + "manipulator"&s'" +93 "core" ' +2 .tHand.close + "manipulator"&^/ +55 "core" / +2 .tCC.seek :open +2 "collection"'4( +416 "core" ( +2 "storage"(R& +4 "core" &,r j\ + "storage"([& +4 "core" &,r \ + "manipulator"&!& +4 "core" && q =D + "manipulator"&G% +4 "core" %  (  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&r( +162 "core" ( +2 "manipulator"& & +4 "core" & ? s + "storage"(& +4 "core" &,r\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"& ' +105 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&8% +5 "core" %   : + "storage"(3& +4 "core" &,r\ \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&e'= +20 "core" ' +2 "manipulator"&p& +4 "core" & ^ s + "storage"(j& +4 "core" &,r\ #\ $ (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&6'Ѽ +36 "core" ' +2 "storage"(\ % +4 "core" %M\ +\ I 6\ +3 ."downElevator"SE.seek :down +3 "storage"(z'X +99 (% +2 "core" %C\ \  E\ Wa +2 "manipulator"&U% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'W& +4 "core" &TT\ + "manipulator"&+% +4 "core" %\    +2 "storage"(J% +4 "core" %b\ I\ H\ + "storage"(. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +345 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" &<) \  +2 "manipulator"&D& +4 "core" & \ s +2 .tElbow.seek 5 + "manipulator"&I( +4 "core" ( + "manipulator"&i& +4 "core" &  Z s + "storage"(X& +4 "core" &<%\ %\ # G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&l'ы +99 "core" ' + "storage"(K& +4 "core" &<%\ K\ I Z\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'i +282 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +102 "core" &<%\ 3\ ! ;\  +3 "manipulator"&:& +4 "core" & & s +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&A& +4 "core" & R s +2 "storage"(&& +3 "core" &<%\ "\ # '\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&]' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"('X +5 "core" &  s +3 "manipulator"&u% +3 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&0& +4 "core" &, B  * Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &, Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'" +97 "core" ' +2 "manipulator"&L& +5 "core" &, Bk + "manipulator"&{% +4 "core" %%  +2 "collection"'o& +4 "core" &TS\ +2 "collection"'& +6 "core" &RT\ +2 .tCC.seek :closed + "collection"'|(V +5 "core" &RT\ +7 & -TS\ #b +9 &W~TS\ 7 +10 &vSS\ K +9 &STT\ L +9 &oTQS\ L +10 &2UTT\ L +9 &URT\ L +10 &TRS\ L +9 &xWSS\ L +9 &:TQS\ L +10 &TPR\ L +9 &!URR\ L +9 &#RSR\ L +10 &%ATSS\ L +9 &'UPT\ L +10 &(TRS\ L +9 &*TQS\ L +9 &,IWRT\ L +10 &. TSS\ L +9 &/TQS\ L +14 &1RRT\ L +5 &3QTSS\ L +9 &5USS\ L +10 &6UQS\ L +9 &8TRS\ L +9 &:YRSR\ L +10 &<YQT\ M +9 &=VTS\ L +9 &?SPS\ L +10 &AaRSSO\ L +9 &C"YRT\ M +10 &D^SS\ M +9 &FhST\ N +58 &H\\zSV\ Q +9 &JST\ V + &KTS\ X + &MTS\ X + &OLSS\ Y &QRUS\ Y + &RSU\ Z +4 &TUS\ Z +9 &V.vRVL\ . +10 &V SS\ P +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&71 +3 "core" &VrSSw\ N +61 1 +2 "manipulator"&% +4 "core" % %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%v& +5 "core" &h\ + "manipulator"&% +4 "core" %\   +2 "storage"(C% +6 "core" %` \ +2 "storage"(. +6 "core" .(<* +5 "storage"(n& +8 "core" &<% \  +4 "storage"(-& +7 "core" &<% \  +3 "manipulator"&& +9 "core" &+ Bf +2 "manipulator"&O% +12 "core" %\  I  +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&x( +165 "core" ( +3 "manipulator"&/& +9 "core" & & X +2 "storage"(%& +8 "core" &<% *\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +4 "manipulator"&?'ы +105 "core" ' +4 "storage"(E& +8 "core" &<% \  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"('i +19 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +261 "core" ' +6 "storage"(a- +7 "core" -' +2 .tSE.configure :default +8 "storage"(#QK-0-\ b +10 (H& +10 "core" &<% \  +4 "manipulator"&Z& +10 "core" & 4 X +3 .tElbow.seek 5 +4 "manipulator"&g( +7 "core" ( +4 "manipulator"&t& +8 "core" & H X +5 "storage"('& +8 "core" &<% \  +4 .tForearm.seek 5 + 300 counts +7 "manipulator"&$' +15 "core" ' +5 .tForearm.reconfigure :loose +13 "manipulator"&#Q@2^d^b +6 .tHand.close +4 "manipulator"& +9 &r<\ N +10 &GU/\ M +9 & U*\ M +9 &U5\ M +10 &V0\ M +9 &PW9\ M +9 &W4\ M +10 &W2\ M +9 & V9\ M +10 &"XV5\ M +9 &$U8\ M +9 &%U-\ M +10 &'Y7\ M +9 &)`W\ M +9 &+"U'\ M +10 &,V*\ M +9 &.U%\ M +10 &0gU%\ M +9 &2)V$\ M +9 &3U%\ M +10 &5V0\ M +9 &7pU1\ M +10 &92V2\ M +9 &:U"\ M +9 &<T:\ M +10 &>xU<\ M +9 &@9WF\ M +9 &AVA\ M +10 &CZ)\ M +9 &E|_C\ N +9 &G:h\ O +10 &H\ R +9 &J\ R +10 &Lv\ S +9 &N8\ S +9 &O\ S +10 &Q\ S +9 &S{\ T +9 &U>\ S +10 &W\ S +9 &X\ T +10 &Z&TtJ\ (w +9 &Zb\ 4 +9 ( +2 &Z"\ . + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&M1 +55 "core" 1 +2 "manipulator"&% +4 "core" % .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +2 "processing"%k& +4 "core" &Z!\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&\\% +4 "core" %\  1 +2 "storage"(.% +3 "core" %T \ +2 "storage"(d. +3 "core" .(<* + "storage"("& +4 "core" &<% )\  +2 "storage"(=& +5 "manipulator"&c& +3 "core" &<% \  + &l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&@(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(,'i +3 "core" ( + "manipulator"&B& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &l H +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&P/ +57 "core" / + .tPC.seek :open +2 "processing"%F( +91 "core" ' +2 "storage"()- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +292 ( + "storage"(#& +4 "core" &<% g\  +2 "manipulator"&>& +3 "core" &l u +2 "manipulator"& % +4 "core" % ? + .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&f( +251 "core" ( +2 "manipulator"&& +4 "core" & % >  + "storage"(R& +4 "core" &<% G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&['ы +91 "core" ' + .tHand.open + "manipulator"&!1 +60 "core" 1 +2 "storage"(G- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(s- +3 "core" -' +2 "storage"(& +4 "core" &<% D 9 m\  +2 "manipulator"&& +3 "core" & '  +2 .tElbow.seek 5 +2 "manipulator"&8( +7 "core" ( +2 "manipulator"&3& +4 "core" & K +2 "storage"(p& +3 "core" &<% R = \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\ ' +57 "core" ' +2 "manipulator"&& +4 "core" & F + "storage"(& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&U' +30 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +22 "core" ' + "manipulator"&e% +4 "core" % ' K +2 "storage"(W& +4 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&+' +20 "core" ' +2 "manipulator"&J& +5 "core" &  +2 "storage"(& +4 "core" &<% S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +37 "core" ' + "storage"(6% +4 "core" %q c\ +3 ."downElevator"SE.seek :down +4 "storage"(z'X +97 (T% +3 "core" %A \ Vb +2 "manipulator"&5% +4 "core" %{  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +4 "core" &<% i\  + "collection"'X& +4 "core" &VrQT\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&K% +4 "core" %\  ]  +2 "storage"(% +4 "core" %^ \ + "storage"(b. +4 "core" .(<* + "storage"(w& +4 "core" &<% /\  + "storage"(*& +4 "core" &<% ;\  +2 "manipulator"&:& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( + "manipulator"&&& +4 "core" &    +2 "storage"(`& +3 "core" &<% .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +51 "manipulator"& 'ы +97 "core" ' +2 "storage"(u& +4 "core" &<% \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +284 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +4 "core" &  +2 "storage"(q& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&Y' +34 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"({'U +31 "core" ' +2 "manipulator"&% +4 "core" %  V p + "storage"(o& +4 "core" &<% Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&& +5 "core" & c  + "storage"(4& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&7'ы +20 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('D +40 "core" ' + "manipulator"&v& +4 "core" &   +2 "manipulator"&% +4 "core" %ю  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +169 "core" ( + "manipulator"&& +4 "core" &* @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &*  @^ +2 .tForearm.seek CC +2 "manipulator"&-'" +91 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'O( +416 "core" ( + "storage"(y& +4 "core" &<%\ \  \  +2 "storage"(/& +4 "core" &<%\ \  4\  +2 "manipulator"&%& +4 "core" &* & @] + "manipulator"&% +4 "core" % 3 2  +2 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&}( +163 "core" ( +2 "manipulator"&a& +4 "core" &  ] +2 "storage"(H& +3 "core" &<%\ %\ # H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Z' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +60 "core" 1 +2 "manipulator"&<% +4 "core" %  +2 "storage"(9& +4 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&Q' +18 "core" ' +2 "manipulator"&x& +4 "core" & h ] +2 "storage"(?& +3 "core" &<%\ &\ % _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +29 "core" ' + "storage"($% +5 "core" %F\ #\ + n\ +2 ."downElevator"SE.seek :down +3 "storage"(N'X +99 (h% +3 "core" %jE\ \ " \ Wb +2 "manipulator"&g% +4 "core" %ь  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'_& +4 "core" &RT\ +2 "manipulator"&% +4 "core" %\   # +2 "storage"( % +4 "core" %_\ #\ $ \ + "storage"(S. +3 "core" .(<* +7 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(1(K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &K _\  +2 "manipulator"&& +4 "core" &  ] + .tElbow.seek 6 +2 "manipulator"&k( +47 "core" ( + "manipulator"&\\& +4 "core" &) $ : +2 "storage"(.& +4 "core" &K\ $\ $ 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&d'a +106 "core" ' + "storage"("& +4 "core" &K\ H\ H \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +282 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ \ m\  +2 "manipulator"&B& +4 "core" &) : +2 .tElbow.seek 6 + "manipulator"&~( +21 "core" ( +2 "manipulator"&(& +4 "core" & J } + "storage"(P& +4 "core" &K\ %\ $ =\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&)' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(2'X +7 "core" & & } +2 "manipulator"&,% +3 "core" % &  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"& & +4 "core" &( C B ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' + "manipulator"&R& +5 "core" &( % ?T + "manipulator"&@% +4 "core" %# +2 "collection"'!& +4 "core" &RT\ +2 "collection"'G& +6 "core" &SS\ +2 .tCC.seek :closed + "collection"'s(V +4 "core" &RT\ +8 &4TT\ #c +10 &W}RR\ 7 +9 &uRT\ K +9 &SRQ\ L +10 &iURS\ L +9 &,QOS\ L +9 &UTR\ M +10 &TQP\ L +9 &qTRT\ L +10 &4QRU\ L +9 &TQU\ L +14 &!TSS\ L +5 &#yQQS\ L +9 &%;XVV\ L +9 &&UTS\ M +10 &(TQQ\ L +9 &*TJT\ L +9 &,CRST\ L +10 &.TRT\ M +9 &/SQS\ L +10 &1URT\ L +9 &3KTTR\ L +9 &5QSS\ L +10 &6TUR\ L +9 &8SST\ L +9 &:TRSS\ L +10 &<WTR\ M +9 &=WRT\ L +10 &?URR\ L +9 &A[RQT\ L +9 &CYQS\ L +10 &DXSS\ M +9 &FeSR\ N +10 &HXuRT\ P +9 &J SR\ U +9 &KSS\ X +10 &MRU\ X +9 &OGSS\ Y +9 &Q RS\ Y +10 &RTS\ Z +9 &TUV\ Z +9 &V&uST\ . +10 &V&TV{\ Q +9 ( +2 &VnTS\ L + "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +7 "manipulator"&% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +4 "core" &p\ +2 "manipulator"&^% +3 "core" %\   +2 "storage"(% +4 "core" %W 2\ + "storage"(. +3 "core" .(K +2 "storage"(e& +3 "core" &K S\  +2 "storage"(& +4 "core" &K 2\  +2 "manipulator"&W& +4 "core" &(   ?S + "manipulator"& % +4 "core" %\   +7 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&J( +157 "core" ( + "manipulator"&& +4 "core" & [ w +2 "storage"(6& +4 "core" &K l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&f'a +98 "core" ' +2 "storage"([& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &K 3\  +2 "manipulator"&j& +4 "core" & " w + .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&\ & +4 "core" &  w + "storage"(U& +4 "core" &K +\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&+' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +106 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(K'X +8 "core" & | w + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(s +170 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&w& +5 "core" &j 9  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +2 "core" &j E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:' +104 "core" ' + "manipulator"&&& +4 "core" &l # E  +2 "manipulator"&`% +4 "core" % +2 "processing"%& +3 "core" &/\ +2 "processing"%u& +6 "core" &;\ +2 .tPC.seek :closed +3 "processing"%z(Z +3 "core" &9\ +6 &9:\ $d +9 &V{4\ 7 +10 &x<\ K +9 &U2\ M +9 &bX8\ M +10 &%V/\ M +9 &V2\ M +9 &Y8\ M +10 &kW1\ M +9 &,[4\ M +10 &X9\ M +9 &!Y)\ L +9 &#rY1\ M +10 &%5W*\ M +9 &&W \ M +9 &(T(\ M +10 &*{W+\ M +9 &,>W'\ L +10 &-Y\ M +9 &/V5\ L +9 &1WQ\ M +10 &3EUT\ M +9 &5V5\ M +9 &6Z5\ M +10 &8UB\ L +9 &:MV;\ M +10 &<U(\ M +9 &=Ug\ L +9 &?Wp\ M +10 &AUUt\ M +9 &CZ\ M +9 &D`\ M +10 &Fg\ O +9 &HP}\ Q +10 &J \ S +9 &K\ S +9 &M\ S +10 &OS\ S +9 &Q\ S +10 &R\ S +9 &T\ T +9 &VX\ T +10 &X\ T +9 &Yxo\ : +9 &Z%c\ O +10 &Z#\ - +2 ( + "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&r1 +54 "core" 1 + "manipulator"&D% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 "processing"%0& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&q% +4 "core" %\   +2 "storage"(L% +3 "core" %U \ +2 "storage"(. +3 "core" .(K + "storage"(o& +4 "core" &K \  +2 "storage"(& +5 "manipulator"&4& +3 "core" &K \  + &m   +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&v(s + "storage"('i +6 "core" ( + "manipulator"& & +4 "core" &m s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &m d  +2 .tForearm.seek PC +2 "manipulator"&I' +97 "core" ' +2 .tHand.close + "manipulator"&Y/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +79 "core" ' +2 "storage"({- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +299 ( +2 "storage"(n& +4 "core" &K \  + "manipulator"&7& +4 "core" &m @  +2 "manipulator"&]% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&C( +257 "core" ( + "manipulator"&|& +5 "core" &  K  + "storage"(y& +4 "core" &K *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&/'a +100 "core" ' + .tHand.open +2 "manipulator"&%1 +62 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(a'E +29 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(H' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(& +4 "core" &K G E \  + "manipulator"&'& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&9& +4 "core" & $ 2  + "storage"(x& +4 "core" &K H G \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +27 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"($' +60 "core" ' +2 "manipulator"&E& +4 "core" & @  +2 "storage"(h& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&g'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'i +25 "core" ' + "manipulator"&_% +5 "core" %ζ  + "storage"(Q& +4 "core" &K X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +11 "core" ' +2 "manipulator"& & +4 "core" & I  +2 "storage"(S& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +19 "core" ' +2 "storage"(% +4 "core" %p ~\ +3 ."downElevator"SE.seek :down +3 "storage"(N'X +98 (% +3 "core" %D \ Wd +2 "manipulator"&M% +5 "core" %V O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +4 "core" &K l\  + "collection"'.& +4 "core" &VnTT\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&"% +4 "core" %\   $ +2 "storage"(t% +3 "core" %` G\ +2 "storage"(;. +3 "core" .(K + "storage"(=& +4 "core" &K H\  +2 "storage"(& +3 "core" &K a\  +2 "manipulator"&B& +3 "core" & #  +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( + "manipulator"&P& +4 "core" & # n  +2 "storage"(m& +3 "core" &K i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&V'a +99 "core" ' + "storage"(,& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'i +280 "core" ' +3 "storage"(d- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &   +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&c'Υ +27 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(@'Y +32 "core" ' +2 "manipulator"&~% +4 "core" %θ R + "storage"(!& +4 "core" &K P\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&2' +16 "core" ' + "manipulator"&#& +5 "core" & b  + "storage"(O& +4 "core" &K H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +41 "core" ' + "manipulator"&p& +5 "core" & 2  + "manipulator"&^% +4 "core" %x [ g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +161 "core" ( +2 "manipulator"&e& +4 "core" &%  .  <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +4 "core" &% <@ +3 .tForearm.seek CC + "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&W/ +61 "core" / +43 .tCC.seek :open +11 "collection"' ( +416 "core" ( +2 "storage"(& +4 "core" &K +\  + "storage"(& +4 "core" &K a\  + "manipulator"&6& +4 "core" &%  <= +2 "manipulator"&[% +3 "core" % 3 / E +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&3( +185 "core" ( + "manipulator"&T& +5 "core" & $ n " + "storage"(5& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&j'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +53 "core" 1 +2 "manipulator"&i% +5 "core" % ζ  7 + "storage"(X& +4 "core" &K >\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&J& +4 "core" & * # +2 "storage"(f& +4 "core" &K\ #\ % %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +31 "core" ' + "storage"(+% +4 "core" %K\ %\ # ,\ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (*% +3 "core" %I\ \ \ Va +2 "manipulator"&8% +4 "core" %R Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'`& +6 "core" &RR\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(K% +4 "core" %a\ I\ H \ + "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(F(,l +657 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &,o \ + "manipulator"&D& +4 "core" & A "~ +2 .tElbow.seek 4 + "manipulator"&0( +35 "core" ( +2 "manipulator"&q& +4 "core" & T # + "storage"(L& +4 "core" &,r\ *\ D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +102 "core" ' +2 "storage"(o& +4 "core" &,r\ A\ ] 9\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &,r\ \  \ + "manipulator"& & +4 "core" &  # +2 .tElbow.seek 4 + "manipulator"&A( +4 "core" ( + "manipulator"&:& +4 "core" & b # +2 "storage"(Y& +4 "core" &,r\ $\ " 3\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&{', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(z'X +7 "core" &  # +2 "manipulator"&% +4 "core" % $ :  + .tForearm.seek :retract +2 "manipulator"&n'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&]& +4 "core" &&  T : =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" && # =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +96 "core" ' +2 "manipulator"&y& +4 "core" && / " =F +2 "manipulator"&v% +4 "core" %& +2 "collection"'%& +4 "core" &TT\ +2 "collection"'& +5 "core" &RT\ +2 .tCC.seek :closed +2 "collection"'-(V +4 "core" &SQ\ +7 &=RR\ $d +9 &V}QR\ 7 +10 &wRT\ L +9 &QRT\ L +10 &oTPS\ L +9 &1TRR\ L +9 &RRR\ L +10 &TRR\ L +9 &wTRS\ L +9 &8TRJ\ M +10 &RPT\ L +9 &!TQS\ L +10 &#TRT\ L +9 &%@TSS\ M +9 &'SRR\ L +10 &(SPQ\ L +9 &*SRR\ L +9 &,HUQT\ M +10 &. SST\ L +9 &/SSR\ L +10 &1TRS\ L +9 &3QSQT\ L +9 &5TQS\ L +10 &6TSR\ M +9 &8SUT\ L +12 &:YUSR\ L +7 &<YRT\ L +9 &=WTT\ L +10 &?UST\ L +9 &AbQQS\ L +9 &C"VQT\ M +10 &DYSR\ M +9 &FhRS\ N +10 &H]yRR\ P +9 &JTR\ V +9 &KSQ\ X +10 &MRS\ W +9 &ONRT\ X +9 &QPUP\ Y +10 &RRU\ Z +9 &TTR\ Z +9 &V-uQS\ . +10 &V"RT\ S +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +4 "core" &VfTU\ O +55 1 +2 "manipulator"&'% +4 "core" % & /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%x& +4 "core" &8\ +2 "manipulator"&% +4 "core" %\ #  @ +2 "storage"(E% +3 "core" %] \ +2 "storage"(h. +3 "core" .(,l + "storage"(& +4 "core" &,r \ +2 "storage"(_& +3 "core" &,r \ +2 "manipulator"&Q& +4 "core" && =F +2 "manipulator"&a% +3 "core" %\ # $ @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +158 "core" ( + "manipulator"&S& +5 "core" & #  f + "storage"(& +3 "core" &,r \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&C'Ѽ +96 "core" ' + "storage"(/& +4 "core" &,r {\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &,r \ +2 "manipulator"&?& +3 "core" &  f +2 .tElbow.seek 4 +2 "manipulator"&<( +3 "core" ( + "manipulator"&$& +4 "core" &  f + "storage"(g& +4 "core" &,r I\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"("'X +7 "core" &  f +2 "manipulator"&t% +3 "core" % 5  e +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&=& +4 "core" &l { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &l b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +92 "core" ' +2 "manipulator"&P& +4 "core" &n = +2 "manipulator"&m% +4 "core" % I : +2 "processing"%& +3 "core" &2\ +2 "processing"%,& +6 "core" &6\ +2 .tPC.seek :closed +3 "processing"%N(Z +3 "core" &3\ +6 &A3\ $f +9 &X:\ 8 +9 &y4\ L +10 &V:\ M +9 &|W.\ M +9 &=Y9\ M +10 &V;\ M +9 &W7\ M +10 &Y1\ M +9 &FU2\ M +9 & Y9\ M +10 &!W3\ M +9 &#X5\ M +9 &%NW?\ M +10 &'V;\ M +9 &(X;\ M +10 &*Y.\ M +9 &,WW/\ L +9 &.Y;\ M +10 &/U7\ M +9 &1V'\ L +9 &3]V\ M +10 &5 W#\ M +9 &6U \ M +10 &8U"\ M +9 &:gU-\ L +9 &<(U\ M +10 &=S^\ M +9 &?Vw\ M +9 &AoW[\ L +10 &C.YM\ M +9 &D_W\ N +10 &FhB\ O +9 &Hi{\ Q +9 &J&}\ S +10 &K~\ S +9 &M\ S +9 &Ok\ S +10 &Q-\ S +9 &R\ S +10 &T\ T +9 &Vq\ T +10 &X3\ T +9 &Yxo\ 0 +9 &Z&j\ I +10 &Z#\ / +2 ( + "processing"%,& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&}1 +54 "core" 1 + "manipulator"&% +4 "core" % % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +90 "core" ' + "processing"% & +5 "core" &Z"\ / + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\    +51 "storage"(R% +5 "core" %b \ +2 "storage"(~. +3 "core" .(,l + "storage"(!& +4 "core" &,r \ +2 "storage"(#& +2 "manipulator"&O& +6 "core" &,r \ + &n ; +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&p(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(^'i +3 "core" ( + "manipulator"&V& +4 "core" &n c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &n ! < +2 .tForearm.seek PC +2 "manipulator"&k' +96 "core" ' +2 .tHand.close + "manipulator"&c/ +63 "core" / +3 .tPC.seek :open + "processing"%2( +83 "core" ' + "storage"(@- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(e'y +37 "core" ' +302 ( + "storage"(G& +4 "core" &,r x\ +2 "manipulator"&& +4 "core" &n O + "manipulator"&)% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&W'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +255 "core" ( + "manipulator"&s& +5 "core" & $ ] + "storage"(& +4 "core" &,r )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +100 "core" ' +2 .tHand.open + "manipulator"&61 +57 "core" 1 +2 "storage"([- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(5' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &,r i ^ h\ +2 "manipulator"&U& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&i( +10 "core" ( +3 "manipulator"&X& +8 "core" & T +3 "storage"(J& +9 "core" &,r [ [\ +5 .tForearm.seek 4 + 700 counts +2 "manipulator"&f'Ѽ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(+' +57 "core" ' + "manipulator"&>& +5 "core" & H + "storage"(*& +4 "core" &,r Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&8' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +26 "core" ' +2 "manipulator"&% +4 "core" %   +2 "storage"(`& +3 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +19 "core" ' + "manipulator"&K& +5 "core" & Y + "storage"( & +4 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +18 "core" ' +2 "storage"(% +4 "core" %k \ +2 ."downElevator"SE.seek :down +4 "storage"(w'X +99 (1% +3 "core" %L "\ Xf +2 "manipulator"&r% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (q& +4 "core" &,r x\ +2 "collection"'L& +4 "core" &VeSS\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&o% +4 "core" %\  U  +2 "storage"(\ % +4 "core" %b "\ + "storage"(&. +3 "core" .(,l +2 "storage"(& +4 "core" &,r e\ + "storage"(u& +4 "core" &,r J\ + "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&:( +3 "core" ( + "manipulator"&Y& +4 "core" & # + "storage"(b& +4 "core" &,r E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +86 "core" ' +2 "storage"(& +4 "core" &,r #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +283 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" &  +2 "storage"(I& +3 "core" &,r e\ +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&4' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(y- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(v'V +39 "core" ' + "manipulator"&%% +4 "core" % +2 "storage"(A& +3 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&z'? +19 "core" ' +2 "manipulator"&n& +4 "core" & W + "storage"( & +4 "core" &,r C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''E +41 "core" ' + "manipulator"&x& +5 "core" & ; + "manipulator"&% +4 "core" %ѳ R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&h( +162 "core" ( +3 "manipulator"&& +4 "core" &% / . << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &% * $ << +2 .tForearm.seek CC + "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&Q/ +57 "core" / + .tCC.seek :open +2 "collection"'a( +417 "core" ( + "storage"(|& +4 "core" &,r\ \ +2 "storage"(S& +3 "core" &,r \ +2 "manipulator"&& +3 "core" &% 5 O << +2 "manipulator"&/% +4 "core" % , f + .tForearm.seek :retract +2 "manipulator"&7'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&9( +163 "core" ( + "manipulator"&& +4 "core" &   j +2 "storage"(M& +3 "core" &,r\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&?' +107 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&g1 +61 "core" 1 +2 "manipulator"&\\% +4 "core" %  /   +2 "storage"(.& +4 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&t': +20 "core" ' +2 "manipulator"& & +4 "core" & j + "storage"(C& +4 "core" &,r\ #\ $ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&H'Ѽ +24 "core" ' +2 "storage"(% +4 "core" %G\ C\ G \ +2 ."downElevator"SE.seek :down +4 "storage"(='X +99 (% +2 "core" %K\ $\  Z\ Vb +2 "manipulator"&<% +4 "core" %ѷ h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'m& +4 "core" &PR\ +2 "manipulator"&% +4 "core" %\ "  @ + "storage"("% +52 "core" %b\ $\ $ 7\ +3 "storage"(;. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" &<' @\  +2 "manipulator"&& +4 "core" & < j +2 .tElbow.seek 5 + "manipulator"& ( +8 "core" ( + "manipulator"&& +5 "core" & % U a + "storage"(R& +4 "core" &<#\ $\ $ %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&,'ы +86 "core" ' +2 "storage"(~& +4 "core" &<#\ F\ C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +283 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O& +3 "core" &<#\ \  {\  +2 "manipulator"&V& +3 "core" &  a +2 .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( + "manipulator"&B& +4 "core" & x a +2 "storage"(c& +3 "core" &<#\ $\ $ W\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&@' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +55 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&d& +3 "storage"(N'X +6 "core" & a +2 "manipulator"&^% +4 "core" % \\ B +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +16 "core" ( + "manipulator"&)& +4 "core" &- C g Ct + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &- 9 Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'" +103 "core" ' +2 "manipulator"&& +4 "core" &- Ct +2 "manipulator"&p% +4 "core" %$ ! +2 "collection"'6& +3 "core" &OS\ +2 "collection"'[& +6 "core" &RT\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &QQ\ +7 &<ST\ $d +9 &XRS\ 7 +10 &xSS\ L +9 &RRS\ L +9 &tUSS\ L +10 &5TRS\ M +9 &TQS\ L +9 &TRS\ L +10 &}QSS\ L +9 &>TUT\ L +10 & URT\ L +9 &!SRR\ L +9 &#TTR\ M +10 &%FTRS[\ L +9 &' QQS\ L +9 &(TTS\ L +10 &*PST\ L +9 &,MURT\ M +9 &.SSS\ L +10 &/TRS\ L +9 &1VQS\ L +10 &3WTTR\ L +9 &5TTT\ L +9 &6QST\ L +10 &8TRT\ M +9 &:^TRR\ L +10 &<TSS\ M +9 &=TSR\ M +9 &?UTS\ L +10 &AfQRS \ L +9 &C'XRR\ M +10 &D]QT\ M +9 &FhSS\ O +9 &HcyTQ\ P +10 &JSU\ V +9 &KTT\ W +9 &MRS\ X +10 &ORTT\ Y +9 &QQU\ Y +9 &RRR\ Z +10 &TRS\ Z +9 &V3wRUP\ / +10 &VRT\ [ +8 ( +2 &VpST\ U +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&U% +4 "core" % $ @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%W& +4 "core" &A\ +2 "manipulator"&J% +3 "core" %\ \ 7  +2 "storage"(>% +4 "core" %R \ + "storage"(*. +4 "core" .(<* + "storage"(e& +4 "core" &<# \  + "storage"(T& +4 "core" &<# h\  +2 "manipulator"&& +3 "core" &- o Cp +2 "manipulator"&`% +4 "core" %\ \ 0 j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&K( +152 "core" ( +2 "manipulator"& & +4 "core" & w  +2 "storage"(& +3 "core" &<# O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +96 "core" ' +2 "storage"(& +4 "core" &<# }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'i +283 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" &<# <\  + "manipulator"&f& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&i( +4 "core" ( + "manipulator"&+& +4 "core" &  (  +2 "storage"(8& +8 "core" &<# \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&q' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(o'X +7 "core" & C  +2 "manipulator"&\ % +4 "core" %  ? + .tForearm.seek :retract +2 "manipulator"&&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&j(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&& +4 "core" &h > (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &h X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' + "manipulator"&Y& +4 "core" &h & (  +2 "manipulator"&b% +4 "core" % q +2 "processing"%& +4 "core" &I\ +2 "processing"%& +6 "core" &{\ +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &;\  +8 &1yG\ *x +9 &bF\ = +10 &vr4\ N +9 &9U0\ M +10 &U7\ M +9 &VF\ M +9 &W?\ M +10 &AV9\ M +9 &W;\ M +9 &V?\ M +10 & U/\ M +9 &"IY8\ M +10 &$ U-\ M +10 &%V6\ M +8 &'Y:\ M +10 &)QZ8\ M +9 &+U6\ M +9 &,U:\ M +10 &.V5\ M +9 &0YY,\ M +9 &2V/\ M +10 &3U)\ M +9 &5W(\ M +10 &7cU+\ L +9 &9#W3\ M +9 &:U,\ M +10 &<U-\ L +9 &>jU,\ M +10 &@,W'\ M +9 &AV\ L +9 &CY(\ M +10 &EoZ'\ N +9 &G-h&\ O +9 &H9\ Q +10 &J(\ S +9 &Lh3\ S +10 &N)E\ S +9 &OV\ S +9 &Q\ S +10 &Sn\ S +9 &U0\ S +9 &V\ S +10 &X\ T +9 &Z ]\ #l +12 &ZR\ ( +6 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&31 +3 "core" &Z\ & +52 1 +2 "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + "processing"%]& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&I% +4 "core" %\   +2 "storage"(y% +4 "core" %T \ +2 "storage"(%. +3 "core" .(<* + "storage"(A& +4 "core" &<# }\  +2 "storage"(n& +4 "manipulator"& & +4 "core" &<# \  + &h   +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&x(s + "storage"('i +25 "core" ( + "manipulator"&l& +4 "core" &j # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &j 3 +2 .tForearm.seek PC +2 "manipulator"&0' +97 "core" ' +2 .tHand.close + "manipulator"&4/ +64 "core" / +3 .tPC.seek :open +2 "processing"%z( +63 "core" ' +2 "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +316 ( +2 "storage"(_& +4 "core" &<# \  + "manipulator"&& +4 "core" &j B +2 "manipulator"&{% +3 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&E( +260 "core" ( + "manipulator"&-& +4 "core" & # `  +2 "storage"(|& +3 "core" &<# #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +98 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +56 "storage"(M' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(h& +4 "core" &<# A D n\  +2 "manipulator"&g& +3 "core" & ]  +2 .tElbow.seek 5 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&.& +4 "core" &  K  +2 "storage"( & +4 "core" &<# D D V\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&C'ы +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&7& +5 "core" &   + "storage"(& +4 "core" &<# \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&<' +36 "core" ' +2 .tElbow.hold + "manipulator"&9, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +22 "core" ' +2 "manipulator"&m% +4 "core" %   u +2 "storage"(t& +4 "core" &<# ^\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&"& +4 "core" &  (  +2 "storage"('& +4 "core" &<# C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&;'ы +33 "core" ' + "storage"(H% +5 "core" %p \ +2 ."downElevator"SE.seek :down +4 "storage"(='X +99 (F% +4 "core" %F \ Vc + "manipulator"&}% +4 "core" %ѓ K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<# =\  +2 "collection"'R& +4 "core" &VoRT\ U +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&~% +4 "core" %\    +2 "storage"($% +3 "core" %S \ +2 "storage"(P. +3 "core" .(<* + "storage"(#& +4 "core" &<# +\  +2 "storage"(O& +3 "core" &<# $\  +2 "manipulator"&V& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( + "manipulator"&c& +4 "core" &  L  +2 "storage"(Z& +3 "core" &<# >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&d'ы +94 "core" ' +2 "storage"(^& +4 "core" &<# 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' +2 "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&)& +3 "core" & "  +2 "storage"(k& +3 "core" &<# @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&!' +35 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('U +30 "core" ' + "manipulator"&p% +5 "core" %   Z + "storage"(6& +4 "core" &<# w l )\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&N' +20 "core" ' +2 "manipulator"&G& +4 "core" &  '  +2 "storage"(a& +3 "core" &<# \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'D +40 "core" ' +2 "manipulator"&W& +4 "core" & V  +2 "manipulator"&J% +4 "core" %є # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +168 "core" ( + "manipulator"&*& +5 "core" &+ Z Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &* c Aa +2 .tForearm.seek CC +2 "manipulator"&T'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'`( +417 "core" ( + "storage"(s& +4 "core" &<# \  +2 "storage"( & +3 "core" &<# a\  +2 "manipulator"&& +3 "core" &* @\\ +2 "manipulator"&% +4 "core" % %  + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +161 "core" ( +2 "manipulator"&1& +4 "core" &  h + "storage"(r& +4 "core" &<#\ \  /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&f' +109 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +60 "core" 1 +2 "manipulator"&% +4 "core" %  + +2 "storage"(L& +4 "core" &<# \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&\ ' +14 "core" ' +2 "manipulator"&K& +4 "core" &  W h + "storage"(& +4 "core" &<#\ "\ #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&5'ы +28 "core" ' + "storage"(q% +5 "core" %H\ H\ 6 6\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (u% +3 "core" %I\ \ \ Vb +2 "manipulator"&i% +4 "core" %ѐ + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'b& +4 "core" &SR\ + "manipulator"&% +4 "core" %\    +2 "storage"(o% +4 "core" %a\ H\ H\ +2 "storage"(&. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(2(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (3& +3 "core" &K :\  + "manipulator"&D& +4 "core" &  h +2 .tElbow.seek 6 +2 "manipulator"&]( +39 "core" ( +2 "manipulator"&I& +4 "core" &*  A ) + "storage"(y& +4 "core" &K\ "\ " %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&%'a +97 "core" ' + "storage"(A& +4 "core" &K\ B\ G <\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \ "\  +2 "manipulator"&l& +3 "core" &* V ) +2 .tElbow.seek 6 +2 "manipulator"&:( +22 "core" ( +2 "manipulator"& & +4 "core" & [ +2 "storage"(4& +4 "core" &K\ $\ $ M\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&v' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +57 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +2 "storage"(w'X +7 "core" & Q +2 "manipulator"&% +3 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&_'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&{& +4 "core" &* 4 2 @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &* a @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'" +145 "core" ' +2 "manipulator"&|& +4 "core" &* 4 N @\\ +2 "manipulator"&x% +4 "core" %& 1 +2 "collection"'& +4 "core" &SS\ +2 "collection"'/& +5 "core" &ST\ +2 .tCC.seek :closed +2 "collection"'Q(V +4 "core" &TT\ +7 &4SS\ $d +9 &UySS\ 6 +10 &yQT\ K +9 &SRS\ L +10 &gTST\ L +9 &)TRS\ L +9 &URT\ L +10 &UTS\ L +9 &oQST\ L +10 &1TSS\ L +9 &TQS\ L +9 &!TTT\ L +10 &#vUSS\ L +9 &%9RRQ\ L +9 &&USS\ L +10 &(TST\ L +9 &*VQT\ L +9 &,ATSU\ L +10 &.SRS\ L +9 &/TRS\ L +9 &1USS\ L +10 &3HTRR\ L +9 &5 VQS\ L +10 &6URS\ L +9 &8TRS\ L +9 &:PVST\ L +10 &<TRR\ L +9 &=SRS\ L +9 &?WST\ L +10 &AXUTS\ L +9 &CYSQ\ L +10 &D]ST\ M +9 &FcST\ N +9 &HWrST\ O +10 &J TT\ T +9 &KRS\ X +9 &MSW\ Y +10 &OESU\ X +9 &QSS\ Y +10 &RTU\ Z +9 &TSS\ Z +9 &V%vSU\ / +10 &V%ST\ O +9 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open + "manipulator"&1 +4 "core" &VnTT\ K +55 1 +2 "manipulator"&h% +5 "core" % & - 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%.& +5 "core" &}\ + "manipulator"& % +4 "core" %\ "  B +2 "storage"(7% +3 "core" %a \ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K i\  +2 "storage"(m& +4 "core" &K \  + "manipulator"&t& +4 "core" &) @[ + "manipulator"&% +4 "core" %\ # B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +152 "core" ( + "manipulator"&'& +4 "core" &  $  +2 "storage"(H& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +86 "core" ' +2 "storage"(S& +4 "core" &K +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +284 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &K !\  +2 "manipulator"&C& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&\\( +4 "core" ( + "manipulator"&& +4 "core" &  u  +2 "storage"(<& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(~'X +6 "core" &  g  +2 "manipulator"&$% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&#& +5 "core" &q 6 w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V' +99 "core" ' +2 "manipulator"&c& +4 "core" &q  B +2 "manipulator"&Z% +4 "core" % s L +2 "processing"%;& +3 "core" &I\ +2 "processing"%^& +6 "core" &\ +2 .tPC.seek :closed + "processing"%=(Z +5 "core" &E\  +9 &1yH\ )w +9 &dB\ > +9 &wsA\ N +10 &<R;\ M +9 &V@\ M +9 &Y@\ M +10 &W9\ M +9 &DV>\ M +10 &Z<\ M +9 &W>\ M +9 & V;\ M +10 &"LW:\ M +9 &$W9\ M +9 &%W3\ M +10 &'Y=\ M +9 &)SZ?\ M +10 &+V:\ M +9 &,U:\ L +9 &.V<\ M +10 &0\\U+\ M +9 &2U5\ M +9 &3V6\ M +10 &5W0\ M +9 &7dT/\ M +10 &9&U/\ M +9 &:SB\ M +9 &<U?\ L +10 &>lV<\ M +9 &@.XZ\ M +9 &AXL\ M +10 &C[(\ M +9 &Epb3\ N +10 &G/n\ O +9 &HL\ R +9 &J\ S +10 &Ljd\ S +9 &N-\ R +9 &O\ S +10 &Q\ S +13 &Sp\ S +6 &U2\ S +9 &V\ T +9 &X\ T +10 &Z!\\\ #m +9 &ZX\ * +9 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&91 +3 "core" &Z\ ' +49 1 + "manipulator"&% +4 "core" % " L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +90 "core" ' +2 "processing"%)& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&k% +4 "core" %\  M  +2 "storage"(% +3 "core" %a \ +2 "storage"(p. +3 "core" .(K + "storage"(6& +4 "core" &K \  +2 "storage"(G& +5 "manipulator"&a& +3 "core" &K R\  +2 &q  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&W(s + "storage"(J'i +5 "core" ( +2 "manipulator"&d& +4 "core" &q / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +2 "core" &q $  +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&!/ +63 "core" / +2 .tPC.seek :open + "processing"%N( +83 "core" ' +2 "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'y +35 "core" ' +304 ( + "storage"(e& +4 "core" &K \  +2 "manipulator"&& +3 "core" &q  m +2 "manipulator"&@% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&>( +267 "core" ( + "manipulator"&& +5 "core" &  w + "storage"(s& +4 "core" &K M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +94 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(1'E +32 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +56 "core" ' + #tLights, camera, ACTION! + "storage"(T- +4 "core" -' +2 "storage"([& +3 "core" &K R O 9\  +2 "manipulator"&8& +4 "core" & Y +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&L& +4 "core" & " 5 +2 "storage"(K& +3 "core" &K R Q \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +56 "core" ' + "manipulator"&& +5 "core" & ; + "storage"(u& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'Υ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +21 "core" ' +2 "manipulator"&\ % +4 "core" %η  + "storage"(b& +5 "core" &K 7\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&o& +4 "core" &  +2 "storage"(&& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&U'a +24 "core" ' +2 "storage"(5% +4 "core" %s w\ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (% +3 "core" %BF \ Xf +2 "manipulator"&3% +4 "core" %ч ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (I& +54 "core" &K C\  +3 "collection"'y& +4 "core" &VnRT\ K + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&A% +4 "core" %\ Y  +2 "storage"(+% +4 "core" %` \ \ +2 "storage"(Y. +3 "core" .(K + "storage"(n& +4 "core" &K W\  +2 "storage"(& +3 "core" &K \  +2 "manipulator"&l& +4 "core" & W +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&4& +4 "core" & U +2 "storage"(j& +4 "core" &K \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +95 "core" ' +3 "storage"(& +4 "core" &K k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +277 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&{& +3 "core" &  +2 "storage"(0& +3 "core" &K ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(|'Y +28 "core" ' + "manipulator"&x% +5 "core" %θ < + "storage"(& +4 "core" &K '\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&w' +12 "core" ' +2 "manipulator"&_& +4 "core" &  +2 "storage"(`& +3 "core" &K ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +26 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(h'H +40 "core" ' +3 "manipulator"&.& +4 "core" &  + "manipulator"& % +4 "core" %h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &+  O Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &+ / 7 Bl +2 .tForearm.seek CC +2 "manipulator"&m'" +91 "core" ' +2 .tHand.close + "manipulator"&t/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(-& +4 "core" &K [\  + "storage"('& +4 "core" &K c\  + "manipulator"&H& +4 "core" &, " Bi + "manipulator"&S% +4 "core" % ! 1 +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&g( +155 "core" ( +2 "manipulator"&F& +4 "core" &    + "storage"(}& +4 "core" &K\ $\ $ ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&C'Υ +108 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +54 "core" 1 +2 "manipulator"&% +3 "core" % θ   +2 "storage"(R& +4 "core" &K K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&$' +17 "core" ' +2 "manipulator"&"& +4 "core" & 8  +2 "storage"(E& +3 "core" &K\ $\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&M'a +25 "core" ' + "storage"(% +5 "core" %R\ G\ H \ +2 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (O% +3 "core" %G\ \ $ n\ V` + "manipulator"&\\% +4 "core" %є L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +15371 "Can"]\ 31v +5673 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +54319 "Can"g\ 31v +6398 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended @1640646991.94EST = =tMAIN =mMAIN_scheduler @EST1640646993.87 #"core_reset"Sent BREAK +2 #t@60763 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +402 "Can"T\ [ + T\ [ + #tPolling Can every 10:00 +17 !o:Storage::Warning: mesg"8Invalid entry in line 114 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +48 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5207 #-> ESP.ready! +3 #Powering core bus +553 .Gate.power :raw,:ON +2 "sampler") +18 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %BE\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % % !  + .tSS.configure :default +2 "sampler")#.0X Puck.count +2 "storage"(;% +4 "core" %^\ 0\ % k\ +2 .tSE.seek :down + "storage"(<'X +4 "core" ' + .tSE.stop + "storage"(5 +2 .tHand.open +2 "manipulator"&=1 +61 "core" 1 + "manipulator"&>% +4 "core" % \  # + \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(?(S +651 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +2 "core" &V \ +2 "manipulator"&A& +4 "core" & 4 % + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&B(. +35 "core" ( +2 "manipulator"&C& +4 "core" &4 ( {  + "storage"(D& +4 "core" &X\ D\ D \ +2 .tForearm.seek 1 + 700 counts + "manipulator"&E'ѷ +88 "core" ' + "storage"(F& +4 "core" &X\ . \ +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +278 "core" ' + "storage"(H- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I% +3 "core" %e\ R\ N \ +2 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (K% +3 "core" %F\ %\ & `\ We + "manipulator"&L% +4 "core" %ѫ   W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(N( +337 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +2 "core" & \ \  l\ +2 "manipulator"&P& +4 "core" &4  F  + .tElbow.seek 2 +2 "manipulator"&Q( +32 "core" ( +2 "manipulator"&R& +4 "core" & - d !w + "storage"(S& +4 "core" & \ '\ ( -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +100 "core" ' + "storage"(U& +4 "core" & \ - 6\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +270 "core" ' +2 "storage"(W- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X% +2 "core" %m\ 1\ ) \ +2 ."downElevator"SE.seek :down +3 "storage"(Y'X +100 (Z% +2 "core" %H\ \  i\ We +2 "manipulator"&[% +4 "core" %я  ] { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +95 "core" ' +64 ' + ."downElevator"SE.stop +6 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(]( +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" &\ \  Y\ +2 "manipulator"&_& +3 "core" &  ; !w +2 .tElbow.seek 3 +2 "manipulator"&`( +29 "core" ( + "manipulator"&a& +4 "core" & %  +2 "storage"(b& +3 "core" &\ D\ D ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +94 "core" ' +2 "storage"(d& +4 "core" &\ / V\  +2 .tSE.reconfigure :place +7 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'i +274 "core" ' + "storage"(f- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g% +2 "core" %a\ R\ R \ +3 ."downElevator"SE.seek :down +3 "storage"(h'X +99 (i% +5 "core" %G\ \  P\ We +5 "manipulator"&j% +8 "core" %- W +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&k'\ +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +6 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 4 +4 "storage"(l(,l +172 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +160 "core" ( +2 .tSC.configure :limp +5 "storage"($\ 1b +4 (m& +7 "core" &,l \  \  +4 "manipulator"&n& +8 "core" &  m +4 .tElbow.seek 4 +2 "manipulator"&o( +7 "core" ( +4 "manipulator"&p& +8 "core" &  S +3 "storage"(q& +8 "core" &,i\ Q\ R \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 700 counts +3 "manipulator"&r'Ѽ +98 "core" ' +3 "storage"(s& +18 "core" &,i \ - -\  +5 .tSE.reconfigure :place +6 "storage"(#]@K-0-\ b +8 .tSE.seek :beamBreak +4 "storage"(t'i +308 "core" ' +41 "storage"(u- +3 "core" -'> +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (v% +3 "core" % >\ Q\ R `\ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (x% +3 "core" %A\ 3\ 3\ Va +2 "manipulator"&y% +3 "core" %Ѽ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"({(<* +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (|& +4 "core" &<( u\  + "manipulator"&}& +4 "core" &  9 + .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & 1 + "storage"(& +4 "core" &<%\ D\ 6 r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +98 "core" ' +2 "storage"(& +4 "core" &<% D N \  + .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +303 "core" ' +2 "storage"(- +4 "core" -'; + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % B\ )\ & +\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %>\ %\ % \ V` +2 "manipulator"& % +8 "core" %   7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +88 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K\ \  \  +2 "manipulator"& & +4 "core" &  , + .tElbow.seek 6 +2 "manipulator"&( +41 "core" ( +2 "manipulator"&& +4 "core" &! $ 0 g + "storage"(& +4 "core" &K\ Q\ Q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +97 "core" ' + "storage"(& +4 "core" &K L\  \  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +303 "core" ' +2 "storage"(- +3 "core" -'< +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" % A\ *\ 0 o\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %A\ /\ ' E\ Va + "manipulator"&% +4 "core" %{  \ n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &[ {\  + "manipulator"&"& +4 "core" &!  { g +2 .tElbow.seek 7 + "manipulator"&%( +27 "core" ( + "manipulator"&'& +5 "core" & 0 {  + "storage"()& +4 "core" &[\ R\ Q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&('w +94 "core" ' + "storage"(& +4 "core" &[\ /\ L u\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +269 "core" ' + "storage"(#- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,% +2 "core" %j\ (\ ( D\ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (.% +4 "core" %kE\ \ " b\ Wd + "manipulator"&/% +4 "core" %{ L 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +94 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +1397 #t-> require 'shuffle.rb' +1775 #-> 10.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" &CC<\  +2 "manipulator"&2% +4 "core" %\  + + +2 "storage"(3% +3 "core" %V\ =\ < o\ +2 "storage"(4. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(5( +1600 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" & \ \  `\ + "manipulator"&7& +4 "core" &    +2 .tElbow.seek 2 + "manipulator"&8( +14 "core" ( +2 "manipulator"&9& +4 "core" & $ h + "storage"(:& +4 "core" & \ D\ C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +100 "core" ' +2 "storage"(=& +4 "core" & \ $ ~ ;\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'i +275 "core" ' +2 "storage"( - +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick + "storage"(<' +28 "core" ' +2 .tSE.seek :down +2 "storage"(!'X +277 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&@% +4 "core" %} +3 .tForearm.reconfigure :loose +37 "manipulator"&#Q@2^d^b +11 .tForearm.seek :retract +2 "manipulator"&A'\ +86 "core" ' +2 !to:Puck::Error: mesg"Tube 2 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:367:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 10.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'C& +3 "core" &AA \  +2 "manipulator"&D% +4 "core" %\ \ 1  +2 "storage"(F% +4 "core" %U \ , N\ + "storage"($. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(&(,l +656 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" &,j \  + "manipulator"&I& +4 "core" &  ( i +2 .tElbow.seek 4 + "manipulator"&K( +10 "core" ( + "manipulator"&L& +4 "core" & " M U +2 "storage"(G& +3 "core" &,g\ R\ R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&E'Ѽ +93 "core" ' +2 "storage"(J& +4 "core" &,g L C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'i +286 "core" ' +2 "storage"(O- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" &,g\ <\ > @\  +2 "manipulator"&R& +3 "core" & U +2 .tElbow.seek 4 + "manipulator"&S( +4 "core" ( + "manipulator"&U& +4 "core" & & j U + "storage"(B& +4 "core" &,g\ R\ Q \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&M', +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(Z'X +8 "core" &   U + "manipulator"&[% +4 "core" % 0  9  +2 .tForearm.seek :retract + "manipulator"&V'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +156 "core" ( +2 "manipulator"&Y& +4 "core" ' + &&   =A + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +6 &N& +4 "core" && =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'" +96 "core" ' + "manipulator"&_& +5 "core" && ; Z =A + "manipulator"&a% +4 "core" % O +2 "collection"'b& +4 "core" &BB@\  +2 "collection"'d& +6 "core" &AD\  +2 .tCC.seek :closed +4 "collection"'Q(V +3 "core" &B@\  +5 &CB \ = +9 &J~BC\ 1 +10 &>rCC\ F +9 &aCC\ N +9 &[AA\ N +10 &hZAC\ N +9 &*YCC\ N +10 &Y?B\ N +9 &YBC\ N +9 &q[AB\ N +10 &3[@A\ N +9 & ZBC\ N +9 &"\\@B\ O +10 &$x[AD\ N +9 &&:ZBC\ N +10 &'ZAB\ N +9 &)X@D\ N +9 &+ZBC\ N +10 &-CYDB\ N +9 &/YCC\ N +9 &0\\@A\ N +10 &2Z@C\ N +9 &4KXBC\ N +10 &6 Y@B\ N +9 &7YAC\ N +9 &9YDC\ N +10 &;Q]CD\ O +9 &=Z@B\ O +9 &>YBA\ N +10 &@\\BC\ O +9 &BZ\\AD\ N +10 &DbCB\ O +9 &EjAC\ P +9 &G|BD\ R +10 &IOCC\ U +9 &KDF\ Z +9 &LBC\ Y +10 &NCD\ Y +9 &PHCC\ Z +14 &R BC\ Z +5 &SBC\ \\ +9 &UAC\ H +10 &V:CD\ (x +9 &VBC\ S +5 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&\\1 +3 "core" &V|DD\ S +56 1 +2 "manipulator"&f% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%i& +4 "core" &|\  +2 "manipulator"&j% +4 "core" %\  )  +2 "storage"(e% +3 "core" %c \ +2 "storage"(c. +3 "core" .(,l +2 "storage"(h& +3 "core" &,g ]\  +2 "storage"(]& +3 "core" &,g 7\  +2 "manipulator"&m& +4 "core" &&   =A + "manipulator"&n% +4 "core" %\  < ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&p( +159 "core" ( +2 "manipulator"&q& +4 "core" & % " j + "storage"(s& +4 "core" &,g m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +94 "core" ' +2 "storage"(k& +4 "core" &,g\ \  +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +280 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (x& +3 "core" &,g 4\  + "manipulator"&y& +4 "core" &  j +2 .tElbow.seek 4 + "manipulator"&t( +3 "core" ( +2 "manipulator"&r& +3 "core" & ' b j +2 "storage"(w& +4 "core" &,g P\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&l', +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"('X +7 "core" &  j + "manipulator"&% +4 "core" % :   < +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&z& +4 "core" &q = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &q !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&& +4 "core" &q 3 +2 "manipulator"& % +4 "core" % > + "processing"%& +4 "core" &|\  +2 "processing"%& +5 "core" &|\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &|\  +7 &I\ $f +9 &bU\ 8 +10 &\ M +9 &u]\ N +9 &6_\ N +10 &`\ N +9 &]\ N +9 &|Z\ N +10 &=`\ O +9 &\\\ N +10 &`\ N +9 &!^\ O +9 &#G\\\ N +10 &%]\ N +9 &&Z\ N +10 &(\\\ O +9 &*N]\ N +9 &,\\\ N +10 &-`\ N +9 &/\\\ N +9 &1V]\ N +10 &3Z\ N +9 &4\\\ N +9 &6]\ N +10 &8^[\ N +9 &: _\ N +10 &;]\ N +9 &=\\\ N +9 &?g_\ N +10 &A(]\ N +9 &BZ\ N +9 &D_\ O +10 &Fij\ P +9 &H%~\ R +10 &I\ T +9 &K\ T +9 &Me\ T +10 &O(\ T +9 &P\ T +9 &R\ T +10 &Tl\ T +9 &V-\ U +10 &W\ U +9 &Y\ 7 +9 &Z|,m\ V +10 &Z#\ - +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&{1 +52 "core" 1 +2 "manipulator"& % +4 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 "processing"%& +4 "core" &Z \ - + #tImaging generic puck in Processing Clamp while storing it to tube 4 +6 "manipulator"&% +4 "core" %\  ]  +2 "storage"(% +4 "core" %] \ + "storage"(~. +3 "core" .(,l +2 "storage"(\ & +4 "core" &,g u\  +2 "storage"(& +3 "manipulator"&& +5 "core" &,g \  + &q +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"('i +5 "core" ( +2 "manipulator"&& +3 "core" &q _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &q  Y +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' + .tHand.close + "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"("- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(''y +43 "core" ' +286 ( + "storage"()& +4 "core" &,g \ \  +2 "manipulator"&& +4 "core" &q ! 6 + "manipulator"&% +4 "core" % ! [ +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&#( +262 "core" ( +2 "manipulator"&,& +4 "core" & 3 k + "storage"(.& +4 "core" &,g Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&/'Ѽ +97 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"((- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(-'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(1' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(3& +3 "core" &,g j h \  +2 "manipulator"&4& +4 "core" &   k +2 .tElbow.seek 4 + "manipulator"&( +8 "core" ( + "manipulator"&6& +4 "core" & ' c +2 "storage"(7& +4 "core" &,g m m ?\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&9'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(:' +58 "core" ' +2 "manipulator"&=& +4 "core" & c + "storage"(%& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&0' +30 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'i +24 "core" ' +2 "manipulator"&@% +9 "core" %  + "storage"(<& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&!'7 +19 "core" ' +2 "manipulator"&;& +4 "core" & '  + "storage"(C& +4 "core" &,g S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 4 + 700 counts +11 "manipulator"&D'Ѽ +33 "core" ' +2 "storage"(F% +4 "core" %o C\ +2 ."downElevator"SE.seek :down +4 "storage"($'X +98 (5% +3 "core" %J N\ Xg +2 "manipulator"&H% +5 "core" %Ѿ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" &,g }\  +2 "collection"'G& +3 "core" &V{CD\ S +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&J% +3 "core" %\   +2 "storage"(8% +4 "core" %a x\ +2 "storage"(A. +3 "core" .(,l + "storage"(O& +4 "core" &,g \  + "storage"(P& +4 "core" &,g g\  +2 "manipulator"&R& +4 "core" &  J  + .tElbow.seek 4 +2 "manipulator"&U( +49 "core" ( +2 "manipulator"&B& +9 "core" & & $ + "storage"(W& +4 "core" &,g t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&X'Ѽ +87 "core" ' + "storage"([& +4 "core" &,g \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'i +284 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +2 "core" & \  J +2 "storage"(N& +4 "core" &,g 3\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&?' +31 "core" ' + .tElbow.hold + "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'W +30 "core" ' +3 "manipulator"&b% +4 "core" % # + "storage"(S& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&Z'/ +15 "core" ' +2 "manipulator"&V& +4 "core" & *  +2 "storage"(*& +4 "core" &,g C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\\'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(f'F +40 "core" ' +2 "manipulator"&i& +4 "core" &\ m  +2 "manipulator"&j% +4 "core" %Ѽ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +155 "core" ( + "manipulator"&h& +5 "core" &+  Bg + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &, Bg +2 .tForearm.seek CC +2 "manipulator"&d'" +93 "core" ' +2 .tHand.close +2 "manipulator"&m/ +60 "core" / +2 .tCC.seek :open + "collection"'n( +416 "core" ( +2 "storage"(^& +4 "core" &,g\ \  )\  + "storage"(q& +4 "core" &,g\ \  \  + "manipulator"&s& +4 "core" &+  B Ae + "manipulator"&k% +5 "core" %  M +2 .tForearm.seek :retract + "manipulator"&T'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&g( +159 "core" ( +2 "manipulator"&v& +4 "core" & ) r +2 "storage"(x& +3 "core" &,g\ D\ G S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&y' +100 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "manipulator"&|% +4 "core" %  ! ! + "storage"(}& +4 "core" &,g\ \  a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +13 "core" ' +2 "manipulator"&p& +4 "core" &  p u +2 "storage"(`& +4 "core" &,g\ G\ D 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&u'Ѽ +18 "core" ' + "storage"(l% +4 "core" %K\  t\ +3 ."downElevator"SE.seek :down +3 "storage"(z'X +99 (% +2 "core" %F\ 2\ 2 \ Wc +2 "manipulator"&t% +4 "core" %ѷ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +28 "core" ' +2 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +4 "core" &CB\ +2 "manipulator"&% +3 "core" %\    +2 "storage"(% +4 "core" %U\ N\ Z d\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(+(<* +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +2 "core" &<'\ \  \  +2 "manipulator"& & +4 "core" &  | u +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & & T u + "storage"(& +4 "core" &<%\ Q\ N P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&~'ы +106 "core" ' +2 "storage"(\ & +4 "core" &<%\ / ~ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &<%\ C\ D \  +2 "manipulator"&& +3 "core" & ) u +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  u + "storage"( & +4 "core" &<%\ Q\ Q \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&"' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('X +7 "core" &  c u +2 "manipulator"&% +3 "core" %  "  +3 .tForearm.seek :retract + "manipulator"&)'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" &+ P # x Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +99 "core" ' + "manipulator"&.& +4 "core" &,  Bj +2 "manipulator"&% +4 "core" % i +2 "collection"'& +3 "core" &@B/\ +2 "collection"'(& +6 "core" &CB\ +2 .tCC.seek :closed + "collection"'2(V +5 "core" &BC\ +7 &>BB\ $d +9 &UBD\ 7 +9 &~AA\ L +10 &YAB\ N +9 &jWAC\ N +10 &.XAC\ M +9 &YAD\ N +9 &ZAC\ N +10 &sWDB\ N +9 &6YBC\ M +9 &XAA\ N +10 &!XCB\ N +9 &#{Z@B\ N +10 &%<\\AB\ N +9 &'WADO\ M +9 &(VEC\ N +10 &*ZDD\ N +9 &,EWAC\ N +9 &.WCB\ M +10 &/Y@B\ N +9 &1XAC\ N +10 &3NWCA\ M +9 &5ZAC\ N +9 &6W@D\ N +10 &8TCD\ N +9 &:UWB:\ N +9 &<ZAA\ N +10 &=YBC\ N +9 &?\\CB\ N +10 &A]VBC\ N +9 &C[BB\ N +9 &DbBC\ O +10 &FkBB\ P +9 &HWCD\ R +9 &J BE\ W +10 &KBB\ Y +9 &MA<\ Y +9 &OJAC\ Z +10 &Q AC\ Z +9 &RCC\ [\ +10 &TBC\ [ +9 &V+wDC\ 0 +9 &VCD\ O +13 ( +3 "collection"'(& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&31 +4 "core" &VrBD\ L + &VqCC\ L +58 1 +2 "manipulator"&4% +4 "core" %   C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&6'\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%7& +4 "core" &\ + "manipulator"&% +4 "core" %\  % +2 "storage"(=% +3 "core" %U o\ +2 "storage"(%. +3 "core" .(<* + "storage"(@& +4 "core" &<% .\  + "storage"('& +4 "core" &<% O\  +2 "manipulator"&<& +3 "core" &+ Bh +2 "manipulator"&-% +3 "core" %\  k % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&;( +162 "core" ( + "manipulator"&C& +5 "core" & )  \\ + "storage"(#& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&/'ы +118 "core" ' +2 "storage"(F& +4 "core" &<% 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +290 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (5& +3 "core" &<% d\  + "manipulator"&H& +4 "core" &  ' \\ +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&:& +3 "core" & ' \\ +2 "storage"(0& +3 "core" &<% <\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&!' +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(J'X +8 "core" &   \\ +2 "manipulator"&8% +4 "core" %  ; c +2 .tForearm.seek :retract + "manipulator"&A'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&>(s +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +112 "core" ( +2 "manipulator"&O& +4 "core" &} 1 9  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +2 "core" &} c  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +99 "core" ' + "manipulator"&B& +4 "core" &} d  +2 "manipulator"&W% +4 "core" %  +2 "processing"%D& +3 "core" &\ +2 "processing"%[& +6 "core" &\ +45 .tPC.seek :closed +13 "processing"%$(Z +4 "core" &\ + &\ + &\ + &\ + &\ &\ + &\  +5 &2\ *y +9 &c\ > +9 &yy\ O +10 &=[\ N +9 &[\ M +9 &]\ N +10 &]\ N +9 &E\\\ N +10 &]\ M +9 &\\\ N +9 & \\\ M +10 &"L\\\ N +9 &$\\\ N +9 &%]\ M +10 &'_@\ N +9 &)U]\ N +10 &+\\\ M +9 &,Z\ N +9 &.\\\ N +10 &0\\_\ N +9 &2]\ N +9 &3_\ N +10 &5\\\ N +9 &7e[\ N +10 &9'^\ N +9 &:Z\ M +9 &<Z\ N +10 &>nZ\ M +9 &@.]\ N +9 &A\\\ N +10 &C_\ N +9 &Ere\ O +10 &G0o\ P +9 &H\ R +9 &J\ S +10 &Ll\ S +9 &N.\ S +9 &O\ S +10 &Q\ T +9 &Sp\ U +10 &U2\ U +9 &V\ U +9 &X\ U +10 &Z"[\ %p +9 &Z\\\ 1 +9 ( +3 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"& 1 +4 "core" &Z%\ . +53 1 +2 "manipulator"&I% +4 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +91 "core" ' +2 "processing"%Y& +4 "core" &Z%\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&N% +4 "core" %\  `  + "storage"(_% +4 "core" %b T\ + "storage"(b. +3 "core" .(<* +2 "storage"(S& +4 "core" &<% \  + "storage"(V& +4 "manipulator"&*& +5 "core" &<% U\  + &}  Q  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&i(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'i +3 "core" ( + "manipulator"&X& +4 "core" &} ~  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &} - Q  +2 .tForearm.seek PC +2 "manipulator"&K' +97 "core" ' + .tHand.close +2 "manipulator"&?/ +62 "core" / +2 .tPC.seek :open +2 "processing"%Z( +82 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(h'y +42 "core" ' +300 ( + "storage"(]& +4 "core" &<% =\  +2 "manipulator"&\\& +3 "core" &}   +2 "manipulator"&M% +4 "core" %  p + .tForearm.seek :retract +2 "manipulator"&m'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +257 "core" ( + "manipulator"&Q& +5 "core" & # w + "storage"(^& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&q'ы +106 "core" ' + .tHand.open +2 "manipulator"&s1 +58 "core" 1 +2 "storage"(k- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(v'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +4 "core" -' + "storage"(c& +4 "core" &<% y { b\  + "manipulator"&w& +4 "core" &  w +2 .tElbow.seek 5 + "manipulator"&|( +4 "core" ( + "manipulator"&}& +4 "core" & & ; w + "storage"(p& +4 "core" &<% x x \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&`'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +59 "core" ' +2 "manipulator"&T& +4 "core" &  w +2 "storage"(& +4 "core" &<% z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&t' +34 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'i +24 "core" ' +2 "manipulator"&% +4 "core" % i + "storage"( & +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&f' +21 "core" ' + "manipulator"&& +5 "core" & $ z + "storage"(& +4 "core" &<% L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +21 "core" ' + "storage"(u% +4 "core" %q \ +3 ."downElevator"SE.seek :down +4 "storage"(z'X +99 (&% +3 "core" %I \ Xf +2 "manipulator"&{% +4 "core" %ђ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<% R\  +2 "collection"'& +4 "core" &VpCD\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&\ % +4 "core" %\ #  = + "storage"(r% +4 "core" %a {\ + "storage"(. +4 "core" .(<* + "storage"(& +4 "core" &<% \  L\  + "storage"(& +4 "core" &<% \  +2 "manipulator"&& +3 "core" &   z +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & 2 z + "storage"(o& +4 "core" &<% o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +97 "core" ' +2 "storage"(& +4 "core" &<%\ \  D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +3 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & z +2 "storage"(& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&' +35 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(.- +63 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +29 "core" ' +2 "manipulator"&% +4 "core" % " h M + "storage"(& +4 "core" &<% %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&)& +4 "core" & z +2 "storage"(n& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&3'ы +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(4'E +45 "core" ' + "manipulator"&7& +5 "core" & z + "manipulator"&% +4 "core" %є +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&%( +153 "core" ( +2 "manipulator"&(& +4 "core" &' 0 = >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &' >N +2 .tForearm.seek CC + "manipulator"&''" +93 "core" ' +2 .tHand.close + "manipulator"&L + "manipulator"&F% +4 "core" %  h +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +153 "core" ( +2 "manipulator"&9& +4 "core" & + t  + "storage"(5& +4 "core" &<%\ /\ % O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&H' +106 "core" ' + .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +55 "core" 1 +2 "manipulator"&L% +4 "core" %   2 + "storage"(G& +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&8' +18 "core" ' +2 "manipulator"&;& +5 "core" &   + "storage"(/& +4 "core" &<%\ Q\ Q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&1'ы +27 "core" ' + "storage"(!% +4 "core" %I\ +\ J\ +2 ."downElevator"SE.seek :down +4 "storage"(O'X +99 (P% +2 "core" %F\ 3\ ' \ Wd +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'W& +4 "core" &BB\ +2 "manipulator"&D% +4 "core" %\  c  + "storage"(J% +4 "core" %W \ , \ + "storage"(A. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +2 "core" &K\ \  Q\  +2 "manipulator"&I& +4 "core" & d  +2 .tElbow.seek 6 + "manipulator"&Y( +41 "core" ( + "manipulator"&N& +4 "core" & & R L +2 "storage"(_& +4 "core" &K\ N\ Q E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&b'a +95 "core" ' + "storage"(S& +4 "core" &K\ N\ Z ~\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +284 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" &K\ \ \ " \  +2 "manipulator"&X& +3 "core" &\ L +2 .tElbow.seek 6 +42 "manipulator"&U( +40 "core" ( +2 "manipulator"&R& +4 "core" & % 1 K + "storage"(?& +4 "core" &K\ 2\ 2\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&E& "storage"($'X +8 "core" &  x K +2 "manipulator"&j% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +154 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&M& +4 "core" &&  : =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" && 3 X =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Q'" +95 "core" ' +2 "manipulator"&^& +5 "core" &&   =F +2 "manipulator"&i% +3 "core" %$ ] +2 "collection"'s& +4 "core" &BB\ +2 "collection"'k& +5 "core" &BB6\ +3 .tCC.seek :closed + "collection"'d(V +4 "core" &CC\  +9 &1~BB\ *z +9 &cAB\ > +10 &}tCC\ N +9 &?UEC\ N +9 &ZAC\ N +10 &ZBB\ M +9 &ZAB\ M +10 &HVAC\ M +9 &\ X@C\ M +9 &Z@B\ N +10 & YAB\ M +9 &"PXBE\ M +9 &$Z@C\ N +10 &%\\CC\ N +9 &'YAC\ N +10 &)XZBB\ M +9 &+\\BB\ N +9 &,WCB\ M +10 &.WAC\ M +13 &0_\\AD\ N +5 &2"ZDC\ M +10 &3WCC\ N +9 &5X@B\ N +10 &7hZBC\ M +9 &9*ZBD\ M +9 &:]BD\ N +10 &<ZBC\ M +9 &>o\\BB\ N +9 &@1YDC\ N +10 &AVDB\ M +9 &C[AB\ N +10 &EsdBC\ O +9 &G2lBB\ P +9 &H~BD\ R +10 &J@C\ X +9 &L^BC\ Y +9 &N AC\ Y +10 &OCC\ Z +9 &QAC\ Y +10 &S`ADC\ [\ +9 &U!BC \ [ +9 &VmCCD\ 2 +12 &VrBD\ H +4 ( +6 "collection"'k& +7 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +3 .Hand.open + "manipulator"&c1 +7 "core" &VkCB\ H +46 1 +2 "manipulator"&w% +4 "core" % $ v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +4 "core" &\ +2 "manipulator"&m% +3 "core" %\ f  +2 "storage"(T% +4 "core" %_ \ + "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K \  +2 "storage"( & +4 "core" &K ;\  + "manipulator"&h& +4 "core" &% S <? + "manipulator"&% +4 "core" %\ u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&v( +153 "core" ( +2 "manipulator"&& +4 "core" & ) j  +2 "storage"(u& +3 "core" &K\ \  !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&e'a +103 "core" ' +2 "storage"(q& +4 "core" &K\ \  -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +287 "core" ' +6 "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &K `\  +2 "manipulator"&`& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&|( +4 "core" ( + "manipulator"&l& +4 "core" & ' <  + "storage"(t& +4 "core" &K ~\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&f' +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(\ 'X +8 "core" &  |  + "manipulator"&r% +4 "core" %  . 4 +2 .tForearm.seek :retract +2 "manipulator"&y'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +172 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" &m  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +7 && +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 "manipulator"& & +4 "core" &o % G +2 "manipulator"&o% +3 "core" %  - # +2 "processing"%& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%z(Z +5 "core" &\  +9 &2\ )w +9 &b\ > +9 &mz\ O +10 &1Z\ N +9 &Z\ M +9 &\\\ M +10 &w\\\ N +9 &:W\ M +9 &[\ N +10 &Z\ N +9 & \\\ N +10 &"A^\ N +9 &$Z\ M +9 &%]\ N +10 &']\ N +9 &)HY\ N +10 &+ Z\ N +9 &,\\?\ N +9 &._u\ N +10 &0QZ\ N +9 &2[\ N +9 &3[?\ M +10 &5_\ N +9 &7YY\ N +9 &9]>\ N +10 &:[\ M +9 &<Y\ N +10 &>bY\ M +9 &@#]\ N +9 &A_\ N +10 &C]\ N +9 &Efg\ O +9 &G$p\ P +10 &H\ S +9 &J\ S +10 &L`D\ S +9 &N"\ S +9 &O\ T +10 &Q\ T +9 &Se\ T +14 &U'\ T +5 &V\ U +9 &X\ U +10 &Zb\ %q +9 &Z\\\ / +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&g1 +4 "core" &Z \ + +50 1 +2 "manipulator"& % +4 "core" % & r # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +94 "core" ' +2 "processing"%& +4 "core" &Z \ + + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\     +2 "storage"(.% +4 "core" %^ 9\ +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K H\  +2 "storage"()& +2 "manipulator"&n& +7 "core" &K s\  + &o . +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&7(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"& & +4 "core" &o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o  A +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(('y +43 "core" ' +291 ( + "storage"(@& +4 "core" &K G\  +2 "manipulator"&3& +3 "core" &o +2 "manipulator"&"% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&=( +254 "core" ( +2 "manipulator"&2& +4 "core" & & n + "storage"(,& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&C'a +97 "core" ' + .tHand.open +2 "manipulator" +52 "core" 1 +2 "storage"(F- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(5' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +4 "core" -' + "storage"(%& +4 "core" &K p \  + "manipulator"&0& +4 "core" & +2 .tElbow.seek 6 + "manipulator"&L( +4 "core" ( + "manipulator"&G& +4 "core" & ' + "storage"(;& +4 "core" &K j j \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&/'a +8 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(!' +57 "core" ' +2 "manipulator"&& +4 "core" & + "storage"(P& +4 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +29 "core" ' + .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'i +24 "core" ' +2 "manipulator"&8% +4 "core" %ι 6 +2 "storage"(W& +4 "core" &K R\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&D' +12 "core" ' +2 "manipulator"&J& +5 "core" &  3 + "storage"(A& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&4'a +27 "core" ' + "storage"(1% +5 "core" %o\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (+% +3 "core" %L v\ Xf +2 "manipulator"& % +4 "core" %d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &K\  \  +2 "collection"'_& +4 "core" &VkCD\ H + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&S% +45 "core" %\   P - +11 "storage"(:% +4 "core" %X \ +2 "storage"(B. +3 "core" .(K + "storage"(V& +4 "core" &K ~\  + "storage"([& +4 "core" &K z\  + "manipulator"&X& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&R( +4 "core" ( + "manipulator"&?& +4 "core" & # F +2 "storage"(>& +3 "core" &K w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&E'a +103 "core" ' + "storage"(j& +4 "core" &K\ \  ?\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'i +284 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +2 "core" & +2 "storage"(K& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&*'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(i'Z +39 "core" ' + "manipulator"&s% +5 "core" %ζ + "storage"(U& +4 "core" &K <\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&$' +13 "core" ' + "manipulator"&]& +4 "core" & ) +2 "storage"(-& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +20 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(w'I +38 "core" ' +2 "manipulator"&p& +5 "core" & + "manipulator"&m% +4 "core" %n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ( +2 "manipulator"&& +4 "core" &' 1  >K + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &' 0 >K +2 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' + .tHand.close +2 "manipulator"&h/ +52 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(Q& +5 "core" &K\ \  3\  + "storage"(& +4 "core" &K\ \  5\  + "manipulator"&u& +4 "core" && <9 + "manipulator"&q% +4 "core" % - +2 .tForearm.seek :retract + "manipulator"&\\'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&}( +160 "core" ( + "manipulator"&&& +4 "core" &\   a  +2 "storage"({& +4 "core" &K\ Q\ R \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&`'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ι  + "storage"(& +4 "core" &K\ \  ;\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts + "manipulator"&r' +17 "core" ' +3 "manipulator"&v& +4 "core" &\  & C  +2 "storage"(e& +3 "core" &K\ 6\ A C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&x'a +32 "core" ' + "storage"(f% +4 "core" %P\ Q\ Q \ +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (% +3 "core" %=G\ '\ 2 J\ Vb +2 "manipulator"&|% +4 "core" %S o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'o& +4 "core" &BB!\ + "manipulator"&% +4 "core" %\ \  + "storage"(\ % +4 "core" %` ? ? \ +2 "storage"(y. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(Z(,l +656 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +2 "core" &,n\ \ x\ +2 "manipulator"& & +4 "core" &\  C  +2 .tElbow.seek 4 + "manipulator"&( +13 "core" ( + "manipulator"&& +4 "core" & %  { +2 "storage"(.& +3 "core" &,r\ A\ K $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +92 "core" ' +2 "storage"(& +4 "core" &,r A E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'i +281 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r\ 0\ 3 \ +2 "manipulator"& & +4 "core" & i { + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & { +2 "storage"(& +4 "core" &,r\ C\ D \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&~& + "storage"(z'X +7 "core" &  { +2 "manipulator"&% +3 "core" % 1  J +2 .tForearm.seek :retract +2 "manipulator"&@'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&3( +159 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&"& +4 "core" & l 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & S 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&2'" +98 "core" ' + "manipulator"&,& +5 "core" & 8 z 7 + "manipulator"&7% +4 "core" % u +2 "collection"'#& +4 "core" &CC6\ +2 "collection"'F& +5 "core" &@B\ +2 .tCC.seek :closed +2 "collection"''(V +5 "core" &AC\ +6 & .CB\ $c +9 &WBD\ 7 +10 &}BA\ L +9 &WCC\ M +9 &e[BA\ M +10 &(VAA\ M +9 &\\@B\ N +10 &YCA\ M +9 &m\\AD\ M +9 &.YBC\ N +10 &ZAA\ M +9 &!\\BC\ M +9 &#t[CC\ N +10 &%7ZCC\ M +9 &&VCB\ M +10 &(XAC\ M +9 &*}ZAC\ M +9 &,@W?B\ M +10 &.YB;\ M +9 &/YAC\ M +9 &1\\CC\ M +10 &3GYCB\ M +9 &5 YBB\ M +10 &6[AD\ M +9 &8WAB\ M +9 &:O\\@D\ M +10 &<Y@C\ M +9 &=WCB\ M +9 &?UBE\ M +10 &AWUBC\ M +9 &C]@B\ N +10 &DbBC\ N +9 &FkBC\ P +9 &HSBC\ Q +10 &JAB\ V +9 &KBB\ X +9 &MAD\ Y +10 &OECD\ Y +9 &QAC\ Y +10 &RED\ Z +9 &TBD\ [ +9 &V%vBD\ / +10 &V'CD\ R +9 ( + &VlCD\ J +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&%1 +55 "core" 1 +2 "manipulator"&0% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%;& +4 "core" &\ +2 "manipulator"&<% +4 "core" %\   + "storage"(% +4 "core" %T U\ + "storage"(P. +3 "core" .(,l +2 "storage"(8& +3 "core" &,r \ +2 "storage"(W& +4 "core" &,r \ + "manipulator"&(& +4 "core" & P 7 +2 "manipulator"&J% +3 "core" %\  .  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&A( +157 "core" ( + "manipulator"&9& +4 "core" & $  d + "storage"(1& +4 "core" &,r G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +94 "core" ' +2 "storage"(C& +4 "core" &,r\ \  1\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'i +285 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +52 ( & +3 "core" &,r (\ + "manipulator"&/& +4 "core" & x d +2 .tElbow.seek 4 + "manipulator"&L( +4 "core" ( + "manipulator"&!& +4 "core" & $ f d + "storage"(& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D', +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(S'X +8 "core" & d +2 "manipulator"&H% +3 "core" % 7 r D +2 .tForearm.seek :retract +2 "manipulator"&:'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&B(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( + "manipulator"&V& +4 "core" &m ' c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X' +93 "core" ' +2 "manipulator"&?& +4 "core" &m % . +2 "manipulator"&>% +3 "core" %  &  +2 "processing"%4& +4 "core" &\ +2 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed + "processing"%O(Z +5 "core" &\  +9 &0{\ *x +10 &b\ > +9 &qy\ N +9 &4Z\ N +10 &[\ N +9 &X\ M +10 &{[\ M +9 &<W\ N +9 &Y\ M +14 &\\\ M +5 & Z\ M +9 &"D]\ N +10 &$[\ M +9 &%]\ N +10 &'_\ N +9 &)LZ\ N +9 &+Z\ M +10 &,[\ N +9 &.^\ N +9 &0T[\ N +10 &2Y\ N +9 &3W\ M +10 &5Z\ N +9 &7\\Y\ N +9 &9W\ N +10 &:V\ M +9 &<YB\ M +9 &>d\\r\ N +10 &@&^\ N +9 &A\\\ N +10 &C_\ N +9 &Ei`p\ O +9 &G(k\ P +10 &HG\ R +9 &JC\ S +9 &Lb>\ T +10 &N$m\ T +9 &O#\ T +10 &Qk\ T +9 &Sho\ T +9 &U)A\ U +10 &Vm\ U +9 &X\ U +9 &ZaC\ $n +10 &ZYm\ , +9 ( +2 "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&61 +4 "core" &Z\ * +50 1 +2 "manipulator"&I% +4 "core" % ) 4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 "processing"%M& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&K% +4 "core" %\   +2 "storage"(^% +8 "core" %a |\ +2 "storage"(s. +3 "core" .(,l + "storage"(U& +4 "core" &,r &\ +2 "storage"(]& +4 "manipulator"&-& +4 "core" &,r [\ + &m  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&p(s +3 "storage"(m'i +3 "core" ( +2 "manipulator"&E& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &m  +2 .tForearm.seek PC + "manipulator"&Y' +100 "core" ' +2 .tHand.close + "manipulator"&*/ +52 "core" / +2 .tPC.seek :open + "processing"%$( +96 "core" ' + "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +293 ( +2 "storage"(k& +4 "core" &,r <\ + "manipulator"&c& +4 "core" &m  u + "manipulator"&a% +4 "core" %  d +2 .tForearm.seek :retract + "manipulator"&h'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&T( +255 "core" ( +6 "manipulator"&d& +5 "core" &  v  + "storage"(Q& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&u1 +63 "core" 1 +2 "storage"(q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(&'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(& +4 "core" &,r  ]\ +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & &  + "storage"(v& +4 "core" &,r | .\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&e'Ѽ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(f' +57 "core" ' +2 "manipulator"&\\& +4 "core" &  +2 "storage"(& +3 "core" &,r r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&|' +33 "core" ' +2 .tElbow.hold + "manipulator"&}, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(`'i +24 "core" ' +2 "manipulator"&r% +4 "core" %  +2 "storage"(o& +3 "core" &,r 1\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'< +18 "core" ' +3 "manipulator"&\ & +4 "core" &  +2 "storage"(y& +4 "core" &,r\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +29 "core" ' +2 "storage"(x% +4 "core" %s\ \  ;\  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %yN q\ Xg +2 "manipulator"&g% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,r \  u\ +2 "collection"'.& +4 "core" &VkDC \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ #  n @ + "storage"(l% +4 "core" %` \ +2 "storage"( . +3 "core" .(,l + "storage"()& +4 "core" &,r `\ + "storage"(& +4 "core" &,r t\ + "manipulator"& & +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" & ! Q  + "storage"(& +4 "core" &,r |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&~'Ѽ +107 "core" ' +3 "storage"(& +4 "core" &,r\ \  J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & m  + "storage"(& +4 "core" &,r &\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&n' +27 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(7'V +28 "core" ' +2 "manipulator"&#% +4 "core" %  + "storage"(& +4 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&z'@ +18 "core" ' +2 "manipulator"&@& +4 "core" &  `  +2 "storage"(& +3 "core" &,r\  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&%'Ѽ +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +6 "storage"(0'E +40 "core" ' +2 "manipulator"&;& +4 "core" &  + "manipulator"&<% +4 "core" %Ѳ  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +3 .tElbow.seek CC +2 "manipulator"&P( +156 "core" ( +2 "manipulator"&8& +4 "core" && 6 =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" && > K =D +2 .tForearm.seek CC + "manipulator"&('" +98 "core" ' + .tHand.close +2 "manipulator"&F/ +52 "core" / + .tCC.seek :open +2 "collection"'J( +416 "core" ( + "storage"(2& +5 "core" &,r\ \  =\ + "storage"(9& +4 "core" &,r\ \  0\ + "manipulator"&1& +4 "core" &# : :0 + "manipulator"&C% +4 "core" % + - U +2 .tForearm.seek :retract + "manipulator"&3'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +162 "core" ( +2 "manipulator"&+& +4 "core" & ` h + "storage"( & +4 "core" &,r\ D\ G ?\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&/' +101 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "Can"V\ ;9} +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&N% +4 "core" %   O +5 "storage"(_& +3 "core" &,r\ \  p\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&H'? +18 "core" ' +2 "manipulator"&A& +4 "core" & & R h + "storage"(=& +4 "core" &,r\ Q\ Q x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +30 "core" ' + "storage"(D% +4 "core" %J\ % ~ Z\ +3 ."downElevator"SE.seek :down +4 "storage"(V'X +102 ([% +3 "core" %>\ $\ ' I\ V` +2 "manipulator"&L% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'>& +4 "core" &AC\ + "manipulator"&4% +4 "core" %\   +2 "storage"(S% +4 "core" %b\ A\ L B\ +2 "storage"(:. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<* +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<'\ \  \  +2 "manipulator"&I& +3 "core" & h +2 .tElbow.seek 5 + "manipulator"&M( +9 "core" ( +2 "manipulator"&K& +4 "core" & $ X + "storage"(^& +4 "core" &<$\ D\ N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&s'ы +100 "core" ' + "storage"(U& +5 "core" &<$ ? B $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'i +283 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &<$\ 0\ & q\  + "manipulator"&E& +4 "core" & t X +2 .tElbow.seek 5 + "manipulator"&R( +4 "core" ( +2 "manipulator"&X& +3 "core" & % X +2 "storage"(*& +4 "core" &<$\ 7\ & 7\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i' +21 "core" ' +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&b& "storage"(O'X +8 "core" &  l X + "manipulator"&m% +4 "core" %  ; ' +2 .tForearm.seek :retract + "manipulator"&k'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&a& +5 "core" &* H  1 @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &* @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'" +97 "core" ' +2 "manipulator"&Q& +5 "core" &*  0  @\\ + "manipulator"&p% +4 "core" %  +2 "collection"'u& +4 "core" &@C8\ +2 "collection"'q& +6 "core" &@C1\ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &AB\ +7 &4BEc\ $e +9 &W@B\ 7 +10 &}BC\ L +9 &VBB\ M +9 &nY@C\ N +10 &2X?D\ M +9 &ZBD\ M +9 &YAA\ M +10 &wYCD\ M +9 &9YCC\ M +9 &YCB\ M +10 &!Y@C\ M +9 &#ZBD\ M +10 &%B[@C\ M +9 &'YAB\ M +9 &(XAF\ M +10 &*Y@C\ M +9 &,JY?A\ M +9 &. XBB\ M +10 &/XAA\ M +9 &1YCB\ M +10 &3PXAC\ N +9 &5XBC\ M +9 &6Y@D\ M +10 &8WBA\ M +9 &:ZYBB\ M +9 &<\\BB\ N +10 &=ZBB\ M +9 &?Y@B\ N +10 &AbX?C\ M +9 &C"ZBC\ N +9 &DbBC\ N +10 &Fm@C\ O +9 &H]~BB\ Q +9 &JC@\ W +10 &K@B\ X +9 &MAD\ X +10 &OPBB\ Y +9 &QBD\ Y +9 &RCB\ [ +10 &TBB\ [ +9 &V/vCC\ / +10 &V!BB\ P +8 ( +3 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&1 +3 "core" &VrCD\ M +56 1 +2 "manipulator"&t% +4 "core" % 0 a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%v& +4 "core" &\ + "manipulator"&h% +4 "core" %\ ! 6 +2 "storage"(\\% +3 "core" %b A\ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<$ \  + "storage"(r& +4 "core" &<$ Y\  +2 "manipulator"&o& +4 "core" &* @Y + "manipulator"&&% +4 "core" %\ ! r 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +161 "core" ( + "manipulator"&y& +5 "core" & % B o + "storage"(x& +4 "core" &<$ a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&T'ы +95 "core" ' +2 "storage"(& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &<$ J\  +2 "manipulator"&e& +4 "core" & ? o + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&f& +3 "core" & & A o +2 "storage"(|& +3 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"('X +7 "core" & u o + "manipulator"&l% +4 "core" % K +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&)(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&`& +4 "core" &t & t + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +2 "core" &t , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' + "manipulator"&& +4 "core" &t & 4 +2 "manipulator"&% +4 "core" %  1 2 +2 "processing"%w& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 &;\ $c +10 &T\ 7 +9 &}\ K +9 &Z\ N +10 &^\\\ N +9 & Z\ N +9 &]\ M +10 &\\\ M +9 &g\\\ M +9 &(\\\ N +10 &X\ M +9 &!W\ M +10 &#oW\ M +9 &%1\\\ M +9 &&\\\ M +10 &(X\ M +9 &*v\\\ N +9 &,9[\ M +10 &-W\ N +9 &/Z\ M +10 &1W\ M +9 &3A[\ M +9 &5Z\ N +10 &6Y\ N +9 &8U\ M +9 &:JW\ M +10 &<\ Y\ N +9 &=U\ M +10 &?U\ M +9 &ARW\ M +9 &C]\ N +10 &D`\ N +9 &Fh\ O +10 &HM{\ Q +9 &J \ S +9 &K\ T +10 &M\ S +9 &OO\ S +9 &Q\ S +10 &R\ T +9 &T\ T +9 &VU\ T +10 &X\ U +9 &Y{q\ 7 +10 &Z1\ F +9 &Z\ ( +2 ( +2 "processing"%& +52 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +3 .Hand.open + "manipulator"&}1 +52 "core" 1 + "manipulator"& % +5 "core" %  2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 "processing"%"& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\   +2 "storage"(,% +4 "core" %U \ + "storage"(#. +3 "core" .(<* +2 "storage"(& +4 "core" &<$ \  +2 "storage"(@& +2 "manipulator"&& +7 "core" &<$ \  + &t  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&;(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(<'i +3 "core" ( + "manipulator"&~& +4 "core" &t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &t  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&n/ +63 "core" / +3 .tPC.seek :open + "processing"%z( +82 "core" ' + "storage"(7- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(8'y +46 "core" ' +295 ( +2 "storage"(W& +4 "core" &<$ "\  + "manipulator"&%& +4 "core" &t  ' + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +263 "core" ( +2 "manipulator"&'& +4 "core" & & x  + "storage"(2& +4 "core" &<$ s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&9'ы +95 "core" ' +2 .tHand.open + "manipulator"&11 +60 "core" 1 +2 "storage"(C- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(+'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +4 "core" -' + "storage"(P& +4 "core" &<$ _ f j\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&N( +4 "core" ( + "manipulator"&_& +4 "core" & &  + "storage"(A& +4 "core" &<$ j a \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&='ы +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(D' +58 "core" ' + "manipulator"&3& +4 "core" & Z  +2 "storage"([& +4 "core" &<$ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&L' +34 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'i +26 "core" ' + "manipulator"&H% +4 "core" % X e +2 "storage"(>& +4 "core" &<$ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&4' +16 "core" ' +2 "manipulator"&S& +4 "core" &  V  +2 "storage"(:& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +27 "core" ' + "storage"(5% +5 "core" %m S\ +2 ."downElevator"SE.seek :down +4 "storage"(V'X +98 (Z% +3 "core" %H \ Xe +2 "manipulator"&6% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" &<$ V\  +2 "collection"'^& +3 "core" &VqCB\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&U% +4 "core" %\    +2 "storage"(!% +3 "core" %^ \ +2 "storage"(?. +3 "core" .(<* +2 "storage"(]& +3 "core" &<$ v\  +2 "storage"(j& +4 "core" &<$ ?\  +2 "manipulator"&E& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&X( +3 "core" ( +2 "manipulator"&*& +3 "core" & $   +2 "storage"(B& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&b'ы +94 "core" ' +2 "storage"(m& +4 "core" &<$ \ l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +284 "core" ' +3 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" &  +2 "storage"(Y& +9 "core" &<$ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&-' +33 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(p'V +31 "core" ' +2 "manipulator"&u% +4 "core" %~  J + "storage"(R& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&O' +20 "core" ' + "manipulator"&k& +5 "core" & % k  + "storage"(J& +4 "core" &<$ b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'E +39 "core" ' +2 "manipulator"&v& +4 "core" &  +2 "manipulator"&h% +4 "core" %э | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +85 "core" ' +2 .tElbow.seek CC + "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" &+ 1 | Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &+  Ab +2 .tForearm.seek CC +2 "manipulator"&r'" +100 "core" ' +2 .tHand.close + "manipulator"&o/ +52 "core" / +2 .tCC.seek :open + "collection"'&( +413 "core" ( +2 "storage"(d& +4 "core" &<$\ \  J\  + "storage"(y& +4 "core" &<$\ \  \  + "manipulator"&x& +4 "core" &+ A` + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&c'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +153 "core" ( + "manipulator"&& +5 "core" & (  + "storage"(g& +4 "core" &<$\ '\ ( V\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&e' +109 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +61 "core" 1 +2 "manipulator"&% +4 "core" %   h + "storage"(.& +4 "core" &<$ }\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&l' +16 "core" ' + "manipulator"&\ & +4 "core" &  +2 "storage"(T& +4 "core" &<$\ O\ P a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&{'ы +25 "core" ' + "storage"(% +4 "core" %K \  h\ +2 ."downElevator"SE.seek :down +3 "storage"(`'X +100 (% +2 "core" %I\ %\ % \ Wc +2 "manipulator"&% +4 "core" %ѧ q +55 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + ' + ."downElevator"SE.stop +3 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &BD#\ +2 "manipulator"&w% +3 "core" %\ #  < +2 "storage"(% +4 "core" %b\ Q\ Q \ + "storage"( . +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"($(K +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (}& +3 "core" &K \  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +36 "core" ( + "manipulator"&"& +4 "core" & ( > E +2 "storage"(& +4 "core" &K\ &\ & c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&,'a +87 "core" ' + "storage"(#& +5 "core" &K\ /  2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ (\ ( \  + "manipulator"&~& +4 "core" & E +2 .tElbow.seek 6 + "manipulator"&( +23 "core" ( +3 "manipulator"& & +4 "core" &\  n  + "storage"(n& +4 "core" &K\ Q\ F K\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&7' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" &\    + "manipulator"&<% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&W'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&%( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &+  H 4 A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''" +99 "core" ' +2 "manipulator"&2& +5 "core" &*  1 @^ + "manipulator"&;% +4 "core" %' U +2 "collection"'1& +4 "core" &B@-\ +2 "collection"'C& +6 "core" &@C/\ +2 .tCC.seek :closed +2 "collection"'((V +4 "core" &@B\ +7 &=?C\ %f +9 &VDB\ 8 +10 & {BC\ L +9 &XAD\ L +9 &ZAC\ M +10 &JXAB\ M +9 & ZCC\ M +9 &XCB\ M +10 &WAC\ M +9 &SUAC\ M +10 & Y@B\ M +9 &!Y@C\ M +9 &#Z@C\ M +10 &%[Z@A\ M +9 &'XCC\ M +9 &(W@B\ M +10 &*YAB\ L +9 &,cXAB\ M +10 &.%W@B\ M +9 &/XCD\ M +9 &1YBC\ M +10 &3kX@D\ M +9 &5.W@A\ M +9 &6WAD\ M +10 &8U@D\ L +9 &:rYBC\ M +9 &<4\\BB\ M +10 &=YDC\ M +9 &?YFB\ N +10 &A{XBD\ M +9 &C<ZAC\ M +9 &D\\AC\ N +10 &FhCB\ O +9 &HwwBC\ Q +9 &J-CB\ U +10 &K@D\ Y +9 &MCC\ X +10 &OhBC\ Y +9 &Q*CB\ Y +9 &RAC\ Z +10 &TCE\ Z +9 &V,fCC\ 3 +9 &VDC\ T +9 ( +3 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&P1 +3 "core" &VsDA\ O +53 1 +2 "manipulator"&% +4 "core" % '  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%A& +4 "core" &\ +2 "manipulator"&F% +3 "core" %\ ! T 8 +2 "storage"(3% +4 "core" %a 2\ + "storage"([. +3 "core" .(K +2 "storage"(8& +4 "core" &K \  + "storage"(H& +4 "core" &K %\  +2 "manipulator"&>& +3 "core" &) @] +2 "manipulator"&+% +4 "core" %\ ! 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&S( +154 "core" ( +2 "manipulator"&:& +4 "core" &\  %   + "storage"(5& +4 "core" &K }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +100 "core" ' + "storage"(9& +5 "core" &K\ \  ,\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +281 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (6& +3 "core" &K Q\  +2 "manipulator"&=& +3 "core" &\  <  +2 .tElbow.seek 6 + "manipulator"&N( +4 "core" ( + "manipulator"&D& +4 "core" &\  &  + "storage"(L& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&4' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +3 "storage"(U'X +7 "core" &\     +2 "manipulator"&!% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&?'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&](s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +3 "manipulator"&/& +4 "core" &r 1 ?  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &r  e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&E' +104 "core" ' + "manipulator"&*& +5 "core" &r ( s  + "manipulator"&B% +4 "core" %  " +2 "processing"%0& +4 "core" &\ +2 "processing"%m& +5 "core" &\ +2 .tPC.seek :closed + "processing"%V(Z +4 "core" &\ +8 &;\ $d +10 &U\ 7 +9 &~{\ K +10 &Y\ N +9 &a]\ N +9 &$Z\ M +10 &\\\ N +9 &Y\ N +9 &i\\\ N +10 &+Y\ N +9 &V\ N +10 &!Z\ M +9 &#qW\ N +9 &%3Z\ N +10 &&Y\ N +9 &(U\ M +9 &*yW\ N +10 &,;Y\ N +9 &-[\ N +10 &/U\ M +9 &1V\ M +9 &3DY\ M +10 &5Y\ N +9 &6Y\ N +9 &8X\ N +10 &:LY\ M +9 &< W\ N +10 &=Y\ M +9 &?Z\ M +9 &ATU\ M +10 &CZ\ M +9 &D^\ N +9 &Fj\ O +10 &HN~\ R +9 &J \ S +10 &K\ S +9 &M\ S +10 &OR\ S +9 &Q\ T +9 &R\ T +9 &T\ T +10 &VW\ T +9 &X\ U +10 &Y{q\ 6 +9 &Z/\ L +9 &Z\ ) +2 ( +2 "processing"%m& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&G1 +53 "core" 1 +2 "manipulator"&I% +4 "core" % ) ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 "processing"%a& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Y% +4 "core" %\  j  + "storage"(Q% +4 "core" %] \ + "storage"(u. +3 "core" .(K +2 "storage"(R& +3 "core" &K \  +2 "storage"(k& +5 "manipulator"&J& +3 "core" &K (\  + &r $  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&v(s +2 "storage"(h'i +6 "core" ( + "manipulator"&b& +4 "core" &r ( n  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &r =  +2 .tForearm.seek PC + "manipulator"&M' +102 "core" ' + .tHand.close +2 "manipulator"&-/ +56 "core" / +2 .tPC.seek :open +2 "processing"%O( +84 "core" ' + "storage"(p- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +43 "core" ' +300 ( + "storage"(q& +4 "core" &K @\  +2 "manipulator"&& +3 "core" &r   +2 "manipulator"&i% +3 "core" %   +2 .tForearm.seek :retract + "manipulator"&o'\ +106 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&\\( +249 "core" ( + "manipulator"& & +4 "core" & & W "y +2 "storage"(d& +4 "core" &K [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek 6 + 700 counts +2 "manipulator"&y'a +94 "core" ' + .tHand.open +2 "manipulator"&x1 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(g' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' + "storage"(& +5 "core" &K j j \  +2 "manipulator"&|& +4 "core" & , "y +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&.& +4 "core" & 1 X "y +2 "storage"(\ & +3 "core" &K V = F\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&T'a +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +61 "core" ' + "manipulator"&c& +4 "core" & [ "y +2 "storage"(& +4 "core" &K v\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(e'i +26 "core" ' + "manipulator"&l% +4 "core" %θ ( +2 "storage"(& +4 "core" &K t\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&w' +11 "core" ' +2 "manipulator"&& +4 "core" &  w "y +2 "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&t'a +24 "core" ' +2 "storage"({% +4 "core" %r K\ +2 ."downElevator"SE.seek :down +4 "storage"(`'X +99 (% +2 "core" %I Q\ Xf +2 "manipulator"&}% +4 "core" %щ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &K `\  +2 "collection"'& +4 "core" &VkCD\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&#% +4 "core" %\ #  B + "storage"(f% +4 "core" %R \ +2 "storage"(. +3 "core" .(K + "storage"(@& +4 "core" &K |\  + "storage"(& +4 "core" &K \  +2 "manipulator"&~& +3 "core" &  "y +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&n& +4 "core" & % "y + "storage"()& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +94 "core" ' +2 "storage"(<& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +3 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & "y +2 "storage"(& +4 "core" &K O\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'Υ +27 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(;'Z +30 "core" ' + "manipulator"&1% +4 "core" %θ  +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&' +13 "core" ' + "manipulator"&W& +4 "core" & % "y +2 "storage"(&& +3 "core" &K Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&P'a +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"('I +37 "core" ' +2 "manipulator"&A& +4 "core" & x "y +2 "manipulator"&F% +4 "core" %с +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +156 "core" ( + "manipulator"&8& +4 "core" &( 1 ?R +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &' d ?R +2 .tForearm.seek CC + "manipulator"&H'" +97 "core" ' +2 .tHand.close + "manipulator"&>/ +60 "core" / +2 .tCC.seek :open + "collection"'+( +417 "core" ( +4 "storage"('& +8 "core" &K\ (\ ' i\  +2 "storage"(:& +8 "core" &K\ %\ ' \  +2 "manipulator"&5& +8 "core" &( 1 . ?P +2 "manipulator"&9% +7 "core" % - 3 +4 .tForearm.seek :retract + "manipulator"&%'\ +94 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&_( +43 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +107 "core" ( +4 "manipulator"&Z& +8 "core" &  '  +2 "storage"(6& +8 "core" &K\ >\ > \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 6 + "manipulator"&='Υ +110 "core" ' +2 .tElbow.hold +4 "manipulator"&D, +7 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tHand.open +2 "manipulator"&L1 +58 "core" 1 +6 "manipulator"&K% +11 "core" % θ u +2 "storage"(^& +8 "core" &K\ \  \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 319 counts + "manipulator"&!' +12 "core" ' +5 "manipulator"&S& +14 "core" & y  +5 "storage"(& +11 "core" &K\ / c\  +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 700 counts +4 "manipulator"& 'a +31 "core" ' +2 "storage"(4% +4 "core" %P\ . 1\  +3 ."downElevator"SE.seek :down +3 "storage"(/'X +98 (j% +3 "core" %\\G\ '\ $ 9\ Wc +2 "manipulator"&N% +4 "core" %N . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'B& +4 "core" &BB)\ + "manipulator"&0% +11 "core" %\   + "storage"(U% +5 "core" %S\ 0\ = w\ + "storage"(?. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(z(,l +656 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &,n \ +2 "manipulator"&I& +4 "core" &  q  +2 .tElbow.seek 4 + "manipulator"&a( +17 "core" ( +2 "manipulator"&Y& +4 "core" & & ! ? + "storage"(Q& +4 "core" &,r\ C\ C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&u'Ѽ +95 "core" ' +2 "storage"(R& +4 "core" &,r K K >\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +285 "core" ' +2 "storage"(k- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (m& +3 "core" &,r\ &\ : M\ +2 "manipulator"&b& +3 "core" & ? +2 .tElbow.seek 4 + "manipulator"&X( +8 "core" ( +2 "manipulator"&E& +4 "core" & % : ? + "storage"(-& +4 "core" &,r\ D\ C G\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&p', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& + "storage"(V'X +8 "core" &  \ ? +50 "manipulator"&h% +4 "core" % 2 M +2 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +55 "core" ( + "manipulator"&i& +5 "core" &( , N ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &( t ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +89 "core" ' +2 "manipulator"&d& +4 "core" &(  5 / ?Q +2 "manipulator"&v% +4 "core" %! +2 "collection"'x& +4 "core" &CCE\ +2 "collection"'& +5 "core" &CBF\ +2 .tCC.seek :closed +2 "collection"'r(V +4 "core" &CC \ +8 &6DB\ $d +9 &UBA\ 7 +10 &zCC\ K +9 &U@A\ M +10 &eYBE\ M +9 &(WBC\ M +9 &WAC\ M +10 &XCC\ M +9 &nWCB\ M +9 &1WCB\ L +10 &YBC\ M +9 &!YAC\ M +10 &#vYAD\ M +9 &%8YBC\ M +9 &&XBB\ M +10 &(UAB\ M +9 &*~WCC\ M +9 &,AXBC\ L +10 &.YDC\ M +9 &/YBB\ L +10 &1ZCA\ M +9 &3HXBD\ M +9 &5\ WBC\ M +10 &6XDE\ L +9 &8WBB\ M +9 &:OWCB\ M +10 &<ZAC\ M +9 &=Y@D\ M +9 &?YAD\ M +10 &AWXBA\ M +9 &CZBC\ M +10 &DbCC\ N +9 &FjAE\ O +9 &HR~CC\ Q +10 &JBB\ V +9 &KCD\ Y +9 &MEE\ Y +10 &ODCA\ Y +9 &QDC\ Y +10 &RDD\ Z +9 &TBB\ Z +9 &V"tAD\ / +10 &V'@D\ T +9 ( + &VpBE\ L +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +3 "manipulator"&|% +4 "core" % ! 0 x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%\ & +4 "core" &\ + "manipulator"&o% +4 "core" %\  /  +2 "storage"(c% +3 "core" %S h\ +2 "storage"(. +4 "core" .(,l + "storage"(& +4 "core" &,r 9\ + "storage"(l& +4 "core" &,r 6\ + "manipulator"&& +4 "core" &( 0 ?P +2 "manipulator"&% +3 "core" %\  , g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +166 "core" ( + "manipulator"& & +4 "core" & ( A Q +2 "storage"({& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\\'Ѽ +98 "core" ' + "storage"(y& +5 "core" &,r\ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &,r n\ +2 "manipulator"&T& +3 "core" & W Q +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  ` Q +2 "storage"(& +3 "core" &,r }\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&w', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(#'X +7 "core" &  Q +2 "manipulator"&f% +4 "core" % &  6 +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&e(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&@& +4 "core" &l j F ?  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &l  4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +96 "core" ' + "manipulator"&n& +5 "core" &l &   + "manipulator"&)% +4 "core" %   +2 "processing"%t& +4 "core" &\ +2 "processing"%<& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &\ +8 &9\ $d +10 &U\ 7 +9 &~|\ K +9 &\\\ N +10 &YZ\ M +9 &V\ M +10 &X\ M +9 &Z\ M +9 &`\\\ N +10 &"\\\ N +9 &X\ N +9 &!Z\ N +10 &#iW\ M +9 &%*W\ N +10 &&Y\ N +9 &(U\ M +9 &*pX\ N +10 &,2Z\ N +9 &-]\ M +9 &/Y\ M +10 &1x\\\ N +13 &3:[\ N +6 &4U\ M +9 &6V\ M +9 &8U\ M +10 &:BW\ N +9 &<Y\ N +9 &=X\ M +10 &?V\ M +9 &ALV\ M +10 &C [\ N +9 &D]\ N +9 &Fg\ O +10 &HGy\ Q +9 &J\ S +9 &K\ T +10 &M\ T +9 &OI\ S +9 &Q\ \ T +10 &R\ T +9 &T\ T +10 &VN\ T +9 &X\ U +9 &Y{p\ ; +10 &Z%[\ P +9 &Z+\ 2 +2 ( +2 "processing"%<& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" %  w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +89 "core" ' +2 "processing"%& +4 "core" &Z(\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\    + "storage"(2% +4 "core" %a <\  +2 "storage"(1. +3 "core" .(,l + "storage"(& +4 "core" &,r 9\ + "storage"(W& +5 "manipulator"&&& +4 "core" &,r <\ + &l z  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&A(s +3 "storage"(F'i +3 "core" ( + "manipulator"&& +4 "core" &l -  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &l G  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' +2 "storage"(;- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(8'y +42 "core" ' +281 ( + "storage"(C& +4 "core" &,r N\ +2 "manipulator"&P& +4 "core" &l    + "manipulator"&7% +4 "core" %  !  + .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&3( +263 "core" ( + "manipulator"&(& +4 "core" & 0   +2 "storage"('& +3 "core" &,r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&:'Ѽ +94 "core" ' +2 .tHand.open + "manipulator"&51 +63 "core" 1 +2 "storage"(9- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(6' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +4 "core" -' + "storage"([& +4 "core" &,r k p \ +2 "manipulator"&L& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&K( +4 "core" ( + "manipulator"&^& +4 "core" &    +2 "storage"(S& +3 "core" &,r j i \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(%' +58 "core" ' +2 "manipulator"&4& +4 "core" & H  + "storage"(_& +4 "core" &,r m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&j' +29 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +25 "core" ' +2 "manipulator"&!% +4 "core" % 0 I + "storage"(B& +4 "core" &,r g\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&0'@ +20 "core" ' +2 "manipulator"&U& +4 "core" &  S  +2 "storage"(?& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +25 "core" ' +2 "storage"( % +4 "core" %p i\ +2 ."downElevator"SE.seek :down +4 "storage"(/'X +99 ($% +2 "core" %J W\ Xf +2 "manipulator"&G% +4 "core" %Ѳ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &,r \ +2 "collection"'Q& +4 "core" &VpBB\ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&R% +4 "core" %\    +2 "storage"(D% +3 "core" %a w\ +2 "storage"(*. +3 "core" .(,l +2 "storage"(k& +4 "core" &,r \ +2 "storage"(m& +3 "core" &,r \ +2 "manipulator"&b& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&E( +4 "core" ( + "manipulator"&-& +4 "core" & % ^  + "storage"(]& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&s'Ѽ +87 "core" ' +2 "storage"(h& +4 "core" &,r\ \  N\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +283 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & Z  + "storage"(i& +4 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&M' +34 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(d- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'V +30 "core" ' +2 "manipulator"&x% +4 "core" % + "storage"(X& +4 "core" &,r d\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&V'? +20 "core" ' + "manipulator"&q& +4 "core" & %  +2 "storage"(+& +4 "core" &,r c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(|'E +40 "core" ' +2 "manipulator"&\ & +4 "core" &  +2 "manipulator"&o% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +86 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ( + "manipulator"&& +5 "core" &% 0 << + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &% ( << +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"( & +4 "core" &,r\ \  I\ + "storage"( & +4 "core" &,r\ \  )\ + "manipulator"&{& +4 "core" &% <; + "manipulator"&y% +4 "core" % $ +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&.( +155 "core" ( + "manipulator"&& +9 "core" & (  k +2 "storage"(}& +4 "core" &,r\ 2\ 3 }\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&T' +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&"% +4 "core" %   +2 "storage"(& +7 "core" &,r\ \  =\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&f': +18 "core" ' +2 "manipulator"&& +4 "core" & k +2 "storage"(\\& +3 "core" &,r\ R\ Q M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&g'Ѽ +34 "core" ' +2 "storage"(w% +4 "core" %I\  \ +2 ."downElevator"SE.seek :down +3 "storage"(@'X +100 (% +2 "core" %G\ 0\ ) \ Vb +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"')& +4 "core" &AC\ +2 "manipulator"&t% +3 "core" %\   +2 "storage"(#% +4 "core" %a \ , q\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(O(<* +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<(&\ \  c\  +2 "manipulator"& & +4 "core" & ) k +2 .tElbow.seek 5 + "manipulator"&( +9 "core" ( +2 "manipulator"&& +4 "core" &  F T + "storage"(2& +4 "core" &<%\ =\ < &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&1'ы +94 "core" ' + "storage"(& +4 "core" &<% \ , 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +282 "core" ' +3 "storage"(W- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" &<%\ '\ ( P\  +2 "manipulator"&& +3 "core" & T +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&~& +4 "core" & p T + "storage"(& +4 "core" &<%\ D\ C T\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&;' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(`'X +7 "core" &  ` T +2 "manipulator"&F% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&C'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&7& +5 "core" &* E | @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &*  @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('" +96 "core" ' + "manipulator"&'& +4 "core" &* X @W +2 "manipulator"&A% +4 "core" % + "collection"'5& +5 "core" &CB\ +2 "collection"'9& +4 "core" &B@>\ +2 .tCC.seek :closed +2 "collection"'H(V +4 "core" &BC\  +9 &3}DB\ *x +10 &dBD\ \ > +9 &|sBB\ M +9 &>WAD\ M +10 &XBA \ M +9 &ZBC\ M +9 &WAC\ L +10 &FWCD\ M +9 & X@C\ M +10 &UAC\ M +9 & XAB\ M +9 &"OYAC\ M +10 &$WCB\ M +9 &%YBC\ M +9 &'WCC\ M +10 &)WZ@A\ M +9 &+WAC\ M +10 &,WBB\ M +9 &.W?C\ M +9 &0_YAD\ M +10 &2"WBA\ L +9 &3XCC\ M +9 &5YAB\ M +10 &7hW>D\ L +9 &9)WBD\ M +10 &:]@D\ M +9 &<ZAC\ M +9 &>nYDD\ M +10 &@0WAC\ M +9 &AYBC\ M +9 &C[BC\ M +10 &ErcBB\ N +9 &G1nBB\ O +10 &HCB\ R +9 &JCC\ W +9 &L]CB\ X +10 &NCD\ X +9 &OAD\ Z +9 &QCD\ Y +10 &S^@C\ [ +9 &U!BB\ Z +10 &VhACE\ 1 +9 &V |CD\ L +5 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&[1 +3 "core" &VeCB\ L +53 1 +2 "manipulator"&L% +4 "core" %  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +99 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%S& +4 "core" &\ + "manipulator"&>% +4 "core" %\  ) +2 "storage"(4% +4 "core" %S \ + "storage"(_. +3 "core" .(<* +2 "storage"(8& +3 "core" &<% \  +2 "storage"(!& +3 "core" &<% b\  +2 "manipulator"&B& +4 "core" &( ?U + "manipulator"&U% +4 "core" %\  ) +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Z( +160 "core" ( + "manipulator"&?& +4 "core" & & R R +2 "storage"(3& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&:'ы +92 "core" ' + "storage"( & +4 "core" &<%\ \  &\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +290 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &<% \  +2 "manipulator"&G& +4 "core" & ) R +2 .tElbow.seek 5 + "manipulator"&K( +3 "core" ( +2 "manipulator"&%& +4 "core" & $ C R + "storage"(j& +4 "core" &<% q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&0' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'X +8 "core" & R + "manipulator"&D% +4 "core" % f @ +2 .tForearm.seek :retract + "manipulator"&*'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&k& +4 "core" &q +  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +100 "core" ' + "manipulator"&-& +5 "core" &q  W  + "manipulator"&]% +4 "core" % $ +2 "processing"%& +4 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed + "processing"%/(Z +5 "core" &\ +7 &:\ $d +10 &V~\ 7 +9 &}\ L +9 &Y\ N +10 &f\\\ N +9 &)Y\ M +10 &W\ M +9 &Y\ M +9 &nW\ N +10 &1Z\ M +9 &X\ N +9 &!Y\ N +10 &#w\\\ M +9 &%8Z\ N +10 &&X\ N +9 &(Y\ N +9 &*~Z\ N +10 &,@Y\ N +9 &.]\ N +9 &/Z\ N +10 &1Y\ N +9 &3I[\ M +10 &5\ X\ N +9 &6X\ M +9 &8U\ M +10 &:QZ\ M +9 &<Z\ M +9 &=U\ M +10 &?Y\ N +9 &AYW\ M +10 &CW\ M +9 &D\\\ N +9 &Fe\ O +10 &HU{\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &OW\ S +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V^\ T +9 &X\ T +9 &Y|q\ 4 +10 &Z4\ B +9 &Z\ % +2 ( +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&N1 +59 "core" 1 + "manipulator"&I% +4 "core" % ( e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' + "processing"%J& +5 "core" &Z\ % + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&i% +3 "core" %\  W  +2 "storage"(d% +4 "core" %T \ + "storage"(x. +3 "core" .(<* +2 "storage"(X& +3 "core" &<% \  +2 "storage"(q& +4 "manipulator"&+& +4 "core" &<% \  + &q K  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&\ (s +6 ."raiseStack"SE.seek :beamBreak + "storage"(o'i +3 "core" ( + "manipulator"&s& +4 "core" &q k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &q 3  +2 .tForearm.seek PC + "manipulator"&a' +97 "core" ' + .tHand.close + "manipulator"&M/ +62 "core" / +2 .tPC.seek :open + "processing"%V( +84 "core" ' +2 "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +292 ( + "storage"(l& +4 "core" &<% 8\  + "manipulator"&& +4 "core" &q  4  +2 "manipulator"&p% +4 "core" %  1 +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +264 "core" ( + "manipulator"&r& +5 "core" & & E  + "storage"( & +4 "core" &<% q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +98 "core" ' + .tHand.open +2 "manipulator"&{1 +60 "core" 1 +2 "storage"(y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(}' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<% g ^ o\  + "manipulator"&& +4 "core" & E  +2 .tElbow.seek 5 + "manipulator"&"( +8 "core" ( +2 "manipulator"&& +4 "core" & % ]  + "storage"(& +4 "core" &<% ` ] \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(w' +59 "core" ' +2 "manipulator"&& +4 "core" & T  + "storage"(& +4 "core" &<% B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +35 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +24 "core" ' +2 "manipulator"&f% +5 "core" % s d + "storage"()& +4 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&t'\ +16 "core" ' + "manipulator"&#& +5 "core" &  P  + "storage"(& +4 "core" &<% i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&|'ы +17 "core" ' + "storage"(g% +5 "core" %n ^\ +2 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (z% +3 "core" %K \ Xf +2 "manipulator"&% +4 "core" %я q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<% |\  +2 "collection"'2& +3 "core" &VnAC\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ "   : +2 "storage"(% +4 "core" %U >\ + "storage"(n. +3 "core" .(<* +2 "storage"(W& +4 "core" &<% \  +2 "storage"(<& +3 "core" &<% \  +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +5 "core" & $   + "storage"(e& +4 "core" &<% v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&,'ы +98 "core" ' +3 "storage"(F& +4 "core" &<%\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" & $  + "storage"(& +4 "core" &<% ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&' +36 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(A'V +32 "core" ' + "manipulator"&5% +5 "core" % Z d + "storage"( & +4 "core" &<% \  + .tForearm.force -20 +50 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&`' +19 "core" ' +2 "manipulator"&C& +5 "core" & % A  + "storage"(& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&['ы +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(L'E +40 "core" ' +2 "manipulator"&S& +4 "core" &   +2 "manipulator"&>% +4 "core" %ћ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +159 "core" ( +2 "manipulator"&8& +4 "core" &+ t A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &* @^ +2 .tForearm.seek CC +2 "manipulator"&!'" +95 "core" ' +2 .tHand.close + "manipulator"&B/ +54 "core" / +2 .tCC.seek :open +2 "collection"'U( +415 "core" ( + "storage"((& +5 "core" &<%\ \  J\  + "storage"(?& +4 "core" &<%\ \  B\  + "manipulator"&3& +4 "core" &* B @\\ + "manipulator"& % +4 "core" % ' - 8  +2 .tForearm.seek :retract + "manipulator"&P'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&^( +158 "core" ( + "manipulator"&& +4 "core" &  u { +2 "storage"($& +4 "core" &<%\ P\ Q ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&G' +106 "core" ' + .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&j1 +62 "core" 1 +2 "manipulator"&Y% +4 "core" %  s +2 "storage"(Q& +3 "core" &<% 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&D' +13 "core" ' +2 "manipulator"&Z& +4 "core" & d { +2 "storage"(:& +3 "core" &<%\ Q\ Q o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +34 "core" ' + "storage"(0% +4 "core" %H\ ?\ G \ +2 ."downElevator"SE.seek :down +4 "storage"(k'X +99 (m% +3 "core" %J\ (\ 2 I\ Wc +2 "manipulator"&K% +4 "core" %я s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"']& +5 "core" &@C\ +2 "manipulator"&% +3 "core" %\ ! 4 +2 "storage"(R% +4 "core" %`\ Q\ Q \ +2 "storage"(*. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &K \  + "manipulator"&I& +4 "core" & { +2 .tElbow.seek 6 + "manipulator"&J( +36 "core" ( +2 "manipulator"&i& +4 "core" &\ ( k R + "storage"(d& +4 "core" &K\ %\ & ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&x'a +100 "core" ' +2 "storage"(X& +4 "core" &K\ J\ @ R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +282 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &K\ 4\ # \  + "manipulator"&s& +4 "core" &\ \ Q +2 .tElbow.seek 6 + "manipulator"&E( +26 "core" ( +3 "manipulator"&b& +4 "core" & % + "storage"(M& +4 "core" &K\ E\ F c\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&v' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&u& "storage"(/'X +7 "core" &  B +2 "manipulator"&o% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&l'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&p& +4 "core" &* K A @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &* f @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'" +102 "core" ' +3 "manipulator"& & +4 "core" &*  @ @] + "manipulator"&\ % +4 "core" %! j +2 "collection"'{& +4 "core" &BB?\ +2 "collection"'y& +5 "core" &CCA\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &@C \ +8 &6DB \ $e +10 &U~@B\ 7 +9 &|BC\ L +9 &UBB\ L +10 &hY@A\ \ M +9 &,WCCq\ L +9 &Y@D)\ M +10 &W@C\ L +11 &qW@A\ \ M +7 &2UBB \ M +10 &WAC \ M +9 &!W@C\ M +10 &#yYDC \ M +9 &%;XAC\ M +9 &&ZDD\ M +10 &(UDC\ L +9 &*XAB\ M +9 &,CZCB\ M +10 &.UBC\ M +9 &/WAC\ L +10 &1YBD\ M +9 &3LXCB\ L +9 &5WBC\ L +10 &6XAD_\ M +9 &8ZAE\ L +9 &:TZAD\ L +10 &<[8F\ M +9 &=ZAB\ M +10 &?\\CB\ L +9 &A\\YCD\ L +9 &C\\BE\ M +10 &D_BC\ M +9 &FgAC\ N +9 &HYyAD\ P +10 &J BC\ U +9 &KCC\ X +10 &MBD\ Y +9 &OGBE\ Y +9 &QBA\ Y +10 &RCC\ Z +9 &T@B\ Z +9 &V'vBD\ / +10 &V$AC\ Q +9 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&1 +4 "core" &VpCD\ K +49 1 +2 "manipulator"&% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ % F + "storage"(% +9 "core" %a P\  +3 "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K 3\  +2 "storage"(f& +4 "core" &K ]\  + "manipulator"&)& +4 "core" &) @[ + "manipulator"&% +4 "core" %\ % F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&#( +158 "core" ( + "manipulator"&& +4 "core" &  ( N  +2 "storage"(g& +4 "core" &K }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +96 "core" ' +2 "storage"( & +4 "core" &K\ \  ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +284 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K X\  +2 "manipulator"&\\& +4 "core" &  !  + .tElbow.seek 6 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&w& +3 "core" &  &  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&t' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"('X +8 "core" &   h  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&n'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&T(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&W& +4 "core" &v 1   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &v   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' + "manipulator"&& +4 "core" &v & U  +2 "manipulator"&e% +4 "core" %  @ + "processing"%|& +4 "core" &\ +2 "processing"%F& +5 "core" &\ +2 .tPC.seek :closed +57 "processing"%@(Z +6 "core" &\ + &\ + &\ &\ + &\ + &\ + &\ +2 &\ 6 +8 &FIz\ / +9 &ko\ D +10 & e\ N +9 &Y\ M +9 &U\ M +10 &S\\\ M +9 &Y\ M +10 &\\\ M +9 &W\ N +9 &[X\ M +10 &!U\ M +9 &"[\ M +9 &$Y\ M +10 &&dU\ M +9 &($Y\ N +10 &)Z\ M +9 &+Z\ M +9 &-kX\ M +10 &/.U\ M +9 &0Y\ M +9 &2W\ M +10 &4tZ\ M +9 &65X\ M +10 &7X\ M +9 &9\\\ M +9 &;|W\ M +10 &==W\ M +9 &>W\ M +9 &@Z\ M +10 &B[\ M +9 &DE\\\ M +10 &Fe\ O +9 &Gv\ P +9 &I{\ S +10 &K<\ S +9 &L\ T +9 &N\ S +10 &P\ T +9 &RB\ T +10 &T\ T +9 &U\ T +9 &W\ T +10 &YI\ A +9 &Z]>r\ ` +9 &Z/\ - +6 ( + "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&.1 +4 "core" &Z \ - +54 1 + "manipulator"& % +5 "core" %  @ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1'\ +98 "core" ' +2 "processing"%7& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\  Z  +2 "storage"('% +3 "core" %` k\ +2 "storage"(5. +3 "core" .(K + "storage"( & +4 "core" &K \  +2 "storage"(C& +3 "manipulator"&& +5 "core" &K \  + &v  8  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&S(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(>'i +3 "core" ( + "manipulator"&,& +4 "core" &v  }  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &v ) F  +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&&/ +57 "core" / +2 .tPC.seek :open + "processing"%`( +94 "core" ' + "storage"(A- +4 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'y +46 "core" ' +284 ( + "storage"(9& +5 "core" &K \  + "manipulator"&[& +4 "core" &v   + "manipulator"&;% +4 "core" %  i  +6 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&4( +269 "core" ( +2 "manipulator"&H& +4 "core" & % y  +2 "storage"((& +4 "core" &K ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&?'a +101 "core" ' + .tHand.open + "manipulator"&31 +56 "core" 1 + "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"($' +46 "core" ' + #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(_& +4 "core" &K k n \  + "manipulator"&j& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&Y( +4 "core" ( + "manipulator"&Q& +4 "core" & % 6  + "storage"(Z& +4 "core" &K j k \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&:'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(0' +58 "core" ' + "manipulator"&P& +4 "core" & 9  +2 "storage"(m& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&K'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&^, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(G'i +27 "core" ' +2 "manipulator"&D% +4 "core" %ζ + "storage"(]& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&' +12 "core" ' + "manipulator"&R& +5 "core" & {  +2 "storage"(*& +4 "core" &K\ \  K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&L'a +36 "core" ' +2 "storage"(6% +4 "core" %n\  \ +2 ."downElevator"SE.seek :down +4 "storage"(k'X +99 (O% +2 "core" %\ L T\ Xf +2 "manipulator"&N% +4 "core" %U Q n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &K \  +2 "collection"'d& +4 "core" &VqCD\ K + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&X% +3 "core" %\   G % +2 "storage"(%% +4 "core" %` \ + "storage"(-. +3 "core" .(K +2 "storage"(+& +4 "core" &K \  + "storage"(h& +4 "core" &K \  + "manipulator"&s& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&b( +4 "core" ( + "manipulator"&M& +4 "core" &  B  +2 "storage"(=& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&u'a +93 "core" ' +2 "storage"(o& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +284 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +2 "core" & j  +2 "storage"(a& +4 "core" &K }\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&q'Υ +29 "core" ' + .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(\ 'Z +31 "core" ' +2 "manipulator"&{% +4 "core" %θ +2 "storage"(E& +3 "core" &K )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&/' +12 "core" ' +2 "manipulator"&l& +4 "core" & e  +2 "storage"(U& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('I +38 "core" ' +2 "manipulator"&& +4 "core" & B  +2 "manipulator"&% +4 "core" %S T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +178 "core" ( +2 "manipulator"&y& +4 "core" &- 4 Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &. Dy +2 .tForearm.seek CC + "manipulator"&f'" +94 "core" ' +2 .tHand.close + "manipulator"&)/ +63 "core" / +2 .tCC.seek :open + "collection"'( +420 "core" ( + "storage"(r& +4 "core" &K\ \  v\  + "storage"(& +4 "core" &K\ \  z\  +2 "manipulator"&g& +3 "core" &. o Dv +2 "manipulator"& % +3 "core" % # +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +157 "core" ( + "manipulator"&z& +4 "core" &  " l  +2 "storage"(& +3 "core" &K\ P\ F =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&\\'Υ +110 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&% +4 "core" % ζ   / +2 "storage"(2& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&#& +4 "core" &    +2 "storage"(c& +4 "core" &K\ >\ < ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&}'a +20 "core" ' +2 "storage"(t% +4 "core" %R \ + H\ +2 ."downElevator"SE.seek :down +4 "storage"(W'X +98 (<% +3 "core" %D\ /\ % A\ Vb +2 "manipulator"&"% +4 "core" %c X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'e& +5 "core" &CC \ + "manipulator"&|% +4 "core" %\ \   +2 "storage"(% +4 "core" %a \ ) [\ + "storage"(n. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(V(,l +654 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" &,o\ \  Z\ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&7( +12 "core" ( +2 "manipulator"&& +4 "core" & $ w +2 "storage"('& +3 "core" &,r\ =\ B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +94 "core" ' + "storage"( & +5 "core" &,r\ - ~ Z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'i +283 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r\ \ 9 \ +2 "manipulator"&,& +4 "core" & 8 w + .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & \ w +2 "storage"(&& +4 "core" &,r\ C\ C \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&A', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"(@'X +8 "core" & p w + "manipulator"&>% +4 "core" % 0 o  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&;& +4 "core" &+ P ~ a Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'" +103 "core" ' +2 "manipulator"&(& +5 "core" &+ k Ab + "manipulator"&S% +4 "core" %" +2 "collection"'3& +3 "core" &?CI\ +2 "collection"' & +5 "core" &CDN\ +2 .tCC.seek :closed +2 "collection"'!(V +4 "core" &AD\  +9 &/yAC \ *y +9 &eCD\ > +10 &vs@C \ N +9 &<WAC\ L +9 &YAB \ M +10 &VBC \ M +9 &XAA\ L +9 &CW@B\ \ M +10 &VBB \ M +9 &WAA \ L +10 & X?C \ M +9 &"KWBB \ M +9 &$ WBA\ M +10 &%YAB \ M +9 &'ZAB\ M +9 &)SZAC\ M +10 &+WC@\ M +9 &,WBC\ \ L +10 &.WBA \ L +9 &0[YBC\ M +9 &2UAA\ M +10 &3X@B\ L +9 &5W@B \ M +9 &7cZAB\ M +10 &9%ZBC\ M +9 &:WAB\ M +10 &<ZAB\ M +9 &>jXBB\ M +9 &@.WCA\ L +10 &AYAD\ M +9 &CZAA\ M +9 &EpcBB\ N +10 &G-q@B\ O +9 &HAB\ R +10 &JCC\ W +9 &LXDD\ Y +9 &NBB\ X +10 &O?B\ Z +9 &QCB\ Y +9 &S[@B\ Z +10 &UBB\ [ +9 &VjDAC\ 2 +9 &VuCC\ L +6 ( + "collection"' & +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open + "manipulator"&_1 +4 "core" &VnDC\ L +56 1 +3 "manipulator"&j% +4 "core" % " j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +101 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%Z& +4 "core" &\ + "manipulator"&B% +4 "core" %\ % ` F +2 "storage"(P% +3 "core" %_ M\ +2 "storage"(m. +3 "core" .(,l +2 "storage"(D& +3 "core" &,r :\ +2 "storage"(8& +4 "core" &,r 7\ + "manipulator"&]& +4 "core" &* Ab + "manipulator"&R% +4 "core" %\ % F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&*( +159 "core" ( +2 "manipulator"&& +4 "core" & # 5 f +2 "storage"(6& +3 "core" &,r m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&4'Ѽ +96 "core" ' +2 "storage"(?& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +283 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &,r <\ +2 "manipulator"&:& +4 "core" & Z f +2 .tElbow.seek 4 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&0& +3 "core" & & f +2 "storage"(K& +4 "core" &,r \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&d& "storage"(X'X +7 "core" &   f +2 "manipulator"&%% +4 "core" % %    +2 .tForearm.seek :retract + "manipulator"&G'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&-(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&+& +4 "core" &r @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &r ]  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +100 "core" ' +2 "manipulator"&M& +4 "core" &r 0 p  + "manipulator"&=% +4 "core" %  +2 "processing"%L& +4 "core" &\ +2 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%k(Z +4 "core" &\ +7 &9\ $d +10 &U~\ 7 +9 &}\ L +9 &Y\ M +10 &^]\ M +9 & Z\ M +9 &Y\ N +10 &Y\ M +9 &fW\ M +10 &(V\ M +9 &\\\ N +9 &!Y\ M +10 &#n\\\ M +9 &%0[\ M +9 &&Y\ M +10 &(W\ M +9 &*v\\\ M +10 &,8Z\ M +9 &-X\ M +9 &/U\ M +10 &1~X\ M +9 &3@W\ M +9 &5Z\ N +10 &6Y\ M +9 &8W\ M +10 &:HZ\ M +9 &< W\ M +9 &=W\ M +10 &?W\ N +9 &APW\ M +9 &C]\ M +10 &D^\ M +9 &Fg\ O +10 &HMy\ Q +9 &J \ S +9 &K\ S +10 &M\ S +9 &ON\ S +9 &Q\ T +10 &R\ T +9 &T\ S +10 &VU\ T +9 &X\ T +9 &Y{p\ 8 +10 &Z-\ H +9 &Z\ ( +2 ( +2 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&^1 +52 "core" 1 +2 "manipulator"&I% +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +93 "core" ' + "processing"%p& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&a% +4 "core" %\  , *  +2 "storage"( % +3 "core" %` \ +2 "storage"({. +3 "core" .(,l + "storage"(E& +4 "core" &,r \ +2 "storage"(l& +4 "manipulator"&U& +4 "core" &,r p\ + &r   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&u& +4 "core" &r #  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &r P  +2 .tForearm.seek PC +2 "manipulator"&J' +100 "core" ' + .tHand.close + "manipulator"&q/ +58 "core" / +2 .tPC.seek :open +2 "processing"%/( +88 "core" ' +2 "storage"(\ - +3 "core" -'i +51 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'y +34 "core" ' +249 ( +2 "storage"(& +4 "core" &,r /\ + "manipulator"&& +4 "core" &r  3  +2 "manipulator"&v% +3 "core" %   : +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +275 "core" ( + "manipulator"&& +4 "core" & '  S +2 "storage"(r& +4 "core" &,r O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +98 "core" ' + .tHand.open +2 "manipulator"&g1 +62 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(z'E +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' +2 "storage"(& +3 "core" &,r V\ +2 "manipulator"&& +4 "core" & S +2 .tElbow.seek 4 + "manipulator"&( +5 "core" ( + "manipulator"&2& +4 "core" & ( ` I +2 "storage"(#& +4 "core" &,r \ +2 .tForearm.seek 4 + 700 counts + "manipulator"&c'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +59 "core" ' +2 "manipulator"&& +4 "core" & P I +2 "storage"(<& +4 "core" &,r |\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&"' +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(\\'i +24 "core" ' +2 "manipulator"&e% +4 "core" %  1 +2 "storage"(& +4 "core" &,r L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&|'9 +21 "core" ' + "manipulator"&& +5 "core" &  x I + "storage"(n& +4 "core" &,r u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +34 "core" ' + "storage"(}% +5 "core" %r r\ +2 ."downElevator"SE.seek :down +3 "storage"(W'X +99 (% +3 "core" %I )\ Wd +2 "manipulator"&.% +4 "core" %Ѫ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &,r m\ +2 "collection"''& +4 "core" &VnBD\ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"& % +4 "core" %\ %  . C + "storage"(w% +4 "core" %b #\ + "storage"(. +3 "core" .(,l +2 "storage"(C& +3 "core" &,r L\ +2 "storage"(& +8 "core" &,r |\ +2 "manipulator"&,& +4 "core" &  . I +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&&& +4 "core" & 1 I + "storage"(T& +4 "core" &,r ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&1'Ѽ +100 "core" ' +2 "storage"(>& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +283 "core" ' +3 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&;& +3 "core" &  I +2 "storage"(F& +3 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +30 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(('V +31 "core" ' + "manipulator"&S% +5 "core" %  + "storage"(3& +4 "core" &,r \\\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&@'? +19 "core" ' +2 "manipulator"&9& +4 "core" &  @ I + "storage"(& +5 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&_'Ѽ +25 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(j'E +43 "core" ' +2 "manipulator"&Z& +4 "core" &  I + "manipulator"&B% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +176 "core" ( +2 "manipulator"& & +4 "core" &+ Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &+  Bl +2 .tForearm.seek CC + "manipulator"&8'" +94 "core" ' +2 .tHand.close + "manipulator"&]/ +58 "core" / +2 .tCC.seek :open +2 "collection"'R( +416 "core" ( +6 "storage"(H& +4 "core" &,r\ \  \ +2 "storage"(& +4 "core" &,r\ \  \ + "manipulator"&6& +4 "core" &, Bk + "manipulator"&?% +4 "core" %  m +2 .tForearm.seek :retract + "manipulator"&['\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Q( +158 "core" ( + "manipulator"&O& +4 "core" & ( g q +2 "storage"(N& +4 "core" &,r\ E\ 6 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&:' +106 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +64 "core" 1 +2 "manipulator"&i% +4 "core" %  " W * + "storage"(d& +5 "core" &,r\ \  5\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&%'@ +18 "core" ' +2 "manipulator"&*& +9 "core" & & g q + "storage"(4& +4 "core" &,r\ Q\ Q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&$'Ѽ +30 "core" ' + "storage"(% +4 "core" %K\ Q\ T 5\ +2 ."downElevator"SE.seek :down +3 "storage"(+'X +100 (h% +2 "core" %J\ '\ 1 \ Wd +2 "manipulator"&Y% +4 "core" %Ѿ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +97 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'=& +5 "core" &DC \ + "manipulator"&L% +4 "core" %\  3 { +2 "storage"(X% +3 "core" %` ? B \ +2 "storage"(G. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(`(<* +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" &<*\ \  f\  +2 "manipulator"&I& +3 "core" &  q +2 .tElbow.seek 5 + "manipulator"&p( +12 "core" ( + "manipulator"&a& +4 "core" & { N +2 "storage"( & +3 "core" &<'\ * s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&{'ы +100 "core" ' +2 "storage"(E& +4 "core" &<'\ $ } $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +282 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &<'\ :\  7\  +2 "manipulator"&u& +51 "core" & h N +3 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( + "manipulator"&s& +4 "core" & K N + "storage"(q& +4 "core" &<'\ E\ I )\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&\ ' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"(k'X +6 "core" & W N +2 "manipulator"&% +4 "core" % @ +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &) j ; % @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &* @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' + "manipulator"&r& +5 "core" &* y @] + "manipulator"&% +4 "core" % +2 "collection"'g& +4 "core" &BC\ +2 "collection"' & +5 "core" &CB\ +2 .tCC.seek :closed + "collection"'f(V +5 "core" &BA\ +7 & ,CC \ #b +9 &VAC\ 7 +10 &{AC\ L +9 &WAC \ M +9 &mXCB\ L +10 &.V@C\ M +9 &ZBC\ M +9 &UAB\ M +10 &uWAD \ L +9 &7WAA\ \ L +10 &WDC\ \ M +9 &!ZCA \ M +9 &#|VCB\ M +10 &%?WAC \ L +9 &'WAC \ M +9 &(YAC \ L +10 &*XAC\ L +9 &,GWAC \ L +10 &. W@C\ L +9 &/WAA\ L +9 &1XBB \ M +10 &3NYCC \ M +9 &5YBB \ M +9 &6ZBA \ M +10 &8TCD\ \ L +9 &:VY@C\ M +10 &<YAC\ \ M +9 &=YAA\ L +9 &?WAC\ M +10 &A^Z@C\ M +9 &C Y@D\ M +9 &D_BB\ M +10 &FjAB\ O +9 &HY~AB\ Q +10 &JCC\ V +9 &KBC\ Y +9 &MCC\ Y +10 &OJAC\ Y +9 &Q BD\ Y +10 &RAB\ Z +9 &TAD\ [ +9 &V)uDB\ . +10 &V'CB\ S +8 ( +2 &VpBB\ L +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%#& +4 "core" &\ +2 "manipulator"&)% +4 "core" %\ # y : +2 "storage"(% +3 "core" %a E\ +2 "storage"(<. +3 "core" .(<* +2 "storage"(e& +3 "core" &<' A\  +2 "storage"(& +3 "core" &<' [\  +2 "manipulator"&y& +4 "core" &)  @\\ + "manipulator"&% +4 "core" %\ # : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&z( +160 "core" ( +2 "manipulator"&n& +4 "core" & ' / O +2 "storage"(}& +3 "core" &<' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +97 "core" ' +2 "storage"(& +4 "core" &<'\ \  2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &<' \  +2 "manipulator"&c& +4 "core" & p O + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +3 "core" & O +2 "storage"("& +3 "core" &<' m\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&|' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& "storage"( 'X +8 "core" & O + "manipulator"&w% +4 "core" % g G +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&\\(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&C& +4 "core" &h w B 7 < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h  J < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&,' +99 "core" ' +2 "manipulator"&&& +4 "core" &h % ] < + "manipulator"&T% +4 "core" %  '  +2 "processing"%& +4 "core" &\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed + "processing"%W(Z +5 "core" &\ +7 &;\ $d +10 &T}\ 6 +9 &~~\ K +9 &Y\ M +10 &`Z\ M +9 &#W\ M +9 &Y\ N +10 &Y\ M +9 &h[\ M +10 &)Y\ N +9 &Y\ N +9 &!X\ M +10 &#pZ\ M +9 &%2Y\ M +9 &&U\ M +10 &(X\ N +9 &*xY\ M +10 &,9Y\ N +9 &-Y\ M +9 &/Y\ M +10 &1W\ M +9 &3CU\ M +9 &5X\ M +10 &6Y\ N +9 &8W\ M +10 &:JY\ M +9 &< W\ M +9 &=T\ M +10 &?W\ M +9 &ASU\ M +9 &CZ\ N +10 &DZ\ N +9 &Fe\ O +10 &HPy\ Q +9 &J \ S +9 &K\ S +10 &M\ S +9 &OP\ S +10 &Q\ S +9 &R\ S +9 &T\ S +10 &VW\ T +9 &X\ T +9 &Yzn\ 7 +10 &Z2\ B +9 &Z\ & +2 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +92 "core" ' + "processing"%;& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&F% +4 "core" %\   + "storage"(~% +4 "core" %` \ +2 "storage"(S. +3 "core" .(<* + "storage"(3& +4 "core" &<' \  + "storage"(9& +5 "manipulator"&& +4 "core" &<' \  + &h G < +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Z'i +4 "manipulator"&B(s +20 "core" ( + "manipulator"&1& +5 "core" &i & \\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i L +2 .tForearm.seek PC + "manipulator"&7' +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%@( +76 "core" ' +2 "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +44 "core" ' +302 ( + "storage"(D& +5 "core" &<' )\  + "manipulator"&_& +4 "core" &m  . + "manipulator"&A% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&]'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&P( +270 "core" ( +2 "manipulator"&!& +4 "core" & % { p + "storage"(H& +4 "core" &<' r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +103 "core" ' + .tHand.open +2 "manipulator"&61 +52 "core" 1 +2 "storage"(?- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(O'E +26 "core" ' +5 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(N' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +3 "core" -' +2 "storage"(m& +4 "core" &<' i ` o\  + "manipulator"&K& +4 "core" &  p +2 .tElbow.seek 5 + "manipulator"&i( +4 "core" ( + "manipulator"&d& +4 "core" &  } p +2 "storage"(*& +3 "core" &<' \\ ]\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&4'ы +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&[& +4 "core" & G p +2 "storage"(h& +4 "core" &<' F\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Y' +33 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'i +22 "core" ' + "manipulator"&=% +5 "core" %  y + "storage"(%& +4 "core" &<' ^\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&L' +20 "core" ' + "manipulator"&X& +5 "core" & $ x + "storage"(G& +4 "core" &<' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&j'ы +17 "core" ' + "storage"($% +4 "core" %l\ \  2\ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (V% +4 "core" %:N `\ Xf +2 "manipulator"&^% +4 "core" %љ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +86 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &<' \ _\  +2 "collection"' & +4 "core" &VpBC'\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&E% +3 "core" %\  a  +2 "storage"(0% +4 "core" %a k\  + "storage"(M. +3 "core" .(<* +2 "storage"(l& +4 "core" &<' K\  + "storage"(o& +4 "core" &<' >\  +2 "manipulator"&u& +3 "core" &  x +2 .tElbow.seek 5 + "manipulator"&s( +4 "core" ( + "manipulator"&q& +4 "core" & [ x + "storage"(-& +4 "core" &<' Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&x'ы +97 "core" ' + "storage"(& +5 "core" &<'\ \  #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +284 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & > x +2 "storage"(J& +3 "core" &<' %\  +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&U' +36 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(b'V +32 "core" ' +2 "manipulator"&% +4 "core" % j Q +2 "storage"(g& +3 "core" &<' -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&k'\ +19 "core" ' + "manipulator"&& +4 "core" & Q y +2 "storage"(R& +4 "core" &<' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +40 "core" ' + "manipulator"&#& +5 "core" &  y + "manipulator"&)% +4 "core" %у @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +173 "core" ( + "manipulator"&e& +9 "core" &* t @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &) @] +2 .tForearm.seek CC +2 "manipulator"& '" +93 "core" ' +2 .tHand.close + "manipulator"&y/ +63 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &<'\ \  \  + "storage"(n& +4 "core" &<'\ \  \  + "manipulator"&}& +4 "core" &* # @] + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&v'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&2( +161 "core" ( +2 "manipulator"&& +4 "core" & ) d +2 "storage"(.& +3 "core" &<'\ C\ 6 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&c' +110 "core" ' + .tElbow.hold + "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   + "storage"('& +4 "core" &<' \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts + "manipulator"&w' +19 "core" ' +2 "manipulator"&z& +4 "core" &  d +2 "storage"(& +3 "core" &<'\ C\ C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +22 "core" ' + "storage"(|% +5 "core" %F\ ;\ N \ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +99 (% +3 "core" %I\ $\ / '\ Wc +2 "manipulator"&% +4 "core" %ђ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'T& +4 "core" &AA\ +2 "manipulator"&% +4 "core" %\ "  $ A + "storage"( % +4 "core" %a\ C\ C \ + "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(/(K +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K \  +2 "manipulator"& & +4 "core" &  d +2 .tElbow.seek 6 + "manipulator"&;( +43 "core" ( + "manipulator"&F& +4 "core" &\ * V +2 "storage"(~& +4 "core" &K\ &\ % 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&S'a +96 "core" ' +2 "storage"(3& +4 "core" &K\ @\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &K\ \  N\  +2 "manipulator"&1& +3 "core" &\  U +2 .tElbow.seek 6 +2 "manipulator"&( +26 "core" ( +2 "manipulator"&,& +4 "core" & %  + "storage"(& +4 "core" &K\ &\ * S\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&(' +11 "Can"Q\ 74 +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(W'X +8 "core" & Z  + "manipulator"&Z% +4 "core" % ϼ ? +2 .tForearm.seek :retract + "manipulator"&D'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&A& +4 "core" &* O $ A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &* s A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&!'" +106 "core" ' +2 "manipulator"&H& +4 "core" &*  @^ +2 "manipulator"&B% +4 "core" %+ M Q +2 "collection"'6& +4 "core" &DD\ +2 "collection"'?& +5 "core" &BCP\ +2 .tCC.seek :closed + "collection"'8(V +5 "core" &BB\ \ +9 &0zAB\ )w +9 &dBB\ > +10 &{rDD\ M +9 &?UBD\ L +9 &WB@\ L +10 &ZAC \ M +9 &ZBB \ M +10 &GZBC\ L +9 & WCE\ L +9 &YCC\ M +10 & ZAB\ L +9 &"OWAB\ L +9 &$WBA\ L +10 &%X@C \ L +9 &'ZBB\ \ M +10 &)WYCC\ L +9 &+VBC\ M +9 &,TCB \ L +10 &.WBB\ L +9 &0^VBD\ M +9 &2 TAC\ M +15 &3ZCC\ L +4 &5VAC\ \ L +10 &7fZ@C\ M +9 &9(Y@C \ M +9 &:WBC\ M +10 &<ZCC\ L +9 &>oXBC\ L +9 &@1WCE \ L +10 &AZBC \ M +9 &C]BB\ M +10 &Et_AC\ M +9 &G0lCE\ O +9 &H{@C\ Q +10 &JDD\ V +9 &L_BDb\ W +9 &NEC\ X +10 &OCE\ Y +9 &QBD\ Y +10 &S`CD\ Z +9 &U!DC\ Z +9 &VkBED\ 0 +10 &VvGB\ J +5 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&m1 +52 "core" &VjBC\ J +11 1 +2 "manipulator"&K% +4 "core" % 1 ' 6 K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +89 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%*& +4 "core" &\ + "manipulator"&]% +4 "core" %\   +2 "storage"([% +3 "core" %S k\ +2 "storage"(h. +3 "core" .(K + "storage"( & +4 "core" &K X\  +2 "storage"(O& +3 "core" &K +\  +2 "manipulator"&=& +4 "core" &) D @\\ + "manipulator"&%% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&X( +158 "core" ( + "manipulator"&G& +4 "core" & ( e  +2 "storage"(P& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' +2 "storage"($& +4 "core" &K\ \  '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +283 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &K 4\  +2 "manipulator"&^& +4 "core" & <  + .tElbow.seek 6 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&& +4 "core" & %  + "storage"(Y& +4 "core" &K {\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(E'X +7 "core" &  +2 "manipulator"&0% +3 "core" % c 5 +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&:(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&l& +4 "core" &y 6 u 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +97 "core" ' +2 "manipulator"&q& +4 "core" &y  ~ +2 "manipulator"&-% +4 "core" % 7 3 +2 "processing"%j& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &\ +8 &8\ $e +9 &V~\ 7 +9 &y\ K +10 &Y\ M +9 &aZ\ M +9 &#Y\ M +10 &Z\ M +9 &W\ M +10 &hZ\ N +9 &,Y\ M +9 &Y\ N +10 &!X\ M +9 &#qY\ M +9 &%4[\ M +10 &&W\ M +9 &(Y\ M +9 &*yZ\ M +10 &,;Y\ M +9 &-\\\ M +10 &/Y\ N +9 &1Y\ M +9 &3CW\ M +10 &5Y\ N +9 &6Y\ M +9 &8W\ M +10 &:LY\ M +9 &<W\ M +10 &=W\ M +9 &?W\ M +9 &ATX\ M +10 &C[\ N +9 &D`\ N +9 &Fg\ O +10 &HO{\ Q +9 &J \ S +10 &K\ S +9 &M\ S +9 &OR\ S +10 &Q\ S +9 &R\ T +9 &T\ T +10 &VX\ T +9 &X\ T +10 &Y|p\ 5 +9 &Z3\ D +9 &Z\ % +3 ( + "processing"%& +8 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&Q1 +57 "core" 1 +2 "manipulator"&I% +4 "core" % *  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ % + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&J% +4 "core" %\  q " + "storage"(r% +4 "core" %T \ + "storage"(. +4 "core" .(K + "storage"(g& +4 "core" &K \  + "storage"(& +2 "manipulator"&R& +7 "core" &K k\  + &y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&#(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"()'i +3 "core" ( + "manipulator"&x& +4 "core" &y ^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &y "  +2 .tForearm.seek PC + "manipulator"&p' +97 "core" ' +2 .tHand.close + "manipulator"&U/ +58 "core" / +2 .tPC.seek :open +2 "processing"%k( +93 "core" ' + "storage"(b- +8 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +285 ( + "storage"(& +5 "core" &K 9\  + "manipulator"&& +4 "core" &y  R + "manipulator"&\ % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&f& +4 "core" &  F !p +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&n'a +119 "core" ' + .tHand.open +2 "manipulator"&}1 +52 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(.' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(<& +4 "core" &K [ L J\  +2 "manipulator"&"& +3 "core" &  R !p +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" & & c !p + "storage"(z& +4 "core" &K = 9 \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +60 "core" ' + "manipulator"&v& +5 "core" & b !p + "storage"(& +4 "core" &K Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +32 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +22 "core" ' + "manipulator"&w% +5 "core" %θ  + "storage"(T& +4 "core" &K <\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&' +12 "core" ' + "manipulator"& & +5 "core" & % } !p + "storage"(& +4 "core" &K t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +19 "core" ' + "storage"(% +5 "core" %r w\ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +98 (`% +3 "core" %F \ Wc +2 "manipulator"&% +4 "core" %a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (F& +4 "core" &K J\  +2 "collection"'~& +4 "core" &VjBCB\ J + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&3% +3 "core" %\ & 3 E +2 "storage"(t% +4 "core" %S \ + "storage"(&. +3 "core" .(K +2 "storage"(9& +4 "core" &K J\  + "storage"(>& +4 "core" &K V\  + "manipulator"&1& +4 "core" & !p +2 .tElbow.seek 6 + "manipulator"&,( +3 "core" ( +2 "manipulator"&& +4 "core" & $ !p +2 "storage"(\\& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&5'a +93 "core" ' +2 "storage"(Z& +4 "core" &K\ J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'i +283 "core" ' +3 "storage"(S- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&A& +3 "core" & , !p +2 "storage"(7& +4 "core" &K )\  + .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(H'Z +30 "core" ' +2 "manipulator"&B% +4 "core" %ι +2 "storage"(6& +3 "core" &K \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&W' +12 "core" ' +2 "manipulator"&D& +4 "core" &  Y !p +2 "storage"(& +4 "core" &K 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&m'a +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(K'I +39 "core" ' +2 "manipulator"&*& +4 "core" & !p +2 "manipulator"&]% +4 "core" %^ X n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +160 "core" ( +2 "manipulator"& & +4 "core" &- M Ct + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +2 "core" &- ! Ct +3 .tForearm.seek CC + "manipulator"&?'" +96 "core" ' +2 .tHand.close + "manipulator"&=/ +55 "core" / +2 .tCC.seek :open + "collection"'%( +417 "core" ( +2 "storage"(!& +4 "core" &K\ \  .\  +2 "storage"(G& +3 "core" &K\ \  \  +2 "manipulator"&P& +4 "core" &- q Cm + "manipulator"&$% +4 "core" % + +2 .tForearm.seek :retract + "manipulator"&_'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&d( +157 "core" ( + "manipulator"&4& +4 "core" &  c  +2 "storage"(V& +4 "core" &K\ R\ Q i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&^'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +59 "core" 1 +2 "manipulator"&L% +4 "core" % θ  * + "storage"( & +5 "core" &K d\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&0' +20 "core" ' + "manipulator"&X& +4 "core" &   S  +2 "storage"(& +3 "core" &K\ Q\ F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&N'a +28 "core" ' + "storage"(a% +4 "core" %L\ =\ / |\ +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (o% +3 "core" %I\ %\ 0 W\ Wc +2 "manipulator"&i% +4 "core" %S  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +8 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'-& +4 "core" &DCF\ +2 "manipulator"&j% +3 "core" %\  % +2 "storage"(E% +4 "core" %b\ A\ N L\ + "storage"(M. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(@(,l +660 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &,m a\ +2 "manipulator"&I& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +21 "core" ( + "manipulator"&J& +4 "core" & & I +2 "storage"(r& +4 "core" &,q\ *\ 5 G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +104 "core" ' +2 "storage"(g& +4 "core" &,q \ + \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,q\ \  m\ +2 "manipulator"&x& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&s( +22 "core" ( +2 "manipulator"&u& +5 "core" &\ % 7 R + "storage"(U& +4 "core" &,q\ 1\ 1 \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&b', +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&{& "storage"(+'X +8 "core" &  7 Q + "manipulator"&)% +4 "core" % )  J  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&\ & +10 "core" && , e =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +4 "core" && o =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'" +103 "core" ' +2 "manipulator"&& +5 "core" && [ =A + "manipulator"&#% +4 "core" %* +2 "collection"'}& +4 "core" &@A(\ +2 "collection"'& +5 "core" &BC'\ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &AC\  +9 &0yBA \ *x +10 &dBC&\ > +9 &usBB\ N +9 &:TCD\ L +10 &WBB\ M +9 &YBB\ M +10 &UCC\ M +9 &AUAB\ M +9 &UBC\ M +10 &TCB\ M +9 & UAD\ M +9 &"IVCD\ M +10 &$ WBB\ L +9 &%YBC\ M +9 &'YDD\ M +10 &)PWBB\ M +9 &+WBD\ L +10 &,UCC \ L +9 &.YBC\ M +9 &0YZBC \ M +10 &2XAC \ M +9 &3WAC\ M +9 &5TCC\ L +10 &7`YBC \ M +9 &9$T@C\ L +10 &:WAD \ M +9 &<XDC\ M +9 &>i[BCj\ M +10 &@+TCC"\ M +9 &AUBC\ M +9 &CYBD \ M +10 &En_AB\ N +9 &G+nCE \ O +10 &HBD\ R +9 &JAB\ W +9 &LWBD \ X +10 &NAD\ X +9 &OCD\ Y +9 &QCD \ Y +15 &SXCC\ [ +4 &UCC\ Z +10 &VcBCD\ 1 +9 &V }BD\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 + .Hand.open + "manipulator"&<1 +4 "core" &VcAC\ K +50 1 +2 "manipulator"&"% +4 "core" % " R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&''\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%z& +4 "core" &\ + "manipulator"&y% +4 "core" %\ n  +2 "storage"(v% +3 "core" %^ ?\ +2 "storage"(. +3 "core" .(,l + "storage"(e& +4 "core" &,q \ + "storage"(w& +4 "core" &,q \ + "manipulator"&T& +4 "core" &&  =A +2 "manipulator"& % +4 "core" %\ 0  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" &  b c + "storage"(& +4 "core" &,q\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +96 "core" ' +2 "storage"(n& +4 "core" &,q\ \  *\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'i +286 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,q\  \ +2 "manipulator"&& +3 "core" &  c +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&|& +4 "core" & $ 4 c + "storage"(& +4 "core" &,q ]\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&~& "storage"(3'X +8 "core" & c + "manipulator"&t% +4 "core" % $ 7 O +2 .tForearm.seek :retract + "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&&(s +161 "core" ' + ."downElevator"SE.stop +50 "storage"(5 +27 "core" ( + "manipulator"&9& +5 "core" &z , S * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &z  # * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&1' +103 "core" ' + "manipulator"&& +4 "core" &z  E * +2 "manipulator"&\\% +4 "core" % k +2 "processing"%& +3 "core" &\ +2 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &\ \ +8 &;\ #c +9 &T| \ 6 +9 &~}\ K +10 &\\\ \ M +9 &`Z \ M +9 &#Y \ M +10 &Y\ M +9 &W\ M +10 &iY\ M +9 &*W\ M +9 &Y\ M +13 &!Y\ M +6 &#rY \ L +9 &%3Z\ M +10 &&V\ M +9 &(Y \ M +10 &*zX\ \ L +9 &,;Y \ M +9 &-Y \ L +10 &/W\ M +9 &1X\ L +9 &3CY\ M +10 &5W \ M +9 &6Y \ L +10 &8W \ M +9 &:LW\ L +9 &< W \ M +10 &=Z\ M +9 &?U\ \ M +10 &ASX\ M +9 &C^\ M +9 &D^\ N +10 &Ff \ N +9 &HP|\ P +9 &J \ R +10 &K\ S +9 &M\ S +9 &OP\ S +10 &Q\ S +9 &R\ T +10 &T\ S +9 &VW\ S +9 &X\ T +10 &Y{n\ 6 +9 &Z0\ G +9 &Z\ ' +3 ( + "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&21 +56 "core" 1 +2 "manipulator"& % +4 "core" % % l k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +97 "core" ' +2 "processing"%A& +4 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 4 +6 "manipulator"&7% +4 "core" %\ "  > +2 "storage"(% +3 "core" %a Q\ +2 "storage"(B. +3 "core" .(,l + "storage"(6& +4 "core" &,q P\ +2 "storage"(D& +2 "manipulator"&& +7 "core" &,q M\ + &z 2 * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&*(s +3 "storage"(]'i +3 "core" ( + "manipulator"&5& +4 "core" &z * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +2 "core" &z * Y * +3 .tForearm.seek PC + "manipulator"&;' +102 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tPC.seek :open +2 "processing"%W( +84 "core" ' + "storage"(H- +4 "core" -'i + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +34 "core" ' +308 ( +2 "storage"(O& +4 "core" &,q u\ + "manipulator"&m& +4 "core" &z   * + "manipulator"&(% +4 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&='\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&[( +266 "core" ( +2 "manipulator"&8& +4 "core" & ( x  + "storage"(!& +4 "core" &,q &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&P1 +57 "core" 1 + "storage"($- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(V' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +4 "core" -' + "storage"(h& +4 "core" &,q ~\ + "manipulator"&Y& +4 "core" & 2  +2 .tElbow.seek 4 + "manipulator"&L( +9 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(X& +3 "core" &,q j i \ +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(a' +62 "core" ' + "manipulator"&_& +4 "core" &   +2 "storage"(o& +4 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&i' +30 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(^'i +25 "core" ' +2 "manipulator"&0% +4 "core" % Q 7 + "storage"(-& +5 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&j'< +19 "core" ' + "manipulator"&E& +5 "core" & % K  + "storage"(M& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&K'Ѽ +48 "core" ' +2 "storage"(N% +4 "core" %n \ \ +2 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (/% +3 "core" %G \ Wd +2 "manipulator"&Q% +4 "core" %Ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" &,q\ \  \ +2 "collection"'r& +4 "core" &VcCC\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&g% +4 "core" %\ \ 9  +2 "storage"(% +3 "core" %b\ \  \ +2 "storage"(q. +3 "core" .(,l +2 "storage"(R& +3 "core" &,q\ \ \ +2 "storage"(& +4 "core" &,q\ \ \ + "manipulator"&x& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&u( +4 "core" ( + "manipulator"&U& +4 "core" & % (  + "storage"(:& +4 "core" &,q\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{'Ѽ +95 "core" ' +2 "storage"()& +4 "core" &,q\ \  7\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +2 "core" &   +2 "storage"(p& +4 "core" &,q /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(#'V +32 "core" ' + "manipulator"&s% +4 "core" %  + "storage"(}& +4 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&+'< +19 "core" ' + "manipulator"&& +5 "core" &  ^  +6 "storage"(%& +4 "core" &,q\ \ |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&<'Ѽ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"("'E +39 "core" ' +2 "manipulator"&z& +4 "core" &   +2 "manipulator"&y% +4 "core" %ѵ m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&e& +4 "core" &' / O >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &' >I +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&T/ +60 "core" / +2 .tCC.seek :open + "collection"' ( +416 "core" ( +2 "storage"(f& +4 "core" &,q\ \  A\ + "storage"(& +4 "core" &,q\ \  \ +2 "manipulator"&& +3 "core" &'  >I +2 "manipulator"&n% +3 "core" %  - ] +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +50 "manipulator"&'( +159 "core" ( +2 "manipulator"&`& +4 "core" & % q Y + "storage"(& +4 "core" &,q\ H\ C \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&' +104 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&F% +4 "core" %  w  +2 "storage"(~& +3 "core" &,q\ \  B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&t'= +20 "core" ' +2 "manipulator"&& +4 "core" &  Y + "storage"(& +4 "core" &,q\ Q\ P c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&.'Ѽ +41 "core" ' + "storage"(% +4 "core" %O\ P\ I >\ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 (>% +2 "core" %I\ '\ 0 \ Vb +2 "manipulator"&% +4 "core" %ѯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'\\& +5 "core" &BC\ + "manipulator"&% +4 "core" %\     +2 "storage"(3% +3 "core" %_\ Q\ Q \ +2 "storage"(c. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(k(<* +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (2& +3 "core" &<' {\  +2 "manipulator"& & +3 "core" &  A Y +2 .tElbow.seek 5 + "manipulator"&A( +9 "core" ( + "manipulator"&7& +4 "core" & % M D +2 "storage"(& +4 "core" &<$\ D\ I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&B'ы +92 "core" ' + "storage"(6& +4 "core" &<$\   \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +283 "core" ' +4 "storage"(- +7 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +5 (D& +8 "core" &<$\ %\ % \  +2 "manipulator"&5& +8 "core" &  D +4 .tElbow.seek 5 + "manipulator"&,( +6 "core" ( +4 "manipulator"&1& +8 "core" & D +2 "storage"(& +10 "core" &<$\ )\ 7 ,\  +4 .tForearm.seek 5 + 300 counts + "manipulator"&H' +25 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tHand.close +3 "manipulator"&&/ +63 "core" / +8 ."downElevator"SE.seek :down +8 "manipulator"&S& +4 "storage"(C'X +14 "core" & 6 D +4 "manipulator"&]% +8 "core" % q  +6 .tForearm.seek :retract +4 "manipulator"&O'\ +74 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 + #Session Ended +14 "core" ' +3 .tElbow.seek CC +4 "manipulator"&m( +126 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +36 "core" ( +2 "manipulator"&(& +10 "core" &'  >J +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &;& +7 "core" &' 1 I >I +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +5 "manipulator"&8'" +100 "core" ' +8 "manipulator"&!& +11 "core" &(  >H +6 "manipulator"&*% +9 "core" %# L +6 "collection"'P& +8 "core" &@C+\ +4 "collection"'$& +18 "core" &CB\\\ +10 .tCC.seek :closed +7 "collection"'?(V +13 "core" &@D'\ +5 &BC(\ +2 &@D(\ +3 &BC#\ \ +4 &0zBE$\ )w +2 &dBA%\ > +6 &xrB@'\ M +9 &;T@C#\ M +10 &TCB&\ M +9 &YBC&\ L +9 &U@A\ L +10 &CYBB\ M +9 &YBC!\ L +9 &UBC\ L +10 & Y@C \ M +9 &"LT@C\ L +9 &$ VAC\ M +10 &%UEB\ M +9 &'WBC\ M +10 &)SVAC\ M +9 &+U@C\ M +9 &,U?B\ M +10 &.YCA\ L +9 &0\\WBC\ L +9 &2UED \ L +10 &3YDC\ M +9 &5WCC \ L +10 &7cT@D \ M +9 &9%WAB\ M +9 &:WDC\ M +10 &<WDC\ M +9 &>kU@C\ M +10 &@-YBD\ \ M +9 &AZBB\ L +9 &CYBA \ M +10 &Ep`BB \ N +9 &G.n@B \ O +9 &HCC\ \ Q +10 &JAD\ \ W +9 &LZCD\ X +9 &NAC\ X +10 &OBC\ Y +9 &QBF \ Y +10 &SZBD\ [ +9 &U@C \ [ +9 &VhBCD\ 1 +10 &V uCB\ K +5 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 +3 .Hand.open + "manipulator"&h1 +4 "core" &VcCD\ K +51 1 + "manipulator"&Y% +5 "core" % # U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%X& +4 "core" &\ +2 "manipulator"&=% +4 "core" %\  e  + "storage"(_% +4 "core" %` [\ + "storage"(o. +3 "core" .(<* +2 "storage"( & +4 "core" &<$ i\  + "storage"(0& +4 "core" &<$ r\  +2 "manipulator"&-& +3 "core" &&  6 =A +2 "manipulator"&4% +4 "core" %\  )   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&E( +157 "core" ( +2 "manipulator"&M& +4 "core" &  ]  + "storage"([& +4 "core" &<$\  y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&N'ы +103 "core" ' +2 "storage"(G& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +280 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Q& +3 "core" &<$ .\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&L( +4 "core" ( + "manipulator"&a& +4 "core" &   + "storage"(i& +4 "core" &<$ r\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&j' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&r& "storage"(g'X +8 "core" &  5  + "manipulator"&% +4 "core" % q \ +2 .tForearm.seek :retract + "manipulator"&q'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&R& +4 "core" & 2 A + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  [ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&x' +99 "core" ' +2 "manipulator"&U& +4 "core" & ' , + +2 "manipulator"&:% +4 "core" %  +2 "processing"%K& +4 "core" & \ +2 "processing"%)& +6 "core" & \ +2 .tPC.seek :closed +2 "processing"%l(Z +3 "core" & \ +6 &\ 6 +10 &7I{\ 0 +9 &br \ D +10 &e\ N +9 &Y \ M +9 &Y \ M +10 &MY \ M +9 &\\\ M +9 &Y\ M +10 &W\ M +9 &SY\ M +9 &!Y\ M +10 &"Z\ N +9 &$X\ M +10 &&\\V\ M +9 &(X\ M +9 &)Y\ M +10 &+W\ M +9 &-dZ\ M +10 &/$Z\ N +9 &0Z\ M +9 &2Z\ N +10 &4kX\ M +9 &6-Y\ M +9 &7W\ M +10 &9Z\ M +9 &;sW\ M +10 &=5Y\ M +9 &>X\ M +9 &@Y\ M +10 &B|Y\ M +9 &D<[\ N +9 &E` \ N +10 &Gs\ P +9 &It\ R +9 &K4\ S +10 &L\ \ S +9 &N\ S +10 &Px\ T +9 &R:\ T +9 &S\ T +10 &U\ S +9 &W\ T +9 &Y@\ B +10 &ZX<j\ &n +9 &Z&\ ( +6 ( + "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&d1 +3 "core" &Z\ ( +49 1 + "manipulator"&I% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%\ & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&p% +4 "core" %\ % K E +2 "storage"(% +3 "core" %T \ +2 "storage"(s. +3 "core" .(<* + "storage"(}& +4 "core" &<$ \  +2 "storage"(& +3 "manipulator"&%& +5 "core" &<$ \  + & + +58 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(z'i +4 "manipulator"&y(s +7 "core" ( +2 "manipulator"&{& +4 "core" &x 4 ; & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &x A & +2 .tForearm.seek PC + "manipulator"&' +101 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%+( +75 "core" ' +2 "storage"(#- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +304 ( + "storage"(w& +4 "core" &<$ {\  +2 "manipulator"&<& +3 "core" &x  & +2 "manipulator"&b% +3 "core" %  \ +3 .tForearm.seek :retract + "manipulator"&T'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&v( +269 "core" ( +2 "manipulator"& & +4 "core" &   \ + "storage"(f& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +97 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(n- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(`' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &<$ f \  + "manipulator"&& +4 "core" & T \ +2 .tElbow.seek 5 + "manipulator"&F( +4 "core" ( + "manipulator"&~& +4 "core" & % - \ + "storage"(& +4 "core" &<$ j j \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&& +4 "core" &  \ + "storage"(>& +4 "core" &<$\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&t% +5 "core" % # q + "storage"(\\& +4 "core" &<$ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&3& +4 "core" &  a +2 "storage"(c& +4 "core" &<$ $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&"'ы +23 "core" ' + "storage"(.% +5 "core" %m\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (@% +3 "core" %Q \\\ Yh +2 "manipulator"&2% +4 "core" %с  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" &<$\  \  +2 "collection"'& +4 "core" &VbCE \ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&6% +4 "core" %\   D  + "storage"(|% +4 "core" %a 2\ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<$\ 9\  + "storage"(D& +4 "core" &<$ \  + "manipulator"&5& +4 "core" &  < +2 .tElbow.seek 5 + "manipulator"&1( +26 "core" ( + "manipulator"&& +5 "core" &  T ( + "storage"(&& +4 "core" &<$ 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +103 "core" ' + "storage"(]& +5 "core" &<$\ \  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'i +284 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & # $ + "storage"((& +4 "core" &<$ f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;' +32 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(!'V +31 "core" ' + "manipulator"&*% +5 "core" %  u u + "storage"(P& +4 "core" &<$ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&C' +19 "core" ' +2 "manipulator"&O& +4 "core" &  6 % +2 "storage"( & +3 "core" &<$ ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&h'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'E +40 "core" ' + "manipulator"&X& +4 "core" &  $ +2 "manipulator"&=% +4 "core" %і A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +164 "core" ( +2 "manipulator"& & +4 "core" &, 5 Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &, O Bf +2 .tForearm.seek CC + "manipulator"&$'" +94 "core" ' + .tHand.close +2 "manipulator"&-/ +56 "core" / +2 .tCC.seek :open +2 "collection"'4( +419 "core" ( + "storage"(8& +4 "core" &<$\ *\ ' V\  +2 "storage"(M& +4 "core" &<$\ '\ ' `\  + "manipulator"&[& +4 "core" &+  j Ad + "manipulator"&G% +4 "core" % % = +2 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +160 "core" ( + "manipulator"&/& +4 "core" &  ) +2 "storage"(Q& +4 "core" &<$\ A\ J \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&' +107 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +53 "core" 1 +2 "manipulator"&J% +5 "core" %  x + "storage"(r& +4 "core" &<$\ \  &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&E& +4 "core" &  +2 "storage"(N& +4 "core" &<$ \ + O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&V'ы +21 "core" ' + "storage"(j% +4 "core" %O\ . ~ \ +2 ."downElevator"SE.seek :down +3 "storage"(R'X +102 (% +3 "core" %B\ '\ ' T\ Va + "manipulator"&L% +4 "core" %ы  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"':& +5 "core" &BCI\ + "manipulator"&K% +4 "core" %\  >  +2 "storage"(g% +4 "core" %b\ <\ = i\  + "storage"(q. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(W(K +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (d& +3 "core" &K% y\  + "manipulator"&I& +53 "core" & n +2 .tElbow.seek 6 + "manipulator"&\ ( +29 "core" ( +2 "manipulator"&p& +4 "core" &( %   +2 "storage"(& +3 "core" &K\ B\ C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&s'a +96 "core" ' +2 "storage"(}& +4 "core" &K \ + S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +282 "core" ' +2 "storage"(- +3 "core" -' +7 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" &K\ 2\ & f\  +2 "manipulator"&{& +4 "core" &(  + .tElbow.seek 6 +2 "manipulator"&u( +19 "core" ( + "manipulator"&x& +5 "core" &  (  + "storage"(& +4 "core" &K\ C\ B \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&#' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(l'X +8 "core" & x  + "manipulator"&z% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&<( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&b& +4 "core" &( = ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( S ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +101 "core" ' +2 "manipulator"&f& +4 "core" &( 2 ?T +2 "manipulator"&y% +4 "core" % h +2 "collection"'& +4 "core" &ABX\ +2 "collection"'n& +6 "core" &BC'\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &BB'\ +7 & ,AB'\ #b +9 &UBF*\ 7 +9 &xAC"\ K +10 &TBC)\ M +9 &bWCC(\ M +9 &&UAC&\ L +10 &ZDA(\ M +9 &YAB'\ M +10 &kZA?)\ M +9 &-W?B'\ M +9 &TAB'\ M +10 &!UAD&\ M +9 &#sUAB"\ M +9 &%5ZAC$\ M +10 &&UAC\ L +9 &(UAC \ L +10 &*{TBB'\ M +9 &,>TCB$\ L +9 &.U@B\ L +10 &/YB@\ M +9 &1WCD&\ L +9 &3FVBB\ L +10 &5TCA\ L +9 &6VAC\ L +9 &8XAA\ L +10 &:MUAD\ M +9 &<X@E\ L +10 &=WAB\ L +9 &?W@B\ L +9 &AUUBB \ M +10 &CVCA\ M +9 &D]BC\ M +10 &FgBA\ N +9 &HSwCC\ \ P +9 &JBG\ U +10 &KBD \ X +9 &MBC\ X +9 &OCBC\ X +10 &QCD\ X +9 &RCB\ Z +10 &TAB\ Z +9 &V#uAD \ / +9 &V)BC\ Q +9 ( +3 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&1 +4 "core" &VjBE\ I +59 1 + "manipulator"&% +4 "core" %  b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&T% +4 "core" %\ ! 7 8 + "storage"(% +4 "core" %^ \ +2 "storage"(>. +3 "core" .(K + "storage"(e& +4 "core" &K \  + "storage"(t& +4 "core" &K \  +2 "manipulator"&\\& +3 "core" &( Q ?S +2 "manipulator"&% +3 "core" %\ ! N 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&3( +151 "core" ( +2 "manipulator"&c& +4 "core" & & C  + "storage"(.& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&v'a +100 "core" ' + "storage"(& +4 "core" &K\ \  W\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +279 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (2& +3 "core" &K \ ,\  + "manipulator"&& +4 "core" & \  +2 .tElbow.seek 6 + "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" & $ f  + "storage"(& +4 "core" &K o\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& "storage"(6'X +8 "core" &  +2 "manipulator"&|% +4 "core" % Ͻ y  + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +111 "core" ( +2 "manipulator"&& +4 "core" &j 3   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &j    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +98 "core" ' +2 "manipulator"&& +4 "core" &k % G  +2 "manipulator"&&% +4 "core" %   + "processing"%"& +4 "core" & \ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed + "processing"%9(Z +5 "core" &\  +9 &6\ +{ +9 &\ f \ ? +10 &r\ N +9 &UW\ M +9 &Y\ M +10 &X \ M +9 &Y \ M +10 &^W \ M +9 &X\ M +9 &Y\ M +10 & U \ M +9 &"fX \ M +9 &$(W\ M +10 &%X\ M +9 &'Y\ M +10 &)mW\ M +9 &+/W\ M +9 &,W\ M +10 &.X\ M +9 &0uY\ M +9 &27Y\ M +10 &3W\ M +9 &5W\ M +10 &7~T\ M +9 &9?W\ \ M +9 &;U\ M +10 &<Y\ N +9 &>W\ M +9 &@GY\ M +10 &B\ T\ M +9 &C\\\ N +10 &Eb\ N +9 &GHl\ P +9 &I\ S +10 &J\ S +9 &L\ S +9 &NE\ S +10 &P \ S +9 &Q\ T +10 &S\ T +9 &UL\ T +9 &W \ T +10 &X \ U +9 &Z,Mh\ - +9 &Z$ \ # +6 ( + "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&'1 +4 "core" &Z\ # +51 1 +2 "manipulator"& % +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' + "processing"%Z& +4 "core" &Z\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&(% +4 "core" %\ # G ; +2 "storage"(,% +3 "core" %` \  +2 "storage"(*. +3 "core" .(K + "storage"(P& +4 "core" &K \  +2 "storage"(O& +2 "manipulator"& & +7 "core" &K \  + &k   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&X(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(='i +2 "core" ( +2 "manipulator"&S& +3 "core" &k e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &k 3 h  +2 .tForearm.seek PC +2 "manipulator"&A' +103 "core" ' + .tHand.close +2 "manipulator"&;/ +61 "core" / +4 .tPC.seek :open + "processing"%C( +82 "core" ' + "storage"(!- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +40 "core" ' +299 ( +2 "storage"(0& +4 "core" &K 3\  + "manipulator"&h& +4 "core" &k  + "manipulator"&H% +4 "core" % : +2 .tForearm.seek :retract + "manipulator"&-'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&_( +294 "core" ( +2 "manipulator"&?& +4 "core" & ' + + "storage"(8& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&M'a +98 "core" ' +2 .tHand.open + "manipulator"&[1 +61 "core" 1 +2 "storage"(G- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(/'E +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +3 "core" -' +2 "storage"(o& +4 "core" &K j j \  +2 "manipulator"&i& +3 "core" &  + ( +2 .tElbow.seek 6 + "manipulator"&J( +40 "core" ( +56 "manipulator"&r& +4 "core" &\  d +2 "storage"(E& +4 "core" &K l g \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&N'a +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(j' +60 "core" ' +2 "manipulator"&m& +4 "core" &\  d +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&L'Υ +28 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' +2 "manipulator"&:% +4 "core" %ζ R +2 "storage"(& +4 "core" &K ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&K' +12 "core" ' +2 "manipulator"&g& +4 "core" &\ d +2 "storage"(q& +4 "core" &K N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Y'a +26 "core" ' + "storage"(V% +5 "core" %n S\ +2 ."downElevator"SE.seek :down +3 "storage"(R'X +100 (k% +3 "core" %J /\ Wd +2 "manipulator"&d% +4 "core" %f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &K \ e\  +2 "collection"'& +4 "core" &ViBE\ I + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&}% +4 "core" %\    + "storage"(a% +4 "core" %` O\ +2 "storage"(U. +3 "core" .(K + "storage"(& +4 "core" &K \  + "storage"()& +5 "core" &K \  +2 "manipulator"&{& +3 "core" &\ a d +2 .tElbow.seek 6 + "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" &\ % d +2 "storage"(^& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +102 "core" ' + "storage"(z& +5 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +280 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +7 "manipulator"&b& +3 "core" &\  d + "storage"(%& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'Υ +35 "core" ' + .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(u'Z +28 "core" ' + "manipulator"&y% +5 "core" %δ D + "storage"(& +4 "core" &K W\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts + "manipulator"&l' +13 "core" ' +2 "manipulator"&w& +4 "core" &\  d + "storage"(4& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('I +38 "core" ' + "manipulator"&& +5 "core" &\  d + "manipulator"&T% +4 "core" %g ; \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +174 "core" ( +3 "manipulator"&n& +4 "core" &, 2 g Bi + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &+ [ Bi +7 .tForearm.seek CC + "manipulator"&t'" +94 "core" ' + .tHand.close + "manipulator"&\\/ +54 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"( & +4 "core" &K\ '\ \ %\  + "storage"(c& +4 "core" &K\ \  8\  + "manipulator"&.& +4 "core" &+   Ac + "manipulator"&% +4 "core" % " + % +2 .tForearm.seek :retract + "manipulator"&<'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&~( +153 "core" ( +2 "manipulator"&@& +4 "core" & $   +2 "storage"(2& +3 "core" &K\ H\ D a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&7% +4 "core" % η  t + "storage"(& +4 "core" &K =\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts + "manipulator"&|' +17 "core" ' +2 "manipulator"&3& +5 "core" & Y  + "storage"(v& +4 "core" &K\ %\ A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&`'a +40 "core" ' + "storage"(% +4 "core" %N\ H\ D ^\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (D% +3 "core" %G\ 1\ 0 \ Wb + "manipulator"&F% +4 "core" %Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'&& +4 "core" &AB]\ +2 "manipulator"&"% +4 "core" %\ #  m ? +2 "storage"(6% +3 "core" %`\ C\ C \ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(+(,l +656 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +2 "core" &,m\ \  \ +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&Z( +18 "core" ( + "manipulator"&(& +4 "core" & ' M = +2 "storage"(,& +4 "core" &,q\ &\ % \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&*'Ѽ +100 "core" ' + "storage"(P& +4 "core" &,q\ -\ < e\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +284 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &,q\ "\  5\ +2 "manipulator"&S& +3 "core" &  = +2 .tElbow.seek 4 +2 "manipulator"&1( +9 "core" ( + "manipulator"&5& +4 "core" & = +2 "storage"(;& +3 "core" &,q\ %\ % Q\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&!', +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(9'X +7 "core" & k = +2 "manipulator"&=% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +23 "core" ( + "manipulator"&H& +4 "core" &' J m >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &' \ >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&?'" +95 "core" ' + "manipulator"&X& +5 "core" &( 2 K >N +2 "manipulator"&8% +3 "core" %* = +2 "collection"'[& +4 "core" &?Dh\ +2 "collection"'G& +5 "core" &@Cf\ +2 .tCC.seek :closed +2 "collection"'$(V +58 "core" &C@5\ + &BA6\ + &BB0\ +2 &AB0\ + &AB)\ + &CD(\ + &BB(\  +4 &1~CD\ *x +9 &bCB&\ = +10 &psBB'\ M +9 &4VBD\ L +9 &ZCC \ L +10 &T@D'\ L +9 &zUAF$\ L +9 &<YAC"\ L +10 &UEF&\ L +9 &UCF%\ L +10 & ZAC(\ L +9 &"CUCB'\ M +9 &$Z@C(\ L +10 &%WBC'\ M +9 &'W@B'\ M +9 &)LYBA'\ L +10 &+YCC\ L +9 &,XBD'\ L +10 &.ZDD"\ M +9 &0SYCC$\ M +9 &2YBC\ L +10 &3YAD!\ M +9 &5W>E\ L +9 &7\\UBE\ L +10 &9TDC\ L +9 &:WCE \ L +10 &<YAE\ L +9 &>cZAD\ M +9 &@%WAC\ M +10 &AUCD\ L +9 &CZCG\ M +9 &Ei`AC\ M +10 &G&nAC\ O +9 &HBE\ Q +10 &JBC\ W +9 &LQCE\ X +9 &NDD \ X +10 &OCE\ Y +9 &QCD \ Y +9 &STDC \ Z +10 &UCE\ Z +9 &V`BCE \ 1 +10 &V zCD \ J +5 ( + "collection"'G& +9 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&o1 +4 "core" &VjDB\ J +60 1 +3 "manipulator"&i% +4 "core" % *   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%r& +4 "core" &\ + "manipulator"&E% +4 "core" %\   +2 "storage"( % +3 "core" %^ x\ +2 "storage"(m. +3 "core" .(,l +2 "storage"(& +4 "core" &,q n\ + "storage"(/& +4 "core" &,q u\ +2 "manipulator"&:& +3 "core" &'   >N +2 "manipulator"&% +3 "core" %\     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&_( +165 "core" ( + "manipulator"&g& +4 "core" & $ 5 I +2 "storage"(q& +4 "core" &,q C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&V'Ѽ +93 "core" ' +2 "storage"(M& +4 "core" &,q\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +283 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (d& +3 "core" &,q $\ +2 "manipulator"&N& +3 "core" &  I +2 .tElbow.seek 4 +2 "manipulator"&J( +3 "core" ( + "manipulator"&j& +4 "core" &  p I + "storage"(L& +4 "core" &,q q\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(}'X +7 "core" & U I +2 "manipulator"&a% +4 "core" % 4  M +2 .tForearm.seek :retract + "manipulator"&U'\ +104 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&& +5 "core" &l 7 $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &l H  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&{' +106 "core" ' + "manipulator"&& +4 "core" &l   +2 "manipulator"&^% +4 "core" %  } 0 + "processing"%Y& +4 "core" & \ +2 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(Z +4 "core" &\ \ +9 &1{\ )v +9 &b~\ = +10 &qu\ N +9 &3W\ M +10 &Y\ M +9 &X\ M +9 &yX\ M +10 &;W\ M +9 &Z \ M +9 &X\ M +14 & X\ M +5 &"CX \ M +10 &$T \ M +9 &%Y\ M +9 &'Y \ M +10 &)KW\ \ M +9 &+T\ M +9 &,V \ M +10 &.Y\ N +9 &0TX\ M +10 &2Z\ N +9 &3Y\ M +9 &5W\ M +10 &7[V\ M +9 &9W\ M +9 &:R\ M +10 &<W\ M +9 &>dV\ M +10 &@%Y\ M +9 &AW\ M +9 &CW\ M +10 &Ej]\ N +9 &G(m \ O +9 &H\ R +10 &J\ S +9 &La\ S +9 &N#\ \ S +10 &O\ T +9 &Q\ T +10 &Si \ S +9 &U*\ T +9 &V\ T +10 &X \ T +9 &Zc\ %s +9 &Z]\ 2 +9 ( +3 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"& 1 +4 "core" &Z\ - +54 1 + "manipulator"&I% +4 "core" %   0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +96 "core" ' +2 "processing"%b& +8 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&%% +3 "core" %\    +2 "storage"(f% +3 "core" %a \\\ +2 "storage"(y. +3 "core" .(,l +2 "storage"(& +4 "core" &,q t\ +2 "storage"(w& +2 "manipulator"&4& +7 "core" &,q \ + &l ^  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'i +2 "core" ( +2 "manipulator"&& +3 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &l j  +2 .tForearm.seek PC +2 "manipulator"&\ ' +98 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open +2 "processing"%l( +84 "core" ' + "storage"(u- +4 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(n'y +45 "core" ' +292 ( + "storage"(e& +4 "core" &,q !\ +2 "manipulator"&& +4 "core" &l  4  + "manipulator"&#% +4 "core" %  \\ + .tForearm.seek :retract +2 "manipulator"&\\'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +268 "core" ( + "manipulator"&& +5 "core" &  w  + "storage"( & +4 "core" &,q _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +86 "core" ' + .tHand.open + "manipulator"&.1 +60 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(@'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -' +2 "storage"(>& +4 "core" &,q L\ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&7( +4 "core" ( + "manipulator"&& +4 "core" & $ l  + "storage"(3& +4 "core" &,q s w r\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&v'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&<& +4 "core" &   +2 "storage"(D& +3 "core" &,q }\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&F' +31 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' + "manipulator"&|% +9 "core" % * 1 +2 "storage"(&& +4 "core" &,q U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&"'4 +18 "core" ' + "manipulator"&6& +5 "core" &   + "storage"(& +4 "core" &,q\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +26 "core" ' +2 "storage"(`% +4 "core" %o\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (W% +3 "core" %wH \ We +2 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ((& +4 "core" &,q ,\ +2 "collection"',& +3 "core" &VjDE \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&P% +4 "core" %\ #   A +2 "storage"(% +4 "core" %b ~\ + "storage"(. +4 "core" .(,l + "storage"( & +4 "core" &,q \ + "storage"(]& +53 "core" &,q \ +3 "manipulator"&S& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&5( +3 "core" ( +2 "manipulator"&;& +4 "core" & # Q  + "storage"(& +4 "core" &,q O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&B'Ѽ +91 "core" ' +2 "storage"(=& +4 "core" &,q\ \  ;\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +283 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &   + "storage"(A& +4 "core" &,q u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O' +18 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(1'V +30 "core" ' +2 "manipulator"&8% +4 "core" % w +2 "storage"([& +3 "core" &,q t\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&9'3 +16 "core" ' + "manipulator"&0& +4 "core" & /  +2 "storage"(& +4 "core" &,q\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(i'E +40 "core" ' + "manipulator"&r& +4 "core" &   +2 "manipulator"&E% +4 "core" %  e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +160 "core" ( +3 "manipulator"&& +4 "core" &' / >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &&  >J +2 .tForearm.seek CC + "manipulator"&/'" +94 "core" ' + .tHand.close +2 "manipulator"&:/ +55 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(?& +5 "core" &,q\ \  \ + "storage"(g& +4 "core" &,q\ \  !\ + "manipulator"&q& +4 "core" &' Q >J + "manipulator"&M% +4 "core" % 4 4  +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&-( +164 "core" ( +2 "manipulator"&k& +4 "core" & % , c +2 "storage"(d& +3 "core" &,q\ 1\ 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&N' +95 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&L1 +57 "core" 1 +2 "manipulator"&p% +4 "core" %  % + "storage"(& +4 "core" &,q\ 2\ 2\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 314 counts + "manipulator"&a': +19 "core" ' +2 "manipulator"&_& +5 "core" & 3 c + "storage"(V& +4 "core" &,q\ Q\ Q f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +34 "core" ' +2 "storage"(K% +4 "core" %J \  \ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 ()% +2 "core" %J\ $\ $ \ Wd +2 "manipulator"&J% +4 "core" %Ѵ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'^& +4 "core" &CD(\ +2 "manipulator"&Y% +4 "core" %\   + "storage"(}% +4 "core" %R\ B\ Q ?\ + "storage"(U. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(C(<* +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &<'\  ?\  +2 "manipulator"&I& +3 "core" & u c +2 .tElbow.seek 5 +2 "manipulator"&b( +8 "core" ( + "manipulator"&%& +5 "core" &  j N + "storage"(f& +4 "core" &<$\ J\ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&y'ы +97 "core" ' + "storage"(& +4 "core" &<$\ * 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +285 "core" ' +2 "storage"(4- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +3 "core" &<$\ 0\ ? \  +2 "manipulator"&& +3 "core" &  N +2 .tElbow.seek 5 + "manipulator"&x( +4 "core" ( + "manipulator"&{& +4 "core" & # N + "storage"(& +4 "core" &<$\ N\ P Q\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&u' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(R'X +7 "core" & N +2 "manipulator"&T% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&#& +4 "core" &&  V =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" && + + =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 "manipulator"& & +4 "core" && # ( <> + "manipulator"&% +4 "core" %' +2 "collection"'.& +4 "core" &CCG\ +2 "collection"'& +5 "core" &ACt\ +2 .tCC.seek :closed + "collection"'t(V +5 "core" &BC=\  +9 &1yCD8\ )w +9 &dBC;\ > +9 &{rAC9\ M +10 &?TCB6\ L +9 &ZBC:\ L +9 &UBB4\ L +10 &VBC2\ L +9 &FYAC.\ L +10 &YBA(\ L +9 &YCD\ M +9 & WAC&\ L +10 &"NVAD(\ L +9 &$Y@C\ L +9 &%VBC&\ L +10 &'WBC(\ L +9 &)VYBC&\ L +10 &+\\BC(\ M +9 &,YCC(\ M +9 &.UB@(\ L +10 &0^UBC \ L +9 &2 TBC%\ L +9 &3UBB"\ L +10 &5TAB'\ L +9 &7fUAA'\ L +10 &9(UAB&\ L +9 &:YBC&\ L +9 &<\\CC!\ M +10 &>nZAC\ L +9 &@0ZBC#\ L +9 &AVBA#\ L +10 &CZCC\ L +9 &ErbCC\ N +10 &G0qAD!\ O +9 &HBC!\ Q +9 &JDE\ W +10 &L\\CD\ X +9 &NBC\ X +9 &ODE\ Y +10 &QCD\ Y +9 &S_BB\ Z +10 &U CD\ Z +9 &VjBDE\ 1 +9 &VvCD\ J +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open + "manipulator"&>1 +4 "core" &VkCE\ J +56 1 + "manipulator"&% +4 "core" % '    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%3& +5 "core" &\ + "manipulator"&\\% +4 "core" %\  T  + "storage"(<% +4 "core" %b \\\ +2 "storage"(D. +3 "core" .(<* + "storage"(|& +4 "core" &<$ Q\  + "storage"(n& +4 "core" &<$ \  + "manipulator"&&& +4 "core" & % )  <9 +2 "manipulator"&6% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&@( +166 "core" ( + "manipulator"&& +4 "core" & % : A +2 "storage"(`& +3 "core" &<$ t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +91 "core" ' + "storage"(c& +5 "core" &<$\ \  9\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'i +284 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &<$ \  a\  +2 "manipulator"&v& +3 "core" &  A +2 .tElbow.seek 5 +2 "manipulator"&7( +53 "core" ( + "manipulator"&& +4 "core" & $ l A + "storage"(F& +4 "core" &<$ h\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&"' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(P'X +7 "core" & x A +2 "manipulator"&% +3 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"& & +4 "core" &m + \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &m p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +93 "core" ' +2 "manipulator"&;& +4 "core" &n  0 \ +2 "manipulator"&% +3 "core" % " 7 +2 "processing"%& +4 "core" &\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +7 &8 \ $e +9 &V| \ 7 +10 &y\ L +9 &U\ M +9 &qY\ M +10 &3W\ M +9 &W \ M +10 &R \ M +9 &zW\ \ M +9 &<W\ M +10 &W\ M +9 &!V\ M +10 &#Y\ M +9 &%DW\ M +9 &'W\ M +10 &(W \ M +9 &*X\ M +9 &,LT\ M +10 &. W\ M +9 &/V\ M +10 &1W\ M +9 &3RY\ N +9 &5W\ M +10 &6W\ M +9 &8U\ M +9 &:\\U\ M +10 &<U\ M +9 &=U\ M +9 &?V\ M +10 &AeW\ M +9 &C&Y\ M +10 &D]\ M +9 &Fd\ O +9 &H`y\ \ Q +10 &J\ S +9 &K\ S +9 &M\ S +10 &Oa\ S +9 &Q$\ S +10 &R\ T +9 &T\ S +9 &Vg\ T +10 &X(\ T +9 &Y{k\ 0 +9 &Z'c\ H +10 &Z"\ / +2 ( +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&~1 +54 "core" 1 + "manipulator"& % +4 "core" % ( ~ 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +96 "core" ' +2 "processing"%H& +4 "core" &Z"\ / + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&A% +4 "core" %\  + "storage"(X% +4 "core" %b \ +2 "storage"(8. +3 "core" .(<* + "storage"([& +4 "core" &<$ &\  +2 "storage"(0& +3 "manipulator"&& +5 "core" &<$ N\  + &n \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(r'i +2 "manipulator"&E(s +4 "core" ( +2 "manipulator"&B& +4 "core" &n   \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &n  \ +2 .tForearm.seek PC +2 "manipulator"&Z' +97 "core" ' +3 .tHand.close + "manipulator"&O/ +56 "core" / + .tPC.seek :open +2 "processing"%9( +87 "core" ' + "storage"(1- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +293 ( + "storage"(G& +5 "core" &<$ |\  +2 "manipulator"&o& +3 "core" &n \ +2 "manipulator"&!% +3 "core" % o +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +264 "core" ( + "manipulator"&$& +5 "core" &  5  +2 "storage"(?& +3 "core" &<$ n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&g'ы +95 "core" ' + .tHand.open +2 "manipulator"&q1 +60 "core" 1 +2 "storage"(M- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(k'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(d' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +4 "core" -' + "storage"(m& +4 "core" &<$ y f \  + "manipulator"&L& +4 "core" & I  +2 .tElbow.seek 5 + "manipulator"&p( +9 "core" ( + "manipulator"&& +4 "core" &  b  +2 "storage"(_& +4 "core" &<$ n o 8\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&V'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(K' +58 "core" ' +2 "manipulator"&h& +4 "core" &   + "storage"()& +4 "core" &<$ h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&J' +34 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +7 .tSE.seek 0.11 Pucks below Top Plate + "storage"(N'i +25 "core" ' +2 "manipulator"&a% +4 "core" %  d k +2 "storage"(^& +3 "core" &<$ =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&Y' +20 "core" ' +2 "manipulator"&}& +4 "core" &  [  +2 "storage"(U& +4 "core" &<$ w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&i'ы +23 "core" ' + "storage"(Q% +5 "core" %q\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (+% +4 "core" %N \ Vd +2 "manipulator"& % +4 "core" %ц  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ +86 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +2 (%& +4 "core" &<$ {\  +2 "collection"'f& +4 "core" &VkDBQ\ J + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\    + "storage"(j% +4 "core" %S \ + "storage"(. +4 "core" .(<* + "storage"(4& +4 "core" &<$ a\  + "storage"(w& +4 "core" &<$ w\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&{( +3 "core" ( +2 "manipulator"&& +4 "core" & $ z  +2 "storage"(& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&s'ы +106 "core" ' + "storage"(T& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +283 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +2 "core" &   +2 "storage"(\ & +4 "core" &<$ Q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&z' +35 "core" ' + .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +31 "core" ' +2 "manipulator"&.% +4 "core" %   _ + "storage"(x& +4 "core" &<$ F\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&R' +20 "core" ' + "manipulator"&e& +4 "core" &  "  +2 "storage"(& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&>'ы +17 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('E +38 "core" ' +2 "manipulator"&3& +4 "core" &   +2 "manipulator"&\\% +3 "core" %ъ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +165 "core" ( +2 "manipulator"&|& +53 "core" &" 9' +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +4 "core" &" ) ^ 9' +2 .tForearm.seek CC + "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&&/ +60 "core" / + .tCC.seek :open +2 "collection"'6( +419 "core" ( +2 "storage"(& +4 "core" &<$\ 0\ )\  + "storage"(& +4 "core" &<$\ '\ ' "\  +2 "manipulator"&`& +3 "core" &#  9& +2 "manipulator"&c% +3 "core" % +   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&W& +4 "core" &  4 [ +2 "storage"('& +4 "core" &<$\ >\ = V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&v' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +63 "core" 1 +2 "manipulator"&(% +5 "core" %  R + "storage"(,& +4 "core" &<$ h\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +13 "core" ' + "manipulator"&@& +5 "core" &  \\ + "storage"(& +53 "core" &<$\ <\ < l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&2'ы +26 "core" ' + "storage"("% +4 "core" %G\ G\ D +\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (]% +3 "core" %}I\ 2\ 1 \ Vb + "manipulator"&7% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +97 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &CCi\ +2 "manipulator"&% +4 "core" %\  ' + "storage"(P% +4 "core" %U\ P\ Q \ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(l(K +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (~& +3 "core" &K {\  +2 "manipulator"& & +3 "core" & n \\ +2 .tElbow.seek 6 + "manipulator"&H( +38 "core" ( +2 "manipulator"&A& +4 "core" &* $  " + "storage"(X& +4 "core" &K\ I\ J 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&8'a +111 "core" ' +2 "storage"([& +4 "core" &K\ ~ ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'i +282 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &K\ \ \  + "manipulator"&B& +4 "core" &*  " +3 .tElbow.seek 6 + "manipulator"&5( +20 "core" ( +2 "manipulator"&S& +4 "core" &  5  + "storage"(O& +4 "core" &K\ %\ % Y\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&1' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"('X +7 "core" & k  +2 "manipulator"&r% +4 "core" % p +2 .tForearm.seek :retract + "manipulator"&G'\ +102 "core" ' + .tElbow.seek CC +2 "manipulator"&o( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&!& +4 "core" &+ ? Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &+ 9 Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'" +98 "core" ' +2 "manipulator"&?& +4 "core" &, " Bg +2 "manipulator"&E% +4 "core" %$ +2 "collection"'q& +4 "core" &@BG\ +2 "collection"'M& +5 "core" &@AH\ +2 .tCC.seek :closed +3 "collection"'/(V +3 "core" &CAG\ +6 & -ACH\ #b +10 &V@CH\ 7 +9 &{A@B\ L +10 &U@CD\ L +9 &aZCBA\ M +9 &$WDCE\ L +10 &U@DE\ M +9 &YBAA\ L +9 &jXCC.\ L +10 &,T8A5\ L +9 &R@B4\ L +10 &!SCB'\ M +9 &#pWBB<\ M +9 &%4T@C'\ L +10 &&T@C\ M +9 &(VBC/\ M +9 &*yV@D-\ M +10 &,<YBB.\ L +9 &-XCA(\ L +10 &/YBB#\ L +9 &1ZCC'\ M +9 &3DV@C(\ L +10 &5VBE(\ L +9 &6WCC'\ M +9 &8WAC%\ L +10 &:LY8A"\ L +9 &<WAB(\ L +10 &=UBD(\ M +12 &?TBC'\ L +6 &ATUDB&\ L +10 &CZ@C&\ M +9 &DZAB'\ M +9 &Fc?D'\ N +10 &HQsCB#\ P +9 &JCB$\ U +10 &KDD#\ X +9 &MCC'\ X +9 &OBBC#\ X +10 &QBC#\ Y +9 &RCC\ Y +9 &TBD\ Z +10 &V uBC\ . +9 &V*@D\ U +9 ( +2 "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&m1 +4 "core" &V_BC\ I +53 1 +2 "manipulator"&L% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%_& +4 "core" &\ + "manipulator"&:% +4 "core" %\ # w A +2 "storage"(h% +3 "core" %b \ +2 "storage"(). +3 "core" .(K + "storage"(& +4 "core" &K \  + "storage"(a& +4 "core" &K \  +2 "manipulator"&^& +3 "core" &*  Ae +2 "manipulator"&k% +3 "core" %\ #  A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&}( +150 "core" ( + "manipulator"&U& +4 "core" & %  + "storage"(Q& +4 "core" &K #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +96 "core" ' +2 "storage"(g& +4 "core" &K\ \ _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +283 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" &K i\  +2 "manipulator"&V& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&p( +4 "core" ( + "manipulator"&K& +4 "core" &  S  + "storage"(J& +4 "core" &K t\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Y' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& "storage"('X +8 "core" &   + "manipulator"&j% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&N'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&4& +5 "core" &g A \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &g J \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + "manipulator"&& +4 "core" &i ' H +2 "manipulator"&% +4 "core" %  w + "processing"%i& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +9 &3}\ )w +9 &d\ > +10 &ys\ N +9 &>T\ M +9 &V\ M +10 &W\ M +9 &U\ M +10 &FW\ M +9 &Y\ N +9 &W\ M +10 & V\ M +9 &"NY\ M +9 &$V\ M +10 &%W\ M +9 &'Z\ N +10 &)UW\ M +9 &+W\ M +9 &,T\ M +10 &.W\ \ N +9 &0^W\ M +9 &2Y\ M +10 &3U\ \ M +9 &5Z\ N +10 &7fV\ M +9 &9(W \ M +9 &:U\ M +10 &<U\ M +9 &>mV\ M +9 &@.Y \ N +10 &AW\ \ M +9 &C] \ M +10 &Et_ \ N +9 &G0n\ \ P +9 &H \ S +10 &J \ S +9 &Lk\ S +9 &N- \ S +10 &O \ S +9 &Q \ S +9 &Sq \ T +10 &U4 \ T +9 &V \ T +10 &X \ T +9 &Z!Yy\ &t +9 &Zb\ 1 +9 ( +3 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&-1 +4 "core" &Z\ + +48 1 +2 "manipulator"&I% +4 "core" % 6 w +51 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +100 "core" ' + "processing"%#& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\ % +4 "core" %\ \   +2 "storage"( % +3 "core" %b p\ +2 "storage"(.. +3 "core" .(K + "storage"(x& +4 "core" &K }\  +2 "storage"(e& +3 "manipulator"&& +5 "core" &K 1\  + &i   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&3(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'i +2 "core" ( +2 "manipulator"&s& +3 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &i N +2 .tForearm.seek PC +2 "manipulator"&b' +96 "core" ' + .tHand.close +2 "manipulator"&z/ +55 "core" / + .tPC.seek :open +2 "processing"%R( +98 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'y +35 "core" ' +290 ( + "storage"(>& +5 "core" &K f\  + "manipulator"&n& +4 "core" &i  d + "manipulator"&u% +4 "core" % e +2 .tForearm.seek :retract + "manipulator"&&'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +261 "core" ( +2 "manipulator"&t& +4 "core" & $  + "storage"(& +4 "core" &K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +94 "core" ' + .tHand.open + "manipulator"&`1 +55 "core" 1 +2 "storage"(c- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(D& +4 "core" &K ?\  + "manipulator"&F& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&(( +4 "core" ( + "manipulator"&,& +4 "core" &  v  +2 "storage"(@& +4 "core" &K } \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +3 "storage"(' +57 "core" ' +2 "manipulator"&"& +4 "core" & q  + "storage"(& +4 "core" &K h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&]'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(v'i +22 "core" ' +2 "manipulator"&% +4 "core" %ζ  + "storage"(& +4 "core" &K 4\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&P& +4 "core" &  +2 "storage"(& +4 "core" &K\ \  ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +23 "core" ' +2 "storage"(2% +4 "core" %r\ \ \ G\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (C% +3 "core" %F b\ Wc +2 "manipulator"&~% +4 "core" %с  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +3 (A& +4 "core" &K\  |\  + "collection"'X& +4 "core" &V_DC\ I +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&[% +4 "core" %\  4  + "storage"(% +4 "core" %b\ \  \ +2 "storage"(;. +3 "core" .(K + "storage"(& +4 "core" &K\ \ \  + "storage"(=& +4 "core" &K\ \ \  + "manipulator"&B& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&S( +4 "core" ( + "manipulator"&O& +4 "core" &  D  + "storage"(& +4 "core" &K \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&*'a +100 "core" ' +2 "storage"(r& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +285 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +2 "core" &   +2 "storage"(Z& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&0'Υ +21 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(E'Y +32 "core" ' + "manipulator"&5% +4 "core" %η  +2 "storage"(q& +4 "core" &K x\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&G& +4 "core" & $  + "storage"(6& +4 "core" &K\ \  !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&m'a +37 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(L'H +38 "core" ' +2 "manipulator"&_& +4 "core" &   + "manipulator"&:% +4 "core" %D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&)( +168 "core" ( +2 "manipulator"&& +4 "core" &* b A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +4 "core" &*  A_ +2 .tForearm.seek CC +2 "manipulator"&a'" +91 "core" ' +2 .tHand.close + "manipulator"&^/ +63 "core" / +2 .tCC.seek :open + "collection"'k( +416 "core" ( +3 "storage"($& +4 "core" &K\ \ & \  + "storage"(U& +4 "core" &K\ \  }\  + "manipulator"&Q& +4 "core" &* U @^ + "manipulator"&g% +4 "core" % 0 H +2 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&+& +5 "core" &  T  + "storage"( & +4 "core" &K\ Q\ Q M\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&V'Υ +104 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +62 "core" 1 +2 "manipulator"&%% +4 "core" % ι  + "storage"(f& +4 "core" &K\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&j' +13 "core" ' +3 "manipulator"&}& +4 "core" &   + "storage"( & +4 "core" &K\ F\ I 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +18 "core" ' +2 "storage"(Y% +4 "core" %N\ O\ F 2\ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (w% +3 "core" %pG\ %\ $ \ Wc +2 "manipulator"&p% +4 "core" %c w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +55 ' +3 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &CB5\ +2 "manipulator"&i% +4 "core" %\  ;  + "storage"(% +4 "core" %b\ <\ U )\ +2 "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(9(,l +658 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &,m\ \  \\\ +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&T( +16 "core" ( + "manipulator"&#& +4 "core" & & E U +2 "storage"(\ & +4 "core" &,q\ N\ C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +87 "core" ' + "storage"(.& +5 "core" &,q \ * 5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +282 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,q\ \ - U\ +2 "manipulator"&s& +4 "core" & C U + .tElbow.seek 4 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&& +3 "core" &  U +2 "storage"(z& +4 "core" &,q\ 2\ 6 N\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"('X +7 "core" & { U +2 "manipulator"&\\% +4 "core" % !   +2 .tForearm.seek :retract + "manipulator"&>'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&u& +5 "core" &- H 1 Cp + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &- B Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'" +97 "core" ' +3 "manipulator"&& +4 "core" &- 6 Cp +2 "manipulator"&3% +3 "core" %# + +2 "collection"'`& +4 "core" &BB{\ +2 "collection"'c& +5 "core" &ACv\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &AAG\ +8 &6ACA\ $d +9 &T{BCH\ 6 +10 &{CDE\ K +9 &VBDH\ M +9 &dWDCE\ M +5 "Can"M\ GE +5 "core" &'Y@BC\ L +9 &YBDD\ M +10 &WCBG\ M +9 &mYDBD\ L +9 &.XAAB\ M +10 &U@BD\ M +9 &!WBDG\ M +9 &#uTAC=\ L +10 &%8UAC8\ L +9 &&XBC6\ L +9 &(RAC:\ L +10 &*~UCD:\ L +9 &,?XCC/\ L +10 &.SAB,\ L +9 &/UBC+\ L +9 &1YAB&\ M +10 &3FWBC3\ M +9 &5 SBC*\ L +9 &6TAC$\ M +10 &8WBB$\ L +9 &:NYBB\ M +10 &<ZAD\ M +9 &=ZBC\ M +9 &?YBB)\ L +10 &AWUBB"\ L +9 &C[A:#\ M +10 &D\\CD \ M +9 &FgBD\ N +9 &HRyCC#\ Q +10 &JAA$\ V +9 &K@D \ X +9 &MBB\ X +10 &ODAC$\ X +9 &QAD!\ X +9 &RBC'\ Z +10 &TDB&\ Z +9 &V$vCC&\ . +10 &V%CC&\ Q +8 ( +2 &VoBC,\ K +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&D1 +56 "core" 1 +2 "manipulator"&F% +4 "core" % " j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%@& +4 "core" &\ + "manipulator"&&% +4 "core" %\ ! J 5 +2 "storage"("% +3 "core" %^ \ +2 "storage"(. +3 "core" .(,l + "storage"(|& +4 "core" &,q S\ + "storage"(& +4 "core" &,q \ +2 "manipulator"&& +3 "core" &- % Cp +2 "manipulator"&P% +4 "core" %\ ! ; 5 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +157 "core" ( +2 "manipulator"&W& +4 "core" & $ H  + "storage"(2& +4 "core" &,q B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&<'Ѽ +102 "core" ' +2 "storage"(& +4 "core" &,q\ \  \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''i +280 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (~& +3 "core" &,q I\ + "manipulator"&& +4 "core" & !  +2 .tElbow.seek 4 + "manipulator"&(( +3 "core" ( +2 "manipulator"&& +4 "core" & # 7  + "storage"(]& +4 "core" &,q _\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&A/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(['X +7 "core" &    +2 "manipulator"&% +4 "core" % 2 O +2 .tForearm.seek :retract +2 "manipulator"&v'\ +103 "core" ' +2 .tElbow.seek PC + "manipulator"&;(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" &m k 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +2 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&B' +100 "core" ' +2 "manipulator"&O& +4 "core" &m  + "manipulator"&% +4 "core" % V +2 "processing"%& +4 "core" &\ +2 "processing"%r& +4 "core" &\ +3 .tPC.seek :closed + "processing"% (Z +4 "core" &\ +8 &8\ $e +9 &V{\ 7 +9 &y\ L +10 &U\ M +9 &uX\ M +9 &7V\ M +10 &U\ M +9 &U\ M +10 &}W\ M +9 &@W\ M +9 & X\ M +10 &!V\ M +9 &#W\ M +11 &%HW\ M +8 &' T\ M +9 &(V\ M +10 &*U\ M +9 &,PW\ M +9 &.W\ M +10 &/V\ L +9 &1V\ M +9 &3WW\ M +10 &5V\ M +9 &6U\ M +10 &8U\ M +9 &:`U\ M +9 && +4 "core" & $ f  + "storage"(k& +4 "core" &,q w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&D'Ѽ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(F'E +40 "core" ' +2 "manipulator"&@& +4 "core" &   +2 "manipulator"&&% +4 "core" %  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&"'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +167 "core" ( +2 "manipulator"&|& +4 "core" &- - / Co + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- ) Co +2 .tForearm.seek CC +2 "manipulator"&c'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'P( +416 "core" ( + "storage"(t& +4 "core" &,q\ $\ & ]\ +2 "storage"(W& +4 "core" &,q\ \  ;\ + "manipulator"&2& +4 "core" &- & Cm + "manipulator"&% +4 "core" %  ] +2 .tForearm.seek :retract + "manipulator"&n'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&,( +159 "core" ( +2 "manipulator"&C& +4 "core" &  ?  + "storage"(~& +4 "core" &,q\ E\ C \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +62 "core" 1 +2 "manipulator"&A% +4 "core" %  % w +2 "storage"(X& +4 "core" &,q\ D\ C \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'? +17 "core" ' +3 "manipulator"&& +4 "core" &   + "storage"(<& +4 "core" &,q\ D\ I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&''Ѽ +30 "core" ' +2 "storage"(% +4 "core" %K\  | /\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (=% +3 "core" %I\ A\ * [\ Wc +2 "manipulator"&(% +3 "core" %ѥ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O'\ +96 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &BB$\ + "manipulator"&% +4 "core" %\  5  +2 "storage"([% +4 "core" %a\ + 7\ + "storage"(v. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<* +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &<'\ *\ ' <\ +2 "manipulator"& & +3 "core" & L  +2 .tElbow.seek 5 + "manipulator"&!( +9 "core" ( + "manipulator"&Z& +5 "core" &  ` p + "storage"(?& +4 "core" &<$\ - ~ i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&5'ы +97 "core" ' + "storage"(q& +4 "core" &<$ {\ . H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +285 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" &<$\ 6\ E \  + "manipulator"&*& +4 "core" & ! p +2 .tElbow.seek 5 + "manipulator"&S( +4 "core" ( + "manipulator"&B& +4 "core" & b p + "storage"(0& +4 "core" &<$\ P\ N u\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&E' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"( 'X +7 "core" & U p +2 "manipulator"&:% +4 "core" % L @ +2 .tForearm.seek :retract + "manipulator"&M'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +56 "core" ( +2 "manipulator"&1& +4 "core" && L =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +2 "core" &&  =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'" +95 "core" ' +3 "manipulator"&$& +4 "core" && 8  =D +2 "manipulator"&_% +4 "core" %% +2 "collection"'Q& +4 "core" &BCF\ +2 "collection"'g& +5 "core" &AAy\ +2 .tCC.seek :closed +2 "collection"'a(V +4 "core" &BAB\  +9 &3~AAH\ )w +9 &dADG\ > +9 &|rDBE\ M +10 &@TABC\ L +9 &Y@BI\ L +10 &YBCH\ L +9 &XBBH\ L +9 &GYABC\ L +10 & ZB@D\ L +9 &X@BH\ L +9 & YABH\ L +10 &"NYABG\ M +9 &$VBCH\ L +9 &%VBBG\ L +10 &'WBCD\ M +9 &)VU@CF\ M +10 &+WCDF\ M +9 &,W>B=\ M +9 &.WBBC\ M +10 &0^W@B:\ M +9 &2"S?B@\ L +9 &3YCB=\ L +10 &5YDB1\ L +9 &7gY?D/\ L +10 &9)YBB(\ L +9 &:[BC&\ M +9 &<WAB&\ L +10 &>oW@B\ L +9 &@0TBB#\ M +10 &AXBC+\ M +9 &CXCD(\ M +9 &Es`DB%\ N +10 &G0mAA#\ O +9 &HCD\ Q +9 &JBC \ W +10 &L^AD)\ W +9 &NBC&\ X +10 &OCD\ Y +9 &QBB\ Y +9 &S_CC\ Z +10 &U CD \ Z +9 &VlDBD!\ 1 +9 &VtDD$\ J +10 ( +2 &VbBC$\ J +2 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&^1 +57 "core" 1 +2 "manipulator"&)% +4 "core" % % 4 Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%f& +4 "core" &\ +2 "manipulator"&}% +4 "core" %\  G  +2 "storage"(o% +3 "core" %U q\ +2 "storage"(w. +3 "core" .(<* + "storage"(& +4 "core" &<$ J\  +2 "storage"(& +3 "core" &<$ H\  +2 "manipulator"&j& +4 "core" && A =B +2 "manipulator"&+% +3 "core" %\  O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +167 "core" ( + "manipulator"&N& +4 "core" & O b +2 "storage"(d& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&h'ы +92 "core" ' + "storage"(U& +4 "core" &<$\ \  (\  +2 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &<$ K\  +2 "manipulator"& & +4 "core" & 1 b + .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&Y& +3 "core" &  \\ b +2 "storage"(p& +4 "core" &<$ }\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&i' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(.'X +8 "core" & \ b + "manipulator"&K% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&e(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&V& +5 "core" &w ' B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &w X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +100 "core" ' + "manipulator"&z& +4 "core" &w $ 8 +2 "manipulator"&% +4 "core" %  M +2 "processing"%L& +3 "core" &#\ +2 "processing"%\\& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%4(Z +4 "core" &!\ +7 &@\ $e +10 &W \ 7 +9 &{ \ L +9 &W\ M +10 &xY\ M +9 &:W\ M +10 &V \ M +9 &W\ M +9 &Y\ M +10 &AY\ M +9 & Y\ N +11 &!W\ M +8 &#W\ M +9 &%IW\ M +10 &' V\ M +9 &(T\ M +9 &*X\ M +10 &,PX\ N +9 &.X\ M +9 &/W\ M +10 &1V\ M +9 &3ZW!\ M +10 &5W\ M +9 &6V\ M +9 &8U\ M +10 &:bW\ M +9 &<$V\ M +9 &=V\ M +10 &?V\ M +9 &AjV\ M +10 &C+X\ M +9 &DY\ N +9 &Fc\ N +10 &Hfz\ Q +9 &J"\ S +9 &K\ S +10 &M\ S +9 &Oi\ S +10 &Q) \ S +9 &R\ \ S +9 &T\ T +10 &Vn\ T +9 &X/\ T +9 &Y|r\ . +10 &Z(h\ \ G +9 &Z#\ \ . +2 ( +2 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&I% +4 "core" % - g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 "processing"%u& +4 "core" &Z" \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +4 "core" %\  l  + "storage"(% +9 "core" %T P\ + "storage"({. +3 "core" .(<* +2 "storage"(`& +4 "core" &<$ \  +2 "storage"(>& +2 "manipulator"&k& +7 "core" &<$ A\  + &w  x +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&@(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'i + "core" ( +3 "manipulator"&y& +4 "core" &w  [ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &w a +2 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' + .tHand.close +2 "manipulator"&x/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' +2 "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(|'y +34 "core" ' +291 ( +2 "storage"(& +4 "core" &<$ )\  + "manipulator"&D& +4 "core" &w  + "manipulator"&% +4 "core" % ' +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +270 "core" ( +2 "manipulator"&& +4 "core" &  I } + "storage"(t& +4 "core" &<$ e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&W'ы +97 "core" ' + .tHand.open +2 "manipulator"&21 +53 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(C'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(~' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' + "storage"(& +4 "core" &<$ ?\  + "manipulator"&]& +4 "core" & L } +2 .tElbow.seek 5 + "manipulator"&A( +7 "core" ( +2 "manipulator"&X& +4 "core" &  & t +2 "storage"(& +3 "core" &<$ B\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&<'ы +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&n& +5 "core" &  t + "storage"(=& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&(' +32 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' +2 "manipulator"&% +4 "core" %  s + "storage"(& +4 "core" &<$ [\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&'\ +20 "core" ' +2 "manipulator"&[& +4 "core" &   +2 "storage"(v& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&F'ы +26 "core" ' + "storage"('% +4 "core" %s\ \ \ \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (9% +2 "core" %M \ Xg +2 "manipulator"&7% +4 "core" %ѐ @ +53 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"& '\ +86 "core" ' +20 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" &<$ \  ^\  +2 "collection"'?& +4 "core" &VaCDV\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&q% +4 "core" %\    +2 "storage"(% +3 "core" %_\ \  \ +2 "storage"(O. +3 "core" .(<* +3 "storage"(G& +4 "core" &<$\ \ \  + "storage"(r& +4 "core" &<$\ \ \  +2 "manipulator"&*& +3 "core" & <  +2 .tElbow.seek 5 +2 "manipulator"&B( +4 "core" ( + "manipulator"&0& +4 "core" &  [  + "storage"(;& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +97 "core" ' +2 "storage"(:& +4 "core" &<$\ \ \ }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +283 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&6& +3 "core" &  +2 "storage"(E& +3 "core" &<$ i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&1' +33 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"($'W +32 "core" ' + "manipulator"&_% +4 "core" % \\ y +2 "storage"(Q& +4 "core" &<$ N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts + "manipulator"& ' +21 "core" ' + "manipulator"&M& +5 "core" &  T  + "storage"(P& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&^'ы +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"()'F +45 "core" ' + "manipulator"&f& +5 "core" &   + "manipulator"&}% +4 "core" %u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +171 "core" ( +2 "manipulator"&& +4 "core" &,  Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, Bg +2 .tForearm.seek CC +2 "manipulator"&g'" +92 "core" ' +2 .tHand.close + "manipulator"&j/ +58 "core" / +2 .tCC.seek :open +2 "collection"'+( +416 "core" ( + "storage"(/& +4 "core" &<$\ \  &\  +2 "storage"(N& +3 "core" &<$\ \ \  +2 "manipulator"&d& +4 "core" &) ?U + "manipulator"&U% +4 "core" % / * +3 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&J( +165 "core" ( + "manipulator"&l& +4 "core" & p b +2 "storage"(-& +3 "core" &<$\ I\ D \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"& ' +107 "core" ' + .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +64 "core" 1 +2 "manipulator"&#% +4 "core" %  r + "storage"(\ & +4 "core" &<$ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&K' +19 "core" ' +2 "manipulator"&& +4 "core" & x c +2 "storage"(h& +3 "core" &<$\ M\ C z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +25 "core" ' +2 "storage"(i% +4 "core" %I\ -\ P \ +2 ."downElevator"SE.seek :down +3 "storage"(V'X +99 (% +3 "core" %F\ #\ $ \ \ Wb +2 "manipulator"&%% +3 "core" %ѽ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &ACk\ +2 "manipulator"&L% +4 "core" %\    + "storage"(.% +4 "core" %b\ =\ < 2\ + "storage"(. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K x\  +2 "manipulator"&I& +4 "core" & 4 c + .tElbow.seek 6 +2 "manipulator"&u( +39 "core" ( +2 "manipulator"&b& +4 "core" &/ q  + "storage"(& +4 "core" &K\ Q\ P S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&{'a +116 "core" ' + "storage"(`& +5 "core" &K \ - \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +285 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (>& +4 "core" &K\ -\ - \  +2 "manipulator"&y& +3 "core" &/ I  +2 .tElbow.seek 6 + "manipulator"&( +22 "core" ( + "manipulator"&s& +9 "core" &  r  + "storage"(x& +4 "core" &K\ O\ H :\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&3' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(4'X +7 "core" & A  +2 "manipulator"&&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&D( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( +2 "manipulator"&& +4 "core" && $ d =E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" && =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +102 "core" ' +2 "manipulator"&t& +5 "core" &&  =E + "manipulator"&@% +4 "core" %( > +2 "collection"'2& +4 "core" &ACy\ +2 "collection"'& +6 "core" &BCt\ +2 .tCC.seek :closed +2 "collection"'c(V +4 "core" &AD?\ +7 &5@C;\ $c +9 &UCA;\ 7 +10 &xACB\ K +9 &TBB<\ L +9 &kW@BB\ M +10 &.SDC>\ L +9 &YADC\ M +9 &VBCF\ L +10 &tTDD=\ L +9 &6TABG\ L +10 &TCAF\ M +9 &!WDBH\ M +9 &#|TBD>\ L +10 &%=YBCE\ M +9 &&VBCG\ M +9 &(V@BG\ M +10 &*WBCG\ M +9 &,FUCBG\ L +9 &.X?CD\ L +10 &/YCCH\ M +9 &1WA@F\ M +10 &3MWCCB\ M +9 &5YBDF\ L +9 &6XBDG\ L +10 &8WAC<\ L +9 &:VUABF\ L +9 &<WBD:\ M +10 &=XBC-\ M +9 &?T@A.\ L +10 &A^UBB-\ L +9 &CZAB,\ M +9 &DZAD+\ M +10 &Fd@C-\ N +9 &H[uEC(\ P +10 &JCB&\ U +9 &KDB-\ X +9 &MAC\ X +10 &OHDD\ Y +9 &Q BC\ X +9 &RDC\ Z +10 &TDC\ Z +9 &V)vBC\ . +9 &V$BC\ P +9 ( +2 &VmFC\ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&]% +5 "core" % ( t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" & \ + "manipulator"&% +5 "core" %\   +2 "storage"(n% +3 "core" %b \ +2 "storage"(=. +3 "core" .(K + "storage"(|& +4 "core" &K \  + "storage"(& +4 "core" &K \  + "manipulator"&& +4 "core" && z =A +2 "manipulator"&C% +3 "core" %\  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&[( +160 "core" ( + "manipulator"&v& +4 "core" &\  % H  +2 "storage"('& +3 "core" &K\ \  4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 6 + 700 counts +2 "manipulator"&"'a +95 "core" ' + "storage"(W& +4 "core" &K\ \  7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +280 "core" ' +2 "storage"(9- +8 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (7& +6 "core" &K k\  +4 "manipulator"&<& +6 "core" &\  8  +4 .tElbow.seek 6 +4 "manipulator"&A( +6 "core" ( +3 "manipulator"&& +7 "core" &\  ~  +4 "storage"((& +7 "core" &K \  +6 .tForearm.seek 6 + 300 counts +6 "manipulator"&' +27 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tHand.close + "manipulator"&Z/ +56 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&?& +6 "storage"(q'X +14 "core" &\  ' a  +3 "manipulator"&% +7 "core" % J +4 .tForearm.seek :retract +4 "manipulator"&'\ +18 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +67 "core" ' +5 .tElbow.seek PC +3 "manipulator"&O(s +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +118 "core" ( +8 "manipulator"&G& +12 "core" &j    +4 .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +3 &r& +8 "core" &j   +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&*' +95 "core" ' +2 "manipulator"&0& +4 "core" &j  4  +2 "manipulator"&;% +3 "core" % o = +2 "processing"%:& +4 "core" &!\ +2 "processing"%F& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &(\  +9 &4{&\ *z +10 &e~#\ > +9 &r \ N +9 &NQ$\ M +10 &V \ M +9 &W\ M +9 &Y\ M +10 &UW\ M +9 &W \ M +10 &W\ M +9 & U\ M +9 &"_W \ M +10 &$!V\ M +9 &%W\ M +9 &']\ M +10 &)fW\ M +9 &+)V \ M +10 &,V\ M +9 &.V\ L +9 &0nX\ M +10 &21W\ M +9 &3W\ M +9 &5Z\ M +10 &7vW\ M +9 &99V"\ M +10 &:R\ M +9 &<W\ M +9 &>T\ M +10 &@AY\ M +9 &BX \ L +9 &C\\\ N +10 &Eb"\ N +9 &GAo\ O +10 &H"\ R +9 &J\ S +9 &L}\ S +10 &N>\ S +9 &O"\ S +10 &Q\ T +9 &S\ T +9 &UD\ T +10 &W\ T +9 &X\ T +9 &Z*Ro\ (x +10 &ZZ\ 1 +9 ( + &Z&\ . +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.56 + .Hand.open + "manipulator"&,1 +55 "core" 1 +2 "manipulator"& % +4 "core" %  V = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +89 "core" ' +2 "processing"%6& +4 "core" &Z&\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&E% +4 "core" %\    + "storage"(S% +4 "core" %T \ + "storage"(_. +3 "core" .(K +2 "storage"(Q& +4 "core" &K \  + "storage"(M& +2 "manipulator"&P& +7 "core" &K \  + &j P  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&f(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +3 "core" ( + "manipulator"&8& +4 "core" &j   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &j   +2 .tForearm.seek PC +2 "manipulator"&!' +94 "core" ' +2 .tHand.close + "manipulator"&1/ +54 "core" / + .tPC.seek :open +2 "processing"% ( +99 "core" ' +2 "storage"($- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +43 "core" ' +281 ( + "storage"(& +4 "core" &K \  +2 "manipulator"&^& +4 "core" &j }  + "manipulator"&H% +4 "core" %  5 +2 .tForearm.seek :retract + "manipulator"&j'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&o( +257 "core" ( +2 "manipulator"&a& +4 "core" & % l  +2 "storage"(/& +3 "core" &K @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&N'a +102 "core" ' +2 .tHand.open +2 "manipulator"&d1 +54 "core" 1 +2 "storage"(U- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +28 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(-' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(w& +3 "core" &K s M\  +2 "manipulator"&p& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&\ & +3 "core" & G  +2 "storage"(& +3 "core" &K ` j \  +3 .tForearm.seek 6 + 700 counts + "manipulator"&h'a +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(i' +57 "core" ' +2 "manipulator"&m& +4 "core" & &  +2 "storage"(& +6 "core" &K\ \  '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&%'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +24 "core" ' +2 "manipulator"&K% +4 "core" %ι + ; +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&L' +12 "core" ' + "manipulator"&.& +4 "core" &   +2 "storage"(& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&)'a +23 "core" ' + "storage"( % +5 "core" %m \ \ +2 ."downElevator"SE.seek :down +4 "storage"(V'X +98 (R% +3 "core" %G \ Xe +2 "manipulator"&% +4 "core" %у g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &K K\  + "collection"'& +4 "core" &VlBC_\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&`% +4 "core" %\  I  +2 "storage"(Y% +3 "core" %_ ^\ +2 "storage"(z. +3 "core" .(K +2 "storage"(k& +3 "core" &K 9\  +2 "storage"(>& +4 "core" &K d\  + "manipulator"&y& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( + "manipulator"&x& +4 "core" &  l  +2 "storage"(e& +4 "core" &K N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +96 "core" ' + "storage"(&& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +279 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(T& +3 "core" &K u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&\\'Υ +26 "core" ' + .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"('Y +28 "core" ' + "manipulator"&@% +5 "core" %ι  + "storage"(2& +4 "core" &K \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&4' +12 "core" ' + "manipulator"&& +54 "core" & 7  +2 "storage"(+& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(]'H +57 "core" ' + "manipulator"&& +5 "core" & b  + "manipulator"&% +4 "core" %W  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&=( +184 "core" ( +2 "manipulator"&|& +4 "core" & j "z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  "z +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'C( +416 "core" ( +2 "storage"(& +4 "core" &K\ 2\ & 3\  + "storage"(v& +4 "core" &K\ /\ & $\  + "manipulator"&'& +4 "core" & "z + "manipulator"&D% +4 "core" % & +2 .tForearm.seek :retract + "manipulator"&W'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&X( +151 "core" ( +2 "manipulator"&9& +4 "core" & 6  + "storage"(7& +4 "core" &K\ 1\ 1 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&<'Υ +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&(1 +57 "core" 1 +2 "manipulator"&Z% +4 "core" % ι Z + "storage"(?& +4 "core" &K W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&[& +4 "core" & J  + "storage"("& +4 "core" &K\ Q\ Q [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&~'a +17 "core" ' + "storage"(% +4 "core" %J\ =\ G \ +2 ."downElevator"SE.seek :down +3 "storage"(G'X +100 (r% +2 "core" %I\ $\ $ 6\ Va +2 "manipulator"&A% +4 "core" %` & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"';& +4 "core" &CBu\ +2 "manipulator"&:% +3 "core" %\ \ L  +2 "storage"(q% +4 "core" %b \ *\ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +658 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" &,n\ \  \ +2 "manipulator"& & +4 "core" & X  +2 .tElbow.seek 4 + "manipulator"&6( +12 "core" ( +2 "manipulator"&E& +4 "core" & R u + "storage"(S& +4 "core" &,q\ ;\ ; z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&_'Ѽ +103 "core" ' +2 "storage"(Q& +4 "core" &,q \ + {\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +282 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &,q\ (\ % \ +2 "manipulator"&8& +4 "core" &  u + .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&*& +3 "core" & M u +2 "storage"(1& +3 "core" &,q\ B\ C U\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&$', +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& + "storage"('X +8 "core" &  u + "manipulator"&}% +4 "core" % 2  N +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&H& +4 "core" &' T   >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &' >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&a'" +102 "core" ' + "manipulator"&/& +5 "core" &' P >O + "manipulator"&f% +4 "core" %" o +2 "collection"'d& +4 "core" &AC\ +3 "collection"'U& +5 "core" &CBT\ +2 .tCC.seek :closed +3 "collection"'g(V +3 "core" &AAR\ +6 &@CN\ 7 +9 &?H{DDP\ 0 +10 &msAAN\ E +9 &ZCBI\ M +9 &VCDB\ L +10 &WDDF\ L +9 &]XAA@\ L +10 &TBDC\ L +9 &TAC@\ L +9 &R@CG\ L +10 &eT@CG\ L +9 &!'SBC>\ L +9 &"TCCF\ L +10 &$VBA<\ L +9 &&mWBDC\ L +10 &(.VCAG\ M +9 &)U@BH\ M +9 &+WCCH\ L +10 &-uTBCE\ L +9 &/7W@CI\ L +9 &0XBDH\ L +10 &2SABH\ L +9 &4}X@AH\ L +9 &6?XCA:\ L +10 &8XBAC\ L +9 &9UABG\ M +10 &;U:CG\ L +9 &=GVAC:\ L +9 &?TBD:\ M +10 &@WBC8\ M +9 &BTCC:\ L +9 &DMYA;:\ M +10 &F gBA@\ N +9 &GuBB9\ P +10 &ICC9\ S +9 &K5BC=\ X +9 &LAC0\ X +10 &NBD8\ X +9 &PzCB9\ X +13 &R:BD8\ Y +6 &SCC*\ Z +9 &UDD9\ G +10 &V4BD?\ $n +9 &VoDF)\ K +2 ( +2 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&w1 +58 "core" 1 +2 "manipulator"&p% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &(\ + "manipulator"&j% +4 "core" %\   +2 "storage"(m% +3 "core" %T `\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,q (\ + "storage"(K& +4 "core" &,q \ +2 "manipulator"&& +3 "core" &'  >O +2 "manipulator"&l% +3 "core" %\ u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&.( +157 "core" ( +2 "manipulator"&& +4 "core" & j + "storage"( & +4 "core" &,q\ \  N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +106 "core" ' +2 "storage"(N& +4 "core" &,q\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +278 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,q X\ +2 "manipulator"&h& +4 "core" & . j + .tElbow.seek 4 +2 "manipulator"&#( +4 "core" ( + "manipulator"&i& +4 "core" &  j + "storage"(%& +4 "core" &,q {\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&L', +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(`'X +8 "core" & y j + "manipulator"&Y% +4 "core" % ! ^  +2 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"& & +5 "core" &r > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &r  > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +100 "core" ' +2 "manipulator"&x& +4 "core" &r % P +2 "manipulator"&e% +3 "core" %    +2 "processing"%)& +4 "core" &\ +2 "processing"%&& +4 "core" &!\ +2 .tPC.seek :closed +2 "processing"%V(Z +4 "core" &\  +9 &4|!\ *y +10 &e~&\ > +9 &r%\ N +9 &LR \ M +10 &V\ M +9 &X#\ M +61 &W&\ M +2 &SV%\ M + &X\ M + &W!\ M + & V\ M + &"\\U\ M +3 &$U\ M +5 &%V\ M +10 &'\\\ M +9 &)cW\ M +9 &+%V\ M +10 &,W\ M +9 &.W\ M +9 &0kW\ M +10 &2,Y\ M +9 &3W\ M +10 &5Z\ M +9 &7tV\ M +9 &96W\ M +10 &:S\ M +9 &<W\ M +9 &>|V\ M +10 &@<[\ M +9 &AW\ M +10 &CZ\ N +9 &E[\ N +9 &G>l\ O +10 &H\ R +9 &J\ S +9 &Ly\ S +10 &N:\ S +9 &O\ S +10 &Q\ S +9 &S~\ T +9 &UA\ T +10 &W\ T +9 &X\ T +9 &Z(Sq\ (w +10 &ZU\ / +9 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&J1 +4 "core" &Z\ - +58 1 + "manipulator"&I% +4 "core" % " g  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&T% +8 "core" %\  e  +2 "storage"(t% +4 "core" %T \ + "storage"(@. +4 "core" .(,l + "storage"(2& +4 "core" &,q 3\ + "storage"(& +5 "manipulator"&+& +4 "core" &,q \ + &r ' +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s +3 "storage"('i +3 "core" ( + "manipulator"& & +4 "core" &r S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &r B +2 .tForearm.seek PC + "manipulator"&u' +101 "core" ' + .tHand.close + "manipulator"&\\/ +56 "core" / + .tPC.seek :open +2 "processing"%4( +99 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(|'y +43 "core" ' +281 ( + "storage"(& +4 "core" &,q \ +2 "manipulator"&& +3 "core" &r  e +2 "manipulator"&3% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +264 "core" ( +2 "manipulator"&c& +4 "core" &   + "storage"(& +4 "core" &,q U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&v'Ѽ +117 "core" ' +2 .tHand.open + "manipulator"&'1 +56 "core" 1 +2 "storage"(D- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(7' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(=& +4 "core" &,q _ i \ +2 "manipulator"&(& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&Z( +4 "core" ( + "manipulator"&?& +5 "core" &  0  + "storage"([& +4 "core" &,q m l \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&"'Ѽ +19 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&W& +4 "core" & e  +2 "storage"(r& +4 "core" &,q\ \  -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&A' +29 "core" ' + .tElbow.hold +2 "manipulator"&X, +9 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +26 "core" ' + "manipulator"&;% +5 "core" % $ > + "storage"(& +4 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&:'9 +19 "core" ' + "manipulator"&q& +4 "core" &  9  +2 "storage"(& +4 "core" &,q K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&]'Ѽ +27 "core" ' +2 "storage"(~% +5 "core" %m\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +99 (% +3 "core" % L \ We +2 "manipulator"&,% +4 "core" %Ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &,q \ + "collection"'S& +4 "core" &VoCCe\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&Q% +4 "core" %\ $   D + "storage"(% +4 "core" %a \ +2 "storage"(0. +3 "core" .(,l + "storage"(P& +4 "core" &,q J\ + "storage"(F& +4 "core" &,q \ +2 "manipulator"&8& +3 "core" &  \\  +2 .tElbow.seek 4 + "manipulator"&*( +4 "core" ( +2 "manipulator"&1& +4 "core" &  a  + "storage"(O& +4 "core" &,q {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +100 "core" ' + "storage"(}& +4 "core" &,q\ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +287 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" & 0  +2 "storage"(!& +4 "core" &,q \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 + "manipulator"&M' +32 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'W +31 "core" ' + "manipulator"&B% +4 "core" % +2 "storage"(d& +3 "core" &,q <\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +18 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(C& +4 "core" &,q {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&w'Ѽ +48 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(p'F +40 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&j% +4 "core" %ѷ \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( + "manipulator"&& +5 "core" &'  4 4 >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &' >M +2 .tForearm.seek CC + "manipulator"&K'" +97 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'l( +416 "core" ( + "storage"(a& +5 "core" &,q\ \  ,\ + "storage"(& +4 "core" &,q\ \ \ + "manipulator"& & +4 "core" &(  >J + "manipulator"&N% +4 "core" % (  +2 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\ ( +163 "core" ( + "manipulator"&R& +4 "core" &  r f +2 "storage"(& +3 "core" &,q\ P\ P 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&h' +96 "core" ' + .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&%1 +58 "core" 1 +2 "manipulator"&b% +5 "core" %  $ 9 + "storage"(& +4 "core" &,q\ 1\ 1\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +51 "manipulator"&Y'= +20 "core" ' + "manipulator"&.& +5 "core" & \\ f + "storage"(o& +8 "core" &,q\ Q\ P ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&-'Ѽ +24 "core" ' +2 "storage"(L% +4 "core" %L\   \ +2 ."downElevator"SE.seek :down +3 "storage"( 'X +100 (>% +2 "core" %K\ $\ . ^\ Wd +2 "manipulator"&#% +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'e& +4 "core" &BD\ +2 "manipulator"&)% +4 "core" %\  W " +2 "storage"(`% +3 "core" %a\ ;\ < r\ +2 "storage"(z. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<* +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" &<( \  +2 "manipulator"&I& +4 "core" & r f +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&T& +4 "core" &  I f + "storage"(t& +4 "core" &<%\ H\ D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&@'ы +98 "core" ' +2 "storage"(2& +4 "core" &<%\ * \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +281 "core" ' +2 "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<%\ #\ / 4\  + "manipulator"& & +4 "core" & f f +2 .tElbow.seek 5 + "manipulator"&s( +4 "core" ( + "manipulator"&y& +4 "core" & % f + "storage"(\\& +4 "core" &<%\ $\ % H\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&{& "storage"(V'X +8 "core" &  f + "manipulator"&% +4 "core" %   u +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&3& +4 "core" ' + &% $ <@ +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +8 "manipulator"&$ &.,(#b +4 &u& +2 "core" &% z <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'" +100 "core" ' +2 "manipulator"&& +4 "core" &% b <? +2 "manipulator"&% +3 "core" %+ ; +2 "collection"''& +4 "core" &CE\ +3 "collection"'D& +5 "core" &BC_\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &BB\\\ +6 &6BC\\\ $d +10 &U{DC_\ 6 +9 &yAAO\ K +9 &UACN\ L +10 &gVBCL\ M +9 &)UAAL\ M +10 &W@CF\ M +9 &UBBF\ M +9 &oUCCL\ M +10 &1UACE\ M +9 &U@AE\ M +9 &!V@DC\ M +10 &#wVCBC\ M +9 &%:SBBB\ L +10 &&WABC\ L +9 &(R@B=\ L +9 &*WA@D\ L +10 &,BWCC?\ L +9 &.WAD;\ L +9 &/WCCG\ L +10 &1TBC?\ L +9 &3JRBAG\ L +10 &5 SAC@\ L +9 &6RBBF\ L +9 &8Q@A>\ L +10 &:RS@BD\ L +9 &<VBBA\ L +9 &=TBDB\ M +10 &?W@DF\ M +9 &AZTAAF\ L +10 &CUBBA\ M +9 &D]CCC\ M +9 &FiDAD\ O +10 &HVzCCG\ P +9 &J BD>\ V +9 &KBCF\ X +10 &MCD<\ X +9 &OHAB<\ X +10 &QCB;\ Y +9 &RBD9\ Y +9 &TDB>\ Z +10 &V(xCC@\ . +9 &V&CC;\ N +9 ( +3 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open + "manipulator"&=1 +4 "core" &VkCB:\ I +55 1 +2 "manipulator"&(% +4 "core" % + ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &+\ +2 "manipulator"&[% +3 "core" %\  +2 "storage"(W% +4 "core" %U W\ + "storage"(r. +3 "core" .(<* + "storage"(|& +4 "core" &<% D\  +2 "storage"(;& +3 "core" &<% }\  +2 "manipulator"&& +4 "core" &% o <= + "manipulator"&9% +4 "core" %\ j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +166 "core" ( +2 "manipulator"&& +4 "core" &  = S + "storage"(~& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&n'ы +98 "core" ' +2 "storage"(v& +4 "core" &<%\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &<% \  +2 "manipulator"&"& +4 "core" &  S + .tElbow.seek 5 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&& +4 "core" &  \ S + "storage"(A& +4 "core" &<% a\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&:' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(Q'X +8 "core" & X S + "manipulator"&% +4 "core" % ^  +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&P& +4 "core" &z $ + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &F& +2 "core" &z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&8' +98 "core" ' +2 "manipulator"&1& +4 "core" &z $  +2 "manipulator"&O% +4 "core" %   +2 "processing"%]& +3 "core" &0\ +2 "processing"%}& +5 "core" &.\ +2 .tPC.seek :closed + "processing"%G(Z +6 "core" &,\  +9 &3~&\ *x +9 &d#\ > +10 &{r#\ N +9 &>V\ M +9 &W+\ M +11 &U*\ M +8 &Y$\ M +9 &FW$\ M +10 &Y"\ M +9 &W\ N +10 & W\ M +9 &"NW \ M +9 &$V\ M +10 &%X!\ M +9 &'Z\ M +9 &)VU\ M +10 &+W \ M +9 &,V\ M +10 &.W\ M +9 &0^V\ M +9 &2 W\ M +10 &3X\ M +9 &5Y\ M +9 &7fW\ M +10 &9(V\ M +9 &:U!\ M +10 &<W$\ M +9 &>oW"\ M +9 &@1Y\ M +10 &AW!\ M +9 &C["\ M +9 &Es\\\ N +10 &G2k\ O +9 &H\ Q +10 &J!\ S +9 &Ll"\ S +9 &N. \ S +10 &O \ S +9 &Q!\ S +10 &Ss\ S +9 &U3 \ T +9 &V\ S +10 &X\ T +9 &Z!Yy\ &t +9 &Z[\ 1 +9 ( +3 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&X1 +4 "core" &Z!\ - +52 1 + "manipulator"& % +4 "core" % 0 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +98 "core" ' + "processing"%H& +5 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&!% +3 "core" %\ & A +2 "storage"(/% +3 "core" %_ \ +2 "storage"(B. +3 "core" .(<* + "storage"(d& +4 "core" &<% \  +2 "storage"(& +2 "manipulator"&C& +7 "core" &<% A\  + &z  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'i +2 "core" ( + "manipulator"&5& +4 "core" &z * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &z  +2 .tForearm.seek PC + "manipulator"&6' +98 "core" ' + .tHand.close + "manipulator"&M/ +57 "core" / +2 .tPC.seek :open + "processing"%( +93 "core" ' +2 "storage"(f- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +42 "core" ' +291 ( + "storage"(U& +54 "core" &<% `\  +3 "manipulator"&w& +3 "core" &z   +2 "manipulator"&$% +4 "core" % P +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&m( +265 "core" ( +2 "manipulator"&g& +4 "core" &  + "storage"(a& +4 "core" &<% |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +104 "core" ' +2 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "storage"(N- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(& +4 "core" &<% n r \  + "manipulator"&%& +4 "core" & V +2 .tElbow.seek 5 + "manipulator"&b( +7 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(.& +3 "core" &<% f j d\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&o'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +57 "core" ' + "manipulator"&L& +5 "core" &  + "storage"(\ & +4 "core" &<% (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>' +39 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(h'i +26 "core" ' +2 "manipulator"&e% +4 "core" %  A _ +2 "storage"(Y& +4 "core" &<% 9\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&)' +18 "core" ' + "manipulator"&`& +5 "core" & c \ + "storage"(z& +4 "core" &<% E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&p'ы +16 "core" ' + "storage"(-% +5 "core" %o\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (% +3 "core" %H <\ We +2 "manipulator"&J% +4 "core" %ћ , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +2 (T& +4 "core" &<% \  .\  +2 "collection"'t& +3 "core" &VjDDe\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +4 "core" %\  8  +2 "storage"(i% +3 "core" %b B\ +2 "storage"(x. +3 "core" .(<* + "storage"(+& +4 "core" &<% \  + "storage"(& +4 "core" &<% \  +2 "manipulator"& & +3 "core" &  \ +2 .tElbow.seek 5 + "manipulator"&y( +4 "core" ( + "manipulator"&\\& +4 "core" &  C \ +2 "storage"(k& +3 "core" &<% +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&{'ы +96 "core" ' +2 "storage"(& +4 "core" &<%\ \  .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +3 "storage"(@- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&3& +3 "core" & } \ +2 "storage"(u& +4 "core" &<% {\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&&' +34 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +31 "core" ' + "manipulator"&s% +5 "core" %  5 Q + "storage"('& +4 "core" &<% U\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&V' +18 "core" ' + "manipulator"&& +5 "core" & U \ + "storage"(l& +59 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&='ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('F +41 "core" ' + "manipulator"&& +4 "core" & " \ +2 "manipulator"&[% +4 "core" %} c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +162 "core" ( + "manipulator"&|& +5 "core" &' E >I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &' >I +2 .tForearm.seek CC +2 "manipulator"&;'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'9( +416 "core" ( +2 "storage"(c& +4 "core" &<%\ '\  )\  + "storage"(& +4 "core" &<%\ \  S\  + "manipulator"&~& +4 "core" &%  7 <? + "manipulator"&v% +4 "core" % , 2 +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&?( +165 "core" ( +2 "manipulator"&& +4 "core" & O [ + "storage"(,& +4 "core" &<%\ I\ H \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&"' +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&A1 +60 "core" 1 +2 "manipulator"&E% +5 "core" %  G + "storage"(S& +5 "core" &<% p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&q& +4 "core" & : [ + "storage"(n& +4 "core" &<%\ M\ B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&7'ы +31 "core" ' +2 "storage"(:% +4 "core" %L\ A\ - \ +2 ."downElevator"SE.seek :down +4 "storage"(P'X +98 (F% +3 "core" %B\ /\ 0 \ V` +2 "manipulator"&Z% +3 "core" %ю  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'O& +4 "core" &DCK\ +2 "manipulator"&]% +3 "core" %\ " m > +2 "storage"(Q% +4 "core" %_\ P\ M r\  + "storage"(<. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(4(K +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &K :\  +2 "manipulator"& & +3 "core" &  | [ +2 .tElbow.seek 6 +2 "manipulator"&H( +43 "core" ( + "manipulator"&!& +4 "core" &. $ 0 9 +2 "storage"(/& +4 "core" &K\ @\ # }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&B'a +87 "core" ' + "storage"(d& +5 "core" &K }\ . Z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &K\ $\ & u\  +2 "manipulator"&5& +4 "core" &.  9 + .tElbow.seek 6 +2 "manipulator"&*( +22 "core" ( +2 "manipulator"&8& +4 "core" &   + "storage"(M& +4 "core" &K\ J\ D\  +2 .tForearm.seek 6 + 300 counts +49 "manipulator"&f' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(G'X +8 "core" &  + "manipulator"&j% +4 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&U'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&w( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&$& +4 "core" &( / ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &( 0 ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&g'" +97 "core" ' +2 "manipulator"&a& +4 "core" &' L >O + "manipulator"&% +69 "core" %#  +2 "collection"' & +4 "core" &@D\ +2 "collection"'N& +5 "core" &AD\\\ +2 .tCC.seek :closed + "collection"'K(V +4 "core" &AC[\  +9 &1zCCP\ )w +9 &eBCM\ > +9 &zqBDG\ M +10 &?T@CL\ L +9 &VACL\ L +10 &SCBM\ L +9 &WCCN\ L +9 &FXBEL\ L +10 &WBCF\ M +9 &UBCP\ M +10 & VCBS\ L +9 &"NSCBP\ L +9 &$SCAQ\ L +10 &%VB@R\ L +9 &'VCCK\ M +9 &)UUD@I\ M +10 &+WBAD\ M +9 &,WBBN\ M +13 &.VBBG\ M +6 &0]W@D=\ M +9 &2UAB;\ M +10 &3VCC;\ L +9 &5SCB=\ L +9 &7fXCC>\ L +10 &9'WBB=\ M +9 &:XAE?\ M +9 &<YACG\ L +10 &>mY@B@\ M +9 &@0UBCE\ L +10 &AU@B?\ L +9 &CZBCF\ M +10 &Es`ACG\ M +9 &G0jCDD\ O +9 &H{CCG\ Q +9 &JBCF\ V +10 &L\\CCF\ X +9 &NCCG\ X +10 &O;DC\ Y +9 &QBCG\ Y +9 &S^BCC\ Z +10 &UBCC\ Z +9 &VkCBC;\ 1 +9 &VsBC5\ H +6 ( + "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&1 +4 "core" &VmCD?\ H +59 1 + "manipulator"&%% +4 "core" % # $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%.& +4 "core" &0\ +2 "manipulator"&% +4 "core" %\   # + "storage"(L% +4 "core" %b \ + "storage"(\ . +3 "core" .(K +2 "storage"(& +4 "core" &K \  + "storage"(e& +4 "core" &K \  +2 "manipulator"&Y& +3 "core" &' v >M +2 "manipulator"&R% +4 "core" %\  c # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&`( +154 "core" ( +2 "manipulator"&z& +4 "core" & " L  +2 "storage"(-& +3 "core" &K i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&m'a +98 "core" ' + "storage"(& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &K ~\  +6 "manipulator"&o& +4 "core" & 2  +2 .tElbow.seek 6 + "manipulator"&b( +4 "core" ( + "manipulator"&^& +4 "core" &  4  + "storage"(>& +4 "core" &K 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&)' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +55 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(2'X +8 "core" &   + "manipulator"&i% +4 "core" % | +2 .tForearm.seek :retract + "manipulator"&x'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&h(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&+& +4 "core" &z @ -  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &z  <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +107 "core" ' +2 "manipulator"&\\& +4 "core" &z % H  +3 "manipulator"&k% +3 "core" %  +2 "processing"%p& +4 "core" &8\ +2 "processing"%& +6 "core" &2\ +2 .tPC.seek :closed +3 "processing"% (Z +3 "core" &1\ +6 &:\ 7 +9 &BIy3\ 0 +10 &ns1\ D +9 &b/\ N +10 &W3\ M +9 &W1\ M +9 &WY2\ M +10 &W1\ M +9 &W0\ M +9 &R0\ M +10 &`W2\ M +9 &!"W0\ M +10 &"Y0\ M +9 &$W0\ M +9 &&hU*\ M +10 &(*W+\ M +9 &)W(\ M +9 &+U0\ M +10 &-oV*\ M +9 &/1W$\ M +10 &0X)\ M +9 &2W*\ M +9 &4xU$\ M +10 &6:V"\ M +9 &7U"\ M +9 &9Y \ M +10 &;V!\ M +9 &=CW"\ M +10 &?V#\ M +9 &@V!\ M +9 &B\\&\ M +10 &DIX"\ M +9 &Fb#\ N +9 &Gv"\ P +10 &I~#\ S +9 &K@"\ S +10 &M%\ S +9 &N"\ S +9 &P"\ S +10 &RF"\ T +9 &T#\ T +9 &U"\ T +10 &W#\ T +13 &YM"\ A +6 &Z]:l#\ $j +9 &Z&"\ * +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.53 + .Hand.open + "manipulator" +4 "core" &Z"\ * +49 1 +2 "manipulator"&I% +5 "core" % B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@'\ +99 "core" ' + "processing"%3& +4 "core" &Z \ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&u% +4 "core" %\ # ( D : +2 "storage"(% +3 "core" %T \ +2 "storage"(s. +3 "core" .(K +2 "storage"('& +3 "core" &K K\  +2 "storage"(& +4 "manipulator"&l& +4 "core" &K \  + &z 9  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s +3 "storage"(['i +3 "core" ( +2 "manipulator"&{& +4 "core" &z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &z )  +2 .tForearm.seek PC + "manipulator"&' +102 "core" ' + .tHand.close +2 "manipulator"&&/ +61 "core" / +2 .tPC.seek :open + "processing"%V( +82 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(|'y +43 "core" ' +301 ( + "storage"(D& +4 "core" &K n\  +2 "manipulator"&=& +4 "core" &z   + "manipulator"&% +4 "core" %  : +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&W( +263 "core" ( +3 "manipulator"&& +10 "core" &\  R +5 "storage"(c& +8 "core" &K =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +92 "core" ' +2 .tHand.open + "manipulator"&~1 +55 "core" 1 +2 "storage"(v- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +27 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(,' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(r& +3 "core" &K l j \  +2 "manipulator"&A& +3 "core" &\   +7 .tElbow.seek 6 + "manipulator"&E( +4 "core" ( + "manipulator"&S& +4 "core" &\  &  + "storage"(q& +4 "core" &K j j \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&n'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(:' +61 "core" ' + "manipulator"&& +4 "core" &\  G +2 "storage"(F& +4 "core" &K s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&Z'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&?, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +22 "core" ' +52 "manipulator"&% +6 "core" %η  + "storage"(O& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&]' +12 "core" ' +2 "manipulator"&Q& +4 "core" &\  2 +2 "storage"(<& +4 "core" &K ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&('a +35 "core" ' + "storage"(7% +5 "core" %o R\ +2 ."downElevator"SE.seek :down +4 "storage"(P'X +98 ( % +3 "core" %F \ Xe +2 "manipulator"&X% +5 "core" %B e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (!& +4 "core" &K k\  + "collection"'/& +4 "core" &VlCDe\ H +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&d% +4 "core" %\    +2 "storage"(% +3 "core" %` p\  +2 "storage"(1. +3 "core" .(K +2 "storage"(C& +3 "core" &K I\  +2 "storage"(}& +4 "core" &K g\  +2 "manipulator"&5& +4 "core" &\  ' +2 .tElbow.seek 6 + "manipulator"&8( +3 "core" ( +2 "manipulator"&M& +4 "core" &\  +2 "storage"(0& +3 "core" &K \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&_'a +94 "core" ' +2 "storage"(j& +4 "core" &K \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +284 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &\  ! +2 "storage"(6& +3 "core" &K 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +26 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(*'Z +31 "core" ' + "manipulator"&% +4 "core" %ε 1 +2 "storage"( & +3 "core" &K ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&G' +12 "core" ' + "manipulator"&U& +4 "core" &  [  +2 "storage"(9& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +31 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(%'I +41 "core" ' +2 "manipulator"&.& +5 "core" &   + "manipulator"&% +4 "core" %Y  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&\ ( +159 "core" ( +6 "manipulator"&& +5 "core" &* / @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &* @] +2 .tForearm.seek CC +2 "manipulator"&e'" +94 "core" ' +2 .tHand.close + "manipulator"&Y/ +55 "core" / +2 .tCC.seek :open +2 "collection"'R( +416 "core" ( + "storage"(g& +4 "core" &K\ \  \  +2 "storage"(z& +4 "core" &K\ \ \  + "manipulator"&-& +4 "core" &* ! @[ + "manipulator"&% +4 "core" % & * % \ +2 .tForearm.seek :retract + "manipulator"&w'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&& +5 "core" & .  + "storage"(J& +4 "core" &K\ 1\ . 7\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&o'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +56 "core" 1 +2 "manipulator"&T% +4 "core" % ι # +2 "storage"(t& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&i' +18 "core" ' +3 "manipulator"&`& +4 "core" & \\  +2 "storage"(m& +3 "core" &K\ P\ M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +17 "core" ' + "storage"()% +4 "core" %K\  \ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (% +2 "core" %I\ %\ $ Q\ Vb +2 "manipulator"&b% +4 "core" %Z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +91 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'k& +4 "core" &ACR\ +2 "manipulator"&p% +3 "core" %\  O % +2 "storage"(2% +4 "core" %W\ P\ P \ + "storage"(x. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +660 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" &,m H\ +2 "manipulator"&I& +3 "core" &   +7 .tElbow.seek 4 + "manipulator"&3( +11 "core" ( + "manipulator"&u& +4 "core" &  q  +2 "storage"(& +3 "core" &,q\ I\ I &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&s'Ѽ +96 "core" ' + "storage"('& +4 "core" &,q\ +  |\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,q\ ,\ @ \ + "manipulator"&{& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&y( +4 "core" ( + "manipulator"& & +4 "core" &   + "storage"(&& +4 "core" &,q\ C\ D \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"( 'X +7 "core" &   +2 "manipulator"&[% +4 "core" % )  P +2 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &+ # - A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ W A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +104 "core" ' +2 "manipulator"&c& +4 "core" &+  A` + "manipulator"&% +4 "core" %  < +2 "collection"'~& +4 "core" &DCa\ +2 "collection"'v& +4 "core" &DC\ +2 .tCC.seek :closed +2 "collection"';(V +5 "core" &DF`\  +9 &3}C@_\ *x +9 &dCDe\ > +10 &|qDE^\ N +9 &ARBC[\ L +9 &RAB^\ L +10 &RACV\ L +11 &WBC`\ L +7 &IXDDa\ L +10 & WCD^\ L +9 &WCC`\ L +10 & UCBY\ M +9 &"PU@@^\ M +9 &$TBB^\ M +10 &%W@BW\ M +9 &'UBDG\ M +9 &)YUBDO\ L +10 &+RCDG\ L +9 &,WCBI\ L +10 &.UACF\ M +9 &0`VBCI\ M +9 &2"UBCD\ M +10 &3UBBB\ L +9 &5RDDH\ L +9 &7iRBCL\ L +10 &9+RDBF\ L +9 &:UBBB\ M +10 &<TBD>\ L +9 &>qUBBC\ L +9 &@3W@B?\ L +10 &AXCC>\ M +9 &C[BDB\ M +9 &EuaBDB\ N +10 &G2kBDH\ O +9 &HCDG\ Q +10 &JBCI\ W +9 &L^CCG\ X +9 &N!BDH\ X +10 &OCDG\ Y +9 &QBCE\ Y +9 &S`@CG\ Z +10 &U"DCB\ Z +9 &VkBBCD\ 1 +10 &V~DDD\ M +5 ( + "collection"'v& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.17 + .Hand.open + "manipulator"&r1 +4 "core" &VpDC8\ M +53 1 + "manipulator"&A% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' +4 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%q& +4 "core" &6\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %b }\ + "storage"(F. +3 "core" .(,l +2 "storage"(|& +3 "core" &,q \ +2 "storage"(& +3 "core" &,q T\ +2 "manipulator"&& +4 "core" &+ a A` + "manipulator"&O% +4 "core" %\ q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Q( +164 "core" ( +2 "manipulator"&<& +4 "core" &  I +2 "storage"(W& +3 "core" &,q\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +93 "core" ' + "storage"(7& +5 "core" &,q\ \  5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +284 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &,q \ +2 "manipulator"&X& +4 "core" &  I + .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&:& +4 "core" & O I +2 "storage"(Z& +3 "core" &,q p\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&]', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +3 "storage"(d'X +6 "core" &  I +2 "manipulator"&% +3 "core" % * B T +2 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&C(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&"& +4 "core" &q * $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +100 "core" ' + "manipulator"&M& +5 "core" &q  + "manipulator"&0% +4 "core" % t J +2 "processing"%(& +4 "core" &,\ +2 "processing"%j& +4 "core" &.\ +3 .tPC.seek :closed + "processing"%P(Z +4 "core" &4\  +9 &1{=\ )w +9 &d1\ > +9 &vu0\ N +10 &9V:\ M +9 &V<\ M +10 &W:\ L +9 &W:\ M +9 &BU:\ M +10 &Y8\ M +9 &W8\ M +9 & U6\ M +10 &"JW7\ M +9 &$ V0\ M +10 &%W7\ L +9 &'Y1\ M +9 &)RW2\ M +10 &+W2\ M +9 &,Z3\ M +9 &.V1\ M +10 &0YU0\ M +9 &2W9\ M +9 &3W1\ M +10 &5Y-\ M +9 &7aU3\ M +10 &9$V*\ M +9 &:U#\ L +9 &<W)\ M +10 &>jT$\ M +9 &@,W+\ M +10 &AT#\ M +9 &CY"\ M +9 &Eo`$\ N +10 &G-j#\ O +9 &H#\ R +9 &J"\ S +10 &Lg#\ S +9 &N* \ S +9 &O#\ S +10 &Q#\ S +9 &Sn!\ S +10 &U/#\ T +9 &V%\ T +9 &X!\ T +10 &Z ^#\ "j +9 &Z^#\ . +9 ( +2 "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&?1 +3 "core" &Z!\ ) +50 1 + "manipulator"& % +4 "core" %  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +90 "core" ' + "processing"%$& +5 "core" &Z#\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&6% +3 "core" %\  D  +2 "storage"(a% +4 "core" %` \\\ + "storage"(. +3 "core" .(,l +2 "storage"( & +4 "core" &,q \ +2 "storage"(U& +3 "manipulator"&9& +5 "core" &,q \ + &q  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&.(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&_& +4 "core" &q G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &q 1 ^ +2 .tForearm.seek PC + "manipulator"&H' +97 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%G( +85 "core" ' + "storage"(*- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +35 "core" ' +306 ( + "storage"(N& +4 "core" &,q h\ +2 "manipulator"&& +3 "core" &q  +2 "manipulator"&f% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&L( +250 "core" ( + "manipulator"&K& +4 "core" & $ 6 c +2 "storage"(g& +3 "core" &,q k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&z'Ѽ +96 "core" ' + .tHand.open + "manipulator"&-1 +60 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(J' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(\ & +4 "core" &,q S R \ + "manipulator"&>& +4 "core" & b +2 .tElbow.seek 4 + "manipulator"&T( +4 "core" ( + "manipulator"&t& +4 "core" & $ [ b +2 "storage"(`& +4 "core" &,q P H L\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&m'Ѽ +13 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +61 "core" ' +2 "manipulator"&w& +4 "core" & o b + "storage"(& +4 "core" &,q q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&b' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(o'i +25 "core" ' + "manipulator"&k% +5 "core" % A + "storage"(i& +4 "core" &,q #\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts + "manipulator"&p'; +19 "core" ' + "manipulator"&2& +4 "core" &  K b +2 "storage"(x& +4 "core" &,q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&%'Ѽ +24 "core" ' +2 "storage"(% +4 "core" %o U\ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (4% +2 "core" %F @\ Xf +2 "manipulator"&#% +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (u& +4 "core" &,q g\ +2 "collection"'& +3 "core" &VoCCt\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&'% +4 "core" %\    +2 "storage"(^% +4 "core" %a \ + "storage"(\\. +3 "core" .(,l + "storage"(& +4 "core" &,q Q\ +2 "storage"(& +3 "core" &,q y\ +2 "manipulator"&{& +4 "core" & b +2 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&&& +4 "core" & # R b + "storage"(h& +4 "core" &,q z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&@'Ѽ +96 "core" ' +2 "storage"([& +4 "core" &,q \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +283 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Q b + "storage"(& +4 "core" &,q \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&l' +34 "core" ' + .tElbow.hold +51 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +29 "core" ' +2 "manipulator"&y% +4 "core" % +2 "storage"(~& +3 "core" &,q \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"& '< +19 "core" ' +2 "manipulator"&D& +4 "core" &  w b +2 "storage"(R& +4 "core" &,q l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&r'Ѽ +49 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(A'E +57 "core" ' +2 "manipulator"&q& +4 "core" & I a +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +155 "core" ( +2 "manipulator"&|& +4 "core" &' 0 , >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &' >I +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +3 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'O( +417 "core" ( + "storage"(& +4 "core" &,q\ \  -\ +2 "storage"(<& +3 "core" &,q\ \ \ +2 "manipulator"&W& +4 "core" &( - / >I + "manipulator"&7% +4 "core" % & 0 g  +2 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&S( +154 "core" ( + "manipulator"&n& +4 "core" &  M  +2 "storage"( & +3 "core" &,q\ D\ H \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&X' +105 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +64 "core" 1 +2 "manipulator"&!% +4 "core" %  2 G +2 "storage"(/& +3 "core" &,q\ \  A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +20 "core" ' + "manipulator"&Q& +4 "core" &  G  +3 "storage"(& +3 "core" &,q\ P\ E /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&,'Ѽ +34 "core" ' + "storage"(]% +5 "core" %H\ -\ A l\ +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (}% +3 "core" %L\ $\ $ "\ Wc +2 "manipulator"&E% +4 "core" %Ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +92 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'0& +4 "core" &@B\ + "manipulator"&(% +4 "core" %\  +2 "storage"(d% +4 "core" %b }\ , Q\ + "storage"(1. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(V(<* +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &<(\ \  \  + "manipulator"& & +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&$( +4 "core" ( + "manipulator"&6& +4 "core" &   + "storage"(a& +4 "core" &<$\ P\ E b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +100 "core" ' + "storage"( & +4 "core" &<$\ ) \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +282 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" &<$\ 3\ 9\  +2 "manipulator"&_& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&5& +4 "core" & h  + "storage"(& +4 "core" &<$\ C\ E\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&*' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&B& "storage"(P'X +8 "core" & B  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +160 "core" ( + "manipulator"&f& +5 "core" && 6 O =F + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&H& +5 "core" && ` =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'" +98 "core" ' +2 "manipulator"&g& +4 "core" && . =E +2 "manipulator"&.% +4 "core" %  +2 "collection"'-& +4 "core" &CCZ\ +2 "collection"'& +4 "core" &BB\ +2 .tCC.seek :closed +3 "collection"'e(V +4 "core" &DC]\  +8 &2}C:`\ *x +10 &cBB\\\ = +9 &zrADZ\ M +9 &=S@D[\ L +10 &RAC]\ L +9 &R@D]\ L +9 &WAD[\ L +10 &EWACY\ L +9 &UBC]\ M +10 &TCBR\ L +9 & RAA`\ L +9 &"MXAC`\ L +10 &$WDCW\ L +9 &%VC:T\ M +9 &'TABU\ L +10 &)URBBT\ L +9 &+V@AT\ M +10 &,UABO\ L +9 &.WCBT\ L +9 &0\\W@AN\ M +10 &2UA@L\ L +9 &3SBCO\ L +9 &5UAAG\ L +10 &7eRBBJ\ L +9 &9'UACE\ L +10 &:UABD\ M +9 &<XBCF\ M +9 &>mYCA;\ L +10 &@/WBB8\ L +9 &AU@BD\ M +9 &CVDCH\ L +10 &Eq_BE>\ N +9 &G/iBCA\ O +10 &H}AB<\ Q +9 &JAD:\ W +9 &LZCAF\ X +10 &NBBG\ X +9 &OACC\ Y +9 &QCD?\ Y +10 &S^BDC\ Z +9 &UCDC\ Z +10 &VjDBCG\ 1 +9 &VmDDE\ J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&\ 1 +3 "core" &VaADE\ J +53 1 + "manipulator"&>% +5 "core" % 0 O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&t'\ +100 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%`& +9 "core" &,\ + "manipulator"&Y% +4 "core" %\ ! 9 8 +2 "storage"(w% +3 "core" %\\ )\ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<$ *\  + "storage"(k& +4 "core" &<$ \  + "manipulator"&i& +4 "core" && =E + "manipulator"&% +4 "core" %\ ! 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +160 "core" ( +2 "manipulator"&x& +4 "core" & $ f t + "storage"(& +4 "core" &<$ x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&L'ы +95 "core" ' +2 "storage"(z& +4 "core" &<$\ \ ' %\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +221 "Can"N\ NL +62 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (#& +3 "core" &<$ \ W\  + "manipulator"&m& +4 "core" & + t +2 .tElbow.seek 5 + "manipulator"&T( +3 "core" ( +2 "manipulator"&)& +3 "core" & S t +2 "storage"(b& +3 "core" &<$\ \ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&p' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(''X +8 "core" & 5 t + "manipulator"&^% +4 "core" % [  +2 .tForearm.seek :retract + "manipulator"&\\'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&o& +4 "core" &{ 6  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &{ \ +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&{' +94 "core" ' + "manipulator"&&& +5 "core" &{ $  \ + "manipulator"&h% +4 "core" % | 2 +2 "processing"%%& +4 "core" &9\ +2 "processing"%[& +6 "core" &7\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &=\  +8 &3|4\ *x +10 &d4\ > +9 &su9\ N +9 &8S=\ M +10 &V9\ L +9 &W2\ M +9 &W2\ L +10 &@V6\ M +9 &X3\ M +10 &U8\ M +9 & X;\ M +9 &"IV4\ L +10 &$\ V8\ M +9 &%U8\ M +9 &'W7\ M +10 &)PW2\ M +9 &+W7\ L +9 &,V3\ M +10 &.X/\ M +9 &0WU/\ M +10 &2X5\ M +9 &3X5\ M +9 &5Y1\ M +10 &7_V0\ M +9 &9!W4\ M +9 &:U/\ M +10 &<Z1\ M +9 &>hU3\ M +10 &@)[/\ M +9 &AV%\ M +9 &CZ/\ M +10 &EmZ$\ N +9 &G*h.\ O +10 &H#\ R +9 &J#\ S +9 &Le"\ S +10 &N'#\ S +9 &O#\ T +9 &Q$\ T +10 &Sj"\ T +9 &U,"\ T +9 &V'\ T +10 &X#\ T +9 &Z_"\ "j +10 &Z b"\ / +8 ( +2 &Z!\ ) +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&I% +4 "core" % u 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  C  +2 "storage"(c% +3 "core" %b y\ +2 "storage"(y. +3 "core" .(<* + "storage"(~& +4 "core" &<$ r\  +2 "storage"(D& +2 "manipulator"&R& +7 "core" &<$ .\  + &{ & \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&q(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(@'i + "core" ( +3 "manipulator"&& +4 "core" &{ 3 } \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &{ h \ +2 .tForearm.seek PC + "manipulator"&3' +97 "core" ' +2 .tHand.close + "manipulator"&l/ +57 "core" / +2 .tPC.seek :open +2 "processing"% ( +93 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(|'y +40 "core" ' +288 ( +2 "storage"(v& +3 "core" &<$ N\  +2 "manipulator"&r& +4 "core" &{ p \ +2 "manipulator"&% +3 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +262 "core" ( +2 "manipulator"&;& +4 "core" & $ + "storage"(& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&<'ы +97 "core" ' + .tHand.open +2 "manipulator"&W1 +52 "core" 1 + "storage"(7- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(n'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(F& +4 "core" &<$ h ` w\  + "manipulator"&Z& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&!( +4 "core" ( + "manipulator"&/& +4 "core" &  V +2 "storage"(Q& +3 "core" &<$ k j \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +115 "core" ' +2 "manipulator"&=& +4 "core" & J +2 "storage"(}& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&E' +37 "core" ' + .tElbow.hold + "manipulator"&S, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +24 "core" ' +2 "manipulator"&% +4 "core" % e R + "storage"(0& +4 "core" &<$ T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&(' +20 "core" ' +2 "manipulator"&d& +4 "core" & B  +2 "storage"(1& +4 "core" &<$ d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&A'ы +26 "core" ' + "storage"(,% +4 "core" %q \  \ +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (% +3 "core" %|J c\ Xg +2 "manipulator"&?% +4 "core" %у ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +85 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +4 "core" &<$ \  f\  +2 "collection"'a& +3 "core" &V`D@<\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\    +2 "storage"(:% +3 "core" %`\ \ \ +2 "storage"(M. +3 "core" .(<* + "storage"(9& +4 "core" &<$\ \ \  + "storage"(j& +4 "core" &<$\ \ \  +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&5( +29 "core" ( + "manipulator"&& +4 "core" & # , +2 "storage"(C& +4 "core" &<$ b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&B'ы +87 "core" ' +2 "storage"(& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &$   "y +2 "storage"(H& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&U' +34 "core" ' + .tElbow.hold + "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'V +39 "core" ' + "manipulator"&8% +4 "core" %   _ c +2 "storage"(-& +4 "core" &<$ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&P' +16 "core" ' +2 "manipulator"&N& +4 "core" && j !w + "storage"(O& +4 "core" &<$ 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&\ 'ы +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(>'E +40 "core" ' + "manipulator"&`& +4 "core" && X !w +2 "manipulator"&Y% +4 "core" %с  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +159 "core" ( +3 "manipulator"&& +4 "core" &. - # Dy + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- Dx +2 .tForearm.seek CC +2 "manipulator"&k'" +98 "core" ' +2 .tHand.close + "manipulator"&i/ +62 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(K& +4 "core" &<$\ &\ \ n\  + "storage"(x& +4 "core" &<$\ \  \  + "manipulator"&& +4 "core" &.  Dv + "manipulator"&z% +4 "core" % )  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&t( +166 "core" ( + "manipulator"&4& +5 "core" &  G \\ + "storage"(#& +4 "core" &<$\ M\ F 7\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +51 .tForearm.seek 5 +3 "manipulator"&m' +110 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +61 "core" 1 +3 "manipulator"&u% +4 "core" %  G + "storage"(& +4 "core" &<$\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&^' +15 "core" ' +2 "manipulator"&2& +4 "core" & c \\ +2 "storage"(L& +3 "core" &<$\ P\ F )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&J'ы +40 "core" ' + "storage"(p% +5 "core" %G\ L\ E \ +2 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (% +3 "core" %jD\ $\ ' \\\ Wb +2 "manipulator"&T% +4 "core" % d } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'h& +5 "core" &@B}\ + "manipulator"&%% +4 "core" %\ h  +2 "storage"('% +3 "core" %_\ - } )\ +2 "storage"(\\. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(G(K +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K\ \  ^\  + "manipulator"&I& +4 "core" &  \\ +2 .tElbow.seek 6 + "manipulator"&( +40 "core" ( +2 "manipulator"&& +4 "core" &. 9  + "storage"(c& +4 "core" &K\ Q\ N *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&y'a +96 "core" ' +2 "storage"(~& +4 "core" &K \ + >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +283 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" &K\ &\ $ r\  + "manipulator"&& +4 "core" &.   +2 .tElbow.seek 6 + "manipulator"& ( +21 "core" ( +3 "manipulator"&{& +4 "core" &  +  + "storage"(l& +4 "core" &K\ D\ H \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& "storage"(+'X +8 "core" & k  +2 "manipulator"&@% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +161 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +11 "core" &% 6 <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &% <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&;'" +97 "core" ' +3 "manipulator"&& +4 "core" &&  . <? + "manipulator"&q% +4 "core" %" +2 "collection"'W& +4 "core" &AC\ +2 "collection"'7& +5 "core" &BC\ +2 .tCC.seek :closed + "collection"'(V +4 "core" &AC_\  +9 &2}B@^\ *x +9 &b@A]\ = +10 &tq@C[\ M +9 &9TBC\\\ L +10 &UBBc\ M +9 &U?B]\ M +9 &}TCC[\ M +10 &?UABe\ M +9 &UDDa\ M +9 &T@C[\ L +10 & SBCZ\ L +9 &"HSB@Y\ L +10 &$\ RACa\ L +9 &%SBBZ\ L +9 &'QACY\ L +10 &)PVCDY\ L +9 &+VCC^\ M +9 &,UBE`\ L +10 &.RDD[\ L +9 &0XXBCa\ L +9 &2VCCY\ L +10 &3UBB^\ L +9 &5RADW\ L +10 &7`WBCJ\ L +9 &9!UBDK\ M +9 &:WABF\ M +10 &<TDCO\ L +9 &>hUBBH\ L +9 &@*SCCC\ L +10 &ATACD\ M +9 &CZC@>\ L +10 &En\\BCB\ M +9 &G,gCC<\ N +9 &HzCD:\ Q +10 &JCD8\ V +9 &LVB@8\ X +9 &NCD8\ X +10 &OB;9\ X +9 &QCD:\ Y +10 &SXDCC\ Z +9 &UDD<\ Z +9 &VeC@C:\ 1 +10 &V\ |BC7\ K +5 ( +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open + "manipulator"&F1 +4 "core" &VnBC9\ K +56 1 +2 "manipulator"&Z% +4 "core" % " / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%Q& +4 "core" &4\ +2 "manipulator"&% +3 "core" %\  O  +2 "storage"(=% +4 "core" %b $\ + "storage"(}. +3 "core" .(K + "storage"(|& +4 "core" &K \  +2 "storage"(n& +3 "core" &K \  +2 "manipulator"&& +4 "core" &% <> + "manipulator"&0% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +158 "core" ( +2 "manipulator"&& +4 "core" & $ P y + "storage"(1& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&<'a +105 "core" ' + "storage"( & +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K |\  +2 "manipulator"&& +3 "core" & J y +2 .tElbow.seek 6 + "manipulator"&!( +4 "core" ( + "manipulator"&]& +4 "core" &  + y + "storage"(E& +4 "core" &K j\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&(' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"( 'X +7 "core" & + y + "manipulator"&:% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&M'\ +106 "core" ' +2 .tElbow.seek PC + "manipulator"&9(s +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +117 "core" ( + "manipulator"&X& +4 "core" &g ! O  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&_' +93 "core" ' +2 "manipulator"&& +4 "core" &j $ }  + "manipulator"&C% +4 "core" %  l  +2 "processing"%A& +4 "core" &1\ +2 "processing"%& +5 "core" &0\ +2 .tPC.seek :closed + "processing"%"(Z +4 "core" &3\  +9 &3}6\ *y +9 &d1\ > +10 &s/\ N +9 &EW3\ M +9 &V3\ M +10 &W3\ M +9 &X6\ M +9 &LV=\ M +10 &Y5\ M +9 &X;\ M +10 & W5\ M +9 &"VW2\ M +9 &$W<\ M +10 &%V8\ M +9 &'X8\ M +9 &)]V9\ M +10 &+V:\ M +9 &,W8\ M +10 &.X8\ M +9 &0eW2\ M +9 &2&Y2\ M +10 &3X8\ N +9 &5X5\ M +9 &7lU5\ M +10 &9/V7\ M +9 &:U3\ M +10 &<W6\ M +9 &>vV8\ M +9 &@7\\1\ M +10 &AW7\ M +9 &C[0\ N +9 &Eza8\ N +10 &G8n9\ O +9 &H%\ R +9 &J-\ S +10 &Ls%\ S +9 &N5+\ S +10 &O#\ S +9 &Q#\ T +9 &Sy*\ T +10 &U;"\ T +9 &V"\ T +10 &X)\ T +9 &Z&Y{#\ %p +9 &Zc%\ 4 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&S1 +4 "core" &Z -\ - +49 1 + "manipulator"& % +4 "core" % 2   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%f& +5 "core" &Z  \ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&H% +4 "core" %\ % * @ J + "storage"(g% +4 "core" %` M\ +2 "storage"(8. +3 "core" .(K + "storage"(-& +4 "core" &K \\\  + "storage"(N& +5 "manipulator"&O& +4 "core" &K f\  + &k  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&`(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +2 "manipulator"&B& +4 "core" &k B  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &k   +53 .tForearm.seek PC +2 "manipulator"&$' +97 "core" ' +2 .tHand.close + "manipulator"&U/ +55 "core" / +3 .tPC.seek :open + "processing"%P( +41 "core" ' + "storage"(.- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +337 ( + "storage"(& +4 "core" &K <\  +2 "manipulator"&\ & +3 "core" &k 7  +2 "manipulator"&*% +4 "core" % 9 + .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +257 "core" ( + "manipulator"&e& +5 "core" & P  + "storage"(K& +4 "core" &K p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&x'a +104 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(z- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(4'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(& +4 "core" &K i _ \  +2 "manipulator"&b& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +3 "core" &  [  +2 "storage"(2& +4 "core" &K \\ [\  +2 .tForearm.seek 6 + 700 counts + "manipulator"&L'a +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +61 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +7 .tForearm.seek 6 +2 "manipulator"&T'Υ +19 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +24 "core" ' +2 "manipulator"&^% +4 "core" %ι  +2 "storage"(h& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&%' +18 "core" ' +2 "manipulator"&'& +4 "core" & |  +2 "storage"(\\& +3 "core" &K G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&>'a +22 "core" ' +2 "storage"(J% +4 "core" %s\ \  +\ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (V% +3 "core" %L \ Xf + "manipulator"&% +4 "core" %і P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K W\  +2 "collection"'c& +4 "core" &VnAC\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +4 "core" %\    + "storage"()% +4 "core" %b e\ + "storage"(&. +3 "core" .(K +2 "storage"(R& +4 "core" &K R\  + "storage"(D& +4 "core" &K q\  +2 "manipulator"&& +4 "core" & B  +2 .tElbow.seek 6 + "manipulator"&{( +4 "core" ( + "manipulator"&l& +4 "core" & $ 2  + "storage"(& +4 "core" &K z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&s'a +94 "core" ' + "storage"(@& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(3& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&['Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"( 'Z +27 "core" ' +2 "manipulator"&q% +4 "core" %ε  +2 "storage"(W& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&+' +16 "core" ' +2 "manipulator"&v& +4 "core" & "  + "storage"(& +4 "core" &K %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(Z'I +39 "core" ' +2 "manipulator"&Q& +4 "core" &   +2 "manipulator"&% +3 "core" %X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&='\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +152 "core" ( +2 "manipulator"&|& +5 "core" &"  ; 9) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &"  9) +2 .tForearm.seek CC +2 "manipulator"&n'" +98 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'0( +418 "core" ( + "storage"(;& +4 "core" &K\ &\ & a\  +2 "storage"(& +3 "core" &K\ \  \  +2 "manipulator"&1& +3 "core" &" H 8 +2 "manipulator"& % +3 "core" % 4 0 V +2 .tForearm.seek :retract +2 "manipulator"&r'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&/( +161 "core" ( + "manipulator"&& +4 "core" & h  +2 "storage"(?& +3 "core" &K \ + r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +108 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +53 "core" 1 +2 "manipulator"&6% +5 "core" % ε  / + "storage"(a& +4 "core" &K ;\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 316 counts + "manipulator"&:' +19 "core" ' + "manipulator"&d& +5 "core" &  + "storage"(<& +4 "core" &K\ O\ P W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&,'a +20 "core" ' +2 "storage"((% +4 "core" %Q\ E\ K C\ +2 ."downElevator"SE.seek :down +3 "storage"(X'X +100 (j% +2 "core" %uG\ -\ $ w\ Wd +2 "manipulator"&!% +4 "core" %U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'C& +4 "core" &AC~\ + "manipulator"&A% +4 "core" %\  >  +2 "storage"( % +3 "core" %]\ <\ = M\ +2 "storage"(M. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,l +655 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &,n\ \  _\ + "manipulator"& & +4 "core" & p  +2 .tElbow.seek 4 + "manipulator"&f( +14 "core" ( + "manipulator"&H& +4 "core" &  K +2 "storage"(g& +3 "core" &,r\ K\ I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&8'Ѽ +99 "core" ' + "storage"(-& +5 "core" &,r\ - { Z\ +49 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +285 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,r\ A\ * 5\ +2 "manipulator"&B& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&_& +3 "core" & N +2 "storage"(U& +4 "core" &,r\ O\ P \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&.', +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"("'X +8 "core" & / + "manipulator"&Y% +4 "core" % ,   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&\ ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&*& +3 "core" &+ b Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +4 "core" &+ Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&e'" +105 "core" ' + "manipulator"&K& +4 "core" &+  f Ac +2 "manipulator"&`% +4 "core" %3 s 5 +2 "collection"'& +3 "core" &BCq\ +2 "collection"'z& +6 "core" &BC\ +2 .tCC.seek :closed +2 "collection"'k(V +4 "core" &BBq\  +8 &0y@E`\ *x +10 &dACe\ > +9 &wpBA^\ M +10 &<S@A^\ L +9 &VBC_\ L +9 &RCC_\ L +10 &VAB`\ L +9 &BUBCe\ M +9 &UAC]\ L +10 &RBBa\ L +9 & WAC\\\ L +10 &"KVCD\\\ L +9 &$ RBB\\\ L +9 &%XBBZ\ L +10 &'UCAY\ M +9 &)STBAZ\ L +9 &+W@B[\ L +10 &,UCC`\ L +9 &.R@CX\ L +10 &0ZVBB_\ M +9 &2UAA_\ L +9 &3RAAZ\ L +10 &5UABX\ M +9 &7cUBB`\ L +9 &9&WABY\ L +10 &:WBBY\ M +9 &<YBCY\ L +10 &>kYAC`\ L +9 &@-WBB`\ L +9 &AVCA[\ M +10 &CZABV\ M +9 &Ep`@BZ\ M +9 &G.kBCM\ O +10 &HABV\ Q +9 &JACV\ W +10 &LX@AL\ X +9 &NACP\ X +9 &O@CY\ Y +10 &QABJ\ Y +9 &S\\ABL\ Z +9 &UBAJ\ Z +10 &VfBDD8\ 1 +9 &Vr@DF\ I +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +3 "core" &VbBCJ\ I +56 1 +2 "manipulator"&b% +4 "core" % 3  W 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%2& +4 "core" &/\ +2 "manipulator"&i% +4 "core" %\ %  F +2 "storage"(% +3 "core" %_ \ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,r \ + "storage"(^& +4 "core" &,r \ +2 "manipulator"&h& +3 "core" &* Ac +2 "manipulator"&4% +3 "core" %\ % F +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&'( +158 "core" ( + "manipulator"&\\& +4 "core" & $ 5 | +2 "storage"(J& +3 "core" &,r J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +96 "core" ' +2 "storage"(x& +4 "core" &,r\ \ & &\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +283 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r x\ +2 "manipulator"&L& +4 "core" &  | + .tElbow.seek 4 +2 "manipulator"&u( +3 "core" ( + "manipulator"&p& +4 "core" & A | +2 "storage"(T& +3 "core" &,r\ \  7\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&%', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(~'X +7 "core" & = | +2 "manipulator"&)% +4 "core" % ) < N + .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&R(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&m& +5 "core" &n )  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &n g \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&l& +4 "core" &o  ( \ +2 "manipulator"&% +4 "core" % 1 ' +2 "processing"%>& +3 "core" &6\ +2 "processing"%@& +6 "core" &0\ +2 .tPC.seek :closed +3 "processing"%o(Z +3 "core" &2\ +6 &3\ 9 +9 &JIy6\ 1 +10 &xr3\ E +9 &^8\ M +9 &W<\ M +10 &W2\ M +9 &f[6\ M +9 &)W7\ M +10 &U=\ M +9 &T=\ M +9 &oW=\ M +10 &!2W9\ L +9 &"Y=\ M +10 &$W=\ M +9 &&xU:\ L +9 &(8W9\ M +10 &)W9\ M +9 &+W6\ M +9 &-W9\ L +10 &/@W7\ M +9 &1X8\ M +10 &2Z3\ M +9 &4W5\ M +9 &6IT5\ M +10 &8 V3\ M +13 &9\\5\ M +6 &;U.\ L +9 &=QW1\ M +9 &?U1\ M +10 &@W/\ M +9 &B\\/\ M +9 &DW\\5\ M +10 &Fa1\ N +9 &Gu+\ P +9 &I5\ S +10 &KO.\ S +9 &M$\ S +10 &N#\ S +9 &P"\ S +9 &RU#\ S +10 &T#\ S +9 &U0\ T +9 &W$\ T +10 &Y[!\ A +9 &ZhA$\ P +10 &Z2(\ 0 +5 ( + "processing"%@& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&t1 +3 "core" &Z%+\ 0 +53 1 +2 "manipulator"&I% +4 "core" %  n ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y'\ +95 "core" ' +2 "processing"%& +4 "core" &Z%\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&3% +3 "core" %\  ^  +2 "storage"(% +4 "core" %a \ + "storage"(q. +3 "core" .(,l + "storage"(W& +4 "core" &,r ?\ +2 "storage"(v& +2 "manipulator"&& +7 "core" &,r \ + &o - 0 \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&Q(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&s& +7 "core" &o   \ +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +4 &{& +8 "core" &o \ +4 .tForearm.seek PC + "manipulator"&' +99 "core" ' +3 .tHand.close +3 "manipulator"&[/ +64 "core" / +6 .tPC.seek :open + "processing"%+( +57 "core" ' +2 "storage"( - +9 "core" -'i +4 ."raiseStack"SE.configure :default +8 "storage"(#QK-0-\ b +8 ."raiseStack"SE.seek :place +4 "storage"(|'y +46 "core" ' +69 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +226 "core" ( +4 "storage"(7& +8 "core" &,r \ +4 "manipulator"&F& +6 "core" &o 7 \ +4 "manipulator"&% +6 "core" % G +3 .tForearm.seek :retract +4 "manipulator"&'\ +98 "core" ' +6 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +11 .tElbow.seek 4 +4 "manipulator"&=( +260 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(;& +4 "core" &,r )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&11 +59 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +33 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +4 "core" -' + "storage"(}& +4 "core" &,r &\ +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&6( +8 "core" ( + "manipulator"&a& +5 "core" &  O  + "storage"(d& +4 "core" &,r  D\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&<'Ѽ +12 "core" ' +2 .tSE.reconfigure :gently +53 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"((' +58 "core" ' + "manipulator"&r& +4 "core" &  +2 "storage"(j& +4 "core" &,r\ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&!' +23 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&:% +4 "core" % r +2 "storage"(C& +3 "core" &,r \\\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&A': +21 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(M& +4 "core" &,r\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Z'Ѽ +31 "core" ' + "storage"(,% +5 "core" %m\ %\  \ +2 ."downElevator"SE.seek :down +4 "storage"(X'X +99 (G% +5 "core" %I =\ We +2 "manipulator"&S% +4 "core" %Ѱ r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (H& +4 "core" &,r\ \ \ +2 "collection"'g& +4 "core" &VaAD\ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&-% +4 "core" %\ \   + "storage"(]% +4 "core" %a\ \  \ + "storage"(. +4 "core" .(,l + "storage"(N& +4 "core" &,r\ \  \ + "storage"(& +4 "core" &,r\ \  j\ + "manipulator"&B& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&_( +3 "core" ( +2 "manipulator"&U& +4 "core" & 1  +2 "storage"(9& +3 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +103 "core" ' +2 "storage"(Y& +4 "core" &,r\ \ h\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +284 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" & \  +2 "storage"($& +4 "core" &,r ~\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O' +30 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(5'V +31 "core" ' +2 "manipulator"&`% +4 "core" %  & + "storage"(& +4 "core" &,r \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&"'@ +18 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(0& +3 "core" &,r\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'E +39 "core" ' +2 "manipulator"&2& +4 "core" & ?  + "manipulator"&i% +5 "core" %ѻ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +160 "core" ( + "manipulator"&& +4 "core" &* @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &) - + @Y +2 .tForearm.seek CC +2 "manipulator"&^'" +93 "core" ' + .tHand.close + "manipulator"&h/ +55 "core" / +2 .tCC.seek :open +2 "collection"'4( +419 "core" ( +2 "storage"(e& +4 "core" &,r\ \  \ + "storage"(\\& +4 "core" &,r\ \  ]\ + "manipulator"&J& +4 "core" &* @X + "manipulator"&x% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&\ '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +156 "core" ( +2 "manipulator"&V& +4 "core" &  +2 "storage"(& +3 "core" &,r\ C\ B +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +6 "manipulator"&L' +98 "core" ' +3 .tElbow.hold +2 "manipulator"&p, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&T1 +60 "core" 1 +2 "manipulator"&% +4 "core" % % +2 "storage"(c& +4 "core" &,r\ I\ I $\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 312 counts + "manipulator"&)'8 +18 "core" ' +3 "manipulator"&'& +4 "core" & g  + "storage"(w& +4 "core" &,r\ D\ H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&#'Ѽ +47 "core" ' +2 "storage"(%% +4 "core" %K\ F\ I \ +2 ."downElevator"SE.seek :down +3 "storage"(m'X +100 (D% +2 "core" %1I\ &\ % m\ Wd +2 "manipulator"&u% +4 "core" %  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &AA\ +2 "manipulator"&>% +3 "core" %\ \   +2 "storage"(~% +4 "core" %` }\ - \ + "storage"(&. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(P(<* +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" &<) \  +2 "manipulator"&I& +3 "core" & H  +2 .tElbow.seek 5 + "manipulator"&( +8 "core" ( + "manipulator"&3& +4 "core" & -  +2 "storage"(& +4 "core" &<%\ <\ < X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&q'ы +93 "core" ' +2 "storage"(W& +4 "core" &<% \ . \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &<%\ 7\ $ `\  +2 "manipulator"&s& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( + "manipulator"&& +4 "core" & E  + "storage"([& +4 "core" &<%\ C\ D\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& ' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(o'X +7 "core" &   +2 "manipulator"&% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&7'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &% 6 e <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% & z <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +97 "core" ' + "manipulator"&;& +5 "core" &$ .  ;8 + "manipulator"&Q% +4 "core" %( +2 "collection"'1& +4 "core" &AD\ +2 "collection"' & +6 "core" &B@q\ +2 .tCC.seek :closed +3 "collection"'n(V +3 "core" &AAw\ +6 &CBi\ 4 +10 &8GwCBh\ 0 +9 &ftBBf\ D +9 & _ABd\ L +10 &RACi\ L +9 &RBAd\ L +9 &SUCBd\ L +10 &UCCd\ M +9 &U@Bc\ M +10 &T@CZ\ L +9 &[RBB^\ L +9 &!W@Dc\ L +14 &"WBD^\ L +5 &$WAB_\ L +9 &&cVCBb\ L +55 &($U@A^\ M +4 &)T@A_\ L + &+S@B_\ L + &-kRBBU\ L + &/-QAB]\ L + &0RBB_\ L +3 &2RAB^\ L +9 &4sWAB_\ L +10 &65U@B`\ L +9 &7RB?`\ L +10 &9U@Ba\ M +9 &;{T:C^\ L +9 &==TBBZ\ L +10 &>RBB^\ L +9 &@T@B`\ L +9 &BU9BQ\ L +10 &DDYA@U\ M +9 &FbBCZ\ N +10 &GsAD`\ P +9 &IvAAV\ T +9 &K,BB[\ X +10 &LBCY\ X +9 &NABP\ X +9 &PnCBS\ Y +10 &R0CCI\ Y +9 &SADH\ [ +10 &UCAF\ G +9 &V1ABF\ , +9 &VkACO\ K +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"&E% +4 "core" % ( % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%d& +4 "core" &3\ + "manipulator"&% +4 "core" %\  l  +2 "storage"(r% +4 "core" %T *\ + "storage"(j. +3 "core" .(<* +2 "storage"(|& +4 "core" &<% q\  + "storage"(& +4 "core" &<% n\  + "manipulator"&:& +4 "core" &$ ] ;8 +2 "manipulator"&C% +3 "core" %\  /  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"& ( +164 "core" ( +2 "manipulator"&M& +4 "core" &   [ + "storage"(=& +4 "core" &<% G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +92 "core" ' +2 "storage"(,& +4 "core" &<%\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +286 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +46 "core" &<%\ \  }\  + "manipulator"&<& +5 "core" & X [ + .tElbow.seek 5 +2 "manipulator"&6( +3 "core" ( + "manipulator"&(& +4 "core" &  \\ [ +2 "storage"(!& +3 "core" &<% \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&A' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(-'X +8 "core" & b [ +2 "manipulator"&]% +4 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&N& +4 "core" &l $ D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l & s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&B' +98 "core" ' +2 "manipulator"&U& +4 "core" &o & @ +2 "manipulator"&9% +4 "core" %   + "processing"%Z& +4 "core" &3\ +2 "processing"%Y& +5 "core" &4\ +2 .tPC.seek :closed + "processing"%X(Z +4 "core" &I\  +9 &3}?\ *x +9 &c5\ > +10 &vt1\ N +9 &:T0\ M +10 &W5\ M +9 &W/\ N +9 &W7\ M +10 &BW4\ M +9 &Z4\ M +9 &X8\ M +10 & T6\ M +9 &"JW5\ M +10 &$ V=\ M +9 &%W5\ M +9 &'Y8\ N +10 &)RX5\ M +9 &+X5\ M +9 &,W:\ M +10 &.Y7\ M +9 &0ZW3\ M +10 &2X3\ M +9 &3X6\ N +9 &5Y7\ M +10 &7aW3\ M +9 &9#W7\ M +9 &:U0\ M +10 &<W7\ M +9 &>jW2\ M +10 &@,W1\ M +9 &AV-\ M +9 &CY6\ N +10 &Ep\\2\ N +9 &G-i6\ O +9 &H,\ R +10 &J'\ S +12 &Li-\ S +7 &N*/\ S +9 &O.\ T +9 &Q%\ S +10 &Sn%\ T +9 &U13\ S +9 &V#\ T +10 &X/\ T +9 &Z ]$\ #l +9 &ZU"\ * +9 ( +2 &Z"\ ( +2 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&/1 +62 "core" 1 + "manipulator"& % +62 "core" % / S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 "processing"%*& +4 "core" &Z#\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&$% +3 "core" %\   \ +2 "storage"(K% +4 "core" %T \\\ + "storage"(`. +3 "core" .(<* +2 "storage"(& +3 "core" &<% q\  +2 "storage"(& +3 "manipulator"&0& +5 "core" &<% q\  + &p i +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&2(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(i'i +2 "core" ( +2 "manipulator"&& +4 "core" &p q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &p  +2 .tForearm.seek PC + "manipulator"&f' +97 "core" ' + .tHand.close +2 "manipulator"&O/ +55 "core" / +2 .tPC.seek :open + "processing"%"( +91 "core" ' +2 "storage"(5- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +43 "core" ' +291 ( +2 "storage"(z& +4 "core" &<% g\  + "manipulator"&& +4 "core" &p J + "manipulator"&.% +4 "core" % o +2 .tForearm.seek :retract + "manipulator"&h'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +253 "core" ( +2 "manipulator"&k& +4 "core" &  } + "storage"(e& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +95 "core" ' +2 .tHand.open + "manipulator"&J1 +60 "core" 1 +2 "storage"(x- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(V'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +47 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(& +3 "core" &<% 3\  +2 "manipulator"&T& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&c& +4 "core" & 3 +2 "storage"('& +3 "core" &<% x z =\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&w'ы +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +58 "core" ' +2 "manipulator"&\ & +4 "core" &  + "storage"(D& +4 "core" &<% e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&u' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +23 "core" ' + "manipulator"&)% +5 "core" % * | + "storage"(& +4 "core" &<% w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&>' +14 "core" ' + "manipulator"&~& +5 "core" &  [ + "storage"(&& +4 "core" &<% Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&b'ы +25 "core" ' +2 "storage"(#% +4 "core" %q \ +2 ."downElevator"SE.seek :down +3 "storage"(m'X +104 ( % +3 "core" %F #\ Wd +2 "manipulator"&t% +4 "core" %Ѿ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (3& +4 "core" &<% e\  +2 "collection"'& +3 "core" &VnCAO\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&W% +4 "core" %\    + "storage"(p% +4 "core" %] r\ +2 "storage"(l. +3 "core" .(<* + "storage"(v& +4 "core" &<% c\  + "storage"(@& +4 "core" &<% i\  +2 "manipulator"&s& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +46 "core" ( + "manipulator"&[& +4 "core" &  +2 "storage"(R& +4 "core" &<% {\  +2 .tForearm.reconfigure :tight +41 "manipulator"&#Q@2^d^\ b +14 .tForearm.seek 5 + 700 counts +2 "manipulator"&y'ы +97 "core" ' + "storage"(& +5 "core" &<%\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & N + "storage"(& +4 "core" &<% s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'V +38 "core" ' + "manipulator"&1% +5 "core" %  * k + "storage"({& +4 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&o' +15 "core" ' +2 "manipulator"&7& +4 "core" & _ + "storage"(4& +4 "core" &<% $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +51 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'E +39 "core" ' +2 "manipulator"&d& +4 "core" &  +2 "manipulator"&% +4 "core" %{ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +156 "core" ( + "manipulator"&|& +4 "core" &' / : >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' 8 >O +2 .tForearm.seek CC + "manipulator"& '" +94 "core" ' + .tHand.close + "manipulator"&:/ +60 "core" / +2 .tCC.seek :open + "collection"'C( +417 "core" ( +2 "storage"(& +4 "core" &<%\ &\ & U\  +2 "storage"(M& +3 "core" &<%\ \ $ \  +2 "manipulator"&=& +4 "core" &% _ <@ + "manipulator"&,% +4 "core" % -  +2 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&a( +165 "core" ( + "manipulator"&G& +4 "core" & Z v +2 "storage"(S& +3 "core" &<%\ Q\ P g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&<' +108 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +63 "core" 1 +2 "manipulator"&H% +4 "core" %  - + "storage"(g& +5 "core" &<%\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&]' +14 "core" ' +2 "manipulator"& & +4 "core" & k w +2 "storage"(& +3 "core" &<%\ C\ F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&?'ы +27 "core" ' + "storage"(A% +5 "core" %L\ @\ B \ +2 ."downElevator"SE.seek :down +3 "storage"(N'X +99 (% +3 "core" %oF\ %\ & R\ Va +2 "manipulator"&6% +4 "core" %ѭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'9& +4 "core" &CC\ + "manipulator"&Z% +4 "core" %\ % $ C +2 "storage"(-% +4 "core" %^\ Q\ P \ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(+(K +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (/& +3 "core" &K ~\  +2 "manipulator"& & +3 "core" & t w +2 .tElbow.seek 6 + "manipulator"&Y( +38 "core" ( + "manipulator"&*& +4 "core" &3 % H  +2 "storage"($& +3 "core" &K\ C\ I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&K'a +87 "core" ' + "storage"(`& +5 "core" &K \ * <\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &K\ /\ ' \\\  +2 "manipulator"&& +4 "core" &3   +2 .tElbow.seek 6 + "manipulator"&_( +16 "core" ( +2 "manipulator"&B& +4 "core" &  ]  +2 "storage"(O& +4 "core" &K\ C\ C \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&5' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&8& "storage"(X'X +8 "core" & y  + "manipulator"&i% +4 "core" % ϴ ( \ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&.& +5 "core" &* 7  @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &* ! S @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'" +107 "core" ' +2 "manipulator"&e& +9 "core" &* ^ @[ +2 "manipulator"&2% +4 "core" % ? + "collection"'J& +4 "core" &CD2\ +2 "collection"'x& +5 "core" &BBX\ +2 .tCC.seek :closed + "collection"'^(V +5 "core" &CC\ +7 &6@B0\ $d +9 &UzBBk\ 6 +9 &zBC|\ K +10 &UBC\ L +9 &dW?B{\ L +9 &%U@Cp\ M +10 &VBDq\ L +9 &RBBj\ L +10 &lSBDm\ L +9 &-UBBe\ M +9 &UAAh\ M +10 &!U@C_\ L +9 &#tRBDf\ L +9 &%6W@C_\ L +10 &&WBC[\ L +9 &(WABZ\ L +10 &*|UBA[\ L +9 &,=TDB_\ M +9 &-U?C]\ M +10 &/UAA_\ L +9 &1TAC\\\ L +9 &3FRAA\\\ L +10 &5XBB[\ L +9 &6VBDa\ M +10 &8TABa\ L +9 &:NTBDa\ L +9 &<UBB^\ L +10 &=YCAY\ L +9 &?X@C`\ L +9 &AVXBB^\ L +10 &CZCC_\ M +9 &D^BAY\ M +10 &FfCCY\ N +9 &HSvBC]\ P +9 &J ?D_\ T +10 &KABT\ W +9 &MAD\\\ Y +9 &OCBA_\ X +10 &QCB]\ X +9 &RBCN\ Z +10 &T@D]\ Z +9 &V!uA@M\ / +9 &V'DCO\ P +9 ( +3 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open + "manipulator"&1 +4 "core" &VeACP\ I +56 1 +2 "manipulator"&T% +4 "core" %  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +100 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%'& +4 "core" &>\ + "manipulator"&h% +4 "core" %\ \ f  +2 "storage"(\ % +3 "core" %_ \ +2 "storage"(D. +3 "core" .(K + "storage"()& +4 "core" &K \\\  + "storage"(& +4 "core" &K \  +2 "manipulator"&& +3 "core" &*  @Y +2 "manipulator"&~% +3 "core" %\ \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&&( +156 "core" ( + "manipulator"&V& +5 "core" & _  + "storage"(#& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +98 "core" ' +2 "storage"(\\& +4 "core" &K\ \  ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (t& +3 "core" &K s\  + "manipulator"&w& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&%& +4 "core" & s  + "storage"(u& +4 "core" &K k\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&>' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +50 "manipulator"&3/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(W'X +7 "core" & *  +2 "manipulator"&p% +4 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&l(s +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&v& +4 "core" &x B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &x m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +98 "core" ' + "manipulator"&[& +4 "core" &x $  +2 "manipulator"&R% +4 "core" %   +2 "processing"%b& +4 "core" &7\ +2 "processing"%& +6 "core" &D\ +2 .tPC.seek :closed +3 "processing"%m(Z +3 "core" &>\ +6 &99\ $d +10 &V}=\ 7 +9 &y<\ K +9 &W>\ M +10 &gY7\ M +9 &*V9\ L +9 &W2\ M +10 &V5\ M +9 &nW9\ M +9 &0X6\ M +10 &Y9\ M +9 &!W7\ M +10 &#wY7\ M +9 &%9W2\ M +9 &&T4\ M +10 &(W<\ M +11 &*W1\ M +8 &,AX8\ M +9 &.\\;\ M +9 &/W4\ M +10 &1X<\ M +9 &3IY3\ M +9 &5 X7\ M +10 &6W6\ M +9 &8Y3\ M +9 &:QW2\ M +10 &<Z3\ M +9 &=U4\ M +10 &?W1\ M +9 &AYU5\ M +9 &CZ2\ M +10 &D^1\ N +9 &Fg6\ O +9 &HU~4\ Q +10 &J3\ R +9 &K2\ R +10 &M2\ R +9 &OW8\ S +9 &Q7\ S +10 &R5\ S +9 &T$\ T +9 &V[/\ T +10 &X3\ T +9 &Yyn2\ 6 +10 &Z0+\ D +9 &Z1\ ' +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&I% +4 "core" %  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\    + "storage"(;% +4 "core" %` T\ + "storage"(1. +3 "core" .(K +2 "storage"({& +4 "core" &K /\  +2 "storage"(7& +2 "manipulator"&4& +7 "core" &K H\  + &x  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&d(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&y& +4 "core" &x 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 && +4 "core" &x !  +2 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%o( +88 "core" ' + "storage"(Q- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'y +43 "core" ' +291 ( +2 "storage"(& +4 "core" &K k\  + "manipulator"&}& +4 "core" &x + "manipulator"& % +4 "core" % +2 .tForearm.seek :retract + "manipulator"&:'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&r( +250 "core" ( + "manipulator"&n& +4 "core" &   K B +2 "storage"(& +3 "core" &K 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&M'a +93 "core" ' + .tHand.open + "manipulator"&=1 +60 "core" 1 +2 "storage"(,- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(G'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(S' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(j& +4 "core" &K m l a\  +2 "manipulator"&!& +3 "core" &  B +2 .tElbow.seek 6 + "manipulator"&H( +17 "core" ( +2 "manipulator"&g& +4 "core" &  $  + "storage"( & +4 "core" &K j j \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(A' +58 "core" ' +2 "manipulator"&F& +4 "core" &   + "storage"(& +4 "core" &K\ \  %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&6'Υ +22 "core" ' +2 .tElbow.hold + "manipulator"&a, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(<'i +23 "core" ' +2 "manipulator"&9% +4 "core" %ι < + +2 "storage"(]& +4 "core" &K N\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&Z' +12 "core" ' +3 "manipulator"&-& +4 "core" &  - +2 "storage"(& +4 "core" &K\ \  L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +18 "core" ' + "storage"(?% +5 "core" %r\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(N'X +98 (P% +3 "core" %E k\ Xe +2 "manipulator"&/% +4 "core" %]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (*& +4 "core" &K %\  + "collection"'$& +4 "core" &V`DDQ\ I +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&`% +4 "core" %\ % ~ F +2 "storage"((% +3 "core" %Q g\ +2 "storage"(U. +3 "core" .(K + "storage"(& +4 "core" &K m\  + "storage"(0& +4 "core" &K S\  + "manipulator"&& +4 "core" &  } +2 .tElbow.seek 6 + "manipulator"&B( +8 "core" ( +2 "manipulator"&O& +4 "core" &\  b \ + "storage"(& +4 "core" &K u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&8'a +95 "core" ' +2 "storage"(i& +4 "core" &K\ '\  \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +278 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +2 "core" &\   \ +2 "storage"(f& +4 "core" &K !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(_'Z +30 "core" ' +2 "manipulator"&2% +4 "core" %δ + "storage"(J& +4 "core" &K `\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&X' +11 "core" ' +2 "manipulator"&z& +4 "core" & g +2 "storage"(C& +3 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +31 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(T'I +41 "core" ' +2 "manipulator"&'& +4 "core" & & +2 "manipulator"&h% +4 "core" %e  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&D( +180 "core" ( + "manipulator"&)& +4 "core" & %  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  - +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +50 .tCC.seek :open +4 "collection"'~( +416 "core" ( + "storage"(k& +4 "core" &K\ '\ ' Z\  +2 "storage"(V& +3 "core" &K\ '\ & o\  +2 "manipulator"&#& +4 "core" & - + "manipulator"&\\% +4 "core" % "  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&c( +152 "core" ( + "manipulator"& & +4 "core" & $ h  +2 "storage"(t& +4 "core" &K\ 5\ % w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&w'Υ +109 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +53 "core" 1 +2 "manipulator"&3% +4 "core" % η G +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts + "manipulator"&p' +20 "core" ' + "manipulator"&&& +4 "core" & s  +2 "storage"(& +4 "core" &K\ Q\ Q V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +20 "core" ' + "storage"(>% +4 "core" %M\ A\ - l\ +3 ."downElevator"SE.seek :down +4 "storage"(v'X +99 (@% +4 "core" %lL\ $\ % (\ Wc +2 "manipulator"&% +4 "core" %a x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +8373 #t-> $ /sbin/ifconfig eth0 + !o:SyntaxError: mesg"compile error\ (ESP):6: syntax error, unexpected $undefined\ $ /sbin/ifconfig eth0\ ^\ (ESP):6: syntax error, unexpected tIDENTIFIER, expecting kDO or '{' or '(':bt["(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +1876 #-> exit +5 #mEXIT @1640649901.45EST @1640655712.91EST = =tMAIN =mMAIN_scheduler @EST1640655714.74 #"core_reset"Sent BREAK +2 #t@50042 select with ifg=0x10, ie=0xF5 #@50691 receive with ifg=0x10, ie=0xFD + #@51340 receive with ifg=0x10, ie=0xFD + #@51989 receive with ifg=0x10, ie=0xFD #@52316 receive with ifg=0x80, ie=0xFD + #@61190 sendCRC with ifg=0x20, ie=0x7F + #@61638 sendCRC with ifg=0x20, ie=0x7F #@63227 sendCRC with ifg=0x08, ie=0x5F + #@4422 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +382 "Can"V\ 1.x + V\ 1.x + #tPolling Can every 10:00 +17 !o:Storage::Warning: mesg"8Invalid entry in line 114 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +48 !o:Storage::Warning: mesg"8Invalid entry in line 452 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +20 #Cleanly exited at 19:05:01EST27-Dec-21 +206 #-> exit +5 #mEXIT @1640655724.61EST @1640655774.25EST = =mMAIN_scheduler =tMAIN @EST1640655776.06 #"core_reset"Sent BREAK +2 #t@50042 select with ifg=0x10, ie=0xF5 #@50691 receive with ifg=0x10, ie=0xFD + #@51340 receive with ifg=0x10, ie=0xFD + #@51989 receive with ifg=0x10, ie=0xFD #@52316 receive with ifg=0x80, ie=0xFD + #@61190 sendCRC with ifg=0x20, ie=0x7F + #@61638 sendCRC with ifg=0x20, ie=0x7F #@63227 sendCRC with ifg=0x08, ie=0x5F + #@61034 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +295 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +375 "Can"T\ 1.| + T\ 1.| + #tPolling Can every 10:00 +82 #Cleanly exited at 20:42:04EST27-Dec-21 +578 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %B?\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %>\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % # & + .tSS.configure :default +3 "sampler")#.0X\ + .tPC.configure :default +2 "processing"%$x2 ^22b +3 .tPC.hold + "processing"% , +4 "core" , + .tPC.configure :default +2 "processing"%$x2 ^22b +4 "manipulator"& % +3 "core" %\  z  +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.hold +2 "manipulator"&+ +2 "core" + +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +2 && +3 "core" & H  + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.hold + "manipulator"&, +3 "core" , + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" &K \ + Q\  + .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold + "storage"(, +2 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +2 "core" %]\ \ 3 L\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +2 "core" +2 .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +2 "processing"%% +5 "core" %AD\ + "manipulator"&% +6 "sampler")% +4 "core" %5\ + %\    + % % " & +2 "manipulator"&& +4 "core" &   + "storage"(& +3 "core" &K\ C\ H\  +2 "storage"(% +3 "core" %]\ C\ E\ +2 "collection"'& +3 "core" &BD\ + "processing"%& +4 "core" &1\ +2 "collection"' +2 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +2 "core"  +2 "processing"%" +3 "core"  + "processing"%# +3 "core" W +2 "processing"%$ +3 "core"  + "processing"%% +3 "core"  +2 "sampler")& +3 "core"  + "collection"''% +4 "core" %ACT\ +2 "processing"%(% +3 "core" %4\ +2 "sampler"))% +4 "core" % $ & +2 "collection"'*& +4 "core" &AC\ + "processing"%+& +4 "core" &K\ +2 "manipulator"&,% +3 "core" %\    +2 "manipulator"&-& +4 "core" &   +2 "storage"(.& +3 "core" &K\ H\ D K\  +3 "storage"(/% +3 "core" %]\ J\ D )\ +2 "collection"'09 +3 "core" 9| +2 "processing"%19 +3 "core" 9sh +790 #t-> Puck.count + "storage"(2% +3 "core" %]\ E\ J v\ +2 .tSE.seek :down +2 "storage"(3'X +41 "core" ' +3 .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&41 +23 "core" 1 + "manipulator"&5% +4 "core" %\   *  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(6(S +1594 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &S\ '\ ) H\ + "manipulator"&8& +4 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&9(. +66 "core" ( + "manipulator"&:& +4 "core" &8  M +2 "storage"(;& +4 "core" &S\ M\ Z l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&<'ѷ +92 "core" ' + "storage"(=& +4 "core" &S\ . \ +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'i +276 "core" ' +2 "storage"(?- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@% +4 "core" %d\ D\ D \ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +100 (B% +3 "core" %N\ \  \ Wf + "manipulator"&C% +4 "core" %ѵ  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E( +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +2 "core" & i\  +2 "manipulator"&G& +4 "core" &8 + .tElbow.seek 2 +2 "manipulator"&H( +16 "core" ( + "manipulator"&I& +4 "core" & $ O E +2 "storage"(J& +4 "core" & \ D\ C T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +93 "core" ' +2 "storage"(L& +4 "core" & \ + 8\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +282 "core" ' +2 "storage"(N- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O% +3 "core" %e\ A\ + \ +2 ."downElevator"SE.seek :down +3 "storage"(P'X +100 (Q% +3 "core" %Q\ \  \ Xh +2 "manipulator"&R% +3 "core" %ў f 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +95 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +2 "core" &\ ]\  +2 "manipulator"&V& +4 "core" & E + .tElbow.seek 3 +2 "manipulator"&W( +13 "core" ( + "manipulator"&X& +4 "core" & $ 2 +2 "storage"(Y& +4 "core" &\ C\ B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +106 "core" ' +2 "storage"([& +4 "core" & \ . \ \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +268 "core" ' + "storage"(]- +5 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (^% +3 "core" %o\ %\ % /\ +2 ."downElevator"SE.seek :down +3 "storage"(_'X +100 (`% +3 "core" %EM\ %\ & g\ Xg +2 "manipulator"&a% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b'\ +89 "core" ' +75 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(c(,l +332 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" &,j\ \ c\  +2 "manipulator"&e& +3 "core" & 2 +2 .tElbow.seek 4 +2 "manipulator"&f( +3 "core" ( + "manipulator"&g& +4 "core" & $ > 2 + "storage"(h& +4 "core" &,g\ F\ P 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&i'Ѽ +104 "core" ' + "storage"(j& +4 "core" &,g \ ) :\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'i +313 "core" ' +2 "storage"(l- +3 "core" -'= +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m% +2 "core" % E\ ,\ % ^\ +2 ."downElevator"SE.seek :down +4 "storage"(n'X +99 (o% +2 "core" %?\ $\ # r\ Vb +2 "manipulator"&p% +4 "core" % L g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(r(<* +329 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &<*\ B\ ' _\ +2 "manipulator"&t& +4 "core" &  2 + .tElbow.seek 5 +2 "manipulator"&u( +4 "core" ( + "manipulator"&v& +4 "core" &  2 + "storage"(w& +4 "core" &<&\ B\ < !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&x'ы +88 "core" ' +2 "storage"(y& +4 "core" &<&\ / \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +302 "core" ' +2 "storage"({- +3 "core" -'; +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|% +2 "core" % ?\ %\ ( \ +2 ."downElevator"SE.seek :down +3 "storage"(}'X +100 (~% +2 "core" %A\ $\ & \ Vb +2 "manipulator"&% +4 "core" %ю  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +39 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K \  +2 "manipulator"&& +4 "core" & 2 + .tElbow.seek 6 +2 "manipulator"&( +64 "core" ( + "manipulator"&& +4 "core" &  & Q  +2 "storage"( & +3 "core" &K\ C\ D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +95 "core" ' + "storage"( & +4 "core" &K\ + \  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +303 "core" ' +2 "storage"(- +4 "core" -'< + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % ?\ 6\ 3 b\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +4 "core" %A\ $\ $ Z\ Va + "manipulator"&% +4 "core" %K  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +329 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &[\ \  k\ +2 "manipulator"&& +4 "core" &  ]  + .tElbow.seek 7 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  "  +2 "storage"(& +3 "core" &[\ D\ H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts + "manipulator"&'w +108 "core" ' + "storage"(& +5 "core" &[ A K "\  + .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +269 "core" ' + "storage"(!- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("% +2 "core" %p\ 3\ C \ +2 ."downElevator"SE.seek :down +4 "storage"(#'X +99 ($% +3 "core" %H\ '\ ' W\ We +2 "manipulator"&%% +3 "core" %ќ  k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +25163 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF +2 #Shutdown +126 #t-> exit +6 #mEXIT @1640656145.80EST @1641238511.80EST = =tMAIN =mMAIN_scheduler @EST1641238513.66 #"core_reset"Sent BREAK +2 #t@26149 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +390 "Can"N\ g N\ g + #tPolling Can every 10:00 +81 #Cleanly exited at 20:49:05EST27-Dec-21 +569 #-> ESP.ready! +3 #Powering core bus +533 .Gate.power :raw,:ON +2 "sampler") +12 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +3 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %WZD\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %  +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % B >:  +2 .tSS.configure :default +2 "sampler")#.0X <  +2 "collection"'3& +4 "core" &X[ \  + "processing"%4& +4 "core" &\  +2 "manipulator"&5% +3 "core" %\    +2 "manipulator"&6& +3 "core" & ! d 9 +2 "storage"(7& +4 "core" & X c ~\  + "storage"(8% +4 "core" %\\ { v *\ +2 "collection"'99 +3 "core" 9e + "processing"%:9 +3 "core" 9\\U +1164 #t-> require 'shuffle.rb' +1161 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" &X[\  +2 .tHand.open + "manipulator"&<1 +55 "core" 1 +2 "manipulator"&=% +4 "core" % \  ( D  +2 "storage"(>% +3 "core" %\\ r q ^\ +2 "storage"(?. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(@(,l +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,i\ 3\ 3 \  +2 "manipulator"&B& +4 "core" & ) 9 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +2 "core" ( +2 "manipulator"&D& +4 "core" & " q 9 + "storage"(E& +4 "core" &,f P P M\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +95 "core" ' + "storage"(G& +4 "core" &,f ?\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +281 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &,f D M >\  +2 "manipulator"&K& +4 "core" &  ; 9 + .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" & 2 O 9 +2 "storage"(N& +3 "core" &,f E X \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&O', +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'X +6 "core" &  T 9 +2 "manipulator"&S% +4 "core" % # [ +2 .tForearm.seek :retract + "manipulator"&T'\ +100 "core" ' +3 .tElbow.seek CC +2 "manipulator"&U( +147 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&V& +4 "core" &, + @ Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &, , Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'" +99 "core" ' +2 "manipulator"&Y& +4 "core" &,  Bg +2 "manipulator"&Z% +3 "core" %"  i +2 "collection"'[& +4 "core" &YZ \  +2 "collection"'\\& +6 "core" &WY\  +2 .tCC.seek :closed + "collection"'](V +5 "core" &XY\  +6 &JXZ \ %g +9 &xVXY\ \ 8 +10 &}VX \ L +9 &XX[ \ N +9 &K[WQ\ N +10 &[XX\ N +9 &]YY\ N +10 &ZXZ\ \ N +9 &TZVY\ N +9 &[WY\ N +10 &[W[ \ N +9 &!\\WZ\ N +10 &#[\\XZ\ N +9 &%\\WZ\ N +9 &&ZWZ\ N +10 &(XW[\ N +9 &*c]WZ\ N +9 &,&ZWY\ N +10 &-YWY\ M +9 &/[WZ\ N +10 &1j\\XZ\ N +9 &3-YXZ\ N +9 &4ZVY\ N +10 &6[XZ\ N +9 &8tYYY\ N +9 &:4`WZ\ N +10 &;_VY\ N +9 &=\\Y[\ N +9 &?{WWY\ N +10 &A=ZXZ\ N +9 &B]WY\ O +10 &DfWZ\ O +9 &F|mZX\ P +9 &H7XZ\ S +10 &IWY\ W +9 &KXZ\ Y +10 &MjXZ\ Y +9 &O,ZZ\ Y +9 &PWY\ Y +10 &RY\\\ Z +9 &TmWZ\ [\ +9 &V vWZ\ 3 +10 &V&XZ\ H +9 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&^1 +3 "core" &VgX[@\ E +56 1 +2 "manipulator"&_% +4 "core" % !  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +4 "core" &\  +2 "manipulator"&b% +3 "core" %\ ! f 8 +2 "storage"(c% +4 "core" %T\ &\ ( $\ + "storage"(d. +3 "core" .(,l + "storage"(e& +4 "core" &,f\ %\ % P\  +2 "storage"(f& +4 "core" &,f\ (\ % C\  + "manipulator"&g& +4 "core" &, Bg + "manipulator"&h% +5 "core" %\ ! S 8 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&i( +158 "core" ( +2 "manipulator"&j& +4 "core" & " U  + "storage"(k& +4 "core" &,f\ R\ R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +99 "core" ' +2 "storage"(m& +5 "core" &,f\ K ~ )\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'i +287 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &,f\ (\ % f\  +2 "manipulator"&q& +4 "core" &    + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" & ' D  +2 "storage"(t& +3 "core" &,f\ R\ R \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x'X +8 "core" &  D  + "manipulator"&y% +4 "core" % $  z G +2 .tForearm.seek :retract +2 "manipulator"&z'\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&|& +4 "core" &i $   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &i & v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' + "manipulator"&& +5 "core" &i 2  +2 "manipulator"&% +4 "core" %   +2 "processing"%& +4 "core" &\  +2 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &5\ +{ +10 &e\ ? +9 &Zx\ N +9 &]\ N +10 &\\\ N +10 &`\ N +9 &b]\ N +9 &&]\ M +9 &`\ N +10 &\\\ N +9 & j^\ N +9 &".]\ M +10 &#\\\ M +9 &%]\ N +9 &'ra\ N +10 &)6_\ M +9 &*^\ N +10 &,]\ M +9 &.{]\ N +9 &0=_\ N +10 &2]\ M +9 &3]\ N +10 &5^\ N +9 &7F\\\ M +9 &9b\ N +10 &:\\\ M +9 &<^\ M +9 &>N\\\ M +10 &@]\ N +9 &A\\\ M +10 &Ca\ N +9 &ESe\ N +9 &Gp\ P +10 &H\ R +9 &J\ S +9 &LL\ S +10 &N\ S +9 &O\ S +10 &Q\ S +9 &SQ\ T +11 &U\ T +10 &V\ U +8 &X\ U +8 &Zd\ %s +10 &ZT\ ( +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ % +54 1 +2 "manipulator"&% +4 "core" % ( 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +4 "core" &Z\ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\ !  P / +2 "storage"(\ % +3 "core" %^\ 3\ 3\ +2 "storage"( . +3 "core" .(,l + "storage"( & +4 "core" &,f\ %\ % @\  +2 "storage"( & +3 "manipulator"&& +6 "core" &,f\ 0\ 2 l\  + &i +  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +3 "core" &i   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i W  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open + "processing"%( +94 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +47 "core" ' +280 ( +2 "storage"(& +4 "core" &,f\ 0\ ( =\  + "manipulator"&& +4 "core" &i  )  +2 "manipulator"&% +3 "core" %  c  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"( +255 "core" ( + "manipulator"&%& +5 "core" &  R ( + "storage"('& +4 "core" &,f\ 3\ ( 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&)'Ѽ +95 "core" ' + .tHand.open + "manipulator"&(1 +57 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +47 "core" ' + #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(-& +3 "core" &,f \  +2 "manipulator"&.& +3 "core" & K ' +39 .tElbow.seek 4 +11 "manipulator"&/( +33 "core" ( +2 "manipulator"&0& +4 "core" & ( m  +2 "storage"(1& +3 "core" &,f \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(3' +56 "core" ' +2 "manipulator"&4& +4 "core" &    +2 "storage"(5& +4 "core" &,f\ R\ R \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&6' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(8'i +25 "core" ' +2 "manipulator"&9% +4 "core" % + "storage"(:& +4 "core" &,f\ %\ % 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&;'< +18 "core" ' + "manipulator"&<& +5 "core" &    + "storage"(=& +4 "core" &,f\ S\ S \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +32 "core" ' + "storage"(?% +4 "core" %o\ / \ +3 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (A% +2 "core" %M\ 3\ 3\ Wd +2 "manipulator"&B% +5 "core" %Ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &,f\ H\ @ \  + "collection"'G& +4 "core" &VhYYF\ E +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %\  f  +2 "storage"(&% +3 "core" %a\ ;\ ; n\ +2 "storage"(I. +3 "core" .(,l + "storage"(J& +4 "core" &,f\ <\ = \  +2 "storage"(K& +4 "core" &,f\ <\ > \  + "manipulator"& & +4 "core" &  D  +2 .tElbow.seek 4 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" & ( Y  + "storage"(P& +4 "core" &,f\ <\ ; V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Q'Ѽ +94 "core" ' +2 "storage"(S& +4 "core" &,f\ \ >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +282 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &    + "storage"(W& +4 "core" &,f\ 7\ L \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&H' +30 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'V +30 "core" ' + "manipulator"&[% +4 "core" % +2 "storage"(L& +3 "core" &,f\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&R'@ +15 "core" ' +2 "manipulator"&T& +4 "core" &  E  +2 "storage"(+& +3 "core" &,f\ S\ R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&^'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(_'E +41 "core" ' + "manipulator"&a& +5 "core" & {  + "manipulator"&b% +4 "core" % P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +167 "core" ( + "manipulator"&e& +4 "core" & ( + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &  9 + +2 .tForearm.seek CC +2 "manipulator"&f'" +94 "core" ' + .tHand.close + "manipulator"&g/ +56 "core" / +2 .tCC.seek :open + "collection"'h( +416 "core" ( +2 "storage"(X& +46 "core" &,f L M z\  + "storage"(j& +4 "core" &,f B J U\  +2 "manipulator"&k& +3 "core" & 9 + +2 "manipulator"&m% +3 "core" % 1 Y +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +155 "core" ( + "manipulator"&o& +4 "core" & * m v +2 "storage"(p& +3 "core" &,f q q K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&q' +104 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +59 "core" 1 +2 "manipulator"&v% +5 "core" %   4 + "storage"(w& +4 "core" &,f\ S\ S \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&y'@ +22 "core" ' + "manipulator"&i& +5 "core" & & 7  + "storage"(l& +4 "core" &,f q r I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +22 "core" ' +2 "storage"(u% +4 "core" %H j +2 ."downElevator"SE.seek :down +5 "storage"(|'X +99 (}% +2 "core" %E @ ? \ Va +2 "manipulator"&r% +4 "core" %Ѧ h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &YZ)\ + "manipulator"&% +4 "core" %\  k  +2 "storage"(x% +3 "core" %a 6  +2 "storage"(z. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(*(<* +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<*\ R\ T \  + "manipulator"&& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &  ^  +2 "storage"(\ & +3 "core" &<' t s +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +98 "core" ' + "storage"( & +4 "core" &<'  7  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<' ^ M \  +2 "manipulator"&& +4 "core" &  B  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&~& +4 "core" &  +2 "storage"(& +3 "core" &<' r q V\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &   + "manipulator"&% +4 "core" %   : +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &&  P =B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && 8 =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +95 "core" ' + "manipulator"&'& +4 "core" && ! =B +2 "manipulator"&% +4 "core" %   + "collection"'(& +4 "core" &VY \ +2 "collection"'& +5 "core" &YZ\ +2 .tCC.seek :closed +2 "collection"',(V +4 "core" &WZ \  +9 &1WZ \ *x +9 &cXZ \ > +10 &mxYZ\ N +9 &/ZVY \ N +9 &\\WZ>\ N +10 &WV[\ M +9 &uZUY\ N +10 &8\\VY \ M +9 &XW[=\ N +9 &WWY\ \ M +10 & ~ZXZ\ M +9 &"@ZXZ\ M +9 &$YY[A\ N +10 &%^VZ\ N +9 &'WXZ\ N +10 &)HWWZ*\ M +9 &+\ ZYZ5\ M +9 &,WX[*\ N +10 &.XWX0\ M +9 &0OZXY:\ N +9 &2\\WXv\ N +10 &3ZW[9\ N +9 &5WWY'\ M +9 &7W\\XY`\ N +10 &9ZVY\ N +9 &:[VX0\ M +10 &<\\VZ:\ N +9 &>_YWY8\ N +9 &@"WVW<\ M +10 &AZXX8\ N +9 &C\\XZ\ N +10 &EccXZ \ O +9 &G!qXZ1\ P +9 &HYY\ S +10 &JXY\ X +9 &LIX[7\ [ +9 &NWZ&\ X +10 &OXX:\ Z +9 &QX\\<\ Z +9 &SPXX2\ [\ +10 &UW[`\ [\ +9 &V_DZZ'\ 1 +10 &V {Y[\ L +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&-1 +3 "core" &VgZY]\ L +59 1 +2 "manipulator"&.% +4 "core" %  1 S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&1% +3 "core" %\  c  +2 "storage"(4% +4 "core" %b\ 3\ 3\ + "storage"(5. +3 "core" .(<* + "storage"(& +4 "core" &<'\ 3\ 2\  +2 "storage"(& +3 "core" &<'\ 3\ 4\  +2 "manipulator"&9& +4 "core" && / * =A +2 "manipulator"&:% +4 "core" %\   D  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&<( +161 "core" ( +2 "manipulator"&=& +4 "core" & ( m 4 + "storage"("& +4 "core" &<'\ R\ R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&?'ы +94 "core" ' +2 "storage"()& +4 "core" &<'\ +\ K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'i +285 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &<'\ 5\ 3\  +2 "manipulator"&2& +42 "core" &  ; 5 +12 .tElbow.seek 5 + "manipulator"&/( +4 "core" ( + "manipulator"&3& +4 "core" & y 5 + "storage"(6& +4 "core" &<'\ O\ Q \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +3 "storage"($'X +8 "core" &  R 5 + "manipulator"&&% +4 "core" %  U  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(s +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&8& +4 "core" &m 2 ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &m   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +98 "core" ' +2 "manipulator"&N& +4 "core" &m " / +2 "manipulator"&P% +4 "core" % ! [ +2 "processing"%>& +3 "core" &\ +3 "processing"%S& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &\  +10 &3\ *y +9 &d\ > +10 &xy\ N +9 &:[\ N +9 &[\ M +10 &\\\ M +9 &]\ N +9 &B]\ N +10 &]\ N +9 &]\ N +10 & \\\ M +9 &"L\\\ M +9 &$Z\ M +10 &%\\\ M +9 &']\ M +9 &)T\\\ M +10 &+\\\ M +9 &,[\ M +9 &._\ N +10 &0[Z\ N +9 &2[\ N +10 &3\\\ N +9 &5_\ N +9 &7dY\ M +10 &9%\\\ N +9 &:]\ N +10 &<\\\ N +9 &>kY\ N +9 &@-\\\ N +10 &AY\ M +9 &C]\ N +9 &Epb\ O +10 &G/n\ P +9 &H\ R +10 &J\ S +9 &Li\ T +9 &N+\ T +10 &O\ T +9 &Q\ T +9 &So\ T +10 &U1\ T +9 &V\ T +10 &X\ T +9 &Z"]\ #k +9 &ZY\ + +9 ( +2 &Z\ ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&71 +52 "core" 1 +2 "manipulator"&D% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 "processing"%V& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\  .  * +2 "storage"(Y% +3 "core" %`\ %\ % w\ +2 "storage"([. +3 "core" .(<* + "storage"(L& +4 "core" &<'\ %\ % i\  +2 "storage"(T& +5 "manipulator"&+& +4 "core" &<'\ %\ % \  + &m  L +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&a(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( +2 "manipulator"&Q& +4 "core" &m ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &m / +2 .tForearm.seek PC +2 "manipulator"&C' +96 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 .tPC.seek :open +2 "processing"%R( +92 "core" ' + "storage"(Z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +44 "core" ' +287 ( + "storage"(\\& +4 "core" &<'\ 1\ ( g\  + "manipulator"&^& +5 "core" &m  @ + "manipulator"&O% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&g'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +261 "core" ( + "manipulator"&]& +39 "core" &  m  + "storage"(X& +4 "core" &<'\ 9\ + E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +94 "core" ' +2 .tHand.open + "manipulator"&k1 +63 "core" 1 +2 "storage"(m- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +30 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +54 "core" ' + #tLights, camera, ACTION! + "storage"(f- +4 "core" -' + "storage"(d& +4 "core" &<' %\  +2 "manipulator"&t& +3 "core" &  #  +2 .tElbow.seek 5 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&w& +4 "core" & * P  +2 "storage"(i& +3 "core" &<' \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&l'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(u' +58 "core" ' + "manipulator"&U& +5 "core" &   + "storage"(}& +4 "core" &<'\ Q\ : o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r' +32 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +21 "core" ' + "manipulator"&y% +5 "core" %  W + "storage"(& +4 "core" &<'\ \  r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&x& +4 "core" &  p  +2 "storage"(z& +4 "core" &<'\ S\ S \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&_'ы +30 "core" ' + "storage"(n% +5 "core" %l\  e\ +2 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (@% +3 "core" %3L\ $\ % {\ Wd +2 "manipulator"&% +4 "core" %я\  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<'\ G\ Q H\  + "collection"'\ & +4 "core" &VeYZ>\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\  _ 2 + "storage"(s% +4 "core" %a\ Q\ N \ +2 "storage"(. +2 "core" .(<* +2 "storage"( & +4 "core" &<'\ Q\ N y\  + "storage"(& +5 "core" &<'\ R\ R \  + "manipulator"&& +4 "core" &  D  + .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & 1 K  +2 "storage"({& +4 "core" &<'\ Q\ N Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +101 "core" ' + "storage"(& +5 "core" &<' \ , \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(& +4 "core" &<'\ Q\ R k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +122 "core" ' +2 "manipulator"&(% +4 "core" %    q + "storage"(& +4 "core" &<' {\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&& +4 "core" & " 0  + "storage"(h& +4 "core" &<'\ R\ Q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(.'E +41 "core" ' + "manipulator"&0& +4 "core" &  >  +2 "manipulator"&1% +4 "core" %ї  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +156 "core" ( + "manipulator"&& +4 "core" &* 0 i @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &*  6 @Z + .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&9/ +57 "core" / +2 .tCC.seek :open + "collection"':( +416 "core" ( + "storage"(%& +4 "core" &<'\ \ ; G\  +2 "storage"(=& +4 "core" &<'\ ;\ < m\  + "manipulator"&"& +4 "core" &* U @Z + "manipulator"&)% +4 "core" %  ; +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +159 "core" ( + "manipulator"&A& +4 "core" & ! @  +2 "storage"(B& +4 "core" &<' q s L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&2' +104 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +64 "core" 1 +2 "manipulator"&E% +4 "core" %  : +2 "storage"(G& +5 "core" &<'\ G\ D \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&&' +14 "core" ' +2 "manipulator"&<& +4 "core" &  Z  + "storage"(?& +4 "core" &<' j o >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +31 "core" ' +2 "storage"(;% +4 "core" %J n\ +2 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (K% +3 "core" %I |\ / Y\ Va +2 "manipulator"&/% +43 "core" %  w +12 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +94 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'P& +4 "core" &W[g\ +2 "manipulator"&>% +3 "core" %\  e +2 "storage"($% +4 "core" %a   +2 "storage"(I. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &K\ S\ S \  +2 "manipulator"&D& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&V( +37 "core" ( +2 "manipulator"&W& +4 "core" & ' h " + "storage"(Y& +4 "core" &K D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&['a +88 "core" ' + "storage"(L& +5 "core" &K    + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'i +283 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +3 "core" &K\ W\  + "manipulator"&Q& +4 "core" &  " +2 .tElbow.seek 6 + "manipulator"&M( +22 "core" ( + "manipulator"& & +4 "core" & ( ^  +2 "storage"(H& +3 "core" &K q q O\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(!'X +6 "core" &  c  +2 "manipulator"&b% +4 "core" %   / +2 .tForearm.seek :retract + "manipulator"&\\'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&O& +4 "core" &*  @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &*  @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&]'" +93 "core" ' +3 "manipulator"&a& +4 "core" &* 2  K @W + "manipulator"&X% +4 "core" %, +2 "collection"'k& +4 "core" &WY\ +2 "collection"'m& +6 "core" &ZX\ +2 .tCC.seek :closed + "collection"'f(V +5 "core" &WY\  +8 &2UY\ )w +10 &cXY\ > +9 &vvWY\ N +9 &7ZVY \ N +10 &\\WY \ N +9 &ZXX \ M +10 &~XWZ\ M +9 &@WXY\ M +9 &XWZ \ N +10 &YXX\ M +9 & XYY7\ N +9 &"G\\WY\ N +10 &$\ WXZ.\ M +9 &%]XX5\ N +10 &'ZXY;\ M +9 &)OYXY\ N +9 &+[XZ+\ M +10 &,ZVX@\ M +9 &.ZW[?\ M +9 &0W[WX=\ N +10 &2WWX8\ M +9 &3ZWY(\ M +10 &5WXX\ M +9 &7`ZX[3\ M +9 &9#WVY_\ M +10 &:\\VY*\ N +9 &<YWY:\ M +9 &>h]WY\ \ M +10 &@*[WX7\ M +9 &A[UZ(\ N +10 &C^VZ:\ N +9 &EleWZ5\ O +9 &G+nVX \ P +10 &HX[\ R +9 &JW[8\ W +9 &LWVY(\ X +10 &NXZ8\ X +9 &OZ[:\ Z +10 &QXZ;\ Y +9 &SYX[:\ [ +9 &UYZ_\ [ +10 &VhDXY \ 1 +9 &VrWYA\ K +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&d1 +3 "core" &VfZ\\'\ K +60 1 +2 "manipulator"&t% +4 "core" % , 6 \ e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%i& +4 "core" &\ +2 "manipulator"&g% +4 "core" %\   .  +2 "storage"(U% +3 "core" %T\ (\ 0 \ +2 "storage"(}. +3 "core" .(K + "storage"(e& +4 "core" &K\ %\ 0 \  +2 "storage"(y& +4 "core" &K\ 3\ 3 \  + "manipulator"&& +4 "core" &(  V ?V +2 "manipulator"&x% +3 "core" %\  S  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +153 "core" ( +2 "manipulator"&o& +4 "core" & (  +2 "storage"(n& +3 "core" &K\ R\ R \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +96 "core" ' + "storage"(j& +4 "core" &K\ >\  c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +281 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ )\ 8\  +2 "manipulator"&l& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( + "manipulator"&u& +5 "core" & & &  + "storage"(r& +4 "core" &K\ D\ D \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & + "storage"( 'X +8 "core" &  <  + "manipulator"&s% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&q& +5 "core" &j 3 f  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j  t  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" &j 2 ,  +2 "manipulator"&{% +3 "core" %   +2 "processing"%_& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &\  +8 &3\ *z +9 &e\ ? +10 &y\ O +9 &IZ\ M +9 & ]\ N +10 &]\ M +9 &\\\ N +10 &PY\ M +9 &\\\ N +9 &]\ N +10 & Z\ M +9 &"W_\ N +9 &$X\ M +10 &%[\ N +9 &'_\ N +10 &)_]\ N +9 &+!]\ N +9 &,\\\ N +10 &.]\ M +9 &0g[\ N +10 &2*Z\ M +9 &3Z\ M +9 &5\\\ N +10 &7pW\ M +9 &91]\ N +9 &:\\\ M +10 &<]\ M +9 &>xY\ M +9 &@:\\\ M +10 &A]\ M +9 &C^\ N +10 &E}c\ N +9 &G:q\ P +9 &H\ R +10 &J\ S +9 &Lu\ T +9 &N7\ T +10 &O\ T +9 &Q\ T +10 &S|\ T +9 &U<\ U +9 &V\ T +10 &X\ U +9 &Z&U{\ (y +9 &Z[\ 3 +10 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&`1 +4 "core" &Z$\ 0 +54 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 "processing"%& +4 "core" &Z%\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\   S  +2 "storage"('% +3 "core" %X\ \ ! \ +2 "storage"((. +3 "core" .(K + "storage"(& +4 "core" &K\ !\ \  +3 "storage"(& +3 "manipulator"&h& +4 "core" &K\ &\ ' *\  + &j n  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&0(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'i +3 "core" ( + "manipulator"&& +4 "core" &j s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &j 9  +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +3 .tPC.seek :open + "processing"%( +83 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +298 ( +2 "storage"(& +4 "core" &K\ 2\ 3\  + "manipulator"&-& +4 "core" &j >  +2 "manipulator"&% +3 "core" %  Y  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&4( +246 "core" ( +2 "manipulator"&,& +4 "core" &\ 0 \\ + "storage"(%& +4 "core" &K\ %\ ' :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +113 "core" ' + .tHand.open +2 "manipulator"&"1 +52 "core" 1 +2 "storage"()- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" &K l\  +2 "manipulator"&6& +3 "core" &\  2 \\ +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&G& +3 "core" &\  \\ +2 "storage"(<& +4 "core" &K R\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +57 "core" ' +2 "manipulator"&& +4 "core" &\  9 \\ +2 "storage"(K& +4 "core" &K\ (\ + K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&/'Υ +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +27 "core" ' + "manipulator"&&% +5 "core" %θ H + "storage"(P& +5 "core" &K\ (\ ( ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&>' +13 "core" ' + "manipulator"&$& +5 "core" &\ %  \\ +53 "storage"(I& +4 "core" &K\ G\ E 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&.'a +23 "core" ' + "storage"(#% +5 "core" %o\ Q\ R \ +2 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (*% +3 "core" %K\ \  V\ Wd +2 "manipulator"&7% +4 "core" %s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +5 "core" &K\ (\ 2 w\  +2 "collection"'Y& +4 "core" &VpXX?\ K + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&L% +4 "core" %\ ! ( w 4 + "storage"(3% +4 "core" %a\ 3\ 2\ +2 "storage"(N. +3 "core" .(K + "storage"(T& +4 "core" &K\ 3\ 2\  +2 "storage"(S& +4 "core" &K\ 2\ 3\  +2 "manipulator"&Q& +3 "core" & ! ) \\ +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&H& +4 "core" & 1 \\ +2 "storage"(J& +4 "core" &K\ 3\ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +101 "core" ' +2 "storage"(b& +4 "core" &K\ M\ Q G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +284 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &\ \\ + "storage"(C& +4 "core" &K\ 3\ 3 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'Υ +28 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(a- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(X'Y +40 "core" ' + "manipulator"&k% +4 "core" %γ  +2 "storage"(M& +3 "core" &K\ \  x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&!' +12 "core" ' +2 "manipulator"&\\& +4 "core" &\ ) ^ + "storage"(:& +4 "core" &K\ 3\ * \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&d'a +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(t'H +43 "core" ' +2 "manipulator"&i& +4 "core" &\  ^ +2 "manipulator"&g% +4 "core" %ѐ   | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +150 "core" ( +2 "manipulator"&e& +4 "core" & ! ) U 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & ! 8 +2 .tForearm.seek CC +2 "manipulator"&y'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'x( +416 "core" ( + "storage"(o& +4 "core" &K\ N\ R a\  +2 "storage"(]& +3 "core" &K\ Q\ O \  +2 "manipulator"&n& +4 "core" &\ " 8 + "manipulator"&j% +4 "core" % 3 + .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +149 "core" ( +2 "manipulator"&@& +4 "core" & &  +2 "storage"(& +3 "core" &K Q [ 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&l'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +53 "core" 1 +2 "manipulator"& % +4 "core" % ε   +2 "storage"(\ & +3 "core" &K\ D\ G g\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&s' +18 "core" ' +3 "manipulator"&z& +4 "core" &  + "storage"(c& +4 "core" &K q q =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +32 "core" ' + "storage"(% +4 "core" %L j \ +3 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (% +4 "core" %F Z } r\ V` + "manipulator"&v% +5 "core" %N  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +4 "core" &VXK\ + "manipulator"&_% +4 "core" %\    +2 "storage"( % +3 "core" %` a m +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(R(,l +654 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &,o\ / | F\ +2 "manipulator"&& +3 "core" &  8  +2 .tElbow.seek 4 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&& +4 "core" &  " Q + "storage"('& +4 "core" &,s q q C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&('Ѽ +97 "core" ' + "storage"(& +4 "core" &,s  <  +7 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,s L\ ! S\ +2 "manipulator"&& +3 "core" & * Q +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" & ' Q +2 "storage"(& +3 "core" &,s q g &\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'X +7 "core" &  - Q + "manipulator"&1% +4 "core" % 3  7  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&-( +158 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &'   >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +105 "core" ' + "manipulator"&%& +5 "core" &' >J + "manipulator"&0% +5 "core" %! + "collection"'"& +4 "core" &VX \ +4 "collection"')& +5 "core" &WZ\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &XY \ +7 & ,VZ \ $d +9 &UXZ\ 7 +10 &~WX\ L +9 &WVY\ M +9 &_ZTW \ M +10 &"[W[\ M +9 &\\WZ \ M +9 &YVY \ M +10 &g[WW\ M +9 &)ZVY \ M +10 &ZTY \ M +9 &!YVY\ \ M +9 &#nZWW\ \ N +10 &%1ZXX\ M +9 &&ZVX\ M +9 &(UWZ \ M +10 &*xYVX\ M +9 &,9ZUY \ M +9 &-ZXY\ M +10 &/\\VY\ M +9 &1\\WY\ M +10 &3A[WV \ M +9 &5ZXY<\ M +9 &6YWY\ M +10 &8YZYA\ M +9 &:J\\WY4\ M +10 &< ]WX\ M +9 &=\\WX\ M +9 &?YWX1\ M +10 &AQYWY7\ M +9 &CYUZ@\ N +9 &DcXZ@\ N +10 &FjWY\ O +9 &HLXX\ R +10 &JYZ\ W +9 &KWZ\ Y +9 &M}YQ\ Y +10 &O=YY9\ Z +9 &QWY?\ Y +9 &RXY8\ [\ +10 &TXY\ [\ +9 &VvUX=\ / +9 &V)W[\ Q +9 ( +3 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&51 +3 "core" &VnY[7\ K +53 1 + "manipulator"&6% +5 "core" %  ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +4 "core" &i\ +2 "manipulator"&9% +3 "core" %\ ! <  +2 "storage"(% +4 "core" %T\ 3\ 2\ + "storage"(K. +4 "core" .(,l + "storage"(&& +4 "core" &,s\ 3\ 2\ + "storage"(P& +4 "core" &,s\ 2\ 3\ +2 "manipulator"&& +4 "core" &%  <; +2 "manipulator"&$% +3 "core" %\  r  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&A( +170 "core" ( + "manipulator"&I& +4 "core" &  & F +2 "storage"(4& +3 "core" &,s\ S\ R \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&#'Ѽ +95 "core" ' + "storage"(=& +4 "core" &,s\ G\ P \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'i +284 "core" ' +2 "storage"(?- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +3 "core" &,s\ %\ % #\ +2 "manipulator"&7& +3 "core" & F +2 .tElbow.seek 4 + "manipulator"&E( +4 "core" ( + "manipulator"&;& +4 "core" & ' ^ F + "storage"(/& +4 "core" &,s\ (\ ( \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&>', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(L'X +7 "core" & " F + "manipulator"&3% +4 "core" % ' I T +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&2(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +113 "core" ( +2 "manipulator"&T& +4 "core" &k 1 J \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &k   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +99 "core" ' + "manipulator"&H& +57 "core" &k  \ + "manipulator"&J% +4 "core" %   +2 "processing"%.& +4 "core" &\ +2 "processing"%b& +5 "core" &N\ +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &z\ +7 & 1r\ $c +9 &U\ \ 7 +10 &}j\ K +9 &\\\ N +9 &a_\ M +10 &#Y\ M +9 &[\ M +10 &Y\ N +9 &h_\ N +9 &*\\\ N +10 &Z\ M +9 &!Z\ M +9 &#q^\ M +10 &%3Z\ M +9 &&Y\ N +10 &(Y\ M +9 &*x^\ N +9 &,;]\ M +10 &-Z\ N +9 &/Z\ M +9 &1Y\ M +10 &3B\\\ N +9 &5\\\ N +10 &6\\\ M +9 &8X\ M +9 &:K\\\ M +10 &< Z\ M +9 &=W\ M +10 &?X\ M +9 &ATW\ M +9 &C^\ N +10 &D_\ N +9 &Fj\ O +9 &HO}\ Q +10 &J \ S +9 &K\ S +9 &M\ S +10 &OP\ T +9 &Q\ S +10 &R\ S +9 &T\ T +9 &VV\ T +10 &X\ T +9 &Y{s\ 6 +9 &Z/\ J +10 &Z\ * +2 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&D% +4 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +100 "core" ' +2 "processing"%O& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %\ %  7 + "storage"(a% +4 "core" %_\ "\  \ +2 "storage"(k. +3 "core" .(,l + "storage"(M& +5 "core" &,s\ \  \ + "storage"(\\& +5 "manipulator"&:& +4 "core" &,s\ "\  \ + &k < b \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&i(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(g'i +2 "core" ( +2 "manipulator"&F& +4 "core" &k / \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &k : \ +2 .tForearm.seek PC +2 "manipulator"&V' +97 "core" ' + .tHand.close +2 "manipulator"&+/ +53 "core" / +2 .tPC.seek :open +2 "processing"%!( +95 "core" ' + "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +44 "core" ' +280 ( +2 "storage"(m& +4 "core" &,s\ 2\ 2\ + "manipulator"&d& +4 "core" &k  I \ +2 "manipulator"&Z% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +240 "core" ( +2 "manipulator"&f& +4 "core" &\ "  Z + "storage"(o& +4 "core" &,s\ /\ $ B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&]'Ѽ +86 "core" ' +2 .tHand.open + "manipulator"&n1 +63 "core" 1 +3 "storage"(j- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"(}& +4 "core" &,s j\ + "manipulator"&r& +4 "core" &\  : Z +2 .tElbow.seek 4 +2 "manipulator"& ( +13 "core" ( +2 "manipulator"&\ & +4 "core" & ! 9  + "storage"(z& +4 "core" &,s x\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +62 "core" ' +2 "manipulator"&^& +4 "core" &   +2 "storage"(& +3 "core" &,s\ '\ ' -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v' +25 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +24 "core" ' + "manipulator"&s% +5 "core" %  + "storage"({& +4 "core" &,s\ %\ ( \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&_'> +21 "core" ' + "manipulator"& & +4 "core" & ) B  +2 "storage"(& +4 "core" &,s\ Q\ R \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&t'Ѽ +24 "core" ' +2 "storage"(p% +4 "core" %s\ S\ R \ +3 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (% +4 "core" %L\ \  K\ Vb + "manipulator"&`% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,s\ G\ Q =\ +2 "collection"''& +4 "core" &VoVX>\ K + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %\ \ p  +2 "storage"(u% +4 "core" %T\ R\ R \ + "storage"(. +4 "core" .(,l + "storage"(& +4 "core" &,s\ E\ I 5\ + "storage"(& +4 "core" &,s\ D\ E\ +2 "manipulator"&& +3 "core" & y  +2 .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( + "manipulator"&& +4 "core" & & q  +2 "storage"( & +3 "core" &,s\ R\ R \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +93 "core" ' +2 "storage"(1& +4 "core" &,s\ P\ H |\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +294 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  + "storage"(& +4 "core" &,s\ '\ 2 0\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&h' +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'U +32 "core" ' + "manipulator"&0% +4 "core" %  +2 "storage"("& +3 "core" &,s\ \  U\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&|'? +18 "core" ' +2 "manipulator"&& +4 "core" & ' D  +2 "storage"(x& +3 "core" &,s\ 6\ G u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(6'D +41 "core" ' + "manipulator"&<& +4 "core" &  p  +2 "manipulator"&9% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +155 "core" ( +2 "manipulator"&&& +4 "core" &*  U @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +2 "core" &) @^ +2 .tForearm.seek CC +2 "manipulator"&P'" +93 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'$( +416 "core" ( + "storage"(,& +4 "core" &,s\ M\ R ~\ +2 "storage"(I& +3 "core" &,s\ R\ R \ +2 "manipulator"&4& +3 "core" &* X @\\ +2 "manipulator"&=% +4 "core" %  ^ + .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +156 "core" ( + "manipulator"&?& +4 "core" & & e  +2 "storage"(*& +4 "core" &,s q o 9\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&7' +100 "core" ' +42 .tElbow.hold +10 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +62 "core" 1 +3 "manipulator"&W% +4 "core" %   9 O + "storage"(Y& +4 "core" &,s L L m\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&3'@ +18 "core" ' + "manipulator"&A& +5 "core" & & ;  + "storage"(#& +4 "core" &,s q n '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +46 "core" ' + "storage"(>% +4 "core" %K w\ +3 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (S% +2 "core" %J P O \ Vb +2 "manipulator"&E% +4 "core" %ѿ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'J& +4 "core" &WY\ +2 "manipulator"&.% +4 "core" %\     + "storage"(L% +4 "core" %_ g\ +2 "storage"(N. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<+&\ O\ H ]\  +2 "manipulator"&D& +4 "core" &  ]  +2 .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( + "manipulator"&C& +4 "core" & ' >  + "storage"(a& +4 "core" &<' q q >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&k'ы +95 "core" ' + "storage"(b& +4 "core" &<'  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +283 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &<'\ / z j\  +2 "manipulator"&F& +4 "core" & X  +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&Q& +4 "core" &  +2 "storage"(+& +3 "core" &<' q q +\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&X' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(8'X +7 "core" &  c  +2 "manipulator"&g% +4 "core" %  $ +2 .tForearm.seek :retract + "manipulator"&m'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&Z& +4 "core" &* R @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +2 "core" &* 8 @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'" +96 "core" ' +2 "manipulator"&o& +4 "core" &*  @Y +2 "manipulator"&i% +3 "core" %% d +2 "collection"'n& +4 "core" &WX\ +2 "collection"'j& +5 "core" &VZ\ +2 .tCC.seek :closed +2 "collection"'y(V +5 "core" &VY\ +6 & 4XY\ %f +10 &WWX \ 7 +9 &~WX \ L +9 &WWZ \ M +10 &gYXZ\ M +9 &)YVX\ M +9 &[VZ\ M +10 &YWY\ M +9 &oYWX\ M +9 &1ZWY \ M +10 &[UW\ M +9 &!ZWZ\ M +9 &#x[XX\ M +10 &%:ZWX \ M +11 &&YVY\ M +9 &(YWY\ M +8 &*YWX\ L +9 &,BYWX \ M +10 &.WVY\ M +9 &/YUY \ M +10 &1ZWW \ M +9 &3KYWX \ M +9 &5YWX \ L +10 &6ZWZ;\ M +9 &8XVX\ L +9 &:R\\XY \ M +10 &<\\WY\ M +9 &=VUY\ M +9 &?ZWX\ M +10 &AZYVY\ M +9 &C[WX/\ N +10 &DcVZ\ N +9 &FlVY\ O +10 &HTXZ\ R +9 &JYY<\ W +9 &KXY\ Y +10 &MXY\ Y +9 &OFUX\ Y +9 &QYZ\ Y +10 &RWZ;\ Z +9 &TUY\ [ +9 &V&vWZ\ / +10 &V$XX/\ O +9 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&}1 +4 "core" &VdWX;\ K +57 1 + "manipulator"&r% +4 "core" % %  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%z& +4 "core" & \ +2 "manipulator"&% +3 "core" %\ ! o 6 +2 "storage"(^% +4 "core" %b\ %\ $ w\ + "storage"(. +4 "core" .(<* + "storage"(e& +4 "core" &<'\ '\ % \  + "storage"(s& +4 "core" &<'\ $\ $ x\  +2 "manipulator"&{& +3 "core" &) @X +2 "manipulator"&@% +4 "core" %\  ^ 6 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +160 "core" ( +2 "manipulator"&& +4 "core" & ! T o + "storage"(p& +4 "core" &<'\ D\ G x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&U'ы +94 "core" ' +2 "storage"(]& +4 "core" &<'\ +\ K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &<'\ )\ ' 9\  +2 "manipulator"&c& +4 "core" & o + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" & ' ? o + "storage"(v& +4 "core" &<'\ Q\ O j\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"('X +7 "core" &  # o + "manipulator"&u% +4 "core" %    ( +2 .tForearm.seek :retract +2 "manipulator"&l'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &} / y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &} F  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" &} 1   + "manipulator"& % +4 "core" %  6 +2 "processing"%t& +4 "core" &\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &\ +6 &;\ $d +10 &U\ 7 +9 &~\ K +9 &\\\ N +10 &e]\ M +9 &']\ M +9 &[\ M +10 &XM\ M +9 &m]\ M +10 &/\\\ M +9 &Y\ M +9 &![\ N +10 &#t\\\ N +9 &%7\\\ M +9 &&W\ M +10 &(\\\ M +9 &*|[\ N +10 &,?Z\ M +9 &.Y\ M +9 &/\\\ M +10 &1]\ M +9 &3FZ?\ N +9 &5 [\ M +10 &6X\ M +9 &8Z\ M +10 &:OW\ M +9 &<Z\ M +9 &=W\ M +10 &?Z\ M +9 &AWZ\ M +9 &C_\ M +10 &Db\ N +9 &Fg\ N +10 &HT|\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OT\ T +9 &Q\ S +10 &R\ T +9 &T\ T +9 &VZ\ T +10 &X\ T +9 &Y{s\ 6 +10 &Z-\ L +9 &Z\ * +2 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&w1 +52 "core" 1 + "manipulator"&% +4 "core" % 0 G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +95 "core" ' + "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %\   +2 "storage"(%% +3 "core" %_\ $\ $ D\  +2 "storage"(0. +3 "core" .(<* + "storage"("& +4 "core" &<'\ '\ % Z\  +2 "storage"(& +2 "manipulator"&x& +7 "core" &<'\ '\ % J\  +2 &} _  +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(<'i + "manipulator"&9(s +5 "core" ( + "manipulator"& & +4 "core" &} * @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &}  f  +2 .tForearm.seek PC +53 "manipulator"&' +92 "core" ' + .tHand.close +2 "manipulator"&h/ +61 "core" / +3 .tPC.seek :open + "processing"%|( +35 "core" ' +2 "storage"(~- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +44 "core" ' +343 ( +2 "storage"()& +4 "core" &<'\ (\ + k\  + "manipulator"&5& +4 "core" &}    +2 "manipulator"&% +3 "core" %   ,  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&& +4 "core" & ) m  +2 "storage"(,& +3 "core" &<'\ 2\ 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&I'ы +94 "core" ' + .tHand.open +2 "manipulator"&41 +63 "core" 1 + "storage"(=- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(*' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(K& +4 "core" &<' n\  + "manipulator"&/& +4 "core" &  w  +2 .tElbow.seek 5 + "manipulator"&W( +10 "core" ( +2 "manipulator"&Y& +4 "core" & % F +2 "storage"(A& +4 "core" &<' i\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(-' +60 "core" ' + "manipulator"&>& +4 "core" &  +2 "storage"(S& +4 "core" &<'\ (\ ( D\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&E' +33 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +22 "core" ' + "manipulator"&3% +5 "core" %   + "storage"(J& +5 "core" &<'\ \  w\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&.'\ +21 "core" ' + "manipulator"&L& +5 "core" &   + "storage"(N& +4 "core" &<'\ D\ D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +19 "core" ' + "storage"(B% +5 "core" %o\ G\ D \ +2 ."downElevator"SE.seek :down +5 "storage"(T'X +99 (R% +3 "core" %K\ \ % |\ Wd + "manipulator"&% +4 "core" %ю +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" &<'\ T\ R B\  +2 "collection"'a& +4 "core" &VdWZJ\ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&b% +3 "core" %\  +2 "storage"(;% +4 "core" %_\ Q\ Q \ + "storage"(H. +4 "core" .(<* + "storage"(:& +4 "core" &<'\ \ A Z\  +2 "storage"(\\& +3 "core" &<'\ R\ Q s\  +2 "manipulator"&F& +3 "core" & +2 .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&+& +4 "core" & +2 "storage"(2& +3 "core" &<'\ R\ Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +95 "core" ' + "storage"(g& +4 "core" &<'\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +287 "core" ' +3 "storage"(k- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" & u +2 "storage"(V& +3 "core" &<'\ B\ D %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M' +37 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(o- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'V +31 "core" ' +2 "manipulator"&n% +4 "core" % y Q + "storage"( & +4 "core" &<' \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&8' +20 "core" ' + "manipulator"&m& +5 "core" & ) u + "storage"($& +4 "core" &<'\ E\ E &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'E +43 "core" ' + "manipulator"&z& +4 "core" & +2 "manipulator"&% +4 "core" %ц +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&e& +4 "core" &- 1 W Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &-  s Cn +2 .tForearm.seek CC +2 "manipulator"&s'" +94 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( +2 "storage"(f& +4 "core" &<'\ N\ Q F\  + "storage"(& +4 "core" &<'\ R\ Q \  +2 "manipulator"&p& +3 "core" &+ Ae +2 "manipulator"&]% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +164 "core" ( + "manipulator"&& +5 "core" & ) p + "storage"(`& +4 "core" &<' U b v\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&c' +105 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  1 + "storage"('& +4 "core" &<'\ C\ C -\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&u' +14 "core" ' +3 "manipulator"& & +5 "core" & p + "storage"(U& +4 "core" &<' n s -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +16 "core" ' + "storage"(_% +4 "core" %H \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %E\ 0  S\ Va +2 "manipulator"& % +4 "core" %v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +5 "core" &UW\ + "manipulator"&t% +4 "core" %\    +2 "storage"(% +4 "core" %Z  + "storage"(l. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(!(K +333 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &K\ R\ Q _\  +2 "manipulator"&& +4 "core" & o p +2 .tElbow.seek 6 + "manipulator"&( +36 "core" ( + "manipulator"&& +4 "core" & 0 H +2 "storage"(%& +4 "core" &K q q 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&0'a +151 "core" ' +2 "storage"("& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &K\ ^ w\  +2 "manipulator"& & +4 "core" &  T G +2 .tElbow.seek 6 + "manipulator"&( +24 "core" ( + "manipulator"&& +5 "core" & %  + "storage"(h& +4 "core" &K m c d\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&~' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& + "storage"(q'X +8 "core" &   + "manipulator"&<% +4 "core" % 4 +2 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +155 "core" ( +2 "manipulator"&& +4 "core" ' + &* 4 @Y +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&& +4 "core" &) @Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'" +102 "core" ' +2 "manipulator"&,& +5 "core" &*  . @X + "manipulator"&9% +4 "core" % ) O +2 "collection"'4& +5 "core" &XZ\ +2 "collection"'=& +5 "core" &WY\ +2 .tCC.seek :closed +2 "collection"'P(V +4 "core" &VZ\ +6 & 4XY\ %f +10 &WWX\ 7 +9 &{XY\ L +10 &UWY\ M +9 &kYVX\ M +9 &.YXY\ M +10 &]VZ\ \ M +9 &YXY \ M +9 &tWVW\ M +10 &6YWX \ M +9 &\\WZ \ M +10 &!ZXX \ M +9 &#|ZWX \ M +9 &%>YWZ\ \ M +10 &'WXZ9\ M +9 &(XW[&\ M +9 &*WXZ'\ M +10 &,FXWY\ \ M +9 &.[WX \ M +9 &/YXY\ L +10 &1ZVZ \ M +9 &3NYUY \ M +10 &5WVX \ M +9 &6XXZ \ M +9 &8ZV[\ M +10 &:UYXX\ M +9 &<ZXY \ M +9 &=ZWY\ M +10 &?YVX \ M +9 &A^YVX \ M +10 &C [VX \ M +9 &D`X[ \ M +9 &FjVZ \ O +10 &HZzVX\ Q +9 &JUZ\ V +9 &KWY\ \ Y +10 &MXY2\ X +9 &OJXY\ Y +10 &Q WZ \ Y +9 &RX[\ Z +9 &TW[\ [ +10 &V,wXY\ / +9 &V!X[\ P +9 ( +2 &VgZX-\ M +2 "collection"'=& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&/% +5 "core" %   ' M + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&A% +4 "core" %\ # ; +2 "storage"(>% +4 "core" %S\ $\ ' \ + "storage"(S. +3 "core" .(K + "storage"(&& +4 "core" &K\ $\ $ \\\  +2 "storage"(3& +4 "core" &K\ &\ ' m\  + "manipulator"&J& +4 "core" &* @W +2 "manipulator"&?% +4 "core" %\ # ; + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +152 "core" ( + "manipulator"&N& +5 "core" & ( &  + "storage"(B& +4 "core" &K\ C\ C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +86 "core" ' +2 "storage"(I& +4 "core" &K \  x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'i +284 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ 3\ 0 >\  +2 "manipulator"&#& +4 "core" & )  +2 .tElbow.seek 6 + "manipulator"&W( +4 "core" ( + "manipulator"&-& +4 "core" & % %  + "storage"(E& +4 "core" &K\ E\ E \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&.' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& + "storage"(b'X +7 "core" &    + "manipulator"&;% +4 "core" % ϸ  "  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&7(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&:& +4 "core" &k . Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &k  c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +101 "core" ' +2 "manipulator"&+& +4 "core" &k % + "manipulator"&2% +4 "core" %  +2 "processing"%6& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed + "processing"%T(Z +4 "core" &\  +9 &2\ *x +9 &c\ > +9 &yw\ N +10 &<W\ M +9 &V\ M +9 &W\ M +10 &Y\ M +9 &D[\ M +10 &^\ M +9 &[\ N +9 & Z\ M +10 &"LX\ M +9 &$U\ M +10 &%\\\ M +9 &'\\\ N +9 &)SZ\ N +10 &+Z\ M +9 &,W\ M +9 &.W\ M +10 &0\\X\ M +9 &2\\\ M +9 &3Y\ N +10 &5Z\ M +9 &7dW\ M +10 &9%[\ N +9 &:Y\ M +9 &<U\ M +10 &>lY\ M +9 &@.]\ M +9 &AZ\ M +10 &C\\\ M +9 &Eqd\ N +10 &G/m\ P +9 &H\ S +9 &J\ S +10 &Lj\ S +9 &N,\ S +9 &O\ T +10 &Q\ T +9 &Sp\ T +10 &U1\ T +9 &V\ T +9 &X\ T +10 &Z"\\\ $m +9 &ZY\ - +9 ( +2 &Z\ * +2 "processing"%g& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&G1 +63 "core" 1 + "manipulator"&D% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' + "processing"%Z& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&V% +4 "core" %\   i  +2 "storage"(o% +3 "core" %b\ 2\ / ^\  +2 "storage"(n. +3 "core" .(K + "storage"( & +4 "core" &K\ 3\ 2\  +3 "storage"(m& +3 "manipulator"&$& +4 "core" &K\ /\ % +\  +2 &k '  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&z(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&[& +4 "core" &k w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&O' +98 "core" ' + .tHand.close +2 "manipulator"&M/ +61 "core" / +3 .tPC.seek :open + "processing"%8( +83 "core" ' +2 "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +35 "core" ' +304 ( + "storage"(j& +4 "core" &K\ '\ 0 n\  +2 "manipulator"&}& +4 "core" &k  < + "manipulator"&X% +4 "core" %  d +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&^( +255 "core" ( +2 "manipulator"&y& +4 "core" &  ) q  + "storage"(f& +4 "core" &K\ /\ 2 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +100 "core" ' +2 .tHand.open + "manipulator"&p1 +55 "core" 1 +2 "storage"(]- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +53 "core" ' + #tLights, camera, ACTION! + "storage"(s- +4 "core" -' +2 "storage"(& +4 "core" &K '\  + "manipulator"&v& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&'& +3 "core" &  &  +2 "storage"( & +4 "core" &K 8\  +2 .tForearm.seek 6 + 700 counts + "manipulator"&U'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +53 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(_' +55 "core" ' +2 "manipulator"&d& +4 "core" &   +2 "storage"(& +3 "core" &K\ Q\ O t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +24 "core" ' + "manipulator"& % +5 "core" %α n + "storage"(u& +4 "core" &K\ \  @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&t' +12 "core" ' + "manipulator"&& +5 "core" &  x  +2 "storage"(l& +4 "core" &K\ R\ R b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&r'a +31 "core" ' +2 "storage"(% +4 "core" %i\  4\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %!J\ $\ % z\ Wc +2 "manipulator"&w% +4 "core" %M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K\ 8\ N :\  + "collection"'%& +4 "core" &VdYZ!\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&"% +5 "core" %\   W . + "storage"(% +4 "core" %\\\ Q\ G [\ + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K\ D\ C\  + "storage"(1& +4 "core" &K\ D\ D \  +2 "manipulator"& & +3 "core" &   J  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&h& +4 "core" &  ! 4  +2 "storage"(& +4 "core" &K\ D\ C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&('a +97 "core" ' + "storage"(<& +5 "core" &K \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +276 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &   +2 "storage"(& +4 "core" &K\ D\ A \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&x'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(9'Y +39 "core" ' + "manipulator"&% +5 "core" %ε c + "storage"(4& +4 "core" &K\ \  p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&q' +12 "core" ' + "manipulator"&)& +4 "core" &  q  +2 "storage"(@& +4 "core" &K\ >\ M .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&K'a +31 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(/'H +39 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&A% +4 "core" %U r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +153 "core" ( +2 "manipulator"&=& +4 "core" &# 4 8 :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &#  :. +2 .tForearm.seek CC +2 "manipulator"&3'" +94 "core" ' + .tHand.close + "manipulator"&J/ +52 "core" / +2 .tCC.seek :open +2 "collection"'?( +416 "core" ( + "storage"(& +4 "core" &K\ / \  + "storage"(N& +4 "core" &K\ + /\  +2 "manipulator"&B& +3 "core" &# H :. +2 "manipulator"&I% +3 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Y( +161 "core" ( +2 "manipulator"&R& +4 "core" &  H + "storage"(& +4 "core" &K q q ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&#'Υ +111 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&E1 +62 "core" 1 +2 "manipulator"&C% +4 "core" % ζ  r + "storage"(a& +5 "core" &K\ C\ C\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&;' +18 "core" ' +2 "manipulator"&L& +4 "core" & % 4 +2 "storage"(& +3 "core" &K e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&*'a +21 "core" ' + "storage"(.% +5 "core" %R 7  +2 ."downElevator"SE.seek :down +3 "storage"(:'X +99 (\\% +3 "core" % D O W\ V` +2 "manipulator"&W% +4 "core" %g u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +5 "collection"'2& +5 "core" &VX\ + "manipulator"&6% +4 "core" %\  ! +2 "storage"(b% +4 "core" %_ t t 7\ + "storage"(H. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(|(,l +655 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +4 "core" &,o\ E\ D v\ +3 "manipulator"&D& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&Z( +12 "core" ( + "manipulator"&V& +4 "core" & ' o +2 "storage"(o& +3 "core" &,r q p J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&n'Ѽ +94 "core" ' +2 "storage"( & +4 "core" &,r b +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'i +286 "core" ' +2 "storage"(m- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" &,r e \ +2 "manipulator"&[& +3 "core" & o +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&F& +4 "core" & & B o +2 "storage"(M& +3 "core" &,r q q .\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&i', +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(T'X +7 "core" &  o + "manipulator"&% +4 "core" % ' L +2 .tForearm.seek :retract +2 "manipulator"&j'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&X& +4 "core" && & T z =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" && =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'" +91 "core" ' +2 "manipulator"&f& +4 "core" && 5  =B +2 "manipulator"&z% +4 "core" %*  A + "collection"'p& +4 "core" &UW\ +3 "collection"']& +4 "core" &WX\ +2 .tCC.seek :closed +2 "collection"'s(V +4 "core" &VX\ +7 & -VX\ $d +10 &VVW$\ 7 +9 &|UX5\ K +9 &WVX!\ M +10 &fYUW\ L +9 &(XVW\ L +9 &ZUY\ L +10 &YXZ \ L +9 &nYVX \ L +10 &0YWW\ L +9 &YVX\ M +59 &!]TY\ M +4 &#tXWY\ M + &%7YVX\ M +3 &&WWW\ M + &(XUZ\ L +3 &*~YXY\ L + &,?YWW\ M +3 &.YVX\ M +9 &/YUY \ L +10 &1ZVX \ M +9 &3G[XY \ M +10 &5 WWW \ M +9 &6\\VX\ M +9 &8ZUW\ M +10 &:O\\UX\ M +9 &<YVX\ M +9 &=YWY\ M +10 &?WVY\ M +9 &AWWWX\ \ M +9 &CZWY\ M +10 &D`WW \ N +9 &FkY[\ O +10 &HQ~WZ\ Q +9 &JXZ \ V +9 &KXY\ X +10 &MVZ\ Y +9 &OCWX\ Y +9 &QVY\ Y +10 &RWXv\ Z +9 &TVY\ [ +10 &V#vVX\ / +9 &V'XY \ R +9 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&1 +4 "core" &VdVZ \ K +59 1 + "manipulator"&v% +4 "core" % * : ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&{% +4 "core" %\  2 a  + "storage"(d% +4 "core" %b\ 0\ ' \ +2 "storage"(. +3 "core" .(,l + "storage"(e& +4 "core" &,r\ 1\ 2 \ +2 "storage"(& +4 "core" &,r\ 2\ 2\ + "manipulator"& & +4 "core" &&  J =A +2 "manipulator"&u% +3 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +155 "core" ( + "manipulator"&l& +5 "core" &  K { + "storage"(^& +4 "core" &,r\ R\ Q t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +94 "core" ' + "storage"(& +5 "core" &,r\ + \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +227 "Can"G\ PN +51 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +3 "core" &,r\ '\ & )\ +2 "manipulator"&U& +3 "core" & { +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&_& +3 "core" & % @ { +2 "storage"( & +4 "core" &,r\ D\ D \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&t', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"("'X +7 "core" & { + "manipulator"&% +4 "core" % 1 N +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&& +5 "core" &q / t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +2 "core" &q  -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +96 "core" ' + "manipulator"&h& +4 "core" &r K  +2 "manipulator"&% +4 "core" %  !  +2 "processing"%r& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 &\ 7 +9 &>H}\ 0 +9 &ir\ E +10 &b\ M +9 &Z\ N +9 &Y\ M +10 &TX\ M +9 &\\\ M +10 &\\\ N +9 &U\ M +9 &\\Z\ M +10 &!U\ M +9 &"\\\ M +9 &$[\ M +10 &&dY\ M +9 &('[\ M +10 &)\\\ M +9 &+Z\ M +9 &-lZ\ M +10 &//V\ M +9 &0Z\ M +9 &2Z\ M +10 &4tZ\ M +9 &67W\ M +10 &7Z\ M +9 &9\\\ N +9 &;}X\ M +10 &=?Y\ M +9 &?Y\ M +10 &@Z\ M +9 &B\\\ M +9 &DE`\ N +10 &Fg\ N +9 &Gu\ P +9 &I|\ S +10 &K<\ S +9 &L\ S +9 &N\ S +10 &P\ T +9 &RB\ T +10 &T\ T +9 &U\ T +9 &W\ T +10 &YI\ B +9 &Z\\<v\ !b +9 &Z.\ , +6 ( +2 "processing"%<& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&\ 1 +4 "core" &Z\ , +52 1 + "manipulator"&% +4 "core" %  Z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  u  +2 "storage"(,% +4 "core" %T\ $\ % `\ + "storage"(. +3 "core" .(,l +2 "storage"(4& +3 "core" &,r\ '\ $ T\ +2 "storage"()& +4 "manipulator"&@& +4 "core" &,r\ $\ $ g\ +2 &r T  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s +2 "storage"(A'i +5 "core" ( + "manipulator"&(& +4 "core" &r 9  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &r L  +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&x/ +63 "core" / +2 .tPC.seek :open + "processing"%q( +84 "core" ' +2 "storage"(9- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +41 "core" ' +298 ( + "storage"(&& +4 "core" &,r\ ?\ I \ +2 "manipulator"&K& +3 "core" &r  +2 "manipulator"&~% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&>( +261 "core" ( + "manipulator"&P& +5 "core" & ( V [ + "storage"(& +4 "core" &,r\ F\ D !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +92 "core" ' + .tHand.open +2 "manipulator"&B1 +53 "core" 1 +2 "storage"(I- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(S& +3 "core" &,r t\ +2 "manipulator"&E& +4 "core" & [ + .tElbow.seek 4 +2 "manipulator"&C( +8 "core" ( + "manipulator"&a& +4 "core" & ) S +2 "storage"(L& +4 "core" &,r b\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +61 "core" ' +2 "manipulator"&5& +4 "core" & S +2 "storage"(\\& +4 "core" &,r\ L\ 7 6\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&W' +26 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +24 "core" ' + "manipulator"&2% +5 "core" % a + "storage"(;& +5 "core" &,r\ 2\ * \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&6'@ +20 "core" ' +3 "manipulator"&b& +4 "core" & & ~ S + "storage"(H& +5 "core" &,r\ G\ O ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&/'Ѽ +25 "core" ' + "storage"(*% +5 "core" %s\ ?\ + c\ +2 ."downElevator"SE.seek :down +5 "storage"(:'X +99 (!% +3 "core" %"O\ '\ ' Y\ Wd + "manipulator"&G% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +4 "core" &,r\ 6\ M L\ + "collection"'o& +4 "core" &VeWW\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\   j  +2 "storage"(-% +4 "core" %`\ D\ I J\  + "storage"(+. +3 "core" .(,l +2 "storage"(m& +4 "core" &,r\ Q\ P *\ + "storage"(g& +4 "core" &,r\ C\ C\ +2 "manipulator"&[& +3 "core" &  ( S +2 .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( +52 "manipulator"&M& +4 "core" &  * S +2 "storage"(7& +3 "core" &,r\ D\ C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&k'Ѽ +87 "core" ' +2 "storage"(& +4 "core" &,r\ =\ > \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +282 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" & S +2 "storage"(O& +3 "core" &,r\ 7\ E a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&$' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'V +31 "core" ' + "manipulator"&p% +4 "core" %  +2 "storage"(Q& +3 "core" &,r\ '\ ) p\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&T'@ +20 "core" ' + "manipulator"&j& +5 "core" & & F S + "storage"(?& +4 "core" &,r\ D\ D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'E +38 "core" ' +2 "manipulator"& & +5 "core" & K S + "manipulator"&{% +4 "core" %Ѽ U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&e& +4 "core" &( ) H <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &( 6 <? +2 .tForearm.seek CC + "manipulator"&'" +92 "core" ' + .tHand.close + "manipulator"& / +57 "core" / +2 .tCC.seek :open +2 "collection"'u( +416 "core" ( + "storage"(y& +4 "core" &,r\ / \ + "storage"(l& +4 "core" &,r\ + 1\ +2 "manipulator"&^& +3 "core" &&  V <? +2 "manipulator"&% +3 "core" % ( .   +2 .tForearm.seek :retract +2 "manipulator"&}'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +159 "core" ( + "manipulator"&& +4 "core" & ' f +2 "storage"(w& +4 "core" &,r p q \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&U' +100 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +64 "core" 1 +2 "manipulator"&% +4 "core" %   6 +2 "storage"(%& +4 "core" &,r M O L\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +19 "core" ' +2 "manipulator"&& +4 "core" & % O + "storage"(& +4 "core" &,r m b y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +33 "core" ' +2 "storage"(t% +4 "core" %M p n \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (1% +3 "core" %uF\  P 5\ Va +2 "manipulator"&% +3 "core" % < s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &TX\ + "manipulator"&r% +4 "core" %\ \ S  +2 "storage"("% +4 "core" %b r  + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<* +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" &<*\ Q\ R \  +2 "manipulator"&& +4 "core" & + .tElbow.seek 5 +2 "manipulator"&( +11 "core" ( + "manipulator"&& +5 "core" & & g ] + "storage"(,& +4 "core" &<' n p Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +94 "core" ' + "storage"(4& +4 "core" &<' 4  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +282 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &<' L O &\  +2 "manipulator"&(& +3 "core" & ] +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & %  ] +2 "storage"(x& +3 "core" &<' q q )\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&9' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"('X +7 "core" &   ] + "manipulator"&A% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&&'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&~& +4 "core" &* ( v A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ O A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&P'" +102 "core" ' +2 "manipulator"&& +4 "core" &+ y A` +2 "manipulator"&% +4 "core" % + "collection"'B& +4 "core" &WY\ +3 "collection"'I& +6 "core" &WZ \ +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" &WU\ +7 & ,WY\ $c +9 &VXX\ 7 +9 &}UW\ L +10 &YTY\ M +9 &dWNX\ M +10 &'WXX\ L +9 &]WW\ M +9 &VWX\ M +10 &lVVX\ M +9 &/WXX\ L +9 &XTX\ M +10 &!\\VW\ M +9 &#tWUY\ M +9 &%6WVY\ M +10 &&[UY\ M +9 &(TVX \ M +10 &*|UWX \ M +9 &,?WWX\ L +9 &.WYY\ L +10 &/XVX \ M +9 &1WXY\ M +9 &3GWVX\ L +10 &5XYZ \ M +9 &6ZVW\ M +10 &8TVX \ M +9 &:NWWW\ M +9 &<ZVY\ \ M +10 &=YVX \ L +9 &?YWY \ M +9 &AVVTX\ M +10 &CZVX \ M +9 &D_UW \ N +10 &FhWW\ \ O +9 &HQ{WW\ Q +9 &JXY \ V +10 &KWX \ X +9 &MXX\ X +9 &OBV[\ Y +10 &QWY \ Y +9 &RXX \ Z +10 &TXY\ Z +9 &V#vTY\ / +9 &V%WY\ O +9 ( +3 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&S1 +4 "core" &VcWZ\ \ K +59 1 + "manipulator"&E% +5 "core" %  + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&a'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%L& +5 "core" &\ + "manipulator"&J% +4 "core" %\ # = + "storage"(5% +4 "core" %a\ $\ $ Y\  +2 "storage"(\\. +3 "core" .(<* + "storage"(2& +4 "core" &<'\ '\ $ f\  + "storage"(=& +4 "core" &<'\ '\ ( \  +2 "manipulator"&;& +3 "core" &* A_ +2 "manipulator"&R% +3 "core" %\ # { = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +161 "core" ( + "manipulator"&H& +4 "core" & * 0 r +2 "storage"(*& +3 "core" &<'\ D\ C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&>'ы +101 "core" ' + "storage"(N& +5 "core" &<'\ + .\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &<'\ )\ \  +2 "manipulator"&& +3 "core" & s r +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( + "manipulator"&.& +4 "core" & w r +41 "storage"(W& +14 "core" &<'\ C\ C \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& + "storage"( 'X +8 "core" & l r + "manipulator"&-% +4 "core" % E +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&m(s +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&#& +5 "core" &p % ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &p ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&[' +94 "core" ' +2 "manipulator"&M& +4 "core" &p & ! + "manipulator"&7% +4 "core" %  ~  +2 "processing"%/& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%:(Z +5 "core" &\  +9 &3\ )w +9 &c\ > +10 &{v\ N +9 &>Z\ M +10 &Y\ M +9 &W\ M +9 &\\\ N +10 &EZ\ M +9 &]\ N +9 &Z\ M +10 & [\ M +9 &"MY\ M +10 &$U\ M +9 &%[\ M +9 &'\\\ M +10 &)V\\\ M +9 &+Z\ M +9 &,Y\ M +10 &.V\ M +9 &0]Y\ M +9 &2 U\ M +10 &3Y\ M +9 &5\\\ M +10 &7eY\ M +9 &9&Y\ N +9 &:X\ M +10 &<Y\ M +9 &>lY\ N +9 &@0Z\ M +10 &AY\ M +9 &C\\\ M +10 &Et_\ N +9 &G2k\ O +9 &H\ R +10 &J\ S +9 &Ll\ S +9 &N.\ S +10 &O\ S +9 &Q\ S +10 &Ss\ S +9 &U4\ T +9 &V\ T +10 &X\ T +9 &Z#\\\ #l +9 &ZY\ - +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&Y1 +3 "core" &Z\ * +54 1 + "manipulator"&D% +5 "core" % * B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +91 "core" ' + "processing"%X& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +5 "core" %\   W  + "storage"(f% +4 "core" %a\ .\ $ X\ +2 "storage"(p. +3 "core" .(<* + "storage"(Q& +4 "core" &<'\ $\ $ \  +2 "storage"(j& +4 "manipulator"&?& +5 "core" &<'\ 1\ / .\  + &p | ! +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"& (s + "storage"({'i +5 "core" ( +2 "manipulator"&k& +4 "core" &p W ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &p  ! +2 .tForearm.seek PC +2 "manipulator"&Z' +91 "core" ' +2 .tHand.close + "manipulator"&$/ +54 "core" / + .tPC.seek :open +2 "processing"%T( +103 "core" ' + "storage"(z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +42 "core" ' +275 ( + "storage"(]& +4 "core" &<'\ 6\ C \  +2 "manipulator"&& +3 "core" &p  ! +2 "manipulator"&i% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&d( +247 "core" ( + "manipulator"&s& +4 "core" &  < !t +2 "storage"(y& +4 "core" &<'\ 0\ ( ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +98 "core" ' + .tHand.open + "manipulator"&^1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +32 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +55 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(- +8 "core" -' +4 "storage"(& +4 "core" &<' ^\  +2 "manipulator"& & +4 "core" &   !s +2 .tElbow.seek 5 + "manipulator"&( +17 "core" ( + "manipulator"&%& +4 "core" & $ c  +2 "storage"(& +3 "core" &<' (\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +57 "core" ' +2 "manipulator"&}& +4 "core" & G  +2 "storage"(1& +4 "core" &<'\ D\ C G\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +25 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(& +4 "core" &<'\ \  E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&r' +17 "core" ' + "manipulator"&"& +5 "core" & & /  + "storage"(& +5 "core" &<'\ Q\ F U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&v'ы +16 "core" ' + "storage"(`% +5 "core" %n\ B\ > \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (|% +3 "core" %J\ &\ $ X\ Wd +2 "manipulator"&\ % +4 "core" %с { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<'\ D\ - ~\  + "collection"',& +4 "core" &VcWY\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&4% +5 "core" %\   E  + "storage"(_% +4 "core" %a\ D\ D \ + "storage"(h. +3 "core" .(<* +2 "storage"()& +4 "core" &<'\ C\ C \  + "storage"(<& +4 "core" &<'\ C\ C \  +2 "manipulator"&(& +3 "core" &  /  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&x& +4 "core" &  \  +2 "storage"(c& +3 "core" &<'\ C\ C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&0'ы +98 "core" ' +3 "storage"(A& +4 "core" &<'\ D\  q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &  +2 "storage"(& +3 "core" &<'\ '\ ' &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&@' +35 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +31 "core" ' + "manipulator"&B% +5 "core" % N Z + "storage"(& +4 "core" &<' \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&&& +5 "core" &  S  + "storage"(u& +4 "core" &<'\ E\ I \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&S'ы +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'D +38 "core" ' +2 "manipulator"&L& +5 "core" & #  + "manipulator"&J% +4 "core" %х h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +157 "core" ( +52 "manipulator"&I& +3 "core" &% <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &% <> +2 .tForearm.seek CC +2 "manipulator"&='" +91 "core" ' +2 .tHand.close + "manipulator"&;/ +54 "core" / + .tCC.seek :open +2 "collection"'R( +416 "core" ( + "storage"(P& +4 "core" &<' \ * 7\  +2 "storage"(H& +4 "core" &<' p\  T\  + "manipulator"&*& +4 "core" &%  G <> +2 "manipulator"&N% +3 "core" % * k +2 .tForearm.seek :retract +2 "manipulator"&K'\ +106 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +156 "core" ( + "manipulator"&!& +4 "core" & u  +2 "storage"(G& +4 "core" &<' n p \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&' +107 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&W1 +58 "core" 1 +2 "manipulator"&V% +4 "core" %  @ + "storage"(o& +5 "core" &<'\ C\ C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&-' +14 "core" ' + "manipulator"&b& +5 "core" & 4  + "storage"(>& +4 "core" &<' n s m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +23 "core" ' +2 "storage"(6% +4 "core" %M \ +2 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (g% +3 "core" %H\ , } N\ Va +2 "manipulator"&C% +4 "core" %ѕ T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +86 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'7& +4 "core" &VW \ +2 "manipulator"&/% +4 "core" %\  T  +2 "storage"( % +3 "core" %a d +2 "storage"(+. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(q(K +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" &K\ J\ F 5\  + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&X( +39 "core" ( + "manipulator"&O& +4 "core" &\  ( Z +2 "storage"(f& +3 "core" &K p p \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +96 "core" ' + "storage"(Q& +4 "core" &K a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +282 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K Q ? ;\  +2 "manipulator"&k& +3 "core" & Z +2 .tElbow.seek 6 +2 "manipulator"&F( +32 "core" ( +2 "manipulator"&[& +4 "core" & % B +2 "storage"($& +3 "core" &K S \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&z' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(:'X +7 "core" &  B + "manipulator"&{% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&i& +4 "core" &!  O 8! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +2 "core" &  i 8! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'" +98 "core" ' + "manipulator"&y& +5 "core" &! % ; 8! +2 "manipulator"& % +4 "core" %  +2 "collection"'^& +5 "core" &XX\ +2 "collection"'& +5 "core" &TW-\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &VY%\ +7 & -VX \ $d +9 &UVV\ 7 +9 &{WX!\ L +10 &XTX%\ M +9 &eUVY\ M +9 &'UUW\ M +10 &WVZ'\ M +9 &UWW!\ M +10 &mVUW\ M +9 &0WWY\ L +9 &WVX\ L +10 &!YWW\ L +9 &#uXWX\ M +9 &%6[WX\ M +10 &&UUW\ M +9 &(UWX\ L +9 &*~WWW\ L +10 &,@WUY\ L +9 &.ZVX \ M +10 &/[XW\ M +9 &1[XW\ M +9 &3HZWW\ L +10 &5\ WTY\ L +9 &6VVY\ M +9 &8TUX\ L +10 &:PYWX\ L +9 &<ZWZ\ M +10 &=WWX\ L +9 &?XWX\ M +9 &AWXWW\ \ M +10 &CYUX \ L +9 &D^VW\ M +9 &FgVW\ N +10 &HTyVW\ P +9 &JWW\ U +10 &KVY\ Y +9 &MXX\ \ X +9 &ODYX \ Y +10 &QUY \ Y +9 &RXY \ Z +9 &TVX\ Z +10 &V"uUY\ . +9 &V)XY\ S +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&1 +3 "core" &VcXX\ K +59 1 +3 "manipulator"& % +4 "core" %  \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ # i ? + "storage"(}% +4 "core" %a\ '\ ' \ +2 "storage"(1. +3 "core" .(K + "storage"(e& +4 "core" &K\ '\ % \  +2 "storage"(& +3 "core" &K\ '\ ' \  +2 "manipulator"&& +4 "core" &  q 8! + "manipulator"&% +4 "core" %\ # S ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +161 "core" ( + "manipulator"&& +4 "core" & (  +2 "storage"(`& +3 "core" &K\ C\ C U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +99 "core" ' +2 "storage"(l& +4 "core" &K\ . ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +281 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &K\ 8\ & o\  +2 "manipulator"&& +4 "core" & (  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&t& +4 "core" &  c  +2 "storage"(& +3 "core" &K\ C\ C R\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&,& +3 "storage"(4'X +7 "core" &    +2 "manipulator"&_% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&U(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( + "manipulator"&)& +5 "core" &k # ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +2 "core" &k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&(' +97 "core" ' + "manipulator"&x& +5 "core" &k & d + "manipulator"&c% +4 "core" %  +2 "processing"%v& +4 "core" &\ +2 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +7 &<\ $d +10 &V\ 7 +9 &~\ L +9 &Y\ M +10 &j\\\ M +9 &,Y\ M +9 &Z\ M +10 &Y\ M +9 &rZ\ M +10 &4[\ M +9 &W\ M +9 &!Y\ M +10 &#y[\ N +9 &%=Y\ M +9 &&Y\ M +10 &(X\ M +9 &*Z\ M +10 &,EZ\ M +9 &.Z\ M +9 &/X\ M +10 &1Y\ M +9 &3L\\\ M +9 &5Y\ M +10 &6V\ M +9 &8Y\ M +10 &:TY\ M +9 &<Y\ M +9 &=W\ M +10 &?W\ M +9 &A\\W\ M +9 &C\\\ M +10 &D`\ N +9 &Fg\ O +10 &HX\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OZ\ S +9 &Q\ T +10 &R\ T +9 &T\ T +10 &V`\ T +9 &X!\ T +9 &Y|r\ 3 +10 &Z(s\ O +9 &Z&\ / +2 ( +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +51 "manipulator"&'1 +60 "core" 1 + "manipulator"&% +4 "core" % "   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%~& +4 "core" &Z%\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\  p  +2 "storage"(% +3 "core" %R\ $\ ( \ +2 "storage"(B. +3 "core" .(K + "storage"(& +4 "core" &K\ %\ & q\  +3 "storage"(&& +2 "manipulator"&u& +6 "core" &K\ '\ ' \  + &k Y +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&L(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'i +2 "core" ( +2 "manipulator"&0& +4 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k * 0 +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close + "manipulator"&@/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'y +43 "core" ' +290 ( + "storage"(I& +4 "core" &K\ %\ % \  +2 "manipulator"&2& +3 "core" &k +2 "manipulator"&9% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&;'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&5( +280 "core" ( + "manipulator"&3& +4 "core" & & x 1 +2 "storage"(P& +4 "core" &K\ 2\ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&H'a +98 "core" ' + .tHand.open +2 "manipulator"&*1 +59 "core" 1 +2 "storage"(N- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +52 "core" ' + #tLights, camera, ACTION! + "storage"(=- +4 "core" -' +2 "storage"(\\& +3 "core" &K c\  +2 "manipulator"&W& +4 "core" & O 1 + .tElbow.seek 6 +2 "manipulator"&V( +20 "core" ( +2 "manipulator"&o& +4 "core" & & F  +2 "storage"(b& +4 "core" &K +\  +2 .tForearm.seek 6 + 700 counts + "manipulator"&>'a +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +57 "core" ' +2 "manipulator"&K& +4 "core" & v  +2 "storage"(g& +4 "core" &K\ Q\ Q \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&C'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +27 "core" ' + "manipulator"&7% +5 "core" %έ p + "storage"(-& +5 "core" &K\ \  ?\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&/' +12 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(+& +4 "core" &K\ >\ = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +23 "core" ' + "storage"(% +5 "core" %m\ ;\ = m\ +2 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (8% +3 "core" %L\ /\ & 8\ Wd +2 "manipulator"&Y% +4 "core" %щ S + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K\ L\ S .\  + "collection"'f& +4 "core" &VdXX\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Q% +4 "core" %\ \   + "storage"(.% +4 "core" %a\ L\ ? x\ +2 "storage"(M. +3 "core" .(K + "storage"(j& +4 "core" &K\ >\ = \  +2 "storage"(& +4 "core" &K\ <\ = \  + "manipulator"&k& +4 "core" & D  +2 .tElbow.seek 6 +2 "manipulator"&[( +3 "core" ( + "manipulator"&$& +4 "core" & & (  +2 "storage"(m& +3 "core" &K\ =\ = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&n'a +89 "core" ' +2 "storage"({& +4 "core" &K\ !\ < \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +293 "core" ' +2 "storage"(p- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&i& +3 "core" & %  +2 "storage"(Z& +3 "core" &K\ 7\ G \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&?'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(y- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"( 'Y +30 "core" ' + "manipulator"&^% +4 "core" %θ ~ +2 "storage"(F& +3 "core" &K\ \  0\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&:' +12 "core" ' +2 "manipulator"&]& +4 "core" &  +2 "storage"(R& +3 "core" &K\ R\ @ N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'H +44 "core" ' +2 "manipulator"&%& +4 "core" & (  +2 "manipulator"&% +3 "core" %M } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +164 "core" ( +2 "manipulator"&& +4 "core" &* Z @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &*  @Y +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(s& +4 "core" &K \  \  + "storage"(& +4 "core" &K\ >\ = $\  +2 "manipulator"&`& +3 "core" &(  > ?V +2 "manipulator"&l% +3 "core" % 0 [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +158 "core" ( + "manipulator"&|& +4 "core" &  k  +2 "storage"(\ & +3 "core" &K c m y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&r% +4 "core" % ι  $ + "storage"(,& +4 "core" &K\ C\ C &\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&_' +19 "core" ' +3 "manipulator"&"& +4 "core" &   + "storage"(d& +4 "core" &K q p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&w'a +29 "core" ' + "storage"(% +5 "core" %K O\ +2 ."downElevator"SE.seek :down +3 "storage"()'X +100 (<% +2 "core" %F d d k\ V` +2 "manipulator"&% +4 "core" %n  +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +90 "core" ' +8 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'c& +4 "core" &YZ\ +2 "manipulator"&v% +4 "core" %\  _ ! + "storage"(4% +4 "core" %` o\ +2 "storage"(h. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(T(,l +662 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" &,o\ Q\ Q k\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&A( +29 "core" ( +2 "manipulator"&~& +4 "core" & &  + "storage"(& +4 "core" &,r p p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +94 "core" ' +2 "storage"(B& +4 "core" &,r +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +290 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +4 "core" &,r d n 2\ + "manipulator"&0& +4 "core" & %  + .tElbow.seek 4 +2 "manipulator"& ( +14 "core" ( +3 "manipulator"&(& +4 "core" & & 7 ` + "storage"(@& +4 "core" &,r o q \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" &\  ] + "manipulator"&J% +4 "core" % ,  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&9& +5 "core" &( 5 ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &(  ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'" +96 "core" ' +2 "manipulator"&P& +4 "core" &( 5  ?S +2 "manipulator"&L% +4 "core" %, x +2 "collection"'*& +3 "core" &VY0\ +2 "collection"'N& +6 "core" &WX.\ +2 .tCC.seek :closed +3 "collection"'=(V +3 "core" &WY.\ +6 &TY-\ 7 +9 &9I}WY,\ 0 +9 &esVX,\ E +10 & ]UW\ M +9 &YV[+\ M +9 &UUW$\ M +10 &TZWX\ L +9 &YVW#\ L +10 &\\VY'\ M +9 &ZVW&\ L +9 &[WWX \ M +10 &![WW$\ M +9 &"ZVZ)\ L +9 &$ZVW%\ L +10 &&dVVX%\ L +9 &(%ZTY \ M +10 &)YVX \ M +9 &+VWX \ M +9 &-lUWY&\ L +10 &/.WUW"\ L +9 &0XXX'\ L +9 &2WWY\ M +10 &4tUXY\ L +9 &66WVV\ L +10 &7ZUW\ M +9 &9YWX\ M +9 &;{WUY \ M +10 &=>WTY\ L +9 &>XVX.\ M +9 &@ZWX\ M +10 &BWUX\ M +9 &DDZVV\ M +9 &FhUY\ N +10 &GtWX\ P +9 &IwWX\ T +10 &K+WX \ X +9 &LXX\ X +9 &NW[\ Y +10 &PpWZ\ X +9 &R/VXQ\ Z +9 &SWW\ Z +10 &UVY\ H +9 &V2XZ\ *| +10 &VqWX\ L +2 ( +2 "collection"'N& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&\\1 +58 "core" 1 +2 "manipulator"&W% +4 "core" % , ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%;& +4 "core" &\ +2 "manipulator"&b% +4 "core" %\  t  + "storage"(K% +4 "core" %U\ '\ $ e\ + "storage"(g. +3 "core" .(,l +2 "storage"(S& +3 "core" &,r\ $\ / r\ +2 "storage"(7& +4 "core" &,r\ %\ ( M\ + "manipulator"&!& +4 "core" &( \ ?S +2 "manipulator"&-% +3 "core" %\  3 a  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&+& +4 "core" &  o | + "storage"(& +4 "core" &,r\ Q\ Q w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +97 "core" ' +2 "storage"(H& +4 "core" &,r\  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +284 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &,r\ &\ 1 r\ +2 "manipulator"&>& +4 "core" & | + .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&6& +4 "core" & % d | +2 "storage"(C& +3 "core" &,r\ C\ C \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&/', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(Q'X +7 "core" & # | +2 "manipulator"&.% +4 "core" % 9 W _ + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&M(s +172 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&j& +4 "core" &s 3 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &s   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +103 "core" ' +2 "manipulator"&$& +4 "core" &s & +2 "manipulator"&m% +4 "core" %  7 + "processing"%E& +4 "core" & \ +2 "processing"%{& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &\ \  +9 &6\ +{ +10 & f \ ? +9 &s\ N +9 &WT\ M +10 &Z\ M +9 &X\ M +10 &Z\ M +9 &_Z\ M +9 &!Y\ M +10 &Z\ M +9 & Y\ M +9 &"gY\ M +10 &$)Y\ M +9 &%Y\ M +9 &'Z\ M +10 &)oY\ M +9 &+1X\ M +10 &,X\ M +9 &.Y\ M +9 &0wZ\ M +10 &29Y\ M +9 &3X\ M +9 &5X\ M +10 &7X\ M +9 &9BX\ M +10 &;W\ L +9 &<Y\ M +9 &>Y\ M +10 &@IZ\ M +9 &B Y\ M +9 &C\\\ M +10 &Eb\ N +9 &GJn\ O +10 &I\ R +9 &J\ S +9 &L\ S +10 &NF\ S +9 &P \ S +9 &Q\ T +10 &S\ T +9 &UN\ S +10 &W \ T +9 &X\ T +9 &Z.Me\ *| +10 &Z\ .\ & +5 ( +2 "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&a1 +3 "core" &Z\ & +54 1 +2 "manipulator"&D% +4 "core" %  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +99 "core" ' + "processing"%i& +5 "core" &Z\ & + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Z% +4 "core" %\ # H B +2 "storage"(y% +4 "core" %_\ '\ ( \ + "storage"(^. +3 "core" .(,l +2 "storage"(F& +4 "core" &,r\ (\ % {\ +2 "storage"(]& +2 "manipulator"&R& +7 "core" &s j + &,r\ '\ ( \ +2 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&%(s +3 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&n& +4 "core" &s U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &s * \ +2 .tForearm.seek PC +2 "manipulator"&X' +102 "core" ' + .tHand.close +2 "manipulator"&?/ +61 "core" / +3 .tPC.seek :open + "processing"%:( +85 "core" ' + "storage"( - +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +295 ( + "storage"(e& +4 "core" &,r\ '\ 1 ?\ +2 "manipulator"&& +4 "core" &s : + "manipulator"&z% +4 "core" % / +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}( +267 "core" ( +2 "manipulator"&& +4 "core" & % T  + "storage"(s& +54 "core" &,r\ $\ $ c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +104 "core" ' + .tHand.open + "manipulator"&`1 +55 "core" 1 +3 "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(|'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(1& +4 "core" &,r Z\ +2 "manipulator"&& +4 "core" & 1  + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&,& +3 "core" &  K  +2 "storage"("& +4 "core" &,r \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&& +4 "core" & M  +2 "storage"(<& +4 "core" &,r\ D\ C ,\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&_% +5 "core" %  u + "storage"(c& +5 "core" &,r\ '\ ' 2\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&v'; +20 "core" ' + "manipulator"&4& +5 "core" & % X  + "storage"(h& +5 "core" &,r\ C\ C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +20 "core" ' +2 "storage"(w% +5 "core" %j\ Q\ U \ +3 ."downElevator"SE.seek :down +4 "storage"()'X +98 (q% +2 "core" %N\ \ % 7\ Wc +3 "manipulator"&'% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +4 "core" &,r\ /\ # #\ + "collection"'& +4 "core" &VpVX\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&B% +4 "core" %\ #  B +2 "storage"(t% +3 "core" %\\\ &\ & \ +2 "storage"(x. +3 "core" .(,l + "storage"(&& +4 "core" &,r\ '\ ' \ +2 "storage"(u& +4 "core" &,r\ '\ ' \ + "manipulator"&0& +4 "core" &  %  +2 .tElbow.seek 4 +2 "manipulator"&(( +3 "core" ( + "manipulator"&@& +4 "core" & " ?  +2 "storage"(U& +3 "core" &,r\ '\ ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +117 "core" ' +2 "storage"(J& +4 "core" &,r\ =\ = \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" & W  +2 "storage"(& +3 "core" &,r\ &\ ' 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(L'V +31 "core" ' +2 "manipulator"&*% +4 "core" % | + "storage"( & +4 "core" &,r\ \  c\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&'; +18 "core" ' +2 "manipulator"&I& +4 "core" &   + "storage"(& +4 "core" &,r\ N\ Q (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\\'Ѽ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'E +40 "core" ' + "manipulator"&;& +5 "core" & H  + "manipulator"&b% +4 "core" %ѯ k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +162 "core" ( + "manipulator"&S& +4 "core" &* 5 w @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &* @\\ +2 .tForearm.seek CC +2 "manipulator"&N'" +93 "core" ' + .tHand.close + "manipulator"&!/ +60 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( + "storage"(3& +4 "core" &,r\ \ D p\ +2 "storage"(+& +3 "core" &,r\ C\ ? \ +2 "manipulator"&& +3 "core" &*  ] @\\ +2 "manipulator"&H% +4 "core" % ' > + .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&o( +162 "core" ( + "manipulator"&8& +4 "core" &  p +2 "storage"(Y& +3 "core" &,r q p c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&>' +101 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +59 "core" 1 +2 "manipulator"&O% +4 "core" %  *  +2 "storage"(f& +3 "core" &,r L K #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&.'@ +18 "core" ' +5 "manipulator"& & +5 "core" & x p + "storage"(5& +4 "core" &,r p q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&G'Ѽ +40 "core" ' + "storage"(/% +5 "core" %I h\ +2 ."downElevator"SE.seek :down +3 "storage"(j'X +99 (% +2 "core" %J t\ , b\ Wb +2 "manipulator"&V% +4 "core" %ѭ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'m& +4 "core" &TW1\ +2 "manipulator"&E% +4 "core" %\   # + "storage"(Q% +4 "core" %a n j F\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &<)\ F\ O "\  +2 "manipulator"&D& +4 "core" & Y p + .tElbow.seek 5 +2 "manipulator"&i( +5 "core" ( + "manipulator"&Z& +4 "core" & ' f +2 "storage"(y& +3 "core" &<% p p f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +100 "core" ' + "storage"(F& +4 "core" &<% \ q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +287 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &<% m i \  +2 "manipulator"&n& +4 "core" & # f + .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( + "manipulator"&k& +4 "core" & V f +2 "storage"(?& +3 "core" &<% q q +\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& ' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(#'X +55 "core" & f +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +126 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +39 "core" ( +2 "manipulator"&z& +4 "core" &' $ >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &' ,  >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 "manipulator"&s& +4 "core" &' 5 >N +2 "manipulator"&%% +4 "core" %& k  +2 "collection"'`& +4 "core" &WX=\ +3 "collection"'l& +5 .tCC.seek :closed +2 "collection"'(V +3 "core" &VX \ +8 & -UX8\ $c +10 &VWW;\ 7 +9 &}WX;\ L +10 &WSW<\ L +9 &gZVW<\ M +9 &*YWW7\ L +10 &XVY<\ M +9 &YVX=\ M +9 &pYXZ>\ L +10 &2VVX2\ L +9 &VWX3\ L +10 &!WUY1\ L +9 &#xWVY2\ L +9 &%:WUZ.\ L +10 &&VTX)\ L +9 &(UVY#\ L +9 &*ZUW\ M +10 &,AZUX%\ M +9 &.XUW+\ L +10 &/[UY'\ L +9 &1\\UW \ L +9 &3JZVX#\ L +10 &5 YVY%\ M +9 &6YUX!\ L +9 &8UTX)\ L +10 &:QZVX$\ M +9 &<WVV*\ L +10 &=WWY*\ L +9 &?WTX(\ L +9 &AZVWV*\ L +10 &CYVW#\ L +9 &D`WV$\ M +9 &FmVX&\ N +10 &HV~VW\ P +9 &J UW\ V +10 &KSX\ W +9 &MWX\ X +9 &OHVW\ X +10 &QXX\ Y +9 &RV[\ Z +9 &TXZ!\ Z +10 &V$tVW\ / +9 &V&XX\ Q +9 ( +2 &VoXX\ L +2 "collection"'l& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&11 +59 "core" 1 +3 "manipulator"&% +8 "core" % & q  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%"& +4 "core" &\ +2 "manipulator"&% +4 "core" %\    + "storage"(% +4 "core" %S\ &\ $ u\ +2 "storage"(<. +3 "core" .(<* + "storage"(_& +4 "core" &<%\ $\ $ 9\  +2 "storage"(& +3 "core" &<%\ (\ % a\  +2 "manipulator"&c& +4 "core" &' 7 >N + "manipulator"&4% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&|( +163 "core" ( + "manipulator"&h& +4 "core" & % F +2 "storage"(w& +4 "core" &<%\ D\ I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&}'ы +87 "core" ' + "storage"(& +5 "core" &<%\ >\ B \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +287 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &<%\ )\ 1 Y\  +2 "manipulator"&d& +3 "core" &  F +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( + "manipulator"&& +4 "core" & & U F +2 "storage"(& +3 "core" &<%\ H\ A ;\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&v' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(B'X +7 "core" & z F + "manipulator"&t% +4 "core" %  E +2 .tForearm.seek :retract +2 "manipulator"&x'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +170 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&&& +4 "core" &u & H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0' +99 "core" ' + "manipulator"&@& +4 "core" &u / t +2 "manipulator"&U% +4 "core" %  1 + "processing"% & +4 "core" &\ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%)(Z +5 "core" &\ +7 & 1\ $d +9 &T|\ 6 +9 &~~\ K +10 &Y \ M +9 &][ \ M +10 &Y \ M +9 &Y\ M +9 &X\ M +10 &eZ \ M +9 &(Z\ M +9 &Z\ M +10 &!Y\ M +9 &#mZ\ M +10 &%/Y \ M +9 &&W\ M +9 &(Z \ M +10 &*uY\ M +9 &,7Z\ M +9 &-Z\ M +10 &/X\ M +9 &1W\ M +10 &3@Y\ M +9 &5Y\ M +9 &6Y\ M +10 &8Y\ M +9 &:HY\ M +9 &<\ X\ M +10 &=W\ M +9 &?U\ M +9 &APV\ M +10 &CZ\ M +9 &D_\ N +10 &Fe\ N +9 &HMy\ Q +9 &J\ T +10 &K\ S +9 &M\ S +10 &OM\ S +9 &Q\ S +9 &R\ T +10 &T\ T +9 &VS\ T +9 &X\ T +10 &Y{q\ 8 +9 &Z*}\ N +10 &Z\ + +2 ( + "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&% +4 "core" %  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%9& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\   (  + "storage"(P% +4 "core" %\\\ %\ 0 v\ + "storage"(*. +3 "core" .(<* +2 "storage"( & +4 "core" &<%\ /\ $ V\  +2 "storage"(I& +2 "manipulator"&& +6 "core" &<%\ $\ / _\  +2 &u d +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&;(s +2 "storage"(b'i +4 "core" ( +2 "manipulator"&& +4 "core" &u  4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +2 "core" &u ' = +2 .tForearm.seek PC +2 "manipulator"&A' +96 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"(L- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'y +41 "core" ' +286 ( + "storage"(7& +4 "core" &<%\ '\ ' R\  + "manipulator"&\\& +4 "core" &u   +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&K( +267 "core" ( + "manipulator"&=& +5 "core" & % 3  + "storage"(3& +4 "core" &<%\ %\ % 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&+'ы +96 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(H- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(8'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"(g& +4 "core" &<% /\  + "manipulator"&C& +4 "core" & 2  +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( + "manipulator"&f& +4 "core" &   +2 "storage"( & +3 "core" &<% \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&5'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +61 "core" ' + "manipulator"&2& +5 "core" & \  + "storage"(& +4 "core" &<%\ C\ G d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V' +32 "core" ' +2 .tElbow.hold + "manipulator"&o, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(>'i +26 "core" ' + "manipulator"&.% +4 "core" %  +2 "storage"(m& +4 "core" &<%\ \  9\  + .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&E' +18 "core" ' +2 "manipulator"&Q& +4 "core" & % Z  +2 "storage"(& +53 "core" &<%\ '\ ' S\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +23 "core" ' + "storage"(G% +5 "core" %o\ F\ Q \ +2 ."downElevator"SE.seek :down +3 "storage"(j'X +99 (T% +3 "core" %K\ %\ $ %\ Wc +2 "manipulator"&a% +4 "core" %ш  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +85 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +4 "core" &<%\ Q\ I \\\  +2 "collection"'y& +3 "core" &VnXX\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&F% +4 "core" %\  @  +2 "storage"(6% +4 "core" %_\ H\ E\ + "storage"($. +3 "core" .(<* +2 "storage"(]& +3 "core" &<%\ O\ G U\  +2 "storage"(R& +4 "core" &<%\ J\ E \  + "manipulator"&n& +4 "core" & r  +2 .tElbow.seek 5 +2 "manipulator"&k( +3 "core" ( + "manipulator"&?& +4 "core" & % l  +2 "storage"(M& +4 "core" &<%\ C\ E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&p'ы +96 "core" ' +2 "storage"(& +4 "core" &<%\ <\ N h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +282 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&{& +3 "core" &   +2 "storage"(z& +3 "core" &<%\ A\ I \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&X' +34 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(s- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(%'V +32 "core" ' + "manipulator"&`% +4 "core" %  +2 "storage"([& +4 "core" &<% d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&#' +20 "core" ' +2 "manipulator"&e& +4 "core" & % L  + "storage"(-& +4 "core" &<%\ I\ C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&1'ы +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +40 "core" ' +2 "manipulator"&"& +4 "core" &   +2 "manipulator"&% +4 "core" %ѕ P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +161 "core" ( + "manipulator"&<& +4 "core" && 5  =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" && s =E +2 .tForearm.seek CC + "manipulator"&'" +97 "core" ' + .tHand.close + "manipulator"&c/ +62 "core" / + .tCC.seek :open +2 "collection"'4( +416 "core" ( + "storage"(& +4 "core" &<%\ \ ; e\  +2 "storage"(h& +4 "core" &<%\ >\ = \  + "manipulator"&w& +4 "core" && L =D + "manipulator"&% +4 "core" % $ m +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +162 "core" ( +2 "manipulator"&q& +4 "core" & $ - o + "storage"('& +4 "core" &<% m d |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&d' +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&~% +4 "core" %  V +2 "storage"(& +4 "core" &<%\ C\ C \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&t' +14 "core" ' + "manipulator"&|& +5 "core" & / o + "storage"(}& +4 "core" &<% d n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ 'ы +41 "core" ' + "storage"(v% +5 "core" %G \ +2 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (u% +3 "core" %H\ . ~ Q\ Va +2 "manipulator"&r% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'U& +4 "core" &WX2\ +2 "manipulator"& % +3 "core" %\    +2 "storage"(B% +4 "core" %` + "storage"(x. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(:(K +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K\ C\ D\  +2 "manipulator"&& +4 "core" &  o +2 .tElbow.seek 6 + "manipulator"&9( +38 "core" ( + "manipulator"&& +4 "core" &,  z < +2 "storage"(P& +4 "core" &K d f j\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&*'a +99 "core" ' +2 "storage"(J& +4 "core" &K s  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +282 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &K\ - { Y\  + "manipulator"&& +4 "core" &, < +2 .tElbow.seek 6 + "manipulator"&(( +22 "core" ( +2 "manipulator"&0& +4 "core" & U  +2 "storage"(& +3 "core" &K d c Z\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&L' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"()'X +7 "core" &   + "manipulator"&b% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&& +4 "core" &- $ G Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &- Q Co +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='" +99 "core" ' +2 "manipulator"&3& +4 "core" &- 3  S Co +2 "manipulator"&;% +4 "core" %$ i +2 "collection"'& +3 "core" &XW3\ +2 "collection"'H& +6 "core" &UZ9\ +2 .tCC.seek :closed +3 "collection"'N(V +3 "core" &SW3\ +6 &UY<\ 6 +9 &;H|WW4\ 0 +9 &hsXW<\ D +10 &bVX<\ L +9 &WTW@\ L +9 &WUX@\ L +10 &TYWZ>\ M +9 &YUYA\ M +10 &VWX=\ L +9 &ZVW=\ L +9 &\\[WY:\ M +10 &!YVX9\ M +9 &"[VX<\ L +9 &$\\VY<\ M +10 &&dWUX=\ M +9 &('ZWW<\ L +10 &)ZNX9\ L +9 &+[XY3\ L +9 &-mZUX4\ L +10 &//ZWX<\ L +9 &0VVY;\ M +9 &2YVZ3\ M +10 &4tXWY2\ M +9 &66WVX,\ M +10 &7WUX.\ M +10 &9WWY'\ L +11 &;}WVX1\ L +8 &=?[UV$\ L +8 &?UWW$\ L +9 &@WWW+\ M +10 &BZVW$\ M +9 &DFYWVY\ M +10 &FcUY-\ N +9 &GsWY$\ O +9 &I{WZ(\ S +10 &K.WY \ X +9 &LVY+\ X +9 &NWX(\ W +10 &PoVZ$\ Y +9 &R2YX(\ Y +9 &SUY\ Z +10 &UXY(\ G +9 &V3WX)\ (x +10 &VeUY*\ L +2 ( + "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&g1 +64 "core" 1 +3 "manipulator"&C% +4 "core" % $ K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&!% +4 "core" %\  , =  +2 "storage"(2% +3 "core" %R\ '\ ' t\ +2 "storage"(. +3 "core" .(K +51 "storage"(.& +4 "core" &K\ $\ $ U\  +2 "storage"(S& +4 "core" &K\ 1\ . B\  + "manipulator"&m& +4 "core" &-  U Cm + "manipulator"&8% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Q( +153 "core" ( +2 "manipulator"&& +4 "core" &  i  + "storage"(K& +4 "core" &K\ Q\ Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&+'a +86 "core" ' +2 "storage"(G& +4 "core" &K\ E\ ; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +285 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" &K\ (\ % C\  +2 "manipulator"&a& +3 "core" & '  +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( + "manipulator"&/& +4 "core" &  m  +2 "storage"(V& +3 "core" &K\ J\ J *\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&E' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(F'X +7 "core" &  + "manipulator"&6% +4 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&$'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&](s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&>& +4 "core" &o +  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &o 0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +94 "core" ' +2 "manipulator"&?& +4 "core" &o ' \ + "manipulator"&M% +4 "core" %  -  +2 "processing"%W& +4 "core" &\ +2 "processing"%& +4 "core" &\ \ +3 .tPC.seek :closed + "processing"%j(Z +4 "core" &\  +10 &3\ *y +9 &e\ > +10 &u\ M +9 &HU\ M +9 &\ Y\ M +10 &Y\ M +9 &Z\ M +9 &OX\ M +10 &Z\ M +9 &Z\ \ M +10 & Y\ M +9 &"XY\ M +9 &$X\ M +10 &%Y\ M +9 &'[\ M +9 &)_Y \ M +10 &+ Y\ N +9 &,W\ M +9 &.Y\ M +10 &0gZ\ M +9 &2*U\ \ M +10 &3Y\ M +9 &5Y\ M +9 &7qX\ M +10 &93Y\ M +9 &:W\ M +9 &<\\\ M +10 &>yY\ M +9 &@:Y\ M +10 &AY\ M +9 &C\\\ N +9 &E}^\ N +10 &G:p\ P +9 &H\ R +9 &J\ S +10 &Lv\ S +9 &N8\ S +10 &O\ S +9 &Q\ S +9 &S|\ T +10 &U=\ T +9 &V\ T +9 &X\ T +10 &Z'Us\ 'u +9 &Za\ 4 +9 ( +2 &Z#\ . +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&o1 +57 "core" 1 +2 "manipulator"&D% +4 "core" % &   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' + "processing"%{& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&z% +4 "core" %\   +2 "storage"(s% +4 "core" %S\ $\ ' ^\ + "storage"(`. +3 "core" .(K + "storage"([& +4 "core" &K\ '\ ' \  +2 "storage"(e& +4 "manipulator"&-& +4 "core" &K\ '\ ' \  + &o  \ +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&"(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&p& +4 "core" &o \\ \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &o 4 \ +2 .tForearm.seek PC + "manipulator"&i' +98 "core" ' + .tHand.close + "manipulator"&X/ +63 "core" / +2 .tPC.seek :open +2 "processing"%#( +82 "core" ' + "storage"(%- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(<'y +48 "core" ' +290 ( + "storage"(_& +4 "core" &K\ /\ % =\  +2 "manipulator"&1& +3 "core" &o   \ +2 "manipulator"& % +4 "core" %  n + .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +262 "core" ( +2 "manipulator"&& +4 "core" &  i + "storage"(& +4 "core" &K\ &\ % ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&h'a +105 "core" ' +2 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(q'E +41 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(l& +4 "core" &K \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" &  a +2 "storage"(|& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&}'a +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(v' +73 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(u& +3 "core" &K\ Q\ P {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&r'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(d'i +26 "core" ' +3 "manipulator"&t% +4 "core" %η . 6 + "storage"(U& +4 "core" &K\ '\ ' \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"& ' +21 "core" ' + "manipulator"&B& +5 "core" &  H + "storage"(x& +4 "core" &K\ Q\ P `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +17 "core" ' +2 "storage"(\ % +4 "core" %n\ @\  2\ +3 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (% +3 "core" %RL\ '\ ( \ Wc + "manipulator"& % +4 "core" %N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K\ P\ G C\  +2 "collection"'P& +4 "core" &VcOY\ L + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&J% +3 "core" %\   +2 "storage"(% +4 "core" %Z\ E\ C '\ + "storage"(@. +4 "core" .(K + "storage"(& +4 "core" &K\ J\ D \  + "storage"(I& +4 "core" &K\ E\ C\  +2 "manipulator"&& +3 "core" & o +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( + "manipulator"&& +4 "core" &  + +2 "storage"(& +4 "core" &K\ N\ F 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +106 "core" ' + "storage"(b& +4 "core" &K\ >\  e\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'i +284 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(A& +4 "core" &K\ @\ H \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +32 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +52 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(;'Y +31 "core" ' +2 "manipulator"&% +4 "core" %ζ l  + "storage"((& +4 "core" &K\ \  &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&)' +11 "core" ' +2 "manipulator"&7& +4 "core" & +2 "storage"(4& +4 "core" &K\ P\ P \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&g'a +22 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(C'H +40 "core" ' + "manipulator"& & +4 "core" &  +2 "manipulator"&!% +4 "core" %ю  y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +172 "core" ( + "manipulator"&.& +4 "core" &( . N ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &( D ?U +2 .tForearm.seek CC +2 "manipulator"&S'" +92 "core" ' +2 .tHand.close + "manipulator"&m/ +52 "core" / +2 .tCC.seek :open +2 "collection"'8( +416 "core" ( + "storage"(=& +4 "core" &K\ \ : \  + "storage"(& +4 "core" &K\ ?\ L \  +2 "manipulator"&K& +3 "core" &(  ?S +2 "manipulator"&G% +3 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +157 "core" ( + "manipulator"&5& +4 "core" &  2  +2 "storage"(T& +3 "core" &K m g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&a'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +64 "core" 1 +2 "manipulator"&Z% +4 "core" % ι  5 + "storage"(y& +4 "core" &K\ D\ H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&6' +18 "core" ' + "manipulator"&Q& +4 "core" & $  +2 "storage"(+& +4 "core" &K m p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&Y'a +26 "core" ' + "storage"(E% +84 "core" %N  +4 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (R% +2 "core" %H T f ^\ Va +2 "manipulator"&O% +4 "core" %ў > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'M& +4 "core" &UW \ +2 "manipulator"&W% +3 "core" %\    +2 "storage"(F% +4 "core" %Y +2 "storage"($. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,l +657 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +2 "core" &,o\ V  k\ +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&{( +16 "core" ( + "manipulator"&z& +4 "core" &  @ _ +2 "storage"(s& +3 "core" &,r p q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +96 "core" ' +2 "storage"([& +4 "core" &,r N  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +282 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r h e ?\ +2 "manipulator"&p& +4 "core" & : _ + .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( + "manipulator"&n& +4 "core" &  _ +2 "storage"(X& +3 "core" &,r p p\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&%', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(j'X +7 "core" & _ + "manipulator"&% +4 "core" % . % ! +2 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&1( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"& & +4 "core" &( Q I ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &( U ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' + "manipulator"&& +4 "core" &) 0 ? ?Q +2 "manipulator"&"% +4 "core" %( +2 "collection"'w& +4 "core" &VWA\ +2 "collection"'& +6 "core" &UX\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &WWD\ +7 &=SXD\ $d +10 &VUW?\ 7 +9 &{UX:\ L +9 &WVW0\ L +10 &jYUW5\ L +9 &,YWX1\ L +9 &YVX5\ M +10 &XUW4\ L +9 &rZW\\6\ L +10 &4XUX=\ L +9 &UVZ/\ L +9 &!\\UX4\ L +10 &#yZVY6\ M +9 &%<YVW;\ L +10 &&UWZ7\ L +9 &(WTW7\ L +9 &*VWW6\ L +10 &,DYVX<\ L +9 &.UVW<\ L +9 &/YWZ4\ L +10 &1WWX=\ L +9 &3KYUW<\ M +9 &5YVX=\ L +10 &6YVW<\ L +9 &8XWW=\ M +9 &:UYTX2\ L +10 &<ZVY7\ M +9 &=YXW4\ L +10 &?WVX5\ L +9 &A\\UVX1\ L +9 &CYUY4\ L +10 &DbTY3\ M +9 &FhVY-\ N +10 &HX}WX2\ P +9 &J TX4\ V +9 &KWY-\ X +10 &MVY%\ X +9 &OIWX0\ X +9 &Q UX2\ X +10 &RTX(\ Y +9 &TWX+\ Z +10 &V*uVW#\ . +9 &V&WY$\ Q +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open + "manipulator"&l1 +4 "core" &VdUY2\ L +56 1 + "manipulator"&% +4 "core" % ( I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp + "processing"%c& +5 "core" &\ + "manipulator"&|% +4 "core" %\ ! 7 +2 "storage"(% +4 "core" %S\ $\ ' m\ + "storage"(u. +3 "core" .(,l +2 "storage"(<& +3 "core" &,r\ '\ % \ +2 "storage"(t& +4 "core" &,r\ %\ & \ + "manipulator"&U& +4 "core" &( $ ?P +2 "manipulator"&q% +4 "core" %\ ! \\ 7 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&B( +158 "core" ( +2 "manipulator"&x& +4 "core" & %   +2 "storage"(\ & +3 "core" &,r\ F\ M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +94 "core" ' + "storage"(h& +5 "core" &,r\ \ ; \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &,r\ %\ & N\ +2 "manipulator"&}& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( + "manipulator"&v& +4 "core" & % [  +2 "storage"(r& +3 "core" &,r\ I\ D b\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& ', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(J'X +7 "core" & `  + "manipulator"&% +4 "core" % +  +3 .tForearm.seek :retract + "manipulator"&@'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&d(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +109 "core" ( +3 "manipulator"&& +4 "core" &i 2 7  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &i    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +50 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" &k  , +2 "manipulator"&% +4 "core" % l e + "processing"%& +4 "core" &\ +3 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed + "processing"%&(Z +5 "core" &\  +8 &2\ *x +9 &b\ = +10 &tw\ M +9 &6Z\ M +9 &Z\ M +10 &W\ M +9 &}Z\ M +10 &?\\\ M +9 &Z\ M +9 &]\ M +10 & Z\ L +9 &"GZ\ M +9 &$\ X\ L +10 &%Z\ M +9 &'Y\ M +10 &)OY\ M +9 &+Y\ L +9 &,Y\ M +10 &.W\ M +9 &0WY\ M +9 &2W\ M +10 &3X\ L +9 &5Y\ M +10 &7_Z\ M +9 &9!U\ M +9 &:W\ M +10 &<\\\ M +9 &>gW\ M +9 &@*Z\ L +10 &AX\ M +9 &C[\ M +10 &El_\ N +9 &G*k\ O +9 &H\ Q +10 &J\ S +9 &Le\ S +9 &N'\ S +10 &O\ S +9 &Q\ S +10 &Sk\ S +9 &U-\ S +9 &V\ T +10 &X\ S +9 &Za\ &t +9 &Z]\ 4 +9 ( +3 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&,1 +4 "core" &Z"\ . +58 1 + "manipulator"&% +4 "core" % % T e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +98 "core" ' + "processing"%& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&A% +4 "core" %\ # U ? +2 "storage"(3% +4 "core" %S\ '\ ' \ + "storage"(. +3 "core" .(,l +2 "storage"((& +3 "core" &,r\ '\ & \ +3 "storage"(7& +2 "manipulator"&4& +6 "core" &,r\ '\ ' \ + &k +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"& (s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'i +2 "core" ( +2 "manipulator"&& +4 "core" &k , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&9' +101 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%)( +80 "core" ' +2 "storage"(;- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'y +43 "core" ' +296 ( + "storage"(H& +4 "core" &,r\ 1\ / V\ +2 "manipulator"&g& +3 "core" &k   +2 "manipulator"&L% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&2( +259 "core" ( + "manipulator"&N& +4 "core" &  b  +2 "storage"(=& +3 "core" &,r\ D\ 5 |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +103 "core" ' + .tHand.open +3 "manipulator"&K1 +58 "core" 1 +2 "storage"(G- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(5'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(T' +52 "core" ' + #tLights, camera, ACTION! + "storage"(S- +4 "core" -' +2 "storage"(& +3 "core" &,r ;\ +2 "manipulator"&V& +4 "core" & 1  + .tElbow.seek 4 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&y& +3 "core" & $ l  +2 "storage"(Q& +4 "core" &,r \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&+'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +61 "core" ' + "manipulator"&E& +4 "core" &   +2 "storage"(f& +4 "core" &,r\ C\ D \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&R' +30 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +24 "core" ' + "manipulator"&6% +4 "core" % N +2 "storage"(M& +4 "core" &,r\ 1\ 2\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts + "manipulator"&W'> +21 "core" ' + "manipulator"&F& +5 "core" & $   + "storage"($& +5 "core" &,r\ M\ = \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&C'Ѽ +27 "core" ' + "storage"(Y% +5 "core" %r \ + H\  +2 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (:% +3 "core" %sN\ (\ ' \ Xg +2 "manipulator"&o% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (z& +4 "core" &,r\ J\ P /\ + "collection"'s& +4 "core" &VcVX(\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&[% +4 "core" %\  G  +2 "storage"(/% +4 "core" %`\ C\ C \ + "storage"(?. +3 "core" .(,l +2 "storage"(-& +3 "core" &,r\ C\ C\ +2 "storage"(& +4 "core" &,r\ C\ C \ + "manipulator"&p& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( + "manipulator"&X& +4 "core" & &   +2 "storage"(]& +4 "core" &,r\ N\ F 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&^'Ѽ +100 "core" ' +2 "storage"(& +4 "core" &,r\  m\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +282 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &   + "storage"(i& +4 "core" &,r\ F\ 7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&e' +32 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"("'U +31 "core" ' + "manipulator"&k% +5 "core" % > + "storage"(w& +4 "core" &,r\ \  ?\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts +2 "manipulator"&j'2 +17 "core" ' + "manipulator"&_& +4 "core" & #  +2 "storage"(8& +4 "core" &,r\ Q\ N W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +40 "core" ' + "manipulator"&c& +4 "core" &   +2 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&u( +167 "core" ( +3 "manipulator"&<& +4 "core" &+  0 O A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &+ . A` +2 .tForearm.seek CC +2 "manipulator"&t'" +96 "core" ' +2 .tHand.close + "manipulator"&U/ +62 "core" / + .tCC.seek :open +2 "collection"'q( +416 "core" ( + "storage"(& +5 "core" &,r\ A\ < |\ + "storage"(x& +4 "core" &,r\ ?\ B r\ + "manipulator"&\ & +4 "core" &* 6 @^ + "manipulator"&h% +4 "core" % " x +2 .tForearm.seek :retract +2 "manipulator"&1'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" & &  ^ + "storage"( & +4 "core" &,r\ + A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.seek 4 +3 "manipulator"&}' +102 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&r1 +61 "core" 1 +2 "manipulator"&% +4 "core" %  % K +2 "storage"(P& +4 "core" &,r\ + j\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +18 "core" ' + "manipulator"&B& +5 "core" &  ^ + "storage"(& +4 "core" &,r n p \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&''Ѽ +18 "core" ' + "storage"( % +4 "core" %F $\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (I% +2 "core" %K }\ . \ Wc +2 "manipulator"&~% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &VX\ + "manipulator"&% +4 "core" %\  <  +2 "storage"(J% +4 "core" %` p s \  +2 "storage"(@. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(#(<* +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +2 "core" &<'\ F\ I \  +2 "manipulator"&& +3 "core" & g ^ +2 .tElbow.seek 5 +2 "manipulator"&( +8 "core" ( + "manipulator"&A& +4 "core" & & . J +2 "storage"(3& +3 "core" &<$ m d w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +93 "core" ' +2 "storage"((& +4 "core" &<$ B  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +282 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" &<$ R ,\  +2 "manipulator"&& +4 "core" &  J + .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( + "manipulator"&& +4 "core" & &  J +2 "storage"( & +3 "core" &<$ q q 5\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;' +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&*& + "storage"(&'X +7 "core" & J + "manipulator"&!% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&H'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&g( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&L& +4 "core" &* ? @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &* @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +99 "core" ' + "manipulator"&=& +5 "core" &* % @] + "manipulator"& % +4 "core" %'  Z +2 "collection"'K& +4 "core" &RW&\ +2 "collection"'G& +6 "core" &TWG\ +2 .tCC.seek :closed +2 "collection"'S(V +4 "core" &UWQ\  +9 &0yWXM\ *x +10 &dWVS\ > +9 &xtVYR\ M +9 &=UUWD\ L +10 &XTWF\ M +9 &WUWI\ L +9 &TWWH\ L +10 &DYUVG\ L +9 &XTY<\ M +9 &WUW:\ L +10 & UVW7\ L +9 &"LUTU8\ L +10 &$UUW;\ L +9 &%VXW4\ L +9 &'YVV6\ L +10 &)SWWX5\ M +9 &+XTW7\ L +9 &,UTX6\ L +10 &.YTV5\ L +9 &0[YVW6\ M +10 &2TTW7\ L +9 &3WWX<\ L +9 &5TVW>\ L +10 &7dYUW=\ L +9 &9%WVX=\ M +10 &:YVV<\ M +9 &<ZUX;\ L +9 &>kZWX=\ M +10 &@.WVW<\ L +9 &AUUW=\ L +9 &CZUW=\ M +10 &EodUW;\ N +9 &G.oVY7\ O +9 &HTW;\ Q +10 &JVV<\ W +9 &LZVX;\ X +10 &NWX<\ X +9 &OVW<\ Y +9 &QWW7\ Y +10 &S\\VW;\ Z +9 &UVV=\ Z +9 &ViDTW;\ 1 +10 &VwWX5\ L +5 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +4 "core" &VpWW3\ L +59 1 +2 "manipulator"&V% +4 "core" % ' J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Q& +4 "core" &\ +2 "manipulator"&m% +3 "core" %\  / B  +2 "storage"(E% +4 "core" %O\ $\ & z\ + "storage"(f. +4 "core" .(<* + "storage"(6& +4 "core" &<$\ '\ ' \  + "storage"(M& +5 "core" &<$\ '\ $ \  + "manipulator"&.& +4 "core" &* *  @\\ + "manipulator"&F% +4 "core" %\  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&5( +162 "core" ( + "manipulator"&$& +4 "core" &  Y +2 "storage"(Y& +4 "core" &<$\ P\ P b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&2'ы +98 "core" ' + "storage"(& +5 "core" &<$\ \ @\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'i +281 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &<$\ '\ % 8\  + "manipulator"&+& +4 "core" &  Y +2 .tElbow.seek 5 + "manipulator"&Z( +4 "core" ( + "manipulator"&\\& +4 "core" &  . Y + "storage"(R& +4 "core" &<$\ C\ C \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&W' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(['X +7 "core" & Y +2 "manipulator"&/% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&-& +4 "core" &h / $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &h  x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +102 "core" ' + "manipulator"&X& +5 "core" &h $  + "manipulator"&]% +4 "core" %  3 +2 "processing"%C& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%>(Z +5 "core" & \  +8 &2~\ *x +10 &b \ = +9 &rv \ N +10 &5Y\ M +9 &Y \ M +9 &Z \ M +10 &|Y\ M +9 &?X \ L +9 &[\ \ M +10 &Y\ M +9 & Z \ M +10 &"E\\\ \ M +9 &$Z\ \ M +9 &%Z \ M +10 &'Z \ M +9 &)MY \ M +9 &+Y\ M +10 &,W \ M +9 &.Z\ \ M +10 &0U] \ M +9 &2Z\ M +9 &3W \ M +10 &5Z\ \ M +9 &7^W \ M +9 &9!X\ L +10 &:X \ M +9 &<\\\ M +10 &>fW \ M +9 &@'Y\ M +9 &AW\ \ L +10 &C\\\ M +9 &El` \ M +9 &G)j \ O +10 &H\ R +9 &J\ S +10 &Ld\ S +9 &N&\ S +9 &O\ S +10 &Q\ S +9 &Si\ T +9 &U+\ T +10 &V\ T + "Can"8\ \\Y +8 "core" &X\ T +9 &Z]\ #m +10 &Z ^\ - +9 ( +3 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&O1 +3 "core" &Z\ ( +55 1 + "manipulator"&D% +4 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' + "processing"% & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&i% +4 "core" %\   +2 "storage"(% +4 "core" %`\ '\ & m\ + "storage"(k. +3 "core" .(<* + "storage"(w& +4 "core" &<$\ (\ ' \  +2 "storage"(_& +2 "manipulator"&8& +9 "core" &<$\ &\ % |\  + &h _  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&c(s +2 "storage"(|'i +31 "core" ( + "manipulator"&^& +55 "core" &k ( $ \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &k ' W \ +2 .tForearm.seek PC + "manipulator"&{' +100 "core" ' +2 .tHand.close + "manipulator"&e/ +53 "core" / +2 .tPC.seek :open +2 "processing"%j( +16 "core" ' +2 "storage"("- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'y +41 "core" ' +365 ( + "storage"(& +4 "core" &<$\ %\ % q\  +3 "manipulator"&l& +4 "core" &l   \ +2 "manipulator"&%% +4 "core" %  5 + .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( + "manipulator"&& +5 "core" &   % + "storage"(& +4 "core" &<$\ '\ $ o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&x'ы +94 "core" ' + .tHand.open + "manipulator"&\ 1 +58 "core" 1 +2 "storage"(h- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +4 "core" -' + "storage"(u& +4 "core" &<$ \  +2 "manipulator"&r& +3 "core" & P # +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&P& +4 "core" &  @ # +2 "storage"(B& +4 "core" &<$ #\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +63 "core" ' + "manipulator"&1& +5 "core" & # + "storage"(I& +4 "core" &<$\ #\ # 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&~' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +24 "core" ' +2 "manipulator"&% +4 "core" % ~ +2 "storage"(& +4 "core" &<$ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&J& +5 "core" & # o $ + "storage"(@& +4 "core" &<$\ (\ A s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +16 "core" ' + "storage"('% +5 "core" %r\ E\ I T\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %1N\ !\  \ Xe +2 "manipulator"&,% +4 "core" %э  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (A& +4 "core" &<$\ $\ ' ?\  +2 "collection"'3& +4 "core" &VoWW \ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&(% +4 "core" %\  W  +2 "storage"(v% +4 "core" %a\ )\ 2 \ + "storage"(. +4 "core" .(<* + "storage"(4& +4 "core" &<$\ 1\ . %\  +2 "storage"(7& +3 "core" &<$\ /\ % \\\  +2 "manipulator"&& +4 "core" &  $ + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & $ ^ $ +2 "storage"(d& +4 "core" &<$\ &\ ) 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&*'ы +94 "core" ' +2 "storage"(!& +4 "core" &<$\ C\ F \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  $ + "storage"(9& +4 "core" &<$\ 0\ " ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&b' +36 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'U +26 "core" ' +2 "manipulator"&0% +4 "core" %~  ¼I + "storage"(K& +4 "core" &<$ =\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&&' +20 "core" ' +2 "manipulator"&H& +4 "core" &  H $ + "storage"(q& +4 "core" &<$\ 2\ 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'D +38 "core" ' +2 "manipulator"&Q& +4 "core" &  $ +2 "manipulator"&m% +3 "core" %{  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&f( +154 "core" ( +2 "manipulator"&6& +4 "core" &" % # 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &" / 9( +2 .tForearm.seek CC +2 "manipulator"&M'" +99 "core" ' + .tHand.close + "manipulator"&./ +55 "core" / +2 .tCC.seek :open +2 "collection"'F( +416 "core" ( + "storage"(N& +4 "core" &<$\ , \  +2 "storage"($& +3 "core" &<$\ * \  +2 "manipulator"&Y& +3 "core" &" , 9( +2 "manipulator"&% +4 "core" % ,  + .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&y( +167 "core" ( + "manipulator"&:& +4 "core" &  * / +2 "storage"(o& +4 "core" &<$ z N\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&+' +106 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +64 "core" 1 +2 "manipulator"&z% +4 "core" %  Y + "storage"(s& +5 "core" &<$\ <\ = \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&/' +15 "core" ' + "manipulator"&5& +4 "core" &  1 +2 "storage"(2& +4 "core" &<$ g f p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&T'ы +28 "core" ' + "storage"(W% +4 "core" %K w 8\ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (% +2 "core" %vF\ 2 0\ Wb +2 "manipulator"&Z% +5 "core" %ч  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"']& +4 "core" &VXE\ +2 "manipulator"&C% +4 "core" %\    + "storage"([% +4 "core" %Q y +2 "storage"(?. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"()(K +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +2 "core" &K\ G\ C \  +2 "manipulator"&D& +3 "core" &  1 +2 .tElbow.seek 6 +2 "manipulator"& ( +42 "core" ( +2 "manipulator"&i& +4 "core" &" 8 L + "storage"(& +4 "core" &K p m 4\  +50 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&k'a +103 "core" ' + "storage"(w& +4 "core" &K  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +288 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K L K I\  +2 "manipulator"&^& +4 "core" &#\  K + .tElbow.seek 6 +2 "manipulator"&n( +24 "core" ( + "manipulator"&p& +4 "core" & \\  +2 "storage"(e& +4 "core" &K f d r\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&"' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(>'X +7 "core" &   + "manipulator"&|% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&%& +4 "core" &- Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &- C Co +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +2 "manipulator"&& +4 "core" &- / M Co + "manipulator"&c% +4 "core" % _ +2 "collection"'\ & +5 "core" &UWT\ +2 "collection"'h& +4 "core" &QW(\ +2 .tCC.seek :closed +2 "collection"'t(V +5 "core" &WVQ\  +8 &1~UVQ\ *x +9 &dUVT\ > +9 &wsUWT\ M +10 &<UVWT\ L +9 &XVXI\ L +10 &XVXO\ L +9 &TTWR\ L +9 &CWUXQ\ L +10 &TUWP\ L +9 &WWWR\ L +9 & UVWD\ L +10 &"KXTWP\ L +9 &$ TUWR\ L +10 &%[VWN\ L +9 &'WVWI\ L +9 &)TTTW?\ L +10 &+YTWC\ L +9 &,YUXL\ L +9 &.YVW0\ L +10 &0[WUW6\ L +9 &2UVW:\ L +10 &3YVX:\ M +9 &5WVX4\ L +9 &7cYVX/\ L +10 &9%WUW/\ L +9 &:ZTX/\ L +9 &<YVX4\ M +10 &>jYVX6\ M +9 &@,XWX8\ M +9 &AXVW3\ L +10 &CYUV6\ L +9 &Eq_TX5\ M +10 &G/kWX<\ N +9 &H~VX7\ Q +9 &JXW5\ V +10 &LZWX<\ X +9 &NUX:\ W +9 &OUZ3\ X +10 &QVW5\ Y +9 &S]UW7\ Y +10 &UWX4\ Z +9 &ViBWY:\ 1 +9 &VxXY8\ K +6 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open + "manipulator"&u1 +4 "core" &VpUY;\ K +57 1 +2 "manipulator"&r% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%B& +4 "core" &\ +2 "manipulator"&U% +4 "core" %\    + "storage"(1% +4 "core" %a\ '\ ' \ +2 "storage"(I. +3 "core" .(K + "storage"(<& +4 "core" &K\ '\ ' \  + "storage"(& +4 "core" &K\ '\ & \  +2 "manipulator"&& +4 "core" &+  Bl + "manipulator"&% +4 "core" %\  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&J( +155 "core" ( + "manipulator"&@& +4 "core" &  j  +2 "storage"('& +4 "core" &K\ F\ C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +92 "core" ' + "storage"(x& +4 "core" &K\ A\ M @\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (,& +2 "core" &K\ &\ $ [\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &  d  +2 "storage"(~& +3 "core" &K\ &\ & \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&A' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(('X +7 "core" & e  + "manipulator"&v% +5 "core" % 3 + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&}(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&4& +5 "core" &l * ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &l h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"& & +4 "core" &l % +2 "manipulator"&d% +4 "core" %  + "processing"%& +4 "core" &\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &4~\ *x +9 &d\ > +10 &s\ M +9 &BZ \ M +9 &Z\ \ M +10 &X \ M +9 &Z\ \ M +9 &KX \ M +10 & Y \ M +9 &\\\ \ M +9 & Y \ M +10 &"S\\ \ M +9 &$X \ M +10 &%Z \ M +9 &'^\ M +9 &)[Y \ M +10 &+W\ M +9 &,Z \ M +9 &.X \ M +10 &0cZ \ M +9 &2&Y\ \ L +10 &3X \ M +9 &5X\ L +9 &7kX\ M +10 &9-U \ M +9 &:V \ M +10 &<[\ M +9 &>sX\ M +9 &@4] \ M +10 &AY\ M +9 &C\\ \ M +9 &Ewa \ N +10 &G5p \ O +9 &H \ R +9 &J \ S +10 &Lp\ S +9 &N3 \ S +10 &O \ S +9 &Q \ S +9 &Sv \ T +10 &U8 \ T +9 &V \ T +10 &X \ T +9 &Z$Y| \ &r +9 &Z]\ \ 0 +9 ( +2 "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +4 "core" &Z\ \ , +54 1 +2 "manipulator"&% +4 "core" %  _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%L& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&9% +4 "core" %\    +2 "storage"(=% +3 "core" %T\ 2\ 1 \ +2 "storage"(0. +3 "core" .(K + "storage"(K& +4 "core" &K\ $\ $ \  +2 "storage"(H& +5 "manipulator"&q& +4 "core" &K\ %\ $ L\  + &l +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&Q(s +2 "storage"(m'i +5 "core" ( + "manipulator"&*& +4 "core" &l  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&b/ +56 "core" / +4 .tPC.seek :open +2 "processing"%&( +93 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'y +40 "core" ' +288 ( + "storage"(G& +4 "core" &K\ %\ % \  +2 "manipulator"&& +4 "core" &l x + "manipulator"&;% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&E( +257 "core" ( +2 "manipulator"&S& +4 "core" & $ P + "storage"(N& +4 "core" &K\ /\ ' 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&$'a +86 "core" ' +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(:'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(o' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +4 "core" -' +2 "storage"(f& +3 "core" &K \  +2 "manipulator"&R& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&z( +3 "core" ( + "manipulator"&s& +4 "core" &  u +2 "storage"(5& +4 "core" &K I\  +2 .tForearm.seek 6 + 700 counts +51 "manipulator"&2'a +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(W' +54 "core" ' +2 "manipulator"&g& +4 "core" &  + "storage"(& +4 "core" &K\ C\ B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Z'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(+'i +27 "core" ' +2 "manipulator"&/% +4 "core" %ε I +2 "storage"(]& +4 "core" &K\ \  4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&C' +11 "core" ' +2 "manipulator"&[& +4 "core" & +2 "storage"(?& +4 "core" &K\ P\ P y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&V'a +18 "core" ' +2 "storage"(T% +4 "core" %m\ A\ ; \ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (#% +2 "core" %VG\ &\ ' m\ Wc +2 "manipulator"&O% +4 "core" %d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +4 "core" &K\ 8\ G @\  + "collection"'& +4 "core" &VpWY:\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&w% +4 "core" %\  ! +2 "storage"(\\% +4 "core" %R\ C\ E\ + "storage"(X. +4 "core" .(K + "storage"(_& +4 "core" &K\ E\ C\  +2 "storage"(& +4 "core" &K\ H\ D \  + "manipulator"&^& +4 "core" & > +2 .tElbow.seek 6 + "manipulator"&p( +3 "core" ( +2 "manipulator"&e& +3 "core" & $ +2 "storage"(a& +4 "core" &K\ C\ B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&`'a +100 "core" ' + "storage"(|& +4 "core" &K\ G\ ; \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & t + "storage"({& +4 "core" &K\ )\ & 2\  +2 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek 6 +5 "manipulator"&8'Υ +31 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(c'Y +31 "core" ' + "manipulator"&n% +5 "core" %θ 4 + "storage"(\ & +4 "core" &K\ \  &\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&>' +12 "core" ' + "manipulator"&& +5 "core" & ^ + "storage"(F& +4 "core" &K\ Q\ R b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&u'a +18 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(r'H +40 "core" ' +2 "manipulator"&B& +4 "core" &  +2 "manipulator"&U% +4 "core" %h  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +94 "core" ' +4 .tElbow.seek CC +2 "manipulator"&I( +165 "core" ( +2 "manipulator"&<& +4 "core" &+ # A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &* E A_ +2 .tForearm.seek CC +2 "manipulator"&h'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &K\ <\ ; J\  + "storage"(@& +5 "core" &K\ =\ < p\  + "manipulator"&'& +4 "core" &* " @^ + "manipulator"&x% +4 "core" %  + +2 .tForearm.seek :retract + "manipulator"&l'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&P( +154 "core" ( +2 "manipulator"&& +4 "core" &\   m  + "storage"(,& +4 "core" &K p p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +111 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"&% +4 "core" % δ  4 + "storage"(3& +4 "core" &K\ I\ E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&v' +18 "core" ' +2 "manipulator"&J& +4 "core" &\  $  +2 "storage"(& +4 "core" &K p n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& 'a +19 "core" ' + "storage"(A% +5 "core" %M # +2 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (7% +3 "core" %E ^ S \ V` +2 "manipulator"&% +3 "core" %X Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +47103 "Can"2\ 0-t @1641847179.71EST = =tMAIN =mMAIN_scheduler @EST1641847181.62 #"core_reset"Sent BREAK + #t@25110 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +398 "Can"\ g + \ g #tPolling Can every 10:00 +90 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +973 #-> ESP.ready! +3 #Powering core bus +539 .Gate.power :raw,:ON +3 "sampler") +36 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %)\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %  +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %    +2 .tSS.configure :default +2 "sampler")#.0X\ +3 .tCC.reconfigure :default +2 ."openPC"PC.reconfigure :default +3 "collection"'$x2 ^22b +3 "processing"%$x2 ^22b + .tCC.home.seek :open +4 ."openPC"PC.home.seek :open +2 "collection"'*( + "processing"%+( +281 "core" ( +10 ( +3 "collection"', +3 "core"  +2 "processing"%- +3 "core" W +2 "processing"%. +2 "core"  +2 "processing"%/ +3 "core"  +2 "collection"'0% +3 "core" %\ +2 "processing"%1% +4 "core" %\ +2 "sampler")2% +4 "core" %  h + "collection"'3& +5 "core" &@\  +2 "processing"%4& +3 "core" & \  +2 "manipulator"&5% +4 "core" %\ !  H  +2 "manipulator"&6& +3 "core" &  N $ +2 "storage"(7& +8 "core" &\ >\ K \  +2 "storage"(8% +4 "core" %P\ C\ < ~\ +2 "collection"'99 +3 "core" 9l +2 "processing"%:9 +3 "core" 9g] +1476 #t-> require 'shuffle.rb' +854 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" &B\  + .tHand.open +2 "manipulator"&<1 +63 "core" 1 +2 "manipulator"&=% +4 "core" % \ ! ) Q  + "storage"(>% +4 "core" %P n\  \ + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(@(,l +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,j\ \  f\  +2 "manipulator"&B& +4 "core" & : $ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +2 "core" ( +2 "manipulator"&D& +4 "core" & ) O $ + "storage"(E& +4 "core" &,g\ N\ D >\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +90 "core" ' + "storage"(G& +5 "core" &,g \ . \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +277 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,g\ +\ E l\  +2 "manipulator"&K& +3 "core" & D $ +2 .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" & ! $ +2 "storage"(N& +3 "core" &,g\ R\ R \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&O', +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'X +7 "core" &  j $ +2 "manipulator"&S% +4 "core" % " ! d > +2 .tForearm.seek :retract + "manipulator"&T'\ +90 "core" ' +3 .tElbow.seek CC + "manipulator"&U( +148 "core" ( + "manipulator"&V& +4 "core" &,  * Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &, -  Bh +2 ' + ."downElevator"SE.stop +4 .tForearm.reconfigure :tight +2 "storage"(5 +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'" +101 "core" ' +2 "manipulator"&Y& +4 "core" &,  j Bh +2 "manipulator"&Z% +4 "core" %* +2 "collection"'[& +3 "core" &\  +2 "collection"'\\& +5 "core" &\  +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &G\ \  +9 &5O\ +| +9 &fC\ @ +10 &ewI\ O +9 &)XK\ N +9 &Z>\ N +10 &W:\ N +9 &n[;\ O +10 &1[<\ N +9 &\\>\ O +9 &Z >\ N +10 & v\\=\ O +9 &"8\\>\ O +9 &#Z=\ O +10 &%\\;\ N +9 &'~Y=\ O +10 &)BY=\ N +9 &+Z;\ N +9 &,Y:\ N +10 &.\\;\ N +9 &0H[<\ O +9 &2 Y;\ N +10 &3[;\ N +9 &5X:\ N +10 &7Q\\8\ N +9 &9Y;\ N +9 &:]<\ O +10 &<]<\ O +9 &>X\\;\ O +9 &@Z:\ N +10 &AY>\ N +9 &C]6\ N +10 &E\\g;\ P +9 &Gt8\ R +9 &H7\ T +10 &J,\ Y +9 &LH)\ Z +9 &N 6\ Y +10 &O.\ Z +9 &Q-\ Z +9 &SK,\ [ +10 &U 7\ [ +9 &V[F+\ 4 +10 &Vp,\ H +5 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&^1 +3 "core" &Vd&\ H +50 1 + "manipulator"&_% +4 "core" % #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%a& +4 "core" &\  + "manipulator"&b% +4 "core" %\ ! 0 +2 "storage"(c% +4 "core" %W\  \ + "storage"(d. +3 "core" .(,l +2 "storage"(e& +3 "core" &,g \\\  +2 "storage"(f& +4 "core" &,g h\  + "manipulator"&g& +4 "core" &, l Bg +2 "manipulator"&h% +4 "core" %\ ! 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&i( +157 "core" ( + "manipulator"&j& +5 "core" & ' 2 s + "storage"(k& +4 "core" &,g\ $\ $ 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +89 "core" ' + "storage"(m& +4 "core" &,g\ D\ 5 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +284 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &,g\ \ \  +2 "manipulator"&q& +4 "core" & s + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" & % G s +2 "storage"(t& +4 "core" &,g\ \  V\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&u', +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +52 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x'X +8 "core" &  s +2 "manipulator"&y% +4 "core" % ! T +2 .tForearm.seek :retract + "manipulator"&z'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&{(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&|& +4 "core" &p M H  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &p  f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +101 "core" ' + "manipulator"&& +5 "core" &p '   +2 "manipulator"&% +4 "core" %  N +2 "processing"%& +3 "core" &\  +3 "processing"%& +6 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +7 &J\ $f +10 &uV\ \ 8 +9 &\ \ M +9 &a\ N +10 &I` \ O +9 & ^\ N +9 &_ \ N +10 &] \ N +9 &Sa \ N +10 &^ \ N +9 &a \ N +9 &!_\ N +10 &#\\_\ N +9 &%a\ N +9 &&]\ N +10 &(_\ M +9 &*c_\ N +10 &,%_\ N +9 &-`\ N +9 &/^\ N +10 &1l^\ N +9 &3.^\ N +9 &4_\ N +10 &6^\ N +9 &8t^\ N +10 &:5_\ N +9 &;_\ N +9 &=]\ N +10 &?}^\ M +9 &A<]\ N +9 &B_\ O +10 &Dc\ O +9 &F~k\ P +10 &H;\ Q +9 &I\ S +9 &K\ S +10 &M{ \ S +9 &O=\ S +9 &P\ T +10 &R\ U +9 &T\ U +10 &VA\ U +9 &X\ U +9 &Y~u\ : +10 &Z1\ J +9 &Z\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&% +5 "core" % 9 Q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %\   &  +2 "storage"(\ % +4 "core" %a\ \  *\ + "storage"( . +3 "core" .(,l +2 "storage"( & +4 "core" &,g\ \  (\  + "storage"( & +5 "manipulator"&& +4 "core" &,g\ \  \  + &p +  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"('i +6 "core" ( + "manipulator"&& +4 "core" &p X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p  +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +103 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +275 ( + "storage"(& +4 "core" &,g\ \  _\  +2 "manipulator"&& +4 "core" &p  >  + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&"( +262 "core" ( +2 "manipulator"&%& +4 "core" & &   +2 "storage"('& +4 "core" &,g\ \  D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&)'Ѽ +88 "core" ' +2 .tHand.open + "manipulator"&(1 +52 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +39 "storage"('E +38 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(#' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(-& +4 "core" &,g `\  + "manipulator"&.& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +4 "core" & % 7  + "storage"(1& +4 "core" &,g I\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +55 "core" ' +2 "manipulator"&4& +4 "core" &  + "storage"(5& +4 "core" &,g\ 3\ 3 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6' +32 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +25 "core" ' +2 "manipulator"&9% +5 "core" % +2 "storage"(:& +4 "core" &,g }\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&;'? +19 "core" ' +2 "manipulator"&<& +4 "core" & % e  +2 "storage"(=& +4 "core" &,g\ /\ ' #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +17 "core" ' + "storage"(?% +5 "core" %r\ &\ / :\ +2 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (A% +3 "core" %K\ \  %\ We +2 "manipulator"&B% +4 "core" %ѱ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +97 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &,g\ 1\ ' Y\  +2 "collection"'G& +4 "core" &Vd\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %\ \  +2 "storage"(&% +4 "core" %T\ 2\ 3\ + "storage"(I. +3 "core" .(,l +2 "storage"(J& +4 "core" &,g\ 2\ 0\  +2 "storage"(K& +8 "core" &,g\ 2\ * ?\  +4 "manipulator"& & +6 "core" &  +4 .tElbow.seek 4 +4 "manipulator"&M( +6 "core" ( +2 "manipulator"&N& +4 "core" & 7  +2 "storage"(P& +4 "core" &,g\ 2\ 0 +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +95 "core" ' +2 "storage"(S& +4 "core" &,g\ N\ 8 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +287 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&V& +3 "core" & \  +2 "storage"(W& +4 "core" &,g\ '\ " )\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&H' +35 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'U +31 "core" ' +2 "manipulator"&[% +4 "core" %  B + "storage"(L& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&R'; +16 "core" ' +2 "manipulator"&T& +4 "core" & ' g  +2 "storage"(*& +4 "core" &,g\ %\ $ 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&^'Ѽ +32 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'D +40 "core" ' +2 "manipulator"&a& +4 "core" & f  +2 "manipulator"&b% +4 "core" %ѻ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +158 "core" ( + "manipulator"&e& +4 "core" &( ( c ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &( ?V +2 .tForearm.seek CC + "manipulator"&\\'" +94 "core" ' + .tHand.close + "manipulator"&g/ +55 "core" / +2 .tCC.seek :open +2 "collection"'h( +416 "core" ( + "storage"(X& +4 "core" &,g\ 0\ 3 \\\  +2 "storage"(j& +3 "core" &,g\ (\ 3 +\  +2 "manipulator"&k& +4 "core" &) ?U + "manipulator"&m% +4 "core" % ! +2 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&`( +155 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"(p& +4 "core" &,g \  P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&q' +103 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +53 "core" 1 +2 "manipulator"&v% +4 "core" %  + "storage"(w& +4 "core" &,g\ %\ ' S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&y'@ +16 "core" ' +2 "manipulator"&i& +5 "core" & ' K  + "storage"(l& +4 "core" &,g L K j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&n'Ѽ +51 "core" ' + "storage"(u% +4 "core" %F\  C\ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (}% +2 "core" %J\ Q\ Q \ Wc +2 "manipulator"&r% +4 "core" %ѽ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %\ #  < +2 "storage"(x% +4 "core" %a I B :\ + "storage"(z. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(+(<* +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<)\ \  _\  +2 "manipulator"&& +3 "core" & , 3  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & & S  +2 "storage"(\ & +4 "core" &<%\ >\ > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +99 "core" ' + "storage"( & +5 "core" &<%  P W\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<%\ P\ G K\  +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" & * 6  + "storage"(& +4 "core" &<%\ ?\ M 2\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&{/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &  N  +2 "manipulator"&% +4 "core" %     +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &( R  v ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +100 "core" ' +2 "manipulator"&'& +4 "core" &) ( g ?U +2 "manipulator"&% +4 "core" % V Y +2 "collection"'(& +3 "core" &%\ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"',(V +4 "core" &I\  +9 &1M\ *z +9 &cO\ > +9 &uvO\ N +10 &9XJ\ M +9 &ZM\ N +9 &]L\ M +10 &~YD\ N +9 &@\\F\ N +10 &]B\ N +9 &\\H\ M +9 & [B\ M +10 &"IZ>\ M +9 &$ Z6\ M +9 &%\\7\ M +10 &'\\>\ N +9 &)PZ=\ N +10 &+[2\ N +9 &,W-\ M +9 &.Z4\ M +10 &0X^.\ N +9 &2\\5\ M +9 &3X8\ M +10 &5W7\ M +9 &7`\\7\ N +10 &9"Z,\ N +9 &:],\ N +9 &<Z6\ N +10 &>hY/\ N +9 &@+W/\ M +9 &A[*\ M +10 &C]*\ N +9 &Ele"\ O +10 &G*q*\ P +9 &H*\ T +9 &J"\ X +10 &LV0\ Y +9 &N0\ Y +9 &O.\ Z +10 &Q#\ Z +9 &SY!\ [\ +10 &U$\ [ +9 &VfC-\ 2 +9 &Vx:\ L +6 ( + "collection"'& +4 "core" &Vh9\ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&-1 +58 "core" 1 + "manipulator"&.% +4 "core" %   7 V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%0& +4 "core" &\ + "manipulator"&1% +4 "core" %\ z  +2 "storage"(4% +4 "core" %`\ \  ;\ + "storage"(5. +3 "core" .(<* +2 "storage"(& +4 "core" &<%\ \  )\  + "storage"(9& +4 "core" &<%\ \  \  +2 "manipulator"&:& +4 "core" &( _ ?T + "manipulator"&<% +4 "core" %\ *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +158 "core" ( +2 "manipulator"&=& +4 "core" &    + "storage"(?& +4 "core" &<%\ 2\ 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&"'ы +142 "core" ' +2 "storage"()& +4 "core" &<%\ &\ ' 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +287 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" &<%\ \  \  +2 "manipulator"&2& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +3 "core" &   +2 "storage"(6& +4 "core" &<%\ \  #\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&E' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'X +8 "core" &  i  + "manipulator"&&% +4 "core" %  v  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&J& +4 "core" &n ' _  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &n  `  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +92 "core" ' +2 "manipulator"&N& +4 "core" &n & k  +2 "manipulator"&P% +4 "core" %  & +2 "processing"%>& +4 "core" &\ +2 "processing"%S& +6 "core" &\ +2 .tPC.seek :closed + "processing"%!(Z +5 "core" &\ +6 &:#\ $e +10 &T\ 7 +9 &\ L +9 &^\ N +10 &b_\ N +9 &$]\ N +10 &\\\ N +9 &\\\ N +9 &i` \ N +10 &,\\\ N +9 &^\ N +9 &!] \ N +10 &#rb\ N +9 &%6]\ M +10 &&] \ N +9 &([\ N +9 &*|]\ M +10 &,=] \ N +9 &-` \ N +9 &/Z\ N +10 &1\\\ M +9 &3E]\ N +9 &5_\ N +10 &6_\ N +9 &8]\ N +10 &:M\\ \ N +9 &<_\ N +9 &=_ \ N +10 &?_\ N +9 &AVZ\ M +10 &C_\ N +9 &Db\ N +9 &Fl\ O +10 &HR}\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &OT\ S +9 &Q\ S +10 &R\ T +9 &T\ U +10 &VX\ U +9 &X \ T +9 &Y{r\ 6 +10 &Z/\ K +9 &Z\ * +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&71 +61 "core" 1 +2 "manipulator"&D% +4 "core" % & V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +94 "core" ' +2 "processing"%V& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\   + "storage"(Y% +4 "core" %^\ \  \ + "storage"([. +4 "core" .(<* + "storage"(L& +4 "core" &<%\ \  \  +2 "storage"(T& +3 "manipulator"&*& +5 "core" &<%\ \  \  + &n   +3 ."raiseStack"SE.reconfigure :place +6 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&a(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( +2 "manipulator"&Q& +4 "core" &n  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&C' +95 "core" ' + .tHand.close +2 "manipulator"&H/ +59 "core" / +2 .tPC.seek :open +2 "processing"%R( +87 "core" ' +2 "storage"(Z- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(e'y +45 "core" ' +289 ( + "storage"(f& +4 "core" &<%\ \  \  +2 "manipulator"&^& +4 "core" &n  4  + "manipulator"&O% +4 "core" %  O  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +263 "core" ( + "manipulator"&]& +4 "core" & & ) o +2 "storage"(X& +4 "core" &<%\ \  7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +87 "core" ' + .tHand.open +2 "manipulator"&k1 +58 "core" 1 +2 "storage"(m- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(o'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(p' +45 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(d& +4 "core" &<% \  + "manipulator"&t& +4 "core" &   n +2 .tElbow.seek 5 + "manipulator"&v( +29 "core" ( +2 "manipulator"&w& +4 "core" &  { +2 "storage"(i& +4 "core" &<% W\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&l'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +61 "core" ' + "manipulator"&U& +5 "core" & { + "storage"(}& +4 "core" &<%\ \  j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r' +30 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(q'i +23 "core" ' + "manipulator"&y% +5 "core" % + "storage"(& +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&x& +5 "core" & &  + "storage"(z& +4 "core" &<%\ \ ' \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&_'ы +27 "core" ' + "storage"(n% +5 "core" %q\ '\ % \ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (@% +3 "core" %L\ \  ;\ We +2 "manipulator"&% +4 "core" %ї +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<%\ '\ 0 N\  +2 "collection"'\ & +4 "core" &Vh0\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\   + "storage"(s% +4 "core" %S\ $\ % s\ +2 "storage"(. +3 "core" .(<* + "storage"( & +4 "core" &<%\ '\ % q\  +2 "storage"(& +3 "core" &<%\ $\ $ a\  +2 "manipulator"&& +4 "core" & x  + .tElbow.seek 5 +2 "manipulator"&~( +35 "core" ( +2 "manipulator"&& +4 "core" & ' F "z +2 "storage"({& +3 "core" &<%\ \  K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +97 "core" ' +2 "storage"(& +4 "core" &<%\ '\ / \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o "z + "storage"(& +4 "core" &<%\ \  P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +32 "core" ' + "manipulator"&(% +4 "core" %  t +2 "storage"(& +3 "core" &<% Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" & & K % +2 "storage"(h& +4 "core" &<%\ \  b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&-'ы +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(.'D +41 "core" ' + "manipulator"&0& +5 "core" & % + "manipulator"&1% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +148 "core" ( +2 "manipulator"&& +4 "core" &# & i :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &# d :1 +3 .tForearm.seek CC + "manipulator"&9'" +97 "core" ' + .tHand.close +2 "manipulator"&:/ +55 "core" / + .tCC.seek :open +2 "collection"'<( +416 "core" ( +2 "storage"(%& +5 "core" &<%\ 5\ 3 c\  + "storage"(=& +4 "core" &<%\ %\ ' H\  +2 "manipulator"&?& +4 "core" &#  :1 +2 "manipulator"&% +4 "core" % # t + .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +163 "core" ( + "manipulator"&A& +4 "core" &  ! Q +2 "storage"(B& +4 "core" &<%\ =\ W l\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&2' +106 "core" ' + .tElbow.hold + "manipulator"&3, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +53 "core" 1 +2 "manipulator"&;% +4 "core" %  [ + "storage"(G& +5 "core" &<%\ '\ ' {\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&&' +14 "core" ' + "manipulator"&& +4 "core" & K Q +2 "storage"("& +4 "core" &<% \ + 6\  +42 .tForearm.reconfigure :tight +12 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&#'ы +31 "core" ' + "storage"(E% +4 "core" %F ~\ 0 C\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (K% +3 "core" %I\ P\ Q \ Wd +2 "manipulator"&/% +4 "core" %і t ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'P& +4 "core" & \ +2 "manipulator"&>% +4 "core" %\   +2 "storage"($% +4 "core" %` O\ # \ + "storage"(I. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" &K\ *\ % [\  +2 "manipulator"&D& +4 "core" &   Q +2 .tElbow.seek 6 + "manipulator"&V( +39 "core" ( + "manipulator"&W& +5 "core" &\ 6 W + "storage"(Y& +4 "core" &K ? > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&['a +117 "core" ' + "storage"(L& +5 "core" &K d R ,\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'i +283 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +4 "core" &K\ P\ F C\  +2 "manipulator"&Q& +3 "core" &\  W +2 .tElbow.seek 6 +2 "manipulator"&M( +30 "core" ( +2 "manipulator"& & +4 "core" &  K V +2 "storage"(H& +3 "core" &K\ W\ A V\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&Z' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'X +7 "core" &  L V +2 "manipulator"&b% +4 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&O& +4 "core" &, 0 A Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &, 0 V Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +96 "core" ' +3 "manipulator"&X& +4 "core" &, 0 W Bg +2 "manipulator"&a% +4 "core" % a  +2 "collection"'k& +4 "core" &N\ +2 "collection"'m& +5 "core" &O\ +2 .tCC.seek :closed +3 "collection"'\\(V +4 "core" &O\ +5 &H\ 4 +10 &?ID\ 0 +9 &jrH\ E +9 &bO\ M +10 &[M\ M +9 &WI\ M +10 &TZ=\ N +9 &YH\ M +9 &\\L\ M +10 &[K\ M +9 &\\WL\ N +9 &!YF\ N +10 &"WI\ M +9 &$ZF\ M +10 &&fWE\ M +9 &(&YG\ N +9 &)Y6\ M +10 &+[<\ M +9 &-mZ>\ M +9 &/.Z?\ N +10 &0Z?\ N +9 &2W5\ M +10 &4u\\ .\ M +9 &67Z-\ M +9 &7Y/\ N +10 &9Y6\ N +9 &;}X%\ M +9 &=?X3\ M +10 &?W0\ M +9 &@Y.\ M +10 &B]&\ M +9 &DG\\/\ M +9 &Fh1\ O +10 &Gw*\ Q +9 &Iy,\ T +9 &K--\ Y +10 &L*\ Y +9 &N*\ Y +10 &Pq,\ Z +9 &R3%\ Z +9 &S*\ [ +10 &U\ H +9 &V3&\ (w +9 &Vb)\ J +3 ( + "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&d1 +58 "core" 1 +2 "manipulator"&t% +4 "core" %   c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w'\ +97 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%i& +4 "core" & \ + "manipulator"&g% +4 "core" %\   +2 "storage"(U% +4 "core" %a\ \  \ + "storage"(}. +3 "core" .(K +2 "storage"(e& +3 "core" &K\ \  \  +2 "storage"(y& +4 "core" &K\ \ \  + "manipulator"&& +4 "core" &* Ae +2 "manipulator"&o% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&x( +152 "core" ( +2 "manipulator"&z& +4 "core" &   + "storage"(n& +5 "core" &K\ $\ $ ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +96 "core" ' + "storage"(j& +5 "core" &K\ 6\ C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +285 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \  T\  +2 "manipulator"&l& +4 "core" & M  +2 .tElbow.seek 6 + "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +4 "core" & % d  + "storage"(r& +4 "core" &K\ &\ ( r\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"( 'X +8 "core" &    +2 "manipulator"&s% +3 "core" %  R  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( +3 "manipulator"& & +4 "core" &j 3 >  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &j    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' + "manipulator"&& +4 "core" &j % 6  +2 "manipulator"&{% +4 "core" % Y +2 "processing"%_& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &\  +10 &1 \ *y +9 &c\ > +10 &xy\ N +9 &;[ \ M +9 &\\\ M +10 &[ \ M +9 &[\ N +9 &CZ\ M +10 &]\ M +9 &`\ N +10 & `\ N +9 &"J]\ N +9 &$ X\ N +10 &%_\ M +9 &'b\ N +9 &)R`\ N +10 &+]\ N +9 &,]\ N +9 &.Z\ M +10 &0Z\\\ N +9 &2Z\ M +10 &3Y\ M +9 &5\\\ M +9 &7c_\ M +10 &9$_\ N +9 &:\\\ N +10 &<_\ M +9 &>j]\ N +9 &@,^\ N +10 &A^\ M +9 &C_\ N +9 &Eqe\ N +10 &G-p\ P +9 &H\ S +10 &J\ S +9 &Lh\ T +9 &N*\ T +10 &O\ T +9 &Q\ T +9 &Sp\ T +10 &U2\ T +9 &V\ T +10 &X\ T +9 &Z!\\\ #m +9 &ZU\ ) +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&`1 +4 "core" &Z\ & +54 1 + "manipulator"&% +4 "core" %  & g Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' +2 "processing"%& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\  Z  +2 "storage"('% +3 "core" %b\ \  B\  +2 "storage"((. +3 "core" .(K +2 "storage"(& +3 "core" &K\ \  8\  +2 "storage"(& +5 "manipulator"&h& +4 "core" &K\ \  :\  + &j #  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(0'i + "manipulator"&1(s +6 "core" ( + "manipulator"&& +4 "core" &j  }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &j <  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +295 ( +2 "storage"(& +4 "core" &K\ \  \  +2 "manipulator"&-& +3 "core" &j  +2 "manipulator"&% +4 "core" % x  +2 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +262 "core" ( + "manipulator"&,& +5 "core" &  + d + "storage"(%& +4 "core" &K\ \  /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&='a +97 "core" ' + .tHand.open + "manipulator"&?1 +60 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(5& +4 "core" &K }\  + "manipulator"&6& +4 "core" &  _ +2 .tElbow.seek 6 + "manipulator"&;( +4 "core" ( + "manipulator"&G& +4 "core" &    + "storage"(& +4 "core" &K S\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&"'a +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +60 "core" ' +2 "manipulator"&E& +4 "core" &  H +2 "storage"(& +4 "core" &K\ \ ! #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&K'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +44 "storage"(#QK-0-\ b +13 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +21 "core" ' + "manipulator"&&% +5 "core" %ε r + "storage"(P& +4 "core" &K y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&>' +13 "core" ' +2 "manipulator"&$& +4 "core" &  & ' +2 "storage"(I& +4 "core" &K\ /\ & ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +29 "core" ' + "storage"(#% +5 "core" %j\ /\ & k\  +2 ."downElevator"SE.seek :down +3 "storage"(J'X +100 (+% +2 "core" %vJ \  <\ Xf +2 "manipulator"&7% +4 "core" %^ ( j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" &K\ &\ ' &\  +2 "collection"'Y& +4 "core" &V`'\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&L% +4 "core" %\  t  +2 "storage"(3% +4 "core" %_\ '\ $ G\ + "storage"(N. +3 "core" .(K +2 "storage"(*& +3 "core" &K\ $\ $ D\  +2 "storage"(T& +4 "core" &K\ $\ $ &\  +2 "manipulator"&Q& +4 "core" & \ : + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&H& +4 "core" &  ' R +2 "storage"(8& +3 "core" &K\ '\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +95 "core" ' +2 "storage"(b& +4 "core" &K\ C\ 6 +\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +284 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&O& +3 "core" &   +2 "storage"(C& +4 "core" &K\ &\ j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&S'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(a'Y +31 "core" ' +2 "manipulator"&k% +4 "core" %ι  +2 "storage"(M& +4 "core" &K ]\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&!' +12 "core" ' +2 "manipulator"&f& +4 "core" & ' 2  +2 "storage"(<& +4 "core" &K\ 2\ 2 -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&d'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(t'H +41 "core" ' +2 "manipulator"&i& +4 "core" &   +2 "manipulator"&g% +4 "core" %E { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +157 "core" ( +2 "manipulator"&e& +4 "core" &* ! O @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &* 7 < @[ +2 .tForearm.seek CC + "manipulator"&y'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'o( +416 "core" ( +2 "storage"(]& +4 "core" &K\ '\ /\  +2 "storage"(z& +3 "core" &K\ 0\ * Y\  +2 "manipulator"&n& +3 "core" &*   @[ +2 "manipulator"&j% +4 "core" % 2 *  +2 .tForearm.seek :retract + "manipulator"&^'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +153 "core" ( + "manipulator"&@& +4 "core" & ) +2 "storage"(& +4 "core" &K\ <\ B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&l'Υ +104 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +61 "core" 1 +2 "manipulator"& % +4 "core" % ι  , +2 "storage"(\ & +4 "core" &K\ $\ $ V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&s' +16 "core" ' +2 "manipulator"&x& +5 "core" & + "storage"(c& +4 "core" &K \ + O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +27 "core" ' +2 "storage"(% +4 "core" %K D O R\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +2 "core" %D\ F\ N V\ Vb +2 "manipulator"&v% +4 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'{& +4 "core" &=\ + "manipulator"&_% +4 "core" %\ \   +2 "storage"( % +4 "core" %a\ # { ]\ + "storage"(q. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(R(,l +655 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &,n\ 3\ 3 (\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +17 "core" ( + "manipulator"&& +4 "core" &  _ +2 "storage"('& +4 "core" &,s \ , C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&('Ѽ +92 "core" ' + "storage"(& +5 "core" &,s T p +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,s\ A\ W &\ + "manipulator"&& +4 "core" & ( _ +2 .tElbow.seek 4 + "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & _ + "storage"(& +4 "core" &,s \ * `\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +13 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & "storage"(|'X +7 "core" & _ +2 "manipulator"&0% +3 "core" % - * P +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &+ " Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ *  Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'" +104 "core" ' +2 "manipulator"&%& +4 "core" &+ 6  Ac +2 "manipulator"&1% +4 "core" %.  - +2 "collection"'?& +4 "core" &,\ +2 "collection"'& +5 "core" &*\ +2 .tCC.seek :closed +3 "collection"'9(V +4 "core" &J\ +7 & &O\ #` +10 &UK\ 7 +9 &<\ L +9 &WN\ M +10 &gZL\ M +9 &)ZK\ M +9 &ZP\ N +10 &YP\ M +9 &nYN\ N +9 &2YM\ M +10 &YH\ N +9 &!ZJ\ M +10 &#v[M\ N +9 &%:Z I\ M +9 &&ZM\ M +10 &(YN\ M +9 &*YK\ M +9 &,BYM\ M +10 &.YA\ M +9 &/ZH\ M +10 &1\\M\ M +9 &3JZA\ M +9 &5 YJ\ M +10 &6Z2\ M +9 &8X<\ M +9 &:R[/\ M +10 &<[;\ M +9 &=]<\ M +10 &?Z1\ M +9 &AXY4\ N +9 &C\\4\ M +10 &D`.\ N +9 &Fk1\ O +9 &HV-\ Q +10 &J4\ W +9 &K4\ X +9 &M$\ X +10 &OG 2\ Y +9 &Q0\ Y +10 &R4\ Z +9 &T3\ Z +9 &V'v 0\ / +10 &V"5\ O +9 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&51 +4 "core" &Vq7\ K +58 1 +2 "manipulator"&6% +4 "core" % . 4 - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&G'\ +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &\ \ + "manipulator"&:% +4 "core" %\ \ U  +2 "storage"(E% +4 "core" %T\ \ \ + "storage"(. +3 "core" .(,l +2 "storage"(& +4 "core" &,s\ \ \ + "storage"(A& +4 "core" &,s\ \ \ +2 "manipulator"&&& +4 "core" &+  Ac + "manipulator"&P% +4 "core" %\ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$( +155 "core" ( +2 "manipulator"&I& +4 "core" &   +2 "storage"(4& +4 "core" &,s\ %\ ( O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +93 "core" ' + "storage"(#& +5 "core" &,s\ %\ & S\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'i +291 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &,s\ \  \ +2 "manipulator"&7& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&)& +3 "core" & j  +2 "storage"(K& +4 "core" &,s\ \  \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&>', +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +63 "core" / +7 ."downElevator"SE.seek :down +5 "manipulator"&Y& +2 "storage"(L'X +6 "core" &  + "manipulator"&3% +4 "core" % 6 R +2 .tForearm.seek :retract +2 "manipulator"&N'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&2(s +164 "core" ' +54 ."downElevator"SE.stop + "storage"(5 +50 "core" ( +2 "manipulator"&*& +5 "core" &j D W \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &j  C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q' +98 "core" ' + "manipulator"&H& +4 "core" &j & A \ +2 "manipulator"&8% +4 "core" %  i  +2 "processing"%.& +4 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed + "processing"%J(Z +5 "core" & \  +9 &0{\ *x +9 &c\ > +10 &ty\ N +9 &7Z\ M +9 &\\\ M +10 &^\ N +9 &|\\\ N +9 &>[\ N +10 &Z \ M +9 &[\ M +9 & ]\ M +10 &"G^\ M +9 &$\ Z\ M +10 &%^\ N +9 &'^\ N +9 &)OY\ M +10 &+Z\ \ M +9 &,]\ N +9 &.^\ N +10 &0V]\ N +9 &2Z\ N +10 &3] \ M +9 &5] \ N +9 &7^[\ N +10 &9!Y \ M +9 &:Z\ M +9 &<^\ M +10 &>gY\ M +9 &@(\\\ N +10 &A[\ \ N +9 &C[ \ N +9 &Elb\ N +10 &G+k\ \ O +9 &H \ R +9 &J\ T +10 &Le \ S +10 &N'\ S +9 &O\ \ S +9 &Q \ S +9 &Sl\ T +10 &U/ \ S +9 &V \ T +9 &X\ T +10 &Z!a \ "k +9 &Z^\ / +9 ( +3 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&/1 +3 "core" &Z\ ) +50 1 +2 "manipulator"&D% +4 "core" % 4 ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +99 "core" ' +2 "processing"%O& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %\ #  0 B +2 "storage"(X% +4 "core" %a \ + "storage"(k. +3 "core" .(,l +2 "storage"(M& +4 "core" &,s R\ + "storage"(f& +5 "manipulator"&<& +4 "core" &,s \ + &j + X \ +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&i(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +2 "core" ( + "manipulator"&F& +4 "core" &j - \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &j G \ +2 .tForearm.seek PC +2 "manipulator"&V' +97 "core" ' +2 .tHand.close + "manipulator"&S/ +53 "core" / +2 .tPC.seek :open +2 "processing"%!( +95 "core" ' +2 "storage"(a- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(e'y +45 "core" ' +284 ( + "storage"(m& +4 "core" &,s\ \  A\ +2 "manipulator"&d& +4 "core" &j   \ + "manipulator"&Z% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +258 "core" ( + "manipulator"&\\& +4 "core" & $  +2 "storage"(]& +4 "core" &,s\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&z'Ѽ +96 "core" ' +2 .tHand.open + "manipulator"&n1 +52 "core" 1 +2 "storage"(j- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(@'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(}& +4 "core" &,s o\ +2 "manipulator"&r& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"& ( +8 "core" ( + "manipulator"&\ & +5 "core" & $ | + "storage"(x& +4 "core" &,s \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +63 "core" ' + "manipulator"&^& +4 "core" & | +2 "storage"(& +4 "core" &,s\ \  m\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&v' +23 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +23 "core" ' +2 "manipulator"&s% +4 "core" %  ~ +2 "storage"({& +4 "core" &,s\ \  5\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&_'? +19 "core" ' + "manipulator"& & +4 "core" & X | +2 "storage"(q& +4 "core" &,s\ 0\ ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&t'Ѽ +24 "core" ' +2 "storage"(p% +4 "core" %l\ )\ % \  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (% +3 "core" %sJ >\ We +2 "manipulator"&`% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,s\ \ \ +2 "collection"''& +4 "core" &Vq,\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\   +2 "storage"(u% +3 "core" %b\ \ +\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,s\ \  \ +2 "storage"(& +4 "core" &,s\ \  \ +2 "manipulator"&& +3 "core" &  J | +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & # | +2 "storage"(& +4 "core" &,s\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +87 "core" ' + "storage"(0& +5 "core" &,s\ &\ $ R\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  | + "storage"(& +4 "core" &,s\ \  C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&h' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'U +31 "core" ' +2 "manipulator"&1% +4 "core" % " + "storage"(?& +4 "core" &,s }\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&|'@ +18 "core" ' + "manipulator"&& +5 "core" & & | + "storage"(o& +4 "core" &,s\ '\ ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(6'D +41 "core" ' + "manipulator"&& +5 "core" &  | + "manipulator"&:% +4 "core" %ѷ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( +3 "manipulator"&& +4 "core" &( { ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( ?U +2 .tForearm.seek CC + "manipulator"&A'" +93 "core" ' +2 .tHand.close + "manipulator"&&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'P( +416 "core" ( + "storage"(,& +4 "core" &,s\ 5\ 2 M\ +2 "storage"(I& +4 "core" &,s\ 2\ 2\ + "manipulator"&4& +4 "core" &( j ?T + "manipulator"&#% +4 "core" % 1 / i +2 .tForearm.seek :retract +2 "manipulator"&-'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&G( +203 "core" ( +10 "manipulator"&"& +4 "core" &  x + "storage"(+& +4 "core" &,s N L Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&7' +103 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +60 "core" 1 +3 "manipulator"&W% +4 "core" %  ) d 9 +2 "storage"(Y& +3 "core" &,s\ C\ H \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&3'@ +19 "core" ' + "manipulator"&$& +4 "core" & ` x +2 "storage"(=& +4 "core" &,s B P \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +45 "core" ' + "storage"(>% +5 "core" %D ~\ - O\ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (T% +2 "core" %J\ G\ O \ Vb +2 "manipulator"&;% +5 "core" %Ѿ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'8& +4 "core" &H\ +2 "manipulator"&.% +4 "core" %\   +2 "storage"(L% +3 "core" %a ~ a u\ +2 "storage"(N. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &<)\ &\ % <\  +2 "manipulator"&D& +4 "core" & + x +2 .tElbow.seek 5 + "manipulator"&O( +8 "core" ( +2 "manipulator"&C& +4 "core" &  ' W +2 "storage"(X& +4 "core" &<%\ + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&k'ы +96 "core" ' +2 "storage"(M& +4 "core" &<% c m |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(<'i +283 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &<%\ D\ H '\  +2 "manipulator"&F& +4 "core" &  W +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&Q& +4 "core" & % W +2 "storage"(S& +4 "core" &<% \  #\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&2/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(J'X +7 "core" &  W +2 "manipulator"&g% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&m'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +157 "core" ( + ' + "manipulator"&Z& +2 ."downElevator"SE.stop +5 "storage"(5 +4 "core" &# :* + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &"  9) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'" +97 "core" ' +3 "manipulator"&]& +4 "core" &"  < 9) +2 "manipulator"&i% +3 "core" % +2 "collection"'n& +4 "core" &A\ +2 "collection"'j& +5 "core" &$\ +2 .tCC.seek :closed +2 "collection"'y(V +4 "core" &F\  +9 &1J\ *y +10 &c D\ > +9 &wuG\ N +10 &;XN\ M +9 &ZH\ M +9 &YI\ M +10 &YH\ M +9 &BYN\ M +9 &YO\ M +10 &YN\ M +9 & ZN\ M +10 &"JZH\ M +9 &$ YD\ M +9 &%ZG\ M +10 &'YH\ M +9 &)RYM\ M +9 &+Z C\ M +10 &,YC\ M +9 &.ZD\ M +10 &0ZYA\ M +9 &2Y<\ M +9 &3Z>\ M +10 &5Y <\ M +9 &7cY@\ M +9 &9$WA\ M +10 &:Z4\ M +9 &<\\>\ M +10 &>iZ<\ M +9 &@+YA\ M +9 &AZ<\ N +10 &C\\7\ M +9 &Eob-\ N +9 &G,o/\ P +10 &H(\ R +9 &J1\ X +9 &LV/\ Y +10 &N,\ Y +9 &O/\ [ +10 &Q-\ Z +9 &SY0\ [\ +9 &U6\ [ +10 &VhC3\ 1 +9 &V y/\ K +6 ( + "collection"'j& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open + "manipulator"&}1 +4 "core" &Vp3\ K +53 1 +2 "manipulator"&r% +4 "core" %  4 q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%x& +5 "core" &\ + "manipulator"&% +4 "core" %\ @  + "storage"(^% +4 "core" %T\ \  @\ +2 "storage"(. +3 "core" .(<* + "storage"(e& +4 "core" &<%\ \  B\  + "storage"(s& +4 "core" &<%\ \  L\  +2 "manipulator"&{& +4 "core" &"  9) + "manipulator"&@% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +164 "core" ( + "manipulator"&q& +4 "core" & % y L +2 "storage"(p& +4 "core" &<%\ &\ % =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&U'ы +85 "core" ' +2 "storage"(z& +4 "core" &<%\ &\ / G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &<%\ \ \  + "manipulator"&c& +4 "core" &  L +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &  L +2 "storage"(v& +4 "core" &<%\ \  -\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"('X +7 "core" &  " L +2 "manipulator"&u% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&l& +5 "core" &r 5 6  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&& +4 "core" &r  J  +2 "manipulator"&% +4 "core" %  : * + "processing"%t& +4 "core" &\ +2 "processing"%0& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"% (Z +3 "core" &\ +5 &\ 6 +10 &FH|\ 0 +9 &pr\ D +10 &g\ N +9 &Y\ N +9 &[\ N +10 &X\\\ N +9 &\\\ N +9 &\\\ N +10 &Y\ M +9 &aY\ M +10 &!#W\ M +9 &"Z\ N +9 &$Z\ M +10 &&iW\ M +9 &(+W\ M +9 &)Y\ M +10 &+Y\ M +9 &-qX\ M +10 &/3Y\ M +9 &0]\ N +9 &2\\\ M +10 &4zW\ M +9 &6:Y\ N +9 &7Y\ N +10 &9[\ N +9 &;Z\ M +10 &=C] \ M +9 &?Z\ M +9 &@W\ M +10 &B\\ \ N +9 &DJ_ \ N +9 &F b\ \ N +10 &Gu\ Q +9 &I\ R +9 &KB \ S +10 &M\ \ S +9 &N \ S +10 &P \ T +9 &RH \ T +9 &T\ \ T +10 &U\ T +9 &W\ T +9 &YN\ B +10 &Z^:r \ !b +9 &Z- \ - +6 ( + "processing"%0& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&w1 +4 "core" &Z  \ - +50 1 +2 "manipulator"&% +4 "core" % ( C * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +2 "processing"%& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\   +2 "storage"(%% +4 "core" %a \ + "storage"(1. +3 "core" .(<* +2 "storage"(?& +4 "core" &<% \  +2 "storage"(& +2 "manipulator"&o& +7 "core" &<% `\  + &r 5 >  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +52 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(:'i +3 "core" ( + "manipulator"& & +4 "core" &r j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r T  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&h/ +55 "core" / +2 .tPC.seek :open +2 "processing"%|( +89 "core" ' +2 "storage"(~- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +301 ( + "storage"(& +4 "core" &<%\ \  @\  +2 "manipulator"&5& +4 "core" &r  1  + "manipulator"&% +4 "core" %  B +2 .tForearm.seek :retract +2 "manipulator"&&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&E( +247 "core" ( +2 "manipulator"&9& +4 "core" & ' 3 "| + "storage"(,& +4 "core" &<% \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +99 "core" ' + .tHand.open +2 "manipulator"&41 +62 "core" 1 +2 "storage"(#- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +45 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(& +4 "core" &<% H\  + "manipulator"&K& +4 "core" &  I "z +2 .tElbow.seek 5 + "manipulator"&W( +4 "core" ( + "manipulator"&Y& +4 "core" & & "z +2 "storage"($& +3 "core" &<% `\  +3 .tForearm.seek 5 + 700 counts + "manipulator"&='ы +31 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +55 "core" ' +2 "manipulator"&-& +4 "core" & ) o "z +2 "storage"(T& +4 "core" &<%\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;' +30 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +24 "core" ' + "manipulator"&3% +5 "core" % + "storage"(8& +5 "core" &<% s\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&.' +14 "core" ' + "manipulator"&L& +5 "core" & % R % + "storage"(N& +4 "core" &<%\ \  a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +27 "core" ' + "storage"(B% +5 "core" %p\ \  H\ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (R% +3 "core" %H \ Wc +2 "manipulator"&/% +4 "core" %љ  @ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" &<%\ \  |\  +2 "collection"'X& +3 "core" &Vp1\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&M% +4 "core" %\   b  +2 "storage"()% +4 "core" %S\ \  D\ + "storage"(H. +6 "core" .(<* +2 "storage"(f& +3 "core" &<%\ \  /\  +2 "storage"(b& +4 "core" &<%\ \  ?\  + "manipulator"&F& +4 "core" & % +2 .tElbow.seek 5 + "manipulator"&Q( +27 "core" ( +2 "manipulator"&S& +4 "core" &! %   + "storage"(2& +4 "core" &<%\ '\ # q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +97 "core" ' +2 "storage"(g& +4 "core" &<%\ (\ ' L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +287 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" &! _  +2 "storage"(V& +4 "core" &<%\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +3 "manipulator"&<' +25 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'U +31 "core" ' + "manipulator"&n% +5 "core" % + "storage"( & +4 "core" &<% ]\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&J' +18 "core" ' + "manipulator"&m& +5 "core" &\  / W + "storage"(P& +4 "core" &<%\ \  M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(r'D +43 "core" ' +2 "manipulator"&x& +4 "core" &\  W +2 "manipulator"&% +4 "core" %у w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +3 "manipulator"&e& +4 "core" &+  Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &+ 3 Ad +2 .tForearm.seek CC +2 "manipulator"&s'" +93 "core" ' + .tHand.close +2 "manipulator"&{/ +60 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( + "storage"(\\& +4 "core" &<%\ 5\ 2 w\  +2 "storage"(q& +4 "core" &<%\ &\ ) 2\  + "manipulator"&p& +4 "core" &+ z Ad + "manipulator"&z% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&d'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&\ ( +158 "core" ( + "manipulator"&& +5 "core" & % C  + "storage"(`& +4 "core" &<%\ >\ > E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&c' +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +60 "core" 1 +2 "manipulator"&% +4 "core" %   [ +3 "storage"('& +3 "core" &<%\ '\ ' \\\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&u'\ +14 "core" ' + "manipulator"& & +5 "core" & $ Z  + "storage"(U& +4 "core" &<%\ . \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +28 "core" ' + "storage"(_% +4 "core" %F n V 4\ +3 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (% +3 "core" %F\ N\ A 7\ Vb +2 "manipulator"& % +4 "core" %ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &\ + "manipulator"&t% +4 "core" %\    +2 "storage"(% +4 "core" %R }\ , \ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(!(K +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &K\ '\ ' ?\  +2 "manipulator"&& +4 "core" & .  +2 .tElbow.seek 6 +50 "manipulator"&( +35 "core" ( + "manipulator"&& +5 "core" &  % + + "storage"(%& +4 "core" &K I ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&1'a +87 "core" ' +2 "storage"(?& +4 "core" &K Q e ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +285 "core" ' +3 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +2 "core" &K\ O\ D m\  +2 "manipulator"& & +3 "core" &! N * +2 .tElbow.seek 6 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&& +4 "core" &  I  + "storage"(h& +4 "core" &K \ +\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"( 'X +8 "core" &  +2 "manipulator"&:% +4 "core" % Ͽ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +25 "core" ( +2 "manipulator"&& +4 "core" &. Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &. z Dx +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'" +92 "core" ' + "manipulator"&,& +4 "core" &.  Dx +2 "manipulator"&% +4 "core" %) a  +2 "collection"'4& +4 "core" &F\ +2 "collection"'#& +5 "core" &G\ +2 .tCC.seek :closed + "collection"'+(V +5 "core" &G\ +7 & -G\ $c +9 &VR\ 7 +9 &}R\ L +10 &YI\ M +9 &bYT\ M +9 &%X?\ M +10 &ZC\ L +9 &YC\ M +10 &kY@\ M +9 &-XF\ M +9 &XJ\ M +10 &!YH\ M +9 &#sZJ\ M +9 &%5ZH\ M +10 &&XH\ M +9 &(VN\ M +10 &*{XL\ M +9 &,>XN\ L +9 &-X K\ M +10 &/[ M\ M +9 &1ZN\ M +9 &3FXN\ L +10 &5YN\ M +9 &6W N\ M +10 &8WN\ L +9 &:MXI\ M +9 &<YI\ M +10 &=YN\ M +9 &?YC\ M +9 &ATX@\ M +10 &CZ C\ M +9 &DaM\ N +10 &FgM\ O +9 &HQyB\ Q +9 &JG\ V +10 &K?\ Y +9 &M;\ Y +9 &OA?\ Y +10 &QJ\ Y +9 &RC\ [ +10 &T>\ Z +9 &V!v7\ / +9 &V%0\ R +9 ( +3 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&1 +3 "core" &Vb@\ J +56 1 +2 "manipulator"&K% +4 "core" % ) h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%$& +5 "core" &\ + "manipulator"&&% +4 "core" %\  W  + "storage"(-% +4 "core" %_\ \  \ +2 "storage"(T. +3 "core" .(K + "storage"(& +4 "core" &K\ \  \  + "storage"(3& +5 "core" &K\ \  "\  + "manipulator"&8& +4 "core" &, j Bg +2 "manipulator"&A% +4 "core" %\  l  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +163 "core" ( + "manipulator"&N& +5 "core" &  ^ + "storage"(B& +4 "core" &K\ 1\ / L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +98 "core" ' + "storage"(I& +5 "core" &K\ J\ 7 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +283 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &K\ \  3\  +2 "manipulator"&=& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&>& +4 "core" &  + "storage"(;& +4 "core" &K\ \ & {\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&.' +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(M'X +8 "core" & G + "manipulator"&)% +4 "core" % 4 7 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&f& +4 "core" &h 5 c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &h  z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +96 "core" ' + "manipulator"&S& +5 "core" &i $ Y + "manipulator"&2% +4 "core" % ( +2 "processing"%6& +4 "core" &\ +2 "processing"%g& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &\  +8 &2\ )w +9 &c\ > +10 &my\ N +9 &0X\ M +10 &]\ M +9 &\\\ M +9 &vZ\ M +10 &7Z\ N +9 &\\\ M +9 &Y\ M +10 & ~] \ M +9 &"@[\ M +9 &$W\ M +10 &%^\ M +9 &'^\ M +10 &)HY\ M +9 &+ \\\ N +9 &,Y\ M +10 &.\\\ M +9 &0P[\ M +10 &2\\\ N +9 &3[\ M +9 &5\\\ N +10 &7YZ\ M +9 &9Z\ M +9 &:Y\ M +10 &<[\ M +9 &>`[\ M +9 &@"]\ M +10 &A\\\ M +9 &C`\ M +10 &Egb\ N +9 &G$p\ O +9 &H\ R +10 &J\ S +9 &L`\ S +9 &N"\ S +10 &O\ S +9 &Q\ S +10 &Se\ T +9 &U'\ T +9 &V\ T +10 &X\ T +9 &Zb\ %r +9 &Z[\ . +9 ( +3 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&G1 +4 "core" &Z \ * +50 1 + "manipulator"&D% +4 "core" %  e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k'\ +93 "core" ' +2 "processing"%Z& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&V% +4 "core" %\   + "storage"(]% +4 "core" %b\ \  \ +2 "storage"(n. +3 "core" .(K + "storage"( & +4 "core" &K\ \ \  +2 "storage"(m& +3 "manipulator"&P& +5 "core" &K\ \  \  + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&x(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&[& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &i  + +2 .tForearm.seek PC +2 "manipulator"&O' +96 "core" ' + .tHand.close +2 "manipulator"&L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &' w >L +2 .tForearm.seek CC + "manipulator"&#'" +92 "core" ' + .tHand.close +2 "manipulator"&8/ +56 "core" / +2 .tCC.seek :open +2 "collection"'A( +413 "core" ( + "storage"(9& +4 "core" &K\ D\ 6 9\  +2 "storage"(N& +3 "core" &K\ %\ % N\  +2 "manipulator"&B& +3 "core" &(  4 >L +2 "manipulator"&I% +4 "core" % 0 * .  +2 .tForearm.seek :retract + "manipulator"&5'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&Y( +161 "core" ( +2 "manipulator"&R& +4 "core" & % X  +2 "storage"(/& +4 "core" &K\ <\ = |\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&='Υ +108 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +62 "core" 1 +2 "manipulator"&C% +4 "core" % θ  t +3 "storage"(X& +4 "core" &K\ \  a\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&)' +17 "core" ' +2 "manipulator"&L& +4 "core" &   +2 "storage"(E& +4 "core" &K\ . s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&"'a +27 "core" ' +2 "storage"(.% +4 "core" %L R e l\ +2 ."downElevator"SE.seek :down +3 "storage"(f'X +100 (b% +2 "core" %F\ <\ @ N\ Va +2 "manipulator"&W% +4 "core" %ћ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'2& +4 "core" &/\ +2 "manipulator"&6% +4 "core" %\ #  @ + "storage"(M% +4 "core" %T L K X\ +2 "storage"(7. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(|(,l +653 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &,o\ \ \ +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&Z( +12 "core" ( +2 "manipulator"&V& +4 "core" & $ q +2 "storage"(]& +4 "core" &,s ~\ - \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +101 "core" ' + "storage"( & +4 "core" &,s p f 6\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +286 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &,s\ A\ X !\ + "manipulator"&[& +4 "core" &  q +2 .tElbow.seek 4 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&F& +4 "core" & K q + "storage"(<& +4 "core" &,s \ + \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&i', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&k& "storage"(*'X +7 "core" & q +2 "manipulator"&% +4 "core" % 4  +2 .tForearm.seek :retract + "manipulator"&j'\ +96 "core" ' +3 .tElbow.seek CC + "manipulator"&}( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&a& +3 "core" &- > Co +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &- ? Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'" +94 "core" ' +2 "manipulator"&\\& +4 "core" &- 2 Co +2 "manipulator"&x% +4 "core" %$  +2 "collection"'p& +4 "core" &a\ +2 "collection"'z& +60 "core" &=\ + &\\\ + &]\ + &[\ + &^\ + &[\ + &`\ +4 .tCC.seek :closed + "collection"'s(V +4 "core" &\\\ +3 & Y\  +9 &4 T\ +{ +9 &f[\ ? +9 &sV\ N +10 &aRU\ M +9 &#WV\ M +10 &WT\ M +9 &WN\ L +9 &jWJ\ M +10 &-XT\ L +9 &WT\ M +9 & YC\ M +10 &"q\\F\ M +9 &$3WC\ M +10 &%YE\ M +9 &'VB\ M +9 &){W @\ L +10 &+<YC\ M +9 &,UE\ M +9 &.W D\ L +10 &0ZF\ M +9 &2EWH\ L +9 &4XM\ L +10 &5WM\ M +9 &7UN\ M +10 &9LWJ\ M +9 &;YM\ M +9 &<YM\ M +10 &>YN\ M +9 &@SVN\ M +10 &BYL\ M +9 &C\\I\ M +9 &EbL\ N +10 &GQtJ\ P +9 &IM\ R +9 &JL\ X +10 &LM\ X +9 &NAL\ Y +9 &PM\ Y +10 &QG\ Y +9 &SH\ [ +10 &UB L\ S +9 &VqFM\ + +9 &VJ\ S +6 ( + "collection"'z& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +3 "core" &VyL\ S +56 1 + "manipulator"&v% +4 "core" % $ /  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +4 "core" &\ +2 "manipulator"& % +4 "core" %\  n  + "storage"(d% +4 "core" %^ \ +2 "storage"(. +3 "core" .(,l + "storage"(e& +4 "core" &,s \ + "storage"(& +4 "core" &,s \ +2 "manipulator"&u& +4 "core" &- Co +2 "manipulator"&% +4 "core" %\  w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" & % C U +2 "storage"(^& +4 "core" &,s\ \ ' D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +40 "Can"\ KI +55 "core" ' + "storage"(q& +4 "core" &,s\ 2\ ' m\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &,s\ \ <\ +2 "manipulator"&U& +4 "core" & N U + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&_& +4 "core" &  d U + "storage"( & +4 "core" &,s\ \  :\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&t', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(?'X +7 "core" &   U +2 "manipulator"&% +4 "core" % 3 M +2 .tForearm.seek :retract + "manipulator"&c'\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&& +5 "core" &x " M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" &x G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +98 "core" ' + "manipulator"&h& +5 "core" &x $ ; + "manipulator"&~% +4 "core" %  L +2 "processing"%r& +4 "core" & \ +2 "processing"%:& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &\  +9 &2\ *x +9 &c\ > +9 &tx\ N +10 &9Y\ M +9 &Z\ N +10 &Z\ M +9 &~X \ M +9 &@\\"\ M +10 &^\ M +9 &\\\ N +9 & ]"\ M +10 &"H\\\ M +9 &$\ W\ M +10 &%W\ M +9 &'\\\ N +9 &)OZ\ N +10 &+Z!\ M +9 &,W\ M +9 &.Y \ M +10 &0YX\ M +9 &2Z\ N +10 &3Y\ M +9 &5[ \ M +9 &7`[ \ M +10 &9"Y!\ M +9 &:U\ M +9 &<[\ M +10 &>gY\ N +9 &@)[\ N +10 &AY\ M +9 &CY\ N +9 &Eo_\ N +10 &G,m"\ O +9 &H"\ R +9 &J\ S +10 &Lf \ S +9 &N(\ S +10 &O\ S +9 &Q!\ S +9 &Sn\ S +10 &U. \ T +9 &V\ T +9 &X\ U +10 &Z^\ #l +9 &ZZ\ - +9 ( +3 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&\ 1 +3 "core" &Z\ ) +55 1 + "manipulator"&% +4 "core" % 4 i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +92 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  g  +2 "storage"(,% +3 "core" %b *\  +2 "storage"(4. +3 "core" .(,l + "storage"(& +4 "core" &,s \ +2 "storage"(& +3 "manipulator"&@& +5 "core" &,s \ + &x  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&$(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'i +2 "core" ( +2 "manipulator"&(& +4 "core" &x j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &x * \\ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&o/ +63 "core" / +2 .tPC.seek :open + "processing"% ( +83 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +295 ( + "storage"(3& +4 "core" &,s\ \  \ +2 "manipulator"&& +4 "core" &x  + "manipulator"&% +4 "core" %  / +2 .tForearm.seek :retract + "manipulator"&8'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&-( +268 "core" ( +2 "manipulator"&+& +4 "core" & / t +2 "storage"(9& +4 "core" &,s \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&N'Ѽ +101 "core" ' + .tHand.open +2 "manipulator"&B1 +59 "core" 1 +2 "storage"(I- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(/' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(T& +4 "core" &,s %\ +2 "manipulator"&;& +3 "core" &  0 +2 .tElbow.seek 4 +2 "manipulator"&C( +9 "core" ( + "manipulator"&X& +5 "core" & & c + "storage"(L& +4 "core" &,s :\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&E'Ѽ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +57 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(b& +4 "core" &,s\ \  j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&W' +29 "core" ' +2 .tElbow.hold + "manipulator"&Y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(='i +27 "core" ' +3 "manipulator"&)% +4 "core" %\  f +2 "storage"(2& +4 "core" &,s \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&6'6 +18 "core" ' + "manipulator"&M& +5 "core" & % T + "storage"(7& +4 "core" &,s\ \  D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&K'Ѽ +49 "core" ' + "storage"("% +5 "core" %r\ \ $ \ +2 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (!% +2 "core" %J h\ Xg +2 "manipulator"&G% +4 "core" %ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +2 "core" &,s\ \  \ +2 "collection"']& +4 "core" &VyC\ S +2 #tStoring generic puck in Collection Clamp to tube 4 +52 "manipulator"& % +5 "core" %\   + "storage"(>% +4 "core" %`\ \  \ +2 "storage"(S. +3 "core" .(,l + "storage"(P& +4 "core" &,s\ \  \ +2 "storage"(g& +4 "core" &,s\ \  \ \ +2 "manipulator"&[& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( + "manipulator"&<& +4 "core" & % + "storage"(H& +4 "core" &,s\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&k'Ѽ +87 "core" ' +2 "storage"(& +4 "core" &,s\ '\ ' \\\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +282 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" & +2 "storage"(O& +4 "core" &,s\ \  9\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&m' +32 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(x'V +32 "core" ' +4 "manipulator"&p% +4 "core" % 8  + "storage"(Q& +4 "core" &,s t\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&*'? +17 "core" ' +2 "manipulator"&j& +4 "core" &  ] +2 "storage"(A& +4 "core" &,s\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +51 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'E +39 "core" ' +2 "manipulator"&'& +4 "core" &  +2 "manipulator"& % +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +163 "core" ( +2 "manipulator"&e& +4 "core" &* . Y A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ - A_ +2 .tForearm.seek CC + "manipulator"&z'" +95 "core" ' + .tHand.close +2 "manipulator"&u/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(y& +4 "core" &,s\ )\ / \ +2 "storage"(& +4 "core" &,s\ 1\ 2\ + "manipulator"&^& +4 "core" &* U @^ + "manipulator"&q% +4 "core" %  h +3 .tForearm.seek :retract + "manipulator"&}'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&{( +157 "core" ( +2 "manipulator"&& +4 "core" & % + "storage"(w& +4 "core" &,s\ <\ = F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&U' +101 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +5 "core" %  # H Q + "storage"(%& +4 "core" &,s\ E\ O =\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&'@ +20 "core" ' + "manipulator"&& +5 "core" &  = +2 "storage"(& +4 "core" &,s \ * 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +17 "core" ' +2 "storage"(t% +4 "core" %F Q c\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (0% +3 "core" %H\ <\ @ 1\ Wb +2 "manipulator"&% +4 "core" %ў  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'~& +5 "core" &W\ + "manipulator"&r% +4 "core" %\ # @ +2 "storage"(?% +4 "core" %a K K V\  +2 "storage"(c. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(J(<* +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &<)\ %\ ' \  +2 "manipulator"&& +4 "core" & + .tElbow.seek 5 +2 "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" & $ 2 ] +2 "storage"(,& +4 "core" &<&\ - ~ 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&4'ы +87 "core" ' +2 "storage"(& +4 "core" &<& c b Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (:& +3 "core" &<&\ =\ C \  + "manipulator"&(& +4 "core" &  ] +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & ; ] + "storage"(o& +4 "core" &<& \ + \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(l'X +7 "core" & i ] +2 "manipulator"&&% +4 "core" % r  +2 .tForearm.seek :retract + "manipulator"&3'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +161 "core" ( +3 "manipulator"&& +3 "core" ' +2 &* 0  % @^ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 && +2 "core" &* 3 @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'" +97 "core" ' +2 "manipulator"&9& +4 "core" &* 1 @ @] +2 "manipulator"&$% +4 "core" %* 7 +2 "collection"'B& +4 "core" &^\ +2 "collection"'I& +5 "core" &b\ +2 .tCC.seek :closed +2 "collection"'#(V +4 "core" & d\  +9 &1~`\ *y +10 &d^\ > +9 &zsc\ M +10 &=W_\ M +9 &[d\ M +9 &U[\ L +10 &XZ\ M +9 &E[\\\ M +9 &V\\\ M +10 &U\\\ M +9 & Wd\ M +10 &"M[V\ M +9 &$VU\ M +9 &%YS\ L +10 &'W R\ L +9 &)UZT\ M +9 &+WT\ M +10 &,UU\ L +9 &.XN\ L +9 &0]Y I\ M +10 &2ZC\ M +9 &3\\@\ M +10 &5ZE\ L +9 &7fW <\ L +9 &9'U@\ M +10 &:WA\ M +9 &<Y D\ L +9 &>mYC\ M +10 &@/ZI\ M +9 &A\\K\ M +10 &C\\L\ M +9 &EqaN\ N +9 &G.pJ\ P +10 &HM\ R +9 &JI\ W +9 &L[8\ X +10 &NF\ X +9 &OM\ Y +10 &QD\ Y +9 &S\\I\ [ +9 &UK\ Z +10 &VgA J\ 1 +9 &V\ L\ O +6 ( + "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&T1 +4 "core" &VtI\ O +59 1 + "manipulator"&;% +4 "core" % * 1 _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%L& +4 "core" &(\ +2 "manipulator"&8% +4 "core" %\  G  +2 "storage"(5% +4 "core" %b\ \  \ + "storage"(b. +3 "core" .(<* +2 "storage"(& +4 "core" &<&\  [\  + "storage"()& +4 "core" &<& \  [\  +2 "manipulator"&2& +4 "core" &) W @\\ + "manipulator"&R% +4 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&M( +161 "core" ( + "manipulator"&7& +5 "core" & $ P + "storage"(-& +4 "core" &<&\ '\ ' S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&"'ы +95 "core" ' +2 "storage"(N& +4 "core" &<&\ $\ % b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +51 "storage"(/'i +281 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &<&\ \  h\  +2 "manipulator"&E& +4 "core" &  P +2 .tElbow.seek 5 + "manipulator"&C( +3 "core" ( +2 "manipulator"&.& +4 "core" &  k P + "storage"(W& +4 "core" &<&\ \ ' \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"( 'X +8 "core" & v P + "manipulator"&=% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&>'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&S(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +113 "core" ( +2 "manipulator"&P& +4 "core" &s , M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &t    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&[' +100 "core" ' + "manipulator"&<& +5 "core" &w ( 5  + "manipulator"&H% +4 "core" %   +2 "processing"%K& +4 "core" &!\ +2 "processing"%& +6 "core" &(\ +2 .tPC.seek :closed +3 "processing"%f(Z +3 "core" &!\ +6 &:\ $c +9 &T"\ 7 +10 &}$\ K +9 &Z\ M +10 &c^\ M +9 &%[ \ M +9 &W\ M +10 &\\\ M +9 &l[!\ M +9 &.Z"\ M +10 &[\ M +9 &!Z\ M +10 &#t\\\ M +9 &%6\\\ M +9 &&Z\ M +10 &(Z\ M +9 &*{[\ M +9 &,=Z\ M +10 &-[\ N +9 &/Z\ M +9 &1Z\ M +10 &3EY\ M +9 &5Z\ M +10 &6Z\ M +9 &8X\ M +9 &:MU!\ M +10 &<X\ M +9 &=U\ M +10 &?X\ M +9 &AUU\ M +9 &C[\ N +10 &D\\\ N +9 &Fe\ O +9 &HR{\ Q +10 &J \ S +9 &K\ T +9 &M\ S +10 &OS\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VZ\ T +10 &X\ T +9 &Yzn\ 7 +9 &Z/\ J +10 &Z\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&Y1 +55 "core" 1 +2 "manipulator"&D% +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +97 "core" ' +2 "processing"%a& +3 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&O% +4 "core" %\  F ' +2 "storage"(\\% +3 "core" %T \ +2 "storage"(p. +3 "core" .(<* + "storage"(Q& +4 "core" &<& W\  +2 "storage"(j& +2 "manipulator"&A& +7 "core" &<& \  + &w m  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&'(s +3 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +3 "core" ( + "manipulator"&k& +4 "core" &w 5  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &w   +2 .tForearm.seek PC +2 "manipulator"&Z' +97 "core" ' + .tHand.close +2 "manipulator"&m/ +56 "core" / +3 .tPC.seek :open +2 "processing"%*( +94 "core" ' + "storage"(x- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +44 "core" ' +284 ( +2 "storage"(& +4 "core" &<&\ \  M\  + "manipulator"&& +4 "core" &w  -  +2 "manipulator"&i% +3 "core" %   I +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&d( +257 "core" ( +2 "manipulator"&s& +4 "core" & % @  +2 "storage"(y& +3 "core" &<&\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +94 "core" ' +2 .tHand.open + "manipulator"&^1 +54 "core" 1 +2 "storage"(q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(w' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(& +3 "core" &<& \\\  +2 "manipulator"& & +4 "core" & /  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" & $  + "storage"(& +4 "core" &<& \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +57 "core" ' +2 "manipulator"&}& +4 "core" &   +2 "storage"(0& +4 "core" &<&\ '\ ' z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +29 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +23 "core" ' +2 "manipulator"&~% +4 "core" % o + "storage"(r& +4 "core" &<& 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&' +20 "core" ' + "manipulator"&?& +4 "core" & $ G +2 "storage"(c& +4 "core" &<&\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&v'ы +20 "core" ' + "storage"(`% +5 "core" %s\ \ ' A\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (|% +3 "core" %B\ \  B\ Vb +2 "manipulator"&\ % +4 "core" %э  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +78 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<&\ \  e\  +2 "collection"',& +3 "core" &VrD\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\   ! +2 "storage"(_% +4 "core" %a\ \ \ +2 "storage"(h. +3 "core" .(<* + "storage"(@& +4 "core" &<&\ \  \  + "storage"(:& +4 "core" &<&\ \  \  +2 "manipulator"&(& +3 "core" &  | +2 .tElbow.seek 5 +2 "manipulator"& ( +36 "core" ( +2 "manipulator"&o& +4 "core" &*  )  +2 "storage"(& +3 "core" &<&\ \  1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&1'ы +107 "core" ' +2 "storage"(&& +4 "core" &<&\ &\ # \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &*   +2 "storage"(& +4 "core" &<&\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(9- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"($'U +32 "core" ' + "manipulator"&% +4 "core" % =  +2 "storage"(B& +4 "core" &<& \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&l' +13 "core" ' + "manipulator"&3& +5 "core" & $ , I + "storage"(& +4 "core" &<&\ \  >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T'ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'D +40 "core" ' +2 "manipulator"&L& +53 "core" &  I +3 "manipulator"&8% +4 "core" %т  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +169 "core" ( +2 "manipulator"&& +4 "core" &( U ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &( Z ?Q +2 .tForearm.seek CC +2 "manipulator"&)'" +93 "core" ' + .tHand.close +2 "manipulator"&2/ +61 "core" / +2 .tCC.seek :open +2 "collection"'R( +416 "core" ( + "storage"(+& +4 "core" &<&\ J\ D \  +2 "storage"(7& +4 "core" &<&\ J\ K \  +2 "manipulator"&-& +3 "core" &(  1 ?Q +2 "manipulator"&N% +4 "core" % 4 =  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +161 "core" ( + "manipulator"&!& +4 "core" & & p j +2 "storage"(G& +4 "core" &<&\ ;\ ; G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&E' +106 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +62 "core" 1 +2 "manipulator"&V% +4 "core" %  + + "storage"(]& +5 "core" &<&\ '\ ' \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&='\ +20 "core" ' + "manipulator"&M& +4 "core" &  / j +2 "storage"("& +4 "core" &<& \ + N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&/'ы +23 "core" ' + "storage"(6% +5 "core" %G f Q \ +2 ."downElevator"SE.seek :down +4 "storage"(P'X +98 (g% +3 "core" %J\ G\ < \ Wc +2 "manipulator"&C% +4 "core" %р  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<'\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'H& +4 "core" &+\ +2 "manipulator"&K% +4 "core" %\    +2 "storage"( % +4 "core" %Y p m \ + "storage"(>. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"( (K +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &K\ D\ I \  +2 "manipulator"&D& +3 "core" &  j +2 .tElbow.seek 6 +2 "manipulator"&a( +40 "core" ( + "manipulator"&O& +5 "core" &  W P + "storage"(\\& +4 "core" &K H @ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&p'a +108 "core" ' + "storage"(Q& +4 "core" &K g c }\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'i +282 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ =\ E \  +2 "manipulator"&k& +4 "core" &\  O +2 .tElbow.seek 6 + "manipulator"&F( +26 "core" ( + "manipulator"&[& +5 "core" &  v + "storage"(m& +4 "core" &K\ + \ \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&x' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(f'X +7 "core" & r v +2 "manipulator"& % +4 "core" % ϻ   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&i& +4 "core" &- - $ Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &, % Cq +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'" +104 "core" ' +2 "manipulator"&y& +4 "core" &- B Cq +2 "manipulator"&'% +3 "core" % w +2 "collection"'^& +4 "core" &8\ +2 "collection"'q& +5 "core" &f\ +2 .tCC.seek :closed +2 "collection"'z(V +5 "core" &g\ +6 & %c\ #a +10 &W`\ 7 +9 &{ c\ L +9 &X]\ L +10 &mX_\ M +9 &0Yb\ L +9 &Wc\ M +10 &U_\ M +9 &uZ`\ M +10 &7Zf\ M +9 &Z[\ M +9 &!Z `\ M +10 &#}[^\ M +9 &%?Uf\ M +9 &'Uf\ M +10 &(T\\\ M +9 &*Y[\ M +9 &,HZ\\\ L +10 &.\ WT\ L +9 &/Z`\ M +10 &1UU\ M +9 &3OUP\ M +9 &5ZT\ M +10 &6ZM\ M +9 &8WS\ M +10 &:WV H\ M +9 &<YR\ M +9 &=[N\ M +10 &?UE\ M +9 &A`VM\ L +9 &C!YN\ M +10 &D]C\ M +9 &FfC\ N +10 &H[xH\ Q +9 &JC\ U +9 &KA\ Y +10 &MB\ Y +9 &OJB\ Y +9 &Q ?\ Y +10 &R@\ Z +9 &TB\ [ +9 &V+vD\ / +10 &V"E\ N +9 ( +3 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +3 "core" &VjG\ J +59 1 +2 "manipulator"& % +4 "core" %  ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +100 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&u% +5 "core" %\ \ S  + "storage"(}% +4 "core" %R\ \  \ +2 "storage"(0. +3 "core" .(K + "storage"(e& +4 "core" &K\ \  \  + "storage"(~& +4 "core" &K\ \  &\  +2 "manipulator"&r& +4 "core" &- /  Cn + "manipulator"&% +4 "core" %\ \ 4  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&?( +157 "core" ( + "manipulator"&c& +5 "core" &  G  + "storage"(`& +4 "core" &K\ #\ . =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&d'a +92 "core" ' + "storage"(& +5 "core" &K\ 7\ ( i\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +285 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" &K\ \  #\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" &  v  + "storage"(& +4 "core" &K\ '\ % >\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"('X +8 "core" &    +2 "manipulator"&U% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&h(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&@& +4 "core" &s + S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &s  A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +100 "core" ' +2 "manipulator"&o& +4 "core" &s ' a +2 "manipulator"&% +4 "core" %  2 +2 "processing"%v& +4 "core" & \ +2 "processing"%&& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +6 "core" &(\  +7 &3+\ *x +10 &d,\ > +9 &zv(\ N +9 &<Y*\ M +10 &[(\ M +9 &Y%\ M +9 &[.\ M +10 &EZ,\ M +9 &\\'\ M +10 &['\ N +9 & Z \ M +9 &"LY\ M +10 &$V\ M +9 &%Z\ M +9 &'\\\ N +10 &)TY\ M +9 &+Z!\ M +10 &,U"\ M +9 &.Z\ M +9 &0\\X\ M +10 &2Y\ M +9 &3U!\ M +9 &5Z\ M +10 &7fY\ M +9 &9(X\ M +10 &:W"\ M +9 &<Y!\ M +57 &>mY!\ M +2 &@/Z\ M + &AY\ M + &C_\ M + &Es`!\ N + &G/p"\ P +3 &H"\ S +9 &J\ S +9 &Li \ T +10 &N,!\ S +9 &O\ S +9 &Q\ T +10 &Sq \ T +9 &U3"\ T +10 &V\ T +9 &X\ T +9 &Z#^#\ "h +10 &Z_\ / +8 ( +2 &Z \ * +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&{1 +59 "core" 1 + "manipulator"&% +4 "core" % / p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +93 "core" ' + "processing"%& +5 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\  V  + "storage"(9% +4 "core" %a\ \  \ +2 "storage"(. +3 "core" .(K + "storage"(B& +4 "core" &K\ \  \  +2 "storage"(3& +4 "manipulator"&& +4 "core" &K\ \  \  + &s  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&L(s + "storage"(8'i +5 "core" ( +2 "manipulator"&1& +4 "core" &s  9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &s 4  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%l( +88 "core" ' + "storage"($- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +303 ( + "storage"(I& +4 "core" &K\ \ \ & \  +2 "manipulator"&T& +4 "core" &s   + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&2'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&5( +277 "core" ( + "manipulator"&#& +4 "core" & $ z +2 "storage"(+& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7'a +96 "core" ' +2 .tHand.open + "manipulator"&-1 +62 "core" 1 + "storage"(N- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' + "storage"(b& +4 "core" &K 8\  + "manipulator"&W& +4 "core" & 0 z +2 .tElbow.seek 6 +2 "manipulator"&V( +7 "core" ( +2 "manipulator"&]& +4 "core" & $ X x +2 "storage"(M& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&"'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +61 "core" ' +2 "manipulator"&& +4 "core" & w x +2 "storage"(g& +4 "core" &K\ &\ ' H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&C'Υ +34 "core" ' +2 .tElbow.hold + "manipulator"&X, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +24 "core" ' +2 "manipulator"&H% +4 "core" %ε s +2 "storage"(=& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&K' +12 "core" ' + "manipulator"& & +4 "core" &  y +2 "storage"(>& +4 "core" &K\ '\ ' ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&;'a +33 "core" ' + "storage"(/% +5 "core" %o\ '\ & \\\ +2 ."downElevator"SE.seek :down +3 "storage"(P'X +100 (J% +2 "core" %I\ \  \ Wc +2 "manipulator"&Y% +4 "core" %M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K\ '\ / I\  +2 "collection"'\\& +3 "core" &VjE\ J +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&Q% +4 "core" %\  P  + "storage"(.% +4 "core" %`\ &\ ' \ +2 "storage"(<. +3 "core" .(K + "storage"(j& +4 "core" &K\ %\ $ \  +2 "storage"(& +4 "core" &K\ 1\ / E\  + "manipulator"&k& +4 "core" & y +2 .tElbow.seek 6 + "manipulator"&[( +5 "core" ( + "manipulator"&m& +4 "core" &  b y + "storage"(S& +4 "core" &K\ '\ $ s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&n'a +98 "core" ' + "storage"( & +4 "core" &K\ J\ 7 g\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'i +279 "core" ' +3 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +2 "core" &  y +2 "storage"(Z& +4 "core" &K\ "\  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&A'Υ +28 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(F- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(y'Y +31 "core" ' +2 "manipulator"&'% +4 "core" %ζ @ ) + "storage"(^& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&f' +12 "core" ' +2 "manipulator"&& +4 "core" & * z + "storage"(R& +4 "core" &K\ 1\ 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"( 'H +43 "core" ' +2 "manipulator"&& +4 "core" &  z +2 "manipulator"&u% +4 "core" %< P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +174 "core" ( +2 "manipulator"&q& +4 "core" &* E @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &( & ?V +2 .tForearm.seek CC + "manipulator"&~'" +93 "core" ' +2 .tHand.close + "manipulator"&r/ +52 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(s& +5 "core" &K\ 5\ ' X\  + "storage"(c& +4 "core" &K\ "\ $ (\  + "manipulator"&`& +4 "core" &( % ?U +2 "manipulator"&% +4 "core" % $ [ + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&%( +154 "core" ( +2 "manipulator"&|& +5 "core" & $ p  + "storage"(\ & +4 "core" &K\ ) ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +108 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +5 "core" % δ T + "storage"(,& +5 "core" &K\ '\  &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&U' +19 "core" ' + "manipulator"&?& +5 "core" & $ E  + "storage"(d& +4 "core" &K \ * Z\  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts + "manipulator"&w'a +17 "core" ' + "storage"(% +5 "core" %K B Q (\ +2 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (:% +3 "core" %I\ ;\ A {\ Vb +2 "manipulator"&% +4 "core" %t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" &Q\ +2 "manipulator"&v% +4 "core" %\  k  +2 "storage"(% +4 "core" %Q\ - } W\ + "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(*(,l +655 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" &,n\ 2\ 2 <\ + "manipulator"&& +4 "core" & ( *  +2 .tElbow.seek 4 +2 "manipulator"&( +12 "core" ( + "manipulator"&& +5 "core" & % g ^ + "storage"(9& +4 "core" &,r \ ) C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' + "storage"(B& +5 "core" &,r o q \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (&& +3 "core" &,r \ 1 G\ +2 "manipulator"&1& +4 "core" &  ^ + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&(& +3 "core" &  9 ^ +2 "storage"(& +4 "core" &,r \ + 0\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&$', +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"('X +7 "core" &  ^ +2 "manipulator"&8% +4 "core" % 4  d +2 .tForearm.seek :retract + "manipulator"&I'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&& +5 "core" &* = W @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* ) @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'" +103 "core" ' +2 "manipulator"&+& +4 "core" &* * @[ +2 "manipulator"&L% +4 "core" %" l +2 "collection"'-& +5 "core" & A\ +2 "collection"'N& +5 "core" &o\ +2 .tCC.seek :closed +2 "collection"')(V +4 "core" &g\ +7 &5k\ $c +9 &Uc\ 7 +10 &{r\ L +9 &Wm\ M +9 &eZe\ M +10 &)Wk\ L +9 &\\g\ M +10 &Z`\ L +9 &oW^\ L +9 &0Ud\ M +10 &U f\ M +9 &!V\\\ M +9 &#vVd\ M +10 &%8Z]\ M +9 &&X\\\ M +10 &(T \\\ M +9 &*Ye\ L +9 &,AWc\ L +10 &.Z_\ M +9 &/Z`\ L +9 &1Yf\ L +10 &3HUc\ M +9 &5 U e\ L +10 &6Wc\ L +9 &8T`\ M +9 &:P[]\ M +10 &<Ye\ L +9 &=Ye\ M +9 &?[ d\ M +10 &AXZc\ M +9 &C\\e\ M +10 &D^d\ M +9 &Fhe\ O +9 &HT} d\ Q +10 &Ja\ V +9 &K\\\ X +9 &Ma\ X +10 &OEW\ Y +9 &Qc\ X +9 &R_\ Z +10 &TY\ [ +9 &V&wR\ / +10 &V'U\ S +8 ( +2 &VnS\ L +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&b1 +52 "core" 1 + "manipulator"&W% +5 "core" %  , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%M& +4 "core" &+\ +2 "manipulator"&2% +4 "core" %\ # ; A + "storage"(% +4 "core" %b \ + "storage"(g. +3 "core" .(,l +2 "storage"(& +4 "core" &,r \ + "storage"(H& +4 "core" &,r \ +2 "manipulator"&=& +3 "core" &* 7 @Z +2 "manipulator"&!% +4 "core" %\ # ) A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +161 "core" ( + "manipulator"&>& +4 "core" & %  y +2 "storage"(/& +4 "core" &,r\ \  R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +101 "core" ' + "storage"(7& +5 "core" &,r\ /\ 1 f\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'i +284 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &,r\ \ \ +2 "manipulator"&"& +4 "core" &  y +2 .tElbow.seek 4 + "manipulator"&V( +3 "core" ( +2 "manipulator"&6& +4 "core" &   y + "storage"(C& +4 "core" &,r\ \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(Q'X +8 "core" & h y + "manipulator"&.% +4 "core" % !  ; +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&j(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +3 "manipulator"&E& +4 "core" &q $ + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +95 "core" ' +2 "manipulator"&m& +4 "core" &q ( s +2 "manipulator"&S% +3 "core" %   +2 "processing"%;& +4 "core" &*\ +2 "processing"% & +5 "core" &-\ +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &3\ +7 &80\ $d +10 &U~1\ 7 +9 &}0\ K +9 &Z0\ M +10 &^[3\ N +9 &"Z1\ M +10 &Z/\ M +9 &Z2\ N +9 &gZ1\ M +10 &*X1\ M +9 &\\4\ M +9 &!Y,\ N +10 &#oZ.\ M +9 &%1W2\ M +9 &&Y3\ M +10 &(W*\ M +9 &*w\\*\ M +10 &,8Z)\ N +9 &-Z.\ M +9 &/Y$\ M +10 &1V'\ M +9 &3AY$\ M +9 &5Z(\ M +10 &6Z$\ N +9 &8Y#\ M +10 &:JY\ M +9 &< X'\ M +9 &=Y$\ M +10 &?X"\ M +9 &ARX!\ M +9 &C\\!\ M +10 &D]#\ M +9 &Fg#\ O +10 &HN{-\ Q +9 &J\ $\ S +9 &K#\ S +10 &M!\ S +9 &ON#\ T +10 &Q$\ T +9 &R#\ T +9 &T#\ S +10 &VV"\ T +9 &X!\ T +9 &Yzo$\ 8 +10 &Z-$\ I +9 &Z#\ * +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&X1 +51 "core" 1 +2 "manipulator"&D% +4 "core" %  q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +96 "core" ' + "processing"%i& +5 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Z% +4 "core" %\  ) k " + "storage"(F% +4 "core" %a\  K\ +2 "storage"('. +3 "core" .(,l + "storage"(^& +4 "core" &,r n\ +2 "storage"(& +4 "manipulator"&R& +4 "core" &,r\ \ + &q  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(u'i +5 "core" ( +2 "manipulator"&n& +4 "core" &q / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &q +2 .tForearm.seek PC + "manipulator"&a' +102 "core" ' +2 .tHand.close + "manipulator"&A/ +63 "core" / +2 .tPC.seek :open +2 "processing"%f( +77 "core" ' +2 "storage"(y- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(q'y +43 "core" ' +303 ( + "storage"(e& +4 "core" &,r\ \  %\ +2 "manipulator"&& +4 "core" &q 3 + "manipulator"&x% +4 "core" % e +54 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&}( +280 "core" ( + "manipulator"&z& +15 "core" &  +2 "storage"(s& +4 "core" &,r\ '\ ' [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +86 "core" ' +2 .tHand.open +2 "manipulator"&`1 +57 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(|'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(0& +4 "core" &,r \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +7 "core" ( + "manipulator"&,& +5 "core" &  \ v + "storage"(?& +4 "core" &,r \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&& +4 "core" & V v +2 "storage"(%& +4 "core" &,r\ /\ & Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:' +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&% +5 "core" % +2 "storage"(U& +4 "core" &,r\ \  ;\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&v'/ +14 "core" ' + "manipulator"&& +5 "core" &  v + "storage"(_& +4 "core" &,r\ .\ 1 +\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +25 "core" ' +2 "storage"(w% +4 "core" %k\ %\ / R\ +2 ."downElevator"SE.seek :down +4 "storage"(@'X +99 ( % +3 "core" %J\  \ Wd +2 "manipulator"&{% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,r\ &\ / B\ +2 "collection"'9& +4 "core" &VnR\ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&B% +4 "core" %\    +2 "storage"(t% +4 "core" %Y\ &\ & \ + "storage"(o. +4 "core" .(,l + "storage"(3& +4 "core" &,r\ '\ ' \ + "storage"(&& +4 "core" &,r\ '\ ' \ +2 "manipulator"&1& +4 "core" & U v + .tElbow.seek 4 +2 "manipulator"&(( +4 "core" ( + "manipulator"&& +4 "core" & % : v + "storage"(h& +4 "core" &,r\ '\ ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&4'Ѽ +86 "core" ' +2 "storage"(8& +4 "core" &,r\ %\ , \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  v +2 "storage"(& +3 "core" &,r\ \  "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(+'U +40 "core" ' +2 "manipulator"&L% +4 "core" % O + "storage"(-& +4 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&'4 +15 "core" ' +2 "manipulator"&I& +4 "core" & 3 v + "storage"(& +4 "core" &,r\ \ # 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&b'Ѽ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(W'D +39 "core" ' + "manipulator"&M& +5 "core" &  v + "manipulator"&2% +4 "core" %Ѳ 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&g( +174 "core" ( +2 "manipulator"&& +4 "core" &- / B Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &- . Cn +2 .tForearm.seek CC +2 "manipulator"&N'" +91 "core" ' +2 .tHand.close + "manipulator"&=/ +58 "core" / +2 .tCC.seek :open +2 "collection"'!( +419 "core" ( + "storage"(#& +5 "core" &,r\ E\ C 2\ + "storage"(>& +4 "core" &,r\ D\ H\ + "manipulator"&/& +4 "core" &+ X Ab + "manipulator"&7% +4 "core" % ! *  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&]( +163 "core" ( + "manipulator"&J& +5 "core" & $ t + "storage"(Y& +4 "core" &,r {\  =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&"' +96 "core" ' +2 .tElbow.hold + "manipulator"&6, +74 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&C1 +54 "core" 1 +3 "manipulator"&O% +4 "core" %  %  + "storage"(\\& +5 "core" &,r\ + \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&.'? +18 "core" ' +2 "manipulator"& & +4 "core" &  D t +2 "storage"(5& +4 "core" &,r J H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&G'Ѽ +37 "core" ' + "storage"(K% +4 "core" %L \ + 8\ +3 ."downElevator"SE.seek :down +3 "storage"(E'X +99 (% +2 "core" %pG\ ?\ K \ Va +2 "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'S& +4 "core" &p\ + "manipulator"&;% +4 "core" %\    +2 "storage"(Q% +4 "core" %a\ t \ + "storage"(<. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(l(<* +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +2 "core" &<(\ '\ 2 E\  +2 "manipulator"&D& +4 "core" & # t +2 .tElbow.seek 5 + "manipulator"&i( +9 "core" ( +2 "manipulator"&Z& +4 "core" & - b +2 "storage"(F& +3 "core" &<%\ + \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&''ы +104 "core" ' + "storage"(^& +5 "core" &<% Y c N\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<%\ ;\ = k\  +2 "manipulator"&n& +4 "core" & + b + .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&k& +4 "core" & % L b + "storage"(A& +4 "core" &<%\ - ~ -\  +2 .tForearm.seek 5 + 300 counts +50 "manipulator"&y' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(P'X +8 "core" & j b + "manipulator"&u% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +3 "manipulator"&x& +5 "core" &+ E  Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &, Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +103 "core" ' +2 "manipulator"&s& +4 "core" &,  Bh +2 "manipulator"&% +4 "core" %) f +2 "collection"'`& +4 "core" &D\ +2 "collection"'& +5 "core" &J\ +2 .tCC.seek :closed +2 "collection"'~(V +4 "core" &p\ +8 & +s\ $c +9 &V~s\ 7 +10 &yr\ K +9 &Sq\ L +9 &\\Us\ M +10 &Ts\ L +9 &Wq\ L +10 &Vr\ L +9 &dZu\ M +9 &&X s\ M +10 &Tq\ L +9 &!Wn\ L +9 &#mW q\ L +10 &%-Zp\ M +9 &&T s\ L +10 &(T\ k\ M +9 &*uY g\ L +9 &,6Ug\ M +10 &-Z b\ L +9 &/Uh\ M +9 &1}Uf\ L +10 &3?U \\\ L +9 &5Z f\ M +10 &6Y\ c\ M +9 &8U f\ L +9 &:GZf\ L +10 &< Y _\ L +9 &=Ye\ L +9 &?W ]\ L +10 &ANZ_\ M +9 &C\\^\ M +10 &D_f\ M +9 &Fg[\ N +9 &HI}c\ Q +10 &I d\ V +9 &Kd\ Y +9 &My^\ Y +10 &O8d\ Z +9 &Pf\ Y +10 &R[\ Z +9 &T}d\ Z +9 &Vt e\ 0 +10 &V+d\ S +8 ( +2 &Vb]\ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&01 +61 "core" 1 +2 "manipulator"&% +4 "core" % ) V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%?& +4 "core" &,\ + "manipulator"&r% +4 "core" %\ ! e 7 +2 "storage"(% +4 "core" %U\ \  \ + "storage"(%. +3 "core" .(<* +2 "storage"(& +4 "core" &<%\ \ \  + "storage"(U& +4 "core" &<%\ \  \  +2 "manipulator"&q& +4 "core" &* Ae + "manipulator"&% +4 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&_( +160 "core" ( + "manipulator"&|& +5 "core" & % \  + "storage"(w& +4 "core" &<%\ &\ / \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +92 "core" ' + "storage"(c& +5 "core" &<%\ B\ H \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +284 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &<%\ \  4\  +2 "manipulator"&d& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  _  +2 "storage"(:& +4 "core" &<%\ '\ ' \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&v' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& + "storage"(B'X +8 "core" & R  + "manipulator"&t% +4 "core" %  @ +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&3& +5 "core" &s )   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &&& +2 "core" &s `  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1' +91 "core" ' +2 "manipulator"&& +4 "core" &s  x  +2 "manipulator"&h% +4 "core" %   . +2 "processing"% & +3 "core" &*\ +2 "processing"%8& +5 "core" &9\ +2 .tPC.seek :closed +2 "processing"%@(Z +5 "core" &:\ +7 &;1\ $d +9 &V0\ 7 +9 &}6\ K +10 &[2\ M +9 &g\\0\ M +10 &)Y9\ M +9 &Y5\ M +9 &X1\ M +10 &nZ3\ M +9 &0Y0\ M +10 &Z3\ N +9 &!Y2\ M +9 &#wZ2\ M +10 &%9Z4\ M +9 &&W2\ M +9 &(Y0\ M +10 &*Z2\ M +9 &,AZ2\ M +9 &.[8\ M +10 &/Y0\ M +9 &1Y0\ M +10 &3JY%\ M +9 &5 ]*\ M +9 &6Y/\ M +10 &8X,\ M +9 &:SY.\ L +10 &<Z2\ M +9 &=Y,\ M +9 &?Y#\ M +10 &AYX$\ M +9 &CZ"\ M +9 &D`$\ N +10 &Fe#\ N +9 &HT{+\ Q +9 &J%\ S +10 &K"\ S +9 &M#\ S +10 &OU"\ T +9 &Q,\ T +9 &R$\ T +10 &T#\ T +9 &V]#\ T +9 &X \ T +10 &Y|s$\ 5 +9 &Z0&\ I +10 &Z$\ ( +2 ( + "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  d . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ " ) B + "storage"( % +4 "core" %^\ \  -\ +2 "storage"(L. +3 "core" .(<* + "storage"(-& +4 "core" &<%\ \  ,\  +2 "storage"(I& +4 "manipulator"&& +4 "core" &<%\ \  \  + &s =  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&M(s + "storage"(2'i +5 "core" ( +2 "manipulator"&4& +4 "core" &s , 9  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &s   +2 .tForearm.seek PC + "manipulator"&' +105 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +80 "core" ' + "storage"(+- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +45 "core" ' +298 ( + "storage"(H& +4 "core" &<%\ \ \  +2 "manipulator"&b& +3 "core" &s   +2 "manipulator"&$% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&='\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +278 "core" ( + "manipulator"&)& +4 "core" & % 3 +2 "storage"(#& +4 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&>'ы +87 "core" ' + .tHand.open +2 "manipulator"&/1 +59 "core" 1 +2 "storage"(7- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(J'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(g& +4 "core" &<% A\  + "manipulator"&C& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&O( +7 "core" ( +2 "manipulator"&\\& +3 "core" &  *  +2 "storage"( & +5 "core" &<% \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&5'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(T' +61 "core" ' + "manipulator"&K& +4 "core" &   +2 "storage"(]& +4 "core" &<%\ %\ & Q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&V, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +51 "storage"("'i +25 "core" ' +2 "manipulator"&.% +4 "core" % +2 "storage"(S& +4 "core" &<% =\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&;' +14 "core" ' +2 "manipulator"&Q& +4 "core" & h +2 "storage"(<& +4 "core" &<%\ '\ 6 <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&W'ы +30 "core" ' +2 "storage"(G% +4 "core" %r\ I\ F 1\  +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 (*% +3 "core" %?K\ \  <\ We +2 "manipulator"&X% +4 "core" %ѕ D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" &<%\ 0\ & F\  +2 "collection"'F& +4 "core" &Vb(\ J + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&^% +4 "core" %\   + "storage"(6% +4 "core" %b\ &\ $ \ +2 "storage"(m. +3 "core" .(<* +2 "storage"(& +3 "core" &<%\ .\ # J\  +2 "storage"( & +4 "core" &<%\ .\ 0 \  +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&k( +4 "core" ( + "manipulator"&A& +4 "core" &  a + "storage"(j& +4 "core" &<%\ $\ ' -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&p'ы +95 "core" ' + "storage"(u& +5 "core" &<%\ I\ G o\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +279 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & \ + "storage"(a& +4 "core" &<%\ .\ 1 K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&R' +33 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"([- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(s'U +31 "core" ' +2 "manipulator"&% +4 "core" % G + "storage"(`& +4 "core" &<% q\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&P'\ +14 "core" ' + "manipulator"&e& +4 "core" &  h +2 "storage"(!& +4 "core" &<%\ .\ 1 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +40 "core" ' + "manipulator"&?& +5 "core" & n + "manipulator"&r% +4 "core" %ѓ , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&%( +169 "core" ( +2 "manipulator"&& +4 "core" &(  ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &'  ?S +2 .tForearm.seek CC + "manipulator"&U'" +94 "core" ' +2 .tHand.close + "manipulator"&q/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(z& +4 "core" &<%\ I\ I ,\  +2 "storage"(|& +4 "core" &<%\ $\ $ \  + "manipulator"&w& +4 "core" &( / z ?Q + "manipulator"&c% +4 "core" % ( & 8 +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +159 "core" ( +2 "manipulator"& & +4 "core" & X j + "storage"({& +4 "core" &<% }\ , }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&d' +108 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  ` + "storage"(9& +5 "core" &<%\ &\ & t\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&t' +14 "core" ' + "manipulator"&_& +4 "core" &  M j +2 "storage"(}& +4 "core" &<% }\ - L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&\ 'ы +27 "core" ' +2 "storage"(v% +4 "core" %F T o :\ +2 ."downElevator"SE.seek :down +3 "storage"(3'X +100 (&% +2 "core" %L\ _\ M \ Wb +2 "manipulator"&% +4 "core" %{  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +45 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'h& +4 "core" & t\ +2 "manipulator"& % +4 "core" %\ #  E +2 "storage"(B% +3 "core" %^ K K W\ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(f(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K\ '\ ' ]\  +2 "manipulator"&& +3 "core" & j +2 .tElbow.seek 6 +2 "manipulator"&( +40 "core" ( +2 "manipulator"&& +4 "core" &\ g N + "storage"( & +4 "core" &K \  U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&L'a +94 "core" ' + "storage"(8& +5 "core" &K\ ! Q .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &K\ B\ + f\  +2 "manipulator"&4& +3 "core" &\  L +2 .tElbow.seek 6 + "manipulator"&(( +25 "core" ( +2 "manipulator"&1& +4 "core" &   r  + "storage"(& +4 "core" &K\ L\ ] 1\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&+' +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(@'X +7 "core" &  b  +2 "manipulator"&2% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&H'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&$& +5 "core" &* " 4 @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &* *  @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'" +103 "core" ' +3 "manipulator"&#& +4 "core" &*  @\\ +2 "manipulator"&M% +4 "core" %# } +2 "collection"'/& +4 "core" &\ +2 "collection"'7& +5 "core" &O\ +2 .tCC.seek :closed + "collection"'N(V +4 "core" & y\  +10 &/yv\ *y +9 &dq\ > +9 &xrs\ M +10 &;T s\ M +9 &Z q\ M +10 &W r\ M +9 &Y r\ L +9 &CT s\ M +10 &Zr\ L +9 &Yq\ M +9 & Wo\ M +10 &"KU t\ M +9 &$Xs\ L +9 &%Wo\ L +10 &'Yo\ M +9 &)SWj\ M +10 &+Ut\ L +9 &,Vt\ L +9 &.Yq\ L +10 &0[[s\ M +9 &2Vq\ M +9 &3Uq\ L +10 &5Tr\ L +9 &7eV p\ L +10 &9%W e\ M +9 &:Ze\ M +9 &<[c\ L +10 &>lX_\ L +9 &@-Y c\ M +9 &AXb\ M +10 &CYg\ L +9 &Ep_^\ N +10 &G/j ^\ O +9 &H}a\ Q +9 &J_\ V +10 &LYa\ X +9 &Nb\ X +9 &Od\ Z +10 &Q[\ Y +9 &S[c\ Z +10 &Ua\ [ +9 &ViCe\ 1 +9 &Vx^\ J +6 ( + "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&g1 +4 "core" &VjX\ J +56 1 +2 "manipulator"&C% +4 "core" % # Z +51 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +4 "core" &<\ + "manipulator"&=% +4 "core" %\   +2 "storage"(K% +4 "core" %c\ \ \ + "storage"(]. +3 "core" .(K +2 "storage"(& +4 "core" &K\ \  \  + "storage"(J& +4 "core" &K\ \  \  +2 "manipulator"&.& +4 "core" &(  ?S + "manipulator"&S% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Q( +154 "core" ( + "manipulator"&<& +4 "core" &  _  +2 "storage"(& +4 "core" &K\ %\ % O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&>'a +90 "core" ' + "storage"(G& +5 "core" &K\ I\ 6 e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +291 "core" ' + "storage"(5- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &K\ \ \  +2 "manipulator"&X& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&T& +3 "core" &  F  +2 "storage"(& +4 "core" &K\ '\ % \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&;' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(^'X +7 "core" &   +2 "manipulator"&6% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +4 "manipulator"&"& +4 "core" &{  a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &{ * _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +95 "core" ' +2 "manipulator"&A& +4 "core" &{  . +2 "manipulator"&j% +4 "core" % c 2 +2 "processing"%W& +4 "core" &+\ +2 "processing"%u& +6 "core" &+\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &3\ +7 &A1\ %g +9 &W7\ 8 +10 &{9\ L +9 &Y8\ M +9 &zZ3\ N +10 &>W;\ M +9 &W=\ M +9 &U6\ M +10 &Y<\ M +9 &EZ=\ M +10 & Z0\ N +9 &!X1\ M +9 &#X<\ M +13 &%MY4\ M +8 &'X0\ M +7 &(Y9\ M +10 &*Z:\ M +9 &,UY0\ M +9 &.Y8\ M +10 &/Y/\ M +9 &1X.\ M +10 &3]X6\ M +9 &5X2\ M +9 &6X;\ M +10 &8Y1\ M +9 &:eY1\ M +9 &<(Y3\ M +10 &=X/\ M +9 &?X3\ M +10 &AoU0\ M +9 &C/[0\ M +9 &Db2\ N +10 &Fh)\ O +9 &Hi(\ Q +9 &J&-\ S +10 &K.\ S +9 &M/\ S +10 &Ok0\ S +9 &Q,#\ T +9 &R.\ T +10 &T#\ T +9 &Vq$\ T +9 &X1"\ U +10 &Y|r'\ + +9 &Z,a$\ * +9 ( +3 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&V1 +3 "core" &Z"\ " +55 1 + "manipulator"&D% +5 "core" % %  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +99 "core" ' + "processing"%x& +4 "core" &Z%\ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&a% +3 "core" %\ % . H +2 "storage"([% +4 "core" %a\ \  \ \ + "storage"(. +3 "core" .(K +2 "storage"(`& +3 "core" &K\ \  \  +2 "storage"(e& +5 "manipulator"&!& +4 "core" &K\ \  \  + &{ l +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&?(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(r'i +3 "core" ( + "manipulator"&p& +4 "core" &{ p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &{ +2 .tForearm.seek PC + "manipulator"&i' +96 "core" ' +2 .tHand.close + "manipulator"&R/ +55 "core" / +2 .tPC.seek :open +2 "processing"%P( +93 "core" ' + "storage"(s- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +45 "core" ' +285 ( + "storage"(& +5 "core" &K\ \  \  + "manipulator"&0& +4 "core" &{  7 + "manipulator"&y% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +271 "core" ( +2 "manipulator"&~& +4 "core" & +2 "storage"(z& +3 "core" &K\ \ >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&|'a +96 "core" ' + .tHand.open +2 "manipulator"&w1 +63 "core" 1 +2 "storage"(c- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"({' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(%& +3 "core" &K K\  +2 "manipulator"&:& +4 "core" &  G +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&9& +4 "core" &   , + "storage"(_& +4 "core" &K .\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&}'a +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(v' +58 "core" ' +2 "manipulator"&& +4 "core" &  B +2 "storage"(&& +4 "core" &K\ \ [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +29 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'i +22 "core" ' + "manipulator"&h% +4 "core" %ε 0 +3 "storage"(t& +4 "core" &K w\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"& ' +12 "core" ' +2 "manipulator"&B& +4 "core" &   e +2 "storage"(& +4 "core" &K\ %\ % G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +21 "core" ' + "storage"(\ % +5 "core" %k\ 6\ H \ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +98 (l% +3 "core" %G\ \  \ Vb +2 "manipulator"&% +4 "core" %k \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K\ \  z\  +2 "collection"' & +3 "core" &Vjb\ J +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&8% +4 "core" %\ % C + "storage"(% +4 "core" %b\ &\ # \ +2 "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K\ (\ % \  + "storage"(I& +4 "core" &K\ &\ & p\  +2 "manipulator"&4& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&1( +3 "core" ( +2 "manipulator"&& +4 "core" &  ) 5 + "storage"(o& +4 "core" &K\ \ # /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +95 "core" ' +2 "storage"(2& +4 "core" &K\ I\ 6 \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &  V +2 "storage"(& +3 "core" &K\ &\ " 6\  +51 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&-'Υ +31 "core" ' + .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(#- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"(('Y +31 "core" ' +2 "manipulator"&M% +4 "core" %γ T +2 "storage"(/& +3 "core" &K M\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&@' +11 "core" ' +2 "manipulator"&H& +4 "core" & ( +2 "storage"(& +4 "core" &K\ .\ 1 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&g'a +17 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(C'H +45 "core" ' + "manipulator"&7& +5 "core" & Q + "manipulator"& % +4 "core" %h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +177 "core" ( +2 "manipulator"&]& +4 "core" &( ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( K ?T +2 .tForearm.seek CC + "manipulator"&J'" +93 "core" ' +2 .tHand.close + "manipulator"&./ +57 "core" / +3 .tCC.seek :open + "collection"'S( +415 "core" ( + "storage"()& +5 "core" &K\ I\ 6 l\  + "storage"(<& +4 "core" &K\ %\ $ =\  + "manipulator"&& +4 "core" &(  >N +2 "manipulator"&G% +3 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\\( +156 "core" ( + "manipulator"&5& +5 "core" & % h  + "storage"(*& +4 "core" &K\ =\ @ E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&X'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&Z% +5 "core" % ε . + "storage"(F& +4 "core" &K\ '\ ' }\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&6' +20 "core" ' + "manipulator"&Q& +4 "core" &   +2 "storage"(>& +4 "core" &K\ . ~ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Y'a +20 "core" ' + "storage"(;% +5 "core" %H L\  S\ +2 ."downElevator"SE.seek :down +3 "storage"("'X +99 ( % +4 "core" %C\ ?\ M 8\ V` +2 "manipulator"&O% +4 "core" %^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +86 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'j& +4 "core" &s\ +2 "manipulator"&W% +4 "core" %\    +2 "storage"(^% +4 "core" %a\ ! Q i\ + "storage"(m. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,l +658 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (V& +3 "core" &,m\ '\ & e\ +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&x( +15 "core" ( +2 "manipulator"&a& +4 "core" &  M u +2 "storage"([& +3 "core" &,q\ . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +93 "core" ' + "storage"(`& +5 "core" &,q c f r\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +286 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" &,q Q ~ E\ + "manipulator"&p& +4 "core" &  u +2 .tElbow.seek 4 + "manipulator"&k( +4 "core" ( + "manipulator"&n& +4 "core" & x u + "storage"(R& +4 "core" &,q\ , | {\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&s', +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(E'X +7 "core" & ~ u +2 "manipulator"&r% +4 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +22 "core" ( +2 "manipulator"&y& +4 "core" &) @ V @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &* X @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'" +105 "core" ' + "manipulator"&z& +4 "core" &* g @] +3 "manipulator"&?% +4 "core" %# ; K +2 "collection"'w& +3 "core" &~\ +3 "collection"'c& +4 "core" &z\ +3 .tCC.seek :closed + "collection"'U(V +4 "core" &u\  +10 &2} \ *x +9 &d v\ > +10 &vs u\ N +9 &;Yq\ L +9 &Z t\ L +10 &Z s\ L +9 &Z~\ L +9 &CZ \ L +10 &X|\ M +9 &X z\ M +10 & Y\ M +9 &"JY w\ M +9 &$ W\ M +10 &%Yr\ M +9 &'W x\ L +9 &)SYy\ L +10 &+Y c\ M +9 &,Wq\ M +9 &.Wh\ M +10 &0[X q\ L +9 &2Sw\ L +10 &3U r\ L +9 &5Ym\ L +9 &7bYy\ M +10 &9%Xt\ L +9 &:Us\ L +10 &<W s\ M +9 &>jY l\ M +9 &@,X d\ M +10 &AYp\ M +9 &C]p\ M +9 &Eodk\ N +10 &G.mb\ O +9 &Hk\ R +9 &Ji\ W +10 &LZd\ X +9 &N d\ W +10 &Om\ X +9 &Qf\ X +9 &S\\`\ Z +10 &Uc\ Z +9 &VjC d\ 1 +9 &Vx\\\ K +6 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&%1 +3 "core" &Vn\\\ K +59 1 +2 "manipulator"&:% +4 "core" % #   K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%_& +4 "core" &2\ +2 "manipulator"&q% +4 "core" %\  . \\  + "storage"(% +4 "core" %a\ \  \ +2 "storage"(&. +3 "core" .(,l +2 "storage"(& +3 "core" &,q\ \  9\ +2 "storage"(h& +4 "core" &,q\ \  \ + "manipulator"&t& +4 "core" &) @] +2 "manipulator"& % +4 "core" %\  /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&B( +159 "core" ( +2 "manipulator"&& +4 "core" &  ] x + "storage"(\ & +4 "core" &,q\ '\ ' a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +98 "core" ' +2 "storage"(|& +4 "core" &,q\ H\ 6 \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"({'i +286 "core" ' +2 "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,q\ \ \ +2 "manipulator"&}& +4 "core" & S x + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&v& +3 "core" & u x +2 "storage"(& +3 "core" &,q\ '\ ' \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& ', +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(8'X +7 "core" & o x +2 "manipulator"&% +4 "core" % .  +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +52 "manipulator"&d(s +114 "core" ' + ."downElevator"SE.stop + "storage"(5 +157 "core" ( +2 "manipulator"&& +4 "core" &j 6   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &j   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&4' +104 "core" ' + "manipulator"&& +5 "core" &p $  + "manipulator"&o% +4 "core" % o 7 +2 "processing"%& +4 "core" &1\ +2 "processing"%2& +5 "core" &3\ +3 .tPC.seek :closed + "processing"%3(Z +5 "core" &<\  +9 &3~8\ *x +9 &c3\ > +10 &vv1\ N +9 &:U<\ M +9 &Y:\ M +10 &Y:\ M +9 &Y=\ M +10 &@Y>\ N +9 &Z<\ M +9 &Y8\ M +10 & Z=\ N +9 &"JY9\ M +9 &$ W=\ M +10 &%Y:\ M +9 &'Z>\ N +10 &)RY9\ M +9 &+Y<\ M +9 &,Y<\ M +10 &.Y:\ M +9 &0YX8\ M +9 &2Z1\ M +10 &3W:\ M +9 &5Y9\ M +10 &7bX8\ M +9 &9$Y6\ M +9 &:W2\ M +10 &<Z7\ M +9 &>kY7\ M +9 &@,]5\ M +10 &AX8\ M +9 &C\\9\ M +10 &Epb8\ N +9 &G.k9\ O +9 &H6\ R +10 &J2\ S +9 &Li8\ S +9 &N*6\ S +10 &O7\ S +9 &Q7\ T +10 &So7\ S +9 &U08\ T +9 &V3\ T +10 &X.\ T +9 &Z \\5\ $n +9 &ZV5\ + +9 ( +3 "processing"%2& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&,1 +4 "core" &Z1\ ( +57 1 + "manipulator"&% +4 "core" %   7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' + "processing"%$& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\    + "storage"(#% +4 "core" %b\ \  \ +2 "storage"(M. +3 "core" .(,l + "storage"(/& +4 "core" &,q\ \ \ +2 "storage"(H& +2 "manipulator"&& +7 "core" &,q\ \  1\ + &p 8  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&7(s + "storage"( 'i +5 "core" ( + "manipulator"&& +4 "core" &p B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &p " o  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&-/ +63 "core" / +2 .tPC.seek :open +2 "processing"%@( +88 "core" ' + "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'y +43 "core" ' +291 ( +2 "storage"(& +4 "core" &,q\ \  /\ + "manipulator"&g& +4 "core" &p  +2 "manipulator"&+% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=( +266 "core" ( + "manipulator"&N& +4 "core" & $  s +2 "storage"()& +4 "core" &,q\ \  3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&<'Ѽ +99 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "storage"(G- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(*' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(K& +4 "core" &,q ]\ +2 "manipulator"&& +3 "core" & { s +2 .tElbow.seek 4 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&F& +4 "core" & & s +2 "storage"(Q& +4 "core" &,q )\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&>'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' +2 "manipulator"&b& +4 "core" &  s + "storage"( & +4 "core" &,q\ \  k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O' +31 "core" ' + .tElbow.hold +2 "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +21 "core" ' + "manipulator"&j% +5 "core" %  + "storage"(6& +4 "core" &,q @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&W'@ +18 "core" ' +2 "manipulator"&^& +4 "core" &  2 s +2 "storage"(m& +4 "core" &,q\ '\ / L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&C'Ѽ +50 "core" ' +2 "storage"(Y% +4 "core" %n\ (\ 7 7\ +3 ."downElevator"SE.seek :down +4 "storage"("'X +99 (f% +2 "core" %,O \  :\ Xg +2 "manipulator"&V% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &,q\ &\ $ \ +2 "collection"'[& +4 "core" &Vhp\ K + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&`% +4 "core" %\  s  + "storage"(T% +4 "core" %T\ $\ % X\ +2 "storage"(A. +3 "core" .(,l + "storage"(!& +4 "core" &,q\ &\ $ g\ +2 "storage"(e& +3 "core" &,q\ /\ & |\ +2 "manipulator"&p& +4 "core" &  s + .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&R& +4 "core" & # s + "storage"(& +4 "core" &,q\ $\ & -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&''Ѽ +91 "core" ' +2 "storage"(r& +4 "core" &,q\ 6\ H \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &  s +2 "storage"(i& +4 "core" &,q\ '\ ' O\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&u' +35 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'U +24 "core" ' +2 "manipulator"&?% +4 "core" % + "storage"(w& +4 "core" &,q |\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&E'; +19 "core" ' + "manipulator"&& +4 "core" &  / s +2 "storage"(S& +4 "core" &,q\ &\ ( \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&%'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'D +38 "core" ' +2 "manipulator"&_& +4 "core" & ) s + "manipulator"&q% +4 "core" %ѵ ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +165 "core" ( +2 "manipulator"&& +4 "core" &* @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +4 "core" &)  d @Z + .tForearm.seek CC +2 "manipulator"&h'" +94 "core" ' + .tHand.close + "manipulator"&t/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(~& +5 "core" &,q\ F\ H 2\ + "storage"(& +4 "core" &,q\ C\ C \ + "manipulator"&\ & +4 "core" &( >N + "manipulator"&|% +4 "core" %  +2 .tForearm.seek :retract +50 "manipulator"&0'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&9( +164 "core" ( +2 "manipulator"&l& +4 "core" &  j n +2 "storage"(& +4 "core" &,q\ + \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&}' +96 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +4 "manipulator"&% +4 "core" % \  +2 "storage"( & +3 "core" &,q\ + \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&'6 +13 "core" ' +2 "manipulator"&B& +4 "core" & S n +2 "storage"(& +4 "core" &,q \ , b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&{'Ѽ +24 "core" ' +2 "storage"( % +4 "core" %M L P ?\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (I% +3 "core" %N\ ]\ S #\ Wc +2 "manipulator"&% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'o& +4 "core" & R\ +2 "manipulator"&% +4 "core" %\  M  +2 "storage"(8% +5 "core" %Q }\ " e\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(P(<* +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &<(\ \ \  +2 "manipulator"&& +4 "core" & r n + .tElbow.seek 5 +2 "manipulator"&$( +9 "core" ( + "manipulator"&& +4 "core" & % + X +2 "storage"(#& +4 "core" &<% \ + "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&M'ы +103 "core" ' + "storage"(/& +4 "core" &<% c c _\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &<%\  l [\  +2 "manipulator"&& +3 "core" &  X +2 .tElbow.seek 5 +2 "manipulator"&1( +3 "core" ( + "manipulator"&4& +4 "core" & p X +2 "storage"(-& +4 "core" &<%\ + \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&(' +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(3'X +8 "core" & ^ X +2 "manipulator"& % +4 "core" %  a +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&+& +4 "core" &- > Q Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- Cr +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +97 "core" ' + "manipulator"&)& +4 "core" &- Cr +2 "manipulator"&7% +4 "core" %$ H +2 "collection"'& +5 "core" & \ +2 "collection"'G& +5 "core" &_\ +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" &\  +9 &2~ \ )w +9 &e \ > +10 &ts \ N +9 &9T \ L +9 &Z\ M +10 &W\ L +9 &Y\ L +9 &AT \ L +10 &Uw\ L +9 &T ~\ L +10 & Ux\ L +9 &"IU \ L +9 &$ Ut\ L +10 &%W r\ L +9 &'Ws\ M +9 &)PW{\ M +10 &+Ws\ M +9 &,Wx\ M +10 &.X n\ M +9 &0XXu\ M +9 &2Y w\ L +10 &3Xy\ M +9 &5Wt\ M +9 &7aWs\ L +10 &9#T x\ L +9 &:Y y\ L +10 &<Yt\ L +9 &>i[ \ L +9 &@+Ut\ L +10 &AU q\ L +9 &CZ r\ M +9 &Emct\ N +10 &G+lp\ O +9 &H s\ Q +10 &Js\ W +9 &LWq\ X +9 &Ns\ X +10 &Or\ Y +9 &Q r\ Y +9 &SZ p\ Z +10 &Ui\ Z +9 &VcAq\ 1 +9 &V s\ L +6 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&K1 +3 "core" &Vnj\ L +56 1 + "manipulator"&% +4 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Q& +4 "core" &/\ + "manipulator"&.% +4 "core" %\ y  +2 "storage"(b% +4 "core" %`\ \  \ + "storage"( . +4 "core" .(<* + "storage"(j& +4 "core" &<%\ \  ?\  + "storage"(6& +4 "core" &<%\ \  \  +2 "manipulator"&]& +4 "core" &+ .  A` + "manipulator"&^% +4 "core" %\ 3 D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +152 "core" ( +2 "manipulator"&m& +4 "core" &  1  + "storage"(Y& +4 "core" &<%\ $\ / 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&='ы +94 "core" ' + "storage"(<& +4 "core" &<%\ (\ 6 L\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +279 "core" ' +2 "storage"(f- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (V& +3 "core" &<%\ \  -\  +2 "manipulator"&>& +4 "core" & W  + .tElbow.seek 5 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&;& +4 "core" &  C  + "storage"(O& +4 "core" &<%\ '\ $ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&W' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(`'X +7 "core" & W  +2 "manipulator"&T% +3 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&X(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +3 "manipulator"&!& +4 "core" &s # D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &s }  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +50 "Can"\ HG +47 "core" ' + "manipulator"&R& +4 "core" &w $   +2 "manipulator"&% +4 "core" %   + "processing"%C& +5 "core" &/\ +2 "processing"%r& +4 "core" &<\ +2 .tPC.seek :closed +2 "processing"%"(Z +5 "core" &A\ +7 &:7\ $c +9 &T}.\ 6 +9 &~}4\ K +10 &W)\ M +9 &a\\/\ M +9 &$Y1\ M +10 &W9\ M +9 &W5\ M +10 &iY7\ M +9 &+Y4\ M +9 &Z-\ M +10 &!X5\ M +9 &#qY6\ M +9 &%3Y2\ M +10 &&W2\ M +9 &(Y4\ M +10 &*yY3\ M +9 &,;Y3\ M +9 &-Z8\ M +10 &/W5\ M +9 &1W2\ M +9 &3EX2\ M +10 &5X2\ M +9 &6X1\ M +10 &8U3\ M +9 &:LW8\ M +9 &<W2\ M +10 &=W3\ L +9 &?X2\ M +9 &AUX2\ M +10 &CZ8\ M +9 &D^2\ N +10 &Fe2\ N +9 &HQz3\ Q +9 &J 1\ S +10 &K/\ S +9 &M3\ S +9 &OR.\ S +10 &Q1\ T +9 &R1\ T +10 &T6\ T +9 &VW2\ T +9 &X3\ T +10 &Y{m5\ 6 +9 &Z/&\ J +9 &Z'\ ( +3 ( + "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&\\1 +62 "core" 1 +2 "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%y& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&i% +4 "core" %\ # A + "storage"(k% +4 "core" %\\\  `\ +2 "storage"(?. +3 "core" .(<* + "storage"(w& +4 "core" &<% \  +2 "storage"(& +2 "manipulator"&S& +7 "core" &<% \  \  + &w  +54 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&_(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(q'i +3 "core" ( + "manipulator"&'& +4 "core" &w ! Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +4 "core" &w V  +2 .tForearm.seek PC + "manipulator"&x' +97 "core" ' +2 .tHand.close + "manipulator"&u/ +53 "core" / +3 .tPC.seek :open +2 "processing"%E( +91 "core" ' + "storage"(z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +287 ( +2 "storage"(c& +4 "core" &<%\ \  \  + "manipulator"&%& +4 "core" &x t  +2 "manipulator"&s% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +262 "core" ( +2 "manipulator"&U& +4 "core" &  ^  + "storage"(~& +4 "core" &<%\ '\ ' x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +97 "core" ' + .tHand.open +2 "manipulator"&\ 1 +51 "core" 1 +2 "storage"(|- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(&& +4 "core" &<% 0\  + "manipulator"&& +4 "core" & U  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & % u  +2 "storage"(B& +3 "core" &<% ,\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +29 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +55 "core" ' +2 "manipulator"&0& +4 "core" &  +2 "storage"(I& +4 "core" &<%\ /\ ' p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&9, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(}'i +27 "core" ' +2 "manipulator"&o% +4 "core" % + "storage"(& +4 "core" &<% @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&8& +5 "core" &  M  + "storage"(& +4 "core" &<%\ '\ & h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&:'ы +17 "core" ' +2 "storage"({% +4 "core" %o\ #\ $ 7\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %J\ \ \ Wd +2 "manipulator"&,% +4 "core" %с  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<%\ $\ % \  +2 "collection"'#& +4 "core" &Vn I\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&/% +4 "core" %\  /  +2 "storage"(v% +4 "core" %\\\ &\ & \ + "storage"(. +3 "core" .(<* +2 "storage"(H& +4 "core" &<%\ &\ $ g\  + "storage"(2& +4 "core" &<%\ '\ ' v\  +2 "manipulator"&& +4 "core" & L  + .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&-& +4 "core" &    + "storage"(d& +4 "core" &<%\ $\ & Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&L'ы +94 "core" ' +2 "storage"( & +4 "core" &<%\ %\ , -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +282 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&+& +3 "core" &   +2 "storage"(& +3 "core" &<%\ \  +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'V +31 "core" ' + "manipulator"&7% +5 "core" % + "storage"(& +4 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&3' +20 "core" ' + "manipulator"&& +5 "core" & Y  + "storage"( & +4 "core" &<%\ '\ ' d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&K'ы +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('E +41 "core" ' +2 "manipulator"&Q& +4 "core" &   +2 "manipulator"&.% +3 "core" %ї f  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +165 "core" ( +3 "manipulator"&j& +4 "core" &( ! 5 ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &( . ?V +2 .tForearm.seek CC +2 "manipulator"&6'" +95 "core" ' +2 .tHand.close + "manipulator"&]/ +60 "core" / +2 .tCC.seek :open + "collection"'^( +416 "core" ( +2 "storage"(N& +4 "core" &<%\ H\ + \  +2 "storage"(m& +4 "core" &<%\ %\ $ 1\  + "manipulator"&Y& +4 "core" &( ?S + "manipulator"&<% +4 "core" % , +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&F( +161 "core" ( + "manipulator"&f& +5 "core" & I s + "storage"(V& +4 "core" &<%\ ) Q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&>' +103 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +53 "core" 1 +2 "manipulator"&a% +4 "core" %  ? + "storage"([& +4 "core" &<%\ #\ . ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&T' +15 "core" ' +2 "manipulator"&5& +4 "core" &  g s +2 "storage"(=& +4 "core" &<% K K 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&*'ы +31 "core" ' +2 "storage"(W% +4 "core" %L S\ ! T\ +2 ."downElevator"SE.seek :down +3 "storage"(!'X +100 (e% +2 "core" %G\ ;\ < \ Wb +2 "manipulator"&Z% +4 "core" %ё  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" & T\ + "manipulator"&C% +4 "core" %\ # : +2 "storage"(`% +4 "core" %a\ - %\ + "storage"(A. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +49 "storage"(@(K +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &K\ '\ ' C\  +2 "manipulator"&D& +4 "core" & } s + .tElbow.seek 6 +2 "manipulator"&y( +45 "core" ( + "manipulator"&i& +5 "core" &  % "~ + "storage"(k& +4 "core" &K\ <\ < !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +110 "core" ' + "storage"(w& +5 "core" &K\ " ~ l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +281 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ '\ A \  +2 "manipulator"&'& +4 "core" & d "y +2 .tElbow.seek 6 + "manipulator"&n( +34 "core" ( + "manipulator"&p& +4 "core" &  N g +2 "storage"(u& +4 "core" &K\ L\ ^ T\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&z' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"("'X +8 "core" &  g + "manipulator"&q% +4 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&c'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +23 "core" ( + "manipulator"&s& +5 "core" & E d 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  k 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&U'" +99 "core" ' +2 "manipulator"&~& +5 "core" & $ 1 + "manipulator"&_% +4 "core" %% ( @ +2 "collection"'\ & +4 "core" & \ +2 "collection"'|& +5 "core" & c\ +2 .tCC.seek :closed +2 "collection"'h(V +4 "core" &\  +9 &1} \ *y +9 &d \ > +10 &ys \ M +9 &=T \ L +9 &Z \ L +10 &X \ L +9 &T \ L +9 &FZ \ L +10 &Y \ L +9 &Y \ L +10 & Y \ L +9 &"LX \ M +9 &$W\ L +10 &%V\ L +9 &'T\ L +9 &)UZ \ L +10 &+Y\ M +9 &,W \ L +10 &.Y\ L +9 &0\\Y \ M +9 &2W \ L +10 &3Uw\ L +9 &5Xs\ L +9 &7fU s\ L +10 &9'Xr\ L +9 &:U|\ L +10 &<\\o\ L +9 &>m[\ L +9 &@/Y\ L +10 &A[ r\ L +9 &C] {\ M +9 &Esc \ M +10 &G1k \ N +9 &H}\ Q +10 &Jt\ V +9 &L]}\ W +9 &N~\ W +10 &O w\ X +9 &Q {\ X +9 &S^\ Z +10 &U\ Z +9 &ViB x\ 1 +10 &V} u\ M +5 ( + "collection"'|& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&&1 +3 "core" &Vlx\ M +53 1 +2 "manipulator"&% +4 "core" % % & @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%B& +4 "core" &4\ + "manipulator"&t% +4 "core" %\  4  +2 "storage"(0% +4 "core" %P\ \ \ + "storage"(I. +3 "core" .(K +2 "storage"(& +3 "core" &K\ \ \  +2 "storage"(o& +4 "core" &K\ \  \  +2 "manipulator"&& +3 "core" &  1 +2 "manipulator"&l% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&8( +158 "core" ( +2 "manipulator"&& +4 "core" &  l  +2 "storage"({& +4 "core" &K\ &\ # <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +93 "core" ' + "storage"(& +5 "core" &K\ $\ $ M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &K\ \  G\  +2 "manipulator"&& +3 "core" & =  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(/'X +7 "core" & 4  +2 "manipulator"&v% +4 "core" %  \ +2 .tForearm.seek :retract + "manipulator"&}'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&H& +4 "core" &z 9   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &z %  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&-& +5 "core" &z % H  + "manipulator"&d% +4 "core" %   +2 "processing"%:& +4 "core" &C\ +2 "processing"% & +5 "core" &2\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &8\  +9 &3A\ *y +10 &d;\ > +9 &|s8\ N +9 &?W9\ M +10 &XC\ M +9 &Y>\ N +10 &Y=\ M +9 &HX0\ M +9 & YB\ M +10 &Y;\ M +9 & Y5\ M +9 &"PY4\ M +10 &$W.\ M +9 &%Y/\ M +10 &'Z/\ M +9 &)WZ:\ M +9 &+X3\ M +10 &,W4\ M +9 &.W2\ M +9 &0_Y:\ M +10 &2!Y8\ M +9 &3Y2\ M +10 &5Z:\ M +9 &7hW>\ M +9 &9+X3\ M +10 &:W2\ M +9 &<X>\ M +9 &>pV@\ M +10 &@2Z:\ M +9 &AZ8\ M +10 &C\\7\ M +9 &Eu`3\ N +9 &G3p3\ O +10 &H3\ R +9 &J2\ S +9 &Ln4\ S +10 &N03\ S +9 &O6\ S +9 &Q8\ S +10 &Su2\ S +9 &U61\ T +10 &V1\ T +9 &X3\ T +9 &Z$[~3\ $n +10 &Zb5\ 2 +9 ( +2 "processing"% & +3 "core" &Z!4\ , +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&91 +54 "core" 1 + "manipulator"&% +5 "core" % 0 $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +92 "core" ' +2 "processing"%+& +4 "core" &Z!&\ , + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\    + "storage"()% +4 "core" %_ \ + "storage"(7. +3 "core" .(K +2 "storage"(& +4 "core" &K q\  + "storage"(& +5 "manipulator"& & +4 "core" &K\ \ \ \  + &z i  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Q'i + "manipulator"&.(s +6 "core" ( +2 "manipulator"&L& +4 "core" &z ; b  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &z 2 e  +2 .tForearm.seek PC + "manipulator"&$' +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%3( +84 "core" ' + "storage"(1- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(j'y +40 "core" ' +299 ( +2 "storage"(G& +4 "core" &K\ \  "\  +2 "manipulator"&K& +3 "core" &z  S  +2 "manipulator"&(% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&b( +275 "core" ( +2 "manipulator"&J& +4 "core" &  #  + "storage"(N& +4 "core" &K\ \  (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&m'a +95 "core" ' +2 .tHand.open + "manipulator"&Y1 +61 "core" 1 +2 "storage"(<- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(f'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +56 "core" ' +2 #tLights, camera, ACTION! +52 "storage"(6- +4 "core" -' + "storage"( & +4 "core" &K -\  +2 "manipulator"&O& +4 "core" &    + .tElbow.seek 6 +2 "manipulator"&a( +8 "core" ( + "manipulator"&[& +5 "core" &  $ k  + "storage"(5& +4 "core" &K F\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&='a +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(W' +57 "core" ' + "manipulator"&g& +5 "core" &    + "storage"(e& +4 "core" &K\ &\ / %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&Z'Υ +35 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'i +25 "core" ' +2 "manipulator"&T% +4 "core" %η +2 "storage"(& +4 "core" &K j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&C' +13 "core" ' +2 "manipulator"&`& +4 "core" &  N  +2 "storage"(A& +4 "core" &K\ 1\ 2 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +22 "core" ' +2 "storage"(*% +4 "core" %n\ .\ % P\ +3 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (P% +3 "core" %L\ \  \ Xf +2 "manipulator"&\\% +4 "core" %r i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +4 "core" &K\ %\ & \\\  + "collection"'k& +4 "core" &Vn o\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&w% +4 "core" %\    +2 "storage"(;% +4 "core" %a\ &\ & \ + "storage"(R. +4 "core" .(K + "storage"(S& +4 "core" &K\ '\ ' a\  + "storage"(& +4 "core" &K\ '\ ' z\  +2 "manipulator"&'& +4 "core" &  Z  +2 .tElbow.seek 6 + "manipulator"&p( +4 "core" ( + "manipulator"&u& +4 "core" &   d  +2 "storage"(X& +4 "core" &K\ '\ & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +95 "core" ' + "storage"(q& +5 "core" &K\ I\ I 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'i +281 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &    + "storage"(x& +4 "core" &K\ #\  j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&r'Υ +33 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(~- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"(_'Z +31 "core" ' +2 "manipulator"&n% +4 "core" %η \ +2 "storage"(\ & +4 "core" &K ,\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&"' +13 "core" ' + "manipulator"&c& +5 "core" & d  + "storage"(^& +4 "core" &K\ %\ $ D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&&'a +32 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"('I +40 "core" ' +3 "manipulator"&B& +4 "core" & !  +2 "manipulator"&t% +4 "core" %E @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&I( +166 "core" ( + "manipulator"&& +5 "core" &( ' ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&|/ +59 "core" / +2 .tCC.seek :open +2 "collection"'l( +416 "core" ( + "storage"(U& +4 "core" &K\ J\ I %\  +2 "storage"(& +4 "core" &K\ (\ % D\  + "manipulator"&{& +4 "core" && *  << +2 "manipulator"&% +3 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +156 "core" ( +2 "manipulator"&& +4 "core" &  W  +2 "storage"(,& +3 "core" &K > A u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'Υ +109 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +5 "core" % ε  q + "storage"(#& +4 "core" &K\ &\ & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&v' +16 "core" ' +2 "manipulator"&8& +4 "core" & B  +2 "storage"(& +4 "core" &K\ " } P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +37 "core" ' +2 "storage"(% +4 "core" %P L Q 3\ +2 ."downElevator"SE.seek :down +4 "storage"(H'X +100 (2% +4 "core" %H\ D\ H \ Vb +4 "manipulator"&% +8 "core" %s p q +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +96 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 @1642613951.72EST = =mMAIN_scheduler =tMAIN @EST1642613953.60 #"core_reset"Sent BREAK +3 #t@45677 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +396 "Can"\ ] + \ ] #tPolling Can every 10:00 +92 !o:Storage::Warning: mesg"8Invalid entry in line 643 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +10 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +550 #-> ESP.ready! +4 #Powering core bus +583 .Gate.power :raw,:ON +2 "sampler") +28 ) + "core"  +2 "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %  +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +894 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"';& +3 "core" &i\  +2 .tHand.open + "manipulator"&<1 +53 "core" 1 +2 "manipulator"&=% +4 "core" % \ '  +2 "storage"(>% +4 "core" %O\ >\ A \ + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(@(,l +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &,i\ \  }\  + "manipulator"&B& +4 "core" &  > # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +20 "core" ( + "manipulator"&D& +5 "core" & # O 6 + "storage"(E& +4 "core" &,g\ R\ Q \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +85 "core" ' + "storage"(G& +5 "core" &,g\ \ < k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +277 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,g\ $\ 0 N\  + "manipulator"&K& +4 "core" &   6 +2 .tElbow.seek 4 +2 "manipulator"&L( +20 "core" ( + "manipulator"&M& +4 "core" &  :  +2 "storage"(N& +4 "core" &,g\ D\ C ]\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&O', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& + "storage"(R'X +8 "core" &  G  +2 "manipulator"&S% +4 "core" % (   +2 .tForearm.seek :retract +2 "manipulator"&T'\ +97 "core" ' +3 .tElbow.seek CC + "manipulator"&U( +151 "core" ( + "manipulator"&V& +5 "core" &% 0 F <; + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &W& +3 "core" &% <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'" +104 "core" ' +2 "manipulator"&Y& +4 "core" &%  _ <; + "manipulator"&Z% +5 "core" %' R +2 "collection"'[& +3 "core" &a\  +3 "collection"'\\& +5 "core" &e\  +2 .tCC.seek :closed +2 "collection"'](V +3 "core" &5\  +9 &I-\ %h +9 &tX3\ 9 +9 &{2\ M +10 &Y1\ N +9 &N[0\ N +9 &X1\ N +10 &\\1\ N +9 &Z0\ N +9 &VZ-\ N +10 &\\/\ O +9 &Z,\ N +10 &!\\+\ N +9 &#_\\\ N +9 &% \\ \ N +10 &&Z\ N +9 &(Y\ N +9 &*hZ"\ N +10 &,)^\ N +9 &-Z"\ N +10 &/[\ N +9 &1o]\ N +9 &31Y\ N +10 &4Z\ N +9 &6\\\ N +9 &8wY\ N +10 &:9]\ N +9 &;_\ \ N +10 &=_\ O +9 &?[\ N +9 &A@Z \ N +10 &C[ \ N +9 &De \ P +9 &Fn \ P +10 &H: \ S +9 &I\ X +10 &K \ Z +9 &Mm\ Z +9 &O/\ Z +10 &P \ Z +9 &R\ \ [\ +9 &Tp \ [ +10 &V s\ 7 +9 &V# \ $k +9 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&^1 +3 "core" &V\ X +59 1 + "manipulator"&_% +5 "core" % " i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +4 "core" &\  +2 "manipulator"&b% +4 "core" %\ % w 3 + "storage"(c% +4 "core" %T M\ +2 "storage"(d. +3 "core" .(,l + "storage"(e& +4 "core" &,g "\  +2 "storage"(f& +3 "core" &,g \  +2 "manipulator"&g& +4 "core" &% <; + "manipulator"&h% +4 "core" %\ % 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&i( +162 "core" ( +74 "manipulator"&j& +4 "core" &  o _ +2 "storage"(k& +4 "core" &,g {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +96 "core" ' + "storage"(m& +4 "core" &,g \ d\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'i +286 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &,g 0\  +2 "manipulator"&q& +4 "core" & _ + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" & & _ +2 "storage"(t& +4 "core" &,g g\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(x'X +7 "core" &  t _ +2 "manipulator"&y% +4 "core" %  7 + .tForearm.seek :retract +2 "manipulator"&z'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +2 "manipulator"&|& +5 "core" &i / (  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &i + A  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +99 "core" ' +2 "manipulator"&& +4 "core" &m 0  + "manipulator"&% +5 "core" %  M + "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &!\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +10 &3}\ *z +9 &c\ ? +10 &Jz\ O +9 & Z\ N +9 &\\\ N +10 &`\ O +9 &Q_\ O +9 &\\\ O +10 &b\ O +9 &_\ O +9 & Z]\ O +10 &"`\ O +9 &#]\ O +10 &%^\ O +9 &'b`\ O +9 &)$^\ O +10 &*_\ O +9 &,]\ N +9 &.k[\ N +10 &0-^\ N +9 &1]\ N +10 &3Z\ N +9 &5s]\ N +9 &75_\ N +10 &8`\ N +9 &:Y\ N +9 &<{_\ N +10 &>>Y\ N +9 &?_\ O +10 &AZ\ N +9 &Cb\ O +9 &EBf\ O +10 &Gn\ P +9 &H\ S +9 &Jz\ T +10 &L;\ T +9 &M\ T +10 &O\ T +9 &Q\ U +9 &SB\ U +10 &U\ U +9 &V\ U +14 &X\ U +5 &Zbp\ / +11 &Zt\ ; +7 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +3 "core" &Z&\ / +57 1 +2 "manipulator"&% +4 "core" %  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z& \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\ # ? + "storage"(\ % +4 "core" %\\ \ +2 "storage"( . +3 "core" .(,l +2 "storage"( & +3 "core" &,g F\  +2 "storage"( & +4 "manipulator"&& +5 "core" &,g @\  + &m  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"('i +5 "core" ( + "manipulator"&& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m  g  +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +289 ( + "storage"(& +5 "core" &,g h\  + "manipulator"&& +4 "core" &m  K  + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&"( +254 "core" ( +2 "manipulator"&%& +4 "core" & & \\  + "storage"('& +5 "core" &,g A\  +39 .tForearm.reconfigure :tight +11 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&)'Ѽ +89 "core" ' + .tHand.open +2 "manipulator"&(1 +58 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +30 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" &,g j\  +2 "manipulator"&.& +3 "core" &  4  +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +4 "core" & & H  + "storage"(1& +4 "core" &,g |\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +55 "core" ' +2 "manipulator"&4& +4 "core" &  +2 "storage"(5& +4 "core" &,g Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +22 "core" ' + "manipulator"&9% +5 "core" %   n + "storage"(:& +5 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&;'7 +18 "core" ' +2 "manipulator"&<& +4 "core" & (  +2 "storage"(=& +4 "core" &,g x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&>'Ѽ +26 "core" ' +2 "storage"(?% +4 "core" %l !\ +3 ."downElevator"SE.seek :down +3 "storage"(!'X +100 (A% +3 "core" %;K =\ Xg +2 "manipulator"&B% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +77 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &,g -\  +2 "collection"'G& +3 "core" &V/\ X +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %\  '  +2 "storage"(&% +4 "core" %Z S\ +2 "storage"(I. +3 "core" .(,l + "storage"(J& +4 "core" &,g |\  + "storage"(K& +4 "core" &,g |\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&M( +33 "core" ( + "manipulator"&N& +5 "core" & ( ) + "storage"(P& +4 "core" &,g q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&Q'Ѽ +94 "core" ' +2 "storage"(S& +4 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +281 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & /  ( + "storage"(W& +4 "core" &,g j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&H' +34 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'V +25 "core" ' + "manipulator"&[% +5 "core" % + "storage"(L& +4 "core" &,g .\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts + "manipulator"&R'< +19 "core" ' + "manipulator"&T& +5 "core" & #  ) + "storage"(*& +4 "core" &,g y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&^'Ѽ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'E +38 "core" ' +2 "manipulator"&a& +4 "core" &   ) +2 "manipulator"&b% +4 "core" %  , u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +155 "core" ( +3 "manipulator"&\\& +4 "core" &, Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &, Bg +2 .tForearm.seek CC +2 "manipulator"&f'" +96 "core" ' + .tHand.close +2 "manipulator"&g/ +56 "core" / +2 .tCC.seek :open +2 "collection"'h( +416 "core" ( + "storage"(X& +4 "core" &,g\ $\ ' U\  +2 "storage"(j& +4 "core" &,g\ \  G\  + "manipulator"&k& +4 "core" &+ Ae + "manipulator"&U% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&m'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +159 "core" ( + "manipulator"&o& +5 "core" & ' l j + "storage"(p& +4 "core" &,g\ C\ C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&q' +108 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +59 "core" 1 +2 "manipulator"&v% +4 "core" %   g +2 "storage"(w& +4 "core" &,g\ \  6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&y'? +14 "core" ' + "manipulator"&i& +5 "core" & & A l + "storage"(l& +4 "core" &,g\ O\ Q m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&n'Ѽ +17 "core" ' + "storage"(u% +5 "core" %J\ B\ > \ +2 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (}% +3 "core" %`I\ %\ % B\ Wc + "manipulator"&r% +5 "core" %Ѷ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &\ +2 "manipulator"&% +4 "core" %\   + "storage"(x% +4 "core" %b B K )\ +2 "storage"(z. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(+(<* +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<(\ \  \  +2 "manipulator"&& +3 "core" & l +2 .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( +2 "manipulator"& & +4 "core" & % k g + "storage"(\ & +4 "core" &<%\ N\ B E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +95 "core" ' +2 "storage"( & +4 "core" &<% ~\ . T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<%\ B\ $ \  +2 "manipulator"&& +4 "core" & g +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" & % g +2 "storage"(& +4 "core" &<%\ B\ C \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"('X +3 "core" &   g +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +5 "core" &' f : ? >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  - >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +105 "core" ' +2 "manipulator"&'& +5 "core" &' >J + "manipulator"&% +5 "core" % + "collection"'(& +5 "core" &K\ +2 "collection"'& +6 "core" &\ +2 .tCC.seek :closed +3 "collection"',(V +3 "core" &\ +5 &\ 9 +10 &HH|\ 1 +9 &vs\ E +10 &c\ N +9 &[!\ N +9 &Z\ M +10 &bW#\ N +9 &$Y\ N +9 &X\ N +10 &U\ M +9 &jZ\ N +10 &!,\\\ N +9 &"\\\ N +9 &$Y\ N +10 &&sX\ M +9 &(3\\\ N +9 &)W\ M +10 &+Y\ N +9 &-zZ\ N +10 &/<W\ N +9 &0\\\ N +9 &2\\\ N +10 &4Z\ N +9 &6DV\ N +9 &8W\ M +10 &9W\ N +9 &;[\ M +10 &=LZ\ N +9 &?\\\ N +9 &@[\ N +10 &BY\ N +9 &DS]\ N +9 &Fk\ P +10 &G|\ Q +9 &I\ U +10 &K9\ Z +9 &L \ Z +9 &N\ Y +10 &P\ Z +9 &R@\ Z +9 &S \ \\ +10 &U\ \ I +9 &V'\ \ *z +10 &V|\ S +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&-1 +61 "core" 1 +2 "manipulator"&.% +5 "core" %   A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +90 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%1& +4 "core" &\ + "manipulator"&% +5 "core" %\  - D  + "storage"(4% +4 "core" %b T\ + "storage"(5. +3 "core" .(<* +2 "storage"(9& +4 "core" &<% f\  + "storage"(& +4 "core" &<% \  +2 "manipulator"&:& +4 "core" &' # >I + "manipulator"&<% +4 "core" %\    +40 .tElbow.reconfigure :tight +12 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&=( +161 "core" ( + "manipulator"&& +4 "core" &  S +2 "storage"(?& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&"'ы +104 "core" ' +2 "storage"()& +4 "core" &<%\ \  /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +284 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &<% Z\  +2 "manipulator"&2& +4 "core" & 3 S +2 .tElbow.seek 5 + "manipulator"&/( +4 "core" ( + "manipulator"&3& +4 "core" &  j S +2 "storage"(6& +4 "core" &<% \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'X +8 "core" &   S +2 "manipulator"&8% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&J& +4 "core" &q . @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &q   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +98 "core" ' + "manipulator"&N& +4 "core" &r %  +2 "manipulator"&P% +4 "core" %   +2 "processing"%>& +3 "core" &\ +3 "processing"%S& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &\ +7 &8\ $c +9 &S\ 7 +9 &\ L +10 &_\ N +9 &O_\ N +9 &_\ N +10 &_\ N +9 &]\ N +10 &X_\ N +9 &\\\ N +9 &_\ N +10 &!]\ N +9 &#`^\ N +9 &%"]\ N +10 &&]\ N +9 &(]\ N +10 &*i]\ N +9 &,,]\ M +9 &-_\ N +10 &/]\ N +9 &1r]\ M +9 &32]\ N +10 &4]\ M +9 &6]\ N +10 &8y\\\ N +9 &:;\\\ N +9 &;\\\ N +10 &=[\ N +9 &?\\\ N +9 &AC\\\ N +10 &C^\ N +9 &Db\ O +9 &Fh\ O +10 &H@}\ Q +9 &I\ S +10 &K\ T +9 &M\ T +9 &O@\ T +10 &Q\ T +9 &R\ T +9 &T\ U +10 &VE\ U +9 &X\ U +10 &Y{r\ @ +9 &ZG\ ? +9 &Zm\ 5 +9 ( +2 &Z$\ . +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&71 +53 "core" 1 +2 "manipulator"&D% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +99 "core" ' +2 "processing"%V& +4 "core" &Z%\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +5 "core" %\ % 3 + "storage"(Y% +4 "core" %a L\ +2 "storage"([. +3 "core" .(<* + "storage"(L& +4 "core" &<% g\  +2 "storage"(T& +4 "manipulator"&*& +3 "core" &<% \  +2 &r q  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&a(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( + "manipulator"&Q& +5 "core" &r  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&C' +101 "core" ' + .tHand.close +2 "manipulator"&H/ +61 "core" / +2 .tPC.seek :open +2 "processing"%R( +84 "core" ' + "storage"(Z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\\'y +34 "core" ' +305 ( +2 "storage"(e& +4 "core" &<% x\  +2 "manipulator"&^& +3 "core" &r  J  +2 "manipulator"&O% +4 "core" %  O +2 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&c( +260 "core" ( + "manipulator"&]& +4 "core" & $  +2 "storage"(X& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&j'ы +96 "core" ' +2 .tHand.open + "manipulator"&k1 +63 "core" 1 +2 "storage"(U- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(o'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(p' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"(d& +4 "core" &<% d b g\  + "manipulator"&t& +5 "core" &  + .tElbow.seek 5 +2 "manipulator"&v( +7 "core" ( + "manipulator"&w& +5 "core" &   + "storage"(i& +4 "core" &<% ` j f\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +57 "core" ' +2 "manipulator"&m& +4 "core" & m +2 "storage"(}& +4 "core" &<% W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&r' +34 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(q'i +22 "core" ' +2 "manipulator"&% +5 "core" %  , { + "storage"(& +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&y' +19 "core" ' + "manipulator"&x& +5 "core" & %  + "storage"(z& +5 "core" &<% }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&_'ы +21 "core" ' +2 "storage"(n% +4 "core" %s x\ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (@% +3 "core" %I -\ We +2 "manipulator"&% +5 "core" %ѓ ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +86 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<%\ \  + "collection"'\ & +4 "core" &Vz,\ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\   + "storage"(s% +4 "core" %R t\ + "storage"(. +4 "core" .(<* + "storage"(& +4 "core" &<% O\  + "storage"( & +4 "core" &<% 4\  + "manipulator"&& +5 "core" &  + .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & % -  +2 "storage"({& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +93 "core" ' + "storage"(& +5 "core" &<%\  W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & )  +2 "storage"(& +3 "core" &<% o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +31 "core" ' +2 "manipulator"&% +4 "core" % 8 + "storage"((& +4 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&' +16 "core" ' +2 "manipulator"&& +4 "core" & & z  +2 "storage"(h& +3 "core" &<% i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(.'D +41 "core" ' + "manipulator"&1& +5 "core" &  + "manipulator"&% +4 "core" %ѩ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +157 "core" ( +3 "manipulator"&9& +4 "core" &( S ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?U +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&:/ +61 "core" / +2 .tCC.seek :open + "collection"'<( +416 "core" ( +2 "storage"(%& +4 "core" &<%\ \  B\  + "storage"(& +4 "core" &<%\ \  D\  +2 "manipulator"&?& +4 "core" &( } ?U + "manipulator"&)% +4 "core" % / +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&0( +156 "core" ( +2 "manipulator"&A& +4 "core" & &  ~ + "storage"(B& +5 "core" &<%\ /\ % i\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&2' +104 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +56 "core" 1 +47 "manipulator"&E% +19 "core" %  +2 "storage"(G& +4 "core" &<%\ \  K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&8' +13 "core" ' + "manipulator"&=& +4 "core" & w ~ +2 "storage"("& +4 "core" &<%\ Q\ Q z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&#'ы +32 "core" ' +2 "storage"(;% +4 "core" %I \ * 3\ +2 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (K% +3 "core" %D\ I\ K F\ Va +2 "manipulator"&/% +4 "core" %у +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +86 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'P& +5 "core" &\ + "manipulator"&>% +4 "core" %\  [  +2 "storage"($% +4 "core" %b\ - ~ !\  + "storage"(&. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &K\ \  u\  +2 "manipulator"&D& +3 "core" & P ~ +2 .tElbow.seek 6 +2 "manipulator"&V( +42 "core" ( + "manipulator"&W& +4 "core" &\ 0 v ^ +2 "storage"(Y& +4 "core" &K\ N\ C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&['a +95 "core" ' + "storage"(L& +4 "core" &K \ + >\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +3 "core" &K\ 0\ # O\  +2 "manipulator"&Q& +3 "core" & ] +2 .tElbow.seek 6 +2 "manipulator"&M( +31 "core" ( +3 "manipulator"& & +4 "core" &\ e +2 "storage"(H& +3 "core" &K\ C\ I\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'X +7 "core" &\ _ e +2 "manipulator"&b% +4 "core" % Ͻ  +2 .tForearm.seek :retract + "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +21 "core" ( + "manipulator"&O& +5 "core" &  ; , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +95 "core" ' +2 "manipulator"&X& +4 "core" &  > , +2 "manipulator"&a% +4 "core" %( +2 "collection"'k& +4 "core" &U\ +2 "collection"'U& +5 "core" &Q\ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" &\  +8 &0\ *y +9 &d\ > +10 &yt\ N +9 &=V\ M +10 &Z\ N +9 &Y\ M +9 &Z\ M +10 &DZ\ M +9 &V\ M +9 &Y\ N +10 & Z\ M +9 &"LW\ M +9 &$Z\ M +10 &%]\ M +9 &'Y\ N +10 &)UX\ M +9 &+Y\ N +9 &,W\ M +10 &.Y\ M +9 &0\\X\ M +9 &2Z\ M +10 &3Y\ M +9 &5W\ M +10 &7eZ\ M +9 &9'X\ M +9 &:Z\ M +10 &<W\ M +9 &>lV\ M +10 &@-X \ N +9 &AY\ M +9 &C\\\ \ M +10 &Er`\ N +9 &G/m \ P +9 &H\ R +10 &J\ W +9 &L[ \ Y +9 &N\ X +10 &O\ Y +9 &Q \ Y +10 &S^\ Z +9 &U \ Z +9 &VjC\ 2 +10 &Vp\ H +5 ( +2 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&d1 +3 "core" &Vm\ H +59 1 +2 "manipulator"&t% +5 "core" % ( ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%i& +5 "core" &\ + "manipulator"&g% +4 "core" %\  c  + "storage"(m% +5 "core" %` f\ + "storage"(}. +3 "core" .(K +2 "storage"(& +3 "core" &K }\  +2 "storage"(\\& +4 "core" &K o\  + "manipulator"&& +4 "core" & ` , +2 "manipulator"&x% +4 "core" %\  j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&o( +152 "core" ( + "manipulator"&z& +5 "core" & F  + "storage"(n& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&c'a +89 "core" ' +2 "storage"(j& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +284 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K -\  + "manipulator"&l& +5 "core" & F  + .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +3 "core" & % m  +2 "storage"(r& +4 "core" &K 9\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&y' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"( 'X +7 "core" &  T  +2 "manipulator"&s% +4 "core" %  R  +2 .tForearm.seek :retract + "manipulator"&q'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +110 "core" ( +2 "manipulator"&& +4 "core" &x @ /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +4 "core" &x !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &x (   +2 "manipulator"&{% +4 "core" %  > +2 "processing"%_& +3 "core" &$\ +3 "processing"%& +4 "core" &!\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &\ +7 &9&\ $d +9 &U\ 7 +10 &}"\ K +9 &`#\ N +9 &Y_\ N +10 &\\\ N +9 &]\ N +9 &\\\ N +10 &b^\ N +9 &#Z\ N +9 &^\ N +10 &!\\\ N +9 &#i\\\ N +10 &%,\\\ N +9 &&Z\ N +9 &(\\\ M +10 &*q]\ N +9 &,4\\\ N +10 &-\\\ N +9 &/\\\ N +9 &1z[\ N +10 &3;^\ N +9 &4[\ M +9 &6\\\ N +10 &8Z\ N +9 &:D[\ N +9 &<Z\ N +10 &=[\ N +9 &?Y\ N +10 &ALY\ N +9 &C ]\ N +9 &Db\ O +10 &Fj\ O +9 &HG\ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OJ\ T +9 &Q \ T +9 &R\ T +10 &T\ U +9 &VO\ U +9 &X\ U +10 &Y|q\ 8 +9 &Z)u\ S +10 &Z#\ - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&`1 +51 "core" 1 +2 "manipulator"&% +4 "core" % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +102 "core" ' +2 "processing"%& +4 "core" &Z \ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\ # @ +2 "storage"('% +4 "core" %a \ + "storage"(. +3 "core" .(K +2 "storage"((& +3 "core" &K \  +2 "storage"(& +3 "manipulator"&h& +7 "core" &K \  + &x  ,   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&1(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +4 "core" &x  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &x  +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +46 "core" ' +281 ( + "storage"(& +4 "core" &K w\  +2 "manipulator"&-& +4 "core" &x   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +248 "core" ( +2 "manipulator"&,& +4 "core" & $ w ) + "storage"(%& +4 "core" &K i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +94 "core" ' +2 .tHand.open + "manipulator"&?1 +60 "core" 1 +2 "storage"()- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" &K ~ J\  +2 "manipulator"&6& +3 "core" &  N ) +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&G& +3 "core" & 0 . ) +2 "storage"(=& +4 "core" &K ~ \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&"'a +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&;& +4 "core" &   ( +2 "storage"(0& +4 "core" &K \  +43 .tElbow.reconfigure :limp +12 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&K'Υ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +22 "core" ' + "manipulator"&8% +5 "core" %γ } + "storage"(P& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 314 counts +2 "manipulator"&>' +13 "core" ' + "manipulator"&$& +5 "core" & % , ( + "storage"(&& +5 "core" &K \  3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&.'a +34 "core" ' + "storage"(#% +4 "core" %n\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (+% +3 "core" %"I \ Wd +2 "manipulator"&7% +4 "core" %J  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &K \  + "collection"'Y& +4 "core" &Vm,\ H +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&L% +4 "core" %\ \  X  + "storage"(3% +5 "core" %\\ \ + "storage"(N. +3 "core" .(K +2 "storage"(*& +4 "core" &K \  + "storage"(S& +4 "core" &K M\  + "manipulator"&Q& +4 "core" &  : ( +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&H& +4 "core" &  ( + "storage"(I& +4 "core" &K /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&F'a +94 "core" ' +2 "storage"(b& +4 "core" &K\  5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +284 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &  ( + "storage"(C& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&T'Υ +22 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(a'Y +31 "core" ' +2 "manipulator"&M% +41 "core" %λ n | +2 "storage"(k& +4 "core" &K w\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 322 counts +2 "manipulator"&!' +11 "core" ' +2 "manipulator"&e& +4 "core" & ( ( +2 "storage"(<& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&d'a +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(t'H +40 "core" ' +2 "manipulator"&i& +4 "core" &   ( +2 "manipulator"&g% +4 "core" %^   w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +154 "core" ( +2 "manipulator"&& +4 "core" &'  4 >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" && f >L +2 .tForearm.seek CC + "manipulator"&\\'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'x( +415 "core" ( +2 "storage"(z& +4 "core" &K\ \  <\  + "storage"(]& +4 "core" &K\ \  C\  +2 "manipulator"&n& +3 "core" &% A ;7 +2 "manipulator"&j% +4 "core" % 1 T + .tForearm.seek :retract +2 "manipulator"&^'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +163 "core" ( +2 "manipulator"&@& +4 "core" & C +2 "storage"(& +3 "core" &K\ %\ % b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&l'Υ +109 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +54 "core" 1 +2 "manipulator"& % +5 "core" % ε  \\ + "storage"(\ & +5 "core" &K\  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&s' +12 "core" ' + "manipulator"&o& +4 "core" & q +2 "storage"(c& +4 "core" &K\ @\ I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&p'a +31 "core" ' + "storage"(y% +6 "core" %L\ >\ " \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +3 "core" %F\ %\ % \ Vb +2 "manipulator"&v% +4 "core" %K \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'{& +4 "core" &\ + "manipulator"&_% +4 "core" %\  F  +2 "storage"( % +4 "core" %b\ Y\ L \  + "storage"(q. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(R(,l +657 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +2 "core" &,n\ \  5\ +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&( +12 "core" ( +2 "manipulator"&& +4 "core" & % 5 [ + "storage"('& +4 "core" &,r\ N\ E #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +96 "core" ' + "storage"((& +5 "core" &,r \ , "\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,r\ %\ ' R\ +2 "manipulator"&& +4 "core" & d [ + .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & 3 [ + "storage"(& +5 "core" &,r\ I\ D\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'X +7 "core" & c [ +2 "manipulator"&% +3 "core" % " t \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +159 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &( / R >O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' #  s >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +104 "core" ' + "manipulator"&%& +5 "core" &( J >K + "manipulator"&1% +5 "core" % y + "collection"'?& +4 "core" &b\ +3 "collection"')& +4 "core" &g\ +3 .tCC.seek :closed + "collection"'(V +4 "core" &/\  +8 &06\ +z +10 &c&\ > +9 &st.\ N +10 &6Y \ M +9 &Z%\ N +9 &X$\ M +10 &{Y\ M +9 &>Z\ M +9 &Y\ M +10 &Y\ M +9 & Y\ M +10 &"EZ\ M +9 &$V\ M +9 &%Z\ N +10 &'Y\ M +9 &)NY\ M +9 &+Z\ M +10 &,X\ M +9 &.Z\ N +10 &0VY\ M +9 &2X\ M +9 &3Z\ M +10 &5W\ M +9 &7]X\ M +9 &9 X\ M +10 &:Z\ M +9 &<Y\ M +9 &>eZ\ M +10 &@(Z\ M +9 &AY\ M +10 &C]\ N +9 &Eie\ O +9 &G(n\ P +10 &H\ R +9 &J\ X +9 &LT \ X +10 &N\ Y +9 &O\ Z +10 &Q\ Y +9 &SU \ [\ +9 &U \ [\ +10 &VcC\ 2 +9 &Vv\ \ K +6 ( + "collection"')& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&51 +3 "core" &Vf\ K +60 1 + "manipulator"&6% +4 "core" %  C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%=& +4 "core" &\ + "manipulator"&:% +4 "core" %\   +2 "storage"(;% +3 "core" %^ !\ +2 "storage"(0. +3 "core" .(,l + "storage"(9& +4 "core" &,r T\ +2 "storage"(A& +3 "core" &,r 9\ +2 "manipulator"&8& +4 "core" &&  =F + "manipulator"&P% +4 "core" %\  Q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&$( +158 "core" ( + "manipulator"&&& +4 "core" & $ Z  +2 "storage"(4& +4 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +96 "core" ' +2 "storage"(#& +4 "core" &,r\ \  #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +279 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &,r d\ + "manipulator"&"& +4 "core" & u  +2 .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( + "manipulator"&& +4 "core" & %  + "storage"(K& +4 "core" &,r M\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>', +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +62 "core" / +3 ."downElevator"SE.seek :down +46 "manipulator"&Y& +12 "storage"(L'X +7 "core" & %  +2 "manipulator"&3% +4 "core" % /  6 +2 .tForearm.seek :retract + "manipulator"&N'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +3 "manipulator"&*& +4 "core" &n $ O  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &n ' p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' + "manipulator"&H& +5 "core" &n %  + "manipulator"&I% +4 "core" %  @ +2 "processing"%.& +4 "core" &\ +2 "processing"%b& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &'\ +7 &9)\ $c +10 &U'\ 7 +9 &~\ K +10 &_\ N +9 &c`\ N +9 &%]\ N +10 &^\ N +9 &[\ N +9 &kZ\ N +10 &.Z\ M +9 &\\\ N +10 &!Z\ M +9 &#s\\\ N +9 &%5_\ N +10 &&\\\ N +9 &(Y\ N +9 &*{Y\ N +10 &,=Y!\ N +9 &-^ \ N +10 &/]\ N +9 &1]\ N +9 &3E] \ N +10 &5X\ N +9 &6X\ N +9 &8W\ N +10 &:MW\ N +11 &<Y\ N +8 &=W\ N +9 &?W\ M +9 &AVY\ M +10 &C\\\ N +9 &D_!\ N +9 &Fj\ O +10 &HR{\ Q +9 &J\ S +9 &K!\ S +10 &M\ S +9 &OT\ S +10 &Q\ T +9 &R\ T +9 &T\ U +10 &VX\ U +9 &X \ U +9 &Yzn!\ 6 +10 &Z1\ H +9 &Z\ ( +3 ( + "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&/1 +55 "core" 1 +2 "manipulator"&D% +4 "core" % 4 M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +102 "core" ' + "processing"%O& +5 "core" &Z \ ( + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&C% +4 "core" %\ # B + "storage"(X% +4 "core" %a \ + "storage"(M. +3 "core" .(,l +2 "storage"(k& +4 "core" &,r \ +2 "storage"(e& +2 "manipulator"&<& +8 "core" &,r \ + &n  ?  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&i(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +2 "core" ( + "manipulator"&F& +5 "core" &n -  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &n u  +2 .tForearm.seek PC +2 "manipulator"&V' +96 "core" ' +2 .tHand.close + "manipulator"&T/ +63 "core" / +2 .tPC.seek :open +2 "processing"%!( +82 "core" ' + "storage"(a- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +299 ( +2 "storage"(U& +4 "core" &,r n\ + "manipulator"&d& +4 "core" &n    +2 "manipulator"&Z% +4 "core" %  v +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&m( +264 "core" ( +2 "manipulator"&f& +4 "core" & $ O  + "storage"(z& +4 "core" &,r +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&]'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&n1 +61 "core" 1 +2 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(}& +4 "core" &,r S\ + "manipulator"&r& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"& ( +10 "core" ( + "manipulator"&\ & +5 "core" &  ~ ~ + "storage"(o& +4 "core" &,r { \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(y' +57 "core" ' +2 "manipulator"&^& +4 "core" &  ~ +2 "storage"( & +3 "core" &,r\ \  F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v' +33 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +25 "core" ' + "manipulator"&s% +5 "core" % b + "storage"({& +5 "core" &,r \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&_'@ +20 "core" ' + "manipulator"& & +5 "core" &  V ~ + "storage"(q& +5 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +20 "core" ' +2 "storage"(p% +5 "core" %o\ \  j\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %K J\ Wf +2 "manipulator"&`% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,r }\ +2 "collection"''& +4 "core" &VeN\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&(% +4 "core" %\ %   D + "storage"(u% +4 "core" %`\ \  +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,r '\ +2 "storage"(& +4 "core" &,r \ + "manipulator"&& +4 "core" &  ~ +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & R ~ + "storage"(& +5 "core" &,r \ \ -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +91 "core" ' +2 "storage"(& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  ~ +2 "storage"(& +4 "core" &,r g\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&h' +36 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'V +31 "core" ' + "manipulator"&~% +5 "core" % + "storage"(?& +4 "core" &,r +\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&|'; +13 "core" ' + "manipulator"&& +5 "core" & ~ + "storage"(x& +4 "core" &,r\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'E +40 "core" ' +2 "manipulator"&=& +4 "core" &  ~ +2 "manipulator"&:% +4 "core" %  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +164 "core" ( +2 "manipulator"&9& +4 "core" &, x Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &+ h Bk +2 .tForearm.seek CC +2 "manipulator"&)'" +95 "core" ' + .tHand.close +2 "manipulator"&8/ +56 "core" / +2 .tCC.seek :open +2 "collection"'P( +415 "core" ( +2 "storage"(,& +4 "core" &,r\ '\  @\ +2 "storage"(&& +3 "core" &,r\ \  m\ +2 "manipulator"&4& +4 "core" &,  Bh + "manipulator"&#% +54 "core" % ' % +2 .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +157 "core" ( +2 "manipulator"&+& +4 "core" & $  + "storage"(7& +4 "core" &,r\ 1\ ) J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&"' +102 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +52 "core" 1 +4 "manipulator"&W% +4 "core" %  7 + "storage"(Y& +4 "core" &,r\ "\  U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&3'@ +19 "core" ' +2 "manipulator"&$& +4 "core" & $ \\  +2 "storage"(& +3 "core" &,r\ P\ P 5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +29 "core" ' + "storage"(>% +5 "core" %K\  Z\ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (S% +3 "core" %J\ .\ $ b\ Wd +2 "manipulator"&E% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +93 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'I& +4 "core" &b\ + "manipulator"&.% +4 "core" %\  w 8 +2 "storage"(L% +3 "core" %S\ Q\ O Y\ +2 "storage"(N. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (/& +3 "core" &<'\ \  Y\  +2 "manipulator"&D& +3 "core" &\ e  +2 .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( + "manipulator"&C& +4 "core" & & -  +2 "storage"(X& +3 "core" &<$\ D\ H e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&M'ы +87 "core" ' + "storage"(k& +4 "core" &<$\ * \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'i +286 "core" ' + "storage"(e- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &<$\ C\ M f\  +2 "manipulator"&F& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&Q& +3 "core" & $ R  +2 "storage"(T& +4 "core" &<$\ P\ P \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(J'X +7 "core" & x  +2 "manipulator"&g% +4 "core" %  > +2 .tForearm.seek :retract + "manipulator"&U'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&Z& +4 "core" &, = Z Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &+ % Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +93 "core" ' +2 "manipulator"&z& +5 "core" &+ 3 ~ Ae + "manipulator"&i% +4 "core" %(   +2 "collection"'n& +4 "core" &l\ +2 "collection"'j& +5 "core" &7\ +2 .tCC.seek :closed +2 "collection"'\\(V +5 "core" &7\ +7 &5.\ $d +9 &W6\ 7 +9 &}/\ L +10 &Z.\ M +9 &jY0\ M +9 &-W)\ L +10 &Y$\ M +9 &X/\ M +10 &qW)\ M +9 &4X\ M +9 &\\\ M +10 &!Y\ M +9 &#yY"\ M +9 &%;Y\ M +10 &&W\ M +9 &(W\ M +10 &*V\ M +9 &,CX\ M +9 &.X\ M +10 &/X\ M +9 &1Y\ M +9 &3LW\ M +10 &5X\ L +9 &6X\ M +10 &8U\ M +9 &:SV\ M +9 &<Z\ M +10 &=Y\ N +9 &?X\ M +9 &A\\W\ M +10 &CY\ M +9 &D`\ N +9 &Fh\ O +10 &HV\ Q +9 &J \ W +10 &K\ Y +9 &M\ Y +9 &OH\ Y +10 &Q\ Z +9 &R\ Z +9 &T\ [ +10 &V)v\ / +9 &V"\ O +9 ( +3 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&}1 +3 "core" &Vp\ K +50 1 +2 "manipulator"&r% +4 "core" % ( i  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +89 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%o& +4 "core" &\ + "manipulator"&% +4 "core" %\  g  +2 "storage"(^% +4 "core" %` E\ + "storage"( . +3 "core" .(<* +2 "storage"(& +4 "core" &<$ 0\  + "storage"(s& +4 "core" &<$ 5\  + "manipulator"&{& +4 "core" &* Ae +2 "manipulator"&@% +4 "core" %\  * J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +160 "core" ( + "manipulator"&q& +4 "core" & & i R +2 "storage"(p& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&m'ы +95 "core" ' + "storage"(]& +5 "core" &<$\ \  e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &<$ ;\  + "manipulator"&c& +4 "core" & { R +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&y& +4 "core" & %  R + "storage"(v& +4 "core" &<$ K\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(('X +7 "core" &  3 R +2 "manipulator"&u% +4 "core" %  /  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&l& +4 "core" &| C T  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &| +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' + "manipulator"&& +5 "core" &| % m  + "manipulator"&% +4 "core" %  8 +2 "processing"%t& +4 "core" &!\ +2 "processing"%& +4 "core" &&\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &!\ +6 &:!\ $c +9 &T'\ 7 +10 &~~$\ K +9 &^$\ N +9 &^\\!\ N +10 & Y%\ N +9 &^#\ N +10 &\\\ N +9 &g[\ M +9 &(^\ N +10 &_\ N +9 &!\\\ N +9 &#nY \ N +10 &%1^\ M +9 &&Y\ N +10 &(Y\ M +9 &*w[\ M +9 &,8]\ N +10 &-]\ N +9 &/X\ M +9 &1Z\ M +10 &3AY\ M +9 &5Z\ M +10 &6]\ M +9 &8]\ N +9 &:HZ\ N +10 &< \\\ M +9 &=[\ N +9 &?Z\ M +10 &ARY\ M +9 &C^ \ M +10 &D`\ N +9 &Fi\ O +9 &HN{\ Q +10 &J \ S +9 &K\ S +9 &M\ S +10 &OO\ S +9 &Q\ S +10 &R\ T +9 &T\ T +9 &VT\ T +10 &X\ T +9 &Y|s\ 7 +9 &Z1!\ H +10 &Z\ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&w1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ( X 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %\   +2 "storage"(%% +4 "core" %b =\ + "storage"(~. +3 "core" .(<* +2 "storage"(?& +4 "core" &<$ G\  +54 "storage"(& +4 "manipulator"&x& +4 "core" &<$ \  + &|   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(:'i +2 "core" ( +2 "manipulator"& & +4 "core" &| s  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &| , _  +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&h/ +63 "core" / +2 .tPC.seek :open +2 "processing"%|( +90 "core" ' + "storage"(1- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +48 "core" ' +281 ( +2 "storage"(A& +4 "core" &<$ \  + "manipulator"&5& +5 "core" &|    + "manipulator"&% +4 "core" %  5 +2 .tForearm.seek :retract + "manipulator"&8'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&;( +271 "core" ( + "manipulator"&& +5 "core" & &  ] + "storage"(,& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&&'ы +106 "core" ' + .tHand.open +2 "manipulator"&41 +61 "core" 1 +2 "storage"(#- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +32 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' + "storage"(0& +4 "core" &<$ z !\  + "manipulator"&K& +5 "core" & u ] + .tElbow.seek 5 +2 "manipulator"&W( +7 "core" ( + "manipulator"&Y& +5 "core" & % N V + "storage"($& +4 "core" &<$ ~ C\  +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +57 "core" ' +2 "manipulator"&-& +5 "core" & 8 V + "storage"(S& +4 "core" &<$ '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&E' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +23 "core" ' +2 "manipulator"&3% +4 "core" % P +2 "storage"(I& +4 "core" &<$ *\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"&.' +19 "core" ' + "manipulator"&L& +5 "core" & $ h [ + "storage"(N& +5 "core" &<$ M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&6'ы +28 "core" ' +2 "storage"(B% +4 "core" %p\  L\ +3 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (R% +3 "core" %G #\ Wd +2 "manipulator"&/% +4 "core" %Ѳ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +97 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &<$\ \ \  + "collection"'X& +4 "core" &VpM\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %\ V  +2 "storage"(% +4 "core" %S\ \ \ + "storage"(H. +3 "core" .(<* +2 "storage"(e& +3 "core" &<$\ \ \  +2 "storage"(<& +4 "core" &<$\ \  \  + "manipulator"&F& +5 "core" &  [ + .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&T& +3 "core" & ' ] [ +2 "storage"(2& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&['ы +102 "core" ' + "storage"(g& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +284 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & x [ + "storage"(V& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&b' +37 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'V +32 "core" ' + "manipulator"&n% +5 "core" %~  k E + "storage"( & +4 "core" &<$ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts + "manipulator"&J' +17 "core" ' +2 "manipulator"&U& +4 "core" & & ? [ + "storage"(P& +5 "core" &<$ Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&}'ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(r'E +41 "core" ' + "manipulator"&o& +5 "core" &  [ + "manipulator"&% +5 "core" %ё  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +169 "core" ( +3 "manipulator"&& +4 "core" &* @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &( J @^ +2 .tForearm.seek CC +2 "manipulator"&{'" +96 "core" ' + .tHand.close +2 "manipulator"&j/ +60 "core" / + .tCC.seek :open +2 "collection"'@( +416 "core" ( + "storage"(f& +4 "core" &<$\ \  \  +2 "storage"(q& +4 "core" &<$\ \  \  + "manipulator"&p& +4 "core" &* f @[ +2 "manipulator"&]% +3 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +160 "core" ( +2 "manipulator"&& +4 "core" &  . ` + "storage"(`& +5 "core" &<$\ H\ 6 L\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&c' +107 "core" ' + .tElbow.hold +2 "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +53 "core" 1 +3 "manipulator"&_% +4 "core" %   + "storage"('& +4 "core" &<$ \ E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&u' +19 "core" ' +2 "manipulator"& & +5 "core" & $ B a + "storage"(m& +4 "core" &<$\ Q\ F A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +51 "core" ' + "storage"(% +5 "core" %J\  z K\ +2 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (% +3 "core" %G\ &\ 2 8\ Wc +2 "manipulator"& % +4 "core" %{  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &`\ + "manipulator"&t% +4 "core" %\  l  + "storage"((% +5 "core" %`\ @\ I %\  + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +53 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(!(K +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &K\ \  a\  +2 "manipulator"&& +4 "core" & 8 a + .tElbow.seek 6 +2 "manipulator"&( +40 "core" ( +2 "manipulator"&& +4 "core" & $ z J + "storage"(%& +5 "core" &K\ I\ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&~'a +99 "core" ' +2 "storage"(?& +4 "core" &K\ + \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ /\ $ t\  +2 "manipulator"& & +4 "core" & L J + .tElbow.seek 6 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&& +5 "core" & q  + "storage"(h& +4 "core" &K\ H\ C \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&1' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & x  + "manipulator"&:% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" && H  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 "manipulator"&,& +5 "core" &&  4 { =A + "manipulator"&=% +5 "core" %% + "collection"'4& +5 "core" &7\ +2 "collection"'#& +5 "core" &3\ +2 .tCC.seek :closed +2 "collection"')(V +4 "core" &6\  +9 &.z7\ *y +10 &e7\ ? +9 &t7\ N +9 &EW8\ M +10 &Y7\ M +9 &Y/\ M +10 &W5\ M +9 &OX0\ L +9 &Y/\ M +10 &X'\ M +9 & X(\ M +9 &"VZ,\ M +10 &$Y&\ M +9 &%Z%\ L +10 &'Y)\ M +9 &)^W%\ M +9 &+ Y'\ M +10 &,Z%\ M +9 &.W\ M +9 &0eZ\ M +10 &2(Y\ M +9 &3X\ L +9 &5W\ M +10 &7nV \ M +9 &91X \ L +10 &:[ \ M +9 &<[\ M +9 &>uZ\ M +10 &@8Y\ M +9 &AY\ M +10 &C[\ M +9 &E{b\ N +9 &G9p\ O +10 &H~\ Q +9 &J\ W +9 &Ld\ X +10 &N'\ X +9 &O\ Y +10 &Q\ Y +9 &Se\ [ +9 &U'\ [ +10 &VtD\ . +9 &V{\ N +5 ( +2 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&01 +3 "core" &Vu\ N +56 1 +3 "manipulator"&K% +4 "core" % % 0 ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%Y& +4 "core" &'\ +2 "manipulator"&$% +4 "core" %\ ! c 1 + "storage"(-% +5 "core" %` \ + "storage"(S. +3 "core" .(K +2 "storage"(9& +3 "core" &K "\  +2 "storage"(3& +4 "core" &K \  + "manipulator"&I& +4 "core" &% v <@ +2 "manipulator"&+% +4 "core" %\ ! y 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +158 "core" ( + "manipulator"&N& +5 "core" & % 8  + "storage"(B& +4 "core" &K r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&;'a +98 "core" ' +2 "storage"(&& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +282 "core" ' +2 "storage"(R- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" &K \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( + "manipulator"&>& +4 "core" & % I  +2 "storage"(E& +4 "core" &K x\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&.' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(k'X +7 "core" &  +2 "manipulator"&% +4 "core" %  m +2 .tForearm.seek :retract + "manipulator"&"'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&e& +5 "core" &r 1 L  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &r    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' +2 "manipulator"&T& +4 "core" &r '  +2 "manipulator"&2% +4 "core" %    +2 "processing"%6& +3 "core" &)\ +3 "processing"%g& +5 "core" &!\ +2 .tPC.seek :closed + "processing"%*(Z +4 "core" &'\  +10 &1\ *x +9 &c"\ > +9 &sx%\ N +10 &5Z$\ N +9 &\\#\ N +10 &[ \ N +9 &{X"\ N +9 &>V%\ M +10 &Z!\ M +9 &]&\ N +9 & ]&\ M +10 &"E]&\ N +9 &$Z\ M +10 &%Y!\ M +9 &'\\\ N +9 &)NW*\ M +10 &+Y&\ M +9 &,\\\ M +9 &.\\\ N +10 &0U\\\ N +9 &2W\ M +9 &3\\\ M +10 &5W\ M +9 &7^W\ M +10 &9 W\ M +9 &:Y\ M +9 &<Z \ N +10 &>fW\ M +9 &@(\\\ M +10 &A]\ M +9 &C\\\ M +9 &Eja\ O +10 &G)m\ P +9 &H\ R +9 &J\ S +10 &Ld\ S +9 &N%\ T +10 &O\ T +9 &Q\ T +9 &Sk\ T +10 &U,\ T +9 &V\ U +9 &X\ T +10 &Z^\ #k +9 &ZZ\ - +9 ( +3 "processing"%g& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&G1 +4 "core" &Z\ ) +50 1 +2 "manipulator"&D% +4 "core" % % M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +99 "core" ' +2 "processing"%Z& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&V% +3 "core" %\ % E +2 "storage"(z% +4 "core" %b \ + "storage"(n. +3 "core" .(K +2 "storage"( & +3 "core" &K \  +3 "storage"(U& +3 "manipulator"&P& +5 "core" &K \  + &r e  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&o(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&[& +3 "core" &r r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &r T  +2 .tForearm.seek PC + "manipulator"&O' +97 "core" ' + .tHand.close +2 "manipulator"&b/ +54 "core" / +2 .tPC.seek :open +2 "processing"%J( +92 "core" ' +2 "storage"(i- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +286 ( + "storage"(s& +4 "core" &K \  +2 "manipulator"&}& +3 "core" &r  b  +2 "manipulator"&a% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&j'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&^( +266 "core" ( + "manipulator"&\\& +4 "core" & & &  +2 "storage"(f& +3 "core" &K +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&q'a +104 "core" ' + .tHand.open +2 "manipulator"&p1 +61 "core" 1 +2 "storage"(]- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +52 "storage"(`' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"( & +4 "core" &K  \  + "manipulator"&v& +4 "core" & <  +2 .tElbow.seek 6 +2 "manipulator"&_( +6 "core" ( + "manipulator"&'& +4 "core" & % +2 "storage"( & +4 "core" &K y\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&m'a +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' + "manipulator"&d& +5 "core" &  t + "storage"(& +4 "core" &K X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +26 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +21 "core" ' +2 "manipulator"&u% +4 "core" %ζ W  +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&t' +12 "core" ' +2 "manipulator"&(& +4 "core" &  +2 "storage"(& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&r'a +22 "core" ' +2 "storage"(% +4 "core" %p\ \  0\  +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (% +3 "core" %[J J\ Wd +2 "manipulator"&w% +4 "core" %ы  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K\ I\  +2 "collection"'%& +3 "core" &VtJ\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +4 "core" %\  }  +2 "storage"(y% +4 "core" %b \  + "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K ^\  +2 "storage"(& +4 "core" &K 1\  + "manipulator"& & +4 "core" & +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&h& +4 "core" & % y +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +98 "core" ' +2 "storage"(:& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(~- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & +2 "storage"(& +3 "core" &K S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&x'Υ +32 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(='Y +28 "core" ' +2 "manipulator"&% +4 "core" %ε + "storage"(4& +4 "core" &K N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&A& +5 "core" &  + "storage"(@& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&0'a +25 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(K'H +38 "core" ' +2 "manipulator"&Y& +4 "core" & [ +2 "manipulator"&$% +4 "core" %R s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +159 "core" ( +2 "manipulator"&9& +4 "core" && 9 =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" && X =E +2 .tForearm.seek CC +2 "manipulator"&3'" +93 "core" ' + .tHand.close +2 "manipulator"&I/ +55 "core" / +2 .tCC.seek :open + "collection"'+( +419 "core" ( +2 "storage"(& +4 "core" &K\ &\ & k\  + "storage"(N& +5 "core" &K\ '\ ' e\  + "manipulator"&B& +4 "core" && 1 =D + "manipulator"&&% +6 "core" % - b +4 .tForearm.seek :retract +4 "manipulator"&5'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&8( +161 "core" ( + "manipulator"&R& +5 "core" &  q x + "storage"(/& +4 "core" &K\ - ~ Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +62 "core" 1 +3 "manipulator"&C% +4 "core" % θ K +2 "storage"(X& +3 "core" &K\ \  +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&L& +4 "core" & 6 y +2 "storage"(;& +4 "core" &K\ F\ M M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7'a +27 "core" ' +2 "storage"(.% +4 "core" %O\ E\ M (\ +2 ."downElevator"SE.seek :down +4 "storage"(e'X +98 (<% +3 "core" %F\ $\ % \\\ Wb +2 "manipulator"&W% +4 "core" %p  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'2& +5 "core" &#\ + "manipulator"&6% +4 "core" %\ #  E = +2 "storage"(k% +4 "core" %R\ P\ P \ + "storage"(". +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(|(,l +658 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +2 "core" &,n\ \  \ +2 "manipulator"&D& +4 "core" &  y +2 .tElbow.seek 4 + "manipulator"&Z( +13 "core" ( +2 "manipulator"&V& +5 "core" &  N + "storage"(z& +4 "core" &,r\ D\ F \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +97 "core" ' + "storage"( & +4 "core" &,r\ * \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'i +286 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" &,r\ #\ $ ?\ +2 "manipulator"&[& +4 "core" & N + .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&F& +4 "core" &  8 N +2 "storage"(b& +4 "core" &,r\ D\ H \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&i', +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(*'X +7 "core" & N +2 "manipulator"&% +4 "core" % 5  5 + .tForearm.seek :retract +2 "manipulator"&s'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&a& +5 "core" &* B { A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &+ A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek CC +2 "manipulator"&\\'" +102 "core" ' + "manipulator"&f& +4 "core" &+ + A` +2 "manipulator"&o% +4 "core" %$ k +2 "collection"'p& +4 "core" &f\ +2 "collection"']& +4 "core" &j\ +2 .tCC.seek :closed +2 "collection"'j(V +4 "core" &9\  +9 &0=\ *y +10 &d8\ > +9 &ms@\ M +9 &/X;\ M +10 &Y8\ M +9 &X8\ M +9 &w\\8\ M +10 &:Y7\ L +9 &Y7\ M +10 &Z9\ M +9 & W7\ M +9 &"BZ8\ L +10 &$W7\ M +9 &%Z8\ M +9 &'Z7\ M +10 &)IV8\ M +9 &+ Y8\ L +10 &,X8\ L +9 &.Y6\ M +9 &0P\\6\ M +10 &2X*\ M +9 &3W4\ M +9 &5W-\ L +10 &7YX2\ M +9 &9W)\ M +9 &:Y$\ M +10 &<Z-\ M +9 &>aY0\ M +10 &@#\\\ M +9 &AY$\ M +9 &C^,\ M +10 &Eed'\ N +9 &G#p"\ O +9 &H\ R +10 &J\ W +9 &LO)\ X +10 &N%\ X +9 &O \ Y +9 &Q\ Y +10 &SQ)\ Z +9 &U \ [ +9 &V`C\ 3 +10 &Vx\ J +5 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&{1 +3 "core" &Vk\ J +56 1 +2 "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +5 "core" &*\ + "manipulator"& % +4 "core" %\ # \\ > +2 "storage"(d% +4 "core" %T }\ + "storage"(. +3 "core" .(,l +2 "storage"(& +4 "core" &,r \ + "storage"(u& +4 "core" &,r \ + "manipulator"&& +4 "core" &* T A` +2 "manipulator"&% +3 "core" %\ # 4 > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(( +162 "core" ( +2 "manipulator"&& +4 "core" & # ; b + "storage"(& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&^'Ѽ +90 "core" ' +2 "storage"(q& +4 "core" &,r\ "\ H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &,r V\ +2 "manipulator"&m& +4 "core" & I b + .tElbow.seek 4 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +4 "core" & $ b + "storage"( & +4 "core" &,r e\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&t', +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(?'X +8 "core" & b +2 "manipulator"&y% +4 "core" % $  M + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +82 "Can"\ XV +80 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&c& +4 "core" &u . 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 "manipulator"&h& +4 "core" &u  C +2 "manipulator"&% +3 "core" % B +2 "processing"%r& +4 "core" &"\ +2 "processing"%:& +5 "core" &&\ +2 .tPC.seek :closed + "processing"%l(Z +5 "core" &+\  +9 &13\ *x +10 &c'\ > +9 &tx#\ N +9 &8Y(\ M +10 &]*\ M +9 &\\2\ M +10 &}Y.\ M +12 &?W4\ M +11 &Z-\ M +5 &\\$\ N +9 & X.\ M +9 &"G]2\ M +10 &$W/\ N +9 &%Z'\ N +10 &'\\.\ N +9 &)NZ \ N +9 &+Z*\ N +10 &,[7\ M +9 &.[/\ N +9 &0VZ3\ N +10 &2Z$\ N +9 &3Y\ M +10 &5W"\ M +9 &7^Z(\ N +9 &9!Z'\ M +10 &:V#\ M +9 &<W\ M +9 &>g\\!\ M +10 &@(\\#\ N +9 &AY+\ M +10 &CZ\ M +9 &Em_!\ N +9 &G*m!\ P +10 &H\ R +9 &J\ S +9 &Le \ S +10 &N'#\ S +9 &O!\ S +10 &Q\ T +9 &Sk"\ T +9 &U.!\ T +10 &V\ T +9 &X \ U +9 &Z^!\ #k +10 &Z[\ - +8 ( +4 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&\ 1 +4 "core" &Z\ ) +53 1 +2 "manipulator"&% +4 "core" %  Z B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +89 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  T  +2 "storage"(,% +3 "core" %a E\ +2 "storage"(. +3 "core" .(,l + "storage"(4& +4 "core" &,r y\ +2 "storage"(A& +4 "manipulator"&@& +4 "core" &,r [\ + &u  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Y'i + "manipulator"&$(s +5 "core" ( +2 "manipulator"&& +4 "core" &u   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u > +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&x/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +3 "storage"(=- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'y +46 "core" ' +294 ( + "storage"(#& +4 "core" &,r Q\ +2 "manipulator"&0& +3 "core" &u  h +2 "manipulator"&1% +3 "core" %   6 +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&-( +268 "core" ( +2 "manipulator"&)& +4 "core" &  +  +2 "storage"(& +4 "core" &,r Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +105 "core" ' +2 .tHand.open + "manipulator"&B1 +57 "core" 1 +2 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(/' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(S& +4 "core" &,r { 3\ + "manipulator"&E& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&X& +3 "core" &  ]  +2 "storage"(L& +4 "core" &,r v w c\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +56 "core" ' + "manipulator"&5& +5 "core" &   + "storage"(<& +4 "core" &,r\ \  7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&W' +32 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +27 "core" ' +2 "manipulator"&% +5 "core" % C + "storage"(2& +4 "core" &,r \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&6'@ +20 "core" ' + "manipulator"&k& +5 "core" &  q  + "storage"("& +5 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&K'Ѽ +24 "core" ' +2 "storage"(7% +4 "core" %n\ \  h\ +3 ."downElevator"SE.seek :down +4 "storage"(e'X +99 (!% +2 "core" %L \ Xf +2 "manipulator"&G% +5 "core" %ѣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +53 "manipulator"&D'\ +94 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" &,r \ a\ +2 "collection"'z& +4 "core" &Vj \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ %   G + "storage"(>% +5 "core" %c r\  + "storage"(T. +3 "core" .(,l +2 "storage"(P& +4 "core" &,r \ + "storage"(g& +4 "core" &,r {\ +2 "manipulator"&[& +4 "core" &  +  + .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&b& +4 "core" & "   + "storage"(H& +5 "core" &,r k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&M'Ѽ +87 "core" ' +3 "storage"(& +5 "core" &,r\ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +279 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" &   +2 "storage"(O& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&U' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'U +27 "core" ' +2 "manipulator"&o% +4 "core" %  + "storage"(p& +4 "core" &,r [\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&*'; +14 "core" ' + "manipulator"&s& +4 "core" & ;  +2 "storage"(+& +4 "core" &,r\  5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&{'Ѽ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'D +38 "core" ' +2 "manipulator"&'& +5 "core" &   + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +166 "core" ( +2 "manipulator"&]& +4 "core" &( ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &( W ?V +3 .tForearm.seek CC + "manipulator"&u'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(\\& +4 "core" &,r\ &\ ' I\ + "storage"(& +4 "core" &,r\ '\ & s\ +2 "manipulator"&& +3 "core" &( V ?U +2 "manipulator"&q% +3 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&v( +160 "core" ( +2 "manipulator"&& +4 "core" & ( 2 ~ + "storage"(w& +5 "core" &,r\ D\ H R\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&m' +104 "core" ' + .tElbow.hold +2 "manipulator"&, +12 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  $ H J +2 "storage"(%& +4 "core" &,r\ $\ % .\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&y'@ +19 "core" ' + "manipulator"&(& +5 "core" &  d ~ + "storage"(^& +4 "core" &,r\ ;\ : '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&`'Ѽ +34 "core" ' +2 "storage"(t% +4 "core" %J\ =\ " b\ +2 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (% +3 "core" %H\ 7\ I W\ Vb +2 "manipulator"&_% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +90 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &;\ +2 "manipulator"&r% +4 "core" %\   + "storage"(?% +4 "core" %R\ <\ < 7\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(J(<* +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" &<) \ p\  +2 "manipulator"&& +4 "core" & d ~ + .tElbow.seek 5 +2 "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" & (  u +2 "storage"(,& +4 "core" &<%\ H\ F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +92 "core" ' + "storage"(4& +4 "core" &<% \ - V\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'i +286 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &<%\ A\ - \  +2 "manipulator"&& +4 "core" &  u +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & $ | u +2 "storage"(x& +4 "core" &<%\ C\ M [\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&=' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(l'X +8 "core" & y u + "manipulator"&Y% +4 "core" %   * +2 .tForearm.seek :retract +2 "manipulator"&#'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&1& +4 "core" &* 9 ^ Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ 1 Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'" +97 "core" ' + "manipulator"&& +5 "core" &+ 2 q Ab + "manipulator"&$% +4 "core" %# | +2 "collection"'B& +4 "core" &o\ +2 "collection"'&& +5 "core" &t\ +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" &A\  +8 &1D\ *x +10 &d4\ > +9 &ru7\ N +9 &6V8\ M +10 &Y?\ L +9 &W>\ M +10 &|[:\ M +9 &>Z7\ M +9 &W8\ M +10 &U7\ L +9 & Z7\ L +9 &"GY7\ L +10 &$Y8\ M +9 &%]7\ M +10 &'[7\ M +9 &)MY6\ M +9 &+V7\ M +10 &,V2\ M +9 &.[7\ L +9 &0VW)\ M +10 &2V6\ M +9 &3V8\ L +10 &5W6\ L +9 &7^Z7\ M +9 &9Y7\ M +10 &:Y6\ L +9 &<Z4\ M +9 &>gV6\ L +10 &@(X5\ M +9 &A\\6\ M +10 &C])\ M +9 &Ekc2\ N +9 &G'm3\ P +10 &H1\ R +9 &J%\ W +9 &LU+\ X +10 &N+\ X +9 &O-\ Y +9 &Q-\ Y +10 &SV)\ Z +9 &U*\ [ +10 &VfD'\ 1 +9 &Vv\ J +5 ( +2 "collection"'&& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open + "manipulator"&S1 +4 "core" &Vj\ J +49 1 + "manipulator"&E% +5 "core" % # 1 _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%L& +4 "core" &.\ +2 "manipulator"&I% +4 "core" %\    +2 "storage"(5% +4 "core" %a \ +2 "storage"(<. +3 "core" .(<* +2 "storage"(9& +3 "core" &<% \  +2 "storage"(& +4 "core" &<% \  + "manipulator"&2& +4 "core" &* A` +2 "manipulator"&R% +4 "core" %\  8  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&k( +161 "core" ( +2 "manipulator"&"& +4 "core" &  B +2 "storage"(7& +3 "core" &<%\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 5 + 700 counts +3 "manipulator"&-'ы +95 "core" ' +2 "storage"(N& +4 "core" &<%\ '\ \ y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +284 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &<% "\  +2 "manipulator"&;& +3 "core" &  B +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&.& +3 "core" &   B +2 "storage"(W& +4 "core" &<%\ \  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&6' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& + "storage"( 'X +7 "core" & B + "manipulator"&>% +5 "core" %  t +2 .tForearm.seek :retract + "manipulator"&T'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&P(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" &t 2 y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&[' +93 "core" ' +2 "manipulator"&b& +4 "core" &t  N +2 "manipulator"&H% +3 "core" %  ( 5 +2 "processing"%& +4 "core" &2\ +2 "processing"%K& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%e(Z +4 "core" &/\  +9 &1~4\ *y +10 &c<\ > +9 &ox1\ N +9 &4Y0\ M +10 &Z0\ N +9 &[6\ N +10 &xZ0\ N +9 &;Y7\ M +9 &[4\ M +10 &Z3\ N +9 & \\5\ M +9 &"B[5\ N +10 &$Y,\ N +9 &%Z0\ M +9 &'Y5\ M +10 &)K\\0\ M +9 &+ Y0\ N +10 &,Y3\ M +9 &.V3\ M +9 &0RZ/\ N +10 &2Z2\ M +9 &3W0\ M +9 &5Z4\ M +10 &7\\V/\ M +9 &9Y+\ N +10 &:X*\ M +9 &<\\$\ M +9 &>cZ*\ M +10 &@%]\ M +9 &AY$\ M +9 &CY*\ M +10 &Ei^$\ N +9 &G'm(\ O +10 &H$\ R +9 &J#\ T +9 &La"\ S +10 &N##\ S +9 &O"\ S +9 &Q"\ T +10 &Sg#\ T +9 &U((\ T +10 &V#\ T +9 &X \ T +9 &Z`$\ $n +10 &ZU#\ + +8 ( +4 "processing"%K& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&81 +3 "core" &Z"\ ( +51 1 +2 "manipulator"&D% +4 "core" %  5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n'\ +100 "core" ' +2 "processing"%a& +4 "core" &Z#\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&O% +4 "core" %\ % n E + "storage"(Q% +4 "core" %b \ + "storage"(o. +3 "core" .(<* +2 "storage"(p& +3 "core" &<% i\  +3 "storage"(s& +2 "manipulator"&+& +6 "core" &<% \  +2 &t a +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&'(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( + "manipulator"&M& +5 "core" &t 9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &t  +2 .tForearm.seek PC +2 "manipulator"&Z' +97 "core" ' + .tHand.close + "manipulator"&U/ +65 "core" / +2 .tPC.seek :open +2 "processing"%*( +80 "core" ' +2 "storage"(f- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'y +35 "core" ' +307 ( + "storage"(& +4 "core" &<% 3\  +2 "manipulator"&{& +4 "core" &t  K + "manipulator"&i% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +269 "core" ( +2 "manipulator"&j& +4 "core" & # ~  + "storage"(\\& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +87 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(& +4 "core" &<% (\  + "manipulator"& & +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" &  n  + "storage"((& +5 "core" &<% 4\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&^'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +58 "core" ' + "manipulator"&}& +4 "core" &   +2 "storage"(& +4 "core" &<%\ c\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&_' +35 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +24 "core" ' + "manipulator"&y% +5 "core" % ^ + "storage"(& +4 "core" &<% '\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 309 counts +2 "manipulator"&r' +19 "core" ' +2 "manipulator"&?& +4 "core" &  ?  +2 "storage"(& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +40 "core" ' + "storage"(`% +5 "core" %r\ \ \ & q\ +2 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (|% +3 "core" %nN ?\ Xg +2 "manipulator"&\ % +4 "core" %ш  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<%\ \  \  +2 "collection"',& +3 "core" &Vi#\ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&4% +5 "core" %\   + "storage"(% +4 "core" %a\ \  .\ + "storage"(h. +4 "core" .(<* + "storage"(A& +4 "core" &<%\ \  )\  +2 "storage"(:& +4 "core" &<%\ \  9\  + "manipulator"&& +4 "core" & M  +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&x& +3 "core" & $  +2 "storage"(& +4 "core" &<%\ \  !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&~'ы +91 "core" ' +2 "storage"(Y& +4 "core" &<%\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&1& +4 "core" &   + "storage"(& +4 "core" &<% !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&@' +35 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"($'U +31 "core" ' +2 "manipulator"&B% +4 "core" %~ M J + "storage"(& +5 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&l' +17 "core" ' + "manipulator"&#& +4 "core" &  =  +2 "storage"(& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts + "manipulator"&S'ы +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'D +40 "core" ' +2 "manipulator"&L& +4 "core" &   +2 "manipulator"&I% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +169 "core" ( +2 "manipulator"&9& +4 "core" &1  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &0 < F +2 .tForearm.seek CC +2 "manipulator"&2'" +95 "core" ' +2 .tHand.close + "manipulator"&&/ +54 "core" / + .tCC.seek :open +2 "collection"'R( +416 "core" ( +2 "storage"()& +4 "core" &<%\ \  \  + "storage"("& +4 "core" &<%\ \  \  + "manipulator"&7& +5 "core" &0 [ E} + "manipulator"&0% +4 "core" % % a +2 .tForearm.seek :retract + "manipulator"&N'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&X( +163 "core" ( + "manipulator"&!& +4 "core" &  6 ` +2 "storage"(G& +4 "core" &<%\ C\ 5 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&;' +107 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&W1 +61 "core" 1 +2 "manipulator"&V% +4 "core" %  i +2 "storage"(z& +5 "core" &<%\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&>'\ +13 "core" ' + "manipulator"&k& +5 "core" & ` + "storage"(-& +4 "core" &<%\ P\ P B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&/'ы +33 "core" ' +2 "storage"(6% +4 "core" %L\ + \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (g% +3 "core" %I\ $\ $ N\ Vb +2 "manipulator"&C% +4 "core" %щ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'H& +5 "core" &D\ + "manipulator"&% +4 "core" %\    +2 "storage"( % +3 "core" %a\ ! z w\ +2 "storage"(T. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &K\ \  B\  +2 "manipulator"&D& +4 "core" &  x ` + .tElbow.seek 6 +2 "manipulator"&a( +34 "core" ( +2 "manipulator"&O& +4 "core" & # ] % + "storage"(Q& +4 "core" &K\ J\ H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&o'a +102 "core" ' +2 "storage"(p& +4 "core" &K \ + -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +282 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" &K\ \ !\  +2 "manipulator"&M& +3 "core" &#  m +2 .tElbow.seek 6 +2 "manipulator"&F( +24 "core" ( +2 "manipulator"&[& +4 "core" &  c  +2 "storage"(U& +3 "core" &K\ C\ H\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&f' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(e'X +7 "core" &  + "manipulator"& % +5 "core" %  . +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&i& +5 "core" &* ? k Ad + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &+ d Ad +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&j'" +97 "core" ' +3 "manipulator"&\\& +4 "core" &+ O Ac +2 "manipulator"&'% +4 "core" %'  + "collection"'& +5 "core" &G\ +2 "collection"'q& +5 "core" &s\ +2 .tCC.seek :closed + "collection"'u(V +5 "core" &F\  +8 &0~A\ *y +10 &d:\ > +9 &ws9\ M +9 &;UF\ L +10 &\\@\ M +9 &Z@\ M +9 &Z@\ L +10 &CX=\ L +9 &XG\ L +10 &[B\ M +9 & VF\ L +9 &"JXF\ M +10 &$ ZE\ M +9 &%\\B\ L +9 &'V;\ M +10 &)SY;\ L +9 &+Z@\ M +10 &,W6\ M +9 &.U7\ L +9 &0[Z:\ L +10 &2W8\ L +9 &3[6\ L +9 &5U6\ M +10 &7cY3\ L +9 &9%Z6\ L +9 &:\\7\ M +10 &<X4\ M +9 &>k[7\ L +10 &@,Z7\ M +9 &AZ6\ M +9 &C]4\ M +10 &Eq`0\ M +9 &G.k*\ O +10 &H~1\ Q +9 &J6\ V +9 &L[6\ W +10 &N3\ X +9 &O5\ Y +9 &Q6\ Y +10 &S\\6\ Z +9 &U6\ Z +9 &VhB,\ 1 +10 &Vv.\ L +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&1 +3 "core" &Vd/\ L +50 1 +2 "manipulator"& % +4 "core" % ' J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%(& +4 "core" &.\ +2 "manipulator"&% +4 "core" %\ # s @ + "storage"(}% +4 "core" %T T\ + "storage"(. +4 "core" .(K + "storage"(]& +4 "core" &K \  +2 "storage"(y& +3 "core" &K /\  +2 "manipulator"&& +4 "core" &* : Ac + "manipulator"&% +4 "core" %\ # N @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&?( +150 "core" ( + "manipulator"&& +4 "core" &  ?  +2 "storage"(`& +4 "core" &K\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +87 "core" ' + "storage"(& +5 "core" &K\ \ $ _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +285 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" &K X\  +2 "manipulator"&^& +4 "core" & C  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&t& +5 "core" &  s  + "storage"(_& +4 "core" &K \ \ j\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&r' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(4'X +7 "core" &   + "manipulator"&% +4 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&m& +4 "core" &l ! ` + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +4 "core" &l  A + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&x& +5 "core" &l e + + "manipulator"&% +4 "core" % +2 "processing"% & +4 "core" &,\ +2 "processing"%Y& +4 "core" &2\ +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &0\  +8 &14\ *x +10 &c3\ > +9 &rx3\ N +9 &6Y2\ M +10 &\\2\ M +9 &\\8\ M +10 &|\\3\ M +9 &>[:\ M +60 &X2\ M +4 &X8\ N +3 & \\/\ M + &"F\\1\ M +2 &$Z1\ M + &%\\0\ M +3 &'^2\ N +2 &)NZ7\ M +8 &+W1\ M +10 &,W2\ M +9 &.W1\ M +9 &0VY0\ M +10 &2W0\ M +9 &3W0\ M +10 &5\\1\ M +9 &7^Z3\ M +9 &9Y2\ N +10 &:Y4\ M +9 &<W*\ M +9 &>eZ3\ N +10 &@([!\ M +9 &A\\#\ M +10 &C]-\ N +9 &Em`3\ N +9 &G)p0\ P +10 &H%\ S +9 &J"\ S +9 &Ld-\ S +10 &N&$\ S +9 &O+\ S +10 &Q%\ S +9 &Sk#\ T +9 &U,$\ T +10 &V#\ T +9 &X"\ T +9 &Z`-\ $n +10 &Z_$\ 0 +8 ( +4 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&v1 +4 "core" &Z "\ + +57 1 + "manipulator"&% +4 "core" % 3 u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "processing"%1& +4 "core" &Z #\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\  < 8 + "storage"(% +4 "core" %_ R\ +2 "storage"(B. +3 "core" .(K + "storage"(& +4 "core" &K =\  +2 "storage"(#& +5 "manipulator"&& +4 "core" &K e\  + &l \ + +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(L'i + "manipulator"&I(s +5 "core" ( +2 "manipulator"&~& +4 "core" &l / + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &l + +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&@/ +63 "core" / +2 .tPC.seek :open +2 "processing"%l( +84 "core" ' + "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'y +41 "core" ' +298 ( +2 "storage"(& +4 "core" &K\ \  0\  + "manipulator"&S& +4 "core" &l k + +2 "manipulator"&=% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&5( +269 "core" ( + "manipulator"&3& +4 "core" & $ R  +2 "storage"()& +4 "core" &K \  &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&"'a +99 "core" ' +2 .tHand.open + "manipulator"&71 +62 "core" 1 +2 "storage"(0- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(G' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +4 "core" -' + "storage"(<& +4 "core" &K \  +2 "manipulator"&W& +4 "core" & (  + .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&z& +4 "core" &  B  + "storage"(k& +4 "core" &K U\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&-'a +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +59 "core" ' + "manipulator"&N& +5 "core" &   + "storage"(g& +4 "core" &K e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&C'Υ +19 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(;'i +25 "core" ' + "manipulator"&>% +5 "core" %η  + "storage"(H& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"& & +4 "core" & ! M  +2 "storage"(T& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +23 "core" ' + "storage"(/% +5 "core" %r\ \  %\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (J% +3 "core" %L e\ Xf +2 "manipulator"&8% +4 "core" %~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K\ \  ]\  + "collection"'Q& +4 "core" &VdQ\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&p% +4 "core" %\  n  + "storage"(.% +4 "core" %S\ \ \ +2 "storage"(b. +3 "core" .(K +2 "storage"(+& +4 "core" &K\ \  :\  + "storage"(K& +4 "core" &K\ \  #\  +2 "manipulator"&M& +4 "core" & y  + .tElbow.seek 6 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&U& +4 "core" & & y  + "storage"(P& +5 "core" &K\ \  =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&n'a +96 "core" ' + "storage"( & +5 "core" &K\ \  <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +294 "core" ' +2 "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&i& +3 "core" &  +2 "storage"(Z& +3 "core" &K b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'Υ +28 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(''Y +31 "core" ' +2 "manipulator"&% +4 "core" %η J + "storage"(F& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&e' +12 "core" ' +2 "manipulator"&& +4 "core" & c  +2 "storage"(R& +4 "core" &K\ \  (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +20 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"( 'H +40 "core" ' +2 "manipulator"&(& +4 "core" & =  +2 "manipulator"&% +4 "core" %h o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +169 "core" ( +2 "manipulator"&]& +5 "core" &- # Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &- f Cs +2 .tForearm.seek CC +2 "manipulator"&q'" +92 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(j& +5 "core" &K\ \  7\  + "storage"(& +4 "core" &K\ \  \  + "manipulator"&`& +4 "core" &- X Cs + "manipulator"&% +5 "core" % 2 ? + .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&%( +154 "core" ( + "manipulator"&|& +5 "core" & & y  + "storage"(\ & +4 "core" &K\ H\ I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&^'Υ +106 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&_1 +60 "core" 1 +3 "manipulator"&% +4 "core" % η G + "storage"(,& +4 "core" &K\ \  2\  +2 .tForearm.force -20 + "manipulator"&5 +53 .tForearm.seek 6 + 318 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&?& +5 "core" &   + "storage"(d& +4 "core" &K }\ - /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&w'a +33 "core" ' + "storage"(r% +5 "core" %M\ - } 6\ +2 ."downElevator"SE.seek :down +3 "storage"(m'X +99 (:% +3 "core" %I\ J\ I %\ Va +2 "manipulator"&% +4 "core" %4 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &z\ +2 "manipulator"& % +4 "core" %\    +2 "storage"(4% +4 "core" %`\ - | R\ + "storage"(h. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(*(,l +655 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (v& +2 "core" &,n\ \  ^\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&1( +14 "core" ( + "manipulator"&& +5 "core" &  \\ p + "storage"(& +4 "core" &,r\ P\ P D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +94 "core" ' +2 "storage"(Y& +4 "core" &,r }\  Y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (#& +3 "core" &,r\ \ 4 :\ +2 "manipulator"&~& +4 "core" &  p +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & % p +2 "storage"(@& +4 "core" &,r\ M\ P 3\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&$', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(c'X +7 "core" & / p + "manipulator"&L% +4 "core" % .  T +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&=& +5 "core" &+ A } Ab + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &*  Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'" +100 "core" ' +2 "manipulator"&)& +4 "core" &+ < Ab +2 "manipulator"&I% +4 "core" %# b +2 "collection"'7& +5 "core" &\ +2 "collection"'0& +4 "core" &R\ +2 .tCC.seek :closed +2 "collection"'2(V +4 "core" &S\ +8 & -[\ $c +9 &UR\ 7 +10 &|O\ L +9 &WR\ L +9 &g\\O\ M +10 &*YQ\ L +9 &WN\ L +10 &WR\ M +9 &oYN\ M +9 &2VO\ L +10 &YI\ L +9 &!YB\ L +9 &#xY:\ L +10 &%:X;\ L +9 &&X9\ L +10 &(Y@\ M +9 &*YB\ M +9 &,AV>\ M +10 &.U;\ L +9 &/WD\ L +9 &1Y@\ L +10 &3IU@\ M +9 &5 Y>\ M +10 &6XD\ M +9 &8T9\ L +9 &:RW/\ L +10 &<Y8\ M +9 &=V1\ M +9 &?Z7\ M +10 &AXY4\ M +9 &CY0\ L +10 &D`6\ M +9 &Fh@\ O +9 &HT{7\ Q +10 &J 5\ V +9 &K6\ X +9 &M8\ X +10 &OE5\ Y +9 &Q3\ Y +10 &R4\ Z +9 &T7\ Z +9 &V#t7\ / +10 &V(5\ U +9 ( +2 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&<1 +3 "core" &Vo6\ L +50 1 + "manipulator"&W% +4 "core" % " @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%k& +4 "core" &3\ + "manipulator"&&% +4 "core" %\  B  +2 "storage"(N% +4 "core" %S h\ + "storage"(g. +3 "core" .(,l +2 "storage"(>& +3 "core" &,r M\ +2 "storage"(9& +4 "core" &,r ]\ + "manipulator"&H& +4 "core" &* 0 Ab +2 "manipulator"& % +3 "core" %\  ~  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&!( +165 "core" ( + "manipulator"&T& +4 "core" & l O +2 "storage"(/& +4 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +93 "core" ' +2 "storage"("& +4 "core" &,r\ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +284 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &,r \ + "manipulator"&-& +4 "core" &  O +2 .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&6& +4 "core" &  O + "storage"(C& +4 "core" &,r q\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(p'X +7 "core" & { O +2 "manipulator"&.% +4 "core" % ' i # +2 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&+& +5 "core" &w 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &w /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M' +101 "core" ' + "manipulator"&U& +5 "core" &w % o  + "manipulator"&P% +5 "core" %  m + "processing"%E& +4 "core" &1\ +2 "processing"% & +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &3\ +6 &?4\ %f +10 &W3\ 8 +9 &{8\ L +9 &V8\ M +10 &w[3\ N +9 &9Y<\ N +9 &X3\ M +12 &U4\ M +7 &\\1\ M +10 &B[1\ M +9 & X<\ M +9 &!Z4\ M +10 &#[8\ M +9 &%IZ4\ N +10 &' Y:\ M +9 &(Z:\ M +9 &*Z8\ M +10 &,R]9\ M +9 &.[8\ N +9 &/Y8\ M +10 &1Y<\ N +9 &3ZY8\ M +10 &5Y8\ M +9 &6X9\ M +9 &8Y3\ M +10 &:b[6\ M +9 &<%Z1\ M +9 &=Y3\ M +10 &?U8\ M +9 &AjW3\ M +9 &C,\\8\ M +10 &D]8\ N +9 &Ff8\ O +10 &He|7\ R +9 &J#2\ S +9 &K7\ T +10 &M0\ S +9 &Oh5\ S +9 &Q*9\ S +10 &R8\ T +9 &T1\ T +10 &Vn5\ T +9 &X/3\ T +9 &Y{s0\ / +10 &Z(s/\ L +9 &Z#)\ . +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&X1 +55 "core" 1 +2 "manipulator"&D% +8 "core" % 0 : +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&o'\ +93 "core" ' +2 "processing"%i& +4 "core" &Z"\ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Z% +4 "core" %\  p  + "storage"(\\% +4 "core" %\\ |\ + "storage"(. +3 "core" .(,l +2 "storage"(F& +4 "core" &,r O\ +2 "storage"(& +3 "manipulator"&R& +5 "core" &,r N\ + &w $  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&((s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&n& +4 "core" &w . j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &w (   +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +2 .tHand.close + "manipulator"&s/ +63 "core" / +3 .tPC.seek :open + "processing"%e( +82 "core" ' + "storage"('- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +52 ."raiseStack"SE.seek :place +4 "storage"(]'y +46 "core" ' +243 ( + "storage"(y& +5 "core" &,r j\ + "manipulator"&& +4 "core" &w  T  + "manipulator"&f% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}( +255 "core" ( + "manipulator"&u& +4 "core" & * 6 # +2 "storage"(j& +4 "core" &,r x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +87 "core" ' + .tHand.open +2 "manipulator"&`1 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(|'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' + "storage"(& +4 "core" &,r  `\ +2 "manipulator"&_& +3 "core" &  # +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&,& +4 "core" & 1 # + "storage"(?& +4 "core" &,r ~\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +58 "core" ' + "manipulator"&r& +4 "core" &  # +2 "storage"(%& +4 "core" &,r m\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +22 "core" ' +2 "manipulator"&% +4 "core" % ^ +2 "storage"(& +4 "core" &,r 0\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"& '@ +19 "core" ' + "manipulator"&4& +5 "core" &   # + "storage"(h& +5 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +15 "core" ' + "storage"(w% +5 "core" %t \ M\ +2 ."downElevator"SE.seek :down +3 "storage"(m'X +99 (% +3 "core" %N $\ Xf +2 "manipulator"&v% +4 "core" %Ѵ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,r \ +2 "collection"'& +4 "core" &Vmf\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&Y% +4 "core" %\   +2 "storage"(t% +4 "core" %` \ + "storage"(x. +3 "core" .(,l +2 "storage"(& +3 "core" &,r \ +2 "storage"(#& +4 "core" &,r H\ + "manipulator"&~& +4 "core" &  # # +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +4 "core" &  Q # + "storage"(A& +4 "core" &,r E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +94 "core" ' +2 "storage"(L& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +280 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +2 "core" &  # +2 "storage"(& +4 "core" &,r \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +34 "core" ' +4 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'U +31 "core" ' + "manipulator"&I% +5 "core" %  + "storage"(7& +4 "core" &,r /\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&c'; +13 "core" ' +2 "manipulator"&& +4 "core" &  @ # +2 "storage"(& +3 "core" &,r C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&<'Ѽ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'D +40 "core" ' +2 "manipulator"&k& +4 "core" &  # +2 "manipulator"&&% +4 "core" %Ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +85 "core" ' +2 .tElbow.seek CC + "manipulator"&g( +169 "core" ( + "manipulator"&>& +4 "core" && 7 * =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" && =G +2 .tForearm.seek CC +2 "manipulator"&0'" +94 "core" ' +2 .tHand.close + "manipulator"&H/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(3& +4 "core" &,r\ #\  j\ +2 "storage"(T& +4 "core" &,r\ \  I\ + "manipulator"&/& +4 "core" &&  =G +2 "manipulator"&"% +4 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&S'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&z( +157 "core" ( +2 "manipulator"&J& +4 "core" &  + { + "storage"(8& +4 "core" &,r\ I\ I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&-' +103 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +59 "core" 1 +2 "manipulator"&O% +5 "core" %  ! m [ + "storage"(Q& +4 "core" &,r\ 0\ - %\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&.'@ +17 "core" ' +2 "manipulator"&!& +4 "core" &  O { +2 "storage"(5& +3 "core" &,r\ :\ < +\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +25 "core" ' + "storage"(% +9 "core" %G\ - | \ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (K% +3 "core" %J\ H\ 9 \ Wc +2 "manipulator"&V% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +5 "core" &x\ + "manipulator"&E% +4 "core" %\    +2 "storage"(p% +4 "core" %a\ . (\ + "storage"(;. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(l(<* +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &<(\ \  3\  + "manipulator"&D& +4 "core" &  { +2 .tElbow.seek 5 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&Z& +3 "core" & J { +2 "storage"(\\& +4 "core" &<%\ - z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +95 "core" ' + "storage"( & +4 "core" &<% L R S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &<%\ %\ $ F\  + "manipulator"&n& +4 "core" &  { +51 .tElbow.seek 5 +3 "manipulator"&[( +3 "core" ( + "manipulator"&M& +5 "core" &  | { + "storage"(s& +4 "core" &<%\ E\ P 0\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"('X +7 "core" & { +2 "manipulator"&y% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&f& +5 "core" &+ G 8 Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &+ Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'" +97 "core" ' +2 "manipulator"&j& +5 "core" &, \ Bg + "manipulator"&(% +5 "core" %* +2 "collection"'`& +4 "core" &\ +2 "collection"'& +4 "core" &\ +3 .tCC.seek :closed + "collection"'q(V +4 "core" &Z\  +9 &/{Q\ *y +10 &dS\ > +9 &yrO\ M +9 &=VO\ M +10 &[O\ L +9 &UI\ M +9 &YL\ L +10 &FWZ\ L +9 &ZU\ M +10 &ZR\ L +9 & UP\ M +9 &"MZQ\ M +10 &$ZK\ L +9 &%YQ\ L +9 &'ZI\ M +10 &)VYF\ L +9 &+X@\ L +10 &,Z<\ L +9 &.[<\ L +9 &0][=\ M +10 &2XF\ M +9 &3Y<\ M +9 &5U<\ L +10 &7eZ>\ M +9 &9(WB\ L +10 &:W;\ M +9 &<[=\ M +9 &>mZ<\ M +10 &@/XB\ M +9 &AYE\ M +9 &CYA\ M +10 &Eqa5\ N +9 &G/o8\ O +10 &H 7\ Q +9 &J-\ W +9 &L[3\ X +10 &N6\ X +9 &O8\ Y +9 &Q+\ Y +10 &S_6\ Z +9 &U7\ Z +10 &VkD0\ 1 +9 &Vv8\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&1 +3 "core" &Vc9\ K +56 1 +2 "manipulator"&_% +5 "core" % * / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%?& +4 "core" &1\ + "manipulator"&% +4 "core" %\ # E A +2 "storage"(r% +4 "core" %a \ + "storage"(%. +3 "core" .(<* +2 "storage"(& +4 "core" &<% i\  + "storage"(& +4 "core" &<% C\  + "manipulator"&]& +5 "core" &+ Bf + "manipulator"&4% +4 "core" %\ # A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&|( +160 "core" ( + "manipulator"&h& +5 "core" & $ H u + "storage"(w& +4 "core" &<%\ \  "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +109 "core" ' +2 "storage"(& +4 "core" &<%\ &\ & M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" &<% 4\  +2 "manipulator"&d& +4 "core" &  u +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&{& +3 "core" &  j u +2 "storage"(:& +4 "core" &<%\ \ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(Y'X +7 "core" & X u +2 "manipulator"&t% +4 "core" %   \ + .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" &q 0 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &q h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +91 "core" ' + "manipulator"&@& +5 "core" &q  T +2 "manipulator"&A% +3 "core" % v 5 +2 "processing"% & +4 "core" &@\ +2 "processing"%L& +5 "core" &4\ +2 .tPC.seek :closed +2 "processing"%m(Z +4 "core" &A\  +9 &3~8\ *y +9 &dD\ > +9 &x>\ N +10 &DZ6\ M +9 &\\?\ M +10 &Z7\ M +9 &Z:\ M +9 &LX1\ M +10 &[0\ M +9 &[5\ M +9 & Z4\ M +10 &"TZ7\ M +9 &$Y0\ M +10 &%Z2\ M +9 &'\\8\ N +9 &)]Y5\ M +10 &+Y7\ M +9 &,Y7\ M +9 &.Y5\ M +10 &0eZ5\ M +9 &2&Z<\ M +10 &3Y4\ M +9 &5Y0\ M +9 &7mY5\ M +10 &9/Y1\ M +9 &:Y=\ M +9 &<Z4\ M +10 &>vZ<\ M +9 &@8Z6\ M +10 &AW4\ M +9 &C\\5\ N +9 &E{\\6\ N +10 &G9m2\ O +9 &H3\ Q +9 &J0\ S +10 &Lu;\ R +9 &N62\ S +10 &O3\ S +9 &Q5\ S +9 &Sy3\ T +10 &U;)\ T +9 &V6\ T +9 &X2\ T +10 &Z%Vw3\ 'v +9 &Zb4\ 4 +9 ( +3 "processing"%L& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +3 "core" &Z0\ - +51 1 + "manipulator"&% +4 "core" %  - 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 "processing"%=& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\  e  + "storage"()% +4 "core" %S o\ + "storage"(I. +4 "core" .(<* + "storage"(7& +4 "core" &<% i\  +2 "storage"(& +4 "manipulator"&& +4 "core" &<% 8\  + &q +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&k(s + "storage"(&'i +5 "core" ( + "manipulator"&& +4 "core" &q 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &q  +2 .tForearm.seek PC +2 "manipulator"&1' +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%c( +91 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'y +43 "core" ' +287 ( + "storage"(9& +4 "core" &<% ]\  +2 "manipulator"&<& +3 "core" &q +2 "manipulator"&$% +4 "core" % {  +2 .tForearm.seek :retract + "manipulator"&H'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +266 "core" ( +2 "manipulator"&2& +4 "core" & $  +2 "storage"(3& +3 "core" &<% C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&T'ы +91 "core" ' +2 .tHand.open + "manipulator"&/1 +57 "core" 1 +2 "storage"("- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(g& +4 "core" &<% r\  + "manipulator"&C& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&O( +8 "core" ( + "manipulator"&Q& +5 "core" & & / y + "storage"(!& +4 "core" &<% x \  +3 .tForearm.seek 5 + 700 counts + "manipulator"&5'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&S& +4 "core" &  y +2 "storage"(K& +3 "core" &<%\ \  "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V' +34 "core" ' +2 .tElbow.hold +51 "manipulator"&z, +5 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +25 "core" ' +2 "manipulator"&P% +4 "core" %  [ + "storage"(.& +5 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&E' +20 "core" ' +2 "manipulator"&p& +4 "core" & f z +2 "storage"(;& +4 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +20 "core" ' + "storage"(G% +5 "core" %r\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (*% +3 "core" %J Q\ Xf +2 "manipulator"&X% +4 "core" %т  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +2 "core" &<% a\  +2 "collection"'\\& +4 "core" &Vco\ K +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +3 "core" %\ %  C +2 "storage"(6% +4 "core" %b\ \  \ + "storage"(U. +3 "core" .(<* +2 "storage"(& +4 "core" &<%\ \  \  + "storage"(R& +4 "core" &<%\ \  a\  +2 "manipulator"&n& +3 "core" &  z +2 .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&s& +5 "core" & $ z + "storage"(b& +4 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&o'ы +101 "core" ' + "storage"(y& +5 "core" &<%\ &\ & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +2 "core" & _ z +2 "storage"(a& +4 "core" &<%\ \ \  W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&F' +35 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(j- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['U +27 "core" ' +2 "manipulator"&(% +4 "core" %~ E + "storage"(`& +4 "core" &<% m\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&'\ +18 "core" ' +2 "manipulator"&& +4 "core" &  { +2 "storage"( & +4 "core" &<%\ \  7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'D +38 "core" ' +2 "manipulator"&?& +5 "core" & { { + "manipulator"&% +5 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +161 "core" ( +2 "manipulator"&& +4 "core" &'   >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' + >N +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&]/ +58 "core" / +2 .tCC.seek :open +2 "collection"'4( +416 "core" ( + "storage"(u& +4 "core" &<%\ %\ $ a\  +2 "storage"(h& +4 "core" &<%\ 0\ ' `\  + "manipulator"&w& +4 "core" &' >L + "manipulator"&% +4 "core" % % ( L +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +163 "core" ( +2 "manipulator"&& +4 "core" & $ c +2 "storage"(v& +4 "core" &<%\ <\ ; \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&d' +107 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +55 "core" 1 +2 "manipulator"& % +4 "core" %  F +2 "storage"(& +4 "core" &<%\ \ e\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&t' +18 "core" ' +2 "manipulator"&|& +4 "core" &  K c +2 "storage"(}& +4 "core" &<%\ P\ P 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ 'ы +21 "core" ' +2 "storage"(% +4 "core" %N \ - \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (#% +3 "core" %H\ D\ G\ Vb +2 "manipulator"&% +4 "core" %n * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +85 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'A& +4 "core" &L\ +2 "manipulator"& % +4 "core" %\    + "storage"(Y% +4 "core" %a\ - } U\ +2 "storage"(x. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(e(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K\ \ \  +2 "manipulator"&& +3 "core" & Q c +2 .tElbow.seek 6 +2 "manipulator"&=( +44 "core" ( + "manipulator"&& +4 "core" & $ ] j +2 "storage"()& +3 "core" &K\ C\ C I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&I'a +99 "core" ' +2 "storage"(7& +4 "core" &K\ + \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" &K\ /\ # L\  +2 "manipulator"&& +3 "core" &  h +2 .tElbow.seek 6 +2 "manipulator"&( +32 "core" ( + "manipulator"&~& +4 "core" &\  R [ +2 "storage"(& +4 "core" &K\ I\ J I\  +2 .tForearm.seek 6 + 300 counts + "manipulator"& ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(m'X +7 "core" &\ s [ +2 "manipulator"&&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&$& +4 "core" &' < J >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &'  >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'" +103 "core" ' +2 "manipulator"&3& +5 "core" &'  } >N + "manipulator"&k% +4 "core" % 3 [ +2 "collection"'/& +4 "core" &\ +2 "collection"'"& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" &`\ +8 &5a\ #b +9 &V~S\ 7 +9 &}\\\ L +10 &W^\ M +9 &fZ_\ M +9 &)U_\ L +10 &ZK\ M +9 &YX\ M +10 &oZJ\ L +9 &0[M\ M +9 &YU\ M +10 &!VM\ L +9 &#wYN\ L +9 &%8[O\ M +10 &&YB\ M +9 &(TF\ L +10 &*YD\ L +9 &,AW?\ L +9 &.UG\ L +10 &/WM\ L +9 &1ZG\ M +9 &3HW<\ M +10 &5 Y=\ L +9 &6X9\ M +10 &8W;\ M +9 &:PX@\ M +9 &<VA\ L +10 &=W:\ L +9 &?ZB\ L +9 &AYU<\ L +10 &CW>\ L +9 &D];\ M +10 &Fh9\ N +9 &HVw;\ P +9 &J 8\ U +10 &K?\ X +9 &M>\ X +9 &OF9\ X +10 &Q>\ X +9 &RC\ Z +10 &T;\ Z +9 &V#u=\ . +9 &V(@\ S +9 ( +52 &VmF\ K +5 &VnD\ K +2 &Vn7\ K +2 &Vn C\ K +5 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&g1 +4 "core" &VnF\ K + &VnH\ K + &VnD\ K + &VnE\ K +49 1 +2 "manipulator"&C% +4 "core" %  j Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%!& +4 "core" &9\ + "manipulator"&H% +4 "core" %\   F  +2 "storage"(S% +4 "core" %S ?\ + "storage"(K. +3 "core" .(K +2 "storage"(>& +4 "core" &K \  + "storage"(J& +4 "core" &K p\  + "manipulator"&P& +5 "core" && >N + "manipulator"&.% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&p( +161 "core" ( + "manipulator"&;& +5 "core" &  e j + "storage"(N& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&T'a +91 "core" ' +3 "storage"(G& +4 "core" &K\ \  -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'i +286 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +3 "core" &K \  +2 "manipulator"&X& +3 "core" &  j +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( + "manipulator"&& +4 "core" &  [ j + "storage"(V& +4 "core" &K\ _\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&E' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +3 "storage"( 'X +8 "core" & d j + "manipulator"&6% +4 "core" %  s +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&U(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" &k ' A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &k c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +94 "core" ' + "manipulator"&s& +5 "core" &k u + "manipulator"&b% +5 "core" % Q = + "processing"%W& +4 "core" &4\ +2 "processing"%y& +5 "core" &B\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &D\ +7 &@E\ $e +10 &U}E\ 7 +9 &}@\ L +9 &Y4\ M +10 &n[9\ M +9 &1W;\ M +9 &Z6\ M +10 &Y7\ M +9 &vW3\ M +10 &7Z5\ N +9 &Z/\ N +9 &!X,\ M +10 &#~[.\ M +9 &%?Z5\ N +9 &'X)\ M +10 &(Z*\ N +9 &*Y5\ M +10 &,GZ/\ N +9 &.\ Z2\ M +9 &/U5\ M +10 &1X3\ N +9 &3QY.\ M +9 &5Y2\ N +10 &6Z2\ M +9 &8\\2\ M +10 &:XY2\ M +9 &<Y8\ N +9 &=W7\ M +10 &?X3\ M +9 &AaU2\ M +9 &C![2\ N +10 &D\\2\ N +9 &Fj7\ O +10 &H[}7\ R +9 &J3\ S +9 &K3\ S +10 &M-\ S +9 &O^3\ S +9 &Q 2\ S +10 &R,\ T +9 &T2\ T +10 &Vc3\ T +9 &X$3\ U +9 &Y{q/\ 2 +10 &Z*x4\ J +9 &Z4\ , +2 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&z1 +62 "core" 1 + "manipulator"&D% +4 "core" % B = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 "processing"%f& +4 "core" &Z"\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&a% +4 "core" %\  \ 4 +2 "storage"(j% +3 "core" %] 5\ +2 "storage"((. +3 "core" .(K + "storage"(`& +4 "core" &K G\  +2 "storage"(& +4 "manipulator"& & +4 "core" &K H\  + &k * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&?(s + "storage"('i +5 "core" ( +2 "manipulator"&o& +3 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&i' +96 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +2 .tPC.seek :open + "processing"%( +90 "core" ' +2 "storage"([- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +289 ( + "storage"(& +4 "core" &K }\  +2 "manipulator"&& +3 "core" &k v +2 "manipulator"&'% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&r( +291 "core" ( +2 "manipulator"&q& +4 "core" &  + M +2 "storage"(u& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&h'a +91 "core" ' +3 .tHand.open + "manipulator"&w1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(v' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(%& +4 "core" &K } \  + "manipulator"&:& +4 "core" &\ v M +2 .tElbow.seek 6 + "manipulator"& ( +25 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(|& +4 "core" &K ~ \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&}'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +62 "core" ' + "manipulator"&& +5 "core" &   + "storage"(#& +4 "core" &K n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'i +25 "core" ' + "manipulator"&A% +5 "core" %ε K + "storage"(t& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"& ' +12 "core" ' + "manipulator"&Y& +5 "core" & Z  + "storage"(x& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&_'a +44 "core" ' + "storage"(\ % +5 "core" %q\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (l% +3 "core" %aG \ Wd +2 "manipulator"&% +4 "core" %Ѥ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K\  S\  + "collection"')& +4 "core" &Vn|\ K +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&7% +3 "core" %\    +2 "storage"({% +4 "core" %[\ \ \ + "storage"(@. +4 "core" .(K + "storage"(& +4 "core" &K\ \  \  + "storage"(L& +4 "core" &K\ \  \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" &  f  +2 "storage"(^& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&B'a +97 "core" ' +2 "storage"(&& +4 "core" &K\ \ X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +55 .tSE.seek :beamBreak +2 "storage"(='i +283 "core" ' + "storage"(I- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +2 "core" &   +2 "storage"(1& +4 "core" &K J\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'Υ +28 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(k'Y +39 "core" ' + "manipulator"&% +5 "core" %ι  + "storage"(/& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&m' +12 "core" ' + "manipulator"&9& +5 "core" &   + "storage"(4& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&g'a +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(C'H +38 "core" ' +2 "manipulator"&!& +5 "core" &   + "manipulator"&H% +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +164 "core" ( + "manipulator"&>& +5 "core" &( * ) ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +2 "core" &( ?P +2 .tForearm.seek CC +2 "manipulator"&P'" +93 "core" ' + .tHand.close +2 "manipulator"&"/ +55 "core" / +2 .tCC.seek :open + "collection"'.( +416 "core" ( +2 "storage"(2& +4 "core" &K\ '\ & ,\  + "storage"(;& +4 "core" &K\ &\ % i\  +2 "manipulator"&N& +3 "core" &( - T ?P +2 "manipulator"&G% +4 "core" % )  + .tForearm.seek :retract +2 "manipulator"&<'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Q( +159 "core" ( +2 "manipulator"&5& +4 "core" & % d  +2 "storage"(*& +4 "core" &K\ P\ E 8\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&X'Υ +105 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&Z% +4 "core" % ζ 8 + "storage"(\\& +4 "core" &K\ \  ,\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&6' +18 "core" ' + "manipulator"&p& +4 "core" & @  +2 "storage"(T& +4 "core" &K\ P\ P =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&8'a +26 "core" ' +2 "storage"(E% +4 "core" %O\ M\ P c\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (R% +3 "core" %F\ &\ % l\ Wc +2 "manipulator"&O% +4 "core" %ѣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'b& +5 "core" &N\ + "manipulator"&W% +4 "core" %\    +2 "storage"( % +4 "core" %R\ , | n\ + "storage"(-. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(c(,l +658 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +2 "core" &,n\ \  B\ +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&f( +14 "core" ( +2 "manipulator"&a& +4 "core" &  H r + "storage"(j& +5 "core" &,r\ G\ > a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&('Ѽ +94 "core" ' +2 "storage"(`& +4 "core" &,r\ - } >\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'i +285 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r\ +\ B d\ +2 "manipulator"&o& +4 "core" &  r + .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( + "manipulator"&n& +4 "core" & n r +2 "storage"(F& +4 "core" &,r\ E\ P k\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&[', +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(+'X +7 "core" & o r +2 "manipulator"&% +4 "core" % 7 I +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&'& +5 "core" &- ? p Co + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &- Co +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'" +102 "core" ' + "manipulator"&u& +5 "core" &- 2 Co + "manipulator"&?% +4 "core" % h +2 "collection"'w& +4 "core" &\\\ +2 "collection"'& +6 "core" &Y\ +3 .tCC.seek :closed +3 "collection"'(V +3 "core" &[\ +5 &^\ 4 +9 &<H}Y\ 0 +10 &isY\ D +9 &`_\ L +9 &U`\ L +10 &Uc\ L +9 &VYa\ L +9 &V`\ M +10 &X\\\ M +9 &S`\ L +10 &]Zb\ M +9 &!W\\\ M +9 &"U[\ L +10 &$Y[\ L +9 &&eY]\ M +9 &('XZ\ M +10 &)WW\ M +9 &+UV\ L +10 &-nT]\ L +9 &//UP\ M +9 &0ZU\ L +10 &2UJ\ L +9 &4vU N\ L +10 &68UN\ L +9 &7TO\ L +9 &9TQ\ M +10 &;}UQ\ M +9 &=?UT\ M +9 &?YZ\ L +10 &@U[\ M +9 &BY O\ M +9 &DF]P\ M +10 &FgQ\ N +9 &GsW\ P +10 &IzT\ S +9 &K+Q\ Y +9 &LO\ X +10 &NQ\ Y +9 &PsM\ X +9 &R3Z\ Y +10 &SM\ Z +9 &UH\ G +10 &V1M\ + +9 &VlM\ J +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&%1 +57 "core" 1 +2 "manipulator"&:% +4 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &J\ + "manipulator"&|% +5 "core" %\ # e B + "storage"(% +4 "core" %_ \ + "storage"(#. +3 "core" .(,l +2 "storage"(& +3 "core" &,r _\ +2 "storage"(A& +4 "core" &,r R\ +2 "manipulator"&t& +4 "core" &- & Co + "manipulator"&% +4 "core" %\ # B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Y( +155 "core" ( +2 "manipulator"&x& +4 "core" & %  +2 "storage"(r& +3 "core" &,r \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +98 "core" ' + "storage"(h& +4 "core" &,r\ \ ]\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'i +284 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,r O\ + "manipulator"&}& +5 "core" & ]  + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +5 "core" &,r\ \  j\ +2 .tForearm.seek 4 + 300 counts + "manipulator"& ', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +54 "manipulator"&)& +3 "storage"(7'X +7 "core" &   +2 "manipulator"&{% +4 "core" % )   + .tForearm.seek :retract +2 "manipulator"&d'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&@(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&& +5 "core" &r ? :  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &r ~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +7 "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &r 0  +2 "manipulator"&^% +4 "core" % B 6 +2 "processing"%_& +4 "core" &I\ +2 "processing"%&& +5 "core" &L\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &U\ +7 &9I\ $d +9 &T{C\ 6 +10 &~J\ K +9 &ZF\ M +9 &ZZJ\ M +10 &WH\ M +9 &YE\ N +9 &YK\ M +10 &b]J\ M +9 &$ZE\ M +9 &XI\ M +10 &!ZE\ N +9 &#jZK\ M +10 &%,YJ\ M +9 &&Y5\ N +9 &(Y)\ M +10 &*rW4\ M +9 &,4\\A\ M +10 &-[A\ N +9 &/XB\ M +9 &1{Y=\ M +10 &3<YB\ M +9 &4YH\ N +9 &6Y:\ M +10 &8ZB\ M +9 &:D[B\ M +9 &<YG\ M +10 &=UG\ M +9 &?X>\ M +10 &AMUF\ M +9 &C]:\ M +9 &D]9\ N +10 &Ff.\ O +9 &HHz=\ Q +9 &JG\ S +10 &K=\ S +9 &M7\ S +10 &OJC\ S +9 &Q ;\ S +9 &R=\ T +10 &T9\ T +9 &VO:\ T +9 &X=\ U +10 &Y|qG\ 8 +9 &Z+y;\ N +10 &Z B\ , +2 ( +2 "processing"%&& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&,1 +56 "core" 1 +2 "manipulator"&% +4 "core" %  L 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 "processing"%$& +4 "core" &Z>\ , + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&1% +4 "core" %\ \  + "storage"(3% +4 "core" %a \  +2 "storage"(. +3 "core" .(,l + "storage"(/& +4 "core" &,r \ +2 "storage"(9& +5 "manipulator"&4& +4 "core" &,r \ + &r   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&!(s + "storage"(H'i +6 "core" ( + "manipulator"&B& +5 "core" &r   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &r U  +2 .tForearm.seek PC + "manipulator"&=' +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open + "processing"%m( +91 "core" ' +2 "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'y +42 "core" ' +289 ( + "storage"(J& +4 "core" &,r \ +2 "manipulator"&g& +4 "core" &r  }  + "manipulator"& % +4 "core" % {  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&S( +270 "core" ( + "manipulator"&0& +4 "core" & $ U  +2 "storage"(2& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +87 "core" ' + .tHand.open +2 "manipulator"&N1 +61 "core" 1 +2 "storage"(G- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(5'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(*' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' +2 "storage"(K& +4 "core" &,r +\ + "manipulator"&V& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&Z( +8 "core" ( +2 "manipulator"&\\& +4 "core" &  r  + "storage"(p& +5 "core" &,r ;\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&T'Ѽ +18 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +60 "core" ' +2 "manipulator"&<& +4 "core" &   + "storage"(R& +4 "core" &,r\ \  5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&O' +34 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(X'i +24 "core" ' + "manipulator"&b% +5 "core" % p + "storage"(6& +4 "core" &,r 4\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&W'@ +16 "core" ' +2 "manipulator"& & +4 "core" & 1  +2 "storage"(-& +4 "core" &,r\ \  S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&C'Ѽ +27 "core" ' +2 "storage"(8% +4 "core" %r\ \ & 2\  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (e% +3 "core" %SN \ Xe +2 "manipulator"&z% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &,r\ \ F\ + "collection"'j& +4 "core" &VjF\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&`% +3 "core" %\    +2 "storage"(% +4 "core" %b\ \ \ + "storage"(s. +3 "core" .(,l +2 "storage"( & +4 "core" &,r\ \  \ + "storage"(& +4 "core" &,r\ \  G\ +2 "manipulator"&o& +4 "core" & 1  + .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&F& +4 "core" & $  + "storage"(U& +4 "core" &,r\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +100 "core" ' +2 "storage"(& +4 "core" &,r\ \ ]\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +287 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &   +2 "storage"(i& +4 "core" &,r \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&y' +37 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(u- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'V +31 "core" ' + "manipulator"&?% +4 "core" %  Q b +2 "storage"(w& +3 "core" &,r g\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&+'> +14 "core" ' + "manipulator"&& +5 "core" & I  + "storage"(.& +4 "core" &,r\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&%'Ѽ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'E +38 "core" ' + "manipulator"&& +5 "core" & J  + "manipulator"&|% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +162 "core" ( +3 "manipulator"&& +4 "core" &* 2 \ @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &*  @Y +2 .tForearm.seek CC + "manipulator"&A'" +93 "core" ' +2 .tHand.close + "manipulator"&t/ +62 "core" / + .tCC.seek :open +51 "collection"'( +417 "core" ( + "storage"(q& +5 "core" &,r\ $\ # N\ + "storage"(x& +4 "core" &,r\ .\ ( \ + "manipulator"&r& +4 "core" &* @Y +2 "manipulator"&h% +4 "core" % ! ' )  +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&]( +157 "core" ( +2 "manipulator"&l& +4 "core" & % n  +2 "storage"(& +4 "core" &,r\ M\ P (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&}' +104 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   k C + "storage"()& +4 "core" &,r\ J\ I \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&{'? +19 "core" ' +2 "manipulator"&Y& +4 "core" &  r  + "storage"(\ & +5 "core" &,r\ >\ A P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&v'Ѽ +27 "core" ' +2 "storage"( % +4 "core" %O\ - } \ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (L% +3 "core" %G\ I\ H \ Wb +2 "manipulator"& % +4 "core" %Ѩ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'^& +4 "core" &\ +2 "manipulator"&_% +4 "core" %\ \   + "storage"(7% +4 "core" %S \ - E\ +2 "storage"(d. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +2 "core" &<'\ \ " [\  +2 "manipulator"&& +4 "core" & k  +2 .tElbow.seek 5 + "manipulator"&$( +13 "core" ( + "manipulator"&1& +4 "core" &  D U +2 "storage"(3& +4 "core" &<$\ . } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +95 "core" ' + "storage"(/& +5 "core" &<$\ - \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'i +282 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &<$\ F\ D \  +2 "manipulator"&B& +4 "core" &  U +2 .tElbow.seek 5 + "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" &  P U + "storage"(& +5 "core" &<$\ C\ M \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&k' +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"('X +7 "core" & L U + "manipulator"&H% +5 "core" % 1  + .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"& & +4 "core" &* D c @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &) # @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +101 "core" ' +2 "manipulator"&2& +4 "core" &* y @] +2 "manipulator"&!% +4 "core" % t +2 "collection"'N& +4 "core" &o\ +2 "collection"'G& +5 "core" &o\ +4 .tCC.seek :closed +2 "collection"'P(V +3 "core" &l\ +5 & ]\ 7 +10 &7H{Z\ 0 +9 &dsa\ E +9 & Z_\ M +10 &W`\ M +9 &V]\ M +9 &SXa\ L +10 &Va\ L +9 &We\ L +10 &Xc\ L +9 &ZZ\\\ M +9 &!Xb\ M +10 &"Xg\ M +9 &$V^\ L +9 &&cU`\ L +10 &(%Z[\ L +9 &)YZ\ L +10 &+Z_\ L +9 &-kT_\ L +9 &/,XZ\ M +10 &0W`\ L +9 &2U_\ L +9 &4sT^\ L +10 &65YZ\ L +9 &7TW\ L +10 &9X\\\ L +9 &;z\\ W\ M +9 &==ZF\ L +10 &>TM\ L +9 &@UN\ L +9 &BWM\ L +10 &DC^N\ M +9 &FgO\ N +10 &Gs J\ P +9 &IwO\ S +9 &K*R\ X +10 &LP\ Y +9 &NT\ X +9 &PoR\ Y +10 &R0Q\ Y +9 &SR\ [ +10 &UN\ G +9 &V1P\ - +9 &VqN\ M +3 ( + "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&K1 +57 "core" 1 +2 "manipulator"&V% +4 "core" %  = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\'\ +101 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%p& +4 "core" &O\ + "manipulator"&"% +4 "core" %\ \ J  +2 "storage"(<% +4 "core" %_ \ + "storage"(R. +3 "core" .(<* +2 "storage"(>& +4 "core" &<$ \  + "storage"(b& +4 "core" &<$ \  +2 "manipulator"&6& +3 "core" &) _ @] +2 "manipulator"&5% +4 "core" %\ \ P  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +158 "core" ( +2 "manipulator"&-& +4 "core" &  v w +2 "storage"(8& +4 "core" &<$\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +96 "core" ' +2 "storage"(;& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'i +283 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &<$ \  +2 "manipulator"&T& +3 "core" &  w +2 .tElbow.seek 5 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&E& +4 "core" & % ' w + "storage"(O& +4 "core" &<$ O\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(`'X +7 "core" & " w + "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&X'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&s(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( +3 "manipulator"& & +4 "core" &j C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j & L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +93 "core" ' +2 "manipulator"&F& +4 "core" &j  c +2 "manipulator"&U% +4 "core" % c " +2 "processing"%C& +3 "core" &W\ +3 "processing"%& +5 "core" &O\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &V\  +9 &4P\ *z +10 &eU\ ? +9 &uU\ N +9 &NWS\ M +10 &YR\ M +9 &YR\ N +9 &ZP\ M +10 &TYS\ N +9 &YQ\ M +10 &[T\ M +9 & YT\ M +9 &"]XL\ M +10 &$ YH\ M +9 &%YI\ M +9 &'[M\ N +10 &)eYP\ M +9 &+'UI\ M +10 &,ZN\ M +9 &.WJ\ N +9 &0mXQ\ M +10 &2/WM\ M +9 &3Y>\ N +9 &5Y:\ M +10 &7uY?\ M +9 &98U<\ M +9 &:WB\ M +10 &<U:\ M +9 &>|W>\ N +10 &@?ZE\ M +9 &BY;\ M +9 &CZ?\ N +10 &E^@\ N +9 &GAmF\ O +10 &HF\ R +9 &JF\ S +9 &L{A\ S +10 &N=F\ S +9 &OF\ T +9 &QE\ T +10 &SF\ T +9 &UCF\ T +9 &WF\ T +10 &XE\ T +9 &Z)RoF\ )y +10 &ZWG\ 2 +9 ( +2 "processing"%& +3 "core" &Z%E\ / +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&Q1 +53 "core" 1 +2 "manipulator"&D% +4 "core" % $  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +101 "core" ' + "processing"%'& +4 "core" &Z%G\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&i% +55 "core" %\    +2 "storage"(u% +4 "core" %b \ + "storage"(?. +3 "core" .(<* +2 "storage"(w& +3 "core" &<$ \  +2 "storage"(& +2 "manipulator"&.& +8 "core" &<$ \  + &j  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(|'i +5 "core" ( +2 "manipulator"&& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &j R +2 .tForearm.seek PC +2 "manipulator"&f' +94 "core" ' +2 .tHand.close + "manipulator"&y/ +63 "core" / +2 .tPC.seek :open +2 "processing"%+( +85 "core" ' + "storage"(M- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +31 "Can"{\ TR +13 "core" ' +293 ( + "storage"(& +4 "core" &<$ h\  +2 "manipulator"&%& +4 "core" &j { + "manipulator"&[% +4 "core" % T +2 .tForearm.seek :retract + "manipulator"&t'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +262 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 "storage"(q& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&x'ы +98 "core" ' + .tHand.open + "manipulator"&r1 +57 "core" 1 +2 "storage"(h- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' + "storage"(#& +4 "core" &<$ x { \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +8 "core" ( + "manipulator"&)& +4 "core" &  r | +2 "storage"(Y& +4 "core" &<$  \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ 'ы +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' + "manipulator"&& +5 "core" &  | + "storage"(L& +4 "core" &<$\ \  $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& ' +34 "core" ' + .tElbow.hold +2 "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +25 "core" ' +2 "manipulator"&{% +5 "core" % ( + "storage"(^& +4 "core" &<$ 2\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&_' +16 "core" ' +2 "manipulator"&7& +4 "core" & V  +2 "storage"(d& +4 "core" &<$\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&:'ы +18 "core" ' + "storage"(v% +5 "core" %o\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (c% +3 "core" %K d\ Vc +2 "manipulator"&,% +4 "core" %э , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (1& +4 "core" &<$ F\  + "collection"'3& +4 "core" &Vo,\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&/% +4 "core" %\ ( W G +2 "storage"(% +3 "core" %b k\ +2 "storage"(. +3 "core" .(<* + "storage"(9& +4 "core" &<$ c\  +2 "storage"(&& +4 "core" &<$ \  + "manipulator"&B& +4 "core" & s  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & $ ]  + "storage"(@& +5 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I'ы +108 "core" ' + "storage"(H& +5 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'i +286 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & f  + "storage"(=& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&4' +36 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(~'U +31 "core" ' +2 "manipulator"&!% +4 "core" %  s W + "storage"(N& +5 "core" &<$ =\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&J& +4 "core" &  :  + "storage"(& +5 "core" &<$\ \  G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&K'ы +41 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'D +38 "core" ' +2 "manipulator"&p& +4 "core" & )  +2 "manipulator"&"% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +170 "core" ( +2 "manipulator"&>& +4 "core" && 3 =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" && k =G +2 .tForearm.seek CC +2 "manipulator"&b'" +95 "core" ' + .tHand.close +2 "manipulator"&6/ +54 "core" / +2 .tCC.seek :open +2 "collection"'5( +416 "core" ( +2 "storage"(0& +4 "core" &<$\ '\ 6 C\  +2 "storage"(-& +4 "core" &<$\ .\ ' p\  + "manipulator"&8& +4 "core" && X =G + "manipulator"&;% +4 "core" % .  ! +2 .tForearm.seek :retract +2 "manipulator"&g'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +160 "core" ( +2 "manipulator"&e& +4 "core" & h r +2 "storage"(z& +4 "core" &<$\ N\ A \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&T' +107 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +57 "core" 1 +2 "manipulator"&a% +4 "core" %  Z +2 "storage"(j& +4 "core" &<$\ \  $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&' +20 "core" ' +2 "manipulator"& & +4 "core" & p t + "storage"(S& +5 "core" &<$\ * G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&*'ы +16 "core" ' +2 "storage"(W% +4 "core" %N K J \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (% +3 "core" %'I\ +\ I e\ Vb +2 "manipulator"&Z% +4 "core" %џ [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +49 "collection"'U& +5 "core" &`\ +2 "manipulator"&C% +6 "core" %\  `  +2 "storage"(`% +4 "core" %_\ A\ X B\ + "storage"(X. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(m(K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &K&\ \  l\  +2 "manipulator"&D& +4 "core" &  t +2 .tElbow.seek 6 + "manipulator"&'( +40 "core" ( +2 "manipulator"&i& +4 "core" &- $ P % +2 "storage"(& +4 "core" &K\ C\ G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&u'a +99 "core" ' +2 "storage"(?& +4 "core" &K\ , } <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +282 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ %\  \  +2 "manipulator"&& +4 "core" &-  % + .tElbow.seek 6 +2 "manipulator"&n( +19 "core" ( +2 "manipulator"&o& +5 "core" &  J  + "storage"(y& +4 "core" &K\ J\ I !\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&M' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"('X +7 "core" & B  +2 "manipulator"&|% +4 "core" % /  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&[& +4 "core" &, . Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &+   Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +3 "manipulator"&q& +4 "core" &,  Bi +2 "manipulator"&% +4 "core" % + "collection"'r& +4 "core" &i\ +2 "collection"'h& +5 "core" &q\ +2 .tCC.seek :closed +2 "collection"'A(V +4 "core" &s\ +7 &6\ $d +10 &V~\ [\ 7 +9 &xn\ K +9 &Rl\ L +10 &gWk\ M +9 &)V`\ M +10 &Wb\ M +9 &Uj\ M +9 &oW_\ M +10 &1VR\ M +9 &V_\ M +9 &!Tb\ L +10 &#xT\\\ L +9 &%;VY\ L +10 &&W\\\ M +9 &(T\\\ M +9 &*V]\ M +10 &,CTa\ L +9 &.Wd\ M +9 &/Wc\ M +10 &1Yb\ L +9 &3JX^\ L +10 &5 X\\\ L +9 &6U\\\ M +9 &8U`\ M +10 &:QV^\ M +9 &<Ya\ M +9 &=W_\ M +10 &?W]\ M +9 &AZSY\ L +10 &CVQ\ L +9 &D[P\ M +9 &Fg^\ N +10 &HVv\\\ P +9 &J ^\ U +9 &KX\ X +10 &MT\ Y +9 &OFR\ Y +10 &Q R\ Y +9 &RM\ Z +9 &TM\ Z +10 &V'wM\ / +9 &V% N\ Q +9 ( +3 "collection"'h& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator" +4 "core" &VlN\ L +53 1 + "manipulator"&% +5 "core" %  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +104 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%Y& +5 "core" &V\ + "manipulator"&t% +4 "core" %\  !  + "storage"(% +4 "core" %` \ +2 "storage"(L. +3 "core" .(K +2 "storage"(& +4 "core" &K \  + "storage"({& +4 "core" &K t\  + "manipulator"&^& +4 "core" &, < Bh +2 "manipulator"&l% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&7( +156 "core" ( +2 "manipulator"&d& +4 "core" & l  +2 "storage"(v& +3 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +90 "core" ' + "storage"(x& +5 "core" &K\ \ `\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (,& +3 "core" &K \  + "manipulator"&\ & +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &  p  +2 "storage"( & +4 "core" &K\ \  \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&1' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(/'X +7 "core" & G  +2 "manipulator"&% +4 "core" % b + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&9(s +159 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&}& +4 "core" &j #   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +98 "core" ' +2 "manipulator"&& +4 "core" &j $ Z  +2 "manipulator"&@% +4 "core" %   + "processing"%:& +4 "core" &L\ +3 "processing"%H& +6 "core" &U\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &P\ +5 &U\ 6 +10 &?HyW\ 0 +9 &jrV\ E +9 &aS\ N +10 &ZV\ N +9 &ZV\ M +10 &TZV\ N +9 &VS\ M +9 &ZV\ N +10 &WV\ M +9 &]VU\ M +9 &!VU\ M +10 &"ZV\ N +9 &$XP\ M +10 &&dWT\ N +9 &('XQ\ M +9 &)YV\ N +10 &+YV\ M +9 &-mYR\ M +10 &/0VT\ M +9 &0ZU\ M +9 &2YH\ M +10 &4uYO\ M +9 &68UP\ M +9 &7XM\ M +10 &9ZO\ M +9 &;|W=\ N +9 &=@XA\ M +10 &?YM\ M +9 &@XG\ M +10 &BZ@\ N +9 &DF^M\ N +9 &FfJ\ O +10 &Gx=\ P +9 &I|A\ S +9 &K=I\ S +10 &M?\ S +9 &NF\ S +10 &PI\ T +9 &RD=\ T +9 &T<\ T +10 &UF\ T +9 &WC\ U +9 &YK;\ A +10 &Z\\:hB\ %k +9 &Z)>\ * +6 ( + "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&]1 +3 "core" &ZC\ * +49 1 + "manipulator"&% +5 "core" %  B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"% & +4 "core" &Z=\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&=% +4 "core" %\ & !M + "storage"(2% +4 "core" %b k\ +2 "storage"(!. +3 "core" .(K + "storage"(N& +4 "core" &K h\  +2 "storage"(J& +4 "manipulator"&& +4 "core" &K o\  + &j 3 V  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(p'i + "manipulator"&"(s +5 "core" ( +2 "manipulator"&I& +4 "core" &j /  H  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j q  +2 .tForearm.seek PC +2 "manipulator"&$' +97 "core" ' +2 .tHand.close + "manipulator"&4/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(~- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(>'y +48 "core" ' +287 ( + "storage"(G& +5 "core" &K \  +2 "manipulator"&K& +4 "core" &j c  + "manipulator"&k% +4 "core" % u +2 .tForearm.seek :retract + "manipulator"&6'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +268 "core" ( +2 "manipulator"&P& +4 "core" &  % N  + "storage"(0& +4 "core" &K ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&-'a +97 "core" ' +2 .tHand.open + "manipulator"&81 +62 "core" 1 +2 "storage"(;- +4 "core" -'y +53 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(e'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +4 "core" -' + "storage"(R& +4 "core" &K }\  +2 "manipulator"&O& +4 "core" &  ;  + .tElbow.seek 6 +2 "manipulator"&a( +11 "core" ( + "manipulator"&j& +5 "core" &  9  + "storage"( & +4 "core" &K }\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&S'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(W' +57 "core" ' +2 "manipulator"&g& +4 "core" & 1  + "storage"(& +5 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Z'Υ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +23 "core" ' +2 "manipulator"&U% +4 "core" %ι V +2 "storage"(& +4 "core" &K ^\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&V' +12 "core" ' +2 "manipulator"&C& +4 "core" & +  +2 "storage"(`& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&X'a +28 "core" ' +3 "storage"(*% +4 "core" %r\ \ K\  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (% +3 "core" %\\N V\ Xe +2 "manipulator"&Q% +4 "core" %U * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &K\ \  \  +2 "collection"'& +3 "core" &Vm\ L +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&?% +4 "core" %\ ;  + "storage"(E% +4 "core" %b\ \  \ +2 "storage"(F. +3 "core" .(K +2 "storage"(.& +3 "core" &K\ \  %\  +2 "storage"(& +4 "core" &K\ \  &\  + "manipulator"&& +4 "core" & /  +2 .tElbow.seek 6 +2 "manipulator"&o( +3 "core" ( + "manipulator"&y& +4 "core" &  J  +2 "storage"(s& +4 "core" &K\ \  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&('a +100 "core" ' + "storage"(|& +4 "core" &K\ \ X\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +285 "core" ' +2 "storage"(u- +20 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & ;  + "storage"(f& +4 "core" &K 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&w'Υ +30 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(q'Y +31 "core" ' +2 "manipulator"&% +4 "core" %θ  + "storage"(r& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&& +4 "core" & +  + "storage"(5& +4 "core" &K\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&#'a +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' + "manipulator"&Y& +5 "core" & %  + "manipulator"&t% +5 "core" %T X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +173 "core" ( +2 "manipulator"&h& +4 "core" &* .  @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &(  @] +2 .tForearm.seek CC + "manipulator"&{'" +98 "core" ' + .tHand.close +2 "manipulator"&^/ +52 "core" / +2 .tCC.seek :open + "collection"'l( +416 "core" ( +2 "storage"(& +4 "core" &K\ &\ \  + "storage"(d& +4 "core" &K\ \  >\  +2 "manipulator"&v& +4 "core" &* )  @[ + "manipulator"&x% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&%'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&)( +155 "core" ( + "manipulator"&c& +4 "core" & % \\  +2 "storage"(,& +4 "core" &K\ ,\ 5 A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&\ 'Υ +107 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&_% +4 "core" % θ J + "storage"(3& +5 "core" &K \ o\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&' +21 "core" ' + "manipulator"&7& +5 "core" & M  + "storage"(& +5 "core" &K\ E\ C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +33 "core" ' +2 "storage"(1% +4 "core" %O\ :\ ? \ +2 ."downElevator"SE.seek :down +4 "storage"(}'X +99 (&% +3 "core" %G\ $\ % #\ Va +2 "manipulator"&% +4 "core" %P 0 } + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +47623 "Can"|\ 42 +60002 \ 42 +60002 \ 42 +60002 \ 42} +60002 \ 41 +60002 \ 52 +60002 \ 42 +60002 \ 41 +60002 \ 41 +60002 \ 41 +60002 \ 41 +60003 \ 42{ +60002 \ 51y +60002 \ 41 +60001 \ 41{ @1643985760.06EST = =tMAIN =mMAIN_scheduler @EST1643985761.97 #"core_reset"Sent BREAK +2 #t@3375 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +397 "Can"\ d + \ d #tPolling Can every 10:00 +90 !o:Storage::Warning: mesg"8Invalid entry in line 643 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +19 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2118 #-> ESP.ready! +3 #Powering core bus +545 .Gate.power :raw,:ON +3 "sampler") +24 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ _\ ^  +2 .tSS.configure :default +2 "sampler")#.0X access 5 +2 "storage"(;% +4 "core" %_\ '\ % \ + "manipulator"&<% +4 "core" %\ ! 9  +2 "manipulator"&=& +3 "core" & p $ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(>( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" & W\ +817 #t-> access 4 +3 "storage"(@% +3 "core" %_\ %\ ' \ \ +2 "manipulator"&A% +4 "core" %\ ! o  +2 "manipulator"&B& +3 "core" & k $ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(C(S +329 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &V {\ @1647526622.54EDT = =mMAIN_scheduler =tMAIN @EDT1647526624.43 #"core_reset"Sent BREAK +2 #t@27961 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +397 "Can"\ k + \ k + #tPolling Can every 10:00 +467 #-> ESP.ready! +3 #Powering core bus +542 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  + "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %j\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2904 #-> access 5 +2 "storage"(;% +3 "core" %` q q \ +2 "manipulator"&<% +4 "core" %\  6  + "manipulator"&=& +4 "core" &\ ? _ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(>( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" & \ '\ ( !\ +2059 #t-> 5.times [shuffle 4..6} +2 !o:SyntaxError: mesg"Gcompile error\ (ESP):4: syntax error, unexpected '}', expecting ']':bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +792 #-> 5.times {shuffle 4..6} +3 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'@& +3 "core" &^\ +2 .tHand.open + "manipulator"&A1 +61 "core" 1 + "manipulator"&B% +4 "core" % \  ! k  +2 "storage"(C% +3 "core" %` p p \ +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,l +658 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &,j\ \  \  +2 "manipulator"&G& +4 "core" &\   _ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&H( +27 "core" ( + "manipulator"&I& +4 "core" &\ ( e ] +2 "storage"(J& +4 "core" &,g\ . | T\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&K'Ѽ +91 "core" ' +2 "storage"(L& +4 "core" &,g\ / ~ _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +281 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (O& +37 "core" &,g\ P\ E \  +9 "manipulator"&P& +3 "core" &\  G ] +2 .tElbow.seek 4 + "manipulator"&Q( +29 "core" ( +2 "manipulator"&R& +4 "core" & ) w b + "storage"(S& +4 "core" &,g K L @\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&T', +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(W'X +7 "core" & b +2 "manipulator"&X% +4 "core" % 6 S +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&[& +4 "core" &% G F <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &%  E <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +95 "core" ' +2 "manipulator"&^& +4 "core" &% 6 << +2 "manipulator"&_% +4 "core" %! ^ +2 "collection"'`& +4 "core" &\ +2 "collection"'a& +5 "core" &`\ +2 .tCC.seek :closed +2 "collection"'b(V +4 "core" &^\  +8 &2D\ *z +9 &d[\ ? +10 &F{T\ O +9 &\ ]Z\ N +9 &bN\ N +10 &\\K\ N +9 &O`Z\ O +9 &_U\ N +10 &ZM\ N +9 &^M\ N +9 & X_P\ N +10 &"cK\ N +9 &#`P\ N +10 &%eN\ N +9 &'a^K\ N +9 &)#_K\ N +10 &*_L\ N +9 &,^J\ N +9 &.i`L\ N +10 &0+`K\ N +9 &1_E\ N +10 &3^J\ N +9 &5q^J\ N +9 &72aL\ N +10 &8_L\ N +9 &:aM\ O +9 &:`L\ N +9 &?^L\ N +10 &A`K\ N +9 &CaM\ O +9 &E@jC\ O +10 &FyL\ Q +9 &HI\ S +10 &JlI\ X +9 &L+K\ Y +10 &M@\ Y +9 &OI\ Z +9 &QpD\ Y +10 &S.>\ [ +9 &TI\ [\ +9 &VOWG\ - +9 &VG\ T +9 ( +3 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&c1 +3 "core" &VmB\ P +56 1 +2 "manipulator"&d% +5 "core" % ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%f& +4 "core" &)\  +2 "manipulator"&g% +3 "core" %\ ! 2 +2 "storage"(h% +4 "core" %a l\ +2 "storage"(i. +3 "core" .(,l + "storage"(j& +4 "core" &,g O\  + "storage"(k& +4 "core" &,g a\  +2 "manipulator"&l& +3 "core" &% << +2 "manipulator"&m% +4 "core" %\ ! 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +160 "core" ( +2 "manipulator"&o& +4 "core" & (  + "storage"(p& +4 "core" &,g\ '\ ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&q'Ѽ +91 "core" ' + "storage"(r& +4 "core" &,g\ 8\ H \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +284 "core" ' +29 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &,g\ \  )\  +2 "manipulator"&v& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +3 "core" & &  +2 "storage"(y& +4 "core" &,g\ \  "\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&z', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"(}'X +7 "core" &    +2 "manipulator"&~% +3 "core" % # H +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( + "manipulator"&& +5 "core" &g . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &g } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&& +4 "core" &g 0 +2 "manipulator"&% +3 "core" %   +2 "processing"%& +4 "core" &1\  +2 "processing"%& +5 "core" &3\  +2 .tPC.seek :closed + "processing"% (Z +4 "core" &\  +9 &6"\ +| +9 &e$\ @ +10 &^}\ O +9 &#_\ N +10 &`#\ O +9 &a&\ N +9 &h_\ N +10 &*b\ N +9 &c%\ N +9 &`%\ O +10 & p`%\ N +9 &"2]\ N +9 &#\\\ N +10 &%b#\ N +9 &'xa)\ N +10 &):^%\ N +9 &*b(\ N +9 &,a%\ N +10 &.b$\ N +9 &0A_"\ O +9 &2_(\ O +10 &3_\ O +9 &5a$\ O +10 &7J_\ N +9 &9 ]%\ N +9 &:\\)\ N +10 &<_0\ N +9 &>S`)\ N +9 &@`%\ O +10 &A`\ O +9 &C_%\ N +10 &EWg)\ O +9 &Gs)\ Q +10 &H3\ S +9 &J)\ T +9 &LO%\ U +9 &N(\ T +10 &O*\ T +9 &Q)\ T +10 &SW(\ U +9 &U$\ T +10 &V'\ U +9 &X,\ U +9 &Zg%\ )~ +9 &Zh)\ 8 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&\ 1 +4 "core" &Z&(\ 1 +51 1 + "manipulator"& % +4 "core" % 9 ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' + "processing"% & +5 "core" &Z'>\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\  / ^  +2 "storage"(% +3 "core" %b \ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,g [\  +2 "storage"(& +2 "manipulator"&& +7 "core" &,g t\  + &h +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +17 "core" ( +2 "manipulator"&& +4 "core" &| H 7 ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &| ) +2 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +3 "processing"%( +74 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"("'y +36 "core" ' +317 ( + "storage"(%& +4 "core" &,g \ c\  +2 "manipulator"&'& +3 "core" &  7 # +2 "manipulator"&(% +4 "core" %  d +2 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +249 "core" ( + "manipulator"&& +4 "core" & % v  +2 "storage"(#& +3 "core" &,g\ \  D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&,'Ѽ +94 "core" ' + .tHand.open +2 "manipulator"&-1 +60 "core" 1 + "storage"(.- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(/'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(0' +46 "core" ' +4 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' + "storage"(2& +4 "core" &,g \  + "manipulator"&3& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&4( +5 "core" ( +2 "manipulator"&5& +4 "core" & (  +2 "storage"(6& +3 "core" &,g H\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&7'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(8' +60 "core" ' + "manipulator"&9& +3 "core" & L  +2 "storage"(:& +5 "core" &,g\ \  V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&;' +31 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +26 "core" ' + "manipulator"&!% +5 "core" % + "storage"(?& +4 "core" &,g j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&@'? +19 "core" ' + "manipulator"&A& +5 "core" & %  + "storage"(B& +5 "core" &,g\ %\ / m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&C'Ѽ +38 "core" ' + "storage"(D% +5 "core" %s\ 5\ D \ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (F% +3 "core" %<L\ \ \ Wc +2 "manipulator"&G% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ +93 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" &,g\ &\ / @\  +2 "collection"'L& +4 "core" &Vk?\ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %\ {  + "storage"(&% +4 "core" %b\ /\ $ >\ +2 "storage"(N. +3 "core" .(,l + "storage"(O& +4 "core" &,g\ $\ $ @\  +2 "storage"( & +3 "core" &,g\ &\ / >\  +2 "manipulator"&P& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&R( +4 "core" ( + "manipulator"&S& +4 "core" &   +2 "storage"(U& +4 "core" &,g\ 1\ 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&V'Ѽ +93 "core" ' +2 "storage"(X& +51 "core" &,g\ 2\ 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +286 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & j  +2 "storage"(\\& +3 "core" &,g\ \  *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M' +35 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'W +31 "core" ' +2 "manipulator"&`% +4 "core" % I +2 "storage"(Q& +3 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&W'@ +20 "core" ' + "manipulator"&Y& +4 "core" &    +2 "storage"(+& +4 "core" &,g\ &\ $ t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&c'Ѽ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(d'F +44 "core" ' + "manipulator"&f& +5 "core" & I  +2 "manipulator"&g% +4 "core" %ѣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +154 "core" ( +2 "manipulator"&j& +4 "core" &+ P Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &*   Ac +2 .tForearm.seek CC +2 "manipulator"&k'" +95 "core" ' + .tHand.close + "manipulator"&l/ +54 "core" / +2 .tCC.seek :open + "collection"'m( +416 "core" ( +2 "storage"(]& +4 "core" &,g\ &\ / L\  +2 "storage"(o& +3 "core" &,g\ (\ 2 A\  +2 "manipulator"&p& +3 "core" &+ Ac +2 "manipulator"&r% +4 "core" % + x + .tForearm.seek :retract +2 "manipulator"&Z'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&e( +160 "core" ( + "manipulator"&t& +4 "core" &    +2 "storage"(u& +4 "core" &,g \ / A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&v' +103 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +61 "core" 1 + "manipulator"&{% +5 "core" %  ?  o  + "storage"(|& +5 "core" &,g\ %\ & w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&~'? +18 "core" ' + "manipulator"&n& +5 "core" &  y  + "storage"(q& +4 "core" &,g K I !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&s'Ѽ +27 "core" ' + "storage"(z% +5 "core" %F f p [\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +2 "core" %C\ + !\ U_ +2 "manipulator"&w% +4 "core" %Ѹ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  k  + "storage"(}% +4 "core" %a ~\ - M\ +2 "storage"(. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(*(<* +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" &<(\ %\ ' a\  +2 "manipulator"& & +3 "core" &\ o  +2 .tElbow.seek 5 +2 "manipulator"& ( +7 "core" ( + "manipulator"&& +5 "core" & & R  + "storage"(& +4 "core" &<$ \ - :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +92 "core" ' + "storage"(& +4 "core" &<$ j t\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<$ \ + \  +2 "manipulator"&& +3 "core" & I  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &<$\ ~ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( 'X +7 "core" &  +2 "manipulator"&% +4 "core" % 0 A +2 .tForearm.seek :retract +2 "manipulator"&%'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +154 "core" ( +3 "manipulator"&(& +4 "core" ' + &+ 1 Ae + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +3 "core" &+ 0 Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +102 "core" ' +2 "manipulator"&#& +5 "core" &+ Ae +2 "manipulator"&% +3 "core" %" +2 "collection"'-& +4 "core" &\ +2 "collection"'.& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'1(V +5 "core" &_\ +7 &7\\\ $c +9 &UY\ 7 +10 &\\\ L +9 &`[\ N +9 &f\\Y\ N +10 &(\\_\ N +9 &]Z\ N +9 &\\^\ N +10 &obX\ M +9 &0^P\ N +10 &\\W\ M +9 &!aT\ N +9 &#vb[\ N +10 &%8c]\ N +9 &&]U\ M +9 &(]T\ M +10 &*aT\ M +9 &,A^S\ M +9 &.b[\ N +10 &/`\\\ N +9 &1a]\ N +10 &3H`_\ N +9 &5 ]`\ M +9 &6_\\\ M +10 &8`_\ M +9 &:Pc]\ N +10 &<^Y\ N +9 &=\\`\ N +9 &?]`\ N +10 &AX[Z\ N +9 &C]S\ N +9 &Dg_\ N +10 &Fna\ P +9 &HT^\ R +9 &J\ _\ V +10 &K_\ X +9 &M`\ Y +10 &OG\\\ Y +9 &Q[\ Y +9 &R`\ Z +10 &T_\ Z +9 &V(v`\ / +9 &V Y\ K +9 ( +3 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&21 +4 "core" &V`[\ H +52 1 +3 "manipulator"&3% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%6& +4 "core" &&\ + "manipulator"&)% +4 "core" %\  . V  +2 "storage"(9% +4 "core" %W\ \  \ + "storage"(:. +3 "core" .(<* +2 "storage"(!& +3 "core" &<$\ \ \  +2 "storage"("& +4 "core" &<$\ \  \  + "manipulator"&?& +4 "core" &* . / Ad +2 "manipulator"&A% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&/( +161 "core" ( + "manipulator"&B& +4 "core" & ( \\ x +2 "storage"(D& +4 "core" &<$\ $\ % R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +95 "core" ' + "storage"(,& +4 "core" &<$\ C\ C -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'i +280 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &<$\ \  [\  + "manipulator"&7& +4 "core" & k x +2 .tElbow.seek 5 + "manipulator"&4( +3 "core" ( +2 "manipulator"&8& +3 "core" & & X x +2 "storage"(;& +4 "core" &<$\ '\ ' \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&@' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"($'X +7 "core" & 4 x +2 "manipulator"&&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&N(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&O& +4 "core" &r % T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P' +94 "core" ' + "manipulator"&S& +4 "core" &r 1 +2 "manipulator"&U% +4 "core" %  7 2 +2 "processing"%C& +4 "core" &+\ +2 "processing"%X& +5 "core" &G\ +2 .tPC.seek :closed + "processing"%>(Z +5 "core" &/\  +9 &1-\ *y +9 &c/\ > +10 &d}3\ O +9 &(\\0\ N +9 &`0\ N +10 &`*\ O +9 &m`+\ N +9 &/_+\ N +10 &`%\ N +9 &_*\ N +10 & u]+\ N +9 &"6_3\ N +9 &#_3\ N +10 &%`=\ N +9 &'{b1\ O +9 &)?_,\ N +10 &+^;\ N +9 &,]:\ N +10 &.]/\ N +9 &0H_3\ N +9 &2\ _8\ N +10 &3^9\ N +9 &5_>\ N +9 &7Oa7\ N +10 &9^>\ N +9 &:],\ N +10 &<^*\ N +9 &>W];\ N +9 &@`0\ N +10 &A]:\ N +9 &Cb4\ N +9 &E\\f3\ O +10 &Gn<\ P +9 &H?\ R +10 &J>\ T +9 &LV>\ T +9 &N?\ T +10 &O>\ T +9 &Q5\ T +9 &S\\>\ T +10 &U:\ U +9 &V=\ U +10 &X>\ U +9 &Zi=\ + +9 &Zb=\ < +9 ( +3 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&<1 +3 "core" &Z9-\ 7 +50 1 +2 "manipulator"&I% +4 "core" % 4 ] 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +97 "core" ' +41 "processing"%[& +14 "core" &Z8O\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&\\% +4 "core" %\ # R = +2 "storage"(^% +4 "core" %b w\ + "storage"(`. +3 "core" .(<* +2 "storage"(Q& +3 "core" &<$\  A\  +2 "storage"(Y& +4 "manipulator"&+& +4 "core" &<$ \  + &r q +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&f(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(g'i +3 "core" ( + "manipulator"&V& +4 "core" &r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &r g +2 .tForearm.seek PC +2 "manipulator"&H' +96 "core" ' +2 .tHand.close + "manipulator"&M/ +57 "core" / +2 .tPC.seek :open +2 "processing"%W( +88 "core" ' +2 "storage"(_- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'y +42 "core" ' +295 ( + "storage"(a& +5 "core" &<$\ \  )\  + "manipulator"&c& +4 "core" &r   + "manipulator"&T% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&l'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&h( +269 "core" ( + "manipulator"&b& +4 "core" & ( `  +2 "storage"(]& +3 "core" &<$\ \  0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&o'ы +90 "core" ' + .tHand.open +2 "manipulator"&p1 +61 "core" 1 +2 "storage"(r- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(t'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(u' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' + "storage"(i& +4 "core" &<$ \  +2 "manipulator"&y& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&{( +9 "core" ( + "manipulator"&|& +4 "core" & % / v +2 "storage"(n& +4 "core" &<$ J\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&q'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +57 "core" ' +2 "manipulator"&Z& +4 "core" & g v +2 "storage"(& +4 "core" &<$\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&w' +31 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +25 "core" ' + "manipulator"&% +5 "core" %  + "storage"(~& +4 "core" &<$ U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&' +13 "core" ' + "manipulator"&}& +5 "core" & g v + "storage"(& +4 "core" &<$\ 1\ / <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&d'ы +20 "core" ' +2 "storage"(s% +5 "core" %r\ *\ E }\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (E% +3 "core" % G\ \  ,\ Va +2 "manipulator"&\ % +4 "core" %є  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<$\ "\  T\  +2 "collection"'& +4 "core" &Vaw\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ #  ? +2 "storage"(x% +3 "core" %b\ '\ ' \ +2 "storage"(. +3 "core" .(<* +2 "storage"(& +4 "core" &<$\ '\ & {\  +2 "storage"(& +3 "core" &<$\ '\ & \  +2 "manipulator"&& +4 "core" &  v +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 0 $ v +2 "storage"(& +3 "core" &<$\ '\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +95 "core" ' + "storage"(& +4 "core" &<$\ J\ , U\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&(& +3 "core" &  [ v +2 "storage"(& +3 "core" &<$\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +31 "core" ' +2 "manipulator"&% +4 "core" % z  +2 "storage"(-& +3 "core" &<$ i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"& ' +12 "core" ' + "manipulator"&%& +5 "core" & & . v + "storage"(m& +4 "core" &<$\ /\ $ %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&2'ы +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(3'D +43 "core" ' +2 "manipulator"&6& +4 "core" &  v +2 "manipulator"&)% +4 "core" %Ѻ T s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&:( +154 "core" ( +2 "manipulator"&!& +5 "core" &*  b @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &)  O @W +2 .tForearm.seek CC + "manipulator"&.'" +92 "core" ' +2 .tHand.close + "manipulator"&?/ +52 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +3 "storage"(& +4 "core" &<$\ 5\ ' "\  +2 "storage"(B& +3 "core" &<$\ 1\ * 9\  +2 "manipulator"&D& +4 "core" &* } @W + "manipulator"&,% +4 "core" % . , L +2 .tForearm.seek :retract +2 "manipulator"&''\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&5( +161 "core" ( + "manipulator"&F& +5 "core" & % w w + "storage"(G& +4 "core" &<$ \ . q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&7' +101 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +64 "core" 1 +2 "manipulator"&J% +5 "core" % 4 b  + "storage"(L& +4 "core" &<$\ %\ % h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&&' +16 "core" ' + "manipulator"&/& +4 "core" & u w +2 "storage"(& +4 "core" &<$ ~\ . (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&0'ы +39 "core" ' + "storage"(@% +4 "core" %E p p\ +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 ( % +2 "core" %A\ \ =\ U^ +2 "manipulator"&4% +4 "core" %љ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'U& +4 "core" &\ +2 "manipulator"&C% +4 "core" %\ #  < + "storage"($% +4 "core" %S \ ;\ + "storage"(=. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" &K\ \  c\  +2 "manipulator"&I& +4 "core" &  w +2 .tElbow.seek 6 + "manipulator"&[( +37 "core" ( +2 "manipulator"&X& +4 "core" & ) A 9 + "storage"(\\& +4 "core" &K\ Y\ ? 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&^'a +111 "core" ' + "storage"(`& +4 "core" &K c Q !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +278 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &K\ *\ A\  +2 "manipulator"&V& +4 "core" &  $ 9 +2 .tElbow.seek 6 + "manipulator"&R( +25 "core" ( +2 "manipulator"&P& +4 "core" &  E z + "storage"(M& +4 "core" &K\ =\ W R\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +703 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[4E:->26]: @requesto:I2C::Servo::Grip3Request : @timeout0: @dontLog0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:339"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&K/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +703 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[4B:->26]: @requesto:I2C::Servo::Grip3Request : @timeout0: @dontLog0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:339"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #2 of 3 + "manipulator"&>/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +703 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[3E:->26]: @requesto:I2C::Servo::Grip3Request : @timeout0: @dontLog0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0:@maxDelayo:\ Delay: @_dc_obji :bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:339"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #3 of 3 + "manipulator"&g/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[3E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +705 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:400:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):5:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"26]: @requesto:I2C::Servo::Grip3Request : @timeout0: @dontLog0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0:@maxDelayo:\ Delay: @_dc_obji :@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:339"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +27662 "Can"\ 96 +60002 \ 97 +60002 \ 96 +60002 \ 86 +60002 \ 96 +60002 \ 96 +60002 \ 97 +60002 \ 97 +60002 \ 97 +60002 \ 97 +60002 \ 96 +60002 \ 96 +60002 \ 96 +60002 \ 97 +60002 \ 96 +60002 \ :6 +60003 \ 97 +60002 \ 97 +60002 \ 96 +60002 \ 96 +60002 \ 96 +60002 \ 96 +60002 \ 97 +60002 \ 96 +60002 +\ 96 +60002 O\ 97 +60002 Q\ 97 +60002 Y\ 97 +60002 X\ 96 +60002 a\ 96 +2488 #t-> Arm.home +2 "manipulator"&a& +3 "core" &  z +2 "manipulator"&c% +4 "core" % '  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +150 "core" ' + .tElbow.seek :home +2 "manipulator"&H( +229 "core" ( +2 "manipulator"&b& +4 "core" & " + Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & X Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :home + "manipulator"&f' +42 "core" ' + "manipulator"&p& +4 "core" &  ! Y +2 "manipulator"&r% +4 "core" %  H +1292 #t-> Hand.open + .Hand.open + "manipulator"&k1 +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[67:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +26 1 +2616 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i'\ +64 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 + "manipulator"&y/ +2 &|* +51 "core" * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" / +2 .tElbow.home.seek :clear + "manipulator"&n(d +242 "core" ( + "manipulator"&l& +4 "core" &d  # +2 "manipulator"&Z% +4 "core" % \  v  +5566 #t-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"('X +311 "core" ' +2 "storage"(j% +3 "core" %Y\ R\ U Y\ +490 #t-> access 4 +2 "storage"(% +3 "core" %Y\ H\ I a\ +2 "manipulator"&~% +4 "core" % \    +2 "manipulator"&t& +3 "core" &d " # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(}(S +1598 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &V\ \  -\ +306 #t-> access 6 +2 "storage"(s% +3 "core" %Y\ I\ H \ +2 "manipulator"&h% +4 "core" % \    + "manipulator"&o& +4 "core" &d c # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(u( +653 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" & Z\  +1457 #t-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'\ & +3 "core" &  \ +2 .tHand.open +2 "manipulator"&q1 +56 "core" 1 + "manipulator"&{% +4 "core" % \  % *  +2 "storage"(z% +3 "core" %Y\ H\ E \ +2 "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,l j\  +2 "manipulator"&& +4 "core" &d q # + "manipulator"&% +4 "core" % \  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&x( +93 "core" ( +3 "manipulator"&& +4 "core" & # d ' +2 "storage"(v& +4 "core" &,i\ I\ I 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' +2 "storage"(& +4 "core" &,i\ , } N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,i\ #\ % 3\  +2 "manipulator"&d& +3 "core" & 7 ' +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  ' +2 "storage"(e& +99 "core" &,i\ ;\ @ \  +3 .tForearm.seek 4 + 300 counts + "manipulator"& ', +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& +3 "storage"('X +6 "core" & ' +2 "manipulator"&#% +4 "core" % !  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +150 "core" ( + "manipulator"&%& +4 "core" &+ Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' +2 "manipulator"&m& + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &+ 7 Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&6'" +103 "core" ' +2 "manipulator"&)& +5 "core" &+ A Ac + "manipulator"& % +4 "core" %,  +2 "collection"'& +4 "core" &  \ +2 "collection"' & +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &  \ +6 &  \ 4 +9 &9G  \ 1 +10 &cr  \ E +9 &j  \ O +9 &]  \ N +10 &]  \ N +9 &La  \ N +9 &e  \ N +10 &`  \ O +9 &_  \ N +10 &S`  \ O +9 &!`  \ N +9 &"_  \ N +10 &$`  \ N +9 &&\\\\  \ N +9 &(`  \ O +10 &)]  \ N +9 &+a  \ N +10 &-c`  \ O +9 &/%_  \ O +9 &0b  \ N +10 &2]  \ N +9 &4m\\  \ N +9 &6-`  \ O +10 &7_  M\ N +9 &9\\  \ N +9 &;se  \ O +10 &=5`  \ O +9 &>\\  \ N +10 &@_  \ N +9 &B{^  \ O +10 &D<g  \ O +9 &Ep  \ P +9 &G{  \ R +9 &Iq  \ U +10 &K%  \ Z +9 &L  \ Y +10 &N  \ Y +9 &Pl  \ Y +10 &R-  \ Z +9 &S  \ [ +9 &U  \ H +9 &V6  \ &s +10 &V_  v\ G +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ! ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%"& +4 "core" &\ +2 "manipulator"&2% +3 "core" %\   +2 "storage"(% +4 "core" %_ \ + "storage"(?. +4 "core" .(,l + "storage"(9& +4 "core" &,i \  +2 "storage"(1& +3 "core" &,i \  +2 "manipulator"&& +4 "core" &+ Ac +2 "manipulator"&B% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&D( +160 "core" ( +2 "manipulator"&,& +4 "core" &  d +2 "storage"(F& +4 "core" &,i\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +102 "core" ' +2 "storage"(.& +4 "core" &,i\ $\ $ "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +285 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &,i \  R\  +2 "manipulator"&L& +4 "core" & 3 d +2 .tElbow.seek 4 + "manipulator"&/( +4 "core" ( + "manipulator"&& +4 "core" & , d + "storage"(@& +4 "core" &,i \  S\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'', +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(5'X +6 "core" & Y d +2 "manipulator"&7% +4 "core" %   / +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&U(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&C& +4 "core" &i 8 " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &i < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +103 "core" ' + "manipulator"&3& +4 "core" &i * +2 "manipulator"&0% +4 "core" % % v + "processing"%O& +4 "core" &U\ +2 "processing"%*& +5 "core" &P\ +2 .tPC.seek :closed + "processing"%<(Z +5 "core" &S\ +7 & -X\ $d +9 &TV\ 7 +10 &~[\ L +9 &^Z\ O +9 &Wb[\ O +10 &`Z\ O +9 &b[\ O +10 &_\\\ N +9 &`_Z\ N +9 &"]Y\ N +10 &d[\ N +9 &!b[\ N +9 &#gaU\ O +10 &%*`[\ N +9 &&]K\ N +10 &(`L\ O +9 &*p`L\ N +9 &,1_J\ O +10 &-aH\ N +9 &/_G\ O +9 &1yaF\ N +10 &3:`C\ N +9 &4`G\ N +10 &6bH\ N +9 &8_I\ N +9 &:CaH\ N +10 &<`A\ N +9 &=_9\ N +9 &?`F\ N +10 &AK];\ N +9 &C b=\ N +9 &DeC\ O +10 &Fn>\ P +9 &HGC\ R +10 &J9\ T +9 &K9\ T +9 &M8\ T +10 &OJ:\ T +9 &Q 6\ T +10 &R6\ U +9 &T<\ T +9 &VP/\ T +10 &X,\ U +9 &Y{s'\ : +9 &Z(o-\ O +10 &Z&\ / +2 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&I1 +60 "core" 1 +2 "manipulator"&X% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' + "processing"%`& +56 "core" &Z%\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&8% +4 "core" %\ ( D +2 "storage"(S% +4 "core" %` \ + "storage"(+. +3 "core" .(,l +2 "storage"(Y& +3 "core" &,i \  +2 "storage"(V& +4 "manipulator"&P& +4 "core" &,i `\  + &i F +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&M(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(['i +3 "core" ( + "manipulator"&^& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' +2 .tHand.close + "manipulator"&>/ +55 "core" / +2 .tPC.seek :open +2 "processing"%g( +96 "core" ' + "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'y +43 "core" ' +286 ( +2 "storage"(_& +4 "core" &,i \ *\  +2 "manipulator"&b& +3 "core" &i +2 "manipulator"&]% +4 "core" % h $ +2 .tForearm.seek :retract + "manipulator"&p'\ +104 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&R( +254 "core" ( + "manipulator"&r& +4 "core" &  ;  +2 "storage"(T& +4 "core" &,i\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&k'Ѽ +93 "core" ' +2 .tHand.open + "manipulator"&y1 +55 "core" 1 +2 "storage"(f- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(H'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(|& +4 "core" &,i \\\  +2 "manipulator"&Q& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&j( +9 "core" ( + "manipulator"&& +5 "core" & @ + "storage"(~& +4 "core" &,i I\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&& +4 "core" & + "storage"(s& +4 "core" &,i e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&h' +33 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(}'i +26 "core" ' +2 "manipulator"&E% +4 "core" % +2 "storage"(\ & +4 "core" &,i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&q'< +13 "core" ' +2 "manipulator"&{& +4 "core" & $ +2 "storage"(z& +4 "core" &,i\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +23 "core" ' +2 "storage"(u% +4 "core" %q\ \  X\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %D \ V` + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +4 "core" &,i\ \  1\  + "collection"'& +4 "core" &V\\  \ G +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&n% +4 "core" %\  " \ +2 "storage"(i% +3 "core" %Q\ \ |\ +2 "storage"(. +3 "core" .(,l + "storage"(& +4 "core" &,i\ \ y\  +2 "storage"(d& +3 "core" &,i\ \ .\  +2 "manipulator"&& +4 "core" & V +2 .tElbow.seek 4 + "manipulator"&( +10 "core" ( + "manipulator"&e& +4 "core" &  : +2 "storage"(& +4 "core" &,i\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&('Ѽ +95 "core" ' + "storage"(#& +4 "core" &,i\ $\ $ 6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +282 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &  + "storage"(m& +4 "core" &,i\ \  A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"( 'W +40 "core" ' + "manipulator"&% +5 "core" % W + "storage"(& +4 "core" &,i \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'? +12 "core" ' +2 "manipulator"&& +4 "core" & - +2 "storage"(A& +3 "core" &,i\  `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +38 "core" ' + "manipulator"&"& +4 "core" &  +2 "manipulator"&2% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&?( +154 "core" ( +3 "manipulator"&9& +4 "core" &( M ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +2 "core" &( ?R +2 .tForearm.seek CC +2 "manipulator"& '" +92 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'B( +415 "core" ( + "storage"(6& +4 "core" &,i\ %\ $ "\  +2 "storage"(,& +4 "core" &,i\ &\ & H\  + "manipulator"&F& +4 "core" &)   ?R + "manipulator"&.% +4 "core" % + ` . +2 .tForearm.seek :retract + "manipulator"&-'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&!( +160 "core" ( + "manipulator"&;& +4 "core" & f | +2 "storage"(J& +3 "core" &,i\ :\ : c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&L' +103 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +64 "core" 1 +2 "manipulator"& % +4 "core" %  A T + "storage"(4& +4 "core" &,i\ $\ 7 @\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&7'? +22 "core" ' +2 "manipulator"&D& +4 "core" & | +2 "storage"(G& +3 "core" &,i\ ! } M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&:'Ѽ +24 "core" ' +2 "storage"('% +4 "core" %L e Q \  +2 ."downElevator"SE.seek :down +4 "storage"(C'X +99 ($% +3 "core" %=\ I\ I \ U\\ + "manipulator"&/% +4 "core" % 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'0& +4 "core" &  \ +2 "manipulator"&O% +4 "core" %\ % . K +2 "storage"(5% +4 "core" %a\ :\ : *\ +2 "storage"(&. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(W(<* +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &<) q\  +2 "manipulator"&X& +4 "core" & E | + .tElbow.seek 5 +2 "manipulator"&`( +7 "core" ( + "manipulator"&*& +4 "core" & # { s +2 "storage"(8& +4 "core" &<%\ H\ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&S'ы +93 "core" ' +2 "storage"(+& +4 "core" &<% }\ - Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +285 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &<%\ *\ 5 $\  +2 "manipulator"&^& +4 "core" &  s +2 .tElbow.seek 5 + "manipulator"&N( +4 "core" ( + "manipulator"&=& +4 "core" & ) s + "storage"(>& +4 "core" &<%\ B\ B \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +44 "manipulator"&U/ +73 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\\& +2 "storage"(<'X +6 "core" &  s +2 "manipulator"&[% +4 "core" % D ^ +2 .tForearm.seek :retract + "manipulator"&_'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&]& +4 "core" &# P :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &" S :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&r'" +95 "core" ' +2 "manipulator"&T& +5 "core" &#   :0 + "manipulator"&M% +4 "core" % \ +2 "collection"'y& +4 "core" &  \ +2 "collection"'f& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'Z(V +5 "core" &  \ +7 &5  \ $c +9 &U  \ 7 +9 &  \ L +10 &\\  \ N +9 &a_  \ N +10 &%]  \ M +9 &_  \ N +9 &^  \ M +10 &k_  \ M +9 &,]  \ N +9 &]  \ N +10 &!_  \ N +9 &#s`  \ M +10 &%5`  \ M +9 &&_  v\ M +9 &(`  \ N +10 &*z_  \ N +9 &,=b  \ M +9 &-a  \ N +10 &/_  \ N +9 &1_  \ N +10 &3D_  \ N +9 &5]  \ M +9 &6b  \ N +10 &8]  \ M +9 &:L^  \ N +9 &<^  \ N +10 &=_  \ M +9 &?b  \ N +9 &AT`  \ N +10 &Cb  \ N +9 &Dj  \ N +10 &Fo  \ P +9 &HQ  \ Q +9 &J  \ V +10 &K  \ X +9 &M  \ Y +9 &OD  \ Y +10 &Q  ~\ Y +9 &R  \ Z +10 &T  \ [ +9 &V&w  ~\ / +10 &V  n\ K +8 ( +2 &Vl  w\ H +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&|1 +62 "core" 1 +2 "manipulator"&Q% +5 "core" %  , \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%~& +4 "core" &\ + "manipulator"&p% +4 "core" %\   +2 "storage"(% +3 "core" %` o\ +2 "storage"(s. +3 "core" .(<* +2 "storage"(E& +4 "core" &<% `\  + "storage"(c& +4 "core" &<% \  +2 "manipulator"&\ & +4 "core" &# _ :0 + "manipulator"&{% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +154 "core" ( + "manipulator"&z& +4 "core" &  =  +2 "storage"(u& +4 "core" &<% \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&R'ы +99 "core" ' +2 "storage"(k& +4 "core" &<%\ \  {\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<% \  +2 "manipulator"&t& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&j( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(h& +3 "core" &<% \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&q' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(n'X +7 "core" & *  +2 "manipulator"&i% +4 "core" %  ~ + .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" &y "   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&e& +5 "core" &y  a  + "manipulator"&% +4 "core" % w +2 "processing"%w& +3 "core" &T\ +3 "processing"%#& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &[\  +9 &1[\ *z +10 &b_\ > +9 &j{U\ O +9 &-\\N\ N +10 &_[\ O +9 &_U\ N +10 &r\\R\ N +9 &5\\P\ N +9 &_H\ O +10 &`F\ N +9 & zbD\ N +9 &"<_G\ N +10 &#ZH\ N +9 &%_I\ N +10 &'`H\ O +9 &)E^H\ N +9 &+_I\ N +10 &,_F\ N +9 &._H\ N +10 &0K^G\ O +9 &2^D\ N +9 &3]E\ N +10 &5[F\ N +9 &7V]<\ N +9 &9_:\ N +10 &:]:\ N +9 &<^:\ N +9 &>^]C\ N +10 &@_7\ N +9 &A]2\ N +10 &C`7\ N +9 &Edb5\ N +10 &G!n6\ P +9 &H*\ R +9 &J*\ T +9 &L\\\ T +10 &N3\ T +9 &O\ T +10 &Q\ T +9 &Sap\ U +10 &U#R\ U +9 &V\ U +9 &X\ T +9 &Ze\ )~ +10 &Zw\ > +9 ( + &Z-\ 1 +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&o1 +58 "core" 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%%& +4 "core" &Z-\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&m% +4 "core" %\   + "storage"()% +4 "core" %a N\ +2 "storage"(. +3 "core" .(<* + "storage"(& +4 "core" &<% \  +2 "storage"(& +3 "manipulator"&A& +5 "core" &<% [\  + &y O  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&"(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'i +3 "core" ( + "manipulator"&(& +4 "core" &y \  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&x' +93 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open + "processing"%( +98 "core" ' + "storage"( - +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'y +42 "core" ' +286 ( +2 "storage"(1& +4 "core" &<% *\  + "manipulator"& & +4 "core" &y V  + "manipulator"& % +4 "core" % f  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +263 "core" ( + "manipulator"&& +4 "core" & d  +2 "storage"(6& +4 "core" &<% G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&,'ы +96 "core" ' + .tHand.open +2 "manipulator"&F1 +58 "core" 1 +2 "storage"(.- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(;'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(?& +4 "core" &<%  \  + "manipulator"&@& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"& ( +6 "core" ( +2 "manipulator"&4& +4 "core" &   +2 "storage"(D& +3 "core" &<% { \  +3 .tForearm.seek 5 + 700 counts + "manipulator"&G'ы +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"('' +58 "core" ' + "manipulator"&-& +5 "core" &   + "storage"($& +4 "core" &<% \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&/' +31 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +27 "core" ' + "manipulator"&0% +5 "core" %  + "storage"(7& +4 "core" &<% '\  +3 .tForearm.force -20 +51 "manipulator"&5 +4 .tForearm.seek 5 + 314 counts + "manipulator"&O' +12 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(&& +4 "core" &<%\ \  >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +23 "core" ' + "storage"(:% +5 "core" %p\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +99 (% +2 "core" %E 7\ Wa +2 "manipulator"&I% +4 "core" %ѷ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (*& +4 "core" &<% \  + "collection"'8& +4 "core" &Vm  \ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&+% +4 "core" %\    +2 "storage"(% +4 "core" %R\ \  D\ +2 "storage"(3. +3 "core" .(<* + "storage"(P& +4 "core" &<%\ \  >\  +2 "storage"(V& +4 "core" &<%\ \  v\  + "manipulator"&^& +4 "core" & (  +2 .tElbow.seek 5 + "manipulator"&=( +4 "core" ( + "manipulator"&>& +4 "core" &  T  + "storage"(U& +4 "core" &<%\ \ ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +95 "core" ' +2 "storage"([& +5 "core" &<%\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +282 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&]& +3 "core" &  +2 "storage"(K& +3 "core" &<% -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&Y' +23 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(M'T +32 "core" ' + "manipulator"&y% +4 "core" % C +2 "storage"(N& +3 "core" &<% \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&<' +15 "core" ' + "manipulator"&_& +4 "core" &  +2 "storage"(B& +4 "core" &<%\ \  R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&|'ы +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'C +39 "core" ' +3 "manipulator"&~& +9 "core" &  + "manipulator"&p% +5 "core" %Ѧ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&s( +156 "core" ( +2 "manipulator"&E& +4 "core" &+ i Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &, Bk +2 .tForearm.seek CC + "manipulator"&c'" +93 "core" ' + .tHand.close +2 "manipulator"&\ / +62 "core" / +2 .tCC.seek :open +2 "collection"'{( +415 "core" ( + "storage"(z& +5 "core" &<%\ #\ % \  + "storage"(r& +4 "core" &<%\ "\ & M\  + "manipulator"&u& +4 "core" &+ ' V Ae + "manipulator"&k% +4 "core" % #  ! +2 .tForearm.seek :retract + "manipulator"&b'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +155 "core" ( +2 "manipulator"&& +4 "core" & K  + "storage"(& +4 "core" &<% |\ , Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&t' +94 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +56 "core" 1 +2 "manipulator"&v% +4 "core" % # , +2 "storage"(& +4 "core" &<%\ A\ A \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts + "manipulator"&i' +18 "core" ' +2 "manipulator"&H& +5 "core" & @  + "storage"(R& +4 "core" &<%\ B\ A \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +29 "core" ' +2 "storage"(q% +4 "core" %K\ A\ ] \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (d% +3 "core" %A\ H\ H \ T\\ +2 "manipulator"&j% +4 "core" %ы  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&w% +4 "core" %\ & 0 !M +2 "storage"(n% +4 "core" %`\ A\ B \ +2 "storage"(}. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(g(K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (o& +3 "core" &K q\  +2 "manipulator"&& +3 "core" & Y  +2 .tElbow.seek 6 + "manipulator"&%( +34 "core" ( +2 "manipulator"&m& +4 "core" & K + "storage"()& +4 "core" &K\ 4\ & r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +101 "core" ' +2 "storage"(& +4 "core" &K\ , } \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &K\ "\ % a\  +2 "manipulator"&(& +3 "core" &\  J +2 .tElbow.seek 6 +2 "manipulator"&( +29 "core" ( +2 "manipulator"&& +4 "core" & N r + "storage"(& +4 "core" &K\ I\ I \  +2 .tForearm.seek 6 + 300 counts + "manipulator"& ' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" &  r +2 "manipulator"&2% +4 "core" % ' Z + .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +155 "core" ( + "manipulator"& & +5 "core" &* ,  @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&x& + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &* d @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' + "manipulator"&6& +6 "core" &* * @Z + "manipulator"&"% +4 "core" %( +2 "collection"'F& +4 "core" &  \ +2 "collection"'.& +5 "core" &  \ +2 .tCC.seek :closed + "collection"' (V +5 "core" &  \  +9 &/}  \ *y +10 &e  \ ? +9 &uy  \ O +9 &;[  \ M +10 &a  \ N +9 &_  \ M +10 &a  \ M +9 &C\\  \ M +9 &a  \ M +10 &_  U\ N +9 & b  \ M +9 &"Ic  \ N +10 &$ `  \ M +9 &%`   \ M +10 &'^  \ N +9 &)R^  \ M +9 &+b  \ M +10 &,_  \ M +9 &.`  T\ N +9 &0Z`  X\ M +10 &2[  \ M +9 &3b  \ M +10 &5]  \ M +9 &7b_  \ M +9 &9#]  \ N +10 &:_  \ N +9 &<c   \ M +9 &>j]  \ M +10 &@+]  \ N +9 &A_  \ M +10 &C`  \ M +9 &Epg  \ N +9 &G.p  \ O +10 &H  \ R +9 &J  \ V +9 &LZ  \ X +10 &N  \ X +9 &O  \ Y +10 &Q  \ Y +9 &S]  \ Z +9 &U  \ [ +10 &VmE  \ 2 +9 &Vl  \ G +5 ( +2 "collection"'.& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&?1 +3 "core" &Vg  \ G +57 1 +3 "manipulator"&@% +4 "core" % ( J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +52 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%D& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  %  +2 "storage"(-% +3 "core" %R \ +2 "storage"($. +3 "core" .(K +2 "storage"(9& +3 "core" &K \  +2 "storage"(0& +4 "core" &K n\  + "manipulator"&7& +4 "core" &( ~ ?V +2 "manipulator"&;% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&5( +174 "core" ( +2 "manipulator"&&& +4 "core" &  Y C +2 "storage"(& +3 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&,'a +94 "core" ' +2 "storage"(:& +4 "core" &K\ \ \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +288 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&I& +3 "core" & C +2 .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&'& +4 "core" & " B C +2 "storage"(/& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&O' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(+'X +7 "core" & C +2 "manipulator"&% +4 "core" % Ͽ  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +3 .tElbow.seek PC + "manipulator"&L(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +114 "core" ( + "manipulator"&P& +5 "core" &k # `  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &l ~  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +96 "core" ' + "manipulator"&>& +4 "core" &o " B  +2 "manipulator"&U% +4 "core" % m \ +2 "processing"%& +4 "core" &Z\ +2 "processing"%[& +5 "core" &\ +2 .tPC.seek :closed + "processing"%C(Z +5 "core" &[\  +9 &2^\ *y +9 &c[\ > +10 &n{[\ O +9 &3][\ M +10 &][\ N +9 &][\ N +9 &x_[\ N +10 &:`\\\ N +9 &`W\ M +9 &_[\ N +10 & b[\ N +9 &"B\\[\ N +10 &$\\Z\ M +9 &%][\ N +9 &'c[\ N +10 &)K^Z\ M +9 &+ _[\ N +9 &,ZZ\ N +10 &.]Z\ M +9 &0R][\ N +10 &2]Z\ N +9 &3][\ M +9 &5^Z\ N +10 &7Z`Q\ N +9 &9aS\ N +9 &:_U\ N +10 &<`\\\ N +9 &>a\\[\ N +10 &@%^[\ M +9 &A\\]\ N +9 &C_[\ M +10 &Egc[\ O +9 &G'nV\ O +9 &H[\ R +10 &JR\ T +9 &L_W\ T +10 &N"[\ T +9 &O\\\ T +9 &Q[\ T +10 &SgZ\ T +9 &U([\ T +9 &VS\ T +10 &XS\ T +9 &ZaY\ %s +9 &ZcU\ 3 +9 ( +3 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&!1 +3 "core" &Z"Q\ . +58 1 +2 "manipulator"&X% +4 "core" % -  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' +2 "processing"%]& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&K% +3 "core" %\   +2 "storage"(T% +4 "core" %R h\ +2 "storage"(y. +3 "core" .(K + "storage"(N& +4 "core" &K G\  +2 "storage"(_& +2 "manipulator"&B& +7 "core" &K _\  + &p N  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&~(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'i +2 "core" ( +2 "manipulator"&\\& +3 "core" &p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &p A  +2 .tForearm.seek PC +2 "manipulator"&`' +95 "core" ' + .tHand.close +2 "manipulator"&Y/ +62 "core" / +2 .tPC.seek :open +2 "processing"%<( +86 "core" ' +2 "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'y +45 "core" ' +291 ( +2 "storage"(f& +4 "core" &K @\  + "manipulator"&|& +4 "core" &q [  +2 "manipulator"&a% +3 "core" %  R 0 +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +258 "core" ( + "manipulator"&Z& +4 "core" &  # v  +2 "storage"(z& +3 "core" &K v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&r'a +99 "core" ' + .tHand.open + "manipulator"&u1 +54 "core" 1 +2 "storage"(k- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' + "storage"(s& +4 "core" &K X\  +2 "manipulator"&h& +3 "core" &    +2 .tElbow.seek 6 + "manipulator"&v( +9 "core" ( + "manipulator"&& +53 "core" &\   + "storage"(H& +5 "core" &K w \  +2 .tForearm.seek 6 + 700 counts + "manipulator"&R'a +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +67 "core" ' + "manipulator"&b& +5 "core" &\  y  + "storage"(d& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'Υ +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(t'i +29 "core" ' +2 "manipulator"&% +4 "core" %θ \ E + "storage"(i& +4 "core" &K A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&w' +27 "core" ' + "manipulator"&n& +5 "core" &\  K  + "storage"(}& +4 "core" &K\ \ &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&Q'a +23 "core" ' + "storage"(l% +5 "core" %o\ \  Q\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (W% +3 "core" %D \ V` + "manipulator"&o% +4 "core" %\\ / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +4 "core" &K t\  + "collection"')& +4 "core" &Vf  :\ G +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ & S !R + "storage"(% +4 "core" %R !\ +2 "storage"(e. +3 "core" .(K + "storage"(A& +4 "core" &K 9\  +2 "storage"(#& +3 "core" &K `\  +2 "manipulator"&(& +4 "core" &\    +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &\  %   +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +120 "core" ' + "storage"(2& +4 "core" &K\ $\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" &\   +2 "storage"(x& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +51 "manipulator"&'Υ +28 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(6- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"("'T +32 "core" ' +2 "manipulator"&F% +4 "core" %α 5 / +2 "storage"(& +3 "core" &K 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&' +13 "core" ' + "manipulator"&1& +5 "core" & g  + "storage"({& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'C +39 "core" ' +2 "manipulator"&D& +4 "core" &  +2 "manipulator"&.% +4 "core" %| +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +154 "core" ( + "manipulator"&$& +4 "core" &% 7 <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &% s <= +2 .tForearm.seek CC +2 "manipulator"&0'" +94 "core" ' +2 .tHand.close + "manipulator"&7/ +52 "core" / +2 .tCC.seek :open + "collection"';( +412 "core" ( +3 "storage"(& +4 "core" &K\ +\ & A\  + "storage"(&& +5 "core" &K\ $\ # &\  +2 "manipulator"&& +3 "core" &% &  <= +2 "manipulator"&:% +4 "core" % ( D  +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +156 "core" ( +2 "manipulator"&G& +4 "core" & ?  +2 "storage"(& +3 "core" &K\ | C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&I'Υ +105 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&/1 +63 "core" 1 +2 "manipulator"&*% +4 "core" % θ   +2 "storage"(8& +3 "core" &K\ #\ # \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +3 "manipulator"&' +12 "core" ' +2 "manipulator"&5& +4 "core" & ;  + "storage"(,& +4 "core" &K\ !\ O J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&J'a +19 "core" ' + "storage"(O% +5 "core" %L e e F\ +2 ."downElevator"SE.seek :down +4 "storage"(P'X +99 (V% +3 "core" %D=\ I\ I \ U] + "manipulator"& % +4 "core" %^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'U& +4 "core" &  \ +2 "manipulator"&% +4 "core" %\ & o !O +2 "storage"(+% +4 "core" %a\ C\ E \ +2 "storage"(3. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,l +660 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &,n\ \ \ +2 "manipulator"&X& +3 "core" & E  +2 .tElbow.seek 4 +2 "manipulator"&]( +45 "core" ( +2 "manipulator"&K& +4 "core" &\ R +2 "storage"(T& +3 "core" &,q\ H\ D \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&y'Ѽ +89 "core" ' +2 "storage"(N& +4 "core" &,q\ , | \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +286 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &,q\ 5\ * 3\ + "manipulator"&\\& +4 "core" &\ M P +2 .tElbow.seek 4 + "manipulator"&=( +4 "core" ( + "manipulator"&^& +5 "core" &\ @ P +2 "storage"(Y& +4 "core" &,q\ C\ H\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&M', +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(C'X +7 "core" &\ \\ P +2 "manipulator"&p% +4 "core" % !  j +2 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&|( +152 "core" ( + "manipulator"&a& +5 "core" ' + &&  =F + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &`& +3 "core" && T =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Z'" +102 "core" ' +2 "manipulator"&z& +4 "core" && =F +2 "manipulator"&~% +4 "core" % +3 "collection"'u& +4 "core" &  \ +2 "collection"'k& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'c(V +5 "core" &  \  +9 &2  \ *y +10 &c  \ > +9 &x  \ N +9 &IZ  \ M +10 & \\  \ M +9 &\\  \ M +9 &`  \ M +10 &R[  \ M +9 &_  \ N +10 &]  \ M +9 & b  \ M +9 &"Yb  \ M +10 &$_  \ N +9 &%`  Q\ N +9 &']  |\ M +10 &)b]  \ M +9 &+#_  \ M +10 &,]  \ M +9 &.a  \ M +9 &0i`  \ M +10 &2,Z  \ M +9 &3_  \ M +9 &5]  \ M +10 &7q]  \ M +9 &94^  \ M +10 &:_  \ M +9 &<b  \ M +9 &>z_  \ M +10 &@<_  \ M +9 &A_  \ M +9 &Ca  \ N +10 &E~h  \ N +9 &G=p  \ O +10 &H  \ R +9 &J  \ W +9 &Li  \ X +10 &N,  \ X +9 &O  \ Y +9 &Q  \ Y +10 &Sl  \ Z +9 &U-  \ Z +10 &VwB  T\ - +9 &V{  \ M +5 ( +2 "collection"'k& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&s1 +4 "core" &Vc  b\ M +56 1 +2 "manipulator"&h% +4 "core" %  J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&H% +4 "core" %\   +2 "storage"(b% +3 "core" %b .\ +2 "storage"(d. +3 "core" .(,l + "storage"(E& +4 "core" &,q k\ +2 "storage"(& +3 "core" &,q q\ +2 "manipulator"&& +4 "core" && =F +2 "manipulator"&i% +4 "core" %\   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +161 "core" ( +2 "manipulator"&n& +4 "core" & p e + "storage"(}& +4 "core" &,q\ \ <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&l'Ѽ +103 "core" ' +2 "storage"(r& +4 "core" &,q\ \  +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &,q n\ +2 "manipulator"&R& +3 "core" & A e +2 .tElbow.seek 4 + "manipulator"&v( +4 "core" ( + "manipulator"&q& +4 "core" &  e +2 "storage"(j& +3 "core" &,q \\\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&w', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"('X +8 "core" & . e + "manipulator"&% +4 "core" % , ( i +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t(s +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&A& +4 "core" &| '  +3 .tElbow.reconfigure :loose +53 "manipulator"&$ &.,(#b +2 &#& +3 "core" &|  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +97 "core" ' + "manipulator"&& +4 "core" &|  m +2 "manipulator"&% +4 "core" % e  +2 "processing"%Q& +4 "core" &\ +2 "processing"%2& +5 "core" &T\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &T\ +7 &BV\ $e +10 &TU\ 7 +9 &[\ L +9 &_U\ N +10 &k_Y\ N +9 &.]Z\ M +10 &]Z\ N +9 &ZZ\ N +10 &s]Z\ N +9 &5[Z\ N +9 &][\ N +10 &!]Z\ M +9 &#za^\ N +9 &%>]Z\ M +10 &']Y\ M +9 &(\\Z\ N +9 &*`W\ N +10 &,E[X\ N +9 &._M\ M +9 &/\\L\ M +10 &1\\H\ M +9 &3L`N\ N +10 &5ZK\ N +9 &6^D\ N +9 &8\\<\ N +10 &:V[G\ M +9 &<_H\ N +9 &=ZE\ M +10 &?\\I\ M +9 &A]_H\ N +10 &CbB\ N +9 &DcH\ N +9 &FnS\ O +10 &HYJ\ R +9 &JS\ S +10 &KI\ S +9 &M?\ S +10 &O\\G\ S +9 &QJ\ S +9 &RG\ T +10 &TG\ T +9 &VbG\ T +9 &X#=\ T +9 &Y|sD\ 2 +10 &Z(uE\ O +9 &Z#<\ 0 +3 ( + "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +5 "core" % .  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"% & +4 "core" &Z!m\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&x% +4 "core" %\  E  +2 "storage"(6% +4 "core" %^ \ + "storage"(F. +3 "core" .(,l +2 "storage"(& +4 "core" &,q B\ +2 "storage"(1& +5 "manipulator"&{& +3 "core" &,q \ +2 &| +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&D(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(.'i +3 "core" ( + "manipulator"&& +4 "core" &|  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &| / +2 .tForearm.seek PC +2 "manipulator"&%' +96 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%( +87 "core" ' + "storage"("- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"($'y +43 "core" ' +293 ( + "storage"(9& +4 "core" &,q \ +2 "manipulator"&?& +4 "core" &| g +2 "manipulator"& % +3 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +263 "core" ( +2 "manipulator"& & +4 "core" & P  + "storage"(& +4 "core" &,q \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&&'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(:- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(G'E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(-& +4 "core" &,q \ + "manipulator"&/& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&*( +3 "core" ( + "manipulator"&8& +4 "core" &   +2 "storage"(5& +4 "core" &,q \ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&,'Ѽ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +58 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(V& +3 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& ' +29 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(I'i +26 "core" ' + "manipulator"&U% +5 "core" % O t + "storage"(& +4 "core" &,q G\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&'; +20 "core" ' +2 "manipulator"&+& +4 "core" & )  +2 "storage"(3& +4 "core" &,q\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&@'Ѽ +28 "core" ' +2 "storage"(J% +4 "core" %o\ \  (\ +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 (g% +3 "core" %F \ Wa + "manipulator"&!% +5 "core" %Ѫ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +85 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (K& +4 "core" &,q\ \  _\ +2 "collection"'T& +4 "core" &Vb  \ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&N% +4 "core" %\   +2 "storage"('% +4 "core" %`\ \ !\ +2 "storage"(>. +3 "core" .(,l + "storage"(_& +4 "core" &,q\ \  I\ +2 "storage"([& +3 "core" &,q\ \  V\ +2 "manipulator"&\\& +4 "core" & O  +2 .tElbow.seek 4 + "manipulator"&^( +4 "core" ( + "manipulator"&Y& +4 "core" &    +2 "storage"(L& +3 "core" &,q\ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +96 "core" ' +2 "storage"(p& +4 "core" &,q\ $\  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +292 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" &  +2 "storage"(`& +3 "core" &,q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&B' +34 "core" ' + .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(~'V +31 "core" ' + "manipulator"&u% +5 "core" % + "storage"(=& +4 "core" &,q @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&C'= +13 "core" ' + "manipulator"&f& +4 "core" &   +2 "storage"(;& +4 "core" &,q\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&s'Ѽ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(h'E +40 "core" ' + "manipulator"&& +5 "core" &  + "manipulator"&H% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +154 "core" ( +3 "manipulator"&E& +4 "core" &% 1 <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &$  <; +2 .tForearm.seek CC +2 "manipulator"&k'" +99 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'i( +418 "core" ( +2 "storage"(Z& +4 "core" &,q\ %\ % E\ + "storage"(n& +4 "core" &,q\ $\ $ 9\ +2 "manipulator"&}& +3 "core" &% { <; +2 "manipulator"&r% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&|'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +41 "manipulator"&\ ( +167 "core" ( + "manipulator"&W& +4 "core" & i  +2 "storage"(o& +3 "core" &,q\ @\ Y @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&R' +100 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +56 "core" 1 +2 "manipulator"&m% +4 "core" %  s +2 "storage"()& +3 "core" &,q\ I\ H\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&'> +27 "core" ' +2 "manipulator"&& +4 "core" & V  + "storage"(l& +4 "core" &,q\ E\ : I\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +25 "core" ' +2 "storage"(w% +4 "core" %J }\  P\ +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (#% +3 "core" %B\ G\ G \ V` + "manipulator"&v% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &  \ + "manipulator"&Q% +4 "core" %\ $  K +2 "storage"(% +4 "core" %R\ =\ : \ +2 "storage"(e. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(<(<* +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<) k\  +2 "manipulator"&& +3 "core" & P  +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&x& +4 "core" & #   + "storage"(6& +4 "core" &<%\ H\ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&F'ы +95 "core" ' + "storage"(& +5 "core" &<%\ , ~ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'i +288 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &<%\ \ 4 0\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&(& +3 "core" & "  +2 "storage"(& +4 "core" &<%\ H\ H\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&"' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&t/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &   + "manipulator"&.% +4 "core" % d w +2 .tForearm.seek :retract + "manipulator"&9'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +153 "core" ( + "manipulator"& & +4 "core" &( $ i ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&%& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &( % ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +97 "core" ' + "manipulator"&& +5 "core" &) ? ?P + "manipulator"&D% +4 "core" %+ +2 "collection"'& +4 "core" &  \ +2 "collection"':& +5 "core" &  \ +3 .tCC.seek :closed +2 "collection"'0(V +4 "core" &  \ +6 &5  \ #b +10 &V  \ 8 +9 &~  \ L +9 &\\  \ M +10 &i^  \ M +9 &+\\  \ M +10 &]  \ M +9 &]  \ M +9 &r_  \ M +10 &4_  \ M +9 &^  \ M +9 &!`  \ N +10 &#y_  \ M +9 &%<a  \ M +10 &&`  \ M +9 &(]  \ M +9 &*\\   \ M +10 &,E_  \ M +9 &._  \ L +9 &/`  \ M +10 &1a  \ M +9 &3M^  \ M +10 &5b  \ M +9 &6_  \ L +9 &8]  T\ M +10 &:Tc  \ M +9 &<`  \ M +9 &=`  \ M +10 &?_  \ M +9 &A]_  \ M +10 &Cc  \ M +9 &Dg  \ N +10 &Fn  \ O +9 &HZ  W\ P +9 &J  \ U +9 &K  \ W +10 &M  \ X +9 &OK  {\ X +10 &Q  t\ X +9 &R  \ Y +9 &T  \ Z +10 &V,u  \ . +9 &V!  \ L +9 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open + "manipulator"&-1 +4 "core" &V`  \ H +60 1 + "manipulator"&/% +4 "core" % * ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%5& +4 "core" &_\ + "manipulator"&7% +4 "core" %\   +2 "storage"( % +3 "core" %U \ +2 "storage"(V. +3 "core" .(<* + "storage"($& +4 "core" &<% q\  +2 "storage"(U& +3 "core" &<% 3\  +2 "manipulator"&& +4 "core" &(  " ?P +2 "manipulator"&G% +3 "core" %\  \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&+( +169 "core" ( + "manipulator"&3& +4 "core" & 0 T +2 "storage"(J& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +106 "core" ' + "storage"(&& +4 "core" &<%\ &\ $ +\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &<% \  +2 "manipulator"&,& +3 "core" &  T +2 .tElbow.seek 5 + "manipulator"&*( +4 "core" ( + "manipulator"&O& +4 "core" &  T +2 "storage"( & +3 "core" &<% \  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(N'X +7 "core" &  T +2 "manipulator"&'% +3 "core" % g t +2 .tForearm.seek :retract +2 "manipulator"&>'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&I(s +171 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&_& +4 "core" &i 5 K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &i ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&\\' +96 "core" ' + "manipulator"&Y& +5 "core" &j  H + "manipulator"&L% +4 "core" % a ) +2 "processing"%@& +4 "core" &\ +2 "processing"%p& +6 "core" &d\ +2 .tPC.seek :closed +3 "processing"%P(Z +4 "core" &^\ +6 &V\ 5 +9 &@Fy`\ 0 +9 &hq[\ E +10 & gW\ N +9 &\\P\ N +9 &`]\ N +10 &R`V\ N +9 &Z]\ M +10 &]a\ N +9 &_a\ M +9 &[]X\ M +10 &!\\[\ M +9 &"^\\\ N +9 &$_]\ M +10 &&c[^\ M +9 &(%[O\ M +10 &)]M\ M +9 &+]=\ M +9 &-j[G\ N +10 &/,[J\ N +9 &0`A\ N +9 &2_D\ N +10 &4q\\P\ N +9 &65ZJ\ M +10 &7^E\ N +9 &9`K\ M +9 &;zZP\ N +10 &==_D\ M +9 &>Y?\ N +9 &@^>\ N +10 &B]O\ N +9 &DD^L\ N +10 &FeH\ N +9 &Gu>\ P +10 &I{=\ S +9 &K;>\ S +9 &LD\ T +9 &NI\ T +10 &P<\ T +9 &RBF\ T +10 &TN\ T +9 &UI\ T +10 &WL\ T +11 &YGF\ B +7 &ZZ:mM\ (s +9 &Z%J\ ( +6 ( + "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&41 +3 "core" &ZT\ ( +56 1 +2 "manipulator"&X% +4 "core" % # ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y'\ +95 "core" ' +2 "processing"%a& +4 "core" &Zx\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&`% +4 "core" %\   C - + "storage"(z% +4 "core" %a ]\ +2 "storage"(u. +3 "core" .(<* + "storage"(=& +4 "core" &<% 2\  +2 "storage"(f& +3 "manipulator"&;& +6 "core" &<% \  + &j : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +53 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&H(s +5 "core" ( + "manipulator"&S& +4 "core" &j % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &j '  +2 .tForearm.seek PC +2 "manipulator"&]' +93 "core" ' + .tHand.close +2 "manipulator"&B/ +59 "core" / +2 .tPC.seek :open + "processing"%C( +90 "core" ' +2 "storage"(~- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'y +43 "core" ' +290 ( +2 "storage"(& +4 "core" &<% #\  + "manipulator"&s& +4 "core" &j M + "manipulator"&M% +4 "core" % b  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&b( +256 "core" ( + "manipulator"&c& +4 "core" &  N  +2 "storage"(Z& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&n'ы +96 "core" ' +2 .tHand.open + "manipulator"&}1 +54 "core" 1 +2 "storage"(r- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(k'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +4 "core" -' + "storage"(d& +4 "core" &<% _\  +2 "manipulator"&j& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&m( +7 "core" ( + "manipulator"&)& +4 "core" & Z  +2 "storage"(& +4 "core" &<% g\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&l'ы +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(w' +59 "core" ' + "manipulator"&|& +4 "core" &  +2 "storage"(#& +4 "core" &<%\ M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v' +31 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(R'i +27 "core" ' + "manipulator"&% +5 "core" % ;  + "storage"(& +4 "core" &<% H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&Q' +12 "core" ' +2 "manipulator"&& +4 "core" & u  +2 "storage"(e& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&h'ы +23 "core" ' +2 "storage"(% +4 "core" %p\ \  W\ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (% +3 "core" %F \ Wb +2 "manipulator"&% +4 "core" %Ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +4 "core" &<%\ \  \  + "collection"'6& +4 "core" &V`  \ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\    +2 "storage"(q% +3 "core" %a\ \ \ +2 "storage"(. +3 "core" .(<* + "storage"(1& +4 "core" &<%\ \ \  +2 "storage"(2& +3 "core" &<%\ \  \  +2 "manipulator"&& +4 "core" & !  + .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&& +4 "core" & =  + "storage"(t& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +110 "core" ' +2 "storage"(.& +4 "core" &<%\ \  Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +284 "core" ' +2 "storage"(F- +4 "core" -' +6 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 2  + "storage"(%& +9 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&{' +31 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(D'S +31 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(& +3 "core" &<% Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&9& +4 "core" & |  + "storage"(i& +4 "core" &<%\ \ Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&-'ы +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'B +45 "core" ' +2 "manipulator"&5& +4 "core" &   +2 "manipulator"&7% +4 "core" %ѻ  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&V( +162 "core" ( +2 "manipulator"&$& +4 "core" &*  @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &* @[ +2 .tForearm.seek CC + "manipulator"&U'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'G( +416 "core" ( +2 "storage"( & +4 "core" &<%\ $\ $ %\  + "storage"(3& +4 "core" &<%\ !\ $ \  + "manipulator"&J& +4 "core" &* ' k @[ +2 "manipulator"&&% +3 "core" % # +2 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&8( +160 "core" ( +2 "manipulator"&g& +4 "core" & K q +2 "storage"(!& +3 "core" &<%\ A\ B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&,' +108 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&K% +4 "core" %  + "storage"(T& +4 "core" &<%\ \  j\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&'' +11 "core" ' +3 "manipulator"&+& +4 "core" & f q +2 "storage"(& +3 "core" &<%\ , | M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +24 "core" ' +2 "storage"(% +4 "core" %I\ + | \ +2 ."downElevator"SE.seek :down +4 "storage"(_'X +98 ([% +3 "core" %E\ *\ % \\\ U] +2 "manipulator"&*% +4 "core" %ѳ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'L& +4 "core" &  \ +2 "manipulator"&@% +4 "core" %\  @  + "storage"(N% +4 "core" %b\ :\ ; :\ +2 "storage"(>. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +189 "Can"i\ _] +147 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (4& +3 "core" &K o\  +2 "manipulator"&X& +4 "core" & m q +51 .tElbow.seek 6 +2 "manipulator"&a( +35 "core" ( + "manipulator"&`& +4 "core" & $ !t +2 "storage"(z& +4 "core" &K\ H\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&u'a +92 "core" ' + "storage"(=& +5 "core" &K |\ ! c\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'i +283 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &K\ $\  \  +2 "manipulator"&S& +4 "core" &  b +2 .tElbow.seek 6 + "manipulator"&^( +31 "core" ( +2 "manipulator"&\\& +4 "core" &  g + "storage"(B& +4 "core" &K\ H\ H\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&~' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(P'X +8 "core" &  g + "manipulator"&% +4 "core" % B +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&M& +4 "core" &( y ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &( . ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'" +101 "core" ' +3 "manipulator"&Z& +4 "core" &( % ?S +2 "manipulator"&H% +4 "core" %+  +2 "collection"'}& +4 "core" &  \ +2 "collection"'r& +6 "core" &  \ +2 .tCC.seek :closed + "collection"'o(V +4 "core" &  \ \ +9 &/|  \ *x +10 &d  \ > +9 &vx  \ N +9 &:W  \ M +10 &^  \ M +9 &]  \ M +9 &]  \ M +10 &A]  \ M +9 &]  \ N +10 &\\  Q\ M +9 & ^  M\ M +9 &"H_  \ N +10 &$ ]  \ M +9 &%`  \ M +10 &']  P\ M +9 &)Q\\  \ M +9 &+^  \ M +10 &,\\  \ M +9 &._  \ M +9 &0Z^  \ M +10 &2\\  \ M +9 &3_  \ M +9 &5\\  \ M +10 &7c\\  \ M +9 &9%]  \ M +10 &:b  \ M +9 &<_  \ M +9 &>j^  \ M +10 &@,^  \ M +9 &A]  \ M +9 &C_  \ M +10 &Eph  \ N +10 &G.o  \ O +9 &H  \ Q +9 &J  \ V +10 &L\\  \ W +9 &N  \ W +9 &O  \ Y +9 &Q   \ X +10 &S]  \ Z +9 &U  \ Z +10 &VgB  \ 1 +9 &V u  \ J +5 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&d1 +3 "core" &V`  \ J +51 1 +2 "manipulator"&j% +5 "core" % + ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\   +2 "storage"(|% +3 "core" %R K\ +2 "storage"(#. +3 "core" .(K + "storage"(E& +4 "core" &K 9\  + "storage"(& +4 "core" &K \  +2 "manipulator"&& +3 "core" &'  >K +2 "manipulator"&k% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +156 "core" ( +2 "manipulator"&e& +4 "core" & 9  + "storage"(& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&b'a +95 "core" ' +2 "storage"(n& +4 "core" &K\ $\ # (\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  u\  +2 "manipulator"&l& +4 "core" & \  +2 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&w& +4 "core" &   +2 "storage"(v& +3 "core" &K\ \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Q' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"('X +7 "core" &   +2 "manipulator"&q% +4 "core" % ϻ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&1(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( + "manipulator"&R& +4 "core" &p 6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &p ,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' +2 "manipulator"&& +4 "core" &q #  + "manipulator"&t% +4 "core" % +2 "processing"%h& +4 "core" &\ +2 "processing"%.& +5 "core" &k\ +2 .tPC.seek :closed +2 "processing"%A(Z +3 "core" &^\ +9 & ;d\ %f +9 &V_\ 7 +9 &c\ L +10 &]\\\ N +9 &m]]\ N +10 &/Z[\ N +9 &ZV\ N +9 &]Z\ M +10 &u\\c\ N +9 &7]e\ N +9 &\\P\ N +10 &![Y\ N +9 &#}ZZ\ N +10 &%?Ze\ N +9 &']`\ N +9 &(\\R\ N +10 &*\\\\\ M +9 &,G_Z\ N +9 &. `[\ N +10 &/]\\\ M +9 &1ZO\ M +9 &3O]L\ N +10 &5\\H\ M +9 &6YO\ M +10 &8ZQ\ M +9 &:X]I\ M +9 &<YK\ N +10 &=]G\ M +9 &?YK\ M +9 &AaY>\ M +10 &C!_N\ N +9 &DbQ\ N +10 &FiG\ O +9 &H[}H\ R +9 &JD\ S +10 &K=\ T +9 &MD\ S +9 &O]S\ T +10 &QG\ T +10 &RK\ T +9 &T<\ T +9 &VdD\ T +9 &X$>\ U +10 &YzqO\ 2 +9 &Z*xK\ K +9 &Z"B\ . +3 ( + "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&\ 1 +57 "core" 1 +2 "manipulator"&% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 "processing"% & +4 "core" &Z"\ . + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&%% +4 "core" %\ % J +2 "storage"(% +4 "core" %^ \ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"(9& +3 "manipulator"&i& +7 "core" &K \  + &q {  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&5(s + "storage"(7'i +6 "core" ( + "manipulator"&& +4 "core" &q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &q U  +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' + .tHand.close + "manipulator"&{/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' +2 "storage"(D- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"($'y +44 "core" ' +292 ( +2 "storage"(:& +4 "core" &K \  + "manipulator"&-& +4 "core" &q   + "manipulator"&"% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"& ( +248 "core" ( +2 "manipulator"&0& +4 "core" & !  ( + "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&3'a +90 "core" ' +2 .tHand.open + "manipulator"&J1 +63 "core" 1 +2 "storage"(&- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(g'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' + "storage"(V& +4 "core" &K u \  + "manipulator"& & +4 "core" & ( ( +2 .tElbow.seek 6 +52 "manipulator"&K( +4 "core" ( +2 "manipulator"&T& +3 "core" & ( +2 "storage"(+& +5 "core" &K k o M\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +29 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&?& +4 "core" & - ( +2 "storage"([& +4 "core" &K g\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&*'Υ +22 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'i +24 "core" ' +2 "manipulator"&L% +4 "core" %ά K +2 "storage"('& +4 "core" &K ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&@' +23 "core" ' + "manipulator"&N& +5 "core" & ( + "storage"(>& +4 "core" &K H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&/'a +45 "core" ' +2 "storage"(% +5 "core" %q i\ +2 ."downElevator"SE.seek :down +3 "storage"(_'X +99 (<% +3 "core" %J \ Wc +2 "manipulator"&4% +5 "core" %] > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +100 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (`& +3 "core" &K\ e\  +2 "collection"'z& +4 "core" &V`  \ J + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&=% +4 "core" %\ -  +2 "storage"(O% +3 "core" %R\ \  \ +2 "storage"(Y. +3 "core" .(K + "storage"(f& +4 "core" &K\ \ +\  +2 "storage"(p& +4 "core" &K\ \  \  +2 "manipulator"&S& +3 "core" & q ( +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&B& +4 "core" & x ( +2 "storage"(I& +4 "core" &K \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&y'a +99 "core" ' +2 "storage"(& +4 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +283 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" & - ( +2 "storage"(]& +3 "core" &K t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&;'Υ +28 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(H'T +30 "core" ' +2 "manipulator"&^% +4 "core" %ι Y + "storage"(}& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&P' +13 "core" ' + "manipulator"&& +4 "core" & 6 ( +2 "storage"(G& +4 "core" &K a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&d'a +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'C +40 "core" ' +2 "manipulator"&& +4 "core" & # ( +2 "manipulator"&% +4 "core" %b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +148 "core" ( + "manipulator"&E& +5 "core" &) ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" &( < ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&r/ +60 "core" / +2 .tCC.seek :open + "collection"'k( +419 "core" ( + "storage"(c& +4 "core" &K\ $\  \  +2 "storage"(e& +4 "core" &K\ \  V\  +2 "manipulator"&& +3 "core" &' >N +2 "manipulator"&n% +3 "core" % 1 6 +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&)( +156 "core" ( +2 "manipulator"&& +4 "core" &\   +  + "storage"(& +4 "core" &K\ H\ H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&l'Υ +106 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +57 "core" 1 +2 "manipulator"&x% +4 "core" % γ  +2 "storage"(6& +3 "core" &K\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&q' +12 "core" ' +2 "manipulator"&& +4 "core" &\  ^  +2 "storage"(b& +4 "core" &K\ ^\ ^ -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&W'a +24 "core" ' + "storage"(Q% +4 "core" %I\  | \ +2 ."downElevator"SE.seek :down +4 "storage"(R'X +99 (2% +3 "core" %B\ +\ $ d\ U_ + "manipulator"&m% +4 "core" %ш +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'t& +4 "core" &  \ +2 "manipulator"&h% +4 "core" %\ $ R C +2 "storage"(% +4 "core" %R\ C\ F \ +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(C(,l +659 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &,o \ +2 "manipulator"&& +4 "core" &\  F  + .tElbow.seek 4 +2 "manipulator"& ( +13 "core" ( +2 "manipulator"&%& +4 "core" & a d + "storage"(& +4 "core" &,r\ G\ H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +88 "core" ' +2 "storage"(& +4 "core" &,r\ ) | o\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'i +278 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" &,r\ #\ ? W\ + "manipulator"&& +4 "core" & g d +2 .tElbow.seek 4 + "manipulator"&(( +3 "core" ( +2 "manipulator"&& +4 "core" & - d + "storage"({& +4 "core" &,r\ I\ H\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +3 "manipulator"&1/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(A'X +6 "core" & d +2 "manipulator"&7% +4 "core" % &  + .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +155 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&"& + "storage"(5 +7 "core" && : =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" && 9 =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +100 "core" ' +2 "manipulator"& & +4 "core" && =C +2 "manipulator"&5% +4 "core" %" +2 "collection"'J& +4 "core" &  \ +52 "collection"'&& +6 "core" &  \ +2 .tCC.seek :closed + "collection"'U(V +5 "core" &  \ +8 & -  \ $d +9 &W  \ 7 +9 &  \ L +10 &Y  \ M +9 &^]  \ M +10 & \\  \ M +9 &]  \ M +9 &\\  \ M +10 &g]  \ M +9 &*]  \ M +9 &]  e\ M +10 &!_  W\ M +9 &#o]  \ M +9 &%1^   \ M +10 &&\\  \ M +9 &(Z  \ M +10 &*x\\  \ M +9 &,:\\  \ M +9 &-_  \ M +10 &/\\  \ M +9 &1]  \ M +9 &3B\\  \ M +10 &5\\  \ M +9 &6_  \ M +10 &8[  \ M +9 &:J^  \ M +9 &< ^  \ M +10 &=]  \ M +9 &?]  \ M +9 &AR[  \ M +10 &C]  \ M +10 &Db  \ N +9 &Fk  \ O +9 &HN}  \ Q +10 &J  \ U +9 &K  \ X +9 &M~  \ X +9 &O@  \ X +10 &Q  ]\ Y +9 &R  \ Z +10 &T  \ Z +9 &V w  \ / +10 &V'  \ T +8 ( +3 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&V1 +3 "core" &Vk  \ K +60 1 + "manipulator"& % +5 "core" %  \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%T& +5 "core" &\ + "manipulator"&+% +4 "core" %\  1  +2 "storage"(?% +3 "core" %R %\ +2 "storage"([. +3 "core" .(,l + "storage"($& +4 "core" &,r 0\ +2 "storage"(g& +4 "core" &,r $\ + "manipulator"&L& +4 "core" && =C + "manipulator"&'% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&N( +155 "core" ( +2 "manipulator"&>& +4 "core" &  @  + "storage"( & +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +98 "core" ' +2 "storage"(3& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +278 "core" ' +2 "storage"(<- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (4& +3 "core" &,r 8\ +2 "manipulator"&& +3 "core" & ;  +2 .tElbow.seek 4 +2 "manipulator"&K( +3 "core" ( + "manipulator"&& +4 "core" & k  +2 "storage"(*& +3 "core" &,r \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&@', +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&z& + "storage"(='X +7 "core" &   +2 "manipulator"&O% +4 "core" % 4 = + .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&f& +4 "core" &y :  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &y & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S' +91 "core" ' +2 "manipulator"&B& +4 "core" &y b +2 "manipulator"&I% +3 "core" %  G +2 "processing"%/& +4 "core" &Z\ +2 "processing"%& +5 "core" &]\ +2 .tPC.seek :closed +2 "processing"%_(Z +4 "core" &Z\  +9 &2~b\ *x +10 &c`\ > +9 &sz\\\ N +9 &6[]\ N +10 &[^\ M +9 &]i\ N +9 &|]]\ N +10 &?Ze\ M +9 &\\d\ N +9 &\\]\ N +10 & []\ M +9 &"F_R\ N +10 &$ ^R\ M +9 &%\\Z\ N +9 &'^Q\ N +10 &)NZ^\ N +9 &+^\\\ N +9 &,\\[\ N +10 &.Y_\ M +9 &0W]\\\ M +10 &2Z_\ N +9 &3\\R\ N +10 &5Z[\ M +9 &7^YV\ N +9 &9!]G\ M +9 &:XH\ M +10 &<ZS\ M +9 &>f]Q\ N +10 &@(^J\ N +9 &AZQ\ M +9 &C_E\ N +10 &Elb:\ N +9 &G)pK\ P +9 &HK\ R +10 &JM\ S +9 &Ld?\ T +10 &N&O\ T +9 &OH\ T +10 &QH\ T +9 &SlQ\ T +9 &U.H\ T +9 &VG\ T +10 &XK\ T +9 &Z `R\ "k +10 &ZcT\ 1 +8 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&81 +3 "core" &ZR\ + +52 1 +2 "manipulator"&X% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' + "processing"%M& +4 "core" &ZC\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&]% +3 "core" %\ &  !Q +2 "storage"(Z% +4 "core" %R \ +2 "storage"(^. +3 "core" .(,l + "storage"(}& +4 "core" &,r \ +2 "storage"(& +3 "manipulator"&G& +7 "core" &,r \ + &y  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&(s + "storage"('i +5 "core" ( + "manipulator"&y& +4 "core" &y G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &y * +2 .tForearm.seek PC +2 "manipulator"&a' +96 "core" ' + .tHand.close + "manipulator"&;/ +56 "core" / + .tPC.seek :open +2 "processing"%P( +92 "core" ' + "storage"(H- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'y +44 "core" ' +286 ( +2 "storage"(& +4 "core" &,r >\ + "manipulator"&d& +4 "core" &y V + "manipulator"&~% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&r'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&|( +260 "core" ( +2 "manipulator"&o& +4 "core" & # ` + "storage"(c& +4 "core" &,r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&e'Ѽ +87 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(n- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(#& +4 "core" &,r u 5\ + "manipulator"&v& +4 "core" & Q +2 .tElbow.seek 4 +2 "manipulator"&x( +3 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(& +4 "core" &,r q  @\ +2 .tForearm.seek 4 + 700 counts + "manipulator"&b'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +57 "core" ' + "manipulator"&s& +5 "core" & + "storage"(2& +4 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&m' +27 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +26 "core" ' + "manipulator"&t% +5 "core" %  + "storage"(q& +4 "core" &,r _\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&h'2 +20 "core" ' +2 "manipulator"&& +5 "core" & @ +2 "storage"(& +4 "core" &,r\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&j'Ѽ +32 "core" ' +2 "storage"(W% +4 "core" %o\ \  \ +3 ."downElevator"SE.seek :down +3 "storage"(R'X +99 (% +2 "core" %F X\ Wb +2 "manipulator"&\ % +4 "core" %ѽ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (%& +4 "core" &,r o\ +2 "collection"'& +3 "core" &Vk  \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +54 "core" %\  6  +3 "storage"(w% +4 "core" %R \ + "storage"(. +3 "core" .(,l +2 "storage"(9& +4 "core" &,r \ \ + "storage"(i& +4 "core" &,r 5\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&{& +4 "core" & # S +2 "storage"(1& +3 "core" &,r 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +87 "core" ' +2 "storage"(7& +5 "core" &,r\ \  "\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&"& +3 "core" & / +2 "storage"( & +3 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&.' +31 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(5'V +28 "core" ' + "manipulator"&(% +4 "core" % ~ A +2 "storage"(J& +4 "core" &,r 5\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&A'? +20 "core" ' +2 "manipulator"&:& +4 "core" &  + "storage"(k& +4 "core" &,r )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&V'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'E +39 "core" ' + "manipulator"&T& +5 "core" & + "manipulator"&+% +4 "core" %ѻ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +156 "core" ( + "manipulator"&$& +4 "core" && 7 ( =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" && =A +2 .tForearm.seek CC +2 "manipulator"&g'" +93 "core" ' + .tHand.close + "manipulator"&L/ +54 "core" / +2 .tCC.seek :open + "collection"''( +415 "core" ( +2 "storage"(0& +4 "core" &,r\ %\ $ 2\ + "storage"(>& +4 "core" &,r\ $\ $ (\ +2 "manipulator"& & +3 "core" && C =A +2 "manipulator"&3% +3 "core" %  %  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&<& +4 "core" &  o + "storage"(4& +4 "core" &,r\ B\ B \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +102 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +64 "core" 1 +2 "manipulator"&`% +4 "core" %  W q +2 "storage"(z& +3 "core" &,r\ $\ 7 S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&O': +21 "core" ' + "manipulator"&N& +5 "core" & P o + "storage"(& +4 "core" &,r\ B\ A ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&!'Ѽ +36 "core" ' + "storage"(@% +4 "core" %M\ ]\ A \ +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (p% +3 "core" %D\ 8\ + .\ V` + "manipulator"&K% +4 "core" %џ Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'I& +4 "core" &  \ +2 "manipulator"&/% +4 "core" %\ $ L + "storage"(=% +4 "core" %Z\ F\ = \ +2 "storage"(Y. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &<' \  a\  +2 "manipulator"&X& +4 "core" & ( o +2 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( + "manipulator"&]& +4 "core" &   o +2 "storage"(Z& +4 "core" &<$\ H\ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&^'ы +95 "core" ' + "storage"(}& +4 "core" &<$\ " 4\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<$\ I\ E \  +2 "manipulator"&y& +3 "core" & ! o +2 .tElbow.seek 5 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&S& +4 "core" & R o + "storage"(;& +4 "core" &<$\ B\ C \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&H' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(_'X +8 "core" &  o + "manipulator"&% +4 "core" % _ $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&~& +5 "core" &' @ = >O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &' >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&o'" +97 "core" ' +2 "manipulator"&c& +5 "core" &' .  >O + "manipulator"&% +4 "core" %$ .  +2 "collection"'& +4 "core" &  \ +2 "collection"'n& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  \  +8 &0  \ +z +10 &c  \ > +9 &zu  \ M +10 &<[  \ M +9 &]  \ M +9 &Z  \ M +10 &\\  \ M +9 &D\\  \ M +9 &\\  u\ M +10 &`  \ M +9 & _  V\ M +10 &"L^  \ M +9 &$]  \ M +9 &%_  S\ M +10 &'\\  \ M +9 &)TZ  \ M +9 &+]  \ M +10 &,]  \ M +9 &.\\  \ M +10 &0\\]  \ M +9 &2\\  \ M +9 &3[  R\ M +10 &5[  \ L +9 &7e]  \ M +9 &9'Z  \ M +10 &:]  \ M +9 &<^  \ M +10 &>l[  \ M +9 &@/\\  \ M +9 &A\\  \ M +10 &C^  \ M +9 &Eqe  \ N +9 &G/q  \ O +10 &H  \ R +9 &J  \ W +9 &L\\  \ X +10 &N  \ X +9 &O  \ Y +10 &Q  \ Y +9 &S^  \ Z +10 &U  \ Z +9 &VkD  \ 1 +9 &Vr  \ I +6 ( + "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator" +3 "core" &Vk  \ I +54 1 +3 "manipulator"&v% +4 "core" % $   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&r% +3 "core" %\   +2 "storage"(s% +4 "core" %R Y\ +2 "storage"(2. +3 "core" .(<* + "storage"(t& +4 "core" &<$ \  + "storage"(q& +4 "core" &<$ \  +2 "manipulator"&E& +3 "core" &' >N +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" &  &  + "storage"(W& +4 "core" &<$\ \ +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&|'ы +92 "core" ' +2 "storage"(e& +4 "core" &<$\ #\ $ !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +52 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &<$ \  +2 "manipulator"&b& +3 "core" & m  +2 .tElbow.seek 5 + "manipulator"&x( +4 "core" ( + "manipulator"&Q& +4 "core" & C  + "storage"(m& +4 "core" &<$\ \  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&h' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &   + "manipulator"&l% +4 "core" % # +2 .tForearm.seek :retract +2 "manipulator"&w'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&9& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&{& +4 "core" &i   +2 "manipulator"&1% +4 "core" % 3 ( +2 "processing"%j& +4 "core" &[\ +2 "processing"%7& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(Z +5 "core" &h\  +9 &1j\ *y +9 &cY\ > +9 &uy[\ N +10 &8Za\ M +9 &\\_\ M +10 &`^\ N +9 &}_c\ N +9 &@\\f\ M +10 &\\]\ N +9 &]f\ N +9 & Zc\ M +10 &"H\\\\\ M +9 &$ ^Q\ N +10 &%][\ M +9 &'\\`\ N +9 &)O]e\ N +10 &+^W\ M +9 &,Y^\ M +10 &.[c\ M +9 &0W]^\ N +9 &2ZO\ M +10 &3^X\ N +9 &5\\>\ M +9 &7aZG\ M +10 &9!\\I\ N +9 &:WL\ M +9 &<^H\ N +10 &>h\\Y\ M +9 &@)ZJ\ N +10 &A\\R\ N +9 &C`Q\ N +9 &Eo`K\ N +12 &G,nI\ O +10 &HJ\ R +7 &JR\ S +9 &LfS\ S +9 &N(S\ S +10 &OK\ T +9 &QT\ T +9 &SlM\ T +10 &U.Q\ T +9 &VV\ T +9 &XV\ U +10 &Z^M\ #l +9 &Z_P\ / +9 ( +3 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&)1 +3 "core" &Z M\ + +58 1 +2 "manipulator"&% +4 "core" % 5  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%"& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %\ % F + "storage"( % +4 "core" %R \ +2 "storage"((. +3 "core" .(<* + "storage"(J& +4 "core" &<$ \  +2 "storage"(:& +2 "manipulator"&k& +7 "core" &<$ ?\  + &i +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(T'i +3 "manipulator"&+(s +3 "core" ( + "manipulator"&F& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' + .tHand.close +2 "manipulator"&./ +56 "core" / +2 .tPC.seek :open +2 "processing"%A( +92 "core" ' +2 "storage"(5- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'y +41 "core" ' +288 ( + "storage"(&& +4 "core" &<$ j\  +2 "manipulator"&V& +4 "core" &i & + "manipulator"&D% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&?( +262 "core" ( + "manipulator"&U& +4 "core" &   +2 "storage"(0& +4 "core" &<$ B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&>'ы +95 "core" ' + .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(<'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(4' +46 "core" ' + #tLights, camera, ACTION! + "storage"(g- +4 "core" -' +2 "storage"([& +4 "core" &<$ \  + "manipulator"&*& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&`( +3 "core" ( + "manipulator"&z& +4 "core" & o  +2 "storage"(N& +3 "core" &<$ i\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +60 "core" ' + "manipulator"&-& +5 "core" &  + "storage"(p& +4 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&K' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' + "manipulator"&O% +4 "core" % +2 "storage"(I& +5 "core" &<$ h\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&/' +13 "core" ' +2 "manipulator"&=& +4 "core" &  +2 "storage"(Y& +4 "core" &<$\  F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +24 "core" ' +2 "storage"(!% +4 "core" %o\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (C% +2 "core" %G \ Wc +2 "manipulator"&8% +4 "core" %ћ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +89 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (]& +4 "core" &<$ o\  +2 "collection"'Z& +3 "core" &Vk  \ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&}% +4 "core" %\  } + +2 "storage"(% +4 "core" %R <\ + "storage"(B. +4 "core" .(<* + "storage"(G& +4 "core" &<$ 2\  + "storage"(& +4 "core" &<$ %\  +2 "manipulator"&y& +3 "core" & 5  +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&;& +4 "core" &  [  + "storage"(,& +4 "core" &<$ :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&u'ы +104 "core" ' +2 "storage"(& +4 "core" &<$\ \  3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +282 "core" ' + "storage"(^- +9 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" &  +2 "storage"(a& +3 "core" &<$ z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +30 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(\\& +4 "core" &<$ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&_' +13 "core" ' + "manipulator"&& +4 "core" & *  +2 "storage"('& +4 "core" &<$\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&#'ы +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'C +39 "core" ' + "manipulator"&& +5 "core" & ?  +50 "manipulator"&r% +6 "core" %Ѩ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +171 "core" ( + "manipulator"&t& +5 "core" & 7 , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & U , +2 .tForearm.seek CC + "manipulator"&n'" +96 "core" ' + .tHand.close +2 "manipulator"&E/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(o& +4 "core" &<$\ #\ " \ \  +2 "storage"(& +3 "core" &<$\ %\ % D\  +2 "manipulator"&W& +4 "core" & - , +2 "manipulator"&e% +4 "core" % 0 z +2 .tForearm.seek :retract + "manipulator"&d'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +159 "core" ( + "manipulator"&& +5 "core" & \\ y + "storage"(\ & +4 "core" &<$ |\ , \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&b' +104 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +59 "core" 1 +2 "manipulator"&%% +5 "core" % . + "storage"(& +4 "core" &<$\ $\ $ L\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&l' +13 "core" ' + "manipulator"&& +4 "core" & y +2 "storage"(|& +4 "core" &<$\ - } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +29 "core" ' +2 "storage"(h% +4 "core" %L |\ ' \ +2 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (i% +3 "core" %E\ )\ $ 4\ U_ +2 "manipulator"&x% +4 "core" %ф +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'1& +5 "core" &  K\ + "manipulator"&j% +4 "core" %\  G  +2 "storage"(% +3 "core" %a\ M\ Y =\ +2 "storage"(w. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(P(K +336 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" &K e\  +2 "manipulator"&& +3 "core" & } y +2 .tElbow.seek 6 +2 "manipulator"&"( +35 "core" ( + "manipulator"& & +5 "core" & $ m ? + "storage"( & +4 "core" &K\ H\ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&('a +97 "core" ' + "storage"(J& +4 "core" &K\ ,  G\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +286 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &K\ "\ % 9\  +2 "manipulator"&F& +3 "core" &  > +2 .tElbow.seek 6 + "manipulator"&( +26 "core" ( +2 "manipulator"&& +4 "core" & % w +2 "storage"(.& +4 "core" &K\ A\ B \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&5' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(R'X +7 "core" & 5 w +2 "manipulator"&T% +4 "core" % : +2 .tForearm.seek :retract +2 "manipulator"&&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&D& +4 "core" &/ B @ E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &/ E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&U'" +103 "core" ' +2 "manipulator"&0& +4 "core" &/  E +2 "manipulator"&+% +4 "core" %, +2 "collection"' & +4 "core" &  \ +2 "collection"'3& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'g(V +4 "core" &  \  +9 &1  \ *y +10 &d  \ > +9 &yv  \ N +9 &>Z  \ M +9 &Z  \ M +10 &[  \ M +9 &]  \ M +9 &FZ  \ M +10 &Y  \ M +9 &\\  \ M +10 & ]  \ L +9 &"M]  \ M +9 &$\\  \ M +10 &%_  \ M +9 &']  \ M +9 &)V^  K\ M +10 &+`  \ M +9 &,Y  \ M +10 &.Z  \ M +9 &0^] \ M +9 &2_  k\ M +10 &3Z  \ M +9 &5Z  {\ M +9 &7f_  \ M +10 &9(Z  \ M +9 &:\\  \ M +10 &<]  \ L +9 &>n]  \ M +9 &@1\\  \ L +10 &A\\  \ M +9 &Ca  \ M +9 &Ese  \ N +10 &G1n  \ O +9 &H~  \ Q +10 &J  \ V +9 &L^  \ X +9 &N!  \ W +10 &O  \ X +9 &Q  \ Y +9 &S_  \ Z +10 &U  \ [ +9 &VoE  \ 0 +9 &Vp  \ J +6 ( + "collection"'3& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&[1 +4 "core" &V`  \ J +54 1 +2 "manipulator"&*% +4 "core" % , C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%N& +5 "core" &\ + "manipulator"&L% +4 "core" %\ %  E + "storage"(-% +4 "core" %\\ 2\ +2 "storage"(p. +3 "core" .(K + "storage"($& +4 "core" &K \  + "storage"(O& +4 "core" &K \  +2 "manipulator"&I& +4 "core" &.  Dx + "manipulator"&<% +4 "core" %\ % 6 E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&=( +158 "core" ( + "manipulator"&Y& +4 "core" &  (  +2 "storage"(!& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?'a +103 "core" ' + "storage"(>& +4 "core" &K\ "\ $ -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +283 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" &K\  ?\  + "manipulator"&& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&`( +4 "core" ( + "manipulator"&@& +4 "core" &  8  +2 "storage"(K& +3 "core" &K\ \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&/' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +3 "storage"(}'X +6 "core" &  L  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&B(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&G& +5 "core" &z F  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &z *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&y' +99 "core" ' +2 "manipulator"&;& +4 "core" &z ~  +2 "manipulator"&,% +4 "core" % + "processing"% & +4 "core" &e\ +2 "processing"%& +5 "core" &e\ +2 .tPC.seek :closed +3 "processing"%f(Z +3 "core" &i\ +6 & 1j\ $d +10 &Uc\ 7 +9 &m\ L +9 &\\j\ N +10 &c^j\ N +9 &(Zi\ M +10 &_j\ N +9 &\\h\ N +9 &l_h\ N +10 &/\\^\ M +9 &\\\\\ N +10 &!\\e\ N +9 &#u_h\ M +9 &%7Zd\ M +10 &&Zc\ N +9 &(Yh\ M +9 &*|Zd\ N +10 &,?]g\ M +9 &.Zd\ N +9 &/\\`\ M +10 &1\\e\ N +9 &3F[k\ N +10 &5 ]h\ M +9 &6^^\ M +9 &8][\ M +10 &:O]d\ M +9 &<]^\ M +9 &=ZZ\ N +10 &?ZZ\ M +9 &AWWT\ M +57 &C_X\ M +2 &D_\\\ N + &FhW\ O + &HT{]\ Q + &JV\ S + &KV\ S +3 &MQ\ T +9 &OUS\ S +10 &QX\ S +9 &RT\ T +10 &TP\ T +9 &V[S\ T +9 &XS\ U +9 &Y|rT\ 4 +10 &Z*~Y\ O +9 &ZJ\ - +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&X% +4 "core" % - ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +93 "core" ' + "processing"%~& +4 "core" &ZV\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&a% +4 "core" %\  "  +2 "storage"(c% +4 "core" %R \ + "storage"(. +3 "core" .(K +2 "storage"(\\& +4 "core" &K \  +2 "storage"(& +2 "manipulator"&'& +7 "core" &K t\  + &z W  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +3 "core" ( + "manipulator"&u& +4 "core" &z b  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &z  p  +2 .tForearm.seek PC +2 "manipulator"&M' +101 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%_( +88 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +43 "core" ' +291 ( + "storage"(q& +4 "core" &K \  +2 "manipulator"&#& +3 "core" &z   +2 "manipulator"&H% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&E'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&s( +264 "core" ( + "manipulator"&& +5 "core" &  #  + "storage"(o& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +93 "core" ' +2 .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "storage"(e- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(\ ' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +4 "core" -' + "storage"(2& +4 "core" &K f\  +2 "manipulator"&m& +4 "core" &  J  +2 .tElbow.seek 6 + "manipulator"&%( +8 "core" ( +2 "manipulator"&& +4 "core" & D  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&|'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +61 "core" ' + "manipulator"&d& +4 "core" & ~  +2 "storage"(i& +4 "core" &K p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&x'Υ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +33 "core" ' +2 "manipulator"&l% +4 "core" %ΰ , +2 "storage"(1& +5 "core" &K [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&j' +12 "core" ' +3 "manipulator"&& +4 "core" & r  +2 "storage"(w& +4 "core" &K\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&v'a +24 "core" ' + "storage"(% +5 "core" %r\ \  J\ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 (% +3 "core" %H \ Wb + "manipulator"&)% +4 "core" %q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &K\ \ \  +2 "collection"' & +4 "core" &V_  \ J + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&J% +4 "core" %\  & + + "storage"(Q% +4 "core" %R\ \ \ +2 "storage"({. +3 "core" .(K + "storage"(k& +4 "core" &K\ \ \  +2 "storage"(:& +3 "core" &K\ \ \  +2 "manipulator"&F& +4 "core" & x  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&.& +4 "core" &  ^  +2 "storage"(& +3 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +96 "core" ' +2 "storage"(T& +4 "core" &K\ \  -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +278 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & t  + "storage"( & +4 "core" &K\ \ E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&7'Υ +23 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(+'S +38 "core" ' +2 "manipulator"&% +4 "core" %η N +2 "storage"( & +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&R' +12 "core" ' + "manipulator"&&& +4 "core" &   +2 "storage"(& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&['a +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(*'B +39 "core" ' +2 "manipulator"&N& +4 "core" &   +2 "manipulator"&L% +4 "core" %w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +163 "core" ( +2 "manipulator"&$& +4 "core" &* @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &*  @^ +2 .tForearm.seek CC +2 "manipulator"&O'" +92 "core" ' +2 .tHand.close + "manipulator"&I/ +55 "core" / +2 .tCC.seek :open +2 "collection"'<( +415 "core" ( + "storage"(U& +4 "core" &K\ $\ $ \  +2 "storage"(Y& +3 "core" &K\ $\ % 0\  +2 "manipulator"&!& +3 "core" &* @W +2 "manipulator"&>% +4 "core" % / \\ +2 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&z( +157 "core" ( + "manipulator"&C& +4 "core" & h  +2 "storage"(8& +3 "core" &K\ :\ : k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'Υ +96 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +59 "core" 1 +2 "manipulator"&]% +4 "core" % α # } + "storage"(Z& +4 "core" &K\ G\ I _\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 312 counts +2 "manipulator"&' +11 "core" ' +2 "manipulator"&=& +5 "core" & A  +2 "storage"(?& +3 "core" &K\  | :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 6 + 700 counts +13 "manipulator"&4'a +23 "core" ' +2 "storage"(/% +4 "core" %E\ .\  o\ +3 ."downElevator"SE.seek :down +3 "storage"(G'X +98 (% +3 "core" %B\ D\ H 7\ U] +2 "manipulator"&`% +4 "core" %ц  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"',& +4 "core" &  \ +2 "manipulator"& % +4 "core" %\  7  +2 "storage"(}% +4 "core" %a @ I \ +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,l +659 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &,o\ \ \ +2 "manipulator"&X& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&~( +15 "core" ( +2 "manipulator"&a& +4 "core" & L [ + "storage"(c& +4 "core" &,r\ J\  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +99 "core" ' + "storage"(\\& +5 "core" &,r z\ ,\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,r\ 9\ F \ +2 "manipulator"&u& +4 "core" & [ + .tElbow.seek 4 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&y& +3 "core" & < [ +2 "storage"(& +4 "core" &,r\ D\ M \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +53 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(f'X +6 "core" &  [ +2 "manipulator"&r% +4 "core" % 2 H 0 +2 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&H& +5 "core" &( 9 u 4 ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &(  ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + "manipulator"&o& +4 "core" &( $ H ?T +2 "manipulator"&% +4 "core" % P +2 "collection"'W& +4 "core" &  \ +2 "collection"'e& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'n(V +4 "core" &  \  +9 &1  \ *x +9 &d  \ > +10 &zu  \ M +9 &<Z  \ M +9 &[  \ L +10 &\\  \ M +9 &^  \ M +9 &E[  \ M +10 &Z  \ M +9 &[  \ L +10 & ]  \ M +9 &"M\\  \ M +9 &$[  \ M +10 &%\\  \ M +9 &'Z  \ M +9 &)U\\  \ M +10 &+_  \ M +9 &,Z  K\ L +10 &.\\  \ M +9 &0\\_  T\ M +9 &2Z  \ M +10 &3Y  T\ M +9 &5Z  \ L +9 &7e[  \ M +10 &9'Y  \ M +9 &:Z  h\ M +10 &<]  \ M +9 &>m\\  \ M +9 &@.Y  \ M +10 &AZ  \ M +9 &C\\  \ M +9 &Eqc  \ N +10 &G/o  \ O +9 &H  \ Q +10 &J  \ W +9 &L[  \ X +9 &N  \ X +10 &O  \ X +9 &Q  \ Y +9 &S`  \ Y +10 &U \ [ +9 &VmC  \ 1 +9 &Vu  \ I +6 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&21 +3 "core" &Vk  \ I +51 1 + "manipulator"&m% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &h\ + "manipulator"&E% +9 "core" %\   + "storage"(d% +4 "core" %R \ +2 "storage"(i. +8 "core" .(,l + "storage"(l& +4 "core" &,r \ +2 "storage"(t& +4 "core" &,r \ + "manipulator"&1& +4 "core" &( A ?T + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( + "manipulator"&w& +4 "core" & f x +2 "storage"(& +4 "core" &,r\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&s'Ѽ +103 "core" ' + "storage"(& +4 "core" &,r\ $\  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ()& +3 "core" &,r \ +2 "manipulator"&|& +4 "core" &  x + .tElbow.seek 4 +2 "manipulator"&%( +4 "core" ( + "manipulator"&h& +4 "core" & S x + "storage"(x& +4 "core" &,r \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&j', +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(J'X +6 "core" &  x +2 "manipulator"&Q% +4 "core" % 3  \\ +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&k& +4 "core" &w s = 3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &w  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' +2 "manipulator"&.& +4 "core" &w # (  +2 "manipulator"&% +4 "core" %  T # + "processing"%v& +4 "core" &j\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed + "processing"%9(Z +5 "core" &n\  +9 &2a\ )w +10 &ci\ > +9 &xyj\ N +9 &;[`\ N +10 &]j\ M +9 &[_\ M +9 &^_\ N +10 &CZi\ N +9 &]`\ M +10 &]c\ N +9 & ]c\ M +9 &"KY^\ N +10 &$\\h\ M +9 &%Z]\ M +9 &'_[\ N +10 &)S[]\ N +9 &+\\\\\ M +10 &,XY\ M +9 &.ZX\ M +9 &0\\]O\ M +10 &2YO\ M +9 &3YQ\ M +9 &5\\T\ M +10 &7d\\I\ M +9 &9&\\R\ M +10 &:WT\ M +9 &<YS\ M +9 &>lWR\ M +10 &@.YQ\ M +9 &AYL\ N +9 &C_Q\ N +10 &EpdP\ O +9 &G0mY\ O +10 &HM\ R +9 &JK\ S +9 &LjS\ S +10 &N+T\ T +9 &OU\ S +9 &QU\ S +10 &SqE\ T +9 &U3S\ T +10 &VS\ T +9 &XX\ U +9 &Z Z~T\ &s +10 &ZcQ\ 5 +8 ( +3 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&61 +4 "core" &Z!J\ . +49 1 + "manipulator"&% +4 "core" % -  # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +96 "core" ' +2 "processing"%D& +4 "core" &Z"M\ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +4 "core" %\  , + "storage"(0% +4 "core" %^ \ +2 "storage"(. +3 "core" .(,l + "storage"( & +4 "core" &,r \ +2 "storage"(&& +5 "manipulator"&& +3 "core" &,r K\ +2 &w y  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&N(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(L'i +3 "core" ( + "manipulator"&& +4 "core" &w  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &w \\  +2 .tForearm.seek PC + "manipulator"&"' +95 "core" ' +2 .tHand.close + "manipulator"&7/ +60 "core" / + .tPC.seek :open +2 "processing"%R( +89 "core" ' +2 "storage"(+- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'y +44 "core" ' +288 ( +2 "storage"(3& +4 "core" &,r \ + "manipulator"&[& +4 "core" &w X  + "manipulator"&5% +4 "core" % / ) +2 .tForearm.seek :retract +53 "manipulator"&I'\ +95 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&-( +246 "core" ( + "manipulator"&g& +5 "core" &  & !p + "storage"(U& +4 "core" &,r U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Y'Ѽ +97 "core" ' + .tHand.open + "manipulator"&!1 +60 "core" 1 +2 "storage"(>- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(C'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(8' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(p& +4 "core" &,r |\ +2 "manipulator"&K& +3 "core" & i m +2 .tElbow.seek 4 +2 "manipulator"&]( +4 "core" ( + "manipulator"&Z& +4 "core" & " m + "storage"(=& +4 "core" &,r ~ r ;\ +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&?'Ѽ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(/' +58 "core" ' + "manipulator"&V& +5 "core" & m + "storage"(z& +4 "core" &,r \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +27 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +27 "core" ' +2 "manipulator"&,% +4 "core" % J +2 "storage"(& +4 "core" &,r \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"& ': +20 "core" ' + "manipulator"&}& +5 "core" & 5 m + "storage"(& +5 "core" &,r F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&*'Ѽ +28 "core" ' +2 "storage"(4% +4 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +99 (P% +3 "core" %L \ Wd + "manipulator"&% +5 "core" %Ѣ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +86 "core" ' +76 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &,r 7\ + "collection"'c& +4 "core" &Vj  \ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\\% +4 "core" %\  b  +2 "storage"(@% +4 "core" %_ +\ + "storage"(;. +3 "core" .(,l +2 "storage"('& +3 "core" &,r `\ +2 "storage"(& +3 "core" &,r \ +2 "manipulator"&u& +4 "core" &  m +2 .tElbow.seek 4 + "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" & ! m +2 "storage"(B& +4 "core" &,r d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&^'Ѽ +94 "core" ' +2 "storage"(r& +4 "core" &,r\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" & P m +2 "storage"(M& +4 "core" &,r G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(o- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +32 "core" ' + "manipulator"&W% +4 "core" %  A +2 "storage"(S& +4 "core" &,r 4\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&f'? +14 "core" ' + "manipulator"&q& +4 "core" & h m +2 "storage"(<& +4 "core" &,r h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&2'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'E +39 "core" ' +2 "manipulator"&& +4 "core" & [ m +2 "manipulator"&E% +4 "core" %Ѽ @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&i( +157 "core" ( +3 "manipulator"&l& +4 "core" &, -  Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &+ N Bl +2 .tForearm.seek CC + "manipulator"&t'" +95 "core" ' +2 .tHand.close + "manipulator"&1/ +52 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &,r\ &\ $ 8\ + "storage"(w& +4 "core" &,r\ "\ # !\ +2 "manipulator"&& +3 "core" &, y Bk +2 "manipulator"&% +3 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +156 "core" ( + "manipulator"&& +4 "core" &  + { +2 "storage"()& +4 "core" &,r\ ;\ = \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&|' +103 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"& % +4 "core" %  p m +2 "storage"( & +3 "core" &,r\ G\ G\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&Q'> +20 "core" ' +2 "manipulator"&& +4 "core" &  { +2 "storage"(s& +3 "core" &,r\ @\ ; \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +29 "core" ' + "storage"(j% +4 "core" %K |\ , \ +3 ."downElevator"SE.seek :down +3 "storage"(k'X +99 (:% +3 "core" %G\ H\ G\ Wb +2 "manipulator"&%% +4 "core" %Ѫ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &  \ +2 "manipulator"&v% +4 "core" %\ ) ? "Y + "storage"(J% +4 "core" %b\ B\ B \ +2 "storage"(b. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(_(<* +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<(\ \  U\  +2 "manipulator"&& +4 "core" & . { +2 .tElbow.seek 5 + "manipulator"&D( +9 "core" ( + "manipulator"& & +5 "core" & @ g + "storage"(0& +4 "core" &<%\ 8\ - h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +97 "core" ' + "storage"( & +4 "core" &<%\ , { A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (T& +24 "core" &<%\ ^\ ]\  +2 "manipulator"&& +4 "core" & P g +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&F& +3 "core" &  g +2 "storage"(7& +3 "core" &<%\ E\ : \  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&+' +23 "core" ' +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(9'X +7 "core" & Z g +2 "manipulator"&L% +4 "core" %  " +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&5& +4 "core" &* $  @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &) '  @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&g'" +99 "core" ' +2 "manipulator"&U& +5 "core" &* 2 @Y + "manipulator"&N% +4 "core" %, +2 "collection"'!& +4 "core" & \ +2 "collection"'>& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'O(V +4 "core" &  \ +7 &5  \ $e +9 &W  \ 8 +9 &}  \ L +10 &Z  \ L +9 &n[  \ M +9 &2Y  \ L +10 &]  \ M +9 &Y  \ M +10 &w[ \ M +9 &9_  \ M +9 &[  \ L +10 &!]  \ M +9 &#[  \ M +9 &%@Z \ M +10 &'[  \ M +9 &(X  \ M +10 &*Z  S\ M +9 &,J\\  \ L +9 &. Z  \ M +10 &/^  \ M +9 &1]  \ M +9 &3QZ  T\ M +10 &5Y  \ M +9 &6Z  \ M +10 &8\\  \ M +9 &:X_  \ M +9 &<]  T\ M +10 &=\\  \ M +9 &?_  \ M +9 &AbZ  \ L +10 &C#]  \ M +9 &Db  \ M +10 &Fl  \ O +9 &H]~  \ Q +10 &J \ U +9 &K  \ X +9 &M  \ X +9 &OM \ Y +10 &Q  \ Y +9 &R \ Z +10 &T  \ Z +9 &V-u  \ . +9 &V#  \ P +9 ( +3 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&p1 +3 "core" &Vj  \ J +51 1 +2 "manipulator"&K% +4 "core" % # 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +101 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%=& +5 "core" &\ + "manipulator"&I% +4 "core" %\ \ $   + "storage"(V% +4 "core" %R \ +2 "storage"(z. +3 "core" .(<* + "storage"($& +4 "core" &<% \  + "storage"(,& +4 "core" &<% \  +2 "manipulator"&& +4 "core" &)   @Y + "manipulator"&C% +4 "core" %\ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&}( +162 "core" ( +2 "manipulator"&& +4 "core" & b a + "storage"(4& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&-'ы +92 "core" ' +2 "storage"(Y& +4 "core" &<%\ \  G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(8'i +286 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<% \  +2 "manipulator"&?& +4 "core" & + a +2 .tElbow.seek 5 + "manipulator"&]( +4 "core" ( + "manipulator"&/& +4 "core" & j a + "storage"(& +4 "core" &<% v\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& ' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(\\'X +7 "core" & x a +2 "manipulator"&% +4 "core" % n  +2 .tForearm.seek :retract + "manipulator"&@'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&'& +4 "core" &|  S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &| 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +99 "core" ' + "manipulator"&& +4 "core" &| # +2 "manipulator"&B% +4 "core" % +2 "processing"%*& +4 "core" &\\\ +2 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed + "processing"%G(Z +4 "core" &g\  +9 &1e\ *y +10 &ch\ > +9 &wye\ N +9 &9Z\\\ M +10 &[\\\ M +9 &_V\ M +10 &Z^\ M +9 &BZ]\ M +9 &^V\ M +10 &]e\ N +9 & ]]\ M +10 &"H_\\\ N +9 &$\ \\U\ N +9 &%^S\ M +10 &'`\\\ N +9 &)P\\_\ N +9 &+Yc\ M +10 &,]^\ N +9 &.\\V\ N +9 &0X]K\ N +10 &2ZN\ M +9 &3YP\ M +10 &5ZM\ M +9 &7a\\I\ M +9 &9"]N\ N +10 &:ZJ\ M +9 &<\\H\ M +9 &>i]S\ M +10 &@*_M\ N +9 &A\\I\ M +10 &C\\Q\ N +11 &EndJ\ N +9 &G.jJ\ O +8 &HI\ R +9 &JS\ S +9 &LfL\ T +10 &N(R\ T +9 &OP\ T +10 &QS\ S +9 &SmM\ T +10 &U/S\ T +9 &VI\ T +9 &XF\ T +9 &Z ]C\ #m +10 &ZYE\ + +9 ( + &ZQ\ ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&`1 +55 "core" 1 + "manipulator"&X% +5 "core" % 4 * + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%H& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&M% +4 "core" %\  a  +2 "storage"(o% +3 "core" %R \ +2 "storage"(W. +3 "core" .(<* +2 "storage"(S& +3 "core" &<% \  +2 "storage"(q& +4 "manipulator"&<& +4 "core" &<% "\  + &| > +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'i +3 "core" ( + "manipulator"&^& +4 "core" &|  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &| / t +2 .tForearm.seek PC + "manipulator"&~' +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%f( +85 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(l'y +45 "core" ' +293 ( + "storage"(e& +4 "core" &<% \  + "manipulator"&2& +4 "core" &| X +2 "manipulator"&% +3 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&1'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&d( +264 "core" ( + "manipulator"&n& +4 "core" &  ^  +2 "storage"(& +4 "core" &<% _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&w'ы +95 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"()' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(i& +4 "core" &<% w n\  + "manipulator"&x& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"& ( +6 "core" ( +2 "manipulator"& & +4 "core" & S  +2 "storage"(& +3 "core" &<% z \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&s'ы +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +61 "core" ' + "manipulator"&#& +5 "core" & R  + "storage"(:& +4 "core" &<% A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(|'i +25 "core" ' +4 "manipulator"&% +55 "core" %  +2 "storage"(Q& +5 "core" &<% \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&v' +13 "core" ' + "manipulator"&J& +5 "core" & !  + "storage"(b& +4 "core" &<%\ \  ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&m'ы +23 "core" ' +2 "storage"(\ % +4 "core" %q\ $\  \ +2 ."downElevator"SE.seek :down +4 "storage"(k'X +99 (A% +2 "core" %7G \ Wc +2 "manipulator"&6% +4 "core" %ё  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +86 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<% \  <\  + "collection"'0& +4 "core" &Vj  \ J +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\  a  +2 "storage"(h% +4 "core" %[\ \  \ + "storage"(.. +4 "core" .(<* + "storage"(&& +4 "core" &<%\ \  P\  +2 "storage"(T& +3 "core" &<%\ \ \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&F( +4 "core" ( + "manipulator"&7& +4 "core" & "  +2 "storage"({& +3 "core" &<%\ \  V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&('ы +100 "core" ' +2 "storage"(L& +4 "core" &<%\ \ $ r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&5& +3 "core" &  +2 "storage"("& +3 "core" &<% ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(N'S +29 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(!& +4 "core" &<% d\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&9' +13 "core" ' + "manipulator"&3& +4 "core" & B  +2 "storage"(& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&p'ы +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'B +39 "core" ' +2 "manipulator"&=& +5 "core" &  + "manipulator"&I% +4 "core" %Ѷ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&z( +162 "core" ( +2 "manipulator"&$& +4 "core" &* , \ @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +4 "core" &* @W +2 .tForearm.seek CC +2 "manipulator"&,'" +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'C( +415 "core" ( + "storage"(g& +5 "core" &<%\ \ " \  + "storage"(& +4 "core" &<%\ %\ % F\  + "manipulator"&4& +4 "core" &(  , ?V + "manipulator"&Y% +4 "core" % , 1 +2 .tForearm.seek :retract +2 "manipulator"&['\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&Z( +157 "core" ( + "manipulator"&P& +4 "core" &  j +2 "storage"(& +4 "core" &<%\ H\ H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&?' +106 "core" ' + .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&a% +5 "core" %  :  + "storage"(c& +4 "core" &<%\ &\ & c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts + "manipulator"&' +14 "core" ' + "manipulator"&}& +4 "core" & % j +2 "storage"(-& +4 "core" &<%\ - } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +23 "core" ' +2 "storage"( % +4 "core" %H\ =\ K q\ +2 ."downElevator"SE.seek :down +3 "storage"(''X +99 (% +3 "core" %C\ "\ \ V` +2 "manipulator"&]% +4 "core" %ѽ v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'B& +4 "core" &  \ +2 "manipulator"&*% +4 "core" %\    + "storage"(\\% +4 "core" %S\ ]\ ^ \ +2 "storage"(@. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(R(K +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &K y\  +2 "manipulator"&X& +3 "core" & < j +2 .tElbow.seek 6 +2 "manipulator"&H( +51 "core" ( + "manipulator"&M& +5 "core" &  = f + "storage"(o& +4 "core" &K\ I\ I 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&W'a +87 "core" ' +2 "storage"(S& +4 "core" &K |\ + \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +278 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" &K\ \ #\  + "manipulator"&^& +4 "core" &  f +2 .tElbow.seek 6 + "manipulator"&y( +32 "core" ( +2 "manipulator"&u& +4 "core" & ^ Z +2 "storage"(& +4 "core" &K\ H\ G\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(G'X +7 "core" &  Z +2 "manipulator"&E% +4 "core" %  E +2 .tForearm.seek :retract + "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&& +4 "core" &) A  @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &* @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'" +99 "core" ' +2 "manipulator"&& +5 "core" &* 3 @W + "manipulator"&% +4 "core" %( +2 "collection"'& +4 "core" &  \ +2 "collection"'& +5 "core" & !\ +2 .tCC.seek :closed +2 "collection"'t(V +5 "core" &  \ +6 & 4  \ %f +9 &W  \ 7 +10 &  \ L +9 &W  \ M +9 &h^  \ M +10 &,Z  \ L +9 &]  \ M +9 &]  "\ M +10 &qZ  \ M +9 &4\\  \ L +9 &[  \ L +10 &!\\ \ M +9 &#z\\  !\ L +10 &%:]  \ M +9 &&[  \ L +9 &(Z  \ L +10 &*[ \ L +9 &,D\\  \ L +9 &.Z " I\ L +10 &/\\  X\ M +9 &1\\  \ M +10 &3KZ  !\ M +9 &5 _  \ M +9 &6]  ~\ M +10 &8W  \ M +9 &:RZ  \ M +9 &<\\  \ M +10 &=\\  \ M +9 &?_  M\ M +10 &A\\Z  \ L +9 &C\\ ! \ M +10 &Da \ M +9 &Fi  \ O +9 &HXx  \ P +9 &J  L\ U +10 &K  \ X +9 &M \ X +10 &OI  \ X +9 &Q  " \ X +10 &R \ Y +9 &T  \ Z +9 &V*x  \ . +9 &V# \ O +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&i1 +3 "core" &V^  \ I +57 1 +3 "manipulator"&x% +4 "core" % (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +52 .tForearm.seek :retract +3 "manipulator"& '\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &W\ +2 "manipulator"&1% +3 "core" %\ % E +2 "storage"(#% +4 "core" %Q J\ + "storage"(:. +3 "core" .(K +2 "storage"(l& +4 "core" &K )\  + "storage"(& +4 "core" &K N\  +2 "manipulator"&& +3 "core" &( " ?V +2 "manipulator"&Q% +4 "core" %\ % C E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&J( +156 "core" ( + "manipulator"&b& +5 "core" & # i z + "storage"(d& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&w'a +94 "core" ' + "storage"(\ & +5 "core" &K\ $\ $ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +282 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &K 6\  +2 "manipulator"&6& +4 "core" &  z +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&j& +4 "core" &  z +2 "storage"(%& +3 "core" &K\ \ \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&v' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"( 'X +8 "core" & V z + "manipulator"&h% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +3 .tElbow.seek PC + "manipulator"&.(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +2 "manipulator"&&& +4 "core" &l ) \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &l 9 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&7& +4 "core" &l  t \ + "manipulator"&{% +4 "core" %  +2 "processing"%m& +4 "core" &\ +2 "processing"%L& +6 "core" &`\ +2 .tPC.seek :closed +2 "processing"%k(Z +4 "core" &d\ +6 &;W\ $e +10 &Ue\ 7 +9 &\\\ L +9 &\\_\ M +10 &j_[\ N +9 &-\\U\ M +10 &ZP\ M +9 &ZU\ N +9 &s]C\ M +10 &5]J\ M +9 &ZI\ M +9 &!ZK\ M +10 &#|[I\ M +9 &%=\\I\ M +10 &&XD\ M +9 &(XK\ M +9 &*YI\ N +10 &,E\\I\ M +9 &.ZK\ M +10 &/]T\ M +9 &1\\T\ M +9 &3L[L\ N +10 &5ZO\ N +9 &6ZH\ M +9 &8WR\ M +10 &:U]Q\ M +9 &<]E\ M +9 &=ZF\ N +10 &?\\D\ M +9 &A^ZL\ M +10 &C]I\ N +9 &DbP\ N +10 &FgE\ O +9 &HY|S\ Q +9 &JJ\ S +9 &KI\ S +10 &MJ\ S +9 &OZL\ T +10 &QD\ S +9 &R=\ S +9 &TF\ T +10 &VaR\ T +9 &X"S\ T +9 &YzpE\ 4 +10 &Z,I\ L +9 &Z;\ + +2 ( +2 "processing"%L& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + "processing"%5& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&"% +4 "core" %\ &  !Q +2 "storage"(U% +3 "core" %` \ +2 "storage"(. +3 "core" .(K + "storage"(!& +4 "core" &K -\  +2 "storage"(3& +2 "manipulator"&& +7 "core" &K \  + &l \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&=(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(I'i +3 "core" ( + "manipulator"&(& +4 "core" &l \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &l K \ +2 .tForearm.seek PC +2 "manipulator"&D' +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%9( +83 "core" ' +2 "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"($'y +44 "core" ' +295 ( +2 "storage"(>& +4 "core" &K \  + "manipulator"&p& +4 "core" &l W \ + "manipulator"&+% +4 "core" %  - +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +258 "core" ( + "manipulator"&O& +4 "core" & # (  +2 "storage"(g& +4 "core" &K w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +93 "core" ' +2 .tHand.open + "manipulator"&41 +53 "core" 1 +3 "storage"(Y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(z& +4 "core" &K g\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&a( +4 "core" ( + "manipulator"&c& +4 "core" &  |  +2 "storage"(}& +3 "core" &K \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&-'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 "manipulator"&[& +4 "core" &  +2 "storage"(& +3 "core" &K E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&]'Υ +21 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +28 "core" ' +2 "manipulator"&B% +4 "core" %Π > +2 "storage"(& +4 "core" &K K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&*' +12 "core" ' + "manipulator"&\\& +5 "core" &   + "storage"(@& +5 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&K'a +24 "core" ' + "storage"(8% +5 "core" %o\ \ $ \ +2 ."downElevator"SE.seek :down +4 "storage"(''X +99 (_% +3 "core" %A n\ Wd +2 "manipulator"&`% +4 "core" %w ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &K\ \  /\  + "collection"'o& +4 "core" &V^ 9\ I +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&S% +4 "core" %\ d " + "storage"(/% +4 "core" %_ \  \ +2 "storage"(. +3 "core" .(K + "storage"(q& +4 "core" &K\ \  .\  +2 "storage"(r& +3 "core" &K\ \  k\  +2 "manipulator"&^& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +3 "core" & #  +2 "storage"(;& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +99 "core" ' +2 "storage"(E& +4 "core" &K\ %\  }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +280 "core" ' +3 "storage"(W- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & j  +2 "storage"(~& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&<'Υ +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('S +29 "core" ' + "manipulator"&y% +4 "core" %η # i +2 "storage"(& +4 "core" &K |\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&G' +26 "core" ' +2 "manipulator"&e& +4 "core" & ]  +2 "storage"(C& +4 "core" &K\ \  5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&i'a +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(x'B +39 "core" ' + "manipulator"&& +5 "core" &  + "manipulator"&% +4 "core" %р +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +160 "core" ( +2 "manipulator"&:& +4 "core" &( a ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &( ?T +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'Q( +416 "core" ( + "storage"(n& +4 "core" &K\ &\ % F\  +2 "storage"(b& +4 "core" &K\ $\ $ 1\  +2 "manipulator"&d& +3 "core" &( ) ?R +2 "manipulator"&\ % +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +155 "core" ( + "manipulator"&s& +4 "core" & " V  +2 "storage"(A& +4 "core" &K\ I\ I %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&6'Υ +95 "core" ' + .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +53 "core" 1 +2 "manipulator"& % +4 "core" % ζ + "storage"(0& +4 "core" &K\ B\ A \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&h' +12 "core" ' + "manipulator"&J& +5 "core" & 4  + "storage"(w& +4 "core" &K\  } ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&)'a +23 "core" ' +2 "storage"(v% +4 "core" %F\ F\ A \ +2 ."downElevator"SE.seek :down +4 "storage"(&'X +99 (T% +3 "core" %C\ 7\ H l\ V_ +2 "manipulator"& % +4 "core" %ф +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +4 "core" &  \ +2 "manipulator"&m% +4 "core" %\  +2 "storage"( % +4 "core" %R\ , } \ + "storage"(|. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(f(,l +656 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &,o\ \ \ +2 "manipulator"&& +4 "core" & 6  + .tElbow.seek 4 +2 "manipulator"&5( +17 "core" ( + "manipulator"&"& +4 "core" & I N +2 "storage"(U& +4 "core" &,s\ ^\ ^ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +93 "core" ' +3 "storage"(L& +4 "core" &,s\ , { H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" &,s\ #\ 6 D\ +2 "manipulator"&(& +4 "core" &  N + .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" &  N +2 "storage"(& +4 "core" &,s\ H\ I\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N', +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(k'X +7 "core" &  N +2 "manipulator"&I% +4 "core" % " % [ +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&p( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&+& +4 "core" &. \ o Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &.  Du +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'" +103 "core" ' + "manipulator"&g& +4 "core" &- 4 a Ct +2 "manipulator"&=% +4 "core" % 3 d +2 "collection"'4& +4 "core" &  \ +2 "collection"'Y& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"',(V +3 "Can"x\ 64 +3 "core" &  "\  +8 &0~  \ *y +9 &d  \ > +10 &xu  \ M +9 &<Y "\ L +9 &\\ "\ L +10 &[ \ L +9 &\\ \ L +9 &D[ \ L +10 &\\  #\ L +9 &\\ \ L +9 & ]  !\ L +10 &"K\\ \ M +9 &$ _ \ M +10 &%\\ \ M +9 &'Z  \ M +9 &)T] !\ L +10 &+Z \ M +9 &,Y  \ L +9 &.\\ !\ L +10 &0\\] !\ L +9 &2[  \ L +10 &3_ # #\ M +9 &5\\ " \ M +9 &7dY \ L +10 &9%Z  !\ M +9 &:[ \ M +9 &<\\ \ M +10 &>k[ !\ M +9 &@-_ \ M +10 &A_ "R\ L +9 &C^ ! \ M +10 &Eqd  \ M +9 &G.n  \ O +9 &H  \ Q +9 &J  !\ V +10 &L[ "\ W +9 &N ! !\ W +10 &O "\ Y +9 &Q ! \ X +10 &S\\ \ Z +9 &U  "\ Z +9 &ViB  \ 1 +9 &Vu #\ K +6 ( + "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&z1 +4 "core" &Vl  "\ K +57 1 + "manipulator"&% +4 "core" %  5 @ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%}& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  ^  + "storage"([% +4 "core" %a P\ + "storage"(. +3 "core" .(,l +2 "storage"(B& +4 "core" &,s 8\ +2 "storage"(& +3 "core" &,s P\ +2 "manipulator"&$& +4 "core" &- h Ct +2 "manipulator"&\\% +4 "core" %\  c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&@( +161 "core" ( + "manipulator"&P& +5 "core" &  L y + "storage"(8& +4 "core" &,s\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&V'Ѽ +94 "core" ' +2 "storage"(& +4 "core" &,s\ $\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &,s \ +2 "manipulator"&-& +3 "core" & C y +2 .tElbow.seek 4 + "manipulator"&a( +4 "core" ( + "manipulator"& & +4 "core" &  y +2 "storage"(]& +3 "core" &,s \  L\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&*', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(S'X +8 "core" &  y +2 "manipulator"&/% +4 "core" % 5 2 \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&q(s +215 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +51 "core" ( +2 "manipulator"&?& +4 "core" &i &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +94 "core" ' +3 "manipulator"&& +4 "core" &i  +2 "manipulator"&;% +4 "core" %  F +2 "processing"%K& +3 "core" &^\ +2 "processing"%E& +5 "core" &_\ +3 .tPC.seek :closed + "processing"%'(Z +5 "core" &\\\  +9 &2b\ *y +9 &c\\\ > +9 &|w[\ N +10 &?\\[\ M +9 &\\[\ N +10 &[]\ M +9 &X[\ M +9 &F\\Y\ M +10 &]U\ M +9 &\\X\ N +9 & XS\ M +10 &"N\\P\ M +9 &$WO\ M +10 &%X]\ M +9 &'YT\ M +9 &)VXZ\ M +10 &+XM\ M +9 &,WP\ M +9 &.ZQ\ M +10 &0][L\ N +9 &2ZL\ N +10 &3ZK\ M +9 &5WI\ M +9 &7fWI\ M +10 &9(XI\ M +9 &:W;\ M +9 &<\\B\ N +10 &>n[>\ M +9 &@0XK\ M +10 &AZR\ N +9 &C_I\ N +9 &EsdC\ N +10 &G1n@\ P +9 &H>\ R +10 &JK\ S +9 &LlI\ S +9 &N.W\ S +9 &OM\ S +10 &QO\ S +9 &SrM\ T +10 &U3E\ T +9 &VE\ T +10 &XD\ U +9 &Z!YT\ &t +9 &ZgG\ 5 +9 ( +3 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&Z1 +3 "core" &Z!H\ . +49 1 +2 "manipulator"&X% +4 "core" % U F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +89 "core" ' +2 "processing"%& +4 "core" &Z"F\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&~% +4 "core" %\   +2 "storage"(% +3 "core" %Q A\ +2 "storage"(y. +3 "core" .(,l + "storage"(& +4 "core" &,s 3\ +2 "storage"(e& +2 "manipulator"&C& +7 "core" &,s \ + &i 0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&& +5 "core" &i & $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &i ( +2 .tForearm.seek PC +2 "manipulator"&H' +97 "core" ' + .tHand.close + "manipulator"& +20 "core" ' + "manipulator"&>& +4 "core" & ?  +2 "storage"(Q& +4 "core" &,s\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&z'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('F +40 "core" ' + "manipulator"&}& +4 "core" &  +2 "manipulator"&% +4 "core" %Ѻ g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( + "manipulator"&B& +4 "core" &( /  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &(  2 ?V +2 .tForearm.seek CC +2 "manipulator"&Y'" +91 "core" ' + .tHand.close +2 "manipulator"&$/ +52 "core" / + .tCC.seek :open +2 "collection"'\\( +415 "core" ( +2 "storage"(O& +5 "core" &,s\ %\ ' 3\ + "storage"(P& +4 "core" &,s\ #\ # \ +2 "manipulator"&8& +3 "core" &)   ?V +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract + "manipulator"&p'\ +102 "core" ' +51 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&c( +161 "core" ( + "manipulator"&_& +4 "core" & ( D +2 "storage"(`& +4 "core" &,s |\ , V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&-' +100 "core" ' + .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +53 "core" 1 +3 "manipulator"&M% +4 "core" %  ^ t + "storage"(o& +4 "core" &,s\ H\ G\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&/'< +20 "core" ' + "manipulator"&@& +5 "core" & ^ D + "storage"(V& +4 "core" &,s\ @\ O \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +28 "core" ' +2 "storage"(*% +4 "core" %L |\  \ +2 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (r% +2 "core" %D\ G\ + i\ V` +2 "manipulator"&a% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"';& +4 "core" &  F\ +2 "manipulator"&K% +4 "core" %\    +2 "storage"(S% +4 "core" %a |\ , e\ + "storage"(. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(9(<* +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &<'\ \  \  +2 "manipulator"&X& +3 "core" & < D +2 .tElbow.seek 5 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&~& +4 "core" &   . +2 "storage"(& +3 "core" &<$\ =\ : \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&y'ы +91 "core" ' + "storage"(& +4 "core" &<$ ` O \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'i +286 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &<$\ G\ ; \  +2 "manipulator"&& +3 "core" & : . +2 .tElbow.seek 5 + "manipulator"&u( +4 "core" ( + "manipulator"&^& +4 "core" &  . + "storage"(<& +4 "core" &<$\ N\ ? n\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +3 "storage"(''X +7 "core" &  . +2 "manipulator"&% +4 "core" % \ R +2 .tForearm.seek :retract +2 "manipulator"&l'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" && ? 3 =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" && * =F +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'" +103 "core" ' +3 "manipulator"&n& +4 "core" && m =D +2 "manipulator"&% +4 "core" %#  a +2 "collection"'d& +4 "core" & \ +2 "collection"'\ & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \  +8 &2 !\ *y +10 &d  \ > +9 &|v  !\ M +9 &?X  \ M +10 &_ !\ M +9 &]  "\ M +10 &Y \ M +9 &H^  \ L +9 &\ \\ !\ L +10 &] \ M +9 & _  "\ L +9 &"O\\  \ M +10 &$^ !\ M +9 &%`  \ M +10 &'\\ \ M +9 &)XX  \ L +9 &+[  \ L +10 &,] \ M +9 &.]  \ L +9 &0_Z  \ M +10 &2"X "\ L +9 &3\\ #\ L +9 &5X ! \ L +10 &7h[ \ L +9 &9*^  "\ L +10 &:_ "P\ M +9 &<_ !\ M +9 &>p_ !U\ L +10 &@2Y  \ L +9 &A\\ ! "\ L +10 &C[ ! "e\ M +9 &Etc # !\ N +9 &G3n  "\ O +10 &H ! "\ Q +9 &J ! !\ V +9 &L^ !\ X +10 &N! " !\ W +9 &O ! !\ X +9 &Q ! "\ Y +10 &S` ! "\ Z +10 &U" ! \ Z +9 &VmB ! \ 1 +9 &Vu #\ J +5 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator" +4 "core" &Vj  "\ J +53 1 +3 "manipulator"&%% +4 "core" % #   a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%J& +4 "core" &Q\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(2% +4 "core" %a \ + "storage"(T. +3 "core" .(<* +2 "storage"({& +4 "core" &<$ ,\  + "storage"(:& +4 "core" &<$ U\  + "manipulator"&h& +4 "core" && =C +2 "manipulator"&s% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +164 "core" ( + "manipulator"&|& +4 "core" &  = q +2 "storage"()& +3 "core" &<$\ \ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&1'ы +95 "core" ' + "storage"(b& +4 "core" &<$\ $\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'i +284 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<$ \  +2 "manipulator"&w& +4 "core" &  q +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&v& +4 "core" & k q + "storage"( & +4 "core" &<$ \ U\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(L'X +7 "core" &  q +2 "manipulator"&j% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&6(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" &z  q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&(' +100 "core" ' + "manipulator"&& +4 "core" &z : +2 "manipulator"&.% +4 "core" %  +2 "processing"%x& +3 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed + "processing"%&(Z +5 "core" &\\\  +8 &3\\\ *y +9 &d]\ > +10 &v[\ N +9 &GYT\ M +9 & YT\ M +10 &YY\ M +9 &Y^\ M +9 &OW[\ M +10 &WP\ M +9 &\\U\ N +10 & ZU\ M +9 &"WY^\ M +9 &$YQ\ M +10 &%[b\ M +9 &'ZV\ N +9 &)^[R\ N +10 &+!ZR\ M +9 &,WS\ M +10 &.WQ\ M +9 &0g^P\ M +9 &2)]N\ M +10 &3[H\ M +9 &5Y=\ M +9 &7o]G\ M +10 &90ZD\ N +9 &:Y=\ M +10 &<YB\ N +9 &>w[:\ M +9 &@9[A\ M +10 &AXG\ M +9 &C]G\ M +9 &E}aE\ N +10 &G:oH\ P +9 &HH\ R +10 &JD\ S +9 &LuD\ S +9 &N7I\ S +10 &OG\ T +9 &QP\ T +9 &S|I\ T +10 &U<H\ T +9 &V?\ T +10 &XA\ T +9 &Z(X{K\ %q +9 &Z_H\ 2 +9 ( +3 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"& 1 +4 "core" &ZF\ - +53 1 + "manipulator"&% +4 "core" %  ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%+& +4 "core" &Zv\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&D% +4 "core" %\  % W  +2 "storage"(g% +4 "core" %R \ + "storage"(=. +3 "core" .(<* +2 "storage"(4& +3 "core" &<$ \  +2 "storage"(>& +4 "manipulator"&Q& +4 "core" &<$ ]\  + &z & +3 .tElbow.reconfigure :tight +54 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&}(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &z s +2 .tForearm.seek PC +2 "manipulator"&5' +93 "core" ' + .tHand.close +2 "manipulator"&!/ +63 "core" / +2 .tPC.seek :open + "processing"%k( +88 "core" ' + "storage"(F- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(B'y +41 "core" ' +293 ( + "storage"(& +5 "core" &<$ b\  + "manipulator"&z& +4 "core" &z F + "manipulator"&N% +4 "core" % 3  +2 .tForearm.seek :retract + "manipulator"&$'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&[( +266 "core" ( + "manipulator"&,& +4 "core" &  ?  +2 "storage"(O& +4 "core" &<$ J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&P'ы +95 "core" ' + .tHand.open + "manipulator"&81 +59 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Y'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(_' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +4 "core" -' + "storage"(& +4 "core" &<$ W\  +2 "manipulator"&]& +4 "core" & L  + .tElbow.seek 5 +2 "manipulator"&M( +8 "core" ( + "manipulator"&o& +5 "core" &  + "storage"(@& +5 "core" &<$ v\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&V'ы +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(*' +64 "core" ' + "manipulator"&p& +5 "core" &  + "storage"(r& +4 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&a' +32 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +27 "core" ' + "manipulator"&;% +5 "core" % Q + "storage"(/& +4 "core" &<$ (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&K' +12 "core" ' + "manipulator"&S& +5 "core" & Y  + "storage"(& +4 "core" &<$\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +22 "core" ' +2 "storage"(% +4 "core" %o\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(?'X +98 (f% +3 "core" %G _\ Wd +2 "manipulator"&Z% +4 "core" %ѯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (~& +4 "core" &<$\ \  8\  +2 "collection"'& +4 "core" &Vh  !\ J + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\    +2 "storage"( % +3 "core" %b\ \ \ +2 "storage"(. +3 "core" .(<* +2 "storage"(e& +3 "core" &<$\ \  x\  +2 "storage"(E& +4 "core" &<$\ \  9\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&^( +3 "core" ( + "manipulator"&<& +4 "core" & # Y  +2 "storage"(q& +4 "core" &<$\ \  &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&W'ы +95 "core" ' + "storage"(& +4 "core" &<$\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & b  +2 "storage"(H& +3 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C' +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(u'T +46 "core" ' + "manipulator"&% +4 "core" % P +2 "storage"(d& +4 "core" &<$ K\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&''\ +14 "core" ' +2 "manipulator"&l& +4 "core" &   +2 "storage"(\\& +3 "core" &<$ M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&#'ы +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'C +39 "core" ' +2 "manipulator"&J& +4 "core" &  + "manipulator"&% +4 "core" %c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +164 "core" ( +3 "manipulator"&{& +4 "core" &-  Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &. Du +2 .tForearm.seek CC + "manipulator"&h'" +93 "core" ' +2 .tHand.close + "manipulator"&\ / +57 "core" / + .tCC.seek :open +2 "collection"'s( +415 "core" ( +2 "storage"(t& +4 "core" &<$\ %\ % [\  + "storage"(|& +4 "core" &<$\ $\ $ 9\  +2 "manipulator"&)& +3 "core" &- G Cr +2 "manipulator"&b% +3 "core" %  +2 .tForearm.seek :retract + "manipulator"&i'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +159 "core" ( +2 "manipulator"&R& +4 "core" & s q +2 "storage"(& +4 "core" &<$\ , | [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&w' +95 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "manipulator"&"% +4 "core" % #  + "storage"(U& +4 "core" &<$\ A\ A \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts + "manipulator"&j' +14 "core" ' + "manipulator"& & +5 "core" &  q + "storage"(1& +4 "core" &<$\  } Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&A'ы +23 "core" ' +2 "storage"(m% +4 "core" %H\ =\ ! 6\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (3% +3 "core" %D\ +\ G \ V` +2 "manipulator"& % +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'.& +4 "core" & !  \ +2 "manipulator"&x% +4 "core" %\    +2 "storage"(L% +4 "core" %R\ ]\ ] D\ + "storage"(7. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 6 + "storage"(G(K +333 "core" ( +2 .tSC.configure :limp +52 "storage"($\ 1b +3 ( & +3 "core" &K. \  + "manipulator"&& +4 "core" & W q +2 .tElbow.seek 6 + "manipulator"&+( +49 "core" ( +2 "manipulator"&D& +4 "core" &\ $ V F + "storage"(g& +4 "core" &K\ A\ B _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&='a +95 "core" ' +2 "storage"(4& +4 "core" &K |\ - \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +279 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &K\ $\ % !\  +2 "manipulator"&& +3 "core" & - E +2 .tElbow.seek 6 +2 "manipulator"&( +24 "core" ( + "manipulator"&(& +4 "core" & T { +2 "storage"(!& +4 "core" &K\ H\ H\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&F' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(&'X +8 "core" & d { + "manipulator"&% +4 "core" %  h +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&N& +4 "core" &.  Q Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &. + Dv +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +92 "core" ' +3 "manipulator"&O& +4 "core" &. Du +2 "manipulator"&}% +4 "core" %  % +2 "collection"'8& +4 "core" & ! !\ +2 "collection"'& +5 "core" &  #\ +2 .tCC.seek :closed +2 "collection"'`(V +4 "core" & ! #\  +9 &2 ! \ *x +9 &d ! \ > +10 &zv !\ N +9 &>X " !\ M +10 &Y #\ M +9 &] " !\ M +9 &] !\ M +10 &F] !\ M +9 &\\ " "\ M +9 &X !\ M +10 & Z " \ M +9 &"NZ \ M +10 &$Y "\ M +9 &%] ! !\ L +9 &'W " "\ M +10 &)W] " "\ L +9 &+Y "\ M +9 &,] " !\ L +10 &.Z !\ M +9 &0^Z "\ M +10 &2 ]  !\ M +9 &3\\ ! !\ M +9 &5X  #\ L +10 &7g[ ! \ L +9 &9(^ ! \ M +9 &:] ! \ M +10 &<\\  !\ L +9 &>o\\ !\ L +10 &@0Y ! !\ M +9 &A^ ! "\ L +9 &C\\ " "P\ M +10 &Ese !  \ N +9 &G3k ! "\ N +9 &H "S\ Q +10 &J !\ V +9 &L_ ! "\ W +9 &N !\ X +10 &O " "\ Y +9 &Q ! "\ Y +10 &S` # #\ Z +9 &U! ! "\ Z +9 &VkB " #\ 1 +10 &Vr  $\ I +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&1 +3 "core" &Vb # "\ I +57 1 +3 "manipulator"&]% +4 "core" %  @ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&$% +4 "core" %\    +2 "storage"(p% +4 "core" %R z\ + "storage"(r. +3 "core" .(K +2 "storage"(B& +3 "core" &K A\  +2 "storage"(;& +4 "core" &K R\  +2 "manipulator"&/& +3 "core" &-  Ct +2 "manipulator"&Y% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&S( +155 "core" ( +2 "manipulator"&& +4 "core" &  9  + "storage"(& +4 "core" &K\ \  -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&['a +92 "core" ' +2 "storage"(P& +4 "core" &K\ "\  [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'i +279 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &K |\  +2 "manipulator"&V& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&M( +4 "core" ( + "manipulator"&*& +3 "core" & p  +2 "storage"(a& +4 "core" &K n\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&K' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & s  +2 "manipulator"& % +3 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&-& +4 "core" &i q 4 i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +4 "core" &i i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&<& +4 "core" &j  z +2 "manipulator"&q% +3 "core" % < +2 "processing"%& +4 "core" &V\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%?(Z +4 "core" &X\  +9 &1e\ *x +9 &cZ\ > +10 &tyU\ N +9 &8YN\ M +9 &\\U\ N +10 &\\U\ N +9 &|[U\ N +9 &?[U\ M +10 &WU\ M +9 &]O\ M +10 & \\Z\ M +9 &"F]\\\ N +9 &$ Z[\ M +10 &%YN\ M +9 &'_Q\ M +9 &)N[W\ N +10 &+ZP\ M +9 &,WP\ M +10 &.\\P\ M +9 &0V[L\ N +9 &2\\O\ M +10 &3YK\ M +9 &5\\I\ M +9 &7`X?\ M +10 &9![A\ M +9 &:V<\ M +10 &<Z=\ N +9 &>gZF\ M +9 &@(\\H\ N +10 &A[F\ M +9 &C`J\ M +9 &En_H\ N +10 &G+m>\ O +9 &HH\ R +10 &JK\ S +9 &LgL\ S +9 &N(S\ S +10 &OJ\ S +9 &QE\ S +9 &SmH\ S +10 &U-P\ T +9 &VK\ T +10 &XD\ T +9 &Z]O\ #m +9 &ZVF\ * +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&c1 +3 "core" &ZB\ ' +50 1 + "manipulator"&X% +4 "core" % 6 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +90 "core" ' + "processing"%& +4 "core" &Z?\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&H% +4 "core" %\    +2 "storage"(n% +3 "core" %R \ +2 "storage"(. +3 "core" .(K +2 "storage"(d& +3 "core" &K 2\  +2 "storage"(l& +4 "manipulator"&\\& +4 "core" &K \  + &j . +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&J(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&W& +4 "core" &j F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &j A +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + .tHand.close +2 "manipulator"&C/ +60 "core" / + .tPC.seek :open +2 "processing"%'( +81 "core" ' +3 "storage"(u- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +43 "core" ' +296 ( + "storage"(:& +4 "core" &K +\  +2 "manipulator"&#& +3 "core" &j  +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&\ '\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&2( +261 "core" ( +2 "manipulator"&& +4 "core" & # m + "storage"(t& +4 "core" &K b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&|'a +94 "core" ' + .tHand.open + "manipulator"&)1 +54 "core" 1 +2 "storage"(b- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +4 "core" -' + "storage"(T& +56 "core" &K  \  +2 "manipulator"& & +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&"( +4 "core" ( + "manipulator"&U& +4 "core" & +2 "storage"( & +4 "core" &K q \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&1'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(m' +57 "core" ' + "manipulator"&i& +5 "core" & ; + "storage"(3& +4 "core" &K 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'Υ +27 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +22 "core" ' +2 "manipulator"&j% +4 "core" %θ +2 "storage"(.& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&x' +26 "core" ' + "manipulator"&L& +5 "core" & d + "storage"(7& +4 "core" &K\ \  ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&%'a +22 "core" ' + "storage"(A% +5 "core" %q\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (9% +3 "core" %F ;\ Wb +2 "manipulator"& % +4 "core" %[  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (D& +4 "core" &K\ n\  +2 "collection"'g& +4 "core" &Vb !7\ I + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&4% +4 "core" %\  I ' +2 "storage"(v% +4 "core" %_\ \  L\ + "storage"(. +3 "core" .(K +2 "storage"(>& +4 "core" &K\ \  \  +2 "storage"(I& +3 "core" &K\  z\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&(( +4 "core" ( + "manipulator"&!& +5 "core" &  g + "storage"(6& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +99 "core" ' +2 "storage"(& +4 "core" &K\ \ $ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'i +284 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +2 "core" & x +2 "storage"(5& +4 "core" &K\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&Q'Υ +21 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(}'S +32 "core" ' +2 "manipulator"&8% +4 "core" %ι  + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&&' +24 "core" ' + "manipulator"&& +5 "core" &  + "storage"(s& +4 "core" &K\ \  1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts + "manipulator"&'a +39 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(]'B +39 "core" ' +2 "manipulator"&@& +4 "core" &  +2 "manipulator"&$% +3 "core" %^  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +186 "core" ( + "manipulator"&B& +4 "core" & ' A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" & w A +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&// +62 "core" / + .tCC.seek :open +2 "collection"'Y( +415 "core" ( +2 "storage"(& +4 "core" &K\ B\ F \  + "storage"(,& +4 "core" &K\ I\ H \  + "manipulator"&& +4 "core" &\ $ B + "manipulator"&P% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&o( +146 "core" ( + "manipulator"&f& +4 "core" &   C  +2 "storage"(Z& +4 "core" &K |\ , ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&V'Υ +103 "core" ' + .tElbow.hold + "manipulator"&*, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +56 "core" 1 +2 "manipulator"&~% +4 "core" % ε .  ( +2 "storage"(& +3 "core" &K\ %\ % `\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"& ' +12 "core" ' + "manipulator"&S& +4 "core" &  |  +2 "storage"([& +4 "core" &K\ ?\ , t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&_'a +23 "core" ' +2 "storage"(K% +4 "core" %E\ A\ = s\ +2 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (E% +4 "core" %C\ G\ - \ V_ +2 "manipulator"&M% +4 "core" %с ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +94 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +36614 "Can"\ 1/t +60002 \ 1.} +60002 \ 1/z +10697 #t-> access 4 +2 "storage"(q% +3 "core" %R\ A\ B \ +2 "manipulator"&% +4 "core" %\ ( | I +2 "manipulator"&& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((S +1601 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" &U ~\ +653 #t-> access 5 +2 "storage"(c% +3 "core" %R\ C\ F\ +2 "manipulator"&X% +4 "core" %\ ( I + "manipulator"&& +4 "core" &  8  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(H( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (n& +3 "core" & \  @1649177651.22EDT = =tMAIN =mMAIN_scheduler @EDT1649177653.11 #"core_reset"Sent BREAK +2 #t@19409 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +400 "Can"D\ ^ + D\ ^ + #tPolling Can every 10:00 +543 #-> ESP.ready? +346 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON + "sampler") +50 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\\]<\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % ; 8  + .tSS.configure :default +3 "sampler")#.0X [ + "storage"(7& +4 "core" &\ \  Z\  +2 "storage"(8% +3 "core" %^\ \  I\ +2 "collection"'99 +3 "core" 9n +2 "processing"%:9 +3 "core" 9g^ +2961 #t-> startTube 2 +284 #-> access 2 +2 "storage"(;% +3 "core" %^\ \  Q\ +2 "manipulator"&<% +4 "core" %\  .   + "manipulator"&=& +4 "core" &\ ] [ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +961 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K D\  +965 #t-> Sampler.PSI + "collection"'@% +3 "core" %[[9\ +2 "sampler")A% +4 "core" % < 5 \ +893 #t-> Sampler.calibrate +4 "Can"G\ 30~ + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X Sampler.PSI +2 "collection"'J% +3 "core" %[\\4\ +2 "sampler")K% +3 "core" % 7 6 \ n +3389 #t-> CSV +1650 #-> CSV.air + .CSV.dial :air +2 "collection"'L @ +94 "core" A +234 #t-> CBV +167 #-> CSV +553 #-> CBV.CSV +2 .CBV.dial CSV +2 "collection"'M  +103 "core"  +807 #t-> CTV.air +2 .CTV.dial :air +730 #-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'N& +4 "core" &[\\a\  + .tHand.open +2 "manipulator"&O1 +57 "core" 1 + "manipulator"&P& +4 "core" &\ ( K [ +2 "manipulator"&Q% +3 "core" % \   X  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&R(, +185 "core" ( +2 "manipulator"&S& +4 "core" &, ' " 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &,  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&U'Ϧ +101 "core" ' + .tHand.close +2 "manipulator"&V/ +56 "core" / +2 "manipulator"&W& +4 "core" &,  6 + "manipulator"&X% +4 "core" % ϵ t  +2 .tForearm.seek :retract + "manipulator"&Y'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Z( +278 "core" ( + "manipulator"&[& +4 "core" &( & ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &( ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +95 "core" ' +2 "manipulator"&^& +4 "core" &) 0 + ?V + "manipulator"&_% +4 "core" %*  D +2 "collection"'`& +3 "core" &Y[$\  +3 "collection"'a& +4 "core" &[Zg\  +2 .tCC.seek :closed +2 "collection"'b(V +4 "core" &[[3\ \  +10 &4Z[)\ +| +9 &eYZ)\ @ +9 &bxZY0\ O +10 &%\\Z[-\ O +9 &_X[0\ O +10 &]Z[1\ O +9 &l`Y[1\ N +9 &-\\Z[1\ O +10 &][[)\ O +9 &^\\[-\ O +9 & tbZ[2\ N +10 &"5]Y[-\ O +9 &#[ZZ-\ N +10 &%][Z-\ O +9 &'{]XZ3\ O +9 &)>\\[\\$\ N +10 &+\\Z\\-\ N +9 &,Z[[)\ N +9 &.\\Y\\$\ N +10 &0Ea\\[-\ O +9 &2\\Z[,\ O +10 &3]Y[.\ O +9 &5][Z)\ N +9 &7O\\Z[-\ N +10 &9]Y[-\ O +9 &:aZY-\ O +9 &<cZR%\ O +10 &>V_YZ%\ N +9 &@]Y[$\ N +10 &A_Y[/\ O +9 &C\\ZZ%\ N +9 &E[eZ[\ O +10 &GnY[\ P +9 &HY[ \ R +9 &JY^!\ W +10 &LG[[ \ Y +9 &N \\]\ Y +9 &O[[\ Y +10 &Q[[\ Y +9 &SI[[ \ [\ +10 &U \\\\\ [\ +9 &V[E\\[\ 1 +9 &Vy[Z\ J +6 ( + "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 "collection"'c& +4 "core" &Vm[^#\ J + &VmY]'\ J + .tHand.open +2 "manipulator"&d1 +56 "core" 1 +2 "manipulator"&e% +4 "core" % * T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' +3 "collection"'g& +4 "core" &Vm[["\ J +460 #t-> Samper.PSI + !o:NameError: mesg""uninitialized constant Samper: name: Samper:bt["(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +602 #-> Sampler.PSI + "collection"'h% +3 "core" %YZ(\ +2 "sampler")i% +4 "core" % 5 3 \ n +20372 #t-> CSV +1206 #-> CS.fill +2 .CS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 10ml +2 "collection"'j' V +2579 "core" ' + "collection"'k% +4 "core" % TX\\,\  +4480 #t-> Sampler.PSI +2 "collection"'l% +3 "core" % T[Zd\  + "sampler")m% +4 "core" % 5 4 \ n +9041 "Can"A\ KI +4760 #t-> CBV.SSV +2 .CBV.dial SSV + "collection"'n @ +105 "core" ? +331 #t-> SSV.CBV +2 .SSV.dial CBV +418 #-> CTV.CSV +2 .CTV.dial CSV + "collection"'o  +135 "core"  +357 #t-> CSV.CTV +2 .CSV.dial CTV +2 "collection"'p  +50 "core"  +547 #t-> Samplerr.PSI +3 !o:NameError: mesg"$uninitialized constant Samplerr: name: Samplerr:bt["(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +494 #-> Sampler.PSI + "collection"'q% +3 "core" % TZ[*\  +3 "sampler")r% +4 "core" % 3 3 \ n +6627 #t-> Sampler.calibrate +3 "Can"B\ KI + #tCalibrating pressure sensors +2 .CTV.dial :air + "collection"'s  +131 "core" +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")t +132 "core" +2 .tSS.seek 5ml +2 "sampler")u'2 +293 "core" ' +3 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")v  +131 "core"  +2 .tdelay 3.8 seconds +382 "collection"'w% +3 "core" % TYYd\  +2 "sampler")x% +4 "core" %2 5 2 \ k + .tSSV.dial :spit + "sampler")y +133 "core"  +2 .tSS.seek 0ml +2 "sampler")z' +268 "core" ' + .tSSV.dial CBV +2 "sampler"){  +132 "core" +870 #t-> Sampler.PSI +2 "collection"'|% +3 "core" % TZW2\  + "sampler")}% +4 "core" % 4 1 \ j +1017 #t-> CSV +849 #-> CSV.air +2 .CSV.dial :air + "collection"'~ @ +44 "core" ? +495 #t-> Sampler.PSI +2 "collection"'% +3 "core" % T[[c\  + "sampler")% +4 "core" % 5 4 \ j +706 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'' V +4 "core" ' + "collection"'% +4 "core" % TXY4\  +588 #t-> Sampler.PSI +2 "collection"'% +3 "core" % TZ[4\  +2 "sampler")% +4 "core" % 4 2 \ j +575 #t-> CBV.SSV + .CBV.dial SSV +286 #-> SSV +241 #-> CTV +620 #-> CTV.CSV +4 .CTV.dial CSV + "collection"'  +134 "core"  +487 #t-> CSV.CTV +2 .CSV.dial CTV + "collection"'  +53 "core"  +443 #t-> Sampler.PSI +2 "collection"'% +4 "core" % T[[,\  + "sampler") % +4 "core" % 5 1 \ j +8032 #t-> CS.push 1 +2 "collection"'\ % +3 "core" % TYZF\  +3 .tCS.seek 9ml + "collection"' ' +330 "core" ' +2 "collection"' % +4 "core" %nmD\ +219 #t-> Sampler.PSI +2 "collection"' % +3 "core" %pox\ +2 "sampler")% +4 "core" % I G \ j +308 #t-> CS.push 1 +2 "collection"'% +3 "core" %onw\ +2 .tCS.seek 7.999ml +2 "collection"'' +328 "core" ' +2 "collection"'% +4 "core" %A\ +150 #t-> Sampler.PSI +2 "collection"'% +3 "core" %@\ + "sampler")% +4 "core" % _ ^ \ j +376 #t-> CS.push 1 +2 "collection"'% +3 "core" %;\ +2 .tCS.seek 7ml +2 "collection"'' +324 "core" ' +2 "collection"'% +4 "core" %>\ +179 #t-> Sampler.PSI +2 "collection"'% +3 "core" %v\ +2 "sampler")% +4 "core" % } \ j +257 #t-> CS.push 1 +2 "collection"'% +3 "core" %@\ +2 .tCS.seek 6ml +2 "collection"''[ +332 "core" ' +2 "collection"'% +4 "core" %`E\ +138 #t-> Sampler.PSI +2 "collection"'"% +3 "core" %`w\ +2 "sampler")%% +4 "core" % \ j +169 #t-> CS.push 1 +2 "collection"''% +3 "core" %`D\ +2 .tCS.seek 5.001ml +2 "collection"'('q! +326 "core" ' +2 "collection"')% +4 "core" %q$  @\ +150 #t-> Sampler.PSI +2 "collection"'% +3 "core" %q$  E\ +2 "sampler")% +3 "core" % \ j +199 #t-> CS.push 1 +2 "collection"'#% +3 "core" %q$  E\ +2 .tCS.seek 4.001ml +2 "collection"','Q +333 "core" ' + "collection"'-% +4 "core" %Q N PD\ +904 #t-> Sampler.PSI + "collection"'.% +3 "core" %Q N OE\ +2 "sampler")/% +4 "core" %\ \  \ j +539 #t-> CS.push 1 +3 "collection"'0% +3 "core" %Q L No\ +2 .tCS.seek 3.001ml +2 "collection"'1'2 +335 "core" ' + "collection"'2% +4 "core" %2 H\ +208 #t-> Sampler.PSI + "collection"'3% +3 "core" %2 l\ +2 "sampler")4% +4 "core" %\ \ \ j +229 #t-> CS.push 1 + "collection"'5% +4 "core" %2 F\ +2 .tCS.seek 2.001ml +2 "collection"'6'c +326 "core" ' +3 "collection"'7% +4 "core" %^\ ^\ bv\ +284 #t-> Sampler.PSI +2 "collection"'8% +3 "core" %^\ [\ ^s\ +2 "sampler")9% +4 "core" % ! \ j +338 #t-> CS.push 1 + "collection"':% +3 "core" %^\ Y\ ZC\ +3 .tCS.seek 1ml + "collection"';' +343 "core" ' + "collection"'<% +4 "core" % y yB\ +161 #t-> Sampler.PSI +3 "collection"'=% +3 "core" % s tA\ +2 "sampler")!% +4 "core" % / * \ +20986 "Can">\ WT +60002 G\ VT +60002 E\ MK +60002 F\ MK +60002 E\ MJ +60003 B\ MJ +6669 #t-> Sampler.PSI +2 "collection"'?% +3 "core" %df\ +2 "sampler")@% +4 "core" % B ? \ ^ +32857 #t-> Sampler.PSI +2 "collection"'A% +3 "core" %eg\ +2 "sampler")% +3 "core" % A ? \ ^ +1901 #t-> CSV.air + .CSV.dial :air +2 "collection"'D @ +43 "core" ? +321 #t-> CTV.air +2 .CTV.dial :air +2 "collection"'C  +134 "core" ~ +678 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&E& +4 "core" &' b ?V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&F( +3 "core" ( + "manipulator"&G& +4 "core" &' #  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &' + ?V +2 .tForearm.seek CC +2 "manipulator"&I'" +93 "core" ' + .tHand.close +2 "manipulator"&J/ +63 "core" / + .tCC.seek :open +2 "collection"'K( +416 "core" ( +2 "manipulator"&L& +4 "core" &( ` ?V + "manipulator"&M% +4 "core" % ( d + .tForearm.seek :retract +39 "manipulator"&N'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&O(, +289 "core" ( + "manipulator"&P& +4 "core" &,  <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &, i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&S'Ϧ +94 "core" ' + .tHand.open +2 "manipulator"&T1 +58 "core" 1 + "manipulator"&$% +4 "core" % ϱ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +477 #t-> Sampler.PSI +2 "collection"'W% +3 "core" %PS\ + "sampler")X% +4 "core" % 1 0 ^ +15533 "Can":\ 53{ +7127 #t-> CSV.air +2 .CSV.dial :air +357 #-> CS.fill +3 .CS.seek 10ml + "collection"'&' V +2334 "core" ' +2 "collection"'U% +4 "core" % ZSS\  +219 #t-> Sampler.PSI +2 "collection"'[% +3 "core" % ZRT\  +2 "sampler")\\% +3 "core" % 1 - ^ +779 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'R& +3 "core" &PQ\ +2 "manipulator"&^& +4 "core" &, \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(, +3 "core" ( + "manipulator"&`& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&+'Ϧ +100 "core" ' + .tHand.close +2 "manipulator"&c/ +55 "core" / + "manipulator"&d& +4 "core" &, $ Q  +2 "manipulator"&e% +4 "core" % ϸ , C + .tForearm.seek :retract +2 "manipulator"&g'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a( +282 "core" ( +2 "manipulator"&]& +4 "core" &+ A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &+ A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'" +98 "core" ' + "manipulator"&& +4 "core" &+ A_ +2 "manipulator"&k% +4 "core" %, n + "collection"'l& +4 "core" &RR\ +2 "collection"'m& +5 "core" &OR\ +2 .tCC.seek :closed +2 "collection"'n(V +4 "core" &QR\  +8 &0}PS\ +z +10 &cQR \ ? +9 &lwQP \ O +9 &1XQR\ N +10 &\\PR \ M +9 &\\PQ \ N +9 &w\\RP \ N +10 &:\\RS \ M +9 &\\SS \ N +10 &^SP\ N +9 & ]TS \ N +9 &"A]SQ \ N +10 &$ZSR \ N +9 &%^QR\ N +10 &'[QQ \ N +9 &)IYPQ\ N +9 &+ \\PQ\ N +10 &,[QS\ M +9 &.\\QQ\ N +9 &0QaRS\ N +10 &2ZPP\ M +9 &3]RR\ M +9 &5[OQ\ M +10 &7Z\\PQ\ M +9 &9\\RR\ N +10 &:]QR\ N +9 &<^PR\ M +9 &>a]QR\ N +10 &@$\\PQ\ M +9 &A]QQ\ N +9 &CaQR\ N +10 &EgbRR\ N +9 &G&jQP\ O +10 &H|OR\ Q +9 &JQQ\ V +9 &LPPR\ Y +10 &NQQ\ Y +9 &OQP\ Y +10 &QQS\ Z +9 &SSQS\ [ +9 &URS\ [ +10 &VbCSR\ 1 +9 &VzSS\ K +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + "collection"'o& +4 "core" &VnTT\ K + &VnRS\ K +2 .tHand.open + "manipulator"&p1 +56 "core" 1 +2 "manipulator"&q% +4 "core" % $ ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 "collection"'s& +4 "core" &VoST\ K +609 #t-> Sampler.PSI + "collection"'t% +3 "core" % ZRS\  +2 "sampler")H% +4 "core" % / , \ ^ +1135 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&v& +3 "core" &* [ A_ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +4 "core" &*  A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &* . A_ +2 .tForearm.seek CC +2 "manipulator"&u'" +93 "core" ' + .tHand.close +2 "manipulator"&{/ +60 "core" / + .tCC.seek :open +2 "collection"'|( +416 "core" ( +2 "manipulator"&}& +4 "core" &* B A_ + "manipulator"&~% +4 "core" % + _ + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +276 "core" ( + "manipulator"&& +4 "core" &, n k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &, k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +103 "core" ' +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" % ϯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +347 #t-> Sampler.PSI + "collection"'% +4 "core" % ZQQ\  +2 "sampler") % +3 "core" % 1 . ^ +800 #t-> exit +5 #mEXIT @1649182628.80EDT @1653069716.72EDT = =mMAIN_scheduler =tMAIN @EDT1653069718.63 #"core_reset"Sent BREAK + #t@43026 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +398 "Can"\ ] + \ ] + #tPolling Can every 10:00 +2 #Cleanly exited at 14:17:08EDT05-Apr-22 +573 #-> ESP.ready! +4 #Powering core bus +555 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % l\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \   + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %P U\ +2 "manipulator"&<% +4 "core" %\ !  +2 "manipulator"&=& +3 "core" & W  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(>(K +967 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &K I n\  +673 #t-> access 3 +2 "storage"(@% +4 "core" %Q H F \ + "manipulator"&A% +4 "core" %\ ! , F  +2 "manipulator"&B& +3 "core" &  I  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(C([ +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &[ * G \  +649 #t-> access 4 +2 "storage"(E% +3 "core" %R \ +2 "manipulator"&F% +4 "core" %\ "   + "manipulator"&G& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(H(S +1918 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &T @\ +1099 #t-> access 5 +2 "storage"(J% +4 "core" %T j i A\ + "manipulator"&K% +4 "core" %\ !   +2 "manipulator"&L& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(M( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" & P \  +8913 #t-> require 'shuffle.rb' +2876 #-> 5.times {shuffle 2..6; delay 10} +2 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'O& +3 "core" & \  +2 .tHand.open + "manipulator"&P1 +63 "core" 1 +36 "manipulator"&Q% +10 "core" % \ !   +2 "storage"(R% +4 "core" %T \ + "storage"(S. +3 "core" .( +2 "storage"(T& +4 "core" & \  + "storage"(U& +4 "core" & K\  +2 "manipulator"&V& +4 "core" &  H  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +27 "core" ( + "manipulator"&X& +4 "core" & ' & +2 "storage"(Y& +4 "core" & 3\  +2 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +108 "core" ' + "storage"([& +4 "core" & L\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +281 "core" ' + "storage"(]- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" & | \  +2 "manipulator"&_& +4 "core" &  # + .tElbow.seek 2 +2 "manipulator"&`( +9 "core" ( + "manipulator"&a& +4 "core" & $ d R +2 "storage"(b& +4 "core" & @\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&c' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(f'X +7 "core" &\ x R +2 "manipulator"&g% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +149 "core" ( + "manipulator"&j& +5 "core" &(  f ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &(  ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&l'" +100 "core" ' + "manipulator"&m& +5 "core" &)  ?P + "manipulator"&n% +4 "core" %  +2 "collection"'o& +4 "core" & \  +2 "collection"'p& +5 "core" & \  +3 .tCC.seek :closed + "collection"'q(V +4 "core" & \  +8 &M \ &j +10 &|X \ 9 +9 & \ N +9 &[ F\ O +10 &S] \ O +9 &_ m\ O +10 &^ \ O +9 &] \ O +9 &]] \ O +10 &] \ O +9 &_ \ O +9 &!` :\ N +10 &#d_ j\ O +9 &%&_ *\ O +10 &&] ,\ O +9 &(\\ 0\ N +9 &*m] /\ O +10 &,/\\ /\ O +9 &-] 5\ N +9 &/_ +\ O +10 &1u` %\ O +9 &37Z $\ O +10 &4\\ )\ O +9 &6] '\ N +9 &8~\\ $\ N +10 &:?` (\ O +9 &<` (\ O +9 &=` (\ N +10 &?_ (\ O +9 &AG] *\ O +9 &C ` &\ O +10 &Df &\ O +9 &Fl %\ P +10 &HE| #\ R +9 &I 3\ U +9 &K |\ X +10 &Mu ;\ Z +9 &O7 \ Z +9 &P  \ Z +10 &R \ [ +9 &Tx #\ [ +10 &Vu *\ 1 +9 &V% +\ K +9 ( +2 &Ve -\ E +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&r1 +61 "core" 1 +2 "manipulator"&s% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%u& +5 "core" &4\  + "manipulator"&v% +4 "core" %\  ;  +2 "storage"(w% +3 "core" %T F G \ +2 "storage"(x. +3 "core" .( +2 "storage"(y& +3 "core" & E D\  +2 "storage"(z& +4 "core" & D E\  + "manipulator"&{& +4 "core" && =D + "manipulator"&|% +4 "core" %\ (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&}( +158 "core" ( + "manipulator"&~& +4 "core" &   +2 "storage"(& +4 "core" & r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(& +4 "core" & } \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & %\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  Q  +2 "storage"( & +4 "core" & O E \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&\ ' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( 'X +7 "core" &  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&& +5 "core" & * p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"&& +5 "core" &  n + "manipulator"&% +4 "core" %   +2 "processing"%& +3 "core" &:\  +2 "processing"%& +5 "core" &6\  +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &:\  +9 &6B\ ,~ +9 &d/\ @ +10 &a};\ P +9 &%]B\ O +10 &b5\ O +9 &`;\ O +9 &la@\ O +10 &/_7\ O +9 &`;\ O +9 &`<\ P +10 & s`?\ O +9 &"5]@\ O +10 &#a:\ O +9 &%`E\ O +9 &'{aC\ O +10 &)>\\=\ O +9 &*_B\ O +9 &,_D\ O +10 &.b@\ O +9 &0F^F\ O +10 &2_A\ O +9 &3_9\ O +9 &5_9\ O +10 &7M_6\ O +9 &9`9\ O +9 &:Z:\ O +10 &<_9\ O +9 &>U^G\ O +10 &@`;\ P +9 &A_G\ O +9 &C_H\ O +10 &E\\_I\ P +9 &GjE\ P +9 &HyN\ R +10 &JW\ U +9 &LTS\ U +10 &NN\ U +9 &O[\ U +9 &QX\ U +10 &SZN\ V +9 &UO\ V +9 &VM\ V +10 &XM\ V +9 &ZkP\ . +10 &ZLO\ %i +9 &Z6N\ 0 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&1 +3 "core" &Z#P\ 0 +57 1 +2 "manipulator"&% +4 "core" % 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%"& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&%% +4 "core" %\ # q > + "storage"('% +4 "core" %c\ '\ ) 4\ +2 "storage"((. +3 "core" .( + "storage"()& +4 "core" & \ )\ * ]\  +2 "storage"(& +3 "manipulator"&& +5 "core" & \ \ & 5\  + & R +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&#(s + "storage"(,'i +10 "core" ( +3 "manipulator"&-& +4 "core" &p \  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&/' +95 "core" ' + .tHand.close +2 "manipulator"&0/ +61 "core" / +3 .tPC.seek :open +2 "processing"%1( +78 "core" ' + "storage"(2- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(3'y +46 "core" ' +301 ( +2 "storage"(4& +4 "core" &   \  + "manipulator"&5& +4 "core" &p  + "manipulator"&6% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&7'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8( +255 "core" ( + "manipulator"&9& +4 "core" & %  \ +2 "storage"(:& +4 "core" & \ \  .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +96 "core" ' +2 .tHand.open + "manipulator"&<1 +60 "core" 1 +2 "storage"(=- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +48 "core" ' +3 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(A& +4 "core" & \  + "manipulator"&B& +4 "core" & R \ +2 .tElbow.seek 2 +2 "manipulator"&>( +8 "core" ( + "manipulator"&D& +4 "core" & ( R +2 "storage"(E& +4 "core" & } \  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(G' +60 "core" ' +2 "manipulator"&C& +4 "core" &  +2 "storage"(I& +4 "core" & E H O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&J' +29 "core" ' +2 .tElbow.hold + "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +23 "core" ' +2 "manipulator"&H% +4 "core" % W +2 "storage"(N& +4 "core" & I 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&O' +17 "core" ' +2 "manipulator"&P& +4 "core" &  ; +2 "storage"(Q& +4 "core" & s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +29 "core" ' +2 "storage"(S% +4 "core" %r "\ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +99 (U% +3 "core" %iD E ( '\ We + "manipulator"&V% +5 "core" %т  +39 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" & P G S\  +2 "collection"'[& +3 "core" &Ve :\ E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&$% +4 "core" %\ %  C +2 "storage"(&% +4 "core" %\\ < < [\ + "storage"(]. +3 "core" .( +2 "storage"(^& +4 "core" & < < k\  + "storage"(_& +4 "core" & : < \  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&b& +4 "core" & % x + "storage"(d& +4 "core" & : A a\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +97 "core" ' +2 "storage"(g& +4 "core" & | \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +284 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &  +3 "storage"(k& +5 "core" & D E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&\\' +36 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(n'M +32 "core" ' +2 "manipulator"&o% +4 "core" % + "storage"(`& +4 "core" & \ f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts + "manipulator"&f' +13 "core" ' +2 "manipulator"&h& +4 "core" & F +2 "storage"(+& +4 "core" & i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(s'< +40 "core" ' +2 "manipulator"&u& +4 "core" &  +2 "manipulator"&v% +4 "core" %ё  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&x( +151 "core" ( +2 "manipulator"&p& +5 "core" &(  ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &( O ?V +2 .tForearm.seek CC + "manipulator"&z'" +97 "core" ' + .tHand.close +2 "manipulator"&{/ +53 "core" / +2 .tCC.seek :open +2 "collection"'|( +419 "core" ( + "storage"(l& +4 "core" & z e \  +2 "storage"(~& +4 "core" & ^ ^ L\  + "manipulator"&& +4 "core" &(  ?V + "manipulator"&% +4 "core" % , +2 .tForearm.seek :retract + "manipulator"&i'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&t( +163 "core" ( + "manipulator"&& +4 "core" & & + - +2 "storage"(& +4 "core" & Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&' +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"& % +4 "core" %  y + "storage"( & +4 "core" & [ \\ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +15 "core" ' + "manipulator"&}& +5 "core" & c - + "storage"(& +4 "core" & X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +36 "core" ' + "storage"(\ % +5 "core" %? 5\ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (% +2 "core" %? Q\ Wb +2 "manipulator"&% +4 "core" %ћ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %\  p  + "storage"( % +4 "core" %S \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(*( +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \\ \\ K\  + "manipulator"&& +4 "core" & U - +2 .tElbow.seek 3 + "manipulator"&"( +20 "core" ( +2 "manipulator"&%& +4 "core" &  o  + "storage"('& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +115 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & %\  +2 "manipulator"&-& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&.( +3 "core" ( + "manipulator"&& +4 "core" &  |  +2 "storage"(0& +4 "core" & b\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &  +2 "manipulator"&,% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +154 "core" ( +3 "manipulator"&6& +4 "core" ' + &, .  Bi + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &/& +3 "core" &, Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'" +100 "core" ' +3 "manipulator"&:& +5 "core" &,  Bh + "manipulator"&#% +4 "core" %\  +2 "collection"'<& +4 "core" & \ +2 "collection"'=& +5 "core" & \ +2 .tCC.seek :closed + "collection"'@(V +4 "core" & x\  +9 &/ w\ +z +10 &d x\ ? +9 &ey \ O +9 &(Z \ N +10 &b w\ N +9 &Z \ N +9 &l_ \ O +10 &.] \ O +9 &^ \ O +10 &] H\ N +9 & u] \ N +9 &"6] \ O +10 &#_ \ O +9 &%` \ O +9 &'}^ \ N +10 &)?Z {\ N +9 &+_ \ O +10 &,] q\ N +9 &.` z\ N +9 &0F` +\ O +10 &2 ] l\ N +9 &3\\ \ N +9 &5] \ N +10 &7O_ "\ N +10 &9\\ g\ N +9 &:` y\ O +9 &<b D\ O +9 &>W` /\ N +10 &@] /\ N +9 &A` /\ N +9 &Cc B\ N +10 &E]i )\ O +10 &Gq A\ P +9 &H{ +\ Q +9 &J 0\ U +9 &LJ (\ X +10 &N %\ X +9 &O '\ Y +9 &Q '\ Y +10 &SM &\ Z +9 &U +\ [ +10 &V]E (\ 1 +9 &V\ t &\ G +5 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&A1 +3 "core" &Vg q\ G +50 1 +3 "manipulator"&B% +4 "core" % \   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%E& +5 "core" &|\ + "manipulator"&7% +4 "core" %\ ! 5 +2 "storage"(C% +3 "core" %T " " \ +2 "storage"(I. +3 "core" .( +2 "storage"(H& +3 "core" & " " \  +2 "storage"(3& +4 "core" & " " \  + "manipulator"&N& +4 "core" &+ G Bh + "manipulator"&P% +4 "core" %\ ! 4 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!( +156 "core" ( + "manipulator"&Q& +5 "core" & %   + "storage"(S& +4 "core" & e \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +103 "core" ' + "storage"(;& +5 "core" &  7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +287 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & E B D\  + "manipulator"&F& +4 "core" & +  +2 .tElbow.seek 3 + "manipulator"&>( +3 "core" ( +2 "manipulator"&G& +3 "core" & [  +2 "storage"(J& +4 "core" & e h\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"($'X +7 "core" & $  +2 "manipulator"&&% +4 "core" % Ϯ Z  +2 .tForearm.seek :retract + "manipulator"&L'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&](s +176 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +69 "core" ( +2 "manipulator"&^& +4 "core" &r *  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &r a - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +105 "core" ' +2 "manipulator"&b& +4 "core" &r % ; - +2 "manipulator"&d% +4 "core" %  Q +2 "processing"%g& +4 "core" &\ +2 "processing"%R& +4 "core" &K\ +3 .tPC.seek :closed + "processing"%T(Z +5 "core" &J\ +7 &:B\ $c +9 &TG\ 7 +10 &}H\ L +9 &bE\ O +9 &TaC\ O +10 &_H\ O +44 &`H\ O +12 &]C\ O + &[_G\ O + &ZE\ O +2 &_B\ O + &!_?\ P +4 &#d_C\ O +10 &%&_G\ O +9 &&]H\ O +9 &(]C\ O +10 &*m]C\ O +9 &,/]H\ O +10 &-]H\ O +9 &/]I\ O +9 &1t]C\ O +10 &36]C\ O +9 &4]F\ O +10 &6]E\ P +9 &8|[D\ O +9 &:=\\D\ O +10 &;]D\ O +9 &=\\C\ O +9 &?_F\ O +10 &AF]H\ O +9 &C_H\ P +10 &DbF\ P +9 &FhI\ P +9 &HE{H\ R +10 &JG\ T +9 &KF\ U +9 &M=\ T +10 &OEG\ U +9 &QG\ U +9 &RK\ V +10 &TA\ U +9 &VJG\ V +10 &X B\ V +9 &Y|sD\ ; +9 &Z)kG\ O +10 &Z(?\ 0 +2 ( +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&K1 +52 "core" 1 + "manipulator"&X% +4 "core" %  { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z'\ +93 "core" ' +2 "processing"%j& +4 "core" &Z%\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&k% +4 "core" %\   +2 "storage"(m% +3 "core" %b $  ,\ +2 "storage"(o. +3 "core" .( +2 "storage"(`& +3 "core" &  ! \  +2 "storage"(h& +5 "manipulator"&+& +4 "core" &   \  + &r  - +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&u(s "storage"(v'i +7 "core" ( + "manipulator"&e& +4 "core" &r - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &r  - +2 .tForearm.seek PC + "manipulator"&W' +106 "core" ' + .tHand.close + "manipulator"&\\/ +63 "core" / +3 .tPC.seek :open +2 "processing"%f( +78 "core" ' +2 "storage"(n- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +44 "core" ' +300 ( + "storage"(y& +4 "core" & \\ ^ 6\  +2 "manipulator"&r& +4 "core" &r i - +2 "manipulator"&c% +4 "core" % 4 k + .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +267 "core" ( + "manipulator"&q& +4 "core" & _ q +2 "storage"(l& +4 "core" & = < \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +3 "core" -' +2 "storage"(x& +3 "core" & =\  +2 "manipulator"& & +4 "core" &  q +2 .tElbow.seek 3 + "manipulator"& ( +7 "core" ( +2 "manipulator"& & +4 "core" & R h +2 "storage"(}& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\ ' +56 "core" ' +2 "manipulator"&i& +4 "core" &  h +2 "storage"(& +4 "core" & E @ a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +17 "core" ' +2 .tElbow.hold + "manipulator"&t, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" %΅ +2 "storage"(& +4 "core" & _ \\ !\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"&'ϱ +20 "core" ' +2 "manipulator"& & +4 "core" & p h +2 "storage"(& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +29 "core" ' + "storage"(% +5 "core" %s v 8\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (M% +4 "core" %4D D 2 /\ We +2 "manipulator"&% +4 "core" %@ T x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (%& +4 "core" & _ n t\  +2 "collection"''& +4 "core" &Vf \ G + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ $  f 6 + "storage"(% +4 "core" %S [ d\ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & [ [\  + "storage"(& +4 "core" & [ [\  +2 "manipulator"&-& +4 "core" &  X h + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&0& +4 "core" & ' h + "storage"(& +4 "core" & e [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"(,& +4 "core" & z Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +287 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" &  h + "storage"(/& +4 "core" & S Z :\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&)'} +21 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'T +31 "core" ' + "manipulator"&<% +5 "core" %Ό  + "storage"(.& +4 "core" & R Q =\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&'ϸ +25 "core" ' + "manipulator"&4& +5 "core" & P h + "storage"(|& +4 "core" & ^ ^ ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'C +40 "core" ' +2 "manipulator"&E& +4 "core" & W h +2 "manipulator"&7% +4 "core" %1 " h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&I( +156 "core" ( +2 "manipulator"&H& +4 "core" && 1  =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" && =D +2 .tForearm.seek CC +2 "manipulator"&3'" +95 "core" ' + .tHand.close +2 "manipulator"&N/ +60 "core" / + .tCC.seek :open +2 "collection"'P( +416 "core" ( + "storage"(9& +4 "core" & \\\  +2 "storage"(Q& +4 "core" & k\  + "manipulator"&S& +4 "core" && ! =D + "manipulator"&;% +4 "core" %  / +2 .tForearm.seek :retract + "manipulator"&5'\ +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&D( +157 "core" ( + "manipulator"&U& +4 "core" &  P  +2 "storage"(V& +3 "core" & t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&F'} +94 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "manipulator"&Y% +4 "core" % ΋  i +2 "storage"([& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&&'Ϸ +24 "core" ' +2 "manipulator"&!& +5 "core" & :  + "storage"(8& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +30 "core" ' +2 "storage"(O% +4 "core" %M \ +2 ."downElevator"SE.seek :down +4 "storage"(^'X +99 (_% +2 "core" %C \ Vb +2 "manipulator"&>% +4 "core" %+  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'d& +4 "core" & \ + "manipulator"&g% +4 "core" %\  3  +2 "storage"($% +4 "core" %T \ + "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(1(,l +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &,i _ i \  + "manipulator"&X& +4 "core" & -  +2 .tElbow.seek 4 + "manipulator"&j( +4 "core" ( + "manipulator"&k& +4 "core" &   + "storage"(m& +4 "core" &,g <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +91 "core" ' + "storage"(`& +4 "core" &,g i\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'i +278 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &,g F\  +2 "manipulator"&e& +3 "core" & @  +2 .tElbow.seek 4 + "manipulator"&a( +4 "core" ( + "manipulator"& & +4 "core" & h  + "storage"(\\& +4 "core" &,g \  +42 .tForearm.seek 4 + 300 counts +12 "manipulator"&n', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(T'X +7 "core" & =  +2 "manipulator"&v% +4 "core" % 8 ] ; +2 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +154 "core" ( +2 "manipulator"&c& +4 "core" &( / # ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&W& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &( q ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'" +101 "core" ' +2 "manipulator"&l& +4 "core" &(  n ?T +2 "manipulator"&u% +5 "core" % y V +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'z(V +5 "core" & v\ +6 & ' L\ #b +9 &V !\ 8 +10 & \ M +9 &[ \ N +9 &aa l\ N +10 &$] /\ N +9 &c w\ N +9 &] 8\ N +10 &ja \ N +9 &,\\ P\ N +10 &] 1\ N +9 &!c 3\ N +9 &#r_ F\ N +10 &%5` 7\ M +9 &&^ u\ N +9 &(\\ 3\ N +10 &*z[ :\ N +9 &,=] ;\ M +10 &-] /\ N +9 &/b 5\ N +9 &1` :\ N +10 &3E^ /\ M +9 &5_ -\ N +9 &6` 9\ N +10 &8_ ,\ N +9 &:K_ !\ N +10 &< ` 9\ N +9 &=_ \ N +9 &?\\ '\ N +10 &AT] g\ N +9 &Cb *\ N +10 &Df "\ O +9 &Fk '\ O +9 &HSx .\ Q +10 &J "\ T +9 &K %\ X +9 &M $\ X +10 &OF !\ X +9 &Q $\ Y +9 &R 6\ Y +10 &T &\ Z +9 &V&u #\ . +9 &V$ %\ M +9 ( +2 &Vn &\ H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&x1 +56 "core" 1 +2 "manipulator"& % +5 "core" %  R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%}& +4 "core" &I\ +2 "manipulator"&{% +4 "core" %\ ! + 6 + "storage"(i% +4 "core" %T " ! \ + "storage"(. +3 "core" .(,l +2 "storage"(& +4 "core" &,g # " !\  + "storage"(& +4 "core" &,g " ! \  +2 "manipulator"&p& +4 "core" &(  ?T + "manipulator"& % +4 "core" %\ !  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" & $ :  +2 "storage"(& +4 "core" &,g \\ W \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +94 "core" ' +2 "storage"(~& +4 "core" &,g j 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,g 2 1 \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&\ & +3 "core" &    +2 "storage"(& +4 "core" &,g E N\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&'& "storage"('X +8 "core" & ]  + "manipulator"&% +4 "core" % E  [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +176 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&& +5 "core" &h '   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&-' +98 "core" ' +2 "manipulator"&0& +4 "core" &j $  +2 "manipulator"&% +4 "core" %  6 +2 "processing"%s& +4 "core" &H\ +2 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &;\  +9 &1G\ *y +10 &bH\ ? +9 &j{I\ P +10 &-YC\ O +9 &_G\ O +9 &^H\ P +10 &s^D\ O +9 &6YH\ O +9 &_H\ P +10 &]H\ O +9 & z]F\ P +10 &"=\\E\ O +9 &$^I\ O +9 &%^H\ O +10 &'_I\ O +9 &)FZH\ O +9 &+]?\ O +10 &,]G\ O +9 &.[C\ O +10 &0M\\G\ O +9 &2\\F\ O +9 &3X>\ O +10 &5\\G\ O +9 &7V\\?\ O +9 &9\\A\ O +10 &:[G\ O +9 &<\\H\ O +10 &>^[G\ O +9 &@ ]G\ O +9 &A]G\ O +10 &C\\F\ O +9 &EccG\ P +9 &G sH\ R +10 &HF\ T +9 &JD\ U +10 &L\\G\ U +9 &NG\ V +9 &OH\ U +10 &QG\ U +9 &SaF\ V +9 &U#G\ V +10 &VM\ W +9 &XO\ W +10 &ZbL\ &v +9 &ZpH\ 7 +9 ( +3 "processing"%,& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&t1 +3 "core" &Z"G\ / +56 1 +2 "manipulator"&% +4 "core" %  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +102 "core" ' +2 "processing"%6& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&/% +4 "core" %\ b  + "storage"(:% +4 "core" %V ! ! q\ + "storage"(<. +3 "core" .(,l +2 "storage"(.& +4 "core" &,g % "\  +2 "storage"(4& +2 "manipulator"&|& +7 "core" &,g D A L\  + &j  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(E'i + "manipulator"&7(s +6 "core" ( +2 "manipulator"&& +4 "core" &j *  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j   +2 .tForearm.seek PC + "manipulator"&"' +101 "core" ' + .tHand.close +2 "manipulator"&)/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(#- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(H'y +38 "core" ' +298 ( +2 "storage"(=& +4 "core" &,g E G \  + "manipulator"&A& +4 "core" &j  A  + "manipulator"&2% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +253 "core" ( +2 "manipulator"&@& +4 "core" & %  \ + "storage"(9& +4 "core" &,g '  ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Q'Ѽ +96 "core" ' + .tHand.open +2 "manipulator"&S1 +61 "core" 1 +2 "storage"(;- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(U'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(I& +4 "core" &,g ~ (\  +2 "manipulator"&J& +4 "core" &  \ +2 .tElbow.seek 4 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&[& +4 "core" & %  \ + "storage"(!& +4 "core" &,g |  S\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&8'Ѽ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +61 "core" ' + "manipulator"&5& +4 "core" & 5 \ +2 "storage"(_& +4 "core" &,g ^ J Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>' +34 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(F'i +24 "core" ' +2 "manipulator"&&% +4 "core" % O +2 "storage"(d& +4 "core" &,g\ \ % #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&g'< +18 "core" ' +2 "manipulator"&$& +4 "core" &  c +2 "storage"(L& +4 "core" &,g C 9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +26 "core" ' + "storage"(?% +5 "core" %q i h S\ +2 ."downElevator"SE.seek :down +4 "storage"(^'X +98 (*% +3 "core" %A ' " \ Wc +2 "manipulator"&K% +4 "core" %Ѹ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +2 (k& +4 "core" &,g ` o h\  +2 "collection"'m& +4 "core" &Vn \ H + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&`% +4 "core" %\ 3  + "storage"(G% +4 "core" %Z [ [\ +2 "storage"(b. +3 "core" .(,l +2 "storage"(h& +3 "core" &,g { o ;\  +2 "storage"(R& +4 "core" &,g ` [ G\  + "manipulator"&e& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&\\& +4 "core" & 2 + "storage"(]& +4 "core" &,g _ [ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Z'Ѽ +96 "core" ' +2 "storage"(v& +4 "core" &,g ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +284 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +45 "manipulator"&c& +12 "core" & Y +2 "storage"(W& +4 "core" &,g : = T\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&+' +34 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(u'W +32 "core" ' +2 "manipulator"&a% +4 "core" % +2 "storage"(& +4 "core" &,g \  R\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&T'> +20 "core" ' +2 "manipulator"&y& +4 "core" & J +2 "storage"(P& +4 "core" &,g G ? p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&x'Ѽ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'F +38 "core" ' +2 "manipulator"&}& +4 "core" & % +2 "manipulator"&{% +4 "core" %ѹ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( +2 "manipulator"&& +5 "core" &( 5 ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( 4 e ?S +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&p/ +63 "core" / +2 .tCC.seek :open + "collection"' ( +416 "core" ( +2 "storage"(q& +4 "core" &,g L\  + "storage"(& +4 "core" &,g ^\  +2 "manipulator"&& +4 "core" &( Y >O + "manipulator"&~% +4 "core" %  N +2 .tForearm.seek :retract + "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +161 "core" ( + "manipulator"&M& +4 "core" &  P  +2 "storage"(& +4 "core" &,g \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +106 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&%% +4 "core" %   +2 "storage"('& +3 "core" &,g  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&'< +12 "core" ' + "manipulator"&& +5 "core" & h  +2 "storage"(w& +3 "core" &,g H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +23 "core" ' +2 "storage"(% +4 "core" %K ^\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %B \ Wb +2 "manipulator"& % +4 "core" % S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&s% +4 "core" %\ " 7 9 + "storage"(% +4 "core" %T \ +2 "storage"(. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(f(<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &<' : H ^\  +2 "manipulator"&& +3 "core" & ^  +2 .tElbow.seek 5 +2 "manipulator"&6( +3 "core" ( + "manipulator"&/& +4 "core" &   +2 "storage"(:& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&<'ы +102 "core" ' +2 "storage"(,& +4 "core" &<$ G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'i +276 "core" ' +2 "storage"(|- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &<$ p\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" & e  + "storage"()& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&#' +28 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&(& "storage"('X +9 "core" & [  +2 "manipulator"&E% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&='\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +153 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&2& +4 "core" &% C << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &%  F << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&@'" +100 "core" ' +2 "manipulator"&9& +4 "core" &% / > << +2 "manipulator"&7% +4 "core" % +2 "collection"'S& +4 "core" & \ +2 "collection"';& +5 "core" & B\ +2 .tCC.seek :closed + "collection"'3(V +4 "core" & %\ \ +9 &.} 5\ *y +9 &d %\ ? +9 &py &\ O +10 &5] 6\ M +9 &_ 4\ N +10 &a #\ N +9 &zb 9\ N +9 &=] 1\ M +10 &^ .\ N +9 &a /\ N +9 & c .\ N +10 &"D] 7\ N +9 &$_ .\ M +10 &%` /\ N +9 &'` .\ N +9 &)M` 5\ M +10 &+^ 1\ M +9 &,] ,\ M +9 &._ 9\ M +10 &0T` 9\ N +9 &2[ :\ N +10 &3^ 0\ M +9 &5] 0\ M +9 &7]^ 0\ M +10 &9^ 0\ M +9 &:` '\ N +9 &<_ .\ N +10 &>cc -\ N +9 &@'_ /\ M +10 &A^ /\ N +9 &C_ $\ N +9 &Eif (\ O +10 &G(m .\ P +9 &Hz (\ Q +9 &J !\ T +10 &LX 3\ W +9 &N \ X +10 &O  \ Y +9 &Q \ Y +9 &SY &\ Z +10 &U %\ Z +9 &VhC "\ 1 +9 &Vn $\ F +6 ( + "collection"';& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 + .Hand.open + "manipulator"&I1 +3 "core" &Vf n\ F +57 1 + "manipulator"&J% +4 "core" %  2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&['\ +93 "core" ' +5 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%!& +9 "core" &\ +2 "manipulator"&N% +5 "core" %\  1  + "storage"(5% +4 "core" %T D D u\ + "storage"(_. +3 "core" .(<* +2 "storage"(H& +4 "core" &<$ D D\  + "storage"(&& +4 "core" &<$ E G\  + "manipulator"&d& +4 "core" &$  ;8 +2 "manipulator"&U% +4 "core" %\  Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +158 "core" ( + "manipulator"&L& +5 "core" & % C  + "storage"(?& +4 "core" &<$ p  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&C'ы +103 "core" ' + "storage"(Q& +5 "core" &<$ ]\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +280 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &<$ @ W F\  + "manipulator"&8& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&O& +4 "core" & s  + "storage"(>& +4 "core" &<$ k k \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&g' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +51 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(`'X +7 "core" & }  +2 "manipulator"&F% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&G'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&h& +4 "core" &k % f \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &k  Q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +96 "core" ' +2 "manipulator"&\\& +4 "core" &k  B \ + "manipulator"&]% +5 "core" % c  + "processing"%B& +4 "core" &Q\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%^(Z +5 "core" &@\  +9 &0~O\ +z +10 &aO\ > +9 &g{K\ O +9 &(]I\ O +10 &]O\ O +9 &]O\ O +9 &o`H\ O +10 &3\\<\ N +9 &^E\ O +10 &`?\ O +9 & y]J\ N +9 &";\\H\ N +10 &#[N\ O +9 &%[L\ O +9 &']P\ N +10 &)B^J\ O +9 &+`D\ O +9 &,_<\ O +10 &.ZG\ O +9 &0JZF\ O +10 &2 ZC\ N +9 &3[L\ N +9 &5\\H\ O +10 &7R_H\ O +9 &9^H\ O +9 &:]I\ O +10 &<]F\ O +9 &>[[@\ N +10 &@Z?\ O +9 &AZG\ O +9 &C^I\ O +10 &E`cD\ O +9 &GpK\ Q +10 &HK\ T +9 &JS\ U +9 &LXI\ U +10 &NP\ U +9 &OS\ U +9 &QQ\ U +10 &S]M\ V +9 &U@\ V +10 &VO\ V +9 &XI\ V +9 &ZeL\ (z +10 &Z_U\ 5 +8 ( +2 &Z'?\ 1 +2 "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&D1 +62 "core" 1 +2 "manipulator"&X% +4 "core" %  f  +44 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 "processing"%c& +4 "core" &Z'\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\ \  h  + "storage"(l% +4 "core" %` E E \ +2 "storage"(a. +3 "core" .(<* + "storage"(& +4 "core" &<$ E E\  +2 "storage"(y& +4 "manipulator"&P& +4 "core" &<$ D D B\  + &k N \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&}(s + "storage"({'i +5 "core" ( +2 "manipulator"&Z& +4 "core" &k \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k s \ +2 .tForearm.seek PC +2 "manipulator"&j' +95 "core" ' + .tHand.close +2 "manipulator"&+/ +64 "core" / +2 .tPC.seek :open +2 "processing"%T( +82 "core" ' +2 "storage"(u- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +299 ( +2 "storage"(& +4 "core" &<$ H M +\  + "manipulator"&x& +4 "core" &k } \ +2 "manipulator"&n% +3 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +254 "core" ( +2 "manipulator"&z& +4 "core" &  ]  + "storage"(q& +4 "core" &<$ h ] \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +100 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +7 "storage"(~- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(M'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<$ \  + "manipulator"&& +4 "core" & u  +2 .tElbow.seek 5 + "manipulator"&%( +8 "core" ( + "manipulator"&'& +5 "core" &   + "storage"(& +4 "core" &<$ \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&w'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +61 "core" ' + "manipulator"&r& +4 "core" & '  +2 "storage"(& +4 "core" &<$ t m @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"& ' +34 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +26 "core" ' + "manipulator"&% +5 "core" % + "storage"(& +4 "core" &<$ K *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&s' +13 "core" ' + "manipulator"&& +5 "core" & |  +2 "storage"(& +3 "core" &<$ j f u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +27 "core" ' + "storage"(% +5 "core" %m n ~ y\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (1% +3 "core" %A D D \ Wc +2 "manipulator"&t% +4 "core" %є Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +75 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (/& +4 "core" &<$ h f g\  +2 "collection"':& +3 "core" &Ve \ F +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&,% +4 "core" %\    + "storage"(\ % +4 "core" %T j ^ ;\ +2 "storage"(0. +3 "core" .(<* + "storage"(|& +4 "core" &<$ ^ ^ \  + "storage"(4& +4 "core" &<$ ^ ^ \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&-( +4 "core" ( + "manipulator"&)& +4 "core" & 5  + "storage"(& +4 "core" &<$ ^ ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&('ы +88 "core" ' + "storage"(E& +4 "core" &<$ H\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +287 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & Z  + "storage"("& +4 "core" &<$ R Z J\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&.' +34 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(7'X +31 "core" ' + "manipulator"&S% +4 "core" % +2 "storage"(& +4 "core" &<$\  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&'\ +16 "core" ' + "manipulator"&=& +5 "core" &  K  + "storage"( & +4 "core" &<$ f `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&I'ы +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(J'G +40 "core" ' +2 "manipulator"&!& +4 "core" & _  +2 "manipulator"&N% +4 "core" %щ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +157 "core" ( +2 "manipulator"&;& +4 "core" &* , @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &*  g @[ +2 .tForearm.seek CC + "manipulator"&&'" +93 "core" ' +2 .tHand.close + "manipulator"&d/ +60 "core" / +2 .tCC.seek :open + "collection"'U( +419 "core" ( +2 "storage"(@& +4 "core" &<$ z \  +2 "storage"(L& +3 "core" &<$  \  +2 "manipulator"&?& +4 "core" &* 5 " @Y + "manipulator"&Q% +4 "core" % - -   +2 .tForearm.seek :retract + "manipulator"&A'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +159 "core" ( +2 "manipulator"&*& +4 "core" & $ _ | +2 "storage"(K& +3 "core" &<$ |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&8' +109 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +59 "core" 1 +2 "manipulator"&k% +4 "core" %  _ m +2 "storage"(m& +4 "core" &<$ E E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&F' +14 "core" ' +2 "manipulator"&$& +4 "core" &   + "storage"(C& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&V'ы +32 "core" ' + "storage"(g% +5 "core" %G :\ +2 ."downElevator"SE.seek :down +3 "storage"(h'X +99 (R% +3 "core" %? \ Va +2 "manipulator"&Y% +4 "core" %q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +43 "manipulator"&\\'\ +94 "core" ' +13 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"']& +4 "core" & \\\ +2 "manipulator"&B% +3 "core" %\  [  +2 "storage"(`% +4 "core" %c p\ + "storage"(G. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +3 "core" &K& n x x\  +2 "manipulator"&X& +3 "core" & L  +2 .tElbow.seek 6 +2 "manipulator"&v( +43 "core" ( + "manipulator"&c& +5 "core" &\  r  + "storage"(W& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&l'a +86 "core" ' +2 "storage"(a& +4 "core" &K 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +270 "core" ' + "storage"(P- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :pick +2 "storage"(y' +29 "core" ' +3 .tSE.seek :down + "storage"(Z'X +274 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"& % +4 "core" %U S e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +96 "core" ' + !to:Puck::Error: mesg"Tube 6 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:367:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):7:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 5.times {shuffle 2..5; delay 10} +3 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'+& +3 "core" & \ +2 "manipulator"&u% +4 "core" %\ % i E +2 "storage"(b% +3 "core" %T \ +2 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(^( +1285 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ({& +3 "core" & i j \ +2 "manipulator"&& +4 "core" &\   +2 .tElbow.seek 2 + "manipulator"&x( +13 "core" ( +2 "manipulator"&n& +4 "core" & $ R w +2 "storage"(j& +3 "core" & c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +107 "core" ' +2 "storage"(q& +4 "core" & f\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & a\ + "manipulator"&& +4 "core" & 1 w +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & u w + "storage"('& +4 "core" & ;\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"('X +7 "core" &  w +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&M& +5 "core" &, ; Bj ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&& +6 "core" &, % Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + "manipulator"&& +4 "core" &, Bi +2 "manipulator"&i% +4 "core" %  +2 "collection"'& +4 "core" & B\ +3 "collection"'& +4 "core" & \ +3 .tCC.seek :closed + "collection"'1(V +5 "core" & B\  +9 &.} D\ *y +9 &d B\ ? +9 &hx B\ O +10 &+\\ ;\ N +9 &^ I\ N +10 &] A\ N +9 &q` F\ N +9 &4] B\ N +10 &] =\ N +9 &` B\ N +9 & y_ B\ N +10 &";_ 3\ N +9 &#^ 1\ N +10 &%_ 8\ N +9 &'] 4\ N +9 &)E\\ 0\ M +10 &+] /\ N +9 &,] 1\ N +9 &.^ 0\ N +10 &0L^ -\ N +9 &2 [ 0\ N +10 &3] 0\ N +9 &5\\ /\ M +9 &7S] 0\ N +10 &9] :\ N +9 &:b 1\ N +9 &<b /\ N +10 &>[^ 1\ N +9 &@] .\ N +10 &A] 0\ N +9 &C_ 0\ N +9 &E`g %\ O +10 &Gr 0\ P +9 &Hz 1\ Q +9 &J /\ V +10 &LM /\ X +9 &N 9\ X +10 &O /\ Y +9 &Q 1\ Y +10 &SO :\ Z +9 &U 0\ Z +9 &V^F 4\ 2 +9 &V q 0\ F +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open + "manipulator"&t1 +4 "core" &V] .\ F +50 1 + "manipulator"&w% +4 "core" %  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &l\ +2 "manipulator"& % +4 "core" %\  0 /  + "storage"(s% +4 "core" %b D D \ +2 "storage"(/. +3 "core" .( + "storage"(:& +5 "core" & A D g\ + "storage"(,& +4 "core" & D D \ + "manipulator"&\ & +4 "core" &+ [ Aa +2 "manipulator"&% +4 "core" %\  /   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&0( +159 "core" ( +2 "manipulator"&|& +4 "core" & z  +2 "storage"(4& +3 "core" & o q >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +92 "core" ' +2 "storage"()& +4 "core" & ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (E& +3 "core" & @ : Q\ + "manipulator"&& +4 "core" & p  +2 .tElbow.seek 2 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & N  +2 "storage"(<& +4 "core" & h h o\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&2' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(S'X +7 "core" &   +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&='\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +3 "manipulator"&!& +4 "core" &r # C  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &r   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +96 "core" ' +2 "manipulator"&-& +4 "core" &s  V  +2 "manipulator"&6% +4 "core" % g  +2 "processing"%.& +4 "core" &l\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%7(Z +4 "core" &i\  +9 &.{d\ +z +10 &cf\ ? +9 &m{a\ O +9 &0Z_\ O +10 &`j\ O +9 &`^\ O +9 &v`e\ O +10 &9^`\ N +9 &]h\ N +10 &[h\ O +9 & ]k\ N +9 &"@[d\ O +10 &$Zc\ O +9 &%\\^\ O +9 &']\\\ O +10 &)H[]\ O +9 &+\ _f\ O +10 &,\\k\ O +9 &.Zk\ O +9 &0P]e\ O +10 &2Z[\ O +9 &3^W\ O +9 &5]^\ O +10 &7YY^\ N +9 &9Z]\ N +10 &:Yc\ N +9 &<ZS\ N +9 &>`]_\ O +10 &@"_g\ O +9 &AZT\ N +9 &C]Y\ O +10 &Eh^e\ O +9 &G&hf\ P +10 &Hu]\ Q +9 &Jd\ T +9 &L_]\ T +10 &N!_\ T +9 &Oc\ T +9 &Q]\ U +10 &Sd`\ U +9 &U&_\ U +10 &VZ\ U +9 &X[\ V +9 &Zc\\\ 'w +10 &ZfW\ 6 +9 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&;1 +3 "core" &Z#]\ / +61 1 + "manipulator"&H% +4 "core" %  a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +2 "processing"%#& +4 "core" &Z#U\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&d% +54 "core" %\    +2 "storage"(5% +4 "core" %b ' A\ + "storage"(3. +3 "core" .( +2 "storage"(@& +4 "core" & $ 5 ;\ + "storage"(L& +3 "manipulator"&?& +7 "core" & - H \ + &s   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&Q(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(*'i +3 "core" ( + "manipulator"&K& +4 "core" &s ~  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &s  +2 .tForearm.seek PC +2 "manipulator"&_' +99 "core" ' +2 .tHand.close + "manipulator"&>/ +57 "core" / + .tPC.seek :open +2 "processing"%k( +86 "core" ' + "storage"(m- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"($'y +46 "core" ' +292 ( + "storage"(C& +4 "core" & D C \ +2 "manipulator"&g& +4 "core" &t   + "manipulator"&A% +4 "core" % 4 +2 .tForearm.seek :retract + "manipulator"&R'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Y( +235 "core" ( +2 "manipulator"&[& +4 "core" &  r E + "storage"(8& +4 "core" & < ; m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +94 "core" ' + .tHand.open + "manipulator"&]1 +59 "core" 1 +2 "storage"(B- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(`'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(G' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(V& +4 "core" & P\ +2 "manipulator"&h& +4 "core" &  A + .tElbow.seek 2 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&D& +4 "core" & " y A + "storage"(X& +4 "core" & -\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(W' +58 "core" ' +2 "manipulator"&a& +4 "core" &  A +2 "storage"(O& +3 "core" & J V g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +28 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"& % +4 "core" %  V +2 "storage"(y& +4 "core" & # " \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&Z' +19 "core" ' + "manipulator"&l& +5 "core" & ? A + "storage"(+& +4 "core" & h h \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +34 "core" ' +2 "storage"(b% +79 "core" %r ~ \ +2 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (% +3 "core" %H D F <\ Xf +2 "manipulator"&{% +3 "core" %ѕ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" & u m ]\ +2 "collection"'j& +4 "core" &V] \ F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&q% +4 "core" %\   + "storage"(v% +4 "core" %T   \ +2 "storage"(e. +3 "core" .( +2 "storage"(& +3 "core" & p _\ +2 "storage"(~& +4 "core" & { L\ + "manipulator"&& +4 "core" &  A +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&'& +5 "core" &   A + "storage"(p& +4 "core" &  q G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +93 "core" ' +2 "storage"(& +4 "core" &  ,\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +279 "core" ' +2 "storage"(z- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" &  A +2 "storage"(& +4 "core" & d i \\\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&}' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'M +41 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(& +4 "core" & \ %\  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 307 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&& +4 "core" & A +2 "storage"(U& +3 "core" & k i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'< +40 "core" ' +2 "manipulator"&& +4 "core" & N A +2 "manipulator"& % +4 "core" %ѻ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +148 "core" ( + "manipulator"&:& +5 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" & ( 5 +2 .tForearm.seek CC + "manipulator"&\ '" +99 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( + "storage"(& +4 "core" & u } 9\ + "storage"(|& +4 "core" &   \ +2 "manipulator"&4& +4 "core" & ' 9 5 + "manipulator"&)% +4 "core" % 1 2 d +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&%( +160 "core" ( + "manipulator"& & +4 "core" & v +2 "storage"(E& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&' +104 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +63 "core" 1 +2 "manipulator"&"% +4 "core" %   + "storage"(9& +5 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +21 "core" ' + "manipulator"&0& +4 "core" & P +2 "storage"(& +4 "core" & z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +49 "core" ' +2 "storage"(2% +4 "core" %F \ +2 ."downElevator"SE.seek :down +3 "storage"(!'X +100 (N% +2 "core" %D /\ Vb +2 "manipulator"& % +4 "core" %y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'6& +4 "core" & \ +50 "manipulator"&.% +5 "core" %\    +2 "storage"(S% +3 "core" %a C\ +2 "storage"(=. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" & n y l\  +2 "manipulator"&H& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&#( +12 "core" ( +2 "manipulator"&d& +4 "core" & Q t + "storage"(& +4 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +105 "core" ' + "storage"(3& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'i +282 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" & !\  +2 "manipulator"&K& +4 "core" &  t + .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&(& +4 "core" & n t + "storage"(>& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&m'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(7'X +7 "core" &  t +2 "manipulator"&*% +4 "core" % ϭ J +2 .tForearm.seek :retract + "manipulator"&C'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&g( +153 "core" ( + "manipulator"&A& +5 "core" && l =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&_& +3 "storage"(5 +4 "core" && % =D + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&['" +104 "core" ' +2 "manipulator"&8& +5 "core" &&  =D + "manipulator"&Q% +4 "core" %* S +2 "collection"']& +4 "core" & \ +2 "collection"'B& +5 "core" & B\ +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" & @\ +7 & . @\ #b +10 &V A\ 8 +9 & @\ L +10 &Z C\ N +9 &__ B\ N +9 &#[ 3\ M +10 &^ @\ M +9 &\\ >\ N +10 &h` 9\ N +9 &*\\ <\ N +9 &] B\ M +10 &!_ 7\ N +9 &#o` >\ N +9 &%3^ 9\ M +10 &&] 6\ M +9 &(\\ 7\ M +9 &*w` 0\ N +10 &,:\\ 2\ N +9 &-Z 7\ N +10 &/] +\ N +9 &1a -\ N +9 &3C\\ "\ M +10 &5] 6\ M +9 &6\\ t\ M +9 &8\\ w\ M +10 &:Ja \ N +9 &< _ 5\ M +10 &=] t\ N +9 &?\\ \ N +9 &AS\\ Q\ M +10 &C] \ N +9 &Db N\ N +9 &Fh \ O +10 &HQt \ Q +9 &J O\ T +10 &K r\ X +9 &M \ X +9 &OA \ Y +10 &Q v\ X +9 &R s\ Z +9 &T \ Z +10 &V"u \ . +9 &V( \ O +9 ( +3 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&V1 +3 "core" &Vj w\ H +50 1 +2 "manipulator"&h% +4 "core" % *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +4 "core" &g\ +2 "manipulator"&R% +4 "core" %\ # 4 @ +2 "storage"(a% +3 "core" %T ! " \ +2 "storage"(O. +3 "core" .( + "storage"( & +4 "core" & " ! \  +2 "storage"(y& +4 "core" & " ! \  + "manipulator"&$& +4 "core" && N =D +2 "manipulator"&l% +3 "core" %\ # F @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&`( +159 "core" ( + "manipulator"&+& +5 "core" &   + "storage"(Y& +4 "core" & J W S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&F'9 +97 "core" ' + "storage"(G& +4 "core" & m p 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +284 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (f& +3 "core" & D P \  +2 "manipulator"&W& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&{& +4 "core" & s  +2 "storage"(\\& +4 "core" & [ [\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&Z'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&j& "storage"(q'X +7 "core" &   +2 "manipulator"&v% +4 "core" % , Z +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&& +4 "core" &t 8 5  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&'& +5 "core" &t #   + "manipulator"&p% +4 "core" % +2 "processing"%u& +4 "core" &\ +2 "processing"%& +6 "core" &c\ +2 .tPC.seek :closed +3 "processing"%o(Z +3 "core" &X\ +6 & 1"\ $d +10 &Vh\ 7 +9 &}`\ L +9 &]l\ O +10 &Z]l\ O +9 &^m\ O +9 &\\j\ N +10 &[k\ N +12 &b^j\ O +7 &$]h\ O +9 &]h\ N +9 &!\\k\ O +10 &#j_i\ O +9 &%,Yk\ O +9 &&Yc\ O +10 &(Zh\ N +9 &*r\\i\ O +10 &,4_g\ O +9 &-[i\ O +9 &/Zg\ O +10 &1z]c\ O +9 &3=Zk\ N +9 &4Zg\ N +10 &6[j\ N +9 &8Z`\ N +10 &:D_c\ O +9 &<]a\ N +9 &=Yg\ N +10 &?\\k\ O +9 &ALZ[\ O +9 &CZW\ N +10 &D_`\ O +9 &Fh[\ P +10 &HIx[\ R +9 &J_\ T +9 &K`\ U +10 &MZ\ T +9 &OKU\ T +10 &Q Z\ U +9 &RY\ U +9 &T[\ V +10 &VOX\ V +9 &XT\ V +9 &Y{pX\ : +10 &Z)qU\ N +9 &Z(T\ 0 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&P1 +60 "core" 1 + "manipulator"&% +4 "core" %  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' +2 "processing"%M& +4 "core" &Z&W\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   + "storage"(% +4 "core" %c " " \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & ! ! \  +2 "storage"(& +4 "manipulator"&U& +5 "core" & ! ! \  + &t   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"( 'i +5 "core" ( +2 "manipulator"&r& +4 "core" &t   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &t '  +2 .tForearm.seek PC +2 "manipulator"&x' +96 "core" ' + .tHand.close + "manipulator"&}/ +62 "core" / + .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(i- +4 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(:'y +44 "core" ' +290 ( + "storage"(,& +4 "core" & D C \  + "manipulator"&t& +5 "core" &t   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +259 "core" ( +2 "manipulator"&1& +4 "core" & $ S W + "storage"(& +4 "core" &   V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +105 "core" ' + .tHand.open + "manipulator"&41 +55 "core" 1 +2 "storage"()- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +51 "storage"( 'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(\ - +3 "core" -' +2 "storage"(/& +4 "core" & s\  + "manipulator"&<& +4 "core" &\  W +2 .tElbow.seek 3 + "manipulator"&"( +27 "core" ( + "manipulator"&9& +4 "core" & n k +2 "storage"(0& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +62 "core" ' + "manipulator"&& +4 "core" &  k +2 "storage"(N& +4 "core" & : 9 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +19 "core" ' +3 .tElbow.hold + "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&% +5 "core" %΁ c + "storage"(6& +4 "core" & F F \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&.'ϭ +27 "core" ' + "manipulator"&w& +5 "core" & S k + "storage"(S& +5 "core" & ] f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +25 "core" ' +2 "storage"(% +4 "core" %r r a 6\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (^% +2 "core" %G  " \ Xg +2 "manipulator"&;% +4 "core" %R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (d& +4 "core" & n _ \  +2 "collection"'& +4 "core" &Vj ?\ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&3% +4 "core" %\    + "storage"(% +4 "core" %b h i x\ + "storage"(-. +4 "core" .( + "storage"(?& +4 "core" & i k o\  + "storage"(L& +4 "core" & h h g\  +2 "manipulator"&K& +4 "core" &  k + .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&>& +4 "core" & ~ k + "storage"( & +4 "core" & ^ [ .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +95 "core" ' +2 "storage"(*& +4 "core" & ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +279 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &  k + "storage"(_& +4 "core" & [ Y .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&@'} +22 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(8- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Q'T +28 "core" ' +2 "manipulator"&&% +4 "core" %} | + "storage"(]& +5 "core" & D D k\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&7'ϩ +12 "core" ' + "manipulator"&C& +5 "core" & } k + "storage"(& +4 "core" & q *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&V'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'C +38 "core" ' +3 "manipulator"&X& +5 "core" & : k + "manipulator"&R% +4 "core" %J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&a'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +157 "core" ( +2 "manipulator"& & +4 "core" &' .  >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &' q >N +2 .tForearm.seek CC + "manipulator"&B'" +95 "core" ' + .tHand.close + "manipulator"&$/ +57 "core" / +2 .tCC.seek :open + "collection"'l( +416 "core" ( +2 "storage"([& +4 "core" & ]\  + "storage"(+& +4 "core" & `\  +2 "manipulator"&Y& +3 "core" &' >N +2 "manipulator"&G% +3 "core" % , j +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +156 "core" ( + "manipulator"&c& +4 "core" &  H  +2 "storage"(f& +4 "core" & b\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&W'} +101 "core" ' + .tElbow.hold +2 "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&\\1 +60 "core" 1 +2 "manipulator"&n% +4 "core" % Ό $ +2 "storage"(j& +3 "core" & 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&v'ϸ +24 "core" ' +2 "manipulator"&`& +4 "core" & K  + "storage"(F& +4 "core" & R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +32 "core" ' + "storage"(Z% +5 "core" %M Q\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (~% +3 "core" %D \ Va +2 "manipulator"&% +4 "core" %- g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'p& +5 "core" & \ + "manipulator"&u% +4 "core" %\  '  +2 "storage"(q% +4 "core" %a j\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(k(,l +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &,i ~ e\  +2 "manipulator"&& +3 "core" & v  +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +3 "core" & =  +2 "storage"(& +4 "core" &,f v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +96 "core" ' +2 "storage"(& +4 "core" &,f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(U- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,f Q\  +2 "manipulator"&r& +4 "core" & .  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & 4  +2 "storage"(}& +3 "core" &,f \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&i', +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"(o'X +8 "core" & )  + "manipulator"& % +4 "core" % . C  +2 .tForearm.seek :retract +2 "manipulator"&,'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +156 "core" ' + ( + "manipulator"&& +3 ."downElevator"SE.stop +4 "storage"(5 +2 "core" &+  Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +51 &x& +3 "core" &+ [ Bf +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'" +100 "core" ' +3 "manipulator"&& +4 "core" &, ,  Bf +2 "manipulator"&% +4 "core" %  + "collection"'4& +4 "core" & >\ +2 "collection"')& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +5 "core" & G\  +9 &/ A\ +z +9 &c 8\ > +9 &qx @\ N +10 &4Z <\ N +9 &_ ;\ N +9 &] A\ N +10 &zY <\ N +9 &=Z @\ M +10 &\\ @\ M +9 &_ @\ N +9 & \\ :\ N +10 &"C_ ?\ N +9 &$Z ?\ N +9 &%] @\ N +10 &'\\ @\ N +9 &)MW @\ M +10 &+Z 5\ N +9 &,] ?\ M +9 &.[ >\ M +10 &0T] 9\ N +9 &2^ ;\ N +9 &3Z A\ N +10 &5Y 4\ N +9 &7\\_ 0\ N +9 &9^ 8\ N +10 &:_ ,\ N +9 &<] 4\ N +10 &>d] 3\ N +9 &@&_ 7\ N +9 &AZ )\ N +10 &C] w\ N +9 &Ejb v\ N +9 &G'k A\ P +10 &H| ,\ R +9 &J :\ V +10 &LV /\ X +9 &N %\ X +9 &O \ Y +10 &Q 2\ Y +9 &SY \ Z +9 &U u\ Z +10 &VeC /\ 0 +9 &V\ w /\ J +6 ( + "collection"')& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&\ 1 +4 "core" &Vk 4\ J +49 1 +3 "manipulator"&/% +4 "core" %  .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%9& +4 "core" &l\ +2 "manipulator"&0% +4 "core" %\  % x  + "storage"(% +4 "core" %T   \ + "storage"(N. +3 "core" .(,l +2 "storage"(:& +4 "core" &,f   A\  + "storage"(& +4 "core" &,f  ! @\  + "manipulator"&6& +5 "core" &) . M ?V + "manipulator"& % +4 "core" %\  7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&w( +160 "core" ( +2 "manipulator"&S& +4 "core" & Q  +2 "storage"(s& +3 "core" &,f ^ ^ M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +101 "core" ' + "storage"(|& +4 "core" &,f y ~ *\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +282 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &,f O C \  +2 "manipulator"&& +3 "core" & F  +2 .tElbow.seek 4 +2 "manipulator"&"( +3 "core" ( + "manipulator"&2& +5 "core" &    + "storage"( & +4 "core" &,f [ Z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&.', +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(3'X +6 "core" &   +2 "manipulator"&% +4 "core" % 2 M L +2 .tForearm.seek :retract +2 "manipulator"&-'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&?(s +181 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +61 "core" ( +2 "manipulator"&& +4 "core" &t   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &t   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +101 "core" ' + "manipulator"&>& +5 "core" &t #   + "manipulator"& % +5 "core" %  < + "processing"%=& +4 "core" &l\ +2 "processing"%*& +5 "core" &l\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &l\ +7 &:k\ $c +10 &Sl\ 7 +9 &~l\ L +9 &]h\ O +10 &W`l\ O +9 &^m\ O +9 &]l\ O +10 &Wk\ N +9 &^\\l\ O +10 &!Yj\ O +9 &Zk\ O +9 &!Zl\ O +10 &#g_l\ O +9 &%)\\g\ O +9 &&Xk\ N +10 &(Xj\ O +9 &*pXk\ N +10 &,2[i\ N +9 &-\\g\ N +9 &/]k\ O +10 &1xXh\ N +9 &3:Yl\ N +9 &4\\k\ O +10 &6[g\ O +9 &8Xj\ N +10 &:AYj\ O +9 &<\\l\ O +9 &=X_\ N +10 &?Y]\ N +9 &AJZd\ N +9 &C _f\ O +10 &Dcd\ O +9 &Fkh\ P +9 &HFzj\ R +10 &Jh\ U +9 &Kj\ U +10 &Mk\ U +9 &OGb\ U +9 &Q d\ U +10 &Rk\ U +9 &Ta\ U +9 &VL]\ V +10 &XZ\ V +9 &Y|pZ\ : +10 &Z(kU\ Q +9 &Z%^\ 0 +2 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&%1 +56 "core" 1 +2 "manipulator"&H% +4 "core" %  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +101 "core" ' + "processing"%A& +4 "core" &Z#X\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&_% +4 "core" %\   +2 "storage"(8% +4 "core" %` D E \ + "storage"(&. +3 "core" .(,l +2 "storage"(]& +4 "core" &,f D E \  + "storage"(C& +4 "manipulator"&& +5 "core" &,f D D \  + &t 0  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&X(s + "storage"(R'i +5 "core" ( + "manipulator"&I& +4 "core" &t   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &t b  +2 .tForearm.seek PC +2 "manipulator"&#' +97 "core" ' +2 .tHand.close +2 "manipulator"&@/ +63 "core" / +2 .tPC.seek :open + "processing"%7( +83 "core" ' + "storage"(Q- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +45 "core" ' +293 ( +2 "storage"(y& +4 "core" &,f - ' <\  +2 "manipulator"&V& +4 "core" &t W  + "manipulator"&m% +4 "core" % O +2 .tForearm.seek :retract + "manipulator"&$'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&a( +261 "core" ( + "manipulator"&J& +5 "core" & #   + "storage"([& +4 "core" &,f   A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&+'Ѽ +90 "core" ' +2 .tHand.open + "manipulator"&Y1 +63 "core" 1 +2 "storage"(G- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(c'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(B- +3 "core" -' +2 "storage"(O& +3 "core" &,f {\  +2 "manipulator"&\\& +5 "core" & Z  + .tElbow.seek 4 +2 "manipulator"&n( +7 "core" ( + "manipulator"&j& +5 "core" & N  + "storage"(`& +4 "core" &,f V\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Z' +60 "core" ' +2 "manipulator"&g& +4 "core" & c  + "storage"(~& +4 "core" &,f [ Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&D, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +24 "core" ' +2 "manipulator"&v% +4 "core" % h +2 "storage"(p& +4 "core" &,f I ;\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&u'? +19 "core" ' + "manipulator"&q& +5 "core" &  j + "storage"(& +4 "core" &,f h i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&h'Ѽ +27 "core" ' + "storage"(b% +5 "core" %s r :\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (T% +3 "core" %%C C C \ Xe +2 "manipulator"&P% +4 "core" %ѭ = +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +9 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" &,f F < \  + "collection"'& +4 "core" &Vk 5\ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ # O > +2 "storage"({% +4 "core" %\\ 9 9 u\ + "storage"('. +3 "core" .(,l +2 "storage"(U& +4 "core" &,f Z [\  +2 "storage"(& +3 "core" &,f I ? \  +2 "manipulator"&r& +4 "core" & ^ + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" & # + "storage"(e& +4 "core" &,f \\ I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&z'Ѽ +104 "core" ' + "storage"( & +4 "core" &,f q\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & H +2 "storage"(x& +4 "core" &,f ] ^ _\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +29 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('W +29 "core" ' +2 "manipulator"&% +4 "core" % + +2 "storage"(4& +3 "core" &,f\ \ & K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&o'= +26 "core" ' +2 "manipulator"&,& +4 "core" & ` +2 "storage"(l& +4 "core" &,f [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&\ 'Ѽ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'F +39 "core" ' + "manipulator"&9& +4 "core" &  +2 "manipulator"&0% +4 "core" %Ѩ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&N( +153 "core" ( +2 "manipulator"&:& +5 "core" &* 1 x A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+  A` +2 .tForearm.seek CC + "manipulator"&6'" +94 "core" ' + .tHand.close + "manipulator"&)/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(1& +4 "core" &,f \\\  +2 "storage"(S& +4 "core" &,f y \  + "manipulator"&s& +4 "core" &+ 3 A` + "manipulator"&|% +4 "core" % ( +2 .tForearm.seek :retract + "manipulator"&t'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<( +158 "core" ( + "manipulator"&^& +5 "core" & /  + "storage"(;& +4 "core" &,f \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&' +108 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&d% +5 "core" % \    + "storage"(& +4 "core" &,f h h u\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 310 counts + "manipulator"&'6 +12 "core" ' +2 "manipulator"&w& +5 "core" &  + "storage"(& +4 "core" &,f o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&E'Ѽ +23 "core" ' + "storage"(.% +5 "core" %P \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (L% +4 "core" % > J\ Vb + "manipulator"&"% +4 "core" % ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +4 "core" & 6\ + "manipulator"&=% +4 "core" %\  6  +2 "storage"(3% +4 "core" %b \ + "storage"(-. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<* +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &<* \\ ^\  +2 "manipulator"&H& +4 "core" & J  + .tElbow.seek 5 +2 "manipulator"&A( +36 "core" ( + "manipulator"&_& +4 "core" &\ # P +2 "storage"(8& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&&'ы +103 "core" ' + "storage"(]& +4 "core" &<& D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +286 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &<& (\  +2 "manipulator"&I& +3 "core" &  P +2 .tElbow.seek 5 + "manipulator"&(( +29 "core" ( +2 "manipulator"&K& +4 "core" & C  + "storage"(@& +4 "core" &<& 1\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&5& "storage"(!'X +8 "core" &   + "manipulator"&R% +4 "core" % \ 6 +2 .tForearm.seek :retract +2 "manipulator"&y'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&m& +4 "core" &, # h Bi +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &, ) z Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'" +103 "core" ' +3 "manipulator"&[& +4 "core" &,  Bh +2 "manipulator"&X% +4 "core" % +2 "collection"'Y& +4 "core" & G\ +2 "collection"'G& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'B(V +4 "core" & H\ +7 & - L\ $c +10 &V 1\ 8 +9 &~ G\ L +10 &W \ M +9 &b\\ C\ M +9 &#X @\ N +10 &_ 6\ N +9 &^ 4\ M +9 &iZ I\ N +10 &,Z <\ M +9 &Z 3\ M +9 &!\\ >\ N +10 &#qZ H\ N +9 &%3[ =\ N +10 &&Y 9\ M +9 &(Z ?\ M +9 &*y_ ?\ N +10 &,;] ;\ N +9 &-Y =\ M +9 &/[ =\ N +10 &1\\ A\ N +9 &3DY 8\ M +10 &5\\ 4\ M +9 &6_ /\ N +9 &8\\ 4\ N +10 &:K` 8\ N +9 &< ` 2\ N +9 &=_ 6\ N +10 &?] 2\ N +9 &ASY 2\ N +10 &C\\ 6\ N +9 &Db -\ N +9 &Fi 5\ O +10 &HTr 5\ P +9 &J 6\ S +9 &K <\ V +10 &M 7\ X +9 &OD 4\ X +9 &Q 8\ X +10 &R 7\ Z +9 &T =\ Y +10 &V%v B\ . +9 &V& ,\ N +9 ( +3 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&O1 +3 "core" &Vj 8\ H +49 1 +3 "manipulator"&\\% +4 "core" %  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%`& +4 "core" &m\ +2 "manipulator"&$% +3 "core" %\ # < +2 "storage"(g% +4 "core" %b ! _\ + "storage"(~. +3 "core" .(<* +2 "storage"( & +4 "core" &<& T &\  + "storage"(v& +4 "core" &<& Q\  \  + "manipulator"&p& +4 "core" &+ O A_ +2 "manipulator"&c% +4 "core" %\ # o < + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +163 "core" ( +2 "manipulator"&& +4 "core" & ' w +2 "storage"(b& +3 "core" &<& [ Z\  +53 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&a'ы +87 "core" ' +2 "storage"(+& +4 "core" &<& k z D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +287 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +3 "core" &<& B D\  + "manipulator"&F& +4 "core" &  w +2 .tElbow.seek 5 + "manipulator"&n( +4 "core" ( + "manipulator"&Z& +4 "core" & 4 w +2 "storage"(& +4 "core" &<& [ Z\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&u' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & 3 w +2 "manipulator"&{% +4 "core" %  G +2 .tForearm.seek :retract + "manipulator"&''\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&W(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( + "manipulator"&U& +5 "core" &m " 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &o K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +96 "core" ' + "manipulator"&}& +4 "core" &p q \ +2 "manipulator"&e% +4 "core" % 3 9 +2 "processing"% & +4 "core" &\ +2 "processing"%h& +5 "core" &m\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &%\ +7 &:Z\ $c +9 &Sk\ 7 +10 &~n\ L +9 &]o\ N +9 &X]n\ N +10 &]n\ O +9 &]m\ O +9 &Zl\ O +10 &_Yn\ O +9 &"Yl\ N +9 &]l\ N +10 &!^m\ O +9 &#f]l\ O +10 &%*Xl\ N +9 &&Zl\ N +9 &(]m\ N +10 &*o\\g\ O +9 &,1\\l\ O +10 &-Yk\ O +9 &/\\l\ O +9 &1wZl\ O +10 &39Wl\ O +9 &4Wm\ N +9 &6Yl\ N +10 &8[`\ O +9 &:B\\\ N +9 &<\\V\ O +10 &=\\k\ N +9 &?Wl\ N +10 &AJ[l\ N +9 &C Zl\ N +9 &D_K\ O +10 &Fh \ P +9 &HF~U\ R +10 &Jk\ T +9 &Kl\ U +9 &Ml\ U +10 &OGc\ U +9 &Qk\ U +9 &Rm\ U +10 &Tm\ U +9 &VLm\ V +9 &Xd\ V +10 &Y|qi\ : +9 &Z(kk\ Q +10 &Z+b\ 2 +2 ( + "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&D1 +62 "core" 1 +2 "manipulator"&% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%& +4 "core" &Z(A\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&x% +4 "core" %\ t  + "storage"(% +5 "core" %T !  \ + "storage"(. +3 "core" .(<* +2 "storage"(4& +3 "core" &<&   s\  +2 "storage"(,& +5 "manipulator"&l& +4 "core" &<&   >\  + &p  \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&9(s + "storage"(0'i +5 "core" ( + "manipulator"&z& +4 "core" &p \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p \ +2 .tForearm.seek PC +2 "manipulator"&M' +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%o( +93 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'y +42 "core" ' +284 ( +2 "storage"(& +4 "core" &<& ' E 4\  + "manipulator"&\ & +4 "core" &p c \ + "manipulator"&i% +4 "core" % > +2 .tForearm.seek :retract + "manipulator"&)'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +252 "core" ( +2 "manipulator"&& +4 "core" & t +2 "storage"(1& +4 "core" &<& : C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +99 "core" ' +2 .tHand.open +2 "manipulator"&s1 +60 "core" 1 +2 "storage"(|- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(;' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(N& +4 "core" &<& }\  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&d( +8 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(w& +4 "core" &<& u\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +62 "core" ' + "manipulator"&t& +5 "core" &  + "storage"(L& +4 "core" &<& h ` .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&"' +37 "core" ' + .tElbow.hold +2 "manipulator"&<, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"& % +4 "core" % ` +2 "storage"(& +4 "core" &<& r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&=' +13 "core" ' + "manipulator"&3& +4 "core" & g  +2 "storage"(-& +4 "core" &<& h h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&/'ы +27 "core" ' +2 "storage"(E% +5 "core" %r h j \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (k% +2 "core" %C ! ! \ Wd +2 "manipulator"&%% +4 "core" %ф  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (_& +4 "core" &<& [ e V\  +2 "collection"'8& +3 "core" &Vk 5\ H +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&]% +3 "core" %\ \  +2 "storage"(2% +4 "core" %b ^ f \  + "storage"(>. +3 "core" .(<* +2 "storage"(& +4 "core" &<& ^ ] \  + "storage"(C& +4 "core" &<& ^ g (\  +2 "manipulator"&I& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"(?& +4 "core" &<& h h '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&5'ы +104 "core" ' + "storage"(R& +4 "core" &<& r \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'i +282 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +2 "core" & h  +2 "storage"(#& +4 "core" &<& Y R H\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&*' +36 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(X'X +32 "core" ' + "manipulator"&Y% +4 "core" % M +2 "storage"((& +4 "core" &<& \ J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&!' +13 "core" ' + "manipulator"&y& +5 "core" & N  + "storage"( & +4 "core" &<& i j \  +51 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&O'ы +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(\\'G +40 "core" ' +2 "manipulator"&`& +4 "core" &   +2 "manipulator"&$% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&~( +159 "core" ( +2 "manipulator"& & +4 "core" &+ -  Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &+ a Ae +2 .tForearm.seek CC + "manipulator"&G'" +96 "core" ' +2 .tHand.close + "manipulator"&p/ +61 "core" / +2 .tCC.seek :open +2 "collection"'c( +417 "core" ( + "storage"(J& +5 "core" &<& | :\  + "storage"(& +4 "core" &<&  \  + "manipulator"&b& +4 "core" &) F ?T + "manipulator"&V% +4 "core" %  5 +2 .tForearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&j( +161 "core" ( + "manipulator"&T& +5 "core" &  Q  + "storage"(P& +4 "core" &<& )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&F' +109 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" %  z + "storage"(& +6 "core" &<& N G 8\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&{' +17 "core" ' +2 "manipulator"&q& +4 "core" & T  +2 "storage"(a& +4 "core" &<& {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&f'ы +32 "core" ' + "storage"(u% +5 "core" %H c\ +2 ."downElevator"SE.seek :down +4 "storage"(U'X +98 (% +3 "core" %B \ \ Vb +2 "manipulator"&n% +4 "core" %щ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +96 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 .tdelay 10 seconds +1002 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'e& +4 "core" & \ + "manipulator"& % +4 "core" %\  v  +2 "storage"(% +3 "core" %c \ +2 "storage"('. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7( +975 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +3 "core" & | \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +35 "core" ( +2 "manipulator"&x& +4 "core" & r e +2 "storage"(& +4 "core" & E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(h& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'i +286 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" & m\ + "manipulator"&z& +5 "core" &  d + .tElbow.seek 2 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&r& +4 "core" &   +2 "storage"(& +4 "core" & i\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('X +7 "core" & H  + "manipulator"&0% +5 "core" %  o u +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +157 "core" ( +2 "manipulator"&i& +4 "core" &- % Cs +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&M& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &- 2 / Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +104 "core" ' + "manipulator"&1& +4 "core" &- $ Cs +2 "manipulator"&9% +4 "core" % +2 "collection"'s& +4 "core" & \ +2 "collection"'|& +5 "core" & \ +2 .tCC.seek :closed + "collection"'6(V +4 "core" & \  +9 &0~  \ +z +10 &e 5\ ? +9 &tv \ O +9 &8W \ N +10 &Y \ N +9 &Y \ M +10 &Z \ M +9 &@Y \ N +9 &Y \ M +10 &Z 1\ M +9 & \\ ;\ M +9 &"I\\ 8\ M +10 &$ [ ;\ M +9 &%\\ <\ M +10 &'X D\ N +9 &)PW 8\ N +9 &+] <\ N +10 &,] ?\ M +9 &.Y >\ N +9 &0XZ :\ N +10 &2Y >\ N +9 &3Y >\ M +9 &5Z ;\ M +10 &7`Y <\ N +9 &9#] A\ M +10 &:\\ B\ M +9 &<\\ ?\ N +9 &>h_ B\ N +10 &@*^ @\ N +9 &A^ A\ N +9 &C_ @\ N +10 &Eoa :\ N +9 &G,m B\ P +10 &Hw A\ Q +9 &J =\ U +9 &L[ A\ X +10 &N <\ X +9 &O A\ Y +10 &Q <\ Y +9 &S] @\ Z +9 &U ;\ Z +10 &ViD A\ 1 +9 &Vm ?\ I +5 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&N1 +4 "core" &Va =\ I +49 1 +3 "manipulator"& % +4 "core" %  e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%w& +4 "core" &L\ +2 "manipulator"&)% +4 "core" %\   + "storage"(t% +5 "core" %T D E\ + "storage"(L. +3 "core" .( +2 "storage"(:& +3 "core" & F E\ +2 "storage"( & +4 "core" & D F\ + "manipulator"&^& +4 "core" &,  Bi +2 "manipulator"&% +4 "core" %\ -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&3( +162 "core" ( +2 "manipulator"&-& +4 "core" &  q + "storage"(E& +4 "core" & ~ q ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' + "storage"(S& +5 "core" & P\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'i +285 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (%& +3 "core" & \\ i \ + "manipulator"&& +4 "core" &  q +2 .tElbow.seek 2 + "manipulator"&d( +4 "core" ( + "manipulator"&.& +4 "core" & q + "storage"("& +4 "core" &   \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&=' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&8& +2 "storage"(]'X +6 "core" &  q + "manipulator"&2% +4 "core" % ) , +2 .tForearm.seek :retract +2 "manipulator"&>'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &q ' E  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &C& +2 "core" &q Z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +101 "core" ' +2 "manipulator"&@& +4 "core" &q N  + "manipulator"&?% +5 "core" %  f + "processing"%/& +6 "core" &B\ +2 "processing"%R& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &n\  +9 &0~m\ *y +10 &bn\ > +52 &mxm\ O +5 &0Zm\ N + &Yk\ O + &_m\ O +3 &t\\m\ O + &8Xl\ N +3 &[m\ N +9 &]Q\ N +9 & }ZL\ O +9 &"?\\j\ O +10 &$\\m\ N +9 &%_l\ N +9 &'_m\ O +10 &)G\\l\ O +9 &+ \\l\ O +10 &,Zl\ O +9 &.Xm\ N +9 &0PYm\ N +10 &2Xm\ N +9 &3Xk\ N +10 &5Xl\ N +9 &7XXl\ N +9 &9\\l\ N +10 &:[l\ N +9 &<\\l\ N +9 &>`\\l\ N +10 &@"^k\ N +9 &A\\l\ N +10 &C]l\ O +9 &Eg\\m\ O +9 &G'fm\ O +10 &Hvl\ Q +9 &Jm\ S +9 &L]m\ U +10 &N!l\ T +9 &Ol\ T +9 &Q`\ T +10 &Sfj\ T +9 &U'l\ U +10 &V`\ U +9 &Xk\ U +9 &Zcl\ &u +10 &Zbg\ 3 +9 ( + &Z"a\ - +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&<1 +57 "core" 1 + "manipulator"&H% +4 "core" % $ s f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&'\ +91 "core" ' +2 "processing"%m& +4 "core" &Z"X\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&#% +4 "core" %\    +2 "storage"([% +3 "core" %U 4 ' M\ +2 "storage"(Y. +3 "core" .( + "storage"((& +4 "core" & B 8 =\ +2 "storage"(y& +4 "manipulator"& & +4 "core" & E D \ + &q o  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&`(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"($'i +3 "core" ( + "manipulator"&5& +4 "core" &q   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &q T  +2 .tForearm.seek PC + "manipulator"&A' +95 "core" ' +2 .tHand.close + "manipulator"&*/ +63 "core" / +2 .tPC.seek :open +2 "processing"%!( +85 "core" ' + "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +43 "core" ' +295 ( + "storage"(v& +4 "core" & ^ h 1\ +2 "manipulator"&O& +3 "core" &q ;  +2 "manipulator"&Q% +4 "core" %  # +2 .tForearm.seek :retract + "manipulator"&p'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&g( +255 "core" ( + "manipulator"&B& +5 "core" & # ^ + "storage"(J& +4 "core" & C C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +87 "core" ' + .tHand.open +2 "manipulator"&b1 +61 "core" 1 +2 "storage"(V- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(T'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(G- +3 "core" -' +2 "storage"(~& +4 "core" & \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +4 "core" & *  + "storage"(q& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +57 "core" ' +2 "manipulator"&+& +4 "core" &  +2 "storage"(& +4 "core" & [ ^ )\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&n' +19 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(F'i +22 "core" ' +2 "manipulator"&{% +4 "core" %  +2 "storage"(\\& +4 "core" & ^ [\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&f' +21 "core" ' +2 "manipulator"&U& +4 "core" & f  +2 "storage"(e& +4 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +45 "core" ' +2 "storage"(% +4 "core" %n  \ +2 ."downElevator"SE.seek :down +4 "storage"(''X +99 (% +3 "core" %.F F E \ Xe +2 "manipulator"&D% +4 "core" %э / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +4 "core" & \ +2 "collection"'& +4 "core" &Va \ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&h% +3 "core" %\   +2 "storage"(Z% +4 "core" %S r\ + "storage"(}. +4 "core" .( + "storage"(l& +4 "core" &  E\ +2 "storage"(,& +3 "core" & } \ +2 "manipulator"&z& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&& +4 "core" & '  + "storage"(W& +4 "core" & ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' +2 "storage"(0& +4 "core" & ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&i& +3 "core" & 4  +2 "storage"(M& +4 "core" & f j E\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(9'M +31 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(s& +4 "core" & " ! \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&& +5 "core" & )  + "storage"(c& +4 "core" & ^ p 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +36 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '< +41 "core" ' + "manipulator"&w& +5 "core" & .  + "manipulator"&)% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +152 "core" ( +2 "manipulator"&:& +4 "core" &* , @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &) - @W +2 .tForearm.seek CC + "manipulator"&|'" +96 "core" ' +2 .tHand.close + "manipulator"&^/ +54 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" & g o \ + "storage"(-& +77 "core" & b\ +2 "manipulator"&E& +4 "core" &(   ?V +2 "manipulator"&S% +3 "core" % 2   +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +153 "core" ( +2 "manipulator"&k& +4 "core" & # B + "storage"(%& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&"1 +56 "core" 1 +2 "manipulator"&_% +4 "core" % $ +2 "storage"(8& +3 "core" & 3\ +51 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&2' +19 "core" ' + "manipulator"&3& +4 "core" & C +2 "storage"(& +4 "core" & p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +28 "core" ' + "storage"(=% +4 "core" %C O\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (C% +3 "core" %B \ Wc +2 "manipulator"&d% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +92 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'?& +4 "core" & \ +2 "manipulator"&/% +4 "core" %\ # / = + "storage"(]% +4 "core" %a \ +2 "storage"(>. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(o( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" & i i ?\  +2 "manipulator"&H& +4 "core" & s +2 .tElbow.seek 3 + "manipulator"&m( +17 "core" ( + "manipulator"&#& +5 "core" & # = f + "storage"([& +4 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +97 "core" ' +2 "storage"((& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +3 "core" & L\  + "manipulator"&5& +4 "core" &  f +2 .tElbow.seek 3 + "manipulator"&K( +4 "core" ( + "manipulator"&I& +4 "core" & _ f + "storage"(*& +4 "core" & 7\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&X'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"('X +7 "core" &  f +2 "manipulator"&$% +4 "core" % ψ  +2 .tForearm.seek :retract + "manipulator"&v'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&O( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&Q& +4 "core" &% T <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &% % <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'" +99 "core" ' +2 "manipulator"&J& +4 "core" &$ - Z ;8 +2 "manipulator"&`% +4 "core" % +2 "collection"'b& +4 "core" & \ +2 "collection"'V& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'G(V +4 "core" & \ +5 & \ 3 +9 &:H \ 1 +10 &dq \ E +9 &c \ N +10 &X \ M +9 &X \ N +9 &OZ \ N +10 &^ \ M +9 &] =\ N +9 &Z \ M +10 &XZ \ M +9 &!] \ N +10 &"] \ N +9 &$] \ M +9 &&aY <\ M +10 &("\\ @\ M +9 &)\\ R\ N +9 &+[ :\ N +10 &-h] 9\ M +9 &/)\\ \ N +10 &0^ =\ N +9 &2[ B\ N +9 &4oW 7\ N +10 &61Z 6\ N +9 &7W 6\ M +9 &9] ;\ M +10 &;wZ 3\ N +9 &=:Y 8\ M +10 &>Z <\ M +9 &@_ 7\ N +9 &B\\ 5\ N +10 &DA` =\ N +9 &Fc >\ N +9 &Gn >\ P +10 &I{ @\ R +9 &K0 D\ V +10 &L B\ X +9 &N <\ X +9 &Po <\ X +10 &R/ ?\ Y +9 &S @\ Z +9 &U 1\ G +10 &V4 =\ )y +9 &Vf >\ G +3 ( + "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&~1 +64 "core" 1 + "manipulator"&% +4 "core" %  %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%q& +4 "core" &#\ +2 "manipulator"&p% +4 "core" %\  8  + "storage"(+% +4 "core" %T C C \ + "storage"(. +3 "core" .( +2 "storage"({& +4 "core" & ? C \  + "storage"(\\& +4 "core" & D =\  +2 "manipulator"& & +3 "core" &$ b ;8 +2 "manipulator"&U% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +165 "core" ( + "manipulator"&T& +5 "core" & R r + "storage"(& +4 "core" & ~ ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +94 "core" ' + "storage"(& +4 "core" & N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" & Y g\  + "manipulator"&a& +4 "core" &  r +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&u& +4 "core" & R r + "storage"(n& +4 "core" & s u A\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&f'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(h'X +7 "core" & _ r +2 "manipulator"&Z% +4 "core" % Ϣ  7 +2 .tForearm.seek :retract + "manipulator"&F'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&}(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&l& +5 "core" &w 5 7  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +2 "core" &w "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&z' +99 "core" ' + "manipulator"&& +5 "core" &w +  + "manipulator"&W% +5 "core" %  ^ + "processing"% & +5 "core" &T\ +2 "processing"%0& +6 "core" &c\ +2 .tPC.seek :closed +2 "processing"%'(Z +4 "core" &k\  +8 &1l\ *x +9 &bk\ > +10 &lxP\ O +9 &.]M\ N +10 &^j\ N +9 &]g\ O +9 &t^k\ N +10 &5]l\ O +9 &^h\ O +9 &\\m\ N +10 & |YR\ N +9 &">Y(\ N +9 &$Y?\ N +10 &%]K\ O +9 &']j\ N +10 &)F^(\ N +9 &+\\]\ N +9 &,]k\ N +10 &.[l\ N +9 &0NYl\ N +9 &2\\l\ N +10 &3[m\ N +9 &5YP\ N +10 &7V\\K\ N +9 &9Zh\ O +9 &:Y$\ O +10 &<Y\\\ O +9 &>^Yk\ N +9 &@ Ym\ N +10 &AZk\ O +9 &C_$\ N +10 &Ed_X\ O +9 &G"k$\ P +9 &H~^\ R +10 &Jk\ T +9 &L[P\ U +9 &N$\ T +10 &OW\ U +9 &Qj\ T +10 &Sbl\ U +9 &U$k\ U +9 &Vm\ U +10 &Xl\ U +9 &ZbQ\ &t +9 &ZkK\ 7 +9 ( +3 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&j1 +4 "core" &Z&^\ / +57 1 +2 "manipulator"&% +4 "core" % # ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%i& +4 "core" &Z&Y\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\    +2 "storage"(1% +3 "core" %T 7 )\ +2 "storage"(. +3 "core" .( + "storage"(s& +4 "core" & @ 4 -\  +2 "storage"(& +2 "manipulator"&c& +7 "core" & A C %\  + &w %  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&w(s +8 ."raiseStack"SE.seek :beamBreak + "storage"()'i +3 "core" ( + "manipulator"&& +4 "core" &w y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &w &  +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&4/ +62 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' + "storage"(9- +3 "core" -'i +2 ."raiseStack"SE.configure :default +53 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(:'y +44 "core" ' +241 ( +2 "storage"( & +4 "core" & ] f \  +2 "manipulator"&N& +4 "core" &w   + "manipulator"&% +4 "core" % * +2 .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t( +248 "core" ( +2 "manipulator"&6& +4 "core" &  R $ + "storage"(& +4 "core" & 9 : \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +94 "core" ' +2 .tHand.open + "manipulator"&E1 +58 "core" 1 +2 "storage"(S- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(k'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(%' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(|- +3 "core" -' +2 "storage"(L& +4 "core" & 6\  + "manipulator"&"& +4 "core" &  # +2 .tElbow.seek 3 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&8& +4 "core" & # > # + "storage"(3& +5 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\ ' +62 "core" ' + "manipulator"&=& +5 "core" & # + "storage"(& +4 "core" & g g H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +20 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&?% +4 "core" %· W +2 "storage"(2& +4 "core" &  ! \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&/'ϳ +20 "core" ' +3 "manipulator"&]& +4 "core" &  # +2 "storage"(>& +4 "core" & Z Y B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +27 "core" ' + "storage"(;% +5 "core" %m ` [ >\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (7% +3 "core" %B ) 3 \ We +2 "manipulator"&<% +4 "core" %z W z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H'\ +96 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +4 "core" & O F \  + "collection"'[& +4 "core" &Vd '\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&(% +4 "core" %\ )  D +2 "storage"(.% +3 "core" %T 9 9 ~\ +2 "storage"(@. +3 "core" .( + "storage"(y& +4 "core" & D C m\  +2 "storage"(R& +4 "core" & 9 E M\  + "manipulator"&5& +4 "core" & / _ # +2 .tElbow.seek 3 + "manipulator"&I( +4 "core" ( + "manipulator"&*& +4 "core" &  n # + "storage"(& +4 "core" & : < X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +96 "core" ' +2 "storage"($& +4 "core" & { p \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +285 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & e # + "storage"(A& +4 "core" & < < Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& '} +20 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(`'T +31 "core" ' + "manipulator"&b% +5 "core" %~  + "storage"(K& +4 "core" & D D \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&'Ϫ +12 "core" ' + "manipulator"&v& +5 "core" &  "~ + "storage"(& +4 "core" & k o W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&~'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('C +45 "core" ' +3 "manipulator"&q& +4 "core" &  "~ +2 "manipulator"&p% +4 "core" %K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( + "manipulator"&{& +4 "core" &( /  ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &(  ?R +2 .tForearm.seek CC + "manipulator"&\\'" +94 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open + "collection"'U( +416 "core" ( +2 "storage"(B& +4 "core" & R\  + "storage"(T& +4 "core" &  { K\  +2 "manipulator"&& +4 "core" &% v <@ + "manipulator"&% +4 "core" %  Z +2 .tForearm.seek :retract + "manipulator"&O'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +159 "core" ( + "manipulator"&& +5 "core" &  .  + "storage"(D& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&a'} +101 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&n1 +54 "core" 1 +2 "manipulator"&x% +4 "core" % · # n +2 "storage"(& +4 "core" & \\\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts + "manipulator"&Z'ϳ +12 "core" ' +2 "manipulator"&e& +4 "core" & o  +2 "storage"(g& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +23 "core" ' +2 "storage"(f% +4 "core" %E N\ +2 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (,% +2 "core" %D \ Vb +2 "manipulator"&% +4 "core" %9 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'W& +4 "core" & \ +2 "manipulator"& % +4 "core" %\   . +2 "storage"(h% +3 "core" %` \ +2 "storage"(F. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(,l +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &,k i ^ \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&M& +3 "core" &  "  +2 "storage"(1& +4 "core" &,i }\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' +2 "storage"(s& +4 "core" &,i b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +51 (0& +4 "core" &,i \  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&z& +3 "core" & C  +2 "storage"(4& +4 "core" &,i \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&9', +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(''X +8 "core" &   + "manipulator"& % +4 "core" % 0  & +2 .tForearm.seek :retract +2 "manipulator"&N'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&)& +4 "core" &'  Q >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" && >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&6'" +96 "core" ' +2 "manipulator"&& +5 "core" && h =G +2 "manipulator"&w% +4 "core" %   +2 "collection"'E& +4 "core" & \ +2 "collection"'S& +5 "core" & \ +2 .tCC.seek :closed + "collection"'|(V +5 "core" & \  +8 &0~ \ *y +10 &e \ ? +9 &vv \ N +9 &;Z \ M +10 &\\ \ M +9 &X \ M +9 &] \ M +10 &B\\ \ M +9 &X \ M +10 &] \ M +9 & ] \ N +9 &"I\\ \ N +10 &$ ] \ M +9 &%^ \ N +9 &'Z \ M +10 &)R\\ \ M +9 &+] \ M +10 &,Z \ N +9 &.\\ \ N +9 &0Y] D\ N +10 &2Z 0\ N +9 &3[ L\ M +10 &5W \ M +9 &7b[ F\ M +9 &9%X F\ M +10 &:\\ L\ N +9 &<_ D\ M +9 &>j^ <\ M +10 &@+\\ ;\ N +9 &A[ =\ M +9 &CZ ?\ N +10 &Epc 7\ N +9 &G.m ?\ O +10 &Hw :\ Q +9 &J @\ U +9 &L[ 7\ X +10 &N 9\ X +9 &O 5\ X +9 &Q 5\ X +10 &S_ ;\ Y +9 &U! 5\ Y +10 &VhB <\ 1 +9 &Vs 4\ I +5 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&L1 +3 "core" &V_ 4\ I +59 1 +3 "manipulator"&"% +4 "core" %  8  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%3& +4 "core" &m\ +2 "manipulator"&^% +4 "core" %\  ' 0  + "storage"(=% +4 "core" %T D D \ +2 "storage"(. +3 "core" .(,l +2 "storage"(?& +3 "core" &,i C C\  +2 "storage"(2& +4 "core" &,i D D 8\  +2 "manipulator"&:& +4 "core" && =G + "manipulator"&]% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&k( +161 "core" ( + "manipulator"&>& +5 "core" & $ H ^ + "storage"(;& +4 "core" &,i   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +86 "core" ' +2 "storage"(-& +4 "core" &,i Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +287 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &,i Z f\  + "manipulator"&& +4 "core" & s ^ +2 .tElbow.seek 4 + "manipulator"&_( +3 "core" ( +2 "manipulator"&\ & +4 "core" & 0 ^ + "storage"(C& +4 "core" &,i ^ ^\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&/', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(('X +3 "Can"\ IF +6 "core" &  ^ +2 "manipulator"&.% +4 "core" % D e V +2 .tForearm.seek :retract + "manipulator"&@'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&y& +5 "core" &q #  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &q '   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&5' +96 "core" ' + "manipulator"&*& +5 "core" &q a  + "manipulator"&% +4 "core" %   +2 "processing"% & +4 "core" &j\ +2 "processing"%$& +4 "core" &m\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &j\ +7 &:j\ $c +9 &Th\ 7 +10 &j\ L +9 &\\g\ N +9 &X_n\ O +10 &\\n\ N +9 &]l\ O +9 &Z%\ O +10 &a]]\ N +9 &#Xm\ N +10 &[m\ N +9 &!Yi\ N +9 &#iZm\ N +10 &%*\\m\ O +9 &&Ym\ N +9 &(Y&\ N +10 &*p[^\ O +9 &,3[k\ N +10 &-Zl\ O +9 &/Zl\ O +9 &1y[&\ N +10 &3;[V\ N +9 &4[i\ N +9 &6ZN\ O +10 &8YL\ O +9 &:C\\\ N +10 &<[X\ O +9 &=Zj\ N +9 &?Wk\ N +10 &ALXl\ N +9 &C \\h\ O +9 &D_l\ O +10 &Fhm\ P +9 &HHzm\ R +9 &Jm\ T +10 &Kl\ T +9 &Ml\ T +10 &OIm\ T +9 &Q l\ T +9 &Re\ T +10 &Tl\ U +9 &VOl\ U +9 &Xm\ V +10 &Y|si\ 9 +9 &Z,e\ N +10 &Z k\ - +2 ( + "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&d1 +59 "core" 1 +2 "manipulator"&H% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 "processing"%Q& +4 "core" &Z0\ - + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&A% +4 "core" %\  + "storage"(J% +4 "core" %c [ d\ + "storage"(b. +3 "core" .(,l +2 "storage"(K& +4 "core" &,i [ [\  +2 "storage"(v& +2 "manipulator"&& +7 "core" &,i ^ [\  + &q   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +6 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&q(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'i +2 "core" ( +2 "manipulator"&&& +4 "core" &q {  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &q ' =  +2 .tForearm.seek PC + "manipulator"&m' +99 "core" ' + .tHand.close +2 "manipulator"& / +64 "core" / +2 .tPC.seek :open + "processing"%( +81 "core" ' +2 "storage"(`- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +46 "core" ' +296 ( + "storage"(V& +4 "core" &,i I [ (\  +2 "manipulator"&~& +3 "core" &q   +2 "manipulator"&X% +4 "core" % P +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +247 "core" ( + "manipulator"&G& +5 "core" & F J + "storage"(B& +4 "core" &,i [ Z O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&T'Ѽ +98 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(D' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(& +4 "core" &,i \  + "manipulator"&n& +4 "core" & i J +2 .tElbow.seek 4 + "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" & 1 J +2 "storage"(e& +4 "core" &,i \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&g'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(f' +63 "core" ' + "manipulator"&O& +4 "core" & J +2 "storage"(,& +4 "core" &,i [ ^ #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +51 "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +24 "core" ' +2 "manipulator"&W% +4 "core" %  +2 "storage"(Z& +4 "core" &,i   G\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"& '> +19 "core" ' + "manipulator"&h& +5 "core" &  Q +2 "storage"(F& +4 "core" &,i \\ ^ 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +25 "core" ' +2 "storage"(P% +4 "core" %q s v %\ +2 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (o% +2 "core" %C > S \ Wd +2 "manipulator"&j% +4 "core" %ѵ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +74 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &,i w s \  + "collection"'1& +4 "core" &V_ 6\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&s% +4 "core" %\ \  +2 "storage"(u% +4 "core" %a ~ \ +2 "storage"(. +3 "core" .(,l + "storage"(c& +4 "core" &,i | \  +2 "storage"(0& +4 "core" &,i } \  + "manipulator"&& +4 "core" & , Q +2 .tElbow.seek 4 + "manipulator"&z( +4 "core" ( + "manipulator"&4& +4 "core" &  Q + "storage"(}& +4 "core" &,i u \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +86 "core" ' +2 "storage"( & +4 "core" &,i } \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +287 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & R Q + "storage"(& +4 "core" &,i d h d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(w'W +28 "core" ' + "manipulator"&E% +5 "core" % . + "storage"(r& +4 "core" &,i " " "\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&''> +18 "core" ' +2 "manipulator"&N& +4 "core" &  Q +2 "storage"(U& +4 "core" &,i i h _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&L'Ѽ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"("'F +45 "core" ' +2 "manipulator"&3& +4 "core" &  Q +2 "manipulator"&^% +4 "core" %Ѩ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +2 "manipulator"&?& +4 "core" &% j <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &% c <: +2 .tForearm.seek CC + "manipulator"&2'" +96 "core" ' +2 .tHand.close + "manipulator"&:/ +63 "core" / +2 .tCC.seek :open + "collection"']( +416 "core" ( +2 "storage"(6& +5 "core" &,i P\  + "storage"(>& +4 "core" &,i \  + "manipulator"&;& +4 "core" &% p <9 + "manipulator"&-% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&8( +160 "core" ( + "manipulator"&7& +4 "core" & J  +2 "storage"(<& +4 "core" &,i #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&' +100 "core" ' + .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +59 "core" 1 +2 "manipulator"&#% +4 "core" %  ! ( = + "storage"([& +4 "core" &,i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&.'@ +18 "core" ' +3 "manipulator"&k& +4 "core" &  +2 "storage"(t& +46 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&%'Ѽ +31 "core" ' +2 "storage"(/% +4 "core" %O \ +2 ."downElevator"SE.seek :down +4 "storage"(y'X +98 (R% +3 "core" %> \ Va + "manipulator"&_% +4 "core" %ѷ  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +93 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"& % +4 "core" %\ # N < + "storage"((% +4 "core" %T \ +2 "storage"(@. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +333 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &<( h i \  +2 "manipulator"&H& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&Q( +36 "core" ( + "manipulator"&A& +4 "core" &  B # +2 "storage"(J& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&b'ы +92 "core" ' +2 "storage"(K& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &<$ A\  + "manipulator"&&& +5 "core" &  _ + .tElbow.seek 5 +2 "manipulator"&I( +25 "core" ( +2 "manipulator"&5& +4 "core" &   +2 "storage"( & +3 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&`' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Y& "storage"('X +8 "core" & u  + "manipulator"&p% +4 "core" %  p w +2 .tForearm.seek :retract +2 "manipulator"&V'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +154 "core" ( +2 "manipulator"&X& +4 "core" &* . @^ + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&m& + "storage"(5 +6 "core" &* # @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'" +106 "core" ' +3 "manipulator"&B& +4 "core" &* M @] +2 "manipulator"&q% +4 "core" %# 0 +2 "collection"'& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'\\(V +4 "core" & \ +7 & - \ $c +9 &V \ 7 +10 & \ L +9 &Z \ M +9 &^] \ N +10 &!Y \ M +9 &[ \ M +10 &X \ N +9 &g\\ \ M +9 &)] \ M +10 &W \ N +9 &!] \ M +10 &#nX \ N +9 &%1] \ M +9 &&W \ M +10 &(V \ M +9 &*w\\ \ M +9 &,9X \ M +10 &-\\ \ M +9 &/Y \ M +9 &1Z \ M +10 &3A\\ \ M +9 &5\\ \ M +10 &6Z \ N +9 &8Y \ N +9 &:H[ \ N +10 &< ^ \ M +9 &=Y \ N +9 &?\\ \ N +10 &AQW \ M +9 &CZ \ N +10 &Db \ N +9 &Fj \ O +9 &HPp \ P +10 &J\ \ S +9 &K \ V +9 &M 7\ X +59 &OA \ X +7 &Q G\ Y + &R 6\ Y +3 &T J\ Z + &V t \ . + &V) \ S ( + &Vj 9\ I +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open +2 "manipulator"&1 +3 "core" &Vi :\ I +51 1 +3 "manipulator"&n% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%e& +4 "core" &j\ +2 "manipulator"& % +3 "core" %\ h  +2 "storage"(O% +4 "core" %T 9 ; T\ +2 "storage"(,. +3 "core" .(<* + "storage"({& +4 "core" &<$ 9 : m\  + "storage"(& +4 "core" &<$ D D \  +2 "manipulator"&W& +4 "core" &(  ?V + "manipulator"&Z% +4 "core" %\ 1  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&h( +160 "core" ( + "manipulator"&F& +5 "core" & X  + "storage"(+& +9 "core" &<$  -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T'ы +95 "core" ' + "storage"(P& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'i +280 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &<$ I < ~\  +2 "manipulator"&j& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( + "manipulator"&f& +4 "core" &   +2 "storage"(& +4 "core" &<$ i i \  +2 .tForearm.seek 5 + 300 counts + "manipulator"& ' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(s'X +7 "core" & .  +2 "manipulator"&a% +4 "core" %  G +2 .tForearm.seek :retract + "manipulator"&u'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +116 "core" ( +3 "manipulator"&c& +4 "core" &j % @ \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &j @ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&4& +4 "core" &p - +2 "manipulator"&}% +4 "core" %  < +2 "processing"%& +3 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &f\  +9 &1j\ *z +9 &cm\ ? +10 &rwn\ O +9 &4Z%\ O +9 &WX\ N +10 &Yf\ O +9 &{[k\ O +10 &?Wh\ N +9 &]g\ O +9 &[i\ N +10 & Zg\ N +9 &"F]m\ N +10 &$Wm\ N +9 &%Wn\ N +9 &'Y(\ O +10 &)MZ_\ O +9 &+Zn\ O +9 &,Ym\ O +10 &.]n\ N +9 &0V\\n\ N +9 &2\\m\ N +10 &3\\P\ N +9 &5[M\ N +10 &7]Zk\ O +9 &9Zn\ O +9 &:Ym\ N +10 &<Wn\ N +9 &>fWm\ N +9 &@'^&\ O +10 &AZ^\ N +9 &CYi\ O +10 &El`n\ O +9 &G)oo\ Q +9 &Hn\ S +10 &Jn\ T +9 &Lco\ U +9 &N&(\ T +10 &O^\ U +9 &Ql\ U +10 &Skm\ U +9 &U,m\ U +9 &V(\ U +10 &X^\ U +9 &Z]l\ %q +9 &Z_m\ 1 +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +3 "core" &ZQ\ - +61 1 + "manipulator"&% +4 "core" % # R < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 "processing"%)& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\  Y  + "storage"(% +4 "core" %b D F P\ +2 "storage"(E. +3 "core" .(<* + "storage"(r& +4 "core" &<$ D D \  +2 "storage"(N& +4 "manipulator"&U& +4 "core" &<$ D F S\  + &p  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(3'i +2 "manipulator"&^(s +4 "core" ( + "manipulator"&& +5 "core" &p $ ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&i' +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%'( +79 "core" ' +2 "storage"(w- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'y +44 "core" ' +299 ( +2 "storage"(S& +4 "core" &<$ T [\  + "manipulator"&L& +4 "core" &p N +2 "manipulator"&9% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +256 "core" ( + "manipulator"&|& +5 "core" & L  + "storage"(6& +4 "core" &<$ ^ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&>'ы +87 "core" ' +2 .tHand.open + "manipulator"&;1 +52 "core" 1 +2 "storage"(-- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(2- +4 "core" -' + "storage"(& +4 "core" &<$ \  +2 "manipulator"&C& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&#( +8 "core" ( + "manipulator"&[& +4 "core" & [  +2 "storage"(k& +4 "core" &<$ )\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&t'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +62 "core" ' +2 "manipulator"&/& +4 "core" &   +2 "storage"(8& +4 "core" &<$ i i \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&R' +34 "core" ' +2 .tElbow.hold + "manipulator"&_, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +21 "core" ' +2 "manipulator"&.% +4 "core" % " +2 "storage"(& +4 "core" &<$\  I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"& ' +13 "core" ' + "manipulator"&(& +5 "core" & m  + "storage"(@& +5 "core" &<$ ^ \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&"'ы +27 "core" ' + "storage"(%% +5 "core" %r l Y\ +2 ."downElevator"SE.seek :down +4 "storage"(y'X +99 (!% +3 "core" %> D F \ Wd +2 "manipulator"&d% +4 "core" %ѓ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (A& +4 "core" &<$ k n =\  +2 "collection"'J& +4 "core" &Vj \ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&K% +4 "core" %\    + "storage"(\ % +4 "core" %T a f v\ +2 "storage"(*. +3 "core" .(<* +2 "storage"(& +4 "core" &<$ h h q\  + "storage"(v& +4 "core" &<$ ^ f D\  + "manipulator"&&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&5( +4 "core" ( + "manipulator"& & +4 "core" & n  + "storage"(& +4 "core" &<$ ^ ] \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Y'ы +94 "core" ' + "storage"(p& +5 "core" &<$  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +54 .tSE.seek :beamBreak + "storage"(Q'i +284 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  + "storage"(m& +4 "core" &<$ k k i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&$' +33 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(I'X +31 "core" ' +2 "manipulator"&q% +4 "core" %  + "storage"(& +4 "core" &<$\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&'\ +14 "core" ' + "manipulator"&V& +4 "core" & 2  +2 "storage"(]& +4 "core" &<$  r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'G +40 "core" ' + "manipulator"&e& +5 "core" &   + "manipulator"& % +4 "core" %ѕ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +86 "core" ' +2 .tElbow.seek CC + "manipulator"&,( +158 "core" ( +3 "manipulator"&{& +4 "core" &+ , Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &*  Ac +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&W/ +55 "core" / +2 .tCC.seek :open + "collection"'Z( +416 "core" ( +2 "storage"(G& +4 "core" &<$  \  + "storage"(F& +4 "core" &<$ {  C\  +2 "manipulator"&+& +3 "core" &) ' Y ?P +2 "manipulator"&P% +3 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&~'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( + "manipulator"&g& +4 "core" &  +2 "storage"(o& +4 "core" &<$ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&j' +107 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&M% +5 "core" %  x v + "storage"(1& +4 "core" &<$ Z Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&a' +16 "core" ' + "manipulator"&h& +4 "core" & ]  +2 "storage"(T& +4 "core" &<$ <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&D'ы +28 "core" ' + "storage"( % +4 "core" %K \ +3 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (0% +3 "core" %C Y\ Va +2 "manipulator"&x% +4 "core" %х + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'}& +3 "core" & \ +2 "manipulator"&% +4 "core" %\ % E C + "storage"(s% +4 "core" %b \ + "storage"(u. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +969 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & [ [ \ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&)( +39 "core" ( + "manipulator"&& +5 "core" & $ N o + "storage"(& +4 "core" & =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +101 "core" ' +2 "storage"(r& +4 "core" & \\\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +282 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" & j\ +2 "manipulator"&& +3 "core" &  n +2 .tElbow.seek 2 + "manipulator"&z( +30 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" & _\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&w' +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(l'X +8 "core" & O  + "manipulator"&3% +4 "core" %  - j +2 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&9& +4 "core" && =  =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &%  =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +108 "core" ' +3 "manipulator"&6& +4 "core" && X =F +2 "manipulator"&^% +4 "core" % +2 "collection"';& +4 "core" & \ +2 "collection"'-& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(V +4 "core" & \  +8 &0 \ *y +9 &c \ > +10 &ru \ N +9 &5W \ M +9 &Z \ M +10 &\\ \ M +9 &z\\ \ N +10 &<Z \ N +9 &Z \ N +9 &W \ M +10 & ] \ N +9 &"DZ \ N +9 &$W \ M +10 &%Y \ N +9 &'Z \ N +10 &)LY \ N +9 &+Z \ N +9 &,Z \ N +10 &.[ \ N +9 &0U^ \ M +9 &2W \ M +10 &3Z \ M +9 &5Z \ N +10 &7]Z \ M +9 &9W \ M +9 &:] \ M +10 &<Z \ M +9 &>fZ \ M +9 &@'[ \ M +10 &AX \ M +9 &C[ \ M +10 &Ejc \ N +9 &G+h \ O +9 &Hz \ Q +10 &J \ U +9 &LX \ W +9 &N \ X +10 &O \ Y +9 &Q \ X +10 &SX \ Z +9 &U \ Z +9 &VfC \ 1 +10 &Vm \ H +5 ( +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&1 +3 "core" &Vb \ H +59 1 +2 "manipulator"&C% +5 "core" %  - + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +5 "core" &\ + "manipulator"&:% +4 "core" %\ # B + "storage"(/% +4 "core" %_  \ +2 "storage"(8. +3 "core" .( + "storage"(?& +4 "core" &   \ + "storage"(.& +4 "core" &   \ +2 "manipulator"&& +4 "core" && . =E + "manipulator"&7% +4 "core" %\ # b B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(( +156 "core" ( +2 "manipulator"&@& +4 "core" & `  + "storage"(%& +4 "core" & ^ h m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +97 "core" ' + "storage"(>& +5 "core" &  #\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +286 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (d& +4 "core" & f Y )\ +4 "manipulator"&t& +8 "core" &   +2 .tElbow.seek 2 +4 "manipulator"&#( +9 "core" ( + "manipulator"&& +5 "core" & p  + "storage"(R& +4 "core" &  u \ +2 .tForearm.seek 2 + 300 counts + "manipulator"& ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +63 "core" / +2 ."downElevator"SE.seek :down +55 "manipulator"&J& "storage"(K'X +7 "core" &   +2 "manipulator"&\ % +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&& +5 "core" &k  )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &k S  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +115 "core" ' + "manipulator"& & +5 "core" &k "  + "manipulator"&% +4 "core" %  w +2 "processing"%"& +4 "core" &i\ +2 "processing"%p& +5 "core" &m\ +3 .tPC.seek :closed + "processing"%y(Z +5 "core" &g\  +9 &0j\ +z +9 &bh\ > +10 &mxj\ N +9 &.Ym\ N +9 &]e\ N +10 &]h\ N +9 &s\\j\ O +9 &7Zi\ N +10 &\\m\ N +9 &]h\ N +9 & |\\h\ N +10 &">Zg\ N +9 &$Wg\ N +10 &%\\f\ N +9 &']m\ O +9 &)G[n\ N +10 &+[m\ N +9 &,Wi\ N +10 &.Zn\ N +9 &0N\\m\ N +9 &2Zk\ N +10 &3Zg\ N +9 &5\\l\ N +9 &7VZj\ N +10 &9Zl\ O +9 &:Yh\ N +10 &<Yj\ O +9 &>_Yn\ N +9 &@[l\ O +10 &AZh\ N +9 &C\\O\ O +10 &EfZI\ N +9 &G$ee\ P +9 &Hsl\ Q +9 &Jn\ T +10 &L]n\ T +9 &Nk\ T +10 &Oi\ T +9 &Qi\ T +9 &Sch\ U +10 &U%j\ U +9 &Vk\ U +9 &Xh\ V +10 &Zcl\ 'x +9 &Zbb\ 6 +9 ( +3 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&_1 +3 "core" &Z&h\ 0 +61 1 + "manipulator"&H% +4 "core" % # w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b'\ +98 "core" ' + "processing"%X& +4 "core" &Z%^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&m% +3 "core" %\ % F +2 "storage"(B% +4 "core" %T " ! \ + "storage"(q. +3 "core" .( +2 "storage"(& +4 "core" & ! " \ +2 "storage"(V& +2 "manipulator"&]& +6 "core" & " " \ + &k  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&e(s + "storage"( 'i +5 "core" ( +2 "manipulator"&Y& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &k C  +2 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' +2 .tHand.close + "manipulator"&$/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(I- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'y +45 "core" ' +289 ( +2 "storage"(& +4 "core" & ^ h 7\ + "manipulator"&& +4 "core" &k   +2 "manipulator"&`% +3 "core" % p  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +261 "core" ( + "manipulator"&\\& +4 "core" & ~  +2 "storage"(G& +4 "core" & N C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +98 "core" ' + .tHand.open +2 "manipulator"&+1 +58 "core" 1 +2 "storage"(P- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(g'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(o' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(,& +3 "core" & l\ +2 "manipulator"&& +4 "core" & 4  + .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( + "manipulator"&1& +4 "core" &  + "storage"(h& +4 "core" & Y\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' + "manipulator"&~& +4 "core" &  +2 "storage"(0& +4 "core" & r  K\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&x' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +26 "core" ' +2 "manipulator"&a% +4 "core" % +2 "storage"(n& +4 "core" & " " G\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&D' +21 "core" ' + "manipulator"&c& +5 "core" &   + "storage"(}& +4 "core" & r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +30 "core" ' + "storage"(s% +5 "core" %k } \ +2 ."downElevator"SE.seek :down +4 "storage"(u'X +98 (% +3 "core" %IF F E \ We +2 "manipulator"&% +4 "core" %ђ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & d g j\ +2 "collection"'& +4 "core" &Va  \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&r% +4 "core" %\  & + "storage"(f% +4 "core" %T f a R\ +2 "storage"(4. +3 "core" .( + "storage"(N& +4 "core" & i ` q\ +2 "storage"( & +3 "core" & ^ h A\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & #  + "storage"(& +4 "core" & h h f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' +2 "storage"(3& +4 "core" & ~  F\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +283 "core" ' +3 "storage"(E- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" & N  +2 "storage"(i& +4 "core" & Z [ J\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&U' +35 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(^'M +29 "core" ' + "manipulator"&;% +5 "core" % r + "storage"(z& +4 "core" & \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&l' +15 "core" ' + "manipulator"&S& +5 "core" & |  + "storage"(Z& +4 "core" & u  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(C'< +40 "core" ' +2 "manipulator"&k& +4 "core" & (  + "manipulator"&:% +5 "core" %џ 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&8( +159 "core" ( +3 "manipulator"&-& +4 "core" &* . @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &* @[ +2 .tForearm.seek CC + "manipulator"&.'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +51 "collection"'7( +417 "core" ( +2 "storage"(|& +4 "core" & } \ + "storage"(@& +4 "core" & p /\ + "manipulator"&%& +4 "core" &* } @Z +2 "manipulator"&>% +4 "core" % 0 ' r +2 .tForearm.seek :retract + "manipulator"&L'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&[( +156 "core" ( +2 "manipulator"&!& +4 "core" & # u  +2 "storage"(d& +4 "core" & i\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&t' +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&R1 +53 "core" 1 +2 "manipulator"&A% +4 "core" % " 8 " + "storage"(J& +4 "core" & { z '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&\ ' +13 "core" ' +2 "manipulator"&(& +4 "core" & K  +2 "storage"(=& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +24 "core" ' + "storage"( % +5 "core" %A [\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (v% +3 "core" %C a\ Wb +2 "manipulator"&#% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&"% +4 "core" %\ \  + "storage"(K% +4 "core" %S \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"('( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "core" & ~ \  +2 "manipulator"&H& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&X( +14 "core" ( +2 "manipulator"&m& +4 "core" & x + "storage"(B& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +101 "core" ' +2 "storage"(p& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +4 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & \  + "manipulator"&Y& +4 "core" &  x +2 .tElbow.seek 3 + "manipulator"&5( +4 "core" ( + "manipulator"&&& +4 "core" &  x + "storage"($& +4 "core" & |\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&I'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(y'X +7 "core" &  x +2 "manipulator"& % +4 "core" % ϝ , 9 +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&`& +4 "core" &% <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &% P <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'" +104 "core" ' +2 "manipulator"&G& +4 "core" &$  ;8 +2 "manipulator"&e% +4 "core" %  +2 "collection"'+& +4 "core" & \ +2 "collection"'P& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" & \ +7 &4 \ $d +9 &V \ 7 +9 & \ L +10 &Y \ M +9 &a] \ M +9 &$\\ \ M +10 &\\ \ M +9 &X \ M +10 &i] \ M +9 &+[ \ M +9 &W \ M +10 &!Z \ M +9 &#qY \ M +9 &%3Y \ M +10 &&Y \ M +9 &(Z \ M +9 &*yW \ M +10 &,:[ \ N +9 &-Z \ M +10 &/] \ M +9 &1_ \ M +9 &3B[ \ N +10 &5Z \ M +9 &6Y \ M +9 &8Y \ M +10 &:K] \ M +9 &< ] \ N +10 &=\\ \ N +9 &?\\ \ M +9 &ASX \ M +10 &C^ \ M +9 &D\\ \ N +9 &Fe \ O +10 &HSs \ P +10 &J\ \ T +9 &K \ W +9 &M \ X +9 &OA \ Y +10 &Q \ Y +9 &R \ Z +9 &T \ Z +10 &V u \ . +9 &V* \ T +9 ( +3 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&,1 +3 "core" &Vk \ J +53 1 +2 "manipulator"&% +4 "core" %  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%h& +4 "core" &b\ +2 "manipulator"&W% +4 "core" %\   + "storage"(~% +4 "core" %b D D \  +2 "storage"(0. +3 "core" .( + "storage"({& +4 "core" & D G \  + "storage"(a& +4 "core" & D E\  +2 "manipulator"&n& +3 "core" &# K ;8 +2 "manipulator"&g% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +162 "core" ( +2 "manipulator"&}& +4 "core" & 3 ^ + "storage"(s& +4 "core" & r  U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&O'9 +86 "core" ' + "storage"(F& +5 "core" &  ?\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & : A \  +2 "manipulator"&T& +3 "core" & - ^ +2 .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( + "manipulator"& & +4 "core" & ] ^ + "storage"(x& +4 "core" & i i D\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&D'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(r'X +8 "core" &  ^ + "manipulator"&f% +4 "core" % ϳ a > +2 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&N& +4 "core" &i & - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &i = - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" &i k - +2 "manipulator"&% +3 "core" %  h +3 "processing"%& +4 "core" &\ +2 "processing"%3& +5 "core" &e\ +2 .tPC.seek :closed + "processing"%u(Z +4 "core" &j\  +9 &1e\ *x +9 &ba\ > +9 &mxh\ N +10 &/Zi\ N +9 &Ze\ O +9 &\\l\ N +10 &sY\ O +9 &6ZV\ N +10 &Yk\ N +11 &\\g\ O +7 & |[l\ N +10 &"?XQ\ N +9 &#ZK\ O +9 &%[h\ N +10 &']%\ O +9 &)F[\\\ N +10 &+]f\ N +9 &,Zj\ N +9 &.Wl\ N +10 &0MZk\ O +9 &2[i\ N +9 &3Zl\ N +10 &5Xl\ N +9 &7VZl\ N +10 &9ZP\ O +9 &:YM\ N +9 &<Yj\ O +10 &>_Yk\ N +9 &@ Zm\ N +9 &A\\l\ N +10 &C]l\ O +9 &Ee]m\ O +10 &G#kn\ P +9 &H{m\ R +9 &J&\ T +10 &L[^\ U +9 &Nk\ T +9 &Om\ U +10 &Qm\ T +9 &Sbm\ U +10 &U$l\ U +9 &Vl\ V +9 &Xl\ V +10 &Zem\ ({ +9 &Zem\ 7 +9 ( +3 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +3 "core" &Z(l\ 1 +61 1 + "manipulator"&% +4 "core" % " ] h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +90 "core" ' + "processing"%9& +5 "core" &Z)o\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +51 "manipulator"&i% +5 "core" %\   c  +2 "storage"(6% +4 "core" %` " " \ + "storage"(;. +3 "core" .( +2 "storage"(z& +4 "core" & " " \  +2 "storage"(S& +2 "manipulator"&Z& +7 "core" & " " \  + &i 8 - +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&k(s + "storage"(:'i +5 "core" ( +2 "manipulator"&& +4 "core" &i  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i 7 - +2 .tForearm.seek PC + "manipulator"&)' +95 "core" ' + .tHand.close +2 "manipulator"&U/ +63 "core" / +2 .tPC.seek :open +2 "processing"%l( +84 "core" ' +2 "storage"(^- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'y +47 "core" ' +290 ( +2 "storage"(?& +4 "core" & J [ O\  + "manipulator"&& +4 "core" &i  - + "manipulator"&w% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&/( +263 "core" ( + "manipulator"&2& +5 "core" & $ Z x + "storage"(|& +4 "core" & E D +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +93 "core" ' +2 .tHand.open + "manipulator"&%1 +54 "core" 1 +2 "storage"(>- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' + "storage"(8& +4 "core" & \  +2 "manipulator"&R& +3 "core" &  x +2 .tElbow.seek 3 +2 "manipulator"&A( +7 "core" ( + "manipulator"&J& +5 "core" & X p + "storage"((& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +60 "core" ' +2 "manipulator"&L& +4 "core" &  p +2 "storage"(v& +3 "core" & \\ ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'} +20 "core" ' +2 .tElbow.hold + "manipulator"&[, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(t'i +24 "core" ' +2 "manipulator"&\ % +4 "core" %΋  +2 "storage"(& +4 "core" & D D \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&"'Ϸ +27 "core" ' + "manipulator"&K& +5 "core" & " p + "storage"(& +5 "core" & i i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +36 "core" ' +2 "storage"(<% +4 "core" %m k i \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %A D D \ Wd +2 "manipulator"&_% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (m& +4 "core" & o t L\  +2 "collection"'B& +4 "core" &Vj \ J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&p% +4 "core" %\ C  + "storage"(% +4 "core" %` ~ ~ \ +2 "storage"( . +3 "core" .( + "storage"(]& +4 "core" & ~  \  +2 "storage"(V& +3 "core" & ~  \  +2 "manipulator"&Y& +4 "core" &  p + .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&$& +3 "core" &  p +2 "storage"(*& +4 "core" & s n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +98 "core" ' + "storage"( & +4 "core" & q p U\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'i +282 "core" ' +3 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & z p + "storage"(Q& +4 "core" & T Z E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(e'T +25 "core" ' + "manipulator"&+% +5 "core" %Ώ V + "storage"(5& +4 "core" & E G \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&y'ϻ +20 "core" ' + "manipulator"&& +5 "core" & 0 p + "storage"(7& +4 "core" & ^ ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +42 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('C +40 "core" ' +2 "manipulator"&h& +4 "core" &  p +2 "manipulator"&W% +4 "core" %^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&0( +156 "core" ( +2 "manipulator"&{& +5 "core" &+ # A` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &* \  9 A` +2 .tForearm.seek CC + "manipulator"&a'" +97 "core" ' + .tHand.close +2 "manipulator"&n/ +52 "core" / + .tCC.seek :open +2 "collection"'g( +416 "core" ( + "storage"(\\& +5 "core" & } \  + "storage"(}& +4 "core" & | \  + "manipulator"&s& +4 "core" &*  @^ + "manipulator"&F% +4 "core" % # ' 0 +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&1( +164 "core" ( + "manipulator"&& +4 "core" & m  +2 "storage"(& +4 "core" & `\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&T'} +101 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&x1 +60 "core" 1 +2 "manipulator"&% +4 "core" % · ! v +2 "storage"(& +4 "core" & m\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&f'ϳ +25 "core" ' + "manipulator"&c& +4 "core" &  +2 "storage"(O& +4 "core" & 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +29 "core" ' +2 "storage"(D% +4 "core" %D \ +2 ."downElevator"SE.seek :down +4 "storage"(N'X +99 ( % +2 "core" %@ J\ Va +2 "manipulator"&M% +4 "core" %0 o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp +49 "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %\  V  +2 "storage"(r% +5 "core" %S \ + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,l +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,k } E\  +3 "manipulator"&& +4 "core" & [  +2 .tElbow.seek 4 + "manipulator"&9( +3 "core" ( +2 "manipulator"&i& +4 "core" & U  + "storage"(3& +4 "core" &,i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&6'Ѽ +92 "core" ' + "storage"(;& +5 "core" &,i \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +277 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &,i \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(U& +4 "core" &,i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&^', +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(u'X +7 "core" &   +2 "manipulator"&:% +4 "core" % # J Q +2 .tForearm.seek :retract + "manipulator"&?'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + ' + "manipulator"&w& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &% z <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &$ } <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'" +94 "core" ' +2 "manipulator"&|& +4 "core" &%  <> +2 "manipulator"&k% +3 "core" %, +2 "collection"'%& +4 "core" & \ +2 "collection"'>& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(V +4 "core" & \  +9 &1 \ *z +9 &c \ > +9 &uu \ N +10 &9V \ M +9 &] \ M +9 &\\ \ M +10 &}Z \ N +9 &@Z \ M +10 &W \ M +9 &\\ \ M +9 & \\ \ N +10 &"G[ \ N +9 &$ Z \ N +9 &%] \ M +10 &'Y \ N +9 &)PZ \ M +10 &+\\ \ M +9 &,Z \ N +9 &.[ \ M +10 &0W\\ \ N +9 &2Z \ N +9 &3Z \ M +10 &5\\ \ M +9 &7`Z \ M +10 &9#W \ M +9 &:Z \ N +9 &<Y \ M +10 &>iY \ M +9 &@)Z \ N +9 &A\\ \ M +10 &C] \ M +9 &En_ \ N +10 &G-j \ O +9 &Hv \ Q +9 &J \ U +10 &LY \ X +9 &N \ Y +9 &O \ Z +10 &Q \ X +9 &SZ \ Z +10 &U \ [ +9 &ViB \ 2 +9 &Vm \ H +6 ( + "collection"'>& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&81 +4 "core" &V_ \ H +50 1 + "manipulator"&R% +4 "core" % ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +97 "core" ' +4 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%(& +4 "core" &d\ +2 "manipulator"&% +3 "core" %\ \  +2 "storage"(L% +4 "core" %T H :\ + "storage"(v. +3 "core" .(,l +2 "storage"(-& +4 "core" &,i ; < W\  + "storage"(\ & +4 "core" &,i < S \  +2 "manipulator"&& +4 "core" &%  <> + "manipulator"&!% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&K( +158 "core" ( + "manipulator"&& +5 "core" & '  + "storage"(<& +4 "core" &,i x ~ @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&/'Ѽ +93 "core" ' +2 "storage"(@& +4 "core" &,i T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" &,i u c <\  +2 "manipulator"&=& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&A( +13 "core" ( + "manipulator"& & +4 "core" & @ +2 "storage"(#& +3 "core" &,i ~ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&"', +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(p'X +7 "core" &  +2 "manipulator"&% +4 "core" % !  ( +2 .tForearm.seek :retract + "manipulator"&t'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&]& +5 "core" &q C  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y' +96 "core" ' +2 "manipulator"&$& +4 "core" &q A  +2 "manipulator"&*% +4 "core" % i + "processing"%C& +4 "core" &i\ +2 "processing"% & +5 "core" &U\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &>\  +9 &0~b\ +z +9 &bL\ > +10 &nxM\ N +9 &0YG\ N +9 &ZI\ O +10 &[i\ O +9 &u]g\ N +9 &7\\G\ N +10 &]M\ N +9 &\\M\ N +9 & }\\ \ N +10 &"?\\V\ N +9 &$[g\ N +10 &%]i\ N +9 &']P\ N +9 &)G\\\ N +10 &+ \\X\ N +9 &,Vh\ N +9 &.WM\ N +10 &0OWM\ N +9 &2Wg\ N +10 &3Wl\ N +9 &5Wm\ N +9 &7WZh\ N +10 &9Yk\ O +9 &:X%\ O +10 &<Y^\ O +9 &>^Xk\ O +9 &@ ZP\ O +10 &AWM\ N +9 &C[M\ N +9 &Ed`M\ O +10 &G"kk\ Q +9 &Hn\ T +11 &Jm\ T +8 &L\\m\ U +9 &Nl\ T +10 &Ol\ T +9 &Ql\ T +9 &Scm\ U +10 &U$l\ U +9 &V&\ U +9 &X\ V +10 &Z`^\ %r +9 &ZUl\ + +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&[1 +3 "core" &Zl\ ) +51 1 +2 "manipulator"&H% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 "processing"%`& +4 "core" &Z'\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Q% +4 "core" %\  K  + "storage"(G% +4 "core" %S E F\ +2 "storage"(+. +3 "core" .(,l + "storage"(5& +4 "core" &,i F D B\  +2 "storage"(& +2 "manipulator"&7& +7 "core" &,i F E\  + &q "  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&h(s + "storage"(W'i +5 "core" ( +2 "manipulator"&b& +4 "core" &q H  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &q   +2 .tForearm.seek PC +2 "manipulator"&X' +101 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%y( +85 "core" ' +2 "storage"(e- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'y +46 "core" ' +294 ( + "storage"(P& +4 "core" &,i G I \  +2 "manipulator"&,& +4 "core" &q F  + "manipulator"&I% +4 "core" % } +2 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&~( +263 "core" ( + "manipulator"&& +5 "core" & k \ + "storage"(\\& +4 "core" &,i [ I (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&}'Ѽ +98 "core" ' + .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "storage"(F- +4 "core" -'y +53 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' +2 "storage"(0& +3 "core" &,i \  +2 "manipulator"&x& +4 "core" &  \ + .tElbow.seek 4 +2 "manipulator"&( +8 "core" ( + "manipulator"&& +5 "core" & ` + "storage"(c& +4 "core" &,i \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&O'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(D' +59 "core" ' + "manipulator"&& +4 "core" & +2 "storage"( & +4 "core" &,i W Z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M' +31 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +26 "core" ' +2 "manipulator"&f% +4 "core" % G +2 "storage"(& +4 "core" &,i\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&'/ +19 "core" ' + "manipulator"&& +5 "core" & ? +2 "storage"(r& +4 "core" &,i   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&4'Ѽ +17 "core" ' +2 "storage"(o% +5 "core" %m y ~ c\ +2 ."downElevator"SE.seek :down +4 "storage"(N'X +99 ('% +2 "core" %G D ' \ Xf +2 "manipulator"&% +4 "core" %ѽ ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +4 "core" &,i c q L\  + "collection"'3& +4 "core" &V_ \ H +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&;% +4 "core" %\    +2 "storage"( % +4 "core" %c t { \ + "storage"(. +3 "core" .(,l +2 "storage"(Z& +4 "core" &,i u v G\  + "storage"(S& +4 "core" &,i } r \  + "manipulator"&& +4 "core" & m +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&U& +4 "core" & ^ +2 "storage"(j& +4 "core" &,i t | n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&E'Ѽ +93 "core" ' +3 "storage"(:& +4 "core" &,i \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'i +284 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" & +2 "storage"()& +4 "core" &,i _ j \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&z' +29 "core" ' +2 .tElbow.hold + "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(k'W +26 "core" ' +2 "manipulator"&%% +4 "core" %    + "storage"(& +4 "core" &,i " " I\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&u'9 +18 "core" ' +2 "manipulator"&?& +4 "core" &  +2 "storage"(g& +4 "core" &,i [ e 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&8'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(R'F +40 "core" ' +3 "manipulator"&(& +4 "core" & < +2 "manipulator"&% +3 "core" %Ѿ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +156 "core" ( + "manipulator"&-& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" & 7 7 +2 .tForearm.seek CC +2 "manipulator"&>'" +93 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'!( +416 "core" ( + "storage"(2& +5 "core" &,i \  + "storage"(& +4 "core" &,i \  + "manipulator"&<& +4 "core" &  7 + "manipulator"&@% +5 "core" % . B +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&J( +149 "core" ( +2 "manipulator"&& +4 "core" & "  +2 "storage"(_& +4 "core" &,i V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&=' +105 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +60 "core" 1 +2 "manipulator"&m% +5 "core" %   + "storage"(B& +4 "core" &,i ~ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&'< +19 "core" ' +3 "manipulator"&K& +4 "core" & )  +2 "storage"(/& +4 "core" &,i _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +26 "core" ' + "storage"("% +5 "core" %K "\ +2 ."downElevator"SE.seek :down +3 "storage"(]'X +100 (V% +2 "core" %DC 4\ Vb +2 "manipulator"&A% +4 "core" % = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'*& +4 "core" & \ + "manipulator"&C% +4 "core" %\ \  +2 "storage"(p% +4 "core" %a \ + "storage"(t. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(l(<* +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &<' {\  + "manipulator"&H& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&`( +4 "core" ( + "manipulator"&Q& +4 "core" & @  +2 "storage"(G& +4 "core" &<$ B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&+'ы +93 "core" ' +2 "storage"(5& +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &<$ v\  + "manipulator"&b& +4 "core" & C  +2 .tElbow.seek 5 + "manipulator"&&( +3 "core" ( +2 "manipulator"&Y& +4 "core" &  + "storage"(& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&e' +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"('X +8 "core" &   + "manipulator"&W% +4 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&P'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&,( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&I& +52 "core" &' % 5 >L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &' d >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 "manipulator"&\\& +5 "core" &( .  >K + "manipulator"&h% +4 "core" %( +2 "collection"'s& +4 "core" & \ +2 "collection"'F& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'n(V +5 "core" & \ +7 & - \ $c +9 &V \ 7 +9 &~ \ L +10 &X \ M +9 &aZ \ N +10 &$X \ M +9 &W \ M +9 &Z \ M +10 &j[ \ M +9 &,\\ \ M +9 &Z \ M +10 &!W \ N +9 &#qZ \ N +9 &%4W \ M +10 &&U \ M +9 &(T \ M +10 &*zU \ M +9 &,<U \ M +9 &-U \ M +10 &/W \ N +9 &1\\ \ M +9 &3DZ \ M +10 &5V \ M +9 &6U \ M +10 &8Y \ M +9 &:LZ \ M +9 &< \\ \ N +10 &=Y \ N +9 &?Z \ N +9 &AUV \ M +10 &C\\ \ N +9 &D` \ N +10 &Fd \ O +9 &HTp \ P +9 &J \ T +10 &K \ V +9 &M \ X +10 &OE \ X +9 &Q \ Y +9 &R \ Y +10 &T \ Z +9 &V$v \ . +9 &V' \ M +9 ( +3 "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open + "manipulator"&a1 +4 "core" &Vd \ G +55 1 +3 "manipulator"&0% +4 "core" % ( 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &Q\ +2 "manipulator"&c% +4 "core" %\ ! 6 + "storage"(% +4 "core" %b " \ +2 "storage"( . +3 "core" .(<* + "storage"({& +4 "core" &<$   \  + "storage"(f& +4 "core" &<$ ! \  +2 "manipulator"&& +4 "core" && \ =C + "manipulator"&% +4 "core" %\ ! 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +165 "core" ( +2 "manipulator"&r& +4 "core" & #  l + "storage"(o& +4 "core" &<$ i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&~'ы +100 "core" ' + "storage"(}& +5 "core" &<$ T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<$ ] g g\  +2 "manipulator"&O& +3 "core" &  l +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&D& +4 "core" &  l +2 "storage"(M& +4 "core" &<$   \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&i' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(;'X +8 "core" &  l + "manipulator"& % +4 "core" %  < : +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T(s +177 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( +2 "manipulator"&Z& +4 "core" &h |  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &h   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&U& +4 "core" &h +  +2 "manipulator"&j% +4 "core" % Q w +2 "processing"%4& +4 "core" &\ +2 "processing"%:& +5 "core" &6\ +2 .tPC.seek :closed + "processing"%N(Z +5 "core" &\ \ +6 & 2:\ $c +10 &V\ 7 +9 &~~T\ L +9 &ZK\ N +10 &Z\\R\ O +12 &Z\ O +6 &ZW\ O +10 &Y]\ N +9 &cYS\ N +10 &%W@\ N +9 &]h\ N +9 &!\\g\ N +10 &#j[h\ O +9 &%-Ym\ N +9 &&VS\ N +10 &(\\\ N +9 &*sZA\ N +10 &,5X \ N +9 &-\\\ O +9 &/Y\\\ N +10 &1{Zf\ N +9 &3>Vl\ N +9 &5Y&\ N +10 &6Z\\\ N +9 &8Zl\ N +10 &:EZk\ N +9 &<Zn\ N +9 &=Z%\ N +10 &?Y^\ N +9 &AOZj\ N +9 &C[&\ N +10 &Da]\ O +9 &FgP\ P +10 &HIy2\ R +9 &JK\ T +9 &Kj\ T +10 &Mm\ T +9 &OLl\ T +9 &Q m\ T +10 &Rm\ U +9 &TS\ U +10 &VR\ U +9 &XS\ U +9 &Y{ml\ : +10 &Z'mQ\ R +9 &Z$L\ . +2 ( +2 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&11 +63 "core" 1 +2 "manipulator"&% +4 "core" % # t w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +90 "core" ' + "processing"%w& +4 "core" &Z%\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&)% +4 "core" %\  0  +2 "storage"(|% +3 "core" %` ! # 2\ +2 "storage"(%. +3 "core" .(<* + "storage"(& +4 "core" &<$  w\  +2 "storage"(?& +4 "manipulator"&g& +4 "core" &<$ # " \  + &h x  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&((s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +26 "core" ( + "manipulator"&E& +4 "core" &n  ! \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n w \ +2 .tForearm.seek PC +2 "manipulator"&9' +94 "core" ' +2 .tHand.close + "manipulator"&z/ +55 "core" / +3 .tPC.seek :open + "processing"%u( +74 "core" ' + "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'y +43 "core" ' +305 ( +2 "storage"(\ & +4 "core" &<$ ^ f 8\  + "manipulator"&8& +4 "core" &o ] \ +2 "manipulator"&^% +3 "core" % !  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&L( +260 "core" ( +2 "manipulator"&.& +8 "core" &  I  +2 "storage"(2& +4 "core" &<$ [ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +96 "core" ' +2 .tHand.open + "manipulator"&<1 +57 "core" 1 +2 "storage"(@- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +3 "core" -' +2 "storage"(v& +4 "core" &<$ \  + "manipulator"&#& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&m( +4 "core" ( + "manipulator"&B& +4 "core" & f  +2 "storage"(K& +4 "core" &<$ [\  +2 .tForearm.seek 5 + 700 counts + "manipulator"&/'ы +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"("' +62 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(V& +4 "core" &<$ ^ [ $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&A' +32 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +23 "core" ' +2 "manipulator"&% +4 "core" % h +2 "storage"(*& +4 "core" &<$  '\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&C' +13 "core" ' + "manipulator"&p& +5 "core" & 3  + "storage"(t& +4 "core" &<$ k n A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&R'ы +30 "core" ' + "storage"(d% +5 "core" %n s  g\ +2 ."downElevator"SE.seek :down +4 "storage"(]'X +98 (% +3 "core" %> < < d\ Wc +53 "manipulator"&[% +4 "core" %х +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +91 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Q& +4 "core" &<$ i n \  +2 "collection"'G& +4 "core" &Vd \ G + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&5% +4 "core" %\    +2 "storage"( % +4 "core" %` ^ ^\ + "storage"($. +3 "core" .(<* +2 "storage"(& +4 "core" &<$ ^ ^\  + "storage"( & +4 "core" &<$ ^ ^\  +2 "manipulator"&b& +4 "core" & g  +2 .tElbow.seek 5 + "manipulator"&Y( +4 "core" ( + "manipulator"&& +4 "core" & *  + "storage"( & +4 "core" &<$ p ^ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&q'ы +97 "core" ' +2 "storage"(W& +5 "core" &<$ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +284 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&I& +3 "core" &  +2 "storage"(7& +4 "core" &<$ e h C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&e' +31 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'X +27 "core" ' + "manipulator"&h% +5 "core" % + "storage"(s& +4 "core" &<$ ! " /\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +12 "core" ' + "manipulator"&P& +5 "core" & S  + "storage"(!& +4 "core" &<$ }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&a'ы +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(0'G +55 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&c% +4 "core" %y d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +160 "core" ( +2 "manipulator"&{& +5 "core" &( M ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &( " ?V +2 .tForearm.seek CC + "manipulator"&f'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &<$  \  + "storage"(r& +4 "core" &<$ | /\  +2 "manipulator"&o& +3 "core" &'  =C +2 "manipulator"&}% +3 "core" % 2  > +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&x( +164 "core" ( + "manipulator"&'& +4 "core" & N d +2 "storage"(& +4 "core" &<$ ~\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&O' +109 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&M1 +61 "core" 1 +2 "manipulator"&% +5 "core" %  v + "storage"(3& +5 "core" &<$ H ? u\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"& ' +19 "core" ' + "manipulator"&& +5 "core" & n f + "storage"(~& +4 "core" &<$ ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +20 "core" ' + "storage"(i% +5 "core" %E +\ +2 ."downElevator"SE.seek :down +3 "storage"(Z'X +99 (S% +3 "core" %C \ Wb +2 "manipulator"&% +4 "core" %я : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..5] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'j& +3 "core" & \ + "manipulator"&4% +4 "core" %\  ! +2 "storage"(;% +3 "core" %T r\ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(y( +973 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" & ] ^ \ +2 "manipulator"&& +4 "core" & _ f + .tElbow.seek 2 +2 "manipulator"&w( +45 "core" ( +2 "manipulator"&)& +4 "core" & # ; # +2 "storage"(|& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +94 "core" ' +2 "storage"(& +4 "core" & $\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +285 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (:& +3 "core" & \ +2 "manipulator"&E& +3 "core" &  _ # +2 .tElbow.seek 2 + "manipulator"&( +28 "core" ( +3 "manipulator"&& +4 "core" & 8  + "storage"(z& +5 "core" & z\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&k' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&6& "storage"(N'X +8 "core" &   + "manipulator"&% +4 "core" %  _ I +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&^& +4 "core" & " E n ^ 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" & " ' v 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'" +104 "core" ' +2 "manipulator"&2& +4 "core" & " 9) +2 "manipulator"&(% +4 "core" %* +2 "collection"'<& +4 "core" & \ +2 "collection"'@& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'>(V +4 "core" & \ +8 & . \ $c +9 &V \ 7 +9 &~ \ L +10 &Y \ M +9 &cZ \ N +9 &&X \ M +10 &W \ M +9 &U \ M +9 &l[ \ M +10 &.[ \ M +9 &Z \ M +10 &!\\ \ M +9 &#s\\ \ N +9 &%5Z \ N +10 &&V \ M +9 &([ \ M +9 &*|Z \ M +10 &,>Z \ M +9 &-Y \ N +10 &/Z \ N +9 &1W \ M +9 &3FZ \ M +10 &5 \\ \ M +9 &6Y \ N +9 &8X \ M +10 &:NW \ M +9 &<Y \ M +10 &=\\ \ M +9 &?\\ \ M +9 &AV[ \ M +10 &C\\ \ M +9 &D_ \ N +9 &Fc \ O +10 &HUs \ P +9 &J \ T +10 &K \ W +9 &M \ X +9 &OG \ X +10 &Q \ X +9 &R \ Z +9 &T \ Z +10 &V%u \ . +9 &V( \ R +9 ( +2 &Vj \ I +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&v1 +61 "core" 1 +2 "manipulator"&#% +4 "core" % *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%K& +4 "core" &+\ + "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %T W \\ \ + "storage"(V. +3 "core" .( +2 "storage"(-& +4 "core" & ^ [\ + "storage"(& +4 "core" & < 9 <\ +2 "manipulator"&*& +4 "core" & "  9) + "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&p( +209 "core" ( +3 "manipulator"&t& +4 "core" & } + "storage"(d& +4 "core" & ~ w @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +97 "core" ' + "storage"(& +4 "core" & ~ I\ +5 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" & T = #\ + "manipulator"&[& +4 "core" & } +2 .tElbow.seek 2 + "manipulator"&m( +4 "core" ( + "manipulator"&"& +4 "core" & G } + "storage"(A& +4 "core" & f ] <\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(5'X +7 "core" &  } +2 "manipulator"& % +4 "core" % ' K D +2 .tForearm.seek :retract + "manipulator"&$'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &m (   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &m   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +96 "core" ' +2 "manipulator"&& +4 "core" &m  }  +2 "manipulator"& % +3 "core" % k 9 +2 "processing"%W& +4 "core" &V\ +2 "processing"%R& +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &(\  +8 &2}=\ *x +10 &a9\ > +9 &uwN\ O +9 &7W\ N +10 &WC\ N +9 &WP\ N +10 &}XB\ N +9 &>Yj\ O +9 &]S\ N +10 &\\O\ N +9 & \\\ N +9 &"FZA\ O +10 &$ Z2\ N +9 &%ZK\ O +10 &'Zj\ O +9 &)NY$\ O +9 &+W^\ N +10 &,ZN\ N +9 &.\\\ N +9 &0VZ;\ O +10 &2Y&\ N +9 &3U\ N +10 &5YD\ O +9 &7_YI\ N +9 &9"WJ\ N +10 &:Z\ N +9 &<YB\ O +9 &>gZ\ N +10 &@)XO\ N +9 &AW$\ N +10 &CX]\ O +9 &En^R\ O +9 &G.dK\ O +10 &Ht\ Q +9 &J@\ T +9 &LdJ\ U +10 &N&!\ U +9 &O+\ T +10 &Q;\ U +9 &SlH\ U +9 &U.A\ U +10 &Vh\ U +9 &XU\ U +9 &Z!aL\ $n +10 &Z^"\ / +9 ( + &Z/\ + +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&J1 +57 "core" 1 +2 "manipulator"&H% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +96 "core" ' +3 "processing"%I& +4 "core" &Z\ + + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&7% +4 "core" %\  $ -  + "storage"(&% +4 "core" %`   \ +2 "storage"(h. +3 "core" .( + "storage"(s& +4 "core" & $ ,\ +2 "storage"(P& +2 "manipulator"&!& +6 "core" & #  '\ + &m 1  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(c'i +3 "core" ( + "manipulator"&q& +4 "core" &m   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &m / 4  +2 .tForearm.seek PC + "manipulator"&`' +99 "core" ' +2 .tHand.close + "manipulator"&e/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +44 "core" ' +289 ( + "storage"(F& +4 "core" & F C \ + "manipulator"&a& +5 "core" &m ;  + "manipulator"&X% +4 "core" % d +2 .tForearm.seek :retract + "manipulator"&'\ +108 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +263 "core" ( + "manipulator"&n& +4 "core" & ; \ +2 "storage"(& +4 "core" & E H O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +93 "core" ' +2 .tHand.open +2 "manipulator"&o1 +59 "core" 1 +2 "storage"(}- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(''E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"( & +4 "core" & \ +2 "manipulator"&M& +4 "core" & a \ + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&3& +4 "core" &  \ + "storage"(& +4 "core" & ^\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +57 "core" ' + "manipulator"&,& +5 "core" & " \ + "storage"(S& +4 "core" & W M \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(O'i +26 "core" ' +2 "manipulator"& % +4 "core" % :  +2 "storage"(0& +4 "core" & D D\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&Z& +4 "core" & D \ +2 "storage"(j& +4 "core" &  u \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +40 "core" ' +2 "storage"(;% +4 "core" %q t | I\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (l% +3 "core" %G A 6 9\ Wf +2 "manipulator"&1% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 ()& +4 "core" & d g \ + "collection"'|& +4 "core" &Vj \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(D% +3 "core" %b h g 8\ +2 "storage"(U. +3 "core" .( +2 "storage"(?& +4 "core" & ` ^\ + "storage"(:& +4 "core" & ` f\ + "manipulator"&E& +4 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&z& +4 "core" & X \ + "storage"(T& +4 "core" & i h \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&6'ќ +101 "core" ' + "storage"(& +4 "core" &  s 0\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'i +276 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&^& +3 "core" &  \ +2 "storage"(9& +4 "core" & D D\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +21 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(('M +28 "core" ' + "manipulator"&% +5 "core" %  + "storage"(<& +4 "core" & M Q +\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 321 counts +50 "manipulator"&N'! +20 "core" ' +2 "manipulator"&\ & +4 "core" & U \ +2 "storage"(& +4 "core" & Z [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(#'< +39 "core" ' +2 "manipulator"&K& +4 "core" &  \ +2 "manipulator"&% +4 "core" %y x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +165 "core" ( + "manipulator"&@& +5 "core" && } =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" && t =F +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&*/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(.& +4 "core" & =\ +2 "storage"(t& +4 "core" & F\ + "manipulator"&d& +4 "core" && , W <; +2 "manipulator"&8% +4 "core" % 0  G +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +153 "core" ( + "manipulator"&& +5 "core" & # f  + "storage"(/& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&[' +104 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&A1 +57 "core" 1 +2 "manipulator"&Q% +4 "core" % $  +2 "storage"(G& +4 "core" & @\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts + "manipulator"& ' +12 "core" ' +3 "manipulator"&p& +4 "core" & g  + "storage"(L& +4 "core" & )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +23 "core" ' + "storage"(C% +5 "core" %B *\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 ( % +2 "core" %PA U\ Va +2 "manipulator"&m% +4 "core" %Ѿ / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & \ + "manipulator"&W% +4 "core" %\   +2 "storage"(5% +4 "core" %T \ + "storage"($. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(u( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" & q C\  +2 "manipulator"&H& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&I( +17 "core" ( + "manipulator"&7& +5 "core" & Y q + "storage"(&& +4 "core" & 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +108 "core" ' + "storage"(s& +4 "core" & f\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +277 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & f\  + "manipulator"&q& +5 "core" & P q + .tElbow.seek 3 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&b& +4 "core" & . q +2 "storage"(e& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&\\'ϩ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(]'X +7 "core" &  q +2 "manipulator"&c% +4 "core" % ϳ @ 7 +2 .tForearm.seek :retract + "manipulator"&F'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&X& +4 "core" &% ) 9 <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &% H <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&n'" +43 "Can"\ A> +55 "core" ' +2 "manipulator"&& +4 "core" &% H <> +2 "manipulator"&% +4 "core" %+ + "collection"'o& +4 "core" & \ +4 "collection"'}& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" & \ +7 &4 \ $e +9 &V \ 8 +10 &z \ L +9 &W \ N +10 &bZ \ N +9 &$W \ N +9 &Y \ N +10 &W \ N +9 &jY \ N +9 &,Y \ N +10 &Z \ M +9 &!\\ \ N +10 &#qY \ N +9 &%4W \ N +9 &&X \ N +10 &(X \ M +9 &*{T \ M +9 &,=U \ M +10 &-T \ M +9 &/[ \ M +10 &1W \ M +9 &3ET \ M +9 &5[ \ M +10 &6Z \ M +9 &8W \ M +9 &:MT \ M +10 &<\\ \ N +9 &=Y \ N +10 &?Y \ N +9 &ATY \ N +9 &CY \ N +10 &DZ \ N +9 &Fc \ O +9 &HTr \ P +10 &J \ T +9 &K \ W +10 &M \ X +9 &OD \ Y +9 &Q \ X +10 &R \ Z +9 &T \ Z +9 &V&w \ / +10 &V" \ J +9 ( +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"& 1 +4 "core" &Ve \ G +52 1 + "manipulator"&M% +5 "core" % + " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &/\ + "manipulator"&% +4 "core" %\  n  +2 "storage"(,% +4 "core" %\\ D D \ + "storage"(S. +3 "core" .( +2 "storage"( & +3 "core" & @ B x\  +2 "storage"({& +4 "core" & 4 @ \  + "manipulator"&0& +4 "core" &%   <> + "manipulator"&'% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +166 "core" ( + "manipulator"&j& +4 "core" & P c +2 "storage"(;& +3 "core" & v m G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' + "storage"(r& +4 "core" & }\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & T 8 \  + "manipulator"&~& +4 "core" & S c +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" & % M c + "storage"(& +4 "core" & h f m\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"('X +7 "core" &  c +2 "manipulator"&D% +4 "core" % ϯ  ; +2 .tForearm.seek :retract +2 "manipulator"&O'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&U(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +117 "core" ( +2 "manipulator"&?& +4 "core" &o @ D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&E' +105 "core" ' + "manipulator"&z& +5 "core" &q # 5  + "manipulator"&T% +4 "core" %  +2 "processing"%4& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +59 "processing"%(Z +4 "core" &\ + &/\ + &\ + &C\ + &P\ + &%\ +2 &>\ + &F\ 7 +6 &CG{P\ 1 +9 &nrQ\ E +10 &f$\ O +9 &X-\ N +9 &Y\ N +10 &WY\ N +9 &\\A\ N +10 &Z'\ O +9 &Y\ N +9 &_X?\ N +10 &!"WI\ N +9 &"\\K\ O +9 &$Z'\ N +10 &&hWB\ N +9 &()ZK\ N +10 &)WK\ N +9 &+ZK\ O +9 &-oZN\ N +10 &/1\\M\ N +9 &0\\"\ O +10 &2ZA\ N +9 &4vZ$\ O +9 &6:XE\ N +10 &7Y)\ N +9 &9W=\ N +9 &;~YI\ O +10 &=AZJ\ N +9 &?V\ N +9 &@\\=\ N +10 &BZ"\ O +9 &DG\\\ O +10 &F b;\ O +9 &Gp"\ Q +9 &I<\ S +10 &K>A\ U +9 &M#\ T +9 &NF\ T +10 &PM\ U +9 &RG\ T +10 &T\ V +9 &U\ U +9 &W\ V +10 &YL:\ C +9 &Z];t@\ "e +9 &Z.G\ - +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&x1 +3 "core" &Z \ - +49 1 + "manipulator"&% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +93 "core" ' +2 "processing"%^& +4 "core" &Z N\ - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&9% +4 "core" %\    + "storage"(2% +4 "core" %b D D \ +2 "storage"(. +3 "core" .( + "storage"(<& +4 "core" & / $ *\  +2 "storage"(\ & +3 "manipulator"&& +5 "core" & D A \  + &r   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(K'i "manipulator"&(s +6 "core" ( + "manipulator"&6& +4 "core" &r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&w' +93 "core" ' + .tHand.close +2 "manipulator"&g/ +63 "core" / + .tPC.seek :open +2 "processing"%N( +82 "core" ' +2 "storage"((- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'y +46 "core" ' +294 ( + "storage"(-& +4 "core" & J ^ K\  +2 "manipulator"&v& +4 "core" &r j  + "manipulator"&k% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&*'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +256 "core" ( + "manipulator"&>& +4 "core" &  ^  +2 "storage"(.& +4 "core" & E C\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&t'9 +92 "core" ' + .tHand.open + "manipulator"&d1 +60 "core" 1 +2 "storage"(8- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(/' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(V& +4 "core" & P\  + "manipulator"&A& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&G& +4 "core" & \\  + "storage"(p& +4 "core" & 2\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +60 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" & [ _ O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&m'} +30 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +24 "core" ' + "manipulator"& % +5 "core" %Ί * + "storage"( & +4 "core" & ) 6 D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&W'϶ +21 "core" ' +2 "manipulator"&5& +4 "core" & <  +2 "storage"($& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +16 "core" ' +2 "storage"(_% +4 "core" %s  } z\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (y% +2 "core" %I D E _\ Xg +2 "manipulator"&J% +4 "core" %F  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' +73 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (7& +4 "core" & h e \  +2 "collection"'&& +3 "core" &Ve \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&s% +4 "core" %\    +2 "storage"("% +3 "core" %T ] ^\ +2 "storage"(. +3 "core" .( +2 "storage"(!& +4 "core" & ^ ^ *\  + "storage"(P& +4 "core" & r o V\  +2 "manipulator"&q& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&b( +4 "core" ( + "manipulator"&e& +4 "core" &  c  +2 "storage"(=& +4 "core" & f h *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +102 "core" ' + "storage"(c& +5 "core" & q R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +285 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" & &  +2 "storage"(`& +4 "core" & Y S Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'} +25 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +29 "core" ' + "manipulator"&Y% +4 "core" %ΐ +2 "storage"(o& +4 "core" & D E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&]'ϼ +26 "core" ' + "manipulator"&F& +5 "core" & M  + "storage"(& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(M'C +40 "core" ' +2 "manipulator"&& +4 "core" & n  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +162 "core" ( + "manipulator"& & +4 "core" &+ , A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &+ ' | A` +3 .tForearm.seek CC +2 "manipulator"&0'" +95 "core" ' + .tHand.close +2 "manipulator"&}/ +63 "core" / + .tCC.seek :open +2 "collection"''( +416 "core" ( +2 "storage"(n& +4 "core" &  \  + "storage"(j& +4 "core" & ~ ^\  + "manipulator"&;& +4 "core" &+ . A_ +2 "manipulator"&r% +3 "core" % 4 p \ +2 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +159 "core" ( + "manipulator"&l& +4 "core" & S a +2 "storage"(1& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&~'} +101 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +53 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&)% +5 "core" % Ί  ~ + "storage"(|& +4 "core" & ?\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&D'϶ +24 "core" ' +2 "manipulator"&Z& +4 "core" &  a +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +44 "core" ' +2 "storage"(% +4 "core" %E %\ +2 ."downElevator"SE.seek :down +5 "storage"(?'X +99 (:% +3 "core" %D F\ Vb +2 "manipulator"&% +4 "core" %j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +96 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'T& +3 "core" & \ +2 "manipulator"&4% +4 "core" %\    +2 "storage"(% +4 "core" %` 3\  + "storage"(O. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &,j s s \  + "manipulator"&& +4 "core" & U a +2 .tElbow.seek 4 + "manipulator"&^( +4 "core" ( + "manipulator"&9& +5 "core" & I a + "storage"(2& +4 "core" &,g D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +100 "core" ' + "storage"(<& +4 "core" &,g \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +3 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,g \  +2 "manipulator"&6& +4 "core" &  a +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&E& +4 "core" & o a + "storage"(g& +4 "core" &,g 4\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&(', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"('X +7 "core" &  a +2 "manipulator"&K% +4 "core" % %  W +2 .tForearm.seek :retract + "manipulator"&-'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&v( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&k& +5 "core" &- 0 ? Cm + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &- & c Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'" +94 "core" ' +2 "manipulator"&.& +4 "core" &, 3 Bl +2 "manipulator"&% +4 "core" %, # +2 "collection"'d& +4 "core" & \ +2 "collection"'8& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(V +5 "core" & \ +6 & - \ $d +9 &W~ \ 7 +10 &} \ L +9 &W \ M +10 &aZ \ N +9 &%T \ M +9 &Y \ M +10 &T \ M +9 &jZ \ M +9 &+Y \ N +10 &X \ M +9 &!W \ M +10 &#qW \ N +9 &%3Z \ N +9 &&Y \ N +10 &(W \ M +9 &*yY \ N +9 &,<Y \ M +10 &-U \ M +9 &/Y \ N +10 &1Z \ N +9 &3DW \ M +9 &5Z \ M +10 &6Y \ N +9 &8W \ M +9 &:KY \ N +10 &< Z \ N +9 &=W \ M +10 &?[ \ M +9 &ASY \ N +9 &CZ \ N +10 &DZ \ N +9 &Fh \ O +9 &HSp \ P +10 &J \ T +9 &K \ X +10 &M \ X +9 &OC \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ Z +9 &V!t \ / +10 &V% \ S +9 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open + "manipulator"&V1 +4 "core" &Vd \ L +49 1 +2 "manipulator"&A% +4 "core" % , - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%p& +4 "core" &$\ + "manipulator"&*% +4 "core" %\  - +2 "storage"(% +4 "core" %T D D \ + "storage"( . +3 "core" .(,l +2 "storage"( & +4 "core" &,g D D \  + "storage"(@& +4 "core" &,g E E ,\  + "manipulator"& & +4 "core" &, " Bl +2 "manipulator"&% +4 "core" %\   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&5( +155 "core" ( +2 "manipulator"&$& +4 "core" &   +2 "storage"(_& +3 "core" &,g | \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +91 "core" ' +2 "storage"(t& +4 "core" &,g u O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +279 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,g B D\  +2 "manipulator"&L& +3 "core" & Z  +2 .tElbow.seek 4 + "manipulator"&Q( +4 "core" ( + "manipulator"&C& +4 "core" & R  + "storage"(m& +4 "core" &,g i i ]\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&W', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(s'X +7 "core" &   +2 "manipulator"&"% +4 "core" % <  d +2 .tForearm.seek :retract + "manipulator"&['\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +171 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&!& +4 "core" &p D g +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +130 "core" ' +2 "manipulator"&e& +4 "core" &p # J + "manipulator"&=% +4 "core" % +2 "processing"%#& +4 "core" &\ +2 "processing"%c& +5 "core" & \ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\  +9 &1~<\ *y +9 &b$\ > +10 &nw\ O +9 &1Y@\ N +10 &\\B\ N +9 &X\ O +9 &uX\ O +10 &7W\ O +9 &WD\ O +9 &Z+\ N +10 & ~X!\ N +9 &"?[E\ O +10 &$ZK\ N +9 &%]Q\ O +9 &'\\#\ O +10 &)GZE\ O +9 &+\ V(\ N +10 &,Z,\ O +9 &.ZL\ N +9 &0PZK\ N +10 &2V$\ N +9 &3WM\ N +14 &5Y!\ O +5 &7XZ\ N +9 &9Z#\ N +9 &:T\ N +10 &<UK\ O +9 &>_W*\ O +10 &@!Z\ O +9 &AY\ N +9 &C\\\ O +10 &Eeb9\ O +9 &G#k!\ Q +9 &HG\ T +10 &J$\ T +9 &L\\G\ U +10 &N J\ T +9 &O#\ U +9 &Q\ U +10 &Sd\ U +9 &U%\ U +9 &V\ V +10 &X\ U +9 &ZeF\ 'x +9 &ZfI\ 8 +9 ( +2 &Z(M\ 1 +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&B1 +55 "core" 1 +2 "manipulator"&H% +4 "core" % # 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +2 "processing"%X& +4 "core" &Z(.\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&`% +4 "core" %\    +2 "storage"(% +3 "core" %` $ " \ +2 "storage"(Y. +3 "core" .(,l + "storage"(o& +4 "core" &,g ! ! \  +2 "storage"(F& +2 "manipulator"&& +7 "core" &,g " ! \  +2 &p + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( + "manipulator"&+& +5 "core" &p  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +2 "core" &p / ` +3 .tForearm.seek PC + "manipulator"&I' +95 "core" ' + .tHand.close + "manipulator"&R/ +60 "core" / +52 .tPC.seek :open +3 "processing"%]( +35 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +46 "core" ' +339 ( +2 "storage"({& +4 "core" &,g G I e\  + "manipulator"& & +4 "core" &p  +2 "manipulator"&\\% +5 "core" % 1 $ +2 .tForearm.seek :retract + "manipulator"&}'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&,( +271 "core" ( + "manipulator"&f& +4 "core" & "  +2 "storage"(n& +4 "core" &,g D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&j'Ѽ +91 "core" ' +2 .tHand.open + "manipulator"&;1 +62 "core" 1 + "storage"(r- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' +2 "storage"(S& +3 "core" &,g \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&)( +4 "core" ( + "manipulator"&|& +4 "core" & y  +2 "storage"(Z& +3 "core" &,g w\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(a' +57 "core" ' +2 "manipulator"&& +4 "core" & *  +2 "storage"(3& +4 "core" &,g [ [ +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&:' +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(~'i +21 "core" ' +2 "manipulator"&D% +4 "core" % '  / +2 "storage"(T& +4 "core" &,g " % 0\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&4'5 +19 "core" ' +2 "manipulator"&& +4 "core" &  i  +2 "storage"(O& +4 "core" &,g [ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&M'Ѽ +29 "core" ' +2 "storage"(% +5 "core" %q h f U\ +2 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (u% +2 "core" %C C E &\ Xe +2 "manipulator"&x% +4 "core" %  z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (9& +3 "core" &,g  -\  +2 "collection"'2& +4 "core" &Vd \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&<% +4 "core" %\    + "storage"(i% +4 "core" %T q\ +2 "storage"(z. +3 "core" .(,l + "storage"(\ & +4 "core" &,g   ~\  +2 "storage"(& +4 "core" &,g   \  + "manipulator"&6& +4 "core" & R  +2 .tElbow.seek 4 + "manipulator"&E( +4 "core" ( + "manipulator"&g& +4 "core" &  + "storage"(U& +5 "core" &,g   e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&%'Ѽ +102 "core" ' + "storage"(K& +5 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" & g  + "storage"(w& +4 "core" &,g [ Z F\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +30 "core" ' +2 "manipulator"&% +4 "core" % (  + "storage"(d& +4 "core" &,g\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'= +19 "core" ' + "manipulator"&-& +5 "core" &   + "storage"('& +4 "core" &,g ^ ^ B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&V'Ѽ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(A'F +40 "core" ' + "manipulator"&p& +5 "core" & D  + "manipulator"&*% +4 "core" %Ѿ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +167 "core" ( +3 "manipulator"& & +5 "core" &% <= + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &% O <= +2 .tForearm.seek CC +2 "manipulator"&8'" +98 "core" ' + .tHand.close + "manipulator"& / +57 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( + "storage"(>& +4 "core" &,g /\  +2 "storage"($& +3 "core" &,g s W\  +2 "manipulator"&_& +4 "core" &%  <= + "manipulator"&t% +4 "core" % 0 +2 .tForearm.seek :retract + "manipulator"&v'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&G( +160 "core" ( + "manipulator"&y& +5 "core" & R  + "storage"(J& +4 "core" &,g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&L' +106 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +53 "core" 1 +2 "manipulator"&7% +4 "core" %  b +2 "storage"(&& +3 "core" &,g ] ] d\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&"'< +16 "core" ' +2 "manipulator"&5& +5 "core" & $  + "storage"(& +4 "core" &,g &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&/'Ѽ +27 "core" ' +2 "storage"(W% +4 "core" %K \ +2 ."downElevator"SE.seek :down +3 "storage"(!'X +100 (P% +2 "core" %D M\ Vb +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'=& +5 "core" & \ + "manipulator"&#% +4 "core" %\  m  + "storage"(s% +4 "core" %a G\ +2 "storage"([. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(N(<* +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" &<( i k (\  +2 "manipulator"&H& +4 "core" & 5  +2 .tElbow.seek 5 + "manipulator"&X( +4 "core" ( + "manipulator"&`& +4 "core" & T  + "storage"(& +4 "core" &<$ d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&Y'ы +98 "core" ' +2 "storage"(o& +4 "core" &<$ %\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"('i +292 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (c& +3 "core" &<$ I\  + "manipulator"&+& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&b( +4 "core" ( + "manipulator"&q& +4 "core" & K  + "storage"(R& +5 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"('X +7 "core" &   +2 "manipulator"&% +4 "core" %  f +2 .tForearm.seek :retract + "manipulator"&{'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&\\& +4 "core" &( # ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &( @ ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'" +104 "core" ' +2 "manipulator"&n& +4 "core" &( + ?U +2 "manipulator"&% +4 "core" % K +2 "collection"';& +4 "core" & \ +2 "collection"'r& +5 "core" & \ +2 .tCC.seek :closed + "collection"'0(V +4 "core" & \  +9 &1} \ *z +9 &e \ ? +10 &vs \ N +9 &:T \ M +9 &V \ M +10 &Y \ M +9 &W \ M +9 &BU \ M +10 &U \ M +9 &X \ N +10 & Y \ N +9 &"IY \ N +9 &$ X \ N +10 &%Y \ N +9 &'X \ M +10 &)RY \ M +9 &+X \ N +9 &,W \ M +10 &.U \ M +9 &0Z[ \ M +9 &2X \ M +10 &3X \ N +9 &5W \ M +9 &7cY \ M +10 &9$W \ M +9 &:X \ N +10 &<Y \ N +9 &>jY \ M +9 &@,U \ M +10 &AZ \ M +9 &CZ \ N +9 &Eq] \ N +10 &G/j \ O +9 &Hp \ P +10 &J \ T +9 &L_ \ W +9 &N \ X +10 &O \ X +9 &Q \ Y +9 &S] \ Z +10 &U \ Z +9 &VjC \ 1 +10 &Vp \ H +5 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&S1 +3 "core" &Vj \ H +56 1 +3 "manipulator"&% +4 "core" %  T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +104 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&}% +4 "core" %\   + "storage"(% +4 "core" %T D F n\ +2 "storage"(3. +3 "core" .(<* + "storage"(D& +4 "core" &<$ D D \  +2 "storage"(T& +4 "core" &<$ D D \  + "manipulator"& & +4 "core" &( G ?S + "manipulator"&% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&O( +160 "core" ( +2 "manipulator"&l& +4 "core" & 4 b + "storage"(& +4 "core" &<$ { r \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&,'ы +97 "core" ' + "storage"(j& +4 "core" &<$  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +284 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &<$ C O e\  +2 "manipulator"&& +4 "core" & V b + .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&a& +3 "core" & U b +2 "storage"(:& +3 "core" &<$ Z [\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&4' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&9/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(<'X +7 "core" &  b +2 "manipulator"&~% +4 "core" % J +2 .tForearm.seek :retract + "manipulator"&i'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +2 "manipulator"&\ & +5 "core" &m #  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m + \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&6' +101 "core" ' +2 "manipulator"&g& +3 "core" &p  L +2 "manipulator"&U% +5 "core" %   +2 "processing"%M& +4 "core" &2\ +2 "processing"%K& +5 "core" &\ +2 .tPC.seek :closed + "processing"%?(Z +5 "core" &\ +7 &:\ $d +10 &UF\ 7 +9 &~~\ L +9 &Z7\ N +10 &][&\ O +9 &Z\ O +9 &ZA\ O +10 &Y5\ N +9 &fX!\ N +9 &(WA\ N +10 &X#\ N +9 &!WG\ N +10 &#n[#\ N +9 &%0Z\ N +9 &&YH\ O +10 &(Y$\ N +9 &*vW \ N +9 &,8V\ N +10 &-\\\ N +9 &/Z1\ N +10 &1}Y"\ O +9 &3@XE\ N +9 &5VK\ N +10 &6Y!\ O +9 &8Y\ N +10 &:HZ\ N +9 &<\ YE\ N +9 &=U#\ N +10 &?Y \ N +9 &APXF\ N +9 &CYN\ N +10 &Da!\ O +9 &Fg;\ P +10 &HLy \ R +9 &J \ T +9 &K?\ T +10 &MJ\ T +9 &ONC\ T +9 &Q\ T +10 &R\ U +9 &T\ U +9 &VT;\ U +10 &X \ U +9 &Y|p\ 9 +10 &Z)v:\ N +9 &Z#H\ . +2 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%k& +4 "core" &Z# \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&w% +4 "core" %\  / $ +2 "storage"(.% +3 "core" %T ! ! \ +2 "storage"(. +3 "core" .(<* + "storage"(d& +4 "core" &<$ " ! \  +2 "storage"(-& +4 "manipulator"&'& +5 "core" &<$   ,\  + &p  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&p(s + "storage"(*'i +5 "core" ( +2 "manipulator"&%& +4 "core" &p  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &p +2 .tForearm.seek PC + "manipulator"&^' +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +5 .tPC.seek :open + "processing"%( +88 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +43 "core" ' +293 ( + "storage"(@& +4 "core" &<$ I W h\  +2 "manipulator"&V& +3 "core" &p S +2 "manipulator"&(% +4 "core" %  & +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +263 "core" ( + "manipulator"&& +5 "core" &  B  + "storage"(>& +4 "core" &<$ D N S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&$'ы +93 "core" ' +2 .tHand.open + "manipulator"&_1 +61 "core" 1 +2 "storage"(t- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"( & +4 "core" &<$ \  + "manipulator"&m& +4 "core" & N  +2 .tElbow.seek 5 + "manipulator"&7( +4 "core" ( + "manipulator"&&& +4 "core" &  T  +2 "storage"(5& +4 "core" &<$ \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(W' +56 "core" ' + "manipulator"&v& +5 "core" &  + "storage"(P& +4 "core" &<$ I E p\  +2 .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q' +32 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +27 "core" ' +2 "manipulator"&"% +4 "core" % Y +2 "storage"(=& +4 "core" &<$ e\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&#' +12 "core" ' + "manipulator"&s& +5 "core" & 4  + "storage"([& +4 "core" &<$ h h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&A'ы +31 "core" ' +2 "storage"(/% +4 "core" %q  p T\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (% +3 "core" %? E D\ Xe +2 "manipulator"&B% +4 "core" %X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (`& +4 "core" &<$ @ L `\  +2 "collection"'& +4 "core" &Vh \ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&o% +4 "core" %\ % # J +2 "storage"(C% +4 "core" %a H ? \ + "storage"(e. +3 "core" .(<* +2 "storage"(F& +4 "core" &<$ ? J \  +2 "storage"(c& +3 "core" &<$ [ [ )\  +2 "manipulator"&+& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&q( +4 "core" ( + "manipulator"&R& +4 "core" &   + "storage"(& +4 "core" &<$ V H 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&h'ы +99 "core" ' +2 "storage"(& +4 "core" &<$ ~  7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +283 "core" ' +2 "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\\& +4 "core" & V  + "storage"(I& +4 "core" &<$ e ^ @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(b'X +26 "core" ' + "manipulator"&% +4 "core" % F +2 "storage"(;& +4 "core" &<$\ %\ ( \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&'\ +15 "core" ' + "manipulator"&{& +5 "core" & 9  + "storage"(& +4 "core" &<$ Y [ 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&S'ы +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('G +40 "core" ' +2 "manipulator"&Z& +4 "core" & o  + "manipulator"&}% +5 "core" %у W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&r( +162 "core" ( +2 "manipulator"&3& +4 "core" &( 0 ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &( % ?P +2 .tForearm.seek CC + "manipulator"&T'" +93 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(f& +5 "core" &<$ \  + "storage"(l& +4 "core" &<$ L\  + "manipulator"&& +4 "core" &'  I >N +2 "manipulator"&j% +3 "core" %  5 +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&|( +164 "core" ( + "manipulator"&u& +4 "core" & > S +2 "storage"(x& +4 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&' +107 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +60 "core" 1 +2 "manipulator"&9% +5 "core" %  $ + "storage"(2& +5 "core" &<$ I [ 4\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&~' +16 "core" ' +2 "manipulator"&O& +4 "core" & K T +2 "storage"(,& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&1'ы +35 "core" ' +2 "storage"(4% +4 "core" %Q (\ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (% +3 "core" %? \ V` +2 "manipulator"&)% +4 "core" %q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 .tdelay 10 seconds +1002 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'U& +3 "core" & \ +2 "manipulator"&M% +4 "core" %\ "  ? + "storage"(<% +4 "core" %T N\ + "storage"(i. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(]( +970 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & r \ +2 "manipulator"&& +4 "core" & / T + .tElbow.seek 2 +2 "manipulator"&k( +42 "core" ( + "manipulator"&w& +4 "core" &  z # +2 "storage"(.& +4 "core" & G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + "storage"(d& +4 "core" & O\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'i +285 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" & b\ +2 "manipulator"&%& +4 "core" & > o + .tElbow.seek 2 +2 "manipulator"&E( +28 "core" ( +2 "manipulator"&6& +4 "core" & ` x +2 "storage"(& +3 "core" & V\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(?'X +8 "core" &  x + "manipulator"&*% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&@'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&V( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&(& +4 "core" &( &  >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &( >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +2 "manipulator"&>& +4 "core" &(  >J +2 "manipulator"&p% +4 "core" %  +2 "collection"'_& +4 "core" & \ +2 "collection"'t& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'8(V +3 "core" & \ +6 & - \ $c +10 &U~ \ 7 +9 &} \ L +9 &U \ M +10 &cU \ M +9 &$W \ M +9 &\\ \ M +10 &W \ M +9 &jX \ M +10 &-Z \ M +9 &X \ M +9 &!W \ M +10 &#rZ \ M +9 &%3X \ N +9 &&X \ M +10 &(T \ M +9 &*zX \ M +10 &,=\\ \ M +9 &-X \ M +9 &/Y \ M +10 &1W \ M +9 &3EW \ M +9 &5X \ M +59 &6Y \ M +4 &8T \ M + &:LY \ M +3 &<[ \ M + &=[ \ M +3 &?Z \ M + &ATX \ M +3 &CV \ M +10 &D\\ \ M +9 &Fc \ O +10 &HSp \ P +9 &J \ T +9 &K \ W +10 &M \ X +9 &OD \ X +9 &Q \ X +10 &R \ Z +9 &T \ Z +10 &V$w \ / +9 &V# \ O +9 ( +3 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"& 1 +3 "core" &Va \ I +52 1 +3 "manipulator"&m% +4 "core" %  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%5& +4 "core" &B\ +2 "manipulator"& % +4 "core" %\  g  + "storage"(v% +4 "core" %T G :\ + "storage"(P. +4 "core" .( + "storage"( & +4 "core" & F O =\ + "storage"(y& +4 "core" & > < \ +2 "manipulator"&"& +4 "core" &' P >H + "manipulator"&=% +4 "core" %\  J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&s( +156 "core" ( + "manipulator"&[& +4 "core" & ;  +2 "storage"(& +4 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +85 "core" ' +2 "storage"(/& +4 "core" & }  z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" & : 9 x\ +2 "manipulator"&& +4 "core" & T  + .tElbow.seek 2 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&W& +4 "core" & 6  + "storage"(Q& +4 "core" & ^ f "\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&#' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(o'X +7 "core" &   +2 "manipulator"&C% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&e'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&L(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +116 "core" ( +2 "manipulator"&F& +5 "core" &j $ {  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &j m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&+' +98 "core" ' +2 "manipulator"&R& +4 "core" &p  C  +2 "manipulator"&% +4 "core" % b +2 "processing"%A& +4 "core" &>\ +2 "processing"%& +5 "core" &1\ +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" &2\ +6 & 06\ $c +9 &U4\ 7 +10 &-\ L +9 &\\5\ N +10 &W]1\ N +9 &[4\ O +9 &[0\ N +10 &V$\ N +9 &_\\'\ N +9 & Z*\ O +10 &\\$\ O +9 &![\ N +10 &#gY)\ N +9 &%)W#\ N +9 &&U#\ N +10 &(V$\ N +9 &*nU!\ O +9 &,0Y!\ O +10 &-\\#\ N +9 &/\\&\ O +10 &1wZ*\ N +9 &39U.\ N +9 &4U(\ N +10 &6Z*\ N +9 &8~X*\ O +9 &:@Y#\ O +10 &<Y)\ N +9 &=Z)\ N +10 &?Y)\ N +9 &AJW*\ N +9 &C Y&\ N +10 &D\\&\ N +9 &F_,\ O +9 &HJn%\ Q +10 &J$\ R +9 &K-\ T +10 &M,\ T +9 &OF-\ U +9 &Q ,\ T +10 &R!\ U +9 &T)\ U +9 &VN$\ U +10 &X%\ U +9 &Y{n&\ : +10 &Z(l(\ Q +9 &Z%\ 0 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&G1 +57 "core" 1 +2 "manipulator"&H% +4 "core" %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +97 "core" ' +2 "processing"%\\& +4 "core" &Z#4\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&I% +4 "core" %\ %  ; I +2 "storage"(n% +3 "core" %b & U +\ +2 "storage"(. +3 "core" .( + "storage"(;& +4 "core" &   h\ +2 "storage"({& +5 "manipulator"&& +4 "core" & ! " )\ + &p  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Z(s + "storage"(}'i +5 "core" ( + "manipulator"&h& +4 "core" &p   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&X' +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(b- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +35 "core" ' +294 ( +2 "storage"(D& +4 "core" & M h\ + "manipulator"&S& +4 "core" &p   +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +259 "core" ( +2 "manipulator"&0& +4 "core" & # e + "storage"(f& +4 "core" & > D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +92 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(u'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +4 "core" -' + "storage"(r& +4 "core" & *\ + "manipulator"&:& +4 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( + "manipulator"&2& +5 "core" &  + "storage"(O& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +57 "core" ' + "manipulator"& & +5 "core" & ' + "storage"(& +4 "core" & Z \\ 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&)' +31 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +28 "core" ' +2 "manipulator"&~% +4 "core" % k # +2 "storage"(& +4 "core" & " ! ,\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&1' +13 "core" ' + "manipulator"&\ & +5 "core" & ) + "storage"(U& +5 "core" & u r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +20 "core" ' +2 "storage"(<% +4 "core" %n i y 0\ +3 ."downElevator"SE.seek :down +4 "storage"(i'X +100 (N% +3 "core" %G 2 C (\ Xg +2 "manipulator"&% +4 "core" %ѕ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (w& +4 "core" & H K 6\ +2 "collection"'.& +4 "core" &Va \ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&d% +4 "core" %\ %  D + "storage"(a% +4 "core" %_ [ [\ + "storage"(g. +4 "core" .( + "storage"(-& +4 "core" & [ [\ + "storage"('& +4 "core" & ^ e\ +2 "manipulator"&%& +3 "core" & + +2 .tElbow.seek 2 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&& +4 "core" &  c + "storage"(z& +5 "core" & Z [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +53 "manipulator"&'ќ +95 "core" ' + "storage"(*& +4 "core" & n v \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & 2 + "storage"(^& +4 "core" & ^ [ 8\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(p'M +35 "core" ' + "manipulator"&E% +5 "core" % + "storage"(_& +4 "core" & > d\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&?' +14 "core" ' + "manipulator"&@& +4 "core" & +2 "storage"(& +4 "core" & \\ ] P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'< +41 "core" ' +2 "manipulator"&5& +4 "core" & f +2 "manipulator"& % +4 "core" %ѽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +164 "core" ( +2 "manipulator"& & +4 "core" &+ 2 A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &* M A` +2 .tForearm.seek CC + "manipulator"&y'" +93 "core" ' + .tHand.close +2 "manipulator"&"/ +52 "core" / +2 .tCC.seek :open + "collection"'=( +419 "core" ( +2 "storage"(& +4 "core" & ~ 3\ +2 "storage"([& +3 "core" & r } \ +2 "manipulator"&& +3 "core" &( ( >N +2 "manipulator"&/% +4 "core" % 1 + .tForearm.seek :retract +2 "manipulator"&V'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&&( +159 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(B& +5 "core" & l\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +104 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&Q1 +62 "core" 1 +2 "manipulator"&`% +5 "core" % .   + "storage"(& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&C' +20 "core" ' +2 "manipulator"&s& +4 "core" & 8  +2 "storage"($& +4 "core" & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +26 "core" ' + "storage"(#% +4 "core" %B \ +3 ."downElevator"SE.seek :down +3 "storage"(F'X +100 (c% +2 "core" %A %\ Wc +2 "manipulator"&7% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +91 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&A% +4 "core" %\  } ! +2 "storage"(o% +4 "core" %S &\ +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" & Z W\  +2 "manipulator"&H& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&\\( +18 "core" ( + "manipulator"&I& +4 "core" & _ Y +2 "storage"(n& +3 "core" & o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(;& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({& +3 "core" & \  +2 "manipulator"&h& +4 "core" & Y + .tElbow.seek 3 +2 "manipulator"&q( +3 "core" ( + "manipulator"&+& +4 "core" & b Y +2 "storage"(& +3 "core" & u\  +4 .tForearm.seek 3 + 300 counts +2 "manipulator"&b'ϩ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(!'X +7 "core" &  Y +2 "manipulator"&}% +4 "core" % Ϯ  +2 .tForearm.seek :retract + "manipulator"&D'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&& +5 "core" &' % T >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &'  >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +99 "core" ' +2 "manipulator"&f& +5 "core" &( - >J + "manipulator"&Z% +4 "core" % +2 "collection"'& +4 "core" & \ +2 "collection"'j& +5 "core" & \ +2 .tCC.seek :closed + "collection"'T(V +4 "core" & \  +9 &0} \ *y +9 &c \ > +10 &kq \ N +9 &-V \ M +9 &Z \ M +9 &W \ M +10 &sZ \ M +9 &4W \ N +10 &W \ M +9 &Y \ M +9 & zY \ N +10 &"<W \ N +9 &#W \ N +10 &%Y \ N +9 &'W \ M +9 &)EY \ M +10 &+W \ M +9 &,S \ M +9 &.X \ M +10 &0MU \ M +9 &2X \ M +10 &3W \ M +9 &5W \ M +9 &7UX \ M +10 &9T \ M +9 &:Y \ M +9 &<V \ M +10 &>]Z \ M +9 &@X \ M +9 &AZ \ M +10 &CY \ M +9 &Ed] \ N +10 &G#f \ O +9 &Ht \ Q +9 &J \ U +10 &LN \ X +9 &N \ X +9 &O \ Y +10 &Q \ X +9 &SP \ Z +10 &U \ Z +9 &V^C \ 1 +9 &V t \ I +6 ( + "collection"'j& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&r1 +4 "core" &Vk \ I +56 1 +2 "manipulator"&:% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%O& +9 "core" &D\ +2 "manipulator"& % +4 "core" %\  I  + "storage"( % +9 "core" %T % % W\ + "storage"(. +4 "core" .( + "storage"(~& +4 "core" & " ! #\  +2 "storage"(3& +4 "core" &  # )\  + "manipulator"&& +4 "core" &' 2 >J + "manipulator"&\ % +4 "core" %\  0 w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&u( +158 "core" ( +2 "manipulator"&U& +4 "core" & ]  + "storage"(<& +5 "core" & f g \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(l& +5 "core" &  z {\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +279 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & D ? \  +2 "manipulator"&,& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( + "manipulator"&4& +4 "core" & 5  +2 "storage"()& +3 "core" & f h \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +20 "core" ' + .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&w/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(d'X +7 "core" & -  +2 "manipulator"&a% +3 "core" % Ϭ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&g(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&-& +4 "core" &z $ : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &z + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&%' +98 "core" ' +2 "manipulator"&& +4 "core" &z  +2 "manipulator"&z% +4 "core" %  f +2 "processing"%M& +4 "core" &C\ +2 "processing"%*& +5 "core" &&\ +2 .tPC.seek :closed + "processing"%i(Z +5 "core" &3\ +7 &97\ $d +9 &VO\ 7 +10 &~~Y\ L +9 &Y0\ N +9 &\\Y)\ N +10 &[M\ N +10 &Z/\ O +8 &Y,\ N +10 &d]$\ N +9 &&Z\ N +10 &X\ N +9 &!\\\ N +9 &#kZ\ O +10 &%.Z\ N +9 &&Y\ O +9 &(Y\ N +10 &*tW<\ N +9 &,6\\Q\ N +10 &-[P\ N +9 &/U1\ N +9 &1|X\ N +10 &3>U)\ N +9 &5YL\ N +9 &6W&\ N +10 &8Y'\ N +9 &:GVO\ N +10 &<YX\ N +9 &=Y1\ N +9 &?W!\ N +10 &APU&\ N +9 &CZ%\ N +9 &D`$\ O +10 &Fd*\ O +9 &HMsG\ Q +10 &J /\ S +9 &K+\ T +9 &M-\ T +10 &OM\ T +9 &Q$\ T +9 &R-\ U +10 &T*\ T +9 &VTF\ T +10 &X/\ U +9 &Y{nN\ 9 +9 &Z,/\ J +10 &Z \ , +2 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&|1 +56 "core" 1 +2 "manipulator"&% +4 "core" % $ $ f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' + "processing"%(& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&^% +4 "core" %\  1 o ' +2 "storage"(>% +4 "core" %T\  Q J\ + "storage"(E. +3 "core" .( +2 "storage"(_& +3 "core" & Q # \  +2 "storage"(@& +2 "manipulator"&& +7 "core" &   n\  + &z f +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&5(s + "storage"( 'i +5 "core" ( +2 "manipulator"&& +4 "core" &z % [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &z r +2 .tForearm.seek PC + "manipulator"&k' +97 "core" ' + .tHand.close +2 "manipulator"&K/ +56 "core" / +3 .tPC.seek :open + "processing"%?( +89 "core" ' +2 "storage"(p- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +43 "core" ' +289 ( + "storage"(t& +5 "core" & F C \  + "manipulator"& & +4 "core" &z \ + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v( +267 "core" ( +2 "manipulator"&8& +4 "core" &  g  + "storage"(& +5 "core" & G N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +96 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(P& +4 "core" & g\  + "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&`( +8 "core" ( + "manipulator"&& +4 "core" &  ; z +2 "storage"(s& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(#' +56 "core" ' + "manipulator"&V& +5 "core" & ? z + "storage"(c& +4 "core" & \\ _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'} +20 "core" ' +2 .tElbow.hold + "manipulator"&&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&% +4 "core" %Ύ  +2 "storage"(C& +4 "core" & D D \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&A'Ϻ +27 "core" ' + "manipulator"&o& +72 "core" &  z + "storage"(e& +5 "core" & h j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +25 "core" ' +2 "storage"(J% +4 "core" %r k -\ +2 ."downElevator"SE.seek :down +3 "storage"(F'X +99 (]% +3 "core" %C D G\ Xe +2 "manipulator"&G% +4 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&H'\ +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (I& +4 "core" & \\ ]\  + "collection"'n& +4 "core" &Vk \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&;% +4 "core" %\  # +2 "storage"(W% +3 "core" %` [ [\ +2 "storage"(R. +3 "core" .( + "storage"(& +4 "core" & _ ]\  +2 "storage"({& +4 "core" & _ ]\  + "manipulator"&h& +4 "core" &  z +2 .tElbow.seek 3 + "manipulator"&+( +4 "core" ( + "manipulator"&& +4 "core" & L z + "storage"(L& +4 "core" & ^ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +101 "core" ' + "storage"(}& +5 "core" & ~ z z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \\ z + "storage"(X& +4 "core" & Z T =\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +24 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'T +31 "core" ' + "manipulator"&q% +5 "core" %· P + "storage"(& +4 "core" & E E +\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&!'ϳ +12 "core" ' +2 "manipulator"&D& +4 "core" &  z +2 "storage"(=& +4 "core" & s k H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&r'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(:'C +40 "core" ' + "manipulator"&O& +5 "core" & D z + "manipulator"& % +4 "core" %N i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +2 "manipulator"&j& +5 "core" &+ - A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &+ Q A_ +2 .tForearm.seek CC +2 "manipulator"&3'" +143 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'\ ( +417 "core" ( + "storage"(0& +4 "core" & B\  +2 "storage"(U& +4 "core" & \  +2 "manipulator"&<& +4 "core" &+ S A_ + "manipulator"&l% +4 "core" %  E +2 .tForearm.seek :retract + "manipulator"&S'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&2( +164 "core" ( + "manipulator"&N& +4 "core" & ^ E +2 "storage"(& +4 "core" & U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&,'} +96 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&)1 +60 "core" 1 +2 "manipulator"&w% +4 "core" % }  +2 "storage"(.& +4 "core" & 0\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'ϩ +26 "core" ' +3 "manipulator"&u& +4 "core" & { E +2 "storage"(& +4 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +29 "core" ' +2 "storage"(1% +4 "core" %H z\ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +99 ('% +3 "core" %r? &\ Va +2 "manipulator"&9% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'z& +4 "core" & \ + "manipulator"&M% +4 "core" %\ % O D +2 "storage"(d% +4 "core" %` \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" &,i h h \  + "manipulator"&& +4 "core" & g E +2 .tElbow.seek 4 + "manipulator"&(( +4 "core" ( + "manipulator"&^& +4 "core" & $ P E + "storage"(>& +4 "core" &,f K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&E'Ѽ +91 "core" ' + "storage"(_& +5 "core" &,f \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &,f N\  +2 "manipulator"&& +4 "core" & K E +2 .tElbow.seek 4 + "manipulator"&6( +3 "core" ( +2 "manipulator"&%& +3 "core" & ; E +2 "storage"(K& +4 "core" &,f \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&p', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(i'X +6 "core" &  E +2 "manipulator"& % +4 "core" % 6  s +2 .tForearm.seek :retract + "manipulator"&t'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&& +5 "core" &' U x >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &' >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&8'" +101 "core" ' +2 "manipulator"&& +4 "core" &( >H +2 "manipulator"&5% +4 "core" %( +2 "collection"'& +3 "core" & \ +3 "collection"'/& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'y(V +4 "core" & \  +8 &2} \ )w +10 &c \ > +9 &sr \ N +9 &6V \ M +10 &Y \ M +9 &W \ M +9 &{W \ M +10 &=W \ M +9 &T \ M +10 &V \ M +9 & X \ N +9 &"EW \ M +10 &$Y \ M +9 &%X \ M +9 &'Y \ M +10 &)NV \ M +9 &+W \ M +10 &,W \ N +9 &.X \ M +9 &0UX \ M +10 &2T \ M +9 &3W \ M +9 &5V \ M +10 &7^S \ M +9 &9 U \ M +9 &:X \ M +10 &<W \ M +9 &>fU \ M +10 &@'X \ M +9 &AY \ M +9 &CY \ M +10 &El] \ N +9 &G*f \ O +10 &Hs \ P +9 &J \ U +9 &LV \ X +10 &N \ X +9 &O \ Y +9 &Q \ Y +10 &SX \ Z +10 &U \ Z +8 &VfD \ 2 +10 &Vq \ H +5 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&P1 +3 "core" &Vj \ H +53 1 + "manipulator"&Q% +5 "core" % (  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%s& +4 "core" &#\ +2 "manipulator"&"% +4 "core" %\   @  + "storage"(V% +4 "core" %a C D \ +2 "storage"(c. +3 "core" .(,l +2 "storage"(& +3 "core" &,f D D \  +2 "storage"(C& +4 "core" &,f C D \  + "manipulator"& & +4 "core" &' s >H + "manipulator"&% +4 "core" %\  %  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&o( +160 "core" ( +2 "manipulator"&e& +4 "core" & ; a +2 "storage"(v& +3 "core" &,f Z ] @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&['Ѽ +96 "core" ' + "storage"(B& +5 "core" &,f  ~ 0\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +283 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &,f E P ?\  +2 "manipulator"&]& +4 "core" & a + .tElbow.seek 4 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&#& +4 "core" & E a + "storage"(7& +4 "core" &,f g h\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&A', +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(;'X +7 "core" &  a +2 "manipulator"&W% +4 "core" % &  = +2 .tForearm.seek :retract + "manipulator"&R'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&& +5 "core" &g ) @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &g   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h' +106 "core" ' +2 "manipulator"&& +4 "core" &g ?  +2 "manipulator"&L% +4 "core" % Q { + "processing"%m& +4 "core" &2\ +2 "processing"%}& +5 "core" &E\ +3 .tPC.seek :closed + "processing"%F(Z +4 "core" &*\  +9 &1~S\ *y +10 &b3\ > +9 &lx$\ N +10 &-[\ N +9 &Z#\ N +9 &Y!\ N +10 &t["\ N +9 &6Z"\ N +9 &\\#\ N +10 &Z\ N +9 & {[$\ N +10 &"=Z&\ N +9 &#Z!\ N +9 &%\\%\ N +10 &'\\+\ N +9 &)E[+\ N +9 &+Z"\ N +10 &,[+\ N +9 &.Z*\ N +10 &0NZ+\ N +9 &2ZM\ N +9 &3Z/\ N +10 &5Z.\ N +9 &7WZ-\ N +9 &9Y%\ N +10 &:X'\ N +9 &<Y'\ M +10 &>^Y+\ N +9 &@!Z(\ N +9 &AZ*\ N +10 &C])\ N +9 &Ed`+\ O +10 &G"n+\ P +9 &H+\ S +9 &J(\ T +10 &L\\\ T +9 &N!\ T +9 &O\ T +10 &Q,\ T +9 &Sc%\ T +9 &U%,\ T +10 &V,\ U +9 &X,\ U +10 &Zd \ 'x +9 &Z_%\ 3 +9 ( +3 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&&1 +4 "core" &Z%-\ . +49 1 + "manipulator"&H% +4 "core" % g { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +51 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z%\ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&X% +4 "core" %\  0 + "storage"(f% +4 "core" %] " " \ + "storage"(q. +3 "core" .(,l +2 "storage"(& +4 "core" &,f / ' X\  +2 "storage"(D& +2 "manipulator"&=& +7 "core" &,f !  \  + &g L  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&O(s + "storage"( 'i +10 "core" ( +2 "manipulator"&Y& +4 "core" &k M \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &k 7 \ +2 .tForearm.seek PC +2 "manipulator"&\\' +96 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%!( +83 "core" ' + "storage"(Z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'y +44 "core" ' +297 ( + "storage"(~& +5 "core" &,f G L F\  + "manipulator"&r& +4 "core" &k _ \ + "manipulator"&b% +5 "core" % 5 + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +246 "core" ( +2 "manipulator"&T& +4 "core" &\ M ] + "storage"(0& +4 "core" &,f " ! C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&U'Ѽ +97 "core" ' + .tHand.open +2 "manipulator"&<1 +52 "core" 1 + "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(N'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(& +4 "core" &,f \  + "manipulator"&)& +4 "core" &\  ] +2 .tElbow.seek 4 + "manipulator"&w( +4 "core" ( +2 "manipulator"&.& +4 "core" &\ | ] + "storage"(u& +4 "core" &,f z  !\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +63 "core" ' + "manipulator"&S& +4 "core" &\  ] +2 "storage"('& +4 "core" &,f N Q \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&9' +29 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(,'i +23 "core" ' +2 "manipulator"&a% +4 "core" % z  +2 "storage"(z& +4 "core" &,f\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&M'( +19 "core" ' +2 "manipulator"&d& +4 "core" &  F # +2 "storage"(& +4 "core" &,f F N 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&:'Ѽ +36 "core" ' +2 "storage"(x% +4 "core" %r ] I a\ +3 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (% +2 "core" %C % "\ Xf +2 "manipulator"&|% +4 "core" %ѳ # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (^& +4 "core" &,f Q I o\  +2 "collection"'>& +4 "core" &Vj \ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&_% +4 "core" %\    + "storage"(4% +4 "core" %a = ? \ +2 "storage"(. +3 "core" .(,l +2 "storage"(& +3 "core" &,f F H \  +2 "storage"(*& +4 "core" &,f ? E\  + "manipulator"&& +4 "core" &  # +2 .tElbow.seek 4 + "manipulator"&%( +22 "core" ( + "manipulator"&K& +4 "core" & # " / +2 "storage"(g& +4 "core" &,f \\ ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +90 "core" ' + "storage"( & +5 "core" &,f k \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +283 "core" ' +2 "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & ? / +2 "storage"(k& +4 "core" &,f Z S S\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&@' +27 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(6'W +31 "core" ' + "manipulator"&5% +4 "core" % _ +2 "storage"(& +4 "core" &,f c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 295 counts + "manipulator"&i'' +18 "core" ' + "manipulator"&t& +4 "core" & W # +2 "storage"(\ & +4 "core" &,f V Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&P'Ѽ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(Q'F +42 "core" ' + "manipulator"&s& +4 "core" & P # +2 "manipulator"&"% +4 "core" % ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&c( +161 "core" ( + "manipulator"&& +4 "core" && 3 =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" && 6 =D +2 .tForearm.seek CC + "manipulator"& '" +94 "core" ' + .tHand.close + "manipulator"&// +59 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(8& +4 "core" &,f  ]\  +2 "storage"(e& +4 "core" &,f z\  + "manipulator"&v& +4 "core" && =D + "manipulator"&B% +4 "core" % 1 2  +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&$& +4 "core" & 4 } +2 "storage"(`& +4 "core" &,f v\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&]' +102 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +62 "core" 1 +2 "manipulator"&I% +4 "core" %  B +2 "storage"(n& +4 "core" &,f i k \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&W'< +20 "core" ' + "manipulator"&o& +5 "core" & Z  + "storage"([& +4 "core" &,f S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&J'Ѽ +26 "core" ' +2 "storage"(A% +4 "core" %L \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ({% +3 "core" %C \ Wc +2 "manipulator"&G% +4 "core" %Ѻ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +55 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'L& +5 "core" & \ + "manipulator"&m% +4 "core" %\ % G C +2 "storage"(;% +4 "core" %a \ + "storage"(R. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(?(<* +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &<*' b i\  +2 "manipulator"&H& +4 "core" & 6  + .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" & # 5  + "storage"(X& +4 "core" &<& $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&f'ы +94 "core" ' + "storage"(q& +4 "core" &<& !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &<& \  + "manipulator"&Y& +4 "core" & 1  +2 .tElbow.seek 5 + "manipulator"&+( +4 "core" ( + "manipulator"&h& +4 "core" & M  + "storage"(& +4 "core" &<& \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Z' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(F'X +7 "core" &   +2 "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&~'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&r( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&b& +5 "core" &# 3 :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &# H :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'" +102 "core" ' + "manipulator"&0& +5 "core" &#  :- + "manipulator"&O% +4 "core" %% h +2 "collection"'<& +4 "core" & \ +3 "collection"'l& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'3(V +5 "core" & \ +7 &5 \ $c +9 &U} \ 7 +9 &{ \ L +10 &T \ M +9 &dW \ M +10 &&V \ M +9 &W \ M +9 &V \ M +10 &mV \ M +9 &/V \ M +9 &V \ M +10 &!X \ M +9 &#uX \ M +10 &%6W \ M +9 &&W \ M +9 &(V \ M +10 &*|V \ M +9 &,?Y \ M +9 &.V \ M +10 &/V \ M +9 &1X \ M +10 &3GV \ M +9 &5 W \ M +9 &6W \ M +10 &8U \ M +9 &:OZ \ M +9 &<Z \ M +10 &=W \ M +9 &?Y \ M +10 &AWX \ M +9 &CY \ M +9 &D_ \ N +10 &Ff \ O +9 &HWo \ P +9 &J \ S +10 &K \ U +9 &M \ X +10 &OG \ X +11 &Q \ X +7 &R \ Y +10 &T \ Z +9 &V&u \ - +9 &V( \ R +9 ( +3 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open + "manipulator"&1 +4 "core" &Ve \ I +58 1 + "manipulator"&)% +5 "core" % % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%u& +5 "core" &I\ + "manipulator"&% +4 "core" %\    +2 "storage"(S% +3 "core" %T D C \ +2 "storage"('. +3 "core" .(<* +2 "storage"(j& +4 "core" &<& H J \  + "storage"(a& +4 "core" &<& F D\  +2 "manipulator"&z& +3 "core" &# % y :* +2 "manipulator"&N% +3 "core" %\  m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&d( +164 "core" ( +2 "manipulator"&& +4 "core" & = w +2 "storage"(x& +3 "core" &<&  ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +97 "core" ' + "storage"(U& +5 "core" &<&  b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &<& ; B \  + "manipulator"&& +4 "core" & w +2 .tElbow.seek 5 + "manipulator"&w( +3 "core" ( +2 "manipulator"&1& +3 "core" & w +2 "storage"(9& +4 "core" &<& f h I\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&M' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&>& "storage"(_'X +7 "core" &  w +2 "manipulator"&4% +4 "core" %   1 +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&,(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &h : h :  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &h  T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&K& +4 "core" &h  + "manipulator"&g% +4 "core" % 8 ' +2 "processing"%:& +4 "core" &F\ +2 "processing"% & +5 "core" &G\ +2 .tPC.seek :closed + "processing"%-(Z +4 "core" &6\  +9 &0~+\ *y +9 &bK\ > +10 &ow<\ N +9 &1W4\ N +9 &ZU\ N +10 &[8\ N +9 &uZV\ O +9 &:Y1\ N +10 &Z5\ N +9 &Y1\ N +10 & ~Z(\ N +9 &"@Y\ N +9 &$Y?\ N +10 &%Z#\ N +9 &'[$\ N +9 &)HZ&\ N +10 &+ Y$\ N +9 &,X!\ N +9 &.Y$\ N +10 &0RZ\ N +9 &2Z\ N +10 &3\\"\ N +9 &5Z'\ N +9 &7ZY%\ N +10 &9\\#\ N +9 &:X)\ N +9 &<Y$\ N +10 &>cY*\ M +9 &@$Z&\ N +10 &AY\ N +9 &C\\*\ N +9 &Egc+\ O +10 &G%k*\ P +9 &H*\ R +10 &JM\ T +9 &L`/\ T +9 &N#)\ S +10 &O$\ T +9 &Q#\ T +9 &SgD\ T +10 &U'.\ U +9 &V\ U +9 &X#\ U +10 &Za+\ $p +9 &ZU\ + +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&21 +4 "core" &Z\ ( +49 1 + "manipulator"&% +5 "core" % y ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +100 "core" ' +2 "processing"%& +4 "core" &Z4\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&k% +4 "core" %\ % L + "storage"(% +4 "core" %b #  X\ +2 "storage"(5. +3 "core" .(<* + "storage"(& +4 "core" &<& % # \  +2 "storage"(t& +2 "manipulator"&\ & +7 "core" &<& $ # )\  + &h 1  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&s(s + "storage"("'i +29 "core" ( +2 "manipulator"&& +4 "core" &l \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &l $ ' \ +2 .tForearm.seek PC +2 "manipulator"&(' +97 "core" ' + .tHand.close +2 "manipulator"&@/ +62 "core" / +3 .tPC.seek :open + "processing"%i( +60 "core" ' + "storage"(6- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +327 ( +2 "storage"(C& +4 "core" &<& K ] N\  + "manipulator"&P& +4 "core" &l  \ + "manipulator"&p% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&/'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +260 "core" ( + "manipulator"&y& +82 "core" &  +2 "storage"(8& +4 "core" &<& a ^ |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&e'ы +99 "core" ' +53 .tHand.open +2 "manipulator"&v1 +56 "core" 1 +2 "storage"(B- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"($'E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(c& +4 "core" &<& h\  + "manipulator"&7& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&I( +4 "core" ( + "manipulator"&n& +4 "core" & 7  +2 "storage"(o& +3 "core" &<& \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&['ы +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(A' +61 "core" ' + "manipulator"& & +5 "core" & j  + "storage"({& +4 "core" &<& h h =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&G' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +25 "core" ' +2 "manipulator"&W% +4 "core" % V +2 "storage"(L& +4 "core" &<&\ \  +\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&m'\ +11 "core" ' +2 "manipulator"&;& +4 "core" & Z  +2 "storage"(R& +4 "core" &<& | q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&Q'ы +19 "core" ' +2 "storage"(J% +4 "core" %o z ~ R\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %B D E\ Wc +2 "manipulator"&&% +4 "core" %і  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +96 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<& R X \  +2 "collection"'X& +4 "core" &Vc \ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&q% +4 "core" %\ % E J +2 "storage"(#% +4 "core" %a Z [\ + "storage"(. +4 "core" .(<* + "storage"(=& +4 "core" &<& X \\\  + "storage"(D& +4 "core" &<& \\ Z\  +2 "manipulator"&Y& +4 "core" & q  + .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &<& [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +95 "core" ' +2 "storage"( & +4 "core" &<&  *\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +277 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&b& +3 "core" &  +2 "storage"(\\& +3 "core" &<& [ d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(O'X +27 "core" ' +2 "manipulator"&+% +4 "core" % +2 "storage"(<& +3 "core" &<&\  }\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&F' +16 "core" ' + "manipulator"&~& +5 "core" & C  + "storage"(& +4 "core" &<& \\ ] ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +43 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'G +49 "core" ' + "manipulator"&u& +5 "core" & 9  + "manipulator"&% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +167 "core" ( +2 "manipulator"&j& +4 "core" &, O Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &+ { Bh +2 .tForearm.seek CC +2 "manipulator"&a'" +96 "core" ' +2 .tHand.close + "manipulator"&z/ +60 "core" / +2 .tCC.seek :open + "collection"'N( +416 "core" ( +2 "storage"(T& +4 "core" &<& F\  +2 "storage"(& +4 "core" &<& m j \  + "manipulator"&x& +4 "core" & ( >O + "manipulator"&U% +4 "core" % $ . +2 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +162 "core" ( +2 "manipulator"&& +4 "core" &  3 J + "storage"(|& +4 "core" &<& K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&' +108 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +62 "core" 1 +2 "manipulator"&^% +5 "core" %   + "storage"(>& +5 "core" &<& w b\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&4' +18 "core" ' + "manipulator"&d& +5 "core" & m J + "storage"( & +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +22 "core" ' + "storage"(M% +4 "core" %J U\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (*% +2 "core" %A M\ Va +2 "manipulator"&w% +4 "core" %с  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tdelay 10 seconds +1405 "Can"\ 85z +9266 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'g& +3 "core" & \ +2 "manipulator"&:& +4 "core" &  J + "manipulator"&_% +4 "core" %\ " " = + .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +175 "core" ( + "manipulator"&!& +4 "core" &, # 3 / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &, S / +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +101 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 "manipulator"&k& +4 "core" &, a / + "manipulator"&% +4 "core" % ϰ ; O +2 .tForearm.seek :retract + "manipulator"&5'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +285 "core" ( + "manipulator"&\ & +4 "core" &' # G >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &' M >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +95 "core" ' + "manipulator"&& +4 "core" &( m >J +2 "manipulator"&%% +4 "core" %' A + "collection"'& +4 "core" & \ +2 "collection"'@& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'6(V +3 "core" & \ +6 &5 \ $d +10 &T~ \ 7 +9 &~ \ L +10 &X \ M +9 &]Z \ N +9 &W \ N +10 &Z \ N +9 &U \ M +9 &gW \ M +10 &'Y \ N +9 &U \ M +10 &!Y \ M +9 &#m\\ \ N +9 &%/[ \ N +10 &&X \ N +9 &(W \ N +9 &*vY \ M +10 &,7Z \ N +9 &-Y \ M +10 &/W \ N +9 &1~V \ M +9 &3@U \ M +10 &5Z \ N +9 &6X \ N +9 &8W \ N +10 &:IU \ M +9 &< W \ N +10 &=W \ N +9 &?U \ M +10 &APW \ M +12 &CX \ M +6 &D[ \ N +9 &Fc \ O +10 &HOr \ P +9 &J \ U +10 &K \ X +9 &M~ \ X +9 &O? \ Y +10 &Q \ Y +59 &R \ Z +7 &T \ Z +2 &Vv \ / + &V) \ Q + ( + &Va \ I + &Va \ I + &Va \ I +3 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 6/28 samples, on/off torque 1.89 +2 "collection"',& +4 "core" &Vb \ I + &Vb \ I + .tHand.open +2 "manipulator"&E1 +53 "core" 1 + "manipulator"&-% +4 "core" % ' 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"'\ +98 "core" ' +1433 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&C& +3 "core" &' ~ >J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&P( +3 "core" ( +2 "manipulator"&p& +4 "core" &' / ( >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &' >J +2 .tForearm.seek CC +2 "manipulator"&s'" +95 "core" ' +2 .tHand.close + "manipulator"&y/ +58 "core" / +2 .tCC.seek :open +2 "collection"'8( +416 "core" ( + "manipulator"&v& +4 "core" &' o >J +2 "manipulator"&B% +4 "core" %  D +2 .tForearm.seek :retract + "manipulator"&/'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (, +282 "core" ( +2 "manipulator"&c& +4 "core" &, } B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +2 "core" &, V B +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&n'Ϧ +103 "core" ' +2 .tHand.open +2 "manipulator"&o1 +57 "core" 1 + "manipulator"& % +4 "core" % ϯ - & 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +101 "core" ' +803 #t-> Flush.PC + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +3 "core" &8\ +2 "manipulator"&W& +4 "core" &, R B + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&L(, +2 "core" ( + "manipulator"&$& +4 "core" &,  K B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &, w B +2 .tForearm.seek :garage + "manipulator"&R'Ϧ +106 "core" ' +2 .tHand.close + "manipulator"&J/ +60 "core" / + "manipulator"&V& +4 "core" &,  B +2 "manipulator"&e% +4 "core" % ϶  +2 .tForearm.seek :retract + "manipulator"&`'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(s +147 "core" ( + "manipulator"&&& +4 "core" &s ! ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &s {  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&I' +100 "core" ' +2 "manipulator"&A& +4 "core" &u #  + "manipulator"&G% +4 "core" % +2 "processing"%m& +4 "core" &<\ +2 "processing"%& +4 "core" &8\ +2 .tPC.seek :closed +2 "processing"%X(Z +4 "core" &?\ +7 &D:\ %g +9 &X@\ 8 +10 &:\ M +9 &Y9\ N +10 &z]>\ N +9 &=Z6\ N +9 &Z:\ M +10 &Z7\ N +9 &\\8\ N +10 &E[6\ N +9 & \\7\ N +9 &!Z8\ N +10 &#Z6\ N +9 &%LX<\ N +9 &'Y:\ N +10 &(Y8\ N +9 &*Z6\ N +9 &,TZ9\ N +10 &.\\@\ N +9 &/Y:\ N +10 &1Y8\ N +9 &3]Y;\ N +9 &5 X;\ M +10 &6Z9\ N +9 &8Z9\ N +9 &:d\\@\ N +10 &<'Z;\ N +9 &=Y8\ M +10 &?Y:\ N +9 &AmV8\ N +9 &C/Z;\ N +10 &D]7\ N +9 &Fe9\ O +9 &Hju<\ Q +10 &J&9\ S +9 &K8\ T +10 &M;\ T +9 &Ok8\ T +9 &Q.;\ S +10 &R:\ U +9 &T9\ T +9 &Vq5\ T +10 &X2;\ U +9 &Yzl5\ - +10 &Z(c8\ @ +8 ( +2 &Z"7\ / +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + "processing"%q& +4 "core" &Z!;\ / + .tHand.open +2 "manipulator" +53 "core" 1 + "manipulator"&]% +4 "core" %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +888 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&=& +3 "core" &u  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&D(s +3 "core" ( +2 "manipulator"&Y& +4 "core" &u O  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &u [  +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 .tHand.close + "manipulator"&Q/ +55 "core" / +2 .tPC.seek :open + "processing"% ( +439 "core" ( + "manipulator"&& +4 "core" &u d  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&H'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&f(, +121 "core" ( + "manipulator"&b& +4 "core" &, $ j J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &, 7 I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&0'Ϧ +109 "core" ' + .tHand.open +2 "manipulator"&+1 +56 "core" 1 +2 "manipulator"&<% +4 "core" % ϰ ? 8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +94 "core" ' +395 #t-> Puck.count + "storage"(% +3 "core" %T \ +2 .tSE.seek :down +2 "storage"(u'X +3 "core" ' +2 .tSE.stop + "storage"(5 +2 "manipulator"&% +4 "core" %\    +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((S +1286 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" &T a n \ +2 "manipulator"&}& +3 "core" &,  H +2 "manipulator"&% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&F(. +183 "core" ( + "manipulator"&O& +4 "core" &0   +2 "storage"(j& +4 "core" &V [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&l'ѷ +87 "core" ' + "storage"(& +5 "core" &V K\ +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +270 "core" ' + "storage"(z- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S% +2 "core" %h \ +3 ."downElevator"SE.seek :down +4 "storage"(3'X +99 (T% +3 "core" %I >\ Wf + "manipulator"&% +4 "core" %Ѿ ) i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x'\ +88 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(U( +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & z w 9\  +2 "manipulator"&|& +3 "core" &0   +2 .tElbow.seek 2 +2 "manipulator"&a( +11 "core" ( +2 "manipulator"&'& +4 "core" &  <  + "storage"(9& +4 "core" & P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +95 "core" ' +2 "storage"(>& +4 "core" & \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +308 "core" ' +2 "storage"( - +3 "core" -'+ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M% +2 "core" % ( W\ +2 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (*% +2 "core" %= \ Va +2 "manipulator"&w% +4 "core" %ђ l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +2 "core" & \  +2 "manipulator"&)& +3 "core" & +  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +4 "core" & V  + "storage"(g& +4 "core" & m\  +50 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +103 "core" ' +2 "storage"(_& +4 "core" & P\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +303 "core" ' + "storage"(2- +5 "core" -'3 + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1% +2 "core" % ; n\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (k% +2 "core" %> \ V` +2 "manipulator"&% +4 "core" %W X z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &,j. \  +2 "manipulator"&t& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(%& +3 "core" &,h 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +92 "core" ' +2 "storage"(5& +4 "core" &,h 3\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +316 "core" ' + "storage"(,- +4 "core" -'; + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (E% +3 "core" % ? ?\ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +98 (@% +3 "core" %; U\ V_ +2 "manipulator"& % +4 "core" %ѐ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +95 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(p(<* +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &<' l x o\  +2 "manipulator"&y& +4 "core" & ~  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" &  g  + "storage"(6& +4 "core" &<# \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&v'ы +88 "core" ' + "storage"(B& +4 "core" &<# 8\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'i +304 "core" ' + "storage"(c- +4 "core" -'7 + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (7% +3 "core" % = m\ +2 ."downElevator"SE.seek :down +4 "storage"(P'X +98 (o% +3 "core" %; [\ U_ +2 "manipulator"& % +3 "core" %ѕ n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(n(K +334 "core" ( + .tSC.configure :limp +5 "storage"($\ 1b +2 (& +3 "core" &K& u l\  +2 "manipulator"&W& +5 "core" &  + .tElbow.seek 6 +2 "manipulator"&$( +33 "core" ( + "manipulator"&;& +4 "core" & b & +2 "storage"(J& +4 "core" &K |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&V'a +100 "core" ' + "storage"(e& +4 "core" &K )\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +269 "core" ' +2 "storage"({- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&% +2 "core" %o /\ +3 ."downElevator"SE.seek :down +4 "storage"(['X +99 (R% +3 "core" %D 1\ Wd + "manipulator"&A% +5 "core" %H  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +87 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(m([ +332 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" &[ } s 0\  +2 "manipulator"&`& +3 "core" & 2 $ +2 .tElbow.seek 7 +2 "manipulator"&i( +3 "core" ( + "manipulator"&q& +4 "core" & $ - $ + "storage"(#& +4 "core" &[ |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&]'w +92 "core" ' +2 "storage"(& +4 "core" &[ \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +274 "core" ' + "storage"(=- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y% +3 "core" %^ =\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (Q% +4 "core" %B |\ Vc +2 "manipulator"&% +4 "core" %~ F ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +33193 "Can"\ 86 +60002 \ 85 +60002 \ 85 +3578 #t-> 5.times {shuffle 2..5; delay 10} +2 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'X& +3 "core" & \ + "manipulator"&% +5 "core" %\    + "storage"(% +4 "core" %T \ + "storage"(b. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(\\( +1601 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & x s\ +2 "manipulator"&D& +3 "core" & $ +2 .tElbow.seek 2 +2 "manipulator"&+( +34 "core" ( + "manipulator"&<& +4 "core" & } D +2 "storage"(H& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +87 "core" ' +2 "storage"(& +4 "core" &  q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &  \ +2 "manipulator"&h& +5 "core" &  D + .tElbow.seek 2 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" &  D + "storage"(O& +4 "core" &  ^\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&j' +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(~'X +8 "core" & , D + "manipulator"&z% +4 "core" %   z +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +155 "core" ( + "manipulator"&& +5 "core" && ] ;5 + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &Z& +3 "core" && %  ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&l'" +98 "core" ' +2 "manipulator"&3& +4 "core" &' ! ;5 +2 "manipulator"&% +4 "core" %, +2 "collection"'& +4 "core" & \ +2 "collection"'|& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"''(V +3 "core" & \ +6 & - \ $c +9 &U \ 7 +10 & \ L +9 &Y \ N +59 &]\\ \ O +3 &!W \ N + &\\ \ N +3 &X \ N + &g] \ N +4 &'\\ \ O + &[ \ N +3 &!Z \ N +10 &#nY \ N +9 &%0^ \ N +9 &&] \ N +10 &(Z \ N +9 &*w\\ \ N +10 &,8] \ N +9 &-] \ N +9 &/Y \ N +10 &1~Z \ N +9 &3AX \ N +9 &5\\ \ N +10 &6Y \ N +9 &8Z \ N +9 &:G] \ O +10 &< _ \ O +9 &=^ \ N +10 &?Z \ N +9 &AP] \ N +9 &C^ \ N +10 &Db \ N +9 &Fk \ P +9 &HOy \ Q +10 &J \ U +9 &K ;\ X +10 &M <\ Y +9 &OB =\ Y +9 &Q \ X +10 &R <\ Z +9 &T >\ Z +9 &V u D\ . +10 &V( G\ O +9 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&91 +3 "core" &V_ \ G +52 1 +2 "manipulator"&>% +4 "core" % , [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +5 "core" &*\ + "manipulator"& % +4 "core" %\  /  +2 "storage"(M% +3 "core" %_ g ] ?\ +2 "storage"(*. +3 "core" .( + "storage"(w& +4 "core" &  _ g j\ +2 "storage"(d& +4 "core" &  f _ D\ + "manipulator"&^& +5 "core" &$ B ;5 + "manipulator"&r% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&U( +155 "core" ( + "manipulator"&4& +4 "core" &  J \ +2 "storage"()& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(g& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(_'i +278 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (.& +3 "core" &  w ~ R\ +2 "manipulator"&2& +3 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&1( +3 "core" ( + "manipulator"&k& +4 "core" &  \ +2 "storage"(& +3 "core" &  b\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!' +21 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &  \ +2 "manipulator"&\ % +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&t'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&%& +7 "core" &y '  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &y b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 "manipulator"&K& +4 "core" &y S  +2 "manipulator"&,% +4 "core" % M  +2 "processing"%E& +4 "core" &a\ +2 "processing"%@& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &5\ +7 &90\ $d +9 &U,\ 7 +10 &~)\ L +9 &^*\ O +9 &Q`4\ O +10 &[0\ N +9 &^4\ N +9 &_+\ N +10 &Y],\ O +9 &]*\ O +10 &`9\ O +9 &!\\(\ N +9 &#a]&\ O +10 &%#_(\ O +9 &&_4\ O +9 &(Z\ O +10 &*j\\\ N +9 &,,\\\ N +10 &-]B\ O +9 &/_*\ O +9 &1q_@\ O +10 &33_Q\ O +9 &4__\ O +9 &6\\\ N +10 &8y\\\ O +9 &::`W\ O +10 &;Z\ O +9 &=Z\ N +9 &?]\ N +10 &AC]\ O +9 &C`\ O +9 &D`\ O +10 &Fe\ O +9 &HDp\ Q +10 &J\ S +9 &K\ U +9 &M\ T +10 &OA\ U +9 &Q\ T +9 &R\ U +10 &T\ U +9 &VG\ U +10 &X \ U +9 &Y{r\ ? +9 &ZH\ A +10 &Zl\ 4 +9 ( + &Z\ , +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&N1 +53 "core" 1 + "manipulator"&% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' +2 "processing"%& +4 "core" &Z\ , + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&(% +4 "core" %\ \ `  + "storage"(y% +4 "core" %b ~ \ + "storage"(". +3 "core" .( +2 "storage"(6& +4 "core" &  } \ +2 "storage"(B& +2 "manipulator"&& +6 "core" &  ~ \ + &y 9  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&C(s + "storage"(c'i +5 "core" ( + "manipulator"&7& +4 "core" &y   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &y `  +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&s/ +64 "core" / +3 .tPC.seek :open + "processing"%v( +82 "core" ' +2 "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +43 "core" ' +295 ( + "storage"(& +4 "core" &  <\ +2 "manipulator"&W& +4 "core" &y :  + "manipulator"&;% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&J'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +245 "core" ( + "manipulator"&& +4 "core" &\ r Y +2 "storage"(/& +4 "core" &  k j y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +87 "core" ' + .tHand.open +2 "manipulator"&&1 +59 "core" 1 +2 "storage"(R- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"([& +4 "core" &  '\ + "manipulator"&n& +4 "core" &\ p X +2 .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&`& +4 "core" & $ y M +2 "storage"(q& +4 "core" &  #\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&$& +4 "core" &  M +2 "storage"(G& +4 "core" &  [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&=' +31 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'i +24 "core" ' + "manipulator"&% +5 "core" %  + "storage"(I& +4 "core" &  < 8 \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&]' +13 "core" ' + "manipulator"&& +5 "core" &\ q M + "storage"(X& +5 "core" &  V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' + "storage"(% +5 "core" %m W\ +2 ."downElevator"SE.seek :down +3 "storage"(b'X +99 (m% +3 "core" %I _ g a\ We +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (<& +4 "core" &  @\ +2 "collection"'H& +4 "core" &V^ \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ # B 9 + "storage"(i% +4 "core" %b  M\ +2 "storage"(. +3 "core" .( + "storage"(u& +4 "core" &   5\ + "storage"(?& +4 "core" &  b\ +2 "manipulator"&h& +3 "core" &\ M M +2 .tElbow.seek 2 +52 "manipulator"&( +10 "core" ( +2 "manipulator"&O& +4 "core" & % 3 + + "storage"(& +4 "core" &   K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +96 "core" ' + "storage"(z& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'i +277 "core" ' +2 "storage"(0- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & + + "storage"(Z& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&j, +40 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(3- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('M +28 "core" ' +2 "manipulator"&% +4 "core" % = + "storage"(}& +4 "core" &  I I \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&~' +15 "core" ' + "manipulator"&S& +5 "core" & B + + "storage"(8& +4 "core" &  z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(>'< +40 "core" ' +2 "manipulator"&x& +4 "core" &  + +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +156 "core" ( + "manipulator"&w& +5 "core" &+ { Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &*  Ac +2 .tForearm.seek CC + "manipulator"&^'" +104 "core" ' + .tHand.close +2 "manipulator"&|/ +58 "core" / +2 .tCC.seek :open + "collection"'r( +417 "core" ( + "storage"(l& +4 "core" &  | 8\ +2 "storage"(4& +3 "core" &   :\ +2 "manipulator"&)& +4 "core" & ( >J + "manipulator"&g% +4 "core" %  B y +2 .tForearm.seek :retract + "manipulator"&T'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&F( +160 "core" ( +2 "manipulator"&a& +4 "core" & L  +2 "storage"(.& +4 "core" &  A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&2' +102 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&:% +5 "core" % / R 3 + "storage"(& +4 "core" &  @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&\ ' +20 "core" ' +2 "manipulator"&U& +23 "core" & V  + "storage"(& +5 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +29 "core" ' + "storage"(!% +4 "core" %A _\ +3 ."downElevator"SE.seek :down +4 "storage"(%'X +99 (5% +3 "core" %C N\ Wc +2 "manipulator"&1% +4 "core" %ї  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"',& +4 "core" & \ +2 "manipulator"&E% +3 "core" %\    +2 "storage"(% +4 "core" %` N\ + "storage"(t. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &# \ \  +2 "manipulator"&& +3 "core" & 8  +2 .tElbow.seek 3 + "manipulator"&( +44 "core" ( + "manipulator"&(& +4 "core" &  Y B +2 "storage"(y& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +93 "core" ' +2 "storage"(6& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" & \  +2 "manipulator"&7& +3 "core" & \\ B +2 .tElbow.seek 3 +2 "manipulator"&o( +24 "core" ( + "manipulator"&& +4 "core" & \\  +2 "storage"(s& +4 "core" & }\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&P'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"( 'X +7 "core" & ,  +2 "manipulator"&c% +3 "core" % Ϡ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&;& +4 "core" &( 6 \ ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &(  ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +2 "manipulator"&/& +4 "core" &) W ?S +2 "manipulator"&C% +4 "core" %, +2 "collection"'&& +4 "core" & \ +2 "collection"'R& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'V(V +3 "core" & \ +6 & \ +9 & . \ #b +10 &V \ 8 +9 &} \ L +9 &W \ N +10 &cZ \ N +9 &%X \ N +10 &Z \ N +9 &Y \ N +9 &k] \ N +10 &-Y \ N +9 &Y \ N +9 &!Y \ N +10 &#tZ \ N +9 &%6Y 8\ N +10 &&W ?\ N +9 &(X @\ N +9 &*|\\ D\ N +10 &,>Y H\ N +9 &.\\ I\ N +9 &/Z ;\ M +10 &1\\ D\ N +9 &3FW ?\ N +10 &5X >\ N +9 &6X <\ N +9 &8[ >\ M +10 &:OY B\ M +9 &<[ E\ N +9 &=Y C\ N +10 &?Z 8\ M +9 &AVY D\ N +10 &CY 9\ N +9 &D_ >\ N +9 &Ff >\ O +10 &HUr C\ Q +9 &J 0\ T +9 &K E\ W +10 &M |\ X +9 &OG =\ X +10 &Q 2\ Y +9 &R >\ Z +9 &T =\ Z +10 &V%u \ / +9 &V$ <\ L +9 ( +3 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open + "manipulator"&[1 +4 "core" &V^ ?\ G +55 1 +2 "manipulator"&n% +4 "core" % , 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%q& +4 "core" &:\ + "manipulator"&J% +4 "core" %\  . D  +2 "storage"($% +3 "core" %b m j \ +2 "storage"(G. +3 "core" .( +2 "storage"(& +4 "core" & k i \  + "storage"(p& +4 "core" & [ \\ T\  +2 "manipulator"&I& +4 "core" &' S >N + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&X( +166 "core" ( +2 "manipulator"&A& +4 "core" & 9 G + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +92 "core" ' +2 "storage"({& +4 "core" & /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +281 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & ~ \  +2 "manipulator"&#& +4 "core" & G +2 .tElbow.seek 3 +49 "manipulator"&L( +5 "core" ( +2 "manipulator"&& +3 "core" &  G +2 "storage"(=& +4 "core" & p\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&]'ϩ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& +9 &ky,\ N +9 &-['\ N +10 &])\ N +9 &_,\ O +10 &q],\ O +9 &4Z%\ N +9 &[%\ O +10 &]\ O +9 & z_4\ N +9 &"<]I\ N +10 &#Z9\ N +9 &%^q\ O +10 &'^Z\ O +9 &)DZ\ N +9 &+Z\ N +10 &,Zv\ N +9 &._\ N +9 &0L]\ N +10 &2]\ N +9 &3]\ N +10 &5_\ N +9 &7T\\\ N +9 &9Z\ N +10 &:X\ N +9 &<\\\ O +9 &>\\\\\ N +10 &@]\ O +9 &A\\\ N +10 &Ca\ N +9 &Edb\ N +9 &G!n\ P +10 &H}\ R +9 &J\ T +9 &L[\ T +10 &N\ S +9 &O\ T +9 &Q\ T +10 &Sb\ T +9 &U#\ U +10 &V\ U +9 &X\ U +9 &Zd\ &v +10 &Zc\ 3 +9 ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&Y1 +3 "core" &Z\ - +57 1 +2 "manipulator"&D% +4 "core" %  $ l [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' + "processing"%& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Z% +4 "core" %\ # ? +2 "storage"(3% +4 "core" %T i i \ + "storage"(. +3 "core" .( +2 "storage"(}& +4 "core" & i j \  +2 "storage"(S& +2 "manipulator"&8& +6 "core" & i i \  + &r  C  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&x(s + "storage"( 'i +5 "core" ( +2 "manipulator"&f& +4 "core" &r  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r  +2 .tForearm.seek PC + "manipulator"&+' +101 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +3 .tPC.seek :open + "processing"%~( +90 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'y +43 "core" ' +294 ( + "storage"(d& +4 "core" & ~ \  +2 "manipulator"&9& +4 "core" &r   + "manipulator"&j% +4 "core" % Z +2 .tForearm.seek :retract + "manipulator"&|'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&M( +265 "core" ( +2 "manipulator"&'& +4 "core" & 3 | + "storage"(l& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&4'9 +94 "core" ' + .tHand.open + "manipulator"&)1 +62 "core" 1 +2 "storage"(g- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(a'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(.' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(*& +4 "core" & "\  + "manipulator"&& +4 "core" & v | +2 .tElbow.seek 3 + "manipulator"&:( +8 "core" ( + "manipulator"&& +5 "core" & Y u + "storage"(U& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +14 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(!' +55 "core" ' +2 "manipulator"&T& +4 "core" & N u +2 "storage"(5& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&1'} +28 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +25 "core" ' +2 "manipulator"&\ % +4 "core" %· o +2 "storage"(,& +4 "core" & m k \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&E'ϳ +12 "core" ' +2 "manipulator"&& +4 "core" & D u +2 "storage"(t& +4 "core" & n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +29 "core" ' + "storage"(_% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(%'X +98 (\\% +3 "core" %D s n \ Wc +2 "manipulator"&N% +4 "core" %3 ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ((& +4 "core" & { | \  +2 "collection"'y& +4 "core" &V] 5\ G + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&6% +4 "core" %\ # M A +2 "storage"(k% +3 "core" %a T\ +2 "storage"(K. +3 "core" .( + "storage"(B& +4 "core" & v\  +2 "storage"(@& +4 "core" & ~\  + "manipulator"&7& +4 "core" & u +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&s& +4 "core" & } u + "storage"(& +4 "core" & y z @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +88 "core" ' +2 "storage"(c& +4 "core" & )\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' +2 "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&;& +3 "core" &  u +2 "storage"( & +3 "core" & P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(C'T +31 "core" ' +2 "manipulator"&&% +4 "core" %Ί + "storage"(o& +4 "core" & } \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"& '϶ +20 "core" ' + "manipulator"&& +4 "core" & 8 u +2 "storage"(r& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'C +40 "core" ' +2 "manipulator"&q& +4 "core" & $ u + "manipulator"&J% +5 "core" %4 / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +96 "core" ' + .tElbow.seek CC +51 "manipulator"&G( +172 "core" ( +2 "manipulator"&& +4 "core" & # < / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" & : / +2 .tForearm.seek CC + "manipulator"&R'" +90 "core" ' +2 .tHand.close + "manipulator"&I/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" & 3\  + "storage"(A& +4 "core" & x\  +2 "manipulator"&& +3 "core" & / +2 "manipulator"&{% +3 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +154 "core" ( + "manipulator"&m& +5 "core" & f  + "storage"(& +4 "core" & i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&#'} +102 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +58 "core" 1 +2 "manipulator"&<% +5 "core" % Έ % + "storage"(H& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&i'ϴ +16 "core" ' +4 "manipulator"&X& +4 "core" & [  + "storage"(e& +4 "core" & s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +23 "core" ' + "storage"(]% +5 "core" %J Q\ +2 ."downElevator"SE.seek :down +4 "storage"(u'X +98 (?% +3 "core" %E q\ Vb +2 "manipulator"&L% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %^ d\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(v(,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" &,m M\  +2 "manipulator"&D& +3 "core" & {  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Z& +4 "core" &  + "storage"(3& +4 "core" &,j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +97 "core" ' + "storage"(}& +5 "core" &,j\  *\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +277 "core" ' +2 "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &,j W\  + "manipulator"&f& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&h& +4 "core" &   + "storage"(& +4 "core" &,j U\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(b'X +7 "core" &   +2 "manipulator"& % +4 "core" % /   +2 .tForearm.seek :retract + "manipulator"&d'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +156 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&j& +4 "core" &&  s =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" && u =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''" +99 "core" ' +3 "manipulator"&l& +4 "core" &&  =B +2 "manipulator"&x% +4 "core" %$  +2 "collection"')& +4 "core" & \ +2 "collection"'g& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'^(V +4 "core" & \  +9 &0{ \ *y +9 &c \ > +9 &tt \ N +10 &6X \ N +9 &\\ \ N +9 &[ +\ M +10 &|W \ \ N +9 &>Z \ N +10 &[ ,\ N +9 &[ ?\ M +9 & Y G\ N +10 &"F\\ B\ N +9 &$\\ A\ N +9 &%W H\ N +10 &'U H\ N +9 &)NU A\ N +9 &+Z :\ N +10 &,Z =\ N +9 &.Z A\ N +10 &0WZ @\ M +9 &2W B\ M +9 &3W <\ N +10 &5U C\ M +9 &7_W C\ M +9 &9 Z 9\ N +10 &:Z 9\ N +9 &<Z 7\ N +10 &>f[ :\ N +9 &@([ =\ N +9 &A[ 1\ N +10 &C] \ N +9 &El_ \ N +9 &G*h \ P +10 &Hx \ Q +9 &J >\ U +10 &LW .\ X +9 &N C\ X +9 &O 4\ Y +10 &Q |\ Y +9 &SZ <\ Z +9 &U =\ Z +10 &VfC T\ 1 +9 &Vr ;\ H +6 ( + "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&*1 +3 "core" &Vl \ H +53 1 +2 "manipulator"&% +4 "core" % $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%U& +4 "core" &.\ +2 "manipulator"&|% +3 "core" %\ \   +2 "storage"(T% +4 "core" %T ~ s x\ + "storage"(5. +3 "core" .(,l +2 "storage"(w& +3 "core" &,j f ] 4\  +2 "storage"(\ & +4 "core" &,j _ \\ A\  + "manipulator"&,& +4 "core" && > =B +2 "manipulator"&a% +4 "core" %\ \ .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&t& +4 "core" & 0 l + "storage"(_& +4 "core" &,j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&M'Ѽ +86 "core" ' + "storage"(4& +5 "core" &,j \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'i +287 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &,j  \  + "manipulator"&& +4 "core" & $ l +2 .tElbow.seek 4 + "manipulator"&:( +3 "core" ( +2 "manipulator"&!& +4 "core" & # [ l + "storage"(1& +4 "core" &,j  1\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&E', +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(6'X +7 "core" & l +2 "manipulator"&k% +4 "core" % % C P +2 .tForearm.seek :retract + "manipulator"&2'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&B& +4 "core" &h ( z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &i j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7' +97 "core" ' + "manipulator"&s& +5 "core" &i ^ + "manipulator"&% +4 "core" % \ +2 "processing"%>& +4 "core" &^\ +2 "processing"%c& +4 "core" &'\ +3 .tPC.seek :closed + "processing"%%(Z +4 "core" &!\  +9 &1\ *x +9 &b*\ > +9 &ny!\ N +10 &/Y\ N +9 &Y\ N +9 &Z\ N +10 &u^J\ N +9 &7]&\ N +9 &_\ N +10 &\\t\ O +9 & |\\5\ O +10 &">[\ O +9 &$ZK\ N +9 &%Z5\ N +10 &'`\ N +9 &)H]\ N +9 &+ \\G\ N +10 &,W\ N +9 &.\\\ N +10 &0O[\ N +9 &2[\ O +9 &3\\\ N +10 &5]\ N +9 &7W\\\ N +9 &9Z\ O +10 &:Y\ N +9 &<Z\ O +10 &>`Y\ N +9 &@!\\\ N +9 &A]\ N +10 &C`\ O +9 &Eee\ O +9 &G"p\ Q +10 &H\ S +9 &J\ T +10 &L]\ T +9 &N \ T +9 &O\ T +10 &Q\ U +9 &Sd\ U +9 &U&\ U +10 &V\ U +9 &X\ U +10 &Zb\ %r +9 &Z_\ / +9 ( +3 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +52 "manipulator"&F1 +4 "core" &Z!\ + +59 1 + "manipulator"&% +4 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +91 "core" ' +2 "processing"%;& +4 "core" &Z!\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\  t  +2 "storage"(/% +4 "core" %b ` f s\ + "storage"(&. +3 "core" .(,l +2 "storage"(o& +4 "core" &,j j i \  +2 "storage"(& +2 "manipulator"&r& +7 "core" &,j i i \  + &i H +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&q(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'i +3 "core" ( + "manipulator"&-& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i : +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"% ( +86 "core" ' +2 "storage"(C- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +44 "core" ' +295 ( +2 "storage"(& +3 "core" &,j n\  +2 "manipulator"&p& +4 "core" &i +2 "manipulator"&P% +4 "core" % X +2 .tForearm.seek :retract + "manipulator"&I'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&$( +256 "core" ( +2 "manipulator"&V& +4 "core" & # 9  +2 "storage"(& +3 "core" &,j ] a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +99 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"({- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(m'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"(G& +4 "core" &,j b\  +2 "manipulator"&=& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&<( +7 "core" ( +2 "manipulator"&H& +4 "core" & v z +2 "storage"(X& +4 "core" &,j \  +2 .tForearm.seek 4 + 700 counts + "manipulator"&e'Ѽ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(]' +61 "core" ' + "manipulator"&W& +5 "core" & s z + "storage"(?& +4 "core" &,j  y :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&L' +30 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +25 "core" ' + "manipulator"&% +5 "core" % t + "storage"(i& +4 "core" &,j H G \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&'> +19 "core" ' +2 "manipulator"&& +4 "core" & + +2 "storage"(& +4 "core" &,j  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +29 "core" ' +2 "storage"( % +4 "core" %s \ +3 ."downElevator"SE.seek :down +4 "storage"(u'X +99 ( % +3 "core" %E k c p\ Xe +2 "manipulator"&Y% +4 "core" %ѯ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +4 "core" &,j N\  + "collection"'3& +4 "core" &Vk X\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&}% +4 "core" %\   +2 "storage"(% +3 "core" %S \ +2 "storage"(O. +3 "core" .(,l +2 "storage"(8& +4 "core" &,j \  + "storage"(S& +4 "core" &,j \  +2 "manipulator"&f& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&& +4 "core" & i +2 "storage"(Q& +3 "core" &,j r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&0'Ѽ +85 "core" ' +2 "storage"( & +4 "core" &,j r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" &  +2 "storage"(+& +3 "core" &,j } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z' +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(x'W +28 "core" ' + "manipulator"&)% +5 "core" %  + "storage"(& +4 "core" &,j I H \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&b'8 +18 "core" ' + "manipulator"&d& +5 "core" & |  + "storage"(& +4 "core" &,j z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&*'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +45 "core" ' + "manipulator"&U& +5 "core" & ^  + "manipulator"&|% +4 "core" %ј  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +166 "core" ( +3 "manipulator"&w& +4 "core" & - ) / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" & / +2 .tForearm.seek CC + "manipulator"&\ '" +94 "core" ' + .tHand.close +2 "manipulator"&,/ +63 "core" / + .tCC.seek :open +2 "collection"'a( +416 "core" ( +2 "storage"('& +4 "core" &,j \ \  + "storage"(t& +4 "core" &,j 8\  +2 "manipulator"&_& +4 "core" &  / + "manipulator"&4% +4 "core" % & 7 +2 .tForearm.seek :retract +2 "manipulator"&9'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +151 "core" ( +2 "manipulator"&\\& +4 "core" &   +2 "storage"(N& +3 "core" &,j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +108 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +63 "core" 1 +2 "manipulator"&(% +4 "core" %   +2 "storage"(y& +4 "core" &,j \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&k'7 +19 "core" ' + "manipulator"&& +4 "core" & *  +2 "storage"(M& +4 "core" &,j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&.'Ѽ +17 "core" ' + "storage"(E% +4 "core" %N i\ +2 ."downElevator"SE.seek :down +4 "storage"(B'X +99 (@% +2 "core" %D I\ Vb +2 "manipulator"&:% +52 "core" %ѷ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ' + #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&>% +4 "core" %\ " & B +2 "storage"(6% +4 "core" %a \ + "storage"(2. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(~(<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &<) \  +2 "manipulator"&& +3 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&;& +4 "core" & $ {  + "storage"( & +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&/'ы +88 "core" ' +2 "storage"(&& +4 "core" &<& \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<& \  + "manipulator"&-& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&7& +4 "core" & d  + "storage"(& +4 "core" &<& C\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&C' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(%'X +7 "core" &   +2 "manipulator"&J% +4 "core" %  H +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&p( +159 "core" ( +3 "manipulator"&P& +3 "core" ' +2 &+  A_ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &+  F A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&V'" +94 "core" ' +2 "manipulator"&& +4 "core" &+ . A_ +2 "manipulator"&q% +4 "core" %#  +2 "collection"'& +4 "core" & \ +2 "collection"'{& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(V +4 "core" & \ +7 &6 \ #c +10 &V %\ 7 +9 & \ L +9 &W \ M +10 &eZ \ N +9 &)U 0\ M +9 &\\ D\ M +10 &Z =\ M +9 &nZ E\ M +10 &0V H\ M +9 &Z >\ M +9 &!W F\ M +10 &#vW B\ M +9 &%8V I\ M +9 &&U I\ M +10 &(T A\ M +9 &*~Z B\ M +10 &,@Z <\ M +9 &.X :\ M +9 &/T 0\ M +10 &1X 8\ M +9 &3HY <\ M +9 &5\ U <\ M +10 &6U ;\ N +9 &8U 9\ N +10 &:OW 8\ N +9 &<X >\ M +9 &=W =\ M +10 &?Z \ N +9 &AWX 3\ N +9 &CU 9\ N +10 &D\\ <\ N +9 &Fe 8\ O +10 &HWq ;\ P +9 &J =\ S +9 &K 9\ V +10 &M =\ Y +9 &OG <\ Y +9 &Q =\ Y +10 &R 9\ Y +9 &T 9\ Z +9 &V'u :\ . +10 &V& V\ N +9 ( +3 "collection"'{& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&G1 +3 "core" &Vj 9\ H +55 1 + "manipulator"&=% +5 "core" % $ 3   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%X& +4 "core" &j\ +2 "manipulator"&I% +3 "core" %\   +2 "storage"(W% +4 "core" %T i i \ + "storage"(?. +3 "core" .(<* +2 "storage"([& +3 "core" &<& t c F\  +2 "storage"(& +3 "core" &<& X e\  +2 "manipulator"&i& +4 "core" &) @Z + "manipulator"&m% +5 "core" %\  v  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +158 "core" ( + "manipulator"&& +4 "core" &  o  +2 "storage"( & +4 "core" &<& { { ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&$'ы +98 "core" ' + "storage"(A& +5 "core" &<& \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" &<&  \  + "manipulator"&e& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&<( +3 "core" ( +2 "manipulator"&]& +4 "core" &   + "storage"(L& +4 "core" &<& t\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(}'X +7 "core" &   +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&#'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&O(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&8& +4 "core" &l ' d  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &l %  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f' +104 "core" ' +2 "manipulator"&& +4 "core" &l M  +2 "manipulator"&Q% +4 "core" % 1 g +2 "processing"%n& +4 "core" &Q\ +2 "processing"% & +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%u(Z +4 "core" & \ +7 &9\ $d +9 &T\ 7 +10 &\ L +9 &]\ N +9 &ZZF\ N +10 &[\ N +9 &Y\ N +10 &Zj\ N +9 &a^F\ N +9 &#[\ N +10 &_k\ N +9 &![\ N +9 &#i]M\ N +10 &%+Z\ N +9 &&Z\ N +10 &(Y\ N +9 &*q\\\ N +9 &,3\\\ N +10 &-]\ O +9 &/Z\ N +9 &1yZ\ N +10 &3;Z\ N +9 &4Y\ O +10 &6Z\ N +9 &8Y\ N +9 &:C\\\ N +10 &<Z\ N +9 &=Y\ N +9 &?Z\ N +10 &ALV\ N +9 &C \\\ N +10 &D_\ N +9 &Fh\ P +9 &HHz\ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OK\ T +9 &Q \ T +10 &R\ T +9 &T\ T +9 &VQ\ T +10 &X\ U +9 &Y|o\ 8 +9 &Z0\ I +10 &Z\ ( +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&`1 +59 "core" 1 +2 "manipulator"&D% +4 "core" %   = g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%j& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&+% +4 "core" %\  t  + "storage"(l% +4 "core" %a s } u\ + "storage"(). +3 "core" .(<* +2 "storage"(& +4 "core" &<& v o \  +2 "storage"(d& +3 "manipulator"&& +5 "core" &<& j _ Y\  + &l h  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&U(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'i +2 "core" ( +2 "manipulator"&0& +4 "core" &l m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &l i  +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&z/ +53 "core" / + .tPC.seek :open +2 "processing"%b( +95 "core" ' + "storage"(x- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'y +42 "core" ' +287 ( + "storage"(g& +4 "core" &<& m { o\  +2 "manipulator"&*& +3 "core" &l   +2 "manipulator"&% +4 "core" % A \ + .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&T( +261 "core" ( + "manipulator"&^& +4 "core" & $ =  +2 "storage"('& +53 "core" &<& } \  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&t'ы +97 "core" ' + .tHand.open + "manipulator"&_1 +56 "core" 1 + "storage"(4- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(N' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +4 "core" -' + "storage"(5& +4 "core" &<& :\  +2 "manipulator"&1& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&y& +4 "core" & #  + "storage"(& +4 "core" &<& \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&M'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +59 "core" ' + "manipulator"&9& +5 "core" & @  + "storage"(@& +4 "core" &<& \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&:' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" % ! +2 "storage"(k& +4 "core" &<& P G \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&>' +12 "core" ' +2 "manipulator"&6& +4 "core" & r  +2 "storage"(2& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +26 "core" ' +2 "storage"(.% +4 "core" %s O\ +3 ."downElevator"SE.seek :down +4 "storage"(B'X +99 (v% +3 "core" %C g ^ q\ Wc +2 "manipulator"&F% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" &<& 9\  +2 "collection"' & +4 "core" &Vk \ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&&% +4 "core" %\ % . C +2 "storage"(!% +4 "core" %W  \ + "storage"(s. +3 "core" .(<* +2 "storage"(& +3 "core" &<& } \  +2 "storage"(r& +4 "core" &<& \  + "manipulator"&-& +4 "core" & 9  +2 .tElbow.seek 5 + "manipulator"&7( +4 "core" ( + "manipulator"&& +4 "core" & "   + "storage"(K& +4 "core" &<& }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&"'ы +97 "core" ' +2 "storage"(J& +4 "core" &<& \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'i +284 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & P  + "storage"(& +4 "core" &<&  j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&o' +32 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(q'Y +39 "core" ' + "manipulator"&% +4 "core" % S +2 "storage"(& +3 "core" &<& ) ' C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&%' +12 "core" ' +2 "manipulator"&& +4 "core" & N  + "storage"(a& +4 "core" &<& y !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&G'ы +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(='H +41 "core" ' +2 "manipulator"&X& +4 "core" & o  + "manipulator"&I% +5 "core" %ь  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&?( +156 "core" ( +2 "manipulator"&[& +4 "core" && 5 A =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && [ =F +2 .tForearm.seek CC + "manipulator"&{'" +96 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tCC.seek :open + "collection"'m( +417 "core" ( + "storage"(V& +4 "core" &<& \  +2 "storage"(& +3 "core" &<& J\  +2 "manipulator"& & +4 "core" &%  X <; + "manipulator"&A% +4 "core" % (  +2 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +154 "core" ( +2 "manipulator"& & +4 "core" & l  +2 "storage"(Y& +3 "core" &<& \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&e' +106 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +62 "core" 1 +2 "manipulator"&Z% +4 "core" %  +2 "storage"(3& +3 "core" &<& y  M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&' +16 "core" ' +3 "manipulator"&& +4 "core" & E  +2 "storage"($& +3 "core" &<& ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +28 "core" ' + "storage"(% +5 "core" %J .\ +2 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (S% +4 "core" %A S\ Wb + "manipulator"&<% +4 "core" %э h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'Q& +3 "core" & <\ +2 "manipulator"&n% +3 "core" %\ " B +2 "storage"(}% +3 "core" %\\ `\ +2 "storage"(#. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +965 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" & \ +2 "manipulator"&D& +3 "core" & [  +2 .tElbow.seek 2 +2 "manipulator"&j( +33 "core" ( +2 "manipulator"&+& +4 "core" & / ( + "storage"(l& +4 "core" & 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&)'ќ +97 "core" ' + "storage"(& +5 "core" & 5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +290 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ,\ +2 "manipulator"&0& +3 "core" &  "~ +2 .tElbow.seek 2 +2 "manipulator"&h( +30 "core" ( + "manipulator"&f& +4 "core" & o ] +2 "storage"(z& +4 "core" & H\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&x' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(u'X +55 "core" &  ] +3 "manipulator"&|% +4 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +95 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +66 "core" ( + "manipulator"&& +4 "core" &+ = I Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'" +94 "core" ' +2 "manipulator"&'& +4 "core" &+ 3 [ Ae +2 "manipulator"&U% +4 "core" %'  A  +2 "collection"'_& +4 "core" & \ +2 "collection"'4& +5 "core" & \ +3 .tCC.seek :closed + "collection"'\ (V +5 "core" & \ +7 &4 \ $d +9 &U} \ 7 +10 &| \ L +9 &V \ M +9 &_Z \ N +10 &"V A\ M +9 &W ?\ M +9 &W D\ N +10 &hY @\ M +9 &*U H\ M +10 &V J\ M +9 &!Z B\ M +9 &#oU I\ N +10 &%1Z H\ N +9 &&W @\ M +9 &(S H\ N +10 &*wW @\ N +9 &,9W G\ N +10 &-S C\ M +9 &/Y >\ M +9 &1W @\ M +10 &3BY =\ M +9 &5Y >\ M +9 &6Y >\ M +10 &8X ?\ M +9 &:JY =\ M +10 &< X 8\ M +9 &=U 2\ N +9 &?Y @\ M +10 &AQY ~\ N +9 &CX =\ N +9 &DZ \ N +10 &Fe D\ O +9 &HQq {\ P +10 &J \ T +9 &K Y\ W +9 &M \ X +10 &OB 8\ X +9 &Q T\ Y +9 &R ~\ Z +10 &T \ Z +9 &Vu \ . +9 &V) L\ R +9 ( +2 &Vf \ G +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open + "manipulator"&51 +52 "core" 1 +3 "manipulator"&1% +5 "core" % ' A  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &O\ + "manipulator"&,% +4 "core" %\  5  +2 "storage"(9% +4 "core" %a i i \ + "storage"(@. +4 "core" .( + "storage"(w& +4 "core" & h i \ + "storage"(& +4 "core" & g i \ +2 "manipulator"&k& +4 "core" &* k Ae + "manipulator"&6% +5 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\\( +157 "core" ( +2 "manipulator"&2& +4 "core" & 2  +2 "storage"(.& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +94 "core" ' +2 "storage"(t& +4 "core" & X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +284 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" & o _ E\ + "manipulator"&M& +4 "core" & {  +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( + "manipulator"&E& +4 "core" & <  + "storage"(:& +4 "core" & [\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&>' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(&'X +7 "core" &   +2 "manipulator"&% +4 "core" %  : { +2 .tForearm.seek :retract + "manipulator"&!'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&s(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&& +5 "core" &w "  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &w w  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-' +97 "core" ' + "manipulator"&& +4 "core" &w #   +2 "manipulator"&K% +4 "core" % & +2 "processing"%& +4 "core" &\ +2 "processing"%J& +5 "core" &X\ +2 .tPC.seek :closed +2 "processing"%B(Z +4 "core" & \  +9 &0{\ *y +9 &d\ ? +9 &ry\ O +10 &7Y\ N +9 &\\\ N +9 &\\"\ N +10 &|\\A\ N +9 &>[o\ N +10 &\\\ N +9 &\\\ N +9 & Z\ N +10 &"F\\\ N +9 &$Z\ N +9 &%\\\ N +10 &']\ O +9 &)N\\\ N +10 &+[\ N +9 &,[\ N +9 &.\\\ N +10 &0V\\\ N +9 &2\\\ N +9 &3Z\ N +10 &5[\ N +9 &7_Z\ N +10 &9!Z\ N +9 &:Z\ N +9 &<Z\ N +10 &>fZ\ N +9 &@(\\\ N +9 &AY\ N +10 &C[\ N +9 &ElZ\ O +10 &G-d\ O +9 &Hs\ Q +9 &J\ T +10 &Ld\ T +9 &N&\ T +9 &O\ T +10 &Q\ U +9 &Sj\ U +10 &U,\ U +9 &V\ U +9 &X\ U +10 &Z_\ "k +9 &Z^\ / +9 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&1 +4 "core" &Z\ * +60 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' +2 "processing"%P& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ % I +2 "storage"(% +3 "core" %_ j i \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & i h a\ +2 "storage"(& +2 "manipulator"&a& +7 "core" & \\ \\ <\ + &w ?  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&X(s "storage"(I'i +5 "core" ( +2 "manipulator"&"& +4 "core" &w   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &w Q  +2 .tForearm.seek PC +2 "manipulator"&c' +94 "core" ' + .tHand.close + "manipulator"&o/ +57 "core" / +2 .tPC.seek :open + "processing"%%( +91 "core" ' + "storage"(q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +43 "core" ' +290 ( + "storage"(& +5 "core" & | f {\ + "manipulator"&G& +4 "core" &w &  + "manipulator"&C% +4 "core" % T +2 .tForearm.seek :retract + "manipulator"&i'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +249 "core" ( + "manipulator"&R& +5 "core" & $ P ! + "storage"(V& +4 "core" & j j c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +105 "core" ' + .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "storage"(A- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(Y' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(?& +4 "core" & \ +2 "manipulator"&L& +4 "core" & " ! + .tElbow.seek 2 +2 "manipulator"&Z( +25 "core" ( + "manipulator"&3& +4 "core" &  +2 "storage"(& +3 "core" & S\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&p& +5 "core" & L  + "storage"(S& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&<' +23 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'i +23 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(=& +4 "core" & ~\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&8& +4 "core" &  +2 "storage"(Q& +55 "core" & w v \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +28 "core" ' + "storage"(}% +86 "core" %r O\ +2 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (~% +3 "core" %G l q x\ We +2 "manipulator"&`% +5 "core" %ђ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (+& +4 "core" & I\ +2 "collection"'l& +4 "core" &Ve \ G + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\    + "storage"(]% +4 "core" %T \ +2 "storage"(. +3 "core" .( +2 "storage"(d& +4 "core" & j\ + "storage"( & +4 "core" & k\ + "manipulator"&0& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&z& +4 "core" & k  + "storage"(O& +4 "core" & i\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +87 "core" ' + "storage"(|& +5 "core" & *\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +283 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(& +4 "core" & S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(U'M +39 "core" ' +2 "manipulator"&_% +4 "core" % + "storage"(h& +4 "core" & S R M\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&u' +15 "core" ' +2 "manipulator"&g& +4 "core" & (  + "storage"(m& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(1'< +45 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&,% +4 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +158 "core" ( +2 "manipulator"&w& +4 "core" && T =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &%  =F +2 .tForearm.seek CC + "manipulator"&4'" +93 "core" ' + .tHand.close +2 "manipulator"&k/ +51 "core" / +2 .tCC.seek :open +2 "collection"'6( +416 "core" ( +2 "storage"(^& +4 "core" & j\ +2 "storage"(2& +3 "core" & \ +2 "manipulator"&.& +4 "core" && =F + "manipulator"&t% +4 "core" % 2  n +2 .tForearm.seek :retract + "manipulator"&*'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&y( +155 "core" ( + "manipulator"&v& +5 "core" &  + "storage"(F& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&M' +96 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +60 "core" 1 +2 "manipulator"&;% +5 "core" % i u + "storage"( & +4 "core" & f\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts + "manipulator"&' +20 "core" ' +3 "manipulator"&\\& +4 "core" & :  + "storage"(T& +4 "core" & F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +16 "core" ' +2 "storage"(>% +4 "core" %> S\ +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (r% +3 "core" %E :\ Vb +3 "manipulator"&(% +4 "core" %у +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'K& +4 "core" & \ +2 "manipulator"&% +4 "core" %\   +2 "storage"(&% +4 "core" %a V\ + "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(b( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  ~ #\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&P( +17 "core" ( + "manipulator"&& +5 "core" &  c + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' + "storage"(J& +5 "core" & w\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"('i +284 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & T\  +2 "manipulator"&"& +4 "core" & S c + .tElbow.seek 3 +2 "manipulator"&7( +4 "core" ( + "manipulator"&-& +4 "core" & I c +2 "storage"(o& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&q'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& + "storage"(B'X +7 "core" & L c + "manipulator"&I% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&G( +158 "core" ( + "manipulator"&C& +4 "core" &( @ ?T +2 ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &c& +3 "core" &(  ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +95 "core" ' + "manipulator"&V& +4 "core" &( ( ?T +2 "manipulator"&X% +4 "core" %% X +2 "collection"' & +4 "core" & \ +2 "collection"'A& +6 "core" & A\ +2 .tCC.seek :closed +4 "collection"'{(V +3 "core" & A\ +5 & D\ 5 +9 &>Gx A\ 0 +10 &gr G\ D +9 &b \ N +10 &W C\ M +9 &Y =\ M +9 &QV >\ M +10 &X <\ N +9 &W I\ M +9 &Y M\ M +10 &XX B\ M +9 &!Y ;\ M +10 &"Y <\ N +9 &$Y 9\ N +9 &&`W 9\ M +10 &(#T C\ M +9 &)U >\ M +9 &+T =\ M +10 &-hW @\ M +9 &/*T :\ M +10 &0Y \ M +9 &2W >\ N +9 &4pW <\ M +10 &61W =\ N +9 &7W \ M +9 &9V \ M +10 &;xV \ M +9 &=;W \ M +10 &>W ;\ N +9 &@X \ M +9 &BT \ M +10 &DBW W\ M +9 &F` 9\ N +9 &Gm :\ P +10 &I|| {\ Q +9 &K/ K\ W +10 &L X\ X +9 &N T\ Y +9 &Pp 4\ X +10 &R0 9\ Y +9 &S z\ Z +9 &U \ G +10 &V5 \ &r +9 &V^ <\ H +2 ( +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&?1 +54 "core" 1 + "manipulator"&L% +4 "core" % % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i'\ +95 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%3& +4 "core" &\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(p% +4 "core" %a k l \ + "storage"(S. +3 "core" .( +50 "storage"([& +5 "core" & j k \  +2 "storage"(& +4 "core" & j l \  +2 "manipulator"&=& +4 "core" &( 0 ?S + "manipulator"& % +4 "core" %\  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8( +163 "core" ( +2 "manipulator"&Q& +4 "core" & u p +2 "storage"(W& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' +2 "storage"(Y& +4 "core" & D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +282 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +2 "core" & y \ \  +2 "manipulator"&& +4 "core" &  p +2 .tElbow.seek 3 + "manipulator"&<( +3 "core" ( +2 "manipulator"&~& +4 "core" & # p + "storage"(`& +4 "core" & k\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&l& +3 "storage"('X +6 "core" &  p + "manipulator"&]% +4 "core" % Ͽ ^ M +2 .tForearm.seek :retract +2 "manipulator"&e'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&d& +5 "core" &o #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &o z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +105 "core" ' +2 "manipulator"&z& +4 "core" &o +2 "manipulator"&O% +4 "core" % f _ +2 "processing"%n& +4 "core" &O\ +2 "processing"%|& +6 "core" &-\ +2 .tPC.seek :closed +3 "processing"%#(Z +3 "core" &C\ +6 &+\ 5 +9 &BH{B\ 0 +10 &iqC\ D +9 &j>\ N +9 &Z,\ N +10 &Z\ N +9 &N[\ N +9 &ZI\ N +10 &\\@\ N +9 &Z6\ N +10 &WZ\ N +9 &!Z\ N +9 &"Z\ N +10 &$Y\ N +9 &&^U\ N +9 &(Y\ N +10 &)[\ N +9 &+Y\ N +10 &-fV\ N +9 &/'Y\ N +9 &0W\ N +10 &2Y\ N +9 &4nY\ N +9 &60W\ N +10 &7Y\ N +9 &9Z\ N +10 &;uY\ N +9 &=7Y\ N +9 &>X\ N +10 &@Z\ N +9 &B~Y\ N +9 &D>\\\ O +10 &F`\ O +9 &Gq\ Q +10 &Iw\ S +9 &K6\ T +9 &L\ T +10 &N\ T +9 &P{\ T +9 &R=\ T +10 &S\ U +9 &U\ T +10 &W\ U +9 &YC\ B +9 &Z[<g\ %m +10 &Z(\ ) +5 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&H1 +4 "core" &Z\ ) +57 1 +2 "manipulator"&D% +4 "core" %   F _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\  5  + "storage"('% +4 "core" %b _ h W\ +2 "storage"(_. +3 "core" .( + "storage"(h& +4 "core" & g ^ \  +2 "storage"(g& +2 "manipulator"&m& +7 "core" & k j i\  + &o  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'i +2 "core" ( +2 "manipulator"&& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &o / +2 .tForearm.seek PC + "manipulator"&j' +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +3 .tPC.seek :open + "processing"%u( +88 "core" ' +2 "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +44 "core" ' +290 ( +2 "storage"(& +4 "core" & ~ \  + "manipulator"&5& +4 "core" &o +2 "manipulator"&x% +3 "core" % F +2 .tForearm.seek :retract +2 "manipulator"&k'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +261 "core" ( +2 "manipulator"&\ & +4 "core" & n  +2 "storage"(^& +3 "core" & { z u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +105 "core" ' +2 .tHand.open + "manipulator"&.1 +57 "core" 1 +2 "storage"(t- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(v'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(F' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' + "storage"(@& +4 "core" & 1\  +2 "manipulator"&:& +3 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"& & +4 "core" &  V  + "storage"(\\& +4 "core" & c\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +55 "core" ' +2 "manipulator"&*& +4 "core" &   +2 "storage"(r& +4 "core" & z /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +19 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(M'i +27 "core" ' +2 "manipulator"&K% +4 "core" %Ί 0 +2 "storage"(& +4 "core" & ~ 1\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +25 "core" ' + "manipulator"&&& +5 "core" &   +2 "storage"(!& +4 "core" & D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&1'9 +33 "core" ' +2 "storage"(N% +4 "core" %l s\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +2 "core" %E k k {\ We +2 "manipulator"&% +4 "core" %) o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & {\  +2 "collection"'& +4 "core" &Va \ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&J% +4 "core" %\ "  A + "storage"(E% +4 "core" %T v v t\ +2 "storage"(. +3 "core" .( +2 "storage"(a& +4 "core" &  y [\  + "storage"(& +4 "core" & v v o\  +2 "manipulator"&"& +3 "core" & +  +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&o& +4 "core" &   + "storage"(s& +4 "core" & w |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +97 "core" ' + "storage"(I& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & 8  +2 "storage"(c& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 "storage"(V- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(X'S +30 "core" ' +2 "manipulator"& % +4 "core" %Έ +2 "storage"(7& +4 "core" & W O )\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&B'ϴ +24 "core" ' + "manipulator"&& +4 "core" & s  +2 "storage"(6& +4 "core" & s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +16 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(L'B +38 "core" ' + "manipulator"&3& +5 "core" &   + "manipulator"&% +4 "core" %A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&S( +156 "core" ( + "manipulator"&[& +5 "core" && n =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" && Y =C +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&=/ +63 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( + "storage"(R& +4 "core" & P\  +2 "storage"(Q& +4 "core" & B\  + "manipulator"&W& +4 "core" && L =A + "manipulator"&Y% +5 "core" % 0 + .tForearm.seek :retract +2 "manipulator"&G'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +157 "core" ( +2 "manipulator"&$& +4 "core" & B  +2 "storage"(Z& +4 "core" & :\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'} +97 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&`1 +56 "core" 1 +2 "manipulator"&+% +4 "core" % Ό $ + "storage"(l& +5 "core" & K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&]'ϸ +27 "core" ' +2 "manipulator"&8& +5 "core" & S  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +18 "core" ' + "storage"(% +4 "core" %G W\ +3 ."downElevator"SE.seek :down +4 "storage"(d'X +99 ( % +3 "core" %PD J\ Vb +2 "manipulator"&<% +4 "core" %; + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'O& +4 "core" & \ +2 "manipulator"&n% +4 "core" %\   +2 "storage"(% +4 "core" %T ^\ + "storage"(e. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(%(,l +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" &,k f\  + "manipulator"&D& +4 "core" & -  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & E  + "storage"('& +4 "core" &,h O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&_'Ѽ +94 "core" ' + "storage"(h& +5 "core" &,h \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +285 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (|& +3 "core" &,h \  + "manipulator"&& +4 "core" & 2  +2 .tElbow.seek 4 + "manipulator"&f( +4 "core" ( + "manipulator"&0& +4 "core" & g  + "storage"(& +4 "core" &,h \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&U', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&)& "storage"(#'X +8 "core" &   + "manipulator"&,% +4 "core" %  } ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&x& +4 "core" &&  D =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" && ) =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\ '" +101 "core" ' +2 "manipulator"&^& +4 "core" && ,  =C +2 "manipulator"&% +4 "core" % - +2 "collection"'.& +4 "core" & E\ +2 "collection"'t& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'4(V +4 "core" & C\  +8 &1| G\ *x +10 &c ?\ > +9 &qs :\ N +10 &5S G\ M +9 &W @\ M +9 &V >\ M +10 &{X <\ M +9 &<W :\ M +10 &V 1\ N +9 &V E\ M +9 & W 9\ M +10 &"ET 2\ M +9 &$W ;\ N +9 &%X :\ M +10 &'X :\ M +9 &)MU 9\ M +9 &+V \ M +10 &,W \ M +9 &.W 7\ M +10 &0SX =\ N +9 &2U :\ M +9 &3W >\ M +10 &5V :\ M +9 &7\\V 8\ M +9 &9V <\ M +10 &:Y \ M +9 &<X <\ N +10 &>dW <\ M +9 &@&Y >\ M +9 &AW .\ M +10 &CU \ M +9 &Ej] \ N +9 &G)h \ O +10 &Hs \ Q +9 &J =\ U +10 &LU \ X +9 &N 2\ X +9 &O \ Y +10 &Q \ Y +9 &SV \ Z +9 &U \ Z +10 &VaB \ 1 +9 &V\ v \ I +6 ( + "collection"'t& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&@1 +4 "core" &Vm \ I +55 1 +2 "manipulator"&:% +4 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%\\& +4 "core" &\ +2 "manipulator"&k% +3 "core" %\   \\  +2 "storage"(*% +4 "core" %T j j \ + "storage"(r. +3 "core" .(,l +2 "storage"(K& +3 "core" &,h l j \  +2 "storage"(& +4 "core" &,h j j \  + "manipulator"&w& +4 "core" && ! S =C +2 "manipulator"&&% +3 "core" %\  0 Q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&v( +161 "core" ( + "manipulator"&!& +5 "core" & ;  + "storage"(N& +4 "core" &,h t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&9'Ѽ +97 "core" ' + "storage"(2& +4 "core" &,h ^\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'i +286 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,h w k `\  + "manipulator"&T& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&;( +3 "core" ( +2 "manipulator"&>& +3 "core" & v  +2 "storage"((& +4 "core" &,h ~ e\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(J'X +7 "core" &   +2 "manipulator"&E% +4 "core" % 3 ^ Q +2 .tForearm.seek :retract + "manipulator"&M'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( +2 "manipulator"&a& +4 "core" &o ' - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +51 "manipulator"&"' +97 "core" ' + "manipulator"&o& +5 "core" &o X + "manipulator"&s% +5 "core" % l + "processing"%1& +4 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 &8\ $e +10 &U\ 7 +9 &~\ L +9 &Y\ N +10 &h\\\ N +9 &*Y\ N +9 &Y\ N +10 &Y\ N +9 &oY\ O +10 &2Y\ N +9 &\\\ N +9 &!Z\ O +10 &#xZ\ N +9 &%:U\ N +10 &&W\ O +9 &(Y\ N +9 &*Y\ N +10 &,BY\ N +9 &.\\\ N +9 &/Y\ O +10 &1Y\ O +9 &3JX\ N +10 &5 Y\ N +9 &6X\ N +9 &8Y\ N +10 &:QY\ O +9 &<X\ N +9 &=X\ N +10 &?T\ N +9 &AZW\ N +10 &CW\ N +9 &D]\ O +9 &Fg\ P +10 &HV{\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &OW\ U +9 &Q\ U +2 "Can"\ _^ +8 "core" &R\ U +9 &T\ U +10 &V_\ U +9 &X \ U +9 &Y|q\ 4 +10 &Z*|\ M +9 &Z \ - +2 ( +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&y1 +62 "core" 1 + "manipulator"&% +4 "core" % s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 "processing"%C& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&c% +4 "core" %\  &  + "storage"(V% +5 "core" %T Z M p\ + "storage"( . +3 "core" .(,l +2 "storage"(7& +3 "core" &,h I X {\  +2 "storage"(& +4 "manipulator"&6& +4 "core" &,h < K \  +2 &o + .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&3(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&/& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &o * D +2 .tForearm.seek PC +2 "manipulator"&P' +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / + .tPC.seek :open +2 "processing"%B( +95 "core" ' + "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['y +34 "core" ' +295 ( + "storage"(A& +4 "core" &,h l \  +2 "manipulator"&?& +4 "core" &o  + "manipulator"&q% +4 "core" %  p +2 .tForearm.seek :retract + "manipulator"&='\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&p( +257 "core" ( + "manipulator"&{& +4 "core" & P  +2 "storage"(R& +4 "core" &,h ~ "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +103 "core" ' + .tHand.open + "manipulator"&W1 +59 "core" 1 +2 "storage"(Y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"($'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Z' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(S& +4 "core" &,h \  + "manipulator"&`& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&+( +8 "core" ( + "manipulator"&l& +5 "core" &  c  + "storage"(8& +4 "core" &,h k\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&G& +4 "core" &  +2 "storage"( & +4 "core" &,h  D\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&<' +27 "core" ' + .tElbow.hold +2 "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +27 "core" ' +2 "manipulator"&O% +4 "core" %  V +2 "storage"(]& +4 "core" &,h H H \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&n'7 +28 "core" ' +2 "manipulator"&& +4 "core" & Z  +2 "storage"(e& +4 "core" &,h z y #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&L'Ѽ +29 "core" ' + "storage"(}% +5 "core" %o b\ +2 ."downElevator"SE.seek :down +3 "storage"(d'X +100 (b% +2 "core" %D g _ m\ Xe +2 "manipulator"&H% +4 "core" %ѽ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,h "\  +2 "collection"''& +4 "core" &Vm \ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&h% +4 "core" %\ # = ; + "storage"(~% +4 "core" %a ~ \ +2 "storage"(z. +3 "core" .(,l + "storage"(g& +4 "core" &,h ~ \  + "storage"(|& +4 "core" &,h  \  +2 "manipulator"&& +4 "core" & 7  + .tElbow.seek 4 +2 "manipulator"&0( +4 "core" ( + "manipulator"&& +4 "core" &  8  + "storage"(& +4 "core" &,h #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&)'Ѽ +96 "core" ' + "storage"(,& +4 "core" &,h M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +288 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" &   +2 "storage"(j& +4 "core" &,h t } F\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&m' +33 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +39 "core" ' + "manipulator"&.% +4 "core" %  +2 "storage"(f& +4 "core" &,h H H \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&#'= +19 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" &,h  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&@'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'G +39 "core" ' + "manipulator"&\\& +4 "core" & F  +2 "manipulator"&k% +4 "core" %Ѭ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +156 "core" ( +2 "manipulator"&K& +5 "core" &( ] ?R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &' B ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&w/ +63 "core" / +2 .tCC.seek :open + "collection"'&( +417 "core" ( + "storage"(\ & +5 "core" &,h /\  + "storage"(!& +4 "core" &,h `\  + "manipulator"&N& +4 "core" &(  ?Q + "manipulator"&2% +4 "core" % : & +2 .tForearm.seek :retract + "manipulator"&5'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +158 "core" ( +2 "manipulator"& & +4 "core" & / | + "storage"(& +4 "core" &,h ;\  +2 .tElbow.reconfigure :limp +50 "manipulator"&$ ,(b +5 .tForearm.seek 4 + "manipulator"&T' +106 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +62 "core" 1 +2 "manipulator"&% +5 "core" %  F + "storage"(& +4 "core" &,h A\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&E'= +18 "core" ' +2 "manipulator"&v& +4 "core" & b  +2 "storage"(9& +4 "core" &,h i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +35 "core" ' + "storage"(% +5 "core" %O \ +2 ."downElevator"SE.seek :down +4 "storage"(a'X +98 (% +3 "core" %E M\ Wc +2 "manipulator"&;% +4 "core" %Ѿ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'s& +4 "core" & \ +2 "manipulator"&1% +4 "core" %\    +2 "storage"(J% +4 "core" %R '\ + "storage"(M. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(u(<* +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" &<) \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&C( +4 "core" ( + "manipulator"&c& +4 "core" &   + "storage"(V& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +87 "core" ' +2 "storage"(7& +4 "core" &<% p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +285 "core" ' +2 "storage"(6- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<% '\  +2 "manipulator"&/& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&"& +3 "core" & I  +2 "storage"(& +4 "core" &<% \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&X' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & p  +2 "manipulator"&% +4 "core" % ; J +2 .tForearm.seek :retract + "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&q& +4 "core" &0 &  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +4 "core" &. E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'" +100 "core" ' +2 "manipulator"&R& +5 "core" &/  E + "manipulator"&3% +4 "core" %, +2 "collection"'W& +4 "core" & \ +2 "collection"'Y& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(V +4 "core" & ?\  +9 &1| ?\ *x +9 &c ?\ > +10 &sr \ N +9 &8R ?\ M +9 &V G\ M +10 &V =\ N +9 &}U ?\ M +10 &?U H\ M +9 &T D\ M +9 &U G\ M +10 & T @\ M +9 &"GW ;\ M +10 &$ R C\ M +9 &%W ;\ N +9 &'U 8\ M +10 &)OU ;\ M +9 &+V 2\ N +9 &,U =\ M +10 &.W >\ M +9 &0WY \ M +9 &2U =\ M +10 &3S 9\ M +9 &5U C\ M +10 &7_V /\ M +9 &9!V <\ M +9 &:Y ;\ M +10 &<Y ;\ N +9 &>gW 9\ M +9 &@*S 9\ M +10 &AW ;\ N +9 &CX \ N +10 &El_ =\ N +9 &G+h =\ O +9 &Ho <\ Q +10 &J =\ T +9 &L[ \ W +9 &N ;\ X +10 &O 4\ Y +9 &Q ~\ Y +10 &S[ \ Z +9 &U \ Z +9 &VjD V\ 0 +10 &Vp {\ I +5 ( +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"&S1 +4 "core" &Va |\ I +53 1 +2 "manipulator"&`% +4 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%=& +4 "core" &\ +2 "manipulator"&8% +3 "core" %\ \   +2 "storage"(G% +4 "core" %] \\ [ \ + "storage"( . +3 "core" .(<* +2 "storage"([& +3 "core" &<% \\ f *\  +2 "storage"(O& +4 "core" &<% _ _ F\  +2 "manipulator"&]& +3 "core" &/ . P E +2 "manipulator"&$% +4 "core" %\ \ - @  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&e& +4 "core" & x | + "storage"(}& +4 "core" &<% <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&p'ы +102 "core" ' +2 "storage"(Q& +4 "core" &<% _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +286 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &<% t\  + "manipulator"&& +4 "core" &  | +2 .tElbow.seek 5 + "manipulator"&+( +3 "core" ( +2 "manipulator"&& +4 "core" & S | + "storage"(<& +4 "core" &<% n\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&n' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +65 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(h'X +7 "core" &  | +2 "manipulator"&~% +4 "core" %   H +2 .tForearm.seek :retract + "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&g(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&& +5 "core" &s &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &s '   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" &s $ U  +2 "manipulator"&% +4 "core" % Q  +2 "processing"%L& +4 "core" &\ +2 "processing"%,& +6 "core" &L\ +2 .tPC.seek :closed +2 "processing"%d(Z +4 "core" &\ +7 & 9\ $e +9 &T~C\ 7 +10 &~|\ L +9 &\\\ N +9 &R\\\ O +10 &Y\ N +9 &Y\ O +10 &X\ N +9 &[Z\ N +9 &X\ N +10 &Z\ N +9 &!V\ N +9 &#cZ\ N +10 &%&[\ N +9 &&X\ N +10 &(Y\ N +9 &*lZ\ N +9 &,.Y\ N +10 &-Z\ N +9 &/V\ N +9 &1sY\ N +10 &36U\ N +9 &4Y\ N +10 &6X\ N +9 &8{W\ N +9 &:>V\ N +10 &<X\ N +9 &=Y\ N +9 &?Z\ N +10 &AEW\ N +9 &C\\\ N +10 &D]\ N +9 &Fh\ P +9 &HDy\ Q +10 &I\ T +9 &K\ T +9 &M\ T +10 &OD\ T +9 &Q\ T +10 &R\ U +9 &T\ U +9 &VK\ T +10 &X\ \ U +9 &Y~u\ 9 +9 &Z2\ K +10 &Z\ ) +2 ( +2 "processing"%,& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&i1 +53 "core" 1 +2 "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' + "processing"%x& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&j% +4 "core" %\ % ( E +2 "storage"(^% +4 "core" %a _ g }\ + "storage"(.. +3 "core" .(<* +2 "storage"(f& +4 "core" &<% j j \  +2 "storage"(& +4 "manipulator"& & +4 "core" &<% i f v\  + &s g  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&\\(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +2 "core" ( +2 "manipulator"&)& +53 "core" &s    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &s  +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&m/ +55 "core" / +3 .tPC.seek :open + "processing"%#( +40 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +36 "core" ' +349 ( +2 "storage"(t& +4 "core" &<%  /\  + "manipulator"&@& +4 "core" &s   +2 "manipulator"&U% +4 "core" % # +2 .tForearm.seek :retract + "manipulator"&w'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&*( +247 "core" ( + "manipulator"&4& +5 "core" & #  f + "storage"(\ & +4 "core" &<% j i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&!'ы +100 "core" ' + .tHand.open + "manipulator"&N1 +60 "core" 1 +2 "storage"(2- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(r& +4 "core" &<% \\\  + "manipulator"&(& +4 "core" & I f +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &  $ f + "storage"(v& +4 "core" &<% f\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&9'ы +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&5& +4 "core" & ` f +2 "storage"(& +4 "core" &<% k d L\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&;' +31 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +23 "core" ' +2 "manipulator"&E% +4 "core" %  + "storage"(s& +5 "core" &<% G ; \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&1' +28 "core" ' +2 "manipulator"&J& +4 "core" & = f +2 "storage"(M& +4 "core" &<%  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&:'ы +21 "core" ' + "storage"(F% +5 "core" %k | >\ +2 ."downElevator"SE.seek :down +3 "storage"(a'X +99 (%% +3 "core" %C m _ \ Wc +2 "manipulator"&y% +4 "core" %q g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (c& +4 "core" &<% \  + "collection"'V& +5 "core" &Va \ I + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&7% +3 "core" %\  R  +2 "storage"(>% +4 "core" %_ 3\ + "storage"(o. +4 "core" .(<* + "storage"(6& +4 "core" &<% \  + "storage"(& +4 "core" &<% u\  +2 "manipulator"&/& +4 "core" & A f + .tElbow.seek 5 +2 "manipulator"&"( +4 "core" ( + "manipulator"&& +5 "core" &   f + "storage"(& +4 "core" &<% U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +98 "core" ' +2 "storage"(& +4 "core" &<% Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +284 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &  f + "storage"(P& +31 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&I' +34 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(3'Y +31 "core" ' + "manipulator"&W% +5 "core" % b + "storage"(-& +4 "core" &<% # " 8\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&A& +4 "core" &  ? f +2 "storage"(&& +4 "core" &<% m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&S'ы +26 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(`'H +38 "core" ' +2 "manipulator"&=& +4 "core" & T f +2 "manipulator"&8% +4 "core" %щ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +151 "core" ( +2 "manipulator"&[& +5 "core" &' , >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" && $  >K +2 .tForearm.seek CC + "manipulator"&O'" +92 "core" ' +2 .tHand.close + "manipulator"&]/ +63 "core" / +2 .tCC.seek :open + "collection"'$( +417 "core" ( + "storage"({& +4 "core" &<% \\\  +2 "storage"(e& +4 "core" &<% a\  + "manipulator"&}& +4 "core" &'   >J + "manipulator"&Q% +4 "core" % . 1  +2 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&l( +159 "core" ( + "manipulator"&b& +6 "core" &   + "storage"(H& +4 "core" &<% S\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&<1 +60 "core" 1 +2 "manipulator"&% +5 "core" %   + "storage"('& +5 "core" &<% x\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts + "manipulator"&~' +19 "core" ' + "manipulator"&& +5 "core" &  + "storage"(p& +4 "core" &<% V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&Z'ы +28 "core" ' + "storage"(n% +5 "core" %L \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (|% +3 "core" %@ \ Vb +2 "manipulator"&+% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&L% +3 "core" %\ " ! A +2 "storage"(h% +4 "core" %T D\ + "storage"(z. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(B( +968 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" & 2\ + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&x( +41 "core" ( + "manipulator"&j& +5 "core" &)  M  + "storage"(^& +52 "core" &  B\ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +100 "core" ' + "storage"(f& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &  \ + "manipulator"&)& +4 "core" &)  +2 .tElbow.seek 2 + "manipulator"&0( +19 "core" ( + "manipulator"&& +5 "core" & c  + "storage"(m& +4 "core" &  3\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&_& "storage"(d'X +8 "core" & o  + "manipulator"&k% +4 "core" %  1 N +2 .tForearm.seek :retract +2 "manipulator"&t'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +157 "core" ( + "manipulator"&U& +5 "core" ' + &* $ a @^ +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" &*  @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'" +93 "core" ' +2 "manipulator"&\ & +4 "core" &*   @^ +2 "manipulator"&\\% +4 "core" %'   +2 "collection"'N& +4 "core" & \ +2 "collection"'2& +5 "core" & /\ +2 .tCC.seek :closed +4 "collection"'(V +3 "core" & <\ +5 & =\ 7 +10 &:Hy 0\ 0 +9 &er =\ E +9 & ] @\ M +10 &V D\ M +9 &V B\ M +10 &QU G\ M +9 &W @\ M +9 &W <\ M +10 &V F\ M +9 &YW H\ M +10 &!T >\ M +9 &"W <\ M +9 &$Y ;\ M +10 &&bS <\ M +9 &($W 3\ M +9 &)U F\ M +10 &+V /\ M +9 &-jV @\ M +9 &/+W 4\ M +10 &0Y 5\ M +9 &2U /\ M +10 &4qV 4\ M +9 &63V 6\ M +9 &7V \ M +10 &9U \ M +9 &;yU \ M +9 &=;Y >\ M +10 &>W =\ N +9 &@W 9\ M +10 &BW =\ N +9 &DBY =\ N +9 &F^ =\ N +10 &Gm =\ P +9 &I|~ \ R +9 &K1 W\ V +11 &L z\ X +8 &N \ X +10 &Pp \ Y +9 &R0 \ Y +9 &S \ Z +10 &U \ G +9 &V2 \ ){ +9 &Vk \ K +3 ( + "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&r1 +63 "core" 1 +3 "manipulator"&(% +4 "core" % ' .   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%w& +4 "core" &\ +2 "manipulator"&v% +4 "core" %\   + "storage"(5% +4 "core" %b ; 7 t\ + "storage"(. +3 "core" .( +2 "storage"(K& +4 "core" &  R 8 \ + "storage"(E& +4 "core" &  O X \ +2 "manipulator"&s& +4 "core" &)  @^ + "manipulator"& % +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +154 "core" ( +2 "manipulator"&M& +4 "core" &  _  + "storage"(F& +4 "core" &   *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +87 "core" ' +2 "storage"(!& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (y& +3 "core" &   \ +2 "manipulator"&9& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(;& +4 "core" &  ^\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&1' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&V& "storage"(7'X +8 "core" &   + "manipulator"&>% +5 "core" % +  +2 .tForearm.seek :retract + "manipulator"&T'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +4 "manipulator"&6& +5 "core" &y J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&/' +101 "core" ' + "manipulator"&& +4 "core" &y  +2 "manipulator"&% +4 "core" % P r +2 "processing"%:& +4 "core" &D\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%a(Z +5 "core" &\  +8 &1~\ *x +10 &b\ > +9 &jx\ N +10 &,W\ N +9 &Y\ N +9 &[\ N +10 &s[\ N +9 &4Y\ N +9 &\\\ N +10 &Z\ N +9 & zZ\ N +10 &"=Y\ N +9 &#Y\ N +9 &%]\ N +10 &'\\\ N +9 &)FZ\ M +9 &+Z\ N +10 &,Y\ N +9 &.\\\ N +10 &0MZ\ N +9 &2W\ N +9 &3Y\ M +10 &5Z\ N +9 &7UX\ N +9 &9Z\ M +10 &:Y\ N +9 &<\\\ N +10 &>]W\ N +9 &@X\ N +9 &AX\ M +10 &C\\\ N +9 &Ed]\ N +9 &G#g\ O +10 &Ht\ Q +9 &J\ S +10 &L\\\ S +9 &N\ T +9 &O\ T +10 &Q\ S +9 &Sa\ T +9 &U#\ T +10 &V\ T +9 &X\ U +10 &Zd\ 'y +9 &Zf\ 4 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z\ , +57 1 + "manipulator"&% +4 "core" % $ H r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +2 "processing"%q& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&P% +4 "core" %\    + "storage"(R% +4 "core" %b i i \ +2 "storage"(W. +3 "core" .( + "storage"(-& +4 "core" &  i h \ +2 "storage"(A& +2 "manipulator"&&& +7 "core" &  i i \ + &y g +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +11 "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(8'i +3 "core" ( + "manipulator"&& +4 "core" &y C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &y ) +2 .tForearm.seek PC +2 "manipulator"&C' +98 "core" ' + .tHand.close + "manipulator"&I/ +58 "core" / +4 .tPC.seek :open + "processing"%( +84 "core" ' +2 "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +43 "core" ' +297 ( +2 "storage"(Y& +4 "core" &  h h :\ + "manipulator"&S& +5 "core" &y Q + "manipulator"&X% +4 "core" % ? +2 .tForearm.seek :retract + "manipulator"&]'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&G( +241 "core" ( + "manipulator"&& +5 "core" &\ ] + "storage"({& +4 "core" &  = 8 n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +95 "core" ' + .tHand.open +2 "manipulator"&}1 +58 "core" 1 +2 "storage"(Q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(b'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(H' +45 "core" ' +3 #tLights, camera, ACTION! + "storage"(O- +3 "core" -' +2 "storage"( & +4 "core" &  9\ + "manipulator"&<& +4 "core" &\ < ] +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" &\  } ] +2 "storage"(& +4 "core" &  "\ +51 .tForearm.seek 2 + 700 counts +3 "manipulator"&p'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(n' +56 "core" ' +2 "manipulator"&?& +4 "core" &\  ] +2 "storage"(|& +4 "core" &  g ~ @\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&+' +30 "core" ' + .tElbow.hold +2 "manipulator"&l, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&~% +4 "core" %  Q +2 "storage"(`& +4 "core" &  < < \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&Z' +20 "core" ' +2 "manipulator"&& +4 "core" &\ C ] +2 "storage"(& +4 "core" &  \\ ^ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +26 "core" ' +2 "storage"(h% +4 "core" %q } !\ +2 ."downElevator"SE.seek :down +4 "storage"(z'X +99 (u% +3 "core" %G g M\ Xf + "manipulator"&i% +5 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (j& +4 "core" &  \ +2 "collection"'^& +4 "core" &Vm \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&f% +4 "core" %\  ^  + "storage"(% +4 "core" %T ~ z\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  ~ "\ +2 "storage"(,& +4 "core" &  } \ + "manipulator"&)& +4 "core" &\ L ] +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&m& +4 "core" &\  p ] + "storage"(g& +4 "core" &   T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +95 "core" ' +2 "storage"(k& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +287 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &\  ] +2 "storage"(& +3 "core" &  { <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\\'M +28 "core" ' + "manipulator"&N% +4 "core" % ? +2 "storage"(0& +3 "core" &  H G \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&d' +19 "core" ' + "manipulator"&t& +5 "core" &\  0 ] + "storage"($& +4 "core" &  | +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('< +40 "core" ' +2 "manipulator"&w& +4 "core" &\  ] +2 "manipulator"&v% +4 "core" %Ѥ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&5'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&K& +5 "core" &+ : Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &*  ) Ad +2 .tForearm.seek CC + "manipulator"&E'" +92 "core" ' +2 .tHand.close + "manipulator"&s/ +63 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( + "storage"(4& +4 "core" &  z\ +2 "storage"(M& +3 "core" &  \ +2 "manipulator"&F& +4 "core" &+ k Ad + "manipulator"&!% +4 "core" % 4  +2 .tForearm.seek :retract + "manipulator"&@'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +158 "core" ( + "manipulator"&%& +4 "core" & !  +2 "storage"(y& +4 "core" &  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&9' +104 "core" ' +2 .tElbow.hold + "manipulator"&, +42 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +53 "core" 1 +5 "manipulator"&c% +4 "core" %  ) + "storage"(V& +4 "core" &  4\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&>' +20 "core" ' + "manipulator"&J& +5 "core" & n  + "storage"(*& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +37 "core" ' +2 "storage"(1% +4 "core" %B H\ +2 ."downElevator"SE.seek :down +4 "storage"(6'X +98 (% +3 "core" %E \ Wc +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&:% +3 "core" %\    +2 "storage"(7% +4 "core" %b K\ + "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(#( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & M\  +2 "manipulator"&& +4 "core" & !  + .tElbow.seek 3 +2 "manipulator"&q( +17 "core" ( +2 "manipulator"&P& +4 "core" & 7 T + "storage"(R& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +95 "core" ' +2 "storage"(-& +4 "core" & z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +285 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & E\  +2 "manipulator"&& +4 "core" &  T + .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&/& +3 "core" & ) T +2 "storage"(I& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(a'X +8 "core" &  T + "manipulator"&8% +4 "core" % Ϫ I +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&X& +4 "core" &$ B < ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &$ . ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' + "manipulator"&{& +5 "core" &$ .  ;4 + "manipulator"&=% +4 "core" %*  +2 "collection"'}& +4 "core" & H\ +2 "collection"'Q& +5 "core" & B\ +2 .tCC.seek :closed + "collection"'O(V +58 "core" & =\  +4 &1} ;\ *x + &c <\ > &sr =\ N + &7R <\ M + &V A\ M + &U =\ N +4 &|T =\ M +10 &=U ;\ N +9 &U 8\ M +9 &U 7\ M +10 & V 0\ M +9 &"FX \ M +10 &$V }\ M +9 &%T 4\ M +9 &'U \ M +10 &)NU <\ M +9 &+V :\ N +9 &,U ;\ M +10 &.U 0\ M +9 &0VW ;\ M +10 &2U <\ M +9 &3R =\ M +9 &5U :\ M +10 &7_U ;\ M +9 &9!U ;\ M +9 &:W :\ M +10 &<T 3\ M +9 &>fX |\ M +10 &@(U \ M +9 &AV ;\ N +9 &CW ;\ M +10 &EmZ \ N +9 &G+e \ O +9 &Hp \ Q +10 &J \ U +9 &LW \ X +9 &N \ X +10 &O \ Y +9 &Q \ Y +10 &SW \ [ +9 &U \ Z +9 &VeC \ 0 +10 &V\ w \ J +5 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"& 1 +3 "core" &Vk \ J +59 1 + "manipulator"&<% +4 "core" % * + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&''\ +99 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&]% +4 "core" %\  [  + "storage"(?% +4 "core" %T ~ \ +2 "storage"(|. +3 "core" .( +2 "storage"([& +3 "core" & } \  +2 "storage"(b& +4 "core" &  \  + "manipulator"&~& +4 "core" &# 1 ;4 + "manipulator"&`% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +4 "core" &  =  + "storage"(G& +4 "core" & L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +90 "core" ' + "storage"(e& +4 "core" & B\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +287 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" & \  + "manipulator"&p& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&n& +4 "core" & !  + "storage"(+& +4 "core" & z \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(f'X +8 "core" &   + "manipulator"&% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&& +4 "core" &y > V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &y B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +98 "core" ' +2 "manipulator"&m& +4 "core" &y # d  +2 "manipulator"&g% +4 "core" % i  + "processing"%L& +4 "core" &\ +2 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &\ +8 &8\ $c +9 &T\ 7 +9 &~\ L +10 &\\\ N +9 &V\\\ N +9 &Z\ N +10 &Z\ N +9 &X\ N +10 &_Z\ N +9 & X\ N +9 &Z\ N +10 &!Z\ N +9 &#e\\\ N +9 &%'Z\ N +10 &&Y\ N +9 &(Uw\ N +10 &*nY\ N +9 &,0Y{\ N +9 &-Z\ N +10 &/Y{\ N +9 &1uY}\ N +10 &38Y{\ N +9 &4Xw\ N +9 &6Y}\ N +10 &8W}\ N +9 &:BYv\ M +9 &<Zx\ N +10 &=W\ N +9 &?X\ N +9 &AHY|\ N +10 &C\ Z}\ N +9 &D^\ O +10 &Fc\ O +9 &HGx\ Q +9 &Jx\ S +10 &Kw\ T +9 &Mw\ T +9 &OG\ T +10 &Q}\ T +9 &Rv\ T +10 &T\ U +9 &VLy\ U +9 &Xu\ U +10 &Y{n\ ; +9 &Z%_\ Q +9 &Z&}\ / +3 ( + "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&l1 +53 "core" 1 + "manipulator"&D% +4 "core" % "   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +101 "core" ' + "processing"%U& +5 "core" &Z#w\ / + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ H  + "storage"(\ % +4 "core" %b l _ \ +2 "storage"(N. +3 "core" .( + "storage"(0& +4 "core" & ` g u\  +2 "storage"(t& +5 "manipulator"&$& +4 "core" & l l {\  + &y   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&w(s + "storage"(v'i +5 "core" ( +2 "manipulator"&_& +4 "core" &y  \\  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y t  +2 .tForearm.seek PC + "manipulator"&x' +96 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +2 .tPC.seek :open +2 "processing"%d( +85 "core" ' + "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(K'y +43 "core" ' +295 ( +2 "storage"(2& +4 "core" & } s ^\  + "manipulator"&r& +4 "core" &y   + "manipulator"&% +4 "core" % O  +2 .tForearm.seek :retract + "manipulator"&s'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&5( +260 "core" ( +2 "manipulator"&& +4 "core" & #  + "storage"(4& +4 "core" & k j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +98 "core" ' +2 .tHand.open + "manipulator"&F1 +55 "core" 1 +2 "storage"(!- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(y' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"(& +4 "core" & P\  +2 "manipulator"&;& +4 "core" & ` +2 .tElbow.seek 3 + "manipulator"&c( +4 "core" ( + "manipulator"&V& +4 "core" & # 8 + "storage"(J& +4 "core" & W\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +62 "core" ' +2 "manipulator"&1& +4 "core" & ? +2 "storage"(& +4 "core" &  V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +25 "core" ' +3 "manipulator"&>% +4 "core" %Ή , +2 "storage"(& +4 "core" & l k m\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&:'ϵ +20 "core" ' + "manipulator"&7& +5 "core" &  + "storage"(T& +4 "core" & } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +34 "core" ' + "storage"(% +5 "core" %n z _\ +2 ."downElevator"SE.seek :down +4 "storage"(6'X +98 (B% +3 "core" %A k h \ Wd +2 "manipulator"& % +4 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (P& +4 "core" & ~ \  +2 "collection"'R& +4 "core" &Vk \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\    + "storage"(% +30 "core" %a m\ + "storage"(. +3 "core" .( +2 "storage"(A& +4 "core" & \  + "storage"(& +4 "core" & \  +51 "manipulator"&& +5 "core" & \ +2 .tElbow.seek 3 + "manipulator"&/( +4 "core" ( +2 "manipulator"&I& +4 "core" & " +2 "storage"(o& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +98 "core" ' + "storage"(8& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +277 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  +2 "storage"(C& +4 "core" & c\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&&'} +29 "core" ' + .tElbow.hold +2 "manipulator"&3, +59 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(='T +28 "core" ' +2 "manipulator"&}% +4 "core" %  +2 "storage"("& +3 "core" & ~ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&a'ϫ +22 "core" ' + "manipulator"&Y& +4 "core" & = +2 "storage"( & +4 "core" & z v O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(<'C +38 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&]% +4 "core" %T 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&|( +156 "core" ( +2 "manipulator"&Q& +4 "core" &" Y 9& + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &"  9& +2 .tForearm.seek CC +2 "manipulator"&b'" +92 "core" ' + .tHand.close +2 "manipulator"&~/ +52 "core" / +2 .tCC.seek :open + "collection"'`( +417 "core" ( + "storage"(& +4 "core" & _\  +2 "storage"(& +4 "core" & \  + "manipulator"&G& +4 "core" &" Q 9% + "manipulator"&e% +4 "core" % 2 9 +2 .tForearm.seek :retract + "manipulator"&S'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&'( +161 "core" ( +2 "manipulator"&u& +4 "core" &  K p + "storage"(i& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&p'} +101 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&+1 +56 "core" 1 +2 "manipulator"&j% +4 "core" % Ά # + "storage"(^& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&'ϲ +13 "core" ' + "manipulator"&& +5 "core" &  p + "storage"(h& +4 "core" & b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +22 "core" ' +2 "storage"(Z% +4 "core" %D \ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (,% +3 "core" %<D \ Vc +2 "manipulator"&% +4 "core" %H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'g& +5 "core" & i\ + "manipulator"&L% +4 "core" %\    +2 "storage"(f% +4 "core" %\\ 3\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" &,j y V\  +2 "manipulator"&D& +3 "core" &  p +2 .tElbow.seek 4 +2 "manipulator"&U( +4 "core" ( + "manipulator"&& +4 "core" &  p +2 "storage"(\ & +3 "core" &,h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +87 "core" ' +2 "storage"(0& +4 "core" &,h h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +285 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (k& +3 "core" &,h ?\  +2 "manipulator"&_& +3 "core" & " p +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&)& +4 "core" & y p +2 "storage"( & +3 "core" &,h \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&.& "storage"(z'X +8 "core" & ; p + "manipulator"&v% +4 "core" % ,  } +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &% 8 <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &$ '  <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +105 "core" ' + "manipulator"&4& +4 "core" &% s <: +2 "manipulator"&w% +4 "core" %/ 2 ? +2 "collection"'F& +4 "core" & A\ +2 "collection"'!& +5 "core" & A\ +2 .tCC.seek :closed +2 "collection"'E(V +4 "core" & ?\  +9 &1| .\ *x +9 &d F\ > +10 &ur >\ N +9 &9Q ;\ M +9 &V :\ M +10 &U >\ M +9 &X <\ M +9 &AU :\ M +10 &V 0\ M +9 &U C\ M +10 & V 0\ L +9 &"IV z\ M +9 &$ V @\ M +10 &%V :\ M +9 &'U :\ L +9 &)RU :\ M +10 &+V :\ L +9 &,U =\ M +9 &.U >\ M +10 &0YY ;\ M +9 &2U =\ M +10 &3U ?\ M +9 &5U >\ L +9 &7bU :\ M +10 &9%U :\ L +9 &:W :\ M +10 &<W ;\ M +9 &>iW =\ M +9 &@+V 9\ M +10 &AU S\ M +9 &CX \ M +9 &Eo] \ N +10 &G-e \ O +9 &Hr \ P +10 &J \ U +9 &LZ \ X +9 &N \ X +10 &O \ X +9 &Q \ Y +9 &S\\ \ Z +10 &U \ Z +9 &VjD \ 0 +9 &Vr \ I +6 ( + "collection"'!& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&1 +4 "core" &Ve \ I +49 1 +2 "manipulator"&;% +4 "core" % 3 ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%J& +4 "core" &\ +2 "manipulator"&s% +3 "core" %\ \   +2 "storage"(1% +4 "core" %T ~\ + "storage"(. +3 "core" .(,l +2 "storage"(K& +3 "core" &,h }\  +2 "storage"(>& +4 "core" &,h }\  + "manipulator"&& +4 "core" &%  <: +2 "manipulator"&%% +3 "core" %\ \ R  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&7( +152 "core" ( +2 "manipulator"&T& +4 "core" & Q  +2 "storage"(& +3 "core" &,h l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +97 "core" ' + "storage"(M& +5 "core" &,h k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'i +283 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &,h t p i\  +2 "manipulator"&*& +4 "core" &   +51 .tElbow.seek 4 +2 "manipulator"&c( +6 "core" ( + "manipulator"&@& +4 "core" & O  +2 "storage"(& +3 "core" &,h w c\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&:', +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(-'X +7 "core" &   +2 "manipulator"&9% +4 "core" % % 1 +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&A& +4 "core" &z $ /  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z  A  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"&I& +4 "core" &z  I  +2 "manipulator"&o% +4 "core" % > + "processing"%(& +4 "core" &\ +2 "processing"%8& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &\  +9 &2~\ *y +9 &c\ > +10 &gu\ N +9 &(Y\ N +10 &Y\ N +9 &Y\ N +9 &pX\ M +10 &0Y\ N +9 &Z\ N +9 &Y\ N +10 & wZ\ N +9 &"9Y\ N +9 &#W\ M +10 &%Yy\ N +9 &'}Z{\ N +10 &)@Y}\ N +9 &+Zw\ N +9 &,Xy\ N +10 &.Yv\ N +9 &0IW{\ N +10 &2 Xt\ N +9 &3Ww\ M +9 &5Yv\ N +10 &7RXz\ M +9 &9Yv\ N +9 &:Xw\ N +10 &<Z~\ N +9 &>YW{\ N +10 &@X\ N +9 &AYw\ N +9 &C[\ N +10 &E__\ N +9 &Gly\ P +9 &H\ R +10 &J\ T +9 &LW\ T +9 &N\ T +10 &O\ T +9 &Qx\ T +10 &S]v\ T +9 &Uw\ T +9 &Vw\ U +10 &Xw\ U +9 &Zg}\ * +9 &Zsy\ ? +9 ( +2 &Z"v\ 0 +2 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W'\ +99 "core" ' +2 "processing"%X& +4 "core" &Z"\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %\ % H + "storage"({% +4 "core" %a = > \ +2 "storage"(}. +3 "core" .(,l +2 "storage"("& +3 "core" &,h O C t\  +2 "storage"(Y& +5 "manipulator"& & +4 "core" &,h = > \  + &z  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(]'i +5 "core" ( +2 "manipulator"& & +4 "core" &z  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &z 1   +3 .tForearm.seek PC + "manipulator"&q' +96 "core" ' +2 .tHand.close + "manipulator"&&/ +54 "core" / +2 .tPC.seek :open + "processing"%a( +93 "core" ' +2 "storage"(=- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +44 "core" ' +286 ( + "storage"([& +4 "core" &,h  $\  + "manipulator"& & +4 "core" &z   +2 "manipulator"&3% +4 "core" % f  +2 .tForearm.seek :retract + "manipulator"&~'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&?( +267 "core" ( +2 "manipulator"&O& +4 "core" & j n + "storage"(& +4 "core" &,h  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +92 "core" ' +2 .tHand.open + "manipulator"&G1 +60 "core" 1 +2 "storage"(e- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(u'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +8 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(i' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +4 "core" -' +2 "storage"(|& +4 "core" &,h \  + "manipulator"&+& +4 "core" & C n +2 .tElbow.seek 4 + "manipulator"&j( +9 "core" ( + "manipulator"&^& +4 "core" &  H d +2 "storage"(& +4 "core" &,h \  +2 .tForearm.seek 4 + 700 counts + "manipulator"&h'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Z' +58 "core" ' + "manipulator"&S& +4 "core" & 7 d +2 "storage"(,& +4 "core" &,h 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +35 "core" ' +2 .tElbow.hold + "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(p'i +24 "core" ' + "manipulator"&g% +5 "core" % + "storage"(& +4 "core" &,h I I 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 295 counts + "manipulator"&L'' +13 "core" ' +2 "manipulator"&f& +4 "core" & O  +2 "storage"(& +4 "core" &,h { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&<'Ѽ +24 "core" ' +2 "storage"(H% +4 "core" %r o\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (#% +2 "core" %@ j j \ Wd +2 "manipulator"&l% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,h y \  +2 "collection"'\ & +4 "core" &Ve \ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&0% +4 "core" %\ . 8 + "storage"(n% +4 "core" %T y u P\ +2 "storage"(m. +3 "core" .(,l + "storage"(t& +4 "core" &,h w w <\  +2 "storage"(k& +3 "core" &,h w s\  +2 "manipulator"&_& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&)( +37 "core" ( + "manipulator"& & +5 "core" & @ !r + "storage"(& +4 "core" &,h ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&.'Ѽ +95 "core" ' +2 "storage"(v& +4 "core" &,h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +285 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  !r +2 "storage"(x& +3 "core" &,h r ~ A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&$' +29 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(w'X +39 "core" ' + "manipulator"&% +4 "core" %  3 +2 "storage"(F& +4 "core" &,h  $\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 313 counts + "manipulator"&z'9 +19 "core" ' + "manipulator"&2& +5 "core" & " & + "storage"(`& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(;'G +40 "core" ' +2 "manipulator"&J& +4 "core" & ] % +2 "manipulator"&s% +4 "core" %Ѷ S o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +92 "core" ' +3 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&K& +4 "core" &( ` ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &( ?T +2 .tForearm.seek CC + "manipulator"&!'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'%( +417 "core" ( + "storage"(& +4 "core" &,h \  +2 "storage"(T& +3 "core" &,h \  +2 "manipulator"&& +4 "core" &( \\ ?T + "manipulator"&M% +4 "core" % 4 - ~ +2 .tForearm.seek :retract + "manipulator"&r'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&V( +159 "core" ( +2 "manipulator"&B& +4 "core" & !   +2 "storage"( & +4 "core" &,h h\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&*' +110 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&P% +4 "core" %    +2 "storage"(R& +5 "core" &,h ~\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&9': +13 "core" ' + "manipulator"&7& +5 "core" & H  + "storage"(5& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&y'Ѽ +25 "core" ' + "storage"(:% +5 "core" %M z\ +2 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (% +3 "core" %D @\ Wb +2 "manipulator"&c% +4 "core" % s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'o& +5 "core" & 9\ +2 "manipulator"&(% +4 "core" %\ "  > +2 "storage"(-% +4 "core" %a q\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<(( { -\  +2 "manipulator"&& +4 "core" & $  +2 .tElbow.seek 5 + "manipulator"&X( +3 "core" ( +2 "manipulator"&C& +4 "core" & $ s  + "storage"({& +4 "core" &<% \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&}'ы +100 "core" ' + "storage"(8& +4 "core" &<% Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &<% +\  +2 "manipulator"& & +4 "core" & r  + .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&& +4 "core" & 6  + "storage"(&& +4 "core" &<% v\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&=' +22 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(6'X +7 "core" & 2  +2 "manipulator"&]% +4 "core" % f +2 .tForearm.seek :retract + "manipulator"&['\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&3& +4 "core" &% / O <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &% &  <@ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'" +95 "core" ' +2 "manipulator"&& +4 "core" &% / $ <@ +2 "manipulator"&% +4 "core" % +2 "collection"'G& +4 "core" & >\ +2 "collection"'e& +5 "core" & \ +3 .tCC.seek :closed + "collection"'b(V +4 "core" & 6\ +8 &4 \ #b +10 &V} B\ 7 +9 &y D\ L +9 &U B\ M +10 &bV @\ M +9 &%U A\ M +9 &U ;\ M +10 &U F\ M +9 &kU <\ M +10 &-T ;\ M +9 &U G\ M +9 &!V ;\ M +10 &#sV :\ M +9 &%5V =\ M +9 &&V 8\ M +10 &(W 2\ M +9 &*{U /\ M +10 &,=U 9\ M +9 &-T <\ M +9 &/V =\ M +10 &1W 9\ M +9 &3EU 9\ M +9 &5U <\ L +10 &6V ;\ M +9 &8T 9\ M +10 &:LY ;\ M +9 &< W ;\ M +9 &=W ;\ M +10 &?W <\ M +9 &ASV =\ M +9 &CW 9\ M +10 &D] |\ M +9 &Fb \ N +10 &HTm |\ P +9 &J \ S +9 &K \ V +10 &M \ X +9 &OD \ X +9 &Q \ X +10 &R s\ Y +9 &T \ Z +9 &V#v \ / +10 &V% \ N +9 ( +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&|1 +3 "core" &Vk \ H +59 1 + "manipulator"&+% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&~% +4 "core" %\    +2 "storage"(S% +4 "core" %T l i \ + "storage"(,. +3 "core" .(<* +2 "storage"(Q& +4 "core" &<% i ^ v\  + "storage"(g& +4 "core" &<% ^ e i\  +2 "manipulator"&& +4 "core" &% ' ( << + "manipulator"&u% +4 "core" %\  &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&f( +163 "core" ( + "manipulator"&& +5 "core" & J  + "storage"(H& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&?'ы +97 "core" ' + "storage"(& +4 "core" &<% Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +282 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &<% | k C\  +2 "manipulator"&h& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&Z& +3 "core" &  [  +2 "storage"(& +4 "core" &<%  @\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&L' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(0'X +7 "core" & {  +2 "manipulator"&n% +4 "core" % N +2 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m(s +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&t& +4 "core" &p =  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_' +91 "core" ' + "manipulator"& & +5 "core" &p : + "manipulator"&% +4 "core" %  > +2 "processing"%<& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\  +10 &1}\ *z +9 &c\ > +9 &pu\ O +10 &3Y\ N +9 &Y\ N +9 &Y\ N +10 &xX\ N +9 &:X\ N +10 &Y\ N +9 &X\ N +9 & W\ N +10 &"BY\ N +9 &$Zx\ N +9 &%Zr\ N +10 &'[r\ N +9 &)KUw\ N +10 &+ X\ N +9 &,W\ N +9 &.Yx\ N +10 &0RXv\ N +9 &2Xv\ N +9 &3X\ N +10 &5Xx\ N +9 &7ZXx\ N +10 &9W\ N +9 &:Ux\ N +9 &<Ww\ N +10 &>cX\ N +9 &@%Yy\ N +9 &AY\ N +10 &C\\}\ N +9 &Ej^w\ N +10 &G'mx\ P +9 &H{\ R +9 &J~\ T +10 &Lb\ T +9 &N${\ T +9 &Ow\ T +10 &Q}\ T +9 &Shx\ T +10 &U*\ T +9 &V\ U +9 &Xx\ T +10 &Z c~\ %r +9 &Zb~\ 5 +58 ( +4 &Z#y\ / +2 &Z#x\ / +2 &Z#\ / +6 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&'1 +3 "core" &Z#\ / + &Z#z\ / + &Z#v\ / + &Z#z\ / +54 1 + "manipulator"&D% +4 "core" % V > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +91 "core" ' +2 "processing"%& +4 "core" &Z#o\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&x% +4 "core" %\  m  +2 "storage"(4% +4 "core" %a L Z S\ + "storage"(. +3 "core" .(<* +2 "storage"(F& +4 "core" &<% j j S\  +2 "storage"(2& +2 "manipulator"&`& +6 "core" &<% T < 8\  + &p +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&J(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'i +2 "core" ( +2 "manipulator"&.& +4 "core" &p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &p +2 .tForearm.seek PC + "manipulator"&U' +101 "core" ' + .tHand.close +2 "manipulator"&$/ +55 "core" / + .tPC.seek :open +2 "processing"%z( +87 "core" ' + "storage"(w- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +42 "core" ' +293 ( +2 "storage"(>& +4 "core" &<% j Q\  + "manipulator"&& +4 "core" &p d +2 "manipulator"&\\% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&1( +244 "core" ( + "manipulator"&E& +5 "core" & # A Y + "storage"(& +4 "core" &<% } K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T'ы +101 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(M- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(B'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +46 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(& +4 "core" &<% \ \ \  + "manipulator"&& +4 "core" &\ O Y +2 .tElbow.seek 5 +2 "manipulator"&P( +4 "core" ( + "manipulator"&R& +4 "core" &\ $ @ Y +2 "storage"(7& +4 "core" &<% \ \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&5'ы +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(:' +58 "core" ' +2 "manipulator"&r& +4 "core" &\ / Y +2 "storage"(& +4 "core" &<%  9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c' +32 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +22 "core" ' + "manipulator"&o% +5 "core" % C + "storage"(9& +4 "core" &<% % 5 .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&('\ +13 "core" ' +2 "manipulator"&-& +4 "core" &\ . Y +2 "storage"(& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&;'ы +29 "core" ' +2 "storage"(y% +4 "core" %s \ +3 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (% +3 "core" %9H f M 1\ Xf +2 "manipulator"&% +4 "core" %} o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &<% q a n\  +2 "collection"'{& +4 "core" &Vk \ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&8% +4 "core" %\ %  H +2 "storage"(@% +3 "core" %a n s \ +2 "storage"(I. +3 "core" .(<* +2 "storage"( & +4 "core" &<% ` ] &\  + "storage"(Y& +4 "core" &<% _ f .\  + "manipulator"& & +4 "core" &\  Y +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&&& +4 "core" &\ $ Y +2 "storage"(& +4 "core" &<% \\ f 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&W'ы +92 "core" ' +2 "storage"(]& +4 "core" &<% | { f\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +287 "core" ' +2 "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&3& +3 "core" &\ . Y +2 "storage"(q& +3 "core" &<% l j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&"' +33 "core" ' + .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +33 "core" ' + "manipulator"&G% +5 "core" % + "storage"(/& +5 "core" &<% & % @\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&6'\ +13 "core" ' +2 "manipulator"&[& +4 "core" &\  J Y +2 "storage"(%& +4 "core" &<% h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&|'ы +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(+'H +38 "core" ' +2 "manipulator"&& +4 "core" &\  Y +2 "manipulator"&~% +4 "core" %Ѩ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +161 "core" ( +2 "manipulator"&Q& +4 "core" & ' 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" & U 6 +2 .tForearm.seek CC +2 "manipulator"&g'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'u( +417 "core" ( + "storage"(O& +5 "core" &<% f\  + "storage"(& +4 "core" &<% \  + "manipulator"&H& +4 "core" &  6 + "manipulator"&% +4 "core" % )  . +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +159 "core" ( +2 "manipulator"&#& +4 "core" &  +2 "storage"(l& +4 "core" &<% (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&h' +105 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" %   + "storage"(\ & +5 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&n' +13 "core" ' +2 "manipulator"&f& +4 "core" & c  +2 "storage"(?& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&i'ы +24 "core" ' +2 "storage"(L% +4 "core" %Q b\ +52 ."downElevator"SE.seek :down +3 "storage"(t'X +100 (k% +2 "core" %7A R\ U` +2 "manipulator"&j% +4 "core" %Ѡ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & \ + "manipulator"&<% +4 "core" %\  0 +2 "storage"(0% +3 "core" %W V\ +2 "storage"(p. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(a( +969 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" & \ + "manipulator"&D& +4 "core" & [  +2 .tElbow.seek 2 + "manipulator"&( +41 "core" ( + "manipulator"&x& +5 "core" &2 ! 1  + "storage"(4& +4 "core" & b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' + "storage"(F& +4 "core" & \  _\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +285 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & /\ + "manipulator"&.& +4 "core" &2 *  +2 .tElbow.seek 2 + "manipulator"&)( +15 "core" ( +2 "manipulator"&_& +4 "core" & p  +2 "storage"($& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&w' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"('X +7 "core" & /  +2 "manipulator"&s% +4 "core" %   u +2 .tForearm.seek :retract + "manipulator"&>'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&\\& +5 "core" &' -  >J + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&U& +6 "core" &' 0 I >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'" +102 "core" ' +3 "manipulator"&& +5 "core" &( >J + "manipulator"&J% +4 "core" % +2 "collection"'& +4 "core" & \ +2 "collection"'M& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'!(V +4 "core" & \ +7 &5 A\ $e +10 &U} F\ 7 +9 &y H\ L +10 &R ?\ M +9 &gV ?\ M +9 &)T =\ M +10 &V H\ M +9 &T D\ M +9 &oU I\ M +10 &1W I\ M +9 &V H\ M +10 &!W H\ M +9 &#vV F\ M +9 &%7W ?\ N +10 &&W =\ M +9 &(T ;\ M +9 &*T <\ M +10 &,AU @\ M +9 &.U >\ M +10 &/U :\ M +9 &1T 7\ M +9 &3HT <\ M +10 &5\ U 8\ M +9 &6U 2\ M +9 &8T 9\ M +10 &:PV ~\ M +9 &<T \ M +10 &=W >\ M +9 &?V .\ N +9 &AYU ;\ M +10 &CW ;\ M +9 &D\\ 6\ N +9 &F` 7\ N +10 &HXn 2\ P +9 &J Q\ T +10 &K M\ W +9 &M \ Y +9 &OH ~\ X +10 &Q \ X +9 &R \ Z +9 &T \ Z +10 &V'u \ . +9 &V' \ P +9 ( +2 &Vj \ I +2 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%7& +4 "core" &\ + "manipulator"&% +4 "core" %\ ! 1 +2 "storage"(r% +3 "core" %] j j \ +2 "storage"(. +3 "core" .( + "storage"(K& +4 "core" & i i \ +2 "storage"(o& +4 "core" & i j \ + "manipulator"&9& +4 "core" &' >I + "manipulator"&-% +4 "core" %\ ! x 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&B( +155 "core" ( + "manipulator"&& +4 "core" & $ 9  +2 "storage"(y& +3 "core" & ~ $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +96 "core" ' +2 "storage"(T& +4 "core" & T\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"( 'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & | ` \ + "manipulator"&5& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&P( +4 "core" ( + "manipulator"&:& +4 "core" &  + "storage"(c& +4 "core" & x $\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&(' +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&{& "storage"(8'X +8 "core" &   + "manipulator"&@% +5 "core" % " W +2 .tForearm.seek :retract + "manipulator"&*'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&I(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"& & +5 "core" &x # . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &x ' [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&&& +4 "core" &x ( + "manipulator"&% +4 "core" % D l +2 "processing"%;& +4 "core" &\ +2 "processing"%]& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &\ +7 & 1\ $c +9 &U~\ 7 +10 &}\ L +9 &Zw\ N +9 &a\\\ N +10 &#Y{\ N +9 &Y\ N +10 &X{\ N +9 &jYx\ N +9 &,Xv\ N +10 &Z{\ N +9 &!Yv\ N +9 &#tYx\ M +10 &%4Zy\ N +9 &&Y\ N +10 &(Y|\ N +9 &*{Yx\ N +9 &,=X|\ N +10 &-\\}\ N +9 &/Xu\ N +9 &1Ww\ N +10 &3EYz\ N +9 &5Zx\ N +10 &6Vx\ N +9 &8Wx\ M +9 &:MXx\ N +10 &<Zz\ N +9 &=Zv\ N +9 &?[v\ N +10 &AVYs\ M +9 &CYw\ N +10 &D\\x\ N +9 &Fav\ O +10 &HVnw\ P +9 &Jv\ R +9 &Kv\ T +9 &Mv\ T +10 &OSu\ T +9 &Qv\ T +10 &Rw\ T +9 &Tx\ U +9 &VXv\ U +10 &Xu\ U +9 &Y{ns\ 6 +9 &Z-v\ O +10 &Zv\ ) +2 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&% +4 "core" % $  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +90 "core" ' + "processing"%3& +4 "core" &Z~\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&q% +4 "core" %\  h  +2 "storage"(% +4 "core" %b i j \ + "storage"(G. +3 "core" .( + "storage"(/& +5 "core" & i i \ + "storage"([& +3 "manipulator"&%& +7 "core" & j i \ + &x  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'i +3 "core" ( + "manipulator"&W& +4 "core" &x p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x !  +2 .tForearm.seek PC + "manipulator"&X' +95 "core" ' +2 .tHand.close + "manipulator"&"/ +64 "core" / +2 .tPC.seek :open +2 "processing"%6( +91 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +44 "core" ' +287 ( +2 "storage"(e& +4 "core" & } &\ + "manipulator"&|& +4 "core" &x I + "manipulator"&=% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +53 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&S( +258 "core" ( +2 "manipulator"&b& +4 "core" &  G \ +2 "storage"(O& +3 "core" & i v A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 .tHand.open + "manipulator"&H1 +61 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +46 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(,& +4 "core" & A I\ + "manipulator"&& +4 "core" & O \ +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&\ & +4 "core" & Y \ +2 "storage"(f& +4 "core" & I .\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(L' +55 "core" ' +2 "manipulator"& & +4 "core" & \ +2 "storage"(^& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&k' +30 "core" ' + .tElbow.hold +2 "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +21 "core" ' + "manipulator"&n% +5 "core" % + + "storage"(+& +5 "core" & i i }\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&i' +20 "core" ' +2 "manipulator"&t& +4 "core" & M \ +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +35 "core" ' +2 "storage"(0% +5 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(p'X +99 (d% +2 "core" %LF j g \ Xe +2 "manipulator"&'% +4 "core" %њ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +85 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (x& +4 "core" & { &\ +2 "collection"'4& +4 "core" &Vj \ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&F% +4 "core" %\    + "storage"(Z% +4 "core" %\\ \ +2 "storage"( . +3 "core" .( +2 "storage"(2& +3 "core" & y\ +2 "storage"(v& +4 "core" & \ + "manipulator"&.& +4 "core" & 4 \ +2 .tElbow.seek 2 + "manipulator"&_( +4 "core" ( + "manipulator"&$& +4 "core" &  o \ + "storage"(m& +5 "core" & q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +95 "core" ' +2 "storage"(s& +4 "core" & ~\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +2 "core" & v \ +2 "storage"(U& +4 "core" & y z 2\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&`' +30 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(J'M +31 "core" ' +2 "manipulator"&)% +4 "core" % 2 \ + "storage"(& +4 "core" & E E \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&>& +5 "core" & g \ + "storage"(u& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('< +39 "core" ' +2 "manipulator"&7& +4 "core" &  \ +2 "manipulator"&% +4 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +164 "core" ( +2 "manipulator"&M& +5 "core" & 7 F 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &  = 0 +2 .tForearm.seek CC + "manipulator"&o'" +95 "core" ' + .tHand.close +2 "manipulator"&9/ +58 "core" / +2 .tCC.seek :open + "collection"'-( +417 "core" ( + "storage"(E& +4 "core" & -\ +2 "storage"(& +4 "core" & 7\ + "manipulator"&y& +4 "core" &  0 + "manipulator"&T% +4 "core" % !  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&R( +156 "core" ( + "manipulator"&& +4 "core" & K  +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&5' +104 "core" ' +2 .tElbow.hold + "manipulator"&:, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&c1 +54 "core" 1 +2 "manipulator"&C% +4 "core" % - R  + "storage"({& +4 "core" & 6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&@' +19 "core" ' +2 "manipulator"&B& +5 "core" & m  + "storage"(1& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +52 "core" ' +2 "storage"((% +4 "core" %> \ +2 ."downElevator"SE.seek :down +3 "storage"( 'X +100 (Y% +2 "core" %C l\ Va +2 "manipulator"&P% +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +94 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & m\ +2 "manipulator"&;% +4 "core" %\ \   + "storage"(8% +4 "core" %b ~\ +2 "storage"(*. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(z( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" & J\  + "manipulator"&& +4 "core" & !  +2 .tElbow.seek 3 + "manipulator"&3( +13 "core" ( +2 "manipulator"&q& +4 "core" &  p +2 "storage"(& +4 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +91 "core" ' +2 "storage"(/& +4 "core" & /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +285 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" & \  + "manipulator"&W& +4 "core" & " p +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & r p + "storage"("& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +50 "manipulator"&I/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(A'X +8 "core" &  p +2 "manipulator"&~% +4 "core" % Ϟ $ +2 .tForearm.seek :retract + "manipulator"&e'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&=& +3 "core" &$ D ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &$  ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'" +103 "core" ' + "manipulator"&O& +5 "core" &$ , ;4 + "manipulator"&% +4 "core" %  +2 "collection"'H& +4 "core" & \ +2 "collection"'& +5 "core" & C\ +3 .tCC.seek :closed + "collection"'g(V +5 "core" & H\ +6 &4 F\ $c +10 &U} ?\ 7 +9 &y ;\ L +9 &R 8\ M +10 &eW <\ M +9 &'U =\ M +10 &V ;\ M +9 &U :\ M +9 &mU <\ M +10 &/V ;\ M +9 &U 1\ M +9 &!W 8\ M +10 &#tV \ M +9 &%6V A\ M +10 &&U ~\ M +9 &(U 9\ M +9 &*}T ;\ M +10 &,?U 8\ M +9 &.U 9\ L +9 &/V =\ M +10 &1W :\ M +9 &3ET 8\ M +9 &5U \ M +10 &6U \ M +9 &8T \ M +10 &:NU \ M +9 &<V \ M +9 &=T \ M +10 &?W \ M +9 &AUV \ M +10 &CV \ N +9 &DZ S\ N +9 &F` x\ N +10 &HVn =\ P +9 &J \ T +9 &K \ W +10 &M \ Y +9 &OC \ Y +9 &Q \ X +10 &R \ Z +9 &T s\ Z +10 &V"u \ . +9 &V( \ R +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&,1 +3 "core" &Vk \ I +49 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%f& +4 "core" &\ + "manipulator"&% +5 "core" %\ }  + "storage"( % +4 "core" %\\ }\ + "storage"(^. +3 "core" .( +2 "storage"(n& +4 "core" & }\  + "storage"(+& +4 "core" & ~\  +2 "manipulator"&Q& +3 "core" &$  ;3 +2 "manipulator"&t% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +148 "Can"\ EC +15 "core" ( + "manipulator"&& +5 "core" & , w + "storage"(0& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +92 "core" ' +2 "storage"(& +4 "core" & #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +285 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" & ~ \  + "manipulator"&?& +4 "core" & P w +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&L& +4 "core" & b w + "storage"(k& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&4& +4 "storage"(F'X +3 "core" & ` w +2 "manipulator"&Z% +4 "core" % Ϡ +2 .tForearm.seek :retract + "manipulator"&h'\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"&2& +5 "core" &j 7 Q ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &j V ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +94 "core" ' + "manipulator"&$& +4 "core" &j 5 ) +2 "manipulator"&m% +4 "core" %   +2 "processing"%<& +4 "core" &\ +2 "processing"%s& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(Z +4 "core" &\  +8 &5\ *z +9 &d\ ? +10 &t}\ N +9 &JW\ N +10 & Wx\ N +9 &W\ N +9 &Yt\ N +10 &SX\ N +9 &Yz\ N +9 &Yz\ N +10 & Wu\ N +9 &"[Wv\ N +9 &$W~\ N +10 &%X\ N +9 &'Z\ N +10 &)bY\ N +9 &+%Yz\ N +9 &,Ws\ N +10 &.W\ N +9 &0lW{\ N +10 &2-Z\ N +9 &3Wz\ N +9 &5W~\ N +10 &7tWx\ N +9 &95[{\ N +9 &:W\ N +10 &<Vu\ N +9 &>|Vs\ N +9 &@>Ys\ N +10 &BYy\ M +9 &CZu\ N +10 &E\\{\ O +9 &G?ht\ P +9 &H{{\ R +10 &Jv\ T +9 &Lyv\ T +9 &N;t\ T +10 &Os\ T +9 &Q|\ T +10 &St\ T +9 &UAw\ U +9 &Wt\ U +10 &Xs\ U +9 &Z*Uqw\ 'u +14 &Z[k\ 1 +4 ( +2 &Zv\ - +2 "processing"%s& +7 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&j1 +56 "core" 1 + "manipulator"&D% +4 "core" %  b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%\\& +5 "core" &Zj\ - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&U% +4 "core" %\ & !M + "storage"(% +4 "core" %a 8 ; P\ + "storage"(). +3 "core" .( +2 "storage"(& +3 "core" & = = \  +2 "storage"(>& +5 "manipulator"&u& +4 "core" & ; 8 |\  + &j ) +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&7(s + "storage"('i +5 "core" ( + "manipulator"&N& +5 "core" &j 2 ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &j  ) +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&`/ +55 "core" / +2 .tPC.seek :open + "processing"%( +97 "core" ' + "storage"(J- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(M'y +44 "core" ' +282 ( +2 "storage"(K& +4 "core" &  \  + "manipulator"&& +4 "core" &k 1 ( +2 "manipulator"&w% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&9'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&r( +264 "core" ( +2 "manipulator"&!& +4 "core" & i  + "storage"(E& +4 "core" & K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + .tHand.open +2 "manipulator"&y1 +59 "core" 1 +2 "storage"(T- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"(& +4 "core" & \  + "manipulator"&c& +4 "core" & Y  +2 .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&{& +4 "core" & >  + "storage"(B& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"((' +57 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(Y& +4 "core" & z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&P'} +30 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +25 "core" ' + "manipulator"&@% +5 "core" %΀ + "storage"(& +4 "core" & k k \  +53 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&;'Ϭ +20 "core" ' +2 "manipulator"&8& +4 "core" & <  +2 "storage"(*& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 "storage"( % +4 "core" %s *\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (a% +2 "core" %G o j \ We +2 "manipulator"&V% +4 "core" %K A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (q& +3 "core" & &\  +2 "collection"'& +4 "core" &Vk \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&/% +4 "core" %\  [  +2 "storage"(:% +3 "core" %T \ +2 "storage"(&. +3 "core" .( +2 "storage"([& +3 "core" & \  +2 "storage"(]& +4 "core" & \  + "manipulator"&W& +4 "core" & C  +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&"& +4 "core" & n  + "storage"(I& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +95 "core" ' +2 "storage"(~& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +282 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&=& +3 "core" & N  +2 "storage"(X& +4 "core" & 3\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +27 "core" ' +2 "manipulator"&H% +4 "core" %΋  +2 "storage"(& +3 "core" & e E\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&A'Ϸ +20 "core" ' +2 "manipulator"&e& +4 "core" & _  +2 "storage"(-& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('C +38 "core" ' +3 "manipulator"&f& +5 "core" &   + "manipulator"&% +4 "core" %8  o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +162 "core" ( + "manipulator"&n& +4 "core" &+ Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ o Aa +2 .tForearm.seek CC +2 "manipulator"&+'" +96 "core" ' + .tHand.close +2 "manipulator"&Q/ +55 "core" / +2 .tCC.seek :open + "collection"'t( +417 "core" ( + "storage"(b& +4 "core" & o\  +2 "storage"(& +4 "core" & n\  + "manipulator"&0& +4 "core" &+ e Aa + "manipulator"&% +4 "core" % ) 0 - +2 .tForearm.seek :retract + "manipulator"&|'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&\ ( +168 "core" ( + "manipulator"&d& +4 "core" & X P +2 "storage"('& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&?'} +96 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +63 "core" 1 +2 "manipulator"&x% +4 "core" % Ή ! +2 "storage"(4& +4 "core" & 5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&Z'ϵ +20 "core" ' +2 "manipulator"&#& +4 "core" & g P +2 "storage"(S& +3 "core" & J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +24 "core" ' +2 "storage"(i% +4 "core" %K %\ +2 ."downElevator"SE.seek :down +4 "storage"(2'X +98 (v% +3 "core" %vD ^\ Wb +2 "manipulator"&% +4 "core" %T 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'m& +4 "core" & \ + "manipulator"&<% +4 "core" %\  3 +2 "storage"(F% +4 "core" %\\ \ + "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(6(,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &,i  b\  +2 "manipulator"&D& +3 "core" &  P +2 .tElbow.seek 4 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&U& +4 "core" &  Z P +2 "storage"(& +3 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&)'Ѽ +101 "core" ' +2 "storage"(& +4 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +277 "core" ' + "storage"(>- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &,g \\\  + "manipulator"&N& +4 "core" & [ P +2 .tElbow.seek 4 + "manipulator"&_( +3 "core" ( +2 "manipulator"&.& +4 "core" & o P + "storage"(`& +4 "core" &,g N\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&J', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(p'X +7 "core" & P +2 "manipulator"&% +4 "core" % %  U +2 .tForearm.seek :retract + "manipulator"&K'\ +103 "core" ' +2 .tElbow.seek CC + "manipulator"&( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&w& +4 "core" &* #  @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* " @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&!'" +101 "core" ' +2 "manipulator"&E& +4 "core" &* h @X +2 "manipulator"&7% +4 "core" %) ' + "collection"'y& +4 "core" & \ +2 "collection"'T& +5 "core" & F\ +2 .tCC.seek :closed +2 "collection"'o(V +4 "core" & B\ +8 &5 F\ #c +9 &W~ B\ 7 +10 &y @\ L +9 &U ;\ M +10 &kU C\ L +9 &+T <\ M +9 &U 7\ M +10 &U 9\ M +9 &sU 9\ L +9 &3V :\ M +10 &U 8\ M +9 &!V /\ L +10 &#xW ;\ M +9 &%;U 9\ M +9 &&U =\ M +10 &(T ;\ M +9 &*Y =\ M +9 &,DU <\ M +10 &.T =\ L +9 &/V 9\ M +10 &1W =\ M +9 &3LU <\ M +9 &5U <\ L +10 &6U 8\ M +9 &8T <\ M +9 &:SY \ M +10 &<W \ M +9 &=W \ M +10 &?W \ M +9 &A[U \ M +9 &CV \ M +10 &DZ \ N +9 &F` |\ N +9 &HYp v\ P +10 &J \ T +9 &K \ X +10 &M \ X +9 &OI \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ Z +9 &V(u \ / +10 &V! \ L +9 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&1 +4 "core" &V` \ H +52 1 + "manipulator"&c% +4 "core" % )  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&{'\ +148 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%B& +4 "core" &\ +2 "manipulator"&9% +3 "core" %\  3 +2 "storage"(% +4 "core" %T j j \ + "storage"(Y. +3 "core" .(,l +2 "storage"(M& +4 "core" &,g j k \  + "storage"(@& +4 "core" &,g l j \  +2 "manipulator"&& +4 "core" &) @X + "manipulator"&% +4 "core" %\  3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&8( +159 "core" ( + "manipulator"&*& +4 "core" & $ P  +2 "storage"(r& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' + "storage"( & +4 "core" &,g a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &,g j \  +2 "manipulator"&V& +4 "core" & e  + .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&(& +4 "core" & m  + "storage"(P& +4 "core" &,g g\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&;', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/'X +7 "core" & #  +2 "manipulator"&:% +4 "core" % & c  +2 .tForearm.seek :retract + "manipulator"&5'\ +103 "core" ' +2 .tElbow.seek PC + "manipulator"&&(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&[& +4 "core" &s &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &s F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +93 "core" ' + "manipulator"&"& +5 "core" &s # ( + "manipulator"&I% +4 "core" % w  +2 "processing"%& +4 "core" &\ +2 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &y\  +8 &2}w\ *z +10 &cv\ > +9 &|ux\ O +10 &@X|\ N +9 &Yt\ M +9 &Yw\ N +10 &Yo\ N +9 &HWt\ N +9 & Yu\ M +10 &Wp\ N +9 & Ww\ N +10 &"OVu\ N +9 &$W{\ N +9 &%Yu\ N +10 &'Zx\ O +9 &)WWp\ N +9 &+Wv\ N +10 &,Uw\ N +9 &.Ww\ N +9 &0_Ww\ N +10 &2"Xw\ N +9 &3Wx\ N +10 &5Wx\ M +9 &7hWx\ N +9 &9*Vv\ N +10 &:Tv\ N +9 &<Uu\ N +9 &>pUn\ N +10 &@1Xs\ N +9 &AYx\ N +10 &CZx\ N +9 &Eu_w\ O +9 &G3my\ P +10 &Hv\ S +9 &Jy\ T +9 &Llx\ T +10 &N.s\ T +9 &Of\ T +10 &Qg\ U +9 &Stt\ T +9 &U5n\ U +10 &Vg\ U +9 &Xl\ U +9 &Z"Y|h\ 'v +10 &Zbj\ 4 +9 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&R1 +4 "core" &Z&o\ . +57 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' + "processing"%=& +4 "core" &Z&\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&X% +4 "core" %\ " f < +2 "storage"(O% +4 "core" %T E A k\ + "storage"(H. +3 "core" .(,l +2 "storage"(& +3 "core" &,g 7 7 ,\  +2 "storage"(e& +2 "manipulator"&-& +8 "core" &,g 8 7 \  + &s ; +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&f(s + "storage"('i +5 "core" ( +2 "manipulator"&}& +4 "core" &s  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &s R +2 .tForearm.seek PC +2 "manipulator"&3' +96 "core" ' + .tHand.close +2 "manipulator"&%/ +53 "core" / +2 .tPC.seek :open +2 "processing"%A( +94 "core" ' +2 "storage"(- +5 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(n'y +45 "core" ' +282 ( + "storage"(& +4 "core" &,g z M\  +2 "manipulator"&,& +4 "core" &s / + "manipulator"&% +4 "core" % K  +2 .tForearm.seek :retract + "manipulator"&Q'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +247 "core" ( + "manipulator"&g& +4 "core" & " a - +2 "storage"(b& +4 "core" &,g ] \\ O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +98 "core" ' + .tHand.open +2 "manipulator"&01 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(d'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(+- +4 "core" -' + "storage"(^& +9 "core" &,g *\  +4 "manipulator"&k& +8 "core" &  - +2 .tElbow.seek 4 + "manipulator"&x( +20 "core" ( +2 "manipulator"&4& +4 "core" & f  + "storage"(#& +4 "core" &,g m\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +57 "core" ' +2 "manipulator"&|& +4 "core" & U  + "storage"(v& +5 "core" &,g y { R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +28 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +24 "core" ' +2 "manipulator"&Z% +5 "core" % + + "storage"(m& +5 "core" &,g 7 8 -\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&<'/ +19 "core" ' +2 "manipulator"&F& +4 "core" & + +2 "storage"(h& +4 "core" &,g y w `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 "storage"(l% +4 "core" %o \ +3 ."downElevator"SE.seek :down +4 "storage"(2'X +99 (z% +3 "core" %F  \ Wd +2 "manipulator"&j% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (U& +4 "core" &,g } \  + "collection"'& +4 "core" &V` \ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ #  9 + "storage"(L% +4 "core" %T D\ +2 "storage"($. +3 "core" .(,l +2 "storage"(>& +4 "core" &,g x { \  + "storage"(s& +4 "core" &,g x g\  +2 "manipulator"&N& +4 "core" &  Y + .tElbow.seek 4 +2 "manipulator"&.( +27 "core" ( +2 "manipulator"&`& +4 "core" & T # + "storage"( & +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +97 "core" ' +2 "storage"(& +4 "core" &,g O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +284 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" & # + "storage"(& +4 "core" &,g  m\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +51 "manipulator"&u' +30 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(7'W +27 "core" ' +2 "manipulator"&y% +4 "core" %  y + "storage"(_& +5 "core" &,g 7 . 8\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&p'9 +18 "core" ' + "manipulator"&K& +4 "core" & $ I ' +3 "storage"(t& +4 "core" &,g  /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'F +41 "core" ' + "manipulator"&T& +5 "core" &  % +2 "manipulator"&B% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ( + "manipulator"&Y& +5 "core" &#  . :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &# :/ +2 .tForearm.seek CC + "manipulator"&@'" +95 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +3 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(!& +4 "core" &,g =\  + "storage"(*& +4 "core" &,g \  +2 "manipulator"&r& +4 "core" &#  , :. + "manipulator"& % +4 "core" % 6  Y +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&{( +160 "core" ( + "manipulator"&1& +4 "core" &  R w +2 "storage"(a& +4 "core" &,g O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&V' +106 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +64 "core" 1 +2 "manipulator"&q% +9 "core" %   + "storage"(& +4 "core" &,g )\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&:'> +19 "core" ' + "manipulator"&8& +4 "core" & C  +2 "storage"(& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +17 "core" ' + "storage"(;% +5 "core" %P 1\ +2 ."downElevator"SE.seek :down +3 "storage"(['X +100 (]% +3 "core" %^B \ Va +2 "manipulator"&C% +4 "core" %ѵ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'I& +4 "core" & 2\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(/% +4 "core" %R q\ + "storage"(5. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +2 "core" &<( F\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( + "manipulator"&X& +4 "core" &  H  + "storage"(O& +4 "core" &<% A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&H'ы +97 "core" ' +2 "storage"(~& +4 "core" &<% \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" &<% \  + "manipulator"&}& +4 "core" & ]  +2 .tElbow.seek 5 + "manipulator"& ( +3 "core" ( +2 "manipulator"&W& +4 "core" &   + "storage"(%& +4 "core" &<% \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"( 'X +7 "core" &   +2 "manipulator"&% +4 "core" %  ` j +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +158 "core" ( + "manipulator"&& +4 "core" &+ { A` +2 ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&3& +6 "core" &+ ( A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'" +100 "core" ' +2 "manipulator"&b& +4 "core" &+ T A_ +2 "manipulator"&f% +4 "core" %,  +2 "collection"'0& +4 "core" & <\ +2 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'+(V +4 "core" & B\  +10 &2{ 8\ *x +9 &c C\ > +9 &wp 9\ N +10 &;U 2\ M +9 &T <\ M +9 &U >\ M +10 &U ;\ M +9 &BX ;\ M +10 &U =\ M +9 &U <\ M +9 & U 8\ L +10 &"JU 9\ M +9 &$ U =\ M +9 &%V 8\ M +10 &'U 8\ M +9 &)ST V\ M +10 &+Y ;\ M +9 &,T 9\ M +9 &.U 8\ M +10 &0[U T\ M +9 &2U \ M +10 &3X \ M +9 &5U \ M +9 &7dU \ L +10 &9$U \ M +9 &:V \ M +9 &<V \ M +10 &>kW \ M +9 &@-U \ M +9 &AU \ M +10 &CW \ M +9 &Ep] \ N +10 &G.d \ O +9 &Hm \ P +9 &J \ S +10 &L] \ W +9 &N \ W +9 &O \ Y +10 &Q \ Y +9 &S[ \ Z +10 &U \ Z +9 &VlD \ 1 +9 &Vm \ G +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&^1 +3 "core" &Vg \ G +52 1 + "manipulator"&k% +5 "core" % , _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%4& +4 "core" &\ +2 "manipulator"&#% +3 "core" %\  * W  +2 "storage"(|% +4 "core" %S l m \ + "storage"(v. +3 "core" .(<* +2 "storage"(n& +4 "core" &<% k m \  + "storage"(Z& +4 "core" &<% ` i }\  + "manipulator"&m& +5 "core" &( ) 6 ?P + "manipulator"&d% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&F( +162 "core" ( + "manipulator"&h& +5 "core" &  ?  + "storage"(l& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"& 'ы +90 "core" ' +2 "storage"(& +4 "core" &<% M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''i +279 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &<% n w =\  +2 "manipulator"&S& +3 "core" & *  +2 .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( + "manipulator"&i& +4 "core" & k  +2 "storage"(& +3 "core" &<% |\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &   +2 "manipulator"&L% +4 "core" % _ F +2 .tForearm.seek :retract + "manipulator"&?'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&$(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +50 "manipulator"&>& +6 "core" &r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &r ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&N' +101 "core" ' +2 "manipulator"&`& +4 "core" &r #  +2 "manipulator"& % +4 "core" %  +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(Z +4 "core" &v\ +7 &Ex\ %g +10 &W~v\ 8 +9 &}o\ M +10 &Zs\ N +9 &xZu\ N +9 &;Xt\ N +10 &Wr\ M +9 &Wt\ N +9 &Yn\ N +10 &CWx\ N +9 & Zp\ N +10 &!Xt\ M +9 &#Yp\ N +9 &%J[h\ N +10 &'Wn\ M +9 &(Xi\ N +9 &*Ys\ M +10 &,SYx\ N +9 &.Xr\ N +10 &/Wv\ M +9 &1Ww\ N +9 &3[Zj\ N +10 &5Uu\ N +9 &6Up\ N +9 &8Vr\ N +10 &:dYe\ M +9 &<&X\\\ M +10 &=Wm\ M +9 &?Wj\ M +9 &AkWg\ N +10 &C,\\h\ N +9 &D]d\ N +9 &Ffj\ O +10 &Hg{`\ R +9 &J#Z\ T +10 &Kb\ T +9 &Mi\ S +9 &OjZ\ S +10 &Q+f\ T +9 &Rh\ T +9 &Tb\ T +10 &Vnl\ U +9 &X0k\ U +10 &Y{pb\ . +9 &Z'jg\ I +9 &Z$b\ / +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&\ 1 +53 "core" 1 +2 "manipulator"&D% +4 "core" % .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 "processing"%w& +4 "core" &Z#z\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  *  +2 "storage"(E% +3 "core" %a f _ b\ +2 "storage"(y. +3 "core" .(<* +2 "storage"(_& +4 "core" &<% j j \  +2 "storage"(K& +2 "manipulator"&t& +7 "core" &<% ^ g o\  + &r  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&T(s + "storage"(B'i +6 "core" ( + "manipulator"&& +4 "core" &r ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &r  +2 .tForearm.seek PC + "manipulator"&\\' +96 "core" ' + .tHand.close + "manipulator"&u/ +60 "core" / +2 .tPC.seek :open + "processing"%p( +89 "core" ' + "storage"(7- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Y'y +42 "core" ' +296 ( + "storage"(M& +4 "core" &<% S\  +2 "manipulator"&& +3 "core" &r @ +2 "manipulator"&J% +4 "core" % G + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +267 "core" ( + "manipulator"&o& +5 "core" & # N } + "storage"(!& +4 "core" &<% ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&*'ы +100 "core" ' + .tHand.open + "manipulator"&r1 +59 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(1'E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(a' +44 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(& +4 "core" &<% c\  +2 "manipulator"&P& +3 "core" &  } +2 .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&& +4 "core" & # } + "storage"(8& +4 "core" &<% h\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +57 "core" ' +2 "manipulator"&& +4 "core" & 2 } + "storage"(]& +4 "core" &<% { `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C' +34 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'i +21 "core" ' +2 "manipulator"&I% +4 "core" % A +2 "storage"(:& +4 "core" &<% H H\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&'\ +13 "core" ' + "manipulator"&/& +5 "core" & ~ + "storage"(5& +5 "core" &<% I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&c'ы +30 "core" ' + "storage"(% +5 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(['X +98 (6% +3 "core" %_A ` o p\ Vb +2 "manipulator"&R% +4 "core" %ѕ  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (X& +4 "core" &<% | \  +2 "collection"'O& +3 "core" &Vg \ G +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&~% +3 "core" %\ # < B +2 "storage"((% +4 "core" %b x v k\ + "storage"(". +3 "core" .(<* +2 "storage"(-& +4 "core" &<% } } z\  + "storage"(e& +4 "core" &<% x x u\  + "manipulator"&}& +4 "core" &  ~ +2 .tElbow.seek 5 + "manipulator"&W( +4 "core" ( + "manipulator"&%& +4 "core" &  x ~ +2 "storage"(&& +3 "core" &<% t S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&G'ы +87 "core" ' + "storage"(& +4 "core" &<% =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='i +289 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & _ ~ +2 "storage"(3& +3 "core" &<% y | c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&' +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(f'Y +28 "core" ' + "manipulator"& % +4 "core" %  ! $ +2 "storage"(0& +4 "core" &<% j k \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"& ' +13 "core" ' + "manipulator"&& +5 "core" & # ~ + "storage"(& +4 "core" &<% '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&^'ы +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(k'H +55 "core" ' +2 "manipulator"&4& +4 "core" & M ~ +2 "manipulator"&#% +4 "core" %ї y ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&v( +159 "core" ( +2 "manipulator"&n& +4 "core" &% 0 D <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &% ( - <> +2 .tForearm.seek CC +2 "manipulator"&m'" +97 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tCC.seek :open +2 "collection"'d( +417 "core" ( + "storage"(g& +4 "core" &<% o\  +2 "storage"(h& +4 "core" &<% ?\  +2 "manipulator"&l& +3 "core" &#  :. +2 "manipulator"&% +4 "core" % ,  +2 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +52 "manipulator"&Q( +167 "core" ( + "manipulator"&z& +5 "core" &  L a + "storage"(j& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&S' +108 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +3 "manipulator"&U% +4 "core" %  ; +2 "storage"(& +4 "core" &<% }\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&L' +16 "core" ' + "manipulator"&F& +5 "core" &  a + "storage"( & +4 "core" &<% ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&''ы +32 "core" ' + "storage"(<% +4 "core" %L \ +3 ."downElevator"SE.seek :down +3 "storage"(>'X +100 (x% +2 "core" %B )\ Wb +2 "manipulator"&s% +4 "core" %w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +3 "core" & z\ +2 "manipulator"&% +3 "core" %\    +2 "storage"(% +4 "core" %a \ + "storage"(?. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(A( +971 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" & $\ +2 "manipulator"&D& +4 "core" &  a + .tElbow.seek 2 +2 "manipulator"&w( +39 "core" ( +2 "manipulator"&& +4 "core" &  a "} + "storage"(E& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&y'ќ +95 "core" ' +2 "storage"(_& +4 "core" & C\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'i +288 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & g\ +2 "manipulator"&& +3 "core" & f "| +2 .tElbow.seek 2 +2 "manipulator"&.( +27 "core" ( +2 "manipulator"&N& +5 "core" &  t  + "storage"(u& +4 "core" & Y\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&7' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"(2'X +7 "core" & >  + "manipulator"&B% +4 "core" %  - +2 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&J& +4 "core" &(  = ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &'  ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'" +102 "core" ' +3 "manipulator"&!& +4 "core" &( / ?V +2 "manipulator"&T% +3 "core" % +2 "collection"'r& +4 "core" & F\ +2 "collection"' & +5 "core" & I\ +2 .tCC.seek :closed +2 "collection"'@(V +5 "core" & @\ +6 &5 =\ $c +9 &U~ <\ 7 +10 &y G\ L +9 &R D\ M +9 &gU @\ M +10 &*T 8\ M +9 &V 8\ M +10 &T :\ M +9 &pU 2\ M +9 &2U <\ M +10 &U >\ M +9 &!U 8\ M +9 &#wU =\ M +10 &%9U =\ M +9 &&U =\ M +10 &(T :\ M +9 &*T 8\ M +9 &,AU 9\ M +10 &.T 7\ M +9 &/U 9\ M +9 &1U 9\ M +10 &3IT 8\ M +9 &5 U ~\ M +10 &6T \ M +9 &8T \ L +9 &:QU N\ M +10 &<V \ M +9 &=V \ M +9 &?S \ M +10 &AYU \ M +9 &CV \ M +10 &DZ \ N +9 &F` \ N +9 &HYn \ P +10 &J \ T +9 &K |\ W +9 &M \ Y +10 &OI \ X +9 &Q \ X +10 &R \ Z +9 &T \ Z +9 &V)x }\ . +10 &V# \ L +9 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&1 +4 "core" &Ve \ G +48 1 +3 "manipulator"&P% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%8& +4 "core" &z\ +2 "manipulator"&% +3 "core" %\ # ? +2 "storage"(% +4 "core" %\\ j g k\ + "storage"(]. +3 "core" .( +2 "storage"(Y& +4 "core" & j j \ + "storage"(I& +4 "core" & j j \ + "manipulator"&:& +4 "core" &( ?V +2 "manipulator"&/% +4 "core" %\ # ? + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +160 "core" ( +2 "manipulator"&1& +4 "core" & $ J ~ +2 "storage"(& +4 "core" & y v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +87 "core" ' + "storage"(*& +4 "core" & O\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'i +287 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +3 "core" & ~ \ + "manipulator"&& +4 "core" &  ~ +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&;& +3 "core" & p ~ +2 "storage"(C& +4 "core" & u\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& + "storage"(~'X +56 "core" & 3 ~ + "manipulator"&(% +5 "core" %  $ P +2 .tForearm.seek :retract + "manipulator"&V'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +119 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +124 "core" ( + "manipulator"&-& +5 "core" &z + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&}' +105 "core" ' +2 "manipulator"&%& +4 "core" &z % ' + "manipulator"&&% +5 "core" %   + "processing"%c& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%[(Z +4 "core" &v\  +9 &2}w\ *x +10 &bw\ > +9 &jut\ N +9 &,U{\ N +10 &Wy\ N +9 &Yy\ N +10 &sY|\ N +9 &5Y\ N +9 &Z}\ N +10 &\\x\ N +9 & zY{\ N +9 &"<X}\ N +10 &#Xy\ N +9 &%Y|\ N +10 &'[\ N +9 &)DYv\ N +9 &+Zv\ N +10 &,Wt\ N +9 &.Yu\ N +9 &0MWw\ N +10 &2Vs\ N +9 &3Xs\ N +10 &5Wt\ N +9 &7UXw\ N +9 &9Yu\ M +10 &:Ws\ N +9 &<Wt\ M +9 &>]Wt\ N +10 &@\\w\ N +9 &AYu\ N +10 &C^t\ N +9 &Eb]r\ O +9 &G#gs\ O +10 &Hqg\ P +9 &Jt\ T +10 &LZu\ T +9 &Nq\ T +9 &Ol\ T +10 &Qu\ T +9 &S`s\ U +9 &U"h\ U +10 &Vf\ U +9 &Xg\ U +9 &Zej\ ({ +10 &Z`l\ 5 +9 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&{1 +3 "core" &Z#g\ / +60 1 +2 "manipulator"&% +4 "core" % .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +97 "core" ' +2 "processing"%& +4 "core" &Z#j\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&3% +4 "core" %\ I  + "storage"(b% +4 "core" %[ h _ U\ +2 "storage"( . +3 "core" .( + "storage"(0& +4 "core" & i _ b\ +2 "storage"(& +2 "manipulator"&& +7 "core" & i j \ + &z b +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +55 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&4(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'i +3 "core" ( + "manipulator"&G& +4 "core" &z _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &z +2 .tForearm.seek PC + "manipulator"&=' +96 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"% ( +90 "core" ' + "storage"(f- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(n'y +43 "core" ' +293 ( + "storage"(Z& +5 "core" & \ +2 "manipulator"&^& +4 "core" &z j + "manipulator"&% +4 "core" % - +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +259 "core" ( +2 "manipulator"&+& +4 "core" &  % $ + "storage"(g& +4 "core" & j j \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&h'ќ +106 "core" ' +2 .tHand.open +2 "manipulator"&l1 +54 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(m'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(z' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(v& +4 "core" & \ +2 "manipulator"&& +4 "core" & | "} + .tElbow.seek 2 +2 "manipulator"&U( +28 "core" ( +2 "manipulator"&& +4 "core" & 5  +2 "storage"(F& +3 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(<' +57 "core" ' +2 "manipulator"&,& +4 "core" &   + "storage"(x& +4 "core" & | +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s' +33 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(S'i +23 "core" ' +2 "manipulator"&L% +4 "core" % + "storage"(k& +5 "core" & j j \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&'' +11 "core" ' +2 "manipulator"&>& +4 "core" &   +2 "storage"( & +4 "core" & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 "storage"(% +4 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (% +3 "core" %F ~ o \ Xe +2 "manipulator"&\ % +4 "core" %є +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & r\ +2 "collection"'E& +4 "core" &Ve \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&_% +4 "core" %\ ?  +2 "storage"(i% +4 "core" %S X\ + "storage"(`. +3 "core" .( +2 "storage"(K& +3 "core" & p\ +2 "storage"(& +4 "core" & ,\ + "manipulator"&& +4 "core" & 2  +2 .tElbow.seek 2 + "manipulator"&N( +4 "core" ( + "manipulator"&u& +4 "core" &  + "storage"($& +4 "core" & a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +102 "core" ' +2 "storage"(B& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +283 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &   + "storage"(\\& +4 "core" & y { G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +33 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(T'M +26 "core" ' +2 "manipulator"&r% +4 "core" %  + "storage"(.& +4 "core" & R R @\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&2' +20 "core" ' + "manipulator"&M& +5 "core" &  W  + "storage"(d& +4 "core" & z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(P'< +38 "core" ' +2 "manipulator"&8& +4 "core" &   + "manipulator"&% +5 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&]( +159 "core" ( +3 "manipulator"&Y& +4 "core" &-  b Cr + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &, L Cr +2 .tForearm.seek CC + "manipulator"& '" +94 "core" ' + .tHand.close + "manipulator"&:/ +54 "core" / +2 .tCC.seek :open + "collection"'/( +417 "core" ( + "storage"(o& +4 "core" & w\ +2 "storage"(1& +4 "core" & ^\ + "manipulator"&& +4 "core" &- S Cp + "manipulator"&*% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +151 "core" ( +2 "manipulator"&6& +4 "core" & $ ] \ + "storage"(R& +5 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +105 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&C1 +53 "core" 1 +2 "manipulator"&X% +5 "core" %  f ( + "storage"(O& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&(' +14 "core" ' +3 "manipulator"&5& +4 "core" & 7 \ + "storage"(9& +4 "core" & >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&a'ќ +30 "core" ' +2 "storage"(% +4 "core" %F\ :\ +2 ."downElevator"SE.seek :down +3 "storage"(-'X +100 (e% +2 "core" % C \\\ Vb +2 "manipulator"&q% +4 "core" %ѣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'&& +5 "core" & 5\ + "manipulator"&c% +4 "core" %\  -  +2 "storage"(~% +4 "core" %^ <\ + "storage"(V. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(p( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" & { \  +51 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 3 + "manipulator"&( +18 "core" ( +2 "manipulator"&3& +4 "core" & # W w + "storage"(b& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +99 "core" ' + "storage"(& +5 "core" & q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +286 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & P\  + "manipulator"&G& +5 "core" & w +2 .tElbow.seek 3 + "manipulator"&W( +4 "core" ( + "manipulator"&}& +4 "core" & @ w + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&f'ϩ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(['X +8 "core" & w +2 "manipulator"&#% +5 "core" % Ϡ P W +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &( L ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &( *  ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'" +101 "core" ' + "manipulator"&g& +5 "core" &( $ ?Q + "manipulator"&4% +4 "core" %! Q Y +2 "collection"'l& +4 "core" & H\ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'j(V +4 "core" & D\  +9 &0x D\ *y +9 &d~ C\ > +10 &zp 8\ N +9 &>T 7\ M +10 &U 9\ M +9 &T <\ M +9 &W 2\ M +10 &FU <\ M +9 & U 9\ M +9 &T =\ L +10 & V 3\ M +9 &"NU <\ M +10 &$U 2\ M +9 &%V :\ M +9 &'T <\ M +10 &)WR =\ M +9 &+U =\ M +9 &,T :\ L +10 &.U <\ M +9 &0_U \ M +10 &2"T \ L +9 &3U \ M +9 &5T \ M +10 &7hU \ L +9 &9)U \ M +9 &:V \ M +10 &<W \ M +9 &>nU \ M +9 &@0U \ M +10 &AU \ M +9 &CW L\ M +10 &Es\\ \ N +9 &G2d \ O +9 &Ho \ P +10 &J \ U +9 &L_ \ X +9 &N! \ W +10 &O \ X +9 &Q \ Y +10 &Sa \ Z +9 &U# \ Z +9 &VnC {\ 1 +10 &Vr |\ H +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&v1 +4 "core" &Vl \ H +49 1 +3 "manipulator"&% +4 "core" % % q U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&F% +4 "core" %\  ( -  + "storage"(,% +4 "core" %T i _ ]\ +2 "storage"(x. +3 "core" .( + "storage"(n& +4 "core" & l l \  + "storage"(L& +18 "core" & } r C\  +2 "manipulator"&m& +4 "core" &( ) a ?P + "manipulator"&k% +4 "core" %\  L  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&>( +162 "core" ( +2 "manipulator"& & +4 "core" &  p + "storage"(|& +4 "core" & { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' + "storage"(h& +4 "core" & C\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" & x Q\  +2 "manipulator"& & +3 "core" &  p +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( + "manipulator"&<& +4 "core" &  j p + "storage"(s& +4 "core" & y { R\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& + "storage"(_'X +8 "core" & Y p + "manipulator"&i% +4 "core" % ϧ 2 +2 .tForearm.seek :retract + "manipulator"&S'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +3 "manipulator"&K& +4 "core" &n 7 q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&u& +5 "core" &n  s + "manipulator"&$% +4 "core" % D 9 +2 "processing"%& +4 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed + "processing"%?(Z +4 "core" &{\  +9 &2~\ *x +9 &bw\ > +10 &gv}\ O +9 &+Xv\ N +9 &Ut\ N +10 &Wv\ N +9 &pWu\ N +10 &3Ww\ N +9 &Zt\ N +9 &\\|\ N +10 & yYv\ N +9 &"<Wx\ M +9 &#Vy\ N +10 &%Xu\ N +9 &']v\ N +10 &)CYw\ N +9 &+Yz\ M +9 &,Wu\ M +10 &.Yt\ N +9 &0KUt\ N +9 &2 Ut\ N +10 &3Wu\ M +9 &5Zw\ N +10 &7SVv\ N +9 &9Wv\ N +9 &:Wo\ M +10 &<Xw\ M +9 &>\\Wu\ M +9 &@Yr\ N +10 &A[j\ N +9 &C[x\ N +10 &E`_w\ O +9 &G ho\ O +9 &H}q\ R +10 &Jo\ T +9 &LYe\ T +9 &Nd\ T +10 &Oi\ T +9 &Qf\ T +10 &S_g\ T +9 &U!h\ T +9 &Vi\ U +10 &Xi\ T +9 &Zgk\ * +9 &Znn\ = +9 ( +3 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&Q1 +4 "core" &Z'n\ 2 +54 1 + "manipulator"&D% +4 "core" %  p 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y'\ +90 "core" ' +2 "processing"%J& +4 "core" &Z'{\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\\% +4 "core" %\   + "storage"(!% +4 "core" %a 7 7 O\ + "storage"(r. +3 "core" .( +2 "storage"(.& +3 "core" & H M \  +2 "storage"(M& +5 "manipulator"&d& +4 "core" & S L A\  + &n K +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&8(s + "storage"('i +5 "core" ( + "manipulator"&)& +4 "core" &n 0 f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &n  A +2 .tForearm.seek PC +2 "manipulator"&w' +97 "core" ' + .tHand.close +2 "manipulator"&t/ +51 "core" / +2 .tPC.seek :open +2 "processing"%2( +97 "core" ' +2 "storage"(T- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'y +44 "core" ' +281 ( + "storage"(I& +4 "core" & n\  +2 "manipulator"&& +3 "core" &n  +2 "manipulator"&7% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +263 "core" ( + "manipulator"&@& +4 "core" & | t +2 "storage"(o& +4 "core" & ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&1'9 +95 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(*- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(6'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(R' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(]& +4 "core" & K\  +2 "manipulator"&C& +4 "core" &  t +51 .tElbow.seek 3 +2 "manipulator"&X( +8 "core" ( + "manipulator"&O& +5 "core" & 9 j + "storage"(5& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&& +4 "core" & - j +2 "storage"(e& +3 "core" & { \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&q'} +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&(% +4 "core" %Ή j +2 "storage"(&& +4 "core" & k k \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&c'ϵ +23 "core" ' + "manipulator"&~& +5 "core" & G j + "storage"(V& +4 "core" & | O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +28 "core" ' +2 "storage"(a% +4 "core" %r { ,\ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (A% +2 "core" %B ] f {\ We +2 "manipulator"&{% +4 "core" % T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +4 "core" & { } x\  +2 "collection"'b& +3 "core" &Vk \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(;% +4 "core" %T \ + "storage"(%. +4 "core" .( + "storage"(& +4 "core" & | 9\  + "storage"(& +4 "core" & 1\  +2 "manipulator"&G& +4 "core" & - j +2 .tElbow.seek 3 + "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" & F j + "storage"("& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&H'9 +101 "core" ' + "storage"(#& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & L j +2 "storage"(=& +4 "core" & | D\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&0'} +18 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(g- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(4'T +27 "core" ' + "manipulator"&l% +5 "core" %Ί ) + "storage"(W& +4 "core" & ` i Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&['϶ +12 "core" ' +6 "manipulator"&Z& +5 "core" & ' j + "storage"(/& +4 "core" & \  +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('C +40 "core" ' +2 "manipulator"&& +4 "core" & 3 j +2 "manipulator"&F% +4 "core" %B d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +157 "core" ( +2 "manipulator"&n& +4 "core" &# " D :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# ! :1 +2 .tForearm.seek CC + "manipulator"&L'" +93 "core" ' + .tHand.close +2 "manipulator"&m/ +53 "core" / +2 .tCC.seek :open +2 "collection"'k( +416 "core" ( +2 "storage"(+& +4 "core" & \  + "storage"( & +4 "core" & \  + "manipulator"&|& +4 "core" &# I :1 +2 "manipulator"&h% +4 "core" % & + .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" &   u +2 "storage"(\ & +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& '} +102 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +64 "core" 1 +2 "manipulator"&% +4 "core" % Ή $ o u + "storage"(E& +5 "core" & l\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&i'ϵ +20 "core" ' + "manipulator"&>& +5 "core" & [ u + "storage"(& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +43 "core" ' +2 "storage"('% +4 "core" %G &\ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +99 (% +2 "core" %D P\ Vb +2 "manipulator"&U% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'$& +4 "core" & 4\ +2 "manipulator"&% +4 "core" %\   + "storage"(_% +4 "core" %b L\ + "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,l +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Q& +3 "core" &,i J\  + "manipulator"&D& +5 "core" &  u + .tElbow.seek 4 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&\\& +4 "core" & ) u + "storage"(!& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&r'Ѽ +95 "core" ' +2 "storage"(.& +4 "core" &,f\ >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(d'i +285 "core" ' +3 "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &,f P\  +2 "manipulator"&)& +4 "core" & u + .tElbow.seek 4 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&& +3 "core" & h u +2 "storage"(t& +3 "core" &,f N\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&T', +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(?'X +7 "core" & 8 u +2 "manipulator"&% +4 "core" % 1   +2 .tForearm.seek :retract + "manipulator"&I'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&7& +4 "core" &. { P % Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &. Dy +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'" +101 "core" ' +3 "manipulator"&o& +4 "core" &. 5 Dx +2 "manipulator"&8% +4 "core" %, 0 +2 "collection"'& +53 "core" & <\ +2 "collection"'*& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (V +5 "core" & =\  +8 &1{ 9\ *x +9 &c 8\ > +9 &up ;\ N +10 &9T ;\ M +9 &U \ M +9 &T >\ M +10 &~W >\ M +9 &@T =\ M +10 &U 9\ M +9 &T <\ M +9 & V 9\ M +10 &"IU 9\ M +9 &$\ U X\ M +9 &%V \ M +10 &'T \ M +9 &)PT V\ M +10 &+U \ M +9 &,T \ M +9 &.U \ M +10 &0YV \ M +9 &2T \ M +9 &3U \ M +10 &5T \ L +9 &7`T X\ M +9 &9"U \ M +10 &:V \ M +9 &<W \ M +10 &>hS \ M +9 &@*U \ M +9 &AU \ M +10 &CV \ M +9 &EoZ \ M +9 &G,g \ O +10 &Ht |\ Q +9 &J ~\ U +10 &LX {\ X +9 &N \ X +9 &O \ X +10 &Q \ X +9 &SZ \ Z +9 &U \ [ +10 &VjE \ 1 +9 &Vr \ G +6 ( + "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&]1 +4 "core" &Vg \ G +58 1 +2 "manipulator"&C% +4 "core" % , L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%O& +4 "core" &v\ +2 "manipulator"&5% +4 "core" %\ / Y  + "storage"(% +4 "core" %a i f \ + "storage"(e. +4 "core" .(,l + "storage"(Y& +4 "core" &,f m k +\  + "storage"(6& +4 "core" &,f f \\ K\  +2 "manipulator"&(& +4 "core" &. = Dx + "manipulator"&&% +4 "core" %\ $  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&~( +160 "core" ( +2 "manipulator"&V& +4 "core" &  C  +2 "storage"(a& +3 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +104 "core" ' +2 "storage"(1& +4 "core" &,f 0\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +283 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({& +3 "core" &,f y y\  + "manipulator"&9& +4 "core" & L  +2 .tElbow.seek 4 + "manipulator"&X( +4 "core" ( + "manipulator"&& +4 "core" & G  + "storage"(q& +4 "core" &,f z x 0\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&c', +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"('X +7 "core" & T  + "manipulator"&;% +4 "core" %  \\ > +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( + "manipulator"&& +5 "core" &g -  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +105 "core" ' +2 "manipulator"&& +4 "core" &i $   +3 "manipulator"&"% +4 "core" %  H +2 "processing"%P& +4 "core" &}\ +2 "processing"%#& +5 "core" &}\ +2 .tPC.seek :closed + "processing"%-(Z +5 "core" &s\ +6 &;~\ $d +10 &U~\ 7 +9 &~{u\ K +9 &W{\ N +10 &`Z\ N +9 &#Yu\ N +9 &Yu\ M +10 &Xy\ N +9 &iX}\ N +10 &+Ux\ N +9 &Wu\ N +9 &!Wu\ M +10 &#pYv\ N +9 &%3Yu\ N +9 &&Wu\ N +10 &(Wu\ N +9 &*xXu\ N +10 &,<W|\ M +9 &-Zu\ N +9 &/Xt\ N +10 &1Wu\ N +9 &3CYu\ N +9 &5U{\ N +10 &6Xp\ M +9 &8Wt\ N +10 &:JZt\ N +9 &< Ur\ N +9 &=Va\ M +10 &?Vj\ M +9 &ASWq\ N +9 &CZn\ N +10 &D_p\ N +9 &Fgj\ O +10 &HNzc\ R +9 &J d\ T +9 &Ke\ S +10 &Mm\ T +9 &ORf\ S +9 &Qf\ T +10 &Rc\ T +9 &Ti\ T +10 &VVk\ U +9 &Xk\ T +9 &Y{nm\ 7 +10 &Z/h\ K +9 &Zl\ * +2 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +3 "processing"%& +4 "core" &Zj\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&=% +4 "core" %\  z  +2 "storage"(g% +3 "core" %_ i ` \ +2 "storage"(l. +3 "core" .(,l + "storage"(W& +4 "core" &,f _ i g\  +2 "storage"(Z& +4 "manipulator"&/& +4 "core" &,f l ` i\  + &i `  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(F'i +5 "core" ( +2 "manipulator"&H& +4 "core" &i (  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &i ,  +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&0/ +61 "core" / +2 .tPC.seek :open +2 "processing"%[( +85 "core" ' + "storage"(4- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(n'y +45 "core" ' +293 ( + "storage"(& +4 "core" &,f w ~ \  + "manipulator"&v& +4 "core" &i I  +2 "manipulator"&f% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&m'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&,( +252 "core" ( + "manipulator"&j& +4 "core" & r +2 "storage"(+& +4 "core" &,f | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +98 "core" ' + .tHand.open +2 "manipulator"&|1 +55 "core" 1 +3 "storage"(h- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' + "storage"(x& +4 "core" &,f E\  + "manipulator"&s& +4 "core" & q +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +4 "core" &  + "storage"(>& +4 "core" &,f $\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"('' +63 "core" ' + "manipulator"&^& +4 "core" & w +2 "storage"(& +4 "core" &,f w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&U' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +28 "core" ' +2 "manipulator"&i% +4 "core" %  ; +2 "storage"($& +4 "core" &,f H H "\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&'8 +18 "core" ' + "manipulator"&_& +4 "core" &  +2 "storage"(S& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +34 "core" ' + "storage"(z% +5 "core" %q '\ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (p% +4 "core" %I j j \ Xf +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +4 "core" &,f ~\  +2 "collection"'!& +4 "core" &Vg \ G + #tStoring generic puck in Collection Clamp to tube 4 +52 "manipulator"&.% +4 "core" %\ \   +2 "storage"(<% +4 "core" %b i\ + "storage"(u. +3 "core" .(,l +2 "storage"(M& +4 "core" &,f c\  + "storage"(B& +4 "core" &,f \  + "manipulator"&)& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +4 "core" &  * + "storage"(`& +5 "core" &,f P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&y'Ѽ +94 "core" ' +2 "storage"(& +3 "core" &,f %\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +281 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  + "storage"(w& +4 "core" &,f x z S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&d' +32 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'X +38 "core" ' +2 "manipulator"&N% +4 "core" %  c + "storage"(& +4 "core" &,f H I K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&?'5 +14 "core" ' +2 "manipulator"&I& +4 "core" & n + "storage"(k& +4 "core" &,f A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&]'Ѽ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'G +40 "core" ' + "manipulator"&O& +5 "core" &  + "manipulator"&5% +5 "core" %Ѿ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +154 "core" ( +3 "manipulator"&e& +4 "core" &(  ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &( ?R +2 .tForearm.seek CC +2 "manipulator"&6'" +93 "core" ' + .tHand.close + "manipulator"&(/ +63 "core" / +2 .tCC.seek :open +2 "collection"'&( +416 "core" ( +2 "storage"(@& +4 "core" &,f ?\  + "storage"(V& +4 "core" &,f \  + "manipulator"&a& +4 "core" &( 2 > >O +2 "manipulator"&1% +4 "core" % 5   +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&:( +158 "core" ( + "manipulator"&A& +4 "core" & $ (  +2 "storage"({& +3 "core" &,f ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&9' +104 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +52 "core" 1 +2 "manipulator"&3% +4 "core" %  +2 "storage"(b& +4 "core" &,f \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&;'@ +13 "core" ' +2 "manipulator"&~& +5 "core" &  + "storage"(& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&R'Ѽ +23 "core" ' +2 "storage"(c% +3 "core" %M y\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %NF W\ Vb +2 "manipulator"&X% +4 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'"& +5 "core" & /\ + "manipulator"&P% +4 "core" %\  .  +2 "storage"(% +4 "core" %S U\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(2(<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<( y z \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&=& +4 "core" &  , !s + "storage"(g& +4 "core" &<$ N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&l'ы +98 "core" ' +2 "storage"(W& +4 "core" &<$ i\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +277 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (#& +3 "core" &<$ +\  +2 "manipulator"&H& +3 "core" &  !q +2 .tElbow.seek 5 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&G& +3 "core" & !q +2 "storage"(0& +4 "core" &<$ ;\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&4' +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(-'X +7 "core" & ` !q +2 "manipulator"&F% +4 "core" %  V g +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +149 "core" ( +2 "manipulator"&f& +4 "core" &( : 9 ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &(  ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'" +100 "core" ' + "manipulator"&+& +4 "core" &( 0 ?P +2 "manipulator"&% +4 "core" %( +2 "collection"'|& +4 "core" & G\ +2 "collection"'h& +5 "core" & b\ +2 .tCC.seek :closed +2 "collection"'L(V +4 "core" & =\  +9 &2{ Q\ *x +9 &d F\ > +10 &sq B\ N +9 &8Q =\ M +9 &T C\ M +10 &T 3\ M +9 &~T 2\ M +9 &@T B\ M +10 &U 0\ M +9 &T 9\ M +10 & U =\ M +9 &"HU <\ M +9 &$\ U \ M +10 &%V @\ M +9 &'T =\ M +9 &)OW \ M +10 &+U =\ M +9 &,S \ M +10 &.U X\ M +9 &0WT \ M +9 &2U \ M +10 &3U \ M +9 &5S \ M +9 &7aU \ L +10 &9"U \ M +9 &:U \ L +9 &<V \ M +10 &>fU \ M +9 &@(U \ M +10 &AU |\ M +9 &CW \ M +9 &El] \ N +10 &G+e \ O +9 &Hm \ P +10 &J \ S +9 &L[ \ W +9 &N \ X +10 &O \ Y +9 &Q \ X +9 &SY \ Z +10 &U \ Z +9 &ViD \ 0 +9 &Vp \ H +6 ( + "collection"'h& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&x1 +4 "core" &V_ \ H +49 1 + "manipulator"&s% +5 "core" % ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +91 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%>& +5 "core" &u\ + "manipulator"&m% +4 "core" %\  ]  + "storage"(^% +4 "core" %S ~ \ +2 "storage"(. +3 "core" .(<* + "storage"(n& +4 "core" &<$ } \  +2 "storage"(i& +4 "core" &<$ } <\  + "manipulator"&$& +4 "core" &' C >H +2 "manipulator"&% +4 "core" %\  O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&_( +161 "core" ( +2 "manipulator"&S& +4 "core" & K l +2 "storage"(z& +3 "core" &<$ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&,'ы +96 "core" ' + "storage"( & +4 "core" &<$ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +50 "storage"(\ 'i +284 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &<$  ;\  + "manipulator"&& +4 "core" & L l +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" &  o l + "storage"(U& +4 "core" &<$ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(.'X +7 "core" & ' l +2 "manipulator"& % +4 "core" %   N +2 .tForearm.seek :retract + "manipulator"&<'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&u(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&M& +5 "core" &m 9  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &m C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&)' +96 "core" ' +2 "manipulator"&t& +4 "core" &m K +2 "manipulator"&`% +4 "core" %   + "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" &r\  +9 &3~m\ *y +9 &cl\ > +9 &~uh\ N +10 &@Xs\ N +9 &Yp\ N +9 &\\v\ N +10 &Xw\ N +9 &IWk\ N +9 & Zm\ N +10 &\\f\ N +9 & Yw\ M +10 &"RY`\ M +9 &$Xh\ N +9 &%]`\ N +10 &'Yg\ N +9 &)YY_\ N +9 &+\\X\ N +10 &,Wh\ N +9 &.\\d\ N +10 &0`Yc\ N +9 &2#Zi\ N +9 &3Xh\ N +10 &5Zi\ N +9 &7iXm\ N +11 &9*Zj\ N +8 &:V^\ N +9 &<Wh\ N +10 &>pVl\ N +9 &@2Yd\ N +9 &AX_\ N +10 &C[_\ N +9 &Evbl\ O +9 &G4md\ P +10 &Hl\ S +9 &Jh\ T +10 &Lnk\ T +9 &N0i\ T +9 &Om\ T +10 &Qm\ U +9 &Stg\ U +9 &U6d\ U +10 &Vb\ U +9 &Xj\ U +10 &Z$Yzi\ &s +9 &Z_g\ 0 +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +3 "core" &Z!k\ , +59 1 + "manipulator"&D% +4 "core" % $ L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +99 "core" ' +2 "processing"%7& +4 "core" &Z"|\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&w% +4 "core" %\ \   +2 "storage"(o% +4 "core" %T ~ \ +2 "storage"(N. +3 "core" .(<* + "storage"(& +4 "core" &<$ ~ \  +2 "storage"(I& +3 "manipulator"&k& +5 "core" &<$ ~ \  + &m +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&O(s + "storage"(5'i +6 "core" ( +2 "manipulator"&y& +4 "core" &m  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m  [ +2 .tForearm.seek PC + "manipulator"&J' +96 "core" ' +2 .tHand.close + "manipulator"&d/ +54 "core" / + .tPC.seek :open +2 "processing"%?( +95 "core" ' + "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +285 ( + "storage"(Y& +4 "core" &<$ | q\  +2 "manipulator"&]& +4 "core" &m  + "manipulator"&T% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&('\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +241 "core" ( + "manipulator"& & +5 "core" & % ) d + "storage"(@& +4 "core" &<$ r o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&V'ы +104 "core" ' +2 .tHand.open + "manipulator"&a1 +63 "core" 1 +2 "storage"(1- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +4 "core" -' +2 "storage"(*& +3 "core" &<$ (\  +2 "manipulator"&q& +4 "core" & r c + .tElbow.seek 5 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&b& +4 "core" &  c +2 "storage"(~& +3 "core" &<$ \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(c' +57 "core" ' + "manipulator"&& +4 "core" & M c +2 "storage"(& +4 "core" &<$ { d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&X' +30 "core" ' +2 .tElbow.hold + "manipulator"&:, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(9'i +22 "core" ' +2 "manipulator"&;% +5 "core" %  + "storage"("& +4 "core" &<$ 7 8 u\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&P' +13 "core" ' + "manipulator"&& +5 "core" & v c + "storage"(& +4 "core" &<$ /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&C'ы +24 "core" ' + "storage"(R% +5 "core" %p [\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 ( % +3 "core" %!D i j G\ Xe +2 "manipulator"&% +4 "core" %Ѣ A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (=& +4 "core" &<$ d\  + "collection"'g& +4 "core" &V_ \ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&W% +4 "core" %\    +2 "storage"(% +4 "core" %a \ + "storage"(. +3 "core" .(<* +2 "storage"(Z& +4 "core" &<$ \  + "storage"(#& +4 "core" &<$ \  +2 "manipulator"&H& +3 "core" & 5 c +2 .tElbow.seek 5 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&0& +3 "core" &  j c +2 "storage"(%& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +93 "core" ' +3 "storage"(F& +4 "core" &<$ p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +2 "core" &  c +2 "storage"(& +4 "core" &<$ x x 7\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&/' +34 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"('Y +31 "core" ' + "manipulator"&|% +5 "core" % + "storage"(}& +4 "core" &<$ # # E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 312 counts + "manipulator"&-' +16 "core" ' +2 "manipulator"&& +4 "core" &  ^ c +2 "storage"(&& +4 "core" &<$ 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&x'ы +33 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(s'H +39 "core" ' + "manipulator"&>& +55 "core" & D c + "manipulator"&m% +4 "core" %} E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( +2 "manipulator"&n& +4 "core" &'   >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &' G >N +2 .tForearm.seek CC +2 "manipulator"&$'" +92 "core" ' +2 .tHand.close + "manipulator"&h/ +58 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( +2 "storage"(j& +4 "core" &<$ c\  + "storage"(S& +4 "core" &<$ `\  +2 "manipulator"&z& +3 "core" &' ! K >M +2 "manipulator"& % +3 "core" % *  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&E( +161 "core" ( +2 "manipulator"&p& +4 "core" & F g +2 "storage"(Q& +4 "core" &<$ H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&' +108 "core" ' +2 .tElbow.hold + "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +53 "core" 1 +2 "manipulator"&\\% +4 "core" %  G } + "storage"(!& +4 "core" &<$ r\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts +2 "manipulator"& ' +18 "core" ' + "manipulator"&_& +4 "core" & h +2 "storage"(,& +4 "core" &<$ L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ 'ы +24 "core" ' +2 "storage"(% +4 "core" %R [\ +2 ."downElevator"SE.seek :down +3 "storage"(M'X +100 (B% +2 "core" %A A\ Wb +2 "manipulator"&% +4 "core" %ѫ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tdelay 10 seconds +2475 "Can"\ 52 +60002  \ 42z +60002 \ 52 @1654110080.18EDT = =mMAIN_scheduler =tMAIN @EDT1654110082.16 #"core_reset"Sent BREAK +2 #t@57302 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +301 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +409 "Can"\ b + \ b #tPolling Can every 10:00 +27 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +528 #-> ESP.ready! +3 #Powering core bus +569 .Gate.power :raw,:ON +3 "sampler") +36 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ w\ v  + .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1654110147.53EDT @1654110170.56EDT = =tMAIN =mMAIN_scheduler @EDT1654110172.42 #"core_reset"Sent BREAK +2 #t@61087 receive with ifg=0x10, ie=0xFD + #@61720 receive with ifg=0x10, ie=0xFD #@62376 receive with ifg=0x10, ie=0xFD + #@63010 receive with ifg=0x10, ie=0xFD + #@63643 receive with ifg=0x10, ie=0xFD #@64277 receive with ifg=0x10, ie=0xFD + #@64911 receive with ifg=0x10, ie=0xFD + #@65242 receive with ifg=0x80, ie=0xFD #@41788 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +389 "Can"\ 97 + \ 97 + #tPolling Can every 10:00 +26 #Cleanly exited at 15:02:27EDT01-Jun-22 +650 #-> ESP.ready? +308 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % x\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %\ w\ s \ o +2 .tSS.configure :default +3 "sampler")#.0X Arm.stretch! +3 .Forearm.seek :retract + "manipulator"&3'\ +3 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&4( +3 "core" ( + "manipulator"&5& +4 "core" & % X "x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&6'\ +3 "core" ' +2 "manipulator"&7% +3 "core" %\  1 c  +2 "manipulator"&8& +4 "core" &  * "x +2 "manipulator"&9% +3 "core" %\    +4365 #t-> Arm.stretch +3 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +3 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&;( +3 "core" ( + "manipulator"&<& +4 "core" &  4 "x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&='\ +3 "core" ' + "manipulator"&>% +4 "core" %\   =  +2 "manipulator"&?& +3 "core" &  $ "x +2 "manipulator"&@% +3 "core" %\   s  +4620 #t-> Arm.garage +2 "manipulator"&A& +3 "core" &  "x +2 "manipulator"&B% +4 "core" %\   /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&C(, +178 "core" ( +2 "manipulator"&D& +4 "core" &,   7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +2 "core" &, b 7 +2 .tForearm.seek :garage +2 "manipulator"&F'Ϧ +76 "core" 'm D B  ˞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 4683 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionim: velocityi: currenti:pwmi:erri: inPressiD : outPressiB :deltaPressi : voltagef12.471314678448699: @type2F: @tagiK: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +319 #-> Arm.stretch +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +70 "core" ' +2 .tElbow.seek :hammer + "manipulator"&H( +174 "core" ( + "manipulator"&I& +4 "core" & ! ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +36 "manipulator"&J'\ +16 "core" ' + "manipulator"&K% +4 "core" %\    +2 "manipulator"&L& +3 "core" &  )  +2 "manipulator"&M% +3 "core" %\   =  +47612 "Can"\ A? +5888 #t-> Arm.home + "manipulator"&N& +4 "core" &  + "manipulator"&O% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&P( +235 "core" ( + "manipulator"&Q& +4 "core" & % ^ D +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &R& +5 "core" & 5 D +4 .tForearm.seek :home +2 "manipulator"&S' +40 "core" ' + "manipulator"&T& +4 "core" & $ B D +2 "manipulator"&U% +3 "core" % u 4 +352 #t-> Arm.stretch! +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V'\ +42 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&W( +228 "core" ( + "manipulator"&X& +4 "core" & % h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&Y'\ +14 "core" ' + "manipulator"&Z% +4 "core" %\  %   +2 "manipulator"&[& +3 "core" &  +2 "manipulator"&\\% +4 "core" %\  <  +53106 "Can"\ =: +48370 #t-> Arm.stretch! +3 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +11 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&_& +3 "core" &  p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&`'\ +8 "core" ' + "manipulator"&a% +4 "core" %\  % [  +2 "manipulator"&b& +3 "core" &  +2 "manipulator"&c% +3 "core" %\  s  +1244 #t-> Arm.garage + "manipulator"&d& +4 "core" &   + "manipulator"&e% +4 "core" %\  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&f(, +174 "core" ( +2 "manipulator"&g& +4 "core" &,  Q @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &, t @ +2 .tForearm.seek :garage +2 "manipulator"&i'Ϧ +75 "core" 'h F E ~ ˞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 4678 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionih: velocityi: currenti:pwmi:erri: inPressiF : outPressiE :deltaPressi~ : voltagef12.471314678448699: @type2F: @tagin: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +350 #-> Arm.stretch! +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j'\ +70 "core" ' + .tElbow.seek :hammer +2 "manipulator"&k( +170 "core" ( + "manipulator"&l& +4 "core" & $ 3 D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&m'\ +5 "core" ' + "manipulator"&n% +4 "core" %\ # " Q  +2 "manipulator"&o& +4 "core" &  D +2 "manipulator"&p% +3 "core" %\ # u  +1745 #t-> Hand.strtetch! + !o:NoMethodError : mesgu:NameError::message2undefined method `strtetch!' for Hand:Gripper: name:strtetch!: args[:bt["(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +7655 "Can"\ A? +29503 #t-> Arm +2 "manipulator"&q& +3 "core" & } D +2 "manipulator"&r% +4 "core" %\ # w  +1100 #t-> Arm.garage + "manipulator"&s& +3 "core" & D +2 "manipulator"&t% +4 "core" %\ #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&u(, +181 "core" ( +2 "manipulator"&v& +4 "core" &, % \\ ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +2 "core" &, 4 ; +2 .tForearm.seek :garage +2 "manipulator"&x'Ϧ +75 "core" 'i : : K ʞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 4679 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionii: velocityi: currenti:pwmi:erri: inPressi: : outPressi: :deltaPressiK : voltagef12.466405498281787: @type2F: @tagi}: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1143 #-> Hand.open +2 .Hand.open +2 "manipulator"&y1 +53 "core" 1 +723 #t-> Arm.garage + "manipulator"&z& +4 "core" &, 4 ; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&{(, +9 "core" ( + "manipulator"&|& +4 "core" &, " I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &, I I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&~'Ϧ +52 "core" ' + "manipulator"&& +4 "core" &,  D I +2 "manipulator"&% +3 "core" %϶ c 6 +937 #t-> Hand.close +2 .Hand.close +2 "manipulator"&/ +54 "core" / +395 #t-> Arm.home + "manipulator"&& +4 "core" &, F I + "manipulator"&% +4 "core" % ϶ M 6 +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&( +106 "core" ( + "manipulator"& & +4 "core" &  a : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & o : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"& ' +44 "core" ' + "manipulator"&& +4 "core" & ) : +2 "manipulator"&% +3 "core" %  ? +722 #t-> Arm.stretch! +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +44 "core" ' +2 .tElbow.seek :hammer + "manipulator"&( +242 "core" ( +2 "manipulator"&& +4 "core" & $ > # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&'\ +22 "core" ' +2 "manipulator"&% +4 "core" %\   A v + "manipulator"&& +4 "core" & q # + "manipulator"&% +4 "core" %\   v +695 #t-> Arm.garage +2 "manipulator"&& +3 "core" &  # + "manipulator"&% +4 "core" %\  = v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +176 "core" ( +2 "manipulator"&& +4 "core" &,  L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &, 2 L +2 .tForearm.seek :garage +2 "manipulator"& 'Ϧ +105 "core" ' +2 "manipulator"&!& +4 "core" &,  L + "manipulator"&"% +4 "core" %ϯ +9366 #t-> Hand.open + .Hand.open +2 "manipulator" +53 "core" 1 +391 #t-> Amr.home +2 !o:NameError: mesg"uninitialized constant Amr: name:Amr:bt["(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +381 #-> Arm.home +2 "manipulator"&$& +3 "core" &, Z L + "manipulator"&%% +4 "core" %ϯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&'( +108 "core" ( + "manipulator"&(& +4 "core" &  0 ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +2 "core" &  ; +2 .tForearm.seek :home +2 "manipulator"&*' +42 "core" ' + "manipulator"&+& +4 "core" & z ; +2 "manipulator"&,% +4 "core" %   +12773 "Can"\ >< +14494 !to:SignalException : mesg" SIGHUP:@timestampu: Time 3G;+:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +4 #Waiting to Resume from Checkpoint "Forearm speedErr at CC + 4679 counts" + ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" +531 #"uploadLog"upsync\ /usr/bin/dbclient: \ Host 'ESPshore' key accepted unconditionally.\ (ssh-rsa fingerprint sha1!! f3:89:b5:6a:6c:73:12:9e:8d:e9:75:a3:9e:aa:f0:41:d7:0c:b2:cf)\ \ rsync: [Receiver] mkdir "/home/ftp/roman/esp" failed: No such file or directory (2)\ rsync error: error in file IO (code 11) at main.c(784) [Receiver=3.2.3]\ rsync: [sender] write error: Broken pipe (32) @1654699464.15EDT = =tMAIN =mMAIN_scheduler @EDT1654699466.05 #"core_reset"Sent BREAK + #t@61345 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +382 "Can"1\ _ + 1\ _ + #tPolling Can every 10:00 +26 #Cleanly exited at 15:02:59EDT01-Jun-22 +495 #-> ESP.ready! +3 #Powering core bus +548 .Gate.power :raw,:ON + "sampler") +24 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %&\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \   +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +37520 "Can"\ 2/ +25518 "core" (\ '\ ' \ +2 !to:Slide::Error : mesg"2Storage Carousel positionErr at 3 - 31 counts: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi'\ : outPressi'\ :deltaPressi : voltagef13.919522827687777[: @type2F: @tagi&: @sourcei-: @error:positionErr:@axisName"Storage Carousel:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +12320 #-> 5.times {shuffle 3..5} +3 #Shuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"';& +3 "core" & \  +2 .tHand.open + "manipulator"&<1 +53 "core" 1 +2 "manipulator"&=% +4 "core" % \   p +2 "storage"(>% +4 "core" %`\ \  X\ + "storage"(?. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" & R 2\ " +2 "manipulator"&B& +4 "core" &  A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tElbow.seek 3 +2 "manipulator"&C( +16 "core" ( +2 "manipulator"&D& +4 "core" &  + "storage"(E& +4 "core" &\ \  [\ 2 +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +96 "core" ' +2 "storage"(G& +4 "core" &\ \  1\ 2 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +282 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +2 "core" & \ 2 +2 "manipulator"&K& +4 "core" & O + .tElbow.seek 3 +2 "manipulator"&L( +8 "core" ( +2 "manipulator"&M& +4 "core" &  J + "storage"(N& +4 "core" & j\ 2 +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"(R'X +7 "core" & g + "manipulator"&S% +4 "core" % ϯ  1 +2 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +153 "core" ( +2 "manipulator"&V& +4 "core" ' + &(  2 ?S +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 &W& +2 "core" &(  ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'" +100 "core" ' +2 "manipulator"&Y& +4 "core" &) G ?S +2 "manipulator"&Z% +4 "core" % M +2 "collection"'[& +4 "core" & \  +2 "collection"'\\& +5 "core" & #\  +2 .tCC.seek :closed + "collection"'](V +5 "core" & .\  +10 &5 -\ +{ +9 &c *\ ? +9 &Tx @\ P +10 &[ G\ N +9 &] B\ O +9 &Z &\ N +10 &_] w\ N +9 &!] \ N +10 &_ {\ O +9 &^ \ O +9 & f] x\ O +10 &"(] w\ O +9 &#\\ s\ N +9 &%_ z\ O +10 &'nZ }\ O +9 &)1Z ~\ N +10 &*\\ }\ N +9 &,_ \ O +9 &.u^ |\ O +10 &08Z }\ O +9 &1\\ \ N +9 &3Z \ O +10 &5~\\ ~\ O +9 &7A\\ }\ N +9 &9\\ ~\ N +10 &:a {\ O +9 &<a p\ O +10 &>H[ {\ O +9 &@\ ` }\ O +9 &A_ }\ O +10 &C_ |\ N +9 &EMj z\ P +9 &G n w\ P +10 &H| s\ R +10 &J r\ V +9 &L; m\ Y +9 &M o\ Y +9 &O q\ Z +10 &Q} s\ Z +9 &S; p\ [ +9 &T n\ [\ +10 &VXR o\ . +10 &V h\ T +8 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&^1 +3 "core" &Vl p\ O +60 1 +2 "manipulator"&_% +4 "core" %  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" &\\\  +2 "manipulator"&b% +4 "core" %\ \ "  +2 "storage"(c% +4 "core" %T ]\ + "storage"(d. +3 "core" .( +2 "storage"(e& +3 "core" & 2\ 2 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(f( +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" & 5\ +2 "manipulator"&h& +4 "core" &( + ?S + "manipulator"&i% +4 "core" %\ \ B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&j( +161 "core" ( +2 "manipulator"&k& +4 "core" & ( v +2 "storage"(l& +4 "core" & 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&m'9 +90 "core" ' + "storage"(n& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'i +284 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" & &\ +2 "manipulator"&r& +4 "core" &  v +2 .tElbow.seek 3 + "manipulator"&s( +3 "core" ( +2 "manipulator"&t& +4 "core" & % 5 v + "storage"(u& +4 "core" & v\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(y'X +7 "core" &  v +2 "manipulator"&z% +4 "core" % ϭ  3 + .tForearm.seek :retract +2 "manipulator"&{'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&|(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&}& +4 "core" &| / 4 ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &| ? ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' + "manipulator"&& +5 "core" &}  V + "manipulator"&% +4 "core" %  S +2 "processing"%& +4 "core" &M\  +2 "processing"%& +6 "core" &d\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &M\  +8 &DR\ %g +9 &rVM\ 8 +10 &L\ M +9 &^M\ O +9 &E^L\ O +10 &aM\ O +9 &aL\ N +9 &\\L\ N +10 &MaK\ O +9 &^K\ O +10 &]K\ O +9 &!aL\ N +9 &#V^L\ N +10 &%aO\ O +9 &&^M\ O +9 &(ZL\ N +10 &*^]K\ N +9 &, _L\ N +10 &-cK\ O +9 &/^O\ O +9 &1faO\ N +10 &3)]K\ N +9 &4`K\ N +9 &6aK\ N +10 &8n[I\ N +9 &:/]@\ O +10 &;`K\ O +9 &=\\?\ N +9 &?v]F\ N +10 &A7\\:\ O +9 &Ba@\ O +9 &Db9\ O +10 &FxgH\ P +9 &H5w?\ R +10 &I>\ T +9 &K>\ U +9 &Mt>\ T +10 &O6=\ T +9 &P>\ U +9 &R>\ U +10 &T{=\ U +9 &V<<\ U +9 &W?\ V +10 &Yv7\ 7 +10 &Z04\ O +9 &Z7\ + +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 "processing"% & +4 "core" &Z!P\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\ % +4 "core" %\ \  )  + "storage"( % +4 "core" %a ,\ +2 "storage"( . +3 "core" .( + "storage"( & +4 "core" & \ +2 "storage"(& +3 "manipulator"&& +5 "core" & \ + &}   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +4 "core" &}   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &} y +2 .tForearm.seek PC + "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +104 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +39 "core" ' +277 ( + "storage"(& +5 "core" & i\ + "manipulator"&& +4 "core" &} + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&"'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&%( +253 "core" ( +2 "manipulator"&'& +4 "core" &  I +2 "storage"()& +3 "core" & a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +96 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(,' +48 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(.& +4 "core" & ) 3\ + "manipulator"&/& +4 "core" & I +2 .tElbow.seek 3 +2 "manipulator"&0( +17 "core" ( + "manipulator"&1& +4 "core" &  J +2 "storage"(2& +4 "core" & # # w\ +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +58 "core" ' + "manipulator"&5& +5 "core" &  + "storage"(6& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'} +27 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(9'i +26 "core" ' + "manipulator"&:% +5 "core" %ΐ  R + "storage"(!& +4 "core" & )\ +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&;'ϼ +20 "core" ' + "manipulator"&<& +5 "core" & _ + "storage"(=& +4 "core" & .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +28 "core" ' +2 "storage"(?% +4 "core" %q 7\ +3 ."downElevator"SE.seek :down +3 "storage"(A'X +100 (B% +2 "core" %gE \ Xd +2 "manipulator"&D% +4 "core" %р  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +93 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +49 (G& +4 "core" & h\ +2 "collection"'$& +4 "core" &Vk \ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&&% +4 "core" %\ \ ;  +2 "storage"(I% +4 "core" %a Y\ + "storage"(J. +3 "core" .( +2 "storage"(K& +4 "core" & D\ + "storage"( & +4 "core" & /\ + "manipulator"&M& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&N( +9 "core" ( + "manipulator"&P& +5 "core" & _ + "storage"(Q& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +90 "core" ' +2 "storage"(C& +4 "core" & /\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +287 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&W& +3 "core" &  +2 "storage"(H& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'} +18 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['T +31 "core" ' + "manipulator"&L% +5 "core" %·  + "storage"(R& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&T'ϳ +27 "core" ' +2 "manipulator"&*& +4 "core" & R +2 "storage"(^& +4 "core" & *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(a'C +41 "core" ' +2 "manipulator"&b& +4 "core" &  + "manipulator"&c% +4 "core" % i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +154 "core" ( + "manipulator"&e& +4 "core" &- / ? Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &-  Ct +2 .tForearm.seek CC +2 "manipulator"&h'" +93 "core" ' + .tHand.close + "manipulator"&i/ +62 "core" / +2 .tCC.seek :open + "collection"'X( +416 "core" ( +2 "storage"(k& +4 "core" & `\ + "storage"(l& +4 "core" & $\ +2 "manipulator"&@& +4 "core" &- , r Ct + "manipulator"&n% +4 "core" % 4 Y  +2 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +159 "core" ( +2 "manipulator"&p& +4 "core" & ' V  + "storage"(q& +4 "core" & ~\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&r'} +100 "core" ' + .tElbow.hold +2 "manipulator"&t, +70 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +53 "core" 1 +3 "manipulator"&w% +4 "core" % ΂ ' V +2 "storage"(x& +4 "core" & w\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&z'Ϯ +20 "core" ' +2 "manipulator"&j& +4 "core" & 7  +2 "storage"(m& +4 "core" &\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +16 "core" ' +2 "storage"(v% +4 "core" %F\ \  !\ +2 ."downElevator"SE.seek :down +3 "storage"(}'X +99 (~% +3 "core" %@ I\ V` +2 "manipulator"&s% +4 "core" %(  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & q\ +2 "manipulator"&% +4 "core" %\  i  +2 "storage"(y% +4 "core" %b\ &\ & \ + "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(+(,l +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,i ]\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&\ & +4 "core" &   + "storage"( & +4 "core" &,f\ \  :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +100 "core" ' + "storage"( & +5 "core" &,f\ (\ ' J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,f j\  + "manipulator"&& +4 "core" & J  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & E  + "storage"(& +4 "core" &,f\ \  \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('X +7 "core" & d  +2 "manipulator"&% +4 "core" % 2 d d +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +4 "core" ' + &- 2 t Cp + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&& +5 "core" &- 1 Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''" +104 "core" ' + "manipulator"&)& +5 "core" &- ; Cp + "manipulator"&% +4 "core" % ' +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'-(V +4 "core" & Q\ +8 &4 :\ $c +9 &U ;\ 8 +9 & \ L +10 &[ e\ O +9 &`\\ \ N +9 &#Y 2\ N +10 &^ g\ N +9 &] x\ N +10 &i^ r\ N +9 &+] 8\ N +9 &^ n\ N +10 &!` }\ N +9 &#p^ o\ N +9 &%3[ l\ N +10 &&\\ q\ N +9 &(\\ l\ N +10 &*z\\ a\ N +9 &,<Z m\ N +9 &-\\ a\ N +10 &/^ Z\ N +9 &1] `\ N +9 &3D\\ `\ N +10 &5[ \\\ N +9 &6\\ h\ N +10 &8Y i\ N +9 &:K^ i\ N +9 &< ^ h\ N +10 &=Z h\ N +9 &?] i\ N +9 &AS\\ j\ N +10 &C^ g\ N +9 &Dc i\ O +10 &Fg e\ O +9 &HRy c\ Q +9 &J\ i\ U +10 &K c\ X +9 &M `\ Y +9 &OD a\ Y +10 &Q f\ Y +9 &R a\ Z +9 &T d\ [ +10 &V"t b\ / +10 &V& g\ N +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&.1 +3 "core" &Vg g\ F +56 1 + "manipulator"&/% +4 "core" %  @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%2& +4 "core" &\\\ +2 "manipulator"&"% +4 "core" %\ 0  +2 "storage"(5% +4 "core" %] \ + "storage"(6. +3 "core" .(,l + "storage"(& +4 "core" &,f K\  +2 "storage"(:& +4 "core" &,f \  + "manipulator"&!& +4 "core" &-  Co +2 "manipulator"&#% +3 "core" %\ [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<( +160 "core" ( +2 "manipulator"&=& +4 "core" &   + "storage"(?& +4 "core" &,f Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&%'Ѽ +97 "core" ' + "storage"((& +5 "core" &,f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +284 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" &,f \  +2 "manipulator"&3& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&0( +3 "core" ( + "manipulator"&4& +4 "core" &  g  +2 "storage"(7& +4 "core" &,f R\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&;', +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"($'X +8 "core" &  +2 "manipulator"&&% +4 "core" %  U + +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&J(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&K& +5 "core" & 0 + +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M' +99 "core" ' +2 "manipulator"&P& +4 "core" &  < +2 "manipulator"&Q% +4 "core" % ` + "processing"%>& +4 "core" &^\ +2 "processing"%C& +5 "core" &L\ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &K\ +8 &@T\ $e +9 &UO\ 7 +9 &~N\ L +10 &_K\ N +9 &aaN\ O +10 &$_L\ N +9 &^K\ N +9 &^K\ O +10 &i_K\ O +9 &+]K\ O +9 &`K\ O +10 &!\\K\ O +9 &#r]K\ N +9 &%3\\M\ O +10 &&ZK\ N +9 &(]L\ N +10 &*z\\L\ N +9 &,;_M\ O +49 &-`L\ O +12 &/]L\ O + &1[K\ N +3 &3D\\K\ N + &5_K\ O +4 &6]J\ O + &8YC\ N +4 &:K\\J\ O +9 &< \\L\ O +10 &=]?\ N +9 &?^I\ O +10 &AS\\@\ O +9 &C\\>\ O +10 &DbA\ O +9 &Fm>\ P +9 &HP~@\ R +9 &J:\ T +10 &K3\ U +9 &M8\ U +9 &OQ>\ U +10 &Q9\ U +9 &R8\ U +10 &T8\ U +9 &VX>\ U +9 &X9\ U +10 &Y|s=\ 7 +9 &Z./\ L +9 &Z2\ ) +3 ( + "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&81 +62 "core" 1 +2 "manipulator"&E% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' + "processing"%W& +5 "core" &ZI\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&H% +4 "core" %\ % z E + "storage"(Z% +4 "core" %c N\  +2 "storage"(L. +3 "core" .(,l + "storage"(R& +4 "core" &,f N\  +2 "storage"(*& +4 "manipulator"&^& +4 "core" &,f Q\  + &  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&b(s + "storage"(c'i +9 "core" ( +2 "manipulator"&S& +4 "core" &u C W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &u +2 .tForearm.seek PC + "manipulator"&F' +96 "core" ' +2 .tHand.close + "manipulator"&O/ +63 "core" / +2 .tPC.seek :open +2 "processing"%T( +83 "core" ' +2 "storage"([- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +45 "core" ' +294 ( + "storage"(g& +4 "core" &,f \  +2 "manipulator"&_& +3 "core" &u K +2 "manipulator"&Y% +4 "core" % x +2 .tForearm.seek :retract + "manipulator"&i'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d( +251 "core" ( + "manipulator"&]& +5 "core" &  I "x + "storage"(k& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&l'Ѽ +92 "core" ' + .tHand.open +2 "manipulator"&@1 +56 "core" 1 +2 "storage"(n- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(p'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(q' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(\\& +4 "core" &,f   _\  +2 "manipulator"&u& +3 "core" &  a !w +2 .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +4 "core" & ( !w + "storage"(j& +4 "core" &,f\ \  \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&m'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +58 "core" ' +2 "manipulator"&v& +4 "core" &  !w +2 "storage"(`& +4 "core" &,f _\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&~' +28 "core" ' + .tElbow.hold +2 "manipulator"&s, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'i +21 "core" ' +2 "manipulator"&% +4 "core" %\  J  +2 "storage"(z& +5 "core" &,f \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&'6 +20 "core" ' + "manipulator"&y& +5 "core" & % ? # +2 "storage"({& +4 "core" &,f U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&a'Ѽ +28 "core" ' +2 "storage"(o% +4 "core" %s P\ +3 ."downElevator"SE.seek :down +3 "storage"(}'X +99 (f% +3 "core" %G %\ Wd +2 "manipulator"&% +4 "core" %ѷ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (\ & +4 "core" &,f \  + "collection"' & +4 "core" &V\\ _\ F +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\     +2 "storage"(t% +4 "core" %\\ ]\ + "storage"(. +3 "core" .(,l +2 "storage"(& +4 "core" &,f `\  + "storage"(& +4 "core" &,f [\  +2 "manipulator"&& +4 "core" & p # + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & ' # +2 "storage"(|& +4 "core" &,f a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' + "storage"(& +5 "core" &,f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   # +2 "storage"(& +3 "core" &,f >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& ' +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +39 "core" ' + "manipulator"&% +5 "core" % + "storage"(& +4 "core" &,f  H\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&'4 +18 "core" ' +2 "manipulator"&& +4 "core" & % $ + "storage"(X& +4 "core" &,f b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&.'Ѽ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(/'G +40 "core" ' +2 "manipulator"&2& +4 "core" &  $ +2 "manipulator"&"% +4 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +148 "core" ( +3 "manipulator"&& +4 "core" &(  1 y ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( x ?R +2 .tForearm.seek CC +2 "manipulator"&:'" +93 "core" ' + .tHand.close +2 "manipulator"&!/ +55 "core" / + .tCC.seek :open +2 "collection"'#( +416 "core" ( +2 "storage"('& +4 "core" &,f \  + "storage"(=& +4 "core" &,f i\  +2 "manipulator"&?& +3 "core" && 1 =G +2 "manipulator"&(% +4 "core" % # 1 +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&1( +158 "core" ( +2 "manipulator"&B& +4 "core" & 2  + "storage"(D& +4 "core" &,f z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&3' +106 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&71 +60 "core" 1 +2 "manipulator"&G% +4 "core" %  R + "storage"(9& +4 "core" &,f t\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&&'7 +21 "core" ' +2 "manipulator"&<& +4 "core" & V  +2 "storage"(%& +4 "core" &,f f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&,'Ѽ +41 "core" ' + "storage"(;% +5 "core" %O\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +99 ( % +3 "core" %= I\ U_ +2 "manipulator"&0% +4 "core" %  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +95 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Q& +5 "core" & \ + "manipulator"&>% +4 "core" %\ # z : + "storage"($% +4 "core" %\\\ \  \ +2 "storage"(I. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +333 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &<( (\  + "manipulator"&E& +4 "core" & _  +2 .tElbow.seek 5 + "manipulator"&W( +4 "core" ( + "manipulator"&H& +4 "core" &  D  + "storage"(Z& +4 "core" &<% |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&L'ы +106 "core" ' +2 "storage"(C& +4 "core" &<%\ \  b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +277 "core" ' +2 "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (*& +3 "core" &<% \  +2 "manipulator"&S& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&N( +4 "core" ( + "manipulator"&M& +5 "core" & S  + "storage"(O& +4 "core" &<% \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&[' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +52 "core" / +52 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(A'X +8 "core" &   + "manipulator"&c% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +152 "core" ( + "manipulator"&Y& +5 "core" ' + &# ' b :/ +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&F& +6 "core" &# ( :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +94 "core" ' +2 "manipulator"&k& +4 "core" &#  = :/ +2 "manipulator"&b% +4 "core" % p +2 "collection"'@& +4 "core" & \ +2 "collection"'n& +5 "core" & \ +3 .tCC.seek :closed + "collection"'h(V +4 "core" & \ +8 & - $\ $c +9 &V f\ 8 +10 & \ L +9 &Z  \ M +10 &b\\ \ N +9 &%\\ \ N +9 &] \ N +10 &\\ 2\ M +9 &l] 8\ M +9 &-\\ :\ N +10 &\\ ^\ M +9 &!_ \ N +10 &#r\\ S\ N +9 &%5^ v\ N +9 &&Z q\ N +10 &(Y k\ N +9 &*{_ k\ N +10 &,=_ y\ N +9 &-_ t\ N +9 &/_ m\ N +10 &1\\ a\ N +9 &3F\\ ^\ M +9 &5] a\ N +10 &6_ h\ N +9 &8] g\ M +9 &:N^ k\ M +10 &<^ f\ N +9 &=Z i\ N +10 &?[ j\ N +9 &AUY i\ N +9 &C] h\ M +10 &Db e\ N +9 &Fg f\ O +9 &HTx `\ Q +10 &J k\ S +9 &K _\ V +10 &M \\\ X +9 &OE h\ Y +9 &Q h\ X +10 &R \\\ Z +9 &T h\ Z +9 &V'v l\ . +10 &V$ m\ L +9 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&\\1 +4 "core" &V\\ _\ F +52 1 +2 "manipulator"&u% +4 "core" %  1 H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x'\ +99 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%j& +4 "core" &L\ +2 "manipulator"&i% +3 "core" %\  K ) +2 "storage"(v% +4 "core" %T H\ + "storage"(`. +3 "core" .(<* +2 "storage"(& +4 "core" &<% ,\  + "storage"(z& +4 "core" &<% \  +2 "manipulator"&e& +3 "core" &" \ 9$ +2 "manipulator"&y% +4 "core" %\  D ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&p( +163 "core" ( +2 "manipulator"&{& +4 "core" & ( \ m + "storage"(o& +4 "core" &<% U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&d'ы +100 "core" ' + "storage"(l& +5 "core" &<% o\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +283 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<% "\  +2 "manipulator"&m& +4 "core" &  m +2 .tElbow.seek 5 + "manipulator"&w( +3 "core" ( +2 "manipulator"&U& +3 "core" & G m +2 "storage"(~& +4 "core" &<% .\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( 'X +7 "core" & E m +2 "manipulator"&t% +4 "core" %  # +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&r(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&& +5 "core" &n + = = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n  Q = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"&& +4 "core" &n  & = +2 "manipulator"&|% +4 "core" % X +2 "processing"%a& +4 "core" &L\ +2 "processing"%& +5 "core" &_\ +2 .tPC.seek :closed +2 "processing"%}(Z +4 "core" &O\  +8 &1N\ *x +10 &aQ\ > +9 &jzO\ O +10 &-ZM\ N +9 &_L\ O +9 &^L\ O +10 &sZL\ N +9 &4ZM\ O +9 &[K\ N +10 &\\M\ N +9 & z_N\ O +10 &"=^L\ N +9 &#YF\ N +9 &%]F\ N +10 &'_K\ O +9 &)EZL\ N +9 &+ZK\ N +10 &,ZL\ N +9 &.\\M\ O +10 &0M]K\ N +9 &2]K\ N +9 &3]L\ N +10 &5_H\ O +9 &7U\\L\ N +9 &9YL\ N +10 &:WM\ N +9 &<]L\ N +10 &>]\\L\ N +9 &@]B\ O +9 &A\\J\ O +10 &C`K\ O +9 &EbeD\ O +9 &G!nN\ P +10 &HE\ T +9 &JB\ T +10 &LZ@\ U +9 &NJ\ T +9 &OK\ T +10 &QF\ T +9 &SbB\ U +9 &U$>\ U +10 &V8\ U +9 &X>\ U +10 &ZcL\ &u +9 &Zb;\ 3 +9 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&s1 +4 "core" &Z#<\ . +60 1 + "manipulator"&% +5 "core" %  s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z#1\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ " B + "storage"()% +4 "core" %b 5\ + "storage"(. +3 "core" .(<* +2 "storage"(& +4 "core" &<% C\  +2 "storage"(& +4 "manipulator"&X& +4 "core" &<% \  + &n h = +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&2(s + "storage"("'i +5 "core" ( + "manipulator"&& +4 "core" &n N = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n  T = +2 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' + .tHand.close +2 "manipulator"& / +63 "core" / +3 .tPC.seek :open +2 "processing"%( +80 "core" ' +2 "storage"(- +5 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +295 ( + "storage"(& +4 "core" &<% I\  +2 "manipulator"&.& +3 "core" &n _ = +2 "manipulator"&% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&!'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&5( +252 "core" ( +2 "manipulator"&-& +4 "core" & % , % +2 "storage"('& +3 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&='ы +106 "core" ' +2 .tHand.open + "manipulator"&?1 +63 "core" 1 +2 "storage"((- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(B'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(D' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(6& +4 "core" &<% % & \  + "manipulator"&7& +4 "core" & } $ +2 .tElbow.seek 5 + "manipulator"&G( +4 "core" ( + "manipulator"&9& +4 "core" & J $ + "storage"(<& +4 "core" &<% % #\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&%'ы +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +58 "core" ' +2 "manipulator"&& +4 "core" &  $ +2 "storage"( & +4 "core" &<% k\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&0' +31 "core" ' + .tElbow.hold +2 "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(3'i +25 "core" ' +2 "manipulator"&&% +4 "core" % L +2 "storage"(Q& +4 "core" &<% ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&>' +13 "core" ' + "manipulator"&$& +5 "core" &  C $ + "storage"(I& +5 "core" &<% 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&/'ы +27 "core" ' + "storage"(,% +5 "core" %p \ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (+% +3 "core" %C \ Wb +2 "manipulator"&8% +4 "core" %ь  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +91 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" &<% +\  + "collection"'Z& +4 "core" &V\\ ]\ F +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&C% +4 "core" %\ ! J 0 +2 "storage"(4% +3 "Can"\ FD +2 "core" %S ;\ +2 "storage"(P. +4 "core" .(<* + "storage"(^& +4 "core" &<% I\  + "storage"(*& +4 "core" &<% \  + "manipulator"&S& +4 "core" & R $ +2 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( + "manipulator"&O& +4 "core" & * $ + "storage"(J& +4 "core" &<% 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&V'ы +96 "core" ' +2 "storage"(c& +4 "core" &<% *\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'i +282 "core" ' +2 "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &  $ +2 "storage"(F& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +44 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&R' +34 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(b'Z +39 "core" ' + "manipulator"&@% +4 "core" % +2 "storage"(N& +4 "core" &<% \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&A' +13 "core" ' + "manipulator"&g& +5 "core" &  + % + "storage"(#& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\\'ы +22 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(u'I +44 "core" ' +2 "manipulator"&j& +4 "core" &  % +2 "manipulator"&i% +4 "core" %Ѷ  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +150 "core" ( + "manipulator"&& +5 "core" &+ 1 Bj + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &+ ; Bj +2 .tForearm.seek CC +2 "manipulator"&z'" +93 "core" ' + .tHand.close + "manipulator"&e/ +57 "core" / +2 .tCC.seek :open + "collection"'y( +417 "core" ( + "storage"(]& +4 "core" &<% \  +2 "storage"({& +4 "core" &<% i\  + "manipulator"&o& +4 "core" &* @X + "manipulator"&l% +4 "core" %  # \ +2 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +158 "core" ( +3 "manipulator"&f& +4 "core" &   + "storage"(& +4 "core" &<% \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&m' +110 "core" ' + .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&~1 +62 "core" 1 +2 "manipulator"&\ % +4 "core" %  l + "storage"( & +5 "core" &<% E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&t' +13 "core" ' +2 "manipulator"&p& +4 "core" &   +2 "storage"(d& +4 "core" &<%\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&q'ы +38 "core" ' +2 "storage"(% +4 "core" %I\ \  $\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +3 "core" %? K\ V_ + "manipulator"&w% +4 "core" %ъ  i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'|& +5 "core" & \ + "manipulator"&a% +4 "core" %\    +2 "storage"( % +4 "core" %^\ \  E\ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(T( +656 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" & \ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & $   + "storage"()& +4 "core" &\ \ 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' + "storage"(& +4 "core" &\ \  p\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & p\ +3 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"( & +3 "core" & V\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(}'X +8 "core" &   + "manipulator"&"% +4 "core" % ϡ  | +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 + "core" ( +3 "manipulator"&& +4 "core" &  6 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & O 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&-'" +107 "core" ' +2 "manipulator"&'& +4 "core" & " D 6 +2 "manipulator"&2% +4 "core" %   F +2 "collection"'?& +3 "core" & \ +3 "collection"'(& +4 "core" & U\ +3 .tCC.seek :closed +2 "collection"':(V +4 "core" & :\ +6 & % !\ #a +10 &V %\ 8 +9 & \ L +9 &Y \ N +10 &h] \ N +9 &*Y \ N +10 &\\ y\ N +9 &Y  \ N +9 &pY d\ N +10 &3[ \ M +9 &Z \ N +9 &!] \ N +10 &#wZ ~\ N +9 &%9] |\ N +10 &&Y v\ N +9 &(W }\ N +9 &*Y \ N +10 &,C[ \ M +9 &.Z w\ M +9 &/Z s\ N +10 &1Z s\ N +9 &3JZ u\ N +10 &5 Y t\ M +9 &6Z p\ N +9 &8[ g\ M +10 &:R] o\ N +9 &<\\ c\ N +9 &=[ g\ N +10 &?Z o\ N +9 &AY\\ m\ N +10 &C[ k\ N +9 &D_ o\ N +9 &Fe h\ O +10 &HYv l\ Q +9 &J {\ T +9 &K m\ X +10 &M p\ X +9 &OJ p\ Y +10 &Q m\ Y +9 &R m\ Z +9 &T g\ Z +10 &V)u m\ / +9 &V# c\ N +9 ( +3 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&61 +3 "core" &Vk _\ H +56 1 + "manipulator"&7% +4 "core" %  D D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%<& +4 "core" &\\\ +2 "manipulator"&!% +4 "core" %\  e  +2 "storage"(% +3 "core" %T K\ +2 "storage"( . +3 "core" .( + "storage"(&& +4 "core" & v\ +2 "storage"(& +4 "core" & j\ + "manipulator"&Q& +4 "core" & J 6 +2 "manipulator"&$% +3 "core" %\  /  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +152 "core" ( + "manipulator"&I& +5 "core" &  O  + "storage"(,& +4 "core" & C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +87 "core" ' +2 "storage"(=& +4 "core" & >\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +279 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" & c\ + "manipulator"&%& +4 "core" & $  +2 .tElbow.seek 3 + "manipulator"&G( +4 "core" ( + "manipulator"&;& +4 "core" &  p  + "storage"(0& +4 "core" & ]\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&>'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Z& "storage"(C'X +8 "core" &  + "manipulator"&4% +4 "core" % ϱ  6 +2 .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&P(s +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&^& +4 "core" &j 0 w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S' +106 "core" ' +2 "manipulator"&O& +4 "core" &j % X +2 "manipulator"&J% +3 "core" %  $ +2 "processing"%/& +4 "core" &[\ +2 "processing"%c& +5 "core" &D\ +2 .tPC.seek :closed + "processing"%K(Z +5 "core" &D\ +7 &:O\ $c +10 &SL\ 7 +9 &~I\ L +9 &`F\ O +10 &W^L\ O +9 &^L\ N +10 &YN\ O +9 &]L\ N +9 &`_K\ N +10 &"ZL\ N +9 &\\K\ N +9 &!_L\ N +10 &#g_N\ O +9 &%*[K\ N +10 &&YL\ N +9 &(YK\ N +9 &*oYL\ O +10 &,2]K\ N +9 &-[F\ N +9 &/YC\ N +10 &1x]I\ N +9 &3:]K\ N +9 &4ZC\ N +10 &6YE\ N +9 &8[E\ N +10 &:CYJ\ N +9 &<\\I\ N +9 &=WE\ N +10 &?ZD\ N +9 &AJZF\ N +10 &C ]K\ N +9 &DbF\ O +9 &FfF\ O +10 &HIxF\ Q +9 &JH\ S +9 &KL\ T +10 &MG\ T +9 &OHF\ T +9 &Q D\ U +10 &R;\ U +10 &T<\ U +9 &VO8\ U +9 &X9\ U +9 &Y|q:\ : +10 &Z)r=\ N +9 &Z$C\ . +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&11 +62 "core" 1 + "manipulator"&E% +5 "core" % % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 "processing"%Y& +4 "core" &Z#L\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&F% +4 "core" %\    + "storage"(k% +4 "core" %c D\ +2 "storage"(@. +55 "core" .( +2 "storage"(N& +4 "core" & 8\ +2 "storage"(g& +2 "manipulator"&#& +7 "core" & 1\ + &j  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&j(s + "storage"(i'i +5 "core" ( +2 "manipulator"&V& +4 "core" &j Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&W' +94 "core" ' + .tHand.close + "manipulator"&R/ +60 "core" / +2 .tPC.seek :open + "processing"%A( +89 "core" ' + "storage"(b- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +46 "core" ' +289 ( + "storage"(n& +5 "core" & \ + "manipulator"&\\& +4 "core" &j  + "manipulator"&[% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&e'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v( +258 "core" ( + "manipulator"&h& +4 "core" &  -  +2 "storage"(]& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +98 "core" ' + .tHand.open +2 "manipulator"&o1 +51 "core" 1 +2 "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(z- +4 "core" -' + "storage"(`& +4 "core" &  E\ + "manipulator"&~& +4 "core" & [  +2 .tElbow.seek 3 + "manipulator"&\ ( +7 "core" ( +2 "manipulator"& & +4 "core" & % #  +2 "storage"(p& +4 "core" & ] B\ +2 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +5 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&_& +4 "core" &   + "storage"(& +4 "core" & i\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&w'} +17 "core" ' + .tElbow.hold +2 "manipulator"&x, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +26 "core" ' + "manipulator"&t% +5 "core" %  + "storage"(|& +4 "core" & Q\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&a'ϫ +26 "core" ' + "manipulator"& & +5 "core" & t  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +28 "core" ' +2 "storage"(q% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (% +2 "core" %E \ Wd +2 "manipulator"&s% +4 "core" %"  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \ + "collection"')& +4 "core" &Vk \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(U% +4 "core" %T +\ + "storage"(. +4 "core" .( + "storage"(X& +4 "core" & m\ +2 "storage"(& +4 "core" & 0\ + "manipulator"&& +4 "core" & J  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  J  + "storage"(r& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"("& +4 "core" & L\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & F  +2 "storage"( & +4 "core" & u\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(2'T +40 "core" ' +2 "manipulator"&% +4 "core" %΋  + "storage"(?& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&}'Ϸ +34 "core" ' + "manipulator"&& +5 "core" &  f  + "storage"(y& +4 "core" & 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(7'C +39 "core" ' + "manipulator"&<& +4 "core" &   +2 "manipulator"&!% +4 "core" %. 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +158 "core" ( + "manipulator"&&& +4 "core" &. /  D{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &. + D{ +2 .tForearm.seek CC + "manipulator"&('" +94 "core" ' + .tHand.close + "manipulator"&Q/ +58 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( + "storage"(I& +5 "core" & V\ + "storage"(-& +4 "core" & .\ + "manipulator"&,& +4 "core" &* '  @\\ + "manipulator"&=% +4 "core" % 5 * 6 +2 .tForearm.seek :retract + "manipulator"&.'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +155 "core" ( + "manipulator"&+& +4 "core" & : +2 "storage"(8& +4 "core" &\ \  ^\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&%'} +99 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&01 +60 "core" 1 +2 "manipulator"&H% +5 "core" % ΁ &  + "storage"(Z& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts + "manipulator"&4'ϭ +22 "core" ' +2 "manipulator"&B& +3 "core" &  +2 "storage"(5& +4 "core" & j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +26 "core" ' +2 "storage"(>% +4 "core" %J\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(^'X +99 (*% +3 "core" %rD j\ Va +2 "manipulator"&G% +4 "core" %X R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'J& +4 "core" & Z\ + "manipulator"&/% +4 "core" %\ # / @ +2 "storage"(C% +52 "core" %]\ \  \ +3 "storage"(3. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &,j $\  +2 "manipulator"&E& +4 "core" & V + .tElbow.seek 4 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&F& +4 "core" & & U + "storage"(k& +4 "core" &,g z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&@'Ѽ +97 "core" ' + "storage"(c& +4 "core" &,g\ &\ q\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'i +285 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &,g '\  +3 "manipulator"&V& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&S& +3 "core" & ~ +2 "storage"(R& +4 "core" &,g\ \  6\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&b', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(K'X +7 "core" & s +2 "manipulator"&i% +4 "core" % 4 r x +2 .tForearm.seek :retract +2 "manipulator"&n'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +150 "core" ( + "manipulator"&[& +5 "core" ' + &- f Cn +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&W& +6 "core" &- \\ Cn +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'" +104 "core" ' +2 "manipulator"&]& +5 "core" &- 2 \\ Cn + "manipulator"&j% +4 "core" %   +2 "collection"'o& +4 "core" & \ +2 "collection"'l& +5 "core" & #\ +2 .tCC.seek :closed +2 "collection"'z(V +5 "core" & d\ +6 & - '\ $c +10 &V  \ 7 +9 & "\ L +10 &Z $\ N +9 &bZ \ N +9 &$X \ N +10 &\\ \ N +9 &\\ !\ N +9 &k[ \ M +10 &,\\ \ N +9 &Y \ N +10 &!] \ M +9 &#r] U\ N +9 &%4_ a\ N +10 &&Y <\ N +9 &(W \ N +9 &*z\\ \ N +10 &,<^ \ N +9 &-] m\ N +10 &/^ d\ N +9 &1_ 7\ N +9 &3DX 7\ N +10 &5Y :\ N +9 &6] q\ N +9 &8Y p\ N +10 &:M\\ x\ M +9 &<\\ w\ N +10 &=[ _\ M +9 &?\\ k\ M +9 &AUZ q\ M +10 &C\\ k\ M +9 &D` o\ N +9 &Fh o\ O +10 &HTs o\ P +10 &J j\ T +9 &K o\ X +9 &M `\ X +9 &OD k\ Y +10 &Q i\ Y +9 &R o\ Y +9 &T i\ Z +10 &V%v [\ . +9 &V$ `\ Q +9 ( +3 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&`1 +3 "core" &V` \\\ I +49 1 +2 "manipulator"&~% +5 "core" %  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%p& +4 "core" &H\ +2 "manipulator"&e% +4 "core" %\  =  + "storage"(_% +4 "core" %W =\ + "storage"(. +4 "core" .(,l + "storage"(t& +4 "core" &,g \  + "storage"(|& +4 "core" &,g =\  +2 "manipulator"&& +3 "core" &* Y @Z +2 "manipulator"& % +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&f( +160 "core" ( +2 "manipulator"&& +4 "core" &  P  + "storage"(q& +4 "core" &,g 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&v'Ѽ +94 "core" ' + "storage"({& +4 "core" &,g z\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "core" &,g \  +2 "manipulator"&d& +4 "core" & S  + .tElbow.seek 4 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(w& +4 "core" &,g w\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&a', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"('X +7 "core" &  +2 "manipulator"&U% +4 "core" % 5  U + .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( + "manipulator"&X& +4 "core" &i A  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"& & +4 "core" &i ; \ +2 "manipulator"&r% +4 "core" %   +2 "processing"%u& +4 "core" &I\ +2 "processing"%"& +5 "core" &Z\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &I\  +9 &2~I\ *y +10 &bP\ > +9 &wyL\ N +9 &9ZK\ N +10 &]L\ N +9 &\\L\ N +9 &~]M\ N +10 &@\\L\ N +9 &^K\ N +10 &]K\ N +9 & _L\ N +9 &"I]K\ N +10 &$\ [L\ N +9 &%]J\ N +9 &'_K\ N +10 &)P]K\ N +9 &+]J\ N +10 &,\\K\ N +9 &.]K\ O +9 &0X\\K\ N +10 &2\\K\ N +9 &3[K\ N +9 &5\\J\ N +10 &7`[J\ N +9 &9"\\J\ N +10 &:WK\ N +9 &<\\Q\ N +9 &>jZP\ N +10 &@,\\K\ N +9 &A\\K\ N +9 &C^M\ N +10 &EpbA\ N +9 &G,pJ\ P +10 &HJ\ S +9 &JL\ T +9 &LfK\ T +10 &N(J\ T +9 &OK\ T +9 &QK\ T +10 &SnK\ T +9 &U/K\ U +10 &VK\ U +9 &XA\ U +9 &Z!^?\ #l +10 &Z\\I\ , +8 ( +2 &ZE\ ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&x1 +60 "core" 1 + "manipulator"&% +5 "core" %  V  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 "processing"%& +4 "core" &Z;\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\ # ] @ +2 "storage"('% +3 "core" %c [\  +2 "storage"(. +3 "core" .(,l + "storage"(?& +4 "core" &,g \  +2 "storage"(& +4 "manipulator"&y& +3 "core" &,g W\  +2 ."raiseStack"SE.reconfigure :place +3 "storage"(#]@K-0-\ b +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(<'i +80 "core" &i \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&!(s +4 "core" ( + "manipulator"&& +5 "core" &i  % \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &i , \ +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +3 .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%}( +3 "core" ' + "storage"(2- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +46 "core" ' +374 ( + "storage"(& +4 "core" &,g D\  +3 "manipulator"&6& +4 "core" &i  \ + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&Q'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +249 "core" ( + "manipulator"&:& +4 "core" & & o +2 "storage"(I& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&-'Ѽ +101 "core" ' + .tHand.open +2 "manipulator"&,1 +58 "core" 1 +3 "storage"(=- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +24 "core" ' +51 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(8' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +4 "core" -' + "storage"( & +4 "core" &,g ' ' )\  + "manipulator"&0& +4 "core" & T o +2 .tElbow.seek 4 + "manipulator"&H( +18 "core" ( + "manipulator"&Z& +5 "core" &  7  + "storage"(B& +4 "core" &,g , - S\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(>' +57 "core" ' +2 "manipulator"&.& +4 "core" &   +2 "storage"(*& +4 "core" &,g h\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&G' +33 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(%'i +28 "core" ' + "manipulator"&4% +5 "core" %  i + "storage"(J& +5 "core" &,g ~ %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&/'8 +13 "core" ' +2 "manipulator"&C& +4 "core" & &  +2 "storage"(7& +4 "core" &,g G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&3'Ѽ +24 "core" ' +2 "storage"(D% +4 "core" %n 4\ +3 ."downElevator"SE.seek :down +3 "storage"(^'X +99 (T% +4 "core" %E \ Wd +2 "manipulator"&1% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +4 "core" &,g \  + "collection"'k& +4 "core" &V` g\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&c% +4 "core" %\ #  ; +2 "storage"(;% +3 "core" %S \ +2 "storage"(O. +3 "core" .(,l +2 "storage"(g& +4 "core" &,g [\  + "storage"(#& +4 "core" &,g p\  + "manipulator"&V& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&S( +4 "core" ( + "manipulator"&R& +4 "core" & " B  + "storage"(P& +4 "core" &,g l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&L'Ѽ +100 "core" ' +2 "storage"(i& +4 "core" &,g P\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +282 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&[& +3 "core" &   +2 "storage"(W& +4 "core" &,g *\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&N' +29 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(j'X +28 "core" ' + "manipulator"&o% +5 "core" % : + "storage"(M& +4 "core" &,g \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&K'> +18 "core" ' + "manipulator"&n& +5 "core" &  " % + "storage"($& +4 "core" &,g H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&`'Ѽ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'G +55 "core" ' +2 "manipulator"&p& +4 "core" &  % +2 "manipulator"&e% +4 "core" %ѭ , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ( +2 "manipulator"&t& +4 "core" &* 0 U Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &+ L Aa +2 .tForearm.seek CC + "manipulator"&'" +100 "core" ' +2 .tHand.close + "manipulator"&l/ +60 "core" / +2 .tCC.seek :open + "collection"' ( +419 "core" ( +2 "storage"(h& +4 "core" &,g \  + "storage"(& +5 "core" &,g ,\  + "manipulator"&q& +4 "core" &+ 4 Aa + "manipulator"&{% +4 "core" % , e +2 .tForearm.seek :retract + "manipulator"&\\'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +159 "core" ( + "manipulator"&& +5 "core" &   + "storage"(s& +4 "core" &,g \ 7\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&d' +104 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +60 "core" 1 +2 "manipulator"&% +5 "core" %  G + "storage"()& +4 "core" &,g T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&U'/ +16 "core" ' + "manipulator"&f& +4 "core" &  +2 "storage"(v& +4 "core" &,g\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +17 "core" ' + "storage"(a% +4 "core" %E\ \  4\ +3 ."downElevator"SE.seek :down +4 "storage"(X'X +99 (% +3 "core" %A :\ V` +2 "manipulator"&\ % +4 "core" %Ѵ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'r& +5 "core" & [\ + "manipulator"&u% +4 "core" %\ %  G +2 "storage"(% +4 "core" %b\ \  \ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(A(<* +329 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &<) \ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +34 "core" ( + "manipulator"& & +5 "core" & ) i # + "storage"('& +4 "core" &<& J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +95 "core" ' + "storage"(?& +5 "core" &<&\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &<& i\  +2 "manipulator"&& +3 "core" &  # +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & % > # + "storage"(& +5 "core" &<& o\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&2' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & > # +2 "manipulator"&<% +4 "core" %  D +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +147 "core" ( +2 "manipulator"&& +4 "core" &( 4 x ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +56 "core" &( )  ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'" +106 "core" ' +3 "manipulator"&I& +4 "core" &( > ?R +2 "manipulator"&!% +7 "core" % Z +4 "collection"',& +9 "core" & ?\ +4 "collection"'=& +11 "core" & !\ + & @\ +2 .tCC.seek :closed + "collection"'Q(V +6 "core" &  \ \ +9 &.z G\ +z +9 &c 5\ > +10 &ju \ N +9 &-Z \ N +9 &^ \ N +10 &X -\ N +9 &s] \ N +10 &5Y \ N +9 &X #\ N +9 &X #\ N +10 & |Z \ M +9 &"=Z #\ N +9 &$Z \ M +10 &%\\ \ N +9 &'] c\ N +9 &)E\\ g\ N +10 &+\\ \ N +9 &,Z 5\ N +10 &.[ 3\ M +9 &0L^ d\ N +9 &2Y  \ M +10 &3Y }\ N +9 &5V \ N +9 &7VY \ M +10 &9Z 7\ M +9 &:] 5\ N +10 &<\\ {\ M +9 &>^[ l\ M +9 &@] \ N +10 &A\\ \ N +9 &CZ |\ M +9 &Eba {\ O +10 &G"l {\ O +10 &Hu \ Q +9 &J q\ T +9 &LR o\ W +9 &N u\ W +10 &O q\ Y +9 &Q y\ X +9 &SQ r\ Z +10 &U q\ Z +10 &VbF q\ 0 +9 &V u o\ H +5 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&(1 +3 "core" &Vk n\ H +53 1 + "manipulator"& % +5 "core" %   > + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0'\ +98 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Z& +4 "core" &Y\ +2 "manipulator"&B% +4 "core" %\   + "storage"(.% +4 "core" %a H\ +2 "storage"(*. +3 "core" .(<* + "storage"(&& +4 "core" &<& f\  + "storage"(4& +4 "core" &<& \  +2 "manipulator"&+& +4 "core" && o =E +2 "manipulator"&J% +3 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +151 "core" ( +2 "manipulator"&7& +4 "core" & W +2 "storage"(& +3 "core" &<& N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&D'ы +93 "core" ' + "storage"(-& +5 "core" &<& :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +283 "core" ' + "storage"(T- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (1& +3 "core" &<& <\  +2 "manipulator"&5& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&H( +3 "core" ( +2 "manipulator"&>& +3 "core" &  ^ +2 "storage"(G& +4 "core" &<& /\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&/' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&k& "storage"(c'X +7 "core" &  +2 "manipulator"&;% +4 "core" %  I +2 .tForearm.seek :retract + "manipulator"&%'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&O(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&g& +4 "core" &o % /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +4 "core" &o  T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V' +101 "core" ' + "manipulator"&R& +5 "core" &p   + "manipulator"&P% +4 "core" %  i +2 "processing"%3& +4 "core" &D\ +2 "processing"%i& +5 "core" &U\ +2 .tPC.seek :closed + "processing"%^(Z +4 "core" &L\  +9 &4O\ *z +10 &dO\ ? +9 &wJ\ O +9 &F\\K\ N +10 &\\D\ N +9 &\\Q\ O +10 &\\K\ N +9 &MZK\ N +9 &]J\ N +10 &\\R\ N +9 & \\M\ N +9 &"V^Q\ N +10 &$[K\ N +9 &%\\N\ N +10 &']K\ N +9 &)][S\ N +9 &+ YS\ N +10 &,[L\ N +9 &.\\L\ N +9 &0f[O\ N +10 &2([T\ N +9 &3ZM\ N +9 &5ZS\ N +10 &7oZL\ N +9 &92ZE\ M +10 &:[K\ N +9 &<\\K\ N +9 &>w[K\ N +13 &@8ZK\ N +6 &A[I\ N +10 &C]I\ N +9 &E}`K\ N +9 &G9oL\ P +10 &HG\ S +9 &JK\ T +9 &LuL\ T +10 &N7K\ T +9 &OK\ T +9 &QE\ T +10 &S{O\ T +9 &U<K\ U +10 &VF\ U +9 &XJ\ U +9 &Z&UuH\ (x +10 &Z\\P\ 2 +8 ( +3 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&91 +4 "core" &Z#A\ / +51 1 + "manipulator"&E% +4 "core" % %  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +90 "core" ' + "processing"%[& +5 "core" &Z#S\ / + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&W% +4 "core" %\  R  +2 "storage"(]% +3 "core" %T \ +2 "storage"(o. +3 "core" .(<* +2 "storage"(M& +3 "core" &<& +\  +2 "storage"(n& +5 "manipulator"&$& +3 "core" &<& y\  + &p   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC + "storage"(p'i +2 "manipulator"&e(s +5 "core" ( + "manipulator"&L& +4 "core" &p  D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &p c  +2 .tForearm.seek PC +2 "manipulator"&Y' +96 "core" ' +2 .tHand.close + "manipulator"&N/ +63 "core" / +2 .tPC.seek :open + "processing"%K( +79 "core" ' +2 "storage"(j- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +46 "core" ' +297 ( +2 "storage"(|& +4 "core" &<& \  + "manipulator"&`& +4 "core" &p q  + "manipulator"&b% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&l'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&_( +236 "core" ( + "manipulator"&z& +5 "core" & % 2 1 + "storage"(h& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +92 "core" ' + .tHand.open + "manipulator"&q1 +62 "core" 1 +2 "storage"({- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &<& # # Z\  + "manipulator"&w& +4 "core" &  0 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&)& +4 "core" &  9 0 + "storage"(f& +4 "core" &<& S V\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&v'ы +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(a' +62 "core" ' + "manipulator"&\\& +5 "core" & w 0 +2 "storage"(& +4 "core" &<& ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&\ ' +32 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(d'i +30 "core" ' +2 "manipulator"&r% +4 "core" % ( +2 "storage"(U& +4 "core" &<& ~ J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&u' +13 "core" ' + "manipulator"&& +5 "core" &  0 + "storage"(& +5 "core" &<& i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&~'ы +27 "core" ' + "storage"(% +5 "core" %s 2\ +2 ."downElevator"SE.seek :down +4 "storage"(X'X +99 (% +3 "core" %F [\ Wc +2 "manipulator"&x% +4 "core" %р  +52 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +18 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<& E\  +2 "collection"''& +4 "core" &Vj \ H + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&?% +4 "core" %\  P  + "storage"(% +4 "core" %` `\ +2 "storage"( . +3 "core" .(<* + "storage"(& +4 "core" &<& 3\  +2 "storage"(y& +4 "core" &<& \  + "manipulator"&& +4 "core" & 7 0 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  ? 0 + "storage"(m& +4 "core" &<& |\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +97 "core" ' + "storage"(<& +5 "core" &<& P\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" &  0 +2 "storage"(& +4 "core" &<& \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&"' +20 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(I'Y +27 "core" ' +2 "manipulator"&!% +4 "core" %  + "storage"(,& +4 "core" &<& s\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&' +12 "core" ' + "manipulator"&& +5 "core" &  ! 0 + "storage"( & +4 "core" &<& -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&('ы +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"( 'H +40 "core" ' + "manipulator"&Z& +5 "core" &  0 + "manipulator"&B% +4 "core" %ь  } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +148 "core" ( +2 "manipulator"&&& +4 "core" &# 5 ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &$  ;2 +2 .tForearm.seek CC +2 "manipulator"&='" +91 "core" ' + .tHand.close + "manipulator"&+/ +63 "core" / +2 .tCC.seek :open +2 "collection"'J( +413 "core" ( + "storage"(:& +4 "core" &<& H\  +2 "storage"(7& +3 "core" &<& \ \  +2 "manipulator"&& +4 "core" &# 0 B :- + "manipulator"&-% +4 "core" % ~ +2 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +160 "core" ( +2 "manipulator"&T& +4 "core" &  : q +2 "storage"(1& +3 "core" &<& \  A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&5' +109 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&G1 +54 "core" 1 +2 "manipulator"&F% +5 "core" %   u + "storage"(k& +4 "core" &<& {\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&;'\ +14 "core" ' + "manipulator"&C& +5 "core" & t r +3 "storage"(D& +3 "core" &<&\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +24 "core" ' +2 "storage"(/% +4 "core" %N\ \  U\ +2 ."downElevator"SE.seek :down +4 "storage"(g'X +99 (#% +2 "core" %A \ V` +2 "manipulator"&H% +4 "core" %ѭ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'P& +4 "core" & ^\ +2 "manipulator"&3% +4 "core" %\    +2 "storage"(c% +3 "core" %\\\ &\ ' \ +2 "storage"(%. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(}( +651 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +2 "core" & g\ +2 "manipulator"&E& +4 "core" &  r +2 .tElbow.seek 3 + "manipulator"&[( +4 "core" ( + "manipulator"&W& +4 "core" & 2 r + "storage"(]& +4 "core" &\ \  /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&o'9 +99 "core" ' + "storage"(M& +5 "core" &\ \  S\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'i +285 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" & \ +2 "manipulator"&L& +4 "core" & r +2 .tElbow.seek 3 + "manipulator"&S( +3 "core" ( +2 "manipulator"&V& +4 "core" & $ r + "storage"(N& +4 "core" & s\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&j'ϩ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(^'X +7 "core" &  r +2 "manipulator"&p% +4 "core" % ϝ  g +2 .tForearm.seek :retract + "manipulator"&|'\ +98 "core" ' +4 .tElbow.seek CC + "manipulator"&`( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&b& +5 "core" && > e =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &&  : =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +103 "core" ' +2 "manipulator"&h& +4 "core" && =F +2 "manipulator"&e% +4 "core" %&  +2 "collection"'q& +4 "core" & A\ +2 "collection"'{& +5 "core" & W\ +3 .tCC.seek :closed +3 "collection"'(V +3 "core" & L\ +6 & P\ 8 +9 &EG} 8\ 1 +9 &oq \ E +10 &b D\ N +9 &Z Y\ N +9 &\\ \ M +10 &[\\ <\ M +9 &_ Y\ M +10 &^ a\ M +9 &X A\ M +9 &b[ %\ N +10 &!$\\ \ N +9 &"^ #\ M +9 &$_ $\ M +10 &&kW $\ M +9 &(-Y #\ M +10 &)\\ \ M +9 &+] \ M +9 &-s] #\ M +10 &/4\\ \ N +9 &0[ \ N +10 &2Y \ N +9 &4z\\ \ N +9 &6=Z \ M +10 &7W \ N +9 &9Z \ N +9 &;Z \ N +10 &=EZ \ M +9 &?\\ b\ N +9 &@\\ \ N +10 &B[ 8\ N +9 &DMY c\ M +10 &F d \ O +9 &Gm \ P +9 &I \ S +10 &K: \ W +9 &L \ Y +10 &N i\ Y +9 &P{ 7\ X +10 &R< w\ Y +9 &S }\ Z +9 &U v\ G +9 &V4 x\ $m +10 &Vg 7\ H +2 ( + "collection"'{& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.92 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&w% +4 "core" % & 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%f& +4 "core" &e\ + "manipulator"&l% +4 "core" %\  X \ +2 "storage"(\\% +4 "core" %b W\ + "storage"(. +3 "core" .( +2 "storage"(t& +4 "core" & \ + "storage"(r& +4 "core" & \ +2 "manipulator"&U& +4 "core" && H =E + "manipulator"&% +4 "core" %\  "  \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +176 "core" ( + "manipulator"&& +4 "core" &\ $ \\ +2 "storage"(& +4 "core" & )\ +52 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +92 "core" ' +2 "storage"(& +4 "core" & ,\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" & (\ +2 "manipulator"&v& +4 "core" &\  \\ + .tElbow.seek 3 +2 "manipulator"&( +9 "core" ( + "manipulator"&a& +5 "core" &   ) + "storage"(\ & +5 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&u'ϩ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(?'X +8 "core" & q ) + "manipulator"&% +4 "core" % ϭ  > +2 .tForearm.seek :retract +2 "manipulator"&d'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&& +4 "core" &y G 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &y  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +105 "core" ' +2 "manipulator"&& +4 "core" &y  , +2 "manipulator"&m% +4 "core" % [ l +2 "processing"%<& +3 "core" &Q\ +2 "processing"%~& +5 "core" &Q\ +2 .tPC.seek :closed +2 "processing"%X(Z +4 "core" &_\ +7 &9T\ $c +10 &T_\ 7 +9 &W\ L +10 &^J\ N +9 &_]B\ N +9 & \\Q\ N +10 &^O\ N +9 &[R\ N +9 &f\\P\ N +10 &([N\ N +9 &\\N\ O +9 &![V\ N +10 &#o\\L\ N +9 &%1[M\ N +10 &&ZN\ N +9 &(\\O\ N +9 &*xZP\ N +10 &,:[U\ N +9 &-\\Y\ N +9 &/YX\ N +10 &1ZS\ N +9 &3B[K\ N +10 &5[T\ M +9 &6\\Y\ N +9 &8XY\ N +10 &:IZW\ N +9 &< ZV\ M +9 &=ZX\ N +10 &?ZM\ N +9 &ASYN\ M +10 &C\\N\ N +9 &D`N\ O +9 &FdU\ O +10 &HOvN\ Q +9 &J R\ S +9 &KL\ T +10 &MO\ S +9 &OPW\ T +10 &QO\ T +9 &RG\ T +9 &TM\ T +10 &VVM\ T +9 &XM\ U +9 &YznS\ 7 +10 &Z.W\ N +9 &ZK\ ( +2 ( +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ( . l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%& +4 "core" &ZN\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ % ( 9 E +2 "storage"(% +3 "core" %a \ +2 "storage"(!. +3 "core" .( +2 "storage"(,& +3 "core" & n\ +2 "storage"(& +5 "manipulator"& & +4 "core" & \ + &y n +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&Z(s + "storage"(B'i +6 "core" ( + "manipulator"&& +4 "core" &y + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +2 "core" &y m +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + .tHand.close +2 "manipulator"&"/ +53 "core" / +2 .tPC.seek :open + "processing"%( +98 "core" ' +2 "storage"(I- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +36 "core" ' +289 ( + "storage"(4& +4 "core" & i\ +2 "manipulator"&(& +3 "core" &y \\ +2 "manipulator"&2% +3 "core" % A +2 .tForearm.seek :retract +2 "manipulator"&+'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.( +254 "core" ( +4 "manipulator"&Q& +8 "core" & D # +2 "storage"(:& +8 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +101 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 +2 "storage"(-- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(1' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(*& +4 "core" & J ,\ + "manipulator"&G& +4 "core" & !q +2 .tElbow.seek 3 + "manipulator"&F( +27 "core" ( + "manipulator"&k& +5 "core" &  G  + "storage"(C& +4 "core" &\ \  B\ +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +60 "core" ' +2 "manipulator"&6& +4 "core" & \  +2 "storage"(#& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'} +17 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +24 "core" ' +3 "manipulator"&P% +4 "core" %΍  +2 "storage"(;& +4 "core" & J\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&3'Ϲ +27 "core" ' + "manipulator"&c& +5 "core" &  {  + "storage"(%& +4 "core" & .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +17 "core" ' +2 "storage"(8% +4 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(g'X +99 (A% +2 "core" %F ]\ Wc +2 "manipulator"&9% +4 "core" %7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" & \ +2 "collection"']& +4 "core" &Vk \ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&M% +4 "core" %\    +2 "storage"(>% +3 "core" %b \ +2 "storage"(R. +3 "core" .( + "storage"(n& +4 "core" & U\ +2 "storage"(i& +4 "core" & B\ + "manipulator"&L& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&V( +4 "core" ( + "manipulator"&N& +4 "core" & $  + "storage"(O& +4 "core" & K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +98 "core" ' + "storage"(p& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +284 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &   + "storage"(Y& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'} +21 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(e'S +40 "core" ' +2 "manipulator"&q% +4 "core" %Ί  + "storage"(S& +4 "core" & F\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&^'϶ +20 "core" ' +2 "manipulator"&|& +4 "core" & p  +2 "storage"(J& +55 "core" & X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +47 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'B +38 "core" ' + "manipulator"&f& +5 "core" &   + "manipulator"&l% +5 "core" %" : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&t& +4 "core" &( . L ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &( % ?Q +2 .tForearm.seek CC +2 "manipulator"&{'" +92 "core" ' +2 .tHand.close + "manipulator"&U/ +54 "core" / +3 .tCC.seek :open + "collection"'( +415 "core" ( +2 "storage"(z& +4 "core" & G\ + "storage"(& +4 "core" & i\ +2 "manipulator"&& +3 "core" &( ?Q +2 "manipulator"&`% +4 "core" % 2 +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)( +159 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(x& +4 "core" &\ \  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&v'} +98 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\ 1 +61 "core" 1 +2 "manipulator"& % +4 "core" % Ό  ~ + "storage"('& +4 "core" & u\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +25 "core" ' +2 "manipulator"&& +4 "core" & ^  +2 "storage"(_& +3 "core" &\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +34 "core" ' + "storage"(u% +4 "core" %K\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (y% +4 "core" %C Y\ Va +2 "manipulator"&% +4 "core" %1  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'m& +4 "core" & D\ + "manipulator"&<% +4 "core" %\    +2 "storage"(?% +4 "core" %S\ \  3\ + "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(K(,l +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &,j \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  \\  + "storage"(& +4 "core" &,g \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&!'Ѽ +98 "core" ' +2 "storage"(,& +4 "core" &,g\ &\ O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +285 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,g O\  + "manipulator"&& +4 "core" & L  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"("& +4 "core" &,g\ \ K\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&I', +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(X'X +7 "core" & h  + "manipulator"&B% +4 "core" % ) U | +2 .tForearm.seek :retract +2 "manipulator"&4'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +156 "core" ( +2 "manipulator"&2& +4 "core" &'  f >N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &'  >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Q'" +95 "core" ' +2 "manipulator"&:& +4 "core" &' 0 >N +2 "manipulator"&Z% +4 "core" %  +2 "collection"'& +4 "core" & H\ +2 "collection"'-& +6 "core" & W\ +2 .tCC.seek :closed +2 "collection"'=(V +5 "core" & F\ +6 & C\ 3 +9 &;I f\ 0 +10 &dq H\ E +9 & b >\ M +9 &\\ )\ M +10 &[ L\ N +9 &OZ d\ M +9 &[ ^\ M +10 &\\ Z\ N +9 &Z g\ M +10 &V] \ N +9 &![ J\ N +9 &"^ \ M +10 &$] J\ N +9 &&`X \ M +9 &(!\\ c\ M +10 &)W $\ M +9 &+\\ $\ N +10 &-gZ \ M +9 &/)\\ d\ M +9 &0\\ "\ N +10 &2] #\ M +9 &4oX \ M +9 &60[ \ N +10 &7Z \ M +9 &9[ \ N +10 &;v^ \ N +9 &=:W \ M +9 &>\\ \ M +10 &@^ \ M +9 &B] \ M +9 &D@` h\ N +10 &Fg \ N +9 &Gp c\ P +9 &Iy \ R +10 &K- \ W +10 &L \ X +9 &N \ X +9 &Po \ X +9 &R1 \ X +10 &S \ Z +9 &U 5\ G +9 &V4 f\ 'v +10 &V` \ J +2 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.93 + .Hand.open + "manipulator"&*1 +61 "core" 1 +2 "manipulator"&G% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%k& +5 "core" &W\ + "manipulator"&C% +4 "core" %\  3  +2 "storage"(6% +3 "core" %a \ +2 "storage"(#. +3 "core" .(,l +2 "storage"(&& +4 "core" &,g 2\  + "storage"(P& +4 "core" &,g 2\  + "manipulator"&;& +4 "core" && 2 D =G +2 "manipulator"&T% +4 "core" %\  4  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c( +154 "core" ( + "manipulator"&%& +4 "core" &  )  +2 "storage"(8& +3 "core" &,g E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&.'Ѽ +95 "core" ' + "storage"(7& +4 "core" &,g '\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'i +279 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (9& +3 "core" &,g \  +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&F( +4 "core" ( + "manipulator"&/& +4 "core" &   +2 "storage"(H& +4 "core" &,g u\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&W', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(M'X +8 "core" & N  + "manipulator"&>% +4 "core" % !  # +2 .tForearm.seek :retract +2 "manipulator"&R'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&n(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&5& +5 "core" &o !  & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &o q & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&L' +96 "core" ' + "manipulator"&N& +4 "core" &o  F & +2 "manipulator"&O% +4 "core" % } 7 +2 "processing"% & +3 "core" &^\ +2 "processing"%p& +5 "core" &y\ +2 .tPC.seek :closed +2 "processing"%g(Z +4 "core" &c\  +9 &4c\ *z +59 &dZ\ ? +5 &xU\ O +3 &GYO\ N + & \\M\ N + &[M\ N +4 &\\W\ N + &O[Q\ N +2 &\\N\ N +8 &\\P\ N +10 & \\U\ N +9 &"W\\W\ N +10 &$ZS\ N +9 &%[Y\ N +9 &']V\ N +10 &)^[\\\ N +9 &+\\Y\ N +9 &,[R\ N +10 &.\\Z\ N +9 &0e]T\ N +10 &2([X\ N +9 &3ZU\ N +9 &5ZY\ N +10 &7n]X\ N +9 &91ZS\ N +9 &:XX\ N +10 &<[U\ N +9 &>vYM\ N +10 &@9\\Y\ N +9 &AZW\ M +9 &C^[\ N +10 &E{_U\ O +9 &G:oV\ P +9 &HX\ R +10 &J[\ S +9 &LtX\ T +10 &N7U\ T +9 &OX\ T +9 &QW\ T +10 &SzY\ U +9 &U=Y\ T +9 &VV\ T +10 &XW\ U +9 &Z'Wx[\ 'u +9 &ZbY\ 6 +9 ( +3 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&01 +3 "core" &Z#Q\ 0 +61 1 + "manipulator"&E% +5 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 "processing"%b& +4 "core" &Z#L\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Y% +4 "core" %\  C  +2 "storage"(h% +4 "core" %c L\ + "storage"(q. +3 "core" .(,l +2 "storage"(S& +3 "core" &,g @\  +2 "storage"(|& +3 "manipulator"&J& +10 "core" &,g a\  + &o  p & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&f(s + "storage"(l'i +5 "core" ( + "manipulator"&@& +4 "core" &o  \ & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &o  & +2 .tForearm.seek PC +2 "manipulator"&[' +91 "core" ' + .tHand.close +2 "manipulator"&$/ +53 "core" / +2 .tPC.seek :open + "processing"%^( +98 "core" ' +2 "storage"(e- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +43 "core" ' +282 ( + "storage"(r& +4 "core" &,g A\  +2 "manipulator"&& +3 "core" &o ? & +2 "manipulator"&j% +4 "core" %  `  +2 .tForearm.seek :retract + "manipulator"&U'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\\( +248 "core" ( + "manipulator"&& +4 "core" & % ,  +2 "storage"(z& +3 "core" &,g r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +99 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "storage"(`- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(x' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(& +4 "core" &,g  & .\  + "manipulator"&\ & +4 "core" & j  +2 .tElbow.seek 4 + "manipulator"& ( +19 "core" ( +2 "manipulator"&'& +4 "core" & % O  +2 "storage"(& +3 "core" &,g % %\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&_'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +59 "core" ' + "manipulator"&& +5 "core" &   + "storage"(y& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +22 "core" ' + "manipulator"&% +5 "core" %  + "storage"(m& +4 "core" &,g P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&<'2 +18 "core" ' +2 "manipulator"&?& +4 "core" &  w  +2 "storage"(d& +4 "core" &,g `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +31 "core" ' + "storage"(s% +5 "core" %q C\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (}% +3 "core" %> G\ Vb +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &,g B\  +2 "collection"'& +4 "core" &V` \ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&,% +3 "core" %\    +2 "storage"(a% +4 "core" %S \ + "storage"(. +3 "core" .(,l +2 "storage"( & +4 "core" &,g \  + "storage"(& +4 "core" &,g \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" &  F  + "storage"( & +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +87 "core" ' +2 "storage"(B& +4 "core" &,g E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +3 "core" & T  +2 "storage"(& +4 "core" &,g 6\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&~' +32 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Z'X +28 "core" ' +2 "manipulator"&% +4 "core" % . +2 "storage"(& +3 "core" &,g y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&X'; +20 "core" ' +2 "manipulator"&4& +4 "core" &  7  +2 "storage"(& +4 "core" &,g *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&*'Ѽ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(G'G +39 "core" ' +2 "manipulator"&k& +4 "core" & L  +2 "manipulator"&C% +4 "core" %ѹ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +158 "core" ( +2 "manipulator"&&& +4 "core" &. 3 H Dy + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &- A Dy +2 .tForearm.seek CC + "manipulator"&-'" +93 "core" ' + .tHand.close + "manipulator"&;/ +60 "core" / +2 .tCC.seek :open + "collection"'T( +420 "core" ( + "storage"(%& +4 "core" &,g \  +2 "storage"(Q& +3 "core" &,g F\  +2 "manipulator"&8& +4 "core" &- Ct + "manipulator"&7% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&('\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +158 "core" ( + "manipulator"&A& +4 "core" & l +2 "storage"(9& +4 "core" &,g\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&D' +107 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +56 "core" 1 +2 "manipulator"&3% +5 "core" %  G + "storage"(]& +4 "core" &,g \  +53 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&>'; +15 "core" ' + "manipulator"&c& +5 "core" & / + "storage"(.& +4 "core" &,g\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&1'Ѽ +29 "core" ' +2 "storage"(W% +4 "core" %G\ \  .\ +2 ."downElevator"SE.seek :down +4 "storage"(5'X +99 (i% +2 "core" %F s\ Va +2 "manipulator"&F% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'O& +4 "core" & P\ +2 "manipulator"& % +4 "core" %\  $  +2 "storage"(M% +3 "core" %a\ \  (\ +2 "storage"(R. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &<) i\  +2 "manipulator"&E& +4 "core" & 5 + .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&Y& +4 "core" &  c + "storage"(h& +4 "core" &<&\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&p'ы +95 "core" ' +2 "storage"(q& +4 "core" &<&\ &\ & <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +289 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &<& \ \  +2 "manipulator"&@& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&V( +3 "core" ( +2 "manipulator"&L& +4 "core" & ; + "storage"($& +4 "core" &<&\ \  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&e' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&o& "storage"(g'X +8 "core" &  + "manipulator"&l% +4 "core" %  z M +3 .tForearm.seek :retract + "manipulator"&r'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&j& +4 "core" &/  j E| + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &/  E| +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +103 "core" ' + "manipulator"&z& +4 "core" &. D{ +2 "manipulator"&f% +4 "core" % +2 "collection"'& +4 "core" & ^\ +2 "collection"'`& +5 "core" & H\ +2 .tCC.seek :closed +2 "collection"'{(V +4 "core" & D\ +7 & - K\ #b +9 &W D\ 8 +10 &} D\ L +9 &Y <\ N +9 &f[ <\ M +10 &'Z <\ N +9 &] B\ M +9 &W @\ M +10 &n^ <\ M +9 &0\\ 4\ M +10 &X U\ M +9 &!_ _\ M +9 &#v^ c\ M +10 &%8_ _\ M +9 &&X X\ M +9 &([ a\ M +10 &*~Z \\\ M +9 &,@X \ M +10 &.W H\ M +9 &/Y \ M +9 &1Z \ N +10 &3GZ \ N +9 &5\ \\ \ M +9 &6Z {\ M +10 &8[ %\ M +9 &:O\\ \ N +10 &<] z\ M +9 &=] (\ M +9 &?] !\ M +10 &AX\\ $\ M +9 &C\\ "\ N +9 &D` #\ N +10 &Fe  \ O +9 &HXr \ P +10 &J \\\ S +9 &K !\ U +9 &M \ X +10 &OI "\ X +9 &Q "\ Y +9 &R \ Y +10 &T "\ Y +9 &V*w #\ - +9 &V& 7\ O +9 ( +3 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&1 +4 "core" &V\\ \ G +56 1 + "manipulator"&\ % +5 "core" %  m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%'& +4 "core" &n\ +2 "manipulator"&% +4 "core" %\ <  + "storage"(% +4 "core" %b \ +2 "storage"(y. +3 "core" .(<* + "storage"(t& +4 "core" &<& ,\  + "storage"(& +4 "core" &<& I\  +2 "manipulator"&m& +4 "core" &, Bj + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&?( +165 "core" ( + "manipulator"&d& +5 "core" &  x + "storage"(s& +4 "core" &<& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&\\'ы +111 "core" ' + "storage"(& +5 "core" &<& 7\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +284 "core" ' +2 "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &<& \  + "manipulator"&_& +4 "core" & x +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&u& +4 "core" &  j x + "storage"(& +4 "core" &<& J\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(,'X +8 "core" & b x + "manipulator"&a% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&v'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"& & +4 "core" &q ? C  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &q  y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' +2 "manipulator"&"& +4 "core" &q % >  +2 "manipulator"& % +4 "core" %  + "processing"%w& +4 "core" &{\ +2 "processing"%B& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &i\  +8 &1~h\ *y +9 &bd\ > +9 &mxk\ N +10 &.Z\\\ N +9 &]b\ N +10 &\\b\ N +9 &v\\c\ N +9 &8]c\ N +10 &\\`\ M +9 &[b\ N +9 & \\V\ M +10 &"A\\Z\ M +9 &$\\Z\ N +9 &%\\Y\ N +9 &'\\[\ N +9 &)H[Y\ N +10 &+\ ]W\ N +9 &,XZ\ N +9 &.\\[\ N +10 &0PZZ\ N +9 &2\\\\\ N +10 &3]Z\ N +9 &5Z[\ N +9 &7XZ\\\ N +10 &9]\\\ N +9 &:\\Y\ N +9 &<]\\\ N +10 &>`]\\\ N +9 &@!_\\\ N +9 &AYM\ N +10 &C]X\ N +10 &Eeb[\ O +9 &G#m]\ P +9 &HY\ R +14 &J\\\ T +5 &L^\\\ T +11 &N [\ T +7 &O\\\ T +10 &QW\ T +10 &Se[\ T +9 &U&X\ T +9 &V[\ U +9 &XY\ U +10 &Zd[\ 'x +9 &Z_X\ 5 +9 ( +2 &Z,Z\ 1 +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&)1 +57 "core" 1 +2 "manipulator"&% +4 "core" % 2 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +2 "processing"%2& +4 "core" &Z+Z\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  y  + "storage"(:% +4 "core" %b h\ + "storage"(. +3 "core" .(<* +2 "storage"(& +4 "core" &<& a\  + "storage"(4& +5 "manipulator"&& +4 "core" &<& U\  + &q 6  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&k(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(C'i +3 "core" ( + "manipulator"&& +4 "core" &q U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &q + 5  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&~/ +52 "core" / +2 .tPC.seek :open + "processing"%X( +101 "core" ' +2 "storage"(Z- +3 "core" -'i + ."raiseStack"SE.configure :default +54 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(&'y +44 "core" ' +227 ( +2 "storage"(P& +3 "core" &<& )\  +2 "manipulator"&*& +5 "core" &q   + "manipulator"&I% +4 "core" % S  +2 .tForearm.seek :retract + "manipulator"&;'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&6( +257 "core" ( + "manipulator"&=& +4 "core" &  E +2 "storage"(%& +4 "core" &<& `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&Q'ы +90 "core" ' + .tHand.open +2 "manipulator"&81 +59 "core" 1 +2 "storage"(7- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(9' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(#& +4 "core" &<& i i \  +2 "manipulator"&H& +3 "core" & G +2 .tElbow.seek 5 +2 "manipulator"&3( +3 "core" ( + "manipulator"&]& +4 "core" & % +2 "storage"(c& +4 "core" &<& j i \  +2 .tForearm.seek 5 + 700 counts + "manipulator"&.'ы +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"((' +55 "core" ' + "manipulator"&W& +5 "core" & % + "storage"(+& +4 "core" &<& <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&i' +34 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(D'i +39 "core" ' +2 "manipulator"&O% +4 "core" % ] +2 "storage"(>& +4 "core" &<& \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"& ' +12 "core" ' + "manipulator"&M& +5 "core" &  + "storage"(R& +4 "core" &<& +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&G'ы +36 "core" ' +2 "storage"(1% +4 "core" %j \ +2 ."downElevator"SE.seek :down +3 "storage"(5'X +100 (K% +3 "core" %I K\ Wd +2 "manipulator"&0% +4 "core" %}  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +97 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +5 "core" &<& @\  + "collection"'h& +4 "core" &V[ \ G +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&q% +4 "core" %\ &   !O +2 "storage"(/% +3 "core" %a D\ +2 "storage"(N. +3 "core" .(<* +2 "storage"(J& +4 "core" &<& i\  + "storage"(|& +4 "core" &<& p\  +2 "manipulator"&@& +4 "core" &  m + .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( + "manipulator"&$& +4 "core" & / ^ +2 "storage"(n& +4 "core" &<& a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&o'ы +92 "core" ' +2 "storage"(l& +4 "core" &<& \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +285 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" &  +2 "storage"([& +4 "core" &<& 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&S' +36 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(f'Z +31 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(V& +7 "core" &<& w z N\  +3 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 5 + 311 counts + "manipulator"&g' +13 "core" ' + "manipulator"&r& +4 "core" & +2 "storage"(T& +4 "core" &<& c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +29 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"(\ 'I +40 "core" ' + "manipulator"&'& +4 "core" &  +2 "manipulator"&% +4 "core" %}  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +151 "core" ( + "manipulator"&t& +4 "core" &* 2 P @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &) @[ +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&m/ +57 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &<& G\  +2 "storage"(d& +3 "core" &<& \  +2 "manipulator"&s& +4 "core" &(  >H + "manipulator"&% +4 "core" % #  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +161 "core" ( +2 "manipulator"&}& +4 "core" &   +2 "storage"( & +4 "core" &<&\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&_' +111 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +5 "core" %  T + "storage"(& +4 "core" &<& h\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&a' +19 "core" ' + "manipulator"&?& +5 "core" &  + "storage"(\\& +4 "core" &<& \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&x'ы +25 "core" ' + "storage"(<% +4 "core" %P\ \  2\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +3 "core" %C F\ Va +2 "manipulator"& % +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & L\ +2 "manipulator"&w% +4 "core" %\  8 + "storage"(,% +4 "core" %T\ \  \ +2 "storage"(v. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(^( +658 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" & +\ + "manipulator"&& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(:& +4 "core" & E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' + "storage"(& +5 "core" &\ &\ \ w\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +51 (B& +5 "core" &\ \  W\ + "manipulator"&& +4 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & r  + "storage"(~& +4 "core" &\ \  \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϩ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&!& + "storage"('X +7 "core" & /  + "manipulator"&P% +4 "core" % ϱ  1 +2 .tForearm.seek :retract +2 "manipulator"&*'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&I( +151 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +3 "core" ( + "manipulator"&C& +4 "core" &+ P Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ $ Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='" +101 "core" ' +3 "manipulator"&%& +4 "core" &, 7 Bl +2 "manipulator"&k% +4 "core" %  ^ +2 "collection"'8& +4 "core" & P\ +2 "collection"'7& +5 "core" & V\ +3 .tCC.seek :closed + "collection"'-(V +4 "core" & P\  +8 &-{ C\ +z +10 &e H\ ? +9 &zu Q\ N +10 &>V K\ M +9 &Y Q\ M +9 &Z P\ N +10 &Z B\ N +9 &E[ E\ N +9 &[ D\ M +10 &W L\ M +9 & \\ H\ N +10 &"M\\ J\ N +9 &$] C\ M +9 &%_ D\ M +10 &'Z P\ M +9 &)VX C\ M +9 &+[ 6\ N +10 &,Y Z\ M +9 &.Z B\ M +10 &0^] 5\ M +9 &2 \\ X\ M +9 &3\\ 3\ M +10 &5\\ T\ M +9 &7g\\ @\ M +9 &9(\\ S\ M +10 &:] T\ N +9 &<] W\ M +10 &>oY Y\ M +9 &@0\\ X\ M +9 &AX T\ M +10 &C] \ M +9 &Eua d\ N +9 &G4i \ O +10 &Hx \ P +9 &J `\ U +10 &L` j\ X +9 &N# \ W +9 &O \ X +10 &Q e\ X +9 &Sa \ Z +9 &U% #\ Y +10 &VoC \ 1 +9 &Vl \ E +6 ( + "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator" +4 "core" &Ve _\ E +52 1 +2 "manipulator"&H% +5 "core" %  r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +103 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%c& +4 "core" &\ + "manipulator"&;% +4 "core" %\ \ U  +2 "storage"(W% +4 "core" %_ s\ + "storage"(+. +3 "core" .( +2 "storage"(&& +4 "core" & -\ +2 "storage"(O& +4 "core" & N\ + "manipulator"&>& +4 "core" &+  Bk +2 "manipulator"&A% +3 "core" %\ \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&M( +162 "core" ( + "manipulator"&R& +4 "core" & + t +2 "storage"(1& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +93 "core" ' +2 "storage"(Q& +4 "core" & V\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'i +285 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" & #\ +2 "manipulator"&.& +4 "core" & Q t + .tElbow.seek 3 +2 "manipulator"&3( +3 "core" ( + "manipulator"&(& +4 "core" & - t +2 "storage"(i& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&h& + "storage"(q'X +8 "core" & h t + "manipulator"&/% +4 "core" % ϛ ( +2 .tForearm.seek :retract +2 "manipulator"&N'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&D(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +3 "manipulator"&J& +4 "core" &n 0   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &n (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&@' +100 "core" ' + "manipulator"&$& +4 "core" &n % G  +2 "manipulator"&n% +4 "core" %  +2 "processing"%G& +4 "core" &e\ +2 "processing"%l& +5 "core" &i\ +2 .tPC.seek :closed + "processing"%5(Z +5 "core" &k\ +6 &?i\ $e +10 &Vi\ 8 +9 &}j\ L +9 &Yh\ N +10 &p]g\ N +9 &3[e\ N +10 &[i\ N +9 &Zc\ M +9 &x\\b\ N +10 &;Zb\ N +9 &\\i\ N +9 &!Z[\ N +10 &#\\Z\ N +9 &%C\\_\ N +10 &'Y[\ N +9 &([`\ N +9 &*[Y\ N +10 &,K][\ N +9 &. \\Z\ N +9 &/Y[\ N +10 &1ZZ\ N +9 &3SY\\\ N +10 &5Z\\\ N +9 &6Z]\ N +9 &8ZZ\ N +10 &:[Z\\\ N +9 &<]\\\ N +9 &=Y\\\ N +10 &?Y\\\ N +9 &AdZ]\ M +10 &C$\\\\\ N +9 &D`[\ N +9 &Ff\\\ O +10 &H`v[\ Q +9 &J[\ T +10 &K[\ T +9 &M\\\ S +9 &Ob[\ S +10 &Q"\\\ T +9 &R[\ U +9 &TS\ T +10 &Vf\\\ U +9 &X(\\\ U +9 &Y{r[\ 1 +10 &Z'j\\\ I +9 &Z(Z\ 1 +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&F1 +60 "core" 1 +2 "manipulator"&E% +4 "core" % 5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 "processing"%j& +4 "core" &Z&\\\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&[% +4 "core" %\  7  + "storage"(z% +4 "core" %\\ \ + "storage"(. +3 "core" .( +2 "storage"(V& +4 "core" & \ + "storage"(r& +5 "manipulator"&T& +4 "core" & \ + &n >  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&'(s + "storage"('i +5 "core" ( +2 "manipulator"&o& +4 "core" &n   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &n &   +3 .tForearm.seek PC + "manipulator"&b' +94 "core" ' +2 .tHand.close + "manipulator"&S/ +64 "core" / +2 .tPC.seek :open +2 "processing"%g( +83 "core" ' +2 "storage"(f- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +41 "core" ' +301 ( + "storage"(`& +5 "core" & '\ + "manipulator"&& +4 "core" &n  + "manipulator"&e% +4 "core" %  i +2 .tForearm.seek :retract + "manipulator"&m'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +261 "core" ( + "manipulator"&{& +5 "core" & % Q  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +98 "core" ' +2 .tHand.open + "manipulator"&s1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(}'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(y& +3 "core" & ' $ \ +2 "manipulator"&& +4 "core" & r  + .tElbow.seek 3 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +4 "core" & # J  +2 "storage"(?& +4 "core" & # %\ +2 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +14 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(<' +61 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" & $\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +52 "manipulator"& '} +20 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(_'i +23 "core" ' + "manipulator"&a% +5 "core" %}  + "storage"( & +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'ϩ +25 "core" ' +2 "manipulator"&,& +4 "core" &  .  +2 "storage"(v& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +29 "core" ' + "storage"(x% +5 "core" %b 1\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +2 "core" %hp  +\ K% +2 "manipulator"&)% +4 "core" %~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +134 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & x\ +3 "collection"':& +4 "core" &Ve b\ E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ #  d ; +2 "storage"(u% +3 "core" %` s\ +2 "storage"(". +3 "core" .( + "storage"(4& +4 "core" & \ +2 "storage"(B& +3 "core" & M\ +2 "manipulator"&& +4 "core" &  "  + .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( + "manipulator"&~& +4 "core" & & I \ +2 "storage"(& +4 "core" & <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +95 "core" ' + "storage"(P& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & 3 \ + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(k'T +27 "core" ' +2 "manipulator"&8% +4 "core" %Έ  + "storage"(& +4 "core" & Y\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +22 "core" ' + "manipulator"&*& +4 "core" & % e \ +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(H'C +40 "core" ' + "manipulator"&c& +5 "core" &  \ + "manipulator"&;% +4 "core" %+ - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +152 "core" ( +2 "manipulator"&7& +4 "core" &% 0 = <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &% <> +2 .tForearm.seek CC + "manipulator"&O'" +21 "Can"\ JH +72 "core" ' + .tHand.close +2 "manipulator"&>/ +63 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(=& +4 "core" & \ +2 "storage"(R& +3 "core" & n\ +2 "manipulator"&1& +4 "core" &%  <> +2 "manipulator"&Q% +4 "core" % , ] +2 .tForearm.seek :retract + "manipulator"&I'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&]( +151 "core" ( +2 "manipulator"&K& +4 "core" & $ N  + "storage"(0& +4 "core" & -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&.'} +103 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +62 "core" 1 +2 "manipulator"&Y% +4 "core" % ΁ & \\ + "storage"(h& +4 "core" & e\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&/'ϭ +21 "core" ' +2 "manipulator"&M& +4 "core" &  +2 "storage"(6& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +17 "core" ' +2 "storage"( % +4 "core" %J \  `\ +2 ."downElevator"SE.seek :down +3 "storage"(J'X +100 (|% +2 "core" %|C D\ V` +2 "manipulator"&3% +4 "core" %< / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +94 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'n& +4 "core" & d\ + "manipulator"&G% +4 "core" %\ # ; > +2 "storage"(q% +4 "core" %a\ \  \ \ + "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(X(,l +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &,i ]\  +2 "manipulator"&E& +4 "core" & \  + .tElbow.seek 4 +2 "manipulator"&j( +3 "core" ( + "manipulator"&[& +4 "core" & % Q  +2 "storage"(z& +4 "core" &,f u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +96 "core" ' + "storage"(V& +4 "core" &,f\ \  +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +285 "core" ' +2 "storage"(r- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &,f {\  +2 "manipulator"&o& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&@& +4 "core" & $ 8  + "storage"(S& +4 "core" &,f !\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&f', +33 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&p& "storage"(5'X +7 "core" & :  +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( + "manipulator"&e& +5 "core" &$  ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b + "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&b& "storage"(5 +7 "core" &# W ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'" +95 "core" ' + "manipulator"&& +4 "core" &$  d ;8 +2 "manipulator"&'% +4 "core" %'  +2 "collection"'s& +4 "core" & _\ +2 "collection"'& +5 "core" & Q\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & R\ +7 & - Q\ $c +9 &W G\ 7 +10 & Q\ L +9 &W T\ M +9 &c\\ Q\ M +10 &%Z P\ M +9 &Y P\ M +9 &Z P\ M +10 &j\\ K\ N +9 &-[ K\ M +10 &] G\ M +9 &!] E\ M +9 &#sY F\ M +10 &%5^ ?\ M +9 &&[ <\ M +9 &([ @\ M +10 &*|\\ 9\ M +9 &,>[ @\ M +10 &.\\ @\ M +9 &/\\ C\ M +9 &1] 7\ M +10 &3E[ =\ M +9 &5X Y\ M +9 &6Z E\ M +10 &8Y \\\ M +9 &:M\\ F\ M +10 &<] W\ M +9 &=\\  \ M +9 &?\\ K\ M +10 &AV\\ X\ M +9 &C\\ \ M +10 &D_ &\ N +9 &Fe >\ N +10 &HUu ]\ P +9 &J \ T +9 &K \ W +59 &M \ X +6 &OE \ X +3 &Q ,\ X + &R )\ Y + &T "\ Y + &V#s X\ . + &V( Z\ R +2 ( +2 &Ve ,\ G +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&y1 +52 "core" 1 + "manipulator"&% +5 "core" % '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +4 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%?& +4 "core" &~\ +2 "manipulator"&m% +4 "core" %\  + :  + "storage"(% +4 "core" %W (\ +2 "storage"(. +3 "core" .(,l + "storage"(t& +4 "core" &,f \  + "storage"(}& +4 "core" &,f \  +2 "manipulator"&a& +4 "core" &#  ;5 + "manipulator"& % +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&,( +171 "core" ( +2 "manipulator"&v& +4 "core" & $ b + "storage"(& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +96 "core" ' + "storage"(x& +5 "core" &,f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +283 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,f j\  + "manipulator"&)& +4 "core" & L b +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&<& +4 "core" & % . b + "storage"( & +4 "core" &,f 4\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&w', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(:'X +7 "core" & m b +2 "manipulator"&% +4 "core" % : P e +2 .tForearm.seek :retract + "manipulator"&u'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&"(s +175 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&4& +5 "core" &n " v  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &o  m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&~& +4 "core" &p $ /  +2 "manipulator"&% +4 "core" % ] +2 "processing"%\ & +4 "core" &y\ +2 "processing"%P& +5 "core" &\ +2 .tPC.seek :closed + "processing"% (Z +4 "core" &h\  +9 &1l\ *y +9 &ce\ > +10 &iwj\ N +9 &,Xl\ N +9 &Zj\ M +10 &[i\ N +9 &r\\i\ N +9 &5Zf\ M +10 &]j\ N +9 &[`\ N +10 & z[d\ N +9 &";^g\ N +9 &#Z^\ N +10 &%[`\ N +9 &']\\\ M +9 &)D\\\\\ N +10 &+_]\ N +9 &,ZZ\ M +10 &.[`\ N +9 &0LY_\ N +9 &2Y[\ N +10 &3ZZ\ N +9 &5ZZ\ N +9 &7TZZ\ N +10 &9\\Z\ N +9 &:YZ\ M +9 &<ZS\ N +10 &>\\\\X\ N +9 &@^Z\ N +10 &AYZ\ N +9 &C^Z\ N +9 &EacZ\ O +10 &G n]\ P +9 &H[\ R +9 &JV\ S +10 &LZZ\ T +9 &N\\\ T +10 &OZ\ S +9 &Q\\\ T +9 &Sb[\ T +10 &U"\\\ T +9 &V[\ T +10 &X[\ T +9 &Zb\\\ 'x +10 &Zc\\\ 2 +8 ( +3 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&U1 +3 "core" &Z![\ , +56 1 + "manipulator"&% +4 "core" % 6 k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%C& +4 "core" &Z![\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\  Q  + "storage"(%% +4 "core" %\\ \ +2 "storage"(8. +3 "core" .(,l +2 "storage"(& +4 "core" &,f \  + "storage"(*& +3 "manipulator"&& +7 "core" &,f \  + &p   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&c(s + "storage"(;'i +6 "core" ( +2 "manipulator"&!& +4 "core" &p x  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p  +2 .tForearm.seek PC + "manipulator"&2' +98 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +3 .tPC.seek :open + "processing"%( +87 "core" ' +2 "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'y +44 "core" ' +293 ( + "storage"(&& +5 "core" &,f \  + "manipulator"&#& +4 "core" &p    + "manipulator"&Z% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&>'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&W( +253 "core" ( + "manipulator"&-& +4 "core" & % <  +2 "storage"(=& +4 "core" &,f C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&R'Ѽ +88 "core" ' +2 .tHand.open + "manipulator"&11 +55 "core" 1 +2 "storage"(Q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(K'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(+& +4 "core" &,f & & X\  +2 "manipulator"&i& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&Y( +6 "core" ( + "manipulator"&h& +4 "core" &    +2 "storage"(M& +4 "core" &,f % & N\  +2 .tForearm.seek 4 + 700 counts + "manipulator"&6'Ѽ +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +60 "core" ' +2 "manipulator"&I& +4 "core" & -  +2 "storage"(|& +4 "core" &,f \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&3' +32 "core" ' + .tElbow.hold + "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +24 "core" ' +2 "manipulator"&n% +4 "core" % +2 "storage"(/& +4 "core" &,f z y A\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&G'4 +18 "core" ' + "manipulator"&q& +5 "core" &  C  + "storage"(N& +4 "core" &,f j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&H'Ѽ +20 "core" ' +2 "storage"(9% +5 "core" %m =\ +2 ."downElevator"SE.seek :down +4 "storage"(J'X +99 (^% +3 "core" %D D\ Wd +2 "manipulator"&F% +4 "core" %ѳ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +86 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 ([& +4 "core" &,f Z\  + "collection"'z& +4 "core" &Vd 2\ G +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&V% +4 "core" %\    +2 "storage"((% +3 "core" %T \ +2 "storage"($. +3 "core" .(,l +2 "storage"(r& +4 "core" &,f X\  + "storage"(l& +4 "core" &,f 4\  +2 "manipulator"&o& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( + "manipulator"&S& +4 "core" &  e  +2 "storage"(D& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&p'Ѽ +87 "core" ' +2 "storage"(& +4 "core" &,f &\  +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(j'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&e& +3 "core" & F  +2 "storage"(b& +4 "core" &,f N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&T' +34 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''X +31 "core" ' + "manipulator"&s% +5 "core" %\  + "storage"(L& +4 "core" &,f ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&5'6 +18 "core" ' +2 "manipulator"&`& +4 "core" &  +2 "storage"(A& +4 "core" &,f (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&y'Ѽ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('G +44 "core" ' +2 "manipulator"&?& +4 "core" &   +2 "manipulator"&m% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ( +3 "manipulator"&t& +4 "core" &* # Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &*  Ac +2 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +2 .tHand.close + "manipulator"&a/ +52 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( + "storage"({& +4 "core" &,f \  +2 "storage"(v& +4 "core" &,f \  + "manipulator"&& +4 "core" &+ ) Aa + "manipulator"&x% +4 "core" % 6 +  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( + "manipulator"&\\& +4 "core" & ) ? o +2 "storage"(& +4 "core" &,f \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&)' +107 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&_% +4 "core" %  A + "storage"(& +5 "core" &,f [\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&'> +18 "core" ' +2 "manipulator"&,& +4 "core" & Z  + "storage"(d& +4 "core" &,f\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +24 "core" ' + "storage"(w% +5 "core" %E\ \ \ M\ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (B% +3 "core" %C w\ Va +2 "manipulator"&% +4 "core" % f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +92 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & V\ +2 "manipulator"&\ % +4 "core" %\ R  +2 "storage"(:% +4 "core" %a\ &\ & \ + "storage"(u. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(g(<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<( U\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(%& +4 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&8'ы +100 "core" ' +2 "storage"(& +4 "core" &<%\ &\ ' 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &<% K\  +2 "manipulator"&!& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & 0  +2 "storage"(& +4 "core" &<% !\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&k' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +3 "manipulator"&"/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( 'X +7 "core" & Z  +2 "manipulator"&;% +4 "core" %  ! +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +156 "core" ( +2 "manipulator"&Z& +4 "core" &-  Cm ' +2 .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&2& +8 "core" &- Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'" +96 "core" ' + "manipulator"&=& +5 "core" &- 1 Cm + "manipulator"&c% +4 "core" %' > +2 "collection"'1& +4 "core" & R\ +2 "collection"'Q& +6 "core" & b\ +2 .tCC.seek :closed +2 "collection"'O(V +5 "core" & R\ +7 &5 S\ $c +9 &T R\ 7 +10 & P\ L +9 &W P\ M +9 &bZ O\ N +10 &&Y Q\ M +9 &\\ S\ N +9 &Y Q\ M +10 &j[ H\ N +9 &.\\ P\ M +10 &Z S\ N +9 &!\\ H\ M +9 &#sX O\ M +10 &%5^ R\ M +9 &&Z R\ N +9 &(Y L\ M +10 &*|Z Q\ M +9 &,=Z L\ M +9 &.W H\ M +10 &/[ P\ M +9 &1Y F\ M +10 &3F\\ E\ M +9 &5\\ ?\ M +9 &6Z 8\ M +10 &8Y @\ M +9 &:M[ F\ M +10 &<[ G\ M +9 &=[ D\ M +9 &?X =\ M +10 &AVZ 8\ M +9 &C\\ @\ M +9 &D\\ 7\ N +10 &Fe 6\ N +9 &HVp Y\ P +9 &J G\ S +10 &K ?\ V +9 &M 6\ X +10 &OG 6\ X +9 &Q V\ X +9 &R <\ Y +10 &T Q\ Y +9 &V$t \\\ . +10 &V& Z\ P +8 ( +3 "collection"'Q& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&+1 +4 "core" &Ve ;\ F +49 1 + "manipulator"&i% +4 "core" % ' 0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%M& +5 "core" &~\ + "manipulator"&>% +4 "core" %\   c  +2 "storage"(I% +3 "core" %T \ +2 "storage"(|. +3 "core" .(<* + "storage"(7& +4 "core" &<% J\  +2 "storage"(n& +3 "core" &<% 4\  +2 "manipulator"&/& +4 "core" &* 5 E Ac + "manipulator"&K% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +162 "core" ( +2 "manipulator"&N& +4 "core" & ` l +2 "storage"(9& +3 "core" &<% B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&W'ы +98 "core" ' + "storage"(R& +4 "core" &<% \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +285 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" &<% -\  +2 "manipulator"&6& +3 "core" & K l +2 .tElbow.seek 5 + "manipulator"&Y( +4 "core" ( + "manipulator"& & +4 "core" &  l + "storage"(3& +4 "core" &<% X\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&G' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +54 "core" / +53 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(V'X +7 "core" & T l +2 "manipulator"&(% +4 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$(s +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&r& +5 "core" &p 6  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +90 "core" ' +2 "manipulator"&S& +4 "core" &p  [  +2 "manipulator"&D% +3 "core" %  ; +2 "processing"%H& +4 "core" &~\ +2 "processing"%& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &h\ +8 &9n\ $d +10 &Uj\ 7 +9 &h\ L +9 &\\i\ N +10 &X_l\ N +9 &Yk\ N +9 &Yh\ N +10 &Zh\ M +9 &`\\j\ N +9 &"^m\ N +10 &Zi\ N +9 &!\\i\ M +10 &#hZc\ N +9 &%*Xi\ N +9 &&Y`\ M +10 &(Z\\\ N +9 &*pY]\ N +9 &,3\\\\\ M +10 &-\\]\ N +9 &/YZ\ M +10 &1xZb\ N +9 &3:\\]\ N +9 &4X\\\ N +10 &6XZ\ N +9 &8WZ\ N +9 &:BYZ\ N +10 &<XZ\ M +11 &=YZ\ N +12 &?\\Z\ N +5 &AJ[[\ N +9 &C ]X\ N +10 &D_Z\ N +9 &Ff[\ O +9 &HGx\\\ Q +10 &J[\ S +10 &K\\\ T +9 &M^\ S +9 &OI[\ S +9 &Q \\\ S +10 &R\\\ T +9 &TY\ T +9 &VNZ\ T +10 &X\\\ U +9 &Y{n[\ 9 +10 &Z+u\\\ M +9 &Z"Y\ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&]1 +56 "core" 1 +2 "manipulator"&E% +4 "core" %  ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + "processing"%e& +4 "core" &Z"o\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +4 "core" %\ %  K +2 "storage"(% +4 "core" %T v\ + "storage"(s. +3 "core" .(<* +2 "storage"(L& +4 "core" &<% W\  +2 "storage"(`& +3 "manipulator"&A& +5 "core" &<% \  + &p +  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&?(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'i +3 "core" ( + "manipulator"&p& +4 "core" &p \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &p 9  +2 .tForearm.seek PC +2 "manipulator"&j' +97 "core" ' +2 .tHand.close + "manipulator"&T/ +52 "core" / +2 .tPC.seek :open + "processing"%5( +94 "core" ' + "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +41 "core" ' +291 ( +2 "storage"(}& +4 "core" &<% \  + "manipulator"&y& +4 "core" &p \\  +2 "manipulator"&f% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&a'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +251 "core" ( + "manipulator"&& +5 "core" &\  ? _ + "storage"({& +4 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&v'ы +86 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 + "storage"(x- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &<% $ ( ,\  +2 "manipulator"& & +4 "core" &\  _ + .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +4 "core" &\ $ Q _ + "storage"(,& +4 "core" &<% $ & G\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&d'ы +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(w' +59 "core" ' + "manipulator"&& +4 "core" &\ N _ +2 "storage"(B& +4 "core" &<% \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"()'i +21 "core" ' +2 "manipulator"&% +4 "core" % r +2 "storage"(& +4 "core" &<% | \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 319 counts + "manipulator"&\ ' +12 "core" ' +2 "manipulator"&:& +3 "core" &\ ? _ +2 "storage"(u& +5 "core" &<% \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +27 "core" ' +2 "storage"( % +4 "core" %q \ +2 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (X% +3 "core" %4G W\ Vc +2 "manipulator"&U% +4 "core" %я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<% .\  + "collection"'%& +4 "core" &Ve ;\ F +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ % @ J +2 "storage"(<% +4 "core" %b \ + "storage"(~. +3 "core" .(<* +2 "storage"(*& +4 "core" &<% _\  + "storage"(P& +4 "core" &<% 9\  + "manipulator"&!& +4 "core" &\ ] _ +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &\ % ^ _ + "storage"("& +4 "core" &<% ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +88 "core" ' +3 "storage"(;& +4 "core" &<% \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +284 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" &  _ +2 "storage"(2& +3 "core" &<% 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&' +36 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(c'Y +31 "core" ' + "manipulator"&1% +5 "core" % + "storage"(& +4 "core" &<% u o \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"& ' +12 "core" ' +2 "manipulator"&&& +4 "core" & $ d + "storage"( & +4 "core" &<% *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&+'ы +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(i'H +39 "core" ' +3 "manipulator"&M& +4 "core" & # d +2 "manipulator"&>% +4 "core" %p . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +147 "core" ( +2 "manipulator"&7& +4 "core" &* Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &*  Ae +2 .tForearm.seek CC + "manipulator"&/'" +93 "core" ' +2 .tHand.close + "manipulator"&K/ +52 "core" / +2 .tCC.seek :open +51 "collection"'Q( +420 "core" ( + "storage"(-& +4 "core" &<% \  +2 "storage"(N& +4 "core" &<% O\  + "manipulator"&9& +4 "core" &+ b Ad + "manipulator"&R% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&h( +161 "core" ( + "manipulator"&^& +4 "core" & ' R x +2 "storage"(F& +4 "core" &<% ;\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&6' +109 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&31 +58 "core" 1 +2 "manipulator"&[% +4 "core" %  D + "storage"(z& +4 "core" &<% [\  +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&(' +13 "core" ' +2 "manipulator"&q& +4 "core" & x +2 "storage"(W& +4 "core" &<%\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +26 "core" ' + "storage"(G% +5 "core" %H\ \  X\ +2 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (l% +3 "core" %A p\ U^ +2 "manipulator"&Y% +4 "core" %ѹ O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'D& +4 "core" & R\ +2 "manipulator"&H% +4 "core" %\    +2 "storage"(V% +4 "core" %b\ \  /\  + "storage"(.. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +656 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (]& +3 "core" & 2\ +2 "manipulator"&E& +3 "core" &  x +2 .tElbow.seek 3 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&b& +4 "core" &  x + "storage"(& +4 "core" &\  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +100 "core" ' + "storage"(L& +5 "core" &\ &\ \ B\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" & T\ +2 "manipulator"&p& +4 "core" &  x + .tElbow.seek 3 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&o& +3 "core" & * N x +2 "storage"(T& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&''ϩ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&$/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(J'X +8 "core" & I x + "manipulator"&m% +4 "core" % ϯ  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +156 "core" ( +2 "manipulator"&f& +4 "core" ' + &+ %  Bk + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &j& +3 "core" &+ Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +107 "core" ' +2 "manipulator"&{& +4 "core" &, n Bk +2 "manipulator"&?% +4 "core" % + "collection"'& +4 "core" & V\ +2 "collection"'x& +5 "core" & [\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & ]\ +7 & - Q\ #b +10 &V T\ 8 +9 &| R\ L +9 &Y Q\ M +10 &d[ Q\ M +9 &'\\ V\ M +10 &\\ Q\ M +9 &Y Q\ M +9 &mZ Q\ M +10 &.[ F\ M +9 &Z P\ M +9 &!Y P\ M +10 &#t[ P\ M +9 &%6Y Q\ M +10 &&Z P\ M +9 &(V Q\ M +9 &*}Z Q\ M +10 &,>Z Q\ M +9 &.Z O\ M +9 &/\\ O\ M +10 &1Z N\ M +9 &3FZ P\ M +10 &5[ P\ M +9 &6Z R\ M +9 &8Y P\ M +10 &:N\\ E\ M +9 &<] O\ M +9 &=[ P\ M +10 &?\\ P\ M +9 &AWZ N\ M +9 &C\\ E\ M +10 &D` C\ M +9 &Fd C\ N +10 &HWq B\ P +9 &J H\ S +9 &K 3\ W +10 &M E\ X +9 &OE C\ Y +9 &Q G\ X +10 &R D\ Z +10 &T D\ Y +9 &V'v C\ . +9 &V& 3\ T +9 ( +2 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&1 +4 "core" &Vi B\ J +58 1 +2 "manipulator"& % +4 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%,& +4 "core" &k\ +2 "manipulator"&a% +4 "core" %\ # d ? + "storage"(% +4 "core" %_ |\ +2 "storage"(B. +3 "core" .( + "storage"(t& +4 "core" & ]\ + "storage"(& +4 "core" & _\ +2 "manipulator"&& +4 "core" &+ W Bk + "manipulator"&\\% +4 "core" %\ # w ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&:( +159 "core" ( + "manipulator"&u& +5 "core" & ( 6  + "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +106 "core" ' + "storage"(v& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (U& +3 "core" & 6\ + "manipulator"&d& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&_( +4 "core" ( + "manipulator"&w& +4 "core" &   + "storage"(& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&%& "storage"('X +7 "core" & \\  +2 "manipulator"&<% +4 "core" % ϥ  +2 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&~(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&*& +4 "core" &k 7 \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &k L \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!' +103 "core" ' +2 "manipulator"&& +4 "core" &k ' \ +2 "manipulator"&"% +3 "core" %  L +2 "processing"%& +4 "core" &y\ +2 "processing"%;& +6 "core" &y\ +2 .tPC.seek :closed + "processing"%4(Z +5 "core" &k\ +7 &9m\ $c +10 &Tj\ 7 +9 &~}h\ K +9 &Yh\ N +10 &X\\i\ N +9 &Zj\ N +9 &]k\ N +10 &Zj\ N +9 &`Yi\ N +10 &#Zh\ N +9 &\\f\ N +9 &![i\ N +10 &#h_l\ N +9 &%*Zg\ N +9 &&Yh\ N +10 &(Yj\ M +9 &*pZc\ N +10 &,2[_\ N +9 &-\\g\ N +9 &/Za\ N +10 &1yYg\ N +9 &3:W\\\ N +9 &4YZ\ N +10 &6Zc\ N +9 &8Y\\\ M +10 &:BZZ\ N +9 &<YZ\ N +9 &=XZ\ N +10 &?X[\ M +9 &AJYW\ N +9 &C Z[\ N +10 &D][\ O +9 &Fc[\ O +10 &HIs\\\ Q +9 &JZ\ T +9 &K[\ S +10 &M[\ T +9 &OJ[\ S +9 &Q Z\ T +10 &RW\ U +9 &T[\ U +10 &VN\\\ U +9 &X[\ U +9 &YzlZ\ : +10 &Z&c]\ Q +9 &Z%\\\ 1 +2 ( +2 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % 1 D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 "processing"%Z& +4 "core" &Z)[\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +52 "manipulator"&2% +4 "core" %\  0 K  +2 "storage"(=% +4 "core" %b \ + "storage"(1. +3 "core" .( +2 "storage"(& +4 "core" & {\ +2 "storage"(&& +3 "manipulator"& & +5 "core" & s\ + &k  \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&M(s + "storage"(>'i +5 "core" ( +2 "manipulator"&& +4 "core" &k \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k ! @ \ +2 .tForearm.seek PC + "manipulator"&C' +96 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"% ( +88 "core" ' +2 "storage"(c- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'y +44 "core" ' +290 ( + "storage"(n& +4 "core" & y\ +2 "manipulator"&+& +4 "core" &k k \ + "manipulator"&k% +4 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I( +257 "core" ( + "manipulator"&O& +4 "core" & % 4 $ +2 "storage"(-& +4 "core" & j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +98 "core" ' + .tHand.open +2 "manipulator"&91 +62 "core" 1 +2 "storage"(R- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(F' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +3 "core" -' +2 "storage"(|& +4 "core" &  & E\ + "manipulator"&3& +4 "core" & 8 $ +2 .tElbow.seek 3 + "manipulator"&[( +4 "core" ( + "manipulator"&z& +4 "core" & %  $ +2 "storage"(q& +4 "core" &\ \  \ +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(G' +63 "core" ' +2 "manipulator"&#& +4 "core" &  $ + "storage"(l& +4 "core" & z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Y'} +50 "core" ' +2 .tElbow.hold + "manipulator"&h, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(6'i +24 "core" ' + "manipulator"&D% +5 "core" %}  + "storage"((& +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&H'ϩ +20 "core" ' + "manipulator"&V& +5 "core" &   # + "storage"(.& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +28 "core" ' +2 "storage"(0% +4 "core" %q S\ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (g% +3 "core" %J \ Xe + "manipulator"&]% +4 "core" %H  x +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (b& +4 "core" & 8\ +2 "collection"'& +4 "core" &Vh >\ J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&L% +4 "core" %\ % # J +2 "storage"( % +3 "core" %R \ +2 "storage"(S. +3 "core" .( +2 "storage"(A& +3 "core" & \ +2 "storage"(`& +4 "core" & `\ + "manipulator"&p& +4 "core" & ] # +2 .tElbow.seek 3 + "manipulator"&o( +4 "core" ( + "manipulator"&T& +4 "core" & % I # + "storage"($& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(m& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +282 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &  # + "storage"(j& +4 "core" & 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(@'T +38 "core" ' +2 "manipulator"&?% +4 "core" %΂  +2 "storage"(& +4 "core" & O\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&J'Ϯ +20 "core" ' +2 "manipulator"&}& +4 "core" & ! 6 # +2 "storage"(Q& +4 "core" & h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'C +39 "core" ' +2 "manipulator"&,& +4 "core" &  # +2 "manipulator"&a% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +146 "core" ( +2 "manipulator"&x& +5 "core" &'  >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &'  H >O +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'\\( +419 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(u& +4 "core" & m\ + "manipulator"& & +4 "core" &'  >O +2 "manipulator"&v% +3 "core" % % 4 +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +161 "core" ( +2 "manipulator"&X& +4 "core" &  _ z + "storage"(U& +4 "core" &\ \  "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&d'} +94 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % y q +2 "storage"(%& +4 "core" & o\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&<'ϥ +21 "core" ' +2 "manipulator"&:& +5 "core" & z + "storage"(& +4 "core" &\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' + "storage"(\ % +5 "core" %J\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (P% +3 "core" %wC $\ Wb +2 "manipulator"&_% +4 "core" %C @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +50 "collection"'"& +5 "core" & g\ +2 "manipulator"&% +4 "core" %\    + "storage"(% +4 "core" %`\ \  \ +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(5(,l +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,k W\  +2 "manipulator"&& +4 "core" &  z + .tElbow.seek 4 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&2& +4 "core" &   z + "storage"(;& +4 "core" &,h\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&='Ѽ +99 "core" ' + "storage"(1& +4 "core" &,h\ '\ # Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" &,h K\  +2 "manipulator"&& +4 "core" &  z +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&!& +4 "core" & '  z + "storage"(& +4 "core" &,h\  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&c', +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& + "storage"(4'X +8 "core" & B z + "manipulator"&>% +4 "core" %  F . +2 .tForearm.seek :retract +2 "manipulator"&n'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +154 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&k& + "storage"(5 +7 "core" &(  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &(   ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&O'" +100 "core" ' +2 "manipulator"&-& +4 "core" &) 1 - ?U +2 "manipulator"&M% +4 "core" %% T +2 "collection"'9& +3 "core" & W\ +3 "collection"'R& +5 "core" & a\ +3 .tCC.seek :closed + "collection"'/(V +5 "core" & V\ +7 &5 X\ $c +10 &T Z\ 7 +9 & V\ L +9 &W S\ M +10 &`Z Y\ M +9 &"Y [\ M +9 &\\ X\ M +10 &[ Q\ M +9 &hZ [\ M +10 &)Z Y\ M +9 &[ R\ M +9 &!\\ L\ N +10 &#oZ Q\ M +9 &%1] Q\ M +9 &&Z L\ M +10 &(Y H\ M +9 &*wZ G\ M +10 &,:\\ F\ M +9 &-Z Q\ M +9 &/[ W\ M +10 &1~\\ R\ N +9 &3BY K\ M +9 &5Z D\ M +10 &6Z H\ M +10 &8Y L\ M +9 &:IZ M\ M +9 &<\ Z L\ N +9 &=Z L\ M +10 &?Z Q\ N +9 &ARY K\ M +9 &C[ K\ M +10 &D[ H\ N +9 &Fc I\ N +10 &HQp O\ P +9 &J H\ T +9 &K N\ W +10 &M~ K\ Y +9 &OB H\ X +9 &Q K\ Y +10 &R E\ Y +9 &T H\ Z +9 &V v H\ . +10 &V, K\ T +9 ( +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&|1 +4 "core" &VZ g\ G +58 1 +2 "manipulator"&3% +4 "core" % % r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%K& +4 "core" &m\ +2 "manipulator"&q% +4 "core" %\  n  + "storage"(#% +4 "core" %b \ + "storage"(l. +3 "core" .(,l +2 "storage"(7& +4 "core" &,h \  + "storage"(D& +4 "core" &,h -\  +2 "manipulator"&^& +4 "core" &(  ?P + "manipulator"&(% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&V( +159 "core" ( + "manipulator"&.& +4 "core" &  -  +2 "storage"(I& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&0'Ѽ +95 "core" ' + "storage"(N& +4 "core" &,h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +284 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &,h ^\  +2 "manipulator"&W& +4 "core" & 6  + .tElbow.seek 4 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&G& +3 "core" & o  +2 "storage"(Y& +4 "core" &,h \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H', +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(L'X +7 "core" &   +2 "manipulator"& % +4 "core" % - X +2 .tForearm.seek :retract +2 "manipulator"&S'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6(s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&A& +4 "core" &l + . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &l 5 . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +98 "core" ' +2 "manipulator"&T& +4 "core" &l " < . + "manipulator"&$% +4 "core" %  V +2 "processing"%i& +4 "core" &\ +2 "processing"%m& +5 "core" &{\ +2 .tPC.seek :closed + "processing"%r(Z +4 "core" &k\  +9 &3}o\ *y +9 &ck\ > +10 &}we\ N +9 &?Zi\ N +9 &[i\ N +10 &Yh\ N +9 &[h\ N +10 &H]h\ N +9 & Zh\ M +9 &Zk\ N +10 & [l\ N +9 &"OYi\ N +10 &$Yh\ N +9 &%\\g\ N +9 &'_k\ N +10 &)XYk\ N +9 &+Zi\ M +9 &,Yh\ N +10 &.]j\ N +9 &0`]h\ N +9 &2"Yk\ N +10 &3Yk\ M +9 &5Za\ M +10 &7iYk\ M +9 &9+Yj\ M +9 &:Wi\ N +10 &<]f\ N +9 &>p\\k\ N +9 &@2_d\ N +10 &A]b\ N +9 &C\\[\ N +10 &EucY\ O +9 &G5m\\\ O +9 &H]\ R +10 &J[\ S +9 &Ln[\ T +9 &N1[\ S +10 &O[\ S +9 &QZ\ T +10 &Su[\ T +9 &U6Z\ T +9 &VZ\ T +10 &XZ\ T +9 &Z#Ya\ %r +9 &Zc\\\ 0 +9 ( +3 "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&h1 +4 "core" &Z ]\ + +60 1 +2 "manipulator"&E% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' + "processing"%f& +4 "core" &Z o\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&j% +4 "core" %\  :  +2 "storage"({% +4 "core" %b b\ + "storage"(?. +3 "core" .(,l +2 "storage"(& +3 "core" &,h C\  +2 "storage"(}& +2 "manipulator"&Q& +8 "core" &l  . + &,h F\  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&,(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'i +2 "core" ( +2 "manipulator"&& +4 "core" &l x . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &l { . +2 .tForearm.seek PC +2 "manipulator"&e' +100 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%J( +87 "core" ' + "storage"(x- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'y +44 "core" ' +291 ( +2 "storage"(t& +4 "core" &,h #\  +2 "manipulator"&& +4 "core" &l % . + "manipulator"&'% +4 "core" %  u +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +244 "core" ( +2 "manipulator"&& +4 "core" &  4  + "storage"(& +4 "core" &,h J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&u'Ѽ +86 "core" ' + .tHand.open +2 "manipulator"& 1 +59 "core" 1 +2 "storage"(v- +4 "core" -'y +54 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(X'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(U' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(B& +4 "core" &,h # # \  +2 "manipulator"&& +4 "core" & _  + .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&%& +4 "core" & q  +2 "storage"(:& +4 "core" &,h " # \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\ ' +62 "core" ' +2 "manipulator"&y& +4 "core" & J  +2 "storage"(P& +4 "core" &,h c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&_' +35 "core" ' +3 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'i +24 "core" ' +2 "manipulator"&<% +4 "core" % | +2 "storage"("& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"& ': +19 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &,h P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&)'Ѽ +36 "core" ' + "storage"(% +5 "core" %q \ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +100 (% +2 "core" %J *\ Wd +2 "manipulator"&% +4 "core" %ѫ L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +4 "core" &,h <\  + "collection"';& +4 "core" &VZ >\ G +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&1% +4 "core" %\ %  I +2 "storage"(w% +4 "core" %b O\ + "storage"(. +3 "core" .(,l +2 "storage"( & +4 "core" &,h V\  + "storage"(&& +4 "core" &,h \  + "manipulator"&& +5 "core" &  + .tElbow.seek 4 +2 "manipulator"&!( +3 "core" ( + "manipulator"&& +4 "core" & $ n  +2 "storage"(~& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&8'Ѽ +89 "core" ' +2 "storage"(>& +4 "core" &,h I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +283 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &   + "storage"(C& +4 "core" &,h T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(M'X +29 "core" ' +2 "manipulator"&9% +4 "core" %  +2 "storage"(& +4 "core" &,h (\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&4'? +19 "core" ' +2 "manipulator"&n& +4 "core" & $ 8  +2 "storage"(\\& +4 "core" &,h 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&|'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(3'G +40 "core" ' +2 "manipulator"&K& +4 "core" & $  + "manipulator"&q% +4 "core" %ѵ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +155 "core" ( + "manipulator"&7& +4 "core" &* 1 c A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &+ 7 A_ +2 .tForearm.seek CC +2 "manipulator"&D'" +93 "core" ' + .tHand.close + "manipulator"&^/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(( +416 "core" ( + "storage"(O& +5 "core" &,h \  + "storage"(.& +4 "core" &,h g\  + "manipulator"&I& +4 "core" &( ?U + "manipulator"&N% +4 "core" % ' +2 .tForearm.seek :retract + "manipulator"&+'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&z( +160 "core" ( + "manipulator"&g& +5 "core" & $ '  + "storage"(]& +4 "core" &,h \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&W' +104 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&Y1 +63 "core" 1 +2 "manipulator"&b% +4 "core" %  + "storage"(& +4 "core" &,h I\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"& '? +18 "core" ' + "manipulator"&V& +5 "core" & I  + "storage"(0& +4 "core" &,h\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&F'Ѽ +17 "core" ' + "storage"(H% +4 "core" %K\ \ \ ?\ +3 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (`% +3 "core" %F q\ Va +2 "manipulator"&[% +4 "core" %ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'$& +4 "core" & \ +2 "manipulator"&i% +4 "core" %\ % B F +2 "storage"(L% +4 "core" %S\ \ \ + "storage"(S. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<* +332 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" &<' \  +2 "manipulator"&E& +4 "core" & x  + .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&j& +4 "core" &  + "storage"({& +4 "core" &<$ z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&?'ы +102 "core" ' +2 "storage"(& +4 "core" &<$\ %\ $ *\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +277 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (}& +3 "core" &<$ \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&o( +3 "core" ( +2 "manipulator"&p& +3 "core" & j  +2 "storage"(& +5 "core" &<$\ \  #\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&x' +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(r'X +7 "core" &   + "manipulator"&a% +4 "core" %  " +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&'& +53 "core" &+  Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +2 "core" &+  Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 "manipulator"&& +5 "core" &+  /  Ad + "manipulator"&,% +4 "core" %' Y +2 "collection"' & +4 "core" & x\ +2 "collection"'v& +5 "core" & ^\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & b\ +7 &4 i\ $d +9 &U~ [\ 7 +10 & [\ L +9 &W Z\ M +9 &gZ Z\ M +10 &)Y W\ M +9 &[ Z\ M +9 &Y [\ M +10 &nZ \\\ M +9 &1\\ Q\ M +10 &Z L\ M +9 &![ M\ M +9 &#wW T\ M +10 &%8[ S\ M +9 &&Z Q\ M +9 &(X Q\ M +10 &*Y R\ M +9 &,@\\ F\ M +10 &.Y O\ M +9 &/Y R\ M +9 &1[ R\ M +10 &3IY Q\ M +9 &5 Y P\ M +9 &6Z Q\ M +10 &8X P\ M +9 &:RZ Q\ M +10 &<Z Q\ M +9 &=Z P\ M +9 &?Y P\ M +10 &AYX Q\ M +9 &CZ Q\ M +9 &D` P\ M +10 &Fd P\ O +9 &HZn P\ O +10 &J Q\ S +9 &K K\ V +9 &M G\ X +10 &OI K\ X +9 &Q P\ X +9 &R P\ Y +10 &T Q\ Y +9 &V(t Q\ - +10 &V' Q\ T +8 ( +3 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&1 +3 "core" &V` L\ I +53 1 + "manipulator"&B% +4 "core" % ' /  +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%%& +4 "core" &y\ +2 "manipulator"&:% +4 "core" %\  6 \ + "storage"(y% +4 "core" %T 3\ +2 "storage"(P. +3 "core" .(<* + "storage"(@& +4 "core" &<$ K\  + "storage"(<& +4 "core" &<$ (\  +2 "manipulator"&X& +4 "core" &( 0 k ?Q + "manipulator"&"% +4 "core" %\  ^ \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" & x  + "storage"(& +4 "core" &<$ r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +103 "core" ' + "storage"(u& +5 "core" &<$ '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<$ =\  + "manipulator"&& +4 "core" & r  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" & $  + "storage"(_& +4 "core" &<$ b\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& ' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&;& "storage"(1'X +8 "core" &   + "manipulator"&w% +4 "core" % G u +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"& & +5 "core" &o 3   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" &o   +2 "manipulator"&~% +4 "core" % D g +2 "processing"%)& +4 "core" &\ +2 "processing"%>& +5 "core" &|\ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &n\ +7 &?o\ $e +10 &Vo\ 7 +9 &l\ L +9 &[r\ N +10 &o\\j\ N +9 &1]n\ N +10 &]o\ N +9 &]m\ M +9 &w\\o\ N +10 &9^m\ N +9 &^k\ N +9 &!]l\ N +10 &#[n\ N +9 &%A^n\ N +10 &']j\ N +9 &(Yi\ N +9 &*Ym\ N +10 &,IXh\ N +9 &. Yj\ N +9 &/Yl\ M +10 &1Yn\ N +9 &3Q\\n\ N +10 &5]i\ N +10 &6Xi\ N +8 &8Wj\ N +10 &:YWm\ N +9 &<\\h\ N +9 &=\\h\ M +10 &?Yg\ M +9 &AaYh\ N +10 &C"_l\ N +9 &D`k\ N +9 &Fhj\ P +10 &H]yh\ R +9 &Je\ S +9 &Kk\ S +10 &Mj\ S +9 &O_d\ T +10 &Q c\ T +9 &Rd\ T +9 &T_\ T +10 &Ve\\\ T +9 &X&c\ U +9 &Yzl_\ 2 +10 &Z(t\\\ L +9 &Z$b\ . +2 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +5 "core" % % 7 g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +90 "core" ' +2 "processing"%k& +4 "core" &Z#]\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %\  H  + "storage"(-% +4 "core" %a l\ +2 "storage"(9. +3 "core" .(<* +2 "storage"(& +3 "core" &<$ D\  +2 "storage"(n& +2 "manipulator"&\\& +7 "core" &<$ k\  + &o   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&K(s + "storage"(q'i +6 "core" ( + "manipulator"&8& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &o L  +2 .tForearm.seek PC +2 "manipulator"&Z' +91 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%4( +104 "core" ' + "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(7'y +44 "core" ' +275 ( +2 "storage"(R& +4 "core" &<$ M\  + "manipulator"&|& +4 "core" &o z  + "manipulator"&c% +4 "core" % U +2 .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +242 "core" ( + "manipulator"&/& +5 "core" & % 5 + "storage"(O& +4 "core" &<$ d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&.'ы +97 "core" ' + .tHand.open + "manipulator"&I1 +62 "core" 1 +2 "storage"(N- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(g'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(]' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +4 "core" -' + "storage"(l& +4 "core" &<$ % * \  + "manipulator"&Y& +4 "core" &  5 +2 .tElbow.seek 5 +2 "manipulator"&b( +4 "core" ( + "manipulator"&& +4 "core" &  l 5 + "storage"(V& +4 "core" &<$ , , %\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&0'ы +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +58 "core" ' +2 "manipulator"&+& +4 "core" &  5 + "storage"(`& +4 "core" &<$ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&[' +31 "core" ' +2 .tElbow.hold + "manipulator"&z, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +23 "core" ' +2 "manipulator"&$% +4 "core" %  +2 "storage"( & +4 "core" &<$ _\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&i' +12 "core" ' +2 "manipulator"&L& +4 "core" &  5 +2 "storage"(S& +4 "core" &<$ +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&3'ы +27 "core" ' +2 "storage"(F% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (5% +52 "core" %C Y\ Wc +4 "manipulator"&h% +4 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +14 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +4 "core" &<$ \  + "collection"'{& +4 "core" &V_ T\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ B  +2 "storage"(G% +4 "core" %T \ + "storage"(T. +3 "core" .(<* +2 "storage"(Q& +4 "core" &<$ "\  + "storage"(}& +4 "core" &<$ n\  +2 "manipulator"&& +4 "core" & * 5 + .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&& +4 "core" &  5 5 +2 "storage"(6& +4 "core" &<$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&s'ы +92 "core" ' +3 "storage"(a& +4 "core" &<$ T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +285 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&'& +3 "core" &  5 +2 "storage"(m& +3 "core" &<$ W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&x' +32 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(o- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"('Z +39 "core" ' + "manipulator"&,% +4 "core" % P +2 "storage"( & +4 "core" &<$ { z S\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&r'\ +14 "core" ' + "manipulator"&t& +4 "core" & 5 +2 "storage"((& +4 "core" &<$ k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&'ы +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +3 "storage"(B'I +40 "core" ' +2 "manipulator"&%& +4 "core" & Y 5 +2 "manipulator"&:% +4 "core" %њ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +149 "core" ( + "manipulator"&@& +101 "core" &(  ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &( ?P +2 .tForearm.seek CC + "manipulator"&X'" +93 "core" ' +3 .tHand.close + "manipulator"&v/ +53 "core" / + .tCC.seek :open +2 "collection"'"( +416 "core" ( +2 "storage"(& +4 "core" &<$ G\  +2 "storage"(& +4 "core" &<$ (\  + "manipulator"&& +4 "core" &%  <? + "manipulator"&u% +4 "core" % , ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" & > m + "storage"(& +4 "core" &<$\ \  *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&' +109 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +60 "core" 1 +2 "manipulator"&2% +5 "core" %  E w + "storage"(;& +4 "core" &<$ \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&w' +20 "core" ' + "manipulator"&& +4 "core" & ^ o +2 "storage"(& +4 "core" &<$\ \  d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&U'ы +26 "core" ' +2 "storage"( % +4 "core" %S\ &\ $ C\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (&% +3 "core" %bC\ \  W\ V` +2 "manipulator"&% +4 "core" %ѓ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +16930 "Can"\ 1. +60002 \ 1.{ +60003 \ 1/x +60002 \ 1/ +60002 \ 1/t +60002 ,\ 1/u +60002 7\ 1/{ +60002 F\ 1/v +60002 _\ 1.u +60002 E\ 1/s +60002 ,\ 1.| +60002 \ 1.w +60002 \ 1. +60002 \ 1/ +60002 \ 1.s +60002  \ 1.{ +60002 \ \ 1.z +60002  \ 1.s +60002 \ 1/{ +60002 \ 1/{ +60003 \ 1/{ @1654715491.17EDT = =tMAIN =mMAIN_scheduler @EDT1654715493.03 #"core_reset"Sent BREAK +2 #t@17926 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +282 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +387 "Can"a\ l + a\ l + #tPolling Can every 10:00 +34 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +14946 #-> ESP.ready! +3 #Powering core bus +553 .Gate.power :raw,:ON +2 "sampler") +41 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % B\ + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %h\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ B  + .tSS.configure :default +3 "sampler")#.0X exit +5 #mEXIT @1654715750.81EDT @1654864052.10EDT = =mMAIN_scheduler =tMAIN @EDT1654864054.17 #"core_reset"Sent BREAK +2 #t@30941 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +392 "Can"?\ } + ?\ } + #tPolling Can every 10:00 +34 #Cleanly exited at 15:15:50EDT08-Jun-22 +504 #-> ESP.ready! +3 #Powering core bus +563 .Gate.power :raw,:ON + "sampler") +49 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +5 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ \ Z\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  + .tSS.configure :default +3 "sampler")#.0X access 5 +2 "storage"(;% +4 "core" %R\ \  }\ + "manipulator"&<% +4 "core" %\    \\  +2 "manipulator"&=& +4 "core" &\  j Y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(>( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" & \ +1019 #t-> access 4 +3 "storage"(@% +3 "core" %R \  b\ + "manipulator"&A% +4 "core" %\    S  +2 "manipulator"&B& +3 "core" &\  V Y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +35 "storage"(C(S +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +2 "core" &U R\ +835 #t-> access 3 +2 "storage"(E% +3 "core" %R\ \  ?\ +2 "manipulator"&F% +4 "core" %\    + "manipulator"&G& +4 "core" &\  ^ Y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(H([ +1910 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &[ `\  +2946 #t-> access 2 +3 "storage"(J% +3 "core" %R\ \  Y\ +2 "manipulator"&K% +4 "core" %\   t  + "manipulator"&L& +4 "core" &\  Y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(M(K +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &K h\ @1663187100.37EDT = =tMAIN =mMAIN_scheduler @EDT1663187102.29 #"core_reset"Sent BREAK +2 #t@6965 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +394 "Can"\ ^ + \ ^ + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2512 #-> ESP.ready! +3 #Powering core bus +577 .Gate.power :raw,:ON +2 "sampler") +48 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %z\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ \   +2 .tSS.configure :default +2 "sampler")#.0X access 3 +3 "storage"(;% +3 "core" %\\\ \  \ +2 "manipulator"&<% +4 "core" %\  E  + "manipulator"&=& +4 "core" & g + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(>([ +1280 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &[ \  +500 #t-> access 4 +3 "storage"(@% +3 "core" %\\\ \  \ +2 "manipulator"&A% +4 "core" %\   +2 "manipulator"&B& +4 "core" & g + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(C(S +1911 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &U t\ +1388 #t-> require 'shuffle.rb' +1284 #-> 2.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'E& +3 "core" & \  +2 .tHand.open +2 "manipulator"&F1 +57 "core" 1 +2 "manipulator"&G% +4 "core" % \   + "storage"(H% +4 "core" %\\\ \  \ +2 "storage"(I. +2 "core" .(S +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(J( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" & \  +2 "manipulator"&L& +3 "core" & g +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M( +15 "core" ( + "manipulator"&N& +4 "core" &\ J +2 "storage"(O& +4 "core" & \  c\  +2 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +95 "core" ' +2 "storage"(Q& +5 "core" & \ \  B\  +37 .tSE.reconfigure :pick +8 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +280 "core" ' +2 "storage"(S- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & \ \ (\  +2 "manipulator"&U& +3 "core" & J +2 .tElbow.seek 2 +2 "manipulator"&V( +22 "core" ( + "manipulator"&W& +4 "core" & X \ +2 "storage"(X& +4 "core" & \ \  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +3 "storage"(\\'X +7 "core" & \ +2 "manipulator"&]% +4 "core" %  s +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&`& +4 "core" &&  =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" && t =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&b'" +93 "core" ' +2 "manipulator"&c& +4 "core" && ( =D +2 "manipulator"&d% +3 "core" % b  +2 "collection"'e& +4 "core" & \  +2 "collection"'f& +5 "core" & \  +2 .tCC.seek :closed + "collection"'g(V +5 "core" & \  +7 &I \ %h +9 &tW \ 9 +10 & \ M +9 &^ \ O +10 &O_ \ N +9 &` \ N +9 &a \ N +10 &] \ N +9 &V` \ N +9 &` \ O +10 &_ \ N +9 &!] \ N +10 &#^\\ \ N +9 &%c \ O +9 &&] \ N +10 &(] \ N +9 &*f_ \ N +9 &,(^ \ N +10 &-] \ N +9 &/` \ N +10 &1n] \ N +9 &30] \ N +9 &4[ \ N +10 &6_ \ N +9 &8w^ \ N +9 &:9` \ N +10 &;` \ N +9 &=\\ \ N +10 &?~` \ N +9 &AA` \ N +9 &C` \ N +10 &Dc \ O +9 &Fm \ P +9 &H@y \ Q +10 &I \ T +9 &K \ V +10 &Mq \ X +9 &O2 \ Y +10 &P \ X +9 &R \ Z +9 &Tt \ Z +9 &Vv \ 0 +10 &V. \ O +9 ( + &V] \ C +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&h1 +52 "core" 1 +2 "manipulator"&i% +4 "core" %  $ *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +4 "core" &\  +3 "manipulator"&l% +3 "core" %\  h  +2 "storage"(m% +4 "core" %] \ + "storage"(n. +3 "core" .( +2 "storage"(o& +3 "core" & \  +2 "storage"(p& +4 "core" & E\  + "manipulator"&q& +4 "core" && =C +2 "manipulator"&r% +4 "core" %\  y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&s( +158 "core" ( + "manipulator"&t& +5 "core" &  + "storage"(u& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +95 "core" ' + "storage"(w& +5 "core" & \  W\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +285 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & \  + "manipulator"&{& +5 "core" & o  + .tElbow.seek 2 +2 "manipulator"&|( +3 "core" ( + "manipulator"&}& +4 "core" &  +2 "storage"(~& +3 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" &  + "manipulator"&% +4 "core" %  l D +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" & 4 @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" & m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +99 "core" ' + "manipulator"&\ & +5 "core" & + "manipulator"& % +4 "core" % O +2 "processing"% & +3 "core" &\  +2 "processing"% & +6 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &5{\ *z +10 &d\ ? +9 &V{\ O +9 &`\ O +10 &b\ N +9 &b\ N +9 &^`\ N +10 & _\ N +9 &[\ N +10 &`\ N +9 & ga\ N +9 &")`\ N +10 &#^\ N +9 &%_\ N +9 &'o_\ N +10 &)1`\ N +9 &*_\ N +10 &,^\ N +9 &.va\ N +9 &08^\ N +10 &1\\\ N +9 &3^\ O +9 &5^\ N +10 &7@]\ N +9 &9^\ O +10 &:]\ N +9 &<_\ N +9 &>IZ\ N +10 &@ _\ O +9 &A^\ N +9 &Cb\ O +10 &ENg\ O +9 &G p\ P +10 &H\ T +9 &J\ T +9 &LE\ U +10 &N \ T +9 &O\ U +9 &Q\ T +10 &SN\ T +9 &U\ U +10 &V\ U +9 &X\ V +9 &Z a}\ + +10 &Zg\ 5 +9 ( + &Z!\ . +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %^ \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & [\  +2 "storage"(& +4 "manipulator"&& +4 "core" & \  + & \  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&(s +11 "core" ( + "manipulator"&& +4 "core" &s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &s +2 .tForearm.seek PC +2 "manipulator"&%' +93 "core" ' + .tHand.close + "manipulator"&'/ +52 "core" / +2 .tPC.seek :open +2 "processing"%(( +89 "core" ' + "storage"()- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +291 ( + "storage"(& +4 "core" & \  +2 "manipulator"&#& +4 "core" &s +2 "manipulator"&,% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&-'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.( +253 "core" ( +2 "manipulator"&/& +4 "core" & / + "storage"(0& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +98 "core" ' +2 .tHand.open + "manipulator"&21 +57 "core" 1 +2 "storage"(3- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(5' +47 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(6- +3 "core" -' +2 "storage"(7& +4 "core" & e f \  + "manipulator"&8& +4 "core" & / +2 .tElbow.seek 2 + "manipulator"&9( +10 "core" ( + "manipulator"&:& +4 "core" & i  +2 "storage"(;& +4 "core" & p i L\  +2 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(=' +58 "core" ' +2 "manipulator"&!& +4 "core" & z  +2 "storage"(?& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +34 "core" ' +2 .tElbow.hold + "manipulator"&A, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +27 "core" ' + "manipulator"&>% +5 "core" % L  + "storage"(D& +4 "core" & t\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&E' +17 "core" ' +2 "manipulator"&F& +4 "core" & r  +3 "storage"(G& +4 "core" & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +31 "core" ' + "storage"(I% +5 "core" %n %\ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +98 (K% +3 "core" %F \ Wa +2 "manipulator"&L% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" & )\  +2 "collection"'Q& +4 "core" &V^ \ C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\   + "storage"(&% +4 "core" %a /\  +2 "storage"(S. +3 "core" .( + "storage"(T& +4 "core" & \  + "storage"(U& +4 "core" & \  +2 "manipulator"& & +4 "core" & i  + .tElbow.seek 2 +2 "manipulator"&W( +4 "core" ( +49 "manipulator"&X& +4 "core" &  +2 "storage"(Z& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +101 "core" ' + "storage"(]& +5 "core" & W\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'i +285 "core" ' +2 "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&`& +3 "core" & g  +2 "storage"(a& +3 "core" & M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&R' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(c- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(d'Y +31 "core" ' + "manipulator"&e% +5 "core" %  s b + "storage"(V& +4 "core" & p\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&\\' +17 "core" ' +2 "manipulator"&^& +4 "core" & g  + "storage"(*& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +33 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(i'H +40 "core" ' +2 "manipulator"&k& +4 "core" &  +2 "manipulator"&l% +4 "core" %~ x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&n( +153 "core" ( +2 "manipulator"&o& +4 "core" &' 5 >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" && >M +2 .tForearm.seek CC + "manipulator"&q'" +94 "core" ' +2 .tHand.close + "manipulator"&f/ +55 "core" / +2 .tCC.seek :open +2 "collection"'r( +415 "core" ( +2 "storage"(b& +4 "core" & *\  +2 "storage"(t& +3 "core" & o\  +2 "manipulator"&u& +3 "core" &( >L +2 "manipulator"&w% +4 "core" % # +2 .tForearm.seek :retract + "manipulator"&_'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&j( +156 "core" ( + "manipulator"&y& +5 "core" &  + "storage"(z& +4 "core" & \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&{' +112 "core" ' +2 .tElbow.hold + "manipulator"&}, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +58 "core" 1 +2 "manipulator"&% +4 "core" % u  < & + "storage"(& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +20 "core" ' + "manipulator"&s& +4 "core" & +2 "storage"(v& +4 "core" & \ \  Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +29 "core" ' +2 "storage"(% +4 "core" %G\ \  q\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %?\  (\ U] +2 "manipulator"&|% +4 "core" %ѥ v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +97 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" &  \ +2 "manipulator"& % +3 "core" %\ # @ +2 "storage"(% +4 "core" %^\ \  \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(+( +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & ,\  + "manipulator"&& +4 "core" & u +2 .tElbow.seek 3 + "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &\  ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"( & +4 "core" &\ 7\ 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&"( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"('& +4 "core" &\ \  I\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&)'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & -  +2 "manipulator"&% +4 "core" % ϟ P v +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&,& +4 "core" &*  k @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &* n @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'" +94 "core" ' +2 "manipulator"&0& +4 "core" &* y @Y +2 "manipulator"&% +3 "core" %  +2 "collection"'2& +4 "core" & \ +2 "collection"'3& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'6(V +4 "core" & \ +8 & . \ #b +9 &V \ 8 +9 & \ L +10 &Z \ N +9 &c] \ M +10 &$] \ N +9 &b \ N +9 &] \ N +10 &jb \ N +9 &,b \ N +9 &\\ \ N +10 &!` \ M +9 &#r_ \ N +10 &%5_ \ M +9 &&^ \ M +9 &(] \ M +10 &*zb \ N +9 &,=\\ \ M +9 &-] \ M +10 &/_ \ M +9 &1` \ M +10 &3E] \ M +9 &5\\ \ N +9 &6` \ N +10 &8_ \ M +9 &:M_ \ M +9 &<_ \ N +10 &=a \ M +9 &?` \ M +10 &AU^ \ M +9 &Cc \ N +10 &Dg \ N +9 &Fn \ O +9 &HQ \ Q +9 &J \ V +10 &K \ Y +9 &M \ Y +10 &OD \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ Z +9 &V%u \ / +9 &V# \ O +9 ( +3 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&71 +4 "core" &Vc \ H +56 1 + "manipulator"&8% +4 "core" %  $ ?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%;& +4 "core" &\ +2 "manipulator"&-% +4 "core" %\ # k @ +2 "storage"(!% +3 "core" %] }\ +2 "storage"(?. +3 "core" .( + "storage"(& +4 "core" & $\  + "storage"(>& +4 "core" & }\  +2 "manipulator"&D& +3 "core" &' ` >L +2 "manipulator"&4% +4 "core" %\ # ; @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +162 "core" ( + "manipulator"&G& +5 "core" &  + "storage"(I& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +95 "core" ' +2 "storage"(1& +4 "core" & N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'i +282 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" & \\\  + "manipulator"&<& +4 "core" & Z  +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( + "manipulator"&=& +4 "core" &  + "storage"(@& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"($'X +7 "core" &  + "manipulator"&&% +4 "core" % ϕ  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&T(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( + "manipulator"&B& +4 "core" &|  d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +4 "core" &| M  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +102 "core" ' + "manipulator"&X& +4 "core" &|  +2 "manipulator"&Z% +4 "core" % L +2 "processing"%H& +4 "core" &\ +2 "processing"%]& +4 .tPC.seek :closed +2 "processing"%C(Z +3 "core" &\ +8 & 8\ %f +10 &U\ 8 +9 &\ L +9 &_\ O +10 &c`\ N +9 &%]\ N +10 &]\ N +9 &\\\ N +9 &jb\ O +10 &-^\ N +9 &]\ N +9 &!\\\ N +10 &#r_\ O +9 &%5_\ N +10 &&\\\ N +9 &([\ N +9 &*{_\ N +10 &,=b\ N +9 &-_\ N +9 &/[\ N +10 &1`\ N +9 &3Ea\ N +10 &5_\ O +9 &6^\ N +9 &8_\ N +10 &:N_\ N +9 &<]\ N +9 &=Z\ N +10 &?]\ N +9 &AU[\ N +10 &C`\ O +9 &De\ O +10 &Fj\ O +9 &HT{\ Q +9 &J\ T +9 &K\ T +10 &M\ T +9 &OR\ U +9 &Q\ U +10 &R\ U +9 &T\ U +10 &VY\ U +9 &X\ U +9 &Y|u\ 6 +10 &Z1\ I +9 &Z\ + +2 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +37 .Hand.open +14 "manipulator"&A1 +57 "core" 1 + "manipulator"&N% +5 "core" % U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +100 "core" ' +2 "processing"%`& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +4 "core" %\ "  ; + "storage"(c% +4 "core" %U Q\ +2 "storage"(e. +3 "core" .( + "storage"(V& +4 "core" & +\  +2 "storage"(^& +3 "manipulator"&*& +5 "core" & \  + &| i  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +3 "manipulator"&k(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(l'i +3 "core" ( + "manipulator"&[& +4 "core" &| r  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &| "   +2 .tForearm.seek PC + "manipulator"&M' +94 "core" ' + .tHand.close + "manipulator"&R/ +57 "core" / +3 .tPC.seek :open + "processing"%\\( +93 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'y +41 "core" ' +289 ( + "storage"(p& +4 "core" & \  +2 "manipulator"&h& +3 "core" &|  +2 "manipulator"&Y% +3 "core" % n ) +2 .tForearm.seek :retract +2 "manipulator"&f'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +247 "core" ( + "manipulator"&g& +4 "core" & z ` +2 "storage"(b& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&t'9 +96 "core" ' + .tHand.open + "manipulator"&u1 +58 "core" 1 +2 "storage"(w- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(z' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(n& +3 "core" & r r \  +2 "manipulator"&~& +4 "core" &\ R + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &\ B R +2 "storage"(s& +4 "core" & r o \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&_& +4 "core" &\ R +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&|'} +31 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +24 "core" ' + "manipulator"&% +5 "core" %΄  O + "storage"( & +4 "core" & ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"& 'ϰ +21 "core" ' + "manipulator"&& +4 "core" &\ \\ R +2 "storage"(& +4 "core" & Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +39 "core" ' +2 "storage"(x% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (J% +3 "core" %C \ V_ +2 "manipulator"&% +4 "core" %< h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \  +2 "collection"'& +4 "core" &Vb \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\   + "storage"(}% +4 "core" %a z\ +2 "storage"(\ . +3 "core" .( + "storage"(& +4 "core" & N\  + "storage"(& +4 "core" & 1\  +2 "manipulator"&& +4 "core" &\ R +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&'& +4 "core" &\ < R +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' +2 "storage"(& +4 "core" & V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &\ Z R + "storage"(%& +4 "core" & *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(0- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +30 "core" ' + "manipulator"&2% +5 "core" %ΐ | + "storage"("& +4 "core" & J\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϼ +33 "core" ' +2 "manipulator"&& +4 "core" &\ R + "storage"(r& +4 "core" & 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(8'F +47 "core" ' + "manipulator"&;& +5 "core" &\ n R + "manipulator"&-% +4 "core" %y a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&?( +147 "core" ( +2 "manipulator"&& +4 "core" &$ ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &$ c ;7 +2 .tForearm.seek CC +2 "manipulator"&>'" +95 "core" ' + .tHand.close + "manipulator"&D/ +55 "core" / +2 .tCC.seek :open +2 "collection"'4( +416 "core" ( + "storage"(/& +5 "core" & _\  + "storage"(G& +4 "core" & X\  + "manipulator"&I& +4 "core" &$ c ;6 + "manipulator"&1% +4 "core" % * g +2 .tForearm.seek :retract + "manipulator"&#'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&:( +160 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(L& +3 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&<'} +99 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +53 "core" 1 +2 "manipulator"&O% +4 "core" % ΄ | +2 "storage"(Q& +3 "core" &\ \  r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 307 counts +2 "manipulator"&&'ϰ +20 "core" ' +2 "manipulator"&F& +4 "core" & *  + "storage"(.& +4 "core" &\ \  l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +25 "core" ' + "storage"(E% +5 "core" %M\ 8\ 8\ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +100 (U% +3 "core" %<\ \  \ U] +2 "manipulator"&9% +4 "core" %? A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'Z& +4 "core" & \ +2 "manipulator"&H% +4 "core" %\  m  + "storage"($% +4 "core" %]\ \  \ +2 "storage"(S. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(((,l +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,i \  +2 "manipulator"&N& +4 "core" & y  +2 .tElbow.seek 4 + "manipulator"&]( +3 "core" ( +2 "manipulator"&`& +3 "core" & \\  +2 "storage"(a& +4 "core" &,g\ \  q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&c'Ѽ +87 "core" ' + "storage"(e& +5 "core" &,g\ 8\ 6\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +278 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &,g\  z\  +2 "manipulator"&[& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&W( +4 "core" ( + "manipulator"& & +5 "core" & z  + "storage"(R& +4 "core" &,g\ \  |\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&d', +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"(C'X +6 "core" &  +2 "manipulator"&l% +3 "core" % 7  , +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +157 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&Y& + "storage"(5 +47 "core" &% <@ +10 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &M& +2 "core" &% K <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'" +95 "core" ' + "manipulator"&b& +4 "core" &% ; <@ +2 "manipulator"&k% +4 "core" %+  +2 "collection"'u& +3 "core" & \ +2 "collection"'w& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'q(V +4 "core" & \  +9 &/ \ +z +9 &c \ > +10 &rz \ N +9 &5\\ \ N +10 &b \ N +9 &\\ \ M +9 &{] \ N +10 &=Z \ N +9 &_ \ M +9 &] \ M +10 & ] \ N +9 &"E\\ \ N +9 &$` \ N +10 &%c \ N +9 &'^ \ N +10 &)M^ \ N +9 &+a \ M +9 &,[ \ M +10 &.^ \ M +9 &0Ub \ N +9 &2_ \ N +10 &3_ \ N +9 &5Y \ M +10 &7^` \ M +9 &9 ` \ M +9 &:` \ N +10 &<b \ M +9 &>ea \ N +9 &@(_ \ M +10 &A\\ \ N +9 &Ca \ M +10 &Eke \ N +9 &G+l \ O +9 &Hz \ Q +10 &J \ U +9 &LX \ X +9 &N \ W +10 &O \ X +9 &Q \ X +10 &SY \ Z +9 &U \ Z +9 &ViC \ 1 +10 &Vw \ I +5 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&n1 +4 "core" &Vn \ I +50 1 + "manipulator"&~% +4 "core" % +  J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%s& +5 "core" &\ + "manipulator"&f% +4 "core" %\  + "storage"(_% +4 "core" %S \ +2 "storage"(. +3 "core" .(,l + "storage"(o& +4 "core" &,g \  +2 "storage"(& +3 "core" &,g \  +2 "manipulator"& & +4 "core" &% <@ +2 "manipulator"&y% +3 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +155 "core" ( + "manipulator"&& +4 "core" & d  +2 "storage"(x& +4 "core" &,g l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&m'Ѽ +98 "core" ' +2 "storage"(t& +4 "core" &,g 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'i +282 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,g \  +2 "manipulator"&v& +4 "core" & i  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & U  + "storage"(|& +4 "core" &,g F\  +2 .tForearm.seek 4 + 300 counts + "manipulator"& ', +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& "storage"( 'X +8 "core" & O  + "manipulator"&}% +4 "core" % B m L +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +170 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( +2 "manipulator"&{& +4 "core" &s & |  + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &s O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 "manipulator"&'& +4 "core" &s  +2 "manipulator"&% +3 "core" % ( +2 "processing"%i& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &2\ )w +9 &b\ > +10 &s}\ N +9 &5`\ N +9 &_\ N +10 &`\ N +9 &{]\ N +10 &=^\ N +9 &_\ N +9 &^\ N +10 & ]\ N +9 &"D_\ N +9 &$_\ N +10 &%`\ N +9 &'`\ N +10 &)L^\ N +9 &+`\ N +9 &,]\ N +10 &.]\ N +9 &0UZ\ N +10 &2_\ N +9 &3_\ N +9 &5_\ N +10 &7\\]\ N +9 &9]\ N +9 &:Z\ N +10 &<]\ N +9 &>e^\ N +10 &@&_\ N +9 &A^\ N +9 &C`\ N +10 &El_\ N +9 &G,h\ O +9 &Hx\ Q +10 &J\ T +9 &Lc\ T +9 &N%\ T +10 &O\ T +9 &Q\ T +10 &Sj\ T +9 &U,\ T +9 &V\ U +10 &X\ U +9 &Z^\ #m +9 &Z_\ - +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&j1 +4 "core" &Z\ ) +57 1 + "manipulator"&% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + "processing"%,& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&%% +4 "core" %\  j  + "storage"(0% +4 "core" %S \ + "storage"(2. +3 "core" .(,l +2 "storage"("& +4 "core" &,g \  +2 "storage"(& +3 "manipulator"&r& +5 "core" &,g \  + &s Y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&;(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'i +2 "core" ( +2 "manipulator"&& +4 "core" &s Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &s p  +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%( +91 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +281 ( + "storage"(3& +5 "core" &,g \  + "manipulator"&7& +4 "core" &s I  + "manipulator"&)% +4 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&!( +255 "core" ( + "manipulator"&6& +4 "core" & s 8 +2 "storage"(/& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&G'Ѽ +93 "core" ' +2 .tHand.open + "manipulator"&I1 +52 "core" 1 +2 "storage"(1- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(K'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(L' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(?& +4 "core" &,g r s\  +2 "manipulator"&@& +3 "core" & ` 8 +2 .tElbow.seek 4 +2 "manipulator"&O( +21 "core" ( + "manipulator"&Q& +5 "core" & 8  + "storage"(F& +4 "core" &,g r r \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&.'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +58 "core" ' + "manipulator"&#& +4 "core" &   +2 "storage"(U& +4 "core" &,g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&9' +34 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +23 "core" ' +2 "manipulator"&Z% +4 "core" % N +2 "storage"(&& +4 "core" &,g 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&H'@ +19 "core" ' + "manipulator"&$& +4 "core" &  \ +2 "storage"(S& +4 "core" &,g 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&8'Ѽ +29 "core" ' +2 "storage"(5% +4 "core" %p !\ +2 ."downElevator"SE.seek :down +4 "storage"(B'X +98 (+% +3 "core" %D \ V` +2 "manipulator"&A% +4 "core" %ѳ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +95 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (`& +3 "core" &,g \  +2 "collection"'a& +4 "core" &Vn \ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&e% +4 "core" %\ # < +2 "storage"(=% +4 "core" %T G\ + "storage"(X. +3 "core" .(,l +2 "storage"(*& +3 "core" &,g 1\  +2 "storage"(^& +4 "core" &,g K\  + "manipulator"&[& +4 "core" & \ +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&R& +4 "core" & \ + "storage"(T& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&P'Ѽ +87 "core" ' +2 "storage"(l& +4 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +276 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & Z \ +2 "storage"(V& +4 "core" &,g B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&d' +37 "core" ' + .tElbow.hold + "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(b'P +29 "core" ' + "manipulator"&k% +4 "core" % > w +2 "storage"(u& +4 "core" &,g m\  + .tForearm.force -20 + "manipulator"&5 +44 .tForearm.seek 4 + 316 counts +12 "manipulator"&C'< +12 "core" ' + "manipulator"&p& +5 "core" & < \ + "storage"(4& +4 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'? +40 "core" ' +2 "manipulator"&s& +4 "core" &  \ +2 "manipulator"&f% +4 "core" %Ѽ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&o& +4 "core" &#   :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# T :- +2 .tForearm.seek CC +2 "manipulator"&w'" +92 "core" ' +2 .tHand.close + "manipulator"& / +52 "core" / +3 .tCC.seek :open +2 "collection"'y( +421 "core" ( + "storage"(g& +4 "core" &,g \  +2 "storage"(& +3 "core" &,g N\  +2 "manipulator"&x& +4 "core" &# :, + "manipulator"&t% +4 "core" % , r +2 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +150 "core" ( + "manipulator"&J& +5 "core" & 5 + "storage"(& +4 "core" &,g\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&v' +103 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +64 "core" 1 +2 "manipulator"&% +4 "core" %     +2 "storage"(& +3 "core" &,g *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&}'= +13 "core" ' +2 "manipulator"&& +4 "core" & 5  + "storage"(m& +4 "core" &,g\ \  x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&z'Ѽ +22 "core" ' +2 "storage"( % +4 "core" %F\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"({'X +100 (% +3 "core" %= \ \ U\\ +2 "manipulator"&% +4 "core" % k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&i% +4 "core" %\  g  +2 "storage"( % +4 "core" %c\ \  q\ + "storage"(\ . +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(\\( +653 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" & L\ +2 "manipulator"&& +4 "core" & k  + .tElbow.seek 2 +2 "manipulator"&,( +17 "core" ( +2 "manipulator"&%& +4 "core" & * : + "storage"(0& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +97 "core" ' + "storage"("& +5 "core" & \ 8\ 8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +276 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ ?\ + "manipulator"&& +4 "core" & U 9 +2 .tElbow.seek 2 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & 9 +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & 9 +2 "manipulator"&-% +4 "core" % 5 { +2 .tForearm.seek :retract +2 "manipulator"&3'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +148 "core" ( + "manipulator"&)& +5 "core" &* C @\\ + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&& +3 "core" &* 8 @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&6'" +102 "core" ' +2 "manipulator"&/& +4 "core" &* /  @\\ +2 "manipulator"&;% +4 "core" %$ P +2 "collection"'I& +4 "core" & \ +2 "collection"'1& +5 "core" & \ +2 .tCC.seek :closed + "collection"'>(V +5 "core" & \  +9 &-| \ +z +10 &e \ ? +9 &qz \ O +10 &7Z \ M +9 &c \ M +9 &b \ M +10 &|b \ M +9 &>\\ \ M +9 &` \ M +10 &` \ N +9 & ` \ N +10 &"Eb \ N +9 &$_ \ N +9 &%] \ M +10 &'\\ \ M +9 &)N\\ \ M +9 &+a \ M +10 &,_ \ M +9 &.` \ N +10 &0U_ \ N +9 &2Z \ M +9 &3\\ \ N +10 &5\\ \ N +9 &7]] \ N +9 &9 ] \ M +10 &:[ \ N +9 &<b \ M +10 &>f[ \ M +9 &@)] \ M +9 &A_ \ N +10 &C_ \ N +9 &Elc \ N +9 &G+n \ O +10 &Ht \ P +9 &J \ T +10 &L[ \ W +9 &N \ W +9 &O \ X +10 &Q \ X +9 &S[ \ Y +9 &U \ Y +10 &VhC \ 1 +9 &V p \ G +6 ( + "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&?1 +4 "core" &Ve \ G +59 1 + "manipulator"&@% +4 "core" % $ / @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%F& +4 "core" &\  + "manipulator"&D% +4 "core" %\  + "storage"(#% +4 "core" %b \ +2 "storage"(U. +3 "core" .( + "storage"(& +4 "core" & @\ + "storage"(Z& +4 "core" & F\ +2 "manipulator"&&& +3 "core" &* @\\ +2 "manipulator"&K% +3 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +153 "core" ( + "manipulator"&S& +5 "core" &  + "storage"(5& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&!'ќ +86 "core" ' + "storage"(G& +4 "core" & z\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +286 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" & S\ + "manipulator"&.& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&O( +3 "core" ( +2 "manipulator"&E& +4 "core" &   + "storage"(9& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&H' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(e'X +8 "core" & K  + "manipulator"&=% +4 "core" %  M b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&*& +4 "core" &p 1 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&[' +98 "core" ' +2 "manipulator"&R& +4 "core" &p +2 "manipulator"&T% +4 "core" % + "processing"%8& +4 "core" &\  +2 "processing"%l& +6 "core" &\  +2 .tPC.seek :closed +3 "processing"%B(Z +3 "core" &\  +6 &\ = +9 &JJ}\ 2 +9 &}u\ G +10 &'b\ N +9 &_\ N +10 &_\ N +9 &m_\ N +9 &0_\ N +10 &_\ N +9 &]\ N +9 &u_\ N +10 &!7]\ N +9 &"`\ O +9 &$]\ N +10 &&~]\ N +9 &(?]\ N +10 &*^\ N +9 &+^\ N +9 &-_\ N +10 &/G]\ N +9 &1\ `\ N +9 &2_\ N +10 &4]\ N +9 &6P\\\ N +10 &8]\ N +9 &9_\ N +9 &;]\ M +10 &=X_\ N +9 &?]\ N +9 &@]\ M +10 &B_\ N +9 &D^`\ O +10 &Ff\ O +9 &G|\ Q +9 &I\ T +10 &KV\ T +9 &M\ T +9 &N\ T +10 &P\ T +9 &R\\\ U +10 &T\ U +9 &U\ U +10 &W\ U +9 &Yd\ B +9 &ZnA\ Q +10 &Z\ & +2 ( + "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&:1 +52 "core" 1 +2 "manipulator"&N% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' + "processing"%Y& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&V% +4 "core" %\  H  +2 "storage"(W% +3 "core" %U \ +2 "storage"(k. +3 "core" .( + "storage"(u& +4 "core" & \ +2 "storage"(p& +3 "manipulator"&4& +5 "core" & \ + &p +2 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +46 "manipulator"&$&.,(\ #b +12 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&s(s + "storage"(f'i +6 "core" ( + "manipulator"&P& +4 "core" &p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &p a +2 .tForearm.seek PC + "manipulator"&]' +93 "core" ' + .tHand.close +2 "manipulator"&d/ +62 "core" / +4 .tPC.seek :open + "processing"%C( +86 "core" ' +2 "storage"(b- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'y +46 "core" ' +290 ( + "storage"(& +4 "core" & \ +2 "manipulator"&n& +3 "core" &p +2 "manipulator"&M% +4 "core" %  W  +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&_( +249 "core" ( +2 "manipulator"&q& +4 "core" & N !p +2 "storage"(g& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +85 "core" ' +2 .tHand.open + "manipulator"&x1 +63 "core" 1 +2 "storage"(t- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"(& +4 "core" & T L O\ +2 "manipulator"&|& +3 "core" & e +2 .tElbow.seek 2 +2 "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &\ Z +2 "storage"(& +4 "core" & J K ,\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&m'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +58 "core" ' +2 "manipulator"&h& +4 "core" & [ Z +2 "storage"(& +4 "core" & N\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +27 "core" ' + "manipulator"&% +5 "core" %  + "storage"(}& +4 "core" & i\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&i' +19 "core" ' +2 "manipulator"& & +4 "core" & ^ Z +2 "storage"(\ & +4 "core" & U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +34 "core" ' +2 "storage"(z% +4 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"({'X +98 ((% +3 "core" %$A E\ V` +2 "manipulator"&j% +4 "core" % l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (%& +4 "core" & \ + "collection"'0& +4 "core" &Ve \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&"% +4 "core" %\   +2 "storage"(% +4 "core" %V d\ + "storage"('. +3 "core" .( + "storage"(r& +4 "core" & x\ +2 "storage"(& +4 "core" & W\ + "manipulator"&& +4 "core" &\ Z +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & 2 N +2 "storage"(& +3 "core" & O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +92 "core" ' +2 "storage"(-& +4 "core" & ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +281 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &\ N + "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +36 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(;'Y +40 "core" ' + "manipulator"&I% +4 "core" % R | +2 "storage"( & +3 "core" & x\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&3& +4 "core" &\ F N +2 "storage"(y& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +29 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(@'H +41 "core" ' + "manipulator"&F& +5 "core" & s N + "manipulator"&D% +4 "core" %э t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +147 "core" ( +2 "manipulator"&1& +4 "core" &" 9$ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &" g 9$ +2 .tForearm.seek CC +2 "manipulator"&Z'" +96 "core" ' +2 .tHand.close + "manipulator"&&/ +60 "core" / + .tCC.seek :open +2 "collection"'K( +416 "core" ( +2 "storage"(6& +4 "core" & \ + "storage"(S& +4 "core" & V\ + "manipulator"&5& +4 "core" &" D 9$ + "manipulator"&G% +4 "core" % + [ +2 .tForearm.seek :retract + "manipulator"&7'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&Q( +158 "core" ( +2 "manipulator"&+& +4 "core" & j  + "storage"(A& +4 "core" & \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&.' +108 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +57 "core" 1 +2 "manipulator"&`% +4 "core" % / + "storage"(a& +4 "core" & ,\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&=' +13 "core" ' +3 "manipulator"&$& +4 "core" & $  +2 "storage"(!& +3 "core" & \ \  }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +29 "core" ' + "storage"(H% +4 "core" %J\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +100 (^% +2 "core" %< \ \ "\ U] +2 "manipulator"&O% +4 "core" %Ѧ l z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'T& +4 "core" &  \ + "manipulator"&8% +4 "core" %\ ! c 4 +2 "storage"(e% +3 "core" %\\\ \  M\ +2 "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" & ?\  +2 "manipulator"&N& +3 "core" &  +51 .tElbow.seek 3 +2 "manipulator"&Y( +8 "core" ( + "manipulator"&V& +4 "core" & i  +2 "storage"(W& +4 "core" &\ \  e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +101 "core" ' +2 "storage"(u& +4 "core" &\ 5\ 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +276 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +2 "core" &\  n\  +2 "manipulator"&P& +4 "core" & 5  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&[& +4 "core" & P  + "storage"(d& +4 "core" &\ \ z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&b'ϩ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(B'X +7 "core" &  +2 "manipulator"&f% +4 "core" % ϋ S  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&M& +4 "core" &" 0 9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &" 9' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'" +101 "core" ' +3 "manipulator"&g& +4 "core" &" _ 9' +2 "manipulator"&s% +4 "core" %+ ! _ +2 "collection"'x& +4 "core" & \ +2 "collection"'t& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'w(V +4 "core" & \  +8 &0 \ +z +10 &e \ ? +9 &xy \ N +9 &<Z \ M +10 &\\ \ M +9 &Z \ M +9 &` \ M +10 &DZ \ M +9 &[ \ N +9 &] \ M +10 & _ \ M +9 &"K` \ N +10 &$_ \ M +9 &%b \ N +9 &'] \ M +10 &)T_ \ M +9 &+^ \ N +9 &,\\ \ M +10 &.[ \ M +9 &0[` \ N +10 &2\\ \ M +9 &3\\ \ M +9 &5[ \ M +10 &7d_ \ M +9 &9%\\ \ N +9 &:\\ \ M +10 &<] \ M +9 &>l] \ M +10 &@/\\ \ M +9 &A] \ M +9 &C^ \ M +10 &Ere \ N +9 &G0p \ O +9 &H \ R +10 &J \ W +9 &L\\ \ X +10 &N \ X +9 &O \ X +9 &Q \ Y +10 &S` \ Z +9 &U# \ Y +9 &VjB \ 1 +10 &V { \ J +5 ( +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&1 +3 "core" &V` \ J +53 1 +3 "manipulator"&|% +4 "core" % + /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +4 "core" %\ # , < +2 "storage"(h% +3 "core" %c V\ +2 "storage"(. +3 "core" .( + "storage"(o& +4 "core" & >\  + "storage"(& +4 "core" & C\  +2 "manipulator"&}& +3 "core" &" S 9& +2 "manipulator"&J% +4 "core" %\ #  6 < +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +158 "core" ( + "manipulator"&\ & +4 "core" &  +2 "storage"(z& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +99 "core" ' +2 "storage"(& +4 "core" &\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" & \  + "manipulator"&m& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & `  +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"("'X +7 "core" & R  +2 "manipulator"&% +4 "core" % Z : +2 .tForearm.seek :retract + "manipulator"&''\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&v(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&r& +4 "core" &l % 2  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" &l  + "manipulator"&% +4 "core" % +2 "processing"%~& +4 "core" &\ +2 "processing"%-& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &\  +9 &.{\ *y +10 &c\ > +9 &ny\ O +9 &1]\ N +10 &]\ N +9 &^\ N +9 &w`\ N +10 &:\\\ N +9 &]\ N +10 &]\ N +9 & ^\ N +9 &"B]\ N +10 &$\\\ M +9 &%_\ N +10 &']\ N +9 &)I^\ N +9 &+ ]\ N +10 &,]\ M +9 &.]\ N +9 &0Q]\ N +10 &2]\ N +9 &3]\ N +9 &5^\ N +10 &7Y\\\ N +9 &9]\ N +10 &:[\ N +9 &<\\\ N +9 &>c[\ M +10 &@#]\ N +9 &A]\ N +9 &C_\ N +10 &Ehe\ N +9 &G&l\ P +10 &H\ R +9 &J\ T +9 &L`\ T +10 &N"\ T +9 &O\ T +9 &Q\ T +10 &Se\ U +9 &U)\ T +10 &V\ U +9 &X\ U +9 &Z`\ %s +10 &ZZ\ , +9 ( + &Z\ ) +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 "processing"%)& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  + "storage"(/% +4 "core" %[ 0\ + "storage"(I. +3 "core" .( +2 "storage"( & +4 "core" & \  +2 "storage"(3& +2 "manipulator"&y& +7 "core" & >\  + &l  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&F(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(D'i +3 "core" ( + "manipulator"&& +4 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l  +2 .tForearm.seek PC + "manipulator"&,' +90 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +46 "core" ' +289 ( + "storage"(& +4 "core" & \  + "manipulator"&?& +4 "core" &l e  +2 "manipulator"&% +3 "core" % S  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&#( +254 "core" ( +2 "manipulator"&>& +4 "core" &\ U + "storage"(6& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +94 "core" ' + .tHand.open +2 "manipulator"&51 +58 "core" 1 +2 "storage"(G- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"(U& +74 "core" & r r\  + "manipulator"&9& +5 "core" &\ U +2 .tElbow.seek 3 +51 "manipulator"&`( +13 "core" ( +2 "manipulator"&a& +4 "core" &  + "storage"($& +4 "core" & J J 0\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +58 "core" ' + "manipulator"&7& +5 "core" & _  + "storage"(^& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'} +18 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +30 "core" ' +2 "manipulator"&=% +4 "core" %Ώ + "storage"(T& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&8'ϻ +26 "core" ' + "manipulator"&e& +5 "core" & V  + "storage"(<& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +29 "core" ' +2 "storage"(L% +4 "core" %o Y\ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (\\% +2 "core" %A \ Wa +2 "manipulator"&:% +4 "core" % c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +85 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" & M\  +2 "collection"'W& +3 "core" &V` \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&u% +4 "core" %\   +2 "storage"(E% +4 "core" %U \ + "storage"(R. +3 "core" .( +2 "storage"(4& +4 "core" & R\  + "storage"(l& +4 "core" & <\  +2 "manipulator"&P& +3 "core" & 6  +2 .tElbow.seek 3 +2 "manipulator"&[( +8 "core" ( +2 "manipulator"&d& +4 "core" & V  + "storage"(X& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +98 "core" ' +2 "storage"(f& +3 "core" & \ \ \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +282 "core" ' +2 "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & K  + "storage"(]& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&p'} +21 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'X +43 "core" ' + "manipulator"&x% +4 "core" %΋ +2 "storage"( & +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&B'Ϸ +12 "core" ' + "manipulator"&& +5 "core" & `  + "storage"(K& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(|'G +39 "core" ' + "manipulator"&& +4 "core" & Z  +2 "manipulator"& % +3 "core" %R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ( +2 "manipulator"&o& +4 "core" &# ' :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &" b :. +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&}/ +62 "core" / + .tCC.seek :open +2 "collection"'J( +416 "core" ( +2 "storage"(q& +4 "core" &\ \ \ Z\  + "storage"(\ & +4 "core" & \ 6\  + "manipulator"&z& +4 "core" &" m 8! + "manipulator"&% +4 "core" % 4 o +2 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +160 "core" ( + "manipulator"&(& +4 "core" & 6  +2 "storage"(j& +3 "core" &\ 7\ 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&m'} +102 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&%% +4 "core" % ΍ + "storage"(0& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&'Ϲ +24 "core" ' +2 "manipulator"& & +4 "core" & b  +2 "storage"(_& +4 "core" &\ \  v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +30 "core" ' + "storage"(i% +5 "core" %L\ \  m\ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (% +3 "core" %O?\ \  7\ V^ +2 "manipulator"&% +4 "core" %" 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & \ + "manipulator"&~% +4 "core" %\  h  +2 "storage"("% +3 "core" %S\ 4\ 6 \ +2 "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(C(,l +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,j 3\  +2 "manipulator"&& +4 "core" & K  + .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&& +3 "core" & [  +2 "storage"(/& +3 "core" &,g\ \  =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&I'Ѽ +98 "core" ' +2 "storage"( & +4 "core" &,g\ 8\ 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'i +287 "core" ' +2 "storage"(3- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (-& +3 "core" &,g \  k\  +2 "manipulator"&& +3 "core" & u  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & >  + "storage"(& +4 "core" &,g\ \  z\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&1', +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"({'X +7 "core" & T  +2 "manipulator"&D% +4 "core" %  8 2 +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&?( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &(  [ ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &( A ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'" +98 "core" ' + "manipulator"&6& +4 "core" &)  $ ?S +2 "manipulator"&F% +4 "core" % +2 "collection"'5& +3 "core" & \ +53 "collection"'G& +4 "core" & \ +3 .tCC.seek :closed + "collection"'Z(V +4 "core" & \  +9 &/ \ +{ +10 &e \ ? +9 &|w \ N +9 &@Z \ M +10 &] \ M +9 &^ \ M +10 &_ \ M +9 &G] \ N +9 &\ ] \ M +10 &_ \ M +9 & _ \ N +9 &"P_ \ M +10 &$Z \ M +9 &%b \ M +10 &'] \ M +9 &)X\\ \ M +9 &+^ \ N +10 &,\\ \ M +9 &.^ \ M +9 &0_^ \ N +10 &2"\\ \ M +9 &3` \ M +10 &5\\ \ M +9 &7g] \ N +9 &9+\\ \ M +10 &:] \ M +9 &<` \ M +9 &>p] \ M +10 &@3Z \ M +9 &A] \ M +9 &C[ \ M +10 &Eve \ N +10 &G5k \ O +9 &Hx \ P +9 &J \ U +9 &Ld \ W +10 &N$ \ W +9 &O \ X +10 &Q \ X +9 &Sd \ Z +9 &U& \ Z +10 &VtC \ - +9 &Vs \ I +5 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&&1 +3 "core" &Vk \ I +60 1 + "manipulator"&U% +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +4 "core" &\ +2 "manipulator"&$% +4 "core" %\  N  +2 "storage"(;% +3 "core" %T T\ +2 "storage"(7. +3 "core" .(,l +2 "storage"(+& +3 "core" &,g 7\  +2 "storage"(^& +4 "core" &,g a\  +2 "manipulator"&=& +3 "core" &( V ?R +2 "manipulator"&T% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&e( +155 "core" ( + "manipulator"&<& +4 "core" & x  +2 "storage"(L& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&#'Ѽ +96 "core" ' +2 "storage"(S& +4 "core" &,g 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'i +278 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &,g >\  +2 "manipulator"&!& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&`( +7 "core" ( +2 "manipulator"&H& +4 "core" & L  +2 "storage"(O& +4 "core" &,g \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&8', +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& + "storage"(u'X +7 "core" & d  +2 "manipulator"&E% +4 "core" % 1 : +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&.(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +3 "manipulator"&4& +4 "core" &u $ l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &u ^  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&P' +95 "core" ' +2 "manipulator"&d& +4 "core" &u ^  +2 "manipulator"&X% +3 "core" % m  +3 "processing"%@& +4 "core" &\ +2 "processing"%f& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &\  +9 &2~\ *x +9 &b\ > +9 &oz\ N +10 &1]\ N +9 &\\\ N +9 &]\ N +10 &w]\ N +9 &9\\\ N +10 &^\ N +9 &]\ N +9 & ]\ N +10 &"B[\ N +9 &$\\\ N +9 &%^\ N +10 &'b\ N +9 &)J^\ N +10 &+ ]\ M +9 &,\\\ N +9 &.]\ N +10 &0Q\\\ N +9 &2^\ N +9 &3]\ N +10 &5]\ N +9 &7Z\\\ N +10 &9\\\ N +9 &:[\ M +9 &<[\ N +10 &>bZ\ N +9 &@$]\ N +9 &AZ\ N +10 &C]\ N +9 &Eh`\ N +10 &G(j\ O +9 &Hw\ Q +9 &J\ T +11 &L_\ T +8 &N#\ S +9 &O\ T +10 &Q\ T +9 &Sf\ T +10 &U)\ T +9 &V\ U +9 &X\ T +10 &Za\ %s +9 &Z_\ 2 +9 ( +3 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&Q1 +4 "core" &Z\ - +54 1 + "manipulator"&N% +4 "core" % C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +2 "processing"%M& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&]% +4 "core" %\   +2 "storage"(g% +4 "core" %c E\ + "storage"(x. +3 "core" .(,l +2 "storage"( & +3 "core" &,g w\  +2 "storage"(& +4 "manipulator"&K& +4 "core" &,g p\  + &u  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"& (s +5 "core" ( + "manipulator"&c& +4 "core" &u x  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &u z  +2 .tForearm.seek PC + "manipulator"&Y' +99 "core" ' +2 .tHand.close + "manipulator"&p/ +60 "core" / + .tPC.seek :open +2 "processing"%B( +81 "core" ' +2 "storage"(s- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(o'y +43 "core" ' +297 ( + "storage"(t& +4 "core" &,g \  +2 "manipulator"&& +3 "core" &u  +2 "manipulator"&b% +3 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&}'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&h( +256 "core" ( +2 "manipulator"&w& +4 "core" & & +2 "storage"(q& +3 "core" &,g (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&\ 'Ѽ +117 "core" ' +2 .tHand.open + "manipulator"&z1 +34 "Can"\ IG +18 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(j' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &,g Q P "\  +2 "manipulator"&& +4 "core" & p & +2 .tElbow.seek 4 + "manipulator"&%( +18 "core" ( +2 "manipulator"&0& +4 "core" & :  +2 "storage"( & +3 "core" &,g P N \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&_'Ѽ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +60 "core" ' +2 "manipulator"&n& +4 "core" & 3  +2 "storage"(& +4 "core" &,g J\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +25 "core" ' +2 "manipulator"&% +5 "core" % J + "storage"(& +4 "core" &,g { \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&~'@ +14 "core" ' + "manipulator"&"& +5 "core" & # + "storage"('& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&|'Ѽ +23 "core" ' +2 "storage"(% +4 "core" %s L\ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (% +2 "core" %yB \ V` +2 "manipulator"&% +4 "core" % 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,g R\  +2 "collection"'/& +4 "core" &Vj \ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +53 "core" %\  m # +3 "storage"( % +4 "core" %b :\ + "storage"(. +3 "core" .(,l +2 "storage"(3& +4 "core" &,g \  + "storage"(-& +4 "core" &,g \  + "manipulator"&& +4 "core" & D +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & q +2 "storage"(v& +3 "core" &,g "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +87 "core" ' +2 "storage"(D& +4 "core" &,g O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +282 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & H +2 "storage"(,& +3 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&y' +38 "core" ' + .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(F'O +29 "core" ' +2 "manipulator"&5% +4 "core" % 1 } + "storage"(& +4 "core" &,g {\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&{'= +12 "core" ' + "manipulator"&& +4 "core" & \\ +2 "storage"(J& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&&'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'> +43 "core" ' +2 "manipulator"&a& +5 "core" & + "manipulator"&$% +4 "core" %ѯ 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +153 "core" ( +2 "manipulator"&+& +4 "core" &' ] >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &' P >N +2 .tForearm.seek CC + "manipulator"&^'" +95 "core" ' + .tHand.close + "manipulator"&=/ +60 "core" / +2 .tCC.seek :open +2 "collection"'T( +415 "core" ( +2 "storage"(>& +4 "core" &,g 6\  + "storage"(<& +4 "core" &,g 6\  +2 "manipulator"&L& +3 "core" && r =C +2 "manipulator"&S% +3 "core" % + \\  +2 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&9( +161 "core" ( +2 "manipulator"&\\& +4 "core" & j  +2 "storage"(:& +4 "core" &,g \  t\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&!' +104 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +53 "core" 1 +2 "manipulator"&V% +4 "core" % .  +2 "storage"(W& +4 "core" &,g 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&E'8 +16 "core" ' +3 "manipulator"&e& +4 "core" &   + "storage"(#& +4 "core" &,g\ \  b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +34 "core" ' +2 "storage"(8% +4 "core" %?\ 7\  X\ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (l% +3 "core" %=\ \  \ U] +2 "manipulator"&`% +3 "core" %ѡ / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +55787 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'X& +3 "core" & @\ +2 "manipulator"&@& +4 "core" & [  + "manipulator"&u% +4 "core" %\  S  + .tElbow.seek FlushPuck::Garage +2 "manipulator"&R(, +175 "core" ( + "manipulator"&& +4 "core" &,  > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &, ) > +2 .tForearm.seek :garage + "manipulator"&N'Ϧ +106 "core" ' +2 .tHand.close + "manipulator"&M/ +63 "core" / + "manipulator"&]& +4 "core" &, , & > +2 "manipulator"&g% +4 "core" % Ϲ # + .tForearm.seek :retract +2 "manipulator"&x'\ +103 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +277 "core" ( + "manipulator"&K& +4 "core" &*   @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &*  \ @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +98 "core" ' +2 "manipulator"&c& +4 "core" &*   @[ +2 "manipulator"&[% +3 "core" %$ $ +2 "collection"'P& +4 "core" & 2\ +2 "collection"'p& +4 "core" & J\ +2 .tCC.seek :closed +2 "collection"'s(V +4 "core" & 9\  +10 &0 >\ +z +9 &c ?\ ? +10 &u{ 9\ O +9 &:[ ?\ N +9 &a =\ N +10 &_ 7\ N +9 &~` 3\ N +10 &Ab 3\ N +9 &` 2\ N +9 &_ 5\ N +10 & b 0\ N +9 &"Ia 0\ N +5 "Can"\ MK +4 "core" &$\ a 4\ N +10 &%c 5\ N +9 &'` )\ N +9 &)R_ %\ N +10 &+` #\ N +9 &,` %\ N +10 &.e %\ N +9 &0Ya %\ N +9 &2_ &\ N +10 &3` *\ N +9 &5_ (\ M +9 &7b` $\ N +10 &9#^ %\ N +9 &:` )\ N +10 &<c &\ N +9 &>ja (\ N +9 &@-` +\ M +10 &Ab (\ N +9 &Ca &\ N +9 &Eph '\ N +10 &G.p ,\ P +9 &H~ *\ Q +10 &J *\ V +9 &L[ %\ X +9 &N &\ X +10 &O '\ Y +9 &Q +\ Y +9 &S_ \ Z +10 &U! \ Z +9 &VlC "\ 1 +10 &Vk "\ E +5 ( + "collection"'p& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + "collection"'.& +4 "core" &V_ !\ E + &V_ #\ E + .tHand.open +2 "manipulator"&k1 +59 "core" 1 +2 "manipulator"&*% +4 "core" % $ "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + #tPurging external Intake +2 "collection"'t& +4 "core" &V_ "\ E + "collection"'% +4 "core" %  \ + .tCSV.dial :flush + "collection"'b  +54 "core"  +2 .tCS.seek 10ml + "collection"'Y' V +2298 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +3 "collection"'w + 'q  +75 "core" ~ +32  +2 .tCTV.dial :intake + "collection"'  +74 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'z' +2277 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +72 "core"  +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &) v @Z + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &* ) W @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &)  @Z +2 .tForearm.seek CC + "manipulator"&0'" +93 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / + .tCC.seek :open +2 "collection"'n( +413 "core" ( + "manipulator"&& +4 "core" &*  H @Z +2 "manipulator"&o% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(, +285 "core" ( + "manipulator"&(& +4 "core" &, X 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &, > 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&''Ϧ +107 "core" ' +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&h% +53 "core" % Ϭ , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ +106 "core" ' +2025 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'j& +3 "core" & A\ +2 "manipulator"&& +4 "core" &, ? 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +9 "core" ( + "manipulator"&_& +4 "core" &, : 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &,  3 +2 .tForearm.seek :garage +2 "manipulator"&i'Ϧ +105 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / + "manipulator"&~& +4 "core" &,  H 3 +2 "manipulator"&% +4 "core" % ϲ . +2 .tForearm.seek :retract + "manipulator"&/'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +278 "core" ( + "manipulator"&m& +4 "core" &$ + ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &$  8 ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +103 "core" ' + "manipulator"&3& +4 "core" &$ J ;3 +2 "manipulator"&-% +4 "core" %( P +2 "collection"'& +3 "core" & F\ +2 "collection"'& +5 "core" & D\ +2 .tCC.seek :closed + "collection"'v(V +4 "core" & 2\  +9 & 1 8\ *z +9 & e +\ ? +10 &y 6\ N +9 &S\\ 9\ M +9 &b 3\ M +10 &` 3\ M +9 &\\ 6\ M +9 &[] 2\ M +10 &` 4\ M +9 &` 6\ N +10 & ` 7\ N +9 &"b] :\ M +9 &$$] 4\ M +10 &%c /\ N +9 &'_ /\ N +9 &)kZ 4\ M +10 &++b +\ N +9 &,] '\ M +10 &.^ $\ M +9 &0qb /\ N +9 &23] )\ N +10 &3\\ \ M +9 &5Z \ M +9 &7y[  \ N +10 &9<^ #\ M +9 &:] \ M +10 &<b \ N +9 &>_ \ N +9 &@C_ \ N +10 &B\\ !\ M +9 &Cc \ N +9 &Eh \ N +10 &GGp  \ O +9 &I \ Q +10 &J \ U +9 &Lt (\ X +9 &N7  \ W +10 &O \ X +9 &Q \ X +9 &Sv \ Z +10 &U7 \ W +9 &Vr< !\ / +10 &V u \ H +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + "collection"'|& +4 "core" &Vl \ H + &Vk \ H + .tHand.open +2 "manipulator"&D1 +56 "core" 1 +2 "manipulator"&r% +4 "core" % ( 0 P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 #tPurging external Intake + "collection"'& +4 "core" &Vl !\ H +2 "collection"'I% +4 "core" % \ + .tCSV.dial :flush +2 "collection"'  +91 "core"  +2 .tCS.seek 10ml +2 "collection"',' V +2259 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'6 +74 "core" ~ + .tCTV.dial :intake +2 "collection"'5  +73 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'' +2277 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +73 "core" + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&J& +4 "core" &# B ;3 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a( +3 "core" ( + "manipulator"&$& +4 "core" &# $ ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &# X ;3 +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&)/ +60 "core" / +2 .tCC.seek :open +2 "collection"'y( +416 "core" ( + "manipulator"&{& +4 "core" &$ ;3 + "manipulator"&F% +4 "core" % 7   +2 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&G(, +286 "core" ( + "manipulator"&&& +4 "core" &, D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&='Ϧ +109 "core" ' +2 .tHand.open +2 "manipulator"&;1 +59 "core" 1 + "manipulator"&Z% +4 "core" % ϩ . i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +96 "core" ' +42615 "Can"\ 31u +45863 #t-> purgeExhaust +14139 "Can"\ 31} +60002 \ 31 +60002 \ 41x +60002 \ 41p +16022 #t-> 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +3 "core" & Q\ +2 "manipulator"&L% +4 "core" %\    + "storage"(S% +4 "core" %U\ 6\ 6\ + "storage"(\\. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(:( +656 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" & e\ +2 "manipulator"&7& +3 "core" &,   +2 "manipulator"&O% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +180 "core" ( +2 "manipulator"&W& +4 "core" &  !r + "storage"(e& +4 "core" & \ \ -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +98 "core" ' +2 "storage"(8& +4 "core" & \ 8\ 8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +278 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" & \ K\ +2 "manipulator"&9& +4 "core" & !r + .tElbow.seek 2 +2 "manipulator"&!( +3 "core" ( + "manipulator"&E& +4 "core" & D !r +2 "storage"(U& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&A' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&4/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(@'X +7 "core" & 3 !r +2 "manipulator"&u% +3 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +147 "core" ( + "manipulator"&H& +5 "core" &$ ' \\ ;4 + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b + "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&M& + "storage"(5 +6 "core" &$ H ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +102 "core" ' +2 "manipulator"&g& +4 "core" &$  ;4 +2 "manipulator"&d% +4 "core" % + "collection"'N& +4 "core" & \\\ +2 "collection"'K& +6 "core" & \\\ +2 .tCC.seek :closed + "collection"'(V +6 "core" & K\ +6 &6 K\ $e +9 &V L\ 8 +9 & D\ M +10 &] J\ N +9 &d^ F\ N +10 &'\\ ?\ N +9 &a >\ N +9 &b 5\ N +10 &ma 7\ N +9 &.a /\ N +9 &` 2\ N +10 &!e ,\ N +9 &#tb ,\ N +10 &%7c 5\ N +9 &&` +\ N +9 &(_ +\ N +10 &*}` +\ N +9 &,?` ,\ N +9 &.` 0\ N +10 &/b -\ N +9 &1b 0\ N +10 &3F` /\ N +9 &5 ` /\ N +9 &6b 1\ N +10 &8` /\ M +9 &:Ob ,\ N +9 &<c 2\ N +10 &=c 0\ N +9 &?c .\ N +9 &AWb 5\ N +10 &Cd 2\ N +10 &Dh -\ O +9 &Fn /\ O +9 &HVz 0\ Q +9 &J 0\ S +10 &K 0\ V +9 &M 0\ X +10 &OI 0\ X +9 &Q 0\ X +10 &R 0\ Z +9 &T /\ Y +9 &V)v 0\ . +9 &V" 0\ J +9 ( +3 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&R1 +3 "core" &V^ ,\ E +53 1 +2 "manipulator"&c% +4 "core" %   O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&['\ +101 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&x% +4 "core" %\    +2 "storage"(T% +3 "core" %U _\ +52 "storage"(.. +3 "core" .( +2 "storage"(k& +3 "core" & /\ +2 "storage"(*& +4 "core" & \ + "manipulator"&t& +4 "core" &"  9' + "manipulator"&% +4 "core" %\  #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&p( +160 "core" ( + "manipulator"&b& +4 "core" &   +2 "storage"(f& +3 "core" & \ 3\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 "storage"(w& +4 "core" & \ \ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +277 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & \ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & @  + "storage"(}& +4 "core" & Y\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(s'X +7 "core" &   +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&(& +4 "core" &y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &y   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" &y '  +2 "manipulator"&h% +3 "core" %  6 +2 "processing"%& +4 "core" &\ +2 "processing"%'& +4 .tPC.seek :closed +2 "processing"%j(Z +3 "core" &\ +9 &>\ $e +9 &U\ 7 +10 &~\ L +9 &`\ N +9 &ia\ N +10 &*`\ O +9 &`\ N +9 &]\ N +10 &p`\ O +9 &3_\ N +9 &c\ N +10 &!`\ N +9 &#y`\ N +10 &%<]\ N +9 &&_\ N +9 &(_\ N +10 &*`\ N +9 &,D`\ N +9 &.b\ N +10 &/_\ N +9 &1`\ N +10 &3J`\ O +9 &5 _\ N +9 &6\\\ N +10 &8]\ N +9 &:S`\ N +9 &<_\ N +10 &=`\ N +9 &?_\ N +10 &A[_\ N +9 &C^\ N +9 &Dc\ O +10 &Fo\ P +10 &HW\ R +8 &J\ T +10 &K\ T +9 &M\ T +10 &O[\ T +9 &Q\ T +9 &R\ U +10 &T\ U +9 &V`\ U +9 &X!\ U +10 &Y{s\ 3 +9 &Z*y\ L +10 &Z%\ / +2 ( + "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&_% +4 "core" % 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +91 "core" ' +2 "processing"%& +4 "core" &Z$\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&~% +4 "core" %\  (  + "storage"(% +5 "core" %a ;\  + "storage"(. +3 "core" .( +2 "storage"(\ & +3 "core" & \ +2 "storage"(i& +5 "manipulator"&m& +4 "core" & \ + &y S  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"& (s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&3& +4 "core" &y   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &y   +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&// +63 "core" / + .tPC.seek :open +2 "processing"%n( +84 "core" ' +2 "storage"(|- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'y +44 "core" ' +292 ( + "storage"(r& +4 "core" & G\ +2 "manipulator"&& +4 "core" &y   + "manipulator"&I% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +249 "core" ( + "manipulator"&& +5 "core" &  ^ + "storage"(z& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +87 "core" ' +2 .tHand.open + "manipulator"&51 +53 "core" 1 +3 "storage"(,- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(J' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +4 "core" -' + "storage"(2& +4 "core" & M O \ + "manipulator"&)& +4 "core" &\ [ +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &\  [ + "storage"(v& +4 "core" & X W k\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +62 "core" ' +2 "manipulator"&& +4 "core" &\  [ +2 "storage"(&& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&1' +31 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(;'i +24 "core" ' + "manipulator"&Z% +5 "core" % + "storage"(+& +4 "core" & +\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&=' +12 "core" ' + "manipulator"&<& +5 "core" &\  [ + "storage"(L& +4 "core" & $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&S'ќ +31 "core" ' + "storage"(\\% +5 "core" %m \ +2 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (^% +3 "core" %B \ Wa + "manipulator"&7% +5 "core" %} +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" & $\ +2 "collection"'e& +4 "core" &V^ \ E + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&8% +4 "core" %\    +2 "storage"(G% +4 "core" %S \ +2 "storage"(>. +3 "core" .( + "storage"(l& +4 "core" & \ + "storage"(`& +4 "core" & "\ +2 "manipulator"&9& +3 "core" &\ = [ +2 .tElbow.seek 2 + "manipulator"&E( +4 "core" ( + "manipulator"&U& +4 "core" &\  [ + "storage"(4& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +87 "core" ' + "storage"(u& +4 "core" & 1\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +283 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &\  [ + "storage"(M& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&?' +34 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +52 "storage"(g- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(d'X +39 "core" ' +2 "manipulator"&N% +4 "core" %  + "storage"(!& +4 "core" & D\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&@' +13 "core" ' +2 "manipulator"&& +4 "core" &\  [ +2 "storage"(y& +4 "core" & 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'G +43 "core" ' + "manipulator"&P& +5 "core" &\  [ + "manipulator"&x% +4 "core" %|  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +149 "core" ( + "manipulator"&.& +4 "core" &' u >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &'  >M +2 .tForearm.seek CC +2 "manipulator"&*'" +99 "core" ' + .tHand.close +2 "manipulator"&t/ +53 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( + "storage"(]& +4 "core" & \ +2 "storage"(b& +3 "core" & \ +2 "manipulator"&f& +4 "core" &( \ > >L + "manipulator"&w% +4 "core" % (  9 +2 .tForearm.seek :retract + "manipulator"&Q'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +156 "core" ( + "manipulator"& & +5 "core" &   + "storage"(Y& +4 "core" & \ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&' +108 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +59 "core" 1 +2 "manipulator"& % +4 "core" % ! 3 +2 "storage"(& +3 "core" & =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&p& +4 "core" & :  +2 "storage"(& +4 "core" & \ \  B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +27 "core" ' +2 "storage"( % +4 "core" %H\ 6\ % T\ +2 ."downElevator"SE.seek :down +3 "storage"(('X +100 ("% +2 "core" %? \  -\ V^ +2 "manipulator"&% +4 "core" %Ѩ % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'h& +4 "core" & \ + "manipulator"&% +4 "core" %\    +2 "storage"(s% +3 "core" %`\ 6\ 6\ +2 "storage"(o. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(B( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" && f\  + "manipulator"&_& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&~& +4 "core" & \  +2 "storage"(& +3 "core" &\ \  |\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +102 "core" ' +2 "storage"(\ & +4 "core" &\ 8\ 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'i +288 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" & \ B\  +2 "manipulator"&3& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( + "manipulator"&& +4 "core" & Y  +2 "storage"(/& +3 "core" &\ \  Q\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(j'X +8 "core" &   + "manipulator"&% +4 "core" % ϧ  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&I& +5 "core" & $  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & * 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 "manipulator"&z& +4 "core" & 5 3 +2 "manipulator"& % +4 "core" % $  +2 "collection"'5& +3 "core" & ?\ +2 "collection"',& +6 "core" & &\ +2 .tCC.seek :closed + "collection"'$(V +4 "core" & .\ \ +8 &/| 0\ *y +10 &e 0\ ? +9 &uy 0\ O +10 &:\\ -\ M +9 &_ '\ M +9 &` /\ M +10 &b 0\ N +9 &B\\ /\ M +9 &^ ,\ N +10 &` (\ N +9 & _ '\ M +10 &"J` (\ M +9 &$ ] \ N +9 &%_ \ M +10 &'] \ M +9 &)R] \ M +9 &+^ "\ M +10 &,\\ #\ M +9 &.^ \ M +10 &0Z_ '\ M +9 &2] #\ M +9 &3` #\ N +10 &5` !\ M +9 &7bb "\ M +9 &9$a $\ M +10 &:b !\ M +9 &<_ $\ N +10 &>j^ $\ M +9 &@,_ \ M +9 &Ab \ N +10 &Cd \ N +9 &Eoi "\ N +9 &G,s  \ P +10 &H $\ R +9 &J #\ W +10 &L[ #\ X +9 &N "\ W +10 &O $\ Y +9 &Q !\ X +9 &S^ $\ Z +9 &U #\ Z +10 &VkC #\ 1 +9 &Vr "\ G +6 ( + "collection"',& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&21 +3 "core" &V\\  \ G +59 1 +3 "manipulator"&)% +4 "core" %  ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%v& +4 "core" &\ + "manipulator"&% +4 "core" %\ = 1 +2 "storage"(% +3 "core" %b \  +2 "storage"(&. +3 "core" .( + "storage"(Z& +65 "core" & Y\  +2 "storage"(D& +4 "core" & \  + "manipulator"&+& +4 "core" &  3 + "manipulator"&<% +4 "core" %\ > 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +156 "core" ( +2 "manipulator"&L& +4 "core" &   + "storage"(\\& +4 "core" & )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +105 "core" ' +5 "storage"(6& +4 "core" & \  9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'i +283 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & \  +2 "manipulator"&{& +4 "core" & t  + .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&F& +4 "core" & v  +2 "storage"(1& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&='ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(8'X +7 "core" &   + "manipulator"&G% +4 "core" % Ϡ ' +2 .tForearm.seek :retract +2 "manipulator"&;'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&l& +4 "core" &p    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &p   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +50 "manipulator"&9' +98 "core" ' + "manipulator"&U& +4 "core" &p  +2 "manipulator"&4% +4 "core" % \ +2 "processing"%S& +4 "core" &\ +2 "processing"%u& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +5 "core" &\  +8 &0\ +z +9 &b\ > +9 &n|\ O +10 &2_\ N +9 &_\ N +10 &_\ N +9 &v`\ N +9 &9^\ N +10 &`\ O +9 &^\ N +9 & ~_\ N +10 &"@^\ N +9 &$]\ N +10 &%]\ N +9 &'a\ N +9 &)H`\ N +10 &+\ _\ N +9 &,]\ N +9 &.`\ N +10 &0Q]\ N +9 &2`\ N +10 &3`\ N +9 &5`\ N +9 &7Y^\ N +10 &9_\ N +9 &:]\ N +9 &<]\ N +10 &>a[\ N +9 &@#`\ N +10 &A_\ N +9 &Cb\ N +10 &Egg\ O +9 &G&m\ P +9 &H\ R +9 &J\ T +10 &La\ S +9 &N#\ S +10 &O\ T +9 &Q\ T +9 &Se\ U +10 &U(\ T +9 &V\ U +9 &X\ U +10 &Za\ $p +9 &ZW\ + +9 ( +3 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&a1 +3 "core" &Z\ ) +60 1 + "manipulator"&O% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +3 "processing"%H& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\ # 3 : + "storage"(g% +4 "core" %c P\  +2 "storage"(N. +3 "core" .( + "storage"(!& +4 "core" & '\  +2 "storage"(& +3 "manipulator"&y& +5 "core" & \  + &p   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&P(s +3 "storage"(x'i +3 "core" ( + "manipulator"&X& +4 "core" &p   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &p   +2 .tForearm.seek PC + "manipulator"&V' +97 "core" ' +2 .tHand.close + "manipulator"&?/ +55 "core" / +2 .tPC.seek :open + "processing"%@( +92 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(.'y +45 "core" ' +284 ( + "storage"(k& +5 "core" & W\  + "manipulator"&R& +4 "core" &p %  + "manipulator"&A% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&t'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T( +253 "core" ( +2 "manipulator"&& +4 "core" &\  [ + "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +105 "core" ' + .tHand.open + "manipulator"&f1 +52 "core" 1 +2 "storage"(w- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(K& +4 "core" & t t =\  +2 "manipulator"&}& +3 "core" &\  Z +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &\  Z +2 "storage"(p& +4 "core" & s r\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' + "manipulator"&Q& +4 "core" &\  Z +2 "storage"("& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&% +4 "core" %· 7 e +2 "storage"(h& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +20 "core" ' + "manipulator"&s& +4 "core" &\ / Z +2 "storage"(o& +4 "core" & B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +29 "core" ' +2 "storage"(q% +4 "core" %q J\ +2 ."downElevator"SE.seek :down +4 "storage"(('X +98 (:% +4 "core" %A \ \ Wb +2 "manipulator"&% +4 "core" %) \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +91 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & \  +2 "collection"'& +4 "core" &V\\ $\ G + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\ % +4 "core" %\   \ +2 "storage"(% +3 "core" %U \ +2 "storage"(. +3 "core" .( + "storage"(m& +4 "core" & \  + "storage"('& +4 "core" & \  +2 "manipulator"&3& +3 "core" &\ / Z +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" &\ 9 Z +2 "storage"(0& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +98 "core" ' + "storage"(& +5 "core" & I\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +2 "core" &\ 0 Z +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&i'} +26 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"( 'W +39 "core" ' + "manipulator"&5% +5 "core" %΋  e + "storage"(-& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts + "manipulator"&j'Ϸ +14 "core" ' +2 "manipulator"&r& +4 "core" &\ - Z +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +23 "core" ' + .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'F +39 "core" ' + "manipulator"&v& +5 "core" &\ ( Z + "manipulator"&% +4 "core" %I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +146 "core" ( +2 "manipulator"&,& +4 "core" &" 9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &"  9( +2 .tForearm.seek CC + "manipulator"&D'" +95 "core" ' + .tHand.close + "manipulator"&+/ +54 "core" / +2 .tCC.seek :open + "collection"'<( +420 "core" ( + "storage"(& +4 "core" &\  o\  +2 "storage"(L& +3 "core" &\ \ \ ,\  +2 "manipulator"&\\& +4 "core" &!  8 + "manipulator"&6% +4 "core" % . \ +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( + "manipulator"&^& +4 "core" & J  +2 "storage"(7& +3 "core" &\ 6\ 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +53 .tForearm.seek 3 +2 "manipulator"&{'} +98 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +62 "core" 1 +3 "manipulator"&W% +5 "core" % Έ  + "storage"(e& +4 "core" & \ 6\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts + "manipulator"&G'ϴ +25 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &\ \  V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +15 "core" ' + "storage"(=% +5 "core" %I\ \  9\ +2 ."downElevator"SE.seek :down +3 "storage"(l'X +100 (`% +2 "core" %5>\ \  |\ V^ +2 "manipulator"& % +4 "core" %5 d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +97 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'4& +4 "core" & \ +2 "manipulator"&S% +4 "core" %\ !  8 +2 "storage"(8% +4 "core" %a\ \  \ + "storage"(;. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(n(,l +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &,j, \  +2 "manipulator"&O& +3 "core" & -  +2 .tElbow.seek 4 +2 "manipulator"&H( +4 "core" ( + "manipulator"&M& +4 "core" &   +2 "storage"(g& +3 "core" &,h\ \  e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&N'Ѽ +98 "core" ' +2 "storage"(u& +4 "core" &,h\ 7\ 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +2 "core" &,h\ \ \  C\  +2 "manipulator"&X& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&9& +3 "core" &   +2 "storage"(?& +4 "core" &,h\ \  Q\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&d', +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +3 "storage"(C'X +7 "core" &  +2 "manipulator"&x% +4 "core" %  \\ +2 .tForearm.seek :retract + "manipulator"&k'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&A& +3 "core" &# '  ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &$  " ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +2 "manipulator"&]& +4 "core" &$ $ g ;2 + "manipulator"&P% +4 "core" %+ +2 "collection"'f& +4 "core" & @\ +2 "collection"'w& +6 "core" & *\ +2 .tCC.seek :closed +3 "collection"'*(V +3 "core" & ,\ +7 & . 1\ #b +10 &V /\ 8 +8 & *\ L +9 &Y 2\ M +10 &c` 0\ N +9 &'Y 0\ M +10 &\\ '\ N +9 &Y -\ M +9 &m\\  \ M +10 &.` +\ N +9 &] \ N +9 &!\\ '\ N +10 &#t[ &\ N +9 &%6\\  \ N +10 &&_  \ M +9 &(^ $\ N +9 &*|]  \ N +10 &,>] \ N +9 &._ \ M +10 &/[ \ M +9 &1^ \ M +9 &3FZ #\ N +10 &5] \ N +9 &6Y \ M +9 &8Y \ M +10 &:O] #\ M +9 &<] \ M +9 &=\\ \ N +10 &?[ $\ M +9 &AW\\ #\ M +10 &C` #\ M +9 &D` $\ N +9 &Fg $\ O +10 &HVv #\ P +9 &J $\ T +10 &K "\ V +9 &M $\ X +9 &OG #\ X +10 &Q #\ Y +9 &R #\ Y +10 &T #\ Y +9 &V't #\ . +9 &V# #\ P +9 ( +3 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&K1 +3 "core" &Vb %\ H +55 1 +2 "manipulator"&}% +4 "core" % + $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%p& +4 "core" &\ + "manipulator"&t% +4 "core" %\ G  + "storage"(Q% +4 "core" %c Y\ +2 "storage"(". +3 "core" .(,l + "storage"(.& +4 "core" &,h m\  + "storage"(& +4 "core" &,h M\  +2 "manipulator"&h& +4 "core" &#  :. + "manipulator"& % +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +158 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"(q& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&T'Ѽ +96 "core" ' +2 "storage"(b& +4 "core" &,h ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +284 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,h \  +2 "manipulator"&& +3 "core" & 1  +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(& +3 "core" &,h \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(\ 'X +8 "core" &   + "manipulator"&% +4 "core" % #   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&m& +4 "core" &s   0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &s  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +92 "core" ' +2 "manipulator"&/& +4 "core" &s 4 0 +2 "manipulator"&0% +4 "core" %  4 + "processing"%c& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%((Z +5 "core" &\  +9 &1\ *z +10 &d\ ? +9 &}{\ O +10 &A_\ N +9 &_\ M +9 &_\ N +10 &`\ N +9 &J\\\ N +9 & _\ N +10 &^\ N +9 & ^\ M +10 &"Q_\ N +9 &$^\ N +9 &%b\ N +10 &'a\ N +9 &)[_\ M +9 &+_\ N +10 &,]\ M +9 &.^\ N +10 &0b]\ N +9 &2$_\ N +9 &3]\ N +10 &5`\ N +9 &7j`\ N +9 &9,\\\ N +10 &:]\ M +9 &<^\ N +10 &>r\\\ N +9 &@4`\ N +10 &A\\\ N +9 &C_\ N +9 &Exb\ N +9 &G9i\ O +10 &Hy\ Q +9 &J\ T +9 &Lq\ S +10 &N3\ S +9 &O\ S +10 &Q\ T +9 &Sw\ T +9 &U7\ U +10 &V\ U +9 &X\ T +9 &Z%Y|\ %q +10 &Zc\ 4 +9 ( + &Z#\ . +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&[1 +53 "core" 1 +2 "manipulator"&_% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 "processing"%I& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\   + "storage"(z% +4 "core" %^ c\ +2 "storage"(5. +3 "core" .(,l + "storage"(-& +4 "core" &,h S\  + "storage"(r& +5 "manipulator"&& +4 "core" &,h U\  + &s ( 0 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(v'i + "manipulator"&(s +5 "core" ( + "manipulator"&%& +4 "core" &s 0 +2 .tElbow.reconfigure :loose +52 "manipulator"&$ &.,(#b +3 && +3 "core" &s + 0 +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +6 .tHand.close +2 "manipulator"&i/ +56 "core" / +3 .tPC.seek :open +2 "processing"%j( +30 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'y +43 "core" ' +350 ( + "storage"(Z& +3 "core" &,h )\  +2 "manipulator"&2& +4 "core" &s > 0 +2 "manipulator"&|% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +242 "core" ( +2 "manipulator"&$& +4 "core" & + , + "storage"(& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&L'Ѽ +111 "core" ' + .tHand.open +2 "manipulator"&\\1 +59 "core" 1 +2 "storage"(6- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(^'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(D- +4 "core" -' + "storage"(&& +4 "core" &,h r t\  + "manipulator"&1& +4 "core" & N , +2 .tElbow.seek 4 + "manipulator"&W( +4 "core" ( + "manipulator"&e& +4 "core" &  , + "storage"(& +4 "core" &,h r g \\\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(=' +57 "core" ' +2 "manipulator"&& +4 "core" &  , + "storage"(`& +4 "core" &,h B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& ' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"({'i +29 "core" ' + "manipulator"&4% +4 "core" %  +2 "storage"(G& +4 "core" &,h 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&S'< +16 "core" ' + "manipulator"&8& +5 "core" & ( , + "storage"(;& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&)'Ѽ +17 "core" ' + "storage"(J% +5 "core" %q 5\ +2 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (B% +3 "core" %C ~\ Wb + "manipulator"&a% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &,h J\  + "collection"'g& +4 "core" &Vb %\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&u% +4 "core" %\    +2 "storage"(F% +3 "core" %d \ +2 "storage"(U. +3 "core" .(,l +2 "storage"(& +4 "core" &,h \  + "storage"(y& +4 "core" &,h \  +2 "manipulator"&X& +3 "core" & 4 , +2 .tElbow.seek 4 +2 "manipulator"&9( +3 "core" ( + "manipulator"&?& +4 "core" &  , +2 "storage"(>& +3 "core" &,h v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&#'Ѽ +97 "core" ' + "storage"(x& +4 "core" &,h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +284 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&A& +3 "core" &  , +2 "storage"(V& +3 "core" &,h 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&!' +38 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'O +41 "core" ' + "manipulator"&f% +4 "core" % S +2 "storage"(E& +3 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&C'; +14 "core" ' + "manipulator"&k& +5 "core" &  , + "storage"(<& +4 "core" &,h A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&K'Ѽ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'> +39 "core" ' +2 "manipulator"&p& +4 "core" & ) , + "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +145 "core" ( +3 "manipulator"&.& +4 "core" & 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &  7 +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' + .tHand.close +2 "manipulator"&h/ +53 "core" / +2 .tCC.seek :open + "collection"' ( +414 "core" ( + "storage"(& +4 "core" &,h\  M\  +2 "storage"(o& +4 "core" &,h\ L\  + "manipulator"&q& +4 "core" &  7 + "manipulator"&b% +4 "core" % 6 +2 .tForearm.seek :retract + "manipulator"&R'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +153 "core" ( + "manipulator"&:& +4 "core" & ^ +2 "storage"(& +4 "core" &,h\ 7\ 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +104 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&~% +4 "core" %  $ +2 "storage"(& +3 "core" &,h +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&'> +14 "core" ' +2 "manipulator"&s& +4 "core" & {  + "storage"(T& +4 "core" &,h\ \ L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Y'Ѽ +22 "core" ' +2 "storage"(% +4 "core" %E\ 6\ $ !\ +2 ."downElevator"SE.seek :down +4 "storage"(m'X +98 ('% +3 "core" %>\ \  V\ V^ +2 "manipulator"& % +4 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'0& +4 "core" & \ +2 "manipulator"&c% +3 "core" %\   +2 "storage"(\ % +4 "core" %T\ \ n\ +2 "storage"(. +3 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(@( +658 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" & \ +2 "manipulator"&_& +3 "core" & 3  +2 .tElbow.seek 2 +2 "manipulator"&I( +21 "core" ( +2 "manipulator"&& +4 "core" &  G + "storage"(z& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +87 "core" ' + "storage"(-& +5 "core" & \ 6\ 7\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(r- +43 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & \ J\ +2 "manipulator"&%& +3 "core" & G +2 .tElbow.seek 2 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&3& +4 "core" & V # +2 "storage"(i& +3 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(('X +7 "core" &  # +2 "manipulator"&v% +4 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +144 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&|& +4 "core" &$   ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &$ 4 ;3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'" +97 "core" ' +2 "manipulator"&& +4 "core" &$   ;3 +2 "manipulator"&% +4 "core" %% < +2 "collection"'\\& +3 "core" & )\ +3 "collection"'6& +5 "core" & 4\ +2 .tCC.seek :closed + "collection"'D(V +5 "core" & 6\ +6 &> *\ %f +10 &V '\ 8 +9 &~ (\ L +10 &] (\ M +9 &|] &\ M +9 &?] (\ M +10 &_ )\ M +9 &Z *\ M +10 &] )\ N +9 &F] (\ M +9 & _ )\ M +10 &!_ ,\ N +9 &#[ )\ M +9 &%N_ &\ M +10 &'] /\ M +9 &(\\ '\ M +9 &*^ !\ M +10 &,V\\ \ M +9 &._ #\ M +10 &/] ,\ M +9 &1[ $\ M +9 &3^_ \ M +10 &5 \\  \ M +9 &6\\  \ N +10 &8[ "\ M +9 &:f] \ M +9 &<(Z "\ M +10 &=[  \ M +9 &?` "\ M +9 &An\\ #\ M +10 &C0[ $\ M +9 &Db #\ N +9 &Fh #\ N +10 &Hnt $\ P +9 &J( "\ S +10 &K $\ V +9 &M #\ X +9 &O` #\ X +10 &Q# $\ W +9 &R #\ Y +9 &T #\ Y +10 &V1l #\ + +9 &V* #\ Z +9 ( +3 "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&&1 +3 "core" &Vj #\ H +49 1 +2 "manipulator"&1% +4 "core" % % & 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%+& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ \ (  +2 "storage"(% +4 "core" %c 8\ +2 "storage"(`. +2 "core" .( +2 "storage"(,& +4 "core" & \ +2 "storage"(4& +4 "core" & :\ + "manipulator"&G& +4 "core" &$ 3 ;2 +2 "manipulator"&^% +3 "core" %\ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&8( +154 "core" ( + "manipulator"&;& +5 "core" &  + "storage"(J& +4 "core" & j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(L& +4 "core" & \ {\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +279 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" & \ +2 "manipulator"&& +4 "core" & /  + .tElbow.seek 2 +2 "manipulator"&W( +4 "core" ( + "manipulator"&=& +4 "core" &   + "storage"( & +4 "core" & $\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(u'X +8 "core" &  + "manipulator"&F% +4 "core" %  0 " +2 .tForearm.seek :retract + "manipulator"&U'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +170 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&{& +4 "core" &k  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &k 2 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +92 "core" ' +2 "manipulator"&?& +4 "core" &k  8 +2 "manipulator"&>% +3 "core" %  ' +2 "processing"%)& +4 "core" &\ +2 "processing"%x& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &\ +8 &?\ $e +9 &T\ 7 +9 &\ L +10 &`\ N +9 &ga\ N +9 &*_\ M +10 &_\ N +9 &]\ M +10 &o_\ N +9 &1`\ N +9 &b\ N +10 &!^\ M +9 &#w_\ N +10 &%9\\\ N +9 &&]\ M +9 &(^\ N +10 &*]\ M +9 &,B_\ M +9 &._\ N +10 &/]\ N +9 &1]\ N +9 &3I^\ N +10 &5 a\ N +9 &6]\ M +10 &8\\\ M +9 &:P\\\ N +9 &<]\ N +10 &=`\ N +9 &?\\\ N +9 &AY]\ N +10 &Cb\ N +9 &Dd\ O +10 &Fk\ O +9 &HT\ R +9 &J\ S +10 &K\ T +9 &M\ T +9 &OW\ T +10 &Q\ T +9 &R\ U +10 &T\ U +9 &V\\\ U +9 &X\ U +10 &Y|r\ 4 +9 &Z,\ N +9 &Z"\ - +3 ( + "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&O% +4 "core" % P ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +99 "core" ' + "processing"%A& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&V% +4 "core" %\ " G ; +2 "storage"(]% +3 "core" %U \ +2 "storage"(f. +3 "core" .( + "storage"(E& +4 "core" & !\ +2 "storage"(k& +3 "manipulator"&<& +6 "core" & \ + &k  8 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&p(s + "storage"(t'i +5 "core" ( +2 "manipulator"&#& +4 "core" &k 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &k # 6 8 +2 .tForearm.seek PC + "manipulator"&H' +99 "core" ' + .tHand.close + "manipulator"&!/ +63 "core" / +2 .tPC.seek :open + "processing"%C( +83 "core" ' +2 "storage"(.- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P'y +43 "core" ' +295 ( +2 "storage"(w& +4 "core" & I\ + "manipulator"&K& +4 "core" &k  8 + "manipulator"&d% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&h'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q( +254 "core" ( +2 "manipulator"&*& +4 "core" & ! +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +98 "core" ' + .tHand.open + "manipulator"&q1 +60 "core" 1 +2 "storage"(b- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(:'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"("& +4 "core" & r v \ + "manipulator"&& +4 "core" & $ +2 .tElbow.seek 2 + "manipulator"&~( +4 "core" ( + "manipulator"&& +5 "core" &  + "storage"(s& +4 "core" & S _ K\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +12 "core" ' +51 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&R& +4 "core" & / +2 "storage"('& +4 "core" & c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(0& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&c' +13 "core" ' + "manipulator"&\ & +5 "core" & 6 + "storage"(& +4 "core" & 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +33 "core" ' + "storage"(Y% +5 "core" %q <\ +2 ."downElevator"SE.seek :down +3 "storage"(m'X +100 (n% +2 "core" %A \ \ Va +2 "manipulator"&[% +4 "core" %ъ x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&_'\ +95 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \ + "collection"'z& +4 "core" &Vj  \ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&-% +4 "core" %\   +2 "storage"( % +3 "core" %T $\ +2 "storage"(/. +3 "core" .( +2 "storage"(r& +3 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&%& +4 "core" & b +2 .tElbow.seek 2 + "manipulator"&3( +4 "core" ( + "manipulator"&i& +4 "core" &  + "storage"(& +4 "core" & n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' + "storage"(v& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'i +282 "core" ' +2 "storage"(5- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&|& +3 "core" & +2 "storage"(& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +28 "core" ' + "manipulator"&\\% +4 "core" % m +2 "storage"(& +3 "core" & s\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&(' +12 "core" ' +2 "manipulator"&Z& +4 "core" & I +2 "storage"( & +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&&'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(1'G +43 "core" ' +2 "manipulator"&+& +5 "core" &  + "manipulator"&% +4 "core" %ш  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +152 "core" ( +2 "manipulator"&,& +4 "core" &  4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" & 6 4 +2 .tForearm.seek CC +2 "manipulator"&6'" +99 "core" ' + .tHand.close + "manipulator"&G/ +63 "core" / +2 .tCC.seek :open +2 "collection"'^( +416 "core" ( + "storage"($& +4 "core" & \ \ + "storage"(;& +4 "core" & \  \ + "manipulator"&J& +4 "core" & N 4 + "manipulator"&L% +4 "core" % 5 +2 .tForearm.seek :retract + "manipulator"&2'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +153 "core" ( + "manipulator"&B& +4 "core" &  \ +2 "storage"(a& +4 "core" & 8\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&' +106 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&S% +4 "core" % " * +2 "storage"(g& +3 "core" & +\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&F' +12 "core" ' +3 "manipulator"&8& +4 "core" & O \ + "storage"(& +4 "core" & \ \ F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +18 "core" ' +2 "storage"(M% +4 "core" %J\ 7\ 7\ +2 ."downElevator"SE.seek :down +3 "storage"({'X +99 (y% +3 "core" %@\ \  w\ U^ +2 "manipulator"&W% +4 "core" %Ѩ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'>& +4 "core" & >\ + "manipulator"&)% +4 "core" %\  o  +2 "storage"(u% +4 "core" %Y\ 8\ 8\ +2 "storage"(U. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(j( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &\ \ \ \ + "manipulator"&O& +4 "core" &  \ +2 .tElbow.seek 3 + "manipulator"&A( +14 "core" ( + "manipulator"&V& +5 "core" & F  + "storage"(]& +4 "core" &\ 6\  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +93 "core" ' +2 "storage"(E& +4 "core" &\ 3\ 6\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +287 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" &\ \  U\  +2 "manipulator"&#& +4 "core" & N  +2 .tElbow.seek 3 + "manipulator"&9( +4 "core" ( + "manipulator"&X& +4 "core" & q  +2 "storage"(!& +3 "core" &\ \  w\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(l'X +68 "core" &   +2 "manipulator"&t% +4 "core" % ϝ + +2 .tForearm.seek :retract +2 "manipulator"&w'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +89 "core" ' + ."downElevator"SE.stop + "storage"(5 +62 "core" ( + "manipulator"&d& +4 "core" &(  6 ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &(  ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'" +91 "core" ' + "manipulator"&& +5 "core" &(  ) ?V + "manipulator"&p% +4 "core" %) t +2 "collection"'q& +4 "core" & ?\ +2 "collection"'b& +4 "core" & ,\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & 3\  +8 &/| 2\ *y +10 &e 2\ ? +9 &v .\ N +9 &FW 2\ M +10 &] .\ M +9 &\\ /\ M +58 &\\ (\ M +3 &N\\ -\ M +7 &\\ /\ M + &] .\ M & ] +\ M + &"T^ '\ M + &$] '\ M +4 &%[ &\ M +9 &'\\ (\ M +10 &)]\\ (\ M +9 &+] \ M +10 &,\\ \ M +9 &.\\ \ M +9 &0e^ \ M +10 &2(\\ \ M +9 &3\\ #\ M +9 &5\\ \ L +10 &7n] \ M +9 &90` \ M +10 &:^ \ M +9 &<_ \ M +9 &>v] \ M +10 &@8] \ M +9 &A\\ "\ M +10 &C_  \ M +9 &E{e "\ N +9 &G9q #\ O +10 &H #\ Q +9 &J  \ V +9 &Lh #\ W +10 &N* #\ W +9 &O #\ X +9 &Q #\ X +10 &Sj !\ Y +9 &U* #\ Z +10 &VvC $\ , +9 &V %\ O +5 ( +2 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&"1 +3 "core" &Vw "\ O +56 1 +6 "manipulator"&% +8 "core" % ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +4 "core" &\ +2 "manipulator"&h% +4 "core" %\  6  + "storage"(R% +4 "core" %U \ +2 "storage"('. +3 "core" .( + "storage"(P& +4 "core" & &\  +2 "storage"(:& +3 "core" & -\  +2 "manipulator"&& +4 "core" &(  ?V + "manipulator"&0% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\ ( +159 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(Q& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&o'9 +108 "core" ' +2 "storage"(Y& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" & \  +2 "manipulator"&T& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"( & +4 "core" & 0\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&c'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& + "storage"(-'X +6 "core" &   +2 "manipulator"& % +4 "core" % ϝ  U +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&r& +4 "core" &w    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &w   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&%' +100 "core" ' +2 "manipulator"&i& +4 "core" &w 1  +2 "manipulator"&% +3 "core" % 9 d +2 "processing"%}& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%m(Z +4 "core" &\  +10 &2~\ *z +8 &d\ ? +9 &z\ O +10 &D^\ N +9 &]\ N +10 &b\ N +9 &_\ N +9 &M[\ N +10 &]\ N +9 &`\ N +9 & ]\ M +10 &"V^\ M +9 &$]\ N +10 &%a\ N +9 &'c\ N +9 &)]a\ N +10 &+`\ N +9 &,`\ M +9 &.^\ M +10 &0e^\ N +9 &2'a\ N +9 &3`\ N +10 &5`\ N +9 &7m_\ N +10 &9/Z\ N +9 &:[\ M +9 &<^\ N +10 &>u`\ N +9 &@7\\\ N +9 &A]\ M +10 &C`\ N +9 &E{e\ N +10 &G9m\ P +9 &H\ R +9 &J\ T +10 &Lt\ S +9 &N6\ S +9 &O\ T +10 &Q\ T +9 &Sz\ T +10 &U;\ T +9 &V\ U +9 &X\ U +10 &Z%V}\ (x +9 &Z^\ 4 +9 ( +2 &Z"\ 0 +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&_% +4 "core" %  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' + "processing"%|& +4 "core" &Z!\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %c *\  +2 "storage"(\\. +3 "core" .( + "storage"(& +4 "core" & \  +2 "storage"(Z& +3 "manipulator"& & +5 "core" & ,\  + &w   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&+(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &w (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &w ;  +2 .tForearm.seek PC + "manipulator"&I' +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%(( +83 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(,'y +42 "core" ' +299 ( +2 "storage"(4& +4 "core" & H\  + "manipulator"&&& +4 "core" &w %  + "manipulator"& % +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +270 "core" ( + "manipulator"&D& +5 "core" &   + "storage"($& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +87 "core" ' +2 .tHand.open + "manipulator"&J1 +55 "core" 1 +2 "storage"(L- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(B'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(a' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +4 "core" -' + "storage"(`& +4 "core" & W M E\  +2 "manipulator"& & +3 "core" & %  +2 .tElbow.seek 3 + "manipulator"&S( +4 "core" ( +2 "manipulator"&g& +4 "core" &   + "storage"(8& +4 "core" & J O \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +60 "core" ' +2 "manipulator"&2& +4 "core" &   +2 "storage"(y& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&W'} +28 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +28 "core" ' +2 "manipulator"&>% +4 "core" %·   L +2 "storage"(F& +4 "core" & ~ E\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&)'ϳ +13 "core" ' + "manipulator"&u& +5 "core" & L  + "storage"(U& +4 "core" & P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +24 "core" ' + "storage"(7% +4 "core" %p P\ +3 ."downElevator"SE.seek :down +3 "storage"({'X +99 (@% +3 "core" %D \ Va + "manipulator"&% +4 "core" %L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" & T\  +2 "collection"']& +3 "core" &Vv \ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&E% +4 "core" %\  '  +2 "storage"(=% +3 "core" %Y \ +2 "storage"(?. +3 "core" .( +2 "storage"(<& +4 "core" & \  +2 "storage"(k& +3 "core" & \  +2 "manipulator"&#& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&X( +54 "core" ( + "manipulator"&!& +3 "core" &   +2 "storage"(& +5 "core" & m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +97 "core" ' + "storage"(t& +4 "core" & 3\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'i +282 "core" ' +3 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &   + "storage"(d& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'} +27 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(p'W +30 "core" ' +2 "manipulator"&q% +4 "core" %΍  b + "storage"(9& +4 "core" & 5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&l'Ϲ +26 "core" ' +2 "manipulator"&w& +4 "core" & =  +2 "storage"(^& +3 "core" & <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +45 "core" ' + "manipulator"&s& +4 "core" &   +2 "manipulator"&h% +4 "core" %C : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +153 "core" ( +2 "manipulator"&b& +5 "core" &'  >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &' >H +2 .tForearm.seek CC +2 "manipulator"&:'" +89 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'0( +420 "core" ( +2 "storage"(*& +4 "core" & \  + "storage"(& +4 "core" & \  +2 "manipulator"&Q& +3 "core" &'   >H +2 "manipulator"&Y% +4 "core" % 5 !  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +160 "core" ( + "manipulator"&n& +5 "core" &   + "storage"([& +4 "core" &\ \  j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&T'} +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +60 "core" 1 + "manipulator"&% +5 "core" % Ά + "storage"(z& +4 "core" &\ \ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts + "manipulator"& 'ϲ +26 "core" ' +2 "manipulator"&\ & +5 "core" &   + "storage"(o& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +27 "core" ' +2 "storage"(c% +4 "core" %H\ 7\ 7\ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +98 (% +3 "core" %?\ \  u\ V^ +2 "manipulator"&~% +4 "core" %R ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & '\ +2 "manipulator"&}% +4 "core" %\    + "storage"(-% +4 "core" %b\ 6\ 6\ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(C(,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,i #\  +2 "manipulator"&_& +4 "core" & )  + .tElbow.seek 4 +2 "manipulator"&|( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,f\ \  ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\\'Ѽ +95 "core" ' + "storage"(& +5 "core" &,f\ 7\ 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +286 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" &,f\  p\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&3( +4 "core" ( + "manipulator"&%& +4 "core" & r  + "storage"(& +4 "core" &,f\ \  V\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&// +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& + "storage"(m'X +7 "core" &   +2 "manipulator"&% +3 "core" % -   +2 .tForearm.seek :retract +2 "manipulator"&4'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +153 "core" ( + "manipulator"& & +5 "core" &&  =G + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +4 &I& +3 "core" && " =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&D'" +100 "core" ' + "manipulator"&$& +4 "core" &&  2 =G +2 "manipulator"&+% +4 "core" %# D +2 "collection"'J& +4 "core" & )\ +2 "collection"'L& +5 "core" & 6\ +2 .tCC.seek :closed +2 "collection"'6(V +4 "core" & &\  +9 &0~ '\ +z +9 &d *\ > +9 &rv +\ N +10 &7Z -\ L +9 &] 2\ M +9 &[ 1\ M +10 &}\\ -\ L +9 &>[ .\ M +10 &Z &\ M +9 &[ -\ L +9 & ] -\ M +10 &"E[ +\ M +9 &$\\ '\ M +10 &%^ '\ M +9 &'Z '\ M +9 &)NZ $\ M +10 &+_ $\ M +9 &,Z &\ M +9 &.\\ *\ L +10 &0U] \ M +9 &2\\ !\ M +9 &3\\ %\ L +10 &5[ \ M +9 &7^[  \ M +10 &9!\\ \ L +9 &:] \ M +9 &<_ \ M +10 &>e] \ M +9 &@(\\ "\ M +10 &A[  \ M +9 &C] \ M +9 &Elb \ M +10 &G+j \ N +9 &H{ \ P +9 &J \ U +10 &LW "\ W +9 &N #\ V +9 &O \ X +10 &Q \ X +10 &SZ \ Y +9 &U \ Y +9 &VgC \ 1 +9 &V u \ G +6 ( + "collection"'L& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open + "manipulator"&`1 +4 "core" &V\\ \ G +32 "Can"\ LJ +23 "core" 1 +2 "manipulator"& % +4 "core" % # !  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&g'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%8& +4 "core" &\ + "manipulator"&G% +4 "core" %\  = 7 +2 "storage"(2% +3 "core" %U c\ +2 "storage"(y. +3 "core" .(,l +2 "storage"(,& +3 "core" &,f c\  +2 "storage"(>& +4 "core" &,f e\  +2 "manipulator"&F& +3 "core" && =F +2 "manipulator"&u% +3 "core" %\ !  2 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&B( +150 "core" ( + "manipulator"&U& +4 "core" &   + "storage"(7& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +92 "core" ' +2 "storage"(;& +4 "core" &,f V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +276 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,f +\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&S( +8 "core" ( + "manipulator"&M& +54 "core" &   +2 "storage"(W& +4 "core" &,f Q\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&)', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&V/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(E'X +8 "core" &  + "manipulator"&=% +4 "core" % = < b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +175 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&<& +5 "core" &g  +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &g   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +103 "core" ' +2 "manipulator"&!& +4 "core" &g e  +2 "manipulator"&% +4 "core" %  s +2 "processing"%1& +4 "core" &\ +2 "processing"%t& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &\  +8 &1\ *x +10 &b\ > +9 &t|\ N +9 &7[\ N +10 &`\ N +9 &_\ N +10 &}\\\ N +9 &@\\\ M +9 &^\ N +10 &`\ N +9 & ]\ N +9 &"G\\\ N +10 &$\ [\ M +9 &%^\ M +9 &'_\ M +10 &)P]\ M +9 &+]\ N +10 &,_\ N +9 &.`\ N +9 &0Wa\ N +10 &2`\ N +9 &3^\ N +9 &5]\ M +10 &7`\\\ M +9 &9!_\ N +10 &:Z\ N +9 &<\\\ N +9 &>h[\ M +10 &@)^\ N +9 &A\\\ N +9 &C]\ N +10 &Eo_\ N +9 &G.h\ O +10 &Hw\ P +9 &J\ S +9 &Le\ T +10 &N(\ S +9 &O\ S +9 &Q\ T +10 &Sl\ T +9 &U.\ T +10 &V\ T +9 &X\ T +9 &Z[\ %r +10 &Zg\ 3 +9 ( + &Z\ - +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&e1 +56 "core" 1 +2 "manipulator"&O% +4 "core" %  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' +2 "processing"%x& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&d% +4 "core" %\ #  9 +2 "storage"(% +3 "core" %W 1\ +2 "storage"(q. +3 "core" .(,l + "storage"(9& +4 "core" &,f #\  +2 "storage"(w& +2 "manipulator"&^& +7 "core" &,f "\  + &g x  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&s(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'i +26 "core" ( + "manipulator"&N& +4 "core" &n  R \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &n \ +2 .tForearm.seek PC +2 "manipulator"&A' +97 "core" ' +2 .tHand.close + "manipulator"&H/ +56 "core" / +3 .tPC.seek :open +2 "processing"%l( +64 "core" ' +2 "storage"(p- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(b'y +45 "core" ' +317 ( + "storage"(P& +4 "core" &,f \  +2 "manipulator"&"& +3 "core" &o  \ +2 "manipulator"&.% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&R( +247 "core" ( + "manipulator"&& +4 "core" &  !v +2 "storage"(*& +3 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' + .tHand.open +2 "manipulator"&Q1 +61 "core" 1 +2 "storage"(Y- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(n'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"('& +4 "core" &,f h e `\  + "manipulator"& & +4 "core" &  n +2 .tElbow.seek 4 + "manipulator"&( +19 "core" ( + "manipulator"&z& +4 "core" &   +2 "storage"(\ & +4 "core" &,f d n\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&o'Ѽ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(c' +58 "core" ' + "manipulator"&K& +4 "core" & ^  +2 "storage"(& +4 "core" &,f M\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&~' +35 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +22 "core" ' + "manipulator"&% +4 "core" % +2 "storage"( & +4 "core" &,f  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&}'@ +16 "core" ' +2 "manipulator"&-& +4 "core" &   +2 "storage"(& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +18 "core" ' + "storage"(% +5 "core" %q 4\ +2 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (j% +3 "core" %OG \ Wa + "manipulator"&% +4 "core" %Ѿ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,f \  +2 "collection"'& +4 "core" &V[ \ G + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\    + "storage"(% +4 "core" %^ \ + "storage"(i. +3 "core" .(,l +2 "storage"( & +4 "core" &,f Y\  +2 "storage"(v& +4 "core" &,f m\  + "manipulator"&& +4 "core" & 4  +2 .tElbow.seek 4 +2 "manipulator"&%( +3 "core" ( + "manipulator"&& +4 "core" & 5  + "storage"(/& +4 "core" &,f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +98 "core" ' +2 "storage"(& +4 "core" &,f #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'i +276 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 5  + "storage"(I& +4 "core" &,f \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&Z' +39 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"($- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(+'O +37 "core" ' +2 "manipulator"&J% +4 "core" % V + "storage"(3& +4 "core" &,f }  $\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&m'@ +18 "core" ' +2 "manipulator"&4& +4 "core" & 3  +2 "storage"(0& +3 "core" &,f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&`'Ѽ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '> +40 "core" ' +2 "manipulator"&8& +4 "core" & 2  +2 "manipulator"&G% +4 "core" %ѳ N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&y( +151 "core" ( +4 "manipulator"&,& +4 "core" &'  >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &&  >J +2 .tForearm.seek CC +2 "manipulator"&>'" +95 "core" ' + .tHand.close +2 "manipulator"&F/ +58 "core" / +2 .tCC.seek :open + "collection"'u( +420 "core" ( + "storage"(D& +4 "core" &,f Q\  +2 "storage"(U& +4 "core" &,f <\  + "manipulator"&7& +4 "core" &' , >I + "manipulator"&;% +4 "core" % +  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&g( +159 "core" ( +2 "manipulator"&@& +4 "core" &  w + "storage"(& +4 "core" &,f\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +105 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +54 "core" 1 +2 "manipulator"&V% +4 "core" % , K +2 "storage"(]& +4 "core" &,f >\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts + "manipulator"&='5 +16 "core" ' +3 "manipulator"&B& +4 "core" & =  +2 "storage"(& +3 "core" &,f\ \  ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&a'Ѽ +28 "core" ' + "storage"()% +5 "core" %A\ \  K\ +2 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (k% +3 "core" %A\ \  I\ U] +2 "manipulator"&S% +4 "core" %ѯ \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & /\ +2 "manipulator"&1% +4 "core" %\ " + < +2 "storage"(E% +3 "core" %X\ \  h\ +2 "storage"(?. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((( +654 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" & "\ +2 "manipulator"&O& +3 "core" & 0  +2 .tElbow.seek 2 + "manipulator"&x( +52 "core" ( +2 "manipulator"&d& +4 "core" & !  + "storage"(& +4 "core" & \ \  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +90 "core" ' +2 "storage"(9& +4 "core" & \ 6\ 6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'i +278 "core" ' + "storage"(^- +55 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" & \ +2 "manipulator"&N& +4 "core" & L  + .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&#& +3 "core" & g  +2 "storage"(H& +3 "core" & \ \  k\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"({'X +8 "core" &   + "manipulator"&h% +4 "core" %  2 N +2 .tForearm.seek :retract +2 "manipulator"&P'\ +97 "core" ' +3 .tElbow.seek CC + "manipulator"&"( +151 "core" ( + "manipulator"&.& +5 "core" ' + &(  ?S +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&A& +6 "core" &( #  ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 "manipulator"&*& +4 "core" &(  G ?S +2 "manipulator"&s% +3 "core" %&  +2 "collection"'Q& +4 "core" & ,\ +2 "collection"'Y& +5 "core" & -\ +2 .tCC.seek :closed +3 "collection"':(V +4 "core" & .\ +5 & 0\ 4 +9 &9G~ .\ 1 +10 &fs *\ E +9 & b -\ M +10 &] 0\ M +9 &\\ 3\ M +9 &U] .\ M +10 &\\ -\ M +9 &\\ 4\ L +9 &[ .\ M +10 &^[ /\ L +9 &!\\ 3\ M +10 &"] .\ M +9 &$] /\ M +9 &&fZ .\ L +10 &('\\ .\ M +9 &)] /\ M +9 &+Z )\ M +10 &-nZ '\ L +9 &//[ '\ M +10 &0_ &\ M +9 &2\\ $\ M +9 &4uY $\ M +10 &67Z &\ M +9 &7[  \ L +9 &9[ $\ L +10 &;}] #\ M +9 &=?\\ \ M +10 &?Z &\ M +9 &@] %\ M +9 &B_ !\ M +10 &DG^ \ M +9 &Fe \ N +9 &Gr \ O +10 &I| "\ P +9 &K8 \ U +10 &L \ W +9 &N \ W +9 &Pu \ W +10 &R7 \ X +9 &S \ Y +9 &U \ E +10 &V1 \ )z +9 &Vg \ F +2 ( +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&'1 +54 "core" 1 + "manipulator"& % +4 "core" % &   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&\ % +4 "core" %\    + "storage"(K% +4 "core" %U P\ +2 "storage"(. +3 "core" .( + "storage"(b& +4 "core" & 7\ +2 "storage"(& +4 "core" & G\ + "manipulator"& & +4 "core" &( # ?Q + "manipulator"&n% +4 "core" %\  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&-( +155 "core" ( + "manipulator"&& +4 "core" & @ +2 "storage"(& +4 "core" & %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +95 "core" ' + "storage"(& +4 "core" & M\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +281 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & -\ +2 "manipulator"&o& +3 "core" & t +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&c& +4 "core" &  + "storage"(~& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &  + "manipulator"&% +4 "core" % & Z +2 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&T(s +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"& & +4 "core" &|  E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &| d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +108 "core" ' + "manipulator"&& +4 "core" &|   +3 "manipulator"&/% +4 "core" %  O +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%r(Z +5 "core" &\ +7 &8\ $c +10 &U\ 7 +9 &~\ K +10 &_\ N +9 &_]\ M +9 &!]\ M +10 &`\ N +9 &_\ M +9 &fb\ N +10 &(^\ N +9 &\\\ N +10 &!Z\ M +9 &#n]\ N +9 &%0^\ N +10 &&_\ N +9 &(\\\ M +9 &*v\\\ N +10 &,8`\ N +9 &-\\\ N +10 &/Z\ N +9 &1[\ M +9 &3@_\ N +10 &5]\ N +9 &6_\ M +9 &8_\ M +10 &:J]\ M +9 &< _\ M +10 &=Y\ N +9 &?^\ M +9 &APY\ N +10 &C_\ N +9 &Da\ N +9 &Fi\ O +10 &HM~\ Q +9 &J \ S +10 &K\ T +9 &M\ T +10 &OO\ S +9 &Q\ T +9 &R\ T +9 &T\ T +10 &VT\ T +9 &X\ T +10 &Yzn\ 8 +9 &Z/\ H +9 &Z \ + +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +50 .Hand.open +3 "manipulator"&1 +59 "core" 1 + "manipulator"&_% +4 "core" %  O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 "processing"% & +4 "core" &Z \ + + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&I% +4 "core" %\  A  + "storage"($% +4 "core" %V \ + "storage"(J. +3 "core" .( +2 "storage"(3& +4 "core" & \ +2 "storage"(4& +3 "manipulator"&0& +6 "core" & L\ + &|   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&8(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'i +3 "core" ( + "manipulator"&5& +4 "core" &|   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &|   +2 .tForearm.seek PC +2 "manipulator"&|' +101 "core" ' +2 .tHand.close + "manipulator"&Z/ +55 "core" / +2 .tPC.seek :open + "processing"%m( +87 "core" ' +3 "storage"(+- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'y +45 "core" ' +287 ( + "storage"(L& +4 "core" & &\ +2 "manipulator"&`& +4 "core" &|  +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&2( +257 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(D& +4 "core" & ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +100 "core" ' + .tHand.open + "manipulator"&71 +55 "core" 1 +2 "storage"(;- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(@'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(y& +4 "core" & m c @\ +2 "manipulator"&W& +4 "core" & 6 + .tElbow.seek 2 +2 "manipulator"&V( +8 "core" ( + "manipulator"&]& +4 "core" &   +2 "storage"(B& +4 "core" & d Y \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +59 "core" ' +2 "manipulator"&&& +4 "core" &  +2 "storage"(k& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&S' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' +2 "manipulator"&=% +5 "core" % +2 "storage"(& +4 "core" & } \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&1' +12 "core" ' + "manipulator"&E& +4 "core" &   +2 "storage"(?& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +30 "core" ' + "storage"(a% +5 "core" %p /\ +2 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (C% +3 "core" %"C 9\ Wa +2 "manipulator"&e% +4 "core" %v U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O'\ +97 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +3 "core" & \ +2 "collection"'& +4 "core" &Ve 6\ F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&9% +4 "core" %\ %  C + "storage"(M% +4 "core" %Y g\ +2 "storage"(!. +3 "core" .( + "storage"(^& +4 "core" & \ + "storage"(t& +4 "core" & -\ +2 "manipulator"&N& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&#( +4 "core" ( + "manipulator"&H& +4 "core" & .  +2 "storage"(& +3 "core" & Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +99 "core" ' +2 "storage"(h& +4 "core" & 8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +282 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&.& +3 "core" &   +2 "storage"(A& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w' +32 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'W +28 "core" ' + "manipulator"&Q% +4 "core" % +2 "storage"(X& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&{' +13 "core" ' + "manipulator"&P& +4 "core" &   +2 "storage"(u& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( 'F +43 "core" ' +3 "manipulator"&& +4 "core" &   +2 "manipulator"&\ % +4 "core" %ф ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&b& +4 "core" &,   Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ u Bi +2 .tForearm.seek CC +2 "manipulator"&Y'" +96 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / + .tCC.seek :open +2 "collection"'n( +417 "core" ( + "storage"(& +4 "core" & }\ +2 "storage"(& +3 "core" & F\ +2 "manipulator"&& +3 "core" &, : Bh +2 "manipulator"&% +3 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&z( +161 "core" ( + "manipulator"&j& +4 "core" &   +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&o' +107 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&~1 +61 "core" 1 +2 "manipulator"&% +4 "core" % " E +2 "storage"(& +4 "core" & g\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&-& +4 "core" & A  + "storage"(R& +4 "core" & \ \ \ 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +22 "core" ' + "storage"(}% +4 "core" %H\ \ 3\ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (v% +2 "core" %A\ \  \ U^ +51 "manipulator"&% +4 "core" %ѭ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +86 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'/& +4 "core" & 0\ +2 "manipulator"&% +4 "core" %\    + "storage"(% +4 "core" %Z\ 6\ 6\ +2 "storage"(i. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(l( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & N\  +2 "manipulator"&_& +3 "core" & *  +2 .tElbow.seek 3 + "manipulator"&( +11 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(I& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +97 "core" ' +2 "storage"(J& +4 "core" &\ 5\ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'i +278 "core" ' +3 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" & \ \  +2 "manipulator"&5& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&%( +4 "core" ( + "manipulator"&& +4 "core" & x  + "storage"(Z& +4 "core" &\ \  u\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&+'ϩ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(r'X +7 "core" &   +2 "manipulator"&G% +4 "core" % ϧ  +2 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &$  ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &# x ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&6'" +94 "core" ' +2 "manipulator"&D& +4 "core" &$ \ ;5 +2 "manipulator"&8% +4 "core" % f +2 "collection"'7& +3 "core" & ;\ +3 "collection"';& +5 "core" & :\ +2 .tCC.seek :closed + "collection"'>(V +5 "core" & ?\  +9 &1 A\ *z +9 &f D\ ? +10 &v ?\ N +9 &H[ <\ L +10 & ] C\ M +9 &\\ <\ M +9 &[ <\ L +10 &P[ ?\ L +9 &\\ 6\ M +9 &_ :\ L +10 & ] ;\ M +9 &"W` /\ M +10 &$Z 9\ M +9 &%] 8\ L +9 &'[ ;\ L +10 &)`Z 6\ L +9 &+ _ +\ M +9 &,Y -\ M +10 &.Z 9\ M +9 &0g] *\ M +10 &2)] -\ M +9 &3Y +\ M +9 &5Z ,\ L +10 &7p[ 0\ L +9 &91Y +\ M +9 &:Z +\ M +10 &<] \ M +9 &>w_ \ M +10 &@:\\ &\ L +9 &A\\ +\ L +9 &C] '\ M +10 &E{e 5\ N +9 &G:r ,\ O +9 &H (\ Q +10 &J +\ V +9 &Lg -\ X +10 &N, *\ V +9 &O #\ X +10 &Q +\ X +9 &Sk 5\ Y +9 &U- +\ W +9 &Vi= $\ / +10 &V $\ I +5 ( +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&y1 +3 "core" &V` '\ I +53 1 +2 "manipulator"&W% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" &\ +2 "manipulator"&F% +4 "core" %\    +2 "storage"(&% +3 "core" %_ \ +2 "storage"(k. +3 "core" .( + "storage"(,& +4 "core" & \  + "storage"(=& +4 "core" & r\  +2 "manipulator"&& +4 "core" &" 9) + "manipulator"&@% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E( +162 "core" ( +2 "manipulator"&?& +4 "core" &  + "storage"(a& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +95 "core" ' +2 "storage"(U& +4 "core" & #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" & M\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&V( +3 "core" ( +2 "manipulator"&)& +4 "core" & N + "storage"(S& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(9'X +8 "core" &  + "manipulator"&M% +4 "core" % Ϙ   +2 .tForearm.seek :retract +2 "manipulator"&!'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&^& +4 "core" &n   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &n  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&N' +101 "core" ' +2 "manipulator"&H& +4 "core" &o  +2 "manipulator"&% +4 "core" %   +2 "processing"% & +3 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" &\  +9 &0\ *y +10 &c\ > +9 &uy\ N +9 &7\\\ N +10 &_\ N +9 &Z\ N +10 &}Z\ N +9 &@Y\ M +9 &\\\ N +10 &_\ N +9 & `\ M +9 &"H]\ M +10 &$ [\ M +9 &%`\ N +10 &'a\ N +9 &)O_\ N +9 &+_\ N +10 &,]\ M +9 &.\\\ M +9 &0X\\\ M +10 &2]\ N +9 &3]\ N +10 &5[\ N +9 &7`Y\ M +9 &9"\\\ M +10 &:[\ M +9 &<Z\ N +9 &>h]\ M +10 &@*]\ M +9 &AY\ N +9 &C]\ M +10 &Ela\ O +9 &G-j\ O +10 &H\ R +9 &J\ T +9 &Le\ T +10 &N(\ S +9 &O\ T +9 &Q\ T +10 &Sl\ T +9 &U-\ T +10 &V\ T +9 &X\ U +9 &Z]\ $o +10 &ZY\ , +9 ( + &Z\ ) +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&g1 +60 "core" 1 + "manipulator"&O% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +91 "core" ' +2 "processing"%.& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&A% +4 "core" %\  [  +2 "storage"(*% +3 "core" %U \ +2 "storage"(Q. +3 "core" .( + "storage"(X& +4 "core" & \  +2 "storage"(P& +4 "manipulator"&u& +4 "core" & <\  + &o = +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(\ 'i +5 "core" ( +2 "manipulator"&f& +4 "core" &o B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &o  +2 .tForearm.seek PC + "manipulator"&x' +94 "core" ' + .tHand.close +2 "manipulator"&w/ +53 "core" / +2 .tPC.seek :open + "processing"%{( +97 "core" ' + "storage"(s- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(b'y +46 "core" ' +278 ( + "storage"(& +4 "core" & }\  +2 "manipulator"&'& +4 "core" &o  + "manipulator"&p% +4 "core" % # 3 +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +253 "core" ( + "manipulator"&:& +54 "core" &   +3 "storage"(& +3 "core" & G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +102 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' +2 "storage"(& +4 "core" & c W\  + "manipulator"&~& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +8 "core" ( + "manipulator"&& +4 "core" & f  +2 "storage"(-& +4 "core" & s h T\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +62 "core" ' + "manipulator"&"& +4 "core" &  +2 "storage"(v& +4 "core" & @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +30 "core" ' + .tElbow.hold +2 "manipulator"&z, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +37 "core" ' + "manipulator"&/% +4 "core" %΃ T +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&'ϯ +12 "core" ' + "manipulator"&& +4 "core" & J  +2 "storage"(i& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +24 "core" ' +2 "storage"([% +4 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 ((% +2 "core" %A Z\ V_ +2 "manipulator"&% +4 "core" %U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & 4\  + "collection"'I& +4 "core" &V_ =\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&J% +4 "core" %\    +2 "storage"(c% +3 "core" %] 6\ +2 "storage"(. +3 "core" .( +2 "storage"(4& +3 "core" & 8\  +2 "storage"(0& +4 "core" & ^\  + "manipulator"&5& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&Z& +4 "core" & Z  +2 "storage"(T& +3 "core" & 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +94 "core" ' + "storage"(G& +4 "core" & ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 0  + "storage"(|& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&3'} +22 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'W +37 "core" ' +2 "manipulator"&7% +4 "core" %Ά  + "storage"(%& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts + "manipulator"&r'ϲ +21 "core" ' + "manipulator"&L& +4 "core" & <  +2 "storage"(n& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'F +40 "core" ' +2 "manipulator"&B& +4 "core" & ;  +2 "manipulator"&F% +4 "core" %! 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&k( +153 "core" ( +2 "manipulator"&,& +4 "core" && q =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" && =A +2 .tForearm.seek CC + "manipulator"&;'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'@( +417 "core" ( + "storage"(6& +4 "core" & 7\  + "storage"(?& +4 "core" & \ \  +2 "manipulator"&a& +3 "core" &&  =A +2 "manipulator"&U% +3 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&]( +158 "core" ( +2 "manipulator"&C& +4 "core" & - { + "storage"(e& +4 "core" &\ 6\ 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +54 "core" 1 +2 "manipulator"&d% +4 "core" % ΐ  +2 "storage"(& +4 "core" &\ \  ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&M'ϼ +20 "core" ' +2 "manipulator"&E& +4 "core" & ( { + "storage"(2& +4 "core" &\ \  P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(1% +4 "core" %K\ \  &\ +2 ."downElevator"SE.seek :down +4 "storage"(^'X +98 (t% +3 "core" %?\ \  q\ U] +2 "manipulator"&V% +4 "core" %o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & E\ +2 "manipulator"& % +4 "core" %\  "  + "storage"(9% +4 "core" %R\ 6\ 6\ +2 "storage"(!. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(m(,l +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" &,i 8\  + "manipulator"&O& +4 "core" &  { +2 .tElbow.seek 4 + "manipulator"&.( +4 "core" ( + "manipulator"&A& +5 "core" &  { + "storage"(*& +4 "core" &,g\ \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Q'Ѽ +99 "core" ' +2 "storage"(X& +4 "core" &,g\ \ 0 f\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +277 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &,g\ 8\  +2 "manipulator"&f& +4 "core" & F { + .tElbow.seek 4 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&N& +3 "core" & { +2 "storage"(w& +3 "core" &,g\ \  z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&s', +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"(<'X +56 "core" & { +2 "manipulator"&\ % +4 "core" % - P P +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +151 "core" ( + "manipulator"&p& +5 "core" &% { <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&x& + "storage"(5 +6 "core" &%  <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'" +102 "core" ' +3 "manipulator"&& +4 "core" &% # <9 +2 "manipulator"&% +4 "core" %  Z +2 "collection"'& +4 "core" & W\ +2 "collection"'& +6 "core" & G\ +2 .tCC.seek :closed +2 "collection"'Y(V +3 "core" & K\ +7 & - I\ $d +10 &X G\ 7 +9 & B\ L +9 &[ D\ M +10 &m] G\ M +9 &0Y 9\ L +11 &[ 8\ M +9 &] 0\ L +8 &u_ 8\ M +10 &7] ;\ M +9 &Z 4\ L +9 &!] )\ L +10 &#~\\ ,\ L +9 &%>_ 1\ M +10 &'Y .\ M +9 &(] +\ L +9 &*Y *\ M +10 &,HY 4\ L +9 &.\ [ -\ L +9 &/Z (\ M +10 &1[ &\ M +9 &3P] +\ L +9 &5Y (\ L +10 &6\\ \ L +9 &8Y (\ L +10 &:X\\ (\ L +9 &<] (\ L +9 &=\\ ,\ L +10 &?Z *\ M +9 &A_] !\ M +9 &C"_  \ L +10 &D` 3\ M +9 &Fh &\ N +10 &H`v (\ O +9 &J (\ S +9 &K !\ W +10 &M  \ X +9 &OO "\ X +9 &Q &\ W +10 &R \ Y +9 &T "\ X +10 &V.u  \ . +9 &V "\ M +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open + "manipulator"&1 +4 "core" &Vm %\ I +55 1 +2 "manipulator"&~% +4 "core" % N W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%-& +4 "core" &\ + "manipulator"& % +4 "core" %\    +2 "storage"("% +3 "core" %U u\ +2 "storage"(v. +3 "core" .(,l +2 "storage"(b& +3 "core" &,g r\  +2 "storage"(/& +4 "core" &,g k\  +2 "manipulator"&& +3 "core" &# * :0 +2 "manipulator"&j% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&i& +4 "core" & ?  + "storage"([& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&K'Ѽ +95 "core" ' +2 "storage"(& +4 "core" &,g :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +276 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,g R\  +2 "manipulator"&R& +4 "core" & 9  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &   + "storage"(& +4 "core" &,g \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&', +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(J'X +7 "core" & "  +2 "manipulator"&c% +4 "core" %  ) * +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&o(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&4& +5 "core" &p ! 0 " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +2 "core" &p  " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +93 "core" ' + "manipulator"&Z& +4 "core" &p  " +2 "manipulator"&T% +4 "core" %  + "processing"% & +4 "core" &\ +2 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"% (Z +3 "core" &\ +6 &9\ $c +10 &U\ 7 +9 &~~\ K +9 &_\ N +10 &ea\ N +9 &(_\ M +9 &\\\ M +10 &_\ N +9 &n_\ M +10 &/Y\ N +9 &_\ N +9 &!\\\ N +10 &#v\\\ M +9 &%7Z\ N +9 &&Y\ N +10 &(Z\ M +9 &*~[\ M +10 &,@\\\ M +9 &.Z\ N +9 &/[\ M +10 &1\\\ M +9 &3GY\ N +9 &5\ Y\ M +10 &6\\\ N +9 &8\\\ N +10 &:PZ\ M +9 &<_\ N +9 &=\\\ N +10 &?Y\ N +9 &AXY\ M +9 &C\\\ N +10 &Db\ N +9 &Fc\ O +10 &HXm\ P +9 &J\ R +10 &K\ T +9 &M\ T +9 &OV\ S +9 &Q\ T +10 &R\ T +9 &T\ T +10 &V[\ T +9 &X\ U +10 &Yzn\ 5 +9 &Z1\ F +9 &Z\ ) +2 ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&z1 +56 "core" 1 + "manipulator"&_% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +98 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&|% +4 "core" %\ #  < +2 "storage"(D% +3 "core" %U \ +2 "storage"(7. +3 "core" .(,l + "storage"(%& +4 "core" &,g \  +2 "storage"(L& +2 "manipulator"&n& +7 "core" &,g \  + &p  " +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&B(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(F'i +3 "core" ( + "manipulator"&\\& +4 "core" &p ! " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p  [ " +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&3/ +55 "core" / +7 .tPC.seek :open +2 "processing"%r( +86 "core" ' + "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'y +44 "core" ' +294 ( + "storage"(=& +4 "core" &,g -\  +2 "manipulator"&y& +3 "core" &p 5 " +2 "manipulator"&+% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +257 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"(6& +4 "core" &,g J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&?'Ѽ +99 "core" ' +2 .tHand.open + "manipulator"&a1 +57 "core" 1 +2 "storage"(U- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(C'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(k& +4 "core" &,g g q B\  + "manipulator"&S& +4 "core" & C +2 .tElbow.seek 4 +2 "manipulator"&d( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(E& +3 "core" &,g n d\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(1' +58 "core" ' +2 "manipulator"&`& +4 "core" & ' + "storage"(t& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&V' +37 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +22 "core" ' +2 "manipulator"&M% +4 "core" % m k +2 "storage"(& +4 "core" &,g \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"& '; +17 "core" ' +2 "manipulator"&9& +53 "core" & > +3 "storage"(!& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&W'Ѽ +28 "core" ' + "storage"(% +5 "core" %r 6\ +2 ."downElevator"SE.seek :down +4 "storage"(^'X +99 (l% +2 "core" %D j\ Va +2 "manipulator"&g% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (A& +4 "core" &,g \  +2 "collection"'*& +3 "core" &Vm A\ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&X% +4 "core" %\    +2 "storage"()% +4 "core" %c \ + "storage"(H. +4 "core" .(,l + "storage"(P& +4 "core" &,g \  + "storage"(h& +4 "core" &,g \  +2 "manipulator"&f& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&N( +4 "core" ( + "manipulator"&w& +4 "core" & ; + "storage"(& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&q'Ѽ +98 "core" ' + "storage"(\ & +5 "core" &,g\ I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'i +284 "core" ' +3 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" &  +2 "storage"(p& +4 "core" &,g M\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&x' +38 "core" ' + .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +31 "core" ' +2 "manipulator"&% +4 "core" % a + "storage"(#& +4 "core" &,g }\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&<'@ +17 "core" ' +2 "manipulator"&& +4 "core" & $ + "storage"(@& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(~'> +43 "core" ' +2 "manipulator"&-& +4 "core" & A +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +152 "core" ( +3 "manipulator"&b& +4 "core" & 5\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" & = 5\ +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'j( +420 "core" ( + "storage"(:& +5 "core" &,g \ E\  + "storage"(i& +4 "core" &,g \  '\  + "manipulator"&[& +4 "core" &  5\ + "manipulator"&% +4 "core" % #  +2 .tForearm.seek :retract + "manipulator"&''\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&(& +4 "core" & G | + "storage"(& +4 "core" &,g\ \  l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&R' +106 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"& % +4 "core" %  " = + "storage"(I& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&c'= +14 "core" ' +2 "manipulator"&& +4 "core" & o  +2 "storage"(K& +3 "core" &,g\ \  H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +21 "core" ' + "storage"(% +4 "core" %@\ 5\ 6\ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (0% +3 "core" %>\ \  l\ U\\ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +86 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'T& +4 "core" & 9\ + "manipulator"& % +4 "core" %\   +2 "storage"(J% +4 "core" %_\ 5\ 7\ + "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"({( +655 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +2 "core" & U\ +2 "manipulator"&_& +4 "core" & Y  +2 .tElbow.seek 2 + "manipulator"&( +31 "core" ( +2 "manipulator"&|& +4 "core" & d  +2 "storage"(D& +3 "core" & \ \  o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&7'ќ +96 "core" ' + "storage"(%& +4 "core" & \ 7\ 7\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'i +277 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & \  )\ + "manipulator"&\\& +4 "core" & M  +2 .tElbow.seek 2 + "manipulator"&( +18 "core" ( +2 "manipulator"&5& +4 "core" & g  +2 "storage"(3& +4 "core" & \ \  Y\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&8' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"( 'X +7 "core" & v  +2 "manipulator"&F% +4 "core" %   Q +2 .tForearm.seek :retract + "manipulator"&='\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +154 "core" ( + "manipulator"&+& +5 "core" ' + &' >M +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&& +6 "core" &' >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'" +93 "core" ' +2 "manipulator"&6& +4 "core" &'  >M + "manipulator"&B% +4 "core" %  +2 "collection"'a& +4 "core" & M\ +2 "collection"'U& +6 "core" & _\ +2 .tCC.seek :closed +2 "collection"';(V +4 "core" & R\ +8 & + L\ $c +9 &U K\ 7 +10 &~ L\ L +9 &Z K\ L +9 &b] J\ M +10 &%] H\ L +9 &_ D\ M +9 &] G\ M +10 &j\\ J\ M +9 &-Y F\ L +10 &Y A\ M +9 &!Z >\ L +9 &#s[ ;\ L +10 &%5\\ @\ L +9 &&Y =\ L +10 &(Z ;\ L +9 &*z] =\ M +9 &,<X <\ M +10 &-\\ ;\ M +9 &/] <\ M +9 &1^ ?\ M +10 &3DW =\ M +9 &5X =\ M +9 &6] A\ M +10 &8Z =\ M +9 &:MX <\ L +10 &<\\ <\ M +9 &=Z ;\ L +9 &?\\ <\ M +10 &AU] ;\ L +9 &C\\ ;\ M +9 &Db ;\ M +10 &Fh <\ N +9 &HTr =\ O +10 &J <\ S +9 &K <\ V +9 &M 9\ X +10 &OF =\ W +9 &Q >\ X +9 &R <\ X +10 &T =\ X +9 &V$u 8\ . +10 &V$ =\ O +8 ( +3 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&k1 +4 "core" &V] <\ G +49 1 + "manipulator"&S% +4 "core" %  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&% +4 "core" %\    +2 "storage"(`% +54 "core" %` \ + "storage"(t. +3 "core" .( +2 "storage"(M& +3 "core" & \ +2 "storage"(,& +4 "core" & \ + "manipulator"&& +4 "core" &&  =B +3 "manipulator"&C% +4 "core" %\  v  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&9( +157 "core" ( +2 "manipulator"&!& +4 "core" &   + "storage"(&& +4 "core" & _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +94 "core" ' +2 "storage"(& +4 "core" & \ \ i\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +277 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" & 3\ +2 "manipulator"&g& +4 "core" & 3  +2 .tElbow.seek 2 + "manipulator"&d( +3 "core" ( +2 "manipulator"&1& +3 "core" &   +2 "storage"(V& +4 "core" & r\ +2 .tForearm.seek 2 + 300 counts + "manipulator"& ' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&*& + "storage"(X'X +6 "core" & >  +2 "manipulator"&)% +4 "core" % @ ( +2 .tForearm.seek :retract + "manipulator"&H'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &{  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &{  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&f' +102 "core" ' +2 "manipulator"&w& +4 "core" &{  + "manipulator"&% +4 "core" %  +2 "processing"%W& +4 "core" &\ +2 "processing"%\ & +5 "core" &\ +2 .tPC.seek :closed + "processing"%^(Z +5 "core" &\ +7 &?\ $d +9 &T\ 7 +10 &\ K +9 &_\ M +10 &h]\ N +9 &*_\ N +9 &_\ N +10 &]\ M +9 &q\\\ M +9 &3[\ M +10 &^\ N +9 &!^\ N +10 &#x\\\ N +9 &%:Z\ N +9 &&^\ N +10 &(Y\ M +9 &*Z\ N +9 &,B^\ N +10 &.`\ N +9 &/^\ N +9 &1\\\ M +10 &3J^\ N +9 &5 \\\ N +10 &6Y\ M +9 &8[\ M +9 &:R]\ N +10 &<]\ N +9 &=Z\ M +9 &?_\ N +10 &AY\\\ N +9 &C]\ N +10 &Dd\ N +9 &Fj\ O +9 &HV}\ R +10 &J\ S +9 &K\ S +9 &M\ S +10 &OY\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &V_\ T +10 &X \ T +9 &Y{s\ 5 +9 &Z0\ I +10 &Z\ ( +2 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&]1 +55 "core" 1 +2 "manipulator"&O% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +99 "core" ' +2 "processing"%u& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&p% +4 "core" %\ "  ? + "storage"(% +4 "core" %` o\ +2 "storage"(. +3 "core" .( + "storage"(#& +4 "core" & \ +2 "storage"(& +4 "manipulator"&@& +4 "core" & \ +2 &{  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&-(s +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +3 "core" ( + "manipulator"&q& +4 "core" &{ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &{ ) +2 .tForearm.seek PC +2 "manipulator"&.' +95 "core" ' +2 .tHand.close + "manipulator"&x/ +56 "core" / +4 .tPC.seek :open + "processing"%<( +91 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +44 "core" ' +287 ( +2 "storage"(/& +4 "core" & 6\ + "manipulator"&& +4 "core" &{  + "manipulator"&s% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +258 "core" ( +2 "manipulator"&Y& +4 "core" &  + "storage"(:& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +98 "core" ' +2 .tHand.open + "manipulator"&[1 +64 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(('E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(v& +4 "core" & s s \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&I& +4 "core" & +2 "storage"(& +3 "core" & q q \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&'& +4 "core" & $ +2 "storage"(0& +4 "core" & 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(R'i +28 "core" ' +2 "manipulator"&T% +4 "core" %  + "storage"(c& +4 "core" & ~ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"& ' +12 "core" ' +2 "manipulator"&J& +4 "core" & \ +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +28 "core" ' + "storage"(% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (m% +3 "core" %n \ G +102 "storage"(z% +5 "core" %%> q\ U^ +2 "manipulator"&_% +4 "core" %џ  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +31 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (D& +4 "core" & \ + "collection"'%& +4 "core" &V] A\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&}% +4 "core" %\   ) + "storage"(Z% +4 "core" %V \ +2 "storage"(L. +2 "core" .( +2 "storage"(G& +4 "core" & \ + "storage"(\\& +4 "core" & \ + "manipulator"&5& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&3( +4 "core" ( + "manipulator"&o& +4 "core" &  +2 "storage"($& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +92 "core" ' +2 "storage"(& +4 "core" & :\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +277 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(n& +4 "core" & A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&8' +31 "core" ' + .tElbow.hold +2 "manipulator"&6, +54 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'W +28 "core" ' + "manipulator"&% +4 "core" % +2 "storage"( & +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&=' +13 "core" ' +2 "manipulator"&j& +4 "core" & q +2 "storage"(k& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&S'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(E'F +45 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&`% +4 "core" %u / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +151 "core" ( + "manipulator"&M& +4 "core" &'   >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &' ? >O +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&C/ +61 "core" / +2 .tCC.seek :open + "collection"'>( +420 "core" ( + "storage"(!& +5 "core" & \ + "storage"(&& +4 "core" & \ + "manipulator"&& +4 "core" &' . >O + "manipulator"&y% +4 "core" % & S +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&2( +154 "core" ( +2 "manipulator"&l& +4 "core" & 9  +2 "storage"(g& +3 "core" & \ \  I\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&1' +105 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&A1 +53 "core" 1 +2 "manipulator"&*% +4 "core" % " ' +2 "storage"()& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&9' +15 "core" ' +3 "manipulator"&?& +4 "core" & &  + "storage"(e& +4 "core" & \ \  1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +25 "core" ' +2 "storage"(% +4 "core" %F\ \  2\ +7 ."downElevator"SE.seek :down +4 "storage"(h'X +99 (d% +2 "core" %>\ \  4\ U] +2 "manipulator"&w% +4 "core" %ѹ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'W& +4 "core" & 9\ +2 "manipulator"&X% +4 "core" %\ " ' = + "storage"(H% +4 "core" %`\ \  \ +2 "storage"(r. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(]( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +3 "core" & \  +2 "manipulator"&u& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&p( +13 "core" ( + "manipulator"&& +5 "core" & d  + "storage"(& +4 "core" &\ \  o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +104 "core" ' +2 "storage"(\ & +4 "core" &\ 7\ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &\ \ L\  + "manipulator"&N& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&f( +3 "core" ( +2 "manipulator"&x& +3 "core" &  +2 "storage"(& +4 "core" &\ \  C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"( 'X +7 "core" &  + "manipulator"&/% +4 "core" % ϫ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&s( +153 "core" ( + "manipulator"&.& +6 "core" &(  ?T + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&Y& +6 "core" &(   ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'" +101 "core" ' +3 "manipulator"&-& +4 "core" &( *  ?T +2 "manipulator"&[% +4 "core" %* ! E +2 "collection"'& +4 "core" & K\ +2 "collection"'& +5 "core" & a\ +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" & L\  +9 &1~ L\ *x +9 &c K\ > +9 &rt L\ M +10 &6X K\ L +9 &[ K\ M +10 &\\ L\ M +9 &{\\ K\ M +9 &=\\ H\ M +10 &\\ E\ M +9 &Z H\ M +9 & Z I\ L +10 &"F[ I\ L +9 &$Z ;\ L +10 &%[ <\ L +9 &'] =\ M +9 &)N\\ 2\ L +10 &+Z 8\ L +9 &,Z .\ M +9 &.\\ 0\ M +10 &0U\\ 6\ M +9 &2\\ 7\ M +10 &3\\ 1\ L +9 &5Y ,\ L +9 &7]] -\ M +10 &9\\ .\ M +9 &:^ /\ M +9 &<` 7\ M +10 &>f[ 9\ L +9 &@'] 2\ M +10 &AY 5\ L +9 &C] ;\ M +9 &Ekb ;\ M +10 &G)p 6\ O +9 &H 8\ Q +9 &J 8\ W +10 &LW ;\ W +9 &N 2\ W +10 &O 6\ X +9 &Q /\ X +9 &SY :\ Y +10 &U <\ Y +9 &VeC ;\ 1 +9 &V{ 7\ I +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&1 +4 "core" &Vi 2\ I +52 1 +3 "manipulator"&I% +4 "core" % * $ D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&'% +4 "core" %\  ! ' $ + "storage"(0% +4 "core" %a \ +2 "storage"(b. +3 "core" .( + "storage"(T& +4 "core" & \  + "storage"(c& +4 "core" & \  +2 "manipulator"&(& +3 "core" &' , >N +2 "manipulator"&J% +3 "core" %\  0 $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"("& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +115 "core" ' +2 "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +277 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" & \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&z( +3 "core" ( + "manipulator"&_& +4 "core" &   + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(%'X +8 "core" &   + "manipulator"&}% +4 "core" % Ͼ  Q +2 .tForearm.seek :retract + "manipulator"&Z'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&L(s +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +106 "core" ( + "manipulator"&G& +4 "core" &s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &s  +51 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&5' +98 "core" ' + "manipulator"&o& +5 "core" &t  + "manipulator"&$% +4 "core" % .  +2 "processing"%& +4 "core" &\ +2 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(Z +4 "core" &\  +8 &1\ *y +10 &c\ > +9 &xy\ N +10 &:Z\ N +9 &_\ N +9 &\\\ N +10 &Z\ M +9 &C[\ M +9 &_\ N +10 &_\ M +9 & ]\ M +10 &"J_\ N +9 &$ ]\ M +9 &%\\\ M +10 &'`\ N +9 &)R_\ N +9 &+]\ N +10 &,Y\ M +9 &.]\ M +10 &0ZZ\ N +9 &2\\\ N +9 &3Y\ M +10 &5Z\ M +9 &7b]\ N +9 &9$]\ N +10 &:Y\ M +9 &<[\ N +10 &>k]\ M +9 &@,[\ N +9 &AY\ M +10 &C]\ N +9 &Epc\ N +9 &G/j\ O +10 &H\ Q +9 &J\ S +10 &Li\ S +9 &N+\ S +10 &O\ S +9 &Q\ S +9 &So\ T +9 &U1\ T +10 &V\ T +10 &X\ U +9 &Z"]\ #k +9 &ZY\ , +9 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&1 +4 "core" &Z\ ) +51 1 + "manipulator"&|% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+'\ +101 "core" ' +2 "processing"%& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&n% +4 "core" %\   +2 "storage"(B% +3 "core" %V e\ +2 "storage"(. +3 "core" .( + "storage"( & +4 "core" & `\  +2 "storage"(j& +4 "manipulator"&k& +4 "core" & \  + &t  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&`(s +5 "core" ( + "manipulator"&F& +4 "core" &t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &t % +3 .tForearm.seek PC + "manipulator"&7' +92 "core" ' + .tHand.close + "manipulator"&8/ +57 "core" / +3 .tPC.seek :open + "processing"%=( +91 "core" ' + "storage"(a- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(M'y +43 "core" ' +289 ( + "storage"(,& +4 "core" & E\  + "manipulator"&S& +4 "core" &t 5 +2 "manipulator"&6% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&C'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&U( +238 "core" ( + "manipulator"&;& +5 "core" & , + "storage"(!& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(t& +4 "core" & S Q 9\  +2 "manipulator"&A& +3 "core" &  + +2 .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( + "manipulator"&)& +4 "core" & + +2 "storage"(?& +4 "core" & V L F\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&& +5 "core" & ( + + "storage"(d& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&w'} +21 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(1'i +27 "core" ' + "manipulator"&9% +5 "core" %΁  + "storage"(W& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&X'ϭ +13 "core" ' +2 "manipulator"&H& +4 "core" & + +2 "storage"(r& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +24 "core" ' + "storage"( % +5 "core" %q *\ +2 ."downElevator"SE.seek :down +4 "storage"(h'X +99 ({% +2 "core" %;F 2\ Wb +2 "manipulator"&O% +4 "core" %=  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +3 "storage"(5 +2 (& +4 "core" & \  +2 "collection"'& +4 "core" &Vj ?\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\ % +4 "core" %\ " 6 A +2 "storage"(V% +3 "core" %b \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & l\  +2 "storage"(q& +3 "core" & V\  +2 "manipulator"&N& +3 "core" & ! + +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( + "manipulator"&& +4 "core" &  + +2 "storage"(Q& +3 "core" & ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +100 "core" ' +2 "storage"(/& +4 "core" & -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +283 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +2 "core" &  + +2 "storage"(Y& +4 "core" & G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&@'} +27 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(-- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['W +40 "core" ' + "manipulator"&f% +5 "core" %΃ \\ + "storage"(& +4 "core" & G\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"& 'ϯ +12 "core" ' + "manipulator"&& +5 "core" & c + + "storage"(>& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(I'F +40 "core" ' + "manipulator"&& +4 "core" &  + +2 "manipulator"&'% +4 "core" %0 ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +158 "core" ( + "manipulator"&T& +4 "core" &   1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &   1 +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&(/ +57 "core" / +2 .tCC.seek :open + "collection"'J( +417 "core" ( + "storage"(:& +4 "core" &\ \  <\  +2 "storage"(& +4 "core" & G\  + "manipulator"&"& +4 "core" &   1 + "manipulator"&% +4 "core" % 0 " +3 .tForearm.seek :retract + "manipulator"&s'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +157 "core" ( + "manipulator"&K& +4 "core" & P  +2 "storage"( & +51 "core" &\ 8\ 7\  +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +99 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&R% +4 "core" % Ώ + "storage"(D& +4 "core" &\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&}'ϻ +20 "core" ' + "manipulator"&& +5 "core" &   + "storage"(i& +4 "core" &\ \  k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&m'9 +17 "core" ' +2 "storage"( % +4 "core" %N\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(G'X +98 (\\% +3 "core" %?\ \  \ U] +2 "manipulator"&z% +4 "core" %%  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +86 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'$& +4 "core" & K\ +2 "manipulator"&% +4 "core" %\  .  + "storage"(%% +4 "core" %S\ 6\ 6\ +2 "storage"(Z. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(<(,l +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,l (\  +2 "manipulator"&|& +4 "core" & -  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&n& +4 "core" &   + "storage"(B& +4 "core" &,i\ \  i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +97 "core" ' + "storage"( & +5 "core" &,i\ 1\ 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +277 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &,i\ s\  +2 "manipulator"&F& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&3( +3 "core" ( + "manipulator"&5& +4 "core" &  +2 "storage"(8& +3 "core" &,i\ \  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&+& + "storage"(4'X +7 "core" &   +2 "manipulator"&% +4 "core" %  C  +2 .tForearm.seek :retract + "manipulator"&,'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&6& +4 "core" &' 8  >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &' / >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'" +99 "core" ' + "manipulator"&!& +4 "core" &(  >I +2 "manipulator"&`% +4 "core" %  +2 "collection"'& +3 "core" & \\\ +2 "collection"'y& +5 "core" & O\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & S\ +8 &4 R\ $d +9 &W S\ 7 +10 &~ N\ L +9 &Y V\ M +10 &oX L\ M +9 &2\\ O\ L +9 &Y Q\ M +10 &\\ T\ L +9 &w] M\ M +9 &9[ K\ M +10 &X I\ M +9 &!] K\ M +10 &#] I\ M +9 &%@\\ I\ M +9 &'W J\ L +10 &(Y H\ L +9 &*\\ ?\ M +9 &,IZ A\ M +10 &. W B\ L +9 &/Z =\ L +10 &1[ ;\ L +9 &3Q\\ 9\ M +9 &5\\ C\ L +10 &6\\ @\ M +9 &8Y :\ M +9 &:ZW <\ L +10 &<[ <\ M +9 &=] <\ L +9 &?Z <\ L +10 &AaX =\ M +9 &C#Y ;\ M +10 &D] ;\ M +9 &Fe <\ N +9 &Har <\ O +10 &J <\ S +9 &K <\ W +9 &M <\ X +10 &OQ <\ X +10 &Q =\ X +9 &R <\ X +9 &T <\ Y +9 &V/t =\ . +10 &V :\ O +9 ( + &Vi ;\ I +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&t1 +55 "core" 1 + "manipulator"&A% +4 "core" %  4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%?& +4 "core" &\ +2 "manipulator"&C% +4 "core" %\  8 + "storage"(% +4 "core" %T \ + "storage"(d. +3 "core" .(,l +2 "storage"(9& +4 "core" &,i \  +2 "storage"(W& +4 "core" &,i \  + "manipulator"&M& +4 "core" &' M >I + "manipulator"&H% +4 "core" %\   8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&r( +161 "core" ( + "manipulator"&l& +5 "core" &  t + "storage"( & +4 "core" &,i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&U'Ѽ +97 "core" ' + "storage"(&& +4 "core" &,i @\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +285 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" &,i _\  +2 "manipulator"&e& +3 "core" &  t +2 .tElbow.seek 4 +2 "manipulator"&*( +3 "core" ( + "manipulator"&& +4 "core" & t + "storage"(w& +4 "core" &,i \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&X', +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(\ 'X +6 "core" & " t +2 "manipulator"&V% +3 "core" % :  F +2 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&& +4 "core" &n "  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &n (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&N' +99 "core" ' + "manipulator"&& +4 "core" &n 4  +2 "manipulator"&Q% +4 "core" %  + "processing"%E& +4 "core" &\ +2 "processing"%/& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &\  +9 &1~\ *x +10 &a\ = +9 &nz\ N +9 &0[\ N +10 &_\ N +9 &^\ N +9 &w\\\ M +10 &9\\\ M +9 &]\ M +10 &Z\ N +9 & [\ M +9 &"@Z\ N +10 &$Z\ M +9 &%\\\ N +9 &'_\ N +10 &)I\\\ M +9 &+ \\\ M +9 &,]\ N +10 &._\ N +9 &0O\\\ N +10 &2Z\ M +9 &3]\ N +9 &5Y\ M +10 &7X\\\ N +9 &9\\\ N +10 &:Z\ M +9 &<^\ N +9 &>aX\ M +11 &@"\\\ N +10 &A\\\ N +7 &C\\\ N +10 &Eg_\ N +9 &G&g\ O +9 &Hu\ Q +10 &J\ S +10 &L^\ T +9 &N"\ S +9 &O\ S +9 &Q\ T +10 &Sf\ T +9 &U'\ T +10 &V\ T +9 &X\ T +9 &Zb\ $p +10 &Z\\\ - +8 ( +3 "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&21 +4 "core" &Z\ ) +54 1 + "manipulator"&u% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +91 "core" ' +2 "processing"%.& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Y% +4 "core" %\  ;  +2 "storage"(-% +4 "core" %a \  + "storage"(f. +3 "core" .(,l +2 "storage"(& +3 "core" &,i \  +2 "storage"(& +2 "manipulator"&>& +7 "core" &,i \  + &n   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +51 "storage"(''i +4 "core" ( + "manipulator"&^& +4 "core" &n '  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &n j  +2 .tForearm.seek PC +2 "manipulator"&p' +99 "core" ' + .tHand.close +2 "manipulator"&@/ +58 "core" / +2 .tPC.seek :open +2 "processing"% ( +86 "core" ' +2 "storage"([- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'y +44 "core" ' +291 ( +2 "storage"(c& +4 "core" &,i \  + "manipulator"&& +4 "core" &n #  +2 "manipulator"&P% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&('\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +257 "core" ( +2 "manipulator"&v& +4 "core" &   +2 "storage"(:& +3 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +91 "core" ' + .tHand.open + "manipulator"&"1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(b& +4 "core" &,i q q\  +2 "manipulator"&& +3 "core" & O  +2 .tElbow.seek 4 +2 "manipulator"&R( +4 "core" ( + "manipulator"&D& +4 "core" & ?  +2 "storage"(& +4 "core" &,i p g \  +2 .tForearm.seek 4 + 700 counts + "manipulator"&i'Ѽ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' + "manipulator"&s& +4 "core" &   +2 "storage"(\\& +4 "core" &,i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z' +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' + "manipulator"&$% +5 "core" % o + "storage"(}& +4 "core" &,i =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +13 "core" ' +2 "manipulator"&%& +4 "core" & 4  +2 "storage"(Z& +4 "core" &,i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&I'Ѽ +28 "core" ' + "storage"(m% +5 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +98 (]% +3 "core" %U@ d\ V` +2 "manipulator"&% +4 "core" % & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" &,i \  +2 "collection"'B& +4 "core" &Vj @\ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"& % +3 "core" %\  >  +2 "storage"(_% +4 "core" %a \ + "storage"(o. +3 "core" .(,l +2 "storage"(k& +3 "core" &,i \  +2 "storage"(j& +4 "core" &,i *\  +2 "manipulator"&F& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&5( +4 "core" ( + "manipulator"&8& +4 "core" &   +2 "storage"(L& +3 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&+'Ѽ +95 "core" ' + "storage"(& +4 "core" &,i\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & \  +2 "storage"(7& +3 "core" &,i 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&~' +38 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(!- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(`'O +28 "core" ' +2 "manipulator"&% +4 "core" % + k + "storage"(3& +4 "core" &,i b\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&4'< +16 "core" ' + "manipulator"&,& +4 "core" &  +2 "storage"(J& +4 "core" &,i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +28 "core" ' + .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'> +40 "core" ' +2 "manipulator"&?& +4 "core" & &  + "manipulator"&C% +4 "core" %Ѷ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +158 "core" ( +3 "manipulator"&9& +4 "core" &*   @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +2 "core" &)  # @Z +2 .tForearm.seek CC +2 "manipulator"&W'" +95 "core" ' +2 .tHand.close + "manipulator"&M/ +60 "core" / + .tCC.seek :open +2 "collection"'H( +420 "core" ( + "storage"(;& +4 "core" &,i C\  +2 "storage"(l& +4 "core" &,i \  +2 "manipulator"& & +3 "core" &* @Y +2 "manipulator"&&% +3 "core" %  / +2 .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&)( +162 "core" ( + "manipulator"&{& +67 "core" & A p + "storage"(O& +4 "core" &,i\ \  &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&e' +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +61 "core" 1 +2 "manipulator"&% +5 "core" %  & ; p + "storage"(& +4 "core" &,i \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&V': +16 "core" ' +2 "manipulator"&r& +4 "core" &  } + "storage"(U& +4 "core" &,i\ \  A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&g'Ѽ +17 "core" ' +2 "storage"(X% +4 "core" %G\ 7\ 6\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (q% +3 "core" %C\ \  \ V^ +2 "manipulator"&*% +4 "core" %Ѽ t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Q& +4 "core" & <\ + "manipulator"&E% +4 "core" %\  . +2 "storage"(\ % +4 "core" %Y\ \ 1 ^\ + "storage"(1. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(=( +655 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" & \  +\ +2 "manipulator"&u& +3 "core" &  } +2 .tElbow.seek 2 +2 "manipulator"&.( +53 "core" ( +50 "manipulator"&Y& +6 "core" &  + "storage"(-& +4 "core" & \ 8\ 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +96 "core" ' +2 "storage"(& +4 "core" & \ 5\ 7 "\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (/& +2 "core" & \ \ *\ +2 "manipulator"&^& +3 "core" & & +2 .tElbow.seek 2 +2 "manipulator"&x( +7 "core" ( + "manipulator"&N& +5 "core" &  + "storage"(@& +4 "core" & \ \  "\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(h'X +7 "core" & -  +2 "manipulator"&'% +4 "core" %  1 +2 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&P& +5 "core" &(  ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &(  ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&v'" +91 "core" ' +2 "manipulator"&:& +4 "core" &( u ?U +2 "manipulator"&% +4 "core" %'  +2 "collection"'"& +5 "core" & Z\ +2 "collection"'& +5 "core" & W\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & [\  +9 &2} W\ )w +9 &d V\ > +10 &st N\ M +9 &7W O\ L +10 &] K\ M +9 &Z L\ L +9 &}Y L\ L +10 &=Z K\ M +9 &\\ F\ L +9 &\\ J\ L +10 & Y J\ M +9 &"E\\ M\ M +10 &$Y H\ L +9 &%[ J\ L +9 &'] I\ L +10 &)N[ F\ L +9 &+] F\ L +9 &,\\ D\ L +10 &.] D\ L +9 &0V] J\ L +10 &2] B\ L +9 &3\\ ?\ M +9 &5Z >\ L +10 &7^X ?\ L +9 &9!W K\ L +9 &:] =\ M +10 &<] A\ M +9 &>fX =\ L +10 &@(Z =\ L +9 &A] =\ L +9 &CZ <\ M +10 &Em_ =\ M +9 &G+k <\ N +9 &Hr =\ O +10 &J ;\ R +9 &LZ <\ V +9 &N :\ V +10 &O ;\ W +9 &Q :\ W +10 &S[ <\ X +9 &U C\ Y +9 &VfB =\ 0 +10 &V u ;\ G +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&b1 +4 "core" &Ve ;\ G +53 1 + "manipulator"&% +4 "core" % ' @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&(% +4 "core" %\    +2 "storage"(s% +4 "core" %b o\ + "storage"(\\. +3 "core" .( +2 "storage"(T& +4 "core" &  r\ + "storage"($& +4 "core" &  f\ +2 "manipulator"&}& +3 "core" &( !  ?S +2 "manipulator"&K% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%( +155 "core" ( + "manipulator"&Z& +5 "core" &   + "storage"(m& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +95 "core" ' +2 "storage"(& +4 "core" & \ X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  \ +2 "manipulator"&i& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&R( +4 "core" ( + "manipulator"& & +4 "core" & I  +2 "storage"(z& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"( 'X +8 "core" &   + "manipulator"&_% +4 "core" %  ( U +2 .tForearm.seek :retract +2 "manipulator"&o'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(s +102 "Can"\ US +52 "core" ' + ."downElevator"SE.stop + "storage"(5 +110 "core" ( +3 "manipulator"&& +5 "core" &s  b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &s  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +96 "core" ' + "manipulator"&8& +4 "core" &t i +2 "manipulator"&L% +4 "core" %  7 +2 "processing"%I& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +5 "core" &\ +7 &@\ %g +9 &W\ 8 +9 &~\ L +10 &Z\ M +9 &y`\ N +9 &;\\\ N +10 &Y\ N +9 &[\ N +10 &Z\ M +9 &E\\\ M +9 & `\ M +10 &!_\ M +9 &#_\ N +9 &%L\\\ M +10 &'Y\ M +9 &(Z\ M +10 &*\\\ N +9 &,S\\\ N +9 &.]\ N +10 &/\\\ N +9 &1[\ N +9 &3\\\\\ M +10 &5Y\ M +9 &6]\ M +10 &8\\\ N +9 &:d\\\ M +9 &<&^\ M +10 &=]\ N +9 &?\\\ M +9 &AmZ\ M +10 &C-_\ N +9 &D`\ N +10 &Fj\ O +9 &Hg\ R +9 &J&\ S +10 &K\ S +9 &M\ S +9 &Oj\ S +10 &Q+\ T +9 &R\ T +10 &T\ T +9 &Vp\ T +9 &X0\ U +10 &Yzn\ - +9 &Z)n\ E +9 &Z!\ - +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&|% +4 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%6& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&7% +4 "core" %\ # $ < +2 "storage"(!% +3 "core" %b \  +2 "storage"(. +3 "core" .( + "storage"(3& +4 "core" &  \ +2 "storage"(,& +4 "manipulator"&J& +4 "core" &  \ + &t  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 "manipulator"&?(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(C'i +2 "core" ( +2 "manipulator"&+& +4 "core" &t " v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &t  +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&~/ +56 "core" / +2 .tPC.seek :open + "processing"%4( +94 "core" ' + "storage"(`- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +38 "core" ' +292 ( + "storage"(y& +4 "core" &  ,\ +2 "manipulator"&t& +3 "core" &t 2 +2 "manipulator"&a% +3 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&M'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +251 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(;& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +100 "core" ' + .tHand.open +2 "manipulator"& 1 +52 "core" 1 +2 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"({' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(d& +4 "core" &  r s\ + "manipulator"&w& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &   +52 "storage"(r& +4 "core" &  g n \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(X' +57 "core" ' +2 "manipulator"&S& +4 "core" & ,  +2 "storage"(q& +3 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&*' +34 "core" ' +3 .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'i +25 "core" ' + "manipulator"&Q% +5 "core" % + "storage"(V& +4 "core" &  } H\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&E' +13 "core" ' +2 "manipulator"&\ & +4 "core" & K  +2 "storage"(1& +4 "core" &  *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&A'ќ +29 "core" ' + "storage"(g% +5 "core" %s 8\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (<% +3 "core" %AF B\ Wa +2 "manipulator"&2% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +96 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &  (\ +2 "collection"'-& +4 "core" &Vd &\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ !  + "storage"(% +4 "core" %[ \ +2 "storage"(. +3 "core" .( + "storage"(>& +4 "core" &  \ + "storage"(/& +4 "core" &  \ +2 "manipulator"&^& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&N( +4 "core" ( +2 "manipulator"&@& +4 "core" & 8  + "storage"([& +4 "core" &  )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +103 "core" ' + "storage"('& +5 "core" & \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'i +284 "core" ' + "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & /  +2 "storage"(p& +4 "core" &  u\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +39 "core" ' +2 "manipulator"&"% +4 "core" %  \\ + "storage"(x& +4 "core" &  ^\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&h' +14 "core" ' + "manipulator"&c& +4 "core" & n  +2 "storage"(H& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +40 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&(% +4 "core" %ѐ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +153 "core" ( + "manipulator"&T& +4 "core" &( $ F ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &( ?S +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&}/ +57 "core" / +2 .tCC.seek :open +2 "collection"'K( +416 "core" ( + "storage"(v& +4 "core" &  \ +2 "storage"(Z& +4 "core" &  \ + "manipulator"&m& +4 "core" &(  ?S + "manipulator"&% +4 "core" % 4  * +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +151 "core" ( +2 "manipulator"&]& +4 "core" &   + "storage"(& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&i' +105 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&z1 +59 "core" 1 +2 "manipulator"&n% +4 "core" % % c +2 "storage"(B& +3 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&_' +15 "core" ' +2 "manipulator"&%& +4 "core" & h  +2 "storage"(0& +4 "core" & \ \  u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +47 "core" ' +2 "storage"(% +4 "core" %K\ \  "\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (j% +3 "core" %@\ \ U^ +2 "manipulator"&R% +4 "core" %ў * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'L& +4 "core" & @\ +2 "manipulator"&I% +3 "core" %\  2 +2 "storage"( % +4 "core" %S\ \ \ + "storage"(o. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & )\  + "manipulator"&|& +4 "core" & 0  + .tElbow.seek 3 +2 "manipulator"&6( +14 "core" ( +2 "manipulator"&7& +4 "core" & j ~ + "storage"(!& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +106 "core" ' +2 "storage"(3& +4 "core" &\ 5\ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +277 "core" ' +2 "storage"(,- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & \  3\  +2 "manipulator"&+& +3 "core" & a ~ +2 .tElbow.seek 3 +2 "manipulator"&5( +3 "core" ( + "manipulator"&F& +4 "core" & @ ~ + "storage"(~& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&`'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(G'X +7 "core" &  ~ + "manipulator"&C% +4 "core" % Ϩ < +2 .tForearm.seek :retract +2 "manipulator"&y'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&a& +4 "core" &"  9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &"  9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +2 "manipulator"&;& +4 "core" &"  9& +2 "manipulator"&?% +4 "core" % +2 "collection"' & +4 "core" & ]\ +2 "collection"'&& +5 "core" & c\ +2 .tCC.seek :closed +56 "collection"'O(V +6 "core" & M\ + & \\\ + & R\ + & V\ + & Y\ + & ^\ + & M\  +3 &.y T\ *y +9 &e Q\ > +9 &t V\ M +10 &EY G\ L +9 &X H\ M +10 &Z D\ M +9 &[ E\ L +9 &MW Y\ L +10 &Y L\ L +9 &\\ J\ L +9 & ] K\ M +10 &"TZ F\ M +9 &$W N\ L +10 &%X M\ M +9 &'Z I\ M +9 &)^V K\ L +10 &+\\ K\ L +9 &,\\ M\ M +9 &.Z H\ L +10 &0dX C\ M +9 &2'Z F\ L +10 &3\\ A\ L +9 &5V K\ L +9 &7mV @\ L +10 &9/U G\ L +9 &:X C\ M +9 &<] =\ M +10 &>tZ H\ M +9 &@7\\ =\ L +10 &A] >\ M +9 &C_ ?\ M +10 &E{b <\ M +9 &G7m <\ O +9 &H~ <\ Q +9 &J A\ V +10 &Le ;\ W +9 &N' >\ W +10 &O =\ X +9 &Q =\ X +10 &Sh =\ Y +9 &U) A\ Y +9 &Vo@ =\ 1 +9 &Vp <\ J +6 ( + "collection"'&& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&d1 +4 "core" &V_ ;\ J +59 1 + "manipulator"&w% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&r% +4 "core" %\ ! 1 0 +2 "storage"(S% +3 "core" %c \ +2 "storage"(q. +3 "core" .( + "storage"(9& +4 "core" & \  +2 "storage"(W& +3 "core" & z\  +2 "manipulator"&Q& +4 "core" & H 8" +2 "manipulator"&V% +3 "core" %\ ! K 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\ ( +161 "core" ( + "manipulator"&1& +5 "core" &  b + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +95 "core" ' +2 "storage"(l& +4 "core" & =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'i +286 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" & \  +2 "manipulator"&U& +4 "core" &  b +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&X& +3 "core" & ] b +2 "storage"(*& +4 "core" & K\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"('X +7 "core" &  b +2 "manipulator"&e% +3 "core" % ϖ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&>& +5 "core" &u t +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&^' +98 "core" ' + "manipulator"&@& +5 "core" &u  + "manipulator"&[% +4 "core" %  +2 "processing"%A& +4 "core" &\ +2 "processing"%'& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\ +8 &8\ $c +10 &U\ 7 +9 &\ L +9 &\\\ M +10 &b[\ N +9 &%Z\ M +9 &\\\ M +10 &]\ N +9 &k_\ M +10 &-Y\ M +9 &\\\ M +9 &!Y\ M +10 &#sZ\ M +9 &%5^\ M +9 &&Y\ M +10 &(Y\ N +9 &*z\\\ N +10 &,=]\ M +9 &-^\ M +9 &/Y\ M +10 &1X\ M +9 &3EY\ M +9 &5Y\ N +10 &6\\\ N +9 &8\\\ M +10 &:NZ\ M +9 &<[\ N +9 &=Z\ N +10 &?[\ N +9 &AVX\ M +9 &C_\ N +10 &Db\ N +9 &Fh\ O +10 &HTx\ P +9 &J\ S +10 &K\ S +9 &M\ S +9 &OR\ T +9 &Q\ T +10 &R\ T +9 &T\ T +10 &VY\ T +9 &X\ T +9 &Yzn\ 7 +10 &Z.\ K +9 &Z\ * +2 ( +2 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&)1 +59 "core" 1 +2 "manipulator"&u% +4 "core" % \\ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 "processing"%P& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&p% +4 "core" %\    + "storage"(:% +4 "core" %] z\ + "storage"(". +3 "core" .( +2 "storage"(x& +4 "core" & \  +2 "storage"(c& +2 "manipulator"&H& +7 "core" & U\  + &u  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(('i +3 "core" ( + "manipulator"&#& +4 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &u  +2 .tForearm.seek PC + "manipulator"&.' +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%h( +98 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'y +45 "core" ' +280 ( + "storage"($& +4 "core" & `\  +2 "manipulator"&b& +4 "core" &u \ + "manipulator"&% +4 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&}'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +262 "core" ( +2 "manipulator"&& +4 "core" &  r + "storage"(v& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +97 "core" ' + .tHand.open +2 "manipulator"&m1 +55 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(]'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\\& +4 "core" & k p \  + "manipulator"&z& +4 "core" &  r +2 .tElbow.seek 3 + "manipulator"&n( +8 "core" ( +2 "manipulator"&B& +4 "core" & # l +2 "storage"(%& +3 "core" & d h U\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&& +4 "core" & F l +2 "storage"(j& +3 "core" & h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'} +21 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +24 "core" ' +2 "manipulator"&_% +4 "core" %Ώ ,  +2 "storage"(L& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&I'ϻ +27 "core" ' +3 "manipulator"& & +4 "core" & m l +2 "storage"(o& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +32 "core" ' +2 "storage"( % +4 "core" %q G\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (=% +3 "core" %F B\ Vb + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +86 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (7& +4 "core" & r\  + "collection"'!& +4 "core" &V_ 6\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&3% +4 "core" %\  =  +2 "storage"( % +54 "core" %S \ +2 "storage"(8. +3 "core" .( +2 "storage"(,& +4 "core" & \  + "storage"(& +4 "core" & <\  + "manipulator"&+& +4 "core" &  l +2 .tElbow.seek 3 + "manipulator"&F( +4 "core" ( + "manipulator"&~& +4 "core" &  l +2 "storage"(k& +3 "core" & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' +2 "storage"(C& +4 "core" & \  R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" & 5 l +2 "storage"(& +3 "core" & 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&J'} +29 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(;- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(?'W +37 "core" ' + "manipulator"& % +5 "core" %΂ G + "storage"(5& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&G'Ϯ +20 "core" ' + "manipulator"&y& +5 "core" & W l + "storage"(K& +4 "core" & f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'F +42 "core" ' +2 "manipulator"&M& +5 "core" &  l + "manipulator"&r% +4 "core" %U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&q( +156 "core" ( +2 "manipulator"&9& +4 "core" && Z =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" && ] =D +2 .tForearm.seek CC +2 "manipulator"&W'" +92 "core" ' + .tHand.close +2 "manipulator"&Q/ +59 "core" / +2 .tCC.seek :open +2 "collection"'V( +419 "core" ( +2 "storage"(& +4 "core" & \  \  +2 "storage"(1& +3 "core" & H\  +2 "manipulator"&& +4 "core" &% <9 + "manipulator"&l% +4 "core" % , r +2 .tForearm.seek :retract + "manipulator"&t'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&<& +4 "core" &  y +2 "storage"(2& +4 "core" &\ \  y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&U'} +93 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +62 "core" 1 +2 "manipulator"&Y% +5 "core" % ·  + "storage"(-& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts + "manipulator"&e'ϳ +23 "core" ' +2 "manipulator"&\ & +5 "core" & y + "storage"(g& +4 "core" &\ 4\ * +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +22 "core" ' +2 "storage"(E% +4 "core" %J\ 7\ 6\ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (/% +2 "core" %?\ \  l\ V^ +2 "manipulator"&% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'[& +4 "core" & ]\ +2 "manipulator"&A% +4 "core" %\  =  + "storage"(% +4 "core" %T\ 6\ 6\ +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(4(,l +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +2 "core" &,i {\  +2 "manipulator"&u& +4 "core" & y + .tElbow.seek 4 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&p& +3 "core" & z y +2 "storage"(:& +4 "core" &,g\ \  F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&"'Ѽ +88 "core" ' + "storage"(x& +4 "core" &,g\ 7\ 4 \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'i +277 "core" ' +3 "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &,g\ \  \  + "manipulator"&#& +4 "core" & 1 y +2 .tElbow.seek 4 + "manipulator"&N( +3 "core" ( +2 "manipulator"&^& +4 "core" & Y y + "storage"(& +4 "core" &,g\ \  S\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"('X +7 "core" & o y +2 "manipulator"&(% +3 "core" % ; [ d +2 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&& +4 "core" &- +  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &- : Cr +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&v& +4 "core" &- B Cr + "manipulator"&% +4 "core" %  j +2 "collection"'m& +4 "core" & _\ +2 "collection"'& +5 "core" & R\ +2 .tCC.seek :closed + "collection"'(V +5 "core" & R\ +7 &4 N\ $c +10 &U P\ 7 +9 &{ G\ K +10 &T Q\ L +9 &bX J\ M +9 &%Z K\ L +10 &\\ @\ L +9 &\\ S\ L +9 &k[ @\ L +10 &-W G\ L +9 &W F\ L +10 &!X L\ L +9 &#sY K\ L +9 &%5\\ ?\ L +10 &&[ H\ L +9 &(Z L\ L +9 &*zZ I\ M +10 &,<Z M\ M +9 &-X K\ M +10 &/Z J\ M +9 &1Z J\ M +9 &3EY K\ L +10 &5V J\ L +9 &6W J\ L +9 &8Z L\ L +10 &:LY J\ M +9 &<] N\ L +10 &=X K\ L +9 &?Y ?\ L +9 &AU\\ I\ L +10 &C\\ J\ L +9 &D\\ C\ M +9 &Fc D\ N +10 &HUr H\ O +9 &J <\ S +10 &K C\ V +9 &M <\ X +9 &OD >\ X +10 &Q B\ X +9 &R D\ X +9 &T C\ Y +10 &V%w H\ . +9 &V& <\ T +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&\\1 +3 "core" &Vk @\ J +58 1 +2 "manipulator"&z% +5 "core" %  * c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%%& +4 "core" &\ + "manipulator"&}% +4 "core" %\ # : +2 "storage"(% +3 "core" %T \ +2 "storage"(j. +3 "core" .(,l + "storage"(_& +4 "core" &,g \  + "storage"(T& +4 "core" &,g \  +2 "manipulator"&L& +4 "core" &-  Cr + "manipulator"&]% +4 "core" %\ # . : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +166 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"( & +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&s'Ѽ +98 "core" ' + "storage"(Z& +4 "core" &,g [\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +274 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +52 "storage"(#QK-0-\ b +3 (& +2 "core" &,g \  +2 "manipulator"&0& +4 "core" & P  +2 .tElbow.seek 4 + "manipulator"&n( +3 "core" ( +2 "manipulator"&& +4 "core" & \  + "storage"(R& +4 "core" &,g \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&I', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(3'X +6 "core" &   + "manipulator"& % +4 "core" % * O ] +2 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&,& +4 "core" &p  C  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+' +99 "core" ' +2 "manipulator"&~& +4 "core" &p   +2 "manipulator"&k% +4 "core" %  +2 "processing"%& +4 "core" &\ +2 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +6 "core" &\ +6 &9\ #b +9 &U\ 7 +9 &\ L +10 &]\ M +9 &g`\ M +9 &)Z\ M +10 &Z\ M +9 &[\ N +10 &oY\ M +9 &0Y\ N +9 &\\\ N +10 &!Y\ M +9 &#v_\ N +10 &%8\\\ N +9 &&]\ M +9 &(Y\ M +10 &*~X\ N +9 &,@Z\ N +9 &.Y\ M +10 &/Y\ M +9 &1Y\ M +9 &3H[\ N +10 &5 ]\ M +9 &6Y\ M +10 &8W\ M +9 &:QZ\ M +9 &<\\\ N +10 &=X\ M +9 &?]\ M +9 &AY\\\ M +10 &C]\ N +9 &D_\ N +10 &Fb\ N +9 &HZl\ P +9 &J\ R +10 &K\ S +9 &M\ S +9 &OW\ S +10 &Q\ T +9 &R\ T +10 &T\ T +9 &V^\ T +9 &X\ T +10 &Y{r\ 4 +9 &Z*}\ N +9 &Z\ , +3 ( + "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&D1 +56 "core" 1 +2 "manipulator"&|% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + "processing"%a& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ %   I +2 "storage"(;% +4 "core" %a $\ + "storage"( . +3 "core" .(,l +2 "storage"(5& +3 "core" &,g \  +2 "storage"(y& +4 "manipulator"&K& +4 "core" &,g \  + &p 1  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(M'i +3 "manipulator"&r(s +3 "core" ( + "manipulator"&& +4 "core" &p  *  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &p  /  +2 .tForearm.seek PC +2 "manipulator"&6' +96 "core" ' + .tHand.close + "manipulator"&J/ +55 "core" / +3 .tPC.seek :open + "processing"%G( +93 "core" ' + "storage"(?- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'y +38 "core" ' +292 ( + "storage"(&& +4 "core" &,g 6\  +2 "manipulator"&d& +4 "core" &p   + "manipulator"&`% +4 "core" % L +2 .tForearm.seek :retract + "manipulator"&Q'\ +99 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&S( +237 "core" ( + "manipulator"&O& +4 "core" & C M +2 "storage"(& +3 "core" &,g c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&1'Ѽ +93 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(W- +3 "core" -' +2 "storage"(q& +4 "core" &,g h d _\  + "manipulator"&*& +4 "core" &  L + .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( + "manipulator"&-& +5 "core" &  L + "storage"(\ & +4 "core" &,g P P i\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&g'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(E' +58 "core" ' + "manipulator"&t& +4 "core" & 4 L +2 "storage"(/& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +37 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +24 "core" ' + "manipulator"&e% +5 "core" % j n + "storage"([& +4 "core" &,g }  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&A'< +15 "core" ' +2 "manipulator"&& +4 "core" & W M +2 "storage"(& +4 "core" &,g ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts + "manipulator"&w'Ѽ +24 "core" ' + "storage"({% +5 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +98 ( % +3 "core" %h> \ V_ +2 "manipulator"&)% +4 "core" %Ѯ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +85 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (p& +4 "core" &,g 0\  +2 "collection"':& +3 "core" &Vj R\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&x% +3 "core" %\  2  +2 "storage"(X% +4 "core" %S \ + "storage"(@. +4 "core" .(,l + "storage"(H& +4 "core" &,g \  +2 "storage"('& +3 "core" &,g @\  +2 "manipulator"&#& +4 "core" & . M +2 .tElbow.seek 4 + "manipulator"&^( +3 "core" ( +2 "manipulator"&& +4 "core" &  M + "storage"(& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&f'Ѽ +97 "core" ' + "storage"((& +5 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'i +276 "core" ' +3 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  M + "storage"(.& +4 "core" &,g m\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&c' +38 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(v- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +28 "core" ' + "manipulator"&m% +5 "core" % ] N + "storage"(N& +4 "core" &,g d\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts + "manipulator"&'; +15 "core" ' + "manipulator"&$& +4 "core" & F M +2 "storage"(V& +4 "core" &,g ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&\\'Ѽ +28 "core" ' + .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(z'> +45 "core" ' + "manipulator"&%& +4 "core" &  M +2 "manipulator"&}% +4 "core" %ѷ  +50 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +150 "core" ( + "manipulator"&_& +4 "core" &(   ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( G ?T +2 .tForearm.seek CC +2 "manipulator"&T'" +92 "core" ' +2 .tHand.close + "manipulator"&L/ +58 "core" / +2 .tCC.seek :open +2 "collection"']( +416 "core" ( +2 "storage"(& +5 "core" &,g "\  + "storage"(o& +4 "core" &,g \  + "manipulator"& & +4 "core" &(  ?S + "manipulator"&Z% +4 "core" % 4 6 +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&B( +161 "core" ( + "manipulator"&=& +4 "core" &  r +2 "storage"(& +4 "core" &,g\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&0' +107 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +64 "core" 1 +2 "manipulator"&7% +4 "core" % ! 5 +2 "storage"(!& +4 "core" &,g )\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"& '9 +14 "core" ' + "manipulator"& & +4 "core" & a  +2 "storage"(s& +4 "core" &,g\ 6\ 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +23 "core" ' +2 "storage"(I% +4 "core" %A\ 6\ 6\ +2 ."downElevator"SE.seek :down +3 "storage"(,'X +99 (% +3 "core" %A\ \  n\ U^ +2 "manipulator"&n% +4 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +38120 "Can"\ 31w +60003 \ 31z +60002 \ 30q +20565 #t-> exit +5 #mEXIT @1663194518.87EDT @1663247162.58EDT = =tMAIN =mMAIN_scheduler @EDT1663247164.46 #"core_reset"Sent BREAK +2 #t@24696 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +387 "Can"\ c + \ c + #tPolling Can every 10:00 +13 #Cleanly exited at 18:28:38EDT14-Sep-22 +577 #-> ESP.ready! +3 #Powering core bus +556 .Gate.power :raw,:ON +2 "sampler") +13 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %'\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ ~\ }  +2 .tSS.configure :default +2 "sampler")#.0X +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +4 "storage"( & +3 "core" & i  +2 .tSC.configure :loose +2 "storage"($.\ 1~b +2 ( % +3 "core" % g + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +2 "core" +2 .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'% +2 "processing"%% +4 "core" % \ + "manipulator"&% +4 ."rdySampler"Intake.select :close +4 .Exhaust.select :close +2 .CTV.dial :air + "collection"'  +3 "core" %)\ + % [ + +2 ."rdyProcessing"PSV.dial :air +3 "manipulator"&% + ."rdySampler"CSV.dial :waste1 +4 "processing"%  +2 "collection"' +5 "core" % y +3 ."rdyProcessing"PS.reconfigure :default +3 .tForearm.reconfigure :loose +2 "processing"%#A d`xb +4 "manipulator"&#@2^d^b +3 ."rdyProcessing"PS.home.seek 0ml +2 .tForearm.home.seek :retract +2 "processing"%' + "manipulator"&'\ +28 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  + "sampler")  +5 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +3 "collection"'#d @b +3 "sampler")#.0X require 'shuffle.rb' +1619 #-> 3.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"';& +3 "core" & \  +2 .tHand.open + "manipulator"&<1 +60 "core" 1 + "manipulator"&=% +4 "core" % \  e +2 "storage"(>% +3 "core" %Q\ 7\ 7 ;\ +2 "storage"(?. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(@( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +2 "core" & N\ +2 "manipulator"&B& +4 "core" & !u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&C( +28 "core" ( + "manipulator"&D& +4 "core" &  \ +2 "storage"(E& +3 "core" & \ B\ D f\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +95 "core" ' + "storage"(G& +5 "core" & \ E\ E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +277 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" & \  A\ +2 "manipulator"&K& +4 "core" & \ +37 .tElbow.seek 2 +8 "manipulator"&L( +7 "core" ( + "manipulator"&M& +5 "core" & g + "storage"(N& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'X +7 "core" & f +2 "manipulator"&S% +4 "core" %  p  +2 .tForearm.seek :retract + "manipulator"&T'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&V& +4 "core" && - t =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &&   =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'" +102 "core" ' +2 "manipulator"&Y& +5 "core" &' $ u =D + "manipulator"&Z% +5 "core" %$ p + "collection"'[& +5 "core" & \  +2 "collection"'\\& +5 "core" & \  +2 .tCC.seek :closed + "collection"'](V +5 "core" & W\  +7 &L \ %g +9 &}V \ 8 +9 & \ M +10 &[ \ N +9 &Tb #\ N +10 &] \ N +9 &^  \ N +9 &] 8\ N +10 &^^ \ N +9 & ] \ N +9 &` \ N +10 &!_ \ N +9 &#e] \ N +10 &%'_  \ N +9 &&]  \ N +9 &(\\ \ N +10 &*n` F\ N +9 &,1] \ M +9 &-] }\ N +10 &/] \ N +9 &1u^ \ N +10 &39\\ \ M +9 &4_ \ N +9 &6^ \ N +10 &8~` \ N +9 &:?] \ N +9 &<_ \ N +10 &=` \ N +9 &?_ \ N +9 &AI] \ M +10 &C\ ` \ N +9 &De \ N +10 &Fl \ O +9 &HGx \ Q +9 &J \ S +10 &K \ V +9 &My \ X +9 &O; \ X +10 &P \ X +9 &R \ Y +10 &Tz \ Z +9 &Vu \ / +9 &V* \ P +9 ( +2 &V_ \ D + "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open + "manipulator"&^1 +59 "core" 1 +2 "manipulator"&_% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +4 "core" &P\  +2 "manipulator"&b% +4 "core" %\  / * + "storage"(c% +4 "core" %U Q\ +2 "storage"(d. +3 "core" .( + "storage"(e& +5 "core" & \ + "storage"(f& +4 "core" & \ + "manipulator"&g& +4 "core" & & ' <> +2 "manipulator"&h% +4 "core" %\  w * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +155 "core" ( + "manipulator"&j& +5 "core" & + "storage"(k& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +100 "core" ' + "storage"(m& +4 "core" & \ M\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +287 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" & C\ +2 "manipulator"&q& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" & b +2 "storage"(t& +4 "core" & T\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&u' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& + "storage"(x'X +7 "core" & [ +2 "manipulator"&y% +4 "core" %  [  +2 .tForearm.seek :retract + "manipulator"&z'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&|& +4 "core" &h 1 ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +2 "core" &h ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +93 "core" ' + "manipulator"&& +5 "core" &h ; + "manipulator"&% +4 "core" % ? ! +2 "processing"%& +3 "core" &E\  +3 "processing"%& +4 "core" &E\  +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &B\  +7 &J=\ %g +10 &oWE\ 8 +9 &@\ M +9 &_D\ N +10 &Ca:\ O +9 &`@\ N +9 &`2\ O +10 &]0\ N +9 &M`-\ N +10 &`3\ N +9 &a0\ N +9 &!_0\ N +10 &#T`.\ N +9 &%_1\ N +9 &&_0\ N +10 &(_2\ N +9 &*]^/\ N +10 &,_0\ N +9 &-^0\ N +9 &/_0\ N +10 &1d_0\ N +9 &3&[0\ N +9 &4^1\ O +10 &6^0\ N +9 &8l]0\ N +9 &:.`0\ N +10 &;_0\ N +9 &=^'\ O +10 &?u^/\ N +9 &A6^0\ N +9 &B]&\ N +10 &Dc0\ O +9 &Fxk'\ P +9 &H40\ R +10 &I0\ T +9 &K)\ T +10 &Ms \ T +9 &O6#\ T +9 &P"\ T +10 &R\ T +9 &Ty\ U +9 &V;\ U +10 &W"\ U +9 &Yz#\ 5 +10 &Z-n!\ P +9 &Z""\ - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +5 "core" %  T ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%& +4 "core" &Z 9\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\  # \ +2 "storage"(\ % +3 "core" %a H\ +2 "storage"( . +3 "core" .( + "storage"( & +4 "core" & U\ +2 "storage"( & +4 "manipulator"&& +4 "core" & \ + &h ` ; +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&(s +2 "storage"('i +18 "core" ( + "manipulator"&& +4 "core" &i " u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i '  +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +79 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +38 "core" ' +306 ( + "storage"(& +5 "core" & \ + "manipulator"&& +4 "core" &i  + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +242 "core" ( +2 "manipulator"&%& +4 "core" &  / $ + "storage"('& +4 "core" & 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +97 "core" ' +2 .tHand.open + "manipulator"&)1 +60 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +45 "core" ' +3 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" & } } \ + "manipulator"&.& +4 "core" & $ +2 .tElbow.seek 2 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +3 "core" & $ +2 "storage"(1& +4 "core" & } } \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(3' +59 "core" ' + "manipulator"&4& +4 "core" & $ +2 "storage"(5& +4 "core" & z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6' +33 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +23 "core" ' + "manipulator"&9% +5 "core" %  + "storage"(:& +5 "core" & !\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&;' +12 "core" ' + "manipulator"&<& +5 "core" & J # + "storage"(=& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&>'ќ +27 "core" ' + "storage"(?% +5 "core" %s f\  +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (A% +3 "core" %pG U\ Wd +2 "manipulator"&B% +4 "core" %ђ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & \ +2 "collection"'G& +4 "core" &V^ \ D + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&$% +4 "core" %\   + "storage"(&% +4 "core" %] 8\ +2 "storage"(I. +3 "core" .( + "storage"(J& +4 "core" & E\ + "storage"(K& +4 "core" & @\ +2 "manipulator"& & +4 "core" & # + .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +3 "core" & p # +2 "storage"(P& +4 "core" & .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +94 "core" ' +2 "storage"(S& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +41 .tSE.seek :beamBreak +11 "storage"(C'i +286 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & # + "storage"(W& +5 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +38 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'W +28 "core" ' + "manipulator"&L% +5 "core" % ) ^ + "storage"([& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 300 counts + "manipulator"&R' +21 "core" ' + "manipulator"&T& +4 "core" & # +2 "storage"(+& +4 "core" & k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(_'F +44 "core" ' + "manipulator"&a& +5 "core" & # + "manipulator"&b% +5 "core" %Ѩ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +145 "core" ( +2 "manipulator"&\\& +4 "core" &' $ ? >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" && J >N +2 .tForearm.seek CC +2 "manipulator"&f'" +95 "core" ' + .tHand.close +2 "manipulator"&g/ +56 "core" / +2 .tCC.seek :open + "collection"'h( +420 "core" ( + "storage"(X& +4 "core" & \ +2 "storage"(j& +3 "core" & \ +2 "manipulator"&k& +3 "core" &#  Z 9' +2 "manipulator"&m% +4 "core" % 4  + .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +156 "core" ( + "manipulator"&o& +5 "core" & ; + "storage"(p& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q' +108 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +61 "core" 1 + "manipulator"&v% +5 "core" % 3 - + "storage"(w& +4 "core" & i\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&y' +12 "core" ' + "manipulator"&i& +4 "core" & +2 "storage"(l& +4 "core" & \ !\ !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +31 "core" ' + "storage"(u% +5 "core" %I\ %\ 6 G\ +2 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (}% +3 "core" %B\ \  (\ V` +2 "manipulator"&r% +4 "core" %z , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&% +3 "core" %\ ! 8 +2 "storage"(x% +4 "core" %b\ !\ " \ + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & y\  + "manipulator"&& +5 "core" & + .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"& & +4 "core" & +2 "storage"(\ & +4 "core" &\ \  1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +96 "core" ' +2 "storage"( & +4 "core" &\ 5\ B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &\ \ 5\  + "manipulator"&& +4 "core" & ` +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" &  +2 "storage"(& +3 "core" &\ \  "\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" & + "manipulator"&% +5 "core" % ϰ +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&& +5 "core" &' R o >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &'  >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +96 "core" ' + "manipulator"&'& +4 "core" &( %  >J +2 "manipulator"&% +4 "core" %*  +2 "collection"')& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"',(V +4 "core" & \  +10 &1 \ *x +9 &b \ > +10 &mv \ N +9 &0[ \ M +9 &^ \ M +10 &Z \ M +9 &t` \ N +9 &8Y \ M +10 &[ \ M +9 &[ \ M +10 & }_ \ N +9 &"?_ \ N +9 &$] \ N +10 &%] \ M +9 &'Y \ N +9 &)HY \ M +10 &+\ \\ \ M +9 &,] \ N +10 &.^ \ N +9 &0PZ \ M +9 &2Z \ M +10 &3Z \ N +9 &5] \ M +9 &7X_ \ M +10 &9X \ M +9 &:[ \ M +10 &<] \ M +9 &>__ \ N +9 &@"^ \ M +10 &A_ \ N +9 &C^ \ N +9 &Edf \ O +10 &G#p \ P +9 &H \ R +10 &J \ W +9 &LR \ W +9 &N \ X +10 &O \ Y +9 &Q \ X +9 &SU \ Y +10 &U \ Z +9 &VcD \ 1 +9 &Vz \ H +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&-1 +3 "core" &Va \ H +56 1 + "manipulator"&.% +5 "core" % * + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +4 "core" &E\ +2 "manipulator"&% +3 "core" %\  q - +2 "storage"(4% +4 "core" %U o\ + "storage"(5. +3 "core" .( +2 "storage"(9& +3 "core" & \  +2 "storage"(:& +4 "core" & \  + "manipulator"&& +5 "core" &%   <@ + "manipulator"&<% +4 "core" %\  y - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=( +159 "core" ( +2 "manipulator"&& +4 "core" & L  +2 "storage"(?& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +95 "core" ' + "storage"((& +4 "core" & \ E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +286 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & \  + "manipulator"&2& +4 "core" & \\  +2 .tElbow.seek 3 + "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +3 "core" & w  +2 "storage"(6& +3 "core" & ;\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"($'X +7 "core" & \   +2 "manipulator"&&% +3 "core" % Ϥ { +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&J& +4 "core" &v 2 N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +4 "core" &v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&N& +4 "core" &v T +2 "manipulator"&P% +4 "core" % + "processing"%>& +5 "core" &Q\ +2 "processing"%S& +5 "core" &=\ +2 .tPC.seek :closed + "processing"%!(Z +4 "core" &;\ +8 & 8<\ $d +10 &T,\ 7 +9 &~.\ L +10 &`&\ N +9 &`c(\ N +9 &#`.\ N +10 &_0\ N +9 &]1\ N +9 &j_1\ N +10 &,_0\ N +9 &_1\ N +9 &!_0\ N +10 &#r_0\ N +9 &%4_0\ N +10 &&_0\ N +9 &(]&\ N +9 &*y]0\ N +10 &,;]0\ N +9 &-_*\ N +9 &/]0\ N +10 &1_0\ N +9 &3B]0\ N +10 &5]*\ N +9 &6Z/\ N +9 &8\\0\ N +10 &:J]+\ N +9 &< ]%\ N +9 &=](\ N +10 &?]"\ N +9 &AS]"\ N +10 &C_\ O +9 &Dd\ O +9 &Fh \ O +10 &HQz\ Q +9 &J \ T +9 &K\ T +10 &M\ T +9 &OR!\ T +10 &Q\ T +9 &R\ T +9 &T!\ T +10 &VV"\ U +9 &X'\ U +9 &Yyp\ 8 +10 &Z/$\ I +9 &Z"\ ) +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&71 +55 "core" 1 + "manipulator"&D% +5 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 "processing"%V& +4 "core" &Z"\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %\  U  +40 "storage"(Y% +14 "core" %c \ + "storage"(L. +3 "core" .( +2 "storage"([& +3 "core" & \  +2 "storage"(T& +2 "manipulator"&+& +8 "core" & \  + &v " +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&a(s + "storage"(b'i +5 "core" ( +2 "manipulator"&Q& +3 "core" &v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &v +2 .tForearm.seek PC +2 "manipulator"&C' +98 "core" ' + .tHand.close +2 "manipulator"&H/ +58 "core" / +3 .tPC.seek :open + "processing"%R( +89 "core" ' + "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\\'y +43 "core" ' +288 ( +2 "storage"(e& +4 "core" & \  + "manipulator"&^& +4 "core" &v +2 "manipulator"&O% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&g'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +254 "core" ( +2 "manipulator"&]& +4 "core" &  + "storage"(X& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +91 "core" ' +2 .tHand.open + "manipulator"&k1 +53 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(p' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' +2 "storage"(d& +3 "core" & v u :\  +2 "manipulator"&t& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&v( +8 "core" ( + "manipulator"&w& +4 "core" &  +2 "storage"(i& +4 "core" & v v p\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&l'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(u' +65 "core" ' + "manipulator"&U& +4 "core" &  +2 "storage"(}& +4 "core" & h\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&r'} +20 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +24 "core" ' +2 "manipulator"&y% +4 "core" %Ώ + "storage"(& +4 "core" & 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +18 "core" ' +2 "manipulator"&x& +4 "core" &   +2 "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +26 "core" ' + "storage"(n% +5 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (@% +3 "core" %F \ Wc +2 "manipulator"&% +4 "core" %{ m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & \  + "collection"'\ & +4 "core" &V` \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\   + "storage"(s% +4 "core" %b \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & \  +2 "storage"( & +3 "core" & |\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"({& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +88 "core" ' +2 "storage"(& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +29 "core" ' +2 "manipulator"&)% +4 "core" %| | H +2 "storage"(& +3 "core" & ^\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 299 counts +2 "manipulator"&'Ϩ +12 "core" ' + "manipulator"&& +5 "core" & 8  + "storage"(h& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'F +40 "core" ' +2 "manipulator"&1& +4 "core" &  + "manipulator"&% +5 "core" %b ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +164 "core" ( +2 "manipulator"&9& +5 "core" &* @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* @\\ +2 .tForearm.seek CC +2 "manipulator"&:'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'<( +416 "core" ( + "storage"(%& +4 "core" & \  +2 "storage"(& +3 "core" & \  +2 "manipulator"&?& +4 "core" &*  h @\\ + "manipulator"&(% +4 "core" % 8 # ] +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&0( +158 "core" ( + "manipulator"&A& +5 "core" &  + "storage"(B& +4 "core" &\ \  |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&2'} +98 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +54 "core" 1 +2 "manipulator"&E% +4 "core" % ΐ j +2 "storage"(G& +3 "core" &\ \  I\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&&'ϼ +26 "core" ' +2 "manipulator"&=& +4 "core" & `  +2 "storage"("& +3 "core" &\ \  t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +24 "core" ' + "storage"(;% +4 "core" %G\ &\ 7 9\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (K% +3 "core" %A\ \  :\ V` + "manipulator"&/% +4 "core" %R - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'P& +5 "core" & \ + "manipulator"&>% +5 "core" %\  ( + "storage"($% +4 "core" %b\ \  H\ +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +4 "core" &,j. &\  + "manipulator"&D& +4 "core" & &  + .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&W& +4 "core" &  +2 "storage"(Y& +4 "core" &,g\ \  z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +100 "core" ' +2 "storage"(L& +4 "core" &,g\ 4\ 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['i +284 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (T& +3 "core" &,g\ \ \  +3 "manipulator"&Q& +3 "core" & ]  +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( + "manipulator"& & +4 "core" & b  + "storage"(H& +4 "core" &,g\ \  t\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Z', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'X +7 "core" & `  +2 "manipulator"&b% +4 "core" % < a + .tForearm.seek :retract +2 "manipulator"&e'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +164 "core" ( + "manipulator"&O& +5 "core" ' + &# a :+ +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&C& +4 "core" &# :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +97 "core" ' +2 "manipulator"&X& +5 "core" &$ ] :+ + "manipulator"&a% +4 "core" % } +51 "collection"'k& +4 "core" & \ +2 "collection"'m& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" & \  +8 &2 \ )w +10 &c \ > +9 &uw \ N +9 &8[ \ M +10 &^ \ N +9 &\\ \ M +10 &|[ \ N +9 &?[ \ M +9 &Y \ M +10 &Y \ M +9 & Z \ M +9 &"FZ \ N +10 &$ ] \ M +9 &%Z \ M +10 &'Y \ M +9 &)PX \ M +9 &+^ \ M +10 &,Z \ N +9 &.\\ \ M +9 &0VY \ N +10 &2\\ \ M +9 &3] \ M +10 &5[ \ M +9 &7^[ \ N +9 &9"Z \ M +10 &:^ \ M +9 &<` \ N +9 &>g] \ M +10 &@*^ \ M +9 &A\\ \ M +10 &C_ \ M +9 &Eme \ N +9 &G,l \ O +10 &Hv \ Q +9 &J \ U +9 &LY \ X +10 &N \ W +9 &O \ X +10 &Q \ X +9 &S\\ \ Y +9 &U \ Z +10 &VjD \ 0 +9 &V\ s \ E +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&d1 +3 "core" &Vg \ E +53 1 +2 "manipulator"&t% +4 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%i& +4 "core" &0\ +2 "manipulator"&g% +3 "core" %\  3  +2 "storage"(U% +4 "core" %U \ + "storage"(}. +3 "core" .(,l +2 "storage"(\\& +3 "core" &,g \  +2 "storage"(y& +4 "core" &,g \  + "manipulator"&& +4 "core" &# o :+ + "manipulator"&o% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&x( +162 "core" ( + "manipulator"&z& +4 "core" &  +2 "storage"(n& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&c'Ѽ +98 "core" ' + "storage"(j& +5 "core" &,g \  j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +282 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,g \  + "manipulator"&l& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( + "manipulator"&u& +4 "core" &   + "storage"(r& +4 "core" &,g \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( 'X +7 "core" &  + "manipulator"&s% +4 "core" % #  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &v  ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +5 "core" &v + "manipulator"&{% +5 "core" %  + "processing"%_& +4 "core" &O\ +3 "processing"%& +4 "core" &8\ +2 .tPC.seek :closed +2 "processing"%|(Z +5 "core" &9\ +7 &96\ $e +9 &V+\ 8 +10 &2\ L +9 &\\0\ N +9 &k_)\ N +10 &-]/\ N +9 &^/\ N +9 &^1\ N +10 &r_1\ N +9 &4_0\ N +9 &\\1\ N +10 &!^1\ N +9 &#z^1\ N +10 &%=^/\ N +9 &&^/\ N +9 &(]0\ N +10 &*^0\ N +9 &,Eb0\ N +9 &. ^-\ M +10 &/\\/\ N +9 &1\\0\ N +10 &3N]*\ N +9 &5_/\ N +9 &6]/\ N +10 &8['\ N +9 &:V].\ N +9 &<_)\ N +10 &=[$\ N +9 &?]#\ N +10 &A_\\\ M +9 &C]#\ N +9 &Da\ N +10 &Fd&\ O +9 &H^p\ P +9 &J\ S +10 &K\ T +9 &M\ S +10 &O]\ S +9 &Q\ T +9 &R\ T +10 &T \ U +9 &Va \ U +9 &X#!\ U +10 &Y|p\ 2 +9 &Z(p#\ M +10 &Z&#\ / +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&`1 +55 "core" 1 +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +3 "processing"%& +4 "core" &Z%8\ / + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\ \ c  + "storage"('% +4 "core" %U !\ + "storage"(). +4 "core" .(,l +2 "storage"(& +3 "core" &,g \  +3 "storage"(& +4 "manipulator"&h& +4 "core" &,g \  + &v +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&1(s +2 "storage"('i +5 "core" ( + "manipulator"&& +5 "core" &v J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &v Q +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +51 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +44 "core" ' +283 ( + "storage"(& +4 "core" &,g \  +2 "manipulator"&-& +3 "core" &v 7 +2 "manipulator"&% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&4( +253 "core" ( + "manipulator"&,& +5 "core" & !v + "storage"(%& +4 "core" &,g c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +92 "core" ' + .tHand.open +2 "manipulator"&?1 +58 "core" 1 +2 "storage"((- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(5& +3 "core" &,g ` v u\  +2 "manipulator"&6& +4 "core" & !u + .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&G& +4 "core" & !u + "storage"(=& +4 "core" &,g t v 4\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&"'Ѽ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' +2 "manipulator"&& +4 "core" & !u +2 "storage"(K& +3 "core" &,g t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/' +37 "core" ' + .tElbow.hold +2 "manipulator"&0, +84 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(2'i +28 "core" ' +2 "manipulator"&P% +4 "core" %   Y +2 "storage"(&& +3 "core" &,g k\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&>'; +18 "core" ' + "manipulator"&$& +5 "core" & !u + "storage"(I& +5 "core" &,g ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&.'Ѽ +35 "core" ' + "storage"(#% +4 "core" %k \ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (*% +3 "core" %D \ Wb + "manipulator"&7% +4 "core" %Ѭ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &,g \  + "collection"'Y& +4 "core" &Vf \ E +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&L% +4 "core" %\ \  +2 "storage"(3% +3 "core" %U \ +2 "storage"(N. +3 "core" .(,l + "storage"(+& +5 "core" &,g \  + "storage"(T& +4 "core" &,g \  + "manipulator"&Q& +5 "core" & !u + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&H& +3 "core" & !u +2 "storage"(8& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&F'Ѽ +94 "core" ' + "storage"(b& +4 "core" &,g \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +281 "core" ' +2 "storage"(S- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&O& +4 "core" & !u + "storage"(C& +4 "core" &,g \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&[' +37 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'O +31 "core" ' + "manipulator"&M% +5 "core" % f + "storage"(k& +4 "core" &,g #\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 312 counts + "manipulator"&!'8 +20 "core" ' +2 "manipulator"&e& +4 "core" & "x +2 "storage"(<& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +43 "storage"(t'> +53 "core" ' +2 "manipulator"&i& +4 "core" & f "x +2 "manipulator"&g% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +85 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +155 "core" ( + "manipulator"&\\& +4 "core" & # e :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & # :0 +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&m/ +56 "core" / +2 .tCC.seek :open +2 "collection"'o( +416 "core" ( + "storage"(]& +4 "core" &,g\ \  +2 "storage"(z& +4 "core" &,g \  + "manipulator"&n& +4 "core" &$ t :- + "manipulator"&j% +4 "core" % * { +2 .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +156 "core" ( +2 "manipulator"&@& +4 "core" &  + "storage"(& +4 "core" &,g\ \  :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&l' +105 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +54 "core" 1 +2 "manipulator"& % +5 "core" %  + "storage"(\ & +4 "core" &,g 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&s'= +17 "core" ' +2 "manipulator"&x& +4 "core" & 9  +2 "storage"(c& +4 "core" &,g\ !\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&p'Ѽ +33 "core" ' + "storage"(% +5 "core" %C\ :\ D `\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +3 "core" %B\ \  n\ U_ +2 "manipulator"&v% +4 "core" %Ѳ U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'{& +4 "core" & \ +2 "manipulator"&_% +4 "core" %\ \ X  + "storage"( % +4 "core" %`\ B\ 9 #\ + "storage"(. +4 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(R( +658 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +2 "core" & \ \ \ \ +2 "manipulator"&& +4 "core" & k  +2 .tElbow.seek 2 + "manipulator"&( +30 "core" ( + "manipulator"&& +4 "core" & ' +2 "storage"('& +3 "core" & \ \  ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +96 "core" ' +2 "storage"(& +4 "core" & \ :\ E K\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \  %\ +2 "manipulator"&& +4 "core" & ' + .tElbow.seek 2 +2 "manipulator"&~( +21 "core" ( + "manipulator"&& +5 "core" & L  +2 "storage"(& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'X +7 "core" & y  +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +158 "core" ( +2 "manipulator"&& +4 "core" ' + &+ d Aa +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +2 "core" &+ G Aa +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +103 "core" ' +2 "manipulator"&%& +5 "core" &) = ?R + "manipulator"&1% +4 "core" % 4 W +2 "collection"'?& +4 "core" & \ +2 "collection"'(& +5 "core" & \ +2 .tCC.seek :closed + "collection"':(V +4 "core" & \ +8 &6 \ $e +10 &W \ 7 +9 & \ L +10 &Y \ M +9 &h\\ \ M +9 &*[ \ M +10 &] \ M +9 &[ \ M +9 &q^ \ M +10 &4\\ \ M +9 &\\ \ M +10 &!] \ M +9 &#x] \ M +9 &%:] \ M +10 &&[ \ M +9 &(Z \ M +9 &*\\ \ M +10 &,D\\ \ M +9 &.Z \ M +10 &/\\ \ M +9 &1^ \ M +9 &3L[ \ M +10 &5[ \ L +9 &6[ \ M +9 &8Z \ M +10 &:S[ \ M +9 &<] \ N +10 &=\\ \ M +9 &?\\ \ M +9 &AZZ \ M +10 &C\\ \ M +9 &D^ \ N +9 &Fg \ N +10 &H[s \ P +9 &J \ R +10 &K \ U +9 &M \ W +9 &OL \ X +10 &Q \ X +9 &R \ X +9 &T \ Y +10 &V,u \ . +9 &V! \ P +9 ( +3 "collection"'(& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&51 +4 "core" &V` \ H +56 1 +2 "manipulator"&6% +4 "core" %  j P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%=& +5 "core" &3\ + "manipulator"&% +4 "core" %\  7  + "storage"(% +4 "core" %U \ +2 "storage"(K. +3 "core" .( + "storage"(9& +4 "core" & \ + "storage"(A& +4 "core" & \ +2 "manipulator"&P& +4 "core" &' = >N + "manipulator"&&% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&4( +154 "core" ( +2 "manipulator"&$& +4 "core" &  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +91 "core" ' +2 "storage"(B& +4 "core" & B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +284 "core" ' + "storage"("- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" & I\ + "manipulator"&*& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&7( +3 "core" ( +2 "manipulator"&;& +3 "core" & )  +2 "storage"(/& +4 "core" & Z\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&>' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +3 "storage"(L'X +6 "core" &  +2 "manipulator"&3% +4 "core" %  u T +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&2(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&+& +4 "core" &j  [ \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &j h \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +103 "core" ' +2 "manipulator"&H& +4 "core" &j L \ + "manipulator"&8% +5 "core" % ` + "processing"%.& +5 "core" &U\ +2 "processing"%b& +5 "core" &4\ +2 .tPC.seek :closed + "processing"%J(Z +5 "core" &.\ +7 &@0\ $e +9 &V*\ 8 +10 &.\ L +9 &\\/\ N +9 &o`0\ N +10 &1b*\ N +9 &]0\ N +9 &]1\ M +10 &w_1\ N +9 &9`0\ N +10 &]0\ N +9 &!]0\ N +9 &#`2\ N +10 &%A]2\ N +9 &'^1\ M +10 &(]1\ N +9 &*\\0\ N +9 &,J\\0\ M +10 &. ]0\ N +9 &/_1\ N +9 &1Z+\ N +10 &3Q[0\ N +9 &5\\0\ N +9 &6]/\ M +10 &8\\1\ N +9 &:Z[0\ M +10 &<\\'\ M +9 &=[/\ M +9 &?[*\ N +10 &Ab\\.\ M +9 &C!_.\ N +10 &Dd*\ N +9 &Fj0\ P +9 &H]/\ R +10 &J0\ T +9 &K.\ T +9 &M-\ T +10 &O_(\ T +9 &Q""\ S +9 &R\ U +10 &T&\ U +9 &Ve&\ T +10 &X&\ U +9 &Y{s#\ 2 +9 &Z+~"\ I +10 &Z \ - +2 ( +2 "processing"%b& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&01 +59 "core" 1 + "manipulator"&D% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +93 "core" ' +2 "processing"%O& +4 "core" &Z:\ - + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&C% +4 "core" %\  H  + "storage"(X% +4 "core" %U a\ +2 "storage"(M. +3 "core" .( + "storage"(k& +4 "core" & a\ +2 "storage"(e& +3 "manipulator"&<& +5 "core" & \ + &j \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&i(s + "storage"(g'i +5 "core" ( +2 "manipulator"&F& +3 "core" &j 9 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &j i \ +2 .tForearm.seek PC + "manipulator"&V' +102 "core" ' + .tHand.close +2 "manipulator"&[/ +55 "core" / +44 .tPC.seek :open +12 "processing"%!( +33 "core" ' + "storage"(a- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +49 "core" ' +338 ( +2 "storage"(y& +4 "core" & \ + "manipulator"&d& +4 "core" &j \ + "manipulator"&Z% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&m'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&U( +251 "core" ( + "manipulator"&f& +4 "core" & # +2 "storage"(]& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +101 "core" ' + .tHand.open +2 "manipulator"&n1 +53 "core" 1 +2 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(}& +4 "core" & Y \\\ + "manipulator"&r& +4 "core" & "y +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&\ & +4 "core" & "y +2 "storage"(x& +4 "core" & Y Y\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&^& +4 "core" & "y +2 "storage"( & +4 "core" & ;\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&v' +33 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +24 "core" ' +2 "manipulator"&s% +4 "core" % b +2 "storage"({& +4 "core" & 9\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&_' +12 "core" ' +2 "manipulator"& & +4 "core" & "y +2 "storage"(& +4 "core" & )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +27 "core" ' +2 "storage"(p% +4 "core" %m \ +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +2 "core" %E \ Wc +2 "manipulator"&`% +4 "core" %і +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & "\ +2 "collection"''& +4 "core" &V` \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\   + "storage"(u% +4 "core" %] \ + "storage"(. +3 "core" .( +2 "storage"(h& +4 "core" & \ + "storage"(& +4 "core" & \ +2 "manipulator"&& +4 "core" & "x + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & "x +2 "storage"(q& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +88 "core" ' + "storage"(& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & j "x + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +35 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'W +28 "core" ' + "manipulator"&~% +4 "core" % 8 l +2 "storage"(?& +3 "core" & v\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&|' +15 "core" ' +2 "manipulator"&& +4 "core" & "x + "storage"(o& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(6'F +45 "core" ' +2 "manipulator"&=& +4 "core" & "x +2 "manipulator"&% +4 "core" %Ѧ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +150 "core" ( +2 "manipulator"&9& +4 "core" &( ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&A'" +95 "core" ' + .tHand.close +2 "manipulator"&P/ +56 "core" / +2 .tCC.seek :open +2 "collection"'&( +416 "core" ( + "storage"(,& +4 "core" & $\ +2 "storage"($& +3 "core" & n\ +2 "manipulator"&& +3 "core" &' =D +2 "manipulator"&B% +3 "core" % * +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&G( +158 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(E& +4 "core" & \ \  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&*' +110 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +54 "core" 1 +2 "manipulator"&W% +4 "core" % 0 M +2 "storage"(Y& +3 "core" & b\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&3' +15 "core" ' +2 "manipulator"&4& +4 "core" &   +2 "storage"(I& +4 "core" & \ !\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +17 "core" ' +2 "storage"(>% +4 "core" %G\ 7\ 9 \ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (T% +3 "core" %B\ \  ?\ V` + "manipulator"&7% +5 "core" %ю 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'8& +4 "core" & \ +2 "manipulator"&.% +4 "core" %\  }  + "storage"(L% +4 "core" %`\ 8\ 4 \ + "storage"(N. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" & \  +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&O( +12 "core" ( +2 "manipulator"&C& +4 "core" & }  + "storage"(X& +4 "core" &\ !\ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +91 "core" ' + "storage"(k& +4 "core" &\ 6\ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"(<'i +278 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" & \  \  +2 "manipulator"&F& +4 "core" & -  + .tElbow.seek 3 +3 "manipulator"& ( +3 "core" ( + "manipulator"&Q& +4 "core" &  +2 "storage"([& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&a'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&S& +4 "storage"(J'X +6 "core" & I  + "manipulator"&g% +4 "core" % χ }  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +104 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&Z& +4 "core" &(  y ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &( o ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'" +94 "core" ' + "manipulator"&]& +5 "core" &( Q >M + "manipulator"&i% +5 "core" %!  +2 "collection"'n& +3 "core" & \ +3 "collection"'j& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" & \ +6 & % \ #` +9 &V \ 7 +10 & \ L +9 &[ \ M +9 &d\\ \ M +10 &(Z \ L +9 &] \ M +10 &Y \ M +9 &n[ \ L +9 &/\\ \ M +10 &_ \ M +9 &!\\ \ M +9 &#u[ \ M +10 &%7] \ M +9 &&Z \ M +9 &(Y \ L +10 &*}Y \ M +9 &,@[ \ L +10 &.[ \ L +9 &/[ \ M +9 &1[ \ M +10 &3GZ \ M +9 &5 ^ \ M +9 &6^ \ M +10 &8X \ M +9 &:OZ \ M +10 &<] \ M +9 &=\\ \ M +9 &?_ \ M +10 &AW[ \ M +9 &C\\ \ M +9 &Db \ N +10 &Fj \ N +9 &HR~ \ Q +10 &J\ \ U +9 &K \ X +9 &M \ X +10 &OF \ X +9 &Q \ W +9 &R \ Y +10 &T \ Z +9 &V&u \ . +10 &V" \ Q +9 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&}1 +4 "core" &Vm \ J +52 1 +2 "manipulator"&r% +4 "core" % ! Y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%x& +4 "core" &J\ +2 "manipulator"&m% +3 "core" %\  {  +2 "storage"(^% +4 "core" %U M\ + "storage"( . +3 "core" .( +2 "storage"(\\& +3 "core" & f\  +2 "storage"(s& +4 "core" & Z\  + "manipulator"&{& +4 "core" && T =D +2 "manipulator"&@% +3 "core" %\  # 4  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +161 "core" ( +2 "manipulator"&& +4 "core" & o +2 "storage"(p& +3 "core" & 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +105 "core" ' +2 "storage"(z& +4 "core" &\ b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & \  + "manipulator"&c& +4 "core" & 4 o +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & 1 o +2 "storage"(v& +3 "core" & W\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +3 "storage"('X +7 "core" & o + "manipulator"&u% +5 "core" % ϲ v  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&l(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +2 "manipulator"&h& +4 "core" &j  G  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' + "manipulator"&& +5 "core" &j  + "manipulator"&q% +4 "core" % +2 "processing"%t& +3 "core" &S\ +3 "processing"%& +5 "core" &U\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &E\  +8 &4>\ *z +9 &dA\ ? +9 &yB\ N +10 &H]3\ N +9 & ]5\ M +9 &]7\ M +10 &]1\ N +9 &Q]0\ M +10 &_0\ N +9 &]/\ N +9 & ],\ N +10 &"W`1\ N +9 &$[0\ N +9 &%\\1\ N +10 &']0\ N +9 &)_]2\ N +10 &+"\\-\ N +9 &,\\0\ N +9 &.\\0\ M +10 &0g]2\ N +9 &2*\\0\ N +9 &3\\-\ N +10 &5_/\ N +9 &7p\\/\ N +10 &91`-\ N +9 &:[/\ M +9 &<\\'\ N +10 &>x_0\ N +9 &@:]0\ N +9 &A_'\ N +10 &C_/\ N +9 &E~b0\ N +10 &G;l,\ P +9 &H0\ R +9 &J+\ S +10 &Lv0\ T +9 &N8/\ T +9 &O0\ T +10 &Q.\ T +9 &S{$\ U +9 &U>(\ T +10 &V+\ U +9 &X#\ T +10 &Z(Wy\ &s +9 &Zc#\ 4 +9 ( +3 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&w1 +4 "core" &Z"$\ / +56 1 +2 "manipulator"&% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +2 "processing"%& +4 "core" &Z""\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  b  + "storage"(%% +4 "core" %b p\ +2 "storage"(~. +3 "core" .( + "storage"(?& +4 "core" & \  +2 "storage"(& +4 "manipulator"&o& +3 "core" & \  + &j  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"& & +3 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &j  + .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%|( +82 "core" ' + "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +46 "core" ' +295 ( + "storage"((& +4 "core" & :\  +2 "manipulator"&5& +4 "core" &j  + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&P'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +253 "core" ( + "manipulator"&:& +4 "core" & 9 +2 "storage"(,& +4 "core" & M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +106 "core" ' + .tHand.open +2 "manipulator"&1 +51 "core" 1 +2 "storage"(B- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"("'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(E' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' + "storage"(K& +4 "core" & Y Y {\  + "manipulator"&/& +5 "core" & 9 + .tElbow.seek 3 +2 "manipulator"&W( +23 "core" ( +2 "manipulator"&Y& +4 "core" &  + "storage"(4& +4 "core" & [ Y \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +57 "core" ' + "manipulator"&-& +4 "core" &  +2 "storage"(T& +4 "core" & \  + .tElbow.reconfigure :limp +54 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'} +20 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +27 "core" ' + "manipulator"&8% +5 "core" %Ώ + "storage"(3& +5 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&.'ϻ +26 "core" ' +2 "manipulator"&L& +4 "core" & J  +2 "storage"(N& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +21 "core" ' + "storage"(#% +5 "core" %q \ +2 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (R% +3 "core" %.C \ Wb +2 "manipulator"&0% +4 "core" %I . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +96 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" & T\  + "collection"'X& +4 "core" &Vm \ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&k% +3 "core" %\ ! 6 +2 "storage"(;% +4 "core" %a `\ + "storage"(H. +3 "core" .( +2 "storage"(e& +3 "core" & \  +2 "storage"(b& +4 "core" & 8\  + "manipulator"&F& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&[& +5 "core" &  + "storage"(2& +4 "core" & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +96 "core" ' + "storage"(g& +4 "core" &\ x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +284 "core" ' +2 "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & U  +2 "storage"(V& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&<'} +31 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'V +28 "core" ' + "manipulator"&n% +5 "core" %Ό  -  + "storage"( & +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&J'ϸ +12 "core" ' + "manipulator"&y& +4 "core" &   +2 "storage"(&& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'E +38 "core" ' +2 "manipulator"&x& +4 "core" & )  +2 "manipulator"&m% +4 "core" %Z  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +162 "core" ( +3 "manipulator"&\\& +4 "core" &% <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +2 "core" &% <= +2 .tForearm.seek CC +2 "manipulator"&j'" +94 "core" ' + .tHand.close + "manipulator"&{/ +54 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( +2 "storage"(f& +4 "core" &\ \ )\  + "storage"(& +4 "core" &\ \ y\  + "manipulator"&p& +4 "core" && <= +2 "manipulator"&z% +4 "core" % 4 + .tForearm.seek :retract +2 "manipulator"&d'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\ ( +162 "core" ( + "manipulator"&& +5 "core" & t x + "storage"(`& +4 "core" &\ 8\ 6\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&c'} +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ΀ +2 "storage"('& +3 "core" &\ !\ ! !\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 303 counts +2 "manipulator"&u'Ϭ +19 "core" ' +2 "manipulator"& & +4 "core" &  x +2 "storage"(U& +4 "core" &\ 9\ A \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +26 "core" ' +2 "storage"(_% +4 "core" %O\ A\ 7 /\ +3 ."downElevator"SE.seek :down +3 "storage"(h'X +100 (% +3 "core" %?\ \ \ V_ + "manipulator"& % +4 "core" %{ n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'q& +4 "core" & \ +2 "manipulator"&t% +3 "core" %\  d  +2 "storage"(% +4 "core" %]\ 6\ 6\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(,l +333 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &,j G\  + "manipulator"&& +4 "core" & U x +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & r x + "storage"(%& +4 "core" &,h\ !\ ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&~'Ѽ +98 "core" ' + "storage"(?& +5 "core" &,h\ /\ 6 5\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,h \  \  +2 "manipulator"& & +4 "core" & $ x +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & x +2 "storage"(& +4 "core" &,h\ \  \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&1', +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"('X +8 "core" & x + "manipulator"&% +4 "core" % 2 L  +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &" ; 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &" H 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'" +104 "core" ' +2 "manipulator"&,& +4 "core" &" & $ 9) + "manipulator"&=% +4 "core" % S +2 "collection"'& +4 "core" & \ +2 "collection"'B& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'A(V +4 "core" & \  +9 &1~ \ *x +9 &c \ > +9 &xu \ M +10 &;Z \ M +9 &^ \ M +10 &] \ M +9 &] \ M +9 &C] \ M +10 &^ \ M +9 &] \ M +9 & _ \ M +10 &"KZ \ M +9 &$[ \ L +10 &%] \ M +9 &'] \ M +9 &)TZ \ L +10 &+^ \ M +9 &,Y \ L +9 &.\\ \ M +10 &0[^ \ M +9 &2] \ M +10 &3^ \ M +9 &5] \ M +9 &7c] \ M +10 &9%\\ \ M +9 &:_ \ M +59 &<\\ \ M +4 &>l\\ \ L +2 &@-Z \ M + &AZ \ M +2 &C\\ \ M +2 &Er` \ M +2 &G/j \ O +3 &Hy \ P +9 &J \ U +10 &L\\ \ W +9 &N \ W +10 &O \ X +9 &Q \ X +9 &S] \ Z +10 &U \ Y +9 &VhB \ 0 +9 &V u \ I +6 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&K1 +4 "core" &Vk \ I +56 1 + "manipulator"&/% +4 "core" %  : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%Y& +4 "core" &7\ + "manipulator"&4% +4 "core" %\  +2 "storage"(-% +4 "core" %b \ + "storage"(T. +4 "core" .(,l + "storage"(9& +4 "core" &,h \  +2 "storage"("& +3 "core" &,h 0\  +2 "manipulator"&8& +4 "core" &" \ 9# + "manipulator"&3% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +153 "core" ( + "manipulator"&L& +4 "core" & +2 "storage"(N& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&$'Ѽ +96 "core" ' +2 "storage"(#& +4 "core" &,h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +284 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +2 "core" &,h \  +2 "manipulator"&I& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&W( +3 "core" ( + "manipulator"&>& +4 "core" & m + "storage"(7& +5 "core" &,h \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&.', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +3 "storage"(k'X +7 "core" & P + "manipulator"&;% +4 "core" % 8 w e +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&*& +4 "core" &v 1 ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +4 "core" &v T ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +102 "core" ' +2 "manipulator"&[& +5 "core" &v A ( +2 "manipulator"&2% +4 "core" % d p +2 "processing"%6& +3 "core" &Q\ +3 "processing"%g& +4 "core" &I\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &;\  +8 &1;\ *y +10 &dA\ > +9 &vy;\ N +9 &8\\:\ N +10 &\\C\ M +9 &]?\ M +10 &]'\ N +9 &AZ/\ N +9 &^-\ M +10 &]+\ M +9 & ]+\ N +9 &"J^+\ M +10 &$ Z+\ N +9 &%_)\ N +10 &'a*\ N +9 &)Q`)\ N +9 &+_'\ N +10 &,^/\ N +9 &._-\ N +9 &0Z\\/\ M +10 &2\\0\ N +9 &3^/\ N +10 &5_,\ N +9 &7aZ0\ N +9 &9$\\*\ M +10 &:Z+\ M +9 &<Z+\ N +9 &>i]/\ N +10 &@*_*\ N +9 &AX*\ M +10 &C]*\ N +9 &Ep_)\ N +9 &G.g*\ O +10 &Hr-\ P +9 &J,\ T +9 &Lg0\ T +10 &N**\ S +9 &O.\ T +10 &Q,\ T +9 &Sl+\ U +9 &U/$\ T +10 &V*\ U +9 &X'\ U +9 &Z \\\ $o +10 &Z\\\ - +8 ( +4 "processing"%g& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&G1 +4 "core" &Z\ ) +56 1 +2 "manipulator"&D% +4 "core" % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +90 "core" ' + "processing"%Z& +4 "core" &Z2\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&V% +3 "core" %\  )  +2 "storage"(]% +4 "core" %T ,\ + "storage"(n. +3 "core" .(,l +2 "storage"( & +3 "core" &,h \  +2 "storage"(y& +2 "manipulator"&&& +7 "core" &,h Y\  + &v ( +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&x(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'i +2 "core" ( +2 "manipulator"&S& +3 "core" &v U ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &v ( +2 .tForearm.seek PC + "manipulator"&O' +99 "core" ' +2 .tHand.close + "manipulator"& + "storage"(@& +5 "core" &,h j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&K'Ѽ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'> +40 "core" ' +2 "manipulator"&Y& +5 "core" & m + "manipulator"&4% +5 "core" %ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +154 "core" ( +2 "manipulator"&B& +4 "core" &' ! ; >L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &' * >K +2 .tForearm.seek CC + "manipulator"&"'" +96 "core" ' +2 .tHand.close + "manipulator"&8/ +63 "core" / +4 .tCC.seek :open + "collection"'3( +416 "core" ( + "storage"(:& +4 "core" &,h\ \  +2 "storage"(L& +4 "core" &,h +\  + "manipulator"&N& +4 "core" && w =F + "manipulator"&#% +4 "core" % % s  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P( +158 "core" ( + "manipulator"&R& +5 "core" &  + "storage"(0& +4 "core" &,h\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&I' +106 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +55 "core" 1 +2 "manipulator"&C% +5 "core" %  K + "storage"(X& +4 "core" &,h \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&;'7 +16 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"($& +4 "core" &,h\ !\ "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&E'Ѽ +17 "core" ' +2 "storage"(.% +4 "core" %A\ %\ 6 (\ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (b% +3 "core" %C\ \ \ V_ +2 "manipulator"&W% +4 "core" %ѻ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +4 "core" & \ + "manipulator"&6% +5 "core" %\ \ |  + "storage"(k% +5 "core" %b\ 6\ 7\ + "storage"(H. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(|( +660 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +2 "core" & n\ +2 "manipulator"&D& +4 "core" & 6  + .tElbow.seek 2 +2 "manipulator"&Z( +42 "core" ( + "manipulator"&V& +5 "core" &  + "storage"(]& +4 "core" & \ 6\ 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +97 "core" ' + "storage"( & +4 "core" & \ 7\ . c\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'i +286 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" & \ \  \ + "manipulator"&S& +4 "core" & +  +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&F& +5 "core" &   + "storage"(<& +4 "core" & \ !\ !\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(+'X +7 "core" & G  +2 "manipulator"&m% +3 "core" % % Z +2 .tForearm.seek :retract +2 "manipulator"&s'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +148 "core" ( +2 "manipulator"&a& +4 "core" &# C :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" ' + &# t :- +2 ."downElevator"SE.stop +3 .tForearm.reconfigure :tight + "storage"(5 +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' + "manipulator"&f& +4 "core" &# % e :- +2 "manipulator"&x% +5 "core" %,  +2 "collection"'p& +3 "core" & \ +3 "collection"'z& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'j(V +5 "core" & $\ +6 &4 \ $c +9 &U \ 7 +9 &} \ K +10 &V \ M +9 &h] \ M +9 &*\\ \ M +10 &] \ M +9 &W \ M +10 &qZ \ L +9 &3Z \ L +9 &Z \ M +10 &!Z \ M +9 &#xZ \ M +9 &%:[ \ M +10 &&Y \ M +9 &(Z \ M +10 &*Y \ M +9 &,BX \ M +9 &.Y \ L +10 &/Z \ M +9 &1] \ M +9 &3JY \ M +10 &5 Y \ L +9 &6Y \ M +10 &8U \ M +9 &:RZ \ M +9 &<[ \ M +10 &=Z \ M +9 &?Z \ M +10 &AZY \ M +9 &CZ \ M +9 &D^ \ M +10 &Fg \ N +9 &HYp \ P +9 &J \ R +10 &K \ U +9 &M \ X +9 &OK \ W +10 &Q\ \ X +9 &R \ Y +10 &T \ Y +9 &V+v \ . +9 &V \ L +9 ( +2 &Va \ H +2 "collection"'z& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"& 1 +56 "core" 1 + "manipulator"&v% +6 "core" % , "  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &9\ +2 "manipulator"&{% +3 "core" %\   +2 "storage"(d% +4 "core" %a H\ + "storage"(. +4 "core" .( + "storage"(\\& +4 "core" & I\ + "storage"(u& +5 "core" & p\ + "manipulator"&q& +4 "core" &# :, +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +99 "core" ' +2 "storage"(& +4 "core" & \  m\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (w& +3 "core" & n\ +2 "manipulator"&U& +3 "core" & `  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&_& +4 "core" & I  + "storage"( & +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&t' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +52 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(?'X +7 "core" & s  +2 "manipulator"&% +4 "core" %  | 5 +2 .tForearm.seek :retract + "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( + "manipulator"&o& +5 "core" &n  Z \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n j \ +3 .tForearm.reconfigure :tight +2 "Can"\ CA +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +103 "core" ' +2 "manipulator"&& +4 "core" &n \ +2 "manipulator"&l% +4 "core" % +2 "processing"%r& +3 "core" &V\ +3 "processing"%& +5 "core" &R\ +2 .tPC.seek :closed + "processing"%h(Z +5 "core" &:\ +7 & 8C\ $d +9 &T<\ 7 +10 &~~;\ K +9 &[1\ N +10 &X^9\ N +9 &Z=\ N +9 &\\7\ M +10 &[3\ M +9 &a^4\ M +9 &"\\7\ N +10 &`-\ N +9 &!\\*\ M +10 &#h\\/\ N +9 &%*Y+\ N +9 &&[+\ N +10 &(^+\ N +9 &*q\\%\ M +9 &,2\\,\ N +10 &-\\&\ N +9 &/Z%\ N +10 &1xY'\ N +9 &3;Z/\ M +9 &4Z.\ N +10 &6Z.\ N +9 &8[)\ M +9 &:B\\*\ N +10 &<]%\ N +9 &=])\ N +10 &?])\ N +9 &AJ\\/\ N +9 &C Z'\ N +10 &D`*\ N +9 &Fg+\ O +9 &HF{'\ R +10 &J+\ S +9 &K*\ T +9 &M)\ T +10 &OH%\ T +9 &Q %\ T +10 &R0\ U +9 &T+\ T +9 &VN*\ T +10 &X*\ U +9 &Y|o.\ 9 +9 &Z*v*\ O +10 &Z()\ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&\ 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +93 "core" ' + "processing"%& +4 "core" &Z&0\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(,% +4 "core" %U \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \ +3 "storage"((& +2 "manipulator"&@& +7 "core" & h\ + &n \ +2 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +2 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&Y(s + "storage"(4'i +5 "core" ( + "manipulator"&)& +4 "core" &n \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n n \ +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(=- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'y +47 "core" ' +289 ( + "storage"(9& +4 "core" & 7\ +2 "manipulator"&K& +3 "core" &n \ +2 "manipulator"&1% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-( +239 "core" ( +2 "manipulator"&A& +4 "core" & * +2 "storage"(:& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +94 "core" ' +2 .tHand.open + "manipulator"&N1 +59 "core" 1 +2 "storage"(#- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(0' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(T& +4 "core" & Y [\ + "manipulator"&7& +4 "core" & n * +2 .tElbow.seek 2 + "manipulator"&C( +3 "core" ( +2 "manipulator"&X& +4 "core" & * + "storage"(& +4 "core" & X X R\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +62 "core" ' + "manipulator"&5& +5 "core" & b * + "storage"(b& +4 "core" & Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&W' +32 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(I'i +25 "core" ' +2 "manipulator"&2% +4 "core" % +2 "storage"(6& +4 "core" & C\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&;' +13 "core" ' + "manipulator"&k& +5 "core" & * + "storage"(H& +4 "core" & `\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +23 "core" ' +2 "storage"(E% +4 "core" %o C\ +3 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (!% +3 "core" %F u\ Wb + "manipulator"&G% +5 "core" % i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" & k\ +2 "collection"']& +4 "core" &Va \ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %\ # : + "storage"(>% +4 "core" %S v\ +2 "storage"([. +3 "core" .( +2 "storage"(y& +3 "core" & j\ +2 "storage"(g& +3 "core" & w\ +2 "manipulator"&S& +4 "core" & * + .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&<& +4 "core" & * + "storage"(e& +4 "core" & a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +93 "core" ' +2 "storage"(m& +4 "core" & Q\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +282 "core" ' +3 "storage"(n- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" & v * +2 "storage"(O& +4 "core" & L\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&&' +38 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(x'W +29 "core" ' + "manipulator"&p% +4 "core" % Z +2 "storage"(Q& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&+' +12 "core" ' +2 "manipulator"&s& +4 "core" & * + "storage"(3& +4 "core" & c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'F +40 "core" ' +2 "manipulator"& & +4 "core" & p * +2 "manipulator"&{% +4 "core" %ѓ o s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&\\& +5 "core" &!  8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &! 8 + .tForearm.seek CC +2 "manipulator"&q'" +146 "core" ' +2 .tHand.close +2 "manipulator"&z/ +55 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(& +4 "core" & u\ + "manipulator"&& +4 "core" & c 7 +2 "manipulator"&% +4 "core" % 6 e +2 .tForearm.seek :retract + "manipulator"&}'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +159 "core" ( + "manipulator"&& +5 "core" & N  + "storage"(w& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&U' +109 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +4 "core" %  6 + "storage"(%& +4 "core" & ]\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +15 "core" ' +3 "manipulator"&& +4 "core" & V  +2 "storage"(^& +4 "core" & \ !\ ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +27 "core" ' + "storage"(t% +5 "core" %G\ &\ 6 r\ +2 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (% +3 "core" %A\ \  @\ V` +2 "manipulator"&% +4 "core" %Ѣ O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'l& +5 "core" & \ + "manipulator"&r% +4 "core" %\   +2 "storage"(?% +4 "core" %[\ 5\ & D\ + "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(J( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" & \  +2 "manipulator"&& +4 "core" & R  +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&& +4 "core" & N +2 "storage"(,& +3 "core" &\ \  ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(& +4 "core" &\ 6\ 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +275 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &\ \ 9\  +2 "manipulator"&)& +4 "core" & 0 + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & C +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&='ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(h'X +8 "core" & k + "manipulator"&4% +4 "core" % Ϟ  n +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&1& +5 "core" &+  " Ad + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+  4 Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'" +94 "core" ' +2 "manipulator"&:& +4 "core" &+ Ac + "manipulator"&Y% +5 "core" % t  + "collection"'N& +4 "core" & \ +3 "collection"'#& +5 "core" & \ +2 .tCC.seek :closed + "collection"'"(V +5 "core" & \ +6 & . \ $d +9 &W \ 7 +10 &~ \ L +9 &Y &\ M +10 &gX \ M +9 &)W \ M +9 &Y \ M +10 &Y R\ L +9 &oZ )\ M +9 &1\\ K\ M +10 &\\ \ M +9 &!Z \ L +10 &#wY \ M +9 &%8] \ M +9 &&Y \ L +10 &(X \ L +9 &*Y \ M +9 &,A\\ \ M +10 &.\\ \ M +9 &/\\ \ M +10 &1Y \ M +9 &3IV \ M +9 &5 W \ M +10 &6Y \ L +9 &8X \ L +10 &:QZ \ M +9 &<[ \ M +9 &=Y \ M +10 &?Y \ L +9 &AYY \ M +9 &C[ \ M +10 &D_ \ M +9 &Fh \ O +9 &HU{ \ Q +10 &J \ U +9 &K \ X +10 &M \ X +9 &OI \ X +9 &Q \ X +10 &R \ Y +9 &T \ Y +9 &V)v \ . +10 &V$ \ S +8 ( +4 "collection"'#& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&T1 +4 "core" &V` \ J +49 1 + "manipulator"&7% +5 "core" %  h  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +94 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &[\ + "manipulator"&8% +5 "core" %\  (  + "storage"(5% +4 "core" %a a\ + "storage"(b. +4 "core" .( + "storage"(B& +4 "core" & P\  + "storage"(2& +4 "core" & b\  +2 "manipulator"&6& +4 "core" &(  C ?U + "manipulator"&R% +4 "core" %\  U  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&k( +165 "core" ( + "manipulator"&H& +4 "core" & u +2 "storage"(E& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +99 "core" ' +2 "storage"(L& +4 "core" &\ \ v\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +284 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +62 "core" & \  + "manipulator"&$& +4 "core" & * u +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( + "manipulator"&.& +4 "core" & _ u + "storage"(W& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +3 "storage"( 'X +8 "core" & u + "manipulator"&>% +5 "core" % Ϛ t + .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&[(s +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&y& +4 "core" &l 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &l x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S' +94 "core" ' +2 "manipulator"&<& +4 "core" &l +2 "manipulator"&e% +4 "core" % o + "processing"%/& +4 "core" &E\ +3 "processing"%m& +4 "core" &\\\ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &J\  +10 &0|G\ *x +9 &bD\ > +9 &syC\ N +10 &6\\D\ M +9 &\\D\ M +9 &\\F\ M +10 &{[;\ N +9 &=YB\ N +9 &\\D\ M +10 &_>\ N +9 & \\>\ N +10 &"E^G\ N +9 &$Y;\ M +9 &%[<\ N +10 &'Z7\ N +9 &)MZ2\ N +9 &+]4\ N +10 &,Y.\ N +9 &.\\-\ M +10 &0V[-\ M +9 &2[5\ N +9 &3\\1\ N +10 &5]+\ N +9 &7^]1\ M +9 &9 [9\ M +10 &:Y/\ N +9 &<]%\ M +10 &>fZ8\ M +9 &@&_3\ N +9 &AW4\ M +10 &C]4\ N +9 &El`4\ N +9 &G+i0\ O +10 &H'\ R +9 &J3\ T +10 &Ld4\ S +9 &N%6\ T +9 &O5\ T +10 &Q-\ S +9 &Si-\ T +9 &U,3\ T +10 &V/\ U +9 &X-\ U +10 &Z`2\ #m +9 &Z\\5\ + +9 ( +3 "processing"%m& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&P1 +3 "core" &Z+\ ' +58 1 + "manipulator"&D% +4 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +52 "manipulator"&n'\ +98 "core" ' + "processing"%a& +4 "core" &Z \ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +4 "core" %\ " < +2 "storage"(f% +4 "core" %b t\ + "storage"(p. +3 "core" .( +2 "storage"(Q& +3 "core" & d\  +2 "storage"(s& +5 "manipulator"&3& +4 "core" & W\  + &l +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"& (s + "storage"({'i +5 "core" ( +2 "manipulator"&M& +3 "core" &l ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &l R +3 .tForearm.seek PC + "manipulator"&Z' +95 "core" ' +2 .tHand.close + "manipulator"&&/ +57 "core" / +2 .tPC.seek :open + "processing"%+( +91 "core" ' + "storage"(x- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +44 "core" ' +286 ( + "storage"(u& +4 "core" & E\  +3 "manipulator"& & +3 "core" &l e +2 "manipulator"&i% +3 "core" % v  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +261 "core" ( + "manipulator"&j& +5 "core" &  + "storage"(& +4 "core" & %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(w' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(& +3 "core" & p r \  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&%& +4 "core" & k  +2 "storage"(& +4 "core" & s s\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +58 "core" ' +2 "manipulator"&}& +4 "core" &  + "storage"(& +5 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +23 "core" ' +2 "manipulator"&% +4 "core" %Ώ  +2 "storage"(l& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&r'ϻ +27 "core" ' + "manipulator"&?& +5 "core" &  + "storage"(c& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +23 "core" ' +2 "storage"(`% +4 "core" %n \ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (|% +4 "core" %D \ Wc +2 "manipulator"&\ % +4 "core" %N f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & z\  +2 "collection"',& +3 "core" &V` \ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  }  +2 "storage"(_% +4 "core" %R \ + "storage"(. +3 "core" .( +2 "storage"(@& +3 "core" & \  +2 "storage"((& +4 "core" & \  + "manipulator"&)& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +96 "core" ' + "storage"(4& +5 "core" &\ \ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" & v  +2 "storage"(& +3 "core" & %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Y'W +41 "core" ' + "manipulator"&N% +4 "core" %Ό O m +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&h'ϸ +12 "core" ' +2 "manipulator"&9& +4 "core" & '  + "storage"(& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(7'F +40 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&8% +4 "core" %D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +154 "core" ( +2 "manipulator"&B& +4 "core" && z =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +2 "core" &% } =D +3 .tForearm.seek CC + "manipulator"&6'" +98 "core" ' +2 .tHand.close + "manipulator"&#/ +65 "core" / + .tCC.seek :open +2 "collection"'R( +416 "core" ( + "storage"(A& +4 "core" & R\  +2 "storage"(H& +4 "core" & \  + "manipulator"&E& +4 "core" &% C <= +2 "manipulator"&L% +4 "core" % + 6 + .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&X( +164 "core" ( +2 "manipulator"&!& +4 "core" & o + "storage"(G& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&$'} +99 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +55 "core" 1 + "manipulator"&V% +5 "core" % Ώ + "storage"(]& +4 "core" &\  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&>'ϻ +19 "core" ' +2 "manipulator"&k& +5 "core" &  o + "storage"(-& +4 "core" &\ \  y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +27 "core" ' + "storage"(;% +5 "core" %M\ 9\ 9 S\ +2 ."downElevator"SE.seek :down +3 "storage"(y'X +99 (g% +3 "core" %B\ \ \ V` +2 "manipulator"&C% +4 "core" %q J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +50 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'e& +5 "core" & \ + "manipulator"&/% +4 "core" %\ /  +2 "storage"( % +4 "core" %X\ 9\ B h\ + "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" &,k U\  +2 "manipulator"&D& +3 "core" & : o +2 .tElbow.seek 4 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&a& +3 "core" & \\ o +2 "storage"(O& +4 "core" &,h\ 7\ 8 )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&f'Ѽ +98 "core" ' + "storage"(p& +5 "core" &,h\ .\ 7 x\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +286 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &,h\ \  \  + "manipulator"&M& +4 "core" &  o +2 .tElbow.seek 4 + "manipulator"&F( +4 "core" ( + "manipulator"&S& +4 "core" & o +2 "storage"(&& +3 "core" &,h\ \  \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&x', +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +3 "storage"(*'X +7 "core" &  o + "manipulator"&{% +5 "core" % B A O + .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&i& +4 "core" &% 4 . <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &%  D <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&j'" +101 "core" ' +4 "manipulator"&& +4 "core" &% ! <> +2 "manipulator"& % +4 "core" % " S +2 "collection"'& +3 "core" & \ +3 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'q(V +5 "core" & \  +8 &2| \ *x +9 &c \ > +10 &t \ M +9 &GW \ L +9 &\\ 8\ M +10 &[ \ L +9 &Y \ L +10 &NW \ M +9 &W \ M +9 &\\ \ M +10 & ] \ L +9 &"WZ \ L +9 &$Z \ L +10 &%] \ M +9 &'Z \ M +9 &)`W \ L +10 &+ ] \ M +9 &,[ \ M +10 &.[ \ M +9 &0fY \ M +9 &2)\\ \ L +10 &3] \ M +9 &5Z \ M +9 &7oY \ L +10 &91W \ L +9 &:[ \ L +10 &<[ \ L +9 &>v^ \ M +9 &@9\\ \ L +10 &AY \ L +9 &C\\ \ M +10 &E|b \ M +9 &G:l \ O +9 &Hx \ P +10 &J \ T +9 &Lh \ W +9 &N) \ W +10 &O \ X +9 &Q \ X +9 &Sk \ Y +10 &U, \ Y +9 &VuA \ / +10 &Vu \ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&1 +3 "core" &Vo \ K +56 1 + "manipulator"& % +5 "core" %  . + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &c\ +2 "manipulator"&z% +3 "core" %\  Y  +2 "storage"(}% +4 "core" %c \ + "storage"(. +3 "core" .(,l +2 "storage"(& +3 "core" &,h 0\  +2 "storage"(l& +4 "core" &,h k\  + "manipulator"&\\& +4 "core" &% ; <= +2 "manipulator"&% +4 "core" %\  ]  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&?( +162 "core" ( + "manipulator"&c& +4 "core" & z +2 "storage"(`& +4 "core" &,h J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +96 "core" ' +2 "storage"(& +4 "core" &,h ]\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +285 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &,h \  +2 "manipulator"&^& +4 "core" & k z + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&t& +4 "core" & J z +2 "storage"(& +4 "core" &,h \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&r', +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"('X +7 "core" & l z + "manipulator"&_% +4 "core" % & \ +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +103 "core" ( +2 "manipulator"&@& +4 "core" &k  4 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &k 9 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&)' +102 "core" ' + "manipulator"&& +4 "core" &k \ +2 "manipulator"&% +4 "core" % + "processing"%v& +4 "core" &h\ +3 "processing"%4& +4 "core" &O\ +2 .tPC.seek :closed +2 "processing"%o(Z +4 "core" &R\ +8 &8P\ $d +9 &US\ 7 +10 &J\ L +9 &]F\ N +9 &g]G\ M +10 &(\\G\ N +9 &_G\ N +10 &]?\ N +9 &n_E\ N +9 &0_H\ N +10 &`H\ N +9 &!ZH\ N +9 &#vZH\ N +10 &%8Z?\ N +9 &&Y=\ N +10 &(ZB\ M +9 &*~\\F\ N +9 &,@_6\ N +10 &.`?\ N +9 &/YA\ N +9 &1Z5\ M +10 &3IZ2\ M +9 &5 Z4\ M +10 &6[5\ M +9 &8Z9\ M +9 &:PZ5\ N +10 &<]3\ N +9 &=]<\ N +9 &?]:\ N +10 &AYW;\ M +9 &CZ=\ N +9 &D^:\ N +10 &Fb;\ N +9 &HZn<\ P +10 &J;\ S +9 &K4\ T +9 &M:\ S +10 &OV8\ T +9 &Q5\ S +10 &R7\ T +9 &T4\ T +9 &V[7\ U +10 &X4\ U +9 &Y{p2\ 4 +9 &Z.2\ I +10 &Z5\ ) +2 ( + "processing"%4& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&'1 +56 "core" 1 + "manipulator"&% +5 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%1& +4 "core" &ZJ\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\   + "storage"(:% +4 "core" %b \ +2 "storage"(N. +3 "core" .(,l + "storage"(& +4 "core" &,h \  +2 "storage"(9& +5 "manipulator"&& +4 "core" &,h \  + &k \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(8'i +5 "core" ( +2 "manipulator"&~& +4 "core" &k \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &k \ +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open + "processing"%h( +84 "core" ' + "storage"(Y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(B'y +45 "core" ' +293 ( + "storage"(2& +5 "core" &,h \  + "manipulator"&T& +4 "core" &k a \ + "manipulator"&=% +4 "core" % j +2 .tForearm.seek :retract + "manipulator"&#'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&5( +252 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(A& +4 "core" &,h \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&H'Ѽ +100 "core" ' + .tHand.open +52 "manipulator"&E1 +59 "core" 1 +2 "storage"(L- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(b& +4 "core" &,h S L '\  + "manipulator"&W& +4 "core" & n  +2 .tElbow.seek 4 + "manipulator"&V( +8 "core" ( + "manipulator"&]& +5 "core" & ~  + "storage"(k& +5 "core" &,h Z X X\  +2 .tForearm.seek 4 + 700 counts + "manipulator"&-'Ѽ +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' +2 "manipulator"&K& +4 "core" &   + "storage"(g& +4 "core" &,h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&C' +32 "core" ' +2 .tElbow.hold + "manipulator"&X, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +21 "core" ' +2 "manipulator"&>% +5 "core" % = + "storage"(e& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&7'@ +19 "core" ' + "manipulator"&/& +5 "core" & 0  + "storage"( & +5 "core" &,h :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&I'Ѽ +17 "core" ' +2 "storage"(0% +5 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"(y'X +98 (J% +3 "core" %A &\ Va +2 "manipulator"&P% +5 "core" %Ѷ I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &,h \\\  +2 "collection"'O& +4 "core" &Vo \ K + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&p% +4 "core" %\ " u A + "storage"(.% +4 "core" %` w\ + "storage"(<. +3 "core" .(,l +2 "storage"(3& +4 "core" &,h 5\  + "storage"(s& +4 "core" &,h H\  + "manipulator"&M& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&S( +3 "core" ( + "manipulator"&&& +5 "core" &  + "storage"([& +4 "core" &,h D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +100 "core" ' + "storage"({& +4 "core" &,h m\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +286 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & W  + "storage"(Z& +96 "core" &,h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Q' +37 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'O +37 "core" ' + "manipulator"&% +5 "core" % $ b + "storage"(F& +4 "core" &,h {\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&*'@ +12 "core" ' + "manipulator"&u& +4 "core" & 4  +2 "storage"(R& +4 "core" &,h L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '> +45 "core" ' + "manipulator"&& +5 "core" & 3  + "manipulator"&z% +5 "core" %Ѻ ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & % ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & % y ;7 +2 .tForearm.seek CC + "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&\\/ +61 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(j& +4 "core" &,h\ \  +2 "storage"(c& +3 "core" &,h &\  +2 "manipulator"&`& +3 "core" & % Y ;7 +2 "manipulator"&% +4 "core" % ( d  + .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +157 "core" ( +2 "manipulator"&|& +4 "core" &  +2 "storage"(\ & +3 "core" &,h\ \  8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&^' +107 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  0 R + "storage"(,& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&_'4 +13 "core" ' +2 "manipulator"&?& +4 "core" &   + "storage"(d& +5 "core" &,h\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&w'Ѽ +16 "core" ' +2 "storage"(r% +4 "core" %C\ %\ 6 >\ +2 ."downElevator"SE.seek :down +4 "storage"(@'X +98 ((% +3 "core" %B\ \  \ V_ +2 "manipulator"&% +4 "core" %ѻ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&'\ +86 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +10232 #t-> access 2 +2 "storage"(% +3 "core" %`\ 8\ 8 \ +2 "manipulator"&v% +4 "core" %\  b  +2 "manipulator"&& +3 "core" & b  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(U(K +650 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &K \  +1105 #t-> access 3 +3 "storage"('% +3 "core" %`\ 5\ 5 \ + "manipulator"&% +4 "core" %\  c  +2 "manipulator"&1& +3 "core" & E  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +331 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (:& +3 "core" &[ \  +1144 #t-> access 4 +3 "storage"(N% +3 "core" %a\ 8\ 6 \ +2 "manipulator"&% +4 "core" %\  w  + "manipulator"&& +4 "core" & f  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(9(S +1912 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" &V \ +1608 #t-> access 2 +2 "storage"(~% +3 "core" %a\ 9\ 9 \ +2 "manipulator"& % +4 "core" %\  P  +2 "manipulator"&)& +3 "core" & ^  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +1600 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +2 "core" &K \  @1663606835.52EDT = =tMAIN =mMAIN_scheduler @EDT1663606837.46 #"core_reset"Sent BREAK +2 #t@56363 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +300 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +399 "Can"\ b + \ b + #tPolling Can every 10:00 +1589 #-> ESP.ready! +3 #Powering core bus +577 .Gate.power :raw,:ON +2 "sampler") +42 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % ~\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ \ (  +2 .tSS.configure :default +2 "sampler")#.0X access 3 +3 "storage"(;% +4 "core" %a\ \ \ + "manipulator"&<% +4 "core" %\  +2 "manipulator"&=& +3 "core" & !u +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(>([ +1274 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &[ [\ +1740 #t-> require {shuffle.rb} + !o:ArgumentError: mesg"(wrong number of arguments (0 for 1):bt[ "(ESP):3:in `require'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +681 #-> require shuffle.rb +2 !o:NoMethodError : mesgu:NameError::message.undefined method `rb' for :shuffle:Symbol: name:rb: args[:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1658 #-> require [shuffle.rb] + !o:NoMethodError : mesgu:NameError::message.undefined method `rb' for :shuffle:Symbol: name:rb: args[:bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +8892 #-> require 'shuffle.rb' +1470 #-> 3.times {shuffle 2.3} +2 #Shuffling pucks in tube 2.3 of [2.3] +2 #Loading generic puck from tube 2.3 into Collection Clamp +2 "collection"'@& +3 "core" & \  +2 .tHand.open + "manipulator"&A1 +56 "core" 1 +2 "manipulator"&B% +4 "core" % \  + "storage"(C% +4 "core" %a \  _\ +2 "storage"(D. +3 "core" .([ +2 .tSE.seek :down +2 "storage"(E'X +3 "core" ' +2 .tSE.stop + "storage"(5 +2 "manipulator"&F% +4 "core" % \  +2 !to:Axis::Error: mesg"+Unknown Storage Carousel position: 2.3:@axisName"Storage Carousel:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:361:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):7:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 3.times {shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" & \  +2 "manipulator"&H% +4 "core" % \  +2 "storage"(I% +3 "core" %a\ \  \ +2 "storage"(J. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +38 .tSC.seek 2 +8 "storage"(K( +1599 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "core" & \ +2 "manipulator"&M& +4 "core" & !u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&N( +21 "core" ( +2 "manipulator"&O& +4 "core" & A + "storage"(P& +4 "core" & \  T\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +90 "core" ' + "storage"(R& +5 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +285 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" & f\ +2 "manipulator"&V& +4 "core" & A + .tElbow.seek 2 +2 "manipulator"&W( +25 "core" ( +2 "manipulator"&X& +4 "core" &  +2 "storage"(Y& +5 "core" & \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(]'X +7 "core" & }  + "manipulator"&^% +4 "core" %  o +2 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +156 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&a& + "storage"(5 +7 "core" &'  >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &'  g >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'" +99 "core" ' +2 "manipulator"&d& +4 "core" &' >H +2 "manipulator"&e% +4 "core" %( +2 "collection"'f& +4 "core" & \  +2 "collection"'g& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'h(V +4 "core" & \  +7 &K \ %h +10 &pX \ 9 +9 & \ M +9 &Z \ N +10 &I` \ O +9 & ^ \ O +10 &_ \ O +9 &] \ O +9 &R_ \ N +10 &_ \ N +9 &^ \ N +9 &!\\ \ N +10 &#Z\\ \ N +9 &%^ \ O +10 &&] \ N +9 &(] \ N +9 &*b` \ N +10 &,$] \ N +9 &-] \ N +9 &/_ \ O +10 &1j` \ N +9 &3+\\ \ O +10 &4] \ N +9 &6` \ N +9 &8s_ \ N +10 &:4_ \ N +9 &;^ \ N +9 &=a \ N +10 &?z` \ N +9 &A<_ \ N +9 &Bb \ N +10 &Dc \ O +9 &F~n \ P +10 &H;z \ Q +9 &I \ T +9 &K \ W +10 &Ml \ Y +9 &O/ \ X +9 &P \ Y +10 &R \ Z +9 &Tn \ [ +10 &Vu \ 2 +9 &V" \ H +9 ( +2 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&i1 +4 "core" &Ve \ E +59 1 +2 "manipulator"&j% +4 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%l& +4 "core" &\  +2 "manipulator"&m% +3 "core" %\ ! @ 4 +2 "storage"(n% +4 "core" %b c\ + "storage"(o. +3 "core" .( +2 "storage"(p& +4 "core" & I\ + "storage"(q& +4 "core" & k\ +2 "manipulator"&r& +3 "core" &% 2 <= +2 "manipulator"&s% +3 "core" %\ !  4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&t( +159 "core" ( + "manipulator"&u& +4 "core" &  +2 "storage"(v& +4 "core" & l\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +104 "core" ' +2 "storage"(x& +4 "core" & L\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'i +285 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" & \ +2 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&}( +3 "core" ( + "manipulator"&~& +4 "core" & H  +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" &  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +179 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +63 "core" ( + "manipulator"&& +5 "core" &i 1 +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &i   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\ ' +94 "core" ' + "manipulator"& & +5 "core" &i  + "manipulator"& % +4 "core" % ! +2 "processing"% & +3 "core" &\  +3 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ \  +9 &5\ +{ +9 &c\ \ ? +9 &]{\ O +10 &!\\\ N +9 &a\ N +9 &b\ N +10 &e] \ O +9 &'_ \ O +10 &b\ O +9 &\\ \ N +9 & m]\ O +10 &"/_\ O +9 &#\\\ N +9 &%a\ O +10 &'vb \ N +9 &)8^\ N +10 &*_ \ N +9 &,_\ N +9 &.]\ N +10 &0?`\ O +9 &2`\ O +9 &3]\ N +10 &5c\ N +9 &7Hb\ N +10 &9 a\ O +9 &:[\ N +9 &<_ \ O +10 &>P]\ N +9 &@^\ O +9 &A]\ N +10 &Ce \ O +9 &EUh\ O +10 &Gq\ Q +9 &H\ \ S +9 &J\ T +10 &LP \ T +9 &N\ T +9 &O\ T +10 &Q\ T +9 &SU\ U +10 &U\ U +9 &V\ U +9 &X\ U +10 &Zf\ $q +9 &Z!b\ . +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +3 "core" &Z\ ( +51 1 + "manipulator"&% +5 "core" %  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  s  +2 "storage"(% +4 "core" %] a\ + "storage"(. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"(& +5 "manipulator"&& +5 "core" & \ + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&"& +4 "core" &i y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &i l  +2 .tForearm.seek PC +2 "manipulator"&'' +96 "core" ' + .tHand.close +2 "manipulator"&(/ +56 "core" / +2 .tPC.seek :open +2 "processing"%)( +92 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +280 ( + "storage"(#& +4 "core" & ;\ + "manipulator"&,& +5 "core" &i (  + "manipulator"&-% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&.'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +254 "core" ( +2 "manipulator"&0& +4 "core" & N + "storage"(1& +4 "core" & G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +97 "core" ' +2 .tHand.open + "manipulator"&31 +54 "core" 1 +2 "storage"(4- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(6' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"(8& +4 "core" & 4 8 3\ + "manipulator"&9& +4 "core" & } N +2 .tElbow.seek 2 + "manipulator"&:( +24 "core" ( +2 "manipulator"&;& +4 "core" &  +2 "storage"(<& +4 "core" & 4 8\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(!' +60 "core" ' + "manipulator"&?& +5 "core" &  + "storage"(@& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&A' +32 "core" ' + .tElbow.hold +2 "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +24 "core" ' +2 "manipulator"&D% +4 "core" % q +3 "storage"(F& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"& ' +12 "core" ' +2 "manipulator"&E& +4 "core" & C  +2 "storage"(G& +4 "core" & v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +29 "core" ' +2 "storage"(I% +4 "core" %n \ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +100 (>% +2 "core" %B \ Wc +2 "manipulator"&L% +5 "core" %ё +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" & \ + "collection"'P& +4 "core" &V_ \ E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&R% +4 "core" %\   + "storage"($% +4 "core" %T 2\ + "storage"(&. +4 "core" .( + "storage"(T& +5 "core" & [\ + "storage"(U& +4 "core" & 6\ +2 "manipulator"&V& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&Y& +4 "core" & \\  + "storage"([& +4 "core" & D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +90 "core" ' +3 "storage"(^& +4 "core" & K\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +284 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" &  +2 "storage"(b& +4 "core" & ^\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&S' +35 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(d- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(e'X +32 "core" ' + "manipulator"&f% +4 "core" % ; +2 "storage"(W& +3 "core" & i 2\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&]' +12 "core" ' + "manipulator"&_& +5 "core" & P  + "storage"(+& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'G +42 "core" ' + "manipulator"&l& +5 "core" & C  + "manipulator"&m% +4 "core" %z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +155 "core" ( +2 "manipulator"&g& +4 "core" &# Z :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &# :, +2 .tForearm.seek CC + "manipulator"&q'" +103 "core" ' + .tHand.close +2 "manipulator"&r/ +56 "core" / +2 .tCC.seek :open +2 "collection"'s( +416 "core" ( + "storage"(c& +4 "core" & C\ +2 "storage"(u& +3 "core" & .\ +2 "manipulator"&v& +3 "core" &# - :, +2 "manipulator"&x% +3 "core" % + W { +2 .tForearm.seek :retract +2 "manipulator"&`'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +154 "core" ( +2 "manipulator"&z& +4 "core" & \\  +2 "storage"({& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&|' +108 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  + "storage"(& +5 "core" & h\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&t& +4 "core" & k  +2 "storage"(w& +3 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +24 "core" ' +2 "storage"(% +4 "core" %J\ \ =\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +3 "core" %A \ Va +2 "manipulator"&}% +4 "core" %Ѿ [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & \ + "manipulator"& % +4 "core" %\   +2 "storage"(% +4 "core" %a \  V\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(*( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & 1\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +11 "core" ( + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' +2 "storage"(& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \  +2 "manipulator"&"& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&%( +2 "core" ( +2 "manipulator"&\ & +4 "core" &  + "storage"((& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +12 "core" & w  +2 "manipulator"&% +3 "core" % ϣ ? +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +153 "core" ' +2 ( + ."downElevator"SE.stop +2 "manipulator"&-& +3 "storage"(5 +5 "core" &# 9 ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &$ q ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +95 "core" ' +2 "manipulator"&1& +4 "core" &$ ( ;7 +2 "manipulator"&% +4 "core" % 3 + "collection"'3& +5 "core" & \ +2 "collection"'4& +5 "core" & \ +4 .tCC.seek :closed +3 "collection"'7(V +3 "core" & \ +6 & - \ #b +9 &U \ 8 +10 & \ L +9 &Z \ N +10 &`Z \ N +9 &"Z \ N +9 &\\ \ N +10 &^ \ N +9 &h` \ N +9 &*[ \ N +10 &` \ N +9 &!b \ N +10 &#pa \ N +9 &%2b \ N +9 &&_ \ N +10 &(Z \ M +9 &*y\\ \ M +9 &,;] \ M +10 &-` \ M +9 &/\\ \ N +10 &1b \ N +9 &3B^ \ N +9 &5` \ M +10 &6` \ M +9 &8Z \ M +9 &:J] \ N +10 &< _ \ M +9 &=_ \ M +10 &?a \ N +9 &AS` \ M +9 &C` \ M +10 &Dd \ N +9 &Fn \ O +9 &HQ} \ Q +10 &J \ U +9 &K \ X +10 &M \ X +9 &OC \ X +9 &Q \ Y +10 &R \ Y +9 &T \ Z +9 &V"u \ . +10 &V+ \ S +9 ( +3 "collection"'4& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&81 +4 "core" &Ve \ F +49 1 + "manipulator"&9% +5 "core" %  0  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%<& +4 "core" & \ +2 "manipulator"&.% +3 "core" %\  Z  +2 "storage"(?% +4 "core" %V \ + "storage"(@. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(D& +4 "core" & \  + "manipulator"&F& +4 "core" &$ o ;7 + "manipulator"&5% +4 "core" %\  j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E( +158 "core" ( +2 "manipulator"&G& +4 "core" &  + "storage"(I& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +106 "core" ' +2 "storage"(2& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +283 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" & w\  +2 "manipulator"&=& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&!& +4 "core" & u  + "storage"(A& +4 "core" & `\  +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"(R'X +8 "core" & K  + "manipulator"&$% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&T& +4 "core" &j ( k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &j  @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V' +99 "core" ' + "manipulator"&Y& +4 "core" &j P +2 "manipulator"&[% +4 "core" % ' +2 "processing"%H& +3 "core" &\ +3 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &#\ +7 &:(\ $e +10 &U%\ 8 +9 &%\ L +10 &_#\ O +9 &fb!\ O +9 &)b\ N +10 &b%\ N +9 &]$\ O +9 &n`%\ O +10 &1^%\ N +9 &b'\ O +10 &!_"\ N +9 &#wb(\ N +9 &%8_#\ O +51 &&^$\ N +12 &(`\ N + &*~_\ O +4 &,A]%\ N + &.]'\ O + &/^#\ N +3 &1\\#\ N +2 &3I_'\ N +10 &5 `%\ N +9 &6[$\ N +9 &8Z)\ N +10 &:QZ&\ N +9 &<_#\ N +10 &=^ \ N +9 &?^%\ N +9 &AZ]$\ N +10 &C`!\ N +9 &Dc$\ N +9 &Fk(\ P +10 &HV}(\ R +9 &J(\ T +10 &K$\ U +9 &M$\ U +9 &OW#\ T +10 &Q(\ T +9 &R*\ U +9 &T%\ T +10 &V]#\ U +9 &X\ V +10 &Y|r"\ 4 +9 &Z-(\ L +9 &Z"$\ + +2 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&B1 +65 "core" 1 + "manipulator"&M% +4 "core" % ' 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' + "processing"%a& +5 "core" &Z"\ + + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&b% +4 "core" %\   + "storage"(d% +4 "core" %b M\  + "storage"(f. +3 "core" .( +2 "storage"(W& +3 "core" & p\  +3 "storage"(_& +2 "manipulator"&+& +6 "core" & [\  +2 &j +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&l(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'i +2 "core" ( +2 "manipulator"&\\& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +3 "core" &j +2 .tForearm.seek PC + "manipulator"&N' +94 "core" ' + .tHand.close +2 "manipulator"&S/ +61 "core" / + .tPC.seek :open +3 "processing"%]( +91 "core" ' +2 "storage"(e- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'y +38 "core" ' +293 ( + "storage"(p& +4 "core" & \  +2 "manipulator"&i& +4 "core" &j + "manipulator"&Z% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&n( +247 "core" ( + "manipulator"&h& +5 "core" & 7 + "storage"(c& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +93 "core" ' +2 .tHand.open + "manipulator"&v1 +53 "core" 1 +3 "storage"(x- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(z'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"({' +45 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(o& +3 "core" & X X Y\  +2 "manipulator"&& +4 "core" & 6 + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & l 6 + "storage"(t& +4 "core" & Y [ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +55 "core" ' + "manipulator"&`& +4 "core" & u 6 +2 "storage"( & +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&}'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(|'i +25 "core" ' +2 "manipulator"&% +4 "core" %Ά +2 "storage"( & +4 "core" & p\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"& 'ϲ +12 "core" ' +2 "manipulator"&& +4 "core" & 6 +2 "storage"(& +4 "core" & f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +25 "core" ' +2 "storage"(y% +4 "core" %r ^\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (K% +3 "core" %D L\ Wc +2 "manipulator"&% +4 "core" %Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & A\  +2 "collection"'& +4 "core" &Vf \ F + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\  + + "storage"(~% +4 "core" %b a\ + "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & k\  + "storage"(& +4 "core" & \  + "manipulator"&"& +4 "core" & 6 +2 .tElbow.seek 3 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"&(& +5 "core" & ' 6 + "storage"(& +4 "core" & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +102 "core" ' +2 "storage"(& +4 "core" & '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&-& +3 "core" & 6 +2 "storage"('& +4 "core" & {\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"('[ +27 "core" ' +2 "manipulator"&3% +4 "core" %΍ q + "storage"(%& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +12 "core" ' + "manipulator"&#& +5 "core" & 6 + "storage"(s& +4 "core" & v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(9'J +45 "core" ' + "manipulator"&<& +5 "core" & 6 +2 "manipulator"&.% +4 "core" %K + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +146 "core" ( +2 "manipulator"&& +4 "core" &(  S >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &' 1 >K +2 .tForearm.seek CC + "manipulator"&F'" +93 "core" ' +2 .tHand.close +2 "manipulator"&5/ +57 "core" / +2 .tCC.seek :open + "collection"'4( +417 "core" ( + "storage"(0& +4 "core" & &\  + "storage"(G& +4 "core" & \  +2 "manipulator"&I& +4 "core" &(  >J + "manipulator"&2% +4 "core" % *  / +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&;( +159 "core" ( +2 "manipulator"&>& +4 "core" &   + "storage"(L& +4 "core" &\ \ y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&='} +103 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&A1 +61 "core" 1 +2 "manipulator"&O% +4 "core" % ΍ ] +2 "storage"(P& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&$'Ϲ +12 "core" ' + "manipulator"&E& +4 "core" & h  +2 "storage"(/& +4 "core" & \  u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +22 "core" ' + "storage"( % +5 "core" %N\ \  z\ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +99 (U% +3 "core" %> '\ U^ +2 "manipulator"&:% +4 "core" %M 6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'[& +4 "core" & \ +2 "manipulator"&H% +3 "core" %\   +2 "storage"(R% +4 "core" %^\ \  \ + "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"()( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +2 "core" & \ +2 "manipulator"&M& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&a( +29 "core" ( +2 "manipulator"&b& +4 "core" & U +2 "storage"(d& +4 "core" & \ \ _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +102 "core" ' +2 "storage"(W& +4 "core" & \ \  D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +286 "core" ' +2 "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" & \ + "manipulator"&\\& +4 "core" &\ T +2 .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( + "manipulator"&V& +4 "core" &\ T + "storage"(S& +4 "core" & R\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&e' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tHand.close +11 "manipulator"&C/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(J'X +7 "core" &\ T + "manipulator"&m% +5 "core" % 2 + .tForearm.seek :retract +2 "manipulator"&p'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&Z& +4 "core" & *  ?Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &) F ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'" +94 "core" ' +2 "manipulator"&c& +4 "core" &) P ?U +2 "manipulator"&l% +4 "core" % L +2 "collection"'v& +4 "core" & \ +2 "collection"'x& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'q(V +4 "core" & \  +8 &.| \ +z +9 &d \ > +10 &uv \ N +9 &:Y \ M +10 &` \ N +9 &\\ \ M +9 &[ \ M +10 &A^ \ M +9 &^ \ M +9 &] \ M +10 & Z \ M +9 &"HZ \ N +10 &$ ^ \ M +9 &%\\ \ M +9 &'Z \ M +10 &)QY \ M +9 &+^ \ M +9 &,^ \ M +10 &.] \ N +9 &0X] \ N +10 &2^ \ M +9 &3_ \ M +9 &5[ \ M +10 &7aZ \ M +9 &9#\\ \ M +9 &:` \ M +10 &<` \ M +9 &>i_ \ M +10 &@+] \ M +9 &A[ \ M +9 &C_ \ N +10 &Eqb \ M +9 &G-o \ O +9 &Hw \ P +10 &J \ T +9 &L] \ W +10 &N \ W +9 &O \ X +9 &Q \ X +10 &S] \ Z +9 &U \ Y +9 &ViC \ 0 +10 &V v \ G +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&o1 +3 "core" &V_ \ G +50 1 +2 "manipulator"&% +4 "core" %  $ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +4 "core" &#\ +2 "manipulator"&r% +3 "core" %\ " a @ +2 "storage"(`% +4 "core" %U M\ + "storage"( . +3 "core" .( +2 "storage"(& +3 "core" & U\ +2 "storage"(g& +4 "core" & S\ + "manipulator"& & +4 "core" & ) J ?T + "manipulator"&% +5 "core" %\ # I @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( + "manipulator"&z& +5 "core" & {  + "storage"(y& +4 "core" & h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +95 "core" ' +2 "storage"(u& +4 "core" & >\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +282 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & b\ +2 "manipulator"&w& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & j  + "storage"(}& +4 "core" & `\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &  +2 "manipulator"&~% +4 "core" % I +2 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&& +4 "core" &s ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &s E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"' +100 "core" ' +2 "manipulator"&(& +4 "core" &s r + "manipulator"&% +4 "core" %  +2 "processing"%j& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &)\  +9 &1)\ *y +9 &b%\ > +9 &u|'\ N +10 &6[)\ N +9 &`,\ N +9 &_)\ O +10 &|^#\ N +9 &=]&\ O +9 &^%\ N +10 &]&\ O +9 & _%\ N +10 &"F`%\ N +9 &$]#\ N +9 &%[+\ N +10 &'`"\ O +9 &)N](\ N +9 &+Z%\ N +10 &,\\"\ O +9 &.]%\ N +10 &0U_$\ O +9 &2^"\ N +9 &3]!\ N +10 &5\\\ N +9 &7^]\ N +9 &9 ]\ N +10 &:Z%\ N +9 &<]#\ N +10 &>g^\ N +9 &@)_#\ N +9 &A]"\ N +10 &C]%\ N +9 &Elc\ O +9 &G)s\ Q +10 &H \ S +9 &J \ T +10 &Ld!\ T +9 &N'\ T +9 &O\ T +10 &Q\ T +9 &Sj\ U +9 &U.\ T +10 &V"\ U +9 &X$\ U +10 &Z!a\ #l +9 &Z]\ / +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&k1 +3 "core" &Z\ + +57 1 +2 "manipulator"&% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 "processing"%-& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&'% +4 "core" %\   + "storage"(1% +4 "core" %U \ +2 "storage"(3. +3 "core" .( + "storage"(%& +4 "core" & Q\ +2 "storage"(#& +2 "manipulator"&s& +6 "core" & \ + &s +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(<'i +3 "manipulator"&.(s +3 "core" ( +2 "manipulator"&& +4 "core" &s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &s  +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +3 .tPC.seek :open +2 "processing"%( +82 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +298 ( + "storage"(D& +4 "core" & \ +2 "manipulator"&8& +3 "core" &s +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&5'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?( +250 "core" ( + "manipulator"&7& +4 "core" & h o +2 "storage"(0& +4 "core" & W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +96 "core" ' +2 .tHand.open + "manipulator"&I1 +52 "core" 1 +2 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(L' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(F- +3 "core" -' +2 "storage"(@& +4 "core" &   \ + "manipulator"&A& +4 "core" & & o + .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&P& +4 "core" & g o + "storage"(E& +4 "core" &   \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +56 "core" ' + "manipulator"&,& +5 "core" & X o + "storage"(U& +4 "core" & $\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&:' +30 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +24 "core" ' + "manipulator"&$% +5 "core" % O  + "storage"([& +4 "core" & 9\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&H' +13 "core" ' + "manipulator"&R& +5 "core" & o + "storage"(&& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +23 "core" ' +2 "storage"(6% +4 "core" %o {\ +3 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (*% +3 "core" %A \ Wd +2 "manipulator"&B% +4 "core" %Ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +90 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" & \ + "collection"'d& +4 "core" &V^ \ G +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&W% +4 "core" %\  d  + "storage"(!% +4 "core" %_ \ +2 "storage"(Y. +3 "core" .( + "storage"(+& +4 "core" & \ + "storage"(_& +4 "core" & p\ +2 "manipulator"&\\& +3 "core" & n +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&S& +3 "core" & ^ n +2 "storage"(C& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +87 "core" ' +2 "storage"(m& +4 "core" & +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +293 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & n + "storage"(N& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +45 .tForearm.reconfigure :loose +13 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(c- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(l'X +28 "core" ' + "manipulator"&v% +4 "core" % * +2 "storage"(X& +4 "core" & p y \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&J' +13 "core" ' + "manipulator"&p& +4 "core" & H n +2 "storage"(4& +4 "core" & d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('G +41 "core" ' + "manipulator"&t& +5 "core" & n + "manipulator"&r% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +145 "core" ( + "manipulator"&& +5 "core" &% $ 2 <: + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &% = <: +2 .tForearm.seek CC +2 "manipulator"&g'" +93 "core" ' + .tHand.close +2 "manipulator"& / +51 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(h& +4 "core" & \ +2 "storage"(z& +4 "core" & \ + "manipulator"&y& +4 "core" & " 9% + "manipulator"&u% +4 "core" % 0 +2 .tForearm.seek :retract + "manipulator"&i'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +158 "core" ( +2 "manipulator"&K& +4 "core" &  + "storage"(& +4 "core" & \  B\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&w' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&}1 +57 "core" 1 +2 "manipulator"&% +4 "core" % 0  +2 "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&~' +16 "core" ' + "manipulator"&& +5 "core" &   + "storage"(n& +4 "core" & \ \  r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +32 "core" ' +2 "storage"( % +4 "core" %Q\ \ !\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +4 "core" %-? O\ V` +2 "manipulator"&% +4 "core" %Ѧ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&j% +4 "core" %\ # ; + "storage"(% +4 "core" %]\ \ \ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(]( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" & 8\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&-( +12 "core" ( + "manipulator"&'& +5 "core" &  + "storage"(1& +4 "core" &\ \ T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +97 "core" ' + "storage"(%& +4 "core" &\ \ ! \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" & N\  +2 "manipulator"&& +4 "core" & %  + .tElbow.seek 3 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&"& +3 "core" & O  +2 "storage"(& +3 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &  + "manipulator"&<% +4 "core" % Ϩ +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8( +154 "core" ( + "manipulator"&& +5 "core" && V =D + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&& +7 "core" && h =D + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'" +96 "core" ' + "manipulator"&0& +5 "core" &&  =D + "manipulator"&.% +5 "core" % + "collection"'I& +5 "core" & \ +2 "collection"'2& +4 "core" & \ +3 .tCC.seek :closed + "collection"'F(V +4 "core" & \  +9 &1~ \ *z +9 &f \ ? +9 &u \ N +10 &GW \ M +9 & ^ \ M +9 &[ \ M +10 &Y \ M +9 &O[ \ M +10 &Y \ M +9 &\\ \ M +9 & ] \ M +10 &"W_ \ M +9 &$] \ M +9 &%[ \ M +10 &'\\ \ M +9 &)_Z \ M +10 &+ \\ \ N +9 &,Z \ M +9 &.\\ \ M +10 &0h] \ M +9 &2)[ \ M +9 &3\\ \ M +10 &5[ \ M +9 &7p\\ \ M +10 &92[ \ M +9 &:] \ M +9 &<_ \ N +10 &>x] \ M +9 &@9] \ M +9 &A] \ M +10 &C` \ M +9 &E|f \ N +10 &G<l \ O +9 &H{ \ Q +9 &J \ V +10 &Li \ X +9 &N, \ W +9 &O \ X +10 &Q \ X +9 &Sl \ Y +10 &U. \ W +9 &Vk> \ / +9 &V \ I +6 ( + "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&@1 +4 "core" &Vj \ I +59 1 + "manipulator"&A% +4 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%E& +4 "core" &(\ +2 "manipulator"&5% +4 "core" %\   + "storage"(,% +4 "core" %b \ + "storage"(U. +3 "core" .( +2 "storage"($& +3 "core" & \  +2 "storage"([& +4 "core" & \  + "manipulator"&& +4 "core" &% % <9 +2 "manipulator"&R% +3 "core" %\  |  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&&( +161 "core" ( +2 "manipulator"&>& +4 "core" & | + "storage"(6& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +95 "core" ' +2 "storage"(G& +4 "core" & 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" & \  +2 "manipulator"&/& +4 "core" & | + .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( + "manipulator"& & +4 "core" & | +2 "storage"(:& +3 "core" & [\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&H'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(W'X +8 "core" & ^ | + "manipulator"&=% +4 "core" % Ϟ } \\ +2 .tForearm.seek :retract +2 "manipulator"&!'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&Y(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&+& +4 "core" &t % E  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &t i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +93 "core" ' +2 "manipulator"&S& +4 "core" &t  +2 "manipulator"&C% +3 "core" % 1 +2 "processing"%9& +4 "core" &1\ +2 "processing"%m& +5 "core" &0\ +2 .tPC.seek :closed +3 "processing"%T(Z +4 "core" &1\ +5 &+\ 4 +10 &=I&\ 0 +9 &eq/\ E +9 &h/\ N +10 &]/\ N +9 &^0\ N +10 &L^0\ N +9 &]/\ N +9 &]*\ N +10 &\\/\ N +9 &V^.\ N +9 &!]*\ N +10 &"_0\ N +9 &$^1\ N +10 &&^Z'\ N +9 &(\\*\ N +9 &)^-\ N +10 &+]%\ N +9 &-e\\*\ N +9 &/']*\ N +10 &0^)\ N +9 &2]0\ N +10 &4n]/\ N +9 &6/^.\ N +9 &7]$\ N +10 &9_*\ N +9 &;u]%\ N +9 &=6]#\ N +10 &>\\+\ N +9 &@])\ N +10 &B{]+\ O +9 &D>a+\ N +9 &Ef*\ O +10 &Gu-\ Q +9 &It+\ T +9 &K6$\ T +10 &L#\ T +9 &N)\ T +9 &P|)\ T +10 &R<)\ T +9 &S\ T +10 &U\ U +9 &W%\ U +9 &YC*\ B +10 &ZY;k"\ &n +9 &Z'"\ ) +6 ( + "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&;1 +4 "core" &Z \ ) +50 1 +2 "manipulator"&M% +4 "core" % 1 +2 .tForearm.reconfigure :loose +46 "manipulator"&#Q@2^d^b +12 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' +2 "processing"%Z& +4 "core" &Z$\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\  p  + "storage"(c% +4 "core" %U .\ + "storage"(v. +4 "core" .( + "storage"(X& +4 "core" & \  +2 "storage"(p& +4 "manipulator"&4& +4 "core" & +\  +2 &t  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&t(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +2 "core" ( +2 "manipulator"&Q& +4 "core" &t U  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &t i  +2 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +3 .tPC.seek :open +2 "processing"%J( +86 "core" ' +2 "storage"(l- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +295 ( + "storage"(x& +4 "core" & 9\  +2 "manipulator"&o& +3 "core" &t  +2 "manipulator"&e% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"& '\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +253 "core" ( + "manipulator"&q& +4 "core" & d +2 "storage"(h& +4 "core" & }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +90 "core" ' + .tHand.open +2 "manipulator"&y1 +52 "core" 1 +2 "storage"(u- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"( & +4 "core" & 5 4 \  + "manipulator"&}& +4 "core" &\ R +2 .tElbow.seek 3 + "manipulator"&( +24 "core" ( +2 "manipulator"&& +4 "core" & m  +2 "storage"(& +3 "core" & 4 8 Q\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + "manipulator"&i& +5 "core" & s  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +37 "core" ' +2 "manipulator"&~% +4 "core" %Ώ +2 "storage"(& +4 "core" & |\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&j'ϻ +27 "core" ' + "manipulator"&& +5 "core" &   + "storage"( & +5 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 "storage"({% +4 "core" %o H\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 ()% +3 "core" %C \ Wb +2 "manipulator"&k% +4 "core" %J  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +4 "core" & a\  +2 "collection"'1& +3 "core" &V` \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&%% +4 "core" %\  + "storage"(% +4 "core" %T m\ + "storage"((. +4 "core" .( + "storage"(s& +4 "core" & \  + "storage"(#& +4 "core" & e\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&& +3 "core" & U  +2 "storage"(|& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + "storage"(<& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'i +286 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  +4 "storage"(& +9 "core" & 2\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(0- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(.'[ +31 "core" ' +2 "manipulator"&I% +4 "core" %ΐ + "storage"(\ & +5 "core" & O\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +13 "core" ' +2 "manipulator"&D& +4 "core" &  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(A'J +44 "core" ' +2 "manipulator"&E& +4 "core" &   +2 "manipulator"&5% +4 "core" %N ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +157 "core" ( +2 "manipulator"&$& +4 "core" &+ w Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &+ " @ Aa +2 .tForearm.seek CC + "manipulator"&2'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'R( +419 "core" ( + "storage"(7& +4 "core" & w\  +2 "storage"(>& +4 "core" & 1\  + "manipulator"&6& +4 "core" &( x >O + "manipulator"&G% +4 "core" % ' } +2 .tForearm.seek :retract + "manipulator"&8'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P( +162 "core" ( + "manipulator"&*& +5 "core" & k + "storage"(B& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&/'} +104 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +59 "core" 1 +2 "manipulator"&b% +4 "core" % Ί d \\ + "storage"(d& +4 "core" & +\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&='϶ +12 "core" ' +2 "manipulator"&&& +4 "core" & U k + "storage"(?& +4 "core" &\  ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +23 "core" ' +2 "storage"(H% +4 "core" %N\ \  F\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (_% +3 "core" %= \ V_ +2 "manipulator"&O% +4 "core" %d | z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +137 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'C& +4 "core" & \ + "manipulator"&9% +5 "core" %\  |  + "storage"(W% +5 "core" %]\ \  \ + "storage"(!. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" & m\ +2 "manipulator"&M& +4 "core" & ^ k + .tElbow.seek 2 +2 "manipulator"&m( +29 "core" ( +2 "manipulator"&Z& +4 "core" & a + "storage"(N& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +94 "core" ' +2 "storage"(v& +4 "core" & \ \  n\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +285 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & \ + "manipulator"&Q& +5 "core" & a +2 .tElbow.seek 2 + "manipulator"&V( +3 "core" ( +2 "manipulator"&\\& +3 "core" & z a +2 "storage"(^& +3 "core" & \ \ x\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Y/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(T'X +7 "core" & a +2 "manipulator"&r% +4 "core" %  m M + .tForearm.seek :retract +2 "manipulator"&x'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +149 "core" ( +2 "manipulator"&e& +5 "core" && =C ' +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &a& +4 "core" &% =C + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'" +96 "core" ' + "manipulator"&h& +5 "core" &&  L =B + "manipulator"&t% +4 "core" %+ K +2 "collection"'y& +4 "core" & \ +2 "collection"'u& +5 "core" & \ +4 .tCC.seek :closed +3 "collection"'g(V +3 "core" & \ +5 & \ 4 +9 &5I \ 0 +10 &_r \ E +9 &_ \ N +9 &\\ \ M +10 &Z \ M +9 &JZ \ M +11 & \\ \ M +8 &\\ \ M +9 &\\ \ M +10 &R\\ \ M +9 &!\\ \ M +10 &"Z \ M +9 &$] \ M +9 &&Z[ \ M +10 &(] \ M +9 &)Z \ M +9 &+Z \ M +10 &-dZ \ M +9 &/$^ \ M +9 &0\\ \ M +10 &2\\ \ M +9 &4j[ \ M +10 &6-[ \ M +9 &7Z \ M +9 &9Z \ M +10 &;s] \ M +9 &=4\\ \ M +9 &>\\ \ M +10 &@Y \ M +9 &B{\\ \ M +10 &D;_ \ N +9 &Ec \ N +9 &Gq \ O +10 &Iwy \ Q +9 &K/ \ U +9 &L \ X +10 &N \ W +9 &Pk \ X +10 &R, \ X +9 &S \ Z +9 &U \ F +10 &V. \ / +9 &VR \ D +2 ( +2 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&}% +4 "core" % + 1 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &%\ +2 "manipulator"& % +3 "core" %\ # > +2 "storage"(i% +4 "core" %U \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(~& +4 "core" & +\ + "manipulator"&& +4 "core" &% H <? +2 "manipulator"&K% +4 "core" %\ # N > + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( + "manipulator"& & +5 "core" &  + "storage"(`& +4 "core" & :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +100 "core" ' + "storage"(z& +5 "core" & F\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +116 "Can"\ PN +166 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (k& +3 "core" & G\ + "manipulator"&n& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & 2  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&j' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&1& + "storage"(%'X +7 "core" &   +2 "manipulator"&% +4 "core" %  x Z + .tForearm.seek :retract +2 "manipulator"&w'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&((s +172 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&s& +5 "core" &o  N  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &o 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" &p N  +2 "manipulator"&|% +4 "core" % v +2 "processing"%& +3 "core" &(\ +3 "processing"%<& +4 "core" &(\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &1\  +8 &11\ *y +10 &c1\ > +9 &y{/\ N +9 &<]1\ M +10 &]1\ M +9 &]-\ N +9 &a&\ N +10 &D_&\ M +9 &_+\ N +9 &a,\ N +10 & \\0\ N +9 &"L]*\ M +10 &$ \\*\ N +9 &%a,\ N +9 &'].\ N +10 &)S]*\ N +9 &+\\$\ N +9 &,Z*\ N +10 &.\\,\ N +9 &0\\]$\ M +10 &2]0\ N +9 &3_&\ N +9 &5`%\ M +10 &7d]$\ M +9 &9%\\*\ N +9 &:Z*\ N +10 &<\\&\ N +9 &>k[*\ N +10 &@-`)\ N +9 &A]$\ N +9 &C_+\ N +10 &Eoc'\ O +9 &G.o%\ P +9 &H$\ R +10 &J+\ S +9 &Li)\ T +10 &N+%\ T +9 &O#\ S +9 &Q)\ T +10 &Sq(\ T +9 &U3(\ T +10 &V#\ T +9 &X$\ T +9 &Z"\\'\ $m +10 &ZZ&\ , +8 ( +2 &Z$\ * +2 "processing"%<& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' + "processing"%& +4 "core" &Z \ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  +2 "storage"(0% +4 "core" %c 9\ + "storage"(I. +3 "core" .( +2 "storage"(\ & +3 "core" & .\ +2 "storage"(D& +5 "manipulator"&& +4 "core" & 7\ + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&E(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'i +2 "core" ( + "manipulator"&& +4 "core" &p }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &p &  +2 .tForearm.seek PC +2 "manipulator"&-' +98 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(.- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"($'y +42 "core" ' +288 ( +2 "storage"([& +4 "core" & N\ + "manipulator"&@& +4 "core" &p  + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&,( +237 "core" ( + "manipulator"&F& +5 "core" & ; + "storage"(7& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +52 "manipulator"&>'ќ +89 "core" ' + .tHand.open +2 "manipulator"&61 +58 "core" 1 +2 "storage"(G- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +4 "core" -' +2 "storage"(U& +4 "core" & 3 4\ + "manipulator"&:& +4 "core" & V : +2 .tElbow.seek 2 + "manipulator"&b( +3 "core" ( +2 "manipulator"&d& +4 "core" & : + "storage"(&& +4 "core" & 8 4\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +57 "core" ' +2 "manipulator"&8& +4 "core" & : +2 "storage"(_& +4 "core" & :\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&O' +34 "core" ' + .tElbow.hold +2 "manipulator"&P, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +26 "core" ' +2 "manipulator"&C% +4 "core" % Q +2 "storage"(=& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&9' +14 "core" ' +2 "manipulator"&W& +4 "core" & @ : +2 "storage"(!& +4 "core" & -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +18 "core" ' + "storage"(L% +5 "core" %q b\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (]% +3 "core" %9C \\\ Wc +2 "manipulator"&;% +4 "core" %љ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" & 0\ +2 "collection"'N& +4 "core" &VT \ D + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&v% +3 "core" %\ % I D +2 "storage"( % +4 "core" %b E\ + "storage"(S. +4 "core" .( + "storage"(p& +4 "core" & 6\ +2 "storage"(4& +4 "core" & \ + "manipulator"&Q& +4 "core" & : +2 .tElbow.seek 2 + "manipulator"&\\( +4 "core" ( + "manipulator"&^& +5 "core" & m : + "storage"(Y& +4 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +99 "core" ' +2 "storage"(r& +4 "core" & k\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +284 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" & { : + "storage"(a& +4 "core" & \\\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&X' +34 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'W +28 "core" ' +2 "manipulator"&y% +4 "core" % 2 + "storage"(V& +4 "core" & q q <\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&T' +12 "core" ' + "manipulator"&x& +4 "core" & : +2 "storage"(R& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(}'F +45 "core" ' +2 "manipulator"&& +5 "core" & = : + "manipulator"& % +4 "core" %ё +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ( + "manipulator"&& +4 "core" &' ! # >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &' k >I +2 .tForearm.seek CC +2 "manipulator"&~'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'K( +416 "core" ( + "storage"(q& +4 "core" & \ +2 "storage"( & +3 "core" & \ +2 "manipulator"&`& +3 "core" &\ #  9 :1 +2 "manipulator"&z% +4 "core" % 3 F + .tForearm.seek :retract +2 "manipulator"&o'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +158 "core" ( +2 "manipulator"&)& +4 "core" &  + "storage"(k& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&n' +108 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&'% +4 "core" % 0 + "storage"(1& +5 "core" & N\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"({& +4 "core" & \ \ $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' + "storage"(j% +5 "core" %D\ \  6\ +2 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (#% +3 "core" %? v\ V_ +2 "manipulator"&% +4 "core" %ч +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'|& +4 "core" & \ +2 "manipulator"&% +3 "core" %\  Y  +2 "storage"(%% +4 "core" %\\\ \  \ + "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(J( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & |\  + "manipulator"&& +4 "core" & x  +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(0& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +92 "core" ' + "storage"(\ & +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" & A\  + "manipulator"&& +4 "core" & }  +2 .tElbow.seek 3 + "manipulator"&"( +3 "core" ( +2 "manipulator"&& +4 "core" & _  +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&.'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"('X +7 "core" & q  + "manipulator"&5% +4 "core" % ϣ } +2 .tForearm.seek :retract +2 "manipulator"&['\ +95 "core" ' +51 .tElbow.seek CC +2 "manipulator"&@( +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +55 "core" ( + "manipulator"&& +5 "core" &' * U >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" &'  & >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'" +102 "core" ' +2 "manipulator"&7& +5 "core" &( 0 >N + "manipulator"&E% +5 "core" %# " +2 "collection"'6& +4 "core" & [\ +2 "collection"'G& +5 "core" & o\ +2 .tCC.seek :closed + "collection"'2(V +5 "core" & \ +7 & . \ $c +9 &W \ 7 +9 & \ L +10 &Y \ L +9 &fZ \ M +9 &(Z \ M +10 &] \ M +9 &[ \ M +10 &o\\ \ M +9 &1\\ \ M +9 &Z \ M +10 &!\\ \ M +9 &#wY \ M +9 &%7\\ \ N +10 &&Z \ M +9 &(Y \ M +10 &*\\ \ M +9 &,AZ \ M +9 &.Y \ M +10 &/[ \ M +9 &1X \ M +9 &3HZ \ M +10 &5\ Z \ M +9 &6Z \ M +9 &8Z \ M +10 &:P[ \ M +9 &<_ \ M +10 &=\\ \ M +9 &?\\ \ M +9 &AY\\ \ M +10 &C] \ M +9 &Da \ N +10 &Fh \ O +9 &HWu \ P +9 &J \ T +10 &K \ W +9 &M \ X +9 &OH \ X +10 &Q\ \ X +9 &R \ Y +10 &T \ Z +9 &V*v \ . +9 &V# \ P +9 ( +3 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&1 +3 "core" &Vm \ I +53 1 +2 "manipulator"&U% +4 "core" % # / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%d& +4 "core" &3\ +2 "manipulator"&&% +4 "core" %\  _  + "storage"(8% +4 "core" %c l\ +2 "storage"(_. +3 "core" .( + "storage"($& +4 "core" & \  +2 "storage"(C& +3 "core" & \  +2 "manipulator"&=& +4 "core" && ! G =A + "manipulator"&*% +4 "core" %\  %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +160 "core" ( +2 "manipulator"&!& +4 "core" & +2 "storage"(L& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +91 "core" ' +2 "storage"(>& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +284 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (;& +3 "core" & \  + "manipulator"&?& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&b( +3 "core" ( + "manipulator"&H& +4 "core" & t + "storage"(O& +4 "core" & d\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(v'X +7 "core" & [ + "manipulator"& % +4 "core" % ϧ  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +102 "core" ' + .tElbow.seek PC +2 "manipulator"&p(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +2 "manipulator"&/& +4 "core" &g ' k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +94 "core" ' +2 "manipulator"&^& +4 "core" &g {  + "manipulator"&Y% +5 "core" %  + "processing"%A& +4 "core" &-\ +2 "processing"%r& +5 "core" &(\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &*\  +9 &26\ *x +9 &b6\ > +10 &sz1\ N +9 &4]/\ N +10 &]+\ N +9 &]5\ N +9 &z]2\ N +10 &<\\1\ N +9 &_1\ N +9 &\\6\ N +10 & ^7\ N +9 &"E]0\ N +10 &$\\4\ N +9 &%]6\ N +9 &'_1\ N +10 &)M`7\ N +9 &+\\1\ N +9 &,\\$\ M +10 &.]/\ N +9 &0V]7\ N +10 &2[1\ N +9 &3\\/\ N +9 &5\\2\ N +10 &7^\\6\ N +9 &9\\4\ N +9 &:\\1\ N +10 &<\\7\ N +9 &>fZ2\ N +10 &@(_&\ N +9 &A[)\ N +9 &C_1\ N +10 &Ejc2\ O +9 &G(r8\ P +10 &H6\ S +9 &J5\ T +9 &Ld*\ T +10 &N&*\ T +9 &O#\ T +9 &Q%\ T +10 &Sj,\ T +9 &U,1\ T +9 &V.\ U +10 &X4\ U +9 &Z`*\ #l +10 &Z_5\ / +9 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&P1 +3 "core" &Z1\ + +54 1 + "manipulator"&M% +5 "core" % ~  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' +2 "processing"%e& +4 "core" &Z"\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +4 "core" %\   + "storage"(h% +4 "core" %U \ +2 "storage"(y. +3 "core" .( + "storage"(V& +4 "core" & c\  +2 "storage"(x& +4 "manipulator"&R& +3 "core" & Y\  + &g  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"( 'i +12 "core" ( +2 "manipulator"&f& +4 "core" &l c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &l } +2 .tForearm.seek PC +2 "manipulator"&m' +97 "core" ' + .tHand.close +2 "manipulator"&X/ +53 "core" / +2 .tPC.seek :open +2 "processing"%T( +84 "core" ' +3 "storage"(t- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +290 ( +2 "storage"(u& +4 "core" & n\  + "manipulator"& & +4 "core" &m + "manipulator"&l% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i( +244 "core" ( + "manipulator"&g& +4 "core" & !s +2 "storage"(q& +4 "core" & y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +106 "core" ' + .tHand.open +2 "manipulator"&`1 +55 "core" 1 +2 "storage"(z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +3 "core" -' +2 "storage"(& +4 "core" & $  :\  + "manipulator"&& +4 "core" &\ { ` +2 .tElbow.seek 3 + "manipulator"&'( +3 "core" ( +2 "manipulator"&1& +4 "core" &\ g ` + "storage"(& +4 "core" & 8 5\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +56 "core" ' +2 "manipulator"&o& +4 "core" &\ ` +2 "storage"(#& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'i +25 "core" ' +2 "manipulator"&% +4 "core" %Ό + "storage"(|& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&'ϸ +23 "core" ' +2 "manipulator"&%& +5 "core" & S _ + "storage"(w& +5 "core" & !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +53 "core" ' +3 "storage"(% +4 "core" %i W\ +2 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (% +3 "core" %B =\ Wb +2 "manipulator"&% +4 "core" %D t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & o\  +2 "collection"'0& +4 "core" &Vm \ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\ % +3 "core" %\   +2 "storage"( % +4 "core" %U U\ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & m\  + "storage"(D& +4 "core" & W\  +2 "manipulator"&& +4 "core" &\ _ + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &\ _ + "storage"((& +4 "core" & d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +106 "core" ' +2 "storage"(5& +5 "core" & 5\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &\ _ + "storage"(.& +4 "core" & 2\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(7- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(E'[ +38 "core" ' +2 "manipulator"&6% +4 "core" %ΐ m +2 "storage"("& +4 "core" & i\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +20 "core" ' + "manipulator"&[& +5 "core" & ^ + "storage"(K& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(U'J +40 "core" ' + "manipulator"&d& +5 "core" &  ^ + "manipulator"&&% +5 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +150 "core" ( + "manipulator"&$& +5 "core" & 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" & 3 +2 .tForearm.seek CC +2 "manipulator"&='" +91 "core" ' +2 .tHand.close + "manipulator"&G/ +54 "core" / + .tCC.seek :open +2 "collection"'*( +416 "core" ( +2 "storage"(F& +4 "core" & K\  + "storage"(!& +4 "core" & \  + "manipulator"&L& +4 "core" & 3 + "manipulator"&>% +4 "core" % 4 +2 .tForearm.seek :retract + "manipulator"&@'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&:( +162 "core" ( + "manipulator"&]& +4 "core" & ~ +2 "storage"(;& +4 "core" &\  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&?'} +104 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +56 "core" 1 + "manipulator"&9% +4 "core" % Ώ W +2 "storage"(N& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"& 'ϻ +11 "core" ' +2 "manipulator"&W& +5 "core" &  ~ + "storage"(,& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +24 "core" ' +2 "storage"(Z% +4 "core" %R\ \  >\ +2 ."downElevator"SE.seek :down +3 "storage"(/'X +99 (4% +3 "core" %?\ \ \ V` +2 "manipulator"&b% +4 "core" %J 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +87 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +46007 "Can"\ 20w +60002 \ 30{ +60002 \ 30v +60003 \ 30l +60002 \ 30p +60002 \ 31w +60002 \ 30w +60002 \ 31v +60002 \ 30t +60002 \ 20p +60002 \ 30m +60002 \ 30u +14556 #t-> 3.times {shuffle 2..3} + #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Y& +3 "core" & 9\ +2 "manipulator"&A% +4 "core" %\  1  + "storage"(v% +4 "core" %b\ \  x\ + "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" & K\ + "manipulator"&M& +4 "core" & ' ~ +2 .tElbow.seek 2 + "manipulator"&e( +36 "core" ( + "manipulator"&a& +4 "core" &!   +2 "storage"(h& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +96 "core" ' +2 "storage"(V& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +285 "core" ' +2 "storage"(x- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" & q\ +2 "manipulator"&f& +4 "core" &! /  + .tElbow.seek 2 +2 "manipulator"&\\( +21 "core" ( +2 "manipulator"&Q& +4 "core" & 0  + "storage"(X& +4 "core" & \ \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(+'X +8 "core" & #  + "manipulator"& % +5 "core" %  B  + .tForearm.seek :retract +2 "manipulator"&u'\ +102 "core" ' +3 .tElbow.seek CC + "manipulator"& ( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&l& +5 "core" &&  [ =B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" && u =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'" +97 "core" ' +2 "manipulator"&q& +4 "core" && , O =B +2 "manipulator"&% +3 "core" %* I +2 "collection"'`& +4 "core" & @\ +2 "collection"'z& +5 "core" & A\ +2 .tCC.seek :closed +2 "collection"'~(V +4 "core" & >\ +8 & 5 >\ %f +9 &U 9\ 8 +10 & 9\ L +9 &^ ;\ N +9 &e^ 2\ N +10 &'^ 6\ N +9 &_ %\ N +10 &_ #\ N +9 &l` !\ N +9 &.` "\ N +10 &` -\ N +9 &!c )\ N +9 &#t_ (\ N +10 &%6` (\ N +9 &&` (\ N +10 &(_ "\ M +9 &*}` '\ N +9 &,>_ (\ N +10 &.` \ N +9 &/_ \ N +9 &1a \ N +10 &3G^  \ N +9 &5 _ \ N +10 &6` \ N +9 &8_ \ N +9 &:Me \ N +10 &<c \ N +9 &=b  \ N +9 &?a  \ N +10 &AV` \ N +9 &Cb \ N +10 &Dh \ O +9 &Fn  \ O +9 &HVy \ Q +10 &J \ T +9 &K \ V +9 &M \ W +10 &OJ \ X +9 &Q \ W +10 &R \ Z +9 &T \ Z +9 &V'u \ / +10 &V! \ I +8 ( +3 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +53 "core" &Ve \ E +3 1 + "manipulator"&% +4 "core" % * , \\ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  :  + "storage"(o% +5 "core" %b M\ + "storage"(#. +3 "core" .( +2 "storage"(& +4 "core" & [\ + "storage"(|& +4 "core" & F\ + "manipulator"&& +5 "core" &%  <= + "manipulator"&%% +4 "core" %\  F  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)( +158 "core" ( +3 "manipulator"&w& +4 "core" & >  +2 "storage"(& +4 "core" & S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +98 "core" ' +2 "storage"( & +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & #\ +2 "manipulator"&{& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&j& +4 "core" &   + "storage"(& +4 "core" & W\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +3 "storage"(\ 'X +7 "core" & '  + "manipulator"& % +4 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&n'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &g   9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &g - 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&& +4 "core" &g 1 9 +2 "manipulator"&(% +4 "core" % K  +2 "processing"%}& +3 "core" &\ +4 "processing"%5& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(Z +5 "core" &\ +7 & 1\ $c +9 &T\ 7 +9 &}\ K +10 &_\ N +9 &Z_\ N +10 &[\ N +9 &_\ N +9 &\\\ N +10 &b`\ N +9 &&\\\ N +9 &`\ O +10 &!_\ O +9 &#j_\ N +10 &%,Z\ N +9 &&]\ O +9 &(]\ N +10 &*r_\ N +9 &,3_\ O +9 &-_\ N +10 &/`\ N +9 &1{]\ N +10 &3<^\ N +9 &4_\ N +9 &6]\ N +10 &8]\ N +9 &:C_\ O +9 &<]\ N +10 &=]\ N +9 &?Z\ N +10 &AL_\ N +9 &C _\ O +9 &D`\ O +10 &Fj\ P +9 &HI{\ R +9 &J\ T +10 &K\ T +9 &M\ T +10 &OK\ T +9 &Q \ U +9 &R\ U +10 &T\ U +9 &VQ\ U +9 &X\ U +10 &Yzr\ ; +9 &Z'i\ L +9 &Z"\ 0 +3 ( +2 "processing"%5& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +5 "core" % *  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' + "processing"%<& +4 "core" &Z"\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&.% +5 "core" %\   + "storage"(7% +4 "core" %d 8\ + "storage"(6. +3 "core" .( +2 "storage"("& +3 "core" & E\ +2 "storage"([& +5 "manipulator"&K& +4 "core" & I\ + &g 9 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&d(s + "storage"(&'i +25 "core" ( + "manipulator"&3& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +60 "core" ' +2 "storage"(E- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'y +44 "core" ' +319 ( + "storage"(C& +4 "core" & @\ +2 "manipulator"&& +4 "core" &n + "manipulator"&-% +4 "core" % . +2 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8( +259 "core" ( +2 "manipulator"&2& +4 "core" & B + "storage"(F& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +98 "core" ' +2 .tHand.open + "manipulator"&L1 +61 "core" 1 +2 "storage"(>- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(]'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(;' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +4 "core" -' + "storage"(_& +4 "core" &  *\ + "manipulator"&O& +4 "core" & 5 +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( + "manipulator"&N& +5 "core" & 9 + "storage"(W& +4 "core" &  \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Z' +58 "core" ' + "manipulator"&@& +4 "core" & % +2 "storage"(4& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&b' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +21 "core" ' +2 "manipulator"& % +4 "core" % ^ + "storage"(U& +5 "core" & g \\ F\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&B' +13 "core" ' +2 "manipulator"&/& +4 "core" & J +2 "storage"(Y& +4 "core" & F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +16 "core" ' +2 "storage"(v% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(S'X +98 (J% +4 "core" %DE #\ Wc +2 "manipulator"&P% +4 "core" %ј + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" & #\ + "collection"'h& +4 "core" &Ve \ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&V% +4 "core" %\   + "storage"(H% +4 "core" %a \ + "storage"(^. +3 "core" .( +2 "storage"(x& +4 "core" & \ + "storage"(r& +4 "core" & \ + "manipulator"&f& +4 "core" & 3 +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&X& +4 "core" & 6 + "storage"(p& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +90 "core" ' +2 "storage"( & +4 "core" & T\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +293 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +2 "core" &  +53 "storage"(m& +4 "core" & F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&R' +36 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('W +28 "core" ' + "manipulator"&`% +5 "core" % + "storage"(\\& +4 "core" & r s \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&+' +15 "core" ' + "manipulator"&u& +4 "core" & P +2 "storage"(*& +4 "core" & 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +54 "core" ' + "manipulator"&& +5 "core" & J + "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +154 "core" ( +2 "manipulator"&& +4 "core" &$  J ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +2 "core" &$ i ;6 +3 .tForearm.seek CC + "manipulator"&'" +102 "core" ' +2 .tHand.close + "manipulator"&z/ +58 "core" / +2 .tCC.seek :open +2 "collection"'%( +420 "core" ( + "storage"(g& +4 "core" & t\ +2 "storage"(w& +3 "core" & h\ +2 "manipulator"&& +4 "core" &$  ;6 + "manipulator"& % +4 "core" % -  / +2 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1( +156 "core" ( +2 "manipulator"&& +4 "core" & , \ + "storage"(& +4 "core" & 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&{' +108 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % / + "storage"(0& +4 "core" & ;\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"& ' +14 "core" ' + "manipulator"&)& +4 "core" & / \ +2 "storage"(i& +4 "core" & \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +24 "core" ' +2 "storage"(% +4 "core" %I \ b\ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (D% +3 "core" %> d\ V` +2 "manipulator"&'% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'(& +4 "core" & \ + "manipulator"&}% +4 "core" %\  2  +2 "storage"(\ % +4 "core" %R\ \  \ + "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(T( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 9\  +2 "manipulator"&& +3 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&<( +15 "core" ( +2 "manipulator"&.& +4 "core" & H  + "storage"(7& +4 "core" &\ C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +86 "core" ' + "storage"("& +5 "core" &\ \  P\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'i +278 "core" ' +2 "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (5& +3 "core" & >\  + "manipulator"&3& +4 "core" & I  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & "  +2 "storage"(& +3 "core" & >\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(s'X +7 "core" &  +2 "manipulator"&&% +4 "core" % ϯ 9 - +2 .tForearm.seek :retract + "manipulator"&C'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&-& +4 "core" &$  h ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$ ' ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'" +103 "core" ' +2 "manipulator"&F& +4 "core" &$  . ;4 + "manipulator"&d% +5 "core" %&  +2 "collection"'L& +3 "core" & \ +3 "collection"'>& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'=(V +4 "core" & \ +7 & . \ #a +9 &V \ 8 +10 & \ L +9 &Z \ M +9 &Z` !\ N +10 &` \ M +9 &b \ M +10 &Z  \ N +9 &b_ \ N +9 &$_ \ N +10 &_ \ N +9 &!b \ N +9 &#k] \ M +10 &%,c \ N +9 &&_ \ M +10 &([  \ M +9 &*sa  \ M +9 &,5a  \ M +10 &-` \ \ M +9 &/a  \ M +9 &1zc  \ N +10 &3>_  \ M +9 &4_  \ N +10 &6` \ N +9 &8_  \ M +9 &:Ed \ M +10 &<a \ M +9 &=c \ M +10 &?c \ M +9 &AMb \ M +9 &Cc \ M +10 &Dh \ N +9 &Fp \ O +9 &HL~ \ P +10 &J \ T +9 &K \ W +9 &M| \ X +10 &O= \ X +9 &P \ X +10 &R \ Y +9 &T \ Y +9 &Vv \ . +10 &V+ \ Q +9 ( +2 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&_1 +3 "core" &V_ \ D +49 1 +2 "manipulator"&O% +5 "core" % & $ ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +4 "core" &\ +2 "manipulator"&G% +3 "core" %\ ! 2 2 +2 "storage"(@% +4 "core" %U +\ + "storage"(4. +3 "core" .( + "storage"($& +5 "core" & \  + "storage"( & +4 "core" & @\  + "manipulator"&U& +5 "core" &# :* + "manipulator"&]% +4 "core" %\ ! 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&/( +157 "core" ( +2 "manipulator"&Y& +4 "core" &  + "storage"(v& +4 "core" & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +101 "core" ' +2 "storage"(!& +4 "core" & O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'i +282 "core" ' +2 "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & } \  +2 "manipulator"&,& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( + "manipulator"&Z& +4 "core" &   +2 "storage"(b& +3 "core" & L\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&B'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&h& +2 "storage"(V'X +7 "core" &   + "manipulator"&H% +4 "core" % ϩ ,  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +51 .tElbow.seek PC +3 "manipulator"&?(s +118 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +124 "core" ( + "manipulator"&x& +5 "core" &o  H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &o $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +99 "core" ' + "manipulator"&X& +4 "core" &o  +2 "manipulator"&p% +4 "core" % @ +2 "processing"%A& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%S(Z +4 "core" &\ +8 & 0\ $d +9 &V\ 7 +9 &\ L +10 &\\\ N +9 &X_\ N +9 &_\ N +10 &_\ O +9 &\\\ N +10 &`_\ N +9 &#]\ N +9 &_\ N +10 &!^\ N +9 &#f_\ O +10 &%)]\ N +9 &&\\\ O +9 &(]\ N +10 &*oZ\ N +9 &,2Z\ N +9 &-`\ N +10 &/_\ N +9 &1x]\ N +10 &39^\ N +9 &4]\ N +9 &6^\ N +10 &8\\\ N +9 &:A^\ N +9 &<_\ N +10 &=]\ N +9 &?_\ N +10 &AK]\ N +9 &C `\ N +9 &De\ N +10 &Fk\ P +9 &HG~\ R +9 &J\ T +10 &K\ T +9 &M\ T +10 &OI\ T +9 &Q\ \ T +9 &R\ U +10 &T\ T +9 &VN\ U +9 &X\ U +10 &Yzs\ ; +9 &Z(g\ M +9 &Z#\ 0 +3 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&:1 +55 "core" 1 +2 "manipulator"&M% +4 "core" % ' P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +99 "core" ' + "processing"%l& +4 "core" &Z!\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&m% +3 "core" %\ L / +2 "storage"(q% +4 "core" %U \ + "storage"(`. +3 "core" .( +2 "storage"(\\& +3 "core" & V\  +2 "storage"(u& +5 "manipulator"&*& +4 "core" & \  + &o  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&c& +4 "core" &o  Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &o E +2 .tForearm.seek PC +2 "manipulator"&e' +96 "core" ' +2 .tHand.close + "manipulator"&R/ +55 "core" / +2 .tPC.seek :open +3 "processing"%+( +95 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +280 ( + "storage"(|& +4 "core" & '\  +2 "manipulator"&& +3 "core" &o - +2 "manipulator"&t% +4 "core" % B + .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&o( +259 "core" ( + "manipulator"&~& +5 "core" &  " + "storage"(g& +4 "core" & "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +104 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(#& +3 "core" & 6 8\  +2 "manipulator"&& +4 "core" & = " +2 .tElbow.seek 3 + "manipulator"&( +20 "core" ( +2 "manipulator"&0& +4 "core" &  + "storage"()& +4 "core" & 7 5\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +29 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"& & +4 "core" & 4  +2 "storage"(D& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&''} +21 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +26 "core" ' +2 "manipulator"&(% +4 "core" %~ ` +2 "storage"( & +4 "core" & H\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 301 counts +2 "manipulator"&}'Ϫ +27 "core" ' + "manipulator"&\ & +5 "core" & (  + "storage"(n& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' +2 "storage"(k% +4 "core" %p %\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %)C F\ Wc +2 "manipulator"&% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (.& +4 "core" & \  +2 "collection"'7& +3 "core" &V^ \ D +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&"% +4 "core" %\  / +2 "storage"(j% +3 "core" %] \ +2 "storage"(. +3 "core" .( + "storage"([& +4 "core" & \  +2 "storage"(5& +3 "core" & 9\  +2 "manipulator"&3& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +100 "core" ' + "storage"(&& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +285 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&-& +3 "core" & +  + "storage"(& +4 "core" & Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'} +21 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(d'Z +30 "core" ' + "manipulator"&L% +4 "core" %Ή  +2 "storage"(& +3 "core" & ~\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&s'ϵ +12 "core" ' +2 "manipulator"&C& +4 "core" & a  + "storage"(%& +5 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(O'I +40 "core" ' + "manipulator"&W& +5 "core" &  + "manipulator"&G% +4 "core" %K , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +152 "core" ( +2 "manipulator"&$& +4 "core" &% % <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &%   <? +2 .tForearm.seek CC +2 "manipulator"&>'" +93 "core" ' +2 .tHand.close +2 "manipulator"&U/ +62 "core" / + .tCC.seek :open +2 "collection"']( +417 "core" ( + "storage"(2& +4 "core" & \  +2 "storage"(Y& +3 "core" & \  +2 "manipulator"&v& +4 "core" &% < <? +2 "manipulator"&!% +4 "core" % <  +2 .tForearm.seek :retract +51 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N( +156 "core" ( +2 "manipulator"&J& +4 "core" &   +2 "storage"(P& +3 "core" & 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&,'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&b1 +56 "core" 1 +3 "manipulator"&a% +4 "core" % Ύ  X + "storage"(h& +5 "core" & &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&H'Ϻ +18 "core" ' +2 "manipulator"&/& +4 "core" &  +2 "storage"(8& +4 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +27 "core" ' +2 "storage"(B% +4 "core" %G\ \  P\ +2 ."downElevator"SE.seek :down +4 "storage"(x'X +98 (r% +3 "core" %A )\ Va +2 "manipulator"&9% +4 "core" %7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'p& +4 "core" &  \ + "manipulator"&A% +5 "core" %\ 8 + "storage"(V% +9 "core" %Q\ \ \ w\ +2 "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +7 .tSC.seek 2 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (:& +3 "core" & .\ +2 "manipulator"&M& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&l( +21 "core" ( +2 "manipulator"&m& +4 "core" &  ; + "storage"(q& +4 "core" & C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +105 "core" ' +2 "storage"(\\& +4 "core" & \ \  #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'i +278 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & ?\ +2 "manipulator"&c& +4 "core" & # : +2 .tElbow.seek 2 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&f& +3 "core" &  : +2 "storage"(R& +3 "core" & O\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(S'X +7 "core" &  : + "manipulator"&% +4 "core" %   P +2 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +2 "manipulator"&t& +5 "core" &) % ?T ' +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &e& +3 "core" &( } ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'" +101 "core" ' + "manipulator"&g& +4 "core" &)  o ?T +2 "manipulator"&% +4 "core" % 4 +2 "collection"'& +4 "core" & "\ +2 "collection"' & +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & \  +9 &1  \ *y +9 &f "\ ? +10 &zv \ N +9 &>Y \ M +9 &\\ \ M +10 &Z !\ M +9 &] \ N +10 &F] \ M +9 &^ \ N +9 &] \ M +10 & ` \ N +9 &"N_ \ M +9 &$` \ M +10 &%b \ M +9 &'] \ M +10 &)WZ \ M +9 &+^ \ M +9 &,] \ N +10 &._  \ M +9 &0]_ \ N +9 &2 ] \ M +10 &3Z \ M +9 &5] \ M +10 &7f] \ M +9 &9)Z \ M +9 &:` \ N +10 &<c \ \ M +9 &>na \ M +9 &@/] \ N +10 &A] \ M +9 &Ca \ M +10 &Eud \ N +9 &G4n \ O +9 &Hy \ P +10 &J \ S +9 &Lc \ W +9 &N$ \ W +10 &O \ W +9 &Q \ X +10 &Sd \ Y +9 &U$ \ Z +9 &VuE \ )y +10 &V\ { \ K +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator" +4 "core" &Vg \ K +49 1 + "manipulator"&% +5 "core" %  " 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&)% +3 "core" %\    +2 "storage"( % +4 "core" %_ L\ + "storage"(D. +3 "core" .( +2 "storage"(& +3 "core" & M\ +2 "storage"(& +4 "core" & M\ + "manipulator"&(& +4 "core" &(  ?R + "manipulator"& % +4 "core" %\  9  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ ( +154 "core" ( +2 "manipulator"&n& +4 "core" &   + "storage"(o& +4 "core" & ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +97 "core" ' +2 "storage"(w& +4 "core" & 3\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B\ + "manipulator"&i& +4 "core" & L  + .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&& +4 "core" & b  +2 "storage"('& +3 "core" & F\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"("'X +7 "core" &   + "manipulator"&j% +4 "core" %  "  +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' + .tElbow.seek PC +2 "manipulator"&{(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +3 "manipulator"&[& +4 "core" &l  + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &l L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +93 "core" ' +2 "manipulator"&& +4 "core" &m  +2 "manipulator"&% +4 "core" % \  +2 "processing"%& +3 "core" &\ +3 "processing"%&& +4 "core" &\ +2 .tPC.seek :closed +4 "processing"%(Z +4 "core" &\ +5 &\ : +9 &FI~\ 1 +10 &rr\ E +9 &h\ O +9 &\\\ N +10 &Z\ N +9 &\\]\ N +9 &\\\ N +10 &]\ O +9 &\\\ N +10 &d]\ N +9 &!&]\ N +9 &"^\ O +10 &$\\\ N +9 &&m\\\ N +9 &(.\\\ N +10 &)]\ N +9 &+\\\ N +10 &-u]\ N +9 &/8]\ N +9 &0]\ N +10 &2[\ N +9 &4}\\\ N +9 &6?Z\ N +10 &8[\ N +9 &9]\ O +10 &;\\\ N +9 &=H]\ N +9 &?\ \\\ N +10 &@\\\ N +9 &B]\ N +9 &DM`\ O +10 &Fe\ O +9 &Gv\ Q +10 &I\ T +9 &KF\ T +9 &M\ T +10 &N\ T +9 &P\ T +9 &RL\ T +10 &T\ T +9 &U\ U +10 &W\ U +9 &YS\ B +9 &Za<\ _ +10 &Z*\ / +5 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&11 +4 "core" &Z!\ / +51 1 + "manipulator"&% +4 "core" % ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +101 "core" ' + "processing"%-& +4 "core" &Z!\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ # ! N ; + "storage"(F% +4 "core" %U \ + "storage"(L. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(C& +2 "manipulator"&%& +7 "core" & \ + &n  +53 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(W'i + "manipulator"&G(s +5 "core" ( +2 "manipulator"&I& +4 "core" &n " O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n  G +2 .tForearm.seek PC +2 "manipulator"&<' +96 "core" ' + .tHand.close + "manipulator"&K/ +63 "core" / +2 .tPC.seek :open +2 "processing"%s( +81 "core" ' + "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"($'y +43 "core" ' +297 ( + "storage"( & +4 "core" & \ +2 "manipulator"&_& +3 "core" &n +2 "manipulator"&E% +4 "core" % + +2 .tForearm.seek :retract + "manipulator"&U'\ +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@( +236 "core" ( +2 "manipulator"&=& +4 "core" & | ) +2 "storage"(2& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +94 "core" ' +2 .tHand.open + "manipulator"&v1 +54 "core" 1 + "storage"(!- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(J' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(4& +4 "core" &  \ +2 "manipulator"&b& +4 "core" &  ( + .tElbow.seek 2 +2 "manipulator"&a( +33 "core" ( +2 "manipulator"&h& +4 "core" &  ( + "storage"(/& +4 "core" &   \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +62 "core" ' +2 "manipulator"&& +4 "core" &  ( +2 "storage"(r& +3 "core" & t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&9' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'i +25 "core" ' + "manipulator"&p% +5 "core" % + "storage"(H& +5 "core" & t s ^\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&A' +13 "core" ' +2 "manipulator"&V& +4 "core" & e ( +2 "storage"(^& +4 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +27 "core" ' +2 "storage"(;% +3 "core" %r {\ +3 ."downElevator"SE.seek :down +4 "storage"(x'X +98 (T% +3 "core" %AA F\ Wc + "manipulator"&:% +5 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +87 "core" ' +73 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" & *\ +2 "collection"'q& +4 "core" &Vc \ K + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&\\% +4 "core" %\  "  + "storage"(Z% +4 "core" %b B\ +2 "storage"(X. +3 "core" .( + "storage"(u& +4 "core" & I\ +2 "storage"( & +4 "core" & E\ + "manipulator"&c& +4 "core" & 3 ( +2 .tElbow.seek 2 + "manipulator"&f( +3 "core" ( +2 "manipulator"&R& +4 "core" &  ( + "storage"(?& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&y'ќ +96 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +285 "core" ' +3 "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" &  ( + "storage"(e& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&*' +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +41 "core" ' + "manipulator"&% +4 "core" % J +2 "storage"(Q& +4 "core" & s o\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&S' +12 "core" ' +2 "manipulator"&|& +4 "core" & / ( +2 "storage"(]& +3 "core" & p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +45 "core" ' + "manipulator"&0& +5 "core" &  ( + "manipulator"&)% +4 "core" %u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +148 "core" ( +2 "manipulator"&& +4 "core" &#  :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &"  H :- +2 .tForearm.seek CC +2 "manipulator"&('" +92 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(n& +4 "core" & L\ + "storage"(~& +4 "core" & U\ + "manipulator"&o& +4 "core" &#  :- + "manipulator"&w% +4 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&z( +156 "core" ( + "manipulator"&& +5 "core" & #  + "storage"(& +4 "core" & \ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&i' +110 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&'1 +60 "core" 1 +3 "manipulator"&.% +4 "core" % . ; + "storage"(7& +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&j' +14 "core" ' +2 "manipulator"&\ & +4 "core" & :  + "storage"(k& +4 "core" & \ \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' +2 "storage"(}% +4 "core" %I \ \ +2 ."downElevator"SE.seek :down +3 "storage"(['X +99 (5% +3 "core" %@ 8\ V_ +2 "manipulator"&% +4 "core" %ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %\  .  + "storage"("% +4 "core" %b\ \ \ \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +340 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" & +\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&-( +11 "core" ( + "manipulator"&& +4 "core" & _  +2 "storage"(F& +4 "core" &\  `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +93 "core" ' +2 "storage"(& +4 "core" &\ \  Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +285 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & :\  + "manipulator"&I& +5 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&3& +3 "core" &   +2 "storage"(K& +4 "core" &\ \ <\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&d'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"('X +8 "core" &  + "manipulator"&W% +4 "core" % Ϣ +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +151 "core" ( + "manipulator"&E& +5 "core" &#  :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&<& + "storage"(5 +7 "core" &# :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='" +90 "core" ' +2 "manipulator"&2& +4 "core" &#  :1 +2 "manipulator"&G% +4 "core" % h + "collection"'v& +4 "core" & \ +2 "collection"'!& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(V +4 "core" & \  +8 &1 \ *y +9 &d \ > +10 &yv \ M +9 &<Y \ M +10 &] \ M +9 &\\ \ M +9 &\\ \ M +10 &EZ \ M +9 &]  \ M +9 &` \ M +10 & ^ \ L +9 &"L_ \ M +10 &$] \ M +9 &%] \ M +9 &'[ \ M +10 &)U\\ \ M +9 &+] \ M +9 &,] \ M +10 &.] \ M +9 &0]] \ M +10 &2\\ \ M +9 &3\\ \ L +9 &5[ \ M +10 &7e] \ M +9 &9'_ \ M +9 &:^ \ M +10 &<_ \ M +9 &>k] \ M +10 &@-] \ M +9 &A\\ \ M +9 &C_ \ N +10 &Erg \ N +9 &G1n  \ O +9 &H \ Q +10 &J \ U +9 &L_ \ W +10 &N \ W +9 &O \ X +9 &Q \ X +10 &S` \ Y +9 &U" \ Y +9 &VkC \ 1 +10 &Vo \ G +5 ( +2 "collection"'!& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&41 +3 "core" &Vg \ G +55 1 +2 "manipulator"&b% +4 "core" %  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +102 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&/% +3 "core" %\ G  +2 "storage"(% +4 "core" %a )\ + "storage"(r. +3 "core" .( +2 "storage"($& +3 "core" & \  +2 "storage"(>& +4 "core" & ~ ;\  + "manipulator"&p& +4 "core" &#  :+ +2 "manipulator"&H% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V( +158 "core" ( +2 "manipulator"&^& +4 "core" & * + "storage"(@& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +95 "core" ' +2 "storage"(Y& +4 "core" & R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +284 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" & ~ | V\  + "manipulator"&8& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&a( +2 "core" ( +2 "manipulator"&B& +4 "core" & L + "storage"(9& +4 "core" & E\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&A'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(\\'X +7 "core" &  +2 "manipulator"&Z% +4 "core" % ϭ +2 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&X(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&u& +4 "core" &x U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +4 "core" &x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&c' +98 "core" ' +2 "manipulator"&R& +4 "core" &x ! +2 "manipulator"&?% +4 "core" % A +2 "processing"%O& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(Z +4 "core" &\ +7 &8\ $e +9 &V\ 8 +10 &~\ L +9 &[\ N +9 &m]\ N +10 &/\\\ N +9 &\\\ N +9 &\\\ N +10 &u]\ N +9 &7\\\ N +10 &]\ O +9 &![\ N +9 &#|\\\ N +10 &%>\\\ N +9 &'[\ N +9 &(Y\ N +10 &*\\\ N +9 &,F\\\ N +10 &.]\ O +9 &/Z\ N +9 &1Z\ N +10 &3OW\ N +9 &5[\ N +9 &6[\ O +10 &8Z\ N +9 &:V[\ N +10 &<[\ N +9 &=Z\ N +9 &?W\ N +10 &A_Z\ N +9 &C\\\ O +9 &D]\ O +10 &Fi\ P +9 &H[~\ R +9 &J\ T +10 &K\ T +9 &M\ T +10 &O^\ T +9 &Q \ T +9 &R\ T +10 &T\ T +9 &Vd\ T +9 &X#\ U +10 &Y{p\ 3 +9 &Z(s\ N +10 &Z&\ 0 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&N1 +55 "core" 1 +2 "manipulator"&M% +4 "core" %  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +100 "core" ' +2 "processing"%t& +4 "core" &Z%\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&e% +5 "core" %\ Y 8 + "storage"(g% +4 "core" %S }\ + "storage"(. +3 "core" .( +2 "storage"(Q& +3 "core" & \  +2 "storage"(|& +4 "manipulator"&]& +5 "core" & \  + &x [ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&0(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"()'i +2 "core" ( +2 "manipulator"&y& +3 "core" &x  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &x #  +2 .tForearm.seek PC +2 "manipulator"&l' +96 "core" ' +2 .tHand.close + "manipulator"&*/ +53 "core" / +2 .tPC.seek :open +2 "processing"%S( +98 "core" ' +3 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +280 ( + "storage"(& +4 "core" & { /\  +2 "manipulator"&#& +4 "core" &x 6 + "manipulator"&% +4 "core" % '  +2 .tForearm.seek :retract + "manipulator"& '\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +258 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(n& +4 "core" & 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +101 "core" ' +2 .tHand.open + "manipulator"&o1 +63 "core" 1 +2 "storage"(w- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +53 "core" -' +3 "storage"(D& +4 "core" &  ' \  + "manipulator"&'& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&7& +4 "core" &   + "storage"(\ & +5 "core" & 6 5\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(}' +57 "core" ' +2 "manipulator"&& +4 "core" & 2  +2 "storage"(5& +4 "core" & ~ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +23 "core" ' + "manipulator"&% +5 "core" %~ + "storage"(j& +4 "core" & ~ K\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&'Ϫ +13 "core" ' + "manipulator"&"& +5 "core" & /  + "storage"(& +5 "core" & <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' + "storage"(% +5 "core" %o m\ +2 ."downElevator"SE.seek :down +4 "storage"(['X +98 (% +3 "core" %> z\ V` + "manipulator"&1% +5 "core" %J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \  + "collection"'F& +4 "core" &Vg \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ #  < +2 "storage"(% +3 "core" %U F\ +2 "storage"(. +3 "core" .( + "storage"(C& +4 "core" & ,\  +2 "storage"(%& +4 "core" & \  + "manipulator"&I& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&3( +4 "core" ( + "manipulator"&K& +4 "core" & -  + "storage"({& +4 "core" & @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +97 "core" ' +2 "storage"(W& +5 "core" & #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +282 "core" ' +2 "storage"(L- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&E& +4 "core" &   +2 "storage"(<& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(2- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(G'[ +31 "core" ' + "manipulator"&v% +5 "core" %΋ ? + "storage"(& +4 "core" & } D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +11 "core" ' +2 "manipulator"& & +4 "core" & $  +2 "storage"( & +4 "core" & 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&4'9 +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(b'J +45 "core" ' + "manipulator"&h& +5 "core" & o  + "manipulator"&/% +4 "core" %H 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +155 "core" ( +2 "manipulator"&!& +4 "core" &( 8 ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &(  ?Q +2 .tForearm.seek CC +2 "manipulator"&>'" +98 "core" ' + .tHand.close +2 "manipulator"&p/ +59 "core" / +2 .tCC.seek :open +2 "collection"'H( +417 "core" ( + "storage"(=& +4 "core" & \  +2 "storage"(^& +3 "core" & \  +2 "manipulator"&@& +4 "core" && =B + "manipulator"&Y% +4 "core" % 1 / +2 .tForearm.seek :retract + "manipulator"&_'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +160 "core" ( +2 "manipulator"&T& +4 "core" & x +2 "storage"(:& +3 "core" & V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&8'} +101 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&91 +64 "core" 1 +2 "manipulator"&m% +4 "core" % ΋  + "storage"(q& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&Z'Ϸ +20 "core" ' +2 "manipulator"&V& +4 "core" & x + "storage"(;& +4 "core" &\ \  )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +14 "core" ' +2 "storage"(A% +4 "core" %N\ \  <\ +3 ."downElevator"SE.seek :down +3 "storage"(u'X +99 ( % +3 "core" %A P\ V_ +2 "manipulator"&a% +4 "core" %1 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +97 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'?& +5 "core" & \ + "manipulator"&O% +4 "core" %\  !  +2 "storage"(\\% +4 "core" %]\ \  \ + "storage"(,. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(s( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" & \ + "manipulator"&M& +4 "core" &  x +2 .tElbow.seek 2 +2 "manipulator"&t( +34 "core" ( + "manipulator"&e& +5 "core" &  $ + "storage"(g& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + "storage"(Q& +5 "core" & \ \  '\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (|& +3 "core" & w\ + "manipulator"&y& +4 "core" & ) $ +2 .tElbow.seek 2 + "manipulator"&f( +18 "core" ( +2 "manipulator"&c& +4 "core" &   +2 "storage"(*& +4 "core" & \ L\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(x'X +7 "core" &   +2 "manipulator"&)% +4 "core" %   l +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &( / ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &( ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 "manipulator"&n& +4 "core" &(  ?U +52 "manipulator"&0% +4 "core" %# +2 "collection"'o& +4 "core" & \ +2 "collection"'w& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'((V +4 "core" & \ +7 &5 \ $d +10 &V \ 7 +9 & \ L +9 &Y \ M +10 &h^ \ M +9 &+[ \ M +10 &` \ M +9 &[  \ M +9 &r] !\ L +10 &3\\ \ M +9 &Z \ M +9 &!^ \ M +10 &#y] \ M +9 &%<^ \ L +9 &&\\ \ M +10 &([ \ L +9 &*[ \ M +10 &,B^ \ M +9 &.Z \ M +9 &/Z \ M +10 &1] \ M +9 &3K[ \ M +9 &5 _ \ M +10 &6[ \ M +9 &8Y \ M +10 &:R] \ M +9 &<] \ M +9 &=] \ M +10 &?\\ \ M +9 &AZZ \ M +10 &C] \ M +9 &D] \ N +9 &Ff \ N +10 &HYq \ P +9 &J \ S +9 &K \ V +10 &M \ X +9 &OK  \ X +10 &Q  \ W +9 &R \ Y +9 &T \ Z +10 &V's \ . +9 &V'  \ S +9 ( +3 "collection"'w& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"& 1 +5 "core" &V^ \ H +57 1 + "manipulator"&D% +4 "core" % #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%7& +4 "core" &\ + "manipulator"&\ % +5 "core" %\   + "storage"(% +4 "core" %b z { a\ + "storage"(5. +3 "core" .( +2 "storage"(& +4 "core" & { } E\ + "storage"(& +4 "core" & \ + "manipulator"&& +5 "core" &(  ?S + "manipulator"&j% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +152 "core" ( +2 "manipulator"&& +4 "core" & X  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +92 "core" ' +2 "storage"(~& +4 "core" & I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (1& +3 "core" & `\ + "manipulator"&k& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&.( +3 "core" ( + "manipulator"&}& +4 "core" &   + "storage"(& +4 "core" & 2\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"('X +7 "core" &   +2 "manipulator"&% +4 "core" %   r + .tForearm.seek :retract +2 "manipulator"&i'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&C& +4 "core" &m #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +91 "core" ' +2 "manipulator"&K& +4 "core" &m \ +2 "manipulator"&{% +4 "core" %  C + "processing"%& +5 "core" &\ +2 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed + "processing"%[(Z +5 "core" &\ +7 & 0\ $d +10 &V~O\ 7 +9 &\ L +9 &]\ N +10 &Y`\ N +9 &[\ N +9 &\\\ N +10 &Z\ M +9 &a]\ N +9 &$[\ N +10 &]\ N +9 &!\\\ N +10 &#j\\\ N +9 &%+Y\ N +9 &&Z\ N +10 &([\ N +9 &*rZ\ N +9 &,4[\ N +10 &-[\ N +9 &/\\\ N +10 &1zZ\ N +9 &3=Z\ M +9 &4[\ N +10 &6Z\ N +9 &8]\ N +9 &:DZ\ N +10 &<Z\ N +9 &=Z\ N +10 &?Z\ N +9 &AMZ\ M +9 &C \\\ N +10 &Da\ N +9 &Fg\ P +9 &HH{\ R +10 &J\ T +9 &K\ T +10 &M\ S +9 &OJ\ T +9 &Q \ T +10 &R\ U +9 &T\ T +9 &VN\ U +10 &X\ U +9 &Y{p\ 9 +10 &Z*w\ N +9 &Z"\ . +2 ( +2 "processing"%W& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&z1 +56 "core" 1 + "manipulator"&% +4 "core" % 0 C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +97 "core" ' +2 "processing"%E& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&<% +4 "core" %\ \   + "storage"(2% +4 "core" %] ~ R\ +2 "storage"(v. +3 "core" .( + "storage"(& +4 "core" & ?\ +2 "storage"( & +4 "manipulator"& & +4 "core" & ~ \ + &m  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&h(s + "storage"(/'i +5 "core" ( + "manipulator"&6& +5 "core" &m 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&-' +94 "core" ' +2 .tHand.close + "manipulator"&&/ +57 "core" / +2 .tPC.seek :open + "processing"%( +100 "core" ' + "storage"(G- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(!'y +46 "core" ' +275 ( +2 "storage"($& +4 "core" & \ + "manipulator"&4& +4 "core" &m  + "manipulator"&d% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +253 "core" ( +2 "manipulator"&P& +4 "core" &   + "storage"(=& +4 "core" & D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +100 "core" ' + .tHand.open +2 "manipulator"&@1 +56 "core" 1 +2 "storage"(Y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(:' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(r& +4 "core" & 6 6\ +2 "manipulator"&9& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&m( +7 "core" ( +2 "manipulator"&q& +4 "core" & <  +2 "storage"(V& +3 "core" &   +\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(A' +67 "core" ' +2 "manipulator"&_& +4 "core" & "  + "storage"( & +4 "core" & 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a' +36 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +34 "core" ' +2 "manipulator"&?% +4 "core" % 4 +2 "storage"(Z& +3 "core" & #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&O' +12 "core" ' + "manipulator"&\\& +5 "core" &   + "storage"(,& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +28 "core" ' +2 "storage"(J% +4 "core" %r \ +3 ."downElevator"SE.seek :down +3 "storage"(u'X +99 (+% +4 "core" %HB ,\ Wd +2 "manipulator"&N% +4 "core" %њ  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (e& +54 "core" & \ +2 "collection"'g& +5 "core" &V_ \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&Q% +4 "core" %\    + "storage"(B% +4 "core" %V \ +2 "storage"(R. +3 "core" .( + "storage"(]& +4 "core" & \ + "storage"(|& +5 "core" & "\ + "manipulator"&y& +4 "core" & 2  +2 .tElbow.seek 2 + "manipulator"&c( +3 "core" ( +2 "manipulator"&*& +4 "core" &   + "storage"(X& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +97 "core" ' +2 "storage"()& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" & ,  + "storage"(l& +4 "core" & /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'W +28 "core" ' + "manipulator"&0% +4 "core" %  d { +2 "storage"(o& +3 "core" & o g \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&x' +14 "core" ' + "manipulator"&& +5 "core" & K  + "storage"(H& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +31 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(D'F +47 "core" ' + "manipulator"&7& +4 "core" & )  +2 "manipulator"&\ % +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +155 "core" ( +2 "manipulator"&w& +4 "core" &&  B =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% E =F +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'j( +416 "core" ( +2 "storage"(& +4 "core" & \ +2 "storage"(& +3 "core" & #\ +2 "manipulator"&& +4 "core" &&  - =E + "manipulator"&~% +4 "core" % -   +2 .tForearm.seek :retract + "manipulator"&#'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +155 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(1& +4 "core" & =\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&k' +109 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % "  + "storage"(F& +5 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&"& +4 "core" & P  + "storage"( & +4 "core" & \ \ 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' + "storage"(% +4 "core" %G\ \  \ +3 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (%% +3 "core" %A P\ V` +2 "manipulator"&.% +4 "core" %э R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +4 "core" & !\ + "manipulator"&% +5 "core" %\  &  + "storage"(% +4 "core" %P \  \ + "storage"(i. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" & \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&E( +12 "core" ( +2 "manipulator"&<& +4 "core" &  t + "storage"(2& +4 "core" & \  V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +96 "core" ' + "storage"(& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'i +286 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & C\  +2 "manipulator"&6& +4 "core" &  t + .tElbow.seek 3 +2 "manipulator"&3( +3 "core" ( + "manipulator"&I& +4 "core" & g t +2 "storage"(&& +3 "core" &\ ;\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&G'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +3 "storage"(['X +6 "core" & t + "manipulator"&/% +4 "core" % ϴ & Y +2 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +156 "core" ( + "manipulator"&d& +5 "core" && { =G + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&-& +5 "core" &&  =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'" +98 "core" ' +2 "manipulator"&=& +4 "core" &&  j =G +2 "manipulator"&h% +4 "core" %(  +2 "collection"'@& +4 "core" &  \ +2 "collection"'Y& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'>(V +5 "core" & !\  +9 &1 \ *y +9 &d \ > +10 &xv \ M +9 &;Z \ M +9 &[ #\ L +10 &Z \ M +9 &^ \ M +10 &CZ \ M +9 &^ \ M +9 &X \ M +10 & ] \ M +9 &"JZ \ M +9 &$ \\ \ M +10 &%] \ L +9 &'[ \ M +10 &)S] \ M +9 &+_ \ M +9 &,Z \ M +10 &.\\ \ L +9 &0[] \ M +9 &2[ \ L +10 &3\\ \ M +9 &5] \ M +10 &7c^ \ M +9 &9%^ \ M +9 &:[ \ M +10 &<] \ M +9 &>k\\ \ M +9 &@-Z \ M +10 &A\\ \ L +9 &C_ \ M +10 &Epc \ N +9 &G.k \ O +9 &Hz \ Q +10 &J \ U +9 &L[ \ X +9 &N \ W +10 &O \ X +9 &Q \ X +10 &S\\ \ Z +9 &U \ Z +9 &ViD \ 1 +10 &Vs \ J +5 ( +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&r1 +3 "core" &Vj \ J +55 1 +2 "manipulator"&9% +4 "core" % ( $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%V& +4 "core" &\ + "manipulator"&p% +4 "core" %\  )  +2 "storage"(_% +3 "core" %a z $\ +2 "storage"( . +3 "core" .( + "storage"(!& +4 "core" & z\  + "storage"(?& +5 "core" & z\  + "manipulator"&Z& +4 "core" &% : <? + "manipulator"&T% +4 "core" %\  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\( +161 "core" ( + "manipulator"&,& +4 "core" & ! +2 "storage"(J& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' +2 "storage"(^& +4 "core" & \  +2 .tSE.reconfigure :pick +53 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +278 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" & { w\  + "manipulator"&;& +4 "core" & " +2 .tElbow.seek 3 + "manipulator"&m( +3 "core" ( +2 "manipulator"&A& +3 "core" & y +2 "storage"(a& +4 "core" & A\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(g'X +8 "core" &  + "manipulator"&Q% +4 "core" % ϣ $ : +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&]& +5 "core" &n    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &n   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +104 "core" ' +2 "manipulator"&*& +4 "core" &n   +2 "manipulator"&X% +4 "core" %  M + "processing"%b& +4 "core" &\ +2 "processing"%)& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(Z +4 "core" &\  +9 &1z\ *z +10 &d\ ? +9 &}x\ O +9 &B[\ M +10 &\\\ M +9 &]\ M +10 &]\ N +9 &I_\ N +9 & [\ N +10 &Z\ N +9 & \\\ M +9 &"R\\\ M +10 &$\\\ N +9 &%`\ N +10 &']\ N +9 &)Y\\\ N +9 &+Z\ N +10 &,Z\ N +9 &.^\ N +9 &0a[\ N +10 &2"Z\ N +9 &3\\\ N +10 &5Z\ N +9 &7j\\\ M +9 &9+[\ N +10 &:X\ N +9 &<[\ N +9 &>rZ\ M +10 &@2]\ N +9 &AZ\ N +10 &C^\ N +9 &Eve\ O +9 &G4o\ P +10 &H\ R +9 &J\ S +9 &Ln\ T +10 &N1\ T +9 &O\ T +10 &Q\ T +9 &St\ U +9 &U8\ T +10 &V\ T +9 &X\ U +9 &Z$Z}\ &r +10 &Zb\ 4 +8 ( +4 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&U1 +4 "core" &Z"\ . +56 1 +2 "manipulator"&M% +4 "core" %   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&l% +5 "core" %\  0  + "storage"(n% +4 "core" %] {\ +2 "storage"(0. +2 "core" .( +2 "storage"(o& +4 "core" & A\  +2 "storage"(& +4 "manipulator"&H& +5 "core" & y ]\  + &n s  + .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&7(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'i +2 "core" ( +2 "manipulator"&`& +4 "core" &n u  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &n   +2 .tForearm.seek PC + "manipulator"&t' +75 "Can"\ ^\\ +22 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%x( +90 "core" ' + "storage"(f- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'y +45 "core" ' +285 ( +2 "storage"(& +4 "core" & } 3\  +2 "manipulator"& & +3 "core" &n K  +2 "manipulator"&% +3 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +257 "core" ( +2 "manipulator"&(& +4 "core" &  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +106 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(~- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(1' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &   A\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&F& +4 "core" &  + "storage"("& +5 "core" &   \  +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&#& +4 "core" & +2 "storage"(%& +4 "core" & S\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&.'} +22 "core" ' + .tElbow.hold +2 "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +23 "core" ' + "manipulator"&{% +5 "core" %Ή H + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +23 "core" ' + "manipulator"&& +5 "core" & O + "storage"(i& +5 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +35 "core" ' + "storage"(% +5 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +98 (s% +3 "core" %R? \ Vb + "manipulator"&z% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (<& +4 "core" & O\  +2 "collection"'2& +3 "core" &Vj \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(}% +4 "core" %b (\ + "storage"(K. +3 "core" .( +2 "storage"( & +3 "core" & %\  +2 "storage"( & +4 "core" & \  + "manipulator"&6& +4 "core" & N +2 .tElbow.seek 3 + "manipulator"&I( +3 "core" ( +2 "manipulator"&&& +4 "core" & + "storage"(& +4 "core" & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +97 "core" ' +2 "storage"(/& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +283 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&d& +3 "core" &  +2 "storage"(-& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&W'} +23 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(h'Z +29 "core" ' +2 "manipulator"&@% +4 "core" %΁ * +2 "storage"(3& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&['ϭ +12 "core" ' +2 "manipulator"&$& +4 "core" &  + "storage"(j& +5 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +22 "core" ' +53 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(9'I +41 "core" ' + "manipulator"&V& +5 "core" & 7 + "manipulator"&p% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +155 "core" ( +2 "manipulator"&!& +4 "core" &&  h =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" && =E +2 .tForearm.seek CC +2 "manipulator"&?'" +97 "core" ' + .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 .tCC.seek :open +2 "collection"'T( +416 "core" ( +2 "storage"(P& +4 "core" & F\  +2 "storage"(,& +3 "core" & \  +2 "manipulator"&J& +3 "core" &&  ; =B +2 "manipulator"&^% +4 "core" % , & 0 + .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q( +156 "core" ( +2 "manipulator"&+& +4 "core" & $  + "storage"(N& +5 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&;'} +96 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +57 "core" 1 +2 "manipulator"&e% +4 "core" % ΐ  + "storage"(8& +5 "core" & F\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&Q'ϼ +26 "core" ' +3 "manipulator"&\\& +4 "core" & +  + "storage"(& +4 "core" & \  z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +31 "core" ' + "storage"(O% +4 "core" %N\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(]'X +99 (|% +3 "core" %= X\ V_ +2 "manipulator"&m% +4 "core" %&  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +55782 "Can"\ 52} +60003 \ 52} +49260 #t-> exit +6 #mEXIT @1663616941.99EDT @1664282579.31EDT = =mMAIN_scheduler =tMAIN @EDT1664282581.19 #"core_reset"Sent BREAK +2 #t@7795 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +382 "Can"+\ ` + +\ ` + #tPolling Can every 10:00 +9 #Cleanly exited at 15:49:01EDT19-Sep-22 +533 #-> ESP.ready! +5 #Powering core bus +567 .Gate.power :raw,:ON +2 "sampler") +22 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ + ' 0\ +3 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ @\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \   +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %a \ +2 "manipulator"&<% +3 "core" %\ " ( K  +2 "manipulator"&=& +4 "core" &  g "| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(>(K +964 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K y | -\  +937 #t-> require 'shuffle.rn' +3 !o:LoadError: mesg"'no such file to load -- shuffle.rn:bt[ "(ESP):3:in `require'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +402 #-> require 'shuffle.rb' +941 #-> 3.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +3 "core" & X\  +2 .tHand.open +2 "manipulator"&A1 +60 "core" 1 +2 "manipulator"&B% +4 "core" % \ " 6  + "storage"(C% +4 "core" %a \ + "storage"(D. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E( +1287 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" & c\ + "manipulator"&G& +4 "core" &   "| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +13 "core" ( +2 "manipulator"&I& +4 "core" &\ ! 5 ` +2 "storage"(J& +3 "core" & S\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +95 "core" ' + "storage"(L& +4 "core" & |\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +44 .tSE.seek :beamBreak + "storage"(M'i +279 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & ;\ +2 "manipulator"&P& +3 "core" &  Z ` +2 .tElbow.seek 2 +2 "manipulator"&Q( +9 "core" ( + "manipulator"&R& +4 "core" & % ; / +2 "storage"(S& +4 "core" & !\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& + "storage"(W'X +8 "core" & \ / + "manipulator"&X% +4 "core" %  / +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +143 "core" ( +2 "manipulator"&[& +4 "core" &" ' G 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +4 "core" ' + &"  9( + ."downElevator"SE.stop +4 .tForearm.reconfigure :tight +2 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&]'" +97 "core" ' +3 "manipulator"&^& +4 "core" &"  1 z 9( +2 "manipulator"&_% +3 "core" %% + +2 "collection"'`& +4 "core" & c\  +2 "collection"'a& +5 "core" & e\  +2 .tCC.seek :closed +2 "collection"'b(V +4 "core" &\ ]\  +7 &L \ X\ %g +9 &yV \ h\ 8 +10 &\  _\ M +9 &]\ [\ O +10 &N^\ \ R\ N +9 &\\ \\\ N +9 &]\ \\\ N +10 &` \ \\\ N +9 &V`\ \ ^\ N +9 &^ b\ N +10 &`\ \ _\ N +9 &!d Z\ N +10 &#^a \ ]\ N +9 &% e\ \ ]\ N +9 &&` ]\ N +10 &(` \ ^\ N +9 &*ha \ ^\ N +9 &,+` \ ]\ M +10 &-`\ \ ]\ N +9 &/a \ ^\ N +10 &1pc ]\ N +9 &32` \ _\ N +9 &4e\ [\ N +10 &6b \ Y\ N +9 &8x` ^\ N +9 &:9b \ U\ N +10 &;d \ U\ N +9 &=b \ S\ O +9 &?~b G\ N +10 &A@a O\ N +9 &Cb L\ O +10 &Dc\ S\ O +9 &Fp \ N\ P +10 &H?{\ \ T\ Q +9 &I L\ T +9 &K\ \ J\ W +10 &Mq\ \ P\ X +9 &O3\ \ K\ X +9 &P\ \ L\ X +10 &R\ \ L\ Y +9 &Tu\ \ M\ Z +9 &Vv\ \ O\ . +10 &V-\ \ F\ R +9 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&c1 +3 "core" &V`\ \ L\ D +60 1 + "manipulator"&d% +4 "core" % % 6 $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%f& +4 "core" &D\  +2 "manipulator"&g% +4 "core" %\   O  +2 "storage"(h% +3 "core" %T >\ +2 "storage"(i. +3 "core" .( + "storage"(j& +4 "core" & R\ +2 "storage"(k& +3 "core" & )\ +2 "manipulator"&l& +4 "core" &! % 8! + "manipulator"&m% +4 "core" %\  {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +161 "core" ( + "manipulator"&o& +4 "core" & * :  +2 "storage"(p& +5 "core" & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +93 "core" ' + "storage"(r& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'i +284 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" & 9\ +2 "manipulator"&v& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&w( +4 "core" ( + "manipulator"&x& +3 "core" & % ?  +2 "storage"(y& +4 "core" & J\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"(}'X +8 "core" &  + "manipulator"&~% +4 "core" %  f _ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &n 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&& +4 "core" &n &  +2 "manipulator"&% +4 "core" % ] 6 +2 "processing"%& +4 "core" &L\  +2 "processing"%& +5 "core" &M\  +2 .tPC.seek :closed + "processing"% (Z +5 "core" &P\  +9 &6W\ +} +9 &eH\ @ +10 &Z|G\ O +9 &_<\ N +9 &cM\ O +10 &aG\ O +9 &d^C\ N +10 &&_G\ N +9 &_Q\ O +10 &cG\ N +9 & kaI\ O +9 &".b;\ N +9 &#_G\ N +10 &%`F\ N +9 &'sdH\ O +10 &)5`9\ O +9 &*_:\ N +9 &,^F\ O +10 &.{bH\ O +9 &0<`G\ O +9 &2_G\ N +10 &3_A\ N +9 &5c<\ O +10 &7E_G\ O +9 &9^H\ N +9 &:^G\ N +10 &<^E\ N +9 &>N_C\ N +9 &@dF\ O +10 &A`C\ O +9 &C`9\ O +10 &ESf>\ O +9 &Gs@\ Q +10 &HA\ S +9 &JK\ T +9 &LLK\ T +10 &NF\ T +9 &O@\ T +9 &QJ\ U +10 &SSB\ U +9 &UA\ U +10 &V@\ V +9 &XF\ U +9 &ZeI\ $o +10 &Z!gD\ 2 +8 ( +2 &ZE\ + +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&\ 1 +62 "core" 1 + "manipulator"& % +5 "core" % %  6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"% & +4 "core" &ZG\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\     +2 "storage"(% +3 "core" %` F\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & v\ +2 "storage"(& +3 "manipulator"&& +5 "core" & ]\ + &n  A +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +3 "core" &n = +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n 8 D +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%( +95 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'y +44 "core" ' +281 ( + "storage"(%& +4 "core" & \ +2 "manipulator"&'& +4 "core" &n / + "manipulator"&(% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +256 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(#& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +94 "core" ' + .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(0' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(2& +4 "core" & j ` \ +2 "manipulator"&3& +3 "core" & ~  +2 .tElbow.seek 2 +4 "manipulator"&4( +86 "core" ( +2 "manipulator"&5& +4 "core" & &  + "storage"(6& +4 "core" & i \\ 7\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(8' +55 "core" ' + "manipulator"&9& +4 "core" & m  +2 "storage"(:& +4 "core" & U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +29 "core" ' +3 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +25 "core" ' + "manipulator"&!% +4 "core" % +2 "storage"(?& +4 "core" & y | \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&@' +17 "core" ' + "manipulator"&A& +4 "core" & %  +2 "storage"(B& +4 "core" & v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +31 "core" ' +2 "storage"(D% +4 "core" %p \ +3 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (F% +2 "core" %F \ We +2 "manipulator"&G% +4 "core" %ѐ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +3 (J& +4 "core" & >\ + "collection"'L& +4 "core" &VU \ J\ D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\ "  / < +2 "storage"(&% +4 "core" %\\ W\ + "storage"(N. +3 "core" .( +2 "storage"(O& +3 "core" & D\ +2 "storage"(P& +4 "core" & +\ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( + "manipulator"&S& +4 "core" & ! ]  +2 "storage"(U& +51 "core" & A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +87 "core" ' + "storage"(X& +4 "core" & #\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +286 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&[& +2 "core" &    +2 "storage"(\\& +4 "core" & s\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +37 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'V +30 "core" ' +2 "manipulator"&`% +4 "core" % u n + "storage"(Q& +4 "core" & 9 = \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&W' +17 "core" ' +2 "manipulator"&Y& +4 "core" &  +2 "storage"(+& +3 "core" & E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(d'E +40 "core" ' + "manipulator"&f& +5 "core" & Z  + "manipulator"&g% +4 "core" %ѓ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +155 "core" ( +2 "manipulator"&j& +4 "core" &% ' y <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &% K <= +2 .tForearm.seek CC + "manipulator"&a'" +99 "core" ' +3 .tHand.close + "manipulator"&l/ +59 "core" / +2 .tCC.seek :open + "collection"'m( +419 "core" ( +2 "storage"(]& +4 "core" & /\ + "storage"(o& +4 "core" & \ +2 "manipulator"&p& +3 "core" &% ` ;7 +3 "manipulator"&r% +3 "core" %  v k +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e( +154 "core" ( +2 "manipulator"&t& +4 "core" &  i  + "storage"(u& +4 "core" & Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&v' +108 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +56 "core" 1 +2 "manipulator"&{% +4 "core" %  f + "storage"(|& +4 "core" & >\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&~' +15 "core" ' + "manipulator"&n& +4 "core" &  +3 "storage"(q& +3 "core" & \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +33 "core" ' + "storage"(z% +5 "core" %H\  #\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %< \ Vb +2 "manipulator"&w% +4 "core" %ѐ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &\ \ P\ +2 "manipulator"&% +4 "core" %\  _  +2 "storage"(}% +4 "core" %S R\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(*( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" & -\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +12 "core" ( + "manipulator"&& +4 "core" & & B  +2 "storage"(& +4 "core" & X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(& +4 "core" &\ '\ \ D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & D\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & W  +2 "storage"(& +3 "core" & h\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +3 "storage"( 'X +6 "core" & i  +2 "manipulator"&% +4 "core" % ϲ 7 +2 .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&(& +4 "core" &#  ' :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &#  / :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 "manipulator"&#& +4 "core" &# % :/ +2 "manipulator"&% +4 "core" %( + "collection"'-& +4 "core" & \ +2 "collection"'.& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'1(V +4 "core" & \ a\ \ +9 &.}\ \ `\ *y +9 &d \ _\ ? +9 &gy\ \ `\ O +10 &,Y a\ N +9 &_\ \ _\ N +10 &]\ _\ M +9 &q^ \ T\ N +9 &4]\ \ R\ N +10 &^ \ T\ M +9 &^ \ \\\ N +9 & y] _\ N +10 &"<` P\ N +9 &#_ \ P\ N +10 &%`\ \ ^\ N +9 &'a \ Y\ N +9 &)D\\\ ^\ N +10 &+]\ \ \\\ N +9 &,] \ ]\ M +9 &._\  ^\ M +11 &0L_\  \\\ N +8 &2^\ U\ N +10 &3]\ \ \\\ M +9 &5\\\ \ [\ N +9 &7U^ \ V\ M +10 &9] \ V\ N +9 &:b _\ N +9 &<_ \ _\ N +10 &>[_ \ ^\ N +9 &@] M\ N +10 &A^ P\ N +9 &Cb \\\ N +9 &Eah\ \ R\ O +10 &Go\ \ ]\ P +9 &H U\ Q +9 &J \ [\ V +10 &LN \ N\ X +9 &N \ M\ X +10 &O \ W\ Y +9 &Q \ Q\ Y +9 &SO\ \ S\ Z +10 &U\ P\ Z +9 &V^E \ K\ 0 +9 &Vz\ \ H\ E +6 ( + "collection"'.& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open + "manipulator"&21 +4 "core" &Vg \ L\ E +56 1 + "manipulator"&3% +4 "core" % ( @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%5& +5 "core" &Q\ + "manipulator"&6% +4 "core" %\  , 0  + "storage"(9% +4 "core" %T \ +2 "storage"(:. +3 "core" .( + "storage"("& +4 "core" & \\\  + "storage"(/& +4 "core" & n\  +2 "manipulator"&!& +3 "core" &" 3 < 9( +2 "manipulator"&?% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +150 "core" ( + "manipulator"&A& +4 "core" & % ^ \ +2 "storage"(B& +4 "core" & l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +98 "core" ' + "storage"(,& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'i +286 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" & \  +2 "manipulator"&7& +3 "core" & W \ +2 .tElbow.seek 3 +2 "manipulator"&4( +3 "core" ( + "manipulator"&8& +4 "core" &  B \ + "storage"(;& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"($'X +7 "core" & \ +2 "manipulator"&=% +4 "core" % Ϩ c +2 .tForearm.seek :retract + "manipulator"&&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&N(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&O& +4 "core" &g  @ ! +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &g  ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + "manipulator"&S& +4 "core" &g } ! +2 "manipulator"&U% +4 "core" % D @ +2 "processing"%C& +3 "core" &Y\ +2 "processing"%X& +5 "core" &X\ +2 .tPC.seek :closed +2 "processing"%>(Z +4 "core" &X\ +7 &?W\ %f +9 &UW\ 8 +10 &U\ M +9 &_R\ O +9 &jbV\ O +10 &.^Q\ N +9 &_T\ N +9 &]U\ N +10 &sbK\ O +9 &5\\H\ O +9 &_T\ O +10 &!\\Q\ O +9 &#|_I\ N +10 &%>^G\ N +9 &']H\ N +9 &(]H\ O +10 &*_O\ O +9 &,E\\H\ O +9 &.aG\ O +10 &/^H\ N +9 &1\\G\ N +10 &3O^G\ N +9 &5_G\ N +9 &6]L\ N +10 &8`G\ O +9 &:V\\H\ N +9 &<\\G\ N +10 &=_G\ N +9 &?_H\ O +10 &A_[I\ N +9 &CbI\ O +9 &DcH\ O +10 &FoI\ P +9 &HZI\ R +9 &JG\ T +10 &KH\ T +9 &MH\ U +10 &O\\I\ T +9 &QL\ T +9 &RG\ U +10 &TF\ U +9 &VaG\ U +9 &X#I\ U +10 &Y{oF\ 3 +9 &Z)sH\ K +9 &Z#L\ / +3 ( + "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&<1 +52 "core" 1 +2 "manipulator"&I% +53 "core" % o @ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' + "processing"%[& +4 "core" &Z"<\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\  >  +2 "storage"(^% +4 "core" %T w w r\ + "storage"(`. +4 "core" .( + "storage"(Q& +4 "core" & w \  +2 "storage"(Y& +4 "manipulator"&+& +4 "core" & { y T\  + &g  ! +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&f(s + "storage"(g'i +29 "core" ( +2 "manipulator"&V& +4 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&H' +97 "core" ' + .tHand.close +2 "manipulator"&M/ +59 "core" / +3 .tPC.seek :open +2 "processing"%W( +63 "core" ' + "storage"(_- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(j'y +45 "core" ' +315 ( + "storage"(k& +4 "core" & \  +2 "manipulator"&c& +4 "core" &o  1 + "manipulator"&T% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h( +239 "core" ( + "manipulator"&b& +5 "core" &  S & + "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +94 "core" ' + .tHand.open +2 "manipulator"&p1 +59 "core" 1 +2 "storage"(r- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(t'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(u' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' +2 "storage"(i& +3 "core" &\ P\  +2 "manipulator"&y& +4 "core" & ] & +2 .tElbow.seek 3 + "manipulator"&{( +4 "core" ( + "manipulator"&|& +4 "core" & ( p & +2 "storage"(n& +4 "core" &\  A\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +58 "core" ' + "manipulator"&Z& +4 "core" &  & +2 "storage"(& +4 "core" & p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&w'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +22 "core" ' + "manipulator"&~% +5 "core" %~  + "storage"(& +4 "core" & E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&'Ϫ +20 "core" ' + "manipulator"&}& +5 "core" & 5 & + "storage"(& +4 "core" & H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +26 "core" ' +2 "storage"(s% +4 "core" %s a\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (E% +3 "core" %G { P\ Wf +2 "manipulator"&\ % +4 "core" %D  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & 6\  + "collection"'& +4 "core" &Vg \ \ E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(x% +4 "core" %a -\ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & B\  +2 "storage"(& +4 "core" & ,\  +2 "manipulator"&& +3 "core" & u & +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  & +2 "storage"(& +4 "core" & 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +86 "core" ' +2 "storage"(& +4 "core" & D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&(& +3 "core" &  & +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Z +39 "core" ' + "manipulator"&-% +4 "core" %Ώ  } +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"& 'ϻ +25 "core" ' +2 "manipulator"&%& +4 "core" & (  & +2 "storage"(m& +3 "core" & J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(3'I +46 "core" ' + "manipulator"&5& +4 "core" & % & +2 "manipulator"&6% +5 "core" %R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +148 "core" ( +3 "manipulator"&"& +4 "core" &$ I ;3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &$ ;3 +2 .tForearm.seek CC +2 "manipulator"&/'" +97 "core" ' + .tHand.close + "manipulator"&!/ +55 "core" / +2 .tCC.seek :open +2 "collection"'?( +416 "core" ( + "storage"(A& +4 "core" & /\  +2 "storage"(& +3 "core" & U\  +2 "manipulator"&B& +3 "core" &$  ;3 +2 "manipulator"&,% +4 "core" % 5  u + .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&)( +151 "core" ( +2 "manipulator"&F& +4 "core" & = +2 "storage"(G& +3 "core" & }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&7'} +91 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +60 "core" 1 +2 "manipulator"&J% +4 "core" % ΐ  V + "storage"(L& +4 "core" & U\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&='ϼ +19 "core" ' +3 "manipulator"&& +4 "core" & : + "storage"(D& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +41 "core" ' +2 "storage"(@% +4 "core" %H\  \ +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (P% +3 "core" %A \ Va +2 "manipulator"&4% +4 "core" %g f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +86 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'U& +5 "core" & \ + "manipulator"&C% +4 "core" %\    +2 "storage"($% +3 "core" %` \ +2 "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +2 "core" & $\ +2 "manipulator"&I& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&X( +20 "core" ( +2 "manipulator"&[& +4 "core" &  I N + "storage"(\\& +4 "core" & Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +94 "core" ' + "storage"(`& +4 "core" & \ \ <\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +286 "core" ' +2 "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & 8\ + "manipulator"&V& +4 "core" &  M +2 .tElbow.seek 2 + "manipulator"&R( +3 "core" ( +2 "manipulator"& & +3 "core" & & B M +2 "storage"(M& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(>'X +6 "core" & G M +2 "manipulator"&g% +4 "core" %   z +2 .tForearm.seek :retract +2 "manipulator"&k'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +151 "core" ( +2 "manipulator"&T& +4 "core" ' + &+  Z Ab + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +42 &H& +12 "core" &+ 0  Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'" +104 "core" ' +2 "manipulator"&]& +4 "core" &+ Y Ab +2 "manipulator"&f% +4 "core" % +2 "collection"'p& +4 "core" & e\ +2 "collection"'r& +5 "core" & f\ +2 .tCC.seek :closed +3 "collection"'a(V +3 "core" & i\ +6 & -\ j\ $c +10 &V \ a\ 8 +9 & \ d\ L +9 &Z f\ N +10 &f[ ]\ N +9 &)\\ \ c\ M +10 &] \ _\ N +9 &\\ a\ N +9 &o\\\ a\ M +10 &0] \ V\ N +9 &\\ \ Y\ M +9 &!]\ ^\ N +10 &#v] ]\ N +9 &%8\\\ \ W\ N +10 &&^\ \ \\\ N +9 &(Z \ X\ M +9 &*~\\ \ V\ N +10 &,@_\ \ R\ N +9 &.Z P\ N +9 &/\\ \ `\ M +10 &1^ \ X\ N +9 &3I\\ P\ M +10 &5 \\ \ U\ M +9 &6[\ \ Y\ N +9 &8Y\ \ \\\ N +10 &:P] \\\ N +9 &<_\ ]\ N +9 &=\\\ \ V\ N +10 &?]\ \ ^\ M +9 &AY\\ \ \\\ M +10 &C]\ \ \\\ N +9 &Dc\ [\ N +9 &Fk ]\ O +10 &HWu Z\ Q +9 &J\ \\\ S +10 &K ]\ U +9 &M\ \ Z\ X +9 &OI\ \ ]\ X +10 &Q\ \ \ S\ Y +9 &R\ \ \\\ Y +10 &T\ X\ Z +9 &V*v\ \ T\ . +9 &V \ \\\ L +9 ( +3 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 + .Hand.open + "manipulator"&i1 +4 "core" &V]\ ^\ G +56 1 +2 "manipulator"&y% +5 "core" %  u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%n& +4 "core" &P\ +2 "manipulator"&l% +3 "core" %\  ) $ +2 "storage"(Z% +4 "core" %a y [\ +2 "storage"(. +2 "core" .( +2 "storage"(~& +4 "core" & f\ + "storage"(& +4 "core" & \ +2 "manipulator"&j& +3 "core" &( V ?U +2 "manipulator"&}% +4 "core" %\  ^ $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&t( +157 "core" ( +2 "manipulator"&& +4 "core" & '  + "storage"(s& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +96 "core" ' + "storage"(o& +5 "core" & I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +283 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" & b\ + "manipulator"&q& +4 "core" & g  +2 .tElbow.seek 2 + "manipulator"&{( +9 "core" ( + "manipulator"&z& +4 "core" &    +2 "storage"(w& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" &  +2 "manipulator"&x% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&v& +4 "core" &i $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&& +5 "core" &i % + "manipulator"&% +4 "core" %  +2 "processing"%d& +4 "core" &Q\ +2 "processing"%& +6 "core" &R\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &V\ +7 & 0Y\ $d +9 &UR\ 7 +9 &~T\ L +10 &_X\ N +9 &[`V\ O +10 &\\T\ N +9 &_W\ N +9 &\\X\ N +10 &c]U\ O +9 &%^R\ O +9 &aJ\ O +10 &!`S\ N +9 &#lbG\ N +9 &%.aJ\ N +10 &&_G\ N +9 &(\\I\ N +10 &*s^I\ O +9 &,6_G\ N +9 &-bP\ N +10 &/_I\ N +9 &1}ZH\ N +9 &3>\\G\ N +10 &5`F\ N +9 &6^C\ N +10 &8_F\ N +9 &:F^F\ N +9 &<]F\ O +10 &=\\G\ N +9 &?^K\ O +10 &AO]F\ N +9 &CaF\ O +9 &DcH\ O +10 &FjF\ P +9 &HJ}F\ R +10 &JG\ T +9 &KG\ T +9 &MG\ T +9 &OLK\ T +10 &Q I\ U +9 &RF\ U +10 &TH\ U +9 &VSG\ U +9 &XI\ U +10 &Y{pG\ 9 +9 &Z*xJ\ O +10 &Z&H\ . +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&e1 +62 "core" 1 + "manipulator"& % +4 "core" %   k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%(& +4 "core" &Z%G\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   + "storage"(#% +4 "core" %` \ +2 "storage"(-. +3 "core" .( + "storage"(& +4 "core" & r\ +2 "storage"(%& +2 "manipulator"&m& +7 "core" & x\ + &i +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&5(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'i +2 "core" ( +2 "manipulator"& & +4 "core" &i  d + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i ^ +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"% ( +94 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'y +43 "core" ' +285 ( + "storage"(.& +5 "core" & r\ + "manipulator"&2& +4 "core" &i + "manipulator"&% +4 "core" % \\ +2 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&9( +261 "core" ( +2 "manipulator"&1& +4 "core" &  `  + "storage"(A& +4 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +100 "core" ' + .tHand.open + "manipulator"&B1 +56 "core" 1 +2 "storage"(,- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(F'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(/- +3 "core" -' +2 "storage"(:& +4 "core" & \ \  .\ + "manipulator"&;& +4 "core" & k  +2 .tElbow.seek 2 + "manipulator"&J( +8 "core" ( +2 "manipulator"&L& +4 "core" &   + "storage"(& +4 "core" & \  F\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +58 "core" ' + "manipulator"&'& +5 "core" & d  + "storage"(P& +4 "core" & 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4' +32 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(7'i +27 "core" ' + "manipulator"&=% +5 "core" % c + "storage"(U& +4 "core" &  U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&C' +19 "core" ' +2 "manipulator"&$& +4 "core" & %  +2 "storage"(&& +4 "core" & M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +37 "core" ' + "storage"(0% +5 "core" %k !\ +2 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (*% +3 "core" %H \ Xe +2 "manipulator"&<% +4 "core" %Ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +4 "core" & 2\ +2 "collection"'\\& +3 "core" &V\\ \ }\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&`% +4 "core" %\   +2 "storage"(8% +4 "core" %b \ + "storage"(S. +4 "core" .( + "storage"(+& +4 "core" & G\ +2 "storage"(Y& +3 "core" & P\ +2 "manipulator"&V& +3 "core" & f  +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&M& +9 "core" & &  + "storage"(N& +4 "core" & V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +93 "core" ' + "storage"(g& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'i +283 "core" ' +2 "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & 9  +2 "storage"(H& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +35 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(]'V +30 "core" ' +2 "manipulator"&f% +4 "core" % r + "storage"(p& +4 "core" & = P ~\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&>' +65 "core" ' + "manipulator"&k& +4 "core" & G  +2 "storage"(?& +4 "core" & U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'E +43 "core" ' +2 "manipulator"&n& +4 "core" &  +2 "manipulator"&l% +4 "core" %џ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ( + "manipulator"&~& +4 "core" && 3 =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" && H =A +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&j/ +59 "core" / + .tCC.seek :open +2 "collection"'}( +416 "core" ( +2 "storage"(b& +4 "core" & \ \ + "storage"(& +4 "core" & Y\ + "manipulator"&s& +4 "core" &% 2 <9 +2 "manipulator"&o% +3 "core" % - g +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +156 "core" ( + "manipulator"&E& +4 "core" &  }  +2 "storage"(\ & +4 "core" & *\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&q' +107 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  H + "storage"(& +4 "core" & g\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts + "manipulator"&x' +16 "core" ' +2 "manipulator"&t& +4 "core" &  +2 "storage"(h& +3 "core" & j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +17 "core" ' + "storage"(% +5 "core" %G\ \ +2 ."downElevator"SE.seek :down +5 "storage"(v'X +98 (% +3 "core" %C 0\ Vb +2 "manipulator"&{% +4 "core" %ј  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&d% +4 "core" %\    +2 "storage"(% +4 "core" %a\ \ \ +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(W( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +2 "core" & \\\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&(( +12 "core" ( +2 "manipulator"&& +4 "core" & u  + "storage"(#& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +94 "core" ' + "storage"(& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +284 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \  +2 "manipulator"& & +3 "core" & m  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & % 4  +2 "storage"(& +3 "core" & ;\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &  + "manipulator"&6% +4 "core" % ϡ = +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +155 "core" ( + "manipulator"&& +4 "core" &$ ( \\ ;5 +2 ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +4 & & +3 "core" &#  ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'" +102 "core" ' +2 "manipulator"&A& +4 "core" &$ 1 ;5 +2 "manipulator"&5% +4 "core" %  ~ +2 "collection"'B& +4 "core" &\ \ i\ +2 "collection"',& +5 "core" & \ _\ +2 .tCC.seek :closed +3 "collection"'/(V +3 "core" & \ c\ +6 & - \ e\ $c +10 &V\ j\ 8 +9 & \ e\ L +9 &X d\ N +10 &d^\ \ d\ N +9 &'Z\ \ b\ N +10 &`\  b\ N +9 &] \ ^\ N +9 &o\\ \ g\ M +10 &0_ \ `\ M +9 &]\ \ a\ M +10 &!a\ \ c\ N +9 &#t_\ \ \\\ N +9 &%7[ [\ N +10 &&Z\ \ [\ M +9 &(Y \ Z\ M +9 &*~_ Z\ M +10 &,@[ \ _\ M +9 &.Y \ ^\ N +9 &/Z R\ N +10 &1\\ O\ N +9 &3H^ Q\ M +10 &5 Z R\ N +9 &6\\ \ T\ N +9 &8X \ S\ M +10 &:O`\ P\ N +9 &<` Z\ N +10 &=_\ \ S\ N +9 &?] \ Y\ N +9 &AXY \ \\\ M +10 &C] \ W\ M +9 &Db\ \\\ N +9 &Fl \ [\ O +10 &HVx\ \ X\ Q +9 &J \ \\\ U +9 &K \ Q\ W +10 &M\ \ Y\ X +9 &OI \ ]\ X +10 &Q \ ]\ Y +9 &R\ \ [\ Y +9 &T [\ Z +10 &V)u \ ^\ . +9 &V!\ \ ]\ M +9 ( +3 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&:1 +4 "core" &Vc\ W\ H +53 1 + "manipulator"&;% +4 "core" % / b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &P\ + "manipulator"&!% +4 "core" %\   +2 "storage"('% +3 "core" %S (\ +2 "storage"(P. +3 "core" .( + "storage"("& +4 "core" & \  +2 "storage"(=& +3 "core" & !\  +2 "manipulator"&U& +4 "core" &# :, +2 "manipulator"&F% +4 "core" %\  t  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +157 "core" ( +2 "manipulator"&&& +4 "core" & % [  + "storage"(0& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +102 "core" ' + "storage"(& +4 "core" & !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +284 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" & \  +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( + "manipulator"&@& +4 "core" &  P  + "storage"(4& +4 "core" & S\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +52 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&\\& +2 "storage"(`'X +8 "core" & ;  + "manipulator"&8% +4 "core" % ϩ  9 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&+& +4 "core" &j B 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&V' +104 "core" ' +2 "manipulator"&M& +4 "core" &j % M +2 "manipulator"&N% +4 "core" % + "processing"%3& +4 "core" &Y\ +2 "processing"%g& +6 "core" &X\ +2 .tPC.seek :closed +3 "processing"%O(Z +3 "core" &Y\ +6 &W\ 3 +9 &:G~Z\ 1 +9 &apY\ E +10 &jX\ O +9 &ZY\ N +9 &ZW\ O +10 &G^X\ O +9 &\ _Y\ N +9 &`W\ N +10 &ZU\ N +9 &P`P\ N +10 &![W\ N +9 &"[U\ N +9 &$YT\ N +10 &&YZO\ N +9 &(^S\ N +9 &)`R\ N +10 &+ZT\ N +9 &-a\\T\ N +10 &/"_I\ N +9 &0[T\ O +9 &2]H\ O +10 &4g\\G\ O +9 &6*]N\ N +9 &7^H\ N +10 &9_F\ O +9 &;p\\F\ N +10 &=2_F\ N +9 &>]J\ N +9 &@^G\ N +10 &Bw^G\ O +9 &D:^I\ N +10 &EgG\ P +9 &GxH\ Q +9 &IqH\ S +9 &K2G\ T +10 &LG\ T +9 &NG\ T +10 &PvG\ T +9 &R7F\ U +9 &SG\ U +10 &UH\ U +9 &W|E\ U +10 &Y=J\ C +9 &ZZ>nD\ $k +9 &Z*H\ * +6 ( +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&)1 +4 "core" &ZF\ * +54 1 + "manipulator"&I% +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 "processing"%T& +4 "core" &ZI\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&H% +4 "core" %\   ?  + "storage"(R% +4 "core" %a y\ +2 "storage"(f. +3 "core" .( + "storage"(p& +4 "core" & \  +2 "storage"(k& +4 "manipulator"&?& +4 "core" & \  + &j  C +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +53 "manipulator"&n(s +4 "storage"(l'i +6 "core" ( +2 "manipulator"&K& +4 "core" &j < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &j I +2 .tForearm.seek PC +2 "manipulator"&X' +94 "core" ' +2 .tHand.close + "manipulator"&Q/ +60 "core" / +2 .tPC.seek :open +2 "processing"%>( +85 "core" ' + "storage"(]- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(~'y +45 "core" ' +293 ( + "storage"(r& +4 "core" & W\  +2 "manipulator"&i& +4 "core" &j { + "manipulator"&_% +4 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +266 "core" ( + "manipulator"&a& +4 "core" & %  +2 "storage"(b& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 .tHand.open + "manipulator"&s1 +63 "core" 1 +2 "storage"(o- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(E'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" & @ 0\  +2 "manipulator"&w& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & $   +2 "storage"(t& +3 "core" & I R\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +60 "core" ' +2 "manipulator"&c& +4 "core" & %  +2 "storage"(& +3 "core" & 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'} +25 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +23 "core" ' +2 "manipulator"&% +4 "core" %΃   +2 "storage"(x& +4 "core" & N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&d'ϯ +12 "core" ' + "manipulator"&& +5 "core" & =  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +25 "core" ' + "storage"(u% +5 "core" %n \ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +98 (% +3 "core" %F \ Xf +2 "manipulator"&e% +4 "core" %P 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \  + "collection"'#& +4 "core" &V`\ \ E\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ # | ; +2 "storage"(z% +3 "core" %^ U\ +2 "storage"(. +4 "core" .( + "storage"(%& +4 "core" & =\  +2 "storage"(& +3 "core" & _\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & '  +2 "storage"(& +3 "core" & \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 "storage"(6& +4 "core" & Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('i +283 "core" ' +2 "storage"(-- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"( & +3 "core" & >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(A- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(5'Y +30 "core" ' + "manipulator"&B% +4 "core" %΀  i +2 "storage"(& +4 "core" & 0\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +13 "core" ' + "manipulator"&.& +5 "core" & 8  + "storage"(}& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(;'H +43 "core" ' + "manipulator"&& +5 "core" & s  + "manipulator"&!% +4 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +158 "core" ( +2 "manipulator"&"& +4 "core" &(  [ <A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &(  =A +2 .tForearm.seek CC +2 "manipulator"&U'" +92 "core" ' + .tHand.close + "manipulator"&,/ +60 "core" / +2 .tCC.seek :open +2 "collection"'F( +416 "core" ( + "storage"(1& +4 "core" & 9\  + "storage"(&& +4 "core" & +\  +2 "manipulator"&0& +3 "core" &'  =A +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&2'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +3 "manipulator"&L( +165 "core" ( + "manipulator"&*& +4 "core" & $ T  +2 "storage"(<& +3 "core" & |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&D'} +96 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +57 "core" 1 +2 "manipulator"&[% +4 "core" % Ύ ' +2 "storage"(\\& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&8'Ϻ +20 "core" ' +2 "manipulator"&$& +4 "core" & ,  +2 "storage"(9& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +28 "core" ' +2 "storage"(C% +4 "core" %J \ L\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (Y% +3 "core" %A F\ Wb +2 "manipulator"&J% +4 "core" %3 g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +86 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'N& +4 "core" & \ +2 "manipulator"&3% +4 "core" %\    +2 "storage"(`% +3 "core" %U\ \  \ +2 "storage"(7. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "core" & 1\ +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&T( +76 "core" ( +2 "manipulator"&H& +4 "core" &  = X + "storage"(R& +4 "core" & c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +102 "core" ' +2 "storage"(p& +4 "core" & \ \  6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +285 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" & /\ +2 "manipulator"&K& +4 "core" &\ m X +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&V& +4 "core" &\ $ X X +2 "storage"(Q& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(O'X +6 "core" &\ T X +2 "manipulator"&l% +4 "core" %  X  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +147 "core" ( + "manipulator"&_& +5 "core" &+ $ R Ab + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&X& +6 "core" &* f Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'" +101 "core" ' +2 "manipulator"&b& +4 "core" &+ / H Ab +2 "manipulator"&n% +4 "core" %  4 +2 "collection"'s& +3 "core" & \ +2 "collection"'o& +5 "core" & \ \ +3 .tCC.seek :closed + "collection"'(V +5 "core" & \ i\ +7 & -\ \ k\ $c +10 &W\ \ f\ 7 +9 &\ \ j\ L +9 &[ k\ M +10 &b^ \ g\ N +9 &$\\ j\ N +9 &_ \ a\ M +10 &[ \ g\ M +9 &j_\ \ f\ N +10 &-_ g\ M +9 &Z \ c\ N +9 &!` \ f\ N +10 &#r] \ i\ N +9 &%5[ `\ M +9 &&\\ \ d\ M +10 &([\  c\ M +9 &*{Z \ d\ M +10 &,=Y \ \\\ M +9 &-Z \ ]\ M +9 &/Z\ \ [\ M +10 &1\\\ \ [\ N +9 &3D]\ \ a\ N +9 &5]\ \ W\ N +10 &6\\\ \ \\\ N +9 &8[\  b\ N +10 &:K_\ \ \\\ N +9 &<] \ Z\ M +9 &=`\ \ Z\ M +10 &?` \ R\ M +9 &AU_ \ W\ M +9 &C` R\ N +10 &Db \ P\ N +9 &Fj\ U\ O +10 &HUt \ Z\ P +9 &J\ \ U\ S +9 &K\ \ S\ V +10 &M\ \ L\ X +9 &OE\ \ Z\ X +9 &Q\ \ [\ Y +10 &R\ \ \\\ Y +9 &T\ \ ^\ Z +9 &V(v\ \ ]\ . +10 &V"\ \ ]\ L +9 ( +2 &Ve\ \ \\\ G + "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&w% +4 "core" % 0 E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +4 "core" &Y\ +2 "manipulator"&j% +4 "core" %\ #  : + "storage"(c% +4 "core" %T P\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & V\ + "storage"(~& +4 "core" & <\ +2 "manipulator"&x& +4 "core" &* + A` + "manipulator"&% +4 "core" %\ #  : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&E& +4 "core" &  ` + "storage"(u& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +91 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" & \ +2 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & %  + "storage"({& +4 "core" & )\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&#& + "storage"('X +8 "core" & + "manipulator"&z% +4 "core" %  : \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&%& +4 "core" &r 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &r j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 "manipulator"&& +4 "core" &r   +2 "manipulator"&% +3 "core" % C + +2 "processing"%y& +4 "core" &R\ +2 "processing"%6& +5 "core" &Q\ +2 .tPC.seek :closed +2 "processing"%v(Z +4 "core" &X\ +8 &9W\ $c +9 &TW\ 7 +10 &~Y\ L +9 &\\W\ N +9 &`\\Y\ O +10 &"]X\ O +9 &]X\ N +9 &]W\ O +10 &h]X\ O +9 &*]W\ O +9 &`X\ N +10 &!]X\ O +9 &#q_X\ N +10 &%3]W\ N +9 &&XW\ N +9 &(ZT\ N +10 &*yYT\ N +9 &,;YW\ N +10 &-\\V\ O +9 &/\\T\ N +9 &1YW\ N +10 &3CXX\ N +9 &5]U\ N +9 &6\\S\ O +10 &8\\I\ N +9 &:KYO\ N +9 &< ]W\ N +10 &=ZV\ N +9 &?WH\ N +10 &ASWS\ N +9 &C^O\ O +9 &DcP\ O +10 &FhH\ P +9 &HPzH\ R +9 &J H\ T +10 &KF\ T +9 &MM\ T +10 &ORU\ T +9 &QH\ U +9 &RE\ U +10 &T@\ U +9 &VWH\ U +9 &XG\ U +10 &Y{pG\ 7 +9 &Z.E\ N +10 &ZF\ * +2 ( + "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&|1 +62 "core" 1 + "manipulator"& % +5 "core" % % @ + + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +95 "core" ' +2 "processing"%& +4 "core" &Z:\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\ 6 5 + "storage"(A% +4 "core" %\\ w w r\ +2 "storage"(B. +3 "core" .( + "storage"(& +4 "core" & w w \ +2 "storage"(.& +4 "manipulator"&}& +4 "core" & v w \ +2 &r  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'i +3 "core" ( + "manipulator"&& +3 "core" &r < +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &r / V +2 .tForearm.seek PC +2 "manipulator"&(' +95 "core" ' + .tHand.close +2 "manipulator"&m/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(5- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"("'y +42 "core" ' +288 ( +2 "storage"(=& +4 "core" & \ + "manipulator"&:& +4 "core" &r  + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +245 "core" ( +2 "manipulator"&/& +4 "core" & % W Q + "storage"(1& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&&'ќ +97 "core" ' + .tHand.open + "manipulator"&01 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +61 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(P& +4 "core" & I \ +2 "manipulator"&4& +3 "core" &  P +2 .tElbow.seek 2 +2 "manipulator"&[( +3 "core" ( + "manipulator"&\\& +55 "core" & # h P +3 "storage"($& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(C' +59 "core" ' + "manipulator"&2& +4 "core" & Z P +2 "storage"(Y& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J' +32 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(D'i +22 "core" ' + "manipulator"&8% +5 "core" % + "storage"(N& +4 "core" & ~ '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&3' +21 "core" ' + "manipulator"&`& +5 "core" & % m P +2 "storage"(7& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +19 "core" ' +2 "storage"(G% +4 "core" %j \ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +98 (W% +4 "core" %3E { =\ We +2 "manipulator"&)% +4 "core" %ѥ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" & \ + "collection"'R& +4 "core" &Ve\ \ M\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&p% +4 "core" %\   +2 "storage"(@% +4 "core" %a !\ + "storage"(M. +3 "core" .( +2 "storage"(k& +4 "core" & \ +2 "storage"(g& +4 "core" & (\ + "manipulator"&K& +4 "core" & P +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&Q& +4 "core" & ( A P + "storage"(]& +4 "core" & 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +90 "core" ' + "storage"(l& +4 "core" & H\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'i +286 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&_& +3 "core" &  P +2 "storage"(X& +3 "core" & k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?' +35 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'V +31 "core" ' + "manipulator"&s% +5 "core" % | + "storage"( & +4 "core" & [ X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&O' +13 "core" ' +2 "manipulator"&r& +4 "core" &  P + "storage"(F& +4 "core" & =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'E +43 "core" ' +2 "manipulator"&t& +4 "core" &  P +2 "manipulator"&j% +4 "core" %љ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ( +2 "manipulator"&& +4 "core" &'  >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &' '  >H +2 .tForearm.seek CC + "manipulator"&~'" +93 "core" ' + .tHand.close + "manipulator"&x/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(a& +4 "core" & \ +2 "storage"(E& +4 "core" & \ \ + "manipulator"&u& +4 "core" && P =G + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&i'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +153 "core" ( +2 "manipulator"&& +4 "core" &  8  + "storage"(e& +4 "core" & M\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&h' +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +52 "core" 1 +2 "manipulator"&% +4 "core" %  : +2 "storage"(#& +4 "core" & K\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&z' +13 "core" ' +2 "manipulator"&& +4 "core" & *  +2 "storage"(Z& +3 "core" & 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +24 "core" ' + "storage"(d% +4 "core" %H K\ +3 ."downElevator"SE.seek :down +3 "storage"(%'X +98 (% +3 "core" %D \ Va +2 "manipulator"&% +4 "core" %  y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ \ + "manipulator"&y% +4 "core" %\    +2 "storage"(% +4 "core" %a\ \ \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" & Y\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"& & +5 "core" &  > + "storage"(A& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +103 "core" ' + "storage"(& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +287 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" & ?\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &  G +2 "storage"(m& +3 "core" & \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&5'ϩ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"(v'X +8 "core" & r + "manipulator"&!% +4 "core" % Ϭ   +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&:( +160 "core" ( ' + "manipulator"&& +3 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &(  ?V +2 .tElbow.reconfigure :loose +3 "Can"\ <9 + "manipulator"&$ &.,(#b +2 &(& +3 "core" &(  ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'" +106 "core" ' + "manipulator"&1& +4 "core" &( 2 ?V +2 "manipulator"&% +4 "core" % _ +2 "collection"'0& +4 "core" &\ \ [\ +3 "collection"'& +5 "core" &\ \ \ +55 .tCC.seek :closed +4 "collection"'U(V +3 "core" & a\ +2 &\  g\ + & c\ + & X\ + & \ i\ + & \ i\ + &\ c\  +4 &0~ c\ +z +9 &c h\ > +10 &vu h\ N +9 &:X _\ M +10 &Z d\ N +9 &\\ h\ M +9 &Z h\ M +10 &BZ \ h\ M +9 &Z \ h\ M +9 &^ \ h\ M +10 & _ f\ N +9 &"I]\ f\ N +9 &$ Z i\ M +10 &%\\ h\ N +9 &'\\ \ h\ M +10 &)RX\ \ b\ M +9 &+^\ \ g\ M +9 &,\\\ g\ N +10 &.\\\ \ d\ M +9 &0Z_ g\ M +9 &2] \ d\ M +10 &3^ d\ M +9 &5\\\ \ h\ M +10 &7bY f\ M +9 &9#\\ ]\ N +9 &:^\ \ ]\ N +10 &<` ]\ M +9 &>j_\ ^\ M +9 &@+]\ \ U\ N +10 &A] \ \\\ M +9 &C] ^\ M +10 &Eoe `\ N +9 &G.k a\ O +9 &H} ^\ Q +10 &J\ \ \\\ V +9 &L[ Z\ X +9 &N\ X\ X +10 &O W\ Y +9 &Q\ [\ Y +10 &S_ \ W\ Y +9 &U \ Y\ Z +9 &VlC\  W\ 1 +10 &Vj\ \ J\ H +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&,1 +3 "core" &V`\ \ U\ H +50 1 +2 "manipulator"&P% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +102 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%\\& +4 "core" &X\ +2 "manipulator"&$% +3 "core" %\ # : +2 "storage"(2% +4 "core" %S x a\ + "storage"(Y. +3 "core" .( +2 "storage"("& +3 "core" & x w 4\  +2 "storage"(*& +4 "core" & w \  + "manipulator"&8& +4 "core" &' L >L +2 "manipulator"&N% +3 "core" %\ # N : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +162 "core" ( + "manipulator"&7& +4 "core" & %  r +2 "storage"('& +4 "core" & "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +101 "core" ' + "storage"(&& +5 "core" & -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +283 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" & T\  +2 "manipulator"&9& +4 "core" &  r +2 .tElbow.seek 3 + "manipulator"&[( +3 "core" ( +2 "manipulator"&C& +3 "core" & F r +2 "storage"(J& +4 "core" & U\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(p'X +7 "core" & c r +2 "manipulator"&@% +4 "core" % ϕ   + .tForearm.seek :retract +2 "manipulator"&M'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&k& +4 "core" &v 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &v    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +102 "core" ' + "manipulator"&Q& +5 "core" &v $  + "manipulator"&]% +4 "core" % f +2 "processing"%;& +3 "core" &W\ +3 "processing"%l& +4 "core" &K\ +2 .tPC.seek :closed +2 "processing"%+(Z +5 "core" &R\  +9 &3X\ *z +9 &dW\ ? +10 &xV\ O +9 &D\\X\ N +9 &\\[\ N +10 &\\W\ N +9 &ZW\ N +9 &J\\X\ O +10 & ]V\ N +9 &^W\ N +10 & ^V\ N +9 &"S\\W\ N +9 &$\\W\ N +10 &%\\V\ N +9 &'^W\ N +9 &)\\ZV\ N +10 &+\\V\ N +9 &,[X\ N +10 &.]W\ N +9 &0b\\V\ O +9 &2$\\Y\ O +10 &3ZV\ N +9 &5\\V\ O +9 &7k[P\ N +10 &9-]M\ N +9 &:[V\ N +10 &<XJ\ N +9 &>sZP\ N +9 &@6YO\ N +10 &A[V\ N +9 &C\\S\ O +10 &Ey`R\ O +9 &G5sO\ Q +9 &HK\ S +10 &JH\ T +9 &LrO\ T +9 &N5?\ T +10 &OH\ T +9 &QJ\ U +10 &SyJ\ T +9 &U;S\ T +9 &VH\ U +10 &X>\ U +9 &Z%WxE\ (w +9 &ZcI\ 5 +9 ( +2 &Z%H\ 0 +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&L1 +57 "core" 1 + "manipulator"&I% +5 "core" % % : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 "processing"%_& +4 "core" &Z%4\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&X% +4 "core" %\  <  +2 "storage"(b% +3 "core" %b y z x\ +2 "storage"(s. +3 "core" .( + "storage"( & +4 "core" & { =\  +2 "storage"(r& +4 "manipulator"&F& +4 "core" & l\  + &v   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&t(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'i +2 "core" ( +2 "manipulator"&^& +4 "core" &v ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &v t  +3 .tForearm.seek PC + "manipulator"&T' +97 "core" ' +2 .tHand.close + "manipulator"&?/ +60 "core" / +3 .tPC.seek :open + "processing"%O( +83 "core" ' +2 "storage"(n- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +296 ( + "storage"(o& +5 "core" & i\  + "manipulator"&& +4 "core" &v  e  + "manipulator"&S% +4 "core" %   K +2 .tForearm.seek :retract + "manipulator"&x'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +265 "core" ( + "manipulator"&& +4 "core" & F  +2 "storage"(a& +4 "core" & I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +98 "core" ' + .tHand.open +2 "manipulator"&u1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(& +4 "core" &\ \  \  +2 "manipulator"&{& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&#& +4 "core" &  e  +2 "storage"(& +4 "core" &\ \  `\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(d' +58 "core" ' + "manipulator"&i& +4 "core" &   +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +23 "core" ' +2 "manipulator"&% +4 "core" %΃ a +2 "storage"(z& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&y'ϯ +20 "core" ' +2 "manipulator"&& +4 "core" & ;  +2 "storage"(& +4 "core" & f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +48 "core" ' +2 "storage"(\ % +4 "core" %p #\ +2 ."downElevator"SE.seek :down +4 "storage"(%'X +99 ( % +3 "core" %G \ We +2 "manipulator"&|% +4 "core" %; $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & \  +2 "collection"'A& +4 "core" &V`\ \ \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   + "storage"(% +55 "core" %T U\ +2 "storage"(. +3 "core" .( +2 "storage"(}& +3 "core" & e\  +2 "storage"(.& +3 "core" & =\  +2 "manipulator"&& +4 "core" & U  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&m& +4 "core" & 3  +2 "storage"(q& +4 "core" & #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +93 "core" ' + "storage"(!& +4 "core" & P\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ]  +2 "storage"((& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +28 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +29 "core" ' + "manipulator"&% +4 "core" %Ό +2 "storage"(0& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&v'ϸ +20 "core" ' +2 "manipulator"&=& +4 "core" & 1  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +31 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(P'H +40 "core" ' + "manipulator"&\\& +5 "core" &  + "manipulator"&$% +4 "core" %$ ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +156 "core" ( +2 "manipulator"&"& +4 "core" &#  ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &#  ;2 +2 .tForearm.seek CC +2 "manipulator"&*'" +93 "core" ' +2 .tHand.close + "manipulator"&8/ +61 "core" / +2 .tCC.seek :open +2 "collection"'N( +416 "core" ( + "storage"(/& +4 "core" & \  +2 "storage"(7& +3 "core" & T\  +2 "manipulator"&'& +3 "core" &$ \\ ;2 +2 "manipulator"&&% +4 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&4( +156 "core" ( +2 "manipulator"&W& +4 "core" &    +2 "storage"()& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&9'} +99 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +54 "core" 1 +2 "manipulator"&H% +4 "core" % Ύ % + "storage"(R& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&@'Ϻ +26 "core" ' +2 "manipulator"&`& +4 "core" & _  +2 "storage"(G& +4 "core" & F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +25 "core" ' + "storage"(3% +5 "core" %O\  \ +2 ."downElevator"SE.seek :down +4 "storage"(k'X +99 (g% +3 "core" %> 8\ Va +2 "manipulator"&[% +4 "core" %J G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +52901 "Can"\ 30v +60002 \ 30 +60002 \ 30t +60002 \ 30| +60002 \ 30s +60002 \ 30{ +60002 \ 20w +58443 #t-> access 2 +3 "storage"(]% +3 "core" %R\ \  g\ +2 "manipulator"&;% +4 "core" %\    + "manipulator"&p& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(M(K +967 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K \  +558 "Can"\ 30 +60002 \ 30p +60002 \ 20s +60002 \ 20 +60002 \ 30o +60002  \ 20v +60002  \ 30z +26708 #t-> access 3 +2 "storage"(L% +3 "core" %R\ \  j\ + "manipulator"&I% +4 "core" %\ \  3  +2 "manipulator"&_& +3 "core" & )  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(X([ +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (b& +3 "core" &[ L\ +32931 "Can"\ 30y +60002 \ 30r +60002 \ 20r +20793 #t-> 3.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'s& +3 "core" & w\ +2 "manipulator"& % +4 "core" %\  g  +2 "storage"(r% +4 "core" %S\ \  &\ + "storage"(F. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(l( +1598 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" & F\ +2 "manipulator"&V& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&K( +29 "core" ( + "manipulator"&?& +4 "core" &  n +2 "storage"(n& +4 "core" & c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +95 "core" ' + "storage"(f& +5 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'i +291 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" & B\ +2 "manipulator"&& +4 "core" &  n + .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&T& +4 "core" &  n + "storage"(& +4 "core" & @\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&a' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&t/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"('X +7 "core" &  n +2 "manipulator"&~% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&{( +150 "core" ( + "manipulator"&#& +6 "core" &% <; ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +4 && +3 "core" &% ' <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'" +105 "core" ' +2 "manipulator"&i& +4 "core" &%  / <; +2 "manipulator"&% +4 "core" %  +2 "collection"'& +4 "core" & w\ +2 "collection"'& +6 "core" & y\ +2 .tCC.seek :closed + "collection"'z(V +4 "core" & p\ \ +9 &.} n\ +z +9 &d p\ ? +9 &py p\ O +10 &1^ p\ O +9 &` j\ O +10 &_ h\ N +9 &xa p\ N +9 &:b q\ N +10 &` b\ N +9 &` d\ N +9 & _ a\ N +10 &"Ab ]\ O +9 &$` \\\ N +9 &%` `\ N +10 &'` a\ N +9 &)J` n\ N +10 &+ a _\ O +9 &,_ o\ N +9 &.b q\ N +10 &0Rc p\ N +9 &2b m\ N +10 &3a n\ N +9 &5` o\ M +59 &7Zb p\ N +4 &9b p\ N + &:d d\ O +5 &<e f\ N + &>ac b\ O &@%b c\ N + &Ab ^\ N +4 &Cc ]\ O +9 &Ehh W\ O +10 &G&v W\ P +9 &H| ]\ Q +9 &J \\\ U +10 &LY Q\ W +9 &N U\ X +10 &O Q\ Y +9 &Q Q\ Y +10 &SX Z\ Z +9 &U U\ Z +9 &VeC O\ 1 +9 &V\ t X\ F +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open + "manipulator"&1 +4 "core" &Vh \\\ F +51 1 +3 "manipulator"&% +4 "core" % .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%c& +4 "core" &\ + "manipulator"&\ % +4 "core" %\  {  +2 "storage"(E% +4 "core" %[ U\ + "storage"(e. +4 "core" .( + "storage"( & +4 "core" & P\ +2 "storage"(|& +4 "core" & \ + "manipulator"&Z& +4 "core" &# E :0 + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&d( +159 "core" ( + "manipulator"&& +5 "core" & W  + "storage"(y& +4 "core" & X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +91 "core" ' + "storage"(A& +5 "core" & X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" & Z\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&}( +3 "core" ( + "manipulator"&.& +4 "core" & O  +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +3 "storage"(!'X +7 "core" &   +2 "manipulator"&%% +4 "core" %  R \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +5 "manipulator"&B& +4 "core" &q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +102 "core" ' +2 "manipulator"&1& +4 "core" &q $ J +2 "manipulator"&% +3 "core" % m +2 "processing"%0& +4 "core" &\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &1\ *x +9 &b\ > +10 &i}\ O +12 &*\\\ O +6 &b\ N +10 &b\ O +9 &p`\ O +10 &2^\ O +9 &]\ O +9 &_\ O +10 & y_\ N +9 &";\\\ N +9 &#]\ N +10 &%]\ O +9 &'b\ O +10 &)B_\ O +9 &+`\ O +9 &,Z\ O +10 &.`\ N +9 &0J]\ O +10 &2 a\ N +9 &3a\ O +9 &5_\ O +10 &7S\\\ N +9 &9^\ N +9 &:[\ N +10 &<]\ N +9 &>[\\\ N +9 &@^\ O +10 &A]\ N +9 &Ca\ O +10 &E_e\ P +9 &Gr\ Q +9 &H\ S +10 &J\ T +9 &LZ\ T +9 &N\ T +10 &O\ T +9 &Q\ U +10 &S`\ U +9 &U#\ T +9 &V\ V +10 &X\ V +9 &Ze\ (| +10 &Zi\ 7 +8 ( +2 &Z%\ 0 +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&\\1 +61 "core" 1 + "manipulator"&$% +4 "core" % / 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' +2 "processing"% & +4 "core" &Z%\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ % 4 +2 "storage"(6% +4 "core" %a v s \ + "storage"(v. +3 "core" .( +2 "storage"(& +4 "core" & v t 6\ + "storage"("& +5 "manipulator"&& +3 "core" & v s 0\ +2 &q +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&,(s +2 "storage"(5'i +5 "core" ( + "manipulator"&8& +4 "core" &q ! W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &q +2 .tForearm.seek PC +2 "manipulator"&U' +100 "core" ' + .tHand.close + "manipulator"&// +63 "core" / +3 .tPC.seek :open +2 "processing"%7( +79 "core" ' + "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +49 "core" ' +293 ( + "storage"(W& +4 "core" & S\ +2 "manipulator"&)& +3 "core" &q ` +2 "manipulator"&*% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&J( +245 "core" ( + "manipulator"&H& +4 "core" &  w j +2 "storage"(R& +3 "core" & M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +87 "core" ' + .tHand.open +2 "manipulator"&G1 +62 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(:'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +53 "core" ' + #tLights, camera, ACTION! + "storage"([- +4 "core" -' +2 "storage"(4& +3 "core" & \ *\ ) g\ +2 "manipulator"&9& +4 "core" &  j +2 .tElbow.seek 2 +2 "manipulator"&@( +3 "core" ( + "manipulator"&P& +4 "core" & $ _ j +2 "storage"(<& +4 "core" & \ *\  h\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +61 "core" ' +2 "manipulator"&;& +4 "core" & % j + "storage"(p& +4 "core" & 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +24 "core" ' + "manipulator"&I% +5 "core" % !  + "storage"(_& +5 "core" &  7\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&M' +19 "core" ' +2 "manipulator"&b& +4 "core" & ! j +2 "storage"(s& +4 "core" & A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +16 "core" ' +2 "storage"(r% +4 "core" %m G\ +3 ."downElevator"SE.seek :down +3 "storage"(F'X +98 (X% +3 "core" %F [\ Xf +2 "manipulator"&^% +4 "core" %ќ 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (?& +4 "core" & \ +2 "collection"'n& +3 "core" &Vg f\ F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&f% +4 "core" %\  Z . +2 "storage"(C% +4 "core" %` |\ + "storage"(Q. +3 "core" .( +2 "storage"(j& +4 "core" & \ + "storage"(o& +4 "core" & 2\ + "manipulator"&& +4 "core" &  j +2 .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( + "manipulator"&& +4 "core" &  s j +2 "storage"(t& +3 "core" & /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +52 "manipulator"&u'ќ +96 "core" ' + "storage"(~& +4 "core" & @\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'i +284 "core" ' +3 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +2 "core" & ) i +2 "storage"(& +4 "core" & q\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&+' +36 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +39 "core" ' + "manipulator"&% +5 "core" %  ( + "storage"(S& +4 "core" & j j z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&& +5 "core" & h i + "storage"(N& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +38 "core" ' +2 "manipulator"&c& +4 "core" & 8 i +2 "manipulator"&\ % +4 "core" %я ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +147 "core" ( +2 "manipulator"& & +4 "core" &&  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && O =C +2 .tForearm.seek CC +2 "manipulator"&|'" +96 "core" ' +2 .tHand.close + "manipulator"&Z/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +420 "core" ( +2 "storage"(x& +4 "core" & 2\ + "storage"(& +4 "core" & \ + "manipulator"&y& +4 "core" && a =C + "manipulator"&A% +4 "core" % 3 F +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"&& +4 "core" & 7  +2 "storage"(h& +3 "core" & \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +109 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&q% +4 "core" %  l + "storage"(w& +4 "core" & \ +3 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&%' +21 "core" ' + "manipulator"&d& +5 "core" & z  + "storage"( & +4 "core" & Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +28 "core" ' + "storage"(m% +5 "core" %L \  ]\ +2 ."downElevator"SE.seek :down +3 "storage"(B'X +99 (% +3 "core" %zB \ Wc +2 "manipulator"&}% +4 "core" %ќ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & X\ +2 "manipulator"&0% +4 "core" %\  ~  +2 "storage"(!% +3 "core" %V S\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(O( +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" & ?\  +2 "manipulator"&$& +4 "core" & >  +2 .tElbow.seek 3 +2 "manipulator"& ( +11 "core" ( + "manipulator"&& +5 "core" &  X  + "storage"(6& +4 "core" &\  v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +92 "core" ' + "storage"(=& +5 "core" &\ \ $ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" & \  +2 "manipulator"&8& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&2( +4 "core" ( + "manipulator"&(& +4 "core" & _  +2 "storage"(/& +3 "core" & h\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"('X +6 "core" &   +2 "manipulator"&5% +4 "core" % Ϟ   +2 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&*& +4 "core" &+ S z _ Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &+ ) m Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'" +98 "core" ' +2 "manipulator"&R& +3 "core" &+ 3 Aa +3 "manipulator"&,% +4 "core" %(  +2 "collection"'G& +4 "core" & s\ +2 "collection"'3& +5 "core" & {\ +2 .tCC.seek :closed +2 "collection"'[(V +3 "core" & s\  +9 &.} e\ *y +9 &e f\ ? +10 &mx g\ O +9 &1\\ Y\ N +9 &\\ d\ N +10 &] \\\ N +9 &va S\ N +9 &9] P\ N +10 &_ Z\ N +9 &] [\ N +10 & ~b W\ N +9 &"A_ [\ N +9 &$^ \\\ M +10 &%` ]\ N +9 &'[ ]\ N +9 &)I[ \\\ N +10 &+ a ]\ N +9 &,` ]\ M +9 &.^ \\\ M +10 &0R_ [\ M +9 &2] \\\ N +10 &3b \\\ M +9 &5\\ \\\ M +9 &7Y` ]\ N +10 &9` X\ N +9 &:b \\\ N +9 &<` S\ N +10 &>b_ X\ M +9 &@#] P\ N +10 &Aa M\ N +9 &C_ M\ M +9 &Efh V\ O +10 &G%p H\ P +9 &H O\ R +9 &J R\ V +10 &LQ T\ Y +10 &N N\ X +9 &O L\ Y +9 &Q L\ Y +9 &ST K\ Z +10 &U F\ [ +9 &VeE J\ 2 +10 &Vr A\ F +5 ( + "collection"'3& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open + "manipulator"&41 +4 "core" &Vg G\ F +58 1 + "manipulator"&9% +4 "core" % (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%<& +4 "core" &\ + "manipulator"&Y% +4 "core" %\  m  +2 "storage"(;% +3 "core" %\\ p\ +2 "storage"(p. +3 "core" .( + "storage"(I& +4 "core" & S\  +2 "storage"(&& +3 "core" & \\\  +2 "manipulator"&_& +4 "core" &) & I ?T + "manipulator"&:% +4 "core" %\  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +159 "core" ( +2 "manipulator"&s& +4 "core" & @  +2 "storage"(r& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +87 "core" ' + "storage"(`& +4 "core" & [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +288 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" & R\  +2 "manipulator"&k& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&@( +4 "core" ( + "manipulator"&]& +4 "core" & y 8  +2 "storage"(>& +3 "core" & S\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&M'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +52 .tHand.close +2 "manipulator"&?/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(f'X +6 "core" & {  +2 "manipulator"&C% +4 "core" % Ϣ  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&L(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&j& +4 "core" &k $ > . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &k e . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&& +5 "core" &k o . + "manipulator"&t% +4 "core" % + j +2 "processing"% & +4 "core" &\ +2 "processing"%~& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Z +5 "core" &\ +7 & 8\ $d +9 &U\ 7 +10 &~\ L +9 &_\ N +9 &\\`\ N +10 &]\ O +9 &a\ N +9 &Z\ N +10 &db\ N +9 &&^\ N +10 &b\ O +9 &!_\ N +9 &#l]\ N +10 &%.[\ N +9 &&Z\ O +10 &(]\ O +9 &*t]\ N +9 &,6_\ N +10 &-_\ O +9 &/Z\ N +9 &1|]\ N +10 &3>[\ N +9 &5Z\ N +9 &6[\ N +10 &8]\ N +9 &:F[\ N +10 &<]\ O +9 &=]\ N +9 &?Z\ N +10 &AOZ\ N +9 &Ca\ N +9 &Dc\ O +10 &Fn\ P +9 &HK~\ R +10 &J\ T +9 &K\ T +9 &M\ T +10 &OM\ T +9 &Q\ T +10 &R\ U +9 &T\ U +9 &VS\ U +10 &X\ U +9 &Y{r\ 8 +9 &Z2\ F +10 &Z\ ( +2 ( + "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&V% +4 "core" % $ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +2 "processing"%#& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\   +2 "storage"(i% +4 "core" %T \ + "storage"(. +3 "core" .( +2 "storage"(S& +3 "core" & \  +2 "storage"(& +5 "manipulator"&N& +4 "core" & f\  + &k _ . +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(c'i + "manipulator"&\ (s +5 "core" ( + "manipulator"&u& +4 "core" &k h . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &k  . +2 .tForearm.seek PC +2 "manipulator"&K' +99 "core" ' + .tHand.close + "manipulator"&+/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"( - +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +296 ( +2 "storage"(& +4 "core" & ;\  + "manipulator"&& +4 "core" &k  . + "manipulator"&a% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&E( +251 "core" ( +2 "manipulator"&z& +4 "core" &  I d + "storage"(x& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' +2 .tHand.open + "manipulator"&y1 +58 "core" 1 +2 "storage"(A- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(h' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' +2 "storage"(e& +3 "core" & G \  +2 "manipulator"&& +4 "core" &\  Y +2 .tElbow.seek 3 +2 "manipulator"&q( +17 "core" ( +2 "manipulator"&w& +4 "core" & p + "storage"(d& +4 "core" &\ \  Z\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(m' +58 "core" ' + "manipulator"&{& +5 "core" &  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&%% +5 "core" %΍ D + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&0'Ϲ +19 "core" ' +2 "manipulator"&!& +4 "core" & +2 "storage"(& +4 "core" & f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +33 "core" ' +2 "storage"(% +4 "core" %m \ +2 ."downElevator"SE.seek :down +4 "storage"(B'X +99 (l% +2 "core" %{I B\ We +3 "manipulator"&\\% +4 "core" %? " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \  + "collection"'6& +4 "core" &Vf ^\ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\  <  +2 "storage"(.% +3 "core" %` 6\ +2 "storage"(1. +3 "core" .( + "storage"(& +4 "core" & M\  +2 "storage"("& +3 "core" & \  +2 "manipulator"&8& +4 "core" & k +2 .tElbow.seek 3 + "manipulator"&(( +7 "core" ( +2 "manipulator"&/& +4 "core" & f \ +2 "storage"( & +3 "core" & C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +107 "core" ' + "storage"(5& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +280 "core" ' +2 "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" &  \ +2 "storage"(U& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'X +41 "core" ' + "manipulator"&G% +4 "core" %΁ + +2 "storage"(2& +3 "core" & H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&'ϭ +12 "core" ' + "manipulator"&W& +5 "core" & \ + "storage"(& +4 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(9'G +39 "core" ' + "manipulator"&<& +5 "core" & U \ +2 "manipulator"&Y% +3 "core" %P w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +151 "core" ( + "manipulator"&I& +4 "core" & K 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" & 5 +2 .tForearm.seek CC + "manipulator"&3'" +96 "core" ' +51 .tHand.close +2 "manipulator"&_/ +56 "core" / +2 .tCC.seek :open +2 "collection"':( +417 "core" ( + "storage"(H& +4 "core" & k\  +2 "storage"(s& +4 "core" & e\  + "manipulator"&r& +4 "core" &  5 + "manipulator"&`% +4 "core" % 6 W  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P( +151 "core" ( +2 "manipulator"&X& +4 "core" &  ) \ +2 "storage"(^& +3 "core" &\  j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&k'} +96 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +60 "core" 1 +2 "manipulator"&?% +4 "core" % z + "storage"(n& +4 "core" & I\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 297 counts +2 "manipulator"&C'Ϧ +11 "core" ' +2 "manipulator"&b& +4 "core" & \ +3 "storage"(J& +4 "core" &\ %\  R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +22 "core" ' +2 "storage"(M% +4 "core" %N\ $\ $ X\  +2 ."downElevator"SE.seek :down +4 "storage"(j'X +98 (o% +3 "core" %fB 5\ Wb +2 "manipulator"&@% +4 "core" %K f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'t& +4 "core" & \\\ +2 "manipulator"& % +4 "core" %\ 7 6 +2 "storage"(f% +4 "core" %T !\ + "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & \ +2 "manipulator"&V& +4 "core" & K \ +2 .tElbow.seek 2 + "manipulator"&#( +26 "core" ( +2 "manipulator"&& +4 "core" & " ` ' + "storage"(i& +4 "core" & x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' + "storage"(S& +4 "core" & \ \  m\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & \ + "manipulator"&u& +4 "core" & % ' +2 .tElbow.seek 2 + "manipulator"&T( +20 "core" ( + "manipulator"&& +4 "core" & ;  +2 "storage"(+& +3 "core" & {\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +57 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&D& +2 "storage"(F'X +7 "core" &  +2 "manipulator"&c% +4 "core" % Z +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&a& +4 "core" &' @ >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &'   >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +95 "core" ' +3 "manipulator"&x& +4 "core" &(   >N + "manipulator"&\ % +4 "core" % ' \\  +2 "collection"'y& +4 "core" & l\ +2 "collection"'A& +5 "core" & p\ +2 .tCC.seek :closed +3 "collection"'|(V +4 "core" & q\ +6 & & r\ #` +9 &V p\ 7 +10 & b\ L +9 &\\ ]\ M +9 &dZ ^\ M +10 &&[ S\ M +9 &[ \\\ N +10 &Y W\ M +9 &l\\ ]\ M +9 &-[ X\ N +10 &Z \\\ M +9 &!\\ R\ N +9 &#s_ X\ N +10 &%5[ [\ N +9 &&Y ]\ N +10 &(\\ \\\ M +9 &*{Y [\ N +9 &,=Y \\\ N +10 &.] ^\ M +9 &/Z \\\ N +9 &1\\ \\\ N +10 &3E\\ ^\ N +9 &5Y ]\ M +9 &6Y [\ M +10 &8Z \\\ M +9 &:M` \\\ N +10 &<\\ ]\ N +9 &=[ \\\ N +9 &?_ \\\ M +10 &AV[ \\\ M +9 &C` V\ N +10 &Dc Z\ N +9 &Fj \\\ O +9 &HVv U\ P +10 &J [\ S +9 &K X\ V +9 &M N\ W +10 &OG N\ X +9 &Q W\ X +9 &R Q\ Y +10 &T V\ Z +9 &V)v S\ . +10 &V# T\ J +9 ( +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&e1 +3 "core" &Ve \\\ E +61 1 +2 "manipulator"&% +4 "core" %   T  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&d% +3 "core" %\    +2 "storage"({% +4 "core" %_ \ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & \ + "storage"(%& +4 "core" & \ +2 "manipulator"&& +3 "core" && m <? +2 "manipulator"&% +3 "core" %\  E  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&!( +160 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" & E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +93 "core" ' + "storage"(& +4 "core" & ]\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'i +283 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\\& +3 "core" & ?\ + "manipulator"& & +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&q( +4 "core" ( + "manipulator"&m& +4 "core" &   +2 "storage"(}& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&0' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"(='X +7 "core" &   +2 "manipulator"&.% +3 "core" % #  +2 .tForearm.seek :retract +2 "manipulator"&1'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&& +4 "core" &i ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8' +96 "core" ' + "manipulator"&/& +4 "core" &i  G +2 "manipulator"& % +3 "core" %  L  +3 "processing"%& +4 "core" &\ +2 "processing"%5& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(Z +4 "core" &\  +8 &1\ *x +10 &b\ > +9 &sz\ N +9 &5[\ N +10 &_\ N +9 &]\ N +10 &z[\ N +9 &<_\ N +9 &`\ N +10 &_\ N +9 & \\\ N +9 &"D]\ N +10 &$Y\ N +9 &%]\ N +10 &'`\ O +9 &)L^\ N +9 &+_\ N +10 &,]\ N +9 &.]\ N +9 &0T\\\ N +10 &2]\ O +9 &3\\\ N +10 &5]\ N +9 &7]Z\ N +9 &9]\ N +10 &:Y\ N +9 &<\\\ N +10 &>eY\ N +9 &@%^\ O +9 &A\\\ N +10 &C_\ N +9 &Ejb\ O +9 &G'q\ Q +10 &H\ S +9 &J\ S +9 &Lb\ T +10 &N%\ T +9 &O\ T +10 &Q\ T +9 &Si\ U +9 &U+\ U +10 &V\ U +9 &X\ U +9 &Za\ $p +10 &Z[\ - +9 ( + &Z\ * +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&$% +86 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +142 "core" ' +2 "processing"%*& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&U% +4 "core" %\  f  +2 "storage"(R% +3 "core" %T Z\ +2 "storage"(G. +3 "core" .( + "storage"(2& +4 "core" & B\ +2 "storage"(W& +4 "manipulator"&& +4 "core" & X\ + &i  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&<(s +2 "storage"(Y'i +4 "core" ( +2 "manipulator"&-& +4 "core" &i t + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%( +85 "core" ' + "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I'y +46 "core" ' +291 ( +2 "storage"(&& +4 "core" & \ +2 "manipulator"&4& +4 "core" &i ( +2 "manipulator"&'% +4 "core" % 6 +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +261 "core" ( + "manipulator"&[& +4 "core" & )  +2 "storage"(H& +4 "core" & (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +95 "core" ' +2 .tHand.open +2 "manipulator"&r1 +54 "core" 1 +2 "storage"(`- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(X'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(^' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(p& +4 "core" & \ #\  >\ +2 "manipulator"&>& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&?( +3 "core" ( +2 "manipulator"&n& +4 "core" & {  +2 "storage"(b& +3 "core" & H \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +57 "core" ' + "manipulator"&)& +5 "core" & ]  + "storage"(o& +4 "core" & q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(k'i +25 "core" ' + "manipulator"&t% +5 "core" % s  + "storage"(C& +4 "core" & R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"& ' +21 "core" ' + "manipulator"&f& +5 "core" & Q  + "storage"(Q& +4 "core" & G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +14 "core" ' +2 "storage"(g% +4 "core" %o X\ +3 ."downElevator"SE.seek :down +3 "storage"(j'X +98 (O% +3 "core" %F \ Wd +2 "manipulator"&% +4 "core" %ѧ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & 3\ + "collection"'i& +4 "core" &Vf X\ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&S% +4 "core" %\  6 +2 "storage"(]% +4 "core" %b \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(~& +4 "core" & 5\ +2 "manipulator"&u& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&+& +4 "core" & !  +2 "storage"(L& +4 "core" & 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +90 "core" ' +2 "storage"(c& +4 "core" & V\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" & ;  +2 "storage"(K& +3 "core" & _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +35 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(x- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\ 'U +28 "core" ' +2 "manipulator"&y% +4 "core" % N + "storage"(T& +4 "core" & h i \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts + "manipulator"&F' +14 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(:& +4 "core" & >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('D +41 "core" ' + "manipulator"&Z& +5 "core" &   + "manipulator"&d% +4 "core" %ѡ & { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +156 "core" ( +2 "manipulator"&& +4 "core" &(  6 S ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( n ?T +2 .tForearm.seek CC +2 "manipulator"&%'" +100 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(z& +4 "core" & @\ +2 "storage"(& +3 "core" & L\ +2 "manipulator"&& +4 "core" && & =F + "manipulator"&% +4 "core" % * +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&w( +158 "core" ( +2 "manipulator"&l& +4 "core" & A  + "storage"(\\& +4 "core" & #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +109 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&}1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  +2 "storage"(6& +3 "core" & .\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&.' +20 "core" ' +2 "manipulator"&!& +4 "core" & 4  +2 "storage"(E& +3 "core" & ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +25 "core" ' + "storage"(0% +5 "core" %F\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 ("% +3 "core" %F i\ Va + "manipulator"&q% +4 "core" %Ѩ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +50 "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" & r\ + "manipulator"&% +4 "core" %\   , +2 "storage"(=% +4 "core" %R\ \ \ + "storage"(1. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & T\  +2 "manipulator"&$& +3 "core" & p  +2 .tElbow.seek 3 +2 "manipulator"&5( +12 "core" ( + "manipulator"&*& +4 "core" &  f  +2 "storage"(U& +4 "core" & s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +90 "core" ' +2 "storage"(G& +4 "core" &\ $\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +278 "core" ' + "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & h\  + "manipulator"&-& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&(( +4 "core" ( + "manipulator"&8& +4 "core" & +  +2 "storage"(& +3 "core" & d\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& + "storage"(B'X +6 "core" & q  +2 "manipulator"&Y% +4 "core" % ϳ Z +2 .tForearm.seek :retract + "manipulator"&&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&4( +158 "core" ( + "manipulator"&'& +4 !"core_reader"o:I2C::Bus::Error: mesg"vMessage ignored because its CRC was invalid:\ 20 A6 A7 26 01 00 00 D2 F1 00 00 00 28 09 DC 09 F2 09 85 09 BC 3F 01:bt[ "5/home/esp/esp2/lib/i2c/gateway.rb:386:in `reset'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"5/home/esp/esp2/lib/i2c/gateway.rb:315:in `reset'"4/home/esp/esp2/lib/i2c/gateway.rb:312:in `loop'"5/home/esp/esp2/lib/i2c/gateway.rb:312:in `reset'":/home/esp/esp2/lib/i2c/gateway.rb:307:in `initialize'"*/home/esp/esp2/lib/i2c/gateway.rb:307 +4 "core" ' + &( ?Q + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 & & +3 "core" &( 6 ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['" +101 "core" ' +2 "manipulator"&H& +4 "core" &) $ | ?P +2 "manipulator"&<% +3 "core" % u V +2 "collection"'r& +4 "core" & t\ +2 "collection"'`& +5 "core" & w\ +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" & w\ +7 & - r\ #b +9 &V t\ 7 +10 & u\ L +9 &Y r\ M +9 &b^ p\ M +10 &$\\ q\ M +9 &^ q\ N +9 &\\ n\ M +10 &j_ q\ M +9 &,] c\ M +10 &Z _\ M +9 &!` V\ M +9 &#r` g\ M +10 &%4` S\ M +9 &&] Q\ M +9 &(X \\\ M +10 &*{\\ P\ M +9 &,<] U\ M +10 &-\\ M\ M +9 &/^ [\ M +9 &1\\ X\ M +10 &3D\\ T\ M +9 &5Z [\ M +9 &6\\ [\ M +10 &8[ ]\ M +9 &:L_ ]\ M +10 &<\\ ]\ M +9 &=[ #\ M +9 &?Z \\\ M +10 &AS\\ b\ N +9 &C^ V\ M +10 &Da \\\ N +9 &Fj ^\ O +9 &HR} \\\ Q +10 &J \\\ U +9 &K Z\ X +9 &M \\\ X +10 &OD [\ X +9 &Q \\\ X +10 &R \\\ Y +9 &T \\\ Z +9 &V$v Z\ / +9 &V$ Z\ N +9 ( +3 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&p1 +3 "core" &Vf \\\ G +49 1 +2 "manipulator"&>% +4 "core" % # T K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +5 "core" &\ + "manipulator"&_% +4 "core" %\  3 + "storage"()% +4 "core" %S m\ +2 "storage"(o. +3 "core" .( + "storage"(I& +4 "core" & f\  +2 "storage"(t& +3 "core" & i\  +2 "manipulator"&C& +4 "core" &( ?P + "manipulator"&X% +4 "core" %\ ! 8 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +156 "core" ( + "manipulator"&Q& +4 "core" &  l  +2 "storage"(g& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +95 "core" ' + "storage"(s& +5 "core" & L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'i +285 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ,\  +2 "manipulator"&J& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( + "manipulator"&M& +4 "core" & -  + "storage"(@& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(S'X +7 "core" & z  + "manipulator"&]% +4 "core" % ϯ C f +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +111 "core" ( +3 "manipulator"&k& +4 "core" &m 6 : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &m t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +101 "core" ' +2 "manipulator"&+& +4 "core" &m $ \ +2 "manipulator"&L% +4 "core" % _ + "processing"%9& +4 "core" &\ +2 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &\  +9 &1~\ *y +10 &c\ > +9 &ty\ O +9 &6\\\ N +10 &\\\ N +9 &]\ N +9 &|^\ N +10 &?]\ N +9 &_\ N +9 &]\ N +10 & ]\ N +9 &"F\\\ N +10 &$ Y\ N +9 &%]\ N +9 &'_\ N +10 &)O]\ N +9 &+]\ N +10 &,[\ N +9 &.[\ N +9 &0W_\ N +10 &2\\\ N +9 &3\\\ N +9 &5]\ N +10 &7]\\\ O +9 &9!\\\ N +10 &:Z\ O +9 &<Z\ N +9 &>fZ\ N +10 &@(Z\ N +9 &A\\\ O +9 &C_\ O +10 &El_\ O +9 &G*n\ P +10 &H\ T +9 &J\ T +9 &Le\ T +10 &N'\ T +9 &O\ T +9 &Q\ T +10 &Sj\ U +9 &U-\ U +10 &V\ U +9 &X\ V +9 &Z^\ $o +10 &Z[\ - +8 ( +3 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&P1 +3 "core" &Z\ ) +56 1 + "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%a& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&K% +4 "core" %\    +2 "storage"(x% +3 "core" %` m\ +2 "storage"(y. +3 "core" .( + "storage"(T& +4 "core" & \  +2 "storage"(& +4 "manipulator"&:& +4 "core" & \  + &m 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&Z(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(d'i +3 "core" ( + "manipulator"&D& +4 "core" &m y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m M +2 .tForearm.seek PC +2 "manipulator"&#' +98 "core" ' + .tHand.close +2 "manipulator"&N/ +61 "core" / +3 .tPC.seek :open + "processing"%F( +87 "core" ' + "storage"(\ - +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +289 ( +2 "storage"(& +4 "core" & *\  + "manipulator"&e& +4 "core" &m : + "manipulator"& % +4 "core" % E +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{( +240 "core" ( +2 "manipulator"&|& +4 "core" & $ H G + "storage"(z& +4 "core" & )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +51 "manipulator"&'9 +103 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\\' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"(A& +3 "core" & I \  +2 "manipulator"&}& +4 "core" &  E +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&6& +4 "core" &  m E +2 "storage"(!& +4 "core" & ? "\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(0' +56 "core" ' + "manipulator"&& +5 "core" & l E + "storage"("& +4 "core" & 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +25 "core" ' + "manipulator"&.% +5 "core" %y C + "storage"( & +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&'ϥ +13 "core" ' + "manipulator"&& +5 "core" & 6 E +2 "storage"(=& +4 "core" & r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +23 "core" ' + "storage"(h% +5 "core" %n o\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (7% +3 "core" %G \\\ Xf +2 "manipulator"&% +4 "core" %O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (*& +4 "core" & \  + "collection"'U& +4 "core" &Vd i\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&G% +4 "core" %\ 1  +2 "storage"(m% +4 "core" %` \  + "storage"(/. +3 "core" .( +2 "storage"(W& +4 "core" & \  + "storage"(& +4 "core" & \  +2 "manipulator"&-& +4 "core" &  E +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( + "manipulator"&& +4 "core" &  E +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +88 "core" ' +2 "storage"(Y& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'i +279 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +2 "core" & . E +2 "storage"( & +4 "core" & =\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&2'} +27 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(<'X +28 "core" ' + "manipulator"&(% +4 "core" %Ό  +2 "storage"(r& +4 "core" & K\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts + "manipulator"&B'ϸ +20 "core" ' +2 "manipulator"&&& +4 "core" & i E + "storage"(& +4 "core" & I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&p'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(>'G +38 "core" ' +2 "manipulator"&b& +4 "core" &  E +2 "manipulator"&_% +4 "core" %A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +151 "core" ( +2 "manipulator"&I& +4 "core" &* - @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &)  @] +2 .tForearm.seek CC +2 "manipulator"&`'" +93 "core" ' +2 .tHand.close + "manipulator"&C/ +55 "core" / +2 .tCC.seek :open +2 "collection"'X( +417 "core" ( + "storage"([& +4 "core" & 0\  +2 "storage"(Q& +4 "core" & \  + "manipulator"&g& +4 "core" &*  @[ + "manipulator"&s% +4 "core" % / M +2 .tForearm.seek :retract +2 "manipulator"&4'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&n( +159 "core" ( + "manipulator"&O& +4 "core" & I k +2 "storage"(& +4 "core" &\ \  -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&J'} +101 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +57 "core" 1 +2 "manipulator"& % +4 "core" % Ή $ * + "storage"(i& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&]'ϵ +20 "core" ' +2 "manipulator"&f& +4 "core" & k + "storage"(;& +4 "core" &\ \  X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +36 "core" ' + "storage"(% +5 "core" %M\ #\ $ #\  +2 ."downElevator"SE.seek :down +3 "storage"(k'X +99 (~% +3 "core" %s? u\ Va + "manipulator"&?% +4 "core" %:  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'L& +4 "core" & t\ + "manipulator"&9% +4 "core" %\  :  +2 "storage"(S% +3 "core" %S\ \  \ +3 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" & \ +2 "manipulator"&V& +4 "core" & I k +2 .tElbow.seek 2 + "manipulator"&a( +32 "core" ( +2 "manipulator"&K& +4 "core" & " , "x +2 "storage"(x& +3 "core" & *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +91 "core" ' +2 "storage"(T& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +2 "core" & B\ +2 "manipulator"&D& +3 "core" &  !u +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&u& +4 "core" &  n !u + "storage"(N& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\ ' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(j'X +8 "core" &  !u + "manipulator"&d% +4 "core" %  < U +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +51 .tElbow.seek CC +3 "manipulator"&e( +98 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +45 "core" ( +2 "manipulator"& & +4 "core" &% ! 3 <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &% ) L <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +98 "core" ' +2 "manipulator"&z& +5 "core" &% 2 <> + "manipulator"&Z% +4 "core" %& (  +2 "collection"'& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed + "collection"'(V +4 "core" & \  +9 &0 \ +z +9 &d \ > +10 &xu \ N +9 &:[ \ N +10 &\\ \ M +9 &Y z\ M +9 &] t\ M +10 &B\\ t\ N +9 &\\ s\ M +10 &] x\ M +9 & ] s\ M +9 &"JZ r\ N +10 &$ ] l\ M +9 &%_ e\ M +9 &'] d\ M +10 &)SZ g\ M +9 &+X _\ M +10 &,W d\ M +9 &.] S\ M +9 &0Z] W\ N +10 &2Z S\ N +9 &3\\ W\ M +9 &5\\ T\ M +10 &7c\\ [\ M +9 &9$\\ X\ N +9 &:] [\ N +10 &<^ S\ N +9 &>j] [\ N +10 &@-\\ ^\ M +9 &A] `\ M +9 &C] \\\ N +10 &Eqe ]\ N +9 &G/k W\ O +10 &Hr \\\ P +9 &J [\ S +9 &La \\\ V +10 &N \\\ W +9 &O ]\ X +10 &Q Z\ X +9 &S` [\ Y +9 &U" \\\ Y +10 &VkC [\ 0 +9 &Vp [\ G +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&%1 +3 "core" &Vf Z\ G +55 1 +2 "manipulator"&A% +4 "core" % & /   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +102 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%6& +5 "core" &\ + "manipulator"&!% +38 "core" %\  8 +2 "storage"(% +4 "core" %a B\  +2 "storage"(". +3 "core" .( + "storage"(.& +4 "core" & q\ +2 "storage"( & +3 "core" & g\ +2 "manipulator"&& +4 "core" &$ F ;2 +2 "manipulator"&% +3 "core" %\  : 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&=( +158 "core" ( + "manipulator"&l& +5 "core" &  S  + "storage"(h& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +86 "core" ' +2 "storage"(& +4 "core" & a\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +276 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & =\ +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&0& +4 "core" & $  +2 "storage"(q& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(G'X +8 "core" & T  + "manipulator"&m% +4 "core" %  h Q +2 .tForearm.seek :retract +2 "manipulator"&/'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W(s +170 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"& & +4 "core" &w & o + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &w 5 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-' +99 "core" ' +2 "manipulator"&& +4 "core" &w  u +2 "manipulator"&% +3 "core" %  +2 "processing"%1& +4 "core" &\ +2 "processing"%Y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &\  +10 &1~\ *z +9 &c\ > +10 &uy\ O +9 &8\\\ N +9 &[\ N +10 &\\\ O +9 &}\\\ N +9 &@]\ N +10 &]\ N +9 &\\\ N +10 & ]\ N +9 &"I[\ N +9 &$ Z\ N +10 &%\\\ N +9 &'`\ N +9 &)P\\\ N +10 &+[\ N +9 &,Y\ M +10 &.[\ N +9 &0XZ\ N +9 &2[\ N +11 &3Z\ N +10 &5Z\ N +8 &7_Z\ N +9 &9!Z\ N +9 &:Y\ N +10 &<Z\ N +9 &>gZ\ N +9 &@)[\ N +10 &AZ\ N +9 &C]\ N +9 &En`\ O +10 &G+n\ P +9 &H\ S +9 &J\ S +10 &Lf\ T +9 &N(\ T +10 &O\ T +9 &Q\ T +9 &Sm\ T +10 &U.\ U +9 &V\ U +9 &X\ U +10 &Z]\ $p +9 &ZU\ * +9 ( +3 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&w1 +4 "core" &Z\ ( +59 1 + "manipulator"&$% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' + "processing"%'& +4 "core" &Z~\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\   c  +2 "storage"(H% +4 "core" %T [\ + "storage"((. +3 "core" .( +2 "storage"(r& +3 "core" & N\ +2 "storage"(&& +3 "manipulator"&& +6 "core" & [\ + &w +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&b(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(_'i +3 "core" ( + "manipulator"&v& +4 "core" &w  Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &w Y +2 .tForearm.seek PC +2 "manipulator"&5' +102 "core" ' + .tHand.close + "manipulator"&2/ +57 "core" / +2 .tPC.seek :open +2 "processing"%B( +87 "core" ' + "storage"(<- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(I'y +37 "core" ' +297 ( +2 "storage"(t& +4 "core" & h\ + "manipulator"&p& +4 "core" &w F + "manipulator"&,% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&C'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)( +154 "Can""\ IF +108 "core" ( + "manipulator"&3& +5 "core" & F  + "storage"([& +4 "core" & 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +100 "core" ' +2 .tHand.open + "manipulator"&g1 +61 "core" 1 +2 "storage"(s- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(O'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +3 "core" -' +2 "storage"(o& +4 "core" & \  \ + "manipulator"&@& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&i& +4 "core" & M  +2 "storage"(f& +4 "core" & \ \  Q\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&4& +5 "core" & R  + "storage"(~& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?' +33 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'i +22 "core" ' +2 "manipulator"&]% +4 "core" % +2 "storage"(L& +3 "core" & O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&9' +20 "core" ' + "manipulator"&S& +5 "core" & <  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +52 "core" ' +3 "storage"(^% +5 "core" %r n\ +2 ."downElevator"SE.seek :down +3 "storage"(k'X +99 (% +3 "core" %H `\ Wc +2 "manipulator"&P% +4 "core" %Ѻ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" & \ +4 "collection"'x& +3 "core" &Ve \\\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&T% +4 "core" %\ \ 3 +2 "storage"(M% +4 "core" %S \ +2 "storage"(+. +3 "core" .( + "storage"(:& +4 "core" & G\ +2 "storage"(c& +3 "core" & ]\ +2 "manipulator"&D& +4 "core" & i  +2 .tElbow.seek 2 +2 "manipulator"&u( +3 "core" ( + "manipulator"&N& +4 "core" & $ B  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +88 "core" ' + "storage"(d& +4 "core" & 5\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'i +284 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & 4  +2 "storage"( & +4 "core" & W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\ ' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'V +30 "core" ' +2 "manipulator"&% +4 "core" % 0 + "storage"(& +4 "core" & ] ^\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&j' +12 "core" ' + "manipulator"&& +5 "core" & >  + "storage"(X& +4 "core" & u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&%'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'E +40 "core" ' + "manipulator"&6& +5 "core" & O  + "manipulator"&% +4 "core" %ќ . z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"&"& +4 "core" & $ Q 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & # 3 +2 .tForearm.seek CC +2 "manipulator"& '" +91 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'( +403 .tCC.hold +2 "collection"'|, +3 "core" ( v\ +10 , + !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:457:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"4/home/esp/esp2/utils/shuffle.rb:28:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" access 2 +2 "storage"(l% +3 "core" %E \ +2 .tSE.seek :down +2 "storage"(h'X +258 "core" ' + "manipulator"&% +4 "core" % / E +2 "manipulator"&e% +3 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' + .tElbow.seek :clear +2 "manipulator"&7(d +201 "core" ( +2 "manipulator"&% +4 "core" %\ \ 8  + "manipulator"&E& +4 "core" &d 5  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(0(K +1287 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "core" &K \  +9477 #t-> Hand.PC +2 !o:NoMethodError : mesgu:NameError::message+undefined method `PC' for Hand:Gripper: name:PC: args[:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +958 #-> Hand.CC +2 !o:NoMethodError : mesgu:NameError::message+undefined method `CC' for Hand:Gripper: name:CC: args[:bt["(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +15334 #-> Hand +5458 #-> PC.open +2 .PC.seek :open +2 "processing"%*( +3 "core" ( + "processing"%U& +4 "core" &t\ +503 #t-> Arm.PC +2 "manipulator"&m& +3 "core" &d  +2 "manipulator"&=% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&{(s +217 "core" ( + "manipulator"&\\& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' + "manipulator"&& +4 "core" &p  Y  +2 "manipulator"&% +4 "core" % O +450 #t-> PC.close +2 "manipulator"&& +3 "core" &p ;  +3 "manipulator"&% +4 "core" % G + "processing"%1& +4 "core" &\ +2 "processing"%G& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%/(Z +4 "core" &\ +7 & 1\ $c +9 &T\ 7 +10 &\ L +9 &_\ N +10 &Y`\ N +9 &_\ N +9 &_\ N +10 &]\ N +9 &b_\ N +9 &%]\ N +10 &_\ N +9 &!]\ N +10 &#j_\ N +9 &%,^\ N +9 &&]\ N +10 &(^\ N +9 &*r\\\ N +9 &,3]\ N +10 &-_\ N +9 &/]\ N +10 &1y]\ N +9 &3;]\ N +9 &4]\ N +10 &6^\ N +9 &8\\\ N +9 &:D]\ N +10 &<]\ N +9 &=]\ N +10 &?\\\ N +9 &AL\\\ N +9 &C_\ N +10 &Dc\ N +9 &Fg\ O +9 &HLs\ Q +10 &J \ R +9 &K\ S +10 &M\ T +9 &OL\ S +10 &Q \ T +9 &R\ T +9 &T\ T +9 &VP\ U +10 &X\ U +9 &Y|p\ 8 +10 &Z/\ G +9 &Z\ * +2 ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 + "processing"%F& +4 "core" &Ze\ * +3270 "Can" \ <9 +3411 #t-> PC.unloadPuck 2, :SH1 + "processing"%w& +4 "core" &ZL\ * + #tStoring SH1 puck in Processing Clamp to tube 2 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:457:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:70:in `retract'":/home/esp/esp2/utils/puckmoves.rb:241:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:431:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +866 #-> Arm.home +2 "manipulator"&$& +3 "core" &p (  +2 "manipulator"&'% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +38 "core" ' E G l b +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1117 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmig:erri: inPressiE : outPressiG :deltaPressil : voltagef12.471314678448699: @type2F: @tagi: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"2/home/esp/esp2/utils/misc.rb:65:in `withdraw'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +838 #-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&H'\ +27 "core" 'Ԃ E E / b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.hold + "manipulator"&(+ +10 "core" + + "manipulator"&r% +4 "core" % b = +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1120 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti :pwmig:erri: inPressiE : outPressiE :deltaPressi/ : voltagef12.471314678448699: @type2F: @tagiM: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"1/home/esp/esp2/utils/misc.rb:134:in `ready!'"(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1187 #-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4332 #-> Hand +431 #-> PC +2 "processing"%& +3 "core" &ZD\ * +378 #t-> HAnd.open +2 !o:NameError: mesg" uninitialized constant HAnd: name: HAnd:bt["(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +291 #-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):23:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +682 #-> PC.open +2 .PC.seek :open + "processing"%&( +434 "core" ( + "processing"%Y& +4 "core" &z\ +1711 #t-> Arm.CC + "manipulator"&v& +4 "core" &q  + "manipulator"&8% +4 "core" %m +2 .tForearm.seek :retract +2 "manipulator"&-'\ +84 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&2( +344 "core" ( + "manipulator"&<& +4 "core" &% z <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +2 "core" &% 9 <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'" +93 "core" ' +2 "manipulator"&& +4 "core" &%  % <: +2 "manipulator"&_% +3 "core" %+ \ +429 #t-> CC.close +41 "manipulator"&t& +13 "core" &% <: +2 "manipulator"&p% +4 "core" %+  \ +3 "collection"',& +3 "core" & \ +2 "collection"'5& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" & \ +7 &6 \ $d +10 &V \ 7 +9 & \ L +9 &] \ N +10 &ba \ N +9 &$_ P\ N +10 &a \ N +9 &_ \ N +9 &i_ \ N +10 &+` \ N +9 &b \ N +10 &!a \ O +9 &#q` \ N +9 &%3] \ \ N +10 &&[ \ N +9 &(Z \ N +9 &*y_ \ N +10 &,;_ \ N +9 &-] \ N +10 &/^ \ O +9 &1] \ N +9 &3CZ f\ N +10 &5`  \ N +9 &6] \ N +9 &8_ \ N +10 &:J` \ O +9 &< _ \ O +9 &=] \ N +10 &?` \ N +9 &AS` \ N +10 &Cb \ N +9 &Dc \ O +9 &Fk \ P +10 &HSw \ Q +9 &J \ S +9 &K ~\ V +10 &M \ X +9 &OG \ X +10 &Q \ X +9 &R \ Y +9 &T \ Z +10 &V)v \ . +9 &V \ D +9 ( +2 &VU \ B +2 "collection"'5& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + "collection"'[& +5 "core" &VW \ B +322 #t-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1442 #-> MainThread.resume + #Resuming after Forearm speedErr at CC + 1120 counts at 12:14:05 +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b'\ +38 "core" '! 8 8 b +2 .tForearm.hold +2 "manipulator"&g+ +9 "core" + + "manipulator"&s% +4 "core" %G '  +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1254 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti!:pwmig:erri: inPressi8 : outPressi8 :deltaPressi: voltagef12.476223858615612p: @type2F: @tagig: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"1/home/esp/esp2/utils/misc.rb:134:in `ready!'"(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +432 #-> CC.open +2 .CC.seek :open +2 "collection"'`( +416 "core" ( + "collection"'o& +4 "core" & \ +125 #t-> MainThread.resume +2 #Resuming after Forearm speedErr at CC + 1254 counts at 12:16:13 +2 .Forearm.seek :retract + "manipulator"&@'\ +87 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&i* +49 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear +2 "manipulator"&C(d +556 "core" ( + "manipulator"&f& +4 "core" &d # \\ n +2 "manipulator"&4% +3 "core" %\   Z  +1290 #t-> Arm.SC + "manipulator"&~& +4 "core" &d } n +2 !to:Axis::Error: mesg"Unknown Elbow position: SC:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2902 #-> SE.home.to :up +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :up +2 "storage"(I' +277 "core" ' +2 "storage"(]% +4 "core" %p +\ +526 #t-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(L'X +321 "core" ' +2 "storage"(O% +4 "core" %b P\ +4137 #t-> SC +2 "storage"(S& +4 "core" &K }\  +897 #t-> SC.2 + !o:NoMethodError : mesg"+undefined method `SC' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +538 #-> SC 2 + !o:NoMethodError : mesg"+undefined method `SC' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):36:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1262 #-> Hand.open + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):37:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 @1664295601.64EDT = =mMAIN_scheduler =tMAIN @EDT1664295603.55 #"core_reset"Sent BREAK + #t@22211 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +401 "Can"\ b + \ b + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1363 #-> ESP.ready! +3 #Powering core bus +535 .Gate.power :raw,:ON +2 "sampler") +24 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ d  + .tSS.configure :default +3 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&;1 +60 "core" 1 +1101 #t-> Arm.PC + "manipulator"&<& +3 "core" & . ! +2 "manipulator"&=% +4 "core" % \  j ~ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&>(s +68 "core" (y  +3 !to:Slide::Error\ : mesg"'Elbow speedErr between clear and 3:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniy: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi : voltagef12.417313696612666?: @type2F: @tagiC: @sourcei+: @error: speedErr:@axisName"\ Elbow:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1184 #-> Arm.home +2 "manipulator"&?& +3 "core" &z5 w +2 "manipulator"&@% +4 "core" %  ^ 3 +2 .tElbow.seek :home + "manipulator"&A( +34 "core" (y +2 !to:Slide::Error\ : mesg"'Elbow speedErr between clear and 3:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniy: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi : voltagef12.417313696612666?: @type2F: @tagiF: @sourcei+: @error: speedErr:@axisName"\ Elbow:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1968 #-> Arm.PC +2 "manipulator"&B& +3 "core" &{( +2 "manipulator"&C% +4 "core" % \  5 o +2 .tElbow.seek :PC + "manipulator"&D(s +237 "core" ( + "manipulator"&E& +4 "core" &w   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &w #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek PC +2 "manipulator"&G' +92 "core" ' + "manipulator"&H& +43 "core" &w #  +2 "manipulator"&I% +4 "core" % 7  +945 #t-> access 3 +2 "storage"(J% +3 "core" %^\ \  l\ +2 "manipulator"&K% +4 "core" %   +2 "manipulator"&L% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&M'\ +96 "core" ' + .tElbow.seek :clear +2 "manipulator"&N(d +201 "core" ( +2 "manipulator"&O% +4 "core" %\  &  + "manipulator"&P& +4 "core" &d\ d ] +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(Q([ +1277 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +2 "core" &[ ?\  +411 #t-> access 2 +3 "storage"(S% +3 "core" %^\ \  \ + "manipulator"&T% +4 "core" %\    +2 "manipulator"&U& +4 "core" &d\ K \\ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(V(K +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &K S\ +703 #t-> access 3 +2 "storage"(X% +3 "core" %^\ \  F\ +2 "manipulator"&Y% +4 "core" %\  q  +2 "manipulator"&Z& +3 "core" &d\  \\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"([([ +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &[ a\ +1537 #t-> access 2 +2 "storage"(]% +3 "core" %^\ \  !\ +2 "manipulator"&^% +4 "core" %\  2  +2 "manipulator"&_& +3 "core" &d\  \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(`(K +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &K %\ +43209 "Can"\ \ 63} +60002 \ 53 +60002 !\ 63 +60002 \ 64 +60002 \ 64y +60002 \ 64 +60002 \ 63} +60003 \ 63 +60002 (\ 63 +60002 \ 63 +60002 \ 63y +60002 \ 64y +60002  \ 63w +56675 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +5 #mEXIT @1664303981.83EDT @1664570143.10EDT = =tMAIN =mMAIN_scheduler @EDT1664570144.94 #"core_reset"Sent BREAK + #t@48793 receive with ifg=0x10, ie=0xFD + #@49438 receive with ifg=0x10, ie=0xFD + #@50240 receive with ifg=0x10, ie=0xFD + #@50883 receive with ifg=0x10, ie=0xFD + #@51530 receive with ifg=0x10, ie=0xFD #@52177 receive with ifg=0x10, ie=0xFD + #@52824 receive with ifg=0x10, ie=0xFD #@53151 receive with ifg=0x80, ie=0xFD + #@15035 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +364 "Can"S\ 96 + S\ 96 + #tPolling Can every 10:00 + #Cleanly exited at 14:39:41EDT27-Sep-22 +165 #-> Delay('1 day')-1.0 +763 #-> exit +4 #mEXIT @1664570160.95EDT @1666010265.84EDT = =mMAIN_scheduler =tMAIN @EDT1666010267.76 #"core_reset"Sent BREAK +2 #t@3851 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +294 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +405 "Can"F\ ^ + F\ ^ + #tPolling Can every 10:00 +2 #Cleanly exited at 16:36:00EDT30-Sep-22 +740 #-> ESP.ready! +3 #Powering core bus +552 .Gate.power :raw,:ON +2 "sampler") +34 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  + "processing"% +2 % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % a\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \   +2 .tSS.configure :default +2 "sampler")#.0X access 3 +2 "storage"(;% +3 "core" %a\ 3\ 1 A\ +2 "manipulator"&<% +4 "core" %\   + "manipulator"&=& +4 "core" & + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(>([ +1281 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &[ @\  @1666203621.49EDT = =tMAIN =mMAIN_scheduler @EDT1666203623.44 #"core_reset"Sent BREAK +2 #t@19803 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +309 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +417 "Can"\\\ g + \\\ g + #tPolling Can every 10:00 +498 #-> ESP.ready! +4 #Powering core bus +581 .Gate.power :raw,:ON +2 "sampler") +47 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %(\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %   + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %a\ \  \ +2 "manipulator"&<% +4 "core" %\   + "manipulator"&=& +4 "core" & m  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +964 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &K* *\  +841 #t-> require 'shuffle.rb' +1287 #-> 20.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +4 "core" &  \  + .tHand.open +2 "manipulator"&A1 +53 "core" 1 + "manipulator"&B% +4 "core" % \   q  +2 "storage"(C% +4 "core" %a\ \  9\ + "storage"(D. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E( +1285 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" & I\ +2 "manipulator"&G& +4 "core" &  i  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +34 "core" ( + "manipulator"&I& +4 "core" & & 8 ' +2 "storage"(J& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&K'ќ +90 "core" ' +2 "storage"(L& +4 "core" & \ \  ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +278 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +2 "core" & \ +2 "manipulator"&P& +4 "core" & ' +2 .tElbow.seek 2 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&R& +4 "core" & & Q ' +41 "storage"(S& +9 "core" & :\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"(W'X +7 "core" &  w ' +2 "manipulator"&X% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +150 "core" ( + "manipulator"&[& +5 "core" &# & P :1 + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &\\& +2 "core" &# o :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +99 "core" ' + "manipulator"&^& +4 "core" &# 5  :1 +2 "manipulator"&_% +4 "core" %, O +2 "collection"'`& +4 "core" &  ,\  +2 "collection"'a& +5 "core" &  %\  +3 .tCC.seek :closed +3 "collection"'b(V +3 "core" &  A\  +6 &  =\ @ +9 &"H  #\ 2 +9 &Rt  (\ F +10 &g  t\ O +9 &a  8\ N +10 &}b  5\ O +9 &?_  +\ O +9 &d  *\ O +10 &`  -\ N +9 &b  7\ N +9 &Gb  )\ O +10 &!\ b  /\ N +9 &"e  ,\ O +10 &$c  ,\ N +9 &&Q_  2\ N +9 &(`  +\ N +10 &)^  D\ N +9 &+]  E\ N +9 &-Y]  @\ N +10 &/a  \ N +9 &0b  \ O +9 &2]  7\ N +10 &4`_  8\ N +9 &6#b  ,\ N +10 &7_  )\ N +9 &9a  (\ N +9 &;gf  6\ O +10 &=*d  -\ N +9 &>_  6\ N +10 &@e  5\ N +9 &Bpc  4\ N +9 &D1i  2\ O +10 &Es  )\ P +9 &G~  7\ Q +9 &Ig  P\ T +10 &K  6\ Y +9 &L  5\ Y +9 &N  -\ X +10 &Pa  4\ Y +10 &R#  2\ Y +9 &S  u\ Z +9 &U  \ H +10 &V5  =\ *~ +9 &V_  9\ G +2 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&c1 +57 "core" 1 + "manipulator"&d% +5 "core" % , : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%f& +12 "core" &Z\  +2 "manipulator"&g% +4 "core" %\  j - + "storage"(h% +4 "core" %b W\ +2 "storage"(i. +3 "core" .( + "storage"(j& +4 "core" & \ +2 "storage"(k& +3 "core" & \ +2 "manipulator"&l& +4 "core" &"  9( + "manipulator"&m% +4 "core" %\   - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +159 "core" ( + "manipulator"&o& +4 "core" & ( v  +2 "storage"(p& +4 "core" & Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +90 "core" ' +2 "storage"(r& +4 "core" & o\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +282 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" & \ +2 "manipulator"&v& +4 "core" & L  + .tElbow.seek 2 +2 "manipulator"&w( +3 "core" ( + "manipulator"&x& +4 "core" &   +2 "storage"(y& +3 "core" & N\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&|& +5 "storage"(}'X +3 "core" &  +2 "manipulator"&~% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &u 1   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&& +4 "core" &u & {  +2 "manipulator"&% +4 "core" %  x  +3 "processing"%& +3 "core" &Z\  +2 "processing"%& +5 "core" &[\  +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &Z\  +7 &JY\ %h +10 &xW\\\ 9 +9 &Y\ M +10 &]Z\ N +9 &Qc\\\ N +9 &_a\ N +10 &bc\ O +9 &`h\ N +9 &Xci\ O +10 &`j\ O +9 &^i\ O +10 &!ch\ N +9 &#a\\g\ N +9 &%"]k\ O +10 &&`i\ N +9 &(\\f\ O +9 &*h`i\ O +10 &,*ag\ O +9 &-dg\ N +10 &/bo\ N +9 &1qbi\ N +9 &33\\m\ N +10 &4\\g\ O +9 &6`i\ O +9 &8x`l\ O +10 &:;ch\ N +9 &;cl\ N +10 &=ag\ N +9 &?ae\ N +9 &AD]l\ N +10 &C`g\ O +9 &Dgg\ O +9 &Fhd\ O +10 &HCre\ Q +9 &Jf\ R +10 &Ke\ T +9 &Mg\ T +10 &OBm\ T +9 &Qo\ T +9 &Rs\ U +9 &Tq\ T +10 &VIq\ T +9 &Xp\ U +9 &Y|ss\ = +10 &Z%\\r\ U +9 &Z'q\ 0 +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&\ 1 +52 "core" 1 +3 "manipulator"& % +4 "core" %  E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 "processing"% & +4 "core" &Z"n\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   ]  + "storage"(% +4 "core" %a \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & e\ +2 "storage"(& + "manipulator"&& +7 "core" & \ + &u w  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"('i +6 "core" ( + "manipulator"&& +4 "core" &u  \  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u "  +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%( +86 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"("'y +48 "core" ' +287 ( +2 "storage"(%& +4 "core" & R\ + "manipulator"&'& +4 "core" &u  Q  +2 "manipulator"&)% +3 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +262 "core" ( +2 "manipulator"&& +4 "core" & & K  +2 "storage"(#& +3 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +94 "core" ' +2 .tHand.open + "manipulator"&-1 +60 "core" 1 +2 "storage"(.- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(/'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(2& +4 "core" & # " (\ + "manipulator"&3& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&4( +3 "core" ( + "manipulator"&5& +4 "core" &  _  +2 "storage"(6& +3 "core" & $ \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(8' +59 "core" ' + "manipulator"&9& +4 "core" &  +2 "storage"(:& +4 "core" & O\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&;' +33 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +27 "core" ' + "manipulator"&!% +5 "core" % + "storage"(?& +4 "core" & Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&@' +14 "core" ' +3 "manipulator"&A& +6 "core" & r  + "storage"(B& +4 "core" & =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&C'ќ +24 "core" ' +2 "storage"(D% +5 "core" %q 9\ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (F% +2 "core" %=G f\ Wd +2 "manipulator"&G% +4 "core" %ѳ T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" & Z\ +2 "collection"'L& +4 "core" &V]  \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\  4  +2 "storage"(&% +4 "core" %R \ + "storage"(N. +4 "core" .( + "storage"(O& +4 "core" & !\ +2 "storage"(P& +3 "core" & \ +2 "manipulator"& & +4 "core" & X  + .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&S& +4 "core" & & w  + "storage"(U& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +92 "core" ' +3 "storage"(X& +4 "core" & O\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +283 "core" ' + "storage"(K- +4 "core" -' +44 .tSE.configure :default +12 "storage"(#QK-0-\ b +2 "manipulator"&[& +3 "core" & s  +2 "storage"(\\& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'Q +31 "core" ' + "manipulator"&`% +5 "core" % + "storage"(Q& +4 "core" & { y \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts + "manipulator"&W' +20 "core" ' + "manipulator"&Y& +5 "core" & _  + "storage"(*& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(d'@ +45 "core" ' + "manipulator"&f& +5 "core" &  + "manipulator"&g% +4 "core" %ї +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&a( +161 "core" ( + "manipulator"&i& +4 "core" &- ( y Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &- \\ Co +2 .tForearm.seek CC +2 "manipulator"&k'" +94 "core" ' +2 .tHand.close + "manipulator"&l/ +61 "core" / +2 .tCC.seek :open +2 "collection"'m( +416 "core" ( + "storage"(]& +4 "core" & 3\ +2 "storage"(o& +4 "core" & \ +2 "manipulator"&p& +3 "core" & * Y @W +2 "manipulator"&r% +4 "core" % : +2 .tForearm.seek :retract + "manipulator"&Z'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +159 "core" ( + "manipulator"&t& +4 "core" &  n  +2 "storage"(u& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&v' +106 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&y1 +54 "core" 1 +2 "manipulator"&{% +5 "core" % ' " + "storage"(|& +4 "core" & L\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&~' +12 "core" ' +2 "manipulator"&n& +4 "core" & ,  + "storage"(q& +4 "core" & \ \  Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +23 "core" ' +2 "storage"(z% +4 "core" %?\ \ ' B\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %G )\ Wc +2 "manipulator"&w% +4 "core" %Ѻ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  (\ + "manipulator"&% +4 "core" %\ \ D  +2 "storage"(}% +3 "core" %T\ %\ / \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" & }\ +2 "manipulator"& & +4 "core" & E  +2 .tElbow.seek 3 + "manipulator"& ( +12 "core" ( +2 "manipulator"&& +4 "core" & c  +2 "storage"(& +3 "core" &\ '\ ' v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' + "storage"(& +5 "core" &\ &\ % U\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \ \ +2 "manipulator"&& +4 "core" & |  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & \\  +2 "storage"(& +3 "core" &\ \  \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( 'X +7 "core" & $  +2 "manipulator"&% +4 "core" % ϭ Y +2 .tForearm.seek :retract + "manipulator"&%'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +157 "core" ( +2 "manipulator"&)& +5 "core" && & [ =G ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&& +6 "core" && e =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 "manipulator"&#& +4 "core" && 4 d =G +2 "manipulator"&% +3 "core" %! - $ +2 "collection"'-& +4 "core" &  8\ +2 "collection"'.& +6 "core" &  7\ +2 .tCC.seek :closed +4 "collection"'1(V +3 "core" &  3\ +5 &  <\ 6 +10 &:H  @\ 1 +9 &cq  )\ E +9 &i  1\ N +10 &_  3\ N +9 &_  )\ N +9 &L`  -\ N +10 &b  4\ N +9 &_  )\ M +9 &_  4\ M +10 &Ua  &\ N +9 &!c  -\ N +10 &"b  M\ M +9 &$b  2\ N +9 &&]]  2\ N +10 &(b  /\ N +9 &)`  0\ N +9 &+c  &\ N +10 &-ea  C\ N +9 &/(]  F\ M +10 &0a  \ N +9 &2_  \ M +9 &4n_  \ M +10 &6/]  \ N +9 &7]  2\ M +9 &9_  )\ M +10 &;va  &\ M +9 &=8`  .\ M +10 &>_  D\ M +9 &@e  e\ N +9 &B}b  s\ N +10 &D?f  9\ N +9 &Ej  (\ O +9 &Gy  +\ Q +10 &Iv  +\ S +9 &K+  *\ W +10 &L  D\ X +9 &N  ,\ Y +9 &Pm  )\ Y +10 &R/  *\ Y +9 &S  0\ Z +9 &U  *\ F +10 &V4  +\ (x +9 &V_  )\ F +3 ( + "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&21 +54 "core" 1 +2 "manipulator"&3% +4 "core" % ! 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%6& +5 "core" &c\ + "manipulator"&(% +4 "core" %\  |  +2 "storage"(9% +3 "core" %` \ +2 "storage"(:. +3 "core" .( + "storage"(!& +4 "core" & J\ + "storage"(?& +4 "core" & &\ +2 "manipulator"&"& +3 "core" &%  <: +2 "manipulator"&A% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +165 "core" ( +2 "manipulator"&/& +4 "core" &  d + "storage"(D& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"(,& +4 "core" & c\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +292 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +3 "core" & 4\ +2 "manipulator"&7& +3 "core" & + +2 .tElbow.seek 3 +2 "manipulator"&4( +3 "core" ( + "manipulator"&8& +4 "core" & > + "storage"(;& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&@'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"($'X +7 "core" & +2 "manipulator"&&% +4 "core" % Ϥ G 6 + .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&N(s +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +6 "manipulator"&O& +4 "core" &x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &x  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +95 "core" ' +2 "manipulator"&S& +4 "core" &y $  +2 "manipulator"&U% +4 "core" %   +2 "processing"%C& +4 "core" &`\ +2 "processing"%X& +5 "core" &d\ +2 .tPC.seek :closed + "processing"%>(Z +5 "core" &f\  +9 &1d\ *y +9 &bf\ > +10 &p}g\ O +9 &2`i\ N +9 &]f\ N +10 &bk\ N +9 &xbo\ N +9 &:`i\ N +10 &ch\ O +9 &_k\ N +9 & _f\ N +10 &"B]m\ N +9 &$[l\ N +10 &%\\l\ N +9 &'af\ N +9 &)Jal\ N +10 &+ `j\ N +9 &,_i\ O +10 &._m\ N +9 &0R\\f\ N +9 &2_k\ N +10 &3]o\ O +9 &5_n\ N +9 &7Z\\o\ N +10 &9`j\ N +9 &:^k\ N +9 &<\\o\ N +10 &>a]o\ O +9 &@$`o\ N +10 &A\\j\ N +9 &Cco\ O +9 &Ehgg\ O +10 &G'ne\ P +9 &He\ R +9 &Jl\ S +10 &Lah\ T +9 &N%k\ S +10 &Oi\ T +9 &Qn\ T +9 &Sih\ T +10 &U*m\ T +9 &Vk\ T +9 &Xl\ U +10 &Zbf\ %r +9 &Zah\ 3 +9 ( +3 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&<1 +3 "core" &Z%e\ . +50 1 +2 "manipulator"&I% +4 "core" % ( e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 "processing"%[& +4 "core" &Z%g\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\\% +4 "core" %\  C  + "storage"(^% +4 "core" %\\ \ +2 "storage"(`. +3 "core" .( +55 "storage"(Q& +4 "core" & n\ + "storage"(Y& +2 "manipulator"&*& +7 "core" & G\ + &y t  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&f(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +3 "core" ( + "manipulator"&V& +4 "core" &y   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &y   +2 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' +2 .tHand.close + "manipulator"&M/ +59 "core" / +3 .tPC.seek :open + "processing"%W( +94 "core" ' + "storage"(_- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(i'y +47 "core" ' +283 ( + "storage"(j& +5 "core" & o\ + "manipulator"&c& +4 "core" &y   + "manipulator"&T% +4 "core" %  & +2 .tForearm.seek :retract + "manipulator"&l'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +265 "core" ( +2 "manipulator"&b& +4 "core" & ) ]  +2 "storage"(]& +3 "core" & E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +87 "core" ' + .tHand.open + "manipulator"&p1 +63 "core" 1 +2 "storage"(r- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(t'E +30 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(u' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' + "storage"(a& +4 "core" & D A G\ +2 "manipulator"&y& +4 "core" & D  +2 .tElbow.seek 3 + "manipulator"&{( +4 "core" ( + "manipulator"&|& +4 "core" &   +2 "storage"(n& +4 "core" & I I \ +2 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(z' +59 "core" ' + "manipulator"&Z& +4 "core" &   +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&w'} +24 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +27 "core" ' + "manipulator"&~% +5 "core" %Ό  j + "storage"(& +5 "core" & G\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +20 "core" ' + "manipulator"&}& +5 "core" & f  + "storage"(& +5 "core" & H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +28 "core" ' +2 "storage"(s% +4 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (E% +2 "core" %G <\ Wd +2 "manipulator"&\ % +4 "core" %& K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \ +2 "collection"'& +4 "core" &V\\  \ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  `  +2 "storage"(x% +3 "core" %T \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & % O  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +96 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +291 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & 2  +2 "storage"(& +3 "core" & >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"('Y +41 "core" ' + "manipulator"&-% +5 "core" %· \\ + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts + "manipulator"& 'ϳ +12 "core" ' +2 "manipulator"&%& +4 "core" & @  +2 "storage"(m& +4 "core" & a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(3'H +39 "core" ' + "manipulator"&6& +4 "core" & `  +2 "manipulator"&(% +4 "core" %U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&:( +157 "core" ( +3 "manipulator"&!& +4 "core" &(  V ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +2 "core" &( ?S +2 .tForearm.seek CC +2 "manipulator"&"'" +96 "core" ' + .tHand.close + "manipulator"&./ +54 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(/& +4 "core" & \ + "manipulator"&D& +4 "core" && 5 =E +2 "manipulator"&,% +3 "core" % 6  +2 .tForearm.seek :retract + "manipulator"&''\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5( +165 "core" ( +2 "manipulator"&F& +4 "core" & & t +2 "storage"(G& +3 "core" &\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&7'} +105 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +59 "core" 1 +2 "manipulator"&J% +4 "core" % ΋ $ g J +3 "storage"(L& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&&'Ϸ +13 "core" ' + "manipulator"&B& +4 "core" & / t +2 "storage"(& +4 "core" &\ '\ ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +23 "core" ' + "storage"(@% +5 "core" %R\ $\ $ &\ +2 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (P% +3 "core" %? ;\ Va + "manipulator"&4% +4 "core" %a s | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'U& +4 "core" &  %\ +2 "manipulator"&C% +4 "core" %\  #  +2 "storage"($% +4 "core" %b\ '\ & \ + "storage"(=. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +2 "core" & E\ +2 "manipulator"&I& +4 "core" & > t +2 .tElbow.seek 2 + "manipulator"&[( +33 "core" ( + "manipulator"&\\& +4 "core" & ' !q +2 "storage"(^& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +90 "core" ' +2 "storage"(X& +4 "core" & \ $\ & -\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +283 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" & \ +2 "manipulator"&V& +4 "core" & H !p + .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( + "manipulator"& & +4 "core" & & > !p +2 "storage"(M& +3 "core" & k\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(>'X +8 "core" & h !p + "manipulator"&g% +4 "core" %  U H +2 .tForearm.seek :retract + "manipulator"&j'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&c( +154 "core" ( +3 "manipulator"&T& +4 "core" ' + &% ' j <= + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &H& +2 "core" &% <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'" +101 "core" ' +2 "manipulator"&]& +4 "core" &% /  <= +2 "manipulator"&f% +4 "core" %  +2 "collection"'p& +3 "core" &  i\ +58 "collection"'r& +5 "core" &  .\ +2 .tCC.seek :closed + "collection"'k(V +5 "core" &  8\ +7 & -  9\ $c +9 &V  :\ 8 +10 &  7\ L +9 &\\  =\ N +9 &h`  @\ N +10 &*`  B\ N +9 &c  =\ N +10 &`  ?\ N +9 &p\\  ;\ N +9 &2^  :\ N +10 &]  8\ M +9 &!a  8\ N +9 &#xb  5\ N +10 &%:]  8\ N +9 &&\\  ,\ M +9 &(]  8\ M +10 &*`  ;\ N +9 &,Ca  >\ M +10 &.\\  9\ N +9 &/[  5\ M +9 &1`  8\ N +10 &3I_  7\ N +9 &5 [  -\ M +9 &6]  6\ M +10 &8_  2\ M +9 &:Rc  ,\ N +10 &<b  +\ N +9 &=a  +\ N +9 &?`  +\ N +10 &A[Z  $\ M +9 &C_  +\ M +9 &De  ,\ N +10 &Fp  '\ O +9 &HX  +\ Q +10 &J  +\ U +9 &K  5\ X +9 &M  +\ W +10 &OK  *\ X +9 &Q  (\ X +9 &R  2\ Y +10 &T  ,\ Y +9 &V*u  -\ . +10 &V%  2\ P +8 ( +3 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&a1 +4 "core" &V`  5\ H +54 1 +2 "manipulator"&y% +4 "core" %  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%n& +4 "core" &c\ + "manipulator"&l% +4 "core" %\  7  +2 "storage"(Z% +3 "core" %T \ +2 "storage"(. +4 "core" .( + "storage"(~& +4 "core" & M\ +2 "storage"(i& +4 "core" & )\ + "manipulator"&& +4 "core" &#  * :0 + "manipulator"&}% +4 "core" %\  @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t( +158 "core" ( +2 "manipulator"&& +4 "core" & T  + "storage"(s& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&h'ќ +97 "core" ' +2 "storage"(o& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +286 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" & *\ +2 "manipulator"&q& +4 "core" & m  +2 .tElbow.seek 2 + "manipulator"&{( +3 "core" ( +2 "manipulator"&z& +3 "core" & 8  +2 "storage"(w& +4 "core" & q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & ,  +2 "manipulator"&x% +4 "core" % x + .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&& +4 "core" &t & w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &t ^  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &t % =  +2 "manipulator"&% +4 "core" %  * +2 "processing"%d& +4 "core" &h\ +2 "processing"%& +6 "core" &g\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &h\ +6 &i\ 3 +9 &>Gj\ 1 +10 &fpj\ E +9 &ji\ N +10 &_f\ N +9 &\\g\ N +9 &O`n\ N +10 &_i\ N +9 &^h\ N +9 &Zl\ N +10 &U_j\ O +9 &!]h\ N +10 &"]n\ N +9 &$`l\ N +9 &&^`i\ N +10 &( _k\ N +9 &)`n\ O +9 &+]k\ N +10 &-fZg\ N +9 &/(Ze\ N +10 &0\\e\ O +9 &2^e\ N +9 &4o[k\ N +10 &60]e\ N +9 &7Zh\ N +9 &9_f\ O +10 &;w^e\ N +9 &=8_g\ N +10 &>]h\ O +9 &@^i\ N +9 &B^i\ N +10 &D@cm\ N +9 &Fcg\ O +9 &Gno\ P +10 &I|{j\ R +10 &K8o\ T +9 &Lo\ S +9 &Nh\ S +10 &P~m\ T +9 &R?j\ T +9 &Sp\ U +9 &Ui\ U +10 &Wn\ U +9 &YEj\ B +10 &ZZ;mn\ &n +9 &Z&n\ ' +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&e1 +3 "core" &Zj\ ' +57 1 +2 "manipulator"& % +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%)& +4 "core" &Zp\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\    + "storage"(#% +4 "core" %c J\ + "storage"(-. +3 "core" .( +2 "storage"(& +4 "core" & [\ +2 "storage"(%& +2 "manipulator"&m& +7 "core" & W\ + &t    +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&6(s + "storage"(('i +5 "core" ( +2 "manipulator"& & +3 "core" &t  M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &t    +2 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open + "processing"% ( +88 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +35 "core" ' +298 ( + "storage"(?& +4 "core" & A\ +2 "manipulator"&2& +3 "core" &t  +2 "manipulator"&% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&9( +264 "core" ( +2 "manipulator"&1& +4 "core" & $ W  +2 "storage"(& +3 "core" & 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +105 "core" ' +3 .tHand.open + "manipulator"&D1 +64 "core" 1 +2 "storage"(,- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(F'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(:& +4 "core" & E G .\ + "manipulator"&;& +4 "core" & ^  +2 .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( + "manipulator"&L& +4 "core" & n  +2 "storage"(B& +3 "core" & E H\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(@' +56 "core" ' + "manipulator"&'& +5 "core" & >  + "storage"(P& +4 "core" & T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4' +35 "core" ' +2 .tElbow.hold + "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +23 "core" ' +2 "manipulator"&U% +4 "core" % +2 "storage"(&& +4 "core" & b\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts + "manipulator"&C' +15 "core" ' + "manipulator"&$& +5 "core" &  + "storage"(=& +4 "core" & Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +27 "core" ' + "storage"(0% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(O'X +99 (+% +3 "core" %M t\ Xf +2 "manipulator"&<% +4 "core" %щ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\\& +4 "core" & \ +2 "collection"'^& +4 "core" &V`  )\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&X% +4 "core" %\ ! 8 + "storage"(8% +4 "core" %` D\ +2 "storage"(S. +3 "core" .( + "storage"(*& +4 "core" & ^\ +2 "storage"(Y& +3 "core" & u\ +2 "manipulator"&V& +4 "core" & y  +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&M& +4 "core" &   + "storage"(N& +4 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +95 "core" ' + "storage"(g& +4 "core" & G\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +283 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & e  + "storage"(H& +4 "core" & H\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +33 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'Q +30 "core" ' +2 "manipulator"&p% +4 "core" % + "storage"(R& +4 "core" & 4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&>' +20 "core" ' + "manipulator"&j& +4 "core" & % _  +2 "storage"(A& +4 "core" & J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&a'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'@ +40 "core" ' + "manipulator"&n& +51 "core" & )  +12 "manipulator"&l% +4 "core" %u B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +162 "core" ( +2 "manipulator"&~& +4 "core" &' 5  >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &'  >N +2 .tForearm.seek CC +2 "manipulator"&i'" +96 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / + .tCC.seek :open +2 "collection"'}( +416 "core" ( +2 "storage"(b& +4 "core" & ?\ + "storage"(& +4 "core" & \ +2 "manipulator"&s& +4 "core" &% Q << + "manipulator"&o% +4 "core" % - 0 0 +2 .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +162 "core" ( + "manipulator"&E& +5 "core" &  o  + "storage"(\ & +4 "core" & )\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q' +103 "core" ' + .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  , +3 "storage"(& +3 "core" & Y\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&x' +20 "core" ' +2 "manipulator"&t& +4 "core" & )  +2 "storage"(h& +3 "core" & \ \  1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +24 "core" ' +2 "storage"(% +4 "core" %E\ '\ \ B\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %C &\ Va +2 "manipulator"&{% +3 "core" %Ѻ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  1\ +2 "manipulator"&d% +4 "core" %\  R  + "storage"(% +4 "core" %T\ '\ / \ +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(W( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" & .\  + "manipulator"& & +4 "core" & 8  +2 .tElbow.seek 3 + "manipulator"&)( +16 "core" ( + "manipulator"&& +4 "core" & Z +2 "storage"(#& +4 "core" &\ '\ & n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +92 "core" ' +2 "storage"(& +4 "core" &\ 6\ H m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +284 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ z\  + "manipulator"& & +4 "core" & w Z +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  Z + "storage"(& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & ~ Z +2 "manipulator"&(% +4 "core" % Ϥ  4 +2 .tForearm.seek :retract + "manipulator"&?'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" &% 1 / <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &%  - <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&1'" +101 "core" ' +2 "manipulator"&& +4 "core" &% 4 W <? + "manipulator"&6% +4 "core" %+ u +2 "collection"'D& +4 "core" &  *\ +2 "collection"',& +5 "core" &  >\ +2 .tCC.seek :closed +2 "collection"'"(V +5 "core" &  ,\ +6 & -  ;\ #b +9 &W  \ 8 +10 &  E\ L +9 &Z  (\ N +10 &i]  8\ N +9 &,Z  8\ M +9 &_  @\ N +10 &_  8\ M +9 &r]  9\ M +9 &2`  8\ N +10 &\\  6\ M +9 &!_  7\ M +10 &#y^  8\ N +9 &%;`  7\ N +9 &&[  9\ M +10 &([  8\ M +9 &*`  5\ M +9 &,D]  7\ M +10 &.`  9\ N +9 &/`  .\ N +9 &1b  6\ N +10 &3KZ  8\ N +9 &5[  9\ M +10 &6\\  8\ M +9 &8_  R\ M +9 &:S\\  9\ N +10 &<]  7\ N +9 &=\\  1\ M +9 &?]  )\ M +10 &A]\\  /\ M +9 &C`  *\ M +10 &Db  *\ N +9 &Fk  *\ O +9 &HY~  )\ Q +10 &J  *\ U +9 &K  *\ X +9 &M  ,\ X +10 &OM  )\ X +9 &Q  *\ X +10 &R  )\ Y +9 &T  ,\ Y +9 &V-v  +\ . +10 &V#  )\ N +9 ( + &Vf  5\ G +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&:1 +52 "core" 1 +2 "manipulator"&;% +4 "core" % + K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%B& +4 "core" &h\ + "manipulator"&.% +4 "core" %\  |  +2 "storage"('% +3 "core" %T \ +2 "storage"(P. +3 "core" .( + "storage"(!& +4 "core" & k\  +2 "storage"(U& +3 "core" & !\  +2 "manipulator"&&& +4 "core" &%  <; +2 "manipulator"&F% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +164 "core" ( + "manipulator"&=& +4 "core" & $ ` m +2 "storage"(0& +3 "core" & ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +96 "core" ' +2 "storage"(/& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +285 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" & J\  +2 "manipulator"&& +4 "core" & V m +2 .tElbow.seek 3 + "manipulator"&J( +4 "core" ( + "manipulator"&@& +4 "core" &  m +2 "storage"(4& +4 "core" & i\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&^& + "storage"(X'X +7 "core" & r m +2 "manipulator"&8% +3 "core" % Ϥ z +2 .tForearm.seek :retract +2 "manipulator"&7'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&S(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&*& +5 "core" &v + X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &v n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&V' +99 "core" ' +2 "manipulator"&M& +4 "core" &v % +2 "manipulator"&N% +3 "core" % +2 "processing"%3& +4 "core" &c\ +2 "processing"%g& +5 "core" &b\ +2 .tPC.seek :closed + "processing"%O(Z +4 "core" &k\  +9 &1h\ *z +9 &dh\ ? +9 &z}j\ O +10 &>\\j\ N +9 &_k\ N +10 &_k\ N +9 &[j\ N +9 &E]i\ N +10 &af\ N +9 &_f\ N +9 & `h\ N +10 &"M_k\ N +9 &$Zh\ N +9 &%_g\ N +10 &'_f\ N +9 &)V^e\ N +10 &+_g\ N +9 &,]j\ N +9 &._i\ N +10 &0]_h\ N +9 &2^d\ N +9 &3]k\ N +10 &5^h\ N +9 &7e]h\ N +10 &9(]g\ N +9 &:]l\ N +9 &<^f\ N +10 &>o]j\ N +9 &@1_h\ N +9 &A]m\ N +10 &C`p\ N +9 &Esej\ O +10 &G2ri\ P +9 &Hg\ R +9 &Jf\ S +10 &Lmi\ T +9 &N/f\ T +9 &Oi\ T +10 &Qi\ T +9 &Ssf\ T +10 &U5f\ T +9 &Vf\ U +9 &Xh\ U +10 &Z"Yi\ &t +9 &Zcf\ 1 +9 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&51 +4 "core" &Zh\ + +57 1 + "manipulator"&I% +4 "core" % % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +91 "core" ' +2 "processing"%T& +4 "core" &Z i\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&H% +4 "core" %\  `  +2 "storage"(]% +3 "core" %T !\ +2 "storage"(p. +3 "core" .( + "storage"(R& +4 "core" & !\  +2 "storage"(j& +2 "manipulator"&A& +6 "core" & V\  + &v +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&n(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'i +3 "core" ( + "manipulator"&K& +4 "core" &v  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &v k +2 .tForearm.seek PC +2 "manipulator"&[' +98 "core" ' + .tHand.close + "manipulator"&Q/ +62 "core" / +49 .tPC.seek :open +13 "processing"%>( +25 "core" ' +2 "storage"(f- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'y +44 "core" ' +351 ( +2 "storage"(r& +4 "core" & =\  + "manipulator"&a& +4 "core" &v ( +2 "manipulator"&_% +3 "core" % E +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +272 "core" ( +2 "manipulator"&k& +4 "core" &  + "storage"(b& +4 "core" & 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + .tHand.open +2 "manipulator"&s1 +53 "core" 1 +2 "storage"(o- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(E'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +46 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(& +4 "core" & #  ;\  +2 "manipulator"&w& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(t& +4 "core" & , , O\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' + "manipulator"&c& +5 "core" &   + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'} +23 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +24 "core" ' + "manipulator"&% +5 "core" %ΐ  + "storage"(x& +4 "core" & Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&d'ϼ +21 "core" ' + "manipulator"&& +5 "core" & Y  + "storage"(v& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +25 "core" ' + "storage"(u% +5 "core" %l \  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %gH \ We +2 "manipulator"&e% +4 "core" %[ ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \  + "collection"'#& +4 "core" &Ve  \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(z% +4 "core" %] \ + "storage"(. +3 "core" .( +2 "storage"(%& +4 "core" & !\  +2 "storage"(& +4 "core" & \  + "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  |  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +100 "core" ' +2 "storage"((& +4 "core" & m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +284 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"( & +4 "core" & B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'} +22 "core" ' +2 .tElbow.hold + "manipulator"&, +47 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"(6'Y +32 "core" ' +2 "manipulator"&D% +4 "core" %΄ + "storage"(& +4 "core" & T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&'ϰ +12 "core" ' + "manipulator"&?& +4 "core" & c  +2 "storage"(}& +4 "core" & u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(;'H +39 "core" ' +2 "manipulator"&B& +4 "core" & s  +2 "manipulator"&.% +4 "core" %B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +166 "core" ( +2 "manipulator"&!& +4 "core" &+  T Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &*  I Ae +2 .tForearm.seek CC +2 "manipulator"&&'" +102 "core" ' +2 .tHand.close + "manipulator"&,/ +62 "core" / +2 .tCC.seek :open + "collection"'F( +416 "core" ( + "storage"(1& +4 "core" & c\  +2 "storage"(=& +4 "core" & \  + "manipulator"&0& +4 "core" &) . ?U + "manipulator"&/% +4 "core" % ( 3 b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&L( +164 "core" ( + "manipulator"&+& +5 "core" & ! w + "storage"(<& +4 "core" &\ &\ # F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +97 "core" ' + .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +61 "core" 1 + "manipulator"&\\% +5 "core" % ΂  B + "storage"(^& +4 "core" &\ \  m\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&8'Ϯ +11 "core" ' +3 "manipulator"&$& +4 "core" & w +2 "storage"(9& +4 "core" &\ &\ ' ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +22 "core" ' +2 "storage"(C% +4 "core" %N\ $\  5\ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (Y% +3 "core" %D %\ Wb +2 "manipulator"&J% +4 "core" %\\ n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +93 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'N& +4 "core" &  B\ +2 "manipulator"&3% +4 "core" %\ _  +2 "storage"(X% +4 "core" %R\ '\ 1 2\ +2 "storage"(7. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +2 "core" & %\ +2 "manipulator"&I& +4 "core" & * w +2 .tElbow.seek 2 + "manipulator"&T( +38 "core" ( + "manipulator"&H& +4 "core" &  c b +2 "storage"(]& +3 "core" & \ \  a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +85 "core" ' +2 "storage"(R& +4 "core" & \ 1\ * N\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +54 "storage"(A'i +287 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" & s\ +2 "manipulator"&K& +4 "core" &  ^ +2 .tElbow.seek 2 + "manipulator"& ( +27 "core" ( + "manipulator"&V& +4 "core" & 0  +2 "storage"(Q& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&f' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&`& + "storage"(O'X +7 "core" & {  +2 "manipulator"&l% +4 "core" % o E +2 .tForearm.seek :retract + "manipulator"&r'\ +104 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&_& +4 "core" &- ( A Cr + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &-   Cr +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'" +89 "core" ' + "manipulator"&b& +4 "core" &- % M Cq +2 "manipulator"&n% +4 "core" %, '  +2 "collection"'s& +4 "core" &  X\ +2 "collection"'o& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'i(V +4 "core" &  P\ +8 &5  6\ $c +9 &V  ,\ 7 +10 &  \ L +9 &]  :\ M +10 &l`  3\ M +9 &.^  1\ M +9 &a  ~\ M +10 &Z  :\ M +9 &t\\  6\ M +9 &6`  (\ M +10 &Z  K\ N +9 &!b  8\ M +10 &#{\\  7\ N +9 &%>`  4\ M +9 &'Z  1\ M +10 &(_  3\ M +9 &*`  .\ M +9 &,F[  0\ M +10 &.[  '\ M +9 &/\\  6\ M +10 &1]  +\ N +9 &3O_  +\ M +9 &5_  ,\ N +10 &6]  4\ M +9 &8Y  )\ M +10 &:U`  /\ N +9 &<_  0\ N +9 &=`  *\ M +10 &?_  #\ N +9 &A]]  0\ N +9 &C_  *\ N +10 &Dg  l\ N +9 &Fn  m\ O +9 &HZ  .\ Q +10 &J  *\ U +9 &K  '\ X +10 &M  f\ X +9 &OO  g\ X +9 &Q  \ X +10 &R  \ Y +9 &T  H\ Z +9 &V.t  r\ . +10 &V  o\ J +9 ( + &V]  \ G +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +3 "manipulator"&w% +4 "core" % - /   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +4 "core" &f\ +2 "manipulator"&% +4 "core" %\    + "storage"(c% +4 "core" %T \ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & {\ + "storage"(x& +4 "core" & h\ +2 "manipulator"&~& +4 "core" &+ %  Aa + "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&v( +160 "core" ( +2 "manipulator"&E& +4 "core" &   +2 "storage"(u& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +93 "core" ' + "storage"(& +5 "core" & C\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" & \ + "manipulator"&h& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & ,  + "storage"({& +4 "core" & L\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&#& "storage"('X +8 "core" &   + "manipulator"&z% +4 "core" %  ! L +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&q(s +172 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&%& +4 "core" &s 4 l i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &s  d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&& +4 "core" &s % J  +2 "manipulator"&% +3 "core" %  +2 "processing"%y& +4 "core" &f\ +7 "processing"%(& +5 "core" &h\ +2 .tPC.seek :closed + "processing"%(Z +10 "core" &h\ +5 &Bf\ %f +7 &Uk\ 8 +9 &h\ M +10 &_g\ N +9 &q`i\ N +9 &4]f\ N +10 &]m\ N +9 &\\h\ N +9 &y_j\ N +10 &;^h\ N +9 &_f\ O +10 &!]g\ N +9 &#^f\ N +9 &%E\\i\ N +10 &'\\f\ N +9 &(]l\ N +9 &*]h\ N +10 &,M]i\ N +9 &.ah\ N +10 &/\\e\ N +9 &1\\l\ N +9 &3V\\g\ M +10 &5\\f\ N +9 &6]j\ M +9 &8\\h\ N +10 &:]\\f\ N +9 &<\\i\ N +10 &=[h\ M +9 &?Zk\ N +9 &AeZe\ N +10 &C'\\f\ N +9 &D`n\ N +9 &Feg\ O +10 &Herb\ P +9 &J"k\ R +10 &Kg\ T +9 &Md\ S +10 &Oeh\ S +9 &Q%f\ T +9 &Rf\ T +9 &Tf\ T +10 &Vhd\ U +9 &X*d\ U +10 &Yznh\ 0 +9 &Z(ng\ L +9 &Z&h\ / +3 ( + "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&|1 +58 "core" 1 +2 "manipulator"& % +4 "core" % 1 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +101 "core" ' + "processing"%& +4 "core" &Z$g\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\  m - +2 "storage"(% +3 "core" %T C\ +2 "storage"(D. +3 "core" .( +2 "storage"(& +4 "core" & Z\ + "storage"(?& +2 "manipulator"&}& +7 "core" & C\ + &s 1   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&B(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'i +3 "core" ( + "manipulator"&& +4 "core" &s p  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &s $  +2 .tForearm.seek PC +2 "manipulator"&)' +96 "core" ' + .tHand.close +2 "manipulator"&m/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(6- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +41 "core" ' +304 ( +2 "storage"(U& +4 "core" & ,\ + "manipulator"&:& +4 "core" &s  +2 "manipulator"&% +4 "core" % q  +2 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&'( +268 "core" ( + "manipulator"&"& +4 "core" &  A +2 "storage"(1& +4 "core" & !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +96 "core" ' +2 .tHand.open + "manipulator"&01 +52 "core" 1 +2 "storage"(/- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +52 "core" ' +4 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(P& +4 "core" & M J *\ + "manipulator"&4& +4 "core" & ' +2 .tElbow.seek 2 + "manipulator"&\\( +4 "core" ( + "manipulator"&^& +4 "core" & & : +2 "storage"($& +3 "core" & * 3 ?\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +56 "core" ' +2 "manipulator"&2& +4 "core" & +2 "storage"(Y& +3 "core" & `\ +2 .tElbow.reconfigure :limp +57 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&J' +34 "core" ' + .tElbow.hold + "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&N% +4 "core" % q +2 "storage"(8& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&3' +13 "core" ' + "manipulator"&X& +5 "core" & 7 + "storage"(7& +4 "core" & n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +31 "core" ' +2 "storage"(G% +4 "core" %n T\ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (W% +3 "core" %I 2\ Wd + "manipulator"&5% +5 "core" %ц  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" & 3\ + "collection"']& +4 "core" &V]  :\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&R% +4 "core" %\ !  z 3 +2 "storage"(@% +4 "core" %` !\ + "storage"(M. +3 "core" .( +2 "storage"(j& +3 "core" & o\ +2 "storage"(g& +4 "core" & O\ + "manipulator"&K& +4 "core" & V +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&Q& +4 "core" & & D + "storage"(S& +4 "core" & K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +97 "core" ' + "storage"(l& +5 "core" & G\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'i +278 "core" ' +2 "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&_& +3 "core" &  +2 "storage"([& +3 "core" & v\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&A' +36 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(n'P +28 "core" ' + "manipulator"&s% +4 "core" % W +2 "storage"( & +4 "core" & ?\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&O' +16 "core" ' +2 "manipulator"&r& +4 "core" & % + "storage"(F& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'? +40 "core" ' +2 "manipulator"&t& +4 "core" &  + "manipulator"&% +5 "core" %ћ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&& +4 "core" &# 5 ? ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &# ;3 +2 .tForearm.seek CC + "manipulator"&x'" +95 "core" ' + .tHand.close +2 "manipulator"&~/ +58 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(k& +4 "core" & \ + "storage"(E& +4 "core" & [\ +2 "manipulator"&u& +4 "core" &$ -  ;2 + "manipulator"&% +4 "core" % 1 , 1 +2 .tForearm.seek :retract + "manipulator"&a'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"&& +4 "core" &  f  +2 "storage"(e& +3 "core" & S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&h' +105 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ( S  +2 "storage"(#& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&z' +13 "core" ' +2 "manipulator"&v& +5 "core" &  + "storage"(Z& +4 "core" & \ \  H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +24 "core" ' + "storage"(d% +5 "core" %D\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(%'X +99 (% +3 "core" %G V\ Wc +2 "manipulator"&% +4 "core" %  | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  T\ +2 "manipulator"&y% +4 "core" %\    +2 "storage"(% +4 "core" %b\ '\ ' \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(>( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" & :\  +2 "manipulator"& & +4 "core" & f  +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"& & +4 "core" & $ $ _ +2 "storage"(& +3 "core" &\ \  4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +96 "core" ' + "storage"(& +5 "core" &\ $\ & C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +285 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (}& +3 "core" & ^\  +2 "manipulator"&& +3 "core" &  _ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & ! _ + "storage"(m& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&6'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"('X +7 "core" & } _ +2 "manipulator"&.% +4 "core" % ϰ a +2 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&:( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" & * 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" & 6 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'" +96 "core" ' + "manipulator"&1& +4 "core" & $ ~ 7 +2 "manipulator"&B% +4 "core" % x  +2 "collection"'0& +4 "core" &  _\ +2 "collection"'/& +5 "core" &  e\ +2 .tCC.seek :closed +2 "collection"'&(V +5 "core" &  W\ +7 & &  q\ #` +9 &V  S\ 7 +10 &  (\ L +9 &\\  2\ M +10 &d_  5\ M +9 &'_  O\ M +9 &_  -\ N +10 &\\  +\ N +9 &k^   \ N +9 &.^  ;\ M +10 &_  "\ M +9 &!\\  A\ M +10 &#t]  p\ M +9 &%6b  o\ M +9 &&`  (\ M +10 &(]  %\ M +9 &*|]  $\ M +9 &,?_  '\ M +10 &.^  +\ M +9 &/_  %\ M +10 &1]  )\ M +9 &3F`  %\ M +10 &5_  $\ M +9 &6_  1\ M +9 &8Y  (\ M +9 &:O`  %\ M +63 &<_  '\ N +4 &=_  +\ M +3 &?\\  %\ M + &AW_  +\ M +2 &C_  $\ M +2 &Db  3\ M + &Fk  A\ O +3 &HV}  &\ P +6 &J  1\ T +9 &K  +\ W +10 &M  c\ X +9 &OI  1\ W +10 &Q  1\ X +9 &R  ~\ Y +9 &T  D\ Y +9 &V(u  \ - +10 &V(  +\ Q +9 ( +2 &Vf  "\ G +2 "collection"'/& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open + "manipulator"&P1 +58 "core" 1 +2 "manipulator"&4% +4 "core" %  (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +5 "core" &j\ + "manipulator"&,% +4 "core" %\     +2 "storage"(2% +3 "core" %a a\  +2 "storage"(Y. +3 "core" .( +2 "storage"(!& +4 "core" & K\  +2 "storage"(+& +3 "core" & b\  +2 "manipulator"&N& +4 "core" &   6 + "manipulator"&8% +4 "core" %\     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&X( +161 "core" ( +2 "manipulator"&7& +4 "core" & $ M  + "storage"('& +4 "core" & ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +97 "core" ' + "storage"(G& +4 "core" & &\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +284 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" & B\  +2 "manipulator"&9& +4 "core" & \\  +2 .tElbow.seek 3 + "manipulator"&\\( +4 "core" ( + "manipulator"&C& +4 "core" & J  + "storage"(J& +4 "core" & _\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(R'X +7 "core" &  +2 "manipulator"&@% +4 "core" % ϛ (  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +3 "manipulator"&j& +4 "core" &z / D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &z  < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&K' +93 "core" ' +2 "manipulator"&Q& +4 "core" &z  / +2 "manipulator"&S% +4 "core" % g 3 +2 "processing"%;& +4 "core" &d\ +2 "processing"%l& +5 "core" &i\ +2 .tPC.seek :closed + "processing"%*(Z +5 "core" &j\ +7 & 2g\ $c +9 &Vi\ 7 +10 &g\ L +9 &^h\ N +10 &Z_g\ N +9 &]e\ N +9 &_f\ N +10 &Zi\ N +9 &b]f\ N +9 &%Zd\ N +10 &`e\ N +9 &!\\j\ N +10 &#i]b\ N +9 &%+\\h\ N +9 &&\\h\ N +10 &(\\g\ N +9 &*q\\h\ N +9 &,4\\d\ N +10 &-]g\ N +9 &/\\g\ N +10 &1{\\c\ N +9 &3<Yj\ N +9 &4[h\ N +10 &6[h\ N +9 &8Ze\ N +9 &:E[h\ N +10 &<^f\ N +9 &=[f\ N +10 &?[f\ N +9 &AM[g\ N +9 &C `j\ N +10 &D_d\ N +9 &Fgh\ P +9 &HJ{i\ Q +10 &Jf\ S +9 &Kj\ S +10 &Me\ T +9 &OJc\ T +9 &Q h\ T +10 &Re\ T +9 &Th\ T +9 &VPg\ U +10 &Xg\ U +9 &Y|pf\ 8 +9 &Z.i\ J +10 &Zf\ * +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&L1 +53 "core" 1 + "manipulator"&I% +5 "core" % ' 2 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +99 "core" ' +2 "processing"%_& +4 "core" &Zc\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&[% +4 "core" %\    +2 "storage"(b% +4 "core" %\\ D\ + "storage"(s. +3 "core" .( +2 "storage"( & +4 "core" & \  +2 "storage"(r& +4 "manipulator"&F& +4 "core" & E\  + &z  X +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&t(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&`& +4 "core" &z  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &z ' 0 +2 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' + .tHand.close +2 "manipulator"&A/ +55 "core" / +2 .tPC.seek :open + "processing"%O( +99 "core" ' + "storage"(n- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +276 ( + "storage"(o& +5 "core" & D\  +2 "manipulator"&& +3 "core" &z  +2 "manipulator"&f% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&~'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +261 "core" ( + "manipulator"&i& +4 "core" &  \  +2 "storage"(k& +4 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +96 "core" ' +2 .tHand.open + "manipulator"&u1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' + "storage"(& +4 "core" & $ %\  + "manipulator"&{& +4 "core" & J  +2 .tElbow.seek 3 + "manipulator"&( +9 "core" ( +2 "manipulator"&#& +4 "core" & % d +2 "storage"(v& +4 "core" & & &\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(d' +55 "core" ' +2 "manipulator"&a& +4 "core" &  +2 "storage"(& +4 "core" & \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +23 "core" ' +2 "manipulator"&% +4 "core" %}  F +2 "storage"(z& +4 "core" & C\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&y'ϩ +12 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +25 "core" ' + "storage"(\ % +5 "core" %o L\ +2 ."downElevator"SE.seek :down +3 "storage"(%'X +99 ( % +3 "core" %L ;\ Xf + "manipulator"&|% +5 "core" %E  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" & \  +2 "collection"'& +3 "core" &Ve  \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %T a\ +2 "storage"(. +3 "core" .( + "storage"(?& +4 "core" & =\  + "storage"(}& +4 "core" & E\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&m& +4 "core" & | +2 "storage"(q& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +56 "manipulator"&-'9 +111 "core" ' + "storage"(.& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +287 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"()& +4 "core" & ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&('} +18 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(B'Y +39 "core" ' +2 "manipulator"&0% +4 "core" %Α | + "storage"(& +4 "core" & G\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +26 "core" ' + "manipulator"&U& +5 "core" & + "storage"(& +4 "core" & H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +31 "core" ' +4 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(4'H +38 "core" ' +2 "manipulator"&$& +4 "core" &  +2 "manipulator"&,% +4 "core" %,  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +168 "core" ( +2 "manipulator"&/& +4 "core" &' % H >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &' >J +2 .tForearm.seek CC + "manipulator"&+'" +90 "core" ' + .tHand.close +2 "manipulator"&N/ +56 "core" / +3 .tCC.seek :open + "collection"'8( +416 "core" ( + "storage"("& +4 "core" & 1\  +2 "storage"(7& +3 "core" & \  +2 "manipulator"&'& +4 "core" &%  <? + "manipulator"&G% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&^( +164 "core" ( + "manipulator"&W& +4 "core" & $ ~ _ +2 "storage"(5& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&9'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +59 "core" 1 +2 "manipulator"&H% +4 "core" % · & Z l + "storage"(]& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&@'ϳ +12 "core" ' + "manipulator"&X& +4 "core" &  _ +2 "storage"(=& +4 "core" &\ /\ 1 G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +24 "core" ' +2 "storage"(3% +4 "core" %R\ )\ $ c\ +2 ."downElevator"SE.seek :down +4 "storage"(j'X +99 (g% +2 "core" %D h\ Wb +2 "manipulator"&\\% +4 "core" %R | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +94 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'S& +5 "core" &  W\ + "manipulator"&;% +4 "core" %\ $  +2 "storage"(R% +4 "core" %a\ 2\ . \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +342 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (L& +3 "core" & n\ +2 "manipulator"&I& +3 "core" &  _ +2 .tElbow.seek 2 +2 "manipulator"&_( +41 "core" ( + "manipulator"&[& +4 "core" & - # +2 "storage"(b& +4 "core" & \ \  H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +95 "core" ' + "storage"( & +4 "core" & \ &\ $ .\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'i +283 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" & U\ +2 "manipulator"&`& +4 "core" & # +2 .tElbow.seek 2 + "manipulator"&V( +3 "core" ( +2 "manipulator"&K& +3 "core" & # +2 "storage"(A& +4 "core" & 9\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&n' +6 "Can"F\ >; +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(*'X +7 "core" &  v # +2 "manipulator"&% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&f& +4 "core" ' + &-  = Ct + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&T& +5 "core" &-  Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'" +100 "core" ' +2 "manipulator"&k& +4 "core" &- > Ct +2 "manipulator"&t% +4 "core" %, a +2 "collection"'u& +3 "core" &  b\ +2 "collection"'& +5 "core" &  ]\ +2 .tCC.seek :closed +2 "collection"'x(V +4 "core" &  T\  +10 &/  X\ +z +9 &d  a\ > +9 &xx  6\ N +10 &<X  d\ M +9 &]  \\\ N +9 &]  ]\ M +10 &Z  \ M +10 &CZ  W\ M +9 &Z  9\ M +9 &Z  P\ M +9 & [  j\ N +10 &"J^  M\ N +9 &$ ]  G\ N +9 &%\\  S\ M +10 &']  .\ N +9 &)S\\  S\ M +10 &+_  *\ M +9 &,]  \ M +9 &.^  \ N +10 &0Z]  \ N +9 &2\\  \ N +9 &3]  8\ N +10 &5[  -\ M +9 &7b]  7\ N +10 &9&]  '\ M +9 &:]  &\ M +9 &<\\  &\ M +10 &>k[  %\ M +9 &@-Z  %\ M +9 &A_  $\ M +10 &Cb  &\ M +9 &Eqe  &\ N +10 &G.s  $\ P +9 &H  +\ R +10 &J  (\ V +9 &L\\  *\ X +9 &N  (\ W +9 &O  \ X +10 &Q  *\ X +10 &S_  %\ Z +9 &U"  ,\ Y +9 &VjB  *\ 1 +9 &Vp  *\ I +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&1 +4 "core" &V`  u\ I +56 1 +2 "manipulator"&{% +5 "core" % , U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%v& +4 "core" &Y\ +2 "manipulator"&~% +3 "core" %\  F  +2 "storage"(a% +4 "core" %_ 3\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & /\ + "storage"(z& +4 "core" & b\ +2 "manipulator"&& +4 "core" &-  Cn + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&& +4 "core" & P  + "storage"(\ & +4 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +96 "core" ' + "storage"(E& +5 "core" & ~\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'i +284 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" & O\ +2 "manipulator"&Z& +4 "core" & [  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&d& +3 "core" & G  +2 "storage"(& +4 "core" & .\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&y' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +56 .tHand.close +2 "manipulator"& / +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &  + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&h'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( +2 "manipulator"&?& +4 "core" &o $ A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&m& +4 "core" &p $ g  +2 "manipulator"&q% +4 "core" % ~ 3 +2 "processing"%w& +4 "core" &[\ +2 "processing"%.& +5 "core" &a\ +2 .tPC.seek :closed + "processing"%%(Z +5 "core" &j\  +8 &1i\ *z +10 &cg\ > +9 &x{[\ O +9 &<]b\ N +10 &`Z\ N +9 &]`\ N +9 &_b\ N +10 &E\\b\ M +9 &]e\ N +10 &[`\ N +9 & ]c\ N +9 &"K`f\ N +10 &$\\X\ M +9 &%]\\\ N +9 &'`\\\ N +10 &)T[f\ N +9 &+\\c\ M +10 &,\\b\ N +9 &.`^\ N +9 &0\\\\V\ N +10 &2]b\ N +9 &3^`\ N +9 &5_W\ N +10 &7d_U\ N +9 &9'Zb\ M +10 &:[Y\ N +9 &<_V\ N +9 &>l_b\ N +10 &@.ag\ N +9 &A^^\ M +9 &C^c\ N +10 &Es`Z\ N +9 &G2kX\ O +10 &HsW\ P +9 &J^\ S +9 &Lj[\ T +10 &N,e\ T +9 &O[\ T +9 &QW\ T +10 &SqW\ T +9 &U2^\ T +10 &V`\ T +9 &XX\ T +10 &Z!Z[\ %r +9 &Z_W\ 1 +9 ( + &ZV\ + +2 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"& % +4 "core" % % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +97 "core" ' +2 "processing"%& +4 "core" &ZW\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&)% +4 "core" %\ ! 8 +2 "storage"(1% +3 "core" %T o\ +2 "storage"(0. +3 "core" .( + "storage"(& +4 "core" & :\ +2 "storage"(U& +3 "manipulator"&& +6 "core" & \ + &p 8  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&$(s + "storage"(,'i +5 "core" ( +2 "manipulator"&-& +4 "core" &p ;  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &p 0  +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&(/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"(B- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'y +50 "core" ' +277 ( +2 "storage"(!& +4 "core" & '\ + "manipulator"&P& +4 "core" &p   +2 "manipulator"&6% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&N'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&2( +257 "core" ( + "manipulator"&&& +5 "core" & $ =  + "storage"("& +4 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +89 "core" ' + .tHand.open +2 "manipulator"&'1 +58 "core" 1 +2 "storage"(G- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(5' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(Y& +4 "core" & # # ,\ + "manipulator"&J& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&H( +5 "core" ( + "manipulator"&]& +4 "core" &  Z  + "storage"(X& +4 "core" & $ ' ?\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +136 "core" ' +2 "manipulator"&:& +4 "core" &   +2 "storage"(g& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +24 "core" ' +2 "manipulator"&S% +4 "core" % 9 +2 "storage"(@& +4 "core" & x x\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&;' +14 "core" ' + "manipulator"&R& +4 "core" & W  +2 "storage"(& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +28 "core" ' +2 "storage"(<% +4 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(j'X +99 (>% +3 "core" %N \ Xf +2 "manipulator"&L% +4 "core" %ѡ 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +4 "core" & o\ +2 "collection"'b& +3 "core" &V_  \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %\    +2 "storage"(C% +3 "core" %a x\ +2 "storage"(Q. +3 "core" .( +2 "storage"(r& +4 "core" & $\ + "storage"(l& +4 "core" & 2\ +2 "manipulator"&`& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&A& +3 "core" & #   +2 "storage"(M& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +96 "core" ' +3 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +285 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&f& +3 "core" &   +2 "storage"(T& +4 "core" & e\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&F' +31 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(V'O +28 "core" ' +2 "manipulator"&t% +4 "core" % h + "storage"(u& +4 "core" & } *\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&*' +14 "core" ' + "manipulator"&o& +4 "core" & W  +2 "storage"(8& +4 "core" & L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"({'> +40 "core" ' +3 "manipulator"&v& +4 "core" &  + "manipulator"&~% +4 "core" %ю n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&a'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&& +4 "core" &!  o 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &! 2 [ 8" +2 .tForearm.seek CC +2 "manipulator"&z'" +94 "core" ' + .tHand.close +56 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(i& +4 "core" & $\ + "storage"(& +4 "core" & \ +2 "manipulator"&\ & +3 "core" &! # 8" +2 "manipulator"&E% +4 "core" % 8  + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +161 "core" ( + "manipulator"& & +5 "core" & $ S  + "storage"(|& +4 "core" & ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&Z' +106 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"& % +4 "core" %  '  +2 "storage"(& +4 "core" & #\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +13 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(c& +4 "core" & \ "\  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +24 "core" ' +2 "storage"(y% +88 "core" %H\ .\ &\ +2 ."downElevator"SE.seek :down +5 "storage"(?'X +99 (}% +3 "core" %C *\ Wc + "manipulator"&% +4 "core" %ѽ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'q& +4 "core" &  T\ +2 "manipulator"&w% +4 "core" %\    + "storage"(% +4 "core" %a\ '\ & \ +2 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(O( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & *\  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&)& +5 "core" &  ] + "storage"(1& +4 "core" &\ \  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +93 "core" ' +2 "storage"(& +4 "core" &\ 5\ D \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +4 "core" & f\  +2 "manipulator"&-& +4 "core" &  ] + .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  ] + "storage"((& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&B'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& + "storage"(%'X +7 "core" & ] +2 "manipulator"&,% +4 "core" % Ϣ  +2 .tForearm.seek :retract + "manipulator"&!'\ +105 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +22 "core" ( +2 "manipulator"&6& +4 "core" &  " W 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   ( 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&&'" +104 "core" ' + "manipulator"&"& +6 "core" &  0  5 +2 "manipulator"&$% +4 "core" %# +2 "collection"''& +3 "core" &  j\ +3 "collection"'G& +4 "core" &  p\ +2 .tCC.seek :closed +2 "collection"'+(V +4 "core" &  Z\  +9 &1  c\ *x +9 &c  [\ > +10 &uw  V\ N +9 &8\\  T\ M +9 &]  V\ M +10 &]  V\ M +9 &}]  U\ M +10 &?]  W\ M +9 &^  V\ M +9 &]  \\\ M +10 & \\  S\ M +9 &"H_  G\ M +9 &$ ^  m\ M +10 &%_  T\ N +9 &']  F\ M +10 &)Q\\  W\ M +9 &+^  +\ M +9 &,\\  U\ M +10 &._  \ M +9 &0W_  %\ M +9 &2\\  P\ M +10 &3^  )\ N +9 &5\\  :\ M +10 &7a^  \ M +9 &9"[  q\ M +9 &:]  &\ M +10 &<_  %\ N +9 &>h^  %\ M +9 &@*]  %\ M +10 &A^  %\ M +9 &C_  $\ M +10 &Eoc  %\ M +9 &G,p  %\ O +10 &H  &\ Q +9 &J  $\ U +9 &L[  )\ W +9 &N  "\ W +10 &O  $\ X +9 &Q  \ X +10 &S]  /\ Y +9 &U  /\ X +10 &VgA  0\ 0 +9 &V |  +\ I +5 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&Y1 +3 "core" &Vk   \ I +56 1 +4 "manipulator"&J% +4 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%X& +4 "core" &]\ +2 "manipulator"&N% +3 "core" %\  M  +2 "storage"(:% +4 "core" %a \  + "storage"(g. +3 "core" .( +2 "storage"(/& +4 "core" & G\  + "storage"(W& +4 "core" & \  +2 "manipulator"&S& +4 "core" & 1 5 + "manipulator"&@% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&2( +164 "core" ( + "manipulator"&R& +4 "core" &  , } +2 "storage"(& +4 "core" & 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +98 "core" ' +2 "storage"(5& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +283 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" & \  +2 "manipulator"&=& +3 "core" & + } +2 .tElbow.seek 3 + "manipulator"&H( +4 "core" ( + "manipulator"&3& +4 "core" &  y } + "storage"(\\& +4 "core" & }\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"( 'X +8 "core" & \\ } +2 "manipulator"&C% +4 "core" % Ϟ  3 +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&r(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +3 "manipulator"&9& +5 "core" &p * 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&`' +105 "core" ' + "manipulator"&A& +4 "core" &q  +2 "manipulator"&M% +4 "core" % q x +2 "processing"%4& +3 "core" &f\ +2 "processing"%& +5 "core" &e\ +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &f\ +8 & 1j\ $d +14 &Ud\ 7 +5 &f\ L +11 &]h\ N +8 &db\\\ N +9 &'Zb\ N +9 &^j\ M +10 &\\c\ N +9 &laa\ N +9 &/[e\ N +10 &]c\ M +9 &!]`\ N +9 &#u`_\ N +10 &%7_[\ N +9 &&^^\ N +10 &(]`\ M +9 &*~]Z\ M +9 &,@^Y\ M +10 &._\\\ M +9 &/[b\ N +10 &1ZZ\ M +9 &3H\\W\ M +9 &5\ \\e\ M +10 &6[\\\ N +9 &8ZW\ M +9 &:O\\W\ N +10 &<][\ N +9 &=ZW\ M +10 &?^[\ N +9 &AX]a\ M +9 &C^\\\ N +10 &Deb\ N +9 &Fjd\ O +9 &HT}d\ Q +10 &JZ\ S +9 &KW\ S +10 &MW\ S +9 &OVX\ S +9 &QW\ S +10 &RS\ T +9 &TW\ T +9 &VZ\\\ U +10 &XX\ U +9 &YzsY\ 7 +9 &Z._\ K +10 &ZW\ + +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&^1 +55 "core" 1 +2 "manipulator"&I% +4 "core" % ( F x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +3 "processing"%f& +4 "core" &ZN\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&T% +4 "core" %\  x  +2 "storage"(k% +3 "core" %b d\ +2 "storage"(t. +3 "core" .( +2 "storage"(u& +4 "core" & #\  + "storage"(o& +2 "manipulator"&8& +8 "core" & @\  +2 &q t +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&v(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'i +2 "core" ( +2 "manipulator"&p& +4 "core" &q Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &q p +2 .tForearm.seek PC +2 "manipulator"&_' +95 "core" ' + .tHand.close + "manipulator"&F/ +60 "core" / +2 .tPC.seek :open +3 "processing"%*( +86 "core" ' + "storage"(V- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +48 "core" ' +288 ( +2 "storage"(& +4 "core" & /\  + "manipulator"&& +4 "core" &q  +2 "manipulator"&n% +3 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&a( +259 "core" ( + "manipulator"&x& +5 "core" & % N  + "storage"(i& +4 "core" & v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' +2 .tHand.open + "manipulator"&\ 1 +58 "core" 1 +2 "storage"(E- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(|' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +4 "core" -' + "storage"(& +4 "core" & C H \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"& ( +5 "core" ( + "manipulator"&& +4 "core" & $ w  + "storage"(& +4 "core" & # # \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&y& +4 "core" & Q  +2 "storage"(#& +4 "core" & 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&}'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'i +25 "core" ' + "manipulator"&% +4 "core" %΍ 0 +2 "storage"(q& +4 "core" & !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&w'Ϲ +21 "core" ' + "manipulator"&& +5 "core" & ^  + "storage"(h& +4 "core" & $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +33 "core" ' + "storage"(e% +5 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"(?'X +98 (% +3 "core" %E |\ Wc +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 ()& +4 "core" & 9\  + "collection"'1& +4 "core" &Vk  #\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(d% +4 "core" %b Q\ + "storage"(m. +3 "core" .( +2 "storage"(& +3 "core" & 4\  +2 "storage"(.& +4 "core" & C\  +2 "manipulator"&-& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&(& +3 "core" & %  +2 "storage"(& +4 "core" & ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +106 "core" ' +2 "storage"(,& +4 "core" & S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +2 "core" &   +2 "storage"(U& +4 "core" & M\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +24 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"( 'Y +31 "core" ' +2 "manipulator"&$% +4 "core" %ΐ + "storage"('& +4 "core" & 8\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&%'ϼ +24 "core" ' +2 "manipulator"&!& +4 "core" & 6  +2 "storage"(& +3 "core" & `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(J'H +40 "core" ' +2 "manipulator"&X& +4 "core" & 0  +2 "manipulator"&N% +4 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&g( +165 "core" ( +3 "manipulator"&/& +4 "core" &* 3  I Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &+ ) + Ae +2 .tForearm.seek CC +2 "manipulator"&W'" +98 "core" ' + .tHand.close + "manipulator"&S/ +59 "core" / + .tCC.seek :open +2 "collection"'@( +416 "core" ( + "storage"(&& +4 "core" & n\  +2 "storage"(R& +4 "core" & 7\  + "manipulator"&& +4 "core" &' ; =B + "manipulator"&5% +4 "core" % * W +2 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&]( +165 "core" ( + "manipulator"&>& +5 "core" &  #  + "storage"(L& +4 "core" &\ \  3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&='} +97 "core" ' + .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +61 "core" 1 + "manipulator"&[% +5 "core" % ~  + "storage"(b& +4 "core" &\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 301 counts + "manipulator"&C'Ϫ +20 "core" ' +2 "manipulator"&2& +4 "core" &  +2 "storage"(7& +4 "core" &\ 2\ 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +29 "core" ' + "storage"(;% +5 "core" %Q\ G\ 7 \ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +100 (l% +3 "core" %D '\ Wb + "manipulator"&H% +4 "core" %' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +86 "core" ' +59 ' +2 ."downElevator"SE.stop +44 "storage"(5 +14 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'M& +4 "core" &  R\ +2 "manipulator"&4% +4 "core" %\  +  + "storage"( % +4 "core" %b\ %\ ' W\ +2 "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" & \ +2 "manipulator"&I& +3 "core" & 7  +2 .tElbow.seek 2 +2 "manipulator"&f( +34 "core" ( + "manipulator"&T& +4 "core" & % ] k +2 "storage"(k& +4 "core" & \ \  #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +98 "core" ' + "storage"(u& +5 "core" & \ )\ ' K\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +285 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & #\ +2 "manipulator"&p& +4 "core" & L i +2 .tElbow.seek 2 + "manipulator"&K( +13 "core" ( + "manipulator"&`& +4 "core" &  + +2 "storage"(F& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&V' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(j'X +7 "core" & @ + +2 "manipulator"&~% +4 "core" %   N +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&n& +4 "core" &, / r Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &+  # Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&x'" +99 "core" ' +2 "manipulator"&i& +5 "core" &+ \ Ae + "manipulator"&v% +4 "core" %" \\ +2 "collection"'\ & +4 "core" &  p\ +2 "collection"'E& +5 "core" &  b\ +2 .tCC.seek :closed +2 "collection"'z(V +4 "core" &  \ +8 &5  _\ $d +9 &W  ^\ 7 +9 &  Y\ L +10 &Z  d\ M +9 &m^  b\ M +9 &/\\  U\ M +10 &_  _\ M +9 &]  `\ M +10 &u]  U\ M +9 &7]  V\ M +9 &Y  8\ M +10 &!_  O\ M +9 &#~Z  N\ M +10 &%>_  Q\ N +9 &']  ;\ M +9 &(\\  K\ M +10 &*]  H\ M +9 &,H]  9\ M +9 &.\ ]  h\ M +10 &/^  Q\ M +9 &1_  B\ M +9 &3O]  h\ M +10 &5^  S\ M +9 &6]  S\ M +10 &8\\  U\ M +9 &:W^  l\ M +9 &<[  K\ M +10 &=_  l\ M +9 &?^  #\ M +9 &A_\\  \ M +10 &C![  q\ M +10 &Df  #\ N +9 &Fm  %\ O +9 &H]  %\ Q +9 &J  %\ U +10 &K   \ X +9 &M  $\ X +10 &OP  $\ X +9 &Q  #\ X +9 &R   \ Y +10 &T  %\ Y +9 &V.t  $\ . +10 &V!  &\ P +8 ( +2 &Vk  "\ J +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % " ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &_\ + "manipulator"&% +4 "core" %\  X  +2 "storage"(y% +3 "core" %T u\ +2 "storage"(#. +3 "core" .( +2 "storage"(& +4 "core" & w\ + "storage"(q& +4 "core" & h\ +2 "manipulator"&& +3 "core" &*  A` +2 "manipulator"&% +4 "core" %\  H  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&h( +160 "core" ( + "manipulator"& & +4 "core" &  j  +2 "storage"(e& +4 "core" & v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&a'ќ +95 "core" ' + "storage"(& +5 "core" & L\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & S\ + "manipulator"&c& +4 "core" & 5  +2 .tElbow.seek 2 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & G  + "storage"(}& +4 "core" & m\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"('X +7 "core" & _  +2 "manipulator"&d% +3 "core" %   W +2 .tForearm.seek :retract +2 "manipulator"&m'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&Z& +4 "core" &s * >  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &s j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&-' +98 "core" ' +2 "manipulator"&(& +4 "core" &s   +2 "manipulator"&% +4 "core" % " +2 "processing"%{& +3 "core" &I\ +2 "processing"%,& +5 "core" &Y\ +2 .tPC.seek :closed +2 "processing"%?(Z +5 "core" &^\ +7 & 1W\ $c +9 &TZ\ 7 +10 &V\ L +9 &]R\ N +9 &b\\W\ N +10 &%[V\ M +9 &\\Y\ N +10 &]W\ N +9 &j_W\ N +9 &,_T\ N +10 &`Z\ N +9 &!_[\ N +9 &#r_Q\ N +10 &%4^_\ N +9 &&]W\ N +9 &(ZR\ N +10 &*y^J\ N +9 &,<[X\ N +10 &-]X\ N +9 &/ZW\ M +9 &1[W\ N +10 &3CYW\ N +9 &5ZW\ M +9 &6[W\ M +10 &8ZW\ M +9 &:L[Y\ N +10 &<^_\ N +9 &=]X\ N +9 &?XR\ N +10 &AUYR\ M +9 &CZG\ N +9 &D]T\ N +10 &FbW\ O +9 &HTpZ\ P +10 &JY\ R +9 &KW\ T +10 &MW\ T +9 &ORY\ T +9 &QM\ T +9 &RW\ U +10 &TW\ T +9 &VWV\ U +10 &XW\ U +9 &YznT\ 7 +10 &Z/X\ J +9 &ZN\ ) +2 ( + "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"& % +5 "core" %  8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' + "processing"%6& +4 "core" &ZO\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&U% +4 "core" %\   +2 "storage"("% +4 "core" %T e\ + "storage"($. +3 "core" .( +2 "storage"('& +3 "core" & /\ +2 "storage"(!& +5 "manipulator"&& +4 "core" & =\ + &s  y  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&X(s + "storage"(N'i +6 "core" ( + "manipulator"&D& +4 "core" &s  Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &s  l  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%%( +92 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'y +43 "core" ' +285 ( + "storage"(G& +4 "core" & $\ +2 "manipulator"&Y& +4 "core" &s   + "manipulator"&B% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +264 "core" ( + "manipulator"&+& +4 "core" & # \ +2 "storage"(&& +4 "core" & N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +92 "core" ' + .tHand.open +55 "manipulator"&1 +61 "core" 1 +2 "storage"(5- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(>'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(L' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +4 "core" -' + "storage"(g& +4 "core" & - ) N\ +2 "manipulator"&\\& +4 "core" &  \ +2 .tElbow.seek 2 + "manipulator"&[( +7 "core" ( +2 "manipulator"&b& +4 "core" &  O  +2 "storage"(2& +4 "core" & - # ;\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +71 "core" ' +2 "manipulator"&P& +4 "core" &   + "storage"(l& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +31 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(='i +22 "core" ' + "manipulator"&C% +5 "core" % C + "storage"(M& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&J' +12 "core" ' +2 "manipulator"&4& +4 "core" &  +2 "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +24 "core" ' + "storage"(<% +5 "core" %n \ \ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +98 (O% +3 "core" %vE %\ Wd +2 "manipulator"&^% +4 "core" %ѷ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +3 "core" & -\ +2 "collection"'k& +4 "core" &Vj  \ J + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&u% +4 "core" %\ \   + "storage"(3% +4 "core" %[ \ +2 "storage"(A. +3 "core" .( +2 "storage"(o& +3 "core" & \ +2 "storage"(& +4 "core" & \ + "manipulator"&p& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&`( +4 "core" ( + "manipulator"&F& +4 "core" &  + "storage"(r& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +92 "core" ' +2 "storage"(~& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +280 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +2 "core" &   +2 "storage"(_& +4 "core" & 0\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&8' +34 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'P +30 "core" ' + "manipulator"&\ % +5 "core" % + "storage"(K& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&j' +13 "core" ' +2 "manipulator"&& +4 "core" & m  +2 "storage"(@& +4 "core" & S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('? +41 "core" ' +2 "manipulator"&& +5 "core" & D  + "manipulator"&% +4 "core" %Ѵ S b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +162 "core" ( + "manipulator"&& +5 "core" &$ ; s ;5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &#  ;5 +2 .tForearm.seek CC +2 "manipulator"&q'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(x& +5 "core" & \ + "storage"( & +4 "core" & B\ + "manipulator"&e& +4 "core" &$  ;5 + "manipulator"&% +4 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&'\ +106 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +156 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & \ \  J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +105 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&}1 +56 "core" 1 +2 "manipulator"&)% +4 "core" % 4 s + "storage"(1& +5 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&d' +12 "core" ' +2 "manipulator"&h& +4 "core" & v  + "storage"(a& +4 "core" & \ \  i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +30 "core" ' +2 "storage"(w% +5 "core" %D\ \ \  \ +5 ."downElevator"SE.seek :down +7 "storage"(Z'X +97 (.% +2 "core" %A b\ V` +2 "manipulator"& % +4 "core" %Ѡ : y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  d\ +2 "manipulator"&{% +4 "core" %\  L  +2 "storage"(% +3 "core" %`\ '\ $ ]\  +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & P\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&6( +13 "core" ( +2 "manipulator"&U& +4 "core" &  I h +2 "storage"("& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +91 "core" ' +2 "storage"('& +4 "core" &\ 7\ ( &\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" & '\  +2 "manipulator"&D& +4 "core" & 4 h + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&-& +3 "core" & h +2 "storage"(& +3 "core" &\ \  \  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(?'X +7 "core" & b h +2 "manipulator"&N% +4 "core" % Ϡ ~ . +2 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&B& +4 "core" &( ] ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'" +99 "core" ' +2 "manipulator"&&& +4 "core" &( L ?T +2 "manipulator"&X% +4 "core" %, 7 +2 "collection"'& +4 "core" &  n\ +2 "collection"'5& +5 "core" &  [\ +3 .tCC.seek :closed + "collection"'S(V +5 "core" &  c\ +7 &6  d\ $d +9 &W  b\ 7 +10 &  c\ L +9 &Z  e\ L +9 &h\\  b\ M +10 &*[  W\ M +9 &Y  \ M +9 &\\  S\ M +10 &q\\  W\ M +9 &3]  X\ M +10 &\\  W\ M +9 &!_  X\ M +9 &#yZ  Z\ M +10 &%:]  T\ M +9 &&[  K\ M +9 &(]  W\ M +10 &*\\  U\ M +9 &,C\\  V\ M +10 &.\\  K\ M +9 &/]  \ M +9 &1^  X\ M +10 &3J\\  F\ M +9 &5 \\  G\ M +9 &6\\  P\ M +10 &8Z  R\ M +9 &:T]  >\ M +10 &<]  c\ M +9 &=]  \ M +9 &?]  *\ M +10 &A\\\\  \ M +9 &C]  \ M +10 &Db  $\ N +9 &Fg  M\ N +9 &HZ}  \ P +10 &J  p\ T +9 &K   \ W +9 &M  $\ X +10 &OM  $\ W +9 &Q  $\ W +10 &R  #\ Y +9 &T  \ Y +9 &V+t  ;\ . +10 &V!  -\ M +8 ( +3 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&W1 +4 "core" &Vj  &\ H +49 1 + "manipulator"&g% +5 "core" % , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +4 "core" &d\ +2 "manipulator"&2% +4 "core" %\ # ; + "storage"(P% +4 "core" %S \ +2 "storage"(l. +3 "core" .( + "storage"(/& +4 "core" & z\  +2 "storage"(C& +3 "core" & l\  +2 "manipulator"&M& +4 "core" &' >H + "manipulator"&>% +4 "core" %\ # ? ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&4( +162 "core" ( +2 "manipulator"& & +4 "core" & ' l  +2 "storage"(<& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +93 "core" ' + "storage"(R& +5 "core" & 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +283 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" & |\  +2 "manipulator"&7& +4 "core" & Q  +2 .tElbow.seek 3 + "manipulator"&[( +3 "core" ( +2 "manipulator"&;& +3 "core" &  p  +2 "storage"(H& +4 "core" & i\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&J'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&k& + "storage"(u'X +6 "core" & V  +2 "manipulator"&=% +4 "core" % ϡ F +2 .tForearm.seek :retract +2 "manipulator"&3'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&o& +8 "core" &i  , % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i   % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&p' +101 "core" ' +2 "manipulator"&F& +4 "core" &i  % +2 "manipulator"&r% +4 "core" % ^ d +2 "processing"%Q& +3 "core" &g\ +2 "processing"%~& +5 "core" &h\ +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &g\  +8 &0|j\ *x +10 &cf\ > +9 &xyb\ N +9 &:[[\ N +10 &_c\ N +9 &^e\ N +10 &\\c\ N +9 &B]d\ N +9 &]`\ M +10 &[X\ M +9 & ]X\ M +9 &"J_a\ N +10 &$ Z`\ N +9 &%`]\ N +10 &'`a\ N +9 &)R]c\ N +9 &+Zf\ N +10 &,YZ\ M +9 &.[Z\ N +9 &0Z_[\ N +88 &2Z^\ N + &3Zb\ N + &5_i\ N + &7c^`\ M + &9$YW\ N +2 &:XR\ M + &<ZV\ N + &>kYW\ M + &@,\\Y\ N + &A\\e\ N +6 &C^g\ N +9 &Eob]\ O +10 &G.mW\ P +9 &HW\ R +9 &JX\ T +9 &Lh\\\ T +10 &N*`\ T +9 &OW\ S +10 &QW\ T +9 &Sp_\ T +10 &U0X\ T +9 &VW\ T +9 &XW\ U +9 &Z [T\ %q +10 &Zh^\ 3 +9 ( + &ZW\ , +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&]1 +53 "core" 1 +2 "manipulator"&I% +4 "core" % % C d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +91 "core" ' +2 "processing"%n& +4 "core" &ZX\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&_% +4 "core" %\   +2 "storage"(i% +4 "core" %T Z\ + "storage"(\ . +3 "core" .( +2 "storage"(K& +3 "core" & ;\  +2 "storage"(& +5 "manipulator"&@& +4 "core" & .\  + &i  % +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +3 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&s& +4 "core" &i  f % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &i  b % +2 .tForearm.seek PC + "manipulator"&f' +94 "core" ' + .tHand.close + "manipulator"&8/ +54 "core" / +2 .tPC.seek :open +2 "processing"%j( +96 "core" ' + "storage"(v- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +43 "core" ' +281 ( + "storage"(E& +4 "core" & 7\  +2 "manipulator"&& +4 "core" &i % + "manipulator"&V% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&y( +262 "core" ( +2 "manipulator"&z& +4 "core" & $ 7 +2 "storage"(x& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +99 "core" ' + .tHand.open + "manipulator"&e1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(#& +4 "core" & ( ! 5\  + "manipulator"&}& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&)( +3 "core" ( + "manipulator"&1& +4 "core" & K +2 "storage"(h& +4 "core" & - , [\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(w' +57 "core" ' +2 "manipulator"&& +4 "core" & o +2 "storage"(.& +3 "core" & #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +25 "core" ' + "manipulator"&d% +5 "core" % ~ + "storage"(& +4 "core" & 6\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&{'ϫ +12 "core" ' +2 "manipulator"&& +4 "core" & R +2 "storage"(m& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 "storage"(|% +4 "core" %r J\ +2 ."downElevator"SE.seek :down +58 "storage"(Z'X +44 (% +3 "core" %A `\ Vc +2 "manipulator"&% +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +111 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (U& +4 "core" & \  +2 "collection"'"& +4 "core" &Vk  O\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&'% +4 "core" %\ \   +2 "storage"(% +3 "core" %a \ +2 "storage"((. +3 "core" .( +2 "storage"(& +4 "core" & \  +2 "storage"(!& +3 "core" & \  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&-( +4 "core" ( + "manipulator"&& +4 "core" & + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +93 "core" ' + "storage"(N& +4 "core" & 5\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +278 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" &  +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&,'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(X'Y +28 "core" ' +2 "manipulator"&% +4 "core" %Ί + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&?'϶ +12 "core" ' +2 "manipulator"&G& +4 "core" & + "storage"(& +4 "core" & s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +25 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(g'H +40 "core" ' +2 "manipulator"&b& +5 "core" & ? + "manipulator"&2% +5 "core" %C S + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +163 "core" ( + "manipulator"&/& +4 "core" &)  2 @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &*  @] +2 .tForearm.seek CC + "manipulator"&5'" +97 "core" ' + .tHand.close + "manipulator"&M/ +54 "core" / +2 .tCC.seek :open + "collection"'>( +416 "core" ( +2 "storage"(+& +4 "core" & z\  + "storage"( & +4 "core" & T\  +2 "manipulator"&<& +3 "core" &(   ?V +2 "manipulator"&R% +3 "core" % 9 z +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\( +167 "core" ( + "manipulator"&O& +5 "core" &  j + "storage"(^& +4 "core" &\ \  /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&7'} +104 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +64 "core" 1 +2 "manipulator"&T% +5 "core" % ΐ > ` + "storage"(k& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts + "manipulator"&='ϼ +33 "core" ' + "manipulator"&4& +5 "core" & j + "storage"(:& +4 "core" &\ \ \  x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +47 "core" ' +2 "storage"(J% +4 "core" %J\ '\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (% +3 "core" %E E\ Wb +2 "manipulator"&[% +4 "core" %Q  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +92 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'r& +4 "core" &  _\ +2 "manipulator"&Q% +4 "core" %\    + "storage"(u% +4 "core" %a\ $\ $ Z\ +2 "storage"(3. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(%( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (]& +3 "core" & P\ +2 "manipulator"&I& +4 "core" &  j + .tElbow.seek 2 +2 "manipulator"&n( +39 "core" ( + "manipulator"&_& +4 "core" &  "{ +2 "storage"(i& +4 "core" & \ \  #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +87 "core" ' +2 "storage"(K& +4 "core" & \ '\ 1 i\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (~& +3 "core" & \  \ +2 "manipulator"&s& +3 "core" &  "y +2 .tElbow.seek 2 + "manipulator"&`( +4 "core" ( + "manipulator"&p& +4 "core" &  _ "y + "storage"(8& +4 "core" & \ \  F\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&v' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(9'X +7 "core" & "y +2 "manipulator"&% +4 "core" % \ s +2 .tForearm.seek :retract + "manipulator"&E'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&V& +4 "core" &( ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &( l ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +105 "core" ' +2 "manipulator"&x& +4 "core" &(   ?R +2 "manipulator"&% +4 "core" % " 1 +2 "collection"'e& +4 "core" &  o\ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'q(V +4 "core" &  ^\ +7 &>  b\ $d +10 &V  e\ 7 +9 &  \\\ L +9 &\\  Z\ M +10 &j\\  _\ M +9 &,Z  Z\ M +10 &^  ]\ M +9 &`  X\ M +9 &s]  V\ L +10 &5^  Z\ L +9 &]  X\ M +9 &!^  W\ M +10 &#z_  V\ M +9 &%=_  R\ L +10 &&^  P\ L +9 &(]  V\ L +9 &*^  R\ L +10 &,E]  O\ L +9 &.\\  Q\ M +9 &/\\  G\ M +10 &1_  Q\ L +9 &3L]  U\ M +10 &5`  T\ L +9 &6]  N\ L +9 &8\\  I\ L +10 &:Sb  F\ M +9 &<_  F\ L +9 &=_  @\ M +10 &?b  E\ M +9 &A\\`  C\ M +10 &Cb  ;\ M +9 &De  i\ M +9 &Fl  $\ N +10 &HZ  >\ P +9 &J  P\ T +9 &K   \ W +10 &M  ;\ W +9 &OM  P\ W +9 &Q  \ W +10 &R  \ Y +10 &T  \ Y +9 &V,v  n\ . +9 &V"  %\ S +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator" +3 "core" &Vn  \ L +49 1 +3 "manipulator"&}% +4 "core" % - ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%h& +4 "core" &j\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %b c\ +2 "storage"(.. +3 "core" .( + "storage"(& +4 "core" & 1\ +2 "storage"(d& +4 "core" & D\ + "manipulator"&& +4 "core" &' ` >N +2 "manipulator"&% +3 "core" %\ ]  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +55 "manipulator"&( +156 "core" ( +2 "manipulator"&m& +4 "core" &  +2 "storage"(|& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +93 "core" ' + "storage"( & +5 "core" & H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & )\ +2 "manipulator"&a& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&)( +7 "core" ( +2 "manipulator"&w& +4 "core" & n + "storage"( & +4 "core" & y\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(''X +7 "core" & $ +2 "manipulator"&% +4 "core" %  '  +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&c(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( + "manipulator"&& +5 "core" &g  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &g ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +93 "core" ' + "manipulator"&& +4 "core" &h  . +2 "manipulator"&% +4 "core" % `  +2 "processing"%& +3 "core" &k\ +2 "processing"%N& +5 "core" &d\ +2 .tPC.seek :closed +2 "processing"%Z(Z +4 "core" &i\  +9 &4j\ *z +10 &eg\ ? +9 &vf\ O +10 &HWh\ M +9 &Zg\ N +9 &\\b\ N +10 &\\a\ N +9 &O]a\ N +9 &\\Z\ N +10 &]c\ N +9 & [`\ N +9 &"W]c\ N +10 &$Zb\ M +9 &%\\g\ N +10 &'`c\ N +9 &)_[h\ N +9 &+![[\ N +10 &,]_\ N +9 &.[X\ N +10 &0gZW\ N +9 &2(ZW\ N +9 &3[Y\ N +10 &5][\ N +9 &7oZX\ N +9 &90]W\ N +10 &:Y^\ N +9 &<]X\ N +13 &>wXX\ N +6 &@8ZW\ N +9 &AZ[\ M +10 &C]W\ N +9 &E~_X\ N +9 &G<kX\ O +10 &Hs[\ Q +9 &JX\ S +9 &LuX\ T +10 &N8W\ S +9 &OW\ T +10 &QW\ T +9 &S|V\ T +9 &U<Y\ U +10 &VX\ T +9 &XW\ U +9 &Z&TyX\ )z +10 &Z_W\ 4 +9 ( + &Z"W\ 0 +3 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"& % +4 "core" % % c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' +3 "processing"%B& +4 "core" &Z"Q\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ # 4 J = +2 "storage"(&% +3 "core" %b ?\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & C\ +2 "storage"(G& +4 "manipulator"&& +4 "core" & C\ + &h + +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&b(s + "storage"(2'i +9 "core" ( +2 "manipulator"&0& +4 "core" &i D z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &i F  +2 .tForearm.seek PC + "manipulator"&6' +104 "core" ' + .tHand.close +2 "manipulator"&,/ +53 "core" / +2 .tPC.seek :open + "processing"%?( +86 "core" ' +2 "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(/'y +39 "core" ' +298 ( +2 "storage"(C& +4 "core" & \ + "manipulator"&W& +4 "core" &j   +2 "manipulator"& % +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&P( +239 "core" ( + "manipulator"&S& +5 "core" &\ ` + "storage"(+& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +89 "core" ' +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +3 "storage"(R- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(O'E +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(^' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(l& +4 "core" & J ;\ +2 "manipulator"&H& +3 "core" &\ ` +2 .tElbow.seek 2 + "manipulator"&T( +4 "core" ( + "manipulator"&k& +4 "core" &\ ' 0 ` +2 "storage"(4& +4 "core" & O 1\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Y' +55 "core" ' + "manipulator"&J& +5 "core" &\ 4 ` + "storage"(\\& +4 "core" & 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +35 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +22 "core" ' +2 "manipulator"&=% +4 "core" % +2 "storage"(r& +4 "core" & '\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&Q' +16 "core" ' +2 "manipulator"&u& +5 "core" &\ b ` + "storage"(3& +4 "core" & L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +28 "core" ' + "storage"(L% +5 "core" %o M\  +2 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (*% +3 "core" %jL \ Xg +3 "manipulator"&]% +4 "core" %ў Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (_& +4 "core" & \ +2 "collection"'i& +4 "core" &Vl  X\ L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&K% +3 "core" %\ # A +2 "storage"(;% +4 "core" %` \ + "storage"(F. +3 "core" .( +2 "storage"(& +3 "core" & [\ +2 "storage"(~& +4 "core" & D\ +2 "manipulator"&s& +3 "core" & P ` +2 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( + "manipulator"&8& +4 "core" & % o ` +2 "storage"(A& +3 "core" & e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +109 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +285 "core" ' +2 "storage"(\ - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&V& +3 "core" &\  _ +2 "storage"(f& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +33 "core" ' + .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(x- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +31 "core" ' + "manipulator"&`% +4 "core" % +2 "storage"(e& +3 "core" & x\ +2 .tForearm.force -20 + "manipulator"&5 +55 .tForearm.seek 2 + 319 counts +3 "manipulator"&9' +13 "core" ' + "manipulator"&E& +5 "core" &\ 2 _ + "storage"(>& +4 "core" & _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'@ +40 "core" ' + "manipulator"&h& +5 "core" &\  _ + "manipulator"&% +4 "core" %ѥ 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +154 "core" ( +3 "manipulator"&& +4 "core" &(  8 ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' b ?T +2 .tForearm.seek CC + "manipulator"&d'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(z& +4 "core" & 8\ +2 "storage"(m& +4 "core" & k\ + "manipulator"&|& +4 "core" &(  ?S +2 "manipulator"& % +3 "core" % #  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1( +157 "core" ( +2 "manipulator"&& +4 "core" & c  +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&a' +95 "core" ' + .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&U% +4 "core" % $ y + "storage"("& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +13 "core" ' + "manipulator"&& +5 "core" & D  +2 "storage"(y& +4 "core" & \ #\ ' o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +25 "core" ' +2 "storage"({% +4 "core" %E\ \ $ f\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (!% +3 "core" %C \ Va + "manipulator"&)% +4 "core" %Ѽ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  M\ + "manipulator"&% +5 "core" %\ %  +2 "storage"('% +4 "core" %b\ %\ ' \ + "storage"((. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(j( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & -\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&B( +14 "core" ( + "manipulator"&& +5 "core" &  Y + "storage"(&& +4 "core" &\ \  [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' + "storage"(N& +4 "core" &\ '\ ) \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &\  }\  +2 "manipulator"&0& +3 "core" & f Y +2 .tElbow.seek 3 + "manipulator"&-( +4 "core" ( + "manipulator"&D& +4 "core" & P Y + "storage"(,& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&X'ϩ +16 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(Z'X +7 "core" & j Y +2 "manipulator"&2% +4 "core" % ϫ  1 +2 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"& & +4 "core" &+ 9 @ Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &+  Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&S'" +101 "core" ' +2 "manipulator"&+& +4 "core" &+ f Ac +2 "manipulator"&b% +4 "core" %' N +2 "collection"'<& +4 "core" &  _\ +2 "collection"'R& +5 "core" &  b\ +2 .tCC.seek :closed +3 "collection"'5(V +4 "core" &  ^\ +6 &  f\ 3 +9 &?H  `\ 1 +9 &kq  _\ E +10 &b  b\ M +9 &\\  b\ M +9 &Z  `\ M +10 &YY  Y\ M +9 &\\  Y\ M +10 &[  T\ M +9 &Z  W\ M +9 &b\\  _\ M +10 &!$\\  Z\ M +9 &"]  c\ M +9 &$]  Y\ M +10 &&iZ  U\ M +9 &(+[  `\ M +10 &)Z  _\ M +9 &+\\  X\ M +9 &-qY  X\ M +10 &/3Z  S\ M +9 &0\\  U\ M +9 &2]  U\ M +10 &4x[  S\ M +9 &6:\\  L\ M +10 &7Z  T\ M +9 &9Z  J\ M +9 &;\\  Q\ M +10 &=BY  H\ M +9 &?[  F\ N +9 &@\\  J\ M +10 &B\\  Z\ M +9 &DJZ  S\ M +10 &F c  T\ N +9 &Gq  W\ P +10 &I  &\ R +9 &K6  \ W +9 &L  C\ X +9 &N  R\ W +10 &Px  (\ X +9 &R9  R\ Y +10 &S  R\ Z +9 &U  .\ G +9 &V3  P\ 't +10 &V\\  \ H +2 ( +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&l1 +55 "core" 1 + "manipulator"&H% +4 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k'\ +98 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%4& +4 "core" &e\ +2 "manipulator"&M% +3 "core" %\  5  +2 "storage"(J% +4 "core" %T \ + "storage"(\\. +4 "core" .( + "storage"(=& +4 "core" & H\  + "storage"(/& +4 "core" & \  +2 "manipulator"&r& +3 "core" &( K ?T +2 "manipulator"&u% +4 "core" %\  ! E  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +159 "core" ( + "manipulator"&3& +4 "core" & \\  +2 "storage"(L& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +104 "core" ' +2 "storage"( & +4 "core" & {\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'i +287 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" & 9\  +2 "manipulator"&:& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&Y& +3 "core" &   +2 "storage"(& +5 "core" & D\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&Q'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +3 "storage"(K'X +7 "core" & }  +2 "manipulator"&;% +4 "core" % ϧ ,  +2 .tForearm.seek :retract + "manipulator"&F'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +3 "manipulator"&7& +4 "core" &o ' V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&s' +95 "core" ' + "manipulator"&8& +4 "core" &o [ +2 "manipulator"&A% +4 "core" %  : +2 "processing"%g& +3 "core" &a\ +2 "processing"%& +63 "core" &j\ +3 &j\ + &i\ + &a\ +2 &b\ + &`\ + &c\ + &`\ +2 .tPC.seek :closed +3 "processing"%o(Z +3 "core" &]\ +5 &`\ 5 +10 &3H}f\ 0 +9 &Zqf\ E +9 &fd\ N +10 &\\Z\ N +9 &Z\\\ N +10 &C\\Y\ N +9 &\\b\ N +9 &_h\ N +10 &Zd\ N +9 &L\\Z\ M +9 &! \\`\ N +10 &"][\ N +9 &$Z^\ N +10 &&TZY\ M +9 &(\\c\ N +9 &)`X\ N +10 &+[W\ N +9 &-[`X\ N +9 &/_X\ M +10 &0]Z\ M +9 &2^W\ M +10 &4cZX\ N +9 &6%YX\ N +9 &7ZW\ N +10 &9\\V\ N +9 &;k_W\ N +9 &=,_W\ N +10 &>\\W\ M +9 &@_W\ N +10 &Br]^\ N +9 &D4_X\ N +10 &Eh[\ O +9 &GsY\ P +9 &IkW\ S +9 &K,W\ S +10 &LY\ T +10 &NW\ S +9 &PqX\ T +9 &R3Y\ T +9 &SX\ T +10 &UY\ U +9 &WvW\ U +9 &Y8Y\ B +10 &ZaGvX\ S +9 &Z FT\ / +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&[1 +4 "core" &Z%T\ / +60 1 + "manipulator"&I% +5 "core" % % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +97 "core" ' +2 "processing"%V& +4 "core" &Z%S\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&f% +4 "core" %\  0 M 7 + "storage"(x% +4 "core" %T 1\ +2 "storage"(`. +3 "core" .( + "storage"(e& +4 "core" & /\  +2 "storage"(E& +3 "manipulator"&>& +6 "core" & .\  + &o a +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&h(s + "storage"('i +6 "core" ( +2 "manipulator"&t& +3 "core" &o 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &o )  +2 .tForearm.seek PC +2 "manipulator"&n' +94 "core" ' +2 .tHand.close + "manipulator"&@/ +55 "core" / +2 .tPC.seek :open +2 "processing"%9( +98 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +287 ( + "storage"(& +5 "core" & +\  +2 "manipulator"&#& +4 "core" &o m +2 "manipulator"&v% +3 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +261 "core" ( + "manipulator"&q& +5 "core" &  ` + "storage"(z& +4 "core" & C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +87 "core" ' +2 .tHand.open + "manipulator"&|1 +57 "core" 1 +7 "storage"( - +5 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(d- +3 "core" -' +2 "storage"(.& +4 "core" & C E %\  +2 "manipulator"& & +3 "core" & / +2 .tElbow.seek 3 + "manipulator"&U( +4 "core" ( + "manipulator"&"& +4 "core" & x +2 "storage"(& +4 "core" & H F I\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +62 "core" ' +2 "manipulator"&& +4 "core" & F +2 "storage"(!& +3 "core" & M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&)'} +26 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(a'i +24 "core" ' + "manipulator"&% +5 "core" %Ύ t +2 "storage"(& +4 "core" & S\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'Ϻ +19 "core" ' + "manipulator"&'& +5 "core" & + "storage"((& +4 "core" & s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +36 "core" ' +2 "storage"(% +4 "core" %r -\  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (%% +4 "core" %[J \ We +2 "manipulator"&% +4 "core" %B L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & R\  + "collection"'&& +4 "core" &V_  L\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&N% +4 "core" %\    +2 "storage"(w% +3 "core" %` j\  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(G& +4 "core" & \  +2 "manipulator"&0& +3 "core" & 7 +2 .tElbow.seek 3 + "manipulator"&D( +4 "core" ( + "manipulator"&,& +4 "core" &   +2 "storage"(c& +3 "core" & O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +95 "core" ' + "storage"(2& +4 "core" & 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & q +2 "storage"(6& +3 "core" & .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' + .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(b'Z +27 "core" ' +2 "manipulator"&<% +4 "core" %ΐ + "storage"(-& +4 "core" & 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&Z'ϼ +12 "core" ' +2 "manipulator"&C& +4 "core" & c + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&l'9 +23 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate + "storage"(H'I +37 "core" ' +2 "manipulator"&4& +4 "core" & > +2 "manipulator"&M% +3 "core" %X " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +185 "core" ( +2 "manipulator"&=& +4 "core" & $ L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" & L +2 .tForearm.seek CC +2 "manipulator"&R'" +97 "core" ' + .tHand.close +2 "manipulator"&r/ +61 "core" / +2 .tCC.seek :open +2 "collection"'u( +416 "core" ( + "storage"(S& +4 "core" & j\  +2 "storage"(3& +3 "core" & /\  +2 "manipulator"&L& +3 "core" & k L +2 "manipulator"& % +4 "core" % / +2 .tForearm.seek :retract + "manipulator"&W'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&k( +154 "core" ( + "manipulator"&*& +4 "core" & Q b +2 "storage"(]& +4 "core" &\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&:'} +93 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +64 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "manipulator"&_% +4 "core" % ΐ  p + "storage"(i& +4 "core" &\ \  S\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&;'ϼ +26 "core" ' +2 "manipulator"&O& +4 "core" & v b +2 "storage"(P& +4 "core" &\ $\ $ O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +18 "core" ' + "storage"(Q% +5 "core" %N\ 6\ H \  +2 ."downElevator"SE.seek :down +4 "storage"(7'X +98 (~% +3 "core" %F\ \  {\ Wb +2 "manipulator"&T% +4 "core" %0 } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'A& +5 "core" &  _\ + "manipulator"&g% +4 "core" %\    +2 "storage"(K% +4 "core" %T\ '\ ' v\ + "storage"(F. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(?( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" & (\ +2 "manipulator"&I& +4 "core" &  b + .tElbow.seek 2 +2 "manipulator"&V( +53 "core" ( +2 "manipulator"&f& +4 "core" & $ j # + "storage"(x& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +95 "core" ' +2 "storage"(& +4 "core" & \ &\ $ 6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +285 "core" ' +2 "storage"(>- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +2 "core" & h\ +2 "manipulator"&t& +4 "core" & g +2 .tElbow.seek 2 +2 "manipulator"&p( +25 "core" ( + "manipulator"&s& +4 "core" &  +2 "storage"(@& +4 "core" & \ \  1\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"(o'X +7 "core" & h  +2 "manipulator"&% +4 "core" % ) +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&v& +4 "core" &* E  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &* +  @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'" +106 "core" ' +2 "manipulator"&z& +4 "core" &* a @\\ +2 "manipulator"&h% +4 "core" % - +2 "collection"'|& +3 "core" &  c\ +2 "collection"' & +6 "core" &  k\ +2 .tCC.seek :closed + "collection"'d(V +5 "core" &  f\ +6 &4  e\ $c +10 &U  f\ 7 +9 &  ^\ L +9 &X  c\ M +10 &gZ  B\ M +9 &*Z  f\ L +10 &\\  d\ M +9 &Z  c\ M +9 &n[  ^\ M +10 &1[  Y\ M +9 &Z  S\ M +9 &!]  X\ M +10 &#v\\  Y\ M +9 &%8\\  V\ M +10 &&[  W\ M +9 &(Z  S\ M +9 &*~^  S\ M +10 &,@Z  _\ M +9 &.[  W\ M +9 &/[  L\ M +10 &1]  P\ M +9 &3IZ  T\ M +10 &5 Y  R\ M +9 &6[  W\ M +9 &8Z  S\ L +10 &:P]  K\ M +9 &<]  L\ M +9 &=\\  N\ M +10 &?\\  G\ M +9 &AXZ  ,\ M +10 &C]  P\ M +9 &Dc  G\ N +10 &Fh  E\ N +9 &HT}  B\ Q +9 &J  E\ U +9 &K  O\ X +10 &M  L\ X +9 &OG  L\ X +10 &Q  J\ Y +9 &R  G\ Z +9 &T  \ Z +10 &V't  &\ / +9 &V$  N\ R +9 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"&.1 +4 "core" &V`  P\ J +56 1 +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &[\ + "manipulator"&% +4 "core" %\  /  +2 "storage"(% +3 "core" %T T\ +2 "storage"(!. +3 "core" .( + "storage"(& +4 "core" & 0\ +2 "storage"(& +3 "core" & *\ +2 "manipulator"&& +4 "core" &* 0 H @X + "manipulator"&'% +4 "core" %\  o  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +161 "core" ( + "manipulator"&(& +4 "core" & O  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 "storage"(m& +4 "core" & R\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ +2 "manipulator"&y& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&U( +4 "core" ( + "manipulator"&{& +4 "core" & s  + "storage"()& +4 "core" & _\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&&& + "storage"(N'X +7 "core" & c  + "manipulator"&w% +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&a& +4 "core" &i ( -  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &i v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&0' +97 "core" ' +2 "manipulator"&,& +4 "core" &j  l  +2 "manipulator"&c% +4 "core" % +2 "processing"%}& +3 "core" &A\ +2 "processing"%2& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &P\  +9 &1U\ *x +9 &bT\ > +10 &rxJ\ N +9 &3[T\ N +10 &ZV\ N +9 &_[\ N +9 &z\\]\ N +10 &<^^\ N +9 &\\O\ N +9 &YT\ N +10 & \\^\ N +9 &"DZK\ N +10 &$ZR\ M +9 &%\\Q\ N +9 &'[T\ N +10 &)M\\V\ M +9 &+[L\ N +9 &,Y^\ M +10 &.[U\ N +9 &0UYU\ M +9 &2ZS\ N +10 &3YX\ M +9 &5\\Q\ N +10 &7\\XV\ N +9 &9ZS\ M +9 &:YW\ N +10 &<]W\ N +9 &>dYV\ N +10 &@'ZV\ M +9 &AYN\ N +9 &C_W\ N +10 &Ej_Y\ N +9 &G)gV\ O +9 &HqS\ P +10 &JW\ S +9 &LbR\ T +9 &N%Q\ S +10 &OS\ T +9 &QX\ T +10 &SiP\ T +9 &U*W\ T +9 &VW\ T +10 &XX\ T +9 &ZaW\ $o +9 &Z\\W\ / +9 ( +3 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&11 +3 "core" &ZR\ + +58 1 + "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"% & +4 "core" &ZW\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&6% +4 "core" %\   D  + "storage"(+% +4 "core" %T \ +2 "storage"(<. +3 "core" .( + "storage"(-& +4 "core" & 2\ +2 "storage"(C& +4 "manipulator"&& +4 "core" & 9\ + &j   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&4(s + "storage"(M'i +6 "core" ( + "manipulator"&$& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &j   +2 .tForearm.seek PC +2 "manipulator"&B' +95 "core" ' + .tHand.close +57 "manipulator"&/ +58 "core" / + .tPC.seek :open +2 "processing"%Z( +36 "core" ' + "storage"(b- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +46 "core" ' +341 ( +2 "storage"(/& +4 "core" & I\ + "manipulator"&l& +4 "core" &j   +2 "manipulator"&X% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +262 "core" ( + "manipulator"&5& +4 "core" & $ C +2 "storage"(S& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +97 "core" ' + .tHand.open +2 "manipulator"&L1 +52 "core" 1 + "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(]' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(\\& +4 "core" & E C \ + "manipulator"&& +4 "core" & ? +2 .tElbow.seek 2 +2 "manipulator"&_( +7 "core" ( +2 "manipulator"&i& +4 "core" &  : +2 "storage"(O& +3 "core" & ( $ T\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(W' +57 "core" ' +2 "manipulator"&Q& +3 "core" & +2 "storage"(k& +5 "core" & /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&~' +36 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'i +22 "core" ' +2 "manipulator"&A% +4 "core" % { +2 "storage"(;& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&g' +15 "core" ' + "manipulator"&K& +5 "core" & + "storage"(F& +4 "core" & k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +36 "core" ' + "storage"(^% +5 "core" %o K\ +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (j% +3 "core" %0L I\ We +2 "manipulator"&[% +5 "core" %ѝ f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" & |\ +2 "collection"'x& +4 "core" &V`  \\\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ L 6 +2 "storage"(Y% +3 "core" %\\ '\ +2 "storage"(8. +3 "core" .( +2 "storage"(>& +4 "core" & )\ + "storage"(E& +4 "core" & H\ +2 "manipulator"&t& +3 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&@& +4 "core" & $ a +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +94 "core" ' + "storage"(& +5 "core" & y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +280 "core" ' +2 "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&v& +3 "core" & f +2 "storage"(n& +3 "core" & R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&e' +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(h'O +29 "core" ' + "manipulator"&|% +4 "core" % B +2 "storage"(p& +3 "core" & y { \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&o' +14 "core" ' + "manipulator"&& +5 "core" & % + "storage"(u& +4 "core" & "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '> +39 "core" ' +2 "manipulator"&& +4 "core" & + "manipulator"&% +4 "core" %э +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&!( +162 "core" ( +2 "manipulator"& & +4 "core" &"  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &" ' Q 9% +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"''( +416 "core" ( +2 "storage"(q& +4 "core" & p\ + "storage"((& +4 "core" & w\ +2 "manipulator"&& +3 "core" &" [ 9% +2 "manipulator"&m% +3 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +153 "core" ( +2 "manipulator"&%& +4 "core" &  Q  + "storage"(& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&y' +106 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&)1 +58 "core" 1 +2 "manipulator"&% +4 "core" %    +2 "storage"(&& +3 "core" & K\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&w' +12 "core" ' +3 "manipulator"&& +4 "core" & o  + "storage"(& +4 "core" & \ '\ & P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +23 "core" ' +2 "storage"(% +4 "core" %E\ \ \ J\ +2 ."downElevator"SE.seek :down +4 "storage"(a'X +99 (G% +2 "core" %pE Z\ Wb +2 "manipulator"&U% +4 "core" %ѳ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +93 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'c& +4 "core" &  \\\ +2 "manipulator"&}% +4 "core" %\ # 5 = + "storage"(N% +4 "core" %`\ \  +\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(9( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" & ;\  +2 "manipulator"& & +4 "core" & =  + .tElbow.seek 3 +2 "manipulator"& ( +16 "core" ( + "manipulator"&6& +4 "core" & & K +2 "storage"(+& +4 "core" &\ \  >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +96 "core" ' +2 "storage"(-& +4 "core" &\ $\ ( 5\  +2 .tSE.reconfigure :pick +56 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +291 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &\ \  O\  +2 "manipulator"&$& +4 "core" &  K + .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&0& +4 "core" & Y K + "storage"(& +4 "core" &\ (\ & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&b'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +65 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +7 "core" & K +2 "manipulator"&M% +4 "core" % Ϫ J + .tForearm.seek :retract +2 "manipulator"&/'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( +2 "manipulator"&X& +4 "core" &+ )  Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &+ ~ Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&5'" +100 "core" ' + "manipulator"&S& +5 "core" &+  Aa + "manipulator"&4% +4 "core" %) G +2 "collection"'L& +4 "core" &  ~\ +2 "collection"' & +5 "core" &  z\ +2 .tCC.seek :closed +2 "collection"'R(V +4 "core" &  c\  +8 &1  m\ *x +10 &c  d\ > +9 &tv  n\ N +10 &8Z  `\ M +9 &_  f\ M +9 &Z  a\ M +10 &~Z  l\ M +9 &AZ  \\\ L +9 &[  c\ M +10 &[  ^\ M +9 & \\  T\ M +10 &"H[  [\ M +9 &$\ [  \\\ M +9 &%\\  Y\ M +10 &'Z  Z\ M +9 &)PY  U\ M +9 &+[  T\ M +10 &,Z  U\ L +9 &.\\  U\ M +10 &0X\\  S\ M +9 &2Z  S\ M +9 &3[  Q\ L +10 &5Y  S\ M +9 &7a[  Q\ L +9 &9"[  U\ M +10 &:\\  P\ M +9 &<]  O\ M +10 &>h\\  N\ M +9 &@)_  L\ M +9 &A[  P\ M +10 &C\\  Q\ M +9 &Elb  R\ N +10 &G+k  R\ O +9 &Hy  P\ P +9 &J  P\ U +10 &LZ  Q\ W +9 &N  P\ W +10 &O  H\ X +9 &Q  M\ X +9 &S\\  H\ Y +9 &U  Q\ Y +10 &VfB  F\ 1 +9 &V v  E\ I +6 ( + "collection"' & +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"&\\1 +4 "core" &Vj  E\ I +52 1 +3 "manipulator"&% +4 "core" % ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%O& +4 "core" &;\ + "manipulator"&r% +4 "core" %\  *   +2 "storage"(Q% +4 "core" %a \ + "storage"(k. +3 "core" .( +2 "storage"(=& +4 "core" & F\  + "storage"(A& +4 "core" & p\  +2 "manipulator"&;& +4 "core" &(  ?S + "manipulator"&*% +4 "core" %\  8  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&K( +163 "core" ( + "manipulator"&F& +5 "core" & Y s + "storage"(^& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +100 "core" ' + "storage"(3& +5 "core" & s\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'i +276 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" & !\  +2 "manipulator"&P& +3 "core" &  s +2 .tElbow.seek 3 +2 "manipulator"&_( +2 "Can"<\ GE +4 "core" ( + "manipulator"&W& +4 "core" & P s + "storage"(~& +4 "core" & /\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"('X +7 "core" &  s +2 "manipulator"&Y% +3 "core" % ϼ  Z +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&:(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&>& +4 "core" &x ) p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &x C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +94 "core" ' + "manipulator"&@& +4 "core" &x o +2 "manipulator"&% +4 "core" %   +2 "processing"%H& +4 "core" &i\ +2 "processing"%& +5 "core" &S\ +2 .tPC.seek :closed + "processing"%7(Z +4 "core" &_\  +9 &1_\ *y +10 &cf\ > +9 &rxX\ N +10 &3\\Y\ N +9 &Z\\\ N +9 &\\U\ N +9 &{\\^\ N +10 &=^Y\ N +9 &\\]\ M +10 &\\_\ N +9 & _\\\ N +9 &"EZW\ N +10 &$XN\ N +9 &%ZW\ N +9 &'\\Q\ M +10 &)M\\[\ N +9 &+^M\ N +10 &,XS\ N +9 &.ZS\ M +9 &0VZW\ M +10 &2ZR\ N +9 &3]O\ N +9 &5^E\ N +10 &7\\\\P\ N +9 &9YS\ N +10 &:ZK\ M +9 &<]U\ N +9 &>fWP\ M +10 &@'ZX\ N +9 &AYW\ N +9 &C]V\ M +10 &EjbX\ O +9 &G)lZ\ P +10 &HZ\ R +9 &JX\ S +9 &LdX\ S +10 &N%Y\ T +9 &OZ\ S +9 &QX\ S +10 &SiY\ T +9 &U*X\ U +10 &VW\ U +9 &XX\ T +10 &Z_Y\ $o +9 &Z[T\ + +9 ( + &ZM\ ' +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&T1 +63 "core" 1 +2 "manipulator"&I% +4 "core" %  s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +98 "core" ' +2 "processing"%v& +4 "core" &ZK\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +4 "core" %\ "  ; +2 "storage"(z% +4 "core" %\\ ;\ + "storage"(|. +3 "core" .( +2 "storage"(p& +4 "core" & ,\  + "storage"(& +2 "manipulator"&u& +8 "core" & m\  + &x +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&\ & +4 "core" &x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &x & +2 .tForearm.seek PC +2 "manipulator"&V' +97 "core" ' + .tHand.close + "manipulator"&e/ +54 "core" / +2 .tPC.seek :open + "processing"%o( +94 "core" ' + "storage"(h- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +43 "core" ' +287 ( + "storage"(& +4 "core" & @\  +2 "manipulator"&.& +4 "core" &x c + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +272 "core" ( + "manipulator"&d& +4 "core" & $ ? n +2 "storage"(q& +3 "core" & c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +96 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(%'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(!& +4 "core" & H D \  + "manipulator"&)& +4 "core" &  n +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&&& +4 "core" &  _ n +2 "storage"(& +4 "core" & @ 2 Z\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&#& +58 "core" & n +2 "storage"(G& +4 "core" & 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'} +26 "core" ' +2 .tElbow.hold + "manipulator"&", +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'i +29 "core" ' +2 "manipulator"&c% +4 "core" %Ύ  , +2 "storage"(w& +3 "core" & I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&}'Ϻ +12 "core" ' +2 "manipulator"&N& +4 "core" & 9 n +2 "storage"(& +4 "core" & =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +23 "core" ' + "storage"(% +5 "core" %n y\ +2 ."downElevator"SE.seek :down +4 "storage"(a'X +99 (?% +4 "core" %I o\ Xf +2 "manipulator"&1% +4 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" & =\  +2 "collection"'+& +4 "core" &Vj   \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\  I  +2 "storage"({% +3 "core" %R P\ +2 "storage"(,. +3 "core" .( +2 "storage"(C& +4 "core" & F\  + "storage"(2& +4 "core" & -\  + "manipulator"&$& +4 "core" &  n +2 .tElbow.seek 3 +2 "manipulator"&0( +3 "core" ( + "manipulator"&& +4 "core" &  ] n +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(M& +5 "core" & 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  n + "storage"(B& +4 "core" & P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +23 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(4'Z +29 "core" ' + "manipulator"&D% +4 "core" %Έ ~ +2 "storage"(L& +3 "core" & $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +27 "core" ' + "manipulator"&/& +4 "core" & n +2 "storage"('& +4 "core" & X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('I +38 "core" ' +2 "manipulator"&O& +4 "core" & n +2 "manipulator"&r% +4 "core" %K 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k( +156 "core" ( +2 "manipulator"&=& +5 "core" & # 1 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" & - 7 +2 .tForearm.seek CC +2 "manipulator"& '" +99 "core" ' +2 .tHand.close + "manipulator"&;/ +61 "core" / +2 .tCC.seek :open +2 "collection"'*( +416 "core" ( + "storage"(5& +5 "core" & }\  + "storage"(F& +4 "core" & v\  + "manipulator"&^& +4 "core" & ) M 7 + "manipulator"&3% +4 "core" % 3 2  +2 .tForearm.seek :retract + "manipulator"&l'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i( +167 "core" ( +2 "manipulator"&j& +4 "core" &  c o + "storage"([& +4 "core" &\ \  /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&P'} +103 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"&f% +4 "core" % ΍ $ ? v +2 "storage"(x& +4 "core" &\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&Y'Ϲ +12 "core" ' +2 "manipulator"&K& +4 "core" & c o + "storage"(J& +4 "core" &\ #\ $ 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&]'9 +23 "core" ' +2 "storage"(g% +4 "core" %Q\ \ $\ +2 ."downElevator"SE.seek :down +3 "storage"(>'X +100 (E% +3 "core" %F\ \  Z\ Wc + "manipulator"&_% +4 "core" %W ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &  j\ +2 "manipulator"&H% +3 "core" %\  h  +2 "storage"(% +4 "core" %S\ '\ & \ + "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Z( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" & 4\ +2 "manipulator"&I& +3 "core" &  o +2 .tElbow.seek 2 + "manipulator"&v( +43 "core" ( + "manipulator"&n& +5 "core" & $ 9 + "storage"(z& +4 "core" & \ \  t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +95 "core" ' + "storage"(& +5 "core" & \ %\ ' a\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +286 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ w\ + "manipulator"&\ & +4 "core" & 7 9 +2 .tElbow.seek 2 + "manipulator"&s( +25 "core" ( + "manipulator"&t& +4 "core" & > z +2 "storage"(e& +4 "core" & \ \  W\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&h' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& "storage"(7'X +8 "core" & 7 z + "manipulator"&% +4 "core" %  R +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &) C | @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &( . e ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'" +98 "core" ' +2 "manipulator"&q& +5 "core" &)  - ?U +2 "manipulator"&% +3 "core" %,  +2 "collection"'& +4 "core" &  }\ +2 "collection"'m& +5 "core" &  y\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  q\ +8 &5  p\ $e +9 &V  j\ 7 +10 &  m\ L +9 &V  g\ M +10 &jX  h\ M +9 &,Y  g\ M +9 &Z  d\ L +10 &Z  h\ M +9 &tZ  g\ L +9 &5Z  f\ M +10 &Z  a\ L +9 &!\\  \\\ M +9 &#{[  a\ M +10 &%>[  _\ L +9 &&Z  `\ M +10 &(W  d\ M +9 &*Y  [\ M +9 &,EZ  W\ M +10 &.]  W\ M +62 &/Y  ]\ M +4 &1\\  Y\ M +5 &3MX  P\ M + &5Z  U\ M + &6]  b\ M + &8W  T\ M + &:V[  T\ L +3 &<\\  M\ M +6 &=[  R\ M +10 &?^  N\ M +9 &A^Z  O\ L +9 &C]  W\ M +10 &Da  T\ M +9 &Fi  Z\ O +9 &HZ|  T\ P +10 &J  W\ U +9 &K  L\ W +9 &M  K\ W +10 &OM  L\ X +9 &Q  K\ X +10 &R  Q\ Y +9 &T  I\ Y +10 &V*s  S\ . +9 &V$  D\ Q +9 ( + &V`  H\ J +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&!1 +61 "core" 1 +3 "manipulator"&)% +4 "core" % , f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &O\ +2 "manipulator"&% +3 "core" %\  g  +2 "storage"(#% +4 "core" %T b\ + "storage"(G. +3 "core" .( +2 "storage"( & +3 "core" & +\ +2 "storage"(%& +4 "core" & \ +2 "manipulator"&c& +4 "core" &( >I + "manipulator"&w% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&N( +162 "core" ( + "manipulator"&& +4 "core" &  f  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' + "storage"((& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" & g\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & G  + "storage"(U& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&}' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&+& "storage"(-'X +8 "core" & 4  + "manipulator"&{% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&y'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&C& +5 "core" &n 7 B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &n D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$' +95 "core" ' + "manipulator"&& +5 "core" &n i + "manipulator"&% +4 "core" %   +2 "processing"% & +4 "core" &Y\ +2 "processing"%M& +5 "core" &V\ +2 .tPC.seek :closed +2 "processing"%a(Z +4 "core" &a\  +8 &2~Q\ *y +10 &bT\ > +9 &|xM\ N +10 &?[J\ N +9 &Y[\ N +9 &ZW\ N +10 &ZS\ N +9 &G]_\ N +9 & \\W\ N +10 &]P\ N +9 & \\F\ M +10 &"O[K\ N +9 &$WV\ N +9 &%ZW\ M +10 &'\\P\ N +9 &)W\\S\ N +9 &+YW\ N +10 &,YW\ N +9 &.ZM\ N +10 &0_YV\ N +9 &2!YT\ N +9 &3XW\ N +10 &5ZW\ M +9 &7gZX\ N +9 &9)]X\ N +10 &:WR\ M +9 &<ZV\ N +10 &>o\\S\ N +9 &@1^Q\ N +9 &A\\V\ N +10 &C_V\ N +9 &Eu^W\ N +9 &G5fX\ O +10 &HuU\ Q +9 &JN\ S +10 &LnS\ S +9 &N0X\ S +9 &OX\ S +10 &QM\ T +9 &StX\ T +9 &U5Y\ T +10 &VX\ U +9 &XV\ U +10 &Z#ZW\ %q +9 &Z^K\ 2 +9 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&"1 +4 "core" &Z N\ - +51 1 + "manipulator"& % +4 "core" %  [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' + "processing"%X& +4 "core" &Z W\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&B% +4 "core" %\  N  +2 "storage"(S% +4 "core" %a \ + "storage"(D. +3 "core" .( +2 "storage"(L& +3 "core" & \ +2 "storage"(/& +4 "manipulator"&'& +4 "core" & \ + &n  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&O(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(r'i +3 "core" ( + "manipulator"&& +4 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &n  +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%( +84 "core" ' +2 "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='y +45 "core" ' +295 ( + "storage"(A& +4 "core" & \\\ +2 "manipulator"&\\& +3 "core" &n % +2 "manipulator"&b% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&;'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q( +267 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(5& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +97 "core" ' + .tHand.open +2 "manipulator"&^1 +56 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(k& +4 "core" & 9 E \ +2 "manipulator"&~& +3 "core" & '  +2 .tElbow.seek 2 + "manipulator"&f( +8 "core" ( +2 "manipulator"&x& +4 "core" &  q  +2 "storage"(K& +4 "core" & E E /\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(g' +57 "core" ' + "manipulator"&l& +5 "core" & 8  + "storage"(E& +4 "core" & ,\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_' +34 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(P'i +24 "core" ' +2 "manipulator"&Y% +4 "core" % +2 "storage"(& +4 "core" & ;\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&H' +14 "core" ' + "manipulator"&& +4 "core" & b  +2 "storage"(8& +4 "core" & ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' + "storage"(]% +5 "core" %n \ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (9% +3 "core" %H \ Wc +2 "manipulator"&T% +4 "core" %Ѡ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" & \ +2 "collection"'z& +4 "core" &V`  ^\ J + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\ Q  +2 "storage"(W% +3 "core" %\\ \ +2 "storage"(@. +3 "core" .( +2 "storage"(u& +4 "core" & \ + "storage"(& +4 "core" & w\ + "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( + "manipulator"&e& +4 "core" & ,  + "storage"(:& +4 "core" & v\ +2 .tForearm.reconfigure :tight +56 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +94 "core" ' +2 "storage"(& +4 "core" & H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +287 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & O  + "storage"(V& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p' +35 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +31 "core" ' + "manipulator"&% +5 "core" % + "storage"(s& +4 "core" & x B\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&7' +15 "core" ' + "manipulator"&& +5 "core" &  + "storage"(*& +4 "core" & 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"()'? +40 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +4 "core" %Ѫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&G( +167 "core" ( +2 "manipulator"& & +4 "core" &( - ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &( ?S +2 .tForearm.seek CC + "manipulator"&%'" +93 "core" ' + .tHand.close +2 "manipulator"&c/ +53 "core" / +2 .tCC.seek :open + "collection"'w( +417 "core" ( + "storage"(d& +4 "core" & \ +2 "storage"(& +4 "core" & '\ + "manipulator"&& +4 "core" &( ( + ?R + "manipulator"&(% +4 "core" % 5 4 +2 .tForearm.seek :retract +2 "manipulator"&.'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&&( +156 "core" ( +2 "manipulator"&?& +4 "core" &  *  + "storage"(1& +4 "core" & R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +108 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +64 "core" 1 +2 "manipulator"&6% +4 "core" % u & + "storage"(+& +5 "core" & ;\ + .tForearm.force -20 +6 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&{' +20 "core" ' + "manipulator"&N& +4 "core" & o  +2 "storage"(& +4 "core" & \ \  e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' + "storage"(}% +5 "core" %F\ '\ ' <\ +2 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (2% +3 "core" %F\ \  ;\ Va +2 "manipulator"&% +4 "core" %ѥ C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  f\ +2 "manipulator"& % +4 "core" %\ L 2 + "storage"(-% +4 "core" %_\ \  \ +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(o( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" & a\  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&X( +19 "core" ( + "manipulator"&B& +5 "core" &  Z 0 + "storage"(S& +4 "core" &\ \  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +95 "core" ' +2 "storage"(L& +4 "core" &\ .\ $ ^\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +285 "core" ' +2 "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (M& +3 "core" & c\  +2 "manipulator"&& +3 "core" &  0 +2 .tElbow.seek 3 +2 "manipulator"&0( +3 "core" ( + "manipulator"&$& +4 "core" & \\ 0 + "storage"(& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(a'X +8 "core" & 3 0 + "manipulator"&r% +4 "core" % Ϩ : +2 .tForearm.seek :retract + "manipulator"&A'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +29 "core" ( + "manipulator"&b& +5 "core" &# ' V :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &# / :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'" +98 "core" ' + "manipulator"&5& +4 "core" &# :0 +2 "manipulator"&O% +4 "core" % } 2 +2 "collection"'^& +4 "core" &  |\ +2 "collection"'3& +6 "core" &  o\ +2 .tCC.seek :closed + "collection"' (V +5 "core" &  r\ +6 &6  p\ $e +9 &W  o\ 8 +10 &|  p\ L +9 &V  o\ L +9 &nZ  p\ M +10 &0\\  p\ M +9 &]  n\ M +10 &X  o\ M +9 &vX  n\ M +9 &8X  m\ M +10 &X  g\ M +9 &!Z  f\ L +9 &#~[  f\ M +10 &%@^  m\ M +9 &'X  f\ M +9 &([  d\ M +10 &*Z  \\\ M +9 &,HZ  [\ M +10 &. \\  \\\ L +9 &/Z  Z\ M +9 &1]  \\\ M +10 &3PW  Z\ M +9 &5W  Y\ M +9 &6X  T\ M +10 &8\\  Y\ M +9 &:X^  W\ M +10 &<Z  Y\ M +9 &=Z  T\ M +9 &?Y  T\ M +10 &A`X  R\ M +9 &C#\\  K\ L +9 &D`  V\ M +10 &Fg  Z\ N +9 &H^v  R\ P +10 &J  L\ S +9 &K  H\ X +9 &M  T\ W +10 &OO  U\ X +9 &Q  V\ X +10 &R  S\ Y +9 &T  R\ Y +9 &V/v  Q\ . +10 &V!  Y\ Q +8 ( +3 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open + "manipulator"&k1 +4 "core" &Vc  N\ K +58 1 +2 "manipulator"&~% +5 "core" % &  , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%K& +4 "core" &A\ +2 "manipulator"&;% +4 "core" %\    +2 "storage"(l% +3 "core" %^ i\ +2 "storage"(E. +3 "core" .( +2 "storage"(=& +3 "core" & O\  +2 "storage"(Y& +4 "core" & \  +2 "manipulator"&& +4 "core" & # D :. + "manipulator"&j% +4 "core" %\  !  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( + "manipulator"&8& +5 "core" &   a + "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Q'9 +106 "core" ' +2 "storage"(F& +4 "core" & 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['i +282 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" & !\  +2 "manipulator"&J& +4 "core" & Y a + .tElbow.seek 3 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +4 "core" &  n a + "storage"(_& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&H'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +56 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"('X +7 "core" & X a +2 "manipulator"&W% +4 "core" % ϰ =  +2 .tForearm.seek :retract + "manipulator"&P'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&u& +4 "core" &s '  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &s   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&\ ' +95 "core" ' +2 "manipulator"&e& +4 "core" &s  C  +2 "manipulator"&:% +4 "core" %   + "processing"%& +4 "core" &W\ +2 "processing"%& +5 "core" &O\ +3 .tPC.seek :closed + "processing"%>(Z +5 "core" &]\ +7 &?[\ %f +10 &WU\ 8 +9 &~V\ M +9 &YL\ M +10 &v\\S\ N +9 &8]^\ N +9 &ZX\ N +10 &YR\ N +9 &}_L\ N +9 &@ZR\ N +10 & [U\ N +9 &!XV\ N +10 &#YM\ N +9 &%HYV\ N +9 &'\ YV\ N +10 &(XY\ N +9 &*YX\ N +10 &,O]R\ N +9 &.ZN\ N +9 &/WV\ N +10 &1XW\ N +9 &3W\\R\ N +9 &5WR\ N +10 &6ZO\ M +9 &8YU\ N +9 &:`\\S\ N +10 &<"VU\ N +9 &=V[\ N +10 &?UX\ N +9 &AiYP\ M +9 &C*[Q\ N +10 &D_R\ N +9 &FgU\ O +9 &Hd{V\ R +10 &J W\ T +9 &KT\ T +10 &MW\ S +9 &OfY\ T +9 &Q(U\ T +10 &RV\ T +9 &TU\ T +10 &VkV\ U +9 &X,S\ U +10 &Y{nJ\ / +9 &Z)nV\ G +9 &Z"Q\ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&i1 +56 "core" 1 + "manipulator"&I% +4 "core" %  h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +98 "core" ' + "processing"%& +4 "core" &Z"W\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&V% +4 "core" %\ \  c  +2 "storage"(q% +3 "core" %` f\ +2 "storage"(. +3 "core" .( + "storage"(s& +4 "core" & E\  +2 "storage"(& +3 "manipulator"&*& +6 "core" & \  + &s ' ?  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"('i +5 "core" ( +2 "manipulator"&`& +3 "core" &s  E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &s   +2 .tForearm.seek PC + "manipulator"&v' +96 "core" ' + .tHand.close +2 "manipulator"&p/ +55 "core" / +2 .tPC.seek :open + "processing"%7( +92 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +45 "core" ' +286 ( +2 "storage"(m& +4 "core" & \  + "manipulator"&!& +4 "core" &s <  +2 "manipulator"&h% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&#( +269 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(d& +4 "core" & !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"((- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(?'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"(G& +4 "core" & D F F\  +2 "manipulator"&U& +4 "core" & I  + .tElbow.seek 3 +2 "manipulator"&6( +4 "core" ( + "manipulator"&+& +4 "core" &  X  + "storage"(N& +4 "core" & 3 E Y\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +60 "core" ' + "manipulator"&.& +5 "core" &   + "storage"(2& +4 "core" & H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&{% +4 "core" %Ή  g + "storage"(& +4 "core" & [\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"& 'ϵ +20 "core" ' +2 "manipulator"&-& +4 "core" & >  +2 "storage"(y& +4 "core" & A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&)'9 +34 "core" ' + "storage"(% +5 "core" %l \ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +99 (Z% +3 "core" %I 6\ We +2 "manipulator"&"% +4 "core" %4 # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (B& +4 "core" & R\  + "collection"'S& +4 "core" &Vd  _\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&L% +4 "core" %\   +2 "storage"(% +3 "core" %` Y\ +2 "storage"(. +3 "core" .( +2 "storage"('& +3 "core" & \  +2 "storage"(M& +4 "core" & \  +2 "manipulator"&& +3 "core" & 4  +2 .tElbow.seek 3 + "manipulator"&$( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(,& +3 "core" & ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +91 "core" ' +2 "storage"(r& +5 "core" & a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'i +280 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +2 "core" & g  +2 "storage"(/& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& '} +28 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(5'Z +31 "core" ' + "manipulator"&O% +4 "core" %΋ [ +2 "storage"(^& +4 "core" & '\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&a'Ϸ +12 "core" ' + "manipulator"&A& +4 "core" & E  +2 "storage"(w& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +26 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(~'I +39 "core" ' +2 "manipulator"&K& +4 "core" &   +2 "manipulator"&;% +4 "core" %8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&E( +169 "core" ( + "manipulator"&=& +4 "core" &* - @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &* ' o @W +2 .tForearm.seek CC +55 "manipulator"&3'" +99 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'j( +415 "core" ( +2 "storage"(R& +4 "core" & l\  + "storage"(8& +4 "core" & m\  + "manipulator"&]& +4 "core" &\ % <? +2 "manipulator"&F% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&\\'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&x( +158 "core" ( + "manipulator"&9& +4 "core" &  F  +2 "storage"(T& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&J'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +56 "core" 1 +2 "manipulator"&n% +4 "core" % Α % ( s + "storage"(z& +4 "core" & x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&W'Ͻ +27 "core" ' + "manipulator"&& +5 "core" & K  + "storage"(Q& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +29 "core" ' +2 "storage"(H% +4 "core" %R\ (\ % F\ +3 ."downElevator"SE.seek :down +3 "storage"(u'X +99 (% +3 "core" %G\ \  \ Vb + "manipulator"&f% +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"':& +4 "core" &  f\ +2 "manipulator"&% +3 "core" %\  R + +2 "storage"(% +4 "core" %R\ \  \ +2 "storage"(P. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" & ]\ + "manipulator"&I& +4 "core" & -  +2 .tElbow.seek 2 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&V& +4 "core" & $  % + "storage"(q& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(s& +4 "core" & \ '\ ' V\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & %\ +2 "manipulator"&`& +4 "core" &  # + .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( + "manipulator"&\ & +4 "core" & p # +2 "storage"(p& +3 "core" & R\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(>'X +7 "core" & @ # +2 "manipulator"&% +4 "core" %  N I +2 .tForearm.seek :retract + "manipulator"&m'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&!( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&h& +5 "core" &+ ' I Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &*  Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' + "manipulator"&d& +5 "core" &+ - Ad + "manipulator"&% +5 "core" %! +2 "collection"'& +4 "core" &  q\ +2 "collection"'(& +6 "core" &  m\ +2 .tCC.seek :closed + "collection"'%(V +5 "core" &  g\ +7 &5  t\ $d +9 &W  p\ 7 +9 &~  o\ L +10 &V  n\ M +9 &kX  o\ M +9 &-W  k\ M +10 &Z  k\ L +9 &Z  n\ M +10 &s]  o\ M +9 &5Y  l\ M +9 &Y  o\ M +10 &!^  l\ M +9 &#{Z  f\ M +9 &%=Z  o\ M +10 &'Y  h\ L +9 &(Y  f\ M +10 &*]  e\ M +9 &,FZ  c\ L +9 &.Z  Z\ M +10 &/^  j\ M +9 &1[  c\ M +9 &3L]  ]\ M +10 &5Z  ^\ L +9 &6Z  ^\ L +10 &8Y  [\ M +11 &:U_  S\ M +9 &<\\  Z\ M +8 &=Z  c\ M +9 &?Z  [\ L +9 &A]Z  X\ M +10 &C`  X\ M +9 &D`  \\\ M +10 &Fh  P\ N +9 &HY}  T\ Q +9 &J  Y\ T +10 &K  T\ X +9 &M  \ W +9 &OL  ]\ X +10 &Q  M\ X +9 &R  R\ Y +9 &T  P\ Y +10 &V+u  T\ . +9 &V$  U\ P +9 ( +2 &V`  Q\ J +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&G1 +55 "core" 1 +3 "manipulator"&U% +4 "core" % ! - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%N& +4 "core" &:\ +2 "manipulator"&c% +4 "core" %\ y  + "storage"(.% +4 "core" %a \ + "storage"(2. +3 "core" .( +2 "storage"( & +4 "core" & k\ + "storage"({& +4 "core" & \ +2 "manipulator"&& +4 "core" &* O @] +2 "manipulator"&?% +3 "core" %\ y  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-( +156 "core" ( +2 "manipulator"&y& +4 "core" & ?  + "storage"(& +4 "core" & x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +99 "core" ' + "storage"(& +5 "core" & G\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +277 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +80 "core" & \ +2 "manipulator"&& +4 "core" & u  +2 .tElbow.seek 2 + "manipulator"&6( +4 "core" ( + "manipulator"&}& +4 "core" & K  + "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"& ' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&S& "storage"(L'X +8 "core" & c  + "manipulator"&% +4 "core" % # +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&'(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +3 "manipulator"&& +4 "core" &y & I  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &y   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &y  +2 "manipulator"&,% +3 "core" %   +2 "processing"%)& +4 "core" &S\ +2 "processing"%r& +5 "core" &R\ +2 .tPC.seek :closed + "processing"%C(Z +5 "core" &U\ +7 &;]\ $e +9 &VK\ 7 +10 &~V\ L +9 &Z_\ N +10 &j\\X\ N +9 &.[W\ M +9 &[H\ N +10 &WJ\ N +9 &tZP\ M +9 &5YO\ N +10 &^U\ N +9 &!YJ\ N +10 &#{[C\ N +9 &%=\\C\ N +9 &&XI\ N +10 &(XG\ N +9 &*YH\ M +9 &,EZW\ N +10 &.^G\ N +9 &/\\F\ N +10 &1]G\ N +9 &3MXD\ N +9 &5ZP\ M +10 &6ZD\ N +9 &8WD\ N +10 &:UYI\ N +9 &<\\V\ N +9 &=[R\ M +10 &?YX\ M +9 &A]YM\ N +9 &C]Q\ N +10 &D]G\ N +9 &FeK\ O +9 &H^oS\ P +10 &JN\ S +10 &KI\ T +9 &MF\ S +9 &O\\N\ S +10 &QP\ T +9 &RN\ T +9 &TI\ U +9 &V`M\ U +10 &X"V\ U +9 &Y{rF\ 2 +10 &Z)sO\ L +9 &Z"R\ - +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&&1 +53 "core" 1 + "manipulator"& % +4 "core" % $   +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +62 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +2 "processing"%b& +4 "core" &Z C\ - + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&/% +4 "core" %\  [  +2 "storage"(0% +3 "core" %] A\ +2 "storage"(O. +3 "core" .( + "storage"(^& +4 "core" & ?\ +2 "storage"(A& +3 "manipulator"&w& +6 "core" & }\ + &y   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&K(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'i +2 "core" ( +2 "manipulator"&<& +4 "core" &y 0  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &y b  +2 .tForearm.seek PC +2 "manipulator"&X' +95 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tPC.seek :open + "processing"%a( +87 "core" ' +2 "storage"(5- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +41 "core" ' +295 ( + "storage"(Y& +4 "core" & Q\ +2 "manipulator"&k& +3 "core" &y   +2 "manipulator"&4% +4 "core" %  \ +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&l( +266 "core" ( +2 "manipulator"& & +4 "core" & E + "storage"(R& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +93 "core" ' +2 .tHand.open + "manipulator"&]1 +52 "core" 1 +2 "storage"(F- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(9'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(T' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(E& +4 "core" & % ! .\ +2 "manipulator"&_& +3 "core" & ? +2 .tElbow.seek 2 +2 "manipulator"&n( +4 "core" ( + "manipulator"&z& +4 "core" & # ] + "storage"(& +4 "core" & ' '\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +59 "core" ' + "manipulator"&\\& +4 "core" &  +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&f' +34 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'i +25 "core" ' + "manipulator"&W% +5 "core" %  + "storage"(:& +4 "core" & U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&& +4 "core" & y +2 "storage"(P& +4 "core" & $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +24 "core" ' +2 "storage"([% +4 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"(u'X +99 (o% +2 "core" %J \ We +2 "manipulator"&i% +4 "core" %Ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +89 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" & Y\ +2 "collection"'q& +4 "core" &V`  f\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&s% +4 "core" %\  <  + "storage"(g% +4 "core" %a |\ +2 "storage"(e. +3 "core" .( + "storage"(& +4 "core" & !\ +2 "storage"(& +3 "core" & \ \ +2 "manipulator"&`& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&\ ( +4 "core" ( + "manipulator"&p& +4 "core" &  n + "storage"(@& +4 "core" & c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +87 "core" ' + "storage"(& +5 "core" & G\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&h& +3 "core" & b +2 "storage"(v& +4 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&*' +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(d- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('P +40 "core" ' +2 "manipulator"&% +4 "core" % r + "storage"(t& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&>' +16 "core" ' + "manipulator"&m& +4 "core" & +2 "storage"(j& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(U'? +39 "core" ' +2 "manipulator"&N& +4 "core" &  +2 "manipulator"&c% +4 "core" %і o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +165 "core" ( +2 "manipulator"& & +4 "core" &* /  A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &* A` +2 .tForearm.seek CC +2 "manipulator"&{'" +94 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tCC.seek :open +2 "collection"'?( +416 "core" ( +2 "storage"(& +4 "core" & I\ + "storage"(y& +4 "core" & {\ + "manipulator"&& +4 "core" &+   A_ + "manipulator"&% +4 "core" % , 3 g +2 .tForearm.seek :retract + "manipulator"&!'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+( +156 "core" ( +2 "manipulator"&Z& +4 "core" & ! y  +2 "storage"("& +3 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&B% +5 "core" % (   + "storage"(S& +4 "core" & {\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&-& +4 "core" & 4  + "storage"(#& +4 "core" & \ \  [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +28 "core" ' + "storage"( % +5 "core" %G\ \  4\ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (M% +3 "core" %H H\ Vb + "manipulator"&6% +4 "core" %ћ x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"',& +4 "core" &  k\ +2 "manipulator"&)% +4 "core" %\  .  +2 "storage"(L% +4 "core" %S\ %\ & q\ + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(7( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" & P\ +2 "manipulator"& & +4 "core" & (  + .tElbow.seek 3 +2 "manipulator"&r( +16 "core" ( + "manipulator"&b& +4 "core" & e _ +2 "storage"(/& +4 "core" &\ \  =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +95 "core" ' + "storage"(O& +4 "core" &\ 6\ 3 3\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'i +284 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" &\  \  + "manipulator"&<& +4 "core" & V _ +2 .tElbow.seek 3 + "manipulator"&$( +4 "core" ( + "manipulator"&& +4 "core" & \\ _ +2 "storage"( & +3 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&5'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&D& + "storage"(C'X +7 "core" &  _ +2 "manipulator"&;% +3 "core" % Ϡ Y +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&k( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&4& +4 "core" &( $ k >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &( g >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +95 "core" ' + "manipulator"&R& +5 "core" &(  / ( >K + "manipulator"&K% +4 "core" %* F +2 "collection"']& +4 "core" &  \ +2 "collection"'F& +6 "core" &  p\ +2 .tCC.seek :closed + "collection"'3(V +5 "core" &  o\ +8 & -  k\ $c +9 &U  s\ 7 +9 &~  v\ L +10 &Y  q\ M +9 &j]  q\ M +9 &-\\  r\ L +10 &Z  n\ L +9 &]  r\ M +10 &r]  q\ M +9 &4]  j\ M +9 &\\  n\ L +10 &![  i\ L +9 &#{[  m\ L +9 &%<[  g\ M +10 &&]  c\ L +9 &(W  g\ M +10 &*]  o\ M +9 &,D]  h\ M +9 &.[  h\ M +10 &/Y f\ M +9 &1Z  e\ M +9 &3L]  f\ M +10 &5\\  [\ L +9 &6X  [\ M +10 &8\\  ]\ L +9 &:TZ  Q\ M +9 &<Z  \\\ M +10 &=Z  W\ M +9 &?Y  a\ M +9 &A]]  W\ L +10 &C\\  Q\ L +9 &D_  P\ M +10 &Fi  X\ N +9 &H[t  W\ P +10 &J  W\ T +9 &K  S\ V +9 &M  U\ X +9 &OL  V\ X +10 &Q  O\ X +9 &R  P\ Y +10 &T  I\ Y +9 &V)t  W\ . +9 &V&  L\ S +9 ( +2 &Vi  H\ H +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&E1 +51 "core" 1 +2 "manipulator"&_% +4 "core" % * /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +94 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &Q\ + "manipulator"&% +4 "core" %\  .  + "storage"(\\% +4 "core" %R $\ +2 "storage"(. +3 "core" .( + "storage"(=& +4 "core" & ,\  + "storage"(W& +4 "core" & L\  +2 "manipulator"&:& +4 "core" &\ & a =E + "manipulator"&9% +4 "core" %\  (  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( + "manipulator"&P& +5 "core" & m h + "storage"([& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&l'9 +94 "core" ' + "storage"(8& +4 "core" & y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +284 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" & \  +2 "manipulator"&Q& +4 "core" & F h + .tElbow.seek 3 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&H& +3 "core" & P h +2 "storage"(f& +4 "core" & 0\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"(s'X +7 "core" & = h +2 "manipulator"&g% +3 "core" % ϝ  l +2 .tForearm.seek :retract +2 "manipulator"&J'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +104 "core" ( +3 "manipulator"&& +4 "core" &p ? 4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`' +93 "core" ' +2 "manipulator"&p& +4 "core" &p  L  +2 "manipulator"&@% +4 "core" % r + +2 "processing"%~& +4 "core" &U\ +2 "processing"%& +4 "core" &K\ +2 .tPC.seek :closed +2 "processing"%u(Z +4 "core" &T\  +9 &1~Z\ *x +9 &bL\ > +10 &txF\ N +9 &7Z[\ N +9 &[Y\ N +10 &YP\ N +9 &}]Q\ N +9 &?[F\ N +10 &]@\ N +9 &ZM\ N +10 & XO\ N +9 &"HXL\ M +9 &$ YI\ N +10 &%\\G\ N +9 &'Z@\ N +9 &)OYK\ N +10 &+YI\ M +9 &,\\I\ N +10 &.XG\ N +9 &0WXG\ N +9 &2]L\ N +10 &3[Q\ N +9 &5YS\ N +9 &7_\\H\ N +10 &9!ZE\ N +9 &:VH\ M +9 &<YR\ M +10 &>gWR\ N +9 &@)^F\ N +10 &A[E\ N +9 &C\\E\ N +9 &El`E\ O +10 &G,jR\ O +9 &HV\ R +9 &JS\ S +10 &LfE\ S +9 &N(O\ S +10 &OG\ T +9 &QO\ T +9 &SlQ\ T +10 &U-M\ T +9 &VS\ T +10 &XQ\ T +9 &Z]R\ $n +9 &ZXT\ * +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&x1 +3 "core" &ZO\ ' +54 1 +2 "manipulator"&I% +4 "core" % $  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + "processing"%h& +4 "core" &ZH\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&v% +4 "core" %\    +2 "storage"(d% +4 "core" %b d\ + "storage"(. +3 "core" .( +2 "storage"(t& +3 "core" & ]\  +2 "storage"(m& +2 "manipulator"&j& +8 "core" &p i  + & \  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&N(s + "storage"(c'i +6 "core" ( + "manipulator"&|& +4 "core" &p q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &p   +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&*/ +63 "core" / + .tPC.seek :open +2 "processing"%>( +82 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +48 "core" ' +293 ( + "storage"((& +4 "core" & O\  +2 "manipulator"&G& +4 "core" &p T  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.( +259 "core" ( + "manipulator"&%& +5 "core" & l  + "storage"(& +4 "core" & d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +90 "core" ' +57 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(2& +4 "core" & # % 5\  +2 "manipulator"&& +3 "core" & .  +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&S& +4 "core" & D  + "storage"(-& +4 "core" & + $ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' +2 "manipulator"&!& +4 "core" & O  +2 "storage"(M& +4 "core" & p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +21 "core" ' +2 .tElbow.hold + "manipulator"&+, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&% +5 "core" %  +2 "storage"(,& +4 "core" & 8\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&)'ϫ +12 "core" ' + "manipulator"&L& +5 "core" & $  + "storage"(& +4 "core" & [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +27 "core" ' + "storage"(1% +5 "core" %o V\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %G ;\ We + "manipulator"&&% +4 "core" %8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (b& +4 "core" & 3\  +2 "collection"'/& +4 "core" &V_  `\ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&O% +4 "core" %\ " , 9 +2 "storage"(}% +3 "core" %` J\ +2 "storage"(. +3 "core" .( + "storage"(w& +4 "core" & Q\  +2 "storage"(A& +3 "core" & Y\  +2 "manipulator"&<& +4 "core" & :  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &   + "storage"('& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +96 "core" ' +2 "storage"(;& +4 "core" & A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +283 "core" ' +2 "storage"(0- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&4& +3 "core" &   +2 "storage"(^& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&X'} +23 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"($'Z +31 "core" ' + "manipulator"&K% +4 "core" %Ώ  +2 "storage"(]& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&C'ϻ +12 "core" ' + "manipulator"&Y& +5 "core" &  + "storage"(?& +4 "core" & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(_'I +39 "core" ' +2 "manipulator"&& +5 "core" &  + "manipulator"&% +4 "core" %[ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&=& +4 "core" &$ $ * ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &$ ;4 +2 .tForearm.seek CC + "manipulator"&:'" +99 "core" ' +2 .tHand.close + "manipulator"&F/ +63 "core" / +2 .tCC.seek :open + "collection"'9( +416 "core" ( +2 "storage"( & +4 "core" & g\  +2 "storage"(P& +3 "core" & U\  +2 "manipulator"&[& +3 "core" &# :+ +2 "manipulator"&8% +4 "core" % / ] + .tForearm.seek :retract +2 "manipulator"&k'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&z( +164 "core" ( +2 "manipulator"&o& +4 "core" &  K s + "storage"(i& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&Q'} +103 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +59 "core" 1 +2 "manipulator"&V% +5 "core" % Ί l f + "storage"(q& +4 "core" & t\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&g'϶ +21 "core" ' + "manipulator"&& +4 "core" & f s +2 "storage"(l& +3 "core" &\ 2\ ' Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +27 "core" ' +2 "storage"(% +4 "core" %R\ 3\ 4 )\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +2 "core" %F *\ Wc +2 "manipulator"&n% +4 "core" %> +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +4 "core" &  n\ +2 "manipulator"&~% +4 "core" %\ !  6 +2 "storage"(s% +4 "core" %a\ \  F\ +2 "storage"(J. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(a( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (x& +3 "core" & \ +2 "manipulator"&I& +3 "core" &  s +2 .tElbow.seek 2 +2 "manipulator"&h( +36 "core" ( + "manipulator"&v& +4 "core" & $ [ % +2 "storage"(d& +4 "core" & \ S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' + "storage"(t& +4 "core" & \ $\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +282 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & H\ +2 "manipulator"&|& +3 "core" & 8 m +2 .tElbow.seek 2 +2 "manipulator"&\ ( +31 "core" ( +2 "manipulator"&`& +5 "core" & [ J + "storage"(*& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&e/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(u'X +6 "core" & < J +2 "manipulator"&c% +3 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&('\ +91 "core" ' + .tElbow.seek CC +55 "manipulator"&G( +101 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +66 "core" ( +2 "manipulator"&& +4 "core" && '  =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'" +98 "core" ' +2 "manipulator"&& +4 "core" && 3  <@ +2 "manipulator"&N% +4 "core" %# )  +2 "collection"'& +4 "core" &  `\ +2 "collection"'& +5 "core" &  o\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  n\  +9 &1~  o\ *y +10 &e  r\ > +9 &}s  w\ M +9 &AX  r\ M +10 &X  s\ M +9 &W  t\ L +9 &Y  t\ L +10 &JY  t\ L +9 & Y  s\ M +10 &W  r\ M +9 & Y  p\ L +9 &"QZ  r\ M +10 &$]  o\ M +9 &%_  p\ M +9 &'[  h\ M +10 &)Z\\  o\ L +9 &+^  m\ M +10 &,\\  h\ L +9 &._  p\ M +9 &0b_  h\ L +10 &2$Z  d\ L +9 &3_  k\ M +9 &5\\  e\ L +10 &7jZ  _\ L +9 &9,X  X\ L +10 &:\\  T\ L +9 &<`  T\ M +9 &>r_  d\ L +10 &@5Z  [\ L +9 &A_  Y\ L +9 &C]  W\ L +10 &Ewc  _\ M +10 &G4n  S\ O +9 &H  c\ Q +9 &J  _\ V +10 &La  V\ X +9 &N&  Z\ V +9 &O  V\ X +9 &Q  Y\ X +10 &Sd  Y\ Y +9 &U%  V\ Z +10 &VrC  ]\ / +9 &Vs  R\ L +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&{1 +3 "core" &Vc  ]\ L +59 1 +3 "manipulator"&2% +4 "core" % # 0 * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%S& +4 "core" &@\ +2 "manipulator"&-% +4 "core" %\ ! . 1 + "storage"(!% +4 "core" %` \ +2 "storage"(M. +3 "core" .( + "storage"(& +4 "core" & :\ +2 "storage"(,& +3 "core" & k\ +2 "manipulator"& & +4 "core" &% <= + "manipulator"&L% +4 "core" %\ ! ) 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( + "manipulator"&Z& +5 "core" &    + "storage"(1& +4 "core" & H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +100 "core" ' + "storage"(y& +4 "core" & h\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & #\ + "manipulator"&#& +4 "core" & D  +2 .tElbow.seek 2 + "manipulator"&B( +4 "core" ( + "manipulator"& & +4 "core" & 9  + "storage"(6& +4 "core" & J\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&)' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(O'X +7 "core" &  +2 "manipulator"&}% +4 "core" %  y + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&w& +4 "core" &r ) m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &r  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +98 "core" ' +2 "manipulator"& & +4 "core" &r | +2 "manipulator"&'% +4 "core" % V +2 "processing"%U& +3 "core" &M\ +3 "processing"%;& +4 "core" &Y\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &H\  +9 &2N\ )w +10 &cP\ > +9 &wwC\ N +9 &:X?\ M +10 &ZD\ N +9 &\\E\ N +9 &ZD\ M +10 &BZ?\ M +9 &[?\ M +10 &YE\ M +9 & Y?\ N +9 &"H[>\ N +10 &$ YH\ N +9 &%]@\ N +9 &']?\ N +10 &)QWA\ N +9 &+WC\ N +10 &,[D\ N +9 &.\\>\ N +9 &0YXD\ N +10 &2XC\ N +9 &3\\@\ N +9 &5ZB\ N +10 &7aWB\ N +9 &9$WC\ M +10 &:VG\ M +9 &<XG\ M +9 &>iW?\ N +10 &@+WC\ N +9 &AUC\ M +9 &CZI\ N +10 &Ep\\G\ N +9 &G.hL\ O +10 &HpG\ P +9 &JI\ T +9 &LfE\ T +10 &N)E\ T +9 &OF\ T +9 &QD\ T +10 &SmD\ T +10 &U/D\ T +9 &VF\ T +9 &X?\ U +10 &Z!^C\ #k +9 &ZWD\ - +9 ( + &ZC\ * +2 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&+1 +54 "core" 1 + "manipulator"& % +5 "core" % $ @ V + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +2 "processing"%4& +4 "core" &Z:\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&^% +4 "core" %\  z  + "storage"(R% +4 "core" %T \ +2 "storage"(K. +3 "core" .( + "storage"(]& +4 "core" & W\ +2 "storage"(Y& +2 "manipulator"&?& +7 "core" & \ + &r M +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&D& +4 "core" &r &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &r | +2 .tForearm.seek PC +2 "manipulator"&r' +99 "core" ' +2 .tHand.close + "manipulator"&X/ +55 "core" / +2 .tPC.seek :open +2 "processing"%C( +91 "core" ' + "storage"($- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(='y +34 "core" ' +297 ( +2 "storage"(W& +4 "core" & ]\ + "manipulator"&E& +4 "core" &r +2 "manipulator"&5% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&F'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&\\( +260 "core" ( + "manipulator"&3& +5 "core" & X  + "storage"( & +4 "core" & @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +93 "core" ' +2 .tHand.open + "manipulator"&[1 +60 "core" 1 +2 "storage"(8- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(i' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(& +4 "core" & # $ 6\ +2 "manipulator"&f& +3 "core" & V  +2 .tElbow.seek 2 +2 "manipulator"&V( +10 "core" ( + "manipulator"&q& +5 "core" & ~ + "storage"(& +4 "core" & " $ ^\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&k& +4 "core" & P +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&n' +35 "core" ' +2 .tElbow.hold + "manipulator"&z, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'i +24 "core" ' +2 "manipulator"&@% +4 "core" % l + "storage"(g& +4 "core" & z | \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&~' +14 "core" ' + "manipulator"&s& +5 "core" & % + "storage"(J& +4 "core" & {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +31 "core" ' + "storage"(T% +58 "core" %m `\ +4 ."downElevator"SE.seek :down +4 "storage"('X +99 (7% +3 "core" %J \ Xf +2 "manipulator"&x% +4 "core" %t ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (v& +4 "core" & o\ +2 "collection"'d& +4 "core" &Vc  c\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&t% +4 "core" %\ # } 9 +2 "storage"(H% +3 "core" %` *\ +2 "storage"(p. +3 "core" .( +2 "storage"(j& +4 "core" & !\ + "storage"(& +4 "core" & \ + "manipulator"&|& +4 "core" & j +2 .tElbow.seek 2 + "manipulator"&`( +7 "core" ( +2 "manipulator"&*& +4 "core" & % + \ +2 "storage"(e& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +93 "core" ' +2 "storage"(c& +4 "core" & `\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +284 "core" ' +3 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&m& +3 "core" & ! \ +2 "storage"(& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(N'O +31 "core" ' +2 "manipulator"&\ % +4 "core" % E + "storage"(& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&u' +15 "core" ' +2 "manipulator"&(& +4 "core" & \ +2 "storage"(9& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(2'> +38 "core" ' +2 "manipulator"&S& +4 "core" & N \ +2 "manipulator"&-% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&M( +162 "core" ( +3 "manipulator"&& +4 "core" &#  > :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &" '  :/ +2 .tForearm.seek CC +2 "manipulator"&,'" +93 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tCC.seek :open + "collection"'L( +416 "core" ( +2 "storage"(%& +4 "core" & *\ + "storage"(Z& +4 "core" & Z\ +2 "manipulator"&1& +4 "core" &# ` :* + "manipulator"&y% +4 "core" % ,  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( + "manipulator"&& +4 "core" & c  +2 "storage"(&& +4 "core" & \ '\ % r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&#' +104 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "manipulator"&b% +5 "core" %  H % + "storage"(/& +5 "core" & ~\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&}' +19 "core" ' + "manipulator"&& +5 "core" &   + "storage"(.& +4 "core" & \ /\ $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&"'ќ +32 "core" ' +2 "storage"()% +4 "core" %G\ 2\ 5 `\ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (A% +3 "core" %G \ Wc + "manipulator"&B% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"''& +4 "core" &  \\\ +2 "manipulator"&U% +4 "core" %\  Z  + "storage"(O% +4 "core" %b\ \ \ P\  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +3 "core" & \  +2 "manipulator"& & +3 "core" & +  +2 .tElbow.seek 3 + "manipulator"&4( +18 "core" ( + "manipulator"&^& +5 "core" &  B + "storage"(R& +4 "core" &\ \  <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +98 "core" ' +2 "storage"(]& +4 "core" &\ 3\ 7 ]\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +282 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & W\  +2 "manipulator"&D& +4 "core" & : B + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&<& +4 "core" & T B +2 "storage"(X& +3 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"('X +8 "core" & % B + "manipulator"&% +4 "core" % ϔ =  +2 .tForearm.seek :retract + "manipulator"&W'\ +103 "core" ' +2 .tElbow.seek CC + "manipulator"&E( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +32 "core" ( + "manipulator"&5& +4 "core" &, # B Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &, Y Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'" +92 "core" ' + "manipulator"& & +4 "core" &, 6 A Bf +2 "manipulator"&% +4 "core" % Q  +2 "collection"'[& +4 "core" &  q\ +2 "collection"'8& +6 "core" &  \ +2 .tCC.seek :closed + "collection"':(V +4 "core" &  o\ +8 &6  n\ $d +10 &V  t\ 7 +9 &~  o\ L +9 &X  r\ L +10 &iY  r\ L +9 &+Y  q\ L +10 &Y  l\ M +9 &W  n\ M +9 &pW  p\ M +10 &2[  s\ M +9 &\\  q\ M +10 &!]  o\ M +9 &#x]  m\ M +9 &%:]  p\ M +10 &&V  o\ M +9 &(Z  p\ M +9 &*\\  m\ L +10 &,CY  p\ L +9 &.V  l\ M +9 &/W  b\ M +10 &1Y  d\ L +9 &3KY  m\ L +10 &5 Y  [\ L +9 &6W c\ M +9 &8U  ]\ L +10 &:RY  ^\ M +9 &<^  [\ M +9 &=X  Q\ M +10 &?X  W\ M +9 &AZW  V\ M +10 &C]  U\ M +9 &D_  b\ M +9 &Fi  U\ O +10 &HYt  Z\ P +9 &J  W\ T +9 &K  V\ W +10 &M  V\ X +9 &OI  ^\ X +10 &Q  S\ X +9 &R  _\ Y +10 &T  S\ Y +9 &V(u  P\ . +9 &V%  P\ Q +9 ( +3 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open + "manipulator"&1 +4 "core" &V`  V\ I +49 1 +2 "manipulator"&f% +4 "core" %   a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &H\ +2 "manipulator"&F% +4 "core" %\  0   +2 "storage"(k% +3 "core" %_ U\ +2 "storage"(. +3 "core" .( + "storage"(=& +4 "core" & \  + "storage"(@& +4 "core" & K\  +2 "manipulator"&g& +3 "core" &* ) T @X +2 "manipulator"&o% +4 "core" %\  |  +2 .tElbow.reconfigure :tight +56 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&s( +171 "core" ( +2 "manipulator"&J& +4 "core" &  S C + "storage"(T& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +87 "core" ' +2 "storage"(P& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +277 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & ,\  +2 "manipulator"&x& +4 "core" & % C +2 .tElbow.seek 3 + "manipulator"&V( +3 "core" ( +2 "manipulator"&& +4 "core" & x C + "storage"(n& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(t'X +8 "core" & 3 C + "manipulator"&H% +4 "core" % ϰ : 0 +2 .tForearm.seek :retract + "manipulator"&p'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( + "manipulator"&j& +4 "core" &n ) p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&|' +114 "core" ' +2 "manipulator"&*& +4 "core" &o u +2 "manipulator"&e% +4 "core" % q +2 "processing"%_& +4 "core" &A\ +2 "processing"%c& +6 "core" &C\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &K\ +8 &8@\ $c +9 &U~?\ 7 +10 &~|?\ K +9 &[G\ N +10 &bZI\ N +9 &$\\K\ N +9 &\\L\ N +10 &ZL\ M +9 &kZ@\ M +9 &,XK\ N +10 &X@\ N +9 &!]D\ N +10 &#s]A\ M +9 &%5YI\ M +9 &&UG\ N +10 &(W@\ M +9 &*zYH\ N +9 &,<ZD\ N +10 &-XN\ N +9 &/VL\ M +10 &1XE\ M +9 &3DVE\ N +9 &5WC\ M +10 &6XL\ M +9 &8WI\ N +9 &:MWI\ M +10 &<XH\ M +9 &=ZJ\ M +10 &?WH\ N +9 &AUUK\ M +9 &CZL\ N +10 &D`E\ N +9 &Fh@\ O +9 &HQxG\ Q +10 &JI\ S +9 &K@\ T +10 &MD\ S +9 &OSE\ S +9 &QC\ S +10 &RC\ T +9 &TJ\ U +9 &VWL\ U +10 &XL\ U +9 &Y|oB\ 5 +10 &Z-I\ L +9 &Z D\ + +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&z1 +53 "core" 1 + "manipulator"&I% +4 "core" % % S q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%m& +4 "core" &Z ?\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   K  +2 "storage"(% +4 "core" %^ q\ + "storage"(\ . +3 "core" .( +2 "storage"(& +4 "core" & .\  +2 "storage"((& +2 "manipulator"&9& +7 "core" & 4\  + &o  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +9 "manipulator"&S(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'i +2 "core" ( +2 "manipulator"&& +3 "core" &o  r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &o b +2 .tForearm.seek PC + "manipulator"&h' +92 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%u( +101 "core" ' + "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +51 "core" ' +269 ( +2 "storage"(& +4 "core" & '\  + "manipulator"&{& +4 "core" &o  + "manipulator"&% +4 "core" %  & +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&!( +261 "core" ( + "manipulator"&& +4 "core" &  w  +2 "storage"(%& +4 "core" & `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +96 "core" ' +2 .tHand.open + "manipulator"&11 +60 "core" 1 +2 "storage"(y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(&' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(M& +4 "core" & ` g v\  + "manipulator"&6& +4 "core" & U  +2 .tElbow.seek 3 +2 "manipulator"&b( +8 "core" ( + "manipulator"&/& +4 "core" &  s z +2 "storage"(& +4 "core" & l g Y\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +59 "core" ' +2 "manipulator"&G& +4 "core" & R z + "storage"(A& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&B'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +21 "core" ' +2 "manipulator"&'% +4 "core" %ΐ A +2 "storage"(}& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&U'ϼ +27 "core" ' +2 "manipulator"&O& +4 "core" & h z +2 "storage"(& +4 "core" & w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +24 "core" ' + "storage"("% +5 "core" %o t\  +2 ."downElevator"SE.seek :down +4 "storage"(w'X +99 (a% +3 "core" %UK +\ Xf +2 "manipulator"&+% +4 "core" %O A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (^& +4 "core" & D\  + "collection"'R& +4 "core" &V_  `\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&]% +4 "core" %\ "  4 + "storage"( % +4 "core" %a 5\ +2 "storage"( . +3 "core" .( + "storage"(Y& +4 "core" & Q\  + "storage"(;& +4 "core" & J\  +2 "manipulator"&D& +4 "core" & u z +2 .tElbow.seek 3 + "manipulator"&<( +4 "core" ( + "manipulator"&X& +4 "core" &  z +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +94 "core" ' +2 "storage"(& +4 "core" & M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +282 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&?& +3 "core" &  z +2 "storage"(5& +4 "core" & <\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'} +24 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"('Z +31 "core" ' + "manipulator"&% +4 "core" %Ύ f +2 "storage"([& +4 "core" & \  +54 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'Ϻ +13 "core" ' + "manipulator"&W& +4 "core" & z +2 "storage"(L& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(f'I +42 "core" ' + "manipulator"&& +4 "core" & I z +2 "manipulator"&F% +4 "core" %/ 3 { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +162 "core" ( +2 "manipulator"&=& +4 "core" &* 0 # @^ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &*  @^ +2 .tForearm.seek CC +2 "manipulator"&g'" +96 "core" ' + .tHand.close +2 "manipulator"&8/ +53 "core" / +2 .tCC.seek :open + "collection"'o( +417 "core" ( + "storage"(3& +4 "core" & T\  +2 "storage"(J& +4 "core" & j\  +2 "manipulator"&T& +3 "core" &) \ ?P +2 "manipulator"&P% +3 "core" % ,   +2 .tForearm.seek :retract +2 "manipulator"&E'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&q( +160 "core" ( +2 "manipulator"&l& +4 "core" & K  +2 "storage"(7& +3 "core" &\ \  =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'} +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +60 "core" 1 +2 "manipulator"&v% +4 "core" % ΋ } +2 "storage"(d& +4 "core" & |\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&H'Ϸ +12 "core" ' +2 "manipulator"&s& +5 "core" &  + "storage"(\\& +4 "core" &\ !\  w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +27 "core" ' +2 "storage"(~% +4 "core" %P\ '\ % [\ +2 ."downElevator"SE.seek :down +3 "storage"(j'X +100 (% +2 "core" %G\ \  \ Vb +2 "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'e& +4 "core" &  e\ +2 "manipulator"&_% +4 "core" %\ \   +2 "storage"(t% +3 "core" %]\ 1\ 2\ +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(C( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" & Y\ +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&m( +48 "core" ( +2 "manipulator"&& +4 "core" & & +2 "storage"(& +3 "core" & \ \  g\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +98 "core" ' + "storage"(& +4 "core" & \ $\ \ 8\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'i +285 "core" ' +2 "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" & \ +2 "manipulator"&& +3 "core" & # +2 .tElbow.seek 2 + "manipulator"&`( +34 "core" ( + "manipulator"&|& +4 "core" & 7 @ +2 "storage"(& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&N' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" & R @ + "manipulator"&-% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&& +4 "core" &*   @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &*  @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&%& +4 "core" &* 1 @\\ +2 "manipulator"&S% +4 "core" %, + "collection"'1& +5 "core" &  t\ +2 "collection"'y& +5 "core" &  \ +2 .tCC.seek :closed + "collection"',(V +4 "core" &  p\  +9 &2  r\ *x +9 &c  t\ > +10 &yu  p\ N +9 &>X  s\ L +9 &\\  r\ M +10 &V  n\ M +9 &V  p\ M +9 &FX  n\ L +10 &Y  o\ L +9 &X  r\ L +10 & Z  l\ M +9 &"M\\  p\ M +9 &$W  p\ M +10 &%Z  p\ L +9 &'Y  p\ L +10 &)UW  l\ M +9 &+W  g\ M +9 &,V  o\ L +10 &.Z  n\ L +9 &0]]  i\ M +9 &2Z  f\ M +10 &3]  c\ L +9 &5\\  b\ L +9 &7f]  b\ L +10 &9'[  b\ M +9 &:\\  W\ M +10 &<[  b\ L +9 &>n\\  ^\ L +9 &@0]  R\ L +10 &A^  U\ L +9 &C]  S\ L +10 &Etb  [\ M +9 &G1m  [\ O +9 &H  S\ Q +10 &J  R\ V +9 &L^  G\ W +9 &N!  G\ W +10 &O  R\ X +9 &Q  X\ X +10 &S^  X\ Z +9 &U  L\ Z +9 &VlB  T\ 2 +10 &Vr  S\ I +5 ( + "collection"'y& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&M1 +3 "core" &Vj  C\ I +50 1 +2 "manipulator"&6% +4 "core" % ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &E\ + "manipulator"& % +4 "core" %\ ;  +2 "storage"(G% +4 "core" %S \ + "storage"(A. +3 "core" .( +2 "storage"('& +4 "core" & /\ + "storage"(}& +4 "core" & o\ +2 "manipulator"&& +3 "core" &* \ @[ +2 "manipulator"&O% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"("& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +93 "core" ' +2 "storage"(Z& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +280 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" & `\ +2 "manipulator"&.& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&b( +7 "core" ( +2 "manipulator"&)& +4 "core" &  + "storage"(B& +4 "core" & 4\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&U' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(]'X +7 "core" &  +2 "manipulator"& % +4 "core" %   N + .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&Y& +5 "core" &w 9 w  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +4 "core" &w   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +95 "core" ' + "manipulator"&X& +5 "core" &w $ (  + "manipulator"&% +4 "core" % 4  +2 "processing"%2& +4 "core" &G\ +60 "processing"%& +5 "core" &<\ +2 .tPC.seek :closed + "processing"%w(Z +5 "core" &I\ +8 &;J\ $c +9 &TL\ 7 +10 &|J\ K +9 &ZF\ N +9 &gY@\ N +10 &*]K\ M +9 &ZK\ M +9 &\\F\ M +10 &oYH\ N +9 &2WI\ M +10 &ZG\ M +9 &!WL\ N +9 &#wYF\ N +10 &%9\\D\ N +9 &&[I\ N +9 &(XJ\ M +10 &*YK\ M +9 &,AYK\ N +10 &.]E\ N +9 &/YJ\ N +9 &1WE\ N +10 &3JWD\ M +9 &5 YE\ N +9 &6Z@\ N +10 &8WE\ N +9 &:Q[D\ N +10 &<YE\ N +9 &=U?\ M +9 &?WC\ M +10 &AZWD\ M +9 &C]F\ N +9 &D]F\ N +10 &FcJ\ O +9 &HZoN\ P +9 &JG\ R +10 &KK\ S +9 &MH\ T +10 &OWG\ T +9 &Q@\ T +9 &RC\ T +10 &TB\ S +9 &V]E\ T +9 &XC\ U +10 &Y{pE\ 4 +9 &Z0G\ E +10 &Z?\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"& % +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K'\ +93 "core" ' +2 "processing"%?& +4 "core" &Z8\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&5% +4 "core" %\    + "storage"( % +4 "core" %b \ +2 "storage"(. +3 "core" .( + "storage"([& +4 "core" & 5\ +2 "storage"(W& +3 "manipulator"&L& +5 "core" & \ + &w 3  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(F'i +6 "core" ( + "manipulator"&0& +4 "core" &w D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &w  +2 .tForearm.seek PC +2 "manipulator"&4' +101 "core" ' + .tHand.close +2 "manipulator"&r/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +44 "core" ' +88 "Can"6\ WU +202 "core" ( +2 "storage"(@& +4 "core" & \ + "manipulator"&& +4 "core" &w  + "manipulator"&$% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +265 "core" ( +2 "manipulator"&:& +4 "core" & $ :  + "storage"(3& +4 "core" & B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +94 "core" ' + .tHand.open +2 "manipulator"&T1 +52 "core" 1 +2 "storage"(P- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(& +4 "core" & 2 0\ +2 "manipulator"&n& +3 "core" & x  +2 .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&d& +3 "core" &   +2 "storage"(s& +4 "core" & - - a\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(~' +59 "core" ' + "manipulator"&E& +5 "core" & p  + "storage"(& +4 "core" & 7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V' +34 "core" ' +2 .tElbow.hold + "manipulator"&q, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'i +29 "core" ' + "manipulator"&H% +5 "core" % + "storage"(e& +4 "core" & m\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&_' +13 "core" ' +2 "manipulator"&t& +4 "core" & a  +2 "storage"(p& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +23 "core" ' + "storage"(i% +5 "core" %r y\ +2 ."downElevator"SE.seek :down +4 "storage"(j'X +99 (>% +3 "core" %L z\ Xf +2 "manipulator"&z% +4 "core" %ѿ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +86 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & .\ +2 "collection"'& +4 "core" &Vj  P\ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\   \ + "storage"(% +4 "core" %T ]\ +2 "storage"(*. +3 "core" .( + "storage"((& +4 "core" & G\ + "storage"(c& +4 "core" & \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & $ u  + "storage"(Q& +4 "core" & O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +103 "core" ' + "storage"(-& +4 "core" & P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +284 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & [  + "storage"(h& +4 "core" & v\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&9' +36 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(S'P +28 "core" ' + "manipulator"&`% +4 "core" % , ~ +2 "storage"(1& +3 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(o& +4 "core" & ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'? +38 "core" ' + "manipulator"&& +5 "core" & c  + "manipulator"& % +5 "core" % I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +160 "core" ( +3 "manipulator"&'& +4 "core" & ( H 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" & f 7 +2 .tForearm.seek CC + "manipulator"&}'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'O( +416 "core" ( +2 "storage"(& +4 "core" & `\ + "storage"(& +4 "core" & }\ + "manipulator"&"& +4 "core" & O 7 + "manipulator"&Z% +4 "core" % 5  +2 .tForearm.seek :retract + "manipulator"&{'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +160 "core" ( + "manipulator"&a& +4 "core" & G  +2 "storage"(+& +3 "core" & \ 0\ )\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&.' +95 "core" ' + .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +56 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&B1 +58 "core" 1 +2 "manipulator"&^% +5 "core" % < + "storage"(R& +4 "core" & \ \  L\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"& ' +20 "core" ' + "manipulator"&& +4 "core" & /  +2 "storage"(!& +4 "core" & \ \  L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&&'ќ +25 "core" ' + "storage"(U% +4 "core" %I\ \ $ ,\ +3 ."downElevator"SE.seek :down +3 "storage"(Y'X +99 (;% +2 "core" %F\ \ %\ Wc +2 "manipulator"&b% +4 "core" %ѳ x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  d\ +2 "manipulator"&2% +4 "core" %\    + "storage"(]% +4 "core" %R\ %\ ( z\ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(u( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & C\  +2 "manipulator"& & +4 "core" & W  +2 .tElbow.seek 3 + "manipulator"&?( +17 "core" ( +2 "manipulator"&5& +4 "core" & c W +2 "storage"( & +3 "core" &\ \  z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' + "storage"([& +5 "core" &\ '\ / `\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +284 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B\  + "manipulator"&0& +4 "core" & l W +2 .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( + "manipulator"&D& +4 "core" &  W + "storage"(r& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&K& + "storage"(w'X +7 "core" & E W +2 "manipulator"&F% +4 "core" %  8 +2 .tForearm.seek :retract + "manipulator"&@'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&$& +5 "core" &! @ t 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &! 3 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&:'" +101 "core" ' + "manipulator"&3& +5 "core" &% ,  8 + "manipulator"&% +5 "core" %* +2 "collection"'T& +4 "core" &  v\ +2 "collection"'P& +5 "core" &  i\ +2 .tCC.seek :closed + "collection"'g(V +4 "core" &  j\  +9 &4  l\ *z +9 &f  p\ ? +9 &r  s\ M +10 &LV  r\ M +9 &Z  s\ L +10 &X  r\ L +9 &X  s\ L +9 &T[  q\ M +10 &V  q\ L +9 &X  o\ L +9 & \\  r\ M +10 &"\\\\  p\ M +9 &$\\  q\ M +10 &%Z  o\ M +9 &'X  p\ L +9 &)dZ  q\ M +10 &+&[  q\ M +9 &,Y  m\ M +9 &.V  l\ M +10 &0lW  m\ M +9 &2.U  q\ M +10 &3V  n\ M +9 &5U  o\ L +9 &7uW  \\\ L +10 &96U  d\ M +9 &:W  b\ M +9 &<Y  d\ L +10 &>}Y  `\ L +9 &@?X  `\ L +10 &BX  Y\ L +9 &C[  ^\ M +10 &E_  Z\ M +9 &G@j  c\ O +9 &H{  Z\ P +9 &J  X\ U +10 &Lk  X\ X +9 &N-  S\ X +9 &O  P\ X +10 &Q  V\ X +9 &So  T\ Y +10 &U1  R\ U +9 &Vh>  R\ 1 +9 &V w  U\ H +6 ( + "collection"'P& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open + "manipulator"&1 +4 "core" &Ve  S\ H +53 1 + "manipulator"&n% +4 "core" % * ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +100 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%s& +4 "core" &D\ +2 "manipulator"&8% +3 "core" %\   +2 "storage"(E% +4 "core" %S `\ + "storage"(. +4 "core" .( + "storage"(=& +4 "core" & ,\  + "storage"(H& +4 "core" & G\  +2 "manipulator"&e& +4 "core" &! J 8 + "manipulator"&l% +4 "core" %\ h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&t( +162 "core" ( + "manipulator"&p& +4 "core" & y  +2 "storage"(i& +4 "core" & |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +93 "core" ' +2 "storage"(J& +4 "core" & <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +285 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & \  + "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&v( +4 "core" ( + "manipulator"&~& +4 "core" & V  + "storage"(V& +4 "core" & _\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & L  +2 "manipulator"&% +3 "core" % Ϛ  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&*(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +119 "core" ( +2 "manipulator"&(& +5 "core" &k 0   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &k P  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" &o & =  +2 "manipulator"&Q% +4 "core" % 4 + "processing"%f& +4 "core" &E\ +2 "processing"%-& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &T\  +8 &2~M\ *x +10 &cK\ > +9 &wxH\ N +9 &9ZC\ N +10 &\\>\ M +9 &ZA\ M +10 &ZF\ M +9 &BYF\ M +9 &ZI\ M +10 &\\F\ N +9 & \\L\ N +9 &"I[L\ N +10 &$ WL\ N +9 &%YK\ N +10 &']L\ N +9 &)PZK\ N +9 &+WQ\ N +10 &,ZJ\ M +10 &.YJ\ M +8 &0Y\\J\ N +10 &2\\B\ M +9 &3YK\ M +10 &5[O\ N +9 &7aVI\ N +9 &9#UL\ N +10 &:TJ\ M +9 &<WL\ M +9 &>jWE\ M +10 &@*]L\ N +9 &AVF\ N +10 &C[K\ N +9 &Eo^F\ N +10 &G-jE\ P +9 &HC\ R +9 &JF\ T +9 &LgI\ T +10 &N*L\ S +9 &OK\ S +10 &QM\ T +9 &SnN\ T +10 &U/M\ T +9 &VN\ T +9 &XJ\ T +9 &Z"`H\ "k +10 &Z_F\ 0 +9 ( + &Z H\ + +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&q1 +64 "core" 1 + "manipulator"&I% +4 "core" % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +93 "core" ' + "processing"%& +4 "core" &Z ;\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&h% +3 "core" %\  F  +2 "storage"(%% +4 "core" %b \ + "storage"(`. +3 "core" .( +2 "storage"(1& +4 "core" & q\  +2 "storage"(& +2 "manipulator"&o& +7 "core" & \  + &o  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +3 "manipulator"&& +4 "core" &o   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &o -  +2 .tForearm.seek PC + "manipulator"&m' +95 "core" ' + .tHand.close +56 "manipulator"&9/ +56 "core" / + .tPC.seek :open +2 "processing"%( +38 "core" ' +2 "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +46 "core" ' +341 ( + "storage"(y& +5 "core" & /\  +2 "manipulator"&M& +4 "core" &o -  + "manipulator"&N% +4 "core" %  3 $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&G( +264 "core" ( +2 "manipulator"&,& +4 "core" & 1  +2 "storage"(& +3 "core" & K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' +2 .tHand.open +2 "manipulator"&"1 +57 "core" 1 +2 "storage"(Z- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(a'E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(}- +4 "core" -' + "storage"(A& +4 "core" & S L I\  +2 "manipulator"&B& +3 "core" & 6  +2 .tElbow.seek 3 +2 "manipulator"&^( +8 "core" ( + "manipulator"&R& +5 "core" & m  + "storage"(& +4 "core" & 7 8 I\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"({' +59 "core" ' +2 "manipulator"&U& +4 "core" & 5  +2 "storage"(/& +4 "core" & <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&;'} +21 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +24 "core" ' + "manipulator"&% +5 "core" %΂   +2 "storage"( & +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&2'Ϯ +13 "core" ' + "manipulator"&]& +5 "core" & 6  + "storage"( & +4 "core" & P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +24 "core" ' + "storage"(&% +4 "core" %p Y\ +3 ."downElevator"SE.seek :down +3 "storage"(Y'X +99 (C% +3 "core" %J P\ We + "manipulator"&% +4 "core" %X { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (5& +4 "core" & V\  +2 "collection"' & +4 "core" &V`  Q\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&[% +4 "core" %\ " ! ? +2 "storage"()% +3 "core" %Y \\\ +2 "storage"(X. +3 "core" .( +2 "storage"(W& +4 "core" & \  + "storage"(& +4 "core" & W\  +2 "manipulator"&0& +3 "core" & (  +2 .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&r& +4 "core" & $ V  + "storage"(#& +5 "core" & :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +104 "core" ' + "storage"(F& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&$& +3 "core" & P  +2 "storage"(4& +3 "core" & a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&L'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(<'Y +39 "core" ' + "manipulator"&% +5 "core" %·  l + "storage"(T& +4 "core" & q\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts + "manipulator"&w'ϳ +13 "core" ' +2 "manipulator"&@& +4 "core" &  + "storage"(O& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(n'H +40 "core" ' + "manipulator"&s& +5 "core" &   + "manipulator"&8% +4 "core" %` \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +3 "manipulator"&=& +4 "core" &'  >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" && v >M +2 .tForearm.seek CC + "manipulator"&H'" +99 "core" ' + .tHand.close +2 "manipulator"&e/ +56 "core" / +2 .tCC.seek :open + "collection"'l( +417 "core" ( + "storage"(:& +4 "core" & k\  +2 "storage"(p& +3 "core" & U\  +2 "manipulator"&i& +4 "core" && P << + "manipulator"&J% +4 "core" % * q +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&d( +161 "core" ( +2 "manipulator"&>& +4 "core" & ; + "storage"(z& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&\\'} +100 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Ύ $ 6 +2 "storage"(& +3 "core" & 2\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'Ϻ +20 "core" ' +2 "manipulator"&t& +5 "core" & I + "storage"(k& +4 "core" &\ (\ ' g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +34 "core" ' +2 "storage"(_% +4 "core" %R\ %\ ' @\ +3 ."downElevator"SE.seek :down +3 "storage"(('X +98 (c% +3 "core" % E i\ V` +2 "manipulator"&v% +4 "core" %4 c o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Q& +4 "core" &  U\ + "manipulator"&f% +4 "core" %\ \  +2 "storage"(% +4 "core" %R\ &\ * *\ + "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (q& +3 "core" & \ + "manipulator"&I& +4 "core" & ( +2 .tElbow.seek 2 + "manipulator"&( +34 "core" ( + "manipulator"&h& +4 "core" &  ( +2 "storage"(%& +3 "core" & \ \  J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +87 "core" ' + "storage"(1& +5 "core" & \ '\ ' V\ + .tSE.reconfigure :pick +55 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(-'i +286 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & O\ +2 "manipulator"&& +4 "core" & & & +2 .tElbow.seek 2 + "manipulator"&|( +4 "core" ( + "manipulator"&& +4 "core" &  Y & + "storage"(9& +4 "core" & \ \ \  z\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(j'X +7 "core" & * & +2 "manipulator"& % +4 "core" %   O +2 .tForearm.seek :retract +2 "manipulator"&y'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&M( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&N& +5 "core" &# 4 :. + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &" ' :. +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'" +93 "core" ' +2 "manipulator"&& +5 "core" &#  < :. + "manipulator"&% +4 "core" %( +2 "collection"'"& +4 "core" &  k\ +2 "collection"'Z& +5 "core" &  p\ +2 .tCC.seek :closed +3 "collection"'}(V +3 "core" &  w\ +6 &  p\ 9 +10 &IIz  r\ 1 +9 &|u  j\ E +9 &%\\  o\ M +10 &W  r\ L +9 &U  s\ M +9 &nZ o\ L +10 &/W  s\ M +9 &[  s\ M +10 &W  s\ M +9 &tY  n\ M +9 &!8W  o\ L +10 &"X  l\ M +9 &$Z  p\ M +9 &&}Y  s\ M +10 &(>X  n\ M +9 &*T  m\ M +10 &+U  n\ M +9 &-Z  e\ M +9 &/GX  i\ M +10 &1\ W  e\ L +9 &2U  d\ M +9 &4V  l\ L +10 &6OU  c\ M +9 &8Y  \\\ L +10 &9Z  \\\ M +9 &;W  X\ M +9 &=XX  \\\ L +10 &?X  \\\ L +9 &@W  [\ L +9 &B\\  W\ M +10 &D^\\  T\ M +9 &Fh  V\ N +10 &Gt  U\ P +9 &I  R\ S +10 &KF  V\ X +9 &M  U\ X +9 &N  Z\ X +9 &P  R\ X +10 &RK  J\ Y +9 &T  Q\ Z +10 &U  P\ E +9 &V/  P\ (v +9 &Vo  T\ L +3 ( + "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&A1 +60 "core" 1 +3 "manipulator"&B% +5 "core" % ( 2  < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &C\ + "manipulator"&% +4 "core" %\  3  +2 "storage"(U% +3 "core" %T !\ +2 "storage"(/. +3 "core" .( +2 "storage"(& +4 "core" & F\ + "storage"( & +4 "core" & N\ +2 "manipulator"&'& +4 "core" &# : :. + "manipulator"&]% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +157 "core" ( + "manipulator"&a& +4 "core" &  g  +2 "storage"(&& +4 "core" & [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +95 "core" ' + "storage"(& +4 "core" & >\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'i +284 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&!& +3 "core" & .  +2 .tElbow.seek 2 +2 "manipulator"&^( +3 "core" ( + "manipulator"&{& +4 "core" & g  +2 "storage"(;& +3 "core" & ,\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&2' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(['X +7 "core" & w  +2 "manipulator"&)% +4 "core" %   L +2 .tForearm.seek :retract + "manipulator"&.'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&X(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&W& +4 "core" &y ' !  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &y 6  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +95 "core" ' +2 "manipulator"&r& +4 "core" &y  h  +2 "manipulator"&#% +4 "core" %  T +2 "processing"%6& +4 "core" &L\ +2 "processing"%F& +5 "core" &L\ +2 .tPC.seek :closed +2 "processing"%Y(Z +4 "core" &M\  +9 &2O\ *x +9 &cO\ > +10 &hzO\ N +9 &+ZM\ M +10 &[L\ M +9 &_K\ N +9 &pYK\ N +10 &3]L\ M +9 &[K\ M +9 &]M\ N +10 & w\\K\ N +9 &":YL\ N +10 &#YL\ M +9 &%[K\ M +9 &'_M\ N +10 &)CYL\ M +9 &+ZL\ M +9 &,\\L\ N +10 &.^N\ M +9 &0JYO\ N +10 &2 YL\ N +9 &3\\M\ M +9 &5XL\ N +10 &7S\\N\ M +9 &9\\M\ M +9 &:WK\ M +10 &<YM\ M +9 &>Z[M\ N +10 &@\\L\ N +9 &AWL\ M +9 &C\\L\ N +10 &Eb]M\ N +9 &G eM\ O +9 &HpL\ P +10 &JL\ S +9 &LXM\ T +10 &NK\ T +9 &OL\ S +9 &QM\ T +10 &S^L\ T +9 &U L\ T +10 &VK\ U +9 &XM\ U +9 &ZgL\ )~ +9 &ZnL\ ; +9 ( +3 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&b1 +3 "core" &Z%L\ 0 +52 1 + "manipulator"& % +5 "core" % ' r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%$& +4 "core" &Z%G\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&4% +4 "core" %\  !  +2 "storage"(3% +3 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(T& +3 "core" & \ +2 "storage"(@& +2 "manipulator"&O& +7 "core" & l\ + &y   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&s(s + "storage"(8'i +6 "core" ( + "manipulator"&K& +4 "core" &y   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&?' +93 "core" ' +2 .tHand.close +6 "manipulator"&L/ +62 "core" / +2 .tPC.seek :open +2 "processing"%w( +80 "core" ' +2 "storage"(<- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +35 "core" ' +307 ( + "storage"(P& +4 "core" & \ +2 "manipulator"&& +3 "core" &y   +2 "manipulator"&% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&E( +252 "core" ( +2 "manipulator"&g& +4 "core" &\ $  f +2 "storage"(:& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +94 "core" ' +2 .tHand.open + "manipulator"&i1 +60 "core" 1 +2 "storage"(J- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(>'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(& +4 "core" & $ $ \ + "manipulator"&V& +4 "core" &  c +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  = c +2 "storage"(t& +3 "core" & " & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(_' +63 "core" ' +2 "manipulator"&& +4 "core" &  c +2 "storage"(c& +58 "core" & W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&v' +34 "core" ' +2 .tElbow.hold + "manipulator"&d, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(\\'i +24 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(Q& +4 "core" & r\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&f' +14 "core" ' +2 "manipulator"&& +4 "core" &  t c +2 "storage"(x& +4 "core" & S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +34 "core" ' +2 "storage"(7% +4 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(('X +98 (u% +3 "core" %F *\ We +2 "manipulator"&q% +4 "core" %Ѻ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ +87 "core" ' +75 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +4 "core" & e\ + "collection"'%& +4 "core" &Vm  P\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&1% +4 "core" %\  j  +2 "storage"(~% +4 "core" %T \ + "storage"(. +4 "core" .( + "storage"(o& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&& +4 "core" &\ | c +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&9& +4 "core" & # ~ c +2 "storage"(*& +3 "core" & 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +92 "core" ' + "storage"( & +4 "core" & R\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +2 "core" & s c +2 "storage"(m& +4 "core" & P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&-' +35 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('P +28 "core" ' + "manipulator"&"% +4 "core" %  ? +2 "storage"(|& +4 "core" & j l a\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&j' +15 "core" ' + "manipulator"&y& +5 "core" & o c + "storage"(l& +4 "core" & )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&A'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'? +39 "core" ' +2 "manipulator"&& +4 "core" & ? c +2 "manipulator"&% +4 "core" %ц  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +152 "core" ( +3 "manipulator"&& +4 "core" & 3 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & ; 7 +2 .tForearm.seek CC + "manipulator"& '" +94 "core" ' + .tHand.close +2 "manipulator"&'/ +61 "core" / +2 .tCC.seek :open + "collection"']( +416 "core" ( +2 "storage"(,& +4 "core" & \  \ +2 "storage"(a& +4 "core" & \ +2 "manipulator"&&& +3 "core" &  7 +2 "manipulator"&% +4 "core" % 4 S +2 .tForearm.seek :retract + "manipulator"&M'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&R( +202 "core" ( + "manipulator"&C& +5 "core" &\ e \\ + "storage"(& +4 "core" & \ \  /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&!' +95 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +59 "core" 1 +3 "manipulator"&5% +4 "core" % %  +2 "storage"( & +4 "core" & \ \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&)' +13 "core" ' + "manipulator"& & +4 "core" & 3 [ +2 "storage"(G& +4 "core" & \ \  d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&+'ќ +24 "core" ' +2 "storage"(2% +4 "core" %H\ \  (\ +2 ."downElevator"SE.seek :down +4 "storage"(W'X +99 (% +2 "core" %H t\ Wc +2 "manipulator"&^% +4 "core" %ѧ P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +91 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'#& +5 "core" &  l\ + "manipulator"&6% +4 "core" %\    +2 "storage"([% +4 "core" %S\ \  3\ +2 "storage"(.. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" & \  +2 "manipulator"& & +4 "core" &\  [ + .tElbow.seek 3 +2 "manipulator"&$( +25 "core" ( +2 "manipulator"&4& +4 "core" & q r + "storage"(3& +4 "core" &\ \  o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' +2 "storage"(T& +4 "core" &\ 3\ 6 [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'i +277 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" & \  +2 "manipulator"&K& +4 "core" & ( r + .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&0& +4 "core" & q r + "storage"(L& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&<'ϩ +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(Y'X +7 "core" & $ r +2 "manipulator"&8% +3 "core" % ϱ C 4 +2 .tForearm.seek :retract +2 "manipulator"&P'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&& +4 "core" &$ A  ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &$ ` ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'" +94 "core" ' +2 "manipulator"&:& +4 "core" &% $ r ;3 +2 "manipulator"&s% +4 "core" %   +2 "collection"'i& +4 "core" &  Z\ +4 "collection"'J& +5 "core" &  [\ +2 .tCC.seek :closed +2 "collection"'H(V +4 "core" &  S\ +7 &4  g\ $c +10 &V~  T\ 7 +9 &{  o\ K +10 &T  s\ L +9 &jZ  t\ M +9 &,W  t\ M +10 &U  t\ L +9 &W  s\ L +9 &rZ  s\ M +10 &4X  q\ M +9 &Z  s\ M +10 &!Y  q\ M +9 &#zU  r\ M +9 &%<U  p\ M +10 &&Y  r\ L +9 &(T  q\ M +9 &*W  q\ M +10 &,DU  q\ M +9 &.X  p\ L +10 &/U  o\ M +9 &1U  q\ L +9 &3MV  o\ L +10 &5Y  m\ M +62 &6W  >\ M +4 &8S  c\ L + &:UW  k\ L +2 &<Y  [\ M +6 &=Z  Z\ M + &?Y  X\ M + &A]U  V\ L &C\\  \\\ M +7 &D\\  `\ M +9 &Ff  R\ N +10 &H[r  S\ P +9 &J  V\ T +10 &K  `\ W +9 &M  \\\ X +10 &OK  ]\ X +9 &Q  S\ X +9 &R  L\ Y +9 &T  Z\ Z +10 &V)t  L\ . +9 &V#  V\ S +9 ( +3 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&1 +3 "core" &Vo  M\ K +49 1 +2 "manipulator"&V% +4 "core" %  # <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%t& +4 "core" &L\ +2 "manipulator"&e% +3 "core" %\ # K B +2 "storage"(% +4 "core" %R !\ +2 "storage"(c. +3 "core" .( + "storage"(=& +4 "core" & \  + "storage"(>& +4 "core" & \  +2 "manipulator"&& +4 "core" &# # :. + "manipulator"&Q% +4 "core" %\ # ! B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&x& +4 "core" & $ F i + "storage"(E& +4 "core" & t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&p'9 +94 "core" ' + "storage"(z& +4 "core" & ?\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +285 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" & U\  +2 "manipulator"&k& +3 "core" & . i +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&_& +4 "core" & # i + "storage"(v& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&f'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&%& "storage"(1'X +8 "core" &  i + "manipulator"&~% +4 "core" % ϯ  g +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"&o& +4 "core" &z + B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 "manipulator"&9& +4 "core" &z " g +2 "manipulator"&*% +4 "core" % ( +2 "processing"%n& +3 "core" &L\ +2 "processing"% & +5 "core" &L\ +2 .tPC.seek :closed +2 "processing"%((Z +5 "core" &V\  +9 &0zK\ *y +9 &cL\ > +10 &xvL\ N +9 &:YL\ N +9 &\\K\ N +10 &[K\ N +9 &YL\ M +10 &CWL\ M +9 &ZM\ M +9 &YL\ M +10 & YK\ M +9 &"KZK\ M +9 &$ YL\ M +10 &%YL\ M +9 &']K\ N +10 &)R\\M\ N +9 &+ZM\ N +9 &,UL\ M +10 &.YL\ M +11 &0Z\\M\ N +9 &2ZM\ N +8 &3WL\ M +9 &5YL\ M +10 &7c\\M\ M +9 &9$ZL\ N +9 &:XL\ M +10 &<WM\ N +9 &>kYK\ M +9 &@-YJ\ M +10 &AWM\ N +9 &CZL\ N +10 &Eq_L\ N +9 &G.jM\ P +9 &HL\ S +10 &JH\ S +9 &LgM\ T +9 &N+K\ S +10 &OK\ S +9 &QL\ T +10 &SoN\ T +9 &U/M\ U +10 &VK\ T +9 &XJ\ T +9 &Z"^M\ "i +9 &ZZJ\ . +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&d1 +3 "core" &ZL\ * +49 1 + "manipulator"&I% +4 "core" % ; ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +97 "core" ' + "processing"%N& +4 "core" &ZK\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&m% +4 "core" %\  6 + "storage"(% +4 "core" %_ \\\ +2 "storage"(". +3 "core" .( + "storage"(|& +4 "core" & \  +2 "storage"(y& +4 "manipulator"&l& +4 "core" & c\  + &z  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"('i +6 "core" ( + "manipulator"&\ & +4 "core" &z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z ^ +2 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 .tHand.close + "manipulator"&-/ +61 "core" / +2 .tPC.seek :open +2 "processing"%j( +85 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +298 ( + "storage"(Z& +4 "core" & .\  +2 "manipulator"&A& +4 "core" &z  H + "manipulator"&S% +4 "core" %  - +2 .tForearm.seek :retract + "manipulator"&''\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&U( +265 "core" ( + "manipulator"&}& +4 "core" &  T  +2 "storage"(,& +3 "core" & `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +85 "core" ' +2 .tHand.open + "manipulator"&&1 +58 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(C' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(/& +3 "core" & ) # P\  +2 "manipulator"&;& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&5( +4 "core" ( + "manipulator"& & +4 "core" & ;  +2 "storage"( & +3 "core" & - * 8\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(2' +63 "core" ' + "manipulator"&M& +5 "core" & E  + "storage"(& +4 "core" & 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&^'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(!'i +30 "core" ' +2 "manipulator"&#% +4 "core" %Ύ { + "storage"()& +4 "core" & 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&6'Ϻ +12 "core" ' +2 "manipulator"&[& +4 "core" &   +2 "storage"(.& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +24 "core" ' + "storage"(+% +5 "core" %q v\ +2 ."downElevator"SE.seek :down +4 "storage"(W'X +98 (% +5 "core" %C 7\ We +5 "manipulator"&b% +6 "core" %T  +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +4 "core" & \  + "collection"'3& +4 "core" &Vp  W\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&T% +4 "core" %\    +2 "storage"({% +3 "core" %S E\ +2 "storage"(r. +3 "core" .( +2 "storage"(@& +3 "core" & w\  +2 "storage"(O& +4 "core" & V\  + "manipulator"&K& +4 "core" & W  +2 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(X& +3 "core" & b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +57 "manipulator"&'9 +93 "core" ' + "storage"(8& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  +2 "storage"(F& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&?'} +26 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(s'Y +31 "core" ' +2 "manipulator"&D% +4 "core" %Ό  x + "storage"(i& +4 "core" & T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&Y'ϸ +13 "core" ' + "manipulator"&P& +4 "core" & 3  +2 "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(V'H +41 "core" ' +2 "manipulator"&t& +4 "core" & =  +2 "manipulator"&e% +4 "core" %X + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +167 "core" ( +3 "manipulator"&=& +4 "core" &( /  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &( ?V +2 .tForearm.seek CC +2 "manipulator"&J'" +91 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'Q( +416 "core" ( +2 "storage"(g& +4 "core" & 0\  + "storage"(x& +4 "core" & /\  +2 "manipulator"&E& +3 "core" &&  =D +2 "manipulator"&z% +4 "core" % 2  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +168 "core" ( + "manipulator"&u& +5 "core" & C k + "storage"(q& +4 "core" & \  )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&k'} +100 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +62 "core" 1 +2 "manipulator"&h% +5 "core" % Ί $ j + "storage"(%& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&~'϶ +20 "core" ' +2 "manipulator"&& +4 "core" &  k +2 "storage"(p& +3 "core" &\ \ f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +29 "core" ' + "storage"(f% +5 "core" %R\ %\ ' r\ +2 ."downElevator"SE.seek :down +4 "storage"(o'X +99 (% +3 "core" %H 6\ Wc +2 "manipulator"&% +4 "core" %E g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'*& +3 "core" &  \\\ +2 "manipulator"&n% +3 "core" %\  X  +2 "storage"(1% +4 "core" %`\ '\ % \ + "storage"(\\. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(w( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" & <\ +2 "manipulator"&I& +4 "core" & J k + .tElbow.seek 2 +2 "manipulator"&N( +42 "core" ( + "manipulator"&m& +5 "core" & $ # % + "storage"(& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&"'ќ +95 "core" ' +2 "storage"(|& +4 "core" & \ *\ 2 A\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +281 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & K\ +2 "manipulator"&\ & +4 "core" & ' # +2 .tElbow.seek 2 + "manipulator"&( +29 "core" ( + "manipulator"&& +4 "core" & ?  +2 "storage"(-& +4 "core" & \ \  \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(('X +8 "core" & [  + "manipulator"&% +4 "core" %  >  +2 .tForearm.seek :retract + "manipulator"&Z'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&S& +4 "core" &+ ' q Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, / u Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&}'" +101 "core" ' +3 "manipulator"&,& +4 "core" &, Bj +2 "manipulator"&% +4 "core" %  +2 "collection"'&& +4 "core" &  g\ +2 "collection"'& +5 "core" &  t\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  m\  +9 &2~  h\ *x +9 &d  o\ > +10 &{r  p\ N +9 &@T  t\ L +9 &W  p\ L +10 &T  r\ L +9 &V  r\ L +9 &GZ  r\ M +10 & Y  r\ M +9 &U  s\ L +10 & V  o\ M +9 &"PZ  n\ L +9 &$V  g\ L +10 &%[  o\ M +9 &'X  n\ M +9 &)WW  n\ M +10 &+U  m\ L +9 &,W  q\ L +9 &.Y  q\ L +10 &0_U  c\ M +9 &2"T  d\ L +10 &3U  p\ M +9 &5T  l\ L +9 &7gT  o\ M +10 &9)W  b\ M +9 &:U  b\ L +9 &<Y  Y\ M +10 &>pZ  T\ L +9 &@3W  Z\ L +10 &AZ  S\ M +9 &C]  J\ M +9 &Eu_  R\ M +10 &G3m  R\ O +9 &H~  R\ Q +10 &J  J\ V +9 &L_  S\ X +9 &N"  R\ W +10 &O  J\ X +9 &Q  J\ X +10 &Sb  K\ Y +9 &U#  P\ Z +9 &VnB  P\ 2 +9 &Vm  M\ H +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&/1 +4 "core" &V_  O\ H +56 1 +2 "manipulator"&;% +5 "core" %  b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &E\ +2 "manipulator"&'% +3 "core" %\ /  +2 "storage"(M% +4 "core" %a }\ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & \ + "storage"(#& +4 "core" & K\ + "manipulator"&)& +4 "core" &+  Bj +2 "manipulator"& % +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +156 "core" ( + "manipulator"&.& +4 "core" & `  +2 "storage"(+& +3 "core" & [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +93 "core" ' +2 "storage"(a& +4 "core" & 0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" & E\ +2 "manipulator"&G& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&2& +3 "core" & Y  +2 "storage"(^& +4 "core" & N\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&6' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +57 .tHand.close + "manipulator"&4/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(T'X +8 "core" &   + "manipulator"&{% +4 "core" % \ 8 \ +2 .tForearm.seek :retract +2 "manipulator"&!'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +109 "core" ( +2 "manipulator"&@& +4 "core" &m A S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &m k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' + "manipulator"&L& +5 "core" &m  4 + "manipulator"&X% +4 "core" % [ D +2 "processing"%B& +4 "core" &F\ +2 "processing"%8& +5 "core" &L\ +2 .tPC.seek :closed + "processing"%W(Z +5 "core" &L\  +8 &2~M\ *x +9 &aL\ = +10 &dxL\ N +9 &'XL\ M +9 &YK\ M +10 &YO\ M +9 &mYK\ M +9 &.XL\ N +10 &]J\ N +9 &\\L\ M +10 & uZK\ M +9 &"6[L\ N +9 &#VL\ M +10 &%YL\ M +9 &'|ZL\ N +9 &)?\\L\ M +10 &+XM\ N +9 &,ZL\ M +10 &.YL\ M +9 &0G\\M\ M +9 &2\ YL\ M +10 &3\\L\ M +9 &5XL\ N +9 &7NZK\ N +10 &9WL\ M +9 &:UL\ M +10 &<WL\ N +9 &>VZL\ N +9 &@\\L\ M +10 &AVL\ M +9 &C^L\ N +9 &E^\\K\ N +10 &GeL\ O +10 &HsM\ P +9 &JK\ R +9 &LUL\ S +10 &NC\ T +9 &OK\ T +9 &QL\ S +9 &S\\K\ T +10 &UI\ S +10 &VL\ T +9 &XL\ T +9 &ZfI\ )} +9 &Z]K\ 5 +9 ( +3 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&R1 +3 "core" &Z#K\ 0 +49 1 + "manipulator"& % +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 "processing"%& +4 "core" &Z#F\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&F% +4 "core" %\  .  +2 "storage"(:% +3 "core" %T \ +2 "storage"(D. +3 "core" .( + "storage"(i& +4 "core" & \ +2 "storage"(P& +2 "manipulator"&]& +7 "core" & \ + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&t(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(e'i +3 "core" ( + "manipulator"&& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &m &  +2 .tForearm.seek PC + "manipulator"&$' +96 "core" ' +2 .tHand.close + "manipulator"&?/ +57 "core" / +2 .tPC.seek :open + "processing"%Y( +90 "core" ' + "storage"(s- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +45 "core" ' +287 ( + "storage"(>& +4 "core" & 4\ +2 "manipulator"&& +4 "core" &m M + "manipulator"&<% +4 "core" % " +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +269 "core" ( + "manipulator"&H& +4 "core" &  > # + "storage"(g& +4 "core" & g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +104 "core" ' +2 .tHand.open + "manipulator"&E1 +58 "core" 1 +2 "storage"(z- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(u'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(q' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(c& +4 "core" & ( ' _\ +2 "manipulator"&v& +4 "core" & B " +2 .tElbow.seek 2 + "manipulator"&h( +19 "core" ( + "manipulator"&%& +5 "core" & # ' + "storage"(& +4 "core" & % !\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(f' +57 "core" ' +2 "manipulator"&& +4 "core" &  & + "storage"(& +4 "core" & e\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +23 "core" ' +2 "manipulator"&~% +5 "core" % V + "storage"(*& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&n' +13 "core" ' +2 "manipulator"&1& +4 "core" &  > & +2 "storage"(\\& +4 "core" & e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +24 "core" ' + "storage"(7% +5 "core" %s V\  +2 ."downElevator"SE.seek :down +4 "storage"(o'X +99 (% +3 "core" %_M \ Yh +2 "manipulator"&d% +4 "core" %Ѯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (m& +3 "core" & 8\ +2 "collection"'& +4 "core" &V_  ^\ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&|% +4 "core" %\  r ! + "storage"(_% +4 "core" %a J\ + "storage"(9. +4 "core" .( + "storage"(y& +4 "core" & h\ + "storage"( & +4 "core" & \ +2 "manipulator"&\ & +4 "core" & > & +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&-& +4 "core" & % G & +2 "storage"(& +3 "core" & >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +96 "core" ' + "storage"(& +4 "core" & )\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'i +284 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&S& +3 "core" & J & +2 "storage"(& +4 "core" & l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&l' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +30 "core" ' +2 "manipulator"&% +4 "core" % c u + "storage"(&& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&(' +16 "core" ' + "manipulator"&Z& +4 "core" & $ D & +2 "storage"(Q& +4 "core" & $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&/'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(;'? +41 "core" ' +2 "manipulator"& & +4 "core" & b & +2 "manipulator"&'% +4 "core" %і  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( + "manipulator"&& +5 "core" &*  ^ @Z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* ; @Z +2 .tForearm.seek CC +2 "manipulator"&#'" +94 "core" ' +4 .tHand.close + "manipulator"&)/ +53 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( + "storage"(}& +4 "core" & 7\ +2 "storage"(.& +4 "core" & V\ +2 "manipulator"&+& +3 "core" &* G @Z +2 "manipulator"&a% +4 "core" % * %  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +156 "core" ( + "manipulator"&& +5 "core" & ]  + "storage"(b& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&G' +106 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +58 "core" 1 +2 "manipulator"&4% +4 "core" %    +2 "storage"(3& +4 "core" & O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&{' +22 "core" ' + "manipulator"&[& +5 "core" & "  + "storage"(U& +4 "core" & \ \  1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&C'ќ +18 "core" ' +2 "storage"(6% +4 "core" %G\ %\ ' N\ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (O% +3 "core" %D Z\ Wc + "manipulator"&5% +4 "core" %ѡ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'X& +4 "core" &  [\ +2 "manipulator"&B% +4 "core" %\ \  +2 "storage"(T% +4 "core" %[\ &\ * &\ + "storage"(!. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(j( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (R& +3 "core" &\  \ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&F& +4 "core" &  > + "storage"(:& +4 "core" &\ $\ $ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +91 "core" ' +2 "storage"(i& +4 "core" &\ )\ % N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +286 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" &\  N\  +2 "manipulator"&& +4 "core" &  > +2 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( + "manipulator"&K& +4 "core" & _ > +2 "storage"(?& +3 "core" &\ \  E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&s'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(W'X +6 "core" & . > +2 "manipulator"&e% +3 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&<& +5 "core" &+ $ A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &+  A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'" +92 "core" ' + "manipulator"&g& +4 "core" &* R @X +2 "manipulator"&t% +4 "core" %" *  +2 "collection"'E& +4 "core" &  u\ +2 "collection"'z& +5 "core" &  m\ +2 .tCC.seek :closed +3 "collection"'J(V +4 "core" &  c\ +6 &5  o\ $d +9 &V}  p\ 7 +10 &z  q\ K +9 &S  r\ L +9 &iZ  s\ M +10 &+V  q\ M +9 &X  q\ M +9 &T  r\ L +10 &qU  p\ M +9 &3W  t\ M +10 &T  p\ L +9 &!U  p\ L +9 &#zW  :\ L +10 &%;Z  o\ M +9 &&W  o\ M +9 &(V  h\ M +10 &*Y  p\ L +9 &,DT  o\ L +9 &.U  k\ L +10 &/Y  e\ L +9 &1U  b\ M +10 &3KW  k\ M +9 &5Y  h\ L +9 &6Y  g\ M +10 &8U  i\ L +9 &:TV  l\ L +9 &<\\  ^\ M +10 &=U  \\\ L +9 &?W  \\\ L +10 &A[T  T\ M +9 &CZ  P\ M +10 &D_  T\ M +9 &Fe  R\ N +9 &HZr  T\ P +9 &J  Q\ T +10 &K  P\ W +9 &M  P\ X +10 &OL  K\ W +9 &Q  P\ X +9 &R  T\ Y +10 &T  "\ Y +9 &V+v  Z\ . +9 &V%  S\ O +9 ( +3 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&c1 +3 "core" &V_  U\ H +50 1 +2 "manipulator"&v% +5 "core" % # -   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &A\ +2 "manipulator"&% +4 "core" %\  + *  + "storage"(% +4 "core" %S Q\ +2 "storage"(. +3 "core" .( + "storage"(=& +4 "core" & \  + "storage"(~& +4 "core" & \  +2 "manipulator"&*& +3 "core" &( r ?R +2 "manipulator"&u% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&1( +161 "core" ( + "manipulator"&\\& +5 "core" &  B l + "storage"(7& +4 "core" & (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + "storage"(x& +4 "core" & W\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'i +287 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" & \  +2 "manipulator"&p& +4 "core" & R l +2 .tElbow.seek 3 + "manipulator"&h( +4 "core" ( + "manipulator"&f& +4 "core" & 3 l + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&n'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(|'X +8 "core" & 7 l + "manipulator"&_% +4 "core" % Ϯ Z  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&k(s +172 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&y& +4 "core" &i ' 3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &i P  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +97 "core" ' +2 "manipulator"&-& +4 "core" &j i  +2 "manipulator"&% +3 "core" %   +2 "processing"%V& +4 "core" &N\ +2 "processing"%& +5 "core" &M\ +2 .tPC.seek :closed +3 "processing"%o(Z +3 "core" &M\ +6 &EP\ %h +10 &WM\ 8 +9 &}M\ M +9 &ZL\ N +10 &{^L\ N +9 &=\\H\ N +10 &\\K\ N +9 &ZL\ M +9 &YB\ M +10 &FYK\ M +9 & YL\ M +9 &!YK\ M +10 &#ZL\ N +9 &%M]L\ N +10 &'ZK\ N +9 &(WK\ M +9 &*WL\ M +10 &,T[L\ N +9 &.WL\ N +9 &/VL\ N +10 &1WK\ M +9 &3]XL\ N +10 &5[L\ N +9 &6ZK\ N +9 &8VH\ M +10 &:eZL\ N +9 &<(ZF\ M +9 &=WJ\ M +10 &?[A\ N +9 &AnZK\ M +10 &C/ZG\ N +9 &D]K\ N +9 &FiL\ O +10 &HjzG\ Q +9 &J'B\ S +9 &KA\ S +10 &MA\ S +9 &OkJ\ T +9 &Q-B\ T +10 &RA\ T +9 &TK\ T +10 &VrL\ T +9 &X2B\ U +9 &Y{qD\ , +10 &Z(_<\ + +9 ( + &Z@\ # +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&I% +4 "core" % %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +55 "manipulator"&"'\ +100 "core" ' + "processing"%S& +5 "core" &Z*\ # + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ "  > +2 "storage"(,% +4 "core" %` +\ +2 "storage"(. +3 "core" .( + "storage"(&& +4 "core" & &\  +2 "storage"(Z& +2 "manipulator"&Q& +7 "core" & 8\  + &j  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& (s + "storage"(''i +5 "core" ( +2 "manipulator"&`& +4 "core" &j    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j   +2 .tForearm.seek PC + "manipulator"&N' +95 "core" ' +2 .tHand.close + "manipulator"&l/ +61 "core" / +2 .tPC.seek :open + "processing"%(( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +293 ( +2 "storage"(& +4 "core" & a\  + "manipulator"&/& +4 "core" &j   +2 "manipulator"&% +3 "core" % I  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&M( +259 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(}& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +120 "core" ' + .tHand.open +2 "manipulator"&+1 +56 "core" 1 +2 "storage"(a- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" & ' #\  + "manipulator"&^& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&4( +9 "core" ( + "manipulator"&3& +4 "core" &   +2 "storage"([& +4 "core" &\  h\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +61 "core" ' + "manipulator"&A& +4 "core" & M  +2 "storage"(O& +4 "core" & 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'} +20 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(G'i +21 "core" ' + "manipulator"&X% +5 "core" %· + "storage"({& +4 "core" & ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&B'ϳ +12 "core" ' +2 "manipulator"&T& +4 "core" &  +2 "storage"(!& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +24 "core" ' + "storage"(C% +5 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (w% +3 "core" %XM \ Xg +2 "manipulator"&R% +4 "core" %R E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (F& +4 "core" & d\  +2 "collection"':& +4 "core" &V_  W\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&i% +4 "core" %\   . +2 "storage"(2% +4 "core" %b H\ + "storage"(L. +3 "core" .( +2 "storage"(P& +3 "core" & O\  +2 "storage"(8& +4 "core" & *\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&K( +4 "core" ( + "manipulator"&?& +4 "core" &   + "storage"(r& +4 "core" & \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +106 "core" ' +2 "storage"(e& +4 "core" & M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +3 "storage"(D- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&<& +4 "core" &   + "storage"($& +4 "core" & c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&]'} +29 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(t'Y +39 "core" ' + "manipulator"&E% +4 "core" %Ύ  ] +2 "storage"(0& +4 "core" & #\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts + "manipulator"&W'Ϻ +21 "core" ' + "manipulator"&>& +4 "core" &   +2 "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +34 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(v'H +42 "core" ' + "manipulator"&& +4 "core" & P  +2 "manipulator"&% +4 "core" %# 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&=& +5 "core" & Z 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  7 +2 .tForearm.seek CC + "manipulator"&*'" +95 "core" ' +2 .tHand.close + "manipulator"&z/ +55 "core" / +2 .tCC.seek :open +2 "collection"'u( +416 "core" ( +2 "storage"(H& +5 "core" & Q\  + "storage"(\\& +4 "core" & m\  + "manipulator"&7& +4 "core" & 6 6 + "manipulator"&x% +4 "core" % 0   +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&%( +163 "core" ( + "manipulator"&& +5 "core" &  U + "storage"(d& +4 "core" &\ \  `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&p'} +101 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&m% +4 "core" % Ώ  ' +2 "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&_'ϻ +20 "core" ' + "manipulator"&1& +4 "core" & o +2 "storage"(& +4 "core" &\ \ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +35 "core" ' +2 "storage"(n% +4 "core" %M\ 1\ / Y\ +2 ."downElevator"SE.seek :down +4 "storage"(y'X +99 ( % +2 "core" %D\ \  \ Vb +2 "manipulator"&h% +4 "core" %0 k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +47 "storage"(5 +11 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" &  r\ + "manipulator"&V% +4 "core" %\   + +2 "storage"(|% +4 "core" %`\ \  \ + "storage"(9. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Y( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ +2 "manipulator"&I& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +47 "core" ( +2 "manipulator"&S& +4 "core" & $ h !q + "storage"(& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +94 "core" ' + "storage"(& +4 "core" & \ *\ ( :\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'i +283 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" & \\\ +2 "manipulator"&`& +4 "core" &  m + .tElbow.seek 2 +2 "manipulator"&( +26 "core" ( +3 "manipulator"&\ & +4 "core" & 3  + "storage"(l& +4 "core" & 6\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(o'X +7 "core" &   +2 "manipulator"&'% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &  & Y 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &  6 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +3 "manipulator"&}& +4 "core" &   w 5 +2 "manipulator"& % +4 "core" % ' j +2 "collection"'+& +4 "core" &  f\ +2 "collection"'a& +5 "core" &  s\ +2 .tCC.seek :closed + "collection"'#(V +5 "core" &  e\  +9 &2  p\ *y +10 &d  e\ > +9 &}q  o\ M +10 &AT  t\ L +9 &W  p\ L +9 &Y  q\ L +10 &Y  p\ L +9 &IT  s\ L +9 & V  p\ L +10 &Y  q\ L +9 & Y  p\ M +10 &"PX  o\ M +9 &$T  s\ L +9 &%W  o\ L +10 &'Z  o\ M +9 &)YV  p\ L +9 &+V  o\ L +10 &,Y  o\ L +9 &.T  p\ L +10 &0aV  p\ L +9 &2#Y  b\ L +9 &3U  c\ L +10 &5U  e\ L +9 &7hX  f\ M +9 &9,T  _\ L +10 &:Z  \\\ M +9 &<Z  f\ M +10 &>oY  _\ M +9 &@3U  S\ L +9 &AW  S\ L +10 &CY  T\ L +9 &Eu_  [\ N +9 &G4j  G\ O +10 &H|  T\ Q +9 &J  S\ V +9 &L`  U\ W +10 &N"  U\ W +9 &O  L\ Y +10 &Q  U\ X +9 &Sc  S\ Y +9 &U$  X\ Z +10 &VpC  Q\ 0 +9 &Vt  M\ J +6 ( + "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&1 +4 "core" &Vj  M\ J +59 1 + "manipulator"&^% +4 "core" % /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +101 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%3& +4 "core" &?\ +2 "manipulator"&[% +3 "core" %\ \  h  +2 "storage"(A% +4 "core" %S "\ +2 "storage"(O. +3 "core" .( + "storage"(X& +4 "core" & \ + "storage"({& +4 "core" & L\ +2 "manipulator"&& +3 "core" &  Y 5 +2 "manipulator"&T% +4 "core" %\ \ Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&!( +160 "core" ( +2 "manipulator"&& +4 "core" & @  + "storage"(C& +4 "core" & <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +94 "core" ' + "storage"(.& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'i +283 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" & 5\ +2 "manipulator"&U& +4 "core" & t  + .tElbow.seek 2 +2 "manipulator"&4( +4 "core" ( + "manipulator"&6& +4 "core" &  Z  +2 "storage"(5& +3 "core" & X\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&B' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(i'X +7 "core" & J  +2 "manipulator"&2% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&G'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&L(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +3 "manipulator"&P& +5 "core" &s ;  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &s K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&?& +4 "core" &s  @  +2 "manipulator"&r% +4 "core" % ! +2 "processing"%;& +4 "core" &L\ +2 "processing"%e& +5 "core" &A\ +2 .tPC.seek :closed + "processing"%@(Z +5 "core" &K\  +9 &2~D\ *y +9 &cK\ > +10 &vvF\ N +9 &8WK\ N +9 &\\M\ M +10 &XF\ N +9 &WK\ M +9 &@WB\ N +10 &\\G\ N +9 &YK\ N +9 & WF\ M +10 &"IYI\ M +9 &$\ [K\ N +10 &%]G\ M +9 &']L\ N +9 &)Q\\G\ M +10 &+WA\ M +9 &,WH\ M +9 &.\\J\ N +10 &0XZK\ N +9 &2WB\ M +10 &3WA\ M +9 &5XB\ N +9 &7`Z=\ N +10 &9#U?\ M +9 &:U>\ M +10 &<UA\ N +9 &>hX>\ N +9 &@*[E\ N +10 &AUA\ M +9 &C^A\ N +10 &Ep\\A\ N +9 &G.eA\ O +9 &HsF\ P +9 &JA\ R +10 &LfF\ T +9 &N)>\ S +10 &O>\ S +9 &Q;\ T +10 &Sm9\ T +9 &U/5\ T +9 &V?\ T +9 &X?\ U +10 &Z ]=\ #m +9 &ZX;\ ) +9 ( +3 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z@\ % +55 1 + "manipulator"& % +4 "core" % $ ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' + "processing"%<& +4 "core" &Z,\ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&$% +3 "core" %\    +2 "storage"(g% +4 "core" %S '\ + "storage"(E. +3 "core" .( +2 "storage"(0& +3 "core" & \ +2 "storage"(>& +4 "manipulator"& & +4 "core" & /\ + &s   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &s   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &s  +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&]/ +60 "core" / +2 .tPC.seek :open +2 "processing"%W( +86 "core" ' + "storage"(t- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='y +46 "core" ' +290 ( + "storage"(~& +5 "core" & \ + "manipulator"&c& +4 "core" &s >  + "manipulator"&s% +4 "core" % " +2 .tForearm.seek :retract + "manipulator"&z'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +268 "core" ( + "manipulator"&J& +4 "core" & $ [  +2 "storage"(H& +4 "core" & T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +99 "core" ' +2 .tHand.open +55 "manipulator"&71 +57 "core" 1 +2 "storage"(x- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(& +4 "core" & + ( U\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(1& +4 "core" & ' '\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(n' +57 "core" ' + "manipulator"&& +5 "core" & 4  + "storage"( & +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&h' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(p'i +22 "core" ' + "manipulator"&_% +5 "core" % T + "storage"(& +4 "core" & } A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&v' +14 "core" ' + "manipulator"&V& +5 "core" &  +2 "storage"(|& +4 "core" & x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +27 "core" ' +2 "storage"(q% +4 "core" %s @\ +2 ."downElevator"SE.seek :down +4 "storage"(y'X +99 (j% +2 "core" %DG u\ Xf +2 "manipulator"&% +4 "core" %э z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (S& +4 "core" & N\ + "collection"'& +4 "core" &Vj  e\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ #  : +2 "storage"(f% +4 "core" %_ "\ + "storage"(-. +3 "core" .( +2 "storage"(Q& +3 "core" & P\ +2 "storage"(Z& +4 "core" & ~\ +2 "manipulator"&`& +3 "core" & V  +2 .tElbow.seek 2 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&l& +4 "core" &   +2 "storage"(k& +3 "core" & }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +95 "core" ' + "storage"('& +5 "core" & #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(N& +4 "core" & z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&&' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +27 "core" ' +2 "manipulator"& % +4 "core" % y o + "storage"(+& +4 "core" & V\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&o' +16 "core" ' + "manipulator"&& +4 "core" & Y  +2 "storage"(u& +4 "core" & g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(^'? +39 "core" ' +2 "manipulator"&3& +5 "core" &   + "manipulator"&[% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +166 "core" ( +2 "manipulator"&a& +4 "core" &- -  Cq + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &- ,  Cq +2 .tForearm.seek CC +2 "manipulator"&{'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'T( +416 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(& +4 "core" & g\ + "manipulator"&C& +4 "core" &+ ! A` + "manipulator"&.% +4 "core" % - i  +2 .tForearm.seek :retract + "manipulator"&/'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)( +160 "core" ( +2 "manipulator"&w& +4 "core" &  `  +2 "storage"(R& +3 "core" & \ \  f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&U' +103 "core" ' +2 .tElbow.hold + "manipulator"&6, +57 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +53 "core" 1 +3 "manipulator"&F% +4 "core" % % w = +2 "storage"(:& +4 "core" & g\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts + "manipulator"&2' +14 "core" ' +2 "manipulator"&!& +4 "core" & z  + "storage"(M& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +28 "core" ' +2 "storage"(B% +4 "core" %F\ \ \ }\ +2 ."downElevator"SE.seek :down +3 "storage"(P'X +99 (8% +3 "core" %oG \ Vb +2 "manipulator"&4% +4 "core" %ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'r& +4 "core" &  k\ +2 "manipulator"&;% +3 "core" %\    +2 "storage"(i% +4 "core" %`\ $\ & Q\ + "storage"(G. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"((( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" & |\  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&<( +20 "core" ( + "manipulator"&$& +5 "core" &  5 ? + "storage"(g& +4 "core" &\ \  X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +98 "core" ' +2 "storage"(0& +4 "core" &\ 6\ C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +291 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" &\ \  W\  +2 "manipulator"&& +3 "core" & w ? +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( + "manipulator"&& +4 "core" & T ? +2 "storage"(]& +4 "core" &\ 0\ ' \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&t'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&D& "storage"(@'X +8 "core" & ? + "manipulator"&% +4 "core" % ϣ ` +2 .tForearm.seek :retract + "manipulator"&~'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&c( +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&s& +4 "core" &+  i Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'" +101 "core" ' +2 "manipulator"&H& +4 "core" &, > Bk +2 "manipulator"&% +4 "core" % +2 "collection"'7& +4 "core" &  {\ +2 "collection"'x& +4 "core" &  t\ +3 .tCC.seek :closed + "collection"'z(V +4 "core" &  c\  +9 &2}  p\ *x +9 &d  s\ > +10 &|r  n\ M +9 &@U  r\ L +9 &V  l\ L +10 &X  r\ L +9 &T  o\ M +10 &HY  s\ L +9 & T  o\ M +9 &V  \ M +10 & T  x\ L +9 &"PW  s\ L +9 &$Y  q\ M +10 &%Z  l\ L +9 &'T  c\ M +10 &)WV  n\ M +9 &+T  p\ L +9 &,U  o\ L +10 &.W  e\ M +9 &0`U  a\ L +9 &2"U  ]\ L +10 &3Z  ]\ L +9 &5T  d\ L +10 &7hT  ]\ L +9 &9)T  \\\ M +9 &:X  R\ M +10 &<W  `\ L +9 &>oZ  W\ M +9 &@2Y  T\ L +10 &AU  O\ L +9 &CY  P\ M +10 &Ev]  Y\ M +9 &G3k  R\ O +10 &Hy  T\ P +9 &J  J\ U +9 &L`  P\ W +9 &N#  \ W +10 &O  U\ X +9 &Q  L\ X +10 &Sc  P\ Y +9 &U$  P\ Y +10 &VlB  Q\ 1 +9 &V v  R\ I +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&*1 +3 "core" &Vj  O\ I +56 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &A\ +2 "manipulator"&1% +4 "core" %\ \ =  +2 "storage"(% +4 "core" %b ]\ + "storage"( . +3 "core" .( +2 "storage"(=& +4 "core" & W\  + "storage"(_& +4 "core" & d\  +2 "manipulator"&& +4 "core" &,  Bg + "manipulator"&V% +4 "core" %\ \ G  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|( +163 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(q& +4 "core" & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' + "storage"(\\& +4 "core" & %\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'i +287 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & S\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&m( +4 "core" ( + "manipulator"&n& +4 "core" & c + "storage"(h& +4 "core" & e\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +7 "core" & N +2 "manipulator"&f% +4 "core" % - + .tForearm.seek :retract +2 "manipulator"&-'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&Q(s +171 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&p& +4 "core" &v '  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`' +95 "core" ' +2 "manipulator"&l& +4 "core" &v D +2 "manipulator"&k% +4 "core" %   + "processing"%9& +4 "core" &5\ +4 "processing"%'& +5 "core" &;\ +2 .tPC.seek :closed + "processing"%y(Z +5 "core" &9\  +9 &2~>\ *y +10 &c>\ > +9 &yx<\ N +9 &<Y@\ M +10 &\\@\ N +9 &]@\ M +9 &WI\ N +10 &DUL\ M +9 &Y?\ M +10 &\\<\ N +9 & W:\ M +9 &"LY>\ M +10 &$W>\ M +9 &%XG\ N +9 &'Z@\ N +10 &)TU=\ M +9 &+WG\ M +10 &,Z@\ M +9 &.W=\ N +9 &0[Z6\ N +10 &2Z8\ N +9 &3YE\ N +9 &5ZK\ N +10 &7dZ,\ M +9 &9%Z7\ N +10 &:W,\ N +9 &<Z9\ M +9 &>lU<\ M +10 &@.Y=\ M +9 &AV5\ N +9 &CX/\ N +10 &Eq_/\ N +9 &G.j.\ P +10 &H;\ R +9 &JB\ S +9 &Lj4\ S +10 &N,4\ S +9 &O;\ T +9 &Q4\ T +10 &Sp9\ T +9 &U13\ T +10 &V2\ U +9 &X,\ U +9 &Z!\\8\ $o +10 &ZZ9\ / +8 ( +3 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&%1 +3 "core" &Z;\ + +52 1 +2 "manipulator"&I% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 "processing"%& +4 "core" &Z-\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\  4 + "storage"(}% +4 "core" %b \ +2 "storage"( . +3 "core" .( + "storage"(+& +4 "core" & \  +2 "storage"(& +2 "manipulator"&u& +7 "core" & \  + &v 7 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&3(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(['i +3 "core" ( + "manipulator"&"& +4 "core" &v  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &v 3 j +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%o( +97 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +43 "core" ' +281 ( +2 "storage"(X& +4 "core" & T\  +2 "manipulator"&& +4 "core" &v s +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&A( +268 "core" ( +2 "manipulator"&#& +4 "core" & H  +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + .tHand.open + "manipulator"&C1 +55 "core" 1 +2 "storage"(.- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(R' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(O& +4 "core" & f j ,\  +2 "manipulator"&5& +4 "core" & 8  +2 .tElbow.seek 3 + "manipulator"&F( +8 "core" ( +2 "manipulator"&:& +4 "core" & o ~ + "storage"(!& +4 "core" & g P\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +58 "core" ' +2 "manipulator"&B& +4 "core" & Q ~ +2 "storage"()& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'} +27 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(U'i +23 "core" ' +2 "manipulator"&2% +4 "core" %Ά  +2 "storage"(r& +4 "core" & D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&;'ϲ +19 "core" ' +3 "manipulator"&i& +4 "core" & ~ +2 "storage"(G& +4 "core" & v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +33 "core" ' +2 "storage"(b% +4 "core" %q \  +58 ."downElevator"SE.seek :down +4 "storage"(P'X +99 (Y% +2 "core" %&L \ Wf +2 "manipulator"& % +5 "core" %" +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ($& +4 "core" & 9\  + "collection"'g& +4 "core" &Vj  O\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&0% +4 "core" %\ #  B +2 "storage"(6% +3 "core" %a x\ +2 "storage"(?. +3 "core" .( +2 "storage"(>& +4 "core" & \ \  + "storage"(e& +4 "core" & o\  +2 "manipulator"&& +3 "core" & * ~ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&]& +3 "core" & $ ~ +2 "storage"(L& +4 "core" & o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +96 "core" ' + "storage"(& +5 "core" & >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +115 "Can"9\ US +170 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +2 "core" & 2 ~ +2 "storage"(& +4 "core" & O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +24 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(K'Y +34 "core" ' + "manipulator"&% +4 "core" %ΐ I +2 "storage"(7& +3 "core" & 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&@'ϼ +13 "core" ' + "manipulator"&~& +25 "core" & r ~ + "storage"(T& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +26 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +39 "core" ' +2 "manipulator"&& +4 "core" & F ~ +2 "manipulator"&1% +4 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +161 "core" ( + "manipulator"&x& +5 "core" &*  [ @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &* ; @W +2 .tForearm.seek CC +2 "manipulator"&_'" +90 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'V( +419 "core" ( +2 "storage"(J& +4 "core" & z\  + "storage"(& +4 "core" & =\  + "manipulator"&q& +4 "core" &( P ?V +2 "manipulator"&\\% +3 "core" % 6 W  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +162 "core" ( + "manipulator"&j& +5 "core" & S l + "storage"(& +4 "core" &\ \  A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +55 "core" 1 +2 "manipulator"&S% +5 "core" % Ά  + "storage"(& +4 "core" &\ \  "\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&f'ϲ +13 "core" ' + "manipulator"&|& +4 "core" & 9 l +2 "storage"(& +4 "core" &\ 2\ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +26 "core" ' +2 "storage"(v% +4 "core" %R\ 2\ 3 M\ +2 ."downElevator"SE.seek :down +4 "storage"(p'X +98 (Z% +4 "core" %G\  \ Wc +2 "manipulator"&m% +4 "core" %@ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'k& +4 "core" &  ^\ +2 "manipulator"&9% +4 "core" %\  T  + "storage"(% +4 "core" %`\ %\  r\ +2 "storage"(-. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(W( +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" & \ + "manipulator"&I& +4 "core" & S l +2 .tElbow.seek 2 + "manipulator"&( +40 "core" ( +2 "manipulator"&N& +4 "core" & # e , + "storage"(}& +4 "core" & \ \  U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +106 "core" ' +2 "storage"(+& +4 "core" & \ *\ 8 \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" & s\ + "manipulator"&"& +4 "core" &  + +3 .tElbow.seek 2 + "manipulator"&\ ( +20 "core" ( + "manipulator"&`& +4 "core" & X  +2 "storage"(&& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(y'X +7 "core" & :  +2 "manipulator"&[% +4 "core" % 0 +2 .tForearm.seek :retract + "manipulator"&X'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&& +4 "core" &* & ( @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* h @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&#'" +93 "core" ' + "manipulator"&& +5 "core" &*  9 @^ + "manipulator"&3% +4 "core" %*  " +2 "collection"'C& +4 "core" &  \ +2 "collection"'.& +5 "core" &  p\ +2 .tCC.seek :closed + "collection"'{(V +5 "core" &  f\ +7 &5  n\ #b +9 &V~  n\ 7 +10 &z  g\ K +9 &R  r\ L +9 &kW  p\ L +10 &+V  k\ M +9 &W  n\ M +10 &Y  q\ L +9 &rZ  u\ L +9 &4Z  p\ L +10 &Z  r\ L +9 &!U  p\ L +9 &#zU  c\ L +10 &%<W  s\ L +9 &&W  o\ M +10 &(W  o\ M +9 &*W  8\ M +9 &,CW  n\ M +10 &.W  _\ M +9 &/W  a\ M +9 &1Z  _\ L +10 &3LY  Y\ L +9 &5 Z  N\ M +10 &6X  Q\ L +9 &8S  [\ L +9 &:TU  V\ L +10 &<Y  [\ L +9 &=V  Z\ M +9 &?Z  Q\ L +10 &A[Y  X\ M +9 &CY  X\ M +10 &D]  S\ M +9 &Fg  L\ N +10 &HXx  S\ P +9 &J  P\ U +9 &K  P\ X +9 &M  P\ X +10 &OK  H\ X +9 &Q  I\ X +10 &R  J\ Y +9 &T  Q\ Y +10 &V*v  Q\ . +9 &V%  R\ S +9 ( + &Vj  Q\ J +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&O1 +52 "core" 1 +3 "manipulator"&5% +4 "core" % * * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%!& +5 "core" &4\ + "manipulator"&% +4 "core" %\  - <  + "storage"(B% +4 "core" %^ R\ +2 "storage"(). +3 "core" .( + "storage"(2& +4 "core" & "\ + "storage"(r& +4 "core" & \ +2 "manipulator"&a& +4 "core" &) X @^ + "manipulator"&i% +4 "core" %\  / 7  +2 .tElbow.reconfigure :tight +56 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&w( +154 "core" ( +2 "manipulator"&G& +4 "core" & G  + "storage"(b& +4 "core" & d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +96 "core" ' + "storage"(& +5 "core" & x\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +279 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" & O\ +2 "manipulator"&F& +3 "core" & Y  +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&/& +4 "core" &  J  + "storage"(8& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(0'X +7 "core" & \\  +2 "manipulator"&6% +4 "core" %   y +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&>& +4 "core" &p $   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &p  7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&]& +4 "core" &p   +2 "manipulator"&L% +4 "core" % S +2 "processing"%^& +3 "core" &9\ +2 "processing"%& +5 "core" &:\ +2 .tPC.seek :closed + "processing"%P(Z +5 "core" &:\  +10 &3~9\ *y +9 &d:\ > +10 &~u:\ N +9 &BX8\ M +9 &Y<\ M +10 &\\?\ N +9 &Z=\ N +9 &JW9\ M +10 & Z=\ M +9 &\\?\ N +10 & \\;\ M +9 &"QW+\ N +9 &$U;\ M +10 &%X=\ M +9 &'\\:\ N +9 &)Z[I\ M +10 &+W:\ N +9 &,Z7\ M +10 &.W8\ N +9 &0bW<\ M +9 &2$Y9\ M +10 &3Z:\ N +9 &5Y<\ N +9 &7j[;\ M +10 &9,\\7\ M +9 &:UE\ M +10 &<V1\ N +9 &>qX4\ N +9 &@4[-\ M +10 &AU>\ M +9 &CZ9\ M +9 &Ex])\ N +10 &G7e:\ O +9 &Hn@\ P +10 &J.\ R +9 &Lp-\ S +10 &N21\ S +9 &O:\ T +9 &Q:\ T +9 &Sv>\ T +10 &U99\ T +9 &V/\ T +9 &X1\ U +10 &Z$Y~>\ &s +10 &Zb1\ 4 +8 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&41 +3 "core" &Z (\ - +58 1 +2 "manipulator"& % +4 "core" % $ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +104 "core" ' +2 "processing"%s& +5 "core" &Z %\ - + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\  p  +2 "storage"(H% +4 "core" %a Q\ + "storage"(. +3 "core" .( +2 "storage"(7& +3 "core" & %\ +2 "storage"(~& +5 "manipulator"&T& +4 "core" & )\ +2 &p O  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'i +2 "core" ( +2 "manipulator"&D& +4 "core" &p e  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p F  +2 .tForearm.seek PC + "manipulator"&<' +96 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open + "processing"%@( +90 "core" ' + "storage"(K- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(x'y +46 "core" ' +287 ( + "storage"(=& +4 "core" & $\ +2 "manipulator"&*& +4 "core" &p   + "manipulator"&t% +4 "core" % J +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +269 "core" ( + "manipulator"&z& +4 "core" & #   +2 "storage"(J& +3 "core" & |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 .tHand.open +2 "manipulator"&q1 +57 "core" 1 +2 "storage"(\\- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(j'E +30 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(_- +3 "core" -' +2 "storage"( & +4 "core" & ) % H\ + "manipulator"&h& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( + "manipulator"&& +4 "core" & a  +2 "storage"(|& +3 "core" & # # \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(v' +58 "core" ' + "manipulator"&c& +5 "core" & ^  + "storage"(Z& +4 "core" & E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&m' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&k% +5 "core" % + "storage"(f& +4 "core" & !\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&9' +14 "core" ' + "manipulator"&& +5 "core" & a  + "storage"(-& +4 "core" & -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +25 "core" ' +2 "storage"(d% +4 "core" %l .\ +2 ."downElevator"SE.seek :down +4 "storage"(p'X +98 ((% +3 "core" %)F \ We +2 "manipulator"&%% +4 "core" %Ѹ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +4 "core" & \ \ + "collection"'}& +4 "core" &Vh  W\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&+% +4 "core" %\    +2 "storage"(n% +3 "core" %_ Z\ +2 "storage"(l. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"('& +4 "core" & @\ + "manipulator"&"& +4 "core" & \  +2 .tElbow.seek 2 + "manipulator"&`( +4 "core" ( + "manipulator"&&& +4 "core" &   +2 "storage"(Q& +3 "core" & V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +93 "core" ' +2 "storage"([& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & V  +2 "storage"(& +4 "core" & X\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&u' +35 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'O +30 "core" ' + "manipulator"&C% +5 "core" % + "storage"(\ & +4 "core" & ?\ + .tForearm.force -20 +56 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&y' +15 "core" ' +2 "manipulator"&X& +4 "core" &   +2 "storage"(V& +3 "core" & X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(5'> +117 "core" ' +2 "manipulator"&!& +4 "core" & :  +2 "manipulator"&% +4 "core" %Ѡ d + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +168 "core" ( +2 "manipulator"&2& +4 "core" &+ /  Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &+ Ac +2 .tForearm.seek CC + "manipulator"&a'" +93 "core" ' +2 .tHand.close + "manipulator"&./ +61 "core" / +2 .tCC.seek :open + "collection"'i( +417 "core" ( + "storage"(#& +5 "core" & \ + "storage"(G& +4 "core" & \ + "manipulator"&b& +4 "core" &) I ?Q +2 "manipulator"&% +3 "core" % 0 < +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +159 "core" ( +2 "manipulator"&M& +4 "core" & X  +2 "storage"(Y& +3 "core" & \ %\ $ 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&F' +103 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +52 "core" 1 +2 "manipulator"&$% +4 "core" % $ I / +2 "storage"(g& +4 "core" & \  M\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&6' +13 "core" ' +2 "manipulator"&w& +4 "core" &  +2 "storage"(A& +3 "core" & \ (\ ' 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +23 "core" ' +2 "storage"(;% +4 "core" %E\ %\  Y\ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (e% +2 "core" %sC\ \  \ Wd +2 "manipulator"& % +4 "core" %ѽ + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'L& +4 "core" &  g\ +2 "manipulator"&^% +4 "core" %\   +2 "storage"(0% +4 "core" %^\ '\ $ G\ + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(o( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" & 8\  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&s( +16 "core" ( +2 "manipulator"&& +4 "core" & c +2 "storage"(H& +3 "core" &\ \  D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(& +5 "core" &\ Q\ 9 H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +283 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" & w\  +2 "manipulator"&D& +4 "core" &  c +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & 1 c + "storage"( & +4 "core" &\ \  E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'ϩ +23 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& + "storage"(P'X +8 "core" & Z c + "manipulator"&1% +4 "core" % ϟ * Q +2 .tForearm.seek :retract + "manipulator"&='\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +169 "core" ( +3 "manipulator"&t& +4 "core" ' + &* ( @^ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &<& +3 "core" &)  @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +104 "core" ' + "manipulator"&J& +4 "core" &* - @^ +2 "manipulator"&% +4 "core" %' K +3 "collection"'q& +3 "core" &  \ +2 "collection"'\\& +5 "core" &  q\ +2 .tCC.seek :closed +2 "collection"'_(V +4 "core" &  p\  +8 &4{  o\ *z +10 &f  o\ ? +9 &m  t\ M +9 &WU  r\ L +10 &Y  r\ M +9 &W  r\ L +10 &U  n\ L +9 &^X  s\ L +9 & T  p\ L +10 &U  s\ L +9 & Y  r\ L +10 &"eT  p\ M +9 &$(Y  r\ L +9 &%U  q\ M +10 &'W  b\ M +9 &)oS  b\ L +9 &+/Z  a\ M +10 &,V  ^\ L +9 &.V  `\ L +9 &0vZ  \\\ L +10 &27T  \\\ M +9 &3X  \\\ M +10 &5S  [\ L +9 &7}Y  X\ M +9 &9@V  \ L +10 &;X  W\ L +9 &<X  V\ L +9 &>U  ]\ M +10 &@HY  Z\ L +9 &B U  X\ M +10 &CW  S\ M +9 &E]  Y\ M +9 &GJh  S\ N +10 &I{  P\ Q +9 &J  R\ U +9 &Lv  Q\ W +10 &N8  P\ W +9 &O  Q\ X +10 &Q  Q\ X +9 &Sw  R\ Z +10 &U8  R\ W +9 &Vp;  S\ . +9 &V  Q\ M +6 ( + "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"& 1 +4 "core" &Vn  O\ M +52 1 + "manipulator"&h% +5 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%|& +4 "core" &7\ +2 "manipulator"&% +4 "core" %\  + Z * + "storage"(c% +4 "core" %a 7\ +2 "storage"(Z. +3 "core" .( + "storage"(x& +4 "core" & _\  + "storage"(k& +4 "core" & O\  +2 "manipulator"&f& +4 "core" &' >L + "manipulator"&j% +4 "core" %\  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +167 "core" ( + "manipulator"&-& +5 "core" & $ T | + "storage"(d& +4 "core" & I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + "storage"(& +5 "core" & f\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" & U\  +2 "manipulator"&& +4 "core" & / | +2 .tElbow.seek 3 + "manipulator"&S( +3 "core" ( +2 "manipulator"&v& +3 "core" & a | +2 "storage"(m& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(+'X +7 "core" & | + "manipulator"&n% +4 "core" % ϙ ! \ +2 .tForearm.seek :retract +2 "manipulator"&l'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&& +4 "core" &t ) w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &t A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"' +97 "core" ' + "manipulator"&&& +4 "core" &t   +2 "manipulator"&Q% +4 "core" % C +2 "processing"%& +4 "core" &5\ +56 "processing"%[& +5 "core" &2\ +3 .tPC.seek :closed + "processing"%p(Z +5 "core" &3\  +8 &51\ +{ +10 &e,\ ? +9 &t1\ N +10 &LW4\ N +9 &Z9\ N +9 &Z/\ N +10 &[4\ N +9 &TZ+\ N +9 &[*\ N +10 &Z/\ N +9 & \\/\ N +10 &"\\Z*\ N +9 &$Z#\ N +9 &%[*\ N +10 &'\\/\ N +9 &)eU#\ M +9 &+&X \ N +10 &,Y'\ N +9 &.Z)\ N +10 &0l\\ \ N +9 &2.Z'\ N +9 &3Z'\ N +10 &5Z'\ M +9 &7uU%\ M +9 &96Z&\ N +10 &:T \ N +9 &<Z-\ N +10 &>}Y&\ M +9 &@?Y'\ M +9 &BX$\ M +10 &CZ&\ N +9 &E^"\ N +9 &G?l+\ P +10 &H&\ R +9 &J(\ S +10 &L{+\ S +9 &N<)\ T +10 &O(\ T +9 &Q-\ T +9 &S)\ T +9 &UB\ T +10 &W%\ T +9 &X \ U +10 &Z)Sr'\ )y +9 &ZW&\ 3 +9 ( +2 "processing"%[& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +4 "core" &Z%!\ 0 +49 1 + "manipulator"&I% +4 "core" % . ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 "processing"%& +3 "core" &Z%&\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ " = +2 "storage"(% +4 "core" %S \ + "storage"(C. +3 "core" .( +2 "storage"(\ & +4 "core" & \  +2 "storage"(X& +2 "manipulator"&V& +7 "core" & \  + &t +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&,(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'i +3 "core" ( + "manipulator"&!& +4 "core" &t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&u/ +61 "core" / +2 .tPC.seek :open + "processing"%y( +84 "core" ' + "storage"(3- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'y +44 "core" ' +294 ( + "storage"(r& +4 "core" & 2\  +2 "manipulator"&O& +4 "core" &t  + "manipulator"&% +4 "core" % $  +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +272 "core" ( +2 "manipulator"&{& +4 "core" &  +2 "storage"(#& +3 "core" & k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&G'9 +102 "core" ' + .tHand.open + "manipulator"&b1 +59 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(M'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' + "storage"()& +4 "core" & - . |\  +2 "manipulator"&8& +3 "core" & 7  +2 .tElbow.seek 3 + "manipulator"&$( +5 "core" ( + "manipulator"&g& +4 "core" &  + "storage"(w& +4 "core" & & $ .\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' + "manipulator"&& +5 "core" & h  + "storage"(e& +4 "core" & ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& '} +20 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'i +26 "core" ' + "manipulator"&L% +5 "core" %Ά  + "storage"(6& +4 "core" & [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&^'ϲ +12 "core" ' +2 "manipulator"&0& +4 "core" & g  +2 "storage"(?& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +23 "core" ' +2 "storage"(R% +4 "core" %l C\ +3 ."downElevator"SE.seek :down +3 "storage"(>'X +98 (W% +3 "core" %F c\ Wd +2 "manipulator"&4% +4 "core" %U H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & z\  +2 "collection"'H& +4 "core" &Vn  Y\ M + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ \   +2 "storage"(/% +4 "core" %b \ + "storage"(]. +3 "core" .( +2 "storage"(T& +4 "core" & \  + "storage"(~& +4 "core" & \  + "manipulator"&D& +4 "core" & 9  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & V  +2 "storage"(U& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +94 "core" ' +2 "storage"(1& +4 "core" & l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&t& +3 "core" &   +2 "storage"(<& +3 "core" & |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'} +20 "core" ' + .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(J'X +30 "core" ' + "manipulator"&% +4 "core" %· ) +2 "storage"(q& +4 "core" & ?\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&P'ϳ +20 "core" ' +2 "manipulator"&=& +4 "core" & K  +2 "storage"(i& +3 "core" & {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'G +39 "core" ' +2 "manipulator"&|& +4 "core" & ?  +2 "manipulator"&% +4 "core" %9 ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +168 "core" ( +3 "manipulator"&x& +4 "core" &$ Z ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &# I ;8 +2 .tForearm.seek CC + "manipulator"&\\'" +91 "core" ' + .tHand.close + "manipulator"&f/ +62 "core" / + .tCC.seek :open +2 "collection"'j( +416 "core" ( +2 "storage"(z& +4 "core" & P\  + "storage"(-& +4 "core" & h\  + "manipulator"&d& +4 "core" &$ 5 ;8 +2 "manipulator"&% +3 "core" % 5  +2 .tForearm.seek :retract + "manipulator"&*'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( + "manipulator"&(& +5 "core" &   { + "storage"(%& +4 "core" &\ \  w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +103 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +56 .tHand.open +2 "manipulator"&m1 +62 "core" 1 +2 "manipulator"&N% +4 "core" % ΋ % n z +2 "storage"(}& +4 "core" &\ \  P\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&n'Ϸ +12 "core" ' + "manipulator"&& +5 "core" & [ { + "storage"(& +4 "core" &\ (\ ( M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 "storage"(9% +4 "core" %N\ \  \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ('% +3 "core" %uF\  \ Wc +2 "manipulator"&S% +4 "core" %S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'Q& +4 "core" &  l\ +2 "manipulator"&% +4 "core" %\ " A 7 +2 "storage"(+% +4 "core" %`\ !\ & 3\ +2 "storage"(l. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(@( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & _\ +2 "manipulator"&I& +4 "core" & 2 { +2 .tElbow.seek 2 + "manipulator"&( +34 "core" ( + "manipulator"&& +4 "core" & % 7 % +2 "storage"(& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +96 "core" ' +2 "storage"(\ & +4 "core" & \ %\ & H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +283 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" & D\ +2 "manipulator"&!& +3 "core" &  $ +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" & ( $ + "storage"(u& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&3' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(p'X +7 "core" & $ +2 "manipulator"&`% +3 "core" %  I \ +2 .tForearm.seek :retract +2 "manipulator"&r'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &( ' l ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&{'" +101 "core" ' +2 "manipulator"&#& +4 "core" &( 0   ?U +2 "manipulator"&,% +4 "core" % 3 +2 "collection"'b& +4 "core" &  p\ +2 "collection"'& +5 "core" &  q\ +2 .tCC.seek :closed +3 "collection"'a(V +3 "core" &  p\ +6 &  t\ 6 +10 &BHz  r\ 0 +9 &os  u\ D +10 &`  q\ M +9 &W  n\ L +9 &U  r\ L +10 &\\V  s\ M +9 &T  t\ L +9 &Y  q\ M +10 &U  s\ L +9 &eV  s\ L +10 &!'Y  t\ L +9 &"Z  f\ M +9 &$X  c\ M +10 &&mR  o\ L +9 &(/T  d\ L +9 &)T  b\ L +10 &+V  b\ L +9 &-tW  \\\ M +10 &/6W  T\ M +9 &0T  ^\ L +9 &2T  [\ L +10 &4|T  Y\ M +9 &6>W  \\\ M +9 &8V  \\\ M +10 &9X  Z\ L +9 &;[  R\ M +10 &=GY  W\ L +9 &?U  Y\ M +9 &@Y  S\ L +10 &BZ  R\ M +9 &DN\\  Q\ M +9 &F b  P\ N +10 &Gs  N\ P +9 &I  K\ S +9 &K8  P\ W +10 &L  O\ X +9 &N  K\ X +10 &Pz  P\ X +9 &R;  Q\ Y +9 &S  Q\ Z +10 &U  R\ G +9 &V3  O\ &r +9 &Ve  R\ I +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&)1 +61 "core" 1 +2 "manipulator"&8% +4 "core" %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%w& +4 "core" &9\ + "manipulator"&.% +4 "core" %\  ( K - +2 "storage"(% +4 "core" %` \ + "storage"(e. +3 "core" .( +2 "storage"(L& +4 "core" & \ + "storage"(6& +4 "core" & \ +2 "manipulator"&2& +3 "core" &( . S ?T +2 "manipulator"&0% +4 "core" %\   i - +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&?( +154 "core" ( + "manipulator"&M& +4 "core" & ! ] \ +2 "storage"(R& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +96 "core" ' +2 "storage"(G& +3 "core" & <\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +288 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" & b\ +2 "manipulator"&A& +4 "core" &  \ + .tElbow.seek 2 +2 "manipulator"&$( +4 "core" ( + "manipulator"&;& +4 "core" &  c \ +2 "storage"( & +4 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"('X +7 "core" & Y \ +2 "manipulator"&/% +3 "core" %   T +2 .tForearm.seek :retract +2 "manipulator"&F'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&](s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +117 "core" ( +2 "manipulator"&T& +4 "core" &g '   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &g  e  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +99 "core" ' + "manipulator"& & +5 "core" &h # 0  + "manipulator"&U% +4 "core" % A +2 "processing"%5& +4 "core" &5\ +2 "processing"%1& +4 "core" &4\ +3 .tPC.seek :closed + "processing"%>(Z +4 "core" &9\  +9 &3}8\ *z +9 &e9\ ? +9 &t:\ O +10 &HV6\ M +9 & Z6\ N +9 &Y5\ N +10 &X6\ M +9 &OZ7\ N +10 &W6\ N +9 &Y;\ N +9 & Z/\ N +10 &"WY4\ N +9 &$V6\ M +9 &%\\-\ N +10 &']+\ N +9 &)^Y,\ N +10 &+"W3\ M +9 &,Y9\ N +9 &.Z0\ N +10 &0gY)\ N +9 &2)V-\ N +9 &3Z)\ M +10 &5V)\ N +9 &7pY'\ M +10 &92U"\ M +9 &:U0\ M +9 &<Y(\ N +10 &>wW'\ N +9 &@:V"\ M +9 &AV(\ M +10 &C]*\ N +9 &E\\/\ N +10 &G=e)\ O +9 &Ho(\ P +9 &J)\ S +10 &Lu(\ T +9 &N7(\ T +9 &O'\ T +10 &Q(\ T +9 &S|"\ T +9 &U>&\ T +10 &V,\ U +9 &X(\ T +10 &Z&Ts)\ )y +9 &ZZ'\ 2 +9 ( +3 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&:1 +4 "core" &Z%&\ / +55 1 + "manipulator"& % +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%t& +4 "core" &Z%'\ / + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&<% +4 "core" %\   +2 "storage"(% +3 "core" %` n\ +2 "storage"(. +3 "core" .( + "storage"(q& +4 "core" & c\ +2 "storage"(=& +2 "manipulator"&i& +7 "core" & e\ + &h  +  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&|(s + "storage"('i +10 "core" ( +2 "manipulator"&E& +4 "core" &k & \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &k ; \ +2 .tForearm.seek PC + "manipulator"&s' +100 "core" ' + .tHand.close + "manipulator"&7/ +59 "core" / +3 .tPC.seek :open +2 "processing"%P( +77 "core" ' + "storage"(J- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'y +43 "core" ' +303 ( +2 "storage"(k& +4 "core" & L\ +2 "manipulator"& & +3 "core" &l  +2 "manipulator"&K% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&c( +259 "core" ( +2 "manipulator"&_& +4 "core" &  y +2 "storage"(z& +3 "core" & #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +95 "core" ' + .tHand.open + "manipulator"&d1 +62 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +25 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.79 Pucks below Top Plate +4 "storage"(%' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(Z& +4 "core" & * & 6\ +2 "manipulator"&m& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&N( +20 "core" ( +2 "manipulator"&}& +4 "core" & $ k e +2 "storage"(& +4 "core" & * - 4\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(*' +58 "core" ' + "manipulator"&9& +5 "core" &  e + "storage"(& +4 "core" & 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'' +35 "core" ' + .tElbow.hold + "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&Q% +4 "core" % 2 +2 "storage"(n& +4 "core" & | } \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&+& +4 "core" &  d +2 "storage"(l& +4 "core" & s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +25 "core" ' + "storage"(% +5 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (o% +3 "core" %K \ Xf +2 "manipulator"&% +5 "core" %Ѵ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & c\ +2 "collection"'& +3 "core" &Va  W\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&\ % +4 "core" %\ F  +2 "storage"(v% +4 "core" %` P\ + "storage"(&. +3 "core" .( +2 "storage"(V& +3 "core" & \ +2 "storage"([& +4 "core" & P\ + "manipulator"&!& +4 "core" & Z d +2 .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&u& +4 "core" &   d + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +86 "core" ' + "storage"(`& +4 "core" & 5\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  d +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +35 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +30 "core" ' +2 "manipulator"&,% +4 "core" % h +2 "storage"(b& +4 "core" & |\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&p' +16 "core" ' +2 "manipulator"&r& +4 "core" &  R d + "storage"(j& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(8'? +42 "core" ' + "manipulator"&w& +4 "core" & D c +2 "manipulator"&.% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +169 "core" ( +2 "manipulator"&L& +4 "core" &# . % ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &$ ;7 +2 .tForearm.seek CC +2 "manipulator"&6'" +95 "core" ' + .tHand.close + "manipulator"&2/ +55 "core" / +2 .tCC.seek :open +2 "collection"'0( +416 "core" ( +2 "storage"({& +5 "core" & B\ + "storage"(M& +4 "core" & l\ + "manipulator"&R& +4 "core" &$ ] ;6 + "manipulator"&G% +4 "core" % 1 s  +2 .tForearm.seek :retract +2 "manipulator"&O'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +159 "core" ( + "manipulator"&W& +5 "core" & '  + "storage"(4& +4 "core" & J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&A' +106 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % - +2 "storage"(H& +4 "core" & v\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&/' +14 "core" ' + "manipulator"&?& +5 "core" &  + "storage"(B& +4 "core" & \ (\ ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +23 "core" ' +2 "storage"(^% +4 "core" %C\ $\  \ +2 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (~% +3 "core" %I 1\ Vb +2 "manipulator"&$% +4 "core" % f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'U& +4 "core" &  k\ +2 "manipulator"&5% +4 "core" %\    +2 "storage"(% +4 "core" %a\ %\ % w\ + "storage"(F. +4 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(y( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" & %\  + "manipulator"& & +4 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&t( +15 "core" ( +2 "manipulator"&<& +4 "core" &  V U +2 "storage"(& +3 "core" &\ \  O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +118 "core" ' + "storage"(q& +5 "core" &\ C\ 6 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +55 "storage"(1'i +286 "core" ' +2 "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &\ \  \  + "manipulator"&E& +4 "core" & U U +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&D& +4 "core" & - U + "storage"(7& +4 "core" &\ \  P\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(>'X +6 "core" & 7 U +2 "manipulator"&% +4 "core" % ϳ  2 + .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +27 "core" ( + "manipulator"&K& +4 "core" &*  T T @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +4 "core" &* @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'" +95 "core" ' +3 "manipulator"&z& +4 "core" &*  , @W +2 "manipulator"&|% +4 "core" %+  +2 "collection"'d& +4 "core" &  \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'\\(V +5 "core" &  k\ +7 &4  t\ #c +10 &U~  s\ 7 +9 &z  t\ L +9 &U  r\ L +10 &pY  s\ M +9 &3U  n\ L +9 &V  p\ L +10 &Y  o\ L +9 &xY  p\ M +10 &;V  n\ L +9 &U  p\ L +9 &!Y  p\ M +10 &#W  l\ M +9 &%CT  a\ L +9 &'U  \\\ L +10 &(W  c\ L +9 &*Y  \\\ M +10 &,IX  \\\ M +9 &. S  X\ L +9 &/U  \\\ L +10 &1Y  X\ M +9 &3RV  ]\ M +9 &5W  X\ M +10 &6T  Y\ L +9 &8W  Z\ L +10 &:ZY  S\ M +9 &<Z  X\ M +9 &=Y  P\ L +10 &?U  K\ M +9 &AcY  P\ L +9 &C$U  P\ M +10 &DZ  W\ M +9 &Fe  R\ N +10 &H`q  R\ P +9 &J  P\ T +10 &K  S\ W +9 &M  V\ X +9 &OQ  R\ X +9 &Q \ X +10 &R  T\ Y +9 &T  R\ Y +9 &V/t  Q\ . +10 &V  P\ P +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&Z1 +4 "core" &Vn  U\ K +49 1 +2 "manipulator"&m% +4 "core" % + .  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%}& +4 "core" &5\ + "manipulator"&% +4 "core" %\ # 9 +2 "storage"(9% +4 "core" %a \ + "storage"(. +3 "core" .( +2 "storage"(x& +4 "core" & \  +2 "storage"(Q& +3 "core" & :\  +2 "manipulator"&(& +4 "core" &( ?U +2 "manipulator"&n% +3 "core" %\ # 2 9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&+( +156 "core" ( + "manipulator"&l& +4 "core" & $ )  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +93 "core" ' +2 "storage"(-& +3 "core" & V\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +281 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & -\  +2 "manipulator"&& +3 "core" & C  +2 .tElbow.seek 3 +2 "manipulator"&N( +4 "core" ( + "manipulator"&*& +4 "core" &  ,  + "storage"('& +4 "core" & >\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(\ 'X +8 "core" & 5  + "manipulator"&v% +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&V& +5 "core" &h 7  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &h ~ $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&!' +95 "core" ' +2 "manipulator"&u& +4 "core" &i / # +2 "manipulator"&% +4 "core" %  7 +2 "processing"%h& +3 "core" &9\ +2 "processing"%`& +5 "core" &1\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &8\  +10 &3~4\ *x +9 &c8\ > +9 &|v:\ N +10 &?X3\ N +9 &Y6\ N +9 &V4\ M +10 &V-\ N +9 &GX*\ N +9 &\ Y-\ M +10 &[6\ N +9 & [)\ N +10 &"OY*\ N +9 &$T*\ N +9 &%Z)\ M +10 &'W(\ N +9 &)XV'\ M +10 &+W(\ N +9 &,Y(\ N +9 &.Y(\ N +10 &0`Z$\ M +9 &2!V'\ N +9 &3W'\ N +10 &5Y'\ M +9 &7gY'\ N +9 &9*X'\ M +10 &:T)\ M +9 &<U(\ M +10 &>pT+\ M +9 &@1W"\ N +9 &AW%\ N +10 &C\\)\ N +9 &Ev](\ N +10 &G2m)\ P +9 &H'\ R +10 &J)\ S +9 &Lm,\ T +9 &N/,\ T +9 &O)\ S +10 &Q)\ S +9 &St)\ T +9 &U5(\ T +10 &V+\ T +10 &X+\ U +9 &Z"Y(\ &t +9 &Z_+\ 3 +9 ( +2 &Z",\ . + "processing"%`& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&S1 +55 "core" 1 + "manipulator"&I% +5 "core" % $ T 7 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C'\ +98 "core" ' + "processing"%& +5 "core" &Z!$\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ " h @ + "storage"(#% +4 "core" %b .\ +2 "storage"(,. +3 "core" .( + "storage"(b& +4 "core" & $\  +2 "storage"(r& +2 "manipulator"&j& +7 "core" & F\  + &i  # +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&w(s + "storage"(.'i +5 "core" ( + "manipulator"& & +4 "core" &i 0 # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &i # +2 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +4 .tPC.seek :open + "processing"%p( +81 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(L'y +48 "core" ' +292 ( + "storage"(& +5 "core" & !\  + "manipulator"&)& +4 "core" &i  # + "manipulator"&3% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +268 "core" ( +2 "manipulator"&a& +4 "core" &  ;  + "storage"({& +4 "core" & G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +94 "core" ' + .tHand.open + "manipulator"&R1 +55 "core" 1 +2 "storage"(G- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(W'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(4' +55 "core" ' + #tLights, camera, ACTION! + "storage"(6- +4 "core" -' + "storage"(e& +4 "core" & " & =\  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" &  z  + "storage"(?& +4 "core" & ' %\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +58 "core" ' + "manipulator"&O& +5 "core" &  + "storage"(~& +4 "core" & '\  +2 .tElbow.reconfigure :limp +57 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&$'} +27 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(A'i +26 "core" ' + "manipulator"&U% +5 "core" %ΐ ] + "storage"(/& +4 "core" & =\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&5'ϼ +20 "core" ' +2 "manipulator"&& +4 "core" & #  +2 "storage"(F& +4 "core" & T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +16 "core" ' +2 "storage"(Y% +4 "core" %o E\ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +99 (@% +3 "core" %I !\ We +2 "manipulator"&:% +4 "core" %4 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +4 "core" & %\  + "collection"'& +4 "core" &Vo  M\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&q% +4 "core" %\  N  +2 "storage"(;% +3 "core" %^ B\ +2 "storage"( . +4 "core" .( + "storage"(i& +4 "core" & s\  + "storage"(=& +4 "core" & b\  +2 "manipulator"&E& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&D( +4 "core" ( + "manipulator"&7& +4 "core" &   + "storage"(]& +4 "core" & {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' + "storage"(& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & <  +2 "storage"(1& +3 "core" & <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&s'} +28 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +27 "core" ' + "manipulator"&|% +5 "core" %Ώ   + "storage"(d& +4 "core" & ~\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&>'ϻ +13 "core" ' + "manipulator"&k& +4 "core" & S  +2 "storage"(0& +4 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(m'H +41 "core" ' + "manipulator"&}& +5 "core" & F  + "manipulator"&% +4 "core" %N I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +3 "manipulator"&x& +4 "core" &+ A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &+ . A` +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&(/ +62 "core" / +2 .tCC.seek :open +2 "collection"'n( +416 "core" ( +2 "storage"(_& +4 "core" & \  + "storage"(l& +4 "core" & 6\  + "manipulator"&& +4 "core" &+ R A_ + "manipulator"&-% +4 "core" % 5 ~ +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&f( +158 "core" ( +2 "manipulator"&o& +4 "core" & $   + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +95 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +63 "core" 1 +2 "manipulator"&% +5 "core" % ΐ  j + "storage"(& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts + "manipulator"&v'ϼ +26 "core" ' +3 "manipulator"&+& +4 "core" & C  +2 "storage"(c& +4 "core" &\ %\ ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +28 "core" ' + "storage"(% +4 "core" %H\ '\ ' T\ +3 ."downElevator"SE.seek :down +3 "storage"(V'X +99 ([% +3 "core" %F\ N\ Wc + "manipulator"&N% +4 "core" %z H ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u'\ +88 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &  ]\ +2 "manipulator"&h% +4 "core" %\  L  + "storage"(\ % +4 "core" %a\ 2\ 2\ +2 "storage"(&. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(P( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" & \ \ + "manipulator"&I& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +33 "core" ( + "manipulator"&& +4 "core" & ' " & +2 "storage"(#& +4 "core" & \ \  L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +90 "core" ' +2 "storage"(b& +4 "core" & \ 2\ 2\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(j'i +282 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" & }\ +2 "manipulator"& & +3 "core" &  % +2 .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( + "manipulator"&!& +4 "core" &   % + "storage"(X& +4 "core" & 8\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"('X +8 "core" &  % + "manipulator"&.% +4 "core" %   M +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&)( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&3& +5 "core" & ! 9 : 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & !  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'" +94 "core" ' +2 "manipulator"&{& +4 "core" & " e 8 +2 "manipulator"&w% +3 "core" %   +2 "collection"'R& +4 "core" &  \ +2 "collection"'G& +6 "core" &  t\ +2 .tCC.seek :closed +3 "collection"'6(V +3 "core" &  s\ +6 &>  t\ $e +10 &X  u\ 7 +9 &y  u\ L +9 &T  q\ L +10 &pY  r\ M +9 &3U  p\ L +10 &T  q\ L +9 &S  p\ L +9 &xT  r\ M +10 &:V  q\ M +9 &V  d\ M +9 &!Y  o\ L +10 &#Y  b\ M +9 &%CW  d\ L +10 &'T  j\ L +9 &(V  f\ M +9 &*V  `\ M +10 &,JV  ]\ M +9 &. U  _\ M +9 &/W  ^\ M +10 &1T  U\ L +9 &3SX  R\ L +10 &5W  \\\ M +9 &6U  R\ L +9 &8R  Z\ L +10 &:[Y  Q\ L +56 &<W  R\ L +4 &=Z  O\ M + &?X  R\ M +2 &AcY  R\ L +3 &C$Z  S\ M + &D`  Q\ M +3 &Fe  K\ N +5 &H_{  L\ P +9 &J  L\ U +9 &K  L\ W +10 &M  Q\ X +9 &OR  R\ X +10 &Q  S\ X +9 &R  V\ Y +9 &T  K\ Y +10 &V0v  S\ . +9 &V  R\ R +9 ( +3 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&e1 +4 "core" &Vj  R\ L +55 1 +2 "manipulator"& % +4 "core" %  $ M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%?& +5 "core" &!\ + "manipulator"&2% +4 "core" %\   +2 "storage"(O% +4 "core" %` q\ + "storage"(~. +3 "core" .( +2 "storage"(L& +4 "core" & \ +2 "storage"(W& +3 "core" & \ +2 "manipulator"&U& +4 "core" & !  8 +2 "manipulator"&/% +4 "core" %\  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( + "manipulator"&& +4 "core" & # W  +2 "storage"(F& +4 "core" & o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +98 "core" ' + "storage"(Y& +5 "core" & B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'i +288 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" & \ +2 "manipulator"&B& +3 "core" & +  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&^& +3 "core" & $  +2 "storage"($& +4 "core" & m\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&5' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&( +82 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(x'y +50 "core" ' +289 ( + "storage"(Q& +4 "core" & \ +2 "manipulator"&Z& +4 "core" &p p  + "manipulator"&J% +4 "core" % 2 +2 .tForearm.seek :retract + "manipulator"&('\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&9( +261 "core" ( +2 "manipulator"&\\& +4 "core" &  - + +2 "storage"(_& +4 "core" & f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +96 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(-- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(o'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & # - #\ + "manipulator"&'& +4 "core" & | ( +2 .tElbow.seek 2 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&& +4 "core" &  J m +2 "storage"(+& +3 "core" & 0 . Q\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"& & +5 "core" & m + "storage"([& +4 "core" & U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +33 "core" ' +2 .tElbow.hold + "manipulator"&f, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +27 "core" ' + "manipulator"&% +5 "core" % + "storage"(v& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&h' +12 "core" ' +2 "manipulator"&\ & +4 "core" & W m +2 "storage"(&& +5 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +29 "core" ' +2 "storage"(%% +4 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(V'X +99 (y% +3 "core" % J l\ Xf + "manipulator"&S% +4 "core" %x N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +89 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & @\ +2 "collection"'#& +4 "core" &Vi  M\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&b% +4 "core" %\   +2 "storage"(*% +3 "core" %a f\ +2 "storage"(u. +3 "core" .( +2 "storage"(r& +4 "core" & l\ + "storage"(`& +4 "core" & e\ +2 "manipulator"& & +3 "core" & m +2 .tElbow.seek 2 + "manipulator"&!( +4 "core" ( + "manipulator"&X& +4 "core" &  ] m +2 "storage"(& +3 "core" & b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +56 "manipulator"&C'ќ +106 "core" ' + "storage"(.& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & p m + "storage"(& +4 "core" & @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&j' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(w'Q +31 "core" ' + "manipulator"&R% +4 "core" % +2 "storage"("& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&& +4 "core" & f m +2 "storage"(n& +4 "core" & Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '@ +39 "core" ' + "manipulator"&?& +5 "core" & " m + "manipulator"&2% +4 "core" %ѧ  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&~( +170 "core" ( +2 "manipulator"&L& +5 "core" &+ ' ^ Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +2 "core" &+ + Bl +3 .tForearm.seek CC + "manipulator"&G'" +97 "core" ' + .tHand.close +2 "manipulator"&U/ +58 "core" / +2 .tCC.seek :open + "collection"'/( +416 "core" ( +2 "storage"(a& +4 "core" & =\ +2 "storage"(& +3 "core" & J\ +2 "manipulator"&F& +3 "core" &) c ?T +2 "manipulator"&Y% +4 "core" % " 4 +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +156 "core" ( +2 "manipulator"&@& +4 "core" & |  +2 "storage"(:& +3 "core" & \ 2\ 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&B' +108 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&$1 +62 "core" 1 +2 "manipulator"&<% +5 "core" % / + "storage"(& +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&;' +16 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(M& +4 "core" & \ !\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +45 "core" ' + "storage"(5% +5 "core" %F\ \ 2\ +2 ."downElevator"SE.seek :down +4 "storage"(i'X +99 (=% +3 "core" %uH !\ Wc +2 "manipulator"&% +4 "core" %ѕ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"']& +4 "core" &  U\ + "manipulator"&8% +4 "core" %\  O  +2 "storage"(q% +4 "core" %b\ (\ ) \ +2 "storage"(A. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(p( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" & M\  + "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&K( +16 "core" ( + "manipulator"&1& +5 "core" & S O + "storage"(z& +4 "core" &\ \  j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +103 "core" ' + "storage"(& +4 "core" &\ (\ 0 x\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'i +283 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" & V\  +2 "manipulator"&& +4 "core" & 7 O +2 .tElbow.seek 3 + "manipulator"&D( +4 "core" ( + "manipulator"&E& +4 "core" &  O + "storage"(s& +4 "core" &\  w\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(T'X +8 "core" &  O +2 "manipulator"&% +4 "core" % ϡ  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&J& +4 "core" &- ~ ? , Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &- Co +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'" +96 "core" ' + "manipulator"&_& +4 "core" &-  K Co +2 "manipulator"&}% +4 "core" % ! +2 "collection"'& +4 "core" &  o\ +2 "collection"'-& +6 "core" &  p\ +2 .tCC.seek :closed + "collection"'(V +4 "core" &  s\ +8 &5  o\ $e +10 &V}  t\ 7 +9 &w  q\ K +10 &Q  p\ M +9 &kW  a\ M +9 &/R  p\ L +10 &Y  r\ M +9 &U  o\ L +9 &uU  q\ L +10 &7X  n\ L +9 &X  k\ M +9 &!V  c\ M +10 &#}Y  ^\ L +9 &%>Y  \\\ M +10 &'U  [\ M +9 &(W  \\\ L +9 &*W  [\ M +10 &,GT  W\ L +9 &. X  \ L +9 &/R  [\ L +10 &1T  Y\ M +9 &3NU  Y\ M +10 &5X  X\ L +9 &6V  \\\ M +9 &8W  V\ L +10 &:UX  Z\ M +9 &<W  [\ L +10 &=Z  X\ M +9 &?W  S\ M +9 &A_X  Q\ L +10 &C U  N\ M +9 &DY  S\ M +10 &Fe  V\ N +9 &H]p  Q\ P +9 &J  Q\ T +9 &K  R\ W +10 &M  Q\ X +9 &OM  S\ X +10 &Q  R\ X +9 &R  P\ Y +10 &T  Q\ Z +9 &V.v  R\ . +9 &V!  Q\ N +9 ( +3 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&1 +4 "core" &Vi  F\ I +52 1 +2 "manipulator"&'% +4 "core" %  0 d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &)\ + "manipulator"&+% +4 "core" %\   +2 "storage"( % +3 "core" %b \ +2 "storage"([. +3 "core" .( + "storage"(x& +4 "core" & ;\  + "storage"(& +4 "core" & <\  +2 "manipulator"&o& +4 "core" &* & @^ + "manipulator"&v% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\ ( +167 "core" ( +2 "manipulator"&&& +4 "core" &  e S + "storage"(9& +4 "core" & $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +92 "core" ' + "storage"(l& +5 "core" & L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +93 "core" & B\  + "manipulator"&c& +4 "core" &  S +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & E S +2 "storage"(N& +3 "core" & v\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +55 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(b'X +8 "core" & A S + "manipulator"&*% +4 "core" % ϔ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&r& +4 "core" &u )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &u 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&X& +4 "core" &u % 6 +2 "manipulator"&% +3 "core" %  +2 "processing"%m& +4 "core" &/\ +2 "processing"%.& +5 "core" &*\ +3 .tPC.seek :closed +2 "processing"%V(Z +4 "core" &/\  +8 &2~1\ *y +9 &c(\ > +10 &yw*\ N +9 &=W"\ M +9 &X"\ M +10 &\\+\ N +9 &Y)\ N +10 &EU'\ M +9 &Y)\ N +9 &Z(\ N +10 & Y"\ M +9 &"L['\ N +9 &$Z*\ M +10 &%X+\ M +9 &'\\-\ N +9 &)UZ'\ M +10 &+W)\ M +9 &,Z&\ M +10 &.W'\ N +9 &0][&\ M +10 &2V)\ N +9 &3X+\ N +9 &5U)\ M +9 &7eU+\ M +10 &9'W(\ M +9 &:Y(\ M +10 &<V)\ M +9 &>nV+\ M +9 &@.Z(\ N +10 &AU)\ M +9 &CZ+\ N +9 &Et],\ N +10 &G/m'\ P +9 &H&\ R +10 &J*\ S +9 &Lj,\ T +9 &N-+\ S +10 &O(\ T +9 &Q'\ T +9 &Sp+\ T +10 &U2'\ T +9 &V,\ U +10 &X*\ U +9 &Z"\\~)\ $n +10 &Z^(\ 0 +8 ( +3 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&f1 +3 "core" &Z )\ + +59 1 + "manipulator"&I% +4 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +102 "core" ' +2 "processing"%3& +4 "core" &Z (\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  $  +2 "storage"({% +3 "core" %` \ +2 "storage"(R. +3 "core" .( +2 "storage"("& +3 "core" & p\  +2 "storage"(& +5 "manipulator"&n& +3 "core" & \  + &u } +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&?(s + "storage"(2'i +6 "core" ( + "manipulator"&C& +4 "core" &u  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &u ! +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&j/ +53 "core" / +2 .tPC.seek :open + "processing"%( +96 "core" ' + "storage"(w- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(L'y +45 "core" ' +281 ( +2 "storage"(W& +4 "core" & _\  + "manipulator"&e& +5 "core" &u  + "manipulator"&% +4 "core" %   ' +2 .tForearm.seek :retract + "manipulator"&U'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +273 "core" ( +2 "manipulator"&6& +4 "core" &  Z  + "storage"(a& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' + .tHand.open +3 "manipulator"&F1 +63 "core" 1 +2 "storage"(Y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(@'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(:' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(~& +4 "core" & " # E\  +2 "manipulator"&$& +4 "core" & \\  + .tElbow.seek 3 +2 "manipulator"&<( +4 "core" ( + "manipulator"&& +4 "core" & f  + "storage"(& +4 "core" & / ) o\  +2 .tForearm.seek 3 + 700 counts +3 "manipulator"&M'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(5' +58 "core" ' + "manipulator"&)& +4 "core" &   +2 "storage"(=& +3 "core" & T\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +26 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +24 "core" ' +2 "manipulator"&;% +4 "core" %΍ a +2 "storage"(]& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&8'Ϲ +20 "core" ' +2 "manipulator"&q& +4 "core" & \\  +2 "storage"(A& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +29 "core" ' + "storage"(4% +5 "core" %s #\ +2 ."downElevator"SE.seek :down +4 "storage"(i'X +98 (P% +4 "core" % L W\ Xg +2 "manipulator"&g% +4 "core" %C 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +4 "core" & T\  + "collection"'z& +4 "core" &Vi  M\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    + "storage"(^% +4 "core" %b A\ +2 "storage"(7. +3 "core" .( + "storage"(0& +4 "core" & +\  + "storage"(k& +4 "core" & \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&E( +4 "core" ( + "manipulator"&s& +4 "core" & d  + "storage"( & +4 "core" & 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"(& +4 "core" & 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'i +281 "core" ' +2 "storage"(|- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & q  +2 "storage"(t& +3 "core" & Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&d'} +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(}'X +42 "core" ' +2 "manipulator"&D% +4 "core" %΋  +2 "storage"(& +4 "core" & :\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&T'Ϸ +12 "core" ' + "manipulator"&Q& +4 "core" & $  +2 "storage"(/& +4 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(''G +40 "core" ' + "manipulator"&& +4 "core" & +  +2 "manipulator"&+% +4 "core" %O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +161 "core" ( +3 "manipulator"&x& +4 "core" &. F Cu + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &. Du +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +2 .tHand.close +56 "manipulator"&o/ +61 "core" / +2 .tCC.seek :open +2 "collection"'v( +416 "core" ( + "storage"(\\& +5 "core" & o\  + "storage"(&& +4 "core" & b\  + "manipulator"&9& +4 "core" &- 3 2 Cs +2 "manipulator"&l% +3 "core" % $ V +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(( +164 "core" ( +2 "manipulator"&y& +4 "core" &  D c + "storage"(S& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&c'} +100 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ΋ % X +2 "storage"(#& +4 "core" &\ \  X\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&*'Ϸ +20 "core" ' +3 "manipulator"&\ & +4 "core" & R c + "storage"(%& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +26 "core" ' +2 "storage"(h% +4 "core" %L\ \ ) n\ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (`% +2 "core" %qF \ Wc +2 "manipulator"&% +4 "core" %x  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +94 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +8 "core" &  k\ + "manipulator"&m% +4 "core" %\ g  +2 "storage"(b% +4 "core" %a\ 1\ 2\ + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(>( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" & \ +2 "manipulator"&I& +4 "core" &  c + .tElbow.seek 2 +2 "manipulator"&3( +40 "core" ( + "manipulator"&& +4 "core" &  P < +2 "storage"({& +4 "core" & \ &\ ' 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&.'ќ +100 "core" ' + "storage"(R& +4 "core" & \ $\  "\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +282 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & *\ + "manipulator"&C& +4 "core" & R ; +2 .tElbow.seek 2 + "manipulator"&!( +22 "core" ( +2 "manipulator"& & +5 "core" & ]  + "storage"(j& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&w' +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +9 "manipulator"&,& +3 "storage"(V'X +7 "core" &   +2 "manipulator"&2% +4 "core" %   # +2 .tForearm.seek :retract + "manipulator"&W'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&& +4 "core" &+ Q Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&6'" +101 "core" ' +2 "manipulator"&a& +4 "core" &+ ~ Ae +2 "manipulator"&?% +4 "core" %, B +2 "collection"'F& +4 "core" &  {\ +2 "collection"'Y& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'G(V +4 "core" &  s\ +8 &5  o\ #c +10 &X  p\ 7 +9 &y  o\ L +9 &T  o\ M +10 &nV  q\ M +9 &1W  d\ L +9 &X  n\ L +10 &T  i\ L +9 &wU  d\ L +9 &9X  d\ L +10 &Y  b\ M +9 &!V  \\\ M +10 &#~T  [\ M +9 &%@X  Y\ M +9 &'U  V\ M +10 &(U  %\ M +9 &*X  Q\ L +9 &,HY  ^\ M +10 &. U  V\ L +9 &/U  \\\ L +10 &1Y  \ L +9 &3QS  b\ L +9 &5U  c\ L +10 &6W  \\\ M +9 &8W  X\ L +9 &:XY  P\ M +10 &<Z  M\ M +9 &=W  Q\ M +10 &?T  X\ M +9 &A_V  Q\ M +9 &C"U  R\ M +10 &D\\  K\ M +9 &Fg  P\ N +9 &H^x  Q\ P +10 &J  P\ U +9 &K  Q\ X +10 &M  O\ X +9 &OO  R\ X +10 &Q  T\ X +9 &R  K\ Y +9 &T  P\ Y +9 &V.u  Q\ . +10 &V#  Q\ N +9 ( + &Vj  K\ I +3 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&~1 +58 "core" 1 +3 "manipulator"&$% +4 "core" % , . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&U% +4 "core" %\ # > + "storage"()% +4 "core" %` \ +2 "storage"(=. +3 "core" .( + "storage"(;& +4 "core" & \ + "storage"(]& +4 "core" & \ +2 "manipulator"&L& +3 "core" &* Ae +2 "manipulator"&q% +4 "core" %\ # > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&@( +157 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(4& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +95 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'i +280 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" & .\ +2 "manipulator"&M& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( + "manipulator"&5& +4 "core" & A  +2 "storage"(& +3 "core" & $\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&z& + "storage"('X +7 "core" & q  + "manipulator"&^% +4 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&0(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +102 "core" ( +2 "manipulator"&B& +4 "core" &n ' C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &n S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' + "manipulator"&s& +5 "core" &o ) \ + "manipulator"& % +4 "core" % a V +2 "processing"% & +4 "core" &%\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" &\  +9 &1y!\ *x +9 &c!\ > +9 &wu%\ N +10 &:V&\ M +9 &['\ N +10 &Z&\ M +9 &V)\ M +9 &BU(\ M +10 &\\+\ N +9 &Y!\ M +9 & \\%\ N +10 &"JY&\ M +9 &$ Z*\ M +10 &%[&\ N +9 &'[*\ M +9 &)QU'\ N +10 &+Y*\ N +9 &,Y+\ M +9 &.[,\ N +10 &0YY)\ N +9 &2Y+\ N +10 &3U+\ M +9 &5Z)\ M +9 &7bZ'\ M +10 &9$Y,\ M +9 &:X,\ M +9 &<Y*\ M +10 &>iW+\ N +9 &@+Y*\ N +10 &AW&\ N +9 &C\\+\ N +10 &Ep^+\ N +9 &G0e(\ O +9 &Ho(\ P +9 &J&\ S +10 &Lh)\ S +9 &N*'\ S +10 &O*\ T +9 &Q)\ T +10 &Sn+\ T +9 &U1,\ T +9 &V+\ T +9 &X)\ T +10 &Z [z(\ %p +9 &ZZ'\ . +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&H1 +3 "core" &Z&\ ) +59 1 + "manipulator"& % +4 "core" %  % . V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +98 "core" ' +3 "processing"%J& +4 "core" &Z)\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&t% +4 "core" %\  + "storage"(_% +4 "core" %S -\ +2 "storage"(D. +3 "core" .( + "storage"(& +4 "core" & m\ +2 "storage"(Q& +2 "manipulator"&/& +7 "core" & g\ + &o  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +5 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'i +2 "core" ( +2 "manipulator"&& +4 "core" &o  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &o \ +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' + .tHand.close +2 "manipulator"&d/ +64 "core" / +3 .tPC.seek :open +2 "processing"%T( +86 "core" ' +2 "storage"(}- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +35 "core" ' +299 ( + "storage"(-& +4 "core" & N\ +2 "manipulator"&& +3 "core" &o  \ +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&o'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +261 "core" ( +2 "manipulator"&& +4 "core" &  1 + "storage"(\\& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +94 "core" ' +2 .tHand.open + "manipulator"&91 +58 "core" 1 +2 "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"([& +4 "core" & % ' \ +2 "manipulator"&N& +16 "core" & 0 +2 .tElbow.seek 2 +2 "manipulator"&( +8 "core" ( + "manipulator"&#& +4 "core" &  4  +2 "storage"(\ & +4 "core" & + "\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(h' +58 "core" ' +2 "manipulator"&Z& +4 "core" & &  +2 "storage"(`& +4 "core" & m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +22 "core" ' + "manipulator"&% +5 "core" % + "storage"(*& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&m' +14 "core" ' +2 "manipulator"&b& +4 "core" & V  +2 "storage"(& +4 "core" & ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&''ќ +24 "core" ' + "storage"(% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (p% +2 "core" %AK y\ Xf +2 "manipulator"&f% +4 "core" %Ѱ - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \ +2 "collection"'{& +4 "core" &Vj  S\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&R% +4 "core" %\ \ b  + "storage"(% +4 "core" %a Z\ +2 "storage"(X. +3 "core" .( + "storage"(n& +4 "core" & 9\ +2 "storage"(& +3 "core" & "\ +2 "manipulator"&C& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&j& +4 "core" &   + "storage"(u& +4 "core" & H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +86 "core" ' +2 "storage"(2& +4 "core" & 6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +282 "core" ' +3 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & Z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&"' +34 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(!'P +32 "core" ' + "manipulator"&?% +4 "core" % b +2 "storage"(F& +3 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&V' +16 "core" ' +2 "manipulator"&W& +4 "core" & ;  +2 "storage"(v& +4 "core" & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'? +39 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&U% +4 "core" %ѝ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=( +165 "core" ( +2 "manipulator"&;& +4 "core" &* % @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &( ; @[ +2 .tForearm.seek CC +2 "manipulator"&]'" +92 "core" ' + .tHand.close +2 "manipulator"&L/ +52 "core" / + .tCC.seek :open +2 "collection"'q( +416 "core" ( +2 "storage"(6& +4 "core" & I\ + "storage"(A& +4 "core" & 3\ +2 "manipulator"&4& +3 "core" &* 4 W @[ +2 "manipulator"&% +3 "core" % 4 +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +155 "core" ( + "manipulator"&P& +5 "core" &    + "storage"(g& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&M' +13 "Can"@\ 41 +93 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&1% +5 "core" % 8  `  + "storage"(z& +4 "core" & y\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&^' +20 "core" ' +2 "manipulator"&@& +5 "core" & `  + "storage"(O& +4 "core" & \ $\ $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +28 "core" ' + "storage"(8% +4 "core" %H\ 2\ C \ +3 ."downElevator"SE.seek :down +3 "storage"(B'X +99 (k% +3 "core" %E b\ Wc + "manipulator"&<% +4 "core" %ѣ ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +54 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" &  m\ + "manipulator"& % +4 "core" %\    +2 "storage"(% +4 "core" %a\ !\  \ + "storage"(7. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" & [\ +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&J( +16 "core" ( + "manipulator"&t& +5 "core" &  _ t + "storage"(_& +4 "core" &\ \  V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +98 "core" ' +2 "storage"(& +4 "core" &\ 6\ 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" &\ \  \  +2 "manipulator"&& +3 "core" & h t +2 .tElbow.seek 3 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&& +3 "core" & [ t +2 "storage"(d& +4 "core" &\ \  Y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&}'ϩ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(i'X +7 "core" & 3 t +2 "manipulator"&+% +4 "core" % Ϧ 5 + .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&& +4 "core" &' $ W >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &'  >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +3 "manipulator"&\\& +4 "core" &( H >O +2 "manipulator"&% +4 "core" % m +2 "collection"'9& +3 "core" &  \ +3 "collection"'l& +5 "core" &  r\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &  t\ +7 & ,  r\ #a +9 &U  u\ 7 +10 &z  k\ K +9 &U  o\ M +9 &kV  q\ L +10 &-R  j\ L +9 &Y  h\ L +9 &Y  ^\ L +10 &sY  ]\ L +9 &4W  a\ M +10 &V  \\\ M +9 &!W  \\\ M +9 &#{Y  ]\ L +10 &%=Y  X\ L +9 &&X  [\ L +9 &(W  \\\ L +10 &*W  Z\ M +9 &,DW  ]\ M +9 &.V  [\ L +10 &/S  ]\ L +9 &1T  ]\ L +10 &3MT  ]\ L +9 &5Y  [\ L +9 &6W  T\ M +10 &8U  R\ L +9 &:UU  [\ L +10 &<X  Q\ L +9 &=Z  Q\ L +9 &?Z  N\ L +10 &A]Y  Q\ L +9 &CZ  O\ M +9 &D]  Q\ M +10 &Fc  Q\ N +9 &H\\q  O\ O +9 &J  P\ T +10 &K  Q\ W +9 &M  K\ X +10 &OK  P\ X +9 &Q  Q\ X +9 &R  R\ Y +10 &T  Q\ Y +9 &V+v  K\ . +9 &V$  P\ R +9 ( +3 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&[1 +3 "core" &Vi  P\ J +50 1 +2 "manipulator"&N% +4 "core" %  0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +103 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\ & +4 "core" &"\ +2 "manipulator"&o% +3 "core" %\ Q  +2 "storage"(Z% +4 "core" %T I\ + "storage"(`. +3 "core" .( +2 "storage"(x& +3 "core" & \  +2 "storage"(& +4 "core" & v\  + "manipulator"&y& +4 "core" &' Y >L +2 "manipulator"&*% +4 "core" %\ 5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +157 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" & d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +95 "core" ' +2 "storage"(&& +4 "core" & '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +286 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" & M\  +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +8 "core" ( +2 "manipulator"&h& +4 "core" & a  + "storage"(& +4 "core" & v\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&m'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(R'X +7 "core" & 6  +2 "manipulator"&% +4 "core" % ϣ  X +2 .tForearm.seek :retract + "manipulator"&c'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&X(s +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&n& +4 "core" &n '  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' +2 "manipulator"&j& +4 "core" &n $ +2 "manipulator"&u% +4 "core" %  +2 "processing"%'& +4 "core" &\ +2 "processing"%2& +5 "core" &\ +2 .tPC.seek :closed + "processing"%r(Z +4 "core" &'\  +9 &2}+\ )w +10 &c'\ > +9 &uu#\ N +9 &8W'\ N +10 &Y&\ N +9 &[(\ M +9 &~\\+\ N +10 &@Y)\ N +9 &W&\ M +10 &W%\ N +9 & Y)\ N +9 &"IZ)\ M +10 &$ Z&\ M +9 &%W(\ M +9 &'X,\ N +10 &)Q[)\ M +9 &+Z(\ M +10 &,Z&\ M +9 &.V(\ M +9 &0XV&\ N +10 &2Y%\ N +9 &3U'\ M +9 &5Z(\ M +10 &7aZ)\ M +9 &9"X'\ N +10 &:T&\ M +9 &<Z)\ M +9 &>iY)\ M +10 &@+\\%\ M +9 &AZ&\ M +9 &C]'\ N +10 &Ep^&\ N +9 &G,m&\ P +10 &H&\ R +9 &J'\ S +9 &Lf(\ T +10 &N),\ S +9 &O'\ S +9 &Q(\ S +10 &Sn&\ T +9 &U0&\ T +9 &V'\ T +10 &X)\ T +9 &Z ])\ #m +10 &ZR'\ ( +8 ( +3 "processing"%2& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&(1 +4 "core" &Z%\ & +55 1 + "manipulator"&I% +5 "core" % $ \  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +95 "core" ' + "processing"%& +5 "core" &Z \ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\    + "storage"(a% +4 "core" %R \ +2 "storage"(?. +3 "core" .( + "storage"(F& +4 "core" & L\  +2 "storage"(W& +2 "manipulator"&v& +7 "core" & V\  + &n  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(U'i +2 "core" ( +2 "manipulator"&,& +4 "core" &n u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &n R +2 .tForearm.seek PC +2 "manipulator"&3' +92 "core" ' +2 .tHand.close + "manipulator"&"/ +63 "core" / +2 .tPC.seek :open +2 "processing"%V( +87 "core" ' +2 "storage"(!- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +35 "core" ' +298 ( +2 "storage"(Y& +4 "core" & \  + "manipulator"&~& +4 "core" &n % +2 "manipulator"&w% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&L'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&)( +271 "core" ( +2 "manipulator"&G& +4 "core" &  Q  + "storage"(6& +4 "core" & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +95 "core" ' + .tHand.open +55 "manipulator"&41 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(g' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(=& +4 "core" & % \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&z& +3 "core" &  k  +2 "storage"(@& +4 "core" & * # P\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(8' +62 "core" ' +2 "manipulator"&e& +4 "core" &   +2 "storage"(k& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&<'} +27 "core" ' +2 .tElbow.hold +4 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(M'i +25 "core" ' +2 "manipulator"&^% +4 "core" %΅ f +2 "storage"( & +4 "core" & 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&$'ϱ +19 "core" ' +2 "manipulator"& & +4 "core" & J  +2 "storage"(& +4 "core" & |\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +43 "core" ' + "storage"(:% +5 "core" %r =\ +2 ."downElevator"SE.seek :down +4 "storage"(B'X +98 (>% +3 "core" %L F\ Xg +2 "manipulator"&H% +4 "core" %+ [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (t& +4 "core" & &\  + "collection"'_& +4 "core" &Vi  S\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  <  +2 "storage"(5% +4 "core" %a a\ + "storage"(s. +4 "core" .( + "storage"(Q& +4 "core" & \  + "storage"(/& +4 "core" & W\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +3 "core" &  q  +2 "storage"(0& +4 "core" & _\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts +3 "manipulator"&|'9 +96 "core" ' +2 "storage"(+& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +284 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & g  +2 "storage"(K& +4 "core" & 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +22 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +39 "core" ' +2 "manipulator"&9% +4 "core" %΅  +2 "storage"(E& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&i'ϱ +20 "core" ' +2 "manipulator"&-& +4 "core" & e  +2 "storage"(q& +3 "core" & )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'G +39 "core" ' +2 "manipulator"&\ & +4 "core" &  +2 "manipulator"&o% +4 "core" %$ ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +173 "core" ( + "manipulator"&x& +4 "core" &* 0 @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &* ' 3 @X +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +3 .tHand.close + "manipulator"&y/ +63 "core" / +2 .tCC.seek :open +2 "collection"'*( +416 "core" ( +2 "storage"(& +4 "core" & T\  + "storage"(& +4 "core" & q\  + "manipulator"&& +4 "core" &( 0 N ?T +2 "manipulator"&&% +4 "core" %  g +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&#( +161 "core" ( +2 "manipulator"&p& +4 "core" & C  + "storage"(f& +4 "core" &\ "\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&%'} +97 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % Ή $ ; + "storage"({& +4 "core" & R\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +20 "core" ' +2 "manipulator"&b& +4 "core" & I  +2 "storage"( & +4 "core" &\ %\ $ V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +27 "core" ' + "storage"(m% +5 "core" %Q\ 3\ ( >\ +2 ."downElevator"SE.seek :down +4 "storage"(n'X +99 (% +3 "core" %F\ \  \ Wd +2 "manipulator"&% +4 "core" %| 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'u& +4 "core" &  k\ +2 "manipulator"&'% +4 "core" %\ \ ]  + "storage"(R% +4 "core" %\\\ (\ ) X\ +2 "storage"(c. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +2 "core" & \ +2 "manipulator"&I& +4 "core" & [  +2 .tElbow.seek 2 + "manipulator"&( +35 "core" ( +2 "manipulator"&& +4 "core" &   % + "storage"(a& +4 "core" & \ !\  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +95 "core" ' +2 "storage"(F& +4 "core" & \ 2\ 2\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +283 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (2& +3 "core" & A\ +2 "manipulator"&,& +3 "core" &  o +2 .tElbow.seek 2 +2 "manipulator"& ( +31 "core" ( + "manipulator"&C& +5 "core" &  ` + "storage"("& +4 "core" & \ \  ?\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"(r'X +8 "core" & + ` + "manipulator"&U% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&Y'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&~( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( +2 "manipulator"&w& +4 "core" &! $ o 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &!  Y 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +95 "core" ' +2 "manipulator"&6& +4 "core" &" $ ~ 8 +2 "manipulator"&% +4 "core" %* 3 + "collection"'4& +4 "core" &  z\ +2 "collection"'& +5 "core" &  o\ +3 .tCC.seek :closed + "collection"'](V +5 "core" &  o\ +6 &C  r\ $f +10 &X  p\ 7 +9 &y  p\ L +10 &U  s\ L +9 &|U  o\ M +9 &>U  o\ M +10 &W  n\ M +9 &V  h\ L +9 &S  j\ L +10 &GS  j\ L +9 & S  e\ L +10 &!T  ]\ L +9 &#T  Y\ L +9 &%PU  ^\ L +10 &'V  Z\ M +9 &(U  ]\ L +9 &*T  ]\ L +10 &,WX  [\ L +9 &.W  V\ L +10 &/W  Z\ L +9 &1Y  [\ L +9 &3_X  R\ L +10 &5!X  X\ L +9 &6V  X\ M +9 &8U  [\ M +10 &:fX  V\ M +9 &<)U  V\ L +10 &=T  S\ M +9 &?Y  Q\ L +9 &AoY  U\ L +10 &C0Z  Q\ M +9 &D_  P\ M +9 &Fh  R\ N +10 &Hky  R\ P +9 &J!  Q\ U +10 &K  P\ X +9 &M  O\ X +10 &O]  Q\ X +9 &Q  P\ X +9 &R  Q\ Z +9 &T  Q\ Z +10 &V(i  P\ 1 +9 &V  Q\ S +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&L1 +3 "core" &Ve  P\ M +55 1 +2 "manipulator"&=% +5 "core" % * + G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%z& +4 "core" &#\ +2 "manipulator"&@% +4 "core" %\ ! & 7 + "storage"(e% +4 "core" %\\ \ +2 "storage"(k. +3 "core" .( + "storage"(;& +4 "core" & \ +2 "storage"(^& +4 "core" & f\ + "manipulator"& & +4 "core" & A 7 + "manipulator"&P% +4 "core" %\ ! - 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"& ( +160 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"()& +3 "core" & k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +98 "core" ' + "storage"(A& +4 "core" & K\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +285 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" & w\ +2 "manipulator"&O& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&1( +4 "core" ( + "manipulator"&8& +4 "core" & #  +2 "storage"(<& +4 "core" & Q\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&$' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&t/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&_& + "storage"('X +7 "core" &  +2 "manipulator"&5% +3 "core" %  T O +2 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&s(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&Q& +4 "core" &i ' o # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &i w # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&d& +5 "core" &i ^ # + "manipulator"&0% +4 "core" % A \\ +2 "processing"%7& +4 "core" &\ +2 "processing"%+& +5 "core" &%\ +2 .tPC.seek :closed + "processing"%B(Z +5 "core" &(\ +7 &G*\ $f +9 &W+\ 8 +10 &z(\ L +9 &U(\ M +10 &y[&\ N +9 &<U(\ M +9 &Z)\ N +10 &X+\ M +9 &X+\ M +9 &CY'\ N +10 & V+\ M +9 &!U*\ M +9 &#W'\ M +10 &%KW'\ N +9 &' Y)\ N +10 &(Y%\ N +9 &*Y&\ N +9 &,SY&\ N +10 &.Z)\ M +9 &/Y(\ M +9 &1Z*\ M +10 &3\\Y(\ M +9 &5Y'\ N +10 &6U&\ M +9 &8X&\ N +9 &:dY(\ M +10 &<&W'\ M +9 &=T%\ M +9 &?T&\ M +10 &AlT'\ M +9 &C-['\ N +10 &D_(\ N +9 &Fa'\ N +9 &Hmm&\ P +10 &J)~(\ R +9 &K)\ S +9 &M&\ S +10 &Oi(\ T +10 &Q,'\ S +9 &R%\ T +9 &T$\ T +10 &Vp'\ T +9 &X0'\ U +9 &Y|p(\ , +9 &Z)]'\ + +9 ( +3 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +3 "core" &Z%\ # +56 1 + "manipulator"& % +4 "core" %  ; \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +2 "processing"%& +4 "core" &Z(\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&K% +4 "core" %\   ,  + "storage"(\\% +4 "core" %b r\ +2 "storage"(9. +3 "core" .( + "storage"(E& +4 "core" & m\ +2 "storage"(-& +4 "manipulator"&q& +4 "core" & g\ + &i Q # +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&\ (s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +2 "core" ( +2 "manipulator"&|& +4 "core" &i  k # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i V # +2 .tForearm.seek PC +2 "manipulator"&J' +94 "core" ' + .tHand.close +2 "manipulator"&/ +51 "core" / +2 .tPC.seek :open +2 "processing"%i( +95 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +43 "core" ' +286 ( + "storage"(l& +4 "core" & E\ +2 "manipulator"&[& +4 "core" &i  # + "manipulator"&}% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z( +265 "core" ( +2 "manipulator"&& +4 "core" &  G  + "storage"(& +4 "core" & D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(&- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(f' +46 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(`& +4 "core" & m k \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&{& +4 "core" & >  +2 "storage"(b& +4 "core" & k l \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(m' +60 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(%'i +24 "core" ' + "manipulator"&% +5 "core" %  + "storage"(u& +4 "core" & I\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&'' +14 "core" ' +2 "manipulator"&R& +5 "core" & '  + "storage"(c& +5 "core" & P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +26 "core" ' + "storage"(S% +5 "core" %m >\ +57 ."downElevator"SE.seek :down +4 "storage"(n'X +99 (% +3 "core" %J `\ Xg +2 "manipulator"&(% +4 "core" %ѻ M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +74 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & <\ + "collection"'a& +4 "core" &Ve  O\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&F% +4 "core" %\    +2 "storage"(h% +4 "core" %` \ +2 "storage"(j. +3 "core" .( + "storage"(W& +4 "core" & \ + "storage"(2& +4 "core" & D\ +2 "manipulator"&,& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&C( +4 "core" ( + "manipulator"&"& +4 "core" & V  + "storage"(X& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +95 "core" ' +2 "storage"(U& +4 "core" & g\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" & D  +2 "storage"(!& +4 "core" & -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&w' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(6'P +30 "core" ' +2 "manipulator"&% +3 "core" % +2 "storage"(4& +4 "core" & b\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&r' +16 "core" ' +2 "manipulator"&Y& +4 "core" & +  +2 "storage"(*& +4 "core" & 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +37 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(='? +39 "core" ' + "manipulator"&z& +5 "core" & 9  + "manipulator"&@% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k( +163 "core" ( +2 "manipulator"&;& +4 "core" &- .  Cn + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- Cn +2 .tForearm.seek CC +2 "manipulator"&^'" +92 "core" ' +2 .tHand.close + "manipulator"& / +52 "core" / +2 .tCC.seek :open + "collection"'P( +417 "core" ( + "storage"(G& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&)& +4 "core" &*   @W + "manipulator"&A% +4 "core" % 7 S +2 .tForearm.seek :retract + "manipulator"&~'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( + "manipulator"&>& +5 "core" & d  + "storage"(H& +4 "core" & \ \  g\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&O' +97 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +57 "core" 1 +2 "manipulator"&t% +5 "core" % ! + "storage"(_& +4 "core" & \ o\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&5' +14 "core" ' + "manipulator"& & +5 "core" & ]  +2 "storage"(:& +4 "core" & \ \  i\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +27 "core" ' + "storage"($% +4 "core" %G\ %\ % \ +2 ."downElevator"SE.seek :down +3 "storage"(Q'X +100 (/% +2 "core" %B \  }\ Vb +2 "manipulator"&1% +4 "core" %љ d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'0& +4 "core" &  ]\ +2 "manipulator"&7% +4 "core" %\    + "storage"(% +4 "core" %a\ %\ % l\ +2 "storage"(M. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(V( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \\\  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +15 "core" ( + "manipulator"&K& +5 "core" &  3 _ + "storage"(\\& +4 "core" &\ \  k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +106 "core" ' + "storage"(E& +5 "core" &\ 2\ ' \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +285 "core" ' +2 "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" & 3\  +2 "manipulator"&|& +3 "core" & ( _ +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  * _ + "storage"(& +4 "core" &\ \  8\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& + "storage"(B'X +8 "core" &  _ + "manipulator"&o% +4 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&}& +4 "core" &% & <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &$ < <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 "manipulator"&& +4 "core" &%   <> +2 "manipulator"&\ % +4 "core" %   +2 "collection"'& +4 "core" &  |\ +2 "collection"'&& +4 "core" &  n\ +3 .tCC.seek :closed + "collection"'(V +5 "core" &  o\ +7 &6  n\ $e +9 &W  q\ 7 +9 &z  o\ L +10 &U  o\ L +9 &qY  j\ L +10 &2U  e\ M +9 &W  a\ M +9 &V  m\ L +10 &yT  e\ L +9 &;S  W\ L +9 &W  \\\ L +10 &!W Y\ M +9 &#W  Y\ M +10 &%CW  [\ L +9 &'S  ^\ L +9 &(W  V\ L +10 &*V  Z\ L +9 &,KS  \\\ L +9 &. U  Z\ M +10 &/V  Q\ L +9 &1T  V\ L +10 &3SW  P\ L +9 &5X  Y\ L +9 &6V  P\ L +10 &8R  X\ L +9 &:[Y  Z\ L +9 &<U  O\ M +10 &=Y  Q\ L +9 &?Y  P\ L +10 &AcW  K\ L +9 &C$Z  K\ M +10 &D\\  R\ M +9 &Fe  Q\ N +9 &Has  P\ P +9 &J  Q\ T +10 &K  S\ V +9 &M  R\ W +10 &OR  R\ X +9 &Q  F\ X +10 &R  K\ Y +9 &T  J\ Y +9 &V3w  P\ . +9 &V  P\ W +9 ( +3 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&`1 +3 "core" &Vv  R\ O +59 1 + "manipulator"&% +4 "core" %   V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +4 "core" &\ +2 "manipulator"&y% +3 "core" %\  2 , +2 "storage"(% +4 "core" %S V\ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & -\  +2 "storage"(x& +4 "core" & \  +2 "manipulator"&u& +4 "core" &% ` <= + "manipulator"&R% +4 "core" %\  " , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +57 .tElbow.seek 3 +2 "manipulator"&c( +160 "core" ( +2 "manipulator"&p& +4 "core" &  ^  + "storage"(S& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +94 "core" ' +2 "storage"(& +4 "core" & a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \  +2 "manipulator"&(& +4 "core" & R  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&m& +3 "core" &  j  +2 "storage"(& +4 "core" & Z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& + "storage"(F'X +8 "core" &   + "manipulator"&%% +4 "core" % ϟ } M +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( + "manipulator"&W& +4 "core" &i B W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &i   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&,' +96 "core" ' +2 "manipulator"&"& +4 "core" &j $ 5  +2 "manipulator"&X% +4 "core" %  +2 "processing"%N& +4 "core" &\ +2 "processing"%U& +5 "core" &\ +2 .tPC.seek :closed + "processing"%n(Z +5 "core" &&\ +7 &:!\ #c +9 &U~\ 7 +9 &z\ K +10 &Y \ N +9 &`Z"\ N +10 &#X\ M +9 &U'\ M +9 &T&\ M +10 &h\\\ N +9 &,Y\ M +9 &\\\ M +10 &!Z\ M +9 &#p\\!\ N +9 &%2Y \ N +10 &&W!\ N +9 &(U!\ M +10 &*zX\ M +9 &,:Z\ N +9 &-Z\ N +10 &/U\ M +9 &1Z \ M +9 &3CU \ M +10 &5U\ M +9 &6U\ N +10 &8X!\ M +9 &:LX\ M +9 &< Y\ M +10 &=U\ M +9 &?Y \ M +9 &ASX\ M +10 &C[\ N +9 &DZ\ N +10 &Fg(\ O +9 &HOz#\ Q +9 &J \ S +10 &K\ S +9 &M\ S +9 &OQ\ S +10 &Q"\ T +9 &R\ T +10 &T\ T +9 &VW\ T +10 &X\ T +9 &Y{l\ 6 +9 &Z1 \ H +9 &Z\ ' +3 ( + "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator" +64 "core" 1 + "manipulator"&I% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' +2 "processing"%v& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&!% +4 "core" %\ #  : +2 "storage"( % +3 "core" %a P\ +2 "storage"(. +3 "core" .( + "storage"(4& +4 "core" & P\  +2 "storage"(Y& +2 "manipulator"&*& +7 "core" & =\  + &j 3  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&z(s + "storage"(@'i +5 "core" ( +2 "manipulator"&.& +4 "core" &j   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &j   +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&w/ +54 "core" / +2 .tPC.seek :open +2 "processing"%r( +93 "core" ' +2 "storage"(6- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +36 "core" ' +291 ( + "storage"(& +5 "core" & \  + "manipulator"&L& +4 "core" &j   + "manipulator"&3% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +254 "core" ( +2 "manipulator"&]& +4 "core" & N + "storage"(G& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"&)1 +63 "core" 1 +2 "storage"(A- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(H' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(k& +4 "core" &\ \  \  + "manipulator"&<& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&t( +4 "core" ( + "manipulator"&_& +4 "core" & C +2 "storage"( & +3 "core" & M f\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +11 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +56 "core" ' +2 "manipulator"&~& +4 "core" & ) +2 "storage"(/& +3 "core" & 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&1'} +24 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(O'i +23 "core" ' +2 "manipulator"&5% +4 "core" %΍ Z +2 "storage"(0& +4 "core" & '\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&7'Ϲ +20 "core" ' +2 "manipulator"&& +4 "core" & o + "storage"(M& +4 "core" & Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +33 "core" ' +2 "storage"(g% +4 "core" %m X\ +2 ."downElevator"SE.seek :down +4 "storage"(Q'X +98 (T% +3 "core" %L \ Wf +2 "manipulator"&% +4 "core" %A 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" & 0\  + "collection"'\\& +4 "core" &Vv  S\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&E% +4 "core" %\  -  +2 "storage"(8% +3 "core" %` \ +2 "storage"(d. +3 "core" .( + "storage"(-& +4 "core" & l\  + "storage"(+& +4 "core" & \  +2 "manipulator"&|& +4 "core" & " +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(s& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +101 "core" ' +2 "storage"(o& +4 "core" & W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&}& +3 "core" & r +2 "storage"(J& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'} +21 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\ 'W +26 "core" ' + "manipulator"&% +5 "core" %· W + "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +57 .tForearm.seek 3 + 310 counts + "manipulator"&B'ϳ +12 "core" ' + "manipulator"&l& +5 "core" &  + "storage"(P& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('F +44 "core" ' +2 "manipulator"&b& +4 "core" & v +2 "manipulator"&y% +4 "core" %T J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" &* i @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &* > @X +2 .tForearm.seek CC +2 "manipulator"&x'" +92 "core" ' + .tHand.close + "manipulator"&u/ +52 "core" / +2 .tCC.seek :open + "collection"'R( +417 "core" ( + "storage"(& +5 "core" & M\  + "storage"(p& +4 "core" & \  + "manipulator"&S& +4 "core" &( & / ?V + "manipulator"&% +4 "core" % & H  +2 .tForearm.seek :retract + "manipulator"&['\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{( +158 "core" ( + "manipulator"& & +4 "core" & Y y +2 "storage"(& +4 "core" &\ \  z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&('} +98 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ΍ $ V +2 "storage"(a& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&%'Ϲ +20 "core" ' +3 "manipulator"&c& +4 "core" & G y +2 "storage"(Z& +4 "core" &\ \  y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +40 "core" ' +2 "storage"('% +3 "core" %I\ 3\ ( ,\ +3 ."downElevator"SE.seek :down +4 "storage"(W'X +98 (2% +3 "core" %C \ X\ Vb +2 "manipulator"&% +4 "core" %B l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'X& +4 "core" &  h\ +2 "manipulator"&N% +4 "core" %\ ! V 8 +2 "storage"(F% +4 "core" %a\ \  a\ + "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(i( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" & \ +2 "manipulator"&I& +4 "core" & F y +2 .tElbow.seek 2 + "manipulator"&v( +35 "core" ( +2 "manipulator"&!& +4 "core" & &  ' + "storage"( & +4 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +106 "core" ' +2 "storage"(U& +4 "core" & \ '\  (\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +282 "core" ' +2 "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" & -\ +2 "manipulator"&.& +4 "core" &  G # +2 .tElbow.seek 2 + "manipulator"&C( +32 "core" ( +2 "manipulator"&,& +4 "core" &  | + "storage"(w& +4 "core" & \ \  +\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&6' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(n'X +8 "core" &  | + "manipulator"&@% +4 "core" % ; " +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( + "manipulator"&3& +5 "core" &-   Cs + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-   Ai +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&]'" +99 "core" ' + "manipulator"&G& +5 "core" &* - @^ + "manipulator"&z% +4 "core" %$ +2 "collection"')& +4 "core" &  p\ +2 "collection"'A& +5 "core" &  z\ +2 .tCC.seek :closed +2 "collection"'^(V +4 "core" &  n\  +9 &2}  i\ )w +9 &d  p\ > +10 &{p  p\ N +9 &@W  p\ L +9 &X  `\ L +10 &V  ]\ M +9 &U  \\\ M +9 &GU  \\\ M +10 & U  \\\ M +9 &U  Y\ M +9 & U  W\ M +10 &"OU  \\\ M +9 &$R  Z\ L +10 &%X  \\\ L +9 &'X  ]\ L +9 &)XV  \\\ L +10 &+U  V\ M +9 &,U  \\\ M +9 &.U  \\\ L +10 &0_S  [\ M +9 &2"T  W\ L +10 &3S  T\ L +9 &5R  W\ L +9 &7hW  S\ L +10 &9)U  Q\ M +9 &:W  K\ M +9 &<T  P\ L +10 &>pT  K\ L +9 &@3T  P\ L +10 &AV  P\ L +9 &CW  P\ L +10 &Eu^  Q\ M +9 &G2h  P\ O +9 &Hz  Q\ Q +9 &J  Q\ V +10 &L`  K\ W +9 &N"  O\ W +10 &O  P\ Y +9 &Q  F\ X +10 &S`  P\ Z +9 &U$  Q\ Y +9 &VlB  Q\ 0 +9 &V y  M\ L +6 ( + "collection"'A& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 + .Hand.open + "manipulator"&k1 +4 "core" &Vn  L\ L +59 1 +2 "manipulator"&<% +4 "core" % $ -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +4 "core" &#\ + "manipulator"& % +4 "core" %\ 9  +2 "storage"(~% +4 "core" %b -\ + "storage"(/. +3 "core" .( +2 "storage"(5& +4 "core" & k\ + "storage"(0& +4 "core" & r\ +2 "manipulator"&;& +3 "core" & * q @] +2 "manipulator"&>% +4 "core" %\ o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&M& +4 "core" & -  +2 "storage"(g& +3 "core" & 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +93 "core" ' + "storage"(& +5 "core" & '\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +285 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ;\ +2 "manipulator"&:& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&$& +4 "core" & o  + "storage"(1& +4 "core" & p\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&7' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(E'X +8 "core" & H  + "manipulator"&8% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&d'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&O& +5 "core" &n A S \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &n ( \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&|' +93 "core" ' +2 "manipulator"&& +4 "core" &n  G \ +2 "manipulator"&s% +4 "core" % K # +2 "processing"%=& +4 "core" &\ +2 "processing"%o& +59 "core" &'\ +2 .tPC.seek :closed +2 "processing"%Q(Z +4 "core" &+\ +7 &9#\ $d +10 &U&\ 7 +9 &|,\ L +9 &Z*\ M +10 &l[,\ N +9 &.Y,\ N +10 &X,\ N +9 &X)\ M +9 &uV,\ M +10 &7V*\ M +9 &W(\ N +9 &!Y&\ M +10 &#}Y*\ M +9 &%>Z)\ N +9 &'U(\ M +10 &(Z(\ M +9 &*Z'\ N +10 &,GY*\ M +9 &.W&\ N +9 &/Y&\ N +10 &1U&\ M +9 &3OY'\ M +9 &5Z(\ M +10 &6Z)\ M +9 &8W&\ N +10 &:WW'\ M +9 &<V&\ M +9 &=Z(\ M +10 &?Y&\ M +9 &A_U(\ M +9 &C \\(\ N +10 &D]&\ N +9 &Fb&\ O +10 &Haj)\ O +9 &J#\ R +9 &K'\ S +10 &M%\ S +9 &O^'\ S +9 &Q '\ S +10 &R#\ T +9 &T&\ S +10 &Vd'\ T +9 &X%&\ T +9 &Y{m(\ 1 +10 &Z)m(\ J +9 &Z(\ + +2 ( +2 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"& % +4 "core" % 5 # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +100 "core" ' +2 "processing"%}& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&J% +4 "core" %\    +2 "storage"(% +4 "core" %` f\ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(l& +4 "manipulator"&P& +4 "core" & \ + &n  \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(b'i + "manipulator"&y(s +5 "core" ( + "manipulator"&D& +4 "core" &n % \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n  \ +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&q/ +53 "core" / +2 .tPC.seek :open +2 "processing"%B( +95 "core" ' +2 "storage"(\ - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +283 ( +2 "storage"(&& +4 "core" & >\ + "manipulator"&`& +4 "core" &n  \ +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +268 "core" ( + "manipulator"&& +5 "core" & l  + "storage"(& +4 "core" & 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +95 "core" ' + .tHand.open +2 "manipulator"&S1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' + "storage"(& +4 "core" & , ( \\\ +2 "manipulator"&& +3 "core" & :  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&a& +4 "core" &  +2 "storage"(c& +4 "core" & . . k\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"('' +57 "core" ' +2 "manipulator"&[& +4 "core" & 7  + "storage"(2& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(('i +23 "core" ' + "manipulator"&%% +4 "core" % +2 "storage"(X& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&N' +14 "core" ' + "manipulator"&F& +5 "core" &  + "storage"(h& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +28 "core" ' + "storage"(f% +5 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(W'X +99 (V% +2 "core" %7L R\ Xg +2 "manipulator"&#% +4 "core" %ќ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (!& +4 "core" & '\ + "collection"' & +4 "core" &Vm  ;\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&U% +4 "core" %\    + "storage"(m% +4 "core" %a q\ +2 "storage"(". +3 "core" .( + "storage"(*& +4 "core" & k\ + "storage"(Y& +4 "core" & x\ +2 "manipulator"&.& +4 "core" & J  + .tElbow.seek 2 +2 "manipulator"&,( +4 "core" ( + "manipulator"&w& +4 "core" &   +2 "storage"(j& +4 "core" & s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +96 "core" ' +2 "storage"(@& +4 "core" & 0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & V  + "storage"(& +4 "core" & J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&4' +36 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(z'P +40 "core" ' + "manipulator"&C% +4 "core" % +2 "storage"()& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&n' +20 "core" ' + "manipulator"&& +4 "core" & _  +2 "storage"(R& +4 "core" & *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(<'? +39 "core" ' + "manipulator"& & +5 "core" &  + "manipulator"& % +4 "core" %х 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +163 "core" ( +3 "manipulator"&A& +4 "core" &%  y <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &% 7 h <= +2 .tForearm.seek CC +2 "manipulator"&0'" +91 "core" ' +2 .tHand.close + "manipulator"&;/ +57 "core" / + .tCC.seek :open +2 "collection"'>( +416 "core" ( +3 "storage"(]& +4 "core" & f\ + "storage"(M& +4 "core" & `\ +2 "manipulator"&g& +3 "core" &%  ;5 +2 "manipulator"&% +3 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&_( +156 "core" ( +2 "manipulator"&T& +4 "core" &   +2 "storage"(& +3 "core" & \ %\ ( Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&:' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 .tHand.open +10 "manipulator"&11 +64 "core" 1 +2 "manipulator"&K% +4 "core" % # c  +2 "storage"(\\& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&8' +20 "core" ' +2 "manipulator"&& +4 "core" & ?  +2 "storage"(e& +3 "core" & \ \  p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +29 "core" ' + "storage"(7% +4 "core" %F\ %\ ' k\ +3 ."downElevator"SE.seek :down +4 "storage"(O'X +99 (+% +3 "core" %1G\ \ #\ Vb +2 "manipulator"&t% +4 "core" %ю 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'s& +5 "core" &  h\ +2 "manipulator"&=% +4 "core" %\  '  + "storage"(E% +4 "core" %b\ %\ % \ +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(r( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & U\  + "manipulator"& & +4 "core" & K  +2 .tElbow.seek 3 + "manipulator"&}( +14 "core" ( + "manipulator"&J& +5 "core" & - c + "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(& +4 "core" &\ E\ 7 }\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'i +283 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &\ I\  +2 "manipulator"&D& +3 "core" & C c +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&|& +3 "core" & $ c +2 "storage"(q& +4 "core" &\ \  3\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&9& + "storage"(Q'X +7 "core" & ! c +2 "manipulator"&b% +4 "core" % ϩ  + .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" & & 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' + "manipulator"&& +5 "core" & / 6 + "manipulator"&y% +4 "core" %! D +2 "collection"'S& +4 "core" &  f\ +3 "collection"'& +5 "core" &  c\ +2 .tCC.seek :closed + "collection"'x(V +4 "core" &  d\  +9 &3|  d\ *y +9 &e  _\ > +10 &p  _\ M +9 &IR  \\\ L +9 & W  \\\ M +10 &U  ^\ L +9 &S  \\\ L +9 &PX  \\\ L +10 &V  Z\ M +9 &V  V\ L +9 & S  Y\ L +10 &"XX  ]\ L +9 &$X  Z\ L +10 &%Y  X\ L +9 &'U  [\ M +9 &)`T  [\ L +10 &+"X  V\ L +9 &,U  Y\ L +9 &.S  W\ L +10 &0gW  V\ M +9 &2)T  T\ M +10 &3U  P\ L +9 &5R  K\ L +9 &7oU  P\ M +10 &92U  K\ L +9 &:Y  P\ L +9 &<U  G\ M +10 &>xW  J\ L +9 &@;U  \ L +10 &AW  U\ L +9 &CW  Q\ L +9 &E}_  P\ M +10 &G<f  P\ N +9 &Hz  P\ P +9 &J  P\ U +10 &Lh  Q\ W +9 &N+  K\ W +10 &O  \ X +9 &Q  P\ W +9 &Si  H\ Z +10 &U+  I\ Z +9 &VyD  C\ (x +9 &V  H\ Q +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&1 +4 "core" &Vn  P\ Q +56 1 + "manipulator"&% +4 "core" % ! -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%c& +4 "core" & \ +2 "manipulator"&u% +4 "core" %\  Q  + "storage"([% +4 "core" %R &\ +2 "storage"(2. +3 "core" .( + "storage"(& +4 "core" & '\  +2 "storage"(%& +4 "core" & '\  + "manipulator"&X& +4 "core" &  6 + "manipulator"& % +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +167 "core" ( +2 "manipulator"&h& +4 "core" &  ^ ^ +2 "storage"(f& +3 "core" & ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"(p& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" & p\  +2 "manipulator"&Z& +4 "core" & N ^ +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" & $ } ^ + "storage"(& +4 "core" & Z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&N'ϩ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & "storage"(U'X +8 "core" & ? ^ + "manipulator"&m% +4 "core" % Ϲ u d +2 .tForearm.seek :retract + "manipulator"&"'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&*(s +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&(& +4 "core" &q 6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &q   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.' +96 "core" ' + "manipulator"&w& +5 "core" &r x  + "manipulator"&j% +4 "core" % [  +2 "processing"%& +4 "core" &"\ +2 "processing"%@& +4 "core" &)\ +2 .tPC.seek :closed +2 "processing"%W(Z +5 "core" &#\ +7 &G(\ $f +9 &W#\ 8 +10 &{*\ L +9 &Y#\ N +9 &{\\"\ M +10 &=V'\ M +9 &U)\ M +9 &U#\ M +10 &\\+\ M +9 &E[,\ M +10 & \\*\ M +9 &!Y+\ N +9 &#[+\ N +10 &%MZ,\ M +9 &'V-\ M +9 &(U-\ M +10 &*Z(\ M +9 &,TY-\ N +10 &.Y'\ M +9 &/U+\ M +9 &1U,\ M +10 &3]Z'\ M +9 &5Y,\ N +9 &6Y,\ M +10 &8T(\ M +9 &:eT'\ M +10 &<&W'\ N +9 &=W+\ M +9 &?T&\ M +10 &AmY+\ M +9 &C.\\(\ N +9 &D`)\ N +10 &Fh)\ O +9 &Hj~'\ Q +10 &J'&\ S +9 &K&\ S +10 &M&\ T +9 &Ok*\ S +9 &Q-'\ S +9 &R&\ T +10 &T&\ T +9 &Vr'\ T +10 &X3&\ T +9 &Y{o'\ - +10 &Z(i)\ E +9 &Z%)\ . +2 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&{1 +61 "core" 1 +2 "manipulator"&I% +4 "core" % 1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%3& +4 "core" &Z%"\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ * 5 +2 "storage"(G% +3 "core" %S b\ +2 "storage"(C. +3 "core" .( + "storage"()& +4 "core" & a\  +2 "storage"(& +2 "manipulator"&R& +7 "core" & a\  + &r   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& (s + "storage"( 'i +5 "core" ( +2 "manipulator"&?& +3 "core" &r c  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &r ) @  +2 .tForearm.seek PC +2 "manipulator"&v' +97 "core" ' + .tHand.close +2 "manipulator"&4/ +53 "core" / +56 .tPC.seek :open +3 "processing"%n( +40 "core" ' + "storage"(z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(A'y +46 "core" ' +336 ( +2 "storage"(5& +4 "core" & a\  + "manipulator"&k& +4 "core" &r   +2 "manipulator"&6% +4 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&;'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&~( +248 "core" ( +2 "manipulator"&^& +4 "core" &  n ( + "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +104 "core" ' +2 .tHand.open + "manipulator"&g1 +65 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(/& +4 "core" & M 1\  +2 "manipulator"&1& +3 "core" & ; & +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( + "manipulator"&\\& +5 "core" &  a & + "storage"(& +4 "core" & N a\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(L' +58 "core" ' + "manipulator"&7& +5 "core" &  & + "storage"(_& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&+'} +19 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'i +24 "core" ' +2 "manipulator"&s% +4 "core" %Α m +2 "storage"(8& +4 "core" & n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&='Ͻ +12 "core" ' +2 "manipulator"&E& +4 "core" & ` & +2 "storage"(d& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +37 "core" ' + "storage"(H% +5 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (i% +3 "core" %L .\ Xg +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" & u\  +2 "collection"'& +4 "core" &Vm  C\ Q + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ M  + "storage"($% +4 "core" %R 9\ +2 "storage"(. +3 "core" .( + "storage"(P& +4 "core" & ,\  +2 "storage"(l& +3 "core" & _\  +2 "manipulator"&D& +4 "core" & e & +2 .tElbow.seek 3 + "manipulator"&|( +4 "core" ( + "manipulator"&q& +4 "core" &  j & +2 "storage"(-& +3 "core" & 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +102 "core" ' +2 "storage"(b& +4 "core" & S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +281 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  & +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&o'} +24 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'X +27 "core" ' + "manipulator"&% +4 "core" %Ή F +2 "storage"(S& +3 "core" & h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&Q'ϵ +12 "core" ' + "manipulator"&&& +5 "core" &  B & + "storage"(>& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('G +39 "core" ' + "manipulator"&c& +5 "core" &  & + "manipulator"&u% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +154 "core" ( + "manipulator"&& +5 "core" &+ . D Ae + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* ! W Ad +3 .tForearm.seek CC +2 "manipulator"&%'" +97 "core" ' + .tHand.close + "manipulator"&X/ +57 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( + "storage"(& +4 "core" & {\  +2 "storage"(h& +3 "core" & C\  +2 "manipulator"&f& +4 "core" &( 2 >N + "manipulator"&p% +4 "core" % 3 (  +2 .tForearm.seek :retract + "manipulator"&`'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +158 "core" ( +2 "manipulator"&V& +4 "core" & $ $ o +2 "storage"(#& +3 "core" &\ \  e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&Z'} +99 "core" ' + .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&!% +4 "core" % Ώ # +2 "storage"( & +3 "core" &\ \  j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&m'ϻ +27 "core" ' +3 "manipulator"&F& +4 "core" & e o + "storage"(& +4 "core" &\ (\ * Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +17 "core" ' + "storage"(N% +5 "core" %O\ Q\ P \ +2 ."downElevator"SE.seek :down +4 "storage"(('X +99 (Y% +3 "core" %%F\ \  \ Vb +2 "manipulator"&% +4 "core" %# +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +88 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +17824 "Can"G\ 31 +60002 H\ 41z +24723 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +6 #mEXIT @1666208082.79EDT @1666267470.54EDT = =tMAIN =mMAIN_scheduler @EDT1666267472.32 #"core_reset"Sent BREAK +2 #t@26807 select with ifg=0x10, ie=0xF5 #@27456 receive with ifg=0x10, ie=0xFD + #@28105 receive with ifg=0x10, ie=0xFD + #@28753 receive with ifg=0x10, ie=0xFD + #@29080 receive with ifg=0x80, ie=0xFD #@42299 sendCRC with ifg=0x20, ie=0x7F + #@42748 sendCRC with ifg=0x20, ie=0x7F + #@44337 sendCRC with ifg=0x08, ie=0x5F #@31092 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +360 "Can"s\ 63 + s\ 63 + #tPolling Can every 10:00 +23 #Cleanly exited at 15:34:42EDT19-Oct-22 +6609 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" % q +2 .tSS.configure :default +3 "sampler")#.0X\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'  +3 "core" + .tCH.configure :default + "collection"'\ 2 +3 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'% +4 "core" %\ + "processing"%% +2 "manipulator"&% +4 "sampler")% +7 "core" %\ +2 %\    % \ q +2 "manipulator"&& +4 "core" & ] o + "storage"(& +3 "core" && \  +2 "storage"(% +3 "core" %] \ +2 "collection"'& +3 "core" &\ +2 "processing"%& +3 "core" &\ +2 "collection"' +3 "core"  + "collection"'  +3 "core"  + "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +2 "processing"%# +3 "core" V + "processing"%$ +3 "core"  +2 "processing"%% +2 "core"  +2 "sampler")& +3 "core"  +2 "collection"''% +3 "core" %\ +2 "processing"%(% +4 "core" %\ + "sampler"))% +4 "core" % \ q +2 "collection"'*& +3 "core" &\ +2 "processing"%+& +4 "core" &\ + "manipulator"&,% +4 "core" %\    + "manipulator"&-& +4 "core" &  o + "storage"(.& +4 "core" && \  +2 "storage"(/% +4 "core" %] \ +2 "collection"'09 +3 "core" 9 + "processing"%19 +3 "core" 9}s +634 #t-> access 2 +2 "storage"(2% +3 "core" %] \ +2 "manipulator"&3% +4 "core" %\  '  + "manipulator"&4& +4 "core" & ; o +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(5(K +968 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &K T\  +815 #t-> access 3 +2 "storage"(7% +4 "core" %]\ &\ ' g\ + "manipulator"&8% +4 "core" %\  u  +2 "manipulator"&9& +3 "core" & o +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(:([ +331 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &[ U\  +851 #t-> access 2 +2 "storage"(<% +2 "core" %]\ &\ ' *\ +2 "manipulator"&=% +4 "core" %\   +2 "manipulator"&>& +3 "core" & ] o +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(?(K +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +2 "core" &K \ \ +636 #t-> startTube 2 +2119 #-> $da[:extractVol]=.16 +46033 "Can"v\ 31| +11434 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'A& +3 "core" &6\ +2 .tHand.open + "manipulator"&B1 +16 "core" 1 +2 "manipulator"&C& +4 "core" & - o + "manipulator"&D% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&E(, +173 "core" ( + "manipulator"&F& +4 "core" &, ; < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &, @ < +2 .tForearm.seek :garage + "manipulator"&H'Ϧ +105 "core" ' + .tHand.close +2 "manipulator"&I/ +59 "core" / +2 "manipulator"&J& +4 "core" &, < + "manipulator"&K% +4 "core" % ϳ +2 .tForearm.seek :retract + "manipulator"&L'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&M( +314 "core" ( +8 "manipulator"&N& +3 "core" &, < Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &, Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&P'" +105 "core" ' +2 "manipulator"&Q& +4 "core" &+ 7 @Y + "manipulator"&R% +4 "core" % +2 "collection"'S& +3 "core" & \ +2 "collection"'T& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'U(V +4 "core" &V\ +7 &?\ $e +9 &U`\ 7 +10 &\ L +9 &Z\ N +10 &bY\ N +9 &$Y\ N +9 &Z\ N +10 &V\ N +9 &kY\ N +9 &-Z\ N +10 &Y\ N +9 &![\ N +10 &#rZ\ N +9 &%4Z\ N +9 &&V\ N +10 &(W\ M +9 &*{X\ N +9 &,=Y\ N +10 &.Y\ N +9 &/Z\ N +10 &1\\\ N +9 &3EX\ N +9 &5Z\ N +10 &6[\ N +9 &8Y\ N +9 &:N\\\ N +10 &<\\\ N +9 &=]\ N +10 &?[\ N +9 &ATZ\ N +9 &C]\ N +10 &D`\ O +9 &Fg\ P +9 &HSx\ Q +10 &J \ U +9 &K\ Y +10 &M\ Y +9 &OF\ Y +9 &Q\ Y +10 &R\ Z +9 &T\ Z +9 &V$t\ / +10 &V%\ P +9 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + "collection"'V& +4 "core" &Vb~\ H + &Vc\ H + .tHand.open +2 "manipulator"&W1 +60 "core" 1 + "manipulator"&X% +4 "core" %  ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 #tPurging external Intake + "collection"'Z& +4 "core" &Vc\ H +2 "collection"'[% +3 "core" %\ +2 .tCSV.dial :flush + "collection"'\\  +55 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"']' V +2275 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"'^ + '_  +5 "core"  +69 ~ + .tCTV.dial :intake +2 "collection"'`  +73 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'a' +2282 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'b  +75 "core" ~ + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&c& +4 "core" &*  @Y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&d( +27 "core" ( +2 "manipulator"&e& +4 "core" & L $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" & $ +2 .tForearm.seek CC + "manipulator"&g'" +94 "core" ' +2 .tHand.close + "manipulator"&h/ +57 "core" / + .tCC.seek :open +2 "collection"'i( +415 "core" ( + "manipulator"&j& +4 "core" & u $ +2 "manipulator"&k% +3 "core" %  ~ +2 .tForearm.seek :retract + "manipulator"&l'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&m(, +275 "core" ( + "manipulator"&n& +4 "core" &, H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &, . H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&p'Ϧ +100 "core" ' +2 .tHand.open + "manipulator"&q1 +56 "core" 1 +2 "manipulator"&r% +4 "core" % Ϯ V m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s'\ +98 "core" ' +1062 #t-> da 100 +2 #da sampling at most 100ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 08:18:06EDT20-Oct-22\\n{}\\nCTD data unavailable\\nCan@08:14:38, 24% flow, 21.1C, 29% humidity, 14.6psia, 13.754V, 0.256A, 0.243A avg, 3.52W",Subject: "da sampling at most 100ml" +5 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'t& +3 "core" &\ +2 "manipulator"&u% +5 "core" %\    +2 "storage"(v% +3 "core" %^\ J\ I \ +2 "storage"(w. +2 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(x( +85 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1188 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" & i\ +2 "manipulator"&z& +3 "core" &,  H +2 "manipulator"&{% +3 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&|( +187 "core" ( +2 "manipulator"&}& +4 "core" & - \ + "storage"(~& +4 "core" & \ H\ + F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(& +4 "core" & \ I\ E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +269 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ %\ & W\ +2 "manipulator"&& +4 "core" & ? \ +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"& & +3 "core" & I \ +2 "storage"( & +3 "core" & \ D\ 6 A\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +6 "core" & \ +2 "manipulator"&% +3 "core" %  x +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +141 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &( (  @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* * . @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +3 "manipulator"&& +4 "core" &* f @[ + "manipulator"&% +4 "core" % \\ J +2 "collection"'& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &\  +8 &2\ )w +10 &c\ > +9 &tu\ N +9 &6V\ M +10 &Z\ M +9 &Wd\ M +9 &}Y\ M +10 &>\\\ M +9 &\\\ N +10 &Z\ M +9 & Z\ M +9 &"E\\\ N +10 &$W\ M +9 &%YT\ M +9 &'\\\ \ M +10 &)N[z\ M +9 &+Y\ M +10 &,[\ M +9 &.\\\ N +9 &0U\\\ N +10 &2U\ M +9 &3\\\ M +9 &5Y\ M +10 &7^W\ M +9 &9 W\ M +10 &:]\ N +9 &<Z\ N +9 &>f\\\ M +10 &@'\\\ N +9 &AZ{\ N +9 &CYz\ N +10 &Ekb\ N +9 &G(n\ P +10 &H~\ R +9 &J|\ W +9 &LV\ X +10 &N\ X +9 &O\ Y +9 &Q\ Y +10 &SX}\ Z +9 &U\ [ +10 &VhE\ 1 +9 &Vs\ G +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&1 +4 "core" &Vg\ G +61 1 +2 "manipulator"& % +4 "core" %  $ H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +95 "core" ' +2 #tcollectSample 100ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")"+ +4 "core" + + "sampler")#% +4 "core" % \ q + "collection"'$& +4 "core" &Vg|\ G +2 "Can"{\ JH +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler")% +3 "core"  +2 "sampler")&  +4 "core"  +2 .tSS.reconfigure :fast +3 "sampler")#.0X' +1555 "core" ' + #tStroke completed -- waiting for pressure to equalize ... +2 .SS.reconfigure :exhale +2 "sampler")#.0X : 9 \  +32 "collection"'P% +3 "core" %[\ +2 "sampler")% +4 "core" % T R \ I +36 "collection"'_% +3 "core" %C\ +2 "sampler")^% +4 "core" % \  +2 "sampler")`% +3 "core" % \  + .tIntake.select :close +2 "sampler")0 +8 )]% +3 "core" % \  +2 .tSSV.dial :exhaust + "sampler")b  +75 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")c' +899 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV + "sampler")e  +74 "core"  +2 #tAllowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open +2 "sampler") +210 "collection"'f% +3 "core" %Z\ + #tIntake @14.9psia, vacuum from 9.4 to 12.4psi +2 .SS.reconfigure :inhaling 2.19ml/s +3 "sampler")#.0X \  + "sampler"))% +4 "core" % \ T + #tBubblePoint: Intake @39.1psia, Outlet @14.7psia + .CBV.dial SSV +2 "collection"'( @ +32 "core" A + .tSS.reconfigure :default +3 "sampler")#.0X% +4 "core" % \ v +2 #tBubblePoint: Intake @38.4psia, Outlet @14.0psia + .CBV.dial SSV +2 "collection"': @ +31 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X9 +2 "core" 9 X +102 "collection"':9 +2 "core" 9 \\ +102 "collection"'F9 +3 "core" 9 ` +102 "collection"'O9 +4 "core" 9 d +102 "collection"'E9 +2 "core" 9 h +102 "collection"'S9 +2 "core" 9 m +103 "collection"'N9 +2 "core" 9 \ q +102 "collection"'L9 +2 "core" 9  u +102 "collection"'V9 +3 "core" 9\  y +102 "collection"'W9 +3 "core" 9\ \ } +102 "collection"'Z9 +2 "core" 9\  +102 "collection"'\ 9 +3 "core" 9\  +102 "collection"'T9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\ ! +102 "collection"'[9 +3 "core" 9\ ' +102 "collection"'X9 +2 "core" 9\ , +102 "collection"'\\9 +2 "core" 9\ 1 +103 "collection"'9 +2 "core" 9\ 6 +102 "collection"'_9 +2 "core" 9\ : +102 "collection"'P9 +3 "core" 9\ @ +102 "collection"'`9 +3 "core" 9\ D +102 "collection"']9 +3 "core" 9\ I +102 "collection"'^9 +3 "core" 9\ M +102 "collection"'Q9 +3 "core" 9\ Q  +102 "collection"'b9 +2 "core" 9\ T! +103 "collection"'e9 +2 "core" 9\ X" +102 "collection"'R9 +2 "core" 9\ \\# +102 "collection"'c9 +3 "core" 9\ `$ +102 "collection"'f9 +3 "core" 9\ c% +102 "collection"'U9 +2 "core" 9\ g& +102 "collection"'j9 +2 "core" 9\ j' +103 "collection"'Y9 +2 "core" 9\ m( +102 "collection"'g9 +2 "core" 9\ q) +102 "collection"'k9 +3 "core" 9\ t* +103 "collection"'o9 +2 "core" 9\ x+ +102 "collection"'n9 +2 "core" 9\ z+ +102 "collection"'q9 +3 "core" 9\ |- +102 "collection"'r9 +2 "core" 9\ . +102 "collection"'p9 +3 "core" 9\ / +102 "collection"'t9 +2 "core" 9\ 0 +102 "collection"'u9 +3 "core" 9\ 0 +102 "collection"'v9 +2 "core" 9\ 2 +102 "collection"'w9 +2 "core" 9\ 3 +102 "collection"'h9 +4 "core" 9\ 3  +102 "collection"'?9 +2 "core" 9\ 4 +102 "collection"'M9 +2 "core" 9\ 6 +102 "collection"'z9 +3 "core" 9\ 6 +102 "collection"'{9 +3 "core" 9\ 7 +102 "collection"'y9 +3 "core" 9\ 8! +102 "collection"'m9 +2 "core" 9\ 8% +103 "collection"'9 +2 "core" 9\ 8) +102 "collection"'s9 +2 "core" 9\ :- +103 "collection"'9 +2 "core" 9\ :1 +102 "collection"'9 +3 "core" 9\ ;5 +102 "collection"'9 +2 "core" 9\ <: +102 "collection"' 9 +3 "core" 9\ => +102 "collection"' 9 +3 "core" 9\ =B +102 "collection"'9 +2 "core" 9\ >F +103 "collection"'9 +2 "core" 9\ >J +102 "collection"'9 +2 "core" 9\ ?O +102 "collection"'|9 +3 "core" 9\ @S +102 "collection"'9 +2 "core" 9\ ?W +103 "collection"'9 +2 "core" 9\ @[ +102 "collection"'9 +4 "core" 9\ @_ +102 "collection"'}9 +2 "core" 9\ Ac +102 "collection"'~9 +2 "core" 9\ Ah +103 "collection"' 9 +2 "core" 9\ Al +102 "collection"'9 +2 "core" 9\ Bp +102 "collection"'9 +3 "core" 9\ Ct +103 "collection"'9 +2 "core" 9\ Bx +102 "collection"'9 +2 "core" 9\ B} +102 "collection"'i9 +3 "core" 9\ B +102 "collection"'a9 +2 "core" 9\ C +103 "collection"'9 +3 "core" 9\ B +102 "collection"'9 +2 "core" 9\ @ +102 "collection"' 9 +2 "core" 9\ @ +103 "collection"'$9 +2 "core" 9\ @ +102 "collection"'9 +2 "core" 9\ ? +103 "collection"'9 +3 "core" 9\ ? +102 "collection"'%9 +2 "core" 9\ > +102 "collection"'&9 +2 "core" 9\ > +103 "collection"'9 +2 "core" 9\ = +102 "collection"'9 +2 "core" 9\ = +102 "collection"'"9 +3 "core" 9\ < +102 "collection"')9 +2 "core" 9\ < +102 "collection"'(9 +2 "core" 9\ < +103 "collection"'#9 +2 "core" 9\ < +102 "collection"'+9 +2 "core" 9\ ; +102 "collection"',9 +4 "core" 9\ < +102 "collection"''9 +2 "core" 9\ ; +102 "collection"'*9 +2 "core" 9\ : +103 "collection"'.9 +2 "core" 9\ : +102 "collection"'09 +2 "core" 9\ : +102 "collection"'-9 +3 "core" 9\ 9 +103 "collection"'49 +2 "core" 9\ 9 +102 "collection"'/9 +2 "core" 9\ 9 +103 "collection"'69 +2 "core" 9\ 9 +102 "collection"'9 +2 "core" 9\ 9 +102 "collection"'39 +4 "core" 9\ 9 +102 "collection"'9 +3 "core" 9\ 8 +102 "collection"'79 +2 "core" 9\ 8 +102 "collection"'29 +3 "core" 9\ 8 +102 "collection"'59 +2 "core" 9\ 8 +102 "collection"'19 +3 "core" 9\ 9 +102 "collection"'<9 +2 "core" 9\ 8  +102 "collection"'89 +3 "core" 9\ 8 +2 .tCH.hold 10:00,70C +3 "collection"'= ` + `\ y +2 '99 +6 "core"  + 9\ 7 + "collection"'A% +4 "core" %\ J\ L\ i +2 #tBegun lysing Collection Puck Heater at 68.1C/37.2psia +33464 "Can"\ u +26526 "core" ` +2 "collection"';9 +3 "core" 9 , +2 "collection"'@% +3 "core" % F\ +2 #tEnded lysing Collection Puck Heater at 70C/29.1psia +2 .CS.seek 0ml + "collection"'C' +332 "core" ' +12 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'D @ +102 "core" A + .tCSV.dial :air +2 "collection"'G @ +44 "core" > +4 .tCS.seek 5ml +2 "collection"''q +1325 "core" ' + .tCSV.dial CTV +2 "collection"'I  +53 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'J @ +43 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV +3 "collection"'K  +51 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'B @ +44 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'H' +1333 "core" ' + "collection"'>% +4 "core" %\ a\ b C\ + #tPuck @38.6psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"': +101 "core"  +2 .tCBV.dial CSV + "collection"'F  +30 "core"  + "collection"'O% +5 "core" %\ S\ U \ +2 .tCS.seek 5ml + "collection"'E'q +1330 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'S  +44 "core" +2 "collection"'N% +4 "core" %q\  +2 .tCS.seek 6.999ml + "collection"'L' +578 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'V @ +44 "core" > +2 .tCS.seek 10ml + "collection"'W' V +828 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'Z ` +114 "core" _ +2 #tLysing Complete + "collection"'\ & +4 "core" &Vc\ G +2 #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&T% +3 "core" %\   +2 "storage"(% +3 "core" %^ \ l\ +2 "storage"([. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(X(S +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &V =\ +2 "manipulator"&& +3 "core" && >K +2 "manipulator"&_% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&P(. +152 "core" ( +2 "manipulator"&`& +4 "core" &8 + "storage"(]& +4 "core" &X\ $\ $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&^'ѷ +94 "core" ' + "storage"(Q& +4 "core" &X\ H\ G\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'i +272 "core" ' +2 "storage"(e- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(R'y +41 "core" ' +2 "manipulator"&c& +4 "core" &8 r +2 "manipulator"&f% +3 "core" %ѫ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +154 "core" ( +2 "manipulator"&Y& +4 "core" & 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &" s 9% +2 .tForearm.seek CC + "manipulator"&k'" +92 "core" ' + .tHand.close + "manipulator"&o/ +59 "core" / + .tCC.seek :open +2 "collection"'n( +415 "core" ( +2 "storage"(q& +4 "core" &X\ G\ G *\ + "storage"(r& +4 "core" &X\ \ 3 V\ + "manipulator"&p& +4 "core" &" } 9% + "manipulator"&t% +4 "core" % ( +2 .tForearm.seek :retract + "manipulator"&u'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&v(. +155 "core" ( + "manipulator"&w& +5 "core" &6 + "storage"(h& +4 "core" &X \ , P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 + "manipulator"&?' +107 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +55 "core" 1 +2 "manipulator"&{% +4 "core" %   + "storage"(y& +4 "core" &X\ %\ % 1\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&m'9 +19 "core" ' + "manipulator"&& +4 "core" &6 - +2 "storage"(s& +3 "core" &X\ N\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +15 "core" ' +2 "storage"(% +4 "core" % O b\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +3 "core" %I\ <\ B \ Wd +2 "manipulator"& % +4 "core" %Ѱ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" &\ +2 "manipulator"&& +3 "core" &6 L +2 "manipulator"&|% +3 "core" %\   +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +181 "core" ( + "manipulator"&& +4 "core" &, , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, m , +2 .tForearm.seek :garage + "manipulator"&}'Ϧ +102 "core" ' + .tHand.close + "manipulator"&~/ +52 "core" / +2 "manipulator"& & +4 "core" &, K , + "manipulator"&% +4 "core" % Ϲ #  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +284 "core" ( +2 "manipulator"&& +4 "core" &) @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +2 "core" &) ? @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&a'" +100 "core" ' +2 "manipulator"&& +4 "core" &)  @] + "manipulator"&% +4 "core" %  @ +2 "collection"' & +3 "core" & \ +2 "collection"'$& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &\ +7 & -\ $d +10 &V}\ 7 +9 &{g\ L +10 &U\ L +9 &mY\ M +9 &1W\ L +10 &Y\ L +9 &U\ L +9 &vY \ L +10 &9Z \ L +9 &Y \ L +10 &!Y\ M +9 &#~Y\ L +9 &%@[\ L +10 &'X\ M +9 &(Xj\ L +9 &*YL\ L +10 &,HY\ L +9 &. Z\ L +10 &/X\ L +9 &1Z\ M +9 &3QX\ L +10 &5Y{\ L +9 &6X[\ L +9 &8T\ L +10 &:YZ \ L +9 &<Z\ M +10 &=Y\ L +9 &?\\\ L +9 &AaY\ L +10 &C"Z\ L +9 &DZ\ M +9 &Fc\ N +10 &H_to\ O +9 &JV\ U +10 &K\ X +9 &M\ X +9 &ON\ X +10 &Q\ X +9 &R\ Y +9 &T\ Z +10 &V-t\ . +9 &V!s\ Q +9 ( +3 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + "collection"'& +4 "core" &Vna\ K + &VnW\ K +2 .tHand.open + "manipulator"&%1 +57 "core" 1 + "manipulator"&&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tPSV.dial PSR + "processing"% +132 "core"  + "processing"%"% +4 "core" %\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%)' +1600 "core" ' +2 .tdelay 5 seconds +503 .PSV.dial :waste1 + "processing"%(  +43 "core"  +2 .tPS.seek 0ml + "processing"%#' +1589 "core" ' + .tPSV.dial PSR + "processing"%+ +43 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%,' +2594 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%' + "collection"'*  +6 "core"  + "processing"%.  +4 "core" +67 + .tPSV.dial :mixloop +2 "processing"%0 +102 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%-  +130 "core" +2 .tPS.seek 0ml + "processing"%4' +2600 "core" ' + .tPSV.dial :air +2 "processing"%/  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%6' +2597 "core" ' + .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml +2 "processing"%3' +2604 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%7' +2606 "core" ' + .tPSV.dial :mixloop +2 "processing"%2 +46 "core" + .tPS.seek 0ml +2 "processing"%5' +2598 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&1& +4 "core" &( @] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&<( +3 "core" ( + "manipulator"&8& +4 "core" &( @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &( @] +2 .tForearm.seek CC +2 "manipulator"&A'" +97 "core" ' + .tHand.close + "manipulator"&l/ +57 "core" / +2 .tCC.seek :open + "collection"'=( +416 "core" ( + "manipulator"&;& +4 "core" &) @] + "manipulator"&@% +4 "core" % 3 u +2 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&D(, +134 "Can"}\ 52~ +144 "core" ( +2 "manipulator"&G& +4 "core" &, m t + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &, t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&I'Ϧ +112 "core" ' +3 .tHand.open + "manipulator"&J1 +57 "core" 1 +2 "manipulator"&K% +4 "core" % Ϩ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +55 #Loading lyfil puck from tube 2 into Collection Clamp +3 "collection"'& +4 "core" &\\\ +2 "manipulator"&>% +4 "core" %\   + "storage"(:% +4 "core" %a b c\ + "storage"(F. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(O( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" & \ \  3\  + "manipulator"&S& +4 "core" &, t +2 "manipulator"&N% +3 "core" %\  r  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +175 "core" ( + "manipulator"&V& +4 "core" & G +2 "storage"(L& +4 "core" & \ , } b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +97 "core" ' + "storage"(\ & +4 "core" & \ & r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ([& +3 "core" & \ \  \  +2 "manipulator"&x& +3 "core" & G +2 .tElbow.seek 2 + "manipulator"&\\( +4 "core" ( + "manipulator"&& +4 "core" & G + "storage"(_& +4 "core" & \ H\ G\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&`' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& "storage"('X +8 "core" & G + "manipulator"&!% +4 "core" % g  +2 .tForearm.seek :retract + "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +152 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"&f& + "storage"(5 +6 "core" &. u E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &. G E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Y'" +95 "core" ' +3 "manipulator"&g& +4 "core" &/  E +2 "manipulator"&^% +3 "core" % j +2 "collection"'P& +4 "core" & \ +2 "collection"'o& +5 "core" &\ +2 .tCC.seek :closed + "collection"'U(V +4 "core" &\ +8 &4\ $c +10 &V}\ 7 +9 &y\ K +9 &R\ L +10 &mY\ L +9 &0X\ L +10 &]d\ L +9 &YQ\ L +9 &vX;\ L +10 &8Y'\ L +9 &\\\ L +9 &!Zu\ L +10 &#~Zq\ L +9 &%@YX\ L +10 &'WP\ L +9 &(XD\ L +9 &*\\,\ L +10 &,HY\ L +9 &. \\\ L +9 &/Y\ K +10 &1Z\ L +9 &3QX\ K +10 &5Z\ L +9 &6Y\ K +9 &8Y\ L +10 &:WX\ L +9 &<Z\ L +9 &=Z\ L +13 &?Z\ L +6 &A`Y\ L +10 &C"Z\ L +9 &D^\ L +9 &Fe\ N +10 &H]v\ O +9 &J\ T +9 &K\ W +10 &Mz\ X +9 &OMw\ X +10 &Qh\ X +9 &Rf\ Y +9 &TT\ Y +10 &V*tS\ . +9 &V%C\ V +9 ( +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&1 +3 "core" &Vm@\ L +56 1 +2 "manipulator"&q% +5 "core" %  i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +100 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'p  +131 "core"  + .tCSV.dial CTV +2 "collection"'t  +34 "core"  +2 .tPS.seek 2.5ml +2 "processing"%w' +2598 "core" ' + "collection"'h% +4 "core" % Qll+\  +2 .tCS.seek 4.249ml + "collection"'k'Y +1517 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%j  +45 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%z  +72 "core"  +2 .tPS.seek 0ml + "processing"%{' +2605 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'y ` +31 "core" _ +2 .tCSV.dial :air + "collection"' @ +44 "core" @ +2 .tCS.seek 10ml +2 "collection"'s' V +1518 "core" ' + .tCSV.dial CTV +2 "collection"'  +52 "core"  +2 .tCS.seek 0ml + "collection"'u' +2580 "core" ' + .tCBV.dial :waste1 + "collection"' @ +29 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'  +130 "core" +2 "collection"'v& +4 "core" &VkZO\ L +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&?% +4 "core" %\ l  + "storage"(m% +4 "core" %a \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((S +342 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +2 "core" &T !\ +2 "manipulator"&R& +4 "core" &. < E + "manipulator"&% +4 "core" %\  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&(. +151 "core" ( +2 "manipulator"&& +3 "core" &$ 3 \ +2 "storage"(& +4 "core" &V\  \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&M'ѷ +99 "core" ' +2 "storage"(~& +4 "core" &V\ \  Z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &$ Z \ +2 "storage"(}& +3 "core" &V \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&' +35 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('S +39 "core" ' +2 "manipulator"&% +4 "core" %  9 + "storage"( & +4 "core" &V \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&'7 +19 "core" ' +2 "manipulator"&n& +4 "core" &$ a \ + "storage"(& +4 "core" &V\  o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&%'ѷ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'B +44 "core" ' +2 "manipulator"&$& +4 "core" &$ 8 \ +2 "manipulator"&% +4 "core" %Ѽ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +151 "core" ( +2 "manipulator"&(& +4 "core" &% =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +4 "core" &% =E + .tForearm.seek CC +2 "manipulator"&+'" +92 "core" ' + .tHand.close + "manipulator"&#/ +59 "core" / + .tCC.seek :open +2 "collection"''( +415 "core" ( +2 "storage"(.& +4 "core" &V\ \  \ + "storage"(*& +4 "core" &V\ $\ # \ + "manipulator"&0& +4 "core" && =E + "manipulator"&-% +4 "core" % - ]  +2 .tForearm.seek :retract + "manipulator"&,'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&/(. +156 "core" ( + "manipulator"&4& +5 "core" &, w  + "storage"(& +4 "core" &V\ o r\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&6' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +53 "core" 1 +2 "manipulator"&2% +4 "core" %  O + "storage"(7& +4 "core" &V\ \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&1': +14 "core" ' +2 "manipulator"&8& +5 "core" &, Y  + "storage"(9& +4 "core" &V y\ " c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&l'ѷ +28 "core" ' +2 "storage"(% +4 "core" %L \  V\ +2 ."downElevator"SE.seek :down +53 "storage"('X +49 (% +3 "core" %C\ G\ G ,\ Wb +2 "manipulator"&;% +4 "core" %ѧ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +91 "core" ' +106 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%A  +71 "core" +2 .tPS.seek 2.5ml + "processing"%G' +2606 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%C +43 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%<  +43 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%J +44 "core" + .tdelay 1 second +102 .PSV.dial :air +3 "processing"%K  +44 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"%' +2604 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%d& +4 "core" &\ +2 "manipulator"&>& +3 "core" &, h  +2 "manipulator"&:% +3 "core" %\  l  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&F(, +176 "core" ( +2 "manipulator"&I& +4 "core" &, C 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +2 "core" &, 7 +2 .tForearm.seek :garage +2 "manipulator"&H'Ϧ +103 "core" ' + .tHand.close + "manipulator"&S/ +62 "core" / + "manipulator"&N& +4 "core" &, : 7 +2 "manipulator"&V% +3 "core" % Ϲ k +2 .tForearm.seek :retract + "manipulator"&L'\ +107 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\ (s +119 "core" ( + "manipulator"&D& +5 "core" &q  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &q g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +105 "core" ' + "manipulator"&[& +4 "core" &q r  +2 "manipulator"&x% +4 "core" %  + "processing"%& +4 "core" &\ +2 "processing"%_& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &\ +7 &D\ $e +9 &W\ 7 +9 &\ L +10 &]\ N +9 &v_\ M +9 &8Z\ M +10 &]\ M +9 &_\ M +10 &}`\ N +9 &?^\ N +9 & b\ N +10 &!_\ M +9 &#a\ N +9 &%H]\ M +10 &' \\\ N +9 &(\\\ M +10 &*a\ M +9 &,P\\\ M +9 &.]\ N +10 &/]\ N +9 &1_\ M +9 &3X[\ M +10 &5[\ N +9 &6_\ N +10 &8^\ N +9 &:`\\\ M +9 &\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&n' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"('X +7 "core" & # +2 "manipulator"&M% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&& +4 "core" &o  3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o V  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&(& +5 "core" &o k  +2 "manipulator"&)% +3 "core" % +2 "processing"%%& +3 "core" &b\ +2 "processing"%i& +5 "core" &`\ +2 .tPC.seek :closed + "processing"%#(Z +5 "core" &\\\ +7 &@]\ $d +10 &UV\ 7 +9 &X\ L +9 &`T\ M +10 &r_U\ M +9 &3]U\ M +10 &]U\ M +9 &YO\ M +9 &z_Q\ M +10 &=]I\ M +9 &_I\ M +9 &!^I\ M +10 &#_G\ M +9 &%E]H\ M +10 &']<\ M +9 &(]B\ M +9 &*^F\ M +10 &,M^9\ M +9 &._1\ M +9 &/\\8\ M +10 &1\\9\ M +9 &3T\\7\ M +10 &5\\9\ M +9 &6]1\ M +9 &8].\ M +10 &:\\]-\ M +9 &<]#\ M +9 &=\\'\ M +10 &?\\.\ M +9 &AfZ-\ L +10 &C&].\ M +9 &D`-\ M +9 &F`,\ N +10 &Hfl-\ O +9 &J!*\ Q +9 &K\ R +66 &M\ S +3 &Oc\ S + &Q$\ S &R\ S + &T\ S + &Vh\ T + &X*\ T +3 &Yyn\ 1 +9 &Z'p\ M +9 &Z!\ . +2 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&"1 +55 "core" 1 +3 "manipulator"&U% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%*  + %09 +6 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%49 +2 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%+9 +4 "core" 9 +102 "processing"%a9 +2 "core" 9 +102 "processing"%39 +3 "core" 9 +102 "processing"%29 +2 "core" 9 +102 "processing"%79 +2 "core" 9" +102 "processing"%89 +4 "core" 9& +102 "processing"%99 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%,9 +2 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%;9 +4 "core" 9; +102 "processing"%/9 +2 "core" 9? +102 "processing"%69 +4 "core" 9C +102 "processing"%19 +2 "core" 9H +102 "processing"%&9 +3 "core" 9L +102 "processing"%A9 +3 "core" 9P +102 "processing"%l9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%{9 +3 "core" 9] +102 "processing"%C9 +2 "core" 9a +102 "processing"%<9 +3 "core" 9e +102 "processing"%J9 +2 "core" 9 i +102 "processing"%K9 +3 "core" 9m +102 "processing"%G9 +2 "core" 9r +102 "processing"%d9 +3 "core" 9&v +102 "processing"%>9 +3 "core" 9/z +102 "processing"%:9 +3 "core" 96~ +102 "processing"%I9 +2 "core" 9> +102 "processing"%X9 +2 "core" 9G +102 "processing"%9 +2 "core" 9N +103 "processing"%S9 +2 "core" 9U +102 "processing"%N9 +3 "core" 9] +102 "processing"%V9 +2 "core" 9d +102 "processing"%@9 +2 "core" 9j +102 "processing"%D9 +3 "core" 9p +2 .tPH.hold 2:00:00,28C +3 "processing"%B ppl +3 .tdelay 1:30 +3 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%H +102 "core"  +2 "processing"%[% +4 "core" %\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%x' +585 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +1598 "core" ' +2 .tPTV.dial :puck + "processing"%F  +71 "core"  + .tPSV.dial PTV + "processing"%L +74 "core" +2 .tPBV.dial :waste1 + "processing"%  +130 "core"  +2 "processing"%Q% +3 "core" %Z\  +3 .tPS.seek 1.5ml + "processing"%!' +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%E * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%_' +1590 "core" ' + .tdelay 5:00 +5522 "Can"p\ \\X +24481 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%f  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%b * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%T +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%' +2314 "core" ' +2 .tPSV.dial PTV + "processing"% +74 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%g +73 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%^ +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%`  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%P' +2317 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +128 "core" + .tPSV.dial :mixloop +2 "processing"%e +44 "core" + .tPRV.dial :ab1 + "processing"%= @ +71 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%\\' +351 "core" ' +2 .tdelay 2 seconds +204 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'q  "processing"%p  +43 "core"  +3 + "processing"%t% +4 "core" %+\  +2 .tPS.seek 0.31ml + "processing"%5' +370 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'\  +28 "core" +2 .tPRV.dial :air + "processing"%Z  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%]'GK +1240 "core" ' + .tPRV.dial :waste2 +2 "processing"%W @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%j' +857 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%y  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1593 "core" ' +2 .tPSV.dial :PML + "processing"%Y +44 "core" +2 .tPTV.dial :mixing + "processing"%o @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%  +35 "core" + "processing"%s% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"% ' +225 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%v * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%?' +1946 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'z& +2 "core" &\ +2 "manipulator"&m& +4 "core" &o v  + "manipulator"&k% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +130 "core" ( + "manipulator"&O& +5 "core" &,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&R'Ϧ +104 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"&& +5 "core" &, $ <  + "manipulator"&c% +4 "core" % ϴ  > + .tForearm.seek :retract +2 "manipulator"&w'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +275 "core" ( + "manipulator"&& +4 "core" &+ + A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ A` + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'" +95 "core" ' +2 "manipulator"&& +4 "core" &+ m A` +2 "manipulator"& % +4 "core" % ~ + "collection"'& +4 "core" &\ +3 "collection"'$& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'M(V +4 "core" &\  +9 &2\ *y +10 &c\ > +9 &st\ O +9 &6Y\ N +10 &\\\ N +9 &Y\ N +10 &}Z\ N +9 &?Y\ N +9 &Y\ N +10 &[\ N +9 & _ \ N +9 &"H[\ M +10 &$ Z\ N +9 &%Z\ N +10 &'Z\ M +9 &)OZ\ N +9 &+^\ N +10 &,X\ N +9 &.Z\ N +9 &0VZ\ N +10 &2Z\ N +9 &3^\ N +10 &5\\\ N +9 &7_]\ N +9 &9!]\ N +10 &:[\ N +9 &<^\ N +9 &>f\\\ N +10 &@([\ N +9 &A[\ N +10 &C[\ O +9 &El_\ O +9 &G+c\ P +10 &Hu\ Q +9 &J\ V +9 &LW\ Y +10 &N\ X +9 &O\ Y +10 &Q\ Y +9 &S[\ Z +9 &U\ Z +10 &VhD\ 1 +9 &Vr\ G +5 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + "collection"'& +5 "core" &V]\ G + &V]\ G + .tHand.open + "manipulator"&~1 +64 "core" 1 + "manipulator"&r% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +97 "core" ' +2 .tPSV.dial PSR + "processing"% +101 "core"  +2 "processing"%% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%' +1592 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%(  +43 "core"  +2 .tPS.seek 0ml + "processing"%)' +1587 "core" ' + .tPSV.dial PSR +2 "processing"%% +94 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2597 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%  + "collection"'h  +34 "core"  +124  + .tPSV.dial :mixloop +2 "processing"%" +101 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%U  +74 "core" +2 .tPS.seek 0ml + "processing"%0' +2596 "core" ' +2 .tPSV.dial :air + "processing"%i  +46 "core"  +2 .tPS.seek 2.5ml +2 "processing"%-' +2600 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml +2 "processing"%4' +2597 "core" ' +2 .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%+' +1622 "Can"s\ SP +983 "core" ' + .tPSV.dial :mixloop +2 "processing"%a +44 "core" +2 .tPS.seek 0ml + "processing"%3' +2603 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&2& +4 "core" &* ! N A` + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&8& +4 "core" &* ! A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &* ! V A` +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&,/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( + "manipulator"&;& +4 "core" &* A` +2 "manipulator"&/% +4 "core" % $  +2 .tForearm.seek :retract + "manipulator"&6'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&1(, +286 "core" ( + "manipulator"&&& +4 "core" &, 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &, 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +3 "manipulator"&l'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&{% +4 "core" % ϩ # 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C'\ +101 "core" ' +2 ."da"delayUntil "09:09:38.96" +25077 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%< @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%J  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +34 "core" + +2 ."da"PSV.dial :air + "processing"%G  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%d' +2316 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%> +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%:  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%I +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%X  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%' +2309 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +132 "core"  + "processing"%N% +4 "core" %<\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%V' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1591 "core" ' + ."da"PTV.dial :puck +2 "processing"%D  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%H +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%[  +34 "core" +2 "processing"%% +4 "core" %2\  +2 ."da"PS.seek 1.5ml + "processing"%x' +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%F * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%L' +1599 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Q * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%E' +588 "Can"m\ FC +1723 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%* +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%f +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%b  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T' +2308 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%_ +132 "core"  + "processing"%% +4 "core" %>\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%g' +580 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%^' +1589 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%` +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%% +4 "core" %"\  +2 ."da"PS.seek 1.5ml + "processing"%e' +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" , +3 ."da"PS.seek 0ml + "processing"%P' +1598 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%p  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\\' +2315 "core" ' + ."da"PSV.dial PTV +2 "processing"%\ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Z +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%5 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%W  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%]' +2318 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%y  +41 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%j  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Y  +41 "core"  +2 ."da"PTV.dial :PRVmixing +50 .PSV.dial :mixloop +3 "processing"%o +44 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%s  +44 "core"  + "processing"%v% +4 "core" %@\  +2 ."da"PS.seek 0.55ml +2 "processing"%'/ +328 "core" ' +3 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +3 ."da"PS.seek 2ml + "processing"%z' +1546 "core" ' +2 ."da"PSV.dial :PML + "processing"%m +46 "core" + ."da"PTV.dial :mixing +2 "processing"%k @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%O  +34 "core" +2 "processing"%|% +4 "core" %P\  +2 ."da"PS.seek 1.85ml + "processing"% ' +227 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1943 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +20545 "Can"c\ 97 +27457 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%c  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%R  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2319 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +45 "core"  +2 ."da"PS.seek 0ml + "processing"%' +2306 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%w +132 "core"  + "processing"%'% +4 "core" %K\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%~' +1602 "core" ' + ."da"PTV.dial :puck +2 "processing"%r  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%$ +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core"  + "processing"%% +4 "core" %?\  +2 ."da"PS.seek 1.5ml +2 "processing"%}' +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%(' +1594 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%) +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%h' +2313 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%" +73 "core"  +2 ."da"delay 5 seconds +244 "Can"b\ on +258 ."da"PSV.dial PTV +2 "processing"%U +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%i' +2304 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%0 +131 "core"  +2 "processing"%% +4 "core" %K\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%-' +580 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1601 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%4 +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%a  +35 "core" + "processing"%+% +4 "core" %7\  +2 ."da"PS.seek 1.5ml +2 "processing"%2' +582 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%9' +1598 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%n +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%M' +2319 "core" ' + ."da"PSV.dial PTV +2 "processing"%; +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%/ +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%&  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A' +2308 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +132 "core"  +2 "processing"%% +4 "core" %P\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%{' +591 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%6' +1592 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%l +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%<  +35 "core" + "processing"%J% +4 "core" %+\  +2 ."da"PS.seek 1.5ml + "processing"%K' +591 "core" ' +43 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%3' +1601 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%>  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%: * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%X' +2315 "core" ' + ."da"PSV.dial PTV +2 "processing"%d +73 "core" +2 ."da"delay 5 seconds +547 .PSV.dial PSR +8 "processing"%S +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%N +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V' +2307 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +136 "core"  +4 "processing"%H% +10 "core" %>\ +3 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +16 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +5 "processing"%['] +338 "core" ' +2 ."da"delay 5 seconds +502 "processing"%% +4 "core" %aA\ } +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%@' +333 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%F' +513 "Can"Z\ n +1079 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%x +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core"  +2 "processing"%Q% +3 "core" %E\ ~ +2 ."da"PS.seek 1.5ml +2 "processing"%' +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%!' +1588 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%*  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%b +87 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%E' +2395 "core" ' + ."da"PSV.dial PTV +2 "processing"%_ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%T +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%g  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%`' +2383 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"% +133 "core"  +2 "processing"%% +3 "core" %R\ +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%^' +2091 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +3 .PSV.dial PTV + "processing"%= +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%e  +36 "core" + "processing"%p% +4 "core" %E\ u +2 ."da"PS.seek 1.5ml +2 "processing"%q' +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%P  +107 "core"  +3 ."da"PS.seek 0ml +2 "processing"%\ ' +1587 "core" ' +2 "processing"%Z9 +3 "core" 95- +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%5  +3 "core" 5- + 5- + "processing"%W& +3 "core" &Z R\ . +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&\\% +4 "core" %\  r  +2 "storage"(y% +3 "core" %a \ + "storage"(j. +3 "core" .( +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 + "storage"(Y(S +339 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (o& +2 "core" &V ! I Y\ +2 "manipulator"&]& +3 "core" &, 7 +2 "manipulator"&s% +3 "core" %\   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&v(. +187 "core" ( + "manipulator"&& +4 "core" &: \ +2 "storage"( & +3 "core" &Y R\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +95 "core" ' + "storage"(m& +4 "core" &Y M\ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(k'i +283 "core" ' + "storage"(O- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &: D \ + "storage"(& +4 "core" &Y \ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&z' +34 "core" ' +2 ."da"Elbow.hold + "manipulator"& , +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(c- +2 "core" -' +3 ."da"SE.seek 1.09 Pucks below Top Plate + "storage"(.'G +42 "core" ' +2 "manipulator"&R% +4 "core" % C +2 "storage"(& +4 "core" &Y \ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&': +14 "core" ' +2 "manipulator"&& +4 "core" &: \ + "storage"(& +4 "core" &Y\  l\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 700 counts + "manipulator"& 'ѷ +28 "core" ' +2 ."da"SE.seek 2.09 Pucks below Top Plate +2 "storage"('6 +48 "core" ' + "manipulator"&w& +4 "core" &: M \ +2 "manipulator"&'% +4 "core" % r ~ +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&(s +273 "core" ( +3 "manipulator"&r& +3 "core" &h  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &h {  +2 ."da"Forearm.seek PC +2 "manipulator"&' +97 "core" ' + ."da"Hand.close + "manipulator"&/ +55 "core" / +2 ."da"PC.seek :open +2 "processing"%~( +434 "core" ( + "storage"(?& +4 "core" &Y 1\ + "manipulator"&}& +4 "core" &j  + "manipulator"&% +4 "core" % ~ +2 ."da"Forearm.seek :retract + "manipulator"&%'\ +93 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&)(. +253 "core" ( + "manipulator"&(& +4 "core" &* \ + "storage"(& +4 "core" &Y \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&"'ѷ +95 "core" ' + ."da"Hand.open +2 "manipulator"&U1 +61 "core" 1 +2 "storage"(- +4 "core" -'6 +2 ."da"SE.seek 1.85 Pucks below Top Plate +2 "storage"(h' +23 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(0' +45 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct2009h100ml.tif +1953 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +30750 #"da"WARNING: Too Dark -- required 1874.4s exposure > 300s time limit\ SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 300 seconds\ /var/log/esp/da22oct2009h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct2009h100ml15s.tif +1636 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct2009h100ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct2009h100ml30s.tif +2631 "Can"J\ g +422 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct2009h100ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct2009h100ml70s.tif +7124 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct2009h100ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +5 ."Qmail"DAfans.email "300.0 sec auto-exposure",Subject: "da22oct2009h100ml images!" +6 "storage"(- +4 "core" -' +2 "storage"(i& +6 "core" &Y 8\ +2 "manipulator"&-& +5 "core" &* _ \ +2 ."da"Elbow.seek 1 +2 "manipulator"&4(. +4 "core" ( + "manipulator"&a& +4 "core" &* - \ +2 "storage"(+& +4 "core" &Y \ +2 ."da"Forearm.seek 1 + 700 counts +4 "manipulator"&'ѷ +3 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.9 Pucks below Top Plate +2 "storage"(8'< +53 "core" ' + "manipulator"&2& +4 "core" &* % \ +2 "storage"(,& +4 "core" &Y\ 8\ 2 \ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +2 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "manipulator"&#Q@2^d^b + !"Qmail"o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 ."da"Forearm.seek 1 +2 "manipulator"& ' +24 "core" ' + ."da"Elbow.hold +2 "manipulator"&n, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.08 Pucks below Top Plate +3 "storage"(9'& +21 "core" ' + "manipulator"&;% +4 "core" %\ ` +2 "storage"(/& +3 "core" &Y\ \  \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 315 counts +2 "manipulator"&'6 +18 "core" ' + "manipulator"&&& +4 "core" &*  \ +2 "storage"(M& +4 "core" &Y\ 4\ A &\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&7'ѷ +30 "core" ' +2 "storage"(% +4 "core" %)\ W\ N \ +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 ({% +2 "core" %T8\ \ 7 "\ SR +2 "manipulator"&l% +4 "core" %ѭ  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" &Y\ <\ E a\ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +3 "processing"%6& +4 "core" &Y\ +2 "manipulator"&G& +4 "core" &* a \ + "manipulator"&K% +4 "core" %\ k / +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&>(, +165 "core" ( + "manipulator"&:& +4 "core" &, 7  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &, g  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&3'Ϧ +102 "core" ' +2 ."psFlush"Hand.close + "manipulator"&d/ +64 "core" / +2 "manipulator"&S& +4 "core" &,  + "manipulator"&N% +4 "core" % Ϸ 4 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&X(s +119 "core" ( + "manipulator"&D& +4 "core" &w j  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &w N  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&V' +98 "core" ' +2 "manipulator"&& +4 "core" &w ,  +2 "manipulator"&[% +4 "core" %  +2 "processing"%@& +3 "core" &E\ +2 "processing"%x& +5 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"% (Z +3 "core" &\ +9 &8\ $d +9 &T|z\ 6 +10 &|\ K +9 &Y\ M +9 &d\\\ M +10 &'[\ M +9 &\\\ M +9 &Z~\ M +10 &m]|\ M +9 &0[~\ M +10 &`}\ M +9 &![w\ M +9 &#u]y\ M +10 &%8[y\ M +9 &&Zv\ M +9 &(\\v\ M +10 &*~\\o\ M +9 &,@\\o\ M +10 &._l\ M +9 &/Zm\ M +9 &1]t\ M +10 &3HZq\ M +9 &5\ [p\ M +9 &6]n\ M +10 &8Zo\ M +9 &:O]q\ M +10 &<\\o\ M +9 &=Zo\ L +9 &?Zu\ M +10 &AXZs\ M +9 &C][\ M +9 &Daq\ M +10 &Fcx\ N +9 &HXtu\ O +10 &Jt\ S +9 &K\ R +9 &Mp\ S +10 &OW\ R +9 &Q\ S +9 &R\ S +10 &T\ S +9 &V[\ T +10 &X\ S +9 &Y{o\ 5 +9 &Z.q\ N +10 &Zj\ ( +2 ( + "processing"%x& +4 #"psFlush"Processing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + "processing"%Q& +4 "core" &Z\ ( +2 ."psFlush"Hand.open + "manipulator"&F1 +56 "core" 1 +2 "manipulator"&L% +4 "core" % + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +43 "core" + "processing"%f% +4 "core" %\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%b' +528 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +51 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2095 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%_ @ +184 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%T +103 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%g'ռ +2597 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +101 "core"  +2 "processing"%% +4 "core" %վ\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +582 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%`' +2099 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%=  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%e @ +72 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%p +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%^'ռ +2608 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%t +102 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%P'S +1090 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +1588 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Z +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%5  +72 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml + "processing"%W' +2596 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%\\ +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +53 "processing"%y' +589 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%j' +2095 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%o U +53 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%]' +2605 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%s @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2600 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%1' +2604 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%m +44 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%C' +2597 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%O +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%|' +2604 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +55 "core" B +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2601 "core" ' + ."psFlush"PSV.dial :waste1 + "processing"%R  +76 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2599 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'S +1081 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +1592 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%' +73 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%v' +2602 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%k +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%z' +580 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2094 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%. +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%r' +2266 "Can"G\ 97 +341 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%$ @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2596 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%' +2601 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%# +44 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%?' +2594 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%} +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%' +2601 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +55 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +2597 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +75 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%' +2593 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'U& +4 "core" &x\ + "manipulator"&& +4 "core" &w d  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&%(s +4 "core" ( + "manipulator"&& +4 "core" &w S  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &w C  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&i/ +58 "core" / +2 .tPC.seek :open + "processing"%-( +434 "core" ( + "manipulator"&a& +4 "core" &w p  +2 "manipulator"&+% +3 "core" % d +2 .tForearm.seek :retract +2 "manipulator"&2'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&,( +354 "core" ( + "manipulator"&;& +4 "core" &* @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &* @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'" +104 "core" ' +2 "manipulator"&M& +4 "core" &* Q @\\ + "manipulator"&% +4 "core" % { +2 "collection"')& +4 "core" &'\ +2 "collection"'"& +4 "core" &z\ +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" &&\  +10 &0$\ *y +9 &c$\ > +9 &tv \ N +10 &6Z)\ N +9 &\\$\ N +10 &Y"\ N +9 &~Z"\ M +9 &?Z#\ N +10 &Z\ N +9 &\\ \ N +9 & \\&\ N +10 &"G\\\ N +9 &$\ Z&\ M +10 &%^\ N +9 &'Z"\ N +9 &)O]\ N +10 &+Z\ M +9 &,Z&\ N +9 &.`'\ N +10 &0X\\"\ M +9 &2Z1\ N +10 &3Z \ M +9 &5Z\ N +9 &7`[$\ M +10 &9"Z"\ M +9 &:\\\ N +9 &<^%\ N +10 &>g\\*\ N +9 &@)Z'\ N +10 &A^'\ N +9 &C\\%\ N +9 &En_\ N +10 &G+j\ P +9 &Hu$\ Q +9 &J(\ V +10 &LW*\ Y +9 &N*\ Y +10 &O&\ Y +9 &Q$\ Y +9 &S[(\ Z +10 &U'\ [ +9 &VlE$\ 2 +9 &Vn&\ F +6 ( + "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 "collection"'{& +4 "core" &Vh+\ F + &Vg+\ F + .tHand.open +2 "manipulator"&l1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +101 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'8& +4 "core" &Vg%\ F +2 "collection"' % +4 "core" %&\ + .tCSV.dial CSR +2 "collection"'J  +49 "core"  +2 "collection"'% +4 "core" %y\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'6'q +1335 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 'G% +2 "core" %qv\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml + "collection"'K': +627 "core" ' +2 .tCSV.dial :waste + "collection"'9 +164 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'7' +1960 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"':& +4 "core" &Vgy\ F + "collection"'I% +4 "core" %r\ + .tCSV.dial :flush +2 "collection"'A  +50 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'n'q +1182 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'d @ +50 "core" A +2 "collection"'S% +4 "core" %q.\  +2 .tCS.seek 7ml + "collection"'N' +519 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'<  + 'D  +52 "core"  +84  + .tCBV.dial :waste1 +2 "collection"'H @ +45 "core" > +2 .tCS.seek 0ml +2 "collection"'3' +1614 "core" ' +50 #tFlushing lower manifold's waste2 port +2 "collection"'& +4 "core" &Vfw\ F + "collection"'[% +4 "core" %t\ + .tCSV.dial :flush +2 "collection"'@  +72 "core"  +2 .tCS.seek 5ml + "collection"'>'q +1173 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +64 "core" ? +2 "collection"'~% +4 "core" %qz\  +2 .tCS.seek 7ml +2 "collection"'Q' +529 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'F  +51 "core"  +2 .tCBV.dial :waste2 + "collection"'L  +104 "core"  +2 .tCS.seek 0ml + "collection"'x' +1595 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'*& +4 "core" &Vef\ F + "collection"'f% +4 "core" %b\ + .tCSV.dial CSR +2 "collection"'V  +61 "core"  +2 "collection"'\ % +4 "core" %\ + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'b' +1821 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'_' V +523 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"' +2 'T  +129 "core" +8  + .tCTV.dial :intake +2 "collection"'!  +74 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'E'^ +1901 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +73 "core"  + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'g' +584 "core" ' + .tCSV.dial CSR +2 "collection"'  +102 "core"  + "collection"'=% +4 "core" %c\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'e'q +1330 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'p' V +1336 "core" ' + .tCSV.dial CBV +2 "collection"'` +139 "core"  +2 .tCS.seek 0ml +2 "collection"'t' +2579 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&^& +4 "core" &) h @[ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&P( +3 "core" ( +2 "manipulator"&Z& +4 "core" &) n @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +2 "core" &) n @[ +3 .tForearm.seek CC + "manipulator"&q'" +92 "core" ' + .tHand.close + "manipulator"&\\/ +54 "core" / +2 .tCC.seek :open + "collection"'W( +416 "core" ( +2 "manipulator"&y& +4 "core" &) @[ + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&o'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&j(, +280 "core" ( +2 "manipulator"&s& +4 "core" &, M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +2 "core" &, # M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'Ϧ +112 "core" ' + .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&m% +4 "core" % Ϭ P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +101 "core" ' + "processing"%O& +4 "core" &Z\ +15642 "Can"I\ /,p +60002 H\ /,r +60002 M\ /,w +60002 @\ /,{ +60002 5\ /,l +60002 8\ /,k +60002 .\ /,s +60002 +\ /-l +60002 .\ .,m +60002 2\ /,l +60002 4\ /-l +60002 8\ /,t +60002 <\ /,p +60002 @\ /,l +60002 D\ /,w +60002 I\ /,o +60002 D\ /,t +60002 M\ /,s +60002 M\ /,v +60002 P\ /,x +60002 N\ /,t +60002 T\ /,q +60002 Q\ /,t +60002 I\ /,s +60002 4\ .,l +60002 \ /,y +60002 \ .,q +60003 \ \ .,t +60002 \ /,l +60002 \ .,x +60002 \ /,w +60002 \ /,o +60002 \ /,l +60002 \ /,p +60002 \ /,t +60002 \ .,q +60002 \ /,l +60002 \ /,y +60002 \ /,m +60002  \ /,n +60002  \ /,w +60003 (\ /,l +60002 *\ /,r +60002 0\ .+s +60002 3\ .,t +60002 6\ .,l +60002 <\ .,r +60002 A\ /,r +60002 H\ .,n +60002 S\ /,m +60002 U\ /,m +60002 e\ /,m +60002 g\ /,v +60002 f\ /,o +60003 h\ /,k +60002 i\ /,l +60002 e\ /,t +60002 g\ /,w +60002 b\ /-s +60002 f\ /-j +60002 j\ /,v +60002 j\ /,m +60002 o\ /,o +60002 o\ /,u +60002 r\ /,n +60002 n\ /,n +60002 m\ /,l +60002 p\ /,p +60003 u\ /,u +60002 u\ /,m +60002 k\ /,z +60002 q\ /,p +60002 r\ /,u +60002 s\ /,p +60002 l\ /,w +60002 u\ /-v +60002 |\ /,m +60002 x\ /,r +60002 ~\ /,z +60002 ~\ /,u +60002 \ .,j +60002 \ /+k +60003 \ .,s @EDT1666325080.56 \ /,i +60002 \ .,h +60002 \ .,x +60002 \ /,t +60002 \ .,s +60002 \ /-v +60002 \ /,r +60002 \ /,l +60002 \ /,p +60002 \ /,x +60002 \ /,r +60002 \ /,l +60002 \ /,w +60002 \ /,m +60002 \ /-u +60002 \ .,n +60003 \ /,o +60002 \ .,y +60002 \ .,o +60002 \ .,r +60002 \ /,l +60002 \ /,z +60002 \ /,q +60002 \ /,v +60002 \ /-{ +60002 \ /,r +60002 \ /,{ +60002 \ /,z +60002 \ /,l +60002 \ /,u +60002 \ /,w +60003 \ /,z +60002 \ /,t +60002 \ /,o +60002 \ /,m +60002 \ /,n +60002 \ /,y +60002 \ /,r +60002 \ /,n +60002 \ /,l +60002 \ /,q +60002 \ /,r +60002 }\ /-{ +60002 v\ /-r +60002 h\ /,m +60002 j\ /,o +60003 l\ .,t +60002 n\ /,t +60002 q\ /,x +60002 l\ /,z +60002 s\ /-s +60002 |\ /,w +60002 \ .,t +60002 \ .+s +60002 \ /,z +60002 \ /,l +60002 \ /,u +60002 \ /,y +60002 \ /,s +60002 \ /,t +60002 \ /,t +60002 \ /,k +60003 \ /,k +60002 \ /,o +60002 \ /,l +60002 \ /,u +60002 \ /,r +60002 \ /,m +60002 \ /,l +60002 \ /,{ +60002 \ /,s +60002 \ /,m +60002 \ /,n +60002 \ /,y +60002 \ /,z +60002 \ .,l +60003 \ /-n +60002 \ /,l +60002 \ /,x @1666372326.29EDT = =tMAIN =mMAIN_scheduler @EDT1666372328.09 #"core_reset"Sent BREAK +2 #t@20962 receive with ifg=0x10, ie=0xFD #@21597 receive with ifg=0x10, ie=0xFD + #@22249 receive with ifg=0x10, ie=0xFD + #@22884 receive with ifg=0x10, ie=0xFD + #@23519 receive with ifg=0x10, ie=0xFD #@24153 receive with ifg=0x10, ie=0xFD + #@24787 receive with ifg=0x10, ie=0xFD #@25113 receive with ifg=0x80, ie=0xFD + #@60582 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +186 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +97 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +389 "Can"\ /-u + \ /-u + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1856 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % , -\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(2% +3 "core" %a y\ +2 "manipulator"&3% +4 "core" %\   +2 "manipulator"&4& +3 "core" &, M +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(5(<* +1284 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<* \  +678 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'7& +4 "core" & . /\ + .tHand.open +2 "manipulator"&81 +14 "core" 1 +2 "manipulator"&9& +4 "core" &, I M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&:(, +4 "core" ( + "manipulator"&;& +4 "core" &, 8 M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &, M +2 .tForearm.seek :garage +2 "manipulator"&='Ϧ +102 "core" ' + .tHand.close +2 "manipulator"&>/ +59 "core" / +2 "manipulator"&?& +4 "core" &,  M +2 "manipulator"&@% +3 "core" % ϶ { +2 .tForearm.seek :retract +2 "manipulator"&A'\ +106 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&B( +286 "core" ( +2 "manipulator"&C& +4 "core" &1 a F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &0 F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&E'" +94 "core" ' +2 "manipulator"&F& +4 "core" &0 F +2 "manipulator"&G% +3 "core" %, V +2 "collection"'H& +4 "core" & . 0\ +2 "collection"'I& +5 "core" & , 0\ +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" & - 0\ \ +9 &-| , /\ +{ +9 &d - /\ ? +9 &ov - 1\ O +10 &3Z , /\ N +9 &^ . 0\ N +9 &\\ - 0 \ N +10 &x` / 0\ N +9 &;\\ . 0\ N +10 &Z - /\ N +9 &\\ + .\ M +9 & _ . 0\ N +10 &"Ba . 0\ N +9 &$\\ . 0\ M +9 &%` / 0\ M +10 &'Z . 0\ N +9 &)LZ / 0\ M +10 &+ \\ - .\ N +9 &,` - /\ M +9 &.] / /\ M +10 &0T` 0 /\ M +9 &2b - .\ N +9 &3` + 0\ M +10 &5\\ - /\ M +9 &7\\] - /\ M +10 &9] - 0\ M +9 &:` - 1\ M +9 &<b . 1\ M +10 &>cd - /\ N +9 &@%` + 0\ N +10 &A] , 1\ N +9 &Cb / .\ N +10 &Eig . /\ N +9 &G(k , /\ O +9 &H~ * /\ Q +9 &J / .\ V +10 &LT . /\ X +9 &N - 0\ X +10 &O / /\ Y +9 &Q - /\ Y +9 &SX . /\ Z +10 &U - /\ Z +9 &VdC / 0\ 1 +9 &V u , 0\ H +6 ( + "collection"'I& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + "collection"'K& +4 "core" &Vm , 0\ H + &Vm - 1\ H + .tHand.open +2 "manipulator"&L1 +62 "core" 1 +2 "manipulator"&M% +4 "core" % ,  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +93 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%O +3 "core"  +2 "processing"%P  +45 "core"  + "processing"%Q% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +51 .tPS.seek 1.5ml +2 "processing"%R' +1591 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%S  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%T' +1590 "core" ' + .tPSV.dial PSR +2 "processing"%U +45 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%V' +2596 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%W  +2 "collection"'X  +76 "core" +23  +2 .tPSV.dial :PTV,via: :air +2 "processing"%Y +195 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 "collection"'Z +3 "core"  +2 "collection"'[  +5 "core" + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%\\ +3 "core"  +2 "processing"%] @ +71 "core" A +2 .tPS.seek 0ml + "processing"%^' +2598 "core" ' +2 .tPSV.dial :air + "processing"%_  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%`' +2596 "core" ' +2 .tPSV.dial :PTV + "processing"%a +74 "core"  +2 .tPS.seek 0ml + "processing"%b' +2605 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&c& +4 "core" &((  >O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&d( +29 "core" ( + "manipulator"&e& +4 "core" & a - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" & - +2 .tForearm.seek CC + "manipulator"&g'" +92 "core" ' + .tHand.close +2 "manipulator"&h/ +52 "core" / + .tCC.seek :open +2 "collection"'i( +416 "core" ( + "manipulator"&j& +4 "core" & 1 +2 "manipulator"&k% +3 "core" %  s +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&m(, +273 "core" ( +2 "manipulator"&n& +4 "core" &, E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &, E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&p'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"&q1 +55 "core" 1 + "manipulator"&r% +4 "core" % Ϫ y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +102 "core" ' +686 #t-> PS.flush +2 #Flushing Processing stage + "processing"%t% +3 "core" %\ +3 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%u& +4 "core" &\ +2 "manipulator"&v& +4 "core" &, E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&w(, +2 "core" ( +2 "manipulator"&x& +4 "core" &, E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &, E +2 .tForearm.seek :garage + "manipulator"&z'Ϧ +105 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +2 "manipulator"&|& +4 "core" &, z E + "manipulator"&}% +4 "core" % ϵ +2 .tForearm.seek :retract + "manipulator"&~'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(s +139 "core" ( +2 "manipulator"&& +4 "core" &n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +108 "core" ' + "manipulator"&& +4 "core" &n A +2 "manipulator"&% +4 "core" % H +2 "processing"%& +4 "core" &\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\ +8 &5\ $e +9 &T\ 7 +10 &\ L +9 &`\ N +9 &bd\ N +10 &$b\ N +9 &a\ N +10 &`\ M +9 &j_\ N +9 &-]\ M +10 &a\ N +9 &!b\ M +9 &#t`\ M +10 &%5b\ M +9 &&\\\ M +9 &(_\ M +10 &*{]\ M +9 &,=`\ M +10 &-d\ N +9 &/_\ N +9 &1]\ N +10 &3D`\ N +9 &5`\ N +10 &6`\ N +9 &8^\ N +9 &:M_\ M +10 &<b\ N +9 &=\\\ M +9 &?]\ M +10 &AU\\\ M +9 &C_\ M +9 &Dc\ N +10 &Fi\ O +9 &HUx\ P +10 &J\ S +9 &K\ S +9 &M\ S +10 &OS\ S +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VZ}\ T +10 &X\ T +9 &Y|q\ 5 +9 &Z0\ L +10 &Z\ ( +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + "processing"% & +4 "core" &Z\ ( +2 .tHand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" %  W H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tPSV.dial PSR + "processing"% +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'S +1087 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1589 "core" ' + .tPSV.dial PTV + "processing"% +76 "core" + .tPTV.dial :puck + "processing"%  +73 "core"  + .tPBV.dial :waste1 + "processing"%  +55 "core" +2 .tPS.seek 0ml +2 "processing"%' +2598 "core" ' + .tPSV.dial PSR +2 "processing"% +75 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%' +579 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2095 "core" ' + .tPSV.dial PTV +2 "processing"% +75 "core" +2 .tPBV.dial PSV + "processing"% U +54 "core" W +2 .tPS.seek 0ml + "processing"% ' +2600 "core" ' + .tPSV.dial PBV + "processing"%! @ +46 "core" > +2 .tPS.seek 2.5ml + "processing"%"' +2602 "core" ' + .tPSV.dial :waste1 +2 "processing"%#  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%$' +2604 "core" ' + .tPSV.dial PSR +2 "processing"%% +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%&' +2598 "core" ' + .tPSV.dial PTV +2 "processing"%' +73 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%(' +2593 "core" ' + .tPSV.dial PBV + "processing"%) @ +45 "core" > +2 .tPS.seek 2.5ml + "processing"%*' +2600 "core" ' + .tPSV.dial :waste1 + "processing"%+  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%,' +2601 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&-& +4 "core" &n \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&.(s +2 "core" ( +2 "manipulator"&/& +4 "core" &n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &n + .tForearm.seek PC +2 "manipulator"&1' +90 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 .tPC.seek :open + "processing"%3( +436 "core" ( + "manipulator"&4& +4 "core" &n A +2 "manipulator"&% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&6'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&7(, +120 "core" ( +2 "manipulator"&8& +4 "core" &, a 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &, 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&;'Ϧ +107 "core" ' + .tHand.open +2 "manipulator"&<1 +55 "core" 1 + "manipulator"&>% +4 "core" % ϰ 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +102 "core" ' +4126 #t-> exit +5 #mEXIT @1666372903.40EDT @1666616179.95EDT = =mMAIN_scheduler =tMAIN @EDT1666616181.75 #"core_reset"Sent BREAK +2 #t@28440 sendCRC with ifg=0x20, ie=0x7F #@30275 sendCRC with ifg=0x08, ie=0x5F + #@46134 idle with ifg=0x84, ie=0x75 + #@46807 select with ifg=0x10, ie=0xF5 #@47455 receive with ifg=0x10, ie=0xFD + #@48103 receive with ifg=0x10, ie=0xFD + #@48752 receive with ifg=0x10, ie=0xFD #@49079 receive with ifg=0x80, ie=0xFD + #@49286 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +372 "Can"\ 1.y + \ 1.y + #tPolling Can every 10:00 +2 #Cleanly exited at 13:21:43EDT21-Oct-22 +538 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %+\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ ~ \ + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(2% +4 "core" %a\ (\ + "manipulator"&3% +4 "core" %\  \   +2 "manipulator"&4& +4 "core" &, \ \ / + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(5(K +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K ^\  +546 #t-> access 3 +3 "storage"(7% +3 "core" %b o\ L\ +2 "manipulator"&8% +4 "core" %\  u  + "manipulator"&9& +4 "core" &, / +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(:([ +332 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &[ l\  +1169 #t-> require 'shuffle.rb' +1183 #-> 20.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +3 "core" & \ +2 .tHand.open + "manipulator"&=1 +19 "core" 1 + "manipulator"&>% +4 "core" %\  m  +2 "storage"(?% +3 "core" %c x\  \ +2 "storage"(@. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(A( +1600 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (B& +3 "core" & \ \  #\ + "manipulator"&C& +4 "core" &, x . + "manipulator"&D% +4 "core" %\  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +179 "core" ( + "manipulator"&F& +4 "core" & ' +2 "storage"(G& +3 "core" & \ B\ G u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +96 "core" ' + "storage"(I& +4 "core" & \ H\ B 8\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'i +291 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" & \ \ ! \ +2 "manipulator"&M& +4 "core" & ' + .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&O& +3 "core" & ' +2 "storage"(P& +3 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(T'X +7 "core" & ^ ' +2 "manipulator"&U% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&V'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&W( +153 "core" ( +3 "manipulator"&X& +4 "core" ' + & M 4 +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&Y& +41 "core" & Q 4 +7 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'" +103 "core" ' + "manipulator"&[& +4 "core" &! 4 +2 "manipulator"&\\% +4 "core" % +2 "collection"']& +3 "core" &  \ +2 "collection"'^& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'_(V +4 "core" & \ +8 & # \ #b +9 &W \ 8 +9 & \ M +10 &Z \ N +9 &g[ \ N +9 &)] \ N +10 &b \ N +9 &]  \ N +10 &o` \ N +9 &1\\ \ N +9 &] \ M +10 &!` \ N +9 &#w]  \ N +9 &%8a \ N +10 &&]  \ M +9 &(Z \ N +10 &*[  \ M +9 &,B] \ M +9 &.` \ N +10 &/_ \ N +9 &1_  \ M +9 &3J[  \ M +10 &5 ^ \ M +9 &6` \ N +10 &8` \ M +9 &:Qa  \ N +9 &<c \ N +10 &=` \ M +9 &?_ \ M +9 &AXb \ N +10 &C^ \ N +9 &Df \ N +10 &Fn \ O +9 &HV \ Q +9 &J \ U +10 &K \ X +9 &M \ X +9 &OI \ Y +10 &Q \ X +9 &R \ Z +10 &T \ Z +9 &V+w \ / +9 &V  \ M +9 ( +3 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&`1 +3 "core" &Vk \ H +56 1 +2 "manipulator"&a% +4 "core" %  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +106 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%c& +4 "core" &\ + "manipulator"&d% +4 "core" %\  } + "storage"(e% +4 "core" %] \ +2 "storage"(f. +3 "core" .( + "storage"(g& +4 "core" & S\ + "storage"(h& +4 "core" & m\ + "manipulator"&i& +4 "core" & 4 + "manipulator"&j% +4 "core" %\  } +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&k( +160 "core" ( +2 "manipulator"&l& +4 "core" & u  + "storage"(m& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +94 "core" ' + "storage"(o& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'i +287 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" & 7\ +2 "manipulator"&s& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&t( +3 "core" ( +2 "manipulator"&u& +3 "core" &   +2 "storage"(v& +3 "core" & o\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(z'X +7 "core" &   +2 "manipulator"&{% +4 "core" %  7 N +2 .tForearm.seek :retract + "manipulator"&|'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&~& +4 "core" &m  \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"&& +4 "core" &m + "manipulator"&% +4 "core" % +2 "processing"%& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &3\  +9 &1}\ *z +9 &b\ > +10 &pz\ O +9 &3Z\ N +9 &]\ N +10 &]\ N +9 &y_\ N +9 &;]\ N +10 &a\ N +9 &_\ N +10 & a\ N +9 &"C^\ N +9 &$\\\ N +10 &%]\ N +9 &'_\ N +9 &)J_\ N +10 &+ _\ N +9 &,]\ N +10 &._\ O +9 &0S]\ N +9 &2]\ N +10 &3]\ N +9 &5`\ N +9 &7Z]\ N +10 &9`\ O +9 &:]\ N +10 &<^\ N +9 &>b\\\ N +9 &@$\\\ N +10 &AZ\ N +9 &Cb\ N +9 &Eie\ O +10 &G&q\ P +9 &H\ S +10 &J\ T +9 &Lb\ T +9 &N$\ T +10 &O\ T +9 &Q\ T +9 &Sj\ T +10 &U*\ T +9 &V\ T +10 &X\ U +9 &Za\ $n +9 &Z\\\ . +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"& 1 +4 "core" &Z\ + +57 1 + "manipulator"& % +4 "core" % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 "processing"%& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  { - + "storage"(% +4 "core" %b \ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & \ +2 "storage"(& +4 "manipulator"&& +4 "core" & \ + &m +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('i + "manipulator"&(s +4 "core" ( +2 "manipulator"&& +4 "core" &m u + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &m +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +35 "core" ' +301 ( + "storage"(!& +4 "core" & |\ +2 "manipulator"&"& +4 "core" &m + "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&$'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%( +258 "core" ( + "manipulator"&&& +4 "core" & /  +2 "storage"('& +3 "core" & T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +86 "core" ' +2 .tHand.open + "manipulator"&)1 +55 "core" 1 +2 "storage"(*- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(+'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +48 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(.& +4 "core" & \ + "manipulator"&/& +4 "core" & q  +2 .tElbow.seek 2 + "manipulator"&0( +14 "core" ( + "manipulator"&1& +4 "core" & Y +2 "storage"(2& +4 "core" & } \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +58 "core" ' +2 "manipulator"&& +4 "core" & t + "storage"(6& +4 "core" & \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&7' +34 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +25 "core" ' + "manipulator"&5% +4 "core" % +2 "storage"(;& +3 "core" & 7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&<' +18 "core" ' +2 "manipulator"&=& +4 "core" & j +2 "storage"(>& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +28 "core" ' +2 "storage"(@% +4 "core" %p\ _\ +2 ."downElevator"SE.seek :down +4 "storage"(:'X +99 (B% +2 "core" %E d\ Va +2 "manipulator"&C% +4 "core" %ѐ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (F& +4 "core" & U\ +2 "collection"'G& +3 "core" &Vc  \ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&I% +4 "core" %\   +2 "storage"(% +3 "core" %S\ \ \ +2 "storage"(. +3 "core" .( + "storage"(K& +4 "core" & \ \ \ + "storage"(L& +4 "core" & \ \ \ +2 "manipulator"&M& +3 "core" & +2 .tElbow.seek 2 + "manipulator"&O( +4 "core" ( + "manipulator"&P& +4 "core" & + "storage"(R& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&S'ќ +97 "core" ' +3 "storage"(U& +4 "core" & \ \ B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'i +277 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&X& +3 "core" & +2 "storage"(Y& +3 "core" & 7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&J' +33 "core" ' + .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(N- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['W +27 "core" ' + "manipulator"&\\% +4 "core" % + ) +2 "storage"(]& +3 "core" & ]\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&T' +18 "core" ' +2 "manipulator"&V& +59 "core" & / +12 "storage"(\ & +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(a'F +41 "core" ' + "manipulator"&c& +4 "core" & +2 "manipulator"&d% +4 "core" %Ѩ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +159 "core" ( +2 "manipulator"&f& +4 "core" &%  u <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &%  << +2 .tForearm.seek CC + "manipulator"&h'" +97 "core" ' + .tHand.close + "manipulator"&i/ +60 "core" / +3 .tCC.seek :open + "collection"'j( +418 "core" ( +2 "storage"(Z& +4 "core" & \ #\ # \ + "storage"(l& +4 "core" & \ \ \ +2 "manipulator"&m& +3 "core" &" & 8! +2 "manipulator"&o% +3 "core" % , _ +2 .tForearm.seek :retract + "manipulator"&W'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&b( +162 "core" ( +2 "manipulator"&q& +4 "core" & g  + "storage"(r& +4 "core" & \ H\ M J\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&s' +110 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +53 "core" 1 + "manipulator"&x% +5 "core" % w + "storage"(y& +4 "core" & \ \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&{' +12 "core" ' +2 "manipulator"&k& +4 "core" & S  + "storage"(n& +4 "core" & \ p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +28 "core" ' +2 "storage"(w% +4 "core" %O\ ! x ]\ +2 ."downElevator"SE.seek :down +4 "storage"(~'X +99 (% +3 "core" %C\ #\ % )\ U^ +2 "manipulator"&t% +4 "core" %э +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +3 "core" %\ / +2 "storage"(z% +4 "core" %T\ G\ H\ + "storage"(|. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & P\  +2 "manipulator"& & +4 "core" & i  +2 .tElbow.seek 3 + "manipulator"&( +40 "core" ( + "manipulator"&& +4 "core" & k +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' +2 "storage"(& +4 "core" &\ C\ 6 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \  l\  + "manipulator"&& +4 "core" & [ k + .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" & 6 % +2 "storage"(& +3 "core" &\ #\ # (\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"('X +8 "core" & L % + "manipulator"&% +4 "core" % ϯ G  +2 .tForearm.seek :retract + "manipulator"&!'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&"( +159 "core" ( +2 ' + "manipulator"&#& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" && =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'" +100 "core" ' + "manipulator"&'& +4 "core" && R =A +2 "manipulator"&% +4 "core" %' 0 +3 "collection"')& +3 "core" & $\ +2 "collection"'*& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'-(V +4 "core" &  \  +8 &/~ \ *y +10 &e \ ? +9 &tv \ O +9 &9Y \ \ M +10 &Z \ M +9 &Y \ N +9 &~\\ \ N +10 &A] \ M +9 &_ \ M +10 &_ \ M +9 & ] \ N +9 &"H] \ N +10 &$ \\ \ M +9 &%Z \ M +9 &'] \ N +10 &)R\\ \ M +9 &+] \ M +10 &,^ \ M +9 &.^ \ M +9 &0X^ \ N +10 &2\\ \ N +9 &3\\ \ M +9 &5] \ M +10 &7b] \ M +9 &9$\\ \ M +10 &:^ \ M +9 &<\\ \ M +9 &>iZ \ M +10 &@,^ \ M +9 &A] \ M +9 &C_ \ M +10 &Eod \ N +9 &G+r \ P +10 &H \ R +9 &J \ W +9 &L[ \ X +10 &N \ X +9 &O \ Y +9 &Q \ Y +10 &S\\ \ Z +9 &U \ Z +10 &VjE \ 0 +9 &V\ u \ I +5 ( +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&.1 +3 "core" &Vl \ I +53 1 +2 "manipulator"&/% +4 "core" % ' { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&$% +4 "core" %\  !  + "storage"(% +4 "core" %T \ + "storage"(6. +3 "core" .( +2 "storage"( & +3 "core" & \  +2 "storage"(5& +4 "core" & \  + "manipulator"&;& +4 "core" &% # <@ + "manipulator"&+% +4 "core" %\  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=( +155 "core" ( +2 "manipulator"&>& +4 "core" &  + "storage"(@& +4 "core" &\ \ e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +94 "core" ' + "storage"((& +4 "core" &\ \  %\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +285 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" & \  +2 "manipulator"&3& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&0( +3 "core" ( + "manipulator"&4& +4 "core" & S  + "storage"(7& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&<'ϩ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(I'X +7 "core" & p  +2 "manipulator"&% +3 "core" % ϧ +2 .tForearm.seek :retract +2 "manipulator"&9'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +3 "manipulator"&K& +4 "core" &l    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +2 "core" &l a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&M' +98 "core" ' + "manipulator"&P& +4 "core" &l  +2 "manipulator"&R% +4 "core" % +2 "processing"%?& +3 "core" &/\ +2 "processing"%U& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%:(Z +4 "core" &\  +9 &2\ *x +9 &c\ > +9 &v}[\ O +10 &:]\ N +9 &a\ N +9 &_\ M +10 &^\ N +9 &B[\ N +10 &^\ N +9 &`\ N +9 & ]\ N +10 &"J]\ N +9 &$ \\\ N +9 &%^\ N +10 &'`\ N +9 &)Qa\ N +10 &+\\\ N +9 &,_\ N +9 &.]\ N +10 &0Z]\ N +9 &2]\ N +9 &3\\\ N +10 &5^\ N +9 &7b`\ N +10 &9$\\\ N +9 &:[\ N +9 &<_\ N +10 &>jZ\ N +9 &@-^\ M +9 &A]\ M +10 &C`\ N +9 &Epb\ N +10 &G/k\ O +9 &Hu\ Q +9 &J\ S +10 &Li\ S +9 &N+\ S +9 &O\ S +10 &Q\ S +9 &Sp\ T +10 &U2\ T +9 &V\ T +9 &X\ U +10 &Z!]\ #m +9 &ZU\ ) +9 ( +3 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&81 +4 "core" &Z\ ' +59 1 +2 "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H'\ +98 "core" ' +2 "processing"%X& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Y% +4 "core" %\  H  +2 "storage"(N% +3 "core" %b \ +2 "storage"(\\. +3 "core" .( + "storage"(]& +4 "core" & F\  +2 "storage"(V& +3 "manipulator"&\ & +5 "core" & \  + &l R  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(c'i + "manipulator"&d(s +5 "core" ( + "manipulator"&S& +4 "core" &l @  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&E' +95 "core" ' + .tHand.close + "manipulator"&J/ +58 "core" / +2 .tPC.seek :open +2 "processing"%T( +91 "core" ' + "storage"([- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(f'y +43 "core" ' +337 ( + "storage"(g& +4 "core" & \  +2 "manipulator"&`& +3 "core" &l  +2 "manipulator"&Q% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +260 "core" ( + "manipulator"&_& +5 "core" & + "storage"(Z& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +97 "core" ' + .tHand.open + "manipulator"&m1 +58 "core" 1 +2 "storage"(o- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(q'E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +4 "core" -' +2 "storage"(^& +3 "core" & | \  +2 "manipulator"&v& +3 "core" & +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( + "manipulator"&y& +4 "core" & +2 "storage"(k& +4 "core" & { N\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&n'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(w' +57 "core" ' +2 "manipulator"&W& +4 "core" & + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&t'} +24 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(s'i +24 "core" ' +2 "manipulator"&{% +4 "core" %Ώ +2 "storage"(& +4 "core" & {\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϻ +20 "core" ' + "manipulator"&z& +5 "core" & - + "storage"(|& +4 "core" & (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +34 "core" ' + "storage"(p% +5 "core" %s\ \  @\ +2 ."downElevator"SE.seek :down +4 "storage"(~'X +98 (A% +3 "core" %H :\ Wd +2 "manipulator"& % +4 "core" %> j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & [\  +2 "collection"'& +4 "core" &Vk \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  \  ! + "storage"(u% +4 "core" %U v\ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & V\  +2 "storage"(& +4 "core" & a\  + "manipulator"&& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(}& +3 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +95 "core" ' +2 "storage"(& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +275 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & I +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +39 "core" ' + "manipulator"&% +4 "core" %Ί +2 "storage"()& +3 "core" & a\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +12 "core" ' + "manipulator"&!& +4 "core" & f +2 "storage"(j& +3 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(/'@ +41 "core" ' +2 "manipulator"&2& +4 "core" & E + "manipulator"&$% +4 "core" %R H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +172 "core" ( +3 "manipulator"& & +4 "core" &+ Z Bg + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &, N Bg +2 .tForearm.seek CC +2 "manipulator"&5'" +91 "core" ' + .tHand.close + "manipulator"&;/ +54 "core" / +2 .tCC.seek :open + "collection"'+( +416 "core" ( +2 "storage"(&& +3 "core" &\ \ M\  +2 "storage"(>& +3 "core" &\ \ \  +2 "manipulator"&@& +3 "core" &+ Ac +2 "manipulator"&(% +4 "core" % ) +2 .tForearm.seek :retract + "manipulator"&"'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1( +161 "core" ( + "manipulator"&B& +5 "core" & R  + "storage"(C& +4 "core" &\ !\ $ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&3'} +102 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +64 "core" 1 +2 "manipulator"&F% +4 "core" % · | +3 "storage"(G& +3 "core" &\ #\ $ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +27 "core" ' + "manipulator"&=& +4 "core" & e  +2 "storage"(%& +3 "core" &\ ,\ , \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +31 "core" ' + "storage"(<% +4 "core" %C\ \\\ C M\ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +99 (L% +3 "core" %C\ \  K\ V` + "manipulator"&0% +4 "core" %! K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'R& +4 "core" & \ +2 "manipulator"&?% +4 "core" %\   +2 "storage"(I% +3 "core" %b\ ,\ / \ +2 "storage"(9. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +2 "core" & \ \ \ +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&X( +33 "core" ( + "manipulator"&Y& +4 "core" & # +2 "storage"(N& +3 "core" & \ F\ F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +92 "core" ' + "storage"(U& +4 "core" & \ @\ / 7\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'i +285 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" & \ \ # R\ +2 "manipulator"&S& +4 "core" & "~ + .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&M& +3 "core" & "~ +2 "storage"(J& +3 "core" & \ %\ % U\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&[' +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(:'X +7 "core" & 7 "~ +2 "manipulator"&c% +3 "core" %  y  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&`( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&Q& +4 "core" &' " m >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &' >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'" +99 "core" ' +3 "manipulator"&Z& +4 "core" &'  >N +2 "manipulator"&d% +3 "core" %, +2 "collection"'m& +4 "core" &  \ +2 "collection"'o& +5 "core" & \ \ +2 .tCC.seek :closed + "collection"'h(V +4 "core" & \  +9 &2~ \ *y +9 &d \ > +9 &xs \ N +10 &<U \ M +9 &Z \ M +9 &Z \ N +10 &Z \ M +9 &BZ \ N +10 &Z \ M +9 &Z \ M +9 & X \ M +10 &"K\\ \ M +9 &$ Z \ M +9 &%Y \ M +10 &'Z \ M +9 &)SY \ M +10 &+[ \ N +9 &,X \ M +9 &.[ \ M +10 &0Z\\ \ N +9 &2Y \ M +9 &3Z \ M +10 &5Y \ M +9 &7dZ \ M +10 &9&Z \ M +9 &:\\ \ M +9 &<_ \ M +10 &>k[ \ M +9 &@-Z \ M +9 &A[ \ M +10 &C\\ \ M +9 &Esa \ M +10 &G/m \ O +9 &H} \ Q +9 &J \ V +10 &L[ \ X +9 &N \ W +9 &O \ Y +10 &Q \ Y +9 &S^ \ Z +10 &U \ Z +9 &VmC \ 1 +9 &Vm \ H +43 ( +11 &Vb \ H +6 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&^1 +3 "core" &Vb \ H +2 &Vb \ H + &Vb \ H + &Vb \ H + &Vb \ H +48 1 + "manipulator"&v% +4 "core" % , / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%k& +4 "core" &\ + "manipulator"&i% +4 "core" %\   +2 "storage"(W% +3 "core" %a 2\ +2 "storage"(. +3 "core" .( + "storage"({& +4 "core" & \ + "storage"(f& +4 "core" & \ +2 "manipulator"&& +3 "core" &' c >M +2 "manipulator"&z% +4 "core" %\  V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&|( +161 "core" ( + "manipulator"&q& +5 "core" & ]  + "storage"(p& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +92 "core" ' + "storage"(l& +4 "core" & \ \  F\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(r'i +284 "core" ' +2 "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & \ +2 "manipulator"&n& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&x( +4 "core" ( + "manipulator"&w& +4 "core" &  + "storage"(t& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & :  + "manipulator"&u% +4 "core" %  L +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&& +4 "core" &u  " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &u L " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&& +4 "core" &v ! +2 "manipulator"&}% +3 "core" % +2 "processing"%a& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%~(Z +4 "core" &\  +9 &1\ *z +10 &c\ > +9 &ty\ N +9 &6\\\ N +10 &[\ N +9 &\\\ N +10 &}\\\ N +9 &?_\ N +9 &\\\ N +10 &\\\ M +9 & ]\ N +9 &"H_\ M +10 &$ [\ N +9 &%`\ M +10 &']\ N +9 &)O[\ N +9 &+`\ N +10 &,\\\ N +9 &.^\ N +9 &0W^\ N +10 &2[\ M +9 &3[\ N +9 &5`\ M +10 &7`_\ M +9 &9"[\ M +10 &:Z\ M +9 &<]\ N +9 &>h^\ M +10 &@*_\ M +9 &A[\ M +10 &C_\ N +9 &Enc\ N +9 &G,n\ O +10 &H\ R +9 &J\ S +9 &Lf\ S +10 &N(\ S +9 &O\ T +10 &Q\ T +9 &Sm\ T +9 &U.\ T +10 &V\ T +9 &X\ U +9 &Z]\ #m +10 &Z[\ , +9 ( + &Z\ ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&b1 +54 "core" 1 + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 "processing"%#& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  +2 "storage"('% +3 "core" %T ,\ + "storage"(. +3 "core" .( +2 "storage"()& +4 "core" & b\ +2 "storage"(!& +3 "manipulator"&j& +5 "core" & }\ + &v y ! +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&2(s +4 ."raiseStack"SE.seek :beamBreak + "storage"($'i +3 "core" ( + "manipulator"& & +4 "core" &v } ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &v u ! +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%( +90 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +36 "core" ' +296 ( +2 "storage"(*& +4 "core" & \ + "manipulator"&.& +4 "core" &v X ! + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&;'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +274 "core" ( + "manipulator"&-& +4 "core" & . +2 "storage"(&& +3 "core" & B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +92 "core" ' +2 .tHand.open + "manipulator"&@1 +62 "core" 1 +2 "storage"((- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(B'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(C' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(6& +4 "core" & ~ | 6\ + "manipulator"&7& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&F( +3 "core" ( +2 "manipulator"&G& +4 "core" & + "storage"(=& +4 "core" & q q J\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(<' +58 "core" ' +2 "manipulator"&"& +4 "core" & +2 "storage"(L& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&0' +29 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +21 "core" ' +2 "manipulator"&% +4 "core" %  + "storage"(R& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&?' +19 "core" ' +2 "manipulator"&I& +4 "core" & @ + "storage"(9& +4 "core" & \ \ \  (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +28 "core" ' +2 "storage"(,% +4 "core" %o\ \ \ i\ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +99 ( % +3 "core" %FL \ Xe +2 "manipulator"&8% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +96 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" & Z\ + "collection"'N& +4 "core" &Va \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&U% +4 "core" %\ 4 + "storage"(4% +4 "core" %Z T\ +2 "storage"(P. +3 "core" .( + "storage"(\ & +4 "core" & W\ + "storage"(V& +4 "core" & g\ + "manipulator"&S& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( +2 "manipulator"&J& +3 "core" & | +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +94 "core" ' + "storage"(c& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'i +282 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & + "storage"(E& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]' +34 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(d'W +38 "core" ' +2 "manipulator"&m% +4 "core" %  Y + "storage"(O& +4 "core" & 1\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&:' +14 "core" ' + "manipulator"&g& +4 "core" & P +2 "storage"(+& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(v'F +41 "core" ' +2 "manipulator"&k& +4 "core" &  + "manipulator"&i% +4 "core" %ѳ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +166 "core" ( +2 "manipulator"&{& +4 "core" &( " ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &( \\ ?T +2 .tForearm.seek CC +2 "manipulator"&o'" +95 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open + "collection"'z( +417 "core" ( + "storage"(_& +3 "core" & \ \ &\ +2 "storage"(q& +4 "core" & \ \ \ + "manipulator"&p& +55 "core" &' T >O +2 "manipulator"&l% +3 "core" % 4 2 +2 .tForearm.seek :retract +2 "manipulator"&`'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&y( +157 "core" ( + "manipulator"&A& +4 "core" & ]  +2 "storage"( & +4 "core" & \ F\ D \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&n' +104 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +53 "core" 1 +3 "manipulator"&% +4 "core" % ^ +2 "storage"(& +24 "core" & \ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&u' +12 "core" ' + "manipulator"&|& +5 "core" &   + "storage"(e& +4 "core" & \ H\ H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +20 "core" ' + "storage"(% +5 "core" %G\ D\ @ F\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %F\ 2\ 0\ V` +2 "manipulator"&x% +4 "core" %Ѫ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'}& +4 "core" & \ +2 "manipulator"&a% +4 "core" %\   + "storage"(% +4 "core" %b\ ,\ + 6\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(T( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" & \  +2 "manipulator"& & +4 "core" & v  + .tElbow.seek 3 +2 "manipulator"&#( +16 "core" ( +2 "manipulator"&& +4 "core" & X c + "storage"('& +4 "core" &\ F\ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"()& +4 "core" &\ * { x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +291 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ M\ > '\  +2 "manipulator"& & +4 "core" & c + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & L c + "storage"(& +4 "core" &\ H\ H\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(~'X +7 "core" & c +2 "manipulator"&$% +4 "core" % ϟ +2 .tForearm.seek :retract + "manipulator"&*'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&.( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&& +4 "core" &- " q Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&-'" +105 "core" ' + "manipulator"&&& +4 "core" &- p Cs +2 "manipulator"&2% +4 "core" % +2 "collection"'@& +4 "core" & \ +2 "collection"'(& +4 "core" &  \ +3 .tCC.seek :closed + "collection"'5(V +4 "core" & \  +9 &2} \ *x +10 &c \ > +9 &vs \ N +9 &:U \ M +10 &Y \ M +9 &Y \ M +9 &Y \ M +10 &AX \ M +9 &Y \ M +9 &Y \ M +10 & Z \ M +9 &"IZ \ M +10 &$ X \ M +9 &%W \ M +9 &'W \ M +10 &)RW \ M +9 &+Y \ M +9 &,W \ M +10 &.Y \ M +9 &0ZY \ M +10 &2W \ M +9 &3W \ M +9 &5W \ L +10 &7bY \ M +9 &9%Y \ M +9 &:Z \ M +10 &<\\ \ M +9 &>jY \ M +10 &@,X \ M +9 &AZ \ M +9 &CZ \ M +10 &Eob \ N +9 &G-n \ O +9 &H \ R +10 &J \ W +9 &LY \ X +10 &N \ X +9 &O \ Y +10 &Q \ Y +9 &S] \ Z +9 &U \ Z +9 &VlE \ 1 +10 &Vs \ I +5 ( +2 "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&61 +4 "core" &Vl \ I +50 1 +2 "manipulator"&7% +4 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&;% +3 "core" %\ .  +2 "storage"("% +3 "core" %a \ +2 "storage"(L. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(R& +3 "core" & \  +2 "manipulator"& & +4 "core" &+ s Ab + "manipulator"&I% +4 "core" %\ B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +168 "core" ( + "manipulator"&9& +4 "core" & 7 g +2 "storage"(,& +3 "core" &\ \  \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"(>& +4 "core" &\ \  L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'i +279 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" & \  +2 "manipulator"&%& +4 "core" & g + .tElbow.seek 3 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&<& +3 "core" & g +2 "storage"(0& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& + "storage"(U'X +8 "core" & g + "manipulator"&4% +4 "core" % ϲ 0 +2 .tForearm.seek :retract + "manipulator"&P'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +2 "manipulator"&\ & +4 "core" &h  O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &h ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +107 "core" ' + "manipulator"&J& +4 "core" &h +2 "manipulator"&% +4 "core" % H u +2 "processing"%/& +3 "core" &\ +2 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" &\ +7 & /\ #b +9 &V\ 7 +10 &\ L +9 &]V\ N +9 &h`\ N +10 &*]\ N +9 &[\ M +10 &\\\ M +9 &q`\ M +9 &3Z\ M +10 &]\ M +9 &!^\ M +9 &#x`\ N +10 &%:^\ N +9 &&Z\ M +10 &(`\ M +9 &*`\ M +9 &,C_\ M +10 &._\ N +9 &/\\\ N +9 &1]\ N +10 &3K]\ M +9 &5 Z\ M +10 &6_\ M +9 &8\\\ M +9 &:SZ\ M +10 &<^\ M +9 &=\\\ N +9 &?]\ M +10 &A[\\\ M +9 &C^\ N +10 &Db\ N +9 &Fg\ N +9 &H\\p\ P +10 &J\ Q +9 &K\ S +9 &M\ S +10 &O[\ S +9 &Q\ S +10 &R\ S +9 &T\ T +9 &V`\ T +10 &X"\ T +9 &Yzp\ 3 +9 &Z+~\ L +10 &Z \ , +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&11 +56 "core" 1 + "manipulator"&D% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +96 "core" ' +2 "processing"%Q& +4 "core" &Z\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&E% +3 "core" %\  . +2 "storage"(Z% +3 "core" %c \ +2 "storage"(m. +3 "core" .( + "storage"(O& +4 "core" & \  +2 "storage"(g& +3 "manipulator"&+& +5 "core" & \  + &h +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&k(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(i'i +3 "core" ( + "manipulator"&H& +4 "core" &i 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &i * +2 .tForearm.seek PC +2 "manipulator"&X' +94 "core" ' +2 .tHand.close + "manipulator"&]/ +63 "core" / +2 .tPC.seek :open +2 "processing"%:( +86 "core" ' + "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'y +44 "core" ' +294 ( +2 "storage"(f& +4 "core" & \  +2 "manipulator"&^& +3 "core" &i +2 "manipulator"&[% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&W( +268 "core" ( + "manipulator"&h& +4 "core" & 1 +2 "storage"(_& +77 "core" & \  <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +145 "core" ' +2 .tHand.open +2 "manipulator"&p1 +60 "core" 1 +2 "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +4 "core" -' + "storage"(& +4 "core" & }\  + "manipulator"&t& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & + "storage"(|& +4 "core" & r \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&`& +4 "core" & +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'} +20 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'i +22 "core" ' +2 "manipulator"&}% +4 "core" %Ώ + "storage"(u& +4 "core" & x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&a'ϻ +26 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +29 "core" ' +2 "storage"(r% +4 "core" %q\ \ H\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %SG \ Wc +2 "manipulator"&b% +4 "core" %/ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 7\  +2 "collection"''& +4 "core" &Vl \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&)% +4 "core" %\ / + "storage"(w% +4 "core" %b T\ +2 "storage"(. +2 "core" .( +2 "storage"(!& +4 "core" & ~\  +2 "storage"(& +3 "core" & \  +2 "manipulator"& & +3 "core" & Q +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & W +2 "storage"(s& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' +2 "storage"($& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&j'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'Q +27 "core" ' + "manipulator"&2% +4 "core" %΍ +2 "storage"(@& +3 "core" & k\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&~'Ϲ +12 "core" ' + "manipulator"&*& +4 "core" & H +2 "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(7'@ +41 "core" ' +2 "manipulator"&=& +4 "core" & +2 "manipulator"&;% +4 "core" %T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +158 "core" ( + "manipulator"&& +4 "core" & w 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" & 7 +3 .tForearm.seek CC + "manipulator"&('" +93 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open + "collection"'I( +416 "core" ( +2 "storage"(-& +4 "core" &\ \ \  + "storage"(9& +4 "core" &\ \ \  + "manipulator"&,& +4 "core" & 7 + "manipulator"&>% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&G( +171 "core" ( + "manipulator"& & +4 "core" & B +2 "storage"(8& +4 "core" &\ %\ $ @\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&%'} +97 "core" ' + .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&01 +64 "core" 1 +2 "manipulator"&Y% +4 "core" % ΂ y + "storage"(N& +5 "core" &\ $\ # (\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&4'Ϯ +20 "core" ' + "manipulator"&B& +4 "core" &  C +2 "storage"(& +3 "core" &\ G\ G N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +7 "manipulator"&C'9 +37 "core" ' + "storage"(?% +4 "core" %E\ D\ > \ +2 ."downElevator"SE.seek :down +3 "storage"(\ 'X +100 (V% +2 "core" %G\ $\ % T\ U_ +2 "manipulator"&F% +4 "core" %2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&/% +3 "core" %\   +2 "storage"(U% +4 "core" %a\ +\ , 0\ + "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +3 "core" & \ \ C\ +2 "manipulator"&D& +3 "core" & C +2 .tElbow.seek 2 + "manipulator"&Q( +44 "core" ( + "manipulator"&E& +4 "core" & % + "storage"(Z& +4 "core" & \ F\ G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +87 "core" ' + "storage"(O& +4 "core" & \ @\ F \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +285 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +2 "core" & \ \  3\ +2 "manipulator"&H& +3 "core" & W $ +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( + "manipulator"&S& +4 "core" & $ + "storage"(]& +4 "core" & \ #\ # )\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&d' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(K'X +8 "core" & $ + "manipulator"&i% +4 "core" %  8 +2 .tForearm.seek :retract + "manipulator"&f'\ +90 "core" ' +50 .tElbow.seek CC +3 "manipulator"&^( +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +54 "core" ( +2 "manipulator"&[& +4 "core" &+ = Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &+ u Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&h'" +92 "core" ' + "manipulator"&k& +4 "core" &, Bl +2 "manipulator"&_% +4 "core" %' C  +2 "collection"'p& +3 "core" & \ +2 "collection"'l& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \  +9 &.{ \ *x +9 &d \ > +10 &s \ M +9 &AX \ M +9 &W \ M +10 &Z \ L +9 &Y \ M +10 &JW \ M +9 & X \ L +9 &X \ M +10 & Z \ L +9 &"QY \ M +9 &$X \ M +10 &%X \ M +9 &'X \ L +10 &)[X \ L +9 &+X \ M +9 &,V \ M +10 &.W \ L +9 &0bZ \ M +9 &2$U \ M +10 &3V \ M +9 &5W \ L +10 &7kY \ L +9 &9,Y \ M +9 &:] \ M +10 &<[ \ M +9 &>rY \ M +9 &@4[ \ M +10 &A\\ \ M +9 &CX \ M +10 &Ew_ \ N +9 &G6h \ O +9 &H{ \ Q +10 &J \ V +9 &La \ X +9 &N# \ X +10 &O \ Y +9 &Q \ Y +10 &Sc \ Z +9 &U% \ Z +9 &VrC \ / +10 &Vp \ J +5 ( + "collection"'l& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&o1 +3 "core" &Va \ J +53 1 +2 "manipulator"&% +5 "core" % ' e  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&|% +4 "core" %\  4 + "storage"(`% +4 "core" %W \ + "storage"(. +3 "core" .( +2 "storage"(}& +3 "core" & \ +2 "storage"(u& +3 "core" & \ +2 "manipulator"&{& +4 "core" &* @\\ + "manipulator"&% +4 "core" %\ ! V 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&A& +4 "core" &  + "storage"(r& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +91 "core" ' + "storage"(q& +4 "core" & \ \ M\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (b& +3 "core" & o\ + "manipulator"&e& +4 "core" & H  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ;  + "storage"(x& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"()'X +7 "core" & @  +2 "manipulator"&w% +4 "core" %  ` r +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&n(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +3 "manipulator"&!& +4 "core" &n 2 E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + "manipulator"&& +4 "core" &o +2 "manipulator"&s% +3 "core" % ? @ +2 "processing"%v& +4 "core" &\ +2 "processing"%$& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 &\ 6 +9 &>H}\ 0 +9 &hq\ D +10 & h\ N +9 &Z\ M +10 &Z\ M +9 &Q]\ M +9 &]\ M +10 &_\ N +9 &[\ M +9 &Z\\\ M +10 &!^\ M +9 &"`\ M +10 &$^\ M +9 &&`]\ N +9 &(#\\\ M +10 &)Y\ M +9 &+Z\ M +9 &-iZ\ M +10 &/+Z\ M +9 &0Z\ N +10 &2]\ N +9 &4q\\\ M +9 &63Y\ M +10 &7Y\ M +9 &9_\ M +9 &;x[\ N +10 &=:\\\ N +9 &>\\\ M +10 &@^\ N +9 &B\\\ M +9 &DB]\ N +10 &Fe\ N +9 &Gu\ P +9 &Iz\ R +10 &K;\ S +9 &L\ S +10 &N\ T +9 &P~\ T +9 &R?\ T +10 &T\ T +9 &U\ T +9 &W\ T +10 &YE\ B +9 &ZX8e\ $j +9 &Z0\ * +6 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&y1 +4 "core" &Z\ * +51 1 + "manipulator"& % +4 "core" % p @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  + "storage"(% +4 "core" %T \ + "storage"(2. +3 "core" .( +2 "storage"(@& +4 "core" & \ +2 "storage"(*& +4 "manipulator"&z& +4 "core" & \ + &o +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&=(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'i +2 "core" ( + "manipulator"&& +4 "core" &o E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &o +2 .tForearm.seek PC +2 "manipulator"&#' +93 "core" ' +2 .tHand.close + "manipulator"&j/ +60 "core" / + .tPC.seek :open +2 "processing"%~( +93 "core" ' + "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +36 "core" ' +293 ( + "storage"(R& +4 "core" & \ +2 "manipulator"&6& +3 "core" &o +2 "manipulator"&% +3 "core" % _ % +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +261 "core" ( +2 "manipulator"&5& +4 "core" & /  + "storage"(-& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +97 "core" ' + .tHand.open + "manipulator"&,1 +62 "core" 1 + "storage"(>- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +4 "core" -' + "storage"(L& +4 "core" & k h o\ + "manipulator"&0& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&N& +4 "core" & o  + "storage"(B& +4 "core" & o p\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(?' +56 "core" ' + "manipulator"&.& +4 "core" & _  +2 "storage"(V& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&F' +31 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(%'i +23 "core" ' + "manipulator"&4% +4 "core" %  +2 "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&/' +12 "core" ' +3 "manipulator"&U& +4 "core" &   +2 "storage"(P& +5 "core" & \ \  9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +75 "core" ' +2 "storage"(C% +4 "core" %q\ #\ \ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (T% +3 "core" %H d\ U_ +2 "manipulator"&1% +4 "core" %Ѻ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" & \ \  \ + "collection"'Z& +4 "core" &Va \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&O% +4 "core" %\ \ C  + "storage"(<% +4 "core" %a\ \ \ +2 "storage"(J. +3 "core" .( + "storage"(+& +4 "core" & \ \ \ + "storage"(c& +4 "core" & \ \ \  d\ +2 "manipulator"&H& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( + "manipulator"&]& +4 "core" & `  +2 "storage"(3& +3 "core" & \ \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +94 "core" ' +2 "storage"(i& +4 "core" & \ \  b\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'i +283 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &  + "storage"(d& +4 "core" & z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&[' +32 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'V +32 "core" ' + "manipulator"&p% +5 "core" % b + "storage"(M& +4 "core" & [\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&K' +17 "core" ' + "manipulator"&f& +4 "core" & t  +2 "storage"(I& +3 "core" & \ \ o\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('E +41 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&|% +4 "core" %ѓ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&}& +5 "core" &( " Y ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &( | ?Q +2 .tForearm.seek CC +2 "manipulator"&u'" +94 "core" ' +2 .tHand.close + "manipulator"&{/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(h& +4 "core" & \  m\ + "storage"(A& +4 "core" & \  B\ + "manipulator"&r& +4 "core" &( >M + "manipulator"&q% +4 "core" % + +2 .tForearm.seek :retract + "manipulator"&^'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&t( +166 "core" ( + "manipulator"&& +5 "core" & [  + "storage"(b& +4 "core" & \ I\ F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&e' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +64 "core" 1 + "manipulator"&% +5 "core" %  + "storage"('& +4 "core" & \ \  )\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&w' +13 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(W& +4 "core" & \ M\ G ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +23 "core" ' +2 "storage"(a% +4 "core" %H\ J\ G h\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (% +2 "core" %B\ $\ &\ U_ +2 "manipulator"&% +4 "core" % X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'s& +4 "core" & \ + "manipulator"&v% +4 "core" %\ 0  +2 "storage"()% +4 "core" %b o\  a\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(:( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" &\ \  #\  + "manipulator"& & +4 "core" & M  +2 .tElbow.seek 3 + "manipulator"&( +16 "core" ( + "manipulator"&& +4 "core" & O +2 "storage"(& +3 "core" &\ <\ D Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +91 "core" ' +2 "storage"(@& +4 "core" &\ \\\ ] \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +286 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &\ $\ ( 0\  +2 "manipulator"&& +3 "core" & d O +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +3 "core" & + O +2 "storage"(j& +4 "core" &\ G\ G\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&&'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +6 "core" & O +2 "manipulator"&;% +3 "core" % ϱ 8  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&& +4 "core" &% ' <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &% i <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'" +92 "core" ' + "manipulator"&-& +4 "core" && <: +2 "manipulator"&=% +4 "core" %! 4  +2 "collection"',& +4 "core" & \ +2 "collection"'>& +6 "core" & \ +2 .tCC.seek :closed + "collection"'((V +5 "core" & \  +9 &2 \ *x +9 &d \ > +9 &{t \ M +10 &?X \ L +9 &] \ M +9 &\\ \ L +10 &X \ L +9 &GY \ L +10 & Y \ L +9 &] \ L +9 & Y \ L +10 &"OY \ L +9 &$Z \ L +9 &%] \ M +10 &'\\ \ L +9 &)XZ \ L +10 &+] \ L +9 &,W \ L +9 &.\\ \ M +10 &0^\\ \ M +9 &2!Z \ L +9 &3W \ L +10 &5\\ \ L +9 &7g\\ \ L +10 &9*X \ L +9 &:] \ M +9 &<Y \ L +10 &>oZ \ L +9 &@1Y \ L +9 &AY \ L +10 &C\\ \ L +9 &Esd \ N +10 &G2n \ O +9 &H \ Q +9 &J \ V +10 &L_ \ W +9 &N! \ W +9 &O \ X +10 &Q \ X +9 &Sa \ Y +10 &U# \ Y +9 &VkA \ 1 +9 &V x \ K +6 ( + "collection"'>& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open + "manipulator"&L1 +4 "core" &Vp \ K +59 1 + "manipulator"&0% +4 "core" % ! g  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" &\ + "manipulator"& % +4 "core" %\  X  +2 "storage"(.% +3 "core" %a r\ +2 "storage"(V. +3 "core" .( + "storage"(4& +4 "core" & 5\  + "storage"(& +4 "core" & \  + "manipulator"&& +4 "core" &$ l ;6 + "manipulator"&U% +4 "core" %\   +52 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P( +163 "core" ( + "manipulator"& & +4 "core" & M  +2 "storage"("& +3 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +96 "core" ' +2 "storage"(9& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" & \  +2 "manipulator"&1& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&Y( +4 "core" ( + "manipulator"&?& +4 "core" & (  +2 "storage"(F& +3 "core" & m\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'ϩ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"(O'X +6 "core" &  +2 "manipulator"&<% +4 "core" % ϫ \   +2 .tForearm.seek :retract +2 "manipulator"&J'\ +98 "core" ' +3 .tElbow.seek PC + "manipulator"&+(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +99 "core" ( + "manipulator"&%& +4 "core" &g  O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +93 "core" ' +2 "manipulator"&]& +4 "core" &h +2 "manipulator"&3% +3 "core" % ? +2 "processing"%7& +4 "core" &\ +2 "processing"%i& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &\ +7 &8\ $d +10 &U\ 7 +9 &}\ K +10 &[\ N +9 &i[\ N +9 &,]\ M +10 &Z\ N +9 &X\ M +9 &q_\ N +10 &3[\ N +9 &Y\ M +10 &!Y\ N +9 &#z^\ M +9 &%<^\ M +10 &&Y\ M +9 &(Z\ M +9 &*]\ M +10 &,C]\ N +9 &.\\\ M +9 &/X\ M +10 &1Y\ M +9 &3MZ\ M +10 &5 \\\ N +9 &6\\\ N +9 &8[\ N +10 &:SY\ N +9 &<[\ N +9 &=\\\ M +10 &?]\ M +9 &A\\Y\ M +10 &CY\ N +9 &D_\ N +9 &Fd\ N +10 &H\\o\ P +9 &J\ R +9 &K\ S +10 &M\ S +9 &OZ\ S +10 &Q\ S +9 &R\ T +9 &T\ T +10 &V`\ T +9 &X"\ T +9 &Y{p\ 3 +10 &Z+~\ J +9 &Z\ - +2 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&G1 +62 "core" 1 +2 "manipulator"&D% +4 "core" % S ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +96 "core" ' + "processing"%g& +5 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&d% +3 "core" %\ \ R  +2 "storage"(k% +9 "core" %a \ + "storage"(p. +3 "core" .( +2 "storage"(M& +3 "core" & \  +7 "storage"(f& +3 "manipulator"&I& +5 "core" & m\  + &h +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(|'i +11 "core" ( +2 "manipulator"&\\& +4 "core" &q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +2 "core" &q  +2 .tForearm.seek PC +2 "manipulator"&Q' +98 "core" ' + .tHand.close +2 "manipulator"&[/ +53 "core" / +2 .tPC.seek :open +2 "processing"%K( +86 "core" ' + "storage"(_- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'y +45 "core" ' +289 ( +2 "storage"(l& +4 "core" & \  + "manipulator"&o& +4 "core" &r i  + "manipulator"&X% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&{'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +258 "core" ( + "manipulator"&& +4 "core" & g  +2 "storage"(h& +3 "core" & {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +103 "core" ' + .tHand.open +2 "manipulator"&r1 +54 "core" 1 +2 "storage"(q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(b' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(& +4 "core" & | !\  + "manipulator"&x& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" & W  + "storage"(& +4 "core" & { t q\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(a' +59 "core" ' + "manipulator"&^& +4 "core" & +  +2 "storage"(& +3 "core" & ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'i +26 "core" ' +2 "manipulator"&s% +4 "core" %΄ \  +2 "storage"(w& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&v'ϰ +13 "core" ' + "manipulator"&)& +5 "core" &  + "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 "storage"( % +4 "core" %s\ \  E\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (% +4 "core" %II n\ Wc + "manipulator"&y% +4 "core" %U ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & )\  +2 "collection"'& +3 "core" &Vo \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&@% +4 "core" %\ %  0 + "storage"(% +4 "core" %U \ +2 "storage"(. +3 "core" .( + "storage"(z& +4 "core" & \  +2 "storage"($& +3 "core" & \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&j& +4 "core" &  +2 "storage"(n& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(;& +4 "core" &\ \  ^\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +276 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & T  +2 "storage"(#& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&*'} +28 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(='R +27 "core" ' +2 "manipulator"&,% +4 "core" %΍ ? o +51 "storage"(& +4 "core" & ~\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&'Ϲ +12 "core" ' + "manipulator"&R& +4 "core" & 6  +2 "storage"(& +4 "core" & M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(0'A +40 "core" ' +2 "manipulator"&B& +4 "core" & '  +2 "manipulator"& % +3 "core" %N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +157 "core" ( +2 "manipulator"&V& +4 "core" &# e :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +2 "core" &# a :, +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'U( +416 "core" ( +2 "storage"(5& +4 "core" &\ \  7\  + "storage"( & +4 "core" &\ \  Q\  + "manipulator"&"& +4 "core" &# F :+ + "manipulator"&9% +4 "core" % 2 7  +2 .tForearm.seek :retract + "manipulator"&6'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&N( +160 "core" ( +2 "manipulator"&& +4 "core" & p  + "storage"(T& +4 "core" &\ F\ F\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&1'} +92 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&F1 +64 "core" 1 +2 "manipulator"&E% +4 "core" % Ί t + "storage"(Z& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&<'϶ +24 "core" ' +2 "manipulator"&P& +5 "core" & y  + "storage"(C& +4 "core" &\ H\ H I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +30 "core" ' +2 "storage"(/% +4 "core" %G\ +\ 5 U\ +2 ."downElevator"SE.seek :down +3 "storage"(%'X +99 (c% +3 "core" %?\ "\  \ U^ +2 "manipulator"&Y% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +86 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'3& +4 "core" & \ +2 "manipulator"&7% +3 "core" %\  n  +2 "storage"(O% +4 "core" %`\ 0\ , *\ + "storage"(J. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(~( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" & \ \ )\ +2 "manipulator"&D& +3 "core" & P  +2 .tElbow.seek 2 + "manipulator"&g( +34 "core" ( +2 "manipulator"&d& +4 "core" & V % + "storage"(k& +4 "core" & \ F\ F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +106 "core" ' +2 "storage"(i& +4 "core" & \ +\ B i\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'i +278 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" & \ \ \ +2 "manipulator"&\\& +3 "core" & U $ +2 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( + "manipulator"&H& +3 "core" & C $ +2 "storage"([& +4 "core" & \ "\ # \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(\ 'X +7 "core" & - $ + "manipulator"&|% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&o( +151 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&X& +3 "core" &" F 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &" E 9' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +2 "manipulator"&h& +4 "core" &" !  9& + "manipulator"&% +4 "core" %' V +3 "collection"'r& +3 "core" & \ +2 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed + "collection"'u(V +5 "core" & \  +8 &0~ \ *y +10 &d \ > +9 &zr \ M +10 &=T \ L +9 &Y \ L +9 &[ \ M +10 &Y \ M +9 &EZ \ L +9 &X \ L +10 &[ \ M +9 & \\ \ L +10 &"MW \ L +9 &$V \ M +9 &%W \ M +10 &'U \ L +9 &)VW \ L +9 &+\\ \ M +10 &,X \ M +9 &.U \ L +10 &0]Y \ L +9 &2Y \ M +9 &3Y \ L +10 &5T \ L +9 &7eW \ L +9 &9'[ \ L +10 &:Y \ L +9 &<Z \ L +10 &>mY \ L +9 &@.[ \ M +9 &AZ \ M +10 &CX \ M +9 &Es^ \ M +9 &G0k \ O +10 &Hz \ P +9 &J \ U +10 &L] \ W +9 &N \ X +9 &O \ X +10 &Q \ X +9 &S^ \ Z +9 &U \ Z +10 &VmD \ 1 +9 &Vp \ I +6 ( + "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&1 +3 "core" &V` \ I +60 1 +2 "manipulator"&x% +4 "core" % '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&{% +3 "core" %\  m ) +2 "storage"(^% +4 "core" %T \ + "storage"(. +3 "core" .( +2 "storage"(s& +3 "core" & X\ +2 "storage"(}& +3 "core" & N\ +2 "manipulator"&w& +4 "core" &! $ 8 + "manipulator"&)% +4 "core" %\  C ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +102 "core" ' +2 "storage"(A& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +2 "core" & 6\ +2 "manipulator"&W& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&a& +3 "core" & F  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(@'X +8 "core" &  + "manipulator"&% +4 "core" %  f +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +111 "core" ( +2 "manipulator"&z& +4 "core" &o 2 \\ \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &o \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&j& +4 "core" &o \ +2 "manipulator"&n% +4 "core" % B +50 "processing"%& +5 "core" &\ +2 "processing"%;& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &\ +7 & /\ $c +9 &S~\ 6 +9 &\ K +10 &[\ M +9 &X`\ N +9 &]\ M +10 &\\\ M +9 &\\\ M +10 &aZ\ M +9 &#X\ M +9 &_\ M +10 &!Y\ M +9 &#i_\ M +9 &%*]\ N +10 &&\\\ M +9 &(Z\ M +10 &*q]\ M +9 &,3^\ M +9 &-]\ N +10 &/Z\ M +9 &1zZ\ M +9 &3;\\\ M +10 &4Y\ M +9 &6Y\ M +10 &8[\ M +9 &:CY\ M +9 &<]\ M +10 &=Z\ M +9 &?]\ M +9 &AK\\\ M +10 &C `\ M +9 &D`\ M +8 "Can"\ PM +4 "core" &Fg\ O +7 &HGv\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &OI\ S +10 &Q\ \ T +9 &R\ T +10 &T\ T +9 &VN\ T +9 &X\ T +10 &Yzl\ ; +9 &Z%`\ O +9 &Z'\ 1 +3 ( + "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&t1 +52 "core" 1 +2 "manipulator"& % +4 "core" %  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +97 "core" ' +2 "processing"%& +4 "core" &Z*\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&#% +4 "core" %\  h - + "storage"(-% +4 "core" %a \ + "storage"(,. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(R& +5 "manipulator"&& +3 "core" & \ + &o \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(B'i +4 "manipulator"& (s +3 "core" ( + "manipulator"&& +4 "core" &o  , \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &o  \ +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&*/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +84 "core" ' + "storage"(=- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(V'y +44 "core" ' +296 ( + "storage"(4& +4 "core" & \ +2 "manipulator"&L& +3 "core" &o \  \ +2 "manipulator"&&% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.( +275 "core" ( + "manipulator"&(& +4 "core" & # +2 "storage"(5& +3 "core" & /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +94 "core" ' + .tHand.open +2 "manipulator"&"1 +55 "core" 1 +2 "storage"(9- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(T' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(>& +4 "core" & | t g\ +2 "manipulator"&F& +3 "core" & "} +2 .tElbow.seek 2 +2 "manipulator"&E( +8 "core" ( + "manipulator"&Z& +5 "core" & ( + "storage"(P& +4 "core" & q o \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(/' +58 "core" ' +2 "manipulator"&6& +4 "core" & ( + "storage"(c& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&Y' +31 "core" ' +2 .tElbow.hold + "manipulator"&N, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(1'i +22 "core" ' + "manipulator"&<% +5 "core" % + "storage"(3& +4 "core" & v\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&7' +27 "core" ' + "manipulator"&O& +4 "core" & d ( +2 "storage"(J& +4 "core" & W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +17 "core" ' + "storage"(8% +4 "core" %s\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(%'X +99 (:% +2 "core" %LD \ Wc +2 "manipulator"&G% +5 "core" %њ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +3 "core" & /\ +2 "collection"'k& +3 "core" &V` \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&i% +4 "core" %\    +2 "storage"(?% +3 "core" %a \ +2 "storage"(]. +3 "core" .( + "storage"(I& +4 "core" & \ + "storage"(f& +4 "core" & \ \ + "manipulator"&\\& +4 "core" & ( +2 .tElbow.seek 2 + "manipulator"&H( +4 "core" ( + "manipulator"&[& +4 "core" & ( + "storage"(+& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&m'ќ +92 "core" ' + "storage"(|& +4 "core" & \  }\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +286 "core" ' +2 "storage"(p- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&X& +3 "core" & ( +2 "storage"(Q& +3 "core" & o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&M' +32 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +31 "core" ' + "manipulator"&r% +4 "core" % k + "storage"(S& +4 "core" & `\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&\ ' +12 "core" ' + "manipulator"&l& +4 "core" & X ' +2 "storage"(U& +4 "core" & Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(x'E +44 "core" ' +2 "manipulator"&& +4 "core" & ' +2 "manipulator"&{% +3 "core" %Ѷ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +86 "core" ' +2 .tElbow.seek CC + "manipulator"&( +159 "core" ( +3 "manipulator"&q& +4 "core" &&  Z =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" && =B +2 .tForearm.seek CC + "manipulator"&}'" +100 "core" ' +2 .tHand.close + "manipulator"&w/ +63 "core" / +2 .tCC.seek :open + "collection"')( +416 "core" ( +2 "storage"(& +4 "core" & \ s\ + "storage"(& +4 "core" & \ \ + "manipulator"& & +4 "core" &% <9 + "manipulator"&A% +3 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +153 "core" ( +2 "manipulator"&& +4 "core" & + "storage"(y& +4 "core" & \ F\ F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&W' +106 "core" ' +2 .tElbow.hold +50 "manipulator"&a, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&% +4 "core" % \\ +2 "storage"(& +3 "core" & \ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +13 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(`& +4 "core" & \ F\ H :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +26 "core" ' + "storage"(v% +4 "core" %E\ <\ D w\ +3 ."downElevator"SE.seek :down +3 "storage"(z'X +99 ($% +2 "core" %B\ #\ # ?\ V_ +2 "manipulator"&% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'n& +4 "core" & \ +2 "manipulator"&% +4 "core" %\   + "storage"(@% +4 "core" %b\ H\ G\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(K( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" & ]\  + "manipulator"& & +4 "core" & i +2 .tElbow.seek 3 + "manipulator"&( +20 "core" ( +2 "manipulator"&#& +4 "core" & 1 + "storage"(-& +4 "core" &\ F\ E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +103 "core" ' +2 "storage"(& +4 "core" & {\ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" &\ "\  =\  +2 "manipulator"&& +3 "core" & ~ 1 +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & G 1 + "storage"(*& +4 "core" &\ ,\ 7 G\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&='ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(!'X +7 "core" & 1 +2 "manipulator"&B% +4 "core" % ϰ \   +2 .tForearm.seek :retract +2 "manipulator"&4'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +25 "core" ( +2 "manipulator"&&& +4 "core" && 1 o >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&('" +94 "core" ' + "manipulator"&5& +4 "core" &'  >H +2 "manipulator"& % +4 "core" % ?  + "collection"'"& +4 "core" & \ +2 "collection"'9& +6 "core" &  \ +2 .tCC.seek :closed + "collection"'(V +4 "core" & \  +9 &0~ \ *y +9 &d \ > +10 &r \ M +9 &CU \ M +9 &\\ \ L +10 &\\ \ L +9 &U \ L +10 &MX \ L +9 & Y \ M +9 &V \ L +10 & X \ L +9 &"TX \ L +9 &$[ \ M +10 &%Z \ M +9 &'X \ M +10 &)\\U \ L +9 &+[ \ M +9 &,X \ M +10 &.Y \ M +9 &0dW \ L +9 &2&W \ L +10 &3[ \ M +9 &5Y \ L +10 &7lU \ L +9 &9.U \ L +9 &:Y \ L +10 &<] \ M +9 &>t[ \ L +9 &@5[ \ M +10 &AY \ L +9 &CZ \ L +10 &Ez_ \ M +9 &G6n \ O +9 &H \ Q +10 &J \ V +9 &Ld \ W +9 &N' \ W +10 &O \ X +9 &Q \ X +10 &Sg \ Y +9 &U( \ Y +9 &Vn@ \ 1 +10 &Vr \ I +5 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&>1 +4 "core" &Vk \ I +56 1 +2 "manipulator"&F% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&Z'\ +95 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&% +4 "core" %\  U  +2 "storage"(6% +3 "core" %S \ +2 "storage"(c. +3 "core" .( + "storage"(V& +4 "core" & 6\  + "storage"(<& +4 "core" & \  + "manipulator"&3& +4 "core" &% O <@ + "manipulator"&% +4 "core" %\  E  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +164 "core" ( + "manipulator"&J& +4 "core" & l +2 "storage"(8& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +102 "core" ' +2 "storage"( & +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +276 "core" ' +2 "storage"(:- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +3 "core" & H\  + "manipulator"&C& +4 "core" & h l +2 .tElbow.seek 3 + "manipulator"&E( +3 "core" ( +2 "manipulator"&/& +3 "core" & k l +2 "storage"(Y& +3 "core" &\ \ \\\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&7'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(i'X +8 "core" & l + "manipulator"&?% +4 "core" % ψ ! +2 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&](s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&I& +4 "core" &p 1 Q " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" &p " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +93 "core" ' +2 "manipulator"&[& +4 "core" &p 0 " +2 "manipulator"&+% +3 "core" % 4 +2 "processing"%0& +4 "core" &\ +2 "processing"%|& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%%(Z +4 "core" &\ +7 & .\ $d +10 &U\ 7 +9 &\ L +10 &Z\ M +9 &eY\ M +9 &'Y\ M +10 &Y\ M +9 &Y\ M +9 &m]\ M +10 &.\\\ N +9 &[\ M +10 &!]\ M +9 &#u]\ M +9 &%6[\ N +10 &&[\ M +9 &(Y\ M +9 &*}Y\ M +10 &,?X\ M +9 &.Y\ M +9 &/W\ M +10 &1W\ M +9 &3GW\ M +10 &5 W\ M +9 &6W\ M +9 &8Z\ N +10 &:NZ\ N +9 &<Z\ M +9 &=Z\ M +10 &?Z\ N +9 &AWY\ M +10 &CX\ M +9 &D]\ N +9 &Fd\ N +10 &HXm\ P +9 &J\ Q +9 &K\ S +10 &M\ S +9 &OU\ S +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V\\\ T +9 &X\ T +9 &Y|o\ 4 +10 &Z-\ K +9 &Z\ ) +3 ( + "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&N1 +53 "core" 1 +2 "manipulator"&D% +4 "core" % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +2 "processing"%X& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %\  1  + "storage"(h% +4 "core" %S \ + "storage"(r. +3 "core" .( +2 "storage"(S& +3 "core" & \  +2 "storage"(l& +3 "manipulator"&U& +6 "core" & n\  + &p " +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('i + "manipulator"&{(s +5 "core" ( + "manipulator"&m& +4 "core" &p & " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +2 "core" &p > " +2 .tForearm.seek PC +2 "manipulator"&g' +145 "core" ' +2 .tHand.close + "manipulator"&M/ +62 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +33 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(q'y +43 "core" ' +344 ( +2 "storage"(s& +4 "core" & 4\  + "manipulator"&& +4 "core" &p { " + "manipulator"&_% +4 "core" % d # +2 .tForearm.seek :retract + "manipulator"&w'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&^( +251 "core" ( +2 "manipulator"&u& +4 "core" &\ k a + "storage"(& +4 "core" & R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "storage"(A- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(y' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(& +3 "core" & t\  +2 "manipulator"&& +4 "core" & ` + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &\ s ` + "storage"(& +4 "core" & x J\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&`'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(o' +68 "core" ' + "manipulator"&v& +4 "core" &\ ` +2 "storage"('& +4 "core" & &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&$'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +25 "core" ' +2 "manipulator"&n% +4 "core" %Ώ - + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +19 "core" ' +2 "manipulator"&@& +4 "core" &\ W ` +2 "storage"(& +3 "core" & T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +27 "core" ' +2 "storage"(b% +4 "core" %p\ .\ +2 ."downElevator"SE.seek :down +4 "storage"(z'X +99 (~% +2 "core" %F \ Wb +2 "manipulator"&t% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +3 "core" & 1\  +2 "collection"'-& +4 "core" &V` \ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\   +2 "storage"(a% +4 "core" %_ \ +2 "storage"(j. +3 "core" .( + "storage"(R& +4 "core" & \  K\  + "storage"(;& +4 "core" & \  + "manipulator"&& +4 "core" &\ ? ` +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&*& +4 "core" &\ Y ` + "storage"(e& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +98 "core" ' +2 "storage"(B& +4 "core" &\  C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +3 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&&& +3 "core" &\ ` +2 "storage"(& +3 "core" & K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"( 'Q +32 "core" ' + "manipulator"& % +4 "core" %΋ S +2 "storage"("& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&!'Ϸ +12 "core" ' + "manipulator"&4& +5 "core" & O ` + "storage"()& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(F'@ +40 "core" ' +2 "manipulator"&P& +4 "core" &\ _ +2 "manipulator"&% +4 "core" %T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&c( +161 "core" ( +2 "manipulator"&V& +4 "core" &%  <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &$ g ;8 +2 .tForearm.seek CC +2 "manipulator"&<'" +91 "core" ' + .tHand.close +2 "manipulator"&3/ +55 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( + "storage"((& +4 "core" &\ \  b\  +2 "storage"(J& +3 "core" &\ \ \  +2 "manipulator"&8& +4 "core" &$ ;2 + "manipulator"& % +4 "core" % 6 | ' +2 .tForearm.seek :retract + "manipulator"&L'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +164 "core" ( + "manipulator"&:& +4 "core" & K j +2 "storage"(G& +4 "core" &\ %\ % E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&C'} +101 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&Y1 +64 "core" 1 +2 "manipulator"&d% +4 "core" % ΁ o +2 "storage"(k& +4 "core" &\ "\ # \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts + "manipulator"&?'ϭ +20 "core" ' + "manipulator"&O& +4 "core" & 1 j +2 "storage"(.& +3 "core" &\ G\ G \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +32 "core" ' + "storage"(7% +4 "core" %B\ @\ , a\ +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (f% +3 "core" %~D\ #\ "\ Va +2 "manipulator"&E% +4 "core" %*  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'+& +4 "core" & \ + "manipulator"&0% +4 "core" %\   + "storage"(i% +4 "core" %^\ ,\ . A\ +2 "storage"(1. +2 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" & \ \ \ +2 "manipulator"&D& +4 "core" & } j + .tElbow.seek 2 +2 "manipulator"&X( +42 "core" ( + "manipulator"&Q& +4 "core" & F + "storage"(h& +4 "core" & \ F\ F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +96 "core" ' + "storage"(S& +4 "core" & \ @\ [ O\ +50 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'i +278 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (|& +3 "core" & \ \  \ +2 "manipulator"&m& +3 "core" & F +2 .tElbow.seek 2 +2 "manipulator"&H( +25 "core" ( + "manipulator"&\\& +4 "core" & P  +2 "storage"(M& +3 "core" & \ F\ F\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +3 "storage"(%'X +7 "core" &  +2 "manipulator"&% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&s'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( + "manipulator"&_& +4 "core" &- % W Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &- M Cp +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'" +98 "core" ' +2 "manipulator"&& +4 "core" &- Co +2 "manipulator"&{% +4 "core" %( +2 "collection"' & +4 "core" & \ +2 "collection"'A& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'}(V +4 "core" & \ +8 &4 \ $c +9 &V \ 7 +10 &} \ L +9 &W \ L +10 &j\\ \ M +10 &,X \ M +8 &Z \ M +9 &V \ L +10 &sW \ L +9 &4W \ M +10 &Y \ M +9 &!\\ \ L +9 &#z\\ \ M +10 &%<Y \ M +9 &'U \ L +9 &(Z \ L +10 &*Y \ M +9 &,EU \ L +10 &.Z \ L +9 &/[ \ L +9 &1W \ L +10 &3MU \ L +9 &5V \ L +9 &6V \ L +10 &8U \ L +9 &:U\\ \ L +10 &<X \ M +9 &=[ \ L +9 &?W \ M +10 &A\\Y \ M +9 &C[ \ L +10 &D\\ \ L +9 &Ff \ N +9 &H\\u \ O +10 &J \ T +9 &K \ V +9 &M \ X +10 &OL \ X +9 &Q \ W +9 &R \ Y +10 &T \ Y +9 &V+u \ . +10 &V! \ M +9 ( + &Vb \ H +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +4 "core" % ( y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&w% +4 "core" %\ 4  + "storage"(v% +4 "core" %R T\ + "storage"('. +3 "core" .( +2 "storage"(q& +4 "core" &  F\ + "storage"(n& +4 "core" &  "\ +2 "manipulator"&& +3 "core" &+ M Bk +2 "manipulator"&% +3 "core" %\ \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&@( +160 "core" ( +2 "manipulator"&& +4 "core" & V  + "storage"(b& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +91 "core" ' + "storage"(& +4 "core" & \ \ C\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +283 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (t& +3 "core" &  P\ + "manipulator"&`& +4 "core" & .  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&o& +3 "core" & T  +2 "storage"($& +3 "core" &  U\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&-& + "storage"('X +7 "core" & 2  + "manipulator"&W% +4 "core" %  g > +2 .tForearm.seek :retract + "manipulator"&a'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&j(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +3 "manipulator"&R& +4 "core" &} ( L  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +2 "core" &}  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' + "manipulator"&*& +4 "core" &~  +2 "manipulator"&e% +4 "core" % \\ % +2 "processing"%x& +3 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed + "processing"%z(Z +5 "core" &\  +8 &2}\ *x +10 &d\ > +9 &uw\ N +9 &9Y\ M +10 &\\\ N +9 &\\\ M +9 &~Y\ M +10 &@X\ M +9 &Z\ M +10 &Z\ N +9 & W\ M +9 &"H\\\ M +10 &$\ W\ M +9 &%Y\ N +9 &'\\\ N +10 &)P\\\ M +9 &+W\ M +10 &,W\ M +9 &.\\\ M +9 &0W[\ N +10 &2Z\ N +9 &3W\ M +9 &5\\\ N +10 &7`Z\ M +9 &9"W\ M +10 &:W\ M +9 &<Y\ N +9 &>hY\ M +10 &@)Y\ N +9 &AZ\ M +9 &C\\\ M +10 &En`\ N +9 &G-k\ O +10 &H\ R +9 &J\ S +9 &Lf\ S +10 &N)\ S +9 &O\ T +9 &Q\ S +10 &Sm\ T +9 &U/\ T +10 &V\ T +9 &X\ T +9 &Z]\ #l +10 &ZZ\ + +9 ( + &Z\ ' +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"& % +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&,'\ +97 "core" ' + "processing"%&& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(5% +3 "core" %b \ +2 "storage"( . +3 "core" .( + "storage"("& +4 "core" &  :\ +2 "storage"(4& +4 "manipulator"&)& +4 "core" &  \ + &~ {  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&P(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +5 "core" ( +2 "manipulator"&2& +4 "core" &  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open + "processing"%!( +84 "core" ' +2 "storage"( - +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V'y +47 "core" ' +292 ( +2 "storage"(9& +4 "core" &  4\ + "manipulator"&>& +4 "core" & z + "manipulator"&=% +4 "core" % x +2 .tForearm.seek :retract + "manipulator"&3'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&6( +260 "core" ( + "manipulator"&& +4 "core" & o \ +2 "storage"((& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +91 "core" ' + .tHand.open +2 "manipulator"&81 +61 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(:'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(G' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(c& +4 "core" &  ~ h\ + "manipulator"&Y& +4 "core" & \ +2 .tElbow.seek 2 + "manipulator"&d( +4 "core" ( + "manipulator"&k& +4 "core" & \ +2 "storage"(O& +3 "core" &  z\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(7' +57 "core" ' +51 "manipulator"&L& +5 "core" & J \ +2 "storage"(f& +4 "core" &  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&E' +34 "core" ' + .tElbow.hold + "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"(C'i +22 "core" ' +2 "manipulator"&?% +4 "core" % + "storage"(+& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&0' +13 "core" ' +2 "manipulator"&i& +4 "core" &  \ +2 "storage"(1& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +25 "core" ' +2 "storage"(T% +4 "core" %o \ I\ +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (K% +2 "core" %L \\\ Wc +2 "manipulator"&N% +4 "core" %ь J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +4 "core" &  S\ + "collection"'h& +4 "core" &Vc \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&S% +4 "core" %\   +2 "storage"(/% +3 "core" %T\ X\ +2 "storage"([. +3 "core" .( + "storage"(U& +4 "core" &  \ \ + "storage"(|& +4 "core" &  \ \ +2 "manipulator"&m& +3 "core" & u \ +2 .tElbow.seek 2 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&M& +4 "core" & M \ + "storage"(]& +4 "core" &  {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +96 "core" ' +2 "storage"(& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +282 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" & , \ +2 "storage"(g& +3 "core" &  |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&l' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"({'W +39 "core" ' + "manipulator"&H% +4 "core" % +2 "storage"( & +3 "core" &  W\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&%' +17 "core" ' + "manipulator"&s& +4 "core" & ] \ +2 "storage"(& +3 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +44 "core" ' +2 "manipulator"&& +4 "core" & g \ +2 "manipulator"&w% +4 "core" % R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +162 "core" ( +2 "manipulator"&q& +4 "core" &! 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &! 8 +2 .tForearm.seek CC +2 "manipulator"&n'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +3 .tCC.seek :open + "collection"'( +412 "core" ( + "storage"(u& +4 "core" & \ \  '\ +2 "storage"(& +3 "core" & \ \  Z\ +2 "manipulator"&b& +3 "core" &" c 8 +2 "manipulator"&% +3 "core" % 3 F  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +158 "core" ( +2 "manipulator"&~& +4 "core" &  +2 "storage"(t& +3 "core" & \ $\ $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&`' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +53 "core" 1 +2 "manipulator"&#% +4 "core" % + "storage"(-& +4 "core" & \ \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&W' +14 "core" ' + "manipulator"&@& +5 "core" & $  + "storage"(^& +4 "core" & \ G\ B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +29 "core" ' +2 "storage"(% +4 "core" %I\ +\ A S\ +3 ."downElevator"SE.seek :down +3 "storage"(R'X +99 (;% +4 "core" %A\ "\ % /\ V` + "manipulator"&% +4 "core" %ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'e& +4 "core" & \ + "manipulator"&x% +4 "core" %\ 6 + "storage"(% +4 "core" %]\ F\ A \ +2 "storage"(a. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & a\  + "manipulator"& & +4 "core" & z  +2 .tElbow.seek 3 + "manipulator"&&( +17 "core" ( +2 "manipulator"&& +4 "core" & L + "storage"(5& +4 "core" &\ F\ F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +100 "core" ' + "storage"("& +5 "core" &\ * { [\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +279 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &\ #\ % \  +2 "manipulator"&2& +3 "core" & 0 L +2 .tElbow.seek 3 + "manipulator"&( +5 "core" ( +6 "manipulator"&& +3 "core" &  L +2 "storage"(& +3 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(z'X +6 "core" & a L +2 "manipulator"&% +3 "core" % Ϥ +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&=& +4 "core" & 8 5\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & { 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'" +97 "core" ' +2 "manipulator"&(& +4 "core" & - 5\ +2 "manipulator"&P% +4 "core" %&  +2 "collection"'8& +3 "core" & \ +2 "collection"' & +5 "core" & \ +3 .tCC.seek :closed + "collection"'<(V +4 "core" & \ +8 &D \ $f +10 &X \ 8 +9 &y \ L +9 &W \ M +10 &Z \ L +9 &EU \ L +9 &V \ L +10 &U \ M +9 &Y \ M +10 &NU \ L +9 & Z \ M +9 &![ \ L +10 &#X \ M +9 &%UV \ L +9 &'W \ L +10 &(X \ M +9 &*X \ M +10 &,]U \ L +9 &.U \ L +58 &/U \ L +4 &1X \ L + &3eZ \ L +5 &5'Z \ L + &6Y \ M + &8W \ L + &:m[ \ L +4 &<.] \ M +9 &=Z \ M +10 &?Z \ L +9 &AvW \ L +10 &C6Z \ M +9 &D` \ M +9 &Fh \ N +10 &Hp \ Q +9 &J' \ U +9 &K \ W +10 &M \ X +9 &Oc \ X +10 &Q$ \ X +9 &R \ Y +9 &T \ Y +10 &V4n \ + +9 &V* \ ^ +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&c1 +3 "core" &Vm \ J +53 1 +2 "manipulator"&Y% +4 "core" % &  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%O& +4 "core" &\ +2 "manipulator"&3% +3 "core" %\    +2 "storage"(L% +4 "core" %S \ + "storage"(f. +3 "core" .( +2 "storage"(V& +3 "core" & \  +2 "storage"(:& +4 "core" & \  + "manipulator"&?& +4 "core" & 5 +2 "manipulator"&+% +3 "core" %\  W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&i( +163 "core" ( + "manipulator"&1& +5 "core" & v + "storage"(6& +4 "core" & W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +97 "core" ' + "storage"(J& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +283 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" & \  +2 "manipulator"&.& +3 "core" & v +2 .tElbow.seek 3 + "manipulator"&d( +4 "core" ( + "manipulator"&7& +4 "core" &  v + "storage"(E& +4 "core" & .\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&0'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(S'X +8 "core" & D v + "manipulator"&/% +4 "core" % ϙ  +2 .tForearm.seek :retract +2 "manipulator"&C'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&U& +4 "core" &r  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +2 "core" &r  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +101 "core" ' +2 "manipulator"&M& +4 "core" &r Q  +2 "manipulator"&]% +4 "core" % +2 "processing"%F& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(Z +3 "core" &\  +9 &1~\ *y +9 &c\ > +10 &yw\ N +9 &;\\\ M +9 &]\ M +10 &]\ M +9 &\\\ M +9 &BZ\ N +10 &Z\ M +9 &W\ M +10 & X\ M +9 &"K]\ M +9 &$ [\ M +10 &%]\ M +9 &'\\\ N +9 &)SZ\ M +10 &+W\ M +9 &,V\ M +10 &.W\ M +9 &0[W\ M +9 &2W\ N +10 &3Y\ N +9 &5Z\ N +9 &7cX\ M +10 &9%V\ M +9 &:U\ M +10 &<\\\ M +9 &>k[\ M +9 &@,[\ N +10 &AX\ M +9 &CX\ N +9 &Er\\\ N +10 &G1f\ O +9 &Hs\ P +10 &J\ R +9 &Li\ S +9 &N,\ S +10 &O\ S +9 &Q\ S +9 &Sp\ T +10 &U2\ T +9 &V\ T +10 &X\ T +9 &Z!\\}\ #m +9 &Z]\ . +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&Z1 +3 "core" &Z\ ( +57 1 + "manipulator"&D% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 "processing"%_& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&g% +3 "core" %\ a 2 +2 "storage"(% +4 "core" %S \ + "storage"(H. +3 "core" .( +2 "storage"( & +3 "core" & \  +2 "storage"(s& +5 "manipulator"&& +4 "core" & \  + &r y  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i "manipulator"&w(s +6 "core" ( + "manipulator"&p& +4 "core" &r  o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &r F  +2 .tForearm.seek PC + "manipulator"&X' +97 "core" ' + .tHand.close + "manipulator"&l/ +57 "core" / +3 .tPC.seek :open + "processing"%%( +87 "core" ' +2 "storage"({- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(q'y +43 "core" ' +293 ( +2 "storage"(A& +4 "core" & \  + "manipulator"&& +4 "core" &r  + "manipulator"&% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&v( +266 "core" ( +2 "manipulator"&}& +4 "core" &  + "storage"(u& +4 "core" & z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +106 "core" ' + .tHand.open +2 "manipulator"&b1 +60 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(~'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(t' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +4 "core" -' + "storage"('& +4 "core" & ~ m g\  + "manipulator"&$& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&#( +4 "core" ( + "manipulator"&-& +4 "core" & I  + "storage"(@& +4 "core" & } \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(;& +4 "core" & (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(`'i +26 "core" ' +2 "manipulator"&W% +4 "core" %΄ O +2 "storage"(e& +4 "core" & Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&x'ϰ +12 "core" ' +2 "manipulator"&& +4 "core" & W  +2 "storage"(a& +4 "core" &\ \  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' + "storage"(y% +4 "core" %s\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(R'X +99 (% +2 "core" %4G \ Xd +2 "manipulator"&% +4 "core" %= r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & R\  +2 "collection"'5& +3 "core" &Vm \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&"% +4 "core" %\   +2 "storage"(o% +3 "core" %a \ +2 "storage"(*. +3 "core" .( + "storage"(4& +4 "core" & \  + "storage"(B& +4 "core" & \  + "manipulator"&2& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(j& +4 "core" & \  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +94 "core" ' + "storage"(& +4 "core" &\ \ c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'i +286 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&=& +3 "core" &  +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&)'} +27 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"((- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(P'Q +32 "core" ' + "manipulator"&8% +4 "core" %ΐ Y +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&z'ϼ +20 "core" ' + "manipulator"&9& +4 "core" &  +2 "storage"(& +4 "core" & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(Y'@ +45 "core" ' +2 "manipulator"&O& +4 "core" & s  +2 "manipulator"&3% +4 "core" %# J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +166 "core" ( +3 "manipulator"&V& +4 "core" &+  @ Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +2 "core" &+ - Bl +2 .tForearm.seek CC +2 "manipulator"&?'" +92 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tCC.seek :open + "collection"'+( +416 "core" ( +2 "storage"(& +4 "core" &\ \ %\  + "storage"(1& +4 "core" &\ \ \  + "manipulator"&6& +4 "core" & ) v ?S + "manipulator"&J% +4 "core" % 5 U +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&k( +161 "core" ( + "manipulator"&K& +4 "core" & f +2 "storage"(N& +4 "core" &\ F\ F\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&.'} +100 "core" ' + .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +59 "core" 1 +2 "manipulator"&Q% +4 "core" % ΍ L + "storage"(h& +4 "core" &\ $\ $ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&/'Ϲ +20 "core" ' + "manipulator"&i& +4 "core" &  +2 "storage"(T& +3 "core" &\ I\ H f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +29 "core" ' + "storage"(0% +5 "core" %B\ ]\ B (\ +2 ."downElevator"SE.seek :down +4 "storage"(U'X +99 (|% +3 "core" %D\ +\ $ J\ V` +2 "manipulator"&d% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"']& +4 "core" & \ + "manipulator"&F% +4 "core" %\   +2 "storage"(S% +4 "core" %`\ /\ - 0\ + "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(!( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +2 "core" & \ \  \ +2 "manipulator"&D& +4 "core" & Y + .tElbow.seek 2 +2 "manipulator"&_( +33 "core" ( + "manipulator"&g& +4 "core" & $ +2 "storage"(& +3 "core" & \ -\ 6 +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +95 "core" ' + "storage"( & +4 "core" & \ C\ [ J\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +291 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "core" & \ \ \ +2 "manipulator"&p& +3 "core" &\ !w +2 .tElbow.seek 2 + "manipulator"&\\( +30 "core" ( +3 "manipulator"&m& +4 "core" & I  + "storage"(l& +4 "core" & \ B\ 0 "\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&{' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& "storage"(I'X +8 "core" &  + "manipulator"&% +4 "core" % + +2 .tForearm.seek :retract + "manipulator"&A'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( + "manipulator"&& +4 "core" && 7 I =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" && V =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&}'" +103 "core" ' +3 "manipulator"&u& +4 "core" && =D + "manipulator"&w% +4 "core" %% & b +2 "collection"'b& +4 "core" & \ +2 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'n(V +4 "core" & \  +9 &2} \ )w +9 &d \ > +10 &}r \ N +9 &BS \ L +9 &V \ L +10 &Y \ L +9 &Y \ M +9 &JW \ L +10 & V \ L +9 &W \ M +10 & T \ L +9 &"RT \ L +9 &$U \ L +10 &%Z \ M +9 &'W \ L +9 &)ZS \ L +10 &+T \ L +9 &,T \ L +10 &.T \ L +9 &0bU \ L +9 &2$U \ L +10 &3Z \ L +9 &5X \ M +9 &7jW \ L +10 &9,Y \ L +9 &:Z \ L +10 &<Y \ L +9 &>rZ \ L +9 &@4Z \ L +10 &A[ \ L +9 &C\\ \ L +9 &Ew` \ M +10 &G6j \ N +9 &Hy \ P +10 &J \ U +9 &Ld \ V +9 &N# \ W +10 &O \ X +9 &Q \ X +9 &Se \ Y +10 &U' \ Y +9 &VpA \ 1 +9 &Vl \ F +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&'1 +4 "core" &VZ \ F +53 1 +2 "manipulator"&$% +4 "core" % % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  \ + "storage"(% +4 "core" %b \ + "storage"(;. +3 "core" .( +2 "storage"(W& +3 "core" & \ +2 "storage"(q& +3 "core" & _\ +2 "manipulator"&e& +4 "core" && _ =C + "manipulator"&% +4 "core" %\  U \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&~( +152 "core" ( + "manipulator"&a& +4 "core" & +2 "storage"(y& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +187 "core" ' +2 "storage"(& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'i +287 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ +2 "manipulator"&^& +3 "core" & I +2 .tElbow.seek 2 + "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" & k + "storage"(& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&x' +53 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&5& + "storage"("'X +7 "core" & B + "manipulator"&o% +4 "core" %  S +2 .tForearm.seek :retract +2 "manipulator"&*'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&`& +4 "core" &p 2 l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +2 "core" &p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2' +102 "core" ' +2 "manipulator"&& +4 "core" &p z + "manipulator"&j% +4 "core" % _ +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%R(Z +4 "core" &\ +8 & .\ $d +10 &U\ 7 +9 &{\ K +9 &Z\ M +10 &f\\\ M +9 &(Z\ M +10 &W\ M +9 &Z\ M +9 &m[\ N +10 &0Z\ M +9 &[\ N +9 &!Z\ M +10 &#vY\ M +9 &%8[\ M +10 &&Y\ M +9 &(W\ M +9 &*}Z\ N +10 &,@Z\ M +9 &.[\ N +10 &/Y\ M +9 &1Z\ M +9 &3HY\ M +10 &5\ Y\ M +9 &6Z\ M +9 &8V\ M +10 &:PY\ M +9 &<Y\ M +9 &=U\ M +10 &?X\ M +9 &AXX\ M +10 &C\\\ M +9 &Da\ N +9 &Fg\ O +10 &HVx\ Q +9 &J\ T +9 &K\ S +10 &M\ S +9 &OV\ S +10 &Q\ T +9 &R\ T +9 &T\ S +10 &V\\\ T +9 &X\ T +9 &Y|o\ 3 +10 &Z*x\ M +9 &Z \ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"& % +4 "core" % ; _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 "processing"%=& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  +2 "storage"((% +3 "core" %T \ +2 "storage"(8. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"(9& +4 "manipulator"&& +4 "core" & 4\ + &p +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&O(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'i +3 "core" ( +2 "manipulator"&,& +3 "core" &p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p +2 .tForearm.seek PC + "manipulator"&&' +92 "core" ' + .tHand.close +2 "manipulator"&)/ +62 "core" / +2 .tPC.seek :open +2 "processing"%z( +89 "core" ' + "storage"(P- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V'y +45 "core" ' +286 ( +2 "storage"(:& +4 "core" & \ + "manipulator"&c& +4 "core" &p + "manipulator"& % +4 "core" %  \ +2 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&L( +242 "core" ( + "manipulator"&<& +4 "core" &\ ] +2 "storage"(& +3 "core" & e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +86 "core" ' +2 .tHand.open + "manipulator"&61 +52 "core" 1 +3 "storage"(J- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(N' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(f& +3 "core" &  %\ +2 "manipulator"&E& +3 "core" &\ ] +2 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( + "manipulator"&h& +4 "core" &\ ] + "storage"(i& +4 "core" & { j ^\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(0' +58 "core" ' +2 "manipulator"&>& +4 "core" &\ 6 ] + "storage"(|& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&d' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(.'i +26 "core" ' +2 "manipulator"&]% +4 "core" % , e + "storage"(/& +4 "core" & C\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&F' +15 "core" ' + "manipulator"&S& +4 "core" &\ ] +2 "storage"(C& +4 "core" & \  j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +26 "core" ' +2 "storage"(G% +4 "core" %o\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(U'X +99 (\ % +2 "core" %2E w\ Wc +2 "manipulator"&Z% +5 "core" %њ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +3 "core" & x\ +2 "collection"'& +4 "core" &VZ \ F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\  \ ' +2 "storage"(7% +4 "core" %b \ + "storage"(M. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(s& +4 "core" & \ + "manipulator"&p& +4 "core" &\ ] + .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( + "manipulator"&l& +4 "core" &\ ] +2 "storage"([& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +91 "core" ' + "storage"(& +4 "core" & \ \ ,\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'i +277 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &\ ] + "storage"(X& +4 "core" & f\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\\'X +28 "core" ' + "manipulator"&w% +4 "core" % ; +2 "storage"(b& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&I' +15 "core" ' +2 "manipulator"&A& +4 "core" &\ 4 ] + "storage"(+& +4 "core" & j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"($'G +41 "core" ' +2 "manipulator"&@& +4 "core" &\ o ] + "manipulator"&% +5 "core" %ѓ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +157 "core" ( +2 "manipulator"&W& +4 "core" &&  { =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +2 "core" && O =A +2 .tForearm.seek CC +52 "manipulator"&'" +96 "core" ' +2 .tHand.close + "manipulator"&e/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(}& +4 "core" & \ \  o\ +2 "storage"(a& +3 "core" & \ \  Y\ +2 "manipulator"&y& +3 "core" &% O <: +2 "manipulator"&% +3 "core" % 0 N +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&-( +158 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" & \ F\ F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&^' +105 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % < + "storage"(5& +4 "core" & \ \ \  Q\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&o' +12 "core" ' +2 "manipulator"&~& +4 "core" & C  +2 "storage"(v& +4 "core" & \ F\ B y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +35 "core" ' + "storage"(x% +4 "core" %G\ D\ ? \ +3 ."downElevator"SE.seek :down +4 "storage"(`'X +99 (B% +3 "core" %B\ $\ C\ U^ +2 "manipulator"&#% +3 "core" %ф  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'j& +4 "core" & \ + "manipulator"&% +4 "core" %\   +2 "storage"("% +4 "core" %Y\ C\ G \ + "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(%( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & X\  + "manipulator"& & +4 "core" & x  +2 .tElbow.seek 3 + "manipulator"&=( +16 "core" ( + "manipulator"&& +4 "core" & q +2 "storage"((& +3 "core" &\ F\ F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +93 "core" ' +2 "storage"(& +4 "core" &\ \\\ ? \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ #\  \  +2 "manipulator"&,& +3 "core" &  q +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&2& +4 "core" & q + "storage"()& +4 "core" &\ B\ F .\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&P'ϩ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(R'X +7 "core" & l q + "manipulator"&3% +4 "core" % ϻ  X +2 .tForearm.seek :retract + "manipulator"&:'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"& & +4 "core" &* > @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &&& +3 "core" &*  @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'" +93 "core" ' +2 "manipulator"&& +4 "core" &* ! 1 @W +2 "manipulator"&O% +4 "core" %'  R  +2 "collection"'6& +4 "core" & \ +2 "collection"'J& +5 "core" & \ +2 .tCC.seek :closed + "collection"'?(V +4 "core" & \ +8 &4 \ $c +9 &V~ \ 7 +10 &z \ K +9 &S \ M +10 &kW \ L +9 &-T \ L +9 &Y \ L +10 &T \ L +9 &sU \ L +9 &5Y \ L +10 &Y \ M +9 &!W \ M +10 &#{Y \ L +9 &%<T \ M +9 &&V \ M +10 &(R \ L +9 &*X \ L +9 &,DU \ M +10 &.V \ M +9 &/T \ L +10 &1Y \ M +9 &3MU \ L +9 &5T \ L +10 &6Y \ L +9 &8S \ L +9 &:UU \ L +10 &<W \ L +9 &=W \ L +10 &?Y \ L +9 &A\\Y \ M +9 &CY \ M +10 &D[ \ M +9 &Fe \ N +9 &HYx \ P +10 &J \ U +9 &K \ X +10 &M \ X +9 &OJ \ X +9 &Q \ X +10 &R \ Y +9 &T \ Z +9 &V,u \ / +10 &V \ P +9 ( + &Ve \ K +3 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&f1 +55 "core" 1 +3 "manipulator"&E% +4 "core" % ( 6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%i& +4 "core" &\ + "manipulator"& % +4 "core" %\  Y  +2 "storage"(>% +3 "core" %T \ +2 "storage"(|. +2 "core" .( +2 "storage"(]& +4 "core" & 5\  + "storage"(V& +4 "core" & \  + "manipulator"&/& +4 "core" &( M >H + "manipulator"&S% +4 "core" %\  v  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&K( +167 "core" ( + "manipulator"&C& +4 "core" & s S +2 "storage"(G& +3 "core" & \  '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +96 "core" ' + "storage"(1& +4 "core" &\ \ %\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'i +283 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Z& +3 "core" & Y\  + "manipulator"&T& +4 "core" & W S + .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&0& +4 "core" & : S + "storage"(d& +4 "core" & 5\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&F'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +7 "core" & o S +2 "manipulator"&7% +4 "core" % Ϩ +2 .tForearm.seek :retract + "manipulator"&M'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&.& +4 "core" &r !  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' +2 "manipulator"&l& +4 "core" &r  +2 "manipulator"&[% +3 "core" % +2 "processing"%Y& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(Z +5 "core" &\  +9 &2~\ *x +10 &d\ > +9 &ww\ N +9 &;W\ M +10 &Z\ M +9 &[\ M +9 &Z\ M +10 &BV\ M +9 &[\ M +10 &[\ M +9 & Z\ N +9 &"JZ\ M +10 &$ [\ M +9 &%[\ M +9 &']\ M +10 &)QZ\ M +9 &+V\ M +10 &,Xy\ M +9 &.W\ M +9 &0YZ~\ M +10 &2Z\ M +9 &3\\\ M +9 &5Z\ M +10 &7`Z\ N +9 &9$X\ M +10 &:Z\ M +9 &<Y\ M +9 &>i[\ M +10 &@+\\\ M +9 &AV\ M +10 &C]\ N +9 &EpZ\ N +9 &G.f\ O +10 &Hs\ P +9 &J\ R +9 &Lh\ S +10 &N)\ S +9 &O\ S +9 &Q\ S +10 &Sn\ T +9 &U0\ T +10 &V\ S +9 &X}\ T +9 &Z \\~\ $n +10 &Zc\ 2 +9 ( + &Z\ + +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&k1 +54 "core" 1 +2 "manipulator"&D% +4 "core" %  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +53 .tForearm.seek :retract +2 "manipulator"&H'\ +101 "core" ' +2 "processing"%& +4 "core" &Zy\ + + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&X% +3 "core" %\  i  +2 "storage"(u% +3 "core" %S 5\ +2 "storage"(w. +3 "core" .( + "storage"(b& +4 "core" & g\  +2 "storage"(A& +2 "manipulator"&+& +7 "core" & Y\  + &r c  + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&@(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&r& +3 "core" &r A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&_' +94 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%I( +95 "core" ' +2 "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'y +48 "core" ' +276 ( +2 "storage"(q& +4 "core" & l\  + "manipulator"&'& +4 "core" &r  + "manipulator"&{% +4 "core" %  U  +2 .tForearm.seek :retract + "manipulator"&e'\ +102 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +265 "core" ( + "manipulator"&n& +4 "core" & ;  +2 "storage"(}& +3 "core" & 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +97 "core" ' +2 .tHand.open + "manipulator"&y1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(;& +4 "core" & o s K\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&5& +4 "core" &  + "storage"(~& +4 "core" & q r =\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +63 "core" ' +2 "manipulator"&& +4 "core" & U  + "storage"(B& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&#'} +25 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +24 "core" ' +2 "manipulator"&o% +4 "core" %΍ r +2 "storage"(j& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +20 "core" ' + "manipulator"&"& +4 "core" & |  +2 "storage"(*& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +28 "core" ' + "storage"(t% +5 "core" %q\  C\ +2 ."downElevator"SE.seek :down +4 "storage"(`'X +99 (!% +2 "core" %zE S\ Wc +2 "manipulator"&% +4 "core" %@ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &\ \  \  +2 "collection"'(& +3 "core" &Vf \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %a\ \ \ +2 "storage"(. +3 "core" .( + "storage"(9& +4 "core" &\ \  T\  + "storage"(& +4 "core" &\ \ \  + "manipulator"&,& +4 "core" & m  +2 .tElbow.seek 3 + "manipulator"&2( +4 "core" ( + "manipulator"&)& +4 "core" & ]  +2 "storage"(4& +3 "core" &\ \  y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +102 "core" ' + "storage"(3& +4 "core" &\ \ j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='i +284 "core" ' +2 "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & \   +2 "storage"(&& +4 "core" & g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'Q +28 "core" ' +2 "manipulator"&6% +4 "core" %Ώ g h + "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&R'ϻ +20 "core" ' + "manipulator"&:& +4 "core" & r  +2 "storage"(& +3 "core" & m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(E'@ +44 "core" ' + "manipulator"&i& +5 "core" &  + "manipulator"& % +4 "core" %A ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +159 "core" ( + "manipulator"&]& +4 "core" &%  9 <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &% m <@ +2 .tForearm.seek CC + "manipulator"&/'" +92 "core" ' + .tHand.close +2 "manipulator"&J/ +55 "core" / +2 .tCC.seek :open + "collection"'S( +416 "core" ( +2 "storage"(<& +4 "core" &\ \ U\  +2 "storage"(C& +3 "core" &\ \ \  +2 "manipulator"&G& +3 "core" &% * <? +2 "manipulator"&1% +3 "core" % 1 @  +2 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&h( +165 "core" ( + "manipulator"&\ & +4 "core" & @ v +2 "storage"(Z& +3 "core" &\ F\ F \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&T'} +97 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&d1 +63 "core" 1 +2 "manipulator"&g% +4 "core" % ΅ X + "storage"(& +4 "core" &\ %\ % 6\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 308 counts + "manipulator"&7'ϱ +12 "core" ' +3 "manipulator"&K& +4 "core" &  v +2 "storage"(L& +4 "core" &\ G\ B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +25 "core" ' + "storage"(F% +4 "core" %?\ C\ \\ }\ +3 ."downElevator"SE.seek :down +3 "storage"(.'X +99 (s% +2 "core" %A\ F\ , 4\ Va +2 "manipulator"&Q% +4 "core" %E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +86 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'[& +4 "core" & \ +2 "manipulator"&Y% +3 "core" %\   +2 "storage"( % +4 "core" %b\ :\ : o\ + "storage"(M. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" & \ \  ?\ + "manipulator"&D& +4 "core" & v +2 .tElbow.seek 2 + "manipulator"&( +36 "core" ( + "manipulator"&& +4 "core" & ( +2 "storage"(X& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +90 "core" ' +2 "storage"(w& +4 "core" & \ D\ K \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +286 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" & \ \ # \ +2 "manipulator"&r& +3 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&m( +30 "core" ( +2 "manipulator"&p& +4 "core" & F ` + "storage"(& +4 "core" & \ F\ F \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&\\' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +3 "storage"(U'X +7 "core" & g ` +2 "manipulator"&% +3 "core" % o ] +2 .tForearm.seek :retract +2 "manipulator"&q'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&{& +4 "core" &( 0 [ >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &( b >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'" +101 "core" ' +3 "manipulator"&}& +4 "core" &(  >I +2 "manipulator"&@% +4 "core" % @ + "collection"'y& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(V +5 "core" & \  +9 &2} \ *y +9 &d \ > +10 &r \ M +9 &ET \ L +10 &[ \ L +9 &Z \ L +9 &Y \ L +10 &LY \ L +9 &Z \ L +9 &X \ M +10 & [ \ L +9 &"TZ \ L +9 &$Z \ M +10 &%Y \ M +9 &'W \ M +10 &)[W \ M +9 &+X \ M +9 &,W \ M +10 &.X \ M +9 &0dZ \ L +9 &2%Y \ M +10 &3X \ L +9 &5U \ M +10 &7kW \ M +9 &9-W \ M +9 &:Z \ M +10 &<Y \ M +9 &>tU \ L +9 &@6W \ L +10 &AU \ L +9 &CX \ L +10 &Ez\\ \ M +9 &G7i \ O +9 &Hx \ P +10 &J \ U +9 &Lc \ X +9 &N& \ W +10 &O \ X +9 &Q \ X +10 &Sf \ Y +9 &U' \ Z +9 &VtC \ - +10 &Vv \ L +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&;1 +4 "core" &Vn \ L +56 1 +3 "manipulator"&% +4 "core" %  [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%~& +4 "core" &\ +2 "manipulator"&e% +4 "core" %\  s  +2 "storage"(% +3 "core" %a \ +2 "storage"(B. +3 "core" .( + "storage"(o& +4 "core" & \ + "storage"(j& +4 "core" & \ +2 "manipulator"&W& +3 "core" && =E +2 "manipulator"&"% +3 "core" %\  D  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +160 "core" ( +2 "manipulator"&*& +4 "core" &  + "storage"(t& +4 "core" & F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(a& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ +2 "manipulator"&v& +4 "core" & l  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&x& +3 "core" &  +2 "storage"(#& +3 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"('X +7 "core" & V  +2 "manipulator"&% +4 "core" % Y +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&9& +4 "core" &p + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&,' +102 "core" ' + "manipulator"&)& +4 "core" &p +2 "manipulator"&4% +4 "core" % +2 "processing"%$& +3 "core" &\ +2 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &\ +7 & 5\ $d +9 &V~\ 7 +9 &~z\ K +10 &Z\ M +9 &c]\ N +9 &&X\ M +10 &U\ M +9 &U\ M +9 &k\\\ N +10 &.Z\ M +9 &Y\ M +10 &!Y\ N +9 &#t[\ M +9 &%5Y\ N +10 &&T\ M +9 &(Z\ M +10 &*{Z\ N +9 &,>Y\ M +9 &-\\\ N +10 &/W\ M +9 &1U~\ M +9 &3EW\ N +10 &5 U\ M +9 &6Y\ M +9 &8Z\ M +10 &:MZ\ N +9 &<Y\ M +10 &=U\ M +9 &?W\ N +9 &AVS\ M +10 &CZ\ N +9 &D[\ N +10 &Fe\ O +9 &HSu\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &OS\ T +10 &Q\ S +9 &R\ T +9 &T\ T +10 &VY\ T +9 &X\ U +10 &Y{p\ 5 +9 &Z1\ E +9 &Z\ ( +3 ( + "processing"%3& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&-1 +53 "core" 1 + "manipulator"& % +4 "core" % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +95 "core" ' + "processing"% & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&&% +4 "core" %\   + "storage"(% +4 "core" %` \  + "storage"(6. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(:& +5 "manipulator"&& +3 "core" & \ + &p P +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&i(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"( 'i +3 "core" ( + "manipulator"& & +4 "core" &p Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &p O +2 .tForearm.seek PC + "manipulator"&=' +97 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"%R( +85 "core" ' + "storage"(O- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'y +44 "core" ' +295 ( + "storage"(V& +4 "core" & I\ + "manipulator"&f& +4 "core" &p + "manipulator"&P% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&J'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&>( +252 "core" ( + "manipulator"&?& +4 "core" & P +2 "storage"(<& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&C'ќ +146 "core" ' + .tHand.open + "manipulator"&G1 +60 "core" 1 +2 "storage"(1- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(\ 'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(Z' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(/- +3 "core" -' +2 "storage"(|& +3 "core" & z [\ +2 "manipulator"&d& +4 "core" &\ P + .tElbow.seek 2 +2 "manipulator"&g( +11 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(K& +4 "core" & t q \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(F' +58 "core" ' + "manipulator"&c& +4 "core" &  +2 "storage"(s& +4 "core" & /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&Q' +33 "core" ' +3 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +26 "core" ' +2 "manipulator"&7% +4 "core" % s + "storage"([& +4 "core" & X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&Y' +19 "core" ' +2 "manipulator"& & +4 "core" & p  +2 "storage"(M& +3 "core" & ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +37 "core" ' +2 "storage"(N% +4 "core" %i\  S\ +3 ."downElevator"SE.seek :down +4 "storage"(.'X +99 (%% +3 "core" %G \ Wc +2 "manipulator"&k% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & h\ +2 "collection"'X& +4 "core" &Vn \ L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +4 "core" %\   +2 "storage"(0% +3 "core" %b K\ +2 "storage"(l. +3 "core" .( + "storage"(+& +4 "core" & \ + "storage"(A& +4 "core" & |\ +2 "manipulator"&r& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&p( +9 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +99 "core" ' + "storage"(& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(u- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&{& +3 "core" &  +2 "storage"(_& +3 "core" & E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&b' +35 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(}- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(m'X +27 "core" ' +2 "manipulator"&@% +4 "core" % 3 + "storage"(y& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts + "manipulator"&U' +14 "core" ' +2 "manipulator"&q& +4 "core" & *  + "storage"(S& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('G +40 "core" ' +3 "manipulator"&~& +4 "core" & *  +2 "manipulator"&e% +4 "core" %ѳ " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +151 "core" ( + "manipulator"&o& +4 "core" &' >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' >K +2 .tForearm.seek CC + "manipulator"&j'" +94 "core" ' + .tHand.close + "manipulator"&W/ +59 "core" / + .tCC.seek :open +2 "collection"'"( +416 "core" ( + "storage"(n& +4 "core" & \ \ #\ +2 "storage"(*& +4 "core" & \ \ \ [\ + "manipulator"&t& +4 "core" &%  <: + "manipulator"&a% +4 "core" % # s + .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +157 "core" ( +2 "manipulator"&!& +4 "core" &  + "storage"(& +4 "core" & \ %\ $ 4\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&v' +108 "core" ' + .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +162 "core" 1 +2 "manipulator"&% +4 "core" % & +2 "storage"((& +3 "core" & {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +12 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & \ F\ H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +27 "core" ' +2 "storage"(% +4 "core" %N\ A\ 0 \ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 (% +2 "core" %E\ "\  \ Va +2 "manipulator"&% +4 "core" %я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'4& +4 "core" & \ + "manipulator"&$% +4 "core" %\ J  +2 "storage"(% +3 "core" %a\  o \\\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(I( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &\ \  2\  + "manipulator"& & +4 "core" & P  +2 .tElbow.seek 3 + "manipulator"& ( +16 "core" ( + "manipulator"&&& +4 "core" & : Z +2 "storage"(& +3 "core" &\ ,\ 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +101 "core" ' +2 "storage"(& +4 "core" & }\ P 4\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +291 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (3& +3 "core" &\ G\ X \  +2 "manipulator"& & +3 "core" & $ Z +2 .tElbow.seek 3 + "manipulator"&2( +4 "core" ( + "manipulator"&,& +4 "core" & L Z + "storage"(& +4 "core" &\ 6\ 9\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& + "storage"(`'X +7 "core" & Z + "manipulator"& % +4 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&V'\ +101 "core" ' +2 .tElbow.seek CC +50 "manipulator"&f( +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +62 "core" ( +2 "manipulator"&P& +4 "core" &%  " <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &% <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&?'" +91 "core" ' +3 "manipulator"&<& +4 "core" &% U <: +2 "manipulator"&i% +4 "core" %% G +2 "collection"'G& +4 "core" & \ +2 "collection"'1& +5 "core" & \ +3 .tCC.seek :closed + "collection"'J(V +4 "core" & \  +9 &2~ \ *x +9 &d \ > +9 &zr \ N +10 &?X \ L +9 &U \ L +9 &T \ L +10 &T \ L +9 &GU \ L +10 & T \ L +9 &T \ L +9 & U \ M +10 &"NW \ M +9 &$T \ L +9 &%U \ M +10 &'W \ M +9 &)VW \ M +10 &+W \ M +9 &,Z \ L +9 &.Y \ L +10 &0_Z \ L +9 &2!Y \ L +9 &3W \ M +10 &5U \ M +9 &7gT \ L +9 &9)Y \ L +10 &:Y \ M +9 &<\\ \ L +10 &>oV \ L +9 &@1U \ L +9 &AU \ L +10 &CW \ M +9 &Eu` \ M +9 &G2l \ O +10 &H~ \ Q +9 &J \ V +10 &L^ \ X +9 &N! \ W +9 &O \ X +10 &Q \ X +9 &S` \ Z +9 &U" \ Z +10 &VoC \ 1 +9 &Vo \ I +6 ( + "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&/1 +4 "core" &V` \ I +53 1 +2 "manipulator"&|% +4 "core" % % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&K% +4 "core" %\ !  0 +2 "storage"(c% +3 "core" %U T\ +2 "storage"(s. +3 "core" .( + "storage"(]& +4 "core" & Z\  + "storage"(7& +4 "core" & t\  + "manipulator"&[& +4 "core" &$ . ;5 +2 "manipulator"&\ % +3 "core" %\ ! O 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +162 "core" ( +2 "manipulator"&M& +4 "core" & l  + "storage"(N& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +95 "core" ' +2 "storage"(C& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +283 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (k& +3 "core" & w\  + "manipulator"&L& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&g( +3 "core" ( +2 "manipulator"&F& +4 "core" & $  + "storage"(Q& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&Y'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(w'X +7 "core" &  + "manipulator"&0% +4 "core" % ϲ o +2 .tForearm.seek :retract + "manipulator"&l'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&+(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&T& +4 "core" &n +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &n h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +100 "core" ' + "manipulator"&& +5 "core" &n  + "manipulator"&% +4 "core" % P h +2 "processing"%E& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%.(Z +3 "core" &\ +7 &8\ $d +9 &T|\ 6 +9 &~~\ K +10 &W\ M +9 &W\\\ M +9 &Y\ M +10 &W\ M +9 &Y\ M +10 &_Z\ M +9 &"U\ M +9 &Z\ M +10 &!Y\ N +9 &#hZ\ M +9 &%*Z\ M +10 &&Y\ M +9 &(Z\ M +10 &*oY\ M +9 &,0Y\ N +9 &-Y\ M +10 &/X\ M +9 &1xY\ M +9 &3:Y\ M +10 &4Y\ M +9 &6Y\ M +10 &8U\ M +9 &:BY\ M +9 &<W\ M +10 &=X\ M +9 &?W\ M +9 &AJU\ M +10 &C Z\ M +9 &D_\ N +10 &Fd\ N +9 &HJo\ P +9 &J}\ Q +10 &K\ S +9 &M\ S +9 &OG\ S +10 &Q\ T +9 &R\ T +10 &T\ T +9 &VN\ T +9 &X\ T +10 &Y|p\ 9 +9 &Z)s\ Q +9 &Z"\ . +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&h1 +59 "core" 1 +2 "manipulator"&D% +4 "core" % h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' +2 "processing"%{& +4 "core" &Z$\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&_% +3 "core" %\ \  +2 "storage"(}% +4 "core" %T \ + "storage"(@. +3 "core" .( +2 "storage"(y& +3 "core" & \  +2 "storage"(q& +5 "manipulator"&S& +3 "core" & \  + &n  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&~(s +3 "storage"(e'i +3 "core" ( + "manipulator"&H& +4 "core" &n c  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &n Z  +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&b/ +63 "core" / +2 .tPC.seek :open +2 "processing"%U( +89 "core" ' + "storage"(m- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'y +44 "core" ' +287 ( + "storage"(& +4 "core" & \  +2 "manipulator"&;& +3 "core" &n  +2 "manipulator"&\\% +3 "core" % L +2 .tForearm.seek :retract +2 "manipulator"&W'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +266 "core" ( +2 "manipulator"&& +4 "core" & 6 + "storage"(n& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +94 "core" ' + .tHand.open + "manipulator"&t1 +57 "core" 1 +2 "storage"(a- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(B& +4 "core" &  \  +2 "manipulator"&#& +3 "core" & ~ +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&(& +4 "core" & W  + "storage"('& +4 "core" & q t \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +17 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +62 "core" ' +2 "manipulator"&& +4 "core" & P  +2 "storage"(5& +3 "core" & ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +31 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(v'i +25 "core" ' +2 "manipulator"&4% +4 "core" %΋  = +2 "storage"(& +3 "core" & k\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&$'Ϸ +13 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +2 "Can"\ >< +73 "core" ' +3 "storage"(% +4 "core" %s\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 (z% +2 "core" %I \ Wc +2 "manipulator"&-% +4 "core" %T [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (&& +4 "core" & \  +2 "collection"'& +3 "core" &V_ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ # < +2 "storage"(x% +3 "core" %a \  +2 "storage"(). +3 "core" .( +2 "storage"(:& +3 "core" & \  +2 "storage"(3& +4 "core" & \  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&,( +4 "core" ( + "manipulator"&& +4 "core" & ~  + "storage"(^& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +97 "core" ' + "storage"( & +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(O& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&P'} +28 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'Q +27 "core" ' +2 "manipulator"&G% +4 "core" %Ή 3 2 + "storage"(2& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&`'ϵ +12 "core" ' +2 "manipulator"&V& +4 "core" &   +2 "storage"("& +3 "core" &\ \ 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(|'@ +41 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&K% +4 "core" %] B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +163 "core" ( +2 "manipulator"&]& +4 "core" &% <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +2 "core" &% <; +2 .tForearm.seek CC +2 "manipulator"&1'" +93 "core" ' +2 .tHand.close + "manipulator"&[/ +58 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +415 "core" ( +2 "storage"(?& +4 "core" &\ \ \  + "storage"(M& +4 "core" &\ \ \  + "manipulator"&N& +4 "core" &$ . ;8 + "manipulator"&C% +4 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&f'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&d( +164 "core" ( +2 "manipulator"&%& +4 "core" & , p + "storage"(k& +4 "core" &\ G\ F F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&L'} +94 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Ί A +2 "storage"(X& +3 "core" &\ %\ $ $\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&0'϶ +24 "core" ' +3 "manipulator"& & +4 "core" &  p + "storage"(>& +4 "core" &\ B\ H A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +24 "core" ' +2 "storage"(Y% +4 "core" %G\ B\ : p\ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +99 (A% +2 "core" %E\ \ " /\ Va +2 "manipulator"&g% +4 "core" %W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&E% +4 "core" %\ 1 +2 "storage"(w% +4 "core" %\\\ H\ F \ + "storage"(l. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(R( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" & \ \ \ +2 "manipulator"&D& +4 "core" & p +2 .tElbow.seek 2 + "manipulator"&{( +39 "core" ( + "manipulator"&_& +4 "core" & !s +2 "storage"(}& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +96 "core" ' +2 "storage"(y& +4 "core" & \ ?\ [ )\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (q& +3 "core" & \ #\ " \ + "manipulator"&H& +4 "core" & o +2 .tElbow.seek 2 + "manipulator"&p( +23 "core" ( +3 "manipulator"&r& +4 "core" & V +2 "storage"(b& +3 "core" & \ F\ F\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(.'X +7 "core" & + "manipulator"&e% +4 "core" %  \\ T +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&;( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( + "manipulator"&\\& +4 "core" && $ z =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && h =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +100 "core" ' +2 "manipulator"&n& +3 "core" && =E +2 "manipulator"&~% +4 "core" %, +2 "collection"'t& +4 "core" & \ +2 "collection"'a& +5 "core" & \ +2 .tCC.seek :closed + "collection"'j(V +4 "core" & \  +9 &2~ \ *y +10 &d \ > +9 &r \ N +9 &GW \ M +10 & W \ M +9 &W \ L +9 &Y \ L +10 &PZ \ L +9 &Y \ L +10 &W \ M +9 & X \ M +9 &"XX \ L +10 &$T \ L +9 &%U \ L +9 &'Y \ L +10 &)_V \ M +9 &+"X \ L +9 &,Y \ L +10 &.X \ M +9 &0hX \ L +10 &2+Y \ L +9 &3X \ L +9 &5W \ L +10 &7qU \ L +9 &92W \ L +9 &:[ \ M +10 &<Z \ M +9 &>wX \ M +10 &@9X \ M +9 &AW \ M +9 &CZ \ L +10 &E[ \ M +9 &G<h \ N +9 &Hy \ P +10 &J \ U +9 &Lg \ X +10 &N) \ W +9 &O \ Y +9 &Q \ X +10 &Si \ Z +9 &U, \ X +9 &Vo@ \ 0 +10 &Vr \ J +5 ( +2 "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&B1 +4 "core" &Vd \ J +60 1 +2 "manipulator"&#% +4 "core" % , H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%'& +4 "core" &\ + "manipulator"&W% +4 "core" %\    + "storage"(% +4 "core" %Z g\ +2 "storage"(5. +2 "core" .( +2 "storage"(o& +4 "core" & \ + "storage"(4& +4 "core" & \ +2 "manipulator"&& +3 "core" && d =E +2 "manipulator"&!% +3 "core" %\  n  +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +153 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(& +3 "core" & \ \  f\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +88 "core" ' + "storage"(& +5 "core" & \ \ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (z& +3 "core" & 2\ + "manipulator"&-& +5 "core" & m + .tElbow.seek 2 +2 "manipulator"&( +24 "core" ( + "manipulator"&& +4 "core" & \\ !r +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&$' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +6 "core" & [ n +2 "manipulator"&x% +4 "core" %  - +2 .tForearm.seek :retract +2 "manipulator"&)'\ +90 "core" ' +3 .tElbow.seek PC + "manipulator"&:(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +105 "core" ( +3 "manipulator"&v& +4 "core" &g #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &g h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +101 "core" ' +2 "manipulator"&& +4 "core" &g 0  + "manipulator"&^% +4 "core" % + r +2 "processing"%& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed + "processing"%9(Z +4 "core" &\ +8 &?\ $f +10 &V\ 7 +9 &~\ L +9 &X\ M +10 &s]\ M +9 &5Y\ M +9 &Y\ N +10 &X\ M +9 &zZ\ N +10 &=Z\ M +9 &[\ N +9 &!X\ M +10 &#Y\ N +9 &%FX\ M +9 &'X\ M +10 &(Y\ N +9 &*Z\ M +10 &,MZ\ M +9 &.W\ M +9 &/W\ M +10 &1U\ M +9 &3UW\ M +9 &5W\ M +10 &6U\ M +9 &8X\ M +10 &:]X\ M +9 &< Z\ M +9 &=X\ M +10 &?W\ M +9 &AeW\ M +9 &C&Z\ N +10 &D[\ N +9 &Fg\ O +10 &Hby\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &Oe\ S +9 &Q&\ S +10 &R\ T +9 &T\ T +10 &Vk\ S +9 &X+\ T +9 &Yzm\ 0 +10 &Z'j\ K +9 &Z%\ 0 +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +2 "processing"%& +4 "core" &Z$\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&O% +4 "core" %\ # & 9 + "storage"(<% +4 "core" %` \ + "storage"(G. +3 "core" .( +2 "storage"(2& +3 "core" & \ +2 "storage"(V& +4 "manipulator"&"& +4 "core" & w\ + &g x  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'i +7 "core" ( +2 "manipulator"&8& +4 "core" &m q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &m b +2 .tForearm.seek PC + "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&P/ +54 "core" / + .tPC.seek :open +2 "processing"%`( +94 "core" ' + "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(]'y +44 "core" ' +286 ( +2 "storage"(7& +4 "core" & K\ + "manipulator"&/& +4 "core" &n + "manipulator"&=% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&['\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&c( +255 "core" ( +2 "manipulator"&J& +4 "core" & @ + "storage"(?& +4 "core" & B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +97 "core" ' + .tHand.open +2 "manipulator"&N1 +62 "core" 1 +2 "storage"(C- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(s& +3 "core" & k i \ +2 "manipulator"&Q& +3 "core" & N +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&X& +4 "core" & 7 + "storage"( & +4 "core" & { 1\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Y' +58 "core" ' +2 "manipulator"&f& +4 "core" & { +2 "storage"(A& +3 "core" & Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +33 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(L'i +21 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(0& +4 "core" & >\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&E' +20 "core" ' +2 "manipulator"&w& +4 "core" &  +2 "storage"(l& +4 "core" & \  (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +35 "core" ' +2 "storage"(Z% +4 "core" %s\ %\  \ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +98 (I% +3 "core" %bG ]\ Wc +2 "manipulator"&h% +4 "core" %і +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (_& +4 "core" & \ k\ +2 "collection"'}& +3 "core" &V` \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&y% +4 "core" %\   +2 "storage"(F% +3 "core" %a\ \ \ +2 "storage"(. +3 "core" .( + "storage"(S& +4 "core" & \ \ \ +2 "storage"(q& +3 "core" & \ \ \ +2 "manipulator"&H& +3 "core" & +2 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( + "manipulator"&b& +4 "core" & L +2 "storage"(+& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +94 "core" ' +2 "storage"(e& +4 "core" & \ \ #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +286 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +2 "core" & +2 "storage"(& +3 "core" & }\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'X +29 "core" ' + "manipulator"&p% +4 "core" % + +50 "storage"(t& +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&.' +13 "core" ' + "manipulator"&& +5 "core" & t + "storage"(\ & +4 "core" & \ \  '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(#'G +41 "core" ' +2 "manipulator"&'& +4 "core" &  + "manipulator"&W% +4 "core" %р % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +158 "core" ( +2 "manipulator"&a& +4 "core" &' s >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" && u >M +2 .tForearm.seek CC +2 "manipulator"&4'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'!( +416 "core" ( + "storage"(& +4 "core" & \ \ i\ +2 "storage"(& +3 "core" & \ \ \ +2 "manipulator"&& +3 "core" &' < >L +2 "manipulator"&% +3 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(( +158 "core" ( + "manipulator"&& +4 "core" & b  +2 "storage"(z& +4 "core" & \ G\ G S\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&-' +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&&% +5 "core" % B + "storage"(& +4 "core" & \ \  0\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&x' +13 "core" ' +2 "manipulator"&& +4 "core" & 5  +2 "storage"(*& +3 "core" & \ C\ G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' + "storage"($% +4 "core" %L\ [\ \\ '\ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +99 (3% +2 "core" %C\ -\ F \ V_ +2 "manipulator"&% +4 "core" %х g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'^& +4 "core" & \ + "manipulator"&% +4 "core" %\ \ T  +2 "storage"(% +3 "core" %X\ \\\ [ )\ +2 "storage"(). +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(U( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &\ \ \ \  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +16 "core" ( + "manipulator"&O& +4 "core" & E f +2 "storage"(<& +3 "core" &\ ,\ 0 :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +93 "core" ' +2 "storage"(2& +4 "core" &\ [\ \\ 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +286 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &\ 5\  n\  +2 "manipulator"&8& +3 "core" & f +2 .tElbow.seek 3 + "manipulator"&,( +4 "core" ( + "manipulator"& & +4 "core" & f + "storage"(P& +4 "core" &\ F\ G\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&i'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(9'X +7 "core" & f + "manipulator"&K% +4 "core" % Ϟ 1 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +102 "core" ' + .tElbow.seek CC +2 "manipulator"&/( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&=& +4 "core" &( # y ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &( ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'" +98 "core" ' + "manipulator"&?& +4 "core" &( ?Q +2 "manipulator"&% +3 "core" %* z +2 "collection"'N& +4 "core" & \ +2 "collection"'C& +6 "core" & \ +2 .tCC.seek :closed + "collection"'1(V +4 "core" & \  +9 &3} \ *y +9 &e \ > +10 &p \ M +9 &IW \ L +10 & T \ L +9 &X \ L +9 &T \ L +10 &QW \ L +9 &X \ L +9 &U \ L +10 & X \ L +9 &"ZU \ L +10 &$W \ L +9 &%U \ L +9 &'W \ L +10 &)bT \ L +9 &+#X \ L +9 &,W \ L +10 &.W \ L +9 &0jU \ L +9 &2,W \ L +10 &3W \ L +9 &5W \ L +10 &7rT \ L +9 &93X \ L +9 &:T \ L +10 &<W \ L +9 &>yZ \ L +9 &@:Y \ M +10 &AW \ L +9 &CV \ M +10 &E\\ \ M +9 &G<k \ O +9 &H~ \ Q +10 &J \ V +9 &Li \ W +9 &N+ \ W +10 &O \ X +9 &Q \ X +10 &Sl \ Y +9 &U, \ Z +9 &VyD \ (w +10 &V \ Q +5 ( +2 "collection"'C& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&s1 +4 "core" &Vn \ Q +59 1 +2 "manipulator"&Q% +4 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +5 "core" &\ +3 "manipulator"&[% +8 "core" %\   +2 "storage"(f% +11 "core" %b r\ +4 "storage"(A. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"(0& +4 "core" & \  + "manipulator"&]& +4 "core" &' >O + "manipulator"&w% +4 "core" %\  r  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&%( +163 "core" ( + "manipulator"&l& +4 "core" & n +2 "storage"(Z& +3 "core" &\ \  !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +94 "core" ' +2 "storage"(M& +4 "core" &\ \ }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'i +279 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (h& +3 "core" & \  + "manipulator"&>& +4 "core" & . n + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +3 "core" & [ n +2 "storage"(g& +3 "core" & B\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(y'X +7 "core" & n +2 "manipulator"&F% +4 "core" % ϧ W +2 .tForearm.seek :retract + "manipulator"&'\ +105 "core" ' + .tElbow.seek PC +2 "manipulator"&L(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +116 "core" ( +2 "manipulator"&S& +4 "core" &p 0 E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&H' +99 "core" ' + "manipulator"&b& +5 "core" &r  + "manipulator"&+% +4 "core" % ~ +2 "processing"%|& +53 "core" &\ +2 "processing"%e& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%T(Z +3 "core" &\  +9 &3}\ *x +9 &d\ > +10 &s\ N +9 &FT\ M +9 &W\ N +10 &Y\ M +9 &V\ M +9 &MY\ M +10 &Z\ N +9 &W\ M +10 & Z\ M +9 &"TW\ N +9 &$V\ M +10 &%V\ M +9 &'\\\ M +9 &)\\Y\ N +10 &+X\ M +9 &,T\ M +10 &.Y\ N +9 &0eW\ M +9 &2(U\ M +10 &3X\ N +9 &5X\ M +9 &7mY\ M +10 &9/X\ M +9 &:T\ M +10 &<Z\ M +9 &>uW\ M +9 &@7Z\ M +10 &AW\ M +9 &CX\ M +9 &E|\\\ N +10 &G;e\ O +9 &Hr\ P +10 &J\ R +9 &Lr\ T +9 &N5\ S +10 &O\ S +9 &Q\ S +9 &S{\ S +10 &U<\ T +9 &V\ T +10 &X\ T +9 &Z'Yy\ $o +9 &Za\ 1 +9 ( +3 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&d1 +3 "core" &Z\ + +54 1 +2 "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +97 "core" ' +2 "processing"%\\& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ %  E + "storage"(n% +4 "core" %` w\ + "storage"(p. +3 "core" .( +2 "storage"(t& +3 "core" & w\  +2 "storage"(& +2 "manipulator"&\ & +7 "core" & \  + &r {  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&'(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(W'i +3 "core" ( + "manipulator"&u& +4 "core" &r   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &r 6  +2 .tForearm.seek PC + "manipulator"&{' +96 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +4 .tPC.seek :open + "processing"%.( +88 "core" ' + "storage"(~- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(a'y +45 "core" ' +289 ( + "storage"(o& +4 "core" & +\  +2 "manipulator"&B& +4 "core" &r a  + "manipulator"&m% +4 "core" %  | +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +244 "core" ( + "manipulator"&j& +5 "core" & !s + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(z' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(5& +3 "core" & v s l\  +2 "manipulator"&& +3 "core" & !q +2 .tElbow.seek 3 + "manipulator"&&( +4 "core" ( + "manipulator"&& +4 "core" & !q + "storage"(& +4 "core" & { m (\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +58 "core" ' + "manipulator"&;& +4 "core" & !q +2 "storage"(3& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +22 "core" ' + "manipulator"&x% +4 "core" %΃ E +2 "storage"(^& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&'ϯ +13 "core" ' + "manipulator"&& +5 "core" & g !q + "storage"()& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +22 "core" ' +2 "storage"(% +4 "core" %s x\ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +98 (R% +3 "core" %AH g\ Wc +2 "manipulator"&% +4 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" & C\  + "collection"'<& +4 "core" &Vm \ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&2% +4 "core" %\   + "storage"(% +4 "core" %a W\ + "storage"(. +3 "core" .( +2 "storage"(V& +3 "core" & \  +2 "storage"( & +4 "core" & \  +2 "manipulator"&8& +4 "core" & !p +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&P& +3 "core" & k !p +2 "storage"(:& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +104 "core" ' +2 "storage"(K& +4 "core" & \ 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +289 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +2 "core" & o +2 "storage"( & +3 "core" & `\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&"'} +23 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(?- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('Q +28 "core" ' +2 "manipulator"&N% +4 "core" %Ύ + "storage"(,& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&9'Ϻ +13 "core" ' +2 "manipulator"&7& +4 "core" & ) o + "storage"(!& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'@ +40 "core" ' +2 "manipulator"& & +4 "core" & o + "manipulator"&[% +4 "core" %M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +158 "core" ( + "manipulator"&A& +4 "core" &( ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( x ?R +2 .tForearm.seek CC + "manipulator"&0'" +95 "core" ' +2 .tHand.close + "manipulator"&]/ +52 "core" / +2 .tCC.seek :open + "collection"'w( +416 "core" ( +2 "storage"(J& +4 "core" &\ \  1\  + "storage"(l& +4 "core" &\  \  + "manipulator"&Z& +3 "core" &( >I +2 "manipulator"&M% +4 "core" % 3 S +2 .tForearm.seek :retract + "manipulator"&/'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&X( +164 "core" ( +2 "manipulator"&I& +4 "core" & \\ k +2 "storage"(h& +3 "core" &\ F\ G \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&>'} +92 "core" ' +2 .tElbow.hold + "manipulator"&Y, +53 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +60 "core" 1 +2 "manipulator"&_% +4 "core" % Ό e + "storage"(}& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&F'ϸ +21 "core" ' +2 "manipulator"&%& +4 "core" &  k + "storage"(c& +4 "core" &\ ,\ + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +15 "core" ' +2 "storage"(E% +4 "core" %C\ [\ G T\ +2 ."downElevator"SE.seek :down +4 "storage"(S'X +99 (q% +2 "core" %C\ \ # 8\ V` +2 "manipulator"&% +4 "core" %N ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'+& +4 "core" & \ +2 "manipulator"&|% +3 "core" %\  #  +2 "storage"(y% +4 "core" %b y\  ,\ +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(`( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +2 "core" & \ \ \ +2 "manipulator"&D& +4 "core" &  k + .tElbow.seek 2 +2 "manipulator"&\\( +37 "core" ( +2 "manipulator"&& +4 "core" & ] % + "storage"(n& +4 "core" & \ F\ F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +89 "core" ' +2 "storage"(t& +4 "core" & \ D\ 9 L\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (\ & +2 "core" & \ \  L\ +2 "manipulator"&u& +4 "core" & $ +2 .tElbow.seek 2 + "manipulator"&r( +3 "core" ( +2 "manipulator"&H& +3 "core" & $ +2 "storage"(& +3 "core" & \ $\ $ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +5 "storage"(T'X +3 "core" & $ +2 "manipulator"&W% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&o'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&m& +4 "core" & 6 8! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" & I 8! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'" +103 "core" ' +2 "manipulator"&& +4 "core" &! 8! + "manipulator"&'% +4 "core" %- S +3 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'4(V +4 "core" &  \ +8 &6 \ $d +10 &W~  \ 7 +9 &{ \ K +10 &T \ K +9 &oW \ L +9 &1V \ L +10 &W \ L +9 &W \ L +9 &xX \ L +10 &;V \ L +9 &W \ L +10 &!W \ L +9 &#W \ L +9 &%AX \ L +10 &'T \ L +9 &(U \ L +9 &*W \ L +10 &,IV \ L +9 &. S \ L +10 &/U \ L +9 &1W \ L +9 &3PV \ M +10 &5V \ L +9 &6W \ L +9 &8U \ L +10 &:ZS \ L +9 &<W \ L +10 &=T \ L +9 &?Y \ L +9 &A`W \ M +10 &C#W \ L +9 &DY \ L +9 &Fb \ N +10 &H`r \ O +9 &J \ T +10 &K \ W +9 &M \ X +9 &OQ \ W +10 &Q \ X +9 &R \ Y +9 &T \ Y +10 &V0w \ . +9 &V \ T +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&51 +4 "core" &Vr \ M +56 1 +2 "manipulator"&% +4 "core" % 5 K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\  o  + "storage"(;% +4 "core" %b O\ + "storage"(3. +3 "core" .( +2 "storage"(x& +3 "core" & \ +2 "storage"(^& +3 "core" & \ +2 "manipulator"&a& +4 "core" & \  8! + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&)& +4 "core" & i  + "storage"(& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +287 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & f\ +2 "manipulator"&*& +3 "core" & 6  +2 .tElbow.seek 2 + "manipulator"&&( +3 "core" ( +2 "manipulator"&$& +3 "core" & <  +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(2'X +6 "core" &  +2 "manipulator"&% +3 "core" %  L N +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&-(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +3 "manipulator"&V& +4 "core" &i "  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &i y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&8' +99 "core" ' +2 "manipulator"&P& +4 "core" &j N  +2 "manipulator"&:% +3 "core" % ^ +2 "processing"%#& +4 "core" &\ +2 "processing"%K& +5 "core" &\ + .tPC.seek :closed +2 "processing"%v(Z +4 "core" &\  +10 &1~\ *x +9 &a\ = +9 &ru\ N +10 &5T\ M +9 &Y\ M +10 &Y\ N +9 &yY\ N +9 &;Y\ N +10 &Z\ N +9 &X\ M +9 & U\ M +10 &"CX\ N +9 &$X\ M +10 &%V\ M +9 &'Z\ N +9 &)LY\ M +10 &+Y\ M +9 &,Z\ M +9 &.Z\ N +10 &0TX\ M +9 &2U\ M +10 &3X\ M +9 &5W\ M +9 &7\\Z\ M +10 &9Y\ M +9 &:S\ M +10 &<X\ M +9 &>dW\ M +9 &@'V\ M +10 &AX\ M +9 &CY\ N +9 &Ej\\\ N +10 &G(k\ O +9 &H\ R +9 &J\ S +10 &La\ T +9 &N$\ S +10 &O\ S +9 &Q\ T +9 &Sh\ T +10 &U+\ T +9 &V\ T +9 &X\ T +10 &Za\ "k +9 &Z `\ / +9 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&(1 +4 "core" &Z\ ) +54 1 +2 "manipulator"& % +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' + "processing"%=& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\  + "storage"(?% +4 "core" %b "\ +2 "storage"(N. +3 "core" .( + "storage"(,& +4 "core" & U\ + "storage"(7& +2 "manipulator"&!& +7 "core" & #\ + &j  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'i + "manipulator"&[(s +5 "core" ( + "manipulator"&6& +4 "core" &j w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &j  +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' +51 .tHand.close +2 "manipulator"&"/ +56 "core" / +3 .tPC.seek :open +2 "processing"%9( +36 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(A'y +46 "core" ' +340 ( + "storage"(& +5 "core" & \ + "manipulator"&s& +4 "core" &j \  + "manipulator"&i% +4 "core" % l  +2 .tForearm.seek :retract + "manipulator"&]'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&C( +257 "core" ( + "manipulator"&1& +4 "core" & _ +2 "storage"(J& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +96 "core" ' +2 .tHand.open + "manipulator"&Z1 +58 "core" 1 +2 "storage"(M- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(I'E +43 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(h' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' + "storage"(f& +4 "core" &  u \ + "manipulator"&g& +4 "core" & \  +2 .tElbow.seek 2 + "manipulator"&_( +4 "core" ( + "manipulator"&}& +4 "core" & [ + "storage"(%& +4 "core" & s q H\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +58 "core" ' + "manipulator"&/& +5 "core" & + "storage"(X& +4 "core" & |\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&q' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(>'i +21 "core" ' +2 "manipulator"&+% +4 "core" % +2 "storage"(|& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&F' +15 "core" ' +2 "manipulator"&y& +4 "core" & M + "storage"(& +5 "core" & W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +29 "core" ' + "storage"(k% +4 "core" %r \ 3\ +2 ."downElevator"SE.seek :down +4 "storage"(S'X +99 (U% +2 "core" %QI \ Xe +2 "manipulator"&d% +4 "core" %ђ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +6 "core" & %\ + "collection"'n& +4 "core" &Vq \ M + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&t% +4 "core" %\ \  + "storage"(Y% +4 "core" %b\ \  \ +2 "storage"(b. +3 "core" .( + "storage"(& +4 "core" & \  K\ + "storage"(\ & +4 "core" & \ \  F\ + "manipulator"&u& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&H( +3 "core" ( +2 "manipulator"&& +3 "core" & F +2 "storage"(L& +3 "core" & \ \  *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +90 "core" ' + "storage"(W& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +286 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & + "storage"({& +4 "core" & H\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&e' +33 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''X +30 "core" ' + "manipulator"&% +5 "core" % + "storage"(r& +4 "core" & "\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&T' +13 "core" ' + "manipulator"&o& +5 "core" & F + "storage"(w& +4 "core" & c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('G +47 "core" ' + "manipulator"&& +4 "core" & +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +164 "core" ( + "manipulator"&x& +4 "core" && =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" && =F +2 .tForearm.seek CC +2 "manipulator"&^'" +95 "core" ' + .tHand.close +2 "manipulator"&a/ +52 "core" / + .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(j& +4 "core" & \ \ 9\ +2 "storage"()& +4 "core" & \ \  \ + "manipulator"&& +4 "core" && =E + "manipulator"&% +4 "core" % 4 D +2 .tForearm.seek :retract + "manipulator"&B'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +153 "core" ( + "manipulator"&R& +4 "core" & ` +2 "storage"(& +4 "core" & \ *\ F \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&*' +108 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&O% +4 "core" % + "storage"(<& +4 "core" & \ \  %\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&& +4 "core" & { + "storage"(& +4 "core" & \ H\ G R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +30 "core" ' + "storage"(% +4 "core" %H\ Y\ @ A\ +3 ."downElevator"SE.seek :down +3 "storage"(V'X +98 ( % +3 "core" %A\ \  S\ Va +2 "manipulator"&&% +3 "core" %ф d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +85 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"':& +4 "core" & \ +2 "manipulator"&#% +4 "core" %\   +2 "storage"(2% +3 "core" %[\ 6\ , `\ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(.( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &\  \  +2 "manipulator"& & +3 "core" & +2 .tElbow.seek 3 + "manipulator"&=( +16 "core" ( +2 "manipulator"& & +4 "core" & g  + "storage"(?& +4 "core" &\ H\ H W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +95 "core" ' +2 "storage"(,& +4 "core" & {\ + -\  +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'i +285 "core" ' + "storage"(7- +4 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &\ %\ # #\  +2 "manipulator"&6& +3 "core" & :  +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&8& +4 "core" & |  + "storage"("& +4 "core" &\ G\ F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +3 "storage"(v'X +7 "core" &  +2 "manipulator"& % +4 "core" % ϟ +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +140 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( + "manipulator"&i& +4 "core" &- % \\ Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- / Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&1'" +92 "core" ' +2 "manipulator"&J& +4 "core" &-  X Cs +2 "manipulator"&[% +4 "core" %   +2 "collection"'Z& +3 "core" &  \ +2 "collection"'M& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" &  \ +7 & - \ $c +9 &V} \ 7 +9 &x \ K +10 &T \ L +9 &lW \ M +10 &/U \ L +9 &W \ M +9 &U \ L +10 &tW \ M +9 &7V \ L +9 &W \ L +10 &!V \ M +9 &#}V \ L +10 &%?S \ L +9 &'S \ L +9 &(U \ M +10 &*U \ L +9 &,FX \ M +9 &. U \ L +10 &/W \ L +9 &1W \ L +10 &3PR \ L +9 &5V \ L +9 &6X \ L +10 &8U \ L +9 &:WS \ L +9 &<Y \ M +10 &=V \ L +9 &?T \ L +10 &A_X \ L +9 &C W \ M +9 &D] \ M +10 &Fd \ N +9 &H\\u \ P +9 &J \ U +10 &K \ W +9 &M \ W +10 &ON \ X +9 &Q \ X +9 &R \ Y +10 &T \ Y +9 &V.v \ . +9 &V! \ P +9 ( +2 &Vc \ K +2 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&f1 +62 "core" 1 +2 "manipulator"&g% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%]& +4 "core" &\ + "manipulator"&%% +4 "core" %\   + "storage"(/% +4 "core" %b \ +2 "storage"(X. +2 "core" .( +2 "storage"(A& +4 "core" & \  +2 "storage"(+& +3 "core" & \  +2 "manipulator"&|& +4 "core" &- p Cn + "manipulator"&y% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&I( +164 "core" ( +2 "manipulator"&& +4 "core" & } + "storage"(k& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +95 "core" ' +2 "storage"(l& +4 "core" &\ \  Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +279 "core" ' +2 "storage"(U- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (d& +3 "core" & \  + "manipulator"&c& +4 "core" & } + .tElbow.seek 3 +2 "manipulator"&_( +4 "core" ( + "manipulator"&E& +4 "core" & \\ } + "storage"(q& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&F'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(t'X +7 "core" & } +2 "manipulator"&Y% +3 "core" % ϰ @ +2 .tForearm.seek :retract +2 "manipulator"&>'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&b(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &j  f  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &j " &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u' +97 "core" ' +2 "manipulator"&& +4 "core" &j  + "manipulator"&L% +4 "core" % w +2 "processing"%Q& +4 "core" &\ +2 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed + "processing"%S(Z +4 "core" &\  +10 &2}\ *x +9 &a\ = +9 &sv\ N +10 &6X\ M +9 &X\ N +9 &Y\ M +10 &{Z\ M +9 &<W\ N +10 &Y\ N +9 &W\ M +9 & Z\ M +10 &"DW\ N +9 &$V\ N +9 &%Y\ M +10 &'[\ M +9 &)LY\ N +10 &+X\ N +9 &,W\ M +9 &.Y\ M +10 &0UW\ M +9 &2T\ M +9 &3W\ N +10 &5Y\ M +9 &7]Y\ M +9 &9W\ M +10 &:S\ M +9 &<W\ M +10 &>fT\ M +9 &@&Y\ N +9 &AW\ M +10 &C[\ N +9 &ElY\ N +10 &G,e\ N +9 &Hr\ P +9 &J\ R +10 &Lc\ S +9 &N%\ S +9 &O\ S +10 &Q\ T +9 &Sj\ T +9 &U-\ S +10 &V\ T +9 &X\ T +10 &Z_\ #k +9 &ZZ\ , +9 ( +3 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ ( +54 1 + "manipulator"&D% +5 "core" % e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +2 "processing"%m& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&{% +3 "core" %\   +2 "storage"(% +3 "core" %\\ \ +2 "storage"(. +3 "core" .( + "storage"(r& +4 "core" & \  +2 "storage"(o& +4 "manipulator"&w& +4 "core" & \  + &j  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&@& +4 "core" &j z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &j Y  +2 .tForearm.seek PC + "manipulator"&\\' +97 "core" ' + .tHand.close + "manipulator"&e/ +63 "core" / +2 .tPC.seek :open +2 "processing"%T( +82 "core" ' +3 "storage"('- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'y +46 "core" ' +294 ( + "storage"(& +4 "core" & \  +2 "manipulator"&5& +3 "core" &j  +2 "manipulator"&~% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&a'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&;( +264 "core" ( +2 "manipulator"&4& +4 "core" &  + "storage"(j& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +95 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(3& +3 "core" & o o \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&O( +3 "core" ( +2 "manipulator"&<& +3 "core" & P  +2 "storage"(& +4 "core" & w x ^\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&B& +53 "core" &  +4 "storage"( & +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'} +20 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(*'i +25 "core" ' + "manipulator"&% +4 "core" %Ό +2 "storage"(:& +4 "core" & N\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&#'ϸ +13 "core" ' + "manipulator"&2& +4 "core" &   +2 "storage"(& +4 "core" & ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' +2 "storage"(z% +4 "core" %p\ \  G\ +2 ."downElevator"SE.seek :down +4 "storage"(V'X +99 (`% +2 "core" %F R\ Wc +2 "manipulator"&(% +4 "core" %N > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +74 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & ^\  +2 "collection"'?& +4 "core" &Vc \ K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&,% +3 "core" %\  % +2 "storage"($% +4 "core" %` \ + "storage"(P. +3 "core" .( +2 "storage"(7& +3 "core" & \  +2 "storage"(!& +3 "core" & \  +2 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&8( +4 "core" ( + "manipulator"&"& +4 "core" &  + "storage"(-& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +97 "core" ' +2 "storage"( & +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='i +287 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +2 "core" & ;  +2 "storage"(& +3 "core" & M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&K'} +29 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(J- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(['Q +29 "core" ' + "manipulator"&Z% +4 "core" %Ώ L U +2 "storage"( & +3 "core" & K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&v'ϻ +12 "core" ' +2 "manipulator"&& +4 "core" & ~  + "storage"(& +4 "core" &\ \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(g'@ +38 "core" ' + "manipulator"&]& +5 "core" &   + "manipulator"&%% +4 "core" %U ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +159 "core" ( + "manipulator"&A& +4 "core" &+  h Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &+ Y Ab +2 .tForearm.seek CC +2 "manipulator"&+'" +98 "core" ' + .tHand.close + "manipulator"&|/ +62 "core" / + .tCC.seek :open +2 "collection"'y( +416 "core" ( + "storage"(1& +4 "core" &\ #\ \  +2 "storage"(& +4 "core" &\ \  \  + "manipulator"&k& +4 "core" &+ O Aa + "manipulator"&l% +4 "core" % & B +2 .tForearm.seek :retract + "manipulator"&s'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&}( +163 "core" ( + "manipulator"&U& +4 "core" & +2 "storage"(d& +3 "core" & o\  c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&c'} +104 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +62 "core" 1 +2 "manipulator"&% +4 "core" % · d +2 "storage"(n& +4 "core" &\ G\ G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&Y'ϳ +25 "core" ' + "manipulator"&I& +4 "core" & m +2 "storage"(C& +4 "core" & \ N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +33 "core" ' + "storage"(F% +4 "core" %H\ \\\ ] \  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (\ % +2 "core" %>\ "\  "\ V` +2 "manipulator"&_% +4 "core" %2 H c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'L& +4 "core" & \ +2 "manipulator"&Q% +4 "core" %\  U  + "storage"(t% +4 "core" %`\ + y L\ + "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(9( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \ \  )\ +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&m( +36 "core" ( +2 "manipulator"&{& +4 "core" & & + "storage"(& +4 "core" & \ H\ H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +86 "core" ' + "storage"(r& +5 "core" & \ B\ X \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'i +291 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" & \ \ "\ +2 "manipulator"&@& +3 "core" & H "z +2 .tElbow.seek 2 +2 "manipulator"&H( +31 "core" ( +2 "manipulator"&u& +4 "core" & e K + "storage"(e& +4 "core" & \ -\ . <\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(S'X +8 "core" & K + "manipulator"&% +4 "core" % \  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&~& +4 "core" &$ ( N ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &$ ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'" +98 "core" ' + "manipulator"&j& +4 "core" &$ ~ ;2 +2 "manipulator"&% +4 "core" % > +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'^(V +4 "core" & \  +9 &2}  \ )w +9 &c \ = +10 &zq \ M +9 &?R \ L +10 &V \ L +9 &V \ M +9 &V \ L +10 &FV \ L +9 &V \ L +9 &R \ L +10 & W \ L +9 &"NU \ L +10 &$X \ L +9 &%W \ L +9 &'U \ L +10 &)WR \ L +9 &+V \ L +9 &,V \ M +10 &.U \ L +9 &0^W \ L +60 &2 U \ L +4 &3V \ L +2 &5S \ L + &7gV \ L + &9(V \ L + &:Y \ L + &<W \ M +5 &>mV \ M +10 &@0V \ L +9 &AT \ L +9 &CZ \ L +10 &Ev[ \ L +9 &G2h \ N +9 &Ht \ P +10 &J \ U +9 &L^ \ W +10 &N \ W +9 &O \ X +9 &Q \ X +10 &Sa \ Y +9 &U! \ Z +9 &VnC \ 1 +10 &Vk \ J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&31 +3 "core" &Vb \ J +50 1 +2 "manipulator"&% +4 "core" %  " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&a% +3 "core" %\  k  +2 "storage"(B% +4 "core" %b \ +2 "storage"( . +3 "core" .( + "storage"(x& +4 "core" & U\ + "storage"(R& +4 "core" & \ + "manipulator"&& +4 "core" &# :+ +2 "manipulator"&:% +3 "core" %\  [  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&2( +155 "core" ( +2 "manipulator"&& +4 "core" & \ + "storage"(;& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +95 "core" ' +2 "storage"()& +4 "core" & \ \  E\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" & \ +2 "manipulator"&& +3 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( + "manipulator"&& +4 "core" & \ + "storage"(&& +4 "core" & W\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&#' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&?& + "storage"(,'X +8 "core" & % \ + "manipulator"&*% +4 "core" %  o  +2 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&P(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&7& +4 "core" &h  P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &h S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&6' +94 "core" ' + "manipulator"&"& +5 "core" &h  + "manipulator"&-% +4 "core" % /  +2 "processing"%& +3 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed + "processing"%V(Z +4 "core" &\ +9 &>\ $d +9 &U~\ 7 +9 &{\ K +10 &Y\ M +9 &nZ\ M +9 &0Y\ M +10 &X\ M +9 &Y\ M +10 &uY\ M +9 &7X\ M +9 &Z\ M +10 &!Y\ M +9 &#}Y\ M +9 &%?Y\ M +10 &'W\ M +9 &(X\ M +10 &*X\ M +9 &,HX\ M +9 &.\ Y\ M +10 &/W\ M +9 &1W\ M +9 &3PX\ M +10 &5W\ M +9 &6Y\ M +10 &8W\ M +9 &:XX\ M +9 &<X\ M +10 &=W\ M +9 &?[\ M +9 &AaW\ M +10 &C"Z\ M +9 &D^\ N +10 &Fe\ O +9 &H]z\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &O^\ S +10 &Q\ S +9 &R\ T +10 &T\ T +9 &Vd\ T +9 &X%\ T +10 &Yzn\ 2 +9 &Z(s\ M +9 &Z\ - +3 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"& % +4 "core" % i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +101 "core" ' + "processing"%i& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ e  +2 "storage"(J% +3 "core" %T \ + "storage"(Z. +3 "core" .( +2 "storage"( & +4 "core" & \ +2 "storage"(& +2 "manipulator"&& +7 "core" & \ + &h  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(]'i + "manipulator"&%(s +31 "core" ( + "manipulator"&G& +4 "core" &m \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &m \ +2 .tForearm.seek PC +2 "manipulator"&=' +91 "core" ' +2 .tHand.close + "manipulator"&K/ +57 "core" / + .tPC.seek :open +2 "processing"%v( +67 "core" ' + "storage"([- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(A'y +46 "core" ' +313 ( +2 "storage"(M& +4 "core" & \ + "manipulator"&f& +4 "core" &m \  \ + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&|'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +259 "core" ( + "manipulator"&0& +4 "core" & a  +2 "storage"(1& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 .tHand.open + "manipulator"&k1 +54 "core" 1 + "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(U'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(+- +4 "core" -' + "storage"(X& +4 "core" & 1\ +2 "manipulator"&q& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +8 "core" ( + "manipulator"&n& +5 "core" & a { + "storage"(I& +4 "core" & X\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&C'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(F' +58 "core" ' + "manipulator"&s& +4 "core" & X { +2 "storage"(\ & +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_' +31 "core" ' +2 .tElbow.hold + "manipulator"&}, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(c'i +24 "core" ' + "manipulator"&Y% +5 "core" % } + "storage"(L& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&Q' +19 "core" ' +2 "manipulator"&t& +4 "core" &  { +2 "storage"(>& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +28 "core" ' +2 "storage"(h% +4 "core" %n\ \  N\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (.% +3 "core" %I Y\ Vb +2 "manipulator"&% +4 "core" %э ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +75 ' + ."downElevator"SE.stop + "storage"(5 +3 ({& +4 "core" & \  U\ + "collection"'& +4 "core" &Vb \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&r% +4 "core" %\   + "storage"(E% +4 "core" %^\ \  \ + "storage"(. +4 "core" .( + "storage"(o& +4 "core" & \ \  ;\ + "storage"(W& +4 "core" & \ \ \ +2 "manipulator"&@& +3 "core" & \  { +2 .tElbow.seek 2 + "manipulator"&u( +4 "core" ( + "manipulator"&e& +4 "core" &  { + "storage"(b& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +93 "core" ' + "storage"(& +4 "core" & \ \ # {\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & { + "storage"(\\& +4 "core" & \ \  -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&w' +36 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(j- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('X +29 "core" ' + "manipulator"&H% +4 "core" % +2 "storage"(& +3 "core" & L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&S' +17 "core" ' + "manipulator"&& +4 "core" & c { +2 "storage"(y& +4 "core" & \ \  >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('G +46 "core" ' + "manipulator"&& +4 "core" & ! { +2 "manipulator"&a% +4 "core" %ў } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +164 "core" ( +2 "manipulator"&x& +4 "core" &- W Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &, Cp +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"':( +420 "core" ( + "storage"(4& +3 "core" & \  A\ +2 "storage"(& +4 "core" & \  }\ +2 "manipulator"&;& +3 "core" & * " @X + "manipulator"&)% +4 "core" % ' 7 +2 .tForearm.seek :retract +2 "manipulator"&5'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&<( +159 "core" ( +2 "manipulator"&`& +4 "core" &  +2 "storage"((& +3 "core" & \ F\ F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +105 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +60 "core" 1 +2 "manipulator"& % +5 "core" % + "storage"(?& +4 "core" & \ \  m\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&*' +12 "core" ' + "manipulator"&2& +4 "core" &   +2 "storage"(z& +4 "core" & \ A\ H E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +26 "core" ' +2 "storage"(#% +4 "core" %G\ ?\ D \ +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (!% +2 "core" %C\ (\ # 7\ V_ +2 "manipulator"&O% +4 "core" %ѕ ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'-& +4 "core" & \ + "manipulator"&% +4 "core" %\   + "storage"(,% +4 "core" %Z\ <\ / W\ +2 "storage"($. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \  +2 "manipulator"& & +3 "core" & \   +2 .tElbow.seek 3 + "manipulator"&i( +16 "core" ( +2 "manipulator"&& +4 "core" & J ` + "storage"(J& +4 "core" &\ F\ F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +87 "core" ' + "storage"( & +4 "core" &\  n f\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \ \  +2 "manipulator"&G& +4 "core" & * ` + .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&6& +3 "core" & U ` +2 "storage"(K& +3 "core" &\ E\ F \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&['ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +3 "storage"(V'X +7 "core" & ` + "manipulator"&]% +4 "core" % Ϫ 6 +2 .tForearm.seek :retract + "manipulator"&M'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&& +4 "core" &# 1 5 :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &# :. +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +96 "core" ' + "manipulator"&1& +4 "core" &# ! C :- +2 "manipulator"&%% +4 "core" %) W +2 "collection"'k& +3 "core" & \ +2 "collection"'l& +6 "core" & \ +2 .tCC.seek :closed + "collection"'+(V +4 "core" &  \  +9 &0z  \ *y +10 &e \ > +9 &qp  \ M +9 &6Q \ L +10 &V \ L +9 &U \ L +9 &{U \ L +10 &=U \ L +9 &V \ L +9 &V \ L +10 & V \ M +9 &"FU \ L +10 &$V \ L +9 &%X \ L +9 &'W \ L +10 &)OR \ L +9 &+V \ L +9 &,V \ L +10 &.V \ L +9 &0UW \ L +10 &2V \ L +9 &3V \ L +9 &5V \ L +10 &7]W \ L +9 &9V \ L +9 &:W \ L +10 &<U \ L +9 &>eX \ L +10 &@(Y \ L +9 &AY \ L +9 &CY \ M +10 &El_ \ M +9 &G*l \ N +9 &H \ Q +10 &J \ U +9 &LU \ W +10 &N \ W +9 &O \ X +9 &Q \ X +10 &SX \ Y +9 &U \ Z +9 &VeC \ 1 +10 &V u \ I +5 ( +2 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open + "manipulator"&X1 +4 "core" &V_ \ I +59 1 +2 "manipulator"&q% +4 "core" % ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%I& +4 "core" &\ +2 "manipulator"&|% +4 "core" %\   +2 "storage"(s% +3 "core" %T \ +2 "storage"(\ . +2 "core" .( +2 "storage"(A& +3 "core" & \  +2 "storage"(Y& +4 "core" & {\  + "manipulator"&L& +4 "core" &# a :+ + "manipulator"&U% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t( +161 "core" ( + "manipulator"&>& +4 "core" & B  +2 "storage"(h& +3 "core" &\ 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +100 "core" ' +2 "storage"(& +3 "core" &\ \ =\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'i +276 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & Y\  +2 "manipulator"&C& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&F& +4 "core" & f  +2 "storage"(_& +3 "core" & h\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +70 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(r'X +8 "core" &  +2 "manipulator"&E% +3 "core" % Ϧ  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&o& +4 "core" &|  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &| 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&@' +95 "core" ' +2 "manipulator"&e& +4 "core" &| +2 "manipulator"&b% +4 "core" %  +2 "processing"%g& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 &8\ $d +10 &T{\ 6 +9 &}\ K +9 &W\ M +10 &XZ\ M +9 &Y\ M +9 &[\ M +10 &Y\ M +9 &aZ\ M +10 &#X\ M +9 &Y\ M +9 &!X\ M +10 &#gY\ N +9 &%,Y\ M +9 &&W\ M +10 &(Y\ M +9 &*qX\ M +10 &,3Y\ M +9 &-Y\ M +9 &/W\ M +10 &1xX\ M +9 &3;X\ M +9 &4X\ M +10 &6Y\ M +9 &8W\ M +10 &:CY\ M +9 &<X\ M +9 &=W\ M +10 &?W\ M +9 &AJW\ M +9 &C [\ M +10 &D_\ M +9 &Fb\ N +10 &HKn\ P +9 &J}\ Q +9 &K\ S +10 &M\ S +9 &OH\ S +9 &Q\ \ S +10 &R\ S +9 &T\ T +10 &VO\ T +9 &X\ T +9 &Y{l\ 9 +10 &Z*p\ L +9 &Z\ - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&}1 +56 "core" 1 + "manipulator"&D% +5 "core" % R  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%~& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\\% +3 "core" %\  O  +2 "storage"(j% +4 "core" %b \ +2 "storage"(H. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"(& +2 "manipulator"&y& +7 "core" &| _ + & \  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(a'i +3 "core" ( + "manipulator"&p& +4 "core" &| 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &|  +2 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 .tHand.close + "manipulator"&w/ +63 "core" / +2 .tPC.seek :open + "processing"%S( +86 "core" ' +2 "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'y +45 "core" ' +291 ( +2 "storage"(R& +4 "core" & u\  + "manipulator"&3& +4 "core" &| + "manipulator"&'% +4 "core" %  \  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +251 "core" ( +2 "manipulator"&^& +4 "core" &\ V +2 "storage"(4& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +103 "core" ' +2 .tHand.open + "manipulator"&;1 +63 "core" 1 +2 "storage"()- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(`'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"((' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" & |\  + "manipulator"&&& +4 "core" &\ V + .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&?& +4 "core" &\ { V + "storage"(2& +4 "core" & ~ ~ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(#' +62 "core" ' +2 "manipulator"&5& +4 "core" &\ V + "storage"(!& +4 "core" & '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'} +23 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&*% +4 "core" %Ί +3 "storage"(-& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +13 "core" ' + "manipulator"&,& +4 "core" &\ x V +2 "storage"($& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' + "storage"(% +5 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (9% +3 "core" %G \ Wc +2 "manipulator"&% +4 "core" %J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &\ \  \  + "collection"'J& +4 "core" &V_ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\  + "storage"(% +4 "core" %S\ \ p\ + "storage"(". +3 "core" .( +2 "storage"(& +3 "core" &\ \  \  +2 "storage"(& +4 "core" &\ \  $\  + "manipulator"&G& +4 "core" &\ V +2 .tElbow.seek 3 + "manipulator"&6( +4 "core" ( + "manipulator"&K& +5 "core" &\ @ V + "storage"(P& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +92 "core" ' +2 "storage"(]& +4 "core" &\ \  M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +285 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &\ V +2 "storage"(=& +4 "core" & J\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(%'Q +30 "core" ' + "manipulator"&k% +4 "core" %Α +2 "storage"(8& +3 "core" & G\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&V'Ͻ +12 "core" ' +2 "manipulator"&M& +4 "core" &\ A U +2 "storage"(:& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(q'@ +45 "core" ' +2 "manipulator"&I& +5 "core" &\ U + "manipulator"&|% +4 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&\ ( +153 "core" ( + "manipulator"&A& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & X 5 +43 .tForearm.seek CC +10 "manipulator"&Y'" +94 "core" ' + .tHand.close +2 "manipulator"&L/ +61 "core" / +2 .tCC.seek :open +2 "collection"'U( +418 "core" ( +2 "storage"(0& +4 "core" &\ #\ \  + "storage"(>& +4 "core" &\ \  <\  +2 "manipulator"&h& +3 "core" & 5 +2 "manipulator"&% +3 "core" % 5 O +2 .tForearm.seek :retract +2 "manipulator"&f'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&n( +167 "core" ( +2 "manipulator"&.& +4 "core" & C W +2 "storage"(& +3 "core" &\ H\ F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&C'} +100 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +55 "core" 1 +2 "manipulator"&{% +5 "core" % Έ Q } + "storage"(& +4 "core" &\ #\ # \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&E'ϴ +20 "core" ' + "manipulator"&t& +5 "core" &  W + "storage"(/& +4 "core" &\ H\ H S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +26 "core" ' +2 "storage"(Q% +4 "core" %B\ \\\ ? S\ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +98 (W% +3 "core" %>\ #\ % \ U^ +2 "manipulator"&% +3 "core" %\\ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'b& +4 "core" & \ + "manipulator"&g% +4 "core" %\ Y  +2 "storage"(r% +3 "core" %b {\ 3\ +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(v( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" & \ \  ,\ +2 "manipulator"&D& +4 "core" &  W + .tElbow.seek 2 +2 "manipulator"&~( +38 "core" ( + "manipulator"&\\& +5 "core" & . ' + "storage"(j& +4 "core" & \ H\ G :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +98 "core" ' +2 "storage"(& +4 "core" & \ [\ C d\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'i +285 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ #\ . 4\ +2 "manipulator"&p& +3 "core" & \  # +2 .tElbow.seek 2 + "manipulator"&u( +33 "core" ( + "manipulator"&@& +4 "core" & < k +2 "storage"(w& +3 "core" & \ F\ F\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & H k +2 "manipulator"&a% +4 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&3( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&'& +4 "core" &( 1 : ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &( c ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'" +101 "core" ' +2 "manipulator"&4& +4 "core" &( [ ?R +2 "manipulator"&% +4 "core" %, q +2 "collection"';& +3 "core" & \ +2 "collection"')& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \ \ +7 & . \ $c +9 &V \ 7 +10 &y  \ K +9 &U \ L +9 &iW \ L +10 &+U  \ L +9 &W \ L +10 &X  \ L +9 &rW \ L +9 &4W \ L +10 &W \ L +9 &!W \ L +9 &#zT \ L +10 &%;W \ L +9 &&V \ M +10 &(U \ L +9 &*V \ L +9 &,CW \ L +10 &.V \ L +9 &/W \ L +9 &1X \ M +10 &3MU \ L +9 &5W \ L +9 &6W \ L +10 &8V \ L +9 &:SW \ L +10 &<Z \ L +9 &=X \ L +9 &?U \ L +10 &A[W \ L +9 &CZ \ L +10 &D] \ L +9 &Fb \ N +9 &H[p \ O +10 &J \ S +9 &K \ V +9 &M \ W +10 &OK \ W +9 &Q \ W +10 &R \ X +9 &T \ Y +9 &V,u \ - +10 &V% \ Q +9 ( + &Vk \ I +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"& 1 +62 "core" 1 +3 "manipulator"&&% +4 "core" % , p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%2& +4 "core" &\ + "manipulator"&% +4 "core" %\   + "storage"(5% +4 "core" %a \ + "storage"(!. +3 "core" .( +2 "storage"(*& +3 "core" & \ +2 "storage"(x& +3 "core" & \ +2 "manipulator"&-& +4 "core" &( > ?Q + "manipulator"&,% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +157 "core" ( +2 "manipulator"&$& +4 "core" & B  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +101 "core" ' +2 "storage"(& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +284 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ + "manipulator"&z& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&#& +3 "core" & 3  +2 "storage"(O& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&J& + "storage"( 'X +7 "core" & c  +2 "manipulator"&% +3 "core" %  | +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +113 "core" ( +2 "manipulator"&& +4 "core" &l  ^  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &l }  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&G' +98 "core" ' + "manipulator"&K& +4 "core" &o  +2 "manipulator"&P% +4 "core" % y + "processing"%& +4 "core" &\ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed + "processing"%7(Z +5 "core" &\  +9 &2~\ *y +9 &c\ > +10 &t\ N +9 &EW\ M +9 &X\ M +10 &Y\ M +9 &X\ M +9 &LX\ M +10 &]\ M +9 &Y\ M +10 & Y\ M +9 &"UY\ M +9 &$W\ M +10 &%Y\ M +9 &'Z\ M +9 &)\\Z\ M +10 &+Y\ M +9 &,Y\ M +10 &.U\ M +9 &0dW\ M +9 &2&X\ M +10 &3X\ N +9 &5X\ M +9 &7lX\ M +10 &9.X\ M +9 &:T\ M +10 &<W\ M +9 &>uW\ M +9 &@6Y\ M +10 &AX\ M +9 &C]\ M +9 &E{^\ N +10 &G9m\ O +9 &H\ R +10 &J\ S +9 &Lr\ S +9 &N3\ T +10 &O\ S +9 &Q\ S +9 &Sx\ T +10 &U:\ T +9 &V\ T +10 &X\ T +9 &Z&Xw\ &r +9 &Zb\ 5 +9 ( +3 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&<1 +4 "core" &Z#\ / +58 1 + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&Z'\ +101 "core" ' + "processing"%& +4 "core" &Z#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&=% +3 "core" %\ t 2 +2 "storage"(1% +3 "core" %b \ +2 "storage"(k. +3 "core" .( + "storage"(8& +4 "core" & \ +2 "storage"(M& +4 "manipulator"&:& +4 "core" & w\ + &o   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&I(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'i +3 "core" ( + "manipulator"&N& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &o   +2 .tForearm.seek PC +2 "manipulator"&i' +94 "core" ' + .tHand.close + "manipulator"& / +57 "core" / +3 .tPC.seek :open + "processing"%V( +90 "core" ' + "storage"(%- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +46 "core" ' +289 ( +2 "storage"(l& +4 "core" & \ + "manipulator"&X& +4 "core" &o  + "manipulator"&[% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&L'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&s( +244 "core" ( +2 "manipulator"&+& +4 "core" & * + "storage"(0& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +97 "core" ' + .tHand.open +2 "manipulator"&h1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(.'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(Y- +3 "core" -' +2 "storage"(\ & +3 "core" &  ~ E\ +2 "manipulator"&_& +3 "core" & * +2 .tElbow.seek 2 + "manipulator"&{( +16 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(t& +3 "core" & { s D\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +58 "core" ' +2 "manipulator"&f& +4 "core" & d + "storage"(W& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&n, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +25 "core" ' + "manipulator"&E% +4 "core" % +2 "storage"(b& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&g' +21 "core" ' + "manipulator"&r& +4 "core" & { +2 "storage"(c& +4 "core" & D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +28 "core" ' + "storage"(d% +4 "core" %s\ \  L\ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (T% +2 "core" % J ]\ Xd +2 "manipulator"&}% +4 "core" %у c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +4 "core" & \\\ + "collection"'j& +4 "core" &Vk \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   + "storage"(F% +4 "core" %` \ + "storage"(e. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&p& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&@( +4 "core" ( + "manipulator"&w& +4 "core" & j + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 "storage"(a& +4 "core" & \ \  :\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +284 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&'& +3 "core" &  + "storage"(m& +4 "core" & =\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&y' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +34 "core" ' +2 "manipulator"&;% +4 "core" % + "storage"(u& +4 "core" & Z\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +13 "core" ' + "manipulator"&R& +4 "core" & [ +2 "storage"(U& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'G +40 "core" ' + "manipulator"&2& +5 "core" &  + "manipulator"&% +4 "core" %ю & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&!( +164 "core" ( +2 "manipulator"&*& +3 "core" && =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" && g =A +2 .tForearm.seek CC + "manipulator"&x'" +92 "core" ' + .tHand.close +2 "manipulator"&-/ +55 "core" / +2 .tCC.seek :open + "collection"',( +417 "Can"\ :7 +2 "core" ( +2 "storage"(^& +4 "core" & \ \ \  8\ + "storage"($& +4 "core" & \ \ \ + "manipulator"&& +4 "core" &% 0 <@ + "manipulator"&% +4 "core" % 3 4 + .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&?( +155 "core" ( + "manipulator"&9& +4 "core" &  +2 "storage"(& +3 "core" & \ $\ " \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&z' +108 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +64 "core" 1 +2 "manipulator"&% +4 "core" % " ! +2 "storage"(J& +4 "core" & \ \ Z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&`& +4 "core" & )  + "storage"(B& +4 "core" & \ F\ G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +19 "core" ' + "storage"(% +4 "core" %K\ \\\ C B\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %D\ F\ 5 Y\ Va +2 "manipulator"& % +4 "core" %х a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +50 "manipulator"&K'\ +90 "core" ' +8 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'P& +4 "core" & \ +2 "manipulator"&% +4 "core" %\   +2 "storage"( % +3 "core" %X\ /\ , )\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(S( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" & <\  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&]( +16 "core" ( + "manipulator"&& +4 "core" & C Q +2 "storage"(=& +4 "core" &\ F\ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +95 "core" ' +2 "storage"(k& +4 "core" &\ \\\ \\ G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'i +286 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (M& +3 "core" &\ \ \  + "manipulator"&N& +4 "core" & _ Q +2 .tElbow.seek 3 + "manipulator"&6( +3 "core" ( +2 "manipulator"&G& +4 "core" & i Q + "storage"( & +4 "core" &\ F\ F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&%'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"(7'X +6 "core" & Q +2 "manipulator"&|% +3 "core" % ϣ 9 +2 .tForearm.seek :retract +2 "manipulator"&l'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&[& +4 "core" & R 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & h 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&+'" +104 "core" ' +2 "manipulator"&0& +4 "core" &  K 6 +2 "manipulator"&I% +4 "core" % +2 "collection"'h& +3 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Y(V +4 "core" & \ \  +9 &2~ \ *x +9 &c \ = +10 &vp \ M +9 &;Q \ L +10 &V  \ L +9 &V \ L +9 &W \ L +10 &CV \ L +9 &V \ L +9 &W \ L +10 & W \ M +9 &"KU \ L +10 &$ U \ L +10 &%W \ L +8 &'S \ L +10 &)RW \ L +9 &+X \ L +9 &,W \ L +10 &.V \ L +9 &0ZW \ L +10 &2U \ L +9 &3U \ M +9 &5U \ L +10 &7cV \ L +9 &9$V \ L +9 &:X \ L +10 &<X \ M +9 &>iW \ M +10 &@,U \ L +9 &AW \ L +9 &CY \ L +10 &Eq\\ \ M +9 &G.j \ N +9 &H| \ Q +10 &J \ V +9 &LY \ X +10 &N \ W +9 &O \ X +9 &Q \ X +10 &S[ \ Z +9 &U \ Y +9 &VgB \ 1 +10 &V v \ I +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&\ 1 +3 "core" &V` \ I +56 1 +2 "manipulator"&_% +4 "core" %  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%t& +4 "core" &\ +2 "manipulator"&L% +3 "core" %\ \  +2 "storage"(f% +3 "core" %b .\ +2 "storage"(W. +3 "core" .( + "storage"(A& +4 "core" & z\  + "storage"(E& +4 "core" & \  + "manipulator"&b& +4 "core" & t 6 +2 "manipulator"&.% +3 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&r( +161 "core" ( + "manipulator"&c& +4 "core" & v ~ +2 "storage"(d& +3 "core" &\ \ @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +96 "core" ' +2 "storage"(>& +4 "core" &\ #\  a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" & C\  +2 "manipulator"&/& +4 "core" & _ ~ + .tElbow.seek 3 +2 "manipulator"&{( +3 "core" ( + "manipulator"&Q& +4 "core" & ~ + "storage"(& +4 "core" &\ \ :\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"('X +7 "core" & ~ + "manipulator"&F% +4 "core" % Ϩ +2 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +2 "manipulator"&& +4 "core" &l  D \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &l L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +94 "core" ' + "manipulator"&w& +4 "core" &l j \ +2 "manipulator"&% +4 "core" %  + "processing"%q& +4 "core" &\ +2 "processing"%a& +5 "core" &\ +2 .tPC.seek :closed + "processing"%o(Z +4 "core" &\  +8 &3}\ *x +10 &c\ > +9 &pu\ N +10 &4Y\ M +9 &X\ M +9 &Z\ M +10 &yY\ M +9 &<Y\ M +9 &[\ M +10 &Y\ M +9 & Y\ M +10 &"DW\ M +9 &$W\ M +9 &%Y\ M +10 &'Z\ M +9 &)LY\ M +9 &+Y\ M +10 &,W\ M +9 &.Z\ M +10 &0UW\ L +9 &2X\ M +9 &3X\ M +10 &5Y\ M +9 &7[Y\ M +9 &9X\ M +10 &:W\ M +10 &<W\ M +9 &>dW\ M +9 &@%W\ M +9 &AW|\ M +10 &CZ|\ M +9 &Ej[\ M +9 &G(e\ O +10 &Hq\ P +9 &J\ R +10 &La\ S +9 &N"\ S +9 &O\ T +10 &Q\ S +9 &Sh\ S +9 &U(\ T +10 &V\ T +9 &X\ T +10 &Zb\ $o +9 &ZT|\ , +10 ( &Z\ * +2 "processing"%a& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&n1 +55 "core" 1 +2 "manipulator"&D% +4 "core" % b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H'\ +95 "core" ' +2 "processing"%'& +4 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&m% +3 "core" %\   +2 "storage"(4% +4 "core" %` \ + "storage"(;. +3 "core" .( +2 "storage"(u& +4 "core" & \  +2 "storage"(R& +2 "manipulator"&U& +7 "core" & \  + &l \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +3 "manipulator"&2(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +2 "manipulator"&& +3 "core" &l \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &l \ +2 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' +2 .tHand.close + "manipulator"&y/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(*'y +43 "core" ' +293 ( + "storage"()& +4 "core" & \  + "manipulator"& & +4 "core" &l \ + "manipulator"&% +4 "core" %  \   +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5( +258 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(^& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +51 "manipulator"&$'9 +102 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(9'E +29 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(x- +3 "core" -' +2 "storage"(!& +3 "core" & [\  +2 "manipulator"&O& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&J& +4 "core" & u  +2 "storage"(`& +3 "core" & L\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +61 "core" ' + "manipulator"&3& +4 "core" &   +2 "storage"(& +4 "core" &\ \ -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& '} +24 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(z'i +26 "core" ' +2 "manipulator"&P% +4 "core" %Ό +2 "storage"(& +5 "core" & i\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +12 "core" ' + "manipulator"& & +5 "core" & ]  + "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +23 "core" ' + "storage"((% +5 "core" %p\ #\  Z\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (v% +3 "core" %&J @\ Wc +2 "manipulator"&<% +4 "core" %Q I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &\ \  E\  +2 "collection"'=& +4 "core" &V_ \ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&k% +3 "core" %\  +2 "storage"(#% +4 "core" %\\\ \ \ +2 "storage"(K. +2 "core" .( +2 "storage"(:& +4 "core" &\ \ ! \  +2 "storage"(M& +3 "core" &\ \ \ \  +2 "manipulator"&N& +3 "core" & \   +2 .tElbow.seek 3 + "manipulator"&G( +4 "core" ( + "manipulator"& & +4 "core" & 7  + "storage"("& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +94 "core" ' +2 "storage"(|& +4 "core" &\ \ ! .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'i +283 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&[& +3 "core" &  +2 "storage"(i& +3 "core" &\ \ }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&8'} +30 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(I'Q +27 "core" ' +2 "manipulator"&h% +4 "core" %ΐ 1 M + "storage"(6& +4 "core" & o\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&7'ϼ +12 "core" ' + "manipulator"&l& +5 "core" & J  + "storage"(,& +4 "core" &\ \  W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'@ +38 "core" ' +3 "manipulator"&t& +4 "core" &  +2 "manipulator"&L% +3 "core" %Y V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&W( +154 "core" ( +2 "manipulator"&A& +4 "core" & 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & 7 +2 .tForearm.seek CC +2 "manipulator"&E'" +92 "core" ' + .tHand.close + "manipulator"&b/ +62 "core" / + .tCC.seek :open +2 "collection"'.( +416 "core" ( +2 "storage"(+& +3 "core" &\ !\ $\  +2 "storage"(c& +4 "core" &\ $\ % $\  + "manipulator"&d& +4 "core" & | 7 + "manipulator"&>% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +170 "core" ( +2 "manipulator"&T& +4 "core" & g + "storage"(}& +4 "core" &\ @\ \\ M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&/'} +95 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&\\% +4 "core" % ΁ Y + "storage"(j& +4 "core" &\ H\ H\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts + "manipulator"&F'ϭ +12 "core" ' +3 "manipulator"&r& +4 "core" &  g + "storage"(s& +4 "core" & o\  V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 "storage"(g% +4 "core" %F\ \\\ G \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %D\ \  \ V_ +2 "manipulator"&{% +3 "core" %O " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&q% +3 "core" %\ 4 +2 "storage"(% +4 "core" %S\ H\ H\ +2 "storage"(e. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(V( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (n& +3 "core" & \ \  \ + "manipulator"&D& +4 "core" & g +2 .tElbow.seek 2 + "manipulator"&'( +40 "core" ( + "manipulator"&m& +4 "core" & 3 + "storage"(4& +4 "core" & \ 6\ C *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +87 "core" ' + "storage"(u& +4 "core" & \ ]\ \\ #\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +278 "core" ' +2 "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" & \ #\ $ \ +2 "manipulator"&& +3 "core" & x 3 +2 .tElbow.seek 2 +2 "manipulator"&@( +21 "core" ( + "manipulator"&p& +9 "core" & l  +2 "storage"(y& +3 "core" & \ F\ F\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&H& "storage"(o'X +8 "core" & \\  + "manipulator"&% +4 "core" %  * +2 .tForearm.seek :retract + "manipulator"&)'\ +139 "core" ' +3 .tElbow.seek CC +2 "manipulator"& ( +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +51 "core" ( +2 "manipulator"&& +4 "core" &( $ ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &( 3 ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' + "manipulator"&^& +5 "core" &(  ?T + "manipulator"&2% +4 "core" %7 D ( +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'-(V +4 "core" & \ +7 &4 \ $d +9 &Vy \ 6 +10 &y \ \ K +9 &T \ L +9 &rV \ L +10 &4U \ \ L +9 &V \ L +9 &U \ L +10 &yU \ L +9 &<R \ L +10 &U \ L +9 &!U \ L +9 &#Y \ L +10 &%CW \ L +9 &'U \ L +9 &(R \ L +10 &*U \ L +9 &,KV \ L +10 &.R \ L +9 &/V \ L +9 &1V \ L +10 &3SU \ L +9 &5R \ L +9 &6V \ L +10 &8U \ M +9 &:\\U \ L +10 &<V \ L +9 &=T \ L +9 &?Y \ L +10 &AcV \ L +9 &C%Y \ L +9 &D\\ \ M +10 &Fa \ M +9 &Hbr \ O +10 &J \ T +9 &K \ V +9 &M \ W +10 &OS \ W +9 &Q \ X +9 &R \ Y +10 &T \ Y +9 &V.s \ - +10 &V$ \ P +8 ( +2 &Vj \ H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&x1 +58 "core" 1 +4 "manipulator"&!% +4 "core" % 7 : ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%J& +4 "core" &\ + "manipulator"&`% +4 "core" %\  v  + "storage"(3% +4 "core" %S e\ + "storage"(. +3 "core" .( +2 "storage"(P& +4 "core" & ;\ + "storage"(*& +4 "core" & e\ +2 "manipulator"&& +3 "core" &(  ?S +2 "manipulator"& % +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +157 "core" ( +2 "manipulator"&9& +4 "core" &  + "storage"((& +4 "core" & \ \  (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +94 "core" ' +2 "storage"($& +4 "core" & \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(v- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" & H\ + "manipulator"&B& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"( & +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(k'X +8 "core" &  +2 "manipulator"&#% +3 "core" % m U +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&z(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&:& +5 "core" &s  6 \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" &s I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&N' +102 "core" ' +2 "manipulator"& & +4 "core" &s \ +2 "manipulator"&"% +4 "core" % + "processing"%&& +4 "core" &\ +2 "processing"%|& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &=\ $e +9 &V}\ 7 +10 &|\ L +9 &V\ M +10 &jZ\ M +9 &-W\ M +9 &Z\ M +10 &Y\ M +9 &r[\ M +9 &4W\ M +10 &Z\ M +9 &!W\ M +10 &#zV\ M +9 &%<Z\ M +9 &&X\ N +10 &(Y\ M +9 &*Z\ M +9 &,CY\ N +10 &.Y\ M +9 &/W\ N +10 &1W\ M +9 &3LT\ M +9 &5 X|\ N +10 &6X}\ M +9 &8T|\ M +9 &:SW\ N +10 &<V\ M +9 &=T\ M +10 &?W\ M +9 &A\\X|\ M +9 &C[\ M +10 &D\\\ N +9 &Fe\ O +9 &HYv\ Q +10 &J\ S +9 &K}\ S +10 &M\ S +9 &OZ}\ S +9 &Q{\ S +10 &R\ T +9 &T\ T +9 &V_|\ T +10 &X!\ T +9 &Y{k|\ 3 +9 &Z+}\ J +10 &Z \ - +2 ( +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&?1 +60 "core" 1 +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +97 "core" ' +2 "processing"%[& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&i% +3 "core" %\  ` ( +2 "storage"(0% +4 "core" %T \ + "storage"(h. +3 "core" .( +2 "storage"(6& +3 "core" & \ +2 "storage"(l& +3 "manipulator"&,& +6 "core" & \ + &s  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&t(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(L'i +2 "core" ( +2 "manipulator"&Z& +4 "core" &s \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &s i \ +2 .tForearm.seek PC +2 "manipulator"&]' +101 "core" ' +2 .tHand.close + "manipulator"&8/ +52 "core" / +2 .tPC.seek :open + "processing"%7( +91 "core" ' +2 "storage"(I- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(A'y +47 "core" ' +287 ( +2 "storage"(& +4 "core" & \ + "manipulator"&\ & +4 "core" &s g \ +2 "manipulator"&%% +3 "core" % B +2 .tForearm.seek :retract + "manipulator"&b'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&f( +264 "core" ( + "manipulator"&Y& +4 "core" & c +2 "storage"(+& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +97 "core" ' + .tHand.open + "manipulator"&d1 +62 "core" 1 + "storage"(>- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(T'E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(}' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"(W& +4 "core" & t k 4\ + "manipulator"&& +4 "core" & \  +2 .tElbow.seek 2 + "manipulator"&\\( +4 "core" ( + "manipulator"&j& +4 "core" & g + "storage"(r& +4 "core" & q q 5\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(g' +61 "core" ' +2 "manipulator"&X& +4 "core" & + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&{' +34 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +23 "core" ' + "manipulator"&F% +5 "core" % + "storage"(& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&q' +19 "core" ' + "manipulator"&& +4 "core" & p +2 "storage"(e& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +85 "core" ' +2 "storage"(% +4 "core" %s\ \ #\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (S% +2 "core" %UL x\ Xe +2 "manipulator"&n% +4 "core" %ѐ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" & \ \ +2 "collection"'4& +4 "core" &Vj \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&u% +4 "core" %\ y  + "storage"(Q% +4 "core" %b\ \  e\  + "storage"(w. +3 "core" .( +2 "storage"(U& +4 "core" & \ \ u\ +2 "storage"(a& +3 "core" & \ \ \ +2 "manipulator"&& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&y& +3 "core" & . +2 "storage"(C& +3 "core" & \ \  2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +90 "core" ' +2 "storage"(& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''i +287 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & +2 "storage"(& +3 "core" & s\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +32 "core" ' + .tElbow.hold + "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(2'X +30 "core" ' +2 "manipulator"&% +4 "core" % % K + "storage"(@& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&o' +14 "core" ' +2 "manipulator"&)& +4 "core" & V +2 "storage"(.& +3 "core" & [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(!'G +40 "core" ' +3 "manipulator"&J& +4 "core" & ? +2 "manipulator"&`% +4 "core" %Ѩ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +162 "core" ( +2 "manipulator"&P& +4 "core" &+  Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &+ K Aa +2 .tForearm.seek CC + "manipulator"&'" +100 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(9& +4 "core" & =\ +2 "storage"(& +4 "core" & $\ + "manipulator"&(& +4 "core" &* @Y + "manipulator"&$% +4 "core" % ' x +2 .tForearm.seek :retract +2 "manipulator"& '\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&O( +161 "core" ( + "manipulator"&v& +4 "core" & r  +2 "storage"(<& +4 "core" & \ F\ F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&B' +104 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&% +4 "core" % y + "storage"(=& +5 "core" & \ \ J\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&#' +16 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(5& +4 "core" & \ B\ G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 "storage"(% +4 "core" %J\ B\ W \ +2 ."downElevator"SE.seek :down +3 "storage"(:'X +100 (M% +2 "core" %@\ '\ 4 T\ U^ +2 "manipulator"&% +4 "core" %љ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'"& +3 "core" & \ +2 "manipulator"&&% +4 "core" %\   +2 "storage"(k% +3 "core" %S\ \\\ \\ \ +3 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &\ \ 9\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&[( +17 "core" ( +2 "manipulator"&i& +4 "core" & R j + "storage"(0& +4 "core" &\ A\ A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +103 "core" ' +2 "storage"(6& +4 "core" &\ \\ ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +278 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (l& +3 "core" &\ 9\ 2 <\  +2 "manipulator"&Z& +3 "core" & j +2 .tElbow.seek 3 + "manipulator"&G( +4 "core" ( + "manipulator"&N& +4 "core" & j + "storage"(8& +4 "core" &\ F\ F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&I'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"('X +43 "core" & j +2 "manipulator"&L% +4 "core" % Ϝ +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +121 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +41 "core" ( + "manipulator"&%& +5 "core" &* ' @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &) | @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Y'" +94 "core" ' +2 "manipulator"&+& +4 "core" &* d @[ +2 "manipulator"&t% +3 "core" %' 6 +2 "collection"'d& +4 "core" & \ +2 "collection"'>& +5 "core" & \ +2 .tCC.seek :closed + "collection"'E(V +4 "core" & \  +9 &3}  \ *y +9 &d \ > +10 &m \ M +9 &KQ \ L +10 & U  \ L +9 &R \ L +9 &U \ L +10 &QU \ M +9 &V \ L +10 &U \ L +9 & V \ M +9 &"[U \ L +10 &$U \ L +9 &%S  \ L +9 &'V  \ L +10 &)bT \ L +9 &+%R \ L +9 &,U \ M +10 &.U \ L +9 &0jX \ L +10 &2,T \ L +9 &3R \ L +9 &5U \ L +10 &7rW \ L +9 &94V \ L +9 &:X \ L +10 &<W \ M +9 &>zW \ L +10 &@<S \ L +9 &AX \ L +9 &CX \ M +10 &EZ \ M +9 &G=j \ O +9 &H~ \ Q +10 &J \ V +9 &Li \ X +10 &N* \ X +9 &O \ X +9 &Q \ X +10 &Sk \ Z +9 &U- \ X +9 &Vo? \ 0 +10 &V s \ I +5 ( +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&W1 +3 "core" &Vb \ I +50 1 +3 "manipulator"&% +4 "core" % ' z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%r& +4 "core" &\ + "manipulator"&b% +4 "core" %\  $  + "storage"(X% +4 "core" %T \ + "storage"(. +3 "core" .( +2 "storage"(F& +3 "core" & \  +2 "storage"(A& +3 "core" & \  +2 "manipulator"&& +4 "core" &( _ ?R + "manipulator"&% +4 "core" %\   +52 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +164 "core" ( + "manipulator"&e& +4 "core" & } +2 "storage"(f& +3 "core" &\ \  A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +102 "core" ' + "storage"(}& +4 "core" &\ \ \ \  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" & X\  +2 "manipulator"&n& +4 "core" & } + .tElbow.seek 3 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&g& +3 "core" & V } +2 "storage"({& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&4& "storage"(u'X +7 "core" & ) } +2 "manipulator"&Q% +4 "core" % ϱ +2 .tForearm.seek :retract + "manipulator"&w'\ +100 "core" ' +3 .tElbow.seek PC + "manipulator"&U(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&/& +4 "core" &t  U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &t . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&y& +5 "core" &t + "manipulator"&C% +4 "core" % +2 "processing"%_& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +8 &6\ $d +9 &V~\ 7 +9 &}\ L +10 &Z\ N +9 &hZ\ M +9 &)Y\ M +10 &V\ M +9 &Y\ M +9 &nZ\ N +10 &2X\ M +9 &Y\ M +10 &!U\ M +9 &#x[\ M +9 &%9Y\ M +10 &&W\ N +9 &(Y\ N +9 &*X\ M +10 &,AZ\ M +9 &.Y\ M +10 &/R\ M +9 &1V\ N +9 &3IW\ M +10 &5 T\ M +9 &6X\ M +9 &8T\ M +10 &:QY\ M +9 &<W~\ M +10 &=R\ M +9 &?V\ N +9 &AYU\ M +10 &C[\ M +9 &D[\ M +9 &Fa\ N +10 &HZj\ P +9 &J\ R +10 &K~\ S +9 &M\ S +9 &OW\ S +10 &Q\ S +9 &R{\ T +9 &T\ S +10 &V^\ T +9 &X\ T +10 &Yzm\ 6 +9 &Z,\ N +9 &Z\ ( +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&D% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +91 "core" ' +2 "processing"%R& +4 "core" &Zy\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  ~  +2 "storage"(^% +3 "core" %V \ +2 "storage"(. +3 "core" .( + "storage"(@& +4 "core" & [\  + "storage"()& +2 "manipulator"&.& +7 "core" & >\  + &t +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&J(s + "storage"(`'i +6 "core" ( + "manipulator"&H& +4 "core" &t j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &t | +2 .tForearm.seek PC +2 "manipulator"&'' +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open + "processing"%o( +97 "core" ' + "storage"(2- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P'y +45 "core" ' +284 ( +2 "storage"(*& +4 "core" & \  + "manipulator"&x& +4 "core" &t + "manipulator"&~% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +262 "core" ( + "manipulator"&-& +4 "core" & f  +2 "storage"(9& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +6 .tHand.open +3 "manipulator"&(1 +52 "core" 1 +2 "storage"($- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(v'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(<' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & b\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +8 "core" ( + "manipulator"&=& +5 "core" &  + "storage"(& +4 "core" & x x 8\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' + "manipulator"& & +5 "core" & q  + "storage"(M& +4 "core" & X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +22 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(B'i +24 "core" ' +2 "manipulator"&#% +4 "core" % R + "storage"("& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&&'ϫ +12 "core" ' + "manipulator"&k& +4 "core" & e  +2 "storage"(K& +4 "core" & %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +23 "core" ' +2 "storage"(% +4 "core" %o 0\ +2 ."downElevator"SE.seek :down +4 "storage"(:'X +99 (V% +2 "core" %G \ Wb +2 "manipulator"&?% +4 "core" %f - w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +4 "core" & u\  + "collection"'0& +4 "core" &Vj \ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&6% +4 "core" %\ 5 +2 "storage"(% +3 "core" %R \ +2 "storage"( . +3 "core" .( + "storage"(,& +4 "core" & \  + "storage"(l& +4 "core" & \  + "manipulator"&Z& +4 "core" & T  + .tElbow.seek 3 +2 "manipulator"&N( +4 "core" ( + "manipulator"&8& +4 "core" &  + "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +95 "core" ' + "storage"(L& +4 "core" &\ \  T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['i +281 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +2 "core" & 3  +2 "storage"(%& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&]'} +23 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(+- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(t'R +28 "core" ' +2 "manipulator"&d% +52 "core" %Ώ > +3 "storage"(G& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +12 "core" ' +2 "manipulator"&& +4 "core" & g  + "storage"( & +4 "core" &\ \  T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +43 "core" ' +2 "manipulator"&r& +4 "core" & 2  + "manipulator"&b% +4 "core" %M _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +161 "core" ( + "manipulator"&F& +4 "core" &* I @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &* @ @] +2 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&>/ +55 "core" / +2 .tCC.seek :open + "collection"'( +420 "core" ( + "storage"(Y& +4 "core" &\ \ !\  + "storage"(e& +4 "core" &\ \ \  +2 "manipulator"&f& +3 "core" &* F @\\ +2 "manipulator"&}% +3 "core" % 1 Q  +2 .tForearm.seek :retract + "manipulator"&\ '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&j( +158 "core" ( + "manipulator"&s& +4 "core" & i } +2 "storage"(S& +4 "core" &\ F\ G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&n'} +93 "core" ' +2 .tElbow.hold + "manipulator"&g, +69 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&{1 +54 "core" 1 +4 "manipulator"&m% +4 "core" % ΋ R + "storage"(4& +4 "core" &\ )\  /\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&Q'Ϸ +25 "core" ' + "manipulator"&T& +4 "core" & q } +2 "storage"(c& +3 "core" &\ M\ H \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' + "storage"(q% +4 "core" %F\ [\ [ P\ +2 ."downElevator"SE.seek :down +3 "storage"(/'X +100 (a% +2 "core" %D\ #\  Z\ V` +2 "manipulator"&\\% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'C& +4 "core" & \ +2 "manipulator"&_% +3 "core" %\   +2 "storage"(u% +4 "core" %a\ \\\ \\ \ + "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(7( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \ $\ % \ + "manipulator"&D& +4 "core" & } +2 .tElbow.seek 2 + "manipulator"&R( +36 "core" ( +2 "manipulator"&& +4 "core" & % + "storage"(^& +4 "core" & \ F\ G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(@& +4 "core" & \ [\ [ Q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +278 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \ ! \ +2 "manipulator"&H& +3 "core" & $ +2 .tElbow.seek 2 +2 "manipulator"&p( +3 "core" ( + "manipulator"&& +4 "core" & $ + "storage"(& +4 "core" & \ %\ ! M\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&2' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"('X +7 "core" & $ +2 "manipulator"&`% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +149 "core" ( + "manipulator"&~& +5 "core" ' + &# :* + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &'& +3 "core" &# :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&-'" +101 "core" ' +3 "manipulator"&9& +4 "core" &# T :* + "manipulator"&J% +4 "core" %& +2 "collection"'(& +4 "core" & #\ +2 "collection"'$& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \ +7 &>  \ $d +9 &W} \ 7 +10 &x \ K +9 &T \ L +9 &rV \ L +10 &4U \ L +9 &W \ L +9 &U \ L +10 &xU \ M +9 &<U  \ L +10 &U \ L +9 &!U  \ L +9 &#V \ M +10 &%CV \ L +9 &'V \ M +9 &(T \ L +10 &*U \ L +9 &,KU \ L +10 &. U \ M +9 &/T \ L +9 &1W \ M +10 &3TU \ L +9 &5U \ L +9 &6W \ L +10 &8U \ L +9 &:[X \ L +10 &<W \ M +9 &=W \ L +9 &?Y \ L +10 &AcW \ L +9 &C$W \ M +9 &D\\ \ L +10 &Fb \ N +9 &Hbr \ O +10 &J \ T +9 &K \ V +9 &M \ X +10 &OS \ W +9 &Q \ W +9 &R \ Y +10 &T \ X +9 &V1u \ - +10 &V! \ R +9 ( + &Vc \ K +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % & N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\  Q & + "storage"( % +4 "core" %S \ + "storage"(M. +3 "core" .( +2 "storage"(P& +3 "core" & S\ +2 "storage"(#& +4 "core" & ]\ +2 "manipulator"&"& +3 "core" &" Q :* +2 "manipulator"&v% +3 "core" %\  W & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&k( +154 "core" ( +2 "manipulator"&K& +4 "core" &  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +87 "core" ' +2 "storage"(& +4 "core" & \ \ K\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +276 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" & \ +2 "manipulator"&5& +3 "core" & w  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 8  +2 "storage"(& +4 "core" & \ \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +3 "storage"(6'X +6 "core" & h  +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&,& +4 "core" &k 2 S  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +2 "core" &k  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&Z' +101 "core" ' +2 "manipulator"&8& +4 "core" &k T  + "manipulator"&z% +4 "core" % X +51 "processing"%!& +5 "core" &\ +2 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed + "processing"%:(Z +4 "core" &\  +9 &3}\ *x +9 &c\ > +10 &ut\ N +9 &7W\ N +9 &Y\ M +10 &[\ M +9 &}Y\ N +10 &@X\ M +9 &[\ M +9 &X\ M +10 & V\ M +9 &"GX\ N +9 &$\ W\ M +10 &%Y\ N +9 &'Z\ M +10 &)PZ\ M +9 &+Y\ M +9 &,X~\ M +10 &.Y\ M +9 &0XZ\ M +9 &2Y\ N +10 &3W\ M +9 &5Y\ N +10 &7`X\ M +9 &9"X\ M +9 &:R}\ M +10 &<W{\ M +9 &>iT\ M +9 &@*Z}\ M +10 &AX\ M +9 &CX\ M +10 &En^}\ N +9 &G,k{\ O +9 &H\ R +10 &J|\ S +9 &Lg|\ S +9 &N(\ S +10 &O|\ S +9 &Q{\ T +10 &Sm~\ T +9 &U/\ T +9 &V|\ T +10 &X|\ T +9 &Z ^|\ "i +9 &Z]\ . +9 ( +3 "processing"%L& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&O1 +3 "core" &Z\ ) +52 1 + "manipulator"& % +4 "core" % " p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +2 "processing"%|& +4 "core" &Zx\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&%% +4 "core" %\ " h < +2 "storage"(+% +3 "core" %b m\ +2 "storage"(d. +3 "core" .( + "storage"(G& +4 "core" & \ +2 "storage"(& +4 "manipulator"& & +4 "core" & \ + &k _  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +3 "manipulator"&r(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( +2 "manipulator"&1& +3 "core" &k &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &k H  +2 .tForearm.seek PC +2 "manipulator"&[' +97 "core" ' +2 .tHand.close + "manipulator"&]/ +55 "core" / +3 .tPC.seek :open + "processing"%( +91 "core" ' +2 "storage"(t- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(F'y +45 "core" ' +286 ( + "storage"(A& +4 "core" & |\ +2 "manipulator"&W& +4 "core" &k _  + "manipulator"&I% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&X( +261 "core" ( +2 "manipulator"&E& +4 "core" & +2 "storage"(Y& +3 "core" & u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +88 "core" ' + .tHand.open + "manipulator"&f1 +52 "core" 1 +2 "storage"(}- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(s'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +56 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & l k "\ +2 "manipulator"&{& +3 "core" & +2 .tElbow.seek 2 + "manipulator"&m( +9 "core" ( + "manipulator"&4& +4 "core" & +2 "storage"(T& +4 "core" & h l c\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\ ' +58 "core" ' +2 "manipulator"&q& +4 "core" & + "storage"(j& +4 "core" & %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&a' +32 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'i +22 "core" ' + "manipulator"&Q% +5 "core" %  + "storage"(C& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&_' +17 "core" ' + "manipulator"&u& +4 "core" & d +2 "storage"(w& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' + "storage"(% +4 "core" %p\ \ n\ +3 ."downElevator"SE.seek :down +3 "storage"(/'X +99 (% +3 "core" %2I V\ Wd + "manipulator"&% +4 "core" %њ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & Q\ +2 "collection"'^& +4 "core" &Vc \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&@% +4 "core" %\ ? 6 + "storage"(g% +4 "core" %b \ + "storage"(y. +3 "core" .( +2 "storage"(.& +3 "core" & \ +2 "storage"(& +4 "core" & \ + "manipulator"&H& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & N +2 "storage"(U& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +95 "core" ' + "storage"(`& +4 "core" & \ \  (\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'i +289 "core" ' +3 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" & l +2 "storage"('& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&)' +34 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(9- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(J'Y +33 "core" ' + "manipulator"&(% +5 "core" % & ? + "storage"(p& +4 "core" & p\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&*& +4 "core" & +2 "storage"(& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"( 'H +41 "core" ' + "manipulator"&& +4 "core" & U +2 "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&M( +164 "core" ( +2 "manipulator"&P& +4 "core" &" 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &! & 8 9$ +2 .tForearm.seek CC +2 "manipulator"&$'" +92 "core" ' + .tHand.close +2 "manipulator"&"/ +58 "core" / +2 .tCC.seek :open + "collection"'v( +416 "core" ( +2 "storage"(-& +4 "core" & \  \ + "storage"(K& +4 "core" & \  u\ + "manipulator"&& +4 "core" &" i 9$ + "manipulator"&% +4 "core" % 0 x + .tForearm.seek :retract +2 "manipulator"&x'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&=( +159 "core" ( +2 "manipulator"&V& +4 "core" &  + "storage"(?& +4 "core" & \ F\ F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&5' +95 "core" ' +2 .tElbow.hold + "manipulator"&, +53 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&i% +4 "core" % l + "storage"(0& +4 "core" & \ !\  *\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +12 "core" ' + "manipulator"&k& +4 "core" & %  +2 "storage"(3& +3 "core" & \ G\ H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +21 "core" ' +2 "storage"(&% +4 "core" %K\ 0\ B \ +2 ."downElevator"SE.seek :down +4 "storage"(,'X +98 (l% +3 "core" %D\ \ \ V` +2 "manipulator"&% +3 "core" %Ѭ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'z& +4 "core" & \ +2 "manipulator"&!% +4 "core" %\  \  + "storage"(6% +4 "core" %`\ G\ D \ + "storage"(B. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(o( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +2 "core" &\ \ \  +2 "manipulator"& & +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&|( +16 "core" ( + "manipulator"&%& +4 "core" & { + "storage"(+& +4 "core" &\ F\ E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +97 "core" ' +2 "storage"(G& +4 "core" & {\ * ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" &\ \ . \  +2 "manipulator"&1& +3 "core" &  { +2 .tElbow.seek 3 + "manipulator"&N( +4 "core" ( + "manipulator"&Z& +4 "core" & { + "storage"(]& +4 "core" &\ :\ C \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(:'X +7 "core" & ` { +2 "manipulator"&b% +3 "core" % ϱ y  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +103 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&I& +4 "core" &, 4 I Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &* n Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'" +93 "core" ' + "manipulator"&Y& +5 "core" &+ Ae + "manipulator"&r% +4 "core" %( 0  +2 "collection"'f& +3 "core" & \ +3 "collection"'}& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'(V +4 "core" & \  +9 &2~ \ *x +10 &c \ = +9 &|q \ M +10 &?T \ L +9 &W \ L +9 &U \ L +10 &U \ L +9 &GU \ L +9 &\ R \ L +10 &U \ L +9 & V \ L +10 &"OU \ L +9 &$V \ L +9 &%T \ L +10 &'V  \ L +9 &)WU \ L +9 &+V \ L +10 &,W \ L +9 &.V  \ L +9 &0`W \ L +10 &2!U \ L +9 &3W \ L +10 &5V \ L +9 &7gW \ L +9 &9)U \ L +10 &:U \ L +9 &<T \ L +9 &>oY \ L +10 &@1V \ L +9 &AW \ L +10 &CX \ M +9 &Eu^ \ M +9 &G2j \ O +10 &H~ \ P +9 &J \ V +10 &L_ \ W +9 &N! \ W +9 &O \ X +10 &Q \ X +9 &Sa \ Y +9 &U# \ Y +10 &VlC \ 0 +9 &V u \ J +5 ( +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&1 +3 "core" &V` \ J +50 1 +2 "manipulator"&{% +4 "core" % (   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%T& +4 "core" &\ +2 "manipulator"&>% +3 "core" %\    +2 "storage"(q% +4 "core" %T \ + "storage"(j. +3 "core" .( +2 "storage"(F& +3 "core" & \  +2 "storage"(Q& +3 "core" & \  +2 "manipulator"&C& +3 "core" &* Ad +2 "manipulator"&s% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&u( +163 "core" ( +2 "manipulator"&w& +4 "core" & u + "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +98 "core" ' +2 "storage"(e& +4 "core" &\ "\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +282 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ H\  + "manipulator"&c& +4 "core" & r u + .tElbow.seek 3 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&\ & +3 "core" &  u +2 "storage"(a& +3 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(@'X +8 "core" & u + "manipulator"&g% +4 "core" % Ϧ \  4 +2 .tForearm.seek :retract + "manipulator"&y'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&.(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +104 "core" ( +2 "manipulator"&n& +4 "core" &j  n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +100 "core" ' +2 "manipulator"&& +4 "core" &j +2 "manipulator"&U% +3 "core" % S +2 "processing"%& +3 "core" &\ +3 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed + "processing"%/(Z +5 "core" &\ +7 &6\ $d +9 &Uy\ 6 +9 &~}\ K +10 &W\ M +9 &_[\ M +9 &!Y\ M +10 &X\ M +9 &W\ M +10 &gY\ M +9 &)X\ M +9 &Z\ M +10 &!Y\ M +9 &#nY\ M +9 &%0X\ M +10 &&W\ M +9 &(W\ M +10 &*vW\ M +9 &,8Y\ M +9 &-Y\ M +10 &/X\ M +9 &1U\ M +9 &3AW\ M +10 &5X\ M +9 &6Wy\ M +10 &8W{\ M +9 &:IY}\ M +9 &< Yw\ M +10 &=W\ L +9 &?W\ M +9 &ASW~\ L +10 &CY\ M +9 &D\\y\ M +10 &F`~\ N +9 &HSm~\ O +9 &J}\ Q +10 &K\ S +9 &M\ S +9 &OP|\ S +10 &Q\ R +9 &R}\ S +10 &T\ S +9 &VV\ S +9 &X~\ T +10 &Yzn\ 7 +9 &Z2\ E +9 &Z\ ' +3 ( + "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&\\1 +57 "core" 1 + "manipulator"&D% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + "processing"%~& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&'% +4 "core" %\  +2 "storage"(9% +3 "core" %a \ +2 "storage"((. +3 "core" .( + "storage"(p& +4 "core" & \  + "storage"(*& +2 "manipulator"&& +7 "core" & ]\  + &j +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&;& +4 "core" &j O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &j +3 .tForearm.seek PC + "manipulator"&R' +93 "core" ' +51 .tHand.close +2 "manipulator"&)/ +58 "core" / +2 .tPC.seek :open + "processing"%( +48 "core" ' +2 "storage"(J- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'y +44 "core" ' +330 ( + "storage"(#& +4 "core" & \  +2 "manipulator"&& +3 "core" &j +2 "manipulator"&2% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"& ( +265 "core" ( + "manipulator"&& +5 "core" & q + "storage"(-& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +95 "core" ' + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(V'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(?' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(M& +3 "core" & o t\  +2 "manipulator"&& +4 "core" & q +2 .tElbow.seek 3 + "manipulator"&i( +8 "core" ( + "manipulator"&0& +4 "core" & j +2 "storage"(k& +4 "core" & k m \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(&' +58 "core" ' +2 "manipulator"&x& +4 "core" & j + "storage"(=& +4 "core" & u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&l'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +22 "core" ' + "manipulator"&z% +5 "core" %΄ + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&!'ϰ +12 "core" ' + "manipulator"&6& +5 "core" &  j + "storage"(B& +4 "core" &\ \ <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +23 "core" ' +2 "storage"(<% +4 "core" %s\ \  K\ +2 ."downElevator"SE.seek :down +3 "storage"(,'X +99 (7% +3 "core" %5I \ Wd +2 "manipulator"&O% +4 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (%& +4 "core" &\ \  \  +2 "collection"'+& +4 "core" &V` \ J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&G% +4 "core" %\   + "storage"(% +4 "core" %\\\ \  <\ +2 "storage"(8. +3 "core" .( + "storage"(& +4 "core" &\ \  >\  +2 "storage"(L& +3 "core" &\ \ \  p\  +2 "manipulator"&1& +3 "core" & j +2 .tElbow.seek 3 + "manipulator"&Z( +4 "core" ( + "manipulator"&]& +4 "core" & j + "storage"( & +4 "core" &\ \  <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +92 "core" ' + "storage"(b& +4 "core" &\ \ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +286 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +2 "core" & j +2 "storage"([& +3 "core" & @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' +3 .tElbow.hold + "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(r'Q +28 "core" ' +2 "manipulator"&f% +4 "core" %΋ @ + "storage"(N& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&:'Ϸ +13 "core" ' + "manipulator"&A& +4 "core" & h j +2 "storage"(v& +4 "core" & \  N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"({'@ +40 "core" ' +2 "manipulator"&T& +4 "core" & l j + "manipulator"&>% +4 "core" %@ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +165 "core" ( + "manipulator"&F& +4 "core" &. Z E| +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &/ s E| +2 .tForearm.seek CC + "manipulator"&C'" +94 "core" ' + .tHand.close +2 "manipulator"&}/ +55 "core" / + .tCC.seek :open +2 "collection"'s( +416 "core" ( +2 "storage"(E& +4 "core" &\ \ \  + "storage"(w& +4 "core" &\ \ \  + "manipulator"&& +3 "core" &. F D{ +2 "manipulator"&e% +4 "core" % - +2 .tForearm.seek :retract +2 "manipulator"&W'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&4( +169 "core" ( +2 "manipulator"&& +4 "core" & L + "storage"(& +4 "core" &\ "\ ! '\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&c'} +102 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&a1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ΁ ` +2 "storage"(^& +3 "core" &\ $\ + -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&g'ϭ +12 "core" ' +3 "manipulator"&u& +4 "core" & v L + "storage"(X& +4 "core" &\ >\ < \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +25 "core" ' +2 "storage"(_% +4 "core" %E\ \ = \ +2 ."downElevator"SE.seek :down +3 "storage"(n'X +99 (% +3 "core" %C\ "\  I\ V_ +2 "manipulator"&m% +4 "core" %K * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'U& +4 "core" &  \ +2 "manipulator"&% +4 "core" %\   + "storage"(@% +4 "core" %V\ B\ 1 c\ + "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\\& +2 "core" & \  $\ +2 "manipulator"&D& +4 "core" & L + .tElbow.seek 2 +2 "manipulator"&~( +39 "core" ( +2 "manipulator"&'& +4 "core" & ] 4 + "storage"(9& +4 "core" & \ G\ G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +92 "core" ' +2 "storage"(p& +4 "core" & \ ]\ ] ^\ +50 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +277 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ !\ \ +2 "manipulator"&;& +4 "core" & 3 4 +2 .tElbow.seek 2 +2 "manipulator"&( +21 "core" ( + "manipulator"&H& +4 "core" & {  +2 "storage"()& +4 "core" & \ E\ A\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(/'X +7 "core" & ,  +2 "manipulator"&% +8 "core" %  Z +4 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ' + ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&2& +5 "core" && ' =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" && U =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&'" +93 "core" ' +3 "manipulator"&-& +4 "core" &&  U =C +2 "manipulator"&% +4 "core" %$   +2 "collection"'& +4 "core" & !\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'$(V +4 "core" & \ +7 &5 \ $d +9 &W} \ 7 +10 &w \ K +9 &T \ L +9 &oU \ L +10 &1U \ \ L +9 &W \ L +9 &U \ L +10 &wU \ L +9 &:R \ L +10 &U \ L +9 &!W \ L +9 &#V \ L +10 &%@U \ M +9 &'T \ L +9 &(U \ \ L +10 &*U \ L +9 &,IX \ L +10 &. T  \ L +9 &/U \ L +9 &1V \ M +10 &3RT \ L +9 &5U \ L +9 &6U \ L +10 &8T \ L +9 &:YV \ L +10 &<S \ L +9 &=W \ M +9 &?U \ L +10 &A`V \ M +9 &C#W \ L +9 &DW \ M +10 &Fa \ M +9 &H_r \ P +10 &J \ S +9 &K \ W +9 &M \ X +10 &OQ \ W +9 &Q \ W +9 &R \ Y +10 &T \ Y +9 &V1w \ . +9 &V \ Q +9 ( +2 &V_ \ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&M1 +61 "core" 1 +3 "manipulator"&% +4 "core" % $ n  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +4 "core" &\ +2 "manipulator"&"% +4 "core" %\   +2 "storage"(x% +3 "core" %S t\ +2 "storage"(=. +3 "core" .( + "storage"(z& +4 "core" & \ +2 "storage"(& +3 "core" & 0\ +2 "manipulator"&P& +3 "core" && A =C +2 "manipulator"&6% +3 "core" %\  i  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +162 "core" ( + "manipulator"&V& +5 "core" & < } + "storage"(<& +4 "core" & \ \  ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +100 "core" ' + "storage"(K& +4 "core" & \ \  u\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'i +283 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" & \ +2 "manipulator"&3& +3 "core" & } +2 .tElbow.seek 2 + "manipulator"&i( +4 "core" ( + "manipulator"&&& +3 "core" & X } +2 "storage"(l& +4 "core" & t\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&!' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&+& "storage"(G'X +8 "core" & } + "manipulator"&% +4 "core" %  3 Z +2 .tForearm.seek :retract + "manipulator"&8'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&5(s +172 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&& +4 "core" &w  B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&1' +100 "core" ' +2 "manipulator"&]& +4 "core" &w  +2 "manipulator"& % +4 "core" % +2 "processing"% & +3 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%,(Z +4 "core" &\  +8 &2}\ *x +10 &b\ = +9 &tt\ N +9 &6W\ M +10 &W\ M +9 &Y\ M +9 &}Y\ M +10 &@X\ M +9 &Z\ M +10 &W\ M +9 & Y\ M +9 &"GW\ M +10 &$ W\ M +9 &%Y\ M +9 &'Z\ M +10 &)OY\ M +9 &+W\ M +10 &,W\ M +9 &.W\ M +9 &0WX\ M +10 &2W\ M +9 &3X\ M +9 &5Y\ M +10 &7_W\ M +9 &9"W\ M +10 &:V\ M +9 &<V\ M +9 &>gU\ M +10 &@)Y\ M +9 &AX\ M +9 &CZ\ N +10 &Em`\ N +9 &G*j\ O +10 &H\ R +9 &J\ R +9 &Le\ S +10 &N'\ S +9 &O\ S +9 &Q\ S +10 &Sl\ S +9 &U-\ T +10 &V\ T +9 &X\ T +9 &Z `\ #k +10 &ZW\ + +9 ( + &Z\ ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"& % +4 "core" % C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d'\ +101 "core" ' +2 "processing"%I& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&[% +4 "core" %\  + "storage"(Y% +4 "core" %T F\ + "storage"(f. +3 "core" .( +2 "storage"(N& +4 "core" & \ +2 "storage"(A& + "manipulator"&v& +7 "core" & \ + &w  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&T(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'i +2 "core" ( + "manipulator"&h& +4 "core" &w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &w  +2 .tForearm.seek PC +2 "manipulator"&|' +92 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%:( +93 "core" ' + "storage"(r- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(F'y +46 "core" ' +283 ( + "storage"(Q& +5 "core" & \ + "manipulator"&& +4 "core" &w =  + "manipulator"&t% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&}'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&q( +276 "core" ( +2 "manipulator"&& +4 "core" & "{ + "storage"(E& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&w'ќ +99 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(j& +3 "core" &  u {\ +2 "manipulator"&a& +4 "core" & "y + .tElbow.seek 2 +2 "manipulator"&( +19 "core" ( + "manipulator"&^& +5 "core" & Z * + "storage"(u& +4 "core" & ^ ] T\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(_' +61 "core" ' +2 "manipulator"&W& +54 "core" &' $ +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&m' +34 "core" ' +3 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(c'i +25 "core" ' + "manipulator"&U% +4 "core" % ^ +2 "storage"(g& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&@& +4 "core" &" ; % + "storage"(y& +4 "core" & \  D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +25 "core" ' +2 "storage"(S% +4 "core" %s \  C\ +2 ."downElevator"SE.seek :down +4 "storage"(n'X +99 (o% +2 "core" %1J \ Xe +2 "manipulator"&\\% +4 "core" %Ѭ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +4 "core" & \ \ +2 "collection"'9& +3 "core" &V_ \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&p% +3 "core" %\  +2 "storage"(\ % +4 "core" %`\ \  r\ + "storage"(. +3 "core" .( +2 "storage"(*& +3 "core" & \  ]\ +2 "storage"(& +4 "core" & \ \  4\ +2 "manipulator"&;& +3 "core" &# $ +2 .tElbow.seek 2 + "manipulator"&H( +28 "core" ( +2 "manipulator"&)& +4 "core" & {  +2 "storage"(.& +3 "core" & \ \  &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' + "storage"(& +4 "core" & \ \  k\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'i +284 "core" ' +2 "storage"((- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +3 "core" &  +2 "storage"(R& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&`' +35 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +33 "core" ' + "manipulator"&% +4 "core" % , +2 "storage"(& +3 "core" & [\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&/' +14 "core" ' +2 "manipulator"&#& +4 "core" & &  +2 "storage"(s& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +23 "core" ' + .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' +2 "manipulator"&k& +4 "core" & ]  + "manipulator"&"% +4 "core" %ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&=( +162 "core" ( +2 "manipulator"&z& +3 "core" &+  k A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ r A_ +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&P/ +55 "core" / + .tCC.seek :open +2 "collection"'6( +419 "core" ( +2 "storage"(& +4 "core" & \ \ \ + "storage"(V& +4 "core" & \ \  <\ + "manipulator"&<& +4 "core" &( % >N + "manipulator"&K% +4 "core" % . 9 + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +161 "core" ( + "manipulator"&7& +4 "core" & U  +2 "storage"(O& +3 "core" & \ \  C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&3' +105 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +61 "core" 1 +2 "manipulator"&%% +4 "core" % +2 "storage"(+& +3 "core" & \ \  X\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&B& +4 "core" & p  +2 "storage"( & +3 "core" & \ G\ G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +31 "core" ' + "storage"(!% +4 "core" %H\ \\\ \\ \ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (L% +2 "core" %D\ F\ G \ V_ +2 "manipulator"&i% +4 "core" %у  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & \ +2 "manipulator"& % +3 "core" %\ 6  +2 "storage"(G% +4 "core" %\\ |\ + <\ + "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &\ \ 7\  +2 "manipulator"& & +3 "core" & X  +2 .tElbow.seek 3 +2 "manipulator"&I( +20 "core" ( + "manipulator"&[& +4 "core" & y A +2 "storage"(Y& +4 "core" &\ J\ ? C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +92 "core" ' + "storage"(N& +4 "core" &\ { G\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'i +278 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &\ \  \  + "manipulator"&h& +4 "core" & A + .tElbow.seek 3 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&1& +3 "core" & < A +2 "storage"( & +3 "core" &\ \ ' z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&r'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& "storage"(,'X +8 "core" & F A + "manipulator"&>% +4 "core" % ϩ  l +2 .tForearm.seek :retract + "manipulator"&Q'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&t& +4 "core" &'  t >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &' >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' + "manipulator"&E& +4 "core" &' >J +2 "manipulator"&T% +4 "core" %( +2 "collection"'& +4 "core" & !\ +2 "collection"'e& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'C(V +4 "core" & \ +7 &6 \ #c +9 &W~ \ 7 +10 &y  \ K +9 &T  \ L +9 &lV \ L +10 &.U \ L +9 &U  \ L +10 &U \ L +9 &tW \ L +9 &5U \ L +10 &U \ M +9 &!T \ L +9 &#{W \ L +10 &%=U \ L +9 &&U  \ M +10 &(T \ L +9 &*U \ L +9 &,DU \ M +10 &.U \ L +9 &/U \ L +59 &1R \ L +3 &3MT \ L + &5W \ L +5 &6U \ L + &8V \ L + &:UU \ L + &<T \ M +4 &=V \ L +9 &?R \ L +10 &A]W \ L +9 &CX \ L +10 &D] \ M +9 &Fc \ N +9 &HZu \ P +10 &J \ T +9 &K \ X +9 &M \ X +10 &OJ \ X +9 &Q \ X +10 &R \ Y +9 &T \ Z +9 &V,v \ . +10 &V# \ N +9 ( + &Vi \ H +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&j1 +55 "core" 1 +2 "manipulator"&a% +4 "core" % ( | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%^& +4 "core" &\ +2 "manipulator"&u% +4 "core" %\ \ O  + "storage"(W% +4 "core" %S \ \ + "storage"(. +3 "core" .( +2 "storage"(F& +3 "core" & 4\  +2 "storage"(& +4 "core" & \  + "manipulator"&U& +4 "core" && =G + "manipulator"&g% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@( +165 "core" ( + "manipulator"&y& +4 "core" & \\ [ +2 "storage"(q& +3 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +92 "core" ' + "storage"(S& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"(o- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\\& +3 "core" & \  + "manipulator"&X& +4 "core" & [ +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&_& +3 "core" & T [ +2 "storage"(m& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& + "storage"(p'X +7 "core" & [ +2 "manipulator"&\ % +4 "core" % ϛ  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&*(s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&c& +4 "core" &m 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +95 "core" ' + "manipulator"&)& +5 "core" &m  + "manipulator"&.% +4 "core" %  +2 "processing"%{& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%n(Z +4 "core" &\  +9 &3}\ *y +9 &d\ > +10 &r\ N +9 &GV\ M +9 &W\ M +10 &W\ M +9 &X\ N +9 &OV\ M +10 &Y\ M +9 &W\ M +9 & W\ M +10 &"WX\ M +9 &$V\ M +10 &%X\ M +9 &'Y\ N +9 &)_W\ M +10 &+ X\ M +9 &,U\ M +9 &.Y\ M +10 &0fW\ M +9 &2(U\ M +10 &3T\ M +9 &5W\ M +9 &7nW\ M +10 &90W\ M +9 &:R\ M +10 &<W\ M +9 &>vV\ M +9 &@8W\ M +10 &AV\ M +9 &C\\\ M +9 &E|]\ N +10 &G=c\ N +9 &Hr\ P +10 &J\ R +9 &Lt\ S +9 &N5\ T +10 &O\ T +9 &Q\ S +9 &S{\ T +10 &U>\ S +9 &V\ T +9 &X\ T +10 &Z&Uq\ 'v +9 &ZZ\ 2 +9 ( +2 &Z!\ . +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&41 +57 "core" 1 +2 "manipulator"&D% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +92 "core" ' + "processing"%2& +4 "core" &Z!\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&R% +4 "core" %\  [  +2 "storage"(-% +3 "core" %\\ \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"(#& +2 "manipulator"&s& +7 "core" &m  + & \  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(k'i + "manipulator"&"(s +6 "core" ( + "manipulator"&& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&~' +93 "core" ' +2 .tHand.close + "manipulator"&`/ +54 "core" / + .tPC.seek :open +2 "processing"%/( +101 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(z'y +43 "core" ' +282 ( + "storage"(& +4 "core" & \  + "manipulator"&M& +4 "core" &m  + "manipulator"&J% +4 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&x( +263 "core" ( +2 "manipulator"&$& +4 "core" & + "storage"(& +4 "core" & |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +95 "core" ' +2 .tHand.open + "manipulator"&<1 +57 "core" 1 + "storage"(K- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(7'E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(O' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(=& +3 "core" & [\  +2 "manipulator"&l& +3 "core" & +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( + "manipulator"&+& +4 "core" & + "storage"(B& +4 "core" & M\  +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(!' +58 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(L& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&i'} +23 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +25 "core" ' +2 "manipulator"&% +4 "core" %· + "storage"( & +4 "core" & i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"& 'ϳ +19 "core" ' +2 "manipulator"&G& +4 "core" & G +2 "storage"(8& +4 "core" &\ \ b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' + "storage"(?% +4 "core" %p\ \ \\\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %I ]\ Xd +2 "manipulator"&% +4 "core" %5 # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +4 "core" & m\  +2 "collection"'Y& +4 "core" &Vj \ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&N% +4 "core" %\   +2 "storage"(&% +3 "core" %b \ +2 "storage"(]. +3 "core" .( + "storage"(A& +4 "core" & \  + "storage"(b& +4 "core" & \  + "manipulator"&h& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( + "manipulator"& & +4 "core" & l +2 "storage"(5& +4 "core" & \  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +93 "core" ' +2 "storage"(>& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'i +285 "core" ' +2 "storage"(f- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&t& +3 "core" & +2 "storage"(|& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'} +28 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Z'R +28 "core" ' +2 "manipulator"&T% +4 "core" %Α O v + "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&,'Ͻ +12 "core" ' +2 "manipulator"&Q& +4 "core" &  + "storage"(6& +4 "core" &\ \ z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(a'A +38 "core" ' +2 "manipulator"&^& +4 "core" &  +2 "manipulator"&u% +4 "core" %U W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +167 "core" ( + "manipulator"&F& +4 "core" &- s Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &- l Cn +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close + "manipulator"&U/ +60 "core" / +2 .tCC.seek :open + "collection"'g( +416 "core" ( +2 "storage"(& +4 "core" &\ #\ # (\  + "storage"(y& +4 "core" &\ $\ # )\  + "manipulator"&q& +4 "core" &* M @[ + "manipulator"&S% +4 "core" % . b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&}( +162 "core" ( +2 "manipulator"&o& +4 "core" & s + "storage"(\\& +4 "core" & x\  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&X'} +100 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +53 "core" 1 +2 "manipulator"&'% +4 "core" % Ί + "storage"(9& +4 "core" &\ #\ " 1\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&\ '϶ +12 "core" ' +2 "manipulator"&@& +4 "core" &  s + "storage"(w& +4 "core" &\ G\ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +25 "core" ' + "storage"(% +4 "core" %H\ F\ C \ +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (% +2 "core" %~A\ G\ ( *\ V` +2 "manipulator"&% +4 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'.& +4 "core" & \ + "manipulator"&{% +4 "core" %\ ! 6 + "storage"(p% +4 "core" %_\ <\ C \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(:( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +2 "core" & \  \ +2 "manipulator"&D& +4 "core" & s + .tElbow.seek 2 +2 "manipulator"&2( +39 "core" ( +2 "manipulator"&R& +4 "core" & P !q + "storage"(-& +4 "core" & \ (\ 5 m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' + "storage"(& +4 "core" & \ [\ B @\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +276 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ .\ ! g\ +2 "manipulator"&& +3 "core" & ^ +2 .tElbow.seek 2 +2 "manipulator"&H( +23 "core" ( + "manipulator"&;& +4 "core" & M  + "storage"(`& +4 "core" & \ F\ E\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +51 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +3 "storage"(n'X +6 "core" &  + "manipulator"&k% +4 "core" % j P +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&M( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&J& +4 "core" &+ 7 h Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &*  Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'" +27 "Can"\ :7 +71 "core" ' +2 "manipulator"&& +4 "core" &+ Ab +7 "manipulator"&"% +3 "core" % f +2 "collection"'<& +4 "core" & (\ +7 "collection"'K& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(V +5 "core" & \ +6 &> \ $e +10 &X \ 7 +9 &x \ L +9 &S \ L +10 &tU \ L +9 &5T \ L +10 &W \ L +9 &T \ L +9 &{R \ L +10 &=U \ L +9 & Q \ L +9 &!U \ L +10 &#R \ L +9 &%DV \ \ M +9 &'U \ L +10 &(U  \ L +9 &*U \ M +10 &,NU  \ L +9 &.U \ L +9 &/U  \ L +10 &1V \ L +9 &3UU \ L +9 &5W \ L +10 &6V \ L +9 &8T \ L +10 &:]V \ L +9 &<X \ L +9 &=T \ L +10 &?W \ L +9 &AeW \ L +9 &C&W \ M +10 &DZ \ M +9 &F` \ M +10 &Hdr \ O +9 &J \ T +9 &K \ V +10 &M \ W +9 &OT \ X +9 &Q \ X +10 &R \ Y +9 &T \ Y +10 &V6w \ . +9 &V \ \\ +10 ( &Vs \ O +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&=1 +59 "core" 1 + "manipulator"&l% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%B& +4 "core" &\ +2 "manipulator"&P% +4 "core" %\  '  +2 "storage"(% +3 "core" %T \ +2 "storage"(L. +2 "core" .( +2 "storage"(& +4 "core" & \ + "storage"(z& +4 "core" & \ + "manipulator"& & +4 "core" &* ` Aa + "manipulator"&G% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&8( +160 "core" ( +2 "manipulator"&7& +4 "core" & a  + "storage"(?& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +92 "core" ' + "storage"(V& +5 "core" & \  \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & s\ +2 "manipulator"& & +3 "core" & [  +2 .tElbow.seek 2 + "manipulator"&%( +4 "core" ( + "manipulator"&!& +4 "core" & w  +2 "storage"(i& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +22 "core" ' +50 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(N'X +7 "core" & ,  + "manipulator"&&% +4 "core" %  Y +2 .tForearm.seek :retract + "manipulator"&]'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +3 "manipulator"&3& +4 "core" &h  <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &h J  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&h' +100 "core" ' + "manipulator"& & +4 "core" &i  +2 "manipulator"&5% +3 "core" % j +2 "processing"%& +4 "core" &\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\  +9 &2}\ *y +9 &d\ > +10 &qr\ N +9 &4R\ M +9 &W\ M +10 &W\ N +9 &zV\ M +10 &<X\ M +9 &Y\ M +9 &Y\ M +10 & V\ N +9 &"EV\ M +9 &$U\ N +10 &%W\ M +9 &'Y\ N +9 &)MW\ M +10 &+W\ M +9 &,T\ M +10 &.W\ N +9 &0TU\ M +9 &2U\ N +10 &3U\ M +9 &5W\ M +9 &7[V\ N +10 &9V\ M +9 &:U\ M +10 &<X\ M +9 &>dU\ M +9 &@&U\ M +10 &AT\ M +9 &CX\ M +9 &Ej]\ N +10 &G(j\ O +9 &H\ R +10 &J\ S +9 &La\ T +9 &N$\ S +10 &O\ T +9 &Q\ T +9 &Si\ T +10 &U*\ T +9 &V\ T +10 &X\ T +9 &Z`\ #l +9 &Z]\ . +9 ( +3 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&01 +2 "core" &Z\ ) +50 1 + "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +99 "core" ' +2 "processing"%t& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&|% +4 "core" %\ }  + "storage"(E% +4 "core" %S B\ + "storage"(T. +3 "core" .( +2 "storage"(& +4 "core" & \ +2 "storage"(Q& +2 "manipulator"&6& +7 "core" & \ + &i  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&^(s + "storage"(u'i +6 "core" ( + "manipulator"&d& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +2 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&I' +92 "core" ' + .tHand.close +2 "manipulator"&v/ +58 "core" / +2 .tPC.seek :open + "processing"%,( +94 "core" ' + "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'y +44 "core" ' +285 ( + "storage"(e& +4 "core" & p\ +2 "manipulator"&j& +3 "core" &i  +2 "manipulator"&r% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +259 "core" ( + "manipulator"&C& +4 "core" & o  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&y'ќ +93 "core" ' +2 .tHand.open + "manipulator"&q1 +60 "core" 1 +2 "storage"(S- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(o'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(\\' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +5 "core" -' + "storage"(& +4 "core" & ]\ + "manipulator"&m& +4 "core" & g  +2 .tElbow.seek 2 + "manipulator"&'( +4 "core" ( + "manipulator"&9& +4 "core" &  +2 "storage"(@& +3 "core" & P\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +12 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" & ,\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(X'i +22 "core" ' +2 "manipulator"&\ % +4 "core" % r +2 "storage"(.& +4 "core" & ~\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&{' +19 "core" ' +3 "manipulator"&p& +4 "core" & O  + "storage"(& +4 "core" & #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +29 "core" ' + "storage"(% +4 "core" %s\ \ \ @\ +3 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (% +2 "core" %3G \ Wc +2 "manipulator"&4% +4 "core" %ь +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (R& +4 "core" & 1\ +2 "collection"'-& +4 "core" &Vr \ O + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"(_% +4 "core" %^ \ + "storage"(). +3 "core" .( +2 "storage"(#& +3 "core" & \ +2 "storage"(& +4 "core" & \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&;( +4 "core" ( + "manipulator"&`& +5 "core" & J  + "storage"(*& +4 "core" & x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +93 "core" ' +2 "storage"(k& +4 "core" & \  *\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +277 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&J& +3 "core" &  +2 "storage"(~& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&s' +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"("'Y +40 "core" ' +2 "manipulator"&H% +4 "core" %  + "storage"(<& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&n' +17 "core" ' + "manipulator"&& +4 "core" & }  +2 "storage"(g& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +34 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(l'H +41 "core" ' +2 "manipulator"&B& +4 "core" &  + "manipulator"&P% +4 "core" %Ѭ c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +167 "core" ( +2 "manipulator"&& +4 "core" &% d <; + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &% <; +2 .tForearm.seek CC +51 "manipulator"&K'" +96 "core" ' + .tHand.close + "manipulator"& / +55 "core" / +3 .tCC.seek :open + "collection"'G( +416 "core" ( + "storage"($& +5 "core" & \ \  [\ + "storage"(7& +4 "core" & \  {\ + "manipulator"&?& +4 "core" &% <; + "manipulator"&V% +4 "core" % * S  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+( +156 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" & \ F\ E \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +94 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +59 "core" 1 +2 "manipulator"&[% +4 "core" % h + "storage"(Y& +4 "core" & \ %\ # \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&&' +16 "core" ' +2 "manipulator"&8& +4 "core" &   +2 "storage"(x& +3 "core" & \ G\ H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +33 "core" ' +2 "storage"( % +4 "core" %M\ @\ / K\ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +99 (b% +3 "core" %D\ %\ # \ Va +2 "manipulator"&%% +4 "core" %Ѡ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'5& +4 "core" & \ +2 "manipulator"&% +3 "core" %\ \  +2 "storage"(N% +4 "core" %`\ \\\ \\ \ + "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(/( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &\ \  3\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&t( +14 "core" ( +2 "manipulator"&|& +4 "core" & U V + "storage"(E& +4 "core" &\ +\ + 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +97 "core" ' + "storage"(& +4 "core" &\ ! x \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +286 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +2 "core" &\ \ 3 6\  +2 "manipulator"&d& +3 "core" & V +2 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( + "manipulator"&h& +4 "core" &  V +2 "storage"(v& +4 "core" &\ F\ F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&Z'ϩ +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& "storage"('X +7 "core" & V +2 "manipulator"&u% +4 "core" % Ϧ 8 +2 .tForearm.seek :retract + "manipulator"&e'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&r& +4 "core" && & =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +2 "core" && 4 =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'" +97 "core" ' +2 "manipulator"&& +4 "core" &&  =C +2 "manipulator"&^% +3 "core" %# R +2 "collection"'q& +4 "core" & -\ +2 "collection"'S& +4 "core" & -\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & \  +8 &3} \ *y +9 &e \ > +9 &o \ M +10 &IU \ \ L +9 & U \ L +9 &U \ M +10 &U  \ L +9 &RU \ L +9 &U \ L +10 &U \ L +9 & U \ L +10 &"ZR \ L +9 &$U \ L +9 &%V \ L +10 &'W \ L +9 &)cU \ L +9 &+%V  \ L +10 &,V \ K +9 &.W \ L +10 &0jW \ L +9 &2-U \ L +9 &3T  \ L +10 &5U \ \ L +9 &7sU \ L +9 &95V  \ L +10 &:V \ L +9 &<X \ L +10 &>{W \ L +9 &@<V \ L +9 &AW \ L +10 &CY \ L +9 &E_ \ M +9 &G=i \ N +10 &H} \ Q +9 &J \ V +10 &Li \ W +9 &N- \ V +9 &O \ X +10 &Q \ X +9 &Sk \ Y +9 &U- \ W +10 &Vl= \ 0 +9 &V { \ J +6 ( + "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&1 +4 "core" &V` \ J +49 1 +2 "manipulator"&m% +4 "core" % # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%@& +5 "core" &\ + "manipulator"&U% +4 "core" %\    + "storage"(% +4 "core" %\\ \ + "storage"(. +3 "core" .( +2 "storage"(\ & +3 "core" & q\  +2 "storage"(F& +3 "core" & \  +2 "manipulator"&.& +3 "core" &% H <? +2 "manipulator"&o% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&p( +169 "core" ( + "manipulator"&& +5 "core" & 8 Q + "storage"(& +4 "core" &\ \  9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +90 "core" ' +2 "storage"(y& +4 "core" &\ \  \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (4& +3 "core" & \  + "manipulator"&w& +4 "core" & Q +2 .tElbow.seek 3 + "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" & p Q +2 "storage"(& +3 "core" &\ \ f\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&{'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&R/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"('X +8 "core" & Q + "manipulator"&_% +4 "core" % ϲ 5 +2 .tForearm.seek :retract + "manipulator"&)'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&X& +4 "core" &n  } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' +2 "manipulator"&`& +4 "core" &o ] \ + "manipulator"&*% +4 "core" % +2 "processing"%a& +4 "core" &\ +2 "processing"%k& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &\  +9 &1~\ *x +9 &b\ = +10 &ts\ N +9 &7U\ M +9 &W\ M +10 &W\ M +9 &~W\ M +9 &?Z\ M +10 &Y\ M +9 &W\ M +10 & W\ M +9 &"IU\ L +9 &$ U\ M +10 &%W\ M +9 &'W\ M +9 &)OW\ M +10 &+W\ M +9 &,U\ M +10 &.W\ M +9 &0VV\ M +9 &2V\ M +10 &3W\ M +9 &5W\ M +9 &7_W\ M +10 &9!W\ M +9 &:T\ M +10 &<U\ M +9 &>iU\ L +9 &@(W\ M +10 &AU\ M +9 &CY\ N +9 &Em]\ N +10 &G,f\ O +9 &Hn\ P +10 &J\ R +9 &Le\ S +9 &N'\ S +10 &O\ S +9 &Q\ S +9 &Sk\ T +10 &U-\ T +9 &V\ T +10 &X\ T +9 &Z _\ !h +9 &Z"j\ 1 +9 ( +3 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&}1 +4 "core" &Z\ ( +58 1 +2 "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + "processing"%J& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&~% +4 "core" %\   + "storage"(% +4 "core" %b \ + "storage"(H. +3 "core" .( +2 "storage"(<& +4 "core" & \  +2 "storage"(& +3 "manipulator"&g& +5 "core" & \  + &o \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&B(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(P'i +3 "core" ( + "manipulator"&(& +4 "core" &o \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &o u \ +2 .tForearm.seek PC +2 "manipulator"&2' +94 "core" ' + .tHand.close + "manipulator"&s/ +54 "core" / +3 .tPC.seek :open + "processing"%n( +100 "core" ' +2 "storage"("- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +281 ( + "storage"(z& +4 "core" & z\  +2 "manipulator"&=& +3 "core" &o \ +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +261 "core" ( + "manipulator"&& +6 "core" &  + "storage"($& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +96 "core" ' + .tHand.open + "manipulator"&?1 +54 "core" 1 +2 "storage"(V- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(L& +4 "core" & { "\  + "manipulator"&i& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&[( +3 "core" ( +2 "manipulator"&Y& +4 "core" & d  + "storage"(8& +4 "core" & p \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +61 "core" ' + "manipulator"&M& +4 "core" & }  +2 "storage"(b& +3 "core" & 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'} +30 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +25 "core" ' +2 "manipulator"&&% +4 "core" %Ί  R + "storage"(5& +4 "core" & y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +12 "core" ' + "manipulator"&N& +5 "core" &   + "storage"(]& +4 "core" &\ \  1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +22 "core" ' +2 "storage"(O% +4 "core" %s\  \ +2 ."downElevator"SE.seek :down +4 "storage"(3'X +98 (:% +3 "core" %H \ Wd +2 "manipulator"&0% +4 "core" %P x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &\ \ \  +2 "collection"'E& +4 "core" &V` \ J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\   +2 "storage"(!% +4 "core" %X\ \  d\ + "storage"( . +3 "core" .( +2 "storage"(Q& +4 "core" &\ \  K\  +2 "storage"(>& +3 "core" &\ \  \  +2 "manipulator"&d& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&h( +3 "core" ( +2 "manipulator"&v& +4 "core" & A  + "storage"(A& +4 "core" &\ \ +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +103 "core" ' + "storage"(u& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'i +284 "core" ' +2 "storage"(T- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" &  + "storage"(I& +4 "core" & `\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +27 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(^'R +29 "core" ' +2 "manipulator"&1% +4 "core" %Ώ a + "storage"(q& +4 "core" & y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +12 "core" ' +2 "manipulator"&e& +4 "core" & a  + "storage"(G& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' + .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'A +40 "core" ' + "manipulator"&@& +5 "core" & +  + "manipulator"&U% +4 "core" %Q + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&\ & +3 "core" && H =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" && | =A +2 .tForearm.seek CC +2 "manipulator"&.'" +92 "core" ' +2 .tHand.close + "manipulator"&S/ +58 "core" / +2 .tCC.seek :open + "collection"'o( +420 "core" ( + "storage"(C& +4 "core" &\ \ %\  +2 "storage"(& +4 "core" &\ \ \  + "manipulator"&& +4 "core" &$ 8 ;7 + "manipulator"&y% +4 "core" % $ r + .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&9( +160 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(4& +3 "core" &\ F\ F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&w'} +94 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&R% +4 "core" % ΐ + "storage"(-& +4 "core" &\ F\ F\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&_'ϼ +20 "core" ' +3 "manipulator"&p& +4 "core" & c  + "storage"(W& +4 "core" &\ G\ H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +38 "core" ' +2 "storage"({% +4 "core" %C\ <\  %\ +2 ."downElevator"SE.seek :down +3 "storage"(X'X +100 (% +2 "core" %F\ \  Z\ V` +2 "manipulator"&'% +4 "core" %h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'*& +4 "core" & \ + "manipulator"&a% +4 "core" %\ # ; +2 "storage"(% +3 "core" %_\ H\ G\ +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(,( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (}& +3 "core" & \ \  >\ +2 "manipulator"&D& +3 "core" & \   +2 .tElbow.seek 2 +2 "manipulator"&k( +33 "core" ( + "manipulator"&J& +4 "core" & a ' +2 "storage"(~& +3 "core" & \ $\ % 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +92 "core" ' +2 "storage"(H& +4 "core" & \ E\ B \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +285 "core" ' +2 "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ #\ # )\ + "manipulator"&(& +4 "core" & "} +2 .tElbow.seek 2 + "manipulator"&;( +29 "core" ( + "manipulator"&& +4 "core" & W +2 "storage"(s& +4 "core" & \ H\ F\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&"' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(c'X +7 "core" & W +2 "manipulator"&P% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&z'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&=( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&& +4 "core" && $ =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +2 "core" && , =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +2 "manipulator"&$& +4 "core" && m =C + "manipulator"&B% +4 "core" %$ U +2 "collection"'?& +4 "core" & )\ +2 "collection"'V& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'K(V +4 "core" &  \ +7 &5 \ $d +10 &W} \ 7 +9 &x \ K +9 &S \ L +10 &kW \ L +9 &-U \ L +9 &V \ L +10 &U \ L +9 &sU \ L +10 &6V \ L +9 &U \ L +9 &!Y \ L +10 &#{U \ L +9 &%>V \ L +9 &'T \ L +10 &(T \ L +9 &*U  \ L +10 &,FV \ L +9 &.U \ L +9 &/U \ L +10 &1V \ L +9 &3NU  \ L +9 &5U \ L +10 &6U \ L +9 &8U \ L +10 &:VU \ L +9 &<W \ L +9 &=W \ L +10 &?W \ M +9 &A]U \ L +9 &CW \ L +10 &D[ \ M +9 &Fd \ M +10 &H\\q \ O +9 &J \ S +9 &K \ W +10 &M \ W +9 &OK \ X +9 &Q \ W +10 &R \ Y +9 &T \ Y +9 &V,u \ - +10 &V& \ Q +9 ( + &V` \ I +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&L1 +55 "core" 1 +3 "manipulator"&i% +4 "core" % / ; J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%8& +4 "core" &\ + "manipulator"& % +4 "core" %\  +2 "storage"(M% +3 "core" %T O\ +2 "storage"(b. +3 "core" .( + "storage"(& +4 "core" & \ + "storage"(&& +4 "core" & \ + "manipulator"&5& +4 "core" && 6 =C + "manipulator"&% +4 "core" %\ -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&N( +158 "core" ( + "manipulator"&]& +4 "core" & +2 "storage"(O& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +86 "core" ' +2 "storage"(7& +4 "core" & \ \  !\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" & \ +2 "manipulator"&x& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"& & +3 "core" & L +2 "storage"(%& +3 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& + "storage"('X +8 "core" & + "manipulator"&!% +4 "core" %  x w +2 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&Q& +5 "core" &p 4 i  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&d' +94 "core" ' +2 "manipulator"&v& +4 "core" &p  +2 "manipulator"&A% +3 "core" %  +2 "processing"%l& +4 "core" &\ +2 "processing"%u& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(Z +4 "core" &\  +10 &3~\ *x +9 &d\ > +9 &ur\ N +10 &8U\ M +9 &W\ M +10 &W\ M +9 &~W\ M +9 &@V\ M +10 &X\ M +9 &W\ M +9 & W\ M +10 &"GW\ M +9 &$\ X\ M +9 &%X\ M +10 &'Y\ M +9 &)PW\ M +10 &+W\ M +9 &,U\ M +9 &.W\ M +10 &0XW\ M +9 &2W\ M +9 &3W\ M +10 &5X\ M +9 &7aW\ M +10 &9#W\ M +9 &:U\ M +9 &<T\ M +10 &>hU\ M +9 &@*X\ M +9 &AW\ M +10 &CZ\ N +9 &Em_\ N +10 &G,j\ O +9 &H\ Q +9 &J\ S +10 &Lf\ S +9 &N(\ S +9 &O\ T +10 &Q\ S +9 &Sk\ T +10 &U.\ T +9 &V\ T +9 &X\ T +10 &Z _\ !h +9 &Z!j\ 2 +9 ( +3 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&+1 +3 "core" &Z\ ) +58 1 +2 "manipulator"& % +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' + "processing"%r& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&I% +4 "core" %\  + "storage"(% +4 "core" %a i\ +2 "storage"(1. +3 "core" .( + "storage"(q& +4 "core" & I\ +2 "storage"(e& +4 "manipulator"&G& +4 "core" & l\ + &p  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&@(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(U'i +3 "core" ( + "manipulator"&f& +4 "core" &p x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &p #  +2 .tForearm.seek PC + "manipulator"&t' +97 "core" ' +2 .tHand.close + "manipulator"&6/ +55 "core" / +2 .tPC.seek :open + "processing"%( +91 "core" ' + "storage"(^- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'y +35 "core" ' +297 ( + "storage"(F& +4 "core" & \ +2 "manipulator"&& +4 "core" &p \  + "manipulator"&Z% +4 "core" % \  +2 .tForearm.seek :retract + "manipulator"&S'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +263 "core" ( + "manipulator"&& +4 "core" & i +2 "storage"(C& +3 "core" & _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +137 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(4' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(.- +3 "core" -' +2 "storage"(& +3 "core" & | !\ +2 "manipulator"&& +4 "core" & \ \ +2 .tElbow.seek 2 + "manipulator"&R( +4 "core" ( + "manipulator"&-& +4 "core" & ] + "storage"(p& +4 "core" & | $\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +62 "core" ' +2 "manipulator"&j& +4 "core" & +2 "storage"(& +3 "core" & \ \ a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'' +33 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +24 "core" ' + "manipulator"&_% +5 "core" % + "storage"(*& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&a' +12 "core" ' + "manipulator"&& +4 "core" & E +2 "storage"()& +4 "core" & ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +22 "core" ' +2 "storage"(\\% +4 "core" %o \ \ +2 ."downElevator"SE.seek :down +4 "storage"(X'X +98 (/% +3 "core" %@ #\ V` +2 "manipulator"&}% +4 "core" %ѷ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" & \ \  5\ +2 "collection"'~& +4 "core" &V` \ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&H% +4 "core" %\ i  + "storage"(% +4 "core" %`\ \ \  \  + "storage"(`. +3 "core" .( +2 "storage"(g& +3 "core" & \ \  ;\ +2 "storage"(& +4 "core" & \ \ \ I\ +2 "manipulator"&(& +3 "core" & +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&s& +4 "core" & b + "storage"(#& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' +3 "storage"(P& +4 "core" & \ \  n\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & O +2 "storage"(2& +4 "core" & T\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&<' +36 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate + "storage"(B'Y +30 "core" ' +2 "manipulator"&;% +4 "core" %  [ + "storage"(?& +4 "core" & H\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&c' +16 "core" ' +2 "manipulator"&z& +4 "core" & r + "storage"(o& +4 "core" & \ \  _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +33 "core" ' +3 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(i'H +45 "core" ' + "manipulator"&8& +4 "core" & K +2 "manipulator"& % +4 "core" %њ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +164 "core" ( +2 "manipulator"&& +4 "core" &*  @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +2 "core" &* p @[ +2 .tForearm.seek CC +2 "manipulator"&V'" +93 "core" ' +2 .tHand.close + "manipulator"&5/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(& +4 "core" & \ %\ # '\ +2 "storage"(]& +3 "core" & \ #\ # (\ +2 "manipulator"&O& +3 "core" &(  ?S + "manipulator"&7% +4 "core" % - ? +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Y( +158 "core" ( + "manipulator"&:& +4 "core" & e +2 "storage"(0& +3 "core" & \  o _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&x' +94 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +52 "core" 1 +2 "manipulator"&|% +4 "core" % + "storage"(E& +4 "core" & \ F\ G\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&!' +15 "core" ' +3 "manipulator"&N& +4 "core" & B + "storage"(& +4 "core" & |\ + r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' + "storage"(% +4 "core" %I\ $ a ,\ +2 ."downElevator"SE.seek :down +4 "storage"(Q'X +99 (>% +3 "core" %fF\ F\ + u\ Va + "manipulator"&[% +4 "core" %ћ $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'A& +4 "core" & \ +2 "manipulator"&l% +3 "core" %\ \ o  +2 "storage"(% +4 "core" %S\  o C\ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(n( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & \  +2 "manipulator"& & +3 "core" & X +2 .tElbow.seek 3 +2 "manipulator"&r( +35 "core" ( + "manipulator"&I& +4 "core" & 6 +2 "storage"(& +3 "core" &\ +\ + 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +106 "core" ' + "storage"(u& +4 "core" &\ " ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +277 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (e& +3 "core" &\ \ $ -\  +2 "manipulator"&f& +3 "core" & D 5 +2 .tElbow.seek 3 + "manipulator"&h( +15 "core" ( +2 "manipulator"&d& +4 "core" & k # + "storage"(6& +4 "core" &\ G\ F \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&^'ϩ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(3'X +7 "core" & "~ +2 "manipulator"&U% +3 "core" % ϯ  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' + .tElbow.seek CC +51 "manipulator"&( +112 "core" ' + ."downElevator"SE.stop + "storage"(5 +43 "core" ( +2 "manipulator"&Z& +4 "core" &# 3 s :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +2 "core" &# / :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +2 "manipulator"&C& +4 "core" &# r :/ + "manipulator"&@% +4 "core" %* 0 +2 "collection"'& +4 "core" & $\ +2 "collection"'y& +5 "core" & \ +2 .tCC.seek :closed + "collection"'S(V +5 "core" & \ +7 &5 \ $c +10 &V \ 7 +9 &y  \ K +9 &T \ L +10 &sV \ L +9 &4U \ L +9 &W \ L +10 &U \ L +9 &zV \ \ L +10 &<U \ L +9 &U \ L +9 &!U \ L +10 &#V \ L +9 &%DW \ L +9 &'U \ L +10 &(U \ L +9 &*U \ L +10 &,KV  \ L +9 &.U \ L +9 &/U  \ L +10 &1W \ L +9 &3SU \ L +9 &5V \ L +10 &6V \ L +12 &8U \ L +7 &:[V \ L +9 &<Y \ L +9 &=W \ L +10 &?W \ L +9 &AdX \ \ L +9 &C%W \ L +10 &DX \ M +9 &Fc \ N +10 &H`x \ P +9 &J \ T +9 &K \ W +10 &M \ W +9 &OR \ X +9 &Q \ W +10 &R \ Y +9 &T \ X +10 &V0u \ - +9 &V# \ S +9 ( + &Vc \ K +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&.1 +52 "core" 1 +3 "manipulator"&% +4 "core" % * r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%-& +4 "core" &\ +2 "manipulator"&p% +4 "core" %\ =  +2 "storage"(j% +3 "core" %S Z\ +2 "storage"(. +3 "core" .( + "storage"(\ & +4 "core" & \  + "storage"(_& +4 "core" & h\  + "manipulator"&*& +4 "core" &# :/ +2 "manipulator"&% +3 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +162 "core" ( + "manipulator"&)& +4 "core" & | +2 "storage"(\\& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"(& +4 "core" &\ \  i\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +282 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" & \  +2 "manipulator"&W& +4 "core" & U | + .tElbow.seek 3 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&{& +3 "core" & ^ | +2 "storage"('& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&~& "storage"(H'X +7 "core" &  | +2 "manipulator"&% +4 "core" % ϴ  a +2 .tForearm.seek :retract + "manipulator"&`'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&g(s +175 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&w& +6 "core" &q P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +100 "core" ' +2 "manipulator"&s& +4 "core" &q i +2 "manipulator"&#% +3 "core" %  +2 "processing"%m& +4 "core" &\ +2 "processing"%P& +5 "core" &\ +2 .tPC.seek :closed + "processing"%X(Z +4 "core" &\  +9 &3}\ *y +9 &c\ > +10 &q\ N +9 &FU\ M +9 &V\ M +10 &X\ M +9 &X\ M +10 &LU\ N +9 &X\ M +9 &Y\ M +10 & V\ M +9 &"VS\ M +9 &$U\ N +10 &%W\ M +9 &'Y\ N +10 &)]W\ M +9 &+W\ N +9 &,U\ M +10 &.W\ N +9 &0fU\ M +9 &2'W\ M +10 &3U\ M +9 &5U\ M +10 &7mV\ M +9 &9/V\ M +9 &:R\ M +10 &<V\ M +9 &>vU\ M +9 &@7W\ M +10 &AU\ M +9 &CY\ N +10 &E|]\ N +9 &G<d\ N +9 &Hp\ P +10 &J\ R +9 &Lu\ S +9 &N7\ S +10 &O\ S +9 &Q\ T +10 &Sz\ T +9 &U<\ T +9 &V\ T +10 &X\ T +9 &Z'Xv\ %q +9 &Z]\ 0 +9 ( +2 &Z\ + +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&91 +61 "core" 1 + "manipulator"&D% +4 "core" %  '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&2% +4 "core" %\  c  + "storage"($% +4 "core" %V \ + "storage"(;. +3 "core" .( +2 "storage"(?& +3 "core" & \  +2 "storage"(z& +2 "manipulator"&o& +7 "core" & f\  + &q +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b + .tElbow.seek PC +5 "manipulator"&8(s +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +3 "core" ( + "manipulator"&& +4 "core" &q s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q +2 .tForearm.seek PC + "manipulator"&k' +101 "core" ' +2 .tHand.close + "manipulator"&& +4 "core" & =\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&['} +24 "core" ' + .tElbow.hold + "manipulator"&Y, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'i +22 "core" ' + "manipulator"&!% +4 "core" %΅ +2 "storage"(A& +4 "core" & 3\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&l'ϱ +12 "core" ' +2 "manipulator"&& +4 "core" & Y +2 "storage"( & +4 "core" &\ \ C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +25 "core" ' +2 "storage"(% +53 "core" %p\ \ \ 3\ +4 ."downElevator"SE.seek :down +4 "storage"(Q'X +98 (,% +3 "core" %-D \ Wc +2 "manipulator"&+% +4 "core" %M s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (I& +3 "core" & x\  +2 "collection"'& +4 "core" &Vc \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&u% +4 "core" %\ \  4 +2 "storage"( % +3 "core" %\\ k\ +2 "storage"(v. +3 "core" .( + "storage"(G& +4 "core" & :\  +2 "storage"(e& +3 "core" & \  +2 "manipulator"&f& +3 "core" & \ +2 .tElbow.seek 3 + "manipulator"&d( +4 "core" ( + "manipulator"&6& +4 "core" & +2 "storage"( & +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +93 "core" ' +2 "storage"(U& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +283 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +2 "core" & +2 "storage"(^& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'} +22 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(@'Q +37 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(h& +3 "core" & u\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&3'ϫ +13 "core" ' + "manipulator"&F& +4 "core" & ] +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('@ +40 "core" ' +2 "manipulator"&-& +5 "core" & + "manipulator"&p% +4 "core" %/ s z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&\ & +4 "core" &'  >O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &' >O +2 .tForearm.seek CC + "manipulator"&y'" +93 "core" ' + .tHand.close +2 "manipulator"&*/ +60 "core" / + .tCC.seek :open +2 "collection"'( +419 "core" ( +2 "storage"(& +4 "core" & \  l\  + "storage"()& +4 "core" &\ \ \  + "manipulator"&\\& +4 "core" &' ^ =B + "manipulator"&% +4 "core" % * ) +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&/& +4 "core" & K  + "storage"(}& +4 "core" &\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&W'} +100 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +55 "core" 1 + "manipulator"&J% +5 "core" % Ώ + "storage"(~& +4 "core" &\ %\ % L\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&'ϻ +20 "core" ' +3 "manipulator"&& +4 "core" & z  + "storage"(& +4 "core" &\ H\ B E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&4'9 +33 "core" ' +2 "storage"(a% +4 "core" %E\ C\ 0 \ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (% +2 "core" %D\ \  \ V` +2 "manipulator"&R% +4 "core" %5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'#& +4 "core" & \ + "manipulator"&m% +4 "core" %\ ! / +2 "storage"(H% +3 "core" %Z\ F\ B \ +2 "storage"(`. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" & \ \ ,\ +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +108 "core" ( + "manipulator"&2& +5 "core" & i h + "storage"($& +4 "core" & \ F\ F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +100 "core" ' + "storage"(?& +4 "core" & \ \ ; k\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & \ \ + C\ +2 "manipulator"&& +3 "core" & g +2 .tElbow.seek 2 +2 "manipulator"&( +11 "core" ( + "manipulator"&(& +4 "core" &  ' +2 "storage"(<& +3 "core" & \ \  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&B' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& "storage"(X'X +7 "core" & ' +2 "manipulator"& % +4 "core" %  p v +2 .tForearm.seek :retract + "manipulator"&&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +151 "core" ( +2 "manipulator"&"& +4 "core" & 6 + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&k& +4 "core" & 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'" +99 "core" ' +2 "manipulator"&& +4 "core" & \\ 6 +2 "manipulator"&8% +4 "core" % ] e +2 "collection"'O& +4 "core" & /\ +2 "collection"'7& +5 "core" & \ +2 .tCC.seek :closed + "collection"'V(V +5 "core" & \ +7 &> \ $d +10 &W| \ 7 +9 &x \ K +10 &T \ K +9 &tU \ L +9 &7U \ L +10 &U \ L +9 &U \ L +9 &~V \ L +10 &?T \ L +9 & U \ L +10 &!U \ L +9 &#W \ L +9 &%HV \ L +10 &' U \ K +9 &(U \ L +9 &*U \ L +10 &,PU \ L +9 &.V \ L +10 &/U \ L +9 &1V \ L +9 &3WY \ L +10 &5U \ L +9 &6U \ L +9 &8U \ K +10 &:_V \ L +9 &< W \ L +10 &=W \ L +9 &?W \ L +9 &AfW \ L +10 &C(W \ L +9 &D\\ \ L +9 &F` \ M +10 &Hfr \ O +9 &J \ S +10 &K \ V +9 &M \ W +9 &OU \ X +10 &Q \ X +9 &R \ Y +9 &T \ X +10 &V4u \ . +9 &V \ P +9 ( +3 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&b1 +3 "core" &Vn \ K +53 1 +2 "manipulator"&%% +4 "core" %  e ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%N& +4 "core" &\ +2 "manipulator"&5% +3 "core" %\ ! / / +2 "storage"(=% +4 "core" %T \ + "storage"(>. +3 "core" .( +2 "storage"(!& +3 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&A& +4 "core" & d 5 + "manipulator"&% +4 "core" %\ ! / +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +154 "core" ( + "manipulator"& & +4 "core" & \ +2 "storage"(& +3 "core" & n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +87 "core" ' +2 "storage"(]& +4 "core" & \ \  &\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'i +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (,& +2 "core" & i\ +2 "manipulator"&+& +4 "core" & f \ +2 .tElbow.seek 2 + "manipulator"&|( +3 "core" ( +2 "manipulator"&& +3 "core" & \ +2 "storage"([& +4 "core" & j\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&l' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(u'X +7 "core" & \ +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +3 "manipulator"&G& +4 "core" &m ( U  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +2 "core" &m \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +103 "core" ' + "manipulator"&6& +4 "core" &m  +2 "manipulator"& % +4 "core" % +2 "processing"%i& +3 "core" &\ +2 "processing"%U& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Q(Z +4 "core" &\ +7 &6\ $c +9 &V}\ 7 +10 &z\ L +9 &Y\ M +9 &kY\ M +10 &.X\ M +9 &W\ M +9 &W\ M +10 &sW\ M +9 &6S\ M +10 &X\ M +9 &!W\ N +9 &#{X\ M +10 &%=X\ M +9 &'S\ M +9 &(W\ M +10 &*X\ M +9 &,EW\ M +9 &.W\ M +10 &/U\ M +9 &1Y\ M +10 &3NW\ M +9 &5W\ M +9 &6W\ M +10 &8V\ M +9 &:VV\ M +9 &<W\ M +10 &=V\ L +9 &?W\ M +10 &A_W\ M +9 &C Y\ M +9 &D]\ N +10 &Fe\ N +9 &HZy\ Q +10 &J\ S +9 &K\ S +9 &M\ S +10 &O]\ S +9 &Q\ S +9 &R\ T +10 &T\ T +9 &Vb\ T +9 &X$\ T +10 &Yzm\ 2 +9 &Z+v\ I +10 &Z \ , +2 ( + "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&Y1 +60 "core" 1 +2 "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +102 "core" ' +2 "processing"%q& +4 "core" &Z\ , + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&^% +3 "core" %\ %  D +2 "storage"(C% +3 "core" %T 7\ +2 "storage"(. +3 "core" .( +2 "storage"(h& +3 "core" & \ +2 "storage"(F& +2 "manipulator"&& +7 "core" & ~\ + &m z  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(-'i + "manipulator"&p(s +5 "core" ( +2 "manipulator"&T& +4 "core" &m +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +2 "core" &m  +3 .tForearm.seek PC + "manipulator"&r' +97 "core" ' +2 .tHand.close + "manipulator"&Z/ +63 "core" / +2 .tPC.seek :open + "processing"%3( +79 "core" ' +2 "storage"(@- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(\ 'y +42 "core" ' +302 ( + "storage"(_& +4 "core" & \ + "manipulator"&.& +4 "core" &m  +2 "manipulator"&t% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&*'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&j( +267 "core" ( + "manipulator"&S& +4 "core" & *  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&)'ќ +91 "core" ' +2 .tHand.open + "manipulator"&\\1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(}' +48 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(& +3 "core" & D\ +2 "manipulator"&'& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&~& +3 "core" & {  +2 "storage"(& +4 "core" & @\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(a' +56 "core" ' + "manipulator"&& +4 "core" & q  +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&R' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +24 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(#& +3 "core" & P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&m' +20 "core" ' +2 "manipulator"&H& +4 "core" & 8  +2 "storage"(`& +3 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +29 "core" ' + "storage"(4% +4 "core" %n\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (n% +3 "core" %aJ \\\ Wd + "manipulator"&9% +4 "core" %њ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (2& +8 "core" & \ O\ +2 "collection"'$& +4 "core" &Vo \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&?% +4 "core" %\ s  + "storage"({% +4 "core" %b\ \  H\ +2 "storage"(s. +3 "core" .( + "storage"(z& +4 "core" & \ \ \ + "storage"(P& +4 "core" & \ \ \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&(( +3 "core" ( +2 "manipulator"&<& +3 "core" & S  +2 "storage"(g& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"( & +4 "core" & \ \  s\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&"& +3 "core" &  + "storage"(k& +4 "core" & }\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&o' +36 "core" ' + .tElbow.hold + "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(8'X +28 "core" ' +2 "manipulator"&O% +4 "core" % O +42 "storage"(& +13 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&X' +12 "core" ' +2 "manipulator"&&& +4 "core" &  + "storage"(& +4 "core" & ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(%'G +40 "core" ' +2 "manipulator"&N& +4 "core" &   +2 "manipulator"&5% +3 "core" %ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +169 "core" ( + "manipulator"&!& +4 "core" &.  Dw +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &. E Dw +2 .tForearm.seek CC +2 "manipulator"&7'" +91 "core" ' + .tHand.close +2 "manipulator"&A/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(K& +4 "core" & \ \ @\ +2 "storage"( & +4 "core" & \ \ \ + "manipulator"&& +4 "core" &\ * R @] + "manipulator"&]% +4 "core" % 1  +2 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +164 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(,& +4 "core" & \ E\ F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&+' +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&[1 +53 "core" 1 +2 "manipulator"&I% +4 "core" % +2 "storage"(& +4 "core" & \ \  O\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"& ' +13 "core" ' +2 "manipulator"&:& +4 "core" &   +2 "storage"(M& +3 "core" & \ H\ H \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +17 "core" ' + "storage"(l% +4 "core" %N\ /\ ? \ +2 ."downElevator"SE.seek :down +3 "storage"(G'X +100 (e% +2 "core" %C\ F\ + i\ V` +2 "manipulator"&|% +4 "core" %ё . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & \ +2 "manipulator"&i% +4 "core" %\ \   + "storage"(u% +4 "core" %Z\  z :\ + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(c( +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" &\ \  \  +2 "manipulator"& & +3 "core" & ?  +2 .tElbow.seek 3 + "manipulator"&q( +15 "core" ( +2 "manipulator"&^& +4 "core" & N J + "storage"(C& +4 "core" &\ ,\ 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(U& +4 "core" &\ \\\ \\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +285 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" &\ 9\ 3 *\  + "manipulator"&T& +4 "core" & t J +2 .tElbow.seek 3 + "manipulator"&d( +4 "core" ( + "manipulator"&f& +4 "core" & 9 J + "storage"(Z& +4 "core" &\ F\ F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&@'ϩ +29 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& "storage"(Q'X +7 "core" & J +2 "manipulator"&-% +4 "core" % ϩ +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&t& +4 "core" &% 2 m <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &% 6 <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&S'" +103 "core" ' + "manipulator"&& +4 "core" &% c <= +2 "manipulator"&p% +3 "core" %* W +2 "collection"'\\& +4 "core" & /\ +3 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'y(V +4 "core" & \ +8 &5 \ #c +9 &U{ \ 6 +10 &{ \ K +9 &S  \ L +9 &lV \ L +10 &-T  \ L +9 &V \ L +9 &U \ L +10 &sZ \ L +9 &6V \ L +10 &U \ K +9 &!W \ L +9 &#|V \ L +10 &%<Y \ L +9 &&W \ L +9 &(U \ L +10 &*U \ K +9 &,EW \ L +10 &.U \ L +9 &/U \ L +9 &1U \ \ L +10 &3NU  \ L +9 &5U \ K +9 &6V \ L +10 &8T \ L +9 &:UV \ L +10 &<W \ \ L +9 &=W \ L +9 &?V  \ M +10 &A]U \ L +9 &CW \ L +9 &D\\ \ M +10 &Ff \ N +9 &H[v \ O +10 &J  \ T +9 &K \ W +9 &M \ W +10 &OM \ W +9 &Q \ X +9 &R \ Y +10 &T \ Y +9 &V+u \ - +10 &V" \ Q +9 ( + &Vk \ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&'% +4 "core" % *  x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&*% +3 "core" %\  +2 "storage"(% +3 "core" %\\ z\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(#& +3 "core" & +\  +2 "manipulator"&\ & +4 "core" &$ ;7 + "manipulator"&H% +4 "core" %\ P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +171 "core" ( + "manipulator"&/& +4 "core" & ? +2 "storage"(4& +3 "core" &\ \ ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +96 "core" ' + "storage"()& +5 "core" &\ \  H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +278 "core" ' +2 "storage"(n- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (9& +3 "core" & \  + "manipulator"&& +4 "core" & ? + .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( + "manipulator"&a& +4 "core" &  ? + "storage"(R& +4 "core" &\ \  ;\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&m'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +3 "storage"(?'X +7 "core" & ? +2 "manipulator"&{% +3 "core" % Ϩ 6 +2 .tForearm.seek :retract +2 "manipulator"&W'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&s(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&z& +4 "core" &p # T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &p # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&<& +4 "core" &p +2 "manipulator"&g% +4 "core" % J  + "processing"%& +53 "core" &\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%w(Z +3 "core" &\ +7 &E\ $f +9 &W\ 8 +9 &w\ L +10 &W\ M +9 &Y\ M +9 &CV\ L +10 &W\ M +9 &U\ M +10 &W\ M +9 &IW\ M +9 & \ W\ M +10 &!W\ M +9 &#Y\ M +9 &%PW\ M +10 &'U\ M +9 &(R\ M +10 &*U\ M +9 &,XW\ M +9 &.T\ M +10 &/U\ M +9 &1U\ N +9 &3aU\ M +10 &5"U\ M +9 &6U\ N +10 &8T\ M +9 &:hU\ M +9 &<*V\ M +10 &=R\ M +9 &?U\ M +9 &AqU\ M +10 &C2W\ M +10 &D\\\ N +9 &F_\ N +9 &Hpm\ P +9 &J-~\ R +10 &K\ S +9 &M\ S +9 &On\ S +10 &Q0\ S +9 &R\ S +10 &T\ T +9 &Vu\ T +9 &X7\ T +10 &Yyj\ , +9 &Z%Y\ D +9 &Z+\ 2 +3 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&D% +4 "core" % x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +99 "core" ' +2 "processing"%"& +4 "core" &Z+\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&k% +4 "core" %\ " + : +2 "storage"(% +3 "core" %a >\ +2 "storage"(O. +2 "core" .( +2 "storage"(& +4 "core" & \  + "storage"(&& +3 "manipulator"&& +7 "core" & \  + &p  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&N(s + "storage"(5'i +6 "core" ( + "manipulator"&& +4 "core" &p X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &p y +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&o/ +53 "core" / +2 .tPC.seek :open +2 "processing"%X( +98 "core" ' + "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +43 "core" ' +281 ( + "storage"(& +4 "core" & \  +2 "manipulator"&b& +4 "core" &p + "manipulator"&B% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&A'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=( +269 "core" ( +2 "manipulator"&V& +4 "core" &  + "storage"(K& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +111 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(]- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(,' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"(>& +3 "core" & j m {\  +2 "manipulator"&[& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&I( +4 "core" ( + "manipulator"&& +4 "core" & >  + "storage"(:& +4 "core" & o  }\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(l' +58 "core" ' + "manipulator"&L& +5 "core" &  + "storage"(e& +4 "core" & O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&|'} +20 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'i +25 "core" ' + "manipulator"& % +4 "core" %ΐ +2 "storage"( & +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&i'ϼ +12 "core" ' + "manipulator"&u& +4 "core" & >  +2 "storage"(v& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +23 "core" ' + "storage"(0% +5 "core" %s\ \ \  /\ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +99 (% +3 "core" %G \ Wc +2 "manipulator"&Y% +4 "core" %N @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (^& +4 "core" & f\  + "collection"'C& +4 "core" &Vk \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&U% +4 "core" %\ # 9 + "storage"(% +4 "core" %b \ + "storage"(6. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(F& +3 "core" & \  +2 "manipulator"&T& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&Z& +4 "core" & t  + "storage"(x& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +93 "core" ' +2 "storage"(-& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +277 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&t& +3 "core" &  +2 "storage"(r& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'} +21 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(d- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('R +27 "core" ' +2 "manipulator"&p% +4 "core" %Ή + "storage"(\\& +4 "core" & t\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&Q'ϵ +12 "core" ' + "manipulator"&_& +4 "core" & ?  +2 "storage"(& +4 "core" &\ \ \ "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''A +44 "core" ' + "manipulator"&& +5 "core" & (  + "manipulator"&*% +4 "core" %T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" &! ~ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &! 8 +2 .tForearm.seek CC +2 "manipulator"&#'" +93 "core" ' +2 .tHand.close +2 "manipulator"&\ / +59 "core" / +2 .tCC.seek :open + "collection"'H( +420 "core" ( + "storage"(S& +3 "core" &\ \  P\  +2 "storage"(/& +4 "core" &\ \  \  + "manipulator"&4& +4 "core" &" 8 + "manipulator"&)% +4 "core" % 2 k  +2 .tForearm.seek :retract +2 "manipulator"&.'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&~( +164 "core" ( +2 "manipulator"&n& +4 "core" & @ +2 "storage"(9& +3 "core" &\ +\ F N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +102 "core" ' + .tElbow.hold +2 "manipulator"&a, +45 "core" , +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +62 "core" 1 +3 "manipulator"&2% +5 "core" % Ά D + "storage"($& +4 "core" &\ $\ #\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&{'ϲ +13 "core" ' + "manipulator"&`& +4 "core" &  @ +2 "storage"(j& +4 "core" &\ +\ , Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +23 "core" ' + "storage"(m% +4 "core" %?\ 0\ B |\ +3 ."downElevator"SE.seek :down +3 "storage"(z'X +99 (P% +2 "core" %D\ 2\ 1 \ Va +2 "manipulator"&J% +4 "core" %P R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'g& +4 "core" & \ +2 "manipulator"&% +4 "core" %\   + "storage"(?% +4 "core" %b\ G\ B \ + "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(3( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \ +2 "manipulator"&D& +3 "core" & U @ +2 .tElbow.seek 2 + "manipulator"&"( +51 "core" ( +2 "manipulator"&k& +4 "core" &   + "storage"(& +4 "core" & \ G\ G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +103 "core" ' + "storage"(& +5 "core" & \ x \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +\  #\ +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 2 + "manipulator"&(( +19 "core" ( + "manipulator"&& +4 "core" & _  +2 "storage"(o& +3 "core" & \ G\ G \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(w'X +7 "core" & {  +2 "manipulator"&5% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&B& +4 "core" &( # h ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'" +102 "core" ' +2 "manipulator"&K& +4 "core" &( ?R +2 "manipulator"&N% +4 "core" %( +2 "collection"'& +3 "core" & \ +2 "collection"']& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'7(V +4 "core" & \ +7 &6 \ #c +9 &W} \ 7 +10 &x \ K +9 &T \ L +9 &lU \ L +10 &.U  \ L +9 &V  \ L +9 &T  \ L +10 &tW \ L +9 &6U  \ L +10 &T  \ L +9 &!U \ L +9 &#|R \ L +10 &%=U  \ L +9 &&T \ M +9 &(T \ L +10 &*T \ L +9 &,EU \ L +10 &.Q \ L +9 &/U \ L +9 &1U \ L +10 &3MT  \ L +9 &5U \ L +9 &6U \ L +10 &8U \ L +9 &:VU \ L +10 &<V \ L +9 &=S \ L +9 &?V  \ M +10 &A]U \ L +9 &CW \ L +9 &DZ \ L +10 &F` \ \ N +9 &H\\p \ O +10 &J \ T +9 &K \ W +9 &M \ X +15 &OL \ X +4 &Q \ X +11 &R \ Y +8 &T \ Y +9 &V)t \ . +10 &V$ \ P +9 ( + &V_ \ H +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open + "manipulator"&>1 +53 "core" 1 +3 "manipulator"&[% +4 "core" % (  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%A& +4 "core" &\ + "manipulator"&:% +4 "core" %\ d  + "storage"(L% +4 "core" %a O\ + "storage"(e. +3 "core" .( +2 "storage"( & +3 "core" & \ +2 "storage"( & +3 "core" & \ +2 "manipulator"&!& +4 "core" && 0 =G + "manipulator"&u% +4 "core" %\ v  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&v( +159 "core" ( + "manipulator"&& +4 "core" & G  +2 "storage"(0& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +88 "core" ' +2 "storage"( & +4 "core" & \ \  6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" & \ +2 "manipulator"&M& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&I( +9 "core" ( +2 "manipulator"&l& +4 "core" & & + "storage"(|& +4 "core" & M\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&i' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(U'X +7 "core" & +2 "manipulator"&% +4 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&6'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +103 "core" ( +2 "manipulator"&+& +4 "core" &r ^  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +2 "core" &r n  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +89 "core" ' + "manipulator"&Z& +5 "core" &r ,  + "manipulator"&x% +4 "core" % Z > +2 "processing"%%& +3 "core" &S\ +2 "processing"%-& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &\ +7 &6\ $d +9 &V{\ 7 +10 &w\ K +9 &U\ M +9 &mX\ M +10 &/W\ M +9 &W\ L +9 &U\ M +10 &sV\ M +9 &5V\ M +10 &V\ M +9 &!U\ M +9 &#{W\ M +10 &%=V\ M +9 &'S\ M +9 &(W\ M +10 &*V\ M +9 &,FV\ M +10 &.W\ M +9 &/U\ M +9 &1V\ M +10 &3NV\ M +9 &5V\ M +9 &6U\ M +10 &8T\ M +9 &:WU\ M +10 &<V\ M +9 &=U\ L +9 &?V\ M +10 &A_U\ M +9 &C X\ M +9 &D\\\ N +10 &Fc\ O +9 &H[w\ Q +10 &J\ S +9 &K\ S +9 &M\ S +10 &O\\\ S +9 &Q\ T +9 &R\ T +10 &T\ S +9 &Vb\ T +10 &X$\ T +9 &Yzl\ 2 +9 &Z*r\ H +10 &Z \ , +2 ( +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&E1 +64 "core" 1 + "manipulator"& % +4 "core" % w > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%t& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&r% +4 "core" %\ #  9 + "storage"(d% +4 "core" %T v\ + "storage"(p. +3 "core" .( +2 "storage"(\\& +4 "core" & \ +2 "storage"(_& +2 "manipulator"&& +7 "core" & \ + &r $  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"(*'i +5 "core" ( +2 "manipulator"&1& +4 "core" &r C  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &r s  +2 .tForearm.seek PC + "manipulator"&q' +94 "core" ' +51 .tHand.close +3 "manipulator"&h/ +57 "core" / +2 .tPC.seek :open +2 "processing"%Q( +41 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +339 ( +2 "storage"(& +4 "core" & \ \ + "manipulator"&& +4 "core" &r  + "manipulator"&@% +4 "core" %  - +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +261 "core" ( + "manipulator"&y& +5 "core" & + "storage"(S& +4 "core" & _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +103 "core" ' + .tHand.open +2 "manipulator"&41 +58 "core" 1 +2 "storage"()- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(n'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(9' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" & G\ + "manipulator"&R& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&2( +4 "core" ( + "manipulator"&$& +4 "core" & P +2 "storage"(`& +3 "core" &  \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +57 "core" ' + "manipulator"&m& +4 "core" & . +2 "storage"(~& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&P' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +27 "core" ' + "manipulator"&g% +5 "core" % + "storage"({& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&?& +4 "core" & 1 + "storage"(W& +4 "core" & \ \ \  #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +32 "core" ' + "storage"(}% +4 "core" %q\ \ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(z'X +98 (c% +4 "core" %a@ \ Va +2 "manipulator"&% +4 "core" %ъ % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (k& +4 "core" & \ \ A\ +2 "collection"'& +3 "core" &V` \ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   + "storage"(a% +4 "core" %[\ \ \ +2 "storage"(<. +3 "core" .( + "storage"(&& +4 "core" & \ \ B\ + "storage"(& +4 "core" & \ \ \ +2 "manipulator"&& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&o& +4 "core" & 8 + "storage"(s& +4 "core" & \ \ N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +105 "core" ' +2 "storage"(5& +4 "core" & \ #\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +279 "core" ' +2 "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&B& +3 "core" & M + "storage"(& +4 "core" & \ \ \  +\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +36 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(('Y +27 "core" ' +2 "manipulator"&N% +4 "core" % N + "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&w' +17 "core" ' + "manipulator"&& +4 "core" & < +2 "storage"(H& +3 "core" & y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&>'ќ +30 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(['H +39 "core" ' +2 "manipulator"&A& +4 "core" & ^ +2 "manipulator"&:% +3 "core" %Ѩ L s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&L'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +152 "core" ( +5 "manipulator"& & +4 "core" & 5 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & 7 8" +2 .tForearm.seek CC + "manipulator"&]'" +93 "core" ' +2 .tHand.close + "manipulator"&!/ +60 "core" / + .tCC.seek :open +2 "collection"'u( +416 "core" ( +2 "storage"(V& +4 "core" & \ \  B\ + "storage"(& +4 "core" & \ \ \ + "manipulator"&0& +4 "core" &! 8" + "manipulator"& % +4 "core" % 3  + .tForearm.seek :retract +2 "manipulator"&b'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( + "manipulator"&& +5 "core" & H  + "storage"(Y& +4 "core" & \ B\ G \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&M' +107 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&^% +4 "core" % d +2 "storage"(C& +4 "core" & \ \ x\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +12 "core" ' +2 "manipulator"&v& +4 "core" & ;  +2 "storage"(=& +3 "core" & \ @\ . Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +26 "core" ' + "storage"(i% +4 "core" %J\ 9\ @ 5\ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (F% +2 "core" %C\ \  \ V` +2 "manipulator"&I% +4 "core" %ѣ - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +97 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +4 "core" & \ +2 "manipulator"&%% +4 "core" %\  '  +2 "storage"(U% +3 "core" %a o\  }\ +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(X( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &\ \ (\  +2 "manipulator"& & +3 "core" & I  +2 .tElbow.seek 3 + "manipulator"&t( +18 "core" ( + "manipulator"&r& +5 "core" & Y + "storage"(d& +4 "core" &\ L\ ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +98 "core" ' +2 "storage"(-& +4 "core" &\ [\ B :\  +50 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (_& +3 "core" &\ #\  \  +2 "manipulator"&1& +3 "core" &  Y +2 .tElbow.seek 3 +2 "manipulator"&f( +20 "core" ( + "manipulator"&T& +5 "core" & d \ + "storage"(h& +4 "core" &\ 3\  '\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(G'X +7 "core" & 2 \ +2 "manipulator"&*% +4 "core" % ϫ W } +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&@& +4 "core" && & o =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &% <@ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'" +96 "core" ' +2 "manipulator"&S& +5 "core" &% <@ +2 "manipulator"&% +3 "core" % m +2 "collection"'4& +4 "core" & )\ +2 "collection"')& +5 "core" & "\ +2 .tCC.seek :closed + "collection"'#(V +5 "core" & \ +8 &, \ #a +9 &V \ 7 +10 &v \ K +9 &T \ L +9 &sU #\ L +10 &5T \ L +9 &U \ L +9 &U \ L +10 &yY \ L +9 &;U  \ L +10 &T \ L +9 &!U \ L +9 &#V \ L +10 &%CU \ L +9 &'Q \ L +9 &(T \ L +10 &*T \ L +9 &,MU \ L +10 &.T \ L +9 &/U \ L +9 &1V \ L +10 &3TU \ L +9 &5U \ L +9 &6U \ L +10 &8T \ L +9 &:\\U \ L +10 &<V \ L +9 &=W \ L +9 &?W \ M +10 &AdV \ L +9 &C%W \ \ L +9 &D] \ M +10 &Fc \ M +9 &H`x \ P +10 &J \ T +9 &K \ W +9 &M \ X +10 &OS \ W +9 &Q \ W +9 &R \ Y +10 &T \ Y +9 &V0t \ . +9 &V! \ P +9 ( +3 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&1 +4 "core" &Vb \ I +49 1 +2 "manipulator"&R% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&\ % +3 "core" %\  c  +2 "storage"(m% +4 "core" %` \ + "storage"(~. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(g& +3 "core" & \  +2 "manipulator"&{& +3 "core" &% <; +2 "manipulator"&?% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&n( +161 "core" ( +2 "manipulator"&W& +3 "core" & i  +2 "storage"(}& +4 "core" &\ \ K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + "storage"(/& +4 "core" &\ \ # \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +283 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \  +2 "manipulator"&j& +3 "core" & E  +2 .tElbow.seek 3 + "manipulator"&2( +3 "core" ( +2 "manipulator"&.& +3 "core" & f  +2 "storage"(P& +3 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('X +7 "core" & ]  +2 "manipulator"&a% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&<'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&&& +4 "core" &r  T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +64 "Can"\ C@ +40 "core" ' + "manipulator"&o& +4 "core" &r +2 "manipulator"&s% +4 "core" % +2 "processing"%'& +3 "core" &\ +2 "processing"%5& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &5\  +8 &5\ +{ +10 &d\ > +9 &s\ N +9 &LV\ M +10 &V\ M +9 &V\ M +9 &R\ M +10 &UU\ M +9 &W\ M +9 &U\ M +10 & W\ M +9 &"]X\ M +10 &$U\ M +9 &%W\ M +9 &'X\ N +10 &)eU\ M +9 &+&U\ M +9 &,U\ M +10 &.X\ M +9 &0mW\ M +10 &2/V\ M +9 &3V\ M +9 &5U\ M +10 &7tU\ M +9 &96T\ M +9 &:T\ M +10 &<V\ M +9 &>~U\ M +10 &@@V\ M +9 &BT\ M +9 &CX\ M +10 &E\\\ N +9 &GBe\ O +10 &Ip\ P +9 &J\ R +9 &L{\ S +10 &N=\ S +9 &O\ S +9 &Q\ S +10 &S\ S +9 &UB\ T +9 &W\ S +10 &X\ T +9 &Z*To\ 'u +10 &Z\\\ 3 +9 ( + &Z#\ . +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&J1 +53 "core" 1 + "manipulator"&D% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +101 "core" ' + "processing"%B& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ &  > +2 "storage"(K% +3 "core" %a \ +2 "storage"(N. +3 "core" .( + "storage"(& +4 "core" & P\  + "storage"(& +2 "manipulator"&H& +7 "core" & W\  + &r +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&A(s + "storage"(:'i +5 "core" ( + "manipulator"&;& +4 "core" &r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &r F +2 .tForearm.seek PC +2 "manipulator"&"' +97 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / + .tPC.seek :open +2 "processing"%w( +92 "core" ' + "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +45 "core" ' +286 ( + "storage"( & +4 "core" & \  +2 "manipulator"&>& +4 "core" &r + "manipulator"&8% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&L( +265 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"(V& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +106 "core" ' + .tHand.open + "manipulator"&01 +60 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(Y' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' + "storage"(e& +4 "core" & n { 7\  +2 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&^( +3 "core" ( + "manipulator"&C& +4 "core" & w  + "storage"(v& +4 "core" & j g {\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(i' +56 "core" ' +2 "manipulator"&b& +53 "core" &  +3 "storage"(F& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&I'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(M'i +22 "core" ' + "manipulator"&x% +4 "core" %Ύ j +2 "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&%'Ϻ +12 "core" ' + "manipulator"&U& +5 "core" & +  + "storage"(6& +4 "core" &\ \ 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +22 "core" ' +2 "storage"(,% +4 "core" %r\ \  ;\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (3% +3 "core" %oD a\ Vb +2 "manipulator"&E% +4 "core" %N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (r& +4 "core" & ^\  + "collection"'d& +4 "core" &Vb \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\ # 9 + "storage"(l% +4 "core" %] \ + "storage"(Z. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(_& +4 "core" & \  + "manipulator"&1& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&T( +3 "core" ( +2 "manipulator"&h& +3 "core" & b  +2 "storage"(& +4 "core" & z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + "storage"(*& +5 "core" &\  o\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'i +284 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&@& +3 "core" &  +2 "storage"(q& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&\\'} +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +27 "core" ' +2 "manipulator"&4% +4 "core" %΋ J 2 + "storage"(f& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&G'Ϸ +11 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(u& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'@ +39 "core" ' +3 "manipulator"&`& +4 "core" & $  +2 "manipulator"&\ % +3 "core" %] B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +162 "core" ( + "manipulator"&& +4 "core" &%  <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &% C <> +2 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' + .tHand.close + "manipulator"&)/ +60 "core" / +2 .tCC.seek :open +2 "collection"'?( +416 "core" ( + "storage"(y& +4 "core" &\ #\ \  +2 "storage"(W& +3 "core" &\ \  V\  +2 "manipulator"&}& +3 "core" &% e <> +2 "manipulator"&/% +3 "core" %  C ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +163 "core" ( + "manipulator"&c& +4 "core" & V  +2 "storage"(& +3 "core" &\ F\ F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&j'} +96 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&P1 +61 "core" 1 +2 "manipulator"&k% +4 "core" % · +2 "storage"(& +3 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&a'ϳ +26 "core" ' + "manipulator"&n& +5 "core" &   + "storage"(& +4 "core" &\ /\ < 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +28 "core" ' + "storage"(% +4 "core" %B\ [\ Z 9\ +3 ."downElevator"SE.seek :down +4 "storage"(&'X +99 (% +3 "core" %D\ E\ , 6\ V` +2 "manipulator"&2% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'s& +4 "core" & \ + "manipulator"&'% +4 "core" %\   +2 "storage"(% +3 "core" %b\ [\ Z L\ +2 "storage"(<. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Q( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" & \ \  U\ +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&B( +43 "core" ( + "manipulator"&& +4 "core" & !u +2 "storage"(K& +3 "core" & \ F\ F :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +96 "core" ' +2 "storage"(& +4 "core" & \ /\ @ j\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" & \ "\ # \ +2 "manipulator"&;& +3 "core" & h +2 .tElbow.seek 2 +2 "manipulator"&( +28 "core" ( +3 "manipulator"&& +4 "core" & a + "storage"( & +4 "core" & \ F\ F \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&(' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(z'X +7 "core" & a +2 "manipulator"&:% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&8& +5 "core" &, ? Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &+ j Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&7'" +100 "core" ' +3 "manipulator"&V& +4 "core" &, e Bj +2 "manipulator"&A% +3 "core" % O +2 "collection"'0& +4 "core" & !\ +2 "collection"' & +5 "core" & "\ +2 .tCC.seek :closed +3 "collection"'](V +3 "core" & \ +7 &> \ $e +9 &X \ 7 +9 &x \ L +10 &R \ L +9 &uU \ L +9 &6T \ L +10 &U \ L +9 &T \ L +10 &}W \ L +9 &?U \ L +9 & T \ L +10 &!U \ L +9 &#V \ M +9 &%GU  \ L +10 &'U \ L +9 &(Q  \ L +10 &*T  \ L +9 &,NW \ L +9 &.U \ L +58 &/R \ L +4 &1V \ L +6 &3VT \ L + &5R \ L + &6U \ L + &8T \ L &:_X  \ L +4 &<W \ M +10 &=W  \ L +9 &?W \ M +9 &AfU \ L +10 &C'V \ \ M +9 &DY  \ M +10 &Fa \ M +9 &Hdq \ P +9 &J \ S +10 &K \ V +9 &M \ W +9 &OV \ W +10 &Q \ X +9 &R \ Y +10 &T \ Y +9 &V6w \ . +9 &V \ ^ +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&e1 +3 "core" &Vh \ P +53 1 +2 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +100 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%!& +4 "core" &\ + "manipulator"&v% +4 "core" %\  +2 "storage"(b% +4 "core" %T }\ + "storage"(F. +3 "core" .( +2 "storage"( & +3 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&x& +3 "core" &* ( @Y +2 "manipulator"&% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&U( +158 "core" ( + "manipulator"&6& +5 "core" & R + "storage"(L& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +94 "core" ' + "storage"(& +4 "core" & \  Q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +282 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" & \ +2 "manipulator"&=& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&i& +4 "core" & l + "storage"(I& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&%' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(-'X +6 "core" & +2 "manipulator"&l% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&Z'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&M(s +167 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&& +4 "core" &j 1 t + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +2 "core" &j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1' +101 "core" ' + "manipulator"&h& +4 "core" &j +2 "manipulator"&% +4 "core" % +2 "processing"%[& +4 "core" &{\ +2 "processing"%*& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &5\  +9 &3{\ *y +10 &c\ > +9 &rf\ N +10 &BU\ M +9 &V\ M +9 &U\ N +10 &U\ M +9 &JU\ M +9 & W\ M +10 &Uf\ M +9 & V\ M +10 &"RR\ M +9 &$T\ M +9 &%UH\ M +10 &'WD\ N +9 &)ZU\ M +9 &+V\ M +10 &,T\ M +9 &.W\ M +10 &0aU\ M +9 &2#U\ M +9 &3U\ M +10 &5U\ M +9 &7iU\ M +9 &9+V\ M +10 &:T\ M +9 &<U\ M +10 &>rU\ M +9 &@4U\ M +9 &AU\ M +10 &CX\ N +9 &ExY\ N +9 &G5j\ O +10 &H\ R +9 &J\ S +10 &Lo\ S +9 &N1\ S +9 &O\ T +10 &Q\ S +9 &Sw\ S +9 &U8\ T +10 &V\ T +9 &X\ T +10 &Z$Xv\ &s +9 &Za\ 3 +10 ( &Z\ - +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"& % +4 "core" % h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' + "processing"%@& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&q% +4 "core" %\    + "storage"(S% +4 "core" %U \ + "storage"(4. +4 "core" .( + "storage"(f& +4 "core" & \ + "storage"(& +2 "manipulator"&u& +7 "core" &j + & \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&`(s + "storage"(\ 'i +6 "core" ( + "manipulator"&& +4 "core" &j I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &j +2 .tForearm.seek PC +2 "manipulator"&t' +94 "core" ' +2 .tHand.close +2 "manipulator"&\\/ +62 "core" / +2 .tPC.seek :open +2 "processing"%G( +85 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +293 ( +3 "storage"(g& +4 "core" & \ + "manipulator"&& +4 "core" &j + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&m( +351 "core" ( +2 "manipulator"&#& +4 "core" & c  + "storage"(y& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +90 "core" ' +2 .tHand.open + "manipulator"&}1 +62 "core" 1 + "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(c'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +3 "core" -' +2 "storage"(~& +4 "core" & z w 4\ + "manipulator"&P& +4 "core" & c  + .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&& +3 "core" & ^  +2 "storage"(n& +4 "core" & } m S\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +69 "core" ' + "manipulator"&& +4 "core" & D  +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&2' +35 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +26 "core" ' +2 "manipulator"&a% +3 "core" % j +2 "storage"(s& +4 "core" & W\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&'' +20 "core" ' +2 "manipulator"&& +4 "core" & S  +2 "storage"(<& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +16 "core" ' +2 "storage"(9% +5 "core" %q\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (X% +3 "core" %.G M\ Wd +2 "manipulator"&J% +4 "core" %ј +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & g\ +2 "collection"'K& +4 "core" &Vh \ P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   + "storage"(.% +4 "core" %T \ + "storage"(o. +3 "core" .( +2 "storage"(H& +3 "core" & \ +2 "storage"(5& +3 "core" & \ +2 "manipulator"&;& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & q  +2 "storage"(& +3 "core" & j\ +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +91 "core" ' + "storage"(:& +4 "core" & \ \ B\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'i +282 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&8& +3 "core" &  +2 "storage"("& +3 "core" & l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(A'Y +27 "core" ' +2 "manipulator"&% +4 "core" % h +2 "storage"(0& +3 "core" & q\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&z' +13 "core" ' + "manipulator"& & +4 "core" & K  +2 "storage"(?& +4 "core" & w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +27 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"(|'H +40 "core" ' + "manipulator"&!& +5 "core" &  + "manipulator"&v% +4 "core" %ў +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +167 "core" ( + "manipulator"& & +4 "core" &*  @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &* [ @^ +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&x/ +62 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(7& +4 "core" & \ \ \ +2 "storage"(6& +3 "core" & \ \ \ +2 "manipulator"&L& +3 "core" &* @] +2 "manipulator"&% +3 "core" %  p +2 .tForearm.seek :retract +2 "manipulator"&>'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +162 "core" ( +2 "manipulator"&3& +4 "core" &  + "storage"(E& +4 "core" & \ F\ F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&=' +108 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&I1 +64 "core" 1 +2 "manipulator"&r% +4 "core" % + "storage"(d& +5 "core" & \ \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&l' +12 "core" ' +2 "manipulator"&U& +4 "core" &   + "storage"(,& +4 "core" & \ +\ + W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +27 "core" ' + "storage"(%% +4 "core" %J\ /\ @ \ +2 ."downElevator"SE.seek :down +4 "storage"('X +100 (_% +4 "core" %C\ %\ !\ V` +4 "manipulator"&^% +6 "core" %ы u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h'\ +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  \ +2 "manipulator"&[% +3 "core" %\   +2 "storage"(-% +3 "core" %\\\ ?\ H V\ +2 "storage"(Z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(w( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & #\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&@( +15 "core" ( + "manipulator"&q& +5 "core" & t \\ + "storage"(S& +4 "core" &\ F\ F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +93 "core" ' +2 "storage"(f& +4 "core" &\ [\ [ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +2 "core" &\ #\ # \  +2 "manipulator"&& +4 "core" & \\ + .tElbow.seek 3 +2 "manipulator"&T( +3 "core" ( + "manipulator"&1& +4 "core" & \\ + "storage"(\\& +4 "core" &\ \  J\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& "storage"(+'X +7 "core" & j \\ +2 "manipulator"&\ % +4 "core" % ϭ +2 .tForearm.seek :retract + "manipulator"&g'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +4 "core" &+ ' Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +2 "core" &*  Ac +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'" +104 "core" ' + "manipulator"&#& +4 "core" &+ Ab +2 "manipulator"&y% +4 "core" %, +2 "collection"'}& +4 "core" & +\ +3 "collection"'/& +5 "core" & (\ +2 .tCC.seek :closed + "collection"'{(V +5 "core" & \  +9 &3} !\ *x +9 &e \ > +10 &p \ M +9 &GR \ L +9 & U \ \ L +10 &U \ L +9 &T \ M +10 &OU \ L +9 &U  \ L +9 &T \ M +10 & U \ L +9 &"VT \ \ L +9 &$W  \ L +10 &%U \ L +9 &'U  \ L +10 &)^T \ L +9 &+T \ M +9 &,T \ L +10 &.U \ L +9 &0eV \ M +9 &2)T \ L +10 &3U \ L +9 &5U \ L +10 &7nT \ L +9 &90U \ L +9 &:X \ L +10 &<W  \ M +9 &>vU \ \ L +9 &@9W \ L +10 &AU  \ L +9 &CY \ L +10 &E{]  \ M +9 &G9j  \ O +9 &H} \ Q +10 &J  \ V +9 &Le \ X +9 &N(  \ W +10 &O \ X +9 &Q \ X +10 &Sg \ Z +9 &U) \ Z +9 &VuB \ . +10 &Vu \ K +5 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open + "manipulator"&~1 +4 "core" &Vc  \ K +56 1 + "manipulator"&P% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%n& +4 "core" &\ + "manipulator"&)% +4 "core" %\ V  + "storage"(% +4 "core" %T \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(a& +3 "core" & \  +2 "manipulator"&s& +4 "core" &( W ?Q + "manipulator"&c% +4 "core" %\ B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +170 "core" ( + "manipulator"&<& +4 "core" & m V +2 "storage"(9& +3 "core" &\ \ K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +100 "core" ' + "storage"(W& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(X- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" & \  + "manipulator"&& +4 "core" & P V + .tElbow.seek 3 +2 "manipulator"&k( +3 "core" ( + "manipulator"&& +4 "core" &  V + "storage"(2& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +62 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"('X +7 "core" & V +2 "manipulator"&.% +4 "core" % Ϯ ; + .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&j(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&H& +4 "core" &g  j D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &g j D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&;' +98 "core" ' + "manipulator"& & +4 "core" &g D +2 "manipulator"&% +4 "core" % I +2 "processing"%R& +3 "core" &E\ +2 "processing"%:& +5 "core" &D\ +2 .tPC.seek :closed +3 "processing"%&(Z +3 "core" &F\ +6 &8K\ $e +10 &V|4\ 7 +9 &z>\ L +10 &UG\ M +9 &qY\ M +9 &4W\ M +10 &U@\ M +9 &U\ M +9 &zW\ M +10 &<W_\ M +9 &W\ M +10 &!U\ M +9 &#W\ M +9 &%CU\ M +10 &'U\ M +9 &(U\ M +9 &*U\ M +10 &,KWG\ M +9 &.W\ M +9 &/U\ M +10 &1U\ M +9 &3TT\ M +10 &5T\ M +9 &6U\ M +9 &8U\ M +10 &:\\Ud\ M +9 &<Ub\ M +9 &=U\ M +10 &?U\ M +9 &AdT\ M +10 &C&We\ M +9 &DZ\ N +9 &F^\ N +10 &Hek\ O +9 &J }\ R +10 &K\ S +9 &M\ S +9 &Ob\ S +10 &Q#\ S +9 &R\ T +9 &T\ S +10 &Vh\ T +9 &X)\ T +9 &YzkA\ 1 +10 &Z)r\ J +9 &Z\ + +3 ( + "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&$1 +60 "core" 1 +2 "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 "processing"%8& +4 "core" &Z\ + + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&"% +4 "core" %\  ? \ + "storage"(V% +4 "core" %` \ + "storage"(. +3 "core" .( +2 "storage"(0& +3 "core" & \  +2 "storage"( & +4 "manipulator"&?& +4 "core" & \  + &g r D +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&!(s +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'i +20 "core" ( +2 "manipulator"&O& +4 "core" &n  h \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &n ^ \ +2 .tForearm.seek PC +2 "manipulator"&B' +96 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%z( +71 "core" ' + "storage"(A- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +42 "core" ' +307 ( +2 "storage"( & +4 "core" & O\  + "manipulator"&e& +4 "core" &n \  \ + "manipulator"&(% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&x'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +259 "core" ( +2 "manipulator"&]& +4 "core" & <  + "storage"(7& +4 "core" &\  "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +94 "core" ' + .tHand.open +2 "manipulator"&L1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(3'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(F& +3 "core" & g\  +2 "manipulator"&I& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&r( +8 "core" ( + "manipulator"&d& +4 "core" & `  +2 "storage"(U& +3 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +19 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +55 "core" ' +2 "manipulator"&>& +4 "core" &  + "storage"(_& +4 "core" & l\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&^'} +25 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +26 "core" ' + "manipulator"&l% +5 "core" %Ύ v + "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&['Ϻ +20 "core" ' + "manipulator"&-& +5 "core" &   + "storage"(Z& +4 "core" &\  .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +28 "core" ' + "storage"(Y% +5 "core" %p\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (Q% +3 "core" %#I \ Wc +2 "manipulator"&% +4 "core" %& k + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (q& +3 "core" &\ \  <\  +2 "collection"'S& +4 "core" &Vc \ K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&f% +3 "core" %\ \  +2 "storage"(i% +4 "core" %V\ \ \ + "storage"(h. +3 "core" .( + "storage"(& +4 "core" &\ \ \  +2 "storage"(*& +3 "core" &\ \ \  +2 "manipulator"&& +3 "core" & w  +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&\\& +3 "core" &  +2 "storage"(M& +4 "core" &\ \ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +98 "core" ' + "storage"(\ & +4 "core" &\ \  !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'i +279 "core" ' +2 "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & a  + "storage"(t& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&u'} +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(#- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(T'Q +28 "core" ' + "manipulator"&y% +4 "core" %΋ J +2 "storage"(}& +4 "core" & {\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&+'Ϸ +13 "core" ' +2 "manipulator"&g& +4 "core" & E  + "storage"(& +4 "core" &\ \ \ 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(P'@ +54 "core" ' + "manipulator"&n& +4 "core" & p  +2 "manipulator"&)% +3 "core" %T 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" &.  q Dw + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &.  Dw +2 .tForearm.seek CC +51 "manipulator"&a'" +92 "core" ' + .tHand.close +2 "manipulator"&s/ +56 "core" / +2 .tCC.seek :open +2 "collection"'c( +416 "core" ( + "storage"(`& +4 "core" &\ \  j\  +2 "storage"(<& +4 "core" &\ \ \  + "manipulator"&9& +4 "core" &+ R Ae + "manipulator"&W% +4 "core" % 4 a  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +162 "core" ( +2 "manipulator"&X& +4 "core" & "  +2 "storage"(J& +3 "core" &\ G\ H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +102 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +62 "core" 1 +2 "manipulator"&'% +4 "core" % { z +2 "storage"(K& +4 "core" &\ #\ # \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 298 counts +2 "manipulator"&.'ϧ +12 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(m& +4 "core" &\ ,\ .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 "storage"(% +4 "core" %C\ /\ @ f\ +3 ."downElevator"SE.seek :down +3 "storage"(H'X +99 (5% +2 "core" %B\ *\  &\ U_ +2 "manipulator"&k% +4 "core" %S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & #\ +2 "manipulator"&R% +4 "core" %\   + "storage"(% +4 "core" %S\ ,\ 0 A\ +2 "storage"(o. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(G( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ($& +3 "core" & \ \ \ + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&8( +40 "core" ( + "manipulator"&"& +5 "core" & c "y + "storage"(V& +4 "core" & \ F\ + \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +90 "core" ' +2 "storage"(0& +4 "core" & \ [\ A ;\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (:& +3 "core" & \ \ + \ +2 "manipulator"&O& +4 "core" & e !u + .tElbow.seek 2 +2 "manipulator"&( +29 "core" ( +2 "manipulator"&;& +4 "core" & x  +2 "storage"(& +3 "core" & \ B\ K L\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&A' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(&'X +7 "core" & W  + "manipulator"&v% +4 "core" % Q +2 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +158 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"&(& + "storage"(5 +7 "core" && N =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" && =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'" +96 "core" ' +2 "manipulator"&7& +4 "core" &' H =A +2 "manipulator"&!% +4 "core" %! | + "collection"'L& +4 "core" & +\ +2 "collection"'& +6 "core" & +\ +2 .tCC.seek :closed + "collection"'(V +4 "core" & "\  +8 &1y \ )w +10 &d \ > +9 &m "\ M +10 &GR &\ L +9 & U %\ L +9 &U \ L +10 &T $\ L +9 &OU \ L +9 &U "\ L +10 &T  \ L +9 & U  \ L +10 &"UU \ L +9 &$V \ L +9 &%U \ L +10 &'T \ L +9 &)]T \ \ L +10 &+U \ \ M +9 &,T \ L +9 &.T \ L +10 &0eU \ L +9 &2'T \ L +9 &3T \ L +10 &5T \ M +9 &7nT \ L +9 &90U \ L +10 &:W \ L +9 &<T \ L +10 &>uV \ L +9 &@8S \ L +9 &AU  \ L +10 &CY \ L +9 &E|\\ \ M +9 &G:c \ N +10 &Hs \ P +9 &J \ T +10 &Le \ W +9 &N) \ V +9 &O \ X +10 &Q \ X +9 &Si \ Y +9 &U) \ Y +10 &VqA \ \ 0 +9 &Vn \ I +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&F1 +4 "core" &V` \ I +52 1 +3 "manipulator"&I% +4 "core" % ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%U& +4 "core" &\ +2 "manipulator"&x% +3 "core" %\  2 +2 "storage"(>% +4 "core" %T :\ + "storage"(_. +3 "core" .( + "storage"( & +4 "core" & O\ +2 "storage"(l& +3 "core" & (\ +2 "manipulator"&& +3 "core" &% , <@ +2 "manipulator"&3% +3 "core" %\ ! j 2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&-( +155 "core" ( + "manipulator"&Z& +4 "core" &  +2 "storage"(Y& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +102 "core" ' + "storage"(6& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +282 "core" ' +2 "storage"(Q- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ + "manipulator"&,& +4 "core" & \   + .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( + "manipulator"&%& +4 "core" & Q  + "storage"(^& +4 "core" & \ \ #\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&[' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(f'X +7 "core" & V  +2 "manipulator"&i% +3 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&=(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &i  4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &i B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&\\& +4 "core" &i + "manipulator"&M% +4 "core" % +2 "processing"%|& +4 "core" &I\ +2 "processing"%\ & +6 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &H\ +9 &>H\ $e +9 &WG\ 7 +9 &zJ\ L +10 &TJ\ M +9 &pXP\ M +9 &2U?\ M +10 &UO\ M +9 &TO\ M +10 &xV\ M +9 &:V\ M +9 &W\ M +10 &!V\ M +9 &#W\ M +9 &%BU\ M +10 &'T\ M +9 &(U\ M +10 &*U\ M +13 &,HU\ N +5 &. W\ M +10 &/U\ M +9 &1U\ M +9 &3RU\ M +10 &5T\ M +9 &6UI\ M +10 &8SD\ M +9 &:ZU\ M +9 &<U\ M +10 &=T\ L +9 &?U\ M +10 &AbT\ M +9 &C$W\ M +9 &D]\ N +10 &Fb\ N +9 &H^w\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &O`\ S +10 &Q!\ S +9 &R\ T +10 &T\ T +9 &Vg\ S +9 &X&\ T +10 &Y|o\ 0 +9 &Z(h\ J +9 &Z!\ - +3 ( + "processing"%\ & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open + "manipulator"&C1 +64 "core" 1 + "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&t% +4 "core" %\  }  + "storage"(#% +4 "core" %a R\ + "storage"(y. +3 "core" .( +2 "storage"(}& +3 "core" & _\ +2 "storage"(g& +4 "manipulator"&& +4 "core" & \ + &i +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&n(s +6 ."raiseStack"SE.seek :beamBreak + "storage"()'i +3 "core" ( + "manipulator"&p& +4 "core" &i O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &i +2 .tForearm.seek PC +2 "manipulator"&@' +91 "core" ' +2 .tHand.close + "manipulator"&u/ +53 "core" / +2 .tPC.seek :open +2 "processing"%+( +97 "core" ' +2 "storage"(T- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +278 ( + "storage"(/& +4 "core" & \ + "manipulator"&~& +4 "core" &i +2 "manipulator"&% +3 "core" % \ \  +2 .tForearm.seek :retract + "manipulator"&s'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +265 "core" ( +2 "manipulator"&{& +4 "core" & w  + "storage"(`& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +98 "core" ' +2 .tHand.open + "manipulator"&91 +58 "core" 1 +2 "storage"(W- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(X'E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' + "storage"(& +4 "core" & v\ + "manipulator"&2& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&'( +3 "core" ( +2 "manipulator"&K& +4 "core" &  + "storage"(& +4 "core" & j k \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&m'ќ +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(5& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&k' +33 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&% +4 "core" % w +2 "storage"(.& +4 "core" & !\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&R' +13 "core" ' +2 "manipulator"&& +4 "core" & W  +2 "storage"(o& +4 "core" & \ \ ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +27 "core" ' +2 "storage"(% +4 "core" %r\ \  +\  +3 ."downElevator"SE.seek :down +3 "storage"(H'X +98 (w% +3 "core" %F \ Wc +2 "manipulator"&$% +4 "core" %ъ n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" & K\ + "collection"'V& +4 "core" &V` \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&0% +4 "core" %\  \  + "storage"(% +4 "core" %\\\ \ \ + "storage"( . +3 "core" .( +2 "storage"(?& +4 "core" & \ \  5\ + "storage"(:& +4 "core" & \ \  [\ + "manipulator"&O& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&;( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(j& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +90 "core" ' +2 "storage"(v& +4 "core" & \ \  >\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +2 "core" &  +2 "storage"(B& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"& ' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(7- +2 "core" -' +3 .tSE.seek 0.1 Pucks below Top Plate + "storage"(!'Y +28 "core" ' + "manipulator"&L% +4 "core" % +2 "storage"(& +3 "core" & O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&&' +19 "core" ' +2 "manipulator"& & +4 "core" & J  + "storage"(c& +4 "core" & \ \ ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +17 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(I'H +46 "core" ' + "manipulator"&U& +4 "core" &  +2 "manipulator"&x% +4 "core" %Ѩ $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +164 "core" ( +3 "manipulator"& & +4 "core" & !  ] 8! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ! 8! +2 .tForearm.seek CC +2 "manipulator"&l'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'3( +416 "core" ( +2 "storage"(]& +4 "core" & \ \  H\ + "storage"(Z& +4 "core" & \ \ \ \ + "manipulator"&Y& +4 "core" & " \ 8! + "manipulator"&6% +4 "core" % ' X +2 .tForearm.seek :retract + "manipulator"&e'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&d( +161 "core" ( + "manipulator"&Q& +4 "core" &  +2 "storage"(& +3 "core" & \ $\ $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&,' +108 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&^1 +61 "core" 1 +2 "manipulator"&q% +4 "core" % +2 "storage"(S& +4 "core" & \ \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts + "manipulator"&i' +14 "core" ' + "manipulator"&-& +4 "core" &   +2 "storage"(b& +3 "core" & \ F\ F $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +16 "core" ' + "storage"([% +4 "core" %L\ G\ @ \ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (*% +3 "core" %C\ \ $ R\ V` +2 "manipulator"&r% +3 "core" %ѓ ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +42 "manipulator"&\\'\ +101 "core" ' +7 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'M& +5 "core" & (\ + "manipulator"&|% +4 "core" %\  + +2 "storage"(f% +3 "core" %b\ A\ A h\ +2 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(z( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +3 "core" & 0\  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&\ ( +43 "core" ( + "manipulator"&& +4 "core" &\ k _ +2 "storage"(t& +4 "core" &\ \ 2 #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +97 "core" ' + "storage"(y& +4 "core" &\ [\ \\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" &\ #\  \  + "manipulator"&p& +4 "core" &\ ^ +2 .tElbow.seek 3 + "manipulator"&1( +25 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(u& +4 "core" &\ F\ F\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&T'ϩ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"('X +6 "core" & `  +2 "manipulator"&)% +3 "core" % ϱ k 6 +2 .tForearm.seek :retract +2 "manipulator"&/'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&& +4 "core" && $ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" && =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'" +96 "core" ' +2 "manipulator"&`& +4 "core" &' =E +2 "manipulator"&n% +3 "core" %, 9 +2 "collection"'9& +4 "core" & 9\ +2 "collection"'W& +5 "core" & @\ +2 .tCC.seek :closed +2 "collection"'a(V +4 "core" & +\ +8 &4 \ $d +9 &V} #\ 7 +9 &v &\ K +10 &T \ L +9 &qT $\ L +9 &3T %\ L +10 &U "\ L +9 &R \ L +10 &yU \ L +9 &;T \ L +9 &Q \ L +10 &!U \ L +9 &#U  \ L +10 &%DR \ L +9 &'U  \ L +9 &(T \ M +10 &*T \ L +9 &,KU \ L +9 &.V \ L +10 &/T \ L +9 &1U \ L +10 &3TQ  \ L +9 &5U \ L +9 &6U \ L +10 &8T \ L +9 &:\\R \ L +9 &<W \ M +10 &=V \ L +9 &?S \ L +9 &AcV \ L +10 &C%T \ L +9 &DW \ M +10 &Fc \ N +9 &H_v \ P +9 &J \ T +10 &K  \ W +9 &M \ W +9 &OR \ X +10 &Q \ X +9 &R \ Y +10 &T \ \ Y +9 &V2v \ . +9 &V \ V +9 ( +3 "collection"'W& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open + "manipulator"&1 +4 "core" &Vh \ N +56 1 +2 "manipulator"&2% +4 "core" % , U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&s% +4 "core" %\ " $ > + "storage"(% +4 "core" %a \ + "storage"(5. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(& +4 "core" & \  + "manipulator"&.& +4 "core" & % { <@ +2 "manipulator"&X% +3 "core" %\ # H > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&o& +4 "core" &  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' + "storage"(<& +4 "core" &\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +279 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" & X\  +2 "manipulator"&m& +3 "core" & h  +2 .tElbow.seek 3 + "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" & {  + "storage"(k& +4 "core" &\ \ F\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&R'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& "storage"(0'X +8 "core" & +  + "manipulator"&% +4 "core" % ϳ +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&?& +4 "core" &s  X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &s # ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&O' +102 "core" ' + "manipulator"&& +4 "core" &s +2 "manipulator"&j% +4 "core" % W +2 "processing"%P& +3 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%H(Z +4 "core" &H\ +8 &6H\ $e +9 &V{I\ 7 +9 &yE\ L +10 &TA\ M +9 &lYI\ M +10 &/V8\ L +9 &WO\ M +9 &UF\ M +10 &rUP\ M +9 &4UN\ M +9 &WF\ N +10 &!UM\ M +9 &#zW\ M +10 &%<V\ M +9 &&V\ M +9 &(S\ M +10 &*U\ M +9 &,EU\ M +9 &.U\ M +10 &/T\ M +9 &1U\ M +10 &3MW\ M +9 &5U\ M +9 &6T\ M +10 &8T\ M +9 &:VU\ M +9 &<U\ M +10 &=T\ M +9 &?Uc\ M +10 &A^TF\ M +9 &C W\ M +9 &D[\ N +10 &F]\ N +9 &H^i\ O +9 &J|\ Q +10 &K\ S +9 &M\ S +9 &O[\ S +10 &Q\ S +9 &R\ T +10 &T\ S +9 &Va\ T +9 &X#\ T +10 &Yyje\ 3 +9 &Z+|\ J +10 &Z\ + +2 ( + "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&D% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + "processing"%(& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&B% +4 "core" %\  u  +2 "storage"(7% +3 "core" %b !\ +2 "storage"(L. +2 "core" .( +2 "storage"(& +4 "core" & T\  +2 "storage"( & +3 "manipulator"&c& +5 "core" & Y\  + &s +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(U'i + "manipulator"&x(s +5 "core" ( + "manipulator"&N& +4 "core" &s = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +2 "core" &s +2 .tForearm.seek PC +2 "manipulator"&8' +95 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open + "processing"%&( +96 "core" ' +2 "storage"(!- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +48 "core" ' +278 ( + "storage"(& +4 "core" & \  +2 "manipulator"&F& +3 "core" &s +2 "manipulator"&A% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&>( +264 "core" ( + "manipulator"&& +5 "core" & :  + "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +51 "manipulator"&Z'9 +102 "core" ' +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 +2 "storage"(6- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Q'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +4 "core" -' + "storage"(_& +4 "core" &   1\  + "manipulator"&^& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&q( +7 "core" ( +2 "manipulator"&S& +4 "core" &  + "storage"(-& +4 "core" & u ~ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +58 "core" ' +2 "manipulator"&e& +4 "core" &  + "storage"(*& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'} +21 "core" ' + .tElbow.hold +3 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'i +23 "core" ' + "manipulator"&M% +4 "core" %΅ \  +2 "storage"(i& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"&|'ϱ +12 "core" ' +2 "manipulator"&f& +4 "core" &   +2 "storage"(h& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&I'9 +23 "core" ' +2 "storage"(E% +4 "core" %r\  Y\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (G% +2 "core" %A \ Wc +2 "manipulator"&C% +4 "core" %N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & ;\  +2 "collection"'t& +3 "core" &Vi \ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&y% +4 "core" %\   +2 "storage"(%% +4 "core" %a \ + "storage"(\\. +3 "core" .( +2 "storage"(& +4 "core" & \  + "storage"(g& +4 "core" & \  +2 "manipulator"&p& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&u& +4 "core" &  + "storage"(=& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&4'9 +94 "core" ' +2 "storage"()& +4 "core" & \  e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +284 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  + "storage"(@& +4 "core" & W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&}'} +21 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(`- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'Q +29 "core" ' + "manipulator"&1% +5 "core" %Ά + "storage"(9& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&'ϲ +12 "core" ' +2 "manipulator"&/& +4 "core" &   + "storage"(3& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' + .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(2'@ +41 "core" ' +3 "manipulator"&& +4 "core" &   +2 "manipulator"&s% +3 "core" %Q - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +160 "core" ( + "manipulator"&W& +4 "core" &(  ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( ?T +2 .tForearm.seek CC + "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&./ +54 "core" / + .tCC.seek :open +2 "collection"'X( +419 "core" ( +2 "storage"({& +4 "core" &\ \ \  + "storage"(o& +4 "core" & \ \  + "manipulator"&& +4 "core" && <= + "manipulator"&<% +4 "core" % ) +2 .tForearm.seek :retract + "manipulator"&~'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&K( +153 "core" ( +2 "manipulator"&w& +4 "core" & + "storage"($& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&m'} +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +64 "core" 1 +2 "manipulator"&"% +4 "core" % Έ + "storage"(V& +4 "core" &\ !\ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +20 "core" ' +2 "manipulator"&& +5 "core" & + "storage"(& +4 "core" &\ B\ F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +27 "core" ' +2 "storage"(R% +4 "core" %J\ -\ C\ +2 ."downElevator"SE.seek :down +4 "storage"(?'X +98 (:% +3 "core" %@\ \ ! \ V_ +2 "manipulator"&'% +4 "core" %E ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +21742 "Can"\ /,o +60002 \ /,z +60002 \ /,k +60002 \ /,s +60002 \ /, +44682 #t-> access 2 +2 "storage"(j% +3 "core" %`\ =\ ? J\ +2 "manipulator"&P% +4 "core" %\  v  + "manipulator"&0& +4 "core" & { + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +966 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +2 "core" &K O\  +268 #t-> exit +5 #mEXIT @1666622647.40EDT @1666699816.20EDT = =tMAIN =mMAIN_scheduler @EDT1666699817.99 #"core_reset"Sent BREAK + #t@32087 receive with ifg=0x10, ie=0xFD + #@32732 receive with ifg=0x10, ie=0xFD + #@33497 receive with ifg=0x10, ie=0xFD + #@34144 receive with ifg=0x10, ie=0xFD + #@34830 receive with ifg=0x10, ie=0xFD #@35476 receive with ifg=0x10, ie=0xFD + #@36125 receive with ifg=0x10, ie=0xFD #@36577 receive with ifg=0x80, ie=0xFD + #@5528 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +377 "Can"\ 20{ + \ 20{ + #tPolling Can every 10:00 +2 #Cleanly exited at 10:44:07EDT24-Oct-22 +471 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ +2 .tSS.configure :default +3 "sampler")#.0X\ + "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9| +333 #t-> access 3 +2 "storage"(2% +4 "core" %` '\ + "manipulator"&3% +4 "core" %\  H  +2 "manipulator"&4& +4 "core" & +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(5([ +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &[- -\  +4124 #t-> access 2 +2 "storage"(7% +4 "core" %`\ @\  k\ + "manipulator"&8% +4 "core" %\  =  +2 "manipulator"&9& +4 "core" & E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(:(K +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K\ \  }\ +53777 "Can"!\ /-| +60002 \ /,q +49721 #t-> startTube 2 +2167 #-> $da[:extractVol]=.16 +8114 "Can"\ /-s +30287 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'<& +3 "core" & E\ +2 .tHand.open + "manipulator"&=1 +18 "core" 1 +2 "manipulator"&>& +4 "core" & | + "manipulator"&?% +4 "core" %\  6  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(, +172 "core" ( + "manipulator"&A& +4 "core" &, Y @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &, 9 @ +2 .tForearm.seek :garage + "manipulator"&C'Ϧ +103 "core" ' +2 .tHand.close + "manipulator"&D/ +61 "core" / +2 "manipulator"&E& +4 "core" &,  @ + "manipulator"&F% +4 "core" % ϯ  +2 .tForearm.seek :retract + "manipulator"&G'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&H( +279 "core" ( +2 "manipulator"&I& +4 "core" &. c Dw + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +2 "core" &. F Dw +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'" +96 "core" ' +2 "manipulator"&L& +4 "core" &. Dw + "manipulator"&M% +4 "core" %( f +2 "collection"'N& +4 "core" & \ +2 "collection"'O& +4 "core" & O\ +3 .tCC.seek :closed + "collection"'P(V +5 "core" & \  +9 &2~ \ *x +9 &c \ > +9 &fu \ N +10 &)U \ N +9 &Z \ M +10 &Y \ M +9 &oZ \ N +9 &1\\ \ N +10 &W \ N +9 &Y \ M +9 & x[ \ M +10 &"9Z \ N +9 &#W \ N +10 &%Z \ N +9 &'\\ \ N +9 &)A\\ \ N +10 &+\\ \ N +9 &,W \ N +9 &.Y \ M +10 &0I\\ \ N +9 &2 \\ \ N +10 &3W \ M +9 &5Y \ M +9 &7RZ \ M +10 &9Z \ M +9 &:\\ \ N +9 &<] \ N +10 &>ZZ \ M +9 &@Z \ N +10 &AZ \ M +9 &C[ \ N +9 &E__ \ N +10 &Gi \ P +9 &Hz \ Q +10 &J \ V +50 &LJ \ X +6 &N \ X + &O \ Y + &Q \ X + &SM \ Z + &U \ Z +5 &V\\C \ 1 +9 &V{ \ E +6 ( + "collection"'O& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + "collection"'Q& +4 "core" &V^ \ E + &V^ \ E +2 .tHand.open + "manipulator"&R1 +57 "core" 1 +2 "manipulator"&S% +4 "core" % ( ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +3 #tPurging external Intake + "collection"'U& +4 "core" &V] 0\ E +2 "collection"'V% +3 "core" % \ +2 .tCSV.dial :flush + "collection"'W  +94 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'X' V +2277 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"'Y +2 'Z  +73 "core"  +3  +2 .tCTV.dial :intake + "collection"'[  +74 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'\\' +2283 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"']  +72 "core" +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&^& +4 "core" &.  Dv +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&`& +3 "core" &. 9 Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &.  Dv +2 .tForearm.seek CC + "manipulator"&b'" +100 "core" ' + .tHand.close + "manipulator"&c/ +55 "core" / +2 .tCC.seek :open +2 "collection"'d( +414 "core" ( +2 "manipulator"&e& +4 "core" &.  Dv + "manipulator"&f% +4 "core" % -  +2 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&h(, +282 "core" ( +2 "manipulator"&i& +5 "core" &, F ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &, F ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&k'Ϧ +100 "core" ' +2 .tHand.open +2 "manipulator"&l1 +58 "core" 1 +2 "manipulator"&m% +4 "core" % ϯ # v Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' +1142 #t-> da 50 +2 #da sampling at most 50ml +5 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 08:47:01EDT25-Oct-22\\n{}\\nCTD data unavailable\\nCan@08:40:24, 24% flow, 21.4C, 45% humidity, 14.7psia, 13.774V, 0.231A, 0.219A avg, 3.18W",Subject: "da sampling at most 50ml" +2 "collection"'o& +6 "core" & \ +2 "manipulator"&p% +5 "core" %\  z  + "storage"(q% +4 "core" %a\ B\ B O\ + "storage"(r. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(s( +88 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1188 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" & \ \  .\ +2 "manipulator"&u& +4 "core" &, ; + "manipulator"&v% +4 "core" %\  J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +188 "core" ( +2 "manipulator"&x& +4 "core" & f  +2 "storage"(y& +3 "core" & \ I\ I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +95 "core" ' +2 "storage"({& +4 "core" & }\ , '\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'i +268 "core" ' +2 "storage"(}- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~& +2 "core" & \ \  \ +2 "manipulator"&& +4 "core" & n  +2 .tElbow.seek 2 + "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" & j  +2 "storage"(& +4 "core" & \ $\ ' I\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"( 'X +7 "core" &   +2 "manipulator"& % +4 "core" %  + +4 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&( +144 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" && 5  =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +97 "core" ' +3 "manipulator"&& +5 "core" && M =C + "manipulator"&% +4 "core" %) l +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(V +4 "core" & \  +10 &/z \ *y +9 &d \ > +9 &yt \ N +10 &<U \ M +9 &\\ \ M +10 &[ \ M +9 &\\ \ M +9 &DW \ M +10 &W \ M +9 &W \ M +9 & Z \ M +10 &"K[ \ N +9 &$Z \ M +10 &%Z \ M +9 &'Z \ M +9 &)TZ \ M +10 &+\\ \ M +9 &,U \ M +9 &.W \ M +10 &0\\Y \ M +9 &2Z \ N +10 &3U \ N +9 &5Y \ N +9 &7cX \ N +10 &9&U \ M +9 &:Y \ N +9 &<Y \ N +10 &>lW \ M +9 &@.X \ M +10 &A\\ \ N +9 &CZ \ N +9 &Er] \ N +10 &G1h \ O +9 &Ht \ Q +9 &J \ U +10 &L] \ X +9 &N \ X +10 &O \ X +9 &Q \ Y +9 &S_ \ Z +10 &U" \ Z +9 &VoD \ 1 +9 &Vh \ E +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&1 +4 "core" &V] \ E +57 1 +2 "manipulator"&% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")+ +4 "core" + + "sampler")% +3 "core" %\ \ \  +2 "collection"'& +4 "core" &V] B\ E +3 "Can"\ A> +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler")  +3 "core"  +2 "sampler")!  +4 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X +24 +2 .tdelay 3.8 seconds +382 "collection"'%% +3 "core" % 3\ + "sampler")&% +4 "core" %2\ \ \ u + .tSSV.dial :spit +2 "sampler")' +129 "core"  +2 .tSS.seek 0ml +2 "sampler")(' +274 "core" ' + .tSSV.dial CBV +2 "sampler"))  +131 "core" +2 .tCTV.dial :intake + "collection"'*  +73 "core"  + ."connect"SSV.dial CBV +4 .tCBV.dial SSV + #Allowing 40s for 7.0ml of remaining 7.0ml +2 .Intake.select :open + "sampler") +210 "collection"'+% +3 "core" % 5\ + #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.19ml/s +3 "sampler")#.0X % +4 "core" %\ &\ # \ 9 +21 "collection"'?% +3 "core" % \ +2 "sampler")A% +4 "core" %\ 0\ 1 \ 9 +24 "collection"'B% +3 "core" % 7\ +2 "sampler")% +3 "core" %\ I\ H \ 9 +2 "sampler")D% +4 "core" %\ N\ L \ 9 + .tIntake.select :close +2 "sampler")0 +8 )E% +3 "core" %\ ^\ ] \ 9 +2 .tSSV.dial :exhaust + "sampler")F  +73 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")' +904 "core" ' +2 .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")C  +73 "core" +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open +2 "sampler") +209 "collection"'I% +3 "core" % \ +2 #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X \ \  \  +19 "collection"'N% +2 "core" % \ +2 "sampler")G% +4 "core" %>\ \  \  +21 "collection"'\ % +3 "core" % \ +2 "sampler")Q% +3 "core" %>\ \  \  +25 "collection"'R% +49 "core" % \ +2 "sampler")S% +4 "core" %\ I\ G \  + "sampler")U% +4 "core" %\ K\ M \ v + .tIntake.select :close +2 "sampler")0 +8 )V% +3 "core" %\ Z\ \\ \ 6 +2 .tSSV.dial :exhaust + "sampler")O  +74 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")W' +864 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampled 50.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close + "collection"'K& +3 "core" &V\\ N\ E +2 ."airStroke"CSV.dial :waste +4 "sampler")% +3 "collection"'Y +3 "core" %\ j\ f \ S +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +3 "sampler")Z  +42 "core" +3 ."airStroke"CS.seek 0ml + "collection"'[' +4 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'X @ +91 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"']' V +41 "core"  +2 .tCTV.dial :air +2 "collection"'^  +74 "core"  +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")` +131 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +3 "collection"'a  +2 "sampler")c' +7 "core" ' + .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")H  +124 "core"  +8  +401 ' + "sampler")T% +5 "core" %\ \ \ S + .tCBV.dial between SSV and waste2 +2 "collection"'P  +28 "core"  +2 "collection"'e% +4 "core" % U \  +2 ."connect"CTV.dial CSV,avoiding: :air +4 .tCSV.dial CTV +2 "collection"'f  +52 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< Xb +2 .tCS.seek 0ml +2 "collection"'b' +2157 "core" ' X X\ ʪ +3 "collection"'i% +4 "core" % \\ [}\  +2 "sampler")j% +3 "core" %\ \ \ S +2 #tBubblePoint: Intake @38.9psia, Outlet @14.6psia + .CBV.dial SSV + "collection"'_ @ +32 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'u' +87 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")v +8 "Can"*\ qn +123 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X9 +3 "core" 9d +102 "collection"'?9 +2 "core" 9 d +102 "collection"'A9 +2 "core" 9 d +103 "collection"'B9 +2 "core" 9d +102 "collection"'9 +3 "core" 9d +102 "collection"'D9 +3 "core" 9d +102 "collection"'E9 +2 "core" 9d +102 "collection"'F9 +2 "core" 9"d +103 "collection"'99 +2 "core" 9&d +102 "collection"'59 +2 "core" 9*d +103 "collection"'C9 +2 "core" 9.d +102 "collection"'I9 +2 "core" 93d +103 "collection"'9 +2 "core" 97d +102 "collection"'L9 +2 "core" 9;d +103 "collection"'M9 +3 "core" 9,?d +102 "collection"'N9 +2 "core" 9CCd +102 "collection"'G9 +3 "core" 9XHd +102 "collection"'\ 9 +2 "core" 9pLd +102 "collection"'Q9 +3 "core" 9Pd +102 "collection"'R9 +6 "core" 9Td +102 "collection"'S9 +2 "core" 9Xd +103 "collection"'U9 +2 "core" 9]d +102 "collection"'V9 +2 "core" 9ad +103 "collection"'O9 +2 "core" 9 ed +102 "collection"'J9 +4 "core" 9#id +102 "collection"'@9 +2 "core" 9?md +102 "collection"'K9 +3 "core" 9Yrd +102 "collection"'9 +2 "core" 9uvd +102 "collection"'Y9 +3 "core" 9zd +102 "collection"'X9 +2 "core" 9~d +103 "collection"'Z9 +2 "core" 9d +102 "collection"'^9 +2 "core" 9d +103 "collection"'\\9 +2 "core" 9d +102 "collection"'[9 +53 "core" 9(a +102 "collection"'`9 +3 "core" 9B^ +102 "collection"'a9 +2 "core" 9_\\ +103 "collection"'H9 +2 "core" 9zY +102 "collection"'W9 +3 "core" 9V +102 "collection"'T9 +2 "core" 9T +102 "collection"'P9 +3 "core" 9R +102 "collection"'e9 +2 "core" 9O +102 "collection"'f9 +3 "core" 9M +102 "collection"']9 +2 "core" 9J +103 "collection"'i9 +2 "core" 97H +102 "collection"'j9 +3 "core" 9RF +103 "collection"'_9 +2 "core" 9kD +102 "collection"'c9 +2 "core" 9B +103 "collection"'m9 +2 "core" 9A +102 "collection"'g9 +2 "core" 9> +103 "collection"'k9 +3 "core" 9= +102 "collection"'l9 +2 "core" 9; +102 "collection"'o9 +3 "core" 9: +102 "collection"'q9 +2 "core" 98 +102 "collection"'r9 +3 "core" 9&6 +102 "collection"'t9 +3 "core" 9;5 +102 "collection"'p9 +3 "core" 9O3 +102 "collection"'v9 +2 "core" 9d2 +102 "collection"'b9 +3 "core" 9v1 +102 "collection"':9 +3 "core" 9/ +102 "collection"'u9 +3 "core" 9. +103 "collection"'x9 +2 "core" 9- +102 "collection"'h9 +2 "core" 9, +103 "collection"'{9 +2 "core" 9\ + +102 "collection"'y9 +2 "core" 9) +103 "collection"'}9 +3 "core" 9) +102 "collection"'~9 +2 "core" 9' +103 "collection"'9 +2 "core" 9 & +102 "collection"'9 +2 "core" 9 & +103 "collection"'9 +2 "core" 9 (#% +102 "collection"'n9 +3 "core" 9 6($ +102 "collection"'9 +3 "core" 9 C,# +102 "collection"' 9 +2 "core" 9 P0" +102 "collection"'w9 +2 "core" 9 [4! +103 "collection"'9 +2 "core" 9 f8! +102 "collection"'9 +3 "core" 9 s= +102 "collection"'|9 +3 "core" 9 ~A +102 "collection"'9 +2 "core" 9 E +103 "collection"'9 +2 "core" 9 I +102 "collection"'9 +2 "core" 9 M +103 "collection"'9 +3 "core" 9 R +103 "collection"'9 +2 "core" 9 V +102 "collection"' 9 +3 "core" 9 \ Z +102 "collection"'z9 +2 "core" 9  ^ +102 "collection"'d9 +3 "core" 9 b +102 "collection"'9 +3 "core" 9 f +102 "collection"'9 +2 "core" 9 k +102 "collection"' 9 +3 "core" 9 o +102 "collection"'9 +2 "core" 9 s +102 "collection"' 9 +3 "core" 9 w +102 "collection"'9 +3 "core" 9 { +102 "collection"'9 +2 "core" 9  +102 "collection"'9 +3 "core" 9\  +102 "collection"'$9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'!9 +3 "core" 9\  +102 "collection"'9 +3 "core" 9\   +102 "collection"'#9 +2 "core" 9\ " +102 "collection"'&9 +2 "core" 9\ $" +103 "collection"''9 +2 "core" 9\ )$ +102 "collection"'%9 +3 "core" 9\ /% +102 "collection"')9 +3 "core" 9\ 4& +102 "collection"'*9 +3 "core" 9\ 7' +102 "collection"'"9 +2 "core" 9\ =( +102 "collection"'+9 +2 "core" 9\ ?) +103 "collection"'(9 +2 "core" 9\ D* +102 "collection"'/9 +3 "core" 9\ I, +102 "collection"'.9 +2 "core" 9\ M, +102 "collection"'19 +3 "core" 9\ P- +102 "collection"'09 +2 "core" 9\ T/ +102 "collection"',9 +3 "core" 9\ W1 +103 "collection"'-9 +2 "core" 9\ ]2 +102 "collection"'29 +2 "core" 9\ _2 +103 "collection"'69 +2 "core" 9\ b3 +102 "collection"'9 +2 "core" 9\ e5 +103 "collection"'39 +3 "core" 9\ j6 +102 "collection"'79 +2 "core" 9\ m7 +103 "collection"'49 +2 "core" 9\ o8 +102 "collection"';9 +2 "core" 9\ s7 +103 "collection"'=9 +2 "core" 9\ u: +102 "collection"'>9 +4 "core" 9\ y; +102 "collection"'?9 +2 "core" 9\ {; +102 "collection"'A9 +3 "core" 9\ ~< +102 "collection"'B9 +2 "core" 9\ = +102 "collection"'9 +3 "core" 9\ >\  +102 "collection"'D9 +3 "core" 9\ ? +102 "collection"'E9 +3 "core" 9\ ? +102 "collection"'F9 +2 "core" 9\ @ +102 "collection"'99 +3 "core" 9\ A +102 "collection"'59 +3 "core" 9\ A +102 "collection"'C9 +3 "core" 9\ C# +102 "collection"'I9 +2 "core" 9\ E' +103 "collection"'9 +2 "core" 9\ D+ +102 "collection"'L9 +2 "core" 9\ D/ +103 "collection"'M9 +2 "core" 9\ E4 +102 "collection"'N9 +3 "core" 9\ E8 +102 "collection"'G9 +3 "core" 9\ F< +102 "collection"'\ 9 +2 "core" 9\ G@ +103 "collection"'Q9 +2 "core" 9\ GD +102 "collection"'R9 +2 "core" 9\ HI +103 "collection"'S9 +4 "core" 9\ HM +102 "collection"'U9 +2 "core" 9\ HQ +102 "collection"'V9 +2 "core" 9\ IU +103 "collection"'O9 +2 "core" 9\ IY +102 "collection"'J9 +3 "core" 9\ I^ +102 "collection"'@9 +3 "core" 9\ Ib +102 "collection"'K9 +2 "core" 9\ Jf +103 "collection"'9 +2 "core" 9\ Jj +102 "collection"'Y9 +2 "core" 9\ Jn +103 "collection"'X9 +2 "core" 9\ Jr +102 "collection"'Z9 +3 "core" 9\ Hw +102 "collection"'^9 +2 "core" 9\ I{ +103 "collection"'\\9 +2 "core" 9\ H +102 "collection"'[9 +2 "core" 9\ G +103 "collection"'`9 +2 "core" 9\ G +102 "collection"'a9 +3 "core" 9\ G +103 "collection"'H9 +2 "core" 9\ G +102 "collection"'W9 +2 "core" 9\ F +103 "collection"'T9 +2 "core" 9\ F +102 "collection"'P9 +2 "core" 9\ F +103 "collection"'e9 +3 "core" 9\ E +103 "collection"'f9 +2 "core" 9\ E +102 "collection"']9 +2 "core" 9\ D +103 "collection"'i9 +2 "core" 9\ E +102 "collection"'j9 +2 "core" 9\ D +103 "collection"'_9 +3 "core" 9\ D +102 "collection"'c9 +2 "core" 9\ D +102 "collection"'m9 +3 "core" 9\ D +102 "collection"'g9 +2 "core" 9\ C +103 "collection"'k9 +2 "core" 9\ C +102 "collection"'l9 +2 "core" 9\ B +103 "collection"'o9 +2 "core" 9\ C +102 "collection"'q9 +2 "core" 9\ C +103 "collection"'r9 +2 "core" 9\ C +102 "collection"'t9 +2 "core" 9\ C +103 "collection"'p9 +3 "core" 9\ C +102 "collection"'v9 +2 "core" 9\ B +102 "collection"'b9 +2 "core" 9\ B +103 "collection"':9 +2 "core" 9\ C +102 "collection"'u9 +2 "core" 9\ C +103 "collection"'x9 +3 "core" 9\ C +102 "collection"'h9 +3 "core" 9\ C +102 "collection"'{9 +2 "core" 9\ C +102 "collection"'y9 +3 "core" 9\ C +102 "collection"'}9 +2 "core" 9\ B +3 .tCH.hold 10:00,70C +3 "collection"'~ ` * `\ y +2 '9 +5 "core"  + 9\ \  + "collection"'% +4 "core" %# X V #\ b + #tBegun lysing Collection Puck Heater at 68.1C/38.6psia +21206 "Can"'\  +38784 "core" ` +2 "collection"'9 +3 "core" 9 , +7 "collection"'n% +3 "core" %#\ \ F\ +2 #tEnded lysing Collection Puck Heater at 70C/28.7psia +2 .CS.seek 0ml + "collection"'' +325 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +3 "collection"' @ +100 "core" A +2 .tCSV.dial :air +2 "collection"'w @ +42 "core" ? +2 .tCS.seek 5ml + "collection"''q +1337 "core" ' +2 .tCSV.dial CTV + "collection"'  +52 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'| @ +43 "core" @ +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'  +52 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"' @ +45 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +3 "collection"'' +1338 "core" ' +2 "collection"'% +4 "core" % g f C\ + #tPuck @39.6psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV +2 "collection"' +102 "core" ~ +2 .tCBV.dial CSV +2 "collection"'  +29 "core"  +2 "collection"'z% +4 "core" % T T ?\ +2 .tCS.seek 4.999ml + "collection"'d'q +1332 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'  +44 "core" + "collection"'% +4 "core" %q\ \ !\  +2 .tCS.seek 6.999ml +2 "collection"' ' +585 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"' @ +42 "core" ? +2 .tCS.seek 10ml + "collection"' ' V +830 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +3 "collection"' ` +115 "core" ^ +2 #tLysing Complete + "collection"'& +4 "core" &Vd  ]\ E +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\   +2 "storage"($% +3 "core" %T \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(!(S +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &U \\\ +2 "manipulator"&#& +4 "core" &% u =C +2 "manipulator"&&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&'(. +163 "core" ( +2 "manipulator"&%& +4 "core" &$\ L + "storage"()& +4 "core" &W\ \ \ `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&*'ѷ +98 "core" ' +2 "storage"("& +4 "core" &W\ !\  Y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'i +274 "core" ' + "storage"((- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(/'y +47 "core" ' +2 "manipulator"&.& +4 "core" &$\ L +2 "manipulator"&1% +4 "core" %ѵ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +149 "core" ( +2 "manipulator"&-& +4 "core" &-  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &,  Cr +2 .tForearm.seek CC + "manipulator"&6'" +97 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +3 "collection"'3( +417 "core" ( +2 "storage"(7& +4 "core" &W\ \  \ + "storage"(4& +4 "core" &W\ \ \ \ +2 "manipulator"&;& +3 "core" &- Cr +2 "manipulator"&=% +3 "core" % 0 d +2 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&?(. +155 "core" ( + "manipulator"&A& +4 "core" &6  +2 "storage"(B& +4 "core" &W\ C\ H \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&' +107 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +56 "core" 1 +2 "manipulator"&F% +49 "core" %  # +11 "storage"(9& +4 "core" &W\ \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 319 counts +2 "manipulator"&5': +16 "core" ' + "manipulator"&C& +4 "core" &6 D  +2 "storage"(I& +4 "core" &W\ <\ I ~\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts + "manipulator"&'ѷ +29 "core" ' +2 "storage"(L% +4 "core" %\ + | \ +3 ."downElevator"SE.seek :down +4 "storage"(M'X +98 (N% +3 "core" %G\ F\ F\ Va +2 "manipulator"&G% +4 "core" %Ѷ O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Q& +4 "core" & p p\ +2 "manipulator"&R& +4 "core" &6 %  + "manipulator"&S% +4 "core" %\  V  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&U(, +177 "core" ( + "manipulator"&V& +4 "core" &, [ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &, [ 6 +2 .tForearm.seek :garage +2 "manipulator"&J'Ϧ +92 "core" ' +2 .tHand.close + "manipulator"&@/ +65 "core" / + "manipulator"&K& +4 "core" &, 5 +2 "manipulator"&% +3 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&X( +276 "core" ( +2 "manipulator"&Z& +4 "core" && >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +2 "core" && >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'" +94 "core" ' +3 "manipulator"&[& +4 "core" && d >N +2 "manipulator"&`% +3 "core" %( +2 "collection"'a& +4 "core" & g g \ +2 "collection"'H& +5 "core" & g e\ +2 .tCC.seek :closed + "collection"'W(V +4 "core" & f g\  +9 &2} g g\ *y +10 &e e gm\ > +9 &yr g hT\ N +9 &=V e g\ M +10 &Y c i\ L +9 &Z f g\ L +10 &X e g\ L +9 &GT e g\ L +9 &X d g\ L +10 &Z f e \ L +9 & Y d g\ L +9 &"NY e h\ L +10 &$Z e g\ L +9 &%Z f f\ L +10 &'Y f fx\ L +9 &)VW d eT\ L +9 &+U d e\ L +10 &,W d g\ L +9 &.X e f\ L +9 &0^Z d g\ L +10 &2 X f f\ L +9 &3U e gs\ L +10 &5W d fT\ L +9 &7gY e e\ L +9 &9(W b f\ L +10 &:[ c d\ L +9 &<W e c\ L +9 &>nV e e\ L +10 &@1U a g\ L +9 &AX e d\ M +10 &CY e d\ M +9 &Ev] d c\ L +9 &G2h c co\ N +10 &Hx c cQ\ Q +9 &J a `\ V +9 &L\\ U Z\ X +10 &N T T\ X +9 &O W X\ X +10 &Q [ Y\ Y +9 &S_ V X\ Z +9 &U" T W\ Y +10 &VkC R Uz\ 0 +9 &V v Q Ro\ K +5 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + "collection"'T& +5 "core" &Vn O PW\ K + &Vn N OL\ K + .tHand.open + "manipulator"&P1 +64 "core" 1 +2 "manipulator"&e% +4 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +6 "manipulator"&f'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"%] +43 "core"  + "processing"%i% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%j' +1589 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%_  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%c' +1586 "core" ' +2 .tPSV.dial PSR + "processing"%m +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%g' +2607 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%k "collection"'l  +6 "core"  +2 "processing"%o  +15 "core"  +54 + .tPSV.dial :mixloop +2 "processing"%q +101 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%r  +128 "core" +2 .tPS.seek 0ml + "processing"%t' +1792 "Can"\\\ JG +811 "core" ' + .tPSV.dial :air +2 "processing"%p  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%v' +2600 "core" ' + .tPSV.dial :mixloop +2 "processing"%b +46 "core" +2 .tPS.seek 0ml + "processing"%:' +2607 "core" ' +2 .tPSV.dial :air + "processing"%u  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%x' +2601 "core" ' +2 .tPSV.dial :mixloop + "processing"%h +44 "core" +2 .tPS.seek 0ml +2 "processing"%{' +2602 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&y& +4 "core" && z >N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&}( +3 "core" ( + "manipulator"&& +5 "core" && >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && >N +2 .tForearm.seek CC +2 "manipulator"&<'" +94 "core" ' +2 .tHand.close + "manipulator"&~/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +414 "core" ( +2 "manipulator"&n& +3 "core" && >N +2 "manipulator"&8% +4 "core" % , B +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&w(, +285 "core" ( + "manipulator"&& +5 "core" &, . J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, P J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&|'Ϧ +111 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" % Ϫ ! l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + .CTV.dial :air,avoiding: :intake +3 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & E EF\ +2 "manipulator"&% +3 "core" %\    +2 "storage"( % +4 "core" %c\ , | ;\ + "storage"(z. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ \ \  -\  +2 "manipulator"&& +4 "core" &, J + "manipulator"&d% +4 "core" %\  "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +183 "core" ( + "manipulator"& & +4 "core" & ^ O +2 "storage"(& +3 "core" & \ " p d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(& +4 "core" & \  x \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (s& +3 "core" & \ !\ $ .\  +2 "manipulator"&& +3 "core" & s O +2 .tElbow.seek 2 +2 "manipulator"&#( +24 "core" ( +2 "manipulator"&&& +4 "core" &   + "storage"(%& +4 "core" & \ H\ F \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&)' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +65 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & a  +2 "manipulator"&(% +4 "core" % K +2 .tForearm.seek :retract + "manipulator"&.'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&1( +154 "core" ( +2 "manipulator"&+& +5 "core" &. Dx ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&-& +4 "core" &- Dx +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'" +103 "core" ' + "manipulator"&*& +4 "core" &. g Dx +2 "manipulator"&'% +4 "core" %! ~ +2 "collection"'& +4 "core" & G F\ +2 "collection"'0& +4 "core" & D F\ +3 .tCC.seek :closed + "collection"'(V +4 "core" & E G\ +8 & , G E\ $d +10 &W| E G|\ 7 +9 &{ E E`\ L +9 &V F F;\ L +10 &pY F G/\ L +9 &1W F G\ L +9 &Z E Gn\ L +10 &W E Ey\ M +9 &wW E Fb\ L +10 &8Y D EX\ M +9 &W E E?\ L +9 &!X F F+\ M +10 &#~X F F\ M +9 &%AX F G\ L +9 &'U D E\ L +10 &(W E F\ M +9 &*W D F\ L +10 &,HY E D\ M +9 &. W F F\ L +9 &/W C D\ L +10 &1V D F\ L +9 &3PW F F\ M +9 &5X G E\ L +10 &6Y D E\ M +9 &8W E F\ L +10 &:YY G H\ L +9 &<V D E\ M +9 &=Y C F\ M +10 &?Y E F\ L +9 &AaZ E E\ L +9 &C#Z D F\ L +10 &D] D G\ M +9 &Fb D G\ M +9 &H_s D Hw\ P +10 &J  t\ U +9 &K 0 1_\ W +10 &M 4 4a\ X +9 &OO 8 6X\ X +9 &Q 9 7K\ X +10 &R 5 ;D\ Y +9 &T 8 9G\ Y +9 &V.t : ;>\ . +10 &V" 9 ;9\ Q +9 ( +2 "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&71 +3 "core" &Vb ? ;.\ K +60 1 +2 "manipulator"&4% +4 "core" %  ' 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'=  +130 "core"  + .tCSV.dial CTV +2 "collection"'A  +34 "core"  +2 .tPS.seek 2.5ml +2 "processing"%B' +2599 "core" ' + "collection"'6% +5 "core" % Y ( )g\  +2 .tCS.seek 4.25ml + "collection"','Y +1529 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air + "processing"%E  +44 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%F  +72 "core"  +2 .tPS.seek 0ml + "processing"%9' +2598 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'C ` +30 "core" _ + .tCSV.dial :air +2 "collection"'I @ +100 "core" > +2 .tCS.seek 10ml +2 "collection"'>' V +1519 "core" ' +2 .tCSV.dial CTV + "collection"'L  +54 "core"  +2 .tCS.seek 0ml + "collection"'?' +2584 "core" ' + .tCBV.dial :waste1 +2 "collection"'N @ +28 "core" @ +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'G  +130 "core" +2 "collection"'& +4 "core" &Vb  \ K +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&5% +4 "core" %\   + "storage"(Q% +4 "core" %_ \ + "storage"(R. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(S(S +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +5 (/& +3 "core" &T 3\ + "manipulator"&& +4 "core" &- Dx +2 "manipulator"&V% +3 "core" %\  ]  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&O(. +154 "core" ( +2 "manipulator"&M& +4 "core" &0  + "storage"(D& +4 "core" &T\ \ e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&@'ѷ +96 "core" ' + "storage"(K& +5 "core" &T\ \  X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &0 q  +2 "storage"(Z& +3 "core" &T Q\ +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&^' +34 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +2 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(`'L +25 "core" ' +2 "manipulator"&a% +4 "core" %  @ + "storage"(Y& +4 "core" &T 1\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&3': +19 "core" ' + "manipulator"&T& +5 "core" &0 9  + "storage"(P& +4 "core" &T\ \ *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts + "manipulator"&e'ѷ +29 "core" ' +3 .tSE.seek 1.08 Pucks below Top Plate + "storage"(H'; +39 "core" ' +2 "manipulator"&]& +4 "core" &0 L  +2 "manipulator"&i% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&_& +4 "core" &. + E~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &. E~ +2 .tForearm.seek CC + "manipulator"&m'" +100 "core" ' +2 .tHand.close + "manipulator"&c/ +60 "core" / + .tCC.seek :open +2 "collection"'k( +415 "core" ( + "storage"(o& +4 "core" &T\ #\ \ +2 "storage"(l& +3 "core" &T\ \  \ +2 "manipulator"&q& +4 "core" &. Dv + "manipulator"&r% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&p(. +159 "core" ( +2 "manipulator"&t& +4 "core" &7 & +2 "storage"(b& +3 "core" &T\ ]\ [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&v' +105 "core" ' +2 .tElbow.hold + "manipulator"&u, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +53 "core" 1 +2 "manipulator"&h% +4 "core" %  !  + "storage"(x& +4 "core" &T\ \  ^\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 320 counts + "manipulator"&y'; +20 "core" ' +3 "manipulator"&& +4 "core" &7  + "storage"(& +4 "core" &T\ \\\ \\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&~'ѷ +17 "core" ' + "storage"(X% +4 "core" %E\ \\\ \\ P\ +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (W% +2 "core" %A\ \ - _\ V` +2 "manipulator"&n% +4 "core" %ѱ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%<  +72 "core" +3 .tPS.seek 2.5ml + "processing"%' +2603 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"% +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%}  +43 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%' +2597 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"% & +5 "core" &\ + "manipulator"&& +4 "core" &7 { + "manipulator"& % +4 "core" %\  s  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&z(, +168 "core" ( +2 "manipulator"&|& +4 "core" &, M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +2 "core" &, x M +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +103 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"&d& +4 "core" &, { M +2 "manipulator"& % +3 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(s +122 "core" ( + "manipulator"&w& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&s& +4 "core" &j H  +2 "manipulator"&% +4 "core" % u +2 "processing"%&& +3 "core" &\ +2 "processing"%%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &\ +7 &5\ $e +9 &W\ 7 +10 &~\ L +9 &\\\ M +10 &j`\ N +9 &-\\\ M +9 &[\ M +10 &W\ M +9 &s]\ M +9 &4Y\ N +10 &Z\ N +9 &!Y\ M +10 &#{\\\ M +9 &%<Z\ N +9 &&\\\ N +10 &([\ M +9 &*]\ N +9 &,D\\\ N +10 &.Z\ M +9 &/[\ M +10 &1^\ M +9 &3MZ\ M +9 &5Y \ M +10 &6Z\ M +9 &8Y\ M +9 &:UZ\ M +10 &<Z \ M +9 &=]\ M +10 &?]\ M +9 &A^\\\ M +9 &C]\ N +10 &D`\ N +9 &Fg\ O +9 &H]v\ P +10 &J\ R +9 &K\ S +10 &M\ S +9 &O]'\ S +9 &Q+\ S +10 &R,\ S +9 &T,\ T +9 &Vb*\ T +10 &X$\ T +9 &Yzp!\ 2 +10 &Z*s'\ H +9 &Z+\ , +2 ( +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + "processing"%& +4 "core" &Z8\ , +2 .tHand.open + "manipulator"&(1 +60 "core" 1 +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tPRV.dial :air +2 "processing"%+  +41 "core"  + .tPSV.dial :mixloop + "processing"%- +45 "core" + "processing"%$% +4 "core" %V\ +2 .tPS.seek 0.3ml +2 "processing"%)' +380 "core" ' + .tPSV.dial PSR + "processing"%* +101 "core"  + "processing"%'% +4 "core" %\  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%#'. +481 "core" ' +3 .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +1894 "core" ' +6 .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"% +100 "core" +2 .tPTV.dial :mixing +2 "processing"%. @ +71 "core" A +44 .tPBV.dial :waste2 +11 "processing"%  +89 "core" +2 .tPS.seek 0ml +2 "processing"%7' +2604 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&4& +4 "core" &j j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&0(s +4 "core" ( + "manipulator"&=& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &j  +2 .tForearm.seek PC + "manipulator"&2' +95 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +2 .tPC.seek :open + "processing"%6( +436 "core" ( +2 "manipulator"& & +4 "core" &j \   + "manipulator"&E% +4 "core" % \ +2 .tForearm.seek :retract + "manipulator"&F'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&B(, +129 "core" ( +2 "manipulator"&C& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&,'Ϧ +112 "core" ' + .tHand.open + "manipulator"&L1 +63 "core" 1 +2 "manipulator"&>% +4 "core" % Ϫ " $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +100 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%G& +4 "core" &K\ + "manipulator"&% +4 "core" %\   +2 "storage"(5% +3 "core" %b\ G\ G\ +2 "storage"(Q. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(R( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & \  +2 "manipulator"&/& +4 "core" &,  + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +180 "core" ( +2 "manipulator"&M& +4 "core" & t  + "storage"(D& +4 "core" & \ G\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +103 "core" ' + "storage"(1& +4 "core" & \ ]\ \\ !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'i +282 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" & \ )\ 8\  + "manipulator"&Z& +4 "core" & ,  +2 .tElbow.seek 2 + "manipulator"&[( +4 "core" ( + "manipulator"&a& +4 "core" & 0  + "storage"(Y& +4 "core" & \ F\ F\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&T' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&]& "storage"(i'X +7 "core" &  +2 "manipulator"&@% +3 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&^& +3 "core" &t ' i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &t q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +98 "core" ' + "manipulator"&_& +4 "core" &t m  +2 "manipulator"&j% +4 "core" % +2 "processing"%e& +3 "core" &\ +3 "processing"%U& +5 "core" &}\ +2 .tPC.seek :closed +3 "processing"%c(Z +3 "core" &{\ +6 &8}\ $e +10 &U\ 7 +9 &~{\ K +9 &Zy\ M +10 &m]}\ M +9 &0]|\ M +10 &\\g\ M +9 &Zp\ M +9 &v]p\ M +10 &8Zq\ M +9 &\\r\ N +9 &![p\ M +10 &#}^m\ M +9 &%>[j\ N +10 &'Yl\ M +9 &(\\d\ M +9 &*Z^\ M +10 &,HX`\ M +9 &. \\h\ M +9 &/Z_\ M +10 &1Wb\ M +9 &3OZ\\\ M +9 &5\\_\ M +10 &6ZZ\ M +9 &8ZV\ M +10 &:X\\Q\ M +9 &<ZY\ M +9 &=ZV\ M +10 &?ZW\ M +9 &A_YL\ M +10 &C ZH\ N +9 &D^?\ N +9 &F`>\ N +10 &Hcg;\ O +9 &J~<\ Q +9 &KJ\ S +10 &MJ\ R +9 &O_?\ S +10 &Q!?\ S +9 &RK\ S +9 &TI\ T +10 &VdC\ T +9 &X&;\ T +9 &Y{n9\ 0 +10 &Z(h>\ I +9 &Z"-\ . +3 ( + "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&\\1 +56 "core" 1 +3 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%l  +2 %q9 +5 "core" 9 +102 "processing"%r9 +3 "core" 9 +102 "processing"%t9 +2 "core" 9  +102 "processing"%b9 +4 "core" 9  +102 "processing"%m9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%:9 +3 "core" 9 +102 "processing"%h9 +2 "core" 9 +102 "processing"%x9 +2 "core" 9" +103 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%X9 +3 "core" 9/ +102 "processing"%g9 +2 "core" 93 +102 "processing"%W9 +2 "core" 97 +102 "processing"%n9 +3 "core" 9; +103 "processing"%p9 +2 "core" 9? +102 "processing"%v9 +2 "core" 9C +102 "processing"%y9 +3 "core" 9H +102 "processing"%H9 +2 "core" 9L +102 "processing"%<9 +3 "core" 9P +102 "processing"%~9 +2 "core" 9T +102 "processing"%f9 +3 "core" 9X +102 "processing"%99 +3 "core" 9] +102 "processing"%9 +2 "core" 9a +102 "processing"%}9 +4 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9 m +102 "processing"%9 +3 "core" 9q +102 "processing"% 9 +2 "core" 9v +102 "processing"%9 +2 "core" 9 z +103 "processing"% 9 +2 "core" 9(~ +102 "processing"%|9 +2 "core" 9/ +102 "processing"%!9 +3 "core" 98 +102 "processing"%u9 +2 "core" 9@ +102 "processing"%9 +3 "core" 9G +102 "processing"%d9 +3 "core" 9P +102 "processing"% 9 +2 "core" 9W +102 "processing"%89 +2 "core" 9^ +102 "processing"%w9 +3 "core" 9e +102 "processing"%9 +4 "core" 9k +102 "processing"%9 +2 "core" 9r +3 .tPH.hold 2:00:00,28C +3 "processing"%s ppk +2 .tdelay 1:30 +4 "core"  +7629 "Can"\ GD +1371 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +101 "core"  + "processing"%&% +4 "core" %!\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%z' +581 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%' +1592 "core" ' + .tPTV.dial :puck +2 "processing"%  +70 "core"  +2 .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 + "processing"%(  +131 "core"  +2 "processing"%% +4 "core" %,\  +2 .tPS.seek 1.5ml + "processing"%%' +582 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" + +2 .tPS.seek 0ml + "processing"%-' +1593 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%$  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%*' +2339 "core" ' + .tPSV.dial PTV +2 "processing"%' +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +3 "processing"%) +73 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +3 "processing"%# +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 .tPS.seek 0ml + "processing"%.' +2320 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +128 "core" + .tPSV.dial :mixloop + "processing"% +45 "core" + .tPRV.dial :ab1 + "processing"%4 @ +71 "core" A +2 .tPS.reconfigure :slow +53 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%=' +348 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'A  +2 "processing"%{  +42 "core" +3 +2 "processing"%% +4 "core" %#\  +2 .tPS.seek 0.31ml +2 "processing"%' +365 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'"  +31 "core" +2 .tPRV.dial :air + "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%E'GK +1231 "core" ' + .tPRV.dial :waste2 +2 "processing"%C @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%I' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%2  +45 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%0' +1591 "core" ' + .tPSV.dial :PML +2 "processing"%L +44 "core" +2 .tPTV.dial :mixing + "processing"%> @ +72 "core" @ + .tPBV.dial :waste1 +2 "processing"%G  +34 "core" +2 "processing"%% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%F' +237 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%Q' +1943 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"',& +3 "core" & i i"\ +2 "manipulator"&S& +4 "core" &t  + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&/(, +130 "core" ( + "manipulator"&& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&D'Ϧ +99 "core" ' +2 .tHand.close + "manipulator"&B/ +58 "core" / +3 "manipulator"&1& +4 "core" &,    + "manipulator"&N% +4 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&J( +268 "core" ( +2 "manipulator"&Z& +4 "core" &%  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &% o <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Y'" +98 "core" ' +2 "manipulator"&P& +5 "core" &% F <: + "manipulator"&]% +4 "core" % W +2 "collection"'@& +4 "core" & k i\ +2 "collection"'V& +5 "core" & h j\ +2 .tCC.seek :closed +2 "collection"'K(V +5 "core" & j k\ \ +7 &4 h l\ $d +9 &U j i \ 7 +10 &~ j k\ L +9 &U h g\ N +9 &`Y h k \ N +10 &#X j h\ N +9 &[ j k \ N +9 &Y h j \ N +10 &iY j k\ N +9 &+\\ i l\ N +9 &Z i k \ N +10 &!X h h\ N +9 &#qU i k \ N +10 &%1U j k\ O +9 &&W j k\ N +9 &(W j j\ N +10 &*zW i j \ N +9 &,<W k l\ N +9 &-W i j\ M +10 &/X k k \ N +9 &1Y k j\ N +10 &3DW i j\ N +9 &5W k i\ N +9 &6W j j\ N +10 &8U h k\ N +9 &:JX i k\ N +10 &< W j j\ N +9 &=Y k k\ N +9 &?Y k i\ N +10 &ARX k j\ N +9 &CZ i j\ N +9 &D[ j k \ N +10 &F_ g k\ O +9 &HSn i h\ Q +10 &J\ k j\ U +9 &K j k\ X +9 &M j j\ Y +10 &OC j j\ Y +9 &Q i j\ Z +9 &R i i\ Z +10 &T j k\ [ +9 &V$v k j\ / +9 &V# j k\ L +9 ( +3 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 +2 "collection"';& +4 "core" &V[ k k\ F + &V\\ i k\ F +2 .tHand.open + "manipulator"&T1 +59 "core" 1 +2 "manipulator"&^% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +93 "core" ' + .tPSV.dial PSR + "processing"%[ +102 "core"  +2 "processing"%_% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%j' +1587 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%e  +43 "core"  +2 .tPS.seek 0ml + "processing"%i' +1595 "core" ' + .tPSV.dial PSR +2 "processing"%O +31 "Can"\ qo +13 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%6' +2597 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%\\  + "collection"'  +33 "core" +125  + .tPSV.dial :mixloop + "processing"%q +104 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%U  +72 "core" +3 .tPS.seek 0ml + "processing"%r' +2599 "core" ' +2 .tPSV.dial :air +2 "processing"%`  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%t' +2596 "core" ' +2 .tPSV.dial :mixloop + "processing"%b +44 "core" +2 .tPS.seek 0ml +2 "processing"%m' +2593 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +3 .tPS.seek 2.5ml + "processing"%:' +2598 "core" ' + .tPSV.dial :mixloop +2 "processing"%h +44 "core" +2 .tPS.seek 0ml +2 "processing"%x' +2599 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &$ <: +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( + "manipulator"&X& +4 "core" &$ <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &$ { <: +2 .tForearm.seek CC +2 "manipulator"&W'" +93 "core" ' + .tHand.close + "manipulator"&n/ +62 "core" / + .tCC.seek :open +2 "collection"'p( +415 "core" ( + "manipulator"&v& +5 "core" &% ~ <: + "manipulator"&y% +4 "core" %  q +2 .tForearm.seek :retract + "manipulator"&H'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&<(, +285 "core" ( + "manipulator"&~& +4 "core" &, G > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &, v > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&9'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&}% +4 "core" % Ϭ J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 ."da"delayUntil "09:37:31.01" +25143 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 + "processing"%  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2347 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%| +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%!  +45 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop +2 "processing"%u +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%d' +2313 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core" +2 "processing"%8% +4 "core" %R\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +52 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%w' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1595 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%&  +35 "core" + "processing"%7% +4 "core" %4\  +2 ."da"PS.seek 1.5ml +2 "processing"%z' +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%' +1584 "core" ' +2 ."da"delay 2:00 +3082 "Can"\ ml +8920 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%(  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%+' +2330 "core" ' + ."da"PSV.dial PTV +2 "processing"%% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%l +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +3 "processing"%$ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2308 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +129 "core"  +2 "processing"%'% +4 "core" %6\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%)' +581 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%#' +1592 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%*  +36 "core" +2 "processing"%% +4 "core" %C\  +2 ."da"PS.seek 1.5ml + "processing"%' +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%.' +1588 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%=' +2319 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%" +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +83 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +69 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%C  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%E' +2320 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%2  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%I  +127 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%L  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%> +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%G' +379 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +41 "core"  +2 "processing"%5% +4 "core" %M\  +2 ."da"PS.seek 0.55ml + "processing"%0'. +326 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%F  +46 "core"  +2 ."da"PS.seek 2ml + "processing"%,' +1544 "core" ' + ."da"PSV.dial :PML + "processing"%S +45 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%M% +4 "core" %@\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +230 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%B * +33 "core" * +2 ."da"PS.seek 0ml + "processing"%1' +1951 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +7899 "Can"\ _^ +40103 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%N  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%o * +34 "core" + +2 ."da"PSV.dial :air + "processing"%D  +46 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%Z' +2320 "core" ' + ."da"PSV.dial :mixloop + "processing"%a +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%/  +45 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%P +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%]  +43 "core"  +3 ."da"PS.seek 0ml + "processing"%@' +2318 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +140 "core" +2 "processing"%k% +4 "core" %K\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%;' +580 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%T' +1590 "core" ' + ."da"PTV.dial :puck +2 "processing"%^  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%V +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%[  +35 "core" + "processing"%_% +4 "core" %B\  +2 ."da"PS.seek 1.5ml +2 "processing"%Y' +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%Q * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%e' +1612 "core" ' +2 ."da"delay 2:00 +5723 "Can"\ 74 +6279 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +33 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2311 "core" ' + ."da"PSV.dial PTV +50 "processing"%\\ +76 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%q +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%U +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%6  +72 "core"  +2 ."da"PS.seek 0ml +3 "processing"%`' +2316 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%r +130 "core" + "processing"%b% +4 "core" %9\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%t' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1593 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%m +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%h  +34 "core" +2 "processing"%:% +4 "core" %K\  +2 ."da"PS.seek 1.5ml + "processing"%' +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%X * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%g' +1588 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%n  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%J * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%3 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%K' +2317 "core" ' + ."da"PSV.dial PTV +2 "processing"%v +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%y +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%W +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +3 "processing"%~  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f' +2315 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%% +4 "core" %D\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%}' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%H' +1595 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%9 +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +36 "core" +2 "processing"%% +4 "core" %I\  +2 ."da"PS.seek 1.5ml + "processing"% ' +585 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%x' +1594 "core" ' +2 ."da"delay 2:00 +11417 "Can"\ 86 +586 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%|  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +84 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2318 "core" ' + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%8 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +72 "core"  +3 ."da"PS.seek 0ml + "processing"%w' +2321 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +137 "core"  +5 "processing"%% +10 "core" %D\ +3 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +5 "processing"% +16 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%&'] +333 "core" ' +5 ."da"delay 5 seconds +503 "processing"%7% +4 "core" %_C\ o + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +327 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1592 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%z +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%(  +36 "core" +2 "processing"%% +4 "core" %C\ u +2 ."da"PS.seek 1.5ml + "processing"%' +582 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%%' +1599 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%l  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%$ * +34 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%+' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%- +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%' +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%)  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2391 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +132 "core"  +2 "processing"%% +4 "core" %(\  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%#' +2093 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%4 +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core"  + "processing"%{% +4 "core" %E\  +2 ."da"PS.seek 1.5ml +2 "processing"%A' +580 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%.  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%"' +1591 "core" ' +2 "processing"% 9 +3 "core" 952 +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +3 "processing"%  +3 "core" 52 + 52 + "processing"%C& +50 "core" &Z!H\ . +8 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&=% +4 "core" %\   + "storage"(2% +4 "core" %b \ 3\  + "storage"(I. +3 "core" .( +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(L(S +340 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (>& +3 "core" &U \ +2 "manipulator"&E& +4 "core" &, > + "manipulator"&% +4 "core" %\  w  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 + "manipulator"&5(. +178 "core" ( + "manipulator"&G& +4 "core" &$ # +2 "storage"(F& +3 "core" &X -\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 700 counts + "manipulator"&0'ѷ +99 "core" ' +2 "storage"(S& +4 "core" &X\ \ M\ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +2 "core" &$ # +2 "storage"(B& +4 "core" &X q\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&,' +33 "core" ' +2 ."da"Elbow.hold + "manipulator"&, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +3 "core" -' +2 ."da"SE.seek 1.09 Pucks below Top Plate +3 "storage"(o'= +29 "core" ' +2 "manipulator"&D% +4 "core" % N + "storage"(1& +4 "core" &X ~\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 319 counts + "manipulator"&a': +14 "core" ' +2 "manipulator"&/& +4 "core" &$ D # + "storage"(P& +4 "core" &X >\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&]'ѷ +29 "core" ' +2 ."da"SE.seek 2.09 Pucks below Top Plate + "storage"(Z', +44 "core" ' +2 "manipulator"&\ & +4 "core" &% q # +2 "manipulator"&k% +3 "core" % k +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&@'\ +97 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&;(s +248 "core" ( +2 "manipulator"&^& +5 "core" &} d A + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &} U A +2 ."da"Forearm.seek PC + "manipulator"&[' +92 "core" ' + ."da"Hand.close +2 "manipulator"&_/ +61 "core" / +2 ."da"PC.seek :open +2 "processing"%T( +439 "core" ( + "storage"(Q& +4 "core" &X \ +2 "manipulator"&Y& +3 "core" &} A +2 "manipulator"&j% +3 "core" % U +2 ."da"Forearm.seek :retract +2 "manipulator"&O'\ +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&i(. +250 "core" ( + "manipulator"&e& +4 "core" &0 % +2 "storage"(\\& +3 "core" &X C\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&q'ѷ +92 "core" ' + ."da"Hand.open + "manipulator"&U1 +62 "core" 1 +2 "storage"(6- +3 "core" -', +2 ."da"SE.seek 1.84 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(r' +44 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct2510h50ml.tif +1954 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +22343 "Can"\ kY +8426 #"da"WARNING: Too Dark -- required 1874.4s exposure > 300s time limit\ SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 300 seconds\ /var/log/esp/da22oct2510h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct2510h50ml15s.tif +1550 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct2510h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct2510h50ml30s.tif +3053 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct2510h50ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct2510h50ml70s.tif +7130 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct2510h50ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "300.0 sec auto-exposure",Subject: "da22oct2510h50ml images!" +5 "storage"(b- +7 "core" -' +2 "storage"(`& +6 "core" &X w u 9\ +2 "manipulator"&t& +3 "core" &1 % +2 ."da"Elbow.seek 1 +2 "manipulator"&m(. +3 "core" ( +2 "manipulator"&h& +5 "core" &1 ^ % + "storage"(:& +4 "core" &X g g \ +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +3 "core" ' +5 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.89 Pucks below Top Plate +2 "storage"(X'2 +52 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "core" ' + "manipulator"&& +4 "core" &1 o % +2 "storage"(n& +4 "core" &X\ Y\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&J' +24 "core" ' + ."da"Elbow.hold +2 "manipulator"&3, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.07 Pucks below Top Plate +2 "storage"(g' +23 "core" ' +2 "manipulator"&v% +4 "core" % + "storage"(y& +4 "core" &X\ \ ;\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&W': +20 "core" ' + "manipulator"&~& +4 "core" &1 2 % +2 "storage"(K& +4 "core" &X\ \ & \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +27 "core" ' +2 "storage"(% +4 "core" %&\ #\ \ +3 ."downElevator"SE.seek :down +4 "storage"(f'X +98 (}% +3 "core" %3\ \  B\ RO +2 "manipulator"&9% +4 "core" %ѯ a +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &X\ \ " U\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +3 "processing"%H& +4 "core" &m\ +2 "manipulator"&& +4 "core" &1 d % +2 "manipulator"& % +3 "core" %\  R  +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&|(, +179 "core" ( +2 "manipulator"&!& +4 "core" &, P 6 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &, & 6 +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&x'Ϧ +105 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +59 "core" / +2 "manipulator"& & +4 "core" &, [ 6 + "manipulator"&8% +4 "core" % ϴ z  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&d'\ +105 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +56 "manipulator"&(s +120 "core" ( +2 "manipulator"&& +4 "core" &{ Y + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &{ l +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&w' +93 "core" ' +2 "manipulator"&7& +4 "core" &{ R +2 "manipulator"&&% +4 "core" % z + +2 "processing"%& +4 "core" &(\ +3 "processing"%z& +4 "core" &v\ +2 ."psFlush"PC.seek :closed +2 "processing"%((Z +4 "core" &'\  +9 &3~$\ *y +9 &d&\ > +10 &xw'\ N +9 &=Z)\ L +10 &["\ L +9 &[\ M +9 &Z\ M +10 &C]\ M +9 &[G\ M +9 &X\ M +10 & Z\ M +9 &"LZ\ M +10 &$Z\ M +9 &%]\ M +9 &'[\ M +10 &)TY\ M +9 &+]\ M +9 &,X\ M +10 &.\\\ M +9 &0[Y\ M +10 &2[\ M +9 &3Z\ L +9 &5Z\ M +10 &7dX\ M +9 &9&Z\ M +9 &:Y\ L +10 &<[\ M +9 &>lY\ M +10 &@.]\ M +9 &AZ\ M +9 &C]\ M +10 &Eq_\ N +9 &G1e\ N +9 &Hz\ P +10 &J\ R +9 &Lk\ R +10 &N-\ R +9 &O\ R +9 &Q\ S +10 &Sq\ S +9 &U1\ T +9 &V\ T +10 &X\ S +9 &Z#`\ #l +10 &Z\\\ / +8 ( +2 &Z \ + +2 "processing"%z& +3 #"psFlush"Processing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + "processing"%& +4 "core" &Z \ + +2 ."psFlush"Hand.open +2 "manipulator"& 1 +63 "core" 1 +3 "manipulator"&% +4 "core" % + +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&'\ +95 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%l +44 "core"  + "processing"%$% +4 "core" %\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +458 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +133 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2095 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%- @ +182 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%'  +128 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"% +102 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%)'ռ +2604 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%+ +102 "core"  + "processing"%*% +4 "core" %ս\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +581 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2094 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%4  +34 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +71 "core" @ +2 ."psFlush"PSV.dial :mixloop +2 "processing"%{ +103 "core" +2 ."psFlush"PS.seek :empty + "processing"%#'ռ +2608 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%.'S +1087 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%A' +1589 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%C' +2603 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%= +72 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%2' +587 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%I' +2095 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%> U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%E' +2593 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%G' +2600 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%F  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%S' +2597 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%< +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2600 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%M' +2595 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%B @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +2601 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%D  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%1' +667 "Can"\ <: +1931 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%/ +45 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%P'S +1095 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%\ ' +1598 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%k +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%0  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%5' +2593 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%,' +581 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%a' +2098 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%] U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%^' +2604 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%V @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2600 "core" ' + ."psFlush"PSV.dial :waste1 + "processing"%_  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%@' +2596 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%Q' +2601 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +50 "processing"%j' +2605 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%e' +2598 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%\\  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%;' +2602 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'U& +4 "core" & o\ + "manipulator"&6& +4 "core" &{ e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&O(s +3 "core" ( +2 "manipulator"&Z& +3 "core" &{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &{ +2 .tForearm.seek PC +2 "manipulator"&b' +97 "core" ' +2 .tHand.close + "manipulator"&`/ +54 "core" / + .tPC.seek :open +2 "processing"%t( +435 "core" ( +2 "manipulator"&h& +4 "core" &{ n + "manipulator"&:% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n( +348 "core" ( + "manipulator"&v& +4 "core" &( ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &( ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'" +95 "core" ' + "manipulator"&K& +4 "core" &)  ?V +2 "manipulator"&% +4 "core" %' +2 "collection"'i& +3 "core" & \ +2 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'r(V +4 "core" & \ +7 & 6 \ %f +10 &V \ 8 +9 &} \ L +9 &X \ N +10 &hZ \ N +9 &*W !\ N +9 &Z  \ N +10 &Z \ M +9 &q[ \ M +10 &3\\ \ M +9 &Z \ M +9 &!] \ N +10 &#xZ \ N +9 &%;\\ \ M +9 &&[ \ M +10 &(\\ \ N +9 &*] \ N +10 &,A\\ \ N +9 &.Y \ N +9 &/^ \ M +10 &1\\ \ M +9 &3JX \ N +9 &5 Y \ M +10 &6[ \ M +9 &8Z $\ M +10 &:Q` \ N +9 &<\\ \ N +9 &=Z \ N +10 &?Z \ N +9 &AZ^ \ N +9 &C_ \ N +10 &Da E\ N +10 &Fc \ N +9 &HYu \ Q +9 &J \ T +9 &K \ X +10 &M \ Y +9 &OK \ X +9 &Q \ X +10 &R \ Y +9 &T \ Z +10 &V.v \ . +9 &V! :\ K +10 ( &V] \ F +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + "collection"'}& +5 "core" &V] c\ F + .tHand.open + "manipulator"&91 +54 "core" 1 +2 "manipulator"&% +5 "core" % ' P + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +99 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'X& +4 "core" &V] b\ F + "collection"'J% +4 "core" % d\ +2 .tCSV.dial CSR + "collection"'  +50 "core"  +2 "collection"'W% +4 "core" % \ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'H'q +1325 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +8 '% +3 "core" %q \\\  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"' '; +627 "core" ' +2 .tCSV.dial :waste + "collection"'g +164 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +1949 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'!& +4 "core" &V\\ b\ F +2 "collection"'u% +3 "core" % d\ +2 .tCSV.dial :flush +2 "collection"'f  +51 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'3'q +1174 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +5 "collection"' @ +51 "core" A + "collection"' % +4 "core" %q B\  +2 .tCS.seek 7ml +2 "collection"'8' +520 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'  +2 '  +51 "core"  +84  + .tCBV.dial :waste1 +2 "collection"' @ +44 "core" > +2 .tCS.seek 0ml +2 "collection"'x' +1607 "core" ' + #tFlushing lower manifold's waste2 port +2 "collection"'7& +4 "core" &V\\ \ F +2 "collection"'&% +3 "core" % a\ +2 .tCSV.dial :flush +2 "collection"'  +71 "core"  +3 .tCS.seek 5ml + "collection"'|'q +1171 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'d @ +65 "core" ? + "collection"'T% +4 "core" %q \  +2 .tCS.seek 7ml +2 "collection"'' +520 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'  +51 "core"  +2 .tCBV.dial :waste2 + "collection"'  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'z' +1601 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'l& +4 "core" &V\\ \ F +2 "collection"'$% +3 "core" % \ +2 .tCSV.dial CSR + "collection"'w  +51 "core"  + "collection"'"% +4 "core" % |\ +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'' +1822 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'-' V +520 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'' '  +130 "core" +6 +2 .tCTV.dial :intake + "collection"'%  +74 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml +2 "collection"'+'^ +1829 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'*  +72 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"')' +577 "core" ' +2 .tCSV.dial CSR + "collection"'  +102 "core"  +2 "collection"'4% +4 "core" % F\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"''q +1324 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'{' V +1332 "core" ' +2 .tCSV.dial CBV + "collection"' +129 "core" +2 .tCS.seek 0ml + "collection"'' +2584 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&#& +4 "core" &( ?V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&.( +4 "core" ( + "manipulator"& & +4 "core" &( h ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( u ?V +2 .tForearm.seek CC + "manipulator"&A'" +95 "core" ' +2 .tHand.close + "manipulator"&=/ +63 "core" / +2 .tCC.seek :open + "collection"'C( +419 "core" ( + "manipulator"&2& +4 "core" &( ?V +2 "manipulator"&R% +3 "core" % 3  +2 .tForearm.seek :retract + "manipulator"&>'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&I(, +282 "core" ( +2 "manipulator"&& +4 "core" &, q A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &, A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&F'Ϧ +109 "core" ' +3 .tHand.open + "manipulator"&G1 +57 "core" 1 +2 "manipulator"&<% +4 "core" % Ϩ ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' + "processing"%& +4 "core" &9\ +3168 "Can"\ .,m +60002 \ .+r +60002 \ .,k +60002 \ .,v +60002 \ .,l +60002 \ .+p +60002 \ .+k +60002 \ .,g +60003 \ /,t +60002 \ .,x +60002 \ /,t +60002 \ /+n +60002 \ .,m +60002 \ .+t +60002 \ .+o +60002 \ .+o +60002 \ .+s +60002 \ .,q +60002 \ .+z +60002 \ .,t +60003 \ .,n +60002 \ /,t +60002 \ /,w +60002 \ .,l +60003 \ 1.r +60001 \ /,r @1666724190.36EDT = =mMAIN_scheduler =tMAIN @EDT1666724192.23 #"core_reset"Sent BREAK +2 #t@35705 receive with ifg=0x10, ie=0xFD #@36340 receive with ifg=0x10, ie=0xFD + #@36996 receive with ifg=0x10, ie=0xFD + #@37630 receive with ifg=0x10, ie=0xFD + #@38265 receive with ifg=0x10, ie=0xFD #@38899 receive with ifg=0x10, ie=0xFD + #@39533 receive with ifg=0x10, ie=0xFD #@39859 receive with ifg=0x80, ie=0xFD + #@35512 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +165 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +125 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +378 "Can"\ 1.w \ 1.w + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +620 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +2 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" %` `\ +2 "manipulator"&3% +4 "core" %\   +2 "manipulator"&4& +3 "core" &, A +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<* +1287 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &<* d\  +655 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'7& +3 "core" & \ +2 .tHand.open + "manipulator"&81 +24 "core" 1 + "manipulator"&9& +4 "core" &, s A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&:(, +2 "core" ( +2 "manipulator"&;& +4 "core" &, A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +2 "core" &, A +2 .tForearm.seek :garage +2 "manipulator"&='Ϧ +103 "core" ' + .tHand.close + "manipulator"&>/ +62 "core" / + "manipulator"&?& +4 "core" &, Z A +2 "manipulator"&@% +3 "core" % ϶ X  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&B( +282 "core" ( +2 "manipulator"&C& +4 "core" &) j ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +2 "core" &) 0 ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'" +99 "core" ' +2 "manipulator"&F& +4 "core" &) v ?P +2 "manipulator"&G% +3 "core" %* +2 "collection"'H& +4 "core" &  \ +2 "collection"'I& +5 "core" & \ +2 .tCC.seek :closed + "collection"'J(V +5 "core" & \ +7 & . \ #a +10 &V \ 7 +9 & \ L +9 &W \ N +10 &\\^ \ N +9 &Y  \ N +10 &Y  \ N +9 &Y \ N +9 &d^  \ N +10 &&^ \ N +9 &]  \ N +9 &!\\ \ \ N +10 &#l_ \ \ N +9 &%.Z \ N +9 &&[ \ M +10 &(Z \ M +9 &*tY \ N +10 &,6Y  \ N +9 &-Y \ N +9 &/Y  \ N +10 &1{Z \ N +9 &3?Z \ M +9 &5[ \ M +10 &6Z \ M +9 &8Y \ M +10 &:F\\ \ N +9 &<\\ \ N +9 &=Z \ N +10 &?[ \ N +9 &AN^ \ N +9 &CZ \ N +10 &D^ \ N +9 &Fc \ O +10 &HMu \ Q +9 &J \ U +9 &K \ X +10 &M| \ Y +9 &O> \ Y +9 &Q \ Y +10 &R \ Y +9 &T \ Z +10 &Vu \ / +9 &V* \ V +10 ( &Vb \ H +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + "collection"'K& +4 "core" &Vb  \ H +2 .tHand.open + "manipulator"&L1 +52 "core" 1 +2 "manipulator"&M% +4 "core" % %  O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +2 .tPSV.dial PSR,avoiding: PBV + "processing"%O +4 "core"  + "processing"%P  +43 "core"  +2 "processing"%Q% +4 "core" %\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%R' +1592 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +39 "processing"%S  +62 "core"  +2 .tPS.seek 0ml +2 "processing"%T' +1588 "core" ' +2 .tPSV.dial PSR + "processing"%U +43 "core" + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%V' +2596 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%W  +2 "collection"'X  +75 "core" +23 + .tPSV.dial :PTV,via: :air +2 "processing"%Y +191 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'Z +3 "core"  +2 "collection"'[  +5 "core" + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%\\ +3 "core"  +2 "processing"%] @ +72 "core" B +2 .tPS.seek 0ml +2 "processing"%^' +2606 "core" ' + .tPSV.dial :air + "processing"%_  +74 "core"  +2 .tPS.seek 2.5ml +2 "processing"%`' +2604 "core" ' + .tPSV.dial :PTV +2 "processing"%a +72 "core"  +2 .tPS.seek 0ml + "processing"%b' +2594 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&c& +4 "core" &( } ?P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&d( +4 "core" ( + "manipulator"&e& +4 "core" &(   ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &( $ ?P +2 .tForearm.seek CC + "manipulator"&g'" +94 "core" ' + .tHand.close + "manipulator"&h/ +57 "core" / +2 .tCC.seek :open + "collection"'i( +421 "core" ( + "manipulator"&j& +4 "core" &( ) ?P +2 "manipulator"&k% +4 "core" %  d +2 .tForearm.seek :retract + "manipulator"&l'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&m(, +281 "core" ( +2 "manipulator"&n& +4 "core" &, B U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +2 "core" &, \ U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&p'Ϧ +107 "core" ' +3 .tHand.open + "manipulator"&q1 +52 "core" 1 +2 "manipulator"&r% +4 "core" % Ϭ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +102 "core" ' +509 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%t% +3 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%u& +4 "core" &\ +2 "manipulator"&v& +3 "core" &, U +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&w(, +8 "core" ( + "manipulator"&x& +4 "core" &, O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &, O +2 .tForearm.seek :garage + "manipulator"&z'Ϧ +103 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / + "manipulator"&|& +4 "core" &,  g O +2 "manipulator"&}% +4 "core" % Ϲ = +2 .tForearm.seek :retract + "manipulator"&~'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&(s +122 "core" ( + "manipulator"&& +3 "core" &p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &p Q  +2 "manipulator"&% +4 "core" % +2 "processing"%& +3 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +9 &3}\ *z +10 &d\ > +9 &|y\ N +9 &@\\\ M +10 &\\\ M +9 &_\ M +9 &[\ N +10 &H_\ M +9 &\ ]\ M +10 &`\ N +9 & ^\ M +9 &"P]\ M +10 &$Z\ N +9 &%[\ N +9 &']\ N +10 &)W[\ N +9 &+`\ N +10 &,_\ M +9 &._\ N +9 &0^`\ N +10 &2!_\ N +9 &3Z\ N +9 &5[\ N +10 &7hZ\ M +9 &9(]\ N +9 &:\\\ M +10 &<]\ M +9 &>oZ\ N +10 &@1]\ N +9 &AZ\ N +9 &C]\ N +10 &Ev`\ N +9 &G4m\ O +9 &H|\ Q +10 &J\ S +9 &Lm\ T +10 &N0\ S +9 &O\ T +9 &Q\ T +10 &Su\ T +9 &U6\ T +9 &V\ T +10 &X\ T +9 &Z$Z{\ %p +10 &Zb\ 4 +9 ( + &Z\ - +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + "processing"% & +4 "core" &Z\ - +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tPSV.dial PSR +2 "processing"% +73 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'S +1093 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1588 "core" ' + .tPSV.dial PTV +2 "processing"% +74 "core" + .tPTV.dial :puck +2 "processing"%  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2607 "core" ' + .tPSV.dial PSR +2 "processing"% +83 "core" + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%' +587 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2098 "core" ' + .tPSV.dial PTV +2 "processing"% +72 "core" +2 .tPBV.dial PSV + "processing"% U +53 "core" W +2 .tPS.seek 0ml +2 "processing"% ' +2602 "core" ' +2 .tPSV.dial PBV + "processing"%! @ +43 "core" ? +2 .tPS.seek 2.5ml + "processing"%"' +2598 "core" ' +2 .tPSV.dial :waste1 + "processing"%#  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%$' +2599 "core" ' +2 .tPSV.dial PSR + "processing"%% +44 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%&' +2600 "core" ' +2 .tPSV.dial PTV +2 "processing"%' +72 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%(' +2604 "core" ' + .tPSV.dial PBV + "processing"%) @ +43 "core" ? +2 .tPS.seek 2.5ml + "processing"%*' +2599 "core" ' + .tPSV.dial :waste1 + "processing"%+  +73 "core"  +2 .tPS.seek 0ml + "processing"%,' +2600 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&-& +4 "core" &p D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&.(s +3 "core" ( +2 "manipulator"&/& +4 "core" &p j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +2 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&1' +98 "core" ' + .tHand.close +2 "manipulator"&2/ +62 "core" / +2 .tPC.seek :open +2 "processing"%3( +435 "core" ( +2 "manipulator"&4& +4 "core" &p  + "manipulator"&% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&6'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&7(, +128 "core" ( + "manipulator"&8& +4 "core" &, f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &, b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&;'Ϧ +106 "core" ' + .tHand.open +2 "manipulator"&<1 +56 "core" 1 +2 "manipulator"&>% +4 "core" % Ϩ @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +102 "core" ' +5392 #t-> exit +5 #mEXIT @1666724773.60EDT @1667227167.78EDT = =mMAIN_scheduler =tMAIN @EDT1667227169.69 #"core_reset"Sent BREAK +2 #t@7315 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +400 "Can"\ _ + \ _ #tPolling Can every 10:00 +3 #Cleanly exited at 15:06:13EDT25-Oct-22 +1569 #-> exit +4 #mEXIT @1667227194.47EDT @1667227225.07EDT = =tMAIN =mMAIN_scheduler @EDT1667227226.88 #"core_reset"Sent BREAK +2 #t@45268 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +374 "Can"\ e \ e + #tPolling Can every 10:00 +533 #-> ESP.ready! +4 #Powering core bus +570 .Gate.power :raw,:ON +2 "sampler") +10 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % 7\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \   +2 .tSS.configure :default +2 "sampler")#.0X\ +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"( 'X +26 "core" ' +34 ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.home.seek :initial + "storage"(!( +370 "core" ' +65 ' +2 ."rdyProcessing"PS.stop + "processing"%5 +1400 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 "manipulator"&"& +3 "core" &d  w & +3 .tForearm.seek :retract + "manipulator"&#'\ +4 "core" ' + .tElbow.seek :hammer +2 "manipulator"&$( +100 "core" ( +2 "manipulator"&%& +4 "core" & ' 6 e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&&'\ +10 "core" ' + "manipulator"&'% +4 "core" %\  ' J  +3 "processing"%(& +3 "collection"')& +4 "core" &/\ + & G\ +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +3 "collection"'$x2 ^22b +2 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open +2 "processing"%*( +2 "collection"'+( +279 "core" ( +13 ( +2 "collection"', +4 "core"  + "processing"%- +3 "core" W +2 "processing"%. +3 "core"  + "processing"%/ +3 "core"  +2 "collection"'0% +4 "core" % G\ + "processing"%1% +4 "core" %"\ +2 "sampler")2% +4 "core" %\ \ \ k +2 "collection"'3& +4 "core" & l\  +2 "processing"%4& +3 "core" &\  +2 "manipulator"&5% +4 "core" %\   +2 "manipulator"&6& +3 "core" &\ I e +2 "storage"(7& +4 "core" & _\  + "storage"(8% +4 "core" %a K\ +2 "collection"'99 +3 "core" 9t + "processing"%:9 +3 "core" 9kd +789 #t-> access 2 +2 "storage"(;% +3 "core" %a\ \  \ +2 "manipulator"&<% +4 "core" %\  U  + "manipulator"&=& +4 "core" & e + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +964 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &K F\  +1817 #t-> startTube 2 +3077 #-> $da[:extractVol]=.16 +579 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'@& +4 "core" & \  +2 .tHand.open + "manipulator"&A1 +54 "core" 1 + "manipulator"&B& +4 "core" & & q e +2 "manipulator"&C% +4 "core" % \    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&D(, +179 "core" ( +2 "manipulator"&E& +4 "core" &, ' N S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &, S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&G'Ϧ +104 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 "manipulator"&I& +4 "core" &, ' S +2 "manipulator"&J% +3 "core" % Ϲ +2 .tForearm.seek :retract +2 "manipulator"&K'\ +107 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&L( +291 "core" ( + "manipulator"&M& +4 "core" &# ! $ :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &# :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'" +92 "core" ' + "manipulator"&P& +4 "core" &$ 1 5 :* +2 "manipulator"&Q% +4 "core" %)  +  +2 "collection"'R& +38 "core" & g\  +8 "collection"'S& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'T(V +5 "core" & \  +6 &K \ %g +10 &xW \ 8 +9 & z\ M +9 &Z \ N +10 &M_ \ N +9 &] \ N +10 &] \ O +9 &\\ \ N +9 &T\\ \ O +10 &] ~\ N +9 &Y u\ N +9 &!\\ x\ N +10 &#\\^ v\ O +9 &%] r\ O +10 &&X n\ N +9 &([ n\ N +9 &*fX s\ N +10 &,&\\ q\ O +9 &-[ t\ N +9 &/Y t\ N +10 &1m^ w\ N +9 &3/\\ x\ N +10 &4\\ w\ O +9 &6[ x\ N +9 &8u\\ z\ N +10 &:6] w\ O +9 &;_ w\ O +9 &=] w\ O +10 &?|[ x\ O +9 &A?\\ p\ N +9 &C] j\ O +10 &Db s\ O +9 &Fe n\ O +10 &H?v t\ Q +9 &I u\ U +9 &K t\ Y +10 &Mj u\ Z +9 &O/ m\ Y +10 &P k\ Z +9 &R o\ ^ +9 &Th t\ ^ +10 &Vz l\ 1 +9 &V+ s\ #i +9 ( +2 &V x\ X + "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 "collection"'U& +4 "core" &V N\ X + .tHand.open +2 "manipulator"&V1 +56 "core" 1 + "manipulator"&W% +5 "core" % ) 0   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' + #tPurging external Intake +2 "collection"'Y& +4 "core" &V n\ X + "collection"'Z% +4 "core" % p\ + .tCSV.dial :flush +2 "collection"'[  +53 "core"  +2 .tCS.seek 10ml + "collection"'\\' V +2303 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'] + '^  +75 "core"  +3  + .tCTV.dial :intake +2 "collection"'_  +75 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'`' +2306 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'a  +75 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&b& +4 "core" &#  _ :* +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&c( +18 "core" ( +2 "manipulator"&d& +4 "core" & ) h ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &  ) +2 .tForearm.seek CC +2 "manipulator"&f'" +94 "core" ' + .tHand.close +2 "manipulator"&g/ +53 "core" / +2 .tCC.seek :open +2 "collection"'h( +419 "core" ( + "manipulator"&i& +4 "core" & ) + "manipulator"&j% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&k'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&l(, +278 "core" ( + "manipulator"&m& +5 "core" &, [ B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &, k B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&o'Ϧ +108 "core" ' + .tHand.open + "manipulator"&p1 +59 "core" 1 + "manipulator"&q% +4 "core" % ϫ ' h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +105 "core" ' +2720 #t-> da 50 +2 #da sampling at most 50ml +5 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 10:44:20EDT31-Oct-22\\n{}\\nCTD data unavailable\\nCan@10:40:33, 23% flow, 20.6C, 44% humidity, 14.6psia, 13.824V, 0.131A, 0.106A avg, 1.81W",Subject: "da sampling at most 50ml" +4 "collection"'s& +4 "core" & \ + "manipulator"&t% +6 "core" %\ 4 + "storage"(u% +4 "core" %a\ \  \ + "storage"(v. +3 "core" .(K +2 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(w( +71 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1211 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" & \ +2 "manipulator"&y& +4 "core" &, * c B +2 "manipulator"&z% +3 "core" %\ ` 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&{( +177 "core" ( + "manipulator"&|& +4 "core" & % t [ +2 "storage"(}& +4 "core" & `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +104 "core" ' +2 "storage"(& +4 "core" & \ \ ' L\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +270 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \  "\ +2 "manipulator"&& +4 "core" &\ [ + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &\ 1 [ +2 "storage"(& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"( 'X +7 "core" &\  j [ + "manipulator"& % +5 "core" %   + .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&( +137 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &$ * ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &$ x ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&& +5 "core" &$ $ Q ;5 + "manipulator"&% +5 "core" %+ u + "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & d\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \  +9 &1 \ *x +10 &b \ > +9 &iu \ N +9 &*Z \ N +10 &Z \ N +9 &X \ N +9 &qY \ N +10 &3W \ N +9 &Z \ N +10 &\\ \ N +10 & y\\ \ N +10 &"<Z \ M +9 &#Z \ N +8 &%\\ \ N +10 &'X \ N +9 &)CW \ N +9 &+] \ N +10 &,] \ N +9 &.\\ \ N +9 &0K[ \ N +10 &2 \\ \ N +9 &3Z \ M +9 &5Y \ N +10 &7S] \ N +9 &9] \ N +10 &:^ \ N +9 &<\\ \ N +9 &>[] \ N +10 &@W \ N +9 &AY \ M +9 &C\\ \ N +10 &E`b \ O +9 &Gm \ P +10 &H \ R +9 &J \ X +9 &LK \ Y +10 &N \ X +9 &O \ Y +9 &Q \ Y +10 &SL \ [\ +9 &U \ Z +10 &V\\E \ 3 +9 &Vv \ H +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&1 +3 "core" &Vm \ H +60 1 + "manipulator"&% +5 "core" % % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")+ +4 "core" + + "sampler")% +5 "core" %\ \ \ k + "collection"'"& +4 "core" &Vm \ H +2 "Can"\ LI +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X @ +93 "core" B +2 ."airStroke"CS.seek 10ml +2 "collection"'x' V +25 "core"  + .tCTV.dial :air +2 "collection"'y  +75 "core" ~ + .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")z +131 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +3 .tSS.seek 0ml +4 "collection"'|  + "sampler")}' +8 "core" ' + .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")l  +122 "core"  +10  +420 ' + "sampler")% +4 "core" %\ \ \  +2 .tCBV.dial between SSV and waste2 +2 "collection"'r  +30 "core"  +2 "collection"'% +4 "core" % R n\  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'  +51 "core"  +3 .tCS.reconfigure :pressurize +2 "collection"'# d@<< eb +2 .tCS.seek 0ml +2 "collection"'' +2213 "core" ' e f}\ ʪ +2 "collection"'% +4 "core" % f hu\  +2 "sampler") % +3 "core" %\ \ \  +2 #tBubblePoint: Intake @39.0psia, Outlet @14.7psia + .CBV.dial SSV +2 "collection"' @ +31 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X9 +2 "core" 9d +102 "collection"'u9 +3 "core" 9d +102 "collection"'y9 +2 "core" 9d +102 "collection"'`9 +3 "core" 9d +102 "collection"'v9 +4 "core" 9b +102 "collection"'z9 +3 "core" 98^ +102 "collection"'|9 +2 "core" 9S\\ +102 "collection"'l9 +3 "core" 9pZ +102 "collection"'k9 +3 "core" 9X +102 "collection"'9 +3 "core" 9U +103 "collection"'r9 +2 "core" 9R +102 "collection"'9 +3 "core" 9Q +102 "collection"'9 +2 "core" 9M +102 "collection"'x9 +3 "core" 9K +102 "collection"'9 +2 "core" 9,I +103 "collection"' 9 +2 "core" 9FG +102 "collection"'9 +3 "core" 9`E +102 "collection"'}9 +3 "core" 9yC +102 "collection"'\ 9 +2 "core" 9A +102 "collection"' 9 +4 "core" 9? +102 "collection"'{9 +2 "core" 9> +102 "collection"' 9 +3 "core" 9< +102 "collection"'~9 +3 "core" 9: +102 "collection"'9 +2 "core" 99 +102 "collection"'9 +4 "core" 97 +102 "collection"'9 +3 "core" 915 +102 "collection"'9 +2 "core" 9G3 +102 "collection"'9 +3 "core" 9[2 +102 "collection"'9 +3 "core" 9o1 +102 "collection"'9 +3 "core" 90 +102 "collection"'9 +3 "core" 9/ +102 "collection"'9 +2 "core" 9- +102 "collection"' 9 +3 "core" 9 , +102 "collection"'h9 +3 "core" 9 + +102 "collection"' 9 +3 "core" 9* +102 "collection"'9 +2 "core" 9) +102 "collection"'9 +3 "core" 9( +102 "collection"'"9 +2 "core" 9 & +103 "collection"'9 +2 "core" 9 "& +102 "collection"'9 +3 "core" 9 $&$ +102 "collection"'9 +3 "core" 9 2*$ +102 "collection"'9 +2 "core" 9 ?.# +103 "collection"'(9 +2 "core" 9 L3" +102 "collection"''9 +2 "core" 9 X7" +103 "collection"'9 +3 "core" 9 c;! +102 "collection"'9 +3 "core" 9 n? +102 "collection"'%9 +2 "core" 9 yC +102 "collection"',9 +3 "core" 9 H +102 "collection"'-9 +2 "core" 9 L +102 "collection"'9 +4 "core" 9 P +102 "collection"'#9 +2 "core" 9 T +102 "collection"'19 +3 "core" 9 X +102 "collection"'29 +2 "core" 9 ] +103 "collection"')9 +2 "core" 9 a +102 "collection"'49 +3 "core" 9 e +102 "collection"'59 +2 "core" 9 i +102 "collection"'/9 +3 "core" 9 m +102 "collection"'39 +2 "core" 9 q +102 "collection"'09 +3 "core" 9 v +102 "collection"'99 +4 "core" 9 z +102 "collection"':9 +2 "core" 9 ~ +102 "collection"';9 +3 "core" 9  +102 "collection"'89 +2 "core" 9  +102 "collection"'!9 +3 "core" 9\  +102 "collection"'.9 +4 "core" 9\  +102 "collection"'69 +2 "core" 9\  +102 "collection"'79 +3 "core" 9\ \  +102 "collection"'?9 +3 "core" 9\ \  +102 "collection"'A9 +3 "core" 9\   +102 "collection"'B9 +3 "core" 9\ %  +102 "collection"'@9 +3 "core" 9\ ) +102 "collection"'E9 +2 "core" 9\ / +102 "collection"'F9 +3 "core" 9\ 2 +102 "collection"'C9 +2 "core" 9\ 6 +103 "collection"'$9 +2 "core" 9\ : +102 "collection"'H9 +3 "core" 9\ > +102 "collection"'J9 +3 "core" 9\ A +102 "collection"'I9 +3 "core" 9\ E +102 "collection"'G9 +2 "core" 9\ H +102 "collection"'&9 +4 "core" 9\ K +102 "collection"'N9 +3 "core" 9\ O +102 "collection"'<9 +2 "core" 9\ R +102 "collection"'M9 +3 "core" 9\ T +102 "collection"'P9 +2 "core" 9\ X +103 "collection"'D9 +3 "core" 9\ [ +102 "collection"'R9 +2 "core" 9\ ] +103 "collection"'Q9 +2 "core" 9\ ^ +102 "collection"'=9 +2 "core" 9\ ` +103 "collection"'U9 +2 "core" 9\ _ +102 "collection"'+9 +3 "core" 9\ a +103 "collection"'Z9 +2 "core" 9\ ` +102 "collection"'S9 +2 "core" 9\ b +103 "collection"'[9 +2 "core" 9\ c +102 "collection"'O9 +2 "core" 9\ d +103 "collection"'9 +3 "core" 9\ d  +102 "collection"']9 +2 "core" 9\ f +103 "collection"'^9 +2 "core" 9\ g +102 "collection"'_9 +3 "core" 9\ i +102 "collection"'\\9 +3 "core" 9\ j +102 "collection"'a9 +3 "core" 9\ l" +102 "collection"'b9 +2 "core" 9\ o& +102 "collection"'d9 +3 "core" 9\ p* +102 "collection"'e9 +3 "core" 9\ t. +102 "collection"'g9 +3 "core" 9\ v2 +102 "collection"'L9 +3 "core" 9\ y6 +102 "collection"'X9 +3 "core" 9\ }; +102 "collection"'W9 +3 "core" 9\ ? +102 "collection"'T9 +3 "core" 9\ C +102 "collection"'i9 +2 "core" 9\ G +103 "collection"'j9 +3 "core" 9\ K +102 "collection"'f9 +2 "core" 9\ P +102 "collection"'m9 +3 "core" 9\ T +102 "collection"'n9 +2 "core" 9\ X +103 "collection"'c9 +2 "core" 9\ \\ +102 "collection"'p9 +3 "core" 9\ ` +102 "collection"'q9 +3 "core" 9\ e +102 "collection"'Y9 +2 "core" 9\ i +103 "collection"'o9 +2 "core" 9\ m +102 "collection"'s9 +2 "core" 9\ q +103 "collection"'t9 +2 "core" 9\ u +102 "collection"'>9 +3 "core" 9\ z +102 "collection"'u9 +2 "core" 9\ ~ +103 "collection"'y9 +2 "core" 9\  +102 "collection"'`9 +3 "core" 9\  +102 "collection"'v9 +4 "core" 9\  +102 "collection"'z9 +2 "core" 9\  +102 "collection"'|9 +3 "core" 9\  +102 "collection"'l9 +2 "core" 9\  +102 "collection"'k9 +3 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'r9 +3 "core" 9\  +102 "collection"'9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'x9 +2 "core" 9\  +102 "collection"'9 +4 "core" 9\  +2 .tCH.hold 10:00,70C +4 "collection"' ` ) `\ w +2 '9 +6 "core"  + 9\ \  + "collection"'}% +4 "core" % V W\ o +2 #tBegun lysing Collection Puck Heater at 68.1C/37.9psia +39741 "Can" \ y +20248 "core" ` + "collection"'\ 9 +4 "core" 9 * + "collection"' % +4 "core" %\ \ \ +2 #tEnded lysing Collection Puck Heater at 70C/29.0psia +2 .CS.seek 0ml +2 "collection"'{' +346 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +101 "core" A + .tCSV.dial :air +2 "collection"'~ @ +42 "core" ? +3 .tCS.seek 5ml +2 "collection"''q +1329 "core" ' +2 .tCSV.dial CTV +2 "collection"'  +51 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"' @ +43 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV +3 "collection"'  +51 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"' @ +44 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'' +1334 "core" ' +2 "collection"'% +4 "core" % x {\ + #tPuck @40.3psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"' +102 "core"  +2 .tCBV.dial CSV + "collection"'  +30 "core"  +2 "collection"' % +4 "core" % h i\ +2 .tCS.seek 5ml + "collection"'h'q +1332 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'  +44 "core" + "collection"'% +4 "core" %q\ \ \  +2 .tCS.seek 7ml +2 "collection"'' +575 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'" @ +44 "core" > +2 .tCS.seek 10ml +2 "collection"'' V +834 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +115 "core" ^ +2 #tLysing Complete +2 "collection"'& +4 "core" &Vj ?\ H +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\   +2 "storage"((% +3 "core" %`\ \  \ +2 "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((S +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &U s\ + "manipulator"&%& +4 "core" &#  ;5 +3 "manipulator"&,% +3 "core" %\ "  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&-(. +158 "core" ( +2 "manipulator"&& +4 "core" &. | +2 "storage"(#& +3 "core" &W\ %\ & v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&1'ѷ +90 "core" ' + "storage"(2& +4 "core" &W\ &\ ( %\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +270 "core" ' +2 "storage"(4- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(5'y +47 "core" ' +2 "manipulator"&/& +4 "core" &. R | + "manipulator"&3% +4 "core" %ѩ j F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&9( +169 "core" ( + "manipulator"&:& +4 "core" &%  u << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &% << +2 .tForearm.seek CC +2 "manipulator"&8'" +101 "core" ' + .tHand.close + "manipulator"&!/ +55 "core" / +4 .tCC.seek :open +47 "collection"'.( +425 "core" ( + "storage"(6& +5 "core" &W\ $\ & E\ + "storage"(7& +4 "core" &W\ %\ & \ +2 "manipulator"&?& +3 "core" && << +2 "manipulator"&A% +4 "core" % Ϸ S +2 .tForearm.seek :retract + "manipulator"&B'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&@(. +162 "core" ( + "manipulator"&E& +5 "core" &, O  + "storage"(F& +4 "core" &W\ ;\ ; w\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&C' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +59 "core" 1 +2 "manipulator"&J% +4 "core" % o +2 "storage"(I& +3 "core" &W\ I\ D \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts +2 "manipulator"&G'5 +17 "core" ' + "manipulator"&&& +5 "core" &, &  +2 "storage"(N& +4 "core" &W L M ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&<'ѷ +36 "core" ' +2 "storage"(M% +4 "core" %~ M U \ +2 ."downElevator"SE.seek :down +4 "storage"(P'X +99 (D% +4 "core" %J\ C\ F\ Wc + "manipulator"&R% +4 "core" %ѯ 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'=& +4 "core" & u x\ + "manipulator"&U& +4 "core" &, y  +2 "manipulator"&+% +4 "core" %\   + .tElbow.seek FlushPuck::Garage +2 "manipulator"&Z(, +180 "core" ( +2 "manipulator"&S& +4 "core" &, } Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &, h Z +2 .tForearm.seek :garage +2 "manipulator"&O'Ϧ +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 "manipulator"&]& +4 "core" &, Z + "manipulator"&^% +4 "core" % Ϲ  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&\\( +276 "core" ( +2 "manipulator"&a& +4 "core" &# ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &# 4 ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'" +101 "core" ' +2 "manipulator"&e& +4 "core" &$ # V ;7 +2 "manipulator"&g% +4 "core" % + "collection"'L& +4 "core" & k n\ +2 "collection"'X& +5 "core" & l n\ +2 .tCC.seek :closed +2 "collection"'W(V +4 "core" & m o\ +8 & , l m[\ $d +9 &W} m m\ 7 +9 &} k o\ L +10 &W l nw\ L +9 &mY n mJ\ M +9 &1Y m m\ L +10 &Z j n &\ L +9 &[ m o \ L +10 &wZ l m\ L +9 &8Z m m\ L +9 &Y l n\ L +10 &!V l o\ L +9 &#~Z j lu\ L +10 &%@\\ k oN\ L +9 &'Y k l\ L +9 &(Y k m\ L +10 &*Y n k\ L +9 &,I\\ j mj\ L +9 &. Z k nW\ L +10 &/Y n m\ L +9 &1Z k n\ L +10 &3PY k n\ L +9 &5Y l k\ L +9 &6W k m\ L +10 &8Y k m\ L +9 &:X[ l m\ L +9 &<Y l j\ L +10 &=X i m\ L +9 &?W j l\ L +9 &A`\\ k m~\ L +10 &C![ i mY\ M +9 &D` j kH\ M +10 &Fd i j\ M +9 &H]v i l\ P +9 &J j k\ T +10 &K l k\ X +9 &M j ld\ W +9 &ON k lV\ X +10 &Q k o\ X +9 &R j m\ Y +10 &T k l\ Z +9 &V.u k k\ . +9 &V" j n\ P +10 ( + &Vn k l\ L +2 "collection"'X& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 "collection"'T& +4 "core" &Vn l m_\ L + .tHand.open +2 "manipulator"&i1 +53 "core" 1 + "manipulator"&j% +4 "core" %  > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +98 "core" ' +2 .tPSV.dial PSR +2 "processing"%m +130 "core" + "processing"%n% +4 "core" %A\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%c' +1597 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%p  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%q' +1591 "core" ' + .tPSV.dial PSR +2 "processing"%Y +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%o' +2600 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%s + "collection"'t  +6 "core"  + "processing"%>  +5 "core" +64 +2 .tPSV.dial :mixloop + "processing"%u +102 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%y  +130 "core" +2 .tPS.seek 0ml +2 "processing"%`' +2604 "core" ' + .tPSV.dial :air +2 "processing"%v  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%z' +2595 "core" ' +2 .tPSV.dial :mixloop + "processing"%| +44 "core" +3 .tPS.seek 0ml + "processing"%l' +2596 "core" ' +2 .tPSV.dial :air + "processing"%k  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2601 "core" ' +2 .tPSV.dial :mixloop + "processing"%r +44 "core" +2 .tPS.seek 0ml +2 "processing"%' +2596 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &# ;6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" &#  j ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &# A ;6 +2 .tForearm.seek CC + "manipulator"&}'" +92 "core" ' + .tHand.close +2 "manipulator"&V/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "manipulator"&\ & +4 "core" &$ 8 ;6 +2 "manipulator"& % +3 "core" % 2 5 +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (, +286 "core" ( + "manipulator"&~& +5 "core" &, 9 . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &, ; . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +105 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" % ϰ 1 [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & F H]\ + "manipulator"&% +4 "core" %\ \ b  +2 "storage"(% +3 "core" %U p\  ;\ +2 "storage"(. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ \  n\  +2 "manipulator"& & +3 "core" &, 7 . +2 "manipulator"&% +3 "core" %\ ]  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&h( +189 "core" ( + "manipulator"&"& +4 "core" &   +2 "storage"(& +3 "core" & {\ , G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 "storage"(& +4 "core" & e c u\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"((- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" & \ C\ = \  +2 "manipulator"&w& +3 "core" & B  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" &   + "storage"(,& +4 "core" & |\ , \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"('X +7 "core" & R  + "manipulator"&% +5 "core" %    + .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&3& +4 "core" &* d A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +4 "core" &* * A_ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&:'" +93 "core" ' +2 "manipulator"&;& +4 "core" &*  Q @^ +2 "manipulator"&1% +4 "core" %  + "collection"'-& +4 "core" & G H\ +3 "collection"'!& +4 "core" & D G\ +2 .tCC.seek :closed +2 "collection"'0(V +5 "core" & D I\ +7 & 6 G G\ $d +9 &V G I\ 7 +9 &{ G Hv\ K +10 &T G H[\ L +9 &jZ E HL\ L +9 &-V F H6\ L +10 &Z E H&\ L +9 &Z F G\ L +10 &rZ D GB\ L +9 &5\\ E HD\ L +9 &Z E H8\ L +10 &!] G H)\ L +9 &#z[ F I\ L +9 &%<W E I\ L +10 &&Y G H\ M +9 &(Y F H\ L +10 &*Z F H\ L +9 &,DW F G\ L +9 &.[ D G\ L +10 &/Y G H\ L +9 &1X G H\ L +9 &3MV E H\ L +10 &5Z E H\ L +9 &6W F G\ L +10 &8Y F H\ L +9 &:T[ E I\ L +9 &<^ G F\ L +10 &=] F J\ L +9 &?[ G H\ L +9 &A]W E F\ L +10 &CZ F H\ M +9 &D_ F Gq\ M +10 &Fd D Im\ M +9 &HYy D Gj\ P +9 &J K He\ U +10 &K ? KW\ X +9 &M : <J\ X +9 &OI : <K\ X +10 &Q 9 <>\ X +9 &R : ;8\ Z +10 &T : ;*\ Y +9 &V+v ; >+\ . +9 &V$ < =1\ P +10 ( + &Vn = >$\ L +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +54 "manipulator"&1 +62 "core" 1 + "manipulator"&6% +5 "core" %   4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'?  +131 "core"  +2 .tCSV.dial CTV +2 "collection"'A  +34 "core"  +2 .tPS.seek 2.5ml +2 "processing"%E' +2600 "core" ' +2 "collection"'F% +4 "core" % Z ' (_\  +2 .tCS.seek 4.251ml + "collection"'8'Y +695 "Can"\ \ IF +820 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%9  +43 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%H  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%J' +2596 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'I ` +30 "core" _ +2 .tCSV.dial :air +2 "collection"'& @ +45 "core" > +2 .tCS.seek 10ml +2 "collection"'N' V +1510 "core" ' + .tCSV.dial CTV +2 "collection"'M  +53 "core"  +2 .tCS.seek 0ml +2 "collection"'B' +2584 "core" ' + .tCBV.dial :waste1 + "collection"'D @ +30 "core" > +2 .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"'R  +131 "core" + "collection"'@& +4 "core" &Vl  \ L +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&C% +4 "core" %\  r  +2 "storage"(G% +3 "core" %] \ +2 "storage"(=. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(U(S +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &U o\ +2 "manipulator"&5& +4 "core" &) @^ + "manipulator"&<% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&S(. +165 "core" ( + "manipulator"&[& +4 "core" &, P U +2 "storage"(P& +4 "core" &V\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&$'ѷ +95 "core" ' + "storage"(& +4 "core" &V\ \  :\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'i +284 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &, U +2 "storage"(O& +3 "core" &V \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&a' +34 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Z- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(e'V +30 "core" ' +2 "manipulator"&g% +4 "core" % + "storage"(L& +5 "core" &V \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts +2 "manipulator"&_'9 +18 "core" ' + "manipulator"&.& +4 "core" &, h U +2 "storage"(T& +4 "core" &V\ \  0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&i'ѷ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'E +44 "core" ' + "manipulator"&X& +5 "core" &, U + "manipulator"&m% +4 "core" %ѵ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +156 "core" ( +2 "manipulator"&p& +4 "core" &(  ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +2 "core" &( t ?P +2 .tForearm.seek CC +2 "manipulator"&Y'" +93 "core" ' + .tHand.close +2 "manipulator"&q/ +53 "core" / +2 .tCC.seek :open +2 "collection"'s( +417 "core" ( + "storage"(>& +4 "core" &V\ \  V\ +2 "storage"(t& +4 "core" &V\ \  >\ + "manipulator"&u& +4 "core" &( ?P + "manipulator"&y% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&o'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&v(. +156 "core" ( + "manipulator"&`& +4 "core" &' Y +2 "storage"(|& +4 "core" &V\ D\ H \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&z' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +60 "core" 1 +2 "manipulator"&r% +4 "core" % " P  +2 "storage"(& +4 "core" &V\ "\ $ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts +2 "manipulator"&'8 +17 "core" ' +3 "manipulator"&& +4 "core" &' h +2 "storage"(& +4 "core" &V\ O\ P J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&V'ѷ +28 "core" ' + "storage"(\\% +5 "core" %J }\  #\ +2 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (W% +3 "core" %A\ I\ I T\ V` +2 "manipulator"&\ % +4 "core" %ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%}  +72 "core" +2 .tPS.seek 2.5ml +2 "processing"%~' +2603 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%{ +44 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%x  +56 "core" + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"% +42 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%  +43 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%' +2602 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%K& +4 "core" &f\  + "manipulator"&& +4 "core" &' : + "manipulator"&% +4 "core" %\    +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +174 "core" ( + "manipulator"&& +5 "core" &, p G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  G +2 .tForearm.seek :garage + "manipulator"&'Ϧ +104 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +2 "manipulator"&& +4 "core" &, G + "manipulator"&"% +4 "core" % ϳ +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"& (s +144 "core" ( + "manipulator"&& +5 "core" &r r \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &r \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +102 "core" ' + "manipulator"&'& +5 "core" &r m \ + "manipulator"&w% +4 "core" % o N +2 "processing"%%& +4 "core" &l\  +3 "processing"%,& +5 "core" &d\  +2 .tPC.seek :closed + "processing"%#(Z +5 "core" &W\  +7 &Ia\ $f +9 &wVd\ 8 +10 &d\ M +9 &[f\ N +10 &Nbr\ N +9 &_q\ M +9 &`w\ M +10 &]{\ M +9 &W_v\ N +9 &\\\ N +10 &^\ N +9 &!]\ N +10 &#_`\ N +9 &% _\ N +9 &&^\ M +10 &(]\ N +9 &*g\\\ N +9 &,)]\ N +10 &-]\ N +9 &/[\ M +9 &1p_z\ M +10 &32]j\ M +9 &4]\ M +10 &6^d\ M +9 &8wa\ N +9 &::a\ M +10 &;^\ M +9 &=\\\ M +10 &?~a\ N +9 &AA^\ N +9 &C]\ N +10 &Dc\ N +9 &Fj\ O +10 &H?x\ Q +9 &I\ S +9 &K\ S +10 &M}\ T +9 &O@\ S +9 &Q\ S +10 &R\ T +9 &T\ T +9 &VF \ T +10 &X\ T +9 &Yy\ 8 +10 &Z1\ P +9 &Z\ * +2 ( +2 "processing"%,& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + "processing"%2& +5 "core" &Z\ * + .tHand.open +51 "manipulator"&1 +54 "core" 1 +2 "manipulator"&h% +4 "core" % r N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tPRV.dial :air +2 "processing"%3  +44 "core"  +2 .tPSV.dial :mixloop +2 "processing"%) +43 "core" + "processing"%% +5 "core" %\ +2 .tPS.seek 0.3ml + "processing"%' +385 "core" ' + .tPSV.dial PSR +2 "processing"%; +112 "core"  +2 "processing"%1% +5 "core" %\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%-'. +492 "core" ' +3 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +1894 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"% +101 "core" + .tPTV.dial :mixing +2 "processing"%4 @ +72 "core" A + .tPBV.dial :waste2 +2 "processing"%  +90 "core"  +3 .tPS.seek 0ml +2 "processing"%' +2608 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&6& +4 "core" &r r \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&!(s +3 "core" ( + "manipulator"&?& +4 "core" &r \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &r \ +2 .tForearm.seek PC + "manipulator"&:' +99 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%F( +435 "core" ( +2 "manipulator"&& +4 "core" &r  \ + "manipulator"&9% +4 "core" % r +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&E(, +123 "core" ( + "manipulator"&I& +5 "core" &, & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &, & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&8'Ϧ +105 "core" ' + .tHand.open +2 "manipulator"&M1 +61 "core" 1 +2 "manipulator"&N% +4 "core" % ϰ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +105 "core" ' +3 #tLoading da puck from tube 2 into Processing Clamp + "processing"%R& +4 "core" &K\ +2 "manipulator"&@% +3 "core" %\  | - +2 "storage"(C% +4 "core" %c\ :\ : ,\ + "storage"(G. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(=( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & 8\  + "manipulator"&+& +4 "core" &, % +2 "manipulator"&5% +4 "core" %\  j - + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&<( +168 "core" ( + "manipulator"&[& +5 "core" & \\ ? + "storage"(P& +4 "core" & \ B\ A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' + "storage"(/& +4 "core" & }\  D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +285 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Q& +3 "core" & \ I\ D ,\  +2 "manipulator"&O& +3 "core" & 5 ? +2 .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&g& +4 "core" & Q ? +2 "storage"(L& +3 "core" & \ C\ F \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(m'X +7 "core" & y ? + "manipulator"&$% +4 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&](s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&a& +4 "core" &| 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &| +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +96 "core" ' + "manipulator"&p& +5 "core" &| L +2 "manipulator"&c% +4 "core" % F + "processing"%i& +4 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &\  +9 &2\ *x +10 &c\ > +9 &r{\ N +9 &5Z\ M +10 &]\ M +9 &_\ M +9 &{Z\ M +10 &=Z\ M +9 &\\\ M +10 &`\ M +9 & `\ M +9 &"D_\ N +10 &$\\\ M +9 &%_\ N +9 &'`\ M +10 &)M`\ M +9 &+_\ M +9 &,]\ M +10 &.`\ M +9 &0U`\ M +10 &2Z\ M +9 &3\\\ M +9 &5_\ M +10 &7\\]\ N +9 &9\\\ N +9 &:Y\ M +10 &<Z\ M +9 &>eY\ M +10 &@&\\\ N +9 &AX\ M +9 &C_\ M +10 &Em^\ M +9 &G,d\ N +9 &Hr\ P +10 &J\ R +9 &Lc\ S +10 &N%\ S +9 &O\ T +9 &Q\ S +10 &Si\ T +9 &U+\ T +9 &V\ T +10 &X\ T +9 &Z_\ #l +10 &Z_\ . +8 ( +3 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&n1 +3 "core" &Z\ ) +52 1 + "manipulator"&0% +5 "core" % | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%t  +2 %u9 +5 "core" 9 +102 "processing"%y9 +3 "core" 9 +102 "processing"%`9 +2 "core" 9  +102 "processing"%|9 +3 "core" 9  +102 "processing"%Y9 +3 "core" 9 +102 "processing"%d9 +2 "core" 9 +102 "processing"%l9 +3 "core" 9 +102 "processing"%r9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%\\9 +3 "core" 9/ +102 "processing"%o9 +2 "core" 93 +102 "processing"%W9 +3 "core" 97 +102 "processing"%\ 9 +4 "core" 9; +102 "processing"%v9 +2 "core" 9? +102 "processing"%z9 +2 "core" 9D +102 "processing"%9 +3 "core" 9H +102 "processing"%j9 +2 "core" 9L +102 "processing"%}9 +3 "core" 9P +102 "processing"%V9 +2 "core" 9T +102 "processing"%f9 +3 "core" 9X +102 "processing"%J9 +2 "core" 9] +102 "processing"%{9 +3 "core" 9a +102 "processing"%x9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i\ +102 "processing"%9 +3 "core" 9m +102 "processing"%~9 +2 "core" 9 r +102 "processing"%K9 +3 "core" 9(v +102 "processing"%9 +3 "core" 90z +102 "processing"%9 +2 "core" 97~ +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9G +102 "processing"%k9 +3 "core" 9O +102 "processing"% 9 +4 "core" 9U +102 "processing"%9 +2 "core" 9] +102 "processing"%"9 +3 "core" 9b +102 "processing"% 9 +2 "core" 9i +102 "processing"%9 +3 "core" 9o +3 .tPH.hold 2:00:00,28C +2 "processing"% ppk +4 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +114 "core"  +2 "processing"%'% +4 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%w' +580 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%%' +1595 "core" ' + .tPTV.dial :puck +2 "processing"%  +70 "core"  +2 .tPSV.dial PTV +2 "processing"% +71 "core" +2 .tPBV.dial :waste1 +2 "processing"%*  +129 "core"  +2 "processing"%2% +4 "core" % \  +2 .tPS.seek 1.5ml +2 "processing"%' +581 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%h * +32 "core" , +3 .tPS.seek 0ml + "processing"%,' +1590 "core" ' +2 .tdelay 5:00 +11605 "Can"\ CB +18397 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%3  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +51 "processing"%) * +36 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%(' +2334 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%; +74 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%1 +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%-' +2324 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +127 "core" +2 .tPSV.dial :mixloop +2 "processing"%4 +43 "core" +2 .tPRV.dial :ab1 + "processing"% @ +72 "core" A +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +354 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'6  + "processing"%?  +44 "core" +2  +2 "processing"%A% +4 "core" %\  +2 .tPS.seek 0.31ml +2 "processing"%' +365 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +31 "core" + .tPRV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%#'GK +1234 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%9' +848 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%I  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%&' +1591 "core" ' +2 .tPSV.dial :PML +2 "processing"%: +43 "core" +2 .tPTV.dial :mixing +2 "processing"%! @ +71 "core" B +2 .tPBV.dial :waste1 + "processing"%M  +35 "core" + "processing"%N% +5 "core" %\  +2 .tPS.seek 1.85ml + "processing"%R' +225 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%@ * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%H' +1949 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'C& +3 "core" & f gr\ +2 "manipulator"&G& +4 "core" &|  + "manipulator"&8% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&U(, +125 "core" ( +2 "manipulator"& & +4 "core" &, 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &, & 8 +2 .tForearm.seek :garage +2 "manipulator"&5'Ϧ +91 "core" ' + .tHand.close +2 "manipulator"&[/ +58 "core" / +3 "manipulator"&P& +4 "core" &, ! . 6 + "manipulator"&/% +4 "core" % Ϸ  +2 .tForearm.seek :retract +2 "manipulator"&E'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&D( +266 "core" ( +2 "manipulator"&^& +4 "core" &# } :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &# ^ :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'" +91 "core" ' + "manipulator"&g& +5 "core" &# e :0 + "manipulator"&L% +5 "core" %+ + "collection"'T& +4 "core" & e h(\ +3 "collection"'X& +4 "core" & g fJ\ +2 .tCC.seek :closed +2 "collection"'$(V +4 "core" & f gg\  +8 &0 f gl\ +z +10 &c f gj\ > +9 &qx b fi\ N +9 &3[ g fi\ N +10 &Z f im\ N +9 &Z d gl\ N +10 &zY e hc\ N +9 &=Z g hb\ M +9 &Y d hd\ N +10 &Z f gc\ M +9 & ] d g]\ N +9 &"DZ g gX\ N +10 &$\\ e h\\\ M +9 &%^ e gW\ N +10 &'W e fp\ N +9 &)MZ e hW\ M +9 &+\\ d h_\ M +10 &,[ g h`\ N +9 &.\\ f i[\ M +9 &0T^ d hR\ N +10 &2Z e h]\ M +9 &3\\ f fU\ N +10 &5\\ e gO\ N +9 &7\\] d hP\ N +9 &9Y f gI\ N +10 &:\\ h iO\ M +9 &<] d gX\ N +9 &>c\\ d f[\ N +10 &@&Z g ge\ N +9 &AZ g iY\ N +10 &C_ e hU\ N +9 &Ek] g h[\ N +9 &G*g f h]\ O +10 &Hu d hZ\ Q +9 &J e fZ\ V +9 &LT g fY\ Y +10 &N e h\\\ X +9 &O h gW\ Y +10 &Q g gW\ Y +9 &SW f j\\\ Z +9 &U e g\\\ Z +10 &VdB h g]\ 0 +9 &V\ { f jX\ J +5 ( +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 "collection"'<& +4 "core" &Vn g hS\ J + &Vn g iZ\ J + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&7% +4 "core" % + p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"%a +101 "core"  +2 "processing"%_% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%Z' +1591 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%p  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%c' +1591 "core" ' +2 .tPSV.dial PSR +2 "processing"%i +43 "core" +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%m' +2598 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%S  +2 "collection"'F  +31 "core" ~ +125  +2 .tPSV.dial :mixloop +2 "processing"%n +101 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%0  +73 "core" +2 .tPS.seek 0ml +2 "processing"%u' +2604 "core" ' + .tPSV.dial :air +2 "processing"%b  +56 "core" +2 .tPS.seek 2.5ml +2 "processing"%y' +2599 "core" ' +2 .tPSV.dial :mixloop + "processing"%e +44 "core" +2 .tPS.seek 0ml +2 "processing"%`' +2596 "core" ' + .tPSV.dial :air +2 "processing"%|  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%Y' +2607 "core" ' +2 .tPSV.dial :mixloop + "processing"%d +44 "core" +2 .tPS.seek 0ml +2 "processing"%l' +2606 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&r& +5 "core" &# p :0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&( +3 "core" ( + "manipulator"&& +5 "core" &# 7 :0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &" :0 +2 .tForearm.seek CC +2 "manipulator"&\\'" +95 "core" ' + .tHand.close + "manipulator"&o/ +58 "core" / +2 .tCC.seek :open +2 "collection"'W( +416 "core" ( +2 "manipulator"&\ & +4 "core" &# :0 + "manipulator"&v% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +280 "core" ( + "manipulator"&j& +4 "core" &, u Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &, Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&V'Ϧ +107 "core" ' +3 .tHand.open + "manipulator"&f1 +59 "core" 1 + "manipulator"&J% +5 "core" % ϰ & o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +103 "core" ' +2 ."da"delayUntil "11:34:35.60" +1111 "Can"\ lj +24013 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%x @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +50 ."da"PSV.dial :air +3 "processing"%~  +44 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%K' +2338 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%k' +2320 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%"' +580 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1595 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%w' +581 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +3 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1592 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%*  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%2 * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%% +82 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%h' +2343 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%t +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%3 +73 "core" +6 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%)  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2316 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +35 "Can"\ pn +94 "core" +2 "processing"%% +4 "core" %)\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%;' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%1' +1595 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +34 "core" +2 "processing"%% +4 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%4' +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%-' +1598 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2330 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core" + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%#' +2323 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%I  +43 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%9  +128 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%:  +41 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%! +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%M' +381 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%N  +41 "core"  +2 "processing"%@% +4 "core" % \  +2 ."da"PS.seek 0.55ml +2 "processing"%&') +337 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%R  +45 "core"  +2 ."da"PS.seek 2ml +2 "processing"%C' +1540 "core" ' + ."da"PSV.dial :PML +2 "processing"%G +45 "core" +2 ."da"PTV.dial :mixing +2 "processing"%8 @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%+% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%[' +233 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%P * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%]' +1939 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +26447 "Can"\ 42 +21555 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%/  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%> * +35 "core" + + ."da"PSV.dial :air +2 "processing"%5  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%^' +2361 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%Q +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%U  +45 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%g +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%L  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%T' +2321 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +131 "core"  + "processing"%s% +4 "core" %"\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%<' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1590 "core" ' + ."da"PTV.dial :puck +2 "processing"%7  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%X +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%a  +83 "core" + "processing"%_% +4 "core" %%\  +2 ."da"PS.seek 1.5ml +2 "processing"%O' +582 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%H * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%p' +1594 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%Z  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%c +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%F' +2334 "core" ' + ."da"PSV.dial PTV +2 "processing"%S +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%n +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%0 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%m  +83 "core" +2 ."da"PS.seek 0ml +2 "processing"%b' +2316 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +129 "core"  +2 "processing"%e% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%y' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%|' +1290 "Can"\ 96 +308 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%` +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%d  +35 "core" + "processing"%Y% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%r' +581 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1588 "core" ' +2 ."da"delay 2:00 +12007 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%o  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%D * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +84 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%$' +2324 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%\ +70 "core" + ."da"delay 5 seconds +504 .PSV.dial PSR + "processing"%v +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%\\ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%j  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}' +2311 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +142 "core"  + "processing"%f% +4 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%J' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%z' +1591 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%V +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%x  +34 "core" + "processing"%% +4 "core" %+\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%~ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%l' +1591 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2335 "core" ' + ."da"PSV.dial PTV +2 "processing"%K +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%k  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%"' +2317 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +135 "core" +3 "processing"%% +9 "core" %%\ +4 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +6 "processing"% +15 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +4 "processing"%''] +328 "core" ' +3 ."da"delay 5 seconds +502 "processing"%% +4 "core" %X-\  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"% ' +328 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1586 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%w +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%*  +36 "core" +2 "processing"%2% +4 "core" %#\ w +2 ."da"PS.seek 1.5ml + "processing"%%' +582 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +3 ."da"PS.seek 0ml +2 "processing"%' +1589 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%t  +35 "core" + ."da"delay 30 seconds +1089 "Can"\  +1914 ."da"PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +85 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%h' +2410 "core" ' + ."da"PSV.dial PTV +2 "processing"%, +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%;  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2396 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%( +134 "core"  + "processing"%% +4 "core" %(\ +2 #"da"Pulling 2ml of PSR.air +50 .PSR.select :air +5 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%1' +2093 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%4  +34 "core" +2 "processing"%?% +4 "core" %-\  +2 ."da"PS.seek 1.5ml +2 "processing"%6' +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%A * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%-  +103 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +1595 "core" ' + "processing"%9 +4 "core" 959 + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%  +3 "core" 59 + 59 + "processing"%& +4 "core" &Z5\ ) +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +5 "core" %\   + "storage"(I% +4 "core" %U f\ +2 "storage"(9. +2 "core" .( +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(:(S +340 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (!& +2 "core" &V 0\ +2 "manipulator"&#& +4 "core" &, P + "manipulator"&N% +4 "core" %\   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&@(. +203 "core" ( +2 "manipulator"&M& +4 "core" &) /  + "storage"(R& +4 "core" &X G\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&&'ѷ +93 "core" ' + "storage"(G& +4 "core" &X Q \ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(8'i +286 "core" ' + "storage"( - +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&+& +3 "core" &) w  +2 "storage"(P& +4 "core" &X ,\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&C' +23 "core" ' + ."da"Elbow.hold +2 "manipulator"&[, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +2 ."da"SE.seek 1.1 Pucks below Top Plate +2 "storage"(>'J +32 "core" ' +2 "manipulator"&5% +4 "core" % o  + "storage"(]& +4 "core" &X\ \ \  6\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 314 counts +2 "manipulator"&Q'5 +22 "core" ' + "manipulator"&U& +5 "core" &) l  + "storage"(g& +4 "core" &X\ \  b\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&L'ѷ +28 "core" ' +3 ."da"SE.seek 2.1 Pucks below Top Plate +2 "storage"(^'9 +45 "core" ' + "manipulator"&E& +5 "core" &) <  + "manipulator"&s% +4 "core" %ѝ +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&<(s +249 "core" ( +3 "manipulator"&7& +4 "core" &n k 3 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &n 3 +2 ."da"Forearm.seek PC +2 "manipulator"&a' +99 "core" ' + ."da"Hand.close +2 "manipulator"&_/ +56 "core" / +2 ."da"PC.seek :open +2 "processing"%( +436 "core" ( + "storage"(H& +4 "core" &X !\ +2 "manipulator"&O& +4 "core" &n 3 + "manipulator"&Z% +4 "core" % + ."da"Forearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&c(. +257 "core" ( + "manipulator"&p& +4 "core" &% * +2 "storage"(S& +4 "core" &X "\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&n'ѷ +97 "core" ' + ."da"Hand.open +2 "manipulator"&01 +57 "core" 1 +2 "storage"(m- +4 "core" -'9 +2 ."da"SE.seek 1.85 Pucks below Top Plate +2 "storage"(F' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(u' +46 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct3112h50ml.tif +1953 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +30828 #"da"WARNING: Too Dark -- required 913.094s exposure > 300s time limit\ SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 300 seconds\ /var/log/esp/da22oct3112h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct3112h50ml15s.tif +1555 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct3112h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct3112h50ml30s.tif +3047 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct3112h50ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct3112h50ml70s.tif +5359 "Can"\ V +1774 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct3112h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "300.0 sec auto-exposure",Subject: "da22oct3112h50ml images!" +5 "storage"(e- +4 "core" -' +2 "storage"(b& +5 "core" &X } ~ D\ + "manipulator"&y& +4 "core" &4 ( +5 ."da"Elbow.seek 1 +2 "manipulator"&`(. +3 "core" ( + "manipulator"&d& +4 "core" &4 \\ ( +2 "storage"(Y& +5 "core" &X U\ +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&|'ѷ +3 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.9 Pucks below Top Plate +3 "storage"('? +55 "core" ' + "manipulator"&r& +6 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "core" &4 z ( + "storage"(o& +4 "core" &X \  E\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&D' +31 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&., +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.08 Pucks below Top Plate +2 "storage"(') +24 "core" ' +2 "manipulator"&\ % +4 "core" % y  + "storage"(v& +5 "core" &X\ \  ,\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 303 counts +2 "manipulator"&\\'* +16 "core" ' +2 "manipulator"&j& +4 "core" &5 ( + "storage"($& +4 "core" &X\ !\ \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +34 "core" ' +2 "storage"(f% +5 "core" %+\ #\ ' V\ +2 ."downElevator"SE.seek :down +3 "storage"(}'X +99 (J% +3 "core" %4\ "\ " \ RQ +2 "manipulator"&V% +4 "core" %Ѯ +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +39 ' + ."downElevator"SE.stop +61 "storage"(5 +3 (& +4 "core" &X\ \  o\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +2 "processing"%z& +4 "core" &\ +2 "manipulator"&~& +4 "core" &6 ( + "manipulator"&% +4 "core" %\ ! 7 +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(, +180 "core" ( +2 "manipulator"&& +5 "core" &, b W + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  W +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&l'Ϧ +102 "core" ' + ."psFlush"Hand.close +2 "manipulator"&K/ +55 "core" / + "manipulator"& & +5 "core" &, W + "manipulator"&% +4 "core" % ϯ 7 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&k'\ +102 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&(s +119 "core" ( +2 "manipulator"&& +4 "core" &x  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x ,  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&"' +109 "core" ' + "manipulator"&& +5 "core" &x   + "manipulator"&'% +5 "core" % 3 a + "processing"% & +4 "core" &\ +2 "processing"%w& +5 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"%*(Z +4 "core" &\ +8 & /\ $c +9 &T~\ 6 +10 &\ K +9 &Z\ M +10 &a]\ M +9 &$\\\ M +9 &\\\ M +10 &Z\ M +9 &i]\ M +9 &+[\ M +10 &]\ M +9 &!\\\ M +10 &#q]\ M +9 &%3\\\ M +9 &&\\\ M +10 &(]\ M +9 &*x\\\ N +9 &,<\\\ M +10 &-\\\ M +9 &/[\ M +10 &1[v\ M +9 &3B\\{\ N +9 &5\\\ M +10 &6]\ M +9 &8[|\ M +9 &:L[\ M +10 &<Z}\ M +9 &=Z\ M +10 &?Y~\ M +9 &ARZ\ N +9 &C\\\ M +10 &Db\ N +9 &Fe\ N +9 &HTp|\ P +10 &J \ S +9 &K\ S +9 &M\ S +10 &OR\ S +9 &Q\ T +10 &Rv\ T +9 &Tw\ T +9 &VXt\ T +10 &Xp\ T +9 &Yzns\ 7 +10 &Z/r\ G +9 &Zr\ ( +2 ( +2 "processing"%w& +3 #"psFlush"Processing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + "processing"%2& +5 "core" &Z{\ ( + ."psFlush"Hand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +4 "core" % a +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +43 "core"  +2 "processing"%3% +4 "core" %y\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%)' +457 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +124 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +160 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2099 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%, @ +183 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%;'ռ +2609 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%h +101 "core"  + "processing"%(% +4 "core" %չ=\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +581 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2098 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%4 @ +72 "core" A + ."psFlush"PSV.dial :mixloop +3 "processing"%? +100 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%1'ռ +2596 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%A +112 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%-'S +1085 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +1594 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%' +2599 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%I' +588 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%9' +2095 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%= +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%! U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%#' +2594 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%N @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%M' +2605 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%R  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2605 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%G +48 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%{' +2602 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%+' +2598 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%P @ +55 "core" B +2 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +2600 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%5  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%]' +2606 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%g'S +1084 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%E' +1592 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%s +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%&  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%@' +2594 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%8 +84 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%C' +581 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +2098 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%> +72 "core" +50 ."psFlush"PBV.dial PSV +3 "processing"%L U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%7' +2602 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%X @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%[' +2605 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%_  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%T' +2443 "Can"\ :7 +163 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%q +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%H' +2600 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%O +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%Z' +2595 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%a @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2598 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%S  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%<' +2598 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'0& +4 "core" & \ +2 "manipulator"&m& +3 "core" &y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&i(s +4 "core" ( + "manipulator"&^& +4 "core" &y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +4 "core" &y  +2 .tForearm.seek PC + "manipulator"&e' +97 "core" ' + .tHand.close +2 "manipulator"&b/ +56 "core" / +2 .tPC.seek :open +2 "processing"%y( +438 "core" ( +2 "manipulator"&d& +4 "core" &y n  + "manipulator"&Y% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&o( +361 "core" ( + "manipulator"&\ & +4 "core" &5 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &5 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&j'" +101 "core" ' +2 "manipulator"&$& +4 "core" &5 n 2 +2 "manipulator"&f% +3 "core" % +2 "collection"'c& +4 "core" & \ +3 "collection"'n& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'u(V +4 "core" & \ +8 & . \ $d +9 &U \ 7 +10 & \ L +9 &] \ N +9 &a_ \ N +10 &$[ \ M +9 &^ \ M +9 &^ \ M +10 &i` \ N +9 &+` \ N +10 &` \ M +9 &!] \ N +9 &#qb \ N +10 &%3` \ N +9 &&\\ \ M +9 &(` \ M +10 &*z` \ M +9 &,<] \ M +10 &-] \ M +9 &/^ \ M +9 &1c \ N +10 &3D^ \ M +9 &5] \ M +9 &6\\ \ M +10 &8[ \ M +9 &:L` \ M +10 &<_ \ M +9 &=_ \ M +9 &?b \ N +10 &AS_ \ N +9 &C_ \ N +9 &D` \ N +10 &Fg \ N +9 &HTv \ P +10 &J \ T +9 &K \ X +9 &M \ X +10 &OD }\ X +9 &Q \ X +9 &R \ Y +10 &T \ Z +9 &V#v \ . +10 &V% \ N +8 ( +4 "collection"'n& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 "collection"'J& +4 "core" &Vo \ H + &Vp \ H + .tHand.open +2 "manipulator"&V1 +64 "core" 1 +2 "manipulator"&|% +4 "core" %  Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`'\ +98 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +5 "core" &Vp \ H + "collection"'D% +4 "core" % \ + .tCSV.dial CSR +2 "collection"'  +50 "core"  + "collection"'\\% +5 "core" % \ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"''q +1333 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'z% +2 "core" %q \  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'~'< +640 "core" ' + .tCSV.dial :waste +2 "collection"' +164 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +1949 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'& +4 "core" &Vn \ H +2 "collection"'% +4 "core" % \ + .tCSV.dial :flush +2 "collection"'}  +53 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'.'q +1182 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'K @ +64 "core" ? + "collection"' % +5 "core" %q \  +2 .tCS.seek 7.001ml + "collection"'' +527 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'x  + '  +53 "core"  +81  + .tCBV.dial :waste1 +2 "collection"' @ +44 "core" > +2 .tCS.seek 0ml +2 "collection"'l' +1604 "core" ' + #tFlushing lower manifold's waste2 port + "collection"'& +5 "core" &Vm \ H + "collection"''% +4 "core" % \ + .tCSV.dial :flush +2 "collection"'  +72 "core"  +2 .tCS.seek 5ml +2 "collection"''q +1171 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'k @ +64 "core" ? +2 "collection"'% +4 "core" %q \  +2 .tCS.seek 7ml +2 "collection"'2' +517 "core" ' +3 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'  +53 "core"  + .tCBV.dial :waste2 +2 "collection"'  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'w' +1598 "core" ' + #tDisinfecting external Intake with kill + "collection"'t& +5 "core" &Vl \ H + "collection"'3% +4 "core" % \ + .tCSV.dial CSR +2 "collection"'"  +49 "core"  + "collection"' % +5 "core" % \ + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"')' +1818 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"',' V +520 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"' + '  +128 "core" +8  + .tCTV.dial :intake +2 "collection"'  +74 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml +2 "collection"'h'^ +1821 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'(  +72 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"';' +580 "core" ' +2 .tCSV.dial CSR + "collection"'  +102 "core"  +2 "collection"' % +4 "core" % o\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'4'q +1328 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml +2 "collection"'?' V +1332 "core" ' + .tCSV.dial CBV +2 "collection"' +128 "core" +2 .tCS.seek 0ml +2 "collection"'A' +2574 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&1& +4 "core" &5 [ 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-( +26 "core" ( + "manipulator"&& +4 "core" & N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 9  +2 .tForearm.seek CC + "manipulator"&6'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +108 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "manipulator"&I& +4 "core" & r  +2 "manipulator"&=% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&9(, +272 "core" ( + "manipulator"&N& +5 "core" &, c E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" &, Y E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&R'Ϧ +108 "core" ' +3 .tHand.open + "manipulator"&M1 +57 "core" 1 +2 "manipulator"&G% +4 "core" % Ϯ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 "processing"% & +4 "core" &\ +689 #t-> access 1 +3 "storage"({% +3 "core" %\\\ # \ +2 "manipulator"&P% +4 "core" %\   +2 "manipulator"&+& +3 "core" &, E +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(5(<* +1284 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &<)\  y\  +1328 #t-> access 2 +2 "storage"(U% +3 "core" %\\ p\ # '\ +2 "manipulator"&]% +4 "core" %\ B  +2 "manipulator"&g& +4 "core" &, ( E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(s(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (&& +3 "core" &K\ X\  @1667569421.28EDT = =tMAIN =mMAIN_scheduler @EDT1667569423.16 #"core_reset"Sent BREAK +2 #t@15703 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +394 "Can";\ j + ;\ j #tPolling Can every 10:00 +635 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON +2 "sampler") +47 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % ~\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %7\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ 9  + .tSS.configure :default +3 "sampler")#.0X PS.flush +2 #Flushing Processing stage + "processing"%;% +3 "core" %X\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%<& +4 "core" &X\  +2 .tHand.open + "manipulator"&=1 +61 "core" 1 +2 "manipulator"&>& +4 "core" & v  + "manipulator"&?% +4 "core" % \  `  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(, +179 "core" ( + "manipulator"&A& +4 "core" &, w H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &, g H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&C'Ϧ +103 "core" ' + .tHand.close +2 "manipulator"&D/ +61 "core" / + "manipulator"&E& +4 "core" &, (  H +2 "manipulator"&F% +4 "core" % ϵ  . + .tForearm.seek :retract +2 "manipulator"&G'\ +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&H(s +119 "core" ( +2 "manipulator"&I& +4 "core" &u  ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &u  B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +100 "core" ' +2 "manipulator"&L& +4 "core" &u % t  + "manipulator"&M% +4 "core" % " +2 "processing"%N& +4 "core" &P\  +2 "processing"%O& +6 "core" &P\  +2 .tPC.seek :closed + "processing"%P(Z +5 "core" &W\  +7 &IW\ %h +10 &zWT\ 9 +9 &~W\ M +9 &[V\ O +10 &S`T\ O +9 &[W\ N +9 &_Q\ N +10 &\\W\ N +9 &ZaW\ O +9 &\\V\ O +10 &\\S\ O +9 &!\\W\ N +10 &#c^W\ O +9 &%$^V\ O +9 &&ZV\ O +10 &(_S\ O +9 &*l_T\ N +9 &,-_\\\ O +10 &-_X\ O +9 &/ZU\ N +10 &1t]R\ N +46 &35_Q\ O +10 &4]U\ O +2 &6YW\ N + &8{YW\ O + &:>[U\ N + &;ZV\ O +4 &=ZX\ N +10 &?[T\ O +9 &AFZW\ N +9 &C\\W\ O +10 &D_T\ O +9 &FeO\ P +10 &HFwW\ Q +9 &JS\ S +9 &KL\ T +10 &MY\ T +9 &OFU\ T +9 &QV\ T +10 &RS\ T +9 &TV\ T +9 &VJW\ U +10 &X ]\ U +9 &Y{rY\ < +10 &Z$YR\ V +9 &Z(P\ 0 +2 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + "processing"%Q& +4 "core" &Z"N\ 0 +2 .tHand.open + "manipulator"&R1 +53 "core" 1 + "manipulator"&S% +4 "core" %  H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T'\ +99 "core" ' +2 .tPSV.dial PSR +2 "processing"%U +131 "core"  + .tPSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%V'S +1088 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%W' +1595 "core" ' + .tPSV.dial PTV +2 "processing"%X +74 "core" + .tPTV.dial :puck +2 "processing"%Y  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%Z  +54 "core" +7 .tPS.seek 0ml +2 "processing"%[' +2593 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%]' +578 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%^' +2092 "core" ' + .tPSV.dial PTV +2 "processing"%_ +73 "core" +2 .tPBV.dial PSV +2 "processing"%` U +53 "core" V +2 .tPS.seek 0ml + "processing"%a' +2598 "core" ' + .tPSV.dial PBV +2 "processing"%b @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%c' +2599 "core" ' + .tPSV.dial :waste1 +2 "processing"%d  +74 "core"  +2 .tPS.seek 0ml + "processing"%e' +2608 "core" ' + .tPSV.dial PSR +2 "processing"%f +43 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%g' +2601 "core" ' + .tPSV.dial PTV +2 "processing"%h +73 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%i' +2603 "core" ' + .tPSV.dial PBV +2 "processing"%j @ +56 "core" B +2 .tPS.seek 2.5ml +2 "processing"%k' +2596 "core" ' + .tPSV.dial :waste1 +2 "processing"%l  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%m' +2597 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&n& +4 "core" &u  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&o(s +3 "core" ( + "manipulator"&p& +4 "core" &u %  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &u *  +2 .tForearm.seek PC +2 "manipulator"&r' +99 "core" ' + .tHand.close +2 "manipulator"&s/ +62 "core" / +2 .tPC.seek :open +2 "processing"%t( +434 "core" ( + "manipulator"&u& +4 "core" &u   +2 "manipulator"&v% +3 "core" % K +2 .tForearm.seek :retract +2 "manipulator"&w'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&x(, +126 "core" ( +2 "manipulator"&y& +4 "core" &,  L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" &, G L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&{'Ϧ +106 "core" ' + .tHand.open + "manipulator"&|1 +58 "core" 1 +2 "manipulator"&}% +4 "core" % ϯ & ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +94 "core" ' +25398 "Can"&\ 63 +60002 \ 63{ +22429 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & o\  +2 "manipulator"&& +4 "core" &,  C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +3 "core" ( + "manipulator"&& +4 "core" &, A C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, f C +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 "manipulator"&& +4 "core" &,  a C + "manipulator"&% +4 "core" % ϴ g +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&\ ( +271 "core" ( +2 "manipulator"& & +4 "core" &' $ 6 >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &' ' >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"& '" +97 "core" ' + "manipulator"&& +4 "core" &(  H >H +2 "manipulator"&% +5 "core" %, @ + "collection"'& +4 "core" & n\  +3 "collection"'& +4 "core" & s\  +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & d\  +7 &F i\ %g +9 &qW o\ 8 +10 & l\ M +9 &Z c\ N +10 &H] b\ N +9 &\ ^ k\ N +9 &^ f\ N +10 &] d\ N +9 &O` k\ N +9 &^ d\ N +10 &^ c\ N +9 &!` d\ N +10 &#X` k\ N +9 &%` ^\ N +9 &&] c\ N +10 &(\\ [\ N +9 &*a] b\ N +9 &,#] \\\ N +10 &-\\ X\ N +9 &/] a\ N +10 &1g_ _\ N +9 &3)\\ _\ N +9 &4] [\ N +10 &6] ^\ N +9 &8oZ ^\ N +10 &:1^ a\ N +9 &;[ b\ N +9 &=[ a\ N +10 &?w^ U\ N +9 &A:_ Z\ N +9 &B_ k\ N +10 &D_ ^\ N +9 &F|f T\ O +9 &H9u\ b\ Q +10 &I\ \ Y\ U +9 &K\ \ V\ Y +10 &Mf\ \ ]\ Z +9 &O)\ \ V\ Y +9 &P\ \ `\ Y +10 &R\ \ ]\ Z +9 &Tj\ \ `\ [\ +9 &V\ v\ \ b\ 4 +10 &V%\ \ U\ K +9 ( +3 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 "collection"'& +4 "core" &V_\ \ \ h\ G + &V_\ \ X\ G + .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ,  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +44 "core"  + "processing"%% +4 "core" %\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%' +1591 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1593 "core" ' + .tPSV.dial PSR +2 "processing"%" +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%%' +2608 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%'  + "collection"')  +77 "core" +22  + .tPSV.dial :PTV,via: :air +2 "processing"%( +192 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +73 "core" B +2 .tPS.seek 0ml +2 "processing"%' +2607 "core" ' + .tPSV.dial :air +2 "processing"%#  +74 "core"  +2 .tPS.seek 2.5ml + "processing"%,' +2601 "core" ' +2 .tPSV.dial :PTV + "processing"%- +74 "core" ~ +2 .tPS.seek 0ml +2 "processing"%.' +2597 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&/& +4 "core" &&  >H + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&0( +4 "core" ( + "manipulator"&1& +4 "core" &&  ~ >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" && & >H +2 .tForearm.seek CC + "manipulator"&3'" +97 "core" ' + .tHand.close + "manipulator"&4/ +60 "core" / +2 .tCC.seek :open +2 "collection"'5( +416 "core" ( + "manipulator"&6& +4 "core" &'  >H +2 "manipulator"&7% +3 "core" % 1 # +2 .tForearm.seek :retract +2 "manipulator"&8'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&9(, +283 "core" ( + "manipulator"&:& +4 "core" &, > ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &, U ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&<'Ϧ +107 "core" ' +3 .tHand.open + "manipulator"&=1 +56 "core" 1 + "manipulator"&>% +4 "core" % Ϯ  .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +101 "core" ' @1667828582.33EST = =mMAIN_scheduler =tMAIN @EST1667828584.21 #"core_reset"Sent BREAK + #t@42384 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +384 "Can"^\ c + ^\ c + #tPolling Can every 10:00 +2 #Cleanly exited at 09:43:52EDT04-Nov-22 +531 #-> ESP.ready! +3 #Powering core bus +555 .Gate.power :raw,:ON +3 "sampler") +19 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %\ \ \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ \   +2 .tSS.configure :default +2 "sampler")#.0X access 2 + "storage"(;% +3 "core" %_\ \  A\ +2 "manipulator"&<% +4 "core" %\  > n +2 "manipulator"&=& +3 "core" & # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(>(K +963 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &K }\  +4609 #t-> startTube 2 +1385 #-> $da[:extractVol]=.16 +33098 #-> da 50 + #da sampling at most 50ml +5 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 08:50:33EST07-Nov-22\\n{}\\nCTD data unavailable\\nCan@08:43:13, 23% flow, 20.2C, 48% humidity, 14.7psia, 13.819V, 0.125A, 0.112A avg, 1.73W",Subject: "da sampling at most 50ml" +4 "collection"'@& +3 "core" &\ \  \  +2 .tHand.open + "manipulator"&A1 +55 "core" 1 + "manipulator"&B% +5 "core" % \  5 n + "storage"(C% +4 "core" %_\ \  \ +2 "storage"(D. +4 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E( +43 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1240 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" & \ +2 "manipulator"&G& +3 "core" & 4 # +37 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H( +27 "core" ( +2 "manipulator"&I& +4 "core" & C \ + "storage"(J& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +101 "core" ' + "storage"(L& +5 "core" & \ (\ % %\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +271 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +3 "core" & \ +2 "manipulator"&P& +3 "core" & ` \ +2 .tElbow.seek 2 +2 "manipulator"&Q( +7 "core" ( + "manipulator"&R& +5 "core" & D + "storage"(S& +4 "core" & \ \  h\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&T' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(W'X +8 "core" & +2 "manipulator"&X% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&Y'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +138 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&[& +4 "core" &, / & Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &+  Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +101 "core" ' +3 "manipulator"&^& +4 "core" &, + 9 Bk +2 "manipulator"&_% +3 "core" %( M +2 "collection"'`& +4 "core" &\ \ \  +2 "collection"'a& +5 "core" &\ \ \  +2 .tCC.seek :closed +4 "collection"'b(V +3 "core" &\ \ \  +6 &\ \ \ @ +9 &J\ \ \ 3 +9 &St\ \ +\ G +10 &e\ \ 2\ O +9 &^\ \ 3\ N +9 &^\ \ 2\ O +10 &D]\ \ 8\ N +9 &]\ \ 9\ O +10 &^\ \ 4\ N +9 &^\ \ 0\ N +9 &Lb\ \ 0\ N +10 &!_\ \ ?\ N +9 &"_\ \ ?\ N +9 &$_\ \ B\ N +10 &&T[\ \ ?\ N +9 &(_\ \ B\ N +10 &)]\ \ 4\ N +9 &+_\ \ B\ N +9 &-\\^\ \ >\ N +10 &/_\ \ B\ N +9 &0`\ \ @\ N +9 &2_\ \ @\ N +10 &4d]\ \ 1\ N +9 &6'^\ \ 7\ N +10 &7_\ \ ;\ N +9 &9_\ \ 7\ N +9 &;lc\ \ 1\ N +10 &=/`\ \ 9\ N +9 &>_\ \ @\ N +9 &@`\ \ @\ N +10 &Bs`\ \ 7\ O +9 &D5d\ \ A\ O +10 &En\ \ F\ O +9 &Gu\ \ I\ Q +9 &Ik\ \ G\ T +10 &K\ \ D\ Z +9 &L\ \ A\ Y +9 &N\ \ I\ Y +10 &Pd\ \ E\ Y +9 &R$\ \ H\ Z +10 &S\ \ H\ [\ +9 &U\ \ =\ G +9 &V9\ \ A\ &s +10 &Vb\ \ @\ G +2 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open + "manipulator"&c1 +64 "core" 1 +2 "manipulator"&d% +4 "core" % $ ' ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +100 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")f+ +4 "core" + +2 "sampler")g% +4 "core" %\ \ \ ~ + "collection"'h& +4 "core" &V`\ \ \ G +3 "Can"S\ FD +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +3 .SS.reconfigure :fast +2 "sampler")#.0X\  \  +19 "collection"'5% +2 "core" % \ +2 "sampler")6% +4 "core" %?\ \ \  +21 "collection"'7% +3 "core" % a\ +2 "sampler")8% +4 "core" %?\ \  \  +24 "collection"'9% +3 "core" % *\ + "sampler"):% +4 "core" %>\ \  \  +28 "collection"';% +3 "core" % P\ +2 "sampler")<% +4 "core" %>\ \  \  +31 "collection"'=% +3 "core" % \\\ +2 "sampler")!% +4 "core" %>\ \  \  + "collection"'?% +4 "core" % P\ +2 #tIntake @11.3psia, vacuum from 5.8 to 8.8psi +2 .SS.reconfigure :inhaling 1.97ml/s +2 "sampler")#.0X % +4 "core" %CG\  \  +21 "collection"'F% +4 "core" % \ + "sampler")G% +4 "core" %CG\ \  \  +25 "collection"'I% +2 "core" % Q\ +2 "sampler")J% +4 "core" %CG\ \  \  +28 "collection"'L% +3 "core" % \ + "sampler")$% +4 "core" %CG\ \  \  +32 "collection"'&% +3 "core" % \ +2 "sampler")N% +4 "core" %CG\ \  \  +36 "collection"'O% +3 "core" % Q\ +2 "sampler")P% +4 "core" %CG\ \ \  +41 "collection"' % +3 "core" % Z\ + "sampler")R% +4 "core" %CG\ \  \  +47 "collection"'S% +3 "core" % \ +2 "sampler")U% +4 "core" %CG\ !\  \  +53 "collection"'V% +3 "core" %  \ +2 "sampler")X% +4 "core" %CO\ ?\ > \  + "collection"'H% +4 "core" % \ +2 #tIntake @11.8psia, vacuum from 6.3 to 9.3psi +2 .SS.reconfigure :inhaling 1.78ml/s +2 "sampler")#.z0X  +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'' +91 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +3 "sampler"){ +133 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"',' +91 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")- +131 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X% +4 "core" %\ \ \ +2 #tBefore lysing Collection Puck Heater at 20C/28.3psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +2 "collection"'F  ( +2 'G9 +5 "core" 9o +102 "collection"'I9 +2 "core" 9pd +102 "collection"'J9 +3 "core" 9p d +102 "collection"'L9 +2 "core" 9o d +102 "collection"'$9 +3 "core" 9od +102 "collection"'&9 +3 "core" 9pd +102 "collection"'N9 +3 "core" 9pd +102 "collection"'O9 +2 "core" 9pd +102 "collection"'P9 +3 "core" 9p"d +102 "collection"'@9 +2 "core" 9o&d +102 "collection"' 9 +3 "core" 9q*d +102 "collection"'R9 +3 "core" 9p/d +102 "collection"'S9 +2 "core" 9q3d +102 "collection"'U9 +3 "core" 9q7d +102 "collection"'V9 +2 "core" 9r;d +102 "collection"'X9 +3 "core" 9r?d +102 "collection"'H9 +2 "core" 9rCd +102 "collection"'A9 +2 "core" 9sHd +103 "collection"'\\9 +2 "core" 9sLd +102 "collection"'M9 +2 "core" 9$tPd +103 "collection"'T9 +3 "core" 97uTd +102 "collection"'^9 +3 "core" 9ItXd +102 "collection"'_9 +2 "core" 9]v]d +102 "collection"'`9 +3 "core" 9rwad +102 "collection"'Q9 +2 "core" 9wed +102 "collection"'W9 +3 "core" 9xid +102 "collection"'Y9 +3 "core" 9ymd +102 "collection"'K9 +2 "core" 9zqd +102 "collection"'[9 +3 "core" 9{vd +102 "collection"'c9 +2 "core" 9{zd +102 "collection"'d9 +3 "core" 9|~d +102 "collection"'a9 +3 "core" 9|d +102 "collection"'h9 +2 "core" 90~d +102 "collection"'9 +3 "core" 9Gd +102 "collection"'9 +2 "core" 9]d +102 "collection"'g9 +3 "core" 9sd +102 "collection"'f9 +3 "core" 9d +102 "collection"'k9 +2 "core" 9d +102 "collection"'l9 +3 "core" 9d +102 "collection"'+9 +2 "core" 9d +102 "collection"'m9 +4 "core" 9d +102 "collection"'n9 +3 "core" 9d +102 "collection"'i9 +2 "core" 9d +102 "collection"'p9 +3 "core" 9$d +102 "collection"']9 +2 "core" 9:c +102 "collection"'r9 +4 "core" 9Oa +102 "collection"'o9 +2 "core" 9f` +102 "collection"'u9 +3 "core" 9{^ +102 "collection"'j9 +2 "core" 9\\ +102 "collection"'w9 +3 "core" 9Z +102 "collection"'x9 +3 "core" 9X +102 "collection"'y9 +2 "core" 9V +103 "collection"'v9 +2 "core" 9U +102 "collection"'s9 +2 "core" 9S +103 "collection"'|9 +2 "core" 9 Q +102 "collection"'}9 +3 "core" 9 O +102 "collection"'z9 +3 "core" 94N +102 "collection"'t9 +2 "core" 9GL +102 "collection"'{9 +11 "core" 9]J +102 "collection"'q9 +3 "core" 9pI +102 "collection"'~9 +4 "core" 9G +102 "collection"'9 +3 "core" 9F +102 "collection"'9 +2 "core" 9D +102 "collection"'9 +2 "core" 9 B +103 "collection"'9 +2 "core" 9 A +102 "collection"'9 +3 "core" 9@ +103 "collection"'9 +2 "core" 9> +103 "collection"' 9 +2 "core" 9= +102 "collection"'\ 9 +3 "core" 9; +102 "collection"' 9 +2 "core" 9#": +103 "collection"' 9 +3 "core" 94&9 +102 "collection"'9 +2 "core" 9F*7 +102 "collection"' 9 +3 "core" 9U.6 +102 "collection"'9 +2 "core" 9e25 +102 "collection"'9 +3 "core" 9t74 +102 "collection"'9 +2 "core" 9;2 +102 "collection"'9 +3 "core" 9?1 +102 "collection"'9 +2 "core" 9C0 +102 "collection"'9 +3 "core" 9G0 +102 "collection"'9 +2 "core" 9L. +103 "collection"'9 +4 "core" 9P- +103 "collection"'9 +2 "core" 9T+ +102 "collection"'9 +2 "core" 9X* +102 "collection"'9 +3 "core" 9\\* +102 "collection"'9 +2 "core" 9 a( +102 "collection"'9 +4 "core" 9 e( +102 "collection"'"9 +2 "core" 9 i' +102 "collection"'%9 +3 "core" 9 *m& +102 "collection"'9 +2 "core" 9 5q$ +102 "collection"''9 +3 "core" 9 Au$ +102 "collection"')9 +3 "core" 9 Lz# +102 "collection"'9 +2 "core" 9 X~" +103 "collection"'#9 +2 "core" 9 c! +102 "collection"'(9 +2 "core" 9 o +103 "collection"'-9 +3 "core" 9 { +103 "collection"'9 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"',9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'09 +2 "core" 9  +102 "collection"'.9 +4 "core" 9  +102 "collection"'/9 +2 "core" 9  +102 "collection"'49 +2 "core" 9  +103 "collection"'59 +2 "core" 9  +102 "collection"'39 +2 "core" 9  +103 "collection"'69 +3 "core" 9  +102 "collection"'79 +3 "core" 9  +102 "collection"'99 +2 "core" 9  +103 "collection"'89 +2 "core" 9  +102 "collection"';9 +2 "core" 9\  +103 "collection"':9 +3 "core" 9\  +102 "collection"'=9 +2 "core" 9\  +103 "collection"'!9 +2 "core" 9\  +102 "collection"'<9 +2 "core" 9\  +103 "collection"'19 +2 "core" 9\ % +102 "collection"'?9 +4 "core" 9\ , +102 "collection"'B9 +2 "core" 9\ 2 +102 "collection"'29 +3 "core" 9\ 8 +102 "collection"'D9 +2 "core" 9\ > +102 "collection"'>9 +3 "core" 9\ D +102 "collection"'G9 +2 "core" 9\ K +103 "collection"'I9 +2 "core" 9\ P +102 "collection"'J9 +2 "core" 9\ V +103 "collection"'L9 +2 "core" 9\ Z +102 "collection"'$9 +2 "core" 9\ ` +102 "collection"'&9 +3 "core" 9\ d  +103 "collection"'N9 +2 "core" 9\ j +102 "collection"'O9 +2 "core" 9\ o +102 "collection"'P9 +3 "core" 9\ s +102 "collection"'@9 +2 "core" 9\ x +102 "collection"' 9 +3 "core" 9\ }! +103 "collection"'R9 +2 "core" 9\ % +102 "collection"'S9 +2 "core" 9\ * +103 "collection"'U9 +2 "core" 9\ . +102 "collection"'V9 +2 "core" 9\ 2 +103 "collection"'X9 +3 "core" 9\ 6 +102 "collection"'H9 +3 "core" 9\ : +102 "collection"'A9 +2 "core" 9\ ? +102 "collection"'\\9 +3 "core" 9\ C +102 "collection"'M9 +2 "core" 9\ G +102 "collection"'T9 +3 "core" 9\ K +102 "collection"'^9 +2 "core" 9\ O +102 "collection"'_9 +3 "core" 9\ S +102 "collection"'`9 +2 "core" 9\ X +102 "collection"'Q9 +3 "core" 9\ \\ +102 "collection"'W9 +3 "core" 9\ ` +102 "collection"'Y9 +2 "core" 9\ d +102 "collection"'K9 +3 "core" 9\ h +102 "collection"'[9 +2 "core" 9\ m +102 "collection"'c9 +3 "core" 9\ q +102 "collection"'d9 +3 "core" 9\ u +102 "collection"'a9 +2 "core" 9\ y +102 "collection"'h9 +3 "core" 9\ } +102 "collection"'9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'g9 +3 "core" 9\  +103 "collection"'f9 +2 "core" 9\  +102 "collection"'k9 +2 "core" 9\  +102 "collection"'l9 +3 "core" 9\  +102 "collection"'+9 +2 "core" 9\  +103 "collection"'m9 +2 "core" 9\  +102 "collection"'n9 +3 "core" 9\   +102 "collection"'i9 +2 "core" 9\   +3 .tCH.hold 10:00,70C +3 "collection"'p ` ( `\ w +2 ']9 +5 "core"  + 9\   + "collection"'r% +4 "core" % ` c +\ g +2 #tBegun lysing Collection Puck Heater at 68C/37.3psia +17653 "Can""\ w +42336 "core" ` + "collection"'o9 +4 "core" 9 ) + "collection"'u% +4 "core" %\ \ \ + #tEnded lysing Collection Puck Heater at 70C/28.8psia +2 .CS.seek 0ml +2 "collection"'j' +333 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'w @ +101 "core" B + .tCSV.dial :air +2 "collection"'x @ +44 "core" > +3 .tCS.seek 5ml + "collection"'y'q +1328 "core" ' +2 .tCSV.dial CTV + "collection"'v  +54 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'s @ +43 "core" ? +2 .tdelay 2 seconds +201 .CSV.dial CTV +3 "collection"'|  +50 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'} @ +44 "core" @ + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'z' +1331 "core" ' +2 "collection"'t% +4 "core" % b\ + #tPuck @39.7psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV + "collection"'{ +103 "core" +2 .tCBV.dial CSV + "collection"'q  +30 "core"  +2 "collection"'~% +4 "core" % T T <\ +2 .tCS.seek 4.999ml + "collection"''q +1329 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'  +43 "core" +2 "collection"'% +4 "core" %q +\  +2 .tCS.seek 7ml + "collection"'' +580 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"' @ +44 "core" > +2 .tCS.seek 10ml +2 "collection"'' V +840 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +116 "core" _ + #tLysing Complete +2 "collection"'\ & +4 "core" &V] W\ G +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"& % +4 "core" %\ Q  +2 "storage"( % +3 "core" %a 0\ +2 "storage"(. +2 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"( (S +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &V \ +2 "manipulator"&& +4 "core" &+ 6 Bj + "manipulator"&% +4 "core" %\ U  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(. +155 "core" ( +2 "manipulator"&& +4 "core" &5 X + "storage"(& +4 "core" &X \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'ѷ +94 "core" ' + "storage"(& +4 "core" &X ?\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +268 "core" ' +2 "storage"(- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"('y +44 "core" ' +2 "manipulator"&& +4 "core" &5 + "manipulator"&% +4 "core" % i { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +154 "core" ( +2 "manipulator"&& +4 "core" &- S Cr + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &, < Cr +2 .tForearm.seek CC + "manipulator"&)'" +92 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'#( +416 "core" ( + "storage"((& +4 "core" &X h\ +2 "storage"(-& +4 "core" &X f\ + "manipulator"&& +4 "core" &, z Cp + "manipulator"&% +4 "core" % 3 z +2 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&(. +158 "core" ( + "manipulator"&0& +5 "core" &8 7 + "storage"(.& +4 "core" &X\ \  h\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&/' +104 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&3% +4 "core" % \ $ ! +2 "storage"(6& +4 "core" &X W\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&7'6 +18 "core" ' +2 "manipulator"&9& +4 "core" &8  +2 "storage"(8& +4 "core" &X\ '\ ' g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&;'ѷ +26 "core" ' + "storage"(:% +4 "core" %\ ,\ $\ +3 ."downElevator"SE.seek :down +3 "storage"(='X +99 (!% +4 "core" %G\ \ \ Wc +2 "manipulator"&<% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'?& +4 "core" & \ +2 "manipulator"&B& +4 "core" &8 ^ + "manipulator"&2% +4 "core" %\  P  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&D(, +175 "core" ( + "manipulator"&>& +5 "core" &, R T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &,  T +2 .tForearm.seek :garage +2 "manipulator"&I'Ϧ +101 "core" ' + .tHand.close +2 "manipulator"&J/ +53 "core" / + "manipulator"&L& +5 "core" &, $  T + "manipulator"&$% +4 "core" % ϵ b  +2 .tForearm.seek :retract + "manipulator"&&'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&N( +279 "core" ( +2 "manipulator"&O& +4 "core" &  4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +47 &P& +12 "core" & ) 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'" +100 "core" ' +2 "manipulator"& & +4 "core" & $  4 +2 "manipulator"&R% +3 "core" % e +2 "collection"'S& +4 "core" & } ~\ +2 "collection"'U& +5 "core" & } {\ +2 .tCC.seek :closed +2 "collection"'V(V +4 "core" & { }\  +9 &/~ | |z\ +z +9 &d { |U\ > +9 &su | ~\ M +10 &8U { |\ L +9 &[ | ~\ M +9 &] | |\ M +10 &}] | ~\ M +9 &?] { { \ M +9 &] { } \ M +10 &\\ | z\ M +9 & \\ | |\ L +10 &"H[ z {\ L +9 &$\ Z { |\ L +9 &%] z |w\ M +10 &'\\ { |X\ M +9 &)PX { |>\ L +10 &+\\ { z\ L +9 &,Z { z\ L +9 &._ y |\ M +10 &0W_ | }\ M +9 &2W { {{\ L +9 &3\\ z }^\ M +10 &5[ | }\ M +9 &7`Y { {\ L +9 &9"Z z |\ L +10 &:] z x\ M +9 &<Z z {\ M +10 &>gZ z z\ M +9 &@)Y x {\ M +9 &A_ { zy\ M +10 &C_ w y}\ M +9 &Emc w yd\ M +9 &G-i x {W\ N +10 &H z x6\ P +9 &J { y\ V +10 &LW x y\ X +9 &N { z\ W +9 &O y |\ X +10 &Q x {\ Y +9 &SY { z\ Z +9 &U y z\ Z +10 &VgC | {\ 1 +9 &V y | y\ J +6 ( + "collection"'U& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + "collection"'X& +4 "core" &Vb y z\ J + &Vb x z\ J + .tHand.open +2 "manipulator"&H1 +62 "core" 1 +2 "manipulator"&A% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"%M +132 "core" + "processing"%T% +5 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%^' +1587 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%_  +44 "core"  +2 .tPS.seek 0ml + "processing"%`' +1590 "core" ' +2 .tPSV.dial PSR + "processing"%Q +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%W' +1119 "Can"\ FC +1478 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%Y + "collection"'K  +6 "core"  + "processing"%[  +5 "core"  +65 + .tPSV.dial :mixloop + "processing"%c +103 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%d  +72 "core" +2 .tPS.seek 0ml + "processing"%a' +2598 "core" ' +2 .tPSV.dial :air + "processing"%h  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2599 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%g' +2599 "core" ' + .tPSV.dial :air +2 "processing"%f  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%k' +2608 "core" ' + .tPSV.dial :mixloop + "processing"%l +44 "core" +2 .tPS.seek 0ml +2 "processing"%+' +2596 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +4 "core" & ? 4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&n( +12 "core" ( + "manipulator"&i& +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & V . +2 .tForearm.seek CC +2 "manipulator"&r'" +94 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / + .tCC.seek :open +2 "collection"'p( +419 "core" ( +2 "manipulator"&o& +3 "core" &  . +2 "manipulator"&u% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&C'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&w(, +278 "core" ( + "manipulator"&x& +5 "core" &, P C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +2 "core" &,  C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&v'Ϧ +108 "core" ' +2 .tHand.open +2 "manipulator"&s1 +54 "core" 1 +2 "manipulator"&|% +4 "core" % Ϯ 2 p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'y& +4 "core" & T V \ +2 "manipulator"&t% +4 "core" %\   + "storage"({% +4 "core" %b\ &\ ' @\  +2 "storage"(q. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(~( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" & \  + "manipulator"&& +5 "core" &,  C + "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +184 "core" ( + "manipulator"&& +4 "core" & H  +2 "storage"(& +4 "core" & \ $\ & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +90 "core" ' + "storage"(\ & +5 "core" & \ )\ 7 H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +281 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & Z\  +2 "manipulator"&E& +4 "core" & `  + .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( + "manipulator"&& +5 "core" & \\  + "storage"(& +4 "core" & \ \  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(Z'X +7 "core" &   + "manipulator"&e% +4 "core" %  X I +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ( + "manipulator"&& +4 "core" &# V ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&& +4 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &#  ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&'& +5 "core" &# $ i ;2 + "manipulator"&% +4 "core" %+ w +2 "collection"'& +4 "core" & R T\ +2 "collection"'& +6 "core" & S T\ +2 .tCC.seek :closed + "collection"'"(V +4 "core" & S Sc\  +9 &0} T UX\ *y +10 &d R TD\ > +9 &{t S T/\ M +9 &>X Q T!\ M +10 &X T U\ M +9 &\\ R S\ M +9 &[ R TF\ M +10 &H[ S SA\ L +9 &\ Y T U,\ L +10 &\\ S Tn\ M +9 & X S U\ L +9 &"PZ S Sp\ L +10 &$Y S UY\ L +9 &%Y T UG\ M +9 &'W S TE\ L +10 &)WY T U\ M +9 &+\\ S U\ M +10 &,\\ T S\ M +9 &.\\ T S\ M +9 &0^\\ S U\ M +10 &2!W T U\ M +9 &3\\ U V\ L +9 &5W S V\ M +10 &7hW S T\ L +9 &9*Y U S\ L +10 &:] S Tx\ M +9 &<[ S Rm\ L +9 &>p[ T S^\ L +10 &@1] T TX\ M +9 &A^ T UN\ M +9 &C^ Q TB\ M +10 &Euc S T?\ M +9 &G2j R U/\ O +10 &H U T\ R +9 &J N Q\ X +9 &L] * 1\ X +10 &N  \ X +9 &O 9 4\ Y +9 &Q A B\ Y +10 &Sa E D\ Z +9 &U" H H\ Z +10 &VlB H G\ 1 +9 &V { J H\ L +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&b1 +4 "core" &Vn K J\ L +53 1 + "manipulator"&(% +5 "core" % & + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-'\ +100 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +132 "core"  + .tCSV.dial CTV +2 "collection"'  +34 "core"  +2 .tPS.seek 2.5ml +2 "processing"%0' +2603 "core" ' +2 "collection"'.% +4 "core" % \\ 4 6\ +2 .tCS.seek 4.251ml + "collection"')'Y +1522 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%%  +46 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%5  +73 "core"  +2 .tPS.seek 0ml + "processing"%3' +2600 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'6 ` +30 "core" _ +2 .tCSV.dial :air + "collection"'9 @ +46 "core" > +2 .tCS.seek 10ml + "collection"'8' V +1514 "core" ' + .tCSV.dial CTV +2 "collection"':  +53 "core"  +2 .tCS.seek 0ml +2 "collection"',' +2571 "core" ' + .tCBV.dial :waste1 +2 "collection"'! @ +30 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'<  +131 "core" +2 "collection"'& +4 "core" &Vm\ L +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&/% +4 "core" %\ X  + "storage"(7% +4 "core" %\\ J\ + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(B(S +342 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (2& +3 "core" &U g _ m\ +2 "manipulator"&& +3 "core" &" I :1 +2 "manipulator"&;% +3 "core" %\ o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&>(. +153 "core" ( + "manipulator"&G& +4 "core" &. \ +2 "storage"(=& +4 "core" &W \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&4'ѷ +99 "core" ' +2 "storage"(J& +4 "core" &W $\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +283 "core" ' +2 "storage"($- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" &. b \ +2 "storage"(I& +4 "core" &W ?\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&O' +20 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +12 "storage"(D- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"( 'U +28 "core" ' +2 "manipulator"&R% +4 "core" % + "storage"(S& +4 "core" &W i\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 309 counts +2 "manipulator"&&'0 +14 "core" ' +2 "manipulator"&#& +4 "core" &. \ +2 "storage"(X& +4 "core" &W :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&H'ѷ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'D +55 "core" ' + "manipulator"&U& +5 "core" &. \ + "manipulator"&M% +4 "core" % i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&@( +162 "core" ( +2 "manipulator"&_& +5 "core" &+ $ 1 Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &+ Q Bi +2 .tForearm.seek CC +2 "manipulator"&Q'" +94 "core" ' +2 .tHand.close + "manipulator"&`/ +61 "core" / +2 .tCC.seek :open +2 "collection"'Y( +416 "core" ( + "storage"([& +5 "core" &W \ + "storage"(K& +4 "core" &W E\ + "manipulator"&c& +4 "core" &, > Bi + "manipulator"&d% +4 "core" % &  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&h(. +162 "core" ( +2 "manipulator"&a& +4 "core" &- c u +2 "storage"(& +4 "core" &W P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&' +104 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +61 "core" 1 +2 "manipulator"&l% +4 "core" %  $  + "storage"(k& +5 "core" &W X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&m'; +18 "core" ' +2 "manipulator"&i& +4 "core" &- z u +2 "storage"(]& +4 "core" &W\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&F'ѷ +16 "core" ' +2 "storage"(N% +4 "core" %G\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(\\'X +99 (V% +3 "core" %? ^\ Va +2 "manipulator"&o% +4 "core" %Ѳ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%r  +74 "core" +2 .tPS.seek 2.5ml +2 "processing"%x' +2601 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%j +44 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%n  +45 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%s +44 "core" + .tdelay 1 second +102 .PSV.dial :air +3 "processing"%|  +45 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%y' +2600 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%t& +4 "core" &g\  + "manipulator"&{& +4 "core" &- J u +2 "manipulator"&C% +3 "core" %\   . +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&q(, +172 "core" ( +2 "manipulator"&v& +4 "core" &,  : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &,  : +2 .tForearm.seek :garage + "manipulator"&z'Ϧ +104 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"&& +4 "core" &, y : + "manipulator"&% +4 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\ (s +115 "core" ( +2 "manipulator"&w& +4 "core" &q { ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &q  ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' + "manipulator"&& +4 "core" &q I ( +2 "manipulator"&E% +4 "core" % B +2 "processing"%& +3 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &j\  +8 &6~g\ +} +9 &fs\ @ +9 &gwv\ O +10 &+^}\ N +9 &^\ \ N +9 &_s\ N +10 &q_%\ N +9 &5^$\ M +10 &`!\ N +9 &]%\ N +9 & z_&\ N +10 &";a(\ N +9 &#],\ N +9 &%_)\ N +10 &'^a\ N +9 &)C^7\ N +10 &+]?\ N +9 &,\\@\ M +9 &.^@\ N +10 &0L_7\ N +9 &2^E\ N +9 &3]G\ M +10 &5_C\ N +9 &7T\\K\ N +10 &9]K\ N +9 &:\\I\ N +9 &<]Q\ N +10 &>\\]Z\ N +9 &@aZ\ N +9 &A^X\ N +10 &C`\\\ N +9 &EaeT\ O +10 &GoN\ P +9 &HX\ R +9 &JT\ T +10 &LYY\ T +9 &NZ\ S +9 &O`\ T +10 &Qd\ T +9 &S`]\ T +10 &U"W\ T +9 &VZ\ U +9 &Xm\ U +10 &Zgm\ * +9 &Zwq\ ? +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 + "processing"%& +4 "core" &Z%v\ 0 + &Z%q\ 0 + .tHand.open +2 "manipulator"&e1 +52 "core" 1 + "manipulator"&% +4 "core" % " 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 .tPRV.dial :air + "processing"%  +44 "core"  +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 "processing"% % +4 "core" %\ +2 .tPS.seek 0.3ml +2 "processing"%' +381 "core" ' + .tPSV.dial PSR +2 "processing"%' +103 "core"  +2 "processing"%% +4 "core" % \  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%'. +474 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +1889 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%Z +103 "core" +2 .tPTV.dial :mixing + "processing"% @ +74 "core" B + .tPBV.dial :waste2 +2 "processing"%p  +91 "core" + .tPS.seek 0ml +2 "processing"%b' +2603 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&(& +4 "core" &q  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(s +2 "core" ( +2 "manipulator"&& +3 "core" &q  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &q { ( +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&+/ +57 "core" / + .tPC.seek :open +2 "processing"%.( +439 "core" ( + "manipulator"&& +4 "core" &q < ( +2 "manipulator"&%% +4 "core" %   ' +2 .tForearm.seek :retract + "manipulator"&5'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&0(, +125 "core" ( + "manipulator"&6& +4 "core" &, J 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &,  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&)'Ϧ +108 "core" ' + .tHand.open +2 "manipulator"&:1 +52 "core" 1 + "manipulator"&8% +4 "core" % Ϯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +94 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%<& +4 "core" &\ +2 "manipulator"&% +3 "core" %\    +2 "storage"(/% +4 "core" %T\ \  \ + "storage"(7. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(?( +336 "core" ( + .tSC.configure :limp +52 "storage"($\ 1b +4 (~& +2 "core" & \  +2 "manipulator"&2& +4 "core" &, L 3 + "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +176 "core" ( + "manipulator"&G& +4 "core" & C  +2 "storage"(=& +4 "core" & \ \  \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +98 "core" ' + "storage"(& +5 "core" & \ (\ . L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +284 "core" ' +2 "storage"($- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & _\  + "manipulator"&I& +4 "core" & D  +2 .tElbow.seek 2 + "manipulator"&D( +3 "core" ( +2 "manipulator"&R& +4 "core" & D  + "storage"(S& +4 "core" & \ \  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&#' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(M'X +7 "core" & p  +2 "manipulator"&4% +4 "core" %   T +2 .tForearm.seek :retract + "manipulator"&>'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&L(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&O& +4 "core" &m  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &m [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' +3 "manipulator"&_& +4 "core" &n 3 +2 "manipulator"&^% +3 "core" %  +2 "processing"%H& +4 "core" &\ +2 "processing"%P& +5 "core" &\ +2 .tPC.seek :closed + "processing"%`(Z +5 "core" &\ +7 &6\ $c +10 &U\ 7 +9 &\ K +9 &[\ N +10 &ab\ N +9 &#]\ N +9 &\\\ M +10 &Y\ N +9 &i`\ N +10 &,_\ M +9 &^\ M +9 &!]\ M +10 &#p`\ N +9 &%4Z\ M +10 &&\\\ M +9 &(Z\ N +9 &*yZ\ N +10 &,;_\ N +9 &-` \ M +9 &/\\ \ M +10 &1[ \ M +9 &3C_ \ N +10 &5^\ M +9 &6Y\ N +9 &8]\ \ M +10 &:KZ\ N +9 &<_\ M +9 &=Y\ N +10 &?]\ M +9 &AUZ\ M +9 &C]\ N +10 &D_\ N +9 &F_\ N +10 &HUk\ P +9 &J|\ R +9 &K\ T +10 &M\ T +9 &OQ\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VW\ T +9 &X\ T +9 &Y|n\ 6 +10 &Z.\ N +9 &Z\ ( +2 ( +2 "processing"%P& +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&T1 +62 "core" 1 + "manipulator"&"% +4 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%K  +2 %c9 +6 "core" 9 +102 "processing"%d9 +2 "core" 9 +102 "processing"%a9 +3 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%Q9 +6 "core" 9 +102 "processing"%@9 +3 "core" 9 +102 "processing"%g9 +2 "core" 9 +102 "processing"%l9 +3 "core" 9 +102 "processing"%k9 +2 "core" 9" +102 "processing"%i9 +3 "core" 9& +103 "processing"%]9 +2 "core" 9+ +102 "processing"%N9 +2 "core" 9/ +102 "processing"%W9 +3 "core" 93 +102 "processing"%V9 +2 "core" 97 +102 "processing"%o9 +3 "core" 9; +102 "processing"%h9 +3 "core" 9? +102 "processing"%9 +2 "core" 9D +102 "processing"%m9 +2 "core" 9H +103 "processing"%A9 +2 "core" 9L +102 "processing"%r9 +2 "core" 9P +102 "processing"%F9 +3 "core" 9T +102 "processing"%\\9 +2 "core" 9Y +102 "processing"%39 +2 "core" 9] +103 "processing"%j9 +2 "core" 9a +102 "processing"%n9 +3 "core" 9e +102 "processing"%s9 +3 "core" 9i +102 "processing"%|9 +2 "core" 9m +102 "processing"%x9 +2 "core" 9 r +102 "processing"%t9 +3 "core" 9v\ +102 "processing"%{9 +3 "core" 9z +102 "processing"%C9 +3 "core" 9%~ +102 "processing"%v9 +2 "core" 9- +102 "processing"% 9 +3 "core" 95 +102 "processing"%f9 +2 "core" 9< +102 "processing"%9 +3 "core" 9D +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9S +103 "processing"%u9 +2 "core" 9Z +102 "processing"%w9 +2 "core" 9a +102 "processing"%}9 +3 "core" 9g +103 "processing"%z9 +2 "core" 9m +3 .tPH.hold 2:00:00,28C +3 "processing"% ppk +2 .tdelay 1:30 +4 "core"  +4171 "Can"\ 75 +4829 .tPSR.select :air +2 .PSV.dial PSR + "processing"%E +104 "core"  + "processing"%% +4 "core" %p\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%q' +582 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%' +1592 "core" ' +2 .tPTV.dial :puck + "processing"%*  +71 "core"  + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 + "processing"%e  +132 "core"  + "processing"%% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%' +581 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%' +1586 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%y +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%'' +2355 "core" ' + .tPSV.dial PTV + "processing"% +73 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%Z  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2358 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%p  +129 "core" +2 .tPSV.dial :mixloop + "processing"% +44 "core" + .tPRV.dial :ab1 +2 "processing"%( @ +74 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +351 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'  + "processing"%+  +45 "core" +  +2 "processing"%\ % +4 "core" %\  +2 .tPS.seek 0.31ml +2 "processing"% ' +365 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" + .tPRV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%%'GK +1238 "core" ' + .tPRV.dial :waste2 +2 "processing"%6 @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%9' +852 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1593 "core" ' +2 .tPSV.dial :PML + "processing"%: +44 "core" +2 .tPTV.dial :mixing + "processing"%8 @ +72 "core" @ +2 .tPBV.dial :waste1 + "processing"%<  +35 "core"  + "processing"%% +4 "core" %G\  +2 .tPS.seek 1.85ml +2 "processing"%/'\ +228 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%7 * +35 "core" , +2 .tPS.seek 0ml + "processing"%5' +1947 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"')& +3 "core" & r q\ + "manipulator"&B& +4 "core" &n +2 "manipulator"&~% +4 "core" %\  c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +53 "manipulator"&2(, +125 "core" ( + "manipulator"&& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &, -  +2 .tForearm.seek :garage +2 "manipulator"&='Ϧ +102 "core" ' +3 .tHand.close + "manipulator"&/ +60 "core" / +2 "manipulator"&0& +4 "core" &,    +2 "manipulator"&!% +4 "core" % ϸ c +2 .tForearm.seek :retract + "manipulator"&$'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&1( +275 "core" ( + "manipulator"&I& +4 "core" &/ ( ` E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &. 7 E~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'" +106 "core" ' +2 "manipulator"&X& +4 "core" &/ # E} +2 "manipulator"&U% +4 "core" % * +2 "collection"'4& +4 "core" & r r\ +2 "collection"';& +5 "core" & r s\ +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" & t s\ +7 &4 r t\ $c +9 &U s r\ 8 +10 & s t\ L +9 &[ s t\ N +9 &`^ s s\ N +10 &"] r s\ N +9 &] s s\ N +9 &] p r\ N +10 &h] r t\ N +9 &*] t t\ N +10 &] r s\ N +9 &!_ p r\ N +9 &#o^ r r\ N +10 &%1_ s r\ N +9 &&\\ s r\ N +10 &(\\ r s\ N +9 &*x\\ p s\ N +9 &,:] s r\ N +10 &-\\ q r\ N +9 &/] s r\ N +9 &1_ s r\ N +10 &3B[ s t\ N +9 &5\\ r s\ N +9 &6\\ r r\ N +10 &8[ q q\ N +9 &:J_ s t\ N +10 &< ` r s\ O +9 &=] o s\ N +9 &?\\ r t\ N +10 &AP_ q s\ O +9 &C_ s v\ O +9 &Da s r\ O +10 &Fh q s\ O +9 &HSv s r\ P +10 &J s s\ U +9 &K r u\ X +9 &M s u\ Y +10 &OD t o\ X +9 &Q s u\ Z +9 &R r u\ Z +10 &T s r\ [\ +10 &V u t t\ 0 +9 &V! s s\ J +8 ( +2 &Vg s q\ F +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + "collection"'-& +4 "core" &Vf t u\ F +2 .tHand.open + "manipulator" +61 "core" 1 +2 "manipulator"&O% +4 "core" %  -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' + .tPSV.dial PSR +2 "processing"%D +102 "core"  +2 "processing"%_% +4 "core" %\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%^' +241 "Can"\ SQ +1351 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%H  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%M' +1593 "core" ' +2 .tPSV.dial PSR + "processing"%> +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%.' +2593 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%T  "collection"'"  +33 "core"  +127  + .tPSV.dial :mixloop +2 "processing"%c +103 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%P  +73 "core" +2 .tPS.seek 0ml +2 "processing"%d' +2597 "core" ' +2 .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2597 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%Q' +2608 "core" ' + .tPSV.dial :air +2 "processing"%@  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%g' +2601 "core" ' + .tPSV.dial :mixloop +2 "processing"%l +44 "core" +2 .tPS.seek 0ml +2 "processing"%k' +2599 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&i& +4 "core" &/ E} +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&]( +3 "core" ( + "manipulator"&N& +4 "core" &. f E} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &. K E} +2 .tForearm.seek CC + "manipulator"&V'" +92 "core" ' + .tHand.close +2 "manipulator"&o/ +56 "core" / +2 .tCC.seek :open +2 "collection"'h( +416 "core" ( +2 "manipulator"&& +4 "core" &.  E} + "manipulator"&m% +4 "core" %  K +2 .tForearm.seek :retract + "manipulator"&A'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&r(, +285 "core" ( + "manipulator"&F& +4 "core" &,  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &, D E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&3'Ϧ +104 "core" ' +2 .tHand.open +2 "manipulator"&j1 +52 "core" 1 +2 "manipulator"&n% +4 "core" % ϰ  # # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +102 "core" ' +2 ."da"delayUntil "09:40:56.84" +25060 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%| @ +72 "core" @ +2 ."da"PBV.dial :waste1 + "processing"%x  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%t * +35 "core" + +2 ."da"PSV.dial :air + "processing"%{  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%C' +2333 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%v +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%f +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2334 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +131 "core" +2 "processing"%u% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%w' +584 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +5 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%}' +1592 "core" ' + ."da"PTV.dial :puck +2 "processing"%z  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%E +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%b% +4 "core" %\  + ."da"PS.seek 1.5ml +2 "processing"%q' +583 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%* * +34 "core" , +3 ."da"PS.seek 0ml +2 "processing"%' +1255 "Can"\ :8 +339 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%e  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2352 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%K +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +52 ."da"PS.seek 0ml +2 "processing"%y' +2335 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core" + "processing"%% +4 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +580 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1589 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%Z +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" + "processing"%p% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +581 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%( * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1588 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2347 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%6  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%%' +2343 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +44 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +3 "processing"%9  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%:  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%8 +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%<' +378 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%7% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%', +339 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%/  +46 "core"  +2 ."da"PS.seek 2ml +2 "processing"%)' +1536 "core" ' +2 ."da"PSV.dial :PML + "processing"%B +44 "core" +2 ."da"PTV.dial :mixing + "processing"%~ @ +168 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%G% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%L'\ +231 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%0' +1952 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +4226 "Can"\ TQ +43776 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%!  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%=  +45 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%I' +2356 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%R +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%2  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%X +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%U  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4' +2333 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%$ +131 "core" + "processing"%Y% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%-' +580 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%#' +1589 "core" ' + ."da"PTV.dial :puck +2 "processing"%O  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%; +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%D  +35 "core" + "processing"%_% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%S' +578 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%H' +1595 "core" ' + ."da"delay 2:00 +2035 "Can"\ HE +9968 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%^  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%> * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%"' +2348 "core" ' + ."da"PSV.dial PTV +2 "processing"%T +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%c +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%P +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%.  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +2335 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%d +133 "core"  + "processing"%% +4 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%a' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1598 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%Q +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%l  +36 "core" + "processing"%g% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%i' +580 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%N * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%W' +1597 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%o  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +45 "processing"%1 * +41 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2360 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%m +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%V +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%\\' +2334 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%] +131 "core" + "processing"%j% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%n' +583 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%A' +1592 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%3 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%|  +34 "core" + "processing"%x% +4 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%t' +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%k' +1588 "core" ' +2 ."da"delay 2:00 +7622 "Can"\ 53 +4380 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%v  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%f +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2354 "core" ' + ."da"PSV.dial PTV +2 "processing"%C +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%u +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%w' +2334 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%z +140 "core"  +2 "processing"%E% +10 "core" %\ ] +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +3 "processing"%'] +330 "core" ' +2 ."da"delay 5 seconds +503 "processing"%b% +4 "core" %X\ V + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%}' +325 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%*' +1590 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%q +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%e  +36 "core" + "processing"%% +4 "core" %\ a +2 ."da"PS.seek 1.5ml +2 "processing"%' +581 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +36 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1586 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%K  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +87 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2430 "core" ' + ."da"PSV.dial PTV +2 "processing"% +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +85 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%y +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z' +2418 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%' +136 "core" +2 "processing"%p% +4 "core" % \ e + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%' +2103 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +3 .PSV.dial PTV + "processing"%( +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%+% +4 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%' +583 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%\ * +36 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +104 "core"  +3 ."da"PS.seek 0ml +2 "processing"%' +1589 "core" ' + "processing"%9 +4 "core" 95C + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%  +4 "core" 5C + 5C + "processing"%6& +3 "core" &Z \ ( +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %c U\ | + "storage"(9. +3 "core" .( +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(:(S +339 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &U z\ n +2 "manipulator"&%& +4 "core" &, E + "manipulator"&% +4 "core" %\   + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&7(. +184 "core" ( + "manipulator"&<& +4 "core" &* ^ $ +2 "storage"(/& +4 "core" &X w\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +94 "core" ' + "storage"(B& +4 "core" &X \ y +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(~'i +279 "core" ' + "storage"(- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &* $ + "storage"(& +4 "core" &X h\ w + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&)' +34 "core" ' + ."da"Elbow.hold +2 "manipulator"&L, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 ."da"SE.seek 1.1 Pucks below Top Plate +2 "storage"(['K +27 "core" ' +2 "manipulator"&=% +49 "core" % J +10 "storage"(0& +4 "core" &X [ [\ g + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&R': +18 "core" ' + "manipulator"&2& +5 "core" &- I $ + "storage"(X& +4 "core" &X \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&U'ѷ +25 "core" ' +2 ."da"SE.seek 2.1 Pucks below Top Plate +2 "storage"(I': +49 "core" ' + "manipulator"&$& +5 "core" &. $ + "manipulator"&Y% +4 "core" % +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&-(s +251 "core" ( + "manipulator"&O& +4 "core" &o ? " +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &o " +2 ."da"Forearm.seek PC +2 "manipulator"&D' +93 "core" ' + ."da"Hand.close +2 "manipulator"&_/ +62 "core" / +2 ."da"PC.seek :open +2 "processing"%#( +436 "core" ( + "storage"(5& +4 "core" &X K\ +2 "manipulator"&S& +4 "core" &o o " + "manipulator"&^% +4 "core" % A +2 ."da"Forearm.seek :retract + "manipulator"&>'\ +99 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&M(. +240 "core" ( + "manipulator"&H& +5 "core" &. m > + "storage"(T& +4 "core" &X \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 700 counts + "manipulator"&c'ѷ +93 "core" ' +2 ."da"Hand.open + "manipulator"&P1 +55 "core" 1 +2 "storage"(.- +4 "core" -': +2 ."da"SE.seek 1.85 Pucks below Top Plate +2 "storage"("' +21 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(d' +45 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov0710h50ml.tif +1954 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +18475 "Can"\  +9930 #"da"WARNING: Too Dark -- required 385.045s exposure > 300s time limit\ SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 300 seconds\ /var/log/esp/da22nov0710h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov0710h50ml15s.tif +1548 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov0710h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22nov0710h50ml30s.tif +3053 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22nov0710h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22nov0710h50ml70s.tif +7132 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22nov0710h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "300.0 sec auto-exposure",Subject: "da22nov0710h50ml images!" +3 "storage"(- +5 "core" -' +6 "storage"( & +5 "core" &X   \ + "manipulator"&a& +5 "core" &/ = +2 ."da"Elbow.seek 1 +2 "manipulator"&Q(. +3 "core" ( +2 "manipulator"&l& +5 "core" &/ = +2 "storage"(g& +4 "core" &X   \ +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&@'ѷ +11 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.9 Pucks below Top Plate +2 "storage"(N'@ +42 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +13 "core" ' +2 "manipulator"&i& +4 "core" &/ @ = +2 "storage"(o& +4 "core" &X ]\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&1' +25 "core" ' + ."da"Elbow.hold +2 "manipulator"&&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.08 Pucks below Top Plate +2 "storage"(W'* +26 "core" ' + "manipulator"&% +4 "core" % T +2 "storage"(m& +4 "core" &X \\\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 312 counts +2 "manipulator"&V'3 +20 "core" ' + "manipulator"&F& +5 "core" &/ W = + "storage"(J& +4 "core" &X \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&]'ѷ +39 "core" ' +2 "storage"(j% +4 "core" %# \ +2 ."downElevator"SE.seek :down +4 "storage"(\\'X +98 (n% +3 "core" %1 \ RQ +2 "manipulator"&3% +4 "core" %Ѻ n +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +38 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (x& +4 "core" &X\ \  R\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +3 "processing"%A& +4 "core" &r\ +2 "manipulator"&{& +4 "core" &/ = + "manipulator"&t% +4 "core" %\  +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&v(, +176 "core" ( + "manipulator"& & +4 "core" &, B +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &, : B +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&k'Ϧ +94 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&C/ +52 "core" / +2 "manipulator"&& +4 "core" &, B + "manipulator"&u% +4 "core" % Ϲ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&(s +120 "core" ( +2 "manipulator"&z& +4 "core" &s ?  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &s  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&w' +95 "core" ' + "manipulator"&b& +5 "core" &s [  + "manipulator"&% +4 "core" % & +2 "processing"%}& +4 "core" &s\ +2 "processing"%q& +5 "core" &u\ +2 ."psFlush"PC.seek :closed + "processing"%e(Z +5 "core" &t\  +8 &0t\ +z +9 &cq\ > +10 &uyw\ N +9 &:Zi\ M +9 &^_\ M +10 &[W\ M +9 &`Q\ M +10 &@\\W\ N +9 &^Q\ N +9 &\\U\ N +10 & Y_\ M +9 &"H]X\ N +9 &$ ]Y\ M +10 &%^S\ M +9 &'`Y\ N +10 &)P\\]\ N +9 &+Ya\ M +9 &,YY\ M +10 &._Y\ N +9 &0X\\`\ N +9 &2^b\ N +10 &3\\P\ N +9 &5ZH\ M +10 &7bZA\ M +9 &9"_T\ N +9 &:ZW\ N +10 &<]R\ M +9 &>iXK\ M +9 &@*Z[\ N +10 &A]V\ M +9 &C\\R\ N +9 &Ep_S\ N +10 &G.hT\ O +9 &HxL\ Q +10 &JQ\ S +9 &LfJ\ T +9 &N(Q\ T +10 &OI\ T +9 &QH\ T +10 &SmL\ T +9 &U/U\ T +9 &VW\ T +10 &XG\ T +9 &Z ]=\ #m +9 &ZZ9\ , +9 ( +3 "processing"%q& +3 #"psFlush"Processing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 "processing"%& +4 "core" &Z@\ ( + &ZL\ ( + ."psFlush"Hand.open +2 "manipulator"&*1 +60 "core" 1 +2 "manipulator"&% +4 "core" % & +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&'\ +96 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +45 "core"  + "processing"% % +4 "core" %:\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +55 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +485 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +100 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2096 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"% @ +186 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +130 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%y +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ռ +2606 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +101 "core"  + "processing"%'% +4 "core" %ս\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%p' +590 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Z' +2098 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%(  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"% @ +74 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%+ +103 "core" +2 ."psFlush"PS.seek :empty + "processing"%'ռ +2597 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%\ +101 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'S +1096 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1591 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +71 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%6' +2604 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +580 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%9' +2094 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%? +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%8 U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%%' +2603 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%<' +2603 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%/  +84 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%B' +2609 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%r +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%s' +2601 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%G' +2595 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" > + ."psFlush"PS.seek 2.5ml +2 "processing"%!' +1799 "Can"\ <: +801 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%=  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%0' +2600 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%2 +45 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%X'S +1093 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%$' +1592 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +72 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%7' +2603 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%~ +83 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%)' +580 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%R' +2091 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%O' +2618 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%; @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +2596 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%_  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%4' +2604 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%` +44 "core" +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%5' +2600 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%S +73 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%^' +2603 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%D @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +2596 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%T  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%-' +2597 "core" ' + #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'P& +4 "core" & n\ +2 "manipulator"&.& +3 "core" &s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&>(s +3 "core" ( +2 "manipulator"&I& +4 "core" &s  (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &s C  +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tPC.seek :open +2 "processing"%a( +435 "core" ( + "manipulator"&l& +5 "core" &s  + "manipulator"&g% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&i'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&o( +353 "core" ( +2 "manipulator"&& +4 "core" &* 6 @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" &* @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'" +91 "core" ' +2 "manipulator"&J& +4 "core" &* @W +2 "manipulator"&j% +4 "core" %, + "collection"'M& +4 "core" & t\ +2 "collection"'c& +5 "core" & e\ +2 .tCC.seek :closed +55 "collection"'d(V +4 "core" & g\ + & X\ + & d\ + & h\ + & f\ + & Z\ +3 & f\  +3 &2 h\ *z +10 &d h\ ? +9 &uy h\ O +10 &:] j\ M +9 &` h\ N +9 &] g\ N +10 &^ a\ M +9 &A_ g\ N +9 &b i\ N +10 &] h\ M +9 & _ ]\ N +10 &"G] f\ N +9 &$\ _ ^\ N +9 &%_ X\ N +10 &'] Y\ N +9 &)O[ Z\ N +9 &+] Y\ N +10 &,\\ Y\ N +9 &.` Z\ N +10 &0X` Z\ N +9 &2\\ ]\ N +9 &3] ]\ N +10 &5\\ Y\ N +9 &7`_ Z\ N +9 &9#] R\ N +10 &:_ V\ N +9 &<` V\ N +9 &>g_ W\ N +10 &@)] \\\ N +9 &A^ ]\ N +10 &C` X\ N +9 &Ena [\ O +9 &G.h Z\ O +10 &H{ Y\ Q +9 &J X\ V +9 &LZ [\ X +10 &N Y\ X +10 &O [\ Y +9 &Q X\ Y +9 &S\\ X\ Z +9 &U Y\ Z +10 &VkD Y\ 2 +9 &Vk Z\ F +5 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 +3 "collection"'n& +4 "core" &Vf W\ F + &Vf \\\ F + .tHand.open +2 "manipulator"&31 +57 "core" 1 + "manipulator"&@% +5 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +100 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'N& +4 "core" &Ve c\ F +2 "collection"'1% +3 "core" % `\ +2 .tCSV.dial CSR +2 "collection"'V  +50 "core"  + "collection"'x% +4 "core" % b\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'A'q +1332 "core" ' + .tdelay 5 seconds +503 .CSR.select :air + "collection"' +9 '{% +3 "core" %q T\  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'t'8 +634 "core" ' + .tCSV.dial :waste +2 "collection"'W +164 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"']' +1953 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"' & +4 "core" &Ve d\ F +2 "collection"'f% +4 "core" % d\ + .tCSV.dial :flush +2 "collection"'\\  +53 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'&'q +1179 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'C @ +51 "core" A + "collection"'% +4 "core" %q ]\  +2 .tCS.seek 7ml +2 "collection"'u' +516 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'|  'z  +54 "core"  +84  + .tCBV.dial :waste1 +2 "collection"'E @ +44 "core" @ +2 .tCS.seek 0ml + "collection"'k' +1608 "core" ' + #tFlushing lower manifold's waste2 port +2 "collection"'b& +4 "core" &Ve Z\ F + "collection"'% +4 "core" % W\ +2 .tCSV.dial :flush + "collection"'}  +74 "core"  +2 .tCS.seek 5ml + "collection"'v'q +1173 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +63 "core" ? +2 "collection"'#% +3 "core" %q ]\  +2 .tCS.seek 7ml +2 "collection"'' +529 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'*  +53 "core"  +2 .tCBV.dial :waste2 + "collection"'  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'q' +1602 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'K& +4 "core" &Ve ]\ F +2 "collection"' % +4 "core" % O\ + .tCSV.dial CSR +2 "collection"'w  +48 "core"  +2 "collection"'% +4 "core" % X\ +2 #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml +2 "collection"' ' +1830 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' V +529 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"' + 'y  +130 "core" +8 + .tCTV.dial :intake +2 "collection"'  +75 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml +2 "collection"''^ +1845 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"''  +72 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'' +587 "core" ' +2 .tCSV.dial CSR + "collection"'p  +102 "core"  +2 "collection"'(% +4 "core" % O\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"''q +1336 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'+' V +1327 "core" ' + .tCSV.dial CBV + "collection"'Z +127 "core" +2 .tCS.seek 0ml +2 "collection"'\ ' +2579 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &( ( @W +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" &) @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &) } @W +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'6( +416 "core" ( +2 "manipulator"&& +3 "core" &) @W +2 "manipulator"&?% +4 "core" % * +2 .tForearm.seek :retract + "manipulator"&8'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&9(, +282 "core" ( + "manipulator"&& +4 "core" &, I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &, I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&/'Ϧ +109 "core" ' +2 .tHand.open + "manipulator"&<1 +55 "core" 1 + "manipulator"&r% +4 "core" % ϰ m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +102 "core" ' +2 "processing"%& +4 "core" &\ +1529 "Can"\ 1.w +60002 \ 1.| +60002 \ 1.z +60002 \ 0.{ +60002 \ 1.t +60002 \ 1.s +36409 #t-> access 1 +3 "storage"(s% +3 "core" %T\ #\ # &\ +2 "manipulator"&% +4 "core" %\  \ * + "manipulator"&G& +4 "core" &, I +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(=(<* +1286 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &<( V\  +3773 #t-> access 2 +2 "storage"(2% +3 "core" %T\ \  #\ +2 "manipulator"&0% +4 "core" %\  * + "manipulator"&X& +4 "core" &, I +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Y(K +335 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K n\  +18133 "Can"\ 1. +60002 \ 1.z +60003 \ 0.u +60001 \ 1.y @1668633264.39EST = =mMAIN_scheduler =tMAIN @EST1668633266.32 #"core_reset"Sent BREAK + #t@2643 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +300 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +401 "Can"\ \\ + \ \\ + #tPolling Can every 10:00 +1794 #-> ESP.ready! +3 #Powering core bus +559 .Gate.power :raw,:ON +5 "sampler") +52 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ a\ ^  + .tSS.configure :default +3 "sampler")#.0X\ + .tCC.configure :default +3 "collection"'$x2 ^22b +2 "processing"%& +3 "core" &\ + .tPC.configure :default +3 "processing"%$x2 ^22b +4 "manipulator"& % +3 "core" % + .tForearm.configure :loose +3 "manipulator"&#Q@2^d^b +2 &\ & +3 "core" & y + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +4 "storage"( & +3 "core" & q p 0\ + .tSC.configure :loose +3 "storage"($.\ 1~b +2 ( % +3 "core" % r q J\ + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +3 "core" + .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default +2 "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +4 "core" % M\ + "processing"%% +4 ."rdySampler"Intake.select :close +3 "manipulator"&% ."rdySampler"Exhaust.select :close +5 .CTV.dial :air + "collection"'  +3 "core" %\ + % X +2 + ."rdyProcessing"PSV.dial :air +4 "manipulator"&% +3 ."rdySampler"CSV.dial :waste1 +2 "processing"%  + "collection"' +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +41 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust + "sampler") +3 "core"  +2 "sampler")  +5 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b + "sampler")#.0X PS.flush +2 #Flushing Processing stage + "processing"%;% +3 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%<& +4 "core" &\  + .tHand.open + "manipulator"&=1 +64 "core" 1 +2 "manipulator"&>& +4 "core" & 1 U & + "manipulator"&?% +4 "core" % \  2  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&@(, +176 "core" ( +2 "manipulator"&A& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&C'Ϧ +104 "core" ' + .tHand.close +2 "manipulator"&D/ +63 "core" / + "manipulator"&E& +4 "core" &, ( }  +2 "manipulator"&F% +4 "core" % Ϩ + .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&H(s +119 "core" ( +2 "manipulator"&I& +4 "core" &v H  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +101 "core" ' + "manipulator"&L& +4 "core" &v *  +2 "manipulator"&M% +4 "core" %  o +2 "processing"%N& +4 "core" &\  +2 "processing"%O& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &\  +8 &L\ %g +9 &W\ 8 +9 &\ M +10 &^\ O +9 &Xa\ N +9 &]\ N +10 &^\ N +9 &_\ N +10 &`_\ N +9 &#\\\ N +9 &`\ O +10 &!_\ O +9 &#g_\ O +9 &%*`\ N +10 &&]\ N +9 &(`\ N +10 &*p`\ N +9 &,4`\ N +9 &-`\ N +10 &/_\ N +9 &1{_\ M +10 &3;`\ N +50 &4_\ N +13 &6_\ N + &8_\ N +2 &:D^\ N + &<a\ N + &=]\ N + &?_\ N +5 &AJ^\ N +10 &C _\ N +9 &Da\ N +10 &Fh\ O +9 &HJx\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &OJ\ T +10 &Q \ T +9 &R\ T +10 &T\ T +9 &VP\ T +9 &X\ U +10 &Y{r\ 9 +9 &Z,}\ K +9 &Z!\ , +3 ( + "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 +2 "processing"%Q& +4 "core" &Z  \ , + .tHand.open +2 "manipulator"&R1 +59 "core" 1 + "manipulator"&S% +4 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +98 "core" ' + .tPSV.dial PSR +2 "processing"%U +133 "core" + .tPSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%V'S +1089 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%W' +1592 "core" ' + .tPSV.dial PTV +2 "processing"%X +73 "core" +2 .tPTV.dial :puck + "processing"%Y  +5 "core"  +2 .tPBV.dial :waste1 + "processing"%Z  +55 "core" +2 .tPS.seek 0ml +2 "processing"%[' +2607 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +86 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%]' +580 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%^' +2095 "core" ' + .tPSV.dial PTV + "processing"%_ +74 "core" +2 .tPBV.dial PSV + "processing"%` U +53 "core" V +2 .tPS.seek 0ml +2 "processing"%a' +2604 "core" ' + .tPSV.dial PBV +2 "processing"%b @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%c' +2599 "core" ' + .tPSV.dial :waste1 +2 "processing"%d  +74 "core"  +2 .tPS.seek 0ml + "processing"%e' +2598 "core" ' +2 .tPSV.dial PSR + "processing"%f +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%g' +2600 "core" ' +2 .tPSV.dial PTV + "processing"%h +75 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%i' +2608 "core" ' + .tPSV.dial PBV +2 "processing"%j @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%k' +2606 "core" ' + .tPSV.dial :waste1 +2 "processing"%l  +74 "core"  +2 .tPS.seek 0ml + "processing"%m' +2601 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&n& +4 "core" &v  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&o(s +3 "core" ( + "manipulator"&p& +4 "core" &v & _  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &v R  +2 .tForearm.seek PC + "manipulator"&r' +93 "core" ' +2 .tHand.close + "manipulator"&s/ +54 "core" / + .tPC.seek :open +2 "processing"%t( +434 "core" ( + "manipulator"&u& +4 "core" &v   +2 "manipulator"&v% +4 "core" % T + .tForearm.seek :retract +2 "manipulator"&w'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&x(, +122 "core" ( +2 "manipulator"&y& +3 "core" &,  ^ ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &, B ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&{'Ϧ +105 "core" ' + .tHand.open +2 "manipulator"&|1 +56 "core" 1 +2 "manipulator"&}% +4 "core" % ϰ & % / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +102 "core" ' +4800 #t-> samplePassF +2 #Beginning samplePassF +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +8 "core" & j\  +2 "manipulator"&& +8 "core" &, z  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +2 "core" ( +2 "manipulator"&& +4 "core" &, & c  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"&& +4 "core" &, # H  + "manipulator"&% +4 "core" % ϵ   +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&\ ( +272 "core" ( + "manipulator"& & +4 "core" && ' y =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" && - Z =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +103 "core" ' + "manipulator"&& +4 "core" && ) =F +2 "manipulator"&% +4 "core" %6  3 ( +2 "collection"'& +3 "core" & t\  +2 "collection"'& +5 "core" & o\  +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & <\  +8 &5 4\ +} +9 &f 8\ @ +10 &dx 5\ N +9 &&^ 7\ N +9 &e .\ N +10 &` .\ N +9 &m` 2\ N +10 &0` 8\ N +9 &` 5\ N +9 &c (\ N +10 & ub .\ N +9 &"7b 1\ N +9 &#` +\ N +10 &%c ,\ N +9 &'~] -\ N +10 &)A_ 2\ M +9 &+` /\ N +9 &,] /\ N +10 &._ 2\ N +9 &0G` /\ N +10 &2\ ` /\ N +9 &3] 1\ N +9 &5\\ 0\ N +10 &7Pa -\ N +9 &9d 1\ N +9 &:b 2\ N +10 &<c /\ N +9 &>Xa 1\ N +9 &@c 2\ N +10 &A` 2\ N +9 &Cc 1\ N +10 &E^e 2\ N +9 &Gn 0\ P +9 &H 1\ Q +10 &J 1\ V +9 &LK )\ X +9 &N 0\ X +10 &O .\ X +9 &Q -\ X +10 &SL 0\ Z +9 &U +\ Z +9 &V^D +\ 1 +10 &V t ,\ D +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + "collection"'& +4 "core" &V_ /\ D + &V_ *\ D + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % 6 1 ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tPSV.dial PSR,avoiding: PBV + "processing"%  +44 "core" + "processing"%% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%' +1593 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1598 "core" ' + .tPSV.dial PSR +2 "processing"%" +45 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%%' +2596 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%'  + "collection"'(  +78 "core" +21  +2 .tPSV.dial :PTV,via: :air + "processing"%) +195 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck + "processing"% @ +74 "core" B +2 .tPS.seek 0ml + "processing"%' +2596 "core" ' +2 .tPSV.dial :air + "processing"%#  +76 "core"  +2 .tPS.seek 2.5ml + "processing"%,' +2596 "core" ' +2 .tPSV.dial :PTV + "processing"%- +73 "core"  +2 .tPS.seek 0ml + "processing"%.' +2596 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&/& +4 "core" && 9 =F +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +3 "core" && & G =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &% 4 =F +2 .tForearm.seek CC + "manipulator"&3'" +99 "core" ' + .tHand.close + "manipulator"&4/ +55 "core" / +2 .tCC.seek :open +2 "collection"'5( +416 "core" ( + "manipulator"&6& +4 "core" && =F +2 "manipulator"&7% +3 "core" % 2 Z +2 .tForearm.seek :retract +2 "manipulator"&8'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&9(, +278 "core" ( + "manipulator"&:& +4 "core" &, r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &, ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&<'Ϧ +101 "core" ' +2 .tHand.open +2 "manipulator"&=1 +62 "core" 1 + "manipulator"&>% +4 "core" % ϰ ' u A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?'\ +95 "core" ' +998 "Can"\ 52z +2001 #t-> access 2 +2 "storage"(A% +3 "core" %U\ &\ ' X\ +2 "manipulator"&B% +4 "core" %\    + "manipulator"&$& +4 "core" &, o  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(D(K +963 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" &K n\  +324 #t-> exit +5 #mEXIT @1668633911.21EST @1668798347.24EST = =tMAIN =mMAIN_scheduler @EST1668798349.05 #"core_reset"Sent BREAK + #t@46210 receive with ifg=0x10, ie=0xFD + #@46856 receive with ifg=0x10, ie=0xFD + #@47509 receive with ifg=0x10, ie=0xFD + #@48150 receive with ifg=0x10, ie=0xFD + #@48797 receive with ifg=0x10, ie=0xFD #@49444 receive with ifg=0x10, ie=0xFD + #@50090 receive with ifg=0x10, ie=0xFD #@50417 receive with ifg=0x80, ie=0xFD + #@48219 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +378 "Can"i\ 75 + i\ 75 + #tPolling Can every 10:00 +2 #Cleanly exited at 16:25:11EST16-Nov-22 +423 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %UV\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %_\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % + ( t +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1864 #-> $da[:extractVol]=.16 +1093 #-> Intakepurge +2 !o:NameError: mesg"'uninitialized constant Intakepurge: name:Intakepurge:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +591 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'4& +3 "core" &WV\ +2 .tHand.open + "manipulator"&51 +19 "core" 1 + "manipulator"&6& +4 "core" &,  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(, +2 "core" ( +2 "manipulator"&8& +4 "core" &, Z  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &, r  +2 .tForearm.seek :garage +2 "manipulator"&:'Ϧ +95 "core" ' + .tHand.close +2 "manipulator"&;/ +56 "core" / +2 "manipulator"&<& +4 "core" &, z  + "manipulator"&=% +4 "core" % ϸ P +2 .tForearm.seek :retract +2 "manipulator"&>'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&?( +276 "core" ( +2 "manipulator"&@& +4 "core" &' # c >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &( " >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'" +104 "core" ' +2 "manipulator"&C& +4 "core" &( ` >M + "manipulator"&D% +4 "core" % A +2 "collection"'E& +4 "core" &SV\ +2 "collection"'F& +4 "core" &US\ +3 .tCC.seek :closed + "collection"'G(V +5 "core" &VT\ +7 &\ #UW\ $c +9 &WTT\ 8 +9 &UV\ M +10 &\\TW\ O +9 &[]UW\ N +9 &[TW\ N +10 &]UV\ O +9 &_TV\ N +9 &b`UU\ O +10 &%^UT\ N +9 &\\UV\ N +10 &!]UT\ O +9 &#k\\RU\ N +9 &%,bUW\ O +10 &&]SS\ N +9 &(^UU\ N +10 &*tZUW\ N +9 &,5^WU\ N +9 &-]WT\ N +10 &/\\VV\ N +9 &1|^TU\ N +9 &3=]UV\ N +10 &4_TV\ N +9 &6_VU\ N +9 &8]WU\ N +10 &:D`UU\ O +9 &<aTU\ N +10 &=]TW\ N +9 &?`SV\ N +9 &AM_UU\ N +10 &C`TV\ N +9 &DcSV\ O +9 &FgVW\ O +10 &HM|XV\ Q +9 &JVX\ U +10 &KWZ\ X +9 &MWZ\ X +9 &O?XW\ Y +10 &QXX\ Y +9 &RWW\ Z +9 &TWX\ Z +10 &VtTX\ / +9 &V(ZY\ O +9 ( +3 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 "collection"'H& +4 "core" &V]VZ\ F + &V]WX\ F + .tHand.open +3 "manipulator"&I1 +58 "core" 1 + "manipulator"&J% +4 "core" %  5 d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +102 "core" ' +2 #tPurging external Intake + "collection"'L& +4 "core" &V]WY\ F +2 "collection"'M% +4 "core" %WW\ + .tCSV.dial :flush +2 "collection"'N  +55 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +4 .tCS.seek 10ml +2 "collection"'O' V +2351 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'P + 'Q  +74 "core" +4  + .tCTV.dial :intake +2 "collection"'R  +75 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'S' +2287 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'T  +74 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&U& +4 "core" &' g >M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&V( +3 "core" ( +2 "manipulator"&W& +4 "core" &'  ' >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &'  >M +2 .tForearm.seek CC + "manipulator"&Y'" +92 "core" ' + .tHand.close +2 "manipulator"&Z/ +53 "core" / +2 .tCC.seek :open + "collection"'[( +416 "core" ( + "manipulator"&\\& +4 "core" &'  >M +2 "manipulator"&]% +3 "core" % 6  ! +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&_(, +286 "core" ( + "manipulator"&`& +4 "core" &, ] 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &, ; 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&b'Ϧ +112 "core" ' +2 .tHand.open + "manipulator"&c1 +57 "core" 1 + "manipulator"&d% +4 "core" % Ϩ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +17368 #t-> da 50 +3 #da sampling at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 14:11:01EST18-Nov-22\\n{}\\nCTD data unavailable\\nCan@14:05:55, 24% flow, 21.4C, 18% humidity, 14.6psia, 13.749V, 0.281A, 0.268A avg, 3.86W",Subject: "da sampling at most 50ml" +4 "collection"'f& +3 "core" &YV\ +2 "manipulator"&g% +5 "core" %\  (  +2 "storage"(h% +3 "core" %U \  \ +2 "storage"(i. +3 "core" .,K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(j( +72 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1211 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" & 3\ +2 "manipulator"&l& +4 "core" &,  1 + "manipulator"&m% +4 "core" %\  5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +173 "core" ( +2 "manipulator"&o& +4 "core" & P - + "storage"(p& +4 "core" & \ \ " \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +97 "core" ' + "storage"(r& +5 "core" & \ G\ * \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +269 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +2 "core" & \ \  F\ +2 "manipulator"&v& +4 "core" & - + .tElbow.seek 2 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +3 "core" & W - +2 "storage"(y& +4 "core" & \ #\ # +\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(}'X +7 "core" &  - +2 "manipulator"&~% +4 "core" %  z +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&( +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&& +5 "core" &! %  8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &"  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +3 "manipulator"&& +4 "core" &" "  8 +2 "manipulator"&% +3 "core" % [ +2 "collection"'\ & +4 "core" &TV\ +2 "collection"' & +5 "core" &TV\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &UT\  +9 &1VW\ *y +9 &cWV\ > +10 &vxTX\ N +9 &9]VV\ N +10 &_TV\ N +9 &]VV\ M +9 &]UW\ M +10 &B\\UX\ M +9 &aWW\ N +9 &`UV\ M +10 & _SU\ M +9 &"I_VW\ N +10 &$ `UU\ M +9 &%`UT\ M +9 &'\\VW\ N +10 &)Q]RX\ N +9 &+aWX\ M +9 &,[VU\ M +10 &._VU\ M +9 &0YbUV\ N +10 &2`TS\ M +9 &3`VW\ M +9 &5_VV\ M +10 &7b`UU\ M +9 &9#\\WU\ N +9 &:aTW\ N +10 &<^WU\ N +9 &>j^UV\ M +10 &@+`VX\ N +9 &A_WV\ N +9 &C]VW\ N +10 &EpdVW\ N +9 &G-oWV\ P +9 &HVX\ R +10 &JVY\ W +9 &LZVX\ X +10 &NUW\ X +9 &OTV\ Y +9 &QVW\ X +10 &S_VW\ Y +9 &U VW\ Z +9 &VlCXV\ 0 +10 &VqXW\ G +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&1 +3 "core" &VgXW\ G +57 1 +3 "manipulator"&% +4 "core" %  # d + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold +2 "sampler")+ +3 "core" + +2 "sampler")% +4 "core" % - ( \ t + "collection"'& +4 "core" &VgY[B\ G +3 "Can"]\ LI + #tCalibrating pressure and temperature sensors +4 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")  +4 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X% +2 "core" %ML\ +2 #tIntake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0Xx9 +3 "core" 9d +102 "collection"'D9 +2 "core" 9d +102 "collection"'I9 +3 "core" 9"d +102 "collection"'J9 +2 "core" 9&d +102 "collection"'L9 +2 "core" 9*d +103 "collection"'M9 +3 "core" 9/d +103 "collection"'F9 +2 "core" 93d +102 "collection"'N9 +2 "core" 97d +102 "collection"'B9 +3 "core" 9;d +102 "collection"'9 +3 "core" 9?d +102 "collection"'P9 +2 "core" 9,Dd +102 "collection"'Q9 +3 "core" 9BHd +102 "collection"'R9 +2 "core" 9WLd +103 "collection"'O9 +2 "core" 9nPd +102 "collection"'T9 +3 "core" 9Td +102 "collection"'U9 +3 "core" 9Xd +102 "collection"'W9 +2 "core" 9]d +102 "collection"'X9 +3 "core" 9ad +102 "collection"' 9 +2 "core" 9ed +103 "collection"'Z9 +3 "core" 9id +102 "collection"'H9 +3 "core" 9md +102 "collection"'K9 +2 "core" 96rd +102 "collection"'G9 +3 "core" 9Qvd +102 "collection"'\\9 +2 "core" 9lzd +102 "collection"'`9 +3 "core" 9~d +102 "collection"']9 +2 "core" 9d +102 "collection"'S9 +3 "core" 9d +102 "collection"'V9 +2 "core" 9d +102 "collection"'Y9 +3 "core" 9d +102 "collection"'c9 +3 "core" 9 d +102 "collection"'d9 +3 "core" 9&b +102 "collection"'b9 +2 "core" 9@` +103 "collection"'?9 +2 "core" 9Z] +102 "collection"'f9 +3 "core" 9uZ +102 "collection"'g9 +53 "core" 9W +103 "collection"'h9 +2 "core" 9T +102 "collection"'i9 +2 "core" 9T +103 "collection"'a9 +2 "core" 9P +102 "collection"'k9 +2 "core" 9N +103 "collection"'l9 +3 "core" 9L +102 "collection"'m9 +3 "core" 94K +102 "collection"'^9 +2 "core" 9LI +102 "collection"'p9 +3 "core" 9dF +102 "collection"'r9 +2 "core" 9{E +103 "collection"'_9 +3 "core" 9C +102 "collection"'o9 +2 "core" 9A +102 "collection"'e9 +3 "core" 9@ +102 "collection"'u9 +2 "core" 9> +102 "collection"'v9 +3 "core" 9< +102 "collection"'9 +3 "core" 9; +102 "collection"'t9 +3 "core" 99 +102 "collection"'{9 +2 "core" 9&8 +102 "collection"'9 +3 "core" 9:6 +102 "collection"'x9 +2 "core" 9L5 +102 "collection"'y9 +3 "core" 9_4 +103 "collection"'|9 +2 "core" 9p2 +102 "collection"'n9 +2 "core" 92 +102 "collection"'q9 +3 "core" 9\ 0 +102 "collection"'~9 +2 "core" 9/ +102 "collection"'9 +2 "core" 9. +102 "collection"'s9 +2 "core" 9, +102 "collection"'z9 +3 "core" 9+ +102 "collection"'9 +2 "core" 9+ +102 "collection"'w9 +3 "core" 9#) +102 "collection"'9 +3 "core" 9() +102 "collection"'9 +3 "core" 9 ,( +102 "collection"'}9 +2 "core" 9 0' +102 "collection"'9 +3 "core" 9 #4' +102 "collection"'9 +2 "core" 9 /8& +102 "collection"'9 +3 "core" 9 ;=% +102 "collection"'9 +3 "core" 9 FA$ +102 "collection"'9 +2 "core" 9 QE# +102 "collection"' 9 +3 "core" 9 \\I# +102 "collection"'\ 9 +2 "core" 9 gM" +102 "collection"'9 +3 "core" 9 qQ! +102 "collection"'9 +3 "core" 9 {V +102 "collection"' 9 +2 "core" 9 Z +102 "collection"'[9 +3 "core" 9 ^ +102 "collection"'9 +2 "core" 9 b +102 "collection"'9 +3 "core" 9 f +102 "collection"'9 +2 "core" 9 k +102 "collection"'9 +3 "core" 9 \ o +102 "collection"'9 +2 "core" 9  s +102 "collection"'9 +3 "core" 9  w +102 "collection"'"9 +3 "core" 9 { +102 "collection"'$9 +2 "core" 9  +102 "collection"' 9 +3 "core" 9  +102 "collection"''9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'#9 +3 "core" 9  +102 "collection"'!9 +2 "core" 9  +103 "collection"'(9 +2 "core" 9  +102 "collection"'*9 +2 "core" 9  +103 "collection"'+9 +2 "core" 9\  +102 "collection"')9 +3 "core" 9\ \  +102 "collection"'&9 +3 "core" 9\  +102 "collection"'.9 +2 "core" 9\  +102 "collection"'%9 +3 "core" 9\   +102 "collection"'/9 +2 "core" 9\ ! +102 "collection"'09 +3 "core" 9\ %# +102 "collection"'19 +2 "core" 9\ *# +103 "collection"',9 +2 "core" 9\ /% +102 "collection"'49 +2 "core" 9\ 3& +103 "collection"'-9 +2 "core" 9\ 8' +102 "collection"'69 +3 "core" 9\ <( +102 "collection"'89 +3 "core" 9\ @* +102 "collection"'59 +2 "core" 9\ E+ +102 "collection"';9 +3 "core" 9\ I+ +102 "collection"'99 +2 "core" 9\ M- +102 "collection"'=9 +3 "core" 9\ Q. +102 "collection"'<9 +3 "core" 9\ U/ +102 "collection"'9 +2 "core" 9\ Y0 +102 "collection"':9 +3 "core" 9\ \\1 +102 "collection"'A9 +2 "core" 9\ _2 +102 "collection"'79 +4 "core" 9\ b3 +102 "collection"'C9 +2 "core" 9\ f4 +103 "collection"'29 +2 "core" 9\ h5 +102 "collection"'39 +2 "core" 9\ l7 +103 "collection"'E9 +2 "core" 9\ n7\  +102 "collection"'>9 +3 "core" 9\ p8 +103 "collection"'D9 +2 "core" 9\ s8 +102 "collection"'I9 +2 "core" 9\ u: +102 "collection"'J9 +3 "core" 9\ x; +102 "collection"'L9 +2 "core" 9\ {; +102 "collection"'M9 +3 "core" 9\ |<# +102 "collection"'F9 +2 "core" 9\ =' +102 "collection"'N9 +3 "core" 9\ =+ +102 "collection"'B9 +2 "core" 9\ >/ +103 "collection"'9 +2 "core" 9\ ?3 +102 "collection"'P9 +3 "core" 9\ ?8 +102 "collection"'Q9 +3 "core" 9\ @< +102 "collection"'R9 +2 "core" 9\ A@ +102 "collection"'O9 +3 "core" 9\ BD +102 "collection"'T9 +2 "core" 9\ BH +102 "collection"'U9 +4 "core" 9\ CM +102 "collection"'W9 +3 "core" 9\ CQ +102 "collection"'X9 +2 "core" 9\ CU +102 "collection"' 9 +3 "core" 9\ CY +102 "collection"'Z9 +2 "core" 9\ C] +102 "collection"'H9 +4 "core" 9\ Cb +102 "collection"'K9 +2 "core" 9\ Bf +103 "collection"'G9 +2 "core" 9\ Bj +102 "collection"'\\9 +2 "core" 9\ An +102 "collection"'`9 +3 "core" 9\ Ar +102 "collection"']9 +2 "core" 9\ Av +102 "collection"'S9 +3 "core" 9\ A{ +102 "collection"'V9 +2 "core" 9\ @ +102 "collection"'Y9 +3 "core" 9\ @ +102 "collection"'c9 +2 "core" 9\ @ +102 "collection"'d9 +3 "core" 9\ ? +102 "collection"'b9 +3 "core" 9\ ? +102 "collection"'?9 +2 "core" 9\ > +102 "collection"'f9 +3 "core" 9\ > +102 "collection"'g9 +2 "core" 9\ > +103 "collection"'h9 +3 "core" 9\ = +102 "collection"'i9 +3 "core" 9\ = +102 "collection"'a9 +2 "core" 9\ = +102 "collection"'k9 +3 "core" 9\ = +102 "collection"'l9 +2 "core" 9\ > +102 "collection"'m9 +4 "core" 9\ = +102 "collection"'^9 +2 "core" 9\ = +102 "collection"'p9 +3 "core" 9\ > +102 "collection"'r9 +2 "core" 9\ = +102 "collection"'_9 +3 "core" 9\ < +102 "collection"'o9 +2 "core" 9\ < +102 "collection"'e9 +3 "core" 9\ < +102 "collection"'u9 +2 "core" 9\ < +102 "collection"'v9 +3 "core" 9\ > +102 "collection"'9 +2 "core" 9\ = +102 "collection"'t9 +3 "core" 9\ = +102 "collection"'{9 +3 "core" 9\ ? +102 "collection"'9 +2 "core" 9\ @ +102 "collection"'x9 +3 "core" 9\ ? +102 "collection"'y9 +2 "core" 9\ @ +103 "collection"'|9 +3 "core" 9\ @ +103 "collection"'n9 +2 "core" 9\ @ +102 "collection"'q9 +2 "core" 9\ ? +102 "collection"'~9 +3 "core" 9\ ? +102 "collection"'9 +2 "core" 9\ ? +102 "collection"'s9 +3 "core" 9\ ?  +102 "collection"'z9 +3 "core" 9\ >  +3 .tCH.hold 10:00,70C +2 "collection"' ` * `\ y +2 'w9 +6 "core"  + 9\ ? + "collection"'% +4 "core" % \ 4 +2 #tBegun lysing Collection Puck Heater at 68C/38.8psia +30027 "Can"\ o +29963 "core" ` + "collection"'9 +4 "core" 9 , + "collection"'}% +4 "core" % W\ + #tEnded lysing Collection Puck Heater at 70C/34.4psia +2 .CS.seek 0ml +2 "collection"'' +330 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +101 "core" A + .tCSV.dial :air +2 "collection"' @ +42 "core" ? +2 .tCS.seek 5ml +2 "collection"''q +1330 "core" ' +2 .tCSV.dial CTV + "collection"'  +53 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +43 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +3 "collection"'\  +53 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +43 "core" @ + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'' +1328 "core" ' + "collection"' % +4 "core" %\ -\ 0 j\ +2 #tPuck @46.0psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'[ +105 "core" ~ + .tCBV.dial CSV +2 "collection"'  +29 "core" +2 "collection"'% +4 "core" %\ \  O\ +2 .tCS.seek 5ml +2 "collection"''q +1326 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'  +43 "core" +2 "collection"'% +4 "core" %q\  +2 .tCS.seek 6.999ml +2 "collection"'' +584 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'" @ +44 "core" > +2 .tCS.seek 10ml +2 "collection"'$' V +827 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +115 "core" ^ +2 #tLysing Complete +2 "collection"''& +4 "core" &VX;:\ G + #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&% +4 "core" %\   + "storage"(#% +4 "core" %a -\ + "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(((S +328 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &T P\ + "manipulator"&+& +4 "core" &! w 8 + "manipulator"&)% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&&(. +159 "core" ( + "manipulator"&.& +4 "core" &0 m  +2 "storage"(%& +3 "core" &U \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&/'ѷ +99 "core" ' +2 "storage"(0& +4 "core" &U \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +274 "core" ' + "storage"(,- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(4'y +40 "core" ' +2 "manipulator"&-& +4 "core" &0  + "manipulator"&6% +4 "core" %ѩ < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +158 "core" ( + "manipulator"&;& +5 "core" &. E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &. E +2 .tForearm.seek CC +2 "manipulator"&='" +96 "core" ' + .tHand.close +2 "manipulator"&& +4 "core" &U\ \  ,\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&D' +110 "core" ' +2 .tElbow.hold + "manipulator"&I, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&J1 +56 "core" 1 +2 "manipulator"&L% +4 "core" % \ $ + "storage"(M& +4 "core" &U \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 315 counts +2 "manipulator"&F'6 +70 "core" ' + "manipulator"&N& +4 "core" &+ O \ +2 "storage"(B& +4 "core" &U\ $\ % \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +28 "core" ' +2 "storage"(P% +5 "core" %y\ &\ 4 \ +2 ."downElevator"SE.seek :down +4 "storage"(Q'X +98 (R% +3 "core" %D\ \ H\ Wc +2 "manipulator"&O% +4 "core" % k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +87 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'U& +4 "core" &,/\ +2 "manipulator"&W& +4 "core" &+ [ \ + "manipulator"&X% +4 "core" %\  c  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (, +180 "core" ( + "manipulator"&Z& +6 "core" &, z @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &, @ +2 .tForearm.seek :garage +2 "manipulator"&K'Ϧ +103 "core" ' +2 .tHand.close + "manipulator"&G/ +52 "core" / +2 "manipulator"&\\& +4 "core" &,  _ @ + "manipulator"&`% +4 "core" % ϸ U +2 .tForearm.seek :retract + "manipulator"&]'\ +106 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&S( +285 "core" ( +2 "manipulator"&V& +4 "core" &( d ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &' # ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'" +102 "core" ' + "manipulator"&d& +4 "core" &( s ?R +2 "manipulator"&b% +4 "core" % w + "collection"'?& +4 "core" &$'\ +2 "collection"'f& +5 "core" &$%\ +2 .tCC.seek :closed + "collection"'g(V +5 "core" &&'\ +7 &4&(\ $d +10 &W%$\ 7 +9 &}&&\ L +9 &Y%%a\ M +10 &lY$&\ L +9 &.Y&&\ L +10 &Z#&\ M +13 &Z&&\ L +5 &tZ%'\ L +11 &5Y%%\ M +8 &Z%% \ L +9 &!`$& \ M +10 &#|Z'%\ L +9 &%=\\&$\ M +10 &&\\%(\ M +9 &(Y$&\ L +9 &*Z"&|\ L +10 &,F\\$%S\ L +9 &._#&\ L +9 &/`"$\ L +10 &1]#&\ M +9 &3N]#$\ L +9 &5Z$$\ L +10 &6_#%\ L +9 &8^&'n\ L +10 &:U_$&\ M +9 &<\\## \ M +9 &=^#% \ M +10 &?\\#$\ L +9 &A^[$%\ L +9 &C\\"%\ M +10 &Dc!$\ M +9 &Fh"#\ M +10 &HZz$\ P +9 &J#!\ U +9 &Ko\ W +10 &MX\ X +9 &ONv\ W +9 &Q\ X +10 &R\ Y +9 &T \ Y +10 &V,u\ . +9 &V$\ P +9 ( +3 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + "collection"'h& +4 "core" &Vj\ J + &Vjz\ J +2 .tHand.open + "manipulator"&i1 +56 "core" 1 +2 "manipulator"&a% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' + .tPSV.dial PSR +2 "processing"%l +88 "core"  + "processing"%m% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%^' +1589 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%p  +47 "core"  +2 .tPS.seek 0ml + "processing"%r' +1587 "core" ' +2 .tPSV.dial PSR + "processing"%_ +46 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%o' +2597 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%e "collection"'u  +6 "core"  +2 "processing"%v  +5 "core"  +66 + .tPSV.dial :mixloop +2 "processing"% +106 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%t  +71 "core" +2 .tPS.seek 0ml +2 "processing"%{' +2596 "core" ' +2 .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%x' +2606 "core" ' + .tPSV.dial :mixloop +2 "processing"%y +46 "core" +2 .tPS.seek 0ml + "processing"%|' +2603 "core" ' + .tPSV.dial :air +2 "processing"%n  +47 "core"  +2 .tPS.seek 2.5ml + "processing"%q' +2600 "core" ' + .tPSV.dial :mixloop +2 "processing"%~ +45 "core" +2 .tPS.seek 0ml +2 "processing"%' +5 "Can"h\ FC +2602 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&s& +4 "core" &' ~ ?R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&z( +3 "core" ( +2 "manipulator"&w& +3 "core" &' ~ ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' ?R +2 .tForearm.seek CC +2 "manipulator"&@'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( + "manipulator"&}& +4 "core" &( ?R +2 "manipulator"&% +4 "core" % 2 4 +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +282 "core" ( +2 "manipulator"&& +4 "core" &, l D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"& 'Ϧ +109 "core" ' + .tHand.open +2 "manipulator"&\ 1 +62 "core" 1 +2 "manipulator"&% +3 "core" % ϰ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp +2 "collection"' & +4 "core" &~\ + "manipulator"&[% +4 "core" %\  =  +2 "storage"(% +3 "core" %T\ G\ F @\ +2 "storage"(. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \  +2 "manipulator"&& +3 "core" &, , D +2 "manipulator"&% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +211 "core" ( + "manipulator"&& +4 "core" &\ I ] +2 "storage"( & +4 "core" & \ ;\ C T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +90 "core" ' +2 "storage"(& +4 "core" & \ C\ * e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +283 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" & \  +2 "manipulator"&*& +4 "core" &\ ] + .tElbow.seek 2 +2 "manipulator"&+( +8 "core" ( +2 "manipulator"&)& +4 "core" & 6 + "storage"(.& +4 "core" & \ ~\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&%' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & 6 +2 "manipulator"&,% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&-'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +149 "core" ( + "manipulator"&1& +4 "core" &# ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&;& +4 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &# ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'" +96 "core" ' +2 "manipulator"&/& +4 "core" &# 7 ;3 +2 "manipulator"&&% +3 "core" %( $ +2 "collection"'<& +4 "core" &\ +2 "collection"'8& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &\ +7 &4\ $c +9 &V~\ 7 +10 &~\ L +9 &Y\ M +10 &k\\\ M +9 &-Z\ M +9 &\\\ M +10 &[p\ M +9 &tZc\ L +9 &6YN\ L +10 &]8\ L +9 &!_#\ L +9 &#|_c\ L +10 &%=]r\ M +9 &'\\{\ L +10 &(Wg\ L +9 &*]V\ L +9 &,FWH\ L +10 &.\\:\ L +9 &/^6\ M +9 &1\\\ M +10 &3M[&\ M +9 &5Z\ M +10 &6[\ L +9 &8W\ L +9 &:V]\ L +10 &<_\ M +9 &=] \ M +9 &?Y\ L +10 &A^]\ L +9 &C_\ M +10 &Da\ M +9 &Fj\ N +9 &HY\ Q +10 &J \ V +9 &K\ X +9 &M\ X +10 &OL\ X +9 &Q \ X +10 &R\ Y +9 &Tz\ Z +9 &V.v\ . +10 &V"p\ M +9 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&:1 +3 "core" &Vh_\ H +60 1 +2 "manipulator"&A% +4 "core" % ( o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +100 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'C  +133 "core"  + .tCSV.dial CTV +2 "collection"'E  +35 "core"  +2 .tPS.seek 2.5ml + "processing"%>' +2596 "core" ' +2 "collection"'=% +4 "core" % SY\  +2 .tCS.seek 4.25ml + "collection"'5'Y +1516 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%J  +44 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%L  +76 "core"  +2 .tPS.seek 0ml +2 "processing"%M' +2596 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'N ` +31 "core" _ +2 .tCSV.dial :air +2 "collection"'B @ +43 "core" ? +2 .tCS.seek 10ml +2 "collection"'2' V +1521 "core" ' + .tCSV.dial CTV +2 "collection"'P  +64 "core"  +57 .tCS.seek 0ml +2 "collection"'3' +2593 "core" ' + .tCBV.dial :waste1 + "collection"'R @ +30 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'O  +132 "core" +2 "collection"'D& +4 "core" &Vi\ H + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&F% +4 "core" %\  c * + "storage"(U% +4 "core" %S q\ + "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(X(S +340 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +2 (4& +2 "core" &V e [ 7\ +2 "manipulator"&& +4 "core" &# ;3 + "manipulator"&Z% +4 "core" %\  k * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&H(. +163 "core" ( +2 "manipulator"&Q& +9 "core" &- v + "storage"(I& +4 "core" &X H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 1 + 700 counts +2 "manipulator"&G'ѷ +95 "core" ' + "storage"(\\& +4 "core" &X \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +281 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +2 "core" &- / v +2 "storage"(V& +4 "core" &X A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&Y' +34 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(b'T +39 "core" ' +2 "manipulator"&?% +4 "core" %  + "storage"(]& +4 "core" &X O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&': +18 "core" ' + "manipulator"&h& +4 "core" &-  v +2 "storage"(i& +4 "core" &X x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&a'ѷ +48 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(f'C +39 "core" ' + "manipulator"&l& +4 "core" &- X v +2 "manipulator"&m% +4 "core" % J g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +164 "core" ( + "manipulator"&p& +4 "core" &0 F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &0 F +2 .tForearm.seek CC + "manipulator"&_'" +92 "core" ' + .tHand.close +2 "manipulator"&r/ +63 "core" / + .tCC.seek :open +2 "collection"'e( +416 "core" ( +2 "storage"(v& +4 "core" &X 4\ + "storage"(u& +4 "core" &X 9\ + "manipulator"&& +4 "core" &- Ct + "manipulator"&t% +4 "core" % + $ +2 .tForearm.seek :retract + "manipulator"&o'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(. +165 "core" ( +2 "manipulator"&{& +4 "core" &/ { + "storage"(y& +4 "core" &X\ $\ " -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&x' +106 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +57 "core" 1 +2 "manipulator"&~% +4 "core" %  +3 "storage"(q& +3 "core" &X \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 312 counts +2 "manipulator"&s'3 +17 "core" ' + "manipulator"&w& +5 "core" &/ X { + "storage"(& +4 "core" &X\ "\ ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'ѷ +48 "core" ' +2 "storage"(S% +4 "core" %I\ 6\ F Y\ +2 ."downElevator"SE.seek :down +3 "storage"(k'X +101 (g% +2 "core" %9D \ \ U` +2 "manipulator"&}% +4 "core" %Ѱ C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%@  +74 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2599 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"% +45 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%z  +45 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%\ +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%  +45 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"% ' +2606 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +4 "core" &\ + "manipulator"&[& +4 "core" &/ o { + "manipulator"&% +4 "core" %\  f  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +175 "core" ( +2 "manipulator"& & +4 "core" &, > + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &, z > +2 .tForearm.seek :garage + "manipulator"&'Ϧ +106 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / + "manipulator"&& +5 "core" &, : > + "manipulator"&% +4 "core" % ϵ + .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&(s +149 "core" ( + "manipulator"&& +4 "core" &p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!' +95 "core" ' + "manipulator"&j& +5 "core" &r i  + "manipulator"&*% +4 "core" % + +2 "processing"%)& +4 "core" &\ +2 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed + "processing"%0(Z +4 "core" &\  +9 &1}\ *z +9 &b\ > +10 &l}\ O +9 &/`\ N +9 &_\ N +10 &`\ N +9 &t_\ N +9 &6^\ N +10 &b\ N +9 &_\ N +10 & |]\ N +9 &">_\ N +9 &$]\ N +10 &%_\ N +9 &'^\ N +9 &)G_\ N +10 &+\ _\ N +9 &,^\ N +9 &.^\ M +10 &0P_\ N +9 &2b\ N +10 &3]\ \ N +9 &5^\ N +9 &7X] \ N +10 &9]\ N +9 &:]\ N +9 &<]\ N +10 &>`]\ N +9 &@!_\ N +10 &A^\ N +9 &C_\ N +9 &Eec\ O +10 &G&m\ O +9 &H\ R +9 &J#\ S +10 &L_*\ S +9 &N"+\ S +10 &O*\ S +9 &Q+\ T +9 &Sf,\ T +10 &U&'\ T +9 &V/\ U +9 &X2\ U +10 &Zb,\ &u +9 &Zc.\ 5 +9 ( +3 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + "processing"%& +4 "core" &Z$4\ / + &Z$1\ / +2 .tHand.open + "manipulator"&,1 +63 "core" 1 + "manipulator"&"% +4 "core" % h + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' + .tPRV.dial :air +2 "processing"%1  +44 "core"  + .tPSV.dial :mixloop +2 "processing"%; +45 "core" +2 "processing"%#% +4 "core" %a\ + .tPS.seek 0.3ml +2 "processing"%%' +375 "core" ' +2 .tPSV.dial PSR + "processing"%/ +104 "core"  + "processing"%&% +4 "core" %\  + #tPulling 0.4ml of PSR.air +2 .PSR.select :air +3 .PS.seek 0.7ml + "processing"%<'. +488 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%+' +1892 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +105 "core" + .tPTV.dial :mixing +2 "processing"%- @ +72 "core" A + .tPBV.dial :waste2 +2 "processing"%  +91 "core"  +2 .tPS.seek 0ml + "processing"%:' +2606 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&A& +55 "core" &r  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&8(s +3 "core" ( + "manipulator"&C& +5 "core" &r  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&9' +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%=( +433 "core" ( +2 "manipulator"&$& +4 "core" &r i  + "manipulator"&J% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&L'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&>(, +117 "core" ( + "manipulator"&N& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &, V  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&5'Ϧ +110 "core" ' +2 .tHand.open + "manipulator"&P1 +58 "core" 1 +2 "manipulator"&2% +4 "core" % ϫ G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +105 "core" ' +4 #tLoading da puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" &\ +2 "manipulator"&D% +4 "core" %\  r $ +2 "storage"(F% +3 "core" %]\ "\ "\ +2 "storage"(U. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(W( +435 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 0\  +2 "manipulator"&4& +3 "core" &,  +2 "manipulator"&% +3 "core" %\  h $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z( +186 "core" ( +2 "manipulator"&Q& +4 "core" & b  + "storage"(I& +4 "core" & \ "\ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +100 "core" ' +2 "storage"(6& +4 "core" & \ C\ K `\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +285 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" & \ \ \  + "manipulator"&V& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&d( +3 "core" ( +2 "manipulator"&?& +4 "core" & 3  + "storage"(]& +4 "core" & \ "\ # \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(m'X +7 "core" & _  + "manipulator"&G% +4 "core" %   Y +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&`(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&Y& +4 "core" &~  C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &~ E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +98 "core" ' + "manipulator"&p& +5 "core" &~ o + "manipulator"&^% +4 "core" % +3 "processing"%a& +3 "core" &\ +2 "processing"% & +5 "core" &r\ +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &i\ +8 &8r\ $c +9 &Ts\ 7 +9 &r\ L +10 &]o\ M +9 &h_l\ M +10 &*Zg\ M +9 &]j\ M +9 &]_\ N +10 &o`a\ N +9 &1_g\ N +9 &`_\ N +10 &!\\`\ M +9 &#xad\ M +10 &%:`Y\ M +9 &&\\N\ M +9 &([N\ M +10 &*]W\ M +9 &,A`V\ N +9 &._W\ N +10 &/_W\ M +9 &1^L\ N +10 &3J_M\ M +9 &5 ZF\ N +9 &6ZC\ M +10 &8\\B\ M +9 &:Q_B\ N +9 &<_E\ M +10 &=YA\ M +9 &?ZD\ M +10 &AZ^B\ M +9 &C_C\ N +9 &DdA\ N +10 &Fg9\ N +9 &H\\q:\ O +9 &J<\ R +10 &K;\ S +9 &M=\ S +10 &OX=\ S +9 &Q=\ T +9 &R=\ T +10 &T=\ S +9 &V^<\ T +9 &X7\ U +10 &Y{q1\ 4 +9 &Z0)\ E +10 &Z(\ ) +2 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&c1 +52 "core" 1 +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%u  +2 %9 +6 "core" 9 +102 "processing"%t9 +2 "core" 9 +102 "processing"%{9 +2 "core" 9  +102 "processing"%y9 +3 "core" 9  +102 "processing"%_9 +4 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9 +102 "processing"%q9 +2 "core" 9" +102 "processing"%w9 +3 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%S9 +2 "core" 9/ +102 "processing"%o9 +2 "core" 93 +103 "processing"%g9 +2 "core" 97 +102 "processing"%}9 +3 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%x9 +2 "core" 9D +102 "processing"%s9 +2 "core" 9H +103 "processing"%f9 +2 "core" 9L +102 "processing"%@9 +2 "core" 9P +103 "processing"%9 +2 "core" 9T +102 "processing"%k9 +2 "core" 9X +102 "processing"%M9 +2 "core" 9]\ +103 "processing"%9 +2 "core" 9a\ +102 "processing"%z9 +3 "core" 9e +102 "processing"%\ 9 +2 "core" 9!i +103 "processing"%9 +2 "core" 9*m +102 "processing"%9 +2 "core" 92q +102 "processing"%9 +3 "core" 9:v +102 "processing"%[9 +3 "core" 9Bz +102 "processing"%9 +3 "core" 9K~ +102 "processing"% 9 +2 "core" 9S +103 "processing"%(9 +2 "core" 9Y +102 "processing"%n9 +2 "core" 9a +102 "processing"%9 +3 "core" 9h +102 "processing"%9 +3 "core" 9m +2 .tPH.hold 2:00:00,28C +3 "processing"% ppl +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +103 "core"  +2 "processing"%% +4 "core" %d\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +583 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +1602 "core" ' + .tPTV.dial :puck +2 "processing"%j  +70 "core"  +2 .tPSV.dial PTV +2 "processing"%* +74 "core" +2 .tPBV.dial :waste1 + "processing"%)  +130 "core"  +2 "processing"%% +4 "core" %|\  +2 .tPS.seek 1.5ml + "processing"% ' +585 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%' +1594 "core" ' +2 .tdelay 5:00 +2090 "Can"U\ b` +27912 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%,  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%" * +33 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%. +75 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%1' +2337 "core" ' + .tPSV.dial PTV +2 "processing"%; +75 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%# +74 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%! +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +76 "core"  +2 .tPS.seek 0ml + "processing"%/' +2334 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%&  +130 "core" + .tPSV.dial :mixloop +2 "processing"%% +44 "core" + .tPRV.dial :ab1 +2 "processing"%< @ +72 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +349 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'-  + "processing"%  +43 "core" +3 + "processing"%+% +78 "core" %2\  +53 .tPS.seek 0.31ml +2 "processing"%A' +369 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'C  +30 "core" +2 .tPRV.dial :air +2 "processing"%E  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'GK +1234 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +72 "core" > +2 .tPS.seek 0.5ml + "processing"%'' +850 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%0  +46 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%$' +1598 "core" ' + .tPSV.dial :PML +2 "processing"%J +44 "core" + .tPTV.dial :mixing +2 "processing"%N @ +73 "core" B +2 .tPBV.dial :waste1 + "processing"%B  +35 "core" + "processing"%9% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%8' +227 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%P * +34 "core" + +3 .tPS.seek 0ml + "processing"%2' +1949 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'O& +3 "core" &"$'\ + "manipulator"&L& +4 "core" &~ +2 "manipulator"&D% +3 "core" %\  h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&F(, +132 "core" ( +2 "manipulator"&U& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&X'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 "manipulator"&4& +4 "core" &,  +2 "manipulator"&% +3 "core" % Ϸ  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&I( +277 "core" ( + "manipulator"&>& +4 "core" &. [ Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &. Dz +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +98 "core" ' + "manipulator"&T& +5 "core" &. # Dy + "manipulator"&K% +4 "core" %& H +2 "collection"'V& +4 "core" &"$\ +2 "collection"'?& +6 "core" &#&\ +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &#$\ +7 &5!$\ $e +10 &V"#\ 8 +9 &"#\ L +9 &Z!#\ N +10 &g_!#\ N +9 &*]!$\ N +10 &_"$\ N +9 &^"#\ M +9 &p]!"\ N +10 &3^""\ M +9 &^"#\ N +9 &!`$"\ N +10 &#w] #\ N +9 &%9^!#\ N +9 &&^""\ N +10 &(_##\ N +9 &*]#"\ N +10 &,B\\"$\ N +9 &.Y"#\ N +9 &/Z#"\ N +10 &1`!%\ O +9 &3HZ##\ N +9 &5\ ]""\ N +10 &6] $\ N +9 &8\\!#\ N +10 &:Q_""\ N +9 &<_""\ N +9 &=` "\ N +10 &?_"#\ N +9 &AY]##\ N +10 &C^##\ N +9 &D`!#\ N +9 &Fg$$\ O +10 &HYx!"\ Q +9 &J#"\ U +9 &K##\ X +10 &M#&\ Y +9 &OI##\ Y +9 &Q\ #$\ Y +10 &R"$\ Z +9 &T"$\ [ +10 &V*v#$\ / +9 &V #$\ I +9 ( +3 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + "collection"'i& +4 "core" &Vg!$\ F +2 &Vg"'\ F + .tHand.open + "manipulator"&l1 +56 "core" 1 +2 "manipulator"&G% +5 "core" % &  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +114 "core" + "processing"%7% +4 "core" %\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%h' +1591 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%Y  +45 "core"  +3 .tPS.seek 0ml + "processing"%' +1595 "core" ' + .tPSV.dial PSR +2 "processing"%d +45 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%p' +2599 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%^  + "collection"'a  +34 "core" ~ +124  + .tPSV.dial :mixloop +2 "processing"%m +104 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%H  +73 "core" +2 .tPS.seek 0ml +2 "processing"%=' +2609 "core" ' + .tPSV.dial :air +2 "processing"%c  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2598 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"% ' +674 "Can"S\ OL +1930 "core" ' + .tPSV.dial :air +2 "processing"%t  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%b' +2595 "core" ' + .tPSV.dial :mixloop +2 "processing"%{ +45 "core" +2 .tPS.seek 0ml +2 "processing"%y' +2601 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&_& +4 "core" &( >O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +26 "core" ( +2 "manipulator"&|& +4 "core" & C "{ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" & "{ +2 .tForearm.seek CC + "manipulator"&q'" +98 "core" ' + .tHand.close +2 "manipulator"&w/ +63 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( + "manipulator"&S& +4 "core" & "{ +2 "manipulator"&o% +4 "core" % , + .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&}(, +270 "core" ( + "manipulator"&& +4 "core" &, M w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &, C w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&s'Ϧ +106 "core" ' +2 .tHand.open +2 "manipulator"&f1 +52 "core" 1 +2 "manipulator"&@% +4 "core" % ϯ  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 ."da"delayUntil "15:01:32.05" +25076 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%k @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%M  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSV.dial :air + "processing"%z  +46 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%\ ' +2341 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%[  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2335 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +135 "core"  + "processing"%(% +4 "core" %3\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%n' +583 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1602 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +120 "core"  + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%:% +3 "core" %@\  +3 ."da"PS.seek 1.5ml + "processing"%' +579 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%j * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%*' +1588 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%)  +34 "core" +2 ."da"delay 30 seconds +9 "Can"Q\ hf +2994 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2336 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%u +85 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%, +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%"  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%.' +2341 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +2 "processing"%;% +4 "core" %>\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%#' +581 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%!' +1598 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" +2 "processing"%&% +3 "core" %@\  +3 ."da"PS.seek 1.5ml + "processing"%%' +583 "core" ' +58 ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%/' +1599 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2342 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%C +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%' +2336 "core" ' + #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%0  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%'  +128 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%J  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%N +44 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%B' +379 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%9  +44 "core"  + "processing"%P% +4 "core" %;\  +2 ."da"PS.seek 0.55ml +2 "processing"%$'. +330 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%8  +46 "core"  +2 ."da"PS.seek 2ml + "processing"%O' +1547 "core" ' + ."da"PSV.dial :PML +2 "processing"%L +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%D @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%U  +34 "core" + "processing"%5% +4 "core" %<\  +2 ."da"PS.seek 1.85ml +2 "processing"%`' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%4' +1943 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +16701 "Can"J\ 64 +31302 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +34 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%v * +33 "core" * +2 ."da"PSV.dial :air + "processing"%X  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%>' +2359 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%6 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%F  +44 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%T +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%K  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V' +2334 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%Q +133 "core"  + "processing"%e% +4 "core" %=\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%i' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%l' +1598 "core" ' + ."da"PTV.dial :puck +2 "processing"%G  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%? +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%\\  +35 "core" + "processing"%7% +4 "core" %C\  +2 ."da"PS.seek 1.5ml +2 "processing"%R' +583 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%2 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Y' +1594 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%h  +34 "core" +2 ."da"delay 30 seconds +2437 "Can"B\ 63} +565 ."da"PBV.dial between PSV and waste1 +2 "processing"%d * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%a' +2349 "core" ' + ."da"PSV.dial PTV +2 "processing"%^ +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%m +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%H +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +45 "processing"%p  +80 "core"  +2 ."da"PS.seek 0ml + "processing"%c' +2337 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +132 "core"  +2 "processing"%% +4 "core" %J\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1601 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%{  +34 "core" +2 "processing"%b% +4 "core" %=\  +2 ."da"PS.seek 1.5ml +2 "processing"%_' +581 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%| * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%~' +1598 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%w  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%I * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +72 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%]' +2333 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%S +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%o +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%q +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x' +2340 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +144 "core"  + "processing"%f% +4 "core" %@\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%@' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +4 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%g' +1594 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%s +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%k  +34 "core" +2 "processing"%M% +4 "core" %D\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +581 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%z * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%y' +1591 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +85 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%[' +2332 "core" ' + ."da"PSV.dial PTV +2 "processing"%\ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%( +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%n' +726 "Can"F\ :7 +1617 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +139 "core"  +5 "processing"%% +10 "core" %U\ a +2 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +5 "processing"% +16 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +3 "processing"%'] +340 "core" ' + ."da"delay 5 seconds +503 "processing"%:% +3 "core" %]S\ X +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +329 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%j' +1601 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%)  +36 "core" + "processing"%% +4 "core" %=\ K +2 ."da"PS.seek 1.5ml +2 "processing"%' +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%* * +36 "core" + +2 ."da"PS.seek 0ml +2 "processing"% ' +1586 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%u  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%, * +36 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%" +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2430 "core" ' +2 ."da"PSV.dial PTV + "processing"% +76 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%; +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%. +78 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%#  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +2424 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%1 +134 "core" +2 "processing"%&% +3 "core" %;\ +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%!' +2102 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%< +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%%  +36 "core" + "processing"%% +4 "core" %8\ i +2 ."da"PS.seek 1.5ml +2 "processing"%-' +582 "core" ' +6 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +36 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%/  +105 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C' +1591 "core" ' +2 "processing"%E9 +3 "core" 95I +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%A  +3 "core" 5J + 5J + "processing"%& +4 "core" &ZS\ i) +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %\  `  + "storage"(0% +4 "core" %W 2\ q + "storage"('. +3 "core" .( +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(J(S +342 "core" ( + ."da"SC.configure :limp +53 "storage"($\ 1b +5 (N& +2 "core" &U Y X\ +2 "manipulator"&& +3 "core" &, w +2 "manipulator"&9% +3 "core" %\   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&P(. +199 "core" ( +2 "manipulator"&B& +4 "core" &8  + "storage"(8& +4 "core" &W z v <\ p +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&$'ѷ +105 "core" ' +2 "storage"(L& +4 "core" &W 9\ +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(D'i +282 "core" ' +2 "storage"(U- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &8 [  +2 "storage"(& +3 "core" &W $\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&O' +22 "core" ' + ."da"Elbow.hold +2 "manipulator"&`, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 ."da"SE.seek 1.1 Pucks below Top Plate + "storage"(v'I +30 "core" ' +2 "manipulator"&X% +4 "core" % P +2 "storage"(4& +4 "core" &W k 7\ q + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 306 counts +2 "manipulator"&6'- +19 "core" ' +2 "manipulator"&F& +3 "core" &8 P  +2 "storage"(T& +4 "core" &W z u a\ p +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&K'ѷ +22 "core" ' +2 ."da"SE.seek 2.1 Pucks below Top Plate +3 "storage"(>'8 +47 "core" ' +2 "manipulator"&Q& +4 "core" &8 h  +2 "manipulator"&e% +4 "core" %ѕ k +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +3 "manipulator"&V'\ +93 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&i(s +274 "core" ( +2 "manipulator"&G& +4 "core" &o ;  + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &o  +2 ."da"Forearm.seek PC +2 "manipulator"&\\' +92 "core" ' + ."da"Hand.close +2 "manipulator"&7/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%l( +436 "core" ( + "storage"(2& +4 "core" &W \ r + "manipulator"&R& +4 "core" &p  +2 "manipulator"&h% +3 "core" %  q  +2 ."da"Forearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(. +236 "core" ( + "manipulator"&Y& +4 "core" &. ^ [ + "storage"(^& +4 "core" &W \ q +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&m'ѷ +98 "core" ' + ."da"Hand.open +2 "manipulator"&H1 +58 "core" 1 +2 "storage"(p- +4 "core" -'8 +2 ."da"SE.seek 1.85 Pucks below Top Plate +2 "storage"(a' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(=' +46 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov1815h50ml.tif +1952 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +28372 #"da"WARNING: Too Dark -- required 303.3s exposure > 300s time limit\ SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 300 seconds\ /var/log/esp/da22nov1815h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov1815h50ml15s.tif +1548 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov1815h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22nov1815h50ml30s.tif +898 "Can"8\ 1 +2154 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22nov1815h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22nov1815h50ml70s.tif +7131 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22nov1815h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "300.0 sec auto-exposure",Subject: "da22nov1815h50ml images!" +3 "storage"(- +7 "core" -' +3 "storage"(c& +5 "core" &W\ \  N\ +2 "manipulator"&& +3 "core" &0\ : Y +3 ."da"Elbow.seek 1 +2 "manipulator"& (. +4 "core" ( + "manipulator"&{& +4 "core" &0\ c Y +2 "storage"(b& +4 "core" &W   \ +2 ."da"Forearm.seek 1 + 700 counts +3 "manipulator"&t'ѷ +4 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.9 Pucks below Top Plate +2 "storage"(|'> +55 "core" ' +2 "manipulator"&_& +4 "core" &0\ w Y +2 "storage"(w& +3 "core" &W \ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 ."da"Forearm.reconfigure :loose +3 !"Qmail"o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +3 "manipulator"&I' +26 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&Z, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.08 Pucks below Top Plate +2 "storage"(~'( +26 "core" ' +2 "manipulator"&S% +4 "core" % D +2 "storage"(o& +4 "core" &W |\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts + "manipulator"&q'9 +22 "core" ' + "manipulator"&& +5 "core" &0\ 8 Y + "storage"(]& +4 "core" &W "\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +25 "core" ' +3 "storage"(f% +5 "core" %%\ \  F\ +2 ."downElevator"SE.seek :down +3 "storage"(x'X +99 (@% +3 "core" %<4 \ SR + "manipulator"&s% +4 "core" %Ѧ a +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" &W \ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge + "processing"%g& +4 "core" &\ +2 "manipulator"&z& +4 "core" &0 e Y +2 "manipulator"&% +3 "core" %\ : 0 +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(, +189 "core" ( + "manipulator"&& +4 "core" &, _ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, i +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&y'Ϧ +102 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&\ / +62 "core" / +2 "manipulator"& & +4 "core" &, + "manipulator"&(% +4 "core" % Ϻ  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&[(s +144 "core" ( +2 "manipulator"&& +4 "core" &n ; + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n _ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&n' +146 "core" ' +2 "manipulator"&:& +4 "core" &n +2 "manipulator"&% +4 "core" % Z 6 +2 "processing"%& +4 "core" &7\ +2 "processing"%& +4 "core" &q\ +3 ."psFlush"PC.seek :closed + "processing"%)(Z +5 "core" &\  +9 &1'\ *y +9 &b,\ > +10 &ry*\ N +9 &5Y.\ M +12 &\\,\ M +11 &_,\ M +5 &zZ(\ N +10 &<]1\ N +9 &`%\ M +9 &_+\ M +10 & Z$\ N +9 &"D]/\ N +9 &$Y"\ M +10 &%Z%\ M +9 &']E\ M +9 &)M_\ M +10 &+a\ M +9 &,Y\ M +10 &.\\!\ N +9 &0T]\ N +9 &2Y\ M +10 &3Y\ M +9 &5[\ M +9 &7^\\"\ M +10 &9^A\ N +9 &:X\ M +10 &<[2\ N +9 &>d\\(\ N +9 &@'\\\ M +10 &A[Y\ M +9 &Ca\ N +10 &El`\ N +9 &G+i\ O +9 &H}\ Q +10 &J\ S +9 &Lb\ T +9 &N%\ S +10 &O\ S +9 &Q\ T +9 &Sj\ T +10 &U+\ T +9 &V\ T +10 &X\ T +9 &Z^\ #m +9 &Z]\ . +9 ( +3 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 "processing"%& +4 "core" &Z\ * + &Z\ * + ."psFlush"Hand.open +2 "manipulator"&j1 +62 "core" 1 +2 "manipulator"&*% +4 "core" % d 6 +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%u +45 "core"  + "processing"%,% +4 "core" %\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%"' +439 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +143 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"% ' +2093 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +184 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%;  +126 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%. +103 "core" +4 ."psFlush"PS.seek :empty +2 "processing"%#'ռ +2600 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +103 "core"  + "processing"%1% +4 "core" %վ\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%&' +592 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2110 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%<  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%% @ +71 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +103 "core" + ."psFlush"PS.seek :empty +2 "processing"%!'ռ +2606 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%+ +102 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%/'S +1096 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%-' +1595 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%E +73 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%A  +71 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%' +2602 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%0' +586 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'' +2101 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%W +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%N U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2593 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%9 @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%B' +2599 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%8  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%}' +2595 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%L +45 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2596 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%U +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%5' +2593 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2599 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%X  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%4' +2607 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%F +43 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%T'S +1094 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +1595 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%e +73 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%$  +55 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%P' +2594 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%D +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%O' +580 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +2091 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%v +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%K U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%G' +459 "Can";\ 86 +2145 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%? @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%`' +2597 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%7  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%V' +2601 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%r +45 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%2' +2599 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%h' +2605 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%\\ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Y' +2593 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%^  +124 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%i' +2598 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'H& +4 "core" &;=\ +2 "manipulator"&p& +4 "core" &n l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&d(s +3 "core" ( +2 "manipulator"&>& +4 "core" &n $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &n R +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&c/ +58 "core" / +2 .tPC.seek :open + "processing"%( +434 "core" ( + "manipulator"&{& +4 "core" &n > +2 "manipulator"&b% +3 "core" % g +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&w( +349 "core" ( +2 "manipulator"&S& +4 "core" &. Dy + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &. z Dy +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' + "manipulator"&]& +5 "core" &- } Bi + "manipulator"&f% +4 "core" % +2 "collection"'& +4 "core" &;<\ +2 "collection"'m& +4 "core" &-;\ +2 .tCC.seek :closed +2 "collection"'=(V +4 "core" &;=\ +8 & ,;<C\ #b +10 &V;;\ 8 +9 &==M\ L +9 &Z:>\ N +10 &`^8;\ N +9 &"`;>\ N +10 &b;>\ N +9 &];>\ M +9 &i_<=\ M +10 &*_=>:\ N +9 &a<<\ N +9 &!_<<\ N +10 &#p_<?\ N +9 &%2b;;\ N +9 &&\\;= \ M +10 &(\\;<6\ M +9 &*y]:<\ M +10 &,:\\==2\ N +9 &-\\<;\ M +9 &/_:<\ N +10 &1_;=\ N +9 &3C];<\ M +10 &5\\<=\ N +9 &6\\<<\ N +9 &8\\=< \ M +10 &:J`<; \ N +9 &< `== \ N +9 &=c<=\ N +10 &?];;\ N +9 &AS_;< \ M +9 &C_;=\ M +10 &Db<< \ N +9 &Fh:<\ N +10 &HSw>;9\ P +9 &J <>E\ T +9 &K==F\ X +10 &M<?\ Y +9 &OD:;w\ X +9 &Q<;\ Y +10 &R<=O\ Y +9 &T<=\ Z +10 &V"v<<\ / +9 &V$;>\ M +9 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + "collection"'@& +4 "core" &Va;=\ H + &Vb<<\ H +2 .tHand.open + "manipulator"&s1 +62 "core" 1 +2 "manipulator"&t% +5 "core" %  q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'|& +4 "core" &Vb;>\ H + "collection"'I% +4 "core" %<>\ +2 .tCSV.dial CSR + "collection"'M  +51 "core"  +2 "collection"'g% +4 "core" %<><\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +3 "collection"' +9 .tCS.seek 5ml +2 "collection"'q'q +1336 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'z% +3 "core" %q;?d\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml + "collection"''< +643 "core" ' + .tCSV.dial :waste +2 "collection"'~ +133 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +1956 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'& +4 "core" &Va>>\ H +2 "collection"'% +3 "core" %>>a\ + .tCSV.dial :flush +2 "collection"'x  +55 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'Z'q +1184 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'\ @ +64 "core" ? + "collection"' % +4 "core" %q<=m\  +2 .tCS.seek 6.999ml +2 "collection"'(' +526 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'k  + '  +54 "core"  +83  + .tCBV.dial :waste1 +2 "collection"' @ +44 "core" ? +2 .tCS.seek 0ml + "collection"'y' +1623 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'& +4 "core" &V`@B\ H +2 "collection"':% +3 "core" %@B\ +2 .tCSV.dial :flush + "collection"'  +74 "core"  +3 .tCS.seek 5ml + "collection"''q +1182 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +54 "core" B + "collection"'l% +4 "core" %qA?{\  +2 .tCS.seek 6.999ml +2 "collection"'' +531 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'j  +48 "core"  +2 .tCBV.dial :waste2 +2 "collection"'*  +104 "core"  +2 .tCS.seek 0ml +2 "collection"'' +1620 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'u& +4 "core" &V`<>{\ H + "collection"',% +4 "core" %=>n\ + .tCSV.dial CSR +2 "collection"'n  +52 "core"  + "collection"'C% +5 "core" %<>S\ + #tPulling 7.999ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'"' +1833 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' V +521 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'; + '.  +130 "core" +9  +2 .tCTV.dial :intake + "collection"'  +74 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"' '^ +1839 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'1  +75 "core"  + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'#' +588 "core" ' +2 .tCSV.dial CSR + "collection"'&  +102 "core"  +2 "collection"'<% +4 "core" %??\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'%'q +1336 "core" ' +2 .tdelay 5 seconds +504 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' V +1327 "core" ' + .tCSV.dial CBV +2 "collection"' +128 "core" +2 .tCS.seek 0ml +2 "collection"'+' +2580 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&!& +4 "core" &+ Bh +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&/( +3 "core" ( +2 "manipulator"&E& +4 "core" &+ Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &+ Bh +2 .tForearm.seek CC +2 "manipulator"&-'" +92 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "manipulator"&0& +4 "core" &+ Bh + "manipulator"&W% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&'(, +286 "core" ( + "manipulator"&9& +4 "core" &, : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &,  : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&8'Ϧ +103 "core" ' + .tHand.open + "manipulator"&B1 +54 "core" 1 + "manipulator"&L% +4 "core" % Ϭ c , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}'\ +95 "core" ' + "processing"%U& +4 "core" &+\ +13867 "Can"8\ 0-y +18263 #t-> access 2 +3 "storage"(% +3 "core" %b\ \  V\ +2 "manipulator"&% +3 "core" %\  x  +2 "manipulator"&5& +4 "core" &, : + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(X(K +1598 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +52 "core" &K h\  +221 #t-> access 1 +2 "storage"(F% +3 "core" %b\ \  3\ +2 "manipulator"&4% +4 "core" %\  n  +2 "manipulator"&T& +3 "core" &, 7 : +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(e(<* +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &<- $\ +4886 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%Q% +3 "core" % \ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%D& +4 "core" &\ + "manipulator"&P& +4 "core" &, b : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&O(, +2 "core" ( +2 "manipulator"&v& +4 "core" &, D : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &, ~ : +2 .tForearm.seek :garage +2 "manipulator"&6'Ϧ +103 "core" ' + .tHand.close +2 "manipulator"&?/ +53 "core" / + "manipulator"&G& +4 "core" &, S : +2 "manipulator"&7% +4 "core" % Ϲ +2 .tForearm.seek :retract + "manipulator"&`'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&r(s +123 "core" ( + "manipulator"&V& +4 "core" &g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &g x  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2' +99 "core" ' + "manipulator"&\\& +4 "core" &g l  +2 "manipulator"&h% +4 "core" % +2 "processing"%^& +4 "core" &!\ +2 "processing"%Y& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%H(Z +4 "core" &\ \ +7 &? \ $e +9 &T \ 7 +10 & \ L +9 &]\ M +9 &c[ \ N +10 &%Y\ N +9 &Z\ M +10 &Z\ \ M +9 &k\\\ N +9 &-[\ N +10 &` \ N +9 &!]\ \ N +9 &#s\\ \ N +10 &%5Z\ N +9 &&]\ N +10 &(Z\ M +9 &*|\\\ M +9 &,>`\ M +10 &-a\ N +9 &/]\ M +9 &1\\\ M +10 &3F_\ M +9 &5_\ M +9 &6Z\ M +10 &8Z\ M +9 &:N]\ M +10 &<`\ M +9 &=Z\ N +9 &?]\ N +10 &AVZ\ M +9 &C`\ N +9 &D`\ N +10 &Fc\ O +9 &HUr\ P +10 &J\ S +9 &K\ S +9 &M\ S +10 &OT\ S +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VY\ T +10 &X\ U +9 &Y{s\ 5 +9 &Z2\ G +10 &Z\ ' +2 ( + "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + "processing"%p& +4 "core" &Z\ ' +2 .tHand.open + "manipulator"&>1 +54 "core" 1 +2 "manipulator"&a% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"%[ +46 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'S +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%)' +1591 "core" ' +2 .tPSV.dial PTV + "processing"%{ +74 "core" +2 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%b  +53 "core" +2 .tPS.seek 0ml +2 "processing"%' +2602 "core" ' + .tPSV.dial PSR +2 "processing"%d +75 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%S' +585 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%o' +2104 "core" ' + .tPSV.dial PTV +2 "processing"%] +75 "core" + .tPBV.dial PSV +2 "processing"%f U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%' +2602 "core" ' +2 .tPSV.dial PBV + "processing"%_ @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2603 "core" ' + .tPSV.dial :waste1 + "processing"%@  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%s' +2598 "core" ' + .tPSV.dial PSR +2 "processing"%t +44 "core" + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%|' +2607 "core" ' + .tPSV.dial PTV +2 "processing"%I +73 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%m' +2602 "core" ' +2 .tPSV.dial PBV + "processing"%M @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%g' +2599 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +74 "core"  +2 .tPS.seek 0ml + "processing"%3' +2608 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&z& +4 "core" &g O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&q(s +30 "core" ( + "manipulator"&~& +4 "core" &m \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m J \ +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%x( +436 "core" ( +2 "manipulator"&& +4 "core" &m 8 \ + "manipulator"&\ % +4 "core" %  I  +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Z(, +117 "core" ( + "manipulator"&k& +4 "core" &, ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, M ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +104 "core" ' + .tHand.open + "manipulator"&(1 +55 "core" 1 +2 "manipulator"&% +4 "core" % ϰ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' +5111 "Can"-\ 0-{ @1669813976.73EST = =tMAIN =mMAIN_scheduler @EST1669813978.64 #"core_reset"Sent BREAK +2 #t@4617 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +392 "Can"\ d + \ d + #tPolling Can every 10:00 +709 #-> ESP.ready! +3 #Powering core bus +567 .Gate.power :raw,:ON +3 "sampler") +17 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % u  +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %Y\  \ +2 "manipulator"&<% +4 "core" %\   + "manipulator"&=& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +964 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K 8\  +662 #t-> startTube 2 +1400 #-> $da[:extractVol]=.16 +41055 #-> da 100 +2 #da sampling at most 100ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +3 ."Qmail"DAfans.email "Started da in tube 2 at 08:21:17EST30-Nov-22\\n{}\\nCTD data unavailable\\nCan@08:13:07, 23% flow, 20.4C, 34% humidity, 14.7psia, 13.829V, 0.131A, 0.112A avg, 1.81W",Subject: "da sampling at most 100ml" +3 "collection"'@& +4 "core" &8\  + .tHand.open + "manipulator"&A1 +60 "core" 1 +2 "manipulator"&B% +7 "core" % \  w  + "storage"(C% +4 "core" %Z \  6\ +2 "storage"(D. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E( +38 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1254 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" & \ +2 "manipulator"&G& +3 "core" & q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +37 "manipulator"&H( +11 "core" ( +2 "manipulator"&I& +4 "core" & $ I + "storage"(J& +4 "core" & ^\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +99 "core" ' +2 "storage"(L& +4 "core" & \ \  u\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +270 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & \ \  \ +2 "manipulator"&P& +4 "core" & | +2 .tElbow.seek 2 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&R& +3 "core" & l +2 "storage"(S& +5 "core" & \ \  S\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +3 "storage"(W'X +6 "core" & z +2 "manipulator"&X% +4 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +144 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&[& +5 "core" &+ 1  Bg + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &,  Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +99 "core" ' + "manipulator"&^& +4 "core" &+ % Ae +3 "manipulator"&_% +4 "core" %+ _ + "collection"'`& +4 "core" &Z\  +2 "collection"'a& +5 "core" &]\  +2 .tCC.seek :closed +2 "collection"'b(V +5 "core" &_\  +6 &Ke\ %h +9 &uW\\\ 9 +9 &\\\ M +10 &_Z\ N +9 &Obj\ N +10 &^`\ N +9 &bd\ O +9 &_f\ N +10 &Wcm\ N +9 &ag\ O +9 &`j\ N +10 &!_c\ N +9 &#^^k\ O +10 &% ah\ O +9 &&\\l\ N +9 &(]n\ N +10 &*f_v\ O +9 &,)_u\ N +9 &-\\t\ N +10 &/`r\ O +9 &1n`v\ O +10 &30^r\ O +9 &4_{\ N +9 &6`\ N +10 &8w]|\ N +9 &:9cs\ N +9 &;_z\ O +10 &=^y\ N +9 &?]z\ N +10 &ABav\ N +9 &Ccu\ N +9 &Ddy\ O +10 &Fpz\ P +9 &H<u\ S +9 &Iu\ W +10 &Ks\ Y +9 &Moh\ Y +10 &O1u\ Y +9 &Po\ Y +9 &Rw\ Z +10 &Ttt\ Z +9 &Vvk\ 0 +9 &V+w\ S +9 ( +2 &Vhu\ G +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&c1 +59 "core" 1 +2 "manipulator"&d% +4 "core" % +  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +2 #tcollectSample 100ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold +2 "sampler")f+ +3 "core" + + "sampler")g% +4 "core" % \ x +2 "collection"'h& +3 "core" &Vg{\ G +3 "Can"\ KI +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X\ + "sampler")% +4 "core" %Q   \  +41 "collection"'% +3 "core" %C\ +2 "sampler")% +4 "core" %Q   \  +47 "collection"'% +3 "core" %e\ + "sampler")% +4 "core" %Q   \  +54 "collection"'% +3 "core" %f\ + "sampler")% +4 "core" %P   \  +61 "collection"'% +3 "core" %i\ +2 "sampler")% +3 "core" %Q   \  +69 "collection"'% +4 "core" %f\ +2 "sampler")% +4 "core" %P # " \  +78 "collection"'% +2 "core" %E\ +2 "sampler")"% +4 "core" %Q 0 , \  +88 "collection"'%% +3 "core" %E\ +2 "sampler")'% +3 "core" % D A \ O +100 "collection"')% +4 "core" %m\ + "sampler")(% +4 "core" % h g \  +2 "sampler")% +3 "core" % l j \  +2 .tIntake.select :close + "sampler")0 +9 )% +2 "core" % r s \  +2 .tSSV.dial :exhaust + "sampler")#  +79 "core"  +2 .tExhaust.select :open + "sampler")@ +14 .tSS.seek 0ml +2 "sampler"),' +878 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")-  +75 "core" +2 #tAllowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open +2 "sampler") +209 "collection"'.% +3 "core" %3\ +2 #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X% +4 "core" %F   \  +3 "Can"\ ][ +44 "collection"'F% +3 "core" %0\ + "sampler")G% +4 "core" %F   \  +54 "collection"'I% +3 "core" %Z\ + "sampler")J% +4 "core" %F , * \  +61 "collection"'L% +3 "core" %1\ + "sampler")$% +4 "core" %F b ` \  +2 "collection"'&% +3 "core" %0\ +2 #tIntake @12.2psia, vacuum from 6.7 to 9.7psi +2 .SS.reconfigure :inhaling 1.78ml/s +2 "sampler")#.z0X% +3 "core" %l . ,5\ +2 "sampler")0% +3 "core" %^( v u \  +2 #tEvacuated: Intake @18.5psia, Outlet @10.8psia +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")4 +131 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'&' +92 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")5 +133 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0Xc +102 "collection"'/9 +4 "core" 9Ta +102 "collection"'B9 +2 "core" 9j_ +102 "collection"'C9 +3 "core" 9~^ +102 "collection"';9 +2 "core" 9\\ +102 "collection"'>9 +3 "core" 9Z +102 "collection"'09 +2 "core" 9Y +103 "collection"'49 +2 "core" 9V +102 "collection"'D9 +2 "core" 9U +102 "collection"'F9 +3 "core" 9S +102 "collection"'I9 +2 "core" 9 Q +102 "collection"'J9 +4 "core" 9 P +102 "collection"'$9 +2 "core" 93N +102 "collection"'G9 +3 "core" 9FM +102 "collection"'59 +2 "core" 9YK +102 "collection"'A9 +3 "core" 9kJ +102 "collection"'L9 +3 "core" 9~H +102 "collection"'&9 +3 "core" 9G +102 "collection"'P9 +2 "core" 9F +102 "collection"' 9 +3 "core" 9D +102 "collection"'S9 +2 "core" 9 A +102 "collection"'R9 +4 "core" 9A +102 "collection"'V9 +2 "core" 9? +102 "collection"'X9 +3 "core" 9> +102 "collection"'H9 +2 "core" 9\ = +102 "collection"'K9 +3 "core" 9!; +102 "collection"'\\9 +2 "core" 9*&: +102 "collection"'U9 +2 "core" 9:*9 +103 "collection"'[9 +2 "core" 9K.8 +102 "collection"'T9 +2 "core" 9Z27 +102 "collection"'^9 +3 "core" 9h66 +102 "collection"'N9 +3 "core" 9x;4 +102 "collection"'O9 +2 "core" 9?2 +102 "collection"'Q9 +3 "core" 9C2 +102 "collection"'W9 +2 "core" 9G1 +102 "collection"'`9 +3 "core" 9K/ +102 "collection"'M9 +4 "core" 9P/ +102 "collection"'d9 +2 "core" 9T- +102 "collection"'g9 +3 "core" 9X, +102 "collection"'h9 +2 "core" 9\\+ +102 "collection"'_9 +3 "core" 9`* +102 "collection"']9 +3 "core" 9 d) +102 "collection"'9 +2 "core" 9 i( +102 "collection"'f9 +3 "core" 9 m' +102 "collection"'a9 +2 "core" 9 &q' +102 "collection"'k9 +3 "core" 9 3u& +102 "collection"'*9 +3 "core" 9 =y$ +102 "collection"'m9 +2 "core" 9 I~# +102 "collection"'i9 +3 "core" 9 T# +102 "collection"'Y9 +2 "core" 9 _" +102 "collection"'q9 +3 "core" 9 j! +102 "collection"'c9 +3 "core" 9 t! +102 "collection"'n9 +3 "core" 9  +102 "collection"'p9 +2 "core" 9  +102 "collection"'r9 +3 "core" 9  +102 "collection"'u9 +2 "core" 9  +102 "collection"'v9 +4 "core" 9  +102 "collection"'o9 +2 "core" 9  +102 "collection"'x9 +3 "core" 9  +102 "collection"'y9 +2 "core" 9  +102 "collection"'w9 +3 "core" 9  +102 "collection"'s9 +4 "core" 9  +102 "collection"'t9 +2 "core" 9  +102 "collection"'}9 +2 "core" 9  +103 "collection"'|9 +2 "core" 9  +102 "collection"'~9 +3 "core" 9  +102 "collection"'j9 +3 "core" 9  +102 "collection"'9 +2 "core" 9\  +102 "collection"'{9 +3 "core" 9\  +102 "collection"'z9 +2 "core" 9\  +102 "collection"'l9 +3 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'9 +2 "core" 9\ ! +102 "collection"'9 +3 "core" 9\ ( +102 "collection"' 9 +2 "core" 9\ . +102 "collection"'\ 9 +3 "core" 9\ 4 +102 "collection"' 9 +4 "core" 9\ : +102 "collection"' 9 +2 "core" 9\ @ +102 "collection"'9 +3 "core" 9\ E +102 "collection"'9 +2 "core" 9\ K +102 "collection"'9 +3 "core" 9\ P +102 "collection"'9 +3 "core" 9\ V  +102 "collection"'9 +2 "core" 9\ Z +102 "collection"'9 +3 "core" 9\ _ +102 "collection"'9 +2 "core" 9\ e +102 "collection"'9 +3 "core" 9\ i +102 "collection"'9 +3 "core" 9\ m! +102 "collection"'9 +2 "core" 9\ q% +102 "collection"'9 +3 "core" 9\ w) +102 "collection"'9 +2 "core" 9\ {- +102 "collection"'9 +3 "core" 9\ 2 +102 "collection"'9 +2 "core" 9\ 6 +102 "collection"'9 +3 "core" 9\ : +102 "collection"'"9 +2 "core" 9\ > +102 "collection"'%9 +3 "core" 9\ B +102 "collection"''9 +2 "core" 9\ F +103 "collection"')9 +3 "core" 9\ K +102 "collection"'(9 +3 "core" 9\ O +102 "collection"'9 +2 "core" 9\ S +102 "collection"'9 +3 "core" 9\ W +102 "collection"'9 +2 "core" 9\ [ +102 "collection"'#9 +3 "core" 9\ ` +102 "collection"'9 +3 "core" 9\ d +102 "collection"'-9 +2 "core" 9\ h +102 "collection"'9 +3 "core" 9\ l +102 "collection"',9 +4 "core" 9\ p +102 "collection"'19 +3 "core" 9\ u +102 "collection"'39 +3 "core" 9\ y +102 "collection"'69 +2 "core" 9\ } +102 "collection"'89 +3 "core" 9\  +102 "collection"'9 +2 "core" 9\  +102 "collection"'29 +3 "core" 9\  +102 "collection"'99 +2 "core" 9\  +102 "collection"':9 +3 "core" 9\  +102 "collection"'<9 +2 "core" 9\  +102 "collection"'.9 +3 "core" 9\   +102 "collection"'=9 +3 "core" 9\   +102 "collection"'!9 +3 "core" 9\ \  +102 "collection"'?9 +2 "core" 9\   +102 "collection"'@9 +3 "core" 9\   +102 "collection"'79 +2 "core" 9\   +3 .tCH.hold 10:00,70C +3 "collection"'/ ` ) `\ w +2 'B9 +5 "core"  + 9\  +2 "collection"'C% +3 "core" %\ B\ C ;\ I +2 #tBegun lysing Collection Puck Heater at 68C/37.0psia +5407 "Can"\ K +54582 "core" ` +2 "collection"';9 +3 "core" 9 + +2 "collection"'>% +4 "core" % \ +2 #tEnded lysing Collection Puck Heater at 70.1C/31.4psia +2 .CS.seek 0ml + "collection"'0' +331 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'4 @ +103 "core" A + .tCSV.dial :air +2 "collection"'D @ +43 "core" > +3 .tCS.seek 5ml +2 "collection"'F'q +1330 "core" ' + .tCSV.dial CTV +2 "collection"'I  +53 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'J @ +43 "core" @ +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'$  +54 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'G @ +43 "core" @ +2 .tdelay 2 seconds +202 .CS.seek 0ml +3 "collection"'5' +1328 "core" ' + "collection"'A% +4 "core" %\ \ \ + #tPuck @42.7psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'L +103 "core" + .tCBV.dial CSV +2 "collection"'&  +29 "core"  +2 "collection"'P% +4 "core" %\ `\ c D\ +2 .tCS.seek 5ml +2 "collection"' 'q +1082 "Can"\ GE +255 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'S  +43 "core" + "collection"'R% +4 "core" %q   \  +2 .tCS.seek 7ml +2 "collection"'V' +577 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'X @ +44 "core" ? +2 .tCS.seek 10ml + "collection"'H' V +847 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'K ` +115 "core" _ +2 #tLysing Complete + "collection"'\\& +5 "core" &Vdl\ G +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&U% +4 "core" %\    + "storage"([% +4 "core" %a f\ + "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(^(S +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +2 "core" &U 6 < S\ +2 "manipulator"&O& +4 "core" &( i ?Q +2 "manipulator"&Q% +48 "core" %\  c  +11 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&W(. +159 "core" ( + "manipulator"&`& +5 "core" &7 h  + "storage"(M& +4 "core" &W %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&d'ѷ +101 "core" ' +2 "storage"(g& +4 "core" &W 0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +268 "core" ' + "storage"(_- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(]'y +35 "core" ' +2 "manipulator"&& +4 "core" &7 9  +2 "manipulator"&f% +3 "core" % Z d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&k( +155 "core" ( + "manipulator"&*& +4 "core" &* Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &*  Ad +2 .tForearm.seek CC +2 "manipulator"&i'" +96 "core" ' + .tHand.close + "manipulator"&Y/ +52 "core" / +2 .tCC.seek :open +2 "collection"'q( +416 "core" ( + "storage"(c& +4 "core" &W h\ +2 "storage"(n& +3 "core" &W Y\ +2 "manipulator"&p& +4 "core" &*  Ad + "manipulator"&r% +4 "core" % 5 , +2 .tForearm.seek :retract + "manipulator"&u'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&v(. +157 "core" ( +2 "manipulator"&o& +4 "core" &1 g  +2 "storage"(x& +3 "core" &W `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&y' +109 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&t% +5 "core" % = + "storage"(}& +4 "core" &W \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts + "manipulator"&|'5 +20 "core" ' + "manipulator"&~& +4 "core" &1  +2 "storage"(j& +4 "core" &W\ \  <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'ѷ +21 "core" ' +2 "storage"({% +4 "core" %~\ %\ % p\ +3 ."downElevator"SE.seek :down +3 "storage"(z'X +99 (l% +2 "core" %,F \ Vb +2 "manipulator"&% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" &\ +2 "manipulator"& & +4 "core" &1 %  + "manipulator"&\ % +4 "core" %\ \ c  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (, +166 "core" ( +3 "manipulator"& & +4 "core" &, "  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / + "manipulator"&& +4 "core" &, - $  +2 "manipulator"&% +4 "core" % ϡ $ + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +277 "core" ( + "manipulator"&& +4 "core" &&  >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" && B >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +100 "core" ' + "manipulator"&& +4 "core" &' * >M +2 "manipulator"&% +4 "core" %" ; + "collection"'& +4 "core" & )\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +3 "core" & \ +9 & -\ #b +9 &W\ 7 +9 &\ L +10 &^s\ M +9 &h_\ M +10 &*`\ M +9 &]\ M +9 &^e\ M +10 &pa\ M +9 &2\\ <\ M +9 &] #\ L +10 &!_ \ M +9 &#y_\ L +10 &%9_\ M +9 &&\\\ M +9 &(\\\ M +10 &*\\\ M +9 &,B\\Y\ M +9 &.[\ M +10 &/\\\ M +9 &1_\ L +10 &3J^x\ M +9 &5 ab\ M +9 &6\\J\ M +10 &8Z\ M +9 &:R\\\ M +9 &<_\ L +10 &=^\ M +9 &?]\ M +10 &AZ]\ M +9 &Ca\ M +9 &D`\ M +10 &Fi\ N +9 &HW}\ P +9 &J |\ U +10 &Kf\ X +9 &MX\ Y +10 &OH\ X +9 &Q\ \ X +9 &R\ Z +10 &T\ Z +9 &V(vy\ . +9 &V'`\ R +10 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + "collection"'"& +5 "core" &VjK\ I + &Vj<\ I + .tHand.open + "manipulator"&%1 +62 "core" 1 +2 "manipulator"&'% +4 "core" % " _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +99 "core" ' + .tPSV.dial PSR +2 "processing"%( +133 "core"  + "processing"%% +4 "core" %=\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%' +1594 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +44 "core"  +2 .tPS.seek 0ml + "processing"%#' +1593 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%-' +2607 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"% + "collection"',  +6 "core" A + "processing"%1  +70 "core" +87  + .tPSV.dial :mixloop +2 "processing"%3 +103 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%6  +128 "core" +2 .tPS.seek 0ml +2 "processing"%8' +2604 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%2' +2598 "core" ' + .tPSV.dial :mixloop +2 "processing"%9 +44 "core" +2 .tPS.seek 0ml + "processing"%:' +2600 "core" ' + .tPSV.dial :air +2 "processing"%<  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%.' +2607 "core" ' + .tPSV.dial :mixloop +2 "processing"%= +45 "core" +2 .tPS.seek 0ml +2 "processing"%!' +2598 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&?& +4 "core" && t >M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&@( +2 "core" ( +2 "manipulator"&7& +3 "core" &&   >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" && { >M +2 .tForearm.seek CC +2 "manipulator"&C'" +93 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tCC.seek :open + "collection"'/( +417 "core" ( + "manipulator"&;& +4 "core" && { >M + "manipulator"&>% +4 "core" % / I +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&4(, +279 "core" ( +2 "manipulator"&D& +4 "core" &, h Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &, h Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&I'Ϧ +109 "core" ' + .tHand.open + "manipulator"&J1 +58 "core" 1 +2 "manipulator"&$% +4 "core" % Ϫ &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +105 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'F& +4 "core" &xzh\ +2 "manipulator"&A% +4 "core" %\   + "storage"(L% +5 "core" %_\ #\ % E\ + "storage"(&. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(P( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" & \  +2 "manipulator"&S& +3 "core" &, Q +2 "manipulator"&R% +3 "core" %\  ^  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"& ( +175 "core" ( + "manipulator"&X& +4 "core" & g = +2 "storage"(V& +4 "core" & \ $\  #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +98 "core" ' +2 "storage"(\\& +4 "core" & \ \ !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +278 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (T& +3 "core" & ?\  +2 "manipulator"&E& +3 "core" & / = +2 .tElbow.seek 2 + "manipulator"&N( +3 "core" ( +2 "manipulator"&O& +3 "core" & J = +2 "storage"(Q& +3 "core" & \ \  \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&`' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(Z'X +7 "core" & = +2 "manipulator"&e% +4 "core" %  L +2 .tForearm.seek :retract + "manipulator"&_'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( +3 "manipulator"&f& +3 "core" ' +2 &0  F + .tElbow.reconfigure :loose +56 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +4 "manipulator"&h& +4 "core" &0 F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'" +97 "core" ' + "manipulator"&m& +5 "core" &0 B F + "manipulator"&d% +4 "core" % B +2 "collection"'W& +4 "core" &yz\ +3 "collection"'Y& +4 "core" &y{\ +2 .tCC.seek :closed +2 "collection"'a(V +4 "core" &y{\ +7 &6x|\ $d +10 &Vw{\ 7 +9 &x}y\ L +9 &]x{j\ M +10 &h_w|N\ M +9 &,\\y|=\ L +9 &bwz,\ M +10 &\\y{\ M +10 &r[x{=\ L +9 &4]w|0\ L +9 &]x{*\ L +9 &!bw{\ M +10 &#y\\y|\ M +9 &%;`xz\ M +9 &&^wz\ M +10 &(Zz{\ L +9 &*\\w|\ M +10 &,D`yy\ L +9 &.[y{\ L +9 &/^wy\ L +10 &1_xz\ L +9 &3L`z{\ L +9 &5 \\xy\ M +10 &6_yx\ M +9 &8_yz\ L +9 &:S`w{\ M +10 &<_w{\ M +9 &=]xz\ M +10 &?az{\ L +9 &A[bwz\ M +9 &C_v{u\ M +10 &D_xyl\ M +9 &Fny{d\ N +9 &HXxy^\ P +10 &J\ JoX\ V +9 &K<K\ X +10 &M^Z>\ X +9 &OIfd8\ X +9 &Q hi2\ X +10 &Rkk%\ Y +9 &Tjm+\ Y +9 &V*uln#\ . +10 &V#kp\ O +9 ( +3 "collection"'Y& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&b1 +4 "core" &Vjio\ J +58 1 +3 "manipulator"&c% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +98 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'p  +131 "core"  +2 .tCSV.dial CTV + "collection"'r  +35 "core"  +2 .tPS.seek 2.5ml +2 "processing"%o' +2599 "core" ' +2 "collection"'x% +4 "core" % T\\^\ +2 .tCS.seek 4.25ml +2 "collection"'i'Y +1512 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%k  +45 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%s  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%t' +2606 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'} ` +30 "core" _ +2 .tCSV.dial :air +2 "collection"'~ @ +45 "core" ? +2 .tCS.seek 10ml +2 "collection"'j' V +1522 "core" ' +2 .tCSV.dial CTV +2 "collection"'{  +53 "core"  +2 .tCS.seek 0ml + "collection"'u' +2597 "core" ' + .tCBV.dial :waste1 +2 "collection"'l @ +29 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +134 "core" + "collection"'v& +4 "core" &VjJ@7\ J +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&y% +4 "core" %\  H  +2 "storage"(|% +3 "core" %U y\ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"( (S +337 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +4 "core" &T i d \ + "manipulator"&]& +4 "core" &+ ~ Bl +2 "manipulator"&% +3 "core" %\  \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"& (. +162 "core" ( + "manipulator"&& +4 "core" &* ) x +2 "storage"(z& +4 "core" &V R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&w'ѷ +89 "core" ' + "storage"(& +4 "core" &V Z\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" &* x + "storage"(& +4 "core" &V /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +31 "core" ' + "manipulator"&% +4 "core" % z +2 "storage"(& +3 "core" &V < E O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 320 counts +2 "manipulator"&'; +18 "core" ' +2 "manipulator"&q& +4 "core" &* T x + "storage"("& +4 "core" &V <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&%'ѷ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''F +41 "core" ' + "manipulator"&& +5 "core" &* [ x + "manipulator"&(% +4 "core" %Ѳ z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" &. E~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &. B E~ +2 .tForearm.seek CC + "manipulator"&'" +96 "core" ' + .tHand.close + "manipulator"&#/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(,& +4 "core" &V 3\ +2 "storage"(1& +3 "core" &V \ +2 "manipulator"&3& +4 "core" &. E~ + "manipulator"&6% +4 "core" % & } +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(. +156 "core" ( + "manipulator"&8& +5 "core" &1 /  + "storage"(9& +4 "core" &V \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&2' +97 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +62 "core" 1 +2 "manipulator"&=% +4 "core" %  +2 "storage"(.& +3 "core" &V \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&?'8 +13 "core" ' +3 "manipulator"&7& +5 "core" &1 v  + "storage"(B& +4 "core" &V\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"& 'ѷ +23 "core" ' +2 "storage"(% +4 "core" %I\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"()'X +98 (% +3 "core" %B m\ Va +2 "manipulator"&;% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&>'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%C  +74 "core" +2 .tPS.seek 2.5ml + "processing"%D' +2596 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%0 +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%@  +45 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%J +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air +3 "processing"%$  +45 "core"  + .tdelay 1 second +103 .PS.seek 0ml +2 "processing"%F' +2605 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +4 "core" &C\  + "manipulator"&A& +4 "core" &1 s  +2 "manipulator"&L% +3 "core" %\  a  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&&(, +170 "core" ( + "manipulator"&I& +4 "core" &, z L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &, ~ L +2 .tForearm.seek :garage +2 "manipulator"&5'Ϧ +102 "core" ' + .tHand.close +2 "manipulator"&S/ +53 "core" / +2 "manipulator"&R& +4 "core" &, L + "manipulator"&X% +4 "core" % ϸ +2 .tForearm.seek :retract +2 "manipulator"&V'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\\(s +143 "core" ( +2 "manipulator"&4& +55 "core" &{  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &{ G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&[' +97 "core" ' + "manipulator"&T& +4 "core" &{  +2 "manipulator"&E% +4 "core" % p % +2 "processing"%O& +3 "core" &X\  +2 "processing"%Q& +6 "core" &\\\  +2 .tPC.seek :closed + "processing"%M(Z +4 "core" &H\  +8 &LK\ %g +10 &|WD\ 8 +9 &P\ M +10 &aP\ N +9 &QbR\ N +9 &aQ\ N +10 &b^\ N +9 &`a\ N +9 &Zbg\ N +10 &b`\ N +9 &bg\ N +10 &!ar\ N +9 &#b]p\ N +9 &%$`t\ N +10 &&`n\ N +9 &(`v\ N +9 &*i`{\ N +10 &,,`\ N +9 &-a\ N +9 &/`\ M +10 &1sax\ N +9 &36`~\ M +10 &4a|\ N +9 &6`\ N +9 &8zc\ N +10 &:=`\ N +9 &<`\ M +10 &=_\ N +9 &?`\ N +9 &AF_&\ M +10 &Cb\ N +9 &Df\ O +9 &Fl\ O +10 &HC}\ Q +9 &I\ S +9 &K\ S +10 &M\ T +9 &OB\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VH\ U +9 &X\ \ U +9 &Yzo\ ? +10 &Z!O\ E +9 &Z6\ 6 +3 ( + "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 +2 "processing"%g& +4 "core" &Z4P\ 6 + .tHand.open + "manipulator"&e1 +61 "core" 1 +2 "manipulator"& % +4 "core" % z % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' + .tPRV.dial :air +2 "processing"%f  +43 "core"  +2 .tPSV.dial :mixloop + "processing"%h +46 "core" + "processing"%U% +4 "core" %\ +2 .tPS.seek 0.3ml +2 "processing"%`' +378 "core" ' + .tPSV.dial PSR +2 "processing"%N +114 "core"  +2 "processing"%m% +4 "core" %\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%d'. +486 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%W' +1896 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%Z +103 "core" + .tPTV.dial :mixing +2 "processing"%_ @ +72 "core" A + .tPBV.dial :waste2 +2 "processing"%/  +90 "core" +2 .tPS.seek 0ml +2 "processing"%b' +1923 "Can"\ ?< +681 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&c& +4 "core" &{  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&Y(s +2 "core" ( +2 "manipulator"&p& +4 "core" &{ " )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &{ 8  +2 .tForearm.seek PC +2 "manipulator"&*' +96 "core" ' + .tHand.close + "manipulator"&!/ +59 "core" / + .tPC.seek :open +2 "processing"%x( +435 "core" ( +2 "manipulator"&H& +4 "core" &{ Y  + "manipulator"&k% +4 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(, +122 "core" ( + "manipulator"&}& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&i'Ϧ +108 "core" ' + .tHand.open +2 "manipulator"&{1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % ϧ " W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +97 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &>\ + "manipulator"&v% +4 "core" %\  N  +2 "storage"(y% +4 "core" %b\ \  \ + "storage"(|. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" & 9\  + "manipulator"&\ & +4 "core" &,  +2 "manipulator"&]% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +176 "core" ( + "manipulator"&& +4 "core" & n +2 "storage"(z& +3 "core" & \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 "storage"(& +4 "core" & \ $\ $ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & #\  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & + "storage"(& +5 "core" & 7\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&q' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +52 "core" / +7 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(('X +8 "core" & + "manipulator"&w% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +116 "core" ( + "manipulator"&& +4 "core" &k  d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &l U  +2 "manipulator"&% +4 "core" % + "processing"%%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &\  +9 &1\ *x +9 &c\ > +10 &v{\ N +9 &9]\ N +9 &]\ M +10 &]\ N +9 &]\ M +10 &A]\ N +9 &_\ M +9 &_\ M +10 & _\ N +9 &"I`\ N +9 &$ `\ N +10 &%`\ N +9 &'b\ N +10 &)P_\ N +9 &+^\ M +9 &,\\\ N +10 &.\\\ N +9 &0Y`\ N +9 &2`\ N +10 &3]\ N +9 &5]\ M +10 &7a`\ N +9 &9#`\ N +9 &:^\ N +10 &<]\ N +9 &>jZ\ M +9 &@+_\ N +10 &A]\ N +9 &C\\\ M +9 &Ep_\ N +10 &G0c\ O +9 &Hn\ P +10 &J\ S +9 &Lg\ T +9 &N*\ S +10 &O\ T +9 &Q\ T +10 &Sm\ T +9 &U/\ T +9 &V\ U +10 &X\ U +9 &Z ]\ $n +9 &ZU\ * +10 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&1 +3 "core" &Z \ ' +58 1 +2 "manipulator"&a% +4 "core" %  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +101 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%1  +2 %39 +5 "core" 9 +102 "processing"%69 +3 "core" 9 +102 "processing"%89 +2 "core" 9  +102 "processing"%99 +3 "core" 9  +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%:9 +3 "core" 9 +102 "processing"%=9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9" +102 "processing"%79 +3 "core" 9& +102 "processing"%B9 +3 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%-9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%;9 +3 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%29 +2 "core" 9D +102 "processing"%?9 +3 "core" 9H +102 "processing"%'9 +2 "core" 9L +102 "processing"%C9 +2 "core" 9P +102 "processing"% 9 +3 "core" 9T +102 "processing"%)9 +2 "core" 9X +102 "processing"%t9 +3 "core" 9] +102 "processing"%09 +2 "core" 9a +102 "processing"%@9 +3 "core" 9e +102 "processing"%J9 +2 "core" 9i +102 "processing"%$9 +3 "core" 9m +102 "processing"%D9 +2 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%A9 +3 "core" 9z +103 "processing"%L9 +2 "core" 9~ +102 "processing"%I9 +2 "core" 9! +102 "processing"%^9 +3 "core" 9( +102 "processing"%<9 +3 "core" 90 +102 "processing"%S9 +3 "core" 98 +102 "processing"%R9 +2 "core" 9@ +102 "processing"%X9 +3 "core" 9H +102 "processing"%>9 +2 "core" 9P +102 "processing"%49 +2 "core" 9W +102 "processing"%59 +3 "core" 9_ +102 "processing"%G9 +2 "core" 9g +102 "processing"%&9 +3 "core" 9l +2 .tPH.hold 2:00:00,28C +56 "processing"%T ppk +4 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%E +102 "core"  + "processing"%O% +5 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%V' +584 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%+' +1588 "core" ' +2 .tPTV.dial :puck + "processing"%g  +72 "core"  +2 .tPSV.dial PTV +2 "processing"%e +75 "core" + .tPBV.dial :waste1 +2 "processing"%  +131 "core"  + "processing"%Q% +4 "core" %\  +3 .tPS.seek 1.5ml + "processing"%f' +588 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%h * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%U' +1590 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%[  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +34 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%N +75 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%m' +2358 "core" ' + .tPSV.dial PTV +2 "processing"%` +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +74 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%Z +74 "core" + .tdelay 5 seconds +99 "Can"\ TT +404 .tPSV.dial :air +2 "processing"%_  +73 "core"  +3 .tPS.seek 0ml + "processing"%/' +2345 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%W  +128 "core" + .tPSV.dial :mixloop +2 "processing"%c +44 "core" + .tPRV.dial :ab1 +2 "processing"%p @ +72 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%r' +358 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'!  +3 "processing"%\\  +42 "core"  +3 +2 "processing"%K% +4 "core" %\  +2 .tPS.seek 0.31ml + "processing"%M' +371 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'H  +30 "core" + .tPRV.dial :air +2 "processing"%k  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%}'GK +1235 "core" ' + .tPRV.dial :waste2 +2 "processing"%~ @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%*' +852 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air +2 "processing"%Y  +45 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%{' +1589 "core" ' + .tPSV.dial :PML +2 "processing"%j +44 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" @ + .tPBV.dial :waste1 +2 "processing"%v  +34 "core" +2 "processing"%y% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%s' +228 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%| * +34 "core" + +3 .tPS.seek 0ml +2 "processing"%i' +1948 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" &W\ +2 "manipulator"&P& +4 "core" &l  + "manipulator"&\ % +4 "core" %\  a  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&](, +125 "core" ( +2 "manipulator"&& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&'Ϧ +96 "core" ' +2 .tHand.close + "manipulator"&o/ +57 "core" / +2 "manipulator"&l& +5 "core" &,    + "manipulator"&% +4 "core" % Ϻ & , +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +273 "core" ( +2 "manipulator"&& +4 "core" &( z ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( ` ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'" +93 "core" ' +2 "manipulator"&& +5 "core" &)  0 ?Q + "manipulator"&w% +4 "core" % n  +2 "collection"'& +4 "core" &Q\ +2 "collection"'& +5 "core" &T\ +2 .tCC.seek :closed +2 "collection"'n(V +5 "core" &d\  +9 &0Z\ *y +9 &dY\ ? +9 &ty[\ O +10 &8W[\ N +9 &bU\ N +9 &^[\ N +10 &~cS\ N +9 &?aN\ N +10 &]\\\ N +9 &`K\ N +9 & cY\ N +10 &"HcE\ N +9 &$ c\ N +9 &%a\ N +10 &'\\\ N +9 &)P]\ N +9 &+_\ N +10 &,]\ N +9 &.c\ N +10 &0X`\ N +9 &2]\ N +9 &3_\ N +10 &5]\ N +9 &7`bk\ N +9 &9#_q\ N +10 &:_\ N +9 &<`\ N +10 &>h`T\ N +9 &@*^P\ N +9 &A_P\ N +10 &C_O\ N +9 &EobQ\ N +10 &G/iP\ O +9 &Hz\ Q +9 &JS\ V +10 &L[d\ X +9 &N\ X +9 &O\ X +10 &Q\ Y +9 &S_\ Y +9 &U!\ Y +10 &ViB\ 1 +9 &Vs\ E +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/27 samples, on/off torque 1.93 + "collection"'q& +5 "core" &Vg\ E + &Vg\ E + .tHand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" %  !   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +101 "core" ' + .tPSV.dial PSR +2 "processing"% +102 "core"  +2 "processing"%% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%%' +1591 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%(  +44 "core"  +2 .tPS.seek 0ml + "processing"% ' +1597 "core" ' + .tPSV.dial PSR +2 "processing"%x +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2598 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%a  +2 "collection"'3  +32 "core" ~ +127  + .tPSV.dial :mixloop +2 "processing"% +104 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%6  +74 "core" +2 .tPS.seek 0ml + "processing"%' +2604 "core" ' +2 .tPSV.dial :air + "processing"%8  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%9' +2599 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%' +2609 "core" ' + .tPSV.dial :air +2 "processing"%:  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%=' +2597 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%. +43 "core" +2 .tPS.seek 0ml +2 "processing"%7' +2596 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&B& +5 "core" &( ?Q + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +3 "core" ( + "manipulator"&-& +4 "core" &( 9 ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( > ?Q +2 .tForearm.seek CC +2 "manipulator"&;'" +91 "core" ' + .tHand.close +2 "manipulator"&/ +108 "core" / +2 .tCC.seek :open +2 "collection"'2( +417 "core" ( + "manipulator"&?& +5 "core" &( ?Q + "manipulator"&'% +4 "core" % , +2 .tForearm.seek :retract + "manipulator"&C'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (, +281 "core" ( +2 "manipulator"&)& +4 "core" &, E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &, E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&0'Ϧ +105 "core" ' +2 .tHand.open + "manipulator"&@1 +57 "core" 1 + "manipulator"&J% +5 "core" % Ϧ 2  7 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +101 "core" ' +3 ."da"delayUntil "09:12:58.00" +25072 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%D @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +1115 "Can"\ 85 +1887 ."da"PBV.dial between PSV and waste1 +3 "processing"%A * +34 "core" , + ."da"PSV.dial :air +2 "processing"%L  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%I' +2355 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%^ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%<  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%S +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%R  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X' +2357 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +132 "core"  +2 "processing"%4% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%5' +581 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%G' +1591 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%&  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%E +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%O  +35 "core" +2 "processing"%b% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%V' +583 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%g * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%e' +1594 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%Q * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%h' +2360 "core" ' + ."da"PSV.dial PTV +2 "processing"%f +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%[ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%N' +2339 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +132 "core"  +2 "processing"%`% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%d' +581 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Z' +1601 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%_ +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%m  +34 "core" +2 "processing"%W% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%c' +581 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%p * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%/' +1588 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%\\  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +72 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%r' +2357 "core" ' + ."da"PSV.dial PTV +2 "processing"%H +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%k +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%M +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%~  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}' +398 "Can"\ :7 +1943 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%Y  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%*  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%j  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%v' +376 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%y  +42 "core"  + "processing"%|% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%{'( +331 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%s  +45 "core"  +2 ."da"PS.seek 2ml +2 "processing"% ' +1537 "core" ' + ."da"PSV.dial :PML +2 "processing"%P +44 "core" + ."da"PTV.dial :mixing +2 "processing"%\ @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%z% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%o' +227 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%l * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1946 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%, * +34 "core" , + ."da"PSV.dial :air +2 "processing"%  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +533 "Can"\ 86 +1830 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%]  +45 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%w  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2337 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core" +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%q' +582 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1586 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%"' +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%(' +1585 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%%  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%x * +34 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%3' +2357 "core" ' + ."da"PSV.dial PTV +2 "processing"%a +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%6 +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%8' +2332 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core" +2 "processing"%% +3 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%9' +583 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%:' +1595 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%.  +35 "core" + "processing"%=% +4 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%B' +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%- * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%' +1597 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +84 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +2355 "core" ' + ."da"PSV.dial PTV +2 "processing"%? +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%' +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%; +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%)  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%t' +2329 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core"  +2 "processing"%@% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%J' +398 "Can"\ 75 +186 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%C' +1590 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%0 +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%D  +34 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%A' +577 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%7' +1588 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%^  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +84 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%R' +2356 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%I +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%> +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%4 +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%X  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5' +2338 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +139 "core"  +4 "processing"%E% +10 "core" %\ n +2 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +8 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%O'] +335 "core" ' +2 ."da"delay 5 seconds +502 "processing"%b% +5 "core" %Y$\ j + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%G' +328 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%g' +1586 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%V +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +58 "core" + "processing"%Q% +4 "core" %\ j +2 ."da"PS.seek 1.5ml +2 "processing"%+' +581 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%e * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%f' +1596 "core" ' +8 ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%1  +34 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +87 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%h' +2448 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%U +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%` +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%N +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_' +2424 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%m +134 "core"  + "processing"%W% +4 "core" %\ r +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%Z' +2094 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%p +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%c  +36 "core" +2 "processing"%\\% +4 "core" %\ d +2 ."da"PS.seek 1.5ml +2 "processing"%!' +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%/  +106 "core"  +3 ."da"PS.seek 0ml +2 "processing"%H' +1587 "core" ' + "processing"%k9 +3 "core" 95A +2 #"da"Processing Puck Heater at 27.9C before imaging +2 .PH.coast +2 "processing"%M  +3 "core" 5A + 5A + "processing"%~& +4 "core" &Z\ ' + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&r% +4 "core" %\   + "storage"(Y% +4 "core" %` 5\ + "storage"(*. +3 "core" .( +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(j(S +341 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &V z &\ +2 "manipulator"&}& +4 "core" &, E + "manipulator"&y% +4 "core" %\   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&|(. +185 "core" ( + "manipulator"&v& +4 "core" &. +2 "storage"(s& +3 "core" &X \ t +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&{'ѷ +95 "core" ' + "storage"(P& +4 "core" &X D\ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(\ 'i +284 "core" ' + "storage"(- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" &. + "storage"(l& +4 "core" &X R\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"& ' +29 "core" ' + ."da"Elbow.hold +2 "manipulator"&o, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 ."da"SE.seek 1.1 Pucks below Top Plate +2 "storage"(,'M +34 "core" ' + "manipulator"&% +4 "core" %  + "storage"(& +4 "core" &X e '\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 320 counts +2 "manipulator"&'; +18 "core" ' +2 "manipulator"&]& +4 "core" &. l + "storage"(& +4 "core" &X \ s +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&w'ѷ +35 "core" ' +2 ."da"SE.seek 2.1 Pucks below Top Plate +2 "storage"('< +48 "core" ' +2 "manipulator"&& +4 "core" &. +2 "manipulator"&% +4 "core" % j +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&q(s +266 "core" ( +3 "manipulator"&& +4 "core" &m + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &m J +2 ."da"Forearm.seek PC +2 "manipulator"&' +92 "core" ' + ."da"Hand.close +2 "manipulator"&/ +61 "core" / +2 ."da"PC.seek :open +2 "processing"%( +439 "core" ( + "storage"(i& +4 "core" &X \ q + "manipulator"&"& +4 "core" &n + "manipulator"&%% +4 "core" % +2 ."da"Forearm.seek :retract +2 "manipulator"&x'\ +99 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& (. +249 "core" ( + "manipulator"&(& +4 "core" &5 8 +2 "storage"(a& +3 "core" &X s\ u +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +97 "core" ' + ."da"Hand.open + "manipulator"&61 +63 "core" 1 +2 "storage"(- +4 "core" -'< +2 ."da"SE.seek 1.86 Pucks below Top Plate +2 "storage"(3' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.19 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov3009h100ml.tif +1952 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +5836 "Can"\  +22614 #"da"WARNING: Too Dark -- required 380.048s exposure > 300s time limit\ SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 300 seconds\ /var/log/esp/da22nov3009h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov3009h100ml15s.tif +1555 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov3009h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22nov3009h100ml30s.tif +3047 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22nov3009h100ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22nov3009h100ml70s.tif +7131 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22nov3009h100ml70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "300.0 sec auto-exposure",Subject: "da22nov3009h100ml images!" +6 "storage"(- +4 "core" -' +2 "storage"(8& +4 "core" &X ? B [\ +3 "manipulator"&9& +4 "core" &6 + ."da"Elbow.seek 1 +2 "manipulator"&(. +4 "core" ( + "manipulator"&.& +4 "core" &6 k + "storage"(=& +4 "core" &X Z \\\ +2 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&:'ѷ +12 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +5 ."da"SE.seek 1.9 Pucks below Top Plate +2 "storage"(-'B +54 "core" ' + "manipulator"&B& +5 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 "core" &6 X +2 "storage"(& +4 "core" &X\ \  5\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +62 ."da"Forearm.seek 1 +2 "manipulator"&' +32 "core" ' + ."da"Elbow.hold +2 "manipulator"& , +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.09 Pucks below Top Plate +2 "storage"(', +22 "core" ' + "manipulator"&?% +4 "core" % $ +2 "storage"('& +4 "core" &X \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts +2 "manipulator"&;'9 +19 "core" ' + "manipulator"&)& +5 "core" &6 ~ + "storage"(n& +5 "core" &X\ \ s\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +35 "core" ' +2 "storage"(@% +4 "core" %-\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"(t'X +99 (J% +3 "core" %7\ \ \ SR +2 "manipulator"&0% +4 "core" %Ѽ u +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &X\ "\ "\ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%C& +3 "core" &\ +2 "manipulator"&L& +4 "core" &6 { + "manipulator"&A% +4 "core" %\  +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&^(, +173 "core" ( + "manipulator"&<& +5 "core" &, 9 T + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &, T +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&7'Ϧ +103 "core" ' + ."psFlush"Hand.close +2 "manipulator"&I/ +64 "core" / +2 "manipulator"&>& +4 "core" &, T + "manipulator"&4% +4 "core" % ϫ  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&X'\ +101 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&R(s +118 "core" ( +2 "manipulator"&&& +4 "core" &g & + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &g & +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&5' +101 "core" ' +3 "manipulator"&b& +4 "core" &g t & + "manipulator"&O% +4 "core" % +2 "processing"%G& +4 "core" &\ +2 "processing"%V& +4 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"% (Z +5 "core" &y\  +9 &1y\ *x +9 &c\ > +9 &r|\ N +10 &6\\\ M +9 &`\ M +10 &_|\ N +9 &{_\ N +9 &?]{\ M +10 &`|\ N +9 &_|\ M +9 & `|\ M +10 &"E^z\ N +9 &$_u\ N +10 &%^w\ N +9 &'`v\ M +9 &)OZn\ M +10 &+]s\ N +9 &,\\y\ M +9 &.bw\ M +10 &0U^|\ N +9 &2_y\ M +10 &3[x\ M +9 &5[x\ M +9 &7^]u\ M +10 &9 `p\ M +9 &:^u\ M +9 &<`r\ N +10 &>f]y\ M +9 &@(bw\ M +10 &A`q\ M +9 &Cbw\ N +9 &Emcf\ N +10 &G,j\\\ O +9 &HY\ Q +9 &J^\ S +10 &Ld^\ S +9 &N&[\ S +10 &Ob\ T +9 &Qh\ S +9 &Sle\ S +10 &U.k\ S +9 &Vb\ T +9 &Xb\ S +10 &Z ad\ %s +9 &Zc]\ 3 +9 ( +2 &Z"e\ . +2 "processing"%V& +3 #"psFlush"Processing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + "processing"%Q& +4 "core" &Z"p\ . +2 ."psFlush"Hand.open + "manipulator"&g1 +55 "core" 1 +2 "manipulator"&e% +5 "core" % n + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +45 "core"  + "processing"%[% +4 "core" %i\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%F' +520 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +65 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2098 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%U @ +184 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%`  +127 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%N +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%d'ռ +2607 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%h +101 "core"  +2 "processing"%m% +4 "core" %տ'\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%W' +585 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2095 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%p  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%c @ +72 "core" @ + ."psFlush"PSV.dial :mixloop +2 "processing"%\\ +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%Z'ռ +2608 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%K +114 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%/'S +1083 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +1591 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%k +71 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%M  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%~' +2593 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%r +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%Y' +586 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +2094 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +75 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%}' +2422 "Can"\ :7 +182 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +2599 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%s  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% ' +2616 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%P +44 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%$' +2603 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%z' +2602 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%l @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2603 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2607 "core" ' +43 ."psFlush"PSV.dial PSR +11 "processing"%] +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'S +1086 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1588 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%{  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%|' +2597 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%\ +73 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +580 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2095 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%, +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%w U +53 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%' +2601 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%o' +2599 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2597 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%# +46 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%i' +2602 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%" +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%%' +2607 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +2602 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%a  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q' +2602 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'6& +4 "core" &X\ +2 "manipulator"&& +4 "core" &g & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&x(s +27 "core" ( + "manipulator"&& +4 "core" &l \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &l \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&8/ +63 "core" / +2 .tPC.seek :open +2 "processing"%9( +435 "core" ( + "manipulator"&.& +4 "core" &l ~ \ +2 "manipulator"&=% +3 "core" % v +2 .tForearm.seek :retract +2 "manipulator"&B'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +344 "core" ( + "manipulator"&?& +4 "core" &( a >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &' >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'" +96 "core" ' +2 "manipulator"& & +4 "core" &( >K +2 "manipulator"&n% +3 "core" % +2 "collection"'& +4 "core" &O\ +2 "collection"'& +6 "core" &N\ +3 .tCC.seek :closed +2 "collection"'@(V +3 "core" &O\ +6 &X\ 3 +9 &:FR\ 1 +9 &fsR\ E +10 &\ kN\ N +9 &bQ\ N +9 &aQ\ N +10 &RcL\ N +9 &aK\ N +10 &`J\ M +9 &aJ\ M +9 &ZbM\ N +10 &!eJ\ N +9 &"cL\ N +9 &$cK\ N +10 &&c`N\ M +9 &(%`K\ M +10 &)`N\ M +9 &+`O\ M +9 &-kbP\ M +10 &/-`E\ M +9 &0cS\ N +9 &2bS\ N +10 &4scM\ M +9 &65`T\ M +9 &7bT\ M +10 &9aM\ M +9 &;ydP\ N +10 &=<bL\ N +9 &>`P\ M +10 &@bQ\ N +9 &BeL\ N +9 &DDbL\ N +10 &FgJ\ N +9 &GtK\ P +9 &I{I\ S +10 &K1J\ W +9 &LL\ X +9 &NM\ X +10 &PrK\ Y +9 &R4M\ Y +10 &SL\ Z +9 &UK\ G +9 &V5P\ $n +10 &VhT\ F +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 "collection"'J& +4 "core" &VhU\ F + .tHand.open +2 "manipulator"&01 +54 "core" 1 +2 "manipulator"&:% +4 "core" %  J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'-& +4 "core" &Vh]\ F +2 "collection"'% +3 "core" %V\ +2 .tCSV.dial CSR +2 "collection"';  +49 "core"  +2 "collection"'% +4 "core" %S\ + #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'C'q +1325 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'L% +2 "core" %qY\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'A': +640 "core" ' +2 .tCSV.dial :waste + "collection"' +169 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'' +1950 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'<& +5 "core" &Vgk\ F + "collection"'S% +4 "core" %l\ + .tCSV.dial :flush +2 "collection"'t  +53 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"' 'q +1179 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'I @ +52 "core" A + "collection"'>% +4 "core" %qR\  +2 .tCS.seek 6.999ml +2 "collection"'4' +533 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'D  +2 '&  +52 "core"  +84  + .tCBV.dial :waste1 +2 "collection"'E @ +44 "core" ? +2 .tCS.seek 0ml +2 "collection"'7' +1629 "core" ' + #tFlushing lower manifold's waste2 port + "collection"'b& +5 "core" &Vfh\ F + "collection"'O% +4 "core" %`\ + .tCSV.dial :flush +2 "collection"'G  +72 "core"  +2 .tCS.seek 5ml +2 "collection"'^'q +1184 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'X @ +51 "core" B +2 "collection"'% +4 "core" %qg\  +2 .tCS.seek 7ml +2 "collection"'Q' +533 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'g  +51 "core"  +2 .tCBV.dial :waste2 + "collection"'e  +105 "core"  +2 .tCS.seek 0ml +2 "collection"'V' +1622 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'1& +4 "core" &Ve;\ F +2 "collection"'[% +4 "core" %A\ +2 .tCSV.dial CSR +2 "collection"'5  +49 "core"  +2 "collection"'H% +4 "core" %`\ + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'F' +1714 "Can"\ IF +127 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'U' V +524 "core" ' +4 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'` + 'N  +134 "core" +5  + .tCTV.dial :intake +2 "collection"'f  +75 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml +2 "collection"'h'^ +1861 "core" ' + .tIntake.select :close +2 "sampler")0 +62 .tCTV.dial :air +2 "collection"'m  +75 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'d' +582 "core" ' +2 .tCSV.dial CSR +2 "collection"'W  +101 "core"  +2 "collection"'p% +4 "core" %>\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'c'q +1336 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'\\' V +1335 "core" ' + .tCSV.dial CBV +2 "collection"'_ +142 "core"  +2 .tCS.seek 0ml +2 "collection"'K' +2582 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&Z& +5 "core" && w >K + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&/( +3 "core" ( +2 "manipulator"&k& +3 "core" &' F >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" && | >K +2 .tForearm.seek CC +2 "manipulator"&!'" +91 "core" ' + .tHand.close +2 "manipulator"&r/ +59 "core" / +2 .tCC.seek :open +2 "collection"'~( +417 "core" ( + "manipulator"&Y& +4 "core" &' >K +2 "manipulator"&% +3 "core" % & ~  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&*(, +281 "core" ( +2 "manipulator"&y& +4 "core" &, T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &, ~ T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&s'Ϧ +104 "core" ' +2 .tHand.open + "manipulator"&v1 +61 "core" 1 + "manipulator"&P% +4 "core" % Ϭ ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +102 "core" ' + "processing"%& +4 "core" &\ +48631 "Can"#\ .,l +60002 3\ .,n +60002 X\ /,m +55633 #t-> access 1 +3 "storage"($% +3 "core" %R\ 0\ 1\ +2 "manipulator"&l% +4 "core" %\  D  +2 "manipulator"&z& +3 "core" &, 0 T +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<* +1284 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<' *\  +3051 "Can"a\ .,z +718 #t-> access 2 +2 "storage"(]% +3 "core" %R\ &\ 1 7\ +2 "manipulator"&% +4 "core" %\  + "manipulator"&& +4 "core" &, | T +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ({& +3 "core" &K $\  +58916 "Can"X\ .,n +44190 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +6 #mEXIT @1669824632.51EST @1670515521.80EST = =mMAIN_scheduler =tMAIN @EST1670515523.69 #"core_reset"Sent BREAK +2 #t@48551 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"\ ` + \ ` + #tPolling Can every 10:00 +2 #Cleanly exited at 11:10:32EST30-Nov-22 +866 #-> ESP.ready! +3 #Powering core bus +553 .Gate.power :raw,:ON +2 "sampler") +55 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % W\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %8\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ C\ A,  +2 .tSS.configure :default +2 "sampler")#.0X access 3 +2 "storage"(;% +3 "core" %Q\ &\ ' <\ + "manipulator"&<% +4 "core" %\   { +2 "manipulator"&=& +3 "core" &\  R +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(>([ +1280 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &[ 1\  +1397 #t-> require 'shuffle.rb' +1009 #-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +3 "core" &  o\  +2 .tHand.open + "manipulator"&A1 +59 "core" 1 + "manipulator"&B% +4 "core" % \   o { +2 "storage"(C% +3 "core" %R\ '\ ' \ +2 "storage"(D. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E( +1602 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" & k\ + "manipulator"&G& +4 "core" &\  R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +15 "core" ( +2 "manipulator"&I& +4 "core" &  0 !v + "storage"(J& +4 "core" & \ \  5\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +91 "core" ' +2 "storage"(L& +4 "core" & \ \ ' H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +286 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & g\ +2 "manipulator"&P& +4 "core" & s !v +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +36 "manipulator"&R& +10 "core" &  !v +2 "storage"(S& +3 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& + "storage"(W'X +8 "core" & !v + "manipulator"&X% +4 "core" %  P > +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +145 "core" ( +2 "manipulator"&[& +5 "core" ' + &% % << +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&\\& +6 "core" &% ( << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +101 "core" ' + "manipulator"&^& +5 "core" &%  t << + "manipulator"&_% +4 "core" %) S +2 "collection"'`& +5 "core" &  r\  +2 "collection"'a& +6 "core" & \  +2 .tCC.seek :closed +2 "collection"'b(V +4 "core" & p\  +8 &L  n\ %h +9 &xW t\ 9 +11 & r\ M +8 &_ p\ N +9 &Vb b\ N +10 &` f\ N +9 &a g\ N +9 &^ i\ N +10 &\\_ j\ N +9 &a r\ N +9 &` y\ O +10 &!b |\ N +9 &#d` z\ N +10 &%&c v\ N +9 &&[ {\ N +9 &(^ {\ N +10 &*m_  \ N +9 &,._ \ N +9 &-_ \ N +10 &/` \ N +9 &1t^ \ N +10 &36] \ N +9 &4_ \ N +9 &6_ \ N +10 &8}^ \ N +9 &:?b z\ N +9 &<b y\ N +10 &=b {\ N +9 &?` {\ N +10 &AF^ \ N +9 &C _ z\ N +9 &Dh \ O +10 &Fp \ P +9 &HB \ R +9 &I \ V +10 &K \ X +9 &Mw \ X +10 &O7 \ Y +9 &P \ Y +9 &R \ Z +10 &Ty \ Z +9 &Vu \ / +9 &V+ \ S +9 ( +4 "collection"'a& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&c1 +3 "core" &Vh \ G +56 1 + "manipulator"&d% +5 "core" % )  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +103 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%f& +5 "core" &^\  + "manipulator"&g% +4 "core" %\   8  +2 "storage"(h% +3 "core" %b \ +2 "storage"(i. +3 "core" .( + "storage"(j& +4 "core" & \ +2 "storage"(k& +3 "core" & B\ +2 "manipulator"&l& +4 "core" &% y << + "manipulator"&m% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +157 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"(p& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +99 "core" ' +2 "storage"(r& +4 "core" & y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +283 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" & 2\ +2 "manipulator"&v& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&w( +3 "core" ( + "manipulator"&x& +4 "core" &  7  + "storage"(y& +4 "core" & I\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"(}'X +8 "core" &   + "manipulator"&~% +4 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +102 "core" ( +3 "manipulator"&& +4 "core" &g * N  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&& +4 "core" &k $  +2 "manipulator"&% +4 "core" % o ! + "processing"%& +4 "core" &o\  +2 "processing"%& +5 "core" &o\  +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &s\  +8 &5t\ +| +10 &ex\ @ +9 &\\|z\ P +9 &!]v\ N +10 &cz\ O +9 &`{\ N +10 &g]z\ N +9 &)by\ N +9 &bz\ N +10 &`u\ O +9 & o`y\ N +9 &"1b{\ N +10 &#a{\ N +9 &%`z\ N +10 &'vcz\ O +9 &):`{\ N +9 &*`y\ O +10 &,_v\ N +9 &.`z\ N +9 &0B]z\ N +10 &2`z\ N +9 &3bv\ N +10 &5ay\ N +9 &7J_y\ N +9 &9 `y\ N +10 &:[z\ N +9 &<_y\ N +9 &>R_x\ N +10 &@bz\ N +9 &A`x\ N +10 &Cbs\ N +9 &EXcy\ O +9 &Gqv\ P +10 &Hu\ R +9 &Jt\ S +9 &LRy\ S +10 &Nq\ S +9 &Ow\ T +10 &Qy\ T +9 &SXw\ T +9 &Uo\ T +10 &Vx\ T +9 &Xy\ T +9 &Zhw\ + +10 &Zqz\ < +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&\ 1 +3 "core" &Z%w\ 0 +57 1 + "manipulator"& % +4 "core" % ' w ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' + "processing"% & +5 "core" &Z%v\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   )  +2 "storage"(% +4 "core" %a %\ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & \ +2 "storage"(& +2 "manipulator"&& +6 "core" & \ +2 &k  P  +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s + "storage"('i +6 "core" ( + "manipulator"&& +4 "core" &k  $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k   +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'y +48 "core" ' +284 ( + "storage"(%& +4 "core" & \ + "manipulator"&'& +4 "core" &k   +2 "manipulator"&)% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +253 "core" ( +2 "manipulator"&& +4 "core" & 1  +2 "storage"(#& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +88 "core" ' + .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(2& +4 "core" & H H L\ + "manipulator"&3& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&4( +7 "core" ( + "manipulator"&5& +4 "core" &   +2 "storage"(6& +4 "core" & $ 5 \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(8' +58 "core" ' +2 "manipulator"&9& +4 "core" &   +2 "storage"(:& +3 "core" & <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;' +34 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +21 "core" ' + "manipulator"&!% +5 "core" % 0 ) + "storage"(?& +5 "core" & R\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&@' +18 "core" ' +3 "manipulator"&A& +4 "core" & :  +2 "storage"(B& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +36 "core" ' + "storage"(D% +5 "core" %m \  +2 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (F% +2 "core" %qF N\ We +2 "manipulator"&G% +5 "core" %ј  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +86 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (J& +4 "core" & !\ + "collection"'L& +4 "core" &Vg \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\  /  +2 "storage"(&% +3 "core" %] \ +2 "storage"(N. +3 "core" .( + "storage"(O& +4 "core" & E\ +2 "storage"( & +3 "core" & _\ +2 "manipulator"&P& +4 "core" & "  + .tElbow.seek 2 +2 "manipulator"&R( +4 "core" ( + "manipulator"&S& +4 "core" &   +2 "storage"(U& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +92 "core" ' +52 "storage"(X& +4 "core" & <\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +329 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&[& +3 "core" &   +2 "storage"(\\& +3 "core" & /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +34 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'U +39 "core" ' +2 "manipulator"&`% +4 "core" %  +2 "storage"(Q& +3 "core" & '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&W' +19 "core" ' + "manipulator"&Y& +5 "core" & 1  + "storage"(*& +4 "core" & h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(d'D +38 "core" ' +2 "manipulator"&f& +4 "core" &  +2 "manipulator"&g% +4 "core" %ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +153 "core" ( + "manipulator"&a& +4 "core" && > =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &&  =D +2 .tForearm.seek CC +2 "manipulator"&k'" +99 "core" ' + .tHand.close + "manipulator"&l/ +56 "core" / + .tCC.seek :open +2 "collection"'m( +416 "core" ( + "storage"(]& +4 "core" & G\ +2 "storage"(o& +3 "core" & _\ +2 "manipulator"&p& +4 "core" && =D + "manipulator"&r% +5 "core" % , + .tForearm.seek :retract +4 "manipulator"&Z'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +158 "core" ( + "manipulator"&t& +4 "core" &   +2 "storage"(u& +4 "core" & \ '\ ' {\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&v' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +53 "core" 1 + "manipulator"&{% +5 "core" % (  + "storage"(|& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&~' +19 "core" ' + "manipulator"&n& +5 "core" & E  +2 "storage"(q& +4 "core" & \ \ X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +18 "core" ' + "storage"(z% +4 "core" %H\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %}B M\ Wb +2 "manipulator"&w% +4 "core" %ѣ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +86 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & z {\ + "manipulator"&% +4 "core" %\    +2 "storage"(}% +4 "core" %R\ '\ ' ]\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" & \  +2 "manipulator"& & +5 "core" &   + .tElbow.seek 3 +2 "manipulator"& ( +10 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &\ \  W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' +2 "storage"(& +4 "core" &\ .\ ( /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & K\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & L  + "storage"(& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( 'X +7 "core" & B  + "manipulator"&% +4 "core" % ϩ 7 o +2 .tForearm.seek :retract +2 "manipulator"&%'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&)& +4 "core" &% > <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% ) - <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 "manipulator"&#& +4 "core" &%  D <@ +2 "manipulator"&% +3 "core" % g +2 "collection"'-& +4 "core" & | z\ +2 "collection"'.& +5 "core" & | ~\ +2 .tCC.seek :closed +5 "collection"'1(V +3 "core" & } |\ +5 & | {\ 8 +10 &FG { {\ 0 +9 &nq { z\ E +9 &f | |\ N +10 &_ | |\ N +9 &^ z |y\ M +9 &Y` | |8\ M +10 &` | ~3\ M +9 &b | ~*\ N +10 &_ | ~'\ N +9 &ad ~ |3\ M +9 &!#` | }4\ M +10 &"a | }u\ M +9 &$` { n\ N +9 &&ib ~ ~\ M +10 &(+c | ~\ M +9 &)b | \ M +9 &+c } ~\ M +10 &-qc | /\ M +9 &/2c ~ }0\ N +10 &0c } |n\ M +9 &2` } ~6\ M +9 &4xb { }1\ N +10 &6:` | ~x\ N +9 &7a } }\ M +9 &9b { }v\ N +10 &;e } ~\ N +9 &=Bc { }\ N +10 &?` | r\ N +9 &@_ } }\ N +9 &Bc } |\ N +10 &DIb ~ J\ N +9 &F\ h K\ N +10 &Gs \ P +9 &I <\ Q +9 &K< ;\ U +10 &L <\ X +9 &N ;\ W +9 &Py 1\ X +10 &R: .\ Y +9 &S /\ Y +9 &U /\ F +10 &V, 6\ &r +9 &Vn 5\ J +3 ( + "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&21 +58 "core" 1 + "manipulator"&3% +4 "core" %  $ F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%6& +4 "core" &q\ + "manipulator"&(% +4 "core" %\    + +2 "storage"(9% +3 "core" %T h\ +2 "storage"(:. +3 "core" .( + "storage"(!& +4 "core" & \  +2 "storage"(?& +4 "core" & \  + "manipulator"&"& +4 "core" &%  = <@ +2 "manipulator"&A% +4 "core" %\  ( + + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&/( +160 "core" ( + "manipulator"&B& +4 "core" &  l  +2 "storage"(D& +4 "core" & m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(,& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +284 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" & )\  +2 "manipulator"&7& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&4( +3 "core" ( + "manipulator"&8& +4 "core" & o  +2 "storage"(;& +3 "core" & g\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& +3 "storage"($'X +8 "core" &  + "manipulator"&&% +4 "core" % ϰ  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +102 "core" ' + .tElbow.seek PC +2 "manipulator"&=(s +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&O& +4 "core" &o + (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P' +93 "core" ' +2 "manipulator"&S& +4 "core" &o  (  +2 "manipulator"&U% +3 "core" % ^ % +2 "processing"%C& +4 "core" &t\ +2 "processing"%X& +5 "core" &n\ +2 .tPC.seek :closed +2 "processing"%>(Z +5 "core" &x\ +6 &;z\ $c +9 &Sx\ 7 +9 &r\ L +10 &`w\ N +9 &Z`u\ N +9 &`v\ N +10 &_\ N +9 &_t\ N +10 &bar\ N +9 &$_u\ N +9 &a\ O +10 &!_\ N +9 &#k_\ N +9 &%-_\ N +10 &&_\ N +9 &(_\ N +10 &*t_y\ N +9 &,6`~\ N +9 &-`\ N +10 &/]\ N +9 &1{_\ N +9 &3=^\ N +10 &4_\ N +9 &6_\ N +10 &8]\ N +9 &:F_\ N +9 &< ^\ M +10 &=]\ N +9 &?]\ N +9 &AO]\ M +10 &C`\ N +9 &De\ O +10 &Fl\ O +9 &HK\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &OL\ T +10 &Q\ T +9 &R\ T +10 &T\ T +9 &VQ\ U +9 &X\ U +10 &Y{q\ 9 +9 &Z,\ L +9 &Z"\ - +3 ( +2 "processing"%X& +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&<1 +58 "core" 1 +2 "manipulator"&I% +4 "core" % % D % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +96 "core" ' + "processing"%[& +4 "core" &Z"y\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\\% +3 "core" %\ !  N 8 +2 "storage"(^% +53 "core" %b l\ + "storage"(`. +4 "core" .( + "storage"(Q& +4 "core" & \  +2 "storage"(Y& +4 "manipulator"&*& +4 "core" & c\  + &p  g  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&f(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +3 "core" ( + "manipulator"&V& +4 "core" &p  P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &p g  +2 .tForearm.seek PC +2 "manipulator"&H' +101 "core" ' +2 .tHand.close + "manipulator"&M/ +54 "core" / + .tPC.seek :open +2 "processing"%W( +86 "core" ' + "storage"(_- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(a'y +43 "core" ' +292 ( + "storage"(j& +4 "core" & q\  +2 "manipulator"&c& +3 "core" &p   +2 "manipulator"&T% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&l'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +266 "core" ( + "manipulator"&b& +4 "core" &  * X +2 "storage"(]& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +87 "core" ' + .tHand.open +2 "manipulator"&p1 +62 "core" 1 +2 "storage"(r- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(t'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(u' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' + "storage"(i& +4 "core" &\ \  \  +2 "manipulator"&y& +4 "core" &  N + .tElbow.seek 3 +2 "manipulator"&{( +3 "core" ( + "manipulator"&|& +4 "core" & % - N +2 "storage"(n& +3 "core" &\ \  \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +62 "core" ' +2 "manipulator"&Z& +4 "core" &\  N +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&w'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +23 "core" ' +2 "manipulator"&% +4 "core" %Ή +2 "storage"(~& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +20 "core" ' +2 "manipulator"&}& +4 "core" &  J N + "storage"(& +5 "core" & l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +35 "core" ' + "storage"(s% +5 "core" %c 1\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (E% +3 "core" %F a\ Wd +2 "manipulator"&\ % +4 "core" %G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & c\  +2 "collection"'& +3 "core" &Vm \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  n $ +2 "storage"(x% +3 "core" %_ f\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & [\  +2 "storage"(& +4 "core" & w\  + "manipulator"&& +4 "core" &\ " N +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &\ $ U N +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +96 "core" ' + "storage"(& +4 "core" & V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&)& +4 "core" & + N +2 "storage"(& +4 "core" & 4\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +31 "core" ' +2 "manipulator"&-% +4 "core" %~ +2 "storage"(& +3 "core" & H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 301 counts + "manipulator"& 'Ϫ +14 "core" ' +2 "manipulator"&%& +4 "core" & a M +2 "storage"(m& +3 "core" & -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(3'E +45 "core" ' + "manipulator"&6& +5 "core" &  L + "manipulator"&(% +4 "core" %S  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +152 "core" ( +2 "manipulator"&!& +5 "core" && # 5 =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &% % =D +2 .tForearm.seek CC +2 "manipulator"&?'" +96 "core" ' + .tHand.close + "manipulator"&"/ +59 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(& +4 "core" & A\  + "storage"(B& +4 "core" & \  + "manipulator"&D& +4 "core" && =D + "manipulator"&,% +4 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&''\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&5( +166 "core" ( + "manipulator"&F& +4 "core" &  ?  +2 "storage"(G& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&7'} +96 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +56 "core" 1 +2 "manipulator"&J% +4 "core" % Ώ   + "storage"(L& +4 "core" & :\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&&'ϻ +33 "core" ' +2 "manipulator"&/& +4 "core" & d  +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +32 "core" ' + "storage"(@% +4 "core" %C\ $\ & }\ +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 ( % +2 "core" %? `\ V` +2 "manipulator"&4% +4 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'U& +4 "core" & x {#\ +2 "manipulator"&C% +4 "core" %\   + "storage"($% +4 "core" %a\ #\ . $\ +2 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" & \ +2 "manipulator"&I& +3 "core" & K  +2 .tElbow.seek 2 +2 "manipulator"&[( +26 "core" ( +2 "manipulator"&\\& +4 "core" &\  Z + "storage"(^& +4 "core" & \ \  P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +94 "core" ' + "storage"(`& +4 "core" & \ %\ & D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +286 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +73 "core" & \ \  \ +2 "manipulator"&V& +4 "core" &\  V +2 .tElbow.seek 2 + "manipulator"&R( +4 "core" ( + "manipulator"&P& +4 "core" &\  T V +2 "storage"(M& +3 "core" & \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(>'X +7 "core" &\ d V +2 "manipulator"&g% +3 "core" %   \ +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&c( +160 "core" ( ' +2 "manipulator"&T& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &+   Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &+  x Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&b'" +96 "core" ' +3 "manipulator"&]& +4 "core" &+  h Aa + "manipulator"&f% +4 "core" % +42 "collection"'p& +13 "core" & z z~\ +2 "collection"'r& +5 "core" & z zE\ +2 .tCC.seek :closed +3 "collection"'k(V +3 "core" & y {G\ +7 & . | y\ #b +9 &V y |J\ 7 +10 & y y.\ L +9 &] w z"\ M +10 &h` | {1\ N +9 &+^ { {-\ M +9 &] { {)\ M +10 &` { {(\ M +9 &q_ { {,\ M +9 &4] | {)\ M +10 &_ z {*\ N +9 &!a | |6\ N +10 &#x` z {+\ N +9 &%:` { {*\ N +9 &&_ { |6\ M +10 &(_ x {5\ M +9 &*_ { {+\ N +10 &,D_ | }6\ M +9 &._ x {)\ M +9 &/` | |)\ M +10 &1_ z |*\ M +9 &3K_ { {(\ M +9 &5] y {*\ M +10 &6b y })\ M +9 &8` | |(\ M +9 &:Sc z {1\ M +10 &<` z |,\ M +9 &=^ | |)\ M +9 &?a ~ {w\ M +10 &A[` z |/\ M +9 &Cd { }4\ M +10 &Df ~ ~+\ N +9 &Fn -\ O +9 &HX )\ Q +10 &J o\ U +9 &K \ W +9 &M \ W +10 &OM \ X +9 &Q \ X +10 &R s\ Y +9 &T |\ Y +9 &V+t \ . +10 &V# \ I +9 ( +2 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&i1 +5 "core" &VU \ D +54 1 +2 "manipulator"&y% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%n& +4 "core" &q\ +2 "manipulator"&l% +3 "core" %\   I  +2 "storage"(Z% +4 "core" %a \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \ +2 "storage"(~& +4 "core" & x\ +2 "manipulator"&a& +3 "core" &+ Aa +2 "manipulator"&}% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t( +159 "core" ( + "manipulator"&& +4 "core" &  /  +2 "storage"(s& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +93 "core" ' +2 "storage"(o& +4 "core" & g\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +284 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" & B\ +2 "manipulator"&q& +4 "core" & i  + .tElbow.seek 2 +2 "manipulator"&{( +3 "core" ( + "manipulator"&z& +4 "core" & {  +2 "storage"(w& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & [  + "manipulator"&x% +4 "core" %  (  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&v& +4 "core" &p % H 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &p  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&& +4 "core" &p   5 + "manipulator"&% +4 "core" % < +2 "processing"%d& +4 "core" &{\ +2 "processing"%& +5 "core" &}\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &|\ +6 &@}\ %g +10 &Vz\ 8 +9 &}\ M +9 &^\ N +10 &p_}\ N +9 &3]w\ N +9 &^x\ N +10 &]w\ N +9 &x_w\ N +10 &:]p\ N +9 &_v\ N +9 &!]x\ N +10 &#^\ N +9 &%B^x\ N +9 &']t\ N +10 &(]v\ N +9 &*]v\ N +10 &,L]y\ N +9 &. ao\ N +9 &/\\n\ N +10 &1\\o\ N +9 &3R]m\ N +9 &5]j\ N +10 &6]n\ N +9 &8\\m\ M +10 &:[\\o\ N +9 &<]q\ N +9 &=\\l\ N +10 &?\\o\ M +9 &Ac\\s\ N +9 &C$_n\ N +10 &Ddr\ O +9 &Fkn\ O +10 &Ha|n\ Q +9 &Jx\ T +9 &Kp\ T +10 &Mm\ S +9 &Ock\ S +9 &Q$o\ T +10 &Rm\ T +9 &Tw\ T +10 &Vgr\ U +9 &X)p\ U +9 &Yzsp\ 1 +10 &Z*zn\ I +9 &Z#s\ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&e1 +53 "core" 1 + "manipulator"& % +5 "core" % $ ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%)& +4 "core" &Z#r\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    + "storage"(#% +4 "core" %a R\ + "storage"(-. +3 "core" .( +2 "storage"(& +3 "core" & R\ +2 "storage"(%& +5 "manipulator"&m& +4 "core" & \ + &p k 5 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&6(s +2 "storage"(('i +5 "core" ( + "manipulator"& & +4 "core" &p  _ 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p   5 +2 .tForearm.seek PC + "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"% ( +86 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(!'y +45 "core" ' +290 ( + "storage"(.& +5 "core" & +\ + "manipulator"&2& +4 "core" &p & 5 + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&"'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&9( +267 "core" ( +2 "manipulator"&1& +4 "core" & % d  + "storage"(& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +97 "core" ' +2 .tHand.open +2 "manipulator"&D1 +57 "core" 1 +2 "storage"(,- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(F'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +54 "core" ' + #tLights, camera, ACTION! + "storage"(?- +4 "core" -' +2 "storage"(:& +3 "core" & ! ) 3\ +2 "manipulator"&;& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&J( +4 "core" ( + "manipulator"&L& +4 "core" &  V  +2 "storage"(/& +3 "core" & , )\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +58 "core" ' + "manipulator"&'& +5 "core" & Y  + "storage"( & +4 "core" & L\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4' +23 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(7'i +24 "core" ' + "manipulator"&&% +4 "core" %  +2 "storage"(U& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&C' +20 "core" ' + "manipulator"&$& +5 "core" & *  + "storage"(N& +5 "core" & L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +18 "core" ' + "storage"(0% +4 "core" %q G\ +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (+% +4 "core" %F \ We +2 "manipulator"&<% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +4 "core" & 7\ + "collection"'^& +4 "core" &VU \ D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&`% +4 "core" %\  E  +2 "storage"(8% +3 "core" %b x\ +2 "storage"(S. +3 "core" .( + "storage"(*& +4 "core" & \ +2 "storage"(Y& +4 "core" & j\ + "manipulator"&V& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&P( +3 "core" ( +2 "manipulator"&M& +3 "core" & r  +2 "storage"(=& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +96 "core" ' +2 "storage"(g& +4 "core" & J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['i +280 "core" ' +2 "storage"(X- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &   +2 "storage"(H& +3 "core" & B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'T +32 "core" ' + "manipulator"&p% +4 "core" % 0 $ +2 "storage"(R& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&>' +18 "core" ' +2 "manipulator"&j& +4 "core" &   +2 "storage"(A& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'C +94 "core" ' +2 "manipulator"&n& +4 "core" &   +2 "manipulator"&l% +4 "core" %ћ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( + "manipulator"&& +4 "core" &! " 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +4 "core" & U 8 + .tForearm.seek CC +2 "manipulator"&r'" +91 "core" ' + .tHand.close + "manipulator"&a/ +56 "core" / +2 .tCC.seek :open + "collection"'}( +413 "core" ( + "storage"(b& +5 "core" & \ + "storage"(& +4 "core" & $\ + "manipulator"&s& +4 "core" &!  ' 8 +2 "manipulator"&o% +3 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +160 "core" ( +2 "manipulator"&E& +4 "core" & - z +2 "storage"(\ & +3 "core" & \  2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&q' +104 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ' D  + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +3 "manipulator"&x' +18 "core" ' +2 "manipulator"&t& +4 "core" & z + "storage"(h& +4 "core" & \ \  =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +29 "core" ' + "storage"(% +5 "core" %F\ &\ % \ +2 ."downElevator"SE.seek :down +3 "storage"(v'X +99 (% +3 "core" %@\ \  3\ Va +2 "manipulator"&{% +4 "core" %џ G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & t u\ +2 "manipulator"&d% +3 "core" %\  f  +2 "storage"(% +4 "core" %T\ %\ % a\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(W( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +2 "core" & X\  +2 "manipulator"& & +4 "core" & ! z +2 .tElbow.seek 3 +2 "manipulator"&)( +11 "core" ( +2 "manipulator"&& +4 "core" &  ) b +2 "storage"(#& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +96 "core" ' +2 "storage"(& +4 "core" &\ 3\ 5 g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'i +286 "core" ' +2 "storage"(%- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \  c\  + "manipulator"& & +4 "core" & - b +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +5 "core" & s b + "storage"(& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & P b +2 "manipulator"&(% +4 "core" % ϯ  + .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" && & h =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &&  =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&1'" +99 "core" ' +2 "manipulator"&& +4 "core" &&   =G +2 "manipulator"&6% +4 "core" % E + "collection"'D& +4 "core" & u v\ +3 "collection"',& +4 "core" & t u\ +3 .tCC.seek :closed + "collection"'?(V +4 "core" & u uA\  +9 & 3 t vd\ *y +9 &f u u\ ? +10 &x v ul\ N +9 &VX v wk\ M +9 &[ v x,\ M +10 &\\ x v|\ M +9 &] v uh\ M +9 &^^ v x\ M +10 &] x w\ N +9 &\\ w wB\ M +10 & ` w w\ M +9 &"fa x wd\ M +9 &$(Z v w\ M +10 &%a x wG\ M +9 &'] x w\ M +9 &)n_ w z\ M +10 &+0_ t wI\ M +9 &,^ u x6\ M +10 &._ w x/\ M +9 &0vb u x4\ M +9 &28^ w w)\ M +10 &3] v v5\ M +9 &5\\ v w4\ N +9 &7~\\ v w \ M +10 &9@] v x1\ M +9 &;] v w2\ M +10 &<_ v x2\ M +9 &>_ n w3\ M +9 &@IZ w w3\ M +10 &B _ w v*\ N +9 &C_ x w-\ M +9 &Ea y {3\ M +10 &GJm | ~,\ O +9 &I\ w +\ P +9 &J k\ T +10 &Lz -\ W +9 &N; 0\ W +10 &O -\ W +9 &Q k\ X +9 &S{ I\ Y +10 &U= )\ Q +9 &VrN v\ (y +9 &Vy ~ M\ P +6 ( + "collection"',& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&:1 +3 "core" &Vx \ P +50 1 + "manipulator"&;% +4 "core" %  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%/& +4 "core" &k\ +2 "manipulator"&"% +3 "core" %\  K  +2 "storage"('% +4 "core" %T A\ + "storage"( . +3 "core" .( + "storage"(!& +4 "core" & s\  +2 "storage"(&& +3 "core" & N\  +2 "manipulator"&U& +4 "core" && =G + "manipulator"&F% +4 "core" %\ P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +157 "core" ( + "manipulator"&N& +4 "core" &  n +2 "storage"(0& +3 "core" & V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +94 "core" ' +2 "storage"(B& +4 "core" & )\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'i +288 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" & 4\  +2 "manipulator"&& +4 "core" &  n +2 .tElbow.seek 3 + "manipulator"&J( +4 "core" ( + "manipulator"&@& +4 "core" & u n +2 "storage"(4& +4 "core" & D\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&\\'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(`'X +7 "core" & x n + "manipulator"&8% +4 "core" % ύ   +2 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +105 "core" ( +3 "manipulator"&7& +4 "core" &k * N \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &k M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V' +93 "core" ' +2 "manipulator"&M& +4 "core" &k  @ \ +2 "manipulator"&=% +4 "core" % m  + "processing"%3& +4 "core" &v\ +3 "processing"%g& +4 "core" &t\ +2 .tPC.seek :closed +2 "processing"%O(Z +4 "core" &|\  +8 &1z\ *y +10 &cw\ > +9 &yz\ N +9 &;\\\ N +10 &\\\ N +9 &]\ N +9 &_}\ N +10 &E^\ M +9 &^\ N +9 &]\ N +10 & ]\ M +9 &"L]\ N +10 &$\\\ N +9 &%`\ N +9 &'`w\ N +10 &)S`\ N +9 &+]\ N +9 &,\\~\ N +10 &.\\\ N +9 &0[`\ N +10 &2]~\ N +9 &3_\ N +9 &5[\ N +10 &7e]z\ M +9 &9&]x\ N +9 &:Yx\ N +10 &<\\|\ M +9 &>m[\ M +10 &@.]\ N +9 &AZy\ N +9 &C_\ N +10 &Eqe\ O +9 &G/o\ P +10 &H\ R +9 &J\ T +9 &Lj\ T +10 &N,\ T +9 &O}\ T +9 &Q\ T +10 &Sp\ T +9 &U1\ U +9 &V\ U +10 &X\ U +9 &Z![\ %q +10 &Z]\ 0 +8 ( +3 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&51 +3 "core" &Z"\ - +60 1 +2 "manipulator"&I% +4 "core" % % P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' + "processing"%T& +4 "core" &Z"\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&H% +4 "core" %\     +2 "storage"(]% +3 "core" %` x\ +2 "storage"(p. +3 "core" .( + "storage"(R& +4 "core" & f\  + "storage"(j& +5 "manipulator"&A& +4 "core" & c\  + &k  0 \ +4 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&n(s +2 "storage"(l'i +5 "core" ( + "manipulator"&K& +4 "core" &k  + \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &k z \ +2 .tForearm.seek PC +2 "manipulator"&[' +96 "core" ' + .tHand.close +56 "manipulator"&Q/ +55 "core" / +3 .tPC.seek :open +2 "processing"%>( +36 "core" ' +2 "storage"(f- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +345 ( + "storage"(~& +4 "core" & Q\  +2 "manipulator"&i& +3 "core" &k  \ +2 "manipulator"&_% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +267 "core" ( + "manipulator"&k& +4 "core" &  B +2 "storage"(b& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "storage"(o- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(E'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' +2 "storage"(& +3 "core" &\ %\  =\  +2 "manipulator"&w& +4 "core" & 8 +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & ^ + "storage"(t& +4 "core" & G {\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&c& +4 "core" &  +2 "storage"(& +3 "core" & q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +25 "core" ' + "manipulator"&x% +5 "core" %Ό  + "storage"(& +4 "core" & 9\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&d'ϸ +25 "core" ' +2 "manipulator"&& +4 "core" &  J +2 "storage"(& +4 "core" & p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +28 "core" ' + "storage"(u% +5 "core" %r -\ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +99 (% +4 "core" %D K\ Xe + "manipulator"&e% +4 "core" %j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & <\  + "collection"'#& +4 "core" &Vw )\ P +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ %  +2 "storage"(z% +3 "core" %M b\ +2 "storage"(. +3 "core" .( + "storage"(%& +4 "core" & V\  +2 "storage"(& +3 "core" & d\  +2 "manipulator"& & +4 "core" & 0 + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & Q +2 "storage"(& +3 "core" & M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"((& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +284 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & M +2 "storage"( & +4 "core" & s\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'V +29 "core" ' +2 "manipulator"&% +4 "core" %Ώ  + "storage"(D& +4 "core" & q\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +20 "core" ' + "manipulator"&.& +4 "core" &  +2 "storage"(}& +4 "core" & B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'E +45 "core" ' + "manipulator"&/& +5 "core" &  + "manipulator"&"% +5 "core" %z  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +167 "core" ( +3 "manipulator"&!& +4 "core" &$ % ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &# & V ;8 +2 .tForearm.seek CC +2 "manipulator"&,'" +93 "core" ' + .tHand.close + "manipulator"&U/ +62 "core" / + .tCC.seek :open +2 "collection"'F( +416 "core" ( + "storage"(1& +4 "core" & @\  +2 "storage"(N& +4 "core" & \  + "manipulator"&0& +4 "core" &$  B ;7 + "manipulator"&B% +4 "core" %   - +2 .tForearm.seek :retract + "manipulator"&2'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&L( +157 "core" ( +2 "manipulator"&+& +4 "core" &   } + "storage"(<& +4 "core" & \ \ y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +103 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +62 "core" 1 +2 "manipulator"&C% +4 "core" % Ό % \\ V + "storage"(^& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&8'ϸ +11 "core" ' +3 "manipulator"&$& +4 "core" &  } +2 "storage"(9& +3 "core" &\ \  <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +23 "core" ' +2 "storage"(\\% +4 "core" %E\ %\ \ +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (Y% +3 "core" %xF \ U` +2 "manipulator"&J% +4 "core" %Y B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'=& +4 "core" & r s"\ + "manipulator"&3% +4 "core" %\ "  / +2 "storage"(`% +4 "core" %b\ \  \ + "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (5& +4 "core" & \ + "manipulator"&I& +4 "core" &  } + .tElbow.seek 2 +2 "manipulator"&T( +39 "core" ( + "manipulator"&H& +4 "core" & $ $ +2 "storage"(]& +3 "core" & 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +102 "core" ' +2 "storage"(R& +4 "core" & \ \ & E\ +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +282 "core" ' +3 "storage"(A- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" & n\ +2 "manipulator"&K& +4 "core" &  !r + .tElbow.seek 2 +2 "manipulator"&P( +31 "core" ( + "manipulator"&V& +5 "core" & L U + "storage"(Q& +4 "core" & l\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&f' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(O'X +7 "core" &  U + "manipulator"&l% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&~'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&_& +4 "core" &+ 1 A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &*  A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'" +104 "core" ' +2 "manipulator"&b& +4 "core" &+ P A` +2 "manipulator"&n% +4 "core" %! +2 "collection"'s& +4 "core" & s r\ +2 "collection"'o& +5 "core" & p r\ +2 .tCC.seek :closed +2 "collection"'r(V +4 "core" & t p\ +8 & - s p+\ #b +9 &V s s#\ 7 +10 & r s"\ L +9 &Y s r!\ M +9 &e\\ r s*\ M +10 &'[ s u&\ M +9 &] t t)\ M +10 &\\ r sn\ M +9 &l\\ s tA\ M +9 &.] u w.\ M +10 &] t tm\ M +9 &!_ v s'\ M +9 &#t\\ r t+\ M +10 &%6] t t+\ M +9 &&\\ t ue\ M +10 &([ u t\ M +9 &*}\\ s vD\ M +9 &,>Z r tk\ M +10 &.\\ s v\ M +9 &/\\ u t\ M +9 &1_ s s\ M +10 &3E] t t\ M +9 &5] t k\ M +10 &6\\ s s\ M +9 &8\\ r t\ M +9 &:O] t t\ M +10 &<_ s t\ M +9 &=] s s\ M +9 &?] t v\ M +10 &AU\\ r u\ M +9 &C] u r\ M +10 &D^ w vl\ N +9 &Fj { z\ N +9 &HR  \ Q +10 &J \ U +9 &K \ X +9 &M \ X +10 &OF \ X +9 &Q \ X +10 &R \ Y +9 &T {\ Z +9 &V$u \ . +10 &V$ \ N +8 ( +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&1 +3 "core" &Ve \ G +53 1 +3 "manipulator"&w% +4 "core" % !  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +5 "core" &\ + "manipulator"&a% +4 "core" %\  o  +2 "storage"(c% +3 "core" %S M\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"(x& +3 "core" & \ +2 "manipulator"&& +4 "core" &*  ] @[ + "manipulator"&E% +4 "core" %\  ,  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" & H  +2 "storage"(u& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +90 "core" ' + "storage"(& +5 "core" & -\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" & \ +2 "manipulator"&h& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"({& +4 "core" & K\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& + "storage"('X +8 "core" & f  + "manipulator"&z% +4 "core" %  !  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&q& +4 "core" &q ) ) \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &q \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +102 "core" ' + "manipulator"&& +5 "core" &q % P \ + "manipulator"&% +4 "core" % +2 "processing"%y& +3 "core" &\ +2 "processing"%(& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%v(Z +4 "core" &\ +5 &\ 7 +9 &FH{\ 1 +10 &ss\ E +9 &h\ N +9 &\\\ N +10 &Z\ N +9 &_]\ N +9 &!_\ N +10 &[\ N +9 &[\ N +10 &g[\ N +9 &!*\\\ M +9 &"]\ N +10 &$[\ N +9 &&p[\ M +9 &(1\\\ N +10 &)\\\ N +9 &+[\ N +10 &-x\\}\ M +9 &/8\\\ N +9 &0\\\ N +10 &2\\}\ M +9 &4\\\ N +9 &6B\\}\ M +10 &8\\|\ N +9 &9`|\ N +10 &;\\{\ N +9 &=I\\\ N +9 &? ]|\ N +10 &@[|\ N +9 &B_~\ N +9 &DQ`\ N +10 &Fe\ O +9 &Gu~\ P +10 &I}\ S +9 &KH~\ S +9 &M\ |\ S +10 &N}\ S +9 &P\ T +9 &RO}\ T +10 &T|\ T +9 &U|\ U +10 &W\ U +9 &YT\ B +9 &Zd?}\ W +10 &Z2\ 2 +5 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&|1 +3 "core" &Z*\ 2 +57 1 + "manipulator"& % +5 "core" % ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' + "processing"%& +5 "core" &Z+\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\   j  +2 "storage"(% +4 "core" %S ]\ + "storage"(. +3 "core" .( + "storage"(D& +4 "core" & `\ +2 "storage"(.& +4 "manipulator"&}& +4 "core" & \\\ + &q  0 \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&/(s +2 "storage"("'i +5 "core" ( + "manipulator"&& +4 "core" &q G \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &q   \ +2 .tForearm.seek PC +2 "manipulator"&)' +93 "core" ' + .tHand.close + "manipulator"&m/ +53 "core" / + .tPC.seek :open +2 "processing"%( +98 "core" ' +2 "storage"(6- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +47 "core" ' +278 ( + "storage"(&& +4 "core" & \ +2 "manipulator"&:& +4 "core" &q ) \ + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +265 "core" ( +2 "manipulator"&?& +4 "core" & $ I  + "storage"(1& +4 "core" & h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +93 "core" ' + .tHand.open +2 "manipulator"&01 +52 "core" 1 + "storage"(B- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"( & +3 "core" &  ( -\ +2 "manipulator"&4& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&^& +3 "core" &  d  +2 "storage"($& +4 "core" & % 0\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +57 "core" ' +42 "manipulator"&2& +15 "core" & a  +2 "storage"(Y& +4 "core" & U\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&J' +25 "core" ' +2 .tElbow.hold + "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&=% +5 "core" %  + "storage"(8& +4 "core" & F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&3' +18 "core" ' +2 "manipulator"&`& +4 "core" & }  +2 "storage"(S& +4 "core" & %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +33 "core" ' +2 "storage"(G% +4 "core" %q [\ +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (W% +3 "core" %G ;\ We +2 "manipulator"&5% +4 "core" %ђ z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" & {\ +2 "collection"']& +3 "core" &Ve \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&R% +4 "core" %\  @  +2 "storage"(@% +4 "core" %` 0\ + "storage"(M. +3 "core" .( + "storage"(A& +4 "core" & \ +2 "storage"(j& +4 "core" & Y\ + "manipulator"&K& +4 "core" & E  +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&Q& +4 "core" & % 1  +2 "storage"(*& +4 "core" & <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +96 "core" ' + "storage"(l& +4 "core" & U\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +281 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &   + "storage"([& +4 "core" & 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +31 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'T +28 "core" ' + "manipulator"&n% +4 "core" %  +2 "storage"(s& +4 "core" & ]\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&O' +15 "core" ' + "manipulator"&~& +4 "core" &  l  +2 "storage"(F& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'C +38 "core" ' +2 "manipulator"&t& +4 "core" & <  +2 "manipulator"&a% +4 "core" % e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +167 "core" ( +2 "manipulator"&& +4 "core" && # Y =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &%   =E +2 .tForearm.seek CC +2 "manipulator"&x'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'E( +415 "core" ( +2 "storage"(k& +4 "core" & \ + "storage"(& +4 "core" & b\ + "manipulator"&u& +4 "core" &&  J =C +2 "manipulator"&% +3 "core" % / y +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( + "manipulator"&& +5 "core" &    + "storage"(e& +4 "core" & \ \  K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +59 "core" 1 +2 "manipulator"&% +4 "core" %   + "storage"(#& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 311 counts +2 "manipulator"&z' +15 "core" ' +2 "manipulator"&& +4 "core" & 4  +2 "storage"(Z& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +30 "core" ' + "storage"(d% +5 "core" %H\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (% +3 "core" %|A X\ Va +2 "manipulator"&% +4 "core" %Ѩ % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & n o%\ +2 "manipulator"&y% +3 "core" %\    +2 "storage"(% +4 "core" %a\ !\  L\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" & \  +2 "manipulator"& & +3 "core" & '  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( +2 "manipulator"& & +4 "core" &  M H + "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' + "storage"(D& +4 "core" &\ %\ % c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'i +283 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" & \  +2 "manipulator"&& +4 "core" &  H + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & E H +2 "storage"(m& +3 "core" &\ \ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&-& +3 "storage"(v'X +8 "core" & ] H + "manipulator"&"% +4 "core" % ϰ / +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &% A  <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &%  . <@ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'" +92 "core" ' +2 "manipulator"&1& +4 "core" &% & \\ <@ +2 "manipulator"&/% +4 "core" %+   +2 "collection"'0& +4 "core" & o n\ +2 "collection"'B& +4 "core" & o q\ +2 .tCC.seek :closed +2 "collection"',(V +5 "core" & r n$\  +9 &1 p q#\ *z +9 &e o q%\ ? +10 &v p n#\ N +9 &CZ r q$\ M +10 &\\ r o"\ M +9 &Z o q#\ M +9 &[ o s$\ M +10 &L[ o r$\ M +9 &\\ p p$\ M +10 &[ p s$\ M +9 & \\ p r-\ M +9 &"R\\ q r(\ M +10 &$Y p q-\ M +9 &%\\ r q+\ N +9 &'Z p s&\ M +10 &)[Z o q-\ M +9 &+\\ p r$\ M +9 &,Z r p#\ M +50 &.\\ q q.\ M +13 &0a^ p qD\ N +6 &2%Z q q)\ M + &3[ p r#\ M + &5Z r s\ M + &7jZ o q\ M &9-Z p q~\ M +3 &:\\ p r\ M +10 &<Z r q\ M +9 &>sY o r\ M +10 &@4[ p s\ M +9 &A[ p q\ M +9 &C^ s q\ M +10 &Ezb s s\ M +9 &G6i z x\ O +9 &Hr \ P +10 &J \ T +9 &Lg \ W +10 &N' \ W +9 &O \ X +9 &Q \ X +10 &Se \ Z +9 &U) x\ X +10 &VpB \ / +9 &Vp \ H +5 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"& 1 +3 "core" &Vk \ H +50 1 +2 "manipulator"&4% +4 "core" % +   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%$& +4 "core" &\ + "manipulator"&U% +4 "core" %\     +2 "storage"(2% +4 "core" %` O\ + "storage"(Y. +3 "core" .( +2 "storage"(!& +4 "core" & j\  + "storage"(+& +4 "core" & z\  +2 "manipulator"&=& +4 "core" &% <@ + "manipulator"&8% +4 "core" %\   _  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&`( +160 "core" ( + "manipulator"&S& +4 "core" &  ` f +2 "storage"('& +4 "core" & Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +92 "core" ' + "storage"(G& +4 "core" & 7\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'i +284 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" & -\  +2 "manipulator"&9& +3 "core" & . f +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( + "manipulator"&\\& +4 "core" & f +2 "storage"(J& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(R'X +7 "core" & W f +2 "manipulator"&@% +4 "core" % ϭ  7 + .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +122 "core" ( +2 "manipulator"&A& +4 "core" & $   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +98 "core" ' + "manipulator"&Q& +4 "core" &   +2 "manipulator"&*% +4 "core" % B  +2 "processing"%;& +4 "core" &\ +2 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed + "processing"%7(Z +5 "core" &\ +7 &8\ $d +10 &T\ 7 +9 &\ L +9 &^\ N +10 &h]\ N +9 &*[\ N +9 &\\\ N +10 &_\ N +9 &p]\ N +10 &2Y\ N +9 &]\ N +9 &![\ N +10 &#x]\ N +9 &%:Z\ N +9 &&Z\ N +10 &([}\ M +9 &*\\\ N +9 &,B\\z\ N +9 &.\\\ N +9 &/Z\ N +10 &1Z\ N +9 &3JZ\ N +9 &5 _\ N +10 &6Y\ N +9 &8Z\ M +10 &:R\\\ N +9 &<^\ N +9 &=Z}\ M +10 &?Z\ N +9 &AZW\ N +9 &C\\\ N +10 &Da|\ N +9 &Fg\ P +10 &HV{\ R +9 &J\ S +9 &K\ T +10 &M{\ T +9 &OX\ T +9 &Q\ T +10 &R\ U +9 &T\ T +10 &V]}\ U +9 &X\ U +9 &Yzn\ 5 +10 &Z(y}\ R +9 &Z"\ - +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&L1 +52 "core" 1 + "manipulator"&I% +5 "core" % $ :  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' + "processing"%_& +4 "core" &Z |\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&[% +4 "core" %\   1  +2 "storage"(b% +4 "core" %b \ +2 "storage"(n. +3 "core" .( + "storage"(s& +4 "core" & t\  +2 "storage"(~& +4 "manipulator"&F& +4 "core" & r\  + &    +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&t(s +2 "storage"(a'i +34 "core" ( + "manipulator"&X& +5 "core" &} Y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &} v  +2 .tForearm.seek PC + "manipulator"&T' +95 "core" ' + .tHand.close + "manipulator"&g/ +60 "core" / +2 .tPC.seek :open +2 "processing"%O( +59 "core" ' + "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +323 ( +2 "storage"(o& +4 "core" & a\  + "manipulator"&& +4 "core" &}   + "manipulator"&f% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +267 "core" ( + "manipulator"&r& +4 "core" & Y  +2 "storage"(k& +4 "core" & V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + .tHand.open + "manipulator"&u1 +60 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +54 "core" ' + #tLights, camera, ACTION! + "storage"(x- +4 "core" -' +2 "storage"(& +3 "core" & ' # ,\  +2 "manipulator"&{& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&#& +4 "core" &  ~  +2 "storage"(& +3 "core" & # " :\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(d' +59 "core" ' + "manipulator"&i& +4 "core" & Y  +2 "storage"(& +4 "core" & [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +22 "core" ' + "manipulator"&z% +5 "core" %Ή  + "storage"(& +4 "core" & "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&y'ϵ +21 "core" ' + "manipulator"&& +5 "core" & _  + "storage"(& +4 "core" & D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +25 "core" ' +2 "storage"(\ % +4 "core" %s C\ +3 ."downElevator"SE.seek :down +3 "storage"(q'X +98 ( % +3 "core" %I (\ Xf +2 "manipulator"&|% +4 "core" %u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & ;\  +2 "collection"'& +4 "core" &V` \ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&D% +4 "core" %\ \ #  + "storage"(% +4 "core" %R U\ +2 "storage"(. +3 "core" .( + "storage"(}& +4 "core" & \  +2 "storage"((& +3 "core" & C\  +2 "manipulator"&& +3 "core" & !  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&m& +4 "core" & =  +2 "storage"(%& +3 "core" & \  +2 .tForearm.reconfigure :tight +54 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +95 "core" ' +2 "storage"("& +4 "core" & D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"()& +3 "core" & O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&.'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'W +29 "core" ' + "manipulator"&% +5 "core" %ΐ +  + "storage"(0& +4 "core" & \\\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&v'ϼ +19 "core" ' +2 "manipulator"&&& +4 "core" &  +2 "storage"(E& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(4'F +43 "core" ' +2 "manipulator"&$& +4 "core" &  +2 "manipulator"&U% +4 "core" %! V + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +164 "core" ( +3 "manipulator"&!& +4 "core" &*  Ad + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &+ W Ad +2 .tForearm.seek CC +2 "manipulator"&='" +93 "core" ' +2 .tHand.close + "manipulator"&B/ +63 "core" / +2 .tCC.seek :open + "collection"'8( +416 "core" ( +2 "storage"(?& +4 "core" & \  + "storage"(S& +4 "core" & G\  + "manipulator"&'& +4 "core" &+ Ad + "manipulator"&G% +4 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +164 "core" ( + "manipulator"&W& +4 "core" &  r +2 "storage"(5& +4 "core" & c\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&9'} +104 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +55 "core" 1 +2 "manipulator"&H% +4 "core" % · # 3 I +2 "storage"(]& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&@'ϳ +12 "core" ' +2 "manipulator"&`& +4 "core" & r +2 "storage"(N& +3 "core" &\ \  >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +20 "core" ' +2 "storage"(3% +4 "core" %I\ %\  \ +2 ."downElevator"SE.seek :down +5 "storage"(A'X +99 (j% +3 "core" %@ \ Va +2 "manipulator"&C% +3 "core" %6 k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +85 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'*& +4 "core" & h j\ +2 "manipulator"&;% +4 "core" %\    + "storage"(R% +4 "core" %`\ $\ $ 3\ +2 "storage"(M. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +142 "Can"\ b` +195 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +2 "core" & \ +2 "manipulator"&I& +4 "core" & @ r +2 .tElbow.seek 2 +2 "manipulator"&_( +32 "core" ( + "manipulator"&[& +5 "core" &  s "} + "storage"(b& +4 "core" & \ \ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +97 "core" ' + "storage"(s& +4 "core" & \ "\  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'i +283 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" & (\ +2 "manipulator"&X& +3 "core" &  o +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&K& +5 "core" &  o + "storage"(g& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&P' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(7'X +7 "core" & ; o +2 "manipulator"&a% +3 "core" %  7 L +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&f& +5 "core" &* * Ab + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&T& +4 "core" &+ 0 8 Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'" +92 "core" ' + "manipulator"&k& +4 "core" &+ i Ab +2 "manipulator"&t% +4 "core" %) t  +3 "collection"'u& +4 "core" & i i(\ +2 "collection"'& +4 "core" & i ig\ +3 .tCC.seek :closed + "collection"'x(V +4 "core" & j h\ +8 & - i go\ $c +10 &U h j.\ 7 +9 & i k%\ L +9 &[ k k#\ M +10 &i] j j$\ M +9 &,Z k j\ M +10 &[ g k?\ M +9 &\\ k j$\ M +9 &sZ k k&\ L +10 &3\\ j j%\ M +9 &Z j l$\ M +9 &!\\ k k%\ M +10 &#z\\ k k\ M +9 &%<\\ l k%\ M +9 &&Z h j$\ L +10 &(Z k l$\ M +9 &*[ l j$\ L +10 &,C\\ k l*\ M +9 &.Z m m+\ L +9 &/\\ n k$\ M +10 &1] k l-\ M +9 &3LZ h m%\ M +9 &5\\ l l#\ L +10 &6] l k"\ M +9 &8Y k k>\ M +10 &:T[ l j'\ M +9 &<^ k l"\ M +9 &=] k l>\ M +10 &?a k lB\ M +9 &A\\[ i k"\ M +9 &C^ l k$\ M +10 &D_ n n\ M +9 &Fi v s~\ N +10 &HZ } }\ P +9 &J n\ U +9 &K \ X +10 &M g\ X +9 &OK w\ X +9 &Q ~\ Y +10 &R \ Y +9 &T \ Z +10 &V+v \ . +9 &V" \ N +9 ( +3 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&1 +4 "core" &Vk \ I +53 1 +2 "manipulator"&{% +4 "core" % )  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\  L  +2 "storage"(i% +4 "core" %` n\ + "storage"(. +3 "core" .( + "storage"(& +4 "core" & p\ +2 "storage"(z& +3 "core" & s\ +2 "manipulator"&& +4 "core" &*  Ab +2 "manipulator"&% +3 "core" %\  L  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( + "manipulator"&& +4 "core" &  q  +2 "storage"(\ & +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +90 "core" ' + "storage"(& +5 "core" & 2\ + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +283 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & C\ + "manipulator"&Z& +4 "core" & G  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&d& +4 "core" & R  + "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +51 "manipulator"&y' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(D'X +7 "core" & &  +2 "manipulator"&% +4 "core" %  w N +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&}& +4 "core" &y :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &y \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' + "manipulator"&m& +5 "core" &y  ^ + "manipulator"&%% +4 "core" % 7 q +2 "processing"%w& +4 "core" &\ +2 "processing"%"& +5 "core" &\ +2 .tPC.seek :closed + "processing"%q(Z +5 "core" &\  +9 &1\ *y +9 &c\ > +10 &pz\ N +9 &3\\\ N +9 &Z\ N +10 &[\ N +9 &z[\ M +9 &<[\ M +10 &\\\ N +9 &^\ N +10 & \\\ N +9 &"C[\ N +9 &$Z\ M +10 &%\\\ N +9 &'`\ N +9 &)KZ\ N +10 &+ \\\ N +9 &,\\\ N +10 &.\\\ N +9 &0R[\ N +9 &2Z\ N +10 &3Z\ N +9 &5Z\ N +9 &7\\Z~\ M +10 &9Z\ N +9 &:Y\ N +10 &<[~\ N +9 &>cY|\ N +9 &@%\\\ N +10 &A]\ N +9 &C]~\ N +9 &Ei_}\ N +10 &G&j~\ P +9 &H}~\ R +10 &J}\ S +9 &Lb\ S +10 &N#}\ T +9 &O~\ T +9 &Q}\ T +9 &Sf|\ U +10 &U)\ T +9 &V\ U +10 &X\ U +9 &Zb\ #m +9 &ZY|\ , +9 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&1 +3 "core" &Z~\ ) +54 1 + "manipulator"& % +4 "core" %  C q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%& +4 "core" &Z{\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&)% +4 "core" %\ +  +2 "storage"(1% +4 "core" %T w\ + "storage"(. +3 "core" .( + "storage"(0& +4 "core" & ;\ +2 "storage"(&& +2 "manipulator"&E& +6 "core" & ?\ + &y d +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&$(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(U'i +4 "core" ( + "manipulator"&-& +4 "core" &y > + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &y " +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&./ +57 "core" / +2 .tPC.seek :open +2 "processing"%v( +91 "core" ' +2 "storage"(/- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +47 "core" ' +287 ( +2 "storage"(+& +4 "core" & (\ + "manipulator"& & +4 "core" &y  + "manipulator"&6% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&2( +274 "core" ( +2 "manipulator"&,& +4 "core" & M  +2 "storage"(?& +3 "core" & v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +87 "core" ' + .tHand.open + "manipulator"&'1 +54 "core" 1 +2 "storage"(G- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(5' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(Y& +4 "core" & U 1\ + "manipulator"&J& +4 "core" & E  +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( + "manipulator"&]& +4 "core" &  s  + "storage"(`& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +57 "core" ' + "manipulator"&:& +5 "core" &  + "storage"(j& +4 "core" & -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&C' +29 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +22 "core" ' +2 "manipulator"&*% +4 "core" %  # +2 "storage"(@& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&;' +20 "core" ' +2 "manipulator"&R& +4 "core" & k  +2 "storage"(M& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +17 "core" ' + "storage"(<% +5 "core" %m D\  +2 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (>% +3 "core" %yG b\ We +2 "manipulator"&L% +4 "core" %њ Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +4 "core" & g\ +2 "collection"'b& +4 "core" &Vk \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&s% +4 "core" %\    + "storage"(\\% +4 "core" %^ \ + "storage"(Q. +3 "core" .( +2 "storage"(~& +4 "core" & R\ + "storage"(l& +4 "core" & =\ +2 "manipulator"&X& +4 "core" & %  +2 .tElbow.seek 2 + "manipulator"&K( +3 "core" ( +2 "manipulator"&g& +4 "core" &  p  + "storage"(& +4 "core" & S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +96 "core" ' + "storage"(a& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'i +283 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&f& +3 "core" &   +2 "storage"(T& +3 "core" & Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&F' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'T +30 "core" ' + "manipulator"&u% +5 "core" %  + "storage"(V& +4 "core" & e\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&7' +12 "core" ' + "manipulator"&o& +4 "core" & Y  +2 "storage"(8& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"({'C +40 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&% +4 "core" %ѻ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" &* $ E @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &* [ @[ +53 .tForearm.seek CC +2 "manipulator"&'" +90 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(r& +4 "core" & \ + "storage"(& +4 "core" & g\ +2 "manipulator"&\ & +4 "core" &* G @Z + "manipulator"&% +4 "core" % 2 ` +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +154 "core" ( + "manipulator"& & +4 "core" & g  +2 "storage"(|& +4 "core" & \ \  F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&Z' +106 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"& % +4 "core" % $ 3 & + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&& +4 "core" & G  +2 "storage"(c& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +31 "core" ' +2 "storage"(y% +43 "core" %G\ $\ $ e\ +2 ."downElevator"SE.seek :down +5 "storage"(}'X +98 ((% +3 "core" %A ?\ Wc +2 "manipulator"&% +4 "core" %ѧ ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'%& +4 "core" & c cM\ +2 "manipulator"&w% +3 "core" %\   +2 "storage"(D% +4 "core" %a\ %\ $ K\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(O( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & n\ +2 "manipulator"& & +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&)& +4 "core" & & U +2 "storage"(1& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + "storage"(0& +4 "core" &\ %\ " M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +286 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" & N\  +2 "manipulator"&-& +3 "core" &  U +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" & S U + "storage"(.& +4 "core" &\ \  E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&h/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(q'X +8 "core" &  U + "manipulator"&U% +4 "core" % Ϛ Y  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +25 "core" ( +2 "manipulator"&6& +4 "core" &( @ 1 ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +92 "core" ' +2 "manipulator"&?& +4 "core" &( $  ?T +2 "manipulator"&$% +3 "core" % \ +2 "collection"''& +4 "core" & e f9\ +2 "collection"'G& +5 "core" & d eq\ +2 .tCC.seek :closed +2 "collection"'=(V +4 "core" & d cI\  +9 &/{ e dk\ *y +9 &d d fP\ > +9 &ws d fR\ N +10 &;Y d eR\ M +9 &[ e hP\ M +9 &Z g hR\ M +10 &Y g eR\ M +9 &EZ i gQ\ L +10 &[ e e\ M +9 &[ f f7\ L +9 & ] e g%\ M +10 &"K\\ g g&\ M +9 &$ Z e f\ M +9 &%\\ d hw\ M +10 &'Z h h#\ M +9 &)TX g g0\ M +10 &+Z f g%\ M +9 &,W g g%\ M +9 &.\\ d h\ M +10 &0\\\\ f gA\ M +9 &2Y f h$\ M +9 &3Y d i%\ M +10 &5Z g f%\ L +9 &7d[ h g&\ M +10 &9&^ f g%\ M +9 &:_ f j \ M +9 &<^ e g$\ M +10 &>k` g g&\ M +9 &@/\\ h h%\ L +9 &A] g f)\ L +10 &C] g g$\ M +9 &Es` k j*\ M +10 &G1m q o,\ N +9 &Hv z w*\ P +9 &J ~ *\ T +10 &L` k\ V +9 &N ?\ W +9 &O (\ W +10 &Q (\ X +9 &S` '\ Y +10 &U" =\ Y +9 &VkA @\ 1 +9 &Vh \ E +6 ( +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&Y1 +4 "core" &V[ \ E +56 1 +2 "manipulator"&J% +4 "core" %  K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%`& +4 "core" &\ + "manipulator"&B% +4 "core" %\  s  + "storage"(:% +4 "core" %T %\ +2 "storage"(j. +3 "core" .( + "storage"(*& +4 "core" & K\  + "storage"(@& +4 "core" & <\  + "manipulator"&!& +4 "core" &( ?T +2 "manipulator"&R% +3 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W( +161 "core" ( + "manipulator"&M& +4 "core" &  Y X +2 "storage"(<& +4 "core" & -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +98 "core" ' +2 "storage"(S& +4 "core" & +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'i +280 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" & v\  +2 "manipulator"&N& +4 "core" &  X +2 .tElbow.seek 3 +2 "manipulator"&H( +3 "core" ( + "manipulator"&3& +3 "core" & j X +2 "storage"(C& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&['ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(s'X +6 "core" & X +2 "manipulator"&\\% +4 "core" % ϔ A  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&~(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&9& +4 "core" &s @ l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &s 1 E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X' +92 "core" ' + "manipulator"&g& +4 "core" &s z +2 "manipulator"&% +4 "core" %  + "processing"%4& +4 "core" &\ +2 "processing"%a& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &\  +8 &2\ )w +9 &b\ > +10 &cy\ N +9 &%\\\ N +10 &[\ M +9 &\\\ N +9 &lY\ N +10 &/[\ M +9 &]\ N +9 &Z\ N +10 & t]\ N +9 &"5_\ N +9 &#Z\ M +10 &%[\ N +9 &'|[\ N +10 &)>Z\ N +9 &+[\ N +10 &,Z\ N +9 &.`\ N +9 &0E]\ N +10 &2 [\ M +9 &3^\ N +9 &5_\ N +10 &7N^\ N +9 &9]\ N +9 &:Z\ N +10 &<_\ N +9 &>VY\ N +10 &@Z\ N +9 &AX\ N +9 &C\\~\ N +10 &E\\a\ N +9 &Gl\ P +9 &H\ R +10 &J|\ T +9 &LT\ T +10 &N|\ T +9 &O}\ T +9 &Q\ T +10 &S[\ T +9 &U\ T +9 &V|\ T +10 &X\ U +9 &Zg\ * +9 &Zv}\ = +10 ( +3 "processing"%a& +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&^1 +3 "core" &Z"|\ 0 +57 1 +2 "manipulator"&I% +4 "core" %    +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' + "processing"%f& +4 "core" &Z"r\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&T% +4 "core" %\ B  +2 "storage"(k% +4 "core" %` \  +2 "storage"(u. +3 "core" .( + "storage"(V& +4 "core" & \  +2 "storage"(o& +4 "manipulator"&8& +4 "core" & \  + &s  +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&p& +3 "core" &s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &s  +3 .tForearm.seek PC + "manipulator"&_' +94 "core" ' + .tHand.close +2 "manipulator"&F/ +53 "core" / +2 .tPC.seek :open +2 "processing"%7( +96 "core" ' +2 "storage"(t- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +280 ( +2 "storage"(z& +4 "core" & 4\  + "manipulator"&& +4 "core" &s  +2 "manipulator"&P% +3 "core" % Q " +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +270 "core" ( + "manipulator"&x& +4 "core" & S  +2 "storage"(r& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +108 "core" ' + .tHand.open + "manipulator"&\ 1 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(|' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & ' $ -\  +2 "manipulator"&& +3 "core" & &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  v  +2 "storage"(& +4 "core" & # % #\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&y& +5 "core" & ^  + "storage"(#& +4 "core" & 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +17 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'i +25 "core" ' + "manipulator"&% +5 "core" %Ή , + "storage"(%& +4 "core" & 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&w'ϵ +21 "core" ' + "manipulator"&D& +5 "core" & Z  + "storage"(& +4 "core" & T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +29 "core" ' + "storage"(e% +4 "core" %s \ +3 ."downElevator"SE.seek :down +3 "storage"(}'X +99 (% +3 "core" %I y\ Xe +2 "manipulator"&% +4 "core" %B K + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" & (\  +2 "collection"'1& +4 "core" &V[ )\ E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&0% +4 "core" %\ \   +2 "storage"(d% +3 "core" %` \ +2 "storage"(m. +3 "core" .( + "storage"(E& +4 "core" & \  + "storage"(&& +4 "core" & \  +2 "manipulator"&-& +4 "core" & B  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&.& +4 "core" &  +2 "storage"(h& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(U& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&6& +3 "core" &   +2 "storage"("& +3 "core" & :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"($'W +31 "core" ' + "manipulator"& % +4 "core" %· 5 +2 "storage"('& +3 "core" & ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&q'ϳ +20 "core" ' +2 "manipulator"&+& +4 "core" &   + "storage"(& +4 "core" & w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(J'F +40 "core" ' + "manipulator"&`& +5 "core" & e  + "manipulator"&B% +4 "core" %" ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +169 "core" ( +2 "manipulator"&G& +4 "core" &% p <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &$  <@ +2 .tForearm.seek CC + "manipulator"&@'" +94 "core" ' +2 .tHand.close + "manipulator"&!/ +60 "core" / + .tCC.seek :open +2 "collection"'R( +416 "core" ( +2 "storage"(,& +4 "core" & \  + "storage"(M& +4 "core" & \  + "manipulator"&<& +4 "core" &\ % $ ;3 + "manipulator"&S% +4 "core" %  x +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&]( +163 "core" ( + "manipulator"&>& +5 "core" &   Z + "storage"(L& +4 "core" &\ \ 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&N'} +94 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +54 "core" 1 +2 "manipulator"&;% +4 "core" % ΐ r +2 "storage"(b& +4 "core" & r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&\\'ϼ +20 "core" ' +2 "manipulator"&W& +4 "core" & * Z +2 "storage"(2& +3 "core" &\ \  B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +36 "core" ' + "storage"([% +5 "core" %I\ \ % \ +2 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (l% +3 "core" %C Y\ Va +2 "manipulator"&H% +4 "core" %+ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +51 "manipulator"&g'\ +93 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & ] ^F\ + "manipulator"&4% +4 "core" %\ 0 5 +2 "storage"(s% +4 "core" %`\ \ \ + "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(v( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" & U\ + "manipulator"&I& +4 "core" &  Z +2 .tElbow.seek 2 +2 "manipulator"&a( +34 "core" ( + "manipulator"&f& +4 "core" &  T ' +2 "storage"(T& +4 "core" & =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +90 "core" ' + "storage"(u& +5 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +290 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" & \ +2 "manipulator"&p& +4 "core" & & +2 .tElbow.seek 2 + "manipulator"&K( +3 "core" ( +2 "manipulator"&X& +3 "core" & m & +2 "storage"(F& +4 "core" & :\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&t' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& + "storage"(A'X +7 "core" & & +2 "manipulator"&% +4 "core" %  =  +2 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&P& +5 "core" &+ @ @ Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &+  D Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&x'" +99 "core" ' + "manipulator"&r& +5 "core" &+ B Ae + "manipulator"&% +5 "core" %,  +2 "collection"'\ & +4 "core" & _ aH\ +2 "collection"'& +6 "core" & ` aV\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & a ^H\  +8 &0~ _ aJ\ +z +9 &d _ `K\ > +10 &vs a bM\ N +9 &:X a bW\ M +9 &Z a aK\ M +10 &Z ` cF\ M +9 &[ a aP\ M +10 &AY ` cF\ M +9 &Z c _B\ M +9 &Z a aL\ M +10 & Z a bl\ M +9 &"I\\ a b,\ M +9 &$ [ ` c@\ M +10 &%\\ b bd\ M +9 &'Z b cR\ L +10 &)RZ c cR\ M +9 &+Z a cR\ M +9 &,Z b cJ\ M +10 &.Z b cP\ M +9 &0Y\\ c cM\ M +9 &2Z a cl\ M +10 &3Z e b2\ M +9 &5X c c\ M +10 &7b[ ` b#\ M +9 &9%Z c d3\ L +9 &:\\ a a%\ M +10 &<] a d\ N +9 &>i[ b bo\ M +9 &@,Z c c&\ M +10 &A\\ c `%\ M +9 &C\\ a c\ M +10 &Ena f fn\ N +9 &G-o r o#\ O +9 &H } ~\ Q +10 &J r\ W +9 &L[ &\ W +9 &N `\ W +10 &O  \ X +9 &Q  \ Y +10 &S[ $\ Z +9 &U )\ Z +9 &VhD \ 1 +10 &Vs !\ H +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&1 +4 "core" &Vk  \ H +56 1 +2 "manipulator"&% +4 "core" % + ' h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\  Z ' +2 "storage"(y% +3 "core" %a a\ +2 "storage"(#. +3 "core" .( + "storage"(& +4 "core" & l\ + "storage"(%& +4 "core" & b\ +2 "manipulator"&& +4 "core" &* \ Ab + "manipulator"&D% +4 "core" %\  > ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"& & +5 "core" & P x + "storage"(e& +4 "core" & P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +91 "core" ' + "storage"(& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & ^\ +2 "manipulator"&c& +4 "core" & = x +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & D x + "storage"((& +4 "core" & c\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&w' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(0'X +7 "core" &  x + "manipulator"&d% +4 "core" %   Q +2 .tForearm.seek :retract +2 "manipulator"&m'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&E(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&Z& +4 "core" &y 5 + , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &y  , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-' +96 "core" ' + "manipulator"&.& +4 "core" &y , +2 "manipulator"&h% +4 "core" % F  + "processing"%{& +4 "core" &\ +3 "processing"%U& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%}(Z +4 "core" &\  +9 &0\ +z +10 &b\ > +9 &rx\ N +10 &4\\\ N +9 &[\ M +9 &\\\ N +10 &{^\ N +9 &=^\ N +9 &_\ N +10 &Z\ N +9 & Z\ N +10 &"EZ\ N +9 &$Z\ M +9 &%\\\ N +10 &'`\ N +9 &)M^\ N +9 &+^\ N +10 &,]\ N +9 &.[\ N +10 &0T^\ N +9 &2Z\ N +9 &3Z\ M +10 &5Z\ N +9 &7^Z\ M +9 &9Z\ N +10 &:X~\ N +9 &<[}\ M +10 &>eZ\ N +9 &@&^\ N +9 &AY\ N +10 &C\\\ N +9 &Ej_\ O +9 &G)j\ P +10 &H\ R +9 &J~\ T +10 &Lc~\ T +9 &N&\ S +9 &O}\ S +10 &Q|\ T +9 &Sjw\ T +9 &U*\ U +10 &V~\ T +9 &X|\ T +10 &Z`|\ #m +9 &Z\\{\ , +9 ( +2 "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&1 +4 "core" &Z{\ ( +53 1 + "manipulator"& % +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + "processing"%6& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&"% +4 "core" %\  + +2 "storage"(?% +3 "core" %b S\ +2 "storage"( . +3 "core" .( + "storage"('& +4 "core" & g\ +2 "storage"(+& +4 "manipulator"&& +4 "core" & j\ + &y | , +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&`(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'i +2 "core" ( +2 "manipulator"&& +3 "core" &y  , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &y 6 , +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%q( +89 "core" ' +2 "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'y +48 "core" ' +283 ( + "storage"(*& +4 "core" & \ +2 "manipulator"&Y& +3 "core" &y G , +2 "manipulator"&/% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +273 "core" ( +2 "manipulator"&=& +4 "core" &  l  + "storage"(,& +4 "core" & [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +51 "manipulator"&M'ќ +95 "core" ' +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +2 "storage"(S- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(>'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(L' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' +2 "storage"(j& +3 "core" & # " -\ +2 "manipulator"&C& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&b& +4 "core" & .  + "storage"(W& +4 "core" & " " )\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +58 "core" ' + "manipulator"& & +5 "core" &   + "storage"(l& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&H' +31 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'i +22 "core" ' +2 "manipulator"&\\% +4 "core" %  +2 "storage"(& +4 "core" & J\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&4' +19 "core" ' +2 "manipulator"&s& +4 "core" & Q  +2 "storage"(Q& +4 "core" & N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +31 "core" ' + "storage"(5% +5 "core" %q \ +2 ."downElevator"SE.seek :down +5 "storage"(9'X +98 (O% +4 "core" %hJ ]\ Xf + "manipulator"&^% +5 "core" %Ѧ  z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" & \ +2 "collection"'T& +4 "core" &Vk \ H + #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&u% +4 "core" %\ \ q  +2 "storage"(3% +4 "core" %b \ +2 "storage"(g. +3 "core" .( + "storage"(8& +4 "core" & \ +2 "storage"(o& +3 "core" & +\ +2 "manipulator"&p& +4 "core" & T  + .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( + "manipulator"&F& +4 "core" & T  +2 "storage"(~& +3 "core" & L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +94 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +284 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & ]  + "storage"(_& +4 "core" & 7\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&V' +35 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(r- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +30 "core" ' +2 "manipulator"&\ % +4 "core" % + "storage"(K& +4 "core" & } \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&A' +17 "core" ' + "manipulator"&z& +5 "core" & ;  + "storage"(R& +4 "core" & +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +41 "core" ' + "manipulator"&& +5 "core" & X  + "manipulator"&% +4 "core" %Ѣ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +177 "core" ( +2 "manipulator"&& +4 "core" &+ d Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &* &  Ac +2 .tForearm.seek CC +2 "manipulator"&%'" +98 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'D( +415 "core" ( + "storage"(x& +4 "core" & \ +2 "storage"( & +4 "core" & 8\ + "manipulator"&e& +4 "core" &+  Aa + "manipulator"&% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&& +4 "core" & P  + "storage"(& +4 "core" & e\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&(1 +57 "core" 1 + "manipulator"&)% +5 "core" % $ - 2 + "storage"(1& +4 "core" & [\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&d' +19 "core" ' +2 "manipulator"&& +4 "core" & _  + "storage"(i& +4 "core" & \ \  .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +23 "core" ' +2 "storage"(w% +4 "core" %I\ %\ s\ +2 ."downElevator"SE.seek :down +4 "storage"(Z'X +99 (&% +3 "core" %F 6\ Va + "manipulator"& % +4 "core" %Ѵ c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +5 "core" & X X^\ + "manipulator"&{% +4 "core" %\ \   +2 "storage"(0% +4 "core" %a\ $\ $ _\ + "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(7( +339 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & J\ + "manipulator"& & +4 "core" & b  +2 .tElbow.seek 3 + "manipulator"&6( +13 "core" ( +2 "manipulator"&"& +4 "core" &  + "storage"(?& +4 "core" &\ $\ $ 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +94 "core" ' + "storage"('& +4 "core" &\ %\ & \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +294 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" & \  +2 "manipulator"&& +3 "core" & 9  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&-& +4 "core" &   +2 "storage"(& +3 "core" & \ H\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(}'X +8 "core" &   + "manipulator"&B% +4 "core" % ϯ  7 +2 .tForearm.seek :retract +2 "manipulator"&*'\ +149 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +97 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&/& +4 "core" &* $ @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &* @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='" +92 "core" ' +2 "manipulator"&,& +4 "core" &* $ $ @Z +2 "manipulator"&`% +4 "core" %$ +2 "collection"'<& +4 "core" & \\ \\]\ +2 "collection"'S& +5 "core" & ] \\O\ +2 .tCC.seek :closed +2 "collection"'@(V +4 "core" & \\ [K\ +7 &4 ] \\P\ $c +10 &U ] [S\ 7 +9 &} \\ [P\ K +9 &W \\ \\Q\ M +10 &e_ [ ]S\ M +9 &'X ] ]N\ M +10 &Z ] \\K\ M +9 &[ ^ ]O\ M +9 &mY \\ `T\ M +10 &0[ \\ ^J\ L +9 &\\ [ ]K\ M +9 &!_ _ _Q\ M +10 &#u\\ ] ]R\ M +9 &%8[ _ ]N\ L +10 &&[ ] ^F\ L +9 &(Z ^ ^H\ L +9 &*~[ ] ^N\ L +10 &,@\\ ^ ]J\ L +9 &.Y ^ ^C\ M +10 &/Z \\ ]Q\ M +9 &1] _ ^O\ L +9 &3H[ \\ ]@\ L +10 &5\ [ ] ]P\ L +9 &6\\ ] _Q\ L +9 &8] ` _B\ M +10 &:O_ ^ _5\ M +9 &<\\ ] \\i\ M +9 &=] _ _!\ M +10 &?_ ^ _\ M +9 &AW^ _ _E\ M +10 &C_ \\ ^\ M +9 &Db _ _ \ M +9 &Fe g d=\ N +10 &HWs t m\ O +9 &J | |\ R +10 &K p\ U +9 &M ,\ W +9 &OG #\ X +10 &Q $\ W +9 &R /\ Y +9 &T #\ Y +10 &V%u (\ - +9 &V' $\ O +9 ( +2 &Vb #\ E +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&j1 +56 "core" 1 +2 "manipulator"&C% +4 "core" % $ $ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +5 "core" &\ + "manipulator"&!% +4 "core" %\   # +2 "storage"( % +4 "core" %S }\ + "storage"(l. +3 "core" .( + "storage"(\\& +4 "core" & \  +2 "storage"(G& +3 "core" & Z\  +2 "manipulator"&& +4 "core" &)  @Y + "manipulator"&>% +4 "core" %\   # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&s( +163 "core" ( + "manipulator"&Q& +4 "core" &  Y  +2 "storage"(5& +3 "core" & %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +92 "core" ' + "storage"(M& +4 "core" & U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +279 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (^& +4 "core" & \  +2 "manipulator"&2& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( + "manipulator"&[& +4 "core" & 0  +2 "storage"(H& +3 "core" & &\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&f/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(u'X +7 "core" & (  + "manipulator"&3% +4 "core" % Ϭ  8 +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( +3 "manipulator"&8& +4 "core" &h & 6  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &h (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +101 "core" ' +2 "manipulator"&F& +4 "core" &o %  +2 "manipulator"&~% +3 "core" %  +2 "processing"%J& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &\  +9 &1\ *y +10 &c\ > +9 &zw\ N +9 &=Z\ M +10 &Z\ N +9 &]\ N +10 &^\ N +9 &D^\ N +9 &_\ N +10 &\\\ N +9 & Z\ M +9 &"L]\ N +10 &$W\ N +9 &%Z\ N +10 &'\\\ N +9 &)TZ\ N +9 &+Z\ N +10 &,]\ M +9 &.Z\ M +9 &0\\_\ N +10 &2Y\ M +9 &3[\ M +9 &5[\ M +10 &7e\\\ M +9 &9&]\ N +10 &:X\ N +9 &<Y\ M +9 &>mZ\ M +10 &@/\\\ M +9 &A]\ N +10 &C\\\ N +9 &Eqb\ O +9 &G0m\ P +10 &H\ R +9 &J\ S +9 &Lj\ T +10 &N-\ S +9 &O\ T +10 &Q\ T +9 &Sq\ T +9 &U2\ T +10 &V\ U +9 &X\ U +9 &Z"\\\ $n +10 &Zh\ 3 +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&]1 +3 "core" &Z \ - +55 1 + "manipulator"&I% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +2 "processing"%P& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&_% +4 "core" %\    + "storage"(r% +4 "core" %T q\ +2 "storage"(\ . +3 "core" .( + "storage"(K& +4 "core" & 7\  +2 "storage"(z& +2 "manipulator"&R& +8 "core" & q\  + &o [  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&n& +3 "core" &o   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &o (  +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' + .tHand.close +2 "manipulator"&V/ +60 "core" / +4 .tPC.seek :open + "processing"%A( +87 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +289 ( + "storage"(& +4 "core" & \  + "manipulator"&& +4 "core" &q   +2 "manipulator"&t% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&y( +266 "core" ( + "manipulator"&& +4 "core" & q  +2 "storage"(x& +3 "core" & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +99 "core" ' +2 .tHand.open + "manipulator"&e1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(%- +4 "core" -' + "storage"(#& +4 "core" & G E \  +2 "manipulator"&(& +3 "core" & 0  +2 .tElbow.seek 3 +2 "manipulator"&)( +3 "core" ( + "manipulator"&1& +4 "core" & 5  +2 "storage"(& +4 "core" & ) " \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(w' +57 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(&& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& '} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +75 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +26 "core" ' + "manipulator"&h% +4 "core" %· 5 +2 "storage"(d& +4 "core" & I\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&{'ϳ +20 "core" ' +2 "manipulator"&0& +4 "core" & 2  +2 "storage"(m& +4 "core" & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +52 "manipulator"&'9 +36 "core" ' +2 "storage"(|% +4 "core" %p \ +4 ."downElevator"SE.seek :down +4 "storage"(Z'X +99 (v% +3 "core" %G @\ We +2 "manipulator"&% +4 "core" %! x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +71 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" & \  +2 "collection"'?& +4 "core" &Vc (\ E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&'% +4 "core" %\   +2 "storage"(% +3 "core" %S \ +2 "storage"(.. +3 "core" .( +2 "storage"(+& +3 "core" & \  +2 "storage"(U& +4 "core" & \  + "manipulator"&& +4 "core" & Z  +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( + "manipulator"&& +4 "core" & O  +2 "storage"(E& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(B& +4 "core" & s\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +278 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"($& +4 "core" & K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'} +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(`'X +40 "core" ' + "manipulator"&% +5 "core" %Ί b + "storage"(<& +4 "core" & q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&}'϶ +24 "core" ' +2 "manipulator"&*& +4 "core" & 9  + "storage"(D& +4 "core" & B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'G +40 "core" ' + "manipulator"&W& +5 "core" &   + "manipulator"&!% +4 "core" %@ u X +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +169 "core" ( +2 "manipulator"&\\& +4 "core" && & ' =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &% % ' =G +2 .tForearm.seek CC +2 "manipulator"&S'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'>( +413 "core" ( + "storage"(=& +4 "core" & 2\  +2 "storage"(Q& +3 "core" & \  +2 "manipulator"&5& +3 "core" && x =F +2 "manipulator"&M% +4 "core" % (   +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +156 "core" ( +2 "manipulator"&O& +4 "core" & j + "storage"(^& +4 "core" &\ \  6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&2'} +103 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +55 "core" 1 +2 "manipulator"&f% +4 "core" % ΋  o g +2 "storage"(T& +3 "core" & b\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&3'Ϸ +12 "core" ' +2 "manipulator"&s& +4 "core" & f j +2 "storage"(:& +3 "core" &\ \ |\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +23 "core" ' +2 "storage"(4% +4 "core" %N\ \  ]\ +3 ."downElevator"SE.seek :down +3 "storage"(8'X +98 (o% +4 "core" %C t\ Wb + "manipulator"&;% +5 "core" %G  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'~& +4 "core" & Q RQ\ +2 "manipulator"&J% +4 "core" %\ # a : + "storage"(u% +4 "core" %b\ \  \ +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(q( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" & \ +2 "manipulator"&I& +3 "core" & % j +2 .tElbow.seek 2 +2 "manipulator"&P( +44 "core" ( + "manipulator"&_& +4 "core" & $ ( +2 "storage"(r& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +107 "core" ' +2 "storage"(K& +4 "core" & \ %\ & R\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +282 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ +2 "manipulator"&n& +4 "core" &! 2 # +2 .tElbow.seek 2 +2 "manipulator"&X( +25 "core" ( + "manipulator"&p& +4 "core" & ^  +2 "storage"(V& +3 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(9'X +7 "core" &   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&t& +5 "core" &( A  >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &(  >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +3 "manipulator"&x& +5 "core" &( ; >N + "manipulator"&% +4 "core" %  +2 "collection"'e& +4 "core" & T RN\ +2 "collection"'& +5 "core" & T Sm\ +2 .tCC.seek :closed + "collection"'%(V +4 "core" & R S`\  +9 &2 Q TV\ *y +10 &c R TZ\ > +9 &t S VQ\ N +9 &M\\ U UY\ M +10 &[ U TZ\ M +9 &] V SV\ M +10 &X U T(\ M +9 &WY U TQ\ L +9 &Z R UK\ M +10 &] S VS\ M +9 & ^ S VQ\ M +10 &"^\\ T UJ\ M +9 &$Y T TJ\ M +9 &%\\ U VQ\ M +10 &'Y S VR\ M +9 &)fX U WL\ M +9 &+(Z V UI\ M +10 &,X V UK\ M +9 &.Z T VH\ M +9 &0o\\ T WJ\ L +10 &20[ V VO\ M +9 &3] U UJ\ M +10 &5W T XJ\ M +9 &7wY X WI\ L +9 &99Z V WF\ L +10 &:\\ X WE\ M +9 &<\\ V VA\ M +9 &>}Y V TO\ M +10 &@@Z U VO\ M +9 &B\\ V VD\ M +10 &CZ V WE\ M +9 &Eb Z [b\ N +9 &GAn j eG\ O +10 &H x uA\ Q +9 &J  \\\ V +9 &Ln k\ X +10 &N.  m\ X +9 &O J\ X +10 &Q V\ X +9 &Sp N\ Z +9 &U2 D\ W +10 &Vo> d\ . +9 &V z R\ J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator" +3 "core" &Vk T\ J +56 1 +3 "manipulator"&(% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %U T\ +2 "storage"(&. +3 "core" .( + "storage"(& +4 "core" & 3\ +2 "storage"(& +3 "core" & $\ +2 "manipulator"&h& +4 "core" &\ ( L >H + "manipulator"&d% +54 "core" %\  :  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +156 "core" ( + "manipulator"&m& +4 "core" & N  +2 "storage"(y& +4 "core" & K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +91 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'i +285 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" & ?\ +2 "manipulator"&v& +3 "core" & Z  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&w& +4 "core" & N  +2 "storage"( & +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +3 "storage"(''X +8 "core" &   + "manipulator"&% +4 "core" %   i +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&.(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +121 "core" ( + "manipulator"&+& +4 "core" &s ' & # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &s b # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &u s ! +2 "manipulator"&E% +3 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Z(Z +4 "core" &\ +7 &7\ $d +10 &U\ 7 +9 &\ L +9 &\\\ N +10 &j[\ N +9 &-Z\ M +10 &Z\ N +9 &Y\ N +9 &r\\\ N +10 &4Y\ N +9 &\\\ N +9 &!X\ N +10 &#yZ\ N +9 &%<Z\ N +10 &&\\\ N +9 &(Z\ N +9 &*Z\ N +10 &,DZ\ N +9 &._\ N +9 &/Y\ N +10 &1Y\ N +9 &3K\\\ N +10 &5Z\ N +9 &6]\ N +9 &8X\ N +10 &:T[\ N +9 &<]\ N +10 &=Y\ M +9 &?Y\ N +9 &A\\W\ N +10 &CZ\ N +9 &D_\ N +9 &Fe\ O +10 &HZu\ Q +9 &J\ T +9 &K\ T +10 &M\ T +9 &OZ\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V`\ T +9 &X!\ U +9 &Yzm\ 4 +10 &Z,\ L +9 &Z\ , +2 ( +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"& % +5 "core" % # c  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"%& +5 "core" &Z\ , + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&$% +3 "core" %\  D  +2 "storage"(,% +4 "core" %a 3\ + "storage"(. +3 "core" .( + "storage"(<& +4 "core" & f\ +2 "storage"(*& +4 "manipulator"&D& +4 "core" & %\ + &u \\ ! +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&W(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'i +2 "core" ( +2 "manipulator"&& +4 "core" &u % 9 ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &u ! +2 .tForearm.seek PC +2 "manipulator"&6' +94 "core" ' +2 .tHand.close + "manipulator"&// +54 "core" / + .tPC.seek :open +2 "processing"%}( +95 "core" ' + "storage"(`- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\\'y +35 "core" ' +290 ( +2 "storage"(G& +4 "core" & \ + "manipulator"&j& +4 "core" &v _  +2 "manipulator"&% +3 "core" % < . +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +266 "core" ( + "manipulator"&@& +4 "core" &  A  +2 "storage"(=& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +96 "core" ' + .tHand.open +2 "manipulator"&51 +53 "core" 1 +2 "storage"(M- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(O'E +33 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(^' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(S- +3 "core" -' +2 "storage"(l& +4 "core" & # ' >\ + "manipulator"&H& +4 "core" & ?  +2 .tElbow.seek 2 +2 "manipulator"&f( +3 "core" ( + "manipulator"&T& +4 "core" &  Y  +2 "storage"(s& +3 "core" & # " \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +58 "core" ' + "manipulator"&Y& +59 "core" &   +2 "storage"(o& +4 "core" & ;\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&;' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(2'i +22 "core" ' +2 "manipulator"&~% +4 "core" % r / +2 "storage"(3& +3 "core" & )\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&J' +20 "core" ' + "manipulator"&u& +5 "core" & [  + "storage"(g& +5 "core" & y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +36 "core" ' +2 "storage"(L% +4 "core" %s K\ +2 ."downElevator"SE.seek :down +3 "storage"(8'X +99 (7% +3 "core" %I 1\ Wd +2 "manipulator"&]% +4 "core" %џ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (_& +4 "core" & C\ + "collection"'r& +4 "core" &Vk D\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&K% +4 "core" %\ %  +2 "storage"([% +3 "core" %T \ +2 "storage"(F. +3 "core" .( + "storage"(R& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&n& +3 "core" & R  +2 .tElbow.seek 2 +2 "manipulator"&p( +3 "core" ( + "manipulator"&V& +4 "core" & .  +2 "storage"(N& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +96 "core" ' +2 "storage"(& +4 "core" & ~\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +287 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" & ,  + "storage"(z& +4 "core" & 5\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&a' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(x'T +28 "core" ' + "manipulator"&% +54 "core" % +2 "storage"(e& +4 "core" & v v y\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&9' +13 "core" ' + "manipulator"&& +4 "core" & A  +2 "storage"(>& +4 "core" & c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('C +39 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %ѕ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&&( +169 "core" ( + "manipulator"&& +4 "core" &+ # q Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, Bi +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&h/ +55 "core" / +3 .tCC.seek :open +2 "collection"'d( +415 "core" ( + "storage"(& +4 "core" & \ + "storage"(m& +4 "core" & W\ +2 "manipulator"&y& +4 "core" &*  @W + "manipulator"&% +4 "core" % 3  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +159 "core" ( + "manipulator"&i& +4 "core" & o  +2 "storage"()& +4 "core" & \ \  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&v' +107 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&"% +4 "core" % $   + "storage"(?& +4 "core" & @\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +15 "core" ' + "manipulator"&0& +4 "core" & 5  +2 "storage"( & +4 "core" & \ $\ % a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +26 "core" ' + "storage"({% +5 "core" %M\ &\ & ;\ +2 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (U% +3 "core" %*C &\ Vb +2 "manipulator"&% +4 "core" % ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'E& +5 "core" & I ?]\ + "manipulator"&% +4 "core" %\    +2 "storage"('% +3 "core" %a\ %\ % k\ +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(A( +339 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & @\ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&$& +5 "core" & 9 h + "storage"(,& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' +2 "storage"(<& +4 "core" &\ %\ % X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'i +282 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" & 9\  + "manipulator"&& +4 "core" & l h +2 .tElbow.seek 3 + "manipulator"&-( +4 "core" ( + "manipulator"&& +3 "core" & 2 h +2 "storage"(/& +4 "core" &\ \ :\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&`'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"(Z'X +8 "core" & / h + "manipulator"&!% +4 "core" % Ϟ  \\ +2 .tForearm.seek :retract +2 "manipulator"&G'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +32 "core" ( + "manipulator"&& +4 "core" & ( & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" & s & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'" +99 "core" ' +2 "manipulator"&=& +4 "core" &  : & +2 "manipulator"&W% +4 "core" %  Q + "collection"'5& +4 "core" & J Kj\ +3 "collection"'M& +4 "core" & J Le\ +2 .tCC.seek :closed +2 "collection"'S(V +4 "core" & L KZ\  +8 &0 H K[\ *y +10 &c I Ld\ > +9 &ys K K^\ M +10 &<X K K_\ M +9 &] K N]\ M +9 &W M K]\ M +10 &X L MW\ M +9 &DW K Nb\ M +9 &Z L KS\ L +10 &Y K Mc\ L +9 & [ N N[\ M +10 &"L^ N JT\ M +9 &$Z M ML\ L +9 &%[ K MP\ M +10 &'\\ K OP\ M +9 &)U\\ N MP\ L +9 &+Z N MP\ L +10 &,Y E NP\ L +9 &.X K NQ\ M +10 &0][ L OR\ L +9 &2Y N LQ\ M +9 &3\\ N NK\ M +10 &5\\ N ON\ M +9 &7d] J LH\ M +9 &9&W L NQ\ M +10 &:X M ON\ M +9 &<\\ D NK\ M +10 &>lZ N NK\ M +9 &@-\\ N OO\ M +9 &AZ M NH\ M +10 &CX O LA\ M +9 &Er] S PO\ M +9 &G1e ] [O\ N +10 &Hs m gF\ P +9 &J { vD\ S +10 &L]  L\ W +9 &N  B\ W +9 &O  ~N\ X +10 &Q E\ X +9 &S^ @\ Z +9 &U! @\ Y +10 &VjC F\ 0 +9 &Vr F\ H +6 ( +2 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&l1 +4 "core" &Vj S\ H +49 1 +3 "manipulator"&H% +4 "core" %  %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +5 "core" &\ + "manipulator"&% +4 "core" %\    +2 "storage"(Y% +4 "core" %R f\ + "storage"(o. +3 "core" .( + "storage"(\\& +4 "core" & \  +2 "storage"(O& +3 "core" & \  +2 "manipulator"&~& +3 "core" &  & +2 "manipulator"&3% +4 "core" %\  A  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&u( +158 "core" ( + "manipulator"&g& +5 "core" & > ^ + "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Q'9 +97 "core" ' + "storage"(^& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +279 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (]& +3 "core" & a\  +2 "manipulator"&:& +4 "core" &  ^ + .tElbow.seek 3 +2 "manipulator"&f( +3 "core" ( + "manipulator"&4& +4 "core" & : ^ +2 "storage"(;& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"(K'X +6 "core" & _ ^ +2 "manipulator"&[% +4 "core" % Ϝ =  +2 .tForearm.seek :retract + "manipulator"&2'\ +98 "core" ' + .tElbow.seek PC +3 "manipulator"&F(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&R& +4 "core" &t '  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &t  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +104 "core" ' +2 "manipulator"&V& +4 "core" &t T +2 "manipulator"&N% +3 "core" % ; v +51 "processing"%C& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &\  +9 &1\ *x +9 &b\ > +10 &ux\ N +9 &7Y\ M +9 &[\ N +10 &]\ N +9 &}Y\ M +10 &?Z\ M +9 &_\ N +9 &\\\ N +10 & [\ M +9 &"F_\ N +9 &$ ]\ M +10 &%[\ M +9 &'_\ N +10 &)OY\ M +9 &+\\\ N +9 &,]\ M +10 &.\\\ M +9 &0VY\ N +9 &2Y\ M +10 &3Z\ N +9 &5]\ M +10 &7_Z\ M +9 &9 Y\ N +9 &:X\ N +10 &<Y\ M +9 &>gZ\ M +9 &@(Z\ N +10 &AX\ M +9 &C]\ N +10 &El`\ N +9 &G)m\ P +9 &H\ R +10 &J\ T +9 &Le\ S +9 &N'\ S +10 &O\ T +9 &Q\ T +9 &Sk\ T +10 &U+\ U +9 &V\ T +10 &X\ U +9 &Z^\ #m +9 &Z_\ / +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&b1 +3 "core" &Z\ * +54 1 +2 "manipulator"&I% +4 "core" % @ v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +97 "core" ' +2 "processing"%t& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&z% +4 "core" %\ " % < +2 "storage"(X% +3 "core" %S j\ +2 "storage"(. +3 "core" .( +2 "storage"(e& +4 "core" & g\  + "storage"(& +4 "manipulator"&>& +4 "core" & j\  + &t q +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&k& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &t Y +2 .tForearm.seek PC +2 "manipulator"&P' +97 "core" ' + .tHand.close + "manipulator"&a/ +55 "core" / +3 .tPC.seek :open +2 "processing"%9( +89 "core" ' + "storage"(x- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +290 ( +2 "storage"(& +4 "core" & R\  + "manipulator"&#& +4 "core" &t  +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&h'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +273 "core" ( + "manipulator"&%& +4 "core" & t  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +103 "core" ' + .tHand.open +2 "manipulator"&y1 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(i'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"()' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(&& +4 "core" & ( $ \  + "manipulator"& & +4 "core" & +  +2 .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( + "manipulator"&?& +4 "core" & +  +2 "storage"(0& +4 "core" & U & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +25 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"({' +62 "core" ' + "manipulator"&& +5 "core" & H  + "storage"(U& +4 "core" & T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +25 "core" ' +2 "manipulator"&E% +4 "core" %~  + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&'Ϫ +26 "core" ' + "manipulator"&'& +5 "core" & Q  + "storage"(c& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +32 "core" ' + "storage"(|% +4 "core" %s i\ +3 ."downElevator"SE.seek :down +3 "storage"(+'X +99 (q% +3 "core" %7F L\ We +2 "manipulator"&% +4 "core" %/  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 ($& +4 "core" & u\  + "collection"',& +4 "core" &Vk \\\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&<% +4 "core" %\  S  +2 "storage"(w% +3 "core" %W \ +2 "storage"(. +3 "core" .( +2 "storage"(D& +3 "core" & `\  +2 "storage"(B& +3 "core" & [\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" &   +2 "storage"(.& +3 "core" & Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +99 "core" ' +2 "storage"(!& +4 "core" & Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" & :  +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +21 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(-- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(='X +27 "core" ' + "manipulator"&W% +5 "core" %ΐ   + "storage"(5& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&Z'ϼ +21 "core" ' + "manipulator"&G& +4 "core" &  +2 "storage"(d& +4 "core" & t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(H'G +38 "core" ' + "manipulator"&s& +5 "core" &  + "manipulator"&% +4 "core" %5 : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +170 "core" ( +2 "manipulator"&\\& +4 "core" &* $ X @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &) V @[ +2 .tForearm.seek CC + "manipulator"&~'" +94 "core" ' + .tHand.close +2 "manipulator"&M/ +63 "core" / + .tCC.seek :open +2 "collection"'3( +416 "core" ( +2 "storage"(@& +4 "core" & \  + "storage"(g& +4 "core" & \  +2 "manipulator"& & +3 "core" &( o >L +2 "manipulator"&^% +4 "core" % . D + .tForearm.seek :retract +2 "manipulator"&j'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +160 "core" ( +2 "manipulator"&7& +4 "core" & b  + "storage"(]& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&:'} +106 "core" ' +2 .tElbow.hold + "manipulator"&4, +54 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +60 "core" 1 +2 "manipulator"&_% +4 "core" % Ί $  2 +2 "storage"(r& +4 "core" & z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&['϶ +12 "core" ' + "manipulator"&u& +5 "core" & -  + "storage"(Q& +4 "core" &\ $\ $ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +30 "core" ' + "storage"(J% +5 "core" %O\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(R'X +99 (% +3 "core" %~C w\ Wb +2 "manipulator"&f% +4 "core" %@  k + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'N& +4 "core" & G JW\ +2 "manipulator"&C% +4 "core" %\    + "storage"(K% +4 "core" %R\ $\ $ \ +2 "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(}( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +2 "core" & \ +2 "manipulator"&I& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&t( +32 "core" ( + "manipulator"&z& +4 "core" &  m % +2 "storage"(X& +3 "core" & \ \ /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 "storage"(e& +4 "core" & \ \  =\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (>& +3 "core" & \ + "manipulator"&k& +4 "core" &  # +2 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( + "manipulator"&n& +4 "core" & h # +2 "storage"(a& +4 "core" & G\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(8'X +7 "core" &  # + "manipulator"&% +4 "core" % , < +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&& +5 "core" &* 8 b Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &* { Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +91 "core" ' + "manipulator"&& +5 "core" &+ % O Aa +2 "manipulator"&% +4 "core" %%  T  +2 "collection"'y& +4 "core" & H L|\ +2 "collection"'& +5 "core" & I Lv\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & J Ig\ +8 &> K Lf\ $d +9 &V I Ie\ 7 +9 &} I Ln\ L +10 &Z L L`\ M +9 &oW J Ne\ M +9 &1U K Mn\ M +10 &X N Lh\ M +9 &\\ K Ni\ M +10 &w\\ L Ll\ M +9 &:] M Lf\ L +9 &Z L Mf\ L +10 &![ K Mc\ M +9 &#_ L Le\ M +9 &%A^ L M]\ M +10 &'\\ L Nc\ M +9 &(W L N[\ L +10 &*Y L MZ\ M +9 &,JX N NU\ L +9 &. Z K NY\ L +10 &/] M LW\ M +9 &1Z M MR\ L +9 &3RZ L NN\ L +10 &5] M OS\ M +9 &6[ M LX\ L +10 &8Y O MQ\ L +9 &:Z] M OP\ L +9 &<\\ L PU\ M +10 &=Z N OQ\ M +9 &?Z L NM\ L +9 &AbZ M OJ\ L +10 &C%] N NU\ L +9 &Dc S PR\ M +10 &Fj \\ XP\ N +9 &H^ p kP\ P +9 &J ~ |W\ U +10 &K } I\ W +9 &M  T\ X +9 &OR J\ W +10 &Q M\ X +9 &R K\ Y +10 &T S\ Y +9 &V0v  P\ . +9 &V O\ S +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&&1 +4 "core" &Vo H\ K +53 1 +2 "manipulator"& % +4 "core" % & %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&h% +3 "core" %\    +2 "storage"(% +4 "core" %] f\ +2 "storage"(U. +3 "core" .( + "storage"(& +4 "core" & S\ +2 "storage"(E& +3 "core" & ]\ +2 "manipulator"&& +4 "core" &*  A` + "manipulator"&i% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +154 "core" ( +2 "manipulator"&c& +4 "core" & f  + "storage"(|& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' + "storage"(m& +4 "core" & &\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +284 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & e\ + "manipulator"& & +4 "core" & 0  +2 .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( + "manipulator"&{& +4 "core" & H  + "storage"(& +4 "core" & j\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(<'X +7 "core" &   +2 "manipulator"&w% +4 "core" %  d + .tForearm.seek :retract +2 "manipulator"&v'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +173 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&D& +4 "core" &i 8 ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&/& +4 "core" &j I + "manipulator"&.% +4 "core" % F +2 "processing"%(& +4 "core" &\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed + "processing"%+(Z +5 "core" &\ +7 &;\ $d +10 &T\ 7 +9 &~\ L +9 &\\\ N +10 &a`\ N +9 &#]\ N +9 &\\\ M +10 &Y\ M +9 &j\\\ M +10 &+Y\ N +9 &_\ M +9 &!Z\ N +10 &#q_\ N +9 &%3\\\ N +10 &&Y\ N +9 &(Z\ M +9 &*zZ\ M +10 &,<Z\ M +9 &-_\ N +9 &/Y\ N +10 &1Y\ M +9 &3C[\ N +9 &5^\ N +10 &6\\\ N +9 &8W\ M +10 &:LZ\ M +9 &< Y\ N +9 &=W\ M +10 &?Z\ M +9 &ATY\ M +9 &C_\ N +10 &D_\ N +9 &Fh\ O +10 &HPy\ Q +9 &J \ S +9 &K\ S +10 &M\ T +9 &OQ\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VW\ T +9 &X\ T +9 &Y{q\ 6 +10 &Z,\ S +9 &Z\ ) +2 ( +2 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&11 +56 "core" 1 + "manipulator"& % +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%*& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  $  +2 "storage"(-% +3 "core" %T p\ +2 "storage"(W. +3 "core" .( + "storage"(5& +4 "core" & \ +2 "storage"(G& + "manipulator"&d& +7 "core" & o\ +2 &j , +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(s'i + "manipulator"&(s +5 "core" ( + "manipulator"& & +4 "core" &j ! / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j j +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' +51 .tHand.close +2 "manipulator"&6/ +61 "core" / +2 .tPC.seek :open +2 "processing"%Z( +30 "core" ' + "storage"(=- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\\'y +45 "core" ' +348 ( + "storage"(O& +4 "core" & 5\ +2 "manipulator"&l& +8 "core" &j  + "manipulator"&`% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Y( +267 "core" ( +2 "manipulator"&S& +4 "core" & D | + "storage"(@& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +95 "core" ' +2 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "storage"(^- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(]' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(o& +3 "core" & " " *\ +2 "manipulator"&;& +4 "core" & k | +2 .tElbow.seek 2 +2 "manipulator"&_( +3 "core" ( + "manipulator"&r& +4 "core" &  | +2 "storage"(u& +4 "core" & # ! \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +60 "core" ' + "manipulator"&J& +4 "core" &  | +2 "storage"(T& +4 "core" & ]\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +29 "core" ' + .tElbow.hold +2 "manipulator"&f, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'i +23 "core" ' + "manipulator"&[% +5 "core" %  6 + "storage"(N& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&C' +20 "core" ' + "manipulator"&K& +5 "core" & b | + "storage"(2& +4 "core" & W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +27 "core" ' + "storage"(L% +5 "core" %n P\ +2 ."downElevator"SE.seek :down +3 "storage"(R'X +99 (A% +3 "core" %F h\ Wc +2 "manipulator"&b% +4 "core" %Ѡ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (z& +3 "core" & K\ +2 "collection"'X& +4 "core" &Vo ^\ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&e% +4 "core" %\   + "storage"(4% +4 "core" %^ q\ + "storage"(V. +3 "core" .( +2 "storage"(& +4 "core" & \ + "storage"(>& +4 "core" & t\ +2 "manipulator"&k& +4 "core" & . | + .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&a& +3 "core" &  | +2 "storage"(F& +4 "core" & E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +93 "core" ' +2 "storage"(& +4 "core" & W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & Q | +2 "storage"(P& +3 "core" & R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +34 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +31 "core" ' + "manipulator"&y% +4 "core" % 2 H +2 "storage"(p& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&8' +17 "core" ' +2 "manipulator"&& +4 "core" & S | +2 "storage"(3& +3 "core" & @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'B +38 "core" ' + "manipulator"&0& +5 "core" &  | + "manipulator"&h% +4 "core" % A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +164 "core" ( +2 "manipulator"&& +4 "core" &+ 7 Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &* ! Ab +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'i( +416 "core" ( + "storage"(%& +4 "core" & .\ +2 "storage"(c& +3 "core" & D\ +2 "manipulator"&|& +3 "core" &+ M Ab +2 "manipulator"&m% +4 "core" % (  +2 .tForearm.seek :retract + "manipulator"&#'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?( +154 "core" ( +2 "manipulator"&q& +4 "core" &  | + "storage"(& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&$% +4 "core" %   +2 "storage"(,& +3 "core" & Q\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&w' +18 "core" ' +2 "manipulator"&'& +5 "core" & L | + "storage"(& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +39 "core" ' + "storage"(% +4 "core" %G\ \  h\ +3 ."downElevator"SE.seek :down +3 "storage"(D'X +99 (B% +2 "core" %A \ V` +2 "manipulator"&"% +4 "core" %ѿ G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'.& +4 "core" & G H`\ +2 "manipulator"&(% +4 "core" %\    + "storage"(<% +4 "core" %S\ \  \ +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(9( +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +4 "core" & L\  + "manipulator"& & +4 "core" & l | + .tElbow.seek 3 +2 "manipulator"&*( +12 "core" ( +2 "manipulator"&& +4 "core" &  Z + "storage"(-& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +93 "core" ' + "storage"(5& +4 "core" &\ $\ # 0\  +51 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +286 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" & \  +2 "manipulator"& & +4 "core" & v Z + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  Z +2 "storage"(6& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&='ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(+'X +7 "core" &  Z +2 "manipulator"&s% +4 "core" % ϳ * & +2 .tForearm.seek :retract + "manipulator"&O'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +23 "core" ( + "manipulator"&`& +4 "core" &, A @ Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, f Bi +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'" +92 "core" ' +2 "manipulator"&@& +4 "core" &, V Bi +2 "manipulator"&% +4 "core" %#   +2 "collection"' & +5 "core" & I Kt\ +2 "collection"'^& +5 "core" & H I\ +2 .tCC.seek :closed +2 "collection"'~(V +4 "core" & H Io\  +8 &1~ H Ko\ *y +10 &d J Jo\ > +9 &{s J Kp\ M +9 &?W K Lo\ L +10 &Z K Ln\ L +9 &Y L Jo\ L +10 &\\ K Op\ M +9 &GX K Nj\ L +9 &\\ K Li\ M +10 &W K Mc\ M +9 & X K Mh\ M +9 &"OZ M Lh\ L +10 &$Y L Mj\ L +9 &%Z M Lk\ M +10 &'V L Mc\ M +9 &)VU K Kh\ M +9 &+W B Lf\ M +10 &,U L Le\ M +9 &.W N Lb\ M +9 &0^X M Kf\ M +10 &2!W M Kf\ L +9 &3W M Ka\ M +10 &5W L N[\ L +9 &7fY M Lc\ M +9 &9(Y O M\ M +10 &:X L L^\ M +9 &<\\ K N\\\ M +9 &>n] L M^\ M +10 &@0\\ N MX\ M +9 &A\\ N L[\ M +10 &CX N NV\ M +9 &Ev] O Q[\ M +9 &G4i [ Z[\ N +10 &Hq k hV\ P +9 &J { y\\\ S +9 &Lb ~ ~P\ V +10 &N" ~Z\ W +9 &O ~ [\ X +10 &Q  Y\ X +9 &Sa  W\ Y +9 &U$  Q\ Y +10 &VlB  O\ 0 +9 &Vr _\ G +5 ( +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&o1 +3 "core" &Vc ~ W\ G +19 "Can"\ MJ +41 "core" 1 +2 "manipulator"&;% +4 "core" % # l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%u& +4 "core" &\ +2 "manipulator"&M% +4 "core" %\    + "storage"(J% +4 "core" %` }\ + "storage"(T. +3 "core" .( +2 "storage"([& +3 "core" & c\  +2 "storage"(N& +4 "core" & y\  +2 "manipulator"&\\& +3 "core" &+  Bh +2 "manipulator"&7% +3 "core" %\  5  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +161 "core" ( + "manipulator"&2& +4 "core" & ] k +2 "storage"(L& +3 "core" & ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +107 "core" ' + "storage"(g& +4 "core" & r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +276 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" & X\  +2 "manipulator"&Q& +4 "core" & ] k +2 .tElbow.seek 3 + "manipulator"&_( +3 "core" ( +2 "manipulator"&j& +3 "core" & J k +2 "storage"(& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(e'X +7 "core" &  k + "manipulator"&4% +4 "core" % ϗ  \ +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +175 "core" ' + ."downElevator"SE.stop + "storage"(5 +67 "core" ( + "manipulator"&:& +4 "core" &| ) ( , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &| 4 , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +94 "core" ' +2 "manipulator"&a& +4 "core" &| , +2 "manipulator"&F% +3 "core" %   +2 "processing"%H& +4 "core" &\ +4 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(Z +4 "core" &\  +8 &1\ *y +9 &c\ > +10 &uw\ N +9 &8Y\ M +9 &Z\ M +10 &Y\ N +9 &~^\ M +10 &@Y\ M +9 &]\ M +9 &]\ N +10 & \\\ N +9 &"GY\ N +9 &$\ W\ M +10 &%[\ M +9 &'_\ N +10 &)PY\ M +9 &+[\ M +9 &,X\ N +10 &._\ N +9 &0W]\ N +9 &2]\ N +10 &3\\\ M +9 &5Y\ M +10 &7`Y\ M +9 &9"Z\ M +9 &:Y\ M +10 &<]\ N +9 &>hW\ M +9 &@)[\ N +10 &A\\\ M +9 &C\\\ N +10 &Em`\ N +9 &G*k\ P +9 &H\ R +10 &J\ S +9 &Le\ T +9 &N'\ T +10 &O\ S +9 &Q\ T +10 &Sn\ S +9 &U-\ T +9 &V\ U +10 &X\ U +9 &Z^\ #l +9 &Z\\\ . +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&f1 +3 "core" &Z\ * +58 1 + "manipulator"&I% +4 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&P% +4 "core" %\   4 + "storage"(% +4 "core" %a f\ +2 "storage"(y. +3 "core" .( + "storage"(p& +4 "core" & Q\  +2 "storage"(& +4 "manipulator"&3& +5 "core" & j\  + &| , +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&0(s +2 "storage"(h'i +5 "core" ( + "manipulator"&\ & +4 "core" &| n , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &|  , +2 .tForearm.seek PC +2 "manipulator"&t' +93 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"%8( +90 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +42 "core" ' +288 ( +2 "storage"(E& +4 "core" & h\  + "manipulator"&&& +4 "core" &|  , + "manipulator"&x% +4 "core" % [ $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +267 "core" ( + "manipulator"&& +4 "core" & K +2 "storage"(%& +4 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +94 "core" ' + .tHand.open + "manipulator"&|1 +63 "core" 1 +2 "storage"(m- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(q'E +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(U& +4 "core" &   \  + "manipulator"&& +4 "core" & 7 +2 .tElbow.seek 3 + "manipulator"&$( +4 "core" ( + "manipulator"&,& +4 "core" & I +2 "storage"('& +4 "core" & " " 1\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +63 "core" ' +51 "manipulator"&#& +5 "core" &  +2 "storage"(B& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'} +26 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +25 "core" ' + "manipulator"&w% +5 "core" %Ό  + "storage"(.& +4 "core" & [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&('ϸ +25 "core" ' + "manipulator"&<& +5 "core" & Y + "storage"(v& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +35 "core" ' + "storage"()% +4 "core" %s \ +3 ."downElevator"SE.seek :down +3 "storage"(D'X +99 (}% +3 "core" %G \ Wd +2 "manipulator"&1% +4 "core" %0 ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & i\  +2 "collection"'-& +4 "core" &Vc  [\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %\  +2 "storage"({% +4 "core" %_ \ + "storage"(/. +3 "core" .( + "storage"(G& +4 "core" & \  +2 "storage"(!& +4 "core" & \  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&6& +4 "core" & ^ +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(s& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'i +284 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & ^ + "storage"(& +4 "core" & D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&d'} +18 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +31 "core" ' + "manipulator"&% +4 "core" %΍ 7 +2 "storage"( & +4 "core" & ?\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&+'Ϲ +21 "core" ' + "manipulator"&O& +4 "core" & m +2 "storage"(i& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +49 "core" ' +4 .tSE.seek 1.1 Pucks below Top Plate + "storage"(;'H +41 "core" ' + "manipulator"&u& +4 "core" & +2 "manipulator"&M% +4 "core" %O  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +163 "core" ( +2 "manipulator"&[& +4 "core" &( $ P @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +2 "core" &* g @^ +2 .tForearm.seek CC +2 "manipulator"&N'" +93 "core" ' +2 .tHand.close + "manipulator"&\\/ +57 "core" / + .tCC.seek :open +2 "collection"'7( +416 "core" ( + "storage"(S& +4 "core" & V\  +2 "storage"(2& +15 "core" & h\  + "manipulator"&L& +4 "core" &* { @] +2 "manipulator"&g% +4 "core" % 2  + .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&r( +160 "core" ( + "manipulator"&A& +4 "core" & " +2 "storage"(b& +4 "core" &\ \  A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Q'} +96 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&z% +5 "core" % ΋ \ + "storage"(X& +4 "core" & \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&4'Ϸ +26 "core" ' +2 "manipulator"&K& +5 "core" & 1 + "storage"(Y& +4 "core" &\ \  K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +28 "core" ' + "storage"(C% +5 "core" %M\ %\ % ]\ +2 ."downElevator"SE.seek :down +3 "storage"(:'X +99 (>% +3 "core" %C\ \  \ Wb +2 "manipulator"&_% +4 "core" % b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +5 "core" & H Fg\ + "manipulator"&H% +4 "core" %\    +2 "storage"(e% +4 "core" %Y\ %\ & q\ + "storage"(V. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Z( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +2 "core" & "\ +2 "manipulator"&I& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +45 "core" ( + "manipulator"&P& +4 "core" &  a G +2 "storage"(& +3 "core" & \ \  J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +95 "core" ' +6 "storage"(p& +4 "core" & \ $\ $ J\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +6 "storage"('i +285 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & A\ +2 "manipulator"&\ & +4 "core" &  F +2 .tElbow.seek 2 +2 "manipulator"&n( +26 "core" ( + "manipulator"&k& +4 "core" & 0 l + "storage"(& +4 "core" & \ \  3\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(R'X +7 "core" & 8 l +2 "manipulator"&h% +3 "core" %  S X +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&x& +5 "core" &' * p >L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &' 0 >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' + "manipulator"&%& +5 "core" &( / >L + "manipulator"&0% +5 "core" %  + "collection"'|& +4 "core" & I I^\ +2 "collection"'m& +5 "core" & I Jj\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & I Id\ +6 &4 I Jq\ $c +9 &V I Jo\ 7 +10 &} I Kl\ K +9 &U L Jl\ M +10 &hX K Jp\ M +9 &,W J Li\ L +9 &Y I Mr\ M +10 &\\ L Jo\ M +9 &q\\ M Jq\ M +9 &3W K Lp\ M +10 &W L Ko\ M +9 &!Y K Kr\ M +9 &#yY K Np\ M +10 &%:\\ K Lq\ M +9 &&W L No\ M +10 &(Z K Kp\ M +9 &*V K Kj\ M +9 &,DY L Lm\ L +10 &.W K Lp\ M +54 &/\\ M Lo\ M +4 &1Y K Kp\ M + &3K\\ J Li\ M + &5Y L Lo\ L + &6W L Mo\ M + &8W K Lo\ L +3 &:RW M Lm\ M +10 &<Z L Lm\ M +9 &=Y M Lh\ M +9 &?\\ L Ld\ M +10 &A[V C Mk\ M +9 &CZ K Ob\ M +10 &D] Q P]\ M +9 &Fi \\ Yb\ N +9 &HX| q ja\ P +10 &J z z^\ V +9 &K ~ ~d\ W +9 &M | d\ X +10 &OJ | d\ X +9 &Q ~ d\ X +10 &R } _\ Y +9 &T } }]\ Y +9 &V(u _\ . +10 &V$ 2\ M +9 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&U1 +3 "core" &Ve e\ G +50 1 +2 "manipulator"&% +4 "core" %  c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%'& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ `  +2 "storage"(#% +3 "core" %T G\ +2 "storage"(B. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"(q& +4 "core" & \ + "manipulator"&w& +5 "core" &'  >K + "manipulator"&.% +4 "core" %\ >  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&<( +162 "core" ( + "manipulator"&v& +4 "core" & C  +2 "storage"(& +4 "core" & @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +104 "core" ' +2 "storage"(& +4 "core" & w\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'i +284 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" & 5\ +2 "manipulator"&& +3 "core" & \  +2 .tElbow.seek 2 +2 "manipulator"&$( +3 "core" ( + "manipulator"&& +4 "core" & f  + "storage"("& +4 "core" & u\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&(' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"(5'X +7 "core" & 3  +2 "manipulator"&{% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&/'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&G& +4 "core" &l & Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &l U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&6& +4 "core" &m +2 "manipulator"&% +3 "core" %  c +2 "processing"% & +4 "core" &\ +2 "processing"%s& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%D(Z +4 "core" &\ +7 &@\ %f +10 &W\ 8 +9 &~\ L +9 &\\\ N +10 &v^\ N +9 &8\\\ N +9 &]\ M +10 &]\ M +9 &~^\ N +10 &@\\\ N +9 & Z\ M +9 &![\ M +10 &#_\ N +9 &%H\\\ N +9 &' X\ M +10 &(Z\ M +9 &*^\ N +10 &,P\\\ N +9 &.Z\ M +9 &/Z\ M +10 &1\\\ N +9 &3Y]\ M +9 &5Y\ M +10 &6\\\ N +9 &8\\\ M +10 &:aZ\ M +9 &<"]\ N +9 &=\\\ M +10 &?W\ M +9 &AiY\ M +9 &C)_\ N +10 &D_\ N +9 &Fh\ O +10 &Hfy\ Q +9 &J#\ S +9 &K\ S +10 &M\ S +9 &Oh\ S +9 &Q(\ T +10 &R\ T +9 &T\ S +9 &Vm\ T +10 &X-\ U +9 &Y{r\ . +10 &Z'f\ F +9 &Z&\ 2 +2 ( +2 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&?1 +62 "core" 1 + "manipulator"& % +5 "core" % J c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' + "processing"%`& +5 "core" &Z&\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ \  +2 "storage"(@% +4 "core" %T P\ + "storage"(. +3 "core" .( + "storage"( & +4 "core" & \ +2 "storage"(O& +5 "manipulator"&i& +4 "core" & d\ + &m  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(u'i + "manipulator"&M(s +5 "core" ( + "manipulator"&& +4 "core" &m  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&*' +94 "core" ' + .tHand.close + "manipulator"&d/ +60 "core" / +3 .tPC.seek :open +2 "processing"%+( +87 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(['y +48 "core" ' +287 ( + "storage"(^& +4 "core" & \ +2 "manipulator"&o& +3 "core" &m / +2 "manipulator"&=% +3 "core" % z  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +261 "core" ( + "manipulator"&~& +4 "core" &  ,  +2 "storage"(S& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +98 "core" ' +2 .tHand.open + "manipulator"&L1 +55 "core" 1 +2 "storage"(g- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"(T& +4 "core" &   :\ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&z( +4 "core" ( + "manipulator"&X& +4 "core" & ^  +2 "storage"(K& +4 "core" & !  \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +56 "core" ' + "manipulator"&l& +4 "core" &   +2 "storage"(>& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&_' +24 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'i +27 "core" ' + "manipulator"&4% +4 "core" % ? +2 "storage"(F& +4 "core" & u\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&H' +20 "core" ' +2 "manipulator"&e& +5 "core" &  +2 "storage"(V& +3 "core" & s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +17 "core" ' + "storage"(]% +5 "core" %q z\ +2 ."downElevator"SE.seek :down +3 "storage"(:'X +99 (9% +3 "core" %$F H\ Xe +2 "manipulator"&f% +4 "core" %э  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (P& +4 "core" & X\ + "collection"'& +4 "core" &Ve ~ h\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&p% +4 "core" %\  5 +2 "storage"(j% +4 "core" %\\ \ + "storage"(a. +3 "core" .( + "storage"(3& +4 "core" & "\ +2 "storage"(& +3 "core" & !\ +2 "manipulator"&\ & +4 "core" & 6  + .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( + "manipulator"&& +4 "core" & .  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +104 "core" ' + "storage"(h& +4 "core" & r\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &   + "storage"(t& +4 "core" & K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'R +25 "core" ' + "manipulator"&0% +4 "core" % c +2 "storage"(|& +4 "core" & #\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&R' +19 "core" ' + "manipulator"&E& +4 "core" & ?  +2 "storage"(7& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +41 "core" ' +2 "manipulator"&'& +4 "core" & t  +2 "manipulator"&% +4 "core" %э z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +165 "core" ( +2 "manipulator"&& +4 "core" &% # <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &%  <? +2 .tForearm.seek CC + "manipulator"&m'" +93 "core" ' + .tHand.close + "manipulator"&w/ +53 "core" / + .tCC.seek :open +2 "collection"'.( +416 "core" ( + "storage"(& +4 "core" & \ +2 "storage"(v& +3 "core" & \ +2 "manipulator"&& +4 "core" &% 9 <? + "manipulator"&% +4 "core" % * 0 +2 .tForearm.seek :retract + "manipulator"&&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&,( +158 "core" ( + "manipulator"&}& +5 "core" & {  + "storage"(1& +4 "core" & \ \ \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +105 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&"1 +58 "core" 1 +2 "manipulator"&% +5 "core" % $ ! + "storage"(-& +4 "core" & G\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&{' +16 "core" ' +2 "manipulator"&<& +5 "core" & x  + "storage"(c& +4 "core" & \ \  _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +27 "core" ' +2 "storage"((% +4 "core" %I\ \  a\ +3 ."downElevator"SE.seek :down +3 "storage"(G'X +99 (!% +3 "core" %C )\ Va + "manipulator"&$% +4 "core" % z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +86 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & F Fv\ +2 "manipulator"& % +4 "core" %\  u  + "storage"(5% +4 "core" %a\ $\ $ 7\ +2 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(8( +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" & %\  +2 "manipulator"& & +4 "core" & S  + .tElbow.seek 3 +2 "manipulator"&`( +17 "core" ( +2 "manipulator"&& +4 "core" & X A + "storage"(@& +4 "core" &\ \  d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + "storage"( & +4 "core" &\ &\ & 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +282 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O& +3 "core" & \  + "manipulator"&& +4 "core" & 0 A + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & U A + "storage"(d& +4 "core" &\ \  b\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(D'X +7 "core" & : A + "manipulator"&u% +4 "core" % Ϡ A  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&o( +159 "core" ( + "manipulator"&=& +5 "core" &! # n 8 + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &*& +3 "core" &! y 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'" +94 "core" ' +3 "manipulator"&S& +4 "core" &! ! 8 +2 "manipulator"&M% +4 "core" % T  + "collection"'L& +4 "core" & G HR\ +3 "collection"'g& +4 "core" & G Gd\ +2 .tCC.seek :closed +2 "collection"'N(V +4 "core" & F HU\  +9 &2} F HZ\ *y +10 &d F HY\ > +9 &{s G J[\ M +9 &>W G Hb\ M +10 &] J Kd\ M +9 &W J Hb\ L +10 &X J LX\ M +9 &F\\ J K^\ M +9 & ] K K\\\ L +10 &Y K Jm\ L +9 & [ K Kr\ L +9 &"NZ K Kp\ M +10 &$\\ I Jo\ M +9 &%Z I Ko\ L +9 &'Y G Kq\ L +10 &)VV I Jp\ M +9 &+W I Kn\ M +10 &,W K Jo\ M +9 &.W J Kr\ M +9 &0^_ K Ks\ M +10 &2!\\ M Kp\ L +9 &3] K Jp\ M +10 &5Z K Jp\ M +9 &7f[ K Hi\ M +9 &9*W J Kq\ L +10 &:] J Io\ L +9 &<\\ K Mn\ L +9 &>o] J Ko\ L +10 &@2Z K Jo\ L +9 &A] L Km\ L +10 &C\\ K Ld\ L +9 &Ev^ P Mh\ M +9 &G3h \\ Wm\ N +10 &Hq j dp\ P +9 &J y vj\ T +9 &Lc z {f\ V +10 &N! { }d\ W +9 &O } ~l\ X +9 &Q | ~g\ X +10 &Sc ~ }f\ Y +9 &U% ~ }e\ Y +10 &VpB ~ c\ 1 +9 &Vj ~b\ F +5 ( +2 "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&T1 +3 "core" &Vb  j\ F +56 1 +3 "manipulator"&% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%K& +5 "core" &\ + "manipulator"&\\% +4 "core" %\  R . + "storage"(l% +4 "core" %a d\ + "storage"(>. +3 "core" .( +2 "storage"(4& +3 "core" & \  +2 "storage"([& +4 "core" & 0\  + "manipulator"&F& +4 "core" & J 8 + "manipulator"&A% +4 "core" %\  ^ . +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +161 "core" ( + "manipulator"&V& +4 "core" & 8 x +2 "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +87 "core" ' +2 "storage"(2& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'i +289 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" & k\  +2 "manipulator"&Y& +4 "core" & d x +2 .tElbow.seek 3 + "manipulator"&z( +3 "core" ( +2 "manipulator"&C& +3 "core" & e x +2 "storage"(_& +4 "core" & \  + .tForearm.seek 3 + 300 counts +2 "manipulator"&H'ϩ +21 "core" ' +50 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(p'X +6 "core" & x +2 "manipulator"&j% +4 "core" % ϣ   +2 .tForearm.seek :retract +2 "manipulator"&a'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&Q(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( +2 "manipulator"&3& +4 "core" &r % / \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &r B \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\ ' +101 "core" ' +2 "manipulator"&& +4 "core" &r t \ +2 "manipulator"&% +3 "core" %  +2 "processing"%;& +4 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%:(Z +3 "core" &\ +7 &?\ $d +9 &U\ 7 +10 &}\ K +9 &\\\ N +9 &l_\ M +10 &.]\ M +9 &Z\ M +10 &Z\ M +9 &s]\ N +9 &5\\\ N +10 &Z\ M +9 &!Y\ N +10 &#{]\ N +9 &%=[\ N +9 &'X\ M +10 &(Z\ M +9 &*Z\ N +9 &,F\\\ M +10 &.Y\ N +9 &/W\ M +9 &1Y\ M +10 &3MX\ N +9 &5]\ M +10 &6Y\ N +9 &8\\\ M +9 &:VZ\ M +10 &<]\ N +9 &=\\\ M +9 &?W\ N +10 &A^V\ M +9 &C \\\ M +10 &D_\ N +9 &Fg\ O +9 &HY|\ R +10 &J\ S +9 &K\ T +9 &M\ S +10 &O\\\ S +9 &Q\ S +10 &R\ T +9 &T\ T +9 &V`\ U +10 &X#\ T +9 &Yzl\ 3 +9 &Z*x\ L +10 &Z&\ . +2 ( +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&r1 +62 "core" 1 + "manipulator"&I% +5 "core" % $ D + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' + "processing"%x& +4 "core" &Z&\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&t% +4 "core" %\   y  +2 "storage"(%% +4 "core" %S y\ + "storage"(0. +3 "core" .( +2 "storage"(|& +4 "core" & e\  + "storage"(E& +5 "manipulator"&7& +4 "core" & %\  + &r % \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&'(s +2 "storage"('i +5 "core" ( + "manipulator"&& +4 "core" &r e \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &r \ +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +3 .tPC.seek :open + "processing"%R( +85 "core" ' + "storage"(n- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +291 ( +2 "storage"(q& +4 "core" & <\  + "manipulator"&U& +4 "core" &r - \ +2 "manipulator"&% +3 "core" % X  +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +262 "core" ( + "manipulator"&& +4 "core" & s  +2 "storage"(& +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +98 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(}'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(B& +3 "core" & 6 * ]\  +2 "manipulator"&"& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&-& +4 "core" & V  +2 "storage"(<& +4 "core" & 6 " N\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"((' +57 "core" ' +2 "manipulator"&&& +4 "core" & `  +2 "storage"(!& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'} +25 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&{% +4 "core" %|  +2 "storage"(& +4 "core" & +\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"& 'Ϩ +26 "core" ' + "manipulator"&5& +5 "core" &  + "storage"(/& +4 "core" & Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"()% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +98 (Z% +4 "core" %F \ Xe + "manipulator"&?% +4 "core" %B  s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & /\  + "collection"'@& +4 "core" &VZ } j\ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\    +2 "storage"(% +3 "core" %b ;\ +2 "storage"(6. +3 "core" .( + "storage"(i& +4 "core" & \  +2 "storage"(O& +3 "core" & \  +2 "manipulator"&& +4 "core" & n  + .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&d& +3 "core" & J  +2 "storage"( & +4 "core" & u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +91 "core" ' +2 "storage"(u& +4 "core" & =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +294 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" & H  + "storage"(*& +4 "core" & p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&s'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(M'Y +31 "core" ' + "manipulator"&L% +4 "core" %Ό  +2 "storage"(& +3 "core" & r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&D'ϸ +20 "core" ' + "manipulator"&^& +4 "core" &   +2 "storage"(.& +3 "core" & Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +28 "core" ' + .tSE.seek 1.1 Pucks below Top Plate +2 "storage"('H +40 "core" ' + "manipulator"&K& +5 "core" & 0  + "manipulator"&\\% +5 "core" %? + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +160 "core" ( +3 "manipulator"&4& +4 "core" &" # c 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &" 9) +2 .tForearm.seek CC +51 "manipulator"&['" +94 "core" ' + .tHand.close + "manipulator"&F/ +62 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(~& +4 "core" & =\  + "storage"(V& +4 "core" & \  +2 "manipulator"&]& +3 "core" &"  9) +2 "manipulator"&2% +3 "core" % " < +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&X( +167 "core" ( +2 "manipulator"&9& +4 "core" & L S +2 "storage"(f& +3 "core" &\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Y'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +60 "core" 1 +2 "manipulator"&P% +4 "core" % ΋ # t Z +2 "storage"(& +4 "core" & f\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&j'Ϸ +13 "core" ' + "manipulator"&e& +4 "core" & J S +2 "storage"(J& +4 "core" &\ \  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +23 "core" ' + "storage"(H% +4 "core" %Q\ \  /\ +3 ."downElevator"SE.seek :down +3 "storage"(3'X +99 (% +3 "core" %D ^\ Wb + "manipulator"&z% +4 "core" %Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & D F\ +2 "manipulator"&;% +4 "core" %\ #  + "storage"(p% +4 "core" %R\ $\ % Y\ +2 "storage"(a. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" & \ +2 "manipulator"&I& +3 "core" & A S +2 .tElbow.seek 2 +2 "manipulator"&x( +41 "core" ( + "manipulator"&t& +4 "core" & p ( +2 "storage"(%& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +93 "core" ' +2 "storage"(|& +4 "core" & \ %\ $ Q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +286 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" & `\ +2 "manipulator"&& +4 "core" &/  n +2 .tElbow.seek 2 + "manipulator"&k( +24 "core" ( +2 "manipulator"&\ & +4 "core" &   +2 "storage"(& +3 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&n' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(:'X +6 "core" &   +2 "manipulator"&% +4 "core" %  y  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( +2 "manipulator"&& +4 "core" && $ ( =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" && c =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&& +4 "core" && # ? =D +2 "manipulator"&'% +4 "core" % p Z +2 "collection"'& +4 "core" & H H\ +2 "collection"'& +5 "core" & G H\ +2 .tCC.seek :closed + "collection"'m(V +4 "core" & G Hp\ +8 & , G Fs\ $c +10 &V G Fm\ 7 +9 &} H Gn\ K +10 &U G Im\ L +9 &gY K Im\ L +9 &)W H Jc\ L +10 &Z J I3\ L +9 &Y I H_\ L +9 &nW J Kg\ M +10 &1W K K_\ L +9 &Y I J_\ M +10 &!\\ I N_\ M +9 &#v\\ H IV\ M +9 &%8W J K[\ M +10 &&V K Jn\ M +9 &(Z K Nv\ L +9 &*~W J Kq\ M +10 &,AW J Lg\ L +9 &.Y L Jl\ L +10 &/\\ I Kl\ M +9 &1X L Bo\ M +9 &3IV H Kn\ L +10 &5 X I Lj\ L +9 &6X K Jf\ L +9 &8Z J Ln\ M +10 &:P\\ I Ko\ M +9 &<] J Lo\ M +10 &=Y J Ln\ L +9 &?Y I Ir\ L +9 &AYX I Ko\ L +10 &CY L Ls\ M +9 &D_ N Nq\ M +9 &Fh [ Wo\ N +10 &HUy n gn\ P +9 &J { wn\ U +10 &K | }p\ W +9 &M | {n\ X +9 &OH | |p\ X +10 &Q | |n\ Y +9 &R } ~p\ Z +9 &T | ~n\ Y +10 &V&u ~ }o\ . +9 &V% } ~f\ S +9 ( +2 &Ve } k\ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&B1 +61 "core" 1 +2 "manipulator"&"% +4 "core" % * $ 7 N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%<& +4 "core" &\ + "manipulator"&w% +4 "core" %\  . +2 "storage"(&% +3 "core" %T (\ +2 "storage"(!. +3 "core" .( + "storage"({& +4 "core" & A\ +2 "storage"(& +3 "core" & \ +2 "manipulator"&& +4 "core" &&  =D + "manipulator"&}% +4 "core" %\  K . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +155 "core" ( + "manipulator"&/& +4 "core" & ;  +2 "storage"()& +4 "core" & ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +90 "core" ' +2 "storage"(v& +4 "core" & O\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'i +284 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" & E\ +2 "manipulator"&c& +3 "core" & H  +2 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&(& +4 "core" & :  + "storage"($& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& + "storage"( 'X +7 "core" & L  +2 "manipulator"&% +4 "core" %   O + .tForearm.seek :retract +2 "manipulator"&6'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&i(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&& +4 "core" &x #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &x +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&d& +4 "core" &x Q  +2 "manipulator"& % +3 "core" % Y +2 "processing"%& +4 "core" &\ +2 "processing"%u& +5 "core" &q\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &\ +7 & 1\ #b +10 &U\ 7 +9 &\ L +9 &\\\ M +10 &e]\ N +9 &(W\ M +10 &W\ M +9 &W\ M +9 &n]\ M +10 &1Y\ M +9 &_\ M +9 &!Y\ M +10 &#uZ\ N +9 &%7[\ N +10 &&Z\ N +9 &(Z\ N +9 &*}[\ N +10 &,?\\\ N +9 &.^\ M +9 &/]\ N +10 &1[\ N +9 &3GZ\ N +10 &5\ \\\ M +9 &6\\\ M +9 &8W\ M +10 &:QZ\ M +9 &<[\ M +9 &=Y\ M +10 &?Z\ N +9 &AXV\ M +10 &CY\ N +9 &D\\\ N +9 &Fe\ O +10 &HUx\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OV\ S +10 &Q\ T +9 &R\ S +9 &T\ T +10 &V]\ T +9 &X\ T +9 &Yzo\ 4 +10 &Z-\ G +9 &Z\ , +2 ( +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&,1 +63 "core" 1 +2 "manipulator"& % +4 "core" %  Z Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +53 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + "processing"%=& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&*% +4 "core" %\ #  % 9 +2 "storage"(S% +4 "core" %b \ + "storage"(L. +3 "core" .( +2 "storage"(& +4 "core" & S\ + "storage"(^& +4 "manipulator"&.& +4 "core" & 9\ + &x  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&K(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(\\'i +3 "core" ( + "manipulator"&W& +4 "core" &x  S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &x F  +2 .tForearm.seek PC +2 "manipulator"&`' +95 "core" ' +2 .tHand.close + "manipulator"&s/ +61 "core" / +3 .tPC.seek :open +2 "processing"%D( +86 "core" ' + "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +44 "core" ' +292 ( + "storage"(g& +5 "core" & \ + "manipulator"&T& +4 "core" &x   + "manipulator"&% +4 "core" %  %  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&l( +265 "core" ( +2 "manipulator"&N& +4 "core" & ? +2 "storage"(~& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +86 "core" ' +2 .tHand.open + "manipulator"&]1 +54 "core" 1 +2 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(f' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"([- +4 "core" -' +2 "storage"(>& +3 "core" & $ \ +2 "manipulator"&_& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&P( +3 "core" ( + "manipulator"&& +4 "core" & _ +2 "storage"(e& +4 "core" & " " \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +58 "core" ' +2 "manipulator"&o& +4 "core" &  + "storage"(& +4 "core" & <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&z' +31 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +22 "core" ' + "manipulator"&j% +5 "core" % , ! + "storage"(& +5 "core" & n\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&;' +20 "core" ' + "manipulator"&p& +5 "core" & + "storage"(a& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 "storage"(b% +4 "core" %m \  +3 ."downElevator"SE.seek :down +3 "storage"(3'X +99 (8% +2 "core" %C ~\ Wc +2 "manipulator"&r% +4 "core" %Ѧ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (t& +4 "core" & \ +2 "collection"'%& +4 "core" &V_ } j\ J + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&|% +3 "core" %\    +2 "storage"(C% +4 "core" %b .\ + "storage"(. +3 "core" .( +2 "storage"(E& +3 "core" & =\ +2 "storage"(h& +4 "core" & \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&\ ( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(Q& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +95 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +279 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & ( +2 "storage"(7& +3 "core" & C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(k'S +28 "core" ' +2 "manipulator"&'% +4 "core" % / u + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&:' +12 "core" ' +2 "manipulator"&q& +4 "core" &  +2 "storage"(A& +3 "core" & .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"("'B +45 "core" ' + "manipulator"&<& +4 "core" &  +2 "manipulator"&w% +4 "core" % Z w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +159 "core" ( + "manipulator"&{& +4 "core" &' "  >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' H >O +2 .tForearm.seek CC +2 "manipulator"&'" +91 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'}( +416 "core" ( + "storage"(& +4 "core" & \ +2 "storage"(/& +3 "core" & \ +2 "manipulator"&)& +3 "core" && \\ =F +2 "manipulator"&v% +4 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-( +159 "core" ( + "manipulator"&Z& +5 "core" & 9  + "storage"(?& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +103 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&$1 +56 "core" 1 +2 "manipulator"&% +4 "core" %   # +2 "storage"(@& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&5& +4 "core" & Y  +2 "storage"(#& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +35 "core" ' +2 "storage"( % +4 "core" %K\ \  P\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (O% +2 "core" %A \ Va +2 "manipulator"&% +4 "core" %є l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d'\ +95 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & D E\ +2 "manipulator"&% +4 "core" %\ \ G  +2 "storage"( % +3 "core" %S\ %\ & E\ +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" & z\  + "manipulator"& & +4 "core" & &  +2 .tElbow.seek 3 + "manipulator"&u( +16 "core" ( +2 "manipulator"&=& +4 "core" & M R +2 "storage"(*& +3 "core" &\ \  w\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +94 "core" ' +2 "storage"(L& +4 "core" &\ &\ % <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (^& +3 "core" &\  \  + "manipulator"&W& +4 "core" & T R +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & ? R + "storage"(s& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&M'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +53 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(G'X +8 "core" &  R + "manipulator"&\\% +4 "core" % Ϟ  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &* *  @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &*  @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +103 "core" ' +2 "manipulator"&~& +4 "core" &* a @X +2 "manipulator"&K% +4 "core" %) W + "collection"']& +4 "core" & H H\ +2 "collection"'2& +5 "core" & E Fs\ +3 .tCC.seek :closed + "collection"'[(V +5 "core" & D Fj\ +6 &4 D Fs\ $c +10 &U D Fr\ 7 +9 &~ G Gs\ L +10 &R G Hs\ M +9 &jX F Fq\ M +9 &-W H Ir\ L +10 &[ G Il\ L +9 &Y I In\ L +9 &r] I Ge\ M +10 &4[ H Ir\ M +9 &X H Hq\ L +10 &!\\ H Jd\ L +9 &#{\\ I I_\ L +9 &%<^ H Je\ M +10 &&[ I H_\ M +9 &(X H J^\ L +9 &*Y I JZ\ M +10 &,FY H JX\ L +9 &.\\ I IR\ L +10 &/Y I I[\ M +9 &1Z H H_\ L +9 &3NZ I Ic\ L +10 &5] H Jd\ L +9 &6] I J^\ M +9 &8Z J Ic\ L +10 &:UZ H JW\ L +9 &<` J I]\ M +10 &=Y I JW\ M +9 &?] I IV\ M +9 &A\\Z G Lg\ M +10 &CX I Jf\ M +9 &D[ L K]\ M +9 &Fh U Qa\ N +10 &H\\q d _l\ O +9 &J s on\ R +10 &K y xh\ U +9 &M y zd\ X +9 &OL x |c\ X +10 &Q { {l\ X +9 &R { |k\ Y +9 &T z |\\\ Y +10 &V*u ~ }a\ - +9 &V$ z }m\ R +9 ( +2 &V` } }h\ I +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&>1 +59 "core" 1 + "manipulator"&_% +5 "core" % )  2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%e& +4 "core" &\ +2 "manipulator"&F% +4 "core" %\ i  + "storage"(o% +4 "core" %S L\ +2 "storage"(. +3 "core" .( + "storage"(4& +4 "core" & \  +2 "storage"(j& +4 "core" & 9\  + "manipulator"&& +4 "core" &* g @X + "manipulator"&p% +4 "core" %\ E  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +163 "core" ( + "manipulator"&a& +4 "core" & 4 \\ +2 "storage"(b& +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +93 "core" ' +2 "storage"(V& +4 "core" & v\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +279 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" & J\  +2 "manipulator"&J& +4 "core" &  \\ + .tElbow.seek 3 +2 "manipulator"&P( +3 "core" ( + "manipulator"&H& +4 "core" & f \\ +2 "storage"(z& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(|'X +7 "core" &  \\ + "manipulator"&C% +4 "core" % G * +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&Y(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&E& +5 "core" &p 5 R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &p W  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' + "manipulator"&& +4 "core" &p  `  +2 "manipulator"&Q% +4 "core" % q  + "processing"%& +4 "core" &B\ +2 "processing"%& +5 "core" &?\ +2 .tPC.seek :closed +2 "processing"%3(Z +4 "core" &n\  +9 &2E\ )w +9 &co\ > +10 &tvF\ N +9 &7X\ M +9 &X\ N +10 &\\\ N +9 &}Y\ M +9 &?]\ M +10 &_d\ N +9 &\\\ M +10 & [\ M +9 &"G]\ M +9 &$\ X\ M +10 &%]\ M +9 &'Y\ N +10 &)O\\\ M +9 &+X\ N +9 &,[\ M +10 &.Z\ M +9 &0V\\\ N +9 &2Z\ N +10 &3W\ N +9 &5W\ M +9 &7_X\ M +10 &9 \\\ N +9 &:Y\ N +10 &<]\ N +9 &>fZ\ N +9 &@)X\ M +10 &AX\ M +9 &C\\\ N +9 &Em_\ N +10 &G+k\ O +9 &H\ R +10 &J\ S +9 &Lf\ S +9 &N&\ T +10 &O\ S +9 &Q\ S +9 &Sk\ T +10 &U.\ T +9 &V\ T +10 &X\ T +9 &Z _\ !h +9 &Z#p\ 3 +9 ( +3 "processing"%& +2 "core" &Z\ ) +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&X1 +57 "core" 1 + "manipulator"&I% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 "processing"%& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&7% +3 "core" %\ \ @  +2 "storage"(% +4 "core" %a H\ +2 "storage"('. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"(q& +4 "manipulator"&A& +4 "core" & \  + &p   +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&<(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(w'i +2 "core" ( +2 "manipulator"&y& +4 "core" &p m  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &p   +2 .tForearm.seek PC +2 "manipulator"&x' +94 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tPC.seek :open +2 "processing"%:( +93 "core" ' +2 "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +35 "core" ' +297 ( +2 "storage"(& +4 "core" & 5\  + "manipulator"&B& +4 "core" &p   + "manipulator"&n% +4 "core" %  "  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +264 "core" ( + "manipulator"&m& +4 "core" &   +2 "storage"(& +3 "core" & Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +151 "core" ' + .tHand.open + "manipulator"&)1 +62 "core" 1 +2 "storage"(v- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(Z'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(!& +4 "core" & ' \  +2 "manipulator"&$& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&@& +4 "core" & + +2 "storage"(5& +4 "core" & O \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +62 "core" ' + "manipulator"&U& +5 "core" &  + "storage"(O& +4 "core" & -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +24 "core" ' + "manipulator"&% +5 "core" %΍ + "storage"( & +4 "core" & j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +20 "core" ' + "manipulator"& & +5 "core" & F + "storage"(6& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +33 "core" ' +2 "storage"(1% +4 "core" %p ,\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (+% +3 "core" %I \ Xf +2 "manipulator"&,% +4 "core" %1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (=& +4 "core" & 7\  +2 "collection"'*& +3 "core" &V` } |w\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&L% +4 "core" %\ !  4 +2 "storage"((% +4 "core" %S \ + "storage"(d. +4 "core" .( + "storage"(.& +4 "core" & "\  +2 "storage"(^& +3 "core" & %\  +2 "manipulator"&W& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&s& +4 "core" & ~ +2 "storage"(i& +4 "core" & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +104 "core" ' + "storage"(\\& +5 "core" & a\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +279 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & +2 "storage"(`& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(~- +3 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(K'Y +25 "core" ' + "manipulator"& % +5 "core" %~  + "storage"(]& +4 "core" & @\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&G'Ϫ +13 "core" ' +2 "manipulator"&g& +99 "core" & \\ +2 "storage"(}& +5 "core" & d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +23 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(_'H +38 "core" ' + "manipulator"&e& +5 "core" & ] + "manipulator"&F% +5 "core" %S V + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +166 "core" ( + "manipulator"&4& +4 "core" &* L @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &* @ @Z +2 .tForearm.seek CC +2 "manipulator"&j'" +96 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tCC.seek :open +2 "collection"'p( +416 "core" ( + "storage"(N& +5 "core" & \  + "storage"(a& +4 "core" & }\  + "manipulator"&b& +4 "core" &* 3 @Y +2 "manipulator"&V% +3 "core" % & a +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +156 "core" ( + "manipulator"&8& +5 "core" & e t + "storage"(r& +4 "core" &\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&J'} +101 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +57 "core" 1 + "manipulator"&t% +5 "core" % Α  q N + "storage"(%& +4 "core" & t\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&C'Ͻ +25 "core" ' +2 "manipulator"&9& +4 "core" & ^ t + "storage"(l& +4 "core" &\ &\ % G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +28 "core" ' +2 "storage"(;% +4 "core" %R\ H\ + A\ +3 ."downElevator"SE.seek :down +3 "storage"(E'X +99 (h% +3 "core" %F\ \ \ Va +2 "manipulator"&P% +4 "core" % G + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'Q& +5 "core" & F Es\ + "manipulator"&% +4 "core" %\ # = < +2 "storage"(|% +3 "core" %a\ \ m\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(D( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (X& +3 "core" & O\ + "manipulator"&I& +4 "core" & ) t +2 .tElbow.seek 2 + "manipulator"&( +44 "core" ( + "manipulator"&7& +5 "core" & " ' + "storage"(& +4 "core" & 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +94 "core" ' +2 "storage"(& +4 "core" & \ #\ $ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +289 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" & \  q\ +2 "manipulator"&y& +4 "core" &/  o + .tElbow.seek 2 +2 "manipulator"&\ ( +24 "core" ( + "manipulator"&& +4 "core" & - + "storage"(& +4 "core" & \ $\ $ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Y/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& + "storage"(3'X +8 "core" &  + "manipulator"&w% +4 "core" % 0  5 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +50 .tElbow.seek CC +3 "manipulator"&B( +98 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&n& +4 "core" &( A  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &( { ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'" +89 "core" ' +2 "manipulator"&& +4 "core" &) ; ?T +2 "manipulator"&<% +3 "core" %  +2 "collection"')& +4 "core" & F H\ +3 "collection"'v& +4 "core" & D F\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & D Fi\  +8 &2~ E Gu\ *y +9 &d F F\ > +10 &~r G H{\ M +9 &AV G F\ M +9 &X G Gs\ L +10 &W G Gy\ L +9 &X G G{\ L +9 &JX I Hw\ L +10 & X G Iw\ L +9 &W H Gx\ L +9 & Y G Hv\ M +10 &"PW H Hr\ M +9 &$W H It\ M +10 &%X H Jn\ L +9 &'V H Hi\ M +9 &)YY J Gu\ M +10 &+U H Jt\ M +9 &,V H Is\ M +10 &.Z J Js\ M +9 &0aX I Jf\ M +9 &2$U I Hf\ L +10 &3W H Kl\ M +9 &5U I Hk\ L +9 &7iW I Jb\ M +10 &9+Y I K\\\ M +9 &:U I I[\ M +9 &<Y H JX\ M +10 &>pX I HV\ M +9 &@3V J JW\ M +10 &AW K HT\ M +9 &C[ J KU\ M +9 &Ev^ P N_\ N +10 &G4h ` ZW\ O +9 &H s oT\ Q +9 &J y xW\ W +10 &L` { yU\ X +9 &N" { {W\ X +10 &O z {X\ Y +9 &Q y yT\ Y +9 &Sc { {U\ Z +10 &U% } |T\ Z +9 &VnB } {P\ 0 +9 &Vv | ~`\ L +6 ( +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&1 +4 "core" &Vp } ~]\ L +50 1 +2 "manipulator"&!% +4 "core" % " C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%@& +4 "core" &A\ +2 "manipulator"&5% +3 "core" %\ \  +2 "storage"(U% +4 "core" %T C\ + "storage"(O. +3 "core" .( + "storage"({& +4 "core" & %\ +2 "storage"(& +3 "core" & \ +2 "manipulator"& & +4 "core" &( L >M +2 "manipulator"&Z% +3 "core" %\ \ f  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +157 "core" ( + "manipulator"&6& +5 "core" & K  + "storage"(1& +4 "core" & ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +96 "core" ' + "storage"(/& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'i +284 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" & Y\ +2 "manipulator"&#& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & r  +2 "storage"(& +3 "core" & +\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& + "storage"(L'X +8 "core" & L  + "manipulator"&(% +4 "core" % K +2 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(s +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&.& +4 "core" &y &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +2 "core" &y : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +97 "core" ' + "manipulator"&s& +4 "core" &y X +2 "manipulator"&i% +4 "core" %  $ + "processing"%"& +4 "core" &i\ +2 "processing"%\\& +5 "core" &.\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &c\  +9 &2c\ *x +9 &ch\ > +10 &jwh\ N +9 &.Yh\ M +9 &\\h\ N +10 &\\\ M +9 &uZ\ M +9 &6]i\ M +10 &^\ N +9 &Z\ M +10 & |Z\ M +9 &">\\\ M +9 &$Y\ M +10 &%Z\ M +9 &'Z\ M +9 &)FY\ M +10 &+X\ M +9 &,X\ M +10 &.]\ M +9 &0N\\\ M +9 &2Y\ N +10 &3[\ N +9 &5Y\ M +9 &7UX\ N +10 &9[\ N +9 &:U\ M +10 &<X\ N +9 &>]Z\ N +9 &@ Y\ M +10 &AW\ M +9 &C\\\ N +9 &Ee_\ N +10 &G"k\ O +9 &H|\ R +10 &J\ S +9 &L\\\ S +9 &N\ S +10 &O\ S +9 &Q\ S +9 &Sb\ T +10 &U$\ T +9 &V\ T +10 &X\ T +9 &Ze\ )} +9 &Zj\ 9 +9 ( +3 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&-1 +4 "core" &Z"\ 0 +52 1 + "manipulator"& % +4 "core" %  O $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' +2 "processing"%& +4 "core" &Z"\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&`% +4 "core" %\ \   +2 "storage"(~% +4 "core" %T \ + "storage"( . +3 "core" .( + "storage"(]& +4 "core" & \ +2 "storage"(g& +2 "manipulator"&}& +6 "core" & \ + &y  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&e(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(F'i +2 "core" ( +2 "manipulator"&& +3 "core" &y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &y 7 +2 .tForearm.seek PC +2 "manipulator"&u' +91 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / + .tPC.seek :open +2 "processing"%G( +95 "core" ' + "storage"(K- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +44 "core" ' +287 ( + "storage"(2& +4 "core" & ~\ +2 "manipulator"&>& +4 "core" &y  + "manipulator"&M% +4 "core" % 4 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&o( +270 "core" ( + "manipulator"&[& +4 "core" & 3  +2 "storage"(N& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +93 "core" ' + .tHand.open +2 "manipulator"&b1 +58 "core" 1 +2 "storage"(V- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(8'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(j- +4 "core" -' + "storage"(& +4 "core" &   \ +2 "manipulator"&z& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&%& +3 "core" & J  +2 "storage"(9& +4 "core" &   *\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' + "manipulator"&T& +4 "core" & G  +2 "storage"(h& +4 "core" & 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&P' +21 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(J'i +24 "core" ' + "manipulator"&C% +5 "core" %  + "storage"(Q& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +12 "core" ' +3 "manipulator"&|& +4 "core" & (  +2 "storage"(& +4 "core" & P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +19 "core" ' + "storage"(f% +56 "core" %k \ +2 ."downElevator"SE.seek :down +3 "storage"(E'X +99 (R% +3 "core" %I \ We +2 "manipulator"&X% +4 "core" %ѕ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +91 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" & \ +2 "collection"'& +4 "core" &Vo { ~y\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(H% +4 "core" %a \ + "storage"(. +3 "core" .( +2 "storage"(q& +3 "core" & ~\ +2 "storage"(A& +4 "core" & \ + "manipulator"&y& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & K  +2 "storage"(Y& +4 "core" & y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +96 "core" ' +2 "storage"(w& +4 "core" & c\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"('- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  +2 "storage"(k& +3 "core" & 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&n' +33 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(<'S +30 "core" ' +2 "manipulator"&)% +4 "core" % T + "storage"(\ & +4 "core" & x K\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&3' +12 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(p& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(!'B +38 "core" ' +3 "manipulator"&@& +4 "core" &  + "manipulator"&5% +4 "core" % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +153 "core" ( + "manipulator"&{& +4 "core" & W 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &  7 +2 .tForearm.seek CC +2 "manipulator"&v'" +93 "core" ' + .tHand.close + "manipulator"& / +59 "core" / +2 .tCC.seek :open +2 "collection"'Z( +416 "core" ( + "storage"(m& +4 "core" & \ + "storage"(6& +4 "core" & \ + "manipulator"&1& +4 "core" & v 7 +2 "manipulator"&/% +3 "core" % . x +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +156 "core" ( + "manipulator"&+& +5 "core" & f  + "storage"(,& +4 "core" & \ \  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&#' +106 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&=% +4 "core" % $ 9  + "storage"(*& +4 "core" & O\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&(' +18 "core" ' +2 "manipulator"& & +5 "core" &  + "storage"(&& +4 "core" & \ $\ " -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +35 "core" ' +2 "storage"(% +4 "core" %L\ $\ + q\ +2 ."downElevator"SE.seek :down +4 "storage"(.'X +99 (^% +3 "core" %E P\ Wc +2 "manipulator"&% +5 "core" %ј - + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +79 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'i& +4 "core" & F Ep\ +2 "manipulator"&"% +4 "core" %\ \ l  + "storage"(L% +4 "core" %a\ #\ # *\ +2 "storage"(c. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(:( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" & t\ +2 "manipulator"& & +3 "core" & o  +2 .tElbow.seek 3 +2 "manipulator"&( +53 "core" ( +2 "manipulator"&`& +4 "core" & ) $ + "storage"(~& +4 "core" &\ \ T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +96 "core" ' + "storage"(]& +4 "core" &\ $\ % L\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'i +282 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\\& +4 "core" & \  + "manipulator"&& +4 "core" &  $ +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&W& +3 "core" & 0 $ +2 "storage"(& +4 "core" & \  + .tForearm.seek 3 + 300 counts +2 "manipulator"&K'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& + "storage"('X +7 "core" &  $ +2 "manipulator"&F% +4 "core" % Ϯ 5 + .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&>( +158 "core" ( + "manipulator"&M& +5 "core" &! $ A 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&u& + "storage"(5 +5 "core" &! , 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['" +101 "core" ' +2 "manipulator"&N& +4 "core" &" V 8 +2 "manipulator"&e% +4 "core" %&  +2 "collection"'b& +4 "core" & D D|\ + "collection"'V& +6 "core" & C D\ +2 .tCC.seek :closed + "collection"'j(V +4 "core" & F C|\ +8 &4 E F\ $d +10 &V~ F G\ 7 +9 &z G F\ K +10 &T D E\ M +9 &kX F Kw\ M +9 &-Y F F\ M +10 &U G H\ M +9 &U H Hz\ M +9 &tW G G\ L +10 &5W G Ix\ M +9 &Z H Gm\ M +10 &!W G H}\ M +9 &#|X H J~\ L +9 &%=W H J|\ M +10 &&Z F H~\ M +9 &(X I I|\ M +9 &*U H K|\ M +10 &,FU H Hv\ L +9 &. W J Hv\ L +10 &/[ I Ht\ M +9 &1W H Jv\ M +9 &3MZ H H{\ M +10 &5Y H Ir\ M +9 &6Z G It\ L +9 &8U H Ju\ M +10 &:V[ H Ko\ L +9 &<Z H Il\ M +10 &=\\ H Il\ M +9 &?\\ H Hs\ L +9 &A^X H Je\ L +10 &C\\ J IW\ M +9 &DY K J2\ M +9 &Fb S Rd\ N +10 &H^n a ]k\ O +9 &J t pc\ R +10 &K v wg\ V +9 &M z wh\ X +9 &OM y yh\ X +10 &Q x zg\ X +9 &R y zh\ Y +9 &T x |S\ Y +10 &V.w z z[\ . +9 &V" z {^\ Q +9 ( +2 &Vj x z^\ I +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&z% +4 "core" % & > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%9& +4 "core" &l\ + "manipulator"&% +4 "core" %\ \ g  + "storage"(T% +4 "core" %_ \ +2 "storage"(h. +2 "core" .( +2 "storage"(C& +4 "core" & \  + "storage"(Q& +4 "core" & \  + "manipulator"&4& +5 "core" &! < 8 + "manipulator"&|% +4 "core" %\ \ !  +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +166 "core" ( + "manipulator"&8& +4 "core" & 5 s +2 "storage"(f& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +93 "core" ' +2 "storage"(a& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'i +285 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & \  +2 "manipulator"&X& +4 "core" & s + .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( + "manipulator"&;& +4 "core" & #  s +2 "storage"(P& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +51 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +7 "core" &  s + "manipulator"&H% +4 "core" % ύ  " +2 .tForearm.seek :retract +2 "manipulator"&J'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&q& +4 "core" &r #  1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &r A 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y' +93 "core" ' + "manipulator"&& +5 "core" &r J 1 + "manipulator"&Y% +4 "core" % v , +2 "processing"%_& +4 "core" &?\ +3 "processing"%w& +5 "core" &@\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &q\ +7 &9k\ $c +9 &Tk\ 7 +10 &~|f\ K +9 &[j\ N +9 &_]b\ N +10 &#Yh\ M +9 &Yg\ M +9 &Yc\ M +10 &i]h\ M +9 &+Wh\ M +10 &Zh\ N +9 &![\ N +9 &#pY\ N +10 &%3]\ M +9 &&Wi\ N +10 &(X\ N +9 &*x\\\ N +9 &,:\\\ N +11 &-Z\ N +8 &/Y\ M +9 &1\\\ N +10 &3C\\\ M +9 &5X\ N +9 &6]\ M +10 &8W\ M +9 &:KY\ M +10 &< \\\ M +9 &=\\\ N +9 &?Z\ M +10 &ASW\ M +9 &C\\\ N +9 &Db\ N +10 &Fj\ O +9 &HPx\ Q +10 &J \ S +9 &K\ S +9 &M\ T +10 &OQ\ S +9 &Q\ S +9 &R\ T +10 &T\ T +9 &VW\ T +10 &X\ T +9 &Yzn\ 8 +9 &Z,\ I +10 &Z\ , +2 ( + "processing"%w& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&I% +4 "core" % # , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' + "processing"%& +4 "core" &Z\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&k% +4 "core" %\  s  +2 "storage"(% +3 "core" %T c\ +2 "storage"(). +3 "core" .( + "storage"(\ & +4 "core" & J\  +2 "storage"(& +4 "manipulator"&p& +4 "core" & Z\  +2 &r u 1 +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&@(s +2 "storage"(5'i +5 "core" ( + "manipulator"&0& +5 "core" &r  I 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r 1 +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&n/ +59 "core" / +2 .tPC.seek :open + "processing"%3( +93 "core" ' +2 "storage"(<- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +46 "core" ' +286 ( +2 "storage"(& +4 "core" & n\  + "manipulator"&& +4 "core" &r l 1 + "manipulator"&x% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +270 "core" ( +2 "manipulator"&& +4 "core" & W  + "storage"(m& +4 "core" & p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +100 "core" ' +2 .tHand.open + "manipulator"&11 +59 "core" 1 +2 "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +3 "core" -' +2 "storage"(O& +4 "core" & ) ! !\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&=( +3 "core" ( + "manipulator"&*& +4 "core" & Y  +2 "storage"( & +4 "core" & % J\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&B& +5 "core" &   + "storage"(^& +4 "core" & #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +21 "core" ' +2 "manipulator"&(% +4 "core" %΂  +2 "storage"(i& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&!'Ϯ +12 "core" ' +2 "manipulator"&"& +4 "core" & F  +2 "storage"(L& +4 "core" & 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +23 "core" ' + "storage"(?% +4 "core" %s P\ +3 ."downElevator"SE.seek :down +3 "storage"(.'X +99 (D% +3 "core" %I %\ We +2 "manipulator"&-% +4 "core" %P  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +74 ' + ."downElevator"SE.stop + "storage"(5 +3 (`& +4 "core" & 7\  + "collection"'~& +4 "core" &Vj z {\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&]% +4 "core" %\   + "storage"( % +4 "core" %` \ +2 "storage"(s. +3 "core" .( + "storage"(}& +4 "core" & \  + "storage"(\\& +4 "core" & \  +2 "manipulator"&& +3 "core" & 3  +2 .tElbow.seek 3 +2 "manipulator"&W( +3 "core" ( + "manipulator"&& +4 "core" & 7  +2 "storage"(d& +4 "core" & r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +94 "core" ' +2 "storage"(F& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" &  +2 "storage"(u& +3 "core" & r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&g'} +27 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(N- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"(e'Y +39 "core" ' + "manipulator"&% +4 "core" %Ό  +2 "storage"(b& +53 "core" & J\  +2 .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +27 "core" ' + "manipulator"&2& +4 "core" & <  +2 "storage"(Z& +4 "core" & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +34 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate +2 "storage"(z'H +38 "core" ' + "manipulator"&9& +4 "core" & q  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +163 "core" ( +2 "manipulator"&V& +4 "core" &&  ; =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" && Q =E +2 .tForearm.seek CC + "manipulator"&Q'" +99 "core" ' +2 .tHand.close + "manipulator"&4/ +58 "core" / +2 .tCC.seek :open +2 "collection"'|( +416 "core" ( + "storage"([& +8 "core" & B\  +2 "storage"(8& +4 "core" & \  + "manipulator"&f& +4 "core" &% $ ;7 + "manipulator"&a% +4 "core" % 0  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&%( +173 "core" ( + "manipulator"&R& +4 "core" & N M +2 "storage"(l& +4 "core" &\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&X'} +100 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&P1 +53 "core" 1 +2 "manipulator"&7% +4 "core" % Α  M + "storage"(& +5 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&H'Ͻ +35 "core" ' + "manipulator"&& +5 "core" & Z M + "storage"(o& +4 "core" &\ \  ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +33 "core" ' +2 "storage"(% +4 "core" %M\ \  A\ +2 ."downElevator"SE.seek :down +4 "storage"(q'X +99 (A% +4 "core" %|E ?\ Wb + "manipulator"&t% +4 "core" %7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3523 "Can"\ 1.t +60002 \ 1.~ +60002 \ 1/} +60002 }\ 2/ +60002 ~\ 1/z +60002 p\ 1/r +60002 i\ 1/v +60002 e\ 1/ +60002 Y\ 1. +60002 P\ 1.v +60002 J\ 2/| +60003 D\ 1/t +60002 :\ 2/v +60002 9\ 1/v +60002 3\ 1.v +60002 9\ 1. +60002 ;\ 1.v +60002 >\ 1.{ +60002 @\ 1. +60002 ?\ 1/u +60002 4\ 2/{ +60002 +\ 2/w +60002 &\ 1/| +60002 )\ 1/v +60002 )\ 2.u +60002 &\ 1/v +60003 !\ 1.v +60002 \ 1.w +60002 \ 1/~ +60002 \ 1/u +60002 \ 1.u +60002 \ 1.{ +60002 \ 1.y +60002 \ 1.{ +60002 \ 2/z +60002 \ \ 1.v +60002 \ 1.~ +60002 \ 1/x +60002 \ 1. +60002 \ 2/| +60002 \ 1/y +60002 \ 2/x +60003 \ 2/ +60002 \ 1/z +60002 \ 2/z +60002 \ 1/u +60002 \ 2/{ +60002 \ 2/v +60002 \ 2/y +60002 \ 2/z +60002 \ 1/ +60002 \ 10 +60002 \ 2/| +60002 \ 1/w +60002 \ 2/w +60002 \ 1/t +60002 \ 2/ +60003 \ 2/~ +60002 \ 2/ +60002 \ 2/} +60002 \ 2/~ +60002 \ 1/z +60002 \ 2/u +60002 \ 1.| +60002 \ 1/t +60002 \ 1/ +60002 \ 1. +60002 \ 1/u +60002 \ 1/ +60002 \ 20 +60002 \ 1/| +60002 \ 2/u +60002 \ 2/u +60002 \ 1.} +60003 \ 1/ @EST1670562336.37 \ 2/{ +60002 \ 2/w +60002 \ 1/} +60002 \ 2/u +60002 \ 2/~ +60002 \ 2/{ +60002 \ 2/ +60002 \ 2/ +60002 \ 2/v +60002 \ 2/ +60002 \ 2/ +60002 \ 2/~ +60003 \ 1/{ +60001 \ 1/v +60003 \ 1/w +60002 \ 2/| +60002 \ 2/ +60002 \ 2/z +60002 \ 2/{ +60002 \ 2. +60002 \ 1/w +60002 \ 2/{ +60002 \ 2/u +60002 \ 2/v +60002 \ 20| +60002 \ 2/r +60002 \ 2/t +60002 \ 1/z +60002 ~\ 2/| +60003 }\ 2/x +60002 |\ 2/v +60002 n\ 2/u +60002 q\ 1/w +60002 \ 2/} +60002 r\ 1/u +60002 t\ 2/u +60002 r\ 2/v +60002 p\ 2/{ +60002 u\ 2/ +60002 n\ 2/| +60002 g\ 2/u +60002 f\ 2/w +60002 j\ 2/} +60002 h\ 1/v +60002 h\ 2/s +60003 b\ 2/ +60002 `\ 1/{ +60002 ^\ 2/w +60002 Z\ 2/u +60002 U\ 2/} +60002 Z\ 2/~ +60002 W\ 2/ +60002 Z\ 2/{ +60002 V\ 2/u +60002 V\ 2/w +60002 U\ 1/u +60002 Z\ 2/} +60002 T\ 2/v +60003 Q\ 2/} +60001 P\ 2/w +60002 N\ 2/y +60002 R\ 2/v +60003 O\ 2/w +60002 L\ 2/ +60002 J\ 2/v +60002 K\ 1/ +60002 H\ 1/} +60002 C\ 1/x +60002 =\ 2/{ +60002 3\ 2/ +60002 0\ 1/ +60002 .\ 2/w +60002 )\ 20| +60002 )\ 1/ +60002 (\ 2/w +60002 (\ 1.r +60002 (\ 1/ +60002 %\ 2/~ +60002 !\ 1/z +60003 \ 2/| @1670609931.35EST = =tMAIN =mMAIN_scheduler @EST1670609933.32 #"core_reset"Sent BREAK + #t@48779 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +295 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +390 "Can")\ f + )\ f + #tPolling Can every 10:00 +13 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 @EST1671128969.17 #-> ESP.ready! +5 #Powering core bus +539 .Gate.power :raw,:ON +3 "sampler") +44 ) +4 "core"  +4 "collection"' +4 ' +7 "core"  +3 "processing"% +4 % +5 "core"  +9 "collection"' 9\ +4 ' 0\ +3 ' -\ +8 "processing"% 9\ +4 % 2\ +2 % *\ +3 % 0\ +8 "sampler")&\ +4 "collection"'% +8 "core" %E\ +2 .tCS.configure :default +6 "collection"'#P d@b +2 "processing"%% +8 "core" %\ +3 .tPS.configure :default +4 "processing"%#A d`xb +4 "sampler")% +6 "core" % v t  +3 .tSS.configure :default +5 "sampler")#.0X access 2 +3 "storage"(;% +6 "core" %P\ 3\ 2 \ +4 "manipulator"&<% +8 "core" %\   9  +4 "manipulator"&=& +6 "core" &  B # +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"(>(K +965 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +4 (?& +6 "core" &K b\  +624 #t-> access 3 +3 "storage"(@% +7 "core" %P\ %\ % \ +3 "manipulator"&A% +8 "core" %\  " G  +4 "manipulator"&B& +6 "core" & ! t # +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 7 +3 "storage"(C([ +336 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +4 (D& +6 "core" &[ }\  +48250 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +3857 "Can"\ 42~ +11865 #t-> Puck.count +2 "storage"(E% +3 "core" %Q\ '\ ' Y\ +3 .tSE.seek :down + "storage"(F'X +4 "core" ' + .tSE.stop + "storage"(5 +2 .tHand.open +2 "manipulator"&G1 +59 "core" 1 + "manipulator"&H% +4 "core" % \  % k  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(I(S +1917 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" &V h\ + "manipulator"&K& +4 "core" & # +36 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&L(. +38 "core" ( + "manipulator"&M& +5 "core" &2 & _  + "storage"(N& +4 "core" &X\ /\ ( *\ +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&O'ѷ +94 "core" ' +2 "storage"(P& +4 "core" &X\  \ +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +268 "core" ' + "storage"(R- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (S% +2 "core" %n\ &\ $ :\ +3 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (U% +3 "core" %F\ \  ;\ Wc +2 "manipulator"&V% +3 "core" %Ѷ + w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(X( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" & u\  +2 "manipulator"&Z& +4 "core" &2 "  + .tElbow.seek 2 +2 "manipulator"&[( +12 "core" ( + "manipulator"&\\& +4 "core" &   +2 "storage"(]& +4 "core" & \ C\ C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +97 "core" ' +6 "storage"(_& +4 "core" & \ >\ B \  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'i +270 "core" ' + "storage"(a- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b% +3 "core" %o\ \  T\ +2 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (d% +3 "core" %hE\ \  C\ Wd +2 "manipulator"&e% +4 "core" %ў  e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(g( +333 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +2 "core" & E\  +2 "manipulator"&i& +4 "core" & /  + .tElbow.seek 3 +2 "manipulator"&j( +13 "core" ( +2 "manipulator"&k& +4 "core" &  R + "storage"(l& +4 "core" &\ C\ C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&m'9 +94 "core" ' + "storage"(n& +4 "core" &\ $ } P\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'i +270 "core" ' +2 "storage"(p- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q% +2 "core" %m\ \ ! \ +2 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (s% +3 "core" %G\ \  D\ Wd +2 "manipulator"&t% +3 "core" %/  s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(v(,l +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &,i ]\  +2 "manipulator"&x& +3 "core" & N R +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( + "manipulator"&z& +4 "core" & # J R + "storage"({& +4 "core" &,g\ $\ & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&|'Ѽ +100 "core" ' + "storage"(}& +4 "core" &,g\ N\ A C\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'i +270 "core" ' + "storage"(- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (% +3 "core" %s\ \  =\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +5 "core" %PG\ \ \ Vc + "manipulator"&% +5 "core" %Ѽ  ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +75 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +3 "storage"((<* +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<) K\  +2 "manipulator"&& +4 "core" &  R + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&\ & +4 "core" & R +2 "storage"( & +4 "core" &<&\ &\ & 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& 'ы +101 "core" ' +2 "storage"( & +4 "core" &<&\  \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (% +3 "core" %g\ $\ % C\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +5 "core" %F\ \  \ Wd +3 "manipulator"&% +4 "core" %у  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +333 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K 5\  + "manipulator"&& +4 "core" & ; R +2 .tElbow.seek 6 + "manipulator"&( +40 "core" ( +2 "manipulator"&& +4 "core" &\ % G [ + "storage"(& +4 "core" &K\ C\ 5 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +92 "core" ' +2 "storage"("& +4 "core" &K\ B\ < \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'i +272 "core" ' + "storage"('- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()% +3 "core" %`\ \  <\ +2 ."downElevator"SE.seek :down +3 "storage"(('X +99 (% +3 "core" %zH\ \  \ Wd +2 "manipulator"&% +4 "core" %]  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(,([ +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &[ \  +2 "manipulator"&.& +4 "core" &\  [ + .tElbow.seek 7 +2 "manipulator"&/( +26 "core" ( + "manipulator"&0& +4 "core" & % [  +2 "storage"(1& +4 "core" &[\ 2\ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&2'w +99 "core" ' +2 "storage"(3& +4 "core" &[ \  \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +268 "core" ' +2 "storage"(5- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6% +2 "core" %o\ '\ 0 G\ +2 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (8% +3 "core" %I\ \  (\ Vd +2 "manipulator"&9% +3 "core" %[  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +100 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 @1671218239.99EST = =tMAIN =mMAIN_scheduler @EST1671218241.87 #"core_reset"Sent BREAK + #t@29290 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +393 "Can"\ c + \ c + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +24687 #-> esp +33 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +2048 #t-> ESP.ready! +3 #Powering core bus +543 .Gate.power :raw,:ON +2 "sampler") +55 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % = ?\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\   + .tSS.configure :default +3 "sampler")#.0X\ +2 ."rdySampler"Intake.select :close +3 "processing"%% + "manipulator"&% +2 ."rdySampler"Exhaust.select :close +7 .CTV.dial :air + "collection"'  +3 "core" %\ +2 % +  + ."rdyProcessing"PSV.dial :air +4 "manipulator"&% +3 ."rdySampler"CSV.dial :waste1 +2 "processing"%  + "collection"' +4 "core" % +3  +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +4 ."rdyProcessing"PS.reconfigure :default +3 .tForearm.reconfigure :loose +3 "sampler") +2 "processing"%#A d`xb +3 "manipulator"&#@2^d^b +5 ."rdyProcessing"PS.home.seek 0ml +2 .tForearm.home.seek :retract +2 "processing"%' + "manipulator"&'\ +4 "core"  +2 "sampler")  +8 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b + "sampler")#.0X%\ +3 "processing"%1% +3 "core" %\ +2 "sampler")2% +4 "core" % \  +2 "collection"'3& +3 "core" & > ;\  +2 "processing"%4& +4 "core" &\  + "manipulator"&5% +4 "core" %\   >  +2 "manipulator"&6& +4 "core" & \  5  + "storage"(7& +4 "core" &\ \  j\  +2 "storage"(8% +8 "core" %[\ \  K\ +2 "collection"'99 +3 "core" 9h +2 "processing"%:9 +3 "core" 9aX +977 #t-> access 2 +3 "storage"(;% +3 "core" %[\ \  U\ +2 "manipulator"&<% +4 "core" %\    +2 "manipulator"&=& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(>(K +965 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &K .\  +1382 #t-> require 'shuffle.rb' +1580 #-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'@& +3 "core" & < <)\  +2 .tHand.open + "manipulator"&A1 +56 "core" 1 +2 "manipulator"&B% +4 "core" % \    + "storage"(C% +4 "core" %[ ^\ +2 "storage"(D. +2 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(E( +1284 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +2 "core" & \ +2 "manipulator"&G& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +27 "core" ( +2 "manipulator"&I& +4 "core" & % E "z +2 "storage"(J& +3 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +92 "core" ' + "storage"(L& +5 "core" & \ \  F\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +280 "core" ' +2 "storage"(N- +3 "core" -' +37 .tSE.configure :default +8 "storage"(#QK-0-\ b +4 (O& +2 "core" & x\ +2 "manipulator"&P& +4 "core" & !v +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&R& +5 "core" &  * !v + "storage"(S& +4 "core" & _\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&T' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(W'X +8 "core" &  s !v + "manipulator"&X% +4 "core" %   7 +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +148 "core" ( +2 ' + "manipulator"&[& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" &&  & =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" && K =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +97 "core" ' +2 "manipulator"&^& +4 "core" && & < =C +2 "manipulator"&_% +4 "core" %"   +2 "collection"'`& +4 "core" & : :\  +2 "collection"'a& +5 "core" & : <\  +2 .tCC.seek :closed +2 "collection"'b(V +5 "core" & ; =\  +6 &I < =\ %g +10 &sU : ;\ 8 +9 & < :\ M +9 &\\ < ;\ N +10 &Fb ; ;\ O +9 &] : <\ O +10 &_ = <\ N +9 &\\ = =\ N +9 &O^ ; >\ N +10 &[ ; <\ N +9 &_ = =\ N +9 &!\\ < ;\ O +10 &#W` < <\ N +9 &%\\ < <\ O +9 &&] ; <\ N +10 &(Z ; =\ N +9 &*_^ = =\ N +10 &,"Z ? =\ N +9 &-] = <\ O +9 &/^ = =\ N +10 &1f] ? >\ O +9 &3)] = >\ N +9 &4_ = >\ N +10 &6_ < =\ O +9 &8o\\ < =\ N +10 &:1a < >\ N +9 &;_ < >\ N +9 &=^ = =\ N +10 &?v\\ < =\ O +9 &A9^ = <\ N +9 &B` > >\ N +10 &D` @ ?\ O +9 &Fzh D E\ P +10 &H7x A B\ R +9 &I B B\ T +9 &K C C\ W +10 &Mh E E\ Y +9 &O+ E F\ Y +14 &P E F\ Y +5 &R E F\ Z +9 &Tl D J\ Z +10 &V u H F\ 4 +9 &V% F H\ !b +9 ( +3 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&c1 +3 "core" &Vq H I\ Q +59 1 +2 "manipulator"&d% +4 "core" % " :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%f& +4 "core" &\  +2 "manipulator"&g% +4 "core" %\   + "storage"(h% +4 "core" %a \ +2 "storage"(i. +4 "core" .( + "storage"(j& +4 "core" & \ +2 "storage"(k& +4 "core" & c\ +2 "manipulator"&l& +4 "core" &&  c =C + "manipulator"&m% +4 "core" %\  d  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +155 "core" ( +2 "manipulator"&o& +4 "core" & )  + "storage"(p& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +101 "core" ' +2 "storage"(r& +4 "core" & !\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +279 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & \ +3 "manipulator"&v& +4 "core" & q  + .tElbow.seek 2 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +4 "core" &  I  + "storage"(y& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(}'X +7 "core" &   +2 "manipulator"&~% +4 "core" %    8 +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +102 "core" ( + "manipulator"&& +5 "core" &l & l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &m 1 +2 "manipulator"&% +4 "core" %  _ +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed + "processing"% (Z +4 "core" &\  +8 &K\ %h +10 &~V\ 9 +9 &\ M +9 &\\\ N +10 &Xb\ N +9 &\\\ N +9 &\\\ N +10 &Z\ N +9 &_^\ O +10 & ^\ O +9 &_\ O +9 &!`\ O +10 &#g\\\ O +9 &%)^\ O +10 &&Z\ N +9 &([\ N +9 &*p]\ N +10 &,2_\ N +9 &-a\ O +9 &/^\ O +10 &1y[\ N +9 &3:Z\ N +9 &4Z\ N +10 &6\\\ N +9 &8]\ O +10 &:A]\ O +9 &<_\ N +9 &=[\ N +10 &?_\ N +9 &AIZ\ O +9 &C \\\ O +10 &Db\ O +9 &Fo\ P +10 &HF\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &OI\ T +9 &Q \ U +10 &R\ U +9 &T\ T +10 &VN\ U +9 &X\ U +9 &Y|s\ ; +10 &Z(l\ O +9 &Z(\ / +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&\ 1 +61 "core" 1 +2 "manipulator"& % +4 "core" % ( s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"% & +5 "core" &Z%\ / + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\  ! ~  +2 "storage"(% +3 "core" %T |  \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & w v \ +2 "storage"(& +2 "manipulator"&& +7 "core" & x x \ + &m  z +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( + "manipulator"&& +4 "core" &m  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m 3  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open + "processing"%( +84 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"("'y +38 "core" ' +302 ( + "storage"(%& +4 "core" & \ +2 "manipulator"&'& +3 "core" &m   +2 "manipulator"&)% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +251 "core" ( +2 "manipulator"&& +4 "core" & ' ` \ + "storage"(#& +4 "core" & $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +98 "core" ' +2 .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +47 "core" ' +3 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(2& +4 "core" & H Y\ + "manipulator"&3& +4 "core" & \ +2 .tElbow.seek 2 + "manipulator"&4( +10 "core" ( + "manipulator"&5& +5 "core" & & + "storage"(6& +4 "core" & M P\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(8' +58 "core" ' +2 "manipulator"&9& +4 "core" &  + "storage"(:& +4 "core" & t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;' +21 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(='i +24 "core" ' +2 "manipulator"&!% +4 "core" %   +2 "storage"(?& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&@' +22 "core" ' + "manipulator"&A& +4 "core" & ' ` +2 "storage"(B& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&C'ќ +20 "core" ' + "storage"(D% +5 "core" %s G\  +2 ."downElevator"SE.seek :down +3 "storage"(>'X +100 (F% +2 "core" %>F u\ We +2 "manipulator"&G% +4 "core" %џ | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" & d\ +2 "collection"'L& +4 "core" &Vp I I\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\ !\ H 3 +2 "storage"(&% +3 "core" %` \ +2 "storage"(N. +3 "core" .( + "storage"(O& +4 "core" & 3\ +2 "storage"( & +4 "core" & B\ + "manipulator"&P& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&R( +4 "core" ( + "manipulator"&S& +4 "core" & ' q +2 "storage"(U& +3 "core" & \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +107 "core" ' +2 "storage"(X& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +287 "core" ' +3 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & " 8 + "storage"(\\& +4 "core" & D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&M' +32 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(_'W +32 "core" ' + "manipulator"&`% +4 "core" %  l +2 "storage"(Q& +4 "core" & j a \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +7 "manipulator"&W' +19 "core" ' + "manipulator"&Y& +4 "core" & +2 "storage"(*& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(d'F +40 "core" ' +2 "manipulator"&f& +4 "core" & +2 "manipulator"&g% +4 "core" %љ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +155 "core" ( +2 "manipulator"&a& +4 "core" &' $ O >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &( w >K +2 .tForearm.seek CC + "manipulator"&k'" +95 "core" ' + .tHand.close +2 "manipulator"&l/ +56 "core" / +2 .tCC.seek :open + "collection"'m( +417 "core" ( + "storage"(]& +4 "core" & \ +2 "storage"(o& +3 "core" & L\ +2 "manipulator"&p& +4 "core" &(  0 >J + "manipulator"&r% +4 "core" % ( b +2 .tForearm.seek :retract + "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e( +161 "core" ( + "manipulator"&t& +5 "core" &  \  + "storage"(u& +4 "core" & x\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&v' +104 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +57 "core" 1 +2 "manipulator"&{% +4 "core" %  N +2 "storage"(|& +4 "core" & &\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&~' +19 "core" ' +2 "manipulator"&n& +4 "core" & :  +2 "storage"(q& +3 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +31 "core" ' +2 "storage"(z% +4 "core" %J\ \  N\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %D \\\ Wd +2 "manipulator"&w% +4 "core" %ћ l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & 7 8\ + "manipulator"&% +4 "core" %\   {  +2 "storage"(}% +4 "core" %a\ \  /\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(+( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" & 8\  +2 "manipulator"& & +4 "core" &  Y  + .tElbow.seek 3 +2 "manipulator"& ( +14 "core" ( + "manipulator"&& +4 "core" & ( v m +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(& +4 "core" &\ (\ 3 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :down + "storage"('X +268 "core" ' +2 .tSE.stop + "storage"(5 +2 "manipulator"&% +4 "core" %2 v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' + !to:Puck::Error: mesg".2 pucks loaded in tube 3 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:257:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:583:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):5:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +34775 "Can"\ 1. +25943 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +34050 "Can"\ 0.w +26673 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +5 #Session Ended +33319 "Can"\ 1.{ +27399 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +32595 "Can"\ 0. +28123 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31870 "Can"\ 0.u +28846 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31147 "Can"\ 1.w +29573 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +30420 "Can"\ 1.u +30303 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +29690 "Can"\ 1.} +31029 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +28964 "Can"\ 1/v +31760 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +28233 "Can"\ 1/v +32487 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +27506 "Can"\ 1/t +33217 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +26776 "Can"\ 1. +33943 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26050 "Can"\ 0.u +34676 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +25317 "Can"\ 0.w +35404 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +24590 "Can"\ 1. +36128 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +23865 "Can"\ 1/v +36855 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +23138 "Can"\ 1.u +37586 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22408 "Can"\ 1.{ +38314 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +21679 "Can"\ 1. +39038 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +20956 "Can"\ 1.u +39767 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +20226 "Can"\ 1.| +40493 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +19500 "Can"\ 1.u +41221 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +18771 "Can"\ 1.| +41956 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18037 "Can"\ 1. +42683 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +17310 "Can"\ 1.u +43412 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +16582 "Can"\ 1.| +44144 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15849 "Can"\ 0/ +44871 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15122 "Can"\ 1.~ +45601 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +14392 "Can"\ 1.} +46330 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13663 "Can"\ 1/ +47105 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +12888 "Can"\ 1.s +47833 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +12160 "Can"\ 1.u +48557 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +11437 "Can"\ 1/u +49283 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10710 "Can"\ 1.u +50009 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +9984 "Can"\ 1/y +50738 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +9255 "Can"\ 1.u +51463 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +8529 "Can"\ 1.y +52196 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +7798 "Can"\ 1.z +52921 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +7072 "Can"\ 1.} +53654 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6340 "Can"\ 0.s +54401 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5592 "Can"\ 1/} +55137 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4856 "Can"\ 1.u +55867 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4126 "Can"\ 1.w +56596 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3397 "Can"\ 0/ +57321 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2673 "Can"\ 1.y +58051 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1941 "Can"\ 1.u +58786 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1208 "Can"\ 1/z +59521 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +472 "Can"\ 1/y +60003 \ 31~ +251 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59741 "Can"\ 1.v +986 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59007 "Can"\ 1. +1721 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58273 "Can"\ 1/t +2450 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +57543 "Can"\ 1.{ +3184 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56809 "Can"\ 1. +3915 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +56078 "Can"\ 1.| +4645 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +55347 "Can"\ 1.| +5375 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54618 "Can"\ 0.~ +6110 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended @EST1671253654.36 "Can"\ 1/u +6844 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +53149 "Can"\ 0.~ +7578 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52416 "Can"\ 0.t +8313 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51680 "Can"\ 1. +9052 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50940 "Can"\ 1.{ +9789 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50205 "Can"\ 1/s +10521 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49472 "Can"\ 1.{ +11253 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +48740 "Can"\ 1. +11988 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48005 "Can"\ 1.u +12729 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47264 "Can"\ 1.u +13506 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +46489 "Can"\ 1/ +14239 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45754 "Can"\ 1.} +14975 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45018 "Can"\ 0. +15707 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +44286 "Can"\ 1. +16441 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43552 "Can"\ 1.t +17174 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42819 "Can"\ 1.z +17908 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +42086 "Can"\ 1. +18644 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +41349 "Can"\ 1.x +19382 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40611 "Can"\ 1.t +20118 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39875 "Can"\ 1.{ +20853 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39140 "Can"\ 1.v +21589 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38405 "Can"\ 0.y +22323 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +37670 "Can"\ 1.{ +23060 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +36933 "Can"\ 1.q +23797 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +36196 "Can"\ 1/v +24535 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35459 "Can"v\ 0/x +25274 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +34719 "Can"z\ 1/y +26014 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +33979 "Can"n\ 1.u +26749 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +33244 "Can"b\ 1/ +27499 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +32493 "Can"d\ 1. +28235 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31758 "Can"b\ 1. +29013 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +30981 "Can"[\ 1.{ +29751 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +30242 "Can"O\ 1.v +30485 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +29508 "Can"K\ 1. +31221 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +28772 "Can"F\ 1.z +31954 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +28039 "Can"?\ 1.r +32691 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +27303 "Can">\ 1.p +33427 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26566 "Can":\ 1/y +34167 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +25825 "Can",\ 1.v +34907 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +25085 "Can"0\ 1.s +35642 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +24351 "Can"0\ 1.t +36376 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +23616 "Can")\ 1.v +37111 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +22882 "Can"!\ 1/z +37852 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22141 "Can" \ 1.w +38588 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +21405 "Can"#\ 1. +39326 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +20667 "Can"$\ 1.} +40067 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19926 "Can"\ 1. +40803 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19190 "Can"\ 1.z +41586 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +18408 "Can"\ 1.s +42324 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +17669 "Can"\ 1.v +43059 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +16935 "Can"\ 1/{ +43799 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +16194 "Can"\ \ 1.{ +44538 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15456 "Can"\ 1.~ +45275 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +14717 "Can"\ \ 0.x +46017 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13976 "Can"\ \ 1.} +46757 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13236 "Can" \ 1/t +47501 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +12493 "Can"\ 1/p +48241 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +11752 "Can"\ 1.{ +48982 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +11010 "Can"\ 0.z +49723 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10271 "Can"\ 2/t +50466 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +9527 "Can"\ 1.q +51206 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8787 "Can"\ 1.x +51949 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8044 "Can"\ 1/z +52692 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +7301 "Can"\ 1/ +53466 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6527 "Can"\ 1/v +54195 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5798 "Can"\ 1/} +54921 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5072 "Can"\ \ 1.z +55646 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +4348 "Can"\ 1. +56370 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3624 "Can"\ \ 1.y +57095 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2897 "Can"\ \ 1/y +57821 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2173 "Can"\ 1.{ +58548 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +1445 "Can" \ 1.{ +59269 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +724 "Can" \ 1.s +59996 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 "Can"\ 30v + ."reset-modem"Gate.cycleModemPower! 5 +3 #Session Ended +59996 "Can" \ 1.u +756 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59237 "Can" \ 1.v +1487 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58506 "Can" \ 1.| +2214 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +57779 "Can"\ 1.s +2943 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57050 "Can"\ 1.x +3667 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56326 "Can"\ 1.v +4395 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +55597 "Can"\ 0.x +5129 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +54865 "Can"\ 1/x +5856 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54137 "Can"\ 1.z +6583 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53410 "Can"\ 1/ +7310 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +52682 "Can"\ 1.{ +8037 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51956 "Can"\ 1.u +8763 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51231 "Can"\ 1.{ +9492 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50501 "Can"\ 1.v +10218 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +49774 "Can"\ 1.u +10943 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49051 "Can"\ 1.w +11672 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48321 "Can"\ 1.z +12401 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47592 "Can"\ 1/| +13129 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +46864 "Can"\ 1.y +13860 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46133 "Can"\ 1.t +14593 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45400 "Can"\ 0. +15318 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44675 "Can"\ 1.s +16048 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +43944 "Can"\ 1.t +16776 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +43217 "Can"\ 1.~ +17508 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42485 "Can"\ 1/} +18238 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41755 "Can"\ 1.u +18968 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +40 .Gate.cycleModemPower! 5 +5 #Session Ended +40984 "Can"\ 1/} +19734 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40260 "Can"\ 2/u +20461 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +39532 "Can"\ 1.u +21184 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38809 "Can"\ 1/u +21907 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +38086 "Can"\ 1/t +22639 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +37354 "Can"\ 0. +23369 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +36625 "Can"\ 1/z +24090 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +35902 "Can"\ 1.w +24815 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35178 "Can"\ 1.v +25541 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +34451 "Can"\ 0.| +26269 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +33723 "Can"\ 1/y +26996 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +32997 "Can"\ 0. +27721 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +32271 "Can"\ 1.u +28449 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +31544 "Can"\ 1.z +29175 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +30816 "Can"\ 1.z +29902 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +30091 "Can"\ 1.} +30629 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +29365 "Can"\ 1. +31358 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +28635 "Can"\ 1. +32087 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +27906 "Can"\ 1.t +32814 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +27179 "Can"\ 1.v +33540 #"reset-modem"Session Begun +7 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +6 #Session Ended +26447 "Can"\ 1/~ +34289 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +25704 "Can"\ 1/ +35019 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +24974 "Can"\ 1/{ +35745 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +24248 "Can"\ 1.u +36474 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +23519 "Can"\ 0.z +37200 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22793 "Can"\ 1.y +37934 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +22058 "Can"\ 1.s +38662 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +21330 "Can"\ 1.| +39386 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20607 "Can"\ 1.} +40112 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19881 "Can"\ 1.{ +40841 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19152 "Can"\ 1.{ +41571 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18422 "Can"\ 1.{ +42302 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +17692 "Can"\ 1.t +43028 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +16964 "Can"\ 1.v +43759 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +16233 "Can"\ 1.{ +44485 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15509 "Can"\ 1.v +45249 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +14745 "Can"\ 1.t +45977 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +14016 "Can"\ 1/~ +46708 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13285 "Can"\ 1/w +47439 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +12553 "Can"\ 1/x +48165 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +11828 "Can"\ 1/} +48895 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +11098 "Can"\ 1/z +49627 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +10366 "Can"{\ 1.{ +50356 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +9636 "Can"u\ 0/z @EST1671339968.20 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8904 "Can"v\ 1/{ +51820 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +8172 "Can"z\ 1.~ +52553 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +7441 "Can"w\ 1/v +53286 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +6705 "Can"w\ 1/u +54023 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +5971 "Can"v\ 2/ +54754 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5240 "Can"z\ 1/z +55485 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4508 "Can"o\ 1/ +56213 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3780 "Can"o\ 1/ +56944 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3049 "Can"p\ 1.t +57680 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2313 "Can"p\ 1/z +58413 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +1579 "Can"n\ 1/ +59145 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +848 "Can"m\ 1. +59880 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +114 "Can"s\ 30{ +60001 n\ 1/s +610 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59383 "Can"o\ 1.} +1341 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58652 "Can"k\ 1.y +2074 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +57918 "Can"n\ 1.| +2806 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57187 "Can"k\ 1.v +3536 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56456 "Can"o\ 1.z +4307 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +55688 "Can"k\ 1.x +5033 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54959 "Can"j\ 1.s +5771 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54223 "Can"m\ 1. +6506 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53487 "Can"m\ 1. +7258 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52734 "Can"k\ 1.t +7992 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52003 "Can"h\ 1/x +8724 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +51268 "Can"c\ 1.w +9459 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50534 "Can"i\ 1.~ +10190 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +49804 "Can"e\ 1/y +10922 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +49070 "Can"c\ 1.v +11658 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48334 "Can"c\ 1.v +12394 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47599 "Can"g\ 1.w +13131 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46862 "Can"c\ 1.{ +13867 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46126 "Can"e\ 1.y +14605 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +45387 "Can"d\ 1.t +15346 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44647 "Can"_\ 1.z +16081 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43911 "Can"_\ 1.u +16817 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43176 "Can"_\ 1.y +17550 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42444 "Can"Z\ 0.x +18286 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41707 "Can"]\ 0.t +19026 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40967 "Can"[\ 0.u +19804 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40190 "Can"Y\ 1.t +20538 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +39454 "Can"S\ 1. +21274 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38719 "Can"T\ 1/ +22006 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +37987 "Can"T\ 1/~ +22750 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +37243 "Can"Q\ 1/s +23489 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +36504 "Can"\\\ 2/u +24228 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35765 "Can"U\ 1.} +24965 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35028 "Can"T\ 1. +25700 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +34293 "Can"T\ 1/t +26434 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +33559 "Can"W\ 1.u +27173 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +32819 "Can"P\ 1.q +27915 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +32077 "Can"N\ 1.v +28653 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +31339 "Can"Y\ 1.z +29393 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +30600 "Can"Y\ 1.t +30129 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +29864 "Can"X\ 1.t +30865 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +29127 "Can"^\ 0/u +31602 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +28391 "Can"Y\ 1.t +32345 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +44 #Session Ended +27607 "Can"Q\ 1. +33115 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26878 "Can"S\ 1.t +33841 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26151 "Can"N\ 1. +34571 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +25422 "Can"O\ 1/u +35296 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +24697 "Can"P\ 1.w +36024 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23969 "Can"Y\ 1.{ +36750 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +23242 "Can"U\ 1.t +37477 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +22515 "Can"X\ 1. +38201 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +21792 "Can"W\ 1.t +38926 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +21066 "Can"R\ 1.u +39657 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20337 "Can"O\ 1.z +40400 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19593 "Can"P\ 1. +41128 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +18864 "Can"L\ 1.v +41854 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18139 "Can"F\ 1.{ +42579 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +17414 "Can"B\ 0. +43308 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +16685 "Can"=\ 1.v +44035 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +15957 "Can"<\ 1.u +44762 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15231 "Can"4\ 1.t +45492 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +14501 "Can".\ 1.{ +46222 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +13773 "Can")\ 20{ +46946 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13044 "Can"%\ 1.x +47673 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +12319 "Can",\ 0/ +48402 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +11591 "Can"'\ 1.x +49131 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10862 "Can"'\ 1/~ +49861 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10132 "Can"&\ 1/x +50589 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +9404 "Can"%\ 1/ +51318 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8675 "Can",\ 1.z +52044 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +7949 "Can"#\ 1/v +52774 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +7219 "Can"\ 1. +53506 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6488 "Can" \ 1/z +54229 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +5762 "Can" \ 1.z +54956 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +5036 "Can"\ 0. +55686 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +4308 "Can"\ 1.x +56411 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +3581 "Can"\ 1/| +57138 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2855 "Can"\ 1. +57864 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +2129 "Can"\ 1.v +58596 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1397 "Can"\ 1. +59362 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +630 "Can"\ 1. +60003 \ 30u +86 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +59905 "Can"\ 1.{ +814 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +59178 "Can"\ 1.x +1540 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +58454 "Can"\ 1/{ +2268 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57725 "Can"\ 1.z +2996 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +56995 "Can"\ 1/v +3724 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +56268 "Can"\ 1.| +4449 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +55545 "Can"\ 1. +5171 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54822 "Can"\ 1/u +5898 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54095 "Can"\ 1. +6621 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53372 "Can"\ 1.{ +7346 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52647 "Can"\ 1.w +8077 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51916 "Can"\ 1.w +8804 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +51188 "Can"\ 0.| +9534 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +50460 "Can"\ 1.w +10257 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +49735 "Can"!\ 1.| +10983 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49010 "Can"\ 1.u +11717 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48276 "Can"\ 1.{ +12444 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47550 "Can"\ 1.{ +13190 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46802 "Can"\ 1.s +13916 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46077 "Can"\ 1/x +14644 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45350 "Can"\ 1.} +15373 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44620 "Can"\ 1.v +16103 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +43890 "Can"\ 1/} +16830 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43163 "Can"\ 1/u +17558 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42435 "Can"\ 1.v +18288 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41705 "Can"\ 1.x +19016 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +40977 "Can"\ 1.w +19744 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40249 "Can"\ 1.| +20471 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +39522 "Can"\ 1/ +21196 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38797 "Can"\ 1.{ +21929 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38064 "Can"\ 1. +22661 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +37332 "Can"\ 1. +23393 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +36601 "Can"\ 1. +24123 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35869 "Can"\ 1.v +24853 #"reset-modem"Session Begun +45 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35099 "Can"\ 0. +25620 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +34374 "Can"\ 1.u +26343 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +33650 "Can"\ 1.~ +27064 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +32928 "Can"\ 1. +27794 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +32198 "Can""\ 1/t +28521 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31472 "Can"\ 1. +29245 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +30747 "Can"\ 1/ +29969 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +30024 "Can"\ 1/ +30693 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +29300 "Can"\ 1/w +31421 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +28571 "Can"\ 1.{ +32147 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +27845 "Can"\ 1/v +32876 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +27116 "Can"\ 1. +33607 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +26385 "Can"\ 0.} +34336 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +25657 "Can"\ 1.v @EST1671426210.92 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +24928 "Can"\ 1.v +35795 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +24198 "Can"\ 1.z +36519 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23475 "Can"\ 1.t +37247 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22745 "Can" \ 1/z +37977 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +22015 "Can"\ 1. +38699 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +21295 "Can"\ 1.~ +39424 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20569 "Can"\ 1/| +40153 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19840 "Can"\ 1.v +40883 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19109 "Can"\ 1/t +41613 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18380 "Can"\ 0.{ +42346 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +17647 "Can" \ 1.u +43072 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +16921 "Can" \ 1/w +43798 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +16195 "Can" \ 1.w +44528 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +15465 "Can"\ 1/| +45261 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +14732 "Can"\ 1.u +45987 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +14006 "Can"\ 1. +46733 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +13261 "Can"\ 1.} +47464 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +12529 "Can" \ 1.u +48193 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +11800 "Can"\ 1.w +48929 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +11065 "Can"\ 1.y +49659 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10335 "Can"\ 1.} +50390 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +9602 "Can" \ 1.z +51155 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8837 "Can"\ 1.| +51882 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8114 "Can"\ 30u +52608 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +7382 "Can" \ 1.v +53344 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6649 "Can"\ 1. +54069 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +5924 "Can"\ 1.| +54804 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5189 "Can" \ 1.x +55540 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4453 "Can" \ 1. +56269 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +3724 "Can" \ 1.w +57000 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +2993 "Can"\ 1.w +57730 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2263 "Can"\ 1/ +58457 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1536 "Can"\ 1. +59188 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +804 "Can"\ 1.w +59929 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +65 "Can"\ 31z +60001 \ 1.w +656 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +59337 "Can"\ 1.z +1391 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58602 "Can"\ 1.z +2123 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57869 "Can"\ 0. +2860 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57134 "Can"\ 1.z +3590 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +56403 "Can"\ 1.{ +4328 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +55665 "Can"\ 1.u +5059 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54934 "Can"\ 1.z +5789 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54204 "Can"\ 1.w +6522 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +53471 "Can"\ 1/ +7251 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52742 "Can"\ 1/| +7987 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52006 "Can"\ 1.y +8725 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51268 "Can"#\ 1.y +9456 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50537 "Can"%\ 1/~ +10226 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +49767 "Can"&\ 1.z +10957 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49036 "Can"'\ 1. +11687 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +48307 "Can"&\ 1.v +12417 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47576 "Can"(\ 1. +13151 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46841 "Can"$\ 1.{ +13893 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46100 "Can" \ 1.u +14625 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +45369 "Can"%\ 1.~ +15359 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44634 "Can"$\ 0.t +16095 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43898 "Can"%\ 0.| +16827 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43166 "Can")\ 1.u +17560 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42432 "Can"$\ 1.| +18295 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +41697 "Can"(\ 1/v +19025 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40968 "Can"&\ 2/x +19781 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40212 "Can")\ 1/v +20514 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39479 "Can""\ 1.x +21248 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +38744 "Can"#\ 1.w +21985 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38009 "Can""\ 1.v +22721 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +37272 "Can" \ 1/x +23455 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +36539 "Can"\ 1.v +24192 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35800 "Can"!\ 1.x +24927 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35066 "Can"\ 1.~ +25704 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +34290 "Can"\ 1/| +26438 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +33554 "Can"\ 1.z +27171 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +32823 "Can"\ 1/u +27902 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +32091 "Can"\ 1.x +28642 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31351 "Can"\ 1.t +29382 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +30611 "Can"\ 1.{ +30118 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +29875 "Can"\ 0. +30859 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +29134 "Can"\ 1.z +31596 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +28397 "Can"\ 1.x +32329 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +27664 "Can"\ 0.{ +33060 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +26934 "Can"\ 2/z +33802 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26191 "Can"\ 1.~ +34540 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +25453 "Can"\ 1/w +35452 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +24541 "Can"\ 1. +36189 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23804 "Can"\ 1/z +36927 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23066 "Can"\ 1. +37663 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22330 "Can"\ 1.| +38403 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +21592 "Can"\ 20s +39135 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20857 "Can"\ 1/ +39861 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20133 "Can"\ 1/ +40591 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +19402 "Can"\ 1.y +41314 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18678 "Can"\ 1.} +42035 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +17959 "Can"\ 1/y +42757 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +17237 "Can" \ 0.z +43480 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +16514 "Can"\ 0. +44208 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +15785 "Can"\ 1. +44938 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15055 "Can"\ 1.v +45662 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +14330 "Can"\ 1. +46391 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13602 "Can"\ 1.v +47119 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +12874 "Can" \ 2/{ +47850 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +12143 "Can"\ 2/y +48579 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +11415 "Can"\ 2/ +49303 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10689 "Can"\ 1/} +50028 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +9965 "Can"\ 1/~ +50754 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +9240 "Can"\ 1/x +51478 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +8514 "Can"\ 1. +52220 #"reset-modem"Session Begun +6 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +7771 "Can"\ 2/~ +52952 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +7041 "Can"\ 2/u +53682 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6311 "Can"\ 2/r +54412 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5582 "Can"\ 1.v +55140 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +4852 "Can"\ 1/| +55870 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4123 "Can"\ 2/| +56596 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3397 "Can"\ 2/x +57325 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2668 "Can"\ 41 +58057 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1936 "Can"\ 1.v +58787 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +1207 "Can"\ 1/w +59516 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +477 "Can"\ 2/} +60006 \ 51 +240 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59748 "Can"\ 2/~ +975 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59019 "Can"\ 2/} +1704 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58289 "Can"\ 1/v +2432 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57560 "Can"\ 1/ +3161 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56832 "Can"\ 1/t +3888 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56105 "Can"\ 1/{ +4617 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +55376 "Can"\ 1/ +5385 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +54607 "Can"\ 2/~ +6113 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53881 "Can"\ 1. +6840 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53153 "Can"\ 1.w +7564 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52428 "Can"\ 1.t +8292 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51701 "Can"\ 0.~ +9018 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50975 "Can"\ 1.z +9742 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50251 "Can"\ 1.v +10469 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49525 "Can"\ 1.u +11193 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +48799 "Can"\ 1.v +11922 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +48070 "Can"\ 1.w +12650 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +47345 "Can"\ 1.z +13373 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46620 "Can"\ 1.z +14098 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45895 "Can"\ 1.v +14825 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45168 "Can"\ 1.z +15550 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44443 "Can"\ 1.z +16279 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +43714 "Can"\ 1.v +17004 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +42988 "Can"\ 1.{ +17736 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42257 "Can"\ 1.u +18463 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41530 "Can" \ 1.y @EST1671512455.16 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40802 "Can"\ 1. +19917 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +40075 "Can"\ 1.v +20643 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39350 "Can" \ 0. +21374 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38620 "Can"\ \ 1.x +22104 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +37888 "Can"\ 1.v +22830 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +37163 "Can"\ 1. +23564 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +36431 "Can"\ 1.} +24291 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35702 "Can"\ 1.v +25023 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +34969 "Can"\ 1/{ +25769 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +34225 "Can"\ 1/v +26494 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +33499 "Can"\ 1.{ +27225 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +32768 "Can"\ 1. +27953 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +32040 "Can"\ 1/v +28682 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31311 "Can"\ 1. +29411 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +30582 "Can"\ 1.u +30136 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +29857 "Can"\ 1.{ +30871 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +40 #Session Ended +29084 "Can"\ 1. +31638 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +28355 "Can"\ 1.t +32364 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +27629 "Can"\ 0.u +33090 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26903 "Can"\ 1.z +33818 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26175 "Can"\ 1. +34543 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +25451 "Can"\ 0.u +35268 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +24723 "Can"\ 1.w +35997 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23995 "Can"\ 1.} +36722 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23272 "Can"\ 1.} +37445 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22548 "Can"\ 1.x +38174 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +21819 "Can"\ 1.v +38903 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +21089 "Can"\ 1.{ +39636 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20358 "Can"\ 1.y +40362 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19631 "Can"\ 1. +41094 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18899 "Can"\ 1. +41822 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18171 "Can"\ 1.} +42549 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +17445 "Can"\ 30 +43277 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +16715 "Can"\ 1.y +44007 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +15986 "Can"\ 1.{ +44737 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +15256 "Can"\ 1.| +45464 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +14529 "Can"\ 0.{ +46191 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13802 "Can"\ 1. +46920 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13073 "Can"\ 1/| +47645 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +12349 "Can"\ 1.| +48372 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +11620 "Can"\ 1.v +49098 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10894 "Can"\ 1.v +49829 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +10166 "Can"\ 1.{ +50556 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +9437 "Can"\ 1.{ +51286 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8706 "Can"\ 1.y +52019 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +7974 "Can"\ 1.w +52746 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +7247 "Can"\ 1/z +53480 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6513 "Can"\ 1.| +54208 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5785 "Can"\ 1.z +54938 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +5055 "Can"\ 1.v +55668 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +4325 "Can"\ 1.~ @1673016651.36EST = =tMAIN =mMAIN_scheduler @EST1673016653.68 #"core_reset"Sent BREAK +2 #t@43496 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +216 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +623 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +759 "Can"\ \\ +2 \ \\ +2 #tPolling Can every 10:00 +5 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1014 #-> ESP.ready! +8 #Powering core bus +548 .Gate.power :raw,:ON + "sampler") +55 ) +4 "core"  +5 "collection"' +4 ' +6 "core"  +4 "processing"% +4 % +6 "core"  +8 "collection"' 9\ +4 ' 0\ +4 ' -\ +5 "processing"% 9\ +6 % 2\ +4 % *\ +4 % 0\ +6 "sampler")&\ +4 "collection"'% +6 "core" % $ (\ +2 .tCS.configure :default +6 "collection"'#P d@b +4 "processing"%% +8 "core" %\ +2 .tPS.configure :default +6 "processing"%#A d`xb +4 "sampler")% +6 "core" %   +2 .tSS.configure :default +6 "sampler")#.0X Hand +371 #-> Hand.open +2 .Hand.open +5 "manipulator"&;1 +56 "core" 1 +306 #t-> Hand.close + .Hand.close +4 "manipulator"& Hand.open +2 .Hand.open +4 "manipulator"&=1 +64 "core" 1 +119 #t-> Hand.close + .Hand.close +4 "manipulator"&>/ +62 "core" / +243 #t-> Arm +4 "manipulator"&?& +6 "core" &  $ +4 "manipulator"&@% +7 "core" % \   x +375 #t-> Arm.home +4 "manipulator"&A& +6 "core" & \  $ +4 "manipulator"&B% +7 "core" % \ \ @ x +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek :home +4 "manipulator"&C( +245 "core" ( +4 "manipulator"&D& +8 "core" &  % C +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &E& +8 "core" & _ C +4 .tForearm.seek :home + "manipulator"&F' +40 "core" ' +4 "manipulator"&G& +8 "core" & C +2 "manipulator"&H% +8 "core" % b a +536 #t-> Hand.ready! +4 !o:NoMethodError : mesgu:NameError::message/undefined method `ready!' for Hand:Gripper: name: ready!: args[:bt["(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +886 #-> Arm.ready! +3 .Forearm.reconfigure :loose +4 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +4 "manipulator"&I'\ +65 "core" ' +4 .tElbow.jog 1500 +4 "manipulator"&J* +55 "core" * +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 .tElbow.home.seek :clear + "manipulator"&K(d +246 "core" ( +3 "manipulator"&L& +7 "core" &d  e ) +3 "manipulator"&M% +8 "core" %\   U  +363 #t-> Arm.home +3 "manipulator"&N& +4 "core" &d  ) +84 "manipulator"&O% +8 "core" %\   +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +4 "manipulator"&P( +190 "core" ( +4 "manipulator"&Q& +8 "core" &  r C +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &R& +8 "core" &   C +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :home + "manipulator"&S' +49 "core" ' +4 "manipulator"&T& +7 "core" &  . C +2 "manipulator"&U% +8 "core" %  S  +358 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract + "manipulator"&V'\ +51 "core" ' +4 .tElbow.jog 1500 + "manipulator"&W* +51 "core" * +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 .tElbow.home.seek :clear + "manipulator"&X(d +240 "core" ( +4 "manipulator"&Y& +7 "core" &d  \\ + +2 "manipulator"&Z% +8 "core" %\  O ! +1818 #t-> CC +3 "collection"'[& +6 "core" & # &+\  +131 #t-> PC +4 "processing"%\\& +8 "core" &\  +205 #t-> Flush +325 #-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +4 "collection"']& +6 "core" & # &\  +3 .tHand.open +3 "manipulator"&^1 +59 "core" 1 +4 "manipulator"&_& +8 "core" &d O + +2 "manipulator"&`% +8 "core" % \   | ! +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage + "manipulator"&a(, +135 "core" ( +4 "manipulator"&b& +8 "core" &,   = +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &c& +8 "core" &, = +4 .tForearm.seek :garage + "manipulator"&d'Ϧ +109 "core" ' +2 .tHand.close +4 "manipulator"&e/ +55 "core" / +4 "manipulator"&f& +8 "core" &,  = = +2 "manipulator"&g% +8 "core" % Ϡ  , +4 .tForearm.seek :retract +3 "manipulator"&h'\ +102 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tElbow.seek CC + "manipulator"&i( +280 "core" ( +4 "manipulator"&j& +7 "core" &( ! [ >M +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &k& +8 "core" &(  K >L +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&l'" +97 "core" ' +3 "manipulator"&m& +8 "core" &( ! / >L +2 "manipulator"&n% +9 "core" %!  +4 "collection"'o& +8 "core" & $ &,\  +4 "collection"'p& +10 "core" & $ '\ \  +5 .tCC.seek :closed +3 "collection"'q(V +8 "core" & $ (,\  +2 & % '0\  +6 &I $ $5\ %g +9 &kW % '/\ 8 +9 & $ '1\ M +8 &|\\ % &,\ O +11 &?^ $ '"\ N +9 &\\ % (+\ N +9 &[ % &0\ O +10 &Z ' '1\ O +8 &G` & (/\ N +11 &Z % (*\ O +9 &_ % ) \ O +8 &!b ( ')\ O +11 &#N` & )+\ O +11 &%a & ',\ O +8 &&] ( (+\ O +9 &(\\ & ')\ O +8 &*V] % )\ O +11 &,] ' (\ O +9 &-\\ & (\ O +8 &/` & '\ N +11 &1_^ ' (\ N +9 &3!^ % (&\ N +9 &4[ ( '%\ N +10 &6_ & '&\ O +8 &8g\\ % ("\ N +11 &:(\\ % (\ O +9 &;\\ % ' \ O +8 &=_ % ($\ O +11 &?n\\ % ($\ O +9 &A1_ % ((\ N +9 &Ba % )'\ O +10 &Db * *&\ O +10 &Ftf 1 3'\ O +9 &H/y + . \ R +9 &I - .$\ U +10 &K / 0$\ Y +9 &M_ . 0*\ Y +8 &O . 0(\ Z +11 &P . 0$\ Y +9 &R . 0'\ Z +9 &Tb / 0)\ [\ +10 &Vv 0 1&\ 7 +9 &V( / /$\ #h +10 &Vv / 1)\ N +2 ( +3 "collection"'p& +6 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +4 "collection"'r& +7 "core" &Vv - 0'\ N +2 &Vv - 0\ N +2 .tHand.open +4 "manipulator"&s1 +53 "core" 1 +4 "manipulator"&t% +8 "core" %! " +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&u'\ +101 "core" ' +382 #t-> FLush.PC + !o:NameError: mesg"!uninitialized constant FLush: name:\ FLush:bt["(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +435 #-> Flush.PC +4 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%v& +8 "core" &\  +2 "manipulator"&w& +8 "core" &(  >L +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +4 "manipulator"&x( +6 "core" ( +3 "manipulator"&y& +7 "core" &(  h >L +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &z& +6 "core" &(  } >L +4 .tForearm.seek CC +4 "manipulator"&{'" +93 "core" ' +2 .tHand.close + "manipulator"&|/ +64 "core" / +4 .tCC.seek :open + "collection"'}( +417 "core" ( +4 "manipulator"&~& +8 "core" &( : >L +2 "manipulator"&% +8 "core" % !  +2 .tForearm.seek :retract +4 "manipulator"&'\ +105 "core" ' +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +4 "manipulator"&(s +377 "core" ( +4 "manipulator"&& +7 "core" &l  A +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 && +4 "core" &l   +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&' +105 "core" ' +3 "manipulator"&& +9 "core" &l  = +2 "manipulator"&% +8 "core" %  +4 "processing"%& +6 "core" &\  +4 "processing"% & +9 "core" &\  +7 .tPC.seek :closed + "processing"%\ (Z +8 "core" &\  +3 &\  +3 &I\ %g +11 &xU\ 8 +9 &\ M +8 &_\ N +11 &Jc\ N +9 & \\\ N +8 &]\ N +11 &[\ N +9 &Rb\ N +9 &^\ O +10 &`\ O +8 &!`\ O +11 &#Y^\ O +9 &%Z\ N +8 &&Z\ O +11 &([\ N +9 &*bZ\ N +9 &,%]\ N +10 &-_\ O +8 &/_\ O +11 &1j\\\ N +9 &3-\\\ N +8 &4]\ O +11 &6]\ O +9 &8r]\ N +9 &:5]\ N +10 &;_\ N +8 &=Z\ N +11 &?z\\\ N +9 &A<Z\ N +8 &B\\\ O +11 &D_\ O +9 &Fe\ O +10 &H:x\ R +9 &I\ T +9 &K\ T +10 &My\ T +9 &O9\ U +10 &P\ U +9 &R\ U +9 &T\ U +10 &VB\ T +9 &X\ U +9 &Yz\ 5 +10 &Z.r\ M +9 &Z"\ , +6 ( +4 "processing"% & +6 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + "processing"% & +8 "core" &Z \ , +2 &Z \ , +2 .tHand.open +4 "manipulator"& 1 +56 "core" 1 +2 "manipulator"& % +8 "core" % !  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 "collection"'& +8 "core" & " $/\ +1270 #t-> Flush.garage +4 #Garaging FlushPuck in Processing Clamp +3 "manipulator"&& +71 "core" &l  6 +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "manipulator"&(s +5 "core" ( +2 "manipulator"&& +8 "core" &l  7 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 && +7 "core" &l   +4 .tForearm.seek PC + "manipulator"&' +101 "core" ' +4 .tHand.close +4 "manipulator"&/ +61 "core" / +4 .tPC.seek :open + "processing"%( +437 "core" ( +4 "manipulator"&& +8 "core" &l   +3 "manipulator"&% +8 "core" % V +3 .tForearm.seek :retract +3 "manipulator"&'\ +105 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +4 "manipulator"&(, +142 "core" ( +4 "manipulator"&& +7 "core" &, l +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &"& +8 "core" &,  l +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage + "manipulator"&%'Ϧ +107 "core" ' +4 .tHand.open +2 "manipulator"&'1 +61 "core" 1 +3 "manipulator"&)% +8 "core" % ϯ  O H +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&('\ +97 "core" ' +486 #t-> access 2 +6 "storage"(% +6 "core" %\\ 2\ +4 "manipulator"&% +6 "core" %\  %  +4 "manipulator"&#& +7 "core" &, l +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 6 +4 "storage"(,(K +969 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +7 (-& +8 "core" &K \  +1056 #t-> require 'shuffle.rb' +2873 #-> 10.times{shuffle 2..3} +4 #Shuffling pucks in tube 2 of [2..3] +4 #Loading generic puck from tube 2 into Collection Clamp +3 "collection"'.& +7 "core" & # #9\ +2 "manipulator"&/% +9 "core" %\     +3 "storage"(0% +8 "core" %\\ x\ +2 "storage"(1. +6 "core" .(K +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 2 +4 "storage"(2( +1286 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +3 (3& +7 "core" & 2\ +4 "manipulator"&4& +8 "core" &, l +2 "manipulator"&5% +8 "core" %\   +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&6( +193 "core" ( +3 "manipulator"&7& +9 "core" & @ +2 "storage"(8& +8 "core" & q\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +97 "core" ' +2 "storage"(:& +9 "core" & \ \  i\ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(;'i +280 "core" ' +39 "storage"(<- +5 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (=& +8 "core" & U\ +2 "manipulator"&>& +8 "core" & | +4 .tElbow.seek 2 +3 "manipulator"&?( +8 "core" ( +4 "manipulator"&@& +7 "core" & h  +2 "storage"(A& +8 "core" & k\ +4 .tForearm.seek 2 + 300 counts +4 "manipulator"&B' +24 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&D/ +55 "core" / +4 ."downElevator"SE.seek :down +10 "manipulator"&E& + "storage"($'X +15 "core" &  +3 "manipulator"&G% +7 "core" %   +4 .tForearm.seek :retract +4 "manipulator"&H'\ +94 "core" ' +4 .tElbow.seek CC + "manipulator"&&( +145 "core" ' +4 ."downElevator"SE.stop +4 "storage"(5 +11 "core" ( +2 "manipulator"&F& +8 "core" &+ ^ Ad +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &C& +8 "core" &+ 5 Ad +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&L'" +101 "core" ' +3 "manipulator"&M& +8 "core" &) ! 8 ?V +4 "manipulator"&J% +8 "core" %  @ +4 "collection"'N& +8 "core" & # %<\ +4 "collection"'O& +10 "core" & " $;\ +6 .tCC.seek :closed +4 "collection"'Q(V +7 "core" & $ #0\ +4 & " %3\  +5 &.} # $4\ +z +8 &d ! 9\ ? +9 &ux # &4\ O +9 &8[ & &7\ N +10 &` % %3\ O +9 &\\ & '0\ O +96 &}] $ %+\ O +24 &?\\ ' +\ O +4 &] % %/\ O +2 &] % ',\ O +4 & ` ' '/\ O +2 &"H` & %/\ N +4 &$\ [ & '-\ N +4 &%_ & '.\ N +2 &'] $ '/\ N +2 &)Q^ % &.\ N +2 &+^ % '+\ N +4 &,^ & &)\ N +2 &._ $ '+\ N + &0W_ % (0\ O + &2] # '-\ N +4 &3` & (.\ N +2 &5] & )/\ N +9 &7`a # '/\ N +8 &9#^ & &0\ N +10 &:` $ '-\ O +10 &<b ' ),\ O +9 &>h_ & '/\ N +10 &@+` ' (\ N +9 &A_ & &*\ N +10 &C_ ' '!\ O +9 &Eng , ,\ O +10 &G-q ( ,\ P +9 &Hx ) '\ Q +9 &J ( +\ U +10 &L] * +\ X +9 &N + +\ Y +9 &O * /\ Y +10 &Q + .\ Y +9 &S^ + -\ Z +10 &U - ."\ Z +9 &VhE - ,\ 1 +9 &Vh , ."\ E +3 ( +6 "collection"'O& +6 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +3 .Hand.open +3 "manipulator"&R1 +6 "core" &V] , -\ E +49 1 +2 "manipulator"&T% +8 "core" %   z ; +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&U'\ +99 "core" ' +4 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%K& +8 "core" &\ +4 "manipulator"&I% +7 "core" %\   I  +3 "storage"(S% +8 "core" %T x x v\ +2 "storage"(P. +6 "core" .( +4 "storage"(Y& +8 "core" & } ^\ +2 "storage"(Z& +8 "core" & m\ +4 "manipulator"&W& +7 "core" &)  { ?U +2 "manipulator"&[% +8 "core" %\   ~  +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +4 "manipulator"&\\( +167 "core" ( +2 "manipulator"&]& +10 "core" & * u +2 "storage"(^& +8 "core" & >\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 700 counts +3 "manipulator"&_'ќ +88 "core" ' +4 "storage"(`& +12 "core" & \ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(b'i +287 "core" ' +4 "storage"(c- +5 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (X& +4 "core" & $\ +4 "manipulator"&e& +8 "core" & u +2 .tElbow.seek 2 +4 "manipulator"&f( +7 "core" ( +3 "manipulator"&g& +8 "core" & u +3 "storage"(V& +6 "core" & d\ +4 .tForearm.seek 2 + 300 counts +4 "manipulator"&d' +15 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&j/ +56 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&k& +4 "storage"(a'X +16 "core" & x u +2 "manipulator"&m% +8 "core" %  H +4 .tForearm.seek :retract +4 "manipulator"&n'\ +100 "core" ' +2 .tElbow.seek PC +4 "manipulator"&o(s +147 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +118 "core" ( +4 "manipulator"&h& +8 "core" &k  $ +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &*& +7 "core" &k D +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek PC + "manipulator"&r' +98 "core" ' +4 "manipulator"&s& +8 "core" &k   +4 "manipulator"&t% +11 "core" % +4 "processing"%p& +8 "core" &\ +4 "processing"%l& +9 "core" &\ +7 .tPC.seek :closed +3 "processing"%v(Z +8 "core" &\ +2 &\ +4 & 1\ $d +9 &V\ 8 +11 &\ L +9 &]\ O +9 &a_\ O +9 &$Z\ N +9 &Z\ O +11 &]\ O +9 &j\\\ N +8 &,[\ N +11 &]\ O +9 &!_\ N +9 &#r\\\ N +10 &%3_\ O +8 &&^\ O +11 &(Z\ N +9 &*y\\\ O +8 &,<_\ N +10 &-`\ N +10 &/Y\ N +9 &1Y\ N +10 &3D\\\ N +8 &5]\ O +11 &6]\ N +9 &8Y\ N +8 &:L^\ N +11 &< ]\ O +9 &=[\ N +9 &?X\ N +10 &ATY\ N +9 &C`\ O +10 &Da\ O +9 &Fn\ P +10 &HQ~\ R +9 &J \ T +9 &K\ T +10 &M\ T +9 &OR\ T +9 &Q\ T +10 &R\ U +9 &T\ U +10 &VY\ U +9 &X\ U +9 &Y{r\ 7 +10 &Z.\ N +9 &Z\ * +4 ( +4 &Z\ * +4 "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +4 .Hand.open +2 "manipulator"&w1 +64 "core" 1 +2 "manipulator"&y% +8 "core" %  K +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&z'\ +93 "core" ' +4 "processing"%|& +8 "core" &Z\ * +4 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&i% +8 "core" %\   +4 "storage"(u% +8 "core" %b \ +2 "storage"(q. +6 "core" .( +3 "storage"(~& +6 "core" & \ +4 "storage"(& +8 "manipulator"&{& +8 "core" & I\ +2 &k +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +8 "storage"(#]@K-0-\ b +2 "manipulator"&x(s +12 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +5 "core" ( +3 "manipulator"&& +8 "core" &k  < +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 && +8 "core" &k  > +4 .tForearm.seek PC +3 "manipulator"&' +95 "core" ' +2 .tHand.close +4 "manipulator"&/ +63 "core" / +2 .tPC.seek :open +4 "processing"%( +59 "core" ' +3 "storage"(+- +6 "core" -'i +4 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"( 'y +36 "core" ' +315 ( +4 "storage"( & +8 "core" & \ +2 "manipulator"& & +8 "core" &k +2 "manipulator"&% +8 "core" % \ +4 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&( +252 "core" ( +4 "manipulator"&& +8 "core" & 9 + +2 "storage"(& +8 "core" & \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 700 counts +3 "manipulator"&'ќ +96 "core" ' +5 .tHand.open +3 "manipulator"&1 +53 "core" 1 +4 "storage"(- +8 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +10 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +4 "storage"(\ ' +49 "core" ' +4 #tLights, camera, ACTION! + "storage"(- +8 "core" -' +2 "storage"(& +8 "core" & \ \ \ +4 "manipulator"&& +8 "core" &   ) +2 .tElbow.seek 2 +4 "manipulator"&"( +7 "core" ( +3 "manipulator"&& +8 "core" &   ) +2 "storage"(& +7 "core" & \ \  \ \ +4 .tForearm.seek 2 + 700 counts +4 "manipulator"&''ќ +8 "core" ' +3 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate +4 "storage"()' +58 "core" ' +4 "manipulator"&& +9 "core" & R ) +2 "storage"(%& +8 "core" & \ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 +4 "manipulator"&' +24 "core" ' +2 .tElbow.hold +4 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(#'i +24 "core" ' +4 "manipulator"&!% +7 "core" % R +4 "storage"(-& +8 "core" & } \ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 2 + 307 counts + "manipulator"&.' +17 "core" ' +5 "manipulator"&/& +9 "core" & + ) +4 "storage"(0& +8 "core" & (\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +4 "manipulator"&1'ќ +31 "core" ' +4 "storage"(,% +8 "core" %j @\ +4 ."downElevator"SE.seek :down +8 "storage"(3'X +96 (4% +6 "core" %rA r\ Wd +4 "manipulator"&5% +8 "core" %ў +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&7'\ +90 "core" ' +52 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 (8& +8 "core" & \ +3 "collection"'& +8 "core" &V] , .\ E +4 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&:% +8 "core" %\     +4 "storage"((% +8 "core" %` \ +2 "storage"( . +6 "core" .( +4 "storage"(<& +5 "core" & \ +4 "storage"(=& +7 "core" & @\ +2 "manipulator"&>& +8 "core" &  & ) +4 .tElbow.seek 2 + "manipulator"&@( +27 "core" ( +4 "manipulator"&A& +8 "core" & 9  +3 "storage"(D& +8 "core" & e\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +4 "manipulator"&E'ќ +98 "core" ' + "storage"(G& +8 "core" & 1\ +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +4 "storage"(6'i +284 "core" ' +4 "storage"(9- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"&;& +5 "core" &  +3 "storage"(F& +7 "core" & \ +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 + "manipulator"&C' +35 "core" ' +2 .tElbow.hold +4 "manipulator"&B, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 "storage"(?- +5 "core" -' +4 .tSE.seek 0.09 Pucks below Top Plate + "storage"(M'W +34 "core" ' +2 "manipulator"&J% +10 "core" % +2 "storage"(N& +8 "core" & k j \ +2 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 2 + 315 counts + "manipulator"&$' +15 "core" ' +4 "manipulator"&H& +8 "core" &  +2 "storage"(}& +8 "core" & \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +8 "manipulator"&R'ќ +24 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate +4 "storage"(T'F +42 "core" ' +4 "manipulator"&K& +8 "core" &  +2 "manipulator"&O% +7 "core" %Ѷ +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&I'\ +88 "core" ' +4 .tElbow.seek CC +4 "manipulator"&S( +153 "core" ( +4 "manipulator"&P& +84 "core" & ! [ 7 +24 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &Y& +8 "core" &  F 7 +4 .tForearm.seek CC +2 "manipulator"&Z'" +95 "core" ' +4 .tHand.close +2 "manipulator"&W/ +61 "core" / +4 .tCC.seek :open + "collection"'[( +418 "core" ( +2 "storage"(L& +8 "core" & )\ +4 "storage"(]& +8 "core" & &\ +2 "manipulator"&^& +8 "core" &  0 6 +2 "manipulator"&`% +8 "core" % &  5 +4 .tForearm.seek :retract +4 "manipulator"&&'\ +102 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&U( +169 "core" ( +3 "manipulator"&c& +8 "core" & @ ] +3 "storage"(X& +7 "core" & \ +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.seek 2 + "manipulator"&e' +111 "core" ' +2 .tElbow.hold +4 "manipulator"&g, +6 "core" , +4 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +6 .tHand.open +3 "manipulator"&V1 +61 "core" 1 +4 "manipulator"&j% +8 "core" %  C +4 "storage"(k& +6 "core" & (\ +4 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 311 counts +3 "manipulator"&m' +15 "core" ' +4 "manipulator"&\\& +8 "core" & y ] +2 "storage"(_& +8 "core" & \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +4 "manipulator"&b'ќ +18 "core" ' +4 "storage"(d% +8 "core" %K 8\ +4 ."downElevator"SE.seek :down +5 "storage"(h'X +100 (*% +5 "core" %zC h\ Va +4 "manipulator"&f% +8 "core" %ѐ P +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&s'\ +88 "core" ' +38 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +4 "collection"'t& +8 "core" & !\ +4 "manipulator"&p% +8 "core" %\   +2 "storage"(a% +8 "core" %`\ \  (\ +5 "storage"(n. +6 "core" .( +3 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +4 .tSC.seek 3 +4 "storage"(( +343 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +6 (w& +4 "core" & U\  +4 "manipulator"&y& +5 "core" & 0 ] +4 .tElbow.seek 3 +4 "manipulator"&|( +13 "core" ( +3 "manipulator"&l& +9 "core" & ) L +2 "storage"(i& +8 "core" &\ x\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +4 "manipulator"&u'9 +100 "core" ' +3 "storage"(q& +12 "core" &\ \  ?\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +4 "storage"(~'i +283 "core" ' +4 "storage"({- +5 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +8 .tSE.seek :down +4 "storage"('X +272 "core" ' +4 .tSE.stop + "storage"(5 +4 "manipulator"&% +10 "core" %W . Y +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&'\ +94 "core" ' +4 !to:Puck::Error: mesg".2 pucks loaded in tube 3 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:257:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:583:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):22:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +11 #mEXIT @1673017180.20EST @1673017208.38EST = =tMAIN =mMAIN_scheduler @EST1673017213.64 #"core_reset"Sent BREAK +3 #t@58703 sendCRC with ifg=0x20, ie=0x7F +3 #@60538 sendCRC with ifg=0x08, ie=0x5F +3 #@55371 idle with ifg=0x84, ie=0x75 #@56047 select with ifg=0x10, ie=0xF5 +3 #@56695 receive with ifg=0x10, ie=0xFD #@57342 receive with ifg=0x10, ie=0xFD +3 #@57989 receive with ifg=0x10, ie=0xFD + #@58316 receive with ifg=0x80, ie=0xFD +2 #@42265 idle with ifg=0x00, ie=0x75 +3 #ESP2 v3.41 I2C Gateway v3.20 +24 #ESP2 v3.41 I2C Gateway v3.20 for core bus +539 !"core_reader"o:I2C::Gateway::Reset: mesg"Received BREAK:bt[ "4/home/esp/esp2/lib/i2c/gateway.rb:190:in `getc'"5/home/esp/esp2/lib/i2c/gateway.rb:314:in `reset'"4/home/esp/esp2/lib/i2c/gateway.rb:312:in `loop'"5/home/esp/esp2/lib/i2c/gateway.rb:312:in `reset'":/home/esp/esp2/lib/i2c/gateway.rb:307:in `initialize'"*/home/esp/esp2/lib/i2c/gateway.rb:307 +50 #"core_reset"Sent BREAK +260 #Sent BREAK +4 #"core_reader"@58703 sendCRC with ifg=0x20, ie=0x7F +3 #@60538 sendCRC with ifg=0x08, ie=0x5F #@55371 idle with ifg=0x84, ie=0x75 +3 #@56047 select with ifg=0x10, ie=0xF5 + #@56695 receive with ifg=0x10, ie=0xFD +2 #@57342 receive with ifg=0x10, ie=0xFD +3 #@57989 receive with ifg=0x10, ie=0xFD #@58316 receive with ifg=0x80, ie=0xFD +3 #@48024 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +189 #t\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +85 "Can"\ 52} +3 \ 52} +3 #"Restarting_core_reader"Polling Can every 10:00 +912 "Can"\ 53 +2 \ 53 +2 #tPolling Can every 10:00 +6702 #-> ESP.ready! +157 "sampler") +4 ) +4 "core"  +4 "collection"' +4 ' +6 "core"  +4 "processing"% +2 % +6 "core"  +8 "collection"' 9\ +4 ' 0\ +6 ' -\ +8 "processing"% 9\ +4 % 2\ +4 % *\ +3 % 0\ +7 "sampler")&\ +4 "collection"'% +6 "core" % ! $G\ +4 .tCS.configure :default +3 "collection"'#P d@b +4 .tCS.hold +3 "collection"'+ +3 "core" + +4 .tCS.configure :default +3 "collection"'#P d@b +6 "processing"%% +4 "core" %\ +4 .tPS.configure :default +4 "processing"%#A d`xb +6 "sampler")% +4 "core" % \ +4 .tSS.configure :default +4 "sampler")#.0X require 'shuffle.rb' +1366 #-> 10.times {shuffle 2..3} +4 #Shuffling pucks in tube 2 of [2..3] +4 #Loading generic puck from tube 2 into Collection Clamp +3 "collection"'2& +7 "core" & " #N\ +4 .tHand.open + "manipulator"&31 +20 "core" 1 +2 "manipulator"&4% +8 "core" %\  H  +4 "storage"(5% +8 "core" %T _\ +2 "storage"(6. +6 "core" ., +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 2 +4 "storage"(7( +336 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +6 (8& +4 "core" & S\ +4 "manipulator"&9& +8 "core" &  L +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&:( +65 "core" ( +2 "manipulator"&;& +10 "core" & 6  +2 "storage"(<& +8 "core" & \  \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 2 + 700 counts +4 "manipulator"&='ќ +96 "core" ' +2 "storage"(>& +9 "core" & \ \  D\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(?'i +286 "core" ' +2 "storage"(@- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +4 (A& +8 "core" & \ +2 "manipulator"&B& +8 "core" & O  +4 .tElbow.seek 2 + "manipulator"&C( +6 "core" ( +4 "manipulator"&D& +6 "core" &  +4 "storage"(E& +8 "core" & \ \ \ +4 .tForearm.seek 2 + 300 counts +4 "manipulator"&F' +23 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&G/ +65 "core" / +4 ."downElevator"SE.seek :down +11 "manipulator"&H& +4 "storage"(I'X +12 "core" &   +2 "manipulator"&J% +8 "core" %    +4 .tForearm.seek :retract +4 "manipulator"&K'\ +94 "core" ' +4 .tElbow.seek CC +4 "manipulator"&L( +135 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +3 "manipulator"&M& +9 "core" &$  t ;7 +5 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &N& +6 "core" &$  ;7 +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&O'" +102 "core" ' +3 "manipulator"&P& +8 "core" &$ 9 ;6 +4 "manipulator"&Q% +7 "core" %' +3 "collection"'R& +7 "core" & " # \ +4 "collection"'S& +10 "core" & " $J\ +6 .tCC.seek :closed + "collection"'T(V +8 "core" & $ #O\ +3 & # %G\  +6 &0 ! $K\ *y +10 &d " "O\ ? +7 &px " %O\ O +11 &3Y # &M\ N +81 &b " (I\ N +16 &_ % %L\ N +4 &x^ $ &K\ O +2 &;] $ &O\ N +22 &Z " 'O\ N +2 &] $ &N\ O +2 & ` " $J\ O +2 &"B_ % &M\ O +4 &$] $ %B\ N +2 &%_ % %F\ N +5 &'] $ 'L\ N +2 &)K] $ 'B\ N +2 &+ ` $ 'G\ N +4 &,] $ %N\ N + &.` % &G\ O + &0S` $ 'A\ N +8 &2_ # &A\ N +8 &3_ # (?\ N +11 &5\\ $ ':\ N +9 &7[_ & '-\ N +8 &9] % %7\ N +11 &:a & &=\ N +9 &<` # &2\ O +8 &>c_ $ '-\ N +11 &@&Z # ',\ N +8 &A_ $ %\ N +11 &C\\ % & \ N +9 &Eig , ,'\ O +8 &G(m ' *.\ P +11 &Hw ' *+\ Q +9 &J ' +$\ U +9 &LY ) +-\ W +10 &N * +*\ X +8 &O * +)\ Y +11 &Q + *,\ Y +9 &SY ) ,,\ Z +8 &U , ,0\ Z +11 &VfC . -)\ 1 +9 &Vp + -*\ E +4 ( +6 "collection"'S& +8 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&U1 +8 "core" &Vg - -3\ E +48 1 +2 "manipulator"&V% +8 "core" % ' F +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&W'\ +94 "core" ' +4 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +8 "core" &\ +4 "manipulator"&Y% +7 "core" %\   ;  +3 "storage"(Z% +8 "core" %a \ +3 "storage"([. +5 "core" .( +4 "storage"(\\& +8 "core" & \ +2 "storage"(]& +8 "core" & 7\ +4 "manipulator"&^& +6 "core" &#  S :. +8 "manipulator"&_% +5 "core" %\   #  +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&`( +159 "core" ( +4 "manipulator"&a& +8 "core" & *  +2 "storage"(b& +8 "core" & \ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +4 "manipulator"&c'ќ +97 "core" ' +2 "storage"(d& +10 "core" & #\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(e'i +285 "core" ' +3 "storage"(f- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (g& +4 "core" & D\ +4 "manipulator"&h& +8 "core" &   +2 .tElbow.seek 2 +4 "manipulator"&i( +6 "core" ( +3 "manipulator"&j& +7 "core" & _  +4 "storage"(k& +8 "core" & R\ +4 .tForearm.seek 2 + 300 counts + "manipulator"&l' +16 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +3 "manipulator"&m/ +55 "core" / +4 ."downElevator"SE.seek :down +6 "manipulator"&n& +4 "storage"(o'X +16 "core" &   +2 "manipulator"&p% +8 "core" %   J +4 .tForearm.seek :retract + "manipulator"&q'\ +103 "core" ' +4 .tElbow.seek PC +4 "manipulator"&r(s +137 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +106 "core" ( +3 "manipulator"&s& +4 "core" &y  ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &y # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +95 "core" ' + "manipulator"&v& +4 "core" &y  r +2 "manipulator"&w% +4 "core" % ~ + "processing"%x& +4 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed + "processing"%z(Z +5 "core" &\ +7 &8\ $c +9 &T\ 7 +9 &~\ L +10 &^\ N +9 &[b\ N +9 &[\ N +10 &]\ N +9 &\\\ O +10 &b_\ O +9 &$\\\ O +9 &\\\ O +10 &!_\ N +9 &#k]\ N +10 &%-`\ N +9 &&_\ N +9 &(_\ N +10 &*s`\ N +9 &,5`\ N +9 &-`\ O +10 &/]\ N +9 &1{Z\ N +9 &3=Z\ N +14 &4Z\ N +5 &6Z\ N +10 &8]\ N +9 &:D^\ O +9 &<]\ N +10 &=Z\ N +9 &?_\ N +9 &AL\\\ O +10 &C_\ O +9 &D`\ O +10 &Fn\ P +9 &HJ~\ R +9 &J\ S +10 &K\ T +9 &M\ T +10 &OL\ T +9 &Q \ T +9 &R\ T +10 &T\ T +9 &VR\ U +9 &X\ U +10 &Yzp\ : +9 &Z(l\ M +9 &Z&\ / +3 ( + "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&{1 +56 "core" 1 + "manipulator"&|% +4 "core" % ( M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 "processing"%~& +4 "core" &Z%\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   c  + "storage"(% +5 "core" %a  $\ + "storage"(. +3 "core" .( + "storage"(& +4 "core" &  s\ +2 "storage"(& +3 "manipulator"&& +5 "core" & G\ + &y  v +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( + "manipulator"& & +4 "core" &y  ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &y ) I +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"%( +90 "core" ' +3 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +286 ( + "storage"(& +4 "core" & \ +2 "manipulator"&& +3 "core" &y +2 "manipulator"&% +3 "core" % t +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +262 "core" ( + "manipulator"&& +5 "core" & p + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 + "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(!' +46 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" & ' ' <\ +2 "manipulator"&$& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&%( +4 "core" ( + "manipulator"&&& +4 "core" & 4 + "storage"('& +4 "core" & & % %\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +60 "core" ' + "manipulator"&*& +5 "core" & l + "storage"(+& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&,' +24 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +25 "core" ' +2 "manipulator"&/% +4 "core" %  W +2 "storage"(0& +3 "core" & } '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&1' +20 "core" ' +2 "manipulator"&2& +5 "core" & # +2 "storage"(3& +3 "core" & q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +28 "core" ' + "storage"(5% +5 "core" %n \ +2 ."downElevator"SE.seek :down +4 "storage"(6'X +99 (% +3 "core" %J \ Xf +2 "manipulator"&8% +4 "core" %| d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +90 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +2 (;& +4 "core" & 0\ +2 "collection"'<& +3 "core" &Vg * ,\ E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&>% +4 "core" %\    + "storage"(% +4 "core" %T k\ + "storage"(. +5 "core" .( + "storage"(@& +4 "core" & j\ +2 "storage"(A& +3 "core" & T\ +2 "manipulator"&B& +4 "core" & # +2 .tElbow.seek 2 + "manipulator"&D( +4 "core" ( + "manipulator"&E& +4 "core" &  + "storage"(G& +4 "core" & F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +93 "core" ' +2 "storage"(J& +4 "core" & 4\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'i +285 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & n + "storage"(?& +4 "core" & ]\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&N' +33 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(P'W +39 "core" ' + "manipulator"&Q% +4 "core" %  +2 "storage"(R& +3 "core" &  ?\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&I' +17 "core" ' +2 "manipulator"&K& +4 "core" & ) + "storage"(\ & +4 "core" & +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +33 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate + "storage"(V'F +39 "core" ' + "manipulator"&X& +5 "core" & + "manipulator"&Y% +4 "core" %ё +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +85 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +156 "core" ( + "manipulator"&[& +51 "core" &)  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &)  ?V +2 .tForearm.seek CC +2 "manipulator"&]'" +94 "core" ' +2 .tHand.close + "manipulator"&^/ +55 "core" / +3 .tCC.seek :open + "collection"'_( +412 "core" ( +2 "storage"(O& +4 "core" & ^\ +2 "storage"(a& +93 "core" & d\ +2 "manipulator"&b& +4 "core" &)  s ?R +2 "manipulator"&d% +4 "core" % 1  7 +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +151 "core" ( + "manipulator"&f& +4 "core" &  \ +2 "storage"(g& +4 "core" & \ \  t\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&h' +95 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&k1 +56 "core" 1 +2 "manipulator"&m% +4 "core" % % e +2 "storage"(n& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&p' +15 "core" ' + "manipulator"&`& +5 "core" & \ + "storage"(c& +4 "core" & \ '\ % p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +17 "core" ' +2 "storage"(l% +4 "core" %M\ '\ % \  +2 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (t% +2 "core" %cC |\ Wc +2 "manipulator"&i% +4 "core" %ю 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +5 "core" &  \ + "manipulator"&x% +5 "core" %\    +2 "storage"(o% +4 "core" %S\ \  `\ + "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +341 "core" ( + .tSC.configure :limp +7 "storage"($\ 1b +3 ({& +2 "core" & *\  +2 "manipulator"&|& +4 "core" & \ +2 .tElbow.seek 3 + "manipulator"&~( +19 "core" ( + "manipulator"&& +4 "core" & - g +2 "storage"(& +3 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(& +4 "core" &\ \  /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +2 "core" & \  +2 "manipulator"& & +3 "core" &  g +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&u& +4 "core" & $ b g + "storage"(& +4 "core" & }\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&}& "storage"(z'X +8 "core" & g + "manipulator"& % +4 "core" % D +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" && & h =B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &&  =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 "manipulator"&& +4 "core" &&  / =B +2 "manipulator"&% +3 "core" %" ( +2 "collection"'& +4 "core" &  A\ +2 "collection"'& +5 "core" &  " \ +2 .tCC.seek :closed + "collection"'"(V +5 "core" &  !;\  +9 &2  !;\ *y +9 &c <\ > +10 &v  "8\ N +9 &C\\  "?\ N +9 &] !@\ N +10 &] $=\ N +9 &] " #<\ N +9 &M` ">\ N +10 &\\ # $8\ N +9 &Z ! !B\ N +9 & ` " "A\ M +10 &"U` " "B\ N +9 &$\\ " %=\ N +10 &%_ ! #<\ M +9 &'_ #;\ N +10 &)^` $=\ M +9 &+ _ " "=\ M +9 &,_ # "=\ N +9 &.a # $=\ N +10 &0ec ! $=\ N +9 &2(] " $=\ M +10 &3_ " $8\ N +9 &5` " $=\ M +9 &7n] ! #<\ M +10 &9/\\ # $>\ N +9 &:b " %;\ N +9 &<` $3\ M +10 &>u_ " /\ N +9 &@7` ! #5\ N +10 &Aa ! %5\ N +9 &C] " %2\ N +9 &E{e * )3\ N +10 &G:m ' )+\ O +9 &H ' (*\ R +9 &J + +\ V +10 &Lf * +%\ X +9 &N) + , \ X +10 &O + ,&\ Y +9 &Q + ,#\ Y +9 &Si + .!\ Z +10 &U+ , ,\ Y +9 &VrB * ,,\ 0 +9 &Vm * .\ E +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator" +4 "core" &Ve + -\ E +59 1 + "manipulator"&$% +4 "core" % "  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &\ +2 "manipulator"&% +4 "core" %\    - + "storage"(*% +4 "core" %^ x y \ + "storage"(+. +3 "core" .( +2 "storage"(/& +3 "core" & w x b\  +2 "storage"(0& +4 "core" & x x m\  + "manipulator"&& +4 "core" &&  =A + "manipulator"&2% +4 "core" %\  g - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&3( +157 "core" ( + "manipulator"& & +4 "core" & %   +2 "storage"(5& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"(& +4 "core" & Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'i +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" & \  + "manipulator"&(& +4 "core" & 7  +2 .tElbow.seek 3 + "manipulator"&%( +3 "core" ( +2 "manipulator"&)& +4 "core" &  )  + "storage"(,& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&<& +3 "storage"(>'X +4 "core" & 1  +2 "manipulator"&% +4 "core" % Ϫ s +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&@& +4 "core" &i * ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +94 "core" ' + "manipulator"&E& +4 "core" &i % @ +2 "manipulator"&G% +4 "core" % x  + "processing"%4& +4 "core" & \ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed + "processing"%6(Z +4 "core" &\  +9 &4\ *z +9 &d\ ? +10 &y\ O +9 &F\\\ N +10 &]\ N +9 &_\ N +9 &]\ O +10 &M[\ N +9 &^\ N +9 &]\ N +10 & Y\ N +9 &"U]\ N +9 &$Y\ N +10 &%]\ N +9 &'`\ N +10 &)^]\ N +9 &+]\ N +9 &,[\ N +10 &.\\\ N +9 &0e\\\ N +9 &2'^\ N +10 &3]\ N +9 &5\\\ N +10 &7o\\\ N +9 &90^\ N +9 &:Z\ N +10 &<\\\ N +9 &>w\\\ N +10 &@8]\ N +9 &A]\ N +9 &C`\ N +10 &E}c\ N +9 &G:s\ P +9 &H\ R +10 &J\ T +9 &Lu\ T +10 &N6\ T +9 &O\ T +9 &Q\ T +10 &S{\ T +9 &U=\ T +9 &V\ U +10 &X\ T +9 &Z(X}\ %q +9 &Z_\ 3 +9 ( +2 &Z$\ . +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&-1 +54 "core" 1 + "manipulator"&9% +5 "core" % 0 o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 "processing"%M& +4 "core" &Z$\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&?% +4 "core" %\   n  +2 "storage"(C% +3 "core" %b ,\ +2 "storage"(Q. +3 "core" .( + "storage"(R& +4 "core" & \  + "storage"(K& +2 "manipulator"&\ & +7 "core" &  h\  + &i   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&X(s + "storage"(Y'i +6 "core" ( + "manipulator"&H& +4 "core" &i   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +2 "core" &i  G +2 .tForearm.seek PC +2 "manipulator"&:' +97 "core" ' + .tHand.close +2 "manipulator"&N/ +58 "core" / +2 .tPC.seek :open +2 "processing"%I( +88 "core" ' +2 "storage"(P- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +35 "core" ' +296 ( + "storage"(\\& +4 "core" & \  +2 "manipulator"&U& +4 "core" &i " + "manipulator"&F% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +309 "core" ( +11 "manipulator"&T& +4 "core" &  | +2 "storage"(O& +4 "core" & o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +100 "core" ' + .tHand.open + "manipulator"&b1 +58 "core" 1 +2 "storage"(d- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(g' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' +2 "storage"(Z& +3 "core" &\ \  \  +2 "manipulator"&k& +4 "core" & ? | + .tElbow.seek 3 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +4 "core" &  R | + "storage"(`& +4 "core" &\ +\ + .\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +61 "core" ' +2 "manipulator"&L& +4 "core" &  | +2 "storage"(t& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&i'} +20 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(h'i +25 "core" ' +2 "manipulator"&w% +4 "core" %Ύ   +2 "storage"(p& +4 "core" & %\  +2 .tForearm.force -20 + "manipulator"&5 +7 .tForearm.seek 3 + 317 counts +3 "manipulator"&x'Ϻ +33 "core" ' +2 "manipulator"&o& +4 "core" & l | +2 "storage"(q& +3 "core" & !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +18 "core" ' + "storage"(e% +5 "core" %r ^\  +2 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (7% +3 "core" %tG \ Xf +2 "manipulator"&{% +4 "core" %' 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \  +2 "collection"'& +3 "core" &Ve + ,\ E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(j% +3 "core" %_ (\ +2 "storage"(v. +3 "core" .( + "storage"(& +4 "core" & +\  + "storage"(y& +4 "core" & D\  +2 "manipulator"& & +3 "core" &  | +2 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" & %  | + "storage"(r& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +91 "core" ' +2 "storage"( & +4 "core" & 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +6 "storage"(~'i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  | +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +29 "core" ' +2 "manipulator"&% +4 "core" %y + "storage"( & +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 296 counts +2 "manipulator"&z'ϥ +20 "core" ' + "manipulator"&& +5 "core" &  | + "storage"(_& +4 "core" & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"($'F +40 "core" ' + "manipulator"&'& +4 "core" &  | +2 "manipulator"&% +4 "core" %,  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&+( +159 "core" ( +2 "manipulator"&& +4 "core" &- % Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &+  Bf +2 .tForearm.seek CC + "manipulator"&0'" +91 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'2( +420 "core" ( + "storage"(& +4 "core" & \  + "storage"( & +4 "core" & \  + "manipulator"&5& +4 "core" &+  Y Ae + "manipulator"&% +4 "core" % 0  Z +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +164 "core" ( +2 "manipulator"&& +4 "core" & % 1  + "storage"(8& +4 "core" & f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&('} +156 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +56 "core" 1 +3 "manipulator"&;% +4 "core" % ΐ % = \ +2 "storage"(<& +3 "core" & I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +21 "core" ' + "manipulator"&3& +4 "core" &  +2 "storage"(& +3 "core" & k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +34 "core" ' + "storage"(1% +4 "core" %L z\ +2 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (A% +3 "core" %pG \ Wd +2 "manipulator"&%% +4 "core" %+ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +96 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +4 "core" &   \ + "manipulator"&4% +4 "core" %\ !  3 +2 "storage"(>% +3 "core" %` \ +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" & 0\ +2 "manipulator"&9& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&M( +29 "core" ( +2 "manipulator"&?& +4 "core" &\   V +2 "storage"(C& +3 "core" & |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +97 "core" ' +2 "storage"(R& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +282 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" & \ + "manipulator"&H& +4 "core" &\  T +2 .tElbow.seek 2 + "manipulator"&D( +17 "core" ( + "manipulator"&B& +5 "core" &  J + "storage"(N& +4 "core" & a\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&P' +41 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&=& +3 "storage"(6'X +6 "core" & + "manipulator"&Y% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +159 "core" ' ( +2 "manipulator"&F& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" &* 8 @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &* @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&X'" +98 "core" ' +2 "manipulator"&T& +4 "core" &*  > ?V +2 "manipulator"&O% +4 "core" % b + "collection"'b& +4 "core" &   \ +2 "collection"'d& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &  5\ +8 & -  7\ #b +9 &W  0\ 7 +9 &  5\ L +10 &\\  1\ N +9 &\\` 0\ N +9 &Z ! 7\ N +10 &_  !6\ N +9 &[ !8\ M +9 &f\\  "0\ M +10 &)]  !A\ M +9 &a ! $>\ M +10 &!b %?\ N +9 &#m` ! #=\ N +9 &%0] "B\ M +10 &&[ !>\ M +9 &([ ! "=\ M +9 &*v[ "?\ M +10 &,8\\  "=\ M +9 &-` "<\ M +10 &/b !=\ M +9 &1~_  #>\ M +9 &3@[ " !=\ M +10 &5] " !>\ M +9 &6] $<\ N +9 &8]  !<\ M +10 &:G] #=\ N +9 &< b  8\ N +10 &=_  ";\ N +9 &?b " !8\ M +9 &AP\\ "<\ M +10 &C_ ! "<\ M +9 &De $ #=\ N +9 &Fi - *;\ N +10 &HQv ' '=\ P +9 &J & (,\ S +10 &K ) )-\ U +9 &M * +/\ X +9 &OB * *4\ X +10 &Q * +)\ W +9 &R ) ++\ Y +9 &T * +-\ Y +10 &V#v + +-\ . +9 &V$ , ,!\ K +9 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&Z1 +4 "core" &VT + ,0\ D +49 1 +2 "manipulator"&k% +5 "core" %  l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%`& +4 "core" &\ + "manipulator"&^% +4 "core" %\ p 2 +2 "storage"(L% +3 "core" %X S\ +2 "storage"(t. +3 "core" .( +2 "storage"(w& +3 "core" & \ +2 "storage"([& +3 "core" & \ +2 "manipulator"&p& +44 "core" &(  ?V +11 "manipulator"&f% +4 "core" %\ ! : 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&o( +158 "core" ( + "manipulator"&q& +5 "core" & $ f  + "storage"(e& +4 "core" & K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +96 "core" ' +2 "storage"(a& +4 "core" & W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'i +284 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" & ]\ +2 "manipulator"&c& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +4 "core" &   + "storage"(i& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('X +7 "core" &   +2 "manipulator"&j% +4 "core" %  + d +2 .tForearm.seek :retract + "manipulator"&v'\ +98 "core" ' +4 .tElbow.seek PC + "manipulator"&h(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&& +4 "core" &z : P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &z e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' + "manipulator"&& +5 "core" &z % <  + "manipulator"&r% +4 "core" % ~ +2 "processing"%V& +4 "core" & \ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &\  +8 &0~\ +z +10 &b \ > +14 &qy\ N +4 &1[ \ N +10 &[\ N +9 &]\ N +10 &w\\\ N +9 &9\\\ N +9 &Z\ N +10 &\\\ N +9 & \\\ N +9 &"B\\\ N +10 &$[\ N +9 &%]\ N +10 &'^\ N +9 &)K]\ N +9 &+ [\ N +10 &,Z\ N +9 &.Z\ N +9 &0S\\\ N +10 &2]\ N +9 &3Z\ N +10 &5\\\ N +9 &7[[\ N +9 &9Z\ N +10 &:Z\ M +9 &<\\\ M +9 &>c\\\ N +10 &@%_\ N +9 &AZ\ N +10 &C_\ N +9 &Eie\ N +9 &G&r\ P +10 &H\ R +9 &J\ S +9 &Lb\ S +10 &N$\ S +9 &O\ T +10 &Q\ T +9 &Sg\ T +9 &U(\ U +10 &V\ U +9 &X\ U +9 &Zb\ &u +10 &Zg\ 5 +9 ( + &Z%\ / +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&W1 +53 "core" 1 +2 "manipulator"&|% +4 "core" % %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 "processing"%& +4 "core" &Z$ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  ' A  +2 "storage"(% +3 "core" %b \ +2 "storage"(. +2 "core" .( +2 "storage"( & +4 "core" & \ + "storage"(& +4 "manipulator"&_& +5 "core" & \ + &z , f  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&'(s +3 "storage"('i +3 "core" ( + "manipulator"&}& +4 "core" &z 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &z 4  +2 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%z( +86 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +43 "core" ' +293 ( +2 "storage"(/& +4 "core" & *\ + "manipulator"&#& +4 "core" &z   + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*( +268 "core" ( +2 "manipulator"&"& +4 "core" &   +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +102 "core" ' +2 .tHand.open + "manipulator"&51 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(+& +4 "core" & J T\ + "manipulator"&,& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&;( +8 "core" ( + "manipulator"&<& +5 "core" &   + "storage"(3& +4 "core" & J \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&1& +4 "core" & C  +2 "storage"(A& +4 "core" & e\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&%' +22 "core" ' +6 .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +22 "core" ' + "manipulator"&% +5 "core" % 0 + "storage"(G& +4 "core" & P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&4' +22 "core" ' + "manipulator"&>& +4 "core" & v  +2 "storage"(.& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +20 "core" ' + "storage"(!% +4 "core" %l \  +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 ( % +3 "core" %oJ \ Wf +2 "manipulator"&-% +4 "core" %} H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (?& +4 "core" & \ +2 "collection"'C& +4 "core" &VT , ,1\ D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&R% +4 "core" %\   \ + "storage"()% +4 "core" %^ \ + "storage"(E. +3 "core" .( +2 "storage"(K& +3 "core" & \ +2 "storage"(J& +4 "core" & T\ + "manipulator"&H& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&B( +4 "core" ( + "manipulator"&N& +4 "core" & & B  + "storage"(& +4 "core" & [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +102 "core" ' +2 "storage"(Y& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +282 "core" ' +2 "storage"(Q- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&F& +3 "core" & <  +2 "storage"(:& +4 "core" & 8\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\ ' +29 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'X +39 "core" ' + "manipulator"&b% +5 "core" % + "storage"(D& +4 "core" & w O\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&6' +17 "core" ' +2 "manipulator"&\\& +4 "core" &   +2 "storage"(2& +4 "core" & ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(k'G +39 "core" ' +2 "manipulator"&`& +4 "core" &  + "manipulator"&^% +4 "core" %Ѫ W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&t( +157 "core" ( +3 "manipulator"&w& +4 "core" &% '  <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &% ( H <9 +2 .tForearm.seek CC +2 "manipulator"&d'" +93 "core" ' + .tHand.close +2 "manipulator"&p/ +58 "core" / +2 .tCC.seek :open + "collection"'f( +419 "core" ( +2 "storage"(X& +4 "core" & 5\ + "storage"(q& +4 "core" & R\ +2 "manipulator"&e& +3 "core" &%  ) ;8 +2 "manipulator"&a% +3 "core" % ,  $  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +161 "core" ( +2 "manipulator"&7& +4 "core" &  =  + "storage"({& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&c' +109 "core" ' +2 .tElbow.hold + "manipulator"&l, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +44 .tHand.open +11 "manipulator"&i1 +59 "core" 1 +2 "manipulator"&% +5 "core" %  Z + "storage"(& +4 "core" & R\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&j' +14 "core" ' + "manipulator"&o& +4 "core" & _  +2 "storage"(S& +4 "core" & N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +24 "core" ' +2 "storage"(x% +4 "core" %K\  3\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (y% +2 "core" %lD U\ Vb +2 "manipulator"&m% +4 "core" %Ѻ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'r& +4 "core" &  \ + "manipulator"&V% +4 "core" %\    +2 "storage"(% +4 "core" %`\ \  1\ + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(I( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +2 "core" & .\ +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&& +4 "core" &  + ` +2 "storage"(& +4 "core" &\  5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"( & +5 "core" &\ \ \ y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & V\  +2 "manipulator"&}& +4 "core" &  ` + .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( + "manipulator"& & +4 "core" & > ` +2 "storage"(& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&h/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s'X +7 "core" & ` +2 "manipulator"&% +4 "core" % Ϡ s +2 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&& +4 "core" &( D ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &(  L ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'" +97 "core" ' +2 "manipulator"&& +5 "core" &)  p ?U + "manipulator"&'% +4 "core" % T +2 "collection"'5& +5 "core" &  K\ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" &  C\  +9 &0  M\ *y +9 &c  C\ > +9 &gv  K\ N +10 &*Z  :\ M +9 &`  L\ N +10 &^  C\ M +9 &p\\  !C\ M +9 &1Z  @\ N +10 &]  !6\ N +9 &]  6\ M +9 & w\\  !5\ N +10 &"9_ 4\ N +9 &#^  5\ N +10 &%[  2\ N +9 &']  5\ N +9 &)A\\ "7\ N +10 &+Z  ";\ N +9 &,\\  ">\ M +9 &.Z  7\ N +10 &0IZ  >\ N +9 &2 Z  3\ M +10 &3Z  A\ M +9 &5Z  >\ M +9 &7P_  =\ N +10 &9Y  =\ M +9 &:\\  @\ M +9 &<]  "=\ N +10 &>Y^  ?\ N +9 &@]  !Z\ M +10 &AZ  I\ M +9 &C\\ " @\ N +9 &E`` % #@\ N +10 &Gk & *<\ P +9 &H} ' )3\ R +14 &J ' *<\ V +5 &LH ( ,=\ Y +9 &N ) *<\ X +10 &O * +?\ Y +9 &Q + +=\ Y +9 &SL + +=\ Z +10 &U + -=\ Z +9 &V\\F + ,7\ 3 +9 &V s * ,.\ G +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&+1 +4 "core" &V\\ * -.\ G +56 1 + "manipulator"&,% +4 "core" %  H +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%3& +4 "core" &\ +2 "manipulator"&% +4 "core" %\   0  + "storage"(1% +4 "core" %b \ + "storage"(A. +3 "core" .( +2 "storage"(& +3 "core" & ?\  +2 "storage"(G& +3 "core" & )\  +2 "manipulator"&& +4 "core" &(  2 ?T +2 "manipulator"&>% +3 "core" %\   !  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&.& +4 "core" & q v + "storage"(!& +4 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +92 "core" ' +2 "storage"( & +4 "core" & S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +285 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" & *\  +2 "manipulator"&& +4 "core" &  v +2 .tElbow.seek 3 + "manipulator"&;( +3 "core" ( +2 "manipulator"&& +3 "core" & , v +2 "storage"(%& +4 "core" & @\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(R'X +7 "core" & @ v +2 "manipulator"&)% +4 "core" % ϩ  / +2 .tForearm.seek :retract + "manipulator"&E'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&((s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&K& +5 "core" &k % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &k V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +102 "core" ' +2 "manipulator"&N& +4 "core" &k % F +2 "manipulator"&% +3 "core" % ~ +2 "processing"%$& +4 "core" &\ +2 "processing"%Y& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &\ +7 & 1\ $c +9 &T \ 7 +9 & \ L +10 &] \ N +9 &]] \ N +10 & Z \ N +9 &Z\ M +9 &Z\ N +10 &f\\\ N +9 &)[\ M +9 &\\\ N +10 &![\ N +9 &#n[\ N +10 &%/^\ N +9 &&Y\ N +9 &(Z\ N +10 &*vZ\ N +9 &,8\\\ N +9 &-_\ N +10 &/]\ N +9 &1~W\ N +9 &3AY\ M +10 &5Y\ N +9 &6X\ N +10 &8Y\ M +9 &:HZ\ N +9 &<\ Y\ N +10 &=X\ M +9 &?Y\ N +10 &APV\ N +9 &CZ\ N +9 &D_\ N +10 &Fg\ O +9 &HLy\ R +9 &J\ T +10 &K\ T +9 &M\ T +9 &ON\ T +10 &Q\ T +9 &R\ T +10 &T\ U +9 &VS\ U +9 &X\ U +10 &Yyn\ 9 +9 &Z*v\ O +9 &Z#\ / +3 ( + "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&&1 +53 "core" 1 + "manipulator"&9% +4 "core" % % { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +100 "core" ' +2 "processing"%F& +4 "core" &Z"\ / + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&:% +3 "core" %\  +2 "storage"(T% +4 "core" %a s\ + "storage"(b. +3 "core" .( + "storage"(D& +4 "core" & f\  +2 "storage"(\\& +4 "manipulator"&2& +4 "core" & \  + &k ! +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&`(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(^'i +2 "core" ( +2 "manipulator"&=& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &k & < +2 .tForearm.seek PC +2 "manipulator"&M' +94 "core" ' +2 .tHand.close + "manipulator"&\ / +57 "core" / +2 .tPC.seek :open + "processing"%6( +95 "core" ' +2 "storage"(O- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'y +36 "core" ' +293 ( + "storage"([& +4 "core" & x\  +2 "manipulator"&Z& +3 "core" &k  +2 "manipulator"&P% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&p'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&L( +267 "core" ( +2 "manipulator"&]& +4 "core" &  j  + "storage"(X& +4 "core" & #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +100 "core" ' +2 .tHand.open + "manipulator"&e1 +61 "core" 1 +2 "storage"(a- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(7'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(d- +3 "core" -' +2 "storage"(t& +4 "core" & J u\  + "manipulator"&i& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & % g  + "storage"(o& +4 "core" & \ j\  +2 .tForearm.seek 3 + 700 counts +53 "manipulator"&S'9 +6 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +59 "core" ' +2 "manipulator"&x& +4 "core" &   +2 "storage"(n& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +25 "core" ' + "manipulator"&r% +4 "core" %Ή  +2 "storage"(j& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&V'ϵ +21 "core" ' + "manipulator"&& +5 "core" & }  + "storage"(v& +4 "core" & E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +36 "core" ' +2 "storage"(g% +4 "core" %q #\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %D \ We +2 "manipulator"&W% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \  + "collection"'& +4 "core" &V[ * +\ \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ "  / + "storage"(l% +4 "core" %S \ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & H\  + "storage"( & +4 "core" & g\  + "manipulator"&}& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & $ F  + "storage"(h& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' +2 "storage"(& +4 "core" & ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(~& +3 "core" & /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&_'} +28 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(''W +28 "core" ' +2 "manipulator"&u% +4 "core" %w | +2 "storage"(5& +3 "core" & \  +2 .tForearm.force -20 +6 "manipulator"&5 +2 .tForearm.seek 3 + 294 counts +2 "manipulator"&s'ϣ +20 "core" ' + "manipulator"&/& +4 "core" & o  +2 "storage"(f& +4 "core" & 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'F +38 "core" ' +2 "manipulator"&3& +4 "core" &  + "manipulator"&% +4 "core" %~ c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +162 "core" ( +2 "manipulator"&& +4 "core" &   2 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &  ~ 4 +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tCC.seek :open +2 "collection"'>( +416 "core" ( +2 "storage"("& +4 "core" & r\  + "storage"(.& +4 "core" & I\  + "manipulator"&!& +4 "core" &   & 4 + "manipulator"& % +4 "core" % '  Q +2 .tForearm.seek :retract + "manipulator"&#'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<( +167 "core" ( + "manipulator"& & +5 "core" & * f + "storage"(-& +4 "core" &\ \  0\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'} +92 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&%1 +58 "core" 1 +2 "manipulator"&?% +4 "core" % Β 1 + "storage"(C& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 321 counts + "manipulator"&)'Ͼ +20 "core" ' +3 "manipulator"&& +4 "core" & f +2 "storage"(*& +4 "core" & l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +26 "core" ' +2 "storage"(4% +4 "core" %L \ .\ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (J% +3 "core" %lC \ Wd +2 "manipulator"&;% +4 "core" %w  ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &  \ + "manipulator"&$% +4 "core" %\    +2 "storage"(R% +4 "core" %_\ \  P\ + "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(z( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" & g\ +2 "manipulator"&9& +3 "core" & 0 f +2 .tElbow.seek 2 +2 "manipulator"&F( +36 "core" ( + "manipulator"&:& +4 "core" &   $ +2 "storage"(T& +4 "core" & \  ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +95 "core" ' + "storage"(D& +5 "core" & \ \ \  D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'i +282 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" & h\ +2 "manipulator"&=& +4 "core" &  !v + .tElbow.seek 2 +2 "manipulator"&B( +32 "core" ( +2 "manipulator"&H& +4 "core" &  v +2 "storage"(\ & +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(@'X +8 "core" & v +2 "manipulator"&^% +4 "core" %  # +2 .tForearm.seek :retract + "manipulator"&['\ +96 "core" ' +3 .tElbow.seek CC +2 "manipulator"&Z( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&P& +4 "core" &' 0 % >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +7 "core" &'  \ >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'" +104 "core" ' +3 "manipulator"&X& +4 "core" &( % T >N +2 "manipulator"&`% +3 "core" % { +2 "collection"'e& +4 "core" &  V\ +2 "collection"'a& +5 "core" &  V\ +2 .tCC.seek :closed + "collection"'d(V +5 "core" &  U\ +47 &4  P\ $e +10 &V  T\ 7 + &  S\ L + &Z  S\ N + &h\\  S\ M + &)Y  Q\ N +3 &]  I\ N +8 &Z  S\ N +9 &n\\  P\ N +10 &2Z  O\ M +9 &Z  ;\ N +9 &!Z  A\ N +10 &#wZ  =\ N +9 &%:[  3\ M +10 &&Y  ;\ N +9 &([  <\ N +9 &*~\\  7\ N +10 &,BZ  :\ M +9 &.X  2\ N +9 &/Y  2\ M +10 &1\\  ?\ N +9 &3JY  6\ M +10 &5 \\  6\ M +9 &6_  5\ N +9 &8\\  5\ M +10 &:Q_  ;\ N +9 &<\\  7\ N +9 &=]  ;\ M +10 &?[  <\ M +9 &AY]  8\ N +10 &C^  6\ N +9 &Da <\ N +9 &Ff ' (7\ O +10 &HYq % '6\ P +9 &J ' )5\ S +9 &K ' '5\ V +10 &M ( )8\ Y +9 &OJ ) +<\ X +14 &Q ( ,7\ X +5 &R ( +<\ Y +9 &T + ,6\ Z +10 &V)u * +2\ . +9 &V$ , -:\ N +9 ( +3 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&t1 +3 "core" &V\\ * )0\ G +59 1 +2 "manipulator"&i% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%o& +4 "core" &#\ +2 "manipulator"&p% +3 "core" %\ \  0  +2 "storage"(x% +4 "core" %^ #\ + "storage"(n. +3 "core" .( +2 "storage"(w& +3 "core" & "\ +2 "storage"(7& +4 "core" & \ + "manipulator"&r& +4 "core" &' u >M + "manipulator"&j% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +160 "core" ( + "manipulator"&v& +4 "core" & $ 5  +2 "storage"(L& +4 "core" & v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +93 "core" ' +2 "storage"(q& +4 "core" & 5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" & *\ +2 "manipulator"&S& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&U& +4 "core" & 2  +2 "storage"(y& +3 "core" & N\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( 'X +8 "core" &   + "manipulator"&l% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&c(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" &t A R  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +98 "core" ' +2 "manipulator"&& +4 "core" &t % K  +2 "manipulator"&h% +4 "core" % 4 +2 "processing"%k& +4 "core" & \ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 &\ 3 +9 &:F~\ 1 +9 &hs\ E +10 & f\ N +9 &Y \ N +9 &X\ M +10 &V\\\ M +9 &[ \ M +10 &Z\ N +9 &W\ \ M +9 &^[\ M +10 &! Z\ M +9 &"^ \ N +9 &$W\ M +10 &&gY\ M +9 &('\\ \ N +10 &)] \ N +9 &+Y\ N +9 &-m\\\ N +10 &//Y\ N +9 &0]\ N +9 &2\\\ N +10 &4v\\\ M +9 &68Z\ M +10 &7]\ N +9 &9^\ N +9 &;}[\ N +10 &=?W\ N +9 &?\\\ N +9 &@]\ M +10 &BY\ N +9 &DF]\ N +10 &Fg\ O +9 &Gx\ Q +9 &I|\ T +10 &K=\ T +9 &L\ T +9 &N\ T +10 &P\ T +9 &RE\ T +10 &T\ T +9 &U\ T +9 &W\ U +10 &YJ\ B +9 &Z[9m\ 'r +9 &Z&\ ) +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&m1 +4 "core" &Z\ ) +54 1 + "manipulator"&|% +5 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +4 "core" %\ \ `  +2 "storage"(% +3 "core" %T Q\ +2 "storage"(u. +3 "core" .( + "storage"(5& +4 "core" & \ + "storage"(/& +4 "manipulator"&f& +5 "core" & M\ + &t   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&3(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &t @  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&_/ +58 "core" / +2 .tPC.seek :open + "processing"%s( +89 "core" ' +2 "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +290 ( +2 "storage"(G& +4 "core" & \ + "manipulator"&+& +4 "core" &t  + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1( +273 "core" ( + "manipulator"&0& +4 "core" & % +2 "storage"("& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&.'ќ +92 "core" ' + .tHand.open + "manipulator"&!1 +59 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(-' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(A& +3 "core" & A $\ +2 "manipulator"&%& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&?( +7 "core" ( +2 "manipulator"&C& +4 "core" & D + "storage"(& +4 "core" & H )\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +57 "core" ' +2 "manipulator"&#& +4 "core" &  +2 "storage"(J& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;' +25 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&)% +4 "core" % J +2 "storage"(& +4 "core" & |\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&$' +17 "core" ' +2 "manipulator"&R& +4 "core" &  +2 "storage"(E& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +30 "core" ' +2 "storage"(8% +4 "core" %q M\ +2 ."downElevator"SE.seek :down +4 "storage"(K'X +99 (I% +2 "core" %I \ Xg +2 "manipulator"&&% +4 "core" %ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (:& +3 "core" & \ +2 "collection"'T& +4 "core" &V\\ + -:\ G + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&D% +3 "core" %\ \   +2 "storage"(% +4 "core" %a \ + "storage"(N. +3 "core" .( +2 "storage"(\\& +4 "core" & \ +2 "storage"(Y& +3 "core" & :\ +2 "manipulator"&=& +55 "core" &  + .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&\ & +4 "core" & _ +2 "storage"((& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +7 "manipulator"&Q'ќ +99 "core" ' + "storage"(^& +5 "core" & ,\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'i +281 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&P& +3 "core" & f +2 "storage"(M& +3 "core" & K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&2' +33 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(X'X +31 "core" ' +2 "manipulator"&`% +4 "core" % 4 = + "storage"(e& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&@' +18 "core" ' +2 "manipulator"&[& +4 "core" & C +2 "storage"(>& +3 "core" & !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(i'G +40 "core" ' +2 "manipulator"&o& +4 "core" &  +2 "manipulator"&p% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +167 "core" ( +3 "manipulator"&a& +4 "core" &)   ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +2 "core" &'  y >O +3 .tForearm.seek CC + "manipulator"&7'" +94 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open + "collection"'j( +417 "core" ( + "storage"(]& +4 "core" & \ +2 "storage"(v& +3 "core" & \ +2 "manipulator"&L& +4 "core" &' >O + "manipulator"&q% +4 "core" % )  +2 .tForearm.seek :retract + "manipulator"&Z'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( +2 "manipulator"&& +4 "core" &  X  +2 "storage"(W& +4 "core" & {\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&S' +105 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  + "storage"(& +4 "core" & M\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&l' +14 "core" ' +2 "manipulator"&& +4 "core" & K  +2 "storage"(g& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +27 "core" ' +2 "storage"(V% +4 "core" %M\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +2 "core" %D +\ Wc +2 "manipulator"&% +4 "core" %і  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +4 "core" &  \ +2 "manipulator"&k% +4 "core" %\    +2 "storage"( % +3 "core" %a\ \  \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(6( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +2 "core" & \  +2 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&~& +4 "core" &  P f + "storage"(& +4 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +98 "core" ' +2 "storage"(5& +4 "core" &\ '\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" & (\  +2 "manipulator"&& +3 "core" & G f +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&}& +5 "core" & p f + "storage"(_& +4 "core" & a\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&''ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('X +8 "core" &  f + "manipulator"&% +4 "core" % Ϧ d q +2 .tForearm.seek :retract +2 "manipulator"&G'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&+( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &# & :. + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# :. +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +98 "core" ' + "manipulator"&"& +4 "core" &# ' :. +2 "manipulator"&3% +4 "core" %!  : +2 "collection"'!& +4 "core" &  ,\ +2 "collection"' & +5 "core" &  *\ +2 .tCC.seek :closed + "collection"'(V +4 "core" &  V\  +9 &0~  T\ *y +10 &c  W\ > +9 &wu  T\ N +9 &8Z  T\ N +10 &Z  S\ M +9 &Z  T\ M +9 &\\  K\ M +10 &@X  S\ N +9 &\\  K\ M +10 &X  Q\ N +9 & Z  T\ M +9 &"H\\  R\ N +10 &$ ]  O\ M +9 &%\\  Q\ M +9 &'[  P\ N +10 &)RX  S\ M +9 &+]  N\ M +10 &,X  Q\ M +9 &.Y  P\ M +9 &0XZ  L\ N +10 &2]  G\ M +9 &3^  G\ M +9 &5]  7\ M +10 &7a^  K\ M +9 &9"\\  N\ N +10 &:^  A\ M +9 &<]  A\ M +9 &>h_  8\ N +10 &@*\\  8\ N +9 &AZ  1\ M +9 &C_  ;\ N +10 &Eoc ! 6\ N +9 &G-l ' (9\ O +10 &H| ( (<\ Q +9 &J * )>\ V +9 &LZ ) *7\ X +10 &N * +2\ X +9 &O + ,>\ X +9 &Q * ,@\ Y +10 &S] * ,A\ Z +9 &U + +3\ Z +10 &VhB * ,=\ 1 +9 &V\ s ) -?\ G +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&A1 +3 "core" &VY * ,:\ G +50 1 +2 "manipulator"&%% +4 "core" % ! & @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +99 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\ \  1  +2 "storage"(#% +3 "core" %S \ +2 "storage"(J. +3 "core" .( +2 "storage"()& +3 "core" & 0\  +2 "storage"(& +3 "core" & ?\  +2 "manipulator"&& +4 "core" &# :- + "manipulator"& % +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&R( +164 "core" ( +2 "manipulator"&E& +4 "core" &  v + "storage"(8& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&1'9 +95 "core" ' +2 "storage"(.& +4 "core" & R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'i +284 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" & k\  +2 "manipulator"&*& +4 "core" &  v +50 .tElbow.seek 3 +3 "manipulator"&?( +3 "core" ( +2 "manipulator"&4& +3 "core" &  i v +2 "storage"(;& +4 "core" & P\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&$'ϩ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(D'X +8 "core" &  v +2 "manipulator"&% +4 "core" % Ͽ  Z +2 .tForearm.seek :retract + "manipulator"&N'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +104 "core" ( + "manipulator"&\\& +5 "core" &t * $ \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +2 "core" &t M \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +99 "core" ' +2 "manipulator"&\ & +4 "core" &t . \ + "manipulator"&(% +4 "core" % Z r +2 "processing"%,& +4 "core" & \ +2 "processing"%^& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" & \  +9 &0\ +z +12 &b\ > +7 &rw \ N +9 &5Y\ M +9 &Z\ M +13 &\\ \ M +6 &{[ \ M +9 &=Z\ M +10 &[\ M +9 &\\ \ N +9 & Y\ M +10 &"EZ\ M +9 &$Y\ M +9 &%Z\ N +10 &'_ \ N +9 &)LY\ N +10 &+W \ N +9 &,Z \ N +9 &.\\ \ M +10 &0UZ\ M +9 &2Y\ N +9 &3W \ M +10 &5Z\ M +9 &7\\X\ N +10 &9W\ M +9 &:X\ M +9 &<W\ N +10 &>dW\ N +9 &@&X\ N +9 &A\\\ M +10 &C\\\ N +9 &Ej`\ N +10 &G'l\ P +9 &H\ R +9 &J\ S +10 &Lb\ T +9 &N$\ T +9 &O\ T +10 &Q\ T +9 &Sg\ U +10 &U)\ U +9 &V\ T +9 &X\ U +10 &Z`\ $n +9 &Za\ / +9 ( +3 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&<1 +3 "core" &Z\ ) +57 1 + "manipulator"&9% +5 "core" %  E r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +2 "processing"%P& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\ !  H 4 + "storage"(B% +4 "core" %T \ + "storage"(`. +4 "core" .( + "storage"(e& +4 "core" & \  + "storage"([& +5 "manipulator"&>& +4 "core" & \  + &t   \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(o'i "manipulator"&p(s +6 "core" ( + "manipulator"&Q& +4 "core" &t & \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +2 "core" &t   \ +3 .tForearm.seek PC + "manipulator"&F' +96 "core" ' +2 .tHand.close + "manipulator"&2/ +58 "core" / +3 .tPC.seek :open + "processing"%@( +85 "core" ' + "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(a'y +45 "core" ' +293 ( + "storage"(w& +4 "core" & \  +2 "manipulator"&t& +3 "core" &t  \ +2 "manipulator"&O% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +266 "core" ( + "manipulator"&d& +4 "core" & % N  +2 "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +96 "core" ' +2 .tHand.open + "manipulator"&L1 +62 "core" 1 + "storage"(q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +4 "core" -' +2 "storage"(n& +3 "core" & @ 7\  +2 "manipulator"&y& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &\ +\ + .\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +55 "core" ' + "manipulator"&Z& +5 "core" &   + "storage"( & +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(S'i +25 "core" ' + "manipulator"&h% +5 "core" %Ί  + "storage"(l& +4 "core" & Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&k'϶ +20 "core" ' + "manipulator"& & +4 "core" &   +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +32 "core" ' +2 "storage"({% +4 "core" %q n\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (z% +2 "core" %G 0\ We +2 "manipulator"&m% +4 "core" %*  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (~& +4 "core" & E\  +2 "collection"'& +3 "core" &V\\ ) +\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %\ \ @  +2 "storage"(U% +3 "core" %a \ +2 "storage"(. +3 "core" .( + "storage"(f& +4 "core" & \  + "storage"(/& +4 "core" & l\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&}( +4 "core" ( + "manipulator"&_& +4 "core" & W  + "storage"(c& +4 "core" & l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(& +4 "core" & a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(& +3 "core" & @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(3'W +28 "core" ' + "manipulator"&!% +4 "core" %x S +2 "storage"( & +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&'Ϥ +21 "core" ' + "manipulator"&G& +4 "core" &  +2 "storage"(j& +4 "core" & @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'F +43 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %o C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +51 .tElbow.seek CC +3 "manipulator"&J( +166 "core" ( +2 "manipulator"&)& +5 "core" &( % ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &&  % >O +2 .tForearm.seek CC +2 "manipulator"& '" +97 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +420 "core" ( +2 "storage"(0& +7 "core" & <\  +4 "storage"(E& +9 "core" & 0\  +4 "manipulator"&8& +9 "core" &&  << +2 "manipulator"&.% +9 "core" %  +4 .tForearm.seek :retract +4 "manipulator"&+'\ +93 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +3 "manipulator"&C( +161 "core" ( +4 "manipulator"&I& +8 "core" & +  +4 "storage"(&& +8 "core" & }\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 3 +4 "manipulator"&*'} +20 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +65 "core" ' +4 "Can"\ 96 +4 .tElbow.hold +4 "manipulator"&4, +6 "core" , +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tHand.open +4 "manipulator"&;1 +56 "core" 1 +4 "manipulator"&:% +8 "core" % ΐ | +4 "storage"(T& +8 "core" & p\  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 3 + 319 counts +4 "manipulator"&'ϼ +20 "core" ' +2 "manipulator"&R& +9 "core" & <  +4 "storage"(1& +6 "core" &\ \ \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +4 "manipulator"&-'9 +31 "core" ' +4 "storage"($% +75 "core" %G\ \ \ +4 ."downElevator"SE.seek :down +15 "storage"(\\'X +90 (Y% +3 "core" %DA o\ Vb +2 "manipulator"&?% +3 "core" %6 T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +86 "core" ' +74 ' +11 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'(& +4 "core" &  %\ +2 "manipulator"&,% +4 "core" %\    + "storage"(D% +4 "core" %b\ \  6\ + "storage"(N. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(s( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" & \ +2 "manipulator"&9& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&P( +31 "core" ( +2 "manipulator"&M& +4 "core" &  - "~ + "storage"(B& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +97 "core" ' +3 "storage"(e& +4 "core" & \ \  ,\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +282 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" & t\ + "manipulator"&Q& +4 "core" &  h +2 .tElbow.seek 2 + "manipulator"&H( +25 "core" ( + "manipulator"&=& +5 "core" &  L  + "storage"(2& +4 "core" & F\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&X' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&b& "storage"(K'X +8 "core" & =  + "manipulator"&o% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&w'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +165 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&O& "storage"(5 +7 "core" &)  % ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &)  ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'" +100 "core" ' +2 "manipulator"&]& +4 "core" &) Q ?R +2 "manipulator"&p% +3 "core" % 2 +2 "collection"'L& +4 "core" &  )\ +2 "collection"'q& +5 "core" &  U\ +2 .tCC.seek :closed + "collection"'7(V +4 "core" &  T\ +8 & -  T\ $c +10 &U  T\ 7 +9 &  X\ L +9 &W  `\ M +10 &][  X\ M +9 &\\  V\ M +10 &\\  ^\ N +9 &Y  ]\ M +9 &e]  V\ M +10 &']  M\ M +9 &]  S\ N +9 &!]  U\ N +10 &#mY  Y\ M +9 &%/\\  W\ M +10 &&]  V\ M +9 &(Y  Y\ M +9 &*u]  P\ M +10 &,6\\  S\ N +9 &-[  X\ M +9 &/]  T\ N +10 &1|^  V\ N +9 &3?[  S\ M +9 &5Z  T\ M +10 &6\\  R\ N +9 &8Z  M\ M +10 &:FZ  Q\ N +9 &<_  M\ N +9 &=_  V\ M +10 &?Z  R\ N +9 &AO]  I\ M +9 &C_  M\ M +10 &Da  E\ N +9 &Fc % $F\ N +10 &HOp & 'F\ P +9 &J\ ' (G\ S +9 &K ' '<\ V +10 &M| & ):\ Y +9 &O? * '?\ X +9 &Q ( *?\ Y +10 &R ( +B\ Y +9 &T ) ,<\ Z +10 &Vu + -A\ . +9 &V, , +@\ S +9 ( +3 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&n1 +3 "core" &Vd ( +A\ E +55 1 +2 "manipulator"&y% +4 "core" %  % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&r% +4 "core" %\ \  2  +2 "storage"(Z% +3 "core" %a b\ +2 "storage"( . +3 "core" .( + "storage"(a& +4 "core" & \ + "storage"(h& +4 "core" & \ +2 "manipulator"&l& +3 "core" &(  . ?P +2 "manipulator"&% +3 "core" %\ \  $  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"& ( +165 "core" ( + "manipulator"&& +4 "core" &  t +2 "storage"({& +3 "core" & {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +98 "core" ' + "storage"(v& +5 "core" & W\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'i +278 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" & \ +2 "manipulator"&g& +4 "core" &  t +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&V& +4 "core" & < t +2 "storage"(& +3 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(5'X +8 "core" &  t + "manipulator"&U% +4 "core" %  8 L +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&f(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&S& +5 "core" &u +  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &u \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&_& +5 "core" &u   +2 "manipulator"&c% +3 "core" % G  +2 "processing"%i& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 & 2 \ #b +9 &U\ 7 +9 &~\ L +10 &[\ N +9 &dZ\ N +9 &'X \ M +10 &[\ M +9 &Y\ M +12 &mZ\ M +7 &/Y\ M +9 &Y\ M +10 &!X\ N +9 &#uZ\ M +9 &%7Z\ M +10 &&Z\ M +9 &(Z \ N +9 &*|Y\ N +10 &,=\\\ N +9 &.Z\ N +10 &/Z\ N +9 &1X\ M +9 &3FY\ N +10 &5X\ N +9 &6Y\ M +9 &8Y\ N +10 &:N\\\ N +9 &<W \ N +10 &=W\ N +9 &?W\ M +9 &AVX\ N +10 &C]\ N +9 &D`\ O +54 &Fi \ O +3 &HP}\ R + &J \ \ T +2 &K \ T +3 &M\ T + &OS\ T +3 &Q\ T +8 &R\ T +9 &T\ T +10 &VY\ U +9 &X\ U +10 &Yyn\ 7 +9 &Z/ \ L +9 &Z \ ) +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&|% +4 "core" %  1  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u'\ +97 "core" ' + "processing"%& +5 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +6 "manipulator"&% +4 "core" %\  D 3 +2 "storage"("% +3 "core" %` | { g\ +2 "storage"(!. +3 "core" .( + "storage"( & +4 "core" & x x B\ +2 "storage"(G& +2 "manipulator"&j& +7 "core" & w x :\ + &u  B  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &u  8  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &u @  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(3- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(A'y +42 "core" ' +294 ( +2 "storage"()& +4 "core" & L\ + "manipulator"&& +4 "core" &u   + "manipulator"&'% +4 "core" % ( & +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +271 "core" ( +2 "manipulator"&& +4 "core" & $ f + "storage"(0& +4 "core" & 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +94 "core" ' + .tHand.open +2 "manipulator"&81 +61 "core" 1 +2 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(J& +4 "core" & \ :\ +2 "manipulator"&;& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&:( +4 "core" ( + "manipulator"&T& +4 "core" & $ X +2 "storage"(R& +3 "core" & \ \ \ \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(+' +58 "core" ' + "manipulator"&$& +5 "core" &  + "storage"(C& +4 "core" & 7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&Y' +32 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +24 "core" ' + "manipulator"&% +4 "core" %  % +2 "storage"((& +4 "core" & z ^\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +6 "manipulator"&,' +20 "core" ' +2 "manipulator"&D& +4 "core" & f +2 "storage"(%& +4 "core" & )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +18 "core" ' + "storage"(-% +5 "core" %o \ +2 ."downElevator"SE.seek :down +4 "storage"(\\'X +98 (6% +3 "core" %B '\ Wd +2 "manipulator"&<% +4 "core" %џ _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (M& +4 "core" & \ +2 "collection"'B& +4 "core" &Ve ( +C\ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&e% +4 "core" %\  3 +2 "storage"(4% +3 "core" %^ N\ +2 "storage"(\ . +3 "core" .( + "storage"(>& +4 "core" & >\ + "storage"([& +4 "core" & \ +2 "manipulator"&Q& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&=( +4 "core" ( + "manipulator"&2& +4 "core" & $ N + "storage"(& +4 "core" & d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +97 "core" ' +3 "storage"(o& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +286 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &  + "storage"(F& +4 "core" & `\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&^' +31 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(H'W +31 "core" ' +2 "manipulator"&p% +4 "core" % + "storage"(L& +4 "core" & ~ g\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&K' +17 "core" ' + "manipulator"&w& +4 "core" & s +2 "storage"( & +4 "core" & 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'F +40 "core" ' +3 "manipulator"&& +4 "core" & ~ +2 "manipulator"&r% +4 "core" % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +180 "core" ( + "manipulator"&a& +4 "core" && &  =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &&  ~ =D +2 .tForearm.seek CC +2 "manipulator"&h'" +93 "core" ' + .tHand.close +2 "manipulator"&l/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( + "storage"(d& +4 "core" & \ +2 "storage"(& +3 "core" & o\ +2 "manipulator"&{& +3 "core" &&  =D +2 "manipulator"&v% +3 "core" % /  o  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( + "manipulator"&z& +5 "core" & $ { + "storage"(m& +4 "core" & \ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&g' +106 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&~% +4 "core" % m +2 "storage"(& +4 "core" & 1\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&U' +17 "core" ' +2 "manipulator"& & +4 "core" & { +2 "storage"(x& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +50 "manipulator"&W'ќ +32 "core" ' + "storage"(k% +5 "core" %N\ \  '\ +2 ."downElevator"SE.seek :down +4 "storage"(S'X +99 (/% +2 "core" %D \ Vb +2 "manipulator"&% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'c& +4 "core" &  Z\ + "manipulator"&i% +4 "core" %\ h  +2 "storage"(5% +4 "core" %Y\ '\ ' \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \  +2 "manipulator"&|& +3 "core" & y { +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +4 "core" &  b +2 "storage"("& +3 "core" &\ \  2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +96 "core" ' +2 "storage"( & +4 "core" &\ \  ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +7 "core" & D\  +2 "manipulator"&& +4 "core" &  b +2 .tElbow.seek 3 + "manipulator"&}( +3 "core" ( +2 "manipulator"&& +3 "core" & > b +2 "storage"(& +3 "core" & ?\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"('X +8 "core" & i b + "manipulator"&% +4 "core" % Ϫ  n +2 .tForearm.seek :retract +2 "manipulator"&)'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&'& +5 "core" &* * k A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+  E A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +2 "manipulator"&0& +4 "core" &+ ' o A_ +2 "manipulator"&% +4 "core" % > + "collection"'8& +4 "core" &  [\ +3 "collection"'.& +5 "core" &  W\ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &  T\ +6 &=  [\ $e +10 &U  d\ 7 +9 &  [\ L +9 &X  T\ M +10 &{\\  T\ N +9 &?Z  T\ M +10 &\\  U\ M +9 &[  T\ N +9 &[  U\ M +10 &F\\  T\ M +9 & \\  S\ N +9 &!]  W\ M +10 &#\\  U\ M +9 &%M]  V\ N +10 &'[  S\ M +9 &([  V\ M +9 &*[  T\ M +10 &,V\\  R\ M +9 &.Z  `\ M +9 &/]  Y\ M +10 &1^  `\ M +9 &3][  ]\ N +9 &5!Z  _\ M +10 &6Z  V\ M +9 &8Z  N\ N +10 &:f\\  T\ M +9 &<'\\  U\ N +9 &=\\  R\ N +10 &?Y  T\ M +9 &AnW  T\ M +9 &C0Y  U\ M +10 &D_  U\ M +9 &Ff $ $T\ O +10 &Hly ' 'T\ Q +9 &J" % (W\ U +9 &K ( )X\ X +10 &M & *R\ X +9 &O] ' )T\ Y +9 &Q ' (T\ X +10 &R ) +J\ Z +9 &T ( +T\ Z +10 &V2o ' +Q\ , +9 &V% * +T\ U +9 ( +3 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&J1 +3 "core" &Vk * +S\ J +52 1 +2 "manipulator"&;% +4 "core" %  $ _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%R& +4 "core" &\ +2 "manipulator"&% +3 "core" %\   $  +2 "storage"($% +4 "core" %_ \ + "storage"(C. +3 "core" .( + "storage"(& +4 "core" & \  +2 "storage"(A& +3 "core" & \  +2 "manipulator"&(& +4 "core" &)  ` @W + "manipulator"&I% +4 "core" %\   =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&D( +154 "core" ( + "manipulator"&%& +4 "core" &   +2 "storage"(-& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +93 "core" ' +2 "storage"(E& +4 "core" & 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +285 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" & \  + "manipulator"&1& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&:( +4 "core" ( + "manipulator"&+& +4 "core" &  + "storage"(Y& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(e'X +7 "core" &   + "manipulator"&4% +4 "core" % Ϯ  +2 .tForearm.seek :retract + "manipulator"&\ '\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&>(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&*& +4 "core" &w #  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +92 "core" ' + "manipulator"&2& +5 "core" &w  !  + "manipulator"&% +4 "core" % 7 & +2 "processing"%N& +4 "core" &\ +2 "processing"%o& +5 "core" &0\ +2 .tPC.seek :closed +2 "processing"%\\(Z +4 "core" &\  +9 &1\ *y +9 &c\ > +9 &yx\ N +10 &;X\ N +9 &W\ M +9 &Z\ M +10 &Y\ N +9 &CY\ N +10 &Y\ N +9 &]\ M +9 & [\ M +10 &"K]\ N +9 &$W\ M +9 &%Z\ M +10 &'_\ N +9 &)S[\ N +10 &+W\ M +9 &,Z\ M +9 &.Y\ N +10 &0\\]\ M +9 &2Y\ N +9 &3W\ M +10 &5X\ N +9 &7c\\\ N +10 &9$Y\ N +9 &:W\ M +9 &<Y\ M +10 &>kW\ N +9 &@-Y\ N +9 &AW\ M +10 &C\\\ N +9 &Ep_\ O +10 &G.k\ P +9 &H\ R +9 &J\ S +10 &Lh\ T +9 &N,\ S +9 &O\ T +10 &Q\ T +9 &So\ T +10 &U0\ U +9 &V\ U +9 &X\ U +10 &Z"]\ #l +9 &ZY\ , +9 ( +3 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&?1 +3 "core" &Z\ ( +60 1 +2 "manipulator"&9% +4 "core" % $ z & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +2 "processing"%O& +4 "core" &Z\ \ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&F% +9 "core" %\     + "storage"(]% +4 "core" %] z y L\ + "storage"(p. +3 "core" .( +2 "storage"(L& +4 "core" & u #\  +2 "storage"(w& +3 "manipulator"& & +5 "core" & x x \  + &w   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(r'i +5 "core" ( + "manipulator"&b& +4 "core" &w  I  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &w  w  +2 .tForearm.seek PC +2 "manipulator"&P' +95 "core" ' + .tHand.close +2 "manipulator"&^/ +56 "core" / +2 .tPC.seek :open +2 "processing"%K( +93 "core" ' + "storage"(H- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(a'y +45 "core" ' +285 ( + "storage"(q& +4 "core" & @\  +2 "manipulator"&n& +4 "core" &w   + "manipulator"&X% +4 "core" %   ! + .tForearm.seek :retract +52 "manipulator"&l'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&Z( +275 "core" ( +2 "manipulator"&7& +4 "core" &  L +2 "storage"(d& +3 "core" & 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + .tHand.open + "manipulator"&{1 +54 "core" 1 +2 "storage"(v- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(z'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"(m' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"( & +4 "core" &\ \ ' I\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +9 "core" ( + "manipulator"&& +4 "core" & $ ' +2 "storage"( & +4 "core" &\ \ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +60 "core" ' +2 "manipulator"&k& +4 "core" & l + "storage"(& +4 "core" & 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +10 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +22 "core" ' +2 "manipulator"&U% +4 "core" %ΐ  +2 "storage"(c& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&i'ϼ +25 "core" ' +2 "manipulator"&5& +4 "core" & ] +2 "storage"(& +4 "core" & [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +20 "core" ' +2 "storage"(W% +4 "core" %m \ +2 ."downElevator"SE.seek :down +4 "storage"(S'X +98 (s% +3 "core" %I \ Xf +2 "manipulator"&% +4 "core" %D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & J\  +2 "collection"'"& +3 "core" &Vj ( *A\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\   ) +2 "storage"(V% +3 "core" %b >\ +2 "storage"(_. +3 "core" .( + "storage"(j& +4 "core" & \  +2 "storage"(G& +4 "core" & \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  / + "storage"(f& +4 "core" & @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +88 "core" ' + "storage"(& +4 "core" & \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +3 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +2 "core" &  +2 "storage"(& +4 "core" & G\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(}'X +29 "core" ' + "manipulator"&% +5 "core" %ΐ  + "storage"(8& +4 "core" & ~ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +25 "core" ' +2 "manipulator"&)& +4 "core" & \\ +2 "storage"(& +3 "core" & N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'G +38 "core" ' +2 "manipulator"&R& +4 "core" &  +2 "manipulator"&% +3 "core" %, d v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +179 "core" ( + "manipulator"&& +5 "core" &+ %  A` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &* A_ +2 .tForearm.seek CC +2 "manipulator"&.'" +98 "core" ' + .tHand.close + "manipulator"&(/ +63 "core" / +2 .tCC.seek :open +2 "collection"'I( +416 "core" ( + "storage"(& +4 "core" & 8\  +2 "storage"(%& +3 "core" & \  +2 "manipulator"&-& +4 "core" &*  @Z + "manipulator"&E% +4 "core" % #  o +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +164 "core" ( + "manipulator"&6& +4 "core" &  9 ^ +2 "storage"(<& +4 "core" &\  O\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&1'} +100 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +64 "core" 1 +2 "manipulator"&,% +4 "core" % Ώ  Q + "storage"(B& +5 "core" & @\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&4'ϻ +21 "core" ' + "manipulator"&D& +5 "core" & 9 ^ + "storage"(#& +4 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +36 "core" ' + "storage"(M% +4 "core" %O\  \ +2 ."downElevator"SE.seek :down +3 "storage"(*'X +100 ([% +2 "core" %G \ Wc +2 "manipulator"&:% +4 "core" %, r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &  d\ + "manipulator"&N% +4 "core" %\  5 , +2 "storage"(e% +4 "core" %S\ \  \ + "storage"(\ . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" & $\ + "manipulator"&9& +4 "core" &  ^ +2 .tElbow.seek 2 + "manipulator"&O( +33 "core" ( +2 "manipulator"&F& +4 "core" & $ i " +2 "storage"(]& +3 "core" & s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +105 "core" ' + "storage"(o& +5 "core" & \ \ ' N\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +286 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & P\ +2 "manipulator"&b& +4 "core" &  !v + .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( + "manipulator"&Q& +4 "core" & C !v + "storage"(^& +4 "core" & R\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&H' +22 "core" ' + .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&>/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(\\'X +7 "core" & = !v +2 "manipulator"&r% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&n( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&X& +4 "core" &* * 8 @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &* @Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'" +103 "core" ' +2 "manipulator"&d& +4 "core" &*  b @Y +2 "manipulator"&% +3 "core" %* v +2 "collection"'{& +4 "core" &  G\ +2 "collection"'v& +5 "core" &  p\ +2 .tCC.seek :closed +2 "collection"'h(V +4 "core" &  t\ +7 &6  r\ $c +10 &U  q\ 7 +9 &}  q\ K +9 &Y  r\ M +10 &g\\  o\ N +9 &*Y  `\ M +9 &Y  \\\ M +10 &\\  c\ M +9 &p\\  ]\ M +10 &2]  Y\ M +9 &\\  V\ M +9 &!Y  [\ N +10 &#xX  Y\ M +9 &%:W  V\ M +9 &&W  T\ M +10 &(V  V\ M +9 &*\\  V\ M +10 &,B\\  Z\ M +9 &.[  b\ M +9 &/\\  T\ M +10 &1Y  X\ M +9 &3KY  N\ M +9 &5 Z  O\ N +10 &6Z  T\ N +9 &8V  W\ M +10 &:Q]  T\ N +9 &<]  T\ N +9 &=\\  V\ N +10 &?Z  V\ N +9 &AZW  X\ M +9 &CY  _\ M +10 &D\\  W\ N +9 &Fb " "X\ N +10 &HZo % (W\ P +9 &J ' )V\ S +9 &K ' )S\ V +10 &M ' +X\ Y +9 &OI ' *X\ Y +9 &Q & *X\ Y +10 &R ( ,U\ Z +9 &T * *Y\ Z +10 &V)v * +V\ . +9 &V# * +T\ M +9 ( + &Vd ) ,S\ G +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"& 1 +55 "core" 1 +3 "manipulator"&% +4 "core" % * % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &!\ +2 "manipulator"&l% +3 "core" %\ \  [  +2 "storage"(k% +4 "core" %T X\ + "storage"(. +3 "core" .( +2 "storage"(a& +3 "core" & E\ +2 "storage"(U& +4 "core" & P\ + "manipulator"&c& +4 "core" &*  g @Y + "manipulator"&z% +4 "core" %\ \  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5( +157 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(W& +3 "core" & $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +96 "core" ' +2 "storage"(& +4 "core" & e\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +283 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ +2 "manipulator"&x& +4 "core" & z  +2 .tElbow.seek 2 + "manipulator"&~( +4 "core" ( + "manipulator"&t& +4 "core" & c  + "storage"(/& +4 "core" & \\\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&i' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"( 'X +7 "core" &   +2 "manipulator"&V% +4 "core" % d \ +2 .tForearm.seek :retract + "manipulator"&_'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +3 "manipulator"&j& +4 "core" &{ * X  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &{ Z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"&& +4 "core" &{ $ w  +2 "manipulator"&f% +4 "core" % r > + "processing"%y& +4 "core" &)\ +2 "processing"%& +5 "core" &+\ +2 .tPC.seek :closed + "processing"%S(Z +4 "core" &+\ +7 &C+\ %g +9 &W+\ 8 +10 &z*\ L +9 &W+\ N +10 &v^)\ N +9 &8Z\ N +14 &X\ M +5 &V\ N +9 &~X\ N +9 &AV\ M +10 & Y\ N +9 &!U\ N +9 &#\\\ N +10 &%HW\ N +9 &' [\ M +10 &(V\ N +9 &*\\\ N +9 &,PY\ N +10 &.\\\ N +9 &/Y\ N +9 &1V\ M +10 &3ZX\ M +9 &5\\\ N +10 &6Y\ N +9 &8[\ M +9 &:aW\ M +10 &<#Z\ M +9 &=W\ M +10 &?Z\ N +9 &AiZ\ M +9 &C)]\ N +10 &D^\ N +9 &Fl\ P +9 &Hc~\ R +10 &J!\ S +9 &K\ T +9 &M\ S +10 &Og\ S +9 &Q'\ T +10 &R\ U +9 &T\ U +9 &Vk\ U +10 &X-\ U +9 &Y{p\ / +9 &Z'h\ J +10 &Z%\ / +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&|% +4 "core" % $ K > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!'\ +98 "core" ' + "processing"%'& +4 "core" &Z" \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 9  +2 "storage"(0% +3 "core" %T 5\ +2 "storage"(. +3 "core" .( + "storage"(8& +4 "core" & 9\ + "storage"()& +2 "manipulator"&& +7 "core" & C\ + &{ A  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&R(s + "storage"('i +5 "core" ( + "manipulator"&u& +4 "core" &{ 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &{  +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' + "storage"(}- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +286 ( +2 "storage"(A& +4 "core" & U\ + "manipulator"&J& +4 "core" &| F  + "manipulator"&3% +4 "core" % x +2 .tForearm.seek :retract + "manipulator"&('\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +264 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&%'ќ +94 "core" ' + .tHand.open +2 "manipulator"&-1 +63 "core" 1 +2 "storage"(E- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(<' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(.- +3 "core" -' +2 "storage"(C& +3 "core" & M \\\ +2 "manipulator"&Y& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&,( +4 "core" ( + "manipulator"&B& +4 "core" & _  + "storage"(D& +4 "core" & @ %\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +60 "core" ' +2 "manipulator"&& +4 "core" & '  +2 "storage"([& +3 "core" & -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:' +31 "core" ' +2 .tElbow.hold + "manipulator"&T, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +6 "storage"(1'i +22 "core" ' +2 "manipulator"&4% +4 "core" % ~  + "storage"(& +56 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&N' +20 "core" ' + "manipulator"&e& +4 "core" & M  +2 "storage"(\ & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +29 "core" ' + "storage"(&% +4 "core" %n G\ +3 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (@% +2 "core" %H \ Xf +2 "manipulator"&?% +4 "core" %ѩ Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +4 "core" & $\ + "collection"']& +4 "core" &Vd ) ,T\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&o% +4 "core" %\   & +2 "storage"(+% +4 "core" %_ E\ + "storage"(2. +4 "core" .( + "storage"(w& +4 "core" & \ + "storage"( & +4 "core" & O\ +2 "manipulator"&b& +3 "core" & -  +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&^& +4 "core" &  }  +2 "storage"(>& +3 "core" & $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +104 "core" ' +2 "storage"(r& +4 "core" & "\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'i +284 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&X& +3 "core" & 9  +2 "storage"(P& +4 "core" & C\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&L' +34 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +25 "core" ' + "manipulator"&=% +4 "core" %  +2 "storage"({& +3 "core" & H\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&\\' +14 "core" ' +2 "manipulator"&q& +4 "core" &  + "storage"(I& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('F +41 "core" ' +3 "manipulator"& & +4 "core" & o  +2 "manipulator"&l% +4 "core" %ѹ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +167 "core" ( + "manipulator"&a& +5 "core" &* % G @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &* r @W +2 .tForearm.seek CC +2 "manipulator"&U'" +92 "core" ' + .tHand.close +2 "manipulator"&c/ +53 "core" / +2 .tCC.seek :open + "collection"'z( +417 "core" ( + "storage"(7& +4 "core" & ^\ +2 "storage"(& +3 "core" & 1\ +2 "manipulator"&W& +3 "core" &(  2 ?V +2 "manipulator"&% +3 "core" % 5  . +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&s& +4 "core" &  ; z + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&x' +105 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +59 "core" 1 +2 "manipulator"&% +4 "core" % & +2 "storage"("& +3 "core" & a\ +2 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 2 + 319 counts +2 "manipulator"&V' +18 "core" ' +2 "manipulator"&5& +4 "core" & i z +2 "storage"(Z& +3 "core" & \ \  *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +32 "core" ' + "storage"(i% +5 "core" %I\ \ \ n\ +2 ."downElevator"SE.seek :down +3 "storage"(j'X +100 (G% +2 "core" %zC k\ Va +2 "manipulator"&~% +4 "core" %Ѥ ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'f& +4 "core" &  0\ +2 "manipulator"&y% +4 "core" %\  ;  + "storage"( % +4 "core" %_\ \  \ +2 "storage"(_. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(K( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & "\  + "manipulator"&|& +4 "core" &  z +2 .tElbow.seek 3 + "manipulator"&'( +15 "core" ( + "manipulator"&& +4 "core" &  Y +2 "storage"(0& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(8& +4 "core" &\ '\ & T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" & x\  +2 "manipulator"&u& +3 "core" & V Y +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & n Y + "storage"(& +4 "core" & k\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&}'ϩ +14 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(S'X +8 "core" &  Y + "manipulator"&% +4 "core" % ϱ . +2 .tForearm.seek :retract +2 "manipulator"&A'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +26 "core" ( + "manipulator"&3& +4 "core" &* * l @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &*  J @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +92 "core" ' +2 "manipulator"&& +4 "core" &* # J @W +2 "manipulator"&R% +4 "core" %*  ] +2 "collection"'-& +4 "core" &  K\ +2 "collection"'E& +4 "core" &  M\ +3 .tCC.seek :closed + "collection"'.(V +5 "core" &  r\  +8 &1  q\ *y +9 &d  s\ > +10 &yu  z\ M +9 &:Z  v\ M +10 &Z  r\ M +9 &Z  r\ M +9 &Z  t\ M +10 &BZ  o\ M +9 &[  n\ M +9 &Y  d\ M +10 & \\  e\ M +9 &"I\\  p\ N +10 &$ [  q\ M +9 &%\\  q\ M +9 &'Z  i\ M +10 &)SZ  r\ M +9 &+\\  q\ M +9 &,Y  h\ M +10 &.[  p\ M +9 &0[\\  n\ M +10 &2Z  e\ M +9 &3[  a\ M +9 &5Z  d\ M +10 &7cZ  a\ M +9 &9&Z  Z\ M +9 &:[  Z\ M +10 &<]  J\ M +9 &>j]  Y\ M +10 &@,[  S\ M +9 &AZ  S\ N +9 &C\\  S\ M +10 &Eq]  S\ N +9 &G/i % $T\ O +9 &Hy $ 'T\ Q +10 &J ' 'S\ V +9 &LZ ) (T\ X +10 &N ( (R\ X +9 &O ' *S\ Y +9 &Q ( )U\ Y +10 &S] ) )S\ Z +9 &U ) +T\ Z +9 &VkD ) +R\ 2 +10 &Vo ) +S\ G +5 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&C1 +4 "core" &Vd * +S\ G +56 1 + "manipulator"&Y% +5 "core" % * # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +51 "manipulator"&B'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%D& +4 "core" &+\ + "manipulator"&(% +4 "core" %\   +2 "storage"(% +3 "core" %` \ +2 "storage"([. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"(4& +4 "core" & \  +2 "manipulator"&& +3 "core" &(  ?V +2 "manipulator"&6% +3 "core" %\  3  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e( +163 "core" ( + "manipulator"&\ & +4 "core" &  . n +2 "storage"($& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +94 "core" ' + "storage"(<& +4 "core" & %\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'i +281 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & \  + "manipulator"&?& +4 "core" &  n +2 .tElbow.seek 3 + "manipulator"&,( +3 "core" ( +2 "manipulator"&M& +4 "core" & n + "storage"(:& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&N'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(o'X +8 "core" & | n +2 "manipulator"&+% +3 "core" % Ϩ < +3 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&w(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +3 "manipulator"&1& +4 "core" &k * Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &l & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +101 "core" ' +2 "manipulator"&^& +4 "core" &l  8 +2 "manipulator"&>% +4 "core" % K +2 "processing"%;& +3 "core" &+\ +2 "processing"%r& +5 "core" &(\ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &(\ +7 &A(\ $e +10 &V&\ 7 +9 &~*\ L +9 &Z&\ N +10 &oZ*\ M +9 &0V*\ N +10 &W*\ N +9 &U*\ N +9 &vW*\ N +10 &9W)\ M +9 &Y!\ N +9 &!U$\ M +10 &#~Y\ N +9 &%@\\\ N +10 &'Y\ N +9 &(W\ M +9 &*\\\ N +10 &,IW\ M +9 &.\ Y\ N +9 &/Z\ M +10 &1W\ M +9 &3PV\ N +10 &5U\ M +9 &6Y\ M +9 &8Z\ N +10 &:Y[\ M +9 &<[\ N +9 &=Y\ N +10 &?U\ M +9 &AaW\ M +10 &C#Z\ M +9 &D^\ N +9 &Ff\ O +10 &H\\x\ R +9 &J\ S +9 &K\ T +10 &M\ S +9 &O^\ T +10 &Q\ T +9 &R\ U +9 &T\ U +10 &Vd\ T +9 &X%\ U +9 &Yzr\ 3 +10 &Z)}\ P +9 &Z \ - +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&T1 +59 "core" 1 +2 "manipulator"&9% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +2 "processing"%X& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&P% +4 "core" %\   + "storage"(d% +4 "core" %V \ + "storage"(=. +3 "core" .( +2 "storage"({& +3 "core" & o\  +2 "storage"(q& +4 "manipulator"&I& +4 "core" & 0\  + &l q +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"& (s +4 ."raiseStack"SE.seek :beamBreak + "storage"(l'i +3 "core" ( + "manipulator"&`& +4 "core" &l l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &l ( z +3 .tForearm.seek PC + "manipulator"&O' +98 "core" ' + .tHand.close + "manipulator"&L/ +60 "core" / +3 .tPC.seek :open +2 "processing"%\\( +84 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(a'y +42 "core" ' +296 ( + "storage"(v& +4 "core" & &\  +2 "manipulator"& & +3 "core" &l + +2 "manipulator"&H% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&k( +263 "core" ( +2 "manipulator"&h& +4 "core" &   + "storage"(7& +6 "core" & '\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + .tHand.open +2 "manipulator"&W1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(s'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(& +4 "core" & \ \ \  + "manipulator"&/& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" & $ 2  +2 "storage"(5& +3 "core" & g\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +61 "core" ' +2 "manipulator"&n& +4 "core" & N  +2 "storage"(G& +3 "core" & q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +10 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(x'i +25 "core" ' + "manipulator"&V% +5 "core" %Ύ  +2 "storage"(f& +4 "core" & :\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&y'Ϻ +20 "core" ' + "manipulator"& & +5 "core" &  + "storage"(_& +4 "core" & ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' +2 "storage"(m% +4 "core" %s \\\ +2 ."downElevator"SE.seek :down +4 "storage"(j'X +99 (% +3 "core" % K \ Wg + "manipulator"&% +4 "core" %3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +91 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & .\  + "collection"'0& +4 "core" &Ve ) +(\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&8% +4 "core" %\    + "storage"(t% +4 "core" %a \\\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"()& +4 "core" & y\  +2 "manipulator"&u& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & % /  + "storage"(g& +4 "core" & !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +92 "core" ' + "storage"(& +4 "core" & "\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &   + "storage"(& +5 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +52 .tForearm.seek 3 + "manipulator"&'} +28 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(R'W +31 "core" ' +2 "manipulator"&% +4 "core" %΅ \ +2 "storage"(-& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&S'ϱ +20 "core" ' + "manipulator"&A& +4 "core" & [  +2 "storage"(z& +4 "core" & N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(Y'F +38 "core" ' +2 "manipulator"&E& +4 "core" & U  +2 "manipulator"&D% +4 "core" %1 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +170 "core" ( + "manipulator"&[& +4 "core" && $ K =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &&  =E +2 .tForearm.seek CC +2 "manipulator"&4'" +91 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'6( +416 "core" ( +2 "storage"( & +4 "core" & [\  + "storage"(\ & +4 "core" & Q\  + "manipulator"&$& +4 "core" && B =E + "manipulator"&<% +8 "core" % / G +2 .tForearm.seek :retract +2 "manipulator"&J'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +160 "core" ( +2 "manipulator"&#& +4 "core" & A z + "storage"(@& +4 "core" &\ \  0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&?'} +100 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +64 "core" 1 +2 "manipulator"&F% +4 "core" % Ά  C +2 "storage"(]& +4 "core" & s\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&+'ϲ +20 "core" ' +2 "manipulator"&e& +4 "core" & z +2 "storage"(%& +4 "core" &\ \  J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +27 "core" ' + "storage"(N% +4 "core" %P\ &\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(1'X +99 ( % +3 "core" %E /\ Wc +2 "manipulator"&,% +4 "core" %r < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'>& +4 "core" &  a\ + "manipulator"&;% +4 "core" %\ % + 5 +2 "storage"(o% +4 "core" %b\  \ \ + "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" & R\ + "manipulator"&9& +4 "core" & # z +2 .tElbow.seek 2 + "manipulator"&X( +37 "core" ( + "manipulator"&P& +4 "core" &  % +2 "storage"(d& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +93 "core" ' +2 "storage"({& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +282 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" & \ +2 "manipulator"&`& +4 "core" & B $ + .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&b& +3 "core" & ] $ +2 "storage"(L& +3 "core" & }\ +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(*'X +7 "core" & $ + "manipulator"&l% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&H& +4 "core" &( A ` ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +8 "core" &(  w ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&h'" +101 "core" ' +3 "manipulator"&7& +4 "core" &(  o ?V + "manipulator"& % +4 "core" %' l +2 "collection"'W& +4 "core" &  H\ +2 "collection"'& +5 "core" &  I\ +2 .tCC.seek :closed +2 "collection"'U(V +3 "core" &  s\  +9 &2~  o\ *y +10 &d  {\ > +9 &|s  v\ N +9 &@X  u\ M +10 &Z  r\ M +9 &Z  o\ M +9 &Z  s\ M +10 &H[  x\ M +9 &\ \\  t\ M +9 &\\  p\ M +10 & ]  o\ M +9 &"P]  p\ M +10 &$\\  q\ M +9 &%Y  r\ M +9 &'Z  s\ M +10 &)ZY  r\ L +9 &+]  p\ M +9 &,Z  s\ M +10 &._  q\ M +9 &0`]  r\ M +10 &2!Z  r\ M +9 &3\\  r\ M +9 &5Z  t\ M +10 &7i[  q\ M +9 &9,[  n\ L +9 &:\\  i\ M +10 &<_  r\ M +9 &>p\\  j\ M +11 &@1[  g\ M +8 &A\\  j\ M +9 &CY  r\ M +10 &Ev`  `\ N +9 &G5g " #b\ O +9 &Hs & 'f\ P +10 &J & (e\ S +9 &Lc & )U\ W +10 &N! & (_\ X +9 &O & *]\ Y +9 &Q * *c\ Y +10 &Sb ( *d\ Z +9 &U$ * *`\ Z +9 &VpC , *N\ 1 +10 &Ve * ,S\ G +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&1 +4 "core" &VZ ) +Y\ G +53 1 +2 "manipulator"&/% +4 "core" % ' e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%5& +4 "core" &'\ + "manipulator"&c% +4 "core" %\ \   +2 "storage"(n% +3 "core" %` ;\ +2 "storage"(G. +3 "core" .( + "storage"(V& +4 "core" & \ + "storage"(a& +4 "core" & y\ +2 "manipulator"&f& +3 "core" &(  ?V +2 "manipulator"& % +3 "core" %\ \  F  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&s( +160 "core" ( +2 "manipulator"&_& +4 "core" &  j + "storage"(m& +4 "core" & V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +89 "core" ' +2 "storage"(& +4 "core" & ]\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & >\ +2 "manipulator"&Z& +4 "core" & L j + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&i& +3 "core" & I j +2 "storage"(~& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&y' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&0& "storage"(8'X +7 "core" & X j +2 "manipulator"&t% +4 "core" % * b A +2 .tForearm.seek :retract + "manipulator"&x'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +171 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&& +54 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &u 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +105 "core" ' +2 "manipulator"&& +4 "core" &u  8 + "manipulator"&g% +4 "core" % D +2 "processing"%& +4 "core" &$\ +2 "processing"%& +5 "core" &#\ +2 .tPC.seek :closed + "processing"%j(Z +5 "core" &%\ +7 &B!\ $d +9 &S|$\ 6 +10 &~}!\ K +9 &[$\ N +9 &c]'\ N +10 &%Z&\ N +9 &Z&\ N +9 &Z&\ M +10 &lY \ M +9 &-V&\ N +10 &W&\ N +9 &!U\ N +9 &#tX\ M +10 &%6X\ M +9 &&W\ M +9 &(X\ M +10 &*{X\ N +9 &,=Z\ N +10 &-\\\ N +9 &/Y \ N +9 &1Z\ N +10 &3EU\ N +9 &5[\ N +9 &6Z\ N +10 &8Z\ M +9 &:MW\ N +10 &<X\ N +9 &=T\ N +9 &?T \ M +10 &AUV\ N +9 &C]\ N +9 &D]\ N +10 &Fj\ P +9 &HP{\ R +10 &J \ T +9 &K\ S +9 &M\ T +10 &OS\ T +9 &Q\ T +9 &R\ T +10 &T\ U +9 &VX\ U +10 &X\ U +9 &Y{p\ 7 +9 &Z/\ H +10 &Z\ * +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&|% +4 "core" % $ ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%3& +4 "core" &Z \ * + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\    + "storage"(% +4 "core" %b t\ +2 "storage"(. +2 "core" .( +2 "storage"(-& +4 "core" & 0\ + "storage"(A& +5 "manipulator"&z& +4 "core" & ,\ + &u L +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(E'i +3 "manipulator"&D(s +3 "core" ( + "manipulator"&!& +4 "core" &u  _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u +2 .tForearm.seek PC +2 "manipulator"&'' +93 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%S( +91 "core" ' +2 "storage"(R- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +44 "core" ' +290 ( + "storage"(& +5 "core" & @\ + "manipulator"&C& +4 "core" &u  + "manipulator"&}% +4 "core" % +  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(( +270 "core" ( + "manipulator"&.& +5 "core" &  E  + "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +95 "core" ' + .tHand.open +2 "manipulator"&$1 +58 "core" 1 +2 "storage"(<- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(#'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(@' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' + "storage"(& +4 "core" & \ \ +\ +2 "manipulator"&:& +3 "core" & \  +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&]& +3 "core" &  q  +2 "storage"(e& +4 "core" & \ o\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&%'ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(N' +55 "core" ' +2 "manipulator"&J& +4 "core" & z  +2 "storage"( & +3 "core" & a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,' +31 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +23 "core" ' + "manipulator"&>% +5 "core" % Z 3 + "storage"(+& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&;' +18 "core" ' +2 "manipulator"&o& +4 "core" &   +2 "storage"(2& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +33 "core" ' +2 "storage"(&% +4 "core" %k )\ +3 ."downElevator"SE.seek :down +3 "storage"(1'X +99 (K% +3 "core" %D \ We +2 "manipulator"&T% +4 "core" %Ѻ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (P& +4 "core" & 4\ +2 "collection"'d& +4 "core" &VZ & )-\ G + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&{% +4 "core" %\  /  +2 "storage"(M% +3 "core" %S \ +2 "storage"(^. +3 "core" .( + "storage"(q& +4 "core" & S\ + "storage"(r& +4 "core" & J\ +2 "manipulator"&`& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&b( +4 "core" ( + "manipulator"&L& +4 "core" & v  + "storage"(w& +4 "core" & O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +99 "core" ' + "storage"(l& +4 "core" & f\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'i +284 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & I  + "storage"(O& +4 "core" & g\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&I' +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(7'W +31 "core" ' +2 "manipulator"& % +4 "core" % \ + "storage"(W& +4 "core" & `\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts + "manipulator"&*' +16 "core" ' +2 "manipulator"&v& +4 "core" & '  +2 "storage"(6& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(/'F +40 "core" ' +2 "manipulator"&5& +4 "core" & {  +2 "manipulator"&c% +4 "core" %Ѥ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&G( +159 "core" ( +3 "manipulator"&V& +4 "core" &" ' 7 9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &"  8 9( +2 .tForearm.seek CC +2 "manipulator"&a'" +97 "core" ' + .tHand.close +2 "manipulator"&f/ +58 "core" / +2 .tCC.seek :open + "collection"' ( +416 "core" ( +2 "storage"(h& +4 "core" & <\ + "storage"(_& +4 "core" & \ + "manipulator"&m& +4 "core" &" 9( + "manipulator"&% +4 "core" % ' +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +50 "manipulator"&"( +159 "core" ( +2 "manipulator"&& +4 "core" &  R u +2 "storage"(& +3 "core" & o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&Z' +107 "core" ' + .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +59 "core" 1 +3 "manipulator"&% +4 "core" %  + "storage"(0& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&t' +17 "core" ' + "manipulator"&s& +5 "core" & } u + "storage"(k& +4 "core" & 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 "storage"(y% +4 "core" %M\ \  /\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %F \ Wd +2 "manipulator"&)% +4 "core" % y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'g& +4 "core" &  m\ +2 "manipulator"&% +4 "core" %\ \ (  +2 "storage"(8% +4 "core" %`\ \ \ + "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(\\( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & 6\  + "manipulator"&|& +4 "core" & 4 u +2 .tElbow.seek 3 + "manipulator"&3( +16 "core" ( +2 "manipulator"&& +4 "core" & / ( + "storage"(& +4 "core" &\ \  #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(-& +5 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" & R\  +2 "manipulator"&!& +4 "core" & ( + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" &  x ( +2 "storage"(& +4 "core" & z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&R'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(j'X +7 "core" &  ( + "manipulator"&E% +4 "core" % ϟ ( H +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&}& +4 "core" &$ B w ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &$   ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&.'" +102 "core" ' +2 "manipulator"& & +4 "core" &$  \\ ;7 +3 "manipulator"&D% +3 "core" %, O +2 "collection"'$& +4 "core" &  G\ +2 "collection"'<& +5 "core" &  G\ +2 .tCC.seek :closed + "collection"'4(V +5 "core" &  k\  +8 &1~  j\ *x +10 &c  g\ > +9 &ws  j\ N +9 &:Y  h\ M +10 &\\  s\ M +9 &Z  k\ M +9 &Y  p\ M +10 &AV  t\ M +9 &Z  q\ N +10 &Y  {\ M +9 & X  r\ M +9 &"IX  w\ M +10 &$ W  z\ M +9 &%Y  l\ M +9 &'V  x\ M +10 &)Q[  x\ M +9 &+Y  x\ N +10 &,X  z\ M +9 &.Z  x\ N +9 &0XZ  z\ N +10 &2Z  |\ N +9 &3Z  x\ M +9 &5V  z\ M +10 &7a\\  x\ M +13 &9#Z  y\ M +6 &:]  t\ M +9 &<Z  v\ M +9 &>iW  q\ M +10 &@+X  o\ M +9 &AX  p\ M +9 &C]  r\ M +10 &Eob  p\ N +9 &G.j $ $t\ O +10 &Hx $ (s\ Q +9 &J ' )o\ U +9 &LX ' )r\ Y +10 &N ( +p\ X +9 &O ' *m\ Y +9 &Q ( -f\ Y +10 &S] * (p\ Z +9 &U ) ,q\ Z +10 &VhC ' ,q\ 0 +9 &V\ s * )r\ J +5 ( +2 "collection"'<& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&1 +3 "core" &V` ( *p\ J +59 1 +3 "manipulator"&:% +4 "core" % , Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +99 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%e& +4 "core" &4\ +2 "manipulator"&% +3 "core" %\ \ l  +2 "storage"(J% +3 "core" %` a\ +2 "storage"( . +3 "core" .( + "storage"([& +4 "core" & W\  + "storage"(>& +4 "core" & O\  +2 "manipulator"&+& +3 "core" &#  :1 +2 "manipulator"&#% +3 "core" %\ \ r  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +164 "core" ( +2 "manipulator"&2& +4 "core" &  1 W + "storage"(&& +4 "core" & -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +95 "core" ' +2 "storage"(\ & +4 "core" & D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +278 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" & w\  +2 "manipulator"&%& +4 "core" & m W + .tElbow.seek 3 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&N& +3 "core" & $ f W +2 "storage"(,& +3 "core" & "\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&d& + "storage"({'X +7 "core" & _ W + "manipulator"&M% +4 "core" % Ϭ t w +2 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&^(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&q& +64 "core" &r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &r ;  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +95 "core" ' +2 "manipulator"&L& +4 "core" &r   + "manipulator"&w% +4 "core" %  +2 "processing"%Y& +3 "core" &9\ +3 "processing"%l& +4 "core" &%\ +2 .tPC.seek :closed +2 "processing"%1(Z +4 "core" &%\ +8 &9&\ $c +9 &T)\ 7 +9 &~{&\ K +10 &\\'\ N +9 &WZ(\ N +10 &\\'\ N +9 &\\"\ N +9 &U%\ N +10 &`Y#\ M +9 &"Y%\ M +9 &Z&\ M +10 &!Y&\ M +9 &#f]&\ N +10 &%)W\ N +9 &&W\ M +9 &(Y\ N +10 &*o\\.\ N +9 &,1Z%\ N +9 &-X%\ N +10 &/W$\ N +9 &1wW'\ N +10 &39W)\ N +9 &4Y*\ M +9 &6W\ N +10 &8U\ N +9 &:AV\ N +9 &<[\ M +10 &=W\ M +9 &?[\ N +10 &AJV\ M +9 &C Z \ M +9 &D_\ N +10 &Fe \ O +9 &HGx\ Q +9 &J\ S +10 &K\ T +9 &M\ T +10 &OG \ T +9 &Q\ \ T +9 &R \ T +10 &T\ T +9 &VM \ T +9 &X\ U +10 &Y{p\ ; +14 &Z(m\ O +5 &Z \ . +2 ( + "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&B1 +53 "core" 1 +2 "manipulator"&9% +4 "core" % % D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +96 "core" ' + "processing"%H& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +4 "core" %\    + "storage"(Q% +4 "core" %T w w r\ +2 "storage"( . +3 "core" .( + "storage"(W& +4 "core" & { \  + "storage"(v& +5 "manipulator"&6& +4 "core" & x w ?\  + &r    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +53 "storage"(#]@K-0-\ b +2 "manipulator"&5(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(c'i +2 "core" ( +2 "manipulator"&p& +3 "core" &r  S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &r    +2 .tForearm.seek PC +2 "manipulator"&X' +100 "core" ' +2 .tHand.close + "manipulator"&I/ +53 "core" / +2 .tPC.seek :open +2 "processing"%*( +93 "core" ' + "storage"(7- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(V'y +45 "core" ' +285 ( + "storage"(& +4 "core" & }\  +2 "manipulator"&& +4 "core" &r   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&f'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&n( +272 "core" ( +2 "manipulator"&U& +4 "core" & ; \ +2 "storage"(h& +3 "core" & v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +85 "core" ' +2 .tHand.open + "manipulator"&m1 +53 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(a'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(G& +4 "core" & \ \ '\  + "manipulator"&~& +4 "core" & 0 \ +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&0& +4 "core" &  C  +2 "storage"(s& +3 "core" &\ \ \ \ \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(y' +56 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(& +4 "core" & X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&)'} +28 "core" ' +2 .tElbow.hold + "manipulator"&", +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'i +24 "core" ' + "manipulator"&g% +5 "core" %·  + "storage"(t& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'ϳ +20 "core" ' + "manipulator"&8& +5 "core" & 0  + "storage"(x& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +28 "core" ' +2 "storage"(% +4 "core" %s >\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %J \ Xg +2 "manipulator"&% +4 "core" %8 b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +93 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & E\  + "collection"'& +4 "core" &V` ( ,X\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\ \ 5  + "storage"(i% +4 "core" %b 9\ + "storage"(. +3 "core" .( +2 "storage"(z& +4 "core" & v\  +2 "storage"(A& +3 "core" & o\  +2 "manipulator"&!& +4 "core" & 6  +2 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" & e  + "storage"(& +4 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +102 "core" ' + "storage"(E& +4 "core" & .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" &   +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&''} +23 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"( 'W +30 "core" ' + "manipulator"&D% +5 "core" %΍ 1 + "storage"($& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&j'Ϲ +21 "core" ' + "manipulator"&& +4 "core" & m  +2 "storage"( & +4 "core" & L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(:'F +38 "core" ' +2 "manipulator"&e& +4 "core" &   +2 "manipulator"&% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&<( +167 "core" ( +2 "manipulator"& & +4 "core" &# :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &"  :. +2 .tForearm.seek CC +2 "manipulator"&>'" +92 "core" ' + .tHand.close +2 "manipulator"&+/ +55 "core" / +2 .tCC.seek :open + "collection"'#( +416 "core" ( +2 "storage"(.& +4 "core" & C\  + "storage"(2& +4 "core" & #\  + "manipulator"&&& +4 "core" &# | :. + "manipulator"&\ % +4 "core" % 3 C +2 .tForearm.seek :retract + "manipulator"&C'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&]( +168 "core" ( + "manipulator"&K& +4 "core" & S  +2 "storage"(T& +3 "core" & }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&%'} +102 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +59 "core" 1 +2 "manipulator"&P% +4 "core" % Ή %  +2 "storage"(d& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&M'ϵ +20 "core" ' +2 "manipulator"&o& +4 "core" & @  +2 "storage"((& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +26 "core" ' + "storage"(;% +4 "core" %K \  j\ +3 ."downElevator"SE.seek :down +3 "storage"(F'X +99 (q% +3 "core" %cC 8\ Wb +2 "manipulator"&r% +3 "core" %< t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'w& +4 "core" & \ +2 "manipulator"&Y% +3 "core" %\ ?  +2 "storage"({% +4 "core" %\\\ \ \ + "storage"(?. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(S( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" & o\ +2 "manipulator"&9& +4 "core" & I  +50 .tElbow.seek 2 +2 "manipulator"&H( +39 "core" ( + "manipulator"&O& +4 "core" & $ $ +2 "storage"(Q& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +90 "core" ' +2 "storage"(W& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'i +283 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & W\ +2 "manipulator"&p& +3 "core" &*  ` +2 .tElbow.seek 2 +2 "manipulator"&b( +22 "core" ( + "manipulator"&`& +5 "core" & N  + "storage"(I& +4 "core" & ,\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&7' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(1'X +7 "core" & ^  +7 "manipulator"&c% +4 "core" %  p  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +35 "core" ( +2 "manipulator"&& +4 "core" & $ / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" & + / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +92 "core" ' +3 "manipulator"&h& +4 "core" &  r / +2 "manipulator"&5% +4 "core" %(  +2 "collection"'m& +3 "core" &  b\ +3 "collection"'& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  \ +8 &4  \ $d +9 &U  \ 7 +9 &  \ L +10 &W  \ M +9 &h\\  \ M +10 &+Y  \ L +9 &\\  |\ M +9 &Z  i\ M +10 &pZ  {\ M +9 &2Z  x\ M +9 &]  z\ M +10 &!\\  {\ M +9 &#wX  \ M +10 &%:Z  \ M +9 &&Z  o\ M +9 &(]  h\ M +10 &*Z  o\ M +9 &,BZ  n\ M +9 &.Y  j\ M +10 &/Z  v\ M +9 &1\\  z\ M +10 &3IZ  q\ M +9 &5 Z  u\ M +9 &6Y  o\ M +10 &8Y  q\ L +9 &:Q[  x\ M +9 &<\\  y\ M +10 &=]  o\ M +9 &?Z  w\ M +9 &AYZ  {\ M +10 &C[  v\ M +9 &D_  u\ M +10 &Fc  z\ N +9 &HYq % %{\ P +9 &J % &u\ R +10 &K ' *t\ V +9 &M ' +r\ X +9 &OI % *r\ X +10 &Q ( )s\ X +9 &R * +r\ Y +10 &T ) *t\ Y +9 &V&s * +w\ . +9 &V' * ,n\ Q +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&G1 +3 "core" &Vc + +r\ G +56 1 + "manipulator"&~% +4 "core" % ( $ )  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%s& +4 "core" &-\ +2 "manipulator"&f% +4 "core" %\   j  + "storage"( % +4 "core" %[ *\ + "storage"(. +3 "core" .( +2 "storage"(V& +8 "core" & \ +2 "storage"(g& +4 "core" & {\ +2 "manipulator"&t& +3 "core" & x / +2 "manipulator"&a% +4 "core" %\  ~  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8( +160 "core" ( +2 "manipulator"&x& +4 "core" & o x + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +103 "core" ' +2 "storage"(_& +4 "core" & x\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ + "manipulator"&k& +4 "core" & x +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&y& +4 "core" & V x + "storage"()& +4 "core" & K\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(-'X +8 "core" &  x + "manipulator"&i% +4 "core" %  , E +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&z(s +162 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&Z& +4 "core" &y ( ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &y ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!' +100 "core" ' + "manipulator"&& +4 "core" &y  +2 "manipulator"&% +4 "core" % d + "processing"%/& +4 "core" &6\ +2 "processing"%E& +5 "core" &6\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &$\  +9 &21\ *y +9 &c)\ > +10 &zv.\ N +9 &>X,\ M +9 &W/\ M +10 &X4\ M +9 &X6\ N +9 &FZ)\ M +10 &Y+\ M +9 &X%\ M +10 & Y%\ M +9 &"N\\3\ M +9 &$Z/\ M +10 &%W.\ M +9 &'X'\ N +9 &)V\\&\ M +10 &+\\'\ M +9 &,X'\ M +10 &.]*\ M +9 &0]](\ N +9 &2 Z%\ M +10 &3W3\ M +9 &5X/\ M +9 &7fX)\ M +10 &9(W0\ M +9 &:W7\ M +10 &<\\3\ M +9 &>mZ%\ N +9 &@0](\ M +10 &AW'\ M +9 &C\\&\ N +12 &Et`!\ N +7 &G/p"\ P +9 &H!\ S +10 &J%\ S +9 &Lk'\ T +9 &N-#\ T +10 &O \ T +9 &Q\ T +9 &Sq\ T +10 &U3\ T +9 &V\ U +10 &X\ U +9 &Z#]\ #k +9 &ZV\ , +9 ( +3 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&"1 +4 "core" &Z\ ) +58 1 + "manipulator"&|% +4 "core" %  T d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%}& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ s  +2 "storage"(% +3 "core" %_ p\ +2 "storage"(D. +3 "core" .( + "storage"($& +4 "core" & \ + "storage"(& +5 "manipulator"& & +4 "core" & \ + &y  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&e(s +3 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &y ~ +2 .tForearm.seek PC + "manipulator"&3' +99 "core" ' +2 .tHand.close + "manipulator"&'/ +55 "core" / +2 .tPC.seek :open + "processing"%j( +92 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'y +46 "core" ' +285 ( +2 "storage"([& +4 "core" & p\ +2 "manipulator"&& +3 "core" &y  +2 "manipulator"&R% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&+'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&J( +263 "core" ( + "manipulator"&4& +5 "core" & }  + "storage"(.& +4 "core" & <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +93 "core" ' +2 .tHand.open +3 "manipulator"&&1 +52 "core" 1 +2 "storage"(\ - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(T' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(<& +4 "core" & \ \ % l\ + "manipulator"&,& +4 "core" & U  +2 .tElbow.seek 2 +51 "manipulator"&P( +17 "core" ( + "manipulator"&d& +4 "core" & h  +2 "storage"(o& +4 "core" & \ \ m\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +58 "core" ' + "manipulator"&C& +4 "core" & c  +2 "storage"(q& +4 "core" & %\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&r' +32 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(%'i +24 "core" ' +2 "manipulator"&M% +4 "core" % i  + "storage"(w& +4 "core" & y \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&Y' +17 "core" ' +2 "manipulator"&{& +4 "core" & Z  +2 "storage"(?& +3 "core" & 6\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +36 "core" ' +2 "storage"(@% +4 "core" %r ,\ +2 ."downElevator"SE.seek :down +3 "storage"(F'X +100 (\\% +2 "core" %I }\ Xg +2 "manipulator"&B% +4 "core" %ш +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9'\ +97 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & W\ +2 "collection"'Q& +4 "core" &Vc * *q\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&W% +4 "core" %\  k  + "storage"(N% +4 "core" %a \ + "storage"(L. +3 "core" .( +2 "storage"(v& +4 "core" & \ + "storage"(l& +4 "core" & \ + "manipulator"&p& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&`( +4 "core" ( + "manipulator"&I& +4 "core" & L  + "storage"(^& +4 "core" & C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +95 "core" ' + "storage"(c& +4 "core" & _\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'i +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&6& +3 "core" & l  +2 "storage"(& +3 "core" & S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +32 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(b- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(h'W +30 "core" ' + "manipulator"&5% +5 "core" %  + "storage"(m& +4 "core" &  D\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&1' +18 "core" ' + "manipulator"&& +5 "core" & d  + "storage"(#& +4 "core" & G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'F +39 "core" ' +2 "manipulator"&s& +4 "core" & ,  + "manipulator"&f% +4 "core" %ѥ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +174 "core" ( +4 "manipulator"&V& +4 "core" &(  9 ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( ?S +2 .tForearm.seek CC +2 "manipulator"&g'" +96 "core" ' +2 .tHand.close + "manipulator"&t/ +58 "core" / +2 .tCC.seek :open + "collection"'a( +417 "core" ( + "storage"(U& +4 "core" & `\ +2 "storage"(x& +3 "core" & G\ +2 "manipulator"&& +3 "core" && 9 =B +2 "manipulator"&_% +4 "core" % ,  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +162 "core" ( +2 "manipulator"&& +4 "core" &  j + "storage"(& +4 "core" & 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&k' +106 "core" ' +2 .tElbow.hold + "manipulator"&y, +72 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +3 "manipulator"&)1 +52 "core" 1 +2 "manipulator"&% +4 "core" %  m +2 "storage"(& +4 "core" & J\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts + "manipulator"&i' +18 "core" ' +2 "manipulator"&8& +4 "core" & j + "storage"(n& +4 "core" & E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +28 "core" ' +2 "storage"(% +4 "core" %L\ \  ,\ +2 ."downElevator"SE.seek :down +3 "storage"(Z'X +100 (A% +2 "core" %F r\ U` +2 "manipulator"&% +4 "core" %ѥ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&/% +4 "core" %\ I  +2 "storage"(-% +3 "core" %b\ \ 4\ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(*( +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" & :\  +2 "manipulator"&|& +4 "core" & k j +2 .tElbow.seek 3 + "manipulator"&}( +13 "core" ( + "manipulator"&& +4 "core" & e M +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +6 "manipulator"&D'9 +93 "core" ' +2 "storage"($& +4 "core" &\ '\ ( K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & G\  +2 "manipulator"&& +3 "core" & c M +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&!& +3 "core" & M +2 "storage"('& +3 "core" & n\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +10 "Can"\ 97 +4 "core" & ^ M + "manipulator"&% +4 "core" % ϕ X +2 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&R& +4 "core" &* % @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &*   @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'" +101 "core" ' +6 "manipulator"&.& +8 "core" &* @X +4 "manipulator"&e% +10 "core" %  +5 "collection"'&& +7 "core" & b\ +106 "collection"'\ & +12 "core" &  U\ +9 .tCC.seek :closed +4 "collection"'>(V +23 "core" &  w\ +3 &  z\ +2 &  {\ 6 +4 &=H| }\ 0 +2 &hr  z\ E +8 &`  ~\ M +7 &Z  |\ M +11 &[  \ M +9 &UY  \ M +9 &Z  ~\ N +10 &Y  |\ M +8 &Y  x\ M +11 &[Z  \ N +9 &!Z  \ M +8 &"X  {\ M +11 &$Y  \ M +8 &&cZ  \ N +10 &('Y  \ M +10 &)Z  \ M +8 &+Z  s\ M +9 &-lZ  {\ M +12 &/.\\  \ M +7 &0\\  }\ M +12 &2Z  ~\ N +8 &4tY  {\ M +10 &67U  |\ M +11 &7X  m\ M +6 &9Z  x\ M +11 &;|]  q\ M +12 &=>W  k\ M +8 &?W  e\ M +7 &@X  r\ M +10 &B]  m\ M +11 &DE]  o\ N +8 &Fc  j\ N +8 &Gm % %o\ O +11 &I| $ (p\ S +9 &K1 $ 'r\ W +8 &L ( *q\ Y +11 &N ( (w\ X +9 &Pr ) ,s\ Y +11 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +8 "core" &R3 & )s\ Y +2 &S ) )q\ [ +2 &U + +t\ G +6 &V4 ( +o\ 't +8 &V` ( +w\ I +10 ( +3 &V_ ' )g\ I +6 "collection"'\ & +7 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.97 +5 .Hand.open + "manipulator"&<1 +6 "core" &V_ ) )o\ I +57 1 +3 "manipulator"&,% +9 "core" %  ? +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&+'\ +100 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp +3 "processing"%d& +8 "core" &/\ +3 "manipulator"&o% +7 "core" %\ \ _  +4 "storage"(C% +8 "core" %^ \ +2 "storage"(q. +6 "core" .( +4 "storage"( & +7 "core" & G\  +2 "storage"(K& +8 "core" & c\  +3 "manipulator"&M& +7 "core" &( B ?V +4 "manipulator"&w% +6 "core" %\ \ _  +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +7 .tElbow.seek 3 +10 "manipulator"&{( +160 "core" ( +2 "manipulator"&?& +4 "core" & R d + "storage"(J& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +98 "core" ' +2 "storage"(2& +4 "core" & E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +282 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" & [\  + "manipulator"&(& +4 "core" & a d +2 .tElbow.seek 3 + "manipulator"&P( +3 "core" ( +2 "manipulator"&;& +4 "core" & W d + "storage"(r& +4 "core" & E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(W'X +8 "core" & 2 d + "manipulator"&N% +4 "core" % ϙ   +2 .tForearm.seek :retract + "manipulator"&L'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&%(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&v& +8 "core" &l * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +94 "core" ' +2 "manipulator"&I& +4 "core" &l  S +2 "manipulator"&^% +4 "core" % L  + "processing"%:& +4 "core" &5\ +2 "processing"%c& +5 "core" &-\ +2 .tPC.seek :closed + "processing"%F(Z +5 "core" &0\ +7 &A&\ $d +9 &U~)\ 7 +10 &}.\ L +9 &Y0\ M +9 &l]/\ N +10 &.Y.\ N +9 &Y+\ M +9 &Y/\ M +10 &t\\7\ N +9 &7Z/\ M +9 &\\5\ N +10 &!Y4\ M +9 &#|W7\ N +10 &%>Y5\ N +9 &'W5\ M +9 &(W4\ M +10 &*Z4\ N +9 &,EY4\ N +9 &.W7\ N +10 &/Z4\ M +9 &1W2\ M +10 &3NU3\ N +9 &5Y7\ M +9 &6X3\ M +10 &8Z3\ M +9 &:WW6\ M +9 &<[3\ N +10 &=Y5\ M +9 &?V1\ M +10 &A_T6\ M +9 &C!Y4\ M +9 &D\\1\ N +10 &Fi.\ P +9 &H[x3\ Q +9 &J7\ S +10 &K5\ S +9 &M7\ T +10 &O]5\ S +9 &Q2\ T +9 &R.\ T +10 &T1\ U +9 &Vb'\ T +9 &X$(\ T +10 &Y{r#\ 4 +9 &Z*}"\ L +10 &Z!&\ - +2 ( + "processing"%c& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&]1 +57 "core" 1 + "manipulator"&9% +4 "core" % $ f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 "processing"%6& +4 "core" &Z .\ - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\  ?  +4 "storage"(b% +4 "core" %` } Z\ + "storage"(5. +3 "core" .( +2 "storage"(m& +3 "core" & { W\  +2 "storage"(& +4 "manipulator"&#& +5 "core" & {  \  + &l   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&s(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(f'i +3 "core" ( + "manipulator"&=& +4 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +2 "core" &l ` +2 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' + .tHand.close +2 "manipulator"&X/ +58 "core" / + .tPC.seek :open +2 "processing"%1( +98 "core" ' + "storage"(h- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(V'y +45 "core" ' +280 ( + "storage"(& +4 "core" & w\  +2 "manipulator"&G& +3 "core" &l  +2 "manipulator"&7% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"& ( +254 "core" ( + "manipulator"&& +4 "core" &  !r +2 "storage"(U& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +94 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(_- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +7 "storage"(& +4 "core" &\ \  + "manipulator"&)& +4 "core" &  !q +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  y !q + "storage"(8& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&& +4 "core" & 1 !q + "storage"(0& +4 "core" & U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&A'} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +27 "core" ' +3 "manipulator"&i% +4 "core" %}  +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&/'ϩ +27 "core" ' + "manipulator"&-& +5 "core" &  R !q + "storage"(& +4 "core" & W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +35 "core" ' + "storage"(% +5 "core" %r o\ +2 ."downElevator"SE.seek :down +3 "storage"(Z'X +99 (S% +3 "core" %C { I\ Xf +2 "manipulator"&"% +4 "core" %5  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +52 (& +5 "core" & \  + "collection"'& +4 "core" &V_ ( )p\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&$% +4 "core" %\ !  8 +2 "storage"(y% +3 "core" %T \\\ +2 "storage"(. +3 "core" .( + "storage"( & +4 "core" & <\  + "storage"(& +4 "core" & .\  +2 "manipulator"&& +3 "core" &  !q +2 .tElbow.seek 3 + "manipulator"&!( +4 "core" ( + "manipulator"&'& +4 "core" & $ 9 !q +2 "storage"(z& +3 "core" & Z\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' + "storage"(& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'i +284 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&R& +3 "core" & $ !q +2 "storage"(3& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&E'} +18 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(.- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(u'X +31 "core" ' +2 "manipulator"&e% +4 "core" %Ή  +2 "storage"(&& +3 "core" & q\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +26 "core" ' +2 "manipulator"&[& +4 "core" &  !q + "storage"(a& +4 "core" & R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'G +38 "core" ' + "manipulator"&d& +4 "core" & !q +2 "manipulator"&\ % +4 "core" %; Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +159 "core" ( + "manipulator"&q& +4 "core" &' $ 3 >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &'  ' >K +2 .tForearm.seek CC + "manipulator"&K'" +97 "core" ' +2 .tHand.close + "manipulator"&M/ +56 "core" / +2 .tCC.seek :open + "collection"'w( +417 "core" ( + "storage"(4& +4 "core" & \  +2 "storage"(?& +3 "core" & \  +2 "manipulator"&J& +4 "core" &' l >H + "manipulator"&2% +4 "core" % " w +3 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&+( +163 "core" ( + "manipulator"&\\& +4 "core" & L - +2 "storage"(B& +4 "core" &\ \  C\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&('} +90 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % Ό U  +2 "storage"(Q& +3 "core" & 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&N'ϸ +20 "core" ' + "manipulator"&{& +4 "core" & P - +3 "storage"(@& +4 "core" &\ \ \ v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +27 "core" ' +2 "storage"(Y% +4 "core" %P\ \ \ ' 0\ +2 ."downElevator"SE.seek :down +3 "storage"(v'X +99 (l% +3 "core" %E G\ Wd +2 "manipulator"&P% +3 "core" %@  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'^& +4 "core" & \ +2 "manipulator"&:% +3 "core" %\ # : +2 "storage"(W% +4 "core" %a\  \ + "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(j( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" & N\ +2 "manipulator"&9& +3 "core" & $ - +2 .tElbow.seek 2 +2 "manipulator"&6( +47 "core" ( + "manipulator"&& +4 "core" &  & # +2 "storage"(b& +4 "core" & G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +97 "core" ' + "storage"(m& +4 "core" & \ \  C\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" & \ +2 "manipulator"&=& +3 "core" &   # +2 .tElbow.seek 2 + "manipulator"&`( +37 "core" ( + "manipulator"&p& +4 "core" & 4 k +2 "storage"(X& +4 "core" & z\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&h' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(F'X +7 "core" &  k +2 "manipulator"&f% +3 "core" %  y * +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( +2 "manipulator"&7& +4 "core" &( $ ~ ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &( ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + "manipulator"&U& +4 "core" &(   ?V +2 "manipulator"&s% +4 "core" %* U +2 "collection"'& +3 "core" &  \ +2 "collection"'_& +5 "core" & i\ +2 .tCC.seek :closed +2 "collection"'g(V +4 "core" & \  +10 &0~ \ *y +9 &d \ > +9 &ys  \ N +10 &<W  \ M +9 &Z  \ M +9 &Y  \ M +10 &Y  \ M +9 &DW  \ M +10 &Y  \ M +9 &Y  \ M +9 & [  \ M +10 &"K\\  \ M +9 &$ Y  \ M +9 &%Z  \ M +10 &'Y  \ M +9 &)SX  \ M +10 &+Z  \ M +9 &,U  {\ M +9 &.Z  \ M +14 &0Z[ \ N +5 &2Y  ~\ M +9 &3Z  y\ M +10 &5Y  {\ M +9 &7eZ  ~\ M +10 &9'W  \ M +9 &:Z  |\ M +9 &<\\  |\ M +10 &>k\\  v\ M +9 &@-Z  z\ M +9 &AZ  z\ M +10 &C]  {\ M +9 &Er_  u\ N +10 &G1g  y\ O +9 &Hq # %v\ P +9 &J % 'k\ T +10 &L` ' (f\ W +9 &N ( *p\ Y +9 &O ' (p\ Y +10 &Q ( (m\ Y +9 &S] ( *m\ Z +10 &U & (f\ Z +9 &VkC ) *g\ 1 +9 &Vn ' )k\ G +6 ( + "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&1 +4 "core" &VZ ) (f\ G +56 1 +2 "manipulator"&)% +4 "core" % * > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%8& +4 "core" &?\ +2 "manipulator"&t% +3 "core" %\ #  9 +2 "storage"(% +4 "core" %R \ + "storage"(0. +3 "core" .( +2 "storage"(V& +3 "core" & \ +2 "storage"(i& +3 "core" & B\ +2 "manipulator"&& +4 "core" &( ( ?V + "manipulator"&% +4 "core" %\ #  9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-( +156 "core" ( +2 "manipulator"&& +4 "core" &  3  + "storage"(& +4 "core" & V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +95 "core" ' +2 "storage"(x& +4 "core" & ,\ +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(S- +9 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ("& +3 "core" & V\ + "manipulator"&n& +4 "core" & $  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & e  + "storage"(A& +4 "core" & 5\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +3 "storage"('X +7 "core" &   +2 "manipulator"&$% +4 "core" %  * +2 .tForearm.seek :retract + "manipulator"&y'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +3 "manipulator"& & +4 "core" &u *  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &u &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&'& +4 "core" &u "  +2 "manipulator"&z% +4 "core" % ; ` + "processing"%~& +4 "core" &C\ +2 "processing"%& +5 "core" &B\ +2 .tPC.seek :closed +2 "processing"%Z(Z +4 "core" &C\ +7 &@=\ $d +9 &U;\ 7 +10 &~>\ L +9 &W-\ M +10 &oY-\ N +9 &1Y:\ N +9 &Y;\ N +10 &Z/\ M +9 &x]5\ M +9 &:\\/\ M +10 &\\.\ M +9 &![5\ M +10 &#[1\ N +9 &%AY8\ N +9 &'Y7\ N +10 &(Y7\ N +9 &*Z8\ N +9 &,IZ8\ N +10 &. Z8\ N +9 &/U8\ M +10 &1[8\ N +9 &3QW8\ N +9 &5X8\ N +10 &6W8\ N +9 &8U9\ M +9 &:ZW9\ M +10 &<Z4\ M +9 &=U7\ M +10 &?U7\ M +9 &AbX7\ M +9 &C"]7\ N +10 &D]7\ N +9 &Fk7\ O +9 &H]}7\ R +10 &J7\ S +9 &K7\ T +10 &M6\ S +9 &O`7\ S +9 &Q!,\ T +10 &R6\ T +9 &T6\ T +9 &Ve7\ T +10 &X'7\ T +9 &Y{r6\ 2 +14 &Z'm,\ N +5 &Z&(\ 0 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&|% +4 "core" %  g ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' + "processing"%R& +4 "core" &Z%#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&3% +3 "core" %\    +2 "storage"(.% +4 "core" %T z X\ + "storage"(e. +3 "core" .( +2 "storage"(&& +4 "core" & ^\ +2 "storage"([& +2 "manipulator"&a& +7 "core" & \ + &u  r  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&d(s + "storage"(\ 'i +5 "core" ( +2 "manipulator"&& +4 "core" &u Q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &u d  +2 .tForearm.seek PC +2 "manipulator"&}' +95 "core" ' +2 .tHand.close + "manipulator"&E/ +58 "core" / +2 .tPC.seek :open + "processing"%( +91 "core" ' + "storage"(u- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(q'y +47 "core" ' +288 ( +2 "storage"( & +4 "core" & \ + "manipulator"&<& +4 "core" &u   + "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&M'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&o( +269 "core" ( + "manipulator"&>& +4 "core" & t  +2 "storage"(4& +3 "core" & E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +94 "core" ' + .tHand.open +2 "manipulator"&J1 +59 "core" 1 +2 "storage"(2- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(C& +3 "core" & I \ +2 "manipulator"&r& +4 "core" & ^  +2 .tElbow.seek 2 + "manipulator"&O( +4 "core" ( + "manipulator"&Q& +4 "core" & '  + "storage"({& +4 "core" & \ +\ +\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Y' +62 "core" ' +2 "manipulator"&& +4 "core" & F  + "storage"(l& +4 "core" & '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&P' +27 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +25 "core" ' + "manipulator"&N% +4 "core" %  \ T +2 "storage"(^& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&:' +20 "core" ' + "manipulator"&W& +4 "core" & r  +2 "storage"(L& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +18 "core" ' +2 "storage"(T% +4 "core" %r /\ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +98 (*% +3 "core" %C )\ Wd +2 "manipulator"&]% +4 "core" %Ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & V\ +2 "collection"'b& +3 "core" &VZ ( +x\ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&m% +4 "core" %\   \ +2 "storage"(;% +3 "core" %R 6\ +2 "storage"(I. +3 "core" .( + "storage"(#& +4 "core" & i\ + "storage"(c& +4 "core" & 6\ +2 "manipulator"&=& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( + "manipulator"&X& +4 "core" &  }  + "storage"(%& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +95 "core" ' +3 "storage"(f& +4 "core" & X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +279 "core" ' +2 "storage"(5- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&7& +3 "core" & c  +2 "storage"(& +4 "core" & '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +36 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(`'W +28 "core" ' +2 "manipulator"&s% +4 "core" % )  + "storage"(& +4 "core" & l l }\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 313 counts + "manipulator"&F' +17 "core" ' + "manipulator"&& +4 "core" & o  +2 "storage"(w& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +51 "storage"()'F +41 "core" ' +2 "manipulator"&8& +4 "core" & K  +2 "manipulator"&t% +4 "core" %ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +164 "core" ( + "manipulator"&V& +4 "core" &)  1 ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &( 9 ?R +2 .tForearm.seek CC + "manipulator"&i'" +97 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(& +4 "core" & \ + "manipulator"&& +4 "core" &( ?Q + "manipulator"&x% +4 "core" % ) ] +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +155 "core" ( + "manipulator"&S& +4 "core" & &  +2 "storage"("& +4 "core" & \ \  "\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&n' +103 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&A1 +57 "core" 1 +2 "manipulator"&% +5 "core" % #   + "storage"(k& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&$' +14 "core" ' +3 "manipulator"&-& +4 "core" & :  + "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' + "storage"(/% +5 "core" %M \ \ +2 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (% +3 "core" %rC }\ Wb +2 "manipulator"&% +4 "core" %щ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&''\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'z& +4 "core" & \ Y\ + "manipulator"&~% +4 "core" %\    +2 "storage"(% +4 "core" %]\ \  \ +2 "storage"(y. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(1( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \  + "manipulator"&|& +4 "core" & _  +2 .tElbow.seek 3 + "manipulator"&R( +13 "core" ( +2 "manipulator"&3& +4 "core" & $ R X + "storage"(.& +4 "core" & p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +99 "core" ' + "storage"(&& +4 "core" &\ \  )\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +282 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & P\  + "manipulator"&& +4 "core" & 1 X +2 .tElbow.seek 3 + "manipulator"&!( +3 "core" ( +2 "manipulator"&& +4 "core" &  _ X + "storage"(E& +4 "core" & >\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&D& + "storage"(Z'X +6 "core" &  X +2 "manipulator"&\ % +4 "core" % Ϫ X q +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&<( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"& & +5 "core" &* 1 % @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &(  ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&>'" +100 "core" ' +2 "manipulator"&4& +4 "core" &( % P ?V +2 "manipulator"&d% +4 "core" %  \\ +3 "collection"'J& +4 "core" & h\ +2 "collection"'2& +5 "core" & \ \ +2 .tCC.seek :closed + "collection"'K(V +4 "core" & \ +8 & , \ #b +10 &W \ 7 +9 &~ \ L +9 &W \ L +10 &hZ \ M +9 &*X \ M +9 &Y \ M +10 &Y  \ M +9 &qY  \ M +10 &3Y  \ M +9 &Y \ M +9 &!Z  \ M +10 &#x\\ \ M +9 &%:Z \ M +9 &&Y  \ M +10 &(X  \ M +9 &*Y  \ M +10 &,DY \ M +9 &.W  \ M +9 &/Z  \ M +10 &1[  \ M +9 &3KY  \ M +9 &5 Z  \ M +10 &6Y  |\ M +9 &8W  \ L +10 &:SZ  \ M +9 &<[  \ M +9 &=\\  \ M +10 &?Z  \ M +9 &A[Y  \ M +9 &CZ z\ M +10 &D\\  \ N +9 &Fc  \ N +10 &HYs # $\ P +9 &J % '\ T +9 &K ( &\ W +10 &M & (\ X +9 &OI % (x\ Y +9 &Q ( *z\ X +10 &R & '\ Y +9 &T ( )~\ Y +10 &V)u ' )|\ . +9 &V% ' )}\ Q +9 ( + &V` ' *\ J +3 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&C1 +60 "core" 1 +3 "manipulator"&r% +4 "core" % % % y P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +4 "core" &V\ +2 "manipulator"&M% +4 "core" %\   +2 "storage"(% +3 "core" %U { S\ +2 "storage"(l. +3 "core" .( +2 "storage"(q& +3 "core" & k\  +2 "storage"(N& +3 "core" & \  +2 "manipulator"&^& +4 "core" &( 0 ?U + "manipulator"&\\% +4 "core" %\  5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +161 "core" ( + "manipulator"&L& +4 "core" &  R : +2 "storage"(T& +3 "core" & 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&o'9 +97 "core" ' +2 "storage"(?& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +286 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +7 "core" & I\  +2 "manipulator"&@& +3 "core" &  : +2 .tElbow.seek 3 + "manipulator"&O( +4 "core" ( + "manipulator"&Y& +4 "core" &  : + "storage"(P& +4 "core" & Y\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&:'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(m'X +7 "core" &  : +2 "manipulator"&;% +4 "core" % ϩ Y +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&((s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&#& +5 "core" &g % \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +2 "core" &g w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +95 "core" ' +2 "manipulator"&X& +4 "core" &g  + "manipulator"&%% +4 "core" % A  +2 "processing"%,& +4 "core" &D\ +2 "processing"%f& +6 "core" &B\ +2 .tPC.seek :closed +3 "processing"%v(Z +3 "core" &C\ +6 &C\ 4 +9 &9I{D\ 0 +9 &brC\ D +10 &eG\ N +9 &XD\ M +9 &X>\ M +10 &J\\E\ M +9 & WI\ N +10 &ZF\ N +9 &T<\ M +9 &Q[:\ N +10 &!Y9\ N +9 &"[.\ M +9 &$W7\ M +10 &&ZW,\ M +9 &(\\+\ N +10 &)Z6\ N +9 &+Y6\ M +9 &-aZ1\ N +10 &/#X5\ N +63 &0[5\ M +5 &2W8\ N + &4iY7\ N + &6+Y3\ N +5 &7U8\ N + &9[9\ N + &;qW7\ N + &=4U5\ M +6 &>W8\ M +9 &@Y7\ M +10 &By[8\ N +9 &D;Z9\ N +10 &Ec8\ O +9 &Gq7\ P +9 &Ip9\ S +10 &K28\ S +9 &L7\ T +9 &N8\ T +10 &Pv9\ T +9 &R77\ T +10 &S7\ U +9 &U8\ U +9 &W|7\ U +10 &Y>8\ B +10 &Z]Ao8\ ] +8 &Z38\ / +6 ( + "processing"%f& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&+1 +4 "core" &Z$4\ / +58 1 + "manipulator"&9% +4 "core" % $   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 "processing"%7& +4 "core" &Z$9\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(U% +4 "core" %R w l }\ + "storage"(s. +3 "core" .( +2 "storage"(& +4 "core" &  l\  +2 "storage"(& +2 "manipulator"&w& +7 "core" & K\  +2 &g \\ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&8(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(t'i +27 "core" ( + "manipulator"& & +5 "core" &l $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +2 "core" &l v +2 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' +2 .tHand.close + "manipulator"&H/ +63 "core" / +3 .tPC.seek :open + "processing"%F( +61 "core" ' +2 "storage"(`- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(V'y +42 "core" ' +319 ( +2 "storage"(_& +4 "core" & O\  + "manipulator"&& +4 "core" &m x + "manipulator"&h% +4 "core" % & +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +258 "core" ( + "manipulator"&g& +4 "core" &  j  +2 "storage"(& +4 "core" & <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(x- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(S'E +29 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' +2 "storage"(0& +3 "core" &\ \  G\  +2 "manipulator"&A& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&k& +3 "core" & )  +2 "storage"(-& +4 "core" &\ \ M\  +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +58 "core" ' + "manipulator"&G& +5 "core" &  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(n'i +25 "core" ' +2 "manipulator"&z% +4 "core" %ΐ 8  + "storage"(~& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&$'ϼ +25 "core" ' +2 "manipulator"&& +4 "core" & /  +2 "storage"(y& +4 "core" & U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&)'9 +30 "core" ' +2 "storage"(% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (j% +2 "core" %eL v\ Xh +2 "manipulator"&% +4 "core" % Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (3& +4 "core" & ;\  +2 "collection"'.& +4 "core" &V` ' (\ J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&&% +4 "core" %\  M  +2 "storage"(% +3 "core" %c W\ +2 "storage"('. +3 "core" .( + "storage"([& +4 "core" & \  +2 "storage"(& +3 "core" & q\  +2 "manipulator"&& +4 "core" & ]  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +3 "core" &  2  +2 "storage"(& +4 "core" & J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +87 "core" ' +2 "storage"(\ & +4 "core" & B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +280 "core" ' +2 "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & 0  +2 "storage"(a& +4 "core" & &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(!'X +27 "core" ' +2 "manipulator"&d% +4 "core" %Α 3 + "storage"(J& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&Z'Ͻ +20 "core" ' +2 "manipulator"& & +4 "core" & $ N  +2 "storage"(& +3 "core" & u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'G +41 "core" ' +2 "manipulator"&{& +4 "core" & D  + "manipulator"&M% +4 "core" %, +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +165 "core" ( +2 "manipulator"&q& +5 "core" &' ' a >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &&  B >N +2 .tForearm.seek CC +2 "manipulator"&2'" +92 "core" ' + .tHand.close +2 "manipulator"&^/ +55 "core" / +2 .tCC.seek :open + "collection"'\\( +416 "core" ( +2 "storage"(>& +4 "core" & "\  + "storage"(L& +4 "core" & (\  +2 "manipulator"&T& +3 "core" &' >M +2 "manipulator"&?% +3 "core" % " +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Q( +164 "core" ( + "manipulator"&*& +5 "core" &  l b + "storage"(]& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&@'} +101 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&P1 +55 "core" 1 +2 "manipulator"&% +4 "core" % Ό $ + "storage"(b& +4 "core" & A\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&;'ϸ +19 "core" ' +3 "manipulator"&W& +4 "core" & s b + "storage"(o& +53 "core" &\ \  a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +37 "core" ' + "storage"(:% +4 "core" %Q\ &\ \ t\ +3 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (c% +2 "core" %A \ Vb +2 "manipulator"&O% +4 "core" %%  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'%& +4 "core" & q\ +2 "manipulator"&,% +4 "core" %\  1 + "storage"(m% +4 "core" %^ \ "\ +2 "storage"(I. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & \ +2 "manipulator"&9& +3 "core" & ) b +2 .tElbow.seek 2 +2 "manipulator"&7( +44 "core" ( + "manipulator"&& +4 "core" &  ? $ +2 "storage"(U& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +107 "core" ' +2 "storage"(& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +281 "core" ' +3 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & a\ +2 "manipulator"& & +4 "core" & / !w + .tElbow.seek 2 +2 "manipulator"&p( +30 "core" ( +2 "manipulator"&=& +4 "core" & P q + "storage"(H& +4 "core" & |\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&`' +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&5& +2 "storage"(v'X +6 "core" &  q + "manipulator"&t% +4 "core" %  L D +2 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +26 "core" ( + "manipulator"&h& +5 "core" &* &  @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &* L @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'" +107 "core" ' + "manipulator"&& +4 "core" &* , C @\\ +2 "manipulator"&8% +4 "core" %& + "collection"'& +4 "core" & \ +2 "collection"'x& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'i(V +4 "core" & \ +6 &3 \ \ $d +10 &U~ \ \ 7 +9 &~ \ L +9 &U  \ M +10 &gZ \ M +9 &*X \ M +9 &Z \ M +10 &Y \ M +9 &qY \ M +10 &3Z \ M +9 &Z \ M +9 &!Z  \ M +10 &#wZ  \ M +9 &%:[ \ M +9 &&Y \ M +10 &(Y  \ M +9 &*Y \ M +10 &,CY \ M +9 &.Y \ M +9 &/Z  \ M +10 &1[ \ M +9 &3IY \ M +9 &5 Z  \ M +10 &6Y  \ M +9 &8W \ M +10 &:QY \ M +9 &<]  \ M +9 &=Z \ M +10 &?[ \ M +9 &AYY \ M +9 &CZ \ M +10 &DY  \ N +9 &Fe  \ N +10 &HZm $ #\ P +9 &J % %\ R +9 &K $ )\ U +10 &M & '\ X +9 &OJ & (\ X +9 &Q ' )\ X +10 &R ' (\ Y +9 &T ' \ Y +10 &V+v ) )\ . +9 &V ( )\ I +9 ( +2 &VY ) *\ E +2 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&01 +58 "core" 1 +4 "manipulator"&A% +4 "core" % & ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%-& +4 "core" &G\ +2 "manipulator"&% +4 "core" %\   + "storage"(G% +4 "core" %` *\ + "storage"(. +3 "core" .( +2 "storage"(V& +4 "core" & 5\ +2 "storage"(z& +3 "core" & b\ +2 "manipulator"&~& +4 "core" &*  2 @\\ + "manipulator"&S% +4 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( + "manipulator"&y& +5 "core" & [ z + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'i +282 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ +2 "manipulator"& & +3 "core" & = z +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" & V z + "storage"(& +4 "core" & B\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&$' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"(&'X +8 "core" & / z + "manipulator"&% +4 "core" % \  / +2 .tForearm.seek :retract +2 "manipulator"&''\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&[(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +109 "core" ( +2 "manipulator"&n& +4 "core" &u & w  +6 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&E& +4 "core" &w q  +2 "manipulator"&% +3 "core" %  * +2 "processing"%)& +4 "core" &W\ +2 "processing"%\ & +4 "core" &W\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &B\  +9 &4A\ *z +10 &eG\ ? +9 &uB\ O +9 &LUB\ M +10 & ZD\ M +9 &\\C\ N +9 &YJ\ M +10 &SUC\ M +9 &WA\ M +10 &Y?\ N +9 & Y>\ N +9 &"ZZ>\ N +10 &$U>\ M +9 &%ZB\ M +9 &'\\@\ M +10 &)cZ=\ M +9 &+%Z0\ M +10 &,Z5\ M +9 &.Z4\ M +9 &0k[.\ M +10 &2,\\-\ N +9 &3X7\ N +9 &5Y;\ N +10 &7sY8\ M +9 &95Z8\ M +10 &:T1\ M +9 &<U7\ M +9 &>zU7\ N +10 &@=\\8\ M +9 &AU8\ M +9 &C[7\ N +10 &E^7\ N +9 &G=m8\ P +10 &H8\ R +9 &J8\ T +9 &Ly9\ S +10 &N<8\ S +9 &O8\ T +9 &Q9\ T +10 &S8\ T +9 &U?8\ U +11 &W9\ T +8 &X9\ T +9 &Z(Tt8\ (w +10 &ZW6\ 2 +9 ( + &Z%8\ 0 +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&|% +4 "core" % $ 3 * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +96 "core" ' + "processing"% & +4 "core" &Z%0\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&a% +3 "core" %\    +2 "storage"(4% +4 "core" %b N\ + "storage"(d. +3 "core" .( +2 "storage"(J& +3 "core" & { \ +2 "storage"( & +4 "manipulator"&& +4 "core" & \ + &w  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&{(s + "storage"(M'i +5 "core" ( + "manipulator"&D& +4 "core" &w    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &w   +2 .tForearm.seek PC +2 "manipulator"&R' +95 "core" ' + .tHand.close +2 "manipulator"&}/ +59 "core" / +3 .tPC.seek :open +2 "processing"%Z( +87 "core" ' + "storage"(!- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(q'y +45 "core" ' +293 ( + "storage"(N& +4 "core" & i\ + "manipulator"&C& +55 "core" &w "  +2 "manipulator"&u% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +7 .tElbow.seek 2 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&K& +4 "core" & Z # + "storage"(>& +4 "core" & <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +95 "core" ' +2 .tHand.open + "manipulator"&T1 +60 "core" 1 +3 "storage"(?- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(]' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(l& +4 "core" & \ \  \ +6 "manipulator"&P& +4 "core" &  # +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&b& +4 "core" &  s # +2 "storage"(W& +3 "core" & \ \ C\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +3 "storage"(<' +61 "core" ' + "manipulator"&:& +5 "core" & d # + "storage"(Q& +4 "core" & X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&c' +23 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(@'i +23 "core" ' +2 "manipulator"&;% +4 "core" % v + "storage"(%& +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&,' +20 "core" ' +2 "manipulator"&m& +4 "core" &  # +2 "storage"(I& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +17 "core" ' + "storage"(B% +4 "core" %r \  +3 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (1% +3 "core" %aL \ Xg +2 "manipulator"&+% +4 "core" %ќ Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \ \ + "collection"'U& +4 "core" &VZ ' *V\ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ # ; +2 "storage"(Y% +3 "core" %b \ +2 "storage"(X. +3 "core" .( +2 "storage"(w& +3 "core" & \ +2 "storage"(& +4 "core" & [\ +2 "manipulator"& & +3 "core" & H # +2 .tElbow.seek 2 + "manipulator"&=( +4 "core" ( +2 "manipulator"&H& +4 "core" &  = # + "storage"((& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +90 "core" ' +2 "storage"(t& +4 "core" & 9\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +283 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&h& +3 "core" & _ # +2 "storage"(f& +4 "core" & V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&6' +33 "core" ' + .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('W +39 "core" ' + "manipulator"&8% +4 "core" % +2 "storage"(& +4 "core" & ~ v\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&v' +17 "core" ' + "manipulator"&_& +4 "core" &  0 # +2 "storage"(\\& +4 "core" & %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(A'F +41 "core" ' +2 "manipulator"&-& +4 "core" & [ # +2 "manipulator"&% +4 "core" %ь  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&x& +4 "core" &*  0 @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &* @[ +2 .tForearm.seek CC + "manipulator"&z'" +94 "core" ' + .tHand.close +2 "manipulator"&~/ +61 "core" / + .tCC.seek :open +2 "collection"'S( +416 "core" ( +2 "storage"(g& +4 "core" & \\\ +2 "storage"(y& +4 "core" & \ + "manipulator"&& +4 "core" &* b @X + "manipulator"&% +4 "core" % - o +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +155 "core" ( + "manipulator"&j& +4 "core" & - ~ +2 "storage"(& +4 "core" & 0\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"& ' +107 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&3% +4 "core" % d +2 "storage"(.& +4 "core" & `\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" & U ~ +2 "storage"(& +4 "core" & \ S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +29 "core" ' +2 "storage"($% +4 "core" %L\ \  %\ +2 ."downElevator"SE.seek :down +4 "storage"(n'X +98 (% +3 "core" %A h\ Vb +2 "manipulator"&% +3 "core" %ќ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  \ \ +2 "manipulator"&)% +4 "core" %\  !  +2 "storage"(&% +3 "core" %^\ \ \ +2 "storage"('. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(F( +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & C\ +2 "manipulator"&|& +3 "core" &  ~ +2 .tElbow.seek 3 +2 "manipulator"& ( +15 "core" ( + "manipulator"&a& +4 "core" &  B = +2 "storage"(4& +3 "core" & c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +99 "core" ' +2 "storage"(J& +4 "core" &\ $\  9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" & "\  +2 "manipulator"&D& +3 "core" &  = +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  = + "storage"(}& +4 "core" & <\  +51 .tForearm.seek 3 + 300 counts +3 "manipulator"&!'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"( 'X +7 "core" &  = +2 "manipulator"&M% +4 "core" % ς  ' +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&u& +4 "core" &(  M >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &'  s >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&K'" +99 "core" ' +3 "manipulator"&>& +4 "core" &( % + >H +2 "manipulator"&{% +4 "core" % + "collection"'T& +4 "core" &  \ \ +2 "collection"'?& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'2(V +4 "core" & \ \  +9 &/z  \ \ *y +10 &d \ > +9 &xr \ N +9 &<W \ M +10 &Z \ M +9 &Z \ \ M +9 &Y \ M +10 &DY \ M +9 &Y  \ M +10 &X \ M +9 & Y \ N +9 &"JY \ M +10 &$ V \ M +9 &%\\ \ M +9 &'Y \ M +10 &)SW \ M +14 &+Y \ M +4 &,W \ M +10 &.Y \ M +9 &0Z[ \ M +10 &2X \ N +9 &3Y \ M +9 &5W \ M +10 &7bZ \ M +9 &9%X \ M +10 &:Y  \ N +9 &<Z \ N +9 &>jZ  \ M +10 &@-Z \ M +9 &AY \ M +9 &CW \ M +10 &Eq`  \ N +9 &G0g  \ O +10 &Hy $ &\ Q +9 &J ' &\ U +9 &L[ $ &\ X +10 &N % '\ X +9 &O & (\ Y +9 &Q & '\ Y +10 &S] ' (\ Z +9 &U ' )\ Z +9 &VhB ) *\ 1 +10 &V\ r & *\ G +5 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&l1 +3 "core" &VZ ( *\ G +59 1 +2 "manipulator"&P% +5 "core" %  ' 7 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%W& +4 "core" &T\ + "manipulator"&^% +4 "core" %\     +2 "storage"(:% +3 "core" %\\ M\ +2 "storage"(Q. +3 "core" .( +2 "storage"(;& +4 "core" & \  + "storage"(q& +4 "core" & R\  + "manipulator"&%& +4 "core" &&  K =F +2 "manipulator"&m% +3 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&*( +161 "core" ( + "manipulator"&I& +5 "core" &  9 + "storage"(B& +4 "core" & K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(L& +4 "core" & 6\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +283 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" & 1\  + "manipulator"&o& +4 "core" & \\ 9 +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&<& +4 "core" & Q 9 +2 "storage"(c& +27 "core" & #\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&U& "storage"('X +8 "core" &  9 + "manipulator"&Y% +4 "core" % Ϝ ? +2 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&@(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +3 "manipulator"&w& +4 "core" &y ' [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &y '  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' +2 "manipulator"&H& +4 "core" &y  +2 "manipulator"&(% +3 "core" % Z +2 "processing"%r& +4 "core" &H\ +2 "processing"%t& +5 "core" &K\ +2 .tPC.seek :closed + "processing"%#(Z +5 "core" &L\ +7 &9E\ $d +9 &UJ\ 7 +9 &~L\ L +10 &ZO\ M +9 &^\\F\ N +9 &!VD\ M +10 &WB\ M +9 &ZF\ M +10 &f\\I\ N +9 &)ZH\ M +9 &YF\ M +10 &![C\ N +9 &#nZC\ N +9 &%1VC\ M +10 &&WE\ M +9 &(Z>\ N +10 &*vYG\ N +9 &,8WH\ N +9 &-\\K\ N +10 &/YA\ N +9 &1~W<\ N +9 &3AUF\ M +10 &5W=\ N +9 &6Z7\ N +9 &8Z8\ M +10 &:IX2\ M +9 &< W0\ M +10 &=Z+\ N +9 &?W6\ N +9 &AQV<\ M +10 &C\\2\ N +9 &D],\ N +10 &Fe0\ O +9 &HM}5\ Q +9 &J 6\ S +10 &K6\ T +9 &M2\ T +14 &ON6\ T +5 &Q6\ T +9 &R7\ T +10 &T2\ T +9 &VT7\ T +9 &X6\ U +10 &Yzr7\ 9 +9 &Z&g7\ Q +9 &Z.8\ 2 +3 ( + "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&O1 +57 "core" 1 + "manipulator"&9% +4 "core" % $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +100 "core" ' + "processing"%h& +4 "core" &Z+I\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&f% +3 "core" %\ " = +2 "storage"(p% +4 "core" %T \ + "storage"(8. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(_& +4 "manipulator"&\\& +4 "core" &  \  + &y +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&-(s + "storage"('i +5 "core" ( +2 "manipulator"&5& +4 "core" &y  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &y L +3 .tForearm.seek PC + "manipulator"&7' +94 "core" ' +2 .tHand.close + "manipulator"&6/ +54 "core" / +2 .tPC.seek :open + "processing"%v( +93 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +42 "core" ' +287 ( + "storage"(V& +4 "core" & s\  +2 "manipulator"&0& +3 "core" &y  +2 "manipulator"&`% +3 "core" % \  +2 .tForearm.seek :retract +2 "manipulator"&~'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +267 "core" ( + "manipulator"&i& +4 "core" &  W  +2 "storage"(g& +3 "core" & -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +96 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +3 "core" -' +2 "storage"(& +4 "core" & H <\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&3( +7 "core" ( +2 "manipulator"&.& +4 "core" &  d w + "storage"(& +4 "core" & I e\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"($' +63 "core" ' +2 "manipulator"&& +4 "core" & w +2 "storage"(& +3 "core" & %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +54 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +24 "core" ' +2 "manipulator"&% +4 "core" %΃  +2 "storage"(& +3 "core" & X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&)'ϯ +20 "core" ' +2 "manipulator"&&& +4 "core" & w +2 "storage"('& +4 "core" & S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +29 "core" ' +2 "storage"("% +4 "core" %s q\ +2 ."downElevator"SE.seek :down +4 "storage"(n'X +99 (% +2 "core" %J \ Xg +2 "manipulator"&% +4 "core" %B C y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" & \  +2 "collection"'4& +3 "core" &VZ ' (]\ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&J% +4 "core" %\    +2 "storage"(/% +3 "core" %a \ +2 "storage"(E. +3 "core" .( + "storage"( & +4 "core" & 3\  +2 "storage"(\ & +3 "core" & )\  +2 "manipulator"&D& +4 "core" & ) w + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +3 "core" &  { w +2 "storage"([& +3 "core" & I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +96 "core" ' + "storage"(M& +4 "core" & 0\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" &  w +2 "storage"(R& +4 "core" & Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +30 "core" ' +2 "manipulator"&{% +4 "core" %Ύ  + "storage"(T& +4 "core" & #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"& 'Ϻ +20 "core" ' +2 "manipulator"&N& +4 "core" & | w +2 "storage"(S& +3 "core" & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(P'G +38 "core" ' +3 "manipulator"&W& +4 "core" & w +2 "manipulator"&^% +3 "core" %F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q( +165 "core" ( + "manipulator"&;& +5 "core" &( $ ? ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &( ! ?S +2 .tForearm.seek CC +2 "manipulator"&q'" +94 "core" ' +2 .tHand.close + "manipulator"&%/ +52 "core" / +2 .tCC.seek :open + "collection"'m( +417 "core" ( + "storage"(K& +4 "core" & \  +2 "storage"(I& +3 "core" & \  +2 "manipulator"&B& +4 "core" &( j ?Q + "manipulator"&L% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&C'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b( +159 "core" ( +2 "manipulator"&1& +4 "core" & [ f + "storage"(+& +4 "core" &\ \  |\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&o'} +92 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +64 "core" 1 +2 "manipulator"&,% +4 "core" % Ώ \ +2 "storage"(U& +3 "core" &\ \  @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&Y'ϻ +20 "core" ' +2 "manipulator"&*& +4 "core" &  f +2 "storage"(& +4 "core" &\ &\ & q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&]'9 +27 "core" ' + "storage"(% +4 "core" %K\ #\ % I\  +2 ."downElevator"SE.seek :down +3 "storage"(w'X +100 (% +2 "core" %sD Y\ Wd +2 "manipulator"&% +4 "core" %y 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'(& +4 "core" &  |\ +2 "manipulator"&r% +3 "core" %\ 3 +2 "storage"(% +4 "core" %S\ \  \ + "storage"(X. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Z( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (O& +3 "core" & a\ +2 "manipulator"&9& +3 "core" &  f +2 .tElbow.seek 2 +2 "manipulator"&h( +36 "core" ( + "manipulator"&f& +5 "core" & S ( + "storage"(p& +4 "core" & q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +92 "core" ' +2 "storage"(& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'i +285 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" & ]\ +2 "manipulator"&5& +4 "core" &  ' + .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"& & +3 "core" &  ` ' +2 "storage"(6& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(#'X +7 "core" & : ' +2 "manipulator"&% +4 "core" % \ B 4 +2 .tForearm.seek :retract + "manipulator"&V'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&0( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&`& +4 "core" &* % @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +2 "core" &*  @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'" +101 "core" ' +2 "manipulator"&g& +4 "core" &* 5 @\\ +2 "manipulator"&-% +4 "core" %*  +2 "collection"'& +4 "core" &  \ +2 "collection"'& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"'z(V +5 "core" &  \  +9 &3~  \ \ *y +9 &f  \ \ ? +10 &s \ \ N +9 &ET \ \ M +9 &Z \ \ M +10 &Y \ M +9 &Y \ M +10 &KY \ \ M +9 &U \ M +9 &Y \ \ M +10 & Z \ \ M +9 &"TZ \ M +9 &$Z \ \ M +10 &%\\ \ \ M +9 &'Z \ M +9 &)]X  \ M +10 &+Z \ M +9 &,W \ \ M +10 &.Y \ M +9 &0d\\ \ \ M +10 &2%Y \ M +9 &3Y \ M +9 &5X \ M +9 &7lY \ M +10 &9/Y  \ M +9 &:Z \ M +10 &<Z \ M +9 &>tZ \ M +9 &@6Y \ M +10 &AY \ M +9 &C\\ \ M +9 &E{_  \ M +10 &G8e  \ O +9 &Hq " $\ P +10 &J & (\ S +9 &Lg % '\ W +9 &N( % '\ W +10 &O ' '\ Y +9 &Q ' (\ X +9 &Sh ' (\ Y +10 &U) % '\ Y +9 &VrC ) )\ 0 +10 &Ve ' )\ H +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&1 +3 "core" &V_ ) )\ H +50 1 +2 "manipulator"&% +53 "core" % * Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &U\ +2 "manipulator"&~% +4 "core" %\   + "storage"(% +4 "core" %a \ + "storage"(. +3 "core" .( +2 "storage"(x& +4 "core" & \ + "storage"(j& +4 "core" & f\ +2 "manipulator"&& +3 "core" &) P @W +2 "manipulator"&% +4 "core" %\  O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&&( +149 "core" ( +2 "manipulator"&'& +4 "core" &  .  +2 "storage"(G& +4 "core" & $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +95 "core" ' +2 "storage"("& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ + "manipulator"&& +5 "core" & _  + .tElbow.seek 2 +2 "manipulator"&3( +3 "core" ( + "manipulator"&$& +4 "core" & )  +2 "storage"(& +3 "core" & 4\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&)' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&4& +2 "storage"(J'X +7 "core" & \  +2 "manipulator"&/% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +120 "core" ( +3 "manipulator"& & +4 "core" &{ & k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +2 "core" &{ /  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +93 "core" ' +2 "manipulator"&}& +4 "core" &{  $  +2 "manipulator"&[% +4 "core" % 4 @ +2 "processing"%A& +4 "core" &V\ +2 "processing"%M& +5 "core" &A\ +2 .tPC.seek :closed + "processing"%n(Z +4 "core" &A\ +8 &BL\ $e +10 &WK\ 7 +9 &~K\ L +9 &YJ\ M +10 &r\\K\ M +9 &4ZE\ M +9 &UC\ M +10 &UK\ M +9 &yWJ\ N +10 &<YD\ M +9 &WB\ N +9 &!YK\ N +10 &#YK\ N +9 &%CYC\ N +9 &'UK\ M +10 &([E\ M +9 &*\\D\ M +10 &,L\\E\ M +9 &.\\C\ M +9 &/ZB\ M +10 &1Z@\ N +9 &3TYB\ M +9 &5UC\ M +10 &6WB\ M +9 &8WA\ M +10 &:\\Z=\ M +9 &<Y<\ N +9 &=W=\ M +10 &?U7\ M +9 &AeT5\ M +9 &C%]<\ N +10 &D`7\ N +9 &Fk8\ O +10 &H`}9\ Q +9 &J-\ S +9 &K3\ T +10 &M2\ S +9 &Oa3\ T +10 &Q$6\ S +9 &R2\ T +9 &T+\ T +10 &Vf)\ U +9 &X(0\ U +9 &Yym8\ 2 +10 &Z(r7\ N +9 &Z&4\ / +2 ( +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&k1 +60 "core" 1 + "manipulator"&|% +4 "core" % $ 4 @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +94 "core" ' +2 "processing"%u& +4 "core" &Z%I\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&R% +4 "core" %\   d  +2 "storage"(>% +4 "core" %` v \  + "storage"({. +3 "core" .( +2 "storage"(T& +3 "core" & t \ +2 "storage"(N& +4 "manipulator"&S& +4 "core" & y \ + &{ W  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&W(s + "storage"(^'i +5 "core" ( +2 "manipulator"&e& +3 "core" &{ $ ^  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &{   +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tPC.seek :open +2 "processing"% ( +94 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +43 "core" ' +289 ( +2 "storage"(?& +4 "core" & \ + "manipulator"&l& +4 "core" &{   + "manipulator"&!% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&%'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +259 "core" ( + "manipulator"&2& +4 "core" &  K  +2 "storage"(K& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&I'ќ +88 "core" ' + .tHand.open +2 "manipulator"&B1 +63 "core" 1 + "storage"(L- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(1'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(+' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' + "storage"(Q& +4 "core" & \ F\ +2 "manipulator"&c& +3 "core" & M  +2 .tElbow.seek 2 + "manipulator"&,( +4 "core" ( + "manipulator"&U& +4 "core" &  + "storage"(*& +4 "core" & \ E\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +61 "core" ' + "manipulator"&C& +4 "core" & c  +2 "storage"(& +4 "core" & I\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&' +30 "core" ' +2 .tElbow.hold + "manipulator"&b, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(o'i +24 "core" ' + "manipulator"&(% +4 "core" % G + +2 "storage"(Y& +4 "core" & k\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&r' +21 "core" ' +3 "manipulator"&& +4 "core" & d  +2 "storage"(X& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +20 "core" ' + "storage"(]% +5 "core" %r B\ +2 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (F% +3 "core" % D l\ Wd +2 "manipulator"&O% +4 "core" %ъ E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" & \ +2 "collection"'p& +3 "core" &V_ ( '\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ &  +2 "storage"(<% +3 "core" %R \ +2 "storage"(H. +3 "core" .( + "storage"(\\& +4 "core" & >\ + "storage"(_& +4 "core" & P\ +2 "manipulator"&5& +3 "core" & >  +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&6& +4 "core" & ,  + "storage"(@& +4 "core" & E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +94 "core" ' + "storage"(& +4 "core" & \\\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +287 "core" ' +2 "storage"(8- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&`& +2 "core" &   +2 "storage"(7& +53 "core" & A\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&t' +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(-'W +29 "core" ' + "manipulator"&=% +5 "core" %  + "storage"(& +4 "core" & ~ 0\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&#' +19 "core" ' + "manipulator"&V& +4 "core" & v  +2 "storage"(m& +4 "core" & ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('F +40 "core" ' +2 "manipulator"&& +4 "core" & 0  + "manipulator"&% +5 "core" %х a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( + "manipulator"&& +5 "core" &( $ ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +2 "core" &( ?P +2 .tForearm.seek CC +2 "manipulator"&j'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"('& +4 "core" & \ + "storage"(G& +4 "core" & \ + "manipulator"&i& +4 "core" &( } ?P + "manipulator"&"% +4 "core" % 0 | +2 .tForearm.seek :retract + "manipulator"&0'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.( +160 "core" ( +2 "manipulator"&& +4 "core" & / { + "storage"(& +4 "core" & \ \  @\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +95 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&a% +5 "core" %  g + "storage"(4& +4 "core" & {\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 322 counts + "manipulator"&/'" +18 "core" ' +2 "manipulator"&&& +4 "core" & N { +2 "storage"(y& +3 "core" & \ '\ & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"()% +4 "core" %O\ #\ % S\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (\ % +3 "core" %F L\ Vb +2 "manipulator"&3% +4 "core" %х +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'[& +4 "core" &  \ +2 "manipulator"&A% +4 "core" %\    + "storage"(J% +4 "core" %`\ \  \ + "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(v( +337 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" & b\ + "manipulator"&|& +4 "core" & J { +2 .tElbow.seek 3 + "manipulator"&u( +12 "core" ( +2 "manipulator"&R& +4 "core" &  ^ + "storage"(>& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +100 "core" ' +2 "storage"(T& +4 "core" &\ '\ ' z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +281 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" & #\  +2 "manipulator"&e& +4 "core" &  ^ + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&D& +3 "core" & U ^ +2 "storage"(& +3 "core" & F\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(n'X +8 "core" & / ^ + "manipulator"&^% +4 "core" % Ϭ  +2 .tForearm.seek :retract + "manipulator"&?'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +26 "core" ( + "manipulator"&!& +4 "core" & - 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &   2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&2'" +101 "core" ' +2 "manipulator"&K& +4 "core" & % B 2 +3 "manipulator"&W% +3 "core" %   +2 "collection"'B& +4 "core" &  T\ +2 "collection"'L& +4 "core" &  @\ +2 .tCC.seek :closed +2 "collection"'q(V +4 "core" &  E\  +9 &1~  F\ *x +9 &c  _\ > +10 &ys  \ M +9 &;X  \ W\ M +9 &Y  7\ M +10 &X  O\ M +9 &Y  \ \ M +10 &CY  S\ M +9 &Y G\ M +9 &W \ M +10 & Z  \ \ M +9 &"KY \ \ M +9 &$ Y  \ M +10 &%Z \ M +9 &'X \ M +10 &)SW  \ M +9 &+Y \ M +9 &,W \ \ M +10 &.Y \ M +9 &0\\Z \ \ M +9 &2X \ M +10 &3X \ \ M +9 &5W \ M +10 &7dY \ M +9 &9%Z  \ M +9 &:X  \ M +10 &<Z \ M +9 &>jY \ M +9 &@,Y \ M +10 &AU \ M +9 &CY \ \ M +10 &Eq_  \ N +9 &G0i  \ O +9 &Hy % &\ Q +10 &J & &\ U +9 &L[ $ '\ X +9 &N $ (\ X +10 &O & *\ Z +9 &Q % '\ X +10 &SV ' )\ ] +9 &U ' *\ \\ +9 &V`D ' )\ 6 +10 &V & *\ Z +5 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&Q1 +3 "core" &V{ ( )\ Z +59 1 +3 "manipulator"&c% +4 "core" %  & 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%*& +4 "core" &b\ + "manipulator"&%% +4 "core" %\  ~  + "storage"(C% +4 "core" %_ x E\ + "storage"(. +3 "core" .( +2 "storage"((& +3 "core" & y \  +2 "storage"(Y& +4 "core" &  *\  + "manipulator"&;& +4 "core" & { 2 + "manipulator"&1% +4 "core" %\  {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +159 "core" ( + "manipulator"&X& +4 "core" &  G g +2 "storage"(]& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +94 "core" ' +2 "storage"(I& +4 "core" & D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'i +277 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" & ]\  +2 "manipulator"&& +4 "core" &  g + .tElbow.seek 3 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&& +4 "core" &  M g + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&r'ϩ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&p& "storage"('X +8 "core" & ' g + "manipulator"&<% +4 "core" % ϫ  , +2 .tForearm.seek :retract +2 "manipulator"&H'\ +101 "core" ' + .tElbow.seek PC +51 "manipulator"&o(s +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +138 "core" ( +2 "manipulator"&\\& +4 "core" &g 4 ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +2 "core" &g - ? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +91 "core" ' +2 "manipulator"&6& +4 "core" &g = ? +2 "manipulator"&@% +4 "core" % = > +2 "processing"%P& +4 "core" &e\ +2 "processing"%& +5 "core" &M\ +2 .tPC.seek :closed + "processing"%w(Z +5 "core" &K\ +7 &AH\ $e +9 &U~F\ 7 +10 &}A\ L +9 &XA\ M +9 &m\\J\ N +10 &0ZN\ M +9 &UL\ M +10 &WE\ N +9 &v[I\ M +9 &8WJ\ M +10 &WJ\ N +9 &!UJ\ M +9 &#~YL\ M +10 &%?ZO\ N +9 &'WD\ N +10 &(TF\ M +9 &*WL\ M +9 &,HZL\ M +10 &. VM\ N +9 &/TX\ M +9 &1VS\ M +10 &3PUL\ M +9 &5VK\ M +10 &6ZL\ N +9 &8WD\ M +9 &:XVK\ M +10 &<VQ\ M +9 &=TE\ M +9 &?U@\ M +10 &A`T=\ M +9 &C!\\>\ N +10 &D[O\ N +9 &FhE\ O +9 &H[y@\ R +10 &JJ\ T +9 &K;\ T +9 &M6\ S +10 &O^1\ S +9 &Q +\ S +10 &RA\ T +9 &T:\ T +9 &Vb<\ U +10 &X$@\ U +9 &Y{p7\ 2 +9 &Z+|@\ K +10 &Z8\ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&b1 +62 "core" 1 +2 "manipulator"&9% +4 "core" %  t > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +99 "core" ' +2 "processing"%`& +4 "core" &Z;\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&7% +3 "core" %\ \ D  +2 "storage"(g% +4 "core" %b P\ + "storage"(=. +3 "core" .( +2 "storage"(& +3 "core" &  O\  +2 "storage"(V& +2 "manipulator"&m& +6 "core" &  B\  +2 &g  ? + .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +20 "core" ( + "manipulator"&s& +5 "core" &k  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k  \ +2 .tForearm.seek PC + "manipulator"&h' +96 "core" ' + .tHand.close +2 "manipulator"&t/ +62 "core" / +3 .tPC.seek :open +2 "processing"%#( +71 "core" ' +2 "storage"(-- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +313 ( +2 "storage"(x& +4 "core" & z\  +2 "manipulator"&& +3 "core" &k P \ +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&~( +260 "core" ( + "manipulator"&z& +4 "core" &  F \ +2 "storage"('& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +93 "core" ' +2 .tHand.open + "manipulator"&i1 +53 "core" 1 +2 "storage"("- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +46 "core" ' +3 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(& +4 "core" & O -\  +2 "manipulator"&& +3 "core" &  \ +2 .tElbow.seek 3 + "manipulator"&a( +8 "core" ( +2 "manipulator"&4& +4 "core" & R + "storage"(&& +4 "core" & J \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +59 "core" ' + "manipulator"&0& +4 "core" & +2 "storage"(\ & +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&3'} +24 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&[% +5 "core" %· ? + "storage"(/& +4 "core" & }\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&A'ϳ +20 "core" ' + "manipulator"&J& +5 "core" & n + "storage"(E& +4 "core" & u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +30 "core" ' + "storage"(% +5 "core" %r 2\ +2 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (Z% +3 "core" %D \ We +2 "manipulator"&k% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (R& +4 "core" & S\  + "collection"'>& +4 "core" &V{ ' )\ Z +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&T% +4 "core" %\    +2 "storage"($% +4 "core" %` \ + "storage"(}. +3 "core" .( +2 "storage"(S& +4 "core" & \  +2 "storage"(M& +3 "core" & {\  +2 "manipulator"&e& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&D( +4 "core" ( + "manipulator"&& +4 "core" & k + "storage"( & +4 "core" & o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +98 "core" ' +2 "storage"(^& +4 "core" & l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'i +287 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +2 "core" & i +2 "storage"(N& +4 "core" & *\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(K'X +30 "core" ' +2 "manipulator"&W% +4 "core" %Ύ  + "storage"(B& +4 "core" & ~ P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&n'Ϻ +21 "core" ' + "manipulator"&?& +4 "core" & d +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Q'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'G +38 "core" ' + "manipulator"&*& +4 "core" &  +2 "manipulator"&%% +5 "core" %" b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&(& +4 "core" & % 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" & n 7 +2 .tForearm.seek CC +2 "manipulator"&Y'" +94 "core" ' + .tHand.close + "manipulator"&;/ +57 "core" / +2 .tCC.seek :open + "collection"'1( +417 "core" ( + "storage"(2& +4 "core" & \  + "storage"(X& +4 "core" & \  +2 "manipulator"&]& +3 "core" & r 4 +2 "manipulator"&I% +3 "core" % X +2 .tForearm.seek :retract +43 "manipulator"&l'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +164 "core" ( + "manipulator"&F& +5 "core" &  3 j + "storage"(O& +4 "core" &\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'} +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"&f% +4 "core" % Ώ  - +2 "storage"(p& +4 "core" & Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&<'ϻ +20 "core" ' +2 "manipulator"&& +4 "core" & \\ j + "storage"(:& +4 "core" &\ \ \ d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +25 "core" ' +2 "storage"(r% +4 "core" %I\ #\ & $\  +2 ."downElevator"SE.seek :down +4 "storage"(\\'X +99 (_% +2 "core" %tG \ Wd +2 "manipulator"&,% +4 "core" %w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2596 "Can"~\ /- +1790 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58202 "Can"\ /- +2524 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57468 "Can"\ /-t +3257 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56736 "Can"\ 0,u +3987 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +56006 "Can"\ /-o +4717 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +55276 "Can"\ /-u +5443 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54550 "Can"\ /-s +6168 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +53825 "Can"\ /-u +6891 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53102 "Can"\ /-t +7619 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52374 "Can"\ /-v +8347 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51647 "Can"\ /,u +9075 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50918 "Can"\ /-} +9801 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +45946 #t-> exit +5 #mEXIT @1673026192.53EST @1670945975.35EST = =tMAIN =mMAIN_scheduler @EST1670945977.23 #"core_reset"Sent BREAK +2 #t@21967 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +397 "Can"H\ b + H\ b + #tPolling Can every 10:00 +13 #Cleanly exited at 12:29:52EST06-Jan-23 +646 #-> ESP.ready! +3 #Powering core bus @EST1675085910.57 .Gate.power :raw,:ON +3 "sampler") +20 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" %:\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %   + .tSS.configure :default +3 "sampler")#.0X\ + .tCC.reconfigure :default +3 ."openPC"PC.reconfigure :default +5 "collection"'$x2 ^22b +2 "processing"%$x2 ^22b +2 .tCC.home.seek :open +4 ."openPC"PC.home.seek :open +2 "collection"'*( + "processing"%+( +280 "core" ( +10 ( +2 "collection"', +3 "core"  +2 "processing"%- +3 "core" V +2 "processing"%. +2 "core"  +2 "processing"%/ +3 "core" A +2 "collection"'0% +3 "core" %w\ +2 "processing"%1% +4 "core" %\ + "sampler")2% +4 "core" % \ y +2 "collection"'3& +3 "core" &t\  +3 "processing"%4& +3 "core" &\  +2 "manipulator"&5% +4 "core" %\    + "manipulator"&6& +4 "core" &  W ' +2 "storage"(7& +3 "core" & z\  +2 "storage"(8% +4 "core" %N s\ + "collection"'99 +3 "core" 9r +2 "processing"%:9 +3 "core" 9i_ +1627 #t-> Puck.count +2 "storage"(;% +3 "core" %N\  ]\ +2 .tSE.seek :down +2 "storage"(<'X +3 "core" ' + .tSE.stop + "storage"(5 +2 .tHand.open +2 "manipulator"&=1 +52 "core" 1 +2 "manipulator"&>% +4 "core" % \  ( Y  +2 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(?(S +655 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &U A\ + "manipulator"&A& +4 "core" &   ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&B(. +33 "core" ( + "manipulator"&C& +4 "core" &7 ( U  +2 "storage"(D& +4 "core" &W\ \  T\ +2 .tForearm.seek 1 + 700 counts + "manipulator"&E'ѷ +87 "core" ' +2 "storage"(F& +4 "core" &W\ $\  \ +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +268 "core" ' +2 "storage"(H- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I% +2 "core" %q W\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +100 (K% +4 "core" %PD e\ We +2 "manipulator"&L% +4 "core" %ѿ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +96 "core" ' +66 ' +36 ."downElevator"SE.stop +7 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(N( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (O& +3 "core" & \  + "manipulator"&P& +4 "core" &7\ _  +2 .tElbow.seek 2 + "manipulator"&Q( +14 "core" ( +2 "manipulator"&R& +4 "core" & &  +2 "storage"(S& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +97 "core" ' + "storage"(U& +5 "core" & \ '\  @\  + .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'i +303 "core" ' +2 "storage"(W- +3 "core" -'7 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (X% +3 "core" % ; P\ +2 ."downElevator"SE.seek :down +3 "storage"(Y'X +100 (Z% +2 "core" %> M\ Va +2 "manipulator"&[% +4 "core" %љ k r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(]( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" & M\  + "manipulator"&_& +4 "core" &  \\  +2 .tElbow.seek 3 + "manipulator"&`( +12 "core" ( + "manipulator"&a& +5 "core" & ) i o + "storage"(b& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +95 "core" ' +2 "storage"(d& +4 "core" &\ $\  \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +307 "core" ' +2 "storage"(f- +75 "core" -'< +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g% +3 "core" % ; \ +2 ."downElevator"SE.seek :down +3 "storage"(h'X +100 (i% +2 "core" %> J\ Va +2 "manipulator"&j% +4 "core" %> d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(l(,l +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &,k 6\  + "manipulator"&n& +4 "core" & * = o +2 .tElbow.seek 4 +2 "manipulator"&o( +4 "core" ( + "manipulator"&p& +4 "core" & ' H o + "storage"(q& +4 "core" &,h i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&r'Ѽ +94 "core" ' +2 "storage"(s& +4 "core" &,h\ (\ ( 1\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'i +273 "core" ' + "storage"(u- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v% +3 "core" %n \  C\ +2 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (x% +3 "core" %I g\ Wf + "manipulator"&y% +4 "core" %ѷ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"({(<* +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &<' 0\  +2 "manipulator"&}& +4 "core" & C o + .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" & o + "storage"(& +5 "core" &<$\ \  B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&'ы +89 "core" ' +2 "storage"(& +4 "core" &<$\ %\  #\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +270 "core" ' + "storage"(- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" %r 5\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %[D \ Wd +2 "manipulator"& % +3 "core" %ь h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ +93 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +333 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &K s\  + "manipulator"& & +4 "core" &   o +2 .tElbow.seek 6 + "manipulator"&( +34 "core" ( + "manipulator"&& +4 "core" &\ & ] +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'a +100 "core" ' + "storage"(& +4 "core" &K\ \  =\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +272 "core" ' + "storage"(- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" %b n\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %rD \ Wf +2 "manipulator"&% +3 "core" %\\ f a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +329 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &[ \ +2 "manipulator"&"& +3 "core" & ] +2 .tElbow.seek 7 + "manipulator"&%( +31 "core" ( + "manipulator"&'& +4 "core" & & m ~ +2 "storage"()& +4 "core" &[\  A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&('w +87 "core" ' +2 "storage"(& +4 "core" &[\ '\  \  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +270 "core" ' + "storage"(#- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (,% +3 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +98 (.% +3 "core" %F \ Wf + "manipulator"&/% +4 "core" %q ] ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +1344 #t-> require 'shuffle.rb' +1267 #-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" &O\  +2 "manipulator"&2% +4 "core" %\  {  + "storage"(3% +4 "core" %b\ \  4\  + "storage"(4. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(5( +1598 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" & @\ +2 "manipulator"&7& +4 "core" & ~ + .tElbow.seek 2 +2 "manipulator"&8( +12 "core" ( +2 "manipulator"&9& +4 "core" & ' u j + "storage"(:& +4 "core" & r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +92 "core" ' +2 "storage"(=& +4 "core" & \ \ & >\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'i +282 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" & \ + "manipulator"&!& +4 "core" & j +2 .tElbow.seek 2 + "manipulator"&@( +3 "core" ( +2 "manipulator"&A& +3 "core" & ' q j +2 "storage"(C& +4 "core" & R\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&D' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&$& + "storage"(&'X +8 "core" & j + "manipulator"&H% +4 "core" % x E +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&L& +4 "core" &%   <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &% ) <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'" +100 "core" ' + "manipulator"&J& +4 "core" &&  ? <> +2 "manipulator"&?% +4 "core" %% r +2 "collection"'O& +4 "core" &\  +2 "collection"'P& +6 "core" &}\  +2 .tCC.seek :closed + "collection"'R(V +5 "core" &N\  +7 &IL\ %h +9 &vWP\ 8 +10 &L\ M +9 &\\M\ N +10 &KaO\ N +9 & \\P\ N +9 &`P\ O +10 &^G\ N +9 &S_H\ N +9 &`K\ N +10 &]N\ O +9 &!\\P\ O +10 &#[[N\ N +9 &%]K\ N +9 &&^K\ N +10 &(^L\ N +9 &*b]F\ O +9 &,%\\B\ N +10 &-ZF\ N +9 &/`M\ N +10 &1k]@\ N +9 &3-ZM\ N +9 &4_J\ N +10 &6]A\ O +9 &8s\\C\ N +9 &:5\\C\ N +10 &;^;\ N +9 &=a>\ N +10 &?z^0\ O +9 &A=^6\ N +9 &B_(\ O +14 &Dg4\ O +5 &F}o  8\ P +9 &H<x.\ Q +10 &I(\ T +9 &K+\ W +10 &Mm'\ Y +9 &O/'\ Y +9 &P*\ Y +10 &R(\ Z +9 &To &\ [ +9 &V t"\ 5 +10 &V% *\ "f +9 ( +42 "collection"'P& +13 "core" &Vp (\ Q + &Vq1\ Q + &Vp 4\ Q + &Vq/\ Q + &Vp.\ Q &Vq'\ Q +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&S1 +60 "core" 1 +2 "manipulator"&U% +4 "core" % %  I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%M& +4 "core" &\  + "manipulator"&W% +4 "core" %\   @  +2 "storage"(X% +4 "core" %T x K\ + "storage"(Z. +3 "core" .( +2 "storage"([& +4 "core" & k w @\ + "storage"(V& +4 "core" & { y F\ +2 "manipulator"&T& +4 "core" &#   :0 + "manipulator"&Y% +4 "core" %\   g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&N( +167 "core" ( +2 "manipulator"&^& +4 "core" & % %  +2 "storage"(_& +3 "core" & ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +93 "core" ' + "storage"(b& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'i +289 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\\& +3 "core" & | \ +2 "manipulator"&f& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&g( +3 "core" ( + "manipulator"&i& +4 "core" &  e  + "storage"(j& +4 "core" & ,\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&e' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(]'X +8 "core" &    + "manipulator"&m% +4 "core" %   ! H +2 .tForearm.seek :retract +2 "manipulator"&n'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +3 "manipulator"&q& +4 "core" &l % T \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &l  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`' +98 "core" ' +2 "manipulator"&k& +4 "core" &l ' \ +2 "manipulator"&u% +3 "core" %  +2 "processing"%v& +4 "core" &+\  +2 "processing"%x& +5 "core" &,\  +2 .tPC.seek :closed + "processing"%y(Z +4 "core" &\ \  +9 &6~\ +{ +9 &d\ ? +10 &^z\ O +9 &!\\\ N +9 &\\\ N +10 &`\ O +9 &ga\ N +10 &([\ O +9 &\\\ O +9 &[\ O +10 & n\\\ O +9 &"1Z\ N +9 &#[\ N +10 &%\\\ O +9 &'v`\ O +10 &)8_\ O +9 &*Z\ N +9 &,Z\ N +10 &.[\ N +9 &0@_\ O +9 &2_\ N +10 &3\\\ N +9 &5\\\ O +9 &7H_\ O +10 &9 _\ O +9 &:[ \ N +10 &<^\ O +9 &>QY\ N +9 &@^\ N +10 &A\\\ N +9 &C_\ N +9 &EUe\ P +10 &Gr\ Q +9 &H\ S +10 &J\ T +9 &LO \ T +9 &N\ T +10 &O\ U +9 &Q \ U +9 &SU \ U +10 &U\ U +9 &V\ U +10 &X \ U +9 &Zg\ ({ +9 &Zg \ 5 +9 ( +3 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&t1 +4 "core" &Z# \ . + &Z$ \ . +55 1 + "manipulator"&r% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w'\ +98 "core" ' + "processing"%l& +4 "core" &Z$\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&|% +3 "core" %\ !  w 2 +2 "storage"(}% +4 "core" %b j j \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & ` i a\ +2 "storage"(& +5 "manipulator"&o& +3 "core" & j j \ +2 &l   \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(z'i + "manipulator"&(s +5 "core" ( +2 "manipulator"&& +4 "core" &l 1 \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l \ +2 .tForearm.seek PC + "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'y +42 "core" ' +290 ( +2 "storage"( & +4 "core" & \ + "manipulator"& & +4 "core" &l \ + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +258 "core" ( + "manipulator"&~& +4 "core" & %  +2 "storage"(\ & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +85 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & \  <\ + "manipulator"& & +4 "core" & z  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" & %  + "storage"('& +4 "core" & \  ?\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&& +4 "core" & 5  +6 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#' +29 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +24 "core" ' + "manipulator"&/% +5 "core" % W , + "storage"(& +4 "core" & ]\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&(' +18 "core" ' + "manipulator"&-& +5 "core" &  +2 "storage"(1& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +27 "core" ' + "storage"(3% +5 "core" %o s\  +2 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (% +3 "core" %cG \ Xh +2 "manipulator"&6% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (9& +4 "core" & \ +2 "collection"':& +3 "core" &Vp"\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&=% +4 "core" %\  f  +2 "storage"(%% +4 "core" %b \ + "storage"(0. +3 "core" .( +2 "storage"( & +4 "core" & \ +2 "storage"(<& +3 "core" & \\\ +2 "manipulator"&!& +4 "core" & n  +2 .tElbow.seek 2 + "manipulator"&A( +4 "core" ( + "manipulator"&C& +4 "core" &  `  + "storage"(F& +4 "core" & N\ +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +95 "core" ' +2 "storage"(H& +5 "core" & s\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +283 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & o  + "storage"(G& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&>' +34 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(?'W +32 "core" ' + "manipulator"&O% +4 "core" % j + "storage"(@& +9 "core" & j j }\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&&' +18 "core" ' + "manipulator"&I& +5 "core" &    + "storage"(*& +4 "core" & N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&S'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'F +40 "core" ' + "manipulator"&M& +4 "core" &   +2 "manipulator"&W% +4 "core" %ѝ ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +155 "core" ( + "manipulator"&[& +5 "core" &' % : >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &' ) ` >J +2 .tForearm.seek CC +2 "manipulator"&P'" +93 "core" ' + .tHand.close +2 "manipulator"&T/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Y( +416 "core" ( + "storage"(E& +4 "core" & 7\ +2 "storage"(^& +3 "core" & A\ +2 "manipulator"&_& +46 "core" &'  h =C +11 "manipulator"&b% +4 "core" % 6  U  +2 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +154 "core" ( +2 "manipulator"&Q& +4 "core" &   +2 "storage"(\\& +3 "core" & \ \  F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&f' +108 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +57 "core" 1 +2 "manipulator"&c% +5 "core" % ) J + "storage"(h& +4 "core" & K\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&m' +13 "core" ' +2 "manipulator"&N& +4 "core" & F  +2 "storage"(a& +4 "core" & \ \  c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +16 "core" ' +2 "storage"(e% +4 "core" %P\ \ & 4\ +2 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (s% +3 "core" %F )\ We +2 "manipulator"&g% +4 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +93 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'u& +4 "core" &=\ +2 "manipulator"&v% +4 "core" %\ ! < 6 +2 "storage"(]% +4 "core" %b O\ + "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(+( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" & \  + "manipulator"&r& +4 "core" & "  +2 .tElbow.seek 3 + "manipulator"&l( +21 "core" ( + "manipulator"&|& +4 "core" & &  +2 "storage"(}& +3 "core" & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(& +4 "core" &\ %\  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'i +283 "core" ' +2 "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & I\  + "manipulator"&& +4 "core" & w  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&`& +4 "core" & o  + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(y'X +7 "core" &  +2 "manipulator"&z% +4 "core" % Ϡ  +2 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &+ + p Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &, r Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'" +104 "core" ' + "manipulator"&\ & +5 "core" &, 3 7 Bh + "manipulator"&% +4 "core" %) . H +2 "collection"'& +4 "core" &8\ +2 "collection"'& +5 "core" &3\ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" &9\ +7 &=/\ $e +9 &V2\ 7 +9 &8\ L +10 &]9\ N +9 &k^4\ N +9 &,_9\ N +10 &];\ M +9 &]8\ N +10 &t\\9\ M +9 &5];\ N +9 &\\/\ N +10 &!]9\ N +9 &#z]=\ N +9 &%=]@\ N +10 &']9\ M +9 &([>\ M +10 &*\\;\ M +9 &,F]9\ M +9 &.\\8\ M +10 &/_5\ N +9 &1_8\ M +9 &3M\\:\ N +10 &5_;\ N +9 &6[;\ N +10 &8^9\ N +9 &:Tb:\ N +9 &<_8\ N +10 &=\\9\ N +9 &?\\8\ N +9 &A][:\ N +10 &C ^8\ M +9 &Db3\ N +10 &Fl7\ O +9 &H[}6\ Q +9 &J0\ U +10 &K.\ X +9 &M3\ Y +9 &OL3\ Y +10 &Q (\ Z +9 &R3\ Z +10 &T(\ [ +9 &V-v,\ / +9 &V6\ K +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&1 +3 "core" &V`.\ H +59 1 +2 "manipulator"& % +5 "core" % ) % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &,\ +2 "manipulator"&% +4 "core" %\  ^  + "storage"(% +4 "core" %T ]\ + "storage"(. +3 "core" .( +2 "storage"(/& +4 "core" & !\  + "storage"(& +4 "core" & e\  + "manipulator"&{& +4 "core" &*  @^ +2 "manipulator"&-% +3 "core" %\  X  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1( +162 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(3& +3 "core" & d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"(& +4 "core" & +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & \  + "manipulator"&)& +4 "core" & /  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(#& +4 "core" & Y\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&('ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(='X +7 "core" &  +2 "manipulator"&%% +4 "core" % ϳ M +2 .tForearm.seek :retract + "manipulator"&0'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&.(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"& & +5 "core" &u % (  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &u  4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!' +100 "core" ' + "manipulator"&C& +4 "core" &u % ~  +2 "manipulator"&F% +4 "core" %  +2 "processing"%2& +4 "core" &.\ +2 "processing"%H& +5 "core" &-\ +2 .tPC.seek :closed + "processing"%4(Z +4 "core" &\ +8 &9\ $c +10 &T\ 7 +9 &~\ L +9 &`\ N +10 &P`\ O +9 &_\ N +10 &^\ O +9 &\\\ N +9 &X\\\ O +10 &\\\ N +9 &[\ O +9 &!\\\ N +10 &#b\\\ N +9 &%"\\\ O +10 &&]\ O +9 &(\\\ O +9 &*i^\ N +10 &,+_\ N +9 &-_\ O +9 &/[\ N +10 &1qY\ N +9 &33Y\ N +10 &4\\\ O +9 &6\\\ N +9 &8y\\ \ N +10 &:;Z\ N +9 &;\\\ N +12 &=]\ N +7 &?\\ \ N +9 &AD\\\ N +10 &C^\ \ O +9 &D` \ O +9 &Fj\ P +10 &H@}\ R +9 &I\ T +9 &K \ T +10 &M \ T +9 &OB \ T +10 &Q\ \ T +9 &R\ \ U +9 &T\ U +10 &VH \ U +9 &X\  \ U +9 &Y{o\ > +10 &Z#T \ P +9 &Z/\ 4 +3 ( + "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&,1 +55 "core" 1 +2 "manipulator"&7% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 "processing"%L& +4 "core" &Z2\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&G% +3 "core" %\  |  +2 "storage"(J% +4 "core" %b  1\ + "storage"(O. +3 "core" .( + "storage"(@& +4 "core" & \  +2 "storage"(I& +2 "manipulator"&*& +7 "core" & \  + &u    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&M(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'i +3 "core" ( + "manipulator"&$& +4 "core" &u  z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &u  +2 .tForearm.seek PC +2 "manipulator"&8' +94 "core" ' + .tHand.close +7 "manipulator"&>/ +56 "core" / +3 .tPC.seek :open +2 "processing"%&( +86 "core" ' + "storage"(?- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(['y +40 "core" ' +297 ( + "storage"(V& +4 "core" & *\  +2 "manipulator"&S& +4 "core" &u Q  + "manipulator"&D% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&X( +247 "core" ( +2 "manipulator"&R& +4 "core" &  { h + "storage"(E& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +100 "core" ' + .tHand.open +2 "manipulator"&_1 +60 "core" 1 +6 "storage"(b- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Q'E +42 "core" ' +13 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\\' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(Z& +4 "core" &\ \ \  + "manipulator"&j& +4 "core" & f +2 .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&h& +4 "core" &  . f + "storage"(N& +4 "core" &\ \ \  C\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(e' +60 "core" ' +2 "manipulator"&K& +4 "core" & 7 f +2 "storage"(s& +4 "core" & <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&g'} +19 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +25 "core" ' +2 "manipulator"&u% +4 "core" %· +2 "storage"(m& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&v'ϳ +20 "core" ' + "manipulator"&]& +5 "core" & $ l f + "storage"(n& +5 "core" & G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +25 "core" ' +2 "storage"(d% +5 "core" %r s\ +2 ."downElevator"SE.seek :down +4 "storage"(q'X +99 (5% +2 "core" %K F\ Wf +2 "manipulator"&t% +4 "core" %@ 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (|& +4 "core" & n\  +2 "collection"'}& +4 "core" &Vad\ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\    + "storage"(i% +4 "core" %T =\ +2 "storage"(k. +3 "core" .( +2 "storage"(o& +4 "core" & M\  + "storage"(& +4 "core" & $\  +2 "manipulator"&& +4 "core" &  f + .tElbow.seek 3 +2 "manipulator"&`( +3 "core" ( + "manipulator"&& +5 "core" & ( f + "storage"(p& +4 "core" & #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&w'9 +92 "core" ' + "storage"(z& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +286 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  f +2 "storage"( & +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&x'} +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('X +32 "core" ' + "manipulator"&% +4 "core" %ΐ   +2 "storage"(& +4 "core" & ~\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&y'ϼ +12 "core" ' +2 "manipulator"& & +4 "core" & % q f + "storage"(Y& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'G +38 "core" ' +2 "manipulator"&'& +4 "core" & H f +2 "manipulator"&% +4 "core" %4 @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( + "manipulator"&& +5 "core" &# ( w :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &#  T :/ +2 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&{/ +52 "core" / + .tCC.seek :open +2 "collection"'-( +416 "core" ( + "storage"(~& +4 "core" & \  +2 "storage"(& +3 "core" & /\  +2 "manipulator"&3& +4 "core" &#  7 :. + "manipulator"&% +4 "core" % 2  t + .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&"( +164 "core" ( +2 "manipulator"&& +4 "core" & % V } + "storage"(6& +4 "core" &\ \  \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&)'} +95 "core" ' +7 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +59 "core" 1 +2 "manipulator"&9% +4 "core" % ΂ & 7 + "storage"(:& +4 "core" & #\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 305 counts + "manipulator"&%'Ϯ +26 "core" ' +3 "manipulator"&1& +4 "core" & } + "storage"(& +4 "core" &\ '\ ' 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +32 "core" ' + "storage"((% +5 "core" %P\ '\ {\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (<% +3 "core" %F \ We +2 "manipulator"&% +4 "core" %*  t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +4 "core" &z\ +2 "manipulator"&2% +4 "core" %\   + "storage"(=% +4 "core" %a\ \  \ +2 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +2 "core" & Z\ +2 "manipulator"&7& +4 "core" & } + .tElbow.seek 2 +2 "manipulator"&L( +34 "core" ( + "manipulator"&G& +5 "core" & $ h "y + "storage"(J& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +94 "core" ' + "storage"(@& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +282 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" & \ +2 "manipulator"&$& +4 "core" & Y "y + .tElbow.seek 2 +2 "manipulator"&A( +3 "core" ( + "manipulator"&!& +4 "core" & % "y +2 "storage"(>& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&?' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(4'X +7 "core" &  "y +2 "manipulator"&W% +4 "core" % \   +2 .tForearm.seek :retract + "manipulator"&V'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&D& +4 "core" &#  K :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &# * w :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +101 "core" ' +2 "manipulator"&E& +4 "core" &# % :/ +2 "manipulator"&M% +4 "core" %+   +2 "collection"'_& +4 "core" &>\ +2 "collection"'b& +5 "core" &;\ +2 .tCC.seek :closed +3 "collection"'P(V +3 "core" &H\ +6 &D\ 4 +9 &?GG\ 1 +10 &iq8\ E +9 & d;\ N +9 &[A\ N +10 &_=\ N +9 &T\\D\ N +10 &\\=\ N +9 &_:\ M +9 &[3\ M +10 &[_3\ N +9 &![<\ N +9 &"`8\ N +10 &$b9\ N +9 &&e_:\ M +10 &('_9\ M +9 &)Y9\ M +9 &+\\9\ M +10 &-l_5\ N +9 &/-]7\ N +9 &0\\8\ M +10 &2_9\ N +9 &4t]>\ N +10 &66]=\ N +9 &7Z>\ M +9 &9_;\ N +10 &;{`A\ N +9 &=>]=\ N +9 &?]:\ N +10 &@\\9\ M +9 &B\\7\ M +10 &DG_7\ M +9 &Fe8\ N +9 &Gp9\ P +10 &I6\ Q +9 &K77\ V +9 &L8\ X +10 &N7\ W +9 &Pt6\ Y +10 &R6-\ Y +9 &S2\ Z +9 &U7\ G +10 &V50\ $l +9 &V^7\ D +2 ( +2 "collection"'b& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&Z1 +62 "core" 1 +2 "manipulator"&T% +4 "core" % + * < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&N% +4 "core" %\  g  + "storage"(K% +4 "core" %` 9\ + "storage"(s. +3 "core" .( +2 "storage"([& +3 "core" & .\ +2 "storage"(u& +4 "core" & @\ + "manipulator"&m& +4 "core" &"  ; 9& + "manipulator"&]% +5 "core" %\  +  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +162 "core" ( +2 "manipulator"&Q& +4 "core" & e  + "storage"(d& +4 "core" & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +97 "core" ' +11 "storage"(^& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +284 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & Q\ +2 "manipulator"&a& +4 "core" & i  + .tElbow.seek 2 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&e& +4 "core" & f  +2 "storage"(g& +3 "core" & \\\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"('X +7 "core" &  +2 "manipulator"&i% +4 "core" %  3 V +2 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&k(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&o& +4 "core" &p C q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &p  O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" &r &   +2 "manipulator"&p% +4 "core" %  d +2 "processing"%U& +3 "core" &\ +2 "processing"%z& +6 "core" &%\ +2 .tPC.seek :closed + "processing"%q(Z +4 "core" &\  +10 &1~\ *y +9 &b\ > +9 &ny\ O +10 &/\\\ O +9 &\\\ N +9 &Z\ N +10 &v_\ N +9 &8\\\ N +9 &_\ N +10 &\\\ N +9 & _\ N +10 &"A]\ N +9 &$Z\ N +9 &%\\\ N +10 &'_\ O +9 &)I\\\ N +9 &+ \\\ N +10 &,[\ N +9 &.[\ N +10 &0P\\\ N +9 &2\\\ N +9 &3\\ \ N +10 &5]\ N +9 &7X\\\ N +9 &9\\\ N +10 &:X\ N +9 &<[\ N +10 &>b[\ N +9 &@"`\ N +9 &A\\\ N +10 &C` \ N +9 &Egb\ O +10 &G$s\ P +9 &H \ S +9 &J\ T +10 &L_\ T +9 &N"\ T +9 &O\ T +10 &Q \ T +9 &Se\ U +9 &U&\ U +10 &V\ U +9 &X\ U +10 &Zc \ %q +11 &Zb\ 2 +7 ( +3 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&B1 +3 "core" &Z \ , +57 1 + "manipulator"&r% +4 "core" % ' j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\   N  + "storage"(\ % +4 "core" %` \ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & 9\ + "storage"( & +4 "manipulator"&Y& +5 "core" & C\ + &r  `  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(''i + "manipulator"&(s +5 "core" ( +2 "manipulator"&w& +4 "core" &r 0 <  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &r  0  +2 .tForearm.seek PC +2 "manipulator"&l' +93 "core" ' + .tHand.close +2 "manipulator"&x/ +53 "core" / +2 .tPC.seek :open + "processing"%y( +94 "core" ' +2 "storage"(- +3 "core" -'i +3 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +281 ( +2 "storage"(/& +4 "core" & '\ + "manipulator"&& +4 "core" &r F  + "manipulator"&% +4 "core" % ? +2 .tForearm.seek :retract + "manipulator"&{'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +246 "core" ( + "manipulator"&& +4 "core" &  m $ +2 "storage"(~& +4 "core" & x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + .tHand.open +2 "manipulator"&31 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(6' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & A \ + "manipulator"&#& +4 "core" & x $ +2 .tElbow.seek 2 + "manipulator"&9( +16 "core" ( + "manipulator"&:& +4 "core" & & J +2 "storage"(1& +4 "core" & J $\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"((' +58 "core" ' + "manipulator"& & +5 "core" & ( + "storage"(<& +4 "core" & t\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' + .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"()'i +21 "core" ' +2 "manipulator"&%% +72 "core" %   +3 "storage"(F& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&2' +14 "core" ' + "manipulator"&=& +4 "core" & +2 "storage"(0& +4 "core" & X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +24 "core" ' +2 "storage"(% +4 "core" %p g\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (+% +2 "core" %G w\ Xf +2 "manipulator"&,% +4 "core" %ѹ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (G& +4 "core" & \ +2 "collection"'J& +4 "core" &VWk\ D + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&@% +4 "core" %\  w  + "storage"(% +4 "core" %` ;\ + "storage"(C. +3 "core" .( +2 "storage"(*& +4 "core" & \ + "storage"(H& +4 "core" & l\ +2 "manipulator"&$& +4 "core" & 9 + .tElbow.seek 2 +2 "manipulator"&!( +9 "core" ( + "manipulator"&>& +4 "core" & $ k  +2 "storage"(.& +3 "core" & X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +95 "core" ' +2 "storage"(W& +5 "core" & -\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'i +278 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" &   + "storage"(8& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&I' +31 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(M'W +28 "core" ' +2 "manipulator"&_% +4 "core" % 9 + "storage"(A& +4 "core" & l k 0\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&4' +18 "core" ' +2 "manipulator"&V& +4 "core" &  B  + "storage"(-& +4 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(T'F +39 "core" ' + "manipulator"&h& +5 "core" & 3  + "manipulator"&N% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&s( +159 "core" ( +2 "manipulator"&[& +4 "core" &( ( ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &(  A ?R +2 .tForearm.seek CC +2 "manipulator"&u'" +91 "core" ' + .tHand.close +2 "manipulator"&m/ +62 "core" / +2 .tCC.seek :open +2 "collection"']( +416 "core" ( + "storage"(R& +4 "core" & u\ +2 "storage"(Q& +4 "core" & U\ + "manipulator"&d& +4 "core" &( t ?P + "manipulator"&^% +4 "core" % 0 f +2 .tForearm.seek :retract + "manipulator"&S'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +44 .tElbow.seek 2 +10 "manipulator"&j( +156 "core" ( +2 "manipulator"&5& +4 "core" &  S  + "storage"(t& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&a' +109 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +62 "core" 1 +2 "manipulator"&|% +4 "core" % ( +2 "storage"(}& +4 "core" & J\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&i' +14 "core" ' + "manipulator"&n& +5 "core" & A  + "storage"(X& +4 "core" & \ \  [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +28 "core" ' + "storage"(v% +5 "core" %O\ '\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (% +3 "core" %H x\ Wd +2 "manipulator"&c% +4 "core" %ў  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'p& +4 "core" &F\ + "manipulator"&U% +4 "core" %\  C  +2 "storage"(% +4 "core" %a\ \  1\ + "storage"(f. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(&( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +2 "core" & L\  +2 "manipulator"&r& +4 "core" & I  + .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"& & +5 "core" & % y [ + "storage"(\ & +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 "storage"(& +4 "core" &\ %\ \ l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" & b\  +2 "manipulator"&w& +4 "core" & r [ + .tElbow.seek 3 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&& +4 "core" & $ 1 [ +2 "storage"(x& +3 "core" & Q\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&k/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(q'X +7 "core" & [ +2 "manipulator"&'% +4 "core" % ϝ h +2 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&& +4 "core" &+ 0  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +4 "core" &+  Ae + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' + "manipulator"&~& +5 "core" &+ & : Ae + "manipulator"&% +4 "core" %& _ +2 "collection"'3& +4 "core" &H\ +2 "collection"'& +5 "core" &v\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &Q\  +8 &2M\ )w +10 &cI\ > +9 &puH\ N +10 &2WH\ M +9 &\\G\ N +9 &\\>\ N +10 &xZ<\ M +9 &8]>\ N +9 &X:\ N +10 &Y<\ N +9 & Z@\ N +9 &"AZ3\ N +10 &$[>\ M +13 &%]E\ M +6 &'_8\ N +9 &)J]8\ M +9 &+ Z8\ M +10 &,Y?\ M +9 &.Z;\ M +9 &0Q_C\ N +10 &2]:\ N +9 &3\\2\ N +10 &5W9\ M +9 &7YY:\ N +9 &9\\;\ N +10 &:Y8\ N +9 &<]8\ M +9 &>b\\9\ M +10 &@$Z;\ M +9 &AZ7\ N +10 &C^7\ M +9 &Egb=\ N +9 &G&k:\ O +10 &H~9\ R +9 &J8\ V +9 &LQ8\ Y +10 &N8\ X +9 &O7\ Y +10 &Q9\ Y +9 &ST8\ Z +9 &U8\ [ +10 &VcE7\ 0 +9 &V u7\ I +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&1 +4 "core" &Vb6\ I +49 1 +2 "manipulator"&#% +4 "core" % & %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +4 "core" &$\ +2 "manipulator"&{% +4 "core" %\    + "storage"( % +4 "core" %a \ + "storage"(<. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(& +4 "core" & \  + "manipulator"&%& +4 "core" &*  Ad + "manipulator"&F% +4 "core" %\   ]  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&=& +4 "core" & b j + "storage"(0& +4 "core" & z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +106 "core" ' +2 "storage"(& +4 "core" & B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" & 5\  +2 "manipulator"&,& +4 "core" &  j + .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&(& +3 "core" & % j +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&2'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +3 "storage"(@'X +6 "core" & ` j + "manipulator"&% +4 "core" % ϡ # +2 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&*& +4 "core" &i D $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &i D $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$' +92 "core" ' +2 "manipulator"&>& +4 "core" &i % $ +2 "manipulator"&.% +4 "core" % l +2 "processing"% & +3 "core" &\ +2 "processing"%W& +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +10 &0~\ *y +9 &b"\ > +9 &ly\ N +10 &-\\\ N +9 &\\\ N +9 &[\ N +10 &s[\ N +9 &5[\ N +10 &] \ N +9 &\\\ N +9 & z\\\ N +10 &"=X\ N +9 &#Y%\ N +9 &%[\ N +10 &'^\ N +9 &)E\\"\ N +10 &+\\\ N +9 &,\\\ N +9 &.[\ N +10 &0L[\ N +9 &2Z$\ N +9 &3Y\ N +10 &5W\ N +9 &7UZ!\ N +10 &9Z"\ N +9 &:Y\ N +9 &<Z#\ N +10 &>^Y\ N +9 &@_\ N +9 &AZ\ N +10 &C]\ N +9 &Ebb\ O +10 &G!n\ P +9 &H\ R +14 &J\ T +5 &L\\\ T +9 &N\ S +9 &O\ T +10 &Q\ U +9 &Sa\ U +10 &U#\ U +9 &V\ U +9 &X \ U +10 &Ze \ 'y +9 &Zb\ 7 +9 ( +2 &Z+\ 1 +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&"1 +53 "core" 1 +2 "manipulator"&7% +4 "core" % % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +94 "core" ' +2 "processing"%D& +4 "core" &Z&\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&8% +4 "core" %\   G  +2 "storage"(E% +3 "core" %b w w o\ +2 "storage"(_. +3 "core" .( + "storage"(A& +4 "core" & u \  +2 "storage"(V& +2 "manipulator"&-& +7 "core" & w w S\  + &i  $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +42 "storage"(#]@K-0-\ b +14 .tElbow.seek PC +2 "manipulator"&h(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(N'i +3 "core" ( + "manipulator"&;& +4 "core" &i  . $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &i  P $ +2 .tForearm.seek PC +2 "manipulator"&L' +96 "core" ' + .tHand.close +2 "manipulator"&I/ +59 "core" / +2 .tPC.seek :open +2 "processing"%4( +92 "core" ' + "storage"(M- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +50 "core" ' +278 ( + "storage"(b& +4 "core" & !\  +2 "manipulator"&Z& +4 "core" &i 0 $ + "manipulator"&?% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +257 "core" ( + "manipulator"&P& +4 "core" & $ k ' +2 "storage"(R& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +93 "core" ' +2 .tHand.open + "manipulator"&d1 +52 "core" 1 +2 "storage"(^- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(u'E +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(5' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(s& +4 "core" & \ \ }\  + "manipulator"&g& +4 "core" & & +2 .tElbow.seek 3 + "manipulator"&|( +24 "core" ( + "manipulator"&}& +4 "core" & % d  + "storage"(n& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(v' +57 "core" ' +2 "manipulator"&S& +4 "core" & R  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +23 "core" ' +2 "manipulator"&i% +4 "core" %Ό  +2 "storage"(p& +4 "core" & \ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&U'ϸ +26 "core" ' +2 "manipulator"&& +4 "core" & [  +2 "storage"(f& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +23 "core" ' + "storage"(\\% +5 "core" %q \  +2 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (% +3 "core" %dN z S\ Yi +2 "manipulator"&B% +4 "core" %U  +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" & x\  +2 "collection"'\ & +4 "core" &Vb7\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ \   + "storage"(e% +4 "core" %b `\ +2 "storage"(. +3 "core" .( + "storage"( & +4 "core" & U\  + "storage"(z& +4 "core" & k\  + "manipulator"&w& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&x& +4 "core" &  + "storage"(k& +5 "core" & -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"('& +4 "core" & :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(l& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&Y'} +23 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(~- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +32 "core" ' + "manipulator"&3% +4 "core" %΍ b +2 "storage"(`& +4 "core" & k\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&q'Ϲ +20 "core" ' +2 "manipulator"&/& +4 "core" & O + "storage"(]& +4 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(#'G +37 "core" ' + "manipulator"&1& +4 "core" &  +2 "manipulator"&{% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +159 "core" ( +2 "manipulator"&& +4 "core" &$ ( I ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &$ ;3 +2 .tForearm.seek CC + "manipulator"&%'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'F( +416 "core" ( +2 "storage"(& +4 "core" & U\  + "storage"(=& +4 "core" & \  + "manipulator"&0& +4 "core" &%  ;2 + "manipulator"&% +4 "core" % .  c +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&:( +165 "core" ( +2 "manipulator"&& +4 "core" & &  +2 "storage"(+& +3 "core" & N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&,'} +102 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&G% +4 "core" % ·  } +2 "storage"(J& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'ϳ +20 "core" ' +2 "manipulator"&& +4 "core" & <  +2 "storage"(& +3 "core" &\ '\ ' t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +27 "core" ' +2 "storage"(2% +4 "core" %L\ 1\ ' +\  +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (H% +2 "core" %zC \ Wc +2 "manipulator"&9% +4 "core" %6 @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'.& +4 "core" &K\ +2 "manipulator"& % +4 "core" %\ 1  +2 "storage"(@% +3 "core" %a\ \ \ +2 "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(y( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" & \ +2 "manipulator"&7& +3 "core" & a  +51 .tElbow.seek 2 +2 "manipulator"&D( +30 "core" ( +2 "manipulator"&8& +4 "core" & ' X "} + "storage"(E& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +87 "core" ' +2 "storage"(A& +4 "core" & \ \  G\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +283 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & x\ + "manipulator"&;& +4 "core" & 4 "x +2 .tElbow.seek 2 + "manipulator"&!( +3 "core" ( +2 "manipulator"&$& +3 "core" & % < "x +2 "storage"(I& +4 "core" & g\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&M' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& + "storage"( 'X +7 "core" & "x + "manipulator"&N% +4 "core" % \ (  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +153 "core" ( + ' + "manipulator"&?& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" &+  E A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &*   A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'" +101 "core" ' +2 "manipulator"&R& +4 "core" &+  < A` +2 "manipulator"&h% +4 "core" % T +2 "collection"'d& +4 "core" &[\ +2 "collection"'^& +6 "core" &^\ +2 .tCC.seek :closed +3 "collection"'t(V +3 "core" &L\ +5 &J\ 5 +10 &<H}X\ 0 +9 &erW\ D +10 &gO\ N +9 &YJ\ N +9 &YO\ M +10 &MYH\ M +9 &\\P\ M +9 &YJ\ N +10 &Z@\ N +9 &UYC\ M +9 &!ZH\ M +10 &"_;\ N +9 &$_B\ N +10 &&]\\5\ M +9 &(ZH\ M +9 &)Z;\ N +10 &+\\@\ N +9 &-e]G\ M +9 &/&]F\ N +10 &0]G\ M +9 &2[G\ M +10 &4lZ8\ N +9 &60W:\ M +9 &7\\9\ M +10 &9\\8\ N +9 &;s];\ N +10 &=7Z:\ M +9 &>X:\ N +9 &@\\:\ N +10 &B}Y9\ M +9 &D>Z8\ N +9 &Eb8\ N +10 &Gp;\ P +9 &Iy{?\ Q +9 &K0:\ U +10 &L<\ X +9 &N9\ X +10 &Pk:\ Y +9 &R,.\ Y +9 &S7\ [ +10 &U3\ G +9 &V38\ *~ +9 &V_3\ H +3 ( + "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&s1 +58 "core" 1 +2 "manipulator"&g% +4 "core" %  $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%}& +4 "core" &(\ +2 "manipulator"&n% +4 "core" %\   /  + "storage"(S% +4 "core" %a a\ + "storage"(. +3 "core" .( +2 "storage"([& +4 "core" & g\ + "storage"(i& +4 "core" & d\ +2 "manipulator"&p& +4 "core" &* @\\ + "manipulator"&u% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( + "manipulator"&f& +5 "core" & $ C  + "storage"(\\& +4 "core" & ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&K'ќ +87 "core" ' +2 "storage"(Q& +4 "core" & ~\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" & \ +2 "manipulator"&X& +4 "core" & D  + .tElbow.seek 2 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&v& +4 "core" & % Y  +2 "storage"(c& +3 "core" & `\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"('X +8 "core" &  + "manipulator"&e% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +116 "core" ( +2 "manipulator"& & +5 "core" &o * [ \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &o ^ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&w' +97 "core" ' +2 "manipulator"&x& +4 "core" &o  _ \ +2 "manipulator"&k% +3 "core" % +2 "processing"%T& +4 "core" &?\ +2 "processing"%'& +6 "core" &3\ +2 .tPC.seek :closed + "processing"%o(Z +5 "core" &)\ +7 &9*\ $c +9 &T\ 7 +9 &\ L +10 &\\%\ N +9 &]](\ N +9 &[.\ N +10 &Z(\ N +9 &Z)\ N +10 &d\\)\ O +9 &([%\ N +9 &\\&\ N +10 &!['\ N +9 &#m\\$\ N +9 &%0\\+\ N +10 &&[$\ N +9 &([*\ M +10 &*v]$\ N +9 &,9[\ N +9 &-`%\ N +10 &/Y%\ N +9 &1Y\ N +10 &3AY#\ N +9 &5Z$\ N +9 &6Z#\ N +10 &8]#\ N +9 &:GZ'\ N +9 &<\ Z$\ N +10 &=Y#\ N +9 &?Y)\ N +9 &ARY'\ M +10 &C\\$\ N +9 &Da)\ N +10 &Fj(\ P +9 &HL~\ R +9 &J\ #\ S +10 &K \ T +9 &M%\ S +9 &ON"\ T +10 &Q%\ T +9 &R$\ T +10 &T%\ U +9 &VS\ U +9 &X\ V +10 &Yzp\ 9 +9 &Z(r\ P +9 &Z#\ / +3 ( + "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&j1 +59 "core" 1 + "manipulator"&r% +5 "core" % & 6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "processing"%& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&l% +3 "core" %\ !  T 1 +2 "storage"(~% +4 "core" %a x w r\ + "storage"(3. +3 "core" .( + "storage"(`& +4 "core" & w w e\ +2 "storage"(/& +4 "manipulator"&]& +4 "core" & u z\ + &o   \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&1(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +2 "core" ( +2 "manipulator"&& +4 "core" &o  n \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &o  \\ \ +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' + .tHand.close + "manipulator"&Y/ +64 "core" / +3 .tPC.seek :open + "processing"%q( +82 "core" ' +4 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +40 "core" ' +301 ( + "storage"(& +4 "core" & \ +2 "manipulator"&& +3 "core" &o  \ +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +243 "core" ( +2 "manipulator"&& +4 "core" &  # + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +94 "core" ' + .tHand.open +2 "manipulator"&01 +58 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"(<& +3 "core" & \ \ \ +2 "manipulator"&& +4 "core" & ] # +2 .tElbow.seek 2 +51 "manipulator"&G( +5 "core" ( +2 "manipulator"&J& +4 "core" &  Z # +2 "storage"(& +4 "core" & \ X\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +58 "core" ' + "manipulator"&& +4 "core" &  # +2 "storage"(H& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&9' +33 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'i +22 "core" ' +2 "manipulator"&.% +4 "core" % f  +2 "storage"(& +4 "core" &  =\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"& ' +15 "core" ' +2 "manipulator"&@& +4 "core" & % F # +2 "storage"(C& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +32 "core" ' +2 "storage"(6% +4 "core" %k \ +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (&% +3 "core" %9J u \ Xh +2 "manipulator"&"% +4 "core" %х  +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (8& +4 "core" & e\ + "collection"'E& +4 "core" &Va1\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&A% +4 "core" %\   , + "storage"((% +4 "core" %b \ +2 "storage"(>. +3 "core" .( + "storage"(-& +4 "core" & b\ +2 "storage"(W& +4 "core" & P\ + "manipulator"&;& +4 "core" &  9 # + .tElbow.seek 2 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&I& +4 "core" & ! Q # + "storage"()& +4 "core" & K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +95 "core" ' + "storage"(N& +5 "core" & {\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +293 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" & f # + "storage"(L& +4 "core" & )\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&V' +83 "core" ' +4 .tElbow.hold + "manipulator"&M, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 "storage"(R- +6 "core" -' +4 .tSE.seek 0.09 Pucks below Top Plate +4 "storage"(h'W +33 "core" ' +4 "manipulator"&d% +8 "core" %  +2 "storage"(!& +8 "core" & ] _ \ +4 .tForearm.force -20 +3 "manipulator"&5 +7 .tForearm.seek 2 + 319 counts + "manipulator"& ' +20 "core" ' +2 "manipulator"&b& +9 "core" & R # +3 "storage"(F& +11 "core" & d\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +35 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate + "storage"(g'F +40 "core" ' +4 "manipulator"&}& +10 "core" &  # +2 "manipulator"&n% +8 "core" %ѡ  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&S'\ +97 "core" ' +5 .tElbow.seek CC +4 "manipulator"&( +44 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 + #Session Ended +105 "core" ( +2 "manipulator"&[& +8 "core" &#  I :/ +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 &i& +4 "core" &#  | :/ +5 .tForearm.seek CC +4 "manipulator"&^'" +93 "core" ' +4 .tHand.close + "manipulator"&p/ +61 "core" / +3 .tCC.seek :open +6 "collection"'u( +417 "core" ( + "storage"(P& +4 "core" & <\ +2 "storage"(f& +4 "core" & ]\ + "manipulator"&\\& +4 "core" &#  ) :/ + "manipulator"&Q% +4 "core" % 0  2  +2 .tForearm.seek :retract + "manipulator"&Z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&m( +159 "core" ( + "manipulator"&& +5 "core" & $ t  + "storage"(B& +4 "core" & |\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&X' +95 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +53 "core" 1 +2 "manipulator"& % +4 "core" % ( +2 "storage"(\ & +4 "core" & B\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&e' +18 "core" ' +3 "manipulator"&& +4 "core" & G  + "storage"(K& +4 "core" & [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +33 "core" ' +2 "storage"(U% +4 "core" %L\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (z% +2 "core" %jG \ Wd +2 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'k& +4 "core" &L\ +2 "manipulator"&T% +4 "core" %\   + "storage"(% +4 "core" %T\ \  \ + "storage"(a. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(4( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" & 5\  + "manipulator"&r& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +18 "core" ( + "manipulator"&l& +4 "core" &  W P +2 "storage"(~& +3 "core" & (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +98 "core" ' + "storage"(`& +4 "core" &\ \ # \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''i +286 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" & U\  + "manipulator"&& +4 "core" &  P +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&w& +4 "core" & P + "storage"(Y& +8 "core" & 6\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(o'X +7 "core" & P + "manipulator"&{% +4 "core" % ϩ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &( F ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &(   ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +61 "Can"<\ =: +96 "core" ' +3 "manipulator"&& +4 "core" &(  ?P +2 "manipulator"&1% +4 "core" %  +2 "collection"'0& +4 "core" &\\\ +2 "collection"'& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'%(V +4 "core" &]\ +8 & -[\ #a +9 &UM\ 7 +9 &K\ L +10 &YQ\ M +9 &\\ZJ\ M +10 &XG\ M +9 &]G\ N +9 &\\D\ N +10 &e\\J\ M +9 &&]H\ M +9 &YG\ M +10 &!^I\ N +9 &#l]C\ M +9 &%.ZA\ M +10 &&`F\ M +9 &([B\ M +10 &*s\\I\ N +9 &,7\\H\ M +9 &-[>\ M +10 &/]G\ N +9 &1|]?\ M +9 &3?XF\ M +10 &5\\;\ M +9 &6]>\ M +10 &8[G\ M +9 &:F`<\ M +9 &<^=\ N +10 &=]E\ M +9 &?Z@\ M +9 &AN\\9\ M +10 &C_:\ M +9 &Db8\ N +10 &Fj-\ O +9 &HNw0\ P +9 &J4\ T +10 &K0\ X +9 &M~0\ X +9 &O?2\ X +10 &P7\ Y +9 &R/\ Y +10 &T0\ Z +9 &Vu2\ . +9 &V-7\ X +9 ( +3 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&<1 +4 "core" &Vj0\ I +58 1 +2 "manipulator"&% +5 "core" %  i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%J& +4 "core" &(\ +2 "manipulator"&% +3 "core" %\   @  +2 "storage"(% +4 "core" %a \ + "storage"(H. +4 "core" .( + "storage"(& +4 "core" & ,\  + "storage"(& +4 "core" & \  + "manipulator"&.& +4 "core" &'   >H + "manipulator"&% +5 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@( +170 "core" ( + "manipulator"&C& +4 "core" &  y +2 "storage"(6& +4 "core" & <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +93 "core" ' +2 "storage"(=& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(+'i +284 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" & W\  +2 "manipulator"&& +4 "core" &  y + .tElbow.seek 3 +2 "manipulator"&G( +3 "core" ( + "manipulator"&2& +4 "core" & $ y +2 "storage"(9& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(A'X +7 "core" & Q y + "manipulator"&(% +4 "core" % ϲ  2 +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&,(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&-& +4 "core" &n B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &n K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +101 "core" ' + "manipulator"&I& +4 "core" &p # j +2 "manipulator"&)% +4 "core" % +2 "processing"%#& +4 "core" &(\ +2 "processing"%N& +6 "core" &4\ +2 .tPC.seek :closed + "processing"%*(Z +4 "core" &$\  +9 &1!\ *x +9 &b'\ > +10 &cy)\ O +9 &&\\%\ N +9 &['\ N +10 &\\$\ N +9 &m[)\ N +9 &0Z)\ M +10 &]+\ N +9 &\\*\ N +9 & u\\)\ N +10 &"8\\,\ M +9 &#[-\ N +10 &%\\%\ M +9 &'}]#\ N +9 &)?Z*\ N +10 &+[*\ N +9 &,]*\ N +9 &.\\)\ M +10 &0F\\$\ N +9 &2 \\*\ N +10 &3Z*\ N +9 &5Y+\ N +9 &7OZ*\ N +10 &9]&\ N +9 &:Z*\ M +9 &<\\)\ N +10 &>W^+\ N +9 &@Z-\ N +10 &AZ,\ M +9 &C]+\ N +9 &E\\a*\ O +10 &Gm,\ P +9 &H+\ R +9 &J+\ S +10 &LU*\ T +9 &N*\ S +10 &O$\ S +9 &Q&\ T +9 &S[)\ T +10 &U+\ T +9 &V*\ U +9 &X&\ T +10 &Zd$\ 'y +9 &Zg*\ 4 +9 ( +2 &Z(\ - +2 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&:1 +54 "core" 1 + "manipulator"&7% +4 "core" % (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +99 "core" ' +2 "processing"%?& +4 "core" &Z,\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&L% +4 "core" %\   7 + "storage"(R% +4 "core" %S \\\ + "storage"(d. +3 "core" .( +2 "storage"(!& +4 "core" & .\  +7 "storage"(b& + "manipulator"&F& +7 "core" & y )\  + &p  l +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&O(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +2 "core" ( +2 "manipulator"&n& +4 "core" &p  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &p  ! +2 .tForearm.seek PC + "manipulator"&D' +95 "core" ' +2 .tHand.close + "manipulator"&V/ +61 "core" / +3 .tPC.seek :open + "processing"% ( +85 "core" ' +2 "storage"(h- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['y +47 "core" ' +294 ( +2 "storage"(i& +4 "core" & \  + "manipulator"&s& +4 "core" &p  +2 "manipulator"&M% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&S( +258 "core" ( + "manipulator"&t& +5 "core" &  I  + "storage"(P& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +94 "core" ' + .tHand.open + "manipulator"&\\1 +63 "core" 1 +2 "storage"(Q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(& +4 "core" & x\  +2 "manipulator"&c& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +7 "core" ( +2 "manipulator"&\ & +4 "core" &  + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +61 "core" ' + "manipulator"&Z& +4 "core" & I  +2 "storage"(z& +4 "core" & )\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&|'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +25 "core" ' + "manipulator"&e% +4 "core" %~ +2 "storage"(k& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&T'Ϫ +29 "core" ' +2 "manipulator"&& +4 "core" & ]  +2 "storage"(a& +3 "core" & *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +25 "core" ' + "storage"(5% +5 "core" %q Y\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (y% +3 "core" %G \ Xg +2 "manipulator"&j% +4 "core" %N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +53 "storage"(5 +3 (l& +2 "core" & \  +2 "collection"'~& +4 "core" &Vk6\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&`% +3 "core" %\   +2 "storage"(v% +4 "core" %^ *\ + "storage"(x. +3 "core" .( +2 "storage"(]& +4 "core" & \  + "storage"(/& +4 "core" & k\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&w( +4 "core" ( + "manipulator"&Y& +4 "core" & Y  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"({& +4 "core" & <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&''} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.1 Pucks below Top Plate +2 "storage"('Y +28 "core" ' +2 "manipulator"&1% +4 "core" %Ύ  + "storage"(0& +4 "core" & J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&o'Ϻ +20 "core" ' + "manipulator"&& +5 "core" &   + "storage"(u& +4 "core" & W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +28 "core" ' +2 .tSE.seek 1.1 Pucks below Top Plate + "storage"('H +39 "core" ' + "manipulator"&J& +5 "core" &   + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +3 "manipulator"&H& +4 "core" &%  X <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &% + <? +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&./ +53 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"(& +4 "core" & \  + "storage"(C& +4 "core" & Y\  + "manipulator"&6& +4 "core" &&  S <? + "manipulator"&=% +4 "core" % $  : +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&&& +4 "core" &  E t + "storage"("& +4 "core" &\ \  -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'} +100 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +63 "core" 1 +2 "manipulator"&8% +4 "core" % ·  ~ +2 "storage"(E& +4 "core" & 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&('ϳ +20 "core" ' +2 "manipulator"&@& +4 "core" & B t + "storage"( & +4 "core" &\ &\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +36 "core" ' + "storage"( % +5 "core" %P\ '\ 1 #\ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (W% +2 "core" %#G M\ Wd +2 "manipulator"&G% +9 "core" %4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"')& +4 "core" &=\ + "manipulator"&#% +4 "core" %\    +2 "storage"(A% +4 "core" %b\ \  \ + "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(q( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (:& +3 "core" & (\ + "manipulator"&7& +4 "core" &  t +2 .tElbow.seek 2 + "manipulator"&?( +35 "core" ( + "manipulator"&L& +4 "core" & $ ^ $ +2 "storage"(R& +4 "core" & l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +96 "core" ' +2 "storage"(!& +4 "core" & \ \  i\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +282 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" & \ +2 "manipulator"&n& +4 "core" &  $ + .tElbow.seek 2 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&;& +3 "core" &  p $ +2 "storage"(V& +4 "core" & C\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&h' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(*'X +8 "core" & y $ + "manipulator"&}% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&s( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&M& +4 "core" && H =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &&   =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'" +101 "core" ' +2 "manipulator"&P& +5 "core" &&  e =B + "manipulator"&O% +4 "core" % V +2 "collection"'\\& +4 "core" &S\ +2 "collection"'Q& +5 "core" &U\ +2 .tCC.seek :closed + "collection"'^(V +6 "core" &P\  +8 &\ 3P\ +{ +9 & dR\ > +10 &uR\ N +9 &QZS\ M +10 &\\R\ M +9 &[[\ N +9 &\\[\ M +10 &Y\\W\ M +9 &\\N\ M +9 &\\Q\ M +10 & _[\ M +9 &"a]\\\ M +10 &$$YU\ M +9 &%_A\ M +9 &'\\Q\ M +10 &)jZH\ M +9 &+,\\O\ M +9 &,[M\ M +10 &.\\K\ M +9 &0q_K\ M +9 &23\\J\ M +10 &3\\@\ M +9 &5[J\ M +10 &7y\\K\ M +9 &9<\\H\ M +9 &:]5\ M +10 &<YK\ M +9 &>YD\ M +9 &@C]J\ M +10 &B]=\ M +9 &C]:\ N +10 &E]D\ N +9 &GEj<\ O +10 &Ir>\ P +9 &J4\ T +9 &Lu/\ W +10 &N3-\ X +9 &O4\ X +9 &Q-\ Y +10 &St8\ Z +9 &U56\ W +9 &Vo>4\ . +10 &Vu4\ K +5 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&1 +4 "core" &Ve0\ K +50 1 +2 "manipulator"&c% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&p% +4 "core" %\ \   +2 "storage"(Z% +3 "core" %_ \ +2 "storage"(z. +3 "core" .( + "storage"([& +4 "core" & \ + "storage"(e& +4 "core" & \ + "manipulator"&k& +4 "core" &&  \ =A +2 "manipulator"&% +4 "core" %\ \    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&a& +4 "core" &   + "storage"(5& +4 "core" & /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&S'ќ +97 "core" ' +2 "storage"(f& +54 "core" & /\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +284 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" & 6\ +2 "manipulator"&K& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&U& +4 "core" &  O  +2 "storage"(|& +3 "core" & ^\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(~'X +8 "core" &  + "manipulator"&`% +4 "core" % ' A +2 .tForearm.seek :retract + "manipulator"&v'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&x(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +2 "manipulator"&]& +4 "core" &l ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&Y& +4 "core" &m # +2 "manipulator"&% +4 "core" % @ + "processing"%g& +4 "core" &?\ +2 "processing"%{& +5 "core" &0\ +2 .tPC.seek :closed + "processing"% (Z +4 "core" &0\  +9 &11\ *y +9 &c&\ > +9 &lx\ O +10 &0Y&\ N +9 &Z'\ N +13 &^*\ N +6 &u\\'\ N +9 &7Z*\ N +10 &]*\ N +9 &Z&\ N +9 & }[/\ N +10 &"@Z&\ N +9 &$Y+\ N +9 &%Z)\ N +10 &'`%\ N +9 &)G[)\ N +10 &+ [)\ N +9 &,Y)\ N +9 &.Z*\ N +10 &0PZ*\ N +9 &2Z)\ N +9 &3X+\ N +10 &5[*\ N +9 &7YZ+\ M +10 &9Z,\ N +9 &:Y*\ M +9 &<Z+\ N +10 &>aX*\ M +9 &@!\\+\ N +9 &AZ*\ N +10 &C],\ N +9 &Eeb+\ O +10 &G"o)\ P +9 &H+\ S +9 &J'\ T +10 &L])\ T +9 &N *\ T +9 &O*\ T +10 &Q+\ T +9 &Sd&\ T +9 &U&+\ T +10 &V+\ U +9 &X+\ U +10 &Za,\ $o +9 &Z^*\ - +9 ( +3 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&m1 +3 "core" &Z+\ ( +51 1 + "manipulator"&r% +4 "core" % % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +98 "core" ' + "processing"%& +4 "core" &Z%\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  7 + "storage"(% +4 "core" %b  <\ +2 "storage"(1. +2 "core" .( +2 "storage"(0& +4 "core" & y } \ + "storage"(& +5 "manipulator"&u& +4 "core" & w w q\ + &m   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&J(s + "storage"('i +5 "core" ( +2 "manipulator"&& +4 "core" &m  n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &m  v +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&'/ +58 "core" / + .tPC.seek :open +2 "processing"%o( +90 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +47 "core" ' +283 ( + "storage"(& +4 "core" & y\ + "manipulator"&<& +4 "core" &m  +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&.'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +256 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"(& +4 "core" & b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +93 "core" ' +2 .tHand.open + "manipulator"&61 +52 "core" 1 +2 "storage"(=- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(&'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"("' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & \ +\  a\ + "manipulator"&9& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&8( +4 "core" ( + "manipulator"&E& +4 "core" &  s + "storage"(@& +4 "core" & \ \ ' y\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +59 "core" ' + "manipulator"&& +5 "core" &  + "storage"(W& +4 "core" & -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&G' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' + "manipulator"&(% +5 "core" %  + "storage"()& +4 "core" & <\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&#' +15 "core" ' + "manipulator"&A& +4 "core" &  M +2 "storage"(>& +4 "core" & l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +32 "core" ' +2 "storage"(+% +4 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(-'X +98 (4% +3 "core" %J d\ Xh +3 "manipulator"&:% +4 "core" %њ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (L& +4 "core" & I\ +2 "collection"'R& +4 "core" &Ve|\ K + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&!% +4 "core" %\    + "storage"(2% +4 "core" %S `\ + "storage"(I. +3 "core" .( +2 "storage"(F& +4 "core" & \ + "storage"(N& +4 "core" & <\ + "manipulator"&n& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&;( +4 "core" ( + "manipulator"&V& +4 "core" &  + "storage"(,& +4 "core" & \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +91 "core" ' + "storage"(}& +4 "core" & +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +284 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" &  + "storage"(D& +4 "core" & E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&b' +31 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(O'W +33 "core" ' + "manipulator"&\\% +5 "core" %  + "storage"($& +4 "core" & \\ ` e\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts + "manipulator"&*' +19 "core" ' + "manipulator"&i& +5 "core" &  + "storage"(& +4 "core" & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +57 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate + "storage"(c'F +39 "core" ' +2 "manipulator"&& +4 "core" & 8 +2 "manipulator"&p% +5 "core" %ћ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&z( +159 "core" ( +2 "manipulator"&[& +4 "core" &#  ; ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &$ l ;4 +2 .tForearm.seek CC + "manipulator"&Q'" +93 "core" ' +2 .tHand.close + "manipulator"&k/ +55 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(t& +4 "core" & \ + "storage"(a& +4 "core" & T\ +2 "manipulator"&5& +3 "core" &$  H ;4 +2 "manipulator"&f% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&\ ( +159 "core" ( +2 "manipulator"&y& +4 "core" &  P  +2 "storage"(j& +4 "core" & \ \  \ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&K' +108 "core" ' +2 .tElbow.hold + "manipulator"&U, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +64 "core" 1 + "manipulator"&X% +5 "core" % + "storage"(l& +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&`' +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(S& +4 "core" & \ &\ & U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +27 "core" ' +2 "storage"(T% +4 "core" %P\ '\ ' /\ +2 ."downElevator"SE.seek :down +4 "storage"(]'X +99 (/% +2 "core" % E )\ Vb +2 "manipulator"& % +4 "core" %Ѡ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &H\ + "manipulator"&g% +4 "core" %\    +2 "storage"(~% +3 "core" %[\ \  \ +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +2 "core" & 4\  +2 "manipulator"&r& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( + "manipulator"&& +4 "core" &  a +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +93 "core" ' +2 "storage"(0& +4 "core" &\ $\ & k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({& +3 "core" & D\  + "manipulator"&& +4 "core" &  a +2 .tElbow.seek 3 + "manipulator"&w( +3 "core" ( +2 "manipulator"&& +4 "core" & Q a + "storage"('& +4 "core" & @\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"( 'X +7 "core" & a +2 "manipulator"&% +4 "core" % ϗ  +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&<( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&& +4 "core" &* . W @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &*   @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +96 "core" ' + "manipulator"&& +5 "core" &* ( v @Z + "manipulator"&J% +5 "core" %% f + "collection"'6& +4 "core" &\ +2 "collection"'=& +5 "core" &\ +3 .tCC.seek :closed +2 "collection"'(V +4 "core" &]\ +7 &=Z\ $d +10 &U\\\ 7 +9 &[\ L +10 &X`\ M +9 &l\\R\ M +9 &/W[\ M +10 &\\_\ M +9 &]\\\ M +9 &u[X\ M +10 &6[P\ M +9 &]O\ M +10 &!]S\ N +9 &#|\\Q\ M +9 &%?YR\ M +10 &'[O\ M +9 &([O\ M +9 &*[Q\ M +10 &,GXT\ M +9 &. [R\ M +10 &/\\Z\ M +9 &1_R\ M +9 &3O\\Z\ M +10 &5ZX\ M +9 &6ZT\ M +9 &8ZO\ M +10 &:V]]\ M +9 &<]Z\ N +10 &=\\X\ N +9 &?\\T\ M +9 &A]\\L\ N +10 &C!\\S\ M +9 &DaZ\ N +9 &FhT\ N +10 &H]yU\ P +9 &JR\ T +10 &KH\ X +9 &MN\ X +9 &OLL\ Y +10 &QN\ X +9 &RH\ Y +9 &TN\ Y +10 &V.uB\ . +9 &VM\ H +9 ( +2 &VZG\ F +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&9% +5 "core" % % & O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%@& +4 "core" &.\ + "manipulator"&.% +4 "core" %\ ! [ 2 +2 "storage"(% +4 "core" %^ \ + "storage"(W. +3 "core" .( +2 "storage"((& +4 "core" & \  + "storage"()& +4 "core" & \  + "manipulator"&H& +4 "core" &)  @Z +2 "manipulator"&A% +3 "core" %\ !  2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&>( +164 "core" ( +2 "manipulator"&&& +4 "core" &  j a + "storage"(+& +4 "core" & M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(C& +4 "core" & >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +284 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (:& +3 "core" & N\  + "manipulator"& & +4 "core" &  a +2 .tElbow.seek 3 + "manipulator"&8( +3 "core" ( +2 "manipulator"& & +4 "core" &  o a + "storage"(G& +4 "core" & o\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&#'ϩ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(!'X +8 "core" & w a + "manipulator"&2% +4 "core" %  Q +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&I(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&F& +4 "core" &g A . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &g M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +101 "core" ' + "manipulator"&V& +5 "core" &g % + + "manipulator"&,% +4 "core" % +2 "processing"%& +3 "core" &O\ +3 "processing"%}& +4 "core" &=\ +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &=\  +8 &3~6\ *y +9 &d4\ ? +10 &x3\ O +9 &CZ=\ N +10 &[1\ N +9 &_*\ N +9 &[:\ N +10 &KY0\ N +9 &Z2\ M +9 &Z*\ N +10 & Z*\ M +9 &"S[/\ N +10 &$Z(\ M +9 &%[(\ N +9 &'\\(\ N +10 &)[]$\ N +9 &+Z)\ N +60 &,\\)\ N +4 &.Z%\ N +3 &0cZ%\ N + &2$^ \ N + &3Z(\ N +4 &5Z*\ N &7j\\,\ N +2 &9-Y)\ N +9 &:W(\ M +10 &<Z1\ N +9 &>sX3\ N +10 &@5\\,\ N +9 &A]*\ N +9 &C]&\ N +10 &Exa)\ O +9 &G6p/\ P +9 &H-\ R +10 &J)\ T +9 &Lq(\ T +10 &N21\ T +9 &O,\ T +9 &Q(\ T +10 &Sw+\ T +9 &U8'\ U +9 &V*\ U +10 &X)\ U +9 &Z%X{+\ &t +10 &Z^(\ 5 +8 ( +2 &Z%)\ 0 +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&7% +4 "core" % & w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' +2 "processing"%M& +4 "core" &Z%?\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&D% +4 "core" %\  9  + "storage"(P% +4 "core" %b %\ + "storage"(\\. +3 "core" .( +2 "storage"($& +4 "core" & \  + "storage"(i& +3 "manipulator"&& +7 "core" & $\  + &g +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(p'i +33 "core" ( + "manipulator"&_& +5 "core" &k 2 D \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &k  R \ +2 .tForearm.seek PC +2 "manipulator"&?' +92 "core" ' + .tHand.close + "manipulator"&b/ +55 "core" / +3 .tPC.seek :open +2 "processing"%*( +64 "core" ' +2 "storage"(O- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['y +48 "core" ' +311 ( + "storage"(e& +4 "core" & B\  + "manipulator"&& +5 "core" &k  \ +2 "manipulator"&h% +3 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +257 "core" ( + "manipulator"&^& +4 "core" &  / +2 "storage"(t& +4 "core" & `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +93 "core" ' + .tHand.open +2 "manipulator"&51 +55 "core" 1 +2 "storage"(f- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(j' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(z& +4 "core" &\ /\ -\  + "manipulator"&|& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&X( +4 "core" ( + "manipulator"&l& +4 "core" &  2 + "storage"(& +4 "core" &\ \ ( $\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(T' +58 "core" ' +2 "manipulator"&s& +4 "core" & L +2 "storage"(/& +4 "core" & 8\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& '} +30 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +26 "core" ' +2 "manipulator"&`% +4 "core" %΄  +2 "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&g'ϰ +21 "core" ' + "manipulator"&~& +4 "core" &  O +2 "storage"(v& +4 "core" & 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +31 "core" ' +2 "storage"(B% +4 "core" %s \ +2 ."downElevator"SE.seek :down +4 "storage"(]'X +99 (q% +2 "core" %I \ Xg +2 "manipulator"&m% +4 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & /\  +2 "collection"'& +3 "core" &VZ|\ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&0% +4 "core" %\ \   +2 "storage"(U% +4 "core" %N I\ + "storage"(Y. +3 "core" .( +2 "storage"(& +4 "core" & >\  + "storage"({& +4 "core" & 2\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&'& +4 "core" & : + "storage"(x& +4 "core" & h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&3'9 +93 "core" ' + "storage"(& +4 "core" & X\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&u'} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(J'X +30 "core" ' + "manipulator"&6% +4 "core" %Ό  + "storage"(w& +4 "core" & >\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"& 'ϸ +20 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(9'G +40 "core" ' + "manipulator"&@& +4 "core" &  +2 "manipulator"&.% +4 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +162 "core" ( + "manipulator"&=& +4 "core" &( # 7 ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &( ?R +2 .tForearm.seek CC + "manipulator"&)'" +94 "core" ' +6 .tHand.close +2 "manipulator"&H/ +62 "core" / +2 .tCC.seek :open +2 "collection"'A( +416 "core" ( + "storage"(%& +4 "core" & P\  +2 "storage"(&& +4 "core" & N\  + "manipulator"&+& +4 "core" &( S ?Q + "manipulator"&C% +4 "core" % *  +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E( +164 "core" ( +2 "manipulator"&4& +4 "core" &  % l + "storage"(:& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"& '} +98 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&G1 +61 "core" 1 +2 "manipulator"&L% +4 "core" % Ά % +2 "storage"(R& +4 "core" & y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&2'ϲ +20 "core" ' +3 "manipulator"&>& +58 "core" & ~ l +3 "storage"(& +3 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +30 "core" ' +2 "storage"(#% +4 "core" %Q\ \ i\ +2 ."downElevator"SE.seek :down +4 "storage"(F'X +98 (N% +3 "core" %D I\ Vb +2 "manipulator"&8% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"',& +4 "core" &\ + "manipulator"&% +4 "core" %\ 5 2 +2 "storage"(!% +4 "core" %`\ \  \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(o( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & ]\ +2 "manipulator"&7& +3 "core" &  l +2 .tElbow.seek 2 +2 "manipulator"&M( +32 "core" ( +2 "manipulator"&D& +4 "core" & $ Y "} +2 "storage"(P& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +88 "core" ' +2 "storage"($& +4 "core" & \ \  ,\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +283 "core" ' +3 "storage"(- +10 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +4 (i& +3 "core" & \ + "manipulator"&_& +4 "core" & !u +2 .tElbow.seek 2 + "manipulator"&;( +4 "core" ( + "manipulator"&n& +4 "core" & % !u + "storage"(b& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&O' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&d& "storage"(-'X +8 "core" & c !u + "manipulator"&p% +4 "core" % #  E +2 .tForearm.seek :retract +2 "manipulator"&e'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&h& +9 "core" &* s @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &* , O @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&^'" +103 "core" ' +2 "manipulator"&t& +5 "core" &*  G @\\ + "manipulator"&% +4 "core" %) +2 "collection"'5& +4 "core" &\ +2 "collection"'f& +5 "core" &a\ +2 .tCC.seek :closed + "collection"'Q(V +5 "core" &c\ +7 &4c\ $c +10 &Ud\ 7 +9 &}\\\ K +9 &Y`\ N +10 &b[c\ M +9 &"Yg\ N +9 &[\\\ M +10 &WT\ M +9 &i[\\\ M +10 &+X_\ M +9 &\\\\\ M +9 &!^U\ M +10 &#p]`\ N +9 &%3[d\ M +9 &&Wc\ M +10 &(VI\ M +9 &*y\\V\ M +10 &,;[[\ M +9 &-Z^\ M +9 &/\\[\ M +10 &1ZR\ M +9 &3BZQ\ N +9 &5ZR\ N +10 &6ZP\ M +9 &8UQ\ M +10 &:J\\P\ N +9 &< YX\ M +9 &=ZT\ M +10 &?[P\ N +9 &ASZT\ M +9 &C]Z\ M +10 &DZ\\\ N +9 &Fc]\ N +10 &HRr\\\ P +9 &J T\ S +9 &KZ\ V +10 &MX\ X +9 &OA]\ Y +9 &QW\ Y +10 &RY\ Z +9 &T\\\ Z +10 &V"uR\ . +9 &V)T\ R +9 ( +3 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&z1 +3 "core" &V`T\ H +49 1 +2 "manipulator"&|% +5 "core" % ) 5  D + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &.\ +2 "manipulator"&k% +4 "core" %\  !  + "storage"(s% +4 "core" %_ M\ +2 "storage"(/. +3 "core" .( + "storage"([& +4 "core" & O\ + "storage"(`& +4 "core" & S\ + "manipulator"&& +4 "core" &*   @\\ +2 "manipulator"&y% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&~( +160 "core" ( +2 "manipulator"&v& +4 "core" &   +2 "storage"(B& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +87 "core" ' +2 "storage"(a& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +278 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" & J\ +2 "manipulator"&S& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&T& +3 "core" & $ B  +2 "storage"( & +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&g' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(0'X +8 "core" &   + "manipulator"&U% +4 "core" %   + +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&K& +4 "core" &t A W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +4 "core" &t -  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&'& +5 "core" &t % :  + "manipulator"&x% +4 "core" % ~ +2 "processing"%c& +4 "core" &4\ +2 "processing"%& +4 "core" &4\ +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &4\  +10 &2=\ *x +9 &b4\ > +10 &yx:\ N +9 &;Z5\ N +9 &Z4\ N +10 &Z2\ N +9 &]3\ N +9 &DY6\ N +10 &\\=\ N +10 &]3\ N +9 & Z/\ N +9 &"LY/\ N +9 &$X)\ N +10 &%]#\ N +9 &'\\)\ N +9 &)SY-\ N +10 &+Z.\ N +9 &,Y2\ N +10 &.Z'\ N +9 &0[],\ N +9 &2Z+\ N +10 &3Y\ N +9 &5X\ N +9 &7eY%\ M +10 &9&Y\ N +9 &:["\ N +10 &<])\ N +9 &>lW"\ N +9 &@.Z$\ N +10 &AW%\ N +9 &C\\&\ N +9 &Eqb&\ O +10 &G.n \ P +9 &H$\ S +10 &J*\ T +9 &Li'\ T +9 &N,'\ T +10 &O&\ T +9 &Q-\ U +9 &Sp&\ T +10 &U1'\ U +9 &V.\ U +10 &X(\ U +9 &Z"])\ #m +9 &Z]&\ . +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&\ 1 +3 "core" &Z-\ * +60 1 +2 "manipulator"&r% +4 "core" % # _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %T d\ +2 "storage"(6. +3 "core" .( + "storage"(w& +4 "core" & ~\ +2 "storage"(& +4 "manipulator"&& +5 "core" & m\ + &t  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&@(s +3 "storage"(.'i +2 "core" ( +2 "manipulator"&3& +4 "core" &t    + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &t   +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&u/ +59 "core" / +2 .tPC.seek :open +2 "processing"% ( +85 "core" ' +2 "storage"(J- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='y +47 "core" ' +291 ( +52 "storage"((& +5 "core" & W\ + "manipulator"&& +4 "core" &t  + "manipulator"&% +5 "core" % e +2 .tForearm.seek :retract + "manipulator"&H'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +273 "core" ( + "manipulator"&& +5 "core" & $ E \ + "storage"(%& +4 "core" & 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&&'ќ +95 "core" ' +2 .tHand.open +2 "manipulator"&+1 +54 "core" 1 +2 "storage"(C- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(:' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' + "storage"(W& +4 "core" & \ '\ $ )\ +2 "manipulator"&G& +3 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&L( +9 "core" ( +2 "manipulator"&R& +4 "core" &  & + "storage"(>& +4 "core" & \ \ * \\\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(<' +61 "core" ' + "manipulator"&#& +4 "core" &  +2 "storage"(E& +4 "core" & 6\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&N' +33 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +25 "core" ' +2 "manipulator"&,% +4 "core" %   +2 "storage"(2& +4 "core" & w \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&!& +5 "core" &  +2 "storage"(& +4 "core" & D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +42 "core" ' +2 "storage"("% +4 "core" %r -\ +3 ."downElevator"SE.seek :down +3 "storage"(F'X +99 ( % +3 "core" %\ J \ Xh +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +97 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (D& +2 "core" & \ +2 "collection"'P& +4 "core" &VaN\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\ \   +2 "storage"( % +4 "core" %` H\ + "storage"(V. +3 "core" .( +2 "storage"(& +4 "core" & *\ + "storage"(i& +4 "core" & A\ +2 "manipulator"&_& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&b& +3 "core" & ' +2 "storage"(I& +4 "core" & R\ +7 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +102 "core" ' +2 "storage"(p& +4 "core" & F\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +279 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &  + "storage"(?& +4 "core" & Y\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&}' +33 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +28 "core" ' + "manipulator"&;% +4 "core" % +2 "storage"(5& +4 "core" & l k \ + .tForearm.force -20 + "manipulator"&5 +7 .tForearm.seek 2 + 320 counts +2 "manipulator"&-' +19 "core" ' + "manipulator"&e& +4 "core" &  +2 "storage"(A& +4 "core" & J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(|'E +39 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&k% +4 "core" %љ K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&/( +167 "core" ( +5 "manipulator"&[& +4 "core" &, b Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &+ % Bg +2 .tForearm.seek CC +2 "manipulator"&f'" +94 "core" ' + .tHand.close +6 "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'y( +416 "core" ( + "storage"(^& +4 "core" & (\ +2 "storage"(v& +3 "core" & \ +2 "manipulator"&B& +3 "core" &+  Ae +2 "manipulator"&a% +3 "core" % 4 + +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&l( +161 "core" ( +2 "manipulator"&q& +4 "core" &  K  +2 "storage"(m& +3 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&S' +110 "core" ' + .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +4 "core" %  +2 "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&U' +14 "core" ' +2 "manipulator"&~& +4 "core" & v  + "storage"(Z& +4 "core" & ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +16 "core" ' +2 "storage"(g% +4 "core" %K\ \ \ +2 ."downElevator"SE.seek :down +10 "storage"(K'X +99 ({% +3 "core" %cG 0\ Wd +2 "manipulator"&X% +4 "core" %ѐ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +5 "core" &[\ + "manipulator"&c% +4 "core" %\    +2 "storage"(0% +3 "core" %`\ \  #\ +2 "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" & F\  +2 "manipulator"&r& +3 "core" & 3  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +4 "core" &  | + "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +92 "core" ' +2 "storage"(w& +4 "core" &\ &\ % Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \  \  + "manipulator"&3& +4 "core" & | +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +52 "core" & J | +3 "storage"(u& +4 "core" & y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"(]'X +8 "core" &  | + "manipulator"&.% +4 "core" % ϱ , - +2 .tForearm.seek :retract +2 "manipulator"&('\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&& +5 "core" &( . ?R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &(  / ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' + "manipulator"&%& +6 "core" &)  G ?R + "manipulator"&@% +4 "core" % I +2 "collection"'+& +4 "core" &c\ +2 "collection"'C& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"')(V +4 "core" &p\  +9 &1~h\ *x +9 &ce\ > +10 &qs^\ N +9 &5U^\ M +9 &Y]\ M +10 &Zc\ M +9 &{X`\ M +10 &=W]\ M +9 &Zg\ N +9 &Yc\ M +10 & X^\ M +9 &"EYc\ M +10 &$Y`\ M +9 &%[d\ M +9 &'Zc\ M +10 &)MZb\ M +9 &+Zc\ N +9 &,Xb\ M +10 &.\\e\ M +9 &0T\\Z\ N +9 &2Z_\ N +10 &3Zb\ M +9 &5Zc\ M +10 &7^\\[\ M +9 &9 Z[\ M +9 &:[^\ M +10 &<Za\ M +9 &>eYP\ M +9 &@'XO\ M +10 &A]V\ M +9 &C\\\\\ N +10 &Ela[\ N +9 &G)kQ\ O +9 &H{P\ Q +10 &JO\ V +9 &LWT\ X +9 &NO\ W +10 &OW\ Y +9 &QR\ Y +10 &SYS\ Z +9 &UT\ [ +9 &VgE\\\ 1 +10 &Vs[\ I +5 ( +2 "collection"'C& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&W1 +3 "core" &VjY\ I +56 1 +2 "manipulator"&G% +5 "core" %  0 L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%>& +4 "core" &=\ + "manipulator"&H% +4 "core" %\  z  +2 "storage"(#% +4 "core" %a \ + "storage"(E. +3 "core" .( +2 "storage"(=& +3 "core" & \  +2 "storage"(,& +4 "core" & \  + "manipulator"&2& +4 "core" &( ?Q +2 "manipulator"&4% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&!( +166 "core" ( +2 "manipulator"&& +4 "core" & 6 g + "storage"(& +4 "core" & h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&"'9 +94 "core" ' + "storage"(&& +5 "core" & 2\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'i +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ~ \  +2 "manipulator"&& +3 "core" & _ f +2 .tElbow.seek 3 + "manipulator"&L( +4 "core" ( + "manipulator"&<& +4 "core" & @ f + "storage"(N& +4 "core" & Z\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&P& +6 "storage"($'X +7 "core" & g f +2 "manipulator"& % +4 "core" % ϲ +2 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"& & +4 "core" &j *  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +2 "core" &j S 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_' +95 "core" ' +2 "manipulator"&b& +4 "core" &j $ ` 3 +2 "manipulator"&I% +4 "core" % j  +2 "processing"%9& +4 "core" &R\ +2 "processing"%p& +6 "core" &B\ +2 .tPC.seek :closed +7 "processing"%F(Z +3 "core" &G\ +2 &5\  +9 &1@\ *z +9 &c<\ > +10 &{wB\ O +9 &?XA\ N +9 &Y2\ M +10 &Z:\ N +9 &[A\ M +9 &HZ;\ M +10 & \\5\ N +9 &W:\ N +10 & YB\ N +9 &"O\\=\ N +9 &$W5\ N +10 &%Z9\ M +9 &']3\ N +9 &)W]5\ N +10 &+X:\ N +9 &,Y@\ M +10 &.[5\ N +9 &0_]:\ N +9 &2!Y-\ N +10 &3Y7\ M +9 &5Z2\ M +10 &7gZ3\ N +9 &9)\\4\ N +9 &:V9\ N +10 &<X7\ N +9 &>oX-\ N +9 &@0Y4\ N +10 &AY+\ N +9 &C]"\ N +9 &Eta!\ O +10 &G1m(\ P +9 &H*\ S +10 &J#\ S +9 &Lm+\ T +9 &N/(\ T +10 &O*\ T +9 &Q.\ T +9 &Sr,\ U +10 &U4/\ U +9 &V+\ U +10 &X+\ U +9 &Z$\\.\ #m +9 &ZZ2\ - +9 ( +3 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&81 +3 "core" &Z.\ * +54 1 +2 "manipulator"&7% +4 "core" % $   +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +97 "core" ' + "processing"%h& +4 "core" &ZE\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&?% +3 "core" %\   * +2 "storage"(t% +3 "core" %` w v q\ +2 "storage"(;. +3 "core" .( + "storage"(5& +4 "core" & w v \  +2 "storage"(e& +2 "manipulator"&A& +7 "core" & w  \  + &j 3 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s + "storage"(k'i +5 "core" ( +2 "manipulator"&d& +4 "core" &j  G 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &j  } 3 +2 .tForearm.seek PC + "manipulator"&M' +97 "core" ' + .tHand.close + "manipulator"&}/ +52 "core" / +3 .tPC.seek :open + "processing"%-( +95 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['y +45 "core" ' +284 ( +2 "storage"(`& +4 "core" & y\  + "manipulator"&z& +4 "core" &j # 3 + "manipulator"&O% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&s( +266 "core" ( + "manipulator"&Q& +5 "core" & g + "storage"(^& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +87 "core" ' +2 .tHand.open + "manipulator"&B1 +58 "core" 1 +2 "storage"(a- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(q'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(m' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(/& +3 "core" &\ \ \  +2 "manipulator"& & +4 "core" & l + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & + "storage"(~& +4 "core" &\ \ \ \ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(g' +60 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"({& +4 "core" & ;\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&X'} +19 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +53 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(S'i +24 "core" ' + "manipulator"&x% +5 "core" %Α   + "storage"(U& +4 "core" & n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&c'Ͻ +26 "core" ' + "manipulator"&0& +5 "core" & g + "storage"(Y& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +25 "core" ' +2 "storage"(j% +4 "core" %k Q\  +2 ."downElevator"SE.seek :down +3 "storage"(K'X +99 (o% +3 "core" %bM { 9\ Yi +2 "manipulator"&\ % +4 "core" %L / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & Y\  +2 "collection"'& +4 "core" &VjM\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&w% +4 "core" %\ #  + "storage"(T% +4 "core" %b \ + "storage"('. +4 "core" .( + "storage"(& +8 "core" & p\  +2 "storage"(& +4 "core" & \  +2 "manipulator"&3& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&u& +4 "core" & d +2 "storage"(& +4 "core" & 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&1'9 +96 "core" ' + "storage"(.& +4 "core" & >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(& +4 "core" & /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('X +38 "core" ' +2 "manipulator"&@% +4 "core" %Έ  + "storage"(+& +4 "core" & {\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&]'ϴ +25 "core" ' + "manipulator"&(& +5 "core" & + "storage"(y& +4 "core" & <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(G'G +39 "core" ' +2 "manipulator"&>& +4 "core" &  +2 "manipulator"&H% +4 "core" %+ Q v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&E( +164 "core" ( +2 "manipulator"&=& +4 "core" &*  @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +2 "core" &)  @W +2 .tForearm.seek CC +2 "manipulator"&C'" +94 "core" ' +2 .tHand.close + "manipulator"&2/ +60 "core" / + .tCC.seek :open +2 "collection"'4( +416 "core" ( + "storage"(& +5 "core" & \  + "storage"(& +4 "core" & \  + "manipulator"&& +4 "core" &*  @W +6 "manipulator"&&% +4 "core" % 0 +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&R( +159 "core" ( +2 "manipulator"& & +4 "core" & @  + "storage"(& +4 "core" & [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +95 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +56 "core" 1 +2 "manipulator"&D% +4 "core" % ΃  > + "storage"(P& +4 "core" & B\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"& 'ϯ +19 "core" ' +2 "manipulator"&!& +5 "core" & 8  + "storage"("& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +29 "core" ' + "storage"(% +4 "core" %L\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (i% +2 "core" %A t\ Va +2 "manipulator"&L% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'I& +4 "core" &\ + "manipulator"&9% +5 "core" %\  ) \ + "storage"($% +4 "core" %a\ \  \ +2 "storage"(V. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" & %\ + "manipulator"&7& +4 "core" & C  +2 .tElbow.seek 2 + "manipulator"&h( +29 "core" ( + "manipulator"&?& +4 "core" &   k +2 "storage"(t& +4 "core" & a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +93 "core" ' +2 "storage"(5& +4 "core" & \ \  6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +283 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" & \ +2 "manipulator"&d& +4 "core" & U i + .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( + "manipulator"&_& +4 "core" & X i +2 "storage"(}& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(F'X +7 "core" & Z i +2 "manipulator"&k% +4 "core" %  : +2 .tForearm.seek :retract + "manipulator"&`'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&z( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&O& +8 "core" &( & ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &(  ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&Q'" +98 "core" ' +2 "manipulator"&^& +5 "core" &( $ Q ?U + "manipulator"&% +4 "core" %" F +2 "collection"'B& +4 "core" &\ +2 "collection"'a& +5 "core" &r\ +2 .tCC.seek :closed + "collection"'f(V +4 "core" &p\  +9 &.{x\ +z +9 &dp\ > +9 &{sk\ N +10 &=Xb\ M +9 &Wj\ M +9 &Vh\ M +10 &Xi\ N +9 &EYo\ M +10 &Za\ N +9 &Y\\\ M +9 & Zl\ M +10 &"MX_\ M +9 &$[d\ M +10 &%Z[\ N +9 &'Xa\ M +9 &)UX[\ M +10 &+Z\\\ N +9 &,X`\ M +9 &.YZ\ M +10 &0]X\\\ M +9 &2Z^\ M +9 &3Y_\ M +10 &5X[\ N +9 &7fWa\ M +10 &9'Y`\ M +9 &:[\\\ M +9 &<Yb\ M +10 &>mWY\ M +9 &@/V_\ M +9 &A[\\\ M +10 &C[\\\ M +9 &Et`Z\ N +10 &G2f\\\ O +9 &Hs[\ P +9 &JY\ T +10 &La_\ W +9 &N ]\ X +9 &OO\ X +10 &Q]\ Y +10 &S`_\ Z +9 &U"P\ Z +9 &VnDZ\ 0 +9 &VqV\ G +6 ( + "collection"'a& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +50 "manipulator"&/1 +6 "core" &VgO\ G +49 1 + "manipulator"& % +4 "core" % ( % 7 @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%~& +4 "core" &=\ +2 "manipulator"&% +3 "core" %\   6  +2 "storage"(% +4 "core" %T ~\ + "storage"({. +3 "core" .( +2 "storage"([& +4 "core" & e\ + "storage"(q& +4 "core" & t\ + "manipulator"&x& +4 "core" &( ?U +2 "manipulator"&U% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +159 "core" ( + "manipulator"&Y& +5 "core" &  ~  + "storage"(s& +4 "core" & [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +95 "core" ' + "storage"(j& +5 "core" & B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +283 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" & \ +2 "manipulator"&\ & +4 "core" & m  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&g& +4 "core" & x  +2 "storage"(X& +3 "core" & 7\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&c' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(w'X +8 "core" & u  +2 "manipulator"&T% +3 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&& +5 "core" &w 8 ' +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &w i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +103 "core" ' + "manipulator"&u& +4 "core" &w  N +2 "manipulator"&% +4 "core" % < + "processing"%|& +5 "core" &B\ +2 "processing"%.& +4 "core" &\\\ +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" &B\  +9 &3B\ *z +10 &dB\ ? +14 &wJ\ O +4 &FYC\ M +10 &ZK\ M +9 &ZA\ M +9 &Z@\ M +10 &NYE\ M +9 &ZB\ N +10 &Z@\ N +9 & ZG\ M +9 &"UYD\ N +10 &$ZB\ M +9 &%ZA\ M +9 &'_@\ N +10 &)]WC\ N +9 &+WB\ N +10 &,XC\ M +9 &.ZB\ M +9 &0f[B\ M +10 &2'YD\ N +9 &3WC\ N +9 &5XA\ N +10 &7nWC\ M +9 &9/YD\ N +10 &:Y>\ N +9 &<X:\ M +9 &>vZB\ M +10 &@7Z?\ N +9 &AX=\ M +9 &C]A\ N +10 &E{bC\ N +9 &G8pB\ P +10 &H>\ R +9 &J?\ S +9 &LtC\ S +10 &N53\ T +9 &O5\ T +9 &Q5\ T +10 &Sz2\ T +9 &U:4\ U +10 &V*\ T +9 &X4\ T +9 &Z%Uv,\ (y +10 &Zf/\ 6 +9 ( + &Z#(\ / +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&l1 +57 "core" 1 + "manipulator"&r% +4 "core" % " I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +99 "core" ' +2 "processing"%& +4 "core" &Z"M\ / + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ " G = + "storage"(%% +4 "core" %]  \ + "storage"(@. +3 "core" .( +2 "storage"(+& +3 "core" & } .\ +2 "storage"((& +5 "manipulator"&y& +4 "core" &  \ + &w +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&>(s + "storage"(H'i +6 "core" ( + "manipulator"&1& +4 "core" &w  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &w N +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%]( +98 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='y +34 "core" ' +288 ( +2 "storage"(,& +4 "core" & !\ + "manipulator"&W& +4 "core" &w  + "manipulator"&J% +4 "core" % K  +2 .tForearm.seek :retract + "manipulator"&2'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +267 "core" ( +2 "manipulator"&)& +4 "core" &  a  +2 "storage"(& +3 "core" & c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +87 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(&- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(E& +3 "core" & \ \ W\ +2 "manipulator"&N& +4 "core" & >  +2 .tElbow.seek 2 + "manipulator"&D( +8 "core" ( + "manipulator"&P& +4 "core" & # I  +2 "storage"(!& +4 "core" & Y\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(i& +4 "core" & ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&L' +31 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +29 "core" ' + "manipulator"&I% +5 "core" %   + "storage"( & +4 "core" & z y \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&9' +18 "core" ' +2 "manipulator"&$& +5 "core" &  + "storage"(V& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +30 "core" ' +2 "storage"(:% +4 "core" %r t\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (*% +3 "core" %I \ Xf +2 "manipulator"&8% +4 "core" %њ ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +95 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (?& +4 "core" & 6\ +2 "collection"'t& +4 "core" &Vg\ G + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&5% +3 "core" %\ \   +2 "storage"(<% +4 "core" %_ \ +2 "storage"(b. +2 "core" .( +2 "storage"(A& +3 "core" & N\ +2 "storage"(e& +4 "core" & -\ + "manipulator"&d& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&_( +4 "core" ( + "manipulator"&}& +4 "core" & 7  +2 "storage"(& +3 "core" & )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +95 "core" ' +2 "storage"(k& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +283 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +54 "manipulator"&O& +3 "core" & )  +2 "storage"(M& +4 "core" & .\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p' +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('W +36 "core" ' + "manipulator"&B% +5 "core" % 4 + "storage"(n& +4 "core" & ` \\ W\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&F' +18 "core" ' +3 "manipulator"&`& +4 "core" &   +2 "storage"(4& +4 "core" & d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&/'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( 'F +39 "core" ' + "manipulator"&a& +4 "core" &   +2 "manipulator"&~% +4 "core" %ѡ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +163 "core" ( +2 "manipulator"&{& +4 "core" &' D >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &' { >N +2 .tForearm.seek CC +2 "manipulator"&q'" +93 "core" ' + .tHand.close +2 "manipulator"&x/ +61 "core" / +2 .tCC.seek :open + "collection"'U( +416 "core" ( +2 "storage"(Q& +4 "core" & {\ + "storage"(Y& +4 "core" & \ +2 "manipulator"&s& +3 "core" &'  >M +2 "manipulator"&j% +3 "core" % - + +2 .tForearm.seek :retract +2 "manipulator"&z'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +162 "core" ( +2 "manipulator"&Z& +4 "core" & \\ x + "storage"(o& +4 "core" & \ \  >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&\ ' +106 "core" ' +2 .tElbow.hold + "manipulator"&g, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&X1 +59 "core" 1 +2 "manipulator"&% +4 "core" %   + "storage"(& +4 "core" & U\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&T' +13 "core" ' + "manipulator"&0& +5 "core" & K x + "storage"(v& +4 "core" & \ f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +28 "core" ' + "storage"(c% +4 "core" %L\ \ \ +3 ."downElevator"SE.seek :down +8 "storage"('X +95 (% +3 "core" %? }\ Vb +2 "manipulator"&% +4 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &\ +2 "manipulator"&|% +4 "core" %\  D  + "storage"(w% +4 "core" %`\ \ \ +2 "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(-( +342 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" & x\  + "manipulator"&r& +4 "core" &  x +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( + "manipulator"&& +5 "core" & u + "storage"(%& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +95 "core" ' +2 "storage"(+& +4 "core" &\ &\ # .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'i +283 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ((& +3 "core" & i\  +2 "manipulator"&1& +3 "core" & i u +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&3& +3 "core" & u +2 "storage"(& +4 "core" &\ \  /\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&6& "storage"(K'X +7 "core" & : u + "manipulator"&H% +4 "core" % ϙ  +2 .tForearm.seek :retract +2 "manipulator"&,'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&W( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( + "manipulator"&J& +5 "core" &* % @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &*  8 @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'" +96 "core" ' + "manipulator"&& +5 "core" &* @] + "manipulator"&>% +4 "core" % 2 +2 "collection"'& +4 "core" &$\ +2 "collection"'&& +5 "core" &f\ +2 .tCC.seek :closed +2 "collection"'C(V +4 "core" &\ +8 & +w\ $c +10 &W6\ 7 +9 &t\ L +9 &W}\ M +10 &eZ|\ M +9 &&Yz\ M +10 &[w\ M +9 &Zx\ M +9 &m[\ M +10 &/Z{\ M +9 &Yo\ M +9 &!Wx\ M +10 &#t\\|\ M +10 &%6\\x\ M +8 &&Yt\ M +10 &(Yv\ M +9 &*}Ye\ M +10 &,>Ye\ M +9 &.U\\\ M +9 &/Zf\ M +10 &1Xi\ M +9 &3FXe\ M +10 &5 V^\ M +9 &6Yb\ M +9 &8Ta\ M +10 &:NY_\ M +9 &<\\[\ N +9 &=YY\ M +10 &?W`\ M +9 &AUYY\ N +9 &CYY\ M +10 &D[Z\ M +9 &Fd_\ O +10 &HUu\\\ P +9 &J\ `\ U +9 &K_\ X +10 &M_\ Y +9 &OE`\ Y +9 &Q_\ Y +10 &RU\ Z +9 &T\\\ Z +10 &V%w_\ . +9 &V)b\ T +9 ( +7 "collection"'&& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&E1 +3 "core" &Vj^\ J + &Vj]\ J +58 1 + "manipulator"&N% +6 "core" %  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%!& +4 "core" &H\ + "manipulator"&2% +4 "core" %\    + "storage"(% +4 "core" %a t\ +2 "storage"(i. +2 "core" .( +2 "storage"(=& +4 "core" & \  + "storage"(I& +4 "core" & \  + "manipulator"& & +4 "core" &*  @\\ +2 "manipulator"& % +3 "core" %\  !  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$( +160 "core" ( +2 "manipulator"&V& +4 "core" & $ u + "storage"(:& +4 "core" & +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +94 "core" ' + "storage"(& +9 "core" & N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" & \  +2 "manipulator"&"& +3 "core" & - u +2 .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( + "manipulator"&& +4 "core" & G u + "storage"(L& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(5'X +7 "core" & p u + "manipulator"&% +4 "core" % ϣ  +2 .tForearm.seek :retract +51 "manipulator"&<'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(s +118 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +158 "core" ( + "manipulator"&A& +5 "core" &q '   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &q 4  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&d' +94 "core" ' +2 "manipulator"&}& +4 "core" &r # }  +2 "manipulator"&% +4 "core" %  +2 "processing"%G& +4 "core" &Z\ +2 "processing"%k& +5 "core" &X\ +2 .tPC.seek :closed +8 "processing"% (Z +3 "core" &D\ +3 &B\ 4 +9 &<G{B\ 1 +10 &gqB\ E +9 &\ dM\ N +9 &YJ\ N +10 &YL\ M +9 &RZK\ M +9 &ZK\ M +10 &ZK\ M +9 &XK\ M +9 &ZZK\ M +10 &!YJ\ N +9 &"ZK\ N +10 &$VK\ N +9 &&aWK\ N +9 &($WJ\ M +10 &)ZI\ N +9 &+WJ\ N +10 &-iWE\ N +9 &/+YF\ N +9 &0\\H\ N +10 &2WE\ N +9 &4rYH\ M +9 &63YB\ N +10 &7XC\ N +9 &9YJ\ N +10 &;zXC\ M +9 &=;ZC\ N +9 &>[B\ N +10 &@[B\ N +9 &B\\C\ N +9 &D@\\C\ O +10 &FeK\ O +9 &GrK\ Q +9 &IxA\ S +10 &K9B\ T +9 &LA\ T +10 &NC\ T +9 &P}E\ T +9 &R>D\ U +10 &T?\ U +9 &UB\ U +9 &W>\ U +10 &YFB\ B +9 &ZY9g?\ $j +10 &Z0=\ + +5 ( +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&R1 +3 "core" &Z:\ + +54 1 +2 "manipulator"&7% +4 "core" % $   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' + "processing"%O& +5 "core" &ZF\ + + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&M% +4 "core" %\   H  + "storage"(^% +4 "core" %b \ + "storage"(B. +3 "core" .( +2 "storage"(n& +4 "core" & v\  + "storage"(`& +5 "manipulator"&4& +4 "core" & \  + &r    +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&a(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'i +2 "core" ( + "manipulator"&\\& +4 "core" &r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &r t  +2 .tForearm.seek PC +2 "manipulator"&h' +94 "core" ' +2 .tHand.close + "manipulator"&p/ +62 "core" / + .tPC.seek :open +2 "processing"%F( +92 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +41 "core" ' +293 ( +2 "storage"([& +4 "core" & \  + "manipulator"&/& +4 "core" &s   + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +239 "core" ( +2 "manipulator"&f& +4 "core" & ! k + "storage"(Q& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +103 "core" ' + .tHand.open +2 "manipulator"&s1 +61 "core" 1 +2 "storage"(j- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(Z'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(o' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(& +4 "core" & \  + "manipulator"&X& +4 "core" &  k +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & b k + "storage"(0& +4 "core" &\  \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(c' +60 "core" ' + "manipulator"&z& +4 "core" &  k +2 "storage"(& +4 "core" & Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'i +23 "core" ' +2 "manipulator"&T% +4 "core" %΅  +2 "storage"(& +5 "core" & ?\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&|'ϱ +20 "core" ' + "manipulator"&w& +5 "core" & j + "storage"(S& +4 "core" & +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +31 "core" ' +2 "storage"(m% +4 "core" %s >\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 ( % +2 "core" %K }\ Xg +2 "manipulator"&l% +4 "core" %& [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & ~\  +2 "collection"'%& +4 "core" &Va\ J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&+% +4 "core" %\ \ A  + "storage"(g% +4 "core" %S c\ + "storage"(u. +4 "core" .( + "storage"(y& +4 "core" & b\  + "storage"((& +4 "core" & \  + "manipulator"&1& +4 "core" &  j +2 .tElbow.seek 3 + "manipulator"&3( +4 "core" ( + "manipulator"&& +4 "core" & $ 6 j + "storage"('& +4 "core" & {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +110 "core" ' + "storage"(H& +4 "core" & n\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +2 "core" &  j +2 "storage"(& +3 "core" & H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&.'} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(>'X +39 "core" ' + "manipulator"&% +4 "core" %΂  +2 "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&K'Ϯ +20 "core" ' +2 "manipulator"&,& +4 "core" &  G j +2 "storage"(U& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'G +39 "core" ' +2 "manipulator"&!& +4 "core" &  j +2 "manipulator"&2% +4 "core" %M " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +150 "core" ( +2 "manipulator"&=& +4 "core" & $ ? 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" & 5 7 +2 .tForearm.seek CC + "manipulator"&I'" +93 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tCC.seek :open + "collection"' ( +413 "core" ( +2 "storage"()& +4 "core" & \  +2 "storage"(V& +3 "core" & \  +2 "manipulator"&:& +4 "core" &  7 + "manipulator"&% +53 "core" % ' +4 .tForearm.seek :retract + "manipulator"&W'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P( +162 "core" ( +2 "manipulator"&*& +4 "core" & R  +2 "storage"(8& +4 "core" & q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&"'} +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +58 "core" 1 +3 "manipulator"&?% +4 "core" % Ή { +2 "storage"(t& +4 "core" & S\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +19 "core" ' +2 "manipulator"&$& +4 "core" & 9  + "storage"(#& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +36 "core" ' +2 "storage"(9% +4 "core" %K\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(A'X +99 (e% +3 "core" %F \ Wd +2 "manipulator"&D% +4 "core" %5 ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &\ + "manipulator"&G% +4 "core" %\ G 4 +2 "storage"(5% +3 "core" %`\ \ \ +2 "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(]( +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +3 "core" & \ + "manipulator"&7& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&O( +38 "core" ( + "manipulator"&M& +4 "core" & < "~ +2 "storage"(^& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +93 "core" ' +2 "storage"(n& +4 "core" & \ \  :\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +286 "core" ' +3 "storage"(`- +7 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (k& +8 "core" & \ +2 "manipulator"&\\& +8 "core" &  !r +4 .tElbow.seek 2 + "manipulator"&_( +31 "core" ( +2 "manipulator"&d& +11 "core" & B  +3 "storage"(p& +10 "core" & H\ +5 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&b/ +60 "core" / +6 ."downElevator"SE.seek :down +10 "manipulator"&;& "storage"( 'X +21 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +7 "core" & H  +2 "manipulator"&~% +9 "core" %    +4 .tForearm.seek :retract + "manipulator"&['\ +94 "core" ' +4 .tElbow.seek CC + "manipulator"&/( +126 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +36 "core" ( +3 "manipulator"&& +12 "core" &# k :0 +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &h& +12 "core" &# ~ :0 +7 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +5 "manipulator"&f'" +102 "core" ' + "manipulator"&Q& +5 "core" &# $ ( :0 + "manipulator"&a% +4 "core" %:  + +2 "collection"'s& +4 "core" &\ +2 "collection"'j& +6 "core" &\ +2 .tCC.seek :closed + "collection"'q(V +4 "core" &\ +8 &D"\ %h +10 &Y\ 9 +9 &xf\ M +10 &W\ L +9 &Z\ M +9 &SY\ M +10 &Z\ M +9 &Y\ M +9 &Xe\ M +10 &ZY\ M +9 & Y?\ M +9 &!W\ M +10 &#[]\ M +9 &%b\\~\ M +10 &'%Y\ M +9 &(Y\ M +9 &*Z\ M +10 &,kY{\ M +9 &.-Xr\ M +9 &/Yw\ M +10 &1\\~\ M +9 &3sY|\ M +10 &55X\ M +9 &6Yv\ M +9 &8Wp\ M +10 &:|Zz\ M +9 &<<\\q\ M +10 &=Zr\ N +9 &?Zq\ M +9 &AZo\ M +10 &CDZp\ M +9 &EZr\ M +9 &Fcp\ O +10 &Hqr\ P +9 &J;p\ S +10 &Kq\ W +9 &Ml\ X +9 &Oqe\ Y +10 &Q4g\ X +9 &Ru\ Z +9 &Tp\ Z +10 &V)]n\ = +9 &Vpn\ E +6 ( + "collection"'j& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&1 +3 "core" &VZk\ E +50 1 +2 "manipulator"&X% +4 "core" % : %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%0& +4 "core" &N\ + "manipulator"&x% +4 "core" %\   u  +2 "storage"(z% +4 "core" %S \ + "storage"(. +3 "core" .( +2 "storage"(T& +4 "core" & q\ + "storage"(& +4 "core" & \\\ +2 "manipulator"&{& +3 "core" &# Y :0 +2 "manipulator"&w% +3 "core" %\  4  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z( +165 "core" ( + "manipulator"&S& +4 "core" & G t +2 "storage"(m& +4 "core" & X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + "storage"(Y& +5 "core" & \ + .tSE.reconfigure :pick +8 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'i +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & \ + "manipulator"&v& +4 "core" &  t +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&c& +3 "core" & 7 t +2 "storage"(& +4 "core" & *\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&|' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(+'X +7 "core" & P t +2 "manipulator"&g% +4 "core" % 2 +2 .tForearm.seek :retract + "manipulator"&\ '\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +104 "Can"/\ SQ +62 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&y& +4 "core" &y ) [  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &y :  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1' +98 "core" ' + "manipulator"&& +4 "core" &y    +2 "manipulator"&'% +4 "core" %  +2 "processing"% & +4 "core" &e\ +2 "processing"%H& +5 "core" &g\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &T\  +8 &1V\ *x +9 &cQ\ > +10 &qyD\ N +9 &4YC\ N +10 &[B\ N +9 &^E\ M +9 &zYI\ N +13 &<ZK\ N +6 &XI\ N +9 &[D\ M +10 & YJ\ M +9 &"D\\F\ N +10 &$VK\ M +9 &%YJ\ N +9 &'\\J\ N +10 &)MYJ\ M +9 &+YJ\ M +9 &,WJ\ M +10 &.YK\ M +9 &0TWK\ N +10 &2YJ\ M +9 &3ZJ\ M +9 &5XJ\ N +10 &7\\\\E\ N +9 &9YA\ N +9 &:VJ\ M +10 &<]C\ N +9 &>dZG\ N +10 &@&YK\ N +9 &AWJ\ N +9 &C\\E\ N +10 &Ej`B\ N +9 &G'pG\ P +9 &HH\ R +10 &JK\ S +9 &LbC\ T +10 &N$E\ T +9 &OJ\ T +9 &QF\ T +10 &ShC\ T +9 &U*C\ T +9 &VH\ T +10 &XB\ T +9 &ZaB\ $o +10 &Z[C\ . +8 ( +2 &ZK\ * +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&r% +4 "core" % $ Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +98 "core" ' +2 "processing"%J& +4 "core" &ZL\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +51 "manipulator"&% +5 "core" %\   + "storage"(% +4 "core" %S \\\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & '\ +2 "storage"(,& +3 "manipulator"&U& +5 "core" & *\ + &y   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&!(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(2'i +3 "core" ( + "manipulator"&6& +4 "core" &y ^  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &y   +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&./ +55 "core" / +2 .tPC.seek :open + "processing"%K( +92 "core" ' + "storage"(>- +4 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +49 "core" ' +281 ( + "storage"(&& +4 "core" & \ +2 "manipulator"&E& +4 "core" &y   + "manipulator"&% +4 "core" % \\ +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +269 "core" ( + "manipulator"&C& +5 "core" & D + "storage"()& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +100 "core" ' + .tHand.open +2 "manipulator"&:1 +62 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(*'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +4 "core" -' + "storage"(i& +4 "core" & \ )\ * ^\ + "manipulator"&L& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&?( +4 "core" ( + "manipulator"&t& +4 "core" & G + "storage"($& +5 "core" & \ *\ + /\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(9' +62 "core" ' +2 "manipulator"&W& +4 "core" &  + "storage"(e& +4 "core" & 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&D' +31 "core" ' +6 .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +25 "core" ' +2 "manipulator"&% +4 "core" %   +2 "storage"(& +4 "core" & q\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&G' +19 "core" ' + "manipulator"&5& +4 "core" & V +2 "storage"(<& +4 "core" & L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +32 "core" ' +2 "storage"(% +4 "core" %s \ +2 ."downElevator"SE.seek :down +3 "storage"(A'X +100 (-% +2 "core" %0I g\ Xf +2 "manipulator"&R% +4 "core" %ѕ / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (M& +4 "core" & b\ +2 "collection"'^& +3 "core" &VZ^\ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&n% +4 "core" %\    + "storage"(% +4 "core" %S I\ +2 "storage"(}. +3 "core" .( + "storage"(`& +4 "core" & Q\ + "storage"(k& +4 "core" & c\ +2 "manipulator"&\\& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&p& +4 "core" &  x + "storage"(b& +4 "core" & A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +99 "core" ' + "storage"(~& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(O'i +284 "core" ' +2 "storage"(B- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&4& +3 "core" &  +2 "storage"(& +4 "core" & G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&h' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(_- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Q'V +33 "core" ' + "manipulator"&a% +4 "core" % *  +2 "storage"(s& +4 "core" & i k \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts + "manipulator"& ' +14 "core" ' +2 "manipulator"&[& +4 "core" & 6 +2 "storage"( & +3 "core" & _\ +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(X'E +38 "core" ' +2 "manipulator"&0& +4 "core" &  +2 "manipulator"&x% +4 "core" %і  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&T& +4 "core" && % =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  W =C +2 .tForearm.seek CC + "manipulator"&{'" +101 "core" ' + .tHand.close +2 "manipulator"&w/ +55 "core" / +2 .tCC.seek :open + "collection"'j( +416 "core" ( +2 "storage"(f& +4 "core" & "\ + "storage"(S& +4 "core" & G\ + "manipulator"&m& +4 "core" &# @ :0 + "manipulator"&Y% +4 "core" % & 0 f +2 .tForearm.seek :retract + "manipulator"&/'\ +116 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( +2 "manipulator"& & +4 "core" & F \ +2 "storage"(l& +3 "core" & \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&v' +95 "core" ' +2 .tElbow.hold + "manipulator"&c, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % % +2 "storage"(%& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 321 counts +2 "manipulator"&g'! +19 "core" ' + "manipulator"&Z& +4 "core" &  . \ +2 "storage"(& +4 "core" & F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +29 "core" ' +2 "storage"(|% +4 "core" %J\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(y'X +100 ((% +2 "core" %eI M\ Wd +2 "manipulator"&% +4 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +50 "collection"''& +5 "core" &1\ +2 "manipulator"& % +4 "core" %\    + "storage"(+% +4 "core" %_\ \ \ +2 "storage"(\ . +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(F( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & z\  +2 "manipulator"&r& +4 "core" & = \ + .tElbow.seek 3 +2 "manipulator"&J( +15 "core" ( +2 "manipulator"&& +4 "core" & x ~ +2 "storage"(H& +3 "core" &\ \  9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(& +4 "core" &\ &\ & R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" & \  + "manipulator"&6& +4 "core" & G ~ +2 .tElbow.seek 3 + "manipulator"&3( +4 "core" ( + "manipulator"&1& +4 "core" & O ~ + "storage"(.& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&>'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&u/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"('X +7 "core" &  ~ + "manipulator"&2% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&& +4 "core" && 9 " =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && B =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'" +105 "core" ' +2 "manipulator"&)& +4 "core" && # a =G +2 "manipulator"&!% +4 "core" %'  v P +2 "collection"':& +4 "core" &\ \ +2 "collection"'& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'I(V +4 "core" & \ +8 &4:\ $c +10 &Ut\ 7 +9 &~g\ L +9 &U\ M +10 &bZe\ M +9 &$X\ M +9 &Z\ N +10 &Y!\ M +9 &kZ^\ M +10 &-Y\ M +9 &Y\ M +9 &!Zc\ M +10 &#rZ\ M +9 &%4Z\ M +9 &&V\ M +10 &(Y\ M +9 &*|Yd\ M +9 &,>Zh\ M +10 &.Y~\ M +9 &/Zc\ M +10 &1Zd\ M +9 &3EY\ M +9 &5Z\ M +10 &6Y\ M +9 &8W\ M +10 &:NY\ M +9 &<[\ M +9 &=Zv\ M +10 &?Yl\ M +9 &AU[v\ M +9 &CZ~\ M +10 &D]\ N +9 &Fe{\ N +10 &HTv|\ P +9 &J\ r\ T +9 &Kq\ X +10 &Ms\ X +9 &OCo\ Y +9 &Qw\ Y +10 &Rp\ Z +9 &Tq\ Z +10 &V!tr\ / +10 &V&q\ R +8 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&i1 +4 "core" &Vjx\ I +49 1 +3 "manipulator"&L% +4 "core" % 3 $ D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +5 "core" &Y\ + "manipulator"& % +4 "core" %\  T ) + "storage"(W% +4 "core" %a z \ + "storage"(e. +3 "core" .( +2 "storage"(=& +4 "core" & [\  + "storage"(& +4 "core" & { y \  + "manipulator"&& +4 "core" &&  =G +2 "manipulator"&*% +3 "core" %\   ) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&5( +156 "core" ( +2 "manipulator"&<& +4 "core" &  0  + "storage"(& +4 "core" & U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(V& +4 "core" & C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +280 "core" ' +2 "storage"(-- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +27 "core" & P\  +2 "manipulator"&#& +4 "core" & .  +2 .tElbow.seek 3 + "manipulator"&?( +3 "core" ( +2 "manipulator"&9& +3 "core" &   +2 "storage"(D& +4 "core" & F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&G'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(n'X +7 "core" & n  +2 "manipulator"&% +4 "core" % ϡ O w +2 .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&"(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +2 "manipulator"&`& +4 "core" &r ' 8 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &r  4 \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&\\' +103 "core" ' +2 "manipulator"&p& +4 "core" &r t \ +2 "manipulator"&b% +3 "core" % F +2 "processing"%N& +4 "core" &g\ +2 "processing"%~& +5 "core" &P\ +2 .tPC.seek :closed + "processing"%A(Z +4 "core" &U\ +8 &:V\ $c +10 &TW\ 7 +9 &~|U\ K +9 &ZU\ N +10 &c]R\ M +9 &%XC\ M +9 &YK\ M +10 &[B\ M +9 &i]G\ N +10 &-WC\ M +9 &YB\ M +9 &!XB\ M +10 &#rZE\ N +9 &%3YH\ N +9 &&WJ\ M +10 &(YC\ N +9 &*z[C\ N +10 &,<WG\ N +9 &-VJ\ N +9 &/UK\ N +10 &1UJ\ N +9 &3EXK\ M +9 &5YK\ M +10 &6YK\ M +9 &8WK\ M +9 &:MYK\ M +10 &< [K\ N +9 &=WK\ M +10 &?ZK\ N +9 &ATUK\ N +9 &C]G\ N +10 &D^J\ N +9 &FgK\ O +10 &HQ{K\ Q +9 &J E\ S +9 &KC\ S +10 &MK\ S +9 &ORI\ T +9 &QC\ T +10 &RB\ T +9 &TE\ T +9 &VWH\ U +10 &XC\ U +9 &Y{pD\ 7 +10 &Z.N\ M +9 &ZE\ * +2 ( +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&P1 +57 "core" 1 + "manipulator"&7% +4 "core" % # 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&B'\ +99 "core" ' +2 "processing"%4& +4 "core" &ZV\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ & : = + "storage"(_% +4 "core" %T x m \ +2 "storage"(a. +3 "core" .( + "storage"(s& +4 "core" & v v M\  +2 "storage"([& +4 "manipulator"& & +4 "core" & z \  + &r k \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&0(s +3 "storage"(x'i +2 "core" ( +2 "manipulator"&;& +4 "core" &r  \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &r + \ +2 .tForearm.seek PC +2 "manipulator"&O' +100 "core" ' + .tHand.close +2 "manipulator"&h/ +52 "core" / +3 .tPC.seek :open +2 "processing"% ( +90 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(T'y +43 "core" ' +288 ( +2 "storage"(& +4 "core" & @\  + "manipulator"&& +4 "core" &r \ + "manipulator"&% +4 "core" % _ +2 .tForearm.seek :retract + "manipulator"&w'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z( +266 "core" ( + "manipulator"&q& +4 "core" &  Q \ +2 "storage"(f& +4 "core" & j\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +93 "core" ' + .tHand.open +2 "manipulator"&m1 +52 "core" 1 +2 "storage"(Y- +3 "core" -'y +54 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"( 'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(& +4 "core" & " # #\  +2 "manipulator"&& +4 "core" & # \ +2 .tElbow.seek 3 + "manipulator"&( +30 "core" ( + "manipulator"&%& +4 "core" &  b % +2 "storage"(Z& +4 "core" & % " \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +8 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(|' +56 "core" ' + "manipulator"&/& +5 "core" & " $ + "storage"((& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +23 "core" ' + "manipulator"&'% +5 "core" %΋ i + "storage"(g& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&X'Ϸ +19 "core" ' + "manipulator"& & +5 "core" & c # + "storage"(+& +5 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +27 "core" ' + "storage"(o% +5 "core" %q 1\ +2 ."downElevator"SE.seek :down +3 "storage"(y'X +99 (]% +4 "core" %G  R\ Wf +2 "manipulator"&% +4 "core" %A F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & B\  +2 "collection"'H& +4 "core" &Vj\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ ! ` 7 + "storage"(c% +4 "core" %a i\ +2 "storage"(. +3 "core" .( + "storage"(,& +4 "core" & e\  + "storage"(U& +4 "core" & \  +2 "manipulator"&6& +4 "core" & k # + .tElbow.seek 3 +2 "manipulator"&1( +29 "core" ( +2 "manipulator"&.& +4 "core" &  % ~ +2 "storage"(u& +3 "core" & c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +87 "core" ' + "storage"(2& +4 "core" & R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & < ~ +2 "storage"(& +4 "core" & N\  + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(3'W +28 "core" ' + "manipulator"&!% +5 "core" %΃ x + "storage"(:& +4 "core" & O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϯ +20 "core" ' + "manipulator"&&& +4 "core" & E ~ +2 "storage"(j& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(L'F +38 "core" ' +2 "manipulator"&$& +4 "core" & O ~ +2 "manipulator"& % +4 "core" %: B { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&e( +173 "core" ( +2 "manipulator"&=& +4 "core" && # > =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" && =C +2 .tForearm.seek CC +7 "manipulator"&'" +91 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'*( +416 "core" ( +2 "storage"(C& +4 "core" & \  + "storage"(<& +4 "core" & 2\  + "manipulator"&& +4 "core" && j =C + "manipulator"&V% +4 "core" % 4 ` \ +2 .tForearm.seek :retract + "manipulator"&E'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t( +165 "core" ( +2 "manipulator"&-& +4 "core" & 9 ~ + "storage"(R& +4 "core" &\ \  "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&#'} +94 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&D1 +64 "core" 1 +2 "manipulator"&M% +4 "core" % ΅  + "storage"(^& +4 "core" & d\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ϱ +19 "core" ' +2 "manipulator"&5& +5 "core" & ' ~ + "storage"(& +4 "core" & S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +35 "core" ' + "storage"(G% +5 "core" %L \ \ +2 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (k% +3 "core" %fF \ Wd +2 "manipulator"&?% +4 "core" %- t ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'b& +4 "core" &=\ + "manipulator"&N% +4 "core" %\    +2 "storage"(n% +4 "core" %`\ \  !\ + "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(K( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +2 "core" & \ +2 "manipulator"&7& +4 "core" &  ~ + .tElbow.seek 2 +2 "manipulator"&4( +33 "core" ( + "manipulator"&& +78 "core" & u "z +2 "storage"(_& +4 "core" & \  1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +95 "core" ' + "storage"(s& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +281 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ([& +3 "core" & F\ +2 "manipulator"&;& +3 "core" &  d +2 .tElbow.seek 2 +2 "manipulator"&d( +28 "core" ( +2 "manipulator"&\\& +4 "core" &  w + "storage"(h& +4 "core" & 2\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(A'X +7 "core" &  w + "manipulator"&x% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +53 "core" ( +3 "manipulator"&& +4 "core" &* w @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &*  @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&q'" +97 "core" ' +2 "manipulator"&f& +4 "core" &* a @[ +2 "manipulator"&0% +4 "core" %) T +2 "collection"'m& +4 "core" &<\ +2 "collection"'Y& +5 "core" &7\ +2 .tCC.seek :closed + "collection"'{(V +5 "core" &>\ +6 & 5Y\ $d +10 &U~Z\ 7 +9 &~_\ L +10 &U`\ M +9 &fZQ\ M +9 &)Y)\ M +10 &Z&\ M +9 &Y*\ M +9 &oZ\ M +10 &1YP\ M +9 &X)\ M +10 &![)\ M +9 &#uYV\ N +9 &%8X5\ M +10 &&V8\ M +9 &(W8\ M +9 &*~Yd\ M +10 &,AUi\ M +9 &.W \ M +10 &/Y\ N +9 &1Y"\ N +9 &3HX#\ M +10 &5 Z\ M +9 &6Xf\ M +9 &8W\ M +10 &:PZf\ M +9 &<Z\ N +10 &=W\ M +9 &?Y9\ N +9 &AXXe\ M +10 &CW\ M +9 &DZ\ M +9 &Fc2\ N +10 &HXn{\ P +9 &J\ S +10 &K\ V +9 &M~\ X +9 &OG|\ Y +10 &Q v\ X +9 &Rw\ Z +9 &Tx\ Y +10 &V'ux\ . +9 &V#~\ L +9 ( +2 &Ves\ F +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&w% +4 "core" % ) [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%%& +4 "core" &e\ +2 "manipulator"&Z% +4 "core" %\   +2 "storage"(/% +4 "core" %a j\ + "storage"((. +3 "core" .( + "storage"(T& +4 "core" & h\ +2 "storage"('& +3 "core" & g\ +2 "manipulator"&g& +4 "core" &) v @[ + "manipulator"& % +4 "core" %\ x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +157 "core" ( +2 "manipulator"&+& +4 "core" & D  + "storage"(o& +4 "core" & R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +94 "core" ' + "storage"(S& +4 "core" & ,\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'i +284 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & T\ +2 "manipulator"&& +3 "core" & G  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&|& +4 "core" &  A  +2 "storage"(& +3 "core" & F\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"('X +7 "core" & I  +2 "manipulator"&c% +4 "core" %  A G +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +3 .tElbow.seek PC + "manipulator"&,(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( + "manipulator"&v& +5 "core" &r & }  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &r   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' + "manipulator"&.& +4 "core" &r d  +2 "manipulator"&u% +4 "core" % 0 " + "processing"%\ & +5 "core" &V\ +2 "processing"%2& +6 "core" &\\\ +2 .tPC.seek :closed +3 "processing"%y(Z +3 "core" &^\ +5 &U\ 9 +10 &JIyY\ 1 +9 &ytY\ E +9 &dU\ N +10 &[X\ N +9 &\\`\ M +10 &f]V\ N +9 &(ZX\ N +9 &\\V\ M +10 &Ua\ M +9 &oYU\ M +9 &!1WN\ M +10 &"YD\ N +9 &$WM\ M +10 &&xWN\ M +9 &(9[L\ M +9 &)YP\ N +10 &+WI\ M +9 &-XE\ M +9 &/@WB\ N +10 &1\\C\ N +9 &2[E\ N +10 &4VC\ M +9 &6HYC\ N +9 &8 YC\ N +10 &9YE\ N +9 &;UC\ M +10 &=PV?\ N +9 &?XE\ N +9 &@WJ\ M +10 &BZE\ M +9 &DW\\J\ N +9 &FdL\ O +10 &GtL\ Q +9 &IL\ S +9 &KNK\ T +10 &MJ\ T +9 &NK\ S +10 &PL\ T +13 &RUJ\ T +6 &TD\ T +9 &UE\ T +9 &WF\ T +9 &Y[J\ B +10 &Zf<C\ W +9 &Z1C\ / +6 ( + "processing"%2& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +4 "core" &Z!E\ / +51 1 + "manipulator"&r% +5 "core" % F " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 "processing"%& +4 "core" &Z!V\ / + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\   k  + "storage"()% +4 "core" %b [\ + "storage"(!. +3 "core" .( +2 "storage"(:& +4 "core" & t\ + "storage"(&& +5 "manipulator"&j& +4 "core" & \ + &r ?  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&$(s "storage"( 'i +5 "core" ( +2 "manipulator"&@& +4 "core" &r    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &r % 1  +2 .tForearm.seek PC + "manipulator"&J' +100 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(3- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='y +46 "core" ' +289 ( + "storage"(& +4 "core" & =\ +2 "manipulator"&i& +4 "core" &r   + "manipulator"&>% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +262 "core" ( +2 "manipulator"&I& +4 "core" & C  + "storage"(C& +4 "core" & g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +95 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(V- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(-'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(R' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(e& +4 "core" & \ &\ * (\ + "manipulator"&D& +4 "core" & f  +2 .tElbow.seek 2 + "manipulator"&M( +8 "core" ( + "manipulator"&^& +5 "core" &  /  + "storage"(5& +4 "core" & \ +\ * ;\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(G' +57 "core" ' +2 "manipulator"&E& +4 "core" &   + "storage"(k& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?' +28 "core" ' + .tElbow.hold +2 "manipulator"&t, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +22 "core" ' +2 "manipulator"&% +4 "core" % 8 # +2 "storage"(b& +4 "core" & H\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&N' +22 "core" ' +2 "manipulator"&n& +4 "core" & M  +2 "storage"(}& +4 "core" & U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +20 "core" ' +2 "storage"(8% +4 "core" %r [\ +2 ."downElevator"SE.seek :down +54 "storage"(`'X +49 (F% +2 "core" %0A u\ We +2 "manipulator"&P% +4 "core" %ѐ 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +115 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \ +2 "collection"'_& +4 "core" &Ve}\ F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&s% +4 "core" %\    + "storage"(9% +4 "core" %a \ + "storage"(p. +3 "core" .( +2 "storage"( & +4 "core" & -\ + "storage"([& +4 "core" & \ +2 "manipulator"&;& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&h& +4 "core" & \\  + "storage"("& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +98 "core" ' +2 "storage"(x& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +283 "core" ' +2 "storage"(a- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" & \\  +2 "storage"(Q& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'V +29 "core" ' + "manipulator"&0% +4 "core" % , . +2 "storage"(m& +3 "core" & l t \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&A' +19 "core" ' + "manipulator"&& +5 "core" & &  + "storage"(*& +4 "core" & .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'E +38 "core" ' + "manipulator"&%& +5 "core" & V  + "manipulator"&Z% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +171 "core" ( +2 "manipulator"&T& +4 "core" &* h A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +2 "core" &+ i A` +2 .tForearm.seek CC +2 "manipulator"&''" +93 "core" ' + .tHand.close +2 "manipulator"&g/ +60 "core" / + .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(q& +4 "core" & \ +2 "storage"(+& +4 "core" & R\ + "manipulator"&o& +4 "core" &+ o A_ + "manipulator"&S% +4 "core" % )  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&]& +4 "core" &  1  +2 "storage"(& +3 "core" & \ \  \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +108 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  ] + "storage"(H& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&c' +19 "core" ' +2 "manipulator"& & +4 "core" & 7  + "storage"(z& +4 "core" & \  w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +28 "core" ' +2 "storage"(X% +4 "core" %M\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +98 (U% +3 "core" %|H P\ Wd +2 "manipulator"&% +3 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'u& +4 "core" &I\ + "manipulator"&\ % +4 "core" %\    +2 "storage"(% +4 "core" %^\ \ \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & 6\  + "manipulator"&r& +4 "core" & T  +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( + "manipulator"&& +4 "core" & G r +2 "storage"()& +4 "core" &\ \  "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +93 "core" ' +2 "storage"(:& +4 "core" &\ \ % J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +282 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" & ?\  +2 "manipulator"&@& +3 "core" & r +2 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( + "manipulator"&6& +4 "core" & j r + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&3'ϩ +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y'X +7 "core" &  r +2 "manipulator"& % +4 "core" % ϥ  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&>& +4 "core" &" # / 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &" 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'" +98 "core" ' +2 "manipulator"&C& +4 "core" &#  9) + "manipulator"&$% +5 "core" %  X +2 "collection"'& +4 "core" &F\ +2 "collection"'V& +5 "core" &D\ +2 .tCC.seek :closed + "collection"'(V +5 "core" &D\  +9 &/yE\ *y +10 &eE\ > +9 &wrE\ N +9 &;SC\ M +10 &\\F\ M +9 &YD\ M +9 &XD\ M +10 &BXB\ M +9 &U;\ M +10 &X8\ M +11 & V]\ M +7 &"JZE\ M +10 &$ UT\ M +9 &%\\P\ M +9 &'XQ\ M +10 &)RX/\ M +9 &+YS\ M +9 &,WP\ N +10 &.WZ\ M +9 &0ZZ\ M +10 &2ZD\ M +9 &3Y/\ M +9 &5W\ M +10 &7cZs\ M +9 &9&X\ M +9 &:Y\ M +10 &<Zn\ N +9 &>jY\ M +10 &@-Z\ M +9 &AY \ M +9 &CY\ N +10 &Eq_\ N +9 &G/g\ O +9 &Hw"\ Q +10 &J\ V +9 &L[2\ X +10 &N\ X +9 &O\ Y +9 &Q\ Y +10 &S]\ Z +9 &U\ Z +9 &VhC\ 2 +10 &Vs4\ I +5 ( +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&e1 +3 "core" &Vj]\ I +50 1 + "manipulator"&D% +4 "core" %  % W +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^'\ +102 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%5& +4 "core" &`\ +2 "manipulator"&% +3 "core" %\ %  +2 "storage"(E% +4 "core" %U A\ + "storage"(k. +3 "core" .( + "storage"(& +4 "core" & 3\  +2 "storage"(b& +8 "core" & \  +2 "manipulator"&=& +4 "core" & " H 9( + "manipulator"&-% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&n( +161 "core" ( +2 "manipulator"&}& +5 "core" & S l + "storage"(8& +4 "core" & N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +86 "core" ' +2 "storage"(<& +4 "core" & 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +283 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & M\  +2 "manipulator"&& +4 "core" &  l +2 .tElbow.seek 3 + "manipulator"&M( +3 "core" ( +2 "manipulator"&G& +4 "core" & U l + "storage"(?& +4 "core" & S\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&N'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(_'X +7 "core" & i l +2 "manipulator"&s% +4 "core" % ϫ  \ +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"& & +5 "core" &p & G $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &p r $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +95 "core" ' + "manipulator"&h& +5 "core" &p # 5 $ + "manipulator"&"% +4 "core" % D ; +2 "processing"%L& +4 "core" &^\ +2 "processing"%x& +5 "core" &b\ +2 .tPC.seek :closed + "processing"%`(Z +5 "core" &^\ +7 &AZ\ %f +9 &V`\ 8 +10 &}g\ M +9 &YX\ M +9 &{]_\ M +10 &<[Y\ N +9 &We\ N +9 &Wf\ N +10 &\\Z\ M +9 &E\\_\ M +9 & \\a\ N +10 &!Ya\ N +9 &#WW\ M +10 &%LW`\ N +9 &'XT\ N +9 &(UU\ M +10 &*WS\ M +9 &,U\\]\ M +9 &.WV\ N +10 &/UC\ M +9 &1WP\ M +10 &3\\ZJ\ N +9 &5YX\ N +9 &6VF\ N +10 &8YE\ N +9 &:dUF\ N +9 &<'[K\ M +10 &=VJ\ N +9 &?YD\ N +10 &AnVC\ M +9 &C-]K\ N +10 &D]K\ N +9 &FgO\ O +9 &Hi}K\ Q +9 &J%J\ S +10 &KC\ T +9 &MR\ S +10 &OjR\ T +9 &Q-O\ S +9 &RH\ T +10 &TN\ U +9 &VoK\ U +9 &X1I\ U +10 &Y{rH\ - +9 &Z'_A\ A +9 ( +2 &Z%K\ 0 +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&t1 +60 "core" 1 + "manipulator"&7% +4 "core" % $ | ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +99 "core" ' +2 "processing"%~& +4 "core" &Z%c\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Q% +4 "core" %\ " f ? + "storage"(d% +4 "core" %T } \ + "storage"(0. +3 "core" .( +2 "storage"(m& +4 "core" & } \  +2 "storage"(& +2 "manipulator"&*& +7 "core" & ~ \  + &p Z $ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(%'i "manipulator"&Z(s +5 "core" ( +2 "manipulator"&B& +4 "core" &p " > $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &p z $ +2 .tForearm.seek PC +2 "manipulator"&4' +101 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +3 .tPC.seek :open + "processing"%A( +77 "core" ' + "storage"(f- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(T'y +45 "core" ' +297 ( +2 "storage"(Y& +4 "core" & l\  + "manipulator"&& +4 "core" &p  $ + "manipulator"&O% +4 "core" % ] +2 .tForearm.seek :retract +6 "manipulator"&g'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&/( +271 "core" ( + "manipulator"&{& +4 "core" & L \ +2 "storage"(q& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +99 "core" ' + .tHand.open +2 "manipulator"&o1 +55 "core" 1 + "storage"(S- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(]'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"((& +4 "core" & \  + "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&H& +4 "core" &  { \ +2 "storage"( & +4 "core" & P\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(X' +61 "core" ' + "manipulator"&& +5 "core" &  \ + "storage"(U& +4 "core" & f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&c% +5 "core" %΀  + "storage"(u& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&\ 'Ϭ +20 "core" ' + "manipulator"&& +4 "core" & \\ \ +2 "storage"(& +4 "core" & _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +31 "core" ' + "storage"(l% +5 "core" %s 1\ +2 ."downElevator"SE.seek :down +3 "storage"(v'X +99 (K% +3 "core" %I \ Xh +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & i\  +2 "collection"')& +3 "core" &Vj\ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&:% +4 "core" %\ $  + "storage"(|% +4 "core" %_ O\ +2 "storage"(.. +2 "core" .( +2 "storage"(&& +4 "core" & J\  + "storage"(2& +4 "core" & K\  +2 "manipulator"&@& +3 "core" & p \ +2 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( + "manipulator"&& +4 "core" & P \ +2 "storage"(,& +4 "core" & L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + "storage"( & +5 "core" & d\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +3 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  \ +2 "storage"(j& +3 "core" & C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&J'} +23 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(C'X +28 "core" ' + "manipulator"&$% +4 "core" %Έ  +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +50 "manipulator"&y'ϴ +21 "core" ' +2 "manipulator"&& +4 "core" & ( \ +2 "storage"( & +4 "core" & u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +43 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(D'G +39 "core" ' +2 "manipulator"&5& +4 "core" & \ +2 "manipulator"&% +4 "core" %i q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k( +168 "core" ( +2 "manipulator"&& +4 "core" && # =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" && q =C +2 .tForearm.seek CC + "manipulator"&b'" +93 "core" ' + .tHand.close +2 "manipulator"&=/ +59 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( + "storage"(I& +4 "core" & \  +2 "storage"(}& +3 "core" & T\  +2 "manipulator"&8& +4 "core" & " D 9) + "manipulator"&<% +4 "core" % # e +2 .tForearm.seek :retract + "manipulator"&i'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +160 "core" ( +2 "manipulator"&F& +4 "core" &  +2 "storage"(P& +3 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +100 "core" ' +2 .tElbow.hold + "manipulator"&G, +32 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&?1 +53 "core" 1 +3 "manipulator"&#% +4 "core" % Ύ n +2 "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&s'Ϻ +25 "core" ' +2 "manipulator"&n& +5 "core" &   +2 "storage"(W& +3 "core" &\ &\ $ N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +31 "core" ' + "storage"(N% +5 "core" %O\ '\ & L\ +2 ."downElevator"SE.seek :down +3 "storage"( 'X +99 ([% +3 "core" %"G \ Wd +2 "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'"& +4 "core" &O\ +2 "manipulator"&L% +3 "core" %\ \ J  +2 "storage"(_% +4 "core" %a\ &\ & \ + "storage"(9. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" & \ + "manipulator"&7& +4 "core" & \\  +2 .tElbow.seek 2 + "manipulator"&~( +28 "core" ( + "manipulator"&Q& +4 "core" &\ < S +2 "storage"(d& +3 "core" & \ \  \ +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +102 "core" ' + "storage"(m& +4 "core" & \ \ & 8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +282 "core" ' +2 "storage"(*- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ + "manipulator"&B& +4 "core" & h Q +2 .tElbow.seek 2 + "manipulator"&\\( +4 "core" ( + "manipulator"&;& +3 "core" & } Q +2 "storage"(& +4 "core" & W\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&f' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(`'X +8 "core" &  Q +2 "manipulator"&%% +3 "core" %   { +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&O& +4 "core" &% $  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &% <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&{'" +92 "core" ' + "manipulator"&q& +4 "core" &% $ G <9 +3 "manipulator"&Z% +4 "core" %%   +2 "collection"'o& +4 "core" &_\ +2 "collection"'S& +5 "core" &H\ +2 .tCC.seek :closed +2 "collection"''(V +4 "core" &L\ +7 & 4P\ $e +10 &WP\ 7 +9 &}K\ L +9 &UJ\ M +10 &hYJ\ M +9 &*XJ\ M +9 &YH\ M +12 &ZH\ M +7 &qWJ\ M +10 &3XO\ M +9 &XF\ M +9 &!YE\ N +10 &#xYG\ M +9 &%:Z@\ M +9 &&XC\ M +10 &(WN\ M +9 &*XG\ M +10 &,CZg\ M +9 &.WF\ M +9 &/Y6\ M +10 &1WX\ M +9 &3JXD\ M +9 &5 Y^\ M +10 &6W?\ M +9 &8V0\ M +10 &:SXO\ M +9 &<[X\ M +9 &=Z_\ M +10 &?Y7\ M +9 &A[U?\ M +10 &CYT\ N +9 &D[R\ N +9 &FaO\ N +10 &HYm\ P +9 &J;\ S +9 &K6\ V +10 &M|\ Y +9 &OI\ Y +9 &Q d\ Y +10 &Rf\ Y +9 &T`\ Z +10 &V)v7\ . +9 &V% \ P +9 ( +3 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&(1 +3 "core" &V`\ H +52 1 +3 "manipulator"&% +4 "core" % % $   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +4 "core" &}\ + "manipulator"&g% +4 "core" %\   8  + "storage"(% +4 "core" %a c\  + "storage"(U. +3 "core" .( +7 "storage"(T& +3 "core" & T\ +2 "storage"(c& +4 "core" & R\ + "manipulator"&u& +4 "core" &% C <9 + "manipulator"&]% +4 "core" %\  T  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" & D  + "storage"(l& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&/'ќ +94 "core" ' + "storage"(+& +4 "core" & L\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ?\ + "manipulator"&z& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&X& +3 "core" & V  +2 "storage"(& +4 "core" & $\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&\ ' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& "storage"(:'X +7 "core" & 0  +2 "manipulator"&|% +4 "core" %   S +2 .tForearm.seek :retract + "manipulator"&.'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +3 "manipulator"&&& +4 "core" &t ' c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +2 "core" &t ( N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +98 "core" ' +2 "manipulator"&& +4 "core" &t m +2 "manipulator"&,% +3 "core" % 3 +2 "processing"%w& +4 "core" &k\ +2 "processing"% & +6 "core" &k\ +56 .tPC.seek :closed +5 "processing"%v(Z +3 "core" &k\ + &[\ + &b\ + &f\ &h\ + &b\ + &j\ +3 &Gd\ %g +8 &W~^\ 8 +9 &~j\ M +9 &Ya\ M +10 &|\\_\ N +9 &?X]\ M +9 &Wb\ M +10 &Xj\ N +9 &Zb\ N +10 &HW`\ M +9 & \\a\ M +9 &![i\ N +10 &#Zf\ N +9 &%OZa\ M +10 &'Ya\ N +9 &(Ub\ M +9 &*W`\ N +10 &,V[a\ N +9 &.W`\ M +9 &/UV\ M +10 &1VZ\ N +9 &3^Y[\ N +10 &5!VX\ M +9 &6VP\ M +9 &8VY\ N +10 &:gZM\ M +9 &<)ZM\ M +9 &=ZP\ N +10 &?YR\ N +9 &AoTL\ M +9 &C0ZX\ N +10 &D]H\ N +9 &FkY\ P +10 &Hi~R\ R +9 &J'P\ S +9 &KL\ T +10 &ML\ S +9 &OlM\ T +9 &Q.N\ T +10 &RX\ T +9 &TK\ U +10 &VqN\ U +9 &X3L\ U +9 &Y|nR\ + +10 &Z+_Q\ + +9 ( + &ZK\ " +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&r% +5 "core" % # 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +98 "core" ' +2 "processing"%>& +4 "core" &Zl\ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&j% +4 "core" %\ 2 +2 "storage"(1% +3 "core" %b \ +2 "storage"($. +3 "core" .( + "storage"(& +4 "core" & w\ +2 "storage"(& +4 "manipulator"& & +4 "core" & $\ + &t r +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&5(s +2 "storage"('i +4 "core" ( + "manipulator"&& +4 "core" &t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &t s +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 .tHand.close + "manipulator"&J/ +61 "core" / +3 .tPC.seek :open +2 "processing"%y( +79 "core" ' +2 "storage"(C- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +301 ( + "storage"(V& +4 "core" & `\ +2 "manipulator"&e& +4 "core" &t  + "manipulator"&3% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&='\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&E( +260 "core" ( + "manipulator"&& +4 "core" & ( +2 "storage"(I& +4 "core" & u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +98 "core" ' + .tHand.open +2 "manipulator"&81 +56 "core" 1 +2 "storage"(<- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(F'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(b- +4 "core" -' + "storage"(k& +4 "core" & \ \ |\ + "manipulator"&?& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&#( +7 "core" ( + "manipulator"&& +5 "core" & h  + "storage"(n& +4 "core" & \ \ \ U\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(N' +55 "core" ' +2 "manipulator"&i& +4 "core" & T  + "storage"([& +4 "core" & 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^' +30 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&s% +5 "core" % ,  + "storage"("& +4 "core" & R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&L' +17 "core" ' +2 "manipulator"&_& +4 "core" & I  +2 "storage"(9& +4 "core" & 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +35 "core" ' +2 "storage"(R% +4 "core" %n \  +2 ."downElevator"SE.seek :down +3 "storage"( 'X +100 ( % +2 "core" %0I ~\ Wg +2 "manipulator"&t% +4 "core" %Ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Q& +4 "core" & \ +2 "collection"'d& +4 "core" &V`C\ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&m% +4 "core" %\ ! a 7 + "storage"(G% +4 "core" %a f\ + "storage"(h. +3 "core" .( +2 "storage"(*& +4 "core" & 2\ + "storage"(& +4 "core" & \ +2 "manipulator"&B& +3 "core" & *  +2 .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&& +3 "core" & <  +2 "storage"(p& +4 "core" & z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +93 "core" ' +2 "storage"(%& +4 "core" & ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +278 "core" ' +3 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" & n  +2 "storage"(4& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&x' +30 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'V +29 "core" ' +2 "manipulator"&o% +4 "core" % + "storage"(\\& +4 "core" & m n \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&`' +17 "core" ' +2 "manipulator"&Y& +4 "core" &  + "storage"(-& +4 "core" & )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('E +38 "core" ' +2 "manipulator"& & +4 "core" & v  +2 "manipulator"&g% +4 "core" %с +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +170 "core" ( + "manipulator"&T& +5 "core" &  < 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" & { 3 +2 .tForearm.seek CC + "manipulator"&c'" +94 "core" ' +2 .tHand.close + "manipulator"&u/ +52 "core" / +2 .tCC.seek :open + "collection"']( +416 "core" ( +2 "storage"({& +4 "core" & \ + "storage"(& +4 "core" & o\ + "manipulator"&l& +4 "core" & a 3 + "manipulator"&+% +4 "core" % * V +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&H( +169 "core" ( +2 "manipulator"&K& +4 "core" &\  U + "storage"(& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&z' +106 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 .tHand.open +3 "manipulator"&1 +64 "core" 1 +3 "manipulator"&% +4 "core" % $ + "storage"()& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&|' +14 "core" ' + "manipulator"&& +4 "core" &\ S +2 "storage"(/& +4 "core" & g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +23 "core" ' + "storage"(\ % +5 "core" %L k\ +2 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (2% +3 "core" %hG U\ Wd +2 "manipulator"&% +4 "core" %ѻ l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"',& +4 "core" &@\ + "manipulator"&w% +5 "core" %\    + "storage"(:% +4 "core" %`\ \ \  +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(A( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & Z\  +2 "manipulator"&r& +4 "core" &\  S + .tElbow.seek 3 +2 "manipulator"&>( +30 "core" ( + "manipulator"&j& +4 "core" & q +2 "storage"(1& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +92 "core" ' + "storage"(& +4 "core" &\ \ ' \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" & x\  +2 "manipulator"&& +3 "core" & q +2 .tElbow.seek 3 + "manipulator"&6( +4 "core" ( + "manipulator"&@& +5 "core" & ^ q +2 "storage"(J& +4 "core" & A\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&C'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(v'X +8 "core" &  q +2 "manipulator"&% +4 "core" % ϡ R  +2 .tForearm.seek :retract + "manipulator"&V'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&3& +4 "core" &  J 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & # 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +2 "manipulator"&I& +4 "core" & % \\ 5 +2 "manipulator"&5% +4 "core" % +2 "collection"'8& +4 "core" &_\ +2 "collection"'<& +5 "core" &T\ +3 .tCC.seek :closed +3 "collection"'b(V +3 "core" &L\ +6 &N\ 4 +9 &9H|O\ 0 +9 &crP\ E +14 &\ ^P\ M +5 &YG\ M +9 &YO\ M +10 &OWP\ M +9 &YP\ M +9 &YO\ M +10 &WJ\ M +9 &WYK\ M +10 &!YG\ M +9 &"VF\ M +9 &$ZD\ M +10 &&`YG\ M +9 &("XG\ M +9 &)WH\ M +10 &+YG\ M +9 &-hWF\ M +10 &/*YF\ M +9 &0ZB\ M +9 &2YG\ M +10 &4pUE\ M +9 &62WE\ M +9 &7WB\ M +10 &9WF\ M +9 &;vZF\ N +10 &=9Y<\ M +9 &>U;\ M +9 &@Y>\ M +10 &BZ0\ M +9 &D@ZV\ N +9 &F]E\ N +10 &Gl]\ O +9 &Ixh\ S +10 &K,g\ W +9 &LQ\ X +9 &N9\ X +10 &Pm*\ Y +9 &R-0\ Z +9 &S\ [\ +10 &UD\ G +9 &V5X\ (x +10 &Vj7\ J +2 ( + "collection"'<& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"&k1 +58 "core" 1 + "manipulator"&?% +4 "core" %  4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%n& +4 "core" &y\ + "manipulator"&=% +4 "core" %\   +2 "storage"(i% +4 "core" %S '\ + "storage"([. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(s& +4 "core" & n\  + "manipulator"&"& +4 "core" & n 5 +2 "manipulator"&F% +3 "core" %\  }  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&_( +169 "core" ( + "manipulator"&9& +5 "core" & 2 ` + "storage"(R& +4 "core" & :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +95 "core" ' +2 "storage"(}& +4 "core" & z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'i +284 "core" ' + "storage"( - +99 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" & B\  +2 "manipulator"&W& +4 "core" & b ` + .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&N& +3 "core" & K ` +2 "storage"(^& +3 "core" & 8\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(m'X +7 "core" &  ` +2 "manipulator"&G% +3 "core" % ϱ  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&*(s +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &t )   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +101 "core" ' + "manipulator"&& +4 "core" &t ?  +2 "manipulator"&p% +4 "core" %   +2 "processing"%D& +3 "core" &g\ +2 "processing"%%& +5 "core" &i\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &h\ +7 & 8e\ %f +10 &Wi\ 7 +9 &}j\ L +10 &Yg\ N +9 &g]h\ M +9 &)[i\ M +10 &Uk\ M +9 &Vh\ M +9 &mYj\ N +10 &1Uk\ M +9 &Wg\ N +10 &!Yk\ N +9 &#wWk\ M +9 &%8Wh\ N +10 &&Uk\ M +9 &(Vk\ N +9 &*~Zk\ N +10 &,@Yl\ N +9 &.Wk\ N +10 &/Uk\ N +9 &1Uk\ M +9 &3IWk\ M +10 &5 Xf\ M +9 &6Wk\ N +9 &8Tk\ N +10 &:PUj\ N +9 &<Yd\ M +10 &=Wi\ M +9 &?Wk\ M +9 &AYWk\ M +10 &CZb\ N +9 &D]e\ N +9 &Fid\ O +10 &HU{e\ Q +9 &Jj\ S +10 &Kg\ T +9 &Md\ T +9 &OV`\ T +10 &Q^\ T +9 &R[\ T +9 &T_\ T +10 &V\\]\ T +9 &X`\ U +10 &YynZ\ 6 +9 &Z.Y\ K +9 &Z R\ + +3 ( + "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open + "manipulator"&M1 +56 "core" 1 +2 "manipulator"&7% +4 "core" % # s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +100 "core" ' +2 "processing"%O& +4 "core" &Z Y\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&4% +4 "core" %\ ?  +2 "storage"(q% +4 "core" %S #\ + "storage"(o. +3 "core" .( +2 "storage"(\\& +3 "core" & e\  +2 "storage"(Y& +4 "manipulator"&-& +4 "core" & q\  + &t @  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"( 'i + "manipulator"&g(s +5 "core" ( +2 "manipulator"&a& +4 "core" &t B  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &t '  +2 .tForearm.seek PC +2 "manipulator"&~' +93 "core" ' +2 .tHand.close + "manipulator"&x/ +56 "core" / +3 .tPC.seek :open +2 "processing"%`( +92 "core" ' + "storage"(Z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(T'y +43 "core" ' +290 ( +2 "storage"(S& +4 "core" & \  +2 "manipulator"&(& +4 "core" &t   + "manipulator"&f% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&u'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +270 "core" ( +2 "manipulator"&'& +4 "core" & + \ +2 "storage"({& +3 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + .tHand.open +2 "manipulator"&l1 +58 "core" 1 +2 "storage"(+- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' +2 "storage"(U& +3 "core" &\ )\ * \  +2 "manipulator"&& +4 "core" & B \ +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&)& +4 "core" & } \ + "storage"(& +4 "core" &\ n\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +17 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&\ & +4 "core" & ! \ +2 "storage"(H& +4 "core" & R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&2'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(z'i +25 "core" ' + "manipulator"&,% +5 "core" %΅  + "storage"(|& +4 "core" & %\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&w'ϱ +20 "core" ' + "manipulator"&:& +5 "core" & Y \ + "storage"(.& +4 "core" & z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +16 "core" ' + "storage"(% +5 "core" %p \ +2 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (% +4 "core" %G ?\ Xg + "manipulator"&% +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +4 "core" & \  + "collection"'1& +4 "core" &Vd3\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(X% +4 "core" %b \ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & )\  + "storage"( & +4 "core" & )\  +2 "manipulator"&& +3 "core" & O \ +2 .tElbow.seek 3 +2 "manipulator"&@( +3 "core" ( + "manipulator"&J& +4 "core" & T \ +2 "storage"(& +4 "core" & P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +87 "core" ' + "storage"(& +4 "core" & b\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'i +284 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  \ +2 "storage"(& +4 "core" & C\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +18 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(5'W +31 "core" ' + "manipulator"&8% +4 "core" %΄ W +2 "storage"(6& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&v'ϰ +21 "core" ' + "manipulator"&V& +4 "core" & ^ \ +2 "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(?'F +36 "core" ' +2 "manipulator"&n& +4 "core" &  \ +2 "manipulator"&=% +3 "core" %F o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +173 "core" ( +2 "manipulator"&& +4 "core" && 0 =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +2 "core" && 3 =B +2 .tForearm.seek CC +2 "manipulator"&<'" +93 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +2 .tCC.seek :open +2 "collection"'F( +416 "core" ( +2 "storage"(& +4 "core" & \  + "storage"(9& +4 "core" & \  +2 "manipulator"&R& +3 "core" &# [ :. +2 "manipulator"&}% +3 "core" % 7 x +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( +2 "manipulator"& & +4 "core" & Z b + "storage"(t& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&W'} +102 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +64 "core" 1 +2 "manipulator"&Q% +4 "core" % ΃  Z + "storage"(d& +5 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&G'ϯ +21 "core" ' + "manipulator"&_& +5 "core" & ) b + "storage"(E& +4 "core" &\ %\ % j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +25 "core" ' + "storage"(L% +4 "core" %F\ &\ # \  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %E \ Vc +2 "manipulator"&#% +4 "core" %N N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'p& +5 "core" &X\ + "manipulator"&D% +4 "core" %\ 2  +2 "storage"(m% +4 "core" %Y\ %\ % T\ + "storage"(h. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(y( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" & $\ +2 "manipulator"&7& +3 "core" & * b +2 .tElbow.seek 2 + "manipulator"&O( +40 "core" ( +2 "manipulator"&4& +4 "core" & 1 $ + "storage"(q& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +94 "core" ' + "storage"(\\& +4 "core" & \ \  F\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +54 .tSE.seek :beamBreak + "storage"(%'i +285 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" & \ +2 "manipulator"&a& +4 "core" &( Y X + .tElbow.seek 2 +2 "manipulator"&;( +21 "core" ( +2 "manipulator"&B& +4 "core" & H  +2 "storage"(x& +3 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"( 'X +8 "core" &   +2 "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +23 "core" ( + "manipulator"&f& +5 "core" &* $ x @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &) g @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''" +99 "core" ' + "manipulator"&{& +4 "core" &* ` @Z +2 "manipulator"&g% +4 "core" %\ # +2 "collection"'l& +4 "core" &Y\ +2 "collection"'+& +4 "core" &E\ +2 .tCC.seek :closed +2 "collection"'c(V +4 "core" &Q\ +8 &3J\ $d +9 &U}H\ 7 +9 &}H\ L +10 &TG\ M +9 &cYH\ M +9 &&YO\ M +10 &XK\ M +9 &WN\ M +10 &kUQ\ M +9 &,XP\ N +9 &X\ M +10 &!ZR\ M +9 &#sYQ\ M +9 &%5UP\ M +10 &&WP\ M +9 &(TQ\ M +10 &*|XI\ M +9 &,=XM\ M +9 &-WO\ M +10 &/ZH\ M +9 &1YP\ N +9 &3EWG\ M +10 &5ZD\ M +9 &6WL\ M +10 &8VF\ M +9 &:MXE\ M +9 &<\\K\ M +10 &=ZH\ M +9 &?YH\ M +10 &AVZC\ M +9 &CYD\ M +9 &D]h\ M +10 &FbT\ N +9 &HVkH\ P +9 &JF\ S +10 &KE\ V +9 &MC\ X +9 &ODD\ Y +10 &QD\ Y +9 &RG\ Z +10 &TD\ Z +9 &V#v[\ . +9 &V(l\ S +9 ( +3 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&U1 +3 "core" &VkE\ I +50 1 +2 "manipulator"&% +4 "core" % \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &z\ +2 "manipulator"&u% +3 "core" %\  +2 "storage"(\ % +4 "core" %T '\ + "storage"(H. +3 "core" .( +2 "storage"(T& +3 "core" & g\ +2 "storage"(,& +3 "core" & %\ +2 "manipulator"&|& +4 "core" &* g @Y +2 "manipulator"&K% +3 "core" %\ x  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&:( +158 "core" ( +2 "manipulator"&.& +4 "core" & 2  + "storage"(& +4 "core" & ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +86 "core" ' + "storage"(& +5 "core" & E\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&/& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(2& +4 "core" & k\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&j' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&1& + "storage"('X +7 "core" & /  + "manipulator"&X% +4 "core" %  j  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +3 "manipulator"&z& +4 "core" &g 7 `  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &g   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 "manipulator"&J& +4 "core" &k  p  +2 "manipulator"&% +4 "core" % O m + "processing"%& +4 "core" &y\ +2 "processing"%& +5 "core" &r\ +2 .tPC.seek :closed +2 "processing"%&(Z +4 "core" &b\  +9 &2}g\ *x +9 &ch\ > +9 &nwb\ N +10 &1Wi\ M +9 &\\l\ N +10 &Yh\ N +9 &vVk\ N +9 &9Uj\ M +10 &Zh\ N +9 &Yk\ N +9 & Wj\ M +10 &"?Zg\ N +9 &$Vg\ M +9 &%[j\ N +10 &'Yg\ N +9 &)HWl\ N +10 &+ Uk\ M +9 &,Wk\ M +9 &.Xk\ M +10 &0PUk\ N +9 &2Vi\ N +10 &3Uh\ N +9 &5Vj\ N +9 &7X[j\ N +10 &9Yi\ N +9 &:Vh\ M +9 &<Uk\ N +10 &>aUj\ M +9 &@"Yh\ N +9 &AYj\ N +10 &CZk\ N +9 &Ef_k\ N +10 &G#nf\ P +9 &Hj\ R +9 &Jj\ S +10 &L_j\ S +9 &N i\ T +9 &Ol\ S +10 &Qe\ T +9 &Sdh\ T +10 &U&c\ T +9 &V_\ U +9 &Xa\ U +10 &Zab\ $o +9 &ZZ_\ - +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +3 "core" &Zc\ ) +58 1 + "manipulator"&r% +4 "core" % j m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +90 "core" ' + "processing"%3& +5 "core" &Zf\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\  k  + "storage"(I% +4 "core" %b \ + "storage"(8. +3 "core" .( +2 "storage"(6& +4 "core" & \ +6 "storage"(V& +5 "manipulator"&]& +3 "core" & Z\ + &k |  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&n(s + "storage"(='i +5 "core" ( + "manipulator"&!& +4 "core" &k   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &k  N  +2 .tForearm.seek PC +2 "manipulator"&>' +95 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +3 .tPC.seek :open + "processing"%v( +84 "core" ' +2 "storage"(5- +100 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +45 "core" ' +196 ( + "storage"(s& +5 "core" & X\ + "manipulator"&k& +4 "core" &l Q  + "manipulator"&C% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&"'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +260 "core" ( +2 "manipulator"&b& +4 "core" & ?  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +96 "core" ' + .tHand.open + "manipulator"&R1 +52 "core" 1 +2 "storage"(}- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(t' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +4 "core" -' + "storage"([& +4 "core" & \ ?\ + "manipulator"&^& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&Q( +8 "core" ( +2 "manipulator"&d& +4 "core" & (  +2 "storage"(_& +3 "core" & \ C\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(L' +62 "core" ' + "manipulator"&e& +5 "core" &   + "storage"(& +53 "core" & v\ +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#' +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +22 "core" ' +2 "manipulator"&p% +4 "core" % -  +6 "storage"(G& +5 "core" & y z ,\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&D' +14 "core" ' +2 "manipulator"&m& +4 "core" & N  +2 "storage"(h& +4 "core" & <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +24 "core" ' +2 "storage"(P% +4 "core" %q z\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (A% +2 "core" %J o\ Xh +2 "manipulator"&M% +4 "core" %ѹ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7'\ +87 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (4& +4 "core" & -\ +2 "collection"'q& +4 "core" &VjC\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&\\% +4 "core" %\    + "storage"(N% +4 "core" %S n\ +2 "storage"(. +3 "core" .( + "storage"(-& +4 "core" & x\ + "storage"(Y& +4 "core" & x\ +2 "manipulator"&a& +3 "core" & "  +2 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&x& +3 "core" &  k  +2 "storage"(*& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +105 "core" ' +2 "storage"( & +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +281 "core" ' +3 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &   + "storage"(%& +4 "core" & =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&~' +33 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"({'W +29 "core" ' +2 "manipulator"&g% +4 "core" % . 4 + "storage"(l& +4 "core" & t 2\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"& ' +19 "core" ' + "manipulator"&S& +4 "core" & Q  +2 "storage"(F& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +6 "storage"('F +41 "core" ' +2 "manipulator"&& +4 "core" & 3  +2 "manipulator"&u% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +174 "core" ( +2 "manipulator"&T& +4 "core" &+ A Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &+ " Ae +2 .tForearm.seek CC +2 "manipulator"&,'" +92 "core" ' +2 .tHand.close + "manipulator"&|/ +55 "core" / +2 .tCC.seek :open + "collection"'K( +417 "core" ( +2 "storage"('& +4 "core" & >\ +2 "storage"(.& +3 "core" & =\ +2 "manipulator"&& +4 "core" &+ Ad + "manipulator"&% +4 "core" %  k  +2 .tForearm.seek :retract + "manipulator"&('\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +150 "core" ( +2 "manipulator"&& +4 "core" &  g + "storage"(& +4 "core" & ~\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&/' +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +59 "core" 1 +2 "manipulator"&w% +4 "core" % $ + "storage"(1& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&X' +14 "core" ' + "manipulator"&:& +6 "core" & P + "storage"(& +4 "core" & \ \  #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +28 "core" ' +2 "storage"(j% +4 "core" %I\ \ z\ +2 ."downElevator"SE.seek :down +3 "storage"(z'X +100 ( % +2 "core" %D \ Wc +2 "manipulator"&% +4 "core" %є  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +97 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &`\ +2 "manipulator"&% +4 "core" %\   + "storage"(% +4 "core" %b\ %\ & \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(`( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & !\  + "manipulator"&r& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&3( +18 "core" ( +2 "manipulator"&& +4 "core" & f I + "storage"(I& +4 "core" &\ \  Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +97 "core" ' +2 "storage"(6& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +281 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & u\  +2 "manipulator"&!& +8 "core" & " I +2 .tElbow.seek 3 +2 "manipulator"&@( +3 "core" ( + "manipulator"&& +4 "core" & ( I + "storage"( & +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& +3 "storage"(&'X +6 "core" &  I + "manipulator"&s% +5 "core" % ϱ k + .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +40 "core" ( + "manipulator"&=& +4 "core" && &  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" && \ =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'" +91 "core" ' + "manipulator"&& +4 "core" && # F =G +4 "manipulator"&n% +4 "core" %) h  + "collection"'R& +4 "core" &k\ +2 "collection"'}& +5 "core" &j\ +2 .tCC.seek :closed + "collection"'<(V +4 "core" &]\ +8 &3]\ $c +10 &UR\ 7 +9 &{[\ K +10 &WP\ M +9 &bWN\ M +9 &$WP\ M +10 &YN\ M +9 &WK\ M +9 &jXL\ M +10 &,YR\ M +9 &WR\ M +10 &!YL\ M +9 &#pYK\ N +9 &%3XR\ M +10 &&WP\ M +9 &(VO\ M +9 &*yWP\ M +10 &,;XJ\ M +9 &-WO\ M +10 &/XP\ M +9 &1YQ\ N +9 &3DWP\ M +10 &5XP\ M +9 &6WP\ M +56 &8VP\ M +3 &:LWP\ M + &< YA\ M + &=UO\ M + &?WK\ M + &ASXG\ M +3 &CUM\ M +9 &D\\P\ N +9 &FcI\ N +10 &HRsF\ P +9 &J L\ T +10 &KM\ X +9 &MD\ X +9 &OBE\ Y +10 &QF\ Y +9 &RC\ Z +9 &TE\ Z +10 &V uE\ . +10 &V.C\ V +8 ( +2 &ViA\ I +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&[1 +55 "core" 1 +2 "manipulator"&^% +5 "core" % ) P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +96 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%_& +4 "core" &{\ +2 "manipulator"&"% +3 "core" %\  C  +2 "storage"(e% +4 "core" %a [\ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & e\  + "storage"( & +4 "core" & b\  +2 "manipulator"&p& +3 "core" && D =F +2 "manipulator"&G% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +168 "core" ( + "manipulator"&h& +5 "core" & n d + "storage"(i& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +100 "core" ' + "storage"(P& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'i +277 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & #\  + "manipulator"&E& +4 "core" & S d +2 .tElbow.seek 3 + "manipulator"&Q( +4 "core" ( + "manipulator"&L& +4 "core" & 3 d + "storage"(#& +4 "core" & C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&D'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(\\'X +7 "core" & ! d +2 "manipulator"&N% +4 "core" % ϥ  +2 .tForearm.seek :retract + "manipulator"&W'\ +103 "core" ' +2 .tElbow.seek PC +5 "manipulator"&(s +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +3 "manipulator"&-& +8 "core" &n +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &Y& +6 "core" &n [ +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek PC + "manipulator"&a' +71 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26 "core" ' +3 "manipulator"&x& +9 "core" &n R +2 "manipulator"&*% +8 "core" %  +4 "processing"%?& +8 "core" &}\ +4 "processing"% & +9 "core" &\ +4 &m\ +5 .tPC.seek :closed +6 "processing"%(Z +8 "core" &h\ +2 &h\  +8 &4h\ +{ +8 &eg\ ? +11 &ua\ O +9 &KUg\ N +8 &Vh\ M +11 &Yk\ M +8 &Wb\ N +11 &SYh\ N +9 &Wh\ M +9 &Yh\ M +10 & Xk\ M +9 &"\\Xl\ M +8 &$Wj\ M +11 &%Xk\ M +8 &'Yk\ M +11 &)dYl\ M +9 &+&Yn\ M +8 &,Zk\ N +11 &.Wi\ N +9 &0lWg\ M +8 &2-Yi\ N +11 &3Ug\ N +8 &5Wj\ N +11 &7tWi\ M +9 &96Yd\ M +8 &:Wi\ M +11 &<\\k\ N +9 &>|[j\ M +8 &@=Xg\ N +11 &BVc\ M +8 &C\\e\ N +16 &E`j\ N +4 &G>lg\ P +11 &Hi\ R +8 &Jg\ S +12 &Lyh\ T +9 &N;k\ T +8 &Oh\ T +7 &Qj\ T +11 &Sj\ T +8 &UAk\ T +12 &Wj\ T +8 &Xh\ U +10 &Z)Tuk\ (w +9 &Z`i\ 5 +7 ( +15 "processing"% & +8 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 +5 .Hand.open + "manipulator"&1 +8 "core" &Z%b\ / +2 &Z%i\ / + &Z%d\ / +54 1 + "manipulator"&7% +5 "core" % $ n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +2 "processing"%f& +4 "core" &Z%n\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&%% +4 "core" %\   j  + "storage"(;% +4 "core" %b x \ +2 "storage"(g. +3 "core" .( + "storage"(l& +4 "core" & ~ \  +2 "storage"(S& +2 "manipulator"&F& +7 "core" &  \  + &n +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC + "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(u'i +3 "core" ( + "manipulator"&0& +4 "core" &n Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &n  c +2 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' + .tHand.close + "manipulator"&~/ +63 "core" / +7 .tPC.seek :open + "processing"% ( +84 "core" ' + "storage"({- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(T'y +47 "core" ' +104 "Can".\ SQ +186 "core" ( +3 "storage"(+& +4 "core" & \  + "manipulator"&U& +4 "core" &n T +2 "manipulator"&Z% +3 "core" % k , +2 .tForearm.seek :retract +2 "manipulator"&|'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&\ ( +271 "core" ( + "manipulator"&c& +4 "core" &   +2 "storage"('& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +107 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(H& +4 "core" &\ \ ^\  + "manipulator"&2& +4 "core" & A  +2 .tElbow.seek 3 + "manipulator"&w( +4 "core" ( + "manipulator"&1& +5 "core" &   + "storage"(:& +4 "core" & '\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +61 "core" ' + "manipulator"&(& +5 "core" &   + "storage"( & +4 "core" & <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&), +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'i +25 "core" ' + "manipulator"&X% +5 "core" %΋ O + "storage"(& +4 "core" & T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'Ϸ +20 "core" ' + "manipulator"&& +5 "core" & )  + "storage"(& +4 "core" & V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +36 "core" ' +2 "storage"(% +4 "core" %n 1\ +2 ."downElevator"SE.seek :down +3 "storage"(z'X +100 (y% +3 "core" %M { 4\ Xh +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +89 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & ,\  + "collection"'I& +4 "core" &Vi7\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&6% +4 "core" %\  *  + "storage"(% +4 "core" %a j\ +2 "storage"(J. +2 "core" .( +2 "storage"(V& +4 "core" & r\  + "storage"(& +4 "core" & \  + "manipulator"&!& +4 "core" & ;  +2 .tElbow.seek 3 +52 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"($& +4 "core" & {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +98 "core" ' + "storage"(s& +4 "core" & O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'i +284 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & C  + "storage"(=& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&>'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('W +30 "core" ' +2 "manipulator"&n% +4 "core" %΋  + "storage"(R& +4 "core" & $\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&&'Ϸ +25 "core" ' + "manipulator"&k& +5 "core" & +  + "storage"(K& +4 "core" & V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(^'F +41 "core" ' +2 "manipulator"&_& +4 "core" &   + "manipulator"&"% +4 "core" %H  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" && =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &&  =G +2 .tForearm.seek CC +2 "manipulator"&}'" +93 "core" ' + .tHand.close +2 "manipulator"&p/ +58 "core" / +2 .tCC.seek :open + "collection"'G( +417 "core" ( +2 "storage"(b& +4 "core" & T\  + "storage"(h& +4 "core" & V\  + "manipulator"&i& +4 "core" && 6 =E +2 "manipulator"&P% +3 "core" % 4 v +2 .tForearm.seek :retract +2 "manipulator"&C'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +158 "core" ( +2 "manipulator"&A& +4 "core" & @  + "storage"(M& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&E'} +91 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +62 "core" 1 +2 "manipulator"&4% +4 "core" % · s +2 "storage"(q& +3 "core" & f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&N'ϳ +34 "core" ' +2 "manipulator"&m& +4 "core" & Q  +2 "storage"(9& +3 "core" &\ \  !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +37 "core" ' +2 "storage"(D% +4 "core" %P\ &\ D\ +2 ."downElevator"SE.seek :down +3 "storage"(-'X +100 (Y% +2 "core" %C \ Wc +2 "manipulator"&Q% +4 "core" %1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +55767 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +303 "Can"*\ 52{ +60001 *\ 31} +415 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +59578 "Can"$\ 30t +1137 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58856 "Can"+\ 30 +1866 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +58127 "Can"'\ 30 +2593 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57400 "Can"+\ 30z +3318 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56676 "Can"(\ 51r +4041 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +55951 "Can"*\ 30{ +4762 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +55232 "Can"#\ 30| +5481 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54512 "Can"\ 31y +6207 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53786 "Can"\ 31u +6930 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53063 "Can"\ 30y +7653 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +52341 "Can"\ 30q +8376 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +51617 "Can"\ 30r +9101 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50892 "Can"\ 30t +9823 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50170 "Can"\ 20s +10549 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49444 "Can"\ 30x +11276 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48717 "Can"\ 30r +11999 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +5 #Session Ended +47992 "Can"\ 20~ +12727 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +47267 "Can"\ 30| +13450 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46543 "Can"\ 30 +14171 #"reset-modem"Session Begun +52 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +45775 "Can"\ 30v +14941 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45052 "Can"\ 30 +15666 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44328 "Can"\ 30w +16383 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +43609 "Can"\ 30u +17107 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42885 "Can"\ 30x +17831 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42162 "Can"\ 30 +18556 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41438 "Can"\ 30~ +19280 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40714 "Can"\ 31s +20001 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39992 "Can" \ 30s +20725 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4892 #t-> access 2 +3 "storage"(*% +3 "core" %a\ \  \ +2 "manipulator"&?% +4 "core" %\    +2 "manipulator"&\\& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(W(K +970 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (v& +3 "core" &K ,\  +895 #t-> access 3 +2 "storage"(% +3 "core" %a\ \  \ +2 "manipulator"&7% +4 "core" %\  ?  +2 "manipulator"&f& +3 "core" & 1  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(%([ +333 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &[ W\  @1677697112.99EST = =tMAIN =mMAIN_scheduler @EST1677697114.87 #"core_reset"Sent BREAK +2 #t@28414 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +398 "Can"M\ f + M\ f #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +464 #-> ESP.ready! +4 #Powering core bus +536 .Gate.power :raw,:ON +2 "sampler") +56 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %ln\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % J J  +2 .tSS.configure :default +2 "sampler")#.0X exit +5 #mEXIT @1677697284.45EST @1677703691.51EST = =mMAIN_scheduler =tMAIN @EST1677703693.31 #"core_reset"Sent BREAK +2 #t@56656 receive with ifg=0x10, ie=0xFD + #@57290 receive with ifg=0x10, ie=0xFD #@57947 receive with ifg=0x10, ie=0xFD + #@58581 receive with ifg=0x10, ie=0xFD + #@59215 receive with ifg=0x10, ie=0xFD #@59849 receive with ifg=0x10, ie=0xFD + #@60482 receive with ifg=0x10, ie=0xFD + #@60813 receive with ifg=0x80, ie=0xFD #@41098 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +375 "Can"w\ 96| + w\ 96| + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"6Invalid entry in line 2 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Cleanly exited at 14:01:24EST01-Mar-23 +733 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^i\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +81 "core" %,\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % H E \ +2 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1677703716.14EST @1682970509.68EDT = =tMAIN =mMAIN_scheduler @EDT1682970511.83 #"core_reset"Sent BREAK +2 #t@34357 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +294 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +398 "Can"\ ^ + \ ^ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"6Invalid entry in line 2 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Cleanly exited at 15:48:36EST01-Mar-23 +33025 #-> exit +4 #mEXIT @1682970849.23EDT @1684414940.45EDT = =mMAIN_scheduler =tMAIN @EDT1684414942.38 #"core_reset"Sent BREAK +2 #t@32398 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +302 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +405 "Can";\ [ + ;\ [ + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"6Invalid entry in line 2 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 15:54:09EDT01-May-23 +656 #-> ESP.ready! +3 #Powering core bus +539 .Gate.power :raw,:ON +3 "sampler") +55 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %gh&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % C C  + .tSS.configure :default +3 "sampler")#.0X exit +7 #mEXIT @1684415005.95EDT @1685488020.43EDT = =tMAIN =mMAIN_scheduler @EDT1685488022.31 #"core_reset"Sent BREAK +2 #t@21145 receive with ifg=0x10, ie=0xFD + #@21778 receive with ifg=0x10, ie=0xFD #@22109 receive with ifg=0x80, ie=0xFD + #@51493 idle with ifg=0x00, ie=0x75 + #@17953 receive with ifg=0x10, ie=0xFD + #@18587 receive with ifg=0x10, ie=0xFD #@19244 receive with ifg=0x10, ie=0xFD + #@19878 receive with ifg=0x10, ie=0xFD #@20511 receive with ifg=0x10, ie=0xFD + #@21145 receive with ifg=0x10, ie=0xFD #@21778 receive with ifg=0x10, ie=0xFD + #@22109 receive with ifg=0x80, ie=0xFD + #@834 idle with ifg=0x00, ie=0x75 + #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +9 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +239 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +378 "Can"X\ 51 + X\ 51 #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"6Invalid entry in line 2 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 09:03:25EDT18-May-23 +1123 #-> exit +3 #mEXIT @1685488040.02EDT @1685488071.25EDT = =mMAIN_scheduler =tMAIN @EDT1685488073.05 #"core_reset"Sent BREAK +2 #t@17953 receive with ifg=0x10, ie=0xFD + #@18587 receive with ifg=0x10, ie=0xFD #@19244 receive with ifg=0x10, ie=0xFD + #@19878 receive with ifg=0x10, ie=0xFD + #@20511 receive with ifg=0x10, ie=0xFD #@21145 receive with ifg=0x10, ie=0xFD + #@21778 receive with ifg=0x10, ie=0xFD #@22109 receive with ifg=0x80, ie=0xFD + #@15689 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +247 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +364 "Can"T\ 52{ + T\ 52{ + #tPolling Can every 10:00 +2 #Cleanly exited at 19:07:19EDT30-May-23 +613 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % w w\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %S\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ A\ >  + .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +219 #t-> ESP.ready! +32 #Powering core bus +565 .Gate.power :raw,:ON +2 "sampler") +19 )3 + "core"  +2 "collection"' +2 '4 +4 "core"  + "processing"% +2 %5 +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'6% +2 "core" % v x}\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%7% +2 "core" %A\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")8% +3 "core" %\ B\ @  + .tSS.configure :default +2 "sampler")#.0X% +2 "core" % +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'?  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%@  +2 "core" + .tPH.configure :default +3 "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'A% +3 "core" % u x}\ +2 ."rdySampler"Intake.select :close +3 "processing"%B% + "manipulator"&C% +4 ."rdySampler"Exhaust.select :close +4 .CTV.dial :air + "collection"'D  +3 "core" %S\ +2 %  +  + ."rdyProcessing"PSV.dial :air +4 "manipulator"&E% +3 ."rdySampler"CSV.dial :waste1 +2 "processing"%F  + "collection"'G +6 "core" % > +  + +3 ."rdyProcessing"PS.reconfigure :default +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +4 .tForearm.reconfigure :loose + "processing"%#A d`xb + "sampler")H +4 "manipulator"&#@2^d^b +3 ."rdyProcessing"PS.home.seek 0ml +4 .tForearm.home.seek :retract +2 "processing"%I' +2 "manipulator"&J'\ +4 "core"  +2 "sampler")K  +4 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b +3 "sampler")#.0X  + "collection"'e& +4 "core" & v w\  +2 "processing"%f& +4 "core" &@\ + "manipulator"&g% +4 "core" %\    +2 "manipulator"&h& +3 "core" & # +2 "storage"(i& +4 "core" &\ '\ ' \  + "storage"(j% +4 "core" %O\ '\ % \ +2 "collection"'k9 +3 "core" 9y + "processing"%l9 +3 "core" 9rg +1293 #t-> Puck.count + "storage"(m% +4 "core" %O\ 2\ 2 4\ +2 .tSE.seek :down + "storage"(n'X +4 "core" ' +2 .tSE.stop +2 "storage"(5 +35 .tHand.open +9 "manipulator"&o1 +56 "core" 1 +2 "manipulator"&p% +4 "core" % \     +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(q(S +654 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &V \ +2 "manipulator"&s& +4 "core" & l # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&t(. +27 "core" ( +2 "manipulator"&u& +3 "core" &5   +3 "storage"(v& +4 "core" &W\ &\ & H\ +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&w'ѷ +105 "core" ' + "storage"(x& +4 "core" &W\ ) 5\ +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'i +272 "core" ' + "storage"(z- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({% +3 "core" %e\ %\ # J\ +3 ."downElevator"SE.seek :down +3 "storage"(|'X +98 (}% +3 "core" %C\ (\ ' :\ Vb +2 "manipulator"&~% +4 "core" % C { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +340 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \  +2 "manipulator"&& +4 "core" &5 c + .tElbow.seek 2 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" & \ Q\ Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +100 "core" ' + "storage"( & +4 "core" & \ * \  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +270 "core" ' +2 "storage"(- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" %q\ %\ # \ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %yC\ \ % O\ Va +2 "manipulator"&% +4 "core" %Ѣ  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +333 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & o\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" &  I  +2 "storage"(& +4 "core" &\ %\ % -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' + "storage"(& +4 "core" &\ A\ B\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +270 "core" ' +2 "storage"(!- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("% +3 "core" %i\ \ $ \ +2 ."downElevator"SE.seek :down +3 "storage"(#'X +99 ($% +3 "core" %}C\ \  2\ V` +2 "manipulator"&%% +3 "core" %A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&'\ +89 "core" ' +78 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"('(,l +330 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &,j\ \  p\ +2 "manipulator"&)& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&+& +3 "core" & E  +2 "storage"(,& +4 "core" &,h\ C\ C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&-'Ѽ +103 "core" ' + "storage"(.& +4 "core" &,h\ * a\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'i +270 "core" ' +2 "storage"(0- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1% +2 "core" %d\ 0\ $ \ +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (3% +3 "core" %ZA\ '\  "\ V` +2 "manipulator"&4% +4 "core" % C f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +95 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(6(<* +333 "core" ( +2 .tSC.configure :limp +7 "storage"($\ 1b +2 (7& +3 "core" &<* \  +2 "manipulator"&8& +3 "core" &   +7 .tElbow.seek 5 + "manipulator"&9( +4 "core" ( + "manipulator"&:& +4 "core" &  c  +2 "storage"(;& +3 "core" &<'\ %\ % l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts + "manipulator"&<'ы +100 "core" ' + "storage"(=& +4 "core" &<'\ * G\  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'i +275 "core" ' + "storage"(?- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@% +3 "core" %b\ ,\ B 5\ +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (B% +4 "core" %F\ &\  #\ Va +2 "manipulator"&C% +4 "core" %ъ q a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(E(K +338 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +2 "core" &K S\  +2 "manipulator"&G& +4 "core" & 8  +2 .tElbow.seek 6 + "manipulator"&H( +32 "core" ( +2 "manipulator"&K& +4 "core" & & ' + "storage"(N& +4 "core" &K\ %\ % (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&'a +95 "core" ' + "storage"(& +5 "core" &K\ E\ Q A\  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +272 "core" ' +2 "storage"(- +3 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O% +3 "core" %i\ \  p\ +2 ."downElevator"SE.seek :down +3 "storage"(Q'X +100 (% +3 "core" %aA\ \  \ U^ + "manipulator"&% +4 "core" %V  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +3 "storage"(T([ +338 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +2 "core" &[ !\  +2 "manipulator"&Y& +4 "core" &  ' +2 .tElbow.seek 7 + "manipulator"&Z( +16 "core" ( + "manipulator"&[& +5 "core" &)\ R + "storage"(J& +4 "core" &[\ /\ ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&P'w +97 "core" ' + "storage"(U& +4 "core" &[\ =\ B \  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'i +273 "core" ' +2 "storage"(^- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ % +2 "core" %j\ \  "\ +3 ."downElevator"SE.seek :down +4 "storage"(_'X +99 (`% +4 "core" %@\ \  :\ V_ + "manipulator"&a% +4 "core" %ю " ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b'\ +96 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +544 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF +2 #Shutdown +188 #t-> exit +5 #mEXIT @1685488233.18EDT @1685509537.36EDT = =tMAIN =mMAIN_scheduler @EDT1685509538.10 #tEnvironmental Sample Processor version +105 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 + #@34256 receive with ifg=0x10, ie=0xFD #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD + #@22676 sendCRC with ifg=0x20, ie=0x7F #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@40784 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +245 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +344 !o:ArgumentError: mesg"@No phasecfg.rb found on /home/esp/esp2/mission:. in mission:bt["2/home/esp/esp2/lib/filepath.rb:28:in `which!'"$/home/esp/esp2/utils/mail.rb:11"4/home/esp/esp2/utils/commskel.rb:8:in `require'"'/home/esp/esp2/utils/commskel.rb:8"4/home/esp/esp2/utils/mission.rb:10:in `require'"'/home/esp/esp2/utils/mission.rb:10"4/home/esp/esp2/lib/framework.rb:95:in `require'"7/home/esp/esp2/lib/framework.rb:95:in `requireAll'"1/home/esp/esp2/lib/framework.rb:93:in `each'"7/home/esp/esp2/lib/framework.rb:93:in `requireAll'"2/home/esp/esp2/type/shallow/initialize.rb:143"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:120:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 "Can"Q\ ] + Q\ ] + #tPolling Can every 10:00 +2 #Cleanly exited at 19:10:33EDT30-May-23 +1485 #-> exit +5 #mEXIT @1685509560.23EDT @1685509577.94EDT = =tMAIN =mMAIN_scheduler @EDT1685509578.64 #tEnvironmental Sample Processor version 65c746bb on 30-May-23 +104 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@62073 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +241 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +342 !o:ArgumentError: mesg"@No phasecfg.rb found on /home/esp/esp2/mission:. in mission:bt["2/home/esp/esp2/lib/filepath.rb:28:in `which!'"$/home/esp/esp2/utils/mail.rb:11"4/home/esp/esp2/utils/commskel.rb:8:in `require'"'/home/esp/esp2/utils/commskel.rb:8"4/home/esp/esp2/utils/mission.rb:10:in `require'"'/home/esp/esp2/utils/mission.rb:10"4/home/esp/esp2/lib/framework.rb:95:in `require'"7/home/esp/esp2/lib/framework.rb:95:in `requireAll'"1/home/esp/esp2/lib/framework.rb:93:in `each'"7/home/esp/esp2/lib/framework.rb:93:in `requireAll'"2/home/esp/esp2/type/shallow/initialize.rb:143"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:120:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 "Can"Q\ ` + Q\ ` + #tPolling Can every 10:00 +3 #Cleanly exited at 01:06:00EDT31-May-23 +2157 #-> exit +5 #mEXIT @1685509607.41EDT @1685509797.40EDT = =mMAIN_scheduler =tMAIN @EDT1685509798.10 #tEnvironmental Sample Processor version 65c746bb on 30-May-23 +108 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F #@24714 sendCRC with ifg=0x08, ie=0x5F + #@26668 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +249 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +354 !o:ArgumentError: mesg"@No phasecfg.rb found on /home/esp/esp2/mission:. in mission:bt["2/home/esp/esp2/lib/filepath.rb:28:in `which!'"$/home/esp/esp2/utils/mail.rb:11"4/home/esp/esp2/utils/commskel.rb:8:in `require'"'/home/esp/esp2/utils/commskel.rb:8"4/home/esp/esp2/utils/mission.rb:10:in `require'"'/home/esp/esp2/utils/mission.rb:10"4/home/esp/esp2/lib/framework.rb:95:in `require'"7/home/esp/esp2/lib/framework.rb:95:in `requireAll'"1/home/esp/esp2/lib/framework.rb:93:in `each'"7/home/esp/esp2/lib/framework.rb:93:in `requireAll'"2/home/esp/esp2/type/shallow/initialize.rb:143"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:120:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 "Can"Y\ ^ + Y\ ^ #tPolling Can every 10:00 +4 #Cleanly exited at 01:06:47EDT31-May-23 +1094 #-> backtrace +12038 #-> ESP::Path +8342 #-> quit +5 #mEXIT @1685510020.30EDT @1685510051.79EDT = =mMAIN_scheduler =tMAIN @EDT1685510052.47 #tEnvironmental Sample Processor version 65c746bb on 30-May-23 +105 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD + #@22676 sendCRC with ifg=0x20, ie=0x7F #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F + #@18687 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +12 #ESP2 v3.41 I2C Gateway v3.20 for core bus +243 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +371 "Can"S\ a + S\ a + #tPolling Can every 10:00 +3 #Cleanly exited at 01:13:40EDT31-May-23 +10825 #-> puts '\\n' +1234 #-> puts "\\n" +10251 #-> quit +6 #mEXIT @1685510283.07EDT @1685510376.60EDT = =mMAIN_scheduler =tMAIN @EDT1685510377.29 #t\ Environmental Sample Processor version 65c746bb on 30-May-23 +106 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 + #@34256 receive with ifg=0x10, ie=0xFD #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@37469 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +381 "Can"W\ ` + W\ ` + #tPolling Can every 10:00 +3 #Cleanly exited at 01:18:03EDT31-May-23 +1219 #-> exit +5 #mEXIT @1685510397.09EDT @1685510436.44EDT = =mMAIN_scheduler =tMAIN @EDT1685510437.18 #t\ Environmental Sample Processor version on 30-May-23 +106 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD + #@22676 sendCRC with ifg=0x20, ie=0x7F #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F + #@21653 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +243 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can"U\ d + U\ d + #tPolling Can every 10:00 +4 #Cleanly exited at 01:19:57EDT31-May-23 +3330 #-> exit +5 #mEXIT @1685510477.89EDT @1685510531.91EDT = =mMAIN_scheduler =tMAIN @EDT1685510532.65 #t\ Environmental Sample Processor version on 30-May-23 +106 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@16044 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +12 #ESP2 v3.41 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +370 "Can"O\ ] + O\ ] + #tPolling Can every 10:00 +4 #Cleanly exited at 01:21:17EDT31-May-23 +1868 #-> ENV['ESPversion'].inspect +6982 #-> `cd $ESPhome; git rev-parse --short HEAD 2>/dev/null` +1388 #-> _.inspect +16973 #-> quit +6 #mEXIT @1685510812.29EDT @1685510856.73EDT = =mMAIN_scheduler =tMAIN @EDT1685510857.51 #t\ Environmental Sample Processor on 30-May-23 +104 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@53867 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +238 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +358 "Can"I\ \\ + I\ \\ + #tPolling Can every 10:00 +4 #Cleanly exited at 01:26:52EDT31-May-23 +887 #-> exit +5 #mEXIT @1685510873.70EDT @1685510883.22EDT = =tMAIN =mMAIN_scheduler @EDT1685510883.93 #t\ Environmental Sample Processor version 65c746bb on 30-May-23 +108 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@16718 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +378 "Can"K\ ` + K\ ` + #tPolling Can every 10:00 +4 #Cleanly exited at 01:27:53EDT31-May-23 +20849 #-> exit +6 #mEXIT @1685511100.05EDT @1685511121.38EDT = =tMAIN =mMAIN_scheduler @EDT1685511122.05 #t\ Environmental Sample Processor built 30-May-23 (65c746bb) +102 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F #@24714 sendCRC with ifg=0x08, ie=0x5F + #@3936 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +248 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +360 "Can"E\ ` + E\ ` + #tPolling Can every 10:00 +4 #Cleanly exited at 01:31:40EDT31-May-23 +17362 #-> exit +8 #mEXIT @1685511303.10EDT @1685511436.40EDT = =mMAIN_scheduler =tMAIN @EDT1685511437.08 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@28209 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +238 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +367 "Can"B\ _ + B\ _ #tPolling Can every 10:00 +5 #Cleanly exited at 01:35:03EDT31-May-23 +1672 #-> exit +5 #mEXIT @1685511461.19EDT @1685511524.45EDT = =tMAIN =mMAIN_scheduler @EDT1685511525.14 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 + #@34256 receive with ifg=0x10, ie=0xFD + #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD #@35876 receive with ifg=0x80, ie=0xFD + #@22676 sendCRC with ifg=0x20, ie=0x7F #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F + #@40370 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +236 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +366 "Can"@\ c + @\ c + #tPolling Can every 10:00 +4 #Cleanly exited at 01:37:41EDT31-May-23 +4728 #-> GoodNews.email "Roman is finally updated. Sorry this took so long." + .GoodNews.email "Roman is finally updated. Sorry this took so long." +118 !o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:308:in `unsync'"3/home/esp/esp2/lib/schedule.rb:610:in `unsync'"3/home/esp/esp2/lib/schedule.rb:637:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:342:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:341:in `email'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +148 #"uploadLog"upsync +1277 #t-> quit +6 #mEXIT @1685511595.21EDT @1685511805.22EDT = =mMAIN_scheduler =tMAIN @EDT1685511805.91 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +104 #"core_reset"Sent BREAK +2 #t@33609 select with ifg=0x10, ie=0xF5 + #@34256 receive with ifg=0x10, ie=0xFD #@34902 receive with ifg=0x10, ie=0xFD + #@35549 receive with ifg=0x10, ie=0xFD + #@35876 receive with ifg=0x80, ie=0xFD #@22676 sendCRC with ifg=0x20, ie=0x7F + #@23122 sendCRC with ifg=0x20, ie=0x7F + #@24714 sendCRC with ifg=0x08, ie=0x5F #@60500 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +239 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +367 "Can";\ e +2 ;\ e #tPolling Can every 10:00 +5 #Cleanly exited at 01:39:55EDT31-May-23 +8375 #-> GoodNews.email "Finally updated ESProman -- both Linux and Ruby." + .GoodNews.email "Finally updated ESProman -- both Linux and Ruby." +464 #"uploadLog"upsync +608 #t-> exit +5 #mEXIT @1685511907.81EDT @1686751257.67EDT = =mMAIN_scheduler =tMAIN @EDT1686751258.44 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +114 #"core_reset"Sent BREAK + #t@18968 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +257 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +405 "Can"U\ d + U\ d + #tPolling Can every 10:00 +5 #Cleanly exited at 01:45:07EDT31-May-23 +1923 #-> ESP.ready! +4 #Powering core bus +554 .Gate.power :raw,:ON +3 "sampler") +13 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 4 +3 "storage"(1% +3 "core" %R \ +2 "manipulator"&2% +3 "core" %\   H  +2 "manipulator"&3& +3 "core" &  k % +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(4(S +652 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &V \ +6359 #t-> require 'shuffle.rb' +1340 #-> 5.times{shuffle 3..4} +3 #Shuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'6& +3 "core" &  \  +2 .tHand.open + "manipulator"&71 +64 "core" 1 + "manipulator"&8% +4 "core" % \  " (  +2 "storage"(9% +4 "core" %R \ +2 "storage"(:. +3 "core" .(S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(;( +656 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & q\  +2 "manipulator"&=& +3 "core" &  ) % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&>( +4 "core" ( +2 "manipulator"&?& +3 "core" &  _ % +2 "storage"(@& +5 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +94 "core" ' +2 "storage"(B& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +280 "core" ' +2 "storage"(D- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek :down +2 "storage"(E'X +260 "core" ' + .tSE.stop +2 "storage"(5 +3 "manipulator"&F% +3 "core" %0 D k +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 !to:Puck::Error: mesg".2 pucks loaded in tube 3 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:259:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:586:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +6 #mEXIT @1686751474.77EDT @1686751492.76EDT = =tMAIN =mMAIN_scheduler @EDT1686751493.44 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK + #t@46467 sendCRC with ifg=0x20, ie=0x7F + #@48302 sendCRC with ifg=0x08, ie=0x5F + #@7704 idle with ifg=0x84, ie=0x75 + #@8377 select with ifg=0x10, ie=0xF5 + #@9025 receive with ifg=0x10, ie=0xFD #@9672 receive with ifg=0x10, ie=0xFD + #@10319 receive with ifg=0x10, ie=0xFD #@10646 receive with ifg=0x80, ie=0xFD + #@8490 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +239 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can"@\ 74 + @\ 74 #tPolling Can every 10:00 +8117 #-> require 'shuffle.rb' +1569 #-> 2.times{shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +3 "sampler")#.0X% +3 "core" %] k m \ +2 "storage"(?. +3 "core" .( +2 "storage"(@& +3 "core" & k k \  +2 "storage"(A& +4 "core" & k k \  +2 "manipulator"&B& +3 "core" &(   ?V +2 "manipulator"&C% +4 "core" %\  ! |  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&D( +154 "core" ( + "manipulator"&E& +5 "core" & ' K + "storage"(F& +5 "core" & { ~ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +96 "core" ' +2 "storage"(H& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +288 "core" ' +35 "storage"(J- +11 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" & m i `\  +2 "manipulator"&L& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&M( +4 "core" ( +2 "manipulator"&N& +4 "core" & ' Z +2 "storage"(O& +3 "core" & k k \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(S'X +9 "core" &  T + "manipulator"&T% +5 "core" % ϳ  - 2 +2 .tForearm.seek :retract + "manipulator"&U'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&V(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +110 "core" ( + "manipulator"&W& +5 "core" &s = ~ \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &s  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +100 "core" ' + "manipulator"&Z& +5 "core" &s & X \ +2 "manipulator"&[% +3 "core" % , M +3 "processing"%\\& +4 "core" &\  +2 "processing"%]& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%^(Z +5 "core" &\ \  +9 &4~\ +{ +9 &b\ ? +9 &P|\ P +10 &]\ P +9 &`\ P +10 &`\ P +9 &Y\\\ O +9 &_\ O +10 &]\ O +9 &`\ O +9 & b\\\ O +10 &""`\ P +9 &#_\ O +10 &%]\ P +9 &'h_\ P +9 &)*\\\ P +10 &*\\\ O +9 &,\\\ O +9 &.p_\ P +10 &02]\ P +9 &1[\ P +10 &3\\\ O +9 &5y^\ O +9 &7:`\ P +10 &8_\ P +9 &:Z\ O +9 &<[\ P +10 &>DZ\ O +9 &@\\\ P +10 &A[\ O +9 &C`\ O +9 &EIe\ P +10 &Gk\ Q +9 &Hy\ R +9 &J\ U +10 &LC\ U +9 &N\ T +10 &O\ U +9 &Q\ U +9 &SH\ V +10 &U\ \ V +9 &V\ V +9 &X\ V +10 &Z`v\ / +9 &Zt\ : +10 ( + &Z$\ . + "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&_1 +55 "core" 1 +2 "manipulator"&`% +4 "core" % $ ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +98 "core" ' +2 "processing"%b& +3 "core" &Z%\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&c% +3 "core" %\ #  > ? +3 "storage"(d% +3 "core" %U - # \ +2 "storage"(e. +3 "core" .( +2 "storage"(f& +4 "core" & ! %\  +2 "storage"(g& +2 "manipulator"&h& +8 "core" & ' %\  + &s \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&i(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(j'i +2 "core" ( +2 "manipulator"&k& +4 "core" &s   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +5 "core" &s  k \ +2 .tForearm.seek PC +2 "manipulator"&m' +95 "core" ' +2 .tHand.close + "manipulator"&n/ +60 "core" / +3 .tPC.seek :open +2 "processing"%o( +83 "core" ' + "storage"(p- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +36 "core" ' +302 ( +2 "storage"(r& +3 "core" & Q k V\  +2 "manipulator"&s& +5 "core" &s  v \ + "manipulator"&t% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&v( +252 "core" ( +2 "manipulator"&w& +3 "core" &\ & @ \\ +2 "storage"(x& +4 "core" & F F (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +95 "core" ' + .tHand.open +2 "manipulator"&z1 +101 "core" 1 +3 "storage"({- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(|'E +25 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(}' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +3 "core" -' +2 "storage"(& +4 "core" & \  +2 "manipulator"&& +4 "core" & f X +3 .tElbow.seek 3 + "manipulator"&( +23 "core" ( +2 "manipulator"&& +4 "core" & ' <  + "storage"(& +5 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"& & +3 "core" & # ~  +2 "storage"( & +4 "core" & _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' +2 "manipulator"&% +4 "core" %΁  = +2 "storage"(& +3 "core" & M [\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&'ϭ +20 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(& +4 "core" & o o J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 "storage"(% +4 "core" %n  X\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %F H P /\ Xf +3 "manipulator"&% +3 "core" %C W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & q y *\  +3 "collection"'"& +3 "core" &Vg 7\ E +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %b \ +3 "storage"(. +3 "core" .( +2 "storage"($& +3 "core" & \  +3 "storage"(%& +4 "core" &  Z\  +2 "manipulator"&&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( +2 "manipulator"&)& +3 "core" & l  +3 "storage"(+& +3 "core" & A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +94 "core" ' +2 "storage"(.& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +3 "storage"(!- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &  +2 "storage"(2& +4 "core" & ` ] \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&#'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(5'Q +33 "core" ' + "manipulator"&6% +5 "core" % ~ + "storage"('& +4 "core" & T U p\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&-'ϫ +20 "core" ' + "manipulator"&/& +4 "core" &  +2 "storage"(\ & +4 "core" & m k g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'@ +40 "core" ' +2 "manipulator"&<& +3 "core" & o  +2 "manipulator"&=% +5 "core" %' u +36 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +153 "core" ( +3 "manipulator"&7& +3 "core" &&  R =G +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &&  & =G +3 .tForearm.seek CC + "manipulator"&A'" +91 "core" ' + .tHand.close +2 "manipulator"&B/ +53 "core" / +2 .tCC.seek :open + "collection"'C( +416 "core" ( +3 "storage"(3& +3 "core" & A\  +3 "storage"(E& +4 "core" & \  +2 "manipulator"&F& +3 "core" &%   << +2 "manipulator"&H% +4 "core" % 3  Z +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&;( +161 "core" ( +2 "manipulator"&J& +3 "core" & q +2 "storage"(K& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&L'} +101 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&O1 +55 "core" 1 +2 "manipulator"&Q% +4 "core" % Ή & ) +2 "storage"(R& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&T'ϵ +13 "core" ' + "manipulator"&D& +4 "core" &  q +2 "storage"(G& +4 "core" & 0\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +24 "core" ' +2 "storage"(P% +3 "core" %J Q\ +3 ."downElevator"SE.seek :down +4 "storage"(W'X +99 (X% +3 "core" %? \ Vb +2 "manipulator"&M% +4 "core" %B = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'[& +3 "core" & *\ +2 "manipulator"&\\% +3 "core" %\ " ! ; +3 "storage"(S% +3 "core" %b i\ +2 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" &,k O \\ \  +2 "manipulator"&`& +4 "core" & V q +2 .tElbow.seek 4 + "manipulator"&b( +3 "core" ( +2 "manipulator"&c& +4 "core" & o q +2 "storage"(d& +4 "core" &,h d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&e'Ѽ +99 "core" ' +2 "storage"(f& +4 "core" &,h J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'i +281 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (g& +2 "core" &,h o e X\  +3 "manipulator"&k& +4 "core" & 7 q +2 .tElbow.seek 4 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&Y& +4 "core" & } q + "storage"(n& +4 "core" &,h y\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&p', +16 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(^'X +8 "core" & B q +2 "manipulator"&j% +4 "core" % # D +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&s( +158 "core" ( +8 ' +2 "manipulator"&t& +2 ."downElevator"SE.stop +6 "storage"(5 +3 "core" &*  = @\\ +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +3 "core" &)  ` @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'" +95 "core" ' +2 "manipulator"&x& +4 "core" &* ( . @\\ +2 "manipulator"&i% +4 "core" %  : +2 "collection"'z& +4 "core" & \ +3 "collection"'{& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'~(V +5 "core" & \ +7 & - \ $c +10 &U \ 8 +9 & \ M +10 &^ \ O +9 &X[ \ O +9 &Z \ O +10 &\\ \ O +9 &Z \ O +9 &`] \ O +10 &#] \ O +9 &_ \ O +10 &!_ \ O +9 &#j\\ \ N +9 &%+] \ O +10 &&[ \ O +9 &(Z \ N +9 &*r\\ \ N +10 &,3] \ O +9 &-_ \ \ O +10 &/Z \ O +9 &1y\\ \ O +9 &3:^ \ O +10 &4] \ O +9 &6a \ O +9 &8[ \ O +10 &:B] \ O +9 &<_ \ O +10 &=] \ O +9 &?] \ O +9 &AJ\\ \ O +10 &C ^ \ O +9 &D` \ O +9 &Fh \ P +10 &HJx  \ R +9 &J \ V +10 &K \ Z +9 &Mx \ Z +9 &O9 \ Z +10 &P \ Z +9 &R \ [ +9 &T{ !\ \\ +10 &Vv \ 0 +9 &V) '\ U +9 ( +3 "collection"'{& +2 "core" &V` \ \ I +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&u% +4 "core" %  ( > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\   [ + +3 "storage"( % +4 "core" %]\ \  m\ + "storage"( . +4 "core" .(,l + "storage"(q& +5 "core" &,h\ \ h\  + "storage"(& +4 "core" &,h\  \  +2 "manipulator"&& +4 "core" &)  o @\\ +2 "manipulator"&|% +4 "core" %\   7 + +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" &  { +2 "storage"(& +3 "core" &,h F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&v'Ѽ +96 "core" ' +2 "storage"(y& +3 "core" &,h e r M\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,h % ! >\  +2 "manipulator"&& +3 "core" &  { +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & { + "storage"( & +4 "core" &,h ' '\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&', +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"('X +7 "core" & d { +2 "manipulator"&% +3 "core" % 6  +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&$& +4 "core" &u # ? \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &u \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&&' +98 "core" ' +2 "manipulator"&)& +4 "core" &u  F \ +2 "manipulator"&+% +3 "core" %  +3 "processing"%& +3 "core" &\ +3 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +6 & 0\ $c +9 &T\ 8 +9 &}\ L +10 &]\ P +9 &T`\ P +10 &`\ P +9 &`\ P +9 &]\ O +10 &\\\\\ P +9 &\\\ O +9 &\\\ P +10 &!]\ O +9 &#e]\ O +9 &%']\ O +10 &&]\ O +9 &(\\\ O +10 &*n^\ O +9 &,0]\ O +9 &-^\ O +10 &/]\ O +9 &1u\\\ O +10 &38Z\ O +45 &4^\ O +10 &6\\\ O +4 &8~\\\ O + &:@]\ O + &<]\ O + &=\\\ O +3 &?\\\ O +10 &AHZ\ O +9 &C\ _\ O +9 &Db\ P +10 &Fh\ P +9 &HE|\ S +9 &J\ T +10 &K\ V +9 &M\ U +10 &OG\ U +9 &Q\ U +9 &R\ V +10 &T\ U +9 &VL\ V +9 &X\ V +10 &Y{r\ < +9 &Z&c\ P +9 &Z.\ 2 +3 ( + "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +92 "core" ' +2 "processing"%1& +3 "core" &Z+ \ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&2% +4 "core" %\   <  +2 "storage"(4% +4 "core" %c Y {\ +2 "storage"(6. +3 "core" .(,l +2 "storage"('& +4 "core" &,h\  )\  +2 "storage"(/& +2 "manipulator"&\ & +6 "core" &,h  Q\  +3 &u  R \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(<'i + "manipulator"&=(s +6 "core" ( +2 "manipulator"&,& +4 "core" &u  " \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &u  M \ +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&#/ +55 "core" / +2 .tPC.seek :open +2 "processing"%-( +99 "core" ' +2 "storage"(5- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'y +44 "core" ' +279 ( +2 "storage"(@& +3 "core" &,h T U \  +2 "manipulator"&9& +4 "core" &u   \ +2 "manipulator"&*% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&>( +256 "core" ( + "manipulator"&8& +5 "core" & !  h + "storage"(3& +4 "core" &,h , ( N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&E'Ѽ +97 "core" ' +2 .tHand.open + "manipulator"&F1 +58 "core" 1 +2 "storage"(H- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(K' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' +2 "storage"(?& +3 "core" &,h \  +2 "manipulator"&O& +4 "core" &  c +2 .tElbow.seek 4 +2 "manipulator"&Q( +26 "core" ( +2 "manipulator"&R& +4 "core" & & 8  +2 "storage"(D& +3 "core" &,h \  +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(P' +58 "core" ' +2 "manipulator"&0& +4 "core" & X  +2 "storage"(X& +3 "core" &,h P F )\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&M' +33 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +25 "core" ' +3 "manipulator"&T% +3 "core" %  +2 "storage"([& +5 "core" &,h \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&\\'? +19 "core" ' +2 "manipulator"&S& +4 "core" & P  +2 "storage"(U& +3 "core" &,h k k \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&:'Ѽ +32 "core" ' +2 "storage"(I% +3 "core" %s c t u\ +3 ."downElevator"SE.seek :down +46 "storage"(W'X +92 (% +3 "core" %A # - l\ Xg +2 "manipulator"&_% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&`'\ +93 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (c& +3 "core" &,h F c ;\  +2 "collection"'d& +5 "core" &V` \ I +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&f% +4 "core" %\  7 +2 "storage"(N% +3 "core" %T T T K\ +3 "storage"(Z. +2 "core" .(,l +2 "storage"(h& +5 "core" &,h T T U\  + "storage"(g& +4 "core" &,h I F p\  +2 "manipulator"&k& +4 "core" &  6  +2 .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&n& +4 "core" & X  + "storage"(V& +5 "core" &,h < W \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&a'Ѽ +100 "core" ' + "storage"(j& +5 "core" &,h a \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +288 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" & V  +2 "storage"(]& +4 "core" &,h g k x\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&m' +35 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(l'U +31 "core" ' +2 "manipulator"&i% +3 "core" % 0 % +2 "storage"(z& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&^'? +18 "core" ' +2 "manipulator"&r& +3 "core" & =  +3 "storage"(C& +4 "core" &,h k k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +32 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(u'D +40 "core" ' +2 "manipulator"&& +4 "core" & O  +2 "manipulator"&% +4 "core" % O \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +154 "core" ( +2 "manipulator"&{& +3 "core" &% $ ] << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &% ! _ << +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'|( +416 "core" ( +2 "storage"(w& +3 "core" &,h } \  +2 "storage"(& +4 "core" &,h  G\  +2 "manipulator"&& +4 "core" &%  # << +2 "manipulator"&y% +4 "core" % '   +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" & \\  +2 "storage"(& +3 "core" &,h e\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +103 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"& % +3 "core" %  5 = +3 "storage"("& +4 "core" &,h ] ] P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&'@ +19 "core" ' + "manipulator"&& +5 "core" &  + "storage"(v& +3 "core" &,h &\  +39 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&}'Ѽ +34 "core" ' + "storage"(% +5 "core" %J \ +2 ."downElevator"SE.seek :down +4 "storage"($'X +98 (%% +3 "core" %A \ Wd +2 "manipulator"&% +5 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'+& +3 "core" & \ +2 "manipulator"&% +5 "core" %\   4 . + "storage"(% +5 "core" %_ %\ + "storage"(. +4 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(o( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & J Y 5\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&1( +7 "core" ( +2 "manipulator"&2& +4 "core" & + I  +2 "storage"(4& +3 "core" & %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +88 "core" ' +2 "storage"('& +3 "core" & X\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +284 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +3 "core" & \ +2 "manipulator"&,& +3 "core" & i  +3 .tElbow.seek 3 + "manipulator"&(( +4 "core" ( +2 "manipulator"&&& +3 "core" & 2  +2 "storage"(#& +4 "core" & \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&5'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"('X +8 "core" &  Z  + "manipulator"&<% +4 "core" % ϝ   +3 .tForearm.seek :retract + "manipulator"&@'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&*& +5 "core" && 5 [ =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  j =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'" +99 "core" ' +2 "manipulator"&3& +3 "core" &' " 8 =C +2 "manipulator"&=% +5 "core" %& P +2 "collection"'F& +3 "core" & ;\ +3 "collection"'H& +7 "core" & ,\ +3 .tCC.seek :closed + "collection"'A(V +5 "core" & \  +8 &.  \ +{ +9 &d \ ? +10 &sw \ O +9 &7Z \ N +9 &] \ N +10 &Z \ O +9 &}_ \ \ N +9 &>Z \ \ O +10 &_ \ N +9 &Z \ N +10 & _ \ O +9 &"F_ \ O +9 &$] \ O +10 &%] \ O +9 &'\\ \ O +9 &)P[ \ N +10 &+_ \ O +9 &,\\ \ O +10 &.Z \ O +9 &0U] \ O +9 &2Y \ N +10 &3Z \ O +9 &5] \ O +9 &7_^ \ N +10 &9!_ \ N +9 &:_ \ N +10 &<a \ O +9 &>f^ \ O +9 &@)` \ N +10 &A\\ \ N +9 &C\\ \ O +9 &Ema \ O +10 &G+n \ P +9 &H~ \ R +10 &J \ W +9 &LX \ Y +9 &N \ Z +10 &O \ Z +9 &Q \ Z +9 &S[ \ [ +10 &U \ [\ +9 &VgC \ 2 +10 &Vs \ H +5 ( +2 "collection"'H& +3 "core" &Va \ H +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&?1 +63 "core" 1 +2 "manipulator"&O% +3 "core" % & 0 d +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%R& +3 "core" &\ +2 "manipulator"&D% +4 "core" %\ ! { 3 +2 "storage"(0% +3 "core" %T K \ +2 "storage"(X. +4 "core" .( +2 "storage"(7& +3 "core" & K q\ +2 "storage"(J& +4 "core" & K \ +2 "manipulator"&T& +4 "core" && ! < =A +39 "manipulator"&[% +11 "core" %\ ! ! y 3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +161 "core" ( +2 "manipulator"&U& +4 "core" & & 9 ~ +2 "storage"(>& +3 "core" & P I #\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +92 "core" ' + "storage"(E& +4 "core" & q a !\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'i +285 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & ! ! \ +3 "manipulator"&_& +3 "core" & ~ +2 .tElbow.seek 3 +2 "manipulator"&Q( +4 "core" ( +2 "manipulator"&P& +3 "core" & ~ +2 "storage"(M& +3 "core" & F E d\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&d& + "storage"(f'X +8 "core" & ~ +2 "manipulator"&N% +4 "core" % ϝ K ` +2 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +3 "manipulator"&h& +3 "core" &l  d  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &l  $  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +97 "core" ' +2 "manipulator"&n& +4 "core" &l '  +2 "manipulator"&V% +3 "core" %  ? +3 "processing"%:& +4 "core" &\ +2 "processing"%j& +5 "core" &\ +3 .tPC.seek :closed + "processing"%W(Z +5 "core" &\  +9 &0~\ +z +10 &c\ ? +9 &lz\ O +9 &.Z\ O +10 &\\\ O +9 &]\ O +9 &s]\ O +10 &5\\\ O +9 &]\ O +9 &\\\ O +10 & |^\ O +9 &"?\\\ O +10 &$[\ O +9 &%`\ O +9 &']\ O +10 &)G]\ O +9 &+ ^\ O +9 &,_\ O +10 &.]\ O +9 &0N[\ O +10 &2\\\ O +9 &3Z\ O +9 &5Z\ O +10 &7V\\\ O +9 &9\\\ O +9 &:[\ O +10 &<\\\ O +9 &>_Z\ O +10 &@!]\ O +9 &AZ\ O +9 &C]\ O +10 &Ed`\ P +9 &G%h\ P +9 &Ht\ R +10 &J\ T +9 &L\\\ U +10 &N\ U +9 &O\ U +9 &Q\ U +10 &Sc\ U +9 &U$\ V +9 &V\ V +10 &X\ V +9 &Ze\ 'x +10 &Zk\ 8 +9 ( + &Z%\ / +2 "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&;1 +62 "core" 1 +2 "manipulator"&`% +3 "core" % $ r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' + "processing"%t& +4 "core" &Z&\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&]% +3 "core" %\  7  +3 "storage"(x% +3 "core" %^ K \ +2 "storage"(i. +3 "core" .( +2 "storage"(z& +3 "core" & K b\ +3 "storage"(r& +2 "manipulator"&C& +8 "core" & A \\\ + &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&a& +3 "core" &l    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &l   +2 .tForearm.seek PC +2 "manipulator"&b' +101 "core" ' +2 .tHand.close + "manipulator"&m/ +60 "core" / +2 .tPC.seek :open + "processing"%^( +81 "core" ' +2 "storage"(l- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +44 "core" ' +295 ( + "storage"(q& +42 "core" & & % \ +10 "manipulator"&& +4 "core" &l  + "manipulator"&p% +5 "core" % +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +240 "core" ( + "manipulator"&~& +5 "core" & & 5 & + "storage"(w& +4 "core" & . - i\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +4 "storage"(y- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" & H e K\ +2 "manipulator"& & +3 "core" & L % +3 .tElbow.seek 3 + "manipulator"& ( +19 "core" ( +2 "manipulator"&"& +3 "core" & & 9  +2 "storage"(& +5 "core" & a d e\ +2 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(s' +58 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" & @ 4 d\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&%'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +26 "core" ' +2 "manipulator"&% +3 "core" %} +2 "storage"(+& +5 "core" &   \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +20 "core" ' +2 "manipulator"&& +3 "core" & p  +3 "storage"(& +3 "core" & F F \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +20 "core" ' +2 "storage"(}% +3 "core" %r H Q M\ +3 ."downElevator"SE.seek :down +4 "storage"($'X +98 ( % +4 "core" %? ' ' \ We +2 "manipulator"&% +5 "core" %0 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +3 "core" & K [ -\ +2 "collection"'4& +4 "core" &V` *\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&'% +4 "core" %\   +2 "storage"(% +4 "core" %` j g L\ +2 "storage"(). +3 "core" .( +2 "storage"(/& +3 "core" & k N \ +2 "storage"(\ & +4 "core" & j g F\ +2 "manipulator"&,& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&&( +4 "core" ( +2 "manipulator"&#& +4 "core" & *  + "storage"(& +4 "core" & j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +95 "core" ' +2 "storage"(<& +3 "core" & N g \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +284 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" &  +3 "storage"(& +3 "core" & $ 4 "\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&.'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(='Q +31 "core" ' +39 "manipulator"&F% +11 "core" %Ί +2 "storage"((& +5 "core" & ' "\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'϶ +19 "core" ' +7 "manipulator"&@& +3 "core" & ]  +3 "storage"(|& +3 "core" & [ K m\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(O'@ +40 "core" ' +2 "manipulator"&R& +3 "core" & S  +3 "manipulator"&D% +3 "core" %? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +153 "core" ( +3 "manipulator"&X& +3 "core" &% " B <@ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &%  # <@ +3 .tForearm.seek CC +2 "manipulator"&J'" +93 "core" ' +2 .tHand.close + "manipulator"&T/ +57 "core" / +2 .tCC.seek :open + "collection"'[( +416 "core" ( +2 "storage"(8& +3 "core" & l k \ +2 "storage"(U& +4 "core" & j j \ +2 "manipulator"&>& +3 "core" &#  j :1 +2 "manipulator"&E% +5 "core" % 4  K +2 .tForearm.seek :retract + "manipulator"&9'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&B( +158 "core" ( +2 "manipulator"&G& +3 "core" & '   +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&_'} +94 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +61 "core" 1 +2 "manipulator"&c% +3 "core" % Β & H +2 "storage"(d& +5 "core" & (\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 321 counts + "manipulator"&N'Ͼ +21 "core" ' +2 "manipulator"&S& +3 "core" & G  +3 "storage"(I& +3 "core" & I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +29 "core" ' + "storage"(\\% +5 "core" %I \ +2 ."downElevator"SE.seek :down +4 "storage"(h'X +98 (g% +3 "core" %? \ Vb +2 "manipulator"&Q% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'V& +3 "core" & 3\ +2 "manipulator"&:% +3 "core" %\  - +2 "storage"(f% +4 "core" %U ,\ +2 "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(-(,l +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &,i I I .\  +2 "manipulator"&`& +5 "core" &  + .tElbow.seek 4 +2 "manipulator"&t( +4 "core" ( + "manipulator"&]& +5 "core" & 2  + "storage"(x& +4 "core" &,f -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&i'Ѽ +97 "core" ' +2 "storage"(z& +4 "core" &,f /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +286 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &,f l\  +2 "manipulator"&a& +4 "core" & '  +2 .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( +40 "manipulator"&k& +12 "core" &  +2 "storage"(m& +4 "core" &,f t\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l', +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&e& + "storage"(W'X +8 "core" &  +2 "manipulator"&% +4 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&p& +5 "core" &' & k >L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &'   >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&~'" +104 "core" ' +3 "manipulator"&w& +5 "core" &(  >K +2 "manipulator"&% +4 "core" %   +2 "collection"'& +4 "core" & .\ +2 "collection"'y& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \ +8 &4  \ $c +9 &U \ 8 +9 & \ L +10 &\\ \ \ O +9 &^\\ \ O +10 &!^  \ N +9 &^ \ O +9 &Y  \ N +10 &g_ \ \ N +9 &(]  \ O +9 &\\ \ O +10 &!\\  \ N +9 &#oZ \ N +10 &%1\\ \ N +9 &&Z \ N +9 &(] \ N +10 &*w^ \ N +9 &,9] \ N +9 &-] \ N +10 &/Y \ N +9 &1Z \ N +10 &3AY \ N +9 &5\\ \ N +9 &6a \ O +10 &8\\ \ O +9 &:H_ \ O +9 &<\ \\ \ O +10 &=\\ \ N +9 &?` \ O +10 &AP] \ O +9 &C_ \ N +9 &D] \ O +10 &Fi \ O +9 &HQv \ Q +10 &J \ V +9 &K \ Y +9 &M \ Y +10 &OA \ Y +9 &Q \ Y +9 &R \ \ [ +10 &T  \ [ +9 &V!u \ / +9 &V& \ Q +10 ( + &Vj \ I +2 "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 +4 "manipulator"& % +3 "core" %   \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%"& +3 "core" &\ +3 "manipulator"&% +4 "core" %\   K  + "storage"(% +5 "core" %b J P\ + "storage"(. +4 "core" .(,l + "storage"({& +4 "core" &,f K \  +2 "storage"(& +4 "core" &,f K \  +2 "manipulator"&+& +3 "core" &'  >K +2 "manipulator"&% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(}& +3 "core" &,f F F \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +96 "core" ' +2 "storage"(& +3 "core" &,f j j \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,f $ &\  +2 "manipulator"&v& +5 "core" & {  + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&s& +3 "core" & L  +2 "storage"(%& +3 "core" &,f > )\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(''X +8 "core" &  + "manipulator"&% +5 "core" % + S +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&)(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&/& +4 "core" &m % n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &m @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&,' +93 "core" ' +10 "manipulator"&#& +3 "core" &m c  +3 "manipulator"&% +3 "core" % 6 +3 "processing"%u& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +3 .tPC.seek :closed + "processing"%$(Z +5 "core" &\  +9 &1~\ *y +9 &c\ ? +10 &h{\ P +9 &*\\\ O +9 &\\\ O +10 &\\\ O +9 &o\\\ P +10 &4Z\ O +9 &\\\ O +9 &]\ O +10 & z]\ O +9 &";Z\ O +9 &#\\\ O +10 &%\\\ O +9 &'[\ O +10 &)C\\\ O +9 &+\\\ O +9 &,\\\ O +10 &.\\\ O +9 &0LZ\ O +9 &2 \\\ O +10 &3Z\ O +9 &5Z\ O +9 &7TZ\ O +10 &9[\ O +9 &:Y\ O +10 &<\\\ O +9 &>\\]\ O +9 &@\\\ O +10 &AX\ O +9 &C]\ O +10 &Ea`\ P +9 &G j\ Q +9 &H\ S +10 &J\ T +9 &LY\ U +9 &N\ T +10 &O\ U +9 &Q\ U +10 &S_\ V +9 &U"\ U +9 &V\ V +10 &X\ V +9 &Zd\ (| +9 &Zf\ 7 +10 ( + &Z"\ 0 +2 "processing"%<& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" % !  6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +100 "core" ' +2 "processing"%*& +3 "core" &Z"\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\   +2 "storage"(3% +4 "core" %\\ M O\ +2 "storage"(F. +3 "core" .(,l +2 "storage"((& +4 "core" &,f K `\  +2 "storage"(@& +4 "manipulator"&|& +6 "core" &,f K 6\  + &m  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(R'i + "manipulator"&D(s +5 "core" ( +2 "manipulator"&!& +4 "core" &m ' T  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &m ]  +2 .tForearm.seek PC +2 "manipulator"&1' +96 "core" ' + .tHand.close +2 "manipulator"&./ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(=- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +45 "core" ' +295 ( + "storage"(7& +5 "core" &,f  # \  + "manipulator"&?& +4 "core" &m a  +2 "manipulator"&5% +4 "core" % q +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +252 "core" ( +2 "manipulator"&A& +3 "core" & &  # +3 "storage"(8& +4 "core" &,f\ \ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&U'Ѽ +97 "core" ' +2 .tHand.open +2 "manipulator"&>1 +61 "core" 1 +2 "storage"(E- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(G'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +4 #tLights, camera, ACTION! + "storage"(J- +3 "core" -' +2 "storage"(H& +4 "core" &,f ? > m\  +2 "manipulator"&M& +3 "core" & K # +2 .tElbow.seek 4 +2 "manipulator"&c( +4 "core" ( + "manipulator"&d& +4 "core" & c # +2 "storage"(S& +4 "core" &,f I L\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&I'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +61 "core" ' +2 "manipulator"&9& +3 "core" & o # +2 "storage"(g& +4 "core" &,f\ " \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Q' +70 "core" ' +9 .tElbow.hold +2 "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(_'i +23 "core" ' +2 "manipulator"&N% +4 "core" % d +2 "storage"(V& +3 "core" &,f \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&:': +18 "core" ' +2 "manipulator"&f& +3 "core" & & - # +2 "storage"(L& +5 "core" &,f K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&O'Ѽ +27 "core" ' +2 "storage"(K% +4 "core" %s * ' \ +2 ."downElevator"SE.seek :down +4 "storage"(h'X +99 (o% +3 "core" %C\ \ \ Xg +2 "manipulator"&;% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (]& +3 "core" &,f  @ !\  +2 "collection"'x& +5 "core" &Vh 8\ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&z% +4 "core" %\ r  +2 "storage"(P% +3 "core" %T E B \ +2 "storage"(n. +5 "core" .(,l +2 "storage"(C& +4 "core" &,f @ 4 h\  +2 "storage"(r& +3 "core" &,f H F "\  +2 "manipulator"&a& +5 "core" & # + .tElbow.seek 4 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&m& +3 "core" & # +3 "storage"(Z& +3 "core" &,f F F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&e'Ѽ +86 "core" ' +2 "storage"(& +3 "core" &,f G H K\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +285 "core" ' +2 "storage"(i- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" & U # +2 "storage"(b& +4 "core" &,f K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&j' +31 "core" ' +2 .tElbow.hold + "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('T +32 "core" ' + "manipulator"&% +4 "core" % 7 6 +2 "storage"(Y& +3 "core" &,f J\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&W'? +18 "core" ' +2 "manipulator"&q& +3 "core" & o $ +3 "storage"([& +4 "core" &,f ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'C +40 "core" ' + "manipulator"&"& +4 "core" & # +2 "manipulator"&% +4 "core" %Ѯ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ( + "manipulator"&{& +5 "core" &+ $ Q Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &+  L Ac +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' + .tHand.close +2 "manipulator"&+/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +3 "storage"(~& +4 "core" &,f } k\  +2 "storage"(& +3 "core" &,f \  +42 "manipulator"&}& +10 "core" &+  Y Ab +2 "manipulator"&% +5 "core" %  *  +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +165 "core" ( + "manipulator"& & +5 "core" & c + "storage"(& +5 "core" &,f Q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&v' +103 "core" ' +2 .tElbow.hold + "manipulator"&s, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +54 "core" 1 +2 "manipulator"&2% +3 "core" %  2 t  +3 "storage"(4& +4 "core" &,f w\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&'@ +21 "core" ' + "manipulator"&& +4 "core" & > f +2 "storage"( & +3 "core" &,f I\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +17 "core" ' +2 "storage"(% +3 "core" %L %\ +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (\ % +3 "core" %rD \ Wc +2 "manipulator"& % +5 "core" %Ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +85 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +1424 #t-> 2.times{shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & 9\ +2 "manipulator"&u% +4 "core" %\  e  +2 "storage"('% +3 "core" %b ^\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(^( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & j f O\ +2 "manipulator"&& +3 "core" & f +3 .tElbow.seek 3 + "manipulator"&*( +8 "core" ( + "manipulator"&& +4 "core" & r g +2 "storage"(3& +4 "core" & *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +92 "core" ' +3 "storage"(<& +3 "core" & Q\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('i +282 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +3 "core" & F\ +2 "manipulator"&!& +3 "core" & g +2 .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( + "manipulator"&,& +5 "core" & D g + "storage"(.& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&='ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"($'X +9 "core" &   g + "manipulator"&R% +4 "core" % ϳ   +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +3 .tElbow.seek CC +2 "manipulator"&?( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&5& +4 "core" &'  l >I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &1& +2 "core" &'   >I +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&A'" +93 "core" ' +2 "manipulator"&8& +4 "core" &( $ 3 >H +2 "manipulator"&D% +5 "core" %  ~ +2 "collection"'>& +3 "core" & :\ +3 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'J(V +5 "core" & \ +6 &4  \ $c +10 &U \ \ 8 +9 &  \ L +9 &\\ \ \ N +10 &c]  \ O +9 &&\\ \ N +9 &]  \ O +10 &[  \ O +9 &l\\  \ N +10 &.Y  \ N +9 &^ \ N +9 &!\\ \ O +10 &#s\\ \ O +9 &%6_  \ N +9 &&\\  \ O +10 &(Z  \ O +9 &*{[ \ O +10 &,>X \ N +9 &.] \ N +9 &/X \ N +10 &1Z \ N +9 &3FX \ N +9 &5_ \ N +10 &6` \ \ O +9 &8[  \ N +10 &:M` \ O +9 &<_ \ N +9 &=\\  \ N +10 &?`  \ N +9 &AWZ  \ N +9 &C^ \ O +10 &D_  \ O +9 &Ff  \ P +10 &HTx \ R +9 &J \ U +9 &K \ Y +10 &M  \ Y +9 &OF \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ [\ +10 &V%u  \ / +9 &V'  \ P +9 ( + &Vj \ H +2 "collection"'E& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&H1 +56 "core" 1 +2 "manipulator"&M% +4 "core" %  1 { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%S& +3 "core" &\ +3 "manipulator"&T% +4 "core" %\   _ $ +2 "storage"(9% +3 "core" %T\ \ \ +2 "storage"(g. +3 "core" .( +2 "storage"(X& +4 "core" &\ \ \ +2 "storage"(G& +4 "core" &\ \  \ \ +2 "manipulator"&N& +3 "core" &'  & >H +2 "manipulator"&V% +4 "core" %\    $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&f( +161 "core" ( +2 "manipulator"&L& +3 "core" & ' Y q +3 "storage"(0& +4 "core" & - - =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +92 "core" ' + "storage"(K& +4 "core" & R Q (\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" & < \ +2 "manipulator"&;& +5 "core" & q + .tElbow.seek 3 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&\\& +4 "core" & t q + "storage"(Q& +4 "core" & # * =\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&:'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&x& + "storage"(z'X +7 "core" &  q +2 "manipulator"&P% +3 "core" % ϰ +3 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n(s +160 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&C& +3 "core" &w  P  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +97 "core" ' +2 "manipulator"&m& +3 "core" &w &  +3 "manipulator"&Z% +3 "core" %   +3 "processing"%O& +3 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%h(Z +5 "core" &\ +7 &9\ $c +10 &U\ 8 +9 &~~\ L +10 &`\ O +9 &[]\ O +9 &\\\ O +10 &]\ O +9 &Z\ O +9 &d]\ O +10 &'\\\ O +9 &]\ O +10 &!]\ O +9 &#l`\ O +9 &%.\\\ O +10 &&Z\ O +9 &([\ O +9 &*u\\\ O +10 &,7]\ O +52 &-_\ O +4 &/\\\ O + &1}Z\ O + &3@Z\ N + &5[\ O + &6Z\ O +5 &8[\ O +10 &:G\\\ O +9 &< _\ O +10 &=Z\ N +9 &?[\ N +9 &AO[\ O +10 &CZ\ O +9 &D_\ O +9 &Fd\ P +10 &HPp\ Q +9 &J ~\ T +10 &K\ V +9 &M\ U +9 &OL\ U +10 &Q \ U +9 &R\ U +9 &T\ V +10 &VR\ V +9 &X\ V +10 &Y{p\ : +9 &Z*w\ O +9 &Z"\ 0 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&B1 +54 "core" 1 +2 "manipulator"&`% +4 "core" % &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +103 "core" ' + "processing"%p& +5 "core" &Z"\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&b% +4 "core" %\ \ T  +2 "storage"(w% +4 "core" %T A W\ +2 "storage"(. +3 "core" .( +2 "storage"(Y& +4 "core" & K \ +2 "storage"(q& +2 "manipulator"&[& +7 "core" & J f\ + &w  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&"(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&e& +4 "core" &w   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &w  +3 .tForearm.seek PC + "manipulator"&t' +93 "core" ' +2 .tHand.close + "manipulator"&j/ +58 "core" / +3 .tPC.seek :open +2 "processing"%W( +93 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +44 "core" ' +284 ( +2 "storage"(y& +3 "core" & L \ +2 "manipulator"& & +4 "core" &w  +2 "manipulator"&l% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&& +3 "core" & & M R +2 "storage"(~& +4 "core" &\ \  H\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +91 "core" ' +2 .tHand.open + "manipulator"&}1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +4 "core" & + ) f\ + "manipulator"&%& +5 "core" &\ R + .tElbow.seek 3 +2 "manipulator"&2( +27 "core" ( +2 "manipulator"&4& +3 "core" & ' 2  +2 "storage"(& +4 "core" & + - :\ +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(\ & +5 "core" & - ( 6\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(v'i +26 "core" ' +2 "manipulator"&% +4 "core" %Ώ  + "storage"( & +43 "core" &\ # I +\ +9 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&'ϻ +12 "core" ' +2 "manipulator"&/& +3 "core" & t  +2 "storage"(& +5 "core" & - ( 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +27 "core" ' +2 "storage"('% +4 "core" %q T I 2\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (-% +3 "core" %E J \ Xg +2 "manipulator"&% +3 "core" % 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  7 \ +2 "collection"'3& +5 "core" &Vj /\ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&<% +5 "core" %\ ! 2 + "storage"(s% +5 "core" %Z - . s\ + "storage"(#. +4 "core" .( + "storage"(@& +4 "core" & ) " B\ +2 "storage"(|& +4 "core" & . - X\ +2 "manipulator"&!& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&,( +2 "core" ( +2 "manipulator"&.& +5 "core" & n  + "storage"()& +4 "core" & # & <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +96 "core" ' +2 "storage"(R& +4 "core" & O k ;\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(*'i +283 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&5& +3 "core" & F  +2 "storage"(1& +4 "core" & + # \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&('} +20 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'Q +31 "core" ' +2 "manipulator"&D% +3 "core" %Ή +2 "storage"(>& +4 "core" &\ \ e\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&$'ϵ +20 "core" ' +2 "manipulator"&7& +3 "core" &   +3 "storage"(& +4 "core" & ' > ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'@ +40 "core" ' + "manipulator"&S& +5 "core" & Z  + "manipulator"&T% +5 "core" %2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +156 "core" ( +3 "manipulator"&X& +3 "core" &&  ' =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &&  N =D +3 .tForearm.seek CC + "manipulator"&G'" +92 "core" ' +2 .tHand.close + "manipulator"&N/ +63 "core" / +2 .tCC.seek :open +2 "collection"'V( +415 "core" ( +2 "storage"(A& +3 "core" & \ +3 "storage"(L& +4 "core" & f ]\ + "manipulator"&0& +4 "core" &&   =D +2 "manipulator"&K% +3 "core" % '   +3 .tForearm.seek :retract + "manipulator"&?'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +159 "core" ( +8 "manipulator"&I& +5 "core" & s + "storage"(o& +5 "core" & \\\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&;'} +95 "core" ' +2 .tElbow.hold + "manipulator"&\\, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +54 "core" 1 +2 "manipulator"&]% +3 "core" % ΋ > +3 "storage"(x& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&P'Ϸ +21 "core" ' +2 "manipulator"&f& +4 "core" & p s +2 "storage"(U& +3 "core" & 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(:% +3 "core" %C F\  +3 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (r% +3 "core" %k> \ Vb +2 "manipulator"&c% +5 "core" %" +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'Z& +3 "core" & .\ +2 "manipulator"&O% +3 "core" %\   +3 "storage"(z% +3 "core" %b s\ +2 "storage"(_. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (B& +2 "core" &,j F G \  +3 "manipulator"&`& +4 "core" & s +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&b& +3 "core" & s +2 "storage"(w& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +87 "core" ' +2 "storage"(& +3 "core" &,g 7\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +283 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +2 "core" &,g x | \  +2 "manipulator"&e& +5 "core" & s + .tElbow.seek 4 +2 "manipulator"&k( +4 "core" ( + "manipulator"&a& +4 "core" & w s +2 "storage"(j& +4 "core" &,g )\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&n/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(h'X +8 "core" & s +2 "manipulator"&% +4 "core" % ( \ +2 .tForearm.seek :retract +2 "manipulator"&y'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +160 "core" ' ( +2 ."downElevator"SE.stop +2 "manipulator"&l& +2 "storage"(5 +7 "core" &'  o >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &'  M >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + "manipulator"&~& +5 "core" && ! i =G + "manipulator"&"% +5 "core" %)  e  +2 "collection"'}& +4 "core" & /\ +2 "collection"'& +5 "core" & \ +4 .tCC.seek :closed +3 "collection"'(V +2 "core" & \ +51 & \ 3 +4 &@G \ 1 + &kr \ E + & f \ O + &[ \ N + &Y \ N +4 &TZ  \ N +9 &[ \ N +9 &\\  \ N +10 &Z \ N +9 &]] \ N +10 &!\\ \ N +9 &"]  \ N +9 &$] \ N +10 &&d[ \ \ N +9 &('^  \ N +9 &)Z  \ N +10 &+\\  \ N +9 &-m\\ \ \ N +10 &/.[  \ N +9 &0\\  \ N +9 &2[  \ N +10 &4u] \ N +9 &67^ \ N +10 &7] \ \ N +9 &9\\  \ O +9 &;{_  \ O +10 &==] \ \ O +9 &?] \ \ N +9 &@_  \ N +10 &B_  \ N +9 &DF^ \ \ N +9 &Fa  \ O +10 &Gr  \ P +9 &I~ \ \ S +10 &K1 \ X +9 &L  \ Y +9 &N \ Y +10 &Pv \ Y +9 &R6 \ \ Y +10 &S  \ [\ +9 &U \ G +9 &V5  \ 't +10 &Vg \ H +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&%% +3 "core" % ) $ C  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&+'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%4& +4 "core" & \ +2 "manipulator"&% +3 "core" %\   d  +3 "storage"(% +4 "core" %]\ \ \ + "storage"(\ . +4 "core" .(,l + "storage"({& +5 "core" &,g\ \ \  + "storage"(& +4 "core" &,g\ \ \  +2 "manipulator"& & +3 "core" &&  $ =G +3 "manipulator"& % +3 "core" %\   ^  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&/( +157 "core" ( +2 "manipulator"&& +3 "core" & ) L  +2 "storage"(& +5 "core" &,g - - \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&''Ѽ +105 "core" ' +2 "storage"(& +3 "core" &,g N g 9\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &,g \  \  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 4 +2 "manipulator"&2( +4 "core" ( + "manipulator"&& +5 "core" & B  + "storage"( & +4 "core" &,g - . F\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(<'X +8 "core" &  +2 "manipulator"&v% +4 "core" % / G  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +118 "core" ( +2 "manipulator"&@& +4 "core" &l % F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&!' +96 "core" ' + "manipulator"&.& +5 "core" &l u + "manipulator"&)% +4 "core" % ' +2 "processing"%u& +4 "core" &\ +3 "processing"%R& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 &9\ $c +9 &S\ 7 +9 &}\ L +10 &\\\ O +9 &T]\ O +10 &\\\ O +9 &\\\ O +9 &Z\ O +10 &\\[\ O +9 &Z\ O +9 &[\ O +10 &!Z\ O +9 &#e\\\ O +10 &%'Z\ O +9 &&Z\ O +9 &(Z\ O +10 &*l[\ O +9 &,.Z\ O +9 &-[\ O +10 &/Z\ O +9 &1vZ\ O +10 &39Z\ N +9 &4\\\ O +9 &6Y\ O +10 &8Y\ N +9 &:@Z\ O +9 &<]\ O +10 &=\\\ O +9 &?\\\ O +10 &AIY\ N +9 &C\ \\\ O +9 &D_\ O +10 &Fd\ P +9 &HEx\ R +9 &J\ U +10 &K\ U +9 &M\ U +10 &OE\ U +9 &Q\ U +9 &R\ V +10 &T\ V +9 &VK\ V +9 &X \ V +10 &Y{p\ = +9 &Z%Z\ U +10 &Z-\ 3 +2 ( + "processing"%R& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +47 "manipulator"&% +7 "core" %  y ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 "processing"%5& +3 "core" &Z(\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&1% +5 "core" %\   S - + "storage"(&% +4 "core" %a \  >\ +2 "storage"(D. +4 "core" .(,l + "storage"(>& +5 "core" &,g \  c\  +2 "storage"(7& +2 "manipulator"&& +7 "core" &,g \  /\  +2 &l  # +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&S(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'i +2 "core" ( +3 "manipulator"&6& +4 "core" &l   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &l  D +2 .tForearm.seek PC +2 "manipulator"&*' +96 "core" ' +2 .tHand.close + "manipulator"&(/ +61 "core" / +3 .tPC.seek :open +2 "processing"%$( +83 "core" ' + "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(X'y +45 "core" ' +294 ( +2 "storage"(E& +4 "core" &,g L /\  +2 "manipulator"&H& +3 "core" &l +2 "manipulator"&=% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +238 "core" ( +2 "manipulator"&J& +3 "core" & & 7 D +3 "storage"(A& +4 "core" &,g H R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&L'Ѽ +98 "core" ' +6 .tHand.open +2 "manipulator"&01 +62 "core" 1 +2 "storage"(K- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(o' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(G- +2 "core" -' +3 "storage"(g& +3 "core" &,g C M v\  +2 "manipulator"&Q& +4 "core" & @ +2 .tElbow.seek 4 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&x& +3 "core" &  } @ +3 "storage"(f& +3 "core" &,g 8 A C\  +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&U'Ѽ +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(:' +59 "core" ' + "manipulator"&?& +4 "core" & \\ @ +2 "storage"(r& +3 "core" &,g ' %\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&c' +35 "core" ' +2 .tElbow.hold + "manipulator"&d, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(;'i +29 "core" ' +2 "manipulator"&Z% +4 "core" %\  P +2 "storage"(P& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&O'6 +19 "core" ' +2 "manipulator"&z& +3 "core" & & 7 A +2 "storage"(_& +5 "core" &,g # ! \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&M'Ѽ +34 "core" ' + "storage"(% +49 "core" %k / 7 q\ +4 ."downElevator"SE.seek :down +3 "storage"(C'X +99 (^% +3 "core" %C\ \ \ Xh +2 "manipulator"&B% +4 "core" %ѭ c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (b& +2 "core" &,g  \  +3 "collection"'w& +3 "core" &Vk /\ H +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\  o  +2 "storage"(\\% +4 "core" %T % !\ +2 "storage"(m. +3 "core" .(,l +2 "storage"(q& +4 "core" &,g ' & \  +2 "storage"([& +4 "core" &,g ' '\  + "manipulator"&e& +5 "core" & A +2 .tElbow.seek 4 + "manipulator"&a( +4 "core" ( +2 "manipulator"&j& +3 "core" & & + A +2 "storage"(n& +4 "core" &,g ! *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&i'Ѽ +98 "core" ' +2 "storage"(& +4 "core" &,g 6 * 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" & R A +2 "storage"(Y& +5 "core" &,g B (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&t' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"("'T +32 "core" ' + "manipulator"&}% +4 "core" % +2 "storage"(k& +4 "core" &,g 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&h'> +18 "core" ' +2 "manipulator"&y& +3 "core" & 2 C +3 "storage"(V& +4 "core" &,g & ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(%'C +39 "core" ' +2 "manipulator"&4& +3 "core" & C +2 "manipulator"&% +5 "core" %ѯ l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +50 "Can"\ LJ +101 "core" ( + "manipulator"&{& +4 "core" &% !  <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &%   <; +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +415 "core" ( +3 "storage"(& +3 "core" &,g o q \  +3 "storage"(& +3 "core" &,g w p %\  +2 "manipulator"&& +3 "core" &$ J ;8 +2 "manipulator"&% +5 "core" % -   +2 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&+( +157 "core" ( +2 "manipulator"& & +3 "core" & & B  +2 "storage"(-& +4 "core" &,g o\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +106 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +46 .tHand.open +5 "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  2 +2 "storage"(3& +3 "core" &,g j k \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&v'> +20 "core" ' +2 "manipulator"&/& +4 "core" &   +2 "storage"('& +3 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 "storage"(% +3 "core" %J 8\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (|% +3 "core" %C } M\ Wc +3 "manipulator"&2% +4 "core" % [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"')& +4 "core" & -\ +2 "manipulator"&u% +3 "core" %\  * +3 "storage"(<% +3 "core" %` J\ +2 "storage"(s. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(W( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & Q V |\ +2 "manipulator"&& +4 "core" & r  +2 .tElbow.seek 3 +2 "manipulator"&R( +7 "core" ( +2 "manipulator"&5& +4 "core" & & z  +2 "storage"(1& +3 "core" & l\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +104 "core" ' +2 "storage"(D& +3 "core" & :\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'i +283 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & v\ +2 "manipulator"&6& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&!& +3 "core" &  +3 "storage"((& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&8'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"('X +9 "core" &  + "manipulator"&T% +4 "core" % ϰ +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +154 "core" ( +3 "manipulator"&=& +2 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &* &  @W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &*  & @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +98 "core" ' +2 "manipulator"&A& +3 "core" &* 1 b @W +3 "manipulator"&S% +3 "core" %%  # +3 "collection"'0& +4 "core" & \ +2 "collection"'K& +5 "core" & \ +4 .tCC.seek :closed +2 "collection"'G(V +4 "core" & \ +7 & 4 \ $d +10 &V \ 8 +9 & \ L +9 &Y \ N +10 &f\\ \ N +9 &([ \ N +9 &] \ N +10 &\\ \ \ N +9 &o^ \ N +10 &2\\ \ N +9 &\\ \ N +9 &!^ \ N +10 &#x\\ \ N +9 &%9\\ \ N +9 &&\\ \ N +10 &(Z \ M +9 &*\\  \ N +10 &,B\\ \ N +9 &.Z \ N +9 &/[ \ M +10 &1] \ N +9 &3JZ \ N +9 &5 ] \ N +10 &6_ \ N +9 &8\\ \ M +10 &:R_ \ N +9 &<_ \ N +9 &=^ \ N +10 &?_ \ N +9 &AZ\\ \ N +9 &C^ \ N +10 &D_ \ \ N +9 &Fh \ O +10 &HYu  \ Q +46 &J \ U +10 &K \ Y + &M \ Y + &OJ \ Y + &Q\  \ Y + &R \ Z +5 &T \ [ +10 &V(t \ / +9 &V" \ N +9 ( + &Vj \ \ I +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&g1 +64 "core" 1 + "manipulator"&Q% +5 "core" % % ( " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%f& +4 "core" & \ +2 "manipulator"&N% +3 "core" %\   Y \ +3 "storage"(?% +3 "core" %T\ \  {\ +2 "storage"(r. +4 "core" .( + "storage"(X& +5 "core" &\ \ \  V\ +2 "storage"(Z& +4 "core" &\ \ \ +2 "manipulator"&P& +3 "core" &(  ?V +2 "manipulator"&I% +4 "core" %\   \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&z( +161 "core" ( +2 "manipulator"&_& +4 "core" & w  +2 "storage"(9& +4 "core" & F F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(L& +3 "core" & I U ?\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +285 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &\ -\ ) e\ +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&:& +4 "core" & o  +2 "storage"(c& +3 "core" &\  O\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&w& + "storage"('X +8 "core" & y  +2 "manipulator"&\\% +4 "core" % Ϩ 5 +2 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&q& +3 "core" &x ( S  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +4 "core" &x r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&e' +95 "core" ' + "manipulator"&j& +5 "core" &x &  +2 "manipulator"&n% +3 "core" %  +3 "processing"%M& +3 "core" &\ +3 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%C(Z +5 "core" &\  +8 &0~\ *y +10 &a\ > +9 &dy\ O +9 &%\\\ O +10 &\\\ N +9 &\\\ N +9 &l\\\ O +10 &/]\ N +9 &[\ O +10 &]\ O +9 & s^\ O +9 &"6Z\ O +10 &#Z\ N +9 &%[\ O +9 &'|_\ O +10 &)>_\ O +9 &+Z\ O +10 &,W\ O +9 &.Z\ N +9 &0FZ\ O +10 &2^\ O +9 &3Z\ N +9 &5Z\ O +10 &7N\\\ O +9 &9X\ O +10 &:Y\ N +9 &<\\\ O +9 &>VX\ O +10 &@^\ O +9 &AW\ N +9 &C]\ O +10 &E]]\ O +9 &Gi\ P +10 &Hv\ R +9 &J\ T +9 &LT\ U +10 &N\ T +9 &O\ T +9 &Q\ T +10 &S[\ U +9 &U\ U +10 &V\ U +9 &X\ V +9 &Zl\ . +10 &ZS\ &j +9 &Z6\ . +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&d1 +4 "core" &Z"\ . +57 1 + "manipulator"&`% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + "processing"%l& +4 "core" &Z"\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Y% +4 "core" %\  ~ 7 +2 "storage"(~% +3 "core" %` \ +2 "storage"(}. +50 "core" .( +3 "storage"(k& +4 "core" & h\ +2 "storage"(y& +4 "manipulator"&V& +4 "core" & o\ +2 &x  ;  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(4'i + "manipulator"&(s +8 "core" ( + "manipulator"&i& +3 "core" &x ! >  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &x   +2 .tForearm.seek PC +2 "manipulator"&p' +98 "core" ' + .tHand.close +2 "manipulator"&t/ +56 "core" / +4 .tPC.seek :open + "processing"%h( +83 "core" ' + "storage"("- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +36 "core" ' +302 ( +2 "storage"(& +3 "core" &  $ \ +2 "manipulator"&& +4 "core" &x ~  +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +246 "core" ( + "manipulator"&& +5 "core" &  o [ + "storage"(& +4 "core" &\ \  Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(-' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(\ & +4 "core" & * 2\ + "manipulator"& & +5 "core" &\ A [ +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&3& +4 "core" &\ ' | [ + "storage"(/& +5 "core" & + 6\ +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"& & +3 "core" &\ [ +3 "storage"(+& +3 "core" & , , 7\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&|'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +26 "core" ' +2 "manipulator"&)% +3 "core" %Ύ +2 "storage"(v& +5 "core" &\ \  5\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&u'Ϻ +11 "core" ' +2 "manipulator"&<& +4 "core" &\ [ +2 "storage"(s& +3 "core" & ! % b\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +23 "core" ' +2 "storage"(% +4 "core" %p & % L\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (% +3 "core" %E \  y\ Yi +2 "manipulator"&% +5 "core" %U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +45 "core" & ^ \ +6 "collection"'1& +4 "core" &Vj \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&D% +4 "core" %\   +2 "storage"(% +4 "core" %b ' &\ +2 "storage"(.. +3 "core" .( +2 "storage"(7& +4 "core" & % &\ + "storage"(& +5 "core" & ( # F\ + "manipulator"&6& +4 "core" &\ g [ +2 .tElbow.seek 3 +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&(& +3 "core" &\ & P [ +3 "storage"(#& +4 "core" & ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +94 "core" ' + "storage"(T& +5 "core" & H F \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +285 "core" ' +3 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &\ s [ +2 "storage"(*& +5 "core" &\ +\ , S\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&>'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'P +27 "core" ' +2 "manipulator"&0% +4 "core" %Ά +2 "storage"(,& +3 "core" &\  |\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&'ϲ +21 "core" ' + "manipulator"&E& +4 "core" &\ P Z +2 "storage"( & +3 "core" & M \\\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(Q'? +40 "core" ' +2 "manipulator"&f& +3 "core" &\  Z +2 "manipulator"&N% +5 "core" %H < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +148 "core" ( +2 "manipulator"&K& +5 "core" && 0 M =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &&  O =A +3 .tForearm.seek CC +2 "manipulator"&Z'" +94 "core" ' +2 .tHand.close +2 "manipulator"&P/ +62 "core" / +2 .tCC.seek :open +2 "collection"'I( +416 "core" ( + "storage"(J& +4 "core" &  }\ +2 "storage"(_& +4 "core" & ~ 4\ +2 "manipulator"&9& +3 "core" &%  9 <@ +2 "manipulator"&L% +4 "core" % -   +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&x( +160 "core" ( +2 "manipulator"&U& +4 "core" & u p +2 "storage"(^& +3 "core" & C\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&]'} +100 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&c1 +58 "core" 1 +2 "manipulator"&b% +4 "core" % ΄ & +2 "storage"(w& +3 "core" & X\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&\\'ϰ +21 "core" ' + "manipulator"&z& +4 "core" & s p +2 "storage"(& +48 "core" & "\ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +32 "core" ' +2 "storage"(O% +4 "core" %C ,\  +3 ."downElevator"SE.seek :down +3 "storage"(q'X +100 ([% +3 "core" %u? \ Vc +2 "manipulator"&B% +3 "core" %? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'n& +3 "core" &  \ +2 "manipulator"&M% +3 "core" %\  ` * +3 "storage"(% +3 "core" %T u\ +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"($(,l +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &,j 0 A \  +2 "manipulator"&`& +3 "core" & p +3 .tElbow.seek 4 + "manipulator"&l( +4 "core" ( +2 "manipulator"&Y& +4 "core" & & X p + "storage"(~& +5 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&}'Ѽ +94 "core" ' + "storage"(& +5 "core" &,h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +286 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &,h \  +2 "manipulator"&i& +4 "core" & E p +2 .tElbow.seek 4 +2 "manipulator"&a( +4 "core" ( + "manipulator"&e& +9 "core" & ~ p +2 "storage"(t& +4 "core" &,h \  +7 .tForearm.seek 4 + 300 counts + "manipulator"&"', +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(C'X +8 "core" & d p + "manipulator"&4% +5 "core" % % I +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" && 2 O =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +2 "core" &&  =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 "manipulator"&& +4 "core" && O =C +2 "manipulator"&% +3 "core" %+    +3 "collection"'& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" & \ +6 & \ 4 +10 &7G \ 1 +9 &ds \ F +9 &\ b \ N +10 &\\ \ N +9 &Z \ N +10 &RZ  \ N +9 &]  \ N +9 &] \ M +10 &\\ \ N +9 &Y` \ \ N +9 &!\\ \ N +10 &"] \ N +9 &$a \ N +10 &&b[ \ N +9 &(#Y \ N +9 &)Z \ M +10 &+\\  \ N +9 &-j[ \ \ N +9 &/+] \ N +10 &0\\ \ N +9 &2Y \ N +10 &4r[ \ N +9 &63\\ \ N +9 &7\\ \ N +10 &9[ \ N +9 &;x_  \ N +9 &=:Y \ N +10 &>[ \ N +9 &@]  \ O +10 &B[ \ \ N +9 &DC] \ N +9 &Fc \ O +10 &Gn \ P +9 &Iz  \ S +9 &K- \ X +10 &L \ Y +9 &N \ X +10 &Pp \ Y +9 &R0 \ Z +9 &S \ [ +10 &U \ I +9 &V5 \ \ &s +9 &Vk \ J +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&\ 1 +57 "core" 1 + "manipulator"& % +4 "core" % + 0 <  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +148 "core" ' +4 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"& % +4 "core" %\  +2 "storage"( % +3 "core" %T\  \ +2 "storage"(+. +4 "core" .(,l + "storage"({& +5 "core" &,h J 0\  + "storage"()& +5 "core" &,h\ \  \  + "manipulator"&v& +5 "core" && =C + "manipulator"& % +4 "core" %\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&<( +157 "core" ( + "manipulator"&s& +5 "core" & t + "storage"(& +4 "core" &,h < B g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +95 "core" ' +2 "storage"(& +3 "core" &,h i j \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,h # !\  +2 "manipulator"&'& +4 "core" & V t +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ' t +2 "storage"(|& +3 "core" &,h  #\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&u', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(1'X +8 "core" &  t +2 "manipulator"&D% +4 "core" % < E X +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +3 "manipulator"&7& +4 "core" &n # q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&6' +97 "core" ' +2 "manipulator"&(& +3 "core" &n &  +3 "manipulator"&#% +3 "core" % +3 "processing"%%& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(Z +5 "core" &\ +7 &9\ $c +9 &S\ 7 +10 &~\ L +9 &\\\ O +9 &W\\\ O +10 &Z\ O +9 &\\\ N +10 &Z\ N +9 &_[\ O +9 &!\\\ O +10 &]\ O +9 &!Z\ N +9 &#g\\\ O +10 &%)]\ O +9 &&]\ O +10 &(]\ N +9 &*pZ\ N +9 &,1X\ O +10 &-Y\ O +9 &/]\ N +9 &1x[\ N +10 &39Y\ O +9 &4]\ O +10 &6\\\ O +9 &8W\ N +9 &:BZ\ N +10 &<]\ O +9 &=]\ N +9 &?Y\ O +10 &AJ]\ N +9 &C \\\ N +10 &D_\ O +9 &Fg\ P +9 &HEz\ S +10 &J\ T +9 &K\ U +9 &M\ U +10 &OG\ U +9 &Q \ U +10 &R\ U +9 &T\ V +9 &VK\ V +10 &X\ V +9 &Y{q\ < +9 &Z(l\ O +10 &Z&\ / +2 ( +2 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&21 +65 "core" 1 + "manipulator"&% +4 "core" % 0 H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 "processing"%=& +4 "core" &Z%\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&*% +4 "core" %\   %  +2 "storage"(A% +3 "core" %c\ \ \ ^\ +3 "storage"(0. +2 "core" .(,l +2 "storage"(,& +5 "core" &,h\ \ \ D\  +2 "storage"(E& +2 "manipulator"& & +7 "core" &,h\ \ \ \  +2 &n  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(f'i +47 "manipulator"&N(s +9 "core" ( +2 "manipulator"&F& +4 "core" &n  _  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &n    +3 .tForearm.seek PC +2 "manipulator"&R' +96 "core" ' +3 .tHand.close + "manipulator"&>/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +74 "core" ' +2 "storage"(K- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'y +44 "core" ' +303 ( +2 "storage"(X& +5 "core" &,h\ )\ , Z\  + "manipulator"&g& +4 "core" &n 3  +2 "manipulator"&8% +4 "core" %  x +2 .tForearm.seek :retract +2 "manipulator"&P'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&?( +249 "core" ( +2 "manipulator"&G& +3 "core" & &  l +2 "storage"(J& +3 "core" &,h\ +\ + T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&_'Ѽ +88 "core" ' +2 .tHand.open + "manipulator"&91 +63 "core" 1 +2 "storage"(L- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(U'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(^' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' +2 "storage"(r& +4 "core" &,h M L \  + "manipulator"&c& +5 "core" & t k + .tElbow.seek 4 +2 "manipulator"&b( +30 "core" ( + "manipulator"&w& +3 "core" & & P  +2 "storage"(z& +5 "core" &,h C B \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +58 "core" ' +2 "manipulator"&O& +3 "core" & [  +2 "storage"(x& +4 "core" &,h / - \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&[' +33 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(]'i +24 "core" ' +2 "manipulator"&\\% +3 "core" %  +2 "storage"(n& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&M'? +19 "core" ' + "manipulator"&& +3 "core" & e  +3 "storage"(m& +3 "core" &,h " % a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&Q'Ѽ +36 "core" ' +2 "storage"(o% +3 "core" %o 3 G Q\ +3 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (W% +4 "core" %D @ h\ Xg +3 "manipulator"&d% +3 "core" %Ѻ - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +3 "core" &,h 5 E v\  +2 "collection"'~& +3 "core" &Vj ;\ J +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +3 "core" %\  Y  +3 "storage"(:% +3 "core" %a I H /\ +2 "storage"(j. +4 "core" .(,l + "storage"(y& +4 "core" &,h I I #\  +2 "storage"(V& +4 "core" &,h 7 4 \  +2 "manipulator"&i& +3 "core" & ~  +48 .tElbow.seek 4 +3 "manipulator"&e( +4 "core" ( +2 "manipulator"&t& +3 "core" &  +2 "storage"(;& +4 "core" &,h I H (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +96 "core" ' + "storage"(4& +4 "core" &,h h Q\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +281 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & <  +3 "storage"(p& +3 "core" &,h ) +\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&k' +36 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +33 "core" ' + "manipulator"&% +5 "core" % $ + "storage"(a& +4 "core" &,h H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 304 counts +2 "manipulator"&C'0 +18 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(I& +3 "core" &,h & & 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"( 'C +42 "core" ' + "manipulator"&& +3 "core" & \\  +3 "manipulator"&/% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +157 "core" ( +3 "manipulator"&+& +3 "core" &$ * ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &$ '  ;3 +3 .tForearm.seek CC + "manipulator"&)'" +96 "core" ' +2 .tHand.close + "manipulator"&v/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +419 "core" ( +3 "storage"(& +3 "core" &,h k k \  +2 "storage"(s& +4 "core" &,h j k \  +2 "manipulator"&& +4 "core" &$   ;3 +2 "manipulator"&% +4 "core" % 0   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&3( +155 "core" ( + "manipulator"&& +5 "core" & E  + "storage"(& +4 "core" &,h J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'' +103 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +55 "core" 1 +3 "manipulator"&5% +4 "core" %  2 # + "storage"(& +4 "core" &,h j k \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&D'@ +18 "core" ' +3 "manipulator"&<& +3 "core" & _  +2 "storage"(& +4 "core" &,h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&-'Ѽ +48 "core" ' +2 "storage"(u% +4 "core" %H \ +2 ."downElevator"SE.seek :down +3 "storage"(7'X +100 (% +2 "core" %C %\ Vc +42 "manipulator"&% +11 "core" %ѳ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +88 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +6357 #t-> 2.times{shuffle 3..4} + #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'#& +3 "core" & !\ +2 "manipulator"&%% +4 "core" %\  F  +2 "storage"(1% +3 "core" %b "\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(h( +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" & h ` 7\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&=( +7 "core" ( +2 "manipulator"&*& +4 "core" & ( w +2 "storage"(A& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +95 "core" ' +3 "storage"(,& +5 "core" & H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +283 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \ +2 "manipulator"&F& +4 "core" & s w +2 .tElbow.seek 3 +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&6& +3 "core" & 1 w +2 "storage"(>& +4 "core" & h\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(@'X +9 "core" & w + "manipulator"&f% +4 "core" % ϰ l +3 .tForearm.seek :retract + "manipulator"&X'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&g( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&8& +4 "core" &    5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &  5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +95 "core" ' + "manipulator"&J& +5 "core" &  ' 5 + "manipulator"&N% +5 "core" %  E +2 "collection"'9& +3 "core" & (\ +3 "collection"'L& +4 "core" & e\ +3 .tCC.seek :closed +2 "collection"'Z(V +5 "core" &  \  +8 &/~ \ +z +9 &c "\ > +10 &hv \ O +9 &*Z \ N +10 &] \ N +9 &X \ N +9 &q\\ \ N +10 &2\\ \ N +9 &\\ \ N +9 &[ \ N +10 & w] \ O +9 &";Z \ N +10 &#[ \ N +9 &%] \ N +9 &'] \ N +10 &)C\\ \ N +9 &+\\ \ N +9 &,\\ \ N +10 &.] \ N +9 &0KZ \ N +10 &2 [ \ N +9 &3] \ N +9 &5\\ \ N +10 &7T^ \ N +9 &9\\ \ N +9 &:^ \ N +10 &<` \ N +9 &>[Z \ N +10 &@\\ \ N +9 &A] \ N +9 &C] \ N +10 &Ebb \ N +9 &G k \ P +9 &H} \ Q +10 &J \ V +9 &LL \ Y +10 &N \ X +9 &O \ Y +9 &Q \ Y +10 &SM \ [\ +9 &U \ [ +9 &V^D \ 2 +10 &V t \ I +5 ( +2 "collection"'L& +4 "core" &Vk \ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&r1 +63 "core" 1 +2 "manipulator"&c% +4 "core" % &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%w& +4 "core" &\ +2 "manipulator"&z% +3 "core" %\    \ +2 "storage"(O% +4 "core" %a\ \ * L\ +2 "storage"(x. +2 "core" .( +2 "storage"(S& +5 "core" &\ *\  +\ + "storage"(U& +48 "core" & M x\ +5 "manipulator"&\\& +4 "core" &  5 +2 "manipulator"&n% +4 "core" %\  \ +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( +2 "manipulator"&m& +3 "core" & m  +2 "storage"(?& +5 "core" & F F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +96 "core" ' +2 "storage"(_& +3 "core" & P J \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +285 "core" ' +2 "storage"(W- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & S\ \ +2 "manipulator"&& +3 "core" & M  +3 .tElbow.seek 3 + "manipulator"&b( +3 "core" ( +2 "manipulator"&H& +4 "core" & & U  +2 "storage"([& +4 "core" & & &\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&M'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&Y/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"('X +6 "core" &  +3 "manipulator"&:% +3 "core" % ϧ +3 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&y& +3 "core" &}  @  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &} ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +100 "core" ' +2 "manipulator"&t& +4 "core" &} R  +2 "manipulator"&;% +3 "core" % r ^ +3 "processing"%Q& +3 "core" &\ +3 "processing"%4& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%q(Z +5 "core" &\ +7 &8\ $c +9 &U\ 7 +10 &~\ L +9 &]\ O +10 &Z\\\ N +9 &[\ O +9 &\\\ N +10 &Z\ N +9 &aZ\ O +9 &"Z\ O +10 &[\ O +9 &!Z\ O +10 &#iZ\ O +9 &%+Y\ O +9 &&Y\ O +10 &(X\ N +9 &*qZ\ O +9 &,3\\\ O +10 &-]\ O +9 &/Z\ N +10 &1zZ\ N +9 &3:]\ O +9 &4Y\ O +10 &6Y\ N +9 &8Y\ O +9 &:B[\ O +10 &<Y\ O +9 &=]\ N +10 &?Z\ N +9 &AK]\ O +9 &C ^\ O +10 &Db\ O +9 &Fd\ P +9 &HLp\ Q +10 &J }\ S +9 &K\ T +10 &M\ T +9 &OI\ U +9 &Q \ U +10 &R\ U +9 &T\ U +9 &VN\ V +10 &X\ V +9 &Y{n\ : +10 &Z+v\ L +9 &Z#\ . +2 ( +2 "processing"%4& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&B1 +54 "core" 1 +2 "manipulator"&`% +4 "core" % % > ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +90 "core" ' +2 "processing"%& +3 "core" &Z"\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&p% +3 "core" %\    +3 "storage"(% +3 "core" %T K \ +2 "storage"(. +3 "core" .( +2 "storage"(a& +3 "core" & A \ +3 "storage"(& +2 "manipulator"&I& +7 "core" & K u\ +2 &} R  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(/'i +2 "core" ( +7 "manipulator"&& +5 "core" &}  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +2 "core" &}  +3 .tForearm.seek PC +2 "manipulator"&l' +95 "core" ' +9 .tHand.close + "manipulator"&k/ +57 "core" / +3 .tPC.seek :open +2 "processing"%C( +74 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'y +45 "core" ' +301 ( + "storage"({& +5 "core" &  :\ + "manipulator"&\ & +4 "core" &} u  +2 "manipulator"&"% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +258 "core" ( +2 "manipulator"&& +4 "core" & w  +2 "storage"(& +4 "core" & % &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +91 "core" ' +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +2 "storage"( & +3 "core" & c c q\ +2 "manipulator"&|& +19 "core" & f  +2 .tElbow.seek 3 +2 "manipulator"&5( +10 "core" ( +2 "manipulator"&& +4 "core" & & A  +2 "storage"(<& +3 "core" & f e \ +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +58 "core" ' +2 "manipulator"&& +3 "core" & `  +2 "storage"(& +5 "core" & ' ' N\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(''i +27 "core" ' +2 "manipulator"&D% +3 "core" %΅ P +2 "storage"( & +4 "core" & K d\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&-'ϱ +20 "core" ' +2 "manipulator"&7& +3 "core" & X  +3 "storage"(#& +3 "core" & $ ! L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +31 "core" ' + "storage"(1% +5 "core" %r 7 . \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ($% +3 "core" %E\  l\ Xh +2 "manipulator"&2% +3 "core" %R I d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (*& +3 "core" & ) : \\\ +3 "collection"'A& +3 "core" &Vj :\ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&,% +3 "core" %\  *  +3 "storage"(% +4 "core" %T $ # .\ + "storage"((. +3 "core" .( +2 "storage"(E& +4 "core" & ) $ F\ +2 "storage"( & +3 "core" & = $ x\ +2 "manipulator"&F& +3 "core" & 6  +3 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&>& +4 "core" & ! 0  +2 "storage"(K& +3 "core" & ' 3 7\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +106 "core" ' +3 "storage"(f& +4 "core" & j j \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='i +286 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & '  +2 "storage"(R& +3 "core" & + ( 7\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&T'} +27 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(N'Q +41 "core" ' +2 "manipulator"&9% +3 "core" %΄ +2 "storage"(!& +3 "core" & J p\ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&@'ϰ +20 "core" ' + "manipulator"&X& +4 "core" & 6  +2 "storage"( & +4 "core" & , ( G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'@ +39 "core" ' +2 "manipulator"&w& +4 "core" & f  +2 "manipulator"&z% +4 "core" %M R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +154 "core" ( +3 "manipulator"&L& +3 "core" &$ 0 M ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &$ ) ;8 +3 .tForearm.seek CC +2 "manipulator"&U'" +100 "core" ' + .tHand.close +2 "manipulator"&\\/ +64 "core" / +2 .tCC.seek :open +2 "collection"'n( +415 "core" ( +2 "storage"(G& +3 "core" &  6\ +3 "storage"(m& +4 "core" & e\ + "manipulator"&?& +4 "core" &"   9' +2 "manipulator"&_% +5 "core" % "   +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&P( +156 "core" ( +2 "manipulator"&W& +4 "core" & & ] +2 "storage"(d& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +94 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&[1 +53 "core" 1 +2 "manipulator"&Y% +5 "core" % }  + "storage"(~& +4 "core" & (\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&:'ϩ +21 "core" ' +3 "manipulator"&& +3 "core" & / +2 "storage"(o& +4 "core" & t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +20 "core" ' +2 "storage"(M% +3 "core" %C \ \ +3 ."downElevator"SE.seek :down +4 "storage"(y'X +98 (V% +3 "core" %A ^\ Wc +2 "manipulator"&b% +5 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +46 "core" &  \ +5 "manipulator"&Q% +5 "core" %\  +2 "storage"(% +3 "core" %b >\ +2 "storage"(]. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,l +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &,n _ e f\  +2 "manipulator"&`& +5 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&p& +5 "core" & + "storage"(& +4 "core" &,m \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +94 "core" ' +2 "storage"(a& +3 "core" &,m 1\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +2 "core" &,m y z h\  +3 "manipulator"&& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&e( +4 "core" ( +2 "manipulator"&i& +3 "core" & w +2 "storage"(k& +4 "core" &,m \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +3 "manipulator"&j/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&}& + "storage"(q'X +8 "core" & " +2 "manipulator"&/% +4 "core" % ,  L +2 .tForearm.seek :retract + "manipulator"&{'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +154 "core" ( +2 "manipulator"&"& +4 "core" &$ % ;5 + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &l& +3 "core" &$ E ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&& +3 "core" &$ / ;5 +3 "manipulator"&% +4 "core" %$  +2 "collection"'& +3 "core" & G\ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"')(V +5 "core" & &\ +6 & - \ #b +9 &V \ 8 +10 &~ \ L +9 &Y \ N +10 &fY \ N +9 &(Y \ N +9 &Z \ N +10 &[ \ N +9 &n[ \ N +9 &1Z \ N +10 &Z \ N +9 &!] \ N +10 &#wY \ N +9 &%8[ \ N +9 &&Z \ N +10 &(Y \ N +9 &*~Z \ N +9 &,@Z \ N +10 &.Z \ N +9 &/Z \ N +10 &1[ \ O +9 &3IY \ N +9 &5\ [ \ N +10 &6\\ \ N +9 &8Z \ N +9 &:O\\ \ N +10 &<] \ N +9 &=^ \ N +10 &?[ \ N +9 &AXW \ N +9 &C\\ \ O +10 &D\\ \ N +9 &Fa \ O +9 &HVu \ Q +10 &J \ U +9 &K \ Z +10 &M \ Z +9 &OF \ Z +9 &Q  \ \\ +10 &R \ [\ +9 &T \ [ +9 &V%u \ 0 +10 &V# \ Q +9 ( + &V_ \ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&|% +4 "core" % $ ( H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +5 "core" &\ + "manipulator"&v% +4 "core" %\ !   / +2 "storage"(% +4 "core" %a\ +\ , k\ +2 "storage"(. +3 "core" .(,l +2 "storage"(+& +3 "core" &,m\ \ + \  +2 "storage"(D& +4 "core" &,m B '\  +2 "manipulator"& & +4 "core" &#   :, +2 "manipulator"&% +3 "core" %\ ! \ | / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&7( +162 "core" ( +2 "manipulator"&#& +3 "core" & b  +2 "storage"(1& +4 "core" &,m I I (\  +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +93 "core" ' +2 "storage"(s& +3 "core" &,m k k \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &,m  \  +3 "manipulator"&& +4 "core" & *  +2 .tElbow.seek 4 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&u& +3 "core" & P  +3 "storage"(& +8 "core" &,m % "\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&-', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&A& + "storage"(,'X +8 "core" & {  + "manipulator"&% +5 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&''\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&((s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +3 "manipulator"&E& +5 "core" &k $ \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +104 "core" ' +2 "manipulator"&>& +3 "core" &k & F \ +3 "manipulator"&K% +3 "core" % +3 "processing"%%& +3 "core" &\ +3 "processing"%f& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 & 1\ $d +9 &U\ 7 +10 &~\ L +9 &\\\ O +9 &][\ O +10 &\\\ O +9 &Z\ N +9 &Y\ N +10 &eZ\ O +9 &'\\\ O +10 &Z\ O +9 &!]\ O +9 &#mZ\ O +10 &%.\\\ O +9 &&X\ O +10 &(W\ O +9 &*vZ\ N +9 &,7Z\ O +10 &-^\ O +9 &/\\\ O +9 &1}W\ O +10 &3?V\ O +9 &5X\ N +9 &6Y\ N +10 &8Y\ O +9 &:G\\\ O +10 &< X\ O +9 &=W\ O +9 &?X\ N +10 &APX\ N +9 &CX\ O +9 &D]\ O +10 &Fg\ P +9 &HMy\ R +10 &J\ U +9 &K\ U +9 &M\ U +10 &OM\ U +9 &Q\ U +9 &R\ U +10 &T\ U +9 &VS\ U +10 &X\ V +9 &Y{p\ 9 +9 &Z.\ F +10 &Z\ + +2 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&31 +55 "core" 1 +2 "manipulator"&% +3 "core" % ( F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' +2 "processing"%8& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&R% +4 "core" %\ #  M < +2 "storage"(J% +3 "core" %c\ .\ +2 "storage"(9. +3 "core" .(,l +2 "storage"(!& +3 "core" &,m A\  +3 "storage"(X& +2 "manipulator"& & +8 "core" &,m\ \ \ _\  + &k  V \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&w(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'i +2 "core" ( +3 "manipulator"&&& +3 "core" &k  c \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &k  # \ +2 .tForearm.seek PC +2 "manipulator"&=' +102 "core" ' +2 .tHand.close + "manipulator"&T/ +64 "core" / +4 .tPC.seek :open + "processing"%@( +73 "core" ' +2 "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'y +42 "core" ' +309 ( +41 "storage"(S& +11 "core" &,m ' &\  +2 "manipulator"&r& +4 "core" &k r \ +3 "manipulator"&.% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&O( +248 "core" ( + "manipulator"&Z& +4 "core" & % = $ +2 "storage"(G& +3 "core" &,m %  P\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&m'Ѽ +103 "core" ' +2 .tHand.open + "manipulator"&?1 +64 "core" 1 +3 "storage"(_- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(W'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(d' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(x& +3 "core" &,m @ 8 z\  +3 "manipulator"&[& +3 "core" & m # +2 .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&~& +3 "core" &  # +3 "storage"(& +3 "core" &,m + + ?\  +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(M' +62 "core" ' + "manipulator"&g& +3 "core" &  # +3 "storage"(V& +4 "core" &,m\ \  /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&b' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&;% +3 "core" %  +2 "storage"(:& +5 "core" &,m H\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&c'? +18 "core" ' +2 "manipulator"&Q& +4 "core" & c # +2 "storage"(& +4 "core" &,m ) #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&]'Ѽ +33 "core" ' +2 "storage"(^% +3 "core" %n 6 $ ,\ +3 ."downElevator"SE.seek :down +4 "storage"(y'X +98 (h% +3 "core" %>\ (\  \ Xf +2 "manipulator"&B% +5 "core" %ѻ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +86 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &,m  @ 3\  +2 "collection"'& +4 "core" &V_ ?\ J +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&a% +3 "core" %\  \\  +3 "storage"(H% +3 "core" %b & & \ +2 "storage"(t. +4 "core" .(,l + "storage"(& +5 "core" &,m - - =\  +3 "storage"(4& +3 "core" &,m - - n\  +2 "manipulator"&& +5 "core" & # + .tElbow.seek 4 +2 "manipulator"&i( +4 "core" ( + "manipulator"&k& +5 "core" & & # + "storage"(j& +3 "core" &,m - - d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&}'Ѽ +88 "core" ' +2 "storage"(/& +4 "core" &,m U H h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & l # +2 "storage"(l& +4 "core" &,m\ \  \  +2 .tElbow.reconfigure :limp +45 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&I' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +27 "core" ' +2 "manipulator"&% +3 "core" % m +2 "storage"(e& +4 "core" &,m \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&q'> +18 "core" ' +2 "manipulator"&{& +3 "core" & $ 4 "~ +3 "storage"(n& +5 "core" &,m ' * ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +48 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(|'D +40 "core" ' +2 "manipulator"&<& +3 "core" & "~ +2 "manipulator"&v% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ( + "manipulator"&& +4 "core" && 1 b =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &&   =D +3 .tForearm.seek CC + "manipulator"&D'" +95 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +3 "core" &,m } g \  +3 "storage"(#& +4 "core" &,m ` i y\  + "manipulator"&1& +4 "core" &%  # ;6 +2 "manipulator"&\ % +4 "core" % ,   +2 .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +164 "core" ( + "manipulator"&$& +3 "core" &  i +3 "storage"(2& +3 "core" &,m =\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +107 "core" ' +2 .tElbow.hold + "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&*% +5 "core" %   l  + "storage"(A& +4 "core" &,m j j \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&'= +28 "core" ' + "manipulator"&7& +4 "core" & t i +2 "storage"( & +4 "core" &,m Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +19 "core" ' +2 "storage"(-% +3 "core" %I *\ +3 ."downElevator"SE.seek :down +3 "storage"(E'X +100 ( % +2 "core" %E \ Wc +3 "manipulator"&5% +3 "core" %є +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +85 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'K& +3 "core" & \ +3 "manipulator"&%% +3 "core" %\    +2 "storage"(,% +5 "core" %T G\ + "storage"('. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(C( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" & j h \ +2 "manipulator"&& +50 "core" & i +2 .tElbow.seek 3 + "manipulator"&8( +9 "core" ( +2 "manipulator"&R& +3 "core" &  q +3 "storage"(J& +3 "core" & 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +95 "core" ' +2 "storage"(!& +3 "core" & ;\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +291 "core" ' +2 "storage"( - +2 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & \\\ +2 "manipulator"&&& +4 "core" & : q +2 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&F& +3 "core" & q +3 "storage"(T& +4 "core" & a\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&N'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"('X +8 "core" & q + "manipulator"&z% +5 "core" % ϣ  , +2 .tForearm.seek :retract + "manipulator"&S'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&r( +152 "core" ( +2 "manipulator"&.& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &# 2 :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &#   :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'" +104 "core" ' +4 "manipulator"&G& +3 "core" &#  :- +2 "manipulator"&w% +5 "core" %! V +2 "collection"'?& +4 "core" & )\ +2 "collection"'_& +5 "core" & _\ +3 .tCC.seek :closed + "collection"'U(V +5 "core" & %\  +8 &2 "\ *z +10 &c )\ > +9 &zu '\ O +9 &>X $\ N +10 &] !\ N +9 &W !\ N +10 &Y #\ M +9 &FZ '\ N +9 &X $\ N +10 &W &\ N +9 & Z \ N +9 &"NZ  \ N +10 &$\\  \ N +9 &%\\ "\ M +10 &'Y \ M +9 &)WY  \ M +9 &+Z  \ M +10 &,Z \ M +9 &.Z \ M +9 &0_Z \ M +10 &2!Y \ M +9 &3Z \ M +10 &5Z \ M +9 &7f\\  \ N +9 &9)Y \ M +10 &:\\ \ N +9 &<] \ N +9 &>nZ \ N +10 &@0Z \ N +9 &A[ \ N +10 &C[ \ N +9 &Et^ \ N +9 &G2h \ P +10 &Hz \ Q +9 &J \ V +9 &L] \ Y +10 &N \ X +9 &O \ Z +10 &Q \ Y +9 &S_  \ [\ +9 &U  \ \\ +10 &VpE \ 0 +9 &Vm \ J +5 ( +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&x1 +4 "core" &V_ \ J +49 1 +3 "manipulator"&[% +4 "core" % /  b H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%~& +3 "core" &\ +3 "manipulator"&% +3 "core" %\  r  +2 "storage"(g% +5 "core" %a E (\ + "storage"(V. +4 "core" .( + "storage"(L& +4 "core" & T .\ +2 "storage"(;& +3 "core" &\ \  $\ +3 "manipulator"&:& +3 "core" &# :- +2 "manipulator"&W% +4 "core" %\   i  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Q( +160 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(^& +3 "core" & j g \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +88 "core" ' + "storage"(m& +5 "core" & j j \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +285 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +46 "storage"(#QK-0-\ b +7 (B& +3 "core" & ! +\ +2 "manipulator"&o& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&M& +4 "core" & ]  +2 "storage"(b& +3 "core" & H E \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&c'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(a'X +8 "core" &   + "manipulator"&H% +5 "core" % ϫ # R +2 .tForearm.seek :retract +2 "manipulator"&t'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +4 "manipulator"&& +4 "core" &k h  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &k 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&k& +3 "core" &l % 1  +2 "manipulator"&j% +5 "core" % +2 "processing"%]& +3 "core" &\ +3 "processing"%/& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(Z +5 "core" &\  +8 &0\ +z +10 &b\ > +9 &ay\ O +9 &$[\ N +10 &Z\ O +9 &\\\ N +9 &i\\\ O +10 &,]\ N +9 &\\\ N +10 &[\ N +9 & q_\ O +9 &"4^\ N +10 &#Z\ N +9 &%[\ N +9 &'y]\ O +10 &);Z\ O +9 &*Z\ N +10 &,Y\ N +9 &.Z\ N +9 &0CZ\ O +10 &2]\ O +9 &3]\ O +9 &5]\ O +10 &7KY\ O +9 &9 W\ O +10 &:W\ O +9 &<W\ O +9 &>TY\ N +10 &@Z\ O +9 &A\\\ O +9 &C_\ O +10 &EX]\ P +9 &Gi\ P +10 &Hs\ R +9 &J\ T +9 &LP\ U +10 &N\ T +9 &O\ T +9 &Q\ U +10 &SX\ U +9 &U\ V +10 &V\ U +9 &X\ V +9 &Zj\ , +10 &Z_\ < +9 ( + &Z.\ 5 +2 "processing"%/& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&P1 +57 "core" 1 + "manipulator"&`% +4 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%"& +3 "core" &Z. \ 5 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&l% +4 "core" %\ "  @ < +2 "storage"(% +4 "core" %a z\ +2 "storage"(. +3 "core" .( +2 "storage"(e& +3 "core" & \  O\ +3 "storage"({& +2 "manipulator"&n& +8 "core" & \ + &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&<(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'i +2 "core" ( + "manipulator"&}& +6 "core" &l  R  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &l k  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&I/ +59 "core" / +3 .tPC.seek :open +2 "processing"%q( +90 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +287 ( +2 "storage"(+& +4 "core" & % 8\ + "manipulator"& & +4 "core" &l   +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +259 "core" ( +48 "manipulator"&)& +4 "core" & +2 "storage"(& +5 "core" & - - t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +101 "core" ' +2 .tHand.open + "manipulator"&11 +63 "core" 1 +2 "storage"(\ - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"($'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"(& +4 "core" & e e v\ +2 "manipulator"&& +3 "core" & \ +3 .tElbow.seek 3 + "manipulator"&*( +4 "core" ( +2 "manipulator"&A& +4 "core" & $  +2 "storage"(7& +3 "core" & G d p\ +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(-' +61 "core" ' + "manipulator"&s& +5 "core" &  + "storage"( & +4 "core" & - - <\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&5'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&K% +4 "core" %΃  +2 "storage"(& +3 "core" &\ R S\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&%'ϯ +20 "core" ' + "manipulator"&,& +5 "core" & K + "storage"('& +5 "core" & $ # C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +27 "core" ' +2 "storage"(% +3 "core" %q U [ :\ +3 ."downElevator"SE.seek :down +3 "storage"(E'X +100 (% +4 "core" %I M \ Yi +2 "manipulator"&3% +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +2 "core" & U I 9\ +3 "collection"'J& +4 "core" &V_  \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&!% +3 "core" %\  D  +3 "storage"(u% +3 "core" %T S S \\\ +2 "storage"(>. +4 "core" .( + "storage"( & +4 "core" & S S V\ +2 "storage"(X& +4 "core" & S S V\ +2 "manipulator"&&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&F( +3 "core" ( +3 "manipulator"&T& +3 "core" & c +3 "storage"((& +4 "core" & S S M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +94 "core" ' +2 "storage"(z& +3 "core" & k N {\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +288 "core" ' + "storage"(9- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & 7 +2 "storage"(=& +4 "core" & & L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&f'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +47 "storage"(w'P +34 "core" ' +2 "manipulator"&6% +4 "core" %Ή  + "storage"(?& +5 "core" & # ( i\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +19 "core" ' +2 "manipulator"&S& +4 "core" & U +2 "storage"(& +3 "core" & < # =\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(['? +39 "core" ' +2 "manipulator"&~& +3 "core" & +2 "manipulator"&% +5 "core" %" +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +157 "core" ( +3 "manipulator"&L& +3 "core" && - ~ =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &&  3 =D +3 .tForearm.seek CC +2 "manipulator"&:'" +98 "core" ' + .tHand.close +2 "manipulator"&_/ +63 "core" / +2 .tCC.seek :open + "collection"'W( +416 "core" ( +2 "storage"(Z& +3 "core" & x L\ +2 "storage"(& +4 "core" & ~ \ +2 "manipulator"&^& +4 "core" && <: +2 "manipulator"&m% +3 "core" % + +3 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\( +160 "core" ( +2 "manipulator"&h& +3 "core" &    +2 "storage"(B& +4 "core" & Q\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&o'} +101 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&b1 +53 "core" 1 +2 "manipulator"&p% +3 "core" % } " / +2 "storage"(& +4 "core" & {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&H'ϩ +21 "core" ' +2 "manipulator"&Q& +3 "core" & w  +2 "storage"(O& +4 "core" & N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +29 "core" ' +2 "storage"(c% +3 "core" %G b\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (4% +4 "core" %RD \ Wc +2 "manipulator"&Y% +3 "core" %> +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'j& +3 "core" & &\ +2 "manipulator"&]% +3 "core" %\    +3 "storage"(a% +4 "core" %a v\ + "storage"(t. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(@(,l +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &,k I E I\  +2 "manipulator"&`& +3 "core" &   +3 .tElbow.seek 4 + "manipulator"&"( +3 "core" ( +2 "manipulator"&l& +5 "core" & d  + "storage"(& +4 "core" &,i (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +105 "core" ' +44 "storage"(e& +8 "core" &,i \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'i +291 "core" ' +3 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ({& +2 "core" &,i )\  +3 "manipulator"&}& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&i( +4 "core" ( +2 "manipulator"&& +3 "core" & a  +2 "storage"(I& +4 "core" &,i j\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y'X +6 "core" & N  +2 "manipulator"&v% +6 "core" % 7  ` +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &, A z Bg +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, K Bg +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'" +100 "core" ' + "manipulator"&<& +5 "core" &, ' - Bg + "manipulator"&% +5 "core" %  T +2 "collection"'1& +3 "core" & a\ +3 "collection"'\ & +6 "core" & #\ +2 .tCC.seek :closed +2 "collection"'D(V +4 "core" & "\  +10 &1~ (\ *y +9 &c !\ > +9 &yu '\ O +10 &=W (\ N +9 &Y (\ N +9 &\\ &\ N +10 &W $\ N +9 &EX *\ N +10 &X )\ M +9 &Y '\ N +9 & Z )\ N +10 &"MZ %\ N +9 &$V %\ N +9 &%[ &\ N +10 &'W (\ N +9 &)VX '\ M +10 &+Y "\ N +9 &,W )\ N +9 &.W )\ N +10 &0]X %\ N +9 &2 X '\ M +9 &3Z (\ N +10 &5\\ \ N +9 &7eZ *\ N +10 &9(Y (\ M +9 &:Z '\ N +9 &<\\ %\ N +10 &>lZ \ N +9 &@.Z \ N +9 &AZ %\ N +10 &CZ #\ N +9 &Es] &\ N +10 &G3e (\ O +9 &Hx #\ Q +9 &J \ W +10 &L\\ $\ Y +9 &N %\ Y +9 &O  \ Z +10 &Q %\ Z +9 &S] (\ [ +10 &U %\ \\ +9 &VoF #\ 0 +9 &Vr "\ K +6 ( + "collection"'\ & +4 "core" &Vg  \ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&% +4 "core" %  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%7& +3 "core" &\ +2 "manipulator"& % +4 "core" %\   O  +2 "storage"(s% +4 "core" %` J p\ +2 "storage"( . +3 "core" .(,l +2 "storage"(& +4 "core" &,i J \  +2 "storage"(K& +3 "core" &,i J \  +2 "manipulator"&& +5 "core" &*   @^ + "manipulator"&$% +4 "core" %\  j  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&,( +161 "core" ( +2 "manipulator"&'& +3 "core" & 4  +2 "storage"(& +5 "core" &,i S S \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +98 "core" ' + "storage"(#& +4 "core" &,i Q j =\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &,i K \  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&*( +4 "core" ( + "manipulator"&-& +4 "core" & z  +2 "storage"(5& +3 "core" &,i ( +\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&%', +51 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&J& + "storage"(!'X +8 "core" & {  +2 "manipulator"&u% +4 "core" % 2 D +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"& & +4 "core" &p + h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &p A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&' +96 "core" ' + "manipulator"&T& +5 "core" &p * + "manipulator"&(% +5 "core" % 1 : +2 "processing"%|& +3 "core" &\ +3 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%E(Z +5 "core" &\  +8 &0~\ +z +9 &a\ > +10 &hy\ O +9 &*[\ O +9 &]\ O +10 &]\ O +9 &pY\ O +9 &2\\\ O +10 &]\ O +9 &]\ O +10 & xY\ O +9 &":Y\ O +9 &#W\ O +10 &%Y\ O +9 &'Y\ O +10 &)BX\ O +9 &+Z\ N +9 &,Z\ N +10 &.]\ O +9 &0JX\ O +9 &2 Y\ N +10 &3Y\ N +9 &5Y\ N +9 &7SY\ N +10 &9\\\ O +9 &:W\ N +10 &<Z\ N +9 &>[Y\ N +9 &@X\ O +10 &AV\ O +9 &CZ\ O +9 &Ea]\ O +10 &G i\ P +9 &H\ S +10 &J\ T +9 &LW\ U +9 &N\ T +10 &O\ U +9 &Q\ U +9 &S^\ U +10 &U \ U +9 &V\ U +10 &X\ U +9 &Zd\ )} +9 &Za\ 4 +10 ( + &Z!\ / +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % & 6 : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +2 "processing"%.& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&=% +3 "core" %\  6 +2 "storage"(G% +5 "core" %T\ ?\ + "storage"(6. +3 "core" .(,l +2 "storage"(?& +4 "core" &,i \ \  +2 "storage"(S& +3 "manipulator"&& +6 "core" &,i \ B\  + &p  2 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +5 "manipulator"&~(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&0& +6 "core" &p   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &p  1 +3 .tForearm.seek PC +2 "manipulator"&8' +94 "core" ' +2 .tHand.close + "manipulator"&f/ +64 "core" / +3 .tPC.seek :open + "processing"%( +86 "core" ' +2 "storage"(w- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(L'y +46 "core" ' +290 ( + "storage"(;& +4 "core" &,i & \  +2 "manipulator"&x& +4 "core" &p  +2 "manipulator"&N% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&_'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&g( +259 "core" ( +2 "manipulator"&U& +3 "core" & & C +3 "storage"(Z& +4 "core" &,i ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +87 "core" ' +2 .tHand.open + "manipulator"&^1 +56 "core" 1 +3 "storage"(m- +3 "core" -'y +49 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(h'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(V& +3 "core" &,i d e U\  +3 "manipulator"&b& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&p( +8 "core" ( +2 "manipulator"&& +4 "core" & & y  +2 "storage"(Q& +3 "core" &,i e d 4\  +3 .tForearm.seek 4 + 700 counts + "manipulator"&O'Ѽ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(c' +56 "core" ' + "manipulator"&r& +4 "core" &   +2 "storage"(4& +3 "core" &,i I G #\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y' +33 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +25 "core" ' +2 "manipulator"&H% +3 "core" % Q +3 "storage"(j& +4 "core" &,i 1\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&]'@ +18 "core" ' +2 "manipulator"&a& +3 "core" &   +2 "storage"(t& +5 "core" &,i F H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&['Ѽ +34 "core" ' + "storage"(d% +5 "core" %o [ j ?\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (C% +3 "core" %C\ +\ , :\ Xg +2 "manipulator"&P% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&`'\ +87 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (l& +3 "core" &,i ? " \ \  +3 "collection"'& +4 "core" &Ve  \ K + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&e% +3 "core" %\  D  +3 "storage"(M% +3 "core" %` # % +\ +2 "storage"(k. +4 "core" .(,l + "storage"(n& +4 "core" &,i ( - 7\  +2 "storage"({& +3 "core" &,i & $\  +3 "manipulator"&}& +4 "core" & C  +2 .tElbow.seek 4 + "manipulator"&( +8 "core" ( + "manipulator"&I& +4 "core" &  v  +2 "storage"(& +3 "core" &,i = # ^\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +89 "core" ' +2 "storage"(v& +3 "core" &,i Q g 6\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & v  +2 "storage"(& +4 "core" &,i $ #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/' +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +29 "core" ' + "manipulator"&1% +4 "core" %  +2 "storage"(i& +3 "core" &,i k\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&y'@ +18 "core" ' +2 "manipulator"&+& +3 "core" &   +2 "storage"(W& +5 "core" &,i ( - V\  +2 .tForearm.reconfigure :tight +41 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +39 "core" ' +2 "manipulator"&7& +4 "core" & }  +2 "manipulator"& % +3 "core" %Ѳ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +155 "core" ( +3 "manipulator"&& +3 "core" &'   >N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &'  9 >N +3 .tForearm.seek CC + "manipulator"&\ '" +94 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( + "storage"()& +4 "core" &,i N\  +2 "storage"('& +3 "core" &,i b\  +2 "manipulator"&& +4 "core" &( >N +2 "manipulator"&#% +4 "core" % *  +2 .tForearm.seek :retract +2 "manipulator"& '\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&A( +159 "core" ( + "manipulator"&& +4 "core" & <  +2 "storage"(3& +4 "core" &,i 2\  +3 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"& ' +104 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&51 +56 "core" 1 +3 "manipulator"&R% +3 "core" %  & +2 "storage"(J& +5 "core" &,i n l \\\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&u'? +20 "core" ' +2 "manipulator"&,& +3 "core" & ?  +2 "storage"(& +4 "core" &,i 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&2'Ѽ +59 "core" ' +2 "storage"(%% +4 "core" %J #\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (X% +3 "core" %kC \ Wd +3 "manipulator"&*% +4 "core" %ѹ  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +1419 "Can"\ 41x +60002 \ 31} +60002 \ 31| +60002 \ 30 +1050 #t-> 2.times{shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'(& +3 "core" & %\ +3 "manipulator"&|% +4 "core" %\  r + + "storage"(!% +4 "core" %a &\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(q( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & z u\ +3 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&.( +9 "core" ( + "manipulator"&=& +4 "core" &  Z +2 "storage"(G& +4 "core" & ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +94 "core" ' +3 "storage"(?& +3 "core" & L\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +45 "storage"(#QK-0-\ b +6 (S& +3 "core" & 5\ +2 "manipulator"&0& +5 "core" & + .tElbow.seek 3 +2 "manipulator"&F( +4 "core" ( + "manipulator"&&& +5 "core" & H + "storage"(f& +5 "core" & a\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&w'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"(E'X +8 "core" & \ +2 "manipulator"&% +4 "core" % ϥ  +2 .tForearm.seek :retract + "manipulator"&;'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&N& +3 "core" &( A  >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" &( + >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +93 "core" ' +2 "manipulator"&Z& +3 "core" &( % >H +2 "manipulator"&~% +5 "core" %'   + "collection"'^& +5 "core" & '\ +2 "collection"'m& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'_(V +5 "core" & \  +8 &0 -\ *y +10 &c @\ ? +9 &ry (\ O +9 &5Y ~\ O +10 &` \ O +9 &` \ O +10 &{^ \ O +9 &=_ {\ O +9 &b {\ O +10 &\\ \ O +9 & c ]\ O +9 &"F_ {\ N +10 &$^ q\ N +9 &%` v\ O +10 &'_ u\ O +9 &)N] {\ N +9 &+^ {\ N +10 &,^ |\ N +9 &.b x\ O +9 &0T` x\ O +10 &2] v\ N +9 &3b r\ O +10 &5b r\ O +9 &7\\d v\ O +9 &9] s\ O +10 &:` }\ O +9 &<c p\ O +10 &>e_ r\ O +9 &@'] a\ O +9 &A^ n\ O +10 &C_ r\ O +9 &Ekg n\ O +9 &G*p m\ P +10 &H f\ R +9 &J `\ W +9 &LX g\ Y +10 &N c\ X +9 &O f\ Y +10 &Q ]\ Y +9 &S[ d\ Z +9 &U i\ [ +10 &VhD \\\ 1 +9 &Vr d\ F +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&:1 +4 "core" &Vf a\ F +55 1 +2 "manipulator"&V% +3 "core" % ' % W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &o\ +3 "manipulator"&Q% +3 "core" %\   ^ - +3 "storage"(r% +3 "core" %T - - N\ +2 "storage"(4. +3 "core" .( +2 "storage"(L& +4 "core" & - - `\ +2 "storage"(H& +3 "core" & ! ) \ +3 "manipulator"&j& +4 "core" &&   =D + "manipulator"&h% +4 "core" %\   A - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&a( +158 "core" ( + "manipulator"&t& +4 "core" &  w  +2 "storage"(d& +4 "core" & \\ \\ 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +97 "core" ' +2 "storage"(& +4 "core" &  3\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'i +290 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +3 "core" & H F\ +2 "manipulator"&O& +3 "core" & [  +2 .tElbow.seek 3 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&c& +3 "core" &  +2 "storage"(Y& +3 "core" & 8 7 !\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(e'X +8 "core" &   +48 "manipulator"&M% +6 "core" % Ϟ x ; +2 .tForearm.seek :retract + "manipulator"&o'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(s +112 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +150 "core" ( +3 "manipulator"&n& +3 "core" &h N  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &h   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +92 "core" ' +2 "manipulator"&I& +4 "core" &k ( 3  +2 "manipulator"&% +4 "core" % ? +2 "processing"%[& +4 "core" &U\ +2 "processing"%v& +6 "core" &T\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &S\ +6 &Z\ 6 +9 &=G|[\ 0 +9 &`oZ\ E +10 &jZ\ O +9 &\\W\ O +10 &\\W\ O +9 &D^T\ O +9 &]Y\ N +10 &_Z\ O +9 &\\[\ N +9 &L]Y\ O +10 &!\\R\ O +9 &"^Y\ O +10 &$\\Z\ O +9 &&U\\[\ N +9 &(^Z\ O +10 &)aR\ O +9 &+]Z\ N +9 &-\\]Z\ O +10 &/\\Y\ O +9 &0]L\ N +9 &2_L\ N +10 &4e]J\ N +9 &6'\\F\ N +10 &7^J\ O +9 &9]:\ O +9 &;l\\8\ O +10 &=/]:\ N +9 &>]=\ N +9 &@_:\ O +10 &Bt`9\ O +9 &D6a@\ O +10 &Ef=\ O +9 &GpA\ Q +9 &Irz>\ R +10 &K-G\ U +9 &LE\ U +9 &NG\ T +10 &Pr<\ U +9 &R4F\ U +10 &SF\ U +9 &UG\ U +9 &WxG\ U +10 &Y;F\ B +9 &Z_EtH\ W +10 &Z;G\ 1 +5 ( +2 "processing"%v& +3 "core" &Z&E\ 1 +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&\\1 +63 "core" 1 +2 "manipulator"&`% +3 "core" % | ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z&^\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  )  +2 "storage"(<% +4 "core" %` # #\ +2 "storage"(1. +3 "core" .( +2 "storage"(i& +3 "core" & $ $ *\ +3 "storage"(+& +2 "manipulator"&W& +7 "core" &k   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&7(s +4 "core" ( +2 "manipulator"& & +3 "core" &k %  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &k h  +3 .tForearm.seek PC + "manipulator"&' +14 "core" & j g \ +2 ."raiseStack"SE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 ."raiseStack"SE.seek :beamBreak +2 "storage"("'i +73 "core" ' + .tHand.close +2 "manipulator"&// +61 "core" / +2 .tPC.seek :open + "processing"%y( +131 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +244 ( +2 "storage"(K& +4 "core" & F G \ + "manipulator"&& +4 "core" &k   +2 "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +245 "core" ( + "manipulator"&D& +4 "core" & J !u +2 "storage"()& +3 "core" & 8 8 M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&''9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(#- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +52 "core" ' +2 #tLights, camera, ACTION! +47 "storage"(\ - +5 "core" -' +2 "storage"( & +3 "core" &   c\ +3 "manipulator"&5& +3 "core" & % !t +3 .tElbow.seek 3 + "manipulator"&R( +4 "core" ( +2 "manipulator"&J& +4 "core" & $ ] !t +2 "storage"(,& +3 "core" & ~ } \ +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +56 "core" ' +2 "manipulator"& & +4 "core" &  !t +2 "storage"(A& +4 "core" & j j \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&X'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +26 "core" ' +2 "manipulator"&u% +3 "core" %΂  +2 "storage"(& +4 "core" & . 4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&2'Ϯ +20 "core" ' +2 "manipulator"& & +3 "core" & !t +2 "storage"((& +4 "core" & j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +17 "core" ' +2 "storage"(!% +4 "core" %o i j \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (@% +3 "core" %H $  -\ Yi +2 "manipulator"&% +3 "core" %>  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (=& +3 "core" & N R W\ +2 "collection"'G& +5 "core" &Ve Y\ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&?% +4 "core" %\  $ % +2 "storage"(-% +3 "core" %b F ? \ +3 "storage"(T. +2 "core" .( +2 "storage"(& +4 "core" & L 7 i\ +2 "storage"(S& +3 "core" & 8 < M\ +2 "manipulator"&0& +5 "core" &  !t + .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&f& +4 "core" & $ t !t +2 "storage"(>& +4 "core" & L 8 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +103 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'i +283 "core" ' +2 "storage"(6- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &  !t +2 "storage"(8& +4 "core" & F I 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&z'} +23 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'P +32 "core" ' + "manipulator"&^% +3 "core" %Α  +2 "storage"(F& +5 "core" & ( - V\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&E'Ͻ +20 "core" ' +2 "manipulator"&;& +3 "core" & + !t +2 "storage"($& +4 "core" & j j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'? +39 "core" ' +2 "manipulator"&& +42 "core" &  !t +10 "manipulator"&Q% +3 "core" %; - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +148 "core" ( +2 "manipulator"&m& +3 "core" &% $ <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &%  M <; +3 .tForearm.seek CC + "manipulator"&H'" +95 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / +2 .tCC.seek :open +2 "collection"'h( +415 "core" ( +2 "storage"(U& +4 "core" & \ +2 "storage"(t& +3 "core" & 7\ +2 "manipulator"&d& +3 "core" &% z ;6 +3 "manipulator"&% +3 "core" % - +3 .tForearm.seek :retract +2 "manipulator"&x'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +159 "core" ( +2 "manipulator"&C& +3 "core" &  +3 "storage"(P& +4 "core" & g\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&c, +3 "core" , +6 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&l% +5 "core" % ΄  B + "storage"(& +3 "core" & <\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&M'ϰ +19 "core" ' +2 "manipulator"&a& +3 "core" & +2 "storage"(g& +4 "core" & J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +29 "core" ' + "storage"(]% +4 "core" %G \ +3 ."downElevator"SE.seek :down +4 "storage"(n'X +98 ({% +3 "core" %nG T\ Wd +2 "manipulator"&p% +6 "core" %" s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +96 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" & v\ +2 "manipulator"&[% +4 "core" %\  \\  +2 "storage"(e% +4 "core" %_ `\ +2 "storage"(o. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,l +340 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &,i l w S\  +2 "manipulator"&`& +3 "core" & F +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & W +2 "storage"(<& +4 "core" &,g i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&1'Ѽ +87 "core" ' +2 "storage"(i& +4 "core" &,g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +282 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,g H\  +2 "manipulator"&& +4 "core" & Q +2 .tElbow.seek 4 + "manipulator"&+( +4 "core" ( +2 "manipulator"&}& +3 "core" & M +3 "storage"(/& +4 "core" &,g E\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&k', +50 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +7 "core" & " +2 "manipulator"&K% +3 "core" % : @ a +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&"( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" && & I =C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&  =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&D'" +102 "core" ' +2 "manipulator"&)& +3 "core" && $ Z =B +3 "manipulator"&7% +3 "core" %(  [ +3 "collection"'& +3 "core" & \ +3 "collection"'#& +5 "core" & F\ +3 .tCC.seek :closed + "collection"'\ (V +6 "core" & {\ +6 & ^\ 5 +9 &:F q\ 1 +10 &er m\ E +9 &g j\ O +9 &] l\ N +10 &] s\ N +9 &O\\ t\ N +9 &\\ s\ N +10 &^ u\ N +9 &Y r\ N +10 &W_ m\ N +9 &!_ q\ N +9 &"` o\ N +10 &$^ `\ O +9 &&_\\ [\ N +9 &(!_ i\ N +10 &)[ n\ N +9 &+^ h\ N +10 &-g\\ _\ N +9 &/*Y c\ N +9 &0] b\ N +10 &2Y ^\ N +9 &4o\\ X\ N +9 &61\\ \\\ N +10 &7[ `\ O +9 &9] a\ N +10 &;w_ h\ N +9 &=9` ]\ N +9 &>_ Y\ N +10 &@` `\ O +9 &B] T\ N +9 &DA\\ ^\ N +10 &Fc d\ O +9 &Gr Z\ Q +10 &Ix S\ T +9 &K, \\\ X +9 &L X\ Y +10 &N O\ Y +9 &Pn U\ Z +9 &R0 T\ Z +10 &S U\ [ +9 &U U\ H +10 &V5 T\ 'u +9 &Vb O\ I +2 ( +2 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +3 "core" % $ % ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%J& +5 "core" &\\\ + "manipulator"&,% +4 "core" %\   U  +2 "storage"( % +4 "core" %b # # T\ +2 "storage"(A. +3 "core" .(,l +2 "storage"(& +4 "core" &,g $ $ \  +2 "storage"(& +4 "core" &,g % ) P\  + "manipulator"&u& +5 "core" &%   <= + "manipulator"&% +4 "core" %\     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +157 "core" ( +2 "manipulator"&(& +3 "core" &  +2 "storage"(!& +4 "core" &,g ] i }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&s'Ѽ +96 "core" ' + "storage"('& +4 "core" &,g \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +282 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,g U 8 \  +2 "manipulator"&& +3 "core" & ~  +3 .tElbow.seek 4 + "manipulator"&R( +4 "core" ( +2 "manipulator"&%& +3 "core" & b  +2 "storage"(X& +4 "core" &,g _ g E\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&2', +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(?'X +9 "core" &   + "manipulator"& % +4 "core" % 4  N +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&T(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( +3 "manipulator"&& +3 "core" &g   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +50 &S& +3 "core" &h   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0' +94 "core" ' +2 "manipulator"&f& +3 "core" &i  f  +3 "manipulator"&>% +3 "core" % u +3 "processing"%|& +3 "core" &[\ +3 "processing"%& +5 "core" &m\ +3 .tPC.seek :closed + "processing"%(Z +4 "core" &[\  +9 &0Y\ +z +10 &bY\ > +9 &g{Z\ O +9 &)]U\ O +10 &[T\ O +9 &]P\ O +9 &n_Q\ O +10 &2[T\ N +9 &]V\ O +10 &_Y\ O +9 & w^T\ O +9 &"9_Z\ O +10 &#\\V\ N +9 &%\\N\ O +9 &'\\N\ O +10 &)A\\R\ O +9 &+_I\ O +10 &,\\C\ O +9 &.`G\ O +9 &0I[D\ O +10 &2 \\G\ O +9 &3ZH\ O +10 &5ZG\ N +9 &7P[G\ O +9 &9ZG\ N +10 &:ZI\ O +9 &<`G\ O +9 &>ZZG\ N +10 &@]F\ O +9 &AYG\ O +9 &C]I\ O +10 &E^aI\ P +9 &GkN\ Q +10 &HJ\ T +9 &JG\ T +9 &LVH\ U +10 &NM\ T +9 &OH\ T +9 &QI\ U +10 &S]H\ U +9 &UJ\ U +10 &VI\ V +9 &XH\ V +9 &ZdI\ )} +10 &ZaH\ 6 +9 ( + &Z#D\ 0 +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&*1 +64 "core" 1 +2 "manipulator"&% +4 "core" % % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +2 "processing"%N& +4 "core" &Z"6\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&8% +4 "core" %\   \ +2 "storage"(Z% +3 "core" %T %  >\ +2 "storage"(^. +3 "core" .(,l +2 "storage"(F& +4 "core" &,g " # y\  +2 "storage"(;& +4 "manipulator"&$& +5 "core" &,g $ \  +2 &j 0 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&Q(s +6 "core" ( +2 "manipulator"&9& +4 "core" &j '  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &j  % +2 .tForearm.seek PC +2 "manipulator"&.' +95 "core" ' +2 .tHand.close +2 "manipulator"&z/ +65 "core" / +2 .tPC.seek :open +2 "processing"%E( +75 "core" ' + "storage"(~- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'y +47 "core" ' +298 ( +3 "storage"(L& +3 "core" &,g 3 H \  +2 "manipulator"&:& +4 "core" &j  +2 "manipulator"&w% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&r( +249 "core" ( +2 "manipulator"&_& +3 "core" & 8  +3 "storage"(U& +4 "core" &,g R I p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +98 "core" ' +2 .tHand.open + "manipulator"&d1 +56 "core" 1 +3 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(C'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(4& +3 "core" &,g | \  +2 "manipulator"&Y& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&l( +8 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(a& +3 "core" &,g  0\  +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&g'Ѽ +49 "core" ' +4 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(]' +58 "core" ' +2 "manipulator"&x& +4 "core" &  +2 "storage"({& +83 "core" &,g ] _ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&p' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(O'i +25 "core" ' +2 "manipulator"&M% +3 "core" %  +2 "storage"(& +5 "core" &,g A /\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&['= +18 "core" ' +2 "manipulator"&e& +3 "core" & #  +3 "storage"(o& +3 "core" &,g j i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&V'Ѽ +27 "core" ' + "storage"(B% +5 "core" %s y u :\ +2 ."downElevator"SE.seek :down +3 "storage"(n'X +99 (q% +3 "core" %G E 4 A\ Xg +2 "manipulator"&\\% +5 "core" %ѩ ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +85 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,g \\ \  +2 "collection"'<& +4 "core" &Va V\ I +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&i% +3 "core" %\  7  +2 "storage"(c% +4 "core" %S _ j \ +2 "storage"(I. +3 "core" .(,l +2 "storage"(W& +5 "core" &,g l k ;\  + "storage"( & +4 "core" &,g m \\\  +2 "manipulator"&& +4 "core" & s  +2 .tElbow.seek 4 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&/& +3 "core" & `  +3 "storage"(& +3 "core" &,g v k V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +94 "core" ' +2 "storage"(K& +3 "core" &,g j\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &,g j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&v' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(7'U +28 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"(+& +5 "core" &,g \ w\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'? +18 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(h& +3 "core" &,g X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'D +40 "core" ' +2 "manipulator"&J& +3 "core" & T  +2 "manipulator"&,% +4 "core" %Ѳ n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +154 "core" ( +3 "manipulator"&#& +3 "core" &' $ w >L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +47 && +5 "core" &'  >L +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&u/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(D& +5 "core" &,g ~ \  + "storage"((& +4 "core" &,g } \  +2 "manipulator"&!& +4 "core" &'   >J +2 "manipulator"&'% +3 "core" % (  +3 .tForearm.seek :retract + "manipulator"&"'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&5( +160 "core" ( + "manipulator"&@& +5 "core" &   + "storage"(& +4 "core" &,g n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +63 "core" 1 +3 "manipulator"&=% +4 "core" %  %  + "storage"(G& +6 "core" &,g m m Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"& '; +19 "core" ' +2 "manipulator"& & +3 "core" & p  +2 "storage"(s& +4 "core" &,g @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&3'Ѽ +18 "core" ' + "storage"(2% +4 "core" %G 2\ +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (S% +3 "core" %D Q\ Wc +2 "manipulator"&R% +3 "core" %ѷ $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'>& +4 "core" & \ +2 "manipulator"&|% +3 "core" %\    +3 "storage"(?% +3 "core" %b |\ +2 "storage"(-. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(y( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" & /\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&N( +7 "core" ( + "manipulator"&8& +5 "core" & o  + "storage"(Z& +4 "core" & Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +102 "core" ' +2 "storage"(F& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" & B\ +2 "manipulator"&9& +5 "core" & ;  + .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&0& +3 "core" & T  +3 "storage"(z& +4 "core" & #\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&~'ϩ +26 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& +4 "storage"('X +4 "core" & @  +3 "manipulator"&% +4 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +99 "core" ' +3 .tElbow.seek CC +2 "manipulator"&:( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&w& +4 "core" &$ 1 / ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &$ # ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'" +92 "core" ' +2 "manipulator"&U& +4 "core" &$ $ S ;6 +2 "manipulator"&Q% +3 "core" %*   +3 "collection"'d& +4 "core" & \ +3 "collection"'& +4 "core" & \ +3 .tCC.seek :closed + "collection"'H(V +4 "core" & t\  +10 &.} t\ +z +9 &d u\ ? +9 &tu v\ O +10 &6Y m\ N +9 &\\ u\ O +9 &Y l\ N +10 &|Z n\ N +9 &=Z q\ O +10 &Z s\ N +9 &Z w\ N +9 & ^ n\ N +10 &"FZ m\ N +9 &$ W e\ N +10 &%\\ q\ O +9 &'Z e\ N +9 &)O[ r\ N +10 &+[ t\ N +9 &,Z t\ N +9 &.[ n\ N +10 &0UZ s\ O +9 &2X g\ N +10 &3Z e\ N +9 &5[ o\ N +9 &7^_ a\ N +10 &9![ k\ N +9 &:] l\ N +9 &<\\ _\ N +10 &>e] a\ O +9 &@)[ \\\ N +10 &A\\ Z\ N +9 &C^ g\ N +9 &Ela \\\ O +10 &G+j h\ P +9 &Hx \\\ R +9 &J [\ V +10 &LW g\ Y +9 &N \\\ Y +10 &O e\ Z +9 &Q q\ Z +9 &SZ q\ [ +10 &U m\ [ +9 &VjD m\ 2 +9 &Vk g\ H +6 ( + "collection"'& +4 "core" &V` c\ H +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&41 +56 "core" 1 +2 "manipulator"&Y% +4 "core" % * & x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +5 "core" &o\ + "manipulator"&j% +4 "core" %\ !  c 6 +2 "storage"(x% +3 "core" %` - , '\ +2 "storage"(m. +3 "core" .( +2 "storage"(C& +3 "core" & , 7 X\ +2 "storage"({& +5 "core" & ( , \ + "manipulator"&r& +4 "core" &#   :1 +2 "manipulator"&t% +3 "core" %\ !  \ 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&M( +162 "core" ( +2 "manipulator"&& +3 "core" &  g  +3 "storage"(e& +4 "core" & i i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +98 "core" ' +2 "storage"(P& +3 "core" & e a f\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +281 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +3 "core" & # # \ +2 "manipulator"&g& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&l( +4 "core" ( +2 "manipulator"&]& +3 "core" &  f  +3 "storage"(p& +3 "core" & H I ?\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&['ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(i'X +6 "core" &   +3 "manipulator"&c% +3 "core" % Ϯ  +3 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +3 "manipulator"&W& +4 "core" &r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &r ;  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&/& +3 "core" &r /  +3 "manipulator"&% +3 "core" %  +3 "processing"%V& +4 "core" &Z\ +2 "processing"%K& +55 "core" &m\ +3 &\\\ +2 &Y\ + &X\ + &[\ + &\\\ + &Z\ +2 .tPC.seek :closed + "processing"%n(Z +4 "core" &Z\ +8 &9R\ $c +9 &UV\ 7 +9 &~Z\ L +10 &][\ N +9 &V_Z\ O +9 &]Z\ O +10 &`P\ O +9 &\\Y\ O +10 &^ZZ\ O +9 & \\Z\ O +9 &[U\ O +10 &![Y\ O +9 &#f[U\ O +9 &%([Y\ O +10 &&\\Z\ N +9 &([T\ N +10 &*o\\Z\ N +9 &,0ZZ\ O +9 &-`R\ O +10 &/\\P\ O +9 &1vYI\ O +9 &38^O\ O +10 &4\\N\ O +9 &6YK\ N +10 &8YG\ N +9 &:A\\F\ N +9 &<]L\ O +10 &=ZD\ O +9 &?Z>\ O +9 &AJ\\G\ N +14 &C\ _I\ O +5 &D_@\ O +11 &FeG\ P +8 &HIr@\ Q +9 &JH\ S +10 &KH\ U +9 &MF\ T +9 &OH?\ T +10 &QG\ U +9 &RE\ U +10 &TE\ U +9 &VLH\ U +9 &XP\ U +10 &Y|oI\ ; +9 &Z)kG\ L +9 &Z&H\ 0 +3 ( + "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&b1 +63 "core" 1 +2 "manipulator"&`% +3 "core" % % u  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' + "processing"%& +4 "core" &Z%_\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\  |  +2 "storage"()% +5 "core" %U % &\ + "storage"(. +3 "core" .( +2 "storage"(+& +5 "core" & & $\ +2 "storage"(& +3 "manipulator"&h& +6 "core" & & & 9\ + &r   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +6 .tElbow.seek PC + "manipulator"&J(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'i +2 "core" ( +3 "manipulator"&& +3 "core" &r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &r I  +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +3 .tHand.close + "manipulator"&v/ +55 "core" / +2 .tPC.seek :open + "processing"%( +94 "core" ' +2 "storage"(7- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'y +46 "core" ' +281 ( +2 "storage"(& +3 "core" & G E +\ +3 "manipulator"&& +4 "core" &r   +2 "manipulator"&k% +4 "core" % 0 +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +260 "core" ( +2 "manipulator"&\ & +4 "core" & J  +2 "storage"(D& +3 "core" & S R Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +95 "core" ' +2 .tHand.open + "manipulator"&!1 +58 "core" 1 +2 "storage"('- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(A& +4 "core" & } x F\ + "manipulator"&X& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&=( +6 "core" ( +2 "manipulator"&G& +3 "core" &  ; +2 "storage"( & +4 "core" & } ~ \ +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +59 "core" ' + "manipulator"&"& +4 "core" & +2 "storage"(S& +3 "core" & _\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +48 "manipulator"&R'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&>% +4 "core" %Ό  +2 "storage"( & +3 "core" & j j \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&|'ϸ +21 "core" ' + "manipulator"&?& +5 "core" & f + "storage"(-& +5 "core" & @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +35 "core" ' +2 "storage"(3% +3 "core" %i \  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %gI 4 H .\ Xh +2 "manipulator"&*% +5 "core" %6 f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (8& +4 "core" & V Z \ +2 "collection"'Z& +3 "core" &V` \ H +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&F% +4 "core" %\    +2 "storage"(%% +3 "core" %b i i \ +2 "storage"(f. +4 "core" .( +2 "storage"(;& +3 "core" & [ ] \ +2 "storage"($& +4 "core" & [ \\ \ +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&0( +4 "core" ( +2 "manipulator"&z& +3 "core" & % +2 "storage"(T& +4 "core" & i h \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +97 "core" ' +2 "storage"(& +3 "core" & <\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +282 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" & \\ +2 "storage"(.& +4 "core" & L W {\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'Q +31 "core" ' +2 "manipulator"&d% +4 "core" %΍  +2 "storage"(&& +3 "core" & ? 9 ]\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 "manipulator"&L& +3 "core" & +2 "storage"(& +5 "core" & _ g (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'@ +40 "core" ' + "manipulator"&a& +5 "core" & m + "manipulator"&j% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +157 "core" ( +3 "manipulator"&C& +3 "core" &+ % : Ad +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &+  C Ad +3 .tForearm.seek CC + "manipulator"&{'" +101 "core" ' + .tHand.close +2 "manipulator"&r/ +64 "core" / +2 .tCC.seek :open + "collection"'t( +417 "core" ( + "storage"(_& +4 "core" & m \ +41 "storage"(& +10 "core" & \\ [\ +3 "manipulator"&e& +3 "core" &*  / @[ +2 "manipulator"&P% +4 "core" % 5   +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +152 "core" ( +2 "manipulator"&q& +3 "core" & ' +3 "storage"(\\& +4 "core" & <\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&g'} +92 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +64 "core" 1 +4 "manipulator"&% +3 "core" % Ό b +2 "storage"(<& +5 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&c'ϸ +20 "core" ' +2 "manipulator"&M& +4 "core" & d +2 "storage"(o& +3 "core" & +\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +34 "core" ' +2 "storage"([% +3 "core" %F Z\ +3 ."downElevator"SE.seek :down +3 "storage"(W'X +100 ( % +2 "core" %D [\ Wc +3 "manipulator"&l% +3 "core" %8 I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +94 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&V% +4 "core" %\  3 +2 "storage"(i% +3 "core" %U L\ +2 "storage"(I. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,l +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" &,i f i H\  +2 "manipulator"&`& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"()& +4 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +97 "core" ' +2 "storage"(+& +3 "core" &,g \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'i +285 "core" ' + "storage"(h- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,g \  +2 "manipulator"&& +4 "core" & E +2 .tElbow.seek 4 + "manipulator"&}( +4 "core" ( +2 "manipulator"&& +3 "core" & | +2 "storage"(v& +4 "core" &,g \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&7', +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(n'X +8 "core" & +2 "manipulator"&,% +3 "core" % ) E +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&k& +4 "core" &'  } >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' ( >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +4 "manipulator"&\ '" +95 "core" ' +3 "manipulator"&D& +4 "core" &( " : >H +2 "manipulator"&J% +3 "core" %  J  +3 "collection"'!& +4 "core" & \ +2 "collection"''& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \ +9 &4 e\ $c +9 &V \ 7 +9 & z\ L +10 &\\ w\ N +9 &bY 2\ N +10 &$Z q\ N +9 &Z u\ N +9 &[ s\ N +10 &j[ p\ N +9 &,] n\ N +9 &] q\ N +10 &!\\ t\ N +9 &#qZ l\ N +10 &%4[ u\ N +9 &&Z m\ N +9 &(X t\ N +10 &*y\\ i\ N +9 &,<Y u\ N +9 &-Y n\ M +10 &/Z s\ N +9 &1Z v\ N +10 &3EY k\ M +9 &5\\ n\ N +9 &6\\ q\ N +10 &8Y e\ N +9 &:J] l\ N +9 &< \\ f\ O +10 &=[ f\ N +9 &?[ l\ N +10 &ASZ q\ N +9 &C[ d\ N +9 &D\\ i\ N +10 &Fb j\ O +9 &HRt r\ Q +9 &J i\ U +10 &K h\ Y +9 &M q\ Y +10 &OB q\ Y +9 &Q k\ Z +9 &R k\ [ +10 &T k\ [ +9 &Vu ^\ / +9 &V+ k\ V +10 ( + &Vh d\ H +2 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&A1 +63 "core" 1 +3 "manipulator"&X% +5 "core" %  I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +4 "core" &o\ +2 "manipulator"&u% +3 "core" %\ "   . +2 "storage"("% +5 "core" %b\ \  \ + "storage"(S. +4 "core" .(,l + "storage"(#& +5 "core" &,g\ \  \  + "storage"(@& +3 "core" &,g\ \ ! U\  +3 "manipulator"&>& +3 "core" &%  U <? +2 "manipulator"& % +5 "core" %\ "   . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&?( +156 "core" ( +2 "manipulator"&-& +4 "core" & $ ]  +2 "storage"( & +3 "core" &,g 8 ; \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&('Ѽ +97 "core" ' + "storage"(3& +4 "core" &,g Y\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &,g ( , &\  +2 "manipulator"&s& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&2& +5 "core" &  +2 "storage"(R& +4 "core" &,g R O \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&|', +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(F'X +8 "core" & ;  +2 "manipulator"&%% +4 "core" % :  9 +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"&;& +3 "core" &z    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &{ 0  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&9' +98 "core" ' + "manipulator"&z& +5 "core" &{ & R  + "manipulator"&T% +5 "core" % P +2 "processing"% & +4 "core" &Z\ +2 "processing"%& +5 "core" &n\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &Z\  +9 &1~[\ *z +9 &cY\ ? +10 &py[\ O +9 &3ZW\ N +9 &Y[\ O +10 &Z[\ N +9 &x[Z\ O +9 &;]]\ N +10 &Z[\ O +9 &X[\ O +10 & Y[\ O +9 &"C[[\ N +9 &$ZZ\ O +10 &%[Z\ N +9 &'][\ O +10 &)JZW\ O +9 &+ YU\ O +9 &,YY\ N +10 &.ZZ\ N +56 &0SZX\ N +4 &2YN\ O +3 &3XT\ O + &5WY\ O + &7ZYM\ O +2 &9]L\ O + &:WQ\ N +7 &<YN\ O +9 &>c\\G\ N +9 &@$\\B\ O +10 &A\\T\ O +9 &C]U\ O +10 &Ei_P\ O +9 &G&nO\ Q +9 &HH\ T +10 &JF\ T +9 &L`D\ U +9 &N"H\ U +10 &OH\ U +9 &QG\ U +10 &SfH\ U +9 &U(I\ U +9 &VI\ V +10 &XH\ V +9 &ZbI\ %r +9 &ZYM\ - +10 ( + &ZO\ * +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&51 +63 "core" 1 +2 "manipulator"&% +3 "core" % & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 "processing"%w& +4 "core" &Z^\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&.% +4 "core" %\  A  +2 "storage"(U% +4 "core" %b & &\ +2 "storage"(d. +3 "core" .(,l +2 "storage"(&& +4 "core" &,g ' '\  +2 "storage"(L& +3 "manipulator"&& +8 "core" &,g ' ' \  + &{   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&a(s +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(j'i +2 "core" ( + "manipulator"&6& +6 "core" &{ V  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &{ I  +3 .tForearm.seek PC +2 "manipulator"&N' +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open + "processing"%( +87 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'y +45 "core" ' +288 ( + "storage"(& +4 "core" &,g P J [\  +2 "manipulator"&4& +4 "core" &{   +2 "manipulator"&~% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&x( +263 "core" ( +2 "manipulator"&H& +3 "core" &  c z +2 "storage"(_& +4 "core" &,g C D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +96 "core" ' + .tHand.open +2 "manipulator"&e1 +58 "core" 1 +2 "storage"(P- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(q'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(\\' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(m& +3 "core" &,g ?\  +3 "manipulator"&p& +4 "core" &  z +2 .tElbow.seek 4 + "manipulator"&( +8 "core" ( +2 "manipulator"&<& +4 "core" & [ r +2 "storage"(M& +3 "core" &,g \  +3 .tForearm.seek 4 + 700 counts + "manipulator"&o'Ѽ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +58 "core" ' + "manipulator"&:& +5 "core" &  r + "storage"( & +4 "core" &,g \\ e \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&l' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +25 "core" ' +2 "manipulator"&c% +3 "core" % +2 "storage"(& +43 "core" &,g\ \  \  +9 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&V'@ +21 "core" ' +2 "manipulator"&i& +3 "core" & v +2 "storage"(I& +4 "core" &,g i i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&Y'Ѽ +27 "core" ' +2 "storage"(B% +4 "core" %r m [\ +3 ."downElevator"SE.seek :down +4 "storage"(W'X +99 (y% +3 "core" %G ! ' /\ Xg +2 "manipulator"&b% +4 "core" %ѯ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +91 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,g c ; \  +2 "collection"')& +5 "core" &Vi \ H + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&+% +4 "core" %\    +2 "storage"(]% +4 "core" %] k j \ +2 "storage"(/. +3 "core" .(,l +2 "storage"(h& +3 "core" &,g j j \  +2 "storage"(& +4 "core" &,g j g }\  +2 "manipulator"&& +4 "core" &  v +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&v& +4 "core" & 1 v +2 "storage"(O& +3 "core" &,g j j \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&1'Ѽ +97 "core" ' +2 "storage"(,& +4 "core" &,g } I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" & E v +2 "storage"(& +3 "core" &,g e X T\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&K' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(D'U +40 "core" ' +2 "manipulator"&J% +4 "core" %  +2 "storage"(!& +3 "core" &,g\ \ \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&n'> +19 "core" ' +2 "manipulator"&& +3 "core" &  w +2 "storage"(t& +5 "core" &,g < B C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(X'D +40 "core" ' +2 "manipulator"& & +4 "core" & | w +2 "manipulator"&u% +4 "core" %ѿ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +163 "core" ( + "manipulator"&S& +4 "core" &, / : Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &, Bh +2 .tForearm.seek CC +2 "manipulator"&@'" +93 "core" ' +2 .tHand.close + "manipulator"&>/ +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(\ & +3 "core" &,g ~ v \  +2 "storage"(-& +4 "core" &,g ~ `\  +2 "manipulator"& & +3 "core" &* Y @Y +2 "manipulator"&3% +5 "core" %  v  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&G( +159 "core" ( +46 "manipulator"&& +6 "core" &   +2 "storage"(*& +3 "core" &,g \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&s' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +52 "core" 1 +3 "manipulator"&8% +5 "core" %   D  + "storage"(Z& +4 "core" &,g i j e\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 315 counts + "manipulator"&%'; +18 "core" ' +2 "manipulator"&?& +3 "core" & Z  +3 "storage"((& +3 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +34 "core" ' +2 "storage"(|% +3 "core" %I E\ +3 ."downElevator"SE.seek :down +4 "storage"(;'X +98 ($% +3 "core" %D \ Wc +2 "manipulator"&=% +5 "core" %Ѧ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +25190 "Can"\ 30r +60002 \ 20t +60002 \ 20w +32120 #t-> 2.times{shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'T& +3 "core" & w\ +2 "manipulator"& % +3 "core" %\    +3 "storage"(F% +3 "core" %b \ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" & h ^ r\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&w( +7 "core" ( +2 "manipulator"&.& +4 "core" & [  +2 "storage"(U& +3 "core" & 0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +95 "core" ' +3 "storage"(& +4 "core" & p\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" & n\ +2 "manipulator"&6& +4 "core" & ?  +2 .tElbow.seek 3 +2 "manipulator"&0( +4 "core" ( + "manipulator"&9& +3 "core" &  +3 "storage"(& +4 "core" & i\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&^& + "storage"('X +8 "core" &  + "manipulator"&j% +5 "core" % Ϛ w +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&~& +4 "core" &% ' v <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &%  <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'" +97 "core" ' + "manipulator"&_& +4 "core" && ! <9 +2 "manipulator"&a% +3 "core" %% +3 "collection"'e& +3 "core" & k\ +3 "collection"'P& +53 "core" & ~\ +3 & p\ + & e\ + & t\ +2 & r\ + & q\ + & i\ +2 .tCC.seek :closed +2 "collection"'{(V +5 "core" & i\ +7 &6 p\ $e +9 &V o\ 8 +10 & j\ M +9 &] m\ O +10 &h` h\ O +9 &*Z \\\ O +9 &\\ S\ O +10 &\\ ^\ N +9 &p] `\ O +9 &2\\ p\ O +10 &\\ h\ O +9 &!] o\ O +10 &#x\\ l\ O +9 &%9` o\ O +9 &&\\ t\ N +10 &(Z n\ O +9 &*_ k\ O +9 &,A_ q\ O +10 &.Z t\ O +9 &/[ o\ N +10 &1\\ k\ O +9 &3J_ k\ O +9 &5 b d\ O +10 &6_ e\ O +9 &8] f\ N +9 &:Q` b\ O +10 &<_ ^\ O +9 &=] b\ O +10 &?_ \\\ O +9 &AX\\ \\\ O +9 &CZ b\ O +10 &Dc [\ P +9 &Fh \\\ P +9 &HU{ \\\ S +10 &J Z\ V +9 &K \\\ Z +10 &M \\\ Y +9 &OI b\ Z +9 &Q ^\ [ +10 &R [\ [\ +9 &T Z\ [ +9 &V*w \\\ / +10 &V [\ J +9 ( + &Vf [\ F +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&m1 +57 "core" 1 + "manipulator"&p% +5 "core" % % $ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%M& +3 "core" &\ +3 "manipulator"&r% +3 "core" %\  e . +2 "storage"(:% +4 "core" %V\ \  c\ +2 "storage"( . +3 "core" .( +2 "storage"(C& +4 "core" & H \ +2 "storage"(c& +4 "core" &\ \  h\ +2 "manipulator"&& +3 "core" &$ ' ;6 +3 "manipulator"&q% +4 "core" %\  V . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +155 "core" ( + "manipulator"&I& +5 "core" &  e  + "storage"(x& +4 "core" & T 9 ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +103 "core" ' +2 "storage"(B& +3 "core" & } $\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +285 "core" ' + "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" & E H\ +2 "manipulator"&b& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +3 "core" &   +2 "storage"(l& +4 "core" & \\ [\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&V'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"(+'X +8 "core" &   +2 "manipulator"&]% +3 "core" % ϰ ^ +3 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&/(s +173 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +69 "core" ( +2 "manipulator"&h& +3 "core" &y $  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&v& +5 "core" &y p + "manipulator"&O% +5 "core" % +2 "processing"%Y& +4 "core" &9\ +2 "processing"%,& +5 "core" &<\ +2 .tPC.seek :closed +2 "processing"%W(Z +5 "core" &\  +8 &4{\ +{ +9 &b\ ? +10 &zy\ O +9 &<Z\ O +9 &\\\ O +10 &Z\ O +9 &_\ O +10 &C\\\ O +9 &[\ O +9 &_\ O +10 & _\ P +9 &"K_\ O +9 &$_\ O +10 &%^\ O +9 &'`\ P +10 &)T_\ O +9 &+_\ O +9 &,_\ O +10 &._\ O +9 &0\\^\ O +9 &2^\ O +10 &3\\\ O +9 &5\\\ O +10 &7f^\ N +9 &9%^\ O +9 &:]\ O +10 &<^\ P +9 &>l]\ O +9 &@.`\ O +10 &A]\ O +9 &C`\ O +10 &Erc\ P +9 &G3m\ P +9 &Hx\ Q +10 &J\ T +9 &Lj\ U +9 &N/\ T +10 &O\ T +9 &Q\ U +10 &Sq\ U +9 &U3\ U +9 &V\ V +10 &X\ V +9 &Z#\\\ %p +52 &ZZ\ . +3 ( + &Z \ + +2 &Z \ + + &Z \ + + &Z \ + + &Z \ + +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&1 +2 "core" &Z z\ + +56 1 +2 "manipulator"&`% +3 "core" % ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 "processing"%k& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\  $  +3 "storage"(}% +3 "core" %W ? 8\ +3 "storage"(J. +3 "core" .( +2 "storage"(!& +4 "core" & \ +2 "storage"(& +2 "manipulator"&t& +8 "core" &\ '\ + _\ +2 &y m +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'i + "manipulator"&u(s +6 "core" ( +2 "manipulator"&1& +4 "core" &y 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y 1 +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&K/ +57 "core" / +5 .tPC.seek :open +2 "processing"%n( +80 "core" ' + "storage"(D- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'y +44 "core" ' +298 ( + "storage"(#& +4 "core" & & $\ +2 "manipulator"&A& +3 "core" &y S +2 "manipulator"&7% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&>'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&"( +246 "core" ( + "manipulator"&& +5 "core" & . # + "storage"(\ & +4 "core" & $ # .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +97 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(3- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(@' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(*- +3 "core" -' +2 "storage"('& +3 "core" & h k 4\ +3 "manipulator"&R& +3 "core" & g # +3 .tElbow.seek 3 + "manipulator"&8( +4 "core" ( +2 "manipulator"&Z& +3 "core" & K # +3 "storage"(?& +4 "core" & g g e\ +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +58 "core" ' + "manipulator"&& +4 "core" & H # +2 "storage"($& +4 "core" & H F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&='} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(s'i +24 "core" ' +2 "manipulator"&%% +3 "core" %Ή  +3 "storage"(X& +4 "core" & $ # \\\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +20 "core" ' + "manipulator"&;& +4 "core" & k # +2 "storage"(T& +4 "core" & R R N\ +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +38 "core" ' +2 "storage"(F% +4 "core" %q K F \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (E% +3 "core" %A\ \  \ Xg +2 "manipulator"&5% +3 "core" %3 C  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (.& +2 "core" & # , 1\ +3 "collection"'U& +3 "core" &Ve P\ F +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  K ' +2 "storage"(2% +3 "core" %T F H \ +2 "storage"(z. +4 "core" .( + "storage"(& +5 "core" & G G \ + "storage"(L& +4 "core" & F G \ +2 "manipulator"&6& +4 "core" & I # +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&& +4 "core" &  # +2 "storage"(f& +3 "core" & G G \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +91 "core" ' +2 "storage"(j& +3 "core" & i l \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +285 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" & / # +3 "storage"(N& +4 "core" & F B l\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&&'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(a'P +29 "core" ' +2 "manipulator"&e% +4 "core" %Ί  + "storage"(0& +5 "core" &\ \ ( \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +20 "core" ' +2 "manipulator"&& +4 "core" & [ # +2 "storage"( & +3 "core" & E D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(p'? +41 "core" ' +2 "manipulator"&M& +3 "core" &  # +2 "manipulator"&r% +4 "core" %,  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +149 "core" ( +2 "manipulator"&C& +3 "core" &' % [ >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" &' ^ >K +3 .tForearm.seek CC +2 "manipulator"&c'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'q( +417 "core" ( + "storage"(H& +4 "core" & +\ +2 "storage"(I& +4 "core" & B\ +2 "manipulator"&x& +3 "core" && <; +2 "manipulator"&B% +4 "core" % 4 +2 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +159 "core" ( +2 "manipulator"&o& +4 "core" & L  +2 "storage"(y& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&b'} +133 "core" ' +8 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&l1 +53 "core" 1 +2 "manipulator"&% +5 "core" % · 9 + "storage"()& +5 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&]'ϳ +21 "core" ' + "manipulator"&i& +5 "core" &   + "storage"(& +4 "core" & /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +33 "core" ' +2 "storage"(V% +4 "core" %H \ +3 ."downElevator"SE.seek :down +4 "storage"(h'X +99 (% +3 "core" %C i\ We +2 "manipulator"&% +3 "core" %/ , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'O& +3 "core" & ^\ +2 "manipulator"&Y% +4 "core" %\  +2 "storage"(+% +3 "core" %b \ +3 "storage"(g. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,k a j +\  +2 "manipulator"&`& +4 "core" & F  +2 .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&& +4 "core" & O  +2 "storage"(}& +3 "core" &,h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&J'Ѽ +96 "core" ' +2 "storage"(!& +3 "core" &,h \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &,h \  +2 "manipulator"&1& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(K& +4 "core" &,h _\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&// +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(W'X +8 "core" & 2  +2 "manipulator"& % +4 "core" % ! j T +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&A( +85 .tElbow.hold +2 "manipulator"&7, +3 "core" ('0( _ [I +18 , + "collection"'& +4 "core" & t\ +3 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):6:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" access 3 +2 "storage"(% +3 "core" %X \ +2 "manipulator"&\ % +4 "core" %\   , +2 "manipulator"&u& +3 "core" &l : +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +47 .tSC.seek 7 +4 "storage"( ([ +968 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &[ ] g -\  +1188 #t-> access 4 +2 "storage"(*% +3 "core" %X \ +2 "manipulator"&'% +4 "core" %\   , +2 "manipulator"&R& +4 "core" &l  : +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(Z(S +1917 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &U _ h M\ +1364 #t-> Hand.CC +2 !o:NoMethodError : mesgu:NameError::message+undefined method `CC' for Hand:Gripper: name:CC: args[:bt["(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1013 "Can"\ 52 +101 #t-> Arm.CC +2 "manipulator"&>& +3 "core" &l  : +2 "manipulator"&% +4 "core" %\   , +2 .tElbow.seek :CC +2 "manipulator"&$( +79 "core" ( + "manipulator"&S& +4 "core" && $ O =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" && Q =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'" +100 "core" ' +2 "manipulator"&& +3 "core" &&  z =G +2 "manipulator"&;% +5 "core" %) q +351 #t-> CC.close +2 "manipulator"&T& +3 "core" &&  =F +2 "manipulator"&"% +4 "core" %) J +2 "collection"'-& +4 "core" & \ +3 "collection"'F& +4 "core" & \ +3 .tCC.seek :closed + "collection"'@(V +5 "core" & \  +9 &1 \ *z +10 &c \ ? +9 &rw \ O +9 &4[ \ O +10 &^ \ O +9 &Y \ O +10 &z\\ \ O +9 &=] \ N +9 &\\ \ O +10 &Z \ N +9 & ^ \ O +9 &"D\\ \ O +10 &$Z \ N +9 &%^ \ O +10 &'^ \ O +9 &)LZ \ O +9 &+_ \ O +10 &,[ \ O +9 &.\\ \ N +9 &0S\\ \ O +10 &2[ \ O +9 &3\\ \ O +10 &5_ \ O +9 &7[_ \ O +9 &9[ \ O +10 &:_ \ O +9 &<a \ O +9 &>c] \ O +10 &@%\\ \ O +9 &A] \ O +10 &C] \ O +9 &Eja \ O +9 &G'k \ Q +10 &H| \ S +9 &J \ X +10 &LS \ Z +9 &N \ Z +9 &O \ Z +10 &Q \ Z +9 &SV \ \\ +9 &U \ [ +10 &VcC \ 2 +9 &V\ t \ F +5 ( +2 "collection"'F& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 "collection"'(& +3 "core" &Vg \ F + &Vg \ F +497 #t-> Hand.open + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 4:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +15072 #-> CC.unloadPuck 4, SH1 +2 !o:NameError: mesg"uninitialized constant SH1: name:SH1:bt["(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +854 #-> CC.unloadPuck 4, sh1 +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 2):bt[ "(ESP):14:in `sh1'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2971 #-> CC.unloadPuck 4, laf + "collection"'E& +4 "core" &Ve \ F +2 #tStoring laf puck in Collection Clamp to tube 4 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 4:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1513 #-> CC.unloadPuck 4, LAF + !o:NameError: mesg"uninitialized constant LAF: name:LAF:bt["(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +521 #-> CC.unloadPuck 4, sh1 +3 !o:ArgumentError: mesg"(wrong number of arguments (0 for 2):bt[ "(ESP):17:in `sh1'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +547 #-> CC.unloadPuck 4, SH1 +3 !o:NameError: mesg"uninitialized constant SH1: name:SH1:bt["(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1358 #-> CC.open +2 .CC.seek :open +2 "collection"'8( +416 "core" ( + "collection"'5& +4 "core" & F\ +623 #t-> Arm.PC +2 "manipulator"&|& +3 "core" && F =F +2 "manipulator"&=% +3 "core" %) a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&.(s +359 "core" ( + "manipulator"&U& +4 "core" &k  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" &k 9 - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&2' +94 "core" ' +2 "manipulator"&z& +4 "core" &k < - +2 "manipulator"&s% +3 "core" % K  +434 #t-> PC.close + "manipulator"&& +3 "core" &k p - +3 "manipulator"&L% +3 "core" % i  +2 "processing"%6& +4 "core" &\ +2 "processing"%& +5 .tPC.seek :closed +2 "processing"%f(Z +3 "core" &\ +8 & .d\ $d +10 &T^\ 7 +9 &~l\ L +9 &_S\ N +10 &Wcc\ N +9 &__\ N +9 &b`\ N +10 &\\e\ N +9 &_ag\ N +46 & _c\ O +9 &`j\ N +2 &!_l\ N + &#gaf\ N + &%(b_\ O + &&af\ N +6 &(_i\ N +9 &*o`i\ N +10 &,2^i\ N +9 &-a`\ O +9 &/a^\ O +10 &1wbe\ N +9 &39]f\ N +10 &4]g\ N +9 &6]c\ N +9 &8`_\ N +10 &:Ab^\ N +9 &<_]\ N +9 &=\\k\ N +10 &?b\\\ N +9 &AIbc\ N +10 &C\ `j\ O +9 &Dcj\ N +9 &Fjj\ O +10 &HG{f\ R +9 &J`\ T +9 &Kc\ T +10 &Mf\ T +9 &OJj\ S +10 &Q\ e\ T +9 &Rk\ U +9 &Tj\ U +10 &VOj\ T +9 &Xd\ U +9 &Y{pc\ ; +10 &Z(hm\ M +9 &Z'g\ 0 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 +2 "processing"% & +3 "core" &Z$f\ 0 +456 #t-> Hand.open + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 4:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +850 #-> Hand +387 #-> CC + "collection"'j& +3 "core" & \ +274 #t-> PC + "processing"%& +4 "core" &Z%W\ 0 +2039 #t-> PC.unloadPuck +2 "processing"%G& +3 "core" &Z%[\ 0 +2 !to:Puck::Error: mesg"4Specify puck type in Processing Clamp to unload:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:426:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):26:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1023 #-> PC.unloadPuck 4, sh1 +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 2):bt[ "(ESP):27:in `sh1'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +454 #-> PC.unloadPuck 4, SH1 +2 !o:NameError: mesg"uninitialized constant SH1: name:SH1:bt["(ESP):28:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +817 #-> PC.unloadPuck 4, WCR +2 !o:NameError: mesg"uninitialized constant WCR: name:WCR:bt["(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1304 #-> PC.unloadPuck 4, :WCR +2 "processing"%& +3 "core" &Z%\ 0 +3 #tStoring WCR puck in Processing Clamp to tube 4 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):30:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 4:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):30:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +717 #-> PC.unloadPuck 4, :SH1 +2 "processing"%d& +3 "core" &Z%\ 0 +3 #tStoring SH1 puck in Processing Clamp to tube 4 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 4:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +749 #-> exit +4 !o:Storage::Warning: mesg"2Exiting with generic puck from tube 4 in Hand:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 #mEXIT @1686769262.65EDT @1686769281.48EDT = =mMAIN_scheduler =tMAIN @EDT1686769282.21 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +109 #"core_reset"Sent BREAK +2 #t@13784 receive with ifg=0x10, ie=0xFD #@14419 receive with ifg=0x10, ie=0xFD + #@15076 receive with ifg=0x10, ie=0xFD + #@15711 receive with ifg=0x10, ie=0xFD + #@16346 receive with ifg=0x10, ie=0xFD #@16981 receive with ifg=0x10, ie=0xFD + #@17616 receive with ifg=0x10, ie=0xFD + #@17942 receive with ifg=0x80, ie=0xFD #@15374 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +11 #ESP2 v3.41 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +387 "Can"\ <: + \ <: + #tPolling Can every 10:00 +267 #-> PC +155 "sampler") +2 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +5 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +3 "sampler")#.0X ESP.ready! +2 "collection"'% +3 "processing"%% +2 "manipulator"&% +7 "core" % \ +7 "sampler")% +3 "core" %X\ +2 % {  + %\ \ \ +2 "manipulator"&& +5 "core" &k \ - +2 "storage"(& +3 "core" &U\ \  \ +2 "storage"(% +4 "core" %X P y\ +2 "collection"'& +4 "core" & \ +2 "processing"%& +4 "core" &Z%Y\ 0 + "collection"'  +3 "core"  +2 "collection"'! +4 "core"  + "collection"'" +3 "core"  +3 "processing"%# +3 "core"  +2 "processing"%$ +3 "core" V +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core" A +2 "sampler")' +3 "core"  +2 "collection"'(% +3 "core" % \ +3 "processing"%)% +4 "core" %\\\ +2 "sampler")*% +3 "core" %\ \ \ +3 "collection"'+& +3 "core" & \ +2 "processing"%,& +5 "core" &Z$\ 0 + "manipulator"&-% +4 "core" % F  +2 "manipulator"&.& +4 "core" &k # - +2 "storage"(/& +4 "core" &U S J\ +2 "storage"(0% +3 "core" %X\ \  r\ +3 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9} +243 #t-> PC +2 "processing"%3& +3 "core" &Z%\\\ 0 +377 #t-> Arm +2 "manipulator"&4& +3 "core" &k 5 - +3 "manipulator"&5% +3 "core" %   +412 #t-> Arm.open + "manipulator"&6& +3 "core" &k # - +3 !to:Axis::Error: mesg"!Unknown Elbow position: open:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:513:in `baseRaw'",/home/esp/esp2/lib/axis.rb:297:in `raw'"1/home/esp/esp2/lib/axismap.rb:175:in `fetch'"1/home/esp/esp2/lib/axismap.rb:163:in `fetch'"./home/esp/esp2/lib/axis.rb:281:in `fetch'",/home/esp/esp2/lib/axis.rb:292:in `raw'",/home/esp/esp2/lib/axis.rb:553:in `raw'"./home/esp/esp2/lib/axis.rb:667:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +504 #-> Hand.open +2 .Hand.open + "manipulator"&71 +57 "core" 1 +565 #t-> Arm.home +3 "manipulator"&8& +3 "core" &k D - +2 "manipulator"&9% +3 "core" % a  +1088 #t-> PC.open +2 .PC.seek :open + "processing"%:( +435 "core" ( + "processing"%;& +4 "core" &^\ +462 #t-> Arm.home +2 "manipulator"&<& +4 "core" &k [ - +2 "manipulator"&=% +3 "core" % s  +723 #t-> Hand.close +2 .Hand.close +2 "manipulator"&>/ +55 "core" / +288 #t-> Arm.open +2 "manipulator"&?& +3 "core" &k  - +2 !to:Axis::Error: mesg"!Unknown Elbow position: open:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:513:in `baseRaw'",/home/esp/esp2/lib/axis.rb:297:in `raw'"1/home/esp/esp2/lib/axismap.rb:175:in `fetch'"1/home/esp/esp2/lib/axismap.rb:163:in `fetch'"./home/esp/esp2/lib/axis.rb:281:in `fetch'",/home/esp/esp2/lib/axis.rb:292:in `raw'",/home/esp/esp2/lib/axis.rb:553:in `raw'"./home/esp/esp2/lib/axis.rb:667:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +527 #-> Arm.home +2 "manipulator"&@& +4 "core" &k  - +2 "manipulator"&A% +3 "core" %   +1096 #t-> PC.close + "manipulator"&B& +3 "core" &k - +3 "manipulator"&C% +4 "core" %   +2 "processing"%D& +3 "core" &[\ +3 "processing"%E& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Z +4 "core" &\  +9 &0~\ +z +9 &b\ > +9 &sy\ O +10 &6Z\ N +9 &[\ N +10 &]\ O +9 &|Y\ N +9 &>W\ N +10 &^\ O +9 &\\\ N +9 & \\\ N +10 &"F]\ N +9 &$Z\ N +9 &%\\\ N +10 &'a\ N +9 &)N^\ N +10 &+]\ O +9 &,[\ N +9 &.`\ O +10 &0V]\ N +9 &2\\R\ N +10 &3]y\ O +9 &5\\\ O +9 &7]\\\ O +10 &9\\\ O +9 &:X\ N +9 &<\\\ O +10 &>e[\ O +9 &@'^\ O +9 &AY\ N +10 &C_\ O +9 &Em]\ O +10 &G*i\ P +9 &H}\ R +9 &J\ T +10 &Ld\ T +9 &N&\ T +10 &O\ T +9 &Q\ T +9 &Sj\ U +10 &U,\ U +9 &V\ U +9 &X\ V +10 &Z`\ $p +9 &ZY\ , +9 ( + &Z\ * +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 +2 "processing"%G& +3 "core" &Z\ * +2033 #t-> PC.unloadPuck 4, :WCR +2 "processing"%H& +3 "core" &Z\ * +2 #tStoring WCR puck in Processing Clamp to tube 4 + .Hand.open +2 "manipulator"&I1 +55 "core" 1 +2 "manipulator"&J% +3 "core" % L  +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&K'\ +148 "core" ' + "storage"(L% +3 "core" %X E ( 9\ +3 "storage"(M. +3 "core" .,U +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(N(,l +967 "core" ( +6 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &,i E E \  +2 "manipulator"&P& +3 "core" &k  - +2 "manipulator"&Q% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.home.seek 4 + "manipulator"&R( +250 "core" ( +2 "manipulator"&S& +3 "core" & 6 d +2 "storage"(T& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&U'Ѽ +86 "core" ' +2 "storage"(V& +3 "core" &,g !\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +286 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" &  d +2 "storage"(Z& +4 "core" &,g S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&[' +36 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(^'U +25 "core" ' +2 "manipulator"&_% +3 "core" %  p +2 "storage"(`& +4 "core" &,g !  Q\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&a'7 +15 "core" ' +2 "manipulator"&b& +3 "core" & U e +2 "storage"(c& +4 "core" &,g G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&d'Ѽ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(e'D +39 "core" ' +2 "manipulator"&f& +4 "core" & e +2 "manipulator"&g% +4 "core" %ѭ } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&i(s +250 "core" ( + "manipulator"&j& +4 "core" &} z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &}  +2 .tForearm.seek PC +2 "manipulator"&l' +93 "core" ' +2 .tHand.close + "manipulator"&m/ +60 "core" / +2 .tPC.seek :open + "processing"%n( +439 "core" ( +2 "storage"(o& +3 "core" &,g \  +2 "storage"(p& +4 "core" &,g +\  +2 "manipulator"&q& +3 "core" &}  +2 "manipulator"&r% +4 "core" % K +2 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&t( +254 "core" ( + "manipulator"&u& +4 "core" &  a +2 "storage"(v& +3 "core" &,g \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&w' +100 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&y1 +62 "core" 1 +2 "manipulator"&z% +3 "core" %   q +2 "storage"({& +4 "core" &,g V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&|'= +18 "core" ' +2 "manipulator"&}& +3 "core" & v o +2 "storage"(~& +3 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +27 "core" ' +2 "storage"(% +3 "core" %H V\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %fE \ We +2 "manipulator"&% +4 "core" %Ѵ [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +50 ' +34 ."downElevator"SE.stop +9 "storage"(5 +490 #t-> access 4 +3 "storage"(% +3 "core" %b <\ +2 "manipulator"& % +3 "core" %\  <  +2 "manipulator"& & +4 "core" & o +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"( (S +963 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &T ~ \ +4880 #t-> exit +7 #mEXIT @1686769501.72EDT @1687454370.81EDT = =mMAIN_scheduler =tMAIN @EDT1687454371.54 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK +2 #t@61152 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +247 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +397 "Can"\ [ + \ [ #tPolling Can every 10:00 +2 #Cleanly exited at 15:05:01EDT14-Jun-23 +6483 #-> ESP.roman +2 !o:NoMethodError : mesgu:NameError::message,undefined method `roman' for ESP:Module: name:\ roman: args[:bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +450 #-> ESP.ready! +2 #Powering core bus +584 .Gate.power :raw,:ON + "sampler") +24 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2300 #-> access 3 +2 "storage"(1% +3 "core" %Z\ (\ & \ +2 "manipulator"&2% +4 "core" %\  x +2 "manipulator"&3& +3 "core" & k o +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(4([ +1276 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &[ L\  +4362 #t-> access 4 +2 "storage"(6% +4 "core" %Z\ /\ ( \ +2 "manipulator"&7% +3 "core" %\  _ x +2 "manipulator"&8& +3 "core" & K o +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(9(S +1916 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &T >\ +49963 "Can"/\ 1.w +60002 \ 1.w +60002 \ 1.u +60003 ?\ 1/{ +60002 \ 1.s +60001 \ 1.z +60003 \ 1.z +60002  \ 1.{ +60002 \ 1.q +60002 \ 0.y +60002  \ 1.} +60002 \ 0.x +60002 \ 1.y +60002 \ 1.s +60003 \ 1/z +60002 \ 1.| +60001 \ 1.{ +60003 \ 1. +60002 \ 1/w +60002 \ 1/u +60002 \ 1. +60002 \ 1.{ +60002 \ 0.u +60002 \ 1. +60002 \ 1. +60002 \ 1/{ +60002 \ 0.| +60002 \ 1. +60002 \ 1.} +60002 \ \ 1.{ +60002  \ 1. +60002  \ 1. +60002  \ 1. +60002 \ \ 1.z +60002 \ 1/ +60002 \ 1. +60003 \ 1.| +60001 \ 1.{ +60003 \ 1.z +60002 \ 1.{ +60002 \ 0. +60002 \ 0. +60002 \ 1-| +60002 \ 1.} +60002 \ 1. +60002 \ 1.} +60002 \ 1.~ +60002 \ 1. +60003 \ 1.w +60002 \ 1.z +60002 \ 1. +60002 \ 1.z +60002 \ 1.| +60002 \ 1.~ +60002 \ 1.| +60002 \ 1. +60002 \ 1. +60002 \ 0.v +60002 \ 1.{ +60003 \ 1.| @EDT1687493385.41 \ 1.u +60002 \ 1.} +60002 \ 1.y +60002 \ 1.{ +60002 \ 1/} +60002 \ 1.z +60002 \ 1/t +60002 \ 1/u +60002 \ 1.t +60002 \ 1.} +60002 \ 1.p +60002 \ 1.} +60002 \ 1.| +60002 \ 1.} +60002 \ 1. +60002 \ 1.} +60002 \ 1.u +60003 \ 1.u +60002 \ 1. +60002 \ 1.| +60002 \ 1. +60002 \ 1.{ +60002 \ 2.} +60002 \ 1. +60002 \ 1.| +60002 \ 1.{ +60002 \ 1. +60002 \ 1.u +60002 \ 1.x +60002 \ 1. +60002 \ 0.r +60002 \ 0.} +60003 \ 1.v +60002 \ 1.z +60002 \ 1. +60002 \ 1.t +60002 \ 0.} +60002 \ 1.v +60002 \ 1.s +60002 \ 1.| +60002 \ 1.| +60002 \ 1.w +60002 \ 1.} +60002 \ 0. +60002 \ 1/} +60036 \ 1. +59968 \ 1.w +60003 \ 1.q +60002 \ 1.{ +60002 \ 1.v +60002  \ 1.{ +60002 \ 1.{ +60002 \ 0/v +60002 \ 1.| +60002 \ 1/v +60002 0\ 1. +60002 \ 0.w +60002 \ 1.v +9319 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1687527679.85EDT @1688666426.70EDT = =tMAIN =mMAIN_scheduler @EDT1688666427.48 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +113 #"core_reset"Sent BREAK +2 #t@17370 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +257 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +406 "Can"a\ l + a\ l #tPolling Can every 10:00 +3 #Cleanly exited at 09:41:19EDT23-Jun-23 +3485 #-> ESP.ready! +3 #Powering core bus +551 .Gate.power :raw,:ON +2 "sampler") +53 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'PrimeReagent.rb' + !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +301 #-> exit +6 #mEXIT @1688666568.86EDT @1689100412.56EDT = =tMAIN =mMAIN_scheduler @EDT1689100413.30 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK +2 #t@38815 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +376 "Can"\ :$ + \ :$ + #tPolling Can every 10:00 +2 #Cleanly exited at 14:02:48EDT06-Jul-23 +82 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +6 #mEXIT @1689100423.64EDT @1689953534.76EDT = =tMAIN =mMAIN_scheduler @EDT1689953535.49 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@57848 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +381 "Can" j=y +  j=y + #tPolling Can every 10:00 +2 #Cleanly exited at 14:33:43EDT11-Jul-23 +392 #-> ESP.ready! +3 #Powering core bus +578 .Gate.power :raw,:ON + "sampler") +55 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1689953815.23EDT @1689954208.62EDT = =tMAIN =mMAIN_scheduler @EDT1689954209.31 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@61561 receive with ifg=0x10, ie=0xFD + #@62195 receive with ifg=0x10, ie=0xFD + #@62848 receive with ifg=0x10, ie=0xFD + #@63484 receive with ifg=0x10, ie=0xFD #@64116 receive with ifg=0x10, ie=0xFD + #@64748 receive with ifg=0x10, ie=0xFD + #@65379 receive with ifg=0x10, ie=0xFD #@175 receive with ifg=0x80, ie=0xFD + #@43325 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can" <f' +2  <f' + #tPolling Can every 10:00 +2 #Cleanly exited at 11:36:55EDT21-Jul-23 +45541 #-> exit +5 #mEXIT @1689954672.14EDT @1689955380.00EDT = =mMAIN_scheduler =tMAIN @EDT1689955380.73 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK +2 #t@12761 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +381 "Can" { +  { + #tPolling Can every 10:00 +2 #Cleanly exited at 11:51:12EDT21-Jul-23 +823 #-> ESP.ready! +3 #Powering core bus +550 .Gate.power :raw,:ON +3 "sampler") +53 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +8 #mEXIT @1689955440.62EDT @1690210406.02EDT = =tMAIN =mMAIN_scheduler @EDT1690210406.80 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +115 #"core_reset"Sent BREAK +2 #t@34506 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +261 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +395 "Can"\ b + \ b + #tPolling Can every 10:00 +3 #Cleanly exited at 12:04:00EDT21-Jul-23 +476 #-> ESP.ready! +3 #Powering core bus +547 .Gate.power :raw,:ON +30 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X +60002 \ < B +60002 \ <F+ +60002 !\ <J +60002 (\ <NW +60002 4\ <R +60002 -\ <W +60002 ,\ <[ +60003 (\ ;_ +60001 "\ <cE +60002 \ <g +60003 $\ < k q +60002 !\ ;"o\  +60002 (\ <$s\  +60002 \ ;&w 3 +60002 &\ ;({  +60002 $\ <* _ +17485 #t-> exit +7 #mEXIT @1690223194.32EDT @1690223217.44EDT = =tMAIN =mMAIN_scheduler @EDT1690223218.12 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@32541 receive with ifg=0x10, ie=0xFD #@33174 receive with ifg=0x10, ie=0xFD + #@33829 receive with ifg=0x10, ie=0xFD + #@34462 receive with ifg=0x10, ie=0xFD + #@35096 receive with ifg=0x10, ie=0xFD #@35729 receive with ifg=0x10, ie=0xFD + #@36362 receive with ifg=0x10, ie=0xFD + #@36694 receive with ifg=0x80, ie=0xFD #@24207 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +360 "Can"&\ 9+0 p + &\ 9+0 p + #tPolling Can every 10:00 +3 #Cleanly exited at 14:26:34EDT24-Jul-23 +1402 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h\ \ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ػy\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %څ\ \ F +2 .tSS.configure :default +2 "sampler")#.0X access 5 +2 "storage"(3% +3 "core" %\ \  Y\  +2 "manipulator"&4% +4 "core" %  ~ +2 "manipulator"&5& +3 "core" & R !v +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6(  +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & \ m\ +210 #t-> exit +7 #mEXIT @1690223261.00EDT @1692188335.15EDT = =tMAIN =mMAIN_scheduler @EDT1692188335.89 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@42968 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"*\ b + *\ b + #tPolling Can every 10:00 +2 #Cleanly exited at 14:27:40EDT24-Jul-23 +12690 #-> ESP.ready! +3 #Powering core bus +556 .Gate.power :raw,:ON +2 "sampler") +29 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(1% +3 "core" %\ \  \  +2 "manipulator"&2% +4 "core" %   N  + "manipulator"&3& +4 "core" &\ ) _ S +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(4(K +658 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &K p\  +6561 #t-> require 'shuffle.rb' +1064 #-> 2.times {shuffle 2..3} +5 #Shuffling pucks in tube 2 of [2..3] +3 #Loading generic puck from tube 2 into Collection Clamp +5 "collection"'6& +5 "core" &\ \ \  +2 .tHand.open +2 "manipulator"&71 +57 "core" 1 +2 "manipulator"&8% +4 "core" %   _  +2 "storage"(9% +4 "core" %\ \  \  +2 "storage"(:. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(;(  +1311 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &  \ +2 "manipulator"&=& +3 "core" &\ w S +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&>( +2 "core" ( +2 "manipulator"&?& +3 "core" &\ & m S +2 "storage"(@& +4 "core" &  \ +3 .tForearm.seek 2 + 450 counts + "manipulator"&A'S +97 "core" ' +2 "storage"(B& +3 "core" &  i\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +287 "core" ' +2 "storage"(D- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &  \ +2 "manipulator"&F& +3 "core" & X B +3 .tElbow.seek 2 + "manipulator"&G( +10 "core" ( +2 "manipulator"&H& +3 "core" &  b  +2 "storage"(I& +4 "core" &  \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&J'Ͻ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[4B:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #1 of 3 + "manipulator"&L/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[4C:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #2 of 3 + "manipulator"&M/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4C:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[4D:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #3 of 3 + "manipulator"&N/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4D:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +706 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +1509 #-> Thread.resume + #Resuming after Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[4E:->26] at 08:24:02 +2 .Hand.close +2 "manipulator"&O/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[4F:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #1 of 3 + "manipulator"&P/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4F:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +561 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Arm.home +3 "manipulator"&Q& +3 "core" & + 8 +3 "manipulator"&R% +3 "core" %   +516 #t-> Hand.open + .Hand.open +2 "manipulator"&S1 +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[50:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +29 1 +503 #t-> Arm.home +3 "manipulator"&T& +3 "core" &  8 +2 "manipulator"&U% +5 "core" %  Q +561 #t-> Arm.PC + "manipulator"&V& +3 "core" &  8 +2 "manipulator"&W% +4 "core" %  ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&X' +140 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.home.seek :PC +2 "manipulator"&Y( +347 "core" ( +2 "manipulator"&Z& +4 "core" & ! 1 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" & 5 +3 .tForearm.seek PC + "manipulator"&\\' +97 "core" ' + "manipulator"&]& +3 "core" &W # u +2 "manipulator"&^% +4 "core" % # U +23284 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :home + "storage"(_' +294 "core" ' +2 "storage"(`% +3 "core" % \ +421 #t-> access 2 +2 "storage"(a% +3 "core" % \ +2 .tSE.seek :down +2 "storage"(b' +35 "core" ' +2 "manipulator"&c% +3 "core" %  M +3 "manipulator"&d% +3 "core" %  P +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' + .tElbow.seek :clear +2 "manipulator"&f(d +197 "core" ( + "manipulator"&g% +3 "core" %   W  +3 "manipulator"&h& +3 "core" &d   "~ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(i(K +480 "Can"&\ lwh +821 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" &K 3\  +1428 #t-> 2.times {shuffle 2..3} + #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'k& +3 "core" &\ \ 6\  +2 "manipulator"&l% +3 "core" %   *  +3 "storage"(m% +4 "core" %\ \  o\  + "storage"(n. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(o(  +1310 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +3 "core" &  G\ +2 "manipulator"&q& +4 "core" &d  N "~ +2 "manipulator"&r% +3 "core" %   9  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&s( +97 "core" ( +2 "manipulator"&t& +3 "core" & " D !w +2 "storage"(u& +3 "core" & \ 2\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'S +97 "core" ' +2 "storage"(w& +4 "core" &  s\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +289 "core" ' +3 "storage"(y- +4 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &  \ +2 "manipulator"&{& +4 "core" &  X g +2 .tElbow.seek 2 +2 "manipulator"&|( +14 "core" ( + "manipulator"&}& +4 "core" & ( \  +2 "storage"(~& +3 "core" &  |\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[01:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #1 of 3 + "manipulator"&/ +7 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[01:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[02:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #2 of 3 +2 "manipulator"&/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[02:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +377 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):12:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Hand.open +2 .Hand.open + "manipulator"&1 +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[03:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +34 1 +561 #t-> Arm.PC + "manipulator"&& +3 "core" & \  Q = +2 "manipulator"&% +3 "core" % \  _ +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek :PC + "manipulator"& ( +247 "core" ( + "manipulator"&\ & +4 "core" &  K  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &    +3 .tForearm.seek PC + "manipulator"& ' +97 "core" ' +2 "manipulator"&& +4 "core" &4 5  +2 "manipulator"&% +4 "core" %  X % +385 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :home + "storage"(' +295 "core" ' +2 "storage"(% +46 "core" % {\ +520 #t-> access 2 +3 "storage"(% +3 "core" % \ +2 .tSE.seek :down +2 "storage"( ' +40 "core" ' + "manipulator"&% +4 "core" % "  % +2 "manipulator"&% +3 "core" % ! c % +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek :clear +2 "manipulator"&(d +195 "core" ( +2 "manipulator"&% +4 "core" %  ( 1  +2 "manipulator"& & +4 "core" &d  # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +1307 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K \  +991 #t-> Flush +312 #-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'"& +3 "core" &\ \ '\  +2 "manipulator"&#& +3 "core" &d  > # +2 "manipulator"&$% +4 "core" %   n  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +122 "core" ( +2 "manipulator"&&& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &-  /  +2 .tForearm.seek :garage +2 "manipulator"&('w +94 "core" ' +2 .tHand.close + "manipulator"&)/ +53 "core" / +2 "manipulator"&*& +3 "core" &- \ + q R +2 "manipulator"&+% +4 "core" % ϊ  = +2 .tForearm.seek :retract +2 "manipulator"&,' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-(ӂ +269 "core" ( +2 "manipulator"&.& +3 "core" &ӈ) 2 ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӈ* S ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'? +105 "core" ' +2 "manipulator"&1& +3 "core" &ӑ(   >J +2 "manipulator"&2% +3 "core" %Gv   x +4 "collection"'3& +4 "core" &\ \ \  +2 "collection"'& +5 "core" &\ \ \  +2 .tCC.seek :closed +2 "collection"'5(\\ +5 "core" &\ \ \  +6 &N\ \ \ %i +10 &sV\ \ \ 9 +9 &\ \ \ N +9 &_\ \ \ O +10 &J_\ \ 7\ O +9 & _\ \ ,\ O +9 &_\ \ \ O +10 &^\ \ 4\ O +9 &Re\ \ \ O +9 &_\ \ 4\ N +10 &_\ \ 9\ N +9 &!`\ \ i\ O +10 &#Z_\ \ \ O +9 &%a\ \ \ O +9 &&e\ \ 9\ O +10 &(b\ \ 0\ O +9 &*ce\ \ .\ O +9 &,&`\ \ (\ N +10 &-`\ \ 7\ O +9 &/`\ \ =\ N +10 &1k`\ \ c\ O +9 &3.c\ \ O\ N +9 &4c\ \ 0\ O +10 &6g\ \ j\ O +9 &8s_\ \ 5\ O +9 &:4b\ \ )\ O +10 &;e\ \ =\ O +9 &=c\ \ :\ N +10 &?|b\ \ <\ N +9 &A>a\ \ d\ N +9 &Bf\ \ /\ O +10 &Dc\ \ :\ O +9 &Fi\ \ _\ O +10 &H;|\ \ /\ R +9 &I\ \ !2\ V +9 &K\ \ "=\ Y +10 &Ml\ \ !8\ Y +9 &O-\ \ ">\ Z +9 &P\ \ C\ Y +10 &R\ \ #\ Z +9 &Tp\ \ !\ [ +10 &V+\ !\ #\ ] +9 &W\ !\ !\ ] +9 &Y\ \ #\ ] +10 &[m\ "\ !\ N +9 &\\?\ \ $\ - +9 &\\s\ \ #\ K +6 ( + "collection"'& +4 "core" &\\r\ \ $\ K +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 1.87 +2 "collection"'6& +3 "core" &\\q\ !\ #\ K +2 .tHand.open +2 "manipulator"&71 +61 "core" 1 +2 "manipulator"&8% +3 "core" % @{   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' +361 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp + "processing"%:& +3 "core" &\  +2 "manipulator"&4& +3 "core" &Ӕ'  4 =G +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&<(ӂ +19 "core" ( +3 "manipulator"&=& +3 "core" &Ӎ 1 - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &Ӎ  s - +2 .tForearm.seek CC +2 "manipulator"&@'? +107 "core" ' + .tHand.close +2 "manipulator"&B/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "manipulator"&& +4 "core" &Ӎ - +2 "manipulator"&D% +3 "core" % S +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&E( +351 "core" ( + "manipulator"&F& +4 "core" & Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&I' +96 "core" ' +2 "manipulator"&>& +3 "core" &A ) 2 m +2 "manipulator"&A% +4 "core" %   S +2 "processing"%K& +3 "core" &\  +3 "processing"%L& +5 "core" &\  +2 .tPC.seek :closed +43 "processing"%M(^ +11 "core" &\  + &\  + &\  + &\  + &\  + &\  +4 & \ > +7 &H\ 2 +9 &Mt\ F +10 &l\ O +9 &`\ N +10 &w]\ O +9 &:c\ N +9 &`\ N +10 &c\ O +9 &c\ N +9 &Be\ N +10 &!_\ N +9 &"_\ N +10 &$_\ N +9 &&Jb\ N +9 &( _\ N +10 &)_\ N +9 &+b\ N +9 &-Qa\ O +10 &/b\ N +9 &0c\ O +10 &2c\ O +9 &4Z\\\ N +9 &6b\ N +10 &7b\ N +9 &9c\ N +9 &;b^\ N +10 &=$_\ N +9 &>_\ N +10 &@a\ N +9 &Bhb\ O +9 &D*`\ O +10 &Ef\ O +9 &Gr\ Q +9 &Ic\ T +10 &K#\ T +9 &L\ T +9 &N\ T +10 &Pg\ U +9 &R)\ U +10 &S\ U +9 &U\ U +9 &Wn\ U +10 &Y/\ U +9 &Z\ U +9 &\\\ U +10 &^2cv\ - +9 &^r\ ; +9 ( +2 &^+\ 3 +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.40 + "processing"%N& +3 "core" &^+\ 3 +2 .tHand.open +2 "manipulator"&O1 +59 "core" 1 +2 "manipulator"&P% +3 "core" % ' * T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 "collection"'R& +5 "core" &\ \ \ +416 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&S& +3 "core" &A  [ m +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&T( +33 "core" ( + "manipulator"&U& +4 "core" & ! t [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &  G [ +3 .tForearm.seek PC + "manipulator"&W' +100 "core" ' + .tHand.close +2 "manipulator"&J/ +61 "core" / +2 .tPC.seek :open + "processing"%G( +459 "core" ( + "manipulator"&Z& +4 "core" &; # 6  +2 "manipulator"&[% +3 "core" %  3  +3 .tForearm.seek :retract + "manipulator"&]' +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&^(- +123 "core" ( + "manipulator"&X& +3 "core" &-  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&C'w +106 "core" ' +2 .tHand.open + "manipulator"&a1 +57 "core" 1 + "manipulator"&c% +4 "core" % \\  \ 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +126 "core" ' +401 #t-> Hand.close +2 .Hand.close + "manipulator"&_/ +57 "core" / +249 #t-> Hand.open +2 .Hand.open + "manipulator"&g1 +60 "core" 1 +166 #t-> Hand.close +2 .Hand.close + "manipulator"&h/ +56 "core" / +101 #t-> Hand.open + .Hand.open +2 "manipulator"&\\1 +59 "core" 1 +101 #t-> Hand.close +2 .Hand.close + "manipulator"&Y/ +58 "core" / +114 #t-> Hand.open +2 .Hand.open +2 "manipulator"&;1 +57 "core" 1 +98 #t-> Hand.close + .Hand.close +2 "manipulator"&j/ +62 "core" / +148 #t-> Hand.open +2 .Hand.open + "manipulator"&k1 +61 "core" 1 +93 #t-> Hand.close +2 .Hand.close + "manipulator"&l/ +54 "core" / +96 #t-> Hand.open +2 .Hand.open + "manipulator"&m1 +64 "core" 1 +138 #t-> Hand.close +2 .Hand.close +2 "manipulator"&n/ +58 "core" / +104 #t-> Hand.open +2 .Hand.open + "manipulator"&i1 +55 "core" 1 +96 #t-> Hand.close +2 .Hand.close + "manipulator"&p/ +64 "core" / +168 #t-> Hand.open +3 .Hand.open + "manipulator"&q1 +53 "core" 1 +1233 #t-> 2.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'r& +3 "core" &\ \ -\ +2 "manipulator"&t% +4 "core" %   +2 "storage"(u% +3 "core" % U\ 9 +2 "storage"(w. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(f(  +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" &  \ +2 "manipulator"&y& +3 "core" &- -  +2 "manipulator"&b% +5 "core" % \    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&z( +166 "core" ( +2 "manipulator"&{& +3 "core" & , ; e +2 "storage"(}& +3 "core" &  n\ +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&~'S +90 "core" ' +2 "storage"(s& +3 "core" &  n\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +285 "core" ' + "storage"(- +4 "core" -'" +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  \ +2 "manipulator"&& +5 "core" &  a +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & * = a +3 "storage"(& +4 "core" &  J\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[0A:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #1 of 3 + "manipulator"&/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[0A:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +308 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):35:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Hand.open +4 .Hand.open + "manipulator"&|1 +2 "core" / +31 1 +995 #t-> Arm.PC +2 "manipulator"&& +3 "core" &   g +2 "manipulator"&% +3 "core" %  > +3 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek :PC +2 "manipulator"&( +246 "core" ( +2 "manipulator"&x& +3 "core" & ( 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 8 +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&& +3 "core" &3 2 V  +3 "manipulator"&% +4 "core" % ! Q + +1259 #t-> SE.home.to :home +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :home +2 "storage"(' +297 "core" ' +2 "storage"( % +3 "core" % Y\ +441 #t-> access 2 +2 "storage"( % +3 "core" % \ +3 .tSE.seek :down + "storage"( ' +33 "core" ' + "manipulator"&o% +4 "core" % ! R , +2 "manipulator"&% +3 "core" % ! R , +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&#(d +188 "core" ( +2 "manipulator"&$% +3 "core" %  , G  +2 "manipulator"&&& +5 "core" &d  * J +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"('(K +1304 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &K \  +1352 #t-> access 3 + "storage"(*% +4 "core" %\  \ - +2 "manipulator"&+% +3 "core" %    +2 "manipulator"&& +3 "core" &d d J +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &[ \  +279 #t-> access 4 + "storage"(.% +4 "core" %\  n\ - +2 "manipulator"&/% +3 "core" %    +2 "manipulator"&%& +4 "core" &d  J +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(1(C +1930 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &D d\ +1888 #t-> 2.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'3& +3 "core" &\ \ C\ +2 "manipulator"&,% +3 "core" %   +2 "storage"( % +3 "core" % 3\ , +2 "storage"(6. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(7( +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & \  +2 "manipulator"&& +4 "core" &d " J +2 "manipulator"&0% +3 "core" %   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&:( +108 "core" ( + "manipulator"&4& +5 "core" & ( J ( +2 "storage"(=& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&?'7 +90 "core" ' +44 "storage"(B& +7 "core" & y\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +289 "core" ' + "storage"(9- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (5& +2 "core" & 4\  +3 "manipulator"&& +4 "core" & \ * j +2 .tElbow.seek 3 +2 "manipulator"&D( +28 "core" ( +2 "manipulator"&@& +3 "core" & 9  +2 "storage"(<& +4 "core" & W\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϡ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&H/ +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[48:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 + #Retry #1 of 3 +2 "manipulator"&>/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[48:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[3E:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #2 of 3 +2 "manipulator"&A/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[3E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[41:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #3 of 3 + "manipulator"&K/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[41:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +706 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):42:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +6791 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1692189420.01EDT @1692190540.66EDT = =tMAIN =mMAIN_scheduler @EDT1692190541.34 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK + #t@40825 receive with ifg=0x10, ie=0xFD + #@41153 receive with ifg=0x80, ie=0xFD + #@7679 idle with ifg=0x84, ie=0x75 + #@8355 select with ifg=0x10, ie=0xF5 + #@9002 receive with ifg=0x10, ie=0xFD #@9650 receive with ifg=0x10, ie=0xFD + #@10297 receive with ifg=0x10, ie=0xFD #@10624 receive with ifg=0x80, ie=0xFD + #@20067 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"\ ?  + \ ?  + #tPolling Can every 10:00 +2 #Cleanly exited at 08:36:59EDT16-Aug-23 +679 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h\ \ Q\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڃ\ \ \ R +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +2025 #-> 2.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'3& +3 "core" &\ \ \ +2 .tHand.open +2 "manipulator"&41 +60 "core" 1 + "manipulator"&5% +3 "core" % % +3 .tForearm.seek :retract + "manipulator"&6' +88 "core" ' +2 "storage"(7% +3 "core" %& ;\ +3 .tSE.seek :down +2 "storage"(8' +257 "core" ' +2 "storage"(9. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(:( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" & $\  +2 "manipulator"&<& +3 "core" &$ v  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&=( +35 "core" ( +3 "manipulator"&>& +3 "core" & q  +3 "storage"(?& +3 "core" & _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@'7 +95 "core" ' +2 "storage"(A& +4 "core" &\ \  Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +242 "core" '\ t +4 ' *\ u +2 !to:Slide::Error\ : mesg"HForearm positionErr at PC + 525 counts during Storage Elevator move: @replyo:I2C::Servo::AbsMove3Reply : @error:positionErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni\ : velocityit: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.382949435444282|: @type2F: @tagiE:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down +2 "storage"(C' +249 "core" ' + "storage"(D& +4 "core" &\ 1\ + U\  +2 "manipulator"&E& +4 "core" &  +3 .tElbow.seek 3 + "manipulator"&F( +4 "core" ( +2 "manipulator"&G& +3 "core" &  +3 "storage"(H& +3 "core" &\ \  U\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&I'7 +28 "core" ' + "storage"(J& +4 "core" &\ \  Y\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'r +243 "core" '  p +2 ' }\ w +3 !to:Slide::Error\ : mesg"HForearm positionErr at PC + 526 counts during Storage Elevator move: @replyo:I2C::Servo::AbsMove3Reply : @error:positionErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressip : voltagef12.382949435444282|: @type2F: @tagiN:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #2 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down +2 "storage"(L' +249 "core" ' +2 "storage"(M& +3 "core" &\ \ , ,\  +2 "manipulator"&N& +4 "core" &| z  +3 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&P& +3 "core" &| 4  +2 "storage"(Q& +5 "core" &\ \  T\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +30 "core" ' + "storage"(S& +5 "core" &\ \  3\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +243 "core" 'Ѷ7 +3 ' T\ q +2 !to:Slide::Error\ : mesg"HForearm positionErr at PC + 441 counts during Storage Elevator move: @replyo:I2C::Servo::AbsMove3Reply : @error:positionErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi7: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.387858615611194 8: @type2F: @tagiW:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #3 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down +2 "storage"(U' +254 "core" ' + "storage"(V& +4 "core" &\ 4\ 6 \  +2 "manipulator"&W& +5 "core" &}  +2 .tElbow.seek 3 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&Y& +5 "core" &} #  +2 "storage"(Z& +3 "core" &\ $\ " x\  +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&['7 +24 "core" ' +2 "storage"(\\& +3 "core" &\ \ $ \  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'r +274 "core" 'i % +3 ' \  Q\ f +3 !to:Slide::Error\ : mesg";Forearm positionErr at PC during Storage Elevator move: @replyo:I2C::Servo::AbsMove3Reply : @error:positionErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionii: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi% : voltagef12.382949435444282|: @type2F: @tagi`:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #4 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down +2 "storage"(^' +251 "core" ' + "storage"(_& +4 "core" &\ 1\ , \  +2 "manipulator"&`& +4 "core" &{  +3 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&b& +5 "core" &{  + "storage"(c& +5 "core" &\ \  _\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +25 "core" ' +2 "storage"(e& +4 "core" &\ \  S\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'r +37 .tSE.hold +2 "storage"(g+ +3 "core" '9 z\ +12 + +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek :down +2 "storage"(h' +57 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&i% +4 "core" %1 @ M +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' +86 "core" ' +2 !to:IRB::Abort: mesg"0Storage Elevator seek to beamBreak Aborted!:@checkpoint: omitted:bt[!"7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:85:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):3:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Hand +364 #-> Hand.close + .Hand.close +2 "manipulator"&k/ +64 "core" / +1307 #t-> Hand.open +2 .Hand.open +2 "manipulator"&l1 +52 "core" 1 +486 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&m' +69 "core" ' +2 ."closeHand"Hand.close +4 .tElbow.jog 1500 + "manipulator"&n/ +2 &o* +47 "core" * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.home.seek :clear +2 "manipulator"&p(d +7 "core" / +431 ( +2 "manipulator"&q& +3 "core" &d & ~ & +2 "manipulator"&r% +4 "core" %     +719 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%s& +3 "core" &\ +2 .tHand.open + "manipulator"&t1 +54 "core" 1 +2 "manipulator"&u& +4 "core" &d % V & + "manipulator"&v% +4 "core" %  x  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&w(- +132 "core" ( + "manipulator"&x& +3 "core" &- @ Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &- , Z +2 .tForearm.seek :garage +2 "manipulator"&z'w +102 "core" ' + .tHand.close +2 "manipulator"&{/ +56 "core" / +2 "manipulator"&|& +3 "core" &,  ' +2 "manipulator"&}% +3 "core" % ϋ X +3 .tForearm.seek :retract + "manipulator"&~' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +133 "core" ( + "manipulator"&& +3 "core" & X 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"&& +3 "core" &5 ' D  +2 "manipulator"&% +4 "core" % N I +2 "processing"%& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\ +7 & 1\ #a +9 &S\ 7 +10 &~\ L +9 &b\ O +9 &Nc\ N +10 &c\ O +9 &c\ N +9 &]\ N +10 &Uc\ O +9 &`\ N +9 &^\ N +10 &!^\ O +9 &#^`\ N +10 &% _\ N +9 &&`\ N +9 &(c\ N +10 &*ec\ O +9 &,(`\ N +9 &-_\ N +10 &/]\ O +9 &1nb\ N +10 &30_\ N +9 &4_\ N +9 &6b\ N +10 &8v`\ N +9 &:9`\ N +9 &;`\ N +10 &=_\ N +9 &?~a\ N +10 &AA_\ N +9 &Cb\ O +9 &Dc\ O +10 &Fj\ O +9 &H@z\ Q +9 &I\ T +10 &K\ T +9 &M~\ T +10 &OA\ S +9 &Q\ S +9 &R\ T +10 &T\ U +9 &VE\ U +10 &X\ U +9 &Y\ U +9 &[\ U +10 &]K\ I +9 &^zL\ ` +9 &^3\ 1 +6 ( + "processing"% & +4 "core" &^)\ 1 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.42 +2 "processing"% & +3 "core" &^)\ 1 +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" % % ` P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +571 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'& +3 "core" &\ \ n\ +40 "manipulator"&& +10 "core" &5 V  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +19 "core" ( +2 "manipulator"&& +3 "core" & % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & } +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +457 "core" ( +2 "manipulator"&& +3 "core" &[  +2 "manipulator"&% +4 "core" % \ | +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"& (ӂ +345 "core" ( +2 "manipulator"&!& +3 "core" &ӂ* ' @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &ӂ* @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'? +110 "core" ' +2 "manipulator"&$& +3 "core" &ӎ( s >O +3 "manipulator"&%% +4 "core" %Gg x X +2 "collection"'&& +3 "core" &\ \ \ +3 "collection"''& +5 "core" &\ \ R\ +2 .tCC.seek :closed +2 "collection"'((\\ +5 "core" &\ \ T\ +6 &4\ \ N\ $d +9 &U\ \ Y\ 8 +10 &\ \ T\ L +9 &`\ \ Q\ O +9 &`_\ \ M\ N +10 &!b\ \ M\ O +9 &a\ \ E\ O +10 &\\\ \ K\ N +9 &h`\ \ O\ N +9 &*c\ \ L\ N +10 &b\ \ M\ N +9 &!`\ \ J\ O +10 &#o`\ \ K\ O +9 &%1b\ \ K\ O +9 &&_\ \ H\ N +10 &(\\\ \ P\ N +9 &*x`\ \ >\ N +9 &,9_\ \ 8\ O +10 &-^\ \ J\ N +9 &/^\ \ K\ O +9 &1c\ \ F\ N +10 &3A\\\ \ K\ O +9 &5e\ \ E\ O +10 &6e\ \ C\ O +9 &8]\ \ B\ N +9 &:Ib\ \ L\ O +10 &< b\ \ D\ N +9 &=b\ \ J\ O +9 &?e\ \ L\ O +10 &AQc\ \ D\ O +9 &C_\ \ J\ N +10 &Dc\ \ D\ O +9 &Fi\ \ D\ P +9 &HPz\ \ H\ R +10 &J\ \ J\ U +9 &K\ \ K\ Y +10 &M\ \ F\ Y +9 &OB\ \ =\ Y +9 &Q\ \ A\ Y +10 &R\ \ D\ Z +9 &T\ \ ?\ [ +9 &V?\ \ I\ ] +10 &W\ \ B\ ^ +9 &Y\ \ G\ ] +10 &[\ \ H\ J +9 &\\;\ \ K\ , +9 &\\r\ \ ?\ L +2 ( +2 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 1.86 +2 "collection"')& +2 "core" &\\r\ \ I\ L +2 .tHand.open +2 "manipulator"&*1 +57 "core" 1 +3 "manipulator"&+% +4 "core" % 8r  g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +97 "core" ' +2 "processing"%-& +3 "core" &\ +384 #t-> Flus.garage +3 !o:NameError: mesg" uninitialized constant Flus: name: Flus:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +438 #-> Flush.garage + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&.& +3 "core" &ӏ( \  . >N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +19 "core" ( +2 "manipulator"&0& +4 "core" &Ӌ ' 4 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &Ӌ 1 +2 .tForearm.seek CC +2 "manipulator"&2'? +104 "core" ' +2 .tHand.close + "manipulator"&3/ +60 "core" / +2 .tCC.seek :open +2 "collection"'4( +450 "core" ( +2 "manipulator"&5& +4 "core" &Ӌ . x 1 +2 "manipulator"&7% +4 "core" % S +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&9(- +280 "core" ( +2 "manipulator"&;& +4 "core" &- ] N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &- N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +111 "core" ' +3 .tHand.open +2 "manipulator"&>1 +58 "core" 1 +2 "manipulator"&?% +4 "core" % Q   7  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +98 "core" ' +250 #t-> access 3 +2 "storage"(% +3 "core" %\ &\ % C\  +2 "manipulator"&% +3 "core" %  +2 "manipulator"&6& +4 "core" &- }  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(@([ +1292 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (8& +2 "core" &[ \  +34505 "Can" \ : ,h +60002 \ :3h +60002 \ :h +48961 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +8 #mEXIT @1692192837.56EDT @1692196089.26EDT = =tMAIN =mMAIN_scheduler @EDT1692196089.94 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@23443 receive with ifg=0x10, ie=0xFD #@24087 receive with ifg=0x10, ie=0xFD + #@24743 receive with ifg=0x10, ie=0xFD + #@25388 receive with ifg=0x10, ie=0xFD + #@26035 receive with ifg=0x10, ie=0xFD #@26683 receive with ifg=0x10, ie=0xFD + #@27329 receive with ifg=0x10, ie=0xFD + #@27656 receive with ifg=0x80, ie=0xFD #@61042 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +361 "Can""\ 8r + "\ 8r + #tPolling Can every 10:00 +2 #Cleanly exited at 09:33:57EDT16-Aug-23 +552 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h\ \ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ~\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڃ\ \ R +2 .tSS.configure :default +2 "sampler")#.0X Arm + "manipulator"&2& +4 "core" &-   +2 "manipulator"&3% +3 "core" % $  +384 #t-> Hand +778 #-> exit +6 #mEXIT @1692196123.30EDT @1692196144.39EDT = =tMAIN =mMAIN_scheduler @EDT1692196145.07 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +104 #"core_reset"Sent BREAK + #t@22650 receive with ifg=0x10, ie=0xFD + #@23287 receive with ifg=0x10, ie=0xFD + #@23943 receive with ifg=0x10, ie=0xFD + #@24580 receive with ifg=0x10, ie=0xFD + #@25227 receive with ifg=0x10, ie=0xFD #@25874 receive with ifg=0x10, ie=0xFD + #@26520 receive with ifg=0x10, ie=0xFD #@26847 receive with ifg=0x80, ie=0xFD + #@10115 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 "Can"\ By + \ By + #tPolling Can every 10:00 +655 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %h\ \ r\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڃ\ \ \ R +2 .tSS.configure :default +2 "sampler")#.0X Hand +293 #-> Hand.open +2 .Hand.open + "manipulator"&21 +21 "core" 1 +344 #t-> Hand.close +2 .Hand.close + "manipulator"&3/ +53 "core" / +337 #t-> Hand.open + .Hand.open +2 "manipulator"&41 +60 "core" 1 +408 #t-> Flush.CC +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'5& +3 "core" &\ \ \ |\ +2 "manipulator"&6& +3 "core" &-   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(- +37 "core" ( +29 "manipulator"&8& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +4 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&:'w +104 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 "manipulator"&<& +3 "core" &-\  S +2 "manipulator"&=% +3 "core" % φt G $ +3 .tForearm.seek :retract +2 "manipulator"&>' +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&?(ӂ +275 "core" ( +2 "manipulator"&@& +3 "core" &Ӈ) % ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &Ӈ) F ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&B'? +108 "core" ' + "manipulator"&C& +3 "core" &Ӈ* 0  ?R +3 "manipulator"&D% +3 "core" %Gm % k +2 "collection"'E& +4 "core" &\ \ b\ +2 "collection"'F& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" &\ \ \ \ +9 &.z\ \ \ +z +9 &c\ \ \ ? +9 &jx\ \ \ O +10 &+\\\ \ \ O +9 &_\ \ p\ O +9 &`\ \ m\ O +10 &s]\ \ \ N +9 &4_\ \ \ \ O +10 &`\ \ \ \ O +9 &_\ \ \ O +9 & zb\ \ \ O +10 &"<`\ \ \ O +9 &#_\ \ \ N +9 &%`\ \ \ O +10 &'`\ \ \ \ O +9 &)D\\\ \ \ O +10 &+b\ \ \ O +9 &,d\ \ \ O +9 &._\ \ \ \ O +10 &0Lb\ \ \ \ O +9 &2a\ \ \ \ N +9 &3`\ \ \ N +10 &5c\ \ \ \ O +9 &7Ub\ \ \ \ N +10 &9_\ \ \ \ O +9 &:e\ \ \ O +9 &<c\ \ \ O +10 &>]`\ \ \ \ N +9 &@a\ \ \ N +9 &A_\ \ \ \ O +10 &C_\ \ \ \ N +9 &Ebe\ \ \ \ O +10 &G"k\ \ \ \ P +9 &H~\ \ \ \ R +9 &J\ \ \ W +10 &LP\ \ \ X +9 &N\ \ \ X +9 &O\ \ \ Y +10 &Q\ \ \ Y +9 &SR\ \ \ Z +10 &U\ \ \ Z +9 &V\ \ \ ] +9 &X\ \ \ ^ +10 &ZT\ \ \ \\ +9 &[y\ \ \ B +9 &\\&\ \ \ %n +10 &\\v\ \ \ P +2 ( +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 1.91 +2 "collection"'H& +3 "core" &\\u\ \ \ P +2 .tHand.open + "manipulator"&I1 +54 "core" 1 +2 "manipulator"&J% +3 "core" % =s u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' +449 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%L& +3 "core" &|\ +2 "manipulator"&M& +3 "core" &Ӑ( \ >I +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +18 "core" ( + "manipulator"&O& +3 "core" &Ӌ n 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &Ӌ  0 +2 .tForearm.seek CC +2 "manipulator"&Q'? +105 "core" ' +2 .tHand.close + "manipulator"&R/ +63 "core" / +2 .tCC.seek :open + "collection"'S( +451 "core" ( +2 "manipulator"&T& +4 "core" &Ӌ _ 0 +2 "manipulator"&U% +3 "core" % Q +3 .tForearm.seek :retract + "manipulator"&V' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&W( +347 "core" ( +2 "manipulator"&X& +3 "core" & ;  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" & T  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +96 "core" ' +2 "manipulator"&[& +4 "core" &7 % t +2 "manipulator"&\\% +3 "core" %  M +2 "processing"%]& +4 "core" &z\ +3 "processing"%^& +46 "core" &w\ +2 .tPC.seek :closed +2 "processing"%_(^ +4 "core" &y\  +9 &1s\ *x +9 &am\ > +10 &kx\ O +9 &-_x\ N +10 &_l\ N +9 &al\ N +9 &rcr\ O +10 &4am\ O +9 &el\ O +10 &al\ O +9 & z^r\ O +9 &"=`x\ N +10 &#^x\ O +9 &%cu\ O +9 &'ax\ O +10 &)D_y\ O +9 &+_e\ O +10 &,\\q\ O +9 &.^o\ O +9 &0L]q\ O +10 &2_|\ O +9 &3_z\ O +9 &5ex\ O +10 &7T`l\ O +9 &9bu\ O +9 &:_s\ N +10 &<bc\ N +9 &>]\\n\ N +10 &@`x\ O +9 &Abp\ O +9 &Cal\ O +10 &Eceu\ O +9 &G"rx\ P +9 &Hv\ R +10 &Jp\ T +9 &L]w\ T +10 &Nu\ T +9 &Ox\ T +9 &Qn\ T +10 &Scs\ T +9 &U$u\ U +9 &Vx\ U +10 &Xz\ T +9 &Zjv\ U +10 &\\+x\ U +9 &]}{s\ < +9 &^*yx\ S +10 &^(v\ 0 +2 ( +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.42 +2 "processing"%`& +3 "core" &^%{\ 0 +2 .tHand.open + "manipulator"&a1 +52 "core" 1 +2 "manipulator"&b% +3 "core" %  P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' +2 "collection"'d& +4 "core" &\ \ \ +458 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&e& +3 "core" &7  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&f( +20 "core" ( +2 "manipulator"&g& +3 "core" &  I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &  +3 .tForearm.seek PC + "manipulator"&i' +99 "core" ' + .tHand.close +2 "manipulator"&j/ +58 "core" / + .tPC.seek :open +2 "processing"%k( +456 "core" ( +80 "manipulator"&l& +3 "core" &b 0  +2 "manipulator"&m% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&n' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(- +121 "core" ( +2 "manipulator"&p& +3 "core" &- % f e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &-  e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +108 "core" ' +2 .tHand.open + "manipulator"&s1 +65 "core" 1 +2 "manipulator"&t% +3 "core" % πE   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +106 "core" ' +7578 #t-> access 5 +2 "storage"(v% +3 "core" % \  +2 "manipulator"&w% +3 "core" %  \  +3 "manipulator"&x& +3 "core" &-\  Y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(y(  +1617 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" & R\ +403 #t-> access 4 +2 "storage"({% +3 "core" %\ \  \  +2 "manipulator"&|% +3 "core" %  D  +2 "manipulator"&}& +3 "core" &-\ | Y +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(~(C +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &E 7\ +499 #t-> access 6 +3 "storage"(% +3 "core" %\ \  V\  +2 "manipulator"&% +4 "core" %    +2 "manipulator"&& +3 "core" &-\  Y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & 5\  +952 #t-> Arm.home +2 "manipulator"&& +3 "core" &-\  Y +2 "manipulator"& % +4 "core" %    +635 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"& ' +75 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 + "manipulator"& / +2 &* +48 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" / + .tElbow.home.seek :clear +3 "manipulator"&(d +317 "core" ( +2 "manipulator"&& +3 "core" &d { ( +2 "manipulator"&% +4 "core" %   O +524 #t-> Hand.open +2 .Hand.open + "manipulator"&1 +64 "core" 1 +1183 #t-> SE.to 0 +3 .SE.seek :"Top Plate" + "storage"(' +269 "core" '\ \ e +3 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi\ : outPressi :deltaPressi : voltagef13.227328424153168`: @type2F: @tagi: mesg".Storage Elevator overCurrent at Top Plate:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:402:in `to'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +3405 #-> SE.to home +2 .SE.seek :home +36 "storage"(' +276 "core" ' +2 "storage"(% +3 "core" % \ +494 #t-> access 4 + "storage"(% +4 "core" % i\ +2 .tSE.seek :down +2 "storage"(' +39 "core" ' +2 "manipulator"&% +3 "core" %   O +2 "manipulator"&& +4 "core" &d  ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +679 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &A \ +607 #t-> access 5 +2 "storage"(% +3 "core" %\ \ 6 +2 "manipulator"& % +4 "core" %   O +2 "manipulator"&!& +3 "core" &d  ( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"("(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" & Y\  +328 #t-> access 3 + "storage"($% +4 "core" %\ \ 6 +2 "manipulator"&%% +4 "core" %   O + "manipulator"&&& +4 "core" &d  ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"('([ +1610 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &[ \  +16855 #t-> access 2 +2 "storage"()% +3 "core" %\ \  \ 5 +2 "manipulator"&*% +3 "core" %   O +2 "manipulator"&+& +3 "core" &d  ( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(,(K +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &K \ +1397 #t-> require 'shuffle.rb' +1071 #-> 2.times {shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'.& +3 "core" &\ \ \ +2 "manipulator"&/% +3 "core" %  # O +2 "storage"(0% +4 "core" %\  ^\ 5 +2 "storage"(1. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(2(  +1288 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" &  1\ +2 "manipulator"&4& +4 "core" &d K ( +2 "manipulator"&5% +3 "core" %  W O +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&6( +113 "core" ( +2 "manipulator"&8& +3 "core" & }  +2 "storage"(9& +4 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&;'S +90 "core" ' + "storage"(<& +4 "core" &  \ -\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +299 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  $\ +2 "manipulator"&:& +4 "core" & 2  +2 .tElbow.seek 2 + "manipulator"&@( +8 "core" ( + "manipulator"&A& +3 "core" & *  +2 "storage"(7& +4 "core" & \  '\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C'Ͻ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(>' +6 "core" & ,  +2 "manipulator"&\ % +5 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&H' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&J& +3 "core" &y* ? @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &y*  @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'? +106 "core" ' +2 "manipulator"&L& +4 "core" &ӄ)  _ ?Q + "manipulator"&M% +4 "core" %Cz [ +2 "collection"'O& +4 "core" &\ \ \ 0\ +3 "collection"'P& +46 "core" &\ \ (\ +3 .tCC.seek :closed +2 "collection"'R(\\ +5 "core" &\ \ \ '\ +6 & .\ \ )\ #b +10 &V\ \ \ 8 +9 &\ \ \ L +9 &]\ \ \ O +10 &]]\ \ \ N +9 &`\ \ \ N +10 &`\ \ \ \ O +9 &^\ \ \ \ O +9 &d`\ \ \ O +10 &&_\ \ \ \ O +9 &_\ \ \ O +9 &!^\ \ \ N +10 &#m`\ \ \ N +9 &%/a\ \ v\ N +9 &&\\\ \ \ {\ N +10 &(\\\ \ p\ N +9 &*t_\ \ v\ O +10 &,6]\ \ \ s\ O +9 &-a\ \ \ s\ N +9 &/a\ \ \ q\ N +10 &1}\\\ \ l\ N +9 &3?[\ \ e\ N +9 &5^\ \ \ l\ O +10 &6c\ \ r\ O +9 &8_\ \ \ y\ O +10 &:Fc\ \ s\ O +9 &<b\ \ \ \ O +9 &=]\ \ \ O +10 &?b\ \ \ \ N +9 &AN]\ \ \ O +10 &Ca\ \ \ \ O +9 &Db\ \ ~\ O +9 &Fd\ \ \ t\ N +10 &HV`\ \ \ r\ O +9 &Jc\ \ \ }\ O +9 &Kd\ \ \ t\ N +10 &Mb\ \ \ \ O +9 &O^b\ \ s\ O +10 &Q c\ \ x\ O +9 &Rc\ \ \ ~\ O +9 &T`\ \ p\ N +10 &Vfg\ \ \ s\ O +9 &X(c\ \ \ o\ O +9 &Yf\ \ \ e\ O +10 &[h\ \ l\ < +9 &\\;g\ \ \ l\ : +9 &\\\ \ d\  +3 ( +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.05 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):22:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" MainThread.resume + #Resuming after No Puck Clamped in Collection Clamp at 10:38:19 +2 "manipulator"&?& +3 "core" &Ӆ) ?P +2 "manipulator"&K% +4 "core" %C +2 "collection"'G& +4 "core" &\\\ \ \ a\  +3 .tCC.seek :open +2 "collection"'T( +443 "core" ( +2 "collection"'U& +6 "core" &\ \ y\ +2 .tCC.seek :closed + "collection"'Q(\\ +4 "core" &\ \ \ v\ +8 & .\ \ s\ $c +9 &U\ \ u\ 8 +10 &\ \ r\ L +9 &_\ \ s\ O +9 &a_\ \ r\ O +10 &%Z\ \ q\ N +9 &\\\ \ \ r\ N +9 &Z\ \ o\ N +10 &k]\ \ q\ N +9 &.]\ \ r\ N +10 &_\ \ r\ N +9 &!_\ \ \ s\ N +9 &#t]\ \ r\ N +10 &%6b\ \ o\ N +9 &&_\ \ t\ N +9 &(]\ \ \ \ r\ N +10 &*{_\ \ \ i\ N +9 &,=_\ \ \ h\ N +10 &-_\ \ g\ N +9 &/\\\ \ \ r\ N +9 &1`\ \ s\ N +10 &3F_\ \ \ s\ N +9 &5_\ \ r\ N +9 &6b\ \ \ q\ N +10 &8]\ \ \ o\ N +9 &:L`\ \ z\ O +10 &<`\ \ \ \ O +9 &=b\ \ t\ N +9 &?`\ \ \ t\ N +10 &AV[\ \ s\ N +9 &C_\ \ |\ O +9 &D_\ \ \ n\ N +10 &Fb\ \ n\ N +9 &H]b\ \ \ N +10 &Jb\ \ u\ N +9 &K`\ \ n\ N +9 &Mb\ \ q\ N +10 &Oe[\ \ v\ N +9 &Q'b\ \ o\ N +9 &R_\ \ p\ O +10 &Tb\ \ l\ N +9 &Vmd\ \ o\ N +10 &X/`\ \ m\ N +9 &Y`\ \ h\ N +9 &[e\ \ \ n\ < +10 &\\8[\ \ \ v\ 5 +9 &\\\ \ \ y\  +2 ( +2 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.03 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):22:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Thread.resume +2 #Resuming after No Puck Clamped in Collection Clamp at 10:39:24 +2 "manipulator"&N& +3 "core" &Ӆ) ?P +2 "manipulator"&X% +3 "core" %C l +3 "collection"'Y& +4 "core" &\\\ \ v\  +2 .tCC.seek :open +2 "collection"'[( +446 "core" ( +2 "collection"'\\& +5 "core" &\ \ }\ +2 .tCC.seek :closed +2 "collection"'](\\ +3 "core" &\ \ \ +8 & .\ \ y\ $d +10 &V\ \ |\ 7 +9 &~\ \ t\ L +10 &a\ \ \ \ O +9 &b_\ \ \ N +9 &$_\ \ \ \ N +10 &_\ \ \ }\ N +9 &_\ \ \ \ N +9 &j_\ \ \ N +10 &,_\ \ |\ N +9 &_\ \ \ N +10 &!c\ \ t\ N +9 &#q`\ \ \ ~\ N +9 &%3b\ \ \ N +10 &&_\ \ \ \ \ N +9 &(\\\ \ \ N +9 &*{]\ \ \ N +10 &,>^\ \ u\ M +9 &-^\ \ \ t\ N +9 &/^\ \ \ v\ N +10 &1_\ \ \ s\ N +9 &3D`\ \ \ }\ N +10 &5_\ \ \ v\ N +9 &6`\ \ \ }\ N +9 &8\\\ \ \ N +10 &:L`\ \ \ \ N +9 &<_\ \ w\ N +10 &=_\ \ v\ N +9 &?_\ \ }\ N +9 &AU]\ \ \ ~\ N +10 &C^\ \ \ N +9 &D\\\ \ \ \ N +9 &F`\ \ u\ N +10 &H[`\ \ y\ N +9 &Jb\ \ n\ N +10 &Kb\ \ t\ O +9 &M`\ \ \ r\ N +9 &Oda\ \ \ ~\ N +10 &Q&`\ \ z\ N +9 &R`\ \ r\ N +9 &Tb\ \ o\ N +10 &Vkb\ \ o\ N +9 &X.`\ \ u\ N +10 &Yc\ \ x\ N +9 &[e\ \ u\ ; +9 &\\<g\ \ \ r\ 6 +10 &\\\ \ \ w\  +2 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.02 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):22:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" CC.open +2 .CC.seek :open +2 "collection"'V( +443 "core" ( +2 "collection"' & +3 "core" &\ \ }\ +269 #t-> Hand.close +676 #-> Arm.SE +2 "manipulator"&`& +3 "core" &Ӆ) j ?P +2 !to:Axis::Error: mesg"Unknown Elbow position: SE:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:513:in `baseRaw'",/home/esp/esp2/lib/axis.rb:297:in `raw'"1/home/esp/esp2/lib/axismap.rb:175:in `fetch'"1/home/esp/esp2/lib/axismap.rb:163:in `fetch'"./home/esp/esp2/lib/axis.rb:281:in `fetch'",/home/esp/esp2/lib/axis.rb:292:in `raw'",/home/esp/esp2/lib/axis.rb:553:in `raw'"./home/esp/esp2/lib/axis.rb:667:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +516 #-> Arm.ready! +3 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&a' +149 "core" ' +3 .tElbow.jog 1500 + "manipulator"&b* +59 "core" * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&d(d +559 "core" ( +2 "manipulator"&^& +4 "core" &d d ' + "manipulator"&Z% +4 "core" % \   +5596 #t-> Hand.open + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +519 #-> Arm.CC +3 "manipulator"&e& +3 "core" &d  ' +2 "manipulator"&g% +3 "core" % \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&h(ӂ +198 "core" ( +2 "manipulator"&j& +3 "core" &Ӂ( l >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӂ' [ >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'? +144 "core" ' +10 "manipulator"&_& +3 "core" &ӄ& ! =G +2 "manipulator"&l% +4 "core" %H  +256 #t-> CC.close + "manipulator"&m& +3 "core" &ӄ& =G +3 "manipulator"&p% +4 "core" %G ` + "collection"'q& +4 "core" &\ \ &\ +2 "collection"'i& +6 "core" &\ \ \ \ +2 .tCC.seek :closed + "collection"'f(\\ +5 "core" &\ \ \ '\  +8 &1\ \ .\ *y +10 &c\ \ /\ > +9 &xx\ \ +\ N +9 &9\\\ \ -\ N +10 &^\ \ \ -\ N +9 &]\ \ /\ N +10 &]\ \ \ .\ N +9 &B^\ \ 1\ N +9 &^\ \ .\ N +10 &]\ \ \ /\ M +9 & _\ \ 0\ N +10 &"J_\ \ q\ N +9 &$ ]\ \ \ 0\ N +9 &%`\ \ \ 0\ N +10 &'^\ \ \ F\ N +9 &)S\\\ \ u\ N +9 &+_\ \ 0\ M +10 &,^\ \ \ v\ N +9 &.c\ \ {\ N +10 &0Z^\ \ 0\ N +9 &2]\ \ -\ M +9 &3_\ \ ,\ N +10 &5]\ \ 0\ N +9 &7c`\ \ \ -\ N +9 &9%]\ \ .\ N +10 &:`\ \ ,\ N +9 &<b\ \ \ ,\ N +10 &>k^\ \ ,\ N +9 &@-_\ \ 0\ N +9 &A]\ \ 0\ N +10 &C_\ \ \ +\ N +9 &Es`\ \ ,\ N +9 &G4a\ \ ,\ N +10 &H`\ \ \ \ +\ N +9 &Jc\ \ n\ O +10 &Lxb\ \ J\ O +9 &N;_\ \ \ +\ N +9 &Oc\ \ \ +\ N +10 &Q`\ \ m\ N +9 &Sa\ \ r\ N +9 &UCd\ \ \ \ N +10 &Wb\ \ \ N +9 &Xd\ \ \ N +9 &Zg\ \ \ \ O +10 &\\.yJ\ \ \ \ "j +9 &\\"0\ \ \  +10 ( + &\\\ \ \  +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 1.04 +2 !o:Slide::Error\ : @reply0: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted:@axisName"Collection Clamp:bt["E/home/esp/esp2/utils/misc.rb:481:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +7947 #-> CC.unloadPuck 2, :Sh1 +2 "collection"'s& +3 "core" &\\\ \ u\  +2 #tStoring Sh1 puck in Collection Clamp to tube 2 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +941 #-> CC.unloadPuck 2, :saf +2 "collection"'t& +3 "core" &\\\ \ \ \  +2 #tStoring saf puck in Collection Clamp to tube 2 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:459:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):33:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:76:in `retract'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:433:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"(ESP):33:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +722 #-> CC.open + .CC.seek :open +2 "collection"'n( +445 "core" ( +2 "collection"'r& +3 "core" &\ \ \ +470 #t-> Arm.home +3 "manipulator"&v& +2 "core" &ӄ& =G +3 "manipulator"&w% +4 "core" %G ! +434 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&x' +145 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&* +43 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&z(d +559 "core" ( +2 "manipulator"&{& +3 "core" &d O % +2 "manipulator"&|% +3 "core" % Q  +317 #t-> exit +5 !o:Storage::Warning: mesg"2Exiting with generic puck from tube 2 in Hand:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 #mEXIT @1692197004.55EDT @1692197100.94EDT = =tMAIN =mMAIN_scheduler @EDT1692197101.68 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK + #t@11517 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +392 "Can"0\ ! + 0\ ! + #tPolling Can every 10:00 +2 #Cleanly exited at 10:43:24EDT16-Aug-23 +3 !o:Storage::Warning: mesg"%Hand.holds Puck.from 2, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 + #ESP.ready! will restore puck positions +584 #-> ESP.ready! +3 #Powering core bus +555 .Gate.power :raw,:ON +3 "sampler") +58 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +909 #-> Hand.ready! +2 !o:NoMethodError : mesgu:NameError::message/undefined method `ready!' for Hand:Gripper: name: ready!: args[:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +813 #-> Hand.Ready! +2 !o:NoMethodError : mesgu:NameError::message/undefined method `Ready!' for Hand:Gripper: name: Ready!: args[:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +374 #-> hand.ready! +2 !o:NoMethodError : mesgu:NameError::message/undefined method `ready!' for :hand:Symbol: name: ready!: args[:bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +146 #-> Hand +280 #-> Arm +2 "manipulator"&1& +3 "core" & n % +2 "manipulator"&2% +4 "core" %  @ u +312 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&3' +70 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&4* +45 "core" * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&5(d +437 "core" ( +2 "manipulator"&6& +4 "core" &d  M % +2 "manipulator"&7% +3 "core" %  K  +375 #t-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1138 #-> Arm.PC + "manipulator"&8& +4 "core" &d  % +2 "manipulator"&9% +3 "core" %  C  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&:( +199 "core" ( + "manipulator"&;& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" & 9 / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +97 "core" ' +2 "manipulator"&>& +3 "core" &4 $ 6  +2 "manipulator"&?% +4 "core" %  W +346 #t-> Hand.open + !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +419 #-> PC.close + "manipulator"&@& +4 "core" &4 /  +2 "manipulator"&A% +3 "core" % C W +3 "processing"%B& +3 "core" &\  +3 "processing"%C& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%D(^ +4 "core" &\ \  +8 &5\ +{ +10 &d\ ? +9 &a}\ N +10 &#a\ N +9 &b\ N +9 &c\ N +10 &if\ N +9 &,`\ N +9 &c\ N +10 &e\ N +9 & r`u\ N +10 &"5b\ M +9 &#`X\ N +9 &%b`\ N +10 &'ybM\ N +9 &);b\ N +9 &*`q\ N +10 &,_h\ N +9 &.e=\ N +10 &0D_F\ N +9 &2^`\ N +9 &3`F\ N +10 &5bK\ N +9 &7L_E\ N +9 &9`\ N +10 &:^\ M +9 &<_`\ N +10 &>S^\ N +9 &@a\ N +9 &A_\ N +10 &C`r\ N +9 &E]_\ M +9 &G`\ N +10 &H]\ N +9 &J_X\ M +10 &Le`g\ M +9 &N&af\ N +9 &Od\ N +10 &Qd\ N +9 &Slc\ N +9 &U.^D\ N +10 &Va7\ M +9 &X_v\ M +10 &Zt_c\ N +9 &\\6^\ N +9 &]zG\ 4 +10 &^';\ 6 +9 &^\ \ +5 ( +2 "processing"%C& +4 "core" &^b\ \ +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 0.99 +2 !o:Slide::Error\ : @reply0: mesg"(No Puck Clamped in Processing Clamp:@checkpoint: omitted:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:481:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +468 #-> Hand.open +2 !o:Puck::Error: mesg"/Hand is closed on generic puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +892 #-> PC.open +2 .PC.seek :open +2 "processing"%E( +456 "core" ( + "processing"%F& +4 "core" &3\ +252 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&G' +144 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&H* +38 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&I(d +198 "core" ( +2 "manipulator"&J& +4 "core" &d  < +37 "manipulator"&K% +10 "core" % \ \  +199 #t-> exit +4 !o:Storage::Warning: mesg"2Exiting with generic puck from tube 2 in Hand:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +4 #mEXIT @1692197247.65EDT @1692197276.53EDT = =tMAIN =mMAIN_scheduler @EDT1692197277.21 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@14839 receive with ifg=0x10, ie=0xFD +2 #@15479 receive with ifg=0x10, ie=0xFD + #@16137 receive with ifg=0x10, ie=0xFD #@16776 receive with ifg=0x10, ie=0xFD + #@17425 receive with ifg=0x10, ie=0xFD + #@18073 receive with ifg=0x10, ie=0xFD #@18722 receive with ifg=0x10, ie=0xFD + #@19048 receive with ifg=0x80, ie=0xFD + #@64742 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"7\ 8?r + 7\ 8?r + #tPolling Can every 10:00 +1012 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %c\ \ \ \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڃ\ \ U +2 .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&31 +54 "core" 1 +1956 #t-> access 2 +2 "storage"(4% +3 "core" % \  +2 "manipulator"&5% +3 "core" % \   +2 "manipulator"&6& +3 "core" &d D < +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(7(K +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &K \  +1083 #t-> access 3 +2 "storage"(9% +3 "core" %\ \  \  +2 "manipulator"&:% +3 "core" % \  +3 "manipulator"&;& +3 "core" &d < +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(<([ +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" &[ M\  +2746 #t-> access 2 +2 "storage"(>% +3 "core" %\ \  \  +2 "manipulator"&?% +3 "core" % \ <  +2 "manipulator"&@& +4 "core" &d  < +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(A(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &K \ +982 #t-> require 'shuffle.rb' +831 #-> 2.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'C& +3 "core" &\ \ 6\  +3 "manipulator"&D% +4 "core" % \   + "storage"(E% +4 "core" %\ \ \  +2 "storage"(F. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(G(  +1286 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &  |\ +2 "manipulator"&I& +3 "core" &d  < +2 "manipulator"&J% +3 "core" % \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&K( +101 "core" ( + "manipulator"&L& +4 "core" &  w !u +2 "storage"(M& +4 "core" &  A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +95 "core" ' +2 "storage"(O& +3 "core" &  \  h\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'r +292 "core" ' +19 "storage"(Q- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (R& +2 "core" &  e\ +2 "manipulator"&S& +4 "core" & f +2 .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&U& +4 "core" &  j f +2 "storage"(V& +4 "core" &  $\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&W'Ͻ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[58:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #1 of 3 + "manipulator"&Y/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[58:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[59:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #2 of 3 + "manipulator"&Z/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[59:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request :@maxDelayo:\ Delay: @_dc_obji : @dontLog0: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @channeli: @tag0: mesg"5No Response to I2C::Servo::Grip3Request[5A:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 +2 #Retry #3 of 3 + "manipulator"&[/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5A:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:618:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:613:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +705 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:402:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):7:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:320:in `process'"6/home/esp/esp2/lib/schedule.rb:185:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:473:in `step'"4/home/esp/esp2/lib/schedule.rb:211:in `process'"2/home/esp/esp2/lib/schedule.rb:229:in `start'"1/home/esp/esp2/lib/schedule.rb:228:in `loop'"2/home/esp/esp2/lib/schedule.rb:228:in `start'"-/home/esp/esp2/lib/esp.rb:221:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:110:in `load'"0/home/esp/esp2/lib/framework.rb:110:in `ld'"4/home/esp/esp2/lib/framework.rb:135:in `ldMode'""/home/esp/esp2/lib/esp.rb:352"1/home/esp/esp2/lib/esp.rb:79:in `mainThread'"1/home/esp/esp2/lib/esp.rb:79:in `initialize'"!/home/esp/esp2/lib/esp.rb:79 @1692204159.02EDT = =tMAIN =mMAIN_scheduler @EDT1692204159.77 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +108 #"core_reset"Sent BREAK +2 #t@18285 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +391 "Can"\ 4 ~ + \ 4 ~ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +1013 #-> ESP.ready! +3 #Powering core bus +586 .Gate.power :raw,:ON +2 "sampler") +20 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +3 "sampler")#.0X ESP.ready! +2 "collection"'% +4 "processing"%% +7 "manipulator"&% +2 "core" %\ \ \ + %}\ +5 "sampler")% +6 "core" %\   +2 %\ \  + "manipulator"&& +4 "core" &d $ +2 "storage"(& +4 "core" &E\ - ~ Y\  + "manipulator"&% +4 "core" %\  z  +2 "manipulator"&& +43 "core" &d g $ + "storage"( & +4 "core" &E\ - ~ $\  +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(!'X +24 "core" ' / 4\ +2 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi/ :deltaPressi4 : voltagef13.467878252331861: @type2F: @tagi&: mesg"@Storage Elevator overCurrent at 23.54 Pucks below Top Plate:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:402:in `to'"7/home/esp/esp2/utils/storage.rb:57:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:546:in `ready!'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"("+ +4 "core" + +2 .tSE.jog -128 +2 "storage"(#) +26 "core" ) +2 "storage"($& +4 "core" &E p q \  +2 .tSC.configure :sloppy +2 "storage"($-.\ 1~b +4 .tSC.reconfigure :sloppy +2 "storage"($-.\ 1~b +3 .tSC.home.seek :initial +2 "storage"(%( +443 "core" )u o\ +3 !to:Slide::Error\ : mesg"]Storage Elevator positionErr at 23.43 Pucks below Top Plate during Storage Carousel move: @replyo:I2C::Servo::RelMove3Reply : @error:positionErr: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioniz: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressio : voltagef13.482605792832597&: @type2F: @tagi(:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 "storage"(&& +4 "core" &  g ] y\ . +2 .tSC.reconfigure :sloppy +2 "storage"($-.\ 1~b +3 .tSC.hold +2 "storage"(', +3 "core" ( Q i h O\ / +12 , +2 .tSC.jog -90 +2 "storage"((* +26 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"()'X +47 "core" ' +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial +2 "storage"(*( +895 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 "manipulator"&+& +3 "core" &d  $ +2 .tForearm.seek :retract +2 "manipulator"&,'\ +3 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&-( +105 "core" ( +2 "manipulator"&.& +3 "core" & ` > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted +2 "manipulator"&/'\ +19 "core" ' +2 "manipulator"&0% +4 "core" %\  ) z +2 "processing"%1& +2 "collection"'2& +8 "core" &}\ + &\ \  \ +2 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open +2 "processing"%3( + "collection"'4( +278 "core" ( +13 ( +3 "collection"'5 +2 "core"  +3 "processing"%6 +2 "core" V +3 "processing"%7 +2 "core"  +2 "processing"%8 +3 "core" A +3 "collection"'9% +4 "core" %\ \ &\ +3 "processing"%:% +4 "core" %\ +2 "sampler");% +4 "core" %\ \  +2 "collection"'<& +4 "core" &\ \  \  +2 "processing"%=& +4 "core" &\  +2 "manipulator"&>% +4 "core" %\  F z +2 "manipulator"&?& +4 "core" & j > +2 "storage"(@& +4 "core" & \ - R\  +2 "storage"(A% +4 "core" %` c  \ +2 "collection"'B9 +3 "core" 9~ +2 "processing"%C9 +3 "core" 9vq +1069 #t-> require 'shuffle.rb' +1353 #-> 2.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'D& +4 "core" &\ \ x\  +2 .tHand.open + "manipulator"&E1 +61 "core" 1 + "manipulator"&F% +4 "core" % \  3 z +2 "storage"(G% +4 "core" %` p p\ +2 "storage"(H. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(I( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" & \ P\ L =\ +2 "manipulator"&K& +4 "core" & s > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( + "manipulator"&M& +4 "core" & d > +2 "storage"(N& +4 "core" & \ - j\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +92 "core" ' +2 "storage"(P& +4 "core" & p T b\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +282 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek :down +2 "storage"(S'X +264 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&T% +4 "core" %Ѯ g \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +96 "core" ' + !to:Puck::Error: mesg".2 pucks loaded in tube 2 when expecting 3:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:259:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:586:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +6 #mEXIT @1692204287.95EDT @1692204310.00EDT = =tMAIN =mMAIN_scheduler @EDT1692204310.69 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@12307 sendCRC with ifg=0x20, ie=0x7F + #@14142 sendCRC with ifg=0x08, ie=0x5F + #@10327 idle with ifg=0x84, ie=0x75 #@11000 select with ifg=0x10, ie=0xF5 + #@11647 receive with ifg=0x10, ie=0xFD + #@12293 receive with ifg=0x10, ie=0xFD #@12939 receive with ifg=0x10, ie=0xFD + #@13267 receive with ifg=0x80, ie=0xFD + #@20207 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +367 "Can"\ 0E + \ 0E + #tPolling Can every 10:00 +474 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %\ \ 4\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  +2 .tSS.configure :default +3 "sampler")#.0X +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +5 "storage"(& +3 "core" & \  !\ +2 .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold +2 "storage"(, +5 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +3 "core" %T\ \ " -\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast + "collection"' +3 .tCH.configure :default + "collection"'\ 2 +3 .tPH.coast + "processing"% +2 .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'% +3 "processing"%% +4 "core" %\ \ (\ + "manipulator"&% +3 "sampler")% +9 "core" %\ + %\ & W !P +2 %\ \  + "manipulator"&& +4 "core" & 7 > +2 "storage"(& +4 "core" & \ \  Q\ + "storage"(% +4 "core" %T\ '\ ( !\ +2 "collection"'& +3 "core" &\ \ &\  + "processing"%& +4 "core" &\  +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +3 "processing"%# +2 "core" V +3 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "sampler")& +3 "core"  +3 "collection"''% +3 "core" %\ \ 1\ +8 "processing"%(% +4 "core" %~\ +2 "sampler"))% +4 "core" %\ \  +41 "collection"'*& +4 "core" &\ \ '\  +2 "processing"%+& +4 "core" &\  +2 "manipulator"&,% +4 "core" %\ '  !P +2 "manipulator"&-& +4 "core" & / > +2 "storage"(.& +4 "core" & \ \  \ \ +2 "storage"(/% +4 "core" %T\ \  E\ +2 "collection"'09 +3 "core" 9~ +2 "processing"%19 +3 "core" 9ws +644 #t-> require 'shuffle.rb' +890 #-> 2.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +3 "core" &\ \ \  +2 .tHand.open +2 "manipulator"&31 +15 "core" 1 + "manipulator"&4% +4 "core" %\ & ' J !P +2 "storage"(5% +4 "core" %T\ \  X\ +2 "storage"(6. +2 "core" ., +2 "storage"(7& +4 "core" & \ \  \ +2 "storage"(8& +4 "core" & \ \  \ +2 "manipulator"&9& +3 "core" & ? > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&;& +3 "core" &  J > +2 "storage"(<& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +102 "core" ' + "storage"(>& +4 "core" & \ 2\ ' b\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +277 "core" ' +2 "storage"(@- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +16 "core" & \ \  9\ +2 "manipulator"&B& +4 "core" &  > +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" &  > +2 "storage"(E& +3 "core" & \ \  \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&F' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(I'X +7 "core" & > +2 "manipulator"&J% +4 "core" % ; +2 .tForearm.seek :retract +2 "manipulator"&K'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&M& +3 "core" &#  1 :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &# ( :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'" +99 "core" ' +3 "manipulator"&P& +5 "core" &# ( :/ + "manipulator"&Q% +4 "core" %,  +2 "collection"'R& +4 "core" &\ \ >\  +2 "collection"'S& +6 "core" &\ \ )\  +2 .tCC.seek :closed +3 "collection"'T(V +3 "core" &\ \ '\  +6 & \ \ /\ @ +9 &I\ \ )\ 2 +10 &Ou\ \ 1\ F +9 &g\ \ &\ N +9 &`\ \ ,\ N +10 &~`\ \ 2\ N +9 &Ad\ \ &\ M +10 &c\ \ '\ N +9 &e\ \ %\ N +9 &d\ \ %\ M +10 &Ic\ \ (\ M +9 &! b\ \ 0\ M +9 &"d\ \ $\ N +10 &$b\ \ 1\ N +9 &&P_\ \ ,\ N +10 &(f\ \ i\ N +9 &)a\ \ ,\ N +9 &+_\ \ *\ M +10 &-Ya\ \ (\ M +9 &/`\ \ *\ M +9 &0e\ \ +\ N +10 &2c\ \  \ N +9 &4`b\ \ ]\ N +10 &6#d\ \ \ M +9 &7b\ \ x\ N +9 &9c\ \ \ N +10 &;hf\ \ 7\ N +9 &=+c\ \ 4\ M +9 &>b\ \ <\ M +10 &@e\ \ h\ N +9 &Bpe\ \ \ N +10 &D2h\ \ k\ N +9 &El\ \ @\ O +9 &Gw\ \ |\ P +10 &Ij\ \ g\ S +9 &K\ \ \ W +9 &L\ \ @\ X +10 &N\ \ \ W +9 &Pc\ \ 6\ X +10 &R&\ \ .\ W +9 &S\ \ @\ Y +9 &U\ \ g\ F +10 &V4\ \ C\ , +9 &Vc\ \ )\ D +2 ( +3 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&U1 +53 "core" 1 +3 "manipulator"&V% +4 "core" % , & K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +101 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +4 "core" &x\  +2 "manipulator"&Y% +4 "core" %\ \  +2 "storage"(Z% +4 "core" %c \ +2 "storage"([. +2 "core" ., +2 "storage"(\\& +37 "core" & q\ +10 "storage"(]& +4 "core" & l\ +2 "manipulator"&^& +4 "core" &# :. +2 "manipulator"&_% +3 "core" %\ \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +159 "core" ( + "manipulator"&a& +4 "core" & ^  +2 "storage"(b& +4 "core" & H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +94 "core" ' +2 "storage"(d& +4 "core" & k\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak + "storage"(e'i +288 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & H\ +2 "manipulator"&h& +4 "core" & T  +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&j& +4 "core" & W  +2 "storage"(k& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(o'X +6 "core" & d  +2 "manipulator"&p% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( + "manipulator"&s& +4 "core" &n 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &n m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u' +99 "core" ' +2 "manipulator"&v& +4 "core" &n K +2 "manipulator"&w% +4 "core" % ?  +2 "processing"%x& +4 "core" &s\  +3 "processing"%y& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%z(Z +5 "core" &\  +5 & \ A +9 & G\ 1 +10 &Kr\ F +9 &i\ N +10 &b\ N +9 &wc\ N +9 &9c\ N +10 &d\ N +9 &f\ N +9 &}b\ N +10 &?c\ N +9 &!`\ N +10 &"`\ N +9 &$b\ N +9 &&Ha\ N +10 &(\ b\ N +9 &)b\ N +9 &+`\ N +10 &-P`\ N +9 &/b\ N +10 &0a\ N +9 &2c\ N +9 &4Za\ M +10 &6b\ N +9 &7b\ N +9 &9b\ N +10 &;b`\ M +9 &=!a\ N +10 &>`\ N +9 &@b\ N +9 &Bgb\ N +10 &D)b\ N +9 &Ej\ O +9 &G{\ P +10 &Ia\ S +9 &K!}\ T +10 &L\ S +9 &N}\ S +9 &Pg\ T +10 &R({\ T +9 &Sr\ T +9 &U{\ T +10 &Wm{\ T +9 &Y/t\ D +10 &ZS@m}\ (t +9 &Z#t\ ' +5 ( +3 "processing"%y& +3 "core" &Zz\ ' +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&{1 +58 "core" 1 +2 "manipulator"&|% +4 "core" % &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +3 "processing"%~& +4 "core" &Zj\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  \\  +2 "storage"(% +4 "core" %a 0\ + "storage"(. +3 "core" ., +2 "storage"(& +4 "core" & m\ +2 "storage"(& +3 "manipulator"&& +5 "core" & 0\ +2 &n  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&(s + "storage"( 'i +6 "core" ( +2 "manipulator"& & +4 "core" &n z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%( +83 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +37 ."raiseStack"SE.seek :place +9 "storage"('y +43 "core" ' +253 ( +2 "storage"(& +4 "core" & 3\ +2 "manipulator"&& +3 "core" &n  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +248 "core" ( +2 "manipulator"&& +4 "core" & $ l !s +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(#& +4 "core" & \ +2 "manipulator"&$& +4 "core" &  !p +2 .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" & % / !p + "storage"('& +4 "core" & ~ 1\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +58 "core" ' + "manipulator"&*& +3 "core" &  !p +3 "storage"(+& +3 "core" & x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&,' +21 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +26 "core" ' + "manipulator"&/% +4 "core" %  +2 "storage"(0& +4 "core" & #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 301 counts +2 "manipulator"&1' +20 "core" ' + "manipulator"&2& +4 "core" &  !p +2 "storage"(3& +4 "core" & j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +17 "core" ' +2 "storage"(5% +4 "core" %r S\ +2 ."downElevator"SE.seek :down +4 "storage"(6'X +99 (7% +3 "core" %E ]\ We +2 "manipulator"&8% +4 "core" %ш  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&9'\ +85 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & \ +2 "collection"'<& +4 "core" &V_\ \ \ D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&>% +4 "core" %\    + "storage"(% +4 "core" %T =\ +2 "storage"(. +3 "core" ., +2 "storage"(@& +4 "core" & B\ +2 "storage"(A& +4 "core" & L\ + "manipulator"&B& +4 "core" & !p +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&E& +4 "core" & % = !p +2 "storage"(G& +4 "core" & Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +96 "core" ' + "storage"(J& +4 "core" & -\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'i +282 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & ( !p +2 "storage"(N& +3 "core" & P\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&?' +24 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +37 "core" -' +10 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'T +30 "core" ' +2 "manipulator"&R% +4 "core" % +2 "storage"(C& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&I' +20 "core" ' +2 "manipulator"&K& +4 "core" & ] o +2 "storage"(\ & +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'C +45 "core" ' + "manipulator"&X& +4 "core" & . o +2 "manipulator"&Y% +4 "core" % f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +143 "core" ( +3 "manipulator"&\\& +4 "core" &" ' : 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &"  9$ +2 .tForearm.seek CC +2 "manipulator"&]'" +97 "core" ' + .tHand.close + "manipulator"&^/ +60 "core" / +2 .tCC.seek :open +2 "collection"'_( +416 "core" ( + "storage"(O& +4 "core" & h\ +2 "storage"(a& +4 "core" & {\ +2 "manipulator"&b& +3 "core" &"  8 +2 "manipulator"&d% +4 "core" % ,  Q +2 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +154 "core" ( + "manipulator"&f& +4 "core" &  t +2 "storage"(g& +4 "core" & \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +97 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +63 "core" 1 +2 "manipulator"&m% +4 "core" %  # +2 "storage"(n& +4 "core" & \ \  \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 306 counts +2 "manipulator"&p' +21 "core" ' + "manipulator"&`& +3 "core" & e +3 "storage"(c& +4 "core" & \ \ x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +27 "core" ' + "storage"(l% +4 "core" %D\ %\ ' _\ +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (t% +3 "core" %C\ \  \ Va +2 "manipulator"&i% +3 "core" %Ѷ V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +3 "core" &\ \ \ \ +2 "manipulator"&x% +4 "core" %\    +2 "storage"(o% +4 "core" %b\ '\ ' \  +2 "storage"(q. +2 "core" ., +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &\ \  \  +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +14 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & \ , \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(& +3 "core" & r #\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (y& +2 "core" &\ - } \  +2 "manipulator"& & +40 "core" &  +9 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&u& +4 "core" &  +2 "storage"(& +4 "core" &\ ! q\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z'X +8 "core" &  +2 "manipulator"&% +4 "core" % ϳ   +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &# + ? :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &# 0 :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 "manipulator"&& +4 "core" &# $ j :+ +2 "manipulator"&% +4 "core" %!  : +2 "collection"'& +4 "core" &\ \ \ +3 "collection"'& +4 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'"(V +3 "core" &\ \ \ +9 &8\ \ \ $d +9 &U\ \ \ 7 +10 &\ \ %\ L +9 &\\\ \ &\ M +9 &b[\ \ \ M +10 &#_\ \ \ N +9 &b\ \ '\ M +10 &_\ \ '\ M +9 &k]\ \ \ M +9 &,`\ \ \ M +10 &`\ \ \ M +9 &!`\ \ #\ M +9 &#rb\ \ e\ M +10 &%3b\ \ \ N +9 &&`\ \ &\ M +10 &(^\ \ @\ M +9 &*za\ \ \ M +9 &,<_\ \ 5\ M +10 &-\\\ \ \ M +9 &/_\ \ \ M +10 &1\\\ \ \ M +9 &3D_\ \ \ M +9 &5b\ \ \ N +10 &6a\ \ \ M +9 &8`\ \ $\ M +9 &:M_\ \ w\ M +10 &<c\ \ l\ M +9 &=^\ \ \ M +9 &?c\ \ 8\ M +10 &AT`\ \ |\ M +9 &Cc\ \ \ M +10 &Dc\ \ \\\ M +9 &Fj\ \ w\ N +9 &HTx\ \ \ P +10 &J\ \ \ \ T +9 &K\ \ c\ X +9 &M\ \ w\ X +10 &OG\ \ |\ W +9 &Q\ \ w\ X +10 &R\ \ {\ Y +9 &T\ \ {\ Y +9 &V&v\ \ x\ . +10 &V"\ \ v\ N +9 ( + &Vd\ \ {\ H +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open +2 "manipulator" +63 "core" 1 +4 "manipulator"&$% +4 "core" %   e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &{\ +2 "manipulator"&% +4 "core" %\  + "storage"(*% +4 "core" %U\ &\ $ \ +2 "storage"(+. +3 "core" .( +2 "storage"(/& +4 "core" &\ )\ ' %\  +2 "storage"(0& +4 "core" &\ &\ & i\  +2 "manipulator"&& +3 "core" &"  9( +2 "manipulator"&2% +5 "core" %\ I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +158 "core" ( + "manipulator"&3& +4 "core" &  +2 "storage"(5& +4 "core" &\ H\ C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +108 "core" ' + "storage"(& +4 "core" &\ @\ ; d\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +276 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" &\ %\ ( T\  +3 "manipulator"&(& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&%( +4 "core" ( +2 "manipulator"&)& +3 "core" &  +2 "storage"(,& +4 "core" &\ I\ I 3\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(>'X +8 "core" &   + "manipulator"&% +4 "core" % Ϭ }  +3 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 .tElbow.seek PC + "manipulator"&.(s +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +116 "core" ( +3 "manipulator"&@& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &i  +39 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +97 "core" ' + "manipulator"&E& +4 "core" &j % U +2 "manipulator"&G% +4 "core" % +2 "processing"%4& +4 "core" &t\ +3 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%6(Z +5 "core" &\ +5 & 1\ $c +10 &V\ 7 +9 &\ L +9 &b\ N +10 &fe\ M +9 &(b\ M +10 &c\ M +9 &a\ M +9 &nc\ M +10 &0a\ M +9 &b\ N +10 &!b\ N +9 &#va\ M +9 &%8a\ M +10 &&`\ M +9 &(a\ M +9 &*}b\ N +10 &,?_\ N +9 &.e\ N +10 &/^\ N +9 &1b|\ N +9 &3Gc\ N +10 &5 c\ N +9 &6d}\ M +9 &8^\ N +10 &:O^w\ N +9 &<b{\ M +9 &=_}\ M +10 &?b\ M +9 &AX_x\ M +10 &Cbx\ N +9 &Dey\ N +9 &Fnz\ O +10 &HT~t\ Q +9 &Jy\ S +9 &Ks\ T +10 &Mt\ S +9 &OVt\ S +10 &Qu\ T +9 &Rt\ S +9 &Ts\ T +10 &V[w\ T +9 &Xr\ U +9 &Y{nx\ 5 +10 &Z2x\ E +9 &Zw\ ' +3 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&-1 +62 "core" 1 +2 "manipulator"&9% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' + "processing"%M& +4 "core" &Zk\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&N% +4 "core" %\  h  +2 "storage"(P% +3 "core" %c\ !\ & `\ +2 "storage"(R. +2 "core" .( +2 "storage"(C& +4 "core" &\ %\ & s\  +2 "storage"(K& +3 "manipulator"&\ & +7 "core" &\ &\ $ \  + &j  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&X(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(Y'i +2 "core" ( +3 "manipulator"&H& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &j Q +2 .tForearm.seek PC +2 "manipulator"&:' +93 "core" ' +2 .tHand.close + "manipulator"&?/ +56 "core" / +4 .tPC.seek :open +2 "processing"%I( +92 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +36 "core" ' +293 ( +2 "storage"(S& +3 "core" &\ &\ % o\  +2 "manipulator"&U& +4 "core" &j  +2 "manipulator"&F% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +246 "core" ( +2 "manipulator"&T& +4 "core" & % > !q +2 "storage"(O& +3 "core" &\ \  F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +107 "core" ' +2 .tHand.open + "manipulator"&b1 +61 "core" 1 +3 "storage"(d- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +51 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(]- +2 "core" -' +2 "storage"([& +4 "core" & \  +2 "manipulator"&k& +4 "core" &  !p +2 .tElbow.seek 3 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +4 "core" & %  !p +2 "storage"(`& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(l' +63 "core" ' +2 "manipulator"&L& +3 "core" &  !p +2 "storage"(t& +4 "core" &\ &\ & K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&i'} +54 "core" ' +10 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +24 "core" ' + "manipulator"&w% +4 "core" %΍  +2 "storage"(p& +3 "core" &\ \  X\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&x'Ϲ +20 "core" ' + "manipulator"&o& +4 "core" &  ? o +2 "storage"(q& +4 "core" &\ &\ ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +31 "core" ' +2 "storage"(e% +4 "core" %n\ #\ & E\ +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (% +3 "core" %C\ \  \ Va +2 "manipulator"&{% +4 "core" %/  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +3 "core" &\ &\ / G\  +2 "collection"'& +4 "core" &Vd\ \ y\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(j% +4 "core" %S\ $\ - %\ +2 "storage"(v. +4 "core" .( +3 "storage"(& +3 "core" &\ #\ $ 2\  +2 "storage"(y& +4 "core" &\ #\ $ +\  +2 "manipulator"& & +4 "core" & G o +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +4 "core" & % 5 o +2 "storage"(r& +3 "core" &\ $\ # g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +85 "core" ' +2 "storage"(& +4 "core" &\ J\ J %\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  o +2 "storage"(& +4 "core" &\ '\ & J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +40 "core" ' + "manipulator"&% +4 "core" %΍ S +2 "storage"( & +4 "core" &\ \  ^\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&z'Ϲ +33 "core" ' +2 "manipulator"& & +4 "core" &  n +2 "storage"(_& +3 "core" &\ &\ ' \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'B +40 "core" ' + "manipulator"&'& +4 "core" & n +2 "manipulator"&% +4 "core" %- D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&+& +4 "core" &* & z @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &*   @] +2 .tForearm.seek CC +2 "manipulator"&0'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'2( +419 "core" ( +3 "storage"(& +3 "core" &\ , } \  +2 "storage"(3& +4 "core" &\ - } H\  +2 "manipulator"&5& +4 "core" &* = @] + "manipulator"&% +4 "core" % . 4 +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +160 "core" ( + "manipulator"&7& +4 "core" &  +38 "storage"(8& +11 "core" & c b \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +94 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&,1 +55 "core" 1 +2 "manipulator"&;% +4 "core" % ΃ & +2 "storage"(<& +4 "core" &\ , { J\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϯ +22 "core" ' +2 "manipulator"& & +3 "core" &  +2 "storage"(& +4 "core" &\ + \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +28 "core" ' + "storage"(1% +4 "core" %L\ - ~ *\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (A% +3 "core" %A |\  u\ U^ +2 "manipulator"&%% +3 "core" %8  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'G& +3 "core" &\ \ V\ +3 "manipulator"&4% +3 "core" %\ \  +2 "storage"(>% +4 "core" %R e c K\ +2 "storage"(. +3 "core" .( +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" & \ B\ - a\ +3 "manipulator"&9& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&M( +25 "core" ( +2 "manipulator"&N& +3 "core" &\ w d +2 "storage"(P& +4 "core" & \ , s f\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +93 "core" ' + "storage"(C& +4 "core" & b b Y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +274 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" & \ ;\ = j\ +3 "manipulator"&H& +3 "core" & m a +3 .tElbow.seek 2 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&B& +4 "core" &  a + "storage"(?& +4 "core" & \ ;\ , C\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +16 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +3 "storage"(6'X +8 "core" &  a + "manipulator"&Y% +4 "core" %   C +3 .tForearm.seek :retract +2 "manipulator"&S'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +145 "core" ( + "manipulator"&F& +4 "core" && & ` =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 "core" &&  9 =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'" +103 "core" ' +2 "manipulator"&O& +3 "core" && % 2 =G +2 "manipulator"&X% +3 "core" %!  = +3 "collection"'b& +4 "core" &\ \  \ +3 "collection"'d& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &\ \ \ +6 &\ \ \ 3 +9 &2F\ \ \ 1 +10 &as\ \ \ E +9 &d\ \ \ N +9 &]\ \ &\ M +10 &^\ \ %\ M +9 &P]\ \  \ M +10 &_\ \ $\ M +9 &_\ \ \ M +9 &]\ \ 0\ M +10 &Ya\ \  \ M +9 &!^\ \ \ M +9 &"_\ \ $\ M +10 &$_\ \ \ N +9 &&a]\ \ \ M +10 &(#^\ \ \ M +9 &)\\\ \ \ M +9 &+_\ \ \ M +10 &-i\\\ \ \ M +9 &/+^\ \ \ M +9 &0`\ \ a\ M +10 &2^\ \ \ M +9 &4qa\ \ \ M +10 &63`\ \ \ M +9 &7_\ \ \ M +9 &9_\ \ $\ M +10 &;yb\ \ \ M +9 &=;_\ \ $\ M +9 &>_\ \ \ M +10 &@`\ \ \ M +9 &Bb\ \ $\ M +10 &DDa\ \ \ M +9 &Fg\ \ &\ N +9 &Gs\ \ &\ O +47 &I|\ \ %\ Q +10 &K/\ \ \ W +4 &L\ \ \ W + &N\ \ $\ V + &Pr\ \ !\ W + &R3\ \ \ X +3 &S\ \ \ Y +8 &U\ \ $\ F +10 &V4\ \ !\ 'v +9 &Vh\ \ $\ H +3 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&[1 +59 "core" 1 +2 "manipulator"&k% +4 "core" %  * : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&^% +4 "core" %\     +2 "storage"(L% +4 "core" %T\ \  #\ +2 "storage"(t. +2 "core" .( +3 "storage"(\\& +3 "core" & \ \  (\ +2 "storage"(f& +4 "core" & \ \  \ +2 "manipulator"&w& +3 "core" &%   << +2 "manipulator"&p% +4 "core" %\     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&o( +155 "core" ( + "manipulator"&q& +4 "core" & $ b +2 "storage"(Z& +4 "core" & \ $\ $ 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +91 "core" ' + "storage"(e& +4 "core" & \ I\ H \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +283 "core" ' +2 "storage"(c- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & \ !\  4\ +2 "manipulator"&{& +4 "core" & N +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +4 "core" & +2 "storage"(i& +3 "core" & \ #\ # 3\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & I +2 "manipulator"&j% +4 "core" %  o \\ +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&v(s +172 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&& +3 "core" &z ' ` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +5 "core" &z ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&& +4 "core" &z  +2 "manipulator"&r% +3 "core" %   +3 "processing"%V& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(Z +5 "core" &\ +7 & 2\ $c +10 &T\ 7 +9 &\ L +9 &`\ M +10 &ea\ M +9 &&^\ N +10 &_\ M +9 &_\ M +9 &le\ N +10 &.a\ N +9 &_\ M +9 &!^\ N +10 &#tc\ N +9 &%6b\ N +10 &&c\ M +9 &(c\ M +9 &*}_\ M +10 &,?_\ M +9 &.`\ N +9 &/]\ M +10 &1^|\ M +9 &3Fb\ N +10 &5 b\ M +9 &6_\ M +9 &8b\ N +10 &:Nc\ N +9 &<_\ N +9 &=\\\ M +10 &?]\ M +9 &AX_\ M +10 &Cb\ N +11 &De\ N +7 &Fmu\ O +10 &HUt\ Q +9 &Jq\ S +9 &Ky\ S +10 &M{\ S +9 &OVz\ S +10 &Qt\ S +9 &Rw\ T +9 &T{\ S +10 &V]y\ S +9 &Xx\ T +9 &Yzq{\ 5 +10 &Z1v\ F +9 &Zw\ ) +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&W1 +60 "core" 1 +2 "manipulator"&|% +4 "core" % % b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%& +3 "core" &Zi\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %U\ \  \ +2 "storage"(. +2 "core" .( +2 "storage"( & +4 "core" & \ \  \ +3 "storage"( & +2 "manipulator"&_& +6 "core" & \ \  \ + &z k +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +41 .tElbow.seek PC +10 "storage"(''i +3 "manipulator"&(s +6 "core" ( +2 "manipulator"&}& +4 "core" &z  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &z  +2 .tForearm.seek PC +2 "manipulator"&~' +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%z( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'y +43 "core" ' +295 ( +2 "storage"(/& +3 "core" & \ \ % \ +2 "manipulator"&#& +4 "core" &z  +2 "manipulator"&% +3 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +254 "core" ( + "manipulator"&"& +4 "core" &  I \ +2 "storage"(& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +92 "core" ' +2 .tHand.open + "manipulator"&51 +58 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(8' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(& +4 "core" & g\ +2 "manipulator"&,& +4 "core" &  \ +2 .tElbow.seek 2 + "manipulator"&;( +8 "core" ( + "manipulator"&<& +4 "core" &  {  +2 "storage"( & +4 "core" & "\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +58 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(A& +4 "core" & \ &\ ' B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +22 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(G& +3 "core" & \ \ \  ,\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&4' +19 "core" ' + "manipulator"&>& +4 "core" &  +2 "storage"(& +4 "core" & \ %\ % M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +19 "core" ' + "storage"(!% +4 "core" %r\ I\ I ,\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 ( % +2 "core" %4F\ \  A\ Wb +3 "manipulator"&-% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +89 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (N& +3 "core" & \ 8\  \ +3 "collection"'P& +4 "core" &Vk\ \ z\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&C% +4 "core" %\    +2 "storage"()% +4 "core" %^\ $\ $ \ + "storage"(E. +3 "core" .( +2 "storage"(K& +4 "core" & \ >\ * "\ +2 "storage"(\ & +4 "core" & \ $\ #\ +2 "manipulator"&H& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&?& +4 "core" &   +2 "storage"(.& +4 "core" & \ #\ $ .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +93 "core" ' +2 "storage"(Y& +4 "core" & \ I\ J ?\ +47 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +285 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &  +2 "storage"(:& +4 "core" & \ &\ $ {\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&J' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'T +27 "core" ' +2 "manipulator"&b% +3 "core" %  +2 "storage"(D& +4 "core" & \ \  o\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&6' +20 "core" ' + "manipulator"&S& +4 "core" &  +2 "storage"(2& +4 "core" & \ $\ $ 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'C +44 "core" ' +2 "manipulator"&`& +4 "core" &  +2 "manipulator"&^% +3 "core" %w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +152 "core" ( +3 "manipulator"&\\& +4 "core" &,   Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &,  9 Bf +2 .tForearm.seek CC +2 "manipulator"&d'" +93 "core" ' +2 .tHand.close + "manipulator"&w/ +57 "core" / +2 .tCC.seek :open +2 "collection"'p( +415 "core" ( +2 "storage"(T& +4 "core" & \ F\ H +\ +2 "storage"(q& +4 "core" & \ I\ I \ +2 "manipulator"&Z& +4 "core" &, Bf + "manipulator"&e% +4 "core" % 7  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +155 "core" ( +2 "manipulator"&c& +3 "core" & ; \ +2 "storage"(& +4 "core" & \ * \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&{' +102 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +60 "core" 1 +2 "manipulator"&% +4 "core" % $ t +2 "storage"(& +4 "core" & \ , } \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&j' +23 "core" ' +2 "manipulator"&o& +4 "core" & \ +2 "storage"(a& +3 "core" & ] d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +20 "core" ' + "storage"(x% +4 "core" %I c f \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (y% +2 "core" %>\ - } \ V_ +3 "manipulator"&m% +4 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'r& +4 "core" &\ \ \ +2 "manipulator"&V% +4 "core" %\ %  D +2 "storage"(% +4 "core" %a\ # } #\ + "storage"(h. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(I( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &\ \  k\  +3 "manipulator"&|& +4 "core" &  \ +2 .tElbow.seek 3 + "manipulator"&( +54 "core" ( +9 "manipulator"&& +4 "core" &  +2 "storage"(& +5 "core" &\ * \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' +2 "storage"( & +4 "core" & \ E B\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +14 "core" ' +2 "storage"( - +3 "core" -'% +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg"5Impossible stack Height of 24.98 pucks in tube 3:bt["4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"& +4 "core" &\ &\ & \  +2 "storage"(& +3 "core" &\ &\ % \  +3 "manipulator"&!& +4 "core" &( } ?S + "manipulator"&*% +4 "core" %\   _  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&3( +154 "core" ( +2 "manipulator"&8& +3 "core" & 7 \ +2 "storage"( & +3 "core" &\ C\ G \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +94 "core" ' +2 "storage"(& +4 "core" &\ G\ N 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'i +278 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +42 (%& +11 "core" &\ %\ % ~\  +2 "manipulator"&N& +4 "core" &  \ +2 .tElbow.seek 3 +3 "manipulator"&4( +4 "core" ( + "manipulator"&P& +4 "core" & [ \ +2 "storage"(C& +4 "core" &\ $\ $ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&E/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +3 "storage"(('X +8 "core" & \ +2 "manipulator"&\ % +4 "core" % ϰ   +2 .tForearm.seek :retract +2 "manipulator"&H'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&.& +4 "core" &q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +99 "core" ' +2 "manipulator"&@& +4 "core" &q d +2 "manipulator"&&% +4 "core" % 5 +2 "processing"%9& +4 "core" &y\ +3 "processing"%R& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Z +4 "core" &\ +6 &9\ #b +9 &U\ 7 +10 &\ L +9 &_\ M +9 &cc\ M +10 &%a\ M +9 &b\ N +10 &`\ M +9 &l`\ M +9 &,`\ N +10 &c\ M +9 &!\\\ M +9 &#t]\ M +10 &%5c\ M +9 &&]\ N +10 &(]\ M +9 &*z_\ N +9 &,<_\ N +10 &-_\ M +9 &/]\ M +10 &1`\ M +9 &3E^\ M +9 &5`\ N +10 &6`\ N +9 &8`\ M +9 &:M`\ M +10 &<`\ M +9 &=Zz\ M +10 &?Z\ M +9 &AV]{\ M +9 &C_\ N +10 &Dc|\ N +9 &Fk\ O +9 &HS}}\ Q +10 &J\ S +9 &K|\ S +9 &M|\ S +10 &OUt\ S +9 &Qt\ S +10 &Rz\ T +9 &Tr\ T +9 &V[q\ S +10 &Xt\ T +9 &Yzps\ 5 +10 &Z1w\ H +9 &Zu\ ( +2 ( +2 "processing"%R& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&:1 +63 "core" 1 +2 "manipulator"&O% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' + "processing"%D& +4 "core" &Zk\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&S% +3 "core" %\ &  U !O +2 "storage"(2% +4 "core" %T\ \  .\ +2 "storage"(`. +3 "core" .( +2 "storage"(^& +4 "core" &\ \  N\  +3 "storage"(=& +2 "manipulator"&B& +5 "core" &\ \  G\  +2 &q  X +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(M'i + "manipulator"&J(s +7 "core" ( + "manipulator"&6& +4 "core" &q  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &q +2 .tForearm.seek PC +2 "manipulator"&\\' +95 "core" ' + .tHand.close + "manipulator"&f/ +62 "core" / +4 .tPC.seek :open + "processing"%[( +81 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +45 "core" ' +295 ( +2 "storage"(L& +3 "core" &\ &\ 1 \  +2 "manipulator"&]& +4 "core" &q  +2 "manipulator"&T% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&q'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +259 "core" ( + "manipulator"&e& +4 "core" & Z D +2 "storage"(c& +4 "core" &\ &\ % `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"&d1 +60 "core" 1 +10 "storage"(t- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(i'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(o& +4 "core" & [\  +2 "manipulator"&a& +4 "core" &  D +2 .tElbow.seek 3 +2 "manipulator"&x( +23 "core" ( +2 "manipulator"&U& +4 "core" & %  +2 "storage"(y& +4 "core" & g\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(n' +58 "core" ' +2 "manipulator"&{& +3 "core" & m  +2 "storage"(r& +4 "core" &\ #\ . t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&j'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +21 "core" ' +2 "manipulator"&h% +4 "core" %΂  +2 "storage"(k& +4 "core" &\ $\ $ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&g'Ϯ +26 "core" ' + "manipulator"&& +4 "core" & c  +2 "storage"(& +4 "core" &\ P\ P R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +23 "core" ' +2 "storage"(|% +4 "core" %r\ F\ N \\\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %@H\ \ % d\ Wc +3 "manipulator"& % +4 "core" %S 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" &\ .\ ' U\  +3 "collection"'l& +3 "core" &V\\\ \ P\ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   $ +2 "storage"(% +4 "core" %b\ (\ & V\ +2 "storage"( . +2 "core" .( +2 "storage"(& +4 "core" &\ %\ 5 s\  +2 "storage"(_& +4 "core" &\ *\ :\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&s& +4 "core" & % w  +2 "storage"(/& +4 "core" &\ 5\ ( v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +98 "core" ' +2 "storage"(~& +4 "core" &\ K\ K S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +3 "storage"(5& +3 "core" &\ 1\ 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&u'} +20 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +29 "core" ' + "manipulator"&,% +4 "core" %Ό  +2 "storage"(v& +4 "core" &\ &\ ' X\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&'ϸ +25 "core" ' +2 "manipulator"&"& +43 "core" &   +9 "storage"(p& +4 "core" &\ (\ 7 N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +40 "core" ' +2 "manipulator"&& +4 "core" & t  +2 "manipulator"&+% +4 "core" %U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +152 "core" ( +3 "manipulator"&>& +4 "core" &, Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, = Bf +2 .tForearm.seek CC +2 "manipulator"&<'" +92 "core" ' + .tHand.close +2 "manipulator"&!/ +58 "core" / +2 .tCC.seek :open +2 "collection"'*( +418 "core" ( +2 "storage"(& +4 "core" &\ H\ I ]\  +2 "storage"(8& +4 "core" &\ D\ H\  + "manipulator"& & +4 "core" &,  T Bf +2 "manipulator"&% +4 "core" %  n  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&A( +155 "core" ( +2 "manipulator"&1& +4 "core" &  +2 "storage"(%& +3 "core" &\ / \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&N'} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +53 "core" 1 +2 "manipulator"&E% +4 "core" % · ` +2 "storage"(K& +3 "core" & \ . !\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&\ 'ϳ +20 "core" ' +3 "manipulator"&3& +4 "core" &  +2 "storage"(-& +4 "core" & c f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +33 "core" ' +2 "storage"()% +3 "core" %L p f \ +3 ."downElevator"SE.seek :down +3 "storage"(.'X +99 ($% +3 "core" %A\ .  N\ V^ +2 "manipulator"&4% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +24152 "Can"\ 0l +60002 '\ 0zql +60003 $\ 0l +60002 (\ 0l +60002 *\ 0 G3l +60002 %\ 1\ l +60002 \ 0 {_l +60002 \ 0l +60002 \ 1l +60002 %\ 1J!l +60002 2\ 1l +60002 O\ 0Ml +60002 v\ 1l +60002 M\ 1yl +60002 M\ 1N l +60002 I\ 0 l +60003 Q\ 0\ ;l +60002 Q\ 0\ l +60002 G\ 0 gl +60002 >\ 0!O l +60002 ;\ 0" l +60002 0\ 0$ )l +60002 2\ 0& l +60002 A\ 1'Ul +60002 @\ 1)Pl +60002 5\ 1*l +60002 +\ 1,l +60002 (\ 1.l +60002 %\ 1/Cl +60002 !\ 01Ql +60002 +\ 02ol +60002 +\ 04l +60002 \ 16l +60002  \ 071l +60002 \ 09Rl +60002 \ 0:]l +60002 \ 0<l +60003  \ 0> l +60002 \ 0?l +60002 \ 1ATl +60002 \ 0BKl +60002 \ 1Dl +60002 \ 1F!wl +60002 \ 1G l +60002 \ 1IUl +60002 \ 1J9l +60002 \ 1Ll +60003 \ 1N#el +60002 \ 0Ol +60002 T\ 0QVl +60002 4\ 1R'l +60002 )\ 0Tl +60002  \ 0V#Sl +60002 \ 0Wl +60002 \ 1YW l +60002 \ 0Z!l +60002 %\ 0\\!l +60002 V\ 0^$"Al +60003 ,\ 1_"l +60002 \ 1aX#ml +60002 \ 1b$l +60002 \ 1d$l +60002 \ 1f&%/l +60002 \ 1g%l +60002 W\ 1iZ&[l +60002 .\ 1j&l +60002 \ 0l'l @EDT1692245118.50 \ 1n)(l +60002 \ 1o(l +60002 \ 0q])Il +60002 \ 0r)l +60002 \ 0t*ul +60003 \ 0v,+ l +60002 l\ 1w+l +60002 1\ 1ya,7l +60002 \ 1z,l +60002 \ 0|-cl +60002 \ 1~0-l +60002 <\ 1.l +60002 :\ 1d/%l +60002 &\ 1/l +60002 \ 10Ql +60002 \ 130l +60002 \ 11}l +60002 \ 0g2l +60002 \ 12l +60002 Y\ 03?l +60002 '\ 063l +60002 \ 14kl +60002 \ 0k5l +60002 \ 15l +60002 K\ 06-l +60002 P\ 196l +60003 \ 17Yl +60002 \ 1o7l +60002 \ 0 8l +60002 \ 19l +60002 /\ 1>9l +60002 F\ 1:Gl +60002 $\ 1s:l +60002 \ 0 ;sl +60002 \ 0< l +60002 \ 0A\ 0u=l +60002 \ 0>al +60002 \ 1>l +60002 \ 1D?l +60002 \ 0@#l +60002 \ 1y@l +60002 \ 0AOl +60002 \ 1Al +60003 \ 1JB{l +60002 _\ 1Cl +60002 +\ 0Cl +60002 \ 0D=l +46267 !to:SignalException : mesg" SIGHUP:\ signoi:@timestampu: Time ,x@P3:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +3 #Waiting to Resume from Checkpoint "Storing generic puck in Collection Clamp to tube 3" +2 ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" +696 #"uploadLog"upsync +13034 "Can"\ 1Dl +60002 \ 1NEil +60002 \ 0El +60002 \ 1Fl +60002 \ 0G+l +60002 \ 0ķGl +60002 \ 1QHWl +60002 \ 0Hl +60002 \ 1ɅIl +60002 \ \ 1Jl +60002 \ 1̹Jl +60002 !\ 1TKEl +60002 $\ 1Kl +60002 \ 0шLql +60002 \ 1#Ml +60002 \ 1ԽMl +60003 \ 1WN3l +60002 \ 1Nl +60002 +\ 1ٌO_l +60002 #\ 0'Ol +60002  \ 1Pl +60002 \ 0[Q!l +60002 \ 1Ql +60002 \ 0RMl +60002 \ 0*Rl +60002 %\ 0Syl +60002 (\ 0^Tl +60002 \ 1Tl +60002 \ 1U;l +60002 \ 1-Ul +60002 \ 0Vgl +60002 \ 0aVl +60002 &\ 0Wl +60002 '\ 1X)l +60002 \ 10Xl @1692295245.75EDT = =tMAIN =mMAIN_scheduler @EDT1692295246.43 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@47084 select with ifg=0x10, ie=0xF5 + #@47731 receive with ifg=0x10, ie=0xFD + #@48377 receive with ifg=0x10, ie=0xFD #@49023 receive with ifg=0x10, ie=0xFD + #@49350 receive with ifg=0x80, ie=0xFD + #@50287 sendCRC with ifg=0x20, ie=0x7F #@50733 sendCRC with ifg=0x20, ie=0x7F + #@52325 sendCRC with ifg=0x08, ie=0x5F + #@4346 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +364 "Can"(\ .Y + (\ .Y + #tPolling Can every 10:00 +5 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +562 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +4 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %\ \ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %2\ +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +4721 #-> 5.times {shuffle 2..3] +2 !o:SyntaxError: mesg"Gcompile error\ (ESP):3: syntax error, unexpected ']', expecting '}':bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +401 #-> 5.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +3 "core" &\ \ \ +2 .tHand.open + "manipulator"&31 +18 "core" 1 +2 "manipulator"&4% +3 "core" %\  O  +3 "storage"(5% +3 "core" %\\\ 5\ D ;\ +2 "storage"(6. +3 "core" ., +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" & \ $\ ' S\ +2 "manipulator"&9& +4 "core" &   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:( +38 "core" ( + "manipulator"&;& +4 "core" & * ; +2 "storage"(<& +4 "core" & \ . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +99 "core" ' + "storage"(>& +4 "core" & q r >\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +285 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +2 "core" & \ + \ +3 "manipulator"&B& +3 "core" & ; +3 .tElbow.seek 2 +2 "manipulator"&C( +23 "core" ( +2 "manipulator"&D& +3 "core" & S  +2 "storage"(E& +4 "core" & d d A\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(I'X +7 "core" & 9  + "manipulator"&J% +4 "core" %  B +2 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&M& +3 "core" &(  G ?S +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &) ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'" +92 "core" ' + "manipulator"&P& +4 "core" &) % ?R +2 "manipulator"&Q% +4 "core" %&  Q +2 "collection"'R& +4 "core" &\ \ \ +3 "collection"'S& +4 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'T(V +5 "core" &\ \ \  +9 &2\ \ \ )w +9 &b\ \ \ > +10 &jy\ \ \ N +9 &,_\ \ \ N +10 &b\ \ \ \ N +9 &_\ \ \ N +9 &t`\ \ \ M +10 &5a\ \ \ \ N +9 &]\ \ \ N +10 &_\ \ \ M +9 & {b\ \ \ N +9 &">a\ \ \ M +10 &$`\ \ \ \ M +9 &%c\ \ \ N +9 &'c\ \ \ N +10 &)E_\ \ \ N +9 &+e\ \ \ N +9 &,b\ \ \ N +10 &.`\ \ \ N +9 &0Me\ \ \ N +10 &2b\ \ \ N +9 &3`\ \ \ M +9 &5b\ \ \ N +10 &7Ug\ \ \ N +9 &9`\ \ \ \ M +9 &:c\ \ \ N +10 &<e\ \ \ N +9 &>]e\ \ \ N +10 &@e\ \ \ N +9 &A`\ \ \ M +9 &Cb\ \ \ N +10 &Edh\ \ \ N +9 &G"q\ \ \ O +9 &H\ \ \ \ Q +10 &J\ \ \ \ V +9 &LM\ \ \ \ Y +10 &N\ \ \ X +9 &O\ \ \ X +9 &Q\ \ \ \ X +10 &SS\ \ \ Y +9 &U\ \ \ Y +10 &V`C\ \ \ 1 +9 &V s\ \ \ F +5 ( +2 "collection"'S& +4 "core" &V]\ \ \ F +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&U1 +61 "core" 1 +3 "manipulator"&V% +4 "core" % ' / = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +42 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%X& +4 "core" &A\ +2 "manipulator"&Y% +4 "core" %\  ;  +2 "storage"(Z% +3 "core" %U\ 2\ 1\ +2 "storage"([. +4 "core" .( + "storage"(\\& +4 "core" & \ 1\ 1\ +2 "storage"(]& +4 "core" & \ 1\ 1\ +2 "manipulator"&^& +4 "core" &' >M +2 "manipulator"&_% +4 "core" %\  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +159 "core" ( +2 "manipulator"&a& +4 "core" & _  +2 "storage"(b& +4 "core" & \ Q\ Q f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +95 "core" ' +2 "storage"(d& +3 "core" & \ P\ L 9\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +283 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & \ $\ % '\ +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&i( +2 "core" ( +2 "manipulator"&j& +4 "core" & C  +2 "storage"(k& +3 "core" & \ &\ % \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&l' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(o'X +7 "core" & .  +2 "manipulator"&p% +4 "core" %  P +2 .tForearm.seek :retract +2 "manipulator"&q'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( + "manipulator"&s& +4 "core" &m + M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &m { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u' +101 "core" ' + "manipulator"&v& +4 "core" &m %  +2 "manipulator"&w% +4 "core" % r +2 "processing"%x& +4 "core" &?\ +2 "processing"%y& +6 "core" &?\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &A\ +6 &83\ $e +9 &U,\ 7 +10 &&\ L +9 &c+\ N +9 &bc)\ M +10 &$a1\ M +9 &e!\ N +10 &`5\ M +9 &ie,\ N +9 &,_5\ M +10 &e5\ N +9 &!c6\ M +9 &#qb9\ N +10 &%2f7\ N +9 &&b'\ N +10 &(b4\ M +9 &*yc-\ N +9 &,;e2\ N +10 &-h/\ N +9 &/b-\ M +9 &1b-\ N +10 &3B`4\ N +9 &5`2\ N +10 &6` \ N +9 &8b0\ M +9 &:Ic$\ N +10 &< b"\ N +9 &=`!\ M +10 &?a!\ N +9 &ASa\ N +9 &Cf\ N +10 &Dh\ N +9 &Fn\ O +9 &HQ!\ Q +10 &J "\ S +9 &K\ S +9 &M"\ S +10 &OQ"\ T +9 &Q\ S +10 &R\ T +9 &T\ T +9 &VX!\ T +10 &X"\ T +9 &Y|u\ 6 +9 &Z."\ O +10 &Z!\ * +2 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&{1 +64 "core" 1 + "manipulator"&|% +4 "core" %  4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 "processing"%~& +4 "core" &Z'\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  ;  +2 "storage"(% +3 "core" %_\ .\ & }\ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & \ $\ $ \ +2 "storage"(& +3 "manipulator"&& +6 "core" & \ 1\ 1 \ + &m / +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( + "manipulator"& & +4 "core" &m L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &m - V +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +11 .tPC.seek :open +2 "processing"%( +80 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +297 ( +2 "storage"(& +4 "core" & \ $\ & u\ +2 "manipulator"&& +4 "core" &m  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&& +3 "core" & &  !q +2 "storage"(& +4 "core" & \ A\ % \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +46 "core" ' +3 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +4 "core" & ?\ +2 "manipulator"&$& +4 "core" &  !q + .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" &   !q +2 "storage"('& +4 "core" & G\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +59 "core" ' +2 "manipulator"&*& +4 "core" & & !q +2 "storage"(+& +3 "core" & \ 2\ 1\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,' +24 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +22 "core" ' +2 "manipulator"&/% +4 "core" %  +2 "storage"(0& +4 "core" & \ 1\ 1\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&1' +18 "core" ' + "manipulator"&2& +4 "core" &  U !p +2 "storage"(3& +4 "core" & \ 1\ / (\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +16 "core" ' +2 "storage"(5% +4 "core" %q\ 7\ * v\ +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (% +2 "core" %E\ \ ' e\ Wb +3 "manipulator"&8% +3 "core" %ц  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & \ A\ ' \ +2 "collection"'<& +3 "core" &V]\ \ s\ F +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&>% +4 "core" %\  #  +2 "storage"(% +4 "core" %T\ 5\ C \ + "storage"(. +4 "core" .( +2 "storage"(@& +3 "core" & \ C\ F \ +2 "storage"(A& +4 "core" & \ P\ M C\ +2 "manipulator"&B& +3 "core" &  !p +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&E& +4 "core" &  !p +2 "storage"(G& +4 "core" & \ M\ P "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +97 "core" ' + "storage"(J& +4 "core" & \ P\ P u\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'i +283 "core" ' +3 "storage"(=- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  !p +2 "storage"(N& +3 "core" & \ 2\ 1 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +37 .tForearm.seek 2 +9 "manipulator"&?' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'V +31 "core" ' + "manipulator"&R% +4 "core" %  +2 "storage"(C& +4 "core" & \ $\ $ <\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&I' +21 "core" ' +2 "manipulator"&K& +4 "core" & !p +2 "storage"(\ & +3 "core" & \ &\ & N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'E +40 "core" ' +2 "manipulator"&X& +4 "core" & U !p + "manipulator"&S% +4 "core" %Ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +148 "core" ( +2 "manipulator"&[& +3 "core" &% $ n <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &%  W <: +2 .tForearm.seek CC +2 "manipulator"&]'" +94 "core" ' + .tHand.close + "manipulator"&^/ +65 "core" / +2 .tCC.seek :open + "collection"'_( +412 "core" ( +2 "storage"(O& +3 "core" & \ >\ = \ +2 "storage"(a& +4 "core" & \ J\ P 0\ +2 "manipulator"&b& +4 "core" &% g <: + "manipulator"&d% +4 "core" % 3  0 +2 .tForearm.seek :retract +2 "manipulator"&L'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +157 "core" ( + "manipulator"&f& +4 "core" & T  +2 "storage"(g& +4 "core" & P ^ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +95 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +63 "core" 1 +2 "manipulator"&m% +4 "core" % %  + "storage"(n& +4 "core" & K K `\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&p' +20 "core" ' + "manipulator"&`& +4 "core" &   +2 "storage"(c& +3 "core" & W C !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +30 "core" ' + "storage"(l% +4 "core" %J p q '\ +3 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (t% +2 "core" %A\ + \ U_ +3 "manipulator"&i% +3 "core" %ќ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +95 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +3 "core" &\ \ c\ +2 "manipulator"&x% +4 "core" %\ \  +2 "storage"(o% +4 "core" %c | + "storage"(q. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +4 "core" &\ Q\ @ P\ +2 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +10 "core" ( +2 "manipulator"&& +4 "core" & .  + "storage"(& +4 "core" & q q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"(y& +4 "core" & v d\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +36 "storage"('i +297 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +2 "core" & @ K A\  +3 "manipulator"& & +3 "core" & ]  +3 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&u& +4 "core" & P  + "storage"(& +4 "core" & f d O\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(z'X +7 "core" &   +2 "manipulator"& % +4 "core" % ϛ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" && e =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&  =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +3 "manipulator"&& +4 "core" &&  F =E +2 "manipulator"&% +4 "core" %+  m +2 "collection"'& +4 "core" &\ \ \ +2 "collection"'& +6 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'"(V +4 "core" &\ \ \ +6 &\ \ \ 8 +9 &OG\ \ \ 1 +10 &{r\ \ \ E +9 &!f\ \ \ N +9 &_\ \ \ M +10 &^\ \ \ M +9 &h_\ \ \ M +9 &*c\ \ \ M +10 &`\ \ \ N +9 &_\ \ \ M +10 &pa\ \ \ M +9 &!2c\ \ \ M +9 &"c\ \ \ M +10 &$d\ \ \ M +9 &&x_\ \ \ M +9 &(:`\ \ \ M +10 &)_\ \ \ M +9 &+_\ \ ~\ M +10 &-`\ \ \ M +9 &/B`\ \ \ M +9 &1`\ \ \ M +10 &2`\ \ \ M +9 &4`\ \ \ M +9 &6Jb\ \ }\ M +10 &8 c\ \ \ M +9 &9`\ \ \ M +10 &;c\ \ t\ M +9 &=S^\ \ |\ M +9 &?a\ \ {\ M +10 &@c\ \ |\ M +9 &B`\ \ v\ N +9 &DY_\ \ x\ N +10 &Fe\ \ v\ N +9 &Gt\ \ v\ O +10 &I\ \ \ z\ R +9 &KE\ \ \ n\ W +9 &M\ \ \ \ x\ X +10 &N\ \ \ s\ X +9 &P\ \ \ \ x\ W +10 &RL\ \ q\ X +9 &T \ \ r\ Y +9 &U\ \ x\ D +10 &V.\ \ \ v\ )z +9 &Vn\ \ x\ I +2 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator" +60 "core" 1 +3 "manipulator"&$% +3 "core" % ' % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +4 "core" &9\ +2 "manipulator"&% +3 "core" %\  #  +2 "storage"(*% +4 "core" %a\ &\ $ |\ +2 "storage"(+. +2 "core" .( +2 "storage"(/& +4 "core" &\ %\ ' \  +2 "storage"(& +3 "core" &\ '\ % \  +2 "manipulator"&0& +4 "core" &%  <; +2 "manipulator"&2% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +153 "core" ( +2 "manipulator"&3& +4 "core" &  W  +2 "storage"(5& +4 "core" &\ D\ I c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(& +4 "core" &\ Q\ R \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &\ /\ # `\  +2 "manipulator"&(& +4 "core" & "  +2 .tElbow.seek 3 +2 "manipulator"&%( +2 "core" ( +2 "manipulator"&)& +4 "core" & F  +2 "storage"(,& +3 "core" &\ 1\ 1\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +3 "storage"(>'X +7 "core" &   +2 "manipulator"&% +4 "core" % ϊ   +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' +9 ."downElevator"SE.stop + "storage"(5 +112 "core" ( +4 "manipulator"&@& +4 "core" &y 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +97 "core" ' +2 "manipulator"&E& +3 "core" &y : +2 "manipulator"&G% +4 "core" %  * +2 "processing"%4& +4 "core" &N\ +3 "processing"%J& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &7\  +9 &1:\ *y +10 &c8\ > +9 &{~0\ N +9 &?`2\ M +10 &a5\ M +9 &b:\ M +9 &b5\ N +10 &F`(\ N +9 & b.\ M +10 &e'\ N +9 & e.\ N +9 &"Od'\ M +10 &$_4\ M +9 &%c6\ N +9 &'_&\ M +10 &)W`\ M +9 &+a!\ M +10 &,_!\ N +9 &.e\ N +9 &0_c"\ M +10 &2!a\ M +9 &3a"\ M +9 &5e"\ N +10 &7gc \ M +9 &9)b\ M +10 &:_\ N +9 &<d!\ N +9 &>n`#\ N +10 &@0a"\ N +9 &Ac"\ N +10 &Ce\ N +9 &Ete\ N +9 &G3q\ O +10 &H\ R +9 &J\ S +9 &Lo\ S +10 &N1"\ S +9 &O\ R +9 &Q\ S +10 &Su\ S +9 &U6\ T +10 &V\ T +9 &X\ T +9 &Z#Y\ &r +10 &Z`\ 2 +9 ( + &Z#\ - +3 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&-1 +56 "core" 1 + "manipulator"&9% +4 "core" % ) c * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' + "processing"%M& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\  n ) +2 "storage"(P% +4 "core" %T\ \  d\ +2 "storage"(R. +2 "core" .( +2 "storage"(C& +4 "core" &\ \  \  +2 "storage"(K& +3 "manipulator"&\ & +6 "core" &\ \  g\  + &y E +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(X'i +2 "manipulator"&S(s +6 "core" ( + "manipulator"&H& +4 "core" &y   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &y / E +2 .tForearm.seek PC +2 "manipulator"&:' +101 "core" ' + .tHand.close +2 "manipulator"&?/ +56 "core" / +3 .tPC.seek :open +2 "processing"%I( +78 "core" ' +2 "storage"(Q- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +44 "core" ' +299 ( + "storage"(\\& +4 "core" &\ \ $\  +2 "manipulator"&U& +4 "core" &y ) +2 "manipulator"&F% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&^'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Y( +251 "core" ( + "manipulator"&T& +4 "core" & ; !s +2 "storage"(O& +4 "core" &\ $\ % N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +100 "core" ' +2 .tHand.open + "manipulator"&b1 +58 "core" 1 +2 "storage"(d- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(f'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(g' +52 "core" ' +4 #tLights, camera, ACTION! + "storage"(]- +3 "core" -' +2 "storage"(Z& +4 "core" & 1\  +2 "manipulator"&k& +4 "core" &  a +2 .tElbow.seek 3 + "manipulator"&m( +4 "core" ( +2 "manipulator"&n& +4 "core" &  a + "storage"(`& +4 "core" & W\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +58 "core" ' +2 "manipulator"&L& +47 "core" &  a +2 "storage"(t& +4 "core" &\ '\ % W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&i'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +25 "core" ' +2 "manipulator"&w% +4 "core" %Ή  + "storage"(p& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&x'ϵ +26 "core" ' +2 "manipulator"&o& +4 "core" &  a +2 "storage"(q& +4 "core" &\ 2\ 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +31 "core" ' +2 "storage"(e% +3 "core" %q\ '\ / z\ +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (7% +3 "core" %D\ \ \ Wb +2 "manipulator"&{% +4 "core" % w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &\ 1\ ( \  +2 "collection"'& +4 "core" &Vm\ \ \ 4\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&y% +4 "core" %\ !  1 +2 "storage"(j% +4 "core" %S\ (\ % 2\ +2 "storage"(v. +2 "core" .( +2 "storage"(& +4 "core" &\ (\ ( y\  +2 "storage"(& +4 "core" &\ .\ ( \  +2 "manipulator"& & +3 "core" &  a +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" &\ %  a +2 "storage"(r& +4 "core" &\ %\ % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +104 "core" ' +2 "storage"( & +4 "core" &\ C\ D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'i +283 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & h a +2 "storage"(& +3 "core" &\ 1\ 2\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +31 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"( & +3 "core" &\ $\ ' C\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&z'ϫ +13 "core" ' + "manipulator"&& +4 "core" & W a +2 "storage"(_& +4 "core" &\ 6\ + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'B +45 "core" ' + "manipulator"&'& +4 "core" & c a +2 "manipulator"&% +4 "core" %R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&+( +150 "core" ( + "manipulator"&/& +4 "core" &% % m <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% D <@ +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 .tHand.close + "manipulator"&0/ +65 "core" / +2 .tCC.seek :open + "collection"'2( +415 "core" ( +2 "storage"(& +3 "core" &\ G\ R s\  +3 "storage"(3& +3 "core" &\ C\ C \  +2 "manipulator"&5& +4 "core" &% <9 +2 "manipulator"&% +3 "core" % $  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +157 "core" ( +2 "manipulator"&& +3 "core" & ~ +2 "storage"(8& +4 "core" & \ . !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&), +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +59 "core" 1 +2 "manipulator"&;% +3 "core" % Ή +2 "storage"(<& +4 "core" & \ , \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts +3 "manipulator"&'ϵ +25 "core" ' +2 "manipulator"& & +4 "core" & & ~ +2 "storage"(& +4 "core" & q q 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +17 "core" ' +2 "storage"(1% +3 "core" %G q q "\ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (A% +3 "core" %A H A R\ V_ +2 "manipulator"&%% +3 "core" %' | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +88 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'G& +3 "core" &\ \ S\ +3 "manipulator"&4% +3 "core" %\  0  +2 "storage"(>% +4 "core" %\\ c d \ +2 "storage"(.. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" & \ F\ D \ +2 "manipulator"&9& +4 "core" &  ~ +2 .tElbow.seek 2 +2 "manipulator"&M( +29 "core" ( + "manipulator"&N& +4 "core" &\ & $ ` +2 "storage"(P& +4 "core" & ~\ " S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +103 "core" ' +2 "storage"(C& +4 "core" & g p \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(K'i +285 "core" ' +2 "storage"(\ - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" & \ 1 C\ +2 "manipulator"&H& +3 "core" &\  ` +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( +2 "manipulator"&B& +4 "core" &\ ' ` +2 "storage"(?& +3 "core" & L L X\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(6'X +8 "core" &\ $ ` + "manipulator"&X% +4 "core" %  3 S +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +145 "core" ( +2 "manipulator"&F& +3 "core" &$ # g ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&:& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &# ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'" +101 "core" ' +2 "manipulator"&O& +4 "core" &$  x ;7 +2 "manipulator"&S% +4 "core" % o g +2 "collection"'b& +4 "core" &\ \ X\ +3 "collection"'d& +5 "core" &\ \ X\ +2 .tCC.seek :closed +2 "collection"'](V +6 "core" &\ \ |\ +5 & .\ \ \ $d +10 &V\ \ \ 7 +9 &\ \ \ L +9 &[\ \ ~\ M +10 &i]\ \ \ M +9 &+]\ \ \ M +9 &_\ \ \ M +10 &`\ \ \ M +9 &p_\ \ \ M +10 &3^\ \ \ M +9 &^\ \ \ M +9 &!`\ \ \ M +10 &#x_\ \ \ M +9 &%:_\ \ \ M +9 &&]\ \ \ M +10 &(\\\ \ \ M +9 &*]\ \ |\ M +41 &,C]\ \ \ M +10 &.`\ \ \ M +2 &/]\ \ \ M + &1^\ \ \ M +2 &3J]\ \ \ M + &5 ^\ \ \ M +9 &6`\ \ \ M +9 &8]\ \ \ M +10 &:S_\ \ \ M +9 &<`\ \ \ M +9 &=_\ \ \ M +10 &?_\ \ \ M +9 &A\\]\ \ \ L +9 &C^\ \ \ M +10 &D`\ \ |\ M +9 &Fk\ \ \ N +10 &HYy\ \ \ P +9 &J\ \ \ T +9 &K\ \ \ W +10 &M\ \ \ X +9 &OJ\ \ \ X +9 &Q \ \ \ \ X +10 &R\ \ \ \ Y +9 &T\ \ \ Y +10 &V(t\ \ \ . +9 &V&\ \ {\ Q +9 ( + &Vm\ \ \ }\ I +3 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&Z1 +62 "core" 1 + "manipulator"&k% +4 "core" % $  [ \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +5 "core" &N\ +2 "manipulator"&^% +3 "core" %\ %  C +2 "storage"(L% +4 "core" %T\ \  \ +2 "storage"(t. +2 "core" .( +2 "storage"([& +4 "core" & \ \  \ +2 "storage"(f& +5 "core" & \ \  \ + "manipulator"&w& +4 "core" &#  w ;7 +2 "manipulator"&p% +4 "core" %\ %  O C +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&o( +157 "core" ( + "manipulator"&q& +4 "core" &  k  +2 "storage"(Y& +4 "core" & \ &\ % l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +89 "core" ' +2 "storage"(e& +4 "core" & \ I\ F 7\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +286 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ({& +2 "core" & \ $\ 0 w\ +3 "manipulator"&c& +3 "core" & o  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +4 "core" & m  +2 "storage"(i& +4 "core" & \ )\ 0 \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y'X +8 "core" &  + "manipulator"&j% +4 "core" %  s 3 +3 .tForearm.seek :retract +2 "manipulator"&v'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&h(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&& +4 "core" &q : P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' +2 "manipulator"&& +4 "core" &q  +2 "manipulator"&r% +4 "core" % G +2 "processing"%V& +4 "core" &L\ +2 "processing"% & +5 "core" &M\ +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &.\ +8 & 38\ #b +9 &V7\ 7 +10 &9\ L +9 &`5\ M +9 &fd9\ N +10 &)a8\ M +9 &`6\ M +10 &b5\ M +9 &nc1\ N +9 &1`4\ M +10 &`9\ M +9 &!b8\ M +9 &#v]9\ N +10 &%8b8\ N +9 &&a-\ N +10 &(`/\ M +9 &*~_5\ N +9 &,@`9\ N +10 &.a)\ N +9 &/\\*\ M +9 &1]*\ M +10 &3I_%\ M +9 &5 b)\ M +10 &6]"\ M +9 &8\\ \ M +9 &:R]%\ M +10 &<_\ N +9 &=^\ N +9 &?_!\ N +10 &AY]!\ M +9 &C^#\ N +10 &De"\ N +9 &Fl \ N +9 &HV%\ Q +10 &J!\ R +9 &K\ S +10 &M"\ R +9 &OZ#\ R +9 &Q!\ S +10 &R!\ S +9 &T#\ S +9 &V_"\ S +10 &X\ T +9 &Yzp\ 4 +9 &Z4#\ A +10 &Z"\ & +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&W1 +54 "core" 1 +2 "manipulator"&|% +4 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 "processing"%& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ " Z < +2 "storage"(% +4 "core" %T\ \  X\ +2 "storage"(. +4 "core" .( + "storage"( & +4 "core" & \ \  \ +3 "storage"(& +3 "manipulator"&_& +43 "core" & \ \ \ +10 &q  +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(''i +3 "manipulator"&(s +6 "core" ( +2 "manipulator"&}& +3 "core" &q   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &q  G +3 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%z( +77 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'y +48 "core" ' +296 ( +2 "storage"(& +4 "core" & \ (\ ' h\ +2 "manipulator"&#& +4 "core" &q  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*( +244 "core" ( +2 "manipulator"&"& +4 "core" &   "y +2 "storage"(& +4 "core" & \ \  E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +90 "core" ' +2 .tHand.open +2 "manipulator"&51 +60 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(+& +3 "core" & ;\ +3 "manipulator"&,& +3 "core" &  !s +2 .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&<& +4 "core" & $ m !s +2 "storage"( & +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +54 "core" ' +2 "manipulator"&& +3 "core" &  !s +2 "storage"(A& +4 "core" & \ '\ ' \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +19 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +24 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(G& +3 "core" & \ \  \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&4' +20 "core" ' +2 "manipulator"&>& +3 "core" & F !s +2 "storage"(.& +4 "core" & \ (\ ' D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +24 "core" ' +2 "storage"(!% +4 "core" %m\ '\ ( [\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 ( % +2 "core" %?\ \  4\ Va +3 "manipulator"&-% +3 "core" %  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&9'\ +88 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (N& +3 "core" & \ '\ % \\\ +2 "collection"'P& +4 "core" &Vk\ \ \ M\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&C% +4 "core" %\    +2 "storage"()% +3 "core" %S\ 2\ ( P\ +2 "storage"(E. +3 "core" .( +2 "storage"(\ & +4 "core" & \ *\ % 3\ +2 "storage"(J& +3 "core" & \ &\ / R\ +2 "manipulator"&H& +53 "core" &  !s +2 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&?& +4 "core" &  } !s + "storage"(& +42 "core" & \ &\ % z\ +10 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +95 "core" ' +2 "storage"(X& +4 "core" & \ H\ C 8\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +278 "core" ' +2 "storage"(R- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &  !s +2 "storage"(:& +4 "core" & \ /\ ' X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'U +28 "core" ' + "manipulator"&b% +4 "core" %  +2 "storage"(D& +4 "core" & \ \  7\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&6' +21 "core" ' + "manipulator"&\\& +4 "core" & 5 !r +2 "storage"(2& +4 "core" & \ (\ ' H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'D +38 "core" ' +2 "manipulator"&`& +5 "core" &  !r + "manipulator"&^% +4 "core" %x  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +147 "core" ( +3 "manipulator"&[& +4 "core" &( , j ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &(  N ?S +2 .tForearm.seek CC +2 "manipulator"&f'" +95 "core" ' +2 .tHand.close + "manipulator"&w/ +58 "core" / +2 .tCC.seek :open +2 "collection"'p( +415 "core" ( + "storage"(T& +4 "core" & \  c\ +2 "storage"(q& +4 "core" & \ >\ = \ + "manipulator"&Y& +4 "core" &'   >I +2 "manipulator"&e% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +155 "core" ( +2 "manipulator"&7& +4 "core" &   +2 "storage"({& +4 "core" & c _ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&c' +92 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +63 "core" 1 +2 "manipulator"&% +4 "core" % K +2 "storage"(& +4 "core" & m p \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&j' +22 "core" ' + "manipulator"&o& +4 "core" & U  +2 "storage"(a& +4 "core" & q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +28 "core" ' +2 "storage"(x% +4 "core" %J  +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (% +2 "core" %s?\ , Z\ V` +3 "manipulator"&m% +3 "core" %ь +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'r& +3 "core" & \ \ +2 "manipulator"&V% +4 "core" %\   * +2 "storage"(y% +4 "core" %b p p\ + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(I( +339 "core" ( +9 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &\ 2\ 2\  +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" & ]  +2 "storage"(& +4 "core" & ~\ - @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"( & +4 "core" & u \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +290 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & }\  Z\  +2 "manipulator"&}& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" & p f R\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s'X +8 "core" & x  + "manipulator"&'% +4 "core" % Ͼ N M +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &( , K ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &(  ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'" +91 "core" ' +2 "manipulator"&& +4 "core" &) & ?P +2 "manipulator"&% +4 "core" %"   \ +2 "collection"'5& +4 "core" &\ \ \ +2 "collection"'& +5 "core" &\ \ g\ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &\ \ \  +9 &2\ \ \ *y +9 &d\ \ \ > +10 &}w\ \ \ N +9 &B\\\ \ \ M +9 &]\ \ \ L +10 &]\ \ \ M +9 &_\ \ \ M +9 &K\\\ \ \ L +10 & ]\ \ \ M +9 &_\ \ \ M +9 & ^\ \ \ L +10 &"Q^\ \ \ M +9 &$]\ \ \ M +10 &%]\ \ \ M +9 &']\ \ \ L +9 &)[\\\ \ \ L +10 &+]\ \ \ M +9 &,_\ \ \ M +9 &.\\\ \ \ M +10 &0b]\ \ \ M +9 &2$^\ \ \ M +10 &3\\\ \ \ M +9 &5\\\ \ \ M +9 &7i`\ \ \ M +10 &9,\\\ \ \ M +9 &:b\ \ \ M +9 &<_\ \ \ M +10 &>r]\ \ \ M +9 &@5\\\ \ \ L +10 &A]\ \ \ L +9 &C_\ \ \ M +9 &Exd\ \ \ M +10 &G7j\ \ \ N +9 &H}\ \ \ \ P +10 &J\ \ \ V +9 &Lc\ \ \ W +9 &N&\ \ \ W +10 &O\ \ \ X +9 &Q\ \ \ \ W +9 &Se\ \ \ Y +10 &U'\ \ \ Y +9 &VpB\ \ \ 1 +9 &Vs\ \ \ \ H +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&+1 +3 "core" &Vk\ \ \ H +60 1 + "manipulator"&,% +4 "core" % " & \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +4 "core" &:\ + "manipulator"&0% +4 "core" %\   {  +2 "storage"(% +4 "core" %c\ \  *\ +2 "storage"(A. +2 "core" .( +2 "storage"(& +4 "core" &\ \  \  +2 "storage"(G& +4 "core" &\ \  \  +2 "manipulator"&/& +3 "core" &&   =A +2 "manipulator"&>% +4 "core" %\   ;  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.( +161 "core" ( + "manipulator"&& +4 "core" &  I  +2 "storage"(!& +4 "core" &\ D\ 5 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +100 "core" ' +2 "storage"(3& +4 "core" &\ C\ D \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'i +278 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" &\ %\ $ y\  +2 "manipulator"&& +3 "core" & 2  +2 .tElbow.seek 3 +2 "manipulator"&;( +4 "core" ( +41 "manipulator"&1& +12 "core" &  +2 "storage"(%& +3 "core" &\ &\ ' S\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(C'X +8 "core" &   +2 "manipulator"&(% +3 "core" % Ϫ  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&E(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&\ & +4 "core" &j  /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &j |  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +101 "core" ' + "manipulator"&?& +4 "core" &j  O  +2 "manipulator"&% +4 "core" % k +2 "processing"%$& +4 "core" &L\ +3 "processing"%X& +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%@(Z +5 "core" &0\ +6 & 1.\ $c +10 &U7\ 7 +9 &3\ L +9 &]7\ N +10 &ba7\ N +9 &%`7\ M +10 &]<\ M +9 &\\6\ M +9 &kd:\ M +10 &-a9\ M +9 &c7\ M +9 &!b:\ M +10 &#s`3\ M +9 &%5c9\ M +9 &&b7\ M +10 &(a8\ M +9 &*{]5\ M +10 &,=]8\ M +9 &-_5\ M +9 &/[8\ M +10 &1`9\ M +9 &3D_9\ N +9 &5_3\ M +10 &6b7\ M +9 &8_%\ M +10 &:Na2\ M +9 &<_+\ M +9 &=]/\ M +10 &?[&\ M +9 &AU^#\ M +9 &C`+\ N +10 &Df'\ N +9 &Fn$\ N +10 &HT}%\ P +9 &J$\ S +9 &K)\ S +10 &M$\ R +9 &OU\ S +9 &Q$\ R +10 &R$\ S +9 &T#\ T +10 &VZ%\ T +9 &X%\ T +9 &Yyn"\ 6 +10 &Z0%\ H +9 &Z!\ * +2 ( +3 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&&1 +58 "core" 1 +2 "manipulator"&9% +3 "core" % % , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 "processing"%F& +4 "core" &Z:\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&:% +4 "core" %\  U  +2 "storage"(O% +3 "core" %a\ '\ & \ +2 "storage"(b. +3 "core" .( +2 "storage"(D& +4 "core" &\ \  \\\  +2 "storage"(\\& +3 "manipulator"&2& +5 "core" &\ \  \  +2 &j   +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&`(s +2 "storage"(^'i +6 "core" ( + "manipulator"&=& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &j x  +2 .tForearm.seek PC +2 "manipulator"&M' +95 "core" ' + .tHand.close + "manipulator"&K/ +54 "core" / +4 .tPC.seek :open +2 "processing"%6( +91 "core" ' + "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +45 "core" ' +284 ( + "storage"(d& +3 "core" &\ *\ 2 H\  +3 "manipulator"&Z& +3 "core" &j *  +2 "manipulator"&Q% +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&w'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +263 "core" ( +2 "manipulator"&]& +3 "core" &   8 +2 "storage"(T& +4 "core" &\ \  0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +94 "core" ' +2 .tHand.open + "manipulator"&Y1 +55 "core" 1 +2 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +43 "core" ' +11 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"(t& +4 "core" & \  +2 "manipulator"&i& +3 "core" &  8 +3 .tElbow.seek 3 + "manipulator"&( +27 "core" ( +2 "manipulator"&& +4 "core" &  Z  +2 "storage"(o& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +57 "core" ' +2 "manipulator"&U& +4 "core" &   +2 "storage"(& +3 "core" &\ J\ J G\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&m'} +18 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +26 "core" ' + "manipulator"&j% +4 "core" %΂  +2 "storage"(r& +4 "core" &\ $\ & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&V'Ϯ +28 "core" ' + "manipulator"&y& +4 "core" & >  +2 "storage"(v& +4 "core" &\ N\ D m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +23 "core" ' +2 "storage"(g% +4 "core" %n\ D\ C \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %NB\ '\ & \ V` +2 "manipulator"&W% +4 "core" %N ( +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &\ "\ # \  +3 "collection"'& +3 "core" &Vk\ \ P\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\    +2 "storage"(l% +4 "core" %c\ D\ H \ +2 "storage"(. +3 "core" .( +2 "storage"(_& +4 "core" &\ I\ J \  + "storage"( & +4 "core" &\ @\ H k\  +2 "manipulator"&}& +4 "core" & V  +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & H  +2 "storage"(h& +4 "core" &\ 6\ H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' + "storage"('& +4 "core" &\ N\ F [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & S  +3 "storage"(~& +3 "core" &\ D\ I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +32 "core" ' +2 "manipulator"&5% +4 "core" %΀  + "storage"(u& +4 "core" &\ '\ ' S\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&s'Ϭ +27 "core" ' + "manipulator"&& +4 "core" & z  +2 "storage"(p& +3 "core" &\ J\ J T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +81 "core" ' +9 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'C +40 "core" ' +2 "manipulator"& & +4 "core" & b  +2 "manipulator"&0% +3 "core" %\\ ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +154 "core" ( + "manipulator"&& +4 "core" &' & A >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >J +2 .tForearm.seek CC +2 "manipulator"&G'" +100 "core" ' + .tHand.close + "manipulator"&// +54 "core" / +2 .tCC.seek :open +2 "collection"'>( +414 "core" ( +2 "storage"("& +4 "core" &\ F\ I `\  +2 "storage"(& +4 "core" &\ D\ J 1\  +2 "manipulator"&!& +4 "core" && X =E + "manipulator"&3% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<( +162 "core" ( + "manipulator"& & +4 "core" & * t +2 "storage"(-& +4 "core" & \ . z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +97 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&%1 +61 "core" 1 +2 "manipulator"&N% +4 "core" % u 5 +2 "storage"(P& +3 "core" &\ * \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 292 counts +2 "manipulator"&('ϡ +13 "core" ' +2 "manipulator"&.& +3 "core" & t +3 "storage"(*& +3 "core" & c c =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +25 "core" ' +2 "storage"(4% +3 "core" %H b c I\ +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (J% +3 "core" %B \ -\ V` +2 "manipulator"&;% +4 "core" %W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&$% +3 "core" %\ y  +2 "storage"(C% +4 "core" %c m [ $ +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" & \ ;\ = \ +2 "manipulator"&9& +4 "core" &  t +2 .tElbow.seek 2 +2 "manipulator"&F( +27 "core" ( +2 "manipulator"&:& +4 "core" &\ ? \\ +2 "storage"(O& +3 "core" & m o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +92 "core" ' + "storage"(D& +4 "core" & ] s 4\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +285 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +2 "core" & \ , 7\ +3 "manipulator"&=& +3 "core" &\ H [ +2 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&H& +50 "core" &\ x [ +2 "storage"(K& +3 "core" & z\ " )\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&E/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(@'X +8 "core" &\ / [ + "manipulator"&^% +4 "core" %  @  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +145 "core" ( + "manipulator"&Q& +4 "core" &$ & b ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&M& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &# Z ;8 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +101 "core" ' +2 "manipulator"&T& +5 "core" &$ ' : ;8 +2 "manipulator"&`% +3 "core" %+  +3 "collection"'Y& +4 "core" & \ i\ +3 "collection"'e& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'f(V +5 "core" &\ \ \ +6 & . \ \ $d +9 &W \ \ 7 +9 &\ \ \ L +10 &X \ \ M +9 &j_ \ \ M +9 &-Z\ \ \ L +10 &]\ \ \ L +9 &Z\ \ \ M +10 &s[\ \ \ L +9 &4\\\ \ \ M +9 &^\ \ \ M +10 &!^\ \ \ M +9 &#{[\ \ \ L +9 &%<] \ \ M +10 &&_\  \ M +9 &(\\\ \ \ M +10 &*Z\ \ \ M +9 &,D[\ \ \ M +9 &.[\ \ }\ L +10 &/]\ \ \ L +9 &1_\ \ \ M +10 &3L]\ \ \ M +9 &5]\ \ \ M +9 &6\\\ \ \ M +10 &8Z\ \ \ L +9 &:U^\ \ \ L +9 &<_ \ \ M +10 &=`\ \ \ L +9 &?\\\ \ \ M +9 &A]_\ \ \ L +10 &C` \ \ M +9 &Db\ \ \ M +10 &Fh\ \ \ N +9 &H\\x\ \ \ O +9 &J\ \ \ \ T +10 &K\ \ \ W +9 &M\ \ \ X +10 &ON\ \ \ W +9 &Q\ \ \ W +9 &R\ \ \ \ X +10 &T\ \ \ X +9 &V.u\ \ \ \ - +9 &V#\ \ \ L +9 ( +2 &Vg\ \ \ \ F +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&t1 +58 "core" 1 +3 "manipulator"&i% +3 "core" % '   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &5\ +2 "manipulator"&o% +4 "core" %\ q  +2 "storage"(U% +3 "core" %T\ 2\ 2\ +2 "storage"(. +3 "core" .( +2 "storage"([& +4 "core" & \ 1\ 1\ +2 "storage"(j& +4 "core" & \ /\ 0\ +2 "manipulator"&r& +3 "core" &#  ;8 +2 "manipulator"&7% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&y( +152 "core" ( + "manipulator"&v& +4 "core" & \  +2 "storage"(g& +4 "core" & \ Q\ P h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +102 "core" ' + "storage"(q& +4 "core" & \ B\ N d\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +277 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +2 "core" & \ '\ # \\\ +3 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&x& +3 "core" &  +2 "storage"(m& +4 "core" & \ B\ B \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +7 "core" & ?  +2 "manipulator"&l% +3 "core" %  E  +3 .tForearm.seek :retract +2 "manipulator"&c'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +152 "core" ( +2 "manipulator"&_& +4 "core" &r = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &r S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +100 "core" ' + "manipulator"&& +4 "core" &s & @ +3 "manipulator"&h% +3 "core" % +2 "processing"%k& +4 "core" &F\ +3 "processing"%'& +5 "core" &F\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &7\ +6 &:7\ $e +9 &W7\ 7 +10 &;\ L +9 &^6\ M +10 &e`7\ M +9 &(]6\ M +9 &a9\ M +10 &]5\ M +9 &m`6\ M +9 &/_7\ M +10 &]7\ M +9 &!`9\ M +10 &#u_9\ M +9 &%7b8\ M +9 &&_8\ N +10 &(_9\ M +9 &*}b9\ M +9 &,?`9\ M +10 &.]7\ M +9 &/[8\ M +10 &1`9\ M +9 &3G_5\ M +9 &5 ]7\ M +10 &6]7\ M +9 &8`8\ M +9 &:N^9\ N +10 &<]3\ M +9 &=]7\ N +10 &?]7\ M +9 &AW_(\ M +9 &Cb4\ M +10 &Dc(\ M +9 &Fn6\ O +9 &HU+\ Q +10 &J%\ S +9 &K'\ S +10 &M.\ S +9 &OV&\ S +9 &Q)\ S +10 &R-\ S +9 &T$\ S +9 &V\\(\ T +10 &X$\ T +9 &Yyr!\ 6 +10 &Z/$\ G +9 &Z$\ ( +2 ( +2 "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&n1 +55 "core" 1 + "manipulator"&|% +4 "core" % & z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +3 "core" &Z:\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\   +2 "storage"(% +3 "core" %a\ '\ & \ +2 "storage"(5. +3 "core" .( +2 "storage"(u& +3 "core" & \ %\ $ \ +3 "storage"(& +2 "manipulator"&p& +8 "core" & \ $\ $ J\ + &s  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(0'i +2 "core" ( +2 "manipulator"&& +5 "core" &s j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &s ^ +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tPC.seek :open + "processing"%s( +93 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +283 ( +2 "storage"(& +4 "core" & \ '\ & \ +2 "manipulator"&+& +3 "core" &s K +2 "manipulator"&% +4 "core" % P +2 .tForearm.seek :retract +2 "manipulator"&/'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&& +3 "core" & & k +2 "storage"("& +4 "core" & \ '\ & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +2 .tHand.open + "manipulator"&!1 +64 "core" 1 +2 "storage"(3- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(G- +4 "core" -' + "storage"(A& +4 "core" & n\ +2 "manipulator"&%& +4 "core" & ( _ +2 .tElbow.seek 2 +2 "manipulator"&N( +50 "core" ( +3 "manipulator"&P& +3 "core" & ) 9 +2 "storage"(.& +4 "core" & R\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +58 "core" ' +2 "manipulator"&#& +4 "core" &  9 +2 "storage"(J& +3 "core" & \ $\ & (\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +20 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' + "manipulator"&(% +4 "core" %  +2 "storage"(& +3 "core" & \ 2\ ( \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts +2 "manipulator"&$' +20 "core" ' + "manipulator"&C& +4 "core" &  0 9 +2 "storage"()& +4 "core" & \ 6\ H +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +27 "core" ' + "storage"(8% +4 "core" %p\ G\ N $\ +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (I% +3 "core" %bJ\ \ \ ' ;\ Wc +2 "manipulator"&&% +4 "core" %t ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +86 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (:& +3 "core" & \ \ - m\ +2 "collection"'O& +4 "core" &Vf\ \ \ Y\ F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&D% +4 "core" %\  n  +2 "storage"(1% +4 "core" %b\ I\ D O\ +2 "storage"(?. +3 "core" .( +2 "storage"(2& +3 "core" & \ J\ D \ +2 "storage"(X& +4 "core" & \ I\ D\ +2 "manipulator"&=& +4 "core" & $ 9 +2 .tElbow.seek 2 +2 "manipulator"&H( +9 "core" ( + "manipulator"&K& +4 "core" & g  +2 "storage"(E& +4 "core" & \ C\ H 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +97 "core" ' +2 "storage"(^& +3 "core" & \ G\ D \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +279 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & v  +2 "storage"(M& +4 "core" & \ A\ I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +29 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(`'T +41 "core" ' + "manipulator"&Y% +4 "core" %  X +2 "storage"(B& +4 "core" & \ \  ,\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&@' +21 "core" ' + "manipulator"&d& +4 "core" & 5  +2 "storage"(>& +4 "core" & \ &\ & Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(i'C +40 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&o% +3 "core" %я Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +47 .tElbow.seek CC +3 "manipulator"&( +148 "core" ( +2 "manipulator"&e& +4 "core" &' ' " >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &'   >N +2 .tForearm.seek CC +3 "manipulator"&j'" +94 "core" ' + .tHand.close +2 "manipulator"&r/ +64 "core" / +2 .tCC.seek :open +2 "collection"'7( +414 "core" ( +2 "storage"(]& +4 "core" & \ - S\ +2 "storage"(v& +4 "core" & \ W\ ; .\ + "manipulator"&g& +4 "core" && h =F +2 "manipulator"&q% +4 "core" % , h +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +155 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(W& +4 "core" & c c h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&a' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  + "storage"(& +4 "core" & }\ - z\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&l' +21 "core" ' +2 "manipulator"&y& +4 "core" & t  +2 "storage"(L& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +36 "core" ' + "storage"(V% +4 "core" %H c Q\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (_% +3 "core" %> \ ) \ U^ +2 "manipulator"& % +4 "core" %њ l k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +3 "core" & \ +2 "manipulator"&k% +3 "core" %\  +3 "storage"( % +4 "core" %S q q\ + "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(6( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &\ *\ A `\  +2 "manipulator"&|& +4 "core" & L  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( + "manipulator"&~& +4 "core" &   +2 "storage"(& +4 "core" & l o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +90 "core" ' +2 "storage"(u& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +378 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" & J O A\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&}& +4 "core" & `  +2 "storage"(& +3 "core" & c b \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +52 "core" & B  +3 "manipulator"&0% +4 "core" % ϝ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &' . T >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' o >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +4 "manipulator"&"& +3 "core" &(  >N +3 "manipulator"& % +3 "core" %   +3 "collection"'!& +4 "core" & \ \ +2 "collection"'3& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'G(V +5 "core" & \ \  +9 &1 \ \ *x +9 &d \ \ > +10 &vx \ \ N +9 &;] \ L +9 &Z \ \ M +10 &] \ \ M +9 &Z \ \ L +9 &C\\ \ \ L +10 &\\\ \ \ L +9 &Z \ \ M +10 & \\ \ \ M +9 &"JZ \ \ M +9 &$ Y \ }\ M +10 &%[\ \ \ M +9 &'_ \ M +9 &)R\\ \ \ M +10 &+_\ \ \ M +9 &,]\ \ \ L +9 &.]\ \ \ L +10 &0Z^\ \ \ M +9 &2_ \ \ L +10 &3^ \ \ M +9 &5]\ \ \ M +9 &7c` \ \ L +10 &9%` \ \ L +9 &:a\ \ \ M +10 &<b\ \ \ L +9 &>k\\ \ \ L +9 &@-[ \ \ L +10 &A\\\ \ \ L +9 &C\\ \ \ L +9 &Erb\ \ \ M +10 &G0k\ \ \ N +9 &H{\ \ \ P +10 &J\ \ \ U +9 &L]\ \ \ V +9 &N\ \ \ \ W +10 &O\ \ \ X +9 &Q\ \ \ W +9 &S`\ \ \ X +10 &U \ \ \ \ Y +9 &VlC\ \ \ \ 1 +9 &Vn\ \ \ F +6 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&A1 +4 "core" &V\\\ \ \ F +53 1 +2 "manipulator"&%% +4 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%P& +4 "core" &3\ +2 "manipulator"&.% +4 "core" %\ # ) W ? +2 "storage"(#% +4 "core" %T\ '\ ' \ + "storage"(J. +3 "core" .( +2 "storage"(& +4 "core" &\ '\ ' \  +2 "storage"( & +3 "core" &\ &\ ' \  +2 "manipulator"&(& +4 "core" &'  @ >N +2 "manipulator"&% +3 "core" %\ #   ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&C( +159 "core" ( +2 "manipulator"&)& +4 "core" & u  +2 "storage"(& +3 "core" &\ D\ C v\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +96 "core" ' +2 "storage"(& +4 "core" &\ A\ = k\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +283 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" &\ '\ $ Q\  +3 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&N( +4 "core" ( + "manipulator"&4& +4 "core" & 4  +2 "storage"(;& +4 "core" &\ C\ C \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(D'X +8 "core" & e  +2 "manipulator"&1% +4 "core" % Ϭ . q +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&?(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&2& +4 "core" &y  -  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &y e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +98 "core" ' +2 "manipulator"&K& +49 "core" &y %  +4 "manipulator"&E% +4 "core" %  +2 "processing"%,& +4 "core" &8\ +3 "processing"%^& +4 "core" &L\ +3 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &3\ +8 &<7\ $d +9 &U4\ 7 +10 &4\ K +9 &`8\ M +9 &la4\ M +10 &-_7\ M +9 &_6\ N +9 &^8\ M +10 &r_6\ N +9 &6_6\ M +10 &a:\ M +9 &!]7\ M +9 &#{`6\ M +10 &%=c9\ M +9 &&_:\ M +9 &(\\9\ M +10 &*_9\ M +9 &,E`9\ M +10 &.c9\ M +9 &/_6\ M +9 &1_9\ M +10 &3N_9\ M +9 &5_9\ M +9 &6^:\ M +10 &8]8\ M +9 &:V_9\ M +10 &<_8\ M +9 &=^8\ M +9 &?^8\ M +10 &A^]-\ M +9 &C`7\ M +9 &D`0\ N +10 &Fi8\ N +9 &H]~7\ P +10 &J7\ S +9 &K,\ S +9 &M8\ S +10 &O]3\ S +9 &Q&\ S +9 &R)\ S +10 &T-\ S +9 &Vb"\ T +10 &X$#\ T +9 &Yyn!\ 3 +9 &Z)|$\ N +10 &Z #\ - +2 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&<1 +58 "core" 1 + "manipulator"&9% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' + "processing"%Q& +4 "core" &Z &\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\  x / +2 "storage"(T% +4 "core" %c\ %\ % f\ +2 "storage"(Y. +2 "core" .( +2 "storage"(B& +4 "core" &\ '\ ' D\  +3 "storage"(d& +2 "manipulator"&>& +8 "core" &\ #\  '\  + &y  3  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +2 "core" ( +3 "manipulator"&R& +3 "core" &y    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &y  M  +3 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' + .tHand.close +2 "manipulator"&\\/ +62 "core" / +2 .tPC.seek :open +2 "processing"%@( +84 "core" ' + "storage"(`- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +295 ( +3 "storage"(t& +3 "core" &\ $\ / w\  +2 "manipulator"&[& +4 "core" &y   +2 "manipulator"&S% +4 "core" % y " +2 .tForearm.seek :retract +2 "manipulator"&r'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&U( +264 "core" ( +2 "manipulator"&f& +3 "core" & U 6 +2 "storage"(]& +4 "core" &\ $\ % 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +96 "core" ' +2 .tHand.open +2 "manipulator"&g1 +55 "core" 1 +2 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +3 "core" -' +2 "storage"(& +4 "core" & \  +2 "manipulator"&m& +3 "core" &  3 +2 .tElbow.seek 3 +2 "manipulator"&( +21 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(y& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +58 "core" ' +2 "manipulator"&Z& +3 "core" &  +48 "storage"(_& +5 "core" &\ I\ D \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +22 "core" ' +2 "manipulator"&l% +3 "core" %|  +3 "storage"(h& +3 "core" &\ %\ 6 y\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&k'Ϩ +20 "core" ' +2 "manipulator"& & +4 "core" & u  +2 "storage"(c& +4 "core" &\ <\ < j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +28 "core" ' +2 "storage"({% +3 "core" %q\ <\ < \ +4 ."downElevator"SE.seek :down +3 "storage"('X +99 (z% +2 "core" %`I\ '\ ( Z\ Wc +3 "manipulator"&n% +3 "core" % / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +86 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (~& +2 "core" &\ C\ D \  +3 "collection"'& +3 "core" &V\\\ \ |\ F +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&u% +4 "core" %\    +2 "storage"(x% +4 "core" %a\ P\ M *\ + "storage"(. +3 "core" .( +2 "storage"(p& +4 "core" &\ Q\ Q \  +2 "storage"('& +4 "core" &\ P\ F \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( + "manipulator"&& +4 "core" & r  +2 "storage"(& +4 "core" &\ Q\ Q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(0& +4 "core" &\ /\ < i\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & $  +3 "storage"(& +3 "core" &\ J\ K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'S +32 "core" ' +2 "manipulator"&!% +3 "core" %΋  +2 "storage"( & +4 "core" &\ 2\ 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'Ϸ +26 "core" ' +2 "manipulator"&& +3 "core" & V  +2 "storage"(7& +4 "core" &\ Q\ Q q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'B +40 "core" ' + "manipulator"&P& +4 "core" &  +2 "manipulator"&.% +4 "core" %$ ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&J( +153 "core" ( +2 "manipulator"&& +4 "core" &* ) O @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &* r @[ +3 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' + .tHand.close +2 "manipulator"&(/ +64 "core" / +46 .tCC.seek :open +4 "collection"'( +416 "core" ( + "storage"(& +3 "core" &\ H\ O H\  +3 "storage"()& +3 "core" &\ Q\ Q n\  +2 "manipulator"&& +4 "core" &* S @[ +2 "manipulator"&% +4 "core" % # ^ +2 .tForearm.seek :retract +2 "manipulator"&+'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&/( +163 "core" ( + "manipulator"&I& +4 "core" & < x +2 "storage"(&& +3 "core" & f p ^\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +97 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +55 "core" 1 +2 "manipulator"&:% +4 "core" % Ί b +2 "storage"(O& +3 "core" & L L ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&1'϶ +20 "core" ' +2 "manipulator"&C& +4 "core" & F x + "storage"(8& +4 "core" & e n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +28 "core" ' + "storage"($% +4 "core" %E  k %\ +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (X% +2 "core" %B\ . } l\ U^ +3 "manipulator"&N% +4 "core" %! J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'E& +4 "core" & Q\ +2 "manipulator"&,% +5 "core" %\  +2 "storage"(D% +4 "core" %a  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(s( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & \ =\ 9 \ +2 "manipulator"&9& +4 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&Q( +37 "core" ( + "manipulator"&M& +4 "core" &   +2 "storage"(T& +4 "core" & f p b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +100 "core" ' +2 "storage"(B& +3 "core" & E\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +287 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & J O 9\ +2 "manipulator"&R& +3 "core" & E  +3 .tElbow.seek 2 +2 "manipulator"&H( +21 "core" ( + "manipulator"&=& +4 "core" &  +2 "storage"(\\& +4 "core" & p p\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&`' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(\ 'X +8 "core" & :  +2 "manipulator"&o% +3 "core" %  B  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&S& +49 "core" &( h ?T +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &(  ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +99 "core" ' +2 "manipulator"&]& +4 "core" &( $  ?T +2 "manipulator"&% +4 "core" %"   +2 "collection"'g& +4 "core" & \ +3 "collection"'q& +4 "core" & \ +3 .tCC.seek :closed +3 "collection"'j(V +3 "core" & \ \ +6 & \ \ 5 +9 &9G \ 0 +10 &fs \ E +9 &a \ \ M +9 &_ \ \ L +10 &\\ \ \ L +9 &V\\ \ \ L +10 &\\ \ \ L +9 &_ \ \ M +9 &] \ \ L +10 &^` \ \ L +9 &! ` \ \ L +10 &"`\ \ \ M +9 &$` \ \ L +9 &&g^ \ \ L +10 &('] \ \ M +9 &)[\  \ M +9 &+^ \ \ L +10 &-n] \ \ L +9 &/0^ \ \ L +9 &0_ \ \ M +10 &2[ \ |\ L +9 &4v[ \ |\ L +10 &67`\ \ \ M +9 &7Z \ \ L +9 &9Y\ \ ~\ M +10 &;}a\ \ M +9 &=@Z\ \ \ L +9 &?\\ \ L +10 &@\\\ \ \ M +9 &B] \ \ M +10 &DGZ\ \ \ M +9 &Fc\ \ \ M +9 &Gn\ \ }\ O +10 &I\ \ ~\ Q +9 &K2\ \ \ }\ W +9 &L\ \ |\ W +10 &N\ \ {\ V +9 &Pt\ \ }\ X +10 &R7\ \ \ \ X +9 &S\ \ \ \ Y +9 &U\ \ \ |\ F +10 &V4\ \ \ y\ %p +9 &Vg\ \ \ \ H +2 ( +3 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&m% +4 "core" %   ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%r& +3 "core" &+\ +3 "manipulator"&y% +3 "core" %\ \  +2 "storage"(Z% +4 "core" %T\ (\ $ 8\ +2 "storage"(_. +3 "core" .( +2 "storage"(e& +5 "core" & \ '\ & l\ +2 "storage"(& +4 "core" & \ $\ & M\ +2 "manipulator"&l& +4 "core" &' G >O +2 "manipulator"&h% +3 "core" %\ \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +11 "Can"\ >zY +140 "core" ( +2 "manipulator"&c& +4 "core" &   +2 "storage"(U& +3 "core" & \ C\ C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +95 "core" ' +2 "storage"(v& +3 "core" & \ <\ = l\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +276 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (n& +2 "core" & \ @\  \ +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +3 "core" & i  +2 "storage"( & +4 "core" & \ B\ C \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(u'X +8 "core" &   + "manipulator"&x% +4 "core" % / +3 .tForearm.seek :retract +2 "manipulator"&a'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&p& +4 "core" &l ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &l  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&& +4 "core" &l + "manipulator"&% +4 "core" % R u +2 "processing"%i& +4 "core" &A\ +3 "processing"%0& +5 "core" &?\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &0\  +9 &2/\ *z +9 &c4\ > +10 &y2\ M +9 &D[7\ M +9 &]2\ M +10 &_/\ M +51 &`.\ M +2 &K]7\ M + & \\8\ M +2 &]8\ N + & ]8\ M + &"S_9\ M +7 &$\\9\ M +10 &%[7\ M +9 &'`8\ M +9 &)[_8\ M +10 &+[6\ M +9 &,]:\ M +10 &.[:\ M +9 &0b^8\ N +9 &2%^9\ M +10 &3\\9\ M +9 &5_8\ M +9 &7kZ8\ M +10 &9,^:\ N +9 &:\\:\ M +10 &<]8\ M +9 &>s]9\ M +9 &@4]9\ N +10 &A\\8\ M +9 &C`9\ M +9 &Ezb9\ N +10 &G7p:\ O +9 &H8\ R +10 &J9\ R +9 &Lq9\ S +9 &N59\ S +10 &O8\ S +9 &Q7\ S +9 &Sy:\ S +10 &U:9\ T +9 &V:\ T +10 &X7\ T +9 &Z&X|0\ %q +9 &Zc/\ 4 +9 ( +2 &Z$3\ . +2 "processing"%0& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&w1 +53 "core" 1 + "manipulator"&|% +4 "core" % $ # u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +2 "processing"%& +4 "core" &Z%$\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"("% +4 "core" %a\ \ \ +2 "storage"(!. +2 "core" .( +2 "storage"( & +4 "core" & \ \  \ +2 "storage"(& +3 "manipulator"&7& +5 "core" & \ \  \ +2 &l I +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(P'i +3 "manipulator"&.(s +6 "core" ( +2 "manipulator"&& +3 "core" &l   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +4 "core" &l  f +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +288 ( +2 "storage"(3& +3 "core" & \ '\ & c\ +2 "manipulator"&A& +4 "core" &l  +2 "manipulator"&% +4 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&#( +328 "core" ( +2 "manipulator"&G& +4 "core" &  ] 3 + "storage"(& +4 "core" & \ '\ . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +90 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(J& +4 "core" & \ +2 "manipulator"&;& +4 "core" &  3 +2 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&O& +4 "core" & V 3 + "storage"(C& +4 "core" & N\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"($' +61 "core" ' + "manipulator"&+& +4 "core" & f 3 +2 "storage"(X& +4 "core" & \ (\ 0 %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&N' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +45 "storage"(*'i +29 "core" ' +2 "manipulator"&E% +4 "core" %  +2 "storage"(1& +3 "core" & \ '\ ( \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 307 counts +2 "manipulator"&,' +21 "core" ' + "manipulator"&D& +4 "core" & 3 +2 "storage"(& +4 "core" & \ &\ % ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +20 "core" ' + "storage"(-% +4 "core" %s\ 7\ D \ +3 ."downElevator"SE.seek :down +4 "storage"(2'X +98 (6% +3 "core" %^C\ \  \ V` +2 "manipulator"&<% +3 "core" %ў +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +2 "core" & \ 8\  %\ +3 "collection"'T& +4 "core" &Vk\ \ \ \ T\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&B% +4 "core" %\ "  A +2 "storage"(4% +4 "core" %\\\ %\ % _\ +2 "storage"(K. +3 "core" .( +2 "storage"(>& +4 "core" & \ $\ % e\ +2 "storage"(d& +3 "core" & \ %\ % r\ +2 "manipulator"&R& +4 "core" &  3 +2 .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&\\& +4 "core" &  | 3 +2 "storage"(?& +4 "core" & \ %\ % \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +94 "core" ' + "storage"(o& +4 "core" & \ I\ J 6\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +286 "core" ' +2 "storage"(Y- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&S& +4 "core" &  3 + "storage"(^& +4 "core" & \ (\ ( d\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&`' +25 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(]'T +30 "core" ' + "manipulator"&% +4 "core" % > +2 "storage"(g& +3 "core" & \ \  m\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 306 counts + "manipulator"&\ ' +21 "core" ' + "manipulator"&t& +4 "core" &  3 +2 "storage"(& +3 "core" & \ '\ ' i\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'C +40 "core" ' + "manipulator"&r& +4 "core" & X 3 +2 "manipulator"&y% +4 "core" %ў 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +150 "core" ( +3 "manipulator"&q& +4 "core" &* $ @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &*  ^ @^ +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&l/ +60 "core" / +2 .tCC.seek :open +2 "collection"'h( +415 "core" ( + "storage"(f& +4 "core" & \ .\ < z\ +2 "storage"(c& +4 "core" & \ <\ < O\ + "manipulator"&U& +4 "core" &*  1 @W +2 "manipulator"&v% +3 "core" %   z +2 .tForearm.seek :retract +2 "manipulator"&['\ +103 "core" ' +47 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( + "manipulator"&z& +4 "core" & w  +2 "storage"(n& +3 "core" & k o \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&L' +99 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&~% +4 "core" % % | +2 "storage"(& +3 "core" & \ Q 1\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&x' +20 "core" ' +2 "manipulator"& & +3 "core" & R  +2 "storage"({& +4 "core" & \ - ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +38 "core" ' + "storage"(k% +4 "core" %M c c E\ +3 ."downElevator"SE.seek :down +4 "storage"(p'X +98 ('% +3 "core" %A \ . 0\ V_ +2 "manipulator"&% +3 "core" %Ѡ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ \ +2 "manipulator"&i% +4 "core" %\  +2 "storage"(u% +3 "core" %S d D\ +2 "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +2 "core" &\ A\ ) \  +3 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&& +4 "core" & ] g +2 "storage"("& +4 "core" & p f w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +94 "core" ' +2 "storage"( & +3 "core" & z\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(7- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" & \ 2\  +2 "manipulator"&& +4 "core" & 3 g +2 .tElbow.seek 3 + "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" &  g +2 "storage"(& +3 "core" & \ , \  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"('X +7 "core" & R g +2 "manipulator"&P% +4 "core" % ϙ ,  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &' '  >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' g >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'" +100 "core" ' +2 "manipulator"&G& +4 "core" &(   >N +2 "manipulator"&% +4 "core" % p X +2 "collection"'& +4 "core" & \ \ +50 "collection"'& +6 "core" & \ \ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" & \ +7 &7\ \ \ $e +9 &V \ 7 +9 & \ \ K +10 &\\ \ \ L +9 &k] \ \ M +9 &-\\\ \ \ M +10 &] \ \ L +9 &Z\ \ \ L +10 &t_\ \ \ L +9 &5]\ \ \ M +9 &\\\ \ \ L +10 &!\\\ \ \ L +9 &#}\\\ \ \ L +9 &%=^\ \ \ M +10 &'] \ \ L +9 &(]\ \ \ L +10 &*\\\ \ \ L +9 &,F^\ \ \ L +9 &.\\\ \ \ L +10 &/Y\ \ \ L +9 &1^\ \ \ L +10 &3N\\\ \ \ L +9 &5^\ \ \ M +9 &6^ \ \ M +10 &8\\\ \ \ M +9 &:U^\ \ \ M +9 &<`\ \ \ L +10 &=Y \ \ L +9 &?_\ \ \ L +9 &A^_ \ \ L +10 &C _ \ x\ L +9 &Db\ \ \ M +10 &Fh\ \ \ N +9 &H]u\ \ \ O +9 &J\ \ \ \ \ T +10 &K\ \ \ W +9 &M\ \ }\ W +9 &OM\ \ \ X +10 &Q\ \ \ \ X +9 &R\ \ \ X +10 &T\ \ \ Y +9 &V+t\ \ \ . +9 &V \ \ \ M +9 ( +2 &V_\ \ \ H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&J1 +52 "core" 1 +2 "manipulator"&;% +4 "core" %  % Z X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +90 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%C& +4 "core" &:\ + "manipulator"&(% +4 "core" %\   X  +2 "storage"(+% +4 "core" %T\ &\ & S\ +2 "storage"(X. +3 "core" .( +2 "storage"(& +4 "core" &\ '\ & q\  +2 "storage"(I& +4 "core" &\ '\ & \  +2 "manipulator"&E& +3 "core" && S =F +2 "manipulator"&1% +4 "core" %\  1  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +162 "core" ( + "manipulator"&& +4 "core" & E s +2 "storage"(#& +4 "core" &\ C\ G -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +89 "core" ' +2 "storage"(-& +4 "core" &\ Q\ S u\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'i +283 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &\ #\ 0 '\  +2 "manipulator"&<& +3 "core" & s +3 .tElbow.seek 3 +2 "manipulator"&:( +2 "core" ( +2 "manipulator"&$& +4 "core" & s s +2 "storage"(N& +4 "core" &\ &\ - H\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(B'X +8 "core" & s +2 "manipulator"&4% +4 "core" % Ϯ 7 1 +2 .tForearm.seek :retract +2 "manipulator"&*'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&>& +4 "core" &y 8 f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" &y .  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&R' +91 "core" ' +2 "manipulator"&\\& +4 "core" &y {  +2 "manipulator"&?% +4 "core" % | D +2 "processing"%%& +4 "core" &>\ +2 "processing"%o& +5 "core" &V\ +2 .tPC.seek :closed +2 "processing"%2(Z +4 "core" &>\  +9 &19\ *x +10 &d?\ > +9 &{{;\ N +9 &?^?\ M +10 &]=\ M +9 &]?\ M +9 &\\7\ N +10 &G\\<\ M +9 & _7\ M +10 &]5\ M +9 & ^7\ M +9 &"O]6\ M +10 &$\\9\ M +9 &%]8\ M +9 &'\\4\ M +10 &)W^9\ M +9 &+^8\ M +10 &,]5\ L +9 &.^5\ M +9 &0_]5\ M +10 &2"^5\ M +9 &3]5\ M +9 &5_3\ M +10 &7h\\3\ M +9 &9*_6\ M +10 &:]5\ M +9 &<a8\ M +9 &>p\\8\ M +10 &@1b9\ M +9 &A\\9\ M +9 &C_:\ M +10 &Euc9\ N +9 &G4m8\ O +10 &H9\ Q +9 &J9\ S +9 &Ln8\ S +10 &N19\ R +9 &O9\ R +9 &Q9\ S +10 &Su8\ S +9 &U69\ S +10 &V8\ T +9 &X8\ T +9 &Z$[9\ #l +52 &Z\\9\ . +3 ( + &Z9\ * + &Z1\ * + &Z9\ * + &Z7\ * + &Z2\ * +3 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&/1 +63 "core" 1 +2 "manipulator"&9% +3 "core" % $ D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +97 "core" ' +2 "processing"%S& +4 "core" &Z)\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&^% +5 "core" %\   +2 "storage"(H% +3 "core" %b\ 1\ 1\ +2 "storage"(. +3 "core" .( +2 "storage"(g& +4 "core" &\ 2\ 1\  +3 "storage"(t& +2 "manipulator"&& +7 "core" &\ 1\ 1\  + &y   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&r(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'i +2 "core" ( +2 "manipulator"&b& +5 "core" &y }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &y   +2 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' +2 .tHand.close + "manipulator"&`/ +61 "core" / +4 .tPC.seek :open +2 "processing"%\ ( +91 "core" ' +2 "storage"(]- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +44 "core" ' +285 ( + "storage"(e& +4 "core" &\ '\ ) N\  +2 "manipulator"&& +4 "core" &y   +2 "manipulator"&F% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +250 "core" ( +2 "manipulator"&j& +4 "core" & # 4 !w +2 "storage"(f& +4 "core" &\ $\ & E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +98 "core" ' +2 .tHand.open + "manipulator"&U1 +55 "core" 1 +2 "storage"(v- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +55 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"(_& +4 "core" & k\  + "manipulator"& & +4 "core" &  !v +2 .tElbow.seek 3 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &  !v +2 "storage"( & +4 "core" & a\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +57 "core" ' +2 "manipulator"&[& +4 "core" &  !v +2 "storage"('& +3 "core" &\ #\ " (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +24 "core" ' +2 "manipulator"&x% +3 "core" %΅ k +2 "storage"(& +4 "core" &\ .\ & f\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&i'ϱ +16 "core" ' + "manipulator"&u& +4 "core" &  !v +2 "storage"(a& +3 "core" &\ C\ H\  +3 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +25 "core" ' + "storage"(W% +4 "core" %s\ B\ B g\ +3 ."downElevator"SE.seek :down +4 "storage"(p'X +99 (s% +3 "core" %0H\ \  #\ Wc +2 "manipulator"&w% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &\ S\ M @\  +2 "collection"'"& +3 "core" &V`\ \ [\ H +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ \   +2 "storage"(V% +4 "core" %`\ H\ D ]\ +2 "storage"(. +2 "core" .( +2 "storage"(7& +4 "core" &\ K\ D \  +2 "storage"(0& +4 "core" &\ H\ C\  +2 "manipulator"&& +3 "core" & 4 !v +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  } !v +2 "storage"(& +4 "core" &\ H\ C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +85 "core" ' + "storage"(P& +4 "core" &\ P\ F 8\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +3 "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & % !v +2 "storage"(& +3 "core" &\ 1\ 1 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +28 "core" ' +2 "manipulator"&% +4 "core" %΅  + "storage"(}& +3 "core" &\ #\ & ;\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ϱ +20 "core" ' + "manipulator"&3& +4 "core" & R !t +2 "storage"(h& +4 "core" &\ %\ ) \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'B +39 "core" ' +2 "manipulator"&C& +4 "core" & !t +2 "manipulator"&(% +3 "core" %B ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +146 "core" ( +3 "manipulator"&& +4 "core" &"  % 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &"  Q 9) +3 .tForearm.seek CC +2 "manipulator"&E'" +93 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'1( +411 "core" ( +2 "storage"(.& +4 "core" &\ - } 9\  +2 "storage"(& +4 "core" &\ .  Z\  + "manipulator"&#& +4 "core" &"  9) +2 "manipulator"&-% +4 "core" % $   +2 .tForearm.seek :retract +2 "manipulator"&A'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +161 "core" ( +2 "manipulator"&8& +4 "core" & M b +2 "storage"(6& +3 "core" & p n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&<'} +91 "core" ' +4 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +60 "core" 1 +2 "manipulator"&M% +4 "core" % Ή  +2 "storage"(T& +3 "core" & K J D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts +3 "manipulator"&4'ϵ +19 "core" ' +2 "manipulator"&D& +4 "core" & b +2 "storage"()& +4 "core" & ~\ - +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +29 "core" ' +2 "storage"(,% +4 "core" %K T B \ +3 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (d% +2 "core" %E \ * \ V` +3 "manipulator"&:% +3 "core" %H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +93 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'?& +3 "core" & \ +2 "manipulator"&%% +4 "core" %\ O 0 +2 "storage"(B% +4 "core" %S c c \ + "storage"(*. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" & \ .\ 7 M\ +2 "manipulator"&9& +3 "core" & b +3 .tElbow.seek 2 +2 "manipulator"&S( +37 "core" ( +2 "manipulator"&^& +4 "core" & t # +2 "storage"(H& +3 "core" & \ , 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(o& +4 "core" & z J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & \ -  \ +2 "manipulator"&b& +3 "core" & H "~ +3 .tElbow.seek 2 +2 "manipulator"&=( +2 "core" ( +2 "manipulator"&R& +4 "core" & 4 "~ +2 "storage"(`& +4 "core" & \ * \ +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&]' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(2'X +7 "core" & $ "~ +2 "manipulator"&y% +3 "core" %   W +3 .tForearm.seek :retract + "manipulator"&e'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ( +2 "manipulator"&F& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 "core" &+ ( Aa +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &+   Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'" +103 "core" ' +2 "manipulator"&f& +4 "core" &+ ' m A` +2 "manipulator"&r% +4 "core" %   +2 "collection"'U& +3 "core" & z\ +3 "collection"'v& +5 "core" & z\ +3 .tCC.seek :closed +2 "collection"'n(V +3 "core" & \ +9 &? \ \ %g +9 &X \ 8 +9 &\ } \ \ L +10 &Z \ L +9 &] \ L +9 &M] \ L +10 &] \ \ M +9 &[ \ L +10 &Y \ \ L +9 &V] \ L +9 & \\ \ \ L +10 &![ \ L +9 &#Z \ \ L +9 &%\\] \ M +10 &'\\ \ L +9 &(\\ \ L +10 &*_ \ L +9 &,e]\ \ \ L +9 &.(Z \ \ L +10 &/\\ \ \ M +9 &1\\ \ \ L +55 &3m] \ \ L +4 &5.] \ \ M +3 &6_ \ \ L + &8] \ \ L +2 &:t^ \ \ M + &<7` \ \ L +2 &=Z\ \ L +7 &?Z\ \ \ L +10 &A}^\ \ \ L +9 &C?_\ \ \ L +9 &E]\ \ \ M +10 &Ff\ \ \ N +9 &H{v\ \ \ P +9 &J.\ \ \ U +10 &K\ \ \ X +9 &M\ \ \ \ X +9 &Oj\ \ \ \ X +10 &Q+\ \ \ \ Y +9 &R\ \ \ Z +10 &T\ \ \ Z +9 &V*a\ \ \ \ 6 +9 &V\ \ \ U +9 ( +2 &Vs\ \ \ O +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&_1 +61 "core" 1 +3 "manipulator"& % +4 "core" %  j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &C\ +2 "manipulator"&l% +4 "core" %\   +2 "storage"([% +4 "core" %T\ \ \ +2 "storage"('. +3 "core" .( +2 "storage"(x& +4 "core" & \ \  W\ +2 "storage"(q& +3 "core" & \ \ a\ +2 "manipulator"&& +4 "core" &) : ?S +2 "manipulator"&u% +3 "core" %\ L  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&a& +4 "core" & j  +2 "storage"(Z& +3 "core" & \ %\ % O\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +92 "core" ' +2 "storage"(c& +4 "core" & \ B\ F ;\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'i +276 "core" ' +2 "storage"({- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +3 "core" & \ %\ 0 9\ +2 "manipulator"&w& +4 "core" & r  +2 .tElbow.seek 2 +2 "manipulator"&~( +2 "core" ( +2 "manipulator"&k& +4 "core" & d  +2 "storage"(& +4 "core" & \ %\ % \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"( 'X +8 "core" & Y  + "manipulator"&V% +4 "core" %  \\ M +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&7& +5 "core" &t ' `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &t T  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" &t ?  + "manipulator"&% +4 "core" % 9 ' +2 "processing"%m& +4 "core" &Q\ +2 "processing"%P& +5 "core" &>\ +3 .tPC.seek :closed + "processing"%p(Z +5 "core" &A\ +7 & 0@\ #b +9 &U?\ 7 +10 &?\ L +9 &[?\ M +10 &f_E\ M +9 &(]@\ M +9 &^<\ M +10 &]2\ M +9 &n_7\ M +10 &0]2\ M +9 &^6\ M +9 &!]7\ M +10 &#v]2\ M +9 &%8]2\ M +9 &&];\ M +10 &(^4\ M +9 &*|]9\ M +9 &,>]A\ M +10 &-_;\ N +9 &/[7\ M +10 &1X4\ M +9 &3F]5\ M +9 &5\\7\ M +10 &6Z5\ M +9 &8[8\ M +9 &:N^4\ M +10 &<[:\ M +9 &=Z9\ M +10 &?\\9\ M +9 &AX\\9\ M +9 &C]9\ M +10 &Dc9\ N +9 &Fh9\ N +9 &HU~8\ P +10 &J8\ S +9 &K:\ R +10 &M9\ S +9 &OV7\ S +9 &Q9\ S +10 &R9\ S +9 &T9\ S +10 &V\\7\ S +9 &X9\ T +9 &Yxr9\ 7 +10 &Z,7\ N +9 &Z7\ ) +2 ( +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&|% +4 "core" % $ ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +98 "core" ' +2 "processing"%& +3 "core" &Z#\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +52 "core" %\ $ 7 + "storage"(G% +5 "core" %T\ \  #\ + "storage"(. +3 "core" .( +2 "storage"(}& +4 "core" & \ \  \ +2 "storage"(3& +3 "manipulator"&h& +5 "core" & \ \  \ +2 &t  +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(C'i +2 "manipulator"&((s +5 "core" ( +2 "manipulator"&5& +4 "core" &t   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &t  M  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +80 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +299 ( +2 "storage"(I& +4 "core" & \ '\ ' d\ + "manipulator"&J& +4 "core" &t !  +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+( +257 "core" ( +2 "manipulator"& & +3 "core" &  Z +2 "storage"(.& +4 "core" & \ $\ & [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' + .tHand.open +2 "manipulator" +59 "core" 1 +2 "storage"(-- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(8'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(6' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' +2 "storage"(X& +4 "core" & L\ +2 "manipulator"&N& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( + "manipulator"&T& +4 "core" &  +2 "storage"(D& +4 "core" & f\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +57 "core" ' +2 "manipulator"&A& +3 "core" & +2 "storage"(d& +4 "core" & \ \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +30 "core" ' + "manipulator"&4% +4 "core" % F +2 "storage"(?& +4 "core" & \ \  w\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 292 counts + "manipulator"&%' +21 "core" ' + "manipulator"&B& +4 "core" & +2 "storage"(*& +4 "core" & \ 1\ ' J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +21 "core" ' + "storage"(&% +4 "core" %p\ $\ ) P\ +3 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (@% +2 "core" %;C\ \  \ Va +3 "manipulator"&/% +3 "core" %ђ q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +48 "manipulator"&9'\ +93 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (^& +3 "core" & \ 8\  \ +2 "collection"'H& +4 "core" &Vs\ \ \ f\ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&o% +4 "core" %\    +2 "storage"($% +4 "core" %b\ 2\ 1\ +2 "storage"(\\. +2 "core" .( +2 "storage"(& +4 "core" & \ 1\ 1\ +2 "storage"(t& +4 "core" & \ 1\ 1\ +2 "manipulator"&b& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&R( +5 "core" ( + "manipulator"&`& +4 "core" &  +2 "storage"(K& +3 "core" & \ 1\ 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +94 "core" ' +2 "storage"(y& +4 "core" & \ C\ B \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'i +284 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & +3 "storage"(Q& +3 "core" & \ $\ ' :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +28 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(r'S +28 "core" ' + "manipulator"&U% +4 "core" % 6 x +2 "storage"(=& +4 "core" & \ \  H\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&2' +20 "core" ' +2 "manipulator"&e& +4 "core" & x + "storage"(1& +4 "core" & \ (\ / \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'B +39 "core" ' +2 "manipulator"& & +3 "core" & +3 "manipulator"&l% +3 "core" %ф +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +154 "core" ( +2 "manipulator"&'& +4 "core" &( %  ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +4 "core" &'   >O +2 .tForearm.seek CC +2 "manipulator"&q'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'u( +415 "core" ( +2 "storage"(j& +4 "core" & \ +\ I \ +2 "storage"(a& +4 "core" & \ J\ Y }\ +2 "manipulator"&Z& +3 "core" &'  >O +2 "manipulator"&c% +4 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&{& +4 "core" &  +2 "storage"(s& +3 "core" & n r ]\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&w' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % G +3 "storage"("& +3 "core" & {\ , 6\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts +41 "manipulator"&V' +27 "core" ' +2 "manipulator"&& +4 "core" & l  +2 "storage"(W& +3 "core" & m m Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +17 "core" ' + "storage"(i% +4 "core" %K I +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (0% +3 "core" %C\ - R\ V` +2 "manipulator"&~% +4 "core" %ѫ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & w\ +2 "manipulator"&m% +3 "core" %\  &  +2 "storage"( % +4 "core" %b q q )\ +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(\ ( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &\ 7\  T\  +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" & 9 f +2 "storage"(P& +4 "core" & g d A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +94 "core" ' +2 "storage"(& +4 "core" & h U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(}'i +286 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" & N \  +2 "manipulator"&5& +4 "core" & f +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" & v f +2 "storage"(& +4 "core" & }\ , \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(p'X +7 "core" & x f +2 "manipulator"&C% +4 "core" % ϱ / +2 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&J( +151 "core" ' + ."downElevator"SE.stop +3 "storage"(5 + "core" ( +3 "manipulator"& & +4 "core" &' t >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +101 "core" ' + "manipulator"&.& +4 "core" &( # Q >J +2 "manipulator"&(% +4 "core" %,  +2 "collection"'#& +4 "core" & w\ +2 "collection"'-& +6 "core" & \ +2 .tCC.seek :closed +4 "collection"'E(V +3 "core" & \ \ +5 & \ \ 8 +10 &=H~ \ \ 1 +9 &ls \ \ E +9 &_ \ M +10 &[ \ L +9 &\\ \ L +10 &]] \ \ L +9 &\\ \ \ M +9 &]\ \ \ L +10 &W \ \ L +9 &e^ \ \ L +10 &!'] \ L +9 &"Y\ \ \ L +9 &$Z \ \ M +10 &&lZ \ \ M +9 &(/[\ \ L +9 &)X \ \ L +10 &+[ \ \ L +9 &-vX\ \ \ L +9 &/7\\\ \ \ L +10 &0^ \ \ L +9 &2Z \ \ L +10 &4}] \ \ L +9 &6?_ \ \ L +9 &8^\ \ L +10 &9\\ \ \ L +9 &;\\ \ \ M +10 &=F] \ \ M +9 &? \\ \ \ L +9 &@Z \ \ L +10 &B\\ \ \ M +9 &DN]\ \ \ M +9 &Fe\ \ \ M +10 &Gs\ \ \ O +9 &I\ \ \ Q +9 &K:\ \ \ V +10 &L\ \ \ \ W +9 &N\ \ \ V +10 &P{\ \ \ X +9 &R=\ \ \ X +9 &S\ \ \ Y +10 &U\ \ \ F +9 &V2\ \ \ &q +9 &Vg\ \ \ H +3 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&X1 +64 "core" 1 + "manipulator"&N% +4 "core" % # ( _ +49 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%D& +5 "core" &C\ + "manipulator"&% +4 "core" %\   O  +2 "storage"(A% +4 "core" %U\ '\ ' \ +2 "storage"(d. +2 "core" .( +2 "storage"(& +4 "core" &\ '\ ' \  +2 "storage"(4& +4 "core" &\ '\ ' \  +2 "manipulator"&?& +4 "core" &' A >J +2 "manipulator"&8% +3 "core" %\  e  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +164 "core" ( +2 "manipulator"&*& +4 "core" & o f +2 "storage"(&& +3 "core" &\ J\ E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +93 "core" ' +2 "storage"(& +4 "core" &\ <\ G \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'i +282 "core" ' +2 "storage"(@- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &\ %\ % t\  +2 "manipulator"&)& +4 "core" & f +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( + "manipulator"&,& +4 "core" & l f +2 "storage"(:& +4 "core" &\ K\ J C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(o'X +7 "core" & # f +2 "manipulator"&$% +3 "core" % ϒ   +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&<(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&& +5 "core" &v + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +99 "core" ' +2 "manipulator"&`& +3 "core" &v * +2 "manipulator"&K% +4 "core" % 6 \ +2 "processing"%;& +4 "core" &[\ +2 "processing"%y& +5 "core" &W\ +3 .tPC.seek :closed + "processing"%>(Z +5 "core" &D\ +7 &:C\ $d +10 &TG\ 6 +9 &~A\ K +9 &`>\ M +10 &f_C\ M +9 &)]=\ M +9 &^2\ M +10 &[7\ M +9 &n^2\ M +10 &1\\5\ M +9 &]5\ M +9 &!\\9\ M +10 &#w]2\ M +9 &%8]7\ M +10 &&\\7\ M +9 &(\\4\ M +9 &*}]2\ M +10 &,@]5\ M +9 &.]7\ M +9 &/\\8\ M +10 &1[7\ M +9 &3G]5\ M +9 &5 \\9\ M +10 &6]9\ M +9 &8\\8\ M +10 &:O\\7\ M +9 &<[8\ M +9 &=Z8\ M +10 &?[7\ M +9 &AX]7\ M +9 &C]7\ M +10 &Db7\ N +9 &Fh7\ N +10 &HU{7\ Q +9 &J:\ S +9 &K8\ S +10 &M7\ S +9 &OV7\ S +9 &Q7\ S +10 &R:\ T +9 &T8\ S +10 &V[8\ T +9 &X6\ T +9 &Y|q9\ 4 +10 &Z18\ E +9 &Z8\ ( +2 ( +3 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&O1 +55 "core" 1 +2 "manipulator"&9% +4 "core" % g \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%F& +4 "core" &Z7\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %\    +2 "storage"(f% +3 "core" %T\ '\ & g\ +2 "storage"(U. +3 "core" .( +2 "storage"(=& +4 "core" &\ '\ & Y\  +2 "storage"(e& +2 "manipulator"&1& +9 "core" &\ &\ ' *\  + &v  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +49 .tElbow.seek PC +6 "storage"(#]@K-0-\ b +3 "manipulator"& (s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'i +3 "core" ( + "manipulator"&Y& +4 "core" &v I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" &v  +3 .tForearm.seek PC +2 "manipulator"&S' +95 "core" ' +2 .tHand.close + "manipulator"&g/ +55 "core" / +4 .tPC.seek :open +2 "processing"%2( +88 "core" ' + "storage"(r- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +44 "core" ' +287 ( +2 "storage"(x& +4 "core" &\ (\ % J\  +2 "manipulator"&_& +4 "core" &v # + "manipulator"&]% +4 "core" % } $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&[( +260 "core" ( + "manipulator"&n& +4 "core" & e  +2 "storage"(j& +4 "core" &\ (\ ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +95 "core" ' +2 .tHand.open + "manipulator"&Z1 +58 "core" 1 +2 "storage"(c- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"({'E +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +4 "core" -' + "storage"(v& +4 "core" & \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" & :  +2 "storage"(& +4 "core" & E\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&i& +4 "core" & q  +2 "storage"(& +4 "core" &\ &\ % `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&0'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +25 "core" ' +2 "manipulator"&V% +3 "core" %Ό   +2 "storage"(& +4 "core" &\ '\ $ F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&m'ϸ +24 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" &\ &\ 6 p\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +29 "core" ' +2 "storage"(z% +4 "core" %q\ &\ , \ +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (% +3 "core" %H\ \  !\ Vb +2 "manipulator"&% +4 "core" %( p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &\ &\ 0 P\  +2 "collection"'P& +3 "core" &Vj\ \ e\ H +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ "  > +2 "storage"(k% +3 "core" %T\ $\ $ D\ +2 "storage"(. +3 "core" .( +2 "storage"(3& +4 "core" &\ $\ $ ;\  +47 "storage"(h& +5 "core" &\ $\ $ -\  +2 "manipulator"&5& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(L& +4 "core" &\ $\ $ K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +93 "core" ' +2 "storage"(C& +3 "core" &\ E\ H K\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"& & +2 "core" &   +3 "storage"(& +3 "core" &\ '\ ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(.- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('T +29 "core" ' + "manipulator"&#% +4 "core" %Ύ 1 +2 "storage"(& +4 "core" &\ /\ & A\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&p'Ϻ +13 "core" ' +2 "manipulator"&I& +4 "core" & S  +2 "storage"(u& +3 "core" &\ I\ J 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'C +41 "core" ' + "manipulator"&-& +3 "core" &  +3 "manipulator"&D% +3 "core" %X } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +156 "core" ( + "manipulator"&d& +4 "core" &, % Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &, Bf +2 .tForearm.seek CC +2 "manipulator"&4'" +94 "core" ' + .tHand.close + "manipulator"&?/ +62 "core" / +2 .tCC.seek :open + "collection"'8( +415 "core" ( +3 "storage"( & +3 "core" &\ P\ E _\  +2 "storage"(*& +4 "core" &\ I\ D ?\  +2 "manipulator"&&& +3 "core" &* R @] +2 "manipulator"&% +4 "core" % # h +2 .tForearm.seek :retract +2 "manipulator"&J'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&T( +163 "core" ( + "manipulator"&@& +4 "core" & % \\ +2 "storage"(/& +4 "core" & O\  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&)'} +94 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&:1 +57 "core" 1 +2 "manipulator"&^% +3 "core" % Έ :  +2 "storage"(H& +4 "core" & }\ ! f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&$'ϴ +21 "core" ' + "manipulator"&B& +4 "core" & _ \\ +2 "storage"(+& +3 "core" & o p W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +19 "core" ' + "storage"(%% +4 "core" %H n !\ +3 ."downElevator"SE.seek :down +50 "storage"('X +52 (t% +3 "core" %^C \ ! T\ V_ +2 "manipulator"&M% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +87 "core" ' +103 ' +2 ."downElevator"SE.stop + "storage"(5 +26550 #t-> exit +7 #mEXIT @1692296432.00EDT @1693408941.77EDT = =tMAIN =mMAIN_scheduler @EDT1693408942.51 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@55832 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +252 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"#\ #p + #\ #p + #tPolling Can every 10:00 +10 #Cleanly exited at 14:20:31EDT17-Aug-23 +579 #-> ESP.ready! +3 #Powering core bus +570 .Gate.power :raw,:ON + "sampler") +29 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(1% +3 "core" %W\  @\ +2 "manipulator"&2% +3 "core" %\ "  L  +2 "manipulator"&3& +3 "core" &  K ` +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(4(K +967 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &K \  +717 #t-> access 3 +2 "storage"(6% +3 "core" %W\ \ \  3\ +2 "manipulator"&7% +3 "core" %\ "  `  +2 "manipulator"&8& +4 "core" & " X ` +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(9([ +329 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &[ g\ +673 #t-> exit +6 #mEXIT @1693409021.68EDT @1694027743.52EDT = =tMAIN =mMAIN_scheduler @EDT1694027744.25 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@11287 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"+\ V6 + +\ V6 + #tPolling Can every 10:00 +2 #Cleanly exited at 11:23:41EDT30-Aug-23 +1371 #-> ESP.ready! +3 #Powering core bus +585 .Gate.power :raw,:ON +2 "sampler") +23 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(1% +3 "core" %] e\ +2 "manipulator"&2% +3 "core" %\ !   +2 "manipulator"&3& +4 "core" &  l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(4(K +964 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (5& +2 "core" &K \\\  +4679 #t-> access 3 +2 "storage"(6% +3 "core" %] B\ +2 "manipulator"&7% +4 "core" %\ !   + "manipulator"&8& +3 "core" & ) l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(9([ +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &[ +\  +5245 #t-> require 'shuffle.rb' +3254 #-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"';& +3 "core" &\ \ \  +2 .tHand.open +2 "manipulator"&<1 +62 "core" 1 + "manipulator"&=% +3 "core" % \   +3 "storage"(>% +4 "core" %] !\ + "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(@( +1602 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & h\ +2 "manipulator"&B& +4 "core" &  l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&C( +20 "core" ( + "manipulator"&D& +5 "core" &  4 + "storage"(E& +4 "core" & \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +94 "core" ' +2 "storage"(G& +3 "core" & \ \ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +282 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +3 "core" & \ +2 "manipulator"&K& +4 "core" & ) 4 +2 .tElbow.seek 2 + "manipulator"&L( +20 "core" ( +2 "manipulator"&M& +4 "core" & n  +3 "storage"(N& +3 "core" & \ \  O\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&O' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'X +8 "core" & o  +2 "manipulator"&S% +3 "core" %  @ +3 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&V& +4 "core" && . m =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +2 "core" && m =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +34 "manipulator"&X'" +107 "core" ' +2 "manipulator"&Y& +3 "core" &% S <@ +2 "manipulator"&Z% +5 "core" % / +2 "collection"'[& +4 "core" &\ \ 2\  +2 "collection"'\\& +6 "core" &\ \ \  +2 .tCC.seek :closed +2 "collection"'](V +4 "core" &\ \ 5\ \  +8 &5\ \ K\ +} +10 &f\ \ 3\ @ +9 &ax\ \ 6\ O +9 &%`\ \ 0\ N +10 &c\ \ <\ N +9 &`\ \ H\ N +9 &k`\ \ 3\ N +10 &-`\ \ 4\ N +9 &_\ \ 1\ N +9 &`\ \ 3\ N +10 & sc\ \ 0\ N +9 &"4a\ \ 0\ N +10 &#`\ \ /\ N +9 &%c\ \ 2\ N +9 &'{`\ \ ;\ N +10 &)>`\ \ 2\ N +9 &*c\ \ :\ N +10 &,_\ \ <\ N +9 &.`\ \ <\ N +9 &0E`\ \ <\ N +10 &2_\ \ 1\ N +9 &3_\ \ 8\ N +9 &5`\ \ ;\ N +10 &7Nb\ \ 4\ N +9 &9`\ \ ;\ N +10 &:b\ \ 1\ N +9 &<e\ \ 7\ N +9 &>U`\ \ 2\ N +10 &@a\ \ 7\ N +9 &A`\ \ 0\ N +9 &Ca\ \ 5\ N +10 &E\\g\ \ 0\ N +9 &Gr\ \ =\ P +10 &H\ \ E\ R +9 &J\ \ :\ V +9 &LG\ \ 4\ X +10 &N \ \ >\ W +9 &O\ \ ?\ Y +9 &Q\ \ 6\ X +10 &SK\ \ ?\ Z +9 &U \ \ D\ Z +9 &V[F\ \ 1\ 2 +10 &Vy\ \ B\ E +5 ( +2 "collection"'\\& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open + "manipulator"&^1 +4 "core" &V]\ \ B\ E +49 1 +2 "manipulator"&_% +5 "core" %   ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +3 "core" &^\  +2 "manipulator"&b% +4 "core" %\   +2 "storage"(c% +3 "core" %U \ +3 "storage"(d. +2 "core" .( +2 "storage"(e& +4 "core" & 6\ +2 "storage"(f& +4 "core" & ?\ +2 "manipulator"&g& +3 "core" &%  <; +2 "manipulator"&h% +3 "core" %\  #  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&i( +161 "core" ( + "manipulator"&j& +5 "core" & W  + "storage"(k& +4 "core" & k\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +90 "core" ' +2 "storage"(m& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'i +286 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & \ +2 "manipulator"&q& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +4 "core" &  G  + "storage"(t& +5 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&w& + "storage"(x'X +7 "core" & {  +3 "manipulator"&y% +3 "core" %  , +3 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&|& +4 "core" &| 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &|  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +104 "core" ' + "manipulator"&& +4 "core" &| k +2 "manipulator"&% +3 "core" % < G +3 "processing"%& +4 "core" &\  +2 "processing"%& +6 "core" &^\  +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\  +7 &J\ %h +9 &xW\ 9 +10 &\ M +9 &_\ N +9 &Rb\ N +10 &]\ N +9 &`\ O +10 &_\ N +9 &Z_\ N +9 &`\ O +10 &`\ N +9 &!b\ N +9 &#b_\ N +10 &%$\\\ N +9 &&\\\ N +10 &(]\ N +9 &*j`\ N +9 &,-\\\ N +10 &-b\ N +9 &/]\ N +9 &1r`\ N +10 &34]\ N +9 &4`\ N +10 &6`\ O +9 &8z_\ N +9 &:=^\ N +10 &;_\ N +9 &=]\ O +10 &?_\ N +9 &AD`\ N +9 &Cb\ N +10 &Df\ O +9 &Fj\ P +9 &HAz\ R +10 &I\ T +9 &K\ U +9 &M\ T +10 &OB\ T +9 &Q\ T +10 &R\ T +9 &T\ U +9 &VI\ U +10 &X\ \ U +9 &Y{q\ > +39 &Z L\ F +17 &Z7\ 9 +2 ( + &Z6\ 9 + &Z6\ 9 + &Z6\ 9 + &Z6\ 9 +2 "processing"%& +3 "core" &Z6\ 9 +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +58 "core" 1 + "manipulator"&% +4 "core" %  & x G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%& +4 "core" &Z6\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +5 "core" %\   +  + "storage"( % +5 "core" %b d\ + "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & \\\ +2 "storage"(& +2 "manipulator"&& +8 "core" & f\ + &| U +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s +2 "storage"('i +6 "core" ( +2 "manipulator"& & +3 "core" &|   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &|  +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +76 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'y +47 "core" ' +296 ( +2 "storage"(& +4 "core" & \ +2 "manipulator"&& +3 "core" &|  +2 "manipulator"&"% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +248 "core" ( + "manipulator"&%& +5 "core" &  N O + "storage"(&& +4 "core" & F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +104 "core" ' + .tHand.open +2 "manipulator"&(1 +64 "core" 1 +2 "storage"()- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(*'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(+' +46 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(-& +4 "core" & $ $ /\ + "manipulator"&.& +5 "core" & & K + .tElbow.seek 2 +2 "manipulator"&/( +4 "core" ( + "manipulator"&0& +3 "core" &  < K +3 "storage"(1& +3 "core" & " " )\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +59 "core" ' + "manipulator"&& +6 "core" &  K +2 "storage"(5& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6' +28 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +24 "core" ' + "manipulator"&4% +4 "core" %  . D +2 "storage"(:& +4 "core" & _\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&;' +27 "core" ' +2 "manipulator"&<& +4 "core" & - K +2 "storage"(=& +3 "core" & q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +20 "core" ' +2 "storage"(?% +3 "core" %r =\ +3 ."downElevator"SE.seek :down +4 "storage"(9'X +98 (A% +3 "core" %5C a\ Wd +2 "manipulator"&B% +4 "core" %щ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +35 "manipulator"&D'\ +94 "core" ' +22 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & \ +3 "collection"'G& +4 "core" &V]\ \ \ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %\    +3 "storage"(% +4 "core" %b \ +2 "storage"(I. +3 "core" .( +2 "storage"(J& +3 "core" & }\ +3 "storage"(K& +4 "core" & \ + "manipulator"&& +5 "core" &  K + .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +4 "core" & _ K +2 "storage"(P& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +103 "core" ' +2 "storage"(S& +4 "core" & 9\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'i +283 "core" ' +3 "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &  K +2 "storage"(W& +3 "core" & '\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&H' +32 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Y'T +28 "core" ' +2 "manipulator"&Z% +3 "core" %  +2 "storage"([& +4 "core" & } Z\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&R' +19 "core" ' + "manipulator"&T& +4 "core" &  c J +2 "storage"(!& +4 "core" & {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'C +45 "core" ' + "manipulator"&a& +4 "core" &  J +2 "manipulator"&b% +4 "core" %ч \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +142 "core" ( + "manipulator"&e& +4 "core" &# $ e :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &#  :, +3 .tForearm.seek CC + "manipulator"&f'" +93 "core" ' +2 .tHand.close + "manipulator"&g/ +55 "core" / +2 .tCC.seek :open + "collection"'h( +416 "core" ( +51 "storage"(X& +4 "core" & \ +2 "storage"(j& +3 "core" & C\ +3 "manipulator"&k& +4 "core" &#   :, +2 "manipulator"&m% +4 "core" % /  8  +2 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +154 "core" ( +6 "manipulator"&o& +3 "core" & u  +3 "storage"(p& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&t1 +64 "core" 1 +2 "manipulator"&v% +4 "core" % %  +2 "storage"(w& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&y' +20 "core" ' +2 "manipulator"&i& +4 "core" & E  +2 "storage"(l& +3 "core" & W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +27 "core" ' +2 "storage"(u% +4 "core" %E\ \ \ +44 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (}% +3 "core" %A \ V` +2 "manipulator"&r% +5 "core" %љ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &\ \ ;\ +2 "manipulator"&% +4 "core" %\    +2 "storage"(x% +5 "core" %c\ \  \ + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & A\  +2 "manipulator"&& +4 "core" & F  +2 .tElbow.seek 3 + "manipulator"&( +17 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"( & +5 "core" &\ \  L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +98 "core" ' + "storage"(& +5 "core" &\ \  M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & j\  +2 "manipulator"& & +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +5 "core" ( + "manipulator"&~& +4 "core" & ]  +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & [  +2 "manipulator"&% +4 "core" % ϫ " +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&"& +3 "core" &+  . Ad +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &+  { Ad +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'" +99 "core" ' + "manipulator"&&& +4 "core" &+ $ Ad +2 "manipulator"&% +4 "core" % +2 "collection"'(& +4 "core" &\ \ C\ +2 "collection"')& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"',(V +5 "core" &\ \ B\ +7 &4\ \ @\ $c +9 &V\ \ C\ 7 +10 &\ \ F\ L +9 &_\ \ E\ N +9 &g[\ \ >\ N +10 &*]\ \ D\ M +9 &]\ \ C\ N +9 &\\\ \ G\ M +10 &p_\ \ C\ M +9 &2^\ \ A\ M +10 &^\ \ 9\ M +9 &!`\ \ ?\ M +9 &#x^\ \ @\ M +10 &%8c\ \ >\ N +9 &&^\ \ 0\ M +9 &(a\ \ 2\ N +10 &*_\ \ 3\ N +9 &,A\\\ \ 6\ N +10 &._\ \ \ 1\ N +9 &/\\\ \ 1\ N +9 &1b\ \ 7\ N +10 &3I_\ \ A\ N +9 &5\ `\ \ 8\ N +9 &6]\ \ 4\ N +10 &8[\ \ 2\ M +9 &:R`\ \ 2\ M +10 &<`\ \ 3\ N +9 &=_\ \ 1\ M +9 &?]\ \ 6\ N +10 &A[]\ \ <\ M +9 &Cb\ \ C\ N +9 &Dd\ \ :\ N +10 &Fi\ \ D\ O +9 &HYx\ \ F\ P +10 &J\ \ :\ U +9 &K\ \ 7\ X +9 &M\ \ >\ X +10 &OK\ \ ?\ X +9 &Q \ \ E\ Y +9 &R\ \ G\ Y +10 &T\ \ B\ Y +9 &V)t\ \ >\ . +9 &V#\ \ =\ P +9 ( +3 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&-1 +3 "core" &Vj\ \ @\ H +53 1 +2 "manipulator"&.% +3 "core" %  = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%1& +4 "core" &\ +2 "manipulator"&#% +4 "core" %\     +2 "storage"(% +4 "core" %U W\ + "storage"(5. +4 "core" .( + "storage"(4& +3 "core" & d\  +3 "storage"(:& +4 "core" & V\  +2 "manipulator"&\ & +4 "core" &*  f Ad + "manipulator"&*% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +157 "core" ( +37 "manipulator"&=& +12 "core" & S + "storage"(?& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +92 "core" ' +2 "storage"('& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +285 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & \  +2 "manipulator"&2& +4 "core" & A +2 .tElbow.seek 3 +2 "manipulator"&/( +8 "core" ( + "manipulator"&3& +4 "core" & r \ +2 "storage"(6& +4 "core" & 9\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&E/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"('X +8 "core" & P \ +2 "manipulator"&% +4 "core" % Ϧ  +2 .tForearm.seek :retract + "manipulator"&I'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&8(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +3 "manipulator"&J& +5 "core" &o = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &o 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' +2 "manipulator"&N& +3 "core" &o $ W +3 "manipulator"&P% +4 "core" % +2 "processing"%>& +3 "core" &m\ +3 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &\ +7 & 1\ $c +9 &U\ 7 +10 &~\ L +9 &]\ N +9 &]^\ N +10 &_\ O +9 &_\ N +10 &[\ N +9 &e`\ N +9 &'_\ N +10 &c\ N +9 &!`\ N +9 &#na\ N +10 &%/_\ N +9 &&`\ N +10 &(]\ N +9 &*u\\\ N +9 &,6_\ O +10 &-a\ N +9 &/_\ N +9 &1}`\ N +10 &3>_\ O +9 &5]\ N +10 &6]\ O +9 &8]\ N +9 &:G`\ N +10 &< _\ N +9 &=]\ N +9 &?\\\ N +10 &AO[\ N +9 &Ca\ N +10 &D`\ O +9 &Fh\ P +9 &HL~\ R +10 &J \ T +9 &K\ T +9 &M\ T +10 &ON\ T +9 &Q\ T +10 &R\ U +9 &T\ U +9 &VT\ U +10 &X\ U +9 &Y{p\ 8 +9 &Z1\ E +10 &Z\ ( +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&71 +61 "core" 1 +2 "manipulator"&D% +3 "core" % % _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +92 "core" ' +2 "processing"%V& +3 "core" &Zh\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %\  8  +2 "storage"(L% +3 "core" %U Y\ +2 "storage"(Z. +4 "core" .( + "storage"([& +4 "core" & 6\  +2 "storage"(T& +3 "manipulator"&!& +6 "core" & J\  +2 &o  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(a'i + "manipulator"&b(s +7 "core" ( + "manipulator"&Q& +4 "core" &o ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &o  +3 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' +2 .tHand.close + "manipulator"&H/ +55 "core" / +3 .tPC.seek :open +2 "processing"%R( +87 "core" ' +2 "storage"(Y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +47 "core" ' +291 ( + "storage"(\\& +4 "core" & &\  +2 "manipulator"&^& +3 "core" &o b +2 "manipulator"&O% +4 "core" % 7  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +128 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +250 "core" ( +2 "manipulator"&]& +4 "core" & l 5 +2 "storage"(X& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +93 "core" ' +2 .tHand.open + "manipulator"&k1 +61 "core" 1 +3 "storage"(m- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(p' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(d& +3 "core" &\ \  )\  +2 "manipulator"&t& +5 "core" &  2 + .tElbow.seek 3 +2 "manipulator"&v( +19 "core" ( + "manipulator"&w& +4 "core" & [ \ +2 "storage"(i& +3 "core" &\ \ r\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +58 "core" ' + "manipulator"&U& +5 "core" & ' \ + "storage"(`& +5 "core" & B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&}'} +23 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +23 "core" ' +2 "manipulator"&y% +3 "core" %Ώ  +2 "storage"(& +4 "core" & j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +20 "core" ' +2 "manipulator"&x& +4 "core" &  \ +2 "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +32 "core" ' +2 "storage"(n% +3 "core" %q r\ +3 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (@% +3 "core" %OF #\ We +2 "manipulator"&% +5 "core" %9 > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & y\  +2 "collection"' & +4 "core" &Vd\ \ \ H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  K  +2 "storage"(s% +4 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & \  +2 "storage"(& +4 "core" & \  + "manipulator"& & +4 "core" & > \ +2 .tElbow.seek 3 +2 "manipulator"&~( +7 "core" ( +2 "manipulator"&& +4 "core" & R \ +2 "storage"({& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(& +4 "core" & L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & H \ +2 "storage"(& +3 "core" & ]\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +30 "core" ' +2 "manipulator"&(% +3 "core" %Α   +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +58 "core" ' +9 "manipulator"&& +4 "core" & o \ +2 "storage"(h& +4 "core" & =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'D +38 "core" ' +2 "manipulator"&1& +3 "core" & \ +2 "manipulator"&#% +5 "core" %U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +157 "core" ( +2 "manipulator"&4& +4 "core" && # =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" && =G +3 .tForearm.seek CC + "manipulator"&)'" +92 "core" ' +2 .tHand.close + "manipulator"&\ / +60 "core" / +2 .tCC.seek :open + "collection"'*( +416 "core" ( +2 "storage"(%& +3 "core" & C\  +3 "storage"(=& +4 "core" & \  +2 "manipulator"&?& +3 "core" && | =E +2 "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&0( +159 "core" ( +2 "manipulator"&A& +4 "core" &   + "storage"(B& +5 "core" &\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +99 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +63 "core" 1 +2 "manipulator"&E% +4 "core" % ΋ v +2 "storage"(G& +6 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +20 "core" ' +2 "manipulator"&<& +3 "core" & m  +2 "storage"($& +5 "core" &\ \ $ *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +30 "core" ' +2 "storage"(;% +4 "core" %M \ +2 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (K% +3 "core" %B N\ Wb +2 "manipulator"&/% +4 "core" %@ H  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +97 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'P& +3 "core" &\ \ \ +2 "manipulator"&>% +3 "core" %\ #  9 +3 "storage"(% +4 "core" %S\ \ ,\ + "storage"(I. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & j\ +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&V( +23 "core" ( +2 "manipulator"&W& +3 "core" & 1 M +3 "storage"(L& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +98 "core" ' + "storage"([& +4 "core" & \ \ (\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +286 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" & a\ +2 "manipulator"&Q& +3 "core" &  M +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +4 "core" &  M +2 "storage"(H& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&Y' +20 "core" ' +38 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +5 "storage"(9'X +6 "core" & % M +2 "manipulator"&a% +4 "core" %  u F +2 .tForearm.seek :retract + "manipulator"&\\'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +145 "core" ( +2 "manipulator"&O& +3 "core" ' + &' % } >H +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &C& +3 "core" &' a >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +99 "core" ' +2 "manipulator"&X& +3 "core" &( $ 7 >H +3 "manipulator"&b% +3 "core" %   +3 "collection"'k& +4 "core" &\ \ M\ +2 "collection"'m& +5 "core" &\ \ I\ +2 .tCC.seek :closed +2 "collection"'f(V +5 "core" &\ \ H\  +8 &/~\ \ F\ *y +10 &d\ \ C\ > +9 &wx\ \ C\ N +9 &:Z\ \ G\ M +10 &_\ \ B\ M +9 &^\ \ G\ N +10 &^\ \ H\ N +9 &CZ\ \ C\ M +9 &_\ \ C\ M +10 &_\ \ D\ M +9 & b\ \ D\ N +9 &"I_\ \ B\ N +10 &$ _\ \ C\ M +9 &%\\\ \ E\ M +10 &'[\ \ A\ M +9 &)RZ\ \ @\ M +9 &+`\ \ B\ M +10 &,_\ \ F\ M +9 &.a\ \ A\ M +9 &0Z`\ \ B\ M +10 &2]\ \ B\ M +9 &3`\ \ C\ M +10 &5Z\ \ A\ M +9 &7c]\ \ =\ M +9 &9#]\ \ F\ N +10 &:_\ \ D\ M +9 &<_\ \ A\ M +9 &>j`\ \ @\ M +10 &@+`\ \ C\ N +9 &A^\ \ D\ M +10 &C\\\ \ F\ M +9 &Era\ \ C\ M +9 &G/m\ \ ?\ O +10 &H}\ \ ?\ Q +9 &J\ \ :\ V +9 &L[\ \ A\ X +10 &N\ \ 5\ X +9 &O\ \ =\ X +10 &Q\ \ C\ Y +9 &S^\ \ B\ Z +9 &U \ \ @\ Z +10 &VjB\ \ B\ 1 +9 &Vr\ \ @\ I +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&d1 +3 "core" &Ve\ \ 0\ I +53 1 +3 "manipulator"&t% +3 "core" %  % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%i& +3 "core" &n\ +2 "manipulator"&g% +5 "core" %\ % { 2 + "storage"(U% +3 "core" %b )\ +3 "storage"(`. +3 "core" .( +2 "storage"(e& +3 "core" & *\ +2 "storage"(y& +4 "core" & 8\ +2 "manipulator"&& +4 "core" &'  >H +2 "manipulator"&o% +3 "core" %\ %  2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x( +153 "core" ( +2 "manipulator"&z& +3 "core" & n +2 "storage"(n& +5 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +99 "core" ' +2 "storage"(j& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +287 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +3 "manipulator"&l& +4 "core" & e +2 .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +4 "core" & L + "storage"(}& +5 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"('X +8 "core" &  + "manipulator"&s% +5 "core" % " g W +2 .tForearm.seek :retract + "manipulator"&q'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +4 "manipulator"&& +4 "core" &p x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &p   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 "manipulator"&& +4 "core" &p  {  +2 "manipulator"&{% +3 "core" % z  +3 "processing"%_& +4 "core" &\ +47 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(Z +5 "core" &\ +6 & 0\ $c +10 &V\ 7 +9 &~\ L +9 &b\ N +10 &\\`\ N +9 &_\ N +10 &_\ N +9 &]\ N +9 &d_\ N +10 &']\ N +9 &`\ N +9 &!_\ N +10 &#l_\ N +10 &%._\ N +9 &&^e\ N +9 &(]\ N +9 &*t^\ N +14 &,5^\ N +5 &-]\ N +11 &/]\ N +8 &1{_\ N +9 &3=_\ N +10 &4]\ N +9 &6^\ N +9 &8\\\ N +10 &:F]\ N +9 &<]\ N +9 &=]\ N +10 &?^\ N +9 &AP]\ M +10 &C_\ N +9 &Db\ O +9 &Fk\ O +10 &HL{\ Q +9 &J\ S +10 &K\ T +9 &M\ T +9 &OL\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VS\ T +9 &X\ U +9 &Y{s\ 8 +10 &Z1\ H +9 &Z\ ) +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&r1 +58 "core" 1 +2 "manipulator"&% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 "processing"%"& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +5 "core" %\  E 4 + "storage"(&% +4 "core" %] V\ +2 "storage"((. +3 "core" .( +2 "storage"(& +3 "core" & J\ +3 "storage"(& +3 "manipulator"&h& +7 "core" & _\ + &p  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&1(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(#'i +2 "core" ( +4 "manipulator"&& +3 "core" &p T  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &p ^  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +47 "core" ' +284 ( +2 "storage"(:& +3 "core" & &\ +2 "manipulator"&-& +4 "core" &p   +2 "manipulator"&% +4 "core" % Z  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +254 "core" ( +2 "manipulator"&,& +3 "core" & \\ +2 "storage"(%& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +90 "core" ' + .tHand.open +2 "manipulator"&?1 +64 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(5& +3 "core" & \ \ ( <\ +3 "manipulator"&6& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&E( +4 "core" ( +2 "manipulator"&G& +3 "core" & % +3 "storage"(<& +4 "core" & \ \  '\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' +2 "manipulator"&'& +3 "core" & & +2 "storage"(K& +3 "core" & ?\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&/' +30 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&% +4 "core" % L +40 "storage"(P& +11 "core" & \\\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&>' +28 "core" ' + "manipulator"&& +3 "core" & t +3 "storage"(I& +4 "core" & +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +16 "core" ' +2 "storage"(+% +3 "core" %o D\ +5 ."downElevator"SE.seek :down +3 "storage"(J'X +99 ( % +3 "core" %C ,\ Wd +2 "manipulator"&7% +3 "core" %Ѡ ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +72 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" & \ +2 "collection"'L& +4 "core" &Vc\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&[% +4 "core" %\    +2 "storage"(3% +4 "core" %S \ +2 "storage"(N. +3 "core" .( +2 "storage"(T& +3 "core" & O\ +2 "storage"(!& +4 "core" & q\ +2 "manipulator"&Q& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" & [ +2 "storage"(8& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +112 "core" ' +2 "storage"(a& +3 "core" & `\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +287 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & { +2 "storage"(C& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&S' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(b'S +29 "core" ' +2 "manipulator"&k% +4 "core" %   +2 "storage"(M& +4 "core" & k k\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&9' +19 "core" ' +2 "manipulator"&\\& +4 "core" & J +2 "storage"(*& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'B +40 "core" ' +2 "manipulator"&i& +3 "core" & f +2 "manipulator"&g% +4 "core" %ѣ b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +148 "core" ( + "manipulator"&e& +4 "core" &$ % 3 ;3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +4 "core" &$  ;3 +2 .tForearm.seek CC + "manipulator"&y'" +94 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'o( +416 "core" ( + "storage"(]& +3 "core" & \ +3 "storage"(z& +4 "core" & \ + "manipulator"&n& +4 "core" &% H ;2 +2 "manipulator"&j% +4 "core" % % V +2 .tForearm.seek :retract +2 "manipulator"&^'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +156 "core" ( +2 "manipulator"&@& +3 "core" & B  +2 "storage"(& +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&l' +103 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +40 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&}1 +58 "core" 1 +3 "manipulator"& % +5 "core" % / # + "storage"( & +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&s' +20 "core" ' + "manipulator"&x& +4 "core" & S  +2 "storage"(c& +5 "core" & c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +23 "core" ' + "storage"(% +3 "core" %L\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %A \ Wb +2 "manipulator"&v% +4 "core" %ѵ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'{& +3 "core" &\ \ F\ +3 "manipulator"&_% +4 "core" %\    +2 "storage"(% +4 "core" %V\ \  \ \ + "storage"(q. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(R( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" & ,\  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&"( +14 "core" ( +2 "manipulator"&& +3 "core" &  F  +2 "storage"(&& +4 "core" &\ \ C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +97 "core" ' +2 "storage"(& +3 "core" &\ \ $ 0\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" & Z\  +2 "manipulator"&& +3 "core" & K  +2 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"& & +3 "core" & ^  +2 "storage"(& +4 "core" & C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(|'X +8 "core" &   + "manipulator"&#% +5 "core" % ϝ / - +2 .tForearm.seek :retract + "manipulator"&:'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +156 "core" ( +2 "manipulator"&& +4 "core" ' + &( $ D ?Q +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 && +3 "core" &(  ! ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'" +100 "core" ' + "manipulator"&%& +5 "core" &( % - >O + "manipulator"&1% +5 "core" %) +2 "collection"'?& +3 "core" &\ \ \ +3 "collection"'& +7 "core" &\ \ K\ +2 .tCC.seek :closed +2 "collection"')(V +4 "core" &\ \ F\ +5 &\ \ H\ 6 +10 &@G\ \ D\ 1 +9 &jq\ \ B\ E +10 &e\ \ E\ N +9 &]\ \ D\ M +9 &_\ \ J\ M +10 &W]\ \ D\ M +9 &\\\ \ B\ M +9 &^\ \ E\ N +10 &\\\ \ E\ M +9 &^]\ \ C\ N +10 &!!]\ \ B\ M +9 &"[\ \ E\ M +9 &$b\ \ C\ M +10 &&g]\ \ D\ M +9 &(*Z\ \ C\ M +9 &)\\\ \ B\ M +10 &+^\ \ C\ M +9 &-p^\ \ A\ M +10 &/1]\ \ B\ M +9 &0_\ \ C\ M +9 &2^\ \ B\ M +10 &4w]\ \ B\ M +9 &69_\ \ C\ M +9 &7`\ \ E\ M +10 &9^\ \ B\ M +9 &;b\ \ C\ M +10 &=@_\ \ G\ N +9 &?^\ \ D\ M +9 &@_\ \ C\ M +10 &B^\ \ B\ M +9 &DH`\ \ C\ N +9 &F e\ \ C\ N +10 &Gt\ \ C\ O +9 &I\ \ B\ R +10 &K5\ \ F\ W +9 &L\ \ C\ X +9 &N\ \ F\ X +10 &Pw\ \ C\ X +9 &R9\ \ C\ X +9 &S\ \ F\ Z +10 &U\ \ E\ F +9 &V4\ \ C\ %q +10 &Vi\ \ E\ H +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&51 +57 "core" 1 + "manipulator"&6% +4 "core" % ) $ +2 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +12 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%<& +4 "core" &\\\ +2 "manipulator"&\ % +4 "core" %\    +2 "storage"('% +4 "core" %T Z\ +2 "storage"(K. +3 "core" .( +2 "storage"(& +3 "core" & h\  +2 "storage"(P& +5 "core" & [\  + "manipulator"&4& +3 "core" &&  J =G +3 "manipulator"&A% +3 "core" %\   )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +166 "core" ( +2 "manipulator"&I& +4 "core" & Q { +2 "storage"(& +4 "core" & g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +98 "core" ' +2 "storage"(=& +3 "core" & t\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +282 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ;\  +2 "manipulator"&7& +4 "core" & { +2 .tElbow.seek 3 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&;& +4 "core" & u { +2 "storage"(/& +4 "core" & y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(['X +8 "core" & { + "manipulator"&3% +5 "core" % ϰ  2 +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&N(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&T& +3 "core" &t * 2  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +3 "core" &t 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' +2 "manipulator"&H& +3 "core" &t N  +2 "manipulator"&8% +5 "core" %   +2 "processing"%.& +4 "core" &\ +2 "processing"%a& +5 "core" &S\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &x\  +8 &1\ *x +10 &b\ > +9 &lz\ N +9 &.]c\ N +10 &]\ N +9 &^\ N +9 &t]^\ N +10 &5Z\ N +9 &^\ N +10 &]d\ N +9 & {[\ N +9 &"=^b\ N +10 &$\\\ N +9 &%\\\ N +9 &']\ N +10 &)E]\ N +9 &+]f\ N +10 &,]\ N +9 &.^b\ N +9 &0O\\i\ M +10 &2]\ N +9 &3\\\ N +9 &5^\ N +10 &7V`\ N +9 &9b\ N +10 &:\\\ M +9 &<]\ N +9 &>^Z3\ N +10 &@!];\ M +9 &A\\\ N +9 &C_\ N +10 &Edb\ N +9 &G"n\ P +10 &Hc\ R +9 &J\ S +9 &L]\ S +10 &N\ T +9 &O4\ T +9 &Qh\ T +10 &Sc\ T +9 &U#\ U +10 &Vb\ T +9 &X'\ U +9 &Zay\ %s +10 &Z\\\ . +8 ( +2 &Z\ * +2 "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&01 +58 "core" 1 +2 "manipulator"&D% +4 "core" % $ R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +98 "core" ' + "processing"%O& +4 "core" &Z!\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&C% +3 "core" %\ "   = +3 "storage"(X% +4 "core" %U g\ + "storage"(k. +4 "core" .( + "storage"(M& +3 "core" & d\  +3 "storage"(\\& +3 "manipulator"&*& +7 "core" & g\  + &t t  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&i(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(g'i +2 "core" ( +2 "manipulator"&F& +45 "core" &t  +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &t C  +2 .tForearm.seek PC +2 "manipulator"&V' +95 "core" ' +2 .tHand.close + "manipulator"&S/ +63 "core" / +3 .tPC.seek :open + "processing"%9( +38 "core" ' +2 "storage"(b- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +45 "core" ' +339 ( +2 "storage"(m& +4 "core" & X\  +2 "manipulator"&d& +4 "core" &t V  + "manipulator"&Y% +4 "core" %  U  +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&U( +255 "core" ( +2 "manipulator"&f& +3 "core" & " i +2 "storage"(]& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +93 "core" ' +2 .tHand.open + "manipulator"&n1 +60 "core" 1 +2 "storage"(j- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(`& +3 "core" & \  +3 "manipulator"&}& +4 "core" &  ^ +2 .tElbow.seek 3 + "manipulator"& ( +15 "core" ( + "manipulator"& & +5 "core" &   + "storage"(x& +4 "core" &\ \ & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +58 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(w& +5 "core" & a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +17 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(l'i +26 "core" ' +2 "manipulator"&{% +3 "core" %΋ } +2 "storage"(s& +4 "core" & O\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&_'Ϸ +20 "core" ' +2 "manipulator"&& +3 "core" & 7  +2 "storage"(q& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&t'9 +28 "core" ' +2 "storage"(p% +4 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %C 8\ Wc +2 "manipulator"&r% +4 "core" %4 O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & }\  +2 "collection"'&& +4 "core" &Vb\ \ \ H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ #  +2 "storage"(u% +4 "core" %a \  + "storage"(. +4 "core" .( + "storage"(& +6 "core" & \  +2 "storage"(h& +3 "core" & \  +2 "manipulator"&& +3 "core" & `  +3 .tElbow.seek 3 + "manipulator"& ( +10 "core" ( + "manipulator"&& +43 "core" &  +9 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +93 "core" ' +2 "storage"(#& +3 "core" & 4\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +285 "core" ' +3 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & K  +2 "storage"(& +5 "core" & !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'U +25 "core" ' + "manipulator"&~% +5 "core" %΅  + "storage"(?& +3 "core" & 5\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&|'ϱ +20 "core" ' + "manipulator"&:& +4 "core" &   +2 "storage"(o& +4 "core" & `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'D +44 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&<% +5 "core" %6 T v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +152 "core" ( +3 "manipulator"&K& +5 "core" &%  & << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% # S <; +3 .tForearm.seek CC + "manipulator"&P'" +93 "core" ' +2 .tHand.close + "manipulator"&4/ +60 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(,& +3 "core" & i\  +2 "storage"(I& +3 "core" & \  +3 "manipulator"&& +3 "core" &% 9 <; +2 "manipulator"&=% +3 "core" % 1 =  +3 .tForearm.seek :retract + "manipulator"&-'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +157 "core" ( + "manipulator"&$& +4 "core" & =  +2 "storage"( & +4 "core" & e\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&7'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +52 "core" 1 +2 "manipulator"&W% +3 "core" % ΋ D +2 "storage"(L& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&3'Ϸ +21 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(+& +4 "core" &\ \ #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +36 "core" ' +2 "storage"(>% +4 "core" %F\ \  w\ +2 ."downElevator"SE.seek :down +4 "storage"(T'X +99 (!% +3 "core" %? \ V` +2 "manipulator"&E% +4 "core" %7 n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +8 "manipulator"&H'\ +97 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'8& +4 "core" &\ \ \ +2 "manipulator"&.% +3 "core" %\ #  < +3 "storage"([% +4 "core" %W\ \ \ + "storage"(2. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" & 9\ +3 "manipulator"&D& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&O( +23 "core" ( + "manipulator"&C& +5 "core" &  ; +2 "storage"(X& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +98 "core" ' + "storage"(M& +4 "core" & \ \  \ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +286 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" & \ +2 "manipulator"&F& +4 "core" & f ; +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Q& +4 "core" & d ; + "storage"(S& +4 "core" & \ +5 .tForearm.seek 2 + 300 counts + "manipulator"&b' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Z& + "storage"(J'X +8 "core" & : ; +2 "manipulator"&g% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&m'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +95 "Can"\ D̫ +52 "core" ( + "manipulator"&Y& +5 "core" &" # U 9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" ' + &" t 9' +2 ."downElevator"SE.stop +3 .tForearm.reconfigure :tight +2 "storage"(5 +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&f'" +100 "core" ' +3 "manipulator"&]& +3 "core" &" p 9' +3 "manipulator"&i% +3 "core" %# H +3 "collection"'n& +4 "core" &\ \ \ +2 "collection"'j& +5 "core" &\ \ \ +3 .tCC.seek :closed +2 "collection"'y(V +3 "core" &\ \ =\ +8 &7\ \ A\ $d +9 &V\ \ A\ 7 +10 &\ \ J\ L +9 &Z\ \ =\ M +9 &g\\\ \ <\ M +10 &*Y\ \ B\ M +9 &]\ \ G\ M +10 &Y\ \ M\ M +9 &n]\ \ G\ N +9 &2\\\ \ H\ M +10 &\\\ \ J\ M +9 &!a\ \ D\ M +9 &#w]\ \ B\ M +10 &%9[\ \ E\ M +9 &&\\\ \ D\ M +10 &(X\ \ @\ M +9 &*\\\ \ B\ M +9 &,B]\ \ E\ M +10 &.\\\ \ D\ M +9 &/\\\ \ B\ M +9 &1]\ \ D\ M +10 &3H\\\ \ D\ N +9 &5 ]\ \ B\ M +10 &6^\ \ A\ M +9 &8\\\ \ A\ M +9 &:P^\ \ B\ N +10 &<_\ \ C\ M +9 &=\\\ \ @\ M +9 &?]\ \ @\ N +10 &AZ]\ \ C\ M +9 &C^\ \ <\ M +10 &D_\ \ @\ N +9 &Fd\ \ @\ N +9 &HZu\ \ B\ P +10 &J\ \ G\ T +9 &K\ \ B\ W +9 &M\ \ @\ X +10 &OK\ \ D\ X +9 &Q \ \ C\ X +10 &R\ \ <\ Z +9 &T\ \ A\ Y +9 &V*v\ \ @\ . +10 &V#\ \ D\ P +8 ( +2 &Vn\ \ @\ I +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&`1 +54 "core" 1 +3 "manipulator"&}% +3 "core" % #  b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &O\ +3 "manipulator"&x% +4 "core" %\  r  + "storage"(% +4 "core" %U P\ +2 "storage"(w. +3 "core" .( +2 "storage"(e& +4 "core" & W\ + "storage"({& +4 "core" & `\ +2 "manipulator"&s& +4 "core" &" v 9# +2 "manipulator"&@% +3 "core" %\  |  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 .tElbow.seek 2 +4 "manipulator"&( +154 "core" ( + "manipulator"&q& +4 "core" & /  +2 "storage"(p& +4 "core" & J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +95 "core" ' +2 "storage"(z& +4 "core" & )\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & 5\ +2 "manipulator"&c& +5 "core" &  +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( +2 "manipulator"&^& +3 "core" & $  +3 "storage"(& +4 "core" & v\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&&& +3 "storage"('X +7 "core" &   +2 "manipulator"&u% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +3 "manipulator"&& +4 "core" &l 6 \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &l  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&& +4 "core" &l U \ +2 "manipulator"&% +4 "core" %  +2 "processing"%t& +3 "core" &E\ +3 "processing"%#& +5 "core" &4\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &$\ +7 &8!\ $e +10 &VS\ 8 +9 &}?\ L +9 &\\(\ N +10 &d]C\ N +9 &&\\)\ N +9 &^H\ N +10 &]8\ N +9 &k^5\ N +10 &/Y\ N +9 &]E\ N +9 &!\\*\ N +10 &#t\\(\ N +9 &%6](\ N +9 &&\\L\ N +10 &(]U\ N +9 &*|Z1\ N +9 &,=\\'\ N +10 &-]T\ N +9 &/\\\\\ N +10 &1\\@\ N +9 &3E\\J\ N +9 &5\\R\ N +10 &6\\8\ N +9 &8[c\ N +9 &:P\\/\ M +10 &<\\ \ N +9 &=YB\ N +10 &?Z*\ N +9 &AW\\0\ N +9 &C]c\ N +10 &D`W\ O +9 &Fg.\ O +10 &HTz\ Q +9 &JB\ S +9 &K\ T +10 &M`\ T +9 &OUF\ T +9 &Q5\ T +10 &R+\ T +9 &T1\ T +10 &V[C\ T +9 &X4\ T +9 &Y{q)\ 6 +10 &Z,(\ Q +9 &Z\ ) +2 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&v1 +55 "core" 1 +2 "manipulator"&% +3 "core" % o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(%% +3 "core" %a ^\ +2 "storage"(~. +4 "core" .( + "storage"(?& +5 "core" & d\ +2 "storage"(:& +3 "manipulator"&o& +6 "core" & e\ +2 &l u \ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(<'i +2 "core" ( +3 "manipulator"& & +3 "core" &l \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &l 6 \ +2 .tForearm.seek PC +2 "manipulator"&"' +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%|( +90 "core" ' +9 "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +42 "core" ' +279 ( +2 "storage"(& +3 "core" & \ +3 "manipulator"&5& +4 "core" &l  \ +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +261 "core" ( +2 "manipulator"&)& +4 "core" & k +2 "storage"(,& +4 "core" & 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +94 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(=- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +3 "core" -' +2 "storage"('& +4 "core" & \ &\  v\ +2 "manipulator"&/& +4 "core" & C +2 .tElbow.seek 2 +2 "manipulator"&W( +9 "core" ( +2 "manipulator"&L& +4 "core" & 3 + "storage"(& +5 "core" & \ \ '\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&+'ќ +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +59 "core" ' +2 "manipulator"&-& +3 "core" & +2 "storage"(!& +4 "core" & 8\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E' +28 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +22 "core" ' +3 "manipulator"&3% +3 "core" % R \\ +2 "storage"(8& +4 "core" & m\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&.' +19 "core" ' +2 "manipulator"&[& +3 "core" & = +3 "storage"(2& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +27 "core" ' +2 "storage"(B% +4 "core" %o B\  +2 ."downElevator"SE.seek :down +4 "storage"(T'X +100 (R% +3 "core" %I  \ Xf +2 "manipulator"&0% +3 "core" %ќ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" & d\ +2 "collection"'X& +5 "core" &Vm\ \ \ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&M% +3 "core" %\  ;  +2 "storage"(;% +5 "core" %a ~\ + "storage"(H. +4 "core" .( + "storage"(\\& +5 "core" & |\ + "storage"(*& +4 "core" & \ +2 "manipulator"&F& +3 "core" & g +3 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&S& +4 "core" &  +2 "storage"(N& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +95 "core" ' +2 "storage"(g& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +329 "core" ' +3 "storage"(k- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & +2 "storage"(V& +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a' +30 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'S +35 "core" ' + "manipulator"&n% +4 "core" % X  +2 "storage"(& +3 "core" & |\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&J' +27 "core" ' +2 "manipulator"&m& +4 "core" & . +2 "storage"(A& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'B +38 "core" ' +2 "manipulator"&& +3 "core" & z +2 "manipulator"&x% +5 "core" %і p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +154 "core" ( +2 "manipulator"&e& +4 "core" &'  A >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &(  >M +2 .tForearm.seek CC + "manipulator"&j'" +92 "core" ' +2 .tHand.close + "manipulator"&s/ +55 "core" / +3 .tCC.seek :open +2 "collection"'@( +415 "core" ( + "storage"(f& +4 "core" & {\ +2 "storage"(q& +4 "core" & \ +2 "manipulator"&p& +4 "core" && j =G + "manipulator"&z% +3 "core" % $ L  +3 .tForearm.seek :retract +2 "manipulator"&d'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +157 "core" ( + "manipulator"&& +4 "core" & |  +2 "storage"(r& +4 "core" & \ \  7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +106 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % $ k + "storage"(&& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&u' +18 "core" ' +2 "manipulator"&& +4 "core" & 8  +2 "storage"(U& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' + "storage"(_% +4 "core" %K\ #\ # B\ +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (h% +4 "core" %; \ V_ +2 "manipulator"& % +5 "core" %Ѥ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +85 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &\ \ 6\ +2 "manipulator"&t% +4 "core" %\    +2 "storage"(% +3 "core" %b\ \ \ +2 "storage"(. +3 "core" .( +44 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(9( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" & &\  +2 "manipulator"&& +5 "core" & 9  + .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&& +3 "core" & N  +2 "storage"(%& +4 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&~'9 +97 "core" ' +2 "storage"(?& +3 "core" &\ \  ;\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +285 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" & ,\  +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&& +5 "core" & b  + "storage"(& +4 "core" & L\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"('X +8 "core" & G  +2 "manipulator"&<% +3 "core" % Ϡ $ 7 +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +151 "core" ( +2 "manipulator"&& +4 "core" ' +2 &%   <? + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +3 &"& +3 "core" &% U <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'" +93 "core" ' + "manipulator"&,& +5 "core" &% % 2 <? + "manipulator"&% +5 "core" %) < +2 "collection"'& +4 "core" &\ \ D\ +2 "collection"'=& +5 "core" &\ \ \ \ +4 .tCC.seek :closed + "collection"'P(V +5 "core" &\ \ \ ;\ +7 & .\ \ =\ $d +9 &U\ \ 9\ 7 +10 &\ \ D\ L +9 &W\ \ \ F\ M +9 &b\\\ \ F\ M +10 &$[\ \ B\ M +9 &]\ \ >\ N +9 &\\\ \ 8\ M +10 &j\\\ \ A\ M +9 &,\\\ \ A\ M +10 &]\ \ 7\ M +9 &![\ \ B\ M +9 &#r\\\ \ E\ M +10 &%5Z\ \ \ G\ M +9 &&\\\ \ B\ M +9 &(]\ \ <\ M +10 &*|\\\ \ C\ M +9 &,>]\ \ D\ M +10 &.\\\ \ A\ M +9 &/]\ \ A\ L +9 &1]\ \ B\ M +10 &3E[\ \ A\ M +9 &5]\ \ D\ M +9 &6_\ \ \ C\ M +10 &8[\ \ C\ M +9 &:L^\ \ E\ M +10 &<`\ \ B\ M +9 &=^\ \ A\ M +9 &?\\\ \ E\ N +10 &AU\\\ \ C\ M +9 &C\\\ \ C\ M +9 &D`\ \ B\ M +10 &Fi\ \ B\ N +9 &HTs\ \ E\ P +10 &J\ \ \ >\ T +9 &K\ \ F\ X +9 &M\ \ C\ X +10 &OE\ \ D\ X +9 &Q\ \ D\ X +9 &R\ \ C\ Y +10 &T\ \ A\ Z +9 &V$u\ \ B\ . +10 &V'\ \ A\ T +8 ( +2 &V_\ \ C\ H +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open + "manipulator"&'1 +55 "core" 1 +2 "manipulator"&/% +3 "core" % ) $ ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%4& +4 "core" &*\ + "manipulator"&% +4 "core" %\   w  +2 "storage"(-% +4 "core" %T d\ +2 "storage"(!. +3 "core" .( +2 "storage"(K& +3 "core" & \\\  +2 "storage"(3& +4 "core" & \  +2 "manipulator"&8& +4 "core" &%  i <? +2 "manipulator"&$% +3 "core" %\   X  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&[( +162 "core" ( +2 "manipulator"&2& +4 "core" &   +2 "storage"(B& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +101 "core" ' +2 "storage"(I& +49 "core" & \  +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +278 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" & \  +3 "manipulator"&+& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&W( +4 "core" ( +2 "manipulator"&>& +4 "core" & N  +2 "storage"(E& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(M'X +8 "core" &  +2 "manipulator"&;% +4 "core" % Ϩ T +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&\\& +4 "core" &m ( P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &m   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +98 "core" ' +2 "manipulator"&S& +3 "core" &m  e  +2 "manipulator"&N% +5 "core" % N +2 "processing"%6& +4 "core" &.\ +2 "processing"%g& +5 "core" &!\ +3 .tPC.seek :closed +3 "processing"%T(Z +2 "core" &&\ +6 &4\ 4 +10 &=G~1\ 1 +9 &fq7\ E +12 &\ h*\ N +7 &]2\ N +9 &[0\ N +10 &P\\,\ N +9 &\\-\ N +10 &\\/\ N +9 &^)\ N +9 &Y\\-\ N +10 &!_,\ N +9 &"]1\ N +9 &$_1\ N +10 &&a\\0\ N +9 &("^*\ N +9 &)]5\ N +10 &+\\1\ N +9 &-i\\/\ N +10 &/+\\1\ N +9 &0];\ N +9 &2\\1\ N +10 &4pY)\ N +9 &63Y+\ N +9 &7\\.\ M +10 &9]1\ N +9 &;z\\/\ M +10 &=;\\0\ N +9 &>Z.\ N +9 &@\\8\ N +10 &BY,\ N +9 &DA](\ N +9 &Fa7\ O +10 &Gv2\ Q +9 &Ix0\ T +10 &K8-\ T +9 &L/\ T +9 &N2\ T +10 &P0\ T +9 &RA2\ T +9 &T+\ T +10 &U2\ T +9 &W3\ U +10 &YG(\ B +9 &ZZ;q)\ 'r +9 &Z#/\ ' +6 ( + "processing"%g& +4 "core" &Z,\ ' +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&G1 +62 "core" 1 +2 "manipulator"&D% +4 "core" %  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' +2 "processing"%Y& +4 "core" &Z#\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&V% +5 "core" %\ #  9 +2 "storage"(]% +4 "core" %] X\ +2 "storage"(n. +3 "core" .( +2 "storage"(& +4 "core" & Q\  +2 "storage"(m& +2 "manipulator"&A& +9 "core" & @\  + &m b  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'i +2 "core" ( +2 "manipulator"&Z& +5 "core" &m Q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &m }  +3 .tForearm.seek PC +2 "manipulator"&O' +96 "core" ' + .tHand.close +2 "manipulator"&a/ +57 "core" / +3 .tPC.seek :open +2 "processing"%J( +86 "core" ' +2 "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +44 "core" ' +292 ( + "storage"({& +3 "core" & (\  +3 "manipulator"&`& +4 "core" &m   +2 "manipulator"&b% +3 "core" %   +48 .tForearm.seek :retract +4 "manipulator"&s'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +254 "core" ( +2 "manipulator"&y& +4 "core" & ) c +2 "storage"(f& +3 "core" & )\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +95 "core" ' +2 .tHand.open + "manipulator"&p1 +59 "core" 1 +3 "storage"(z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(r' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +3 "core" -' +2 "storage"(w& +3 "core" &\ \ ) v\  +3 "manipulator"&& +3 "core" &\  W +3 .tElbow.seek 3 + "manipulator"&( +23 "core" ( + "manipulator"&&& +4 "core" & +2 "storage"(& +4 "core" & I I\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&U'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(_' +61 "core" ' + "manipulator"&d& +5 "core" & ( +2 "storage"(h& +3 "core" & B\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +17 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +25 "core" ' +2 "manipulator"&u% +3 "core" %Ή 8 +2 "storage"(& +4 "core" & N\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&t'ϵ +20 "core" ' +2 "manipulator"&& +4 "core" & M + "storage"(& +4 "core" & r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +27 "core" ' +2 "storage"(% +4 "core" %q r\ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +4 "core" %D X\ Wc +2 "manipulator"&v% +4 "core" %$ D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & \  +2 "collection"'%& +5 "core" &V_\ \ \ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&?% +3 "core" %\ ! / 8 +2 "storage"(^% +6 "core" %c 1\  +2 "storage"(. +3 "core" .( +2 "storage"(:& +4 "core" & \  +2 "storage"(#& +4 "core" & \  + "manipulator"& & +3 "core" & \\ +3 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  M +2 "storage"(l& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +92 "core" ' +2 "storage"(<& +4 "core" & F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +3 "storage"("& +3 "core" & D\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&o'} +70 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +28 "core" ' + "manipulator"&% +5 "core" %Έ A + "storage"( & +3 "core" & G\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +21 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(@& +4 "core" & &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'D +43 "core" ' +2 "manipulator"&4& +4 "core" & x +2 "manipulator"&% +4 "core" %C P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&!( +153 "core" ( +2 "manipulator"&K& +4 "core" &' $ K >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &' >O +3 .tForearm.seek CC +2 "manipulator"&='" +94 "core" ' +2 .tHand.close + "manipulator"&8/ +56 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( +2 "storage"()& +3 "core" & \  +2 "storage"(2& +3 "core" & h\  +3 "manipulator"&B& +4 "core" &( ~ >N + "manipulator"&I% +4 "core" % )   +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +152 "core" ( + "manipulator"&R& +4 "core" & + \ +2 "storage"(0& +4 "core" & o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&+'} +94 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +60 "core" 1 +2 "manipulator"&C% +4 "core" % ΄   +2 "storage"(X& +4 "core" & %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&;'ϰ +19 "core" ' +5 "manipulator"&[& +3 "core" & \ +2 "storage"(\ & +5 "core" &\ \  e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +18 "core" ' +2 "storage"(.% +3 "core" %D\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(\\'X +99 (*% +3 "core" %D \ Va +2 "manipulator"&W% +5 "core" %* K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'N& +3 "core" &\ \ \ A\ +2 "manipulator"&6% +5 "core" %\ O 4 +2 "storage"(M% +3 "core" %a\ \ \ +3 "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(|( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" & \ +2 "manipulator"&D& +4 "core" &  \ +2 .tElbow.seek 2 + "manipulator"&Y( +49 "core" ( +3 "manipulator"&V& +3 "core" & = m +2 "storage"(]& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +87 "core" ' +2 "storage"(g& +3 "core" & \ \  h\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & \ +2 "manipulator"&Z& +4 "core" &  m +2 .tElbow.seek 2 +2 "manipulator"&Q( +4 "core" ( +2 "manipulator"&F& +3 "core" & J m +2 "storage"(a& +3 "core" & 6\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&k& + "storage"(T'X +8 "core" & 5 m + "manipulator"&x% +5 "core" %  2 2 +2 .tForearm.seek :retract +2 "manipulator"&{'\ +97 "core" ' +5 .tElbow.seek CC + "manipulator"&`( +149 "core" ( +2 "manipulator"&b& +3 "core" ' +2 &( : ?Q + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +3 &O& +3 "core" &( " ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'" +100 "core" ' +3 "manipulator"&f& +3 "core" &( $ w ?Q +2 "manipulator"&% +4 "core" %  N +3 "collection"'p& +4 "core" &\ \ \ \ +2 "collection"'z& +6 "core" &\ \ \ \ \ +2 .tCC.seek :closed + "collection"'j(V +5 "core" &\ \ \  \  +9 &1\ \ \ *y +10 &c\ \ \ \ > +9 &yv\ \ \ M +9 &;Z\ \ \ \ M +10 &\\\ \ \ \ M +9 &Z\ \ \ \ M +9 &Z\ \ \ 0\ M +10 &DZ\ \ J\ M +9 &[\ \ \ L +10 &Z\ \ \ F\ M +9 & \\\ \ \ C\ M +9 &"K\\\ \ \ C\ M +10 &$ \\\ \ =\ M +9 &%]\ \ 7\ M +9 &'Z\ \ =\ M +10 &)UZ\ \ \ B\ L +9 &+\\\ \ <\ M +10 &,Y\ \ \ C\ M +9 &.\\\ \ \ <\ M +9 &0[Z\ \ \ \ <\ M +10 &2Z\ \ \ \ 9\ M +9 &3Y\ \ \ <\ M +9 &5[\ \ \ ;\ M +10 &7d\\\ \ 8\ M +9 &9&Z\ \ <\ M +10 &:]\ \ :\ M +9 &<_\ \ <\ M +9 &>l\\\ \ 8\ M +10 &@/\\\ \ 8\ L +9 &A\\\ \ <\ M +9 &C\\\ \ \ A\ M +10 &Es`\ \ ;\ M +9 &G0l\ \ ?\ O +10 &H{\ \ 8\ P +9 &J\ \ 6\ V +9 &L]\ \ >\ W +10 &N \ \ 9\ W +9 &O\ \ ;\ X +9 &Q\ \ 8\ X +10 &S`\ \ A\ Y +9 &U!\ \ >\ Y +10 &VkB\ \ 9\ 1 +9 &Vs\ \ >\ H +5 ( +2 "collection"'z& +4 "core" &Vi\ \ 3\ H +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&w1 +60 "core" 1 +3 "manipulator"&% +3 "core" %   p N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%&& +3 "core" &5\ +3 "manipulator"&% +3 "core" %\   +2 "storage"(d% +4 "core" %T U\ +2 "storage"(h. +3 "core" .( +2 "storage"(e& +3 "core" & \ +2 "storage"(u& +3 "core" & d\ +3 "manipulator"&& +4 "core" && n >O + "manipulator"&% +4 "core" %\  ~  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +152 "core" ( +2 "manipulator"&& +4 "core" & K +2 "storage"(& +3 "core" & t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(q& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & l\ +2 "manipulator"&U& +3 "core" & 2 +48 .tElbow.seek 2 +3 "manipulator"&( +4 "core" ( +2 "manipulator"&_& +3 "core" & ^ +3 "storage"( & +4 "core" & 3\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(?'X +8 "core" & V + "manipulator"&^% +5 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&:& +4 "core" &  ^  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &  2  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +106 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&l% +5 "core" % C | +2 "processing"%}& +4 "core" &4\ +2 "processing"%<& +5 "core" &&\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &5\ +7 &;?\ $c +10 &T8\ 7 +9 &9\ L +9 &]3\ N +10 &da0\ N +9 &'[-\ N +9 &]2\ M +10 &\\4\ N +9 &l\\:\ N +10 &/[5\ N +9 &`<\ N +9 &!Z<\ N +10 &#v\\;\ M +9 &%6]<\ N +9 &&\\;\ M +10 &(]<\ N +9 &*|`2\ N +10 &,?Z2\ N +9 &.];\ M +9 &/\\<\ N +10 &1]<\ N +9 &3G[;\ N +9 &5 [<\ N +10 &6Z6\ N +9 &8Z;\ N +10 &:PZ3\ M +9 &<Z9\ M +9 &=Z;\ M +10 &?Z6\ M +9 &AW[;\ N +9 &C_;\ N +10 &D`6\ N +9 &Fj;\ O +10 &HTx6\ Q +9 &J0\ S +9 &K<\ T +10 &M2\ T +9 &OV5\ S +9 &Q6\ S +10 &R5\ T +9 &T;\ T +10 &V\\;\ T +9 &X;\ U +9 &Y{q9\ 6 +10 &Z+6\ R +9 &Z3\ + +2 ( +2 "processing"%<& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  v | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +91 "core" ' +2 "processing"%& +3 "core" &Z3\ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&"% +3 "core" %\  K  +3 "storage"(,% +3 "core" %] A\ +2 "storage"(. +4 "core" .( + "storage"( & +5 "core" & W\ +2 "storage"(& +3 "manipulator"&@& +5 "core" & s\ +2 &   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&4(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&(& +4 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n  +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + .tHand.close +2 "manipulator"&o/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +76 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +47 "core" ' +298 ( +2 "storage"(3& +3 "core" & ^\ +2 "manipulator"&'& +4 "core" &n  +2 "manipulator"&1% +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&8'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&-( +246 "core" ( +2 "manipulator"&P& +4 "core" & / +2 "storage"()& +3 "core" & =\ +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +105 "core" ' +2 .tHand.open + "manipulator"&B1 +60 "core" 1 +2 "storage"(I- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +25 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +4 "core" -' +2 "storage"(!& +3 "core" & \ \  k\ +2 "manipulator"&E& +4 "core" & ! / +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&X& +4 "core" & X / +2 "storage"([& +4 "core" & \ \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +61 "core" ' +2 "manipulator"&5& +4 "core" &  / +2 "storage"(*& +4 "core" & Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +29 "core" ' +2 .tElbow.hold + "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'i +25 "core" ' +2 "manipulator"&N% +4 "core" %  O + "storage"(;& +5 "core" & d\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&6' +20 "core" ' +2 "manipulator"&M& +3 "core" & / +2 "storage"(H& +5 "core" & [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&/'ќ +21 "core" ' + "storage"( % +5 "core" %r [\ +2 ."downElevator"SE.seek :down +5 "storage"(\\'X +98 (9% +3 "core" %jI L\ Xf +2 "manipulator"&G% +5 "core" %ў h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +3 "core" & \ +3 "collection"']& +4 "core" &Vb\ \ /\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&g% +4 "core" %\    +2 "storage"(>% +3 "core" %a {\ +2 "storage"(S. +3 "core" .( +2 "storage"(m& +3 "core" & ^\ +2 "storage"(A& +5 "core" & 0\ + "manipulator"&Z& +4 "core" &  / +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( + "manipulator"&a& +4 "core" & * / +2 "storage"(7& +3 "core" & m\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +96 "core" ' + "storage"(x& +4 "core" & K\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +288 "core" ' +3 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  / +2 "storage"(O& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +28 "core" ' +2 "manipulator"&p% +3 "core" %  +2 "storage"(Q& +50 "core" & t { \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&T' +15 "core" ' +2 "manipulator"&{& +3 "core" & , / +3 "storage"($& +4 "core" & a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +39 "core" ' +2 "manipulator"&&& +4 "core" & _ / +2 "manipulator"&% +3 "core" %є +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +149 "core" ( +2 "manipulator"&e& +3 "core" &+ $ Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &, m Bf +3 .tForearm.seek CC + "manipulator"&z'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +421 "core" ( +2 "storage"(y& +4 "core" & \ +2 "storage"(& +4 "core" & %\ +2 "manipulator"&& +4 "core" &+ r Aa + "manipulator"&q% +4 "core" %  g +2 .tForearm.seek :retract + "manipulator"&`'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&s( +154 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(v& +4 "core" & @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&U' +105 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +5 "core" % %  + "storage"(%& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&^' +20 "core" ' +2 "manipulator"&& +3 "core" & b  +3 "storage"(& +3 "core" & \  >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +28 "core" ' + "storage"(t% +5 "core" %J\ \ e\ +2 ."downElevator"SE.seek :down +4 "storage"(:'X +100 (#% +2 "core" %A .\ V` +3 "manipulator"&% +4 "core" %ц 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +3 "core" &\ \ \ +2 "manipulator"&}% +4 "core" %\    +2 "storage"(?% +3 "core" %Y\ \  7\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(J( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & B\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&"& +3 "core" & M  +2 "storage"(,& +5 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"( & +4 "core" &\ #\ # #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +47 .tSE.seek :beamBreak +4 "storage"(@'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" & \\\  +3 "manipulator"&(& +4 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(o& +4 "core" & H\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"('X +8 "core" &   +2 "manipulator"&% +4 "core" % ϳ 2 +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +159 "core" ( +3 "manipulator"&1& +3 "core" ' +2 &- $ Cs + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 && +3 "core" &- 5 Cr +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'" +93 "core" ' +2 "manipulator"&)& +4 "core" &- %  Cr +2 "manipulator"&4% +3 "core" %% o  +3 "collection"'B& +4 "core" &\ \ \ +2 "collection"'I& +6 "core" &\ \ \ \ +2 .tCC.seek :closed +2 "collection"'=(V +5 "core" &\ \ \ +5 &\ \ \ 7 +10 &=G~\ \ \ 1 +9 &mt\ \ \ E +10 &c\ \ \ M +9 &\\\ \ \ \ M +9 &Z\ \ \ M +10 &_Z\ \ \ \ L +9 & ]\ \ \ M +9 &\\\ \ \ \ M +10 &\\\ \ \ L +9 &g\\\ \ \ \ L +10 &!'\\\ \ \ M +9 &"\\\ \ \ \ L +9 &$]\ \ \ \ M +10 &&n_\ \ \ M +9 &(0Z\ \ \ \ M +9 &)Y\ \ \ M +10 &+[\ \ \ M +9 &-w\\\ \ \ L +10 &/9\\\ \ \ \ L +9 &0\\\ \ \ \ L +9 &2\\\ \ \ \ L +10 &4\\\ \ \ L +9 &6A^\ \ C\ L +9 &8]\ \ \ \ M +10 &9_\ \ /\ M +9 &;b\ \ \ M +10 &=H\\\ \ \ \ \ M +9 &? \\\ \ \ L +9 &@]\ \ \ \  \ M +10 &B`\ \ \ \ M +9 &DP\\\ \ \ H\ M +9 &Fc\ \ R\ N +10 &Go\ \ C\ O +9 &I\ \ \ R +10 &K:\ \ B\ W +9 &L\ \ 7\ Y +9 &N\ \ K\ X +10 &P|\ \ \ X +9 &R=\ \ \ Y +9 &S\ \ \ Z +10 &U\ \ \ G +9 &V1\ \ \ $m +10 &Vr\ \ \ N +2 ( +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.93 + .Hand.open + "manipulator"&!1 +60 "core" 1 +3 "manipulator"&E% +3 "core" % % m  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%[& +3 "core" &*\ +2 "manipulator"&8% +4 "core" %\  "  +2 "storage"(5% +4 "core" %V ~ \ +2 "storage"(*. +3 "core" .( +2 "storage"(K& +3 "core" & y\  +2 "storage"(N& +5 "core" & y y L\  + "manipulator"&;& +3 "core" &-  Cr +3 "manipulator"&R% +3 "core" %\  V  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&M( +160 "core" ( + "manipulator"&H& +4 "core" &   +2 "storage"( & +4 "core" & D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +94 "core" ' +2 "storage"(2& +3 "core" & Z\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +283 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & i\  +2 "manipulator"&\ & +4 "core" & /  +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&.& +4 "core" & U  + "storage"(W& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&6'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&V/ +63 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&]& + "storage"(g'X +8 "core" & s  +2 "manipulator"&>% +4 "core" % ϭ  3 +2 .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&+& +4 "core" &o 5 o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +105 "core" ' +2 "manipulator"&a& +3 "core" &o ; +2 "manipulator"&7% +4 "core" %  ` +3 "processing"%/& +4 "core" &,\ +2 "processing"%x& +5 "core" &2\ +2 .tPC.seek :closed +2 "processing"%\\(Z +5 "core" &7\ +7 &;5\ $e +9 &V2\ 7 +10 &1\ L +9 &]2\ N +10 &k]0\ M +9 &,]1\ N +9 &Z3\ N +10 &Z0\ M +9 &r\\/\ N +9 &4Y.\ N +10 &]4\ M +9 &!]8\ N +10 &#zY3\ N +9 &%<]1\ N +9 &&Z:\ N +10 &([<\ N +9 &*[;\ N +9 &,C_4\ N +10 &.\\:\ N +9 &/\\2\ M +9 &1\\;\ M +10 &3L\\>\ N +9 &5_<\ N +10 &6Y<\ N +9 &8Z;\ M +9 &:UZ<\ M +10 &<[<\ M +9 &=Z<\ M +9 &?_<\ N +10 &A\\Y;\ N +9 &CZ<\ N +10 &D`<\ N +9 &Fj<\ O +9 &HYz<\ Q +10 &J=\ S +9 &K<\ T +9 &M:\ S +10 &OZ<\ T +9 &Q9\ T +10 &R:\ T +9 &T<\ T +9 &V_<\ U +10 &X!;\ U +9 &Yzn<\ 4 +9 &Z*;\ N +10 &Z!<\ - +2 ( +2 "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&L1 +58 "core" 1 +2 "manipulator"&D% +4 "core" %   ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +90 "core" ' +2 "processing"%b& +3 "core" &Z 5\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +4 "core" %\  7  +2 "storage"(f% +3 "core" %_ F\ +2 "storage"(p. +3 "core" .( +2 "storage"(Q& +4 "core" & C\  +2 "storage"({& +2 "manipulator"&$& +6 "core" & M\  +2 &o  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(&'i + "manipulator"&(s +6 "core" ( +2 "manipulator"&k& +4 "core" &o A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &o ^ +2 .tForearm.seek PC +2 "manipulator"&Y' +92 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%T( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(e'y +36 "core" ' +299 ( +2 "storage"(u& +3 "core" & \  +2 "manipulator"&w& +4 "core" &o  +2 "manipulator"&i% +3 "core" %   ' +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&d( +256 "core" ( +2 "manipulator"&j& +3 "core" & = X +2 "storage"(y& +3 "core" & 0\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' + .tSE.reconfigure :seal +52 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"(v' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(h& +4 "core" & \ A\  +2 "manipulator"& & +3 "core" &\ O U +3 .tElbow.seek 3 + "manipulator"&( +25 "core" ( +2 "manipulator"&%& +4 "core" & J  +2 "storage"(& +4 "core" &\ \  G\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +56 "core" ' + "manipulator"&`& +5 "core" & C  +2 "storage"(#& +4 "core" & B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +25 "core" ' +2 "manipulator"&^% +3 "core" %ΐ  +2 "storage"(l& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&}'ϼ +20 "core" ' +2 "manipulator"&?& +3 "core" & 3  +3 "storage"(& +4 "core" & k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' + "storage"(r% +5 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(:'X +99 (|% +3 "core" %F a\ We +2 "manipulator"& % +4 "core" %4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" & \  +2 "collection"',& +3 "core" &Vr\ \ \ N +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\    +2 "storage"(_% +3 "core" %U \ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & 7\  +3 "storage"(<& +4 "core" & \  + "manipulator"&(& +3 "core" & u  +3 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&o& +4 "core" & U  +2 "storage"(c& +3 "core" & \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +102 "core" ' + "storage"(& +4 "core" & x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & g  +2 "storage"(& +3 "core" & \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&@'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(4'U +31 "core" ' + "manipulator"&B% +5 "core" %Ή 3 g + "storage"(& +4 "core" & U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +21 "core" ' +2 "manipulator"&3& +4 "core" & o  +2 "storage"(& +3 "core" & [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +49 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate + "storage"(E'D +40 "core" ' +2 "manipulator"&[& +3 "core" & ^  +2 "manipulator"&8% +4 "core" %' % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +155 "core" ( +3 "manipulator"&K& +3 "core" &(  5 ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &( x ?T +2 .tForearm.seek CC + "manipulator"&N'" +94 "core" ' + .tHand.close +2 "manipulator"&;/ +59 "core" / +2 .tCC.seek :open +2 "collection"'R( +413 "core" ( + "storage"(P& +3 "core" & t\  +3 "storage"(H& +4 "core" & R\  + "manipulator"& & +4 "core" &( - ?R +2 "manipulator"&2% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&X( +159 "core" ( +2 "manipulator"&9& +4 "core" & %  +2 "storage"(G& +4 "core" &\ \  C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&\ '} +100 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +58 "core" 1 +2 "manipulator"&V% +4 "core" % Έ  _ +2 "storage"(]& +3 "core" & \ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +3 "manipulator"&>'ϴ +20 "core" ' + "manipulator"&M& +5 "core" &   + "storage"(-& +4 "core" &\ \ \ H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +24 "core" ' +2 "storage"(6% +3 "core" %J\ \  7\ +3 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (A% +3 "core" %C 5\ Wb +2 "manipulator"&C% +5 "core" %R + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +94 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" &\ \ \ +2 "manipulator"&/% +3 "core" %\ q  +3 "storage"(g% +4 "core" %]\ $\ $ \ + "storage"(S. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" & \ +2 "manipulator"&D& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&b( +30 "core" ( +2 "manipulator"&O& +3 "core" & $ !s +2 "storage"(f& +3 "core" & \ \  ;\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +86 "core" ' +2 "storage"(Q& +4 "core" & \ \ $ a\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +284 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +3 "core" & w\ +2 "manipulator"&k& +3 "core" & !r +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&Z& +49 "core" &  !r +3 "storage"(& +3 "core" & E\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&n& + "storage"(\\'X +8 "core" &  !r +2 "manipulator"&&% +3 "core" %  , J +3 .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +143 "core" ( +2 "manipulator"&i& +4 "core" ' +2 &$ $ & ;2 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 &Y& +3 "core" &$ C ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&j'" +97 "core" ' + "manipulator"&y& +5 "core" &$ # / ;2 +2 "manipulator"&% +4 "core" %( +3 "collection"'& +4 "core" &\ \ \ +2 "collection"'q& +6 "core" &\ \ \ +2 .tCC.seek :closed + "collection"'(V +5 "core" &\ \ \ +7 &=\ \ \ %g +9 &U~\ \ \ 7 +10 &\ \ \ L +9 &W\ \ \ M +10 &}Z\ \ \ M +9 &@X\ \ \ M +9 &[\ \ \ \ M +10 &Z\ \ \ M +9 &Y\ \  \ M +9 &IZ\ \ \ M +10 & \ ]\ \ \ \ M +9 &!\\\ \ \ M +9 &#[\ \ \ M +10 &%Q[\ \ \ M +9 &'X\ \ \ M +10 &(Y\ \ \ M +9 &*Z\ \ \ \ M +9 &,YY\ \ \ \ M +10 &.Y\ \ \ \ M +9 &/Y\ \ \ L +10 &1Z\ \ \ \ M +9 &3bZ\ \ \ \ L +9 &5"[\ \ \ M +10 &6\\\ \ \ M +9 &8Y\ \ \ M +9 &:i[\ \ \ M +10 &<*\\\ \ \ M +9 &=[\ \ \ M +9 &?Z\ \ \ M +10 &ArZ\ \ \ L +9 &C3Z\ \ \ \ M +10 &D]\ \ \ \ M +9 &Fd\ \ \ N +9 &Hnv\ \ \ P +10 &J%\ \ \ T +9 &K\ \ \ W +9 &M\ \ \ X +10 &O`\ \ \ X +9 &Q!\ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Z +9 &V*h\ \ \ 1 +10 &V!\ \ \ S +8 ( +2 &Vm\ \ \ K +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&z1 +58 "core" 1 +3 "manipulator"&h% +4 "core" % ( T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%%& +4 "core" &3\ + "manipulator"&% +5 "core" %\ !  7 + "storage"(`% +4 "core" %b Z\ +2 "storage"(#. +3 "core" .( +2 "storage"(e& +3 "core" & [\ +2 "storage"(^& +4 "core" & Y\ +2 "manipulator"&l& +3 "core" &# B :, +3 "manipulator"&% +4 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&?( +161 "core" ( +2 "manipulator"&& +4 "core" & 3  +2 "storage"(r& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +94 "core" ' +2 "storage"(& +4 "core" & `\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +283 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & \ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" & \\  +2 "storage"(& +3 "core" & r\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&"/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"( 'X +8 "core" &   + "manipulator"&_% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(s +169 "core" ' +49 ."downElevator"SE.stop + "storage"(5 +30 "core" ( +3 "manipulator"&& +4 "core" &i 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &i 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +99 "core" ' +2 "manipulator"&o& +3 "core" &i L 2 +3 "manipulator"&c% +3 "core" % \  +3 "processing"%& +3 "core" &5\ +3 "processing"%& +11 "core" &:\ +2 .tPC.seek :closed + "processing"%:(Z +9 "core" &>\  +5 &4@\ +{ +9 &d=\ ? +9 &x;\ N +9 &J]0\ N +10 & _1\ N +9 &Z<\ N +9 &Z<\ N +10 &RZ;\ N +9 &\\0\ M +10 &\\9\ N +9 & _6\ N +9 &"Z[5\ N +10 &$[:\ M +9 &%\\0\ N +9 &'_2\ N +10 &)bY2\ N +9 &+$Z1\ N +10 &,Z8\ M +9 &.[<\ N +9 &0k\\/\ M +10 &2+];\ N +9 &3Z:\ M +9 &5\\;\ N +10 &7r]<\ N +9 &94Y;\ N +10 &:Z;\ M +9 &<Z<\ N +9 &>z];\ N +10 &@<_<\ N +9 &A^<\ N +9 &C`;\ N +10 &E`<\ N +9 &G>k<\ P +10 &H;\ R +9 &J<\ T +9 &Lx;\ T +10 &N;<\ S +9 &O;\ T +9 &Q<\ S +10 &S~<\ T +9 &UA<\ T +10 &W=\ U +9 &X;\ U +9 &Z'Sv>\ ){ +10 &Z]<\ 5 +9 ( + &Z!;\ 0 +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&s1 +62 "core" 1 + "manipulator"&% +5 "core" % f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%1& +3 "core" &Z"1\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"()% +3 "core" %T T\ +2 "storage"(B. +4 "core" .( + "storage"(& +5 "core" & d\ +2 "storage"(3& +2 "manipulator"&& +8 "core" & ]\ + &i H 2 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&[(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'i +2 "core" ( +2 "manipulator"&~& +5 "core" &i  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &i  2 +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&@/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +118 "core" ' +215 ( + "storage"(I& +3 "core" & \ +3 "manipulator"&!& +4 "core" &i 2 + "manipulator"&% +5 "core" % 4 +2 .tForearm.seek :retract + "manipulator"&;'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5( +256 "core" ( + "manipulator"&=& +5 "core" & + + "storage"(P& +3 "core" & I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +99 "core" ' + .tHand.open + "manipulator"& 1 +62 "core" 1 +2 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' +2 "storage"(*& +4 "core" & \ \  '\ + "manipulator"&W& +5 "core" & + .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&]& +43 "core" & # _ +10 "storage"(M& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +58 "core" ' + "manipulator"&'& +4 "core" & M +2 "storage"(A& +5 "core" & d\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&C' +30 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(\ 'i +26 "core" ' +2 "manipulator"&7% +3 "core" %  J +2 "storage"(>& +4 "core" & R\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&/' +26 "core" ' +2 "manipulator"&g& +4 "core" & 4 +2 "storage"(S& +3 "core" & 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +18 "core" ' + "storage"(0% +5 "core" %r K\ +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (J% +3 "core" %A \ Vc +2 "manipulator"&L% +5 "core" %ѝ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & W\ +3 "collection"'f& +3 "core" &Vk\ \ \ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Q% +4 "core" %\   # +2 "storage"(.% +4 "core" %S (\ +2 "storage"(a. +2 "core" .( +2 "storage"($& +3 "core" & R\ +3 "storage"(x& +3 "core" & 6\ +2 "manipulator"&k& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&& +4 "core" & ) +2 "storage"(m& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +96 "core" ' +2 "storage"(&& +4 "core" & E\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +282 "core" ' +3 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & ! +2 "storage"(Y& +4 "core" & Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&{' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(y- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +31 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(F& +4 "core" & } *\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&\\' +21 "core" ' + "manipulator"&u& +4 "core" & E +2 "storage"(R& +4 "core" & Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'B +40 "core" ' + "manipulator"&%& +3 "core" & +3 "manipulator"&% +4 "core" %ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +88 "core" ' + .tElbow.seek CC +41 "manipulator"&#( +158 "core" ( + "manipulator"&q& +4 "core" &% $ j <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &% | <9 +2 .tForearm.seek CC +2 "manipulator"&^'" +96 "core" ' +2 .tHand.close + "manipulator"&l/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(j& +3 "core" & \ +3 "storage"(& +3 "core" & \ +2 "manipulator"&r& +5 "core" &$ O ;8 + "manipulator"&% +4 "core" % 4 x  +2 .tForearm.seek :retract +2 "manipulator"&w'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +155 "core" ( +2 "manipulator"&|& +4 "core" &  S  +2 "storage"( & +4 "core" & r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&"% +3 "core" % % o  +2 "storage"(,& +5 "core" & R\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&_' +19 "core" ' + "manipulator"&?& +3 "core" &   +3 "storage"(d& +3 "core" & \ \  ?\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +39 "core" ' +2 "storage"(}% +3 "core" %I\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (<% +3 "core" %? F\ Wa +2 "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'c& +3 "core" &\ \ \ +2 "manipulator"&% +5 "core" %\  ' ! + "storage"( % +5 "core" %a\ \ \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(T( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" & \  +2 "manipulator"&& +4 "core" & \  +2 .tElbow.seek 3 +2 "manipulator"&1( +14 "core" ( + "manipulator"&& +4 "core" & & c +2 "storage"()& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +104 "core" ' +2 "storage"(& +3 "core" &\ '\ 5 /\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (3& +2 "core" & \  +2 "manipulator"&~& +5 "core" & c + .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&(& +3 "core" & T c +2 "storage"(@& +4 "core" & Q\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(:'X +53 "core" &  c +3 "manipulator"&8% +4 "core" % ϲ } +2 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +44 "core" ( + "manipulator"&& +4 "core" &, 7 Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, 7 Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='" +92 "core" ' +3 "manipulator"&P& +4 "core" &, Bj +2 "manipulator"&[% +3 "core" %  \ +3 "collection"' & +3 "core" &\ \ \ +3 "collection"'2& +6 "core" &\ \ \ +2 .tCC.seek :closed +3 "collection"'N(V +4 "core" &\ \ \ +5 &\ \ \ 5 +9 &?G|\ \ \ 0 +9 &ir\ \ \ E +10 &`\ \ \ M +9 &Y\ \ \ M +9 &Y\ \ \ M +10 &WX\ \ \ L +9 &Z\ \ \ M +10 &Z\ \ \ M +9 &Y\ \ \ M +9 &]]\ \ \ M +10 &!Z\ \ \ \ M +9 &"Z\ \ \ M +9 &$[\ \ \ M +10 &&gZ\ \ \ L +9 &('Z\ \ \ M +10 &)Y\ \ \ L +9 &+Z\ \ \ M +9 &-nY\ \ \ M +10 &//\\\ \ \ M +9 &0Y\ \ \ L +9 &2Z\ \ \ M +10 &4vW\ \ \ M +9 &68[\ \ \ M +10 &7Y\ \ \ L +9 &9Z\ \ \ M +9 &;~\\\ \ \ M +10 &=@Z\ \ \ M +9 &?Z\ \ \ L +9 &@[\ \ \ M +10 &BY\ \ \ M +9 &DH\\\ \ \ M +10 &Fa\ \ \ N +9 &Gm\ \ \ O +9 &I\ \ \ R +10 &K1\ \ \ W +9 &L\ \ \ X +9 &N\ \ \ W +10 &Pt\ \ \ X +9 &R5\ \ \ Y +10 &S\ \ \ Z +9 &U\ \ \ G +9 &V1\ \ \ ){ +10 &Vb\ \ \ J +2 ( +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&*1 +63 "core" 1 +3 "manipulator"&W% +4 "core" %   : \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%;& +5 "core" &<\ + "manipulator"&M% +4 "core" %\ # e 9 +2 "storage"('% +4 "core" %U ]\ +2 "storage"(A. +3 "core" .( +2 "storage"(K& +3 "core" & [\  +2 "storage"(9& +4 "core" & ]\  +2 "manipulator"&7& +4 "core" &+ n Bj + "manipulator"&>% +4 "core" %\ #  9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&g( +158 "core" ( + "manipulator"&S& +3 "core" & G u +3 "storage"(5& +3 "core" & f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +104 "core" ' +2 "storage"(H& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +285 "core" ' +2 "storage"(J- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" & w\  +3 "manipulator"&-& +4 "core" & T u +2 .tElbow.seek 3 + "manipulator"&V( +4 "core" ( + "manipulator"&6& +5 "core" &  u + "storage"(C& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&/'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(Q'X +7 "core" &  u +2 "manipulator"&\ % +4 "core" % ϧ   +2 .tForearm.seek :retract +2 "manipulator"&.'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +3 "manipulator"&$& +3 "core" &n M  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &n  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +96 "core" ' +2 "manipulator"&& +3 "core" &n [  +48 "manipulator"&m% +5 "core" % 5 +3 "processing"%E& +3 "core" &9\ +3 "processing"%&& +5 "core" &<\ +3 .tPC.seek :closed + "processing"%+(Z +4 "core" &@\ +8 & 2C\ $d +9 &VA\ 7 +10 &E\ L +9 &\\F\ N +9 &f]G\ M +10 &(\\>\ M +9 &\\D\ N +9 &^@\ N +10 &m_?\ N +9 &.]:\ N +10 &\\?\ M +9 &!ZC\ N +9 &#u]<\ N +10 &%6_>\ N +9 &&Z5\ N +9 &(ZD\ N +10 &*}Z<\ N +9 &,?Y9\ N +10 &._3\ N +9 &/Y;\ M +9 &1Z:\ N +10 &3G_.\ N +9 &5\ _0\ M +9 &6\\4\ M +10 &8Z=\ N +9 &:OY:\ N +10 &<Y9\ N +9 &=\\7\ N +9 &?\\:\ N +10 &AWY8\ N +9 &C`=\ N +9 &Da<\ N +10 &Fh5\ O +9 &HUz:\ Q +10 &J7\ S +9 &K;\ S +9 &M:\ S +10 &OV/\ S +9 &Q;\ S +9 &R:\ T +10 &T<\ T +9 &V\\;\ T +10 &XA\ T +9 &Yzm@\ 5 +9 &Z.;\ H +10 &Z=\ * +2 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&X1 +55 "core" 1 +2 "manipulator"&D% +3 "core" %  - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 "processing"%i& +4 "core" &Z4\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Y% +4 "core" %\  3  +2 "storage"(y% +4 "core" %U x\ +2 "storage"(. +4 "core" .( + "storage"(F& +4 "core" & \  +2 "storage"(u& +2 "manipulator"&R& +8 "core" & ]\  +2 &n '  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&%(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +3 "manipulator"&n& +4 "core" &n   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &n   +2 .tForearm.seek PC +2 "manipulator"&b' +96 "core" ' + .tHand.close +2 "manipulator"&{/ +53 "core" / +2 .tPC.seek :open +2 "processing"%\\( +90 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(q'y +48 "core" ' +285 ( +2 "storage"(e& +4 "core" & \  + "manipulator"&z& +4 "core" &n   +2 "manipulator"&% +4 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&`( +254 "core" ( +2 "manipulator"&& +4 "core" & + f +2 "storage"(j& +4 "core" & x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 .tHand.open + "manipulator"&r1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(|'E +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"(#& +4 "core" &\ \  \  +2 "manipulator"&& +4 "core" & , c +2 .tElbow.seek 3 +2 "manipulator"&"( +23 "core" ( +2 "manipulator"&,& +4 "core" & $  +2 "storage"(?& +3 "core" &\ *\ * <\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +58 "core" ' + "manipulator"&w& +5 "core" &  +2 "storage"(<& +49 "core" & \  +3 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&_% +4 "core" %΍  +2 "storage"(c& +4 "core" & }\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +13 "core" ' +2 "manipulator"& & +3 "core" & o  +3 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +25 "core" ' + "storage"(v% +5 "core" %s :\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %E ?\ Wd +2 "manipulator"&s% +4 "core" %S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & \  +3 "collection"')& +4 "core" &V_\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ \  +2 "storage"(t% +3 "core" %] \ +2 "storage"(o. +3 "core" .( +2 "storage"(& +3 "core" & \  +3 "storage"(3& +3 "core" & \  +2 "manipulator"&~& +4 "core" & /  +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( + "manipulator"&@& +4 "core" & N  +2 "storage"(U& +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(8& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +283 "core" ' +3 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & :  +2 "storage"(& +5 "core" & 2\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +30 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['U +24 "core" ' +2 "manipulator"& % +3 "core" %Έ A C +3 "storage"( & +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&:'ϴ +19 "core" ' +2 "manipulator"&I& +4 "core" & C  +2 "storage"(& +4 "core" & b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'D +38 "core" ' + "manipulator"&;& +3 "core" &   +3 "manipulator"&M% +4 "core" %B  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +153 "core" ( +3 "manipulator"&A& +3 "core" &( ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &( : ?T +3 .tForearm.seek CC + "manipulator"&9'" +100 "core" ' +2 .tHand.close + "manipulator"&7/ +161 "core" / +2 .tCC.seek :open +48 "collection"'>( +416 "core" ( +2 "storage"(=& +4 "core" & \  +2 "storage"(S& +4 "core" & @\  +2 "manipulator"&5& +4 "core" &( ?T +2 "manipulator"&H% +4 "core" % # O +2 .tForearm.seek :retract +2 "manipulator"&!'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +152 "core" ( +2 "manipulator"&J& +3 "core" &   +2 "storage"(L& +5 "core" &\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&-'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +62 "core" 1 +2 "manipulator"&O% +4 "core" % ΍ u +2 "storage"(f& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&\ 'Ϲ +21 "core" ' + "manipulator"&g& +3 "core" &   +3 "storage"(0& +4 "core" &\ $\ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +31 "core" ' +2 "storage"(/% +3 "core" %N\ &\ - =\ +3 ."downElevator"SE.seek :down +4 "storage"($'X +98 (x% +3 "core" %8B \ Va +2 "manipulator"&V% +5 "core" % ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'m& +3 "core" &\ \ \ +2 "manipulator"&E% +4 "core" %\ \ @  +2 "storage"(Q% +3 "core" %]\ #\ # (\ +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" & \ +2 "manipulator"&D& +4 "core" & -  +2 .tElbow.seek 2 + "manipulator"&i( +38 "core" ( + "manipulator"&Y& +3 "core" &  - = +3 "storage"(y& +4 "core" & \ \ ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +90 "core" ' +2 "storage"(F& +4 "core" & \ #\ # \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +286 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & y\ +2 "manipulator"&n& +4 "core" &  f = +2 .tElbow.seek 2 +2 "manipulator"&Z( +21 "core" ( +3 "manipulator"&k& +4 "core" & v  +2 "storage"({& +4 "core" & \ \ D\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&p& + "storage"(+'X +8 "core" & 2  + "manipulator"&% +5 "core" %  & | +2 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" & 5 +46 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &b& +3 "core" & Z 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&j& +4 "core" &  = 5 +2 "manipulator"&%% +3 "core" %$ r +3 "collection"'r& +3 "core" &\ \ \ +3 "collection"'& +5 "core" &\ \ \ +2 .tCC.seek :closed +2 "collection"'^(V +5 "core" &\ \ \ +7 & 6\ \ \ $d +10 &U\ \ \ 7 +9 &\ \ \ L +9 &Z\ \ \ M +10 &hY\ \ \ M +9 &*]\ \ \ M +9 &_\ \ \ M +10 &]\ \ \ M +9 &p^\ \ \ M +10 &1\\\ \ \ M +9 &Z\ \ \ L +9 &!\\\ \ \ L +10 &#y\\\ \ \ L +9 &%:_\ \ \ M +9 &&Y\ \ \ L +10 &(Y\ \ \ L +9 &*]\ \ \ M +10 &,BY\ \ \ M +9 &.]\ \ \ M +9 &/]\ \ \ M +10 &1]\ \ \ M +9 &3JX\ \ \ M +9 &5 Y\ \ \ M +10 &6[\ \ I\ M +9 &8\\\ \ N\ M +10 &:Q^\ \ <\ M +9 &<\\\ \ <\ M +9 &=Z\ \ =\ M +10 &?Z\ \ \ M +9 &AY]\ \ \ M +9 &CZ\ \ \ L +10 &D]\ \ \ M +9 &Ff\ \ \ N +10 &HXr\ \ \ P +9 &J\ \ \ T +9 &K\ \ \ X +10 &M\ \ \ Y +9 &OF\ \ \ Y +9 &Q\ \ \ Y +10 &R\ \ \ Z +9 &T\ \ \ [ +9 &V'v\ \ \ / +10 &V&\ \ \ Q +9 ( + &Vi\ \ \ I +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator" +60 "core" 1 +3 "manipulator"&% +4 "core" % $ $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%,& +4 "core" &B\ +2 "manipulator"&?% +3 "core" %\  `  +3 "storage"(w% +3 "core" %U Z\ +2 "storage"(<. +4 "core" .( + "storage"(q& +4 "core" & \ +2 "storage"(|& +3 "core" & \ +2 "manipulator"&_& +5 "core" & 6 5 + "manipulator"&c% +4 "core" %\  w  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +156 "core" ( + "manipulator"&& +3 "core" & F  +3 "storage"(`& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(v& +3 "core" & z\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" & \ +2 "manipulator"&d& +3 "core" & G  +3 .tElbow.seek 2 +2 "manipulator"&"( +2 "core" ( +2 "manipulator"&}& +4 "core" &  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"('X +7 "core" &   +2 "manipulator"&t% +4 "core" %  R +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&o(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" &v 5  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &v   +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +98 "core" ' +2 "manipulator"&@& +4 "core" &v   +2 "manipulator"&U% +5 "core" %  + "processing"%h& +5 "core" &9\ +2 "processing"%8& +5 "core" &@\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &G\ +7 &;@\ $c +9 &TC\ 7 +9 &C\ L +10 &\\B\ N +9 &e_A\ N +10 &'^A\ N +9 &^B\ N +9 &]@\ N +57 &m^A\ N +4 &/\\G\ N +3 &[A\ M +2 &!ZF\ N + &#tXG\ N + &%7[@\ N + &&Y@\ N +6 &([B\ N +10 &*}_;\ N +9 &,@]A\ M +10 &.[;\ N +9 &/Z>\ N +9 &1]:\ N +10 &3HZC\ M +9 &5 \\@\ N +9 &6ZA\ N +10 &8Y3\ N +9 &:OX2\ N +9 &<X4\ M +10 &=Y4\ M +9 &?Y3\ M +10 &AW]0\ N +9 &C^2\ N +9 &D`3\ N +10 &Fh<\ O +9 &HUx5\ Q +9 &J5\ S +10 &K2\ T +9 &M6\ S +10 &OU/\ T +9 &Q0\ S +9 &R5\ T +10 &T4\ T +9 &V]2\ T +9 &X1\ T +10 &Yzm6\ 6 +9 &Z.3\ K +10 &Z4\ * +2 ( +2 "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"& 1 +64 "core" 1 +2 "manipulator"&% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' +2 "processing"%& +4 "core" &Z4\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %\    +3 "storage"(P% +3 "core" %a u\ +3 "storage"( . +3 "core" .( +2 "storage"( & +3 "core" & \ +3 "storage"(I& +2 "manipulator"&& +6 "core" & \ +2 &v   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC + "storage"(;'i +3 "manipulator"&M(s +5 "core" ( +2 "manipulator"&& +4 "core" &v )  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +3 "core" &v   +2 .tForearm.seek PC +2 "manipulator"&1' +101 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%:( +79 "core" ' +2 "storage"([- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +47 "core" ' +295 ( + "storage"(K& +4 "core" & C\ +2 "manipulator"&*& +4 "core" &v   + "manipulator"&4% +4 "core" % J +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +257 "core" ( +2 "manipulator"&N& +3 "core" & 9  +2 "storage"(=& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +96 "core" ' + .tHand.open +2 "manipulator"&51 +64 "core" 1 +2 "storage"(H- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(J'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(L' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(9- +3 "core" -' +2 "storage"(2& +4 "core" & \ &\  N\ +2 "manipulator"&C& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&O( +8 "core" ( +2 "manipulator"&f& +3 "core" & S  +2 "storage"(g& +4 "core" & \ *\ ( D\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +58 "core" ' + "manipulator"&!& +3 "core" & a  +3 "storage"(x& +3 "core" & }\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V' +24 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +45 "storage"(-'i +28 "core" ' +2 "manipulator"&\ % +4 "core" %  x +2 "storage"(m& +4 "core" & J\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&E' +20 "core" ' + "manipulator"&Q& +4 "core" & g  +2 "storage"(.& +3 "core" & z\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +19 "core" ' +2 "storage"(G% +3 "core" %n q\ +4 ."downElevator"SE.seek :down +3 "storage"($'X +98 (T% +3 "core" %? g\ Vb +2 "manipulator"&X% +5 "core" %ё _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +3 "core" & \ +3 "collection"'y& +3 "core" &Vj\ \ \ I +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&F% +4 "core" %\   +2 "storage"(6% +3 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(u& +5 "core" & \ +2 "storage"(&& +4 "core" & \ +2 "manipulator"&n& +4 "core" & 3  +2 .tElbow.seek 2 + "manipulator"&k( +4 "core" ( +2 "manipulator"&{& +3 "core" & Q  +2 "storage"(a& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +97 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & X  +2 "storage"(b& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&R' +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(j'S +29 "core" ' +2 "manipulator"&%% +4 "core" %  +2 "storage"(r& +4 "core" & P\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&+' +19 "core" ' +2 "manipulator"&e& +3 "core" & W  +2 "storage"(>& +4 "core" & Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' +2 "manipulator"&,& +4 "core" & #  +2 "manipulator"&?% +3 "core" %ќ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +153 "core" ( +2 "manipulator"&q& +3 "core" &"  \\ :/ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &# ( :/ +3 .tForearm.seek CC + "manipulator"&|'" +95 "core" ' + .tHand.close +2 "manipulator"&_/ +61 "core" / +2 .tCC.seek :open +2 "collection"'c( +415 "core" ( +2 "storage"(& +4 "core" & 3\ +2 "storage"(& +3 "core" & \ +3 "manipulator"&`& +3 "core" & c 7 +2 "manipulator"&v% +3 "core" % ) v +3 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 .tElbow.seek 2 + "manipulator"&l( +153 "core" ( +2 "manipulator"&& +4 "core" & W +2 "storage"(s& +3 "core" & \  ,\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&d' +106 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +5 "core" % T  + "storage"()& +4 "core" & D\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&t' +15 "core" ' + "manipulator"& & +5 "core" & 7 + "storage"(& +5 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +29 "core" ' + "storage"(% +5 "core" %D\ \ \ \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (3% +3 "core" %@ u\ V` +2 "manipulator"&"% +5 "core" %ѯ S Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'U& +3 "core" & \ \ +2 "manipulator"&h% +5 "core" %\  + +2 "storage"(% +4 "core" %Q\ \ \ + "storage"(. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(\\( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & c\  +2 "manipulator"&& +3 "core" & 5 +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&& +3 "core" & B Z +3 "storage"(P& +3 "core" &\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +97 "core" ' +2 "storage"( & +4 "core" &\ #\ # \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +286 "core" ' + "storage"(I- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & }\  +2 "manipulator"&& +3 "core" & Z +2 .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&~& +4 "core" & } Z +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&['ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& + "storage"('X +8 "core" & n Z +2 "manipulator"&;% +4 "core" % ϝ 2 X +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&4& +4 "core" &( { ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &( x ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +94 "core" ' +2 "manipulator"&=& +4 "core" &( o >O +2 "manipulator"&M% +3 "core" %   +3 "collection"'5& +4 "core" & \ \ +2 "collection"'H& +51 "core" &\ \ \ +5 .tCC.seek :closed + "collection"'9(V +4 "core" & \ \ +4 &\ \ \ 7 +9 &>H{\ \ \ 1 +10 &ou \ \ E +9 &` \ \ M +9 &X\ \ \ L +10 &X\ \ \ M +9 &^[\ \ \ M +9 &!Y\ \ \ M +10 &\\\ \ \ M +9 &V\ \ \ M +10 &gX\ \ \ M +9 &!)Y\ \ \ M +9 &"Y\ \ \ M +10 &$]\ \ \ M +9 &&oY\ \ \ M +9 &(1]\ \ \ M +10 &)W\ \ \ M +9 &+Y\ \ \ L +10 &-xY\ \ \ L +9 &/9Y\ \ \ M +9 &0]\ \ \ M +10 &2X\ \ \ M +9 &4Y\ \ \ L +9 &6BZ\ \ \ L +10 &8Z\ \ \ M +9 &9X\ \ \ M +10 &;\\\ \ \ M +9 &=IZ\ \ \ M +9 &? ]\ \ \ M +10 &@Y\ \ \ M +9 &BZ\ \ \ L +9 &DQ\\\ \ \ M +10 &Fa\ \ \ M +9 &Gn\ \ \ O +10 &I\ \ \ R +9 &K;\ \ \ W +9 &L\ \ \ X +10 &N\ \ \ X +9 &P|\ \ \ Y +9 &R>\ \ \ Y +10 &S\ \ \ Z +9 &U\ \ \ G +9 &V2\ \ \ $m +10 &Vj\ \ \ K +2 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&21 +53 "core" 1 +2 "manipulator"&C% +4 "core" %   8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%g& +4 "core" &F\ +2 "manipulator"&7% +4 "core" %\ # n > +2 "storage"(!% +3 "core" %b V\ +2 "storage"(x. +3 "core" .( +2 "storage"(A& +4 "core" & R\  +2 "storage"(J& +3 "core" & Q\  +3 "manipulator"&\ & +4 "core" &&  =F + "manipulator"&m% +5 "core" %\ # ^ > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +162 "core" ( + "manipulator"&.& +4 "core" & = +2 "storage"('& +4 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +21 "Can"\ FVb +66 "core" ' +2 "storage"(S& +3 "core" & ^\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +287 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & c\  +2 "manipulator"&X& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&/& +4 "core" &  +2 "storage"(V& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(F'X +8 "core" &  + "manipulator"&6% +5 "core" % ϐ )  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&u& +3 "core" &k   ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &k < ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +97 "core" ' +2 "manipulator"&{& +4 "core" &k S ! + "manipulator"&a% +5 "core" % ! a +2 "processing"%W& +4 "core" &M\ +2 "processing"%& +4 "core" &X\ +3 .tPC.seek :closed + "processing"%$(Z +6 "core" &X\ +7 &FR\ $f +9 &VJ\ 8 +9 &Q\ M +10 &\\R\ M +9 &v]T\ M +9 &6^R\ N +10 &ZZ\ N +9 &ZS\ N +10 &}YR\ N +9 &?Z]\ N +9 & \\X\ N +10 &!]W\ N +9 &#]P\ N +9 &%G[K\ N +10 &' ZR\ N +9 &(ZP\ N +10 &*_N\ N +9 &,PZQ\ M +9 &.\\N\ N +10 &/\\R\ N +9 &1\\R\ N +9 &3W]S\ N +10 &5]M\ N +9 &6]A\ N +10 &8]N\ N +9 &:`\\R\ M +9 &<"ZR\ M +10 &=\\M\ N +9 &?\\L\ M +9 &AhYP\ M +10 &C)]Q\ N +9 &DcS\ N +10 &FjS\ O +9 &HezO\ Q +9 &J!Q\ S +10 &KJ\ S +9 &MS\ S +9 &OfA\ S +10 &Q(I\ S +9 &RL\ T +10 &TR\ T +9 &VmF\ T +9 &X-D\ T +10 &Y{pK\ 0 +45 &Z'oG\ M +16 &Z#P\ . +2 ( +2 &Z"H\ . + &Z"A\ . +2 &Z"?\ . + &Z"J\ . + &Z"B\ . +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&]1 +3 "core" &Z"@\ . +61 1 +2 "manipulator"&D% +4 "core" % p a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z!A\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&b% +4 "core" %\    +2 "storage"(Z% +3 "core" %U Z\ +3 "storage"(%. +3 "core" .( +2 "storage"(r& +4 "core" & U\  +2 "storage"(e& +4 "manipulator"&>& +5 "core" & K\  + &k  ! +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&,(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(?'i +2 "core" ( +3 "manipulator"&p& +4 "core" &k  ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &k G ! +2 .tForearm.seek PC +2 "manipulator"&i' +94 "core" ' +2 .tHand.close +2 "manipulator"&R/ +63 "core" / +2 .tPC.seek :open +2 "processing"%+( +82 "core" ' + "storage"(j- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +48 "core" ' +292 ( +2 "storage"(& +4 "core" & \  +2 "manipulator"&#& +3 "core" &k g ! +2 "manipulator"&% +4 "core" % b & +2 .tForearm.seek :retract +2 "manipulator"&_'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +246 "core" ( +2 "manipulator"&^& +4 "core" &  F + "storage"(& +5 "core" & Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 .tHand.open + "manipulator"&`1 +53 "core" 1 +4 "storage"(v- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(|'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(s- +3 "core" -' +2 "storage"(<& +4 "core" &\ \  9\  +2 "manipulator"&& +3 "core" & 9 E +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&)& +4 "core" &  M E + "storage"( & +4 "core" &\ \ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&z& +4 "core" & E +2 "storage"(3& +4 "core" & '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&"'} +18 "core" ' +2 .tElbow.hold + "manipulator"&l, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'i +25 "core" ' +2 "manipulator"&t% +4 "core" %Α   +2 "storage"(U& +3 "core" & )\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&h'Ͻ +26 "core" ' +2 "manipulator"&& +3 "core" & D E +3 "storage"(& +3 "core" & \  +49 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 "storage"( % +3 "core" %r \ +4 ."downElevator"SE.seek :down +3 "storage"('X +98 (% +3 "core" %A K\ Vb +3 "manipulator"& % +4 "core" %Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & L\  +2 "collection"'P& +5 "core" &Vn\ \ \ K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +4 "core" %\ ! : 8 +2 "storage"(}% +3 "core" %U \ +2 "storage"(@. +3 "core" .( +2 "storage"(I& +3 "core" & c\  +3 "storage"(& +4 "core" & \  + "manipulator"&& +4 "core" &  E +2 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & F E +2 "storage"(o& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +96 "core" ' +2 "storage"(;& +3 "core" & H\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & < E +2 "storage"(1& +5 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +29 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'U +39 "core" ' + "manipulator"&5% +4 "core" %{ 7 { +2 "storage"((& +4 "core" & V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&'ϧ +12 "core" ' +2 "manipulator"&K& +3 "core" & z E +2 "storage"(c& +4 "core" & *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'D +40 "core" ' + "manipulator"&g& +3 "core" & T E +3 "manipulator"&7% +3 "core" %8 } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&x( +151 "core" ( +3 "manipulator"&A& +3 "core" &* N @X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &*  @X +3 .tForearm.seek CC + "manipulator"&J'" +94 "core" ' +2 .tHand.close + "manipulator"&\ / +58 "core" / +2 .tCC.seek :open +2 "collection"'m( +416 "core" ( + "storage"(N& +5 "core" & \  + "storage"(.& +3 "core" & \  +3 "manipulator"&'& +4 "core" &* ` @X + "manipulator"&S% +4 "core" % ( j  +3 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +159 "core" ( + "manipulator"&0& +3 "core" & (  +3 "storage"(T& +3 "core" & $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&X'} +93 "core" ' +5 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +60 "core" 1 +2 "manipulator"&Y% +5 "core" % · [ +2 "storage"(y& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&6'ϳ +21 "core" ' +2 "manipulator"&Q& +3 "core" &   +2 "storage"(G& +5 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +30 "core" ' +2 "storage"(E% +4 "core" %I\ \ # f\ +2 ."downElevator"SE.seek :down +4 "storage"(u'X +99 (&% +3 "core" %A \ V` +2 "manipulator"&O% +4 "core" %( ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'a& +5 "core" & \ +2 "manipulator"&W% +4 "core" %\   +2 "storage"(F% +4 "core" %a\ \  :\ + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(:( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" & A\ +2 "manipulator"&D& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +32 "core" ( +2 "manipulator"&b& +4 "core" & I % +2 "storage"(Z& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +87 "core" ' +2 "storage"(& +3 "core" & \ \  a\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +296 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & \ +2 "manipulator"&p& +4 "core" & K % +2 .tElbow.seek 2 +2 "manipulator"&k( +4 "core" ( +2 "manipulator"&n& +4 "core" &  l % +2 "storage"(R& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&j' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"($'X +8 "core" &  % +2 "manipulator"&?% +4 "core" %  ?  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &, ( | Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &,  Bl +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'" +97 "core" ' +3 "manipulator"&& +3 "core" &* $  @Y +2 "manipulator"&,% +5 "core" %+ O  +2 "collection"'`& +3 "core" & \ \ +3 "collection"'v& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'s(V +2 "core" & \ +7 & \ 5 +9 &:Fy \ 0 +9 &dr \ E +10 & _ \ M +9 &Y \ L +9 &W \ \ M +10 &SW \ M +9 &X \ M +10 &X \ \ M +9 &W \ \ L +9 &[Y \ M +10 &!\\ \ \ M +9 &"Y \ M +9 &$X \ M +10 &&cX \ \ M +9 &(%\\\ \ \ M +10 &)V \ \ M +9 &+Y \ \ L +9 &-lY \ L +54 &/.X\ \ \ L +7 &0Y \ \ M + &2V \ M +2 &4tX \ \ L +2 &65Y \ M + &7W \ \ M + &9X \ \ L +7 &;z[\ \ \ M +10 &==Y \ \ M +9 &>W \ \ M +9 &@Z\ \ L +10 &BY \ \ L +9 &DEZ\ \ \ M +10 &F`\ \ \ M +9 &Gl\ \ \ O +9 &I|\ \ \ R +10 &K0\ \ \ W +9 &L\ \ \ X +9 &N\ \ \ X +10 &Pq\ \ \ X +9 &R2\ \ \ Y +10 &S\ \ \ Z +9 &U\ \ \ G +9 &V2\ \ \ )z +10 &V`\ \ \ I +2 ( +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 + .Hand.open + "manipulator"&<1 +57 "core" 1 +2 "manipulator"&% +5 "core" % + Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +3 "core" &N\ +3 "manipulator"&_% +4 "core" %\  d  +2 "storage"(z% +4 "core" %` [\ + "storage"(3. +4 "core" .( + "storage"(t& +4 "core" & ,\ +2 "storage"(U& +4 "core" & \ +2 "manipulator"&q& +4 "core" & * Y @X +2 "manipulator"&|% +4 "core" %\  e  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"&& +4 "core" & J  +2 "storage"(w& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +95 "core" ' +2 "storage"(& +3 "core" & ~\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & G\ +2 "manipulator"& & +5 "core" & #  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & w  +2 "storage"("& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"( 'X +8 "core" &   + "manipulator"&}% +5 "core" %  4  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&I& +4 "core" &p +   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &p   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &p \  +2 "manipulator"&o% +3 "core" % 9 +3 "processing"%& +3 "core" &Q\ +3 "processing"%;& +5 "core" &L\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &S\ +8 &9[\ $d +10 &UT\ 7 +9 &~~R\ K +9 &]T\ N +10 &^]R\ M +9 &Y]\ N +10 &]\\\ N +9 &Z_\ N +9 &eY^\ N +10 &(]`\ M +9 &\\Z\ M +9 &!ZZ\ N +10 &#nYY\ M +9 &%/\\S\ N +10 &&\\Z\ N +9 &(XT\ M +9 &*u\\V\ N +10 &,7\\T\ N +9 &-`R\ N +9 &/\\R\ N +10 &1~ZQ\ M +9 &3@ZP\ M +10 &5XQ\ N +9 &6XR\ N +9 &8XQ\ M +10 &:HZR\ M +9 &<\ YQ\ M +9 &=ZT\ M +10 &?\\T\ N +9 &APWQ\ M +9 &C[R\ M +10 &D_P\ N +9 &FgS\ O +10 &HM{S\ Q +9 &J Q\ S +9 &KR\ S +10 &MR\ S +9 &ONS\ S +9 &QR\ S +10 &RQ\ T +9 &TQ\ S +10 &VTR\ T +9 &XS\ U +9 &Y{sS\ 8 +10 &Z0S\ F +9 &ZS\ ( +2 ( +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&l1 +56 "core" 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 "processing"%4& +3 "core" &Z:\ ( +50 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&1% +3 "core" %\ c  +3 "storage"(=% +4 "core" %` r\ + "storage"(5. +4 "core" .( +2 "storage"((& +4 "core" & |\ +2 "storage"(K& +2 "manipulator"&c& +7 "core" & \ + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&g(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(7'i +2 "core" ( +3 "manipulator"&B& +4 "core" &p   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"& / +62 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +45 "core" ' +295 ( +3 "storage"(H& +3 "core" & .\ +2 "manipulator"&2& +4 "core" &p  +2 "manipulator"&[% +3 "core" %  r  +3 .tForearm.seek :retract + "manipulator"&\ '\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&!( +251 "core" ( +2 "manipulator"&9& +3 "core" & [ "z +2 "storage"(N& +4 "core" & 6\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +95 "core" ' + .tHand.open +2 "manipulator"&'1 +62 "core" 1 +2 "storage"(S- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(0'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(T' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +3 "core" -' +2 "storage"(x& +3 "core" & \ u\ +3 "manipulator"&V& +4 "core" & u "z +2 .tElbow.seek 2 + "manipulator"&Y( +4 "core" ( +2 "manipulator"&y& +3 "core" &   "z +2 "storage"(Q& +4 "core" & \ >\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +57 "core" ' + "manipulator"&*& +5 "core" & "z + "storage"(&& +4 "core" & N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&O' +28 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +25 "core" ' + "manipulator"&6% +4 "core" %  M +2 "storage"(a& +4 "core" & R\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&W' +20 "core" ' +2 "manipulator"&F& +3 "core" &  "y +2 "storage"(& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +18 "core" ' +2 "storage"(L% +3 "core" %o \ +3 ."downElevator"SE.seek :down +4 "storage"(u'X +98 (\\% +3 "core" %G /\ Xe +2 "manipulator"&]% +6 "core" %х +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +3 "manipulator"&D'\ +91 "core" ' +20 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (b& +3 "core" & M\ +2 "collection"'Z& +5 "core" &V^\ \ \ I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\    +2 "storage"(/% +5 "core" %_ \ + "storage"({. +3 "core" .( +2 "storage"(e& +3 "core" & \ +3 "storage"(>& +4 "core" & J\ +2 "manipulator"&p& +4 "core" & "y +2 .tElbow.seek 2 + "manipulator"&n( +14 "core" ( +2 "manipulator"&R& +3 "core" & 8 2 +2 "storage"(-& +5 "core" & *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 "storage"(?& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' + "storage"(%- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & f 2 +2 "storage"(i& +3 "core" & A\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&r' +29 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'R +27 "core" ' +2 "manipulator"&`% +4 "core" % U . +2 "storage"(k& +4 "core" & Z\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&$' +21 "core" ' + "manipulator"&& +3 "core" & G 2 +3 "storage"(m& +3 "core" & ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +41 "core" ' + "manipulator"& & +4 "core" & T 2 +2 "manipulator"&_% +5 "core" %ћ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +149 "core" ( +3 "manipulator"&t& +3 "core" &( $  ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &( / ?T +3 .tForearm.seek CC +2 "manipulator"&v'" +95 "core" ' + .tHand.close +2 "manipulator"&q/ +55 "core" / +2 .tCC.seek :open + "collection"'|( +416 "core" ( +4 "storage"(^& +4 "core" & \ + "storage"(& +4 "core" & \ +2 "manipulator"&w& +4 "core" &% X ;3 +2 "manipulator"&% +4 "core" % )  +2 .tForearm.seek :retract + "manipulator"&#'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)( +157 "core" ( +2 "manipulator"&& +4 "core" & =  + "storage"(& +5 "core" & \ \ 7\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&"1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  a . +2 "storage"(P& +4 "core" & k\ +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 2 + 316 counts +9 "manipulator"&}' +26 "core" ' + "manipulator"&& +5 "core" & &  +2 "storage"( & +3 "core" & \ \  1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +18 "core" ' +2 "storage"(h% +4 "core" %K\ #\ $ E\ +3 ."downElevator"SE.seek :down +3 "storage"(I'X +98 (% +3 "core" %@ o\ V` +2 "manipulator"&% +5 "core" %ѓ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'o& +4 "core" & \ +2 "manipulator"&% +3 "core" %\  * +2 "storage"( % +5 "core" %`\ \ D\ +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(+( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +4 "core" & X\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&4( +16 "core" ( + "manipulator"&;& +5 "core" & & ` + "storage"(1& +4 "core" &\ \ \ <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +88 "core" ' + "storage"(5& +4 "core" &\ !\ #\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('i +286 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" & 0\  +2 "manipulator"&B& +3 "core" & ` +2 .tElbow.seek 3 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&& +3 "core" & O ` +2 "storage"( & +4 "core" &\ \ \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +5 "storage"('X +6 "core" &  ` +2 "manipulator"&7% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&[& +4 "core" &' ) < >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'" +102 "core" ' +2 "manipulator"&N& +4 "core" &( ] >K +2 "manipulator"&g% +4 "core" %  j +2 "collection"''& +4 "core" & \ +4 "collection"'S& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" & \  +9 &1~ \ *x +9 &d \ > +10 &s \ M +9 &BX \ M +10 &Z \ M +9 &Y \ L +9 &Y \ \ M +10 &J\\ \ \ M +9 & W \ M +9 &Y \ L +10 & Z \ M +9 &"SZ \ L +10 &$Y \ M +9 &%] \ \ M +9 &'W \ \ M +10 &)[X \ L +9 &+Y \ M +9 &,V \ M +10 &.Y \ L +9 &0bY \ M +10 &2$Z \ M +9 &3\\ \ \ M +9 &5W \ \ M +10 &7jY \ \ M +9 &9,\\ \ M +10 &:Y \ M +9 &<Z \ \ M +9 &>rY \ \ M +10 &@4X \ \ M +9 &AX \ L +9 &CZ \ M +10 &Ey\\ \ \ M +9 &G6i\ \ \ O +9 &Hv\ \ \ P +10 &J\ \ \ V +9 &La\ \ \ X +10 &N$\ \ \ W +9 &O\ \ \ X +9 &Q\ \ \ Y +10 &Sd\ \ \ Z +9 &U%\ \ \ Z +9 &VnB\ \ \ 1 +10 &V s\ \ \ J +5 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&x1 +2 "core" &V^\ \ \ J +57 1 +47 "manipulator"&V% +6 "core" %  ' c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%Q& +3 "core" &K\ +2 "manipulator"&\ % +5 "core" %\  K  + "storage"(*% +4 "core" %U \ +2 "storage"(&. +3 "core" .( +2 "storage"(6& +4 "core" & \  +2 "storage"(A& +3 "core" & f\  +2 "manipulator"&a& +4 "core" &'  >J +2 "manipulator"&0% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&F( +157 "core" ( +2 "manipulator"&& +3 "core" & P  +3 "storage"(L& +4 "core" & j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +93 "core" ' +2 "storage"(.& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(T'i +283 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" & =\  +2 "manipulator"&G& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&E& +4 "core" & O  + "storage"(O& +4 "core" & Q\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"('X +8 "core" &  + "manipulator"&X% +3 "core" % Ϭ  = +3 .tForearm.seek :retract +2 "manipulator"&/'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&{(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&e& +4 "core" &n - } \ +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &>& +2 "core" &n  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +98 "core" ' +2 "manipulator"&R& +3 "core" &n 3 \ +2 "manipulator"&-% +5 "core" %  2 +2 "processing"%?& +3 "core" &^\ +3 "processing"%C& +5 "core" &[\ +2 .tPC.seek :closed +2 "processing"%u(Z +4 "core" &U\  +9 &1\\\ *x +9 &cV\ > +10 &qy_\ N +9 &5ZT\ M +10 &YU\ N +9 &_V\ M +9 &zZT\ N +10 &=]X\ M +9 &_X\ N +9 &\\V\ M +10 & Z_\ M +9 &"E_^\ M +10 &$\\[\ M +9 &%\\^\ M +9 &'``\ N +10 &)MYZ\ M +9 &+\\\\\ N +9 &,]U\ M +10 &.ZW\ M +9 &0TX]\ N +10 &2Y^\ M +9 &3Z_\ M +9 &5_W\ N +10 &7]]U\ M +9 &9^T\ N +9 &:\\S\ M +10 &<\\W\ N +9 &>eZU\ M +10 &@&ZT\ N +9 &A\\V\ N +9 &C\\W\ N +10 &El`T\ N +9 &G*oS\ O +9 &HZ\ R +10 &JS\ S +9 &LcW\ S +10 &N%W\ S +9 &OS\ T +9 &Q\\\ S +10 &Si[\ T +9 &U+V\ T +9 &VU\ T +10 &XV\ U +9 &ZaZ\ $n +10 &Z_U\ 1 +8 ( +3 "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&f1 +3 "core" &ZR\ , +55 1 + "manipulator"&D% +4 "core" % S 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +90 "core" ' +2 "processing"%& +4 "core" &ZT\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&i% +4 "core" %\    +2 "storage"(% +3 "core" %c s\ +2 "storage"(`. +4 "core" .( + "storage"(k& +4 "core" & \  +2 "storage"(& +3 "manipulator"&m& +7 "core" & \  +2 &n \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +52 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +6 .tElbow.seek PC +2 "manipulator"& (s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'i +2 "core" ( +3 "manipulator"&& +4 "core" &n  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &n  \ +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&r/ +60 "core" / +2 .tPC.seek :open +3 "processing"%$( +83 "core" ' +2 "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(t'y +46 "core" ' +291 ( +2 "storage"(U& +3 "core" & R\  +2 "manipulator"&<& +4 "core" &n a \ +2 "manipulator"&j% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&z( +257 "core" ( + "manipulator"&s& +4 "core" & T +2 "storage"(^& +3 "core" & U\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"&w1 +65 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(v- +3 "core" -' +2 "storage"(3& +3 "core" &\  R 7\  +3 "manipulator"&"& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( + "manipulator"&P& +4 "core" & a +2 "storage"(& +4 "core" &\ \  m\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(#' +57 "core" ' + "manipulator"&h& +4 "core" & +2 "storage"()& +3 "core" & I\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +22 "core" ' +2 "manipulator"&}% +4 "core" %Ί L +2 "storage"(o& +4 "core" & j\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +20 "core" ' +2 "manipulator"& & +4 "core" & +2 "storage"(d& +4 "core" & h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(% +4 "core" %k \  +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (:% +3 "core" %}I \ Xe +2 "manipulator"&l% +4 "core" %$  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & \  +2 "collection"'1& +3 "core" &V^\ \ \ J +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +3 "core" %\ \ ;  +3 "storage"(% +3 "core" %b \ +2 "storage"(. +3 "core" .( +41 "storage"(c& +10 "core" & v\  +2 "storage"(K& +4 "core" & \  +2 "manipulator"&B& +4 "core" & h +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +4 "core" & H + "storage"(@& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +94 "core" ' + "storage"(7& +5 "core" & _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +286 "core" ' +3 "storage"(=- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&('} +30 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(g'U +29 "core" ' + "manipulator"&'% +4 "core" %΄  +2 "storage"(~& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&'ϰ +21 "core" ' +2 "manipulator"&H& +3 "core" & 5 +2 "storage"(|& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +25 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(V'D +55 "core" ' +2 "manipulator"&S& +4 "core" &  +2 "manipulator"&Q% +3 "core" %I  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +155 "core" ( +2 "manipulator"&&& +3 "core" && ! I =D +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &&  =D +3 .tForearm.seek CC +2 "manipulator"&A'" +94 "core" ' +2 .tHand.close + "manipulator"&a/ +65 "core" / +2 .tCC.seek :open + "collection"'0( +416 "core" ( +2 "storage"(9& +3 "core" & \  +2 "storage"(& +4 "core" & \  +2 "manipulator"&L& +4 "core" &% z <> +2 "manipulator"&.% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&2'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&y( +163 "core" ( + "manipulator"&\\& +3 "core" & ' j +3 "storage"(]& +3 "core" & <\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&G'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&O1 +61 "core" 1 +2 "manipulator"&b% +4 "core" % ΄  +2 "storage"(Z& +4 "core" & \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&X'ϰ +12 "core" ' + "manipulator"&F& +5 "core" & . j + "storage"(!& +4 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +27 "core" ' + "storage"(W% +43 "core" %I\ \  P\ +10 ."downElevator"SE.seek :down +4 "storage"(e'X +99 (>% +3 "core" %C \ Va +2 "manipulator"&Y% +3 "core" %=  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'-& +3 "core" & \ +2 "manipulator"&?% +4 "core" %\ "  ; +2 "storage"(% +3 "core" %T\ \  J\ +3 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" & \ +3 "manipulator"&D& +4 "core" & J j +2 .tElbow.seek 2 + "manipulator"&( +35 "core" ( + "manipulator"&i& +4 "core" &  # +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +92 "core" ' +2 "storage"(k& +3 "core" & \ \  X\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" & \ +2 "manipulator"&& +3 "core" & "~ +3 .tElbow.seek 2 + "manipulator"&n( +4 "core" ( +2 "manipulator"&p& +4 "core" & + "~ +3 "storage"(r& +3 "core" & S\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&,' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(u'X +8 "core" &  "~ +2 "manipulator"&_% +3 "core" %  K +3 .tForearm.seek :retract + "manipulator"&U'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +148 "core" ( +2 "manipulator"&j& +5 "core" ' + &"  F 9) + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +7 "core" &"  9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'" +106 "core" ' +3 "manipulator"&^& +3 "core" &"  _ 9( +3 "manipulator"& % +3 "core" %$ 1 +3 "collection"'w& +4 "core" & \ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'v(V +5 "core" & \  +9 &1~ \ *y +9 &d \ > +10 &ys \ M +9 &<X \ M +10 &\\ \ M +9 &Y \ M +9 &Y \ L +10 &EY \ L +9 &Y \ \ L +9 &W \ \ M +10 & Y \ M +9 &"MY \ L +9 &$Y \ \ L +10 &%[ \ M +9 &'\\ \ \ L +10 &)UX \ \ L +9 &+\\ \ M +9 &,W \ \ L +10 &.Z \ M +9 &0\\\\ \ \ M +9 &2\\ \ M +10 &3\\ \ \ L +9 &5Y\ \ \ M +10 &7d] \ \ M +9 &9&[ \ M +9 &:] \ M +10 &<[ \ L +9 &>l[ \ \ M +9 &@.] \ \ M +10 &A\\ \ \ M +9 &C] \ \ M +10 &Et^\ \ \ M +9 &G1i\ \ \ N +9 &Hx\ \ \ P +10 &J\ \ \ V +9 &L\\\ \ \ X +9 &N\ \ \ X +10 &O\ \ \ Y +9 &Q\ \ \ Y +10 &S^\ \ \ Z +9 &U\ \ \ Z +9 &VjD\ \ \ 1 +10 &V\ t\ \ \ I +5 ( +2 "collection"'& +4 "core" &V^\ \ \ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&31 +57 "core" 1 +3 "manipulator"&"% +4 "core" % $ G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &Y\ +2 "manipulator"&q% +4 "core" %\    +2 "storage"(h% +4 "core" %U ,\ + "storage"(). +48 "core" .( +5 "storage"(}& +4 "core" & G\ +2 "storage"(t& +4 "core" & \ + "manipulator"&o& +4 "core" &" 9( +2 "manipulator"&% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +164 "core" ( +2 "manipulator"&d& +4 "core" &  + "storage"(& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +92 "core" ' +2 "storage"(& +4 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(:- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & 4\ +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & R  +2 "storage"(& +5 "core" & K\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(5'X +8 "core" &   +2 "manipulator"&% +4 "core" %   Q +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +3 .tElbow.seek PC +2 "manipulator"&c(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"& & +4 "core" &o    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &o ?  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +96 "core" ' + "manipulator"& & +5 "core" &o /  +2 "manipulator"&@% +3 "core" %   +3 "processing"%& +3 "core" &_\ +3 "processing"%7& +5 "core" &T\ +2 .tPC.seek :closed +2 "processing"%I(Z +4 "core" &c\  +9 &2~f\ *x +9 &c`\ > +10 &{y`\ N +9 &>Z\\\ N +9 &Ya\ M +10 &ZW\ M +9 &ZZ\ M +10 &GZ`\ M +9 &__\ N +9 &_X\ N +10 & ^_\ N +9 &"N]^\ N +9 &$]`\ M +10 &%[_\ N +9 &'YR\ N +10 &)VYS\ N +9 &+Z`\ M +9 &,ZX\ M +10 &.Z\\\ M +9 &0^]`\ N +9 &2 \\Y\ N +10 &3Z^\ N +9 &5YU\ N +10 &7fX_\ N +9 &9)YZ\ M +9 &:YY\ N +10 &<[^\ N +9 &>nV[\ N +9 &@0]_\ N +10 &A\\]\ M +9 &C\\`\ N +10 &Eu_]\ N +9 &G2m^\ P +9 &Hb\ R +10 &Jb\ S +9 &Lm^\ S +9 &N0[\ S +10 &OZ\ T +9 &Q_\ S +10 &Ss`\ T +9 &U6\\\ T +9 &VW\ T +10 &X^\ T +9 &Z$[}^\ $n +9 &ZbY\ 1 +9 ( +3 "processing"%7& +3 "core" &ZX\ + +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" % 2  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +98 "core" ' +4 "processing"%[& +4 "core" &ZU\ + + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ [ 7 +3 "storage"(N% +4 "core" %b b\ + "storage"('. +3 "core" .( +2 "storage"(~& +4 "core" & :\ +3 "storage"(H& +2 "manipulator"&|& +8 "core" & L\ +2 &o ;  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&S(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'i +2 "core" ( +2 "manipulator"&8& +4 "core" &o R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &o U  +43 .tForearm.seek PC +9 "manipulator"&4' +95 "core" ' +2 .tHand.close + "manipulator"&(/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +38 "core" ' + "storage"(g- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +48 "core" ' +339 ( + "storage"(6& +5 "core" & \ + "manipulator"&x& +3 "core" &o  +3 "manipulator"&M% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&a'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +242 "core" ( +2 "manipulator"&J& +3 "core" &\  P +3 "storage"(9& +4 "core" & e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + .tHand.open +2 "manipulator"&L1 +62 "core" 1 +3 "storage"(.- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(]' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(*& +4 "core" & \ (\  \ +2 "manipulator"&O& +4 "core" & O +2 .tElbow.seek 2 + "manipulator"&b( +4 "core" ( +2 "manipulator"&Z& +4 "core" & 9 O +2 "storage"(F& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&!'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(W' +58 "core" ' + "manipulator"&2& +5 "core" & O + "storage"(y& +5 "core" & ;\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(G'i +23 "core" ' + "manipulator"&X% +5 "core" % 1 + "storage"(-& +4 "core" & _\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&?' +20 "core" ' +2 "manipulator"&& +3 "core" & G O +2 "storage"(/& +5 "core" & f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +28 "core" ' + "storage"(T% +4 "core" %r Z\ +3 ."downElevator"SE.seek :down +3 "storage"(e'X +99 (+% +4 "core" %9F !\ Wd +3 "manipulator"&f% +4 "core" %є ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" & b\ +2 "collection"'& +4 "core" &V^\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&k% +4 "core" %\   + "storage"(E% +5 "core" %^ f\ + "storage"(R. +3 "core" .( +2 "storage"(& +4 "core" & \ +2 "storage"(C& +4 "core" & \ +2 "manipulator"&& +3 "core" & | O +2 .tElbow.seek 2 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&r& +4 "core" &  O + "storage"({& +4 "core" & \ +3 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +96 "core" ' +2 "storage"(_& +3 "core" & g\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(`- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" & O +2 "storage"(& +5 "core" & [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&m' +30 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'S +33 "core" ' +2 "manipulator"&n% +3 "core" %  # +2 "storage"(w& +4 "core" & i\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&u' +27 "core" ' + "manipulator"&U& +4 "core" & - O +2 "storage"(0& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +17 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"("'B +41 "core" ' +2 "manipulator"&& +4 "core" & O +2 "manipulator"&q% +4 "core" %Ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&)( +151 "core" ( +3 "manipulator"&& +3 "core" &  e 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" & ! 7 +3 .tForearm.seek CC + "manipulator"&t'" +94 "core" ' +2 .tHand.close + "manipulator"&o/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(s& +4 "core" & #\ + "storage"(d& +5 "core" & \ + "manipulator"&& +3 "core" & / 7 +3 "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&<'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&P( +176 "core" ( +2 "manipulator"&:& +4 "core" &\ 2 [ +2 "storage"(l& +4 "core" & (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +107 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&;% +5 "core" %  h # + "storage"(1& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"& & +3 "core" &\ b Z +2 "storage"(z& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +25 "core" ' +2 "storage"(% +4 "core" %G \ F\ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (K% +2 "core" %A \ V` +3 "manipulator"&% +3 "core" %Ѭ 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +58 ' +8 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'@& +3 "core" & \ +3 "manipulator"&% +3 "core" %\    +3 "storage"(5% +3 "core" %`\ \  v\ +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"($( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & -\  +2 "manipulator"&& +5 "core" &\ Z +2 .tElbow.seek 3 +2 "manipulator"&[( +33 "core" ( +2 "manipulator"&& +4 "core" & 7 N +2 "storage"(N& +3 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +112 "core" ' + "storage"(~& +5 "core" &\ \ ! $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +286 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &\ \ \  +3 "manipulator"&8& +3 "core" &  N +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&B& +5 "core" &  N + "storage"((& +4 "core" &\ \ \ E\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"(I'X +8 "core" & @ N + "manipulator"&Q% +5 "core" % ϖ w +2 .tForearm.seek :retract +2 "manipulator"&6'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&M& +4 "core" &( ! ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &( ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +100 "core" ' +3 "manipulator"&9& +4 "core" &( p ?U +2 "manipulator"&S% +3 "core" %: ) ' +3 "collection"'L& +4 "core" & \ +2 "collection"'.& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'A(V +4 "core" & \ +6 & 3 \ %f +10 &W \ 8 +9 &z \ L +9 &U \ M +10 &o[ \ \ M +9 &1[ \ \ M +9 &\\ \ M +10 &\\\ \ \ L +9 &xY \ L +10 &:Y \ \ L +9 &Y \ \ L +9 &!Z\ \ \ M +10 &#\\ \ \ M +9 &%AW \ \ M +9 &'V \ \ M +10 &(V \ \ L +9 &*Y \ \ L +9 &,JX \ \ L +10 &. \\ \ \ M +9 &/[ \ \ L +10 &1X \ L +9 &3QZ \ \ M +9 &5W \ L +10 &6Z\ \ \ M +9 &8X \ L +9 &:ZZ\ \ \ L +10 &<Z \ \ M +9 &=Z \ \ L +10 &?Y \ L +9 &AbY \ \ L +9 &C"\\ \ M +10 &D\\\ \ \ M +9 &Fc\ \ \ N +10 &H`s\ \ \ P +9 &J\ \ \ T +9 &K\ \ \ X +10 &M\ \ \ X +9 &OP\ \ \ X +9 &Q\ \ \ Y +10 &R\ \ \ Z +9 &T\ \ \ Z +9 &V-t\ \ \ / +10 &V\ \ \ P +8 ( +2 &Vl\ \ \ J +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&*1 +61 "core" 1 +3 "manipulator"&O% +4 "core" % :  t ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%F& +6 "core" &_\ +2 "manipulator"&a% +4 "core" %\  $  +2 "storage"(2% +3 "core" %` -\ +2 "storage"(y. +3 "core" .( +2 "storage"(&& +3 "core" & >\  +3 "storage"(X& +3 "core" & .\  +2 "manipulator"&-& +4 "core" &( 2 ?U +2 "manipulator"&\\% +3 "core" %\  (  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +156 "core" ( +47 "manipulator"&/& +5 "core" &  +3 "storage"(T& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +92 "core" ' + "storage"(& +4 "core" & 5\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +284 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" & V\  +2 "manipulator"&!& +4 "core" & R  +2 .tElbow.seek 3 +2 "manipulator"&b( +4 "core" ( + "manipulator"&W& +4 "core" & '  +2 "storage"(>& +3 "core" & ]\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(k'X +8 "core" &   +2 "manipulator"&E% +4 "core" % Ϩ  +2 .tForearm.seek :retract + "manipulator"&R'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +4 "manipulator"&& +3 "core" &w J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &w   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' +2 "manipulator"&r& +3 "core" &w +  +2 "manipulator"&{% +5 "core" %  +2 "processing"%V& +3 "core" &U\ +3 "processing"%_& +5 "core" &`\ +3 .tPC.seek :closed + "processing"%e(Z +4 "core" &a\ +8 &9a\ $c +9 &T`\ 7 +9 &a\ L +10 &\\_\ M +9 &^\\`\ M +9 & Z]\ M +10 &Z_\ M +9 &Y`\ N +10 &d]\\\ N +9 &'XZ\ N +9 &\\]\ N +10 &!^S\ N +9 &#nZQ\ M +9 &%/Z^\ N +10 &&\\_\ N +9 &(]\\\ N +9 &*u]U\ N +10 &,7^T\ N +9 &-_T\ N +10 &/\\S\ N +9 &1|\\R\ N +9 &3@ZY\ M +10 &5Y^\ N +9 &6[S\ N +9 &8[J\ M +10 &:GZ]\ N +9 &<\ \\P\ M +10 &=YR\ N +9 &?\\U\ N +9 &APY[\ M +10 &CZS\ N +9 &D]R\ N +9 &FhS\ O +10 &HLzS\ Q +9 &JP\ S +10 &KR\ T +9 &MR\ S +9 &OMX\ T +10 &QS\ S +9 &RR\ T +9 &TS\ T +10 &VST\ T +9 &XW\ U +10 &YznS\ 8 +9 &Z.^\ H +9 &Z X\ + +3 ( + "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&Y1 +61 "core" 1 +2 "manipulator"&D% +4 "core" %  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' + "processing"%j& +4 "core" &Z J\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\    +3 "storage"(^% +4 "core" %] N\ + "storage"(n. +3 "core" .( +2 "storage"(w& +4 "core" & D\  +2 "storage"(U& +3 "manipulator"&0& +7 "core" & M\  + &w W  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(q'i +2 "core" ( + "manipulator"&%& +6 "core" &w B  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &w `  +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&m/ +64 "core" / +3 .tPC.seek :open +2 "processing"%u( +77 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +43 ."raiseStack"SE.seek :place +9 "storage"('y +36 "core" ' +260 ( +2 "storage"(}& +4 "core" & \  +2 "manipulator"&3& +3 "core" &w c  +2 "manipulator"&,% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&o'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h( +252 "core" ( +2 "manipulator"&v& +4 "core" & ; +2 "storage"(s& +4 "core" & D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +98 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(:'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(t- +4 "core" -' +2 "storage"()& +4 "core" &\ \  \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&;( +10 "core" ( +2 "manipulator"&1& +4 "core" &   +2 "storage"( & +4 "core" &\ )\ ) \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +59 "core" ' + "manipulator"&<& +4 "core" &   +2 "storage"(K& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&P, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +22 "core" ' + "manipulator"&% +3 "core" %Έ +2 "storage"(@& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +24 "core" ' +2 "manipulator"&5& +3 "core" & !  +2 "storage"(& +5 "core" & Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&"'9 +24 "core" ' +2 "storage"(% +3 "core" %r a\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (% +3 "core" %> \ Vb +2 "manipulator"&% +5 "core" %i t h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & U\  +3 "collection"'N& +3 "core" &Vl\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&~% +3 "core" %\   +3 "storage"(#% +4 "core" %U "\ + "storage"( . +5 "core" .( +2 "storage"(|& +4 "core" & \  +2 "storage"(H& +4 "core" & \  + "manipulator"&8& +5 "core" & ;  + .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&(& +4 "core" & +  +2 "storage"(c& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +93 "core" ' +2 "storage"(Q& +3 "core" & @\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +286 "core" ' +3 "storage"('- +4 "core" -' + .tSE.configure :default +47 "storage"(#QK-0-\ b +5 "manipulator"&M& +4 "core" &  +2 "storage"(4& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&7'} +25 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'U +31 "core" ' + "manipulator"&L% +6 "core" %΋  +2 "storage"(& +3 "core" & V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&I'Ϸ +11 "core" ' +2 "manipulator"&6& +3 "core" &   +3 "storage"(& +4 "core" & M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(O'D +41 "core" ' +2 "manipulator"&F& +3 "core" &   +2 "manipulator"&a% +5 "core" %^ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +154 "core" ( +3 "manipulator"&&& +3 "core" &%  <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &% a <? +3 .tForearm.seek CC +2 "manipulator"&X'" +91 "core" ' +3 .tHand.close + "manipulator"&-/ +57 "core" / +2 .tCC.seek :open +2 "collection"'\\( +416 "core" ( +3 "storage"(J& +3 "core" & W\  +2 "storage"(/& +5 "core" & g\  + "manipulator"&T& +4 "core" &$ R ;6 +2 "manipulator"&x% +4 "core" % 3  +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +163 "core" ( + "manipulator"&+& +5 "core" &   + "storage"(f& +4 "core" & z\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&!'} +100 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +52 "core" 1 +2 "manipulator"&i% +5 "core" % Ή  + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&E'ϵ +23 "core" ' + "manipulator"&& +3 "core" &   +2 "storage"(\ & +5 "core" &\ \ \  A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +36 "core" ' + "storage"(?% +4 "core" %I\ \  F\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (C% +3 "core" %B R\ Va +2 "manipulator"&b% +4 "core" %/  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'{& +3 "core" & \ +2 "manipulator"&V% +4 "core" %\   +2 "storage"(k% +3 "core" %U\ #\ # /\ +2 "storage"(R. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +382 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" & c\ +2 "manipulator"&D& +5 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&j( +27 "core" ( +2 "manipulator"&& +3 "core" & @ m +2 "storage"(^& +4 "core" & \ \  7\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +96 "core" ' +2 "storage"(w& +4 "core" & \ #\ # \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(_'i +276 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" & U\ +2 "manipulator"&%& +3 "core" & n k +2 .tElbow.seek 2 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&& +3 "core" & P k +2 "storage"(m& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& + "storage"(e'X +8 "core" &  k + "manipulator"&}% +5 "core" % 0  4 +2 .tForearm.seek :retract +2 "manipulator"&q'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +149 "core" ( +2 "manipulator"&,& +3 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &* J @\\ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* k @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&v'" +98 "core" ' +2 "manipulator"&s& +3 "core" &* " @\\ +4 "manipulator"&% +3 "core" %( X +3 "collection"'& +3 "core" & \ \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'t(V +4 "core" & \ \ +8 &4 \ $e +10 &W \ \ 8 +9 &x\ \ \ L +10 &U \ \ M +9 &qU\ \ M +9 &3U \ \ M +10 &W\ \ \ M +9 &U \ \ M +9 &yV\ \ \ M +10 &;U\ \ \ M +9 &[ \ \ M +10 &!W\ \ \ M +9 &#W\ \ \ M +9 &%CY\ \ \ M +10 &'Y\ \ \ M +9 &(W\ \ \ L +9 &*Z\ \ \ M +10 &,KV\ \ \ M +9 &. U\ \ \ M +10 &/U\ \ \ M +9 &1V\ \ \ M +9 &3SU\ \ \ M +10 &5V\ \ \ M +9 &6W\ \ \ M +9 &8W\ \ \ L +10 &:[Y \ \ M +9 &<\\\ \ \ M +10 &=Y\ \ \ M +9 &?V\ \ \ M +9 &AcU\ \ \ M +10 &C&X\ \ \ L +9 &D\\\ \ \ M +9 &Fb\ \ \ N +10 &Has\ \ \ P +9 &J\ \ \ T +10 &K\ \ \ X +9 &M\ \ \ X +9 &OQ\ \ \ X +10 &Q\ \ \ X +9 &R\ \ \ Z +9 &T\ \ \ Z +10 &V-s\ \ \ . +9 &V&\ \ \ V +9 ( +3 "collection"'& +2 "core" &Vb\ \ \ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&)1 +63 "core" 1 +3 "manipulator"&% +3 "core" % ( 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%o& +4 "core" &W\ +2 "manipulator"& % +4 "core" %\ ! / +2 "storage"(<% +4 "core" %U V\ + "storage"(K. +3 "core" .( +2 "storage"(& +4 "core" & H\ +2 "storage"(& +4 "core" & L\ +2 "manipulator"&@& +4 "core" &* L @[ + "manipulator"&:% +3 "core" %\ ! m / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5( +155 "core" ( +2 "manipulator"&& +3 "core" & h  +2 "storage"(& +5 "core" & 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +100 "core" ' + "storage"(d& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +47 .tSE.seek :beamBreak +6 "storage"(l'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Q\ +2 "manipulator"&z& +3 "core" & :  +3 .tElbow.seek 2 + "manipulator"&;( +4 "core" ( +2 "manipulator"&& +4 "core" & 3  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(~'X +8 "core" & ^  + "manipulator"&#% +5 "core" %  '  +2 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&|& +4 "core" &o  L  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &o   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8' +93 "core" ' +2 "manipulator"&(& +3 "core" &o ,  +3 "manipulator"&c% +3 "core" % i ( +3 "processing"%"& +4 "core" &T\ +2 "processing"%Q& +5 "core" &V\ +3 .tPC.seek :closed + "processing"% (Z +5 "core" &g\ +7 & 0c\ $d +9 &U_\ 7 +9 &h\ L +10 &\\i\ M +9 &b[c\ M +9 &#XW\ N +10 &Y`\ M +9 &Z`\ M +10 &j[b\ M +9 &+]`\ N +9 &Z_\ N +10 &!Yc\ N +9 &#qXa\ N +9 &%3Ya\ N +10 &&\\a\ N +9 &(]`\ N +10 &*y\\_\ N +9 &,;Y_\ N +9 &-^`\ N +10 &/Z`\ N +9 &1Y[\ M +9 &3B]W\ N +10 &5X\\\ M +9 &6Z[\ N +10 &8[[\ N +9 &:LY[\ M +9 &<ZZ\ M +10 &=\\X\ M +9 &?\\]\ M +9 &ASWX\ N +10 &C]V\ M +9 &D_S\ N +10 &FfR\ O +9 &HQyY\ Q +9 &JW\ S +10 &KY\ S +9 &MY\ S +9 &ORY\ S +10 &QS\ T +9 &RY\ S +10 &TY\ S +9 &VY[\ T +9 &XS\ T +10 &YzoU\ 8 +9 &Z+~R\ I +9 &Z T\ , +3 ( + "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&P1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  S ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +100 "core" ' +2 "processing"%M& +5 "core" &Z V\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&4% +4 "core" %\  8 +2 "storage"(9% +3 "core" %U 9\ +3 "storage"(L. +3 "core" .( +2 "storage"(& +4 "core" & /\ +2 "storage"(6& +3 "manipulator"&& +7 "core" & O\ + &o   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&F(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'i +2 "core" ( + "manipulator"&=& +6 "core" &o `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &o N  +2 .tForearm.seek PC +2 "manipulator"&[' +97 "core" ' +2 .tHand.close + "manipulator"&7/ +55 "core" / +2 .tPC.seek :open + "processing"%I( +89 "core" ' + "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +48 "core" ' +286 ( + "storage"(.& +4 "core" & )\ +2 "manipulator"&*& +3 "core" &o &  +2 "manipulator"&g% +5 "core" % 4 +2 .tForearm.seek :retract + "manipulator"&-'\ +96 "core" ' +48 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&2( +247 "core" ( +2 "manipulator"&A& +3 "core" &  : +3 "storage"(J& +4 "core" & B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +95 "core" ' +2 .tHand.open +2 "manipulator"&T1 +58 "core" 1 +2 "storage"(x- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(X- +3 "core" -' +2 "storage"(y& +4 "core" & \  I\ +2 "manipulator"&>& +4 "core" & : +2 .tElbow.seek 2 + "manipulator"&i( +4 "core" ( +2 "manipulator"&& +4 "core" & A : +2 "storage"(& +3 "core" & \  v\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(?' +58 "core" ' + "manipulator"&& +4 "core" & 5 : +2 "storage"(C& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&b' +22 "core" ' +2 .tElbow.hold + "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(!'i +21 "core" ' + "manipulator"&E% +4 "core" %  +2 "storage"({& +4 "core" & X\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&V' +22 "core" ' + "manipulator"&k& +4 "core" & b : +2 "storage"(R& +4 "core" & P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +36 "core" ' +2 "storage"(]% +3 "core" %n o\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ($% +3 "core" %A 2\ Wd +2 "manipulator"&Y% +11 "core" %Ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +96 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \ +2 "collection"'^& +4 "core" &Vb\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&w% +4 "core" %\  +2 "storage"(W% +6 "core" %a )\ +2 "storage"(r. +3 "core" .( +2 "storage"(U& +3 "core" & \ +2 "storage"(0& +4 "core" & \ +2 "manipulator"&%& +3 "core" & : +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&m& +5 "core" & 8 : + "storage"(G& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +92 "core" ' +2 "storage"(}& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +285 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & : +3 "storage"(& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_' +30 "core" ' + .tElbow.hold + "manipulator"& , +48 "core" , +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +39 "core" ' +2 "manipulator"&% +4 "core" %   +2 "storage"(p& +4 "core" & k \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&e' +20 "core" ' + "manipulator"&q& +4 "core" & | : +2 "storage"(\\& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&)'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +39 "core" ' +2 "manipulator"&o& +4 "core" & w : +2 "manipulator"& % +3 "core" %Ѵ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&K& +4 "core" &* J @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &) = @Z +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&@/ +65 "core" / +2 .tCC.seek :open +2 "collection"':( +418 "core" ( +2 "storage"(v& +4 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&& +3 "core" &* g @Y +2 "manipulator"&d% +4 "core" % & w +3 .tForearm.seek :retract + "manipulator"&3'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +154 "core" ( +2 "manipulator"&& +4 "core" & L  +2 "storage"(& +4 "core" & \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&z' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +3 "core" % # +2 "storage"(N& +4 "core" & |\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&#' +18 "core" ' +3 "manipulator"&5& +3 "core" & O  +2 "storage"(h& +5 "core" & \ \  6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +31 "core" ' + "storage"(% +5 "core" %L\ $\ % 6\ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (H% +3 "core" %B\  _\ V` +2 "manipulator"&;% +5 "core" %р F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +86 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'c& +4 "core" & \ +2 "manipulator"&"% +4 "core" %\  J  +2 "storage"(~% +3 "core" %c\ \  \ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(u( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +4 "core" & \  + "manipulator"&& +3 "core" & 7  +3 .tElbow.seek 3 + "manipulator"&M( +14 "core" ( +2 "manipulator"&4& +4 "core" & O u +2 "storage"(9& +4 "core" &\ #\ # -\  +44 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +93 "core" ' +2 "storage"(& +4 "core" &\ $\ $ 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +283 "core" ' + "storage"(6- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" & \  +2 "manipulator"&=& +4 "core" & 5 u +2 .tElbow.seek 3 + "manipulator"&B( +4 "core" ( +2 "manipulator"&8& +4 "core" & k u +2 "storage"(7& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"( 'X +7 "core" & u +2 "manipulator"&a% +3 "core" % Ϧ +3 .tForearm.seek :retract +2 "manipulator"&.'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&g& +3 "core" &( s ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +3 "core" &( ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'" +97 "core" ' + "manipulator"&J& +5 "core" &) ` ?U + "manipulator"&F% +5 "core" % G +2 "collection"'T& +4 "core" &\ \ \ +2 "collection"'x& +6 "core" & \ \ +2 .tCC.seek :closed + "collection"'X(V +4 "core" & \  +9 &1} \ *z +9 &d \ \ > +10 &|r\ \ \ M +9 &?W\ \ \ M +10 &V \ \ M +9 &U\ \ \ M +9 &Z\ \ \ M +10 &H[ \ \ M +9 &\ [ \ \ M +9 &X\ \ \ M +10 & Y \ \ L +9 &"QW\ \ \ L +10 &$X\ \ \ L +9 &%Y\ \ \ L +9 &'W\ \ \ L +10 &)XU\ \ \ M +9 &+V\ \ \ M +9 &,U \ \ M +10 &.[\ \ \ M +9 &0`Z\ \ \ M +10 &2"Z\ \ \ M +9 &3Y\ \ \ M +9 &5W\ \ \ L +10 &7hY\ \ \ M +9 &9+Z\ \ \ L +9 &:Y\ \ \ M +10 &<X\ \ \ M +9 &>pX\ \ \ M +10 &@3Z\ \ \ L +9 &AX\ \ \ M +9 &C[\ \ \ M +10 &Ev_\ \ \ M +9 &G5e\ \ \ \ N +9 &Hv\ \ \ P +10 &J\ \ \ U +9 &L_\ \ \ X +10 &N!\ \ \ X +9 &O\ \ \ X +9 &Q\ \ \ X +10 &Sa\ \ \ Z +9 &U"\ \ \ Z +9 &VnD\ \ \ 1 +10 &Vu\ \ \ J +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&y1 +3 "core" &Vk\ \ \ J +59 1 +3 "manipulator"&>% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &k\ +2 "manipulator"&-% +4 "core" %\ ]  + "storage"(% +4 "core" %^ f\ +2 "storage"(C. +3 "core" .( +2 "storage"(E& +3 "core" & \  +2 "storage"(&& +4 "core" & \  +2 "manipulator"&{& +3 "core" &'  >O +2 "manipulator"&+% +4 "core" %\ h  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&k( +169 "core" ( + "manipulator"&R& +4 "core" & d +2 "storage"(]& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +91 "core" ' + "storage"(/& +3 "core" & 2\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +284 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & \  +2 "manipulator"&\ & +3 "core" & u d +3 .tElbow.seek 3 + "manipulator"&i( +4 "core" ( +2 "manipulator"&?& +55 "core" & K d +8 "storage"(b& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&V'ϩ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&^& + "storage"(w'X +8 "core" & { d +2 "manipulator"&!% +4 "core" % ϶ l ^ +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&U& +3 "core" &{  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &{ c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&%' +99 "core" ' + "manipulator"&m& +5 "core" &{ 8 + "manipulator"&G% +5 "core" % +2 "processing"%O& +4 "core" &l\ +2 "processing"%}& +5 "core" &\\\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &k\ +8 & 1q\ $c +9 &Uk\ 7 +9 &~o\ L +10 &Zl\ N +9 &b_n\ M +10 &$\\m\ M +9 &Yk\ M +9 &Zm\ M +10 &i]m\ N +9 &+\\l\ N +9 &Zh\ M +10 &!Yk\ M +9 &#sZm\ M +10 &%3\\n\ N +9 &&\\m\ N +9 &(\\l\ N +10 &*z]n\ M +9 &,<Ym\ M +9 &-Zm\ N +10 &/\\m\ M +9 &1\\m\ N +10 &3C[h\ N +9 &5Zl\ N +9 &6Yl\ M +10 &8]l\ M +9 &:L]j\ M +9 &<\\l\ M +10 &=[n\ M +9 &?\\n\ M +10 &AT\\e\ M +9 &C^g\ N +9 &Dba\ N +10 &Ffg\ O +9 &HRve\ Q +9 &Ji\ S +10 &Ka\ S +9 &Mg\ S +9 &OR`\ S +10 &Qj\ T +9 &Rm\ T +10 &Td\ T +9 &VY`\ T +9 &Xg\ T +10 &Y{pj\ 6 +9 &Z/^\ L +9 &Z_\ ) +3 ( +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&Z1 +62 "core" 1 + "manipulator"&D% +4 "core" %  u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 "processing"%,& +4 "core" &ZP\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  '  +2 "storage"(s% +4 "core" %` S\ +2 "storage"(. +3 "core" .( +2 "storage"(p& +3 "core" & O\  +3 "storage"(q& +2 "manipulator"&\\& +6 "core" & J\  +2 &{  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(o'i +2 "manipulator"& (s +6 "core" ( +2 "manipulator"&`& +3 "core" &{ W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{  +2 .tForearm.seek PC +2 "manipulator"&j' +96 "core" ' +2 .tHand.close + "manipulator"&_/ +64 "core" / +4 .tPC.seek :open + "processing"%e( +76 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +42 "core" ' +303 ( + "storage"(& +4 "core" & ]\  +2 "manipulator"&)& +3 "core" &{ h +2 "manipulator"& % +4 "core" %  d +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +249 "core" ( + "manipulator"&t& +4 "core" & F E +2 "storage"(v& +4 "core" & P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +9 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(d- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & \  +2 "manipulator"&& +3 "core" &  D +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&N& +4 "core" &  D +2 "storage"(5& +4 "core" & \ I\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&3& +4 "core" & ! D +2 "storage"(H& +3 "core" & =\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&;'} +21 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +25 "core" ' + "manipulator"&#% +4 "core" %Ύ +2 "storage"(c& +3 "core" & T\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&"'Ϻ +19 "core" ' +2 "manipulator"&~& +4 "core" & ] D +2 "storage"( & +3 "core" & @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' + "storage"(l% +3 "core" %q \ +3 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (% +3 "core" %D \ Wd +2 "manipulator"&P% +4 "core" %8  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +3 "core" & \  +2 "collection"'9& +4 "core" &Vj\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ K  +3 "storage"(% +4 "core" %T \ + "storage"((. +3 "core" .( +2 "storage"(6& +4 "core" & \  +2 "storage"(& +3 "core" & \  +2 "manipulator"&=& +5 "core" &  D +2 .tElbow.seek 3 + "manipulator"&8( +4 "core" ( + "manipulator"&7& +5 "core" & D D + "storage"( & +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +93 "core" ' +2 "storage"(a& +4 "core" & D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +283 "core" ' +4 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & j D +2 "storage"([& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Q'} +28 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(F'U +29 "core" ' +2 "manipulator"&T% +3 "core" %΄ y z +2 "storage"(B& +4 "core" & W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"& 'ϰ +58 "core" ' +9 "manipulator"&.& +4 "core" & J D +2 "storage"(:& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +50 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(>'D +41 "core" ' +2 "manipulator"&& +4 "core" & E D +2 "manipulator"&-% +3 "core" % / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +151 "core" ( +2 "manipulator"&x& +3 "core" &*  w @X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &*  @X +2 .tForearm.seek CC +2 "manipulator"&&'" +93 "core" ' +2 .tHand.close + "manipulator"&{/ +53 "core" / +2 .tCC.seek :open +2 "collection"'+( +416 "core" ( + "storage"(A& +5 "core" & B\  +2 "storage"(R& +3 "core" & p\  +2 "manipulator"&]& +4 "core" &) A ?Q +2 "manipulator"&/% +3 "core" %  <  +3 .tForearm.seek :retract + "manipulator"&*'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +157 "core" ( + "manipulator"&$& +4 "core" & = +2 "storage"(Y& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&\ '} +98 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +64 "core" 1 +2 "manipulator"&% +3 "core" % Α * +2 "storage"(^& +5 "core" & H\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&!'Ͻ +22 "core" ' + "manipulator"&k& +5 "core" & B + "storage"(2& +3 "core" &\ \ \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +34 "core" ' +2 "storage"(V% +4 "core" %E\ #\ \ +2 ."downElevator"SE.seek :down +4 "storage"(U'X +99 (0% +3 "core" %D \ Wb +2 "manipulator"&i% +3 "core" %J 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'G& +4 "core" & \ +2 "manipulator"&O% +3 "core" %\  9  +3 "storage"(w% +4 "core" %a\ \ \ +2 "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(I( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" & `\ +2 "manipulator"&D& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&,( +34 "core" ( + "manipulator"&& +4 "core" & # +2 "storage"(s& +4 "core" & \ \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' +2 "storage"(p& +3 "core" & \ #\ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +283 "core" ' +2 "storage"(q- +3 "core" -' +44 .tSE.configure :default +7 "storage"(#QK-0-\ b +3 (\\& +3 "core" & \ +2 "manipulator"&`& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&%& +4 "core" & - # +2 "storage"(_& +3 "core" & e\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +5 "storage"('X +6 "core" & \\ # +2 "manipulator"&o% +3 "core" % w  +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +146 "core" ( +2 "manipulator"& & +4 "core" &* #  @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + ."downElevator"SE.stop +4 "manipulator"&j& + "storage"(5 +4 "core" &*  @^ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'" +102 "core" ' +3 "manipulator"&v& +3 "core" &* y @^ +2 "manipulator"& % +5 "core" % i +2 "collection"'& +4 "core" & \ \ +2 "collection"'d& +6 "core" & \ \ +2 .tCC.seek :closed +3 "collection"'(V +3 "core" & \ \ +6 & \ 6 +9 &=G{ \ \ 1 +9 &ks \ \ E +10 &]\ \ \ M +9 &W \ L +9 &W \ \ L +10 &YZ \ \ M +9 &W \ \ M +10 &X\ \ L +9 &V \ \ L +9 &cX \ \ L +10 &!$W \ \ M +9 &"Z\ \ \ M +9 &$Y\ \ \ L +10 &&jW\ \ \ M +9 &(,U\ \ \ M +10 &)Z \ \ M +9 &+U\ \ \ M +9 &-sU\ \ \ L +10 &/4W\ \ \ M +9 &0U\ \ \ M +10 &2U\ \ \ M +9 &4zU\ \ \ M +9 &6=X\ \ \ L +10 &7X\ \ \ M +9 &9Z\ \ \ M +9 &;\\\ \ \ M +10 &=DX \ \ M +9 &?\\\ \ \ M +9 &@W\ \ \ M +10 &BV \ \ M +9 &DMY\ \ \ L +10 &F _\ \ \ N +9 &Gk\ \ \ O +9 &I\ \ \ R +10 &K4\ \ \ X +9 &L\ \ \ X +9 &N\ \ \ X +10 &Pw\ \ \ X +9 &R9\ \ \ X +10 &S\ \ \ Z +9 &U\ \ \ G +9 &V3\ \ \ &r +10 &Va\ \ \ J +2 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +5 "core" %  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%5& +3 "core" &a\ +2 "manipulator"&@% +5 "core" %\  f  + "storage"(3% +4 "core" %U #\ +2 "storage"(H. +3 "core" .( +2 "storage"(#& +4 "core" & R\ + "storage"(K& +4 "core" & j\ +2 "manipulator"&c& +3 "core" &) i @W +2 "manipulator"&% +4 "core" %\  |  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&~( +158 "core" ( +2 "manipulator"& & +3 "core" & 2  +2 "storage"(l& +3 "core" & ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +94 "core" ' +2 "storage"(& +4 "core" & I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & ,\ +2 "manipulator"&h& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & f  +3 "storage"(;& +4 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& + "storage"('X +55 "core" & ~  +3 "manipulator"&% +4 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&((s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +2 "manipulator"&6& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +100 "core" ' +2 "manipulator"&7& +4 "core" &l  +2 "manipulator"& % +3 "core" % . +3 "processing"%& +3 "core" &^\ +3 "processing"%a& +5 "core" &l\ +3 .tPC.seek :closed + "processing"%|(Z +5 "core" &o\ +7 &:i\ $e +9 &Tm\ 7 +9 &m\ L +10 &Zm\ N +2 "Can"\ S +7 "core" &j^l\ N +9 &.Xp\ M +10 &Yp\ M +9 &[p\ M +9 &s]p\ N +10 &5Zk\ N +9 &Zg\ M +10 &![q\ M +9 &#|]m\ M +9 &%=^p\ N +10 &&[p\ N +9 &([l\ M +9 &*\\o\ N +10 &,EZl\ N +9 &.Yn\ M +10 &/Yl\ M +9 &1]o\ N +9 &3NXm\ M +10 &5Xn\ M +9 &6Ym\ M +9 &8[m\ N +10 &:V[n\ M +9 &<\\m\ M +10 &=Vl\ M +9 &?Wm\ M +9 &A^Ym\ M +10 &C]k\ N +9 &D`h\ N +9 &Ffl\ O +10 &H[zl\ Q +9 &Jj\ S +10 &Kl\ S +9 &Mm\ S +10 &O[m\ T +9 &Qh\ T +9 &R\\\ T +9 &Tl\ T +10 &Vbj\ T +9 &X"[\ U +10 &Yzlg\ 3 +9 &Z+}d\ I +9 &Zd\ + +3 ( + "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&11 +62 "core" 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 "processing"%g& +4 "core" &ZX\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&[% +3 "core" %\    +3 "storage"(J% +3 "core" %] \ +2 "storage"(T. +3 "core" .( +2 "storage"(B& +4 "core" & Y\ +2 "storage"(.& +4 "manipulator"&:& +6 "core" & \ + &l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(-'i +3 "core" ( +2 "manipulator"&'& +3 "core" &l  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &l +2 .tForearm.seek PC + "manipulator"&M' +97 "core" ' + .tHand.close +2 "manipulator"&Q/ +55 "core" / +2 .tPC.seek :open +2 "processing"% ( +92 "core" ' +3 "storage"(F- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +44 "core" ' +284 ( +2 "storage"(E& +3 "core" & k\ +2 "manipulator"&y& +4 "core" &l [ +2 "manipulator"&S% +4 "core" % 8  +2 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +249 "core" ( +2 "manipulator"&X& +4 "core" &  ; +2 "storage"(A& +3 "core" & z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +100 "core" ' +2 .tHand.open + "manipulator"&]1 +55 "core" 1 +2 "storage"(/- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +53 "core" ' +12 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(C& +4 "core" & \ \ +2 "manipulator"&b& +3 "core" & ; +3 .tElbow.seek 2 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&^& +3 "core" &   +2 "storage"(k& +5 "core" & \ \ \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +57 "core" ' +2 "manipulator"&*& +3 "core" & i  +3 "storage"(0& +3 "core" & 1\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&i' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'i +25 "core" ' + "manipulator"&!% +5 "core" % 7 @ + "storage"(G& +4 "core" & V\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&O' +19 "core" ' + "manipulator"&w& +5 "core" & W  +2 "storage"(W& +4 "core" & O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +27 "core" ' +2 "storage"(f% +4 "core" %r \ +3 ."downElevator"SE.seek :down +4 "storage"(U'X +99 (u% +3 "core" %J t\ We +2 "manipulator"&Z% +5 "core" %ь E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & \ +2 "collection"'s& +4 "core" &V`\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&p% +3 "core" %\   +3 "storage"(?% +4 "core" %b \ + "storage"(m. +3 "core" .( +2 "storage"(q& +3 "core" & \ +3 "storage"(\\& +4 "core" & \ + "manipulator"&`& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"&%( +4 "core" ( + "manipulator"&_& +4 "core" & F  +2 "storage"(r& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +96 "core" ' + "storage"(o& +4 "core" & [\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & |  +3 "storage"(j& +3 "core" & =\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&}' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'S +30 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(& +3 "core" & q | .\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +26 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(+& +3 "core" & Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +80 "core" ' +9 "manipulator"&5& +5 "core" & ~  + "manipulator"&@% +4 "core" %ў ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +156 "core" ( +2 "manipulator"&#& +3 "core" &' # ] >O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &' " >O +3 .tForearm.seek CC +2 "manipulator"&c'" +93 "core" ' + .tHand.close +2 "manipulator"&d/ +58 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(t& +4 "core" & \ +2 "storage"( & +4 "core" & \ +2 "manipulator"&l& +3 "core" &' P >O +2 "manipulator"&% +4 "core" %  & * +3 .tForearm.seek :retract + "manipulator"&)'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&N( +155 "core" ( +2 "manipulator"&& +3 "core" & 8  +2 "storage"(P& +5 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +61 "core" 1 +2 "manipulator"&4% +4 "core" % q +2 "storage"(9& +5 "core" & L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&~& +4 "core" & <  + "storage"(<& +5 "core" & \ \ s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +35 "core" ' +2 "storage"("% +3 "core" %F\ \  a\ +4 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (% +3 "core" %@ \ V` +2 "manipulator"&% +4 "core" %{  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & \ + "manipulator"&% +5 "core" %\   + "storage"(% +4 "core" %`\ \  \ \ +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(e( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" & N\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&g( +15 "core" ( + "manipulator"&[& +4 "core" & [ z +2 "storage"(J& +4 "core" &\ \  P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +90 "core" ' + "storage"(B& +3 "core" &\ !\ $\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +287 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &\  n\  +2 "manipulator"&'& +4 "core" & z +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&=& +4 "core" & q z + "storage"(Q& +5 "core" &\ \  g\  +2 .tForearm.seek 3 + 300 counts +46 "manipulator"&F'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(|'X +8 "core" & z +2 "manipulator"&-% +3 "core" % ϳ I 8 +3 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +153 "core" ( + "manipulator"&S& +4 "core" &" F 9& +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&M& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &" 9& +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'" +99 "core" ' +2 "manipulator"&A& +4 "core" &" c 9$ +2 "manipulator"&% +3 "core" % 0 +4 "collection"']& +4 "core" & \ \ +2 "collection"'/& +6 "core" & \ +2 .tCC.seek :closed + "collection"'&(V +5 "core" & \ \  +9 &2} \ *y +10 &d \ \ > +9 &}r \ M +9 &AV \ \ M +10 &[ \ \ M +9 &X \ M +10 &U \ \ M +9 &JU \ \ L +9 & W \ \ L +10 &U \ M +9 & V \ L +9 &"QW \ \ M +10 &$Z \ \ M +9 &%V \ \ M +10 &'U \ \ M +9 &)ZU\ \ \ L +9 &+W \ \ M +10 &,Y\ \ \ M +9 &.Y\ \ \ M +9 &0bW \ \ L +10 &2$U \ \ L +9 &3W\ \ \ L +9 &5Z \ M +10 &7iV\ \ \ M +9 &9,U \ \ L +10 &:Y\ \ \ M +9 &<Y \ \ L +9 &>rX \ L +10 &@4W \ \ L +9 &AU\ \ \ M +10 &CV\ \ \ M +9 &Ex\\\ \ \ M +9 &G6g\ \ \ N +10 &Hx\ \ \ P +9 &J\ \ \ V +9 &L`\ \ \ X +10 &N#\ \ \ W +9 &O\ \ \ Y +9 &Q\ \ \ X +10 &Sc\ \ \ Z +9 &U&\ \ \ Y +10 &VlA\ \ \ 1 +9 &V\ v\ \ \ J +5 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&C1 +2 "core" &Vi\ \ \ J +51 1 +2 "manipulator"&b% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%^& +4 "core" &j\ +2 "manipulator"&k% +3 "core" %\    +3 "storage"(*% +4 "core" %T \ + "storage"(0. +4 "core" .( + "storage"(x& +4 "core" & `\  +2 "storage"($& +4 "core" & _\  +2 "manipulator"&!& +4 "core" &" ~ 9# + "manipulator"&G% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&w( +165 "core" ( +2 "manipulator"&W& +3 "core" & . v +2 "storage"(& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +93 "core" ' + "storage"(R& +3 "core" & 4\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +285 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" & I\  +2 "manipulator"&2& +3 "core" & v +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +4 "core" & v +2 "storage"(i& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&s& + "storage"(p'X +6 "core" & @ v +3 "manipulator"&?% +3 "core" % ϱ  +3 .tForearm.seek :retract + "manipulator"&m'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&\ (s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&q& +3 "core" &x    +48 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &x )  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&`' +97 "core" ' + "manipulator"&_& +4 "core" &x W  +2 "manipulator"&r% +3 "core" % } ! +3 "processing"%>& +3 "core" &{\ +3 "processing"%o& +5 "core" &t\ +2 .tPC.seek :closed +2 "processing"%U(Z +5 "core" &|\  +8 &2~q\ *x +10 &cr\ > +9 &qvx\ N +9 &3Yn\ N +10 &Xn\ N +9 &Xm\ M +10 &{Ym\ M +9 &=Yi\ M +9 &]m\ N +10 &\\l\ N +9 & Zm\ N +9 &"DYo\ N +10 &$Vn\ M +9 &%Yp\ N +10 &']p\ M +9 &)LXm\ N +9 &+\\m\ N +10 &,[l\ M +9 &.Yj\ M +9 &0UXr\ M +10 &2Zl\ M +9 &3Xk\ N +10 &5Yr\ N +9 &7]\\l\ M +9 &9Yr\ M +10 &:Wk\ M +9 &<Zi\ N +9 &>dZl\ N +10 &@'Yk\ M +9 &AYp\ M +10 &C\\l\ N +9 &Ek_p\ N +9 &G(mm\ P +10 &Hj\ R +9 &Jn\ S +9 &Lck\ S +10 &N%m\ S +9 &Ol\ T +10 &Qg\ S +9 &Skk\ S +9 &U+m\ T +10 &Vj\ T +9 &Xl\ T +9 &Z]o\ $n +10 &ZXl\ ) +9 ( + &Zl\ % +2 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"% & +4 "core" &Zn\ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&j% +4 "core" %\  = # +2 "storage"(v% +3 "core" %] \ +3 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & h\  +2 "storage"(& +3 "manipulator"&+& +5 "core" & *\  +2 &x  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(5'i +3 "manipulator"&@(s +6 "core" ( + "manipulator"&n& +5 "core" &x ! y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &x v  +3 .tForearm.seek PC +2 "manipulator"&,' +95 "core" ' +2 .tHand.close + "manipulator"&}/ +61 "core" / +4 .tPC.seek :open +2 "processing"%( +79 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'y +47 "core" ' +293 ( +2 "storage"(K& +3 "core" & f\  +2 "manipulator"&& +4 "core" &x <  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +254 "core" ( +2 "manipulator"&& +4 "core" & Y ' + "storage"(t& +5 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +94 "core" ' +2 .tHand.open + "manipulator"&l1 +56 "core" 1 +3 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(H& +4 "core" &\ \  i\  +2 "manipulator"&;& +3 "core" & P $ +3 .tElbow.seek 3 + "manipulator"&4( +32 "core" ( +2 "manipulator"&9& +4 "core" &   +2 "storage"(~& +3 "core" & \  c\  +3 .tForearm.seek 3 + 700 counts +41 "manipulator"&<'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"("' +63 "core" ' +2 "manipulator"&)& +3 "core" &  +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +23 "core" ' +2 "manipulator"&% +3 "core" %΋  +2 "storage"( & +4 "core" & c\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'Ϸ +21 "core" ' + "manipulator"&& +5 "core" & *  +2 "storage"(z& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' +2 "storage"(% +4 "core" %h J\  +2 ."downElevator"SE.seek :down +3 "storage"(6'X +100 (I% +3 "core" %8M 2\ We +2 "manipulator"&1% +3 "core" %2 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 ([& +2 "core" & \  +3 "collection"'J& +4 "core" &V_\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&B% +4 "core" %\  s  +2 "storage"(% +4 "core" %b |\ +2 "storage"(7. +3 "core" .( +2 "storage"(:& +4 "core" & O\  + "storage"(.& +5 "core" & t\  + "manipulator"&'& +4 "core" & s  +2 .tElbow.seek 3 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&Q& +3 "core" &   +2 "storage"((& +5 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +94 "core" ' + "storage"(-& +4 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +284 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  +2 "storage"(M& +4 "core" & F\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&a'} +19 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +31 "core" ' + "manipulator"&]% +4 "core" %΋ h +2 "storage"(8& +4 "core" & 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&|'Ϸ +20 "core" ' + "manipulator"&E& +4 "core" & I  +2 "storage"(& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'D +41 "core" ' +2 "manipulator"&^& +4 "core" & [  + "manipulator"&k% +4 "core" %Y Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +158 "core" ( +2 "manipulator"&x& +3 "core" &* R @\\ +41 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &$& +2 "core" &* @\\ +3 .tForearm.seek CC + "manipulator"&!'" +94 "core" ' + .tHand.close +2 "manipulator"&// +61 "core" / +2 .tCC.seek :open +2 "collection"'G( +419 "core" ( + "storage"(X& +4 "core" & \  +2 "storage"(W& +3 "core" & \  +3 "manipulator"&& +3 "core" &* Z @\\ +2 "manipulator"&R% +5 "core" % 7  +2 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&{( +160 "core" ( + "manipulator"&u& +4 "core" & 9 p +2 "storage"(Z& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&2'} +94 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +55 "core" 1 +2 "manipulator"&% +4 "core" % Ή \\ +2 "storage"(s& +3 "core" & G\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&?'ϵ +20 "core" ' +2 "manipulator"&w& +5 "core" &  p + "storage"(f& +4 "core" &\ \  C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +26 "core" ' +2 "storage"(O% +4 "core" %I\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (\\% +3 "core" %A \ Va +2 "manipulator"&% +5 "core" %Y \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +13431 #t-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'r& +3 "core" &\ \ \ +2 "manipulator"&>% +3 "core" %\   +3 "storage"(p% +3 "core" %b\ \  g\ +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \ +2 "manipulator"&D& +4 "core" & @ p +2 .tElbow.seek 2 +2 "manipulator"& ( +35 "core" ( +2 "manipulator"&j& +4 "core" & 8 +2 "storage"(v& +3 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"(o& +4 "core" & \ \  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (+& +2 "core" & j\ +3 "manipulator"&n& +4 "core" &  8 + .tElbow.seek 2 +2 "manipulator"&%( +20 "core" ( + "manipulator"&`& +5 "core" & U  + "storage"(}& +4 "core" & \  n\ +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(U'X +48 "core" & !  +5 "manipulator"&5% +5 "core" %  ? +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +40 "core" ( +2 "manipulator"&& +3 "core" &$ 9 ; ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &$ ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + "manipulator"&t& +4 "core" &%  ;5 +2 "manipulator"&@% +4 "core" % a  +2 "collection"'l& +4 "core" &\ \ \ +2 "collection"'& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'c(V +5 "core" &\ \ \  +9 &0y\ \ \ *y +10 &d\ \ \ > +9 &qs\ \ \ N +9 &5T\ \ \ M +10 &Y\ \ \ M +9 &Z\ \ \ M +9 &zX\ \ \ M +10 &<V\ \ \ M +9 &Z\ \ \ M +10 &W\ \ \ M +9 & [\ \ \ M +10 &"CY\ \ \ N +9 &$X\ \ \ N +9 &%Z\ \ \ N +9 &'X\ \ \ M +10 &)KX\ \ \ N +9 &+Y\ \ \ M +9 &,Y\ \ \ M +14 &.Y\ \ \ M +5 &0TZ\ \ \ M +11 &2W\ \ \ M +8 &3X\ \ \ \ N +9 &5Y\ \ \ \ M +10 &7\\[\ \ \ \ M +9 &9Y\ \ \ M +10 &:W\ \ \ M +9 &<Z\ \ \ M +9 &>dY\ \ \ \ M +10 &@'V\ \ \ M +9 &AY\ \ \ M +9 &CX\ \ \ M +10 &Ek_\ \ \ \ N +9 &G*g\ \ \ O +9 &Hz\ \ \ Q +10 &J\ \ \ V +9 &LV\ \ \ X +10 &N\ \ \ W +9 &O\ \ \ X +9 &Q\ \ \ Y +10 &SX\ \ \ Z +9 &U\ \ \ Z +9 &VdE\ \ \ 1 +10 &V v\ \ \ G +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&H1 +3 "core" &V\\\ \ \ G +59 1 +2 "manipulator"&;% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%9& +3 "core" &\ +3 "manipulator"&~% +4 "core" %\  C  +3 "storage"()% +4 "core" %U q\ + "storage"(. +3 "core" .( +2 "storage"(#& +3 "core" & h\ +2 "storage"(& +4 "core" & p\ +2 "manipulator"&& +4 "core" &$ a ;4 +2 "manipulator"& % +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3( +159 "core" ( + "manipulator"&& +4 "core" & {  +2 "storage"(z& +4 "core" & Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +90 "core" ' +2 "storage"(& +4 "core" & y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +284 "core" ' + "storage"(I- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & B\ +2 "manipulator"&<& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&4( +3 "core" ( +2 "manipulator"&"& +5 "core" & c  + "storage"(& +3 "core" & 5\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&[/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&J& + "storage"(B'X +8 "core" &  + "manipulator"&% +5 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&h'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&:& +3 "core" &n  t \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &n , \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'' +97 "core" ' +2 "manipulator"&Q& +3 "core" &n  \ +48 "manipulator"&(% +5 "core" % W +3 "processing"%& +3 "core" &\ +3 "processing"%-& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%6(Z +3 "core" &\ +7 & 0~\ $d +9 &U\ 7 +10 &~}}\ K +9 &]\ N +9 &`[}\ M +10 &"Z|\ M +9 &Z\ N +10 &]}\ N +9 &g]\ N +9 &)]\ N +10 &Zx\ N +9 &!Zt\ N +9 &#o\\}\ N +10 &%1]o\ N +9 &&Wp\ N +10 &(Xq\ N +9 &*wYn\ N +9 &,9Yt\ N +10 &-Zo\ N +9 &/Yt\ M +10 &1Zv\ M +9 &3AZr\ N +9 &5[m\ N +10 &6Yp\ M +9 &8Ys\ M +9 &:J[{\ M +10 &< Zt\ M +9 &=\\r\ N +10 &?\\{\ M +9 &ARYq\ M +9 &CZn\ N +10 &D_n\ N +9 &Fgt\ O +9 &HNzq\ Q +10 &J }\ S +9 &Kq\ T +9 &Mo\ S +10 &OP{\ S +9 &Qn\ S +10 &R\ S +9 &Tk\ T +9 &VWr\ T +10 &Xq\ T +9 &Yzmr\ 8 +9 &Z-m\ J +10 &Zr\ * +2 ( +2 "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&N1 +58 "core" 1 +2 "manipulator"&% +3 "core" % 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' + "processing"%S& +5 "core" &Zs\ * + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&M% +3 "core" %\ ^  +3 "storage"(A% +3 "core" %b b\ +2 "storage"(]. +3 "core" .( +2 "storage"(8& +3 "core" & 6\ +3 "storage"(E& +3 "manipulator"&& +7 "core" & P\ + &n \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&^(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +3 "core" ( + "manipulator"&L& +4 "core" &n \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &n \ +2 .tForearm.seek PC +2 "manipulator"&g' +94 "core" ' +2 .tHand.close + "manipulator"&a/ +60 "core" / +3 .tPC.seek :open +2 "processing"%|( +85 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(x'y +48 "core" ' +288 ( + "storage"($& +4 "core" & [\ +2 "manipulator"&C& +4 "core" &n r \ +2 "manipulator"&F% +3 "core" % &  +3 .tForearm.seek :retract + "manipulator"&/'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +251 "core" ( + "manipulator"&&& +3 "core" & * \ +3 "storage"(X& +3 "core" & 0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +91 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(R- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(u'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Z' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(!- +3 "core" -' +2 "storage"(0& +3 "core" & \ \  r\ +3 "manipulator"&i& +4 "core" & ^ \ +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&s& +4 "core" & \ +2 "storage"(w& +4 "core" & \ \  P\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +58 "core" ' +2 "manipulator"&y& +4 "core" & { \ +2 "storage"(\\& +3 "core" & A\ +50 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&?% +3 "core" % k i +3 "storage"(b& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&Y' +18 "core" ' +2 "manipulator"&q& +3 "core" & > \ +3 "storage"(r& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +32 "core" ' +2 "storage"(p% +4 "core" %p \ +2 ."downElevator"SE.seek :down +4 "storage"(m'X +99 (e% +3 "core" %G )\ We +2 "manipulator"&% +3 "core" %ѧ ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (j& +4 "core" & \ +2 "collection"'v& +4 "core" &V[\ \ \ G +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&o% +4 "core" %\   + "storage"(V% +5 "core" %] o\ + "storage"(_. +3 "core" .( +2 "storage"(& +4 "core" & s\ +2 "storage"(+& +4 "core" & \ +2 "manipulator"&n& +3 "core" & \ +3 .tElbow.seek 2 + "manipulator"&`( +4 "core" ( +2 "manipulator"&}& +4 "core" & L \ +2 "storage"(\ & +3 "core" & M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + "storage"(5& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & \ +2 "storage"(& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&,' +31 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(@'S +36 "core" ' +2 "manipulator"&l% +3 "core" % b  +3 "storage"(%& +4 "core" & T\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&U' +27 "core" ' +2 "manipulator"&K& +3 "core" & ~ \ +2 "storage"(G& +4 "core" & N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'B +40 "core" ' +2 "manipulator"&9& +4 "core" &  \ +2 "manipulator"&~% +4 "core" %Ѥ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +3 "manipulator"&#& +4 "core" &! _ 8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &! - 8! +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +41 "collection"' ( +424 "core" ( + "storage"(& +5 "core" & H\ + "storage"(& +3 "core" & \ +3 "manipulator"&z& +4 "core" &" 8! +2 "manipulator"&% +3 "core" % %   +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&d( +154 "core" ( +2 "manipulator"&I& +3 "core" &   +2 "storage"(1& +5 "core" & o\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&<' +107 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&[% +3 "core" %  +3 "storage"(J& +4 "core" & 3\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&' +28 "core" ' +2 "manipulator"&3& +4 "core" & ;  +2 "storage"( & +4 "core" & \ \  $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +17 "core" ' + "storage"(% +4 "core" %F\ \ # _\ +3 ."downElevator"SE.seek :down +4 "storage"(:'X +99 (.% +3 "core" %E y\ Va +2 "manipulator"&4% +3 "core" %Ѩ ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'(& +4 "core" &\ \ \ +2 "manipulator"&% +4 "core" %\  Y  +2 "storage"(B% +3 "core" %a\ #\  \ +2 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" & \  +2 "manipulator"&& +4 "core" & l  +2 .tElbow.seek 3 + "manipulator"&S( +15 "core" ( + "manipulator"&M& +4 "core" &  +2 "storage"(A& +4 "core" &\ #\ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +92 "core" ' +2 "storage"(8& +3 "core" &\ E\ , 8\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +283 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&L& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&'& +3 "core" &  +2 "storage"(a& +4 "core" &\  \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(6'X +8 "core" & 6  +2 "manipulator"&k% +3 "core" % ϱ 8 9 +3 .tForearm.seek :retract +2 "manipulator"&$'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&F& +3 "core" &  3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +49 &g& +2 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'" +93 "core" ' +3 "manipulator"&X& +4 "core" &  3 +2 "manipulator"&^% +4 "core" % o +2 "collection"'& +4 "core" &\ \ \ +2 "collection"'R& +6 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'!(V +5 "core" &\ \ \ +7 &?\ \ \ $d +9 &W\ \ \ 7 +10 &\ \ \ L +9 &Y\ \ \ M +9 &nY\ \ \ M +10 &1X\ \ \ M +9 &\\\ \ \ M +9 &Y\ \ \ M +10 &v\\\ \ \ M +9 &9X\ \ \ M +10 &\\\ \ \ M +9 &!Z\ \ \ M +9 &#Y\ \ \ M +10 &%AY\ \ \ M +9 &'Y\ \ \ L +9 &(W\ \ \ M +10 &*W\ \ \ M +9 &,IY\ \ \ M +10 &. W\ \ \ M +9 &/X\ \ \ M +9 &1W\ \ \ M +10 &3QW\ \ \ M +9 &5W\ \ \ L +9 &6Z\ \ \ M +10 &8V\ \ \ M +9 &:YY\ \ \ M +10 &<Z\ \ \ M +9 &=Y\ \ \ M +9 &?X\ \ \ M +10 &A`W\ \ \ M +9 &C"Y\ \ \ M +9 &D\\\ \ \ M +10 &Fe\ \ \ N +9 &H_p\ \ \ P +10 &J\ \ \ T +9 &K\ \ \ X +9 &M\ \ \ Y +10 &OP\ \ \ X +9 &Q\ \ \ X +9 &R\ \ \ Z +10 &T\ \ \ Y +9 &V/u\ \ \ . +10 &V\ \ \ J +8 ( +3 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&01 +3 "core" &V_\ \ \ H +50 1 +2 "manipulator"&i% +5 "core" %  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%w& +3 "core" &\ +2 "manipulator"&/% +4 "core" %\   \ +2 "storage"(y% +5 "core" %U A\ + "storage"(\\. +3 "core" .( +2 "storage"(x& +3 "core" & L\  +3 "storage"(u& +4 "core" & '\  +2 "manipulator"&?& +3 "core" &  3 +2 "manipulator"&b% +5 "core" %\  H \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q( +151 "core" ( + "manipulator"&r& +3 "core" & & \ +3 "storage"(*& +4 "core" & 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +95 "core" ' +2 "storage"(p& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'i +284 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & '\  +2 "manipulator"&f& +4 "core" & d \ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&O& +3 "core" & _ \ +2 "storage"(& +4 "core" & }\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&Y'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(o'X +8 "core" & \ +2 "manipulator"&2% +4 "core" % ϳ - +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&_(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &}  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +4 "core" &} B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n' +97 "core" ' +2 "manipulator"&}& +3 "core" &} F +3 "manipulator"&\ % +3 "core" %  +3 "processing"%>& +3 "core" &\ +3 "processing"%5& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%m(Z +5 "core" &\ +6 &A\ $f +10 &V\ 8 +9 &{\ L +9 &X\ M +10 &t]\ M +9 &5Y\ N +9 &]\ M +10 &Y\ M +9 &|Z\ M +56 &=]\ N +5 & Y\ M +2 &!Z\ M +3 &#]\ N + &%E\\\ N + &'Y\ M + &(Z~\ M +6 &*^\ N +10 &,N]\ M +9 &.[\ M +9 &/X\ M +10 &1\\\ N +9 &3UW\ N +9 &5Xz\ N +10 &6X\ N +9 &8W\ M +10 &:]Yy\ N +9 &<Z\ N +9 &=V\ M +10 &?Wp\ M +9 &AfYy\ M +9 &C([r\ M +10 &D^x\ N +9 &Fhv\ O +10 &Hbwp\ Q +9 &Jx\ S +9 &Kw\ S +10 &M~\ S +9 &Od\ S +9 &Q&|\ S +10 &R\ T +9 &T\ T +10 &Vi~\ T +9 &X*|\ U +9 &Yyn\ 1 +10 &Z'o\ L +9 &Z"\ 0 +2 ( +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&{1 +63 "core" 1 + "manipulator"&D% +4 "core" % # l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "processing"%& +5 "core" &Z"r\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ # ? +3 "storage"(t% +4 "core" %S L\ +2 "storage"(l. +3 "core" .( +2 "storage"(%& +4 "core" & N\  +2 "storage"(K& +3 "manipulator"&G& +6 "core" & O\  +2 &} +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&9(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'i +2 "core" ( + "manipulator"&& +5 "core" &} +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &} y +3 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&,/ +58 "core" / +4 .tPC.seek :open +2 "processing"%U( +83 "core" ' + "storage"(@- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(#'y +46 "core" ' +291 ( +2 "storage"(& +3 "core" & K\  +2 "manipulator"&H& +3 "core" &} X +3 "manipulator"& % +4 "core" % { +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)( +267 "core" ( +2 "manipulator"&c& +3 "core" &  +2 "storage"(& +4 "core" & 1\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + .tHand.open +2 "manipulator"&z1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &\ \  f\  +2 "manipulator"&& +4 "core" & G  +2 .tElbow.seek 3 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&J& +4 "core" & I  +2 "storage"(3& +4 "core" &  # \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&& +3 "core" & |  +2 "storage"(.& +3 "core" & X\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&4'} +26 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +67 "core" ' +4 "manipulator"&(% +3 "core" %Έ J +2 "storage"(& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +20 "core" ' +2 "manipulator"&B& +4 "core" & `  +2 "storage"(h& +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +28 "core" ' +2 "storage"(P% +4 "core" %k {\  +2 ."downElevator"SE.seek :down +4 "storage"(:'X +98 ( % +4 "core" %H J\ We +3 "manipulator"&N% +3 "core" %? ] +8 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" & =\  +2 "collection"'A& +5 "core" &V^\ \ \ H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&8% +3 "core" %\ " K 9 +3 "storage"("% +3 "core" %T \ +3 "storage"(Q. +3 "core" .( +2 "storage"(E& +3 "core" & \  +2 "storage"(& +4 "core" & \  +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&'( +4 "core" ( +2 "manipulator"&a& +4 "core" & l  +2 "storage"(7& +4 "core" & z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +100 "core" ' +2 "storage"(k& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(S'i +282 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &   +2 "storage"(g& +4 "core" & \\\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&-'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'U +39 "core" ' + "manipulator"&^% +4 "core" %Ί W +2 "storage"(& +4 "core" & D\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&6'϶ +20 "core" ' + "manipulator"&$& +3 "core" & 6  +3 "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(i'D +41 "core" ' +2 "manipulator"&w& +4 "core" &  +2 "manipulator"&/% +4 "core" %.  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +156 "core" ( +3 "manipulator"&x& +4 "core" &* 7 @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &* v @Y +3 .tForearm.seek CC +2 "manipulator"&R'" +93 "core" ' +2 .tHand.close + "manipulator"&?/ +62 "core" / + .tCC.seek :open +2 "collection"'b( +419 "core" ( +2 "storage"(r& +3 "core" & \  +3 "storage"(&& +4 "core" & c\  + "manipulator"&*& +3 "core" & % <@ +2 "manipulator"&p% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&C'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tElbow.seek 3 +9 "manipulator"&s( +162 "core" ( +2 "manipulator"&e& +4 "core" & S } +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&f'} +100 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&j% +4 "core" % · +2 "storage"(v& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&2'ϳ +19 "core" ' +2 "manipulator"&q& +3 "core" & Z } +2 "storage"(W& +4 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +32 "core" ' + "storage"(Y% +5 "core" %I\ \  T\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (+% +3 "core" %C \ Va +2 "manipulator"&% +5 "core" %0 % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'\ & +3 "core" & \ \ +3 "manipulator"&>% +4 "core" %\ w 6 +2 "storage"(o% +3 "core" %b\ \ \  +2 "storage"(V. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(|( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" & '\ +2 "manipulator"&D& +5 "core" & Y } + .tElbow.seek 2 +2 "manipulator"&( +32 "core" ( + "manipulator"&& +4 "core" &  "y +2 "storage"(t& +3 "core" & x\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +100 "core" ' +2 "storage"(l& +4 "core" & \ \  *\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +283 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & \ +2 "manipulator"&& +4 "core" & !w +2 .tElbow.seek 2 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&n& +3 "core" & 7 !w +3 "storage"(,& +4 "core" & )\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(m'X +8 "core" & c !w + "manipulator"&~% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +149 "core" ( +2 "manipulator"& & +4 "core" &( ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &( U ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'" +90 "core" ' +2 "manipulator"&& +4 "core" &(  ?R +2 "manipulator"&9% +5 "core" %+  +2 "collection"'z& +3 "core" &\ \ \ +3 "collection"'& +54 "core" & \ \ +3 &\ \ \ + &\ \ \ +2 & \ \ + &\ \ \ + &\ \ \ + &\ \ \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &\ \ \ +7 & ,\ \ \ $c +9 &U\ \ \ 7 +10 & \ \ L +9 &X\ \ \ M +9 &bX\ \ \ M +10 &$Z\ \ \ M +9 &W\ \ \ M +10 &W\ \ \ M +9 &i\\\ \ \ M +9 &,W\ \ \ M +10 &X\ \ \ M +9 &!\\\ \ \ M +9 &#rX\ \ \ M +10 &%3\\\ \ \ M +9 &&W\ \ \ M +10 &(U\ \ \ M +9 &*zU\ \ \ M +9 &,=X\ \ \ L +10 &-X\ \ \ M +9 &/Z\ \ \ M +9 &1W\ \ \ M +10 &3DU\ \ \ M +9 &5X\ \ \ M +10 &6\\\ \ \ M +9 &8W\ \ \ L +9 &:LY\ \ \ M +10 &<Y\ \ \ L +9 &=X\ \ \ M +9 &?Y\ \ \ L +10 &ATY\ \ \ M +9 &CW\ \ \ M +10 &DZ\ \ \ M +9 &Fd\ \ \ \ N +9 &HSr\ \ \ P +10 &J\ \ \ T +9 &K\ \ \ X +9 &M\ \ \ X +10 &OC\ \ \ X +9 &Q\ \ \ Y +10 &R\ \ \ Z +9 &T\ \ \ Z +9 &V!t\ \ \ / +10 &V(\ \ \ V +8 ( +2 &V_\ \ \ H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open +3 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +3 "core" % +   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%3& +4 "core" &\ + "manipulator"&% +4 "core" %\ ! 8 +2 "storage"(% +3 "core" %b E\ +3 "storage"(.. +3 "core" .( +2 "storage"(#& +4 "core" & C\ +2 "storage"(I& +3 "core" & 2\ +2 "manipulator"&(& +4 "core" &' _ >O +2 "manipulator"&% +4 "core" %\ ! 6 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&B( +157 "core" ( + "manipulator"&h& +4 "core" &   +2 "storage"()& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +95 "core" ' +3 "storage"(& +3 "core" & N\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +277 "core" ' +2 "storage"( - +3 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & \ +3 "manipulator"&N& +4 "core" & {  +2 .tElbow.seek 2 + "manipulator"&[( +8 "core" ( + "manipulator"&& +3 "core" & K  +3 "storage"(4& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(8'X +8 "core" & k  +2 "manipulator"&"% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&Q(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( + "manipulator"&E& +5 "core" &k + q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +101 "core" ' +2 "manipulator"&a& +3 "core" &n Z +3 "manipulator"&7% +4 "core" % F E +2 "processing"%;& +3 "core" &\ +3 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%:(Z +5 "core" &\  +8 &1y\ *x +9 &c\ > +9 &uv\ N +10 &8X\ M +9 &]\ N +10 &\\\ N +9 &}[\ N +9 &AU\ M +10 &]\ N +9 &Z\ N +9 & X\ M +10 &"GX\ N +9 &$\ [\ M +9 &%]\ N +10 &'\\\ N +9 &)P\\\ M +10 &+W\ M +9 &,W\ M +9 &.\\\ M +10 &0X[\ M +9 &2]\ N +10 &3Z\ N +9 &5Y\ M +9 &7aX\ M +10 &9!Y\ N +9 &:T\ M +9 &<[\ M +10 &>gY\ N +9 &@*]\ M +10 &A\\\ N +9 &C]\ N +9 &En_\ N +10 &G,m\ O +10 &H\ R +8 &J\ S +10 &Lf\ S +9 &N)w\ S +9 &O}\ S +10 &Qy\ S +9 &Sm}\ T +10 &U0z\ S +9 &V\ T +9 &X~\ U +56 &Z^\ #l +5 &Z\\z\ - +3 ( +2 &Z\ * + &Z\ * + &Z\ * + &Z\ * + &Z\ * +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&d1 +57 "core" 1 +2 "manipulator"&% +4 "core" %  M E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +3 "processing"%F& +3 "core" &Zq\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&g% +4 "core" %\    +2 "storage"(=% +4 "core" %a $\ +2 "storage"(^. +3 "core" .( +2 "storage"(& +4 "core" & \ +2 "storage"($& +4 "manipulator"& & +5 "core" & a\ + &n +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&w(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(/'i +3 "core" ( +2 "manipulator"&T& +4 "core" &n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &n - +2 .tForearm.seek PC +2 "manipulator"&S' +95 "core" ' +2 .tHand.close + "manipulator"&-/ +56 "core" / +3 .tPC.seek :open + "processing"%6( +93 "core" ' + "storage"(X- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'y +39 "core" ' +289 ( +2 "storage"(u& +4 "core" & b\ +2 "manipulator"&0& +4 "core" &n  +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&y( +261 "core" ( + "manipulator"&!& +4 "core" & D  +2 "storage"(r& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +94 "core" ' +3 .tHand.open + "manipulator"&*1 +53 "core" 1 +3 "storage"(p- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(\\& +4 "core" & \ \  {\ +2 "manipulator"&& +4 "core" & k  +2 .tElbow.seek 2 +2 "manipulator"&j( +7 "core" ( +2 "manipulator"&v& +4 "core" &  + "storage"(q& +5 "core" & \ \  L\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Y' +58 "core" ' +2 "manipulator"&C& +4 "core" & M  +2 "storage"(+& +4 "core" & 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(f'i +22 "core" ' +2 "manipulator"&2% +3 "core" % N N +2 "storage"(\ & +5 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&>' +19 "core" ' +2 "manipulator"&o& +3 "core" & 3  +2 "storage"(V& +4 "core" & \ +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +16 "core" ' +2 "storage"(Z% +3 "core" %m \ +4 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %CD -\ Xf +2 "manipulator"&{% +3 "core" %ћ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & \ +3 "collection"'t& +4 "core" &V^\ \ \ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&l% +4 "core" %\   +2 "storage"(O% +3 "core" %c w\ +2 "storage"(}. +3 "core" .( +2 "storage"(K& +3 "core" & \ +3 "storage"(G& +4 "core" & \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&n( +4 "core" ( + "manipulator"&,& +4 "core" & R  +2 "storage"(_& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' +2 "storage"(~& +3 "core" & \\\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & ?  +2 "storage"( & +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +33 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(9'S +28 "core" ' + "manipulator"&z% +5 "core" % t + "storage"(`& +4 "core" & G\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&m' +19 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(b& +5 "core" & b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' + "manipulator"&3& +3 "core" & /  +3 "manipulator"&% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +156 "core" ( +3 "manipulator"&& +3 "core" &* # @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &* z @X +3 .tForearm.seek CC + "manipulator"&I'" +94 "core" ' + .tHand.close +2 "manipulator"&(/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(c& +3 "core" & r\ +2 "storage"(h& +3 "core" & }\ +3 "manipulator"&)& +4 "core" &) D ?S +2 "manipulator"&% +4 "core" % (  +2 .tForearm.seek :retract + "manipulator"&H'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +155 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"( & +4 "core" & \ \ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&N' +103 "core" ' +4 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&41 +56 "core" 1 +2 "manipulator"&M% +4 "core" %  q # +2 "storage"(A& +4 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&"' +21 "core" ' + "manipulator"&B& +4 "core" &   +2 "storage"(P& +3 "core" & \ \ r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +20 "core" ' +2 "storage"(% +4 "core" %G\ #\ \ +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 (% +3 "core" %C \ Wb +2 "manipulator"&[% +4 "core" %Ѧ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'7& +3 "core" & \ +2 "manipulator"&;% +4 "core" %\ " [ : +2 "storage"(8% +4 "core" %^\ \ \ +2 "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(U( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" & /\  +2 "manipulator"&& +4 "core" & s  +2 .tElbow.seek 3 +2 "manipulator"&F( +14 "core" ( + "manipulator"&g& +5 "core" & [ o + "storage"(=& +4 "core" &\ \  Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +94 "core" ' +2 "storage"(& +4 "core" &\ +\ # \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +285 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +3 "core" &\ ?\  +2 "manipulator"&T& +3 "core" &  o +2 .tElbow.seek 3 +2 "manipulator"&'( +4 "core" ( +2 "manipulator"&L& +4 "core" &  o + "storage"(-& +4 "core" &\ \ \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&X'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(:'X +6 "core" & f o +3 "manipulator"&/% +4 "core" % Ϣ +2 .tForearm.seek :retract +2 "manipulator"&u'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &*  o @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &* G @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'" +102 "core" ' +2 "manipulator"&r& +4 "core" &) b ?V +2 "manipulator"&w% +3 "core" %" & +3 "collection"'*& +4 "core" & \ \ +3 "collection"'p& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \ \ +7 & \ \ 6 +9 &?H} \ \ 0 +10 &ks \ \ E +9 &_ \ \ L +9 &X\ \ \ M +10 &U\ \ \ M +14 &YT\ \ \ M +4 &X\ \ \ M +12 &Z\ \ \ M +7 &V \ \ L +10 &aY\ \ \ M +9 &!"Z\ \ \ M +9 &"X\ \ \ M +10 &$\\\ \ \ M +9 &&jW\ \ \ L +9 &(+W\ \ \ M +10 &)X\ \ \ M +9 &+W\ \ \ M +10 &-qY\ \ \ M +9 &/3Z\ \ \ M +48 &0[\ \ \ M +5 &2U\ \ \ M +3 &4zW\ \ \ L + &6;W\ \ \ M + &7U\ \ \ M + &9V\ \ \ L +7 &;Y \ \ M +9 &=CW\ \ \ M +9 &?V\ \ \ M +10 &@Y\ \ \ M +9 &BZ\ \ \ M +9 &DKW\ \ \ M +10 &F\ _\ \ \ N +9 &Gk\ \ \ O +10 &I~\ \ \ R +9 &K3\ \ \ X +9 &L\ \ \ X +10 &N\ \ \ X +9 &Pv\ \ \ X +9 &R7\ \ \ Y +10 &S\ \ \ Z +9 &U\ \ \ H +10 &V3\ \ \ &r +9 &Vb\ \ \ K +2 ( +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&\\1 +57 "core" 1 +2 "manipulator"&% +3 "core" % " +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%q& +3 "core" &\ +3 "manipulator"&?% +4 "core" %\ \ #  +2 "storage"(C% +3 "core" %S |\ +2 "storage"(+. +3 "core" .( +2 "storage"(x& +4 "core" & \  +2 "storage"(2& +4 "core" & D\  + "manipulator"&\ & +5 "core" &( \\ >H + "manipulator"&R% +4 "core" %\ \ b  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&o( +159 "core" ( + "manipulator"&V& +4 "core" & n e +2 "storage"(y& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +96 "core" ' +2 "storage"(&& +3 "core" & %\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +283 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & R\  +2 "manipulator"&{& +3 "core" & e +3 .tElbow.seek 3 +2 "manipulator"&j( +4 "core" ( + "manipulator"&Y& +4 "core" & 7 e +2 "storage"(& +4 "core" & +\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(l'X +8 "core" & v e + "manipulator"&O% +4 "core" % ϥ / +2 .tForearm.seek :retract +2 "manipulator"&}'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +3 "manipulator"&K& +4 "core" &m \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &m \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&,& +3 "core" &m \ +3 "manipulator"&_% +3 "core" % E +3 "processing"%i& +4 "core" &\ +2 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &3}\ *z +9 &f\ ? +10 &t\ O +9 &HV\ N +9 & \\\ M +10 &X\ M +9 &\\\ N +10 &PY\ N +9 &W\ N +9 &Z\ N +10 & X\ M +9 &"X\\\ N +9 &$Y\ N +10 &%W\ M +9 &'Z\ M +10 &)`V\ N +9 &+#Z\ M +9 &,W\ M +10 &.\\\ N +9 &0hZ\ N +9 &2*X\ N +10 &3[\ N +9 &5[\ N +10 &7qU\ M +9 &93W\ M +9 &:U\ M +10 &<W\ M +9 &>yZ\ M +9 &@:]\ N +10 &A[\ M +9 &CZ\ M +10 &E~^\ N +9 &G<j\ P +9 &H\ S +10 &J\ S +9 &Lv\ T +9 &N8\ T +10 &O\ S +9 &Q\ S +10 &S}\ T +9 &U?~\ T +9 &V\ U +10 &X~\ U +9 &Z(Vx~\ 'u +9 &Z]\ 2 +9 ( +3 "processing"%~& +2 "core" &Z~\ - +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&s1 +59 "core" 1 +2 "manipulator"&D% +4 "core" %  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +99 "core" ' +2 "processing"% & +4 "core" &Zz\ - +50 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +3 "core" %\ \  +3 "storage"(% +4 "core" %a c\ +2 "storage"(z. +3 "core" .( +2 "storage"(`& +4 "core" & q\  +2 "storage"(& +3 "manipulator"&b& +7 "core" & \  + &m  \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(3'i + "manipulator"&(s +7 "core" ( + "manipulator"&& +4 "core" &m M \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &m  \ +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +3 .tHand.close +2 "manipulator"&%/ +58 "core" / +2 .tPC.seek :open +2 "processing"%m( +81 "core" ' +2 "storage"(9- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +47 "core" ' +296 ( +3 "storage"(#& +3 "core" & y\  +2 "manipulator"&& +4 "core" &m \ +2 "manipulator"&@% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +3 "core" &\  N +2 "storage"(c& +5 "core" & #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +96 "core" ' +2 .tHand.open + "manipulator"&)1 +58 "core" 1 +4 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(.& +4 "core" &\ \  B\  +2 "manipulator"&4& +3 "core" & N +3 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( + "manipulator"&A& +4 "core" & 2 N +2 "storage"(B& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&H& +4 "core" & N +2 "storage"(& +4 "core" & M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&['} +21 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'i +22 "core" ' +2 "manipulator"&"% +4 "core" %Ά L +2 "storage"(7& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&;'ϲ +20 "core" ' +2 "manipulator"&8& +3 "core" & t M +3 "storage"(<& +4 "core" & >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' + "storage"(1% +5 "core" %s ~\ +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 (|% +5 "core" %G \ Xe +2 "manipulator"&d% +3 "core" %C  | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +3 "manipulator"&'\ +96 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (g& +4 "core" & \  +2 "collection"'=& +4 "core" &Ve\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\ # u B +3 "storage"(% +4 "core" %b \ +2 "storage"(a. +3 "core" .( +2 "storage"( & +4 "core" & \  +2 "storage"(k& +4 "core" & \  + "manipulator"&T& +5 "core" &\ M +2 .tElbow.seek 3 + "manipulator"&L( +3 "core" ( +2 "manipulator"&-& +4 "core" &\ ` M +2 "storage"(Q& +4 "core" & O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +93 "core" ' + "storage"(/& +5 "core" & p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +276 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  M +2 "storage"(S& +47 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&$'} +23 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(r- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(w'U +28 "core" ' + "manipulator"&*% +4 "core" %Έ  +2 "storage"('& +3 "core" & Q\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&:'ϴ +20 "core" ' +2 "manipulator"&u& +4 "core" & M +2 "storage"(& +3 "core" & @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +44 "core" ' + "manipulator"&q& +5 "core" & r M + "manipulator"&?% +4 "core" %< W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&+( +153 "core" ( +2 "manipulator"&p& +3 "core" &* @[ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &* @[ +2 .tForearm.seek CC +2 "manipulator"&2'" +95 "core" ' +2 .tHand.close + "manipulator"&\ / +58 "core" / +2 .tCC.seek :open +2 "collection"'R( +416 "core" ( +2 "storage"(!& +4 "core" & 7\  +2 "storage"(V& +3 "core" & \  +2 "manipulator"&y& +4 "core" &( M >J +2 "manipulator"&&% +3 "core" % * | +3 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v( +159 "core" ( +2 "manipulator"&W& +3 "core" & U  +2 "storage"(& +4 "core" & ;\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&{'} +71 "Can"\ :\ B +33 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" % ΅ w +2 "storage"(t& +5 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +42 .tForearm.seek 3 + 308 counts +8 "manipulator"&O'ϱ +12 "core" ' +2 "manipulator"&o& +3 "core" &   +2 "storage"(Z& +5 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +24 "core" ' +2 "storage"(>% +4 "core" %K\ \  U\ +3 ."downElevator"SE.seek :down +3 "storage"(K'X +100 (G% +3 "core" %A \ Va +2 "manipulator"&j% +4 "core" %V a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +94 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'_& +3 "core" & \ +2 "manipulator"&i% +3 "core" %\ \ Z  +3 "storage"(l% +4 "core" %b\ #\ #\ + "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(6( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" & \\\ +3 "manipulator"&D& +4 "core" & -  +2 .tElbow.seek 2 + "manipulator"& ( +31 "core" ( +2 "manipulator"& & +4 "core" & ' "x +2 "storage"(~& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' + "storage"(z& +3 "core" & \ \  G\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & \ +2 "manipulator"&& +3 "core" & _ !t +3 .tElbow.seek 2 + "manipulator"&n( +4 "core" ( +2 "manipulator"&& +4 "core" & { !t +2 "storage"(%& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&9' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& + "storage"('X +7 "core" & !t +2 "manipulator"&3% +4 "core" % \ z  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ( +2 "manipulator"&@& +3 "core" &# # / :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" ' +2 &# ) :+ + ."downElevator"SE.stop +5 .tForearm.reconfigure :tight +2 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&c& +5 "core" &# r :* +2 "manipulator"&% +3 "core" % \\ +3 "collection"')& +3 "core" & \ \ +3 "collection"'& +5 "core" & \ \ +3 .tCC.seek :closed + "collection"'I(V +5 "core" & \ +6 &6 \ \ $e +10 &U~ \ \ 7 +9 &| \ \ L +9 &V\ \ \ M +10 &kZ \ M +9 &,W \ M +10 &W \ \ L +9 &Z \ \ M +9 &sU \ \ M +10 &6U\ \ \ L +9 &W\ \ \ M +9 &!\\\ \ \ M +10 &#{Z \ \ M +9 &%=\\\ \ \ M +10 &'Z\ \ \ L +9 &(U\ \ \ L +9 &*Z\ \ M +10 &,EZ \ \ M +9 &.X\ \ \ M +9 &/T\ \ \ M +10 &1U\ \ \ M +9 &3NZ\ \ \ L +10 &5W\ \ \ L +9 &6Z \ \ M +9 &8T \ \ L +10 &:VW\ \ \ L +9 &<Y \ \ L +9 &=W\ \ \ L +10 &?X\ \ \ L +9 &A^W\ \ \ L +10 &CZ\ \ \ M +9 &DX\ \ \ M +9 &Fb\ \ \ N +10 &H]r\ \ \ O +9 &J\ \ \ T +9 &K\ \ \ X +10 &M\ \ \ X +9 &OM\ \ \ X +10 &Q \ \ \ X +9 &R\ \ \ Y +9 &T\ \ \ Z +10 &V,v\ \ \ . +9 &V \ \ \ N +9 ( +2 &V`\ \ \ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&.1 +54 "core" 1 +48 "manipulator"&4% +7 "core" % & a S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +89 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%B& +3 "core" &\ +2 "manipulator"&(% +5 "core" %\  b  + "storage"(H% +5 "core" %b \ + "storage"(. +3 "core" .( +2 "storage"("& +4 "core" & G\ +2 "storage"(& +3 "core" & 9\ +2 "manipulator"&7& +4 "core" &# :* +2 "manipulator"& % +4 "core" %\  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +158 "core" ( +2 "manipulator"&<& +4 "core" & '  +2 "storage"(1& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"(h& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +2 "core" & T\ +3 "manipulator"&P& +3 "core" & +  +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"([& +4 "core" & w\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"('X +8 "core" & ~  + "manipulator"&% +3 "core" %  } | +3 .tForearm.seek :retract +2 "manipulator"&a'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&N(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +3 "manipulator"& & +5 "core" &m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' + "manipulator"&-& +5 "core" &o a + "manipulator"&Q% +5 "core" % R ) + "processing"%/& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%E(Z +5 "core" &\ +7 &8\ $d +9 &U\ 7 +10 &~\ L +9 &X\ M +10 &f]\ M +9 &([\ M +9 &\\\ M +10 &W\ M +9 &m\\\ N +9 &0Y\ M +10 &W\ N +9 &!Z\ N +10 &#v[\ M +9 &%8]\ M +9 &&\\\ M +10 &(W\ M +9 &*Y\ M +9 &,?Z\ N +10 &.Z\ N +9 &/U\ M +10 &1Z\ M +9 &3G\\\ N +9 &5\ Z\ M +10 &6W\ M +9 &8U\ M +9 &:PV\ M +10 &<Z\ M +9 &=Y\ M +10 &?Z\ M +9 &AXZ\ M +9 &C]\ M +10 &D^\ N +9 &Fe\ N +9 &HTx\ Q +10 &J\ S +9 &K\ S +10 &M\ S +9 &OV\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &V]\ T +10 &X\ T +9 &Y{p\ 5 +9 &Z/\ J +10 &Z\ ) +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&J1 +52 "core" 1 +2 "manipulator"&% +3 "core" % 9 ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&S% +3 "core" %\ #  ? +2 "storage"(r% +5 "core" %b `\ +2 "storage"(*. +3 "core" .( + "storage"('& +5 "core" & \ +2 "storage"(u& +2 "manipulator"&& +8 "core" & ^\ + &o @ +3 .tElbow.reconfigure :tight +48 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&q(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'i +2 "core" ( +3 "manipulator"&]& +3 "core" &o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +3 "core" &o U +2 .tForearm.seek PC +2 "manipulator"&F' +94 "core" ' +2 .tHand.close + "manipulator"&$/ +55 "core" / +3 .tPC.seek :open +2 "processing"%:( +93 "core" ' +2 "storage"(w- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +45 "core" ' +282 ( +2 "storage"(x& +3 "core" & .\ +2 "manipulator"&\\& +3 "core" &o +3 "manipulator"&X% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&\ '\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&C( +240 "core" ( +2 "manipulator"&& +4 "core" & j + + "storage"(!& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +96 "core" ' +2 .tHand.open + "manipulator"&y1 +63 "core" 1 +2 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +4 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(+& +3 "core" & \ \  j\ +2 "manipulator"&& +4 "core" & + +2 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&t& +3 "core" & `  +3 "storage"(o& +4 "core" & \ \  l\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(0' +61 "core" ' + "manipulator"&>& +4 "core" &  +2 "storage"(v& +3 "core" & 7\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&G' +30 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +23 "core" ' + "manipulator"&O% +4 "core" % @ 7 +2 "storage"(_& +3 "core" & %\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&i' +20 "core" ' + "manipulator"&l& +5 "core" & )  + "storage"(}& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +17 "core" ' +2 "storage"(e% +8 "core" %m |\ +3 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (U% +3 "core" %A v\ Wd +2 "manipulator"&s% +5 "core" %Ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +2 "core" & \ +3 "collection"'~& +3 "core" &V`\ \ \ J +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&z% +4 "core" %\  (  +2 "storage"(Y% +4 "core" %^ ]\ +2 "storage"(,. +42 "core" .( +8 "storage"(& +4 "core" & Z\ +2 "storage"(b& +3 "core" & a\ +3 "manipulator"&& +3 "core" & A  +3 .tElbow.seek 2 + "manipulator"&( +10 "core" ( + "manipulator"&%& +4 "core" & T  +2 "storage"(f& +4 "core" & P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +101 "core" ' +2 "storage"(3& +3 "core" & c\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" & +  +2 "storage"(& +5 "core" & P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&`' +24 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +28 "core" ' +2 "manipulator"&)% +3 "core" % t f +2 "storage"(n& +5 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&#& +4 "core" & r  + "storage"(R& +5 "core" & c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&.'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(4'B +41 "core" ' + "manipulator"&& +3 "core" & p  +3 "manipulator"&B% +3 "core" %ћ Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&H( +154 "core" ( +3 "manipulator"&& +3 "core" &( j ?U +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &( ?U +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&7/ +54 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( +2 "storage"(& +3 "core" & \ +2 "storage"(<& +4 "core" & \ +2 "manipulator"&1& +3 "core" && ; =E +2 "manipulator"&h% +3 "core" % / +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +180 "core" ( +2 "manipulator"&|& +3 "core" & N d +2 "storage"(d& +5 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&P' +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +60 "core" 1 +3 "manipulator"&g% +3 "core" % S +2 "storage"(=& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +20 "core" ' + "manipulator"&8& +4 "core" & R c +2 "storage"(& +4 "core" & o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +25 "core" ' +2 "storage"(;% +43 "core" %G\  \ +9 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (k% +3 "core" %C \ Wb +2 "manipulator"&M% +4 "core" %ѧ H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Q& +3 "core" & \ +2 "manipulator"&/% +3 "core" %\   +3 "storage"(% +3 "core" %a\ \ \ +2 "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(m( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" & Y\  +2 "manipulator"&& +3 "core" & c +2 .tElbow.seek 3 +2 "manipulator"&( +30 "core" ( +2 "manipulator"&S& +4 "core" & T a +2 "storage"(r& +4 "core" &\ \ \ `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +95 "core" ' +2 "storage"('& +3 "core" &\ #\ # \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +291 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &\  t\  +2 "manipulator"&]& +3 "core" & k a +3 .tElbow.seek 3 + "manipulator"&L( +4 "core" ( +2 "manipulator"&T& +5 "core" & = a + "storage"($& +5 "core" &\ \ W\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&w'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +5 "storage"(E'X +6 "core" &  a + "manipulator"&?% +5 "core" % ϸ  V +2 .tForearm.seek :retract + "manipulator"&x'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&X& +4 "core" &( 5 a ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &( ( ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +95 "core" ' +3 "manipulator"&!& +3 "core" &)  \\ ?T +3 "manipulator"&q% +4 "core" % 8  +2 "collection"'y& +3 "core" & \ +3 "collection"'&& +6 "core" & \ +2 .tCC.seek :closed + "collection"'2(V +5 "core" & \ +8 &4 \ \ $d +9 &V~ \ 7 +10 &{ \ \ L +9 &V \ \ M +9 &hZ \ \ M +10 &+T\ \ \ L +9 &W \ \ M +9 &Y\ \ \ M +10 &qZ\ \ \ L +9 &3W \ \ L +10 &W \ \ L +9 &!W\ \ \ M +9 &#xZ \ \ M +10 &%9Z\ \ \ M +9 &&T\ \ \ M +9 &(R \ \ L +10 &*U\ \ \ M +9 &,CY \ \ L +9 &.U\ \ \ L +10 &/Y\ \ \ M +9 &1U \ \ M +10 &3KT \ \ L +9 &5 V\ \ \ L +9 &6V \ \ M +10 &8S\ \ \ L +9 &:RW\ \ \ M +10 &<\\\ \ \ M +9 &=U\ \ \ M +9 &?U\ \ \ L +10 &A[V\ \ \ L +9 &CW\ \ \ L +9 &DY\ \ \ M +10 &F`\ \ \ M +9 &HXr\ \ \ P +10 &J\ \ \ T +9 &K\ \ \ X +9 &M\ \ \ X +10 &OH\ \ \ X +9 &Q \ \ \ Y +9 &R\ \ \ Y +10 &T\ \ \ Z +9 &V(t\ \ \ / +9 &V%\ \ \ S +9 ( +3 "collection"'&& +3 "core" &Vj\ \ \ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&+1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%t& +4 "core" &\ +2 "manipulator"&o% +4 "core" %\  $  + "storage"(>% +4 "core" %] H\ +2 "storage"(v. +50 "core" .( +2 "storage"(p& +5 "core" & 7\  + "storage"(O& +3 "core" & 1\  +3 "manipulator"&_& +3 "core" &' { >N +3 "manipulator"&W% +4 "core" %\  u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&l( +167 "core" ( +2 "manipulator"&}& +3 "core" & h p +2 "storage"(e& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +99 "core" ' +3 "storage"(V& +3 "core" & 4\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" & G\  +2 "manipulator"&Z& +4 "core" &  p +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&0& +4 "core" & o p +2 "storage"(G& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&i'ϩ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +3 "storage"(z'X +8 "core" & * p + "manipulator"&{% +5 "core" % Ϭ G  +2 .tForearm.seek :retract + "manipulator"&Y'\ +101 "core" ' +3 .tElbow.seek PC + "manipulator"&,(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&& +3 "core" &w  s  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&%& +3 "core" &w W  +3 "manipulator"&f% +4 "core" % +2 "processing"%& +3 "core" &\ +3 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%K(Z +5 "core" &\ +6 &;\ #c +9 &U\ 7 +10 &{\ K +9 &Z\ N +9 &e\\\ N +10 &'Z\ N +9 &Z\ N +9 &[\ M +10 &m]\ N +9 &/Z\ N +10 &\\\ M +9 &!W\ N +9 &#vZ\ M +10 &%7\\\ N +9 &&Z\ N +9 &(V\ M +10 &*}X\ N +9 &,@\\\ M +10 &.\\\ N +9 &/Y\ M +9 &1V\ M +10 &3HY\ M +9 &5\ \\\ M +9 &6\\\ M +10 &8[\ M +9 &:P\\\ M +10 &<[\ M +9 &=Y\ N +9 &?Y\ M +10 &AXW\ M +9 &CY\ N +10 &D]\ N +9 &Ff\ O +9 &HUy\ Q +10 &J\ S +9 &K\ S +9 &M\ S +10 &OV\ S +9 &Q\ S +9 &R\ T +10 &T\ T +9 &V]\ T +10 &X\ T +9 &Yyn\ 6 +9 &Z,\ P +10 &Z\ + +2 ( +2 "processing"%3& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&j1 +53 "core" 1 +2 "manipulator"&D% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%@& +4 "core" &Z ~\ + +4 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  ,  +2 "storage"(c% +3 "core" %U ,\ +3 "storage"(). +3 "core" .( +2 "storage"(n& +3 "core" & 7\  +3 "storage"(#& +3 "manipulator"&R& +6 "core" & 9\  +2 &w   + .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(B'i +2 "core" ( +3 "manipulator"&5& +3 "core" &w g  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w ~  +42 .tForearm.seek PC +9 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&`/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +44 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +332 ( +2 "storage"("& +4 "core" & \  +2 "manipulator"&.& +3 "core" &w  +2 "manipulator"&9% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(( +259 "core" ( +2 "manipulator"&I& +3 "core" & j  +2 "storage"(& +5 "core" & "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +105 "core" ' +3 .tHand.open +2 "manipulator"&11 +58 "core" 1 +2 "storage"(h- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(|'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(H& +3 "core" &\ )\ * \  +2 "manipulator"&[& +5 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&g( +2 "core" ( +2 "manipulator"&=& +4 "core" & }  +2 "storage"(8& +4 "core" &\ )\ * \  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +58 "core" ' + "manipulator"&& +4 "core" & J  +2 "storage"(A& +4 "core" & ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&k'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(P'i +25 "core" ' + "manipulator"&% +4 "core" %΂ 8 +2 "storage"(Q& +3 "core" & \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&/'Ϯ +13 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(a& +3 "core" & %\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +34 "core" ' +2 "storage"( % +4 "core" %o q\ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +98 (6% +5 "core" %F \ Xe +2 "manipulator"&J% +3 "core" %\\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +3 "core" & T\  +2 "collection"'r& +3 "core" &Vj\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&'% +4 "core" %\ # ; +2 "storage"(% +4 "core" %b \ +2 "storage"(-. +3 "core" .( + "storage"(u& +5 "core" & \  + "storage"(& +4 "core" & \  +2 "manipulator"&]& +4 "core" & v  +2 .tElbow.seek 3 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&$& +3 "core" &  +3 "storage"(N& +3 "core" & \  +3 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +103 "core" ' +2 "storage"(?& +4 "core" & o\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  +2 "storage"(F& +5 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +29 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(q'U +32 "core" ' +2 "manipulator"&y% +4 "core" %΄ e _ + "storage"(L& +5 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&E'ϰ +20 "core" ' + "manipulator"&x& +4 "core" &   +2 "storage"( & +3 "core" & "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('D +41 "core" ' +2 "manipulator"&t& +3 "core" & T  +3 "manipulator"&o% +3 "core" %= M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +150 "core" ( +2 "manipulator"&&& +4 "core" &% ! : <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +5 "core" &% ) <9 +2 .tForearm.seek CC +2 "manipulator"&O'" +93 "core" ' +2 .tHand.close + "manipulator"&_/ +58 "core" / +2 .tCC.seek :open +2 "collection"'W( +416 "core" ( + "storage"(& +4 "core" & R\  +2 "storage"(}& +4 "core" & 5\  +2 "manipulator"&e& +4 "core" &% <9 +2 "manipulator"&V% +4 "core" % '  +2 .tForearm.seek :retract + "manipulator"&\\'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\ ( +157 "core" ( +2 "manipulator"&U& +3 "core" & l r +2 "storage"(s& +4 "core" &\  N\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&Z'} +94 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +53 "core" 1 +2 "manipulator"& % +3 "core" % Α P +2 "storage"(~& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&{'Ͻ +20 "core" ' +3 "manipulator"&l& +3 "core" & @ r +3 "storage"(C& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' + "storage"(i% +4 "core" %E\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (b% +3 "core" %D \ Wb +2 "manipulator"&% +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +98 "core" ' +49 ' +8 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'f& +3 "core" & \ +3 "manipulator"&% +4 "core" %\  r  +2 "storage"(z% +4 "core" %a\ #\ # \ +2 "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(:( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" & \ +2 "manipulator"&D& +5 "core" & B r + .tElbow.seek 2 +2 "manipulator"&@( +37 "core" ( +2 "manipulator"&& +3 "core" & ( +3 "storage"(c& +4 "core" & \ \  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +92 "core" ' + "storage"(n& +5 "core" & \ \  X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +282 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" & \ +2 "manipulator"&5& +5 "core" & ' + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & p ' +3 "storage"(`& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(K'X +8 "core" & U ' +2 "manipulator"&B% +4 "core" %  / +2 .tForearm.seek :retract +2 "manipulator"&"'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&9& +4 "core" &  Q ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & E ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'" +95 "core" ' +3 "manipulator"&& +4 "core" & ' +2 "manipulator"&% +5 "core" %  +2 "collection"'1& +4 "core" & \ \ +2 "collection"'h& +5 "core" & \ \ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \  +9 &2} \ *x +10 &d\ \ \ > +9 &r \ \ M +9 &DU \ \ L +10 &W \ \ L +9 &Y \ \ L +9 &Y \ \ M +10 &KW\ \ \ M +9 &T \ \ L +10 &Z\ \ \ M +9 & X \ \ M +9 &"TU \ \ L +10 &$W \ \ L +9 &%Z \ \ M +9 &'X\ \ \ M +10 &)[W\ \ \ M +9 &+Z \ \ L +10 &,T\ \ \ L +9 &.T \ \ L +9 &0eV \ \ L +10 &2&X\ \ \ L +9 &3X\ \ \ M +9 &5T \ \ L +10 &7kU\ \ \ M +9 &9-W\ \ \ M +10 &:V \ \ M +9 &<V\ \ \ M +9 &>sZ\ \ \ M +10 &@5W\ \ \ M +9 &AU\ \ \ L +9 &CW\ \ \ L +10 &E{Z\ \ \ M +9 &G8h\ \ \ N +10 &Hv\ \ \ P +9 &J\ \ \ U +9 &La\ \ \ X +10 &N$\ \ \ X +9 &O\ \ \ Y +9 &Q\ \ \ X +10 &Sc\ \ \ Z +9 &U&\ \ \ Z +10 &VqC\ \ \ 1 +9 &Vo\ \ \ J +5 ( +2 "collection"'h& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open + "manipulator"&H1 +4 "core" &Vb\ \ \ J +55 1 +3 "manipulator"&[% +4 "core" %  0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%8& +3 "core" &\ +2 "manipulator"&7% +5 "core" %\   + "storage"(% +4 "core" %b S\ +2 "storage"(A. +3 "core" .( +2 "storage"(& +3 "core" & $\ +3 "storage"(& +4 "core" & X\ + "manipulator"&Q& +4 "core" & ' +2 "manipulator"&% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&a( +189 "core" ( +4 "manipulator"&|& +3 "core" & r  +2 "storage"( & +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +93 "core" ' + "storage"(<& +4 "core" & p\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +284 "core" ' + "storage"(6- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & \ +2 "manipulator"&& +3 "core" & 4  +3 .tElbow.seek 2 + "manipulator"&g( +4 "core" ( +2 "manipulator"&;& +4 "core" & *  +2 "storage"(k& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +3 "storage"(''X +8 "core" &  + "manipulator"&% +4 "core" %  x I +2 .tForearm.seek :retract +2 "manipulator"&-'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&P(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( +2 "manipulator"&u& +3 "core" &i 4 V \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +95 "core" ' +2 "manipulator"&$& +3 "core" &i R \ +3 "manipulator"&N% +4 "core" % M = +2 "processing"%4& +4 "core" &\ +2 "processing"%?& +4 "core" &\ +3 .tPC.seek :closed + "processing"% (Z +5 "core" &\  +9 &1z\ *x +9 &c\ > +9 &uv\ N +10 &9W\ M +9 &[\ M +9 &X\ M +10 &}[\ N +9 &@Y\ M +10 &\\\ M +9 &Z\ N +9 & Z\ M +10 &"H]\ M +9 &$\ Z\ M +9 &%X\ M +10 &']\ M +9 &)OZ\ N +10 &+Z\ M +9 &,X\ N +9 &.Y\ N +10 &0WY\ N +9 &2Z\ M +9 &3\\\ M +10 &5Z\ N +9 &7_Y\ N +10 &9!X\ N +9 &:W\ N +9 &<Y\ M +10 &>hV\ M +9 &@)[\ N +9 &AY\ N +10 &C]\ N +9 &En`\ N +10 &G-k\ O +9 &H\ Q +9 &J\ S +10 &Lf\ S +9 &N)\ S +9 &O\ T +10 &Q\ T +9 &Sm\ T +10 &U/\ T +9 &V\ T +9 &X\ U +10 &Z\\\ %q +9 &ZY\ . +9 ( + &Z \ + +3 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&M1 +57 "core" 1 +2 "manipulator"&% +3 "core" % W = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +97 "core" ' +2 "processing"%X& +3 "core" &Z u\ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&F% +4 "core" %\  7 +2 "storage"(!% +3 "core" %U @\ +2 "storage"(y. +3 "core" .( +2 "storage"(L& +3 "core" & K\ +2 "storage"(x& +3 "manipulator"& & +8 "core" & M\ +2 &i \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&t(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +2 "core" ( +3 "manipulator"&^& +4 "core" &i q \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &i  \ +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open +2 "processing"%E( +80 "core" ' + "storage"(q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +51 ."raiseStack"SE.seek :place +2 "storage"(&'y +42 "core" ' +253 ( +2 "storage"(p& +3 "core" & S\ +2 "manipulator"&+& +5 "core" &i > \ +2 "manipulator"&w% +4 "core" % S \ +2 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&>( +241 "core" ( +2 "manipulator"&2& +4 "core" & d  +2 "storage"(& +4 "core" & T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +104 "core" ' +2 .tHand.open + "manipulator"&e1 +65 "core" 1 +2 "storage"(V- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(U'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' +2 "storage"(v& +4 "core" & \ \  \ +2 "manipulator"&G& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +9 "core" ( + "manipulator"&~& +5 "core" & g  + "storage"(l& +4 "core" & \ \  !\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +57 "core" ' + "manipulator"&\\& +4 "core" &  +2 "storage"(b& +5 "core" & h\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'i +25 "core" ' +2 "manipulator"&{% +4 "core" % M B +2 "storage"(f& +4 "core" & ]\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +20 "core" ' + "manipulator"&z& +4 "core" &   +2 "storage"(Y& +4 "core" & b\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +22 "core" ' +2 "storage"(% +4 "core" %s P\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (m% +3 "core" %+D s\ Wd +2 "manipulator"&j% +4 "core" %њ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" & \ +3 "collection"'c& +4 "core" &Vb\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&n% +4 "core" %\  Q  +2 "storage"(0% +3 "core" %a s\ +2 "storage"(%. +3 "core" .( +2 "storage"(#& +4 "core" & ?\ +2 "storage"(3& +4 "core" & `\ +2 "manipulator"&5& +4 "core" & l  +2 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&`& +4 "core" & + "storage"(,& +4 "core" & a\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' + "storage"(B& +4 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +278 "core" ' +3 "storage"()- +3 "core" -' +41 .tSE.configure :default +9 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" & ` +2 "storage"( & +5 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&R' +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('S +29 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"(1& +4 "core" & F\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&K' +15 "core" ' + "manipulator"&"& +3 "core" & +3 "storage"(W& +3 "core" & K\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(['B +39 "core" ' +2 "manipulator"&8& +3 "core" & | +2 "manipulator"&7% +5 "core" %љ E o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +157 "core" ( +2 "manipulator"&h& +3 "core" &+ q A_ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ A_ +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&Q/ +53 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( + "storage"(I& +4 "core" & ~\ +2 "storage"(|& +4 "core" & %\ +2 "manipulator"& & +4 "core" & & J =F + "manipulator"&.% +5 "core" % 6 ? +2 .tForearm.seek :retract + "manipulator"&<'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&=( +156 "core" ( +2 "manipulator"&6& +3 "core" & 8  +3 "storage"(J& +4 "core" & \ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +95 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +60 "core" 1 +2 "manipulator"&S% +3 "core" % +2 "storage"(r& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +14 "core" ' +3 "manipulator"&a& +3 "core" &   +2 "storage"((& +4 "core" & \ \  8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +23 "core" ' +2 "storage"(/% +3 "core" %G\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"(u'X +98 (% +3 "core" %C \ Va +2 "manipulator"&g% +5 "core" %ѱ N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'N& +3 "core" & \ +2 "manipulator"&4% +5 "core" %\   + "storage"('% +3 "core" %S\ \ \ +3 "storage"(-. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +387 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +2 "core" & L\  +3 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&X( +16 "core" ( +2 "manipulator"&F& +3 "core" & L i +2 "storage"(!& +4 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +93 "core" ' + "storage"(L& +4 "core" &\ "\ $ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'i +285 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & \  +2 "manipulator"&^& +5 "core" & _ i + .tElbow.seek 3 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&]& +4 "core" & k i +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϩ +31 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"( 'X +8 "core" & 9 i + "manipulator"&p% +4 "core" % 8 +3 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&w& +5 "core" &' b >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'" +94 "core" ' + "manipulator"&& +4 "core" &'  y >L +2 "manipulator"&t% +4 "core" % 9  +2 "collection"'e& +5 "core" & \ +2 "collection"'V& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'O(V +3 "core" & \ +7 &4 \ $e +10 &W \ 7 +9 &{ \ L +10 &U \ M +9 &qT \ L +9 &3U \ L +10 &U \ M +9 &T \ L +9 &yV \ L +10 &;V \ L +9 &Y \ \ M +10 &!Z \ M +9 &#Y \ M +9 &%BW \ M +10 &'Y \ \ L +9 &(T \ M +10 &*W \ M +9 &,JT \ \ M +9 &. W \ M +10 &/S \ \ L +9 &1V \ L +9 &3RX \ M +10 &5V \ M +9 &6T \ M +9 &8R \ L +10 &:ZW \ \ M +9 &<Z \ \ M +10 &=T \ \ M +9 &?T \ \ M +9 &AcT \ L +10 &C$U \ \ M +9 &D[ \ M +9 &F_\ \ \ N +10 &Han\ \ \ P +9 &J\ \ \ T +10 &K\ \ \ X +9 &M\ \ \ X +9 &OP\ \ \ X +10 &Q\ \ \ X +9 &R\ \ \ Z +9 &T\ \ \ Z +10 &V/u\ \ \ . +9 &V"\ \ \ Q +9 ( +3 "collection"'V& +3 "core" &Vj\ \ \ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&v1 +56 "core" 1 +2 "manipulator"&G% +4 "core" %  G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%~& +4 "core" &\ +2 "manipulator"&l% +3 "core" %\   +3 "storage"(\\% +3 "core" %T ;\ +2 "storage"(b. +3 "core" .( +2 "storage"(&& +4 "core" & \  +2 "storage"({& +4 "core" & \  + "manipulator"&f& +5 "core" &' >K + "manipulator"&U% +4 "core" %\  ]  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z( +165 "core" ( +2 "manipulator"&Y& +4 "core" & W _ +2 "storage"(& +3 "core" & X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +96 "core" ' +2 "storage"(}& +3 "core" & }\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +48 .tSE.seek :beamBreak +5 "storage"(s'i +282 "core" ' + "storage"(m- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" & 6\  +2 "manipulator"&C& +4 "core" & _ +2 .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&i& +5 "core" & % _ + "storage"(& +5 "core" & j\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&c& + "storage"(n'X +8 "core" & . _ + "manipulator"&0% +5 "core" % ϭ +2 .tForearm.seek :retract +2 "manipulator"&%'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&#& +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &m  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +100 "core" ' +2 "manipulator"&`& +4 "core" &m ]  +2 "manipulator"&,% +3 "core" % z +3 "processing"%& +3 "core" &\ +3 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 &9\ $e +9 &U\ 7 +10 &}\ K +9 &Z\ N +9 &^[\ M +10 & W\ M +9 &Z\ M +10 &Z\ M +9 &f\\\ M +9 &'Z\ N +10 &\\\ N +9 &![\ N +9 &#n\\\ M +10 &%0\\\ M +9 &&V\ M +10 &(W\ M +9 &*uX\ N +9 &,8\\\ M +10 &-^\ N +9 &/Z\ M +9 &1~W\ M +10 &3@Y\ M +9 &5Z\ N +9 &6V\ M +10 &8X\ N +9 &:G[\ N +10 &< Y\ N +9 &=U\ M +9 &?V\ N +10 &APU\ M +9 &CY\ N +9 &D\\\ N +10 &Fe\ O +9 &HMv\ Q +10 &J \ S +9 &K\ S +9 &M\ S +10 &OM\ T +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VS\ T +10 &X\ T +9 &Y|p\ 7 +9 &Z1\ G +10 &Z\ ' +2 ( +2 "processing"%B& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&\ 1 +55 "core" 1 +2 "manipulator"&D% +4 "core" % f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +93 "core" ' +2 "processing"%9& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\  N  +2 "storage"(% +3 "core" %b \ +2 "storage"(. +4 "core" .( + "storage"(1& +5 "core" & b\  +2 "storage"("& +2 "manipulator"&W& +7 "core" & J\  +2 &n  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&8(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(7'i +3 "core" ( +2 "manipulator"&& +3 "core" &n F  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n 7  +3 .tForearm.seek PC +2 "manipulator"&@' +96 "core" ' +2 .tHand.close + "manipulator"&R/ +53 "core" / +3 .tPC.seek :open +2 "processing"%K( +88 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +47 "core" ' +285 ( +2 "storage"(& +4 "core" & %\  + "manipulator"&H& +5 "core" &n ;  +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&Q'\ +97 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +256 "core" ( +2 "manipulator"&& +3 "core" & O  +2 "storage"(I& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +87 "core" ' +2 .tHand.open + "manipulator"& 1 +59 "core" 1 +3 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(A& +4 "core" &\ \  0\  +2 "manipulator"&k& +3 "core" & $  +3 .tElbow.seek 3 + "manipulator"&S( +5 "core" ( + "manipulator"&r& +5 "core" & v  + "storage"(a& +4 "core" &\ \  \  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +57 "core" ' +2 "manipulator"&<& +4 "core" & 8  +2 "storage"(& +3 "core" & i\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'} +30 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +9 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +20 "core" ' +2 "manipulator"&% +3 "core" %΁ Z +2 "storage"(N& +3 "core" & ,\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&4'ϭ +12 "core" ' + "manipulator"&'& +4 "core" &   +2 "storage"(-& +4 "core" & V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +23 "core" ' +2 "storage"(d% +4 "core" %q ]\ +2 ."downElevator"SE.seek :down +4 "storage"(u'X +99 (:% +3 "core" %7H \ Xf +2 "manipulator"&M% +4 "core" %[ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" & \\\  +2 "collection"'!& +4 "core" &Vj\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&L% +4 "core" %\   +2 "storage"(;% +4 "core" %W \ +2 "storage"($. +3 "core" .( +2 "storage"( & +3 "core" & \  +2 "storage"(x& +4 "core" & j\  +2 "manipulator"&^& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&]( +4 "core" ( +2 "manipulator"&& +4 "core" & N  +2 "storage"(P& +3 "core" & x\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +92 "core" ' +2 "storage"(p& +3 "core" & ;\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +278 "core" ' +3 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" & G  +2 "storage"(& +4 "core" & D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&?'} +30 "core" ' +2 .tElbow.hold + "manipulator"&q, +48 "core" , +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'U +29 "core" ' +2 "manipulator"&e% +4 "core" %g x ' +2 "storage"(T& +4 "core" & o | 6\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 278 counts + "manipulator"& 'ϓ +12 "core" ' +2 "manipulator"&o& +4 "core" &  +2 "storage"(& +3 "core" & H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(G'D +54 "core" ' +2 "manipulator"&~& +3 "core" &  +3 "manipulator"&l% +4 "core" %[ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +157 "core" ( +2 "manipulator"&&& +3 "core" &! 8" +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &! o 8" +3 .tForearm.seek CC +2 "manipulator"&V'" +93 "core" ' + .tHand.close +2 "manipulator"&f/ +62 "core" / +2 .tCC.seek :open +2 "collection"'U( +416 "core" ( +2 "storage"(2& +5 "core" & `\  + "storage"(Y& +3 "core" & \  +2 "manipulator"&& +5 "core" &"  8" + "manipulator"&}% +4 "core" % ! *  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&_( +161 "core" ( + "manipulator"&m& +4 "core" & O d +2 "storage"(j& +3 "core" & \ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&C'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ΍ ; +2 "storage"(c& +5 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&0'Ϲ +34 "core" ' + "manipulator"&z& +4 "core" & I d +2 "storage"(>& +3 "core" &\ \  !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +43 "core" ' +2 "storage"(% +3 "core" %H\ \ "\ +3 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (3% +3 "core" %> \ Va +2 "manipulator"& % +6 "core" % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"',& +3 "core" & \ +3 "manipulator"&% +4 "core" %\  o  + "storage"(n% +5 "core" %U\ \ " \ \ +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(E( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" & \ +2 "manipulator"&D& +4 "core" & [ d +2 .tElbow.seek 2 + "manipulator"&9( +38 "core" ( +2 "manipulator"& & +3 "core" & ' +3 "storage"(& +4 "core" & \ \  d\ +44 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 "storage"(1& +3 "core" & \ \  \\\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +286 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & \ +3 "manipulator"&& +4 "core" & R & +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&5& +4 "core" & N & + "storage"(R& +5 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"('X +8 "core" & j & +2 "manipulator"&7% +3 "core" %  W +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &* . @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +2 "core" &* @Y +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 "manipulator"&I& +3 "core" &* , @Y +3 "manipulator"&8% +4 "core" %& o +2 "collection"' & +3 "core" & \ +3 "collection"'.& +4 "core" & \ +3 .tCC.seek :closed + "collection"'(V +5 "core" & \  +10 &2{ \ )w +9 &d \ > +9 &yp \ M +10 &<T \ M +9 &Y \ M +9 &U \ M +10 &U \ L +9 &EU \ L +10 &U \ L +9 &X \ M +9 & T \ M +10 &"LT \ M +9 &$S \ M +9 &%T \ M +10 &'U \ L +9 &)TS \ M +10 &+X \ M +9 &,W \ M +9 &.X \ L +10 &0]U \ L +9 &2S \ L +9 &3Y \ M +10 &5W \ M +9 &7dW \ M +10 &9&S \ M +9 &:Z \ M +9 &<U \ M +10 &>lT \ M +9 &@/S \ L +9 &AU \ M +10 &CY \ M +9 &Er\\ \ \ M +10 &G1c\ \ \ N +9 &Hu\ \ \ P +9 &J\ \ \ V +10 &L[\ \ \ X +9 &N\ \ \ X +9 &O\ \ \ Y +10 &Q\ \ \ Y +9 &S^\ \ \ Z +10 &U \ \ \ Z +9 &VjB\ \ \ 1 +9 &V\ u\ \ \ H +6 ( + "collection"'.& +4 "core" &Vj\ \ \ H +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open + "manipulator"&A1 +54 "core" 1 +3 "manipulator"&k% +3 "core" % & ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +4 "core" &\ +2 "manipulator"&Q% +3 "core" %\ \ 3  +3 "storage"(<% +3 "core" %T v\ +2 "storage"(. +3 "core" .( +2 "storage"(h& +4 "core" & \ +2 "storage"(& +4 "core" & M\ +2 "manipulator"&N& +4 "core" &' >N + "manipulator"&6% +3 "core" %\ \ E  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&'( +161 "core" ( + "manipulator"&-& +4 "core" & C  +2 "storage"(d& +4 "core" & w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"(|& +3 "core" & r\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +280 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & `\ +3 "manipulator"&(& +4 "core" & f  +2 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( +2 "manipulator"&/& +49 "core" & 5  +4 "storage"(g& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&4' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(L'X +7 "core" & ^  +3 "manipulator"&;% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&$(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"& & +4 "core" &h  y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +96 "core" ' +2 "manipulator"&& +3 "core" &h  +3 "manipulator"&P% +4 "core" % ; +2 "processing"%[& +3 "core" &\ +3 "processing"%p& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(Z +5 "core" &\  +9 &3}\ *x +9 &c\ > +10 &yt\ N +9 &;V\ M +9 &[\ N +10 &Z\ N +9 &U\ M +9 &CZ\ M +10 &Z\ M +9 &[\ N +10 & Y\ N +9 &"KW\ M +9 &$ X\ M +10 &%\\\ N +9 &'[\ N +10 &)SV\ M +9 &+[\ N +9 &,Y\ N +10 &.[\ M +9 &0[Z\ M +9 &2V\ M +10 &3V\ M +9 &5W\ N +9 &7cX\ M +10 &9%U\ M +9 &:V\ M +10 &<Z\ M +9 &>lV\ M +9 &@-]\ M +10 &A[\ M +9 &C^\ N +9 &Eq`\ N +10 &G0l\ O +9 &H\ R +10 &J\ S +9 &Lj\ S +9 &N+\ S +10 &O\ T +9 &Q\ T +9 &Sq\ S +10 &U1\ T +9 &V\ T +10 &X\ T +9 &Z!\\~\ $n +9 &ZX\ + +9 ( +2 &Z\ ( +2 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&=1 +54 "core" 1 +2 "manipulator"&% +4 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' + "processing"%w& +3 "core" &Z\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %c \ +2 "storage"(e. +3 "core" .( +2 "storage"(T& +4 "core" & \ +2 "storage"(o& +2 "manipulator"&& +5 "core" & \ +3 &h  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(~'i + "manipulator"&l(s +31 "core" ( + "manipulator"&*& +5 "core" &m t \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &m = \ +3 .tForearm.seek PC +2 "manipulator"&X' +94 "core" ' +2 .tHand.close + "manipulator"&?/ +56 "core" / +3 .tPC.seek :open +2 "processing"% ( +62 "core" ' + "storage"(t- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +48 "core" ' +311 ( +2 "storage"({& +3 "core" & [\ +2 "manipulator"&v& +4 "core" &n ' \ +2 "manipulator"&q% +3 "core" % x +3 .tForearm.seek :retract + "manipulator"&f'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&\\( +248 "core" ( +2 "manipulator"&O& +4 "core" &  "{ +2 "storage"(2& +3 "core" & L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +104 "core" ' +9 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(}- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(m'E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(j' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(b& +3 "core" & \ \  Y\ +3 "manipulator"&& +3 "core" & "y +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&c& +3 "core" & "y +3 "storage"(z& +4 "core" & \  /\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&+& +4 "core" & "y +2 "storage"(3& +3 "core" & x\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_' +23 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +26 "core" ' +2 "manipulator"&0% +4 "core" % + "storage"(,& +5 "core" & =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&n& +4 "core" & T "y +2 "storage"(%& +3 "core" & y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +31 "core" ' +2 "storage"(s% +3 "core" %k V\ +3 ."downElevator"SE.seek :down +4 "storage"(#'X +98 (% +3 "core" % G } \ We +2 "manipulator"&\ % +5 "core" %Ѡ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & 4\ +2 "collection"'& +5 "core" &Vj\ \ \ H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&1% +3 "core" %\   +3 "storage"(i% +3 "core" %a ;\ +2 "storage"(`. +3 "core" .( +2 "storage"(W& +4 "core" & #\ +2 "storage"(B& +3 "core" & !\ +3 "manipulator"&& +3 "core" & "y +3 .tElbow.seek 2 + "manipulator"&5( +4 "core" ( +2 "manipulator"&R& +3 "core" & "y +3 "storage"(Z& +4 "core" & a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&)'ќ +94 "core" ' +2 "storage"(7& +3 "core" & :\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & "y +2 "storage"(@& +4 "core" & ]\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&"' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'S +29 "core" ' +2 "manipulator"& % +4 "core" % # M + "storage"(& +3 "core" & r \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +66 "core" ' +2 "manipulator"&& +3 "core" & "y +2 "storage"(U& +5 "core" & 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'B +40 "core" ' +2 "manipulator"&a& +4 "core" & "y +2 "manipulator"&Q% +3 "core" %Ѩ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +3 "manipulator"&h& +3 "core" &%  <@ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &% w <@ +3 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&N/ +61 "core" / +2 .tCC.seek :open + "collection"'6( +417 "core" ( + "storage"(& +4 "core" & 0\ +2 "storage"(-& +4 "core" & b\ + "manipulator"&d& +5 "core" &% Z <@ + "manipulator"&|% +4 "core" % 5 +2 .tForearm.seek :retract +2 "manipulator"&H'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&r( +156 "core" ( +2 "manipulator"&:& +4 "core" & d  +2 "storage"(M& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&(' +96 "core" ' +2 .tElbow.hold + "manipulator"&/, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +61 "core" 1 +2 "manipulator"&F% +4 "core" % P + "storage"(!& +5 "core" & l\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&;' +20 "core" ' +2 "manipulator"&'& +5 "core" &   + "storage"(& +3 "core" & \ \ z\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +24 "core" ' +2 "storage"(4% +3 "core" %F\ \  C\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (x% +3 "core" %A \ V` +2 "manipulator"&S% +4 "core" %ћ  | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'P& +3 "core" & \ +2 "manipulator"&[% +4 "core" %\ 0  +2 "storage"(L% +3 "core" %T\ #\ # $\ +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(K( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" & \  +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&w( +16 "core" ( +2 "manipulator"&& +3 "core" & Y +2 "storage"(& +4 "core" &\ #\ # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +99 "core" ' +2 "storage"(T& +3 "core" &\ ,\ E '\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' + "storage"(- +4 "core" -' +47 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (p& +2 "core" & \  +3 "manipulator"&*& +4 "core" & / Y +2 .tElbow.seek 3 + "manipulator"&]( +5 "core" ( + "manipulator"&^& +4 "core" &  Y +2 "storage"(?& +3 "core" &\ \  h\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&t'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(u'X +8 "core" & Y + "manipulator"&~% +5 "core" % ϰ R 3 +2 .tForearm.seek :retract +2 "manipulator"&{'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +156 "core" ( +2 "manipulator"&q& +4 "core" ' + && \\ =B +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &X& +4 "core" &&  =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'" +104 "core" ' + "manipulator"&2& +3 "core" &&  =B +3 "manipulator"&l% +3 "core" % H +3 "collection"'& +3 "core" & \ +3 "collection"'}& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'V(V +4 "core" & \ +7 &; \ %f +9 &W~ \ 8 +10 &v \ L +9 &R \ L +9 &uU \ \ L +10 &7W \ L +9 &U \ M +9 &X \ M +10 &|V \ M +9 &?S \ L +10 & Y \ M +9 &!Y \ L +9 &#W \ L +10 &%FY \ M +9 &'V \ M +9 &(R \ L +10 &*T \ L +9 &,OY \ L +10 &.S \ L +9 &/U \ L +9 &1T \ M +10 &3VU \ M +9 &5X \ L +10 &6Y \ M +9 &8U \ M +9 &:^Z \ M +10 &< Y \ M +9 &=Y \ L +9 &?V \ L +10 &AfX \ M +9 &C)X \ L +9 &DX \ M +10 &F`\ \ \ N +9 &Hfp\ \ \ O +10 &J\ \ \ T +9 &K\ \ \ X +9 &M\ \ \ X +10 &OT\ \ \ X +9 &Q\ \ \ X +9 &R\ \ \ Z +10 &T\ \ \ Z +9 &V-q\ \ \ - +10 &V(\ \ \ V +8 ( +3 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&b1 +2 "core" &Vj\ \ \ J +54 1 +3 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%c& +4 "core" &\ + "manipulator"&z% +5 "core" %\  I  + "storage"(+% +4 "core" %S c\ +2 "storage"(3. +3 "core" .( +2 "storage"(&& +3 "core" & $\  +2 "storage"(0& +6 "core" & g\  +2 "manipulator"&,& +4 "core" &% e <9 +2 "manipulator"&m% +4 "core" %\  z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&n( +169 "core" ( + "manipulator"&%& +4 "core" & s ] +2 "storage"(s& +4 "core" & b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +95 "core" ' +2 "storage"(Y& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & C\  +2 "manipulator"&>& +3 "core" & ^ ] +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 7 ] +2 "storage"(_& +3 "core" & _\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(1'X +4 "core" & ] +50 "manipulator"&i% +5 "core" % ϟ +2 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +119 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +126 "core" ( +2 "manipulator"&W& +4 "core" &r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&R& +4 "core" &r h  +2 "manipulator"&Z% +3 "core" % +3 "processing"%G& +4 "core" &\ +2 "processing"%7& +5 "core" &\ +3 .tPC.seek :closed + "processing"%#(Z +5 "core" &\ +7 &B\ $e +10 &U\ 7 +9 &}\ L +9 &Y\ M +10 &o\\\ M +9 &1Z\ M +9 &T\ M +10 &V\ M +9 &wZ\ M +10 &9W\ M +9 &X\ M +9 &![\ M +10 &#~U\ N +9 &%@Y\ N +9 &'U\ M +10 &(U\ M +9 &*X\ M +10 &,IZ\ M +9 &.\ \\\ N +9 &/X\ N +10 &1Z\ M +9 &3QZ\ M +9 &5T\ M +10 &6V\ M +9 &8W\ N +10 &:YZ\ M +9 &<Y\ M +9 &=T\ M +10 &?T\ M +9 &AbU\ M +9 &C"[\ N +10 &D^\ N +9 &Fe\ O +10 &H]x\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &O_\ S +9 &Q \ T +10 &R\ T +9 &T\ T +10 &Vf\ T +9 &X'\ T +9 &Y{o\ 1 +10 &Z)r\ K +9 &Z\ , +2 ( +2 "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"& 1 +54 "core" 1 + "manipulator"&D% +5 "core" % V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%& +3 "core" &Z\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&@% +3 "core" %\  3  +3 "storage"(I% +3 "core" %] ?\ +2 "storage"( . +4 "core" .( + "storage"(& +4 "core" & \  +2 "storage"(& +3 "manipulator"&U& +8 "core" & \  + &r  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'i +2 "core" ( +3 "manipulator"&)& +4 "core" &r A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &r $  +2 .tForearm.seek PC +2 "manipulator"&9' +93 "core" ' +2 .tHand.close + "manipulator"&"/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +44 "core" ' +286 ( +2 "storage"(.& +3 "core" & k\  +2 "manipulator"&A& +5 "core" &r 1  + "manipulator"&% +4 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +259 "core" ( + "manipulator"&& +3 "core" & +2 "storage"(& +5 "core" & G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +96 "core" ' +2 .tHand.open + "manipulator"&d1 +60 "core" 1 +2 "storage"(|- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(:'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(M' +53 "core" ' +49 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +4 "core" &\ \ \  +2 "manipulator"&g& +3 "core" & +3 .tElbow.seek 3 + "manipulator"&F( +4 "core" ( +2 "manipulator"&!& +4 "core" & 7 +2 "storage"('& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +63 "core" ' +2 "manipulator"&H& +4 "core" & 1 +2 "storage"(x& +3 "core" & Y\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&S'} +21 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +26 "core" ' + "manipulator"&;% +4 "core" %Ώ G +2 "storage"(P& +3 "core" & &\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&['ϻ +19 "core" ' +2 "manipulator"&L& +3 "core" & q +2 "storage"(& +5 "core" & d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +31 "core" ' + "storage"(J% +5 "core" %f z\ +2 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (E% +3 "core" %'F >\ Xe +2 "manipulator"&=% +4 "core" %- Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 6\  +2 "collection"'& +4 "core" &Vh\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&T% +4 "core" %\  +2 "storage"(/% +3 "core" %Y \ +3 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & o\  +2 "storage"(p& +4 "core" & \  +2 "manipulator"&*& +4 "core" & k +2 .tElbow.seek 3 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&?& +4 "core" &  +2 "storage"($& +3 "core" & u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +93 "core" ' +2 "storage"(~& +4 "core" & 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +281 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & 7 +2 "storage"(X& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&o'} +26 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(l'U +30 "core" ' +2 "manipulator"&]% +3 "core" %} % +2 "storage"(& +5 "core" & r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϩ +20 "core" ' + "manipulator"&{& +4 "core" & ; +2 "storage"(6& +4 "core" & ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +41 "core" ' +45 "manipulator"&c& +7 "core" & 6 + "manipulator"&z% +4 "core" %( k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +154 "core" ( +2 "manipulator"&&& +3 "core" &' w >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &' - >M +3 .tForearm.seek CC +2 "manipulator"&0'" +93 "core" ' + .tHand.close +2 "manipulator"&,/ +56 "core" / +4 .tCC.seek :open + "collection"'m( +418 "core" ( +2 "storage"(O& +3 "core" & \  +2 "storage"(%& +3 "core" & \  +3 "manipulator"&s& +4 "core" && W =C + "manipulator"&Y% +4 "core" %  ( +3 .tForearm.seek :retract + "manipulator"&v'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&f( +164 "core" ( + "manipulator"&& +5 "core" &  z + "storage"(\ & +3 "core" &\ \  W\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&>'} +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +52 "core" 1 +2 "manipulator"& % +4 "core" % · g +2 "storage"(& +4 "core" &\ \  A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&i'ϳ +19 "core" ' +2 "manipulator"&n& +3 "core" & Y z +2 "storage"(\\& +5 "core" &\ \  $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +17 "core" ' + "storage"(% +5 "core" %J\ \  g\ +3 ."downElevator"SE.seek :down +3 "storage"(W'X +98 (B% +4 "core" %C \ Va +2 "manipulator"&% +4 "core" %1 Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'Z& +4 "core" & \ +2 "manipulator"&G% +3 "core" %\   +3 "storage"(1% +4 "core" %b\ #\ # \ + "storage"(`. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +339 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & .\ +3 "manipulator"&D& +4 "core" & o z +2 .tElbow.seek 2 + "manipulator"&( +35 "core" ( +2 "manipulator"&@& +3 "core" & $ +2 "storage"(I& +4 "core" & \ \ \  a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +90 "core" ' + "storage"(& +3 "core" & \ #\  i\ +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" & n\ +2 "manipulator"&)& +3 "core" &% H ^ +2 .tElbow.seek 2 +2 "manipulator"&5( +22 "core" ( +3 "manipulator"&& +3 "core" & `  +2 "storage"("& +4 "core" & \ \ H\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&8' +59 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&C/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(#'X +6 "core" &   +2 "manipulator"&Q% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &% 6 @ <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &% , <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' + "manipulator"&& +5 "core" &%  w <= + "manipulator"&a% +5 "core" % > +2 "collection"'d& +4 "core" & \ +3 "collection"'|& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'(V +3 "core" & \  +9 &4~ \ +{ +10 &f \ ? +9 &p \ M +9 &LT \ M +10 &W \ M +9 &U  \ M +10 &R \ L +9 &US \ L +9 &T \ \ L +10 &W \ M +9 & V \ M +9 &"]T \ L +10 &$U \ L +9 &%U \ L +10 &'X \ L +9 &)eR \ L +9 &+'U \ L +10 &,W \ M +9 &.U \ L +9 &0mU \ L +10 &2.W \ M +9 &3U \ M +10 &5U \ M +9 &7uR \ L +9 &97R \ L +10 &:V \ L +9 &<W \ M +9 &>|W \ M +10 &@>S \ M +9 &BW \ M +10 &CW \ M +9 &EY \ M +9 &GAe\ \ \ N +10 &Hv\ \ \ P +9 &J\ \ \ V +9 &Lk\ \ \ X +10 &N,\ \ \ X +9 &O\ \ \ Y +10 &Q\ \ \ Y +9 &Sn\ \ \ Z +9 &U0\ \ \ W +10 &Vj=\ \ \ / +9 &V\ \ \ J +5 ( +2 "collection"'|& +4 "core" &Ve\ \ \ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&N1 +57 "core" 1 +3 "manipulator"&% +3 "core" %  e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%!& +4 "core" &\ +2 "manipulator"&'% +3 "core" %\  s  +2 "storage"(H% +6 "core" %] v\ +4 "storage"(x. +3 "core" .( + "storage"(h& +5 "core" & `\ + "storage"(:& +4 "core" & K\ +2 "manipulator"&;& +3 "core" &$ h ;6 +2 "manipulator"&P% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&L( +162 "core" ( +2 "manipulator"&& +3 "core" & I  +3 "storage"(J& +4 "core" & +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +95 "core" ' +2 "storage"(-& +4 "core" & ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +279 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" & <\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&4& +3 "core" & 4  +2 "storage"(S& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&[' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(T'X +9 "core" &  + "manipulator"&/% +4 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&('\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +2 "manipulator"&& +3 "core" &j / e  +49 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &j  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&*' +95 "core" ' + "manipulator"&?& +4 "core" &m  +2 "manipulator"&$% +3 "core" %  +3 "processing"%k& +3 "core" &\ +3 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +9 &2}\ *y +9 &d\ > +9 &|t\ N +10 &@V\ M +9 &Z\ M +9 &Y\ N +10 &Y\ M +9 &HZ\ M +10 &Z\ N +9 &Y\ N +9 & Y\ N +10 &"NY\ N +9 &$X\ M +9 &%V\ M +10 &'V\ M +9 &)VV\ N +10 &+Y\ N +9 &,U\ M +9 &.\\\ N +10 &0_X\ M +9 &2!W\ M +9 &3Z\ M +10 &5Z\ M +9 &7hU\ M +9 &9)Z\ M +10 &:T\ M +9 &<U\ M +10 &>oU\ M +9 &@1U\ M +9 &AT\ M +10 &CY\ N +9 &Eu_\ N +10 &G2j\ P +9 &H\ R +9 &J\ T +10 &Ll\ T +9 &N.\ T +9 &O\ T +10 &Q\ T +9 &Ss\ T +9 &U5\ T +10 &V\ T +9 &X\ T +10 &Z#Z{\ $o +9 &Z[\ 1 +9 ( + &Z\ , +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&r1 +54 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 "processing"%q& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&X% +4 "core" %\  )  +2 "storage"(2% +4 "core" %] \ +2 "storage"(]. +3 "core" .( +2 "storage"(& +3 "core" & \ +3 "storage"({& +3 "manipulator"&6& +6 "core" & !\ +2 &m   +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(c'i + "manipulator"&z(s +7 "core" ( +2 "manipulator"&y& +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &m _  +3 .tForearm.seek PC + "manipulator"&w' +94 "core" ' +2 .tHand.close + "manipulator"&o/ +55 "core" / +3 .tPC.seek :open +2 "processing"%u( +86 "core" ' +2 "storage"(l- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(&'y +45 "core" ' +288 ( + "storage"(}& +4 "core" & Z\ +2 "manipulator"&b& +3 "core" &m Z  +2 "manipulator"&t% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&+( +237 "core" ( + "manipulator"&V& +4 "core" & ] +2 "storage"(O& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +97 "core" ' + .tHand.open +2 "manipulator"&s1 +53 "core" 1 +2 "storage"(Y- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(3& +3 "core" & \ \  \ +2 "manipulator"&_& +9 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +8 "core" &\ { ] +3 "storage"(n& +3 "core" & \ \  \ +3 .tForearm.seek 2 + 700 counts +47 "manipulator"&\\'ќ +12 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&v& +3 "core" &\ ] +3 "storage"(B& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(>'i +26 "core" ' + "manipulator"&Z% +4 "core" % ~ : +2 "storage"(G& +3 "core" & k\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&i' +26 "core" ' +2 "manipulator"&1& +4 "core" &\ h ] +2 "storage"(`& +3 "core" & @\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 "storage"(j% +4 "core" %l J\ +2 ."downElevator"SE.seek :down +4 "storage"(W'X +99 (K% +3 "core" %H )\ Xf +2 "manipulator"& % +3 "core" %ў H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (@& +3 "core" & "\ +2 "collection"'I& +4 "core" &V^\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  n  +2 "storage"(% +4 "core" %S \ +2 "storage"(R. +2 "core" .( +2 "storage"(& +5 "core" & E\ + "storage"(7& +4 "core" & e\ +2 "manipulator"&)& +4 "core" &\ r ] +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&"& +3 "core" &\ O ] +3 "storage"(C& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + "storage"(Q& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +3 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\ ] +2 "storage"(9& +4 "core" & /\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&U' +32 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'S +28 "core" ' +2 "manipulator"&5% +3 "core" % +2 "storage"(d& +4 "core" & o k 7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&#' +18 "core" ' +2 "manipulator"&.& +4 "core" &\ 4 ] + "storage"(m& +5 "core" & b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +41 "core" ' +2 "manipulator"&!& +4 "core" &\ ! ] + "manipulator"&'% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +153 "core" ( +7 "manipulator"&h& +3 "core" &$ S ;4 +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &|& +2 "core" &$ S ;4 +3 .tForearm.seek CC +2 "manipulator"&:'" +94 "core" ' +2 .tHand.close + "manipulator"&;/ +57 "core" / +2 .tCC.seek :open + "collection"'P( +416 "core" ( +2 "storage"(& +4 "core" & b\ +2 "storage"(& +4 "core" & \ +2 "manipulator"&J& +4 "core" &$ @ ;4 + "manipulator"&-% +4 "core" % 0  \ +2 .tForearm.seek :retract +2 "manipulator"&A'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&g( +156 "core" ( +2 "manipulator"&E& +4 "core" & R  +2 "storage"(=& +4 "core" & \ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +104 "core" ' +2 .tElbow.hold + "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +63 "core" 1 +2 "manipulator"&% +4 "core" % W 4 +2 "storage"(& +4 "core" & k\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&/' +21 "core" ' + "manipulator"&L& +3 "core" &   +3 "storage"(<& +3 "core" & \ \  \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +20 "core" ' +2 "storage"([% +3 "core" %K\ \  5\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (F% +3 "core" %B \ Va +2 "manipulator"&p% +5 "core" %Ѣ Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +96 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'$& +4 "core" & \ +2 "manipulator"&k% +3 "core" %\ # = +3 "storage"(T% +3 "core" %a\ \ \ +2 "storage"((. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" & t\  +3 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&q( +19 "core" ( +2 "manipulator"&X& +4 "core" &  @ +2 "storage"(2& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&]'9 +96 "core" ' +2 "storage"(& +3 "core" &\ #\ ! \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +38 "Can"\ E $ +248 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & B\  +2 "manipulator"&y& +4 "core" & ? @ +2 .tElbow.seek 3 + "manipulator"&^( +4 "core" ( +2 "manipulator"&*& +4 "core" & @ + "storage"(o& +3 "core" &\ \ \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&e& + "storage"( 'X +8 "core" & @ + "manipulator"&c% +4 "core" % ϫ  +2 .tForearm.seek :retract +47 "manipulator"&}'\ +106 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +100 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +61 "core" ( + "manipulator"&t& +5 "core" &, T Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &,  Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'" +98 "core" ' +3 "manipulator"&O& +3 "core" &, q Bj +3 "manipulator"&z% +4 "core" %, A +2 "collection"'s& +3 "core" & \ +3 "collection"'Y& +5 "core" & \ +3 .tCC.seek :closed + "collection"'0(V +4 "core" & \ +7 &4 \ $d +10 &U{ \ 7 +9 &y  \ L +9 &O \ M +10 &mS \ L +9 &/T \ L +9 &X \ M +10 &W \ L +9 &uU \ L +10 &6X \ M +9 &X \ L +9 &!U \ L +10 &#|Y \ \ M +9 &%>X \ M +9 &'V \ L +10 &(S  \ L +9 &*W \ L +10 &,GU \ L +9 &.W \ \ M +9 &/V \ M +10 &1T \ M +9 &3OW \ L +9 &5R \ L +10 &6U \ L +9 &8R \ L +10 &:WU \ L +9 &<V \ L +9 &=U \ L +10 &?T \ M +9 &A^W \ M +9 &CW \ M +10 &DX \ M +9 &F` \ N +10 &H]p\ \ \ P +9 &J\ \ \ \ T +9 &K\ \ \ X +10 &M\ \ \ X +9 &OL\ \ \ X +9 &Q\ \ \ X +10 &R\ \ \ Z +9 &T\ \ \ Z +10 &V+u\ \ \ . +9 &V$\ \ \ R +9 ( + &V_\ \ \ I +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&31 +54 "core" 1 +3 "manipulator"&_% +4 "core" % ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%n& +4 "core" &\ +2 "manipulator"&,% +3 "core" %\  l  +2 "storage"(v% +4 "core" %T 0\ +2 "storage"(B. +3 "core" .( +2 "storage"(&& +3 "core" & .\  +2 "storage"(& +4 "core" & h\  +2 "manipulator"&Z& +4 "core" &+ Bi +2 "manipulator"&G% +4 "core" %\  p  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1( +161 "core" ( +2 "manipulator"&+& +4 "core" & m i +2 "storage"(`& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +93 "core" ' +2 "storage"(j& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +286 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & 9\  +2 "manipulator"&\\& +4 "core" & H i +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" & W i +2 "storage"(& +3 "core" & B\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& + "storage"('X +8 "core" & l i + "manipulator"&% +5 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&>(s +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&& +3 "core" &o  4 +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &o H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +103 "core" ' +2 "manipulator"&"& +4 "core" &o ^ +2 "manipulator"&C% +3 "core" % x +3 "processing"%& +50 "core" &\ +3 "processing"%Q& +5 "core" &\ +3 .tPC.seek :closed + "processing"%W(Z +5 "core" &\ +7 &A\ $e +10 &U}\ 7 +9 &|\ L +9 &Y\ M +10 &p\\\ M +9 &1Z\ N +9 &W\ M +10 &T\ M +9 &xV\ M +10 &9U\ N +9 &Z\ N +9 &!U\ M +10 &#Y\ N +9 &%BY\ M +9 &'W\ M +10 &(Y\ M +9 &*[\ N +10 &,IY\ N +9 &. Z\ N +9 &/T\ M +10 &1Z\ N +9 &3RX\ M +9 &5U\ M +10 &6U\ M +9 &8T\ M +10 &:ZZ\ M +9 &<X\ N +9 &=W\ M +10 &?T\ M +9 &AcV\ M +9 &C#Y\ N +10 &D[\ N +9 &Fd\ O +10 &H^x\ Q +9 &J\ S +9 &K\ T +10 &M\ S +9 &O`\ S +9 &Q!\ T +10 &R\ T +9 &T\ T +10 &Vg\ T +9 &X&\ U +9 &Y|o\ 1 +10 &Z)r\ L +9 &Z \ - +2 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&f1 +57 "core" 1 +2 "manipulator"&D% +4 "core" % Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' + "processing"%& +3 "core" &Z\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&9% +4 "core" %\ # @ +2 "storage"(% +4 "core" %] @\ +2 "storage"(5. +3 "core" .( +2 "storage"(d& +3 "core" & 0\  +3 "storage"(.& +2 "manipulator"&m& +8 "core" & 3\  + &o +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&!(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(''i +2 "core" ( +2 "manipulator"&& +4 "core" &o  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &o +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&U/ +61 "core" / +3 .tPC.seek :open + "processing"%#( +83 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +49 "core" ' +292 ( +2 "storage"(|& +4 "core" & o\  + "manipulator"&N& +5 "core" &o V + "manipulator"&8% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&;'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +265 "core" ( +2 "manipulator"&& +4 "core" & H j + "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + .tHand.open +2 "manipulator"&J1 +53 "core" 1 +2 "storage"(-- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(E'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(=' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"(x& +3 "core" &\ \  :\  +3 "manipulator"&S& +3 "core" & j +3 .tElbow.seek 3 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +3 "core" & E c +2 "storage"(L& +5 "core" &\ \ \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +24 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +62 "core" ' +2 "manipulator"&A& +3 "core" & l c +2 "storage"(F& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek 3 +9 "manipulator"&p'} +23 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +28 "core" ' + "manipulator"&/% +5 "core" %| + "storage"($& +4 "core" & r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&k'Ϩ +13 "core" ' +2 "manipulator"&T& +3 "core" & N c +2 "storage"((& +5 "core" & 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 "storage"(M% +4 "core" %q X\ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 ( % +3 "core" %E >\ Wd +2 "manipulator"&r% +5 "core" %T z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (X& +3 "core" & \  +2 "collection"'2& +3 "core" &V^\ \ \ I +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\  +3 "storage"(4% +3 "core" %R x\ +2 "storage"(?. +4 "core" .( + "storage"({& +4 "core" & \  +2 "storage"(~& +3 "core" & \  +2 "manipulator"&y& +5 "core" & n c + .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&o& +4 "core" & \\ c +2 "storage"(& +3 "core" & `\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +90 "core" ' + "storage"(c& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +282 "core" ' +3 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & \ \ c +2 "storage"(t& +3 "core" & C\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&w'} +21 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'U +29 "core" ' +2 "manipulator"&^% +4 "core" %Ό \\ + "storage"(s& +4 "core" & 2\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"& 'ϸ +19 "core" ' +2 "manipulator"&}& +4 "core" & P c +2 "storage"(P& +4 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'D +40 "core" ' +2 "manipulator"&n& +3 "core" &  c +2 "manipulator"&,% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&B( +159 "core" ( +3 "manipulator"&&& +5 "core" &% <= + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &% u <= +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&Z/ +53 "core" / +2 .tCC.seek :open + "collection"'G( +417 "core" ( + "storage"(V& +4 "core" & \  +41 "storage"(+& +12 "core" & \  + "manipulator"&`& +4 "core" &% ? << +2 "manipulator"&j% +3 "core" % + }  +3 .tForearm.seek :retract +2 "manipulator"&b'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&K& +3 "core" & ^ r +2 "storage"( & +4 "core" & 1\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&\\'} +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "manipulator"&@% +5 "core" % ΐ & + "storage"(I& +4 "core" & }\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϼ +20 "core" ' + "manipulator"&1& +4 "core" & O r +2 "storage"(%& +3 "core" &\ \ \ d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +29 "core" ' +2 "storage"(i% +3 "core" %I\ \ # e\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (7% +3 "core" %D \ Va +2 "manipulator"& % +4 "core" %> V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'C& +3 "core" & \ +2 "manipulator"&% +5 "core" %\   +2 "storage"(% +3 "core" %Y\ \  S\ +2 "storage"(R. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(u( +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +2 "core" & ~\ +2 "manipulator"&D& +4 "core" & \  r +2 .tElbow.seek 2 +2 "manipulator"&( +36 "core" ( +2 "manipulator"&9& +4 "core" & _ ' +2 "storage"(& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +104 "core" ' +2 "storage"(d& +4 "core" & \ \ #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +286 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & W\ +2 "manipulator"&& +3 "core" &" !r +3 .tElbow.seek 2 +2 "manipulator"&( +24 "core" ( +2 "manipulator"&)& +4 "core" &  +2 "storage"(U& +3 "core" & \ \ \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(W'X +8 "core" & .  + "manipulator"&'% +5 "core" %   f +2 .tForearm.seek :retract + "manipulator"&|'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&8& +4 "core" & 4 i 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & < 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek CC + "manipulator"&'" +95 "core" ' +2 "manipulator"&& +3 "core" & L 2 +3 "manipulator"&!% +4 "core" % F  +2 "collection"'J& +3 "core" & \ +3 "collection"'-& +6 "core" & \ +2 .tCC.seek :closed + "collection"':(V +4 "core" & \ +8 &> \ $f +9 &W \ 8 +10 &v \ L +9 &R \ L +9 &vW \ M +10 &9U \ L +9 &S \ M +10 &U \ M +9 &X \ L +9 &AR \ L +10 & T \ L +9 &!X \ M +9 &#V \ M +10 &%IS \ L +9 &' U \ L +10 &(U \ L +9 &*W \ M +9 &,PU \ M +10 &.R \ L +9 &/R \ L +9 &1T \ L +10 &3YW \ L +9 &5W \ M +10 &6U \ \ M +9 &8V \ L +9 &:`X \ M +10 &<"Y \ M +9 &=X \ L +9 &?U \ L +10 &AhW \ \ M +9 &C*V \ M +10 &DV  \ M +9 &F_ \ N +9 &Hhm\ \ \ \ O +10 &J\ \ \ T +9 &K\ \ \ X +9 &M\ \ \ X +10 &OU\ \ \ Y +9 &Q\ \ \ X +10 &R\ \ \ Z +9 &T\ \ \ Z +9 &V-p\ \ \ , +10 &V+\ \ \ Y +9 ( + &Vj\ \ \ I +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open + "manipulator"&x1 +58 "core" 1 +3 "manipulator"&S% +3 "core" % F  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%L& +4 "core" &\ +2 "manipulator"&;% +4 "core" %\   +2 "storage"(A% +3 "core" %b \ +2 "storage"(F. +3 "core" .( +2 "storage"(h& +3 "core" & Q\ +3 "storage"(E& +3 "core" & L\ +2 "manipulator"&/& +5 "core" & 2 2 + "manipulator"&$% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&T( +153 "core" ( + "manipulator"&H& +3 "core" & h  +3 "storage"((& +4 "core" & P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +87 "core" ' +2 "storage"(M& +4 "core" & [\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +287 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & \ +2 "manipulator"&<& +4 "core" & j  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +4 "core" & x  +2 "storage"(p& +4 "core" & {\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&2& + "storage"('X +7 "core" & h  +2 "manipulator"&4% +3 "core" % ( +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&{& +5 "core" &q { + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &q | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +96 "core" ' +2 "manipulator"&o& +4 "core" &q + "manipulator"&% +5 "core" % 9 +2 "processing"%& +3 "core" &\ +3 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 &9\ #c +9 &U~\ 7 +9 &y\ K +10 &W\ N +9 &eZ\ N +10 &(V\ M +9 &Z\ N +9 &X\ M +10 &nU\ M +9 &0U\ M +9 &U\ N +10 &!X\ N +9 &#uX\ N +10 &%7Y\ N +9 &&U\ M +9 &(Z\ M +10 &*~[\ M +9 &,?Z\ N +56 &.Y\ M +4 &/Y\ M +4 &1T\ M +2 &3HU\ M + &5\ U\ M + &6U\ M + &8T\ M +6 &:PU\ M +9 &<W\ M +10 &=X\ M +9 &?W\ M +10 &AXU\ M +9 &CW\ N +9 &DZ\ N +10 &Fc\ O +9 &HUw\ Q +9 &J\ S +10 &K\ S +9 &M\ S +10 &OV\ S +9 &Q\ S +9 &R\ T +10 &T\ T +9 &V\\\ T +9 &X\ T +10 &Y{p\ 6 +9 &Z,\ O +9 &Z\ * +3 ( +2 "processing"%c& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&g1 +53 "core" 1 +2 "manipulator"&% +4 "core" % K 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +2 "processing"%6& +3 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&t% +3 "core" %\    +3 "storage"(O% +4 "core" %b )\ + "storage"(^. +4 "core" .( + "storage"(s& +5 "core" & \ +2 "storage"(}& +2 "manipulator"&P& +7 "core" & \ +2 &q I +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&n(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(,'i +3 "core" ( +2 "manipulator"&e& +3 "core" &q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &q +3 .tForearm.seek PC +2 "manipulator"&q' +93 "core" ' +2 .tHand.close + "manipulator"&w/ +56 "core" / +2 .tPC.seek :open +4 "processing"% ( +97 "core" ' + "storage"(z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +46 "core" ' +279 ( + "storage"(Y& +5 "core" & A\ + "manipulator"&3& +3 "core" &q e +5 "manipulator"&l% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&v( +257 "core" ( +2 "manipulator"&0& +3 "core" & _ +3 "storage"(V& +4 "core" & p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&+'ќ +94 "core" ' +2 .tHand.open + "manipulator"&`1 +61 "core" 1 +2 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(B& +3 "core" & \  (\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&@( +15 "core" ( + "manipulator"&I& +4 "core" & R  +2 "storage"(1& +4 "core" & G /\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +57 "core" ' + "manipulator"&b& +4 "core" & )  +2 "storage"(7& +3 "core" & O\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"& ' +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\\'i +24 "core" ' +2 "manipulator"&% +4 "core" % D _ +2 "storage"(C& +48 "core" & .\ +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +3 "manipulator"&' +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(R& +5 "core" & e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +28 "core" ' +2 "storage"(\ % +3 "core" %s >\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %(H I\ Wd +2 "manipulator"&f% +5 "core" %ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" & >\ +2 "collection"'& +4 "core" &Vj\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&d% +4 "core" %\  +2 "storage"(% +4 "core" %] \ +2 "storage"(". +3 "core" .( +2 "storage"(.& +3 "core" & \ +2 "storage"(m& +4 "core" & \ +2 "manipulator"&& +3 "core" & \   +3 .tElbow.seek 2 + "manipulator"&)( +4 "core" ( +2 "manipulator"&U& +3 "core" & E  +2 "storage"(>& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +94 "core" ' +2 "storage"('& +3 "core" & =\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +3 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & q  +2 "storage"(& +4 "core" & >\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +32 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +30 "core" ' +2 "manipulator"&!% +4 "core" %  +2 "storage"(J& +4 "core" & @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&W' +21 "core" ' + "manipulator"&|& +4 "core" & F  +2 "storage"(G& +4 "core" & R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(S'A +41 "core" ' +2 "manipulator"&L& +4 "core" & R  +2 "manipulator"&;% +4 "core" %u T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&F( +158 "core" ( +3 "manipulator"&h& +3 "core" &, . Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +2 "core" &, Bj +3 .tForearm.seek CC +2 "manipulator"&-'" +94 "core" ' +2 .tHand.close + "manipulator"&// +58 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( +2 "storage"(& +3 "core" & 3\ +2 "storage"(H& +4 "core" & \ +2 "manipulator"&(& +4 "core" & ( >N +2 "manipulator"&M% +4 "core" %  j  +2 .tForearm.seek :retract + "manipulator"&N'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +153 "core" ( +8 "manipulator"& & +4 "core" &  +2 "storage"(r& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&<' +98 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&p1 +53 "core" 1 +3 "manipulator"&X% +4 "core" %  K + "storage"(2& +4 "core" & .\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&4' +21 "core" ' +2 "manipulator"&T& +4 "core" &   +2 "storage"(& +3 "core" & \ \ >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +24 "core" ' +2 "storage"(k% +3 "core" %E\ \  V\ +3 ."downElevator"SE.seek :down +3 "storage"({'X +99 (~% +3 "core" %D \ \ \ \ V` +2 "manipulator"&% +5 "core" %ѫ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +91 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %T\ \  \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(#( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" & \  +2 "manipulator"&& +3 "core" & Y  +3 .tElbow.seek 3 +2 "manipulator"&6( +16 "core" ( +2 "manipulator"&t& +4 "core" & b  + "storage"(O& +5 "core" &\ \  h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +100 "core" ' +2 "storage"(s& +3 "core" &\ \ " \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +278 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" & \  +2 "manipulator"&e& +4 "core" & 2  +2 .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&y& +4 "core" &   + "storage"(w& +4 "core" &\ \ !\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&]& + "storage"('X +8 "core" & *  + "manipulator"&,% +4 "core" % Ϟ [ +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&l& +5 "core" &$ A ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &# ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +104 "core" ' +2 "manipulator"&V& +4 "core" &$  t ;7 +2 "manipulator"&n% +3 "core" % i +2 "collection"'`& +6 "core" & \ +2 "collection"'j& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +4 "core" & \ +52 &4 \ $e +4 &U{ \ 7 + &x \ L + &T \ L + &kW \ M + &-T \ M +4 &W \ L +9 &V \ M +9 &tU \ L +10 &6R \ L +9 &T \ L +10 &!W \ M +9 &#|Y \ L +9 &%=Y \ M +10 &'V \ L +9 &(R \ L +9 &*S \ L +10 &,FS \ L +9 &.R \ L +10 &/S \ L +9 &1T \ M +9 &3MU \ M +10 &5U \ M +9 &6U \ M +9 &8R \ L +10 &:UY \ M +9 &<Y \ M +10 &=V \ M +9 &?S \ \ L +9 &A]S \ M +10 &C W \ L +9 &DW \ L +10 &F`  \ N +9 &H]m\ \ \ O +9 &J\ \ \ \ T +10 &K\ \ \ X +9 &M\ \ \ X +9 &OK\ \ \ X +10 &Q \ \ \ Y +9 &R\ \  \ Z +9 &T\ \  \ Z +10 &V)u\ \ \ . +9 &V%\ \ \ V +9 ( +3 "collection"'j& +3 "core" &Vm\ \  \ K +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&B1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  x +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%1& +4 "core" &\ + "manipulator"&Z% +5 "core" %\  +2 "storage"(b% +3 "core" %U H\ +2 "storage"(7. +3 "core" .( +2 "storage"(&& +4 "core" & \\\  +2 "storage"(& +4 "core" & b\  +2 "manipulator"&C& +4 "core" &$ < ;7 +2 "manipulator"&K% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +166 "core" ( +2 "manipulator"&R& +3 "core" & D W +2 "storage"(v& +5 "core" & !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +104 "core" ' + "storage"(\ & +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +276 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&f& +4 "core" & B W +2 .tElbow.seek 3 + "manipulator"&@( +4 "core" ( +2 "manipulator"&i& +3 "core" & A W +2 "storage"( & +4 "core" & r\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(d'X +7 "core" & d W +2 "manipulator"&% +4 "core" % Ϧ  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&.& +4 "core" &n  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &m& +3 "core" &n 6 # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&U& +3 "core" &n , # +2 "manipulator"&>% +5 "core" % N +2 "processing"%_& +3 "core" &\ +3 "processing"%'& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &6\ +| +11 &\ f\ ? +8 &r\ N +9 &TU\ M +10 &Z\ N +9 &W\ N +9 &Z\ M +10 &\ N +9 &Z\ M +10 &Z\ N +9 & Y\ M +9 &"dU\ M +10 &$&U\ M +9 &%Z\ N +9 &'Z\ M +10 &)kV\ N +9 &+.U\ M +10 &,U\ M +9 &.Y\ N +9 &0sW\ N +10 &26V\ M +9 &3W\ M +9 &5[\ N +10 &7|W\ M +9 &9=T\ N +10 &;S\ M +9 &<Y\ N +9 &>W\ N +10 &@EY\ N +9 &BU\ M +9 &CZ\ M +10 &E^\ N +9 &GHh\ O +10 &I\ R +9 &J\ S +9 &L\ S +10 &ND\ S +9 &P\ S +9 &Q\ S +10 &S\ T +9 &UK\ T +10 &W \ T +9 &X\ U +9 &Z,Nj\ - +10 &Z%\ $ +5 ( +2 "processing"%'& +3 "core" &Z\ $ +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +64 "core" 1 +48 "manipulator"&D% +6 "core" % V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 "processing"%8& +3 "core" &Z\ $ +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  #  +2 "storage"(% +3 "core" %b E\ +2 "storage"(!. +4 "core" .( +2 "storage"(J& +4 "core" & \  +2 "storage"(|& +2 "manipulator"&G& +6 "core" & \  +2 &n # +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(L'i +3 "manipulator"&;(s +6 "core" ( +2 "manipulator"& & +4 "core" &n Z # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &n _ # +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&Q/ +55 "core" / +2 .tPC.seek :open +2 "processing"%W( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(h'y +43 "core" ' +290 ( + "storage"(E& +3 "core" & \  +2 "manipulator"&x& +5 "core" &n # +2 "manipulator"&a% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&/'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +262 "core" ( + "manipulator"&:& +4 "core" & ~  +2 "storage"(& +4 "core" & >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +95 "core" ' +2 .tHand.open + "manipulator"&(1 +58 "core" 1 +2 "storage"(M- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(F& +3 "core" &\ \  \  +3 "manipulator"&p& +4 "core" & R  +2 .tElbow.seek 3 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&2& +3 "core" & <  +2 "storage"(T& +4 "core" &\ \  \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +58 "core" ' + "manipulator"&N& +4 "core" &   +2 "storage"(~& +4 "core" & =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(<'i +23 "core" ' +2 "manipulator"&4% +4 "core" % H +2 "storage"(& +3 "core" & ;\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 302 counts +2 "manipulator"&'ϫ +12 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" & U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +24 "core" ' +2 "storage"(=% +4 "core" %s \ +48 ."downElevator"SE.seek :down +4 "storage"({'X +99 (u% +3 "core" %K \ Xe +2 "manipulator"&g% +4 "core" %I 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (t& +3 "core" & \  +2 "collection"'O& +3 "core" &Vm\ \ \ K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&s% +5 "core" %\   +2 "storage"([% +3 "core" %] M\ +2 "storage"(o. +4 "core" .( + "storage"(P& +4 "core" & V\  +2 "storage"(c& +3 "core" & U\  +3 "manipulator"&e& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +3 "manipulator"&w& +3 "core" & U  +2 "storage"(?& +4 "core" & r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +92 "core" ' + "storage"(,& +4 "core" & N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'i +283 "core" ' +3 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" & g  +2 "storage"(q& +4 "core" & W\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +31 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'U +28 "core" ' +2 "manipulator"&*% +3 "core" %n @ 4 +2 "storage"(`& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 285 counts +2 "manipulator"&'Ϛ +12 "core" ' + "manipulator"&Y& +4 "core" & .  +2 "storage"($& +3 "core" & T\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +38 "core" ' +2 "manipulator"&1& +3 "core" & g  +3 "manipulator"&Z% +4 "core" %W : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +161 "core" ( +3 "manipulator"&&& +3 "core" &$ x ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &$ ;3 +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&C/ +55 "core" / +2 .tCC.seek :open + "collection"'K( +417 "core" ( +2 "storage"(0& +3 "core" & \  +2 "storage"(R& +4 "core" & \  +2 "manipulator"&v& +4 "core" &$ w ;3 +2 "manipulator"&\ % +4 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&3'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&I( +159 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"(& +4 "core" &\ \  -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&f'} +100 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +42 .tHand.open +8 "manipulator"& 1 +55 "core" 1 +3 "manipulator"&9% +3 "core" % Ώ +3 "storage"(& +4 "core" & \  [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϻ +13 "core" ' + "manipulator"&& +3 "core" & @  +3 "storage"(+& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +25 "core" ' + "storage"(% +5 "core" %G\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(.'X +98 (m% +3 "core" %}C \ Wb +2 "manipulator"&@% +5 "core" %Y ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +94 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'>& +3 "core" & \ +2 "manipulator"&_% +4 "core" %\ % C +2 "storage"(d% +3 "core" %U\ \ \ +3 "storage"(\\. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \ +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&'( +35 "core" ( +2 "manipulator"&8& +4 "core" & _ & +2 "storage"(& +3 "core" & .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 "storage"(!& +4 "core" & \ \ # \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'i +285 "core" ' + "storage"(|- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & \ +2 "manipulator"& & +4 "core" &+ ` +2 .tElbow.seek 2 + "manipulator"&)( +24 "core" ( +2 "manipulator"&& +4 "core" & R  +2 "storage"(Q& +3 "core" & \ \ P\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +4 "storage"('X +4 "core" &   +3 "manipulator"&L% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&E'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&a& +4 "core" &. 7 g D{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &. i D{ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'" +104 "core" ' +2 "manipulator"&& +4 "core" &. D{ +2 "manipulator"&;% +3 "core" %) +3 "collection"'(& +3 "core" &  \ +3 "collection"'M& +5 "core" & \ +3 .tCC.seek :closed + "collection"'-(V +4 "core" & \ +8 &< \ $e +9 &W~ \ 7 +10 &x \ L +9 &T \ M +10 &vR \ L +9 &8R \ L +9 &X \ M +10 &U \ M +9 &~R \ L +9 &@S \ L +10 & V \ M +9 &!X \ L +9 &#T \ L +10 &%GW \ M +9 &' U \ M +10 &(Q \ L +9 &*R \ M +9 &,PR \ L +10 &.Q \ M +9 &/V \ L +10 &1S \ M +9 &3XV \ L +9 &5W \ M +10 &6U \ M +9 &8V \ L +9 &:_Y \ M +10 && +3 "core" & H\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&_' +18 "core" ' + "manipulator"&d& +4 "core" & p & +2 "storage"(\\& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +33 "core" ' + "storage"( % +5 "core" %k ^\ +2 ."downElevator"SE.seek :down +4 "storage"(.'X +99 (#% +3 "core" %G S\ Wd +2 "manipulator"&% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" & a\ +47 "collection"'& +5 "core" &Ve\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&!% +4 "core" %\   +2 "storage"(i% +3 "core" %a \ +2 "storage"(U. +5 "core" .( +2 "storage"(|& +4 "core" & \ +2 "storage"(G& +4 "core" & W\ +2 "manipulator"& & +4 "core" & & +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&Q& +3 "core" & & +2 "storage"("& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +96 "core" ' +2 "storage"(L& +4 "core" & P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +286 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & & +2 "storage"(& +3 "core" & :\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&J' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(;'S +36 "core" ' +2 "manipulator"&)% +4 "core" % +2 "storage"((& +4 "core" & e ] Q\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&E& +4 "core" & F & +2 "storage"(K& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(p'B +41 "core" ' + "manipulator"&T& +5 "core" & & + "manipulator"&/% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M( +154 "core" ( +3 "manipulator"&~& +4 "core" &, Z Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &, Bh +3 .tForearm.seek CC +2 "manipulator"&h'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(:& +3 "core" & \ +2 "storage"( & +4 "core" & \ +2 "manipulator"&=& +4 "core" &* ; @Z +2 "manipulator"&H% +3 "core" % & +3 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&2( +160 "core" ( +2 "manipulator"&& +3 "core" & U  +2 "storage"(u& +5 "core" & L\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&g' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&t% +3 "core" % N +2 "storage"(O& +4 "core" & L\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&[' +15 "core" ' +3 "manipulator"&& +3 "core" & .  +2 "storage"(A& +3 "core" & \ \ \ +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +33 "core" ' +2 "storage"(% +3 "core" %G\ \ \ +4 ."downElevator"SE.seek :down +3 "storage"(P'X +98 (c% +3 "core" %C \ \ Va +2 "manipulator"&X% +5 "core" %ю ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'?& +3 "core" & \ +3 "manipulator"&S% +3 "core" %\   +3 "storage"(s% +4 "core" %^\ #\ # \ + "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(W( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&l( +14 "core" ( +2 "manipulator"&q& +4 "core" & V r +2 "storage"(V& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +113 "core" ' +2 "storage"(`& +4 "core" &\ ,\ $ l\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +286 "core" ' + "storage"($- +4 "core" -' +6 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" & \  +6 "manipulator"&]& +4 "core" & V r +2 .tElbow.seek 3 +3 "manipulator"&y( +3 "core" ( +2 "manipulator"&e& +4 "core" & e r +2 "storage"(}& +3 "core" &\ \ \  C\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&n'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&^& +3 "storage"({'X +8 "core" & y r + "manipulator"&Z% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +154 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&z& + "storage"(5 +8 "core" &'  >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" &' 0 >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' + "manipulator"&0& +5 "core" &'  >K + "manipulator"&1% +5 "core" %\  +2 "collection"'v& +4 "core" & #\ +2 "collection"'\ & +5 "core" & !\ +3 .tCC.seek :closed + "collection"'(V +5 "core" & !\  +8 &1{ #\ *y +10 &e \ > +9 &{p \ N +9 &@Q  \ L +10 &S  \ L +9 &R \ L +10 &X \ M +9 &HU \ L +9 &\ S \ L +10 &R \ L +9 & S \ L +9 &"PS \ L +10 &$R \ L +9 &%U \ L +10 &'U \ L +9 &)XR \ L +9 &+W \ L +10 &,W \ L +9 &.U \ M +9 &0_U \ M +10 &2!T \ M +9 &3U \ L +10 &5R \ L +9 &7hW \ L +9 &9)U \ M +10 &:W \ M +9 &<T \ L +9 &>oT \ M +10 &@1U \ M +9 &AV \ M +10 &CT \ L +9 &ExY \ L +9 &G5e\ \ \ N +10 &Hr\ \ \ P +9 &J\ \ \ V +9 &L_\ \ \ X +10 &N#\ \ \ W +9 &O\ \ \ X +10 &Q\ \ \ X +9 &S`\ \ \ Z +9 &U"\ \ \ Z +10 &VoD\ \ \ 1 +9 &Vn\ \ \ I +5 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&71 +4 "core" &V_\ \ \ I +55 1 +3 "manipulator"& % +3 "core" % \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +145 "core" ' +5 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&C% +4 "core" %\ # @ +2 "storage"(3% +3 "core" %] 1\ +2 "storage"(I. +3 "core" .( +2 "storage"(& +5 "core" & ;\  + "storage"(>& +3 "core" & T\  +3 "manipulator"&&& +3 "core" &' >K +2 "manipulator"&d% +4 "core" %\ # r @ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\\( +165 "core" ( +2 "manipulator"&%& +4 "core" & ` +2 "storage"( & +4 "core" & t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +92 "core" ' +2 "storage"(R& +4 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 1\  +2 "manipulator"&+& +4 "core" & x ` +2 .tElbow.seek 3 + "manipulator"&9( +4 "core" ( +2 "manipulator"&& +3 "core" & ` +2 "storage"(m& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(f'X +8 "core" & ` +2 "manipulator"&!% +4 "core" % Ϣ +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +3 .tElbow.seek PC + "manipulator"&U(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&|& +4 "core" &{  `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &{  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 "manipulator"&Q& +4 "core" &{ a  +2 "manipulator"&"% +3 "core" % 8 +3 "processing"%& +4 "core" &v\ +2 "processing"%L& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%.(Z +5 "core" &_\ +7 &;\ $d +10 &V~\ 7 +9 &{\ K +9 &Z\ N +10 &^Z\ M +9 &Y\ N +9 &W\ M +10 &U\ M +9 &eZ\ M +9 &'Z\ M +10 &[\ M +9 &!Z\ M +10 &#mZ\ M +9 &%/Z\ M +9 &&Y\ M +10 &(W\ N +9 &*tY\ N +10 &,6Y\ N +9 &-[\ M +9 &/U\ M +10 &1}[\ M +9 &3?Y\ M +9 &5[\ M +10 &6Y\ N +9 &8W\ M +9 &:GY\ M +10 &<\ U\ M +9 &=X\ M +10 &?Y\ M +9 &AOX\ M +9 &CW\ M +10 &D_\ N +9 &Fd\ N +10 &HNy\ P +9 &J \ S +9 &K\ S +10 &M\ S +9 &OP\ R +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VT\ T +10 &X\ T +9 &Yzn\ 9 +10 &Z'i\ L +9 &Z#\ . +2 ( +2 "processing"%L& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&@1 +54 "core" 1 +2 "manipulator"&D% +3 "core" % r 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +3 "processing"%a& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" %\  B  +3 "storage"(% +3 "core" %b T\ +2 "storage"(). +3 "core" .( +2 "storage"((& +3 "core" & R\  +3 "storage"(E& +2 "manipulator"&K& +6 "core" & I\  +2 &{  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(T'i +2 "manipulator"&/(s +54 "core" ( +2 "manipulator"&5& +4 "core" &{   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{   +2 .tForearm.seek PC +2 "manipulator"&'' +99 "core" ' +2 .tHand.close + "manipulator"&J/ +57 "core" / +2 .tPC.seek :open + "processing"%( +36 "core" ' +2 "storage"(;- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'y +36 "core" ' +349 ( + "storage"(4& +4 "core" & C\  +2 "manipulator"&F& +3 "core" &{ E  +2 "manipulator"&% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N( +263 "core" ( +2 "manipulator"&-& +4 "core" &  +2 "storage"(:& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +97 "core" ' +3 .tHand.open + "manipulator"&=1 +57 "core" 1 +2 "storage"(H- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(u' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(M& +3 "core" &\ \  v\  +2 "manipulator"&& +4 "core" & \   +2 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&O& +4 "core" & H  +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +57 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(2& +5 "core" & G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +24 "core" ' + "manipulator"&[% +3 "core" %΃ y +3 "storage"(?& +3 "core" & k\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&S'ϯ +19 "core" ' +2 "manipulator"&s& +4 "core" & D  +2 "storage"(<& +3 "core" & n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +34 "core" ' +2 "storage"(r% +3 "core" %r t\ +3 ."downElevator"SE.seek :down +4 "storage"(P'X +98 ( % +4 "core" %H 8\ We +3 "manipulator"&% +3 "core" %< D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (q& +3 "core" & f\  +2 "collection"'V& +4 "core" &V_\ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&`% +3 "core" %\   +2 "storage"(k% +4 "core" %S \ +2 "storage"(w. +3 "core" .( +2 "storage"($& +3 "core" & \  +2 "storage"(Y& +4 "core" & \  +2 "manipulator"&]& +3 "core" & U  +3 .tElbow.seek 3 +40 "manipulator"&e( +11 "core" ( +2 "manipulator"&}& +3 "core" & K  +3 "storage"(o& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +93 "core" ' +2 "storage"(Z& +3 "core" & u\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +282 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & #  +2 "storage"(6& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&,'} +29 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(1'U +29 "core" ' +2 "manipulator"&v% +4 "core" %s l N + "storage"(y& +4 "core" & N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 290 counts +2 "manipulator"&{'ϟ +12 "core" ' + "manipulator"&j& +3 "core" &   +3 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'D +39 "core" ' + "manipulator"&\ & +5 "core" &  + "manipulator"&% +4 "core" %K J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +154 "core" ( +3 "manipulator"&I& +4 "core" &%  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  <; +2 .tForearm.seek CC +2 "manipulator"&>'" +93 "core" ' +2 .tHand.close + "manipulator"&&/ +54 "core" / +2 .tCC.seek :open + "collection"'d( +416 "core" ( +2 "storage"(& +3 "core" & \  +3 "storage"(%& +4 "core" & \  + "manipulator"& & +3 "core" &% <; +3 "manipulator"&R% +3 "core" %  \   +3 .tForearm.seek :retract + "manipulator"&B'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( + "manipulator"&#& +5 "core" & x + "storage"(& +4 "core" &\ $\ # \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&+'} +97 "core" ' +2 .tElbow.hold + "manipulator"&, +6 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tHand.open + "manipulator"&m1 +65 "core" 1 +3 "manipulator"&8% +3 "core" % ΋ +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&!'Ϸ +12 "core" ' +2 "manipulator"&\\& +4 "core" &  x +2 "storage"(b& +3 "core" &\ !\  6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' +2 "storage"(_% +3 "core" %N\ \ # p\ +3 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (G% +3 "core" %B \ V` +2 "manipulator"&9% +44 "core" %M W +9 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +88 "core" ' +6 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'"& +4 "core" & \ +2 "manipulator"&% +3 "core" %\  J  +2 "storage"(f% +5 "core" %a\ \  *\ + "storage"(i. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" & $\ +3 "manipulator"&D& +4 "core" & w x +2 .tElbow.seek 2 + "manipulator"&a( +32 "core" ( +2 "manipulator"&& +4 "core" & L "x +2 "storage"(& +3 "core" & \ \  !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +105 "core" ' +2 "storage"((& +4 "core" & \ #\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'i +282 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" & V\ +2 "manipulator"&5& +3 "core" & !p +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +3 "manipulator"& & +3 "core" & U !p +2 "storage"(J& +5 "core" & i\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&;' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(.'X +6 "core" & !p +2 "manipulator"&T% +5 "core" % 0 +3 .tForearm.seek :retract + "manipulator"&4'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +144 "core" ( +2 "manipulator"&& +3 "core" & v 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" & s 8 + ' + ."downElevator"SE.stop +5 .tForearm.reconfigure :tight +3 "storage"(5 + "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +2 "manipulator"&-'" +105 "core" ' +3 "manipulator"&:& +4 "core" &! Z 8 +2 "manipulator"&/% +5 "core" %( O +2 "collection"'=& +3 "core" & \ +3 "collection"'H& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'h(V +5 "core" & \  +8 &2| \ *x +10 &d \ > +9 &|p \ M +10 &@S \ L +9 &W \ \ M +9 &T \ L +10 &T \ L +9 &HW \ L +9 &\ S \ L +10 &R \ L +9 & T \ L +10 &"OW \ M +9 &$U \ L +9 &%U \ L +10 &'W \ M +9 &)XT \ L +9 &+T \ L +10 &,V \ L +9 &.W \ L +10 &0_W \ M +9 &2!T \ M +9 &3W \ L +10 &5V \ L +9 &7hW \ L +9 &9*R \ L +10 &:U \ L +9 &<U \ L +10 &>oS \ M +9 &@2R \ L +9 &AT \ L +10 &CY \ M +9 &EvV \ M +9 &G3d\  \ O +10 &Hr\ \ \ P +9 &J\ \ \ \ U +10 &L]\ \ \ X +9 &N \ \ \ \ X +9 &O\ \ \ \ X +10 &Q\ \ \ Y +9 &Sa\ \ \ Z +9 &U"\ \ \ Z +10 &VmC\ \ \ 1 +9 &Vs\ \ \ K +6 ( + "collection"'H& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&M1 +3 "core" &Ve\ \ \ K +49 1 +2 "manipulator"&% +5 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &\ +3 "manipulator"&% +4 "core" %\ \  +2 "storage"(% +3 "core" %_ \ +2 "storage"(2. +3 "core" .( +2 "storage"([& +3 "core" & ^\ +3 "storage"(~& +4 "core" & \ + "manipulator"&?& +5 "core" & 8 + "manipulator"&% +48 "core" %\ \ `  +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&s( +157 "core" ( +5 "manipulator"&<& +5 "core" & +2 "storage"(r& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +92 "core" ' +2 "storage"( & +3 "core" & \ +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & w\ +3 "manipulator"&A& +4 "core" & V +2 .tElbow.seek 2 + "manipulator"&t( +3 "core" ( +2 "manipulator"&x& +3 "core" & / +2 "storage"(c& +5 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(`'X +8 "core" & L +2 "manipulator"&k% +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&w(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&$& +4 "core" &{  o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &{ 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +96 "core" ' + "manipulator"&}& +5 "core" &{ + "manipulator"&o% +5 "core" %  + "processing"%p& +5 "core" &f\ +2 "processing"%Z& +5 "core" &O\ +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &`\ +7 &9H\ #c +10 &U\ 7 +9 &|\ L +9 &Y\ M +10 &fZ\ N +9 &(Y\ N +9 &Y\ N +10 &Y\ N +9 &nY\ N +10 &0W\ N +9 &Z\ M +9 &!Z\ M +10 &#vZ\ N +9 &%9Y\ M +9 &&VU\ M +10 &(U\ M +9 &*~V\ N +10 &,@YJ\ N +9 &.[X\ M +9 &/Y\ M +10 &1Z\ M +9 &3IZ\ M +9 &5\ Y\ N +10 &6U\ M +9 &8Y\ M +10 &:QZ\ M +9 &<X\ M +9 &=Y\ M +10 &?Y\ M +9 &AYV\ M +9 &CW\ N +10 &DZ\ N +9 &Fc\ O +10 &HVx\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OW\ S +9 &Q\ T +10 &R\ T +9 &T\ T +10 &V^\ T +9 &X \ T +9 &Yzn\ 5 +10 &Z.\ M +9 &Z\ ( +2 ( +2 "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&X1 +59 "core" 1 +2 "manipulator"&% +4 "core" % |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +92 "core" ' +3 "processing"%z& +3 "core" &Z\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&6% +3 "core" %\  ~  +3 "storage"(0% +4 "core" %a S\ + "storage"(v. +3 "core" .( +2 "storage"(y& +3 "core" & =\ +3 "storage"(j& +2 "manipulator"&& +8 "core" & L\ + &{  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&\ (s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +3 "manipulator"&^& +3 "core" &{  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &{ k +3 .tForearm.seek PC + "manipulator"&l' +102 "core" ' +2 .tHand.close + "manipulator"&,/ +59 "core" / +41 .tPC.seek :open +9 "processing"%{( +34 "core" ' + "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(I'y +46 "core" ' +341 ( + "storage"(& +4 "core" & c\ +2 "manipulator"&7& +5 "core" &{ + "manipulator"&n% +4 "core" % ~ +3 .tForearm.seek :retract + "manipulator"&&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +258 "core" ( +2 "manipulator"&& +4 "core" & % +2 "storage"(& +3 "core" & %\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +97 "core" ' +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "storage"(R- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +3 "core" -' +2 "storage"(3& +4 "core" & v\ +2 "manipulator"&m& +3 "core" & % +3 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&& +3 "core" &  % +2 "storage"(\\& +5 "core" & H\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(_' +62 "core" ' + "manipulator"&B& +3 "core" & % +3 "storage"(G& +3 "core" & 4\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&9' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'i +24 "core" ' +2 "manipulator"&!% +3 "core" % g +2 "storage"("& +5 "core" & ;\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&' +20 "core" ' + "manipulator"&f& +3 "core" & O % +3 "storage"(i& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +28 "core" ' +2 "storage"(% +3 "core" %r 7\ +3 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (W% +4 "core" %I } \ Xf +3 "manipulator"&@% +3 "core" %Ѡ r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & \ +3 "collection"'& +4 "core" &Vd\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&(% +4 "core" %\  +2 "storage"(% +3 "core" %a B\ +2 "storage"(Q. +4 "core" .( + "storage"(E& +4 "core" & \ +2 "storage"(K& +4 "core" & 9\ +2 "manipulator"&5& +4 "core" & % +2 .tElbow.seek 2 + "manipulator"& ( +3 "core" ( +2 "manipulator"&J& +4 "core" & R % +2 "storage"(U& +3 "core" & 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +86 "core" ' +2 "storage"(T& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +50 .tSE.seek :beamBreak +2 "storage"(a'i +285 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & % +3 "storage"('& +4 "core" & ;\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&L' +33 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'S +30 "core" ' +2 "manipulator"&% +4 "core" % p + "storage"(=& +5 "core" & [ [ E\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&.' +18 "core" ' +2 "manipulator"&4& +4 "core" & Y % + "storage"(d& +5 "core" & w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +40 "core" ' + "manipulator"&& +5 "core" & % + "manipulator"&% +4 "core" %| +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +151 "core" ( +3 "manipulator"&[& +3 "core" &% k <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &% <? +3 .tForearm.seek CC +2 "manipulator"&~'" +100 "core" ' + .tHand.close +2 "manipulator"&?/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(-& +4 "core" & \ +2 "storage"(<& +4 "core" & \ +2 "manipulator"&r& +4 "core" &% 5 <> + "manipulator"& % +5 "core" % ' v +2 .tForearm.seek :retract + "manipulator"&F'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&O( +157 "core" ( +2 "manipulator"& & +3 "core" & a  +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&A' +107 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&c1 +52 "core" 1 +2 "manipulator"&q% +4 "core" % g + "storage"(V& +5 "core" & f\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&k' +17 "core" ' + "manipulator"&s& +5 "core" &   + "storage"(N& +3 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +28 "core" ' +2 "storage"(S% +3 "core" %D\ \  8\ +3 ."downElevator"SE.seek :down +4 "storage"($'X +98 (Y% +3 "core" %D \ Wb +2 "manipulator"&t% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'o& +4 "core" & \ +2 "manipulator"&p% +4 "core" %\ [  +2 "storage"(`% +46 "core" %a\ !\ " \ +5 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" & \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&z( +14 "core" ( +2 "manipulator"&6& +4 "core" & l +2 "storage"(0& +3 "core" &\ #\ " \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +86 "core" ' + "storage"(y& +4 "core" &\ +\ $ J\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" & \  +2 "manipulator"&^& +3 "core" & H +3 .tElbow.seek 3 + "manipulator"&e( +13 "core" ( +2 "manipulator"&]& +3 "core" & [ \ +2 "storage"(,& +5 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&*& + "storage"(P'X +7 "core" &  \ +2 "manipulator"&% +3 "core" % ϩ u +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&n& +4 "core" &' % L >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &' / >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +100 "core" ' +2 "manipulator"&& +3 "core" &( >K +3 "manipulator"&\ % +4 "core" %' +2 "collection"' & +3 "core" & %\ +3 "collection"'R& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'>(V +4 "core" &  \ +7 &5 \ $e +10 &V| \ 7 +9 &x \ L +9 &S \ L +10 &mU \ M +9 &1Q \ L +9 &W \ L +10 &W \ L +9 &vS  \ L +10 &8R \ L +9 &R \ M +9 &!U \ M +10 &#~W \ L +9 &%@W  \ L +9 &'R \ L +10 &(R  \ L +9 &*W \ M +10 &,HU \ L +9 &.\ Q \ L +9 &/R \ L +10 &1R \ M +9 &3PT \ L +9 &5S  \ L +10 &6V \ M +9 &8Q \ L +10 &:WT \ M +9 &<Y \ M +9 &=W \ M +10 &?T \ L +9 &A`T \ L +9 &C!W \ M +10 &DW \ M +9 &F] \ N +10 &H_n\ \ \ O +9 &J\ \ \ T +9 &K\ \ \ W +10 &M\ \ \ X +9 &OO\ \ \ X +9 &Q\ \ \ \ X +10 &R\ \ \ Y +9 &T\ \ \ Z +10 &V.u\ \ \ . +9 &V!\ \ \ M +9 ( + &V`\ \ \ I +3 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&31 +63 "core" 1 +2 "manipulator"&m% +4 "core" % & T +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\\& +4 "core" &\ +2 "manipulator"&&% +3 "core" %\ ! Q 8 +2 "storage"(B% +5 "core" %U 3\ + "storage"(G. +3 "core" .( +2 "storage"(I& +4 "core" & I\  +2 "storage"(!& +4 "core" & +\  + "manipulator"&"& +4 "core" &' >K +2 "manipulator"&#% +4 "core" %\ ] 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +163 "core" ( +2 "manipulator"&i& +3 "core" & k m +2 "storage"(& +3 "core" & '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +139 "core" ' +5 "storage"(%& +4 "core" & T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (@& +2 "core" & \  +3 "manipulator"&b& +4 "core" & m +2 .tElbow.seek 3 + "manipulator"&8( +4 "core" ( +2 "manipulator"&_& +101 "core" & \  m +2 "storage"(9& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(('X +8 "core" & m + "manipulator"&% +4 "core" % ϣ  +3 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&E& +3 "core" &{  B  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &{ i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&5' +97 "core" ' +2 "manipulator"&J& +3 "core" &{  +2 "manipulator"&U% +6 "core" % O +2 "processing"% & +3 "core" &\ +3 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &\  +10 &2}\ *x +9 &b\ = +9 &nt\ N +10 &1T\ M +9 &Z\ M +10 &Za\ M +9 &vX\ N +9 &9X\ M +10 &W\ M +9 &UZ\ M +9 & W\ M +10 &"@X\ N +9 &$T\ M +10 &%Z\ M +9 &'W\ M +9 &)IUl\ M +10 &+ W\ M +9 &,XY\ N +9 &.YT\ N +10 &0PW\ N +9 &2W\ N +10 &3W\ M +9 &5W\ N +9 &7YX\ M +10 &9U4\ M +9 &:T \ M +9 &<XU\ M +10 &>aVe\ M +9 &@#Uq\ M +9 &AUV\ M +10 &CYU\ M +9 &Eh]o\ N +10 &G%h\ O +9 &HW\ R +9 &J\ S +10 &L^\ T +9 &N!#\ S +10 &O\ S +9 &Q\ S +9 &Sg\ S +10 &U'\ T +9 &V\ T +9 &X\ U +10 &Zc\ &t +9 &ZZ\ 1 +9 ( +2 "processing"%T& +3 "core" &Z \ - +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +97 "core" ' +2 "processing"%& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&'% +4 "core" %\  \\ " +2 "storage"(:% +3 "core" %U S\ +2 "storage"(. +3 "core" .( +2 "storage"(=& +3 "core" & >\  +3 "storage"(4& +2 "manipulator"&d& +6 "core" & @\  +2 &{ f  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&& +4 "core" &{ ;  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &{ X  +3 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' + .tHand.close +2 "manipulator"&L/ +53 "core" / +2 .tPC.seek :open +2 "processing"%.( +95 "core" ' + "storage"(/- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +45 "core" ' +280 ( + "storage"(H& +4 "core" & n\  +2 "manipulator"&M& +4 "core" &{ ^  +41 "manipulator"&;% +11 "core" % \  $ +3 .tForearm.seek :retract +2 "manipulator"&?'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&h& +3 "core" & k 3 +2 "storage"(-& +4 "core" & Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +97 "core" ' + .tHand.open + "manipulator"&r1 +55 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(2& +3 "core" &\ \ \  +2 "manipulator"&c& +5 "core" & 3 + .tElbow.seek 3 +2 "manipulator"&q( +9 "core" ( +2 "manipulator"&V& +4 "core" & r  +2 "storage"(s& +4 "core" &\ \  \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(S' +63 "core" ' +2 "manipulator"&F& +3 "core" &  +3 "storage"(Y& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&t'} +19 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(A'i +24 "core" ' + "manipulator"&k% +4 "core" %΍ +2 "storage"(o& +4 "core" & 6\  +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&p'Ϲ +19 "core" ' +2 "manipulator"&`& +3 "core" & f  +2 "storage"(& +5 "core" & S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +25 "core" ' +2 "storage"(u% +4 "core" %s l\ +2 ."downElevator"SE.seek :down +4 "storage"($'X +99 (% +3 "core" %'G K\ We +2 "manipulator"&X% +4 "core" %r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" & ?\  +2 "collection"'0& +4 "core" &V`\ \ \  \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&y% +3 "core" %\   +3 "storage"(x% +3 "core" %[ \ +2 "storage"(}. +4 "core" .( + "storage"(j& +3 "core" & \  +3 "storage"(Z& +3 "core" & \  +2 "manipulator"&^& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&]( +10 "core" ( + "manipulator"&,& +4 "core" &  +2 "storage"(w& +4 "core" & `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +98 "core" ' +3 "storage"(& +4 "core" & `\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +285 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &  +2 "storage"(l& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek 3 +9 "manipulator"&'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\ 'U +28 "core" ' +2 "manipulator"& % +3 "core" %΁ } y +3 "storage"(e& +4 "core" & b\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&P'ϭ +12 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & j\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'D +43 "core" ' +2 "manipulator"&\\& +4 "core" & J  +2 "manipulator"&&% +4 "core" %\\ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +151 "core" ( + "manipulator"&R& +4 "core" &( ] ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &( Y ?Q +2 .tForearm.seek CC +2 "manipulator"&!'" +96 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +2 .tCC.seek :open +2 "collection"'#( +416 "core" ( +2 "storage"(& +3 "core" & &\  +2 "storage"(i& +3 "core" & \  +3 "manipulator"&& +3 "core" &( ?Q +2 "manipulator"&7% +3 "core" % 0 +3 .tForearm.seek :retract +2 "manipulator"&%'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( + "manipulator"&W& +3 "core" & K } +3 "storage"(@& +3 "core" &\ \  7\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&b'} +92 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +62 "core" 1 +2 "manipulator"&% +4 "core" % Έ ` +2 "storage"(& +3 "core" & l\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +13 "core" ' + "manipulator"&f& +4 "core" & l } +2 "storage"(C& +3 "core" &\ \  &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' + "storage"(% +5 "core" %F\ "\ ! \ +2 ."downElevator"SE.seek :down +3 "storage"(E'X +100 (K% +4 "core" %A \ Va +2 "manipulator"&8% +4 "core" %Y F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +97 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'U& +3 "core" & \ +2 "manipulator"& % +4 "core" %\ +  +2 "storage"((% +4 "core" %a\ #\ # \ +2 "storage"(+. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"({( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \ +2 "manipulator"&D& +4 "core" & \ } +2 .tElbow.seek 2 +44 "manipulator"&( +43 "core" ( + "manipulator"&'& +4 "core" & # +2 "storage"(:& +3 "core" & \ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +108 "core" ' +2 "storage"(=& +4 "core" & \ "\ " \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +283 "core" ' +3 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & T\ +2 "manipulator"&& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&5& +3 "core" & I # +2 "storage"(L& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"(|'X +8 "core" & # + "manipulator"&% +5 "core" %  R +2 .tForearm.seek :retract + "manipulator"&H'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M( +151 "core" ( + "manipulator"&;& +4 "core" &' + >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' +3 ."downElevator"SE.stop +3 "manipulator"&a& + "storage"(5 +6 "core" &' >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&h'" +97 "core" ' +3 "manipulator"&-& +4 "core" &' >M +2 "manipulator"&% +3 "core" %+ +3 "collection"'r& +4 "core" & 2\ +2 "collection"' & +5 "core" & 1\ +2 .tCC.seek :closed +2 "collection"'~(V +5 "core" & &\ +8 &> *\ %f +9 &X~ #\ 8 +9 &u 3\ L +10 &S &\ L +9 &zQ *\ L +9 &<Q \ L +10 &W \ M +9 &T (\ L +9 &W #\ M +10 &DU \ L +9 & W \ M +10 &!U \ L +9 &#T \ L + "Can"\ I\\ +8 "core" &%LW \ \ L +10 &'V \ L +9 &(U \ L +9 &*W \ L +10 &,TW \ L +9 &.V \ L +10 &/V \ L +9 &1W \ M +9 &3\\T \ L +10 &5V \ L +9 &6W  \ M +10 &8T  \ L +9 &:cS  \ M +9 &<%Y \ M +10 &=W \ M +9 &?S  \ M +9 &AkU \ M +10 &C.S \ L +9 &DV  \ M +9 &F_ \ M +12 &Hjp\ \  \ P +7 &J!\ \ \ T +10 &K\ \ \ \ W +9 &M\ \ \ X +9 &O[\ \ \ X +10 &Q\ \ \ \ X +9 &R\ \ \ Y +9 &T\ \ \ Z +10 &V*k\ \ \ . +9 &V'\ \ \ R +9 ( +3 "collection"' & +3 "core" &Vj\ \ \ \ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&21 +53 "core" 1 +2 "manipulator"&c% +3 "core" % + r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%s& +3 "core" &\ +2 "manipulator"&?% +4 "core" %\  l  +2 "storage"(F% +4 "core" %U z\ +2 "storage"(Y. +3 "core" .( +2 "storage"([& +3 "core" & u\ +2 "storage"(k& +4 "core" & B\ +2 "manipulator"&o& +4 "core" &% <@ +2 "manipulator"& % +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +154 "core" ( + "manipulator"&& +5 "core" & H + "storage"(u& +4 "core" & Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(<& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & \ +50 "manipulator"&N& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&q( +4 "core" ( +2 "manipulator"&S& +3 "core" & +2 "storage"(t& +5 "core" & d\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&p' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"(y'X +8 "core" & +2 "manipulator"&x% +3 "core" %  \  +3 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( + "manipulator"&j& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +95 "core" ' +2 "manipulator"&,& +3 "core" &m y +3 "manipulator"&w% +3 "core" % + +3 "processing"%g& +4 "core" &\ +2 "processing"%& +5 "core" &\ +3 .tPC.seek :closed + "processing"%$(Z +5 "core" &\  +8 &3|\ *x +9 &c\ > +10 &xu\ N +9 &9Y\ N +10 &Y\ N +9 &Y\ N +9 &Y\ N +10 &AW\ N +9 &ZS\ M +9 &Z\ M +10 & W\ M +9 &"JVg\ M +10 &$ W\ M +9 &%Z\ N +9 &'W\ M +10 &)RZ\ M +9 &+U\ M +9 &,Y\ M +10 &.[\ M +9 &0ZYX\ M +10 &2YJ\ N +9 &3Yd\ N +9 &5Z\ M +10 &7bT"\ M +9 &9$YH\ M +9 &:YT\ M +10 &<YT\ M +9 &>jU\ M +10 &@,\\\ M +9 &AW\ N +9 &C\\\ N +10 &Ep_\ N +9 &G.k\ O +9 &HP\ R +10 &J\ S +9 &Lh\ S +10 &N*\ S +9 &O\ T +9 &Q\ T +10 &So\ T +9 &U1\ T +9 &V\ T +10 &X\ T +9 &Z!]\ #l +10 &Z^\ - +8 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&O1 +2 "core" &Z\ ) +54 1 +2 "manipulator"&% +3 "core" % g + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +99 "core" ' + "processing"%n& +5 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&l% +3 "core" %\ # 6 ? +3 "storage"(% +3 "core" %T E\ +2 "storage"( . +3 "core" .( +2 "storage"(e& +4 "core" & \ +2 "storage"(& +3 "manipulator"&& +7 "core" & 7\ + &m K +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(\\'i + "manipulator"&&(s +6 "core" ( +2 "manipulator"&*& +3 "core" &m f +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &m +2 .tForearm.seek PC +2 "manipulator"&z' +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%P( +81 "core" ' +2 "storage"(\ - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'y +47 "core" ' +297 ( +2 "storage"(I& +3 "core" & K\ +2 "manipulator"&3& +4 "core" &m +2 "manipulator"&1% +4 "core" % V  +2 .tForearm.seek :retract + "manipulator"&"'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +255 "core" ( + "manipulator"&>& +4 "core" & K  +41 "storage"(& +11 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +91 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(7- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(W'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(@' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(G& +3 "core" & \ \  \ +3 "manipulator"&9& +4 "core" & .  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & J  +3 "storage"(f& +4 "core" & \ \  \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&%& +3 "core" &  +3 "storage"(K& +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&8' +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +24 "core" ' +2 "manipulator"&% +3 "core" % ( f +3 "storage"(U& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"& ' +21 "core" ' + "manipulator"&(& +3 "core" & o  +3 "storage"(+& +3 "core" & F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +17 "core" ' +2 "storage"(% +4 "core" %l \  +2 ."downElevator"SE.seek :down +4 "storage"(E'X +98 (% +3 "core" %~G K\ We +2 "manipulator"&% +5 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +89 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +3 "core" & \ +3 "collection"':& +4 "core" &Vj\ \ \  \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&=% +3 "core" %\   +3 "storage"(_% +3 "core" %` u\  +2 "storage"(J. +3 "core" .( +2 "storage"(d& +3 "core" & \ +2 "storage"(4& +4 "core" & \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&L& +3 "core" & 4  +2 "storage"(Q& +5 "core" & f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +90 "core" ' + "storage"(& +4 "core" & \ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +4 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" &  +2 "storage"(a& +4 "core" & Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T' +32 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(-- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +75 "core" ' +5 "manipulator"&r% +4 "core" % + "storage"( & +5 "core" & ~  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&|' +20 "core" ' +2 "manipulator"&H& +4 "core" & k  +2 "storage"(#& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'B +40 "core" ' +2 "manipulator"&s& +3 "core" & n  +3 "manipulator"&?% +4 "core" %Ѻ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +151 "core" ( + "manipulator"&[& +4 "core" &' j >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &' s >N +2 .tForearm.seek CC +2 "manipulator"&o'" +96 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +419 "core" ( +2 "storage"(h& +3 "core" & \ +2 "storage"(& +3 "core" & 3\ +3 "manipulator"&u& +3 "core" &( >K +2 "manipulator"&<% +4 "core" % 1 \\ +2 .tForearm.seek :retract +2 "manipulator"&M'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&V( +155 "core" ( + "manipulator"&& +3 "core" & Q  +3 "storage"(X& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&N' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +58 "core" 1 +2 "manipulator"&6% +3 "core" % { +2 "storage"(0& +3 "core" & =\ +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&x' +14 "core" ' +2 "manipulator"&`& +4 "core" &   + "storage"(& +5 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' + "storage"(p% +5 "core" %F\ \  I\ +2 ."downElevator"SE.seek :down +3 "storage"(j'X +99 (Z% +3 "core" %C -\ Va +2 "manipulator"&q% +4 "core" % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +100 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'w& +3 "core" &  \ +2 "manipulator"&g% +4 "core" %\  O  +2 "storage"(y% +3 "core" %a\ \  p\ +2 "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(.( +344 "core" ( +72 .tSC.configure :limp +3 "storage"($\ 1b +3 (O& +3 "core" & \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&n( +13 "core" ( +2 "manipulator"&l& +3 "core" & W m +2 "storage"(& +4 "core" &\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +96 "core" ' +2 "storage"(e& +4 "core" &\ $\ + g\  +44 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&*& +5 "core" & W m +2 .tElbow.seek 3 + "manipulator"&]( +4 "core" ( + "manipulator"&^& +4 "core" &  m +2 "storage"(& +4 "core" &\ \ \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&v& +3 "storage"($'X +8 "core" & m + "manipulator"&\\% +5 "core" % Ϣ 6 +2 .tForearm.seek :retract + "manipulator"&I'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +157 "core" ( +2 "manipulator"&1& +4 "core" ' + &* ! = @^ +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&z& +3 "core" &*  @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'" +95 "core" ' +3 "manipulator"&& +4 "core" &*  @^ +2 "manipulator"&&% +3 "core" % q  +3 "collection"'& +3 "core" & +\ +3 "collection"'7& +5 "core" & 0\ +3 .tCC.seek :closed + "collection"'!(V +5 "core" & 1\  +8 &2{ /\ *y +9 &d 0\ > +9 &}o 2\ M +10 &BQ 5\ L +9 &U 0\ M +10 &U 1\ L +9 &R 1\ L +9 &IR 3\ L +10 & R 5\ L +9 &V %\ L +9 & U \ M +10 &"PT (\ M +9 &$T &\ M +10 &%W \ L +9 &'V .\ L +9 &)XT '\ M +10 &+U \ L +9 &,Q \ L +9 &.Q \ L +10 &0aU \ L +9 &2#U \ L +10 &3U \ M +9 &5T  \ M +9 &7hU \ M +10 &9+T  \ L +9 &:S \ M +9 &<Y \ \ L +10 &>qR \ L +9 &@3R \ \ L +9 &AT \ L +10 &CV \ M +9 &EwW  \ M +10 &G6e \ \ N +9 &Hq\ \ \ P +9 &J\ \ \ U +10 &L`\ \ \ X +9 &N!\ \ \ \ X +9 &O\ \ \  \ X +10 &Q\ \ \  \ Y +9 &Sb\ \ \ Z +10 &U%\ \ \ Y +9 &VlB\ \ \ 1 +9 &Vo\ \  \ H +6 ( + "collection"'7& +4 "core" &V`\ \  \ H +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&G1 +63 "core" 1 +2 "manipulator"&9% +5 "core" %  ! D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%f& +4 "core" &\ +2 "manipulator"&"% +4 "core" %\ \ b  + "storage"(%% +5 "core" %_ s\ + "storage"(K. +4 "core" .( + "storage"(& +4 "core" & \  +2 "storage"(R& +3 "core" & \  +2 "manipulator"&U& +4 "core" &) Q @^ +2 "manipulator"&W% +4 "core" %\ \ <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +160 "core" ( +2 "manipulator"&+& +3 "core" & ! q +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +103 "core" ' +2 "storage"(i& +4 "core" & @\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & >\  +2 "manipulator"&C& +3 "core" & q +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 4 q +2 "storage"(8& +4 "core" & y\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +50 .tHand.close + "manipulator"& / +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(='X +8 "core" & q +2 "manipulator"&_% +4 "core" % ϕ d  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&d(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&b& +5 "core" &u  S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&L& +4 "core" &u +2 "manipulator"&Q% +3 "core" %  +3 "processing"%m& +3 "core" &E\ +3 "processing"%& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &O\  +9 &2}\ *x +10 &a\ = +9 &mu\ N +9 &/U7\ M +10 &Z3\ M +9 &ZN\ M +10 &tWN\ N +9 &6W=\ N +9 &Z\ N +10 &Y\ M +9 & }W\ M +9 &"?Z\ M +10 &$W\ N +9 &%X\ M +10 &'V\ M +9 &)GZ\ M +9 &+Y\ N +10 &,Y\ M +9 &.\\\ M +9 &0OZ\ M +10 &2X\ N +9 &3X\ M +10 &5Wf\ M +9 &7WZ\ M +9 &9Y\ M +10 &:T\ M +9 &<Z\ M +9 &>_W\ M +10 &@!V8\ M +9 &AYM\ M +10 &C]\ M +9 &Ef]e\ N +9 &G#i\ O +10 &H\ R +9 &J\ S +9 &L\\\ T +10 &N\ T +9 &O\ T +10 &Q\ T +9 &Sd\ T +9 &U&\ T +10 &V\ T +9 &X\ T +9 &Zc\ %s +10 &Zb\ 2 +8 ( +2 &Z\ , +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&D% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 "processing"%;& +3 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %\   +3 "storage"(-% +4 "core" %` 4\ + "storage"(r. +3 "core" .( +2 "storage"( & +3 "core" & O\  +3 "storage"(H& +3 "manipulator"&#& +6 "core" & G\  +2 &u  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&s(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(?'i +3 "core" ( +2 "manipulator"&)& +3 "core" &u m +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &u +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&T/ +57 "core" / +2 .tPC.seek :open +2 "processing"%|( +93 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['y +37 "core" ' +291 ( + "storage"(k& +4 "core" & Z\  +2 "manipulator"&2& +3 "core" &u < +2 "manipulator"&/% +4 "core" % +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&F( +259 "core" ( + "manipulator"&~& +5 "core" & g  +2 "storage"(h& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 .tHand.open + "manipulator"&u1 +55 "core" 1 +2 "storage"(<- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +72 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(X' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(Y& +5 "core" &\ \  \  + "manipulator"&t& +5 "core" &  +2 .tElbow.seek 3 + "manipulator"&6( +9 "core" ( +2 "manipulator"&0& +3 "core" &  +2 "storage"(`& +5 "core" &\ \  \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(p' +63 "core" ' +2 "manipulator"&M& +3 "core" &  +2 "storage"(Z& +4 "core" & s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&q'} +25 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'i +24 "core" ' +2 "manipulator"&x% +4 "core" %΃ + "storage"(w& +5 "core" & R\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&g'ϯ +20 "core" ' + "manipulator"&y& +4 "core" &  +2 "storage"(A& +3 "core" & o\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +17 "core" ' +2 "storage"(% +3 "core" %r V\ +3 ."downElevator"SE.seek :down +4 "storage"(j'X +99 ({% +3 "core" %-G z\ Wc +2 "manipulator"&O% +4 "core" %5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (l& +3 "core" & F\  +2 "collection"'& +4 "core" &V`\ \ \ H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&e% +3 "core" %\  +3 "storage"(S% +4 "core" %] \ +2 "storage"(,. +2 "core" .( +2 "storage"(& +4 "core" & `\  +2 "storage"(& +4 "core" & \  +2 "manipulator"&*& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&^( +4 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(}& +4 "core" & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +90 "core" ' + "storage"(\\& +5 "core" & l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &  +3 "storage"(z& +4 "core" & Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'U +30 "core" ' + "manipulator"&% +4 "core" %Ύ +2 "storage"(]& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&$'Ϻ +19 "core" ' +2 "manipulator"&I& +3 "core" & -  +3 "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 3 + 700 counts +9 "manipulator"&G'9 +36 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(9'D +40 "core" ' +2 "manipulator"&f& +4 "core" &  +2 "manipulator"&"% +3 "core" %: , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +159 "core" ( +2 "manipulator"&K& +3 "core" && { =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && m =C +3 .tForearm.seek CC + "manipulator"&R'" +94 "core" ' + .tHand.close +2 "manipulator"&U/ +56 "core" / +2 .tCC.seek :open +2 "collection"'W( +419 "core" ( +2 "storage"(>& +3 "core" & \  +2 "storage"(+& +3 "core" & \  +3 "manipulator"&& +4 "core" && ~ =C + "manipulator"&i% +5 "core" % # | ) +2 .tForearm.seek :retract + "manipulator"&3'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" & t +2 "storage"(& +3 "core" &\ #\ " \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&C'} +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&81 +60 "core" 1 +2 "manipulator"& % +4 "core" % ΐ [ + "storage"(:& +4 "core" & \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&_'ϼ +20 "core" ' +2 "manipulator"&(& +3 "core" &  +2 "storage"(B& +5 "core" &\ \ ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +34 "core" ' +2 "storage"('% +3 "core" %M\ \  t\ +3 ."downElevator"SE.seek :down +4 "storage"(b'X +98 (4% +3 "core" %E \ \ )\ Wa +2 "manipulator"&% +11 "core" %= V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +94 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +44660 "Can"\ 4OP +60002 \ 4 +60002 \ 4| +60002 \ 4 +60002 \ 4J +60002 \ 4> +60002 \ 4ԫ +15586 #t-> exit +6 #mEXIT @1694035712.21EDT @1694106916.79EDT = =tMAIN =mMAIN_scheduler @EDT1694106917.48 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@59789 select with ifg=0x10, ie=0xF5 + #@60437 receive with ifg=0x10, ie=0xFD + #@61085 receive with ifg=0x10, ie=0xFD + #@61733 receive with ifg=0x10, ie=0xFD + #@62060 receive with ifg=0x80, ie=0xFD #@53999 sendCRC with ifg=0x20, ie=0x7F + #@54446 sendCRC with ifg=0x20, ie=0x7F #@56037 sendCRC with ifg=0x08, ie=0x5F + #@37040 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +358 "Can"\ 2M  + \ 2M  + #tPolling Can every 10:00 +25 #Cleanly exited at 17:28:32EDT06-Sep-23 +1854 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %E\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(2% +3 "core" %U \ +2 "manipulator"&3% +3 "core" %\ ! 7 +2 "manipulator"&4& +4 "core" & \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(5(K +965 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K 2\  +583 #t-> require 'shuffle.rb' +885 #-> 20.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" & \ +2 .tHand.open + "manipulator"&81 +26 "core" 1 +2 "manipulator"&9% +3 "core" %\ ! g 7 +2 "storage"(:% +4 "core" %U \ +2 "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(<( +1289 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" & d\ +2 "manipulator"&>& +4 "core" & } +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&?( +40 "core" ( + "manipulator"&@& +4 "core" & : +2 "storage"(A& +3 "core" & E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +103 "core" ' +2 "storage"(C& +3 "core" & \ \  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'i +279 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (F& +2 "core" & \ +3 "manipulator"&G& +3 "core" &  : +3 .tElbow.seek 2 +2 "manipulator"&H( +20 "core" ( +2 "manipulator"&I& +3 "core" & t  +2 "storage"(J& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&K' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&M& +2 "storage"(N'X +7 "core" & !  +2 "manipulator"&O% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q( +152 "core" ( +2 "manipulator"&R& +3 "core" &&  =D +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&S& +2 "storage"(5 +4 "core" && W =D +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'" +102 "core" ' +3 "manipulator"&U& +4 "core" && v =D +2 "manipulator"&V% +4 "core" % B +2 "collection"'W& +4 "core" & \ +2 "collection"'X& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'Y(V +4 "core" & \ +8 & . \ $c +9 &T \ 7 +10 & \ L +9 &Z \ O +9 &SY \ N +10 &\\  \ N +9 &Z \ N +10 &V  \ N +9 &[\\ \ N +9 &Z \ N +10 &[ \ N +9 &!\\ \ O +9 &#cY \ N +10 &%%\\ \ N +9 &&Z \ N +10 &(Y \ O +9 &*kZ \ N +9 &,-W \ N +10 &-W \ N +42 &/Y \ O +3 &1rY \ O + &35Y \ N +2 &4Y \ O + &6\\ \ O +7 &8{W \ \ N +9 &:=] \ N +10 &;] \ O +9 &=] \ N +9 &?\\ \ N +10 &AE\\ \ N +9 &C] \ N +10 &D\\ \ O +9 &Ff \ P +9 &HCx \ \ R +10 &I\ \ \ V +9 &K \ \ Y +9 &Ms \ \ Y +10 &O5 \ \ Y +9 &P \ \ Y +10 &R \ \ Z +9 &Tw \ \ [ +9 &Vv \ \ / +10 &V2 \ \ W +9 ( + &V[ \ \ E +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&Z1 +61 "core" 1 +2 "manipulator"&[% +5 "core" %  \ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%]& +4 "core" &\ +2 "manipulator"&^% +3 "core" %\ +  +3 "storage"(_% +4 "core" %U D\ + "storage"(`. +3 "core" .( +2 "storage"(a& +4 "core" & \ +2 "storage"(b& +4 "core" & \ + "manipulator"&c& +4 "core" &&  =D +2 "manipulator"&d% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +161 "core" ( +2 "manipulator"&f& +3 "core" & H  +3 "storage"(g& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&h'ќ +97 "core" ' +2 "storage"(i& +4 "core" & ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(j'i +287 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & \ +2 "manipulator"&m& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&n( +4 "core" ( + "manipulator"&o& +3 "core" & )  +3 "storage"(p& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&q' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(t'X +8 "core" & <  +2 "manipulator"&u% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&w(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&x& +5 "core" &q < - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &q - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&z' +94 "core" ' +2 "manipulator"&{& +4 "core" &q @ - +2 "manipulator"&|% +3 "core" %  +3 "processing"%}& +4 "core" &\ +2 "processing"%~& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &2v\ )w +9 &b\ > +10 &qv\ N +9 &3\\\ N +10 &Z\ N +9 &\\\ N +9 &w\\\ \ O +10 &:Z\ N +9 &^\ O +9 &[\ N +10 & ^\ N +9 &"B]\ N +10 &$Z\ O +9 &%\\\ N +9 &'Z\ N +10 &)J^\ N +9 &+ \\\ N +9 &,Y\ N +10 &.X\ N +9 &0R]\ N +10 &2]\ N +9 &3Z\ O +9 &5\\\ N +10 &7ZY\ N +9 &9_\ N +9 &:\\\ N +10 &<[\ N +9 &>c[\ N +10 &@#^\ O +9 &A[\ N +9 &Ca\ O +10 &Eid\ O +9 &G&m\ P +9 &H\ R +10 &J\ T +9 &La\ T +10 &N#\ T +9 &O\ T +9 &Q\ T +10 &Sh\ T +9 &U*\ T +9 &V\ T +10 &X\ U +9 &Z`\ #m +9 &ZY\ , +10 ( + &Z\ ) +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" %  O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z|\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %] L\ +2 "storage"( . +3 "core" .( +2 "storage"( & +3 "core" & B\ +3 "storage"( & +3 "manipulator"&& +4 "core" & 3\ +45 &q - +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +6 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i + "manipulator"&(s +7 "core" ( +2 "manipulator"&& +4 "core" &q < - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q ] - +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +3 .tPC.seek :open +2 "processing"%( +79 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +308 ( +2 "storage"(& +3 "core" & w\ +2 "manipulator"&& +5 "core" &q p - + "manipulator"&% +4 "core" % T  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +249 "core" ( +2 "manipulator"& & +3 "core" & "} +3 "storage"(!& +4 "core" & m z n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&"'ќ +91 "core" ' +2 .tHand.open + "manipulator" +54 "core" 1 +2 "storage"($- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(&' +46 "core" ' +3 #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"((& +3 "core" & \ )\ * G\ +2 "manipulator"&)& +4 "core" & q "y +2 .tElbow.seek 2 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&+& +4 "core" & F "y +2 "storage"(,& +4 "core" & \ )\ * h\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +61 "core" ' +2 "manipulator"&/& +3 "core" & m "y +2 "storage"(0& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&1' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(3'i +23 "core" ' +2 "manipulator"&4% +3 "core" % / +2 "storage"(& +4 "core" & { !\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&6' +20 "core" ' +2 "manipulator"&7& +3 "core" & "y +2 "storage"(8& +4 "core" & L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +27 "core" ' +2 "storage"(:% +3 "core" %m P\ +3 ."downElevator"SE.seek :down +4 "storage"(;'X +98 (5% +3 "core" %D n y Z\ We +2 "manipulator"&=% +4 "core" %Ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (@& +3 "core" & 4\ +3 "collection"'A& +4 "core" &V\\\ \ \ E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&C% +3 "core" %\    +3 "storage"(% +4 "core" %U \ + "storage"(. +3 "core" .( +2 "storage"(E& +3 "core" & \ +2 "storage"(F& +4 "core" & u\ +2 "manipulator"&G& +4 "core" & "y +2 .tElbow.seek 2 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&J& +3 "core" &  h "y +2 "storage"(L& +4 "core" & \ +37 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +91 "core" ' +2 "storage"(O& +4 "core" & P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'i +278 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & d "y +2 "storage"(S& +4 "core" & ,\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&D' +34 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(V'S +28 "core" ' +2 "manipulator"&H% +3 "core" % ^ +2 "storage"(W& +4 "core" & e g -\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&N' +19 "core" ' + "manipulator"&P& +5 "core" & \\ "y + "storage"(\ & +4 "core" & g\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(['B +46 "core" ' +2 "manipulator"&]& +3 "core" & o "y +2 "manipulator"&^% +4 "core" %ї O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&`( +148 "core" ( +4 "manipulator"&X& +4 "core" &' L >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &' 4 2 >K +3 .tForearm.seek CC +2 "manipulator"&b'" +97 "core" ' +2 .tHand.close + "manipulator"&c/ +57 "core" / + .tCC.seek :open +2 "collection"'d( +417 "core" ( + "storage"(T& +4 "core" & W\ +2 "storage"(f& +3 "core" & <\ +2 "manipulator"&g& +4 "core" &( 7 >K +2 "manipulator"&i% +3 "core" %  R +3 .tForearm.seek :retract + "manipulator"&Q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\\( +156 "core" ( +2 "manipulator"&k& +3 "core" & G ~ +2 "storage"(l& +5 "core" & \ \ \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&m' +109 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&p1 +58 "core" 1 +2 "manipulator"&r% +4 "core" % : +2 "storage"(s& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&u' +19 "core" ' +2 "manipulator"&e& +4 "core" &  ~ + "storage"(h& +5 "core" & \  v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +31 "core" ' + "storage"(q% +4 "core" %K\ \ '\ +2 ."downElevator"SE.seek :down +4 "storage"(x'X +99 (y% +3 "core" %@ ;\ Va +2 "manipulator"&n% +3 "core" % S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'|& +3 "core" & \ +2 "manipulator"&}% +4 "core" %\  e  +2 "storage"(t% +4 "core" %V\ \ \ +2 "storage"(v. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +37 "storage"($\ 1b +10 (& +3 "core" & \  +2 "manipulator"&& +4 "core" & h ~ +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" & B f +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +86 "core" ' +2 "storage"( & +3 "core" &\ \  \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +287 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & \  +2 "manipulator"&& +3 "core" & i f +4 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&z& +3 "core" & Z f +2 "storage"(& +5 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & a f +2 "manipulator"&% +4 "core" % Ϝ v +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &# p :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &# % :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +101 "core" ' +3 "manipulator"&!& +3 "core" &#  :+ +2 "manipulator"&% +5 "core" %, w + "collection"'#& +5 "core" & \ +2 "collection"'$& +5 "core" & \ +3 .tCC.seek :closed + "collection"''(V +5 "core" & \ \ +8 &/{ \ *y +9 &e \ ? +10 &ys \ O +9 &=W \ N +10 &] \ N +9 &X \ M +9 &X \ N +10 &FX \ M +9 &Y \ N +9 &Z \ N +10 & Z \ N +9 &"NY \ M +10 &$Y \ N +9 &%Z \ M +9 &'Y \ N +10 &)U[ \ N +9 &+V \ N +9 &,X \ M +10 &.Y \ N +9 &0\\\\ \ N +10 &2 V \ M +9 &3X \ N +9 &5[ \ N +10 &7eY \ N +9 &9'V \ N +9 &:Z \ N +10 &<[ \ N +9 &>lY \ N +10 &@/Y \ N +9 &AW \ N +9 &CY \ N +10 &Es^ \ N +9 &G0g \ P +9 &Hv \ R +10 &J \ W +9 &L[ \ Y +10 &N \ \ Y +9 &O \ \ Z +9 &Q \ \ Z +10 &S^ \ \ [\ +9 &U \ \ [\ +9 &VmD \ \ 1 +10 &Vr \ \ H +5 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&(1 +2 "core" &Vl \ \ H +56 1 +60 "manipulator"&)% +4 "core" % & S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%,& +3 "core" &m\ +2 "manipulator"&% +5 "core" %\  3  + "storage"(/% +3 "core" %c \ +2 "storage"(0. +3 "core" .( +2 "storage"(4& +3 "core" & {\  +3 "storage"(& +4 "core" & n l \  + "manipulator"&& +4 "core" &# ' :+ +2 "manipulator"&%% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7( +156 "core" ( +2 "manipulator"&8& +4 "core" & f  + "storage"(:& +4 "core" & 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + "storage"("& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'i +284 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" & 8\  +2 "manipulator"&-& +4 "core" & z  +2 .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&.& +39 "core" & G  +9 "storage"(1& +4 "core" & W\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&6'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&A& +3 "storage"(C'X +7 "core" & J  +2 "manipulator"&% +4 "core" % Ϥ R < +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + .tElbow.seek PC +2 "manipulator"&3(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&E& +4 "core" &|  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &| & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +94 "core" ' + "manipulator"&J& +4 "core" &| / +2 "manipulator"&L% +4 "core" %   +2 "processing"%9& +3 "core" &\ +3 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%;(Z +4 "core" &\  +9 &2~\ )w +10 &c\ > +9 &my\ N +9 &/Y\ N +10 &[\ N +9 &Y\ N +9 &s[\ O +10 &7Z\ N +9 &\\\ N +10 &]\ N +9 & |]\ N +9 &"?]\ N +10 &$Z\ N +9 &%]\ N +9 &'\\\ N +10 &)F]\ N +9 &+\\\ N +10 &,X\ N +9 &.\\\ N +9 &0N]\ N +10 &2[\ N +9 &3Z\ N +9 &5\\\ N +10 &7V[\ N +9 &9[\ N +10 &:W\ N +9 &<Z\ N +9 &>^Z\ N +10 &@ _\ N +9 &AZ\ N +9 &C_\ N +10 &Ef_\ N +9 &G#m\ P +10 &H\ R +9 &J\ T +9 &L]\ T +10 &N!\ S +9 &O\ T +9 &Q\ T +10 &Se\ T +9 &U&\ T +10 &V}\ T +9 &X\ U +9 &Zd}\ 'x +10 &Zfw\ 5 +9 ( + &Z!}\ . +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&21 +60 "core" 1 +2 "manipulator"&>% +4 "core" %  R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' +2 "processing"%R& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&S% +4 "core" %\  k  +2 "storage"(U% +4 "core" %U | L\ +2 "storage"(H. +3 "core" .( +2 "storage"(W& +4 "core" & ~  \  +2 "storage"(P& +2 "manipulator"&\ & +7 "core" & ~  \  + &|  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&](s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'i +3 "core" ( + "manipulator"&M& +4 "core" &|  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &| w +3 .tForearm.seek PC + "manipulator"&?' +95 "core" ' +2 .tHand.close + "manipulator"&D/ +53 "core" / +2 .tPC.seek :open +2 "processing"%N( +99 "core" ' +2 "storage"(V- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +43 "core" ' +283 ( + "storage"(a& +3 "core" & X\  +2 "manipulator"&Z& +4 "core" &| o +2 "manipulator"&K% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&_( +246 "core" ( + "manipulator"&Y& +4 "core" & d  +2 "storage"(T& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +95 "core" ' +2 .tHand.open + "manipulator"&g1 +60 "core" 1 +3 "storage"(i- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(k'E +37 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(l' +53 "core" ' +9 #tLights, camera, ACTION! +2 "storage"(b- +3 "core" -' +2 "storage"(`& +3 "core" & .\  +2 "manipulator"&p& +5 "core" & L  + .tElbow.seek 3 +2 "manipulator"&r( +10 "core" ( + "manipulator"&s& +5 "core" & k  + "storage"(e& +3 "core" & V\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +58 "core" ' + "manipulator"&Q& +4 "core" &  +2 "storage"(y& +4 "core" & f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'} +26 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(m'i +23 "core" ' +2 "manipulator"&u% +3 "core" %y w +2 "storage"(|& +4 "core" & r l Z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 296 counts + "manipulator"&}'ϥ +20 "core" ' +2 "manipulator"&t& +3 "core" & S  +2 "storage"(v& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +29 "core" ' +2 "storage"(j% +3 "core" %k <\  +3 ."downElevator"SE.seek :down +4 "storage"(x'X +99 (<% +4 "core" %9F t j 5\ Xg +2 "manipulator"&% +4 "core" %B W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & M\  +3 "collection"'& +4 "core" &Vk \ \ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\  _ ~ +2 "storage"(o% +3 "core" %] \ +2 "storage"({. +3 "core" .( +2 "storage"(& +3 "core" & \  +3 "storage"(~& +8 "core" & +\  +4 "manipulator"&& +9 "core" & H  +2 .tElbow.seek 3 +2 "manipulator"&z( +8 "core" ( +2 "manipulator"&& +3 "core" & < +3 "storage"(w& +4 "core" & g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +89 "core" ' + "storage"(& +4 "core" & +\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ` +2 "storage"(& +4 "core" & @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +28 "core" ' + "manipulator"&#% +4 "core" %΀ 0 z +2 "storage"(& +4 "core" & j |\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +19 "core" ' +2 "manipulator"&& +3 "core" & N +2 "storage"(d& +3 "core" & D\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'D +39 "core" ' +2 "manipulator"&$& +3 "core" & m +2 "manipulator"&,% +3 "core" %* y p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&/( +151 "core" ( +3 "manipulator"&0& +4 "core" &*  @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +39 "core" &* @] +10 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'%( +417 "core" ( + "storage"( & +4 "core" & \  +2 "storage"(8& +4 "core" & \  +2 "manipulator"&:& +3 "core" &) ?T +2 "manipulator"&"% +3 "core" % % t +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&+( +160 "core" ( +2 "manipulator"&5& +4 "core" & `  +2 "storage"(=& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +97 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +57 "core" 1 +3 "manipulator"&@% +4 "core" % ΍ 6 + "storage"(A& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 "manipulator"&7& +4 "core" & (  +2 "storage"(& +3 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +29 "core" ' +2 "storage"(6% +4 "core" %M\ "\  p\ +2 ."downElevator"SE.seek :down +3 "storage"(E'X +100 (F% +3 "core" %+C k\ Vb +2 "manipulator"&*% +4 "core" % k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'L& +3 "core" & \ +2 "manipulator"&9% +4 "core" %\   +2 "storage"(C% +3 "core" %`\ \ n\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" & \ +2 "manipulator"&>& +3 "core" & E  +3 .tElbow.seek 2 + "manipulator"&R( +27 "core" ( + "manipulator"&S& +4 "core" & c +2 "storage"(U& +3 "core" & '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +88 "core" ' +2 "storage"(W& +4 "core" & \ \  =\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +282 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & T\ +2 "manipulator"&M& +3 "core" & a +3 .tElbow.seek 2 + "manipulator"&I( +4 "core" ( +2 "manipulator"&G& +3 "core" & h a +2 "storage"(D& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(;'X +9 "core" & i a +2 "manipulator"&^% +3 "core" %  ( _ +3 .tForearm.seek :retract + "manipulator"&a'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +147 "core" ( + "manipulator"&K& +4 "core" && ? =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' +2 "manipulator"&?& + ."downElevator"SE.stop +5 "storage"(5 +2 "core" && =E +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Y'" +96 "core" ' +9 "manipulator"&T& +3 "core" &&  =E +3 "manipulator"&]% +4 "core" %   +2 "collection"'g& +3 "core" & \ +3 "collection"'i& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'b(V +4 "core" & \ +5 & \ 3 +10 &=F~ \ 1 +9 &ls \ E +9 &b \ N +10 &Y \ M +9 &W \ M +10 &YY \ N +9 &V \ M +9 &[ \ N +10 &W \ M +9 &bW \ M +10 &!#V \ N +9 &"Y \ N +9 &$Y \ N +10 &&kZ \ M +9 &(+Z \ N +9 &)X \ M +10 &+[ \ M +9 &-qX \ N +9 &/4Y \ M +10 &0\\ \ M +9 &2U \ M +10 &4{Z \ M +9 &6;Z \ N +9 &7[ \ M +10 &9X \ N +9 &;] \ M +10 &=CV \ N +9 &?Y \ N +9 &@Y \ N +10 &BZ \ M +9 &DKX \ N +9 &F _ \ N +10 &Gm \ P +9 &I \ \ S +9 &K5\ \ X +10 &L \ \ Y +9 &N \ \ Y +10 &Pw\ \ Y +9 &R9 \ \ Y +9 &S \ \ [\ +10 &U \ H +9 &V2 \ \ %o +9 &Vn \ \ J +3 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&`1 +56 "core" 1 + "manipulator"&p% +5 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%s& +3 "core" &\ +2 "manipulator"&e% +3 "core" %\  <  +3 "storage"(Q% +3 "core" %U { =\ +2 "storage"(y. +3 "core" .( +2 "storage"(X& +4 "core" & {  b\ +2 "storage"(u& +3 "core" & ~ \ +2 "manipulator"&|& +4 "core" &&  =E +2 "manipulator"&k% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&t( +158 "core" ( + "manipulator"&v& +4 "core" & 3  +2 "storage"(j& +4 "core" & K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +88 "core" ' + "storage"(f& +4 "core" & e\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +284 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & } -\ +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&q& +3 "core" &  +2 "storage"(n& +4 "core" & n\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&}' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( 'X +8 "core" &  + "manipulator"&o% +5 "core" % j ! +2 .tForearm.seek :retract + "manipulator"&{'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +3 "manipulator"&& +3 "core" &l   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &l ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' +2 "manipulator"&& +3 "core" &o I +2 "manipulator"&w% +5 "core" % . L +2 "processing"%[& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%x(Z +5 "core" &\ +7 &:\ $c +10 &T\ 7 +9 &~\ L +9 &]\ N +10 &U\\\ N +9 &[\ N +10 &[\ N +9 &Z\ N +9 &^[\ N +10 & Z\ N +9 &[\ N +9 &![\ N +10 &#e[\ N +9 &%(Z\ N +10 &&Z\ N +9 &(\\\ N +9 &*m[\ N +10 &,/[\ N +9 &-Z\ N +9 &/Y\ N +10 &1uZ\ N +9 &36Z\ N +10 &4Z\ N +9 &6Z\ N +9 &8~Y\ N +10 &:@Z\ N +9 &<Y\ N +9 &=[\ N +10 &?Y\ N +9 &AGY\ N +10 &C \\\ N +9 &D_\ O +9 &Fe\ O +10 &HE|\ Q +9 &J\ T +9 &K\ S +10 &M\ T +9 &OF\ T +10 &Q \ S +9 &R\ T +9 &T\ T +10 &VL\ T +9 &X \ U +9 &Yzm\ < +10 &Z%[\ T +9 &Z%\ 1 +3 ( + "processing"%& +55 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&\\1 +3 "core" &Z&\ 1 + &Z&\ 1 + &Z&\ 1 + &Z&\ 1 + &Z&\ 1 +57 1 + "manipulator"&% +5 "core" %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 "processing"%& +4 "core" &Z&v\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\  2  + "storage"(!% +5 "core" %U j t :\ +2 "storage"(#. +3 "core" .( +2 "storage"(& +3 "core" & w\ +3 "storage"(& +2 "manipulator"&d& +5 "core" & z } 6\ +3 &o ; +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&$(s +3 "core" ( +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&,& + "storage"('i +6 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &z& +2 "core" &o i +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%( +95 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +43 "core" ' +283 ( +3 "storage"(4& +4 "core" & |\ +2 "manipulator"&(& +4 "core" &o + "manipulator"&% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +248 "core" ( + "manipulator"&'& +4 "core" & @ # +2 "storage"( & +3 "core" & p o \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +97 "core" ' + .tHand.open +2 "manipulator"&:1 +62 "core" 1 +2 "storage"("- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(/& +4 "core" & \ +2 "manipulator"&1& +4 "core" & P # +2 .tElbow.seek 2 + "manipulator"&@( +4 "core" ( + "manipulator"&A& +5 "core" & V # + "storage"(7& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +58 "core" ' +2 "manipulator"&& +3 "core" & J # +2 "storage"(F& +4 "core" & { \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&*' +30 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +25 "core" ' + "manipulator"&% +5 "core" %  D + "storage"(L& +4 "core" & g g o\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&9' +20 "core" ' +2 "manipulator"&C& +4 "core" & ; # + "storage"(& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +24 "core" ' +2 "storage"(&% +3 "core" %o *\ +3 ."downElevator"SE.seek :down +4 "storage"(E'X +98 ( % +5 "core" %G j v \ We +2 "manipulator"&2% +3 "core" %ѝ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +128 "core" ' +28 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +3 "core" & v | q\ +2 "collection"'U& +4 "core" &Vm \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&W% +4 "core" %\  z  +2 "storage"(.% +4 "core" %b F\ +2 "storage"(J. +3 "core" .( +2 "storage"(\ & +3 "core" & A\ +3 "storage"(P& +3 "core" & C\ +2 "manipulator"&M& +4 "core" & j # +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&D& +3 "core" & # +3 "storage"(3& +4 "core" & B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +91 "core" ' +2 "storage"(^& +3 "core" & /\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +285 "core" ' + "storage"(H- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & # +2 "storage"(?& +4 "core" & !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&O' +31 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(]'S +31 "core" ' +2 "manipulator"&g% +4 "core" %    +2 "storage"(I& +4 "core" & 9 : 8\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&;' +20 "core" ' +2 "manipulator"&a& +3 "core" & # +2 "storage"(%& +5 "core" & ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(p'B +41 "core" ' +2 "manipulator"&s& +3 "core" & # +2 "manipulator"&e% +4 "core" %ј +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +148 "core" ( +2 "manipulator"&X& +3 "core" && 3 =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" && =C +3 .tForearm.seek CC + "manipulator"&i'" +93 "core" ' +2 .tHand.close + "manipulator"&|/ +57 "core" / +2 .tCC.seek :open + "collection"'k( +418 "core" ( +2 "storage"(Y& +4 "core" & '\ + "storage"(v& +4 "core" & \ +2 "manipulator"&j& +3 "core" &% V <? +2 "manipulator"&f% +4 "core" % # X +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&c( +157 "core" ( +2 "manipulator"&<& +4 "core" & S  +2 "storage"(& +4 "core" & q\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&h' +109 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +53 "core" 1 +2 "manipulator"&% +3 "core" % ` +2 "storage"(& +4 "core" & U\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&o' +18 "core" ' +3 "manipulator"&t& +3 "core" &   +2 "storage"(_& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +34 "core" ' +2 "storage"(}% +4 "core" %I\  F\ +2 ."downElevator"SE.seek :down +42 "storage"('X +60 (~% +3 "core" %ZC \ Wb +2 "manipulator"&r% +5 "core" %ѝ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +101 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +3 "core" & \ +2 "manipulator"&[% +5 "core" %\  ?  + "storage"( % +4 "core" %a\ \ \  +2 "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(N( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" & \  +2 "manipulator"&& +4 "core" & n  +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&& +3 "core" & o +3 "storage"(!& +4 "core" &\ \  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"(#& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +3 "core" & \  +2 "manipulator"&,& +3 "core" &  o +3 .tElbow.seek 3 + "manipulator"&z( +3 "core" ( +2 "manipulator"&& +3 "core" & H o +3 "storage"( & +3 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(x'X +8 "core" & N o +2 "manipulator"&% +3 "core" % ϳ B n +3 .tForearm.seek :retract + "manipulator"&4'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +156 "core" ( + "manipulator"&& +5 "core" ' + &( ?R +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&& +6 "core" &( ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''" +93 "core" ' +2 "manipulator"& & +3 "core" &) ?R +2 "manipulator"&$% +5 "core" %  +2 "collection"':& +3 "core" & \ +3 "collection"'"& +5 "core" & \ +2 .tCC.seek :closed +4 "collection"'(V +4 "core" & \ +5 & \ 4 +9 &?H| \ 0 +10 &ir \ E +9 &_ \ M +9 &Y \ N +10 &W \ M +9 &TT \ M +9 &U \ M +10 &U \ M +9 &T \ M +9 &\\U \ M +10 &!U \ M +9 &"T \ M +10 &$U \ M +9 &&dT \ M +9 &(&Y \ M +10 &)W \ M +9 &+Y \ M +10 &-lW \ M +9 &/.W \ M +9 &0U \ M +10 &2W \ N +9 &4uW \ M +9 &66W \ M +10 &7U \ M +9 &9X \ N +10 &;{Y \ N +9 &==W \ N +9 &?W \ M +10 &@U \ M +9 &BX \ N +9 &DEY \ N +10 &F` \ N +9 &Gn \ P +9 &I}~ \ R +10 &K/ \ \ X +9 &L \ \ Y +10 &N \ Y +9 &Pq \ \ Y +9 &R3 \ \ Y +10 &S\  \ [\ +9 &U \ \ H +9 &V4 \ \ %q +10 &Vn \ \ I +2 ( +2 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&/1 +56 "core" 1 +2 "manipulator"&1% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%7& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ ! 0 + "storage"(% +4 "core" %S p q !\ +2 "storage"(F. +3 "core" .( +2 "storage"(0& +3 "core" & p q\  +2 "storage"(& +4 "core" & k v\  +2 "manipulator"&L& +4 "core" &( ?R +2 "manipulator"&5% +4 "core" %\ 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&C( +163 "core" ( +2 "manipulator"&& +4 "core" &  { +41 "storage"(&& +12 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(8& +3 "core" & Y\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(='i +281 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" & \  +2 "manipulator"&& +4 "core" & m { +2 .tElbow.seek 3 +2 "manipulator"&@( +4 "core" ( + "manipulator"&6& +4 "core" & $ { +2 "storage"(*& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&9'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&S/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +3 "storage"(W'X +7 "core" & & { +2 "manipulator"&.% +4 "core" % ϛ W +2 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&J(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&\ & +3 "core" &o ( f +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +99 "core" ' +2 "manipulator"&D& +3 "core" &o ) +3 "manipulator"&3% +4 "core" % 3 +2 "processing"%)& +3 "core" &\ +3 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &\ +7 & 0\ $d +10 &U\ 7 +9 &\ L +9 &\\\ N +10 &^\\\ N +9 & Y\ N +9 &Y\ N +10 &Y\ N +9 &g[\ N +9 &*Z\ M +10 &\\\ N +9 &!Z\ N +10 &#n[\ N +9 &%1Y\ N +9 &&Y\ N +10 &(Z\ N +9 &*wZ\ N +9 &,9Z\ N +10 &-[\ N +9 &/Y\ N +10 &1Y\ N +9 &3AX\ N +9 &5\\\ N +10 &6Y\ N +9 &8Y\ N +9 &:IZ\ N +10 &<\ W\ N +9 &=Y\ N +10 &?Y\ N +9 &AQW\ N +9 &CZ\ N +10 &D]\ O +9 &Fc\ O +10 &HN}\ Q +9 &J \ T +9 &K\ T +10 &M\ S +9 &OO\ T +9 &Q\ T +10 &R\ U +9 &T\ T +10 &VT\ U +9 &X\ U +9 &Y{n\ 8 +10 &Z-\ J +9 &Z\ + +2 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&+1 +52 "core" 1 +2 "manipulator"&>% +3 "core" % T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +97 "core" ' +2 "processing"%K& +3 "core" &Z\ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&?% +3 "core" %\   +3 "storage"(T% +3 "core" %U } \ +2 "storage"(g. +3 "core" .( +2 "storage"(I& +4 "core" & } ~ \  +2 "storage"(a& +3 "manipulator"&%& +5 "core" & o z \  +3 &o  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&s(s + "storage"(e'i +6 "core" ( +2 "manipulator"&B& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &o  +3 .tForearm.seek PC + "manipulator"&R' +96 "core" ' + .tHand.close +2 "manipulator"&O/ +61 "core" / +3 .tPC.seek :open +2 "processing"%;( +82 "core" ' +2 "storage"(]- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +47 "core" ' +291 ( + "storage"(u& +4 "core" & J\  +2 "manipulator"&`& +4 "core" &o +2 "manipulator"&V% +3 "core" % p  +3 .tForearm.seek :retract +2 "manipulator"&|'\ +132 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +261 "core" ( +2 "manipulator"&b& +3 "core" & x  +2 "storage"(Y& +4 "core" & M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +102 "core" ' +2 .tHand.open + "manipulator"&j1 +55 "core" 1 +2 "storage"(f- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(<'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(y& +3 "core" & \  \  +2 "manipulator"&n& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & D  +2 "storage"(t& +4 "core" & \  m\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +58 "core" ' +2 "manipulator"&Z& +3 "core" & K  +2 "storage"(~& +4 "core" & =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'} +27 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +24 "core" ' + "manipulator"&o% +5 "core" %΅ x + "storage"(p& +3 "core" & m\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&w'ϱ +20 "core" ' +2 "manipulator"&[& +3 "core" &   +2 "storage"( & +4 "core" & m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +32 "core" ' +2 "storage"(l% +3 "core" %j !\  +4 ."downElevator"SE.seek :down +3 "storage"('X +98 (% +3 "core" %E z k _\ We +2 "manipulator"&\\% +5 "core" %2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 4\  +2 "collection"'!& +3 "core" &Vm \ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&#% +3 "core" %\ j  +3 "storage"(q% +4 "core" %b \ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & Z\  +2 "storage"(d& +3 "core" & \  +3 "manipulator"&,& +3 "core" & [  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & c  +3 "storage"(m& +4 "core" & H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +97 "core" ' +2 "storage"(& +3 "core" & d\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +50 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"($'U +30 "core" ' + "manipulator"&:% +4 "core" %Ά D +2 "storage"(z& +3 "core" &  \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&x'ϲ +20 "core" ' +2 "manipulator"&4& +3 "core" &   +2 "storage"(k& +4 "core" & 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(1'D +41 "core" ' +2 "manipulator"&7& +3 "core" & e  +2 "manipulator"&% +4 "core" % g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +152 "core" ( +3 "manipulator"&0& +3 "core" &$  ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &$ ;2 +3 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&L/ +53 "core" / +2 .tCC.seek :open +2 "collection"'5( +416 "core" ( +2 "storage"('& +4 "core" & \  +2 "storage"(& +3 "core" & 3\  +3 "manipulator"&&& +4 "core" &$  ;2 + "manipulator"&(% +4 "core" % *  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&A( +159 "core" ( +2 "manipulator"& & +3 "core" & c  +2 "storage"(2& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +99 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +55 "core" 1 +2 "manipulator"&S% +4 "core" % ΂ E + "storage"(U& +5 "core" & k\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&.'Ϯ +20 "core" ' +3 "manipulator"&C& +3 "core" &   +2 "storage"(& +4 "core" &\ \ ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +38 "core" ' + "storage"(9% +4 "core" %L\ \  t\ +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (P% +3 "core" %A M\ Wb +2 "manipulator"&@% +4 "core" % M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'3& +3 "core" & \ +2 "manipulator"&)% +4 "core" %\ 6  +2 "storage"(W% +4 "core" %`\ \  [\ +2 "storage"(-. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & x\ +2 "manipulator"&>& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&K( +30 "core" ( + "manipulator"&?& +4 "core" & Z # +2 "storage"(T& +3 "core" & \ \  \ +46 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +92 "core" ' + "storage"(I& +3 "core" & \ \ x\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +284 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" & M\ +2 "manipulator"&B& +4 "core" & "| +2 .tElbow.seek 2 +2 "manipulator"&G( +4 "core" ( + "manipulator"&M& +4 "core" & | "| +2 "storage"(O& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&H& + "storage"(E'X +8 "core" &  "| + "manipulator"&e% +5 "core" %  0 +2 .tForearm.seek :retract + "manipulator"&u'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +148 "core" ( + "manipulator"&V& +5 "core" &' ! >N + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +5 "manipulator"&$ &.,(#b +2 &R& +3 "core" &' b >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'" +93 "core" ' +3 "manipulator"&Y& +4 "core" &(  ! >M +2 "manipulator"&s% +3 "core" %   +3 "collection"'j& +4 "core" & \ +2 "collection"'f& +5 "core" & \ +3 .tCC.seek :closed + "collection"'i(V +5 "core" & \  +8 &2| \ *x +10 &c \ > +9 &yr \ N +9 &=S \ M +10 &X \ M +9 &W \ M +10 &W \ M +9 &EW \ M +9 &W \ M +10 &X \ M +9 & Y \ M +9 &"LW \ M +10 &$W \ M +9 &%X \ M +10 &'W \ M +9 &)UW \ M +9 &+X \ M +10 &,V \ M +9 &.U \ M +10 &0]X \ M +9 &2 U \ M +9 &3X \ M +10 &5Z \ M +9 &7dX \ M +9 &9&W \ M +10 &:Y \ M +9 &<W \ M +9 &>mX \ M +10 &@/W \ M +9 &AW \ M +10 &CY \ M +9 &Es] \ N +9 &G2f \ O +10 &Hy \ Q +9 &J\ \ \ V +10 &L[ \ \ Y +9 &N \ \ X +9 &O \ \ Z +10 &Q\ \ \ Z +9 &S]\ \ \ [ +9 &U \ \ [ +10 &VmD \ \ 2 +9 &Vn \ \ I +5 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&y1 +4 "core" &V`\ \ \ I +52 1 +2 "manipulator"&n% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%t& +3 "core" &\ +2 "manipulator"&|% +3 "core" %\ J  +3 "storage"(Z% +3 "core" %a =\ +2 "storage"(~. +3 "core" .( +2 "storage"(X& +4 "core" & S\ +2 "storage"(o& +4 "core" & \ +2 "manipulator"&p& +4 "core" &&  =F + "manipulator"&<% +5 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&[( +160 "core" ( +2 "manipulator"& & +4 "core" & j  + "storage"(l& +4 "core" & E\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +96 "core" ' +2 "storage"(v& +3 "core" & #\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\\& +2 "core" & g\ +2 "manipulator"&_& +4 "core" & L  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&}& +49 "core" &  +6 "storage"(r& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&w' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(#'X +7 "core" & <  +2 "manipulator"&q% +3 "core" %  u +3 .tForearm.seek :retract +2 "manipulator"&h'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +113 "core" ( +2 "manipulator"&& +3 "core" &q  Z \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &q W \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +105 "core" ' + "manipulator"& & +4 "core" &q \ +2 "manipulator"&m% +4 "core" % @ [ +2 "processing"%{& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 &A\ $e +10 &V\ 7 +9 &~s\ L +10 &[\ N +9 &oY\ N +9 &2X\ M +10 &X\ N +9 &[\ N +9 &xY\ M +10 &9Z\ N +9 &]\ N +10 &!Z\ M +9 &#Z\ N +9 &%@]\ N +10 &'W\ N +9 &(Y\ M +9 &*ZU\ N +10 &,IY\ N +9 &. [\ M +10 &/Y\ M +9 &1Z\ N +9 &3RX\ M +10 &5Y\ M +9 &6Y\ N +9 &8\\\ N +10 &:ZY\ M +9 &<Y\ M +10 &=Y\ M +9 &?W\ M +9 &AaX\ N +10 &C#\\\ N +9 &D]\ N +10 &Fg\ O +9 &H^v\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &O_\ T +10 &Q!\ T +9 &R\ T +9 &T\ T +10 &Vf\ T +9 &X&\ U +10 &Y{p\ 1 +9 &Z)n\ I +9 &Z#\ / +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&c1 +53 "core" 1 + "manipulator"&% +3 "core" % P [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + "processing"%& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ J  + "storage"( % +4 "core" %b 8\ +2 "storage"(:. +3 "core" .( +2 "storage"(z& +3 "core" & #\ +3 "storage"(4& +2 "manipulator"&k& +5 "core" & \ +3 &q D \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&7(s +5 ."raiseStack"SE.seek :beamBreak + "storage"('i +4 "core" ( + "manipulator"& & +4 "core" &q \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q q \ +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +3 "processing"%x( +99 "core" ' +2 "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +43 "core" ' +280 ( + "storage"("& +4 "core" & (\ +2 "manipulator"&/& +4 "core" &q \ + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&L'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +251 "core" ( +2 "manipulator"&& +4 "core" & F + "storage"('& +4 "core" & S\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +137 "core" ' +9 .tHand.open + "manipulator"&&1 +62 "core" 1 +2 "storage"((- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +36 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(2' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(F& +3 "core" & \ \ +2 "manipulator"&*& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&S( +4 "core" ( +2 "manipulator"&U& +4 "core" & e + "storage"(C& +5 "core" & \  "\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +57 "core" ' +2 "manipulator"&8& +4 "core" & +2 "storage"(P& +4 "core" & J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&@' +29 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +28 "core" ' + "manipulator"&.% +4 "core" % [ C +2 "storage"(3& +3 "core" & { o\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&)' +21 "core" ' +2 "manipulator"&W& +3 "core" & i +2 "storage"(-& +56 "core" & o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +23 "core" ' +2 "storage"(=% +3 "core" %l '\ +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (N% +4 "core" %E |\ Xg +2 "manipulator"&+% +4 "core" %ѷ ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (?& +3 "core" & `\ +2 "collection"'T& +4 "core" &V` \ \ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&I% +3 "core" %\   +2 "storage"(6% +4 "core" %b @\ +2 "storage"(D. +3 "core" .( +2 "storage"(%& +4 "core" & \ + "storage"(^& +4 "core" & G\ +2 "manipulator"&B& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&O& +3 "core" & +3 "storage"(J& +4 "core" & M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +99 "core" ' +2 "storage"(e& +4 "core" & H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +283 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & +2 "storage"(R& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a' +32 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'S +39 "core" ' + "manipulator"&j% +4 "core" % +2 "storage"(G& +4 "core" & }  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +47 "manipulator"&E' +29 "core" ' +2 "manipulator"&u& +3 "core" & P +2 "storage"(5& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'B +39 "core" ' +2 "manipulator"&t& +3 "core" & b +2 "manipulator"&|% +5 "core" %џ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +149 "core" ( +3 "manipulator"&X& +3 "core" &#  | ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &$ ' ;7 +3 .tForearm.seek CC + "manipulator"&o'" +96 "core" ' + .tHand.close +2 "manipulator"&p/ +64 "core" / +2 .tCC.seek :open +2 "collection"'<( +416 "core" ( +2 "storage"(b& +3 "core" & 0\ +2 "storage"( & +4 "core" & a\ +2 "manipulator"&l& +3 "core" &$ 1 ;7 +2 "manipulator"&v% +4 "core" % ; p +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +154 "core" ( +2 "manipulator"&& +3 "core" & [  +2 "storage"(\\& +4 "core" & \ \ b\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&_' +108 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +57 "core" 1 +2 "manipulator"&% +4 "core" % h +2 "storage"(!& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&q' +19 "core" ' + "manipulator"&[& +3 "core" &  +2 "storage"(Q& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +31 "core" ' + "storage"(w% +4 "core" %G -\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (d% +3 "core" %uB T\ Va +2 "manipulator"&% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'m& +4 "core" & \ +6 "manipulator"&{% +4 "core" %\  m  +2 "storage"(#% +3 "core" %`\ \  U\ +7 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(;( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" & $\  +2 "manipulator"&& +4 "core" & &  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&& +4 "core" & b r +2 "storage"( & +4 "core" &\ \  O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +95 "core" ' +2 "storage"(z& +4 "core" &\ "\  O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +284 "core" ' + "storage"(4- +3 "core" -' +47 .tSE.configure :default +3 "storage"(#QK-0-\ b +5 (& +2 "core" & \  +3 "manipulator"& & +3 "core" &  r +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&,& +4 "core" & S r + "storage"(& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&$'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & r +2 "manipulator"&% +3 "core" % ϰ N  +3 .tForearm.seek :retract +2 "manipulator"&"'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +5 "core" &(  ( ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +95 "core" ' +3 "manipulator"&'& +4 "core" &) ?Q +2 "manipulator"&7% +4 "core" % Z  +2 "collection"'&& +3 "core" & \ +3 "collection"'(& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'L(V +5 "core" & \ +8 &4 \ $c +9 &U \ 7 +9 &} \ L +10 &U \ M +9 &cW \ M +9 &%U \ M +10 &W \ M +9 &Z \ M +10 &kY \ M +9 &.W \ M +9 &V \ L +10 &!X \ M +9 &#sX \ M +9 &%5X \ M +10 &&Y \ M +9 &(U \ M +10 &*|V \ M +9 &,=Y \ M +9 &.U \ M +10 &/V \ L +9 &1V \ M +9 &3FV \ M +10 &5Z \ M +9 &6X \ M +10 &8V \ M +9 &:NW \ M +9 &<W \ M +10 &=W \ M +9 &?W \ M +9 &AUV \ M +10 &CW \ M +9 &DZ \ M +10 &Fc \ N +9 &HTp \ P +9 &J\ \ T +10 &K \ \ Y +9 &M\ \ \ Y +9 &OA \ \ Y +10 &Q \ \ Y +9 &R \ \ [ +10 &T \ \ [ +9 &V!t \ \ / +9 &V*\ \ \ T +10 ( + &Vj\ \ \ I +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&F% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%U& +4 "core" &\ +2 "manipulator"&C% +3 "core" %\ \ B  +3 "storage"(8% +3 "core" %U E\ +2 "storage"(P. +3 "core" .( +2 "storage"(0& +3 "core" & \  +3 "storage"(.& +4 "core" & 8\  + "manipulator"&3& +4 "core" &( ?Q +2 "manipulator"& % +3 "core" %\ \ j  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +163 "core" ( + "manipulator"&& +5 "core" & > x + "storage"(-& +3 "core" & V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(=& +5 "core" & p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" & \  +2 "manipulator"&+& +3 "core" & h x +2 .tElbow.seek 3 +2 "manipulator"&S( +4 "core" ( +2 "manipulator"&9& +3 "core" & x +2 "storage"(@& +4 "core" & :\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&)'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(I'X +55 "core" & x +2 "manipulator"&6% +4 "core" % ϰ 3 +3 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +159 "core" ( +2 "manipulator"&%& +3 "core" &o , 4  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &o & w  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +96 "core" ' + "manipulator"&O& +4 "core" &p H  +2 "manipulator"&J% +3 "core" % & +3 "processing"%1& +3 "core" &.\ +3 "processing"%e& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (Z +6 "core" &\  +7 &2~\ *y +9 &b\ > +10 &zu\ N +9 &<Zv\ N +9 &Wt\ N +10 &X_\ M +9 &Y\ N +10 &DV\ N +9 &Y>\ N +9 &Z>\ N +10 & Y\ N +9 &"L\\G\ N +9 &$X\ M +10 &%Y\ N +9 &'\\\ N +10 &)TW\ N +9 &+Y\ M +9 &,X\ N +10 &.Y\ N +9 &0[\\\ N +9 &2Y\ M +10 &3W\ N +9 &5\\\ N +9 &7d[\ N +10 &9&W\ N +9 &:V\ N +10 &<W\ N +9 &>l[\ N +9 &@.\\\ N +10 &AZ\ N +9 &CZ\ N +10 &Er]\ N +9 &G/j\ P +9 &H\ R +10 &J\ T +9 &Lk\ S +9 &N-\ S +10 &O\ T +9 &Q\ S +10 &So\ U +9 &U1\ U +9 &V\ U +10 &X\ U +9 &Z"\\\ $n +9 &ZX\ . +10 ( + &Z\ * +2 "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&A1 +62 "core" 1 +2 "manipulator"&>% +4 "core" %  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +100 "core" ' + "processing"%V& +3 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&R% +4 "core" %\ 2  +2 "storage"(Y% +3 "core" %b \ +2 "storage"(j. +3 "core" .( +2 "storage"(G& +4 "core" & \  +2 "storage"(u& +2 "manipulator"&5& +8 "core" & ?\  + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&t(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'i +2 "core" ( +2 "manipulator"&H& +5 "core" &p 1  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &M& +2 "core" &p  +3 .tForearm.seek PC +2 "manipulator"&K' +93 "core" ' +2 .tHand.close + "manipulator"&a/ +63 "core" / +3 .tPC.seek :open +2 "processing"%E( +84 "core" ' + "storage"(s- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(X'y +49 "core" ' +288 ( + "storage"(f& +4 "core" & \  +2 "manipulator"&y& +4 "core" &p ^  +2 "manipulator"&]% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&p'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +259 "core" ( + "manipulator"&i& +4 "core" & K  +2 "storage"(b& +4 "core" & o y C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +104 "core" ' +2 .tHand.open + "manipulator"&l1 +59 "core" 1 +3 "storage"(v- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(\\' +52 "core" ' +51 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(~& +5 "core" & \  + "manipulator"&r& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&!& +3 "core" & \\  +3 "storage"([& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(w' +62 "core" ' + "manipulator"&`& +4 "core" & Y  +2 "storage"(d& +3 "core" & $\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(_'i +22 "core" ' +2 "manipulator"&q% +3 "core" %Ό 2 +2 "storage"(m& +4 "core" & B\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&{'ϸ +21 "core" ' + "manipulator"&#& +4 "core" &  +2 "storage"(h& +4 "core" & _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +34 "core" ' +2 "storage"(% +4 "core" %d q\ +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (% +3 "core" %/F y q\ Wd +2 "manipulator"&c% +5 "core" %8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & \  +2 "collection"' & +4 "core" &Vj \ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&z% +4 "core" %\   +2 "storage"(}% +4 "core" %b Z\ + "storage"( . +3 "core" .( +2 "storage"(4& +4 "core" & \  +2 "storage"(& +4 "core" & 5\  + "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&,( +4 "core" ( + "manipulator"&& +3 "core" & v  +3 "storage"(& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' +2 "storage"(& +3 "core" & N\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +3 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & g  +2 "storage"(& +5 "core" & i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&k'} +29 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(7'U +40 "core" ' +2 "manipulator"&&% +3 "core" %΁ L v +2 "storage"(& +4 "core" & t q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&'ϭ +11 "core" ' +2 "manipulator"&"& +3 "core" &   +2 "storage"(<& +4 "core" & ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(F'D +42 "core" ' + "manipulator"&U& +49 "core" & {  +3 "manipulator"&C% +5 "core" %4 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +157 "core" ( + "manipulator"&(& +5 "core" &*  u @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &* @ @^ +3 .tForearm.seek CC + "manipulator"&.'" +92 "core" ' + .tHand.close +2 "manipulator"&3/ +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(& +3 "core" & \  +2 "storage"(& +4 "core" & [\  +2 "manipulator"&-& +3 "core" &* @^ +3 "manipulator"&=% +4 "core" % 1 } +2 .tForearm.seek :retract + "manipulator"&/'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&*( +162 "core" ( +2 "manipulator"&& +4 "core" & Y o +2 "storage"(N& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&+'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +54 "core" 1 +2 "manipulator"&?% +4 "core" % ΅ j +2 "storage"(T& +3 "core" & H\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&6'ϱ +22 "core" ' + "manipulator"&W& +4 "core" & U o +2 "storage"(& +3 "core" &\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +25 "core" ' +2 "storage"()% +4 "core" %I\ \  D\ +2 ."downElevator"SE.seek :down +4 "storage"(%'X +98 (^% +3 "core" %B B\ Wb +2 "manipulator"&S% +4 "core" %A * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'J& +3 "core" & \ +3 "manipulator"&1% +4 "core" %\   + "storage"(I% +5 "core" %b\ \  T\ + "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(x( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (A& +2 "core" & \ +3 "manipulator"&>& +4 "core" & = o +2 .tElbow.seek 2 + "manipulator"&V( +31 "core" ( +2 "manipulator"&R& +3 "core" & "z +2 "storage"(Y& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +90 "core" ' +2 "storage"(e& +3 "core" & \ @\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +283 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & O\ +2 "manipulator"&H& +3 "core" & U "y +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&B& +4 "core" & a "y +2 "storage"(a& +3 "core" & +\ +3 .tForearm.seek 2 + 300 counts +3 "manipulator"&s' +47 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(\ 'X +6 "core" & * "y +3 "manipulator"&|% +4 "core" % \ K K +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +149 "core" ( +2 "manipulator"&]& +3 "core" &(  ?P +2 ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&K& +3 "core" &( : ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'" +91 "core" ' +3 "manipulator"&b& +4 "core" &) " B ?P +2 "manipulator"&t% +3 "core" %" n  +3 "collection"'l& +4 "core" & \ +2 "collection"'v& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'o(V +5 "core" & \ +7 &5 \ $e +9 &W \ 7 +9 &} \ L +10 &Y \ M +9 &kU \ M +10 &.U \ L +9 &V \ M +9 &X \ M +10 &sU \ M +9 &5V \ M +9 &Y \ M +10 &!W \ M +9 &#{U \ M +10 &%=V \ M +9 &&S \ M +9 &(T \ M +10 &*T \ M +9 &,DX \ M +9 &.U \ M +10 &/U \ M +9 &1V \ M +10 &3LY \ M +9 &5V \ M +9 &6V \ L +10 &8U \ M +9 &:UW \ M +9 &<W \ M +10 &=W \ M +9 &?U \ M +10 &A]V \ M +9 &CV \ M +9 &DY \ M +10 &Fc \ N +9 &HZp \ P +9 &J \ U +10 &K \ \ Y +9 &M \ \ Y +10 &OG \ \ Z +9 &Q\ \ \ Y +9 &R\ \ \ [\ +10 &T \ [ +9 &V)v \ \ / +9 &V# \ \ S +10 ( + &Vn \ \ L +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&p1 +63 "core" 1 +4 "manipulator"&~% +3 "core" % # V  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%!& +3 "core" &\ +2 "manipulator"&[% +4 "core" %\  J  +2 "storage"(`% +3 "core" %b  ~ \ +2 "storage"(d. +4 "core" .( + "storage"(X& +5 "core" & { q Y\ + "storage"(& +4 "core" &   \ +2 "manipulator"&q& +4 "core" &'  >M + "manipulator"&m% +5 "core" %\  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&#( +155 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(& +3 "core" & q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +92 "core" ' +2 "storage"( & +3 "Can"\ BqN +2 "core" & 0\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" & V\ +2 "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&w& +5 "core" & -  + "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(z'X +8 "core" &  + "manipulator"&}% +4 "core" %  w L +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&4& +3 "core" &z + ^  +3 .tElbow.reconfigure :loose +47 "manipulator"&$ &.,(#b +7 && +2 "core" &z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' +2 "manipulator"&& +5 "core" &z L  + "manipulator"&% +5 "core" % O +2 "processing"%n& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &2}\ )w +9 &b\ > +10 &rvV\ N +9 &6U\ M +10 &X\ N +9 &\\\ N +9 &{W\ N +10 &=V\ N +9 &W\ N +9 &U\ N +10 & X\ M +9 &"EX\ N +10 &$W\ M +9 &%Z\ N +9 &']\ N +10 &)NY\ M +9 &+Y\ N +9 &,V\ N +10 &.[\ N +9 &0UW\ N +10 &2[\ N +9 &3X\ N +9 &5\\\ N +10 &7^W\ M +9 &9W\ N +9 &:U\ N +10 &<V\ N +9 &>fU\ M +10 &@'Z\ N +9 &A\\\ N +9 &C^\ N +10 &El]\ N +9 &G+j\ O +9 &H\ R +10 &J\ S +9 &Ld\ S +10 &N%\ T +9 &O\ T +9 &Q\ S +10 &Sj\ T +9 &U+\ T +9 &V\ T +10 &X\ U +9 &Z_\ $n +10 &ZY\ , +9 ( + &Z\ ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +98 "core" ' +2 "processing"%& +3 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ _  +3 "storage"('% +4 "core" %] w\ + "storage"(&. +4 "core" .( + "storage"(& +4 "core" & \ +2 "storage"("& +3 "manipulator"&<& +8 "core" & %\ + &z  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&U(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(C'i +2 "core" ( +2 "manipulator"&& +5 "core" &z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &z J  +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&k/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +84 "core" ' + "storage"(7- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('y +48 "core" ' +288 ( + "storage"(0& +3 "core" & 5\ +2 "manipulator"&& +5 "core" &z  + "manipulator"&$% +4 "core" % x  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +277 "core" ( +2 "manipulator"&L& +3 "core" & a "{ +2 "storage"(& +4 "core" & u p %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +103 "core" ' +2 .tHand.open +2 "manipulator"&-1 +56 "core" 1 +2 "storage"(=- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(N' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(.- +3 "core" -' +2 "storage"(P& +3 "core" & \\\ +2 "manipulator"&@& +4 "core" & g "y +2 .tElbow.seek 2 +2 "manipulator"&?( +2 "core" ( +2 "manipulator"&T& +4 "core" & W "y +2 "storage"(W& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +48 "core" ' +5 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +58 "core" ' +2 "manipulator"&/& +3 "core" & "y +3 "storage"(^& +4 "core" & j \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&S' +20 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'i +21 "core" ' +2 "manipulator"&J% +3 "core" % , +3 "storage"(6& +4 "core" & l i [\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&1' +20 "core" ' + "manipulator"&I& +4 "core" & !w +2 "storage"(D& +4 "core" & W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +27 "core" ' + "storage"(2% +4 "core" %l T\ +2 ."downElevator"SE.seek :down +4 "storage"(%'X +99 (;% +3 "core" %F ^ ] _\ Xg +3 "manipulator"&A% +3 "core" % ; ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" & \ +2 "collection"'Y& +3 "core" &Vm \ \ L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&e% +3 "core" %\   +3 "storage"(9% +3 "core" %a \\\ +2 "storage"(O. +3 "core" .( +2 "storage"(5& +4 "core" & \ +2 "storage"(u& +4 "core" & \ + "manipulator"&H& +31 "core" & !w +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&a& +4 "core" & [ !w +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +90 "core" ' +2 "storage"(|& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(V'i +285 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & c !w +3 "storage"(K& +4 "core" & L\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&G' +33 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'R +30 "core" ' +2 "manipulator"&l% +3 "core" % l +2 "storage"(M& +4 "core" & 9 = \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&\ ' +14 "core" ' +2 "manipulator"&f& +3 "core" & i !v +2 "storage"( & +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'A +40 "core" ' + "manipulator"&!& +3 "core" & !v +2 "manipulator"&[% +5 "core" %Ѧ l y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +147 "core" ( +3 "manipulator"&v& +4 "core" && ] =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +47 &X& +5 "core" && , =G +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&q/ +56 "core" / +2 .tCC.seek :open +2 "collection"'m( +417 "core" ( + "storage"(i& +3 "core" & \ +3 "storage"(h& +3 "core" & z\ +3 "manipulator"&& +3 "core" &%  <= +3 "manipulator"& % +4 "core" % ! 2 +2 .tForearm.seek :retract + "manipulator"&y'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&r( +160 "core" ( +2 "manipulator"&& +4 "core" & a  + "storage"(c& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Q' +106 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +3 "core" % U ( +2 "storage"( & +5 "core" & n\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&}' +20 "core" ' +2 "manipulator"&#& +4 "core" &   +2 "storage"(Z& +3 "core" & y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +20 "core" ' +2 "storage"({% +3 "core" %F \ +3 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (% +3 "core" %wD Z\ Vb +2 "manipulator"&% +4 "core" %Ѣ @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&n% +4 "core" %\ # o 9 +2 "storage"(z% +3 "core" %^ \ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(E( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \  +2 "manipulator"&& +4 "core" & P  +3 .tElbow.seek 3 + "manipulator"&( +17 "core" ( + "manipulator"&& +3 "core" & D ] +2 "storage"('& +4 "core" & n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +92 "core" ' +2 "storage"(& +3 "core" &\ \  \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" & q\  +2 "manipulator"&& +3 "core" & ] +3 .tElbow.seek 3 + "manipulator"&,( +4 "core" ( +2 "manipulator"& & +3 "core" & e ] +2 "storage"(k& +4 "core" & j\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&7'ϩ +26 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&_/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"('X +8 "core" & ] +2 "manipulator"&C% +4 "core" % Ϫ | +2 .tForearm.seek :retract + "manipulator"&0'\ +100 "core" ' +5 .tElbow.seek CC +2 "manipulator"&( +142 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&$& +4 "core" &(  ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( K ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'" +97 "core" ' +2 "manipulator"&& +3 "core" &) ?P +3 "manipulator"&U% +4 "core" %# +2 "collection"'-& +5 "core" & \ +3 "collection"'=& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(V +3 "core" & \ +9 &> \ $e +10 &W \ 8 +9 &w \ L +9 &S \ M +10 &sS \ M +9 &5U \ M +10 &T \ M +9 &U \ M +9 &|V \ L +10 &=V \ M +9 &Y \ M +9 &!V \ M +10 &#T \ M +9 &%DU \ M +10 &'U \ M +9 &(X \ M +9 &*U \ L +10 &,MV \ M +9 &.T \ L +9 &/T \ M +10 &1U \ M +9 &3UX \ M +10 &5V \ L +9 &6W \ M +9 &8T \ L +10 &:\\W \ M +9 &<W \ M +9 &=V \ M +10 &?V \ M +9 &AeU \ M +10 &C'V \ M +9 &DY \ M +9 &Fc \ N +10 &Hcn \ P +9 &J \ T +9 &K \ \ X +10 &M \ \ Y +9 &OR \ \ Y +10 &Q \ \ Y +9 &R \ \ Z +9 &T \ \ [\ +10 &V1v \ \ / +9 &V\ \ \ W +9 ( +2 &Ve \ \ P +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&P1 +56 "core" 1 + "manipulator"&@% +5 "core" % # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +5 "core" &\ + "manipulator"&3% +4 "core" %\ W  +2 "storage"(/% +3 "core" %^ \ +2 "storage"(^. +3 "core" .( +2 "storage"((& +4 "core" & p\  +2 "storage"(J& +4 "core" & \  + "manipulator"&& +4 "core" &( ?P +2 "manipulator"&6% +4 "core" %\ a  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&I( +162 "core" ( +2 "manipulator"&D& +3 "core" & ? e +2 "storage"(8& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +93 "core" ' +2 "storage"(& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +285 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & 5\  +2 "manipulator"&& +4 "core" & e +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&)& +4 "core" & N e + "storage"(S& +4 "core" & s\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Y& + "storage"(e'X +8 "core" & ? e + "manipulator"&9% +5 "core" % Ϣ W +2 .tForearm.seek :retract + "manipulator"&O'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&+(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&5& +3 "core" &s ^  +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +96 "core" ' +2 "manipulator"&a& +4 "core" &s C  +2 "manipulator"&% +4 "core" % M & +2 "processing"%F& +4 "core" &\ +2 "processing"%|& +56 "core" &\ +2 &~\ + &\ +2 &\ &i\ + &,\ + &\ +2 .tPC.seek :closed +3 "processing"%%(Z +4 "core" &\ +5 &\ 8 +10 &FH|\ 0 +9 &oq\ E +10 &a\ N +9 &V\ N +9 &V\ N +10 &YYI\ M +9 &X\ M +9 &Y\ M +10 &W\ M +9 &a\\\ M +10 &!#X\ M +9 &"YD\ M +9 &$Y\ M +10 &&iY\ M +9 &(+Z\ M +9 &)Z\ M +10 &+X\ N +9 &-qV\ M +10 &/3X_\ M +9 &0Z\ M +9 &2\\\ N +10 &4y\\\ M +9 &6;Y\ M +9 &7\\\ N +10 &9Z\ N +9 &;U\ M +10 &=BW\ N +9 &?Z\ M +9 &@\\\ N +10 &B[\ N +9 &DJ\\\ N +9 &F c\ N +10 &Gr\ P +9 &I\ S +10 &K@\ T +9 &M\ S +9 &N\ S +10 &P\ T +9 &RH\ T +9 &T \ T +10 &U\ T +9 &W\ T +10 &YL\ B +9 &Z_=x\ _ +9 &Z-\ - +6 ( + "processing"%|& +4 "core" &Z\ - +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&*1 +60 "core" 1 +2 "manipulator"&>% +3 "core" %  & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +96 "core" ' + "processing"%]& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +3 "core" %\  @  +3 "storage"(b% +4 "core" %b r v G\ + "storage"(l. +3 "core" .( +2 "storage"(M& +3 "core" & p p \  +3 "storage"(f& +3 "manipulator"& & +7 "core" & u p r\  + &s P  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +3 "manipulator"&!(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(['i +3 "core" ( +2 "manipulator"&g& +3 "core" &s  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &s =  +2 .tForearm.seek PC + "manipulator"&V' +97 "core" ' +3 .tHand.close + "manipulator"&G/ +63 "core" / +2 .tPC.seek :open + "processing"%\ ( +81 "core" ' + "storage"(t- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +47 "core" ' +293 ( +3 "storage"(X& +3 "core" & | :\  +3 "manipulator"&p& +4 "core" &s *  + "manipulator"&s% +4 "core" % p +2 .tForearm.seek :retract +2 "manipulator"&q'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&`( +260 "core" ( +2 "manipulator"&o& +4 "core" & l +2 "storage"(i& +3 "core" & N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +93 "core" ' +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(c' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +3 "storage"(d& +4 "core" & u\  + "manipulator"&& +4 "core" & 5 +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"& & +4 "core" & l +2 "storage"(#& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +18 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +57 "core" ' +2 "manipulator"&y& +3 "core" & D +3 "storage"(& +4 "core" & G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tForearm.seek 3 +4 "manipulator"&'} +23 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'i +23 "core" ' +2 "manipulator"&}% +3 "core" %Α - +2 "storage"(& +4 "core" & I\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&n'Ͻ +21 "core" ' +5 "manipulator"&z& +7 "core" & 3 +5 "storage"( & +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +26 "core" ' +4 "storage"(\\% +3 "core" %s >\  +3 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (x% +3 "core" %G o o\ Xe +2 "manipulator"&% +4 "core" %} +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & "\  +3 "collection"''& +4 "core" &Ve \ P + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ \  +3 "storage"(w% +4 "core" %] \ + "storage"(. +4 "core" .( + "storage"("& +4 "core" & \  +2 "storage"(<& +4 "core" & g\  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&k& +3 "core" & w +3 "storage"(_& +4 "core" & I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +90 "core" ' +2 "storage"(C& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & Z +2 "storage"(& +4 "core" & 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'U +42 "core" ' + "manipulator"&-% +4 "core" %΃ w +2 "storage"(,& +4 "core" & v r <\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϯ +19 "core" ' +2 "manipulator"&0& +3 "core" & p +3 "storage"(m& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +43 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'D +39 "core" ' +2 "manipulator"&W& +3 "core" &  +2 "manipulator"&3% +4 "core" %p g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +154 "core" ( +4 "manipulator"&=& +4 "core" &( ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &( o ?R +3 .tForearm.seek CC + "manipulator"&J'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'6( +416 "core" ( +2 "storage"(L& +3 "core" & \ \  +47 "storage"(D& +5 "core" & \  +2 "manipulator"&8& +5 "core" &(  ?R + "manipulator"&% +3 "core" % +  +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T( +165 "core" ( + "manipulator"&;& +5 "core" & I _ + "storage"(A& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +93 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +59 "core" 1 +4 "manipulator"&R% +3 "core" % Ό ; +2 "storage"(Y& +4 "core" & 3\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&9'ϸ +20 "core" ' + "manipulator"&I& +5 "core" &  _ + "storage"(2& +4 "core" & c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +34 "core" ' + "storage"(1% +4 "core" %N\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(5'X +99 (u% +2 "core" %C \ Va +3 "manipulator"&?% +4 "core" %, ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&F% +4 "core" %\   +2 "storage"(e% +3 "core" %S\ \ \ +2 "storage"(O. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" & \ +2 "manipulator"&>& +4 "core" & _ +2 .tElbow.seek 2 +2 "manipulator"&]( +42 "core" ( +2 "manipulator"&K& +4 "core" &  / + "storage"(b& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +95 "core" ' + "storage"(M& +3 "core" & \ \  Q\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'i +287 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \ +2 "manipulator"&g& +4 "core" & . +2 .tElbow.seek 2 +3 "manipulator"&B( +24 "core" ( + "manipulator"&H& +4 "core" &  +2 "storage"(G& +3 "core" & \ f\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(%'X +7 "core" & |  +2 "manipulator"&[% +3 "core" %  I +3 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&s& +3 "core" &+ 9 Ab +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &+ w Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +3 "manipulator"&o'" +105 "core" ' +2 "manipulator"&i& +3 "core" &+ H Ab +3 "manipulator"&!% +4 "core" % H +2 "collection"'& +3 "core" & \ +3 "collection"' & +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +5 "core" & \ +7 &4 \ $e +10 &W \ 7 +9 &z \ L +10 &R \ L +9 &kU \ M +9 &/T \ L +10 &U \ L +9 &U \ L +9 &uU \ L +10 &7T \ L +9 &T \ M +10 &!X \ M +9 &#|U \ M +9 &%=X \ M +10 &'T \ L +9 &(S \ M +9 &*W \ M +10 &,ES \ M +9 &.T \ M +10 &/W \ M +9 &1S \ M +9 &3NR \ M +10 &5U \ M +9 &6T \ M +9 &8T \ M +10 &:UY \ M +9 &<V \ M +10 &=V \ L +9 &?V \ M +9 &A_U \ L +10 &C U \ M +9 &DX \ M +9 &Fb \ N +10 &H\\m \ P +9 &J\ \ \ U +10 &K \ \ X +9 &M\ \ \ Y +9 &OI \ \ Y +10 &Q \ \ Y +9 &R \ \ [ +10 &T\ \ \ Z +9 &V(u\ \ \ / +9 &V$ \ \ R +9 ( +3 "collection"' & +2 "core" &V`\ \ \ J +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&d1 +62 "core" 1 +2 "manipulator"&% +5 "core" %  2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%#& +3 "core" &d\ +2 "manipulator"&q% +5 "core" %\ \ C  + "storage"(y% +4 "core" %T \ +2 "storage"(. +3 "core" .( +2 "storage"(v& +3 "core" & \ +2 "storage"(& +4 "core" & N\ +2 "manipulator"&}& +3 "core" &( Q ?R +2 "manipulator"&% +4 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&z( +158 "core" ( +2 "manipulator"& & +3 "core" & I  +3 "storage"(`& +4 "core" & W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +93 "core" ' +2 "storage"(\\& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +285 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & &\ +2 "manipulator"&Z& +4 "core" & g  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&{& +3 "core" &  +3 "storage"(& +4 "core" & 5\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&n' +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +3 "storage"('X +8 "core" &  + "manipulator"&w% +5 "core" % 0 +2 .tForearm.seek :retract + "manipulator"&Q'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&"& +3 "core" &y  M ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &y U ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&k& +3 "core" &y  ! +3 "manipulator"&_% +4 "core" % } : +2 "processing"%~& +3 "core" &\ +3 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(Z +4 "core" &\ +8 &;\ #c +10 &U\ 7 +9 &~\ L +9 &Z\ M +10 &hY\ N +9 &+\\"\ M +10 &Xv\ M +9 &\\\ N +9 &p\\\ N +10 &2Y+\ N +9 &Y\ M +10 &!W\ N +9 &#yZ\ M +9 &%;Y\ M +10 &&W\ N +9 &(W\ N +9 &*V\ N +10 &,CW\ M +9 &.Y\ M +10 &/V\ N +51 &1[\ N +3 &3JY\ N + &5 V\ N + &6W\ M +2 &8W\ M + &:QZ\ N +6 &<Z\ M +9 &=Z\ N +10 &?Y\ N +9 &A[U\ M +10 &CY\ M +9 &D]\ N +9 &Fd\ O +10 &HXy_\ Q +9 &J\ S +10 &K\ S +9 &M\ S +9 &OY\ S +10 &Q\ S +9 &Ry\ T +9 &T\ T +10 &V^\ T +9 &X\ U +9 &Y{p\ 3 +10 &Z.\ H +9 &Z\ * +3 ( + "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&r1 +62 "core" 1 +2 "manipulator"&% +3 "core" % t : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +90 "core" ' +2 "processing"%$& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %a C\ +2 "storage"(-. +3 "core" .( +2 "storage"(,& +3 "core" & I\ +3 "storage"(0& +2 "manipulator"&m& +7 "core" & 1\ +2 &y ! +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&W(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'i +2 "core" ( +3 "manipulator"&:& +3 "core" &y S ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &y p ! +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +48 "core" ' +286 ( +2 "storage"((& +4 "core" & N\ + "manipulator"&P& +4 "core" &y ! +2 "manipulator"&7% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +242 "core" ( +2 "manipulator"&.& +3 "core" & ; N +2 "storage"(L& +4 "core" & M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +90 "core" ' +2 .tHand.open + "manipulator"&81 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(;'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(^& +4 "core" & &\ +2 "manipulator"&S& +4 "core" & M +2 .tElbow.seek 2 + "manipulator"&R( +3 "core" ( +2 "manipulator"&Y& +5 "core" & M + "storage"(I& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +58 "core" ' + "manipulator"&& +5 "core" & M + "storage"(u& +4 "core" & 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?' +32 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' + "manipulator"&9% +5 "core" % 5 + "storage"(& +4 "core" & p s\ +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&F' +20 "core" ' +2 "manipulator"&e& +3 "core" & R M +3 "storage"(O& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +17 "core" ' + "storage"(N% +5 "core" %s \ +2 ."downElevator"SE.seek :down +3 "storage"(5'X +99 (E% +3 "core" %lE o m \ Xg +2 "manipulator"&*% +3 "core" %Ѧ o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (K& +3 "core" & /\ +3 "collection"'b& +4 "core" &V_\ \ \ J + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&M% +3 "core" %\ % v C +3 "storage"()% +5 "core" %b G\ +2 "storage"(a. +3 "core" .( +2 "storage"(f& +4 "core" & f\ +2 "storage"( & +4 "core" & 0\ + "manipulator"&g& +4 "core" & M +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&G& +3 "core" &  i M +2 "storage"(+& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +93 "core" ' +2 "storage"([& +3 "core" & O\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +278 "core" ' +3 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" & M +2 "storage"(V& +4 "core" & #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&|' +32 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'S +39 "core" ' + "manipulator"&!% +5 "core" % v + "storage"(& +4 "core" & \\ ]\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&%' +20 "core" ' +2 "manipulator"&X& +3 "core" & M +3 "storage"(6& +4 "core" & G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' +2 "manipulator"&#& +4 "core" & M + "manipulator"&q% +5 "core" %~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +148 "core" ( +3 "manipulator"&& +4 "core" && q =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" && =E +3 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&}/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(o& +3 "core" & ^\ +2 "storage"( & +5 "core" & =\ + "manipulator"&`& +4 "core" && o =E +2 "manipulator"&\\% +3 "core" % + < +3 .tForearm.seek :retract + "manipulator"&p'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +155 "core" ( +2 "manipulator"&x& +49 "core" & a  +3 "storage"(& +4 "core" & |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Z' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  Q \ +2 "storage"('& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&w' +19 "core" ' +2 "manipulator"&z& +3 "core" &   +2 "storage"(h& +4 "core" & \ \ =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +32 "core" ' + "storage"(n% +5 "core" %G\ \  S\ +2 ."downElevator"SE.seek :down +3 "storage"("'X +99 (<% +3 "core" %A :\ Va +2 "manipulator"&% +4 "core" %ї + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +95 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'_& +3 "core" & \ +2 "manipulator"&~% +3 "core" %\   +2 "storage"(% +4 "core" %V\  \ +2 "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(\ ( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" & )\  +2 "manipulator"&& +4 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&$( +15 "core" ( +2 "manipulator"&& +3 "core" &  g +3 "storage"(& +4 "core" &\ \ P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +104 "core" ' +2 "storage"(,& +4 "core" &\ \ # g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'i +278 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" & \  +2 "manipulator"&:& +4 "core" & - g +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & g +2 "storage"(& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&U'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&&& + "storage"(4'X +7 "core" & c g +2 "manipulator"&3% +4 "core" % ϫ +2 .tForearm.seek :retract +2 "manipulator"&('\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&P( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&7& +4 "core" &  D 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'" +96 "core" ' +2 "manipulator"&L& +3 "core" &   4 +2 "manipulator"&W% +5 "core" %# 9 + "collection"'8& +5 "core" &  \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +3 "collection"'J(V +5 "core" & \ +7 &5 \ $e +47 &W~ \ 7 +4 &y \ L +3 &V \ M + &kT \ M +2 &-Q \ M + &S \ M +7 &T \ M +10 &sS \ M +9 &6T \ L +9 &T \ M +10 &!U \ L +9 &#{U \ M +9 &%=X \ M +10 &&R \ M +9 &(S \ L +10 &*T \ M +9 &,ES \ M +9 &.S \ L +10 &/T \ M +9 &1X \ M +9 &3MQ \ M +10 &5T \ L +9 &6U \ M +10 &8R \ M +9 &:VU \ L +9 &<U \ M +10 &=U \ M +9 &?T \ M +9 &A]W \ M +10 &C U \ L +9 &DW \ M +9 &F] \ N +10 &HZp \ P +9 &J \ U +10 &K\ \ \ X +9 &M\ \ \ Z +9 &OI\ \ \ Y +10 &Q \ \ Z +9 &R\ \ \ Z +9 &T\ \ \ [ +10 &V)v \ \ / +9 &V% \ \ U +10 ( + &Vl\ \ \ K +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&^1 +60 "core" 1 +2 "manipulator"&S% +3 "core" % # y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%I& +3 "core" &\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %V m \ +2 "storage"(u. +3 "core" .( +2 "storage"(=& +3 "core" & n i 8\  +2 "storage"(9& +4 "core" & { \  +2 "manipulator"&& +4 "core" &  ] 4 +2 "manipulator"&;% +4 "core" %\  g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +163 "core" ( +2 "manipulator"&O& +3 "core" & Y +2 "storage"(/& +4 "core" & i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +99 "core" ' + "storage"(N& +5 "core" & N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +284 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" & ;\  +2 "manipulator"&*& +4 "core" & Y +2 .tElbow.seek 3 + "manipulator"&R( +4 "core" ( +2 "manipulator"&1& +3 "core" & a Y +2 "storage"(?& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +3 "storage"(M'X +7 "core" & u Y +2 "manipulator"&)% +3 "core" % ϱ > +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&f& +4 "core" &m  ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &m d +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&g' +102 "core" ' +2 "manipulator"&G& +3 "core" &n  +2 "manipulator"&+% +4 "core" % H +2 "processing"%@& +4 "core" &\ +2 "processing"%[& +5 "core" &\ +3 .tPC.seek :closed + "processing"%5(Z +5 "core" &~\  +8 &1y\ *x +9 &c\ > +10 &nt\ N +9 &0X\ M +10 &WD\ M +9 &W\ M +9 &uW\ N +10 &7Z\ N +9 &W\ N +9 &VR\ N +10 & }Y\ N +9 &"?Z\ N +10 &$V\ M +9 &%X\ M +9 &'Y\ N +10 &)G[\ N +9 &+ [\ N +9 &,Z\ N +10 &.V\ N +9 &0PW\ M +10 &2W\ M +9 &3W\ M +9 &5Y\ M +10 &7XY_\ M +9 &9X\ M +9 &:W\ M +10 &<U\ N +9 &>_U\ N +10 &@!V\ N +9 &AU\ N +9 &CZ\ N +10 &Ee]\ N +9 &G#h\ P +9 &H_\ S +10 &J\ S +9 &L^\\\ S +10 &N\ T +9 &OY\ T +9 &Q;\ T +10 &Sd\ T +9 &U%\ T +9 &V_\ T +10 &X\ T +9 &Za\ %s +10 &ZX\ / +9 ( + &Z \ + +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&T1 +55 "core" 1 + "manipulator"&>% +4 "core" % ] +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 "processing"%s& +3 "core" &Z \ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&V% +4 "core" %\  +2 "storage"(B% +3 "core" %a ~  o\ +3 "storage"(!. +3 "core" .( +2 "storage"(& +3 "core" & j j \  +3 "storage"(X& +2 "manipulator"&6& +9 "core" & j j \  + &n  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "manipulator"&#(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(q'i +3 "core" ( +2 "manipulator"&j& +4 "core" &n J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &n T  +2 .tForearm.seek PC +2 "manipulator"&]' +95 "core" ' +2 .tHand.close + "manipulator"&|/ +61 "core" / +3 .tPC.seek :open +2 "processing"%%( +84 "core" ' + "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +44 "core" ' +293 ( + "storage"(v& +4 "core" & L\  +2 "manipulator"&d& +3 "core" &n P  +2 "manipulator"&t% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&y( +256 "core" ( +2 "manipulator"&& +4 "core" & Z  +2 "storage"(o& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +90 "core" ' +2 .tHand.open + "manipulator"&`1 +63 "core" 1 +2 "storage"(\\- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(x'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +55 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"( & +3 "core" & Z\  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&( +6 "core" ( +2 "manipulator"&'& +4 "core" & J  + "storage"(z& +5 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(n' +58 "core" ' +2 "manipulator"&p& +3 "core" & w  +2 "storage"(<& +4 "core" & A\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'i +24 "core" ' +2 "manipulator"&w% +3 "core" %΍ +3 "storage"(_& +4 "core" & | B\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&~'Ϲ +20 "core" ' + "manipulator"&& +5 "core" &   + "storage"(Q& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' +2 "storage"(c% +4 "core" %q a\ +2 ."downElevator"SE.seek :down +49 "storage"("'X +54 (% +2 "core" %Z@ X\ Wb +3 "manipulator"&r% +4 "core" %; n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +107 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & b\  +2 "collection"'& +4 "core" &Vj \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&,% +3 "core" %\ 7 +2 "storage"({% +4 "core" %b \ +2 "storage"(k. +3 "core" .( +2 "storage"(0& +4 "core" & E\  +2 "storage"(C& +4 "core" & +\  +2 "manipulator"&:& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & W  +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +95 "core" ' +2 "storage"(3& +3 "core" & y\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +280 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(W'V +33 "core" ' + "manipulator"&8% +5 "core" %Ό u + "storage"( & +4 "core" & j j #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&4'ϸ +13 "core" ' + "manipulator"&(& +4 "core" & j  +2 "storage"(& +3 "core" & 5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(S'E +38 "core" ' + "manipulator"&I& +4 "core" & f  +2 "manipulator"&% +4 "core" %' Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +162 "core" ( +2 "manipulator"&=& +3 "core" &* e @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &*  a @^ +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"';( +416 "core" ( +2 "storage"(.& +3 "core" & j\  +2 "storage"(O& +4 "core" & \  +2 "manipulator"&/& +3 "core" &( K >H +2 "manipulator"&N% +4 "core" % 1 +3 .tForearm.seek :retract + "manipulator"&P'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +162 "core" ( + "manipulator"&2& +4 "core" & L  +2 "storage"(E& +3 "core" &\ \ d\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&*'} +101 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&?1 +58 "core" 1 +5 "manipulator"&K% +4 "core" %  A +3 "storage"(b& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&)'ϫ +12 "core" ' +2 "manipulator"&e& +4 "core" &  +2 "storage"(D& +3 "core" &\ \ " \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +23 "core" ' +2 "storage"(F% +3 "core" %E\ \ # c\  +4 ."downElevator"SE.seek :down +3 "storage"(f'X +98 ( % +3 "core" %C \ V` +2 "manipulator"&R% +5 "core" %N } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +93 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'+& +3 "core" & \ +2 "manipulator"&@% +4 "core" %\  I  +2 "storage"(M% +3 "core" %`\ \  \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" & \ +2 "manipulator"&>& +4 "core" & y  +2 .tElbow.seek 2 + "manipulator"&[( +32 "core" ( +2 "manipulator"&s& +4 "core" &  + "storage"(V& +4 "core" & \ \  =\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +94 "core" ' +2 "storage"(!& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & \ +2 "manipulator"&j& +4 "core" & K  +2 .tElbow.seek 2 +2 "manipulator"&H( +18 "core" ( +2 "manipulator"&g& +4 "core" & M  +2 "storage"(|& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"(5'X +8 "core" & ]  +2 "manipulator"&q% +3 "core" % 0 O +3 .tForearm.seek :retract + "manipulator"&v'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&t& +4 "core" &-  W Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &- T Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + "manipulator"&o& +4 "core" &- S Cp +4 "manipulator"&#% +4 "core" % P  +2 "collection"'`& +4 "core" & \ +2 "collection"'\\& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(V +5 "core" &  \ +8 &=  \ $e +9 &U{ \ 7 +9 &y \ L +10 &P \ M +9 &kV \ M +9 &-U  \ M +10 &W \ M +9 &V \ M +10 &sW \ M +9 &6R \ \ L +9 &S \ M +10 &!R \ M +9 &#|T \ L +9 &%>U \ L +10 &'T \ L +9 &(S \ L +10 &*T \ L +9 &,FU \ L +9 &.T \ L +10 &/T \ L +9 &1T \ L +10 &3MR \ M +9 &5T \ L +9 &6U \ M +10 &8W \ M +9 &:UT \ M +9 &<U \ M +10 &=U \ M +9 &?W \ M +9 &A^T \ L +10 &CU \ M +9 &DW \ M +10 &Fa \ N +9 &HZo \ P +9 &J \ \ T +10 &K \ \ X +9 &M \ Y +10 &OI \ \ Y +9 &Q \ \ \ Y +47 &R \ \ Z +6 &T \ \ [ +2 &V)v \ \ / +2 &V$ \ \ T ( + &Vc \ \ L + &Vc\ \ \ L +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 5/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"& 1 +54 "core" 1 +3 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%z& +3 "core" &}\ +2 "manipulator"&}% +5 "core" %\   + "storage"(p% +4 "core" %U } ~ \ +2 "storage"(<. +3 "core" .( +2 "storage"(w& +3 "core" & ~  \ +3 "storage"(& +3 "core" &   f\ +2 "manipulator"&_& +5 "core" &- Cp + "manipulator"&x% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +158 "core" ( +2 "manipulator"&Q& +4 "core" &  +2 "storage"(c& +4 "core" & K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&y'ќ +99 "core" ' +2 "storage"( & +3 "core" & ?\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & \ +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(& +3 "core" & \\\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(,'X +8 "core" &  +2 "manipulator"&{% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&Z'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&k(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"&0& +3 "core" &l  ]  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &l O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&:' +101 "core" ' + "manipulator"&& +3 "core" &l [  +3 "manipulator"&% +3 "core" % h +3 "processing"%& +3 "core" &\ +3 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &~\ +7 &B\ %f +9 &V\ 8 +10 &{\ M +9 &Z\ M +9 &y]\ N +10 &;Y\ N +9 &Z\ M +10 &V\ N +9 &W}\ M +9 &DX:\ M +10 & YO\ M +9 &!W\ N +10 &#WU\ N +9 &%K]\ N +9 &'\\\ M +10 &(W\ M +9 &*W\ N +9 &,SZ\ N +10 &.Y\ N +9 &/W\ M +9 &1X\ M +10 &3[Z\ N +9 &5Z\ N +10 &6Y\ N +9 &8UD\ N +9 &:cYV\ N +10 &<%X\ N +9 &=Z\ M +9 &?Z\ M +10 &AmW\ M +9 &C-\\\ N +10 &D`\ N +9 &Fg\ O +9 &Hhy]\ Q +10 &J$\ S +9 &K\ S +9 &M\ S +10 &Oj\ S +9 &Q,\ S +10 &R\ T +9 &T\ T +9 &Vo\ T +10 &X0\ U +9 &Y{q\ . +9 &Z(j^\ F +10 &Z%\ 0 +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&% +3 "core" % h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +95 "core" ' +2 "processing"%7& +3 "core" &Z%\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  7 +3 "storage"(L% +4 "core" %b i r o\ + "storage"(8. +3 "core" .( +2 "storage"( & +3 "core" & i h \ +50 "storage"((& +2 "manipulator"&& +8 "core" & d Z L\ +2 &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&I(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&&& +4 "core" &l L  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&$' +94 "core" ' +2 .tHand.close +2 "manipulator"&m/ +54 "core" / +2 .tPC.seek :open +2 "processing"%4( +89 "core" ' +2 "storage"(W- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +36 "core" ' +295 ( +2 "storage"(9& +3 "core" & X\ +3 "manipulator"&^& +4 "core" &l  +2 "manipulator"&U% +4 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +257 "core" ( +2 "manipulator"&J& +3 "core" & Y  +2 "storage"(.& +4 "core" & ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +92 "core" ' + .tHand.open +2 "manipulator"&/1 +64 "core" 1 +2 "storage"(N- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(u& +4 "core" & `\ + "manipulator"&?& +4 "core" & \   +2 .tElbow.seek 2 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&b& +4 "core" & h  + "storage"(e& +4 "core" & \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +56 "core" ' +2 "manipulator"&P& +4 "core" & \  +2 "storage"( & +4 "core" & a\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&R' +21 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +29 "core" ' +2 "manipulator"&)% +4 "core" % ] +2 "storage"(+& +4 "core" & w\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&@' +19 "core" ' +2 "manipulator"&M& +4 "core" & O  +2 "storage"(& +4 "core" & )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +33 "core" ' + "storage"(A% +4 "core" %q T\ +2 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (\ % +3 "core" %I ` i :\ Xf +3 "manipulator"&T% +4 "core" %ѕ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +2 "core" & !\ +3 "collection"'V& +3 "core" &Vc \ \ L +49 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&!% +4 "core" %\ :  +2 "storage"(1% +4 "core" %] Y\ +2 "storage"(G. +3 "core" .( +2 "storage"(X& +4 "core" & >\ + "storage"(6& +3 "core" & l\ +3 "manipulator"&j& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&g( +4 "core" ( +2 "manipulator"&|& +4 "core" &  +2 "storage"(a& +4 "core" & m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +86 "core" ' + "storage"(q& +4 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +291 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" &   +2 "storage"(]& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'R +40 "core" ' + "manipulator"&`% +4 "core" % B  +2 "storage"(H& +4 "core" & y y *\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&5' +23 "core" ' + "manipulator"&v& +4 "core" & D  +2 "storage"(;& +4 "core" & #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +20 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('A +41 "core" ' +2 "manipulator"&z& +3 "core" & i  +2 "manipulator"&}% +5 "core" %у  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +154 "core" ( +3 "manipulator"&w& +3 "core" &* 1 @\\ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &*  @\\ +3 .tForearm.seek CC +2 "manipulator"&\\'" +93 "core" ' +2 .tHand.close + "manipulator"&_/ +58 "core" / +2 .tCC.seek :open +2 "collection"'x( +417 "core" ( + "storage"(& +3 "core" & '\ +2 "storage"(Q& +4 "core" & \ +2 "manipulator"&c& +4 "core" &) E ?V +2 "manipulator"& % +4 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&d'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&'( +161 "core" ( +2 "manipulator"&& +3 "core" & [  +3 "storage"(r& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&h' +99 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +5 "core" % r z + "storage"(& +3 "core" & F\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&{' +20 "core" ' +3 "manipulator"&& +3 "core" & h  +2 "storage"(y& +4 "core" & t\ +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +15 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' +2 "storage"(~% +4 "core" %E\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(0'X +99 (C% +3 "core" %D |\ Va +2 "manipulator"&% +4 "core" % o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +3 "core" %\  f ' +3 "storage"(,% +3 "core" %a\ \  \ +2 "storage"(Z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(%( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & \  +3 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&7( +14 "core" ( +2 "manipulator"&& +3 "core" & L p +3 "storage"(L& +3 "core" & \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +95 "core" ' +2 "storage"( & +4 "core" &\ "\ " \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +2 "core" & N\  +2 "manipulator"&&& +4 "core" & O p +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&:& +4 "core" &  p + "storage"(m& +3 "core" &\ \ \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"("'X +8 "core" & z p +2 "manipulator"&% +3 "core" % ϯ +3 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&U& +5 "core" &% 4 R <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &% a <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +97 "core" ' +2 "manipulator"&.& +4 "core" &%  ] <@ +2 "manipulator"&I% +3 "core" % _ +3 "collection"'/& +3 "core" & \ +3 "collection"'N& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \ +7 &3 \ $d +9 &V{ \ 7 +10 &y \ L +9 &U \ M +9 &hW \ M +10 &*U \ M +9 &R \ M +9 &R \ L +10 &pU \ M +9 &2U \ M +10 &R \ M +9 &!S \ M +9 &#yS \ L +10 &%:T \ M +9 &&V \ M +9 &(T \ L +10 &*W  \ M +9 &,BX  \ M +10 &.U \ M +9 &/R \ M +9 &1W \ M +10 &3IU \ M +9 &5 R \ M +9 &6R \ L +10 &8T \ M +9 &:RY \ M +10 &<Y \ M +9 &=T \ L +9 &?U \ M +10 &AZX \ M +9 &CU \ L +9 &DW \ M +10 &F` \ N +9 &HWp \ P +10 &J\ \ T +9 &K\ \ \ X +9 &M \ \ Y +10 &OH \ \ X +9 &Q \ \ X +9 &R \ \ Z +10 &T\ \ \ [ +9 &V%t \ \ / +10 &V(\ \ \ U +9 ( + &V_\ \ \ I +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&u1 +60 "core" 1 +2 "manipulator"&?% +4 "core" %  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%e& +49 "core" &\ +4 "manipulator"&% +3 "core" %\ 5 +2 "storage"(P% +4 "core" %b j f b\ +2 "storage"( . +3 "core" .( +2 "storage"(=& +4 "core" & i g i\  +2 "storage"()& +4 "core" & j i u\  +2 "manipulator"&+& +3 "core" &% w <@ +2 "manipulator"&2% +4 "core" %\ A 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&M( +159 "core" ( +2 "manipulator"&& +3 "core" & t k +2 "storage"(A& +4 "core" & 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 "storage"(O& +4 "core" & U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'i +284 "core" ' + "storage"(\ - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & H\  +2 "manipulator"&D& +4 "core" & H k +2 .tElbow.seek 3 + "manipulator"&K( +4 "core" ( +2 "manipulator"&F& +4 "core" & H k + "storage"(R& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&V& + "storage"(!'X +8 "core" & k + "manipulator"&*% +5 "core" % ϭ +2 .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +3 "manipulator"&X& +4 "core" &l  g 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &l h 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j' +99 "core" ' +2 "manipulator"&|& +4 "core" &l \\ 3 +2 "manipulator"&a% +3 "core" % J +3 "processing"%S& +3 "core" &\ +3 "processing"%q& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%f(Z +5 "core" &\  +8 &4|\ *y +9 &e\ ? +10 &~s\ N +9 &AW\ N +9 &Y\ N +10 &U\ M +9 &W\ M +10 &IU\ N +9 & [\ N +9 &Z\ N +10 & W'\ M +9 &"QZ\ N +9 &$Y\ M +10 &%X,\ M +9 &'[>\ N +9 &)Y[X\ N +10 &+ZT\ N +9 &,U\ N +10 &.[\ N +9 &0aYT\ N +9 &2#VT\ N +10 &3Z\ M +9 &5Z\ N +9 &7jZB\ M +10 &9+V\ N +9 &:T\ M +10 &<W\ M +9 &>rY\ M +9 &@3V\ N +10 &AU\ M +9 &CZ\ N +9 &Ex]\ N +10 &G6ih\ O +9 &H~C\ R +10 &JI\ T +9 &Lo\ T +9 &N1\ T +10 &O_\ T +9 &QB\ T +9 &Sw[\ T +10 &U9\ T +9 &V\ T +10 &X\ T +9 &Z%Yx\ %q +9 &Zb_\ 2 +10 ( + &Z D\ , +2 "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&Y1 +64 "core" 1 + "manipulator"&>% +5 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +95 "core" ' +2 "processing"%t& +3 "core" &Z \ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&]% +3 "core" %\   +3 "storage"(o% +3 "core" %R h \ +2 "storage"(`. +3 "core" .( +2 "storage"(H& +3 "core" & y v b\  +3 "storage"(v& +3 "manipulator"&;& +6 "core" & l g J\  +2 &l l 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&z(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +3 "core" ( + "manipulator"&l& +44 "core" &l 3 +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &l 3 +2 .tForearm.seek PC +2 "manipulator"&[' +94 "core" ' +2 .tHand.close +3 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%5( +44 "core" ' + "storage"(#- +3 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +45 "core" ' +331 ( +2 "storage"(& +3 "core" & B\  +3 "manipulator"& & +4 "core" &l 3 +2 "manipulator"&i% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +244 "core" ( +2 "manipulator"&& +3 "core" & T - +3 "storage"(& +4 "core" & x w ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +103 "core" ' + .tHand.open +2 "manipulator"&c1 +61 "core" 1 +3 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(<& +4 "core" & \  + "manipulator"&& +4 "core" & + +2 .tElbow.seek 3 +2 "manipulator"&( +18 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(& +4 "core" &\ \ E\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(d' +57 "core" ' +2 "manipulator"&~& +3 "core" & U  +2 "storage"('& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +27 "core" ' + "manipulator"&{% +5 "core" %Ά + "storage"(& +4 "core" & Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&'ϲ +20 "core" ' +2 "manipulator"&,& +3 "core" & .  +3 "storage"(Z& +4 "core" & ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' + "storage"(% +5 "core" %n _\ +2 ."downElevator"SE.seek :down +3 "storage"(0'X +99 (% +3 "core" %C { p \ We +2 "manipulator"& % +4 "core" %D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \  +2 "collection"'L& +4 "core" &V] \ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\   +2 "storage"(n% +3 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & Q\  +2 "storage"((& +5 "core" & L\  + "manipulator"&&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&:( +4 "core" ( +2 "manipulator"&m& +50 "core" &  +2 "storage"(k& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +101 "core" ' +2 "storage"(& +3 "core" & S\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(7'i +280 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &  +2 "storage"($& +3 "core" & G\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&3'} +20 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(I'V +28 "core" ' + "manipulator"&/% +4 "core" %Ά +2 "storage"(& +4 "core" & S\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&"'ϲ +20 "core" ' + "manipulator"&9& +3 "core" &  +2 "storage"(x& +4 "core" & #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +23 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(?'E +41 "core" ' +2 "manipulator"&e& +3 "core" & 0  +2 "manipulator"&N% +4 "core" %@ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +156 "core" ( + "manipulator"& & +4 "core" &' >M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &' >M +2 .tForearm.seek CC + "manipulator"&)'" +95 "core" ' + .tHand.close +2 "manipulator"&+/ +58 "core" / +2 .tCC.seek :open + "collection"'2( +420 "core" ( +2 "storage"(J& +3 "core" & n\  +2 "storage"(& +3 "core" & L\  +3 "manipulator"&A& +4 "core" &( 9 >M + "manipulator"&O% +3 "core" % 9 + +3 .tForearm.seek :retract + "manipulator"&^'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +160 "core" ( +2 "manipulator"&\ & +4 "core" & p +2 "storage"(T& +4 "core" & .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&D'} +97 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +53 "core" 1 +2 "manipulator"&s% +3 "core" % ΐ +2 "storage"(V& +4 "core" & 2\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&*'ϼ +20 "core" ' +3 "manipulator"&M& +3 "core" & 5 p +2 "storage"(& +4 "core" &\  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +34 "core" ' + "storage"(@% +4 "core" %N \  %\ +3 ."downElevator"SE.seek :down +3 "storage"(X'X +98 (6% +3 "core" % @ 1\ Va +2 "manipulator"&K% +4 "core" %? X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&|'\ +94 "core" ' +9 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'a& +3 "core" & \ +2 "manipulator"&S% +3 "core" %\   +3 "storage"(!% +4 "core" %a\ \ # W\ + "storage"(1. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(4( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +2 "core" & \ +3 "manipulator"&>& +3 "core" & 1 p +2 .tElbow.seek 2 +2 "manipulator"&t( +44 "core" ( + "manipulator"&]& +4 "core" & C g +2 "storage"(o& +4 "core" & \ \ ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +94 "core" ' +2 "storage"(H& +4 "core" & \ 7\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +286 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & ,\ +2 "manipulator"&l& +4 "core" & d +2 .tElbow.seek 2 +3 "manipulator"&g( +23 "core" ( + "manipulator"&j& +5 "core" &  + "storage"(& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&#' +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(f'X +8 "core" & i +2 "manipulator"&}% +3 "core" % %  O +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +158 "core" ( + "manipulator"&i& +3 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 "core" &* F Ac +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &+ Ac +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +4 "manipulator"&& +3 "core" &+ Ac +3 "manipulator"&z% +4 "core" %   +2 "collection"'c& +3 "core" & \ +3 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'\\(V +3 "core" & \ +9 &5 \ $e +10 &W~ \ 7 +9 &y \ L +10 &U \ L +9 &oT \ L +9 &1S \ L +10 &T \ L +9 &S \ L +9 &wT \ L +10 &8R \ M +9 &R \ M +10 &!R \ M +9 &#T \ L +9 &%?W  \ M +10 &'S \ L +9 &(T \ L +9 &*R \ M +10 &,HR \ M +9 &.\ R \ M +10 &/Q \ M +9 &1T \ L +9 &3QS \ L +10 &5T  \ L +9 &6U \ M +9 &8V  \ M +10 &:WY  \ M +9 &<U \ M +10 &=U  \ L +9 &?U \ \ M +9 &A`W \ M +10 &C#U \ L +9 &DX \ M +9 &Fa \ N +10 &H^m  \ P +9 &J \ \ T +10 &K\ \  \ Y +9 &M \ \ Y +9 &OM\ \ \ Y +10 &Q \ \ \ Y +9 &R\ \ \ Z +9 &T \ \ [ +10 &V+v\ \ \ / +9 &V$\ \  \ T +9 ( +3 "collection"' & +2 "core" &Vl\ \  \ L +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&<1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  g  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(~% +4 "core" %U { s `\ +2 "storage"('. +3 "core" .( +2 "storage"(w& +3 "core" & { t N\ +2 "storage"({& +4 "core" & } t c\ +2 "manipulator"&& +4 "core" &* Ac +2 "manipulator"&% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 .tElbow.seek 2 +4 "manipulator"&,( +158 "core" ( +2 "manipulator"&Z& +3 "core" &  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +109 "core" ' +3 "storage"(Q& +3 "core" & )\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ;\ +2 "manipulator"&y& +4 "core" & x  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +4 "core" & ]  +2 "storage"(C& +4 "core" & 3\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"( 'X +8 "core" &  +2 "manipulator"&n% +3 "core" %  { +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&h(s +171 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +3 "core" &j + O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &j w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&' +103 "core" ' + "manipulator"&m& +4 "core" &j * +2 "manipulator"&k% +3 "core" % +3 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(Z +4 "core" &\ +8 &9\ #c +10 &U}\ 7 +9 &{\ L +9 &Y\ N +10 &fZ\ N +9 &*X\ M +10 &W\ M +9 &Z\ N +9 &oU\ N +10 &1U\ N +9 &W\ N +10 &!V\ N +9 &#xZ\ M +9 &%:Y\ M +10 &&Y\ M +9 &(W\ M +9 &*W;\ N +10 &,AZ/\ N +9 &.[/\ N +9 &/ZG\ M +10 &1W<\ M +9 &3JW\ M +10 &5 [\ N +9 &6V\ M +9 &8W\ M +10 &:RV\ M +9 &<Y\ M +9 &=W\ M +10 &?Z\ N +9 &AYZ\ N +10 &C\\\ N +9 &D\\\ N +9 &Fc\ O +10 &HWu\ Q +9 &J\ S +10 &K\ T +9 &M\ S +9 &OW\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &V\\\ U +14 &X\ U +4 &Yzk\ 5 +10 &Z-\ G +9 &Z\ * +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +96 "core" ' +2 "processing"%U& +3 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&$% +4 "core" %\  #  +2 "storage"(.% +3 "core" %T | <\ +3 "storage"(/. +3 "core" .( + "storage"(& +4 "core" & x 5\ +2 "storage"(9& +3 "manipulator"&x& +8 "core" & | 4\ +2 &j  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&e(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'i +3 "core" ( + "manipulator"&-& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &j [ +2 .tForearm.seek PC +2 "manipulator"&7' +96 "core" ' + .tHand.close +2 "manipulator"&3/ +61 "core" / +2 .tPC.seek :open + "processing"%"( +85 "core" ' +9 "storage"(I- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +49 "core" ' +279 ( +2 "storage"(=& +3 "core" & *\ +2 "manipulator"&u& +4 "core" &j +2 "manipulator"&W% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&+'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&& +3 "core" & A  +3 "storage"(J& +4 "core" &   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +105 "core" ' +3 .tHand.open + "manipulator"&A1 +57 "core" 1 +2 "storage"(O- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(\ 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(T' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(P& +4 "core" & \  m\ +2 "manipulator"&R& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&s( +7 "core" ( + "manipulator"&V& +4 "core" & d  +2 "storage"(M& +3 "core" & \  \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +58 "core" ' +2 "manipulator"&^& +3 "core" &   +2 "storage"(6& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&K' +32 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(D'i +28 "core" ' +2 "manipulator"&*% +3 "core" % e 4 +3 "storage"(a& +4 "core" & v  +\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&S' +20 "core" ' + "manipulator"&!& +5 "core" & <  + "storage"(1& +4 "core" & ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +30 "core" ' +2 "storage"(E% +4 "core" %m \ +2 ."downElevator"SE.seek :down +3 "storage"(X'X +99 (%% +3 "core" %? h l \ Wd +2 "manipulator"&Y% +4 "core" %ћ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (]& +3 "core" & b\ +3 "collection"'o& +4 "core" &Vn\ \ \ L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&H% +3 "core" %\  \   +3 "storage"(F% +4 "core" %[ \ + "storage"(|. +4 "core" .( + "storage"(v& +4 "core" & b\ +2 "storage"(;& +3 "core" & e\ +2 "manipulator"&l& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&j( +4 "core" ( + "manipulator"&& +3 "core" & ?  +3 "storage"(G& +3 "core" & X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +94 "core" ' + "storage"(}& +4 "core" & k\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +330 "core" ' +3 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&i& +2 "core" &  +3 "storage"([& +4 "core" & (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&q' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'S +27 "core" ' +2 "manipulator"&c% +3 "core" % . ! +2 "storage"(g& +5 "core" & s q 5\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&f' +21 "core" ' +2 "manipulator"&& +3 "core" & e  +2 "storage"(2& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' + "manipulator"&& +4 "core" & d  +2 "manipulator"&% +4 "core" %Ѱ N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +157 "core" ( +3 "manipulator"&w& +4 "core" &+ > Ab +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &+ Ab +3 .tForearm.seek CC + "manipulator"& '" +101 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" & b\ +2 "storage"(Z& +3 "core" & h\ +2 "manipulator"&& +4 "core" &+ A` +2 "manipulator"&Q% +3 "core" %  x +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&_( +161 "core" ( +2 "manipulator"&& +3 "core" & .  +2 "storage"( & +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&y' +107 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +57 "core" 1 +2 "manipulator"&% +3 "core" % +2 "storage"(L& +4 "core" & m\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&n' +17 "core" ' +2 "manipulator"&,& +3 "core" & #  +2 "storage"(p& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +38 "core" ' +2 "storage"(% +4 "core" %H\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 ((% +3 "core" %A Q\ Va +2 "manipulator"&% +4 "core" %ј ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'k& +3 "core" & \ +2 "manipulator"&% +3 "core" %\ ,  +2 "storage"( % +4 "core" %a\ \  4\ +2 "storage"(. +3 "core" .( +45 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(5( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & `\  +2 "manipulator"&& +3 "core" & :  +3 .tElbow.seek 3 + "manipulator"&U( +13 "core" ( + "manipulator"&$& +5 "core" & ( o + "storage"(.& +4 "core" &\ \  0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +91 "core" ' +2 "storage"(& +4 "core" &\ \  w\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" & \  +2 "manipulator"&-& +3 "core" &  o +3 .tElbow.seek 3 + "manipulator"&:( +4 "core" ( +2 "manipulator"&&& +4 "core" & o + "storage"(3& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&I'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&8& +3 "storage"(0'X +8 "core" & K o + "manipulator"&N% +4 "core" % Ϭ * +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&u( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&W& +4 "core" &+ % Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &+ Ae +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&J& +4 "core" &+ Ae + "manipulator"&e% +5 "core" %! $ +2 "collection"'A& +5 "core" & \ +3 "collection"'O& +4 "core" & \ +3 .tCC.seek :closed + "collection"')(V +5 "core" & \  +9 &3~ \ *z +10 &e~ \ > +9 &p \ M +10 &KP \ M +9 &T \ L +9 &W \ M +10 &W \ L +9 &UU \ L +9 &X \ M +10 &V \ L +9 & T \ M +10 &"\\W \ M +9 &$R \ M +9 &%T \ M +10 &'W \ M +9 &)dV \ M +9 &+&V \ M +10 &,V \ M +9 &.R  \ M +10 &0lR \ M +9 &2/R \ L +9 &3R \ M +10 &5S \ L +9 &7tU \ M +9 &96V \ M +10 &:U \ L +9 &<U \ M +10 &>|U \ M +9 &@>R \ M +9 &BT \ M +10 &CU \ L +9 &EY \ N +9 &G@b \ O +10 &Hu \ Q +9 &J\  \ V +10 &Lh\ \ \ Y +9 &N+\ \ \ X +9 &O\ \ \ Y +10 &Q\ \ \ Z +9 &Sj\ \ \ [\ +9 &U.\ \ \ X +10 &Vl? \ \ 0 +9 &V ~\ \  \ K +6 ( + "collection"'O& +4 "core" &Vb\ \ \ K +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&P1 +54 "core" 1 + "manipulator"&R% +4 "core" %  P +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&+% +4 "core" %\ I  + "storage"(^% +4 "core" %T \ +2 "storage"(6. +3 "core" .( +2 "storage"( & +3 "core" & \  +2 "storage"(*& +4 "core" & \  +2 "manipulator"&a& +3 "core" &+ $ Ae +2 "manipulator"&\ % +5 "core" %\ u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!( +168 "core" ( + "manipulator"&1& +4 "core" & f O +2 "storage"(E& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(& +48 "core" & 0\  +7 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +285 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & 6\  +2 "manipulator"&& +5 "core" & O + .tElbow.seek 3 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&@& +4 "core" & < O +2 "storage"(K& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&S'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +3 "storage"(H'X +8 "core" & q O + "manipulator"&F% +5 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +3 .tElbow.seek PC +2 "manipulator"&|(s +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&v& +3 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +2 "core" &n  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&l' +97 "core" ' +2 "manipulator"&& +3 "core" &n  +3 "manipulator"&G% +4 "core" %  +2 "processing"%?& +4 "core" &\ +2 "processing"%}& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(Z +5 "core" &\  +8 &3|\ *z +10 &e\ ? + "Can"\ XN +8 "core" &r\ O +10 &IU\ M +9 & X\ M +9 &Z\ N +10 &X\ N +9 &QT\ M +9 &W\ M +10 &Z\ M +9 & V\ M +10 &"XZ\ N +9 &$Y\ N +9 &%Y\ N +10 &'V\ N +9 &)aT\ M +9 &+#W\ M +10 &,Yz\ N +9 &.W\ N +10 &0hY\ N +9 &2+U\ M +9 &3W7\ M +10 &5Z6\ M +9 &7pY\ N +9 &93W\ M +10 &:U\ M +9 &<X\ N +10 &>zU\ M +9 &@;[\ M +9 &AU\ M +10 &CY\ M +9 &E]\ N +9 &G=l\ O +10 &H\ R +9 &J\ S +10 &Lw\ S +9 &N9\ S +9 &O\ T +10 &Q\ T +9 &S~\ T +9 &U?\ T +10 &V\ U +9 &X\ T +10 &Z(Vu\ 't +9 &ZW\ 2 +9 ( + &Z%\ / +3 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&b1 +64 "core" 1 + "manipulator"&>% +4 "core" % X  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +3 "processing"%i& +4 "core" &Z%\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&[% +4 "core" %\  z  +2 "storage"(% +4 "core" %a ~ ~ \ +2 "storage"(c. +3 "core" .( +2 "storage"(g& +4 "core" & ~ { h\  +2 "storage"(& +2 "manipulator"&2& +8 "core" & q t \  +2 &n  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&B& +4 "core" &n 2  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &n h  +3 .tForearm.seek PC + "manipulator"&t' +94 "core" ' + .tHand.close +2 "manipulator"&q/ +55 "core" / +2 .tPC.seek :open + "processing"%f( +91 "core" ' +2 "storage"(z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +49 "core" ' +281 ( +2 "storage"({& +4 "core" & \  + "manipulator"&<& +3 "core" &n  +2 "manipulator"&#% +4 "core" %  +42 .tForearm.seek :retract +9 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&~( +247 "core" ( + "manipulator"&\\& +4 "core" & m M +2 "storage"(& +3 "core" & S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +92 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(Q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"('& +3 "core" & \  +2 "manipulator"&C& +4 "core" &\ \ K +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&L& +3 "core" & T K +3 "storage"(,& +4 "core" & 5\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&p'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' + "manipulator"& & +4 "core" &\ } K +2 "storage"((& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(y'i +25 "core" ' +2 "manipulator"&n% +4 "core" %| +2 "storage"(k& +4 "core" & 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&'Ϩ +21 "core" ' +2 "manipulator"& & +4 "core" & P K +2 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' +2 "storage"(r% +3 "core" %r l\  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (4% +2 "core" %bJ m x 6\ Xg +3 "manipulator"&% +3 "core" %+ A  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ($& +3 "core" & \  +2 "collection"'.& +4 "core" &Vb\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  W  +2 "storage"(d% +3 "core" %a \ +3 "storage"(m. +3 "core" .( +2 "storage"(x& +4 "core" & \  + "storage"(9& +4 "core" & \  +2 "manipulator"&-& +4 "core" &\ \  K +2 .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&3& +4 "core" &\ K +2 "storage"(h& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +101 "core" ' + "storage"(N& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +284 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &\ K +2 "storage"(7& +4 "core" & E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +47 "core" ' +4 .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(e'V +31 "core" ' +2 "manipulator"&:% +3 "core" %· 7 +2 "storage"(A& +4 "core" & | 2\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&0'ϳ +20 "core" ' + "manipulator"&=& +4 "core" & q K +2 "storage"(& +4 "core" & .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'E +39 "core" ' + "manipulator"&M& +5 "core" & K + "manipulator"&+% +4 "core" %/ ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +154 "core" ( +2 "manipulator"& & +4 "core" &( s ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &( 1 ?Q +3 .tForearm.seek CC +2 "manipulator"&*'" +94 "core" ' + .tHand.close +2 "manipulator"&a/ +53 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +416 "core" ( +2 "storage"(& +3 "core" & R\  +3 "storage"(1& +4 "core" & \  + "manipulator"&E& +4 "core" &'  >O +2 "manipulator"&% +3 "core" % 0 \ +3 .tForearm.seek :retract +2 "manipulator"&u'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&V( +163 "core" ( + "manipulator"&%& +8 "core" & <  +2 "storage"(Y& +5 "core" &\ \ \  + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +94 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&]% +4 "core" % Ή V + "storage"(o& +5 "core" & M\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&F'ϵ +20 "core" ' +2 "manipulator"&!& +3 "core" &   +2 "storage"(& +4 "core" & c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +24 "core" ' +2 "storage"(S% +4 "core" %L\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(v'X +99 (;% +3 "core" %A \ Va +2 "manipulator"&s% +4 "core" %. C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'G& +4 "core" & \ +2 "manipulator"&?% +3 "core" %\   +3 "storage"(H% +4 "core" %T\ \  \ + "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"("( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" & \ +2 "manipulator"&>& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&i( +32 "core" ( +2 "manipulator"&[& +46 "core" & $ +6 "storage"(& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +94 "core" ' + "storage"(g& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +278 "core" ' +2 "storage"(2- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ;\ +2 "manipulator"&B& +3 "core" & # +3 .tElbow.seek 2 + "manipulator"&j( +4 "core" ( +2 "manipulator"&l& +3 "core" & _ # +2 "storage"(q& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +3 "storage"(X'X +7 "core" & # +2 "manipulator"&% +4 "core" % u +2 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&#& +3 "core" &* $ @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &* @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'" +94 "core" ' +5 "manipulator"&& +3 "core" &*  @\\ +2 "manipulator"&% +5 "core" % ' O +2 "collection"'& +4 "core" & ,\ +2 "collection"'Q& +5 "core" & #\ +2 .tCC.seek :closed +2 "collection"' (V +5 "core" & &\  +8 &4 \ +{ +9 &f  \ ? +9 &o &\ N +10 &VS #\ L +9 &W \ L +10 &R \ M +9 &T \ M +9 &]R \ L +10 &S \ L +9 &W \ M +9 & V \ M +10 &"eR \ L +9 &$'T \ L +9 &%X \ M +10 &'U \ M +9 &)mQ \ L +10 &+/T \ L +9 &,W \ M +9 &.U \ M +10 &0uR \ L +9 &27R \ L +9 &3W \ M +10 &5U \ M +9 &7}R  \ L +10 &9?T \ L +9 &:X \ M +9 &<U  \ L +10 &>U \ L +9 &@GT \ L +9 &B U \ L +10 &CT \ M +9 &EY \ M +10 &GGf \ O +9 &Iu \ Q +9 &J\ \ \ V +10 &Lr\ \ \ X +9 &N4\ \ \ X +9 &O \ \ X +10 &Q \ \ Y +9 &Ss\ \ \ [ +10 &U6\ \ \ V +9 &Vl<\ \ \ / +9 &V \ \ K +6 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&'1 +3 "core" &Vc\ \ \ K +58 1 +2 "manipulator"&C% +5 "core" %   H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%,& +3 "core" &\ +2 "manipulator"&% +4 "core" %\  p  +2 "storage"( % +4 "core" %b X\ + "storage"((. +4 "core" .( + "storage"(n& +4 "core" & w \ +2 "storage"(w& +4 "core" & | ?\ +2 "manipulator"&k& +4 "core" &) ? @\\ +2 "manipulator"& % +4 "core" %\  `  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" & E  +2 "storage"(r& +3 "core" & ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +98 "core" ' +2 "storage"(Z& +3 "core" & f\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B\ +2 "manipulator"&p& +3 "core" &  +3 .tElbow.seek 2 +46 "manipulator"&( +6 "core" ( +2 "manipulator"&& +3 "core" & F  +2 "storage"(& +4 "core" & {\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&$/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +3 "storage"('X +8 "core" & e  + "manipulator"&d% +5 "core" %  M +2 .tForearm.seek :retract +2 "manipulator"&y'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&x& +3 "core" &s m  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-' +98 "core" ' +2 "manipulator"&3& +4 "core" &s  +2 "manipulator"&h% +4 "core" % +2 "processing"%& +4 "core" &\ +2 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 &A\ $e +9 &U~\ 7 +9 &{\ L +10 &X\ M +9 &nX\ M +10 &/T\ N +9 &X\ N +9 &W\ N +10 &uT\ N +9 &6X\ N +9 &W\ M +10 &!Z\ N +9 &#}Y\ N +10 &%?W\ N +9 &'T\ M +9 &(U\ N +10 &*W\ N +9 &,GU\ N +9 &. Z\ N +10 &/V\ N +9 &1T\ M +10 &3PV\ M +9 &5Y\ N +9 &6Y\ M +10 &8T\ M +9 &:XW\ M +9 &<Y$\ M +10 &=T\ M +9 &?U\ M +10 &A`X\ M +9 &C"W\ M +9 &DZ\ N +10 &Fc\ O +9 &H\\y\ Q +9 &J\ S +10 &K\ T +9 &M\ T +10 &O]\ T +9 &Q\ T +9 &R\ T +10 &T\ T +9 &Vc\ T +9 &X$\ U +10 &Y{o\ 3 +9 &Z+\ I +9 &Z\ + +3 ( +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&_1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 "processing"%W& +3 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&7% +3 "core" %\  / + +3 "storage"(J% +4 "core" %b { r t\ + "storage"(:. +3 "core" .( +2 "storage"(A& +4 "core" & } } \ +2 "storage"(=& +2 "manipulator"&& +8 "core" & } ~ \ + &s T  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&M(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'i +2 "core" ( +2 "manipulator"&8& +5 "core" &s D  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +2 "core" &s $  +3 .tForearm.seek PC +2 "manipulator"&U' +97 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%0( +90 "core" ' + "storage"(e- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +40 "core" ' +292 ( +2 "storage"(O& +3 "core" & &\ +2 "manipulator"&P& +4 "core" &s  +2 "manipulator"&I% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&^( +248 "core" ( +2 "manipulator"&)& +4 "core" & / +2 "storage"(& +4 "core" & #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +92 "core" ' + .tHand.open +2 "manipulator"&E1 +62 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(%'E +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(*- +3 "core" -' +2 "storage"(6& +4 "core" & \ +2 "manipulator"&K& +3 "core" & ^ / +3 .tElbow.seek 2 + "manipulator"&]( +10 "core" ( +2 "manipulator"&o& +3 "core" & o  +2 "storage"(!& +4 "core" & \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(S' +130 "core" ' +2 "manipulator"&u& +3 "core" &  +2 "storage"(;& +4 "core" & 9\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&s' +22 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +26 "core" ' + "manipulator"&F% +4 "core" % +2 "storage"(G& +3 "core" & v z 0\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&?' +19 "core" ' +2 "manipulator"&H& +3 "core" & L  +2 "storage"(D& +4 "core" & I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +18 "core" ' +2 "storage"(T% +4 "core" %m \ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +99 (5% +4 "core" %I }\ Wf +2 "manipulator"&b% +4 "core" %т U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ([& +3 "core" & (\ +2 "collection"'& +4 "core" &Vc \ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&g% +4 "core" %\  \  " + "storage"(@% +4 "core" %b C\ +2 "storage"(. +3 "core" .( +2 "storage"(2& +3 "core" & 5\ +3 "storage"(& +4 "core" & ,\ + "manipulator"&B& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&l( +10 "core" ( +2 "manipulator"&q& +4 "core" &  +2 "storage"(|& +4 "core" & d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +95 "core" ' + "storage"(& +4 "core" & {\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +282 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & &  +2 "storage"(t& +4 "core" & J\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&}' +32 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +39 "core" ' +2 "manipulator"&% +4 "core" %  + "storage"(j& +4 "core" & o o .\ +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&X' +19 "core" ' +2 "manipulator"&{& +3 "core" &   +2 "storage"(\ & +4 "core" & Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'B +39 "core" ' +2 "manipulator"&,& +3 "core" & -  +3 "manipulator"&% +4 "core" %y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +152 "core" ( +2 "manipulator"&n& +5 "core" &* " @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &* @Y +3 .tForearm.seek CC +2 "manipulator"&w'" +93 "core" ' +2 .tHand.close + "manipulator"&k/ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +417 "core" ( + "storage"(\\& +5 "core" & #\ + "storage"(& +4 "core" & w\ +2 "manipulator"&r& +3 "core" &* O @X +2 "manipulator"&Z% +4 "core" % 5 j  +2 .tForearm.seek :retract +2 "manipulator"&<'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&L( +162 "core" ( + "manipulator"&4& +4 "core" & E  +2 "storage"(& +3 "core" & \ \ \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&p' +103 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&$% +4 "core" %  " +2 "storage"(.& +5 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&d' +18 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(~& +3 "core" & L\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +27 "core" ' +2 "storage"(% +4 "core" %I \ \ +2 ."downElevator"SE.seek :down +4 "storage"(x'X +99 (9% +3 "core" %A Q\ Va +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +93 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +3 "core" & \ +3 "manipulator"&% +3 "core" %\ \ \ 2 +2 "storage"(% +5 "core" %T\ \  \ + "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(f( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +3 "core" & \  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&W( +12 "core" ( +2 "manipulator"&7& +4 "core" & g + "storage"(J& +4 "core" & g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +96 "core" ' + "storage"(A& +4 "core" &\ \ # Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +322 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" & \  +2 "manipulator"&8& +5 "core" & g +2 .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( + "manipulator"&-& +4 "core" & 8 g +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +3 "storage"('X +7 "core" & g +2 "manipulator"&+% +3 "core" % ϟ  +3 .tForearm.seek :retract + "manipulator"&O'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&I& +5 "core" &+  3 Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +54 "core" &+ Ac +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'" +97 "core" ' +2 "manipulator"&& +4 "core" &+ ! ' Ac +2 "manipulator"&M% +4 "core" % I +2 "collection"'E& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'*(V +3 "core" & \ +6 & \ 6 +9 &@Hy  \ 0 +9 &ms~ \ E +10 &[  \ L +9 &S \ L +10 &R \ M +9 &[R \ M +9 &V "\ M +10 &U !\ M +9 &Q \ M +9 &cW \ M +10 &!%V \ M +9 &"U \ M +10 &$R \ M +9 &&kS \ M +9 &(.U \ L +10 &)V \ M +9 &+U \ M +9 &-tT \ L +10 &/5V \ M +9 &0W \ M +10 &2T \ M +9 &4{R \ M +9 &6=W \ M +10 &7W \ M +9 &9T \ M +9 &;U \ M +10 &=EW \ M +9 &?R \ M +10 &@S \ M +9 &BS \ M +9 &DMT \ M +10 &F \\ \ N +9 &Gh \ O +9 &I} \ R +10 &K5 \ \ X +9 &L\ \ \ Y +9 &N\ \ \ X +10 &Py\ \ \ X +9 &R8 \ \ Y +10 &S\  \ Z +9 &U\ \ \ G +9 &V3\ \ \ &s +10 &Vb \ \ K +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&61 +52 "core" 1 +3 "manipulator"&K% +3 "core" %  i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%!& +4 "core" &\ + "manipulator"&a% +4 "core" %\   +2 "storage"(u% +4 "core" %T | \ +2 "storage"(;. +3 "core" .( +2 "storage"( & +4 "core" & n \  + "storage"(%& +4 "core" & z F\  +2 "manipulator"&F& +3 "core" &*  Ac +2 "manipulator"&G% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&^( +164 "core" ( + "manipulator"&H& +5 "core" & r j + "storage"(D& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +92 "core" ' +2 "storage"(Y& +3 "core" & U\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +285 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" & \  +3 "manipulator"&& +4 "core" & w j + .tElbow.seek 3 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&S& +3 "core" & . j +2 "storage"(s& +4 "core" & u\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +64 "core" / +50 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(g'X +8 "core" &  j + "manipulator"&@% +5 "core" % ϧ 0 g +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&2& +4 "core" &s @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +96 "core" ' +2 "manipulator"&q& +3 "core" &s m  +3 "manipulator"&|% +3 "core" % a  +3 "processing"%R& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(Z +5 "core" &\ +7 &A\ $f +9 &W\ 8 +10 &y\ M +9 &W\ N +9 &yY\ N +10 &;X\ N +9 &T\ M +9 &T\ M +10 &V\ M +9 &CW\ N +13 & U\ M +6 &!U\ N +9 &#Z\ M +10 &%K[\ N +9 &'W\ M +9 &(V\ M +10 &*Y\ M +9 &,TT\ M +9 &.W\ M +10 &/Y\ M +9 &1U\ N +10 &3\\Y\ M +9 &5Y\ N +9 &6W\ N +10 &8V\ N +9 &:dX\ M +9 &<&X\ M +10 &=U\ M +9 &?U}\ M +10 &AmU\ M +9 &C,Z\ N +9 &DZ\ N +10 &Fc\ O +9 &Hh}\ Q +9 &J%\ S +10 &K\ S +9 &M\ S +10 &Oj\ S +9 &Q,\ S +9 &R\ T +10 &T\ T +9 &Vp\ T +10 &X0\ U +9 &Y{p\ - +9 &Z(i\ E +10 &Z%\ . +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&V1 +60 "core" 1 +2 "manipulator"&>% +4 "core" %  1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' +2 "processing"%#& +3 "core" &Z$\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&t% +3 "core" %\  c  +2 "storage"(% +4 "core" %b p p \ +2 "storage"(. +3 "core" .( +2 "storage"(j& +3 "core" & t p 2\  +3 "storage"({& +2 "manipulator"&\ & +5 "core" & v p \  +2 &s  +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&,(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&`& +3 "core" &s  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &s w  +3 .tForearm.seek PC +2 "manipulator"&i' +101 "core" ' +2 .tHand.close + "manipulator"&}/ +61 "core" / +2 .tPC.seek :open +2 "processing"%X( +77 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +45 "core" ' +302 ( + "storage"(Q& +4 "core" & M\  +2 "manipulator"&'& +3 "core" &s  +2 "manipulator"&z% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&k'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +247 "core" ( +2 "manipulator"& & +3 "core" & ~ # +2 "storage"(\\& +4 "core" & D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +86 "core" ' +2 .tHand.open + "manipulator"&r1 +63 "core" 1 +2 "storage"(Z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +50 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +3 "core" -' +2 "storage"((& +4 "core" & \  _\  +2 "manipulator"&& +4 "core" & " +2 .tElbow.seek 3 +2 "manipulator"&$( +19 "core" ( +2 "manipulator"&.& +3 "core" &  +2 "storage"(& +4 "core" &\  _\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 "manipulator"&<& +4 "core" &  +2 "storage"(9& +3 "core" & R\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(p'i +24 "core" ' +2 "manipulator"&d% +3 "core" %Ό +2 "storage"(h& +4 "core" & { #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +19 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(y& +4 "core" & B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +26 "core" ' +2 "storage"( % +3 "core" %o \ +3 ."downElevator"SE.seek :down +4 "storage"(x'X +98 ("% +3 "core" %C Z\ Wd +2 "manipulator"&_% +5 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" & v\  +3 "collection"'J& +4 "core" &Vd\ \ \ K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&A% +3 "core" %\  i  +3 "storage"(% +4 "core" %S \ + "storage"(3. +3 "core" .( +2 "storage"(=& +3 "core" & S\  +2 "storage"(N& +5 "core" & @\  + "manipulator"&8& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&-( +4 "core" ( + "manipulator"&& +4 "core" & S  +2 "storage"(m& +4 "core" & b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +89 "core" ' + "storage"(+& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +278 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" & x  +3 "storage"(& +4 "core" & 9\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&e'} +27 "core" ' + .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('V +27 "core" ' +2 "manipulator"&M% +3 "core" %Ό +2 "storage"(E& +4 "core" & | \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&'ϸ +19 "core" ' +2 "manipulator"&O& +3 "core" & W  +3 "storage"( & +4 "core" & J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +34 "core" ' +49 .tSE.seek 1.09 Pucks below Top Plate + "storage"(K'E +42 "core" ' + "manipulator"&!& +5 "core" & T  + "manipulator"&a% +4 "core" %W ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +149 "core" ( +2 "manipulator"& & +3 "core" &% w <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &% <9 +3 .tForearm.seek CC + "manipulator"&F'" +90 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'G( +417 "core" ( +2 "storage"()& +3 "core" & \  +2 "storage"(H& +4 "core" & L\  +2 "manipulator"&D& +3 "core" &% j <9 +3 "manipulator"&Y% +4 "core" %  d  +2 .tForearm.seek :retract + "manipulator"&P'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +165 "core" ( + "manipulator"&5& +5 "core" & o X + "storage"(b& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +102 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&s1 +61 "core" 1 +2 "manipulator"&[% +5 "core" % Ύ l + "storage"(& +6 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&@'Ϻ +21 "core" ' +2 "manipulator"&^& +3 "core" & 8 X +3 "storage"(1& +4 "core" & U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +28 "core" ' +2 "storage"(?% +3 "core" %H \  (\ +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (% +3 "core" %@ v\ Va +2 "manipulator"&]% +5 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'|& +3 "core" & \ +2 "manipulator"&R% +4 "core" %\ " > +2 "storage"(g% +4 "core" %a \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(0( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" & }\ +2 "manipulator"&>& +4 "core" & X +2 .tElbow.seek 2 +2 "manipulator"&#( +37 "core" ( +2 "manipulator"&t& +3 "core" &  +3 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +87 "core" ' +2 "storage"(j& +3 "core" & \ \  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +283 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&`& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&l( +19 "core" ( +3 "manipulator"&B& +3 "core" & N  +2 "storage"(}& +49 "core" & \ +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(v'X +8 "core" & J  +2 "manipulator"&% +4 "core" %  @ K +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&z& +3 "core" &( 4 W ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &( N ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +101 "core" ' + "manipulator"&\\& +5 "core" &( ] ?S + "manipulator"&,% +5 "core" % n j + "collection"'r& +5 "core" & $\ +2 "collection"'Z& +5 "core" & !\ +3 .tCC.seek :closed + "collection"'w(V +5 "core" &  \ +6 & $\ 6 +9 &?Hy  \ 0 +9 &ls  \ D +10 &^ %\ M +9 &U $\ L +10 &S "\ L +9 &XT \ M +9 &U \ M +10 &R !\ L +9 &V  \ M +9 &aU \ L +10 &!"Q \ M +9 &"U \ M +10 &$R \ L +9 &&iR \ L +9 &(+T \ L +10 &)T \ M +9 &+W \ L +9 &-qQ \ L +10 &/4S \ L +9 &0U \ M +10 &2V \ L +9 &4yW \ L +9 &6;W \ L +10 &7W \ M +9 &9T \ L +9 &;U \ M +10 &=BU \ M +9 &?S  \ L +10 &@U \ L +9 &BX \ M +9 &DIX \ M +10 &F\ \\ \ M +9 &Gi \ O +9 &I\ \ R +10 &K4 \ \ W +9 &L\ \ \ X +10 &N \ X +9 &Pw\ \ \ X +9 &R6 \ \ Y +10 &S\ \ \ Z +9 &U \ \ G +9 &V5 \ \ $n +10 &Vi\ \ \ J +2 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&k1 +61 "core" 1 +3 "manipulator"&(% +3 "core" % " r _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%.& +3 "core" &\ +3 "manipulator"&% +4 "core" %\  ~  + "storage"(<% +4 "core" %] o i \ +2 "storage"(9. +3 "core" .( +2 "storage"(n& +3 "core" & h n z\ +2 "storage"(d& +3 "core" & l x \ +3 "manipulator"&h& +4 "core" &( ?S + "manipulator"&4% +4 "core" %\  4  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +164 "core" ( +2 "manipulator"&y& +3 "core" & m x +3 "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +93 "core" ' +2 "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +2 "core" & \ +2 "manipulator"&~& +4 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&& +3 "core" & 7 x +2 "storage"(& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&J& + "storage"(A'X +8 "core" & x + "manipulator"&% +4 "core" % L +2 .tForearm.seek :retract +2 "manipulator"&p'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&=& +6 "core" &l / # ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &l N ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +95 "core" ' + "manipulator"&& +5 "core" &l V ( + "manipulator"&m% +5 "core" % 1 +2 "processing"%C& +4 "core" &\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(Z +5 "core" &\  +8 &1{\ *x +9 &c\ > +10 &ju\ N +9 &.X\ M +9 &Z\ N +10 &Y\ M +9 &uW\ M +9 &5W\ N +10 &W\ M +9 &W\ N +10 & |\\\ M +9 &">U\ M +9 &$V\ M +10 &%[\ N +9 &'Y\ N +9 &)FV\ M +10 &+V\ M +9 &,W\ M +10 &.\\\ M +9 &0NZ\ M +9 &2U\ M +10 &3U\ M +9 &5V\ N +9 &7UX\ N +10 &9X\ N +9 &:T\ M +10 &<Y\ N +9 &>]W\ N +9 &@Y~\ N +10 &AT}\ M +9 &C]\ N +9 &EdZ\ N +10 &G"j~\ O +9 &H\ R +10 &J\ S +9 &L\\\ S +9 &N\ S +10 &O\ T +9 &Q\ T +9 &Sc\ T +10 &U%\ T +9 &V\ T +10 &X\ T +9 &Zc\ &u +9 &Zb\ 3 +10 ( + &Z \ , +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&L1 +54 "core" 1 +2 "manipulator"&% +4 "core" % = 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +89 "core" ' +2 "processing"%I& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  p  +2 "storage"(&% +4 "core" %] j j \ +2 "storage"(M. +3 "core" .( +2 "storage"(E& +4 "core" & { o n\ +2 "storage"(O& +2 "manipulator"& & +7 "core" & j j \ +2 &l ( +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&!(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(a'i +4 "core" ( + "manipulator"&/& +4 "core" &l ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &l h ( +2 .tForearm.seek PC + "manipulator"&W' +98 "core" ' +2 .tHand.close + "manipulator"&e/ +55 "core" / +2 .tPC.seek :open + "processing"%( +90 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +35 "core" ' +295 ( +2 "storage"(%& +5 "core" & <\ +2 "manipulator"&6& +3 "core" &l ( +3 "manipulator"&U% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +244 "core" ( +2 "manipulator"&*& +4 "core" & N + "storage"()& +4 "core" & W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +107 "core" ' +2 .tHand.open + "manipulator"&D1 +63 "core" 1 +2 "storage"(Y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(;& +3 "core" & \ +2 "manipulator"&s& +4 "core" & N +2 .tElbow.seek 2 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&& +4 "core" & W N +2 "storage"(^& +44 "core" & \ +10 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(?' +58 "core" ' +2 "manipulator"&P& +3 "core" & N +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&]' +28 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&@% +4 "core" % K + "storage"(|& +3 "core" & Z ^ t\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&R' +19 "core" ' +2 "manipulator"&g& +3 "core" & K N +2 "storage"(& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +34 "core" ' + "storage"(T% +5 "core" %n 1\ +2 ."downElevator"SE.seek :down +5 "storage"(2'X +97 (f% +3 "core" % A x }\ Vb +2 "manipulator"&V% +4 "core" %ќ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +85 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 (t& +3 "core" & \ +2 "collection"'& +4 "core" &Vi\ \ \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&j% +3 "core" %\   +2 "storage"(S% +4 "core" %U \ +2 "storage"(q. +3 "core" .( +2 "storage"({& +3 "core" & M\ +3 "storage"(& +4 "core" & c\ + "manipulator"&`& +4 "core" & N +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&}& +4 "core" & K N +2 "storage"(& +3 "core" & Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&c'ќ +96 "core" ' + "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & N +2 "storage"(i& +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&\ ' +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'S +27 "core" ' +3 "manipulator"&r% +3 "core" % +2 "storage"(l& +3 "core" & y l r\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&v' +18 "core" ' +2 "manipulator"&Q& +3 "core" & k N +3 "storage"(G& +4 "core" & "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('B +43 "core" ' +2 "manipulator"&.& +4 "core" & \  N +2 "manipulator"&% +3 "core" %ѡ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&9( +151 "core" ( +3 "manipulator"&n& +3 "core" &' ; >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &' >I +3 .tForearm.seek CC +2 "manipulator"&d'" +93 "core" ' +3 .tHand.close +2 "manipulator"&h/ +55 "core" / +2 .tCC.seek :open + "collection"'4( +417 "core" ( +2 "storage"( & +3 "core" & g\ +2 "storage"(y& +4 "core" & -\ +2 "manipulator"& & +4 "core" &' J >H +2 "manipulator"&% +3 "core" %  +4 .tForearm.seek :retract + "manipulator"&''\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(_& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&~' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&7% +4 "core" % ~ ) +2 "storage"(J& +3 "core" & R\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +20 "core" ' +3 "manipulator"&& +3 "core" &   +2 "storage"( & +5 "core" & l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +29 "core" ' +2 "storage"(% +3 "core" %E\ \ 7\ +4 ."downElevator"SE.seek :down +3 "storage"(='X +98 (N% +3 "core" %@ \ Wa +2 "manipulator"&$% +4 "core" %} J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'m& +3 "core" & \ +2 "manipulator"&C% +4 "core" %\   +2 "storage"(A% +4 "core" %b\ \ \ +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(X( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" & \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&I( +14 "core" ( +2 "manipulator"&& +4 "core" & u i + "storage"(&& +4 "core" &\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +100 "core" ' +2 "storage"(E& +3 "core" &\ #\ " \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" & \  +2 "manipulator"&/& +4 "core" &  i +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&8& +3 "core" &  i +2 "storage"(e& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +12 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&:& + "storage"(x'X +6 "core" & i + "manipulator"&a% +51 "core" % ϲ 1 +3 .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +44 "core" ( +2 "manipulator"&U& +4 "core" &+  Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +4 "core" &*  Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&*'" +95 "core" ' +3 "manipulator"&)& +4 "core" &+  Ab +2 "manipulator"&!% +3 "core" %% B  +3 "collection"'D& +3 "core" & +\ +3 "collection"'Y& +5 "core" & '\ +3 .tCC.seek :closed + "collection"'F(V +4 "core" & &\ +8 &5 /\ $d +9 &V{ .\ 7 +10 &w )\ K +9 &Q (\ L +9 &lR -\ L +10 &.Q (\ L +9 &R %\ L +9 &R !\ L +10 &tS $\ L +9 &7R \ L +10 &W \ L +9 &!W \ L +9 &#|R \ L +10 &%?T !\ L +9 &'W  \ L +9 &(U \ L +10 &*W \ L +9 &,EX \ M +10 &.U \ L +9 &/R \ L +9 &1S \ M +10 &3MT  \ M +9 &5U \ M +9 &6X \ L +10 &8R \ L +9 &:UT \ M +10 &<T  \ L +9 &=U \ L +9 &?S  \ M +10 &A^X \ L +9 &C!U  \ L +9 &DY  \ M +10 &F_ \ N +9 &H]p  \ O +10 &J \  \ T +9 &K\ \ \ \ W +9 &M\ \ \ X +10 &OK \ \ \ X +9 &Q \ \ \ X +9 &R\ \ \ Y +10 &T\ \ \ Z +9 &V+u\ \ \ . +10 &V'\ \ \ R +9 ( + &Vh \ \ H +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&;1 +57 "core" 1 +3 "manipulator"&s% +5 "core" % % m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&^% +4 "core" %\ V  +2 "storage"(P% +4 "core" %T 5\ + "storage"(. +3 "core" .( +2 "storage"( & +3 "core" & \  +2 "storage"(5& +6 "core" & .\  + "manipulator"&@& +4 "core" &* o Ab +2 "manipulator"&|% +4 "core" %\ 0  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&g( +162 "core" ( +2 "manipulator"&& +4 "core" & D l +2 "storage"(u& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +89 "core" ' +2 "storage"(H& +3 "core" & !\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +285 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +2 "core" & /\  +2 "manipulator"&1& +4 "core" & l +2 .tElbow.seek 3 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&?& +3 "core" & W l +2 "storage"(]& +4 "core" & 7\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&R'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(j'X +8 "core" & l +2 "manipulator"&S% +3 "core" % ϫ +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&q(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&{& +3 "core" &s i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &s -  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`' +101 "core" ' + "manipulator"&}& +4 "core" &s  +2 "manipulator"&% +4 "core" % X +48 "processing"%K& +6 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(Z +5 "core" &\ +7 &E\ $f +9 &W\ 8 +9 &z\ M +9 &Y\ M +10 &{X\ N +9 &=X\ N +9 &T\ M +10 &T\ M +9 &V\ M +9 &FY\ M +10 & W\ N +9 &!Y\ N +10 &#V\ M +9 &%MW\ N +9 &'T\ M +10 &(U\ M +9 &*W\ M +9 &,VZ\ M +10 &.[\ N +9 &/X\ N +10 &1Z\ M +9 &3^Z\ M +9 &5Z\ N +10 &6W\ M +9 &8T|\ N +9 &:fYz\ M +10 &<(Y\ M +9 &=Y\ N +10 &?W|\ N +9 &AnY\ M +9 &C0X\ M +10 &D[\ N +9 &Fd\ O +9 &Hky\ Q +10 &J&\ S +9 &K\ S +10 &M|\ T +9 &Ok\ T +9 &Q.\ S +10 &R\ T +9 &T\ T +9 &Vp\ U +10 &X3\ T +9 &Y|n\ , +10 &Z+_\ + +9 ( +2 &Z\ # +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&o1 +54 "core" 1 +2 "manipulator"&>% +3 "core" % { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 "processing"%z& +4 "core" &Z\ # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&i% +3 "core" %\ \ E  +3 "storage"(\\% +4 "core" %b O\ + "storage"(r. +3 "core" .( +2 "storage"(l& +3 "core" & ]\  +3 "storage"(Q& +2 "manipulator"&G& +6 "core" & H\  +2 &s '  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&.(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&c& +4 "core" &s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &s  +2 .tForearm.seek PC +2 "manipulator"&#' +96 "core" ' + .tHand.close +2 "manipulator"&\ / +58 "core" / +2 .tPC.seek :open +2 "processing"%v( +87 "core" ' +2 "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +49 "core" ' +284 ( + "storage"(Z& +4 "core" & f\  +3 "manipulator"&k& +3 "core" &s  +3 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&h'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +248 "core" ( + "manipulator"&w& +4 "core" & A A +2 "storage"( & +3 "core" & Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +94 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"("'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +3 "core" -' +2 "storage"(9& +4 "core" & t\  +2 "manipulator"&& +4 "core" & A +2 .tElbow.seek 3 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&J& +4 "core" & A + "storage"(& +4 "core" & P\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&'& +4 "core" & A +2 "storage"(N& +3 "core" & F\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +46 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(~'i +25 "core" ' + "manipulator"&m% +4 "core" %΍ +2 "storage"(& +3 "core" & | ~ B\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&C'Ϲ +20 "core" ' + "manipulator"&A& +5 "core" & c A + "storage"(p& +4 "core" & y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +33 "core" ' +2 "storage"(% +4 "core" %s (\ +3 ."downElevator"SE.seek :down +3 "storage"(='X +98 (0% +3 "core" %EC s l x\ Wd +2 "manipulator"&L% +5 "core" %U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \  +2 "collection"'&& +3 "core" &Vh\ \ \ H +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&E% +3 "core" %\ u  +3 "storage"(% +4 "core" %b \ + "storage"(. +4 "core" .( + "storage"( & +4 "core" & \  +2 "storage"(+& +3 "core" & \  +2 "manipulator"&/& +4 "core" & A +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&e& +4 "core" & A +2 "storage"(3& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +93 "core" ' + "storage"(a& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +284 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & A +2 "storage"(U& +4 "core" & D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&W'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(!'U +30 "core" ' +2 "manipulator"&D% +3 "core" %{ ` +2 "storage"(-& +4 "core" & } \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&x'ϧ +19 "core" ' +2 "manipulator"&%& +3 "core" & Y A +2 "storage"(4& +4 "core" & G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(s'D +40 "core" ' +2 "manipulator"&& +4 "core" & A +2 "manipulator"&^% +3 "core" %C ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"& & +3 "core" &)  @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &) @^ +2 .tForearm.seek CC +2 "manipulator"&5'" +94 "core" ' +2 .tHand.close + "manipulator"&@/ +54 "core" / +2 .tCC.seek :open + "collection"'|( +417 "core" ( +46 "storage"(*& +5 "core" & \  +3 "storage"(& +4 "core" & \  + "manipulator"&u& +5 "core" &* G @^ + "manipulator"&H% +3 "core" % 0 3 / +3 .tForearm.seek :retract + "manipulator"&6'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +157 "core" ( + "manipulator"&f& +4 "core" &  +2 "storage"(V& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&1'} +96 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +57 "core" 1 +3 "manipulator"&t% +4 "core" % Ώ +2 "storage"(& +3 "core" & j\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&S'ϻ +21 "core" ' + "manipulator"&g& +4 "core" &   +2 "storage"(T& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +27 "core" ' + "storage"(R% +3 "core" %I\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"({'X +98 (% +3 "core" %B {\ Wb +2 "manipulator"&[% +4 "core" %B W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & '\ +2 "manipulator"&K% +4 "core" %\   +2 "storage"(j% +3 "core" %]\ \  \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" & V\ +2 "manipulator"&>& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&z( +33 "core" ( +2 "manipulator"&i& +5 "core" &  ?  +2 "storage"(\\& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +95 "core" ' +2 "storage"(l& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +290 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" & D\ +2 "manipulator"&c& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&B( +17 "core" ( +2 "manipulator"&`& +4 "core" & $  +2 "storage"(\ & +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&,' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(2'X +8 "core" &   +2 "manipulator"&% +3 "core" %  3 r +3 .tForearm.seek :retract + "manipulator"&Z'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k( +153 "core" ( + "manipulator"&& +3 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &$ ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +2 "core" &$ n ;5 +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&w'" +98 "core" ' +3 "manipulator"& & +4 "core" &% R ;4 +2 "manipulator"&.% +3 "core" % +3 "collection"' & +3 "core" & 7\ +3 "collection"'& +5 "core" & )\ +2 .tCC.seek :closed +2 "collection"'d(V +4 "core" & 1\  +9 &2{ 1\ *y +9 &d 3\ > +9 &~n 3\ M +10 &BQ 2\ L +9 &R 3\ L +10 &R 5\ L +9 &Q 4\ L +9 &JR 3\ L +10 & T 5\ L +9 &U 5\ M +9 & R 3\ L +10 &"QV 5\ M +9 &$T 4\ M +10 &%R /\ L +9 &'R '\ L +9 &)[S "\ L +10 &+W 1\ L +9 &,V (\ M +10 &.U \ M +9 &0aU \ M +9 &2$Q \ L +10 &3W \ M +9 &5T \ M +9 &7iW \ M +10 &9+U \ M +9 &:T \ M +9 &<S \ L +10 &>qU \ M +9 &@4W \ L +10 &AR \ M +9 &CT \ M +9 &EyY #\ M +10 &G6c "\ N +9 &Hu \ P +9 &J \ \ V +10 &L_\ \ \ X +9 &N# \ \ W +10 &O \ \ X +9 &Q\ \ \ Y +9 &Sc\ \ \ Z +10 &U% \ \ Z +9 &Vm@\ \ \ 1 +9 &V r\ \ $\ K +6 ( +2 "collection"'& +3 "core" &Vb\ \ \ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&91 +59 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&h% +4 "core" %\    +2 "storage"('% +4 "core" %a <\ +2 "storage"(N. +3 "core" .( +2 "storage"(n& +4 "core" & H\ + "storage"("& +4 "core" & \ +2 "manipulator"&m& +4 "core" &# S :/ +2 "manipulator"&% +4 "core" %\  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +163 "core" ( +2 "manipulator"&p& +3 "core" & Q  +2 "storage"(<& +4 "core" & U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&y'ќ +102 "core" ' +2 "storage"(& +4 "core" & O\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +284 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" & \ +2 "manipulator"& & +3 "core" & l  +3 .tElbow.seek 2 + "manipulator"&7( +4 "core" ( +2 "manipulator"&& +4 "core" & <  + "storage"($& +4 "core" & P\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"(E'X +7 "core" &  +2 "manipulator"&% +4 "core" %  E N +2 .tForearm.seek :retract +2 "manipulator"&~'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +3 "manipulator"& & +4 "core" &n ] - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &n - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&/' +99 "core" ' +2 "manipulator"&e& +3 "core" &n - +2 "manipulator"&3% +5 "core" % +2 "processing"%(& +4 "core" &\ +2 "processing"%a& +5 "core" &\ +2 .tPC.seek :closed +8 "processing"%=(Z +2 "core" &\ +5 &\ 6 +9 &AIx\ / +10 &eo\ D +9 &c\ N +10 &X\ N +9 &Z\ M +9 &L[\ M +10 &U\ M +9 &W\ M +9 &Y\ M +10 &SY\ N +9 &!W\ N +10 &"U\ M +9 &$W\ M +9 &&\\Z\ M +52 &(Z\ N +3 &)W\ N + &+U\ N + &-dT\ M + &/&W\ M + &0X\ M +7 &2Z\ N +9 &4lZ\ M +10 &6.V\ M +9 &7X\ M +9 &9W\ M +10 &;sX\ N +9 &=5W\ N +10 &>T\ M +9 &@W\ M +9 &BzY\ N +10 &D=Y\ N +9 &E_#\ N +9 &Gn\ P +10 &It\ S +9 &K3\ T +10 &L\ S +9 &N\ S +9 &Py\ T +10 &R:/\ T +9 &S'\ T +9 &U\ T +10 &W\ T +9 &YA+\ A +10 &Z]@m\ ^ +9 &Z5\ - +5 ( +2 "processing"%a& +4 "core" &Z \ - +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&% +4 "core" % > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +103 "core" ' + "processing"%O& +5 "core" &Z \ - + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&U% +3 "core" %\ \ x  +3 "storage"()% +4 "core" %b \  + "storage"(D. +3 "core" .( +2 "storage"(-& +4 "core" & Z\ +2 "storage"(%& +2 "manipulator"&4& +7 "core" & \ +2 &n - +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(^'i +2 "core" ( +3 "manipulator"&:& +3 "core" &n @ - +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &n $ - +3 .tForearm.seek PC +2 "manipulator"&I' +93 "core" ' + .tHand.close +2 "manipulator"&W/ +59 "core" / +3 .tPC.seek :open +2 "processing"%x( +86 "core" ' +2 "storage"(!- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +45 "core" ' +290 ( +2 "storage"(Y& +3 "core" & c\ +2 "manipulator"&;& +4 "core" &n - +2 "manipulator"&% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&@'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +256 "core" ( + "manipulator"&F& +4 "core" &  +2 "storage"(*& +3 "core" & N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +92 "core" ' + .tHand.open +2 "manipulator"&u1 +59 "core" 1 +2 "storage"(H- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(f'E +29 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(5- +3 "core" -' +2 "storage"(& +3 "core" & \ O\ +2 "manipulator"&]& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" & I +2 "storage"(g& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(R' +57 "core" ' +2 "manipulator"&6& +3 "core" & m +2 "storage"(& +4 "core" & H\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&[' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(1'i +22 "core" ' +2 "manipulator"&S% +47 "core" % a M +5 "storage"(& +5 "core" & w \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&K' +19 "core" ' +2 "manipulator"&j& +3 "core" & # +3 "storage"(& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +28 "core" ' + "storage"(b% +4 "core" %r \ +3 ."downElevator"SE.seek :down +4 "storage"({'X +99 (X% +3 "core" %L C\ Xe +2 "manipulator"&o% +4 "core" %х o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" & \ +2 "collection"'\\& +4 "core" &Va\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&l% +3 "core" %\ ! 3 +3 "storage"(?% +4 "core" %a "\ + "storage"(}. +3 "core" .( +2 "storage"(G& +4 "core" & ^\ +2 "storage"(Q& +4 "core" & C\ +2 "manipulator"&c& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&`( +4 "core" ( + "manipulator"&\ & +5 "core" & n + "storage"(q& +4 "core" & C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +90 "core" ' +2 "storage"(& +4 "core" & #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +278 "core" ' +4 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ~ +2 "storage"(#& +4 "core" & -\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'S +27 "core" ' +2 "manipulator"&.% +4 "core" % e * + "storage"( & +4 "core" & v r 9\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&2' +19 "core" ' +2 "manipulator"&Z& +3 "core" & 2 +3 "storage"(|& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +18 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +48 "core" ' +5 "manipulator"&& +7 "core" & M +6 "manipulator"&h% +5 "core" %ё +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +153 "core" ( +2 "manipulator"&n& +4 "core" &* @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &* p @X +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&m/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(w& +3 "core" & \ +3 "storage"(p& +4 "core" & ,\ + "manipulator"&<& +4 "core" &' c =F +2 "manipulator"&% +3 "core" %  ` +3 .tForearm.seek :retract + "manipulator"&k'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +46 "manipulator"&J( +160 "core" ( + "manipulator"&0& +5 "core" &  + "storage"(L& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +106 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +62 "core" 1 +3 "manipulator"&% +4 "core" % h  +2 "storage"(&& +4 "core" & 3\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +14 "core" ' + "manipulator"&A& +5 "core" &   + "storage"(y& +4 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +23 "core" ' + "storage"(C% +3 "core" %G \  /\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (+% +3 "core" %D \ Va +2 "manipulator"&7% +5 "core" % I { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'3& +3 "core" & ,\ +2 "manipulator"&(% +4 "core" %\  Z  +2 "storage"(E% +4 "core" %b\ \  \ +2 "storage"(~. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(v( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&O( +15 "core" ( + "manipulator"&U& +5 "core" & ?  + "storage"()& +3 "core" &\ \ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +102 "core" ' + "storage"(a& +4 "core" &\ #\  u\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +285 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & :\  +2 "manipulator"&:& +4 "core" & D  +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&/& +3 "core" &   +2 "storage"(W& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&M& +2 "storage"(='X +8 "core" &  +2 "manipulator"&^% +3 "core" % ϝ +3 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&;( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &, % Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +2 "core" &+ ^ Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'" +94 "core" ' +2 "manipulator"&*& +3 "core" &, _ Bk +2 "manipulator"&% +5 "core" % g  +2 "collection"'u& +4 "core" & $\ +3 "collection"'H& +5 "core" & (\ +2 .tCC.seek :closed +48 "collection"'5(V +8 "core" & '\ +2 & 3\ + & 3\ + & 5\ + & 1\ + & 4\ + & 4\ 6 +7 &CHy 3\ 0 +9 &or 2\ D +9 &_ 3\ M +10 &W 5\ L +9 &V 4\ L +10 &]R +\ L +9 &R 4\ M +9 &U 3\ M +10 &Q 1\ L +9 &dW 4\ M +10 &!&U 5\ M +9 &"R 3\ L +9 &$R &\ M +10 &&mU '\ L +9 &(.W $\ M +9 &)T .\ M +10 &+T 0\ M +9 &-uR #\ L +9 &/7S &\ L +10 &0W "\ M +9 &2T \ M +10 &4}R \ L +9 &6@S \ L +9 &8W \ M +10 &9U \ M +9 &;T \ M +9 &=FS '\ M +10 &? S "\ L +9 &@U \ L +10 &BT \ L +9 &DMY \ M +9 &F[ \ M +10 &Gj \ O +9 &I \ R +10 &K8\ \ \ W +9 &L \ \ Y +9 &N\ \ &\ X +10 &Pz\ \ \ X +9 &R;\ \  \ Y +9 &S\ \ \ Z +10 &U \  \ G +9 &V2\ \ \ 't +9 &Vb\ \ \ I +3 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&]% +4 "core" %  <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%g& +4 "core" &\ + "manipulator"&@% +5 "core" %\   + "storage"(6% +4 "core" %b T\ +2 "storage"(. +3 "core" .( +2 "storage"( & +4 "core" & G\  + "storage"(S& +4 "core" & \  +2 "manipulator"&f& +3 "core" &+ B Bk +2 "manipulator"&% +4 "core" %\  "  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&j( +161 "core" ( + "manipulator"&& +4 "core" & G  +2 "storage"(P& +3 "core" & _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(b& +4 "core" & 9\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +282 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & \  +2 "manipulator"&o& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&R& +3 "core" & A  +2 "storage"([& +4 "core" & s\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&K'ϩ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(l'X +8 "core" & s  +2 "manipulator"&?% +3 "core" % ϭ +3 .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&1(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"&G& +3 "core" &y +  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +106 "core" ' + "manipulator"&\ & +4 "core" &y  +2 "manipulator"&q% +3 "core" % w +2 "processing"%s& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &\ +8 &A\ $f +9 &W\ 8 +10 &w\ L +9 &W\ N +9 &vY\ M +10 &8U\ M +9 &U\ M +10 &Z\ M +9 &}U\ N +9 &?W\ N +10 & U\ N +9 &!W\ N +9 &#U\ M +10 &%HW\ M +9 &'\ Y\ M +9 &(U\ M +10 &*W\ M +9 &,PY\ M +10 &.U\ N +9 &/U\ N +10 &1S\ M +9 &3YV\ M +9 &5Y\ M +10 &6Z\ N +9 &8V\ M +9 &:`U\ M +10 &% +3 "core" %  K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' +2 "processing"%& +4 "core" &Z+\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&#% +3 "core" %\ " Q ; +3 "storage"(B% +4 "core" %b Z Z\ +2 "storage"(.. +3 "core" .( +2 "storage"( & +4 "core" & [ Z\  +2 "storage"(Z& +2 "manipulator"&|& +7 "core" & s d 9\  +2 &y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(h'i +3 "core" ( + "manipulator"&& +4 "core" &y ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&z' +96 "core" ' +3 .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%2( +86 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(n'y +45 "core" ' +290 ( + "storage"("& +5 "core" & ^\  +2 "manipulator"&9& +3 "core" &y  +2 "manipulator"&,% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&m'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&'( +258 "core" ( +2 "manipulator"&d& +4 "core" &  +2 "storage"(w& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +89 "core" ' + .tHand.open +2 "manipulator"&<1 +64 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +3 "core" -' +2 "storage"(N& +3 "core" & \  v\  +2 "manipulator"&$& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&&& +4 "core" & S  +2 "storage"(A& +3 "core" & u\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +57 "core" ' + "manipulator"&k& +5 "core" &  + "storage"(+& +4 "core" & ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'} +26 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +23 "core" ' +2 "manipulator"&% +3 "core" %Ύ +2 "storage"(3& +4 "core" & .\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&('Ϻ +19 "core" ' +2 "manipulator"&E& +4 "core" & U  +2 "storage"(~& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' + "storage"(_% +5 "core" %k \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (% +3 "core" %sJ #\ Xg +2 "manipulator"&% +5 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (U& +3 "core" & \  +2 "collection"')& +4 "core" &V` \ \ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&a% +4 "core" %\ \ t  +2 "storage"(% +4 "core" %b _\ +2 "storage"(e. +3 "core" .( +2 "storage"(4& +3 "core" & 1\  +2 "storage"(%& +4 "core" & 0\  +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&W& +4 "core" &  +2 "storage"(& +3 "core" & +\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +96 "core" ' +2 "storage"(^& +3 "core" & c\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +286 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & *  +2 "storage"(I& +3 "core" & g\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&-'} +21 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +29 "core" ' + "manipulator"&u% +3 "core" %y +3 "storage"(8& +4 "core" & u\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 296 counts +2 "manipulator"&='ϥ +12 "core" ' +2 "manipulator"&Y& +3 "core" & 9  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(]'D +40 "core" ' +2 "manipulator"&g& +3 "core" &  +2 "manipulator"&@% +4 "core" %R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +151 "core" ( + "manipulator"&& +4 "core" &" 9) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &" # 9) +2 .tForearm.seek CC +2 "manipulator"&S'" +92 "core" ' +2 .tHand.close + "manipulator"&f/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(F& +4 "core" & $\  +2 "storage"(& +3 "core" & D\  +2 "manipulator"&P& +4 "core" &" Y 9) +2 "manipulator"&b% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&;'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +159 "core" ( + "manipulator"&T& +3 "core" & O } +2 "storage"(X& +5 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&o'} +96 "core" ' +41 .tElbow.hold +9 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +54 "core" 1 +3 "manipulator"&i% +3 "core" % Ό +3 "storage"(\\& +4 "core" & z\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&?'ϸ +20 "core" ' + "manipulator"&j& +4 "core" &  } +2 "storage"(& +3 "core" &\ \ \  F\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +33 "core" ' + "storage"(K% +4 "core" %I\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"(G'X +99 (Q% +3 "core" %C \ Wb +2 "manipulator"&t% +4 "core" %: < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +97 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'q& +3 "core" & (\ +2 "manipulator"&s% +4 "core" %\ \ M  +2 "storage"(l% +3 "core" %a\ \  >\ +2 "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(x( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & C\ +2 "manipulator"&>& +4 "core" & p } +2 .tElbow.seek 2 +2 "manipulator"&( +33 "core" ( + "manipulator"&#& +5 "core" & o % + "storage"(B& +3 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +94 "core" ' +2 "storage"(& +3 "core" & \ \ \ =\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (|& +2 "core" & \ +2 "manipulator"&& +4 "core" & \ $ +2 .tElbow.seek 2 +2 "manipulator"&`( +4 "core" ( +2 "manipulator"&c& +4 "core" & V $ +2 "storage"(& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"({'X +8 "core" & $ +2 "manipulator"&h% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&"'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&9( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&,& +3 "core" &(  | ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &z& +2 "core" &( u ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'" +91 "core" ' +2 "manipulator"&w& +3 "core" &( x ?U +5 "manipulator"&% +4 "core" %( \ +2 "collection"'<& +4 "core" & ?\ +2 "collection"'& +6 "core" & -\ +2 .tCC.seek :closed +3 "collection"'L(V +3 "core" & 2\ +6 & +\ : +9 &CJ{ *\ 1 +10 &wu~ *\ F +9 &"X '\ M +9 &R 0\ L +10 &W 1\ L +9 &jX 1\ L +9 &,R 3\ L +10 &R 4\ L +9 &Q 5\ L +10 &rR 0\ L +9 &!3R 3\ M +9 &"U /\ M +10 &$W 5\ L +9 &&zW 4\ L +9 &(;W 5\ M +10 &)T 3\ L +9 &+R 5\ L +10 &-R 5\ L +9 &/DQ 4\ L +9 &1R 5\ M +10 &2U 1\ M +55 &4U 1\ M +4 &6KU 0\ M +2 &8 S 0\ M +2 &9U 4\ M + &;T +\ M + &=TT &\ L +2 &?U )\ L +8 &@Y 0\ M +9 &BW .\ M +9 &D\\U /\ L +10 &F\\ +\ M +9 &Gj (\ O +10 &I \ 3\ Q +9 &KE\ \ /\ W +9 &M \ (\ X +10 &N \ '\ W +9 &P \ /\ X +9 &RH \ +\ Y +10 &T\ \ "\ Y +9 &U\ \ .\ F +10 &V)\ \ %\ (v +9 &Vv\ \ '\ O +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&N1 +62 "core" 1 +3 "manipulator"&$% +4 "core" % ( \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%A& +4 "core" &\ + "manipulator"&m% +5 "core" %\   + "storage"(k% +4 "core" %b q v &\ +2 "storage"(+. +3 "core" .( +2 "storage"(n& +4 "core" & r u W\ +2 "storage"(& +3 "core" & r u G\ +2 "manipulator"&3& +5 "core" &( } ?U + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +161 "core" ( +2 "manipulator"&~& +4 "core" & F  +2 "storage"('& +4 "core" & /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +101 "core" ' +2 "storage"(_& +3 "core" & Y\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +283 "core" ' + "storage"(y- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & X\ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&C& +3 "core" & p  +3 "storage"(7& +4 "core" & t\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&(' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"(a'X +8 "core" &  +2 "manipulator"&% +4 "core" %  O +2 .tForearm.seek :retract + "manipulator"&e'\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +4 "manipulator"& & +3 "core" &o Z \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &%& +2 "core" &o ! \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&:' +100 "core" ' +2 "manipulator"&W& +4 "core" &o v \ +2 "manipulator"&% +4 "core" % t +2 "processing"%& +4 "core" &\ +2 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +9 &1x\ *x +9 &c\ > +9 &ur\ N +10 &7T\ M +9 &W\ M +10 &U\ N +9 &}T\ M +9 &?U\ M +10 &Z\ N +9 &Y\ M +9 & V\ M +10 &"FY\ N +9 &$ Y\ M +10 &%W\ M +9 &'[\ N +9 &)OY\ M +10 &+W\ M +9 &,U\ M +9 &.Z\ N +10 &0VY\ N +9 &2Z\ M +10 &3W\ M +9 &5[\ N +9 &7^W\ N +10 &9!T\ M +9 &:T\ M +9 &<Y\ N +10 &>fW\ N +9 &@)V\ M +10 &AV\ M +9 &C\\\ N +9 &Em[\ N +10 &G*j\ P +9 &H~\ R +9 &J\ S +10 &Le\ S +9 &N&\ T +10 &O\ T +9 &Q\ T +9 &Sl\ T +10 &U-\ T +9 &V\ T +9 &X\ U +10 &Z_\ #l +9 &ZX\ , +9 ( +3 "processing"%^& +2 "core" &Z\ ( +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&J1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +101 "core" ' +2 "processing"%& +3 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&I% +50 "core" %\  +3 "storage"(*% +5 "core" %U z } ]\ + "storage"(u. +4 "core" .( + "storage"(8& +4 "core" & j j \ +3 "storage"(Y& +2 "manipulator"&& +8 "core" & i o \ + &o \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&g(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(@'i +3 "core" ( +2 "manipulator"&M& +4 "core" &o \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &o \ +2 .tForearm.seek PC +2 "manipulator"&O' +95 "core" ' +4 .tHand.close + "manipulator"&-/ +58 "core" / +2 .tPC.seek :open +2 "processing"%=( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +17 "Can"\ WOG +270 "core" ( +2 "storage"( & +4 "core" & ~ \ +2 "manipulator"&& +3 "core" &o \ +2 "manipulator"&!% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&f'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&6( +252 "core" ( +2 "manipulator"&5& +3 "core" & g +2 "storage"(F& +4 "core" & Y\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +3 .tHand.open + "manipulator"&P1 +59 "core" 1 +2 "storage"(b- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(X' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(H& +3 "core" & s\ +3 "manipulator"&[& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&i( +2 "core" ( +2 "manipulator"&\\& +5 "core" & + "storage"(j& +3 "core" & \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' +2 "manipulator"&K& +3 "core" & +2 "storage"(Q& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +24 "core" ' +2 "manipulator"&?% +3 "core" % : +3 "storage"(q& +4 "core" & _ g }\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&s' +21 "core" ' +2 "manipulator"&l& +3 "core" & X +3 "storage"(}& +4 "core" & I\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +19 "core" ' + "storage"(V% +5 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +99 (v% +3 "core" %,G u s j\ Xf +2 "manipulator"&% +4 "core" %ѡ 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&>'\ +88 "core" ' +20 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +3 "core" & #\ +2 "collection"'B& +3 "core" &Vt \  \ O +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(R% +4 "core" %U [\ +2 "storage"(\ . +3 "core" .( +2 "storage"(Z& +3 "core" & \ +3 "storage"(|& +4 "core" & P\ + "manipulator"&& +5 "core" & + .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&& +3 "core" & +3 "storage"(1& +4 "core" & 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +92 "core" ' +2 "storage"(h& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & +2 "storage"(z& +4 "core" & `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& ' +28 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +40 "core" ' + "manipulator"&<% +4 "core" % 5 - +2 "storage"(`& +4 "core" & Y Y \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&{' +18 "core" ' +2 "manipulator"&"& +3 "core" & +2 "storage"(& +4 "core" & ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'B +39 "core" ' + "manipulator"&A& +4 "core" & +2 "manipulator"&m% +3 "core" %ѫ q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&+( +156 "core" ( +3 "manipulator"&n& +3 "core" &# [ ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# ;8 +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&3/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(d& +3 "core" & \ +2 "storage"(~& +4 "core" & a\ +2 "manipulator"&'& +3 "core" &$ E ;8 +2 "manipulator"&_% +4 "core" % , { +2 .tForearm.seek :retract +2 "manipulator"&9'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&( +158 "core" ( +2 "manipulator"&y& +3 "core" &  +3 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +56 "core" 1 +2 "manipulator"&U% +3 "core" % " C +2 "storage"()& +5 "core" & 1\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts +40 "manipulator"&' +22 "core" ' +2 "manipulator"&E& +4 "core" &  +2 "storage"(p& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +23 "core" ' + "storage"((% +5 "core" %J X\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (%% +3 "core" %C e\ Wb +2 "manipulator"&% +4 "core" %ѽ B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & 8\ +2 "manipulator"&% +3 "core" %\   +3 "storage"(a% +3 "core" %T\ \ \ +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(2( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" & 8\  +2 "manipulator"&& +4 "core" & \   +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&I& +4 "core" & c w + "storage"(^& +5 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +96 "core" ' + "storage"(u& +4 "core" &\ \  }\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & q\  +2 "manipulator"&M& +3 "core" & w +3 .tElbow.seek 3 + "manipulator"&/( +4 "core" ( +2 "manipulator"&:& +3 "core" & w +3 "storage"(-& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +29 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"( 'X +8 "core" &  w +2 "manipulator"&@% +4 "core" % G A +2 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&!& +3 "core" &+ * > A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &O& +2 "core" &* R A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'" +97 "core" ' +2 "manipulator"&F& +4 "core" &+ I A_ +2 "manipulator"&g% +4 "core" %# +2 "collection"'P& +4 "core" & ,\ +3 "collection"'b& +5 "core" & *\ +2 .tCC.seek :closed +3 "collection"'S(V +4 "core" & 2\ +6 & =\ 6 +9 &AHy 4\ 0 +9 &nr~ ,\ D +10 &] *\ M +9 &U +\ L +9 &V +\ M +10 &\\T *\ L +9 &R *\ M +10 &T *\ M +9 &U 0\ L +9 &dW 5\ L +10 &!&W 7\ L +9 &"W .\ M +9 &$U 1\ M +10 &&kU 2\ M +9 &(/R 3\ L +10 &)U 4\ L +9 &+R 4\ L +9 &-uS 5\ L +10 &/5U 4\ M +9 &0R 5\ L +9 &2Q %\ L +10 &4|R 3\ L +9 &6?T 3\ L +10 &7W 4\ M +9 &9T 1\ L +9 &;U 5\ M +10 &=EW 4\ M +9 &?U 6\ M +9 &@S 4\ M +10 &BR 3\ M +9 &DMT 6\ M +10 &FZ 6\ M +9 &Gh 3\ O +9 &I} \ ,\ Q +10 &K5 \ 4\ X +9 &L\ \ 5\ X +9 &N \ 2\ X +10 &Px \ 0\ Y +9 &R9\ \ /\ Y +10 &S \ 2\ Z +9 &U\ \ 3\ G +9 &V1 \ '\ (x +10 &Vj\ \ 1\ K +2 ( +2 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&H1 +52 "core" 1 + "manipulator"&[% +49 "core" % # @ +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%j& +4 "core" &\ +2 "manipulator"&f% +4 "core" %\ # : +2 "storage"(K% +4 "core" %T \\ c \ + "storage"(Q. +3 "core" .( +2 "storage"(& +3 "core" & h h\  +3 "storage"(?& +4 "core" & Z [\  + "manipulator"&q& +4 "core" &* A_ +2 "manipulator"&T% +4 "core" %\ # \ : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&l( +160 "core" ( +2 "manipulator"&}& +3 "core" &  +3 "storage"(V& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +87 "core" ' +2 "storage"(& +3 "core" & !\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +284 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B\  +2 "manipulator"&& +4 "core" & G  +2 .tElbow.seek 3 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&;& +3 "core" &  +2 "storage"(t& +4 "core" & n\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&s'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"('X +8 "core" &  + "manipulator"&R% +5 "core" % ψ  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&o(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&Z& +4 "core" &h  +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &|& +3 "core" &h  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&& +3 "core" &h  +2 "manipulator"&1% +5 "core" % 2 +2 "processing"%]& +4 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +5 "core" &\ +6 &8\ #b +10 &U\ 7 +9 &{\ L +9 &W\ M +10 &cW\ N +9 &'T\ M +9 &Z\ N +10 &W\ M +9 &mW\ M +10 &-W\ N +9 &Z\ M +9 &!Y\ N +10 &#sX\ N +9 &%5W\ N +9 &&U\ M +10 &(T\ N +9 &*zY\ N +10 &,>T\ M +9 &-V\ N +9 &/W\ M +10 &1Y\ N +9 &3EW\ N +9 &5W\ N +10 &6X\ N +9 &8W\ N +10 &:NY\ M +9 &<V\ M +9 &=S\ M +10 &?T\ M +9 &AVT\ M +9 &C[\ N +10 &D_\ N +9 &Fc\ O +10 &HSx\ Q +9 &J\ S +9 &K\ S +10 &M\ S +9 &OS\ T +9 &Q\ T +10 &R\ T +9 &T\ T +10 &V[\ T +9 &X\ T +9 &Y{o\ 5 +10 &Z1\ E +9 &Z\ & +2 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&>% +5 "core" % e 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' +2 "processing"%,& +3 "core" &Z\ & +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&z% +4 "core" %\ \  +2 "storage"(w% +4 "core" %U F\ +2 "storage"(<. +3 "core" .( +2 "storage"(`& +4 "core" & H\  +2 "storage"("& +2 "manipulator"&& +5 "core" & N\  +3 &h  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +49 "manipulator"&$&.,(\ #b +5 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(A'i + "manipulator"&m(s +27 "core" ( + "manipulator"&r& +5 "core" &m \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +2 "core" &m \ +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +3 .tHand.close +2 "manipulator"& / +64 "core" / +2 .tPC.seek :open +2 "processing"%{( +56 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +47 "core" ' +317 ( +3 "storage"(& +3 "core" & S\  +2 "manipulator"&N& +4 "core" &n \ +2 "manipulator"& % +3 "core" % +3 .tForearm.seek :retract + "manipulator"&3'\ +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&k( +254 "core" ( + "manipulator"&L& +4 "core" & M l +2 "storage"(d& +4 "core" & H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +97 "core" ' +4 .tHand.open + "manipulator"&'1 +64 "core" 1 +2 "storage"(_- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(+& +3 "core" & \  \  +3 "manipulator"&7& +4 "core" & k +2 .tElbow.seek 3 + "manipulator"&U( +33 "core" ( + "manipulator"&)& +4 "core" & r +2 "storage"(E& +4 "core" & \ &\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +57 "core" ' + "manipulator"&(& +5 "core" & * r + "storage"(&& +3 "core" & ?\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&%'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&% +5 "core" %΅ + "storage"(& +3 "core" & R\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&'ϱ +19 "core" ' +2 "manipulator"&a& +3 "core" & b r +2 "storage"(e& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +28 "core" ' + "storage"(0% +4 "core" %k (\  +3 ."downElevator"SE.seek :down +6 "storage"( 'X +95 (x% +3 "core" %C \ Wd +2 "manipulator"&J% +5 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (I& +2 "core" & \  +3 "collection"'^& +3 "core" &Vd\ \ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&u% +3 "core" %\ 5 +3 "storage"(C% +4 "core" %b -\ + "storage"(W. +3 "core" .( +2 "storage"(& +3 "core" & \ \  +48 "storage"(Y& +5 "core" & Z\  +2 "manipulator"&M& +4 "core" & r +2 .tElbow.seek 3 + "manipulator"&:( +4 "core" ( +2 "manipulator"&-& +3 "core" & r +2 "storage"(4& +5 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +96 "core" ' + "storage"(@& +4 "core" & +\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & @ r +2 "storage"(O& +4 "core" & 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(g'V +29 "core" ' + "manipulator"&P% +3 "core" %΅ +3 "storage"(/& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"& 'ϱ +20 "core" ' +2 "manipulator"& & +4 "core" & i r +2 "storage"(& +4 "core" & c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(['E +44 "core" ' +3 "manipulator"&b& +3 "core" & r +2 "manipulator"&j% +4 "core" %o 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +158 "core" ( + "manipulator"&Q& +4 "core" &* o @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* 6 @[ +3 .tForearm.seek CC +2 "manipulator"&?'" +91 "core" ' +2 .tHand.close + "manipulator"&q/ +65 "core" / +2 .tCC.seek :open + "collection"'T( +420 "core" ( +2 "storage"(5& +3 "core" & T\  +2 "storage"(}& +3 "core" & 3\  +2 "manipulator"&V& +4 "core" &* a @Z +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\\( +165 "core" ( +2 "manipulator"&v& +4 "core" & , p + "storage"(& +5 "core" & j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&#% +4 "core" % ΋ +2 "storage"(B& +3 "core" & \  +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&R'Ϸ +21 "core" ' + "manipulator"&l& +4 "core" & 1 p +2 "storage"(6& +3 "core" &\ \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +31 "core" ' +2 "storage"(s% +4 "core" %J\ \  -\ +2 ."downElevator"SE.seek :down +51 "storage"(Z'X +52 (|% +3 "core" %_D ;\ V` +2 "manipulator"&i% +3 "core" %$ 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +106 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'1& +3 "core" & 7\ +2 "manipulator"&]% +4 "core" %\   +2 "storage"(% +4 "core" %a\ \ \ +2 "storage"(\ . +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(=( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \ +2 "manipulator"&>& +4 "core" & p +2 .tElbow.seek 2 +2 "manipulator"&,( +30 "core" ( +2 "manipulator"&z& +4 "core" & c + "storage"(w& +4 "core" &  M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +97 "core" ' +2 "storage"(h& +3 "core" & \ \  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +286 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  \ +2 "manipulator"&r& +4 "core" & c +2 .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&& +4 "core" & > c +3 "storage"( & +3 "core" &  \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(G'X +8 "core" & c + "manipulator"&A% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&N( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"& & +4 "core" &#  i :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &" " :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'" +97 "core" ' +3 "manipulator"&d& +4 "core" &# } :1 +2 "manipulator"&m% +4 "core" % w +2 "collection"''& +3 "core" & :\ +3 "collection"'_& +5 "core" & 8\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & 7\ +6 &4 3\ $e +10 &V| 4\ 7 +9 &v 1\ K +10 &O 2\ M +9 &bT 3\ L +9 &$W 3\ L +10 &U *\ L +9 &Q )\ L +9 &jV *\ L +10 &,U 1\ L +9 &U )\ L +10 &!U +\ L +9 &#rV 5\ L +9 &%4V 1\ L +10 &&S 4\ M +9 &(V 3\ L +9 &*yU 2\ M +10 &,;U 0\ M +9 &-T 5\ M +10 &/T 6\ L +9 &1Q 5\ M +9 &3DS 3\ L +10 &5R 4\ L +9 &6R 2\ L +9 &8Q 4\ M +10 &:KU 4\ M +9 &<X 5\ L +10 &=R 5\ M +9 &?U 4\ M +9 &ATR 3\ L +10 &CR 4\ M +9 &DY 4\ M +9 &F] 5\ M +10 &HRn 4\ P +9 &J \ 4\ T +10 &K\ \ 5\ X +9 &M~\ \ 5\ Y +9 &OA\ \ 5\ X +10 &Q \ 4\ X +9 &R\ \ 0\ Z +9 &T\ \ 6\ Z +10 &V u \ 5\ . +9 &V-\ \ 2\ Y +9 ( +2 &V]\ \ 3\ I +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&+1 +53 "core" 1 +3 "manipulator"&7% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%)& +3 "core" &\ +3 "manipulator"&E% +4 "core" %\  i  + "storage"((% +4 "core" %T R\ +2 "storage"(&. +3 "core" .( + "storage"(n& +49 "core" &  F\ +4 "storage"(& +4 "core" &  O\ +2 "manipulator"&& +4 "core" &" :1 +2 "manipulator"&y% +4 "core" %\  f  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&a( +154 "core" ( + "manipulator"&e& +4 "core" & L  +2 "storage"(k& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +97 "core" ' +2 "storage"(~& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &  \ +2 "manipulator"&p& +3 "core" & j  +3 .tElbow.seek 2 + "manipulator"&U( +5 "core" ( + "manipulator"&9& +4 "core" & 3  +2 "storage"(%& +4 "core" &  _\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(u'X +8 "core" &  +2 "manipulator"&C% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&& +3 "core" &p   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &p f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M' +100 "core" ' +2 "manipulator"&-& +3 "core" &p  +3 "manipulator"&4% +3 "core" % +3 "processing"%$& +4 "core" &\ +2 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\ +8 &A\ $d +9 &U~\ 7 +9 &y\ K +10 &Y\ N +9 &mY\ M +9 &/T\ M +10 &T\ M +9 &R\ M +9 &uY\ M +10 &7Y\ M +9 &Z\ M +10 &!Z\ M +9 &#}Z\ M +9 &%>X\ N +10 &'T\ M +9 &(Y\ M +9 &*Y\ M +10 &,GY\ M +9 &.Z\ N +10 &/W\ M +9 &1T\ M +9 &3OT\ M +10 &5T\ M +9 &6T\ M +9 &8U\ M +10 &:XU\ M +9 &<W\ N +10 &=V\ N +9 &?V\ N +9 &A^U\ N +10 &CY\ N +9 &DY\ N +9 &Fb\ N +10 &H[w\ Q +9 &J\ S +10 &K\ T +9 &M\ S +9 &O]\ S +10 &Q\ S +9 &R\ T +9 &T\ T +10 &Vd\ T +9 &X%\ T +10 &Y|o\ 2 +9 &Z+|\ J +9 &Z\ , +3 ( + "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +3 "core" % S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +98 "core" ' + "processing"%!& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&O% +4 "core" %\ % s D +2 "storage"(F% +4 "core" %U u w U\ + "storage"(P. +3 "core" .( +2 "storage"(/& +3 "core" &  l { \ +3 "storage"( & +3 "manipulator"&& +6 "core" &  ~ ~ \ + &p   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&b(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'i +2 "core" ( +3 "manipulator"&D& +3 "core" &p [  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &p }  +2 .tForearm.seek PC +2 "manipulator"&' +138 "core" ' +5 .tHand.close +2 "manipulator"&8/ +65 "core" / +2 .tPC.seek :open +2 "processing"% ( +34 "core" ' + "storage"(g- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +48 "core" ' +340 ( +5 "storage"(& +5 "core" &  n\ + "manipulator"&H& +5 "core" &p  + "manipulator"&% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&f( +254 "core" ( +2 "manipulator"&S& +3 "core" & y +2 "storage"(5& +4 "core" &  /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&}'ќ +97 "core" ' +3 .tHand.open + "manipulator"&V1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(v'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +2 "storage"(K& +4 "core" & \ >\ +2 "manipulator"&t& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&#( +4 "core" ( +2 "manipulator"&B& +4 "core" & K + "storage"(l& +4 "core" &  f\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&6'ќ +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(s' +55 "core" ' +2 "manipulator"&& +3 "core" & +2 "storage"(|& +5 "core" &  A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&i' +30 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +29 "core" ' +2 "manipulator"&R% +3 "core" % ` 7 +2 "storage"(1& +4 "core" &  r p y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&]' +20 "core" ' + "manipulator"&& +4 "core" & M +2 "storage"(\ & +3 "core" &  V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +26 "core" ' +2 "storage"(X% +4 "core" %s Z\ +2 ."downElevator"SE.seek :down +4 "storage"(Z'X +100 (2% +3 "core" %F c\ Wd +2 "manipulator"&% +4 "core" %ф @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (z& +3 "core" &  f\ +2 "collection"'w& +4 "core" &V^ \ \ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&h% +4 "core" %\   + "storage"(;% +4 "core" %` Z\ +2 "storage"(. +3 "core" .( +2 "storage"("& +3 "core" &  \ +2 "storage"(& +4 "core" &  N\ +2 "manipulator"&r& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & _ +3 "storage"(o& +3 "core" &  ^\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +126 "core" ' +9 "storage"(A& +4 "core" &  \\\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'i +276 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & ` +2 "storage"(& +4 "core" &  L\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&`' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(m'S +26 "core" ' +2 "manipulator"&'% +4 "core" % \ +2 "storage"(c& +3 "core" &  r p\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&G' +20 "core" ' +2 "manipulator"&& +3 "core" & t +3 "storage"(T& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +42 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(7'B +40 "core" ' +2 "manipulator"&)& +3 "core" & X +3 "manipulator"&E% +4 "core" % [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +151 "core" ( +2 "manipulator"&n& +3 "core" &( q ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &( b ?T +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'y( +417 "core" ( +2 "storage"(L& +5 "core" &  0\ + "storage"(e& +4 "core" &  \ +2 "manipulator"&k& +3 "core" &( w ?T +3 "manipulator"&~% +4 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&N'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&3( +157 "core" ( +2 "manipulator"&x& +3 "core" & X  +2 "storage"(J& +4 "core" &  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&p' +99 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +54 "core" 1 +2 "manipulator"&I% +3 "core" % F ~ +2 "storage"(^& +4 "core" &  {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&C' +26 "core" ' +2 "manipulator"&a& +4 "core" & b  +2 "storage"(0& +3 "core" &  u\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' + "storage"(% +4 "core" %J\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (Y% +3 "core" %? j\ V` +2 "manipulator"&U% +3 "core" %ѡ 9 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +46 "collection"'4& +6 "core" & 6\ +2 "manipulator"&$% +4 "core" %\  . +2 "storage"(u% +4 "core" %O\ \ _\ +2 "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"({( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&!( +12 "core" ( +2 "manipulator"&O& +3 "core" & F  +3 "storage"(F& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +104 "core" ' + "storage"(@& +4 "core" &\ \ " \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&:( +2 "core" ( +2 "manipulator"&M& +4 "core" & _  +2 "storage"(8& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"( 'X +8 "core" &   +2 "manipulator"&j% +3 "core" % Ϟ  +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +3 "core" &# V ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$ ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +103 "core" ' + "manipulator"&5& +4 "core" &$ ;7 +2 "manipulator"&b% +3 "core" %+ +3 "collection"'V& +3 "core" & 7\ +3 "collection"'& +6 "core" & 3\ +2 .tCC.seek :closed +2 "collection"'?(V +3 "core" & =\ +9 &4 7\ $d +10 &Vz >\ 7 +9 &v 7\ K +9 &P 4\ L +10 &nU 3\ M +9 &1S 4\ L +9 &S 6\ L +10 &U 4\ L +9 &vU (\ M +10 &8T $\ M +9 &U *\ L +9 &!Q *\ M +10 &#U $\ L +9 &%AR )\ L +9 &'U (\ M +10 &(R 2\ M +9 &*T 1\ L +10 &,HQ *\ M +9 &. P '\ L +9 &/Q /\ M +10 &1Q 8\ L +9 &3PP 2\ M +9 &5U 4\ L +10 &6R 2\ M +9 &8Q 5\ M +10 &:XW 7\ M +9 &<W 4\ M +9 &=R /\ L +10 &?T 7\ M +9 &AaU 4\ L +9 &C#T 5\ L +10 &DU 3\ M +9 &F] 2\ N +10 &H_m 4\ P +9 &J \ 4\ T +9 &K\ \ 2\ X +10 &M\ \ 3\ Y +9 &OO\ \ 3\ X +9 &Q\ \ 4\ Y +10 &R\ \ 4\ Y +9 &T \ 4\ Z +10 &V-v \ 4\ / +9 &V \ \ 4\ Z +9 ( + &Vg\ \ 2\ N +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&K1 +58 "core" 1 + "manipulator"&t% +4 "core" % $ ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&B'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%l& +3 "core" &\ +2 "manipulator"&q% +4 "core" %\  m  +2 "storage"(% +3 "core" %U t m \ +2 "storage"(|. +3 "core" .( +2 "storage"(Q& +3 "core" & j j G\  +2 "storage"(R& +4 "core" & t \  +2 "manipulator"&1& +3 "core" &$ Z ;7 +2 "manipulator"&v% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( +2 "manipulator"&\ & +3 "core" & F  +2 "storage"(X& +3 "core" & I\  +48 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +103 "core" ' +2 "storage"(}& +4 "core" & 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & P\  +2 "manipulator"&6& +3 "core" & "  +3 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&s& +3 "core" &  +2 "storage"(i& +4 "core" & G\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&]'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(h'X +8 "core" & ;  +2 "manipulator"&;% +4 "core" % ϥ +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +2 "manipulator"&"& +4 "core" &q * 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +94 "core" ' + "manipulator"& & +4 "core" &q +2 "manipulator"&o% +4 "core" % , +2 "processing"%[& +3 "core" &\ +3 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Z(Z +5 "core" &\ +7 &9\ #b +9 &U\ 7 +10 &{\ L +9 &W\ M +9 &`Y\ M +10 &"Y\ M +9 &U\ M +9 &U\ M +10 &gY\ N +9 &+U\ M +10 &Z\ N +9 &!Y\ N +9 &#pZ\ M +10 &%1Y\ N +9 &&W\ M +9 &(T\ M +10 &*wU\ N +9 &,9X\ N +10 &-Y\ N +9 &/W\ N +9 &1W\ N +10 &3AU\ N +9 &5W\ N +9 &6W\ M +10 &8T\ M +9 &:JZ\ M +10 &< Y\ M +9 &=W\ N +9 &?W\ N +10 &ARW\ M +9 &CU\ N +9 &D]\ N +10 &Fc\ O +9 &HOx\ Q +10 &J\ \ T +9 &K\ S +9 &M\ S +10 &OP\ S +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VW\ T +10 &X\ T +9 &Yzm\ 8 +9 &Z,\ H +10 &Z\ ) +2 ( +2 "processing"%A& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&\\1 +60 "core" 1 +2 "manipulator"&>% +4 "core" % o , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +90 "core" ' +3 "processing"% & +3 "core" &Z\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(d% +3 "core" %U 8\ +2 "storage"('. +3 "core" .( +2 "storage"(c& +3 "core" & 6\  +3 "storage"(& +3 "manipulator"&T& +6 "core" & \  +2 &q +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&)(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(E'i +3 "core" ( +2 "manipulator"&.& +3 "core" &q f +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &q  H +3 .tForearm.seek PC + "manipulator"&,' +100 "core" ' +2 .tHand.close + "manipulator"&`/ +64 "core" / +2 .tPC.seek :open +2 "processing"%G( +78 "core" ' + "storage"(m- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +43 "core" ' +299 ( + "storage"(_& +4 "core" & \  +2 "manipulator"&+& +3 "core" &q +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +261 "core" ( +2 "manipulator"&& +3 "core" & p +3 "storage"(L& +3 "core" & S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +93 "core" ' +2 .tHand.open + "manipulator"&k1 +63 "core" 1 +2 "storage"(~- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(x'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(&& +3 "core" & K\  +2 "manipulator"&%& +4 "core" & p +2 .tElbow.seek 3 +2 "manipulator"&I( +8 "core" ( + "manipulator"&^& +4 "core" & g +2 "storage"(a& +3 "core" & ,\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +20 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&N& +4 "core" & B g +2 "storage"(Y& +3 "core" & g\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&U'} +24 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(p'i +24 "core" ' +2 "manipulator"&C% +4 "core" %y + "storage"(4& +5 "core" & W\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&7'ϥ +21 "core" ' + "manipulator"&$& +5 "core" &  g + "storage"(u& +4 "core" & U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +27 "core" ' +2 "storage"(% +3 "core" %s x\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (=% +5 "core" %F q h h\ We +2 "manipulator"&% +4 "core" %7 % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & m\  +2 "collection"'F& +3 "core" &Vg\ \ 3\ N +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&@% +4 "core" %\   +2 "storage"(9% +3 "core" %T \ +2 "storage"(-. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"( & +4 "core" & \  +2 "manipulator"&D& +3 "core" & g +3 .tElbow.seek 3 + "manipulator"&M( +4 "core" ( + "manipulator"&8& +5 "core" & g g + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +96 "core" ' + "storage"(j& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +284 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & h g +2 "storage"(& +48 "core" & \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&/'} +27 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(b'U +32 "core" ' + "manipulator"&:% +4 "core" %΅ +2 "storage"(V& +3 "core" & k k L\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"& 'ϱ +19 "core" ' +2 "manipulator"&& +3 "core" & N g +2 "storage"(y& +4 "core" & S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +25 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'D +40 "core" ' + "manipulator"&l& +5 "core" & / g + "manipulator"&q% +4 "core" %r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +160 "core" ( +2 "manipulator"&Q& +3 "core" &- f Cp +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +2 "core" &- [ Cp +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&1/ +62 "core" / +2 .tCC.seek :open +2 "collection"'v( +417 "core" ( + "storage"(S& +4 "core" & \  +2 "storage"(\ & +4 "core" & .\  +2 "manipulator"&X& +3 "core" &- Cp +3 "manipulator"&H% +4 "core" % 5   +2 .tForearm.seek :retract + "manipulator"&}'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&B( +158 "core" ( +2 "manipulator"&2& +3 "core" & P x +3 "storage"(& +4 "core" & O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&6'} +101 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +54 "core" 1 +3 "manipulator"&z% +4 "core" % ΐ V + "storage"(w& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&;'ϼ +19 "core" ' +3 "manipulator"&& +4 "core" &  x +2 "storage"(f& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +35 "core" ' + "storage"(]% +4 "core" %K\ \ b\ +3 ."downElevator"SE.seek :down +4 "storage"("'X +99 (% +3 "core" %@ \ Va +2 "manipulator"&#% +3 "core" %0 D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'o& +3 "core" & 8\ +2 "manipulator"&[% +3 "core" %\ \  +2 "storage"(h% +4 "core" %b\ \  b\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +340 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +46 "core" & \ +5 "manipulator"&>& +4 "core" & % x +2 .tElbow.seek 2 +2 "manipulator"& ( +31 "core" ( +2 "manipulator"&& +3 "core" & ( # +3 "storage"(d& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +100 "core" ' + "storage"(c& +4 "core" & \ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +285 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & O\ +2 "manipulator"&.& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&r& +3 "core" & ; # +2 "storage"(`& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(Z'X +8 "core" & t # + "manipulator"&E% +3 "core" %  M +3 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +148 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&& +2 "storage"(5 +7 "core" && ~ =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" && ^ =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 "manipulator"&L& +4 "core" &&  =C +2 "manipulator"&)% +3 "core" %, 6 +3 "collection"'k& +3 "core" & D\ +3 "collection"'~& +5 "core" & 9\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & D\  +8 &3{ ;\ *z +9 &e~ C\ > +10 &n C\ M +9 &JR =\ L +10 & T :\ L +9 &Q 3\ L +9 &U 6\ L +10 &PT 2\ M +9 &T 4\ L +9 &Q B\ L +10 & V 8\ L +9 &"YU 0\ L +10 &$P 1\ L +9 &%T 0\ L +9 &'U *\ L +10 &)aU +\ L +9 &+"U *\ M +10 &,T *\ M +9 &.V )\ L +9 &0iV ,\ L +10 &2+U 3\ L +9 &3Q 3\ L +9 &5Q 4\ M +10 &7qU 1\ L +9 &93Q 6\ L +9 &:T 3\ L +10 &<X 2\ M +9 &>yW 3\ L +10 &@:R 2\ M +9 &AV +\ L +9 &CX 3\ M +10 &EZ 1\ M +9 &G=d 5\ N +9 &Ht 7\ P +10 &J\ \ 7\ V +9 &Lh\ \ 3\ X +10 &N*\ \ 4\ W +9 &O \ 3\ Y +9 &Q\ \ 3\ Y +10 &Sj \ 6\ Z +9 &U, \ 4\ X +9 &Vl?\ \ 4\ 0 +10 &V x\ \ 0\ L +5 ( +2 "collection"'~& +4 "core" &Vm\ \ /\ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&&1 +59 "core" 1 +3 "manipulator"&%% +3 "core" % , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +4 "core" &\ + "manipulator"&% +4 "core" %\  {  +2 "storage"(N% +4 "core" %] z o d\ +2 "storage"(Y. +3 "core" .( +2 "storage"(n& +4 "core" & j i \ + "storage"(C& +4 "core" & j j \ +2 "manipulator"&4& +4 "core" && t =C +2 "manipulator"&x% +4 "core" %\  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +161 "core" ( +2 "manipulator"&u& +3 "core" & K  +2 "storage"(& +4 "core" & @\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +98 "core" ' +2 "storage"(e& +3 "core" & *\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +279 "core" ' +2 "storage"(=- +3 "core" -' +49 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & K\ +3 "manipulator"&0& +4 "core" & f  +2 .tElbow.seek 2 + "manipulator"&I( +4 "core" ( +2 "manipulator"&& +3 "core" & d  +2 "storage"(U& +4 "core" & )\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&7' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&O/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +3 "storage"(@'X +7 "core" & q  +2 "manipulator"&9% +4 "core" %  2 X +2 .tForearm.seek :retract +7 "manipulator"&p'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&-(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &y  j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +94 "core" ' +2 "manipulator"&8& +3 "core" &y V  +3 "manipulator"&% +3 "core" % 6 +3 "processing"%W& +4 "core" &\ +2 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +6 &B\ $f +10 &W\ 8 +9 &y\ M +9 &W\ M +10 &zZ\ M +9 &<Y\ M +9 &Y\ N +10 &U\ M +9 &U\ M +10 &CW\ N +9 & Z\ M +9 &!Z\ M +10 &#[\ N +9 &%LW\ M +9 &'T\ M +10 &(T\ M +9 &*T\ M +10 &,TT\ M +9 &.Y\ M +9 &/W\ M +10 &1X\ M +9 &3[W\ N +10 &5V\ M +9 &6T\ N +9 &8U\ M +10 &:eU\ M +9 &<&W\ M +9 &=U\ M +10 &?W\ N +9 &AkW\ N +9 &C.Z\ M +10 &DZ\ N +9 &Fb\ O +10 &Hix\ Q +9 &J&\ S +9 &K\ S +10 &M\ T +9 &Oi\ T +9 &Q,\ S +10 &R\ T +9 &T\ T +10 &Vq\ T +9 &X1\ T +9 &Yzk\ . +10 &Z&e\ I +9 &Z'\ 1 +2 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&31 +58 "core" 1 +2 "manipulator"&% +4 "core" %  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +91 "core" ' + "processing"%& +4 "core" &Z&\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  K  +2 "storage"(5% +4 "core" %b q u @\ +2 "storage"(:. +3 "core" .( +2 "storage"(V& +4 "core" & w x `\ +2 "storage"(& +2 "manipulator"&y& +5 "core" & w v ~\ +3 &y 0  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&l(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(q'i +2 "core" ( + "manipulator"&*& +6 "core" &y #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &y   +3 .tForearm.seek PC + "manipulator"&!' +94 "core" ' +2 .tHand.close + "manipulator"&// +60 "core" / +2 .tPC.seek :open +2 "processing"% ( +92 "core" ' + "storage"(b- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Q'y +35 "core" ' +293 ( +2 "storage"(R& +3 "core" & A\ +3 "manipulator"&K& +4 "core" &y  + "manipulator"&g% +4 "core" % , +2 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +303 "core" ( +2 "manipulator"&?& +4 "core" & U \ +2 "storage"(S& +3 "core" & ~\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +103 "core" ' +2 .tHand.open + "manipulator"&X1 +58 "core" 1 +2 "storage"(H- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(|& +3 "core" & k\ +3 "manipulator"&i& +4 "core" & \ +2 .tElbow.seek 2 + "manipulator"&z( +8 "core" ( +2 "manipulator"&w& +4 "core" &  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +60 "core" ' + "manipulator"&}& +4 "core" & X  +2 "storage"(& +4 "core" & j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(6'i +22 "core" ' +2 "manipulator"&;% +3 "core" % > D +2 "storage"(o& +4 "core" & ~ ~ \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&[' +20 "core" ' + "manipulator"&h& +4 "core" & >  +2 "storage"(& +3 "core" & Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +26 "core" ' +2 "storage"(% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 ({% +2 "core" %MI a\ Xf +3 "manipulator"&\\% +4 "core" %Ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +96 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & \ +2 "collection"'d& +4 "core" &Vl\ \ 3\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&c% +4 "core" %\ # > +2 "storage"(s% +3 "core" %a \ +2 "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & \ +2 "storage"(A& +4 "core" & M\ +2 "manipulator"&.& +3 "core" & d  +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&`& +5 "core" & H  + "storage"(& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +101 "core" ' +2 "storage"(E& +4 "core" & a\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +285 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & A  +2 "storage"(,& +4 "core" & I\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T' +31 "core" ' + .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +50 .tSE.seek 0.09 Pucks below Top Plate + "storage"()'R +31 "core" ' +2 "manipulator"&k% +4 "core" % t + "storage"(& +4 "core" & g g f\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&Z' +26 "core" ' + "manipulator"&_& +4 "core" & &  +2 "storage"(v& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'A +40 "core" ' +2 "manipulator"&a& +4 "core" &  +2 "manipulator"&% +4 "core" %ѹ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +153 "core" ( +2 "manipulator"&n& +4 "core" &"  { 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &" L 9( +2 .tForearm.seek CC +2 "manipulator"&C'" +94 "core" ' +2 .tHand.close + "manipulator"&4/ +58 "core" / +2 .tCC.seek :open + "collection"'x( +417 "core" ( +2 "storage"(& +3 "core" & \ \ +3 "storage"(u& +4 "core" & \ + "manipulator"&& +3 "core" &"  9( +3 "manipulator"&e% +3 "core" % , 7 +3 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&^( +157 "core" ( +2 "manipulator"&=& +4 "core" &  +2 "storage"(& +3 "core" & *\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&0' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +57 "core" 1 +2 "manipulator"&O% +5 "core" % + "storage"(F& +4 "core" & 5\ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&9' +20 "core" ' +2 "manipulator"&$& +4 "core" & R  + "storage"((& +4 "core" & h\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +23 "core" ' + "storage"(7% +4 "core" %D\ \ \ +3 ."downElevator"SE.seek :down +4 "storage"('X +100 ( % +3 "core" %A P\ V` +2 "manipulator"&I% +4 "core" %ѽ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +93 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & <\ +2 "manipulator"&W% +3 "core" %\ 6 +2 "storage"(@% +4 "core" %U \ \ +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(G( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (3& +2 "core" & \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +14 "core" ( +2 "manipulator"&& +4 "core" & s + "storage"(5& +4 "core" &\ U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +142 "core" ' +5 "storage"(V& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +2 "core" & \  +3 "manipulator"&*& +3 "core" & { s +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&D& +3 "core" & 9 s +2 "storage"(/& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&b'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&-/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"('X +8 "core" & s + "manipulator"&q% +4 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&R'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&g& +5 "core" &(  W ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &( 7 ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'" +104 "core" ' +3 "manipulator"&?& +4 "core" &( ?T + "manipulator"&S% +5 "core" %( S +2 "collection"'X& +4 "core" & @\ +2 "collection"'H& +5 "core" & F\ +3 .tCC.seek :closed + "collection"'(V +5 "core" & =\  +8 &2{ F\ *y +10 &d D\ > +9 &m ?\ M +9 &EQ J\ L +10 &V G\ L +9 &U ;\ L +9 &R 9\ M +10 &LW A\ L +9 &Q 9\ L +9 &Q 3\ L +10 & S 8\ L +9 &"ST 8\ M +10 &$Q 8\ L +9 &%W 5\ M +9 &'T -\ L +10 &)\\Q *\ L +9 &+T *\ L +9 &,U 0\ L +10 &.W .\ M +9 &0cU *\ M +10 &2'P )\ L +9 &3V -\ M +9 &5T +\ M +10 &7kW +\ M +9 &9-T *\ M +10 &:R -\ M +9 &<R *\ M +9 &>sW .\ M +10 &@5V 7\ M +9 &AU 0\ M +9 &CT 3\ L +10 &E{X +\ M +9 &G8e -\ N +9 &Ht 3\ P +10 &J\ \ 1\ V +9 &Lb\ \ 8\ X +10 &N#\ \ .\ X +9 &O \ 3\ Y +9 &Q \  \ Y +10 &Se \ 1\ Z +9 &U&\ \ 0\ Z +10 &VqD \ 5\ 1 +9 &Vp\ \ 4\ J +5 ( +2 "collection"'H& +4 "core" &Vh\ \ 2\ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&|1 +56 "core" 1 +3 "manipulator"&i% +3 "core" % !   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&1% +4 "core" %\  +  +2 "storage"(}% +4 "core" %T g h e\ +2 "storage"(. +3 "core" .( +2 "storage"(Q& +4 "core" & e i v\  + "storage"(;& +4 "core" & n j \  +2 "manipulator"&o& +3 "core" &( ?T +2 "manipulator"&2% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +168 "core" ( +2 "manipulator"&& +4 "core" & ` f + "storage"(& +5 "core" & W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + "storage"(\ & +3 "core" & B\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" & T\  +2 "manipulator"&f& +4 "core" & f +2 .tElbow.seek 3 + "manipulator"&z( +4 "core" ( +2 "manipulator"&]& +3 "core" & f +2 "storage"(#& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts +47 "manipulator"&['ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +3 "storage"(c'X +8 "core" & f + "manipulator"&s% +5 "core" % ϧ +2 .tForearm.seek :retract + "manipulator"&6'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&& +5 "core" &n  a  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &n  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +99 "core" ' +2 "manipulator"&`& +4 "core" &n `  + "manipulator"&% +5 "core" % + "processing"%t& +5 "core" &\ +2 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &\ +7 &@\ %g +9 &W~\ 8 +10 &w\ L +9 &T\ M +9 &yY\ N +10 &;W\ N +9 &V\ N +9 &W\ N +10 &W\ N +9 &CW\ N +10 & U\ M +9 &!Y\ M +9 &#W\ M +10 &%KX\ N +9 &'X\ M +9 &(Y\ M +10 &*X\ N +9 &,TW\ M +10 &.T\ N +9 &/U\ M +9 &1U\ M +10 &3[W\ N +9 &5V\ N +9 &6W\ N +10 &8U\ N +9 &:cV\ N +10 &<%U\ N +9 &=V\ M +9 &?T\ M +10 &AlT\ M +9 &C.W\ M +9 &D^\ N +10 &Fe\ O +9 &Hhz\ Q +10 &J$\ S +9 &K\ S +9 &M\ S +10 &Oj\ S +9 &Q,\ S +9 &R\ S +10 &T\ T +9 &Vp\ T +10 &X0\ U +9 &Yym\ / +9 &Z&f\ I +10 &Z'\ 1 +2 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&B1 +64 "core" 1 + "manipulator"&>% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +101 "core" ' +2 "processing"%& +4 "core" &Z&\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&,% +3 "core" %\ " 3 B +3 "storage"(L% +4 "core" %b Y Z\ + "storage"(k. +4 "core" .( + "storage"(& +4 "core" & Y Z\  +2 "storage"(_& +3 "manipulator"&v& +8 "core" & Z Z\  + &n  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&<& +3 "core" &n   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &n ;  +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' +2 .tHand.close + "manipulator"&T/ +53 "core" / +3 .tPC.seek :open +2 "processing"%Z( +88 "core" ' +2 "storage"()- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +47 "core" ' +287 ( +2 "storage"(~& +3 "core" & \  +2 "manipulator"&&& +4 "core" &n  +2 "manipulator"&m% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N( +262 "core" ( + "manipulator"&& +4 "core" & n  +2 "storage"(& +3 "core" & &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +42 "storage"(e- +10 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(='E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(Y& +3 "core" & \  +3 "manipulator"&U& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&F& +3 "core" & Z  +2 "storage"($& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(7' +57 "core" ' +2 "manipulator"&+& +3 "core" & S  +2 "storage"( & +4 "core" & J\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&I'} +20 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'i +24 "core" ' + "manipulator"&% +5 "core" %Ώ \  + "storage"(9& +3 "core" & 2\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&W'ϻ +19 "core" ' +2 "manipulator"&@& +3 "core" & V  +2 "storage"(p& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +50 "core" ' + "storage"(J% +4 "core" %p T\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +4 "core" %F } \ Xg +2 "manipulator"&3% +4 "core" %A \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & l\  +2 "collection"'5& +4 "core" &Vh\ \ 1\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&V% +4 "core" %\   +2 "storage"(% +4 "core" %` \ +2 "storage"(8. +3 "core" .( +2 "storage"(& +3 "core" & J\  +2 "storage"(j& +4 "core" & \  +2 "manipulator"&*& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&D( +4 "core" ( +2 "manipulator"&/& +3 "core" & S  +2 "storage"(-& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +104 "core" ' +2 "storage"(q& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & 9  +2 "storage"(!& +4 "core" & G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'} +20 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'U +29 "core" ' +2 "manipulator"&X% +4 "core" %Ώ > + "storage"(M& +4 "core" & J\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&'ϻ +19 "core" ' +2 "manipulator"&R& +3 "core" &  +3 "storage"(x& +43 "core" & ;\  +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(i'D +40 "core" ' +2 "manipulator"&& +3 "core" & n  +3 "manipulator"&1% +4 "core" %( ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +4 "manipulator"&Q& +3 "core" &" 9 9% +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &" j 9% +3 .tForearm.seek CC + "manipulator"&H'" +98 "core" ' +2 .tHand.close + "manipulator"&o/ +61 "core" / +2 .tCC.seek :open +2 "collection"'2( +417 "core" ( + "storage"(l& +4 "core" & d\  +2 "storage"(& +3 "core" & \  +3 "manipulator"&& +4 "core" &! K 8" + "manipulator"&\ % +3 "core" % " ~ +3 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +160 "core" ( +2 "manipulator"&{& +4 "core" & \\  + "storage"(\\& +5 "core" &\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&f'} +93 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator" +62 "core" 1 +2 "manipulator"&% +4 "core" % Έ m +2 "storage"(d& +3 "core" & z\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&s'ϴ +20 "core" ' +3 "manipulator"&h& +3 "core" &   +2 "storage"(& +5 "core" &\ \  \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +29 "core" ' + "storage"([% +5 "core" %M\ \ j\ +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (A% +3 "core" %D \ Wb +2 "manipulator"&z% +4 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & <\ +2 "manipulator"&t% +3 "core" %\  - +2 "storage"(c% +4 "core" %S\ \ \ +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" & @\ +2 "manipulator"&>& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +29 "core" ( +2 "manipulator"&,& +4 "core" & Y "z + "storage"(L& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +96 "core" ' + "storage"(k& +4 "core" & \ \  >\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & 6\ +2 "manipulator"&<& +47 "core" & !s +6 .tElbow.seek 2 +2 "manipulator"&r( +4 "core" ( + "manipulator"&.& +4 "core" & r !s +2 "storage"(T& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&)' +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"("'X +8 "core" & !s + "manipulator"&% +5 "core" %  O +2 .tForearm.seek :retract + "manipulator"&~'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +151 "core" ( +2 "manipulator"&m& +3 "core" ' + &# 4 :* +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +3 & & +3 "core" &# ` :* +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +3 "manipulator"&& +3 "core" &# :* +2 "manipulator"&a% +5 "core" % +2 "collection"'& +3 "core" & H\ +3 "collection"'e& +5 "core" & H\ +2 .tCC.seek :closed +2 "collection"'4(V +5 "core" & J\  +8 &5} I\ *z +9 &g~ G\ ? +10 &k A\ M +9 &MP E\ L +10 &Q I\ L +9 &P C\ L +9 &Q E\ M +10 &TU 8\ M +9 &P @\ L +9 &U 5\ L +10 & U B\ L +9 &"]U @\ L +10 &$Q 8\ L +9 &%R 6\ M +9 &'U .\ L +10 &)dU .\ M +9 &+'T (\ L +9 &,S (\ L +10 &.U %\ L +9 &0lQ (\ M +10 &2.R (\ M +9 &3S ,\ M +9 &5P '\ L +10 &7tQ (\ M +9 &97U *\ L +9 &:W 4\ M +10 &<R %\ M +9 &>}R 1\ L +10 &@?S 7\ L +9 &BR '\ L +9 &CW 8\ M +10 &EW +\ M +9 &GAc ,\ N +9 &Ht )\ Q +10 &J\ \ +\ V +9 &Lj\ \ 2\ X +10 &N+ \ 4\ X +9 &O \ ,\ Y +9 &Q \ 5\ Y +10 &Sl\ \ ,\ Z +9 &U.\ \ 2\ X +9 &Vl?\ \ 4\ 0 +10 &V w\ \ 5\ K +5 ( +2 "collection"'e& +3 "core" &Vb\ \ 2\ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&C1 +56 "core" 1 +3 "manipulator"&Y% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%F& +3 "core" &\ +2 "manipulator"&$% +4 "core" %\ W  +2 "storage"(+% +4 "core" %^ F\ +2 "storage"( . +3 "core" .( +2 "storage"(n& +4 "core" & \ +2 "storage"(& +4 "core" & <\ + "manipulator"&9& +4 "core" &# : :* +2 "manipulator"&=% +3 "core" %\ g  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&@( +158 "core" ( +2 "manipulator"&p& +4 "core" & A  +2 "storage"(N& +3 "core" & 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +93 "core" ' +2 "storage"(u& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" & D\ +2 "manipulator"&(& +4 "core" & c  +2 .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&7& +3 "core" &  +2 "storage"(I& +5 "core" & a\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&W' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(V'X +8 "core" &  + "manipulator"&% +4 "core" %  _ +2 .tForearm.seek :retract +49 "manipulator"&0'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&8(s +111 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +129 "core" ( +2 "manipulator"&& +4 "core" &x   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &x a $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&*' +100 "core" ' +2 "manipulator"&/& +4 "core" &x $ +2 "manipulator"&-% +3 "core" % b +3 "processing"%%& +3 "core" &\ +3 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +6 &@\ $d +10 &W\ 7 +9 &{\ L +10 &W\ M +9 &pZ\ M +9 &2X\ M +10 &S\ M +9 &X\ M +9 &xY\ M +10 &:Y\ M +9 &Z\ M +10 &!Y\ M +9 &#Y\ N +9 &%BW\ M +10 &'T\ M +9 &(T\ M +9 &*T\ M +10 &,KV\ M +9 &. X\ M +10 &/T\ M +9 &1U\ M +9 &3RV\ M +10 &5S\ M +9 &6Y\ N +9 &8W\ M +10 &:ZY\ M +9 &<W\ N +10 &=W\ M +9 &?T\ M +9 &AbS\ M +10 &C#V\ N +9 &D]\ N +9 &Fb\ O +10 &H`w\ Q +9 &J\ S +10 &K\ S +9 &M\ T +9 &Oa\ S +10 &Q"\ S +9 &R\ T +9 &T\ T +10 &Vh\ S +9 &X'\ T +10 &Yzl\ 1 +9 &Z*r\ G +9 &Z\ - +3 ( + "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&^1 +57 "core" 1 +2 "manipulator"&% +3 "core" % z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +102 "core" ' +2 "processing"%g& +4 "core" &Z\ - + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&!% +3 "core" %\ \ p  +3 "storage"(?% +4 "core" %` %\ + "storage"(X. +3 "core" .( +2 "storage"(M& +3 "core" & \ +3 "storage"(R& +2 "manipulator"&x& +5 "core" & K\ +3 &x $ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(1'i +2 "core" ( +2 "manipulator"&P& +5 "core" &x f $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &x K $ +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&y/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +44 "core" ' +296 ( +2 "storage"(;& +3 "core" & g\ +3 "manipulator"&|& +3 "core" &x $ +2 "manipulator"&b% +3 "core" %  $ +3 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&}( +256 "core" ( +2 "manipulator"&& +3 "core" & \ +2 "storage"(l& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' + .tHand.open +2 "manipulator"&1 +133 "core" 1 +3 "storage"(\ - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"({'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\\' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +3 "core" -' +2 "storage"(& +4 "core" & \ +41 "manipulator"&#& +11 "core" & \ +3 .tElbow.seek 2 + "manipulator"&( +5 "core" ( +2 "manipulator"&d& +3 "core" & s +2 "storage"(h& +4 "core" & S\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +56 "core" ' +2 "manipulator"&K& +3 "core" & +2 "storage"(A& +5 "core" & 9\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&z' +27 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +24 "core" ' + "manipulator"&s% +4 "core" % I W +2 "storage"(& +3 "core" & { P\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&t' +18 "core" ' + "manipulator"&c& +4 "core" &  +2 "storage"(6& +4 "core" & G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +27 "core" ' +2 "storage"(% +3 "core" %n I\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (G% +4 "core" %F c\ Wd +2 "manipulator"&B% +4 "core" %њ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +93 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (,& +3 "core" & ,\ +2 "collection"'L& +3 "core" &Va \ 5\ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&k% +4 "core" %\ ! 8 +2 "storage"(]% +3 "core" %U (\ +2 "storage"(`. +4 "core" .( + "storage"(v& +4 "core" & (\ +2 "storage"(_& +4 "core" & V\ +2 "manipulator"&<& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&.( +3 "core" ( +2 "manipulator"&T& +4 "core" & +2 "storage"( & +3 "core" & "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +92 "core" ' + "storage"(& +4 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & +2 "storage"( & +4 "core" & l\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'S +30 "core" ' +2 "manipulator"&r% +3 "core" % j  +2 "storage"(& +4 "core" & d q f\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&"' +18 "core" ' +2 "manipulator"&~& +3 "core" &  +2 "storage"(2& +4 "core" & g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'B +44 "core" ' +2 "manipulator"&F& +3 "core" & ) +2 "manipulator"&$% +4 "core" %ь  +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&+'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +153 "core" ( + "manipulator"&e& +3 "core" && @ =G +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" && I =G +3 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&9/ +58 "core" / +2 .tCC.seek :open + "collection"'=( +417 "core" ( +2 "storage"(& +3 "core" & H\ +2 "storage"(p& +6 "core" & 7\ +3 "manipulator"&N& +4 "core" &% [ <@ +2 "manipulator"&u% +3 "core" %  e +3 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&U( +156 "core" ( + "manipulator"& & +4 "core" & @  +2 "storage"(3& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&(' +108 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&I1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  ^ ! +2 "storage"(5& +4 "core" & \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&@& +4 "core" &   +2 "storage"(J& +4 "core" & e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +20 "core" ' +2 "storage"(W% +3 "core" %E\ \ \ \ +4 ."downElevator"SE.seek :down +3 "storage"('X +98 (j% +3 "core" %@ D\ Va +2 "manipulator"&O% +5 "core" %љ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'-& +3 "core" & <\ +2 "manipulator"&%% +4 "core" %\ @  +2 "storage"(V% +4 "core" %a\ \  #\ +2 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(Z( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" & \  +2 "manipulator"&& +3 "core" & ,  +2 .tElbow.seek 3 +2 "manipulator"&g( +13 "core" ( +2 "manipulator"&!& +3 "core" & B j +3 "storage"(?& +4 "core" &\ \  0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&X'9 +94 "core" ' +2 "storage"(q& +3 "core" &\ "\ " )\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +291 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & \  +2 "manipulator"&P& +4 "core" & j +2 .tElbow.seek 3 +2 "manipulator"&D( +2 "core" ( +2 "manipulator"&*& +3 "core" & 9 j +3 "storage"(y& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&S'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&8/ +102 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&:& + "storage"('X +8 "core" & j + "manipulator"&1% +5 "core" % ϩ +2 .tForearm.seek :retract +2 "manipulator"&;'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&|( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&b& +4 "core" &* 5 ?W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* J @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +2 "manipulator"&l& +3 "core" &* P @W +3 "manipulator"&% +4 "core" %* ! +2 "collection"'& +3 "core" & J\ +3 "collection"'\ & +5 "core" & M\ +2 .tCC.seek :closed +2 "collection"'o(V +5 "core" & K\ +6 &< G\ $d +9 &Wz H\ 7 +10 &v J\ L +9 &R O\ M +9 &wS J\ M +10 &9R H\ M +9 &T F\ L +9 &U O\ M +10 &S H\ M +9 &AS H\ M +10 & T J\ L +9 &!U I\ M +9 &#S K\ M +10 &%JU I\ L +9 &' Q H\ L +9 &(Q J\ L +10 &*T <\ L +9 &,QU B\ M +10 &.S H\ M +9 &/T ?\ L +9 &1U H\ M +10 &3YR @\ M +9 &5S 9\ M +9 &6Q 8\ L +10 &8Q F\ L +9 &:aV A\ M +10 &<#V =\ M +9 &=W B\ M +9 &?T <\ M +10 &AjR A\ L +9 &C+V 9\ M +9 &DS 9\ M +10 &F` 3\ N +9 &Hhn A\ P +10 &J \ <\ T +9 &K \ 2\ X +9 &M \ 0\ Y +10 &OV\ \ <\ Y +9 &Q \ 4\ X +9 &R\ \ >\ Z +10 &T \ =\ Z +9 &V3u \ ?\ - +10 &V#\ \ =\ T +9 ( + &Vm \ ;\ L +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&H1 +56 "core" 1 +3 "manipulator"&% +3 "core" % * \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%d& +4 "core" &\ + "manipulator"&h% +4 "core" %\ & = +2 "storage"(K% +4 "core" %] Z Z\ +2 "storage"(A. +3 "core" .( + "storage"(Q& +4 "core" & Y W\  +2 "storage"({& +4 "core" & _ f\  +2 "manipulator"&s& +3 "core" &) @W +2 "manipulator"&% +5 "core" %\ & = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +158 "core" ( +2 "manipulator"&6& +3 "core" & { +2 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +96 "core" ' + "storage"(& +4 "core" & N\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +285 "core" ' +2 "storage"(G- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & U\  +2 "manipulator"&& +3 "core" & e { +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&[& +4 "core" & ` { +2 "storage"(z& +3 "core" & %\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(k'X +6 "core" & { +3 "manipulator"&]% +3 "core" % ϭ +3 .tForearm.seek :retract +2 "manipulator"&f'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +3 "manipulator"&v& +3 "core" &s   & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &s G & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +2 "manipulator"&<' +100 "core" ' +2 "manipulator"&T& +3 "core" &s } & +3 "manipulator"& % +4 "core" % +2 "processing"%i& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &\ +9 &9\ $d +10 &U}\ 7 +9 &{\ L +9 &W\ M +10 &^Z\ N +9 & W\ N +10 &Y\ M +9 &Y\ M +9 &fU\ N +10 &(X\ N +9 &U\ M +9 &!U\ M +10 &#oX\ M +9 &%1Y\ M +10 &&T\ M +9 &(V\ M +9 &*wZ\ M +10 &,8[\ N +9 &-Y\ M +9 &/U\ M +10 &1W\ M +9 &3@W\ N +10 &5W\ N +9 &6W\ N +9 &8W\ M +10 &:JW\ M +9 &< W\ M +9 &=T\ M +10 &?X\ M +9 &AQY\ M +10 &CY\ N +9 &D[\ N +9 &Fc\ N +10 &HN{\ Q +9 &J\ \ S +10 &K\ T +9 &M\ S +9 &ON\ T +10 &Q\ T +9 &R\ T +9 &T\ T +10 &VU\ T +9 &X\ U +9 &Y{r\ 7 +10 &Z1\ F +9 &Z\ ) +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&w1 +54 "core" 1 +2 "manipulator"&>% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +100 "core" ' +2 "processing"%m& +3 "core" &Z\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ \  +2 "storage"(% +3 "core" %c \ +2 "storage"(r. +3 "core" .( +2 "storage"(& +4 "core" & \  +2 "storage"(~& +3 "manipulator"&2& +5 "core" & L\  +2 &s & +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&F(s +4 ."raiseStack"SE.seek :beamBreak + "storage"($'i +3 "core" ( +2 "manipulator"&'& +3 "core" &s 0 & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &s & +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 .tHand.close +2 "manipulator"&/ +55 "core" / + .tPC.seek :open +2 "processing"%"( +85 "core" ' + "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +48 "core" ' +287 ( +2 "storage"(n& +3 "core" & \  +3 "manipulator"&C& +4 "core" &s & +2 "manipulator"&)% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&9'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&+( +258 "core" ( + "manipulator"&4& +3 "core" & j  +2 "storage"(& +4 "core" & G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +88 "Can"\ EO + "core" ' +2 .tHand.open +2 "manipulator"&N1 +62 "core" 1 +2 "storage"(u- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"( & +3 "core" & \ B\  +2 "manipulator"&I& +4 "core" & k  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&5& +3 "core" & r  +3 "storage"(@& +4 "core" & D\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +46 "storage"(W' +60 "core" ' +2 "manipulator"&&& +3 "core" &  +2 "storage"(j& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&O'} +28 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +25 "core" ' + "manipulator"&-% +4 "core" %Ό ` +2 "storage"(& +3 "core" & ~ t Y\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&%'ϸ +22 "core" ' + "manipulator"&V& +4 "core" & M  +2 "storage"(0& +4 "core" & a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +25 "core" ' +2 "storage"(% +3 "core" %q \ +4 ."downElevator"SE.seek :down +3 "storage"('X +98 ( % +3 "core" %C o k \ Wc +2 "manipulator"&^% +5 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +75 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (!& +3 "core" & Y\  +2 "collection"'?& +3 "core" &Vl\ \ >\ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&q% +3 "core" %\   +2 "storage"(7% +4 "core" %] G\ +2 "storage"(/. +3 "core" .( +2 "storage"(R& +3 "core" & "\  +2 "storage"(x& +4 "core" & 7\  +2 "manipulator"&P& +4 "core" & j  +2 .tElbow.seek 3 + "manipulator"&*( +4 "core" ( + "manipulator"&y& +5 "core" & T  + "storage"(8& +4 "core" & 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +87 "core" ' + "storage"(1& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +284 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&M'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +28 "core" ' +2 "manipulator"&% +3 "core" %Ί +2 "storage"(D& +4 "core" & y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'϶ +20 "core" ' + "manipulator"&;& +4 "core" & |  +2 "storage"(=& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('D +39 "core" ' +2 "manipulator"&d& +3 "core" & J  +2 "manipulator"&h% +4 "core" %< " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +157 "core" ( +3 "manipulator"&Q& +4 "core" &* @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &* @W +2 .tForearm.seek CC +2 "manipulator"&{'" +142 "core" ' +3 .tHand.close +2 "manipulator"&s/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(& +3 "core" & \  +2 "storage"(6& +4 "core" & 4\  +2 "manipulator"&& +3 "core" &* P @W +3 "manipulator"&% +3 "core" % #  +3 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +163 "core" ( +2 "manipulator"&G& +4 "core" & H ~ + "storage"(B& +5 "core" &\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&z1 +64 "core" 1 +2 "manipulator"&,% +3 "core" % Ή M +2 "storage"(L& +5 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&]'ϵ +21 "core" ' + "manipulator"&c& +3 "core" &  ~ +2 "storage"(}& +4 "core" &\ \  a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +25 "core" ' +2 "storage"(t% +4 "core" %N\ "\ "\ +2 ."downElevator"SE.seek :down +3 "storage"(v'X +99 (_% +3 "core" %$A e\ Va +2 "manipulator"&% +4 "core" %W n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +3 "core" & >\ +2 "manipulator"&i% +5 "core" %\ \ 7  + "storage"(k% +4 "core" %a\ \ " \ +2 "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" & ~\ +2 "manipulator"&>& +3 "core" & ` ~ +3 .tElbow.seek 2 + "manipulator"&m( +46 "core" ( +2 "manipulator"& & +3 "core" & u ' +2 "storage"(& +3 "core" &  \  D\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +92 "core" ' +2 "storage"(& +4 "core" & \ #\  N\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &  O\ +2 "manipulator"&'& +4 "core" &  ' +2 .tElbow.seek 2 +2 "manipulator"&.( +22 "core" ( +3 "manipulator"&<& +4 "core" & : + "storage"(& +5 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&a' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"('X +8 "core" & 7 +2 "manipulator"&$% +4 "core" %  / U +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +156 "core" ( +3 "manipulator"&)& +4 "core" ' + &, " Bj +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 && +3 "core" &+  Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'" +103 "core" ' +3 "manipulator"&& +4 "core" &, Bj +2 "manipulator"&F% +4 "core" %" +2 "collection"'N& +4 "core" & M\ +2 "collection"'u& +5 "core" & K\ +3 .tCC.seek :closed + "collection"'(V +5 "core" & G\  +8 &3y K\ *z +9 &f~ L\ ? +10 &m I\ M +9 &JQ I\ L +9 & U I\ M +10 &S M\ L +9 &P R\ L +10 &RQ K\ L +9 &R P\ L +9 &S C\ L +10 & R F\ L +9 &"YT J\ M +9 &$S J\ M +10 &%V E\ L +9 &'U E\ L +9 &)bT G\ L +10 &+$U G\ L +9 &,Q F\ L +10 &.Q G\ M +9 &0iT A\ M +9 &2,O 9\ L +10 &3R =\ L +9 &5T ?\ M +9 &7pS >\ M +10 &93P <\ M +9 &:V D\ M +10 &<W 6\ M +9 &>yV <\ M +9 &@<U I\ L +10 &AS 3\ L +9 &CW <\ M +9 &EW <\ M +10 &G>c <\ N +9 &Ht <\ Q +10 &J \ 7\ V +9 &Le\ \ 1\ Y +9 &N(\ \ :\ X +10 &O\ \ >\ Y +9 &Q\ \ 7\ Y +9 &Sh \ =\ [ +10 &U)\ \ <\ [\ +9 &VvC\ \ A\ - +10 &Vv\ \ 6\ N +5 ( +2 "collection"'u& +3 "core" &Vs\ \ >\ N +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"& 1 +56 "core" 1 +2 "manipulator"&I% +4 "core" % " A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&9% +4 "core" %\   +2 "storage"(&% +4 "core" %U k <\ + "storage"(j. +3 "core" .( +2 "storage"(e& +3 "core" &  w k 7\ +2 "storage"( & +4 "core" &  r d d\ +2 "manipulator"&-& +4 "core" &+ = Bi +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +160 "core" ( +2 "manipulator"&0& +4 "core" &  + "storage"(+& +5 "core" &  R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +92 "core" ' + "storage"(& +3 "core" &  C\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +284 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &  Q\ +2 "manipulator"&J& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&W& +3 "core" &  +2 "storage"(O& +4 "core" &  \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&%' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&?& + "storage"(q'X +8 "core" &  + "manipulator"&(% +5 "core" %  y U +2 .tForearm.seek :retract + "manipulator"&7'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&R& +5 "core" &q + 9  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +2 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +97 "core" ' +2 "manipulator"&y& +3 "core" &q b  +3 "manipulator"&8% +4 "core" % o +2 "processing"%Y& +4 "core" &\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +50 &4|\ *y +3 &e\ ? + &r\ O + &KS\ M +2 & T\ M + &Y\ N +7 &V\ N +9 &RU\ N +10 &T\ M +9 &Y\ M +9 & T\ M +10 &"ZT\ N +9 &$V\ N +10 &%T\ M +9 &'Y\ N +9 &)cV\ M +10 &+%S\ M +9 &,U\ M +9 &.W\ N +10 &0jW\ N +9 &2,W\ N +10 &3V\ N +9 &5W\ N +9 &7rV\ N +10 &95U\ M +9 &:T\ M +9 &<W\ M +10 &>{T\ M +9 &@=Z\ M +10 &AX\ M +9 &C[\ N +9 &EY\ N +10 &G?j\ O +9 &H\ R +9 &J\ S +10 &Ly\ S +9 &N;\ S +10 &O\ S +9 &Q\ T +9 &S\ T +10 &UA\ T +9 &W\ T +9 &X\ U +10 &Z'Rq\ *| +9 &Zd\ 8 +9 ( +3 "processing"%1& +2 "core" &Z%\ 0 +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&U1 +54 "core" 1 +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +99 "core" ' +2 "processing"%b& +3 "core" &Z%\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ "  @ +2 "storage"(l% +4 "core" %U \\ Z\ +2 "storage"(. +3 "core" .( +2 "storage"(D& +3 "core" &  [ \\\ +3 "storage"(;& +2 "manipulator"&=& +6 "core" &  \\ Z\ +2 &q  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(d'i + "manipulator"&h(s +6 "core" ( +2 "manipulator"&:& +4 "core" &q 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &q d  +3 .tForearm.seek PC +2 "manipulator"&g' +93 "core" ' +2 .tHand.close + "manipulator"&M/ +60 "core" / +4 .tPC.seek :open + "processing"%( +83 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Q'y +44 "core" ' +294 ( +2 "storage"(\ & +3 "core" &  T\ +3 "manipulator"&H& +3 "core" &q  +2 "manipulator"&S% +4 "core" % \  - +2 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&K( +249 "core" ( +2 "manipulator"&o& +3 "core" & & "z +2 "storage"(& +4 "core" &  Z c \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +96 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(G'E +37 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"({- +68 "core" -' +2 "storage"(A& +4 "core" &  \ + "manipulator"&z& +4 "core" & \  "z +2 .tElbow.seek 2 + "manipulator"&,( +4 "core" ( +2 "manipulator"&L& +3 "core" & "z +3 "storage"(c& +4 "core" &  \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +58 "core" ' + "manipulator"&|& +4 "core" & "z +2 "storage"(_& +4 "core" &  S\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +27 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' + "manipulator"&]% +5 "core" %  f + "storage"( & +4 "core" &  d ] @\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&i' +19 "core" ' +2 "manipulator"&k& +3 "core" & r "z +3 "storage"(f& +4 "core" &  2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +19 "core" ' + "storage"(\\% +5 "core" %m \ +2 ."downElevator"SE.seek :down +4 "storage"(v'X +99 (Z% +4 "core" %F [ [\ Xf +2 "manipulator"&w% +3 "core" %ѓ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +3 "core" &  { $\ +3 "collection"'& +4 "core" &Vr \ @\ N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"([% +3 "core" %W \ +2 "storage"(T. +3 "core" .( +2 "storage"(2& +4 "core" &  ?\ +2 "storage"(~& +4 "core" &  V\ +2 "manipulator"&'& +3 "core" & "z +3 .tElbow.seek 2 + "manipulator"&<( +4 "core" ( + "manipulator"&& +5 "core" & "z + "storage"(`& +4 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +101 "core" ' +2 "storage"($& +3 "core" &  f\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +284 "core" ' + "storage"(r- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & "z +2 "storage"(& +4 "core" &  j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'R +31 "core" ' +2 "manipulator"&F% +3 "core" % . A +2 "storage"(N& +4 "core" &  B C \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&' +26 "core" ' +6 "manipulator"&n& +5 "core" & "z + "storage"(& +4 "core" &  |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(I'A +40 "core" ' +2 "manipulator"&@& +4 "core" & "z +2 "manipulator"&9% +4 "core" %Ѫ Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +154 "core" ( +2 "manipulator"&e& +3 "core" &-  > Cp +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &- Cp +3 .tForearm.seek CC + "manipulator"& '" +93 "core" ' +2 .tHand.close + "manipulator"&-/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(4& +4 "core" &  B\ + "storage"(0& +4 "core" &  C\ +2 "manipulator"&+& +3 "core" &- | Cn +2 "manipulator"&% +4 "core" % # +41 .tForearm.seek :retract +9 "manipulator"&C'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5( +154 "core" ( +2 "manipulator"& & +3 "core" & 4  +3 "storage"(^& +3 "core" &  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&J' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +63 "core" 1 +4 "manipulator"&!% +4 "core" %  +2 "storage"(?& +4 "core" &  9\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&(' +21 "core" ' + "manipulator"&V& +4 "core" & +  +2 "storage"(p& +3 "core" &  |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +20 "core" ' + "storage"(%% +4 "core" %G\ \  <\ +2 ."downElevator"SE.seek :down +4 "storage"(R'X +99 (x% +3 "core" %A o\ V` +2 "manipulator"&% +4 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'8& +3 "core" & I\ +2 "manipulator"&Y% +4 "core" %\ # ? +2 "storage"(q% +3 "core" %a H\ +2 "storage"(7. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"("( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (U& +2 "core" & \  +2 "manipulator"&& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&b( +18 "core" ( + "manipulator"&& +5 "core" & 6 ^ + "storage"(l& +3 "core" & f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +88 "core" ' + "storage"(D& +3 "core" &\ \ " \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'i +285 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" & \  +2 "manipulator"&:& +3 "core" & ^ +3 .tElbow.seek 3 + "manipulator"&*( +4 "core" ( +2 "manipulator"&P& +3 "core" & 6 ^ +2 "storage"(M& +4 "core" &\ \ \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&X& + "storage"('X +8 "core" & ^ + "manipulator"&d% +4 "core" % Ϩ +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&S& +4 "core" &' # >I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &' ] >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&o'" +102 "core" ' +2 "manipulator"&& +3 "core" &( >I +3 "manipulator"&h% +48 "core" %% +5 "collection"'& +4 "core" & I\ +2 "collection"'& +6 "core" & J\ +2 .tCC.seek :closed +2 "collection"'s(V +3 "core" & G\ +7 &= J\ $e +10 &X| J\ 7 +9 &v K\ L +9 &Q L\ L +10 &sR O\ L +9 &5T O\ L +9 &U O\ L +10 &Q H\ L +9 &{R I\ L +10 &=U H\ L +9 &O H\ L +9 &!R K\ L +10 &#U J\ M +9 &%DS I\ M +9 &'Q H\ L +10 &(Q D\ L +9 &*T J\ M +10 &,LS H\ M +9 &.O G\ L +9 &/P G\ M +10 &1S H\ M +9 &3UO E\ L +9 &5P D\ L +10 &6S F\ L +9 &8P 7\ M +10 &:]U G\ L +9 &<T D\ M +9 &=U A\ M +10 &?U G\ L +9 &AeR ?\ L +9 &C'S <\ L +10 &DU @\ M +9 &F] =\ N +10 &Hbn >\ P +9 &J >\ U +9 &K\ H\ Y +10 &M \ >\ Y +9 &OP\ \ <\ Y +9 &Q\ \ A\ Y +10 &R \ A\ Z +9 &T\ \ A\ Z +10 &V0v\ \ >\ / +9 &V \ ?\ T +9 ( + &Vc \ >\ M +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&{1 +53 "core" 1 +2 "manipulator"&A% +4 "core" % # T +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%L& +4 "core" &\ +2 "manipulator"&c% +3 "core" %\  +3 "storage"(|% +4 "core" %b L\ + "storage"(_. +3 "core" .( +2 "storage"(Q& +4 "core" & J\  +2 "storage"(G& +4 "core" & \  + "manipulator"&]& +5 "core" &' >I + "manipulator"& % +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&k( +156 "core" ( +2 "manipulator"&f& +3 "core" & h  +2 "storage"(K& +4 "core" & e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +103 "core" ' +2 "storage"(\\& +3 "core" & =\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +283 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (Z& +2 "core" & \  +2 "manipulator"&w& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&,( +4 "core" ( + "manipulator"&t& +4 "core" &   +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &  +2 "manipulator"&[% +3 "core" % 3 +3 .tForearm.seek :retract + "manipulator"&T'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +3 "manipulator"&2& +3 "core" &| '  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &| z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'' +92 "core" ' +2 "manipulator"&& +4 "core" &| r  +2 "manipulator"&`% +3 "core" % { % +3 "processing"%& +4 "core" &\ +2 "processing"%$& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%v(Z +4 "core" &\  +9 &3}\ *y +9 &d~\ > +9 &|p\ N +10 &?S\ M +9 &R\ M +9 &X\ M +10 &X\ M +9 &FV\ N +10 &X\ N +9 &W\ N +9 & W\ N +10 &"OV\ M +9 &$U\ M +10 &%W\ N +9 &'W\ N +9 &)WW\ M +10 &+T\ M +9 &,T\ M +9 &.T\ M +10 &0_Y\ M +9 &2!X\ M +9 &3V\ N +10 &5W\ N +9 &7gV\ M +10 &9*T\ M +9 &:W\ M +9 &<V\ M +10 &>pS\ M +9 &@0X\ N +9 &AU\ M +10 &CX\ M +9 &Ev\\\ N +10 &G3h\ O +9 &H\ R +9 &J\ S +10 &Ln\ S +49 &N.\ T +7 &O\ T + &Q\ T + &Su\ S +2 &U5\ T +2 &V\ T +3 &X\ T +10 &Z$[{\ $n +9 &ZZ\ 1 +9 ( +2 "processing"%$& +3 "core" &Z\ , +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator" +64 "core" 1 +2 "manipulator"&>% +4 "core" % w % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +2 "processing"%)& +3 "core" &Z\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  % +2 "storage"(% +4 "core" %a r p\ +2 "storage"(F. +3 "core" .( +2 "storage"(N& +4 "core" & r z D\  +2 "storage"(n& +3 "manipulator"&& +7 "core" & u q \ \  + &| ~  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&@(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(9'i +3 "core" ( +2 "manipulator"&E& +4 "core" &| }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &|  +2 .tForearm.seek PC +2 "manipulator"&m' +101 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(.- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +47 "core" ' +287 ( + "storage"(u& +4 "core" & Q\  +2 "manipulator"& & +4 "core" &|  +2 "manipulator"&a% +3 "core" % \ +3 .tForearm.seek :retract + "manipulator"&-'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +257 "core" ( + "manipulator"&& +4 "core" & ! C +2 "storage"(4& +4 "core" & u q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +97 "core" ' + .tHand.open +2 "manipulator"&+1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(^' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +3 "storage"(j& +4 "core" & E\  + "manipulator"&O& +4 "core" & C +2 .tElbow.seek 3 +2 "manipulator"&!( +25 "core" ( + "manipulator"&?& +4 "core" &  +2 "storage"(V& +3 "core" & V\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(%' +57 "core" ' +2 "manipulator"&C& +4 "core" & v  +2 "storage"(x& +4 "core" & ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(J'i +25 "core" ' +2 "manipulator"&8% +4 "core" %Α \  +3 "storage"((& +4 "core" & y A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&Y'Ͻ +19 "core" ' +2 "manipulator"&q& +3 "core" & "  +3 "storage"(7& +42 "core" & @\  +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +29 "core" ' + "storage"(3% +3 "core" %m x\ +4 ."downElevator"SE.seek :down +3 "storage"(R'X +98 (% +3 "core" %> \ Xe +2 "manipulator"&U% +5 "core" %) d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & q\  +2 "collection"'l& +3 "core" &Vd\ \ G\ M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&D% +3 "core" %\  A  +3 "storage"(W% +3 "core" %b \ +2 "storage"(y. +3 "core" .( +2 "storage"(;& +3 "core" & \  +2 "storage"(=& +4 "core" & \  +2 "manipulator"&:& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&M& +4 "core" & :  +2 "storage"(/& +4 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +91 "core" ' +2 "storage"(d& +3 "core" & v\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  +2 "storage"(g& +4 "core" & /\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&1'} +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(h'U +30 "core" ' +2 "manipulator"&*% +3 "core" %ΐ +2 "storage"(& +4 "core" & o x %\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +20 "core" ' + "manipulator"&\ & +5 "core" & x  + "storage"(& +4 "core" & @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +31 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'D +39 "core" ' + "manipulator"&L& +4 "core" & ;  +2 "manipulator"&c% +4 "core" %% ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +152 "core" ( +2 "manipulator"&Q& +3 "core" &# Y :0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &# @ :0 +3 .tForearm.seek CC +2 "manipulator"&G'" +93 "core" ' + .tHand.close +2 "manipulator"&]/ +58 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( +2 "storage"(o& +3 "core" & W\  +2 "storage"(f& +4 "core" & \  +2 "manipulator"&K& +3 "core" &# j :0 +2 "manipulator"&\\% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z( +152 "core" ( +2 "manipulator"&}& +3 "core" & < \ +2 "storage"(Z& +4 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +41 "manipulator"&w'} +100 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +3 "manipulator"& % +5 "core" % ΄ ^ + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&['ϰ +20 "core" ' + "manipulator"&k& +5 "core" &  \ + "storage"(6& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +28 "core" ' +2 "storage"(i% +3 "core" %G\  8\ +3 ."downElevator"SE.seek :down +4 "storage"(2'X +98 (~% +3 "core" %C 8\ Wb +2 "manipulator"&,% +5 "core" %E 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'`& +3 "core" & I\ +2 "manipulator"&% +5 "core" %\   + "storage"(% +4 "core" %S\ \ \ +2 "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" & \ +2 "manipulator"&>& +3 "core" & \ +3 .tElbow.seek 2 + "manipulator"&)( +31 "core" ( + "manipulator"&& +5 "core" & $ + "storage"(& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +88 "core" ' + "storage"($& +5 "core" & \ \ X\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +277 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&E& +3 "core" & $ +2 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&'& +3 "core" & U $ +2 "storage"(& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&.' +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&r& + "storage"(v'X +7 "core" & $ +2 "manipulator"&9% +3 "core" %  7 +3 .tForearm.seek :retract +2 "manipulator"&u'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +151 "core" ( +2 "manipulator"&a& +4 "core" &# :* ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &m& +3 "core" &# :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +2 "manipulator"&4& +3 "core" &# } :* +2 "manipulator"&@% +3 "core" %+ p +3 "collection"'+& +3 "core" & _\ +3 "collection"'& +4 "core" & \\\ +3 .tCC.seek :closed + "collection"' (V +4 "core" & S\  +9 &3{ K\ *x +10 &e [\ > +9 &n V\ M +9 &EP J\ L +10 &U O\ L +9 &U Q\ L +10 &T U\ L +9 &MU R\ L +9 &Q U\ L +10 &P O\ L +9 & R T\ L +9 &"UQ I\ L +10 &$R R\ L +9 &%W J\ L +10 &'U K\ M +9 &)]R I\ L +9 &+R M\ L +10 &,U K\ M +49 &.T I\ M +3 &0eQ J\ L + &2(Q J\ L + &3T J\ M +2 &5T G\ L + &7lU H\ M +8 &9.S H\ M +10 &:V I\ L +9 &<S I\ M +9 &>uW H\ L +10 &@6U L\ M +9 &AU J\ M +10 &CW @\ L +9 &E|W G\ M +9 &G9b G\ N +10 &Hu @\ P +9 &J \ E\ V +9 &Lb\ \ G\ X +10 &N%\ \ ?\ X +9 &O\ \ E\ Y +10 &Q \ I\ Y +9 &Sf ;\ Z +9 &U( \ >\ Y +10 &VmA \ N\ 0 +9 &V\ v\ \ D\ L +5 ( +2 "collection"'& +4 "core" &Vm\ \ F\ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&j1 +53 "core" 1 +2 "manipulator"&O% +3 "core" % + X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%?& +3 "core" &\ +3 "manipulator"&V% +4 "core" %\   \ + "storage"(C% +4 "core" %S m j \ +2 "storage"(x. +3 "core" .( +2 "storage"(e& +4 "core" & n i \ +2 "storage"(8& +3 "core" & j g \ +2 "manipulator"&(& +4 "core" &" :* +2 "manipulator"& % +4 "core" %\  G \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&q( +157 "core" ( +2 "manipulator"&7& +4 "core" & f + "storage"(&& +5 "core" & 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +91 "core" ' +2 "storage"(0& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +281 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +\ +2 "manipulator"&U& +5 "core" & + .tElbow.seek 2 +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&%& +3 "core" & ! +2 "storage"(& +4 "core" & }\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&Y' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"(D'X +8 "core" & y + "manipulator"&W% +5 "core" % 2 +2 .tForearm.seek :retract + "manipulator"&y'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&J& +5 "core" &k * O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &k +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&:' +92 "core" ' +2 "manipulator"&M& +3 "core" &k B +2 "manipulator"&/% +5 "core" % = + "processing"%I& +5 "core" &\ +2 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(Z +3 "core" &\ +8 &F\ $f +9 &V\ 8 +9 &x\ M +10 &V\ M +9 &{W\ N +9 &?S\ M +10 &X\ M +9 &W\ M +10 &W\ N +9 &FV\ M +9 & U\ N +10 &!X\ M +9 &#U\ M +9 &%NU\ M +10 &'T\ M +9 &(S\ M +10 &*T\ M +9 &,VU\ M +9 &.Y\ M +10 &/X\ M +9 &1W\ N +9 &3^V\ M +10 &5 R\ M +9 &6S\ M +10 &8W\ M +9 &:fW\ M +9 &<(V\ M +10 &=S\ M +9 &?W\ N +9 &AnU\ M +10 &C0U\ M +9 &DY\ N +10 &Fb\ O +9 &Hkx\ Q +9 &J'\ S +10 &K\ T +9 &M\ T +9 &Ok\ T +10 &Q-\ T +9 &R\ T +10 &T\ T +9 &Vs\ T +9 &X4\ T +10 &Yzn\ . +9 &Z'j\ G +9 &Z"\ . +3 ( + "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&51 +61 "core" 1 + "manipulator"&% +5 "core" % > = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 "processing"%S& +3 "core" &Z!\ . +50 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&g% +3 "core" %\ % G C +3 "storage"(% +4 "core" %U ] d\ +2 "storage"(*. +3 "core" .( +2 "storage"(& +4 "core" & g g \ +2 "storage"(\ & +2 "manipulator"&& +5 "core" & Z Z\ +3 &k r +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(L'i + "manipulator"&c(s +7 "core" ( + "manipulator"&X& +4 "core" &k w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &k +3 .tForearm.seek PC + "manipulator"&b' +94 "core" ' +2 .tHand.close + "manipulator"&1/ +54 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(h- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +47 "core" ' +285 ( +2 "storage"(& +4 "core" & H\ + "manipulator"&{& +4 "core" &k +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&|( +260 "core" ( + "manipulator"&s& +5 "core" &  + "storage"(o& +4 "core" & w { \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +100 "core" ' +2 .tHand.open + "manipulator"&K1 +61 "core" 1 +2 "storage"(\\- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(}'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"(Z' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' +2 "storage"(_& +4 "core" & C\ + "manipulator"&& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & [  +2 "storage"(k& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +60 "core" ' +2 "manipulator"&i& +3 "core" & M  +3 "storage"(~& +4 "core" & G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&,' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +24 "core" ' + "manipulator"&[% +5 "core" % N \\ + "storage"(`& +4 "core" & k j X\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&' +23 "core" ' + "manipulator"&& +4 "core" & [  +2 "storage"(T& +3 "core" & ?\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +36 "core" ' + "storage"(B% +5 "core" %l $\ +2 ."downElevator"SE.seek :down +4 "storage"(2'X +98 ("% +3 "core" %C x \ Wc +2 "manipulator"&#% +5 "core" %ћ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +4 "manipulator"&>'\ +91 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \ +2 "collection"'& +3 "core" &Vk \ A\ L +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\   +2 "storage"(t% +3 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(n& +4 "core" & _\ +2 "storage"(& +3 "core" & \ +3 "manipulator"&E& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&'( +3 "core" ( +2 "manipulator"&& +5 "core" & y  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +101 "core" ' + "storage"(9& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'i +283 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & \   +3 "storage"(m& +4 "core" & P\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&N' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(@'S +28 "core" ' +2 "manipulator"&+% +4 "core" % + "storage"(<& +4 "core" & \\ ] .\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&v' +18 "core" ' +2 "manipulator"&u& +3 "core" & x  +2 "storage"( & +4 "core" & =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(O'B +44 "core" ' + "manipulator"&?& +4 "core" & )  +2 "manipulator"&V% +4 "core" %ј @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +154 "core" ( +3 "manipulator"&e& +4 "core" &* H Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &+ Ac +3 .tForearm.seek CC + "manipulator"&('" +97 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +417 "core" ( + "storage"(& +4 "core" & !\ +2 "storage"(7& +3 "core" & \ +3 "manipulator"&&& +3 "core" &+ S Ac +2 "manipulator"&0% +4 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"& '\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&-( +154 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&U' +99 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % T +2 "storage"(l& +3 "core" & *\ +2 .tForearm.force -20 +2 "manipulator"&5 +42 .tForearm.seek 2 + 320 counts +10 "manipulator"&W' +21 "core" ' + "manipulator"&q& +4 "core" &   +2 "storage"(3& +5 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +24 "core" ' +2 "storage"(Y% +3 "core" %D\ \ ;\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (=% +3 "core" %G E\ Va +2 "manipulator"&!% +4 "core" %ѵ ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'/& +3 "core" & E\ +2 "manipulator"&I% +4 "core" %\ B  +2 "storage"(D% +3 "core" %a\ \  \ +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" & .\  +2 "manipulator"&& +3 "core" & h  +3 .tElbow.seek 3 +2 "manipulator"&S( +14 "core" ( +2 "manipulator"&g& +4 "core" & \\ a +2 "storage"(d& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(*& +4 "core" &\ "\ " \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 1\  +2 "manipulator"&X& +4 "core" & G a +2 .tElbow.seek 3 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&:& +3 "core" & Z a +2 "storage"(1& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(R'X +8 "core" & / a + "manipulator"&L% +4 "core" % Ϙ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &% 6 q <= +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +4 "core" &% 6 <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'" +93 "core" ' + "manipulator"&o& +4 "core" &% { << +2 "manipulator"&c% +3 "core" %) (  +3 "collection"'K& +4 "core" & \\\ +2 "collection"'\\& +5 "core" & K\ +3 .tCC.seek :closed + "collection"'G(V +5 "core" & W\ +7 &< \\\ $d +9 &Ux H\ 6 +10 &x J\ K +9 &R T\ M +9 &eS J\ L +10 &'O B\ L +9 &Q R\ M +9 &R J\ L +10 &lQ K\ M +9 &/R L\ L +10 &P H\ L +9 &!Q L\ L +9 &#uU R\ L +10 &%7U O\ L +9 &&T M\ L +9 &(T R\ L +10 &*|S O\ M +9 &,>T L\ M +10 &.T G\ L +9 &/S G\ M +9 &1T I\ M +10 &3GR I\ L +9 &5 Q C\ L +9 &6R I\ M +10 &8S H\ M +9 &:NT H\ M +10 &<R K\ L +9 &=R J\ M +9 &?V P\ L +10 &AWU I\ L +9 &CR G\ M +9 &DX C\ M +10 &F] H\ M +9 &HUm I\ P +10 &J\ \ H\ T +9 &K \ I\ X +9 &M\ \ J\ Y +10 &OD\ \ H\ X +9 &Q\ \ K\ Y +9 &R \ I\ Z +10 &T \ I\ [ +9 &V!t\ \ H\ . +10 &V.\ \ G\ \\ +9 ( + &V^\ \ H\ I +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.07 + .Hand.open + "manipulator"&_1 +60 "core" 1 +47 "manipulator"&% +7 "core" % ) N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%]& +3 "core" &\ +2 "manipulator"&k% +4 "core" %\    +2 "storage"(i% +4 "core" %T ^\ +2 "storage"(~. +3 "core" .( +2 "storage"(Q& +3 "core" & /\  +2 "storage"([& +4 "core" & '\  +2 "manipulator"&`& +3 "core" &% << +2 "manipulator"&}% +4 "core" %\  8  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( + "manipulator"&T& +3 "core" & Q } +2 "storage"(B& +5 "core" & m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +95 "core" ' +2 "storage"(f& +3 "core" & e\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +278 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" & \  +2 "manipulator"&6& +4 "core" & } +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&H& +4 "core" & d } +2 "storage"(,& +3 "core" & D\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"($'X +8 "core" & } + "manipulator"&t% +4 "core" % Ϣ > +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&w(s +159 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&n& +4 "core" &y  s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&E' +100 "core" ' + "manipulator"&& +3 "core" &y R  +3 "manipulator"&% +4 "core" % v +2 "processing"%9& +4 "core" &\ +2 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(Z +3 "core" &\  +10 &2|\ *x +9 &a\ = +9 &sr\ N +10 &5R\ M +9 &X\ M +10 &Y\ M +9 &{X\ M +9 &<V\ N +10 &W\ N +9 &U\ M +9 & S\ M +10 &"ES\ M +9 &$T\ M +10 &%T\ M +9 &'T\ M +9 &)MY\ M +10 &+X\ M +9 &,U\ M +9 &.W\ M +10 &0TW\ N +9 &2U\ N +10 &3W\ M +9 &5U\ M +9 &7]R\ M +10 &9W\ M +9 &:U\ M +9 &<U\ N +10 &>eU\ M +9 &@'T\ M +10 &AS\ M +9 &CW\ N +9 &ElZ\ N +10 &G)h\ O +9 &H{\ R +9 &J\ S +10 &Lc\ S +9 &N$\ T +10 &O\ T +9 &Q\ T +9 &Sj\ T +10 &U+\ T +9 &V\ T +9 &X\ T +10 &Z b\ $n +9 &Z]\ 0 +9 ( +3 "processing"%A& +2 "core" &Z\ + +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&z1 +55 "core" 1 + "manipulator"&>% +3 "core" % V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +101 "core" ' + "processing"%a& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&m% +4 "core" %\ " F A + "storage"(4% +4 "core" %^  ~ \ +2 "storage"(+. +3 "core" .( +2 "storage"(<& +4 "core" & ~ ~ \  + "storage"(u& +3 "manipulator"& & +8 "core" & ~ ~ Y\  + &y S  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +52 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&?(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'i +3 "core" ( +2 "manipulator"&r& +4 "core" &y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&)' +101 "core" ' +3 .tHand.close + "manipulator"&N/ +54 "core" / +2 .tPC.seek :open +2 "processing"%v( +92 "core" ' + "storage"(@- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +45 "core" ' +289 ( +2 "storage"(8& +3 "core" & j\  +3 "manipulator"&j& +4 "core" &y  + "manipulator"&.% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&C( +257 "core" ( + "manipulator"& & +5 "core" & ^ a + "storage"(& +4 "core" & #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +86 "core" ' +2 .tHand.open + "manipulator"&&1 +61 "core" 1 +4 "storage"(0- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +3 "core" -' +2 "storage"(x& +4 "core" & \  +2 "manipulator"&& +4 "core" & a +2 .tElbow.seek 3 +2 "manipulator"&( +28 "core" ( + "manipulator"&l& +3 "core" &  +3 "storage"(q& +4 "core" & K\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +56 "core" ' + "manipulator"&Y& +5 "core" &   + "storage"(-& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&='} +26 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +25 "core" ' +2 "manipulator"&W% +3 "core" %Ή +2 "storage"(/& +5 "core" & Z\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&I'ϵ +20 "core" ' +2 "manipulator"&D& +4 "core" & E  + "storage"(y& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +24 "core" ' +2 "storage"(^% +3 "core" %r l\ +3 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (% +5 "core" %F .\ Xf +2 "manipulator"&5% +3 "core" %R  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (g& +3 "core" & ;\  +2 "collection"'d& +4 "core" &V] \ ?\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&*% +4 "core" %\   +2 "storage"(%% +3 "core" %a +\ +2 "storage"(M. +3 "core" .( +2 "storage"(\ & +50 "core" & p\  +2 "storage"(& +3 "core" & H\  +2 "manipulator"&X& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&1& +4 "core" &  +2 "storage"(;& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(L& +4 "core" & I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & R  +2 "storage"(b& +36 "core" & n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +8 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(c'V +40 "core" ' + "manipulator"&K% +4 "core" %΂ +2 "storage"(P& +3 "core" & \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&R'Ϯ +19 "core" ' +2 "manipulator"&& +4 "core" & c  +2 "storage"( & +3 "core" & <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('E +44 "core" ' + "manipulator"&\\& +5 "core" & Z  + "manipulator"&]% +4 "core" %= - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +154 "core" ( +2 "manipulator"&~& +3 "core" &% <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &% X <? +3 .tForearm.seek CC + "manipulator"&['" +94 "core" ' + .tHand.close +2 "manipulator"&`/ +56 "core" / +2 .tCC.seek :open +2 "collection"'}( +417 "core" ( + "storage"(s& +4 "core" & m\  +2 "storage"(T& +4 "core" & \  + "manipulator"&B& +4 "core" &% n <> +2 "manipulator"&f% +4 "core" % 5 y  +2 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +157 "core" ( +2 "manipulator"&"& +4 "core" & a +2 "storage"(#& +4 "core" & j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&6'} +100 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&,1 +55 "core" 1 +2 "manipulator"&% +4 "core" % Ύ j +2 "storage"(& +4 "core" & }\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&t'Ϻ +11 "core" ' +3 "manipulator"&& +3 "core" & +3 "storage"(|& +4 "core" &\ \ "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +28 "core" ' + "storage"(% +4 "core" %I\ \ M\ +49 ."downElevator"SE.seek :down +4 "storage"(n'X +98 (% +3 "core" %A 4\ Va +2 "manipulator"& % +4 "core" %> Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & L\ +2 "manipulator"&9% +4 "core" %\   +2 "storage"($% +3 "core" %a\ /\ +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" & \ +2 "manipulator"&>& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&a( +32 "core" ( +2 "manipulator"&m& +3 "core" & & +2 "storage"(4& +4 "core" & {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +99 "core" ' +2 "storage"(<& +3 "core" & \ \ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +290 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & \ +2 "manipulator"&r& +4 "core" & % +2 .tElbow.seek 2 + "manipulator"&'( +6 "core" ( + "manipulator"&E& +4 "core" & v % +2 "storage"(N& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"(2'X +6 "core" & % +3 "manipulator"&V% +3 "core" %  Q +3 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +148 "core" ( +2 "manipulator"&.& +4 "core" ' + &% f <: + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &)& +3 "core" &% <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +90 "core" ' +2 "manipulator"&& +4 "core" &% B <: +3 "manipulator"&?% +4 "core" %! 0  +2 "collection"'&& +4 "core" & ^\ +2 "collection"'0& +5 "core" & ]\ +2 .tCC.seek :closed +2 "collection"'((V +3 "core" & Y\ +9 &4 [\ $d +10 &Vy ]\ 7 +9 &u [\ K +9 &O ^\ L +10 &mU S\ M +9 &0R S\ L +9 &R P\ L +10 &T S\ L +9 &vU U\ L +10 &8Q Q\ L +9 &O P\ L +9 &!Q L\ L +10 &#~Q P\ L +9 &%AR T\ L +9 &'U O\ L +10 &(P Q\ L +9 &*Q U\ L +10 &,HT L\ L +9 &.\ U H\ L +9 &/Q R\ L +10 &1Q Q\ M +9 &3OR P\ M +9 &5S P\ M +10 &6V K\ L +9 &8Q P\ L +10 &:XT O\ L +9 &<W I\ M +9 &=R O\ L +10 &?T P\ L +9 &A_U I\ M +9 &C!T J\ M +10 &DU N\ L +9 &F^ M\ N +10 &H^m M\ P +9 &J\ \ H\ T +9 &K H\ X +10 &M H\ Y +9 &OL \ I\ Y +9 &Q \ H\ Y +10 &R \ I\ Y +9 &T \ K\ Z +10 &V*t\ \ H\ / +9 &V$ \ G\ Q +9 ( + &V`\ \ D\ J +3 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&x1 +60 "core" 1 + "manipulator"&% +4 "core" % ! {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%l& +3 "core" &\ +2 "manipulator"&q% +4 "core" %\ \ [  +2 "storage"(Y% +4 "core" %b X\ +2 "storage"(-. +3 "core" .( + "storage"(e& +50 "core" & ]\ +4 "storage"(W& +3 "core" & K\ +2 "manipulator"&/& +4 "core" &% l <9 +2 "manipulator"&p% +3 "core" %\ \ {  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&D( +154 "core" ( + "manipulator"&y& +5 "core" & /  + "storage"(^& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +93 "core" ' +2 "storage"(7& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" & -\ +2 "manipulator"&3& +4 "core" & T  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & X  +2 "storage"(=& +4 "core" & b\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&I' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&g/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(*'X +6 "core" & {  +3 "manipulator"&%% +3 "core" %  U T +3 .tForearm.seek :retract +2 "manipulator"&M'\ +93 "core" ' +3 .tElbow.seek PC +2 "manipulator"&U(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&\ & +4 "core" &u  y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X' +99 "core" ' +2 "manipulator"&1& +4 "core" &u @  +2 "manipulator"&;% +4 "core" %  +2 "processing"%O& +3 "core" &\ +3 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +3 "core" &\ +8 &8\ #c +9 &U|\ 7 +10 &v\ K +9 &W\ N +9 &eT\ M +10 &%V\ N +9 &V\ N +10 &V\ N +9 &lX\ M +9 &.Y\ M +10 &Z\ N +9 &!V\ M +9 &#uU\ M +10 &%5W\ N +9 &&T\ M +9 &(T\ M +10 &*|V\ M +9 &,=Y\ N +10 &-W\ N +9 &/U\ N +9 &1S\ M +10 &3FS\ M +9 &5T\ M +10 &6T\ M +9 &8T\ M +9 &:MW\ N +10 &<U\ N +9 &=U\ N +9 &?U\ N +10 &AVR\ M +9 &CY\ N +10 &D\\\ N +9 &Fb\ O +9 &HRu\ Q +10 &J\ S +9 &K\ T +9 &M\ S +10 &OS\ T +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VX\ U +10 &X\ U +9 &Y{o\ 6 +9 &Z/\ J +10 &Z\ ) +2 ( +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&!1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 "processing"%& +3 "core" &Z\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&b% +4 "core" %\   +2 "storage"(o% +3 "core" %U %\ +2 "storage"(K. +3 "core" .( +2 "storage"(P& +4 "core" & \ +2 "storage"(& +3 "manipulator"& & +6 "core" & 7\ +2 &u  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&\\(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'i +3 "core" ( + "manipulator"&& +4 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &u n  +2 .tForearm.seek PC +46 "manipulator"&S' +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%R( +40 "core" ' +2 "storage"(c- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'y +42 "core" ' +340 ( +2 "storage"(Q& +3 "core" & a\ +2 "manipulator"&_& +5 "core" &u  + "manipulator"&h% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +247 "core" ( +2 "manipulator"&G& +3 "core" & r < +2 "storage"(s& +3 "core" & Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +101 "core" ' + .tHand.open +2 "manipulator"&B1 +59 "core" 1 +2 "storage"(f- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"("'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' +2 "storage"(i& +4 "core" & x\ + "manipulator"&,& +4 "core" & ; +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & X ; +3 "storage"(& +4 "core" & `\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&{& +3 "core" & ; +3 "storage"(& +4 "core" & ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +22 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(6'i +25 "core" ' +2 "manipulator"&t% +3 "core" % 6 +2 "storage"(& +4 "core" & S\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&9' +20 "core" ' + "manipulator"&$& +5 "core" & @ ; + "storage"(& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"(Z% +3 "core" %m %\ +3 ."downElevator"SE.seek :down +4 "storage"(n'X +98 (% +3 "core" %=I  \ Xg +2 "manipulator"&z% +4 "core" %ё +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (m& +2 "core" & 5\ +3 "collection"'4& +4 "core" &V_ \ <\ J + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&<% +3 "core" %\ # Y > +3 "storage"(H% +3 "core" %b "\ +2 "storage"(. +3 "core" .( +2 "storage"( & +4 "core" & \ +2 "storage"(u& +4 "core" & \ + "manipulator"&r& +4 "core" & ; +2 .tElbow.seek 2 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&N& +3 "core" & ^ ; +2 "storage"(w& +5 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +41 "manipulator"&F'ќ +99 "core" ' +2 "storage"(V& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +286 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&.& +3 "core" & ; +2 "storage"()& +4 "core" & 1\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&A' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(?'S +28 "core" ' +2 "manipulator"&&% +3 "core" %  +3 "storage"('& +4 "core" & Z Z \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&2' +28 "core" ' + "manipulator"&8& +5 "core" & j ; + "storage"(}& +4 "core" & 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +38 "core" ' +2 "manipulator"&l& +4 "core" & j ; +2 "manipulator"&q% +3 "core" % O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +149 "core" ( +3 "manipulator"&0& +3 "core" &! z 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &! o 8 +2 .tForearm.seek CC +2 "manipulator"&W'" +99 "core" ' +2 .tHand.close + "manipulator"&// +61 "core" / +2 .tCC.seek :open +2 "collection"'p( +416 "core" ( +2 "storage"( & +4 "core" & \ +2 "storage"(y& +4 "core" & ;\ + "manipulator"&^& +4 "core" &" h 8 +2 "manipulator"&7% +3 "core" % 3 l +3 .tForearm.seek :retract + "manipulator"&j'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(5& +3 "core" & \ \  \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&3' +106 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +63 "core" 1 +3 "manipulator"&g% +4 "core" %  + "storage"(d& +5 "core" & \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&%' +21 "core" ' + "manipulator"&D& +4 "core" & H  +2 "storage"(C& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +20 "core" ' +2 "storage"(I% +3 "core" %G\  5\ +4 ."downElevator"SE.seek :down +3 "storage"(\ 'X +98 (% +3 "core" %}B 4\ Va +2 "manipulator"&% +3 "core" %џ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +47 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"';& +3 "core" & Q\ +3 "manipulator"&O% +4 "core" %\  I  +2 "storage"(*% +4 "core" %T\ \ \ + "storage"(M. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(v( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" & \  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +14 "core" ( + "manipulator"&b& +4 "core" & x +2 "storage"(o& +3 "core" &\ \ @\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +98 "core" ' + "storage"(P& +5 "core" &\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" & k\  +2 "manipulator"&& +3 "core" & ; +3 .tElbow.seek 3 + "manipulator"&:( +4 "core" ( +2 "manipulator"&X& +4 "core" &  + "storage"(& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&c'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(J'X +8 "core" & + "manipulator"&]% +5 "core" % ϩ +2 .tForearm.seek :retract + "manipulator"&Q'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&h& +4 "core" && < =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" && =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +99 "core" ' +2 "manipulator"&s& +3 "core" && [ =D +3 "manipulator"&\\% +3 "core" % +3 "collection"'B& +4 "core" & ]\ +2 "collection"'f& +5 "core" & Z\ +3 .tCC.seek :closed + "collection"'[(V +4 "core" & _\ +7 &= Y\ $e +10 &X} a\ 7 +9 &x W\ L +9 &R S\ M +10 &tT S\ M +9 &6R T\ M +10 &U S\ L +9 &U S\ M +9 &|T [\ M +10 &>S R\ M +9 & U H\ L +9 &!U P\ L +10 &#Q H\ M +9 &%GU T\ L +10 &'W J\ M +9 &(O K\ L +9 &*Q T\ M +10 &,OV R\ L +9 &.R S\ L +9 &/U U\ L +10 &1R R\ M +9 &3VS U\ M +10 &5S Q\ M +9 &6R K\ L +9 &8R U\ L +10 &:_V Q\ L +9 &< R J\ M +9 &=R O\ L +10 &?T Q\ L +9 &AgV I\ L +10 &C)T Q\ L +9 &DY I\ M +9 &F] J\ N +10 &Hfn O\ O +9 &J \ L\ T +9 &K \ M\ X +10 &M \ I\ X +9 &OS\ K\ Y +10 &Q\ \ P\ Y +9 &R\ \ H\ Z +9 &T \ H\ Z +10 &V3u \ I\ . +9 &V \ L\ K +9 ( + &V` \ G\ H +3 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&i1 +53 "core" 1 +2 "manipulator"&,% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&`% +3 "core" %\ \ |  +2 "storage"({% +4 "core" %U E\ +2 "storage"(. +3 "core" .( +2 "storage"(t& +4 "core" & C\  + "storage"(~& +4 "core" & 7\  +2 "manipulator"&& +4 "core" && =D +2 "manipulator"&"% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$( +155 "core" ( +2 "manipulator"&& +3 "core" & " \ +2 "storage"(Z& +49 "core" & \  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +93 "core" ' +2 "storage"(T& +3 "core" & t\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & 0\  +2 "manipulator"&|& +4 "core" & \ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & = \ +2 "storage"(& +4 "core" & X\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& +2 "storage"(<'X +6 "core" & \ +3 "manipulator"&H% +3 "core" % ϧ  +3 .tForearm.seek :retract + "manipulator"&6'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"& & +4 "core" &k   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &k k  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&r' +95 "core" ' +2 "manipulator"&N& +4 "core" &k h  +2 "manipulator"&w% +3 "core" %  +3 "processing"%& +3 "core" &\ +3 "processing"%V& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%n(Z +3 "core" &\ +8 &8\ $d +9 &U{\ 7 +10 &v\ K +9 &V\ N +9 &fT\ M +10 &'W\ N +9 &U\ N +10 &V\ N +9 &nX\ M +9 &0Y\ M +10 &Y\ N +9 &!W\ M +9 &#uY\ N +10 &%8W\ M +9 &&T\ M +10 &(T\ M +9 &*~T\ M +9 &,@T\ M +10 &.T\ M +9 &/R\ M +9 &1U\ M +10 &3HV\ M +9 &5\ S\ M +10 &6T\ M +9 &8S\ M +9 &:PS\ M +10 &<W\ M +9 &=R\ M +9 &?W\ M +10 &AXW\ M +9 &CY\ N +10 &DZ\ N +9 &Fb\ N +9 &HTy\ Q +10 &J\ S +9 &K\ T +9 &M\ S +10 &OT\ T +9 &Q\ S +10 &R\ T +9 &T\ T +9 &V[\ T +10 &X\ U +9 &Yzk\ 6 +9 &Z.\ K +10 &Z\ * +2 ( +2 "processing"%V& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&>% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' + "processing"%.& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&)% +4 "core" %\  H \ + "storage"(% +4 "core" %U l j )\ +2 "storage"(&. +3 "core" .( +2 "storage"('& +3 "core" & o t \  +3 "storage"(8& +2 "manipulator"&}& +6 "core" & i i f\  +2 &k  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(l'i + "manipulator"&q(s +6 "core" ( +2 "manipulator"&F& +3 "core" &k  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &k !  +3 .tForearm.seek PC +2 "manipulator"&a' +93 "core" ' +2 .tHand.close + "manipulator"&A/ +56 "core" / +4 .tPC.seek :open + "processing"%2( +86 "core" ' +2 "storage"(?- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +46 "core" ' +290 ( + "storage"(e& +4 "core" & _\  +2 "manipulator"&x& +4 "core" &k \   + "manipulator"&@% +5 "core" % \ # +2 .tForearm.seek :retract + "manipulator"&/'\ +102 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +260 "core" ( +2 "manipulator"&(& +3 "core" & B  +2 "storage"( & +4 "core" & '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +95 "core" ' + .tHand.open +2 "manipulator"&^1 +61 "core" 1 +2 "storage"(7- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(5' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(-& +4 "core" & Z\  +2 "manipulator"&=& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&g( +8 "core" ( +2 "manipulator"&d& +3 "core" & s  +3 "storage"(D& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(I' +57 "core" ' +2 "manipulator"&j& +3 "core" & V  +2 "storage"(& +4 "core" & 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(3'i +22 "core" ' + "manipulator"&%% +5 "core" %΋ + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&;'Ϸ +20 "core" ' + "manipulator"&O& +4 "core" &   +2 "storage"(*& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +34 "core" ' +2 "storage"(% +4 "core" %k J\  +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +98 (% +3 "core" %G { \ Xf +2 "manipulator"&!% +5 "core" %, \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +75 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (b& +3 "core" & L\  +2 "collection"'o& +3 "core" &V` \ <\ H +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&P% +4 "core" %\   +2 "storage"( % +3 "core" %] \ +2 "storage"(1. +3 "core" .( +2 "storage"(& +3 "core" & \  +3 "storage"(L& +4 "core" & \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&X( +4 "core" ( + "manipulator"&& +4 "core" & ^  +2 "storage"(U& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"(]& +3 "core" & X\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" & /  +2 "storage"(S& +48 "core" & \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +25 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\\'U +29 "core" ' +2 "manipulator"&B% +3 "core" %| +2 "storage"(:& +4 "core" & 1\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&J'Ϩ +20 "core" ' +2 "manipulator"&Q& +4 "core" &   + "storage"(p& +5 "core" & B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +41 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'D +38 "core" ' +2 "manipulator"&& +4 "core" & W  +2 "manipulator"&`% +4 "core" %B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +3 "manipulator"&t& +4 "core" &" s :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &# :- +2 .tForearm.seek CC +2 "manipulator"&f'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'"( +416 "core" ( +2 "storage"(G& +3 "core" & +\  +3 "storage"(& +4 "core" & \  + "manipulator"&Z& +3 "core" &# q :- +2 "manipulator"&_% +4 "core" %  q \ +3 .tForearm.seek :retract + "manipulator"&T'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" & S w +2 "storage"(z& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&|'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&m% +4 "core" % Ύ [ + "storage"(4& +5 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&H'Ϻ +20 "core" ' +2 "manipulator"&$& +4 "core" & 2 w + "storage"(k& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +33 "core" ' +2 "storage"(9% +3 "core" %N\ \ *\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (u% +3 "core" %B A\ V` +2 "manipulator"&% +4 "core" %3 L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +96 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'w& +3 "core" & W\ +2 "manipulator"&% +4 "core" %\ X  + "storage"(<% +4 "core" %T\ \  z\ +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(R( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +45 "core" & \ \  T\ +6 "manipulator"&>& +3 "core" & N w +3 .tElbow.seek 2 + "manipulator"&.( +32 "core" ( + "manipulator"&)& +4 "core" & Y % +2 "storage"(& +3 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +95 "core" ' +2 "storage"('& +3 "core" & \ \  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +285 "core" ' +4 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &  \ +2 "manipulator"&F& +4 "core" &$ [ +2 .tElbow.seek 2 +2 "manipulator"&E( +22 "core" ( + "manipulator"&r& +4 "core" &  +2 "storage"(A& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&?' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&+& + "storage"(n'X +8 "core" &  + "manipulator"&l% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&@& +4 "core" &# $ s ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &$  ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&('" +95 "core" ' +3 "manipulator"& & +4 "core" &$ ~ ;5 +2 "manipulator"&q% +3 "core" % 7 " +3 "collection"'^& +4 "core" & k\ +2 "collection"'7& +5 "core" & l\ +2 .tCC.seek :closed + "collection"'W(V +4 "core" & o\  +9 &3y j\ *y +10 &d~ m\ > +9 &m h\ M +9 &DQ _\ L +10 &V l\ L +9 &T ^\ M +9 &T \\\ M +10 &JT T\ M +9 & T T\ L +9 &P X\ L +10 & R L\ L +9 &"SU Q\ L +10 &$T J\ M +9 &%U J\ M +9 &'T I\ L +10 &)[Q K\ L +9 &+V H\ L +9 &,U H\ L +10 &.U J\ L +9 &0bT J\ M +10 &2%S H\ L +9 &3Q H\ L +9 &5U G\ L +10 &7kW J\ L +9 &9-V M\ L +10 &:W F\ M +9 &<V B\ M +9 &>sR J\ L +10 &@5R G\ L +9 &AT G\ L +9 &CX I\ L +10 &EzX I\ M +9 &G8c I\ N +10 &Hr I\ P +9 &J\ \ C\ V +9 &Lb \ H\ X +10 &N# I\ X +9 &O\ \ H\ Y +9 &Q \ I\ Y +10 &Se \ H\ Y +9 &U&\ \ K\ Z +9 &VqB \ H\ 2 +10 &Vj \ E\ H +5 ( +2 "collection"'7& +4 "core" &V` \ K\ H +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&-1 +59 "core" 1 +2 "manipulator"&=% +4 "core" %   ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%/& +3 "core" &\ +3 "manipulator"&D% +4 "core" %\  '  + "storage"(j% +3 "core" %U j j h\ +3 "storage"(. +3 "core" .( +2 "storage"(0& +3 "core" &  q .\ +2 "storage"(%& +4 "core" &  \ +2 "manipulator"&& +4 "core" &# : ;5 +2 "manipulator"&% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +158 "core" ( +2 "manipulator"&*& +3 "core" & t \ +2 "storage"(& +4 "core" &  M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +96 "core" ' + "storage"(y& +4 "core" &  e\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +280 "core" ' +2 "storage"(- +38 "core" -' +14 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +2 "core" &  ?\ +3 "manipulator"&C& +4 "core" & \ +2 .tElbow.seek 2 + "manipulator"&g( +4 "core" ( +2 "manipulator"&I& +3 "core" & \ +2 "storage"(& +4 "core" &  \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&;' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&o& + "storage"(P'X +8 "core" & \ +2 "manipulator"&3% +4 "core" %  2 +2 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +3 "manipulator"&& +4 "core" &| e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &| P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' + "manipulator"&& +5 "core" &| 9 + "manipulator"&U% +5 "core" % \\ + "processing"%M& +5 "core" &\ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (Z +5 "core" &\ +8 &:\ $e +8 &V|\ 7 +9 &y\ L +10 &U\ M +9 &mX\ N +9 &0V\ M +10 &W\ M +9 &V\ M +10 &vX\ M +9 &8W\ M +9 &U\ M +10 &!X\ N +9 &#~W\ M +10 &%?X\ N +9 &'V\ M +9 &(S\ M +10 &*W\ M +9 &,GW\ N +9 &.\ W\ M +10 &/T\ M +9 &1X\ M +9 &3QW\ M +10 &5U\ M +9 &6R\ M +10 &8U\ N +9 &:XV\ M +9 &<U\ N +10 &=U\ M +9 &?U\ N +10 &A`U\ M +9 &C!Y\ N +9 &DZ\ N +10 &Fa\ O +9 &H]v\ Q +9 &J\ S +10 &K\ S +9 &M\ S +10 &O^\ S +9 &Q\ T +9 &R\ T +10 &T\ T +9 &Vc\ T +9 &X$\ U +10 &Y|o\ 0 +9 &Z+p\ H +9 &Z!\ - +3 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +5 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +98 "core" ' +2 "processing"%h& +3 "core" &Z \ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&S% +4 "core" %\ # _ B +2 "storage"(s% +4 "core" %b q u G\ +2 "storage"(B. +3 "core" .( +2 "storage"(:& +4 "core" &  w w i\ +2 "storage"(Q& +2 "manipulator"&p& +6 "core" &  q u T\ +2 &| r +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'i +2 "core" ( +3 "manipulator"&& +3 "core" &| u +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +3 "core" &| +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"& / +62 "core" / +2 .tPC.seek :open +2 "processing"%J( +89 "core" ' + "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +37 "core" ' +297 ( +2 "storage"(~& +3 "core" &  \ +2 "manipulator"&i& +5 "core" &| + "manipulator"&c% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&{( +308 "core" ( + "manipulator"&[& +5 "core" &  + "storage"(G& +4 "core" &  A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' + .tHand.open +2 "manipulator"&Z1 +56 "core" 1 +2 "storage"(_- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(z' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(& +3 "core" & \ $\ +2 "manipulator"&& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"&m( +4 "core" ( +2 "manipulator"&4& +3 "core" & P  +2 "storage"($& +4 "core" &  c\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +58 "core" ' + "manipulator"&T& +5 "core" & /  + "storage"(u& +4 "core" &  L\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(|'i +26 "core" ' + "manipulator"&H% +3 "core" % +2 "storage"(w& +5 "core" &  ;\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +19 "core" ' + "manipulator"&<& +5 "core" & :  + "storage"(6& +5 "core" &  e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +27 "core" ' +2 "storage"(#% +4 "core" %n `\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (v% +2 "core" %G \ We +3 "manipulator"& % +4 "core" %ћ 9 +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" &  \ +2 "collection"'& +4 "core" &V_ \ >\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&'% +4 "core" %\ # < +2 "storage"(% +3 "core" %[ '\ +2 "storage"(N. +5 "core" .( +2 "storage"(8& +4 "core" &  A\ +2 "storage"(}& +4 "core" &  \ + "manipulator"&F& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&A& +3 "core" &  +3 "storage"(& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +90 "core" ' +2 "storage"(l& +4 "core" &  O\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +118 "Can"\ RPs +161 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &   +2 "storage"(a& +3 "core" &  E\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&V' +33 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate + "storage"(q'S +28 "core" ' + "manipulator"&^% +5 "core" % + "storage"(E& +4 "core" &  ] d ]\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&n' +27 "core" ' +2 "manipulator"&e& +4 "core" &  +2 "storage"("& +3 "core" &  B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(='B +43 "core" ' +2 "manipulator"&/& +3 "core" &   +2 "manipulator"&D% +4 "core" %Ѧ P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&0& +3 "core" &) J @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &* @\\ +3 .tForearm.seek CC +2 "manipulator"&%'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +414 "core" ( + "storage"((& +4 "core" &  J\ +2 "storage"(*& +3 "core" &  K\ +3 "manipulator"&& +4 "core" &*  @\\ + "manipulator"&y% +3 "core" % +  +3 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&d( +154 "core" ( + "manipulator"&& +4 "core" & S  +2 "storage"(!& +4 "core" &  \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&C' +103 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&b% +4 "core" % [ +2 "storage"(o& +3 "core" &  \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +3 "manipulator"&3' +18 "core" ' +2 "manipulator"&O& +3 "core" &  +2 "storage"(Y& +5 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +37 "core" ' + "storage"(;% +4 "core" %C\ \ B\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (L% +3 "core" %B z\ Va +2 "manipulator"&g% +4 "core" %љ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'U& +3 "core" & X\  +3 "manipulator"&M% +4 "core" %\   + "storage"(P% +4 "core" %U\  \ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(2( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & B\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&h( +15 "core" ( +2 "manipulator"&S& +3 "core" & ] } +2 "storage"(s& +4 "core" & \  l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +135 "core" ' +5 "storage"(:& +3 "core" &\ \  \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +279 "core" ' + "storage"(Q- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & \  +3 "manipulator"&& +4 "core" & ( } +2 .tElbow.seek 3 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&& +3 "core" & ( } +2 "storage"( & +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&\\'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&K& +3 "storage"(\ 'X +8 "core" & } + "manipulator"&`% +5 "core" % Ϡ  +2 .tForearm.seek :retract + "manipulator"&~'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&c& +3 "core" &' t >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +3 "manipulator"&[& +4 "core" &' [ >K +2 "manipulator"&G% +3 "core" %, _ +3 "collection"'Z& +4 "core" & m\  +2 "collection"'_& +5 "core" & n\  +3 .tCC.seek :closed + "collection"'f(V +5 "core" & n\  +7 &H k\ %h +10 &Z~ m\ 8 +9 &v n\ L +9 &R m\ L +10 &R k\ L +9 &WS l\ M +9 &T X\ M +10 &S h\ M +9 &T `\ M +10 &_S l\ M +9 & !S g\ M +9 &!U b\ L +10 &#V g\ L +9 &%gV b\ M +9 &'*S c\ L +10 &(Q Z\ L +9 &*Q \\\ M +10 &,oT K\ M +9 &.3Q L\ L +9 &/U W\ L +10 &1Q X\ L +9 &3xQ K\ L +9 &5:Q E\ L +10 &6W I\ M +9 &8T E\ L +10 &:W H\ M +9 &W M\ L +10 &?X I\ M +9 &AT Y\ L +9 &CJT [\ L +10 &E\ Z Z\ M +9 &F_ O\ N +10 &Hp N\ P +9 &J; \ J\ T +9 &K \ H\ X +10 &M\ \ J\ X +9 &Ot \ L\ Y +9 &Q6\ \ V\ Y +10 &R \ R\ Z +9 &T\ \ Z\ Z +10 &V+[\ \ J\ < +9 &V\ \ O\ S +5 ( +2 "collection"'_& +4 "core" &Vk \ X\ S +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % + k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +3 "core" &\ +2 "manipulator"&% +4 "core" %\ # E : +2 "storage"(T% +4 "core" %U \\ [\ +2 "storage"(u. +3 "core" .( +2 "storage"(H& +3 "core" & h ^ \  +2 "storage"(w& +5 "core" & W Y \  + "manipulator"&t& +4 "core" &' >K +2 "manipulator"&<% +4 "core" %\ # : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&6& +4 "core" & J n +2 "storage"(#& +3 "core" & E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +92 "core" ' +2 "storage"(& +3 "core" & Z\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +284 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & H\  +2 "manipulator"&k& +4 "core" & n +2 .tElbow.seek 3 +2 "manipulator"&m( +4 "core" ( + "manipulator"&9& +4 "core" & ~ n +2 "storage"(& +3 "core" & A\  +3 .tForearm.seek 3 + 300 counts +47 "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(''X +8 "core" & n +2 "manipulator"&% +4 "core" % ϩ  +2 .tForearm.seek :retract +2 "manipulator"&|'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&8& +3 "core" &s  z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &s j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +93 "core" ' +2 "manipulator"&A& +4 "core" &s +2 "manipulator"&% +3 "core" % ! +3 "processing"%,& +3 "core" &\ +3 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +3 "core" &\ +8 &8\ $d +9 &V{\ 7 +9 &x\ L +10 &U\ M +9 &hY\ M +10 &)X\ N +9 &V\ N +9 &U\ N +10 &oU\ N +9 &1U\ N +9 &S\ M +10 &!W\ M +9 &#wY\ N +10 &%:W\ M +9 &&S\ N +9 &(U\ N +10 &*U\ N +9 &,BR\ M +9 &.W\ N +10 &/T\ M +9 &1S\ M +10 &3JR\ M +9 &5 R\ M +9 &6S\ M +10 &8R\ M +9 &:RR\ M +9 &<Q\ M +10 &=R\ M +9 &?W\ M +10 &AZW\ M +9 &CZ\ N +9 &D]\ N +10 &Fb\ O +9 &HVx\ Q +9 &J\ S +10 &K\ S +9 &M\ T +10 &OX\ S +9 &Q\ T +9 &R\ T +10 &T\ T +9 &V\\\ U +9 &X\ T +10 &Yzj\ 5 +9 &Z1\ F +10 &Z\ ( +2 ( +2 "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.57 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&>% +3 "core" % X ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' +2 "processing"%@& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +3 "core" %\  j  +3 "storage"( % +3 "core" %b w w h\ +3 "storage"(^. +3 "core" .( +2 "storage"(E& +4 "core" & v s 1\  +2 "storage"(e& +2 "manipulator"&"& +8 "core" & r p :\  +2 &s C +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&/(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'i +2 "core" ( + "manipulator"&+& +6 "core" &s I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &r& +2 "core" &s 6 +3 .tForearm.seek PC +2 "manipulator"&.' +93 "core" ' +2 .tHand.close + "manipulator"&V/ +55 "core" / +2 .tPC.seek :open +2 "processing"%n( +92 "core" ' + "storage"(q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(0'y +48 "core" ' +286 ( +2 "storage"(7& +3 "core" & .\  +3 "manipulator"&-& +3 "core" &s +2 "manipulator"&?% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +258 "core" ( + "manipulator"&W& +4 "core" & !u +2 "storage"((& +3 "core" & l n \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +86 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +41 "storage"(y- +11 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +3 "core" -' +2 "storage"(& +4 "core" & i\  +2 "manipulator"&& +3 "core" & !p +3 .tElbow.seek 3 +2 "manipulator"&b( +25 "core" ( + "manipulator"&o& +5 "core" & d  + "storage"(O& +4 "core" & l\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +56 "core" ' +2 "manipulator"&x& +3 "core" & (  +2 "storage"(L& +4 "core" & .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'} +21 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(C'i +25 "core" ' +2 "manipulator"&3% +3 "core" %ΐ +2 "storage"(U& +4 "core" & ;\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&M'ϼ +20 "core" ' +2 "manipulator"&P& +3 "core" & 5  +2 "storage"( & +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +30 "core" ' +2 "storage"(5% +4 "core" %s <\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (R% +2 "core" %2G v ` !\ We +3 "manipulator"&% +3 "core" %E ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +2 "core" & \  +3 "collection"'s& +3 "core" &Vj Z\ S +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&:% +3 "core" %\  +3 "storage"(I% +4 "core" %U \ + "storage"(. +3 "core" .( +2 "storage"(Q& +4 "core" & ^\  +2 "storage"(p& +5 "core" & \  +2 "manipulator"&& +3 "core" & V  +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(1& +4 "core" & L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +86 "core" ' + "storage"(`& +5 "core" & .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +277 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & i  +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&]'} +18 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(G'U +29 "core" ' + "manipulator"&Z% +4 "core" %Ώ +2 "storage"(X& +3 "core" & w t j\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&\ 'ϻ +20 "core" ' + "manipulator"&~& +4 "core" &   +2 "storage"(& +49 "core" & H\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +40 "core" ' + "manipulator"&$& +5 "core" & O  + "manipulator"&% +5 "core" %@ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +155 "core" ( +2 "manipulator"&H& +3 "core" &( _ ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &( T ?P +3 .tForearm.seek CC +2 "manipulator"&w'" +91 "core" ' +2 .tHand.close + "manipulator"&t/ +60 "core" / +2 .tCC.seek :open + "collection"'<( +417 "core" ( +2 "storage"(& +3 "core" & z\  +2 "storage"(6& +4 "core" & \  +2 "manipulator"&#& +4 "core" &' t >O +2 "manipulator"&% +3 "core" % 4 Y  +3 .tForearm.seek :retract + "manipulator"&i'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&4( +160 "core" ( +2 "manipulator"&v& +3 "core" &  +2 "storage"( & +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&k'} +102 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&)% +3 "core" % Ύ a +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&'Ϻ +19 "core" ' +2 "manipulator"&& +3 "core" & J  +2 "storage"({& +4 "core" &\ \ ! \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +49 "core" ' +2 "storage"(% +4 "core" %@\ "\  \  +2 ."downElevator"SE.seek :down +3 "storage"(8'X +100 (}% +3 "core" %? \ Va +2 "manipulator"&m% +3 "core" % @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & [\ +2 "manipulator"&,% +3 "core" %\ 2  +3 "storage"('% +4 "core" %T\  g\ + "storage"(|. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(J( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & O\ +3 "manipulator"&>& +4 "core" & s  +2 .tElbow.seek 2 + "manipulator"&@( +37 "core" ( + "manipulator"&a& +5 "core" & G + "storage"( & +3 "core" & \ \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +94 "core" ' +2 "storage"(E& +3 "core" & \ \  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +285 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" & p\ +2 "manipulator"&+& +47 "core" &\ Q F +6 .tElbow.seek 2 +2 "manipulator"&r( +22 "core" ( + "manipulator"&F& +4 "core" & +2 "storage"(V& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&q' +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +3 "storage"( 'X +7 "core" & 7 +2 "manipulator"&D% +4 "core" %  $ M +2 .tForearm.seek :retract +3 "manipulator"&7'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&?& +3 "core" &# g ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &$ ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&W'" +94 "core" ' +3 "manipulator"&(& +4 "core" &$ d ;4 +2 "manipulator"&/% +3 "core" % \ +3 "collection"'& +4 "core" & o\ +2 "collection"'y& +4 "core" & i\ +3 .tCC.seek :closed +2 "collection"'%(V +5 "core" & l\  +9 &2{ n\ *x +9 &d j\ > +9 &xn k\ N +10 &=T l\ L +9 &U h\ L +10 &U l\ L +9 &U m\ L +9 &EU n\ L +10 &U n\ L +9 &U n\ L +9 & T m\ M +10 &"LS l\ M +9 &$S h\ M +10 &%T j\ M +9 &'S e\ M +9 &)TS ]\ M +10 &+S h\ M +9 &,T ]\ M +9 &.S Z\ M +10 &0\\T T\ M +9 &2T ]\ L +10 &3T P\ M +9 &5T P\ L +9 &7eS N\ L +10 &9&T O\ M +9 &:Q Z\ L +9 &<T [\ L +10 &>lW M\ M +9 &@.T Z\ M +10 &AT U\ M +9 &CR Z\ L +9 &EtW X\ M +10 &G1b S\ N +9 &Hr [\ P +9 &J \ W\ V +10 &L[ O\ X +9 &N \ M\ X +10 &O\ \ W\ Y +9 &Q \ Q\ Y +9 &S] \ W\ Z +10 &U\ \ T\ Z +9 &VhC \ S\ 2 +9 &V\ s \ Y\ I +6 ( + "collection"'y& +4 "core" &Vh\ \ ]\ I +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  { \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +6 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%o& +3 "core" &\ +2 "manipulator"&O% +3 "core" %\ # : +3 "storage"(x% +3 "core" %U ~ s k\ +2 "storage"(L. +3 "core" .( +2 "storage"(0& +3 "core" & ~ ~ \ +2 "storage"(3& +4 "core" & ~ y \ +2 "manipulator"&U& +4 "core" &# ;4 +2 "manipulator"&% +4 "core" %\ # : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&P( +156 "core" ( +2 "manipulator"& & +3 "core" & [  +3 "storage"(5& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +91 "core" ' +2 "storage"(*& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +282 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & #\ +2 "manipulator"&Y& +3 "core" & i  +3 .tElbow.seek 2 + "manipulator"&b( +3 "core" ( +2 "manipulator"&;& +3 "core" & u  +3 "storage"(g& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&S/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(:'X +8 "core" &  + "manipulator"&I% +5 "core" % g Z +2 .tForearm.seek :retract +48 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +161 "core" ( +3 "manipulator"&Q& +4 "core" &m  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"& & +3 "core" &n ; \ +3 "manipulator"&1% +3 "core" % +2 "processing"%=& +5 "core" &\ +2 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &:\ $d +9 &V|\ 7 +10 &z\ L +9 &W\ M +9 &`Y\ M +10 &"S\ M +9 &U\ M +10 &U\ N +9 &gW\ N +9 &*T\ M +10 &U\ N +9 &!Y\ M +9 &#oY\ N +10 &%1V\ N +9 &&S\ M +10 &(U\ M +9 &*wY\ N +9 &,9W\ N +10 &-X\ N +9 &/R\ M +9 &1S\ N +10 &3AU\ N +9 &5W\ M +10 &6W\ M +9 &8S\ M +9 &:KU\ M +10 &< U\ M +9 &=T\ M +9 &?U\ N +10 &ARV\ M +9 &CX\ N +10 &D\\\ N +9 &Fa\ O +9 &HNu\ Q +10 &J\ \ S +9 &K\ S +9 &M\ S +10 &OP\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VU\ T +10 &X\ U +9 &Y{n\ 7 +9 &Z0\ G +10 &Z\ ( +2 ( +2 "processing"%`& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&d1 +64 "core" 1 + "manipulator"&% +4 "core" % z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 "processing"%c& +3 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +3 "storage"([% +3 "core" %U \ +2 "storage"(Z. +3 "core" .( +2 "storage"(X& +4 "core" & I\ +2 "storage"(~& +2 "manipulator"&& +6 "core" & y\ +2 &n \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"($'i + "manipulator"&(s +7 "core" ( + "manipulator"&K& +5 "core" &n Y \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n ^ \ +3 .tForearm.seek PC + "manipulator"&h' +97 "core" ' +2 .tHand.close + "manipulator"&]/ +61 "core" / +3 .tPC.seek :open +2 "processing"%\ ( +78 "core" ' +2 "storage"(G- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +45 "core" ' +298 ( +2 "storage"(_& +4 "core" & Y\ + "manipulator"&& +4 "core" &n \ +2 "manipulator"&\\% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&t'\ +96 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&T( +243 "core" ( +2 "manipulator"&f& +4 "core" & > "} +2 "storage"(& +3 "core" & ~ } {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&6'ќ +96 "core" ' +2 .tHand.open + "manipulator" +60 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(v'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(w- +3 "core" -' +3 "storage"(u& +47 "core" & 8\ +6 "manipulator"&& +4 "core" & !w +2 .tElbow.seek 2 + "manipulator"&)( +4 "core" ( +2 "manipulator"&& +4 "core" & !w +2 "storage"(& +4 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&i& +4 "core" & !w +2 "storage"(}& +3 "core" & ,\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&m' +20 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +23 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&,' +19 "core" ' + "manipulator"&'& +5 "core" & _ !w + "storage"(|& +4 "core" & +\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"(z% +3 "core" %m \ +4 ."downElevator"SE.seek :down +3 "storage"(8'X +98 (2% +3 "core" %G l r D\ We +2 "manipulator"&% +5 "core" %ї +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" & \ +2 "collection"' & +4 "core" &Vh\ \ W\ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&E% +4 "core" %\ \  + "storage"(9% +4 "core" %O ,\ +2 "storage"(A. +3 "core" .( +2 "storage"("& +4 "core" & F\ + "storage"(e& +5 "core" & /\ + "manipulator"&+& +4 "core" & !v +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&V& +4 "core" & !v + "storage"(N& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +92 "core" ' +2 "storage"(D& +3 "core" & b\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +284 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&?& +2 "core" & !v +3 "storage"(.& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&l' +32 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'R +27 "core" ' +2 "manipulator"&% +3 "core" % h  +3 "storage"(r& +4 "core" & Y Y\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"& ' +19 "core" ' +2 "manipulator"&7& +3 "core" & !v +2 "storage"(<& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +40 "core" ' +2 "manipulator"&o& +3 "core" & ? !v +2 "manipulator"&O% +4 "core" %ѡ d +48 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +154 "core" ( + "manipulator"&0& +4 "core" &$ v 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &$ d 8 +2 .tForearm.seek CC +2 "manipulator"&3'" +93 "core" ' +2 .tHand.close + "manipulator"&U/ +60 "core" / + .tCC.seek :open +2 "collection"'( +420 "core" ( +2 "storage"(W& +3 "core" & (\ +2 "storage"( & +3 "core" & x\ +3 "manipulator"&5& +3 "core" &" 8 +2 "manipulator"&*% +4 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&R& +3 "core" &  +3 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +106 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +56 "core" 1 +2 "manipulator"&S% +3 "core" % m  +2 "storage"(s& +4 "core" & \ +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&I' +20 "core" ' + "manipulator"&P& +3 "core" & 3  +3 "storage"(j& +4 "core" & 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +19 "core" ' + "storage"(M% +4 "core" %F\ \  ;\ +3 ."downElevator"SE.seek :down +4 "storage"(Q'X +99 (p% +3 "core" %tC L\ Va +2 "manipulator"&b% +4 "core" %і = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'1& +3 "core" & [\ +2 "manipulator"&=% +4 "core" %\ &  +2 "storage"(:% +3 "core" %T\ \  ~\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(n( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" & \  +2 "manipulator"&& +3 "core" & b  +2 .tElbow.seek 3 +2 "manipulator"&c( +17 "core" ( + "manipulator"&& +5 "core" & F X + "storage"([& +4 "core" &\ \  1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +94 "core" ' +2 "storage"(`& +3 "core" &\ \ # w\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +285 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&K& +4 "core" & K X +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & K X +3 "storage"(]& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&G'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +47 "manipulator"&C/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"('X +8 "core" & X +2 "manipulator"&$% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&\\& +5 "core" &#  / :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &# :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +98 "core" ' +3 "manipulator"&& +3 "core" &# a :/ +2 "manipulator"&% +5 "core" % J +2 "collection"'#& +3 "core" & l\ +3 "collection"'& +6 "core" & k\ +2 .tCC.seek :closed +2 "collection"'w(V +3 "core" & m\ +8 &3 k\ $d +9 &Vy k\ 7 +10 &u n\ K +9 &O m\ L +9 &gT m\ M +10 &)S m\ M +9 &S n\ M +10 &R n\ M +9 &oS n\ M +9 &1S m\ M +10 &S c\ L +9 &!Q m\ L +9 &#wQ n\ M +10 &%9T n\ M +9 &&T n\ M +10 &(R k\ M +9 &*R m\ L +9 &,AQ f\ M +10 &.S _\ L +9 &/P [\ L +9 &1Q m\ M +10 &3JR _\ L +9 &5 Q U\ L +10 &6Q Y\ M +9 &8S d\ M +9 &:QT V\ M +10 &<R h\ L +9 &=T ]\ L +9 &?W [\ L +10 &AZQ a\ L +9 &CR \\\ M +10 &DX \\\ L +9 &F\\ [\ N +9 &HYl \\\ O +10 &J \ `\ T +9 &K \ S\ X +9 &M \ [\ X +10 &OG \ V\ X +9 &Q\ \ V\ Y +10 &R\ \ K\ Y +9 &T \ X\ Z +9 &V&w \ [\ . +10 &V' \ [\ V +9 ( + &Vi\ \ [\ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&u1 +54 "core" 1 +3 "manipulator"&t% +4 "core" %  j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %\ ! 2 +2 "storage"(i% +3 "core" %b p p /\ +2 "storage"(}. +3 "core" .( +2 "storage"(H& +4 "core" & l i N\  +2 "storage"(v& +4 "core" & w t L\  +2 "manipulator"&& +4 "core" &" :/ + "manipulator"&% +4 "core" %\ 2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +162 "core" ( +2 "manipulator"&|& +3 "core" & r +2 "storage"(z& +4 "core" & k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +101 "core" ' +2 "storage"(6& +3 "core" & &\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +285 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&{& +3 "core" & r +3 .tElbow.seek 3 + "manipulator"&)( +3 "core" ( +2 "manipulator"&& +3 "core" & [ r +3 "storage"(m& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(E'X +7 "core" & r +2 "manipulator"&9% +4 "core" % ϝ  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&k& +4 "core" &m ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &m # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&+' +100 "core" ' +2 "manipulator"&V& +4 "core" &n +2 "manipulator"&N% +3 "core" % +3 "processing"%& +3 "core" &\ +3 "processing"%D& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%8(Z +5 "core" &\ +7 &@\ $d +9 &U{\ 7 +14 &y\ L +5 &V\ M +10 &oW\ N +9 &1U\ N +9 &T\ N +10 &T\ N +9 &wU\ N +9 &9W\ N +10 &W\ N +9 &!U\ N +10 &#V\ N +9 &%AU\ N +9 &'U\ N +10 &(V\ N +9 &*U\ N +9 &,IV\ N +10 &. W\ M +9 &/R\ M +9 &1R\ M +10 &3QT\ N +9 &5U\ M +10 &6R\ M +9 &8U\ M +9 &:ZR\ M +10 &<W\ M +9 &=U\ N +9 &?T\ M +10 &AcQ\ M +9 &C$Y\ M +10 &DY\ N +9 &Fb\ O +9 &H_x\ Q +10 &J\ S +9 &K\ T +10 &M\ S +9 &O_\ T +9 &Q!\ T +10 &R\ T +9 &T\ T +9 &Ve\ T +10 &X'\ T +9 &Y|l\ 0 +9 &Z)l\ H +10 &Z"\ . +2 ( +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&41 +58 "core" 1 +2 "manipulator"&>% +3 "core" %  S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +2 "processing"%?& +4 "core" &Z!\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&.% +4 "core" %\ # L ; +2 "storage"((% +4 "core" %] w x k\ +2 "storage"(. +3 "core" .( +2 "storage"(r& +4 "core" & w x r\  +2 "storage"(7& +3 "manipulator"&<& +5 "core" & w w {\  +2 &n E +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(o'i + "manipulator"&O(s +6 "core" ( +2 "manipulator"&&& +3 "core" &n +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&@' +96 "core" ' +2 .tHand.close +2 "manipulator"&l/ +57 "core" / +2 .tPC.seek :open +2 "processing"% ( +84 "core" ' + "storage"(/- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(0'y +51 "core" ' +291 ( +3 "storage"(y& +4 "core" & 0\  + "manipulator"&& +3 "core" &n \  +3 "manipulator"&q% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&x( +236 "core" ( +2 "manipulator"&%& +3 "core" &\ g V +2 "storage"(W& +5 "core" & p k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +96 "core" ' + .tHand.open +2 "manipulator"&51 +62 "core" 1 +3 "storage"(*- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"(L& +4 "core" & G\  +2 "manipulator"&g& +4 "core" &\ S +2 .tElbow.seek 3 + "manipulator"&S( +4 "core" ( +2 "manipulator"&s& +4 "core" &\ U S + "storage"(P& +4 "core" & L\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +50 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +58 "core" ' +2 "manipulator"&-& +3 "core" &\ S +2 "storage"(p& +5 "core" & 7\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&b'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +24 "core" ' + "manipulator"&I% +5 "core" %| + "storage"(1& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&='Ϩ +20 "core" ' + "manipulator"&:& +5 "core" &\ O S + "storage"(& +4 "core" & n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(!% +3 "core" %k \ +3 ."downElevator"SE.seek :down +4 "storage"(Q'X +98 (J% +4 "core" %I y a \ Xg +2 "manipulator"&d% +5 "core" %C \  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  K\  +2 "collection"'[& +4 "core" &Vh \ W\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&`% +3 "core" %\ # n A +3 "storage"(;% +4 "core" %b )\ + "storage"( . +4 "core" .( + "storage"(~& +4 "core" & 3\  +2 "storage"(& +3 "core" & 4\  +3 "manipulator"&K& +4 "core" &\ S +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&]& +8 "core" &\ ; S +2 "storage"(C& +4 "core" & )\  +3 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +96 "core" ' +2 "storage"($& +3 "core" & N\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +279 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &\ S +2 "storage"(h& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'} +18 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +28 "core" ' + "manipulator"&#% +3 "core" %Α \  +2 "storage"(& +4 "core" & } x A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +21 "core" ' + "manipulator"&_& +3 "core" &\  S +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'D +39 "core" ' +2 "manipulator"&& +4 "core" &\ S +2 "manipulator"&% +4 "core" %у +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +148 "core" ( +3 "manipulator"&H& +3 "core" &&  v =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && x =C +2 .tForearm.seek CC +42 "manipulator"&v'" +99 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(f& +3 "core" & ?\  +2 "storage"(|& +4 "core" & \  +2 "manipulator"&z& +4 "core" && W =C +2 "manipulator"&6% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&2& +4 "core" & h e +2 "storage"(& +3 "core" & O\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&{'} +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +57 "core" 1 +3 "manipulator"&a% +4 "core" % Ί + "storage"( & +4 "core" & =\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 313 counts + "manipulator"&9'϶ +19 "core" ' +2 "manipulator"&'& +4 "core" & 1 e +2 "storage"(T& +4 "core" &\ \  0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +28 "core" ' +2 "storage"(,% +3 "core" %N\ "\ \ +3 ."downElevator"SE.seek :down +3 "storage"(k'X +100 (e% +3 "core" %? \ Va +2 "manipulator"&)% +3 "core" %[ [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +88 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'N& +3 "core" & l\ +2 "manipulator"&% +3 "core" %\  \ +3 "storage"(E% +4 "core" %^\ \ \ + "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(\ ( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" & f\ +2 "manipulator"&>& +4 "core" & e +2 .tElbow.seek 2 +2 "manipulator"&?( +34 "core" ( + "manipulator"&.& +4 "core" & $ +2 "storage"((& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(D& +3 "core" & \ \ \ 3\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +285 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" & \ +2 "manipulator"&&& +4 "core" & $ +2 .tElbow.seek 2 + "manipulator"&F( +4 "core" ( +2 "manipulator"&+& +3 "core" & Z $ +3 "storage"(l& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&/' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(8'X +8 "core" & $ + "manipulator"&o% +4 "core" %  2 +2 .tForearm.seek :retract + "manipulator"&y'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +3 "manipulator"&q& +3 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 "core" &* u @^ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &) $ @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +94 "core" ' +2 "manipulator"&W& +4 "core" &* R @^ +3 "manipulator"&O% +4 "core" %" +2 "collection"'5& +3 "core" & n\ +3 "collection"'*& +5 "core" & i\ +3 .tCC.seek :closed + "collection"'3(V +5 "core" & `\  +8 &3{ k\ *x +10 &d i\ > +9 &o o\ N +9 &FT p\ L +10 &T o\ M +9 &T m\ M +9 &S n\ M +10 &MT n\ M +9 &S m\ M +10 &S g\ L +9 & Q n\ L +9 &"VP o\ L +10 &$Q c\ L +9 &%R i\ L +9 &'Q j\ L +10 &)]S j\ M +9 &+T k\ M +10 &,R k\ L +9 &.V j\ L +9 &0eT k\ M +10 &2(R k\ L +9 &3P j\ L +9 &5P l\ L +10 &7mV l\ M +9 &90S j\ L +10 &:R i\ L +9 &<U `\ L +9 &>uW b\ M +10 &@8T \\\ L +9 &AS Z\ L +9 &CU c\ M +10 &E~W \\\ L +9 &G;d [\ N +10 &Hr [\ P +9 &J [\ V +9 &Ld \ c\ X +10 &N&\ \ ]\ X +9 &O \ \\\ Y +9 &Q \ a\ Y +10 &Sh\ \ \\\ Y +9 &U&\ \ [\ [ +10 &VuD \ `\ , +9 &V x\ ]\ M +5 ( +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&L1 +4 "core" &Vn \ T\ M +57 1 +3 "manipulator"&g% +4 "core" % " S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%P& +3 "core" &\ +2 "manipulator"&U% +3 "core" %\  +3 "storage"(-% +4 "core" %] j j \ + "storage"(p. +3 "core" .( +2 "storage"(0& +4 "core" & i o \ +2 "storage"(R& +3 "core" & h o \ +3 "manipulator"&I& +4 "core" &* } @^ + "manipulator"&1% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +159 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(x& +4 "core" & >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +100 "core" ' + "storage"(!& +4 "core" & 6\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(J- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & ?\ +2 "manipulator"&j& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( + "manipulator"&M& +5 "core" & D  + "storage"(b& +4 "core" & ;\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&=' +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(`'X +8 "core" &   + "manipulator"&;% +5 "core" %  H m +2 .tForearm.seek :retract + "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +3 "manipulator"&~& +3 "core" &m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &m [  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' + "manipulator"&]& +4 "core" &o  +2 "manipulator"&C% +4 "core" %  +2 "processing"%& +4 "core" &\ +3 "processing"%$& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%Q(Z +54 "core" &\  +3 &2|\ *x + &a\ = + &rr\ N + &6S\ M +2 &W\ M + &W\ N +7 &{V\ M +10 &=R\ M +9 &S\ M +9 &R\ M +10 & U\ M +9 &"EX\ M +9 &$R\ M +10 &%T\ M +9 &'T\ M +10 &)MS\ M +9 &+X\ M +9 &,U\ N +10 &.U\ M +9 &0UR\ M +9 &2R\ M +10 &3W\ M +9 &5W\ N +10 &7]U\ M +9 &9W\ M +9 &:T\ N +10 &<U\ M +9 &>dU\ N +9 &@&W\ N +10 &AU\ M +9 &CV\ N +10 &ElX\ N +9 &G*h\ O +9 &H}\ Q +10 &J\ S +9 &Lc\ S +9 &N%\ S +10 &O\ T +9 &Q\ T +11 &Sj\ T +8 &U+\ T +9 &V\ U +10 &X\ T +9 &Z_\ #k +9 &ZY\ - +10 ( + &Z\ ) +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % E  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +98 "core" ' +2 "processing"%\\& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&h% +4 "core" %\ ? 6 +2 "storage"(% +3 "core" %b w w x\ +2 "storage"(#. +4 "core" .( +2 "storage"(& +4 "core" & p q B\ +2 "storage"(_& +2 "manipulator"&& +7 "core" & w w S\ +2 &o l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&B& +4 "core" &o H  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &o  +3 .tForearm.seek PC + "manipulator"&c' +99 "core" ' +2 .tHand.close + "manipulator"&X/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +43 "core" ' +289 ( + "storage"(& +4 "core" & 9\ +2 "manipulator"&u& +3 "core" &o  +2 "manipulator"&G% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +253 "core" ( + "manipulator"&w& +5 "core" &  + "storage"(f& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +100 "core" ' +2 .tHand.open + "manipulator"&z1 +63 "core" 1 +2 "storage"(6- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(}& +3 "core" & I\ +2 "manipulator"&m& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&a( +4 "core" ( + "manipulator"& & +5 "core" &  + "storage"('& +4 "core" & !\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(,' +59 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(e& +4 "core" & (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&)' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +11 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +30 "core" ' + "manipulator"&9% +5 "core" % \  + "storage"(N& +5 "core" & q  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&' +20 "core" ' + "manipulator"&E& +5 "core" & =  + "storage"(A& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +26 "core" ' + "storage"( % +4 "core" %o \ +3 ."downElevator"SE.seek :down +3 "storage"(k'X +99 (n% +3 "core" %E q k \ Wd +2 "manipulator"&4% +4 "core" %ѝ [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (.& +3 "core" & S\ +2 "collection"'(& +4 "core" &Vn \ [\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&D% +4 "core" %\ # A +2 "storage"(% +3 "core" %T <\ +2 "storage"(V. +4 "core" .( + "storage"(7& +5 "core" & 9\ + "storage"(<& +3 "core" & ?\ +3 "manipulator"&&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&+( +4 "core" ( + "manipulator"&l& +5 "core" &  + "storage"("& +4 "core" & S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +87 "core" ' +2 "storage"(o& +3 "core" & -\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +277 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & b  +2 "storage"(@& +4 "core" & )\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&r' +31 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'S +28 "core" ' + "manipulator"&5% +5 "core" %  + "storage"(F& +4 "core" & ] g c\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&8' +21 "core" ' +2 "manipulator"&y& +3 "core" &  +3 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(g'B +45 "core" ' + "manipulator"&P& +4 "core" & N  +2 "manipulator"&U% +4 "core" %z & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +148 "core" ( +3 "manipulator"&*& +3 "core" &# Z ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &# ;2 +2 .tForearm.seek CC +2 "manipulator"&R'" +94 "core" ' +2 .tHand.close + "manipulator"&I/ +53 "core" / +2 .tCC.seek :open +2 "collection"'1( +417 "core" ( +2 "storage"(%& +4 "core" & A\ + "storage"(& +4 "core" & u\ +2 "manipulator"&x& +3 "core" &$ ;2 +2 "manipulator"&!% +4 "core" % ( +41 .tForearm.seek :retract +9 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&s( +158 "core" ( + "manipulator"&J& +4 "core" & D  +2 "storage"(d& +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&j' +95 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +60 "core" 1 +2 "manipulator"&% +5 "core" % + "storage"([& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&;' +18 "core" ' + "manipulator"&:& +4 "core" &   +2 "storage"( & +3 "core" & ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +19 "core" ' + "storage"(=% +5 "core" %F\ \ I\ +2 ."downElevator"SE.seek :down +3 "storage"(~'X +99 (% +3 "core" %C z\ Va +2 "manipulator"&S% +3 "core" %~ I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'C& +3 "core" & n\ +2 "manipulator"&% +3 "core" %\   +3 "storage"(`% +4 "core" %b\ \ \ + "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & I\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&\\( +11 "core" ( +2 "manipulator"&h& +3 "core" & + n +3 "storage"(& +3 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +92 "core" ' + "storage"(& +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +291 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & \  +2 "manipulator"&B& +3 "core" & O n +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&K& +3 "core" & W n +3 "storage"(X& +3 "core" & \ \ \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(Q'X +8 "core" & : n + "manipulator"&% +4 "core" % ϧ  X +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&G& +3 "core" &*  e @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +2 "core" &) x @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'" +97 "core" ' + "manipulator"&f& +5 "core" &* V @] + "manipulator"&% +49 "core" %, N +5 "collection"'z& +3 "core" & g\ +3 "collection"'6& +6 "core" & e\ +2 .tCC.seek :closed +3 "collection"'v(V +4 "core" & j\ +5 & q\ 7 +9 &@Hx w\ 0 +10 &mr~ i\ D +9 &\\ r\ M +9 &S c\ L +10 &Q i\ L +9 &[P m\ L +9 &Q d\ L +10 &V g\ L +9 &T a\ L +10 &cU f\ L +9 &!%T l\ L +9 &"U j\ L +10 &$Q o\ L +9 &&kS l\ L +9 &(-Q o\ L +10 &)O d\ L +9 &+P j\ L +10 &-tR n\ L +9 &/4S h\ M +9 &0S c\ M +10 &2O j\ L +9 &4{U k\ L +9 &6=U n\ L +10 &7P l\ M +9 &9R c\ M +10 &;U d\ M +9 &=DT j\ M +9 &?Q ]\ M +10 &@T [\ M +9 &BQ Y\ L +9 &DLT [\ M +10 &F \\ [\ M +9 &Gf c\ O +10 &I~\ \ ]\ R +9 &K5\ \ [\ W +9 &L\ \ \\\ Y +10 &N\ \ \\\ X +12 &Px \ ^\ X +6 &R8 \ X\ Y +10 &S\ \ [\ Z +9 &U\ \ [\ G +10 &V2 \ [\ (w +9 &Vj \ \\\ J +2 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&}1 +61 "core" 1 +3 "manipulator"&m% +5 "core" % ( a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +3 "core" &\ +2 "manipulator"&% +4 "core" %\  +2 "storage"(% +4 "core" %b T\ +2 "storage"(e. +3 "core" .( +2 "storage"(H& +4 "core" & \  + "storage"(2& +4 "core" & /\  +2 "manipulator"&9& +4 "core" &) @] +2 "manipulator"&N% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&E( +165 "core" ( + "manipulator"&A& +4 "core" & 6 n +2 "storage"(i& +3 "core" & X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +112 "core" ' +2 "storage"( & +3 "core" & <\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" & q\  +2 "manipulator"&4& +4 "core" & X n +2 .tElbow.seek 3 + "manipulator"&a( +4 "core" ( +2 "manipulator"&,& +4 "core" &  n + "storage"()& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(D'X +8 "core" & n +2 "manipulator"&% +3 "core" % ϟ +3 .tForearm.seek :retract + "manipulator"&V'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&{(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&7& +4 "core" &s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &s D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +93 "core" ' +2 "manipulator"&l& +4 "core" &s M +2 "manipulator"&"% +3 "core" % 2 +2 "processing"%t& +5 "core" &\ +2 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%k(Z +2 "core" &\ +8 &@\ %f +9 &W~\ 8 +9 &x\ L +10 &U\ N +9 &~U\ M +9 &@V\ M +10 &T\ N +9 &U\ M +10 &T\ M +9 &HX\ M +9 & X\ N +10 &!V\ M +9 &#T\ M +9 &%PX\ M +10 &'U\ N +9 &(U\ N +10 &*V\ M +9 &,XT\ M +9 &.Y\ M +10 &/U\ M +9 &1R\ M +9 &3`W\ M +10 &5"U\ M +9 &6R\ M +10 &8U\ N +9 &:hU\ M +9 &<)U\ N +10 &=U\ M +9 &?V\ N +9 &ApU\ M +10 &C1Y\ N +9 &D\\\ N +10 &Fb\ O +9 &Hly\ Q +9 &J)\ S +10 &K\ S +52 &M\ S +5 &On\ S + &Q0\ S + &R\ T + &T\ T + &Vt\ T +4 &X5\ T +10 &Y{p\ - +9 &Z'o\ J +9 &Z"\ . +3 ( + "processing"%o& +5 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&>% +3 "core" % W 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%q& +3 "core" &Z"\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&@% +4 "core" %\   +2 "storage"(W% +3 "core" %a n l o\ +2 "storage"(5. +3 "core" .( +2 "storage"(F& +3 "core" & l i \  +3 "storage"(y& +3 "manipulator"&& +7 "core" & z n\  + &s +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&P(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(U'i +2 "core" ( +3 "manipulator"&^& +3 "core" &s R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &s ? +3 .tForearm.seek PC +2 "manipulator"&?' +95 "core" ' + .tHand.close +2 "manipulator"&r/ +56 "core" / +2 .tPC.seek :open +2 "processing"%8( +93 "core" ' +3 "storage"(O- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'y +43 "core" ' +288 ( +2 "storage"(0& +4 "core" & l\  + "manipulator"&L& +5 "core" &s + "manipulator"&/% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&-( +262 "core" ( + "manipulator"&3& +4 "core" & e  +2 "storage"(%& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +100 "core" ' +2 .tHand.open + "manipulator"&x1 +63 "core" 1 +2 "storage"(!- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' +2 "storage"(p& +4 "core" & ^\  + "manipulator"&b& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&[& +5 "core" & u  + "storage"(:& +4 "core" & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(=' +58 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&S'} +28 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +22 "core" ' + "manipulator"&C% +4 "core" %Ά +3 "storage"(;& +4 "core" & M\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"&'ϲ +20 "core" ' +2 "manipulator"&`& +3 "core" &   +3 "storage"(Y& +49 "core" & 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +29 "core" ' + "storage"(% +3 "core" %l L\ +3 ."downElevator"SE.seek :down +4 "storage"(~'X +99 (\ % +2 "core" %QJ { x z\ Xe +3 "manipulator"&% +4 "core" %D 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (h& +3 "core" & U\  +2 "collection"'& +4 "core" &Vh \ [\ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\   +3 "storage"(M% +4 "core" %a r\ + "storage"(]. +3 "core" .( +2 "storage"(& +3 "core" & X\  +2 "storage"(_& +4 "core" & Z\  +2 "manipulator"&B& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&X& +3 "core" & h  +2 "storage"( & +4 "core" & k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +102 "core" ' + "storage"(& +3 "core" & Y\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +284 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & F  +2 "storage"(c& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'} +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +30 "core" ' +2 "manipulator"&% +4 "core" %Έ \  + "storage"(z& +4 "core" & ~ u 1\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&Q'ϴ +20 "core" ' +2 "manipulator"&& +4 "core" & Y  +2 "storage"(1& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(m'D +40 "core" ' +2 "manipulator"&'& +3 "core" & E  +2 "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +154 "core" ( +2 "manipulator"&6& +3 "core" &$ ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &# ;3 +3 .tForearm.seek CC + "manipulator"&2'" +97 "core" ' + .tHand.close +2 "manipulator"&9/ +58 "core" / +2 .tCC.seek :open + "collection"'N( +420 "core" ( +2 "storage"(w& +3 "core" & 8\  +3 "storage"(A& +4 "core" & f\  + "manipulator"&i& +4 "core" &$ | ;2 +2 "manipulator"& % +3 "core" % & Z +3 .tForearm.seek :retract + "manipulator"&u'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&T& +3 "core" & a { +2 "storage"(n& +4 "core" &\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +41 "manipulator"&4'} +102 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&)1 +62 "core" 1 +4 "manipulator"&.% +4 "core" % ΀ 7 + "storage"((& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&'Ϭ +20 "core" ' + "manipulator"&E& +5 "core" &  { + "storage"(|& +4 "core" & z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +27 "core" ' + "storage"(% +4 "core" %L\ j\ +3 ."downElevator"SE.seek :down +3 "storage"(7'X +100 (<% +3 "core" %z? \ Wa +2 "manipulator"&a% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +15717 "Can"\ 3Q  +60002 \ 3Q +60002 \ 3\\R5 +60002 \ 2 R +60002 \ 3Sa +60002 \ 3kS +60002 \ 3T +60003 \ 3U# +60002 \ 3yU +60002 \ 2\ )VO +60002 \ 3 V +60002 \ 3 W{ +60002 \ 28X +60002 \ 3X +60002 \ 3Y= +60002 \ 2HY +60002 \ 3Zi +60002 \ 3Z +22410 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1694120948.45EDT @1697740523.60EDT = =tMAIN =mMAIN_scheduler @EDT1697740524.36 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +111 #"core_reset"Sent BREAK + #t@38238 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +253 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +398 "Can"q\ C +2 q\ C #tPolling Can every 10:00 +26 #Cleanly exited at 17:09:08EDT07-Sep-23 +480 #-> ESP.ready! +3 #Powering core bus +586 .Gate.power :raw,:ON +2 "sampler") +11 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1847 #-> 20.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'1& +3 "core" & \  +2 .tHand.open + "manipulator"&21 +55 "core" 1 +2 "manipulator"&3% +3 "core" % \  ^  +3 "storage"(4% +4 "core" %a \ \ + "storage"(5. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(6( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & \ +2 "manipulator"&8& +3 "core" & !s +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&9( +16 "core" ( + "manipulator"&:& +4 "core" & \ R +2 "storage"(;& +3 "core" & \ \ c\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +100 "core" ' +2 "storage"(=& +3 "core" & X X F\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +278 "core" ' + "storage"(?- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & \ +2 "manipulator"&A& +3 "core" & \ R +3 .tElbow.seek 2 + "manipulator"&B( +25 "core" ( +2 "manipulator"&C& +3 "core" & i  +2 "storage"(D& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&E' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +3 "storage"(H'X +7 "core" &   +2 "manipulator"&I% +4 "core" %  @ 5 +2 .tForearm.seek :retract +2 "manipulator"&J'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +153 "core" ( + "manipulator"&L& +4 "core" && G =B + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &M& +2 "core" && =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'" +97 "core" ' +2 "manipulator"&O& +3 "core" && =B +3 "manipulator"&P% +3 "core" %( +2 "collection"'Q& +5 "core" & \  +2 "collection"'R& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'S(V +4 "core" & \  +9 &5~ \ +{ +38 &e \ ? +9 &[u \ O + &W \ N + &] \ O + &Z \ N +7 &d[ \ N +9 &'X \ N +9 &Y \ N +10 &Z \ N +9 & k] \ O +9 &"-Z \ O +10 &#Z \ N +9 &%\\ \ O +10 &'uZ \ N +9 &)7[ \ N +9 &*[ \ N +10 &,Z \ N +9 &.{\\ \ O +9 &0?Z \ N +10 &2Z \ N +9 &3[ \ N +10 &5\\ \ N +9 &7F_ \ N +9 &9] \ N +10 &:\\ \ O +9 &<[ \ N +9 &>NY \ N +10 &@Y \ N +9 &A[ \ O +10 &C\\ \ O +9 &ETc \ O +9 &Gm \ P +10 &H} \ R +9 &J \ X +9 &L? \ Y +10 &N \ Y +9 &O \ Z +10 &Q \ Y +9 &SB \ [ +9 &U \ [ +10 &VXJ \ 5 +9 &Vn \ G +5 ( +2 "collection"'R& +4 "core" &V\\ \ G +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&T1 +64 "core" 1 + "manipulator"&U% +5 "core" % ( 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%W& +4 "core" &\  +2 "manipulator"&X% +4 "core" %\   +2 "storage"(Y% +3 "core" %U \ +2 "storage"(Z. +4 "core" .( + "storage"([& +4 "core" & \ +2 "storage"(\\& +4 "core" & \ +2 "manipulator"&]& +3 "core" && =B +2 "manipulator"&^% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&_( +155 "core" ( +2 "manipulator"&`& +3 "core" &  +2 "storage"(a& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +94 "core" ' +2 "storage"(c& +3 "core" & d\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +289 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +2 "core" & \ +2 "manipulator"&g& +4 "core" & F  +2 .tElbow.seek 2 +2 "manipulator"&h( +4 "core" ( + "manipulator"&i& +3 "core" & $  +2 "storage"(j& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +55 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"(n'X +8 "core" & ~  +2 "manipulator"&o% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&p'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&q(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&r& +5 "core" &j & & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &j } & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +102 "core" ' +4 "manipulator"&u& +3 "core" &j & +3 "manipulator"&v% +3 "core" % +2 "processing"%w& +5 "core" &\  +2 "processing"%x& +6 "core" &\  +2 .tPC.seek :closed +2 "processing"%y(Z +5 "core" &\  +8 &5z\ *z +9 &c\ ? +10 &[w\ O +9 &\\\ O +10 &\\\ O +9 &]\ O +9 &c]\ N +10 &&X\ N +9 &\\\ N +9 &_\ N +10 & k[\ N +9 &"-Y\ N +10 &#]\ N +9 &%]\ N +9 &'s\\\ N +10 &)6Y\ N +9 &*\\\ N +9 &,X\ N +10 &.{\\\ N +9 &0=Z\ N +10 &1\\\ O +9 &3[\ N +9 &5\\\ O +10 &7F[\ N +9 &9[\ N +9 &:Z\ N +10 &<\\\ N +9 &>N[\ N +10 &@]\ N +9 &A[\ N +9 &C[\ N +10 &ET_\ O +9 &Gm\ P +9 &H\ S +10 &J\ T +9 &LM\ T +10 &N\ T +9 &O\ T +9 &Q\ T +10 &SS\ T +9 &U\ T +9 &V\ T +11 &X\ U +8 &Zf\ $p +9 &Z a\ 0 +9 ( +2 &Z\ * +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&z1 +59 "core" 1 +2 "manipulator"&{% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' + "processing"%}& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\   +38 "storage"(% +11 "core" %] D\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & D\ +3 "storage"(& +2 "manipulator"&& +6 "core" & B\ +2 &j & +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('i + "manipulator"&(s +7 "core" ( + "manipulator"&& +4 "core" &j & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j & +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 .tHand.close + "manipulator"&\ / +60 "core" / +2 .tPC.seek :open + "processing"% ( +88 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place + "storage"('y +47 "core" ' +284 ( +2 "storage"(& +3 "core" & @\ +2 "manipulator"&& +3 "core" &j x & +2 "manipulator"&% +4 "core" % ~ +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +249 "core" ( +2 "manipulator"&& +3 "core" & c +2 "storage"(& +4 "core" & "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +47 "core" ' +2 #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" &   \ +2 "manipulator"&$& +4 "core" & _ ] +2 .tElbow.seek 2 +2 "manipulator"&%( +9 "core" ( +2 "manipulator"&&& +3 "core" & k , +2 "storage"('& +4 "core" &   >\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +57 "core" ' + "manipulator"&*& +5 "core" & x , + "storage"(+& +4 "core" & /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,' +29 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +26 "core" ' +2 "manipulator"&/% +3 "core" % ) +2 "storage"(0& +6 "core" & F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&1' +21 "core" ' +2 "manipulator"&2& +3 "core" & 9 , +2 "storage"(3& +5 "core" & }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +18 "core" ' +2 "storage"(5% +3 "core" %r 5\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (7% +3 "core" %6@ ?\ Wc +2 "manipulator"&8% +4 "core" %ў t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & \ +2 "collection"'=& +4 "core" &V[ \ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ ! 4 / +2 "storage"(% +4 "core" %W /\ +2 "storage"(?. +3 "core" .( +2 "storage"(@& +3 "core" & \ +2 "storage"(A& +4 "core" & \ +2 "manipulator"&& +37 "core" & o , +10 .tElbow.seek 2 +2 "manipulator"&C( +14 "core" ( +2 "manipulator"&D& +4 "core" & Q +2 "storage"(F& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +95 "core" ' +2 "storage"(I& +3 "core" & L\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +284 "core" ' + "storage"(<- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & C +2 "storage"(M& +4 "core" & P\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +32 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'S +28 "core" ' +2 "manipulator"&Q% +4 "core" %  +3 "storage"(B& +3 "core" & 0\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&H' +19 "core" ' +2 "manipulator"&J& +3 "core" & L +2 "storage"(!& +4 "core" & f\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +35 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'B +40 "core" ' +2 "manipulator"&W& +4 "core" & R +2 "manipulator"&X% +3 "core" %Ѥ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +151 "core" ( +2 "manipulator"&[& +3 "core" &$ c ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &$ ;7 +2 .tForearm.seek CC +2 "manipulator"&\\'" +97 "core" ' + .tHand.close +2 "manipulator"&]/ +61 "core" / +2 .tCC.seek :open + "collection"'^( +416 "core" ( +2 "storage"(N& +4 "core" & \ +2 "storage"(`& +4 "core" & N\ +2 "manipulator"&a& +3 "core" &$ ;7 +2 "manipulator"&c% +5 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&K'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +156 "core" ( + "manipulator"&e& +3 "core" & d  +2 "storage"(f& +5 "core" & 6\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&g' +106 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +53 "core" 1 +2 "manipulator"&l% +4 "core" %  + "storage"(m& +5 "core" & w w \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&o' +18 "core" ' +3 "manipulator"&_& +3 "core" & h  +2 "storage"(b& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +34 "core" ' +2 "storage"(k% +4 "core" %L \ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (s% +2 "core" %? 9 7\ Vb +3 "manipulator"&h% +4 "core" %ё  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'v& +3 "core" & \ +2 "manipulator"&w% +4 "core" %\ \ i  +37 "storage"(n% +10 "core" %c Q\ +2 "storage"(p. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" & r p \ +3 "manipulator"&{& +3 "core" & X  +2 .tElbow.seek 3 +2 "manipulator"&}( +10 "core" ( +2 "manipulator"&~& +3 "core" & 2  +2 "storage"(& +5 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +93 "core" ' +2 "storage"(& +3 "core" & ?\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" & W  +2 "storage"(\ & +4 "core" & O\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&|& + "storage"(y'X +8 "core" & @  + "manipulator"&% +4 "core" % Ϯ ? +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &*  i @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &* @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&& +4 "core" &* @] +2 "manipulator"&% +4 "core" %, +2 "collection"'& +4 "core" & \ +2 "collection"' & +5 "core" & \ +4 .tCC.seek :closed + "collection"'"(V +6 "core" & \ +7 & - \ $c +9 &U \ 8 +9 &} \ L +10 &Z \ O +9 &`Z \ N +9 &"\\ \ N +10 &[ \ N +9 &[ \ N +10 &gZ \ N +9 &)[ \ N +9 &Y \ O +10 &!\\ \ O +9 &#nZ \ O +9 &%0Z \ O +10 &&Y \ N +9 &(V \ N +10 &*xZ \ N +9 &,9Z \ N +9 &-\\ \ N +10 &/Z \ N +9 &1[ \ N +9 &3BY \ N +10 &5\\ \ N +9 &6\\ \ N +10 &8Z \ N +9 &:I\\ \ N +9 &<\ \\ \ O +10 &=\\ \ N +9 &?\\ \ N +9 &ARZ \ N +10 &C[ \ N +9 &D^ \ N +10 &Fd \ O +9 &HQt \ Q +9 &J \ U +10 &K \ Z +9 &M \ Y +9 &O? \ Z +10 &Q \ Z +9 &R \ [ +10 &T \ \\ +9 &V v \ 0 +9 &V* \ W +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator" +3 "core" &V` \ I +50 1 + "manipulator"&$% +4 "core" % , = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +3 "core" &\ +2 "manipulator"& % +3 "core" %\ ! 1 +2 "storage"(*% +5 "core" %V  \ + "storage"(+. +3 "core" .( +2 "storage"(& +3 "core" &  \  +2 "storage"(/& +4 "core" &  \  +2 "manipulator"&0& +4 "core" &( >L +2 "manipulator"&% +3 "core" %\ ! \  1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&2( +162 "core" ( +2 "manipulator"&3& +3 "core" & ' w +2 "storage"(5& +4 "core" & Y Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' + "storage"(& +5 "core" & p r \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +46 (8& +3 "core" & E C\  +2 "manipulator"&(& +4 "core" & h w +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&)& +3 "core" & J w +2 "storage"(,& +4 "core" & X X X\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&;/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&=& +5 "storage"('X +6 "core" & w + "manipulator"&% +5 "core" % Ϧ x +2 .tForearm.seek :retract + "manipulator"&.'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&@& +3 "core" &v &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &v   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + "manipulator"&D& +4 "core" &v I  +2 "manipulator"&F% +5 "core" % J  +2 "processing"%4& +3 "core" &\ +3 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +10 &2}\ *y +9 &b\ > +9 &ux\ O +10 &9Y\ N +9 &]\ O +9 &\\\ O +10 &~Y\ N +9 &AZ\ N +10 &^\ O +9 &\\\ O +9 & Z\ N +10 &"HZ\ N +9 &$ ]\ O +9 &%\\\ N +10 &']\ O +9 &)O[\ O +10 &+X\ O +9 &,\\\ O +9 &.[\ N +10 &0WX\ O +9 &2\\\ O +9 &3Z\ O +10 &5X\ N +9 &7aY\ N +10 &9"\\\ N +9 &:X\ N +12 &<\\\ O +7 &>gY\ O +9 &@)Y\ O +9 &A\\\ O +10 &C_\ O +9 &En_\ O +10 &G,l\ P +9 &H\ T +9 &J\ T +10 &Ld\ U +9 &N)\ T +9 &O\ U +10 &Q\ U +9 &Sm\ U +10 &U.\ U +9 &V\ U +9 &X\ U +10 &Z ]\ $o +9 &ZZ\ + +9 ( +2 "processing"%I& +3 "core" &Z\ ( +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&-1 +65 "core" 1 + "manipulator"&:% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +100 "core" ' +2 "processing"%L& +3 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&M% +3 "core" %\ # < +2 "storage"(O% +5 "core" %a  " \ + "storage"(Q. +4 "core" .( + "storage"(B& +4 "core" & $  A\  +2 "storage"(J& +3 "manipulator"&!& +7 "core" & "  >\  + &v  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&W(s +4 ."raiseStack"SE.seek :beamBreak +4 "storage"(X'i +2 "core" ( + "manipulator"&G& +5 "core" &v  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &v  +2 .tForearm.seek PC +2 "manipulator"&9' +101 "core" ' +2 .tHand.close + "manipulator"&>/ +65 "core" / +3 .tPC.seek :open +2 "processing"%H( +76 "core" ' +2 "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +35 "core" ' +310 ( +2 "storage"(R& +3 "core" & 5 : 3\  +2 "manipulator"&T& +4 "core" &v i  +2 "manipulator"&E% +3 "core" % 9 +3 .tForearm.seek :retract + "manipulator"&]'\ +101 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +259 "core" ( +2 "manipulator"&S& +3 "core" & v ! +2 "storage"(N& +4 "core" & : 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +94 "core" ' + .tHand.open +2 "manipulator"&a1 +64 "core" 1 +2 "storage"(c- +47 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate + "storage"(e'E +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(f' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(\\- +2 "core" -' +2 "storage"(Z& +5 "core" & \  + "manipulator"&j& +4 "core" & e ! +2 .tElbow.seek 3 +2 "manipulator"&l( +20 "core" ( +2 "manipulator"&m& +3 "core" & k  +3 "storage"(_& +4 "core" & '\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +61 "core" ' + "manipulator"&K& +5 "core" & \\  + "storage"(s& +5 "core" & K J\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&h'} +20 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +24 "core" ' +2 "manipulator"&o% +3 "core" %· k +2 "storage"(v& +4 "core" & 5 *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&w'ϳ +20 "core" ' +2 "manipulator"&n& +4 "core" & R  +2 "storage"(U& +3 "core" & [ [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +32 "core" ' +2 "storage"(d% +3 "core" %q s s \ +3 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (6% +3 "core" %@ ( *\ Wc +2 "manipulator"&z% +4 "core" %: < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & { u \ \  +2 "collection"'& +4 "core" &Va \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ f  +2 "storage"(i% +3 "core" %U s r\ +2 "storage"(u. +4 "core" .( + "storage"(& +4 "core" & s r \  +2 "storage"(& +3 "core" & s r \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( + "manipulator"&\ & +4 "core" &   +2 "storage"(q& +4 "core" & s r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +86 "core" ' +2 "storage"(& +3 "core" & e o T\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +286 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &   +2 "storage"( & +3 "core" & X X C\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +30 "core" ' +2 "manipulator"&% +3 "core" %΍ s +2 "storage"(& +3 "core" & 8 9 \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&y'Ϲ +20 "core" ' + "manipulator"&& +4 "core" & &  +2 "storage"(^& +4 "core" & J L \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'D +40 "core" ' + "manipulator"&'& +4 "core" & L  +2 "manipulator"& % +4 "core" %! C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +38 "manipulator"&*'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&+( +153 "core" ( +2 "manipulator"&& +3 "core" &% <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +2 "core" &% <9 +3 .tForearm.seek CC + "manipulator"& '" +92 "core" ' +2 .tHand.close + "manipulator"&0/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(& +4 "core" & k\  +2 "storage"(3& +3 "core" & u q \  +2 "manipulator"&5& +4 "core" &% ] <9 +2 "manipulator"&% +4 "core" % 5  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +161 "core" ( +2 "manipulator"&7& +3 "core" & b  +2 "storage"(8& +4 "core" & _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +97 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +57 "core" 1 +2 "manipulator"&;% +5 "core" % Α + "storage"(=& +4 "core" & m\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +21 "core" ' +2 "manipulator"&2& +3 "core" & n  +2 "storage"(& +5 "core" & p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(1% +3 "core" %I \ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (A% +3 "core" %A \ Wc +2 "manipulator"&%% +4 "core" %C b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'F& +3 "core" & \ +2 "manipulator"&4% +4 "core" %\    +2 "storage"(% +3 "core" %a S\ +2 "storage"(.. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"( ( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" & ] d _\ +2 "manipulator"&:& +3 "core" & 8  +3 .tElbow.seek 2 + "manipulator"&L( +25 "core" ( +2 "manipulator"&M& +3 "core" &\ W +2 "storage"(O& +3 "core" & Q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +96 "core" ' + "storage"(Q& +4 "core" & 9\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +291 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & \ +2 "manipulator"&G& +4 "core" &\ U +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" &\ ` U +3 "storage"(>& +4 "core" & ]\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&P' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"('X +8 "core" &\ V U + "manipulator"&X% +5 "core" % g  +2 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +149 "core" ( +2 "manipulator"&E& +3 "core" &- p Cr +46 ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &9& +3 "core" &- Cr +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +97 "core" ' +3 "manipulator"&N& +3 "core" &- Cr +3 "manipulator"&W% +3 "core" %* p +3 "collection"'a& +4 "core" & \ +2 "collection"'c& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'](V +4 "core" & \  +9 &0| \ +z +9 &b \ > +10 &ps \ O +9 &4T \ N +10 &\\ \ N +9 &X \ O +9 &yY \ N +10 &<Y \ N +9 &Y \ N +9 &X \ O +10 & Z \ N +9 &"BU \ O +10 &$W \ N +9 &%V \ N +9 &'Y \ N +10 &)KX \ N +9 &+ Y \ O +9 &,Y \ N +10 &.Y \ O +9 &0SW \ N +10 &2Y \ N +9 &3X \ N +9 &5Y \ N +10 &7[Z \ N +9 &9X \ N +9 &:U \ N +10 &<X \ N +9 &>cU \ N +10 &@%Y \ N +9 &AX \ O +9 &CW \ N +10 &Ek\\ \ N +9 &G(e \ P +9 &Hu \ R +10 &J \ W +9 &LR \ Z +10 &N \ Y +9 &O \ Z +9 &Q \ Z +10 &SU \ [ +9 &U \ [\ +9 &VdE \ 0 +10 &V \ I +5 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&\\1 +3 "core" &V^ \ I +50 1 +3 "manipulator"&Z% +3 "core" % * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%m& +4 "core" &\ +2 "manipulator"&_% +3 "core" %\  $ +2 "storage"(K% +3 "core" %b 9 9\ +2 "storage"(s. +4 "core" .( + "storage"([& +4 "core" & 9  A\ +2 "storage"(o& +3 "core" & 1 7\ +2 "manipulator"&v& +5 "core" &+ A_ + "manipulator"&e% +4 "core" %\  $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +157 "core" ( + "manipulator"&U& +4 "core" & l  +2 "storage"(d& +3 "core" & K J 9\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +87 "core" ' +2 "storage"(`& +3 "core" & } \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +287 "core" ' +2 "storage"(6- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (z& +2 "core" & h\ +2 "manipulator"&b& +5 "core" & n  + .tElbow.seek 2 +2 "manipulator"&l( +4 "core" ( + "manipulator"&k& +4 "core" &  +2 "storage"(h& +3 "core" & E\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&~/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &   +2 "manipulator"&i% +3 "core" %  B a +3 .tForearm.seek :retract + "manipulator"&g'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +175 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&& +4 "core" &o ' ~  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &o   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + "manipulator"&\ & +4 "core" &p g  +2 "manipulator"&q% +5 "core" % 4  +2 "processing"%p& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(Z +3 "core" &\ +9 &9\ $c +9 &T\ 7 +10 &~}\ K +9 &Z\ N +9 &\\]\ N +10 &\\\ N +9 &Z\ N +10 &[\ N +9 &e\\\ N +9 &'_\ N +10 &\\\ N +9 &!^\ N +10 &#n\\\ M +9 &%/]\ N +9 &&Z\ N +10 &(\\\ M +9 &*v[\ M +9 &,8\\\ M +10 &-\\\ M +9 &/Z\ M +10 &1~Z\ M +9 &3?[\ N +9 &5]\ N +10 &6Y\ N +9 &8X\ N +9 &:GZ\ N +10 &< \\\ N +9 &=X\ M +43 &?Z\ N +10 &APZ\ M + &C\\\ N + &D_\ N + &Fi\ O +2 &HLy\ Q +8 &J\ S +9 &K\ T +10 &M\ S +9 &ON\ S +9 &Q\ T +10 &R\ T +9 &T\ T +9 &VR\ U +10 &X\ U +9 &Yzl\ 9 +10 &Z(s\ O +9 &Z"\ , +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&V1 +60 "core" 1 +2 "manipulator"&{% +3 "core" % c  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +2 "processing"%& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %\  s  +2 "storage"(% +4 "core" %^ S\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & L\ +3 "storage"(& +2 "manipulator"&^& +8 "core" & K\ + &p c  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&'(s +7 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +3 "core" ( +2 "manipulator"&|& +3 "core" &p  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&}' +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%y( +90 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +292 ( + "storage"(/& +3 "core" & \ +2 "manipulator"&#& +4 "core" &p Q  +2 "manipulator"&% +3 "core" % m +3 .tForearm.seek :retract + "manipulator"&0'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +246 "core" ( +2 "manipulator"&"& +3 "core" & a !v +3 "storage"(& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +95 "core" ' +2 .tHand.open + "manipulator"&51 +60 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +52 "core" ' +4 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(+& +3 "core" &  \ +2 "manipulator"&,& +4 "core" & f !u +2 .tElbow.seek 2 +2 "manipulator"&;( +4 "core" ( + "manipulator"&=& +4 "core" & < !u +2 "storage"(2& +4 "core" &   \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +58 "core" ' +2 "manipulator"&& +3 "core" & !u +2 "storage"(A& +5 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&%' +30 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(('i +26 "core" ' +2 "manipulator"&% +3 "core" % 1 +2 "storage"(F& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&4' +20 "core" ' + "manipulator"&& +5 "core" & I !u + "storage"(.& +4 "core" & U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +27 "core" ' + "storage"(% +4 "core" %r Z\ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +100 ( % +10 "core" % C \ Wc +2 "manipulator"&-% +5 "core" %ѱ M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" & N\ +2 "collection"'O& +3 "core" &V_ \ I +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Q% +4 "core" %\ # l : +2 "storage"()% +4 "core" %] \ +2 "storage"(D. +3 "core" .( +2 "storage"(!& +3 "core" & \ +3 "storage"(J& +3 "core" & \ +2 "manipulator"&G& +5 "core" & !u +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&>& +3 "core" & m !u +2 "storage"(?& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +102 "core" ' + "storage"(X& +4 "core" & I\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +287 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & X !u +2 "storage"(B& +3 "core" & $\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&9' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(N'S +39 "core" ' +2 "manipulator"&W% +3 "core" % k +2 "storage"(a& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&R& +3 "core" & g !t +2 "storage"(& +5 "core" & V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Z'B +40 "core" ' +2 "manipulator"&m& +3 "core" & o !t +2 "manipulator"&_% +4 "core" %ѩ | o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +150 "core" ( +2 "manipulator"&[& +4 "core" &- h Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &- Cn +2 .tForearm.seek CC +2 "manipulator"&c'" +95 "core" ' +2 .tHand.close + "manipulator"&v/ +55 "core" / +2 .tCC.seek :open +2 "collection"'e( +415 "core" ( +2 "storage"(S& +3 "core" & \ +2 "storage"(U& +4 "core" & \ +2 "manipulator"&d& +4 "core" &+ A` +2 "manipulator"&`% +3 "core" % ' +3 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +155 "core" ( +2 "manipulator"&6& +4 "core" & 3  +2 "storage"(z& +3 "core" & o t\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&b' +107 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +52 "core" 1 +2 "manipulator"&~% +3 "core" %  +2 "storage"(& +4 "core" & J K )\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&i' +20 "core" ' +2 "manipulator"&n& +4 "core" &   +2 "storage"(Y& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 2 + 700 counts +9 "manipulator"&f'ќ +19 "core" ' +2 "storage"(w% +3 "core" %H \ +3 ."downElevator"SE.seek :down +5 "storage"('X +98 (% +3 "core" %= \ V` +2 "manipulator"&l% +5 "core" %Ѡ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'q& +3 "core" & \ +2 "manipulator"&p% +4 "core" %\  g . +2 "storage"(% +4 "core" %a B\ +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(H( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" & N L \  +2 "manipulator"&{& +3 "core" & G  +3 .tElbow.seek 3 + "manipulator"&( +15 "core" ( +2 "manipulator"& & +3 "core" & _ { +2 "storage"(& +3 "core" & j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' +2 "storage"(& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  +2 "manipulator"&|& +3 "core" & ] { +3 .tElbow.seek 3 + "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" & f { +2 "storage"(& +4 "core" & <\  +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(r'X +8 "core" & ? { +2 "manipulator"& % +4 "core" % Ϩ 1 +2 .tForearm.seek :retract +2 "manipulator"&/'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&& +5 "core" &#   :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &# > :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'" +99 "core" ' +3 "manipulator"&& +4 "core" &# ] :0 +2 "manipulator"&'% +4 "core" %, +2 "collection"'5& +5 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (V +5 "core" & \ +6 &C \ %g +10 &V~ \ 8 +9 &{ \ L +9 &W \ N +10 &sW \ N +9 &6V \ M +10 &Y \ N +9 &W \ N +9 &zY \ N +10 &<X \ N +9 &W \ N +9 &!U \ N +10 &#W \ N +9 &%CZ \ N +10 &'W \ N +9 &(V \ N +9 &*W \ N +10 &,LW \ N +9 &.W \ N +9 &/W \ N +10 &1W \ N +9 &3TW \ N +10 &5X \ N +9 &6Y \ N +9 &8V \ N +10 &:ZX \ O +9 &<Y \ N +9 &=U \ N +10 &?X \ N +9 &AdV \ N +10 &C%W \ N +9 &D[ \ O +9 &Fb \ O +10 &Hbq \ Q +9 &J \ V +9 &K \ Z +10 &M \ Z +9 &OR \ Z +10 &Q \ Z +9 &R \ [ +9 &T \ [ +10 &V3w \ 0 +9 &V \ ` +9 ( +2 "collection"'& +3 "core" &Vn \ U +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +3 "manipulator"&+1 +62 "core" 1 +3 "manipulator"&,% +3 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&0% +3 "core" %\ }  +2 "storage"(% +5 "core" %U @ A A\ + "storage"(A. +4 "core" .( + "storage"(& +4 "core" & 7 5 \  +2 "storage"(& +4 "core" & @ ? 5\  +2 "manipulator"&F& +3 "core" &# n :0 +2 "manipulator"&7% +4 "core" %\ ]  +42 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +158 "core" ( + "manipulator"&.& +4 "core" & {  +2 "storage"(& +3 "core" & r r \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +94 "core" ' + "storage"(3& +5 "core" & e o S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(8'i +285 "core" ' +2 "storage"( - +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & ' * !\  +2 "manipulator"&& +3 "core" & B  +3 .tElbow.seek 3 + "manipulator"&;( +4 "core" ( +2 "manipulator"&1& +3 "core" &   +2 "storage"(%& +4 "core" & W W\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"(Q'X +8 "core" & g  + "manipulator"&)% +5 "core" % ϲ  + .tForearm.seek :retract +2 "manipulator"&('\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&!& +3 "core" &k  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &k 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +95 "core" ' +2 "manipulator"&>& +3 "core" &k t +2 "manipulator"&?% +5 "core" % /  +2 "processing"%$& +3 "core" &\ +3 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &\ +7 &>\ %f +9 &U\ 8 +9 &}\ M +10 &Y\ N +9 &qY\ N +10 &3W\ N +9 &[\ N +9 &Z\ N +10 &yX\ N +9 &;X\ N +9 &\\\ N +10 &!]\ N +9 &#\\\ N +10 &%CZ\ N +9 &'W\ N +9 &(W\ N +10 &*W\ O +9 &,JZ\ O +9 &. Z\ O +10 &/Y\ O +9 &1Y\ O +10 &3RY\ O +9 &5Y\ N +9 &6U\ N +10 &8U\ N +9 &:[U\ N +9 &<Z\ N +10 &=Y\ N +9 &?Y\ N +10 &AcW\ N +9 &C$]\ O +9 &D`\ O +10 &Ff\ P +9 &H_~\ R +9 &J\ T +10 &K\ T +9 &M\ T +10 &Ob\ T +9 &Q"\ U +9 &R\ U +10 &T\ T +9 &Vh\ U +10 &X)\ U +9 &Yzp\ 2 +9 &Z(s\ L +10 &Z'\ 0 +2 ( +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"&&1 +64 "core" 1 +2 "manipulator"&:% +3 "core" % i  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +4 "processing"%E& +3 "core" &Z&\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&B% +3 "core" %\   +2 "storage"(C% +5 "core" %]   K\ + "storage"(W. +3 "core" .( +2 "storage"(a& +3 "core" &  \  +3 "storage"(R& +2 "manipulator"&& +7 "core" &   @\  + &k { +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&m(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'i +2 "core" ( + "manipulator"&<& +5 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' +2 .tHand.close + "manipulator"&9/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +85 "core" ' +241 ( +2 "storage"(o& +3 "core" & 7 5 \  +2 "manipulator"&\\& +5 "core" &k + "manipulator"&P% +4 "core" % r +3 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&K( +257 "core" ( + "manipulator"&]& +4 "core" & p E +2 "storage"(S& +4 "core" & 9 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +97 "core" ' +2 .tHand.open + "manipulator"&d1 +60 "core" 1 +2 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(6'E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' + "storage"(s& +4 "core" & +\  +2 "manipulator"&h& +4 "core" & l D +2 .tElbow.seek 3 +2 "manipulator"&~( +25 "core" ( + "manipulator"&& +4 "core" & Z  +2 "storage"(n& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(w' +58 "core" ' +2 "manipulator"&T& +3 "core" &   +2 "storage"(j& +3 "core" & 8 @ X\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +22 "core" ' + "manipulator"&i% +4 "core" %Α b +2 "storage"(q& +4 "core" & > X \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&p'Ͻ +19 "core" ' +2 "manipulator"&& +3 "core" & i  +3 "storage"(g& +3 "core" & P K ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +32 "core" ' +2 "storage"(f% +4 "core" %m s ` 3\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 ( % +3 "core" %CG 7 % )\ Xf +2 "manipulator"&V% +3 "core" %?  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" & ' L ?\  +2 "collection"'& +3 "core" &Vm \ U +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ # m @ +3 "storage"(k% +4 "core" %c / ; Z\ + "storage"(\ . +3 "core" .( +2 "storage"(^& +4 "core" & 5 5 \  +2 "storage"(& +3 "core" & E + \  +2 "manipulator"&|& +5 "core" & k  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & Q  +2 "storage"(u& +4 "core" & J J O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +99 "core" ' +2 "storage"( & +4 "core" & s r -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(}& +44 "core" & + + \  +9 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''V +31 "core" ' +2 "manipulator"&5% +3 "core" %Ή y z +2 "storage"(t& +4 "core" & 7 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&r'ϵ +20 "core" ' + "manipulator"&/& +5 "core" & &  + "storage"(e& +4 "core" & M U \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(,'E +45 "core" ' +2 "manipulator"&2& +3 "core" & ,  +2 "manipulator"&0% +5 "core" %A ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( +2 "manipulator"&A& +4 "core" &' >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' >M +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&F/ +60 "core" / +2 .tCC.seek :open + "collection"'7( +416 "core" ( +2 "storage"("& +3 "core" & d n E\  +2 "storage"(.& +4 "core" & s n \  +2 "manipulator"&& +4 "core" && =D +2 "manipulator"&3% +3 "core" % & +3 .tForearm.seek :retract + "manipulator"&#'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=( +160 "core" ( +2 "manipulator"& & +3 "core" & +  +2 "storage"(-& +5 "core" & d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +99 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +57 "core" 1 +2 "manipulator"&M% +3 "core" % ΃ ! +2 "storage"(O& +4 "core" & b\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&)'ϯ +20 "core" ' +3 "manipulator"&& +3 "core" & 5  +2 "storage"(*& +5 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +33 "core" ' + "storage"(4% +4 "core" %J F\ +3 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (J% +3 "core" %A \ Va +2 "manipulator"&;% +3 "core" %@ ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'?& +3 "core" & \ +2 "manipulator"&$% +3 "core" %\  o  +2 "storage"(Q% +4 "core" %b O\ +2 "storage"((. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(y( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +46 "core" & s h /\ +5 "manipulator"&:& +3 "core" & A  +2 .tElbow.seek 2 +2 "manipulator"&E( +30 "core" ( +2 "manipulator"&B& +3 "core" & Z b +2 "storage"(C& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +92 "core" ' + "storage"(a& +4 "core" & C\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +286 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" & \ \ +2 "manipulator"&<& +4 "core" & $ a +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&G& +4 "core" & O a + "storage"(9& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&N' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(@'X +8 "core" & A a + "manipulator"&_% +5 "core" %   T +2 .tForearm.seek :retract + "manipulator"&o'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +146 "core" ( +2 "manipulator"&P& +3 "core" &* @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&L& + "storage"(5 +5 "core" &* @^ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'" +93 "core" ' +3 "manipulator"&S& +5 "core" &* @^ + "manipulator"&m% +5 "core" %#  + "collection"'d& +5 "core" & \ +2 "collection"'`& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'c(V +5 "core" & \ +6 &3 \ $c +9 &V \ 7 +10 &~ \ L +9 &T \ N +9 &c\\ \ N +10 &&U \ M +9 &X \ N +9 &U \ N +10 &kV \ N +9 &-V \ N +10 &X \ M +9 &!Y \ N +9 &#tX \ M +10 &%5Y \ N +9 &&V \ N +9 &(U \ N +10 &*{Z \ N +9 &,=V \ N +10 &-U \ N +9 &/U \ N +9 &1W \ M +10 &3FV \ M +9 &5X \ M +9 &6Y \ N +10 &8U \ N +9 &:MW \ N +10 &<Y \ N +9 &=Y \ M +9 &?Y \ N +10 &AUZ \ N +9 &C[ \ N +9 &D[ \ N +10 &Fa \ O +9 &HTr \ Q +10 &J \ U +9 &K \ Z +9 &M \ Y +10 &OB \ Z +9 &Q \ Z +9 &R \ [ +10 &T \ [ +9 &V!u \ 0 +10 &V' \ Y +8 ( +2 &Vk \ L +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&s1 +60 "core" 1 +2 "manipulator"&h% +3 "core" % $  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &\ +2 "manipulator"&n% +5 "core" %\   + "storage"(T% +4 "core" %U 7 8\ +2 "storage"(j. +3 "core" .( +2 "storage"([& +3 "core" & 5 8\ +2 "storage"(i& +4 "core" & 7 6\ +2 "manipulator"&q& +3 "core" &( >L +2 "manipulator"&6% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&g& +3 "core" &  +2 "storage"(K& +4 "core" & V Q W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +93 "core" ' +2 "storage"(U& +3 "core" & e o \\\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +282 "core" ' +2 "storage"( - +3 "core" -' +46 .tSE.configure :default +6 "storage"(#QK-0-\ b +3 (V& +4 "core" & J J \ + "manipulator"&Y& +5 "core" & @  + .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( + "manipulator"&w& +5 "core" &   +2 "storage"(& +4 "core" & Z Z *\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &   +2 "manipulator"&k% +3 "core" %  6 P +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&b(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +3 "manipulator"&^& +3 "core" &o  C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &o [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +98 "core" ' + "manipulator"&& +4 "core" &o H +2 "manipulator"&u% +5 "core" % \\  +2 "processing"%Z& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\  +8 &0y\ *y +10 &c\ > +9 &ox\ O +9 &0[\ O +10 &Z\ N +9 &\\\ O +10 &w[\ N +9 &9Y\ N +9 &X\ N +10 &[\ N +9 & \\\ N +9 &"A[\ N +10 &$W\ N +9 &%W\ N +10 &'Z\ O +9 &)IY\ N +9 &+ [\ N +10 &,Y\ N +9 &.Z\ N +9 &0QZ\ N +10 &2Z\ O +9 &3W\ N +10 &5Z\ O +9 &7ZW\ N +9 &9Y\ N +10 &:Y\ N +9 &<Y\ N +9 &>aY\ N +10 &@#\\\ N +9 &AV\ N +10 &C\\\ N +9 &Ei\\\ N +9 &G%j\ P +10 &H\ R +9 &J\ S +9 &L`\ T +10 &N#\ T +9 &O\ T +10 &Q\ T +9 &Sf\ U +9 &U(\ U +10 &V\ U +9 &X\ U +9 &Za\ $o +10 &Z[\ - +9 ( + &Z\ ) +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&l1 +58 "core" 1 +2 "manipulator"&{% +3 "core" % u  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&}% +3 "core" %\  s  +2 "storage"(% +3 "core" %a 8 9\ +2 "storage"(5. +4 "core" .( + "storage"(t& +4 "core" & 8 8\ +2 "storage"(/& +3 "manipulator"&e& +8 "core" & 7 5\ + &o O +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&2(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'i +2 "core" ( +3 "manipulator"&x& +3 "core" &o J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &o = +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open +2 "processing"%r( +76 "core" ' +2 "storage"('- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +41 "core" ' +307 ( +2 "storage"(& +3 "core" & 8 6\ +2 "manipulator"&+& +4 "core" &o ^ +2 "manipulator"&% +3 "core" %  o +3 .tForearm.seek :retract +2 "manipulator"&F'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +291 "core" ( +2 "manipulator"& & +3 "core" & I * +3 "storage"("& +3 "core" & 9 9 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +98 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(& +3 "core" & \ +2 "manipulator"&%& +4 "core" & c * +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&O& +4 "core" & R * +2 "storage"(& +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +58 "core" ' + "manipulator"&#& +5 "core" & p * + "storage"(J& +5 "core" & Z Z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +28 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&)% +5 "core" % C + "storage"(?& +4 "core" &   \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&$' +20 "core" ' + "manipulator"&Q& +4 "core" & * +2 "storage"((& +4 "core" & 7 :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +18 "core" ' +2 "storage"(8% +3 "core" %l M X (\ +3 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (H% +3 "core" %D 6 6\ Xf +2 "manipulator"&&% +4 "core" %ї B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (B& +3 "core" & G a m\ +2 "collection"'C& +4 "core" &Vk \ L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&a% +3 "core" %\  [  +2 "storage"(1% +4 "core" %] T J %\ +2 "storage"(>. +3 "core" .( +2 "storage"(& +3 "core" & M K \ +2 "storage"(R& +3 "core" & M T 2\ +2 "manipulator"&<& +5 "core" & e * + .tElbow.seek 2 +2 "manipulator"&G( +4 "core" ( + "manipulator"&9& +4 "core" & 5 * +2 "storage"(D& +4 "core" & J S <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +99 "core" ' + "storage"(_& +4 "core" & q o \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(E'i +286 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +4 "core" & n * +2 "storage"(L& +4 "core" & T J x\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +33 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate + "storage"(m'R +31 "core" ' +2 "manipulator"&d% +3 "core" % b +2 "storage"(& +4 "core" & \ \  )\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&@' +20 "core" ' +2 "manipulator"&o& +3 "core" & H * +2 "storage"(7& +5 "core" & W W \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(h'A +41 "core" ' + "manipulator"&& +5 "core" &  * + "manipulator"&n% +4 "core" %ѓ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +151 "core" ( +3 "manipulator"&[& +3 "core" && =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &`& +2 "core" && =D +2 .tForearm.seek CC +2 "manipulator"&i'" +98 "core" ' +2 .tHand.close + "manipulator"&q/ +55 "core" / +2 .tCC.seek :open +2 "collection"'6( +416 "core" ( + "storage"(]& +4 "core" & l 3\ +2 "storage"(g& +3 "core" & t u I\ +2 "manipulator"&K& +5 "core" && =D + "manipulator"&U% +4 "core" % 0 o  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&v( +153 "core" ( + "manipulator"& & +4 "core" & +2 "storage"(V& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +105 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"& % +5 "core" %  + "storage"(& +4 "core" & r r E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&k' +21 "core" ' + "manipulator"&& +5 "core" & N + "storage"(f& +4 "core" & b\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +29 "core" ' +2 "storage"(p% +3 "core" %A n\ +3 ."downElevator"SE.seek :down +3 "storage"(^'X +99 (% +3 "core" %A \ Va +2 "manipulator"&~% +3 "core" %ј H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'u& +3 "core" & \ +2 "manipulator"&Z% +5 "core" %\  f  +2 "storage"(% +3 "core" %a W\ +2 "storage"(\ . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" & p g \  +2 "manipulator"&{& +3 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&}& +4 "core" &  +2 "storage"(& +3 "core" & 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +141 "core" ' +2 "storage"(t& +4 "core" & ]\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +286 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & a\  +2 "manipulator"&x& +4 "core" & 3  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +3 "manipulator"&|& +4 "core" &   + "storage"(& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&''ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&b/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & F  +2 "manipulator"&0% +3 "core" % Ϡ i +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &' ) >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &' f >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +103 "core" ' +2 "manipulator"&"& +3 "core" && =G +2 "manipulator"&2% +4 "core" % +2 "collection"'& +5 "core" & \ +2 "collection"'3& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & \  +8 &0y \ +z +9 &c \ > +10 &vs \ O +9 &:U \ N +9 &Y \ M +10 &Z \ N +9 &Y \ N +9 &BZ \ N +10 &Y \ N +9 &Y \ N +10 & Z \ N +11 &"JW \ N +7 &$ U \ N +10 &%Y \ M +9 &'W \ N +9 &)SY \ M +10 &+W \ N +9 &,Z \ N +10 &.Z \ N +9 &0ZU \ N +9 &2T \ N +10 &3U \ N +9 &5T \ N +9 &7cW \ M +10 &9%W \ M +9 &:W \ N +10 &<Y \ N +9 &>kW \ M +9 &@,W \ N +10 &AV \ N +9 &CW \ N +10 &Eq[ \ N +9 &G.g \ P +9 &Hu \ Q +10 &J \ W +9 &LV \ Z +9 &N \ Y +10 &O \ Z +9 &Q \ Z +10 &SY \ \\ +9 &U \ \\ +9 &VjF \ 1 +10 &V y \ K +5 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&1 +4 "core" &Vn \ K +58 1 +3 "manipulator"&%% +3 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&F% +4 "core" %\ # x : +2 "storage"(#% +4 "core" %]  \ +2 "storage"(J. +3 "core" .( +2 "storage"(A& +4 "core" &  \  +2 "storage"()& +3 "core" &  \  +2 "manipulator"&?& +4 "core" && =G +2 "manipulator"& % +3 "core" %\ # : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +160 "core" ( +2 "manipulator"&(& +3 "core" & P  +2 "storage"(8& +3 "core" & M K b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"(.& +3 "core" & o i\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +285 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & 1 H \  +2 "manipulator"&*& +3 "core" & 7  +3 .tElbow.seek 3 + "manipulator"&M( +4 "core" ( + "manipulator"&4& +4 "core" &   +2 "storage"(;& +3 "core" & W X M\  +3 .tForearm.seek 3 + 300 counts +47 "manipulator"&$'ϩ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +3 "storage"(a'X +8 "core" & A  + "manipulator"&1% +5 "core" % ϱ j 6 +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" &w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &w & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&<' +105 "core" ' +2 "manipulator"&9& +3 "core" &w / +3 "manipulator"&D% +3 "core" % < O +2 "processing"%,& +4 "core" &\ +3 "processing"%_& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" &\ +6 &8\ $c +9 &S~\ 7 +10 &~\ L +9 &]\ N +9 &U\\\ N +10 &Z\ N +9 &\\\ N +9 &Y\ N +10 &\\\\\ N +9 &Y\ O +10 &Z\ N +9 &!W\ N +9 &#d[\ N +10 &%&Z\ N +9 &&X\ N +9 &(U\ N +10 &*lV\ N +9 &,.[\ N +9 &-\\\ N +10 &/Y\ N +10 &1tZ\ N +9 &35Y\ O +9 &4X\ N +9 &6X\ N +10 &8|W\ N +9 &:>Z\ N +10 &<Y\ N +9 &=X\ N +9 &?X\ N +10 &AGZ\ N +9 &CY\ N +10 &D\\\ O +9 &Fc\ O +9 &HBz\ R +9 &J\ T +10 &K\ U +9 &M\ T +10 &OD\ T +9 &Q\ U +9 &R\ U +10 &T\ U +9 &VK\ U +9 &X \ U +10 &Yzo\ = +9 &Z#T\ R +10 &Z0\ 4 +2 ( +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&=1 +55 "core" 1 +2 "manipulator"&:% +3 "core" %  c O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 "processing"%P& +3 "core" &Z3\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&L% +3 "core" %\   +3 "storage"(S% +3 "core" %b  \ +2 "storage"(d. +3 "core" .( +2 "storage"(& +3 "core" &  \  +3 "storage"(o& +2 "manipulator"&7& +7 "core" & P \  + &w +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'i +2 "core" ( +3 "manipulator"&I& +3 "core" &w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &w +3 .tForearm.seek PC + "manipulator"&E' +96 "core" ' + .tHand.close +2 "manipulator"&X/ +55 "core" / +2 .tPC.seek :open +3 "processing"%@( +87 "core" ' +2 "storage"(m- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +47 "core" ' +287 ( +2 "storage"(`& +3 "core" & : J X\  +2 "manipulator"&s& +3 "core" &w p +2 "manipulator"&N% +4 "core" %  g " +2 .tForearm.seek :retract +2 "manipulator"&q'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +248 "core" ( +2 "manipulator"&c& +4 "core" &\ 3 ^ +2 "storage"(]& +3 "core" &  .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +101 "core" ' +2 .tHand.open + "manipulator"&K1 +57 "core" 1 +47 "storage"(U- +5 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' + "storage"(j& +4 "core" & F\  +2 "manipulator"&& +4 "core" &\ I \\ +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &\ \\ +3 "storage"(& +3 "core" & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +57 "core" ' +2 "manipulator"&\\& +3 "core" &\ i \\ +2 "storage"(& +4 "core" & W W 6\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +19 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Y'i +27 "core" ' + "manipulator"&k% +4 "core" %΍ e +2 "storage"(u& +3 "core" & @ A .\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&Z'Ϲ +19 "core" ' +2 "manipulator"&& +4 "core" & 5 \\ +2 "storage"(\ & +4 "core" & J T \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +35 "core" ' +2 "storage"(z% +3 "core" %l W T c\ +3 ."downElevator"SE.seek :down +3 "storage"(^'X +99 (y% +3 "core" %C 6  \ Wd +2 "manipulator"&l% +4 "core" %& * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +2 "core" & j T 8\  +3 "collection"'& +3 "core" &Vn \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&t% +3 "core" %\  [  +2 "storage"(w% +4 "core" %U W W h\ +2 "storage"(. +3 "core" .( +2 "storage"(/& +3 "core" & M U $\  +2 "storage"( & +4 "core" & W W \  +2 "manipulator"&x& +4 "core" &\ S \\ +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +3 "core" &\  \\ +3 "storage"(b& +3 "core" & W V .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + "storage"(0& +4 "core" & r ` `\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(5- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\ e \\ +2 "storage"(& +4 "core" & + * \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&e'} +21 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(2'U +27 "core" ' +2 "manipulator"&% +3 "core" %{ \\ +2 "storage"(& +4 "core" & ? @ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&'ϧ +12 "core" ' +2 "manipulator"&& +3 "core" &\  \\ +2 "storage"(6& +49 "core" & W W\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'D +45 "core" ' + "manipulator"&& +4 "core" &\ c \\ +2 "manipulator"&F% +4 "core" %\\ V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +154 "core" ( +3 "manipulator"&3& +4 "core" &* d @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &* y @^ +3 .tForearm.seek CC + "manipulator"&)'" +93 "core" ' + .tHand.close +2 "manipulator"&?/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"( & +5 "core" & p e\  + "storage"((& +4 "core" & e [ \  +2 "manipulator"&8& +4 "core" &* @] +2 "manipulator"&.% +3 "core" % -  +3 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&O( +162 "core" ( +2 "manipulator"&H& +3 "core" & ~ +2 "storage"(&& +4 "core" & d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +94 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +62 "core" 1 +2 "manipulator"&B% +4 "core" % ΃  +2 "storage"(C& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"&1'ϯ +22 "core" ' + "manipulator"&Q& +5 "core" & D ~ +2 "storage"(& +3 "core" & ]\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +18 "core" ' +2 "storage"($% +3 "core" %J 6\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (R% +3 "core" %? \ Wb +2 "manipulator"&M% +4 "core" % L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'D& +3 "core" & \ +2 "manipulator"&,% +5 "core" %\  S  + "storage"(a% +5 "core" %U C\ + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(r( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &  \ +2 "manipulator"&:& +3 "core" & P ~ +2 .tElbow.seek 2 +2 "manipulator"&P( +36 "core" ( + "manipulator"&L& +4 "core" &   +2 "storage"(S& +4 "core" & x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +97 "core" ' + "storage"(& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +279 "core" ' + "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & H\ +2 "manipulator"&I& +50 "core" & Q  +3 .tElbow.seek 2 + "manipulator"&G( +22 "core" ( +2 "manipulator"&<& +3 "core" & \\  +3 "storage"(X& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(!'X +8 "core" & m  +2 "manipulator"&n% +3 "core" %  Q k +3 .tForearm.seek :retract +2 "manipulator"&`'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +154 "core" ( +2 "manipulator"&N& +4 "core" ' + &( ?U +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &E& +3 "core" &( L ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'" +91 "core" ' +2 "manipulator"&]& +3 "core" &( ?U +3 "manipulator"&% +3 "core" %$ +3 "collection"'K& +4 "core" & \ +2 "collection"'U& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'q(V +4 "core" & \  +9 &0{ \ +z +10 &c \ > +9 &sr \ N +9 &6T \ M +10 &Y \ M +9 &U \ M +10 &}V \ M +9 &>Z \ M +9 &U \ M +10 &U \ M +9 & X \ M +9 &"FZ \ M +10 &$Z \ M +9 &%W \ M +10 &'U \ M +9 &)NU \ M +9 &+Z \ M +10 &,Z \ M +9 &.Z \ N +9 &0UY \ N +10 &2U \ M +9 &3Z \ M +10 &5U \ M +9 &7^Y \ M +9 &9 Z \ M +10 &:[ \ N +9 &<Z \ N +9 &>fV \ M +10 &@'V \ N +9 &AY \ N +10 &CY \ N +9 &EmZ \ N +9 &G+h \ O +10 &Hz \ Q +9 &J \ W +9 &LS \ Y +10 &N \ Y +9 &O \ Z +10 &Q \ Y +9 &SV \ [\ +9 &U \ [\ +10 &VeE \ 1 +9 &V \ J +5 ( +2 "collection"'U& +4 "core" &Vg \ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&i1 +61 "core" 1 +2 "manipulator"&j% +3 "core" % $ ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\   +3 "storage"(\\% +3 "core" %U 3 =\ +2 "storage"(. +3 "core" .( +2 "storage"(k& +3 "core" & 8 4\ +2 "storage"(u& +4 "core" & 8 >\ +2 "manipulator"&[& +4 "core" &( ?T +2 "manipulator"&% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&\ ( +155 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(z& +5 "core" & q r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +95 "core" ' + "storage"(g& +5 "core" & o u s\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +285 "core" ' +2 "storage"(y- +2 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +3 (l& +2 "core" & U J <\ +2 "manipulator"&f& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"& ( +22 "core" ( +2 "manipulator"&p& +3 "core" &\ S +2 "storage"(~& +5 "core" & W W 5\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t'X +8 "core" &\ 4 R +2 "manipulator"&w% +3 "core" % :  +47 .tForearm.seek :retract +5 "manipulator"&Y'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +103 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +147 "core" ( + "manipulator"&/& +5 "core" &k ) e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&x' +94 "core" ' + "manipulator"&& +4 "core" &k \ +2 "manipulator"&b% +5 "core" % < $ +2 "processing"%h& +3 "core" &\ +3 "processing"%0& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(Z +4 "core" &\ +8 &8\ $e +10 &V\ 7 +9 &~\ L +9 &X\ N +10 &dZ\ N +9 &&Y\ N +9 &X\ N +10 &W\ N +9 &lY\ N +10 &.Z\ N +9 &[\ N +9 &!Z\ N +10 &#sZ\ N +9 &%5Z\ N +9 &&U\ N +10 &(X\ N +9 &*|X\ N +10 &,>Z\ N +9 &.Z\ N +9 &/X\ N +10 &1Y\ N +9 &3FX\ N +9 &5X\ N +10 "Can"b\ OY* +2 "core" &6X\ N +7 &8W\ N +10 &:NX\ N +9 &<Y\ N +9 &=X\ N +10 &?W\ M +9 &AUX\ N +9 &CY\ N +10 &D\\\ N +9 &Fb\ O +10 &HRx\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &OS\ T +9 &Q\ T +10 &R\ U +9 &T\ U +10 &VZ\ U +9 &X\ U +9 &Y|q\ 7 +10 &Z,\ P +9 &Z\ + +2 ( +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&v1 +65 "core" 1 + "manipulator"&{% +4 "core" % ' $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +95 "core" ' +2 "processing"%& +3 "core" &Z \ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  x  +2 "storage"("% +3 "core" %b 6 5\ +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" & 5 5\ +2 "storage"(& +3 "manipulator"&6& +8 "core" & 6 6\ + &k v +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&F(s +7 "core" ( + "manipulator"&& +5 "core" &k q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&e/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +77 "core" ' + "storage"(2- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +45 "core" ' +299 ( +2 "storage"(A& +3 "core" & K P \ +2 "manipulator"&& +5 "core" &k P + "manipulator"&'% +4 "core" % J $ +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +251 "core" ( + "manipulator"&& +4 "core" &  b +2 "storage"( & +3 "core" & + + \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +98 "core" ' +2 .tHand.open +2 "manipulator"&81 +62 "core" 1 +2 "storage"(.- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"()- +4 "core" -' + "storage"(J& +49 "core" & \ +4 "manipulator"&;& +4 "core" &\ @ ` +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&C& +5 "core" &\  ` + "storage"(Q& +4 "core" & \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +57 "core" ' + "manipulator"&+& +4 "core" &\ V ` +2 "storage"(R& +3 "core" & r r \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +29 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +25 "core" ' + "manipulator"&D% +4 "core" % * +2 "storage"(1& +3 "core" &   1\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&,' +20 "core" ' +2 "manipulator"&a& +4 "core" &  ` +2 "storage"(& +3 "core" & P M \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +29 "core" ' +2 "storage"(-% +4 "core" %l d d I\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %F : <\ Xf +2 "manipulator"&=% +4 "core" %с p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +91 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +2 "core" & Y E \ +3 "collection"'S& +3 "core" &Ve \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  W  +2 "storage"(4% +4 "core" %a W W h\ +2 "storage"(9. +3 "core" .( +2 "storage"(o& +3 "core" & M K <\ +2 "storage"(_& +4 "core" & W W\ +2 "manipulator"&I& +3 "core" &\ E ` +3 .tElbow.seek 2 + "manipulator"&<( +4 "core" ( + "manipulator"&X& +5 "core" &\ ` +2 "storage"(>& +3 "core" & W X e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +101 "core" ' +2 "storage"(n& +3 "core" & n v F\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +284 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" & ; ` +2 "storage"(E& +3 "core" & W X F\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&7' +31 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +29 "core" ' +2 "manipulator"&K% +3 "core" % * +2 "storage"(G& +4 "core" & \ \  i\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&!' +19 "core" ' + "manipulator"&`& +4 "core" &\  ` +2 "storage"( & +4 "core" & P Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'B +40 "core" ' +2 "manipulator"&& +3 "core" & u ` +2 "manipulator"&% +4 "core" % [ +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ( +4 "manipulator"&k& +3 "core" &  [ 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  4 +3 .tForearm.seek CC +2 "manipulator"&U'" +99 "core" ' + .tHand.close +2 "manipulator"&[/ +61 "core" / +2 .tCC.seek :open + "collection"'( +419 "core" ( +2 "storage"(c& +3 "core" & o ?\ +2 "storage"( & +5 "core" & u t "\ + "manipulator"&z& +4 "core" &\  4 +2 "manipulator"&g% +4 "core" % 5 +2 .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&y& +3 "core" & M  +2 "storage"(l& +4 "core" & { \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&f' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +61 "core" 1 +2 "manipulator"&}% +4 "core" % Q +2 "storage"(& +3 "core" & r r \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&w' +13 "core" ' + "manipulator"&\ & +4 "core" & I  +2 "storage"(T& +3 "core" & ;\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +27 "core" ' +2 "storage"(Z% +3 "core" %D "\ +3 ."downElevator"SE.seek :down +3 "storage"(/'X +99 ( % +3 "core" %@ \ V` +2 "manipulator"& % +4 "core" %Ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'b& +4 "core" & \ +2 "manipulator"&h% +3 "core" %\ # R A +2 "storage"(t% +5 "core" %a \ + "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(@( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (v& +3 "core" & T I \  +2 "manipulator"&{& +4 "core" & S  +2 .tElbow.seek 3 + "manipulator"&( +14 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"("& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(0& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +290 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & \  +2 "manipulator"&& +3 "core" & T  +3 .tElbow.seek 3 + "manipulator"&|( +4 "core" ( +2 "manipulator"&x& +3 "core" &   +2 "storage"(e& +3 "core" & \ \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&2'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tHand.close +3 "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&5& +3 "storage"(^'X +6 "core" & +  +3 "manipulator"&% +3 "core" % ϥ 9 c +3 .tForearm.seek :retract + "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&'& +3 "core" &( h ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( o ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +3 "manipulator"& & +4 "core" &( ?S +3 "manipulator"&F% +3 "core" %) +2 "collection"'8& +4 "core" & \ +3 "collection"'.& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"')(V +5 "core" & \  +8 &1{ \ *x +9 &d \ > +10 &ur \ N +9 &9U \ M +10 &Z \ N +9 &W \ M +9 &~V \ M +10 &?T \ N +9 &T \ M +9 &U \ M +10 & Y \ N +9 &"GZ \ N +10 &$\ Y \ M +9 &%W \ M +9 &'Y \ N +10 &)OW \ N +9 &+X \ N +10 &,T \ M +9 &.Z \ M +9 &0WZ \ N +10 &2W \ M +9 &3V \ M +9 &5Y \ M +10 &7_[ \ N +9 &9!W \ N +9 &:Z \ M +10 &<X \ M +9 &>gV \ N +10 &@*Y \ M +9 &AT \ N +9 &CU \ M +10 &EmZ \ N +9 &G,c \ O +9 &Hu \ Q +10 &J \ W +9 &LU \ Y +10 &N \ Y +9 &O \ Z +9 &Q \ Z +10 &SV \ \\ +9 &U \ [\ +9 &VeE \ 1 +10 &V \ K +5 ( +2 "collection"'.& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&J1 +3 "core" &Vk \ K +50 1 +3 "manipulator"&?% +3 "core" % ) = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%C& +3 "core" &\ +2 "manipulator"&Q% +5 "core" %\  ! +2 "storage"(+% +3 "core" %_ 6 7\ +2 "storage"(R. +3 "core" .( +2 "storage"(3& +3 "core" & 7 5\  +2 "storage"(H& +4 "core" & 6 6\  +2 "manipulator"&D& +3 "core" &( X >I +2 "manipulator"&1% +4 "core" %\  ! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&a( +174 "core" ( + "manipulator"&& +4 "core" & * ' +2 "storage"(-& +3 "core" & W X \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +92 "core" ' +2 "storage"((& +3 "core" & a n \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +279 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +3 "core" & & ) \  +2 "manipulator"&& +3 "core" & J ' +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&$& +4 "core" & K ' +2 "storage"(M& +3 "core" & T M \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&L/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"('X +8 "core" & U ' +2 "manipulator"&4% +3 "core" % Ϫ [ +2 .tForearm.seek :retract +2 "manipulator"&*'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +2 "manipulator"&o& +3 "core" &n { +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &n > +49 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +99 "core" ' + "manipulator"&X& +5 "core" &n  +2 "manipulator"&>% +3 "core" % N +2 "processing"%%& +5 "core" &\ +2 "processing"%n& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &7\ $c +9 &T\ 7 +9 &~\ L +10 &[\ N +9 &a]\ N +9 &#Z\ N +10 &Z\ N +9 &Z\ N +10 &hZ\ N +9 &*X\ N +9 &Z\ N +10 &!\\\ N +9 &#qZ\ N +9 &%2Z\ N +10 &&Y\ N +9 &(Y\ N +10 &*wY\ O +9 &,;Y\ N +9 &-Z\ N +10 &/Y\ N +9 &1Z\ N +9 &3BY\ N +10 &5Y\ N +9 &6Y\ N +10 &8W\ N +9 &:KZ\ N +9 &<Y\ N +10 &=\\\ N +9 &?X\ N +9 &ATY\ N +10 &CZ\ N +9 &D`\ O +10 &Fh\ P +9 &HP{\ R +9 &J \ T +10 &K\ T +9 &M\ T +9 &OP\ T +10 &Q\ T +9 &R\ U +10 &T\ U +9 &VV\ U +9 &X\ V +10 &Yzq\ 8 +9 &Z2\ E +9 &Z\ ' +3 ( + "processing"%n& +5 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&O1 +63 "core" 1 +2 "manipulator"&:% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +92 "core" ' +2 "processing"%N& +3 "core" &Z\ ' +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&E% +4 "core" %\  5  +2 "storage"(]% +3 "core" %c ) (\ +2 "storage"(K. +4 "core" .( + "storage"(G& +4 "core" & 1 6\  +2 "storage"(`& +2 "manipulator"& & +8 "core" & ( (\  + &n > +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&W& +3 "core" &n b +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &n a +3 .tForearm.seek PC + "manipulator"&P' +101 "core" ' +3 .tHand.close + "manipulator"&7/ +61 "core" / + .tPC.seek :open +2 "processing"%!( +84 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +46 "core" ' +293 ( +2 "storage"(u& +3 "core" & : 3 P\  +2 "manipulator"&i& +5 "core" &n v +2 "manipulator"&m% +3 "core" % g +2 .tForearm.seek :retract +2 "manipulator"&['\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\\( +255 "core" ( +2 "manipulator"&q& +3 "core" &  B +2 "storage"(c& +5 "core" & : <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +101 "core" ' +3 .tHand.open + "manipulator"&z1 +62 "core" 1 +2 "storage"(g- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' + "storage"(& +4 "core" & 7\  +2 "manipulator"&~& +3 "core" & ` B +3 .tElbow.seek 3 + "manipulator"&}( +26 "core" ( + "manipulator"&& +5 "core" & | +2 "storage"(\ & +3 "core" & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +13 "core" ' +2 .tSE.reconfigure :gently +48 "storage"(#QK-0-\ b +5 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Z' +61 "core" ' +2 "manipulator"&s& +3 "core" &  | +3 "storage"( & +4 "core" & r r \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +26 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +24 "core" ' +2 "manipulator"&w% +3 "core" %Ό b +2 "storage"(b& +5 "core" & 5 7\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&h'ϸ +21 "core" ' + "manipulator"&t& +4 "core" & s | +2 "storage"(Y& +3 "core" & M O S\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +35 "core" ' + "storage"(V% +5 "core" %n ] r 0\ +2 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (r% +3 "core" %D / 3 \ Wd +2 "manipulator"&v% +4 "core" %: 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +87 "core" ' +77 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & j T (\  +2 "collection"'"& +4 "core" &Vj \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&0% +3 "core" %\  9  +2 "storage"(p% +4 "core" %_ d d ,\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & r r\  +2 "storage"(6& +3 "core" & r r\  +2 "manipulator"&& +5 "core" & S | + .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&e& +3 "core" & O | +2 "storage"(& +5 "core" & r r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +94 "core" ' +3 "storage"(& +3 "core" & p r \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & 9 | +2 "storage"(& +3 "core" & W W f\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(F'V +39 "core" ' + "manipulator"&8% +4 "core" %΀ h +2 "storage"(|& +3 "core" & M W \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&^'Ϭ +13 "core" ' + "manipulator"&A& +5 "core" &  | +2 "storage"(& +3 "core" & r q \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +23 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(?'E +39 "core" ' +3 "manipulator"&C& +3 "core" & X | +2 "manipulator"&Q% +4 "core" %W @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +157 "core" ( + "manipulator"&3& +4 "core" &% <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &% <@ +47 .tForearm.seek CC +3 "manipulator"&.'" +94 "core" ' +2 .tHand.close + "manipulator"&D/ +58 "core" / +2 .tCC.seek :open +2 "collection"'1( +415 "core" ( +2 "storage"(& +4 "core" & \  +2 "storage"(& +3 "core" & \  +3 "manipulator"&-& +3 "core" &% j ;7 +2 "manipulator"&(% +4 "core" % , k +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&;( +161 "core" ( +2 "manipulator"&& +3 "core" & z +2 "storage"(=& +5 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +58 "core" 1 +3 "manipulator"&L% +3 "core" % ΍ +2 "storage"(S& +5 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&4'Ϲ +20 "core" ' +2 "manipulator"&a& +3 "core" &  z +2 "storage"(#& +4 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +35 "core" ' +2 "storage"(,% +3 "core" %I \ +3 ."downElevator"SE.seek :down +4 "storage"(o'X +99 (_% +3 "core" %> } &\ Wb +2 "manipulator"&B% +4 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'>& +4 "core" & \ +2 "manipulator"&%% +3 "core" %\ \\  +2 "storage"(% +4 "core" %^ 3\ +2 "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" & z 8\ +2 "manipulator"&:& +3 "core" & E z +3 .tElbow.seek 2 + "manipulator"&N( +38 "core" ( + "manipulator"&E& +4 "core" & $ +2 "storage"(]& +3 "core" & "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +94 "core" ' +2 "storage"(G& +3 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +286 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & 1\ +2 "manipulator"&W& +4 "core" & % # +2 .tElbow.seek 2 +2 "manipulator"&<( +4 "core" ( +2 "manipulator"&I& +4 "core" & z # +2 "storage"(7& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&9/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"('X +8 "core" & F # + "manipulator"&% +5 "core" %  Y +2 .tForearm.seek :retract + "manipulator"&u'\ +92 "core" ' + .tElbow.seek CC +48 "manipulator"&i( +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +38 "core" ( + "manipulator"&m& +4 "core" &+  7 Ab +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &+ c Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'" +103 "core" ' +3 "manipulator"&c& +5 "core" &+ d Ab +2 "manipulator"&% +3 "core" %* +3 "collection"'z& +3 "core" & \ +3 "collection"'g& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"'U(V +4 "core" & \ +7 &< \ %f +10 &W \ 8 +9 &| \ M +10 &U \ M +9 &uY \ \ N +9 &9T \ M +10 &Z  \ M +9 &Y \ M +9 &}Z \ N +10 &@W \ M +9 & W \ M +10 &!Z \ M +9 &#Y \ M +9 &%GZ \ N +10 &' Y \ N +9 &(W \ N +9 &*W \ N +10 &,OW \ N +9 &.W \ N +10 &/W \ N +9 &1X \ N +9 &3WW \ N +10 &5U \ M +9 &6[ \ N +10 &8W \ N +9 &:_Y \ N +9 & & + "storage"(Y& +4 "core" & V Y \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +90 "core" ' + "storage"(V& +4 "core" & a n 6\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +280 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & 3 3 }\ +2 "manipulator"&T& +4 "core" & * & +2 .tElbow.seek 2 +2 "manipulator"&}( +11 "core" ( +2 "manipulator"&Z& +3 "core" &  ` +2 "storage"( & +4 "core" & I J \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&h' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(0'X +8 "core" &\ 5 ` +2 "manipulator"&f% +4 "core" %   U +2 .tForearm.seek :retract +2 "manipulator"&p'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&& +4 "core" &r   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &r 8  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&e& +3 "core" &r .  +2 "manipulator"&% +5 "core" %  E +2 "processing"%j& +3 "core" &\ +3 "processing"%& +5 "core" &\ +54 .tPC.seek :closed +3 "processing"%/(Z +3 "core" &\ + &\ +2 &\ + &\ + &\ + &\ + &\  +5 &4\ *z +10 &e\ ? +9 &t\ O +9 &HW\ N +10 &\ Y\ N +9 &X\ N +10 &Y\ N +9 &QX\ N +9 &Y\ N +10 &X\ N +9 & Y\ N +9 &"YX\ N +10 &$W\ N +9 &%Y\ N +10 &'Z\ N +9 &)aX\ N +9 &+#X\ N +10 &,W\ N +9 &.W\ N +9 &0iW\ N +10 &2+X\ N +9 &3V\ N +10 &5Y\ N +9 &7qX\ N +9 &93W\ N +10 &:U\ N +9 &<X\ N +10 &>yW\ N +9 &@:W\ N +9 &AW\ N +10 &C[\ N +9 &E~`\ O +9 &G>i\ O +10 &H\ R +9 &J\ S +9 &Lw\ T +10 &N:\ S +9 &O\ T +10 &Q\ T +9 &S}\ T +9 &U?\ T +10 &W\ T +9 &X\ U +9 &Z'Tr\ )y +10 &Zb\ 6 +9 ( + &Z%\ 0 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&{% +3 "core" %  & E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%'& +3 "core" &Z%\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ # B +2 "storage"( % +3 "core" %U  \ +2 "storage"(8. +3 "core" .( +2 "storage"(|& +3 "core" & Q \ +3 "storage"(A& +2 "manipulator"&& +8 "core" &   *\ + &r  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&C(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(Q'i +3 "core" ( +2 "manipulator"&5& +3 "core" &r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &r  +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +3 .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%^( +85 "core" ' +2 "storage"(F- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +42 "core" ' +295 ( +3 "storage"(H& +3 "core" & W L =\ +2 "manipulator"&J& +4 "core" &r X  +2 "manipulator"&2% +3 "core" % W  +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +251 "core" ( + "manipulator"&)& +3 "core" &  a +2 "storage"(& +5 "core" & 4 * E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 .tHand.open + "manipulator"&-1 +56 "core" 1 +4 "storage"((- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(.- +2 "core" -' +2 "storage"(R& +5 "core" & \ + "manipulator"&M& +4 "core" &\ K ^ +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&S& +3 "core" &\  ^ +2 "storage"(a& +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +57 "core" ' +2 "manipulator"&& +4 "core" &\ X ^ +2 "storage"(_& +3 "core" & 4 , \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&B' +72 "core" ' +9 .tElbow.hold +2 "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&4% +3 "core" % /  +2 "storage"(>& +4 "core" &  `\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&%' +20 "core" ' +2 "manipulator"&& +3 "core" &\ ^ +3 "storage"(*& +3 "core" & V W \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +18 "core" ' +2 "storage"(&% +3 "core" %r _ X ?\ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +100 (@% +2 "core" % D  6\ Xf +3 "manipulator"&O% +3 "core" %Ѩ ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +2 "core" & * T J\ +3 "collection"']& +3 "core" &Vo \ O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&G% +3 "core" %\ # ] ; +2 "storage"($% +5 "core" %U : D \ + "storage"(X. +3 "core" .( +2 "storage"( & +5 "core" & E I 9\ + "storage"(`& +4 "core" & : H i\ +2 "manipulator"&W& +3 "core" & W ^ +3 .tElbow.seek 2 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&7& +3 "core" & ( ^ +2 "storage"(9& +5 "core" & J I G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +91 "core" ' + "storage"(& +4 "core" & r q \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +285 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &\ J ^ +2 "storage"(m& +4 "core" & K J |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&P' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +30 "core" ' +2 "manipulator"&z% +3 "core" % @ +2 "storage"(<& +4 "core" & \ \ X\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&u& +4 "core" &\ ^ +2 "storage"(1& +4 "core" & O P \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'B +42 "core" ' +2 "manipulator"&& +3 "core" &\ ^ +2 "manipulator"&\ % +5 "core" %Ѣ E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +146 "core" ( +2 "manipulator"&k& +3 "core" &% B << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &% << +2 .tForearm.seek CC +2 "manipulator"&y'" +93 "core" ' +2 .tHand.close + "manipulator"&w/ +57 "core" / +2 .tCC.seek :open + "collection"'b( +416 "core" ( +2 "storage"(q& +3 "core" & 7\ +2 "storage"(t& +4 "core" & \ +41 "manipulator"&Y& +11 "core" &% << +2 "manipulator"&V% +3 "core" % + I +3 .tForearm.seek :retract +2 "manipulator"&i'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&[( +154 "core" ( + "manipulator"&r& +4 "core" & [  +2 "storage"(v& +4 "core" & N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&T' +105 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +55 "core" 1 +3 "manipulator"&% +4 "core" % +2 "storage"("& +3 "core" & i [ _\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&f' +13 "core" ' +2 "manipulator"&\\& +3 "core" &   +2 "storage"( & +4 "core" & 5\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +23 "core" ' +2 "storage"(h% +3 "core" %E 0\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (6% +3 "core" %> \ V` +2 "manipulator"&}% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&j% +6 "core" %\ ! < 0 +2 "storage"(0% +4 "core" %c \ +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(!( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & o h \  +2 "manipulator"&{& +3 "core" & J  +3 .tElbow.seek 3 + "manipulator"&'( +15 "core" ( +2 "manipulator"&& +3 "core" &  r +2 "storage"( & +4 "core" & ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +88 "core" ' +2 "storage"(|& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(A- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & 8\  +2 "manipulator"&5& +3 "core" & r +3 .tElbow.seek 3 + "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" & ( r +2 "storage"(& +4 "core" & D\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/'X +8 "core" & 1 r + "manipulator"&Q% +4 "core" % ϭ I +2 .tForearm.seek :retract +2 "manipulator"&H'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&J( +150 "core" ( + "manipulator"&2& +5 "core" &# ! :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &# W :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +47 "manipulator"&)'" +103 "core" ' +3 "manipulator"&& +3 "core" &" ~ 9) +2 "manipulator"&C% +5 "core" %& +2 "collection"'-& +3 "core" & \ +3 "collection"'(& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(V +5 "core" & \ +6 &4 \ $e +9 &U{ \ 7 +10 &} \ L +9 &W \ \ M +10 &iY \ M +9 &,Y \ M +9 &Y \ M +10 &Z \ M +9 &pY \ N +9 &4X \ M +10 &Y \ N +9 &!Y \ N +10 &#yY \ M +9 &%;V \ M +9 &&Z \ M +10 &(W  \ M +9 &*W  \ M +9 &,DU \ M +10 &.W  \ M +9 &/Y \ M +10 &1Y \ M +9 &3LT \ M +9 &5 X \ M +10 &6W \ M +9 &8U \ M +10 &:RY \ N +9 &<Z \ N +9 &=V  \ M +10 &?Z \ M +9 &AZY \ N +9 &CY \ M +10 &DY \ M +9 &F` \ N +9 &HZr \ P +10 &J \ T +9 &K \ Y +10 &M \ Y +9 &OI \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ [ +9 &V*v \ / +10 &V$ \ S +9 ( + &Vk \ J +2 "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&R1 +54 "core" 1 +4 "manipulator"&M% +3 "core" % # K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" &\ +2 "manipulator"&D% +4 "core" %\ \\  +2 "storage"(% +4 "core" %U L T x\ +2 "storage"(_. +2 "core" .( +2 "storage"(3& +4 "core" & M W [\  +2 "storage"(& +4 "core" & U M H\  +2 "manipulator"&4& +4 "core" &" C 9) +2 "manipulator"&>% +3 "core" %\ R  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +162 "core" ( +2 "manipulator"&*& +3 "core" &  +2 "storage"(+& +4 "core" & j p p\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(&& +5 "core" & s p i\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +283 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & M V $\  +2 "manipulator"&O& +4 "core" & /  +2 .tElbow.seek 3 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&,& +3 "core" & "  +2 "storage"(B& +5 "core" & W W i\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&E/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +2 "storage"(G'X +8 "core" &  +2 "manipulator"&$% +3 "core" % 7 @ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&X(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"& & +5 "core" &r & c  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &r   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&W' +92 "core" ' + "manipulator"&7& +5 "core" &r B  + "manipulator"&9% +5 "core" % > F + "processing"%?& +5 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%o(Z +4 "core" &\ +7 & 0\ $d +9 &U\ 7 +9 &~\ L +10 &[\ N +9 &a[\ N +10 &"\\\ N +9 &Y\ N +9 &Z\ N +10 &iY\ N +9 &+X\ N +9 &\\\ N +10 &!Y\ N +9 &#pZ\ N +10 &%3X\ N +9 &&W\ N +9 &(X\ N +10 &*xX\ N +9 &,;Y\ N +9 &-X\ N +10 &/X\ N +9 &1X\ N +10 &3C\\\ N +9 &5X\ M +52 &6Y\ N +3 &8V\ M +2 &:JX\ N + &< W\ N + &=W\ M + &?X\ N +6 &ASX\ N +9 &CY\ N +9 &D]\ N +10 &Fg\ P +9 &HOx\ R +9 &J \ T +10 &K\ T +9 &M\ S +10 &OP\ T +9 &Q\ T +9 &R\ T +10 &T\ U +9 &VV\ U +9 &X\ V +10 &Y|t\ 7 +9 &Z-\ S +10 &Z!\ - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&;1 +64 "core" 1 +2 "manipulator"&:% +4 "core" %  F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' +2 "processing"%n& +3 "core" &Z \ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&m% +4 "core" %\ F  +2 "storage"(c% +4 "core" %T I L \ +2 "storage"(z. +3 "core" .( +2 "storage"(<& +3 "core" & J J\  +3 "storage"(u& +2 "manipulator"&1& +7 "core" & J I \  + &r S  +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'i +3 "core" ( +2 "manipulator"&d& +3 "core" &r 8  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +2 "core" &r ,  +3 .tForearm.seek PC +2 "manipulator"&N' +94 "core" ' + .tHand.close +2 "manipulator"&P/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +44 "core" ' +299 ( + "storage"(g& +5 "core" & g r T\  + "manipulator"&& +5 "core" &r 0  + "manipulator"&% +4 "core" % 7 ! +2 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&s( +243 "core" ( + "manipulator"&U& +5 "core" &  5 + "storage"(q& +4 "core" & S V >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&t'9 +91 "core" ' + .tHand.open +2 "manipulator"&Y1 +62 "core" 1 +2 "storage"(V- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(r'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(v' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"( & +3 "core" & \  +2 "manipulator"& & +5 "core" & - 1 + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&"& +3 "core" & F 1 +2 "storage"(\\& +4 "core" & \  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +57 "core" ' +2 "manipulator"&i& +3 "core" & 1 +2 "storage"(6& +4 "core" & T Y %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +27 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +25 "core" ' + "manipulator"&% +5 "core" %Ί > + "storage"(f& +4 "core" & 5 5 %\  +2 .tForearm.force -20 + "manipulator"&5 +48 .tForearm.seek 3 + 313 counts +4 "manipulator"&j'϶ +20 "core" ' +2 "manipulator"&0& +3 "core" & j 1 +2 "storage"(p& +5 "core" & W T 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +27 "core" ' +2 "storage"(l% +3 "core" %n r r\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %A J 9 D\ Wc +2 "manipulator"&% +4 "core" %! > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +88 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & h j\  +2 "collection"' & +5 "core" &Vj \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&|% +3 "core" %\  )  +2 "storage"(Z% +4 "core" %W q n \ +2 "storage"(e. +4 "core" .( + "storage"(A& +5 "core" & d d F\  + "storage"(& +4 "core" & r q 6\  +2 "manipulator"&5& +3 "core" & W 1 +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & \ 1 +2 "storage"(& +5 "core" & r q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(Q& +3 "core" & o t O\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +283 "core" ' +3 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & < 1 +2 "storage"(& +4 "core" & P O 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +29 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +39 "core" ' +2 "manipulator"&C% +3 "core" %ΐ > y +2 "storage"(-& +3 "core" & I I \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&/'ϼ +12 "core" ' +2 "manipulator"&H& +3 "core" &  1 +2 "storage"(b& +4 "core" & M Z 5\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'E +40 "core" ' + "manipulator"&a& +4 "core" & * 1 +2 "manipulator"&D% +3 "core" %S [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +156 "core" ( +3 "manipulator"&3& +4 "core" &- t Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & - : @d +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&4/ +60 "core" / +2 .tCC.seek :open + "collection"'>( +416 "core" ( +2 "storage"()& +4 "core" & \  +2 "storage"(*& +3 "core" & b\  +2 "manipulator"&+& +4 "core" & ' _ =A +2 "manipulator"&&% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&J'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&S( +163 "core" ( +2 "manipulator"&#& +3 "core" & #  +47 "storage"(@& +6 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"&O'} +98 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +52 "core" 1 +3 "manipulator"&E% +4 "core" % Ύ . +2 "storage"(]& +3 "core" & 4\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&$'Ϻ +27 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +21 "core" ' + "storage"(%% +5 "core" %O -\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (`% +3 "core" %> \ Va +2 "manipulator"&L% +4 "core" %6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'9& +3 "core" & \ +2 "manipulator"&?% +3 "core" %\ ! D 7 +3 "storage"(G% +3 "core" %b (\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(^( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" & } \ +2 "manipulator"&:& +3 "core" & P  +3 .tElbow.seek 2 + "manipulator"&n( +31 "core" ( + "manipulator"&m& +5 "core" &  !r + "storage"(c& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +98 "core" ' + "storage"(& +4 "core" & S\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'i +291 "core" ' +2 "storage"(1- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +2 "core" & y\ +2 "manipulator"&d& +5 "core" & ( b + .tElbow.seek 2 +2 "manipulator"&I( +4 "core" ( +2 "manipulator"&W& +4 "core" & b +2 "storage"(P& +3 "core" & #\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&K& +5 "storage"(o'X +6 "core" & 4 b + "manipulator"&\ % +4 "core" % .  +3 .tForearm.seek :retract + "manipulator"&g'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &0  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &0 I F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&U'" +99 "core" ' +3 "manipulator"&q& +4 "core" &0 K F +2 "manipulator"&% +4 "core" %& f +2 "collection"'Y& +4 "core" & \ +2 "collection"'V& +5 "core" & \ +3 .tCC.seek :closed + "collection"'y(V +5 "core" & \ +7 & 3 \ $e +10 &U{ \ 7 +55 &| \ L +4 &U \ M +2 &bX \ N + &%V \ M +2 &U \ M + &Y \ M +3 &jX \ N +7 &-W  \ M +9 &Y \ M +9 &!Y \ N +10 &#sX \ \ M +9 &%5U \ M +9 &&T \ M +10 &(X \ M +9 &*{W \ M +10 &,=Z \ M +9 &-W \ M +9 &/U \ M +10 &1Z \ M +9 &3EX \ M +10 &5X \ N +9 &6Y \ M +9 &8T \ M +10 &:LY \ N +9 &<Y \ N +9 &=U \ M +10 &?Y \ N +9 &AUX \ M +10 &CZ  \ M +9 &D] \ N +9 &Fc \ N +10 &HTp \ P +9 &J\ \ U +9 &K  \ Y +10 &M \ Y +9 &OC \ Y +10 &Q \ Y +9 &R \ Z +9 &T \ \ Z +10 &V!t \ / +9 &V/  \ ] +9 ( +2 "collection"'V& +3 "core" &Vh \ I +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"& 1 +60 "core" 1 +3 "manipulator"& % +3 "core" % & ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%\\& +4 "core" &\ +2 "manipulator"&w% +4 "core" %\ W  +2 "storage"(i% +4 "core" %a J I\ +2 "storage"(6. +3 "core" .( +2 "storage"(& +3 "core" & J I \ +2 "storage"(f& +4 "core" & J O \ +2 "manipulator"&k& +3 "core" &- Cs +2 "manipulator"&r% +5 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&0( +159 "core" ( + "manipulator"&p& +4 "core" & /  +2 "storage"(s& +3 "core" & ~ k\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +99 "core" ' + "storage"(l& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +285 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & H J \ +2 "manipulator"&& +4 "core" & I  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&h& +3 "core" &   +2 "storage"(}& +4 "core" & q n \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(|'X +7 "core" & \  +2 "manipulator"&Z% +4 "core" %  b X +2 .tForearm.seek :retract +2 "manipulator"&T'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&e(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"&A& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&5' +101 "core" ' + "manipulator"&& +4 "core" &l   +2 "manipulator"&% +4 "core" % / +2 "processing"%~& +4 "core" &\ +3 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 &8\ $c +9 &T~\ 7 +9 &}\ L +10 &Z\ N +9 &XZ\ N +9 &X\ N +10 &X\ N +9 &Y\ N +10 &bZ\ N +9 &#W\ N +9 &Z\ N +10 &!Y\ N +9 &#iY\ N +9 &%+Y\ N +10 &&X\ N +9 &(Y\ N +10 &*qY\ N +9 &,4Y\ N +9 &-X\ N +10 &/W\ N +9 &1zW\ N +9 &3=X\ M +10 &4X\ N +9 &6W\ N +9 &8W\ N +10 &:C[\ N +9 &<X\ M +10 &=W\ N +9 &?U\ N +9 &ALX\ N +10 &C \\\ N +9 &D]\ O +10 &Fb\ O +9 &HIv\ Q +9 &J\ T +10 &K\ T +9 &M\ T +9 &OI\ T +10 &Q\ \ T +9 &R\ U +9 &T\ U +10 &VN\ U +9 &X\ V +10 &Y{m\ : +9 &Z)p\ O +9 &Z'\ 0 +3 ( + "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&[1 +64 "core" 1 +2 "manipulator"&{% +3 "core" % C +49 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +100 "core" ' + "processing"%2& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ W 7 +2 "storage"(x% +4 "core" %b 7 6\ +2 "storage"(C. +3 "core" .( +2 "storage"(-& +3 "core" & 5 3\ +3 "storage"(H& +2 "manipulator"&b& +8 "core" & 6 3\ + &l -  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'i +2 "core" ( +3 "manipulator"&& +4 "core" &l \\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l {  +2 .tForearm.seek PC +2 "manipulator"&'' +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%/( +86 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +42 "core" ' +295 ( +3 "storage"((& +3 "core" & ^ S 2\ +2 "manipulator"&R& +5 "core" &l >  +2 "manipulator"&F% +3 "core" % # +3 .tForearm.seek :retract + "manipulator"&4'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&.& +3 "core" & \ b +2 "storage"()& +5 "core" & S I \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +90 "core" ' +2 .tHand.open + "manipulator"&+1 +58 "core" 1 +3 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(@' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(_& +5 "core" & \ + "manipulator"&B& +4 "core" &\ U _ +2 .tElbow.seek 2 +2 "manipulator"&E( +4 "core" ( + "manipulator"&]& +5 "core" &\  _ + "storage"(& +5 "core" & \ +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(%' +57 "core" ' +2 "manipulator"&J& +3 "core" &\ : _ +3 "storage"(`& +3 "core" & M T ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&L' +35 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(O'i +27 "core" ' + "manipulator"&$% +4 "core" % > +2 "storage"(9& +3 "core" &  \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&?' +18 "core" ' +2 "manipulator"&G& +3 "core" &\ _ +2 "storage"(& +4 "core" & r r /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +35 "core" ' +2 "storage"(=% +3 "core" %o s m &\ +3 ."downElevator"SE.seek :down +50 "storage"( 'X +52 (!% +4 "core" %k> I 9 @\ Xe +2 "manipulator"&;% +5 "core" %ѕ < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +108 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (m& +3 "core" & ` Q \ +2 "collection"'c& +5 "core" &Vh \ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ # > = +2 "storage"(,% +4 "core" %` U P \ +2 "storage"(7. +2 "core" .( +3 "storage"(1& +4 "core" & U P \ + "storage"(u& +4 "core" & T I ;\ +2 "manipulator"&d& +3 "core" &\ 3 ^ +3 .tElbow.seek 2 + "manipulator"&W( +4 "core" ( +2 "manipulator"&P& +3 "core" & A ^ +2 "storage"(X& +5 "core" & P P \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +101 "core" ' + "storage"(\ & +4 "core" & q n n\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +288 "core" ' +2 "storage"(z- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & + ^ +2 "storage"(N& +3 "core" & M O +\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&<' +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +28 "core" ' +2 "manipulator"&Y% +3 "core" % +2 "storage"(I& +4 "core" & O T\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&o' +16 "core" ' + "manipulator"&g& +4 "core" &\  ^ +2 "storage"(>& +3 "core" & t u \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'B +44 "core" ' +2 "manipulator"&\\& +3 "core" &\  ^ +2 "manipulator"&w% +5 "core" %ѥ y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +149 "core" ( +3 "manipulator"&V& +4 "core" &, ^ Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, A Bj +2 .tForearm.seek CC +2 "manipulator"&f'" +93 "core" ' +2 .tHand.close + "manipulator"&k/ +58 "core" / +2 .tCC.seek :open +2 "collection"'r( +416 "core" ( + "storage"(U& +4 "core" & z\ +2 "storage"(p& +3 "core" & \ +2 "manipulator"&s& +4 "core" &* @\\ +2 "manipulator"&l% +4 "core" % ! ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&"( +155 "core" ( + "manipulator"& & +5 "core" & 8  + "storage"(& +4 "core" & =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&}1 +103 "core" 1 +10 "manipulator"&% +4 "core" % F  +2 "storage"( & +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&Z' +12 "core" ' +2 "manipulator"&0& +3 "core" &   +2 "storage"(t& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +23 "core" ' +2 "storage"(j% +3 "core" %E T\ +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (% +3 "core" %A \ Va +2 "manipulator"&% +4 "core" %ѷ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&~% +3 "core" %\  '  +3 "storage"(|% +3 "core" %U ,\ +2 "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" & h r o\  +2 "manipulator"&{& +5 "core" & l  +2 .tElbow.seek 3 + "manipulator"&Q( +17 "core" ( + "manipulator"&2& +4 "core" & \\ +2 "storage"(& +4 "core" & n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +97 "core" ' + "storage"(C& +5 "core" & z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +279 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" & ,\  +2 "manipulator"&& +4 "core" &  \\ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&5& +3 "core" & % \\ +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&8& + "storage"('X +8 "core" &  \\ + "manipulator"&D% +4 "core" % Ϭ  +2 .tForearm.seek :retract +2 "manipulator"&('\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +156 "core" ( +2 "manipulator"&F& +4 "core" &' >H ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &'& +2 "core" &' / >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'" +99 "core" ' +2 "manipulator"&)& +4 "core" && h =G +2 "manipulator"&a% +3 "core" % +3 "collection"'+& +3 "core" & \ +4 "collection"'&& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & \ +7 &< \ $e +9 &V \ 7 +9 &} \ L +10 &V \ M +9 &pX \ M +10 &2W \ M +9 &T \ M +9 &X \ M +10 &wW \ N +9 &:W \ M +9 &Y \ M +10 &!Z \ M +9 &#Y \ M +10 &%BY \ M +9 &'W \ N +9 &(U \ N +10 &*W \ M +9 &,JU \ M +9 &. T \ M +10 &/W \ N +9 &1W \ N +10 &3RV \ M +9 &5T \ M +9 &6Z \ N +10 &8U \ M +9 &:YY \ N +9 &<Y \ N +10 &=U \ M +9 &?T \ M +9 &AbY \ M +10 &C#Z \ N +9 &DY \ N +10 &F_  \ O +9 &Hbq \ P +9 &J \ U +10 &K  \ Y +9 &M \ \ Y +10 &OO \ Y +55 &Q \ Y +5 &R \ [ +2 &T \ Z + &V.u \ / +2 &V# \ V + ( + &Vr \ N +2 &Vr \ N +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&_1 +62 "core" 1 +4 "manipulator"&B% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&4% +4 "core" %\ # t : +2 "storage"(J% +4 "core" %U 5 5\ +2 "storage"(`. +3 "core" .( +2 "storage"(3& +3 "core" & 5 5\  +2 "storage"($& +4 "core" & 8 6 z\  +2 "manipulator"&9& +4 "core" && { =D +2 "manipulator"&#% +3 "core" %\ # v : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&G( +162 "core" ( +2 "manipulator"&& +3 "core" & = { +2 "storage"(=& +4 "core" & U N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(*& +4 "core" & o =\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +283 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +3 "core" & W K \  +2 "manipulator"&& +3 "core" &  { +3 .tElbow.seek 3 + "manipulator"&E( +3 "core" ( +2 "manipulator"&%& +5 "core" & F { + "storage"(L& +4 "core" & q ] 1\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&c& + "storage"('X +8 "core" & ( { + "manipulator"&,% +4 "core" % ϭ c ; +3 .tForearm.seek :retract + "manipulator"&O'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&1& +3 "core" &o ' E  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &u& +3 "core" &o   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +96 "core" ' + "manipulator"&P& +5 "core" &o   + "manipulator"&X% +5 "core" %   +2 "processing"%M& +3 "core" &\ +3 "processing"%\ & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +9 &2|\ *x +9 &c\ > +10 &pv\ O +9 &3Y\ N +9 &Y\ N +10 &Y\ N +9 &zY\ N +9 &<X\ N +10 &Z\ N +9 &W\ N +10 & Y\ N +9 &"CY\ N +9 &$Y\ N +10 &%X\ N +9 &'Y\ N +9 &)LY\ N +10 &+Y\ N +9 &,Y\ N +10 &.X\ M +9 &0SY\ N +9 &2Y\ N +10 &3W\ N +9 &5W\ N +9 &7[W\ N +10 &9Y\ N +9 &:W\ M +10 &<X\ N +9 &>eX\ M +9 &@&Z\ N +10 &AV\ N +9 &CZ\ N +9 &Ei^\ O +10 &G'j\ P +9 &H\ R +10 &J\ S +9 &La\ T +9 &N$\ T +10 &O\ T +9 &Q\ T +9 &Sg\ U +10 &U*\ T +9 &V\ U +10 &X\ U +9 &Z`\ $n +9 &ZZ\ / +9 ( +3 "processing"%\ & +3 "core" &Z \ + +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&S1 +52 "core" 1 +2 "manipulator"&:% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' +2 "processing"%& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&N% +3 "core" %\  $  +2 "storage"(q% +4 "core" %] 5 5\ +2 "storage"(Y. +3 "core" .( +2 "storage"(I& +4 "core" & 5 5\  +50 "storage"(g& +4 "manipulator"&>& +4 "core" & 5 5\  + &o /  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&\\(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(w'i +3 "core" ( +2 "manipulator"&K& +3 "core" &o +  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +3 "core" &o 1  +2 .tForearm.seek PC +2 "manipulator"&n' +99 "core" ' +2 .tHand.close + "manipulator"&\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&-'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'U +29 "core" ' +2 "manipulator"&+% +3 "core" %ΐ  +2 "storage"(& +4 "core" & 9 8 (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϼ +34 "core" ' +2 "manipulator"&(& +3 "core" & g +2 "storage"(r& +4 "core" & d c >\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'D +40 "core" ' +2 "manipulator"&& +3 "core" & 0 +2 "manipulator"&4% +5 "core" %E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&&( +150 "core" ( +2 "manipulator"&`& +4 "core" &' j >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &'  >L +2 .tForearm.seek CC +2 "manipulator"&$'" +96 "core" ' + .tHand.close +2 "manipulator"&9/ +58 "core" / + .tCC.seek :open +2 "collection"'#( +416 "core" ( +2 "storage"(.& +3 "core" & \  +2 "storage"(& +3 "core" & \  +2 "manipulator"&=& +4 "core" &' > >L +2 "manipulator"&*% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +160 "core" ( +2 "manipulator"&!& +4 "core" & _  + "storage"(;& +5 "core" & t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +96 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +62 "core" 1 +2 "manipulator"&m% +3 "core" % Α  +2 "storage"(c& +3 "core" & ~ | 9\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&,'Ͻ +21 "core" ' +2 "manipulator"&G& +3 "core" &   +2 "storage"(& +5 "core" & A\  +46 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +26 "core" ' +2 "storage"(?% +3 "core" %H l\ +3 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (u% +3 "core" % > "\ V` +2 "manipulator"&E% +4 "core" %z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'X& +3 "core" &  \ +2 "manipulator"&M% +5 "core" %\ \ ,  +2 "storage"(% +4 "core" %V \ + "storage"(O. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(/( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" & Z\ +3 "manipulator"&:& +3 "core" & j  +2 .tElbow.seek 2 +2 "manipulator"&( +28 "core" ( + "manipulator"&N& +5 "core" & t !p + "storage"(q& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +93 "core" ' +2 "storage"(I& +3 "core" & '\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +286 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & \ +2 "manipulator"&K& +4 "core" & L k +2 .tElbow.seek 2 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&d& +3 "core" & y k +2 "storage"(<& +3 "core" & \ +4 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&z& +3 "storage"( 'X +7 "core" & ; k +2 "manipulator"&w% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +147 "core" ( + "manipulator"&& +4 "core" &' ! >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +3 ."downElevator"SE.stop +3 "manipulator"&n& + "storage"(5 +7 "core" &' ( >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'" +96 "core" ' +2 "manipulator"&U& +3 "core" &' 1 >H +2 "manipulator"&\\% +4 "core" %, i +2 "collection"'s& +5 "core" & !\ +3 "collection"'l& +6 "core" & $\ +2 .tCC.seek :closed +3 "collection"'f(V +4 "core" & "\ +5 & "\ 5 +9 &>G{ !\ 1 +9 &iq "\ E +10 &^  \ N +9 &W #\ M +9 &V \ M +10 &VV \ M +9 &U \ M +10 &Y \ M +9 &U \ M +9 &^U \ M +10 &! Y \ M +9 &"W \ N +9 &$W \ M +10 &&fV \ M +9 &((X \ M +10 &)U \ M +9 &+W \ N +9 &-nV \ M +10 &//W \ N +9 &0W \ M +9 &2V \ N +10 &4wV \ M +9 &68X \ M +10 &7T \ M +9 &9W \ M +9 &;~\\ \ M +10 &=@Z \ M +9 &?W \ N +9 &@W \ M +10 &BW \ N +9 &DHY \ M +10 &F] \ N +9 &Gl \ O +9 &I~ \ S +10 &K0 \ X +9 &L \ Y +9 &N \ X +10 &Pr \ Z +9 &R4 \ Z +10 &S \ [ +9 &U \ G +9 &V1 \ *| +10 &Vm \ J +2 ( +2 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&61 +60 "core" 1 +2 "manipulator"&}% +3 "core" % ,  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +101 "core" ' +49 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&k% +4 "core" %\ \   +2 "storage"(j% +4 "core" %] P O %\ +2 "storage"(". +3 "core" .( +2 "storage"(V& +3 "core" & J D \ +2 "storage"(Z& +5 "core" & Q Q V\ + "manipulator"&& +5 "core" && J =G +2 "manipulator"& % +3 "core" %\ \ 1  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&|( +157 "core" ( + "manipulator"&T& +4 "core" &  +2 "storage"(v& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +95 "core" ' +2 "storage"(p& +3 "core" & @\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"('i +285 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" & N P *\ +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" & q r\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & + "manipulator"&C% +4 "core" % m M +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&b& +3 "core" &u 5  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +4 "core" &u ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +106 "core" ' +2 "manipulator"&& +3 "core" &u u  +3 "manipulator"&e% +3 "core" % ^ [ +3 "processing"% & +3 "core" &\ +3 "processing"%D& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(Z +3 "core" &\ +8 &>\ %f +9 &V\ 8 +9 &z\ L +10 &W\ N +9 &sZ\ N +9 &6X\ N +10 &Z\ N +9 &W\ M +10 &{Y\ N +9 &>Y\ N +9 & Z\ N +10 &!\\\ N +9 &#Y\ N +9 &%FY\ N +10 &'U\ N +9 &(W\ N +10 &*X\ N +9 &,MW\ N +9 &.Y\ N +10 &/X\ N +9 &1V\ N +9 &3VW\ N +10 &5W\ M +9 &6W\ N +10 &8U\ N +9 &:^X\ N +9 &< V\ N +10 &=W\ N +9 &?V\ N +9 &AfW\ N +10 &C(W\ N +9 &D\\\ N +10 &Fg\ P +9 &Hcv\ Q +9 &J\ T +10 &K\ T +9 &M\ T +9 &Od\ T +10 &Q%\ T +9 &R\ U +10 &T\ U +9 &Vi\ U +9 &X*\ U +10 &Y{p\ 1 +9 &Z'm\ L +9 &Z%\ 0 +3 ( + "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&{% +3 "core" %  " [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +91 "core" ' +2 "processing"%F& +5 "core" &Z%\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&'% +3 "core" %\  <  +2 "storage"()% +5 "core" %c ( (\ +2 "storage"(+. +3 "core" .( +2 "storage"(& +3 "core" & 2 (\ +3 "storage"((& +3 "manipulator"&r& +4 "core" & ' (\ +2 &u !  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&4(s +52 "core" ( +4 "manipulator"&8& +4 "core" &u   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &u H  +4 .tForearm.seek PC +3 "manipulator"&Q' +94 "core" ' +2 .tHand.close + "manipulator"&-/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +38 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(`'y +45 "core" ' +339 ( + "storage"(3& +4 "core" & W W _\ +2 "manipulator"&_& +5 "core" &u   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +251 "core" ( + "manipulator"&& +5 "core" &  !p +2 "storage"(.& +3 "core" & 8 7\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 .tHand.open + "manipulator"&=1 +63 "core" 1 +2 "storage"(*- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(;' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +4 "core" -' + "storage"(&& +4 "core" & v\ +2 "manipulator"&L& +3 "core" & 6 n +3 .tElbow.seek 2 + "manipulator"&m( +4 "core" ( +2 "manipulator"&c& +3 "core" & G n +2 "storage"(G& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(R' +57 "core" ' + "manipulator"&?& +4 "core" & \ n +2 "storage"(]& +3 "core" & O ; \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&u' +35 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' + "manipulator"&,% +5 "core" %  + + "storage"(X& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&M' +14 "core" ' +2 "manipulator"&& +3 "core" & | m +2 "storage"(O& +4 "core" & I M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +25 "core" ' +2 "storage"(@% +3 "core" %s X ] $\ +3 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (% +3 "core" %> 2 ; e\ Vb +3 "manipulator"&S% +3 "core" %ѷ $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" & M l\ +2 "collection"'q& +4 "core" &Vj  \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&I% +3 "core" %\ # @ +2 "storage"(%% +4 "core" %S W W )\ +2 "storage"(P. +2 "core" .( +2 "storage"(>& +4 "core" & W V b\ +2 "storage"(\ & +3 "core" & Z [ \ +3 "manipulator"&K& +4 "core" & # m + .tElbow.seek 2 +2 "manipulator"&d( +49 "core" ( +3 "manipulator"&<& +4 "core" & . m +2 "storage"(7& +3 "core" & X W V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +98 "core" ' +2 "storage"(w& +4 "core" & r r \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(Y- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  m +2 "storage"(n& +4 "core" & S Y L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'S +27 "core" ' +2 "manipulator"&s% +3 "core" % +2 "storage"(W& +5 "core" & \ \  h\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"& ' +12 "core" ' + "manipulator"&& +3 "core" & 3 m +2 "storage"(#& +5 "core" & n d l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'B +40 "core" ' +2 "manipulator"&0& +3 "core" & F m +2 "manipulator"&l% +5 "core" %Ѿ J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +147 "core" ( + "manipulator"&"& +4 "core" &% ( <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &% = <? +2 .tForearm.seek CC +2 "manipulator"&Z'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(y& +3 "core" & \ +2 "storage"(T& +5 "core" & { '\ + "manipulator"&v& +5 "core" &%  << + "manipulator"&p% +4 "core" % / E +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +154 "core" ( + "manipulator"&^& +4 "core" &   +2 "storage"([& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&t' +108 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&2% +3 "core" %  +2 "storage"(& +4 "core" & t u }\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&C' +14 "core" ' +2 "manipulator"&|& +3 "core" &   +2 "storage"(i& +4 "core" & @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +24 "core" ' +2 "storage"(~% +3 "core" %E "\ +3 ."downElevator"SE.seek :down +4 "storage"(b'X +98 (H% +3 "core" %? R\ Va +2 "manipulator"&% +3 "core" %  +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +4 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'e& +3 "core" & \ +2 "manipulator"& % +4 "core" %\ #  = +2 "storage"(% +4 "core" %a \ +2 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(o( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & g p \  +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&F( +15 "core" ( +2 "manipulator"&'& +3 "core" &  { +2 "storage"()& +4 "core" & N\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +95 "core" ' +2 "storage"(& +3 "core" & Q\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('i +286 "core" ' +2 "storage"(r- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" & \  +2 "manipulator"&8& +3 "core" & { +3 .tElbow.seek 3 + "manipulator"&5( +3 "core" ( +2 "manipulator"&& +4 "core" & r { +2 "storage"(-& +4 "core" & m\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(A'X +8 "core" &  { +2 "manipulator"&% +3 "core" % Ϥ  +3 .tForearm.seek :retract + "manipulator"&3'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &,  Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &+  Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +104 "core" ' + "manipulator"&.& +5 "core" &, & Bg + "manipulator"&4% +5 "core" % M +2 "collection"'=& +3 "core" &  \ +3 "collection"'*& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'$(V +7 "core" & !\ +6 & - &\ $d +9 &V| &\ 7 +10 &| #\ L +9 &T  \ M +9 &hW $\ M +10 &*W &\ M +9 &X \ M +10 &V  \ M +9 &oX  \ M +9 &1W !\ M +10 &W \ M +9 &!U  \ M +9 &#xY \ M +10 &%9X \ M +9 &&W \ M +9 &(W \ M +10 &*W \ M +9 &,AY \ M +10 &.W \ M +9 &/W \ M +9 &1Y \ M +10 &3IW \ M +9 &5 X \ M +9 &6Y \ M +10 &8W \ M +9 &:PY \ N +10 &<Y \ M +9 &=U \ M +9 &?X \ M +10 &AYX \ M +9 &CU \ M +9 &DZ \ N +10 &Fc \ N +9 &HXp \ P +10 &J \ U +9 &K \ X +9 &M \ Y +10 &OG \ Y +9 &Q \ Y +9 &R  \ Z +10 &T \ [ +9 &V&t \ / +10 &V' \ U +8 ( +2 &Vm  \ K +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&&1 +63 "core" 1 +2 "manipulator"&L% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&c'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%G& +3 "core" &\ +2 "manipulator"&9% +4 "core" %\ # 8 A +2 "storage"(?% +4 "core" %c 5 5\ +2 "storage"(]. +3 "core" .( +2 "storage"(`& +3 "core" & 5 5\  +2 "storage"(,& +4 "core" & 5 5\  +2 "manipulator"&X& +4 "core" &( / ?V +2 "manipulator"&!% +3 "core" %\ # Q @ +48 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&O& +3 "core" & B q +2 "storage"(@& +5 "core" & P P \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +104 "core" ' +2 "storage"(& +3 "core" & f\  +3 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" & I W\  +2 "manipulator"&& +4 "core" & E q +2 .tElbow.seek 3 +2 "manipulator"&m( +4 "core" ( +2 "manipulator"&R& +3 "core" &  q +2 "storage"(u& +3 "core" & q q\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(I'X +9 "core" & ( q + "manipulator"&%% +5 "core" % ϳ   +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&>& +3 "core" &v M  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &v R  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +94 "core" ' + "manipulator"&<& +4 "core" &v m  +2 "manipulator"&7% +4 "core" %   +2 "processing"%B& +4 "core" &\ +3 "processing"%w& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%1(Z +4 "core" &\ +7 &9\ $d +10 &U~\ 7 +9 &~{\ K +9 &W\ N +10 &^Z\ N +9 & Y\ N +9 &Y\ M +10 &X\ N +9 &eZ\ N +9 &(X\ N +10 &Y\ M +9 &!X\ N +10 &#nZ\ N +9 &%1Y\ M +9 &&Z\ N +10 &(W\ N +9 &*vY\ N +10 &,8\\\ N +9 &-W\ N +9 &/X\ N +10 &1Y\ M +9 &3@Y\ N +9 &5[\ N +10 &6X\ M +9 &8X\ N +10 &:IW\ M +9 &<\ W\ N +9 &=T\ N +10 &?W\ N +9 &APW\ N +9 &CZ\ N +10 &D]\ N +9 &Fd\ O +10 &HM{\ Q +9 &J\ T +9 &K\ T +10 &M\ S +9 &OM\ T +9 &Q\ T +10 &R\ T +9 &T\ U +10 &VS\ U +9 &X\ U +9 &Y{o\ 9 +10 &Z+\ M +9 &Z!\ - +2 ( +2 "processing"%w& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&E1 +62 "core" 1 +2 "manipulator"&:% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +91 "core" ' + "processing"%& +4 "core" &Z\ - +4 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +4 "core" %\    +2 "storage"(U% +3 "core" %c 2 2 m\ +2 "storage"(s. +4 "core" .( + "storage"(W& +4 "core" & ( (\  +2 "storage"(& +3 "manipulator"&#& +6 "core" & ( 'b\  +2 &v   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(0'i + "manipulator"&l(s +6 "core" ( +2 "manipulator"&z& +3 "core" &v   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &v   +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&g/ +56 "core" / +2 .tPC.seek :open +47 "processing"% ( +43 "core" ' +2 "storage"(\\- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'y +47 "core" ' +219 "Can"R\ R +115 "core" ( + "storage"(V& +4 "core" & K Q \  +2 "manipulator"&6& +4 "core" &v  +2 "manipulator"&% +3 "core" % 3  +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&k( +256 "core" ( + "manipulator"&f& +5 "core" &  +2 "storage"(y& +3 "core" & N J \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +91 "core" ' +2 .tHand.open + "manipulator"&v1 +63 "core" 1 +2 "storage"(p- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(^'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +3 "core" -' +2 "storage"(j& +3 "core" & \  +2 "manipulator"&& +4 "core" & 8  +2 .tElbow.seek 3 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&& +3 "core" & d  +2 "storage"(|& +4 "core" & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(~' +56 "core" ' +2 "manipulator"& & +3 "core" &   +3 "storage"(H& +3 "core" & q q\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(t'i +25 "core" ' +2 "manipulator"&C% +3 "core" %Ή \ +2 "storage"(e& +4 "core" & J I ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"& 'ϵ +25 "core" ' +3 "manipulator"&& +3 "core" & c  +3 "storage"(h& +4 "core" & t s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +42 "core" ' +2 "storage"(% +3 "core" %q p r P\ +3 ."downElevator"SE.seek :down +4 "storage"(b'X +98 (/% +3 "core" %E 3 9 Y\ Xf +2 "manipulator"&% +4 "core" %l N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +96 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +3 "core" & j\  +2 "collection"')& +4 "core" &Vn \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ c  +2 "storage"(% +4 "core" %S b d\ +2 "storage"(. +2 "core" .( +2 "storage"(r& +4 "core" & ] b .\  +2 "storage"(D& +4 "core" & t i \  +2 "manipulator"&8& +3 "core" & S  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&-& +3 "core" & )  +2 "storage"(& +4 "core" & i v \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +94 "core" ' +3 "storage"(& +3 "core" & m u\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +59 .tSE.seek :beamBreak +3 "storage"(F'i +283 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &   +2 "storage"(Q& +3 "core" & q m P\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&('} +27 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(4'U +39 "core" ' +2 "manipulator"&=% +3 "core" %Έ  ~ +2 "storage"(5& +4 "core" & J N \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&A'ϴ +12 "core" ' +3 "manipulator"&3& +3 "core" & y  +2 "storage"( & +5 "core" & q r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(L'D +40 "core" ' + "manipulator"&G& +4 "core" & W  +2 "manipulator"&9% +3 "core" %R  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +155 "core" ( + "manipulator"&]& +4 "core" &% % <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &% 3 <9 +2 .tForearm.seek CC +2 "manipulator"&,'" +96 "core" ' +2 .tHand.close + "manipulator"&X/ +64 "core" / +2 .tCC.seek :open +2 "collection"'!( +416 "core" ( + "storage"(& +5 "core" & K\  + "storage"(O& +4 "core" & \  +2 "manipulator"&@& +4 "core" &% 4 <9 +2 "manipulator"&% +4 "core" %  R  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +162 "core" ( +2 "manipulator"&& +3 "core" & d z +2 "storage"(S& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&'} +102 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +60 "core" 1 +2 "manipulator"&N% +3 "core" % Ά  +2 "storage"(q& +4 "core" & 5\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&%'ϲ +12 "core" ' +2 "manipulator"&& +3 "core" &  z +2 "storage"(J& +3 "core" & -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +24 "core" ' + "storage"(M% +5 "core" %I k\ +2 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (\ % +3 "core" %= \ V` +2 "manipulator"&m% +4 "core" %M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" & \ +2 "manipulator"&B% +4 "core" %\    +2 "storage"(I% +47 "core" %a :\ +5 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" & }  D\ +2 "manipulator"&:& +3 "core" &  z +3 .tElbow.seek 2 + "manipulator"&( +36 "core" ( + "manipulator"&n& +3 "core" & !r +3 "storage"(U& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +101 "core" ' + "storage"(W& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" & \ +2 "manipulator"&z& +4 "core" & " o +2 .tElbow.seek 2 + "manipulator"&d( +5 "core" ( + "manipulator"&K& +4 "core" & o +2 "storage"(g& +3 "core" & ;\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(1'X +8 "core" &  o +2 "manipulator"&0% +4 "core" %  ! P +2 .tForearm.seek :retract +2 "manipulator"&V'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +148 "core" ( +2 "manipulator"&& +3 "core" ' +2 &( 1 ?P + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +4 && +3 "core" &( - ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +99 "core" ' +4 "manipulator"&y& +3 "core" &' , >O +2 "manipulator"&l% +5 "core" % - +2 "collection"'v& +3 "core" & 9\ +3 "collection"'p& +5 "core" & 8\ +2 .tCC.seek :closed +2 "collection"'Z(V +4 "core" & 8\ +8 &< 8\ $e +9 &W 5\ 7 +9 &{ 4\ L +10 &T :\ M +9 &iW :\ M +10 &,V 9\ M +9 &X 9\ M +9 &W 3\ M +10 &qZ &\ M +9 &3W 0\ M +9 &W +\ M +10 &!Y  \ M +9 &#zW  \ M +10 &%<Y )\ M +9 &&U )\ M +9 &(V "\ M +10 &*W  \ M +9 &,DV \ M +9 &.Y  \ M +10 &/V  \ M +9 &1X \ M +10 &3KW \ M +9 &5 W !\ M +9 &6W  \ M +10 &8V !\ M +9 &:SX \ M +9 &<Y  \ M +10 &=W  \ M +9 &?T !\ M +10 &A[W !\ M +9 &CX +\ M +9 &DY \ N +10 &F_ \ N +9 &HZn \ P +9 &J  \ T +10 &K \ Y +9 &M  \ Y +10 &OI \ Y +9 &Q \ X +9 &R \ Z +10 &T \ Z +9 &V)v \ / +9 &V$ \ T +9 ( +3 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&j1 +3 "core" &Vk \ L +53 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%|& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ # * ; +2 "storage"( % +3 "core" %U 2 2 h\ +2 "storage"(H. +3 "core" .( +2 "storage"(C& +3 "core" & 6 3\ +2 "storage"(e& +4 "core" & 6 3\ +2 "manipulator"&"& +3 "core" && =D +2 "manipulator"&% +4 "core" %\ # A ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&^( +159 "core" ( +2 "manipulator"&h& +3 "core" & _ +2 "storage"(& +3 "core" & c d I\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +139 "core" ' +5 "storage"(T& +3 "core" & s u d\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +10 .tSE.seek :beamBreak + "storage"(['i +276 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & L K $\ +2 "manipulator"&i& +5 "core" & _ +2 .tElbow.seek 2 + "manipulator"&2( +4 "core" ( +2 "manipulator"&~& +3 "core" & +2 "storage"(& +4 "core" & r r\ +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"('X +8 "core" &  + "manipulator"&% +5 "core" %  $ r +2 .tForearm.seek :retract + "manipulator"&t'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&r& +3 "core" &n %  % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +4 "core" &n  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&8' +92 "core" ' +2 "manipulator"&-& +3 "core" &n  % +3 "manipulator"&% +3 "core" %  B +2 "processing"%}& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(Z +5 "core" &\ +7 &8\ $c +9 &T\ 7 +9 &}\ L +10 &Y\ N +9 &_Z\ N +10 &!Y\ N +9 &X\ N +9 &W\ N +10 &hW\ N +9 &+W\ N +10 &W\ N +9 &!X\ N +9 &#qY\ N +10 &%3Y\ N +9 &&U\ N +9 &(X\ N +10 &*yW\ N +9 &,:[\ N +9 &-Y\ N +10 &/Z\ N +9 &1Z\ N +10 &3DW\ M +9 &5W\ N +9 &6U\ N +10 &8W\ M +9 &:JW\ N +10 &< W\ N +9 &=U\ M +9 &?V\ N +10 &ASW\ N +9 &C\\\ N +9 &D\\\ O +10 &Fb\ O +9 &HOx\ R +9 &J \ S +10 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ T +9 &R\ U +10 &T\ T +9 &VV\ U +9 &X\ U +10 &Yzo\ 9 +9 &Z*|\ L +10 &Z#\ . +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&{% +3 "core" % B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +91 "core" ' +2 "processing"%& +4 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Q% +3 "core" %\   +2 "storage"(.% +4 "core" %U 1 '\ +2 "storage"(=. +2 "core" .( +2 "storage"(5& +4 "core" & , (\ +2 "storage"(3& +3 "manipulator"& & +8 "core" & , 4 (\ + &n  % +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&G(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'i +3 "core" ( +2 "manipulator"&x& +3 "core" &n  % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &n ( % +3 .tForearm.seek PC +2 "manipulator"&F' +93 "core" ' + .tHand.close +2 "manipulator"&(/ +56 "core" / +2 .tPC.seek :open +2 "processing"%A( +96 "core" ' +2 "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'y +45 "core" ' +281 ( +2 "storage"(`& +3 "core" & Y d ;\ +2 "manipulator"&&& +44 "core" &n $ % +9 "manipulator"&a% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?( +254 "core" ( + "manipulator"&$& +5 "core" & $ o + "storage"(& +5 "core" & H I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +94 "core" ' +2 .tHand.open + "manipulator"&@1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(*& +4 "core" & \ +2 "manipulator"&u& +4 "core" &  n +2 .tElbow.seek 2 + "manipulator"&N( +4 "core" ( +2 "manipulator"&q& +3 "core" &  n +2 "storage"(& +5 "core" & >\ +2 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +62 "core" ' + "manipulator"&_& +4 "core" &  n +2 "storage"(\ & +4 "core" & R Z \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&m' +34 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&7% +3 "core" %  +2 "storage"(%& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&B' +14 "core" ' +2 "manipulator"&I& +3 "core" & n +3 "storage"(L& +3 "core" & Z e\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 "storage"(;% +3 "core" %r n _ &\ +3 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (o% +4 "core" %{D 4 3 B\ Xg +2 "manipulator"&E% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (n& +3 "core" & U U "\ +2 "collection"'U& +4 "core" &Vk \ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&W% +3 "core" %\  7 +2 "storage"(R% +5 "core" %_ W W M\ + "storage"(<. +4 "core" .( + "storage"(& +4 "core" & R T /\ +2 "storage"(#& +3 "core" & T Q V\ +2 "manipulator"&z& +4 "core" & * n +2 .tElbow.seek 2 +2 "manipulator"&K( +4 "core" ( + "manipulator"&g& +4 "core" & 3 n +2 "storage"(P& +3 "core" & V S N\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +100 "core" ' +2 "storage"(0& +3 "core" & q p O\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  n +2 "storage"(& +4 "core" & H D \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +46 .tForearm.seek 2 +4 "manipulator"&w' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(l'S +31 "core" ' + "manipulator"&v% +5 "core" % + "storage"(d& +4 "core" & \ \ Q\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&1' +19 "core" ' + "manipulator"&V& +4 "core" & ` m +2 "storage"(!& +3 "core" & p m o\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' +2 "manipulator"&|& +3 "core" & m +2 "manipulator"&% +4 "core" %ъ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +149 "core" ( +2 "manipulator"&C& +3 "core" &+ 3 Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &+  Ae +3 .tForearm.seek CC + "manipulator"&e'" +94 "core" ' +2 .tHand.close +2 "manipulator"&"/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +3 "storage"(f& +3 "core" & I\ +2 "storage"(h& +4 "core" & \ +2 "manipulator"&& +3 "core" &* 9 @X +2 "manipulator"&6% +4 "core" %    +3 .tForearm.seek :retract + "manipulator"&T'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +160 "core" ( +2 "manipulator"&/& +3 "core" & "  +2 "storage"(& +5 "core" & z \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&i' +105 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&'% +5 "core" % V + "storage"()& +4 "core" & h \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +17 "core" ' + "manipulator"&^& +5 "core" & Y  + "storage"(k& +4 "core" & ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +32 "core" ' +2 "storage"( % +3 "core" %F \ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (D% +3 "core" %> \ U` +2 "manipulator"&2% +3 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & 8\ +2 "manipulator"&}% +3 "core" %\  |  +2 "storage"(% +4 "core" %^ J\ +2 "storage"(t. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & ~ '\  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 +45 "manipulator"&( +21 "core" ( + "manipulator"&Q& +5 "core" & u b +2 "storage"(.& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +93 "core" ' +2 "storage"(5& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +289 "core" ' +3 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ~ \  +2 "manipulator"&x& +4 "core" &  b +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&8& +3 "core" & I b +2 "storage"((& +4 "core" & 9\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&4'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& +5 "storage"(b'X +6 "core" & b + "manipulator"&9% +4 "core" % ϯ ; = +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +158 "core" ( +2 "manipulator"&a& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 "core" &+ U Aa +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &+ $ Aa +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'" +103 "core" ' +3 "manipulator"&& +3 "core" &+  Aa +2 "manipulator"&G% +5 "core" %  ^ +2 "collection"'@& +3 "core" & :\ +3 "collection"'& +5 "core" & 6\ +2 .tCC.seek :closed +2 "collection"',(V +5 "core" & 9\ +6 &3 7\ $d +9 &V| 7\ 7 +9 &| 8\ L +10 &V :\ M +9 &gW 9\ M +9 &*W 8\ M +10 &W =\ M +9 &W >\ M +10 &oU @\ M +9 &1W >\ M +9 &W 8\ M +10 &!W :\ M +9 &#wV 8\ M +9 &%9W 8\ M +10 &&V 8\ M +9 &(U /\ M +10 &*V 7\ M +9 &,AX 3\ M +9 &.V -\ M +10 &/V 4\ M +9 &1W 7\ M +9 &3IV 8\ M +10 &5 W :\ M +9 &6W 7\ M +10 &8U 6\ M +9 &:PX 4\ M +9 &<U 0\ M +10 &=T 7\ M +9 &?V 2\ M +9 &AYS 6\ M +10 &CW 4\ M +9 &DU +\ N +10 &F_ ,\ N +9 &HXo +\ P +9 &J ,\ U +10 &K 3\ Y +9 &M 4\ Z +9 &OD 3\ Z +14 &Q .\ Y +5 &R *\ [ +11 &T 4\ [\ +8 &V%v 4\ / +9 &V) 1\ [ +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&*1 +4 "core" &V` 3\ K +52 1 +3 "manipulator"&u% +3 "core" %   [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +3 "core" &i\ +2 "manipulator"&X% +4 "core" %\    +2 "storage"(_% +4 "core" %T K N *\ +2 "storage"(\ . +2 "core" .( +2 "storage"(]& +4 "core" & P P P\  +2 "storage"(7& +3 "core" & N K K\  +2 "manipulator"&%& +4 "core" &* N Aa +2 "manipulator"&% +5 "core" %\  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&I( +162 "core" ( + "manipulator"&L& +5 "core" &  s + "storage"(;& +4 "core" & n 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +94 "core" ' +2 "storage"(O& +4 "core" & +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +283 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" & h q V\  +46 "manipulator"&J& +7 "core" & s +2 .tElbow.seek 3 +2 "manipulator"&N( +4 "core" ( + "manipulator"&M& +4 "core" &  s +2 "storage"(m& +4 "core" & Z W\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&B'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +2 "storage"(W'X +9 "core" &  s + "manipulator"&R% +4 "core" % Ϫ O 9 +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&<(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&& +3 "core" &l  |  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&z' +92 "core" ' +2 "manipulator"&g& +3 "core" &l b  +2 "manipulator"&P% +4 "core" % ( ) +2 "processing"%& +4 "core" &\ +3 "processing"%0& +5 "core" &o\ +2 .tPC.seek :closed +2 "processing"%>(Z +5 "core" &t\ +6 &Do\ %g +10 &X=\ 8 +9 &|\ M +9 &Z\ N +10 &~Zo\ N +9 &?\\i\ N +10 &X.\ N +9 &Vi\ N +9 &Yl\ N +10 &HW\ N +9 & \ Y\ N +9 &!W\ N +10 &#X\ N +9 &%PY\ N +10 &'Y_\ M +9 &(Y\ N +9 &*Y\ N +10 &,XX\ N +10 &.X\ N +8 &/Z\ N +10 &1W\ M +9 &3`X\ N +10 &5#W\ M +9 &6X\ N +9 &8W\ M +10 &:gW\ N +9 &<+V\ M +9 &=W\ N +10 &?V\ M +9 &ApX\ N +10 &C2Z\ N +9 &D]\ N +9 &Fe\ O +10 &Hl{\ R +9 &J*\ S +9 &K\ T +10 &M\ T +9 &Om\ T +10 &Q/\ T +9 &R\ T +9 &T\ T +10 &Vt\ T +9 &X4\ U +9 &Y{n\ , +10 &Z'[\ + +9 ( + &Z\ % +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&c1 +63 "core" 1 +2 "manipulator"&:% +3 "core" % @ ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' + "processing"%& +4 "core" &Z\ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(y% +4 "core" %^ J I \ +2 "storage"(v. +3 "core" .( +2 "storage"(d& +3 "core" & O J J\  +3 "storage"(V& +2 "manipulator"&!& +7 "core" & O K 9\  + &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&|(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&Y& +5 "core" &l   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &l +  +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&w/ +55 "core" / +2 .tPC.seek :open +2 "processing"%1( +94 "core" ' +2 "storage"(l- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(C'y +46 "core" ' +282 ( + "storage"(p& +4 "core" & Z g 2\  +2 "manipulator"&j& +4 "core" &l G  +2 "manipulator"&\\% +3 "core" % 1  +3 .tForearm.seek :retract + "manipulator"&"'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +258 "core" ( +2 "manipulator"&Z& +3 "core" &\  Z +2 "storage"(f& +50 "core" & V W \  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(6- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(H& +4 "core" & \  +2 "manipulator"&& +3 "core" &\ ( T +2 .tElbow.seek 3 +2 "manipulator"&'( +26 "core" ( +2 "manipulator"&)& +3 "core" & {  +2 "storage"(^& +4 "core" & `\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' +2 "manipulator"&T& +3 "core" & Z  +2 "storage"(D& +4 "core" & q r \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&2'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(i'i +25 "core" ' + "manipulator"&% +5 "core" %΋  +2 "storage"(& +3 "core" & _ Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&}'Ϸ +20 "core" ' +2 "manipulator"&& +3 "core" & V  +2 "storage"(t& +5 "core" & n } O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' + "storage"([% +5 "core" %q 4\ +2 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (% +4 "core" %D M O @\ We +2 "manipulator"& % +4 "core" %. { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +2 "core" & f N\  +2 "collection"'.& +4 "core" &Va (\ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&5% +3 "core" %\    +3 "storage"(~% +4 "core" %b q q\ + "storage"(-. +4 "core" .( + "storage"(3& +4 "core" & a Z 2\  +2 "storage"(& +3 "core" & f g >\  +2 "manipulator"&x& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&8( +4 "core" ( + "manipulator"&(& +4 "core" &   +2 "storage"(& +4 "core" & g g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +87 "core" ' +2 "storage"(9& +3 "core" & #\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &   +2 "storage"(F& +3 "core" & q q a\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(G'U +32 "core" ' +2 "manipulator"&% +50 "core" %Α  +3 "storage"(@& +3 "core" & V L .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&b'Ͻ +14 "core" ' +2 "manipulator"&`& +3 "core" &   +3 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(u'D +42 "core" ' + "manipulator"&& +4 "core" & ^  +2 "manipulator"&X% +4 "core" %X v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&\ ( +153 "core" ( +2 "manipulator"&]& +3 "core" &$ V ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &$ 9 ;3 +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&%/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"($& +4 "core" & \  +2 "storage"(L& +4 "core" & } 5\  +2 "manipulator"&;& +3 "core" &%  ;3 +2 "manipulator"&O% +5 "core" % -  " +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&q( +155 "core" ( + "manipulator"&o& +5 "core" &  + "storage"(E& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&J'} +92 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +56 "core" 1 +2 "manipulator"&n% +3 "core" % ΋ ! +2 "storage"(U& +4 "core" & 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&R'Ϸ +20 "core" ' +2 "manipulator"&I& +5 "core" &  + "storage"(?& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +34 "core" ' +2 "storage"(B% +3 "core" %F \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (#% +3 "core" %A ;\ Va +2 "manipulator"&N% +4 "core" %M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'P& +3 "core" & 6\ +2 "manipulator"&% +3 "core" %\  <  +2 "storage"(W% +4 "core" %b b\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(A( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" & { \ +2 "manipulator"&:& +4 "core" & q  +2 .tElbow.seek 2 +2 "manipulator"&( +36 "core" ( + "manipulator"&& +4 "core" &  # +2 "storage"(y& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +103 "core" ' +2 "storage"(0& +3 "core" & *\ +3 .tSE.reconfigure :pick +45 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(d'i +289 "core" ' +3 "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +3 "core" & \ +2 "manipulator"&Y& +3 "core" &  # +3 .tElbow.seek 2 +2 "manipulator"&K( +22 "core" ( +2 "manipulator"&z& +3 "core" & f ~ +2 "storage"(w& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&l' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'X +9 "core" &  ~ + "manipulator"&% +4 "core" %   N +2 .tForearm.seek :retract +2 "manipulator"&p'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&\\& +4 "core" &&   =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Z'" +95 "core" ' + "manipulator"&f& +4 "core" &&  =E +2 "manipulator"&|% +4 "core" %)  +3 "collection"'& +3 "core" & E\ +3 "collection"'6& +5 "core" & L\ +2 .tCC.seek :closed +2 "collection"'e(V +5 "core" & 7\  +8 &0{ >\ +z +9 &d A\ > +10 &}r C\ N +9 &BV B\ M +9 &W ;\ M +10 &U 5\ M +9 &U @\ M +9 &IU 4\ M +10 &\ U 4\ M +9 &U 6\ M +10 & W 9\ M +9 &"QT 9\ M +9 &$U :\ M +10 &%W 6\ M +9 &'V 8\ M +9 &)ZR ;\ M +10 &+U 7\ M +9 &,V >\ M +10 &.W 8\ M +9 &0aV 8\ M +9 &2#U 7\ M +10 &3V 8\ M +9 &5V :\ M +9 &7hW 7\ M +10 &9*V <\ M +9 &:Y ;\ M +10 &<Y ;\ N +9 &>pW 8\ M +9 &@1V 3\ N +10 &AV 7\ M +9 &CW 6\ N +9 &EwZ 9\ N +10 &G5c <\ O +9 &Hr 8\ Q +10 &J 7\ V +9 &L` 8\ X +9 &N! :\ X +10 &O 9\ Z +9 &Q 9\ Y +9 &Sa 3\ [ +10 &U# 7\ [ +9 &VoC 5\ 1 +10 &Vu 4\ M +5 ( +2 "collection"'6& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&H1 +2 "core" &Vk <\ M +59 1 +3 "manipulator"&% +3 "core" % ) A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%"& +5 "core" &v\ + "manipulator"&^% +4 "core" %\  6  +2 "storage"(T% +3 "core" %c : '\ +2 "storage"(D. +3 "core" .( +2 "storage"(C& +3 "core" & ' (\ +2 "storage"(/& +4 "core" & ' '\ +2 "manipulator"&& +3 "core" &&  =E +2 "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +168 "core" ( +2 "manipulator"&t& +3 "core" &  | +2 "storage"( & +3 "core" & r r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +96 "core" ' + "storage"(h& +4 "core" & 4\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & c d\ +2 "manipulator"&k& +4 "core" & ( | +2 .tElbow.seek 2 + "manipulator"&'( +4 "core" ( + "manipulator"& & +4 "core" & _ | +2 "storage"(2& +4 "core" & s q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +49 .tHand.close +2 "manipulator"&Q/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(5'X +9 "core" & K | + "manipulator"&~% +4 "core" %   S +3 .tForearm.seek :retract + "manipulator"&i'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&-(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( + "manipulator"&3& +4 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&x' +95 "core" ' +2 "manipulator"&(& +3 "core" &n x +2 "manipulator"&% +4 "core" %  8 +2 "processing"%& +4 "core" &h\ +2 "processing"%9& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &\ +7 &9\ $d +10 &U}\ 7 +9 &~y\ K +9 &Y5\ N +10 &\\X\ N +9 &X\ N +9 &X\ M +10 &W\ N +9 &eV\ N +10 &(W2\ M +9 &Y\ N +9 &!X5\ N +10 &#l\\g\ N +9 &%0Y\ M +9 &&X^\ N +10 &(X&\ M +9 &*tYG\ N +10 &,7X*\ N +9 &-\\\ N +9 &/W\ M +10 &1}W2\ N +9 &3?V+\ N +10 &5WV\ M +9 &6X\ N +9 &8Z\ N +10 &:GZ\ N +9 &<\ U\ M +9 &=W\ N +10 &?Z\ N +9 &AOZ\ N +10 &C\\\ N +9 &D]\ N +9 &Ff\ O +10 &HLu\ Q +9 &J\ T +9 &K\ T +10 &M\ S +9 &OL\ T +10 &Q\ T +9 &R\ U +9 &T\ T +10 &VR\ U +9 &X\ U +9 &Y{n\ 8 +10 &Z-\ K +9 &Z\ * +2 ( +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&{% +3 "core" %  8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +91 "core" ' +2 "processing"%a& +3 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&F% +3 "core" %\    +2 "storage"(% +5 "core" %U O K W\ + "storage"(. +3 "core" .( +2 "storage"(@& +3 "core" & P P O\ +3 "storage"(`& +2 "manipulator"&& +7 "core" & I K #\ + &o  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'i +2 "core" ( + "manipulator"&+& +5 "core" &o 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &o  +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%b( +88 "core" ' +2 "storage"(G- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'y +47 "core" ' +287 ( + "storage"(7& +4 "core" & Z g c\ +2 "manipulator"&*& +3 "core" &o  +2 "manipulator"&4% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&_( +248 "core" ( +2 "manipulator"&,& +3 "core" &  g +2 "storage"($& +3 "core" & ( ' \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +97 "core" ' +2 .tHand.open + "manipulator"&;1 +57 "core" 1 +2 "storage"(O- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +70 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +5 "core" -' +2 "storage"(\ & +4 "core" & e\ +2 "manipulator"&m& +4 "core" &  d +2 .tElbow.seek 2 +2 "manipulator"&n( +4 "core" ( +2 "manipulator"&U& +3 "core" & d +2 "storage"(I& +4 "core" & \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +57 "core" ' +2 "manipulator"&&& +3 "core" & d d +2 "storage"(#& +5 "core" & R ] 3\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&N' +35 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(J'i +27 "core" ' +2 "manipulator"&R% +3 "core" % n +2 "storage"(P& +4 "core" & O \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&W& +5 "core" &  d + "storage"(& +5 "core" & p o w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +29 "core" ' +2 "storage"(S% +3 "core" %r w t \ \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +3 "core" %}A ( 1 (\ Wc +2 "manipulator"&c% +3 "core" %ќ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & p f \ +2 "collection"'y& +3 "core" &Vk 0\ M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&0% +3 "core" %\  )  +3 "storage"(M% +3 "core" %a q g 8\ +2 "storage"(g. +3 "core" .( +2 "storage"(!& +3 "core" & d n\ +2 "storage"(V& +4 "core" & d d\ +2 "manipulator"&Y& +3 "core" &  d +3 .tElbow.seek 2 + "manipulator"&z( +4 "core" ( +2 "manipulator"&w& +3 "core" & \ d +2 "storage"(<& +5 "core" & c c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +92 "core" ' +2 "storage"(& +3 "core" & t u @\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(v- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & d +2 "storage"(& +4 "core" & V W \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&d' +35 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(|'S +31 "core" ' + "manipulator"&% +5 "core" % + "storage"(K& +4 "core" & \ \ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&>' +12 "core" ' +2 "manipulator"&p& +3 "core" & / c +2 "storage"(& +4 "core" & g q t\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +47 "manipulator"&H'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +46 "core" ' + "manipulator"&"& +5 "core" & c + "manipulator"&^% +4 "core" %Ѹ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&D( +151 "core" ( +2 "manipulator"&C& +3 "core" &/ c E~ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &/ R E~ +3 .tForearm.seek CC + "manipulator"&/'" +102 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +3 .tCC.seek :open + "collection"'( +418 "core" ( +2 "storage"(Z& +4 "core" & s @\ +2 "storage"(t& +3 "core" & q t +\ +2 "manipulator"& & +4 "core" &\ +  Ae +2 "manipulator"&h% +4 "core" % 4 ? +2 .tForearm.seek :retract +2 "manipulator"&j'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)( +158 "core" ( +2 "manipulator"&& +3 "core" & ? \ +2 "storage"( & +4 "core" & J\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&k' +105 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&21 +61 "core" 1 +2 "manipulator"&Q% +4 "core" % . +2 "storage"(.& +3 "core" & y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&~' +13 "core" ' + "manipulator"&& +5 "core" & L \ + "storage"([& +5 "core" & ]\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"(}% +4 "core" %E _\ +2 ."downElevator"SE.seek :down +5 "storage"(3'X +99 (% +4 "core" %A \ V` +2 "manipulator"&'% +3 "core" %ѐ $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & 0\ +2 "manipulator"&% +5 "core" %\ # , @ + "storage"(5% +4 "core" %b \ +2 "storage"(i. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(1( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & O ^\  +2 "manipulator"&{& +3 "core" &  \ +3 .tElbow.seek 3 + "manipulator"&a( +14 "core" ( +2 "manipulator"&F& +3 "core" & x  +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(@& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" & Z\  +2 "manipulator"&+& +3 "core" & $  +3 .tElbow.seek 3 + "manipulator"&8( +48 "core" ( +5 "manipulator"&x& +4 "core" & 1  +2 "storage"( & +4 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&G'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(r'X +7 "core" &   +3 "manipulator"&X% +3 "core" % Ϣ y p +3 .tForearm.seek :retract + "manipulator"&7'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +152 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( + "manipulator"&4& +5 "core" &- Y Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  Cq +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +105 "core" ' +3 "manipulator"&$& +3 "core" &- 9 Cq +3 "manipulator"&% +3 "core" %" +2 "collection"';& +5 "core" & E\ +2 "collection"'O& +5 "core" & F\ +2 .tCC.seek :closed +2 "collection"'%(V +5 "core" & E\  +9 &1| H\ *z +9 &e D\ ? +10 &p A\ N +9 &HR C\ M +10 &\ W G\ M +9 &V B\ M +9 &U A\ M +10 &QV C\ M +9 &V 9\ M +9 &U 8\ M +10 & W >\ M +9 &"XV B\ M +9 &$V ?\ M +10 &%W 6\ M +9 &'U >\ M +10 &)_U @\ M +9 &+ W 6\ N +9 &,U @\ M +10 &.V ;\ M +9 &0gV 7\ M +9 &2*W 7\ M +10 &3W 8\ M +9 &5U 9\ M +10 &7nW @\ N +9 &92U >\ M +9 &:W >\ M +10 &<U =\ M +9 &>xY ;\ M +9 &@:U <\ M +10 &AV C\ M +9 &CT 7\ M +10 &EY @\ M +9 &G;c :\ O +9 &Hu 8\ Q +10 &J @\ W +9 &Le @\ Y +9 &N' :\ Y +10 &O ;\ Y +9 &Q 8\ Y +10 &Sh 5\ [ +9 &U) 6\ [ +9 &VuD @\ - +10 &V <\ R +5 ( +2 "collection"'O& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&1 +4 "core" &Vu =\ R +52 1 +3 "manipulator"&\ % +4 "core" % !  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%U& +3 "core" &s\ +3 "manipulator"&I% +4 "core" %\ # > < + "storage"(&% +4 "core" %] 4  \ +2 "storage"(#. +3 "core" .( + "storage"(]& +5 "core" &   \  + "storage"(R& +4 "core" &  /\  +2 "manipulator"&P& +4 "core" & (  ?V +2 "manipulator"&o% +3 "core" %\ # < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +166 "core" ( +2 "manipulator"&& +3 "core" &  z +2 "storage"(_& +4 "core" & O O M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +99 "core" ' +2 "storage"(L& +3 "core" & n s 6\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" & U L 0\  +2 "manipulator"&?& +3 "core" & Y z +2 .tElbow.seek 3 +2 "manipulator"&n( +4 "core" ( +2 "manipulator"&B& +3 "core" & G z +2 "storage"(N& +4 "core" & O P [\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(0'X +8 "core" & z +2 "manipulator"&M% +3 "core" % ϱ  +3 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek PC +49 "manipulator"&!(s +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +135 "core" ( +4 "manipulator"&J& +3 "core" &y P  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" &y   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y' +98 "core" ' + "manipulator"&w& +4 "core" &y   +2 "manipulator"&<% +4 "core" % + +3 "processing"%u& +3 "core" &\ +3 "processing"%& +5 "core" &K\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +6 &6?\ $e +9 &Vx\ 7 +10 &}\ L +9 &Y\ N +10 &iY\ N +9 &+W\ N +9 &W\ N +10 &W\ M +9 &qX\ N +10 &3W\ N +9 &X\ N +9 &!W\ N +10 &#yXV\ N +9 &%;W\ N +9 &&W\ N +10 &(X\ N +9 &*W\ N +9 &,CX\ N +10 &.W\ N +9 &/Ud\ N +10 &1U\ N +9 &3LVS\ N +9 &5 U\ N +10 &6W\ N +9 &8W\ N +9 &:UW\ M +10 &<Wq\ N +9 &=Up\ M +10 &?W\ N +9 &A\\V\ N +9 &CY\ N +10 &D]\ N +9 &Fc\ O +9 &HWy\ R +10 &J\ T +9 &K7\ T +10 &M\ T +9 &OY\ T +9 &Q\ T +10 &R\ U +9 &T\ U +10 &V_\ U +9 &X\ U +9 &Y|p\ 4 +10 &Z,\ K +9 &Z\ * +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&q1 +58 "core" 1 +2 "manipulator"&:% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 "processing"%\\& +3 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ #  < +2 "storage"(f% +3 "core" %c 5 3\ +2 "storage"(. +4 "core" .( + "storage"(K& +5 "core" & 5 5\  +2 "storage"(p& +3 "manipulator"&& +8 "core" & 4 5\  + &y +  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&"(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'i +3 "core" ( +2 "manipulator"&s& +3 "core" &y 0  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +4 "core" &y   +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&d/ +55 "core" / +2 .tPC.seek :open +2 "processing"%>( +92 "core" ' +2 "storage"(|- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'y +42 "core" ' +287 ( +2 "storage"(6& +3 "core" & J N E\  +2 "manipulator"&H& +3 "core" &y ;  +2 "manipulator"&l% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +243 "core" ( +2 "manipulator"&e& +3 "core" & N ) +2 "storage"(Z& +3 "core" & O N *\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +96 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +2 "storage"(h- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(/- +3 "core" -' +2 "storage"(D& +3 "core" & y\  +2 "manipulator"&2& +4 "core" &  ( +2 .tElbow.seek 3 +2 "manipulator"&Q( +48 "core" ( +5 "manipulator"&.& +5 "core" & # ( + "storage"(& +4 "core" & \ \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +58 "core" ' +2 "manipulator"&j& +3 "core" &  ( +2 "storage"(& +4 "core" & N I D\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&''} +23 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +24 "core" ' +2 "manipulator"&~% +3 "core" %ΐ @ +2 "storage"(& +4 "core" & L O s\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +27 "core" ' + "manipulator"&5& +5 "core" & O ( + "storage"(i& +4 "core" & g Z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(% +3 "core" %r u r -\  +3 ."downElevator"SE.seek :down +4 "storage"(3'X +99 (A% +3 "core" %G  6 \ Xg +2 "manipulator"&% +3 "core" %<  c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" & I h a\  +2 "collection"'& +4 "core" &Vt 5\ R +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&@% +3 "core" %\  4  +2 "storage"( % +4 "core" %b P P \ +2 "storage"((. +3 "core" .( +2 "storage"(`& +3 "core" & N ^ N\  +2 "storage"(9& +3 "core" & Z e \  +2 "manipulator"&+& +4 "core" & ( +2 .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( + "manipulator"& & +4 "core" &  ( +2 "storage"(-& +4 "core" & Z R \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +96 "core" ' +2 "storage"(X& +3 "core" & n c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +284 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & ! ( +2 "storage"(& +4 "core" & S I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('U +32 "core" ' + "manipulator"&8% +3 "core" %΋  +2 "storage"(;& +4 "core" & - 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&r'Ϸ +12 "core" ' + "manipulator"&7& +3 "core" & Z ( +3 "storage"(& +3 "core" & n q ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\ 'D +46 "core" ' + "manipulator"&U& +4 "core" & ( +2 "manipulator"&I% +4 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +97 "core" ' +9 .tElbow.seek CC +2 "manipulator"&#( +150 "core" ( +2 "manipulator"&]& +3 "core" &* ' @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &)  @X +3 .tForearm.seek CC + "manipulator"&R'" +94 "core" ' + .tHand.close +2 "manipulator"&P/ +53 "core" / +2 .tCC.seek :open +2 "collection"'o( +415 "core" ( +2 "storage"(,& +3 "core" & \  +3 "storage"(& +3 "core" & } \  +2 "manipulator"&_& +4 "core" &'  >N +2 "manipulator"&L% +3 "core" % $ - +3 .tForearm.seek :retract +2 "manipulator"&*'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +162 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(c& +4 "core" & z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&?'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +63 "core" 1 +3 "manipulator"&% +3 "core" % ΐ  +2 "storage"(y& +4 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&M'ϼ +20 "core" ' +2 "manipulator"&W& +3 "core" &   +2 "storage"(S& +5 "core" & "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +26 "core" ' +2 "storage"(% +3 "core" %H '\ +3 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (n% +3 "core" %< \ V` +2 "manipulator"&V% +4 "core" %w  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +89 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +2 "core" & E\ +3 "manipulator"&u% +3 "core" %\ " # 8 +2 "storage"(0% +4 "core" %] r\ +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(b( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" & c\ +2 "manipulator"&:& +3 "core" & .  +3 .tElbow.seek 2 + "manipulator"&\\( +28 "core" ( +2 "manipulator"&& +4 "core" & K ^ +2 "storage"(f& +3 "core" & \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(& +3 "core" & G\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +2 "core" & \ +3 "manipulator"&s& +4 "core" &\  ] + .tElbow.seek 2 +2 "manipulator"&z( +4 "core" ( + "manipulator"&Y& +4 "core" &\ S ] +2 "storage"(d& +3 "core" & 0\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +58 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&v& +2 "storage"('X +8 "core" &\ ! ] + "manipulator"&^% +5 "core" %   a +2 .tForearm.seek :retract + "manipulator"&6'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +146 "core" ( +3 "manipulator"&l& +2 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +4 "core" &*  @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &*  @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&e'" +101 "core" ' +4 "manipulator"&Z& +3 "core" &* K @[ +2 "manipulator"&"% +5 "core" %" +2 "collection"' & +3 "core" & W\ +3 "collection"'h& +6 "core" & V\ +2 .tCC.seek :closed +3 "collection"'/(V +4 "core" & Y\ +5 & U\ 8 +10 &>Hy Y\ 0 +9 &hr Y\ E +9 &] U\ M +10 &V Z\ L +9 &V X\ M +10 &VU L\ M +9 &W T\ L +9 &W N\ M +10 &U G\ M +9 &]U H\ M +9 &!V H\ M +13 &"V D\ M +6 &$W C\ M +10 &&eU F\ M +9 &((U 6\ M +9 &)S D\ M +10 &+U ?\ M +9 &-nU 9\ M +9 &/0U 1\ M +10 &0V ?\ L +9 &2V :\ M +10 &4vT <\ M +9 &68V 0\ M +9 &7V +\ M +10 &9T (\ M +9 &;}X 7\ M +9 &=>W <\ M +10 &?V ?\ M +9 &@W 1\ M +10 &BV /\ M +9 &DGX /\ M +9 &F_ 5\ N +10 &Gh 9\ O +9 &I 7\ R +9 &K0 -\ X +10 &L 5\ Y +9 &N .\ X +10 &Ps ,\ X +9 &R3 2\ Y +9 &S 4\ [ +10 &U 5\ G +9 &V2 2\ *} +9 &Vc :\ L +3 ( + "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&D1 +53 "core" 1 +3 "manipulator"&2% +3 "core" % " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%.& +3 "core" &\ +2 "manipulator"&% +5 "core" %\   + "storage"(j% +4 "core" %U ` P \\\ +2 "storage"(. +3 "core" .( +2 "storage"(C& +4 "core" & P P =\ + "storage"(& +5 "core" & T M T\ +2 "manipulator"&~& +3 "core" &&  =E +2 "manipulator"&% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&5( +152 "core" ( +2 "manipulator"&i& +3 "core" & o  +2 "storage"(T& +5 "core" & r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(t& +3 "core" & =\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +282 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & M V p\ +2 "manipulator"&[& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&}& +3 "core" & W  +2 "storage"('& +3 "core" & q n \\\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(@'X +9 "core" & r  + "manipulator"& % +5 "core" %  F Q +2 .tForearm.seek :retract + "manipulator"&k'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&((s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&`& +4 "core" &s  T  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &s   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+' +106 "core" ' +2 "manipulator"& & +5 "core" &s L  + "manipulator"&-% +4 "core" % k z +2 "processing"%& +5 "core" &\ +2 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(Z +5 "core" &\ +6 &D\ $f +10 &V\ 8 +9 &z\ L +10 &V\ N +9 &u\\\ N +9 &7U\ N +10 &T\ N +9 &U\ N +9 &~Y\ M +10 &@Y\ M +9 & Y\ N +10 &!W\ N +9 &#X\ M +9 &%HX\ M +10 &' W\ N +9 &(Z\ N +9 &*V\ N +10 &,PXe\ M +9 &.Y\ M +10 &/W\ M +9 &1W\ N +9 &3WZ\ N +10 &5Y\ N +9 &6Z\ N +9 &8Z\ M +10 &:_X=\ N +9 &( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ()& +2 "core" & s\  +2 "manipulator"&{& +4 "core" & / +2 .tElbow.seek 3 +2 "manipulator"&4( +14 "core" ( + "manipulator"&& +5 "core" & 1  + "storage"($& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +90 "core" ' +2 "storage"(;& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(7- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +3 "core" & \  +2 "manipulator"&=& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&+& +3 "core" &   +2 "storage"(& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(3'X +8 "core" &  +2 "manipulator"&I% +3 "core" % ϔ O +3 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +47 "manipulator"&G& +6 "core" &* ! Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &+ 1 Ad +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'" +104 "core" ' +3 "manipulator"&,& +3 "core" &+ S Ac +3 "manipulator"&U% +3 "core" %  +3 "collection"'_& +3 "core" & V\ +3 "collection"'L& +5 "core" & P\ +2 .tCC.seek :closed +2 "collection"'R(V +5 "core" & V\ +6 &3 Z\ $c +9 &U} [\ 7 +10 &y ]\ K +9 &U ]\ L +9 &eV [\ M +10 &(V [\ M +9 &U [\ M +9 &V [\ M +10 &nU ^\ M +9 &0V \\\ M +10 &Z Z\ M +9 &!W [\ M +9 &#wW [\ L +10 &%7W X\ M +9 &&V L\ M +9 &(W P\ M +10 &*~U U\ M +9 &,AV O\ L +10 &.U Y\ M +9 &/U R\ M +9 &1U K\ M +10 &3HU X\ M +9 &5\ V J\ M +9 &6W M\ M +10 &8U V\ M +9 &:PW V\ M +10 &<W P\ M +9 &=V W\ M +9 &?X Q\ M +10 &AWU S\ M +9 &CW Q\ M +9 &DX J\ N +10 &F] J\ N +9 &HUp R\ P +10 &J O\ U +9 &K U\ X +9 &M Q\ Y +10 &OD U\ Y +9 &Q Q\ Y +9 &R N\ Z +10 &T M\ Z +9 &V%w @\ . +10 &V, F\ [ +8 ( +2 &Vm O\ K +2 "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator" +64 "core" 1 +4 "manipulator"&N% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%W& +3 "core" &\ +2 "manipulator"&P% +4 "core" %\ !  1 +2 "storage"(*% +5 "core" %T 6 2\ + "storage"(n. +4 "core" .( + "storage"(]& +4 "core" & 6 2 6\  +2 "storage"( & +3 "core" & 2 7 j\  +2 "manipulator"&M& +5 "core" &(  ?V + "manipulator"&<% +4 "core" %\ ! - 1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&0( +154 "core" ( +2 "manipulator"&g& +3 "core" &  +2 "storage"(&& +5 "core" & g q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +87 "core" ' +2 "storage"(c& +3 "core" & 9\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +283 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" & K K .\  +2 "manipulator"&S& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 3 +2 "storage"(V& +5 "core" & q q M\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"('X +8 "core" & ; +2 "manipulator"&B% +3 "core" % ϯ { ? +3 .tForearm.seek :retract + "manipulator"&w'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&?(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&& +5 "core" &| \ M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" &|  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +94 "core" ' +2 "manipulator"&d& +3 "core" &| S +3 "manipulator"&!% +3 "core" % 2 $ +2 "processing"%\ & +4 "core" &\ +3 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +5 "core" &\ +6 &7\ $e +10 &U|\ 7 +9 &|\ L +56 &Y\ N +4 &iX\ N +3 &,W\ M + &V\ N +2 &W\ N + &p[\ N + &3V\ N +7 &V\ N +9 &!W\ N +10 &#yW\ N +9 &%:Y\ N +10 &&W\ M +9 &(W\ N +9 &*W\ N +10 &,B[\ N +9 &.X\ N +9 &/Y\ N +10 &1T\ N +9 &3LV\ M +10 &5 W\ N +9 &6Z\ N +9 &8T\ N +10 &:TW\ M +9 &<V\ M +10 &=V\ N +9 &?X\ N +9 &A[U\ N +10 &CX\ N +9 &D\\\ N +9 &Fc\ O +10 &HWw\ R +9 &J\ T +10 &K\ T +9 &M\ T +9 &OY\ T +10 &Q\ T +9 &R\ U +9 &T\ T +10 &V^\ U +9 &X!\ T +9 &Y{m\ 4 +10 &Z+{\ J +9 &Z#\ . +3 ( + "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&m1 +55 "core" 1 +2 "manipulator"&:% +3 "core" % 4 $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%K& +3 "core" &Z#\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&l% +4 "core" %\ #  B +2 "storage"(Z% +4 "core" %c 4 4 \ +2 "storage"( . +3 "core" .( +2 "storage"(z& +3 "core" & 5 5 }\  +3 "storage"(6& +2 "manipulator"&o& +7 "core" & 4 4 \  +2 &| ! +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&.(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&v& +4 "core" &| > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &|  +2 .tForearm.seek PC +2 "manipulator"&\\' +95 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%( +85 "core" ' +2 "storage"("- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(C'y +46 "core" ' +291 ( +2 "storage"(h& +3 "core" & V T G\  +2 "manipulator"&D& +4 "core" &| +2 "manipulator"&|% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&~'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +259 "core" ( +2 "manipulator"&/& +3 "core" &  b +2 "storage"(e& +4 "core" & O ; \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +101 "core" ' +2 .tHand.open + "manipulator"&T1 +64 "core" 1 +2 "storage"(t- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +32 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & \  +2 "manipulator"&'& +4 "core" &\ 1 [ +2 .tElbow.seek 3 +2 "manipulator"&F( +25 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(5& +4 "core" & $\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&H& +3 "core" & !  +2 "storage"(9& +5 "core" & S P h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&Q'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +48 "storage"(#QK-0-\ b +5 .tSE.seek 0.11 Pucks below Top Plate + "storage"(['i +24 "core" ' + "manipulator"& % +4 "core" %΃ D +2 "storage"(-& +3 "core" & _ c\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϯ +27 "core" ' + "manipulator"&@& +4 "core" & _  +2 "storage"(k& +4 "core" & q q 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +32 "core" ' + "storage"( % +4 "core" %l j p R\ +3 ."downElevator"SE.seek :down +3 "storage"(`'X +101 (b% +2 "core" %F 4  H\ Xf +2 "manipulator"&)% +4 "core" %' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +97 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & i I j\  +2 "collection"'$& +5 "core" &Vl F\ K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&;% +3 "core" %\ # [ A +3 "storage"(}% +4 "core" %` c d\ + "storage"( . +4 "core" .( + "storage"(7& +5 "core" & c c\  + "storage"(X& +4 "core" & c c\  +2 "manipulator"&=& +3 "core" & 7  +3 .tElbow.seek 3 +2 "manipulator"&+( +2 "core" ( +2 "manipulator"&& +5 "core" &   +2 "storage"((& +3 "core" & d c (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(I& +3 "core" & O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +285 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&G& +2 "core" & p  +3 "storage"(& +4 "core" & b ] :\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'U +33 "core" ' +2 "manipulator"&U% +3 "core" %΋  +2 "storage"(_& +4 "core" & ; O b\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&3'Ϸ +22 "core" ' +2 "manipulator"&O& +3 "core" & &  +2 "storage"(& +4 "core" & Y c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'D +41 "core" ' +2 "manipulator"&W& +3 "core" &  +2 "manipulator"&P% +5 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +148 "core" ( +2 "manipulator"&n& +5 "core" &" A 9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &"  9( +2 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' + .tHand.close +2 "manipulator"&M/ +55 "core" / +2 .tCC.seek :open + "collection"'<( +416 "core" ( +2 "storage"(%& +3 "core" & \  +2 "storage"(g& +5 "core" & \  + "manipulator"&&& +5 "core" &" " 9( + "manipulator"&c% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +143 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&y( +165 "core" ( +2 "manipulator"&1& +3 "core" &\ M +3 "storage"(q& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&S'} +102 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +60 "core" 1 +3 "manipulator"&% +4 "core" % ΀  +2 "storage"(f& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&B'Ϭ +26 "core" ' +2 "manipulator"&0& +3 "core" &\ M L +2 "storage"(& +4 "core" & z\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +31 "core" ' + "storage"(u% +4 "core" %F 9\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (p% +3 "core" %D \ U` +2 "manipulator"&% +4 "core" % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +3 "core" & X\ +2 "manipulator"&\ % +5 "core" %\   + "storage"(% +4 "core" %U Z\ +2 "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(r( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" & Y\ +2 "manipulator"&:& +4 "core" &  L +2 .tElbow.seek 2 +2 "manipulator"&K( +15 "core" ( +2 "manipulator"&l& +3 "core" &  0 +2 "storage"(Z& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +97 "core" ' + "storage"(z& +4 "core" & 9\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +286 "core" ' + "storage"(6- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" & | H\ +2 "manipulator"&v& +3 "core" &  0 +3 .tElbow.seek 2 + "manipulator"&Y( +9 "core" ( +2 "manipulator"&s& +3 "core" & 2  +2 "storage"(& +3 "core" & H\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(J'X +8 "core" &   +2 "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&D( +148 "core" ( +2 "manipulator"&|& +3 "core" &&  =G +2 ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &\\& +3 "core" &&  =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'" +103 "core" ' +2 "manipulator"&e& +4 "core" && # =G +2 "manipulator"&.% +5 "core" % ! +3 "collection"'T& +49 "core" & R\ +3 "collection"'t& +5 "core" & P\ +3 .tCC.seek :closed + "collection"'(V +5 "core" & X\  +9 &2{ V\ *y +9 &d~ X\ > +10 &p W\ N +9 &GU W\ M +10 & W V\ M +9 &Y `\ M +9 &U Y\ L +10 &OW X\ M +9 &W Z\ L +9 &V X\ M +10 & Z T\ M +9 &"WW X\ M +10 &$Y [\ M +9 &%W Z\ L +9 &'W T\ M +10 &)_Y [\ M +9 &+ U Z\ M +9 &,V X\ M +10 &.V [\ M +9 &0fU [\ M +10 &2(U U\ M +9 &3W W\ M +9 &5U U\ M +10 &7oW W\ M +9 &91U U\ M +9 &:W W\ M +10 &<X [\ M +9 &>uV V\ M +10 &@8W W\ M +9 &AU S\ M +9 &CV S\ M +10 &E|\\ Z\ N +9 &G;c W\ O +10 &Hu W\ Q +9 &J V\ V +9 &Ld V\ X +10 &N& T\ X +9 &O N\ Y +9 &Q W\ Y +10 &Se V\ [\ +9 &U( T\ Z +9 &VpB W\ 1 +10 &Vs [\ L +5 ( +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&1 +4 "core" &V_ T\ L +55 1 +3 "manipulator"&'% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&5% +3 "core" %\ #  : +2 "storage"(H% +4 "core" %T P P 8\ +2 "storage"(9. +3 "core" .( +2 "storage"(C& +3 "core" & P P F\ +2 "storage"(A& +5 "core" & 2 ( .\ + "manipulator"& & +4 "core" &&  =F +2 "manipulator"&-% +3 "core" %\ #  : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +159 "core" ( +2 "manipulator"&@& +3 "core" &   +2 "storage"(k& +4 "core" & q q U\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +90 "core" ' + "storage"( & +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & b o \ +2 "manipulator"&F& +3 "core" & h  +3 .tElbow.seek 2 + "manipulator"&)( +4 "core" ( + "manipulator"&& +5 "core" &   + "storage"(Q& +5 "core" & g g \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&$& + "storage"(;'X +7 "core" & E  + "manipulator"&}% +5 "core" %  Y \\ +2 .tForearm.seek :retract +2 "manipulator"&['\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&7& +3 "core" &p & F  +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &p $  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +101 "core" ' +2 "manipulator"&& +4 "core" &p  +2 "manipulator"&(% +3 "core" %  +3 "processing"%2& +3 "core" &\ +3 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &\  +9 &1y\ *x +9 &b\ > +10 &ot\ N +9 &1W\ N +9 &W\ N +10 &[\ N +9 &wX\ N +9 &:V\ M +10 &W\ N +9 &[\ N +10 & Y\ M +9 &"AX\ N +9 &$U\ N +10 &%W\ M +9 &'Y\ N +9 &)IU\ N +10 &+ W\ M +9 &,V\ N +10 &.U\ N +9 &0QW\ N +9 &2Z\ N +10 &3V\ M +9 &5W\ N +9 &7XY\ N +10 &9V\ M +9 &:U\ N +10 &<Z\ N +9 &>aV\ N +9 &@#Z\ N +10 &AU\ M +9 &CZ\ N +9 &EfY\ O +10 &G%g\ P +9 &H\ S +10 &J\ T +9 &L_\ T +9 &N!\ T +10 &O\ T +9 &Q\ U +9 &Sd\ U +52 &U&\ U +3 &V\ U +3 &X\ V + &Zd\ &u + &Zf\ 6 ( + &Z"\ / +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&{% +3 "core" % 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 "processing"%G& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\    +3 "storage"(x% +3 "core" %U O P "\ +2 "storage"(U. +3 "core" .( +2 "storage"(_& +3 "core" & N J E\ +3 "storage"(O& +3 "manipulator"&& +5 "core" & N I +\ + &p   +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&W(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'i +2 "core" ( + "manipulator"&& +5 "core" &p   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &p   +3 .tForearm.seek PC + "manipulator"&4' +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +5 .tPC.seek :open +2 "processing"%3( +88 "core" ' +2 "storage"(,- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +49 "core" ' +285 ( + "storage"(]& +4 "core" & g q Z\ +2 "manipulator"&#& +3 "core" &p   +2 "manipulator"&a% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&M'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&*( +249 "core" ( +2 "manipulator"&R& +3 "core" &\ @ \\ +3 "storage"(%& +3 "core" & S L 8\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +98 "core" ' +2 .tHand.open + "manipulator"&&1 +61 "core" 1 +2 "storage"(c- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(q- +2 "core" -' +3 "storage"(L& +3 "core" & O\ +2 "manipulator"&V& +4 "core" &\ L [ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&f& +3 "core" &\ # [ +2 "storage"(0& +4 "core" & M\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +58 "core" ' +2 "manipulator"&& +3 "core" &\ p [ +2 "storage"(p& +4 "core" & h t j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +33 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(S'i +24 "core" ' +2 "manipulator"&B% +3 "core" %  +2 "storage"(!& +4 "core" & 5 5\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&\ ' +13 "core" ' + "manipulator"&& +4 "core" &\ V [ +2 "storage"(w& +4 "core" & r g y\ +47 "Can"B\ DSV +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +23 "core" ' +2 "storage"(E% +3 "core" %l s t H\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (>% +3 "core" %? P P ,\ Wd +2 "manipulator"&m% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 (l& +2 "core" & Z i G\ +3 "collection"'Z& +3 "core" &V_ @\ L +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&z% +3 "core" %\ & > +3 "storage"(% +3 "core" %a c d \ +2 "storage"(d. +3 "core" .( +2 "storage"(6& +3 "core" & d c\ +2 "storage"(o& +5 "core" & c c\ + "manipulator"&v& +5 "core" &\  [ +2 .tElbow.seek 2 + "manipulator"&s( +4 "core" ( +2 "manipulator"&& +3 "core" &\  [ +2 "storage"(?& +5 "core" & ` R ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' + "storage"(& +4 "core" & )\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +284 "core" ' +3 "storage"( - +24 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &\  [ +2 "storage"(\\& +5 "core" & d c\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'S +27 "core" ' +2 "manipulator"&T% +3 "core" %   +2 "storage"(Y& +4 "core" & S [\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&J' +13 "core" ' +2 "manipulator"&h& +3 "core" &\ - Z +2 "storage"(<& +4 "core" & q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''B +39 "core" ' +2 "manipulator"&& +3 "core" &\ ' Z +2 "manipulator"&5% +5 "core" %Ѷ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +149 "core" ( +3 "manipulator"&t& +3 "core" &* 0 @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &C& +2 "core" &* ? @W +3 .tForearm.seek CC + "manipulator"&A'" +93 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( + "storage"(/& +4 "core" & \ +2 "storage"(@& +3 "core" & I\ +3 "manipulator"&k& +4 "core" &)  ?P + "manipulator"& % +5 "core" % * = +2 .tForearm.seek :retract + "manipulator"&D'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&~( +158 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 "storage"(b& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&F' +152 "core" ' +4 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +60 "core" 1 +2 "manipulator"&% +4 "core" % +2 "storage"($& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&}' +20 "core" ' + "manipulator"&j& +4 "core" & \ +2 "storage"(i& +5 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +19 "core" ' +2 "storage"(% +4 "core" %L \ +2 ."downElevator"SE.seek :down +5 "storage"(7'X +99 (X% +2 "core" %C \ Va +3 "manipulator"&)% +3 "core" %х  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'(& +4 "core" & X\ +2 "manipulator"&2% +4 "core" %\  2  +2 "storage"(;% +3 "core" %S M\ +2 "storage"([. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ` e ;\  +2 "manipulator"&{& +3 "core" &  \ +3 .tElbow.seek 3 + "manipulator"&G( +16 "core" ( + "manipulator"&& +5 "core" & S  + "storage"(x& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +97 "core" ' +2 "storage"(_& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & <\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&=& +4 "core" &   +2 "storage"(& +3 "core" & D\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(`'X +9 "core" &   + "manipulator"&P% +4 "core" % Ϫ  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +152 "core" ( + "manipulator"&a& +4 "core" &#  :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&4& + "storage"(5 +5 "core" &#  :, +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +102 "core" ' +2 "manipulator"&%& +3 "core" &#  :, +2 "manipulator"&W% +5 "core" %1  C + "collection"'&& +5 "core" & h\ +2 "collection"'c& +6 "core" & k\ +3 .tCC.seek :closed +3 "collection"'q(V +4 "core" & _\ +5 & Y\ 9 +9 &>Hx Z\ 1 +9 &ot [\ E +10 &\\ Z\ M +9 &W \\\ M +9 &U R\ M +10 &`U Y\ L +9 & U P\ M +12 &U S\ M +7 &T Z\ M +9 &gU V\ M +10 &!)U U\ M +9 &"Y U\ M +9 &$V O\ M +10 &&nU V\ M +9 &(1U Y\ M +10 &)R W\ M +9 &+U Z\ M +9 &-xU Z\ L +50 &/9U Z\ M +4 &0U W\ M + &2S \\\ M +2 &4~U [\ M + &6@U \\\ M &8U [\ M +8 &9U Z\ M +9 &;W Z\ M +10 &=HV Z\ M +9 &? U \\\ M +10 &@W [\ M +9 &BT \\\ M +9 &DPW Z\ M +10 &F\\ [\ N +9 &Gk X\ O +9 &I V\ S +10 &K8 Z\ X +9 &L [\ X +10 &N X\ Y +9 &P{ Y\ Y +9 &R; V\ Z +10 &S V\ [\ +9 &U Z\ H +9 &V, X\ (v +10 &Vy Z\ T +2 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.03 +2 .Hand.open +2 "manipulator"&L1 +62 "core" 1 +2 "manipulator"&V% +3 "core" % 1  C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&M% +3 "core" %\ #  9 +3 "storage"(% +3 "core" %U 4 4 Y\ +2 "storage"(p. +3 "core" .( +2 "storage"(n& +3 "core" & 5 4 ~\  +2 "storage"(B& +5 "core" & 5 5\  + "manipulator"&!& +4 "core" &# ? :, +2 "manipulator"& % +3 "core" %\ # ! 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +159 "core" ( + "manipulator"&w& +5 "core" &   + "storage"(*& +4 "core" & W V R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +103 "core" ' +2 "storage"(E& +3 "core" & l &\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & K K \  +2 "manipulator"&m& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" &  +2 "storage"(& +4 "core" & q q\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(z'X +8 "core" &   +2 "manipulator"&% +3 "core" % ϝ  { +3 .tForearm.seek :retract + "manipulator"&d'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&S(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&6& +4 "core" &n  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &n 8 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&v' +93 "core" ' + "manipulator"&& +5 "core" &n O \ + "manipulator"&?% +4 "core" % x @ +2 "processing"%N& +5 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &D\ $e +10 &V\ 7 +9 &{\ L +9 &Z\ N +10 &mW\ N +9 &0W\ N +10 &Z\ N +9 &W\ N +9 &u[\ N +10 &8W\ N +9 &W\ N +9 &!W\ M +10 &#}X\ N +9 &%?W\ N +10 &'W\ N +9 &(W\ N +9 &*W\ N +10 &,GZ\ N +9 &. W\ N +10 &/V\ N +9 &1V\ N +9 &3OV\ N +10 &5V\ N +9 &6Z\ N +9 &8V\ N +10 &:YV\ M +9 &<V\ N +9 &=T\ N +10 &?V\ N +9 &A`U\ N +10 &C"Y\ N +9 &D\\\ N +9 &Fc\ O +10 &H\\y\ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &O_\ S +10 &Q\ T +9 &R\ U +9 &T\ U +10 &Vc\ U +9 &X$\ U +9 &Y{n\ 4 +10 &Z(x\ O +9 &Z#\ 0 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&y1 +62 "core" 1 + "manipulator"&:% +5 "core" %  @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +2 "processing"%|& +3 "core" &Z"\ 0 +51 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +3 "core" %\  G  +3 "storage"(e% +3 "core" %a 4 7\ +2 "storage"(T. +4 "core" .( + "storage"(Y& +4 "core" & 4 4 c\  +3 "storage"(h& +4 "manipulator"&<& +5 "core" & 5 5\  + &n 4 \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'i +2 "core" ( + "manipulator"&& +6 "core" &n T \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +2 "core" &n ? \ +3 .tForearm.seek PC + "manipulator"&K' +98 "core" ' + .tHand.close +2 "manipulator"&^/ +55 "core" / +3 .tPC.seek :open +2 "processing"%J( +85 "core" ' + "storage"(.- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +47 "core" ' +288 ( + "storage"(C& +4 "core" & < Q _\  +2 "manipulator"&& +4 "core" &n W \ +2 "manipulator"&"% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +250 "core" ( +2 "manipulator"&& +3 "core" &\  X +3 "storage"(/& +3 "core" & 6 3\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +95 "core" ' +2 .tHand.open + "manipulator"&k1 +58 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(A- +2 "core" -' +2 "storage"(9& +5 "core" & j\  + "manipulator"&Q& +4 "core" &\  W +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&$& +3 "core" & }  +2 "storage"(j& +4 "core" & a\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(D' +61 "core" ' +2 "manipulator"&& +3 "core" & +  +2 "storage"(X& +3 "core" & W V Z\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&)'} +24 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'i +25 "core" ' +2 "manipulator"&(% +4 "core" %ΐ  +2 "storage"(}& +3 "core" & , 3 \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&2'ϼ +20 "core" ' + "manipulator"&;& +4 "core" & y  +2 "storage"([& +4 "core" & a Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +27 "core" ' +2 "storage"(% +3 "core" %s g q T\ +3 ."downElevator"SE.seek :down +4 "storage"(7'X +98 (r% +3 "core" %TC 5 4\ We +2 "manipulator"&% +3 "core" %{ 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +20 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & c [\  +2 "collection"'x& +4 "core" &Vy L\ T +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&_% +3 "core" %\ \ 6  +3 "storage"(% +3 "core" %b c c \ +2 "storage"(. +4 "core" .( + "storage"(& +5 "core" & p g 5\  + "storage"(O& +5 "core" & n g ?\  +2 "manipulator"&& +3 "core" & "  +2 .tElbow.seek 3 +2 "manipulator"&=( +10 "core" ( + "manipulator"&& +4 "core" & z  +2 "storage"( & +4 "core" & d c *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +100 "core" ' +2 "storage"(P& +3 "core" & i @\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(G'i +284 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & H  +2 "storage"(4& +4 "core" & n d '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&I'} +23 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(W'U +30 "core" ' + "manipulator"&&% +5 "core" %΂  + "storage"(+& +4 "core" & , ' /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&`'Ϯ +20 "core" ' +2 "manipulator"&]& +3 "core" &  +3 "storage"(-& +3 "core" & c c 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'D +40 "core" ' + "manipulator"&0& +4 "core" &   +2 "manipulator"&M% +4 "core" %D 2 t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&p( +154 "core" ( +3 "manipulator"&c& +4 "core" &/  E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &/  E +2 .tForearm.seek CC +2 "manipulator"&B'" +95 "core" ' + .tHand.close +2 "manipulator"&!/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(R& +4 "core" & | \  +2 "storage"(w& +3 "core" & \  +2 "manipulator"&*& +4 "core" &/ B E +2 "manipulator"&E% +4 "core" % 4 + \ +3 .tForearm.seek :retract + "manipulator"&#'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&f( +163 "core" ( +2 "manipulator"&& +3 "core" & v m +2 "storage"(>& +3 "core" & T\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&m'} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&l% +4 "core" % Ό $ +2 "storage"(Z& +3 "core" & ~ #\  +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 3 + 315 counts +9 "manipulator"&'ϸ +22 "core" ' + "manipulator"&& +4 "core" &  m +2 "storage"(g& +3 "core" & C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +33 "core" ' + "storage"(\ % +5 "core" %M p\ +2 ."downElevator"SE.seek :down +4 "storage"(6'X +98 (o% +3 "core" %t< \ Wa +2 "manipulator"&% +4 "core" %9  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'?& +3 "core" & i\ +2 "manipulator"&N% +4 "core" %\  4  +2 "storage"(z% +3 "core" %] <\ +2 "storage"(d. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(3( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" & 6\ +2 "manipulator"&:& +3 "core" & ^ m +3 .tElbow.seek 2 + "manipulator"&|( +33 "core" ( +2 "manipulator"&\\& +3 "core" & L # +2 "storage"(& +5 "core" &  v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +87 "core" ' +2 "storage"(T& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +282 "core" ' +2 "storage"(<- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +3 "core" &  \ +2 "manipulator"&& +3 "core" & "{ +3 .tElbow.seek 2 + "manipulator"&s( +4 "core" ( +2 "manipulator"&v& +3 "core" & # "{ +2 "storage"(^& +4 "core" &  \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&.' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"('X +8 "core" & V "{ + "manipulator"&5% +4 "core" %   _ +2 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +2 "manipulator"&"& +3 "core" && ] =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&K& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &&  =C +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +2 "manipulator"&/& +3 "core" && E =B +3 "manipulator"&% +3 "core" %"  +4 "collection"'k& +3 "core" & p\ +3 "collection"' & +5 "core" & r\ +2 .tCC.seek :closed +2 "collection"'A(V +5 "core" & q\  +8 &0y g\ *y +9 &d} j\ > +9 &zp t\ M +10 &=Q m\ M +9 &U j\ M +10 &T i\ M +9 &T `\ M +9 &ET e\ M +10 &U d\ M +9 &T ^\ M +9 & V Y\ M +10 &"NU a\ M +9 &$U Z\ M +9 &%V S\ M +10 &'U U\ M +9 &)VS X\ M +10 &+U b\ M +9 &,U R\ M +9 &.T \\\ M +10 &0]U R\ M +9 &2 T P\ M +10 &3U P\ L +9 &5U O\ M +9 &7fU Q\ M +10 &9)U R\ L +9 &:V T\ M +9 &<W Z\ N +10 &>mU _\ M +9 &@/U [\ M +10 &AU [\ M +9 &CU Z\ M +9 &Es\\ V\ N +10 &G2c T\ O +9 &Hv S\ Q +9 &J T\ V +10 &LZ T\ Y +9 &N U\ Y +10 &O V\ Z +9 &Q Y\ Y +9 &S] W\ [ +10 &U [\ Z +9 &VgB Y\ 0 +9 &V S\ J +6 ( + "collection"' & +4 "core" &Vh X\ J +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&91 +63 "core" 1 +5 "manipulator"&Q% +5 "core" % "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%j& +5 "core" &\ + "manipulator"& % +5 "core" %\    + "storage"(% +4 "core" %T O P Q\ +2 "storage"(X. +3 "core" .( +2 "storage"(t& +4 "core" &  P P R\ +2 "storage"((& +3 "core" &  P O D\ +2 "manipulator"&}& +5 "core" && 1 =B + "manipulator"&% +4 "core" %\  X  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&;( +162 "core" ( + "manipulator"&[& +5 "core" &  + "storage"(& +4 "core" &  j | \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +93 "core" ' + "storage"(@& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +284 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  a o !\ +2 "manipulator"&i& +4 "core" & Y  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&D& +3 "core" &   +2 "storage"()& +4 "core" &  n c\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&2' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +3 "storage"(_'X +8 "core" & -  + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +3 "manipulator"&& +3 "core" &h ]  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &O& +2 "core" &h   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&& +4 "core" &j   +2 "manipulator"& % +4 "core" % +2 "processing"%P& +5 "core" &\ +2 "processing"%'& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%7(Z +5 "core" &\ +6 &8\ $d +9 &T}\ 7 +9 &~{\ K +10 &[\ N +9 &`Y\ N +9 &!W\ N +10 &W\ N +9 &W\ N +10 &hX\ N +9 &*V\ N +9 &W\ N +10 &!W\ N +9 &#o\\\ N +9 &%1Y\ N +10 &&W\ N +9 &(W\ N +10 &*xW\ N +9 &,9Z\ N +9 &-X\ N +10 &/V\ N +9 &1W\ M +9 &3AW\ N +10 &5W\ N +9 &6U\ N +10 &8U\ N +9 &:IZ\ N +9 &< U\ N +10 &=T\ N +9 &?V\ N +9 &ASW\ M +10 &CY\ N +9 &D\\\ O +10 &F`\ O +9 &HOw\ Q +9 &J\ \ T +10 &K\ T +9 &M\ T +9 &OO\ T +10 &Q\ U +9 &R\ U +10 &T\ T +9 &VT\ U +9 &X\ V +10 &Y{q\ 9 +9 &Z+~\ M +9 &Z\ - +3 ( + "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&~1 +62 "core" 1 +2 "manipulator"&{% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 "processing"%a& +3 "core" &Z\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&4% +3 "core" %\    +3 "storage"(%% +3 "core" %T V V N\ +2 "storage"(&. +3 "core" .( +2 "storage"(+& +3 "core" &  V V O\ +3 "storage"(]& +2 "manipulator"&-& +7 "core" &  V W M\ + &k $  +3 .tElbow.reconfigure :tight +51 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&0(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(M'i +3 "core" ( +2 "manipulator"&8& +4 "core" &k   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &k 2  +3 .tForearm.seek PC + "manipulator"&G' +98 "core" ' +3 .tHand.close +2 "manipulator"&I/ +53 "core" / +2 .tPC.seek :open +2 "processing"%`( +88 "core" ' + "storage"(W- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'y +47 "core" ' +286 ( +2 "storage"(n& +3 "core" &  Y c\ +3 "manipulator"&L& +4 "core" &k !  +2 "manipulator"&,% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&!'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +246 "core" ( + "manipulator"&q& +4 "core" &  b +2 "storage"(R& +3 "core" &  P P %\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +97 "core" ' + .tHand.open +2 "manipulator"&*1 +64 "core" 1 +2 "storage"(E- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(>' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"(p& +3 "core" &  \ +3 "manipulator"&& +3 "core" & , b +2 .tElbow.seek 2 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&Z& +4 "core" &  b +2 "storage"(& +3 "core" &  \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(#' +58 "core" ' + "manipulator"&\ & +5 "core" &  b + "storage"(f& +4 "core" &  a Z @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&o' +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(m'i +27 "core" ' +2 "manipulator"&% +3 "core" % o +2 "storage"(?& +4 "core" &   \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts +2 "manipulator"&N' +18 "core" ' +2 "manipulator"&z& +3 "core" & b +2 "storage"(d& +4 "core" &  } 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +26 "core" ' + "storage"(1% +5 "core" %q u\ +2 ."downElevator"SE.seek :down +4 "storage"(6'X +98 (% +4 "core" %"H Q C ;\ Xf +2 "manipulator"&y% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +88 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &  j r \ +2 "collection"'& +4 "core" &Vh Y\ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&T% +4 "core" %\  '  + "storage"(u% +4 "core" %a q q |\ +2 "storage"(. +42 "core" .( +9 "storage"(<& +4 "core" &  g n 2\ +2 "storage"(h& +3 "core" &  g g W\ +3 "manipulator"&& +3 "core" & a +2 .tElbow.seek 2 +2 "manipulator"&v( +4 "core" ( + "manipulator"&^& +5 "core" &  a + "storage"(S& +4 "core" &  f f "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +104 "core" ' +2 "storage"(5& +3 "core" &  x\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'i +283 "core" ' +2 "storage"(e- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  a +2 "storage"(K& +3 "core" &  d d\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&Y' +35 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +32 "core" ' + "manipulator"&k% +5 "core" %  + "storage"(s& +4 "core" &  G T\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&C& +4 "core" & 9 a +2 "storage"( & +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'B +44 "core" ' +2 "manipulator"&j& +3 "core" & M ` +2 "manipulator"& % +4 "core" %Ѭ A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +148 "core" ( +3 "manipulator"&X& +4 "core" &)  @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &* \ @W +2 .tForearm.seek CC +2 "manipulator"&('" +95 "core" ' + .tHand.close +2 "manipulator"&}/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +3 "core" &  } \ +2 "storage"([& +4 "core" &  \ +2 "manipulator"&& +3 "core" && =C +2 "manipulator"&@% +4 "core" % /   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +157 "core" ( + "manipulator"&r& +4 "core" &   +2 "storage"(& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&i' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +52 "core" 1 +2 "manipulator"&% +5 "core" %  + "storage"(x& +4 "core" &  | \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&;& +3 "core" & <  +2 "storage"(H& +5 "core" &  F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +29 "core" ' +41 "storage"(2% +11 "core" %G \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (O% +3 "core" %? \ V` +2 "manipulator"&% +4 "core" %ї  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +3 "core" & ^\ +2 "manipulator"&P% +3 "core" %\  K  +3 "storage"(_% +3 "core" %U I\ +2 "storage"(F. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(J( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +3 "core" & \  +2 "manipulator"&{& +3 "core" & Y  +2 .tElbow.seek 3 +2 "manipulator"&a( +13 "core" ( + "manipulator"&4& +4 "core" & E  +2 "storage"(%& +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +98 "core" ' +2 "storage"(+& +3 "core" & 6\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''i +278 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (]& +3 "core" & } \  +2 "manipulator"&8& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&=( +3 "core" ( +2 "manipulator"&& +4 "core" & !  +2 "storage"(I& +3 "core" & "\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϩ +27 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(7'X +8 "core" &  +2 "manipulator"&M% +4 "core" % ϛ = +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&L( +154 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&,& + "storage"(5 +6 "core" &% + <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +3 "core" &%  <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'" +105 "core" ' +2 "manipulator"&R& +3 "core" &%  <; +3 "manipulator"&0% +3 "core" %  +2 "collection"'*& +5 "core" & s\ +2 "collection"'E& +5 "core" & t\ +3 .tCC.seek :closed +2 "collection"'B(V +4 "core" & x\ +7 &B v\ %h +9 &Y~ u\ 8 +9 &v v\ M +10 &Q u\ M +9 &T v\ M +10 &BU v\ M +9 &U n\ M +9 &T t\ M +10 &U u\ M +9 &IT v\ M +9 & T n\ M +10 &!S k\ M +9 &#U s\ M +10 &%RU r\ M +9 &'T i\ M +9 &(T h\ M +10 &*U f\ M +9 &,ZU f\ M +9 &.T l\ M +10 &/T `\ M +9 &1U \\\ M +10 &3bU [\ M +9 &5$U \\\ M +9 &6V c\ M +10 &8T _\ M +9 &:iW a\ M +9 &<*W f\ N +10 &=U \\\ M +9 &?U f\ N +10 &ArT b\ M +9 &C3U S\ M +9 &DY [\ M +10 &F` ]\ N +9 &Hpn ^\ P +9 &J& _\ U +10 &K ^\ Y +9 &M P\ Y +10 &O^ W\ Y +9 &Q! Y\ Y +9 &R ^\ [ +10 &T T\ Z +9 &V0l \\\ , +9 &V- S\ ` +9 ( +2 &Vl R\ K + "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&p1 +58 "core" 1 +2 "manipulator"&% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&!% +3 "core" %\ ! 7 6 +3 "storage"(\ % +3 "core" %b H E \ +2 "storage"(f. +48 "core" .( +4 "storage"(c& +4 "core" & O P 9\  +2 "storage"(& +3 "core" & P O G\  +3 "manipulator"&?& +4 "core" &$ % ;6 + "manipulator"&% +4 "core" %\ ! 4 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&z( +159 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"(1& +4 "core" & r q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' +2 "storage"(w& +3 "core" & (\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +2 "core" & b n \  +2 "manipulator"&g& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&#& +3 "core" &  +2 "storage"(o& +4 "core" & Y c\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&N'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(T'X +8 "core" & . +2 "manipulator"&u% +3 "core" % ϭ A +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +3 .tElbow.seek PC +2 "manipulator"&m(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&<& +3 "core" &h % K M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &h  M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&^& +3 "core" &h M +3 "manipulator"&S% +3 "core" % G 9 +2 "processing"%V& +4 "core" &\ +3 "processing"%5& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%6(Z +3 "core" &\  +10 &3z\ *y +9 &c~\ > +10 &s\ N +9 &AW\ N +9 &W\ N +10 &Z\ N +9 &W\ N +9 &JY\ N +10 & U\ N +9 &W\ M +10 & W\ N +9 &"RW\ N +9 &$V\ M +10 &%W\ N +9 &'Y\ N +9 &)YY\ N +10 &+U\ M +9 &,U\ N +10 &.W\ M +9 &0bX\ N +9 &2$U\ N +10 &3W\ N +9 &5Z\ N +9 &7kU\ M +10 &9,U\ N +9 &:T\ N +10 &<U\ N +9 &>rW\ N +9 &@4Z\ N +10 &AY\ N +9 &CY\ N +9 &Ew\\\ O +10 &G6h\ P +9 &H\ S +10 &J\ T +9 &Lq\ S +9 &N2\ T +10 &O\ T +9 &Q\ T +9 &Sv\ T +10 &U8\ T +9 &V\ U +10 &X\ V +9 &Z$Z}\ &s +9 &Zb\ 4 +9 ( +3 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&1 +2 "core" &Z"\ / +53 1 + "manipulator"&:% +4 "core" %  9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +95 "core" ' +3 "processing"%"& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +3 "core" %\  & # +2 "storage"(/% +4 "core" %T & &\ +2 "storage"(k. +2 "core" .( +2 "storage"(s& +4 "core" & & '\  +2 "storage"(C& +3 "manipulator"& & +8 "core" & ' '\  + &h  M +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&j(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +16 "core" ( + "manipulator"& & +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &m  +42 .tForearm.seek PC +10 "manipulator"&|' +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +32 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +47 "core" ' +342 ( +2 "storage"(t& +4 "core" & f q D\  +2 "manipulator"&9& +3 "core" &m  +2 "manipulator"&.% +4 "core" % P & +3 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +242 "core" ( +2 "manipulator"&A& +3 "core" &  < +2 "storage"(& +5 "core" & L N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +4 "storage"(@- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(r'E +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"( & +4 "core" & \  +2 "manipulator"&)& +3 "core" &  4 +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&x& +5 "core" & M 4 + "storage"(;& +4 "core" & @\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +56 "core" ' + "manipulator"&& +5 "core" & C 4 +2 "storage"($& +3 "core" & c m L\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&O'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +25 "core" ' +2 "manipulator"&% +3 "core" %΂  +2 "storage"( & +4 "core" & K N \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&P'Ϯ +21 "core" ' + "manipulator"&_& +5 "core" & 4 + "storage"(F& +4 "core" & a b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Q'9 +28 "core" ' +2 "storage"(b% +3 "core" %p p g \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (3% +5 "core" %D / J I\ Wd +2 "manipulator"&~% +3 "core" %# # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (4& +3 "core" & ] S \  +2 "collection"'%& +3 "core" &Vm _\ K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&+% +3 "core" %\ - 6 +3 "storage"(D% +3 "core" %b c c\  +2 "storage"(. +3 "core" .( +2 "storage"(-& +3 "core" & d c \  +2 "storage"(]& +4 "core" & c c\  +2 "manipulator"&8& +3 "core" &  4 +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&I& +4 "core" &  4 +2 "storage"(& +4 "core" & c c \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +96 "core" ' +2 "storage"(M& +4 "core" & y i\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +279 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" & 4 +2 "storage"(G& +4 "core" & c c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&''} +27 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(0'U +33 "core" ' + "manipulator"&=% +5 "core" %΋ : + "storage"(*& +4 "core" & 9 K ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&7'Ϸ +20 "core" ' +2 "manipulator"&n& +4 "core" & 4 +2 "storage"(& +3 "core" & c c\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('D +38 "core" ' + "manipulator"&& +4 "core" &  4 +2 "manipulator"&!% +4 "core" %5 / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +143 "core" ( + "manipulator"&E& +4 "core" &% " <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +4 "core" &% <; +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&?/ +60 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(q& +3 "core" & t\  +2 "storage"(d& +4 "core" & \  +2 "manipulator"&1& +3 "core" &%  <; +2 "manipulator"&w% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +165 "core" ( + "manipulator"&& +5 "core" & p + "storage"(y& +4 "core" & O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&g'} +94 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&o1 +60 "core" 1 +2 "manipulator"&\\% +3 "core" % ΐ +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&u'ϼ +20 "core" ' +3 "manipulator"&z& +3 "core" & p +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +18 "core" ' +2 "storage"(N% +3 "core" %B U\  +3 ."downElevator"SE.seek :down +3 "storage"(<'X +100 (h% +2 "core" %? Q\ V` +2 "manipulator"&l% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +94 "core" ' +54 ' +40 ."downElevator"SE.stop +9 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'S& +3 "core" & p\ +2 "manipulator"&V% +3 "core" %\ "  > +3 "storage"(T% +3 "core" %] E\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \ +2 "manipulator"&:& +3 "core" & $ p +3 .tElbow.seek 2 + "manipulator"&"( +35 "core" ( + "manipulator"&K& +4 "core" & 3 "| +2 "storage"(/& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +91 "core" ' + "storage"(s& +4 "core" & W\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" & \ +2 "manipulator"& & +4 "core" &  "z +2 .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +3 "core" &  "z +2 "storage"(Y& +5 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&m/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(6'X +8 "core" &  "z +2 "manipulator"& % +3 "core" % 0  @ +2 .tForearm.seek :retract +2 "manipulator"&t'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&.& +5 "core" &- " Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &-  Cp +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'" +101 "core" ' +3 "manipulator"&& +4 "core" &- % Cp +2 "manipulator"&j% +3 "core" %*  +3 "collection"'& +3 "core" & p\ +3 "collection"'@& +6 "core" & r\ +2 .tCC.seek :closed + "collection"'((V +5 "core" & o\ +7 &4 v\ $d +9 &W~ v\ 7 +10 &y v\ L +9 &Q v\ M +9 &lU v\ M +10 &.T v\ M +9 &U u\ M +9 &T z\ M +10 &tT v\ M +9 &6T u\ M +10 &U u\ M +9 &!V v\ M +9 &#|U w\ M +10 &%>U u\ M +9 &'R n\ M +9 &(T r\ M +10 &*W q\ M +9 &,GU o\ M +10 &.\ T v\ M +9 &/U r\ M +9 &1U k\ M +10 &3PT k\ M +9 &5U r\ M +10 &6S n\ M +9 &8T l\ M +9 &:WV l\ M +10 &<W r\ M +9 &=R l\ M +9 &?U l\ M +10 &A^U j\ M +9 &C U i\ M +9 &DT j\ M +10 &F^ g\ N +9 &H^l p\ P +10 &J m\ T +9 &K l\ Y +9 &M d\ Y +10 &OL d\ Y +9 &Q o\ Y +9 &R `\ Z +10 &T `\ Z +9 &V)t i\ . +10 &V) h\ Y +8 ( +2 &Vl _\ K +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"& 1 +64 "core" 1 +3 "manipulator"&)% +3 "core" % *  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%;& +3 "core" &\ +2 "manipulator"&}% +4 "core" %\ # ? +2 "storage"(% +4 "core" %T J ; \ +2 "storage"($. +3 "core" .( +2 "storage"(X& +3 "core" & O Q #\ +2 "storage"(& +4 "core" & P O M\ +2 "manipulator"& & +3 "core" &(  >O +2 "manipulator"&r% +3 "core" %\ #  ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&_( +159 "core" ( +2 "manipulator"&F& +50 "core" &   +3 "storage"(b& +3 "core" & c g V\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' + "storage"([& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"('i +282 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & d o "\ +2 "manipulator"&H& +4 "core" & #  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&2& +3 "core" & w  +2 "storage"(O& +4 "core" & b Y\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&P' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(+'X +8 "core" &  +2 "manipulator"&D% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&-(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&i& +3 "core" &}  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &} g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8' +95 "core" ' + "manipulator"&I& +5 "core" &} ^ + "manipulator"&% +4 "core" %   +2 "processing"%Q& +4 "core" &\ +3 "processing"%M& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &\ +9 &D\ %g +10 &X\ 8 +9 &z\ M +9 &T\ N +10 &~Y\ N +9 &@U\ N +9 &W\ N +10 &U\ N +9 &W\ N +10 &HU\ N +9 & \ W\ N +9 &!U\ N +10 &#W\ N +9 &%PU\ N +9 &'W\ N +10 &(Z\ N +9 &*W\ N +10 &,XZ\ N +9 &.W\ M +9 &/W\ N +10 &1U\ N +9 &3aW\ M +9 &5"W\ N +10 &6Z\ N +9 &8U\ N +9 &:hU\ N +10 &<*Y\ N +9 &=Y\ N +10 &?T\ N +9 &AqV\ M +9 &C1Y\ N +10 &D\\\ N +9 &Fc\ O +10 &Hlv\ R +9 &J)\ S +9 &K\ T +10 &M\ T +9 &Om\ T +9 &Q-\ U +10 &R\ U +9 &T\ U +10 &Vt\ T +9 &X3\ U +9 &Y|p\ , +10 &Z(]\ + +8 ( +2 &Z\ $ +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&{% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +105 "core" ' +2 "processing"%,& +3 "core" &Z\ $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&G% +3 "core" %\ \  +2 "storage"(R% +4 "core" %[ c c\ +2 "storage"(=. +3 "core" .( +2 "storage"(*& +3 "core" & c c\ +2 "storage"(n& +3 "manipulator"&& +8 "core" & c c\ + &} 9 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(!'i +3 "core" ( +2 "manipulator"&U& +3 "core" &} \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &}  +3 .tForearm.seek PC + "manipulator"&a' +99 "core" ' + .tHand.close +2 "manipulator"&'/ +62 "core" / +2 .tPC.seek :open +2 "processing"%7( +83 "core" ' +2 "storage"(E- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +43 ."raiseStack"SE.seek :place +10 "storage"(0'y +46 "core" ' +247 ( +2 "storage"(c& +3 "core" & V Y\ +3 "manipulator"&p& +3 "core" &} +2 "manipulator"&W% +5 "core" %  +3 .tForearm.seek :retract + "manipulator"&?'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ ( +252 "core" ( +2 "manipulator"&B& +3 "core" &  i +2 "storage"(q& +5 "core" & V V O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +87 "core" ' + .tHand.open +2 "manipulator"&11 +55 "core" 1 +3 "storage"(w- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(y' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(f& +3 "core" & T\ +2 "manipulator"&o& +3 "core" & h +3 .tElbow.seek 2 + "manipulator"&\\( +3 "core" ( +2 "manipulator"&& +4 "core" &  h +2 "storage"(z& +4 "core" & "\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(N' +58 "core" ' +2 "manipulator"&L& +3 "core" & 2 h +2 "storage"(h& +4 "core" & _ S \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&l' +35 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +26 "core" ' +2 "manipulator"&u% +3 "core" %   +2 "storage"(& +4 "core" &   /\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&S' +13 "core" ' + "manipulator"&V& +4 "core" & c h +2 "storage"(T& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 "storage"(>% +4 "core" %p l U\ +2 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (J% +3 "core" %%D B N \ Wd +2 "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +89 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (K& +3 "core" & q j \ +2 "collection"'/& +3 "core" &Vm i\ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&s% +4 "core" %\    +2 "storage"(#% +3 "core" %V \\ p M\ +2 "storage"(^. +5 "core" .( +2 "storage"(C& +3 "core" & Y c\ +2 "storage"(5& +5 "core" & f g \ + "manipulator"& & +4 "core" & ' h +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +3 "core" & m h +2 "storage"(m& +4 "core" & e c\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +100 "core" ' +2 "storage"( & +3 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +280 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +49 "manipulator"&.& +3 "core" &  h +2 "storage"(|& +4 "core" & q n <\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"& ' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(j'S +33 "core" ' +2 "manipulator"&% +3 "core" % m +2 "storage"(v& +4 "core" & N \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&6' +13 "core" ' + "manipulator"&t& +4 "core" & P h +2 "storage"(& +3 "core" & g n 4\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'B +45 "core" ' +2 "manipulator"&;& +3 "core" & 3 h +2 "manipulator"&}% +4 "core" %Ѵ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +146 "core" ( +3 "manipulator"&$& +3 "core" &# " :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &# ; :- +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'r( +419 "core" ( +2 "storage"(A& +3 "core" & p\ +2 "storage"(F& +4 "core" & \ +2 "manipulator"&b& +4 "core" &#  :, +2 "manipulator"&9% +3 "core" % &  +3 .tForearm.seek :retract + "manipulator"&['\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x( +159 "core" ( + "manipulator"&3& +4 "core" &   +2 "storage"(~& +4 "core" & C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&H' +108 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +57 "core" 1 +2 "manipulator"&4% +4 "core" % } +2 "storage"(%& +3 "core" & \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&D' +13 "core" ' + "manipulator"&_& +4 "core" & g  +2 "storage"(& +3 "core" & <\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +31 "core" ' +2 "storage"(P% +3 "core" %G \ +3 ."downElevator"SE.seek :down +4 "storage"(i'X +98 (]% +3 "core" %< \ V` +2 "manipulator"&% +4 "core" %ѓ B w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +88 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & m\ +2 "manipulator"&Q% +3 "core" %\  k  +2 "storage"(+% +5 "core" %b D\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +342 "core" ( +5 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ~ -\  +2 "manipulator"&{& +3 "core" & U  +2 .tElbow.seek 3 +2 "manipulator"&,( +13 "core" ( +2 "manipulator"&G& +3 "core" & h p +2 "storage"(R& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +96 "core" ' +2 "storage"(*& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (n& +3 "core" & *\  +2 "manipulator"&U& +3 "core" & 2 p +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&8& +3 "core" &  p +2 "storage"('& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"('X +8 "core" &  p +2 "manipulator"&c% +3 "core" % Ϧ  +3 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&!( +155 "core" ( +2 "manipulator"&W& +3 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +4 "core" && =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +4 "core" &&  =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&B'" +104 "core" ' + "manipulator"&q& +4 "core" &&  =F +2 "manipulator"&% +4 "core" %  +2 "collection"'1& +5 "core" & s\ +2 "collection"'w& +6 "core" & s\ +2 .tCC.seek :closed +3 "collection"'(V +2 "core" & }\ +7 &4 y\ $d +10 &W~ i\ 7 +9 &y r\ L +9 &R u\ L +10 &dT w\ M +9 &'T y\ M +10 &U u\ M +9 &T v\ M +9 &mS {\ M +10 &0T z\ M +9 &T {\ M +9 &!T {\ M +10 &#uT v\ M +9 &%8T y\ M +10 &&T z\ M +9 &(T v\ L +9 &*~U v\ M +10 &,?U v\ M +9 &.T u\ M +9 &/T u\ L +10 &1T t\ M +9 &3GS w\ M +10 &5 T p\ M +9 &6U u\ M +9 &8T v\ M +10 &:OU s\ M +9 &<V t\ M +9 &=R w\ M +10 &?U n\ M +9 &AWT t\ M +10 &CU v\ M +9 &DW o\ M +9 &F] t\ N +10 &HVl p\ P +9 &J\ n\ U +9 &K k\ Y +10 &M q\ Y +9 &OD m\ Y +10 &Q n\ Y +9 &R s\ Z +9 &T m\ [ +10 &V$v m\ / +9 &V) l\ V +9 ( +3 "collection"'w& +2 "core" &V` k\ J +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&f1 +60 "core" 1 + "manipulator"&o% +4 "core" %  < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%z& +4 "core" &\ +2 "manipulator"&?% +4 "core" %\  3  +2 "storage"(L% +3 "core" %[ ^ e F\ +2 "storage"(h. +4 "core" .( + "storage"(0& +4 "core" & ^ O V\  +2 "storage"(u& +4 "core" & _ P !\  +2 "manipulator"&& +3 "core" && =F +2 "manipulator"&% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&V( +158 "core" ( +2 "manipulator"&T& +3 "core" &   +2 "storage"(>& +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +96 "core" ' + "storage"(d& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +45 "storage"(y'i +287 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & t o @\  +2 "manipulator"&& +3 "core" & :  +3 .tElbow.seek 3 + "manipulator"&\\( +4 "core" ( +2 "manipulator"&N& +3 "core" & 1  +3 "storage"(l& +4 "core" & { \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(s'X +8 "core" &   +2 "manipulator"&#% +4 "core" % ϣ  a +2 .tForearm.seek :retract +2 "manipulator"&g'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&C& +5 "core" &i   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&Y& +3 "core" &i M +2 "manipulator"&m% +4 "core" %  +2 "processing"%& +5 "core" &\ +2 "processing"% & +4 "core" &\ +3 .tPC.seek :closed + "processing"%<(Z +4 "core" &\ +8 &@\ $d +9 &U}\ 7 +10 &{\ L +9 &Y\ N +9 &`Z\ N +10 &#W\ N +9 &W\ M +9 &W\ N +10 &iW\ N +9 &*Y\ N +10 &W\ N +9 &!Y\ N +9 &#qX\ N +10 &%3Z\ N +9 &&U\ M +9 &(W\ N +10 &*yW\ N +9 &,;U\ N +10 &-X\ N +9 &/Z\ N +9 &1W\ M +10 &3CW\ N +9 &5Y\ N +10 &6U\ N +9 &8T\ N +9 &:LW\ M +10 &< U\ N +9 &=U\ N +9 &?U\ N +10 &ASU\ N +9 &CV\ N +9 &D\\\ N +10 &Ff\ O +9 &HPx\ Q +10 &J \ S +9 &K\ T +9 &M\ T +10 &OQ\ T +9 &Q\ T +9 &R\ U +10 &T\ U +9 &VV\ U +10 &X\ U +9 &Y{n\ 8 +9 &Z.\ K +10 &Z\ * +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&Z1 +55 "core" 1 +2 "manipulator"&:% +4 "core" % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +2 "processing"%.& +3 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&|% +3 "core" %\    +3 "storage"(% +4 "core" %T a e\ + "storage"(. +4 "core" .( + "storage"(v& +3 "core" & c c\  +3 "storage"(t& +2 "manipulator"&& +7 "core" & c c \  + &i  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&;(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +7 "core" ( + "manipulator"&e& +3 "core" &i  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i ) +2 .tForearm.seek PC + "manipulator"&"' +94 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +3 .tPC.seek :open +2 "processing"%6( +90 "core" ' + "storage"(j- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'y +47 "core" ' +283 ( +2 "storage"(X& +3 "core" & l ` \  +2 "manipulator"& & +4 "core" &i ) +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +41 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +256 "core" ( +2 "manipulator"&(& +3 "core" &\ G ` +3 "storage"(A& +3 "core" & Q Y \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +106 "core" ' +2 .tHand.open + "manipulator"&b1 +53 "core" 1 +2 "storage"(9- +4 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(3'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(~' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(@& +3 "core" & '\  +2 "manipulator"&O& +4 "core" &\ % ] +2 .tElbow.seek 3 +2 "manipulator"&4( +28 "core" ( + "manipulator"&%& +4 "core" &   +2 "storage"(_& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(P' +58 "core" ' +2 "manipulator"&[& +3 "core" &   +2 "storage"(]& +5 "core" & 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'i +28 "core" ' +2 "manipulator"&D% +3 "core" %Ά - +2 "storage"(& +4 "core" & c f \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&Q'ϲ +13 "core" ' +2 "manipulator"&+& +3 "core" &  +2 "storage"(& +3 "core" & \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +25 "core" ' +2 "storage"(% +3 "core" %l \ +3 ."downElevator"SE.seek :down +4 "storage"(i'X +98 (`% +4 "core" %]A d c '\ Vb +2 "manipulator"&% +4 "core" %M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (G& +3 "core" & A\  +2 "collection"'R& +3 "core" &V_ g\ J +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&*% +4 "core" %\    +2 "storage"(2% +3 "core" %` \ +2 "storage"(I. +4 "core" .( + "storage"(& +4 "core" & y\  +2 "storage"(n& +4 "core" & \  +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&'& +3 "core" & E  +2 "storage"(-& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +96 "core" ' +2 "storage"(c& +3 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +284 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &   +2 "storage"(a& +3 "core" & 6\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&M'} +26 "core" ' +2 .tElbow.hold + "manipulator"&E, +48 "core" , +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +28 "core" ' + "manipulator"&% +5 "core" %΋  + "storage"(1& +5 "core" & s t\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +12 "core" ' + "manipulator"&p& +5 "core" &   +2 "storage"(r& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'D +44 "core" ' + "manipulator"&z& +4 "core" & 2  +2 "manipulator"&?% +4 "core" %L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +157 "core" ( +3 "manipulator"&0& +3 "core" &  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &w& +2 "core" &  6 +3 .tForearm.seek CC + "manipulator"&u'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(B& +3 "core" & \  +2 "storage"(T& +4 "core" & ~ ~ 5\  +2 "manipulator"&>& +4 "core" &  6 +2 "manipulator"&d% +3 "core" % /   +3 .tForearm.seek :retract + "manipulator"&!'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +152 "core" ( + "manipulator"&J& +5 "core" & 0 + "storage"(& +4 "core" & O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +102 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +57 "core" 1 +2 "manipulator"&K% +3 "core" % ΄  +2 "storage"(/& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&#'ϰ +27 "core" ' +2 "manipulator"&V& +4 "core" &  +2 "storage"(\ & +3 "core" & J\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +29 "core" ' +2 "storage"(S% +4 "core" %J \ +2 ."downElevator"SE.seek :down +4 "storage"(C'X +99 (5% +3 "core" %? \ V_ +2 "manipulator"&\\% +3 "core" %2 ( k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'m& +5 "core" & Z\ + "manipulator"&% +5 "core" %\ # A @ + "storage"(s% +4 "core" %` <\ +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(7( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" & D\ +2 "manipulator"&:& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&.( +45 "core" ( + "manipulator"&|& +4 "core" &   +2 "storage"(& +3 "core" & [\ +46 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(v& +3 "core" & 3\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +3 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & 7\ +2 "manipulator"&e& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"( & +4 "core" & (\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&j' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(<'X +8 "core" & Y  +2 "manipulator"&}% +3 "core" % M # +2 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&& +3 "core" &.  Dv +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +2 "core" &.  Dv +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&('" +103 "core" ' +4 "manipulator"&A& +3 "core" &. - Dv +2 "manipulator"&;% +4 "core" % 8 +2 "collection"'b& +5 "core" & w\ +2 "collection"'9& +5 "core" & n\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & y\ +7 &2 v\ $d +9 &W~ p\ 7 +10 &y s\ L +9 &Q i\ M +9 &kU k\ M +10 &-T j\ M +9 &U h\ M +9 &W h\ M +10 &tU l\ M +9 &6R j\ M +10 &U p\ M +9 &!U s\ L +9 &#{T w\ M +10 &%=U t\ M +9 &'T m\ M +9 &(T t\ M +10 &*T z\ M +9 &,ER v\ M +10 &.T z\ M +9 &/T w\ M +9 &1U v\ M +10 &3MV u\ M +9 &5U w\ M +9 &6U w\ M +10 &8T q\ M +9 &:UX w\ M +10 &<V x\ M +9 &=R v\ M +9 &?U w\ M +10 &A^T |\ M +9 &C U z\ M +9 &DX x\ M +10 &Fa w\ N +9 &H\\l u\ P +10 &J v\ T +9 &K v\ X +9 &M v\ Y +10 &OJ s\ Y +9 &Q t\ Y +9 &R u\ Z +10 &T u\ Z +9 &V*v v\ / +9 &V# x\ U +9 ( +2 &V` w\ M +2 "collection"'9& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&@1 +61 "core" 1 +3 "manipulator"&O% +3 "core" %  q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%%& +3 "core" &\ +2 "manipulator"&_% +5 "core" %\   +2 "storage"([% +3 "core" %T e ^ \ +2 "storage"(]. +3 "core" .( +2 "storage"($& +3 "core" & W L\ +2 "storage"(D& +5 "core" & P V n\ + "manipulator"&& +4 "core" & *  @Z +2 "manipulator"&3% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +156 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(F& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +276 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & e w n\ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&4( +4 "core" ( + "manipulator"&P& +5 "core" & j  +47 "storage"(& +5 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(*'X +8 "core" &   +2 "manipulator"&2% +3 "core" %  N Q +3 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&H& +3 "core" &|   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &|   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U' +96 "core" ' + "manipulator"&'& +5 "core" &|   + "manipulator"&-% +4 "core" % w ' +2 "processing"%)& +5 "core" &\ +2 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(Z +5 "core" &\ +6 &D\ $f +9 &W\ 8 +9 &|\ M +10 &Y\ N +9 &yX\ N +9 &;Z\ N +10 &W\ M +9 &W\ M +10 &X\ N +9 &C[\ N +9 & W\ N +10 &!W\ M +9 &#W\ N +9 &%KZ\ N +10 &' Z\ N +9 &(V\ N +10 &*W\ M +9 &,SW\ N +9 &.Z\ N +10 &/Y\ N +9 &1Y\ N +9 &3[U\ N +10 &5Y\ N +9 &6Z\ N +10 &8Y\ N +9 &:cZ\ N +9 &<$X\ N +10 &=U\ M +9 &?T\ N +9 &AkT\ N +10 &C-W\ N +9 &D\\\ N +10 &Fe\ O +9 &Hhu\ Q +9 &J$\ S +10 &K\ S +9 &M\ S +9 &Oi\ T +10 &Q)\ T +9 &R\ T +10 &T\ T +9 &Vm\ U +9 &X0\ U +10 &Y{p\ / +9 &Z'h\ H +9 &Z$\ 0 +3 ( + "processing"%c& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&x1 +59 "core" 1 +2 "manipulator"&{% +3 "core" %  ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +95 "core" ' +2 "processing"%W& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&a% +5 "core" %\    + "storage"(q% +4 "core" %W M J K\ +2 "storage"(. +3 "core" .( +2 "storage"(1& +3 "core" & N J <\ +3 "storage"(p& +2 "manipulator"&r& +7 "core" & O J 7\ +2 &|  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&z(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(?'i +3 "core" ( +2 "manipulator"&&& +3 "core" &|   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &|   +3 .tForearm.seek PC + "manipulator"&,' +93 "core" ' +2 .tHand.close + "manipulator"&M/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +36 "core" ' +291 ( + "storage"(w& +5 "core" & t w h\ + "manipulator"&f& +4 "core" &|   +2 "manipulator"&E% +3 "core" % \\ * +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&L( +248 "core" ( +2 "manipulator"&& +3 "core" &\ 2 P +2 "storage"(B& +4 "core" & N N 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +96 "core" ' +2 .tHand.open +2 "manipulator"&>1 +57 "core" 1 +2 "storage"(d- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(h& +3 "core" & 6\ +2 "manipulator"&l& +4 "core" &  N +2 .tElbow.seek 2 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&/& +3 "core" & s N +2 "storage"(V& +5 "core" & i\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(S' +58 "core" ' + "manipulator"&!& +4 "core" &  N +2 "storage"(5& +4 "core" & k z >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +3 "manipulator"&#% +3 "core" % v +2 "storage"(m& +4 "core" & M ^\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&s& +3 "core" &  N +2 "storage"(g& +4 "core" & P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +32 "core" ' +2 "storage"(y% +5 "core" %k \ +2 ."downElevator"SE.seek :down +5 "storage"(C'X +99 (% +3 "core" %G K R Y\ Wd +2 "manipulator"&Z% +3 "core" %ќ > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" & j +\ +2 "collection"'& +4 "core" &V` ]\ M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&v% +3 "core" %\ # + A +2 "storage"(N% +4 "core" %a p r \ +2 "storage"(Y. +3 "core" .( +2 "storage"(t& +3 "core" & f f x\ +2 "storage"( & +4 "core" & t t \ +2 "manipulator"&e& +3 "core" &\  N +3 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( +2 "manipulator"& & +3 "core" &\ ? N +2 "storage"(^& +5 "core" & q s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +90 "core" ' +3 "storage"(}& +3 "core" & u\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  N +2 "storage"("& +4 "core" & q q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +36 "core" ' +2 .tElbow.hold + "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(;'S +27 "core" ' +2 "manipulator"&b% +3 "core" % 4 +2 "storage"(& +4 "core" & O N\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&<' +42 "core" ' +9 "manipulator"&X& +5 "core" & M + "storage"(& +4 "core" & \ +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(O'B +42 "core" ' +2 "manipulator"&%& +3 "core" &  M +2 "manipulator"&_% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&]( +148 "core" ( +2 "manipulator"&$& +3 "core" &#  :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &#  :1 +3 .tForearm.seek CC + "manipulator"&D'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'3( +415 "core" ( +2 "storage"((& +3 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&& +3 "core" &# 8 :1 +2 "manipulator"&F% +5 "core" % $  +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +157 "core" ( + "manipulator"&`& +5 "core" &  + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +108 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +100 "core" 1 +3 "manipulator"&G% +3 "core" % ! +2 "storage"(R& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&2' +13 "core" ' +2 "manipulator"&+& +3 "core" &   +2 "storage"(& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +29 "core" ' +2 "storage"(Q% +3 "core" %G f\ +3 ."downElevator"SE.seek :down +5 "storage"(H'X +99 (n% +3 "core" %C \ V` +2 "manipulator"&4% +3 "core" %y  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'-& +4 "core" & l\ +2 "manipulator"&)% +3 "core" %\    +3 "storage"(*% +3 "core" %b \ +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(6( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" & w ` \  +2 "manipulator"&{& +3 "core" & /  +3 .tElbow.seek 3 + "manipulator"&W( +13 "core" ( +2 "manipulator"&a& +3 "core" & ~ y +2 "storage"(q& +4 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +109 "core" ' + "storage"(1& +4 "core" & >\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +283 "core" ' + "storage"(p- +3 "core" -' +44 .tSE.configure :default +7 "storage"(#QK-0-\ b +3 (r& +3 "core" & \  +2 "manipulator"&&& +4 "core" &  y +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&U& +4 "core" & / y +2 "storage"(M& +4 "core" & Y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(i'X +8 "core" &  y +2 "manipulator"&?% +3 "core" % ϯ " +3 .tForearm.seek :retract + "manipulator"&w'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +3 "manipulator"&E& +3 "core" &* < @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &* 4 @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 "manipulator"&B& +3 "core" &( A ?V +2 "manipulator"&z% +4 "core" % +  +2 "collection"'>& +4 "core" & ~\ +3 "collection"'d& +5 "core" & \ +3 .tCC.seek :closed + "collection"'u(V +5 "core" & \  +8 &1z {\ *z +9 &f \ ? +10 &~o \ N +9 &BT x\ M +10 &U {\ M +9 &S z\ M +9 &T x\ M +10 &KU {\ M +9 & S y\ M +9 &T z\ M +10 & T o\ M +9 &"RU h\ M +10 &$T k\ M +9 &%U m\ M +9 &'T n\ M +10 &)[R s\ M +9 &+U y\ M +9 &,U b\ M +10 &.T m\ M +9 &0cU h\ M +10 &2%T l\ M +9 &3W ^\ M +9 &5U c\ M +10 &7lU f\ L +9 &9-U l\ M +9 &:V l\ M +10 &<W g\ M +9 &>sV _\ M +10 &@5T e\ M +9 &AT s\ M +9 &CV p\ M +10 &EzY i\ M +9 &G7c i\ O +9 &Ht f\ P +10 &J m\ V +9 &La r\ X +10 &N# f\ X +9 &O q\ Y +9 &Q r\ Y +10 &Sa t\ [\ +9 &U$ i\ [ +9 &VqC e\ 1 +10 &Vq s\ L +5 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&h1 +4 "core" &Va h\ L +52 1 +3 "manipulator"&l% +4 "core" %  C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%V& +5 "core" &\ + "manipulator"&% +5 "core" %\ \   + "storage"(!% +5 "core" %S c f\ + "storage"(5. +3 "core" .( +2 "storage"(0& +3 "core" & d d\  +2 "storage"(#& +5 "core" & d g\  +2 "manipulator"&m& +4 "core" &'  >K +2 "manipulator"&J% +3 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&s( +163 "core" ( +2 "manipulator"&g& +3 "core" & - y +2 "storage"(y& +4 "core" & (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +98 "core" ' +2 "storage"(T& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" & q g \  +2 "manipulator"&\ & +4 "core" & y +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&S& +3 "core" & t y +2 "storage"(\\& +4 "core" & '\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(v'X +55 "core" & > y +3 "manipulator"&N% +3 "core" % ϰ v f +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&Y(s +113 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +148 "core" ( + "manipulator"&t& +5 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +106 "core" ' +2 "manipulator"& & +3 "core" &l ' +2 "manipulator"&^% +5 "core" % 9 _ +2 "processing"%o& +3 "core" &\ +3 "processing"%}& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +5 "core" &\ +6 &8\ $d +9 &Sz\ 6 +9 &}{\ K +10 &Y\ N +9 &[\\\ N +9 &Z\ N +10 &Z\ M +9 &U\ N +10 &cW\ N +9 &&U\ M +9 &Y\ N +10 &!X\ N +9 &#lW\ M +9 &%-Z\ N +10 &&Z\ N +9 &(Z\ M +10 &*tX\ M +9 &,5V\ N +9 &-W\ N +10 &/U\ M +9 &1|W\ M +10 &3>W\ M +9 &4Z\ N +9 &6Z\ M +10 &8W\ M +9 &:E[\ N +9 &<X\ N +10 &=T\ M +9 &?U\ M +10 &AMY\ N +9 &CY\ N +9 &D\\\ N +10 &Ff\ O +9 &HIy\ R +9 &J\ S +10 &K\ T +9 &M\ T +10 &OK\ T +9 &Q \ T +9 &R\ T +10 &T\ T +9 &VQ\ T +9 &X\ U +10 &Yzp\ 9 +9 &Z)p\ O +9 &Z$\ 0 +3 ( +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&:% +3 "core" %   _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 "processing"%& +3 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&"% +3 "core" %\   +2 "storage"(A% +5 "core" %c O P X\ + "storage"(b. +3 "core" .( +2 "storage"(& +3 "core" & O P ;\  +3 "storage"(X& +2 "manipulator"&& +7 "core" & I J ,\  + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&%(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(_'i +2 "core" ( +3 "manipulator"&k& +3 "core" &l  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &l +2 .tForearm.seek PC +2 "manipulator"&.' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%<( +89 "core" ' +2 "storage"(;- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'y +47 "core" ' +288 ( + "storage"(9& +5 "core" & d f M\  + "manipulator"&@& +4 "core" &l  +2 "manipulator"&j% +3 "core" % { +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&[( +239 "core" ( +2 "manipulator"&& +3 "core" & ; % +2 "storage"((& +4 "core" & N N \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(F- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(`'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +53 "core" ' +49 #tLights, camera, ACTION! +2 "storage"(D- +3 "core" -' +2 "storage"(]& +3 "core" & \  +2 "manipulator"&& +5 "core" & : # +2 .tElbow.seek 3 + "manipulator"&G( +3 "core" ( +2 "manipulator"&R& +4 "core" &  # +2 "storage"(+& +4 "core" & (\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' +2 "manipulator"&Q& +3 "core" & V # +2 "storage"( & +4 "core" & ^ a \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'} +21 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' +2 "manipulator"&2% +3 "core" %΍ 5 +2 "storage"(-& +4 "core" & R ] I\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&)'Ϲ +21 "core" ' +2 "manipulator"&*& +3 "core" &  # +2 "storage"(I& +4 "core" & g i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&O'9 +31 "core" ' +2 "storage"(~% +3 "core" %p \ +3 ."downElevator"SE.seek :down +4 "storage"(H'X +99 (7% +2 "core" %? c e\ Wd +2 "manipulator"&x% +4 "core" %#  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (a& +2 "core" & r i \  +3 "collection"'q& +4 "core" &Va g\ L + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&1% +3 "core" %\ %  C +3 "storage"(P% +4 "core" %T q p \ + "storage"('. +4 "core" .( + "storage"(p& +4 "core" & d m a\  +2 "storage"(r& +3 "core" & ] q \  +2 "manipulator"&&& +4 "core" & # +2 .tElbow.seek 3 +2 "manipulator"&U( +4 "core" ( +2 "manipulator"&M& +3 "core" & { # +2 "storage"(& +3 "core" & p m \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +100 "core" ' +2 "storage"(?& +3 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &  # +2 "storage"(,& +3 "core" & u \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&c'} +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(z'V +30 "core" ' + "manipulator"&>% +4 "core" %Ή +2 "storage"(8& +3 "core" & O Q >\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&i'ϵ +19 "core" ' + "manipulator"&w& +5 "core" &  # + "storage"(3& +4 "core" & e f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(l'E +41 "core" ' +2 "manipulator"&V& +43 "core" & N # +9 "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +13 "Can"C\ E\  +136 "core" ( +3 "manipulator"&0& +5 "core" &  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" &  3 +2 .tForearm.seek CC +2 "manipulator"&#'" +94 "core" ' +2 .tHand.close + "manipulator"&m/ +55 "core" / +2 .tCC.seek :open + "collection"'J( +416 "core" ( +2 "storage"(& +3 "core" & \  +3 "storage"(g& +4 "core" & \  + "manipulator"&y& +4 "core" & " 3 +2 "manipulator"&T% +3 "core" % % 2 +3 .tForearm.seek :retract +2 "manipulator"&f'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&/( +157 "core" ( +2 "manipulator"&& +3 "core" & `  +2 "storage"(Z& +5 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&\ '} +100 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&|% +3 "core" % Ώ ` +2 "storage"(& +5 "core" & +\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&N'ϻ +36 "core" ' + "manipulator"&s& +4 "core" &   +2 "storage"(L& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 "storage"(% +3 "core" %K \ +3 ."downElevator"SE.seek :down +4 "storage"(t'X +98 ( % +3 "core" %A \ V` +2 "manipulator"&K% +4 "core" %q ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'^& +3 "core" & k\ +2 "manipulator"&o% +4 "core" %\    +2 "storage"(v% +3 "core" %S \ +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ~ \ +2 "manipulator"&:& +3 "core" & &  +3 .tElbow.seek 2 + "manipulator"&( +32 "core" ( + "manipulator"&"& +4 "core" & t !t +2 "storage"(A& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +99 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +2 "core" & } \ +3 "manipulator"&k& +3 "core" &  n +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&e& +4 "core" &  n +2 "storage"(& +3 "core" & \ +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +70 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(C'X +8 "core" & R n + "manipulator"&_% +5 "core" %  T \ +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +147 "core" ( + "manipulator"&j& +4 "core" &$ P ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&.& + "storage"(5 +5 "core" &$  ;6 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +3 "manipulator"&(& +3 "core" &$  ;6 +3 "manipulator"&%% +3 "core" %  +3 "collection"'& +3 "core" & \ +3 "collection"'F& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'D(V +4 "core" & \ +8 &3 \ $e +10 &W \ 7 +9 &y \ L +9 &U \ M +10 &jR \ M +9 &-T \ L +9 &U \ M +10 &W ~\ M +9 &rR \ M +10 &5T y\ L +9 &U \ M +9 &!Y {\ M +10 &#zU x\ M +9 &%;X x\ M +9 &&T q\ L +10 &(T i\ M +9 &*W m\ M +10 &,CW \ M +9 &.T y\ L +9 &/T v\ M +10 &1X h\ M +9 &3LS e\ M +9 &5W l\ M +10 &6U e\ M +9 &8S g\ L +10 &:SU n\ M +9 &<U `\ M +9 &=T l\ M +10 &?T f\ M +9 &A[T l\ M +9 &CU j\ M +10 &DW f\ M +9 &F` b\ N +10 &HYk g\ P +9 &J k\ U +9 &K f\ X +10 &M _\ Y +9 &OI e\ Y +9 &Q\ i\ Y +10 &R h\ Z +9 &T f\ Z +10 &V)v e\ / +9 &V" d\ S +9 ( +2 "collection"'F& +4 "core" &Vl k\ M +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&]1 +56 "core" 1 +3 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%R& +4 "core" &\ +2 "manipulator"&+% +4 "core" %\ #  @ +2 "storage"(Q% +3 "core" %a O P :\ +2 "storage"( . +4 "core" .( + "storage"($& +4 "core" & O P ]\ +2 "storage"(`& +3 "core" & O O h\ +2 "manipulator"&2& +4 "core" &$ % ;6 +2 "manipulator"&-% +4 "core" %\ #  @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&*( +156 "core" ( +2 "manipulator"&I& +3 "core" &   +2 "storage"(~& +4 "core" & p q w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +96 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & n d\ +2 "manipulator"&& +3 "core" & "  +3 .tElbow.seek 2 + "manipulator"&G( +3 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(n& +3 "core" & p q |\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&)' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&q& +5 "storage"(1'X +6 "core" &   + "manipulator"&P% +4 "core" % # T +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&'(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&p& +3 "core" &x H +50 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &r& +3 "core" &x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&&' +98 "core" ' +2 "manipulator"&M& +3 "core" &x  +3 "manipulator"&% +3 "core" %   +3 "processing"%O& +3 "core" &\ +3 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%H(Z +4 "core" &\  +8 &2|\ )w +10 &c\ > +9 &hu\ N +9 &,T\ M +10 &W\ N +9 &[\ N +10 &q\\\ N +9 &3U\ N +9 &W\ N +10 &V\ N +9 & zX\ M +10 &";X\ N +9 &#Z\ N +9 &%W\ N +10 &'Y\ M +9 &)DX\ M +9 &+W\ M +10 &,W\ N +9 &.Z\ N +9 &0KU\ N +10 &2 U\ N +9 &3W\ M +10 &5[\ N +9 &7TW\ M +9 &9Z\ N +10 &:U\ M +9 &<Y\ N +9 &>[U\ N +10 &@W\ N +9 &AV\ N +10 &CZ\ N +9 &Eb]\ N +9 &Gj\ P +10 &H\ R +9 &J\ S +9 &LY\ T +10 &N\ S +9 &O\ S +10 &Q\ T +9 &S_\ T +9 &U!\ T +10 &V\ T +9 &X\ U +9 &Ze\ (z +10 &Z`\ 7 +9 ( + &Z(\ 2 +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&41 +57 "core" 1 + "manipulator"&{% +5 "core" % I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%E& +3 "core" &Z(\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&,% +3 "core" %\ %  G +2 "storage"(B% +5 "core" %T 7 7\ + "storage"(>. +3 "core" .( +2 "storage"(8& +3 "core" & 5 5 \ +3 "storage"(w& +2 "manipulator"&3& +7 "core" & 7 5\ + &x  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&V(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&=& +6 "core" &x  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &x # +3 .tForearm.seek PC + "manipulator"&W' +97 "core" ' +2 .tHand.close + "manipulator"&c/ +58 "core" / +4 .tPC.seek :open +2 "processing"%i( +84 "core" ' +2 "storage"(z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +36 "core" ' +302 ( +2 "storage"(d& +3 "core" & X c\ +2 "manipulator"&h& +5 "core" &x  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&m'\ +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&!( +248 "core" ( + "manipulator"&u& +4 "core" & n  +2 "storage"(& +3 "core" & c c \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +106 "core" ' +2 .tHand.open + "manipulator"&y1 +61 "core" 1 +2 "storage"(T- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Z' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(5& +3 "core" & \ +2 "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&|( +10 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(s& +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +51 "manipulator"&L'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +59 "core" ' + "manipulator"&f& +4 "core" &   +2 "storage"( & +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&K' +33 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(\ 'i +27 "core" ' +2 "manipulator"&N% +3 "core" % n +2 "storage"(^& +5 "core" & #  W\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&o' +13 "core" ' +2 "manipulator"&v& +3 "core" & A  +2 "storage"(& +4 "core" & r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +23 "core" ' + "storage"(% +5 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(t'X +98 (6% +3 "core" %4G U 3\ Wd +2 "manipulator"&% +4 "core" %  { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" & h l \ +2 "collection"'A& +5 "core" &Vk ^\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  T  +2 "storage"(S% +4 "core" %b z G\ +2 "storage"( . +3 "core" .( + "storage"(X& +4 "core" & i "\ +2 "storage"(}& +4 "core" & v "\ +2 "manipulator"&k& +3 "core" & Q  +3 .tElbow.seek 2 + "manipulator"&e( +10 "core" ( + "manipulator"&& +5 "core" & ] + "storage"(Y& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(_& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +3 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &  +2 "storage"(.& +4 "core" & f f )\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +35 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(%'S +30 "core" ' +2 "manipulator"&% +3 "core" % F +2 "storage"( & +4 "core" & H A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&C' +15 "core" ' + "manipulator"&9& +5 "core" & + "storage"(J& +4 "core" & v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&]'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' + "manipulator"&R& +4 "core" & +2 "manipulator"&+% +4 "core" %я +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +149 "core" ( +3 "manipulator"&F& +4 "core" &%  << +2 .tElbow.reconfigure :loose +49 "manipulator"&$ &.,(#b +3 &$& +2 "core" &% & << +3 .tForearm.seek CC + "manipulator"&`'" +99 "core" ' +2 .tHand.close + "manipulator"&2/ +53 "core" / +2 .tCC.seek :open +2 "collection"'-( +419 "core" ( +2 "storage"(& +3 "core" & \ +2 "storage"(I& +5 "core" & \ + "manipulator"&~& +5 "core" &% 2 << + "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&@'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&7& +3 "core" & -  +2 "storage"(x& +5 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +108 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +56 "core" 1 +2 "manipulator"&a% +3 "core" % 7 +2 "storage"(q& +4 "core" & \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&P' +19 "core" ' + "manipulator"&*& +4 "core" & C  +2 "storage"([& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"()% +4 "core" %D @\ +2 ."downElevator"SE.seek :down +4 "storage"(p'X +98 (r% +3 "core" %> @\ U_ +2 "manipulator"&G% +4 "core" %њ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & p\ +2 "manipulator"&O% +4 "core" %\   +2 "storage"(1% +4 "core" %b \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(<( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +3 "core" & | 9\  +2 "manipulator"&{& +3 "core" & %  +3 .tElbow.seek 3 + "manipulator"&E( +13 "core" ( + "manipulator"&,& +5 "core" &  u + "storage"(B& +4 "core" & .\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +91 "core" ' +2 "storage"(8& +3 "core" & O\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +286 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" & ]\  +2 "manipulator"&=& +3 "core" & T u +3 .tElbow.seek 3 + "manipulator"&U( +4 "core" ( +2 "manipulator"&&& +4 "core" & " u + "storage"(c& +4 "core" & G\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(H'X +8 "core" &  u +2 "manipulator"&% +4 "core" % ϯ  +2 .tForearm.seek :retract +47 "manipulator"&d'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( + "manipulator"&& +4 "core" &' . >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +2 "core" &'  >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'" +98 "core" ' +2 "manipulator"&& +3 "core" &( U >J +2 "manipulator"&V% +5 "core" % , +2 "collection"'y& +3 "core" & \ +3 "collection"'T& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'#(V +5 "core" & \ +7 &2 \ $d +9 &W} \ 7 +10 &x \ L +9 &U \ M +9 &gR \ M +10 &*T \ L +9 &T \ M +9 &R \ M +10 &oT \ M +9 &2S \ L +10 &T \ M +9 &!S \ M +9 &#wS \ M +10 &%9T \ M +9 &&S \ M +10 &(R z\ M +9 &*T y\ M +9 &,BT y\ L +10 &.T w\ M +9 &/S w\ M +9 &1W \ M +10 &3IR w\ M +9 &5\ W \ M +9 &6U \ M +10 &8V \ M +9 &:PT w\ M +10 &<U x\ M +9 &=U q\ M +9 &?T m\ M +10 &AZT \ L +9 &CU u\ M +10 &DW v\ M +9 &Fa m\ N +9 &HXk f\ P +10 &J n\ U +9 &K \ Y +9 &M p\ Y +10 &OF k\ Y +9 &Q t\ Y +9 &R r\ Z +10 &T t\ [ +9 &V#t m\ / +10 &V+ j\ \\ +8 ( +2 &Vh h\ J +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&51 +64 "core" 1 +4 "manipulator"&\\% +3 "core" %  @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&s% +3 "core" %\ '  < +3 "storage"(f% +3 "core" %T O O 7\ +2 "storage"( . +4 "core" .( + "storage"(0& +4 "core" & P O T\  +2 "storage"(& +4 "core" & O J \  +2 "manipulator"&N& +3 "core" &'  >J +2 "manipulator"&^% +4 "core" %\ & < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v( +160 "core" ( +2 "manipulator"&& +3 "core" &  u +3 "storage"(!& +3 "core" & u h H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +97 "core" ' + "storage"(& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'i +278 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" & e Z\  +2 "manipulator"&L& +3 "core" & u +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & + u +2 "storage"(K& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"('X +8 "core" & * u +2 "manipulator"&S% +3 "core" % Ϧ < +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&X& +5 "core" &v {  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" &v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +94 "core" ' +2 "manipulator"&& +3 "core" &v :  +3 "manipulator"&Y% +3 "core" %  " +2 "processing"%l& +4 "core" &\ +50 "processing"%_& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(Z +5 "core" &\ +6 &8\ $d +10 &U} \ 7 +9 &~z\ K +9 &Z\ N +10 &eY\ M +9 &'W\ M +9 &W\ M +10 &V\ M +9 &kZ\ N +10 &.U\ N +9 &X\ M +9 &!W\ M +10 &#uY\ M +9 &%6U\ N +9 &&U\ N +10 &(U\ M +9 &*|W\ N +10 &,>[\ N +9 &.\\\ N +9 &/Z\ M +10 &1W\ N +9 &3FZ\ N +9 &5Y\ N +10 &6T\ N +9 &8X\ N +10 &:NZ\ N +9 &<Y\ M +9 &=T\ N +10 &?T\ N +9 &AWW\ M +9 &CW\ N +10 &D\\\ N +9 &Fe\ O +10 &HSy\ Q +9 &J\ S +9 &K\ S +10 &M\ T +9 &OS\ T +9 &Q\ T +10 &R\ T +9 &T\ T +10 &VZ\ T +9 &X\ U +9 &Y{n\ 6 +10 &Z0\ I +9 &Z\ ' +2 ( +2 "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&/1 +56 "core" 1 +2 "manipulator"&:% +3 "core" %  " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +95 "core" ' +2 "processing"%j& +3 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&.% +3 "core" %\  (  +3 "storage"((% +4 "core" %b O M G\ + "storage"(. +3 "core" .( +2 "storage"( & +3 "core" & M M +\  +3 "storage"(9& +2 "manipulator"&J& +7 "core" & M M @\  +2 &v %  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&R(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'i +2 "core" ( +3 "manipulator"&& +3 "core" &v '  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &v   +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%C( +91 "core" ' +2 "storage"(%- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(F'y +46 "core" ' +283 ( +2 "storage"($& +3 "core" & c c\  +2 "manipulator"&]& +5 "core" &v   + "manipulator"&;% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +252 "core" ( + "manipulator"&D& +4 "core" &\  M +2 "storage"(& +3 "core" & U V ;\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +111 "core" ' + .tHand.open +2 "manipulator"&~1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(x' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"( & +3 "core" & \  +2 "manipulator"&n& +3 "core" & s L +3 .tElbow.seek 3 +2 "manipulator"&a( +23 "core" ( + "manipulator"&q& +4 "core" &  +2 "storage"(*& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +58 "core" ' + "manipulator"&@& +5 "core" &   + "storage"(r& +4 "core" & ] s m\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tForearm.seek 3 +4 "manipulator"&G'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&P% +4 "core" %  +2 "storage"(& +3 "core" & e ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&O'ϫ +12 "core" ' + "manipulator"&1& +5 "core" &   + "storage"(& +5 "core" & } L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' + "storage"(% +4 "core" %p 8\ +2 ."downElevator"SE.seek :down +5 "storage"(p'X +99 (% +3 "core" %F R Y \ Wd +2 "manipulator"&4% +4 "core" %S  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (,& +2 "core" & j ]\  +3 "collection"'B& +3 "core" &Vf s\ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&8% +3 "core" %\ !  6 +3 "storage"( % +4 "core" %W x m $\ + "storage"(M. +4 "core" .( + "storage"(3& +4 "core" & { z /\  +2 "storage"(w& +3 "core" & u h c\  +2 "manipulator"&=& +4 "core" & \  +2 .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&c& +3 "core" & U  +2 "storage"('& +5 "core" & z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' + "storage"(& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +284 "core" ' + "storage"(>- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &   +2 "storage"(& +4 "core" & \\ c 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&z'} +22 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(V'U +42 "core" ' + "manipulator"&y% +4 "core" %΀ ( +2 "storage"(U& +3 "core" & a Z [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&H'Ϭ +12 "core" ' +2 "manipulator"&d& +3 "core" &   +2 "storage"(-& +4 "core" & f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\\'D +41 "core" ' +2 "manipulator"&& +3 "core" & D  +2 "manipulator"&s% +4 "core" %R K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +154 "core" ( +3 "manipulator"& & +3 "core" &$  ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &$  ;6 +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&N/ +64 "core" / +2 .tCC.seek :open +2 "collection"'^( +416 "core" ( + "storage"(u& +4 "core" & \  +41 "storage"(& +11 "core" & |\  +2 "manipulator"&!& +4 "core" &$  ;6 +2 "manipulator"&% +3 "core" % $  5 +3 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&m( +164 "core" ( +2 "manipulator"&6& +3 "core" &  s +3 "storage"(& +3 "core" & N\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&L'} +100 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&K1 +63 "core" 1 +3 "manipulator"&"% +3 "core" % Ό +2 "storage"(A& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&S'ϸ +20 "core" ' +2 "manipulator"&v& +3 "core" &  s +2 "storage"(g& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +17 "core" ' + "storage"(o% +5 "core" %L \ +2 ."downElevator"SE.seek :down +4 "storage"(X'X +98 (}% +3 "core" %B ?\ Va +2 "manipulator"&|% +4 "core" %/  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Y& +3 "core" & \ +2 "manipulator"&l% +4 "core" %\ " 6 +2 "storage"(% +3 "core" %U ;\ +2 "storage"( . +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(i( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" & 6\ +2 "manipulator"&:& +3 "core" & _ s +3 .tElbow.seek 2 + "manipulator"&j( +32 "core" ( +2 "manipulator"&.& +3 "core" &  +2 "storage"((& +3 "core" & i\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +2 "storage"( & +4 "core" & 6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +286 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" & Y\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&e( +20 "core" ( +3 "manipulator"&k& +3 "core" & 0  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&%' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&b& + "storage"(t'X +7 "core" & X  + "manipulator"&+% +5 "core" %  " P +2 .tForearm.seek :retract +3 "manipulator"&$'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +156 "core" ( +2 "manipulator"&;& +4 "core" ' + &* @[ +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 && +3 "core" &*  @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +3 "manipulator"&D'" +95 "core" ' +3 "manipulator"&& +3 "core" && \ << +3 "manipulator"&R% +3 "core" % * +2 "collection"'~& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(V +5 "core" & \ +6 &C \ %h +9 &X{ \ 8 +9 &v \ L +10 &Q \ M +9 &T \ M +10 &BR \ M +9 &T \ M +9 &V \ M +10 &T \ M +9 &JR \ M +9 & T \ M +10 &!S \ M +9 &#U \ M +10 &%ST \ L +9 &'T \ M +9 &(R \ M +10 &*T \ L +9 &,ZV \ M +9 &.Q \ M +10 &/R \ M +9 &1T \ M +9 &3bV \ M +10 &5$R \ M +9 &6U \ M +10 &8S \ L +9 &:jU \ M +9 &<,U \ M +10 &=T \ M +9 &?U \ M +10 &ArR {\ M +9 &C4T x\ M +9 &DW \ M +10 &F` \ N +9 &Hpm \ P +9 &J$ \ U +10 &K \ X +9 &M \ Y +10 &O^ \ Y +9 &Q \ Y +9 &R \ [ +10 &T p\ [ +9 &V+i ~\ 0 +9 &V& y\ S +9 ( +2 &V_ \ J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&n% +4 "core" %  , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%q& +3 "core" &\ +2 "manipulator"&*% +4 "core" %\   +2 "storage"(@% +3 "core" %U m d\ +2 "storage"(r. +3 "core" .( +2 "storage"(F& +3 "core" & f p "\ +2 "storage"(7& +5 "core" & f m Y\ + "manipulator"&P& +5 "core" && - <; + "manipulator"&% +4 "core" %\ '  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +161 "core" ( +2 "manipulator"&& +3 "core" & #  +2 "storage"(Q& +3 "core" & \ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +106 "core" ' +2 "storage"(I& +3 "core" & ]\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & c q 1\ +2 "manipulator"&[& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&a( +4 "core" ( + "manipulator"&)& +5 "core" &  + "storage"(G& +5 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&B& + "storage"(8'X +8 "core" &   + "manipulator"& % +4 "core" %  d 3 +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&3& +5 "core" &l  S  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &l   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +100 "core" ' +2 "manipulator"&c& +3 "core" &l   +2 "manipulator"&'% +4 "core" %  +2 "processing"%& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(Z +5 "core" &\ +5 &\ 6 +10 &CHx\ 0 +9 &lq\ E +9 &a \ N +10 &W\ \ M +9 &W\ N +10 &UZ\ N +9 &Y\ N +9 &V\ N +10 &U\ M +9 &]W\ N +9 &!U\ N +10 &"X\ \ N +9 &$Z\ N +10 &&fU\ M +9 &('W\ N +9 &)Z\ N +10 &+U\ N +9 &-nU\ M +9 &//W\ N +10 &0Z \ N +51 &2V\ \ M +3 &4uV\ N + &67Y\ N +2 &7T\ \ N + &9W\ N + &;}X\ N +6 &=?Z\ \ N +10 &?Y\ N +9 &@Z\ N +10 &BU\ N +9 &DGY \ N +9 &F` \ O +10 &Gp\ P +9 &I~\ S +10 &K<\ T +9 &L \ T +9 &N\ T +10 &P\ T +9 &RD\ T +9 &T\ U +10 &U\ U +9 &W\ U +9 &YI\ B +10 &Z]<m\ $i +9 &Z%\ * +6 ( + "processing"%& +4 "core" &Z\ * +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&{% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +100 "core" ' +2 "processing"%?& +3 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ # $ ? +2 "storage"(% +4 "core" %S W V T\ +2 "storage"(y. +3 "core" .( +2 "storage"(U& +3 "core" & J N t\ +2 "storage"(d& +3 "manipulator"&-& +7 "core" & I J *\ + &l \  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'i +2 "core" ( +3 "manipulator"&& +3 "core" &l \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &l  +3 .tForearm.seek PC + "manipulator"&E' +97 "core" ' + .tHand.close +2 "manipulator"&z/ +58 "core" / +3 .tPC.seek :open + "processing"%H( +87 "core" ' +2 "storage"(V- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +42 "core" ' +291 ( +2 "storage"(0& +3 "core" & l } ?\ +2 "manipulator"&5& +3 "core" &l #  +2 "manipulator"&W% +5 "core" %    +2 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&f( +243 "core" ( +2 "manipulator"&#& +3 "core" & 6 / +2 "storage"(u& +3 "core" & q q q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + .tHand.open +2 "manipulator"&!1 +55 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +57 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(T& +3 "core" & 4\ +2 "manipulator"&K& +3 "core" & A / +3 .tElbow.seek 2 + "manipulator"&"( +4 "core" ( + "manipulator"&A& +4 "core" & / +2 "storage"(v& +4 "core" & !\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(o' +59 "core" ' + "manipulator"&h& +5 "core" & 0 / + "storage"(}& +5 "core" & w k \\\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&|' +32 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +26 "core" ' +2 "manipulator"&S% +3 "core" % O +2 "storage"(Y& +4 "core" & 1 6\ +46 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&l' +12 "core" ' + "manipulator"&& +5 "core" & { / + "storage"( & +5 "core" & | \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +27 "core" ' +2 "storage"(Z% +3 "core" %q \ +3 ."downElevator"SE.seek :down +4 "storage"(X'X +99 (<% +3 "core" %"G L Y \ Xf +2 "manipulator"&/% +3 "core" %ї  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (.& +3 "core" & \ +2 "collection"'(& +5 "core" &V_ t\ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +3 "core" %\ v  +3 "storage"(% +3 "core" %\\ |\ +2 "storage"(. +4 "core" .( + "storage"(J& +3 "core" &  9\ +2 "storage"(_& +5 "core" & } L\ +2 "manipulator"&& +3 "core" &  / +2 .tElbow.seek 2 +2 "manipulator"&k( +4 "core" ( + "manipulator"&& +4 "core" & J / +2 "storage"(\ & +5 "core" & ~ | [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +94 "core" ' +2 "storage"(+& +4 "core" & %\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +279 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" & / +2 "storage"(& +4 "core" & s y V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&9' +35 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +33 "core" ' +2 "manipulator"&R% +3 "core" % > +2 "storage"(~& +3 "core" & Q g\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&t' +15 "core" ' + "manipulator"&$& +3 "core" &  / +2 "storage"(^& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'B +41 "core" ' + "manipulator"&q& +4 "core" & G / +2 "manipulator"&*% +3 "core" %є R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +150 "core" ( +2 "manipulator"&F& +3 "core" &#  :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &#  :. +3 .tForearm.seek CC + "manipulator"&7'" +93 "core" ' +2 .tHand.close + "manipulator"&P/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(D& +4 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&Q& +3 "core" &"  9) +2 "manipulator"&I% +4 "core" % &  3 +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&2( +159 "core" ( +41 "manipulator"&& +10 "core" &   +3 "storage"(4& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&[' +105 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +58 "core" 1 +3 "manipulator"&,% +3 "core" %   +2 "storage"(B& +5 "core" & } \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"& ' +12 "core" ' + "manipulator"&1& +4 "core" &  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +24 "core" ' + "storage"(O% +4 "core" %E C\ +3 ."downElevator"SE.seek :down +4 "storage"(3'X +100 (w% +3 "core" %> f\ V` +2 "manipulator"&a% +3 "core" %Ѳ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"''& +2 "core" & \ +3 "manipulator"&% +4 "core" %\ % f D +2 "storage"(8% +3 "core" %a x\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(C( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & o g \  +2 "manipulator"&{& +3 "core" & p  +3 .tElbow.seek 3 + "manipulator"&?( +15 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +97 "core" ' +2 "storage"(U& +3 "core" & D\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(d- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & c\  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&&( +4 "core" ( +2 "manipulator"&=& +3 "core" &  +2 "storage"(z& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&V'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&>& + "storage"(p'X +8 "core" & % + "manipulator"&s% +5 "core" % Ϩ +2 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +153 "core" ( +2 "manipulator"&W& +4 "core" &'  >N ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &E& +3 "core" &'  >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'" +93 "core" ' +2 "manipulator"&u& +3 "core" &( 9 >N +2 "manipulator"&% +4 "core" %+ 0 +2 "collection"'!& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \ +44 &4 \ $e +14 &W~ {\ 7 +2 &x \ L + &U \ M +2 &pR \ M + &2S \ M +3 &R \ M +6 &S \ M +10 &xW \ M +9 &:R \ M +10 &T \ M +9 &!W \ M +9 &#U \ L +10 &%BT \ M +9 &'R \ M +9 &(R \ L +10 &*U \ M +9 &,IX \ M +10 &. S \ L +9 &/T \ L +9 &1T \ L +10 &3RT \ M +9 &5W \ M +9 &6X \ M +10 &8S \ L +9 &:ZU \ M +10 &<V \ M +9 &=U \ M +9 &?U \ L +10 &AbT |\ M +9 &C%T \ L +9 &DW \ M +10 &F] \ N +9 &H`p \ P +10 &J \ U +9 &K \ Y +9 &M \ Y +10 &OM \ Y +9 &Q \ Y +9 &R \ Z +10 &T \ [ +9 &V/v \ / +10 &V \ X +8 ( +2 &Vh \ Q +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&T1 +61 "core" 1 +2 "manipulator"&K% +3 "core" % + G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +99 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%v& +3 "core" &\ +2 "manipulator"&N% +5 "core" %\ # # ; + "storage"(h% +4 "core" %] = 9 \\\ +2 "storage"(}. +3 "core" .( +2 "storage"( & +3 "core" & N J \  +2 "storage"(S& +5 "core" & I 7 +\  + "manipulator"&Y& +5 "core" &'  >N + "manipulator"&6% +4 "core" %\ # e ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"& & +3 "core" &  i +2 "storage"(f& +4 "core" & q q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(Z& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +3 "core" & d b\  +2 "manipulator"&/& +3 "core" & i +3 .tElbow.seek 3 + "manipulator"&"( +4 "core" ( +2 "manipulator"&o& +3 "core" & \\ i +2 "storage"(|& +5 "core" & U T C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&(& + "storage"( 'X +7 "core" & ] i + "manipulator"&% +5 "core" % h J +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +3 "manipulator"&J& +3 "core" &n  `  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &n   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"&& +3 "core" &n   +2 "manipulator"&\ % +4 "core" %  +2 "processing"%\\& +4 "core" & \ +3 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(Z +5 "core" &\ +6 & /\ $d +9 &T~\ 7 +9 &z \ K +10 &\\ \ M +9 &dZ\ M +9 &&W\ M +10 &Z \ N +9 &Y \ M +10 &lY \ M +9 &-V\ N +9 &V\ N +10 &![\ N +9 &#tZ \ M +9 &%6X\ M +10 &&Z\ N +9 &(Z\ N +10 &*zX\ N +9 &,=W \ N +9 &-\\\ N +10 &/Y\ N +9 &1V\ M +9 &3FW\ M +10 &5Z\ N +9 &6Y\ N +10 &8T\ M +9 &:NW \ M +9 &<Z\ N +10 &=X\ N +9 &?U\ M +9 &AVU\ M +10 &C\\\ \ N +9 &D[\ \ N +10 &Fe\ O +9 &HQy\ \ R +9 &J \ S +10 &K \ S +9 &M \ S +9 &OT\ \ S +10 &Q \ T +9 &R\ T +10 &T \ T +9 &VY\ T +9 &X\ \ T +10 &Y{o\ 6 +9 &Z, \ R +9 &Z \ + +3 ( + "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&m1 +63 "core" 1 + "manipulator"&:% +4 "core" % 2  +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%;& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ % F +2 "storage"(e% +4 "core" %a M O \ +2 "storage"(R. +3 "core" .( +2 "storage"(~& +3 "core" & G A j\  +3 "storage"($& +2 "manipulator"&^& +7 "core" & O J 1\  +2 &o   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&q(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(*'i +2 "core" ( +3 "manipulator"&b& +3 "core" &o ?  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &o   +3 .tForearm.seek PC + "manipulator"&j' +97 "core" ' +2 .tHand.close + "manipulator"&9/ +61 "core" / +2 .tPC.seek :open +2 "processing"%t( +81 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'y +50 "core" ' +293 ( +2 "storage"(& +3 "core" & p m $\  +2 "manipulator"& & +5 "core" &o k  + "manipulator"&%% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@( +251 "core" ( +2 "manipulator"&`& +3 "core" & L +2 "storage"(D& +3 "core" & K N \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +107 "core" ' + .tHand.open +2 "manipulator"&Q1 +56 "core" 1 +2 "storage"(I- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(7' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(r& +3 "core" & \  +2 "manipulator"&G& +4 "core" & t L +2 .tElbow.seek 3 +2 "manipulator"&,( +25 "core" ( +2 "manipulator"&B& +3 "core" & {  +2 "storage"(1& +4 "core" & #\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(O' +58 "core" ' + "manipulator"&]& +3 "core" & Y  +2 "storage"(w& +5 "core" & k r \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&a'} +19 "core" ' +2 .tElbow.hold + "manipulator"&2, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +23 "core" ' + "manipulator"&'% +5 "core" %Α O + "storage"( & +4 "core" & d c A\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&'Ͻ +19 "core" ' + "manipulator"&8& +5 "core" &  + "storage"(& +4 "core" & v\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +15 "core" ' + "storage"(x% +5 "core" %b ~ j\ +2 ."downElevator"SE.seek :down +52 "storage"(3'X +50 (i% +3 "core" %> X b 5\ Wb +2 "manipulator"&% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +87 "core" ' +117 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & u i ;\  +2 "collection"'& +4 "core" &Vi r\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&U% +5 "core" %\    +2 "storage"()% +3 "core" %Z z z h\ +2 "storage"(c. +3 "core" .( +2 "storage"(d& +3 "core" & z z i\  +2 "storage"(-& +5 "core" & z { d\  +2 "manipulator"&& +3 "core" & X  +2 .tElbow.seek 3 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&z& +3 "core" & B  +2 "storage"(M& +4 "core" & z z \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +108 "core" ' + "storage"(s& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +282 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" & g  +2 "storage"(E& +3 "core" & c ] ;\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('V +34 "core" ' +2 "manipulator"&!% +3 "core" %΃ * +2 "storage"(&& +4 "core" & Q N ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&p'ϯ +19 "core" ' +2 "manipulator"&0& +3 "core" & F  +2 "storage"(& +5 "core" & z ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'E +40 "core" ' +2 "manipulator"&v& +4 "core" &   +2 "manipulator"&N% +4 "core" %9 ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +152 "core" ( +2 "manipulator"&& +4 "core" && =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &&  =F +3 .tForearm.seek CC + "manipulator"&S'" +95 "core" ' + .tHand.close +2 "manipulator"&Y/ +56 "core" / +2 .tCC.seek :open +2 "collection"'6( +419 "core" ( + "storage"(#& +5 "core" & \  + "storage"( & +4 "core" & \  +2 "manipulator"&f& +3 "core" &&  =F +2 "manipulator"&Z% +5 "core" % $   +2 .tForearm.seek :retract + "manipulator"&5'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +161 "core" ( +2 "manipulator"&g& +3 "core" & f +2 "storage"(<& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&/'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +110 "core" 1 +3 "manipulator"&.% +3 "core" % ΅  +2 "storage"((& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&'ϱ +26 "core" ' +2 "manipulator"&& +3 "core" &  f +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 "storage"(l% +3 "core" %G \ +3 ."downElevator"SE.seek :down +4 "storage"(J'X +99 (_% +3 "core" %A A\ V` +2 "manipulator"&"% +4 "core" %H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'\ & +4 "core" & \ +2 "manipulator"&\\% +3 "core" %\ " 7 @ +3 "storage"( % +3 "core" %_ =\ +2 "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(H( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" & y\ +2 "manipulator"&:& +3 "core" & " f +3 .tElbow.seek 2 + "manipulator"&+( +56 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(& +3 "core" & |\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +95 "core" ' +2 "storage"(R& +3 "core" & )\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +286 "core" ' +2 "storage"($- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +4 "core" & \ +2 "manipulator"&b& +3 "core" & t  +3 .tElbow.seek 2 + "manipulator"&k( +6 "core" ( + "manipulator"&& +3 "core" &   +2 "storage"(9& +4 "core" & 3\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(X'X +8 "core" & 9  +2 "manipulator"&*% +3 "core" %  \ +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&%& +3 "core" &, H Bh +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &,  Bh +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'" +103 "core" ' +3 "manipulator"&D& +3 "core" &, Bh +2 "manipulator"&q% +3 "core" %( f +3 "collection"'Q& +3 "core" & \ +3 "collection"'I& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'4(V +5 "core" & \ +6 &3 \ $d +10 &U{ \ 7 +9 &x \ L +10 &P {\ M +9 &hT |\ L +9 &)S |\ M +10 &R \ M +9 &R |\ M +9 &pS }\ L +10 &0T {\ M +9 &T ~\ M +10 &!T \ M +9 &#wT ~\ M +9 &%9T \ M +10 &&S \ L +9 &(S \ M +9 &*R \ M +10 &,AT \ M +9 &.R \ M +10 &/T \ M +9 &1T \ L +9 &3IS \ M +10 &5\ W \ M +9 &6T \ M +9 &8S \ L +10 &:PU \ M +9 &<U \ M +10 &=T \ M +9 &?T \ L +9 &AYU \ M +10 &CU \ M +9 &DW \ M +9 &F` \ N +10 &HWj \ P +9 &J \ U +10 &K \ Y +9 &M \ Y +51 &OD \ Y +3 &Q \ Z + &R \ Z + &T \ [\ + &V#u \ / +2 &V* \ W +6 ( +3 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&r1 +4 "core" &V_ \ J +51 1 +3 "manipulator"&G% +4 "core" % ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%B& +3 "core" &\ +3 "manipulator"&1% +3 "core" %\   +2 "storage"(]% +5 "core" %b b b\ + "storage"(w. +4 "core" .( + "storage"(F& +5 "core" & b `\ +2 "storage"('& +3 "core" & c e\ +2 "manipulator"& & +5 "core" &*  @W + "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&8( +158 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(x& +4 "core" & ~ z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&@'ќ +100 "core" ' +2 "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +284 "core" ' +2 "storage"(i- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & e d\ +2 "manipulator"&& +4 "core" & I  +2 .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&O& +3 "core" & i  +2 "storage"(a& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(U'X +8 "core" & Q  +2 "manipulator"&)% +3 "core" % ! . P +3 .tForearm.seek :retract + "manipulator"&['\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +3 "manipulator"&d& +3 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +2 "core" &n L  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + "manipulator"&z& +4 "core" &n !  +2 "manipulator"&M% +4 "core" % b  +2 "processing"%n& +4 "core" &\ +3 "processing"%s& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(Z +5 "core" &\ +7 &8\ $d +9 &U}\ 7 +9 &~z\ K +10 &Y\ N +9 &WV \ N +9 &Y\ N +10 &Z\ N +9 &X\ N +10 &_W\ N +9 &"Z\ M +9 &Y\ N +10 &![\ M +9 &#hY \ M +9 &%*W \ M +10 &&Z\ N +9 &(U\ M +10 &*oX\ N +9 &,0Z\ N +9 &-W\ N +10 &/U\ M +9 &1xW \ M +9 &3:U\ M +10 &4W\ M +9 &6V\ N +9 &8U\ M +10 &:AX\ N +9 &<X\ N +10 &=V\ M +9 &?Z\ N +9 &AIU\ N +10 &C\ [\ N +9 &D\\\ N +9 &Fd\ O +10 &HGv\ \ Q +9 &J\ \ S +10 &K\ \ T +9 &M\ S +9 &OH\ \ S +10 &Q\ \ \ S +9 &R \ T +9 &T\ \ T +10 &VM\ T +10 &X \ U +9 &Y{p \ ; +9 &Z$_ \ W +9 &Z% \ . +3 ( + "processing"%s& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&21 +59 "core" 1 +2 "manipulator"&{% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +98 "core" ' +2 "processing"%W& +3 "core" &Z#\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&E% +3 "core" %\ #  9 +2 "storage"(u% +4 "core" %` N O (\ +2 "storage"(!. +3 "core" .( +2 "storage"(&& +49 "core" & O O Y\ +5 "storage"(0& +3 "manipulator"&& +6 "core" & H M \ + &n "  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&v(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'i +3 "core" ( +2 "manipulator"&>& +3 "core" &n   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &n &  +2 .tForearm.seek PC +2 "manipulator"&?' +97 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +4 .tPC.seek :open + "processing"%p( +82 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +310 ( + "storage"( & +4 "core" & p g\ +2 "manipulator"&T& +3 "core" &n O  +2 "manipulator"&V% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&h( +243 "core" ( +2 "manipulator"&& +3 "core" & " +2 "storage"(#& +4 "core" & O N %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +93 "core" ' +2 .tHand.open + "manipulator"&f1 +53 "core" 1 +2 "storage"(Z- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(g'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(<' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(}& +3 "core" & \ +2 "manipulator"&|& +5 "core" &  " + .tElbow.seek 2 +2 "manipulator"&.( +4 "core" ( +2 "manipulator"&(& +3 "core" & < " +2 "storage"(& +3 "core" & -\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(5' +64 "core" ' + "manipulator"&l& +4 "core" & | " +2 "storage"(A& +3 "core" & g r B\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&_' +36 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'i +23 "core" ' +2 "manipulator"&% +3 "core" %  p +2 "storage"(\ & +4 "core" & 4 4 e\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&\\' +13 "core" ' +2 "manipulator"& & +3 "core" & T " +3 "storage"(L& +3 "core" & h m C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +23 "core" ' +2 "storage"(% +3 "core" %m Q\ +3 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (C% +3 "core" %? f g \ Wc +2 "manipulator"&m% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (;& +2 "core" & ^ \ +3 "collection"'& +48 "core" &V_ s\ J +3 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&R% +4 "core" %\  k $ +2 "storage"(o% +4 "core" %a z \ +2 "storage"(. +3 "core" .( +2 "storage"($& +3 "core" & h x '\ +2 "storage"(^& +3 "core" & v z G\ +3 "manipulator"&b& +3 "core" &  " +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&9& +5 "core" & ) " + "storage"(& +4 "core" & z \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' + "storage"(*& +4 "core" & H\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +288 "core" ' +3 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &  " +2 "storage"(j& +4 "core" & x \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&~' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(q'S +33 "core" ' +2 "manipulator"&Q% +3 "core" % +2 "storage"(k& +4 "core" & 6 4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&X' +17 "core" ' + "manipulator"&& +4 "core" &  " +2 "storage"(6& +3 "core" & r\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(G'B +41 "core" ' + "manipulator"&B& +5 "core" &  " + "manipulator"&1% +4 "core" %ѝ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +145 "core" ( + "manipulator"&F& +4 "core" &!  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &!  8 +3 .tForearm.seek CC + "manipulator"&''" +93 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(`& +3 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&x& +4 "core" &"  8 +2 "manipulator"&% +3 "core" % ' 4 +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&P( +152 "core" ( + "manipulator"&i& +5 "core" &  + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +106 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +60 "core" 1 +2 "manipulator"&% +5 "core" % + "storage"(& +4 "core" & $\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&)' +13 "core" ' +2 "manipulator"&8& +3 "core" & ) +2 "storage"(@& +4 "core" & \ +46 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +30 "core" ' +2 "storage"(% +3 "core" %L 8\ +3 ."downElevator"SE.seek :down +4 "storage"(d'X +99 (-% +3 "core" %> K\ V` +2 "manipulator"&,% +4 "core" %ј  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'M& +2 "core" & \ +3 "manipulator"&n% +3 "core" %\  \  +2 "storage"(U% +4 "core" %a w\ +2 "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(t( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" & i x K\  +2 "manipulator"&{& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&W( +17 "core" ( +2 "manipulator"&E& +3 "core" & q r +2 "storage"(u& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +101 "core" ' +2 "storage"(&& +3 "core" & -\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +286 "core" ' + "storage"(0- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & {\  +2 "manipulator"&>& +8 "core" &  r +2 .tElbow.seek 3 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&& +8 "core" & e r +3 "storage"(& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&y& +2 "storage"(3'X +8 "core" & . r +2 "manipulator"&N% +3 "core" % ϫ 9 +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&V& +3 "core" &+ $ 4 Ac +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &+  Ac +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +3 "manipulator"&#& +4 "core" &+ K Ac +2 "manipulator"&v% +4 "core" %  +2 "collection"'f& +4 "core" & \ +3 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'S(V +3 "core" & \ +6 & \ 6 +10 &<Hx \ 0 +9 &fr~ \ E +9 & X \ M +10 &S \ M +9 &S \ M +9 &TU \ M +10 &R \ M +9 &T \ M +10 &U \ M +9 &\\V \ M +9 &!T }\ L +10 &"T {\ M +9 &$W \ M +9 &&dT {\ M +10 &(&W \ M +9 &)Q ~\ M +10 &+T \ L +9 &-mT \ L +9 &//S \ L +10 &0T \ M +9 &2U \ M +9 &4tQ \ M +10 &66T \ M +9 &7T \ M +10 &9V \ M +9 &;{V \ M +9 &=<T \ M +10 &>T \ M +9 &@T \ M +9 &BT \ M +10 &DCU \ N +9 &F[ \ N +10 &Gg \ O +9 &I|y \ R +9 &K- \ X +10 &L \ Y +9 &N \ X +9 &Pn \ Z +10 &R0 \ Z +9 &S \ [ +10 &U \ H +9 &V2 \ *~ +9 &Vk \ K +3 ( + "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&}1 +56 "core" 1 +4 "manipulator"&|% +4 "core" %  V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +49 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&Y% +5 "core" %\    +2 "storage"(l% +3 "core" %b O O \ +2 "storage"(A. +3 "core" .( +2 "storage"(& +3 "core" & M O ^\  +2 "storage"(& +5 "core" & O O `\  + "manipulator"&\ & +4 "core" &*  Ac +2 "manipulator"&g% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +161 "core" ( +2 "manipulator"&L& +3 "core" & { r +3 "storage"(& +3 "core" & i g 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +101 "core" ' +2 "storage"( & +3 "core" & \  +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'i +285 "core" ' + "storage"(C- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & q p \  +2 "manipulator"&& +4 "core" &  r +2 .tElbow.seek 3 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&5& +3 "core" &  r +2 "storage"(_& +4 "core" & z "\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&;/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/'X +8 "core" & e r +2 "manipulator"&R% +3 "core" % Ϫ  +3 .tForearm.seek :retract + "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&$& +5 "core" &i < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +102 "core" ' +2 "manipulator"&9& +3 "core" &l G +3 "manipulator"&% +3 "core" % & +3 "processing"%K& +4 "core" &\ +2 "processing"%*& +4 "core" & \ +3 .tPC.seek :closed + "processing"%J(Z +6 "core" &\  +7 &2{\ *y +9 &c\ > +10 &ks\ N +9 &-V\ N +10 &Z\ N +9 &V\ N +9 &tW\ M +10 &6W\ M +9 &X\ N +9 &Z\ N +10 & |W\ M +9 &">W\ M +10 &#W\ N +9 &%U\ N +9 &'X\ M +10 &)EW\ N +9 &+Z\ N +9 &,T\ N +10 &.U\ N +9 &0NW\ M +10 &2W\ \ M +9 &3W\ N +9 &5Z \ N +10 &7UZ \ N +9 &9Z\ N +9 &:T\ N +10 &<Y\ N +9 &>]Y \ N +10 &@\\\ N +9 &AU\ N +9 &CZ\ \ M +10 &Eb]\ O +9 &G"h\ \ O +9 &H~\ R +10 &J \ S +9 &L[\ \ T +10 &N\ S +9 &O\ S +9 &Q\ T +10 &Sa\ T +9 &U"\ U +10 &V \ U +9 &X\ V +9 &Zd\ 'x +10 &Z_\ 2 +8 ( +2 &Z"\ . +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&"1 +55 "core" 1 + "manipulator"&:% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +3 "processing"%%& +3 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&j% +3 "core" %\  [  +2 "storage"(D% +5 "core" %] S I 9\ + "storage"(Q. +4 "core" .( + "storage"(k& +4 "core" & L S u\  +2 "storage"(& +3 "manipulator"&6& +8 "core" & U V \  + &l : +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&B(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'i +50 "core" ( +2 "manipulator"&& +4 "core" &l , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  +3 .tForearm.seek PC +2 "manipulator"&+' +94 "core" ' +2 .tHand.close + "manipulator"&~/ +55 "core" / +2 .tPC.seek :open + "processing"%X( +91 "core" ' +2 "storage"(F- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(q'y +49 "core" ' +281 ( +2 "storage"(I& +3 "core" & f g {\  +2 "manipulator"&r& +4 "core" &l v +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +3 "manipulator"&]( +239 "core" ( + "manipulator"&4& +4 "core" & & +2 "storage"(`& +4 "core" & Q P \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 .tHand.open + "manipulator"&x1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(i'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +4 "core" -' +2 "storage"(w& +3 "core" & I\  +2 "manipulator"&a& +3 "core" &  & +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & & +2 "storage"(8& +4 "core" & n\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +55 "core" ' +2 "manipulator"&& +3 "core" & & +2 "storage"(P& +5 "core" & c f b\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&-'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&)% +4 "core" %Ά e +2 "storage"(M& +3 "core" & Y b \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&n'ϲ +20 "core" ' +2 "manipulator"&U& +3 "core" & * & +3 "storage"([& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +34 "core" ' +2 "storage"(7% +3 "core" %r \ +3 ."downElevator"SE.seek :down +3 "storage"(d'X +100 (H% +4 "core" %4D K 0 B\ We +2 "manipulator"&2% +4 "core" %. P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +86 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & i y \\\  +2 "collection"'u& +4 "core" &Vm \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&&% +3 "core" %\  +  +2 "storage"(O% +4 "core" %b w g 5\ +2 "storage"(z. +2 "core" .( +2 "storage"(0& +4 "core" & z y L\  +2 "storage"(& +3 "core" & {  )\  +2 "manipulator"&>& +4 "core" & & +3 .tElbow.seek 3 + "manipulator"&( +43 "core" ( +9 "manipulator"&& +3 "core" & + & +2 "storage"(c& +5 "core" & v y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +93 "core" ' +2 "storage"(N& +4 "core" & F\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +285 "core" ' + "storage"(!- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & O & +2 "storage"(?& +4 "core" & q q W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&s'} +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'U +30 "core" ' + "manipulator"&f% +4 "core" %΍  +2 "storage"(=& +3 "core" & ; + @\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&3'Ϲ +19 "core" ' +2 "manipulator"& & +3 "core" & 3 & +2 "storage"(& +5 "core" & { Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(|'D +40 "core" ' +2 "manipulator"&& +3 "core" &  & +2 "manipulator"&Z% +5 "core" %?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +147 "core" ( +3 "manipulator"&A& +3 "core" &!  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &!  8 +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' + .tHand.close +2 "manipulator"&\ / +58 "core" / +2 .tCC.seek :open + "collection"'g( +416 "core" ( +2 "storage"(& +4 "core" & \  +2 "storage"(L& +3 "core" & 9\  +2 "manipulator"&& +5 "core" &"  8 + "manipulator"& % +4 "core" % 5  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +163 "core" ( + "manipulator"&C& +6 "core" & s +2 "storage"(m& +3 "core" & "\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +56 "core" 1 +2 "manipulator"&;% +3 "core" %  ~ +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&R'ϫ +20 "core" ' +2 "manipulator"& & +5 "core" & # s + "storage"(h& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +26 "core" ' +2 "storage"(\\% +3 "core" %H F\ +3 ."downElevator"SE.seek :down +4 "storage"($'X +98 (^% +3 "core" %@ \ V_ +2 "manipulator"&.% +4 "core" %w  +42 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +10 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&K% +3 "core" %\  D  +3 "storage"(/% +3 "core" %S \ +2 "storage"(o. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(p( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" & \ +2 "manipulator"&:& +4 "core" & s +2 .tElbow.seek 2 +2 "manipulator"&%( +32 "core" ( +2 "manipulator"&j& +3 "core" & s  +2 "storage"(D& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +97 "core" ' + "storage"(k& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" & \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +17 "core" ( +3 "manipulator"&b& +3 "core" &  +2 "storage"(~& +4 "core" & _\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(J'X +8 "core" &   +2 "manipulator"&1% +3 "core" % L $ +3 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +153 "core" ( + "manipulator"&& +5 "core" ' + &-  Cr +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&+& +7 "core" &-  Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'" +96 "core" ' +3 "manipulator"&`& +3 "core" &-  Cr +3 "manipulator"&B% +3 "core" %'  +2 "collection"'x& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"''(V +4 "core" & \  +8 &2y \ *y +10 &c~ \ > +9 &|n \ N +10 &AR \ L +9 &T \ M +9 &Q \ M +10 &R \ M +9 &HU \ M +9 & R \ L +10 &R \ M +9 & T \ L +10 &"PR \ M +9 &$R \ M +9 &%R \ M +10 &'R \ M +9 &)XQ \ M +9 &+R \ M +10 &,S \ M +9 &.W \ M +10 &0`Q \ M +9 &2"S \ M +9 &3V \ M +10 &5V \ M +9 &7iT \ L +9 &9*T }\ M +10 &:W \ M +9 &<U \ M +10 &>pT \ M +9 &@2T ~\ M +9 &AR \ M +10 &CT \ M +9 &EvX \ M +9 &G4` \ O +10 &Ht ~\ Q +9 &J \ V +10 &L^ \ X +9 &N \ X +9 &O \ Y +10 &Q \ Y +9 &S_ ~\ [ +9 &U! \ [ +10 &VkB \ 1 +9 &V~ \ K +6 ( + "collection"'& +4 "core" &Vm \ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open + "manipulator"&w1 +64 "core" 1 +2 "manipulator"&a% +4 "core" % ' 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%8& +4 "core" &\ +2 "manipulator"& % +3 "core" %\  <  +3 "storage"(% +4 "core" %S V V \ + "storage"(P. +3 "core" .( +2 "storage"()& +3 "core" & a Z W\ +2 "storage"(M& +3 "core" & M I 2\ +2 "manipulator"&q& +5 "core" &+ ! Bj + "manipulator"&U% +50 "core" %\   +5 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&i( +156 "core" ( +2 "manipulator"&[& +3 "core" & }  +2 "storage"(7& +4 "core" & z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +101 "core" ' + "storage"(& +5 "core" & W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" & ^ p M\ +2 "manipulator"&@& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & %  +2 "storage"(-& +4 "core" & y \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&n' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(&'X +8 "core" &   +2 "manipulator"&O% +3 "core" %   L +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&z(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&0& +3 "core" &g +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>' +102 "core" ' +2 "manipulator"&& +4 "core" &h 2 + "manipulator"&c% +4 "core" % o h +2 "processing"%G& +4 "core" &\ +3 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%d(Z +4 "core" &\ +5 &\ 8 +9 &HHy\ 0 +10 &qq\ E +9 &`\ N +10 &W\ N +9 &U\ M +9 &[V\ N +10 &Z\ M +9 &W \ N +9 &Y\ M +10 &c\\\ N +9 &!&Y\ M +10 &"[\ N +9 &$X\ N +9 &&lT\ M +10 &(.W\ M +9 &)Z\ N +9 &+Z\ M +10 &-sU\ N +9 &/6T \ M +10 &0W\ M +9 &2Y \ N +9 &4{W\ N +10 &6>U \ M +9 &8W\ M +9 &9\\\ \ N +10 &;W \ M +9 &=FW\ M +10 &?Y \ M +9 &@U\ M +9 &BY\ N +10 &DNZ\ M +9 &F `\ N +9 &Gp \ P +10 &I \ S +9 &KD \ S +10 &M \ S +9 &N\ S +9 &P\ S +10 &RJ\ T +9 &T  \ T +9 &U\ T +10 &W\ U +9 &YQ \ A +10 &Za<t\ ] +9 &Z4 \ - +5 ( +2 "processing"%N& +4 "core" &Z  \ - +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&,1 +57 "core" 1 +2 "manipulator"&{% +3 "core" % h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +91 "core" ' +3 "processing"%V& +3 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&?% +3 "core" %\  ,  +3 "storage"(#% +4 "core" %] S U ?\ + "storage"(f. +3 "core" .( +2 "storage"(=& +3 "core" & U U O\ +3 "storage"( & +2 "manipulator"&& +7 "core" & S J 4\ + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(Z'i +4 "core" ( +2 "manipulator"&y& +3 "core" &l % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l +3 .tForearm.seek PC + "manipulator"&W' +93 "core" ' +2 .tHand.close + "manipulator"&s/ +58 "core" / +46 .tPC.seek :open +5 "processing"%3( +40 "core" ' +2 "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +46 "core" ' +337 ( + "storage"(& +4 "core" & e f ]\ +2 "manipulator"&}& +3 "core" &m d +2 "manipulator"&% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Y( +259 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(& +4 "core" & K S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +91 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(C'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(m' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(l& +3 "core" & )\ +2 "manipulator"&_& +4 "core" &   +3 .tElbow.seek 2 + "manipulator"&;( +5 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"( & +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +58 "core" ' +2 "manipulator"&T& +3 "core" &   +2 "storage"(^& +5 "core" & n p ]\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&.' +33 "core" ' +2 .tElbow.hold + "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&R% +3 "core" % f +2 "storage"(& +4 "core" & 0 & D\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&K' +15 "core" ' + "manipulator"&/& +5 "core" &  + "storage"(o& +5 "core" & z $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +24 "core" ' +2 "storage"(<% +3 "core" %s I\ +3 ."downElevator"SE.seek :down +4 "storage"($'X +98 (t% +3 "core" %F d Z\ Wd +2 "manipulator"&"% +4 "core" %Ѳ ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (j& +2 "core" & ` -\ +2 "collection"'D& +4 "core" &Vm \ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&k% +4 "core" %\  y  +2 "storage"(5% +3 "core" %R x\ +2 "storage"(9. +4 "core" .( + "storage"(& +5 "core" & } ~ \ + "storage"(*& +5 "core" & u x K\ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&~& +4 "core" &  +2 "storage"(F& +3 "core" & x i $\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +101 "core" ' + "storage"(1& +5 "core" & f\ +2 .tSE.reconfigure :pick +47 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(%'i +282 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(+& +4 "core" & y z &\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&6' +36 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(B'T +36 "core" ' +2 "manipulator"&x% +3 "core" %  I +2 "storage"(& +4 "core" & H 2\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&J' +15 "core" ' +2 "manipulator"&I& +3 "core" & d  +2 "storage"(g& +3 "core" & z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(a'C +41 "core" ' +2 "manipulator"&8& +3 "core" &   +2 "manipulator"& % +4 "core" %ћ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +152 "core" ( +2 "manipulator"&)& +4 "core" &* : @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &) ' @] +2 .tForearm.seek CC +2 "manipulator"&M'" +97 "core" ' +2 .tHand.close + "manipulator"&q/ +58 "core" / +2 .tCC.seek :open +2 "collection"'U( +416 "core" ( +2 "storage"(4& +3 "core" & h\ +2 "storage"([& +3 "core" & \ +2 "manipulator"&7& +4 "core" &)  ?U +2 "manipulator"&% +3 "core" % ( \ +3 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +156 "core" ( + "manipulator"&H& +3 "core" & +2 "storage"(2& +3 "Can"8\ 9 @ +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&@' +107 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&-1 +60 "core" 1 +2 "manipulator"&E% +3 "core" % # +2 "storage"(u& +4 "core" & ~ ;\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&O' +19 "core" ' + "manipulator"&i& +4 "core" &  +2 "storage"(]& +4 "core" & M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +28 "core" ' +2 "storage"(n% +4 "core" %E C\ +2 ."downElevator"SE.seek :down +4 "storage"(0'X +99 (% +2 "core" %? V\ V` +2 "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'c& +3 "core" & \ +2 "manipulator"&G% +3 "core" %\  p  +46 "storage"(&% +7 "core" %b \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(X( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" & } 9\  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&V( +17 "core" ( +2 "manipulator"&?& +3 "core" & , j +2 "storage"(#& +4 "core" & ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +96 "core" ' +2 "storage"(=& +4 "core" & c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"( - +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" & \  +2 "manipulator"&y& +4 "core" & X j +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&>& +3 "core" & * j +2 "storage"(s& +4 "core" & z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&z/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&!& + "storage"(d'X +6 "core" &  j +3 "manipulator"&Z% +3 "core" % ϥ  l +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +156 "core" ( + "manipulator"&& +5 "core" &* Ab + ' +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &W& +3 "core" &*  Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'" +96 "core" ' +2 "manipulator"&& +4 "core" &+ A` +2 "manipulator"&% +4 "core" %,  +2 "collection"'& +4 "core" & \ +3 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & \ +6 & \ 7 +10 &@Hx \ 1 +9 &nr~ \ E +9 &Z \ M +10 &S \ M +9 &Q \ M +9 &^R \ L +10 &S \ M +9 &U \ M +10 &R \ L +9 &eS \ M +9 &!'U \ M +10 &"R \ L +9 &$T \ M +9 &&mR \ M +10 &(.V \ M +9 &)R \ L +10 &+R \ M +9 &-uQ \ M +9 &/8Q \ L +10 &0R \ M +9 &2R \ L +9 &4}R \ M +10 &6@S \ L +9 &8R \ M +10 &9R \ L +9 &;T \ M +9 &=ES \ M +10 &?S \ M +9 &@T \ M +9 &BR \ M +10 &DNT \ M +9 &F Z \ N +10 &Gh \ P +9 &I{ \ S +9 &K7 \ X +10 &L \ Y +9 &N \ Y +9 &Pz \ X +10 &R9 \ Z +9 &S \ [ +10 &U \ H +9 &V/ \ 't +9 &Vm \ M +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&l1 +53 "core" 1 +2 "manipulator"&_% +4 "core" % ( g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&\ % +4 "core" %\  #  +2 "storage"(T% +4 "core" %V K H \ +2 "storage"(^. +3 "core" .( + "storage"(A& +4 "core" & S K \  +2 "storage"(R& +3 "core" & O J 7\  +3 "manipulator"&& +3 "core" &* " @^ +2 "manipulator"&C% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&/( +163 "core" ( + "manipulator"&o& +5 "core" & z + "storage"(<& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +46 "manipulator"&Y'9 +105 "core" ' +2 "storage"(L& +4 "core" & T\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +278 "core" ' +2 "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +2 "core" & d d 0\  +3 "manipulator"&h& +3 "core" &  z +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&\\& +4 "core" & ) z +2 "storage"(.& +4 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&K'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(k'X +8 "core" & \\ z +2 "manipulator"&5% +4 "core" % ϐ p  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +3 "manipulator"&& +3 "core" &g [  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &g f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +105 "core" ' + "manipulator"&~& +4 "core" &i <  +2 "manipulator"&F% +4 "core" % ^ M +2 "processing"%|& +4 "core" &\ +3 "processing"%1& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%$(Z +4 "core" &\  +9 &1x\ *x +9 &b\ > +10 &ss\ N +9 &6V\ M +9 &W\ M +10 &U\ N +9 &{U\ N +9 &>U\ M +10 &Y\ N +9 &Y\ N +10 & W\ M +9 &"EU\ N +9 &$T\ N +10 &%Z \ N +9 &'Z\ N +9 &)NZ\ M +10 &+W\ M +9 &,W\ M +10 &.Z\ N +9 &0UU\ N +9 &2U\ N +10 &3S\ M +9 &5W\ N +9 &7]Y\ N +10 &9U \ N +9 &:U\ M +10 &<W\ M +11 &>eT\ N +9 &@'U\ N +10 &AT\ N +7 &CY\ N +10 &El\\\ N +9 &G(k\ P +9 &H\ R +10 &J\ S +9 &Lb \ T +9 &N%\ T +10 &O\ T +9 &Q\ T +9 &Sk\ T +10 &U,\ T +9 &V\ U +10 &X\ U +9 &Za\ %q +9 &Zj\ 6 +9 ( +3 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 +2 .Hand.open +2 "manipulator"&(1 +2 "core" &Z$\ . +50 1 + "manipulator"&:% +4 "core" % 9 M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +90 "core" ' +2 "processing"%& +3 "core" &Z%\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&+% +3 "core" %\    +3 "storage"(`% +3 "core" %] U U A\ +2 "storage"(x. +3 "core" .( +2 "storage"(& +4 "core" & V V 1\  +2 "storage"(I& +2 "manipulator"&g& +7 "core" & V V J\  +2 &j   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&8(s +2 "storage"( 'i +5 "core" ( +2 "manipulator"&e& +3 "core" &j   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &j   +3 .tForearm.seek PC + "manipulator"&%' +94 "core" ' + .tHand.close +2 "manipulator"&6/ +58 "core" / +2 .tPC.seek :open + "processing"%J( +108 "core" ' +2 "storage"(B- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"()'y +49 "core" ' +264 ( + "storage"(& +4 "core" & b _\  +2 "manipulator"&w& +50 "core" &j |  +3 "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +246 "core" ( + "manipulator"&'& +4 "core" &\  R +2 "storage"(4& +3 "core" & G G \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +98 "core" ' +2 .tHand.open + "manipulator"&71 +55 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(M- +2 "core" -' +2 "storage"(P& +5 "core" & \  +2 "manipulator"&-& +3 "core" &  Q +2 .tElbow.seek 3 +2 "manipulator"&E( +12 "core" ( +2 "manipulator"&u& +3 "core" & d  +2 "storage"(i& +5 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&]'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(n' +58 "core" ' + "manipulator"&r& +5 "core" &  + "storage"(& +4 "core" & p p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(@'i +25 "core" ' +2 "manipulator"&O% +3 "core" %Ί  +2 "storage"(c& +4 "core" & N O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&G'϶ +20 "core" ' + "manipulator"&&& +5 "core" & *  + "storage"(a& +4 "core" & [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +34 "core" ' +2 "storage"(% +4 "core" %q \ +2 ."downElevator"SE.seek :down +4 "storage"(0'X +99 (p% +2 "core" %F f [ \ Xe +2 "manipulator"&,% +5 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (?& +3 "core" & w l $\  +2 "collection"'#& +3 "core" &Vj \ M +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\    +2 "storage"( % +4 "core" %T z \ +2 "storage"(. +2 "core" .( +2 "storage"( & +5 "core" & ~ !\  + "storage"(N& +4 "core" & { 1\  +2 "manipulator"&y& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&>( +9 "core" ( +2 "manipulator"&s& +4 "core" & e  +2 "storage"(z& +4 "core" & } )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +101 "core" ' +2 "storage"(Z& +3 "core" & !\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +283 "core" ' +2 "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(W& +3 "core" & F\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +39 "core" ' +2 "manipulator"&% +3 "core" %Α u  +3 "storage"(& +3 "core" & f n \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&d'Ͻ +20 "core" ' +2 "manipulator"&& +3 "core" & q  +2 "storage"(U& +3 "core" & O\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'D +47 "core" ' + "manipulator"& & +4 "core" &   +2 "manipulator"&\ % +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +149 "core" ( +2 "manipulator"&A& +3 "core" &# :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" &#  :* +2 .tForearm.seek CC +2 "manipulator"& '" +91 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / + .tCC.seek :open +2 "collection"'C( +416 "core" ( +2 "storage"(S& +3 "core" & #\  +2 "storage"(o& +4 "core" & {\  +2 "manipulator"&<& +4 "core" &" ( 9) +2 "manipulator"&}% +3 "core" % 2 1  +3 .tForearm.seek :retract +2 "manipulator"&L'\ +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +159 "core" ( + "manipulator"&t& +4 "core" & Z x +2 "storage"("& +3 "core" & ]\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&h'} +94 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +54 "core" 1 +2 "manipulator"&j% +4 "core" % ΄ 3 +2 "storage"(D& +3 "core" & ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&5'ϰ +20 "core" ' +2 "manipulator"&/& +4 "core" & x +2 "storage"(Y& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +44 "core" ' + "storage"(K% +5 "core" %A T\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (*% +3 "core" %? \ V_ +2 "manipulator"&;% +4 "core" %n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +3 "core" & \ +2 "manipulator"&|% +4 "core" %\    +2 "storage"(k% +3 "core" %U \ +2 "storage"(9. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(3( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" & \ +2 "manipulator"&:& +4 "core" &  x +2 .tElbow.seek 2 +45 "manipulator"&( +52 "core" ( + "manipulator"&+& +4 "core" &  +2 "storage"(`& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +91 "core" ' +2 "storage"(& +3 "core" & E\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +288 "core" ' +2 "storage"(g- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & \ +2 "manipulator"&e& +4 "core" & 3  +2 .tElbow.seek 2 +2 "manipulator"&b( +19 "core" ( + "manipulator"&& +3 "core" & >  +2 "storage"(6& +4 "core" & q\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&B' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"($'X +8 "core" & 7  + "manipulator"& % +4 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +151 "core" ( +2 "manipulator"&& +3 "core" &%  <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&%& + "storage"(5 +5 "core" &% <9 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''" +98 "core" ' +2 "manipulator"&4& +3 "core" &%  <9 +3 "manipulator"&8% +3 "core" %$  +2 "collection"'7& +5 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'M(V +3 "core" & \ +9 &; \ $e +9 &W} \ 7 +10 &w \ L +9 &Q \ M +10 &mU \ M +9 &1R \ L +9 &V \ M +10 &U \ M +9 &vU \ M +10 &8T \ M +9 &S \ L +9 &!T \ L +10 &#T \ L +9 &%@T \ M +9 &'U \ M +10 &(U \ M +9 &*Q \ M +9 &,IR \ L +10 &.\ S \ M +9 &/U \ M +10 &1Q \ M +9 &3QR \ L +9 &5R \ M +10 &6R \ M +9 &8R \ M +9 &:WR \ M +10 &<T \ M +9 &=T \ M +10 &?S \ M +9 &A`R \ M +9 &C"S \ M +10 &DU \ M +9 &F_ \ N +9 &H^j \ P +10 &J \ T +9 &K \ Y +10 &M \ Y +9 &OL \ Y +9 &Q \ Y +10 &R \ [ +9 &T \ [ +9 &V,v \ / +10 &V! \ U +9 ( + &Vo \ N +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&P1 +55 "core" 1 +3 "manipulator"&-% +4 "core" % $ ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +100 "core" ' +4 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%i& +3 "core" & \ +2 "manipulator"&q% +5 "core" %\ #  @ +2 "storage"(r% +3 "core" %_ M M 6\ +2 "storage"(. +3 "core" .( +2 "storage"()& +4 "core" & M M %\ +2 "storage"(O& +3 "core" & N O G\ +2 "manipulator"&c& +5 "core" &% <9 + "manipulator"&H% +5 "core" %\ #  @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&&( +168 "core" ( + "manipulator"&a& +4 "core" & % +2 "storage"(& +3 "core" & g f '\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"([& +3 "core" & ~ } \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +287 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" & V O \ +46 "manipulator"&]& +7 "core" & T % +2 .tElbow.seek 2 +2 "manipulator"&E( +4 "core" ( + "manipulator"&n& +4 "core" & % +2 "storage"(& +4 "core" & d f\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&G' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(='X +8 "core" & 2 $ +2 "manipulator"& % +4 "core" %  % J +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +117 "core" ( + "manipulator"& & +4 "core" &o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &o Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +105 "core" ' +2 "manipulator"&s& +3 "core" &o +3 "manipulator"&z% +4 "core" % +2 "processing"%& +3 "core" &\ +3 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(Z +5 "core" &\ +7 &8"\ $e +9 &U}\ 7 +10 &{\ L +9 &Y\ N +9 &bY\ N +10 &%V\ M +9 &W \ N +9 &T\ N +10 &jW\ N +9 &,U\ N +10 &W\ M +9 &!X\ N +9 &#qZ\ N +10 &%5W\ M +9 &&V\ N +9 &(T\ N +10 &*yU\ N +9 &,<V\ N +10 &-V \ N +9 &/W \ N +9 &1W\ M +10 &3DV\ N +9 &5T\ N +9 &6U \ N +10 &8W \ N +9 &:MU\ M +10 &<W\ N +9 &=X\ N +9 &?U \ M +10 &ATU\ N +9 &CU\ N +9 &D[\ O +10 &F_\ O +9 &HQv\ Q +10 &J \ S +9 &K\ T +9 &M\ T +10 &OP\ T +9 &Q\ T +9 &R\ U +10 &T\ U +9 &VW\ U +10 &X\ U +9 &Y{l \ 8 +9 &Z,\ K +10 &Z\ * +2 ( +2 "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&{% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +100 "core" ' +2 "processing"%& +3 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&W% +3 "core" %\ %  E +2 "storage"(% +4 "core" %a M O S\ +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" & = I \ +2 "storage"(& +3 "manipulator"&U& +7 "core" & O O H\ +2 &o ( +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'i +2 "core" ( +3 "manipulator"&!& +3 "core" &o  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &o +3 .tForearm.seek PC + "manipulator"&V' +97 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / +4 .tPC.seek :open +2 "processing"%d( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(A'y +48 "core" ' +292 ( + "storage"(R& +5 "core" & f c\ + "manipulator"&l& +4 "core" &o ! +2 "manipulator"&v% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&T( +251 "core" ( + "manipulator"&& +5 "core" &  !v +41 "storage"(S& +12 "core" & M M T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +98 "core" ' + .tHand.open +2 "manipulator"&<1 +57 "core" 1 +3 "storage"(}- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(t'E +35 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(^& +3 "core" & *\ +2 "manipulator"&.& +5 "core" & !v +2 .tElbow.seek 2 + "manipulator"&j( +4 "core" ( +2 "manipulator"&D& +4 "core" & ' !v +2 "storage"(/& +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(K' +58 "core" ' + "manipulator"&L& +4 "core" & % !v +2 "storage"(*& +3 "core" & e h\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&;' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +27 "core" ' + "manipulator"&5% +5 "core" %  7 + "storage"(F& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&|' +18 "core" ' + "manipulator"&k& +4 "core" &  !u +2 "storage"(9& +4 "core" & w } !\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +38 "core" ' + "storage"(m% +4 "core" %p | 7\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (X% +3 "core" %6C Q W S\ Wd +2 "manipulator"&(% +5 "core" %ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +93 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (+& +3 "core" & l [\ +2 "collection"'`& +4 "core" &Vn \ N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +5 "core" %\  6 +2 "storage"(\\% +3 "core" %U f f\ +2 "storage"(~. +3 "core" .( +2 "storage"(g& +3 "core" & f e \ +2 "storage"(1& +5 "core" & f e _\ +2 "manipulator"&e& +3 "core" &  !u +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&6& +3 "core" & !u +2 "storage"(& +4 "core" & f g \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +95 "core" ' +2 "storage"( & +3 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & !u +2 "storage"(%& +3 "core" & q o @\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&I' +33 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'S +30 "core" ' +40 "manipulator"&7% +12 "core" % + "storage"(b& +5 "core" & E /\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&$' +16 "core" ' + "manipulator"&& +4 "core" & !u +2 "storage"(C& +4 "core" & l f B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(-'B +42 "core" ' +2 "manipulator"&i& +3 "core" & A !u +2 "manipulator"&q% +5 "core" %Ѭ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( + "manipulator"&& +4 "core" &+ A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &+ Z A_ +3 .tForearm.seek CC + "manipulator"&O'" +95 "core" ' + .tHand.close +2 "manipulator"&c/ +61 "core" / +2 .tCC.seek :open +2 "collection"'H( +416 "core" ( +2 "storage"('& +3 "core" & \ +2 "storage"(a& +3 "core" & \ +2 "manipulator"&& +4 "core" &(  >O +2 "manipulator"&[% +4 "core" % $ +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&u( +162 "core" ( +2 "manipulator"&p& +3 "core" & r  +2 "storage"(,& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&]' +108 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +3 "manipulator"&?% +3 "core" % +2 "storage"(#& +4 "core" & } \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"& ' +14 "core" ' + "manipulator"&&& +5 "core" &   + "storage"(& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +27 "core" ' +2 "storage"(G% +3 "core" %H \ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (N% +3 "core" %@ w\ V` +2 "manipulator"&E% +4 "core" %ј  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +96 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'z& +5 "core" & \ + "manipulator"&% +6 "core" %\ % J + "storage"(=% +4 "core" %a \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(J( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & v '\  +2 "manipulator"&{& +5 "core" & e  + .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&W& +4 "core" &  +2 "storage"(& +3 "core" & E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +89 "core" ' +2 "storage"(Z& +3 "core" & C\  +45 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" & \  +3 "manipulator"&!& +3 "core" & 8  +3 .tElbow.seek 3 + "manipulator"&>( +3 "core" ( +2 "manipulator"&y& +4 "core" & O  +2 "storage"(& +3 "core" & ^\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(0'X +8 "core" & q  +2 "manipulator"&\ % +4 "core" % Ϧ +2 .tForearm.seek :retract +2 "manipulator"&R'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +151 "core" ( +2 "manipulator"&v& +2 "core" ' +2 &$ A ;6 +3 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &V& +3 "core" &$  ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +3 "manipulator"&S& +3 "core" &$  ;5 +2 "manipulator"& % +4 "core" %#  +2 "collection"'<& +5 "core" & \ +2 "collection"'}& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" & \ +8 &: \ $e +10 &Uz \ 7 +9 &x \ L +9 &R \ M +10 &lU \ M +9 &-S \ M +10 &S \ L +9 &R \ L +9 &uS \ L +10 &6Q \ M +9 &Q \ M +9 &!R \ M +10 &#|Q \ M +9 &%>R \ M +10 &'Q \ M +9 &(Q \ L +9 &*S \ M +10 &,FU \ M +9 &.T \ M +9 &/Q \ L +10 &1S \ M +9 &3MS \ M +10 &5S \ L +9 &6T \ L +9 &8R \ L +10 &:VT \ M +9 &<S \ M +9 &=T \ M +10 &?R \ M +9 &A_R \ L +10 &C!T \ L +9 &DV \ M +9 &F` \ N +10 &H\\n \ P +9 &J \ T +9 &K \ X +10 &M \ Z +9 &OJ \ Y +10 &Q \ Y +9 &R \ [ +9 &T \ [ +10 &V(t \ / +9 &V' \ X +9 ( +2 "collection"'}& +3 "core" &Vb \ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&^1 +56 "core" 1 +4 "manipulator"&.% +3 "core" % # 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&/% +4 "core" %\ \  +2 "storage"(L% +3 "core" %T b a\ +2 "storage"(*. +4 "core" .( + "storage"(A& +5 "core" & l `\  + "storage"(5& +4 "core" & c a\  +2 "manipulator"&F& +4 "core" &# d ;5 +2 "manipulator"&t% +3 "core" %\ \ L  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&k( +158 "core" ( +2 "manipulator"&9& +3 "core" & 8 } +2 "storage"(T& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +96 "core" ' + "storage"(o& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'i +283 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" & e b\  +2 "manipulator"&Y& +3 "core" & } +3 .tElbow.seek 3 + "manipulator"&j( +4 "core" ( +2 "manipulator"&K& +3 "core" & ? } +2 "storage"(;& +5 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tHand.close +2 "manipulator"&+/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"('X +9 "core" &  } + "manipulator"&\\% +4 "core" % ϛ 8  +3 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +3 "manipulator"&g& +3 "core" &x   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&e' +101 "core" ' +2 "manipulator"&6& +3 "core" &x  +3 "manipulator"&% +3 "core" %  +2 "processing"%_& +4 "core" &*\ +3 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +4 "core" &\ +5 &\ 8 +10 &@Ix$\ 0 +9 &iq\ D +9 &e)\ N +10 &U \ M +9 &W\ M +9 &PW\ N +10 &Y$\ N +9 &Z\ N +9 &X%\ N +10 &XY\ N +9 &!Y\ N +10 &"Z\ N +9 &$Z\ N +9 &&aY\ M +10 &(#W\ M +9 &)W\ N +9 &+Y\ N +10 &-hS\ N +9 &/*T\ N +10 &0T\ N +9 &2U\ M +9 &4pY\ N +10 &62T\ N +9 &7T\ N +10 &9Z\ N +9 &;wW\ N +9 &=:U\ N +10 &>X\ N +9 &@Z\ M +9 &BX\ M +10 &D@Z\ N +9 &F^\ O +10 &Gr\ Q +9 &Iv\ T +9 &K8\ T +10 &L\ T +9 &N\ T +9 &P|!\ T +10 &R=\ U +9 &S\ U +10 &U\ U +9 &W\ U +9 &YB\ C +10 &Z^>i$\ !c +9 &Z-#\ . +5 ( +2 "processing"% & +4 "core" &Z"\ . +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&:% +3 "core" % +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' + "processing"%& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&%% +3 "core" %\    +2 "storage"(4% +4 "core" %T L M \ +2 "storage"(7. +3 "core" .( +2 "storage"(b& +4 "core" & L K\  +2 "storage"(& +2 "manipulator"&C& +8 "core" & M L \  + &x 1  +5 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&i(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'i +2 "core" ( +3 "manipulator"&Q& +3 "core" &x 3  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &x   +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&I/ +64 "core" / +3 .tPC.seek :open +2 "processing"%$( +80 "core" ' + "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +297 ( +2 "storage"()& +3 "core" & t m =\  +2 "manipulator"&P& +4 "core" &x '  +2 "manipulator"&B% +3 "core" %  \ +3 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&r( +273 "core" ( +2 "manipulator"&M& +3 "core" &   +2 "storage"('& +4 "core" & x k [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +92 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"([- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +78 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(,' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +3 "core" -' +2 "storage"(& +4 "core" & \  +2 "manipulator"&& +4 "core" & 6  +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&#& +3 "core" &  +3 "storage"(&& +3 "core" & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(G' +63 "core" ' + "manipulator"&w& +3 "core" &   +3 "storage"(N& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&E'} +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(]'i +25 "core" ' + "manipulator"&z% +4 "core" %Α i  +2 "storage"( & +3 "core" & ~ | J\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +19 "core" ' +2 "manipulator"&=& +3 "core" & X  +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +29 "core" ' + "storage"(2% +4 "core" %r +\ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (3% +2 "core" %qH \\ o \ Wc +2 "manipulator"&% +5 "core" %C / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (W& +3 "core" & \  +2 "collection"'& +4 "core" &Vc \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Z% +4 "core" %\  F  +2 "storage"(n% +3 "core" %V \ +2 "storage"(s. +4 "core" .( + "storage"(& +4 "core" & | \  +2 "storage"(U& +3 "core" & } \  +2 "manipulator"&!& +5 "core" & ;  +2 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +2 "manipulator"&& +3 "core" & 8  +2 "storage"(@& +4 "core" & |\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +95 "core" ' + "storage"(\ & +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & {  +2 "storage"(V& +4 "core" & y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'V +30 "core" ' +2 "manipulator"&<% +3 "core" %΅ A v +2 "storage"(>& +4 "core" & c X \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&0'ϱ +12 "core" ' +2 "manipulator"&R& +3 "core" &   +2 "storage"(H& +4 "core" & | !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +48 "manipulator"&^'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'E +40 "core" ' +2 "manipulator"&& +3 "core" &   +3 "manipulator"&/% +3 "core" %X  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +152 "core" ( +2 "manipulator"&}& +3 "core" && =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" &&  =F +2 .tForearm.seek CC +2 "manipulator"&5'" +93 "core" ' + .tHand.close +2 "manipulator"&F/ +59 "core" / +2 .tCC.seek :open +2 "collection"'t( +416 "core" ( +2 "storage"(& +3 "core" &  \  +2 "storage"(9& +4 "core" & \  +2 "manipulator"&T& +3 "core" &&  =F +2 "manipulator"&o% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&l'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&D( +155 "core" ( +2 "manipulator"&X& +3 "core" &  +2 "storage"((& +4 "core" & ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Y'} +93 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +52 "core" 1 +2 "manipulator"&+% +3 "core" % Α +2 "storage"(`& +4 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&\\'Ͻ +20 "core" ' +2 "manipulator"&k& +4 "core" &  +2 "storage"(m& +18 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +26 "core" ' +2 "storage"(|% +3 "core" %J \ +3 ."downElevator"SE.seek :down +4 "storage"(g'X +98 (1% +3 "core" %> \ V` +2 "manipulator"&j% +4 "core" %y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +96 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +2 "core" & \ +3 "manipulator"&_% +3 "core" %\   +2 "storage"(% +4 "core" %U %\ +2 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(d( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & N\ +2 "manipulator"&:& +4 "core" & G  +2 .tElbow.seek 2 +2 "manipulator"&( +41 "core" ( + "manipulator"&%& +4 "core" &  r ; +2 "storage"(4& +4 "core" & B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&7'ќ +89 "core" ' +2 "storage"(b& +3 "core" & \  A\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'i +277 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ,\ +2 "manipulator"&Q& +3 "core" &  B ; +3 .tElbow.seek 2 + "manipulator"&( +66 "core" ( +4 "manipulator"&e& +3 "core" &  +3 "storage"(I& +3 "core" & \ \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&8' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +3 "storage"('X +8 "core" &   + "manipulator"&q% +5 "core" %   @ +2 .tForearm.seek :retract + "manipulator"&)'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +154 "core" ( + "manipulator"&B& +4 "core" &. 7 Du +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +5 "core" &-  Ct +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&M'" +103 "core" ' +2 "manipulator"&'& +5 "core" & *  @\\ + "manipulator"&i% +5 "core" %# e +2 "collection"'& +3 "core" & \ +3 "collection"'[& +4 "core" & \ +3 .tCC.seek :closed + "collection"'c(V +4 "core" & \ +8 &< \ $e +9 &W~ \ 7 +9 &x \ L +10 &P \ M +9 &nT \ M +10 &2Q \ L +9 &S \ L +9 &R \ L +10 &xR \ L +9 &:S \ L +9 &V \ M +10 &!Q \ M +9 &#Q \ M +10 &%BR \ L +9 &'S \ L +9 &(U \ M +10 &*Q \ M +9 &,IR \ M +9 &. R \ L +10 &/U \ M +9 &1Q \ M +10 &3QP \ M +9 &5Q \ M +9 &6Q \ M +10 &8R \ L +9 &:YT \ M +9 &<T \ L +10 &=T \ M +9 &?T \ M +10 &A`U \ M +9 &C#T \ M +9 &DY \ M +10 &F\\ \ N +9 &H_n \ P +9 &J \ U +10 &K \ X +9 &M \ Y +10 &OM \ Y +9 &Q \ Y +9 &R \ Z +10 &T \ [ +9 &V+t \ / +9 &V$ \ X +9 ( +2 &Vo \ M +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&O1 +58 "core" 1 +2 "manipulator"&% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%#& +3 "core" &/\ +2 "manipulator"&&% +4 "core" %\    +2 "storage"(w% +4 "core" %_ N O M\ +2 "storage"(N. +3 "core" .( +2 "storage"(& +3 "core" & M J -\ +2 "storage"(z& +5 "core" & M M <\ + "manipulator"& & +5 "core" &)  ?U + "manipulator"&=% +4 "core" %\  )  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&p( +163 "core" ( +2 "manipulator"&& +3 "core" & h  +2 "storage"(2& +5 "core" & e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +95 "core" ' +2 "storage"(a& +3 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +285 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & e e q\ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&?( +4 "core" ( + "manipulator"&G& +4 "core" &  +2 "storage"(E& +3 "core" & y N\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Z'X +8 "core" &  +2 "manipulator"&n% +3 "core" %   O +3 .tForearm.seek :retract + "manipulator"&]'\ +91 "core" ' +2 .tElbow.seek PC +49 "manipulator"&s(s +117 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +128 "core" ( +2 "manipulator"&& +3 "core" &l  b  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &l R  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&!' +100 "core" ' +2 "manipulator"&& +3 "core" &m L  +2 "manipulator"&@% +5 "core" % &  +2 "processing"%-& +3 "core" &+\ +3 "processing"%\ & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &/\  +9 &3z/\ *y +9 &c~0\ > +10 &s.\ N +9 &CV.\ N +9 &V.\ M +10 &U.\ N +9 &Y,\ N +10 &LX+\ N +9 &U&\ N +9 &U\ N +10 & V)\ M +9 &"UW%\ M +9 &$V!\ N +10 &%Y+\ N +9 &'Z\ N +10 &)\\T\ N +9 &+V \ M +9 &,Y\ N +10 &.U"\ N +9 &0dU"\ N +9 &2&T"\ N +10 &3W#\ N +9 &5W#\ N +10 &7mU\ M +9 &9.T\ N +9 &:S&\ N +10 &<Y!\ N +9 &>uY'\ M +9 &@6U"\ N +10 &AS\ M +9 &CY\ N +10 &Ez\\ \ N +9 &G8e \ P +9 &H"\ S +10 &J \ T +9 &Lr(\ T +9 &N4*\ T +10 &O"\ T +9 &Q!\ T +10 &Sx&\ T +9 &U:!\ T +9 &V\ U +10 &X"\ U +9 &Z&Z{#\ %p +9 &Z_$\ 3 +9 ( +2 &Z!!\ . +2 "processing"%\ & +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.51 + .Hand.open + "manipulator"&u1 +61 "core" 1 +2 "manipulator"&{% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%v& +3 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&V% +3 "core" %\ 2  +2 "storage"(S% +4 "core" %] e Y\ +2 "storage"(<. +2 "core" .( +2 "storage"(>& +5 "core" & Q X ;\ +2 "storage"(R& +2 "manipulator"&H& +7 "core" & N ^ [\ +2 &m s  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(/'i +3 "core" ( +2 "manipulator"&f& +3 "core" &m ~  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +3 "core" &m   +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +4 .tPC.seek :open + "processing"%0( +100 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'y +45 "core" ' +276 ( +2 "storage"(A& +3 "core" & q u \ +2 "manipulator"&^& +5 "core" &m 8  + "manipulator"&% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&F'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&L( +253 "core" ( +2 "manipulator"& & +3 "core" &  !u +2 "storage"(& +3 "core" & O J \\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +88 "core" ' + .tHand.open +2 "manipulator"&T1 +55 "core" 1 +2 "storage"(o- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(X'E +37 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"((' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +3 "core" -' +2 "storage"(*& +4 "core" & !\ +2 "manipulator"&;& +3 "core" & !r +2 .tElbow.seek 2 +2 "manipulator"&+( +61 "core" ( +2 "manipulator"&`& +3 "core" & ' +3 "storage"(k& +3 "core" & @\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&m'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +58 "core" ' +2 "manipulator"&l& +3 "core" &  ' +2 "storage"(1& +4 "core" & q r _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j' +32 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +23 "core" ' +2 "manipulator"&\\% +3 "core" % b +2 "storage"(& +5 "core" & 2 5\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&_' +12 "core" ' +2 "manipulator"&& +3 "core" & W ' +2 "storage"(h& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +24 "core" ' +2 "storage"("% +4 "core" %r \ +2 ."downElevator"SE.seek :down +4 "storage"(g'X +99 (J% +3 "core" %[H O O \ Xe +2 "manipulator"&% +3 "core" %Ѳ . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (%& +3 "core" & j\ +2 "collection"'4& +4 "core" &Vm \ M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&b% +3 "core" %\  Y  +2 "storage"(K% +4 "core" %` d e\ +2 "storage"(6. +3 "core" .( +2 "storage"(& +3 "core" & f a \ +2 "storage"( & +4 "core" & f d\ +2 "manipulator"&Q& +3 "core" & l ' +3 .tElbow.seek 2 + "manipulator"&e( +9 "core" ( +2 "manipulator"&I& +3 "core" & n  +2 "storage"(~& +5 "core" & k { }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +96 "core" ' +2 "storage"(q& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & 1  +2 "storage"(& +4 "core" & t c \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&C' +34 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'S +39 "core" ' +2 "manipulator"&% +3 "core" %   +2 "storage"(& +4 "core" & E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +15 "core" ' +3 "manipulator"&)& +3 "core" &   +2 "storage"(t& +4 "core" & y y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +40 "core" ' +2 "manipulator"&#& +3 "core" & "  +2 "manipulator"&&% +5 "core" %ћ \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +126 "core" ' +9 .tElbow.seek CC +2 "manipulator"&N( +153 "core" ( +3 "manipulator"&& +3 "core" &( 0 ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &z& +2 "core" &(  ?S +3 .tForearm.seek CC + "manipulator"&['" +94 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'=( +416 "core" ( +2 "storage"(M& +3 "core" & \ +2 "storage"(& +4 "core" & A\ +2 "manipulator"&2& +3 "core" && # =C +2 "manipulator"&a% +5 "core" % 3 "  +2 .tForearm.seek :retract + "manipulator"&P'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +154 "core" ( +2 "manipulator"&3& +3 "core" & k  +2 "storage"(& +5 "core" & s\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +107 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +55 "core" 1 +2 "manipulator"&W% +4 "core" %   +2 "storage"(& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&n' +30 "core" ' +2 "manipulator"&p& +3 "core" &   +2 "storage"(r& +4 "core" & |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +17 "core" ' + "storage"(% +4 "core" %F c\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (U% +3 "core" %@ u\ V` +2 "manipulator"&?% +4 "core" %ѝ 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'@& +3 "core" & \ +2 "manipulator"&-% +5 "core" %\  r  + "storage"(Z% +4 "core" %` #\ +2 "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"($( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +3 "core" & \  +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&v( +14 "core" ( +2 "manipulator"&V& +3 "core" & s +2 "storage"(S& +4 "core" & 6\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +93 "core" ' +2 "storage"(\ & +4 "core" &\  8\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +286 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" & \  +2 "manipulator"&f& +4 "core" &  s +2 .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&!& +4 "core" &  s +2 "storage"(& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +49 "manipulator"&& +4 "storage"( 'X +6 "core" & j s +3 "manipulator"&/% +5 "core" % ϛ A +2 .tForearm.seek :retract +2 "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &,  Bl +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +104 "core" ' +2 "manipulator"&& +4 "core" &, Bk +2 "manipulator"&% +4 "core" %(  K +2 "collection"'T& +5 "core" & \ +2 "collection"'o& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'5(V +5 "core" & \ +7 &; \ $e +9 &X| \ 7 +10 &x \ L +9 &P \ L +9 &pR \ L +10 &1Q \ M +9 &V \ L +10 &Q \ M +9 &xR \ L +9 &:S \ L +10 &V \ M +9 &!V \ L +9 &#T \ L +10 &%AV \ M +9 &'Q \ L +10 &(Q \ L +9 &*U \ M +9 &,IU \ M +10 &. U \ L +9 &/R \ L +9 &1V \ M +10 &3QQ \ M +9 &5U \ M +10 &6U \ M +9 &8S \ M +9 &:YS \ M +10 &<S \ M +9 &=T \ L +9 &?W \ M +10 &AbR \ L +9 &C$T \ L +10 &DV \ M +9 &F] \ N +9 &H_j \ P +10 &J \ T +9 &K \ Y +10 &M \ Y +9 &OL \ Y +9 &Q \ Z +10 &R \ Z +9 &T \ Z +9 &V-v \ / +10 &V" \ U +9 ( + &Vb \ L +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&*1 +61 "core" 1 +3 "manipulator"&;% +4 "core" % ( \ K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%`& +4 "core" &/\ + "manipulator"&k% +4 "core" %\ # ; +2 "storage"(l% +4 "core" %U T V 6\ +2 "storage"(1. +3 "core" .( +2 "storage"(}& +3 "core" & S K -\  +2 "storage"(X& +4 "core" & T Q Z\  +2 "manipulator"&\\& +3 "core" &+  Bk +2 "manipulator"&% +4 "core" %\ # > ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +154 "core" ( +2 "manipulator"&h& +3 "core" & {  +2 "storage"(L& +5 "core" & z >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +87 "core" ' +2 "storage"(9& +3 "core" & ~ C\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('i +277 "core" ' +2 "storage"(J- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & b d\  +2 "manipulator"&m& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&+( +4 "core" ( +2 "manipulator"&|& +3 "core" & T  +2 "storage"(j& +3 "core" & z \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(b'X +6 "core" & V  +3 "manipulator"&K% +3 "core" % Ϟ 4 +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" &j J  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &j s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' +3 "manipulator"&I& +3 "core" &j 5  +3 "manipulator"&~% +3 "core" % I  +2 "processing"%.& +5 "core" &.\ +2 "processing"%q& +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%g(Z +4 "core" &.\  +9 &3{4\ *x +10 &c1\ > +9 &ys,\ N +9 &<V-\ M +10 &W.\ M +9 &W.\ M +10 &W0\ M +9 &CU/\ N +9 &W.\ M +10 &Z0\ N +9 & Z/\ N +9 &"KY0\ N +10 &$ Y&\ N +9 &%Y*\ N +10 &'[-\ N +9 &)TY-\ M +9 &+V$\ M +10 &,U$\ M +9 &.V!\ M +10 &0[U%\ N +9 &2U"\ N +9 &3U%\ N +10 &5V!\ N +9 &7cY\ N +9 &9%W#\ N +10 &:S#\ N +9 &<X\ N +9 &>kV"\ N +10 &@-V#\ N +9 &AU \ N +9 &CZ)\ N +10 &Er]#\ N +9 &G.l#\ P +10 &H$\ R +9 &J)\ T +9 &Lh*\ T +10 &N+$\ T +9 &O%\ T +10 &Q%\ U +9 &Sn \ U +9 &U0)\ U +10 &V#\ U +9 &X!\ U +9 &Z"]"\ #l +10 &Z[#\ , +9 ( + &Z&\ ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&D1 +62 "core" 1 + "manipulator"&:% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 "processing"%B& +3 "core" &Z"\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"('% +5 "core" %] f f \ + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & e c\  +3 "storage"()& +2 "manipulator"&t& +7 "core" & g d \  + &j I  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&#(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'i +2 "core" ( + "manipulator"&x& +6 "core" &j $  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &j   +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&C/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +95 "core" ' + "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +283 ( + "storage"(z& +5 "core" & r j (\  + "manipulator"&O& +4 "core" &j B  +2 "manipulator"&8% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&w( +256 "core" ( +2 "manipulator"&c& +3 "core" &  6 +2 "storage"(M& +4 "core" & e c $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + .tHand.open +2 "manipulator"&21 +55 "core" 1 +2 "storage"(a- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(3'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +3 "core" -' +2 "storage"(N& +3 "core" & N\  +3 "manipulator"&E& +4 "core" & 6 + .tElbow.seek 3 +2 "manipulator"&W( +24 "core" ( +2 "manipulator"&& +3 "core" & # +2 "storage"(p& +5 "core" & \  +2 .tForearm.seek 3 + 700 counts + "manipulator"&r'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&P& +47 "core" & y +6 "storage"(U& +3 "core" & e c \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&?'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' +2 "manipulator"&@% +3 "core" %Ό  +2 "storage"(-& +5 "core" & } `\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&n'ϸ +106 "core" ' +2 "manipulator"&Z& +3 "core" &  +4 "storage"(]& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +18 "core" ' +2 "storage"(,% +3 "core" %q } ;\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (d% +4 "core" %+G O f\ Xe +2 "manipulator"&u% +5 "core" %< * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +3 "core" & /\  +2 "collection"'S& +4 "core" &Vb \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\ % +4 "core" %\   +2 "storage"(G% +3 "core" %Z \ +2 "storage"(. +4 "core" .( + "storage"(R& +4 "core" & \  +2 "storage"(H& +4 "core" & \  +2 "manipulator"&f& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&!( +4 "core" ( +2 "manipulator"&& +3 "core" & [ +2 "storage"(s& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"(/& +3 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +285 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('U +40 "core" ' +2 "manipulator"&T% +3 "core" %| h +2 "storage"(y& +4 "core" & r p R\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"& 'Ϩ +12 "core" ' +2 "manipulator"&A& +3 "core" & +2 "storage"(=& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'D +40 "core" ' +2 "manipulator"&`& +3 "core" &  +2 "manipulator"&k% +5 "core" %\\ C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&1( +153 "core" ( + "manipulator"&}& +5 "core" &&  =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &&  =A +3 .tForearm.seek CC + "manipulator"&X'" +94 "core" ' + .tHand.close +2 "manipulator"&\\/ +53 "core" / +9 .tCC.seek :open +2 "collection"'( +415 "core" ( +3 "storage"( & +3 "core" & \  +2 "storage"(h& +4 "core" & ~ ~ \  +2 "manipulator"&L& +3 "core" &% * <? +2 "manipulator"&9% +5 "core" % 1   +2 .tForearm.seek :retract + "manipulator"&^'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&F( +159 "core" ( +2 "manipulator"&J& +3 "core" & 6 +2 "storage"(& +4 "core" & R\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&m'} +103 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +57 "core" 1 +2 "manipulator"&%% +3 "core" % ΍ d +2 "storage"(4& +4 "core" & V\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts +2 "manipulator"&K'Ϲ +22 "core" ' + "manipulator"&& +5 "core" &  + "storage"("& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +36 "core" ' +2 "storage"(_% +3 "core" %H \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +3 "core" %A r\ Va +2 "manipulator"&+% +4 "core" %>  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +17096 "Can".\ 1y +60002 9\ 0 +60002 8\ 1D +60002 2\ 1Q +60002 %\ 1p +60002 \ 1 +60002 (\ 1( +60002  \ 12 +60002 &\ 1c +60002 &\ 0 ^ +60002 '\ 1  +60003 -\ 1!:\  +60002 <\ 1"  +60002 ;\ 1$t  +60002 <\ 0& L +60002 B\ 1'  +60002 K\ 0)K x +60002 P\ 0* +60002 V\ 0, +60002 Y\ 0.": +60002 _\ 1/ +60003 ]\ 01\\f +60002 `\ 02 +60002 `\ 34 +60002 W\ 164( +60002 W\ 07 +60002 Y\ 19nT +60002 U\ 1;  +60002 U\ 1< +60002 X\ 1>F +60002 Z\ 1? +60002 g\ 1AB +60002 q\ 1C +60003 |\ 1Dn +60002 \ 0FX +60002 \ 0G +60002 \ 0I0 +60002 \ 0K/ +60002 \ 0L\\ +60002 \ 1Ni +60002 \ 1P +60002 \ 0Q +60002 \ 1SA +60002 \ 1TJ +60002 \ 1V{ +60002 \ 0Xv +60002 \ 0Y  +60003 \ 1[S +60002 \ 1\\ 8 +60002 \ 1^  +60002 \ 1`*!d @EDT1697774737.89 \ 1a! +60002 \ 1cc" +60002 \ 1e#& +60002 \ 1f# +60002 \ 0h;$R +60002 \ 1i$ +60002 \ 0ku%~ +60002 \ 1m& +60002 \ 1n& +60002 \ 1pM'@ +60002 \ 1q' +60003 \ 1s(l +60002 \ 1u%) +60002 \ 0v) +60002 \ 1x`*. +60002 \ 0y* +60002 \ 1{+Z +60002 \ 1}7+ +60002 \ 1~, +60002 \ 1r- +60002 \ 1- +60002 \ 1.H +60002 \ 1I. +60002  \ 0/t +60002 \ 10\  +60003 \ 1!0 +60002 \ 116 +60002 /\ 0\\1 +60002 /\ 12b +60002 .\ 12 +60002 0\ 143 +60002 )\ 04$ +60002 4\ 1o4 +60002 >\ 1 5P +60002 H\ 15 +60002 D\ 1G6| +60002 @\ 07 +60002 H\ 17 +60003 J\ 18> +60002 S\ 18 +60002 [\ 1Y9j +60002 ]\ 1: +60002 V\ 1: +60002 U\ 01;, +60002 V\ 1; +60002 Y\ 1l +60002 g\ 1> +60002 l\ 1?F +60003 q\ 1? +60002 p\ 1@r +60002 }\ 1WA +60002 }\ 1A +60002 {\ 1B4 +60002 \ 10B +60002 }\ 1C` @1698947346.06EDT = =tMAIN =mMAIN_scheduler @EDT1698947346.79 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@10110 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +383 "Can"t\ iBD + t\ iBD + #tPolling Can every 10:00 +46 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +1145 #-> ESP.ready! +3 #Powering core bus +564 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X Hand +370 #-> Arm +2 "manipulator"&1& +3 "core" & U n +2 "manipulator"&2% +3 "core" %\  s +692 #t-> Flush +176 #-> CC + "collection"'3& +3 "core" &Y\  +163 #t-> PC +2 "processing"%4& +3 "core" &\  +519 #t-> CC.close +2 "manipulator"&5& +3 "core" & 3 n +3 !to:Arm::Error: mesg"@Cannot hold puck in Collection Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:420:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +985 #-> Hand.open +2 .Hand.open + "manipulator"&61 +55 "core" 1 +226 #t-> CC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1422 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&7'\ +72 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&8/ +2 &9* +41 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&:(d +11 "core" / +423 ( +2 "manipulator"&;& +4 "core" &d ) < & +2 "manipulator"&<% +3 "core" % \  +283 #t-> HAnd +2 !o:NameError: mesg" uninitialized constant HAnd: name: HAnd:bt["(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +154 #-> Hand +347 #-> Hand.open +2 .Hand.open + "manipulator"&=1 +64 "core" 1 +269 #t-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +553 #-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2015 #-> Arm.PC +2 "manipulator"&>& +3 "core" &d g & +2 "manipulator"&?% +4 "core" % \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC +2 "manipulator"&@(s +204 "core" ( +2 "manipulator"&A& +3 "core" &m   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &m `  +2 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' + "manipulator"&D& +4 "core" &m \\  +2 "manipulator"&E% +3 "core" % {  +521 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +428 #-> Arm.CC +2 "manipulator"&F& +3 "core" &m  +2 "manipulator"&G% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC +2 "manipulator"&I( +351 "core" ( +2 "manipulator"&J& +3 "core" &% % 4 <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +38 &K& +10 "core" &%  - <? +2 .tForearm.seek CC +2 "manipulator"&L'" +96 "core" ' + "manipulator"&M& +4 "core" &% ) ] <? +2 "manipulator"&N% +3 "core" %  8  +463 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&O'\ +147 "core" ' +2 ."closeHand"Hand.close +4 .tElbow.jog 1500 + "manipulator"&P/ +2 &Q* +51 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear +2 "core" / +2 "manipulator"&R(d +561 "core" ( + "manipulator"&S& +4 "core" &d { $ +2 "manipulator"&T% +3 "core" % \   +293 #t-> Hand +597 #-> Arm.PC + "manipulator"&U& +3 "core" &d $ +2 "manipulator"&V% +3 "core" % \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC +2 "manipulator"&W(s +227 "core" ( +2 "manipulator"&X& +3 "core" &n "  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &n 6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z' +92 "core" ' +2 "manipulator"&[& +3 "core" &n ,  +2 "manipulator"&\\% +3 "core" % v = +541 #t-> Hand.open +2 .Hand.open + "manipulator"&]1 +57 "core" 1 +41586 "Can"g\ 40 +9614 #t-> Arm.home +3 "manipulator"&^& +3 "core" &n C  +2 "manipulator"&_% +3 "core" % ! = +695 #t-> Hand.close +2 .Hand.close + "manipulator"&`/ +53 "core" / +490 #t-> Arm.home +3 "manipulator"&a& +3 "core" &n ^  +2 "manipulator"&b% +4 "core" %  = +842 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&c'\ +137 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&d* +48 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&e(d +184 "core" ( +2 "manipulator"&f& +3 "core" &d &  # +2 "manipulator"&g% +4 "core" %\   +525 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%h& +3 "core" &*\  +2 .tHand.open + "manipulator"&i1 +57 "core" 1 +2 "manipulator"&j& +3 "core" &d $ # +2 "manipulator"&k% +4 "core" % \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&l(, +132 "core" ( + "manipulator"&m& +4 "core" &, M \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &, ] \\ +2 .tForearm.seek :garage +2 "manipulator"&o'Ϧ +104 "core" ' +2 .tHand.close + "manipulator"&p/ +60 "core" / + "manipulator"&q& +4 "core" &, % - \\ +2 "manipulator"&r% +4 "core" % ϯ 3 +2 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&t(s +145 "core" ( + "manipulator"&u& +4 "core" &n &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &n 7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +95 "core" ' + "manipulator"&x& +4 "core" &n 3  +2 "manipulator"&y% +3 "core" % b  +2 "processing"%z& +4 "core" &*\  +2 "processing"%{& +5 "core" &1\  +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &1\  +8 &G0\ $e +9 &uV0\ 8 +10 &~3\ L +9 &]3\ O +10 &F^5\ N +9 & _3\ N +9 &]1\ N +10 &\\1\ N +9 &N_7\ N +9 &]2\ N +10 &]1\ N +9 &!^5\ N +10 &#V]1\ N +9 &%]1\ N +9 &&]5\ N +10 &(\\1\ N +9 &*^\\1\ N +9 &,]0\ O +10 &-_2\ N +9 &/]1\ N +10 &1g^/\ N +9 &3(^1\ N +9 &4]1\ N +10 &6Z0\ N +9 &8p\\$\ N +9 &:2]-\ N +10 &;`%\ N +9 &=\\*\ N +10 &?x]3\ N +9 &A:\\+\ N +9 &B]0\ N +10 &Da6\ O +9 &F|h1\ O +10 &H8v1\ Q +9 &I,\ S +9 &K0\ T +10 &Mw/\ S +9 &O8)\ T +9 &P/\ T +10 &R#\ T +9 &T|$\ T +9 &V?'\ T +10 &W2\ U +9 &Yw*\ 8 +10 &Z41\ G +46 &Z+\ ' +10 ( + &Z.\ ' +3 &Z3\ ' + &Z+\ ' + &Z(\ ' + &Z*\ ' +3 "processing"%{& +2 "core" &Z*\ ' +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + "processing"%}& +3 "core" &Z\ ' +2 .tHand.open +2 "manipulator"&~1 +58 "core" 1 + "manipulator"&% +4 "core" % % K  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +489 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" &n   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(s +2 "core" ( +3 "manipulator"&& +3 "core" &n % P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n (  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open + "processing"% ( +437 "core" ( + "manipulator"&\ & +5 "core" &n d  + "manipulator"&% +4 "core" % 9  +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +129 "core" ( +2 "manipulator"&& +3 "core" &,  W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'Ϧ +100 "core" ' + .tHand.open + "manipulator"&1 +65 "core" 1 + "manipulator"& % +4 "core" % Ϭ ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +436 #t-> Arm.garage + "manipulator"&& +3 "core" &,  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +9 "core" ( +2 "manipulator"&& +3 "core" &, $ 7  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, 3  +2 .tForearm.seek :garage +2 "manipulator"& 'Ϧ +103 "core" ' +2 "manipulator"&& +3 "core" &, % %  +2 "manipulator"&% +4 "core" %ϳ  " " +276 #t-> Hand +620 #-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&"'\ +145 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&#/ +2 &$* +47 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&%(d +5 "core" / +311 ( +2 "manipulator"&&& +4 "core" &d  d ' +2 "manipulator"&'% +3 "core" % \ # _ B +359 #t-> PC.close + "manipulator"&(& +3 "core" &d  ' +3 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:420:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1066 #-> Hand.open +2 .Hand.open + "manipulator"&)1 +55 "core" 1 +332 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):34:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +40329 "Can"`\ :n +60003 [\ : +60002 U\ 9 +60002 Q\ : 0 +35060 #t-> exit +6 #mEXIT @1698950709.53EDT @1706128557.12EST = =tMAIN =mMAIN_scheduler @EST1706128557.88 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@56757 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +248 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +380 "Can"\ \ + +2 \ \ + #tPolling Can every 10:00 +48 #Cleanly exited at 14:45:09EDT02-Nov-23 +567 #-> ESP.ready! +3 #Powering core bus +556 .Gate.power :raw,:ON +27 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +85 #mEXIT @1706128624.52EST @1715169511.82EDT = =tMAIN =mMAIN_scheduler @EDT1715169512.59 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +164 #"core_reset"Sent BREAK +2 #t@13245 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +252 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +387 "Can"\ " + \ " + #tPolling Can every 10:00 +47 #Cleanly exited at 15:37:04EST24-Jan-24 +779 #-> ESP.ready! +2 #Powering core bus +570 .Gate.power :raw,:ON +2 "sampler") +55 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +3 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'1& +3 "core" & \  +2 .tHand.open +2 "manipulator"&21 +62 "core" 1 + "manipulator"&3& +4 "core" & + !w +2 "manipulator"&4% +3 "core" % \  0  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&5(, +180 "core" ( + "manipulator"&6& +4 "core" &, 8 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &, G 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&8'Ϧ +96 "core" ' +2 .tHand.close +2 "manipulator"&9/ +62 "core" / +2 "manipulator"&:& +3 "core" &,  m 0 +2 "manipulator"&;% +4 "core" % Ϸ Q h +2 .tForearm.seek :retract +2 "manipulator"&<'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&=( +279 "core" ( + "manipulator"&>& +4 "core" &- L Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &-  Cn +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'" +98 "core" ' + "manipulator"&A& +4 "core" &- Cm +2 "manipulator"&B% +4 "core" % M +2 "collection"'C& +4 "core" & \  +3 "collection"'D& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'E(V +4 "core" & \  +7 &H \ %h +10 &vV \ 9 +9 &| \ M +9 &Y \ O +10 &LY \ O +9 &Z \ N +9 &[ \ O +10 &Y \ N +9 &T\\ \ O +10 &] \ O +9 &] \ O +9 &![ \ O +10 &#]Y \ N +9 &%] \ O +9 &&] \ N +10 &(Y \ N +9 &*c] \ O +10 &,&Z \ O +9 &-\\ \ O +9 &/_ \ O +10 &1lX \ O +9 &3-X \ O +9 &4^ \ O +10 &6\\ \ O +9 &8tZ \ O +10 &:5_ \ O +9 &;\\ \ O +9 &=Y \ O +10 &?|\\ \ O +9 &A?Y \ N +9 &C\\ \ O +10 &D] \ O +9 &Fg \ P +10 &H<v \ R +9 &I \ V +9 &K \ Z +10 &Mk \ Z +9 &O- \ Z +9 &P \ Z +10 &R \ [ +9 &Tl \ \\ +10 &Vs \ 9 +9 &V) \ #h +9 &Vv \ P +3 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 +2 "collection"'F& +3 "core" &Vu \ P +2 .tHand.open + "manipulator"&G1 +55 "core" 1 + "manipulator"&H% +4 "core" % . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +557 #t-> Flush.PC + #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%J& +3 "core" &\  +2 "manipulator"&K& +4 "core" &- { Cm +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +35 "manipulator"&L( +9 "core" ( +2 "manipulator"&M& +4 "core" &-  Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &- . Cm +2 .tForearm.seek CC +2 "manipulator"&O'" +91 "core" ' +2 .tHand.close + "manipulator"&P/ +54 "core" / +2 .tCC.seek :open + "collection"'Q( +419 "core" ( +2 "manipulator"&R& +3 "core" &- O Cm +2 "manipulator"&S% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&U(s +353 "core" ( +2 "manipulator"&V& +4 "core" &u G \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +3 "core" &u ^ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X' +101 "core" ' +2 "manipulator"&Y& +3 "core" &u + \ +2 "manipulator"&Z% +4 "core" % V +2 "processing"%[& +4 "core" &\  +3 "processing"%\\& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%](Z +5 "core" &\  +6 &H \ $f +9 &rT\ 8 +10 &\ M +9 &_\ N +10 &B^\ O +9 &]\ O +9 &_ \ O +10 &\\\ N +9 &K_\ N +9 & ]\ N +10 &a\ O +9 &!_\ \ O +9 &#S^\ N +10 &%a\ N +9 &&\\\ N +10 &(]\ N +9 &*Z` \ O +9 &,^\ O +10 &-]\ N +9 &/\\\ N +9 &1c^\ N +10 &3%_\ N +9 &4_\ N +10 &6a\ \ O +9 &8j^\ O +9 &:,\\\ O +10 &;]\ O +9 &=Z\ N +10 &?r]\ O +9 &A5`\ N +9 &Bb\ O +10 &Db\ O +9 &Fwg\ P +9 &H3x \ R +10 &I \ S +9 &K\ T +9 &Mq\ T +10 &O2 \ U +9 &P\ U +10 &R\ U +9 &Tx\ U +9 &V;\ T +10 &W\ V +9 &Y{\ 6 +9 &Z~,h\ U +10 &Z \ . +2 ( +2 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 +2 "processing"%^& +3 "core" &Z!\ . +2 .tHand.open + "manipulator"&_1 +62 "core" 1 +2 "manipulator"&`% +3 "core" %  o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +94 "core" ' +2 "collection"'b& +3 "core" & \ +1600 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&c& +3 "core" &u w \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&d(s +3 "core" ( +2 "manipulator"&e& +4 "core" &u  " \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +4 "core" &u \ +2 .tForearm.seek PC +2 "manipulator"&g' +96 "core" ' +2 .tHand.close + "manipulator"&h/ +62 "core" / + .tPC.seek :open +2 "processing"%i( +434 "core" ( +2 "manipulator"&j& +3 "core" &u 1 \ +2 "manipulator"&k% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&l'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&m(, +134 "core" ( + "manipulator"&n& +4 "core" &, \\ ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &, \\ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&p'Ϧ +104 "core" ' + .tHand.open +2 "manipulator"&q1 +55 "core" 1 + "manipulator"&r% +4 "core" % ϰ # j 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +100 "core" ' +1103 #t-> access 2 +3 "storage"(t% +3 "core" %O *\ +2 "manipulator"&u% +3 "core" %\  >  +2 "manipulator"&v& +4 "core" &, ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(w(K +963 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &K x g 3\  +2884 #t-> access 3 +2 "storage"(y% +3 "core" %O "\ +2 "manipulator"&z% +4 "core" %\   +2 "manipulator"&{& +3 "core" &, X ( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(|([ +330 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &[ X \\ e\  +1131 #t-> access 4 +2 "storage"(~% +3 "core" %P \ +2 "manipulator"&% +4 "core" %\  ]  +3 "manipulator"&& +3 "core" &, ' +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((S +1916 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +37 (& +10 "core" &W [\ +1017 #t-> require 'shuffle.rb' +1461 #-> 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %P \ +2 "storage"(. +3 "core" .(S +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & 8 7 ^\  +3 "manipulator"&\ & +3 "core" &, ' +2 "manipulator"& % +4 "core" %\  s  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +187 "core" ( +2 "manipulator"&& +3 "core" & b  +2 "storage"(& +4 "core" & x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & k\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & K  +2 "storage"( & +4 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(#'X +7 "core" & i  + "manipulator"&$% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&%'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&&( +149 "core" ( ' +2 ."downElevator"SE.stop +2 "manipulator"&'& +2 "storage"(5 +7 "core" &' k ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &' ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'" +94 "core" ' + "manipulator"&*& +4 "core" &' f ;4 +2 "manipulator"&+% +4 "core" %*  +2 "collection"',& +4 "core" & \ +3 "collection"'-& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(V +3 "core" & \ +7 &4 \ $c +10 &T \ 8 +9 & \ L +10 &Y \ O +9 &Y] \ O +9 &] \ N +10 &` \ O +9 &] \ O +9 &a] \ O +10 &$Y \ N +9 &\\ \ N +10 &!\\ \ O +9 &#iY \ O +9 &%+_ \ O +10 &&] \ N +9 &(W \ N +9 &*r\\ \ N +10 &,3] \ O +9 &-\\ \ O +10 &/Y \ N +9 &1{Z \ N +9 &3<\\ \ N +10 &4Z \ O +9 &6^ \ O +9 &8[ \ O +10 &:C] \ O +9 &<\\ \ N +10 &=\\ \ N +9 &?^ \ O +9 &AKX \ O +10 &CZ \ N +9 &D_ \ O +9 &Fg \ P +10 &HIu \ R +9 &I \ V +10 &K \ Z +9 &Mw \ Z +9 &O9 \ Z +10 &P \ Z +9 &R \ [ +9 &Tz \ \\ +10 &Vv \ 0 +9 &V+ \ W +9 ( +3 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&/1 +2 "core" &Vk \ J +60 1 + "manipulator"&0% +4 "core" % * l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%2& +3 "core" &\ \ +2 "manipulator"&3% +4 "core" %\  J  +2 "storage"(4% +4 "core" %` 4 4 G\ +2 "storage"(6. +2 "core" .( +2 "storage"(7& +4 "core" & 4 5\  +2 "storage"(& +4 "core" & 4 6\  +2 "manipulator"&9& +4 "core" &' f ;4 +2 "manipulator"&:% +3 "core" %\  V  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&;( +153 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(8& +5 "core" & X X J\  +36 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +96 "core" ' + "storage"(?& +4 "core" & u t \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +285 "core" ' +2 "storage"(A- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" & 4 : \  +2 "manipulator"&C& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&!& +4 "core" & ? +2 "storage"(F& +3 "core" & X Y\  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&G' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(@'X +8 "core" & m +2 "manipulator"&J% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&K'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&N& +4 "core" &u   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +100 "core" ' + "manipulator"&I& +4 "core" &u C  +2 "manipulator"&E% +5 "core" % x + "processing"%R& +4 "core" & \ +3 "processing"%S& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%O(Z +5 "core" & \ +7 &> \ $e +10 &U \ 8 +9 &~\ L +9 &\\\ O +10 &f`\ O +9 &(\\\ O +9 &]\ N +10 &\\\ N +9 &m`\ O +9 &0]\ O +10 &`\ O +9 &!\\\ O +10 &#v\\\ O +9 &%8` \ O +9 &&Z\ O +10 &([\ O +9 &*~Z\ O +9 &,@Z\ O +10 &.^\ O +9 &/`\ O +10 &1]\ N +9 &3G]\ O +9 &5 \\\ N +10 &6\\\ O +9 &8]\ O +9 &:P^\ O +10 &<]\ O +9 &=Y\ N +10 &?\\\ N +9 &AY\\\ N +9 &C\\\ N +10 &D`\ O +9 &Fh\ P +10 &HVy\ R +9 &J\ T +9 &K\ U +10 &M\ T +9 &OV\ U +9 &Q \ U +10 &R\ U +9 &T\ U +10 &V\\\ U +9 &X\ U +9 &Y|s \ 5 +10 &Z,\ K +9 &Z"\ , +2 ( +2 "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&L1 +54 "core" 1 + "manipulator"&V% +4 "core" % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 "processing"%Y& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Z% +4 "core" %\   +2 "storage"([% +3 "core" %\\ \ +2 "storage"(T. +3 "core" .( +2 "storage"( & +5 "core" & \  +2 "storage"(^& +4 "manipulator"&_& +5 "core" &   \  + &u  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(`'i +2 "manipulator"&b(s +7 "core" ( +2 "manipulator"&\\& +4 "core" &u @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &u i  +2 .tForearm.seek PC +2 "manipulator"&c' +97 "core" ' +2 .tHand.close + "manipulator"&e/ +58 "core" / +6 .tPC.seek :open +2 "processing"%f( +77 "core" ' +2 "storage"(h- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'y +47 "core" ' +298 ( + "storage"(a& +4 "core" & B B k\  +2 "manipulator"&]& +4 "core" &u  +2 "manipulator"&j% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +37 "manipulator"&n( +276 "core" ( +2 "manipulator"&o& +3 "core" &  +3 "storage"(g& +3 "core" & = 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +93 "core" ' +2 .tHand.open + "manipulator"&q1 +56 "core" 1 +2 "storage"(r- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(l'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +47 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(t- +2 "core" -' +3 "storage"(u& +3 "core" & 7\  +2 "manipulator"&v& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&x& +4 "core" &  +2 "storage"(y& +4 "core" & r\  +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +62 "core" ' + "manipulator"&w& +4 "core" &  +2 "storage"(}& +4 "core" & X Y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&~' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&|% +4 "core" %  +2 "storage"(& +5 "core" &   W\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" & D  +2 "storage"(& +4 "core" & Y O [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +26 "core" ' +2 "storage"(% +4 "core" %q Y _ `\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (\ % +3 "core" %F 8 :\ Xe +2 "manipulator"& % +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & E O H\  +2 "collection"'m& +4 "core" &Vj \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"(s% +4 "core" %` Y X N\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & I J \  +2 "storage"(& +5 "core" & M V \  + "manipulator"&& +4 "core" &  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +4 "core" & Y Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&"'ќ +91 "core" ' +2 "storage"($& +3 "core" & b u G\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &  +2 "storage"((& +4 "core" & G > g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'Q +31 "core" ' +2 "manipulator"&,% +3 "core" % +2 "storage"(& +4 "core" & K .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&#' +17 "core" ' + "manipulator"&%& +4 "core" & [  +2 "storage"(Q& +3 "core" & X X [\  +38 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&/'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(0'@ +45 "core" ' + "manipulator"&2& +4 "core" &  +2 "manipulator"&3% +4 "core" %Ѧ } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&6( +154 "core" ( +3 "manipulator"&7& +3 "core" &*  @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +4 "core" &* @Z +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&9/ +57 "core" / +2 .tCC.seek :open +2 "collection"':( +418 "core" ( +2 "storage"()& +4 "core" & _ Z %\  +2 "storage"(& +3 "core" & ] Y\  +2 "manipulator"&8& +4 "core" &( >H +2 "manipulator"&&% +4 "core" % $ S +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&1( +158 "core" ( +2 "manipulator"&A& +3 "core" & Y  +3 "storage"(B& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&C' +108 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +56 "core" 1 +2 "manipulator"&H% +4 "core" % h +2 "storage"(D& +3 "core" & X X &\  +4 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&J' +28 "core" ' + "manipulator"&;& +4 "core" & 5  +2 "storage"(>& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +25 "core" ' +2 "storage"(G% +3 "core" %@ \ +3 ."downElevator"SE.seek :down +3 "storage"(N'X +99 (P% +3 "core" %B w \ Va +2 "manipulator"&<% +4 "core" %ђ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'E& +4 "core" & \ + "manipulator"&R% +4 "core" %\ ! 4 +2 "storage"(@% +4 "core" %a \ +2 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(i( +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +4 "core" & M W \  +2 "manipulator"&V& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&Y( +10 "core" ( +2 "manipulator"&Z& +3 "core" & |  +2 "storage"([& +4 "core" & %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +97 "core" ' +2 "storage"( & +3 "core" & O\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +278 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +3 "core" & u k \  +2 "manipulator"&\\& +4 "core" & t  +2 .tElbow.seek 3 +2 "manipulator"&X( +2 "core" ( +3 "manipulator"&=& +3 "core" & A  +2 "storage"(e& +4 "core" & ^\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +58 "core" / +46 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(O'X +9 "core" &  + "manipulator"&`% +4 "core" % ϳ +2 .tForearm.seek :retract +4 "manipulator"&a'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&j& +3 "core" &' % >O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &' >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'" +101 "core" ' +3 "manipulator"&o& +4 "core" &' >N +2 "manipulator"&g% +5 "core" %) +2 "collection"'q& +3 "core" & \ +3 "collection"'r& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'t(V +4 "core" & \  +8 &/~ \ +z +10 &c \ ? +9 &iv \ O +9 &-Y \ N +10 &^ \ N +9 &Z \ O +10 &r\\ \ O +9 &6Y \ N +9 &] \ N +10 &\\ \ O +9 & {Z \ N +9 &"<^ \ O +10 &#\\ \ N +9 &%\\ \ N +9 &'Z \ N +10 &)D\\ \ O +9 &+\\ \ N +10 &,] \ N +9 &.] \ N +9 &0L\\ \ O +10 &2[ \ N +9 &3\\ \ N +9 &5X \ N +10 &7T] \ O +9 &9\\ \ N +10 &:_ \ N +9 &<a \ N +9 &>^] \ N +10 &@\\ \ N +9 &AX \ N +9 &C\\ \ O +10 &Ebe \ O +9 &G!j \ P +10 &H \ S +9 &J \ Y +9 &LJ \ Z +10 &N \ Z +9 &O \ [\ +9 &Q \ [ +10 &SL \ \\ +9 &U \ \\ +10 &V^H \ 3 +9 &Vz \ I +5 ( +2 "collection"'r& +4 "core" &V` \ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&u1 +54 "core" 1 +4 "manipulator"&v% +3 "core" % (  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%y& +3 "core" &\ +2 "manipulator"&k% +4 "core" %\ # o : +2 "storage"(w% +3 "core" %T   \ +2 "storage"(}. +3 "core" .( +2 "storage"(|& +4 "core" & b a\  +2 "storage"(U& +4 "core" &  Q C\  +2 "manipulator"&& +5 "core" &' o >N + "manipulator"&l% +4 "core" %\ # q : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" & d  +2 "storage"(& +4 "core" & Y X t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&n'9 +97 "core" ' +2 "storage"(d& +3 "core" & _ s j\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +281 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & @ 5 \  +3 "manipulator"&z& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&{& +3 "core" & 4  +3 "storage"(~& +3 "core" & ) )\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +3 "storage"('X +7 "core" & B  +2 "manipulator"&s% +4 "core" % ϰ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( + "manipulator"&& +4 "core" &g   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"& & +3 "core" &m Y  +2 "manipulator"&% +4 "core" % {  +2 "processing"%& +4 "core" &\ +3 "processing"%$& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"% (Z +52 "core" &\ +2 &\ + &\ + & \ + &\ + &\ + &\ 3 +8 &=G} \ 1 +9 &bo\ E +10 &h \ O +9 &\\\ O +10 &\\ \ N +9 &H]\ O +9 &\ _\ O +10 &_\ O +9 &Y\ O +9 &Q\\\ N +10 &!\\\ O +9 &"^\ O +10 &$Z\ O +9 &&YZ\ N +9 &(Z\ N +10 &)[\ N +9 &+Y\ O +9 &-`Y\ O +10 &/#Z\ N +9 &0]\ O +10 &2\\ \ O +9 &4hY \ O +9 &6+Z \ N +10 &7Z\ N +9 &9[\ N +9 &;pW\ O +10 &=3Y\ N +9 &>^\ O +10 &@]\ O +9 &Bw]\ O +9 &D:]\ O +10 &Ed \ P +9 &Gu\ Q +9 &Iq\ T +10 &K1 \ T +9 &L\ U +10 &N\ U +9 &Pv \ U +9 &R8\ U +10 &S\ U +9 &U\ V +9 &W|\ U +10 &Y> \ C +9 &ZZ>n\ %n +10 &Z&\ ) +5 ( +2 "processing"%$& +3 "core" &Z\ ) +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%'& +3 "core" &Z\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&(% +5 "core" %\   +2 "storage"(*% +3 "core" %b 8 ?\ +2 "storage"(,. +3 "core" .( +2 "storage"(& +4 "core" & ? 8\  +3 "storage"(%& +3 "manipulator"&Q& +7 "core" & A ? (\  +2 &n E  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&2(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'i +2 "core" ( +3 "manipulator"&"& +3 "core" &n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%#( +94 "core" ' +2 "storage"(+- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(7'y +38 "core" ' +289 ( +2 "storage"(-& +3 "core" & C F\  +2 "manipulator"&/& +4 "core" &n  +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&9'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&4( +253 "core" ( +2 "manipulator"&.& +4 "core" &\ R Z +2 "storage"()& +3 "core" & B A \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 .tHand.open + "manipulator"&81 +58 "core" 1 +2 "storage"(&- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(A'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +50 "core" ' +4 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(6& +4 "core" & ]\  +2 "manipulator"&F& +4 "core" &\ W +2 .tElbow.seek 3 +2 "manipulator"&H( +23 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(;& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(G' +60 "core" ' +2 "manipulator"&?& +3 "core" &  +2 "storage"(P& +4 "core" & X X 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&<'} +19 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +24 "core" ' +2 "manipulator"&J% +3 "core" %Ί \  +2 "storage"(E& +4 "core" & X Y A\  +2 .tForearm.force -20 + "manipulator"&5 +40 .tForearm.seek 3 + 313 counts +9 "manipulator"&R'϶ +23 "core" ' + "manipulator"&@& +4 "core" & p  +2 "storage"(K& +4 "core" & d p H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +23 "core" ' + "storage"(5% +4 "core" %s \\ ^ f\ +3 ."downElevator"SE.seek :down +3 "storage"(N'X +99 (% +3 "core" %C N < m\ Wc +2 "manipulator"&L% +4 "core" %F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +3 "core" & h S H\  +2 "collection"'[& +4 "core" &V` \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\   +2 "storage"(!% +4 "core" %T s s \ +2 "storage"(I. +3 "core" .( +2 "storage"(^& +3 "core" & ^ f r\  +3 "storage"(S& +3 "core" & ] d \  +2 "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&=( +4 "core" ( + "manipulator"&e& +4 "core" &  +2 "storage"(M& +4 "core" & ] Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +92 "core" ' +2 "storage"(`& +3 "core" & ^ s k\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +285 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &  +2 "storage"(c& +4 "core" & > L |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&_'} +20 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(g'S +31 "core" ' +2 "manipulator"&q% +3 "core" %Ή +2 "storage"(X& +4 "core" & G / 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&O'ϵ +20 "core" ' + "manipulator"&a& +4 "core" &  +2 "storage"(:& +4 "core" & X [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'B +38 "core" ' +2 "manipulator"&y& +3 "core" &  +2 "manipulator"&k% +4 "core" %7 k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +154 "core" ( +2 "manipulator"&|& +4 "core" &' >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &' >M +2 .tForearm.seek CC +2 "manipulator"&U'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'l( +416 "core" ( + "storage"(b& +4 "core" & j r \  +2 "storage"(& +4 "core" & p o \  +2 "manipulator"&& +3 "core" &' >L +2 "manipulator"&d% +4 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&x( +160 "core" ( + "manipulator"&\ & +4 "core" & v | +2 "storage"( & +4 "core" & Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&z'} +94 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +58 "core" 1 +10 "manipulator"&% +3 "core" % Ύ  +2 "storage"(m& +4 "core" & \  +4 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&s'Ϻ +20 "core" ' +2 "manipulator"&& +3 "core" & | +2 "storage"(n& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +18 "core" ' +2 "storage"(% +3 "core" %H @\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %i> \ V` +2 "manipulator"&% +4 "core" %( ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %\  \ +2 "storage"(% +4 "core" %b t\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(f(,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,i W Y S\  +2 "manipulator"&& +3 "core" & | +3 .tElbow.seek 4 + "manipulator"&'( +3 "core" ( +2 "manipulator"&(& +4 "core" & f | +2 "storage"(*& +3 "core" &,g *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&,'Ѽ +97 "core" ' +2 "storage"(& +4 "core" &,g p\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +283 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &,g \  +2 "manipulator"&"& +4 "core" & n | +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  | +2 "storage"( & +4 "core" &,g +\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&+', +21 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +7 "core" & | +2 "manipulator"&3% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &$ " <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% $ <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'" +100 "core" ' + "manipulator"&)& +4 "core" &% <9 +2 "manipulator"&2% +4 "core" %& +2 "collection"'8& +4 "core" & \ +3 "collection"'&& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \ +7 &6 \ $e +10 &V \ 8 +9 & \ M +9 &Y \ N +10 &jZ \ N +9 &+Y \ N +10 &Y \ N +9 &Z \ N +9 &q\\ \ N +10 &3[ \ N +9 &Z \ N +9 &!] \ O +10 &#z\\ \ N +9 &%;] \ N +10 &&\\ \ N +9 &(Y \ N +9 &*Z \ N +10 &,E\\ \ N +9 &.Z \ M +9 &/\\ \ N +10 &1\\ \ N +9 &3L[ \ N +10 &5\\ \ N +9 &6[ \ N +9 &8Z \ N +10 &:U\\ \ N +9 &<\\ \ N +9 &=\\ \ N +10 &?\\ \ N +9 &A[Z \ N +10 &C[ \ N +9 &D\\ \ N +9 &Ff \ O +10 &HXy \ R +9 &J \ V +9 &K \ Z +10 &M \ Z +9 &OJ \ Z +10 &Q \ Z +9 &R \ [\ +9 &T \ \\ +10 &V't \ 0 +9 &V% \ V +9 ( +3 "collection"'&& +2 "core" &Vp \ M +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open + "manipulator"&61 +58 "core" 1 + "manipulator"&F% +4 "core" % & ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +136 "core" ' +9 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%;& +3 "core" &\ +2 "manipulator"&9% +4 "core" %\  g  +2 "storage"(?% +4 "core" %b   L\ +2 "storage"(P. +3 "core" .(,l +2 "storage"(7& +3 "core" &,g   \  +2 "storage"(J& +4 "core" &,g   \  +2 "manipulator"&E& +4 "core" &% <9 +2 "manipulator"&A% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@( +154 "core" ( + "manipulator"&K& +4 "core" & +2 "storage"(4& +4 "core" &,g @ @ &\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +94 "core" ' +2 "storage"(& +5 "core" &,g Y [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +288 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,g @ 5\  +2 "manipulator"&L& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&H( +5 "core" ( +2 "manipulator"&G& +3 "core" & +3 "storage"(<& +3 "core" &,g B A \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&R', +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +6 "storage"( 'X +3 "core" & +3 "manipulator"&!% +4 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&C'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I(s +166 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +3 "manipulator"&^& +3 "core" &x ' ~ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\\' +103 "core" ' +2 "manipulator"&e& +3 "core" &x +2 "manipulator"&M% +4 "core" % +2 "processing"%0& +4 "core" &\ +2 "processing"%`& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%N(Z +4 "core" & \ +7 &9\ $c +9 &S \ 7 +9 &~\ L +10 &^\ N +9 &Ua\ O +9 &Z\ N +10 &\\\ N +9 &Z\ N +10 &_\\\ N +9 &!\\\ N +9 &\\\ O +10 &!_ \ O +9 &#f^\ O +9 &%)^\ N +10 &&[\ N +9 &(Z\ N +10 &*oZ\ N +9 &,0Y\ O +9 &-Z \ O +10 &/^\ N +9 &1w[ \ N +9 &38^ \ O +10 &4]\ N +9 &6X \ O +10 &8W \ N +9 &:AZ\ N +9 &<]\ N +10 &=Y\ N +9 &?]\ N +9 &AJY\ N +10 &C \\\ N +9 &D^\ O +10 &F_\ O +9 &HJk\ Q +9 &J\ T +10 &K \ T +9 &M \ U +10 &OF\ U +9 &Q  \ T +9 &R\ U +10 &T\ U +9 &VL\ U +9 &X\ U +10 &Yzn\ = +9 &Z$\\\ X +9 &Z*\ 1 +3 ( +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&11 +58 "core" 1 + "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +104 "core" ' +2 "processing"%j& +4 "core" &Z+ \ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&c% +3 "core" %\   +2 "storage"(o% +4 "core" %c 9 5\ +2 "storage"(q. +3 "core" .(,l +2 "storage"(X& +3 "core" &,g 9 : \ \  +3 "storage"(a& +4 "manipulator"&:& +4 "core" &,g 5 9\  + &x +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&y(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(k'i +2 "core" ( +3 "manipulator"&W& +4 "core" &x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &x Q +2 .tForearm.seek PC +2 "manipulator"&Y' +92 "core" ' +40 .tHand.close +11 "manipulator"&_/ +60 "core" / +2 .tPC.seek :open +2 "processing"%O( +45 "core" ' + "storage"(g- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'y +47 "core" ' +330 ( +3 "storage"(r& +5 "core" &,g ? @ #\  + "manipulator"&u& +4 "core" &x +2 "manipulator"&h% +4 "core" % \  +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +252 "core" ( +2 "manipulator"&t& +4 "core" &\ \\ X +2 "storage"(b& +4 "core" &,g 8 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(d- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\ 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' + "storage"(}& +4 "core" &,g o\  +2 "manipulator"&~& +4 "core" &\ V +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&m& +3 "core" &\ V +3 "storage"(& +3 "core" &,g )\  +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +62 "core" ' +2 "manipulator"&]& +3 "core" &\ V +2 "storage"(& +4 "core" &,g + ) (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +22 "core" ' + "manipulator"&% +4 "core" % i +2 "storage"(s& +4 "core" &,g   D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&'= +23 "core" ' + "manipulator"&& +4 "core" &\ S +2 "storage"(& +4 "core" &,g A A \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&v'Ѽ +16 "core" ' +2 "storage"(p% +4 "core" %m X X A\ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (i% +5 "core" %@ ; % 8\ Wc +2 "manipulator"&% +4 "core" %Ѹ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 ((& +3 "core" &,g A = \  +2 "collection"'*& +4 "core" &Vo \ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %\   +2 "storage"({% +4 "core" %a X X B\ +2 "storage"( . +5 "core" .(,l +2 "storage"(%& +3 "core" &,g Z W\  +2 "storage"($& +4 "core" &,g X X 5\  +2 "manipulator"&"& +3 "core" & R +3 .tElbow.seek 4 + "manipulator"&( +16 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +4 "core" &,g X [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +88 "core" ' + "storage"(3& +4 "core" &,g t u M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''i +283 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &,g X X Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&Q' +30 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(2'J +31 "core" ' + "manipulator"&8% +4 "core" %  +2 "storage"(& +4 "core" &,g   #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"& '? +21 "core" ' +2 "manipulator"&-& +3 "core" & B  +2 "storage"(l& +4 "core" &,g Z U \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&6'Ѽ +42 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(F'9 +40 "core" ' + "manipulator"&&& +4 "core" &  +2 "manipulator"&;% +4 "core" %ѥ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +86 "core" ' +2 .tElbow.seek CC +6 "manipulator"&?( +153 "core" ( + "manipulator"&P& +4 "core" &* @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &* k @X +2 .tForearm.seek CC +2 "manipulator"&J'" +92 "core" ' + .tHand.close +2 "manipulator"&E/ +59 "core" / +2 .tCC.seek :open +2 "collection"'A( +415 "core" ( +2 "storage"(.& +4 "core" &,g n w\  +2 "storage"(K& +4 "core" &,g s k \  +2 "manipulator"&4& +4 "core" &* Q @X +2 "manipulator"&% +3 "core" % &  +3 .tForearm.seek :retract + "manipulator"&/'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&D( +152 "core" ( + "manipulator"&>& +4 "core" & w +2 "storage"(& +4 "core" &,g O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&L' +97 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +60 "core" 1 +2 "manipulator"&Z% +4 "core" %  h +2 "storage"([& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&!'; +17 "core" ' +2 "manipulator"&@& +4 "core" & +2 "storage"(5& +4 "core" &,g N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&B'Ѽ +28 "core" ' +2 "storage"(R% +3 "core" %9 \ +3 ."downElevator"SE.seek :down +4 "storage"(^'X +98 (S% +3 "core" %< g\ U^ +2 "manipulator"&H% +4 "core" %Ѯ T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'M& +3 "core" & \ +2 "manipulator"&0% +3 "core" %\ # 9 +2 "storage"( % +4 "core" %T 8\ +2 "storage"(C. +2 "core" .(,l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(#( +651 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (1& +3 "core" & P\ +2 "manipulator"&V& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&j( +26 "core" ( +2 "manipulator"&c& +49 "core" &  +2 "storage"(o& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +96 "core" ' +2 "storage"(`& +4 "core" & l\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +285 "core" ' +2 "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +3 "core" & K\ +2 "manipulator"&W& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&=( +19 "core" ( + "manipulator"&\\& +4 "core" & |  +2 "storage"(_& +4 "core" & 5\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&g' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&T& +6 "storage"(N'X +5 "core" &  +2 "manipulator"&k% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&r'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +155 "core" ( +2 "manipulator"&h& +4 "core" ' + &* y A` +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +6 &Y& +3 "core" &+ A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'" +99 "core" ' +2 "manipulator"&b& +3 "core" &+  A` +2 "manipulator"&y% +4 "core" % > +2 "collection"'& +4 "core" & \ +3 "collection"'d& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'U(V +3 "core" & \ +6 & \ 6 +9 &@F~ \ 1 +10 &kr \ E +9 &d \ O +10 &Y \ N +9 &Z \ M +9 &WY \ N +10 &] \ N +9 &Y \ N +10 &Y \ M +9 &_\\ \ N +9 &! ] \ N +10 &"\\ \ N +9 &$] \ N +9 &&gY \ N +10 &()] \ N +9 &)\\ \ M +9 &+Z \ N +10 &-o] \ N +9 &/1W \ N +10 &0[ \ N +9 &2Y \ N +9 &4xY \ M +10 &68\\ \ N +9 &7Z \ N +9 &9] \ N +10 &;~\\ \ N +9 &=@Z \ N +10 &?Y \ N +9 &@[ \ M +9 &BZ \ N +10 &DHZ \ N +9 &Fb \ O +9 &Gn \ P +10 &I \ S +9 &K2 \ X +10 &L \ Z +9 &N \ Y +9 &Ps \ Z +10 &R5 \ Z +9 &S \ [ +9 &U \ H +10 &V2 \ (y +9 &Vm \ K +3 ( + "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&}1 +59 "core" 1 +4 "manipulator"&~% +4 "core" %  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  w , +2 "storage"(]% +3 "core" %T 9 : \ +2 "storage"(. +3 "core" .( +2 "storage"(|& +4 "core" & : : \ +2 "storage"(& +4 "core" & 9 9 \ +2 "manipulator"&s& +3 "core" &* A` +2 "manipulator"&\ % +4 "core" %\  , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +157 "core" ( +2 "manipulator"&& +3 "core" & { \ +2 "storage"(p& +4 "core" & [ [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +88 "core" ' + "storage"(& +4 "core" & s s M\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' +2 "storage"(i- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & ' 4 $\ +2 "manipulator"&n& +3 "core" & \ +2 .tElbow.seek 2 +42 "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" & g \ +2 "storage"(& +4 "core" & X X J\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&(/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"('X +9 "core" & \ + "manipulator"&{% +5 "core" %  d +2 .tForearm.seek :retract + "manipulator"&z'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&%& +4 "core" &r '  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &r z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"' +101 "core" ' +2 "manipulator"& & +3 "core" &r ]  +2 "manipulator"&% +4 "core" % v +2 "processing"%v& +5 "core" & \ +2 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 &8\ $d +9 &U \ 8 +10 &~\ L +9 &\\\ O +10 &[\\\ O +9 &Y\ N +9 &_\ O +10 &\\ \ O +9 &d_\ N +9 &&Z \ N +10 &] \ N +9 &!Z\ N +10 &#lZ\ N +9 &%-]\ O +9 &&\\ \ O +10 &(Y \ N +9 &*sZ\ O +9 &,5\\\ O +10 &-Z\ N +9 &/Z\ N +10 &1{[\ O +9 &3>X\ N +9 &5]\ N +10 &6]\ N +9 &8\\ \ O +9 &:F] \ N +10 &<[\ N +9 &=W\ N +10 &?\\ \ N +9 &AMZ\ O +9 &C\\\ N +10 &D_ \ O +9 &Fh\ O +10 &HMw \ Q +9 &J \ T +9 &K\ U +10 &M\ T +9 &OL\ T +9 &Q \ T +10 &R\ U +9 &T \ U +9 &VQ\ U +10 &X\ U +9 &Y|s \ 9 +10 &Z*{\ P +9 &Z#\ - +2 ( +2 "processing"%3& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&x1 +54 "core" 1 +2 "manipulator"&% +3 "core" % T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 "processing"%& +4 "core" &Z!\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"()% +4 "core" %c 9 9 \ +2 "storage"(8. +2 "core" .( +2 "storage"(& +4 "core" & 7 ? !\ +3 "storage"(-& +4 "manipulator"&l& +3 "core" & 9 9\ +2 &r [  +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'i +2 "core" ( +2 "manipulator"&& +4 "core" &r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r   +3 .tForearm.seek PC + "manipulator"&'' +98 "core" ' +2 .tHand.close + "manipulator"&Q/ +64 "core" / +3 .tPC.seek :open +2 "processing"% ( +75 "core" ' +2 "storage"(2- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'y +34 "core" ' +312 ( + "storage"(7& +4 "core" & 2 , 4\ +2 "manipulator"&6& +3 "core" &r  +2 "manipulator"&+% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&E'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&9( +252 "core" ( +2 "manipulator"&& +4 "core" & !v +2 "storage"(.& +3 "core" & 9 : (\ +3 .tForearm.reconfigure :tight +41 "manipulator"&#Q@2^d^\ b +11 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +95 "core" ' + .tHand.open +2 "manipulator"&41 +62 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +23 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(J- +2 "core" -' +3 "storage"(?& +3 "core" & i\ +3 "manipulator"&<& +3 "core" & !v +2 .tElbow.seek 2 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&[& +4 "core" & !v +2 "storage"(@& +4 "core" & 5\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(R' +58 "core" ' + "manipulator"&/& +4 "core" & !v +2 "storage"(S& +4 "core" & = 1 :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +25 "core" ' +2 "manipulator"&!% +5 "core" % ` + "storage"(M& +5 "core" & 9 9 /\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&0' +20 "core" ' +2 "manipulator"& & +3 "core" & !v +2 "storage"(C& +4 "core" & 5 > )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +36 "core" ' +2 "storage"(B% +4 "core" %q X Y \ +3 ."downElevator"SE.seek :down +3 "storage"(^'X +99 (f% +3 "core" %A 9 8\ Wc +2 "manipulator"&1% +4 "core" %Ѧ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +87 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (c& +4 "core" & 6 . 6\ +2 "collection"'o& +3 "core" &Vk \ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&`% +4 "core" %\   +2 "storage"(G% +4 "core" %T X X &\ +2 "storage"(e. +3 "core" .( +2 "storage"(a& +3 "core" & X X 6\ +3 "storage"(:& +3 "core" & X W \ +2 "manipulator"&W& +4 "core" & !u +2 .tElbow.seek 2 +2 "manipulator"&\\( +4 "core" ( +2 "manipulator"&_& +3 "core" & n !u +3 "storage"(I& +3 "core" & N W ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +95 "core" ' +2 "storage"(k& +3 "core" & a O /\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +282 "core" ' +2 "storage"(q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" & !u +2 "storage"(Y& +4 "core" & T I O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'P +32 "core" ' + "manipulator"&=% +4 "core" % Q +2 "storage"(& +50 "core" &   3\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&N' +27 "core" ' +2 "manipulator"&r& +3 "core" & !u +2 "storage"(A& +4 "core" & X X 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'? +38 "core" ' +2 "manipulator"&& +4 "core" & !u +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +144 "core" ( +2 "manipulator"&d& +4 "core" &% <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &% <? +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&s/ +60 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +415 "core" ( +2 "storage"(t& +4 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&p& +3 "core" &% <? +2 "manipulator"&% +4 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&m( +151 "core" ( +2 "manipulator"&i& +3 "core" & +2 "storage"(& +4 "core" & S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&n' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&(% +4 "core" % {  +2 "storage"(*& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&{' +20 "core" ' +2 "manipulator"&& +3 "core" & b +2 "storage"(w& +4 "core" & 6\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +27 "core" ' +2 "storage"(% +4 "core" %G G\ +3 ."downElevator"SE.seek :down +3 "storage"(%'X +99 ($% +3 "core" %@ \ Va +2 "manipulator"&% +4 "core" %ь +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&v% +5 "core" %\   + "storage"(% +4 "core" %S 6\ +2 "storage"(z. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(O( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" & W R D\  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( +2 "manipulator"&& +4 "core" & h } +2 "storage"()& +3 "core" & ?\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +95 "core" ' +2 "storage"(& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +45 "storage"(l'i +280 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +5 (3& +2 "core" & { ]\  +3 "manipulator"&& +3 "core" &  } +3 .tElbow.seek 3 + "manipulator"&( +5 "core" ( + "manipulator"&"& +4 "core" &  } +2 "storage"(Q& +4 "core" & L\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"('X +7 "core" & } +2 "manipulator"&;% +4 "core" % ϰ  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&+& +4 "core" &' 6 S >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &' T >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +3 "manipulator"&.& +3 "core" &( v >K +2 "manipulator"&&% +4 "core" % u T +2 "collection"'4& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" & \ +8 & 3 \ $d +9 &V \ 7 +10 & \ L +9 &Z \ N +10 &bW \ N +9 &$\\ \ N +9 &\\ \ N +10 &Y \ M +9 &kY \ M +9 &,Y \ N +10 &] \ N +9 &!Z \ N +10 &#rZ \ N +9 &%5[ \ M +9 &&Y \ M +10 &(Y \ M +9 &*z] \ N +9 &,=X \ M +10 &-Y \ M +9 &/X \ N +10 &1Y \ N +9 &3DV \ N +9 &5X \ N +10 &6X \ N +9 &8V \ N +10 &:LY \ N +9 &<Z \ M +9 &=Z \ M +10 &?[ \ M +9 &AUZ \ M +9 &C^ \ N +10 &D] \ N +9 &Fg \ O +10 &HQ{ \ Q +9 &J \ V +9 &K \ Z +10 &M \ Z +9 &OA \ Z +9 &Q \ Z +10 &R \ Z +9 &T \ [\ +9 &V u \ 0 +10 &V& \ X +8 ( +3 "collection"'& +3 "core" &Vk \ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&?1 +57 "core" 1 +3 "manipulator"&<% +5 "core" %  j T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&E% +4 "core" %\   +2 "storage"(/% +3 "core" %T 3 3 \ +2 "storage"(S. +3 "core" .( +2 "storage"(!& +4 "core" & 8 5\  +2 "storage"(P& +4 "core" & 4 9\  +2 "manipulator"&M& +3 "core" &' >J +2 "manipulator"&>% +4 "core" %\  J  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +160 "core" ( +2 "manipulator"&C& +5 "core" & M  + "storage"(B& +4 "core" & Z Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +86 "core" ' +2 "storage"(K& +4 "core" & q o ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & L M }\  +2 "manipulator"&5& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(H& +3 "core" & J J \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +59 "core" / +50 ."downElevator"SE.seek :down +3 "manipulator"&o& +3 "storage"(`'X +8 "core" &  +2 "manipulator"&G% +3 "core" % ϳ +3 .tForearm.seek :retract +2 "manipulator"&L'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&a& +3 "core" &o  8 . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +3 "core" &o ~ . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +104 "core" ' +2 "manipulator"&_& +3 "core" &o . +3 "manipulator"&I% +3 "core" % x +3 "processing"%F& +4 "core" &\ +3 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(Z +5 "core" &\ +6 & 1\ $c + "Can"\ `i +9 "core" &T\ 7 +9 &~ \ L +9 &\\\ N +10 &[Z\ O +9 &Y\ O +9 &^ \ O +10 &]\ N +9 &d\\\ N +10 &%Z\ O +9 &[\ O +9 &!^\ O +10 &#l]\ N +9 &%.Z\ N +9 &&Y\ O +10 &(Y\ O +9 &*sY\ O +9 &,5]\ O +10 &-]\ O +9 &/X\ N +10 &1|X\ N +9 &3>X\ N +9 &5Y\ N +10 &6\\\ N +9 &8Y\ N +10 &:F]\ N +9 &< X\ N +9 &=[\ N +10 &?Z\ N +9 &AOW\ N +9 &C\\\ O +10 &Db\ O +9 &Fh\ O +10 &HJ} \ R +9 &J\ T +9 &K\ T +10 &M\ T +9 &OK\ U +9 &Q\ T +10 &R\ U +9 &T\ T +9 &VR\ U +10 &X\ U +9 &Y{p\ 9 +10 &Z+\ M +9 &Z%\ . +2 ( +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&D1 +60 "core" 1 +2 "manipulator"&V% +4 "core" % H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +101 "core" ' +2 "processing"%h& +3 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +4 "core" %\ 5 8 +2 "storage"(b% +3 "core" %a 8 9\ +2 "storage"(=. +4 "core" .( + "storage"(& +4 "core" & 9 9 \  +3 "storage"(r& +4 "manipulator"&A& +5 "core" & 9 9\  + &o m . +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&T& +3 "core" &o / . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &o p . +3 .tForearm.seek PC +2 "manipulator"&j' +95 "core" ' +2 .tHand.close +2 "manipulator"&X/ +56 "core" / +3 .tPC.seek :open +2 "processing"%N( +90 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'y +35 "core" ' +296 ( +2 "storage"(|& +3 "core" & @ X 1\  +2 "manipulator"&}& +4 "core" &o . +2 "manipulator"&g% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&]( +251 "core" ( +2 "manipulator"&U& +3 "core" & E $ +2 "storage"(t& +4 "core" & 8 ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + .tHand.open +2 "manipulator"&p1 +64 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(i'E +24 "core" ' +2 .tSE.reconfigure :seal +42 "storage"(#QK-0-\ b +11 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & \\\  +2 "manipulator"&& +4 "core" & "y +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( +2 "manipulator"&*& +3 "core" & "y +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&u& +4 "core" & j "y +2 "storage"($& +4 "core" & X X Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'i +26 "core" ' + "manipulator"&{% +4 "core" %΂ a +2 "storage"(& +3 "core" & A A D\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&v'Ϯ +20 "core" ' + "manipulator"&& +4 "core" & "y +2 "storage"(z& +4 "core" & Z Y }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +16 "core" ' +2 "storage"( % +3 "core" %n X Z b\ +3 ."downElevator"SE.seek :down +4 "storage"(%'X +98 (#% +3 "core" %C 7 7 R\ Wc +2 "manipulator"&x% +4 "core" %7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & I M %\  +2 "collection"')& +3 "core" &Vj \ L +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  } , +2 "storage"(% +4 "core" %\\ N V\ +2 "storage"( . +2 "core" .( +2 "storage"(-& +4 "core" & N X 8\  +2 "storage"(3& +3 "core" & W X \  +2 "manipulator"&& +4 "core" & "y +2 .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&Q& +4 "core" & x "y +2 "storage"( & +4 "core" & X X N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +87 "core" ' +2 "storage"(;& +3 "core" & s t G\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +3 "storage"(8- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & "x +2 "storage"('& +4 "core" & 1 , \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&l'} +28 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(.- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'S +32 "core" ' +2 "manipulator"&4% +3 "core" %΄ +2 "storage"(& +4 "core" &   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&'ϰ +20 "core" ' +2 "manipulator"&7& +3 "core" & R "x +2 "storage"(\ & +4 "core" & - E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +26 "core" ' +48 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(<'B +40 "core" ' +2 "manipulator"&@& +4 "core" & b "x +2 "manipulator"&E% +4 "core" %M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +145 "core" ( + "manipulator"&!& +4 "core" &% <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &% <? +2 .tForearm.seek CC +2 "manipulator"&P'" +93 "core" ' +2 .tHand.close + "manipulator"&M/ +63 "core" / +2 .tCC.seek :open +2 "collection"'>( +415 "core" ( +2 "storage"(& +4 "core" & w \  +3 "storage"(C& +3 "core" & i f \  +2 "manipulator"&B& +4 "core" &% <= +2 "manipulator"&K% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&6'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&[( +160 "core" ( +2 "manipulator"&f& +4 "core" & s +2 "storage"(1& +3 "core" & B\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&5'} +101 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +61 "core" 1 +2 "manipulator"&c% +4 "core" % ΍ +2 "storage"(o& +5 "core" & b\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&G'Ϲ +20 "core" ' + "manipulator"& & +4 "core" & x s +2 "storage"(9& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +41 "core" ' +2 "storage"(0% +4 "core" %L ^\ +3 ."downElevator"SE.seek :down +4 "storage"(a'X +98 (:% +3 "core" %ID C\ Wa +2 "manipulator"&Z% +5 "core" %b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +94 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'I& +3 "core" & \ +2 "manipulator"&F% +3 "core" %\  . +3 "storage"(`% +3 "core" %a B\ +2 "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,l +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &,l M Y B\  +3 "manipulator"&V& +3 "core" & s +2 .tElbow.seek 4 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&Y& +3 "core" & s +3 "storage"(b& +3 "core" &,i Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&='Ѽ +88 "core" ' +2 "storage"(k& +3 "core" &,i a\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &,i \  +2 "manipulator"&T& +4 "core" & s +2 .tElbow.seek 4 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&W& +3 "core" & m s +47 "storage"(X& +6 "core" &,i J\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&d', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& +2 "storage"(^'X +7 "core" & ^ s + "manipulator"&% +4 "core" % % J +2 .tForearm.seek :retract +2 "manipulator"&|'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&g& +4 "core" && N =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +4 "core" && =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +98 "core" ' + "manipulator"&t& +4 "core" && =B +3 "manipulator"&% +4 "core" %, +2 "collection"'p& +5 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'s(V +4 "core" & \ +7 &4 \ $d +9 &V \ 7 +10 & \ L +9 &V \ N +9 &aZ \ N +10 &%X \ M +9 &[ \ M +10 &Y \ N +9 &k] \ M +9 &-Z \ M +10 &Y \ M +9 &!Y \ N +9 &#sY \ M +10 &%4Z \ N +9 &&V \ M +9 &(W \ M +10 &*{Y \ M +9 &,<X \ N +10 &-W \ M +9 &/Z \ M +9 &1Z \ N +10 &3DY \ N +9 &5\\ \ N +10 &6Z \ N +9 &8V \ M +9 &:MZ \ M +10 &<Z \ N +9 &=] \ N +9 &?\\ \ N +10 &AVX \ M +9 &C] \ M +10 &D^ \ N +9 &Ff \ O +9 &HQy \ Q +10 &J \ V +9 &K \ Z +9 &M \ Z +10 &OA \ Z +9 &Q \ Z +10 &R \ [ +9 &T \ [ +9 &V#x \ / +10 &V( \ U +9 ( + &V_ \ J +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +5 "manipulator"&% +4 "core" % ( l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%*& +3 "core" &\ +2 "manipulator"&% +4 "core" %\ ! 7 +2 "storage"(u% +4 "core" %T W U\ +2 "storage"($. +2 "core" .(,l +3 "storage"(y& +3 "core" &,i U X ,\  +2 "storage"({& +4 "core" &,i J @ 5\  +2 "manipulator"&& +4 "core" && =B +2 "manipulator"&% +5 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&z( +162 "core" ( +2 "manipulator"&i& +4 "core" &  s +2 "storage"( & +4 "core" &,i r s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&]'Ѽ +89 "core" ' + "storage"(& +5 "core" &,i \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +2 "core" &,i Z [\  +3 "manipulator"&w& +3 "core" & s +2 .tElbow.seek 4 +2 "manipulator"&(( +4 "core" ( + "manipulator"&& +4 "core" & 9 s +2 "storage"(& +4 "core" &,i s s =\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&v', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +3 "storage"('X +7 "core" & i s +2 "manipulator"&% +4 "core" % > O +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +165 "core" ' + ."downElevator"SE.stop +49 "storage"(5 +29 "core" ( +3 "manipulator"&-& +3 "core" &p  $  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &3& +2 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +112 "core" ' +2 "manipulator"&Q& +3 "core" &p 2  +3 "manipulator"& % +3 "core" % o +3 "processing"%~& +3 "core" & \ +3 "processing"%;& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%%(Z +5 "core" &\  +9 &1\ *y +9 &c\ ? +9 &ry\ O +10 &5Z\ \ N +9 &^\ N +9 &_\ N +10 &{_\ N +9 &=]\ N +10 &_\ O +9 &\\\ N +9 & \\\ N +10 &"D]\ O +9 &$Y\ N +9 &%_\ N +10 &']\ O +9 &)L\\\ O +10 &+\\\ N +9 &,Y\ N +9 &.]\ N +10 &0U^\ N +9 &2^\ O +9 &3[\ N +10 &5X\ N +9 &7\\Z\ O +10 &9[\ O +9 &:Z\ N +9 &<[\ O +10 &>e[\ N +9 &@&]\ O +9 &AZ\ N +10 &C]\ O +9 &Em\\\ N +10 &G-d\ O +9 &Hs\ Q +9 &J\ T +10 &Le"\ T +9 &N'\ T +9 &O\ S +10 &Q\ T +9 &Sj\ U +10 &U,\ U +9 &V\ U +9 &X\ T +10 &Z _\ "j +9 &Zc\ 1 +9 ( +3 "processing"%;& +2 "core" &Z\ * +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&m1 +58 "core" 1 + "manipulator"&% +4 "core" % o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +89 "core" ' +2 "processing"%+& +3 "core" &Z \ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&'% +3 "core" %\   +3 "storage"(.% +3 "core" %b r s\ +2 "storage"(4. +3 "core" .(,l +2 "storage"(& +4 "core" &,i s r \  +2 "storage"(7& +3 "manipulator"&\ & +7 "core" &,i r r \  + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&@(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(E'i +3 "core" ( + "manipulator"&,& +5 "core" &p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &p c  +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&l/ +57 "core" / +3 .tPC.seek :open + "processing"%( +88 "core" ' +2 "storage"(&- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +45 "core" ' +289 ( + "storage"(& +4 "core" &,i r n 8\  +2 "manipulator"&?& +4 "core" &p  +2 "manipulator"&2% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&/( +257 "core" ( +2 "manipulator"&J& +4 "core" & s R +2 "storage"(& +3 "core" &,i s r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&C'Ѽ +99 "core" ' +2 .tHand.open + "manipulator"&B1 +54 "core" 1 +2 "storage"(K- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(S& +4 "core" &,i\ \  A\  +2 "manipulator"&H& +4 "core" &\ R +2 .tElbow.seek 4 +2 "manipulator"&c( +24 "core" ( +2 "manipulator"&o& +3 "core" & T  +48 "storage"( & +6 "core" &,i\ \  \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&9'Ѽ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(0' +57 "core" ' +2 "manipulator"&6& +3 "core" &  +2 "storage"(:& +4 "core" &,i j m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z' +30 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +27 "core" ' +2 "manipulator"&G% +3 "core" %  +2 "storage"(I& +4 "core" &,i Z U \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&F'< +22 "core" ' + "manipulator"&`& +4 "core" &  +2 "storage"(L& +4 "core" &,i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&<'Ѽ +41 "core" ' +3 "storage"(% +4 "core" %s *\ +3 ."downElevator"SE.seek :down +3 "storage"(a'X +99 (O% +3 "core" %'? o r P\ V` +3 "manipulator"&D% +4 "core" %Ѭ , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Y& +3 "core" &,i "\  +3 "collection"'b& +3 "core" &V^ \ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&k% +3 "core" %\ \  +3 "storage"(R% +4 "core" %V v\ + "storage"(_. +3 "core" .(,l +2 "storage"(A& +4 "core" &,i \  +2 "storage"(r& +4 "core" &,i \  +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&X& +4 "core" & 5  +2 "storage"(e& +3 "core" &,i !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&q'Ѽ +95 "core" ' + "storage"(& +4 "core" &,i K\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +283 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &  +2 "storage"(j& +4 "core" &,i q h Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"('K +31 "core" ' +2 "manipulator"&p% +3 "core" % +2 "storage"(\\& +4 "core" &,i X X j\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&^'> +18 "core" ' +2 "manipulator"&|& +4 "core" & C  +2 "storage"(>& +3 "core" &,i "\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +29 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(': +43 "core" ' + "manipulator"&*& +4 "core" & l  +2 "manipulator"&% +4 "core" % x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +199 "core" ( +2 "manipulator"&$& +4 "core" &!  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &! _ 8 +2 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(U& +4 "core" &,i \  +2 "storage"(i& +4 "core" &,i U\  +2 "manipulator"& & +3 "core" &" Z 8 +2 "manipulator"&% +4 "core" % / J  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&#& +3 "core" & [ 8 +2 "storage"(x& +4 "core" &,i V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&w' +102 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" %  f 0 +2 "storage"()& +4 "core" &,i 8\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 317 counts + "manipulator"&'= +20 "core" ' + "manipulator"&z& +4 "core" & 7 +2 "storage"(]& +3 "core" &,i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +19 "core" ' +2 "storage"(v% +3 "core" %> l\ +3 ."downElevator"SE.seek :down +4 "storage"(-'X +98 (3% +3 "core" %? \ V_ +2 "manipulator"&(% +3 "core" % +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +4 "core" & \ +2 "manipulator"&~% +4 "core" %\   +2 "storage"(% +3 "core" %T D\ +2 "storage"(n. +3 "core" .(,l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(N( +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" & u t (\ +2 "manipulator"&& +4 "core" & 7 +2 .tElbow.seek 2 +2 "manipulator"&+( +15 "core" ( + "manipulator"&'& +4 "core" &\ D ` +2 "storage"(.& +5 "core" & S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +107 "core" ' + "storage"(& +4 "core" & V\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +277 "core" ' +2 "storage"(7- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +3 "core" & V\ +2 "manipulator"&,& +3 "core" & _ +2 .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&& +4 "core" &\ C _ +2 "storage"(l& +3 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&&' +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(%'X +52 "core" &\ _ +5 "manipulator"&E% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +112 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +33 "core" ( +2 "manipulator"&2& +3 "core" &+ # Ad +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &+ Ad +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +94 "core" ' +4 "manipulator"&& +3 "core" &+ A Ad +3 "manipulator"&@% +3 "core" %  +3 "collection"'B& +3 "core" & \ +3 "collection"'K& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(V +5 "core" & \ +7 & - \ $d +9 &V \ 7 +9 & \ L +10 &Z \ N +9 &f\\ \ M +9 &(\\ \ M +10 &^ \ M +9 &\\ \ N +10 &n\\ \ M +9 &0Y \ M +9 &] \ M +10 &![ \ M +9 &#w\\ \ M +9 &%8_ \ M +10 &&] \ M +9 &(Z \ M +10 &*~X \ M +9 &,@X \ M +9 &.] \ M +10 &/Z \ M +9 &1Z \ M +9 &3H[ \ M +10 &5\ ] \ M +9 &6] \ N +9 &8[ \ M +10 &:P` \ M +9 &<_ \ M +10 &=Y \ M +9 &?_ \ M +9 &AY] \ M +10 &C\\ \ M +9 &D[ \ N +10 &Fc \ N +9 &HWu \ P +9 &J \ U +10 &K \ Y +9 &M \ Y +9 &OF \ Y +10 &Q \ Y +9 &R \ Z +10 &T \ [ +9 &V&v \ / +9 &V% \ T +9 ( +2 &Vb \ K +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&S1 +55 "core" 1 +2 "manipulator"&H% +4 "core" %  p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%o& +3 "core" &#\ +2 "manipulator"& % +5 "core" %\ ! 7 +2 "storage"(6% +3 "core" %` N U\ +2 "storage"(:. +2 "core" .( +3 "storage"(!& +3 "core" & X X \ +2 "storage"(f& +5 "core" & X X ;\ + "manipulator"&G& +5 "core" &* ~ Ac + "manipulator"&I% +4 "core" %\ ! [ 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +155 "core" ( +2 "manipulator"&`& +3 "core" & \ +2 "storage"(L& +4 "core" & o h h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +89 "core" ' +2 "storage"(C& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +286 "core" ' +2 "storage"(O- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" & \\ c P\ +2 "manipulator"&9& +3 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&0& +4 "core" &  \ +2 "storage"(Z& +4 "core" & n n \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&b& + "storage"(k'X +7 "core" & \ +2 "manipulator"&5% +3 "core" % - +3 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&A& +4 "core" &m & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &m W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +92 "core" ' +2 "manipulator"&X& +4 "core" &m +48 "manipulator"&e% +5 "core" % o +3 "processing"%<& +3 "core" &%\ +3 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%a(Z +3 "core" &\ +9 & 1\ $d +9 &T~\ 7 +10 &~\ L +9 &`\ O +9 &X^\ O +10 &\\\ O +9 &]\ N +9 &]"\ N +10 &`\\\ O +9 &#Y\ N +10 &Z\ O +9 &!]"\ O +9 &#iY#\ N +10 &%*Y\ O +9 &&[\ N +9 &(Z\ N +10 &*p\\"\ O +9 &,2\\"\ O +10 &-\\"\ N +9 &/X \ N +9 &1y]"\ N +10 &3:\\#\ O +9 &4Z"\ N +9 &6W \ N +10 &8\\"\ N +9 &:C]"\ N +10 &<["\ N +9 &=W#\ N +9 &?\\"\ N +10 &AJZ\ O +9 &C Z\ O +9 &D`!\ O +10 &Fc!\ O +9 &HIu"\ R +10 &J#\ T +9 &K"\ U +9 &M"\ T +10 &OI\ T +9 &Q\ \ U +9 &R\ U +10 &T\ U +9 &VO\ U +10 &X\ V +9 &Y{n!\ : +9 &Z(k\ N +10 &Z'\ / +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&[1 +58 "core" 1 +2 "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' +2 "processing"%g& +4 "core" &Z$\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&j% +3 "core" %\   +2 "storage"(t% +4 "core" %a X X ?\ +2 "storage"(p. +3 "core" .( +2 "storage"(\\& +4 "core" & X X V\ +3 "storage"(|& +2 "manipulator"&>& +8 "core" & X X ;\ + &m [ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&*(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&q& +6 "core" &m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +2 "core" &m +3 .tForearm.seek PC +2 "manipulator"&h' +96 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%^( +83 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'y +47 "core" ' +293 ( + "storage"(& +4 "core" & T J %\ +2 "manipulator"&y& +3 "core" &m +2 "manipulator"&d% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +254 "core" ( + "manipulator"&s& +4 "core" & k +2 "storage"(U& +4 "core" & M K 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +94 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' +2 "storage"(& +3 "core" & f\ +2 "manipulator"&& +4 "core" & m f +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&)& +4 "core" & f +2 "storage"(z& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(v' +58 "core" ' +2 "manipulator"&}& +4 "core" & r f +2 "storage"(3& +50 "core" & r r \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&(' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +21 "core" ' +2 "manipulator"&% +4 "core" % D +2 "storage"( & +3 "core" & X X V\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&~' +21 "core" ' +2 "manipulator"&& +3 "core" & f +2 "storage"(n& +4 "core" & n p \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +16 "core" ' +2 "storage"(% +4 "core" %s \ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 ( % +3 "core" %? Z Y \ Vb +2 "manipulator"&m% +4 "core" %Ѭ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ('& +3 "core" & j 4\ +2 "collection"'.& +4 "core" &Va \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %a n n \ +2 "storage"(Q. +3 "core" .( +2 "storage"(7& +4 "core" & h p ~\ +2 "storage"(;& +4 "core" & m [ C\ +2 "manipulator"&,& +3 "core" &\ f +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&l& +3 "core" &\ f +2 "storage"( & +4 "core" & f e \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +107 "core" ' + "storage"(E& +4 "core" & j m b\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'i +285 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" & y f +2 "storage"(2& +4 "core" & s r l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(@'Q +28 "core" ' + "manipulator"&B% +4 "core" %  +2 "storage"("& +4 "core" & = 1\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&%' +21 "core" ' + "manipulator"&& +4 "core" &  e +2 "storage"(& +4 "core" & s r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +22 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(H'@ +41 "core" ' +2 "manipulator"&o& +3 "core" & q e +2 "manipulator"& % +4 "core" %ѳ z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&:( +147 "core" ( +2 "manipulator"&!& +4 "core" &( } ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +4 "core" &( ?U +2 .tForearm.seek CC +2 "manipulator"&f'" +93 "core" ' + .tHand.close +2 "manipulator"&G/ +56 "core" / +2 .tCC.seek :open +47 "collection"'I( +417 "core" ( +2 "storage"(J& +4 "core" & \ +2 "storage"(`& +4 "core" & q\ +2 "manipulator"&L& +4 "core" &( ' ?U +2 "manipulator"&C% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M( +230 "core" ( +2 "manipulator"&O& +4 "core" &  +2 "storage"(D& +4 "core" & \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&9' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +61 "core" 1 +2 "manipulator"&Y% +4 "core" % +2 "storage"(b& +4 "core" & o\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&5' +21 "core" ' + "manipulator"&/& +4 "core" & i  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +24 "core" ' +2 "storage"(F% +3 "core" %H \ +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (r% +3 "core" %@ y\ Va +2 "manipulator"&c% +5 "core" %ѥ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'e& +3 "core" & \ +2 "manipulator"&<% +4 "core" %\ 4 +2 "storage"(k% +4 "core" %a D\ +2 "storage"(R. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ([& +2 "core" & p h u\  +2 "manipulator"&V& +4 "core" & u  +2 .tElbow.seek 3 +2 "manipulator"&g( +12 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(t& +4 "core" & 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +95 "core" ' + "storage"(\\& +4 "core" & (\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(>- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & \  +2 "manipulator"&q& +4 "core" & W  +2 .tElbow.seek 3 +2 "manipulator"&W( +4 "core" ( + "manipulator"&T& +4 "core" & )  +2 "storage"(& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(a'X +8 "core" & Q  +2 "manipulator"&% +4 "core" % ϯ p +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&d& +4 "core" &* # } @X +2 .tElbow.reconfigure :loose +47 "manipulator"&$ &.,(#b +4 &h& +3 "core" &) @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'" +99 "core" ' + "manipulator"&U& +4 "core" &* c @X +2 "manipulator"&*% +4 "core" % +2 "collection"' & +4 "core" & \ +3 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'{(V +4 "core" & \ +6 &4 \ $d +10 &V \ 8 +9 &~ \ L +10 &U \ M +9 &g\\ \ N +9 &)Y \ N +10 &X \ M +9 &Y \ M +9 &oX \ N +10 &1Z \ N +9 &W \ M +10 &![ \ M +9 &#wY \ N +9 &%9^ \ N +10 &&[ \ M +9 &(W \ M +9 &*W \ M +10 &,BW \ M +12 &.W \ M +7 &/\\ \ M +9 &1] \ N +9 &3JZ \ M +10 &5 X \ M +9 &6\\ \ N +9 &8Z \ N +10 &:R] \ M +9 &<Y \ N +10 &=\\ \ N +9 &?] \ M +9 &AZX \ M +10 &C^ \ M +9 &Dc \ N +9 &Fh \ O +10 &HV{ \ Q +9 &J \ V +10 &K \ Y +9 &M \ Y +9 &OG \ Y +10 &Q \ Y +9 &R \ [ +9 &T \ Z +10 &V(v \ / +9 &V& \ V +9 ( +2 &Vb \ K +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%z& +4 "core" &\ +2 "manipulator"&% +4 "core" %\  +2 "storage"(}% +4 "core" %b [ d \ +2 "storage"(3. +3 "core" .( +2 "storage"($& +4 "core" & M K {\  +2 "storage"(#& +3 "core" & O L 4\  +2 "manipulator"&& +4 "core" &* E @X +2 "manipulator"& % +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +159 "core" ( +2 "manipulator"&n& +3 "core" &  +3 "storage"(u& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' +2 "storage"(i& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +284 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +2 "core" & W L 7\  +3 "manipulator"&]& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&v& +4 "core" & \\  +2 "storage"((& +4 "core" & r u\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"('X +8 "core" & }  +2 "manipulator"&% +3 "core" % ϯ X +3 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&Q(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&7& +3 "core" &q & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&,' +104 "core" ' + "manipulator"&l& +5 "core" &q + "manipulator"& % +4 "core" % W +2 "processing"%& +4 "core" &\ +3 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(Z +5 "core" &\ +7 & 3"\ $c +9 &V\ 7 +9 &~\ L +10 &Z\ N +9 &]^"\ N +9 &[\ O +10 &\\\ N +9 &X\ N +10 &e^\ N +9 &'[\ N +52 &Z!\ O +3 &!\\\ N +2 &#mX\ N + &%/Y"\ N + &&Y"\ N + &(]#\ O +6 &*u[\ N +9 &,7]"\ N +9 &-]#\ O +10 &/Z\ N +9 &1|[#\ O +9 &3?\\#\ N +10 &5Y#\ N +9 &6]#\ N +10 &8["\ N +9 &:H["\ N +9 &<\ [#\ N +10 &=Z"\ N +9 &?]#\ N +9 &APZ"\ N +10 &C\\\ N +9 &D_"\ N +10 &Fh"\ P +9 &HL|"\ R +9 &J"\ T +10 &K#\ T +9 &M"\ T +9 &OM"\ T +10 &Q#\ T +9 &R!\ U +10 &T\ T +9 &VS!\ U +9 &X\ U +10 &Y|q!\ 8 +9 &Z0\ J +9 &Z\ ) +3 ( +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +3 "core" % W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +94 "core" ' +2 "processing"%\ & +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&2% +3 "core" %\ % \\ 8 +2 "storage"(% +4 "core" %V W Y ?\ +2 "storage"(B. +3 "core" .( +2 "storage"("& +4 "core" & X X C\  +3 "storage"(& +2 "manipulator"&& +8 "core" & X X 5\  + &q +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&o(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( + "manipulator"&8& +6 "core" &q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &q +2 .tForearm.seek PC +2 "manipulator"&+' +94 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%%( +83 "core" ' +2 "storage"(@- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +36 "core" ' +303 ( + "storage"(K& +5 "core" & s r Q\  + "manipulator"&S& +4 "core" &q +2 "manipulator"&&% +4 "core" %  z ! +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&6( +260 "core" ( + "manipulator"&P& +4 "core" & m : +2 "storage"(J& +4 "core" & W W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&`'9 +95 "core" ' +2 .tHand.open + "manipulator"&L1 +53 "core" 1 +3 "storage"(C- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(O' +52 "core" ' +4 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"(:& +4 "core" & \  +2 "manipulator"&Z& +4 "core" & : +2 .tElbow.seek 3 +2 "manipulator"&Y( +23 "core" ( + "manipulator"&b& +4 "core" &  +2 "storage"(/& +4 "core" & X\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +61 "core" ' + "manipulator"&?& +4 "core" &  +2 "storage"(r& +4 "core" & o o \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'} +20 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +68 "core" ' +4 "manipulator"&5% +3 "core" %| +2 "storage"(e& +5 "core" & o n\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&<'Ϩ +20 "core" ' +2 "manipulator"&k& +4 "core" & U  +2 "storage"(R& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +28 "core" ' +2 "storage"(1% +4 "core" %q \  +3 ."downElevator"SE.seek :down +4 "storage"(A'X +98 (N% +3 "core" %C s a Y\ Wc +2 "manipulator"&[% +4 "core" %) s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +3 "core" & j %\  +2 "collection"'t& +4 "core" &Vb \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\\% +3 "core" %\   +3 "storage"(0% +3 "core" %\\ | :\ +2 "storage"(X. +4 "core" .( + "storage"(>& +4 "core" & \  +2 "storage"(|& +4 "core" & \  +2 "manipulator"&q& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&T( +3 "core" ( +2 "manipulator"&& +4 "core" & B  +2 "storage"(_& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +103 "core" ' +2 "storage"(& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +285 "core" ' +2 "storage"(p- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &  +2 "storage"(& +3 "core" & x v \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'S +29 "core" ' +2 "manipulator"&*% +4 "core" %Ύ +2 "storage"( & +3 "core" & X X 0\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&a'Ϻ +27 "core" ' + "manipulator"&& +4 "core" & P  +2 "storage"(I& +4 "core" & e f :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +43 "core" ' +2 "manipulator"&z& +3 "core" &  +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +3 .tElbow.seek CC + "manipulator"&3( +154 "core" ( +3 "manipulator"&& +4 "core" &*  X A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &* a A` +2 .tForearm.seek CC +2 "manipulator"&#'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(s& +3 "core" & A\  +2 "storage"(n& +4 "core" & \  +2 "manipulator"&u& +4 "core" &+ A_ +2 "manipulator"&i% +3 "core" % * + +3 .tForearm.seek :retract +2 "manipulator"&y'\ +89 "core" ' +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +5 .tElbow.seek 3 +2 "manipulator"&)( +154 "core" ( + "manipulator"& & +4 "core" & +2 "storage"(m& +4 "core" & R\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&]'} +91 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +52 "core" 1 +4 "manipulator"&'% +3 "core" % Ό X +2 "storage"(.& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&'ϸ +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & e\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +31 "core" ' + "storage"(~% +4 "core" %H g\ +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (;% +3 "core" %> X\ V` +2 "manipulator"&% +5 "core" %+ W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +97 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"' & +3 "core" & \ +2 "manipulator"&% +4 "core" %\ # = +2 "storage"(% +4 "core" %` O\ +2 "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(^(,l +330 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,i c\ +2 "manipulator"&& +4 "core" & { +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&2& +4 "core" & +2 "storage"(& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&B'Ѽ +105 "core" ' + "storage"("& +4 "core" &,g \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &,g \  +2 "manipulator"&8& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&,& +4 "core" & | +2 "storage"(& +4 "core" &,g R\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&@', +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& +2 "storage"(-'X +8 "core" & o + "manipulator"& % +4 "core" % 6 g ? +2 .tForearm.seek :retract +2 "manipulator"&K'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +159 "core" ( +2 "manipulator"&&& +4 "core" ' + & c 3 + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&+& +4 "core" & ` 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'" +98 "core" ' + "manipulator"&J& +4 "core" & o 3 +3 "manipulator"&o% +3 "core" % +3 "collection"'L& +4 "core" & \ +3 "collection"'C& +50 "core" & \ +4 .tCC.seek :closed +3 "collection"'D(V +2 "core" & \ +6 & \ 7 +9 &BG{ \ 1 +10 &os \ E +9 &c \ N +9 &Z \ N +10 &Z \ N +9 &]Y \ M +9 &Y \ N +10 &Z \ M +9 &[ \ M +10 &d\\ \ N +9 &!&[ \ N +9 &"Z \ N +10 &$Z \ M +9 &&nW \ M +9 &(/\\ \ M +10 &)Z \ M +9 &+\\ \ M +10 &-uU \ M +9 &/7Z \ M +9 &0] \ N +10 &2Z \ N +9 &4|Y \ N +9 &6>Z \ N +10 &8W \ M +9 &9\\ \ N +10 &;] \ M +9 &=GY \ M +9 &?\\ \ N +10 &@\\ \ M +9 &B\\ \ N +9 &DO] \ M +10 &F b \ O +9 &Gp \ P +10 &I \ T +9 &K6 \ Y +9 &L \ Y +10 &N \ Y +9 &Pz \ Y +9 &R< \ Y +10 &S \ \\ +9 &U \ H +10 &V1 \ (x +9 &Vn \ L +2 ( +2 "collection"'C& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&:1 +53 "core" 1 +2 "manipulator"&Z% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%/& +3 "core" &\ +2 "manipulator"&G% +4 "core" %\  R  +2 "storage"(?% +4 "core" %T [ [ \ +2 "storage"(r. +2 "core" .(,l +3 "storage"(!& +3 "core" &,g [ [ \  +2 "storage"(f& +5 "core" &,g [ [ \  + "manipulator"&5& +4 "core" & ? 3 +2 "manipulator"&e% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&k( +151 "core" ( +2 "manipulator"&R& +3 "core" &  +2 "storage"(6& +4 "core" &,g s u \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&`'Ѽ +97 "core" ' +2 "storage"(1& +4 "core" &,g n J\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(O'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &,g p q\  +2 "manipulator"&[& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( + "manipulator"&F& +4 "core" & H  +2 "storage"(c& +3 "core" &,g y { !\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&<', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(\\'X +7 "core" & e  +2 "manipulator"&0% +5 "core" % > K Q +2 .tForearm.seek :retract +2 "manipulator"&9'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&X(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&>& +4 "core" &x + O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &x x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +93 "core" ' +2 "manipulator"&& +4 "core" &x +2 "manipulator"&_% +4 "core" % * +2 "processing"%H& +4 "core" &$\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &"\  +9 &2~$\ )w +9 &b$\ > +10 &ow%\ N +9 &0Y#\ N +9 &W#\ N +10 &_\ N +9 &u\\#\ O +9 &8Z$\ N +10 &Y#\ O +9 &Z$\ N +10 & Y\ N +9 &"?[\ O +9 &$Z!\ O +10 &%\\\ N +9 &'Y\ N +9 &)H]\ N +10 &+ Z\ O +9 &,Y!\ O +10 &.Z \ N +9 &0QW\ N +9 &2[\ N +10 &3W\ N +9 &5[\ N +10 &7YW"\ N +9 &9Z\ N +9 &:U\ N +10 &<Y\ N +9 &>`Y$\ N +9 &@#Y"\ N +10 &AZ"\ N +9 &C\\\ N +9 &Ei\\"\ N +10 &G'f\ O +9 &Hr!\ Q +10 &J\ S +9 &L]\ U +9 &N!\ T +10 &O"\ U +9 &Q\ U +9 &Se\ U +10 &U&\ U +9 &V"\ U +10 &X"\ U +9 &Zb\ $p +9 &ZU!\ * +56 ( +5 &Z#\ ( +3 &Z \ ( + &Z"\ ( +2 &Z \ ( + &Z!\ ( + &Z"\ ( + &Z"\ ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&M1 +53 "core" 1 +2 "manipulator"&V% +4 "core" % * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +90 "core" ' +2 "processing"%d& +4 "core" &Z#\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\   +3 "storage"(W% +3 "core" %\\ X Z b\ +2 "storage"(*. +4 "core" .(,l + "storage"( & +5 "core" &,g X X T\  +2 "storage"(& +2 "manipulator"&I& +7 "core" &,g X X X\  + &x +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&z(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +4 "core" ( +2 "manipulator"&=& +4 "core" &x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &x E +3 .tForearm.seek PC + "manipulator"&g' +101 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%a( +82 "core" ' + "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +306 ( + "storage"($& +5 "core" &,g Y X \  +2 "manipulator"&& +3 "core" &x +2 "manipulator"&h% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&}( +258 "core" ( +2 "manipulator"&{& +4 "core" &  +2 "storage"(s& +3 "core" &,g s s\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +93 "core" ' +2 .tHand.open + "manipulator"&u1 +63 "core" 1 +2 "storage"(i- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' + "storage"(3& +4 "core" &,g j\  +2 "manipulator"&(& +4 "core" & c  +2 .tElbow.seek 4 +2 "manipulator"&'( +4 "core" ( + "manipulator"&.& +4 "core" & z  +2 "storage"(& +4 "core" &,g @\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(~' +63 "core" ' + "manipulator"&y& +4 "core" &   +2 "storage"(;& +4 "core" &,g s r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +21 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"( & +4 "core" &,g ) + "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&'< +22 "core" ' + "manipulator"&& +4 "core" & ~  +2 "storage"(w& +4 "core" &,g J L 4\  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +17 "core" ' +2 "storage"(x% +3 "core" %q t t\ +4 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (% +4 "core" %G A X %\ We +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +3 "core" &,g y z \  +2 "collection"'& +4 "core" &Vm \ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&"% +3 "core" %\ ! s 2 +2 "storage"(v% +4 "core" %T s s \ +2 "storage"(l. +2 "core" .(,l +2 "storage"(& +4 "core" &,g s s \  +2 "storage"(& +4 "core" &,g s s \  +2 "manipulator"&8& +4 "core" & w  +2 .tElbow.seek 4 +2 "manipulator"&,( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(Q& +4 "core" &,g s s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&4'Ѽ +99 "core" ' + "storage"( & +4 "core" &,g n w R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +285 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &  +2 "storage"(+& +4 "core" &,g ` \\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&E' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +3 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate + "storage"(o'J +31 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(L& +3 "core" &,g 1 = \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&-'> +22 "core" ' +2 "manipulator"&K& +4 "core" & h  +2 "storage"( & +4 "core" &,g s s \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&:'Ѽ +27 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(Z'9 +43 "core" ' + "manipulator"&/& +4 "core" &   +2 "manipulator"&G% +3 "core" %ѵ [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +152 "core" ( +3 "manipulator"&!& +4 "core" &(  ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&C'" +93 "core" ' +2 .tHand.close + "manipulator"&5/ +61 "core" / +2 .tCC.seek :open +2 "collection"'e( +416 "core" ( + "storage"(P& +4 "core" &,g l v \  +2 "storage"(R& +4 "core" &,g o o \  +2 "manipulator"&6& +4 "core" &' U >K +2 "manipulator"&1% +3 "core" % * +3 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&b( +160 "core" ( + "manipulator"&& +4 "core" & b +2 "storage"(N& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&[' +105 "core" ' +4 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&c1 +60 "core" 1 +2 "manipulator"&j% +4 "core" %  }  +2 "storage"(t& +6 "core" &,g p q \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&0'> +22 "core" ' + "manipulator"&k& +4 "core" & 8 c +2 "storage"(`& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&O'Ѽ +32 "core" ' + "storage"(<% +4 "core" %: \ +3 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (|% +3 "core" %> \ V` +2 "manipulator"&Y% +5 "core" % " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'_& +4 "core" & \ +2 "manipulator"&H% +4 "core" %\ " ; +2 "storage"(\\% +3 "core" %S S\ +2 "storage"(9. +4 "core" .(,l + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(%( +650 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" & j\ +2 "manipulator"&V& +4 "core" & z c +2 .tElbow.seek 2 +2 "manipulator"&d( +40 "core" ( + "manipulator"&& +4 "core" & ' +2 "storage"(W& +4 "core" & *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +100 "core" ' + "storage"( & +4 "core" & j\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(I- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&=& +4 "core" &% i +2 .tElbow.seek 2 +2 "manipulator"&T( +23 "core" ( +4 "manipulator"&q& +3 "core" & y  +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&X/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(A'X +8 "core" & z  + "manipulator"&% +4 "core" % 4 +2 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&h& +4 "core" ' +2 && =D + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &g& +4 "core" && =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'" +100 "core" ' +3 "manipulator"&s& +4 "core" && =C +2 "manipulator"&z% +3 "core" %- ` 4 +3 "collection"'u& +4 "core" & q\ +3 "collection"'i& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'m(V +3 "core" & W\  +10 &0| \ +z +9 &c \ > +9 &sr \ N +10 &7W \ M +9 &Z \ N +10 &U ~\ M +9 &{[ \ N +9 &>Y \ M +10 &W \ M +9 &Z \ M +9 & W \ N +10 &"EZ \ N +9 &$Z \ M +10 &%Y \ M +9 &'Z \ M +9 &)NU \ M +10 &+W \ N +9 &,T \ M +9 &.Y \ M +10 &0U\\ \ N +49 &2Y \ M +4 &3V \ N +2 &5Y \ M +2 &7]W \ N + &9 Y \ M + &:\\ \ N +6 &<W \ N +10 &>fU \ M +9 &@(W \ M +10 &AZ \ N +9 &CZ \ N +9 &El] \ N +10 &G*g \ O +9 &Hw \ Q +9 &J \ W +10 &LT \ Y +9 &N \ Y +10 &O \ Z +9 &Q \ Y +9 &SV \ [\ +10 &U \ [ +9 &VgF \ 1 +9 &V } \ L +6 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&31 +4 "core" &Vb \ L +55 1 +3 "manipulator"&(% +3 "core" % - 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &#\ +2 "manipulator"&% +3 "core" %\ # | / +2 "storage"(y% +4 "core" %a Z X R\ +2 "storage"(;. +3 "core" .( +2 "storage"(& +4 "core" & W X o\ +2 "storage"(& +4 "core" & W X u\ +2 "manipulator"& & +4 "core" && =C +2 "manipulator"&#% +3 "core" %\ % / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&w& +4 "core" & V  +2 "storage"(}& +4 "core" & e e Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +101 "core" ' +2 "storage"(x& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +285 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & z p 0\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&'( +4 "core" ( + "manipulator"&~& +4 "core" & ^  +2 "storage"(& +4 "core" & g i I\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"("'X +7 "core" &  +2 "manipulator"&v% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&& +3 "core" &m  4  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8' +95 "core" ' +2 "manipulator"&& +5 "core" &m x  + "manipulator"&Q% +4 "core" %  +2 "processing"%& +4 "core" &\ +3 "processing"% & +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%7(Z +5 "core" &$\ +6 &A&\ %g +9 &V'\ 8 +10 &'\ M +9 &Z#\ N +10 &t^%\ N +9 &5_$\ N +9 &\\#\ N +10 &Z!\ M +9 &{]"\ N +9 &=\\#\ N +10 & ]\ N +9 &!]\ M +10 &#\\\ N +9 &%E\\\ N +9 &'\\ \ N +10 &(Z!\ N +9 &*\\\ N +9 &,O\\ \ M +10 &.\\\ N +9 &/\\\ M +10 &1\\\ N +9 &3V\\ \ N +9 &5Y \ N +10 &6Z \ N +9 &8Y \ M +9 &:]Z \ N +10 &< Z!\ N +9 &=Z \ M +10 &?Z\ N +9 &AfZ\ N +9 &C'_"\ N +10 &D_ \ O +9 &Fc#\ O +9 &Hc{#\ Q +10 &J"\ T +9 &K#\ T +10 &M\ T +9 &Oc!\ T +9 &Q$"\ T +10 &R \ U +9 &T"\ U +9 &Vi\ U +10 &X+ \ U +9 &Y{p \ 0 +10 &Z'k"\ K +9 &Z+\ 1 +2 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&)1 +64 "core" 1 + "manipulator"&% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 "processing"%&& +4 "core" &Z&\ 1 +50 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&+% +5 "core" %\   + "storage"(J% +4 "core" %a X X ,\ +2 "storage"(. +3 "core" .( +2 "storage"(L& +4 "core" & W X P\ +3 "storage"(K& +4 "manipulator"& & +5 "core" & X X 5\ + &m  +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&/(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'i +3 "core" ( +2 "manipulator"&4& +3 "core" &m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &m  +3 .tForearm.seek PC +2 "manipulator"&\ ' +96 "core" ' + .tHand.close +2 "manipulator"&E/ +62 "core" / +2 .tPC.seek :open +2 "processing"%-( +82 "core" ' +2 "storage"(o- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(!'y +44 "core" ' +298 ( +3 "storage"(f& +3 "core" & a Y K\ +2 "manipulator"&:& +4 "core" &m  +2 "manipulator"&@% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&?( +268 "core" ( +2 "manipulator"&D& +3 "core" & @  +2 "storage"(P& +4 "core" & x {\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +93 "core" ' +2 .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "storage"(1- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(N' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -' + "storage"(r& +4 "core" & Q\ +2 "manipulator"&c& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&j( +7 "core" ( +2 "manipulator"&t& +3 "core" &  +2 "storage"(k& +4 "core" & *\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(<' +58 "core" ' +2 "manipulator"&S& +3 "core" & k  +2 "storage"(|& +4 "core" & v u !\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +21 "core" ' +2 "manipulator"&0% +4 "core" % +2 "storage"(_& +4 "core" & i o \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&H' +21 "core" ' +2 "manipulator"&\\& +3 "core" & v  +2 "storage"(9& +4 "core" & y o F\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +20 "core" ' + "storage"(O% +4 "core" %s n k +\ +3 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (^% +4 "core" %F ` s G\ Wd +2 "manipulator"&M% +4 "core" %Ѧ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&V'\ +89 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & ~ d \ +2 "collection"'W& +4 "core" &Va \ L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\  z  +2 "storage"(F% +4 "core" %b \ +2 "storage"(. +3 "core" .( +2 "storage"(I& +4 "core" & G\ +2 "storage"(& +4 "core" & \ +2 "manipulator"&=& +4 "core" & s  +2 .tElbow.seek 2 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(X& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +95 "core" ' +2 "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +285 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &  +2 "storage"(g& +4 "core" & r y \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +29 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'P +30 "core" ' +2 "manipulator"&T% +4 "core" %  E +2 "storage"(u& +4 "core" & Z X A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&A' +21 "core" ' +2 "manipulator"&$& +3 "core" & f  +2 "storage"(e& +4 "core" & 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('? +41 "core" ' +2 "manipulator"&& +3 "core" & e  +2 "manipulator"&% +4 "core" %я o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +152 "core" ( +4 "manipulator"&& +3 "core" &' >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &' >H +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'#( +419 "core" ( + "storage"({& +4 "core" & /\ +2 "storage"(w& +4 "core" & \ +2 "manipulator"&}& +3 "core" &' } >H +2 "manipulator"&x% +4 "core" % -  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&.( +161 "core" ( +2 "manipulator"&& +4 "core" & X  +2 "storage"(& +4 "core" & g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +98 "core" ' +2 .tElbow.hold + "manipulator"&~, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&2% +4 "core" % +2 "storage"(& +3 "core" & 1\ +3 .tForearm.force -20 + "manipulator"&5 +42 .tForearm.seek 2 + 319 counts +9 "manipulator"&v' +20 "core" ' + "manipulator"&& +4 "core" & A  +2 "storage"(n& +4 "core" & d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +27 "core" ' +2 "storage"(% +3 "core" %F w\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %? *\ Va +2 "manipulator"&'% +4 "core" %ѧ x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Q& +3 "core" & \ +2 "manipulator"&% +4 "core" %\ } 8 +2 "storage"("% +3 "core" %` W\ +2 "storage"(]. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(a( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "core" & G\ +3 "manipulator"&& +3 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&&( +12 "core" ( +2 "manipulator"&+& +4 "core" & q +2 "storage"( & +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +97 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +286 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" & d\  +2 "manipulator"&4& +4 "core" & s q +2 .tElbow.seek 3 +2 "manipulator"&,( +2 "core" ( +2 "manipulator"&8& +4 "core" & n q +2 "storage"(E& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +3 "storage"(7'X +8 "core" & q +2 "manipulator"&G% +4 "core" % k 9 +2 .tForearm.seek :retract +2 "manipulator"&f'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&@& +4 "core" &$ 6 { ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &$ F ;3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'" +100 "core" ' +2 "manipulator"&P& +3 "core" &$ ;2 +2 "manipulator"&/% +4 "core" %( c +2 "collection"'6& +4 "core" & \ +3 "collection"'1& +5 "core" & @\ +2 .tCC.seek :closed +2 "collection"'C(V +6 "core" & \ +6 &3 w\ $d +9 &W \ 7 +9 &~ \ L +10 &W \ M +9 &c[ \ M +10 &%U \ M +9 &[ \ N +9 &X \ N +10 &kU \ M +9 &-W \ M +9 &W \ M +10 &!W \ N +9 &#sW \ M +10 &%4Z \ N +9 &&Y \ N +9 &(T \ M +10 &*{[ \ M +9 &,=V \ M +9 &-Z \ M +10 &/Z \ M +9 &1[ \ M +10 &3EY \ M +9 &5Y \ N +9 &6Y \ N +10 &8X \ M +9 &:MX \ M +9 &<Y \ M +10 &=\\ \ M +9 &?\\ \ M +10 &AUZ \ M +9 &C] \ M +9 &D` \ N +10 &Fe \ O +9 &HQy \ Q +9 &J \ V +10 &K \ Y +9 &M \ Y +10 &OB \ Y +9 &Q \ Y +9 &R \ [\ +10 &T \ [\ +9 &V!t \ / +9 &V, \ Z +9 ( +2 &V_ \ K +2 "collection"'1& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&r1 +64 "core" 1 +47 "manipulator"&c% +7 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%k& +4 "core" &#\ +2 "manipulator"&5% +4 "core" %\   +2 "storage"(S% +4 "core" %\\ X X F\ +2 "storage"(|. +3 "core" .( +2 "storage"(0& +4 "core" & [ Y \  +2 "storage"(_& +4 "core" & X X\  +2 "manipulator"&!& +4 "core" &# :* +2 "manipulator"&\\% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&9( +162 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(O& +4 "core" & y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +95 "core" ' +2 "storage"(R& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +285 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +3 "core" & q w \  +2 "manipulator"&`& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&<& +3 "core" & ' +2 "storage"(Y& +4 "core" & o o\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&H'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"( 'X +8 "core" & \\ +2 "manipulator"&F% +4 "core" % ϣ ~ q +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +3 "manipulator"&I& +4 "core" &q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +99 "core" ' +2 "manipulator"&& +4 "core" &q  +2 "manipulator"&X% +4 "core" % e +2 "processing"%& +4 "core" &'\ +3 "processing"%Z& +4 "core" &"\ +3 .tPC.seek :closed +2 "processing"%>(Z +4 "core" &$\  +9 &1}$\ *y +9 &b$\ > +10 &kx\ N +9 &-Y\ N +9 &Z(\ N +10 &\\*\ N +9 &q\\#\ O +9 &6Z\ N +10 &]$\ N +9 &["\ N +10 & |[\ N +9 &">[\ N +9 &$Z"\ N +10 &%\\\ N +9 &'Z#\ N +9 &)E\\\ N +10 &+["\ N +9 &,Z\ N +9 &.]\ N +10 &0MY\ N +9 &2Z\ N +10 &3Y\ N +9 &5\\\ N +9 &7U^\ N +10 &9[!\ M +9 &:Z\ M +10 &<Z"\ M +9 &>_Z#\ M +9 &@ \\#\ N +10 &A^!\ N +9 &C]"\ N +9 &Eea$\ N +10 &G"n#\ P +9 &H$\ R +10 &J#\ T +9 &L\\#\ T +9 &N#\ T +10 &O$\ T +9 &Q#\ T +9 &Sc#\ T +10 &U##\ U +9 &V#\ U +9 &X#\ U +10 &Zb#\ 'w +9 &Zg#\ 5 +9 ( +2 &Z##\ / +2 "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&b1 +56 "core" 1 +2 "manipulator"&V% +3 "core" % p e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +102 "core" ' + "processing"%h& +4 "core" &Z#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&g% +3 "core" %\   +2 "storage"(s% +4 "core" %_ t u #\ +2 "storage"(T. +3 "core" .( +2 "storage"(u& +3 "core" & u u 6\  +3 "storage"($& +4 "manipulator"&e& +5 "core" & c [ 6\  + &q }  +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +52 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&p& +4 "core" &q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &q  +2 .tForearm.seek PC +2 "manipulator"&d' +95 "core" ' +3 .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%A( +89 "core" ' +2 "storage"(z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +290 ( +2 "storage"(i& +5 "core" & \\ [ 3\  + "manipulator"&3& +4 "core" &q ~  +2 "manipulator"&U% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&y( +258 "core" ( +2 "manipulator"&m& +4 "core" & p  +2 "storage"({& +3 "core" & X X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +87 "core" ' +2 .tHand.open + "manipulator"&}1 +60 "core" 1 +2 "storage"(x- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(;& +4 "core" & :\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&2( +8 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & Z\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&n'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +63 "core" ' + "manipulator"&& +4 "core" & y  +2 "storage"(.& +4 "core" & | | B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&v% +3 "core" %Ί R +2 "storage"(Q& +4 "core" & t s \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'϶ +20 "core" ' +2 "manipulator"&"& +3 "core" &   +2 "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +30 "core" ' +2 "storage"( % +3 "core" %j 5\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (%% +5 "core" %@C Y W P\ Vd +2 "manipulator"&)% +5 "core" %; b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +2 "core" & n A\  +3 "collection"' & +3 "core" &V_ \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ ! 8 +2 "storage"(~% +5 "core" %] t s \ + "storage"(. +3 "core" .( +2 "storage"( & +49 "core" & s s \  +3 "storage"(K& +4 "core" & s s \  +2 "manipulator"&4& +4 "core" & r  +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&E& +4 "core" &  +2 "storage"(l& +4 "core" & u v \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +98 "core" ' +2 "storage"(G& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +284 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +4 "core" &  +2 "storage"(\ & +3 "core" & v u F\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&L'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'S +39 "core" ' + "manipulator"&6% +4 "core" %Ά x +2 "storage"(,& +4 "core" & u u !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&7'ϲ +21 "core" ' + "manipulator"&f& +4 "core" & I  +2 "storage"(#& +4 "core" & ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&r'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'B +40 "core" ' + "manipulator"&1& +4 "core" & u  +2 "manipulator"&k% +4 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +154 "core" ( +2 "manipulator"&|& +4 "core" &" 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &" 9( +2 .tForearm.seek CC +2 "manipulator"&_'" +97 "core" ' + .tHand.close +2 "manipulator"&!/ +64 "core" / +2 .tCC.seek :open +2 "collection"'\\( +416 "core" ( + "storage"(D& +4 "core" & #\  +2 "storage"(& +3 "core" & _\  +2 "manipulator"&O& +5 "core" &" 9' + "manipulator"&R% +4 "core" % & +2 .tForearm.seek :retract +2 "manipulator"&:'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t( +152 "core" ( +2 "manipulator"&^& +4 "core" & y  +2 "storage"(M& +3 "core" & w\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&`'} +97 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Έ +2 "storage"(W& +4 "core" & X\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&F'ϴ +22 "core" ' +2 "manipulator"&9& +3 "core" & R  +2 "storage"(?& +4 "core" & 9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +31 "core" ' + "storage"(H% +4 "core" %L =\ +49 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (% +3 "core" %A E\ V` +2 "manipulator"&j% +4 "core" %+ B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'X& +3 "core" & \ +2 "manipulator"&% +4 "core" %\ % 7 +2 "storage"( % +4 "core" %S e\ +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(-(,l +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &,k h q \  +2 "manipulator"&V& +5 "core" &  + .tElbow.seek 4 +2 "manipulator"&h( +4 "core" ( + "manipulator"&g& +4 "core" &  +2 "storage"(s& +4 "core" &,i 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&T'Ѽ +99 "core" ' +2 "storage"(u& +3 "core" &,i \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +287 "core" ' + "storage"(e- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &,i O\  +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&=& +3 "core" & D  +2 "storage"(& +3 "core" &,i z\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&z', +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"(>'X +7 "core" & ?  + "manipulator"&% +4 "core" % ' / { +2 .tForearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&3( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&U& +4 "core" & * - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" & f - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +92 "core" ' +2 "manipulator"&{& +4 "core" & - +2 "manipulator"&% +5 "core" %* +2 "collection"'}& +3 "core" & c\ +3 "collection"'x& +5 "core" & "\ +4 .tCC.seek :closed +2 "collection"'(V +5 "core" & b\ +6 & 4 h\ $d +9 &U \ 7 +9 &~ e\ L +10 &W g\ N +9 &gX e\ N +9 &)W X\ N +10 &\\ c\ N +9 &X \ M +10 &qY h\ M +9 &2Y \ M +9 &U \ M +10 &!Y \ M +9 &#w[ \ N +10 &%9Y \ N +9 &&U \ M +9 &(W \ M +10 &*U \ M +9 &,BU \ M +9 &.T \ M +10 &/W \ M +9 &1[ \ N +10 &3JW \ M +9 &5 U \ N +9 &6Y \ N +10 &8T \ M +9 &:RY \ M +9 &<X \ M +10 &=X \ M +9 &?[ \ N +9 &AYX \ N +10 &C[ \ M +9 &DZ \ N +10 &Fc \ O +9 &HVv \ Q +9 &J \ V +10 &K \ Y +9 &M \ Z +9 &OG \ Y +10 &Q \ Z +9 &R \ [ +10 &T \ [ +9 &V&v \ / +9 &V( \ V +9 ( +2 &Vb \ K +2 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&;1 +64 "core" 1 +2 "manipulator"&% +3 "core" % * +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" & \ +2 "manipulator"& % +3 "core" %\   +2 "storage"(% +4 "core" %T o o \ +2 "storage"(.. +3 "core" .(,l +2 "storage"(& +51 "core" &,i n o \  +2 "storage"(v& +4 "core" &,i o o\  +2 "manipulator"&Q& +4 "core" & m - +2 "manipulator"&% +3 "core" %\  u  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&"( +153 "core" ( +2 "manipulator"&]& +3 "core" &  +2 "storage"( & +4 "core" &,i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&y'Ѽ +93 "core" ' +2 "storage"(w& +3 "core" &,i \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ()& +2 "core" &,i b U\  +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&2( +7 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,i t t\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & +2 "storage"('X +7 "core" & {  +2 "manipulator"&~% +4 "core" % ,  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +163 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"& & +4 "core" &q 7 % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &q e % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4' +94 "core" ' +2 "manipulator"&E& +4 "core" &q % +2 "manipulator"&l% +4 "core" % ) +2 "processing"%(& +4 "core" &%\ +3 "processing"%G& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &*\ +6 & 1(\ $c +9 &V)\ 7 +10 &'\ L +9 &]\ N +10 &U]*\ N +9 &[)\ N +9 &\\)\ N +10 &Z(\ N +9 &\\\\)\ O +9 &!Y+\ N +10 &\\*\ N +9 &!\\$\ N +10 &#g\\)\ N +9 &%)[%\ N +9 &&Z"\ N +10 &(Z"\ N +9 &*nZ#\ N +9 &,1Z\ N +10 &-]\ N +9 &/Z\ N +10 &1w\\\ N +9 &39Y \ N +9 &4Z\ N +10 &6] \ N +9 &8Z"\ M +9 &:AZ#\ N +10 &<Y#\ N +9 &=Z\ M +10 &?Z$\ N +9 &AJZ\ M +9 &C Z \ N +10 &D]!\ N +9 &F`\ N +9 &HKm\ P +10 &J!\ R +9 &K \ T +10 &M"\ S +9 &OH#\ S +9 &Q "\ T +10 &R"\ T +9 &T"\ T +9 &VL"\ U +10 &X!\ U +9 &Y|u#\ : +10 &Z*w"\ P +9 "Can"\ PAi + "core" &Z&"\ / +3 ( +2 "processing"%G& +4 "core" &Z%!\ / +2 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&'1 +63 "core" 1 +2 "manipulator"&% +3 "core" % ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +100 "core" ' +2 "processing"%@& +4 "core" &Z%#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\ % +4 "core" %\ & @ +2 "storage"(P% +4 "core" %a X X ?\ +2 "storage"(6. +2 "core" .(,l +2 "storage"(,& +4 "core" &,i X W\  +3 "storage"(f& +2 "manipulator"&#& +8 "core" &,i X X K\  + &q % +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&1(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +2 "core" ( +3 "manipulator"&B& +3 "core" &q % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &q % +47 .tForearm.seek PC +5 "manipulator"&&' +97 "core" ' +3 .tHand.close + "manipulator"&L/ +61 "core" / +2 .tPC.seek :open + "processing"%7( +35 "core" ' +2 "storage"(/- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'y +42 "core" ' +344 ( +3 "storage"(0& +3 "core" &,i r o \  +2 "manipulator"&r& +4 "core" &q o % +2 "manipulator"&o% +4 "core" % Y  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&5( +261 "core" ( +2 "manipulator"&C& +3 "core" & u  +2 "storage"(D& +4 "core" &,i q o \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +87 "core" ' + .tHand.open +2 "manipulator"&O1 +53 "core" 1 +7 "storage"(R- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(M' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(S& +4 "core" &,i }\  +2 "manipulator"&Y& +3 "core" & y  +3 .tElbow.seek 4 +2 "manipulator"&( +6 "core" ( +2 "manipulator"&W& +4 "core" & q  +2 "storage"(9& +4 "core" &,i .\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&?'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(H' +62 "core" ' +2 "manipulator"&:& +3 "core" & Y  +2 "storage"(t& +5 "core" &,i s s \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(`'i +23 "core" ' +2 "manipulator"&F% +4 "core" %  +2 "storage"(X& +3 "core" &,i Y Y\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'< +22 "core" ' +2 "manipulator"& & +3 "core" & R  +3 "storage"(& +3 "core" &,i s s \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&c'Ѽ +17 "core" ' + "storage"(N% +4 "core" %n o w p\ +3 ."downElevator"SE.seek :down +3 "storage"(I'X +100 (a% +4 "core" %~F f [ P\ Wd +2 "manipulator"&b% +4 "core" % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (g& +3 "core" &,i m P\  +2 "collection"'s& +4 "core" &Vb \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&u% +4 "core" %\  j  +2 "storage"(<% +4 "core" %a e e 5\ +2 "storage"(. +2 "core" .(,l +2 "storage"(e& +4 "core" &,i g k ~\  +2 "storage"($& +4 "core" &,i d e K\  +2 "manipulator"&p& +3 "core" & n  +3 .tElbow.seek 4 + "manipulator"&=( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"([& +4 "core" &,i e v \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 4 + 700 counts +3 "manipulator"&*'Ѽ +96 "core" ' +2 "storage"(& +3 "core" &,i /\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'i +292 "core" ' +2 "storage"(T- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" & ;  +2 "storage"(d& +4 "core" &,i n n U\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z' +20 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"('J +32 "core" ' + "manipulator"&}% +4 "core" % r +2 "storage"(q& +4 "core" &,i s s \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&>'@ +21 "core" ' +2 "manipulator"&i& +4 "core" & O  +2 "storage"(\\& +3 "core" &,i e f n\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +37 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"('9 +46 "core" ' +2 "manipulator"&& +3 "core" & {  +2 "manipulator"& % +4 "core" % x x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +157 "core" ( +3 "manipulator"&& +5 "core" &+ Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &, Bf +2 .tForearm.seek CC +2 "manipulator"&v'" +93 "core" ' +2 .tHand.close + "manipulator"&Q/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(m& +4 "core" &,i \  +2 "storage"(]& +3 "core" &,i o\  +2 "manipulator"& & +4 "core" &+ S Ad +2 "manipulator"&w% +4 "core" % 2 \ +2 .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +154 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"()& +3 "core" &,i d\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&n' +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&+% +4 "core" %  6 +2 "storage"( & +3 "core" &,i ^\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&~': +21 "core" ' + "manipulator"&"& +4 "core" &  +2 "storage"(y& +4 "core" &,i }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +22 "core" ' +2 "storage"(% +4 "core" %; p\ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (K% +3 "core" %? \ V` +2 "manipulator"&2% +4 "core" %Ѥ $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +93 "core" ' +47 ' + ."downElevator"SE.stop +41 "storage"(5 +10 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'l& +4 "core" & \ +2 "manipulator"&(% +4 "core" %\ 7 +2 "storage"(% +4 "core" %b ,\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(A( +652 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" & X\ +2 "manipulator"&& +4 "core" & P  +2 .tElbow.seek 2 +2 "manipulator"&@( +26 "core" ( +2 "manipulator"&\ & +3 "core" & j +2 "storage"(P& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +96 "core" ' +2 "storage"(6& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +286 "core" ' +2 "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +3 "core" & $\ +2 "manipulator"&B& +3 "core" & d +2 .tElbow.seek 2 +2 "manipulator"&8( +4 "core" ( + "manipulator"&4& +4 "core" & s d +2 "storage"(L& +5 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"('X +6 "core" & y d +2 "manipulator"&k% +4 "core" %  u P +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&o& +3 "core" &&  D =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" && =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'" +104 "core" ' +2 "manipulator"&D& +4 "core" && =C +3 "manipulator"&1% +4 "core" %! V +2 "collection"'O& +4 "core" & \ +3 "collection"'R& +6 "core" & "\ +2 .tCC.seek :closed +2 "collection"'_(V +5 "core" & i\ +6 & - h\ $d +9 &U| i\ 7 +9 &~ j\ L +10 &X h\ M +9 &gY i\ M +9 &*U n\ M +10 &Z `\ N +9 &W i\ N +10 &nY g\ N +9 &0Y \ N +9 &X m\ N +10 &!W i\ M +9 &#wV g\ M +10 &%9Y c\ M +9 &&U \ M +9 &(T \ M +10 &*~X \ N +9 &,BU \ M +9 &.X \ M +10 &/U \ M +9 &1V \ N +10 &3HW \ N +9 &5 W \ M +9 &6V \ N +10 &8Y \ M +9 &:Q\\ \ M +9 &<W \ N +10 &=Y \ N +9 &?[ \ M +9 &AYZ \ M +10 &C[ \ M +9 &D] \ N +10 &F` \ N +9 &HXr \ P +9 &J \ U +10 &K \ Y +9 &M \ Y +9 &OG \ Y +10 &Q \ Y +9 &R \ Z +10 &T \ [\ +9 &V%u \ / +9 &V' \ V +9 ( +2 &V_ \ J +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&S1 +61 "core" 1 +3 "manipulator"&Y% +3 "core" % ! q V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%9& +4 "core" &!\ +2 "manipulator"&!% +4 "core" %\ ! 1 +2 "storage"(:% +3 "core" %c X \\\ +2 "storage"(t. +4 "core" .( + "storage"(|& +4 "core" & Z [ ^\ +2 "storage"(F& +3 "core" & X Y \ +2 "manipulator"&X& +4 "core" && =C +2 "manipulator"&^% +3 "core" %\ ! 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +160 "core" ( +2 "manipulator"&& +50 "core" & w +4 "storage"(N& +4 "core" & e e M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +92 "core" ' +2 "storage"(& +4 "core" & G\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(M'i +284 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" & { q )\ +3 "manipulator"&?& +3 "core" & u w +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" & 4 w +2 "storage"(& +3 "core" & g f \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(u'X +8 "core" &  w +2 "manipulator"&<% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 .tElbow.seek PC +2 "manipulator"&`(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&e& +4 "core" &m  E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &m Q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +97 "core" ' +2 "manipulator"&& +4 "core" &n f  +2 "manipulator"&[% +4 "core" % y  +2 "processing"%c& +4 "core" &1\ +3 "processing"%& +5 "core" &"\ +2 .tPC.seek :closed +2 "processing"%I(Z +4 "core" &,\  +9 &0~-\ *y +9 &b-\ > +9 &ox3\ N +10 &0[1\ N +9 &\\,\ N +10 &[+\ N +9 &w[1\ N +9 &9Z+\ N +10 &\\.\ N +9 &Z(\ N +9 & ~Z*\ N +10 &"@[&\ N +9 &$Z"\ N +10 &%[*\ N +9 &'[&\ N +9 &)JZ"\ N +10 &+ Y"\ M +9 &,Y \ N +9 &.Z"\ N +10 &0SZ*\ M +9 &2[$\ N +10 &3Z\ N +9 &5]$\ N +9 &7ZZ"\ N +10 &9Y\ N +9 &:Y"\ N +9 &<]"\ N +10 &>bY"\ N +9 &@#Z%\ N +10 &AY#\ N +9 &C]"\ N +9 &Eh`!\ N +10 &G&h$\ P +9 &H~$\ R +9 &J"\ T +10 &L^"\ T +9 &N!"\ T +9 &O!\ S +10 &Q!\ T +9 &Sf \ T +10 &U'"\ U +9 &V#\ U +9 &X\ U +10 &Zc%\ &v +9 &Zg \ 8 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&j1 +3 "core" &Z+!\ 1 +60 1 +2 "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +4 "processing"%U& +5 "core" &Z+"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&d% +4 "core" %\ " ? +2 "storage"({% +4 "core" %T X W J\ +2 "storage"(}. +3 "core" .( +2 "storage"(q& +3 "core" & N U \ +2 "storage"(i& +4 "manipulator"&\\& +5 "core" & X X :\ + &n  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( +2 "manipulator"&*& +3 "core" &n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" &n r  +3 .tForearm.seek PC +2 "manipulator"&h' +95 "core" ' +2 .tHand.close +2 "manipulator"&Z/ +59 "core" / +2 .tPC.seek :open +2 "processing"%>( +85 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +50 "storage"('y +36 "core" ' +253 ( + "storage"(x& +4 "core" & s t \ +2 "manipulator"&;& +4 "core" &n d  +2 "manipulator"&z% +4 "core" % +3 .tForearm.seek :retract + "manipulator"&Q'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +281 "core" ( +2 "manipulator"&& +4 "core" & "~ +2 "storage"(m& +4 "core" & W X S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +100 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(w- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"()' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +4 "core" -' + "storage"(.& +4 "core" & P\ +2 "manipulator"&& +4 "core" & g +2 .tElbow.seek 2 +2 "manipulator"&+( +23 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"("& +5 "core" & L\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&3& +4 "core" & Q  +2 "storage"(K& +4 "core" & m s H\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&2' +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'i +27 "core" ' +2 "manipulator"&~% +3 "core" % +2 "storage"(& +4 "core" & s s\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&l' +19 "core" ' + "manipulator"&(& +4 "core" & Q  +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' +2 "storage"(% +4 "core" %q :\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (-% +3 "core" %fA \\ [ "\ Wc +2 "manipulator"&'% +4 "core" %ь f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" & t s \ +2 "collection"'P& +4 "core" &V_ \ J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&6% +4 "core" %\ # j ; +2 "storage"(% +4 "core" %T o o Y\ +2 "storage"(E. +3 "core" .( +2 "storage"(#& +3 "core" & n o 0\ +2 "storage"(f& +4 "core" & o n q\ +2 "manipulator"&B& +3 "core" & ^  +3 .tElbow.seek 2 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&L& +3 "core" & O  +2 "storage"(& +4 "core" & h p \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +100 "core" ' + "storage"(k& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +283 "core" ' +2 "storage"(G- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +47 "manipulator"&o& +5 "core" &  +2 "storage"(&& +4 "core" & u t "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'P +31 "core" ' + "manipulator"&O% +4 "core" % +2 "storage"(8& +4 "core" & s ^ Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&0& +3 "core" & S  +2 "storage"(& +4 "core" & i k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'? +41 "core" ' +2 "manipulator"&9& +3 "core" & J  +2 "manipulator"&!% +4 "core" %ђ 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +165 "core" ( +2 "manipulator"&R& +3 "core" &' >K +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &' " Q >K +3 .tForearm.seek CC +2 "manipulator"&F'" +99 "core" ' + .tHand.close +2 "manipulator"&X/ +64 "core" / +2 .tCC.seek :open +2 "collection"'^( +415 "core" ( +2 "storage"(C& +4 "core" & \ +2 "storage"(& +4 "core" & e w a\ +2 "manipulator"&N& +3 "core" &' >J +2 "manipulator"&r% +4 "core" % -  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +160 "core" ( +2 "manipulator"&a& +3 "core" &  +2 "storage"(b& +4 "core" & V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&?' +96 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&g% +4 "core" % +2 "storage"(s& +4 "core" & r\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&<' +20 "core" ' +2 "manipulator"& & +5 "core" & S  + "storage"(5& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +18 "core" ' + "storage"(% +4 "core" %C \ +3 ."downElevator"SE.seek :down +4 "storage"(e'X +98 ($% +3 "core" %A F\ Va +2 "manipulator"&% +4 "core" %Ѣ 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'[& +4 "core" & \ +2 "manipulator"&c% +4 "core" %\  x  +2 "storage"(u% +4 "core" %T 3\ +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(7( +340 "core" ( +44 .tSC.configure :limp +6 "storage"($\ 1b +2 (j& +3 "core" & \  +2 "manipulator"&V& +4 "core" & v  +2 .tElbow.seek 3 +2 "manipulator"&U( +16 "core" ( +2 "manipulator"&d& +3 "core" & { n +2 "storage"({& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + "storage"(}& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +278 "core" ' +2 "storage"(i- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +4 "core" & \  +2 "manipulator"&*& +4 "core" & k n +2 .tElbow.seek 3 +2 "manipulator"&=( +4 "core" ( + "manipulator"&p& +4 "core" & ) n +2 "storage"(Z& +4 "core" & !\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(I'X +8 "core" & d n +2 "manipulator"&x% +4 "core" % Ϯ ~ 1 +2 .tForearm.seek :retract +2 "manipulator"&;'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&z& +4 "core" && # =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" && =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +4 "manipulator"&m& +3 "core" && N =C +2 "manipulator"&% +4 "core" %% +2 "collection"' & +4 "core" & j\ +3 "collection"'w& +5 "core" & '\ +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" & f\  +9 &0| j\ +z +9 &d i\ > +10 &wr i\ N +9 &;U j\ M +10 &W h\ M +9 &Z f\ M +9 &Z f\ M +10 &CZ i\ M +9 &W k\ M +9 &Y n\ M +10 & ] l\ M +9 &"J\\ i\ N +10 &$ Z h\ M +9 &%] n\ M +9 &'Z i\ M +10 &)SY f\ M +9 &+] g\ M +9 &,Z \ M +10 &.] m\ M +9 &0[Z h\ M +10 &2U \ M +9 &3Z [\ M +9 &5Y ~\ M +10 &7c] \ M +9 &9%Z \ M +9 &:] \ M +10 &<\\ \ N +9 &>k[ \ M +10 &@-\\ \ M +9 &A\\ \ M +9 &C\\ \ M +10 &Er^ \ N +9 &G/k \ O +9 &H \ R +10 &J \ W +9 &LY \ Y +10 &N \ X +9 &O \ Y +9 &Q \ Z +10 &S[ \ [\ +9 &U \ [ +9 &VhC \ 2 +10 &V ~ \ L +5 ( +2 "collection"'w& +4 "core" &Vk \ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&.1 +63 "core" 1 +3 "manipulator"&% +3 "core" % % Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%Q& +3 "core" &#\ +2 "manipulator"&"% +4 "core" %\   +2 "storage"(3% +4 "core" %T X X 6\ +2 "storage"(K. +2 "core" .( +3 "storage"(& +4 "core" & X X G\  +2 "storage"(~& +3 "core" & X X =\  +2 "manipulator"&& +4 "core" && \  =C +2 "manipulator"&%% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +161 "core" ( +2 "manipulator"&& +4 "core" & u +2 "storage"(& +4 "core" & r u $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 "storage"(]& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +329 "core" ' +5 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ('& +2 "core" & s s \  +3 "manipulator"&y& +3 "core" & { u +2 .tElbow.seek 3 +2 "manipulator"&+( +4 "core" ( + "manipulator"&& +4 "core" & Z u +2 "storage"(2& +4 "core" & o n \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(6'X +8 "core" & ~ u +2 "manipulator"&% +4 "core" % ϭ k 6 +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&n(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&#& +4 "core" &v ' " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &v X " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +99 "core" ' + "manipulator"&L& +4 "core" &v t " +2 "manipulator"&% +4 "core" % v +2 "processing"%& +4 "core" &-\ +3 "processing"%k& +5 "core" &.\ +2 .tPC.seek :closed +2 "processing"% (Z +5 "core" &.\ +6 & 10\ $d +10 &U~1\ 7 +9 &%\ L +9 &\\,\ N +10 &[]1\ N +9 &Z/\ N +9 &[.\ N +10 &['\ N +9 &d\\/\ N +10 &'Z+\ N +9 &\\)\ N +9 &![*\ N +10 &#lZ,\ N +9 &%.Z%\ N +9 &&Z'\ N +10 &([*\ N +9 &*u[*\ N +10 &,7\\#\ N +9 &-\\"\ N +9 &/Z"\ N +10 &1}Z"\ N +9 &3?Y#\ N +9 &5Y\ N +10 &6Z!\ N +9 &8Z\ N +10 &:G[\ N +9 &< Z\ N +9 &=W!\ N +10 &?Y"\ N +9 &AOZ\ N +10 &C^!\ N +9 &D`"\ N +9 &Fg"\ O +10 &HK}\ R +9 &J"\ S +9 &K\ T +10 &M!\ S +9 &ON\ S +9 &Q#\ T +10 &R!\ T +9 &T#\ U +10 &VQ!\ U +9 &X"\ V +9 &Y|s"\ 9 +10 &Z.#\ J +9 &Z!\ , +2 ( +3 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 "processing"%o& +3 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&&% +3 "core" %\   +3 "storage"(D% +3 "core" %b Z Z\ +2 "storage"(O. +4 "core" .( + "storage"(8& +5 "core" & X Z a\  +2 "storage"(0& +3 "manipulator"&& +4 "core" & [ Z i\  +2 &v " +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&9(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'i +2 "core" ( + "manipulator"&J& +5 "core" &v l " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &v " +2 .tForearm.seek PC +2 "manipulator"&@' +94 "core" ' + .tHand.close +2 "manipulator"&,/ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'y +36 "core" ' +296 ( +2 "storage"(|& +4 "core" & r r \  +2 "manipulator"&S& +4 "core" &v c " +2 "manipulator"&/% +3 "core" % V  +3 .tForearm.seek :retract + "manipulator"&X'\ +94 "core" ' +3 .tElbow.reconfigure :tight +41 "manipulator"&$&.,(\ #b +11 .tElbow.seek 3 +2 "manipulator"&:( +272 "core" ( + "manipulator"&_& +4 "core" & r +2 "storage"(C& +3 "core" & r ^ T\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 .tHand.open +2 "manipulator"&N1 +56 "core" 1 +2 "storage"(r- +3 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(a'E +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +4 "core" -' + "storage"(t& +4 "core" & \  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&s& +4 "core" & +2 "storage"( & +4 "core" & c\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&& +3 "core" & \\ +2 "storage"($& +4 "core" & d X \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +25 "core" ' +2 "manipulator"&[% +4 "core" %Ά { +2 "storage"(<& +3 "core" & a Z D\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&c'ϲ +19 "core" ' +2 "manipulator"&u& +4 "core" & +2 "storage"(& +4 "core" & p u \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +28 "core" ' +2 "storage"(M% +3 "core" %q u k B\ +3 ."downElevator"SE.seek :down +4 "storage"(e'X +98 (A% +4 "core" %D N U $\ Xd +3 "manipulator"&j% +4 "core" %9 w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +87 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (d& +3 "core" &  o 1\  +3 "collection"'{& +3 "core" &Vc \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&}% +4 "core" %\  v  +2 "storage"(H% +4 "core" %b f e #\ + "storage"(. +3 "core" .( +2 "storage"(i& +5 "core" & e e\  + "storage"(\\& +4 "core" & f e \  +2 "manipulator"&*& +4 "core" & T +2 .tElbow.seek 3 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&Z& +3 "core" & +2 "storage"(`& +4 "core" & e y ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +93 "core" ' +2 "storage"(x& +3 "core" & x 7\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & +2 "storage"(q& +4 "core" & t s 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +5 "storage"(m- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +31 "core" ' +2 "manipulator"&=% +3 "core" %Ό Y +3 "storage"( & +3 "core" & t u )\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&I'ϸ +21 "core" ' +2 "manipulator"&;& +3 "core" & r +2 "storage"(^& +4 "core" & o r \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +40 "core" ' + "manipulator"&Q& +4 "core" & z +2 "manipulator"&"% +5 "core" %C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +163 "core" ( +2 "manipulator"&w& +3 "core" &( ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &( ?V +2 .tForearm.seek CC +2 "manipulator"&~'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'%( +416 "core" ( +3 "storage"(& +3 "core" & \  +2 "storage"(& +4 "core" & \  +2 "manipulator"&& +4 "core" &( \\ ?U +2 "manipulator"&]% +3 "core" % 6 r +3 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&-& +4 "core" & r O +2 "storage"('& +3 "core" & v\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&y'} +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +57 "core" 1 +2 "manipulator"&\ % +4 "core" % Έ l +2 "storage"(P& +4 "core" & ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +19 "core" ' +3 "manipulator"&(& +5 "core" & h O + "storage"(& +4 "core" & i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&)'9 +30 "core" ' + "storage"(l% +4 "core" %J \ +3 ."downElevator"SE.seek :down +4 "storage"(#'X +98 (f% +3 "core" %B )\ Wb +2 "manipulator"&+% +4 "core" %B = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +3 "core" %\ 8 +2 "storage"(6% +4 "core" %T Y\ +2 "storage"(E. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(>(,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,i x l x\  +2 "manipulator"&& +4 "core" & { O +2 .tElbow.seek 4 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&&& +4 "core" & v O +2 "storage"(D& +3 "core" &,g '\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 4 + 700 counts +5 "manipulator"&O'Ѽ +99 "core" ' + "storage"(8& +4 "core" &,g 8\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +3 "core" &,g G\  +2 "manipulator"&J& +4 "core" & O +3 .tElbow.seek 4 + "manipulator"&4( +4 "core" ( +2 "manipulator"&B& +3 "core" & G O +3 "storage"(,& +3 "core" &,g P\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&1', +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"( 'X +8 "core" & e O +2 "manipulator"&!% +3 "core" % 5  t +3 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( +2 "manipulator"&/& +3 "core" &*  W @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &@& +2 "core" &* x @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'" +103 "core" ' +3 "manipulator"&C& +3 "core" &* @Y +2 "manipulator"&9% +4 "core" % +2 "collection"'N& +4 "core" & $\ +3 "collection"'r& +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'F(V +5 "core" & e\ +6 &5 i\ $d +9 &U} i\ 7 +10 &~ _\ L +9 &W \ M +9 &gY l\ M +10 &)U j\ M +9 &\\ k\ M +10 &[ j\ M +9 &oZ j\ M +9 &0Z j\ N +10 &Z h\ M +9 &!\\ h\ N +9 &#wZ h\ M +10 &%9Y g\ M +9 &&Z i\ M +10 &(Z i\ M +9 &*Y h\ M +9 &,@Z i\ N +10 &.X h\ M +9 &/Y e\ M +9 &1W g\ M +10 &3IY h\ M +9 &5 V c\ M +10 &6[ \ N +9 &8Y i\ M +9 &:QX \\\ M +10 &<W f\ M +9 &=X h\ M +9 &?X \ M +10 &AYZ \ M +9 &CW j\ M +10 &D` f\ M +9 &Fe g\ N +9 &HVx d\ Q +10 &J \ V +9 &K _\ Y +9 &M \ Y +10 &OF j\ Y +9 &Q \ Z +10 &R \ Z +9 &T \ [\ +9 &V$u \ 0 +10 &V& \ V +9 ( + &Vm \ K +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&t1 +60 "core" 1 +3 "manipulator"&% +4 "core" % 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +3 "core" &*\ +2 "manipulator"&X% +4 "core" %\ # k 9 +2 "storage"(% +4 "core" %T . = \ +2 "storage"($. +3 "core" .(,l +2 "storage"([& +4 "core" &,g V X U\  +2 "storage"(R& +3 "core" &,g F ; 4\  +2 "manipulator"&<& +4 "core" &* @Y +2 "manipulator"&a% +3 "core" %\ # z 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&u( +161 "core" ( +2 "manipulator"&& +4 "core" & C +2 "storage"(M& +4 "core" &,g s s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&:'Ѽ +106 "core" ' +2 "storage"(& +3 "core" &,g n R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +277 "core" ' +2 "storage"(A- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +3 "core" &,g f r #\  +2 "manipulator"&5& +3 "core" & l C +3 .tElbow.seek 4 + "manipulator"&g( +4 "core" ( +2 "manipulator"&& +3 "core" & 7 C +2 "storage"(& +50 "core" &,g n n\  +4 .tForearm.seek 4 + 300 counts +2 "manipulator"&c', +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(}'X +6 "core" & X C +2 "manipulator"&H% +4 "core" % 2  +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&i& +4 "core" &m & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &p : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&*' +100 "core" ' +2 "manipulator"&Z& +3 "core" &r | +2 "manipulator"&`% +4 "core" %  +2 "processing"%Y& +4 "core" &$\ +3 "processing"%x& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%e(Z +5 "core" &.\ +6 &>*\ %f +10 &V*\ 8 +9 &~+\ M +10 &Y-\ N +9 &u\\-\ N +9 &7Z,\ N +10 &Z(\ N +9 &Y0\ N +9 &{Z2\ N +10 &>W.\ N +9 &[,\ N +10 &!Z*\ N +9 &#]/\ N +9 &%E[&\ N +10 &'Z+\ N +9 &(W+\ N +9 &*Z*\ N +10 &,MZ$\ N +9 &.]%\ N +10 &/Z\ N +9 &1Y \ N +9 &3UY$\ N +10 &5Z!\ N +9 &6Y%\ N +9 &8Y"\ N +10 &:^Z\ N +9 &< Y%\ N +10 &=Y\ N +9 &?X\ N +9 &AeY\ N +10 &C([ \ N +9 &D]\ O +9 &Fb)\ O +10 &Hhn\ P +9 &J"\ S +10 &K\ U +9 &M\ T +9 &Oc\ T +10 &Q%\ T +9 &R"\ T +9 &T\ U +10 &Vj\ U +9 &X+\ U +10 &Y|p\ 0 +9 &Z'o!\ L +9 &Z$"\ 0 +3 ( +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&W1 +58 "core" 1 +2 "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%z& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&q% +3 "core" %\   +2 "storage"(m% +4 "core" %T W @ X\ +2 "storage"(=. +3 "core" .(,l +2 "storage"( & +5 "core" &,g X U +\  +2 "storage"(;& +2 "manipulator"&^& +8 "core" &,g T F (\  + &r +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&Q(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"("'i +2 "core" ( +3 "manipulator"&T& +3 "core" &r +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &r +3 .tForearm.seek PC +2 "manipulator"&U' +92 "core" ' +2 .tHand.close + "manipulator"&h/ +55 "core" / +3 .tPC.seek :open +2 "processing"%I( +96 "core" ' +2 "storage"(- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +43 "core" ' +284 ( + "storage"(& +4 "core" &,g r r \  +2 "manipulator"&.& +4 "core" &r c +2 "manipulator"&% +3 "core" % s + +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&3( +259 "core" ( +2 "manipulator"&v& +4 "core" & +2 "storage"(& +4 "core" &,g Z X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +92 "core" ' + .tHand.open +45 "manipulator"&1 +63 "core" 1 +2 "storage"(]- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(K& +4 "core" &,g u\  +2 "manipulator"&2& +4 "core" & J +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&P& +4 "core" & +2 "storage"((& +3 "core" &,g 8\  +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(l' +57 "core" ' +2 "manipulator"& & +3 "core" & i +2 "storage"(f& +4 "core" &,g d Y ;\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&+' +30 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(y'i +26 "core" ' + "manipulator"&% +4 "core" % 4 +2 "storage"(& +5 "core" &,g . +\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&'3 +18 "core" ' + "manipulator"&6& +4 "core" & 0 +2 "storage"(E& +4 "core" &,g o n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +28 "core" ' +2 "storage"()% +4 "core" %r k u ?\ +3 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (7% +3 "core" %D X M )\ Xd +3 "manipulator"&% +4 "core" % U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (&& +3 "core" &,g m 5\  +2 "collection"'D& +4 "core" &Vm \ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&8% +3 "core" %\  w  +2 "storage"(% +4 "core" %a s u D\ +2 "storage"(L. +3 "core" .(,l +2 "storage"(0& +4 "core" &,g v u\  +2 "storage"(k& +4 "core" &,g u u \  +2 "manipulator"&J& +4 "core" & v +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&,& +4 "core" & C +2 "storage"(n& +3 "core" &,g t p \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +87 "core" ' +2 "storage"(!& +3 "core" &,g \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' +2 "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & +2 "storage"(@& +4 "core" &,g o n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(C'K +37 "core" ' +2 "manipulator"&9% +3 "core" %  +2 "storage"(N& +4 "core" &,g B A R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"& '> +23 "core" ' +47 "manipulator"&|& +4 "core" & f +2 "storage"(%& +4 "core" &,g s s\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&t'Ѽ +27 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(': +41 "core" ' + "manipulator"& & +4 "core" &  +2 "manipulator"&X% +4 "core" % % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +157 "core" ( +2 "manipulator"&r& +3 "core" & 8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +4 "core" &! 8" +2 .tForearm.seek CC +2 "manipulator"&R'" +97 "core" ' +2 .tHand.close + "manipulator"& 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'`& +3 "core" & 9\ +2 "manipulator"&Y% +3 "core" %\  j  +2 "storage"(}% +4 "core" %b +\ +2 "storage"(. +2 "core" .(,l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +653 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" & P\ +2 "manipulator"&V& +3 "core" & v l +3 .tElbow.seek 2 + "manipulator"&z( +72 "core" ( + "manipulator"&q& +4 "core" &I K  +2 "storage"(m& +4 "core" & @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +95 "core" ' +2 "storage"( & +4 "core" & Z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +44 "storage"(^'i +286 "core" ' +3 "storage"(;- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & )\ +2 "manipulator"&T& +4 "core" &I   +2 .tElbow.seek 2 +2 "manipulator"&p( +38 "core" ( +2 "manipulator"&*& +3 "core" &\ - S +2 "storage"(h& +4 "core" & $\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(e'X +8 "core" & E Q +2 "manipulator"&"% +3 "core" %  h +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +153 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &+ Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &+ Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'" +103 "core" ' + "manipulator"&& +4 "core" &+ Aa +2 "manipulator"&Q% +4 "core" % T +2 "collection"'& +4 "core" & ;\ +3 "collection"']& +4 "core" & 4\ +3 .tCC.seek :closed +2 "collection"'(V +3 "core" & \ +9 &4 \ $d +9 &U \ 8 +10 &~ \ L +9 &\\ \ O +9 &_` \ O +10 &!] \ O +9 &_ \ O +9 &\\ \ O +10 &g_ \ O +9 &)] w\ O +10 &^ u\ N +9 &!^ \ N +9 &#o^ v\ O +10 &%2` w\ N +9 &&Z r\ O +9 &(] s\ N +10 &*w_ o\ O +9 &,9] s\ O +10 &-] j\ N +9 &/Z t\ N +9 &1\\ w\ N +10 &3B] x\ N +9 &5[ x\ O +9 &6` v\ N +10 &8[ t\ N +9 &:H_ v\ O +10 &< ] u\ N +9 &=^ w\ N +9 &?a r\ O +10 &AQ] t\ O +9 &C` g\ O +9 &Dc m\ O +10 &Fg s\ P +9 &HPu k\ R +10 &J l\ V +9 &K s\ Z +9 &M~ `\ Z +10 &OA g\ Z +9 &Q k\ Z +9 &R i\ [ +10 &T h\ \\ +9 &V#w i\ 0 +9 &V$ k\ R +10 ( + &V^ h\ J +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"&K% +4 "core" %  x S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%P& +4 "core" &P\ +2 "manipulator"&(% +4 "core" %\   +2 "storage"( % +4 "core" %] [ Y\ +2 "storage"(f. +3 "core" .( +2 "storage"(w& +3 "core" & Y X\ +2 "storage"(& +4 "core" & [ Z p\ +2 "manipulator"&& +4 "core" &+ Aa +2 "manipulator"&-% +4 "core" %\  {  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&6( +161 "core" ( +2 "manipulator"&E& +3 "core" & S  +2 "storage"()& +4 "core" & f f :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +97 "core" ' +2 "storage"(& +4 "core" & w *\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''i +283 "core" ' +2 "storage"(7- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & U c \ +2 "manipulator"&& +4 "core" & n  +2 .tElbow.seek 2 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&l& +4 "core" & *  +2 "storage"(+& +4 "core" & t s \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&&/ +59 "core" / +50 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(8'X +8 "core" & p  +2 "manipulator"&% +4 "core" %  p  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +104 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +3 "manipulator"&0& +4 "core" &i   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &i M  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&J' +102 "core" ' +2 "manipulator"&,& +4 "core" &i j  +2 "manipulator"&n% +4 "core" % +2 "processing"%& +4 "core" &N\ +3 "processing"%!& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &O\ +8 &6C\ $c +9 &SH\ 7 +10 &~D\ L +9 &]C\ O +9 &N_?\ O +10 &]8\ N +9 &a>\ O +10 &Z>\ O +9 &W`>\ O +9 &Z8\ N +10 &^=\ O +9 &!]>\ O +9 &#__6\ O +10 &%!_=\ O +9 &&[>\ O +10 &([8\ O +9 &*h\\9\ N +9 &,*\\=\ N +10 &-]>\ O +9 &/^9\ O +9 &1o`<\ O +10 &32_8\ N +9 &4[=\ O +10 &6[8\ N +9 &8w\\1\ O +9 &:9[<\ O +10 &;Z6\ N +9 &=\\8\ N +9 &?`8\ O +10 &AA^2\ O +9 &C]1\ O +10 &Db<\ O +9 &Fg6\ O +9 &H?y5\ R +10 &I4\ S +9 &K4\ U +9 &M})\ U +10 &O?(\ U +9 &Q(\ U +10 &R%\ T +9 &T(\ U +9 &VE)\ U +10 &X*\ U +9 &Yv'\ 8 +9 &Z3.\ K +10 &Z1\ ) +2 ( +2 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"& 1 +64 "core" 1 + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +98 "core" ' +2 "processing"%/& +3 "core" &Z%\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&@% +4 "core" %\  ~ * +2 "storage"(4% +4 "core" %` W Y +\ +2 "storage"(9. +2 "core" .( +2 "storage"(N& +4 "core" & W Y Y\ +3 "storage"(|& +2 "manipulator"&%& +7 "core" & X Y \\\ + &i  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'i +2 "manipulator"&X(s +7 "core" ( + "manipulator"&G& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &i  +3 .tForearm.seek PC +2 "manipulator"&o' +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +3 .tPC.seek :open +2 "processing"% ( +81 "core" ' +2 "storage"(C- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +47 "core" ' +294 ( + "storage"([& +4 "core" & r n X\ +2 "manipulator"&t& +4 "core" &i ^  +2 "manipulator"&1% +4 "core" % x +2 .tForearm.seek :retract +2 "manipulator"&<'\ +94 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&F& +3 "core" & i n +2 "storage"(_& +4 "core" & X X <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 .tHand.open + "manipulator"&M1 +54 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +51 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(j' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"($& +4 "core" & \ +2 "manipulator"&& +4 "core" & n +2 .tElbow.seek 2 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&{& +4 "core" & l n +2 "storage"(u& +4 "core" & 1\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&:'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(c' +55 "core" ' +2 "manipulator"&S& +4 "core" & n +2 "storage"(\\& +4 "core" & ] Y\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&g' +23 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +21 "core" ' +2 "manipulator"&H% +3 "core" % +2 "storage"(& +4 "core" & [ Y\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&b' +16 "core" ' + "manipulator"&i& +4 "core" & < n +2 "storage"(`& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +17 "core" ' +2 "storage"(}% +3 "core" %n w @\  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (>% +3 "core" %oF A Y \ Xg +2 "manipulator"&W% +4 "core" %ю p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (q& +3 "core" & _ j k\ +2 "collection"'m& +4 "core" &V] \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\  b - +2 "storage"(% +4 "core" %c u p \ +2 "storage"(Z. +3 "core" .( +2 "storage"(;& +4 "core" & u v M\ +2 "storage"(x& +4 "core" & v u _\ +2 "manipulator"&T& +3 "core" & n +3 .tElbow.seek 2 + "manipulator"&*( +4 "core" ( + "manipulator"&h& +4 "core" & o n +2 "storage"(?& +4 "core" & v v <\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' +2 "storage"("& +3 "core" & n v\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +285 "core" ' +3 "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & k n +2 "storage"(U& +3 "core" & p t 4\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&^' +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Q'P +29 "core" ' + "manipulator"&p% +4 "core" % H +2 "storage"(& +3 "core" & . ; \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&e' +19 "core" ' +2 "manipulator"&& +3 "core" & n +2 "storage"(a& +4 "core" & u u \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +30 "core" ' +48 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'? +41 "core" ' +2 "manipulator"&P& +3 "core" & u n +2 "manipulator"&(% +4 "core" %Ѣ t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +151 "core" ( +3 "manipulator"&w& +4 "core" &( ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +4 "core" &( ?U +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( +2 "storage"(v& +3 "core" & w z\ +2 "storage"(E& +4 "core" & g f E\ +2 "manipulator"&)& +4 "core" &) ?T +2 "manipulator"&% +3 "core" % 5  +3 .tForearm.seek :retract +2 "manipulator"&.'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&2( +149 "core" ( +2 "manipulator"&7& +4 "core" & W  +2 "storage"(& +3 "core" & "\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +61 "core" 1 +2 "manipulator"&&% +5 "core" % + "storage"(D& +4 "core" & A\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&' +22 "core" ' +2 "manipulator"&6& +3 "core" & )  +2 "storage"(3& +4 "core" & +\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +23 "core" ' +2 "storage"(% +3 "core" %C n\ +3 ."downElevator"SE.seek :down +3 "storage"(0'X +99 (k% +3 "core" %A E\ Wc +2 "manipulator"&\ % +4 "core" %} i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'n& +4 "core" & $\ +2 "manipulator"&% +3 "core" %\  o  +2 "storage"(8% +4 "core" %` s\ +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(I( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & p z \  +2 "manipulator"&& +4 "core" & [  +2 .tElbow.seek 3 +2 "manipulator"&/( +16 "core" ( + "manipulator"&@& +4 "core" & h K +2 "storage"(4& +4 "core" & j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +106 "core" ' +2 "storage"(!& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +286 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & Z\  +2 "manipulator"&G& +4 "core" & X K +2 .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&J& +3 "core" & K +2 "storage"(& +50 "core" & \  +4 .tForearm.seek 3 + 300 counts + "manipulator"&C'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"(#'X +8 "core" & R K +2 "manipulator"& % +4 "core" % Ϫ C 4 +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +22 "core" ( +2 "manipulator"&1& +3 "core" &$ * ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &% ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'" +91 "core" ' + "manipulator"&_& +4 "core" &% ;3 +2 "manipulator"&X% +5 "core" %$  +2 "collection"'M& +4 "core" & t\ +3 "collection"'& +5 "core" & 0\ +2 .tCC.seek :closed +2 "collection"'<(V +4 "core" & u\  +8 &1~ r\ *y +10 &d r\ ? +9 &xv k\ O +9 &=V j\ N +10 &\\ n\ N +9 &Z k\ M +9 &Z i\ N +10 &EZ k\ N +9 &Z i\ N +10 &Z g\ M +9 & ] p\ N +9 &"L] g\ N +10 &$Z k\ N +9 &%] f\ N +9 &'[ o\ N +10 &)UZ h\ N +9 &+[ c\ N +10 &,] d\ N +9 &.[ c\ N +9 &0]\\ c\ N +10 &2Y d\ N +9 &3[ q\ N +9 &5Y o\ N +10 &7c_ k\ N +9 &9&Z r\ N +10 &:[ u\ N +9 &<] o\ N +9 &>k\\ j\ N +10 &@-[ q\ N +9 &A[ \ N +9 &C\\ \ N +10 &Erc \ O +9 &G0l \ P +10 &H r\ S +9 &J \ X +9 &L[ \ Y +10 &N \ Y +9 &O \ Z +9 &Q \ Y +10 &S_ \ [ +9 &U \ [\ +10 &VlD \ 2 +9 &Vq \ I +5 ( +2 "collection"'& +4 "core" &Vh \ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&R1 +60 "core" 1 +4 "manipulator"&$% +3 "core" % $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +4 "core" &>\ +2 "manipulator"&u% +4 "core" %\   +2 "storage"(S% +3 "core" %c Y Y \ +2 "storage"(\\. +4 "core" .( + "storage"(r& +4 "core" & Y Y s\  +2 "storage"(H& +4 "core" & Y Y\  +2 "manipulator"&& +4 "core" &$ ;3 +2 "manipulator"&i% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&`( +162 "core" ( +2 "manipulator"&A& +4 "core" & l +2 "storage"(}& +4 "core" & q t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(& +3 "core" & z g\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +284 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +3 "core" & L a \  +2 "manipulator"&:& +3 "core" & q l +2 .tElbow.seek 3 +2 "manipulator"&d( +4 "core" ( +2 "manipulator"&c& +3 "core" & k l +2 "storage"(g& +4 "core" & X X E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&b'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"( 'X +8 "core" & k l +2 "manipulator"&% +3 "core" %  # +3 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +162 "core" ' +2 ."downElevator"SE.stop +48 "storage"(5 +38 "core" ( +2 "manipulator"&;& +4 "core" &p + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &p a +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' +2 "manipulator"&h& +4 "core" &p b +2 "manipulator"&?% +4 "core" % v $ +2 "processing"%Y& +4 "core" &=\ +3 "processing"%"& +5 "core" &3\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &:\ +7 & 1=\ $c +10 &U5\ 7 +9 &~>\ L +9 &]>\ N +10 &W\\>\ O +9 &Z8\ O +9 &`>\ O +10 &]9\ N +9 &`]>\ N +10 &!_?\ O +9 &`>\ O +9 &!^8\ O +10 &#g[=\ O +9 &%)^9\ O +9 &&\\8\ O +10 &(Z=\ N +9 &*o]5\ O +10 &,2Z<\ N +9 &-\\<\ N +9 &/_:\ O +10 &1w^5\ O +9 &39^6\ O +9 &4]2\ O +10 &6Z3\ O +9 &8]4\ N +10 &:A]7\ O +9 &<\\+\ O +9 &=[)\ O +10 &?]2\ N +9 &AIZ,\ O +9 &C _1\ O +10 &Dc.\ O +9 &Fj-\ P +10 &HG{.\ R +9 &J-\ T +9 &K)\ U +10 &M*\ T +9 &OH-\ T +9 &Q\ 2\ T +10 &R2\ U +9 &T3\ U +10 &VM3\ U +9 &X3\ V +9 &Y|r3\ : +10 &Z*u4\ N +9 &Z$2\ . +2 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&s1 +53 "core" 1 +2 "manipulator"&V% +4 "core" % $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' + "processing"%& +4 "core" &Z#*\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&U% +4 "core" %\ " ? +2 "storage"(% +4 "core" %T B B \ +2 "storage"(p. +3 "core" .( +2 "storage"(& +4 "core" & B B \  +2 "storage"(& +2 "manipulator"&a& +7 "core" & B B \  + &p +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(P'i +2 "manipulator"&((s +7 "core" ( + "manipulator"&& +4 "core" &p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &p +2 .tForearm.seek PC +2 "manipulator"&z' +97 "core" ' + .tHand.close +2 "manipulator"&^/ +56 "core" / +2 .tPC.seek :open +2 "processing"%e( +84 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +36 "core" ' +300 ( + "storage"(]& +4 "core" & [ \\ \  +2 "manipulator"&~& +3 "core" &p j +2 "manipulator"&% +4 "core" % -  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +268 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(v& +4 "core" & Z Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +96 "core" ' + .tHand.open +2 "manipulator"&)1 +57 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(f& +3 "core" & z\  +2 "manipulator"&+& +4 "core" & h  +2 .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&D& +50 "core" & n  +3 "storage"(6& +4 "core" & \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&3'9 +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&.& +4 "core" & r  +2 "storage"(k& +4 "core" & f i \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&\ '} +22 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' +2 "manipulator"&% +3 "core" %΋ o +2 "storage"(n& +4 "core" & X [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +20 "core" ' +2 "manipulator"&8& +3 "core" &   +2 "storage"(y& +4 "core" & u u =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +33 "core" ' +2 "storage"('% +3 "core" %l \ +3 ."downElevator"SE.seek :down +4 "storage"(0'X +98 (% +3 "core" %E [ c\ Xf +2 "manipulator"& % +4 "core" %. p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (@& +3 "core" & t ~ J\  +2 "collection"'4& +4 "core" &Vh \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&!% +3 "core" %\ u  +3 "storage"(l% +3 "core" %c s l \ +2 "storage"(,. +4 "core" .( + "storage"(%& +4 "core" & s g \  +2 "storage"(|& +4 "core" & f g j\  +2 "manipulator"&G& +4 "core" & 6  +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +4 "core" & "  +2 "storage"(L& +3 "core" & f f L\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +90 "core" ' +2 "storage"( & +3 "core" & o x \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +290 "core" ' +2 "storage"(9- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & w  +2 "storage"(o& +4 "core" & _ P !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&N'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(X'T +28 "core" ' +2 "manipulator"&B% +3 "core" %΁ p +2 "storage"(M& +3 "core" & Y Y\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&#'ϭ +20 "core" ' + "manipulator"&[& +4 "core" & p  +2 "storage"(-& +4 "core" & v u @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'C +40 "core" ' +2 "manipulator"&{& +3 "core" & :  +2 "manipulator"&u% +4 "core" %5 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +211 "core" ( +4 "manipulator"&& +4 "core" && =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" && =F +3 .tForearm.seek CC + "manipulator"&H'" +100 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'i( +419 "core" ( +2 "storage"(F& +3 "core" & r g ]\  +2 "storage"(A& +4 "core" & q w /\  +2 "manipulator"&}& +4 "core" &% ;4 +2 "manipulator"&% +4 "core" % 0 +2 .tForearm.seek :retract +2 "manipulator"&t'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&>& +3 "core" & X Q +2 "storage"(W& +4 "core" & p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&:'} +96 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +53 "core" 1 +3 "manipulator"&q% +3 "core" % r b +2 "storage"(m& +5 "core" & i\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 289 counts +2 "manipulator"&'Ϟ +11 "core" ' +2 "manipulator"&`& +3 "core" &  Q +2 "storage"(& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +25 "core" ' + "storage"(b% +4 "core" %F f\ +3 ."downElevator"SE.seek :down +3 "storage"(;'X +99 (x% +3 "core" %D v\ Vb +2 "manipulator"&d% +3 "core" %[ o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'?& +3 "core" & $\ +2 "manipulator"&Y% +4 "core" %\  X  +2 "storage"( % +4 "core" %b \ +2 "storage"(5. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &,k v s (\  +3 "manipulator"&V& +3 "core" & x Q +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&U& +3 "core" & P Q +2 "storage"(& +5 "core" &,i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&p'Ѽ +98 "core" ' +2 "storage"(& +3 "core" &,i 1\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +282 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &,i *\  +2 "manipulator"&& +3 "core" &  Q +3 .tElbow.seek 4 + "manipulator"&*( +4 "core" ( + "manipulator"&T& +4 "core" & u Q +2 "storage"(^& +3 "core" &,i L\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q', +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"('X +7 "core" & J Q +47 "manipulator"&P% +5 "core" % > c Z +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +62 "core" ( +2 "manipulator"&& +4 "core" &%  J <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &% 1 <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +102 "core" ' +2 "manipulator"&v& +3 "core" &% <> +2 "manipulator"&(% +4 "core" %# W +2 "collection"')& +4 "core" & t\ +3 "collection"'& +5 "core" & n\ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & i\ +5 &5 h\ $c +10 &V g\ 7 +9 & n\ L +9 &Z n\ N +10 &ZY j\ M +9 &] i\ N +10 &_ k\ N +9 &\\ o\ N +9 &b] n\ M +10 &#Y f\ N +9 &Y t\ M +9 &!] u\ N +10 &#i] r\ N +9 &%+_ q\ N +10 &&\\ u\ N +9 &(W c\ M +9 &*qY \ N +10 &,4] r\ M +9 &-X \ N +9 &/Y \ M +10 &1y\\ \ N +9 &3<\\ \ M +10 &4Z \ M +9 &6\\ \ M +9 &8Y \ M +10 &:B_ \ N +9 &<Z \ N +9 &=Y \ N +10 &?Z \ M +9 &ALY \ M +10 &C Z \ N +9 &D\\ \ N +9 &Fd \ O +10 &HHy \ Q +9 &I \ V +9 &K \ Y +10 &My \ Y +9 &O; \ Y +10 &P \ Y +9 &R \ Z +9 &T{ \ [ +10 &Vu \ / +9 &V0 \ [ +9 ( +3 "collection"'& +2 "core" &Vh \ H +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&f1 +62 "core" 1 +3 "manipulator"&+% +4 "core" % # W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &6\ +2 "manipulator"&6% +4 "core" %\ % 7 +2 "storage"(.% +4 "core" %_ 2 , \ +2 "storage"(k. +3 "core" .(,l +2 "storage"(w& +3 "core" &,i ) , \  +2 "storage"(7& +4 "core" &,i , , \  +2 "manipulator"&& +4 "core" &% p <> +2 "manipulator"&n% +3 "core" %\ % 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&8( +160 "core" ( + "manipulator"&y& +4 "core" & u +2 "storage"( & +4 "core" &,i s t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&''Ѽ +91 "core" ' + "storage"(E& +4 "core" &,i r x\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,i Z W\  +2 "manipulator"&3& +4 "core" & u +2 .tElbow.seek 4 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&& +4 "core" & ) u +2 "storage"(\ & +4 "core" &,i t u '\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +3 "storage"(!'X +7 "core" & L u +2 "manipulator"&l% +4 "core" % $ T L +2 .tForearm.seek :retract +2 "manipulator"&,'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&%& +11 "core" &t   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &t \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +97 "core" ' +2 "manipulator"&& +3 "core" &t  +2 "manipulator"&L% +50 "core" % +4 "processing"%K& +4 "core" &;\ +3 "processing"% & +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"%0(Z +5 "core" &8\ +7 & 3=\ $c +9 &U;\ 7 +9 &~4\ L +10 &\\3\ N +9 &\\_:\ N +10 &Y8\ N +9 &Y>\ O +9 &[>\ O +10 &c`>\ O +9 &&]A\ N +9 &\\7\ N +10 &!^8\ N +9 &#k]:\ O +10 &%-\\6\ O +9 &&\\9\ O +9 &(\\2\ O +10 &*t^8\ N +9 &,6^4\ N +9 &-]2\ O +10 &/\\3\ N +9 &1|X5\ N +10 &3>Y3\ N +9 &5\\4\ N +9 &6]7\ O +10 &8[8\ N +9 &:F^1\ N +9 &<\\-\ N +10 &=]+\ N +9 &?Z%\ N +10 &AO\\+\ N +9 &C\\-\ N +9 &Da3\ O +10 &Fc+\ O +9 &HPn-\ P +9 &J .\ R +10 &K(\ T +9 &M(\ T +10 &ON2\ T +9 &Q0\ T +9 &R7\ U +10 &T)\ U +9 &VS3\ U +10 &X1\ U +9 &Y|p4\ 8 +9 &Z2-\ H +10 &Z2\ ( +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&21 +60 "core" 1 +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +2 "processing"%1& +4 "core" &Z)\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&o% +3 "core" %\   +2 "storage"(_% +4 "core" %b , G \ +2 "storage"(B. +3 "core" .(,l +2 "storage"(M& +3 "core" &,i 1 @ \  +3 "storage"([& +2 "manipulator"&-& +8 "core" &,i J = _\  + &t  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&{(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'i +2 "core" ( +2 "manipulator"&O& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &t  +3 .tForearm.seek PC + "manipulator"&/' +96 "core" ' +3 .tHand.close +2 "manipulator"&N/ +58 "core" / +2 .tPC.seek :open +2 "processing"%#( +84 "core" ' + "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'y +47 "core" ' +292 ( +2 "storage"(& +4 "core" &,i Y Y\  +2 "manipulator"&r& +4 "core" &t s  +2 "manipulator"&C% +3 "core" % k +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&S( +262 "core" ( +2 "manipulator"&<& +3 "core" & ~ +3 "storage"(F& +3 "core" &,i Z X n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&A'Ѽ +94 "core" ' +3 .tHand.open +2 "manipulator"&}1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(W' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(H- +2 "core" -' +3 "storage"(\\& +3 "core" &,i @\  +2 "manipulator"&g& +4 "core" & s +2 .tElbow.seek 4 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&m& +3 "core" & d +3 "storage"(`& +3 "core" &,i \  +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(b' +57 "core" ' +2 "manipulator"&t& +4 "core" & r +2 "storage"(x& +3 "core" &,i c L {\  +47 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&d' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(:'i +24 "core" ' +2 "manipulator"&% +3 "core" % @ +2 "storage"(?& +4 "core" &,i , , \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&Y'? +18 "core" ' +2 "manipulator"& & +4 "core" & +2 "storage"(5& +3 "core" &,i N U n\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&$'Ѽ +18 "core" ' +2 "storage"(j% +4 "core" %m t s ,\ +4 ."downElevator"SE.seek :down +3 "storage"(;'X +99 (I% +3 "core" %A [ [ h\ Vb +3 "manipulator"&s% +5 "core" %ѣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (U& +3 "core" &,i o y }\  +2 "collection"'& +4 "core" &Vg \ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ ! u 8 +2 "storage"(c% +4 "core" %b e Y\ +2 "storage"(h. +3 "core" .(,l +2 "storage"(& +4 "core" &,i e p \  +2 "storage"(a& +4 "core" &,i p ^ \  +2 "manipulator"&& +3 "core" & | +3 .tElbow.seek 4 + "manipulator"&T( +4 "core" ( +2 "manipulator"&^& +3 "core" & a +2 "storage"(Z& +4 "core" &,i Z a e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +89 "core" ' +2 "storage"(P& +4 "core" &,i r  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & v +2 "storage"(& +3 "core" &,i t s u\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z' +30 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(v'K +37 "core" ' + "manipulator"&(% +4 "core" % % +2 "storage"()& +4 "core" &,i : : 1\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +19 "core" ' +2 "manipulator"&]& +4 "core" & , +2 "storage"(i& +3 "core" &,i K K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&f'Ѽ +34 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(+': +40 "core" ' +2 "manipulator"&& +3 "core" & e +2 "manipulator"&6% +4 "core" % i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +169 "core" ( +3 "manipulator"&k& +4 "core" && F =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" && u =A +2 .tForearm.seek CC +2 "manipulator"&7'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'n( +454 "core" ( +8 "storage"(& +4 "core" &,i g e C\  +2 "storage"(y& +5 "core" &,i f f >\  + "manipulator"& & +4 "core" && =A +2 "manipulator"&E% +3 "core" % , +3 .tForearm.seek :retract +2 "manipulator"&~'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&D( +160 "core" ( + "manipulator"&& +4 "core" & : v +2 "storage"( & +4 "core" &,i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&3' +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +61 "core" 1 +2 "manipulator"&@% +4 "core" %  +2 "storage"(4& +4 "core" &,i \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 4 + 318 counts + "manipulator"&l'> +18 "core" ' +2 "manipulator"&8& +4 "core" & $ v +2 "storage"('& +4 "core" &,i i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&'Ѽ +28 "core" ' + "storage"(% +4 "core" %= \ +3 ."downElevator"SE.seek :down +3 "storage"(%'X +99 (|% +3 "core" %? ?\ Va +2 "manipulator"&&% +5 "core" %ѿ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'L& +4 "core" & \ +2 "manipulator"&K% +3 "core" %\ % 1 +2 "storage"(!% +5 "core" %c /\ + "storage"(,. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(e( +660 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" & c [ H\ +2 "manipulator"&& +4 "core" & l v +2 .tElbow.seek 2 +2 "manipulator"&1( +41 "core" ( +2 "manipulator"&o& +3 "core" & $ +3 "storage"(_& +3 "core" & l\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +102 "core" ' +2 "storage"(M& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +283 "core" ' +2 "storage"(-- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" & *\ +2 "manipulator"&O& +4 "core" &$  b +2 .tElbow.seek 2 +2 "manipulator"&J( +23 "core" ( +2 "manipulator"&G& +3 "core" & h  +2 "storage"(N& +4 "core" & h\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&X' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(0'X +8 "core" & y  + "manipulator"&u% +4 "core" % * ' +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&C& +4 "core" &'  9 >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +48 &/& +5 "core" &' >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'" +103 "core" ' +2 "manipulator"&F& +4 "core" &( v >O +2 "manipulator"&{% +4 "core" % +2 "collection"'}& +4 "core" & w\ +3 "collection"'& +5 "core" & g\ +2 .tCC.seek :closed +3 "collection"'H(V +4 "core" & f\ +5 & d\ 5 +9 &?G{ f\ 0 +10 &fq h\ E +9 &` k\ N +9 &X j\ M +10 &W h\ N +9 &OZ f\ N +10 &X g\ N +9 &X n\ N +9 &Z o\ N +10 &WY j\ N +9 &!Y h\ M +9 &"Z o\ N +10 &$Y h\ N +9 &&`Y g\ M +10 &( \\ b\ N +9 &)U j\ M +9 &+Y s\ N +10 &-g[ i\ N +9 &/)Y g\ N +9 &0X f\ M +10 &2X j\ N +9 &4oZ u\ N +10 &60\\ u\ N +9 &7Y l\ N +9 &9[ u\ N +10 &;vY i\ N +9 &=9Y o\ N +9 &>X h\ M +10 &@Z g\ N +9 &B[ n\ N +10 &DAZ s\ N +9 &F` \ N +9 &Gm o\ P +10 &Iw f\ S +9 &K) i\ Y +9 &L g\ Z +10 &N s\ Y +9 &Pj u\ Z +10 &R, h\ Z +9 &S c\ \\ +9 &U k\ H +10 &V0 i\ . +9 &V] \ I +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&\\1 +56 "core" 1 +3 "manipulator"&g% +3 "core" %  @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +3 "core" &6\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(t% +4 "core" %b [ X p\ +2 "storage"(x. +2 "core" .( +3 "storage"(R& +3 "core" & Z X v\ +2 "storage"(>& +4 "core" & Z X b\ +2 "manipulator"&& +3 "core" &' >N +3 "manipulator"&?% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +156 "core" ( + "manipulator"&5& +5 "core" & _ +2 "storage"(S& +5 "core" & k q {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +87 "core" ' +2 "storage"(A& +3 "core" & N\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(W'i +275 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +2 "core" & s g\ +2 "manipulator"&& +4 "core" & _ +2 .tElbow.seek 2 +2 "manipulator"&q( +2 "core" ( +2 "manipulator"&b& +4 "core" &  +2 "storage"(d& +3 "core" & i m\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & ^ +2 "manipulator"&c% +4 "core" % S L +2 .tForearm.seek :retract +2 "manipulator"&h'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:(s +163 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&& +3 "core" &r  \  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &r 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&^& +4 "core" &s L  +2 "manipulator"&Z% +4 "core" % o +2 "processing"%$& +4 "core" &?\ +3 "processing"%P& +5 "core" &I\ +2 .tPC.seek :closed +3 "processing"%;(Z +3 "core" &>\ +7 & /G\ $d +9 &T~F\ 7 +9 &A\ L +10 &_I\ O +9 &T]B\ O +10 &\\7\ O +9 &^5\ N +9 &X3\ N +10 &\\^4\ O +9 &Z9\ N +9 &\\7\ N +52 &!\\7\ O +3 &#eY9\ N +2 &%'Y5\ N + &&X4\ N + &(Y:\ N + &*mX7\ N +6 &,/Y7\ N +9 &-_4\ N +10 &/\\<\ N +9 &1t[<\ O +10 &36Z=\ O +9 &4Z8\ O +9 &6Y6\ N +10 &8}W;\ N +9 &:?X6\ N +9 &<\\9\ N +10 &=Z2\ N +9 &?W:\ N +10 &AGW<\ N +9 &C\\7\ O +9 &D\\<\ O +10 &Fc:\ O +9 &HGv6\ Q +9 &J4\ T +10 &K:\ T +9 &M9\ T +10 &OE7\ T +9 &Q8\ T +9 &R;\ U +10 &T7\ T +9 &VK:\ U +9 &X 8\ U +10 &Y|n5\ ; +9 &Z(f7\ M +9 &Z#6\ 0 +3 ( +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +95 "core" ' + "processing"%"& +4 "core" &Z"\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"(*% +4 "core" %\\ . @\ +2 "storage"((. +2 "core" .( +3 "storage"()& +3 "core" & T J -\ +2 "storage"(]& +3 "manipulator"&i& +6 "core" & < J t\ + &s  +4 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s +2 "storage"(6'i +5 "core" ( +2 "manipulator"&=& +3 "core" &s  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &s  +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&z/ +63 "core" / +3 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(v- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +34 "core" ' +305 ( + "storage"(w& +4 "core" & ^ s I\ +2 "manipulator"&f& +3 "core" &s X  +2 "manipulator"&Q% +5 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&.( +259 "core" ( + "manipulator"&& +4 "core" & a +2 "storage"(& +3 "core" & Z X ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +94 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "storage"(E- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(7- +2 "core" -' +2 "storage"(& +4 "core" & a\ +2 "manipulator"&\ & +4 "core" & q +2 .tElbow.seek 2 +2 "manipulator"&@( +4 "core" ( + "manipulator"&4& +4 "core" & H +2 "storage"(8& +4 "core" & 5\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&~& +4 "core" & +2 "storage"(|& +4 "core" & s s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&&' +24 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +47 "core" ' +4 "manipulator"&l% +4 "core" % w +2 "storage"(L& +4 "core" & X N [\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&K' +21 "core" ' +2 "manipulator"&!& +3 "core" & d +2 "storage"(,& +4 "core" & e g >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +20 "core" ' + "storage"(% +4 "core" %t x t T\ +3 ."downElevator"SE.seek :down +4 "storage"(%'X +98 ( % +3 "core" %A Y Y \ Wd +2 "manipulator"&2% +4 "core" %ѓ f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +80 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (o& +3 "core" & } t W\ +2 "collection"'_& +4 "core" &V] \ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&M% +3 "core" %\  T  +3 "storage"(% +4 "core" %\\ x n\ +2 "storage"(. +2 "core" .( +2 "storage"(-& +4 "core" & o n \ +2 "storage"([& +4 "core" & y q .\ +2 "manipulator"&O& +3 "core" & { +3 .tElbow.seek 2 + "manipulator"&G( +4 "core" ( +2 "manipulator"&N& +3 "core" & j +2 "storage"(& +3 "core" & o q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +97 "core" ' +2 "storage"(u& +3 "core" & x E\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +283 "core" ' +2 "storage"(B- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & w +2 "storage"( & +4 "core" & t o G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(F'P +34 "core" ' +2 "manipulator"&{% +3 "core" % A +2 "storage"(}& +4 "core" & 8 @ a\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&0' +21 "core" ' +2 "manipulator"&& +3 "core" & 9 +2 "storage"(n& +4 "core" & t t \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(g'? +39 "core" ' +2 "manipulator"&`& +4 "core" &  +2 "manipulator"&% +4 "core" %| ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +167 "core" ( +2 "manipulator"&R& +4 "core" && l =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &%  <@ +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'?( +416 "core" ( +2 "storage"(<& +3 "core" & $\ +2 "storage"(5& +4 "core" & ;\ +2 "manipulator"&S& +3 "core" && <> +2 "manipulator"&A% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +47 .tElbow.seek 2 +5 "manipulator"&m( +162 "core" ( +2 "manipulator"&I& +4 "core" & V  +2 "storage"(s& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&d1 +61 "core" 1 +3 "manipulator"&U% +4 "core" % { +2 "storage"(& +4 "core" & ,\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&c' +20 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(j& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +19 "core" ' +2 "storage"(Y% +3 "core" %C \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (a% +4 "core" %C \ Vb +2 "manipulator"&q% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Z& +3 "core" & l\ +2 "manipulator"&$% +5 "core" %\ " d : +2 "storage"(% +3 "core" %b 0\ +2 "storage"(h. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(#( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & E\ +2 "manipulator"&V& +4 "core" & o  +2 .tElbow.seek 3 +2 "manipulator"&"( +14 "core" ( +2 "manipulator"&& +4 "core" & t m +2 "storage"(*& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +95 "core" ' +2 "storage"()& +3 "core" & /\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +282 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & 8\  +2 "manipulator"&=& +3 "core" & h m +2 .tElbow.seek 3 +2 "manipulator"&T( +4 "core" ( + "manipulator"&& +4 "core" & X m +2 "storage"(z& +4 "core" & Y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϩ +16 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(;'X +8 "core" & J m +2 "manipulator"&6% +4 "core" % ϱ [  +2 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&Q& +4 "core" &*  b @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 "manipulator"&& +3 "core" &* @Z +2 "manipulator"&% +4 "core" %  +2 "collection"' & +4 "core" & t\ +3 "collection"'E& +51 "core" & f\ +5 & }\ +4 & t\ + & z\ + & g\ + & f\ + & l\ +2 .tCC.seek :closed +3 "collection"'7(V +2 "core" & l\ +6 & d\ 3 +10 &@F{ _\ 1 +9 &ms p\ E +9 &` h\ N +10 &W p\ M +9 &W r\ M +10 &ZW n\ M +9 &X p\ N +9 &Z n\ N +10 &Y p\ N +9 &aW m\ N +10 &!$V t\ M +9 &"W h\ N +9 &$Y i\ N +10 &&iU g\ N +9 &(+U t\ N +9 &)Y g\ N +10 &+Z \ N +9 &-qU w\ N +10 &/3T k\ N +9 &0W i\ M +9 &2W t\ N +10 &4yY j\ N +9 &6;Z m\ N +9 &7U t\ N +10 &9U t\ N +9 &;Y i\ N +9 &=CV r\ N +10 &?Z \ N +9 &@W w\ N +10 &BZ \ N +9 &DKY \ N +9 &F ` r\ O +10 &Gm \ Q +9 &I} u\ U +9 &K0 r\ Z +10 &L \ Z +9 &N \ Z +10 &Pu r\ Z +9 &R4 \ [\ +9 &S \ \\ +10 &U \ I +9 &V1 \ (x +9 &Vp \ L +3 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&\ % +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%8& +4 "core" &J\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(~% +4 "core" %T ) + O\ +2 "storage"(|. +3 "core" .( +2 "storage"(k& +3 "core" & G = !\  +2 "storage"(l& +4 "core" & T F S\  +2 "manipulator"&L& +4 "core" &* @Z +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!( +162 "core" ( + "manipulator"&,& +4 "core" & { p +2 "storage"(& +4 "core" & s s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +94 "core" ' + "storage"(y& +4 "core" & j l \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +285 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +4 "core" & V L\  +2 "manipulator"&'& +3 "core" & _ p +3 .tElbow.seek 3 +2 "manipulator"&@( +4 "core" ( + "manipulator"&& +4 "core" & ^ p +2 "storage"(&& +3 "core" & W U \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'ϩ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(M'X +8 "core" & p +2 "manipulator"&3% +3 "core" % Ϻ ` W +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&-& +3 "core" &y  C 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &y , 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +102 "core" ' + "manipulator"&N& +4 "core" &y 9 0 +2 "manipulator"&% +5 "core" % / o +2 "processing"%+& +3 "core" &C\ +3 "processing"%u& +5 "core" &E\ +2 .tPC.seek :closed +2 "processing"%%(Z +4 "core" &E\ +7 & 8G\ $d +9 &TA\ 7 +9 &B\ L +10 &\\L\ O +9 &b]C\ N +9 &#\\A\ N +10 &]8\ N +9 &[@\ N +10 &i]C\ N +9 &+[9\ N +9 &];\ N +10 &!]9\ N +9 &#r\\8\ N +9 &%4]8\ N +10 &&]9\ N +9 &(\\9\ N +10 &*x\\8\ O +9 &,;Z4\ N +9 &-[9\ N +10 &/Z5\ O +9 &1Z<\ N +9 &3B[6\ O +10 &5[9\ N +9 &6[5\ N +10 &8Z6\ O +9 &:KZ<\ N +9 &< Z9\ N +10 &=W8\ N +9 &?Z9\ N +9 &ARZ6\ O +10 &C\\7\ N +9 &D^7\ N +10 &Fg9\ P +9 &HO|9\ R +9 &J:\ S +10 &K9\ T +9 &M9\ T +9 &OQ7\ T +10 &Q9\ U +9 &R9\ U +10 &T9\ T +9 &VW5\ U +9 &X8\ U +10 &Y|r6\ 6 +50 &Z..\ N +4 &Z7\ * +3 ( + &Z5\ * + &Z:\ * + &Z9\ * + &Z7\ * +2 "processing"%u& +4 "core" &Z8\ * +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&D1 +60 "core" 1 +2 "manipulator"&% +3 "core" % S o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' +2 "processing"%C& +4 "core" &Z&\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +3 "core" %\ \ Y  +2 "storage"(J% +4 "core" %\\ X X /\ +2 "storage"({. +4 "core" .( + "storage"(}& +4 "core" & Y [ \  +2 "storage"(& +3 "manipulator"&n& +5 "core" & [ Y \  +2 &y ] 0 +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&`(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&9& +3 "core" &y y 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &y e 0 +3 .tForearm.seek PC + "manipulator"&1' +95 "core" ' +2 .tHand.close +3 "manipulator"&X/ +58 "core" / +2 .tPC.seek :open +2 "processing"%0( +90 "core" ' + "storage"(F- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'y +47 "core" ' +282 ( +2 "storage"(>& +5 "core" & N X .\  + "manipulator"&\\& +4 "core" &y g 0 +2 "manipulator"&/% +4 "core" %  f +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&t( +276 "core" ( + "manipulator"&H& +4 "core" & Y  +2 "storage"(<& +4 "core" & Y X k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +94 "core" ' + .tHand.open +2 "manipulator"&S1 +56 "core" 1 +2 "storage"(A- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(I' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(s- +2 "core" -' +3 "storage"(x& +3 "core" & [\  +3 "manipulator"&d& +3 "core" & T  +2 .tElbow.seek 3 +2 "manipulator"&U( +4 "core" ( + "manipulator"&& +4 "core" & S  +2 "storage"( & +4 "core" & g\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Y' +57 "core" ' +2 "manipulator"&r& +3 "core" & $  +2 "storage"(a& +4 "core" & c Y Q\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&Z% +3 "core" %΅ + +2 "storage"(c& +4 "core" & s u \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&$'ϱ +20 "core" ' + "manipulator"&& +4 "core" & r  +2 "storage"(h& +5 "core" & ^ d '\  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +31 "core" ' +3 "storage"(W% +4 "core" %k =\ +3 ."downElevator"SE.seek :down +5 "storage"('X +97 (e% +3 "core" %? [ Y .\ Wd +2 "manipulator"&% +5 "core" %) $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +90 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & a f \  +2 "collection"'*& +4 "core" &Vn \ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&)% +3 "core" %\  f  +2 "storage"(b% +4 "core" %\\ s s \ +2 "storage"(^. +3 "core" .( +2 "storage"(i& +4 "core" & s s \  +2 "storage"(P& +4 "core" & s r \  +2 "manipulator"&=& +4 "core" & b  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&z& +3 "core" & a  +2 "storage"(:& +4 "core" & s s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&p'9 +98 "core" ' +2 "storage"(6& +4 "core" & n K\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +278 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +4 "core" & ^  +2 "storage"(& +3 "core" & s s \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&]'} +28 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +27 "core" ' +2 "manipulator"& % +3 "core" %Ά X +2 "storage"(T& +4 "core" & Y Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&;'ϲ +20 "core" ' +2 "manipulator"&w& +3 "core" &  +2 "storage"(?& +4 "core" & t s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\ 'C +39 "core" ' +2 "manipulator"&8& +4 "core" & ~  +2 "manipulator"&% +3 "core" %6 n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +162 "core" ( +2 "manipulator"&k& +4 "core" &* @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &* N @] +2 .tForearm.seek CC +2 "manipulator"&E'" +95 "core" ' +2 .tHand.close + "manipulator"&L/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +3 "core" & \  +2 "storage"(,& +4 "core" & h\  +2 "manipulator"&& +4 "core" &* @\\ +2 "manipulator"&y% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&f'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&4( +156 "core" ( +2 "manipulator"& & +4 "core" &  x +2 "storage"(2& +4 "core" & `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&''} +147 "core" ' +4 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +59 "core" 1 +2 "manipulator"&o% +4 "core" % ΁ s +2 "storage"(_& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&3'ϭ +19 "core" ' +2 "manipulator"&!& +4 "core" & ' x +2 "storage"(.& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +34 "core" ' + "storage"(K% +4 "core" %F `\ +3 ."downElevator"SE.seek :down +4 "storage"(-'X +98 ([% +3 "core" %? \ V` +2 "manipulator"&@% +4 "core" %@ p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" & '\ +2 "manipulator"&+% +4 "core" %\  M  +2 "storage"(M% +4 "core" %[ =\ +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &,i \  +2 "manipulator"&& +4 "core" & S x +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"& & +3 "core" & X x +2 "storage"(J& +4 "core" &,g G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&{'Ѽ +92 "core" ' +2 "storage"(u& +3 "core" &,g )\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +282 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &,g \  +2 "manipulator"&9& +3 "core" & x +3 .tElbow.seek 4 +2 "manipulator"&G( +4 "core" ( + "manipulator"&O& +4 "core" & j x +2 "storage"(X& +3 "core" &,g \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&F', +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(%'X +7 "core" & x +2 "manipulator"&% +5 "core" % I # I +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&/& +3 "core" &* 1 J @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &* @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'" +94 "core" ' +2 "manipulator"&<& +3 "core" &* @Y +2 "manipulator"&`% +4 "core" %  +2 "collection"'S& +4 "core" & i\ +3 "collection"'A& +5 "core" & -\ +2 .tCC.seek :closed +2 "collection"'s(V +6 "core" & p\ +6 & , p\ $d +9 &W d\ 7 +10 &~ j\ L +9 &W f\ M +10 &cY k\ N +9 &%X h\ N +9 &X h\ M +10 &U m\ M +9 &lZ h\ M +9 &.V q\ M +10 &Z k\ N +9 &!Z h\ N +10 &#sY i\ N +9 &%6[ n\ M +9 &&V h\ M +10 &(Z n\ M +9 &*{Y g\ N +9 &,>X g\ M +10 &.U u\ M +50 &/Z r\ M +3 &1V j\ M + &3FT t\ M +2 &5U t\ M + &6\\ n\ N +2 &8W t\ M +6 &:MW s\ N +10 &<Z t\ N +9 &=W u\ M +10 &?W s\ N +9 &AUX t\ N +9 &CY l\ N +10 &DZ o\ N +9 &Fc l\ O +9 &HRu j\ Q +10 &J l\ V +9 &K t\ Y +10 &M i\ Z +9 &OC f\ Y +9 &Q \ Z +10 &R \ Z +9 &T \ [ +9 &V$w \ 0 +10 &V' \ S +8 ( +3 "collection"'A& +3 "core" &V` \ I +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"&d% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &H\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(r% +4 "core" %c Z X t\ +2 "storage"(a. +3 "core" .(,l +2 "storage"(Z& +3 "core" &,g X [ g\  +2 "storage"(R& +4 "core" &,g X Z b\  +2 "manipulator"&c& +4 "core" &* @Y +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( + "manipulator"&h& +4 "core" & C i +2 "storage"(t& +4 "core" &,g f h _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&5'Ѽ +97 "core" ' + "storage"(W& +4 "core" &,g \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +282 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" &,g a L C\  +2 "manipulator"&& +4 "core" & o i +2 .tElbow.seek 4 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&Y& +3 "core" & 2 i +2 "storage"(q& +4 "core" &,g z r D\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&$', +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +3 "storage"()'X +8 "core" &  i +2 "manipulator"&b% +3 "core" % ) m & +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&i& +4 "core" &n k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +4 "core" &n g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +95 "core" ' +2 "manipulator"&z& +4 "core" &n w  +2 "manipulator"&:% +4 "core" % z  +2 "processing"%g& +4 "core" &P\ +3 "processing"%6& +5 "core" &H\ +2 .tPC.seek :closed +3 "processing"%(Z +4 "core" &D\ +5 &K\ 9 +10 &FHyD\ 1 +9 &rsG\ F +9 &bC\ N +10 &[;\ N +9 &\\>\ N +10 &]]B\ N +9 & [C\ N +9 &]F\ N +10 &XH\ N +9 &e\\C\ N +9 &!(X;\ N +10 &"\\<\ N +9 &$[8\ O +10 &&nY6\ N +9 &(/\\6\ N +9 &)XB\ N +10 &+[;\ N +9 &-vX8\ N +9 &/7Z<\ N +10 &0[B\ N +9 &2WA\ N +10 &4}Z9\ N +9 &6@ZF\ N +9 &8ZC\ N +10 &9\\:\ N +9 &;Z8\ N +9 &=HX8\ N +10 &? Y7\ N +9 &@\\?\ N +10 &BY;\ N +9 &DO\\:\ N +9 &F]5\ N +10 &Gh@\ P +9 &I|<\ R +9 &KG;\ T +10 &M:\ T +9 &N;\ T +10 &P<\ T +9 &RM8\ T +9 &T8\ U +10 &U7\ U +9 &W5\ U +9 &YS5\ B +10 &Zc>7\ Z +9 &Z-/\ . +5 ( +3 "processing"%6& +3 "core" &Z%3\ . +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&m1 +64 "core" 1 + "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 "processing"%Q& +49 "core" &Z% \ . +4 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %T X Z H\ +2 "storage"( . +3 "core" .(,l +2 "storage"(T& +4 "core" &,g X X V\  +3 "storage"(w& +2 "manipulator"&?& +7 "core" &,g X X `\  + &n  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&8(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&p& +3 "core" &n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n  +3 .tForearm.seek PC +2 "manipulator"&"' +98 "core" ' +2 .tHand.close +2 "manipulator"&]/ +53 "core" / +2 .tPC.seek :open + "processing"%;( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +47 "core" ' +284 ( + "storage"(l& +4 "core" &,g h [ \  +2 "manipulator"&& +4 "core" &n n  +3 "manipulator"&v% +3 "core" %  p +3 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&~( +274 "core" ( +2 "manipulator"&7& +3 "core" & i +2 "storage"(& +4 "core" &,g s u !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&,'Ѽ +86 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(2' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +2 "core" -' +3 "storage"(|& +3 "core" &,g }\  +2 "manipulator"&&& +4 "core" & l i +2 .tElbow.seek 4 +2 "manipulator"&o( +8 "core" ( + "manipulator"&_& +4 "core" & f b +2 "storage"(!& +4 "core" &,g `\  +3 .tForearm.seek 4 + 700 counts + "manipulator"&.'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(f' +56 "core" ' +2 "manipulator"&K& +4 "core" & h b +2 "storage"([& +3 "core" &,g f h x\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&@' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(''i +27 "core" ' +2 "manipulator"&3% +3 "core" %  +2 "storage"(& +4 "core" &,g ( * N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&+'9 +22 "core" ' + "manipulator"&M& +4 "core" & A c +2 "storage"(& +3 "core" &,g x { -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&\ 'Ѽ +40 "core" ' +2 "storage"( % +4 "core" %s T\ +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (#% +4 "core" %A V X \ Xf +3 "manipulator"&D% +3 "core" %ѽ  +3 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +12 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &,g g b z\  +2 "collection"'J& +4 "core" &V_ \ I +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&u% +3 "core" %\ " i : +2 "storage"(% +4 "core" %\\ s s \ +2 "storage"(N. +4 "core" .(,l + "storage"(& +4 "core" &,g t s \  +2 "storage"(n& +4 "core" &,g s s \  +2 "manipulator"&9& +4 "core" & q c +2 .tElbow.seek 4 +2 "manipulator"&O( +4 "core" ( + "manipulator"&X& +4 "core" & L c +2 "storage"(& +4 "core" &,g p t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&B'Ѽ +101 "core" ' +2 "storage"(& +3 "core" &,g \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +284 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & t c +2 "storage"(1& +4 "core" &,g t s n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&}' +35 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +2 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(`'L +30 "core" ' + "manipulator"&S% +4 "core" % p +2 "storage"(G& +4 "core" &,g A A v\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&%'? +22 "core" ' +2 "manipulator"&>& +4 "core" & & c +2 "storage"(& +3 "core" &,g o n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&x'Ѽ +17 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(d'; +44 "core" ' +2 "manipulator"& & +4 "core" & N c +2 "manipulator"&% +4 "core" %ѳ 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +163 "core" ( +3 "manipulator"&Z& +4 "core" &( ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &( ?P +2 .tForearm.seek CC +2 "manipulator"&R'" +93 "core" ' +2 .tHand.close + "manipulator"&c/ +61 "core" / +3 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(H& +4 "core" &,g 1\  +2 "storage"(h& +4 "core" &,g \  +2 "manipulator"&t& +3 "core" &( ?P +2 "manipulator"&W% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&j& +3 "core" & ^ +2 "storage"(e& +5 "core" &,g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&' +99 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&q1 +52 "core" 1 +3 "manipulator"&% +3 "core" %  n +2 "storage"(*& +4 "core" &,g ]\  +2 .tForearm.force -20 + "manipulator"&5 +44 .tForearm.seek 4 + 318 counts +9 "manipulator"&b'> +18 "core" ' +2 "manipulator"&& +4 "core" & 3 ^ +2 "storage"(5& +4 "core" &,g &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&I'Ѽ +27 "core" ' +2 "storage"($% +3 "core" %< \ +3 ."downElevator"SE.seek :down +3 "storage"(i'X +99 (P% +3 "core" %> \ V` +2 "manipulator"&U% +4 "core" %ѿ 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +97 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"':& +3 "core" & l\ +2 "manipulator"&g% +4 "core" %\ _  +2 "storage"()% +4 "core" %a \ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(0( +654 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (m& +2 "core" & l\ +2 "manipulator"&V& +4 "core" & F ^ +2 .tElbow.seek 2 +2 "manipulator"&Q( +46 "core" ( +2 "manipulator"&6& +3 "core" & * +2 "storage"(& +4 "core" & h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 "storage"( & +4 "core" & 8\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +286 "core" ' +2 "storage"(w- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" & :\ +2 "manipulator"&p& +4 "core" &" $ +4 .tElbow.seek 2 + "manipulator"&( +30 "core" ( +2 "manipulator"&=& +3 "core" & Z +2 "storage"(]& +5 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +60 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"('X +7 "core" & d Z +2 "manipulator"&% +4 "core" %  s +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&v& +3 "core" &'  Z >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +4 "core" &' q >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'" +25 "Can"\ B/i +72 "core" ' + "manipulator"&& +4 "core" &( >L +2 "manipulator"&8% +4 "core" % +2 "collection"'& +4 "core" & 8\ +3 "collection"'y& +5 "core" & 9\ +3 .tCC.seek :closed +2 "collection"'E(V +3 "core" & w\ +8 &3 s\ $d +9 &V r\ 7 +10 &} s\ L +9 &V l\ M +9 &dU n\ N +10 &'Y g\ M +9 &[ q\ N +10 &W o\ N +9 &mT \ M +9 &/U j\ M +10 &W j\ M +9 &!\\ l\ N +9 &#tX g\ N +10 &%7V f\ M +9 &&W f\ M +10 &(W l\ M +9 &*}U l\ M +9 &,?W f\ M +10 &.W h\ N +9 &/W i\ N +9 &1T e\ M +10 &3GS g\ M +9 &5T l\ N +10 &6Y e\ N +9 &8T f\ M +9 &:NW l\ N +10 &<U m\ M +9 &=W g\ M +9 &?U g\ N +10 &AWY k\ M +9 &CZ f\ M +9 &DZ f\ M +10 &Fd p\ O +9 &HWs h\ P +10 &J \ U +9 &K m\ Y +9 &M d\ Z +10 &OD j\ Y +9 &Q f\ Y +10 &R d\ [ +9 &T g\ [\ +9 &V"u k\ / +10 &V* r\ Y +9 ( + &V_ g\ I +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&|1 +101 "core" 1 +6 "manipulator"&&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%!& +3 "core" &D\ +2 "manipulator"&L% +4 "core" %\  t  +2 "storage"(K% +4 "core" %U [ Y\ +2 "storage"([. +2 "core" .( +3 "storage"(k& +3 "core" & Z X w\ +2 "storage"(3& +4 "core" & Y X \ +2 "manipulator"&& +4 "core" &' >K +2 "manipulator"& % +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&M( +158 "core" ( +2 "manipulator"&& +5 "core" & S +2 "storage"(~& +4 "core" & e f /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +94 "core" ' +2 "storage"(,& +3 "core" & %\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +284 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" & r u \ +2 "manipulator"&.& +3 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&f& +3 "core" & 1 +2 "storage"(@& +4 "core" & k q \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&+' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(u'X +7 "core" & : +2 "manipulator"&% +4 "core" %  I Q +2 .tForearm.seek :retract +2 "manipulator"&''\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &g $ b & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &g ? & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&9' +92 "core" ' +2 "manipulator"&X& +4 "core" &g X & +2 "manipulator"&% +4 "core" % l , +2 "processing"%& +4 "core" &U\ +3 "processing"%\ & +5 "core" &J\ +2 .tPC.seek :closed +2 "processing"%-(Z +5 "core" &K\  +8 &2~Q\ *y +10 &bR\ > +9 &vwH\ O +9 &9WV\ N +10 &ZR\ N +9 &WQ\ N +9 &~WP\ N +10 &AWW\ N +9 &^U\ N +10 &[T\ N +9 & ]V\ N +9 &"G[V\ O +10 &$\ YL\ N +9 &%\\O\ N +10 &'[D\ N +9 &)P\\?\ N +9 &+[M\ N +10 &,W@\ N +9 &.ZG\ N +9 &0Y]A\ N +10 &2ZC\ N +9 &3YH\ N +9 &5WD\ N +10 &7`ZG\ N +9 &9"ZF\ N +10 &:W=\ N +9 &<Y;\ N +9 &>hYJ\ N +10 &@)ZF\ O +9 &AY@\ N +9 &C]F\ N +10 &En_L\ O +9 &G-hL\ P +10 &H}F\ R +9 &JJ\ T +10 &LfF\ T +9 &N)G\ T +9 &O>\ T +10 &QB\ T +9 &SnF\ T +9 &U/E\ U +10 &VK\ U +9 &X@\ U +9 &Z \\=\ %p +10 &Za;\ 2 +8 ( +3 "processing"%\ & +3 "core" &Z!@\ - +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&41 +55 "core" 1 +2 "manipulator"&% +3 "core" % X , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +2 "processing"%/& +4 "core" &Z!4\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&1% +3 "core" %\ % C +2 "storage"(<% +4 "core" %U 1 /\ +2 "storage"(S. +3 "core" .( +2 "storage"(G& +3 "core" & 4 =\ +3 "storage"(>& +2 "manipulator"&& +8 "core" & A A V\ + &g & +49 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'i + "manipulator"&(s +29 "core" ( +2 "manipulator"&B& +4 "core" &k \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &O& +3 "core" &k \ +2 .tForearm.seek PC +2 "manipulator"&C' +96 "core" ' +4 .tHand.close + "manipulator"&}/ +59 "core" / +2 .tPC.seek :open +2 "processing"%%( +56 "core" ' +2 "storage"(`- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'y +48 "core" ' +319 ( +2 "storage"(A& +4 "core" & Z ` <\ +2 "manipulator"&x& +4 "core" &k ] \ +2 "manipulator"&F% +4 "core" % ` +2 .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&r( +262 "core" ( + "manipulator"&s& +4 "core" & ^ +2 "storage"(H& +3 "core" & t s\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +89 "core" ' +2 .tHand.open +2 "manipulator"&t1 +55 "core" 1 +3 "storage"(W- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"(a& +4 "core" & {\ +2 "manipulator"&q& +4 "core" & f +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&*& +3 "core" & 9 +2 "storage"(& +5 "core" & '\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +56 "core" ' + "manipulator"&$& +4 "core" & O +2 "storage"(& +4 "core" & t s\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&P' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&b% +3 "core" % y +2 "storage"(:& +4 "core" & Y [\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&g' +18 "core" ' +2 "manipulator"&)& +4 "core" & / +2 "storage"(& +5 "core" & s s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +33 "core" ' +2 "storage"(I% +3 "core" %n r L\ +3 ."downElevator"SE.seek :down +4 "storage"(i'X +98 (% +3 "core" %G [ X \ Xe +2 "manipulator"&m% +4 "core" %ѕ a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +4 "core" & m d\ +2 "collection"'& +3 "core" &V\\ \ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +4 "core" %\ # ^ < +2 "storage"(Y% +3 "core" %S s s \ +47 "storage"(z. +4 "core" .( +2 "storage"(w& +4 "core" & s s \ +2 "storage"(?& +5 "core" & m o -\ + "manipulator"&p& +4 "core" & n +2 .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&]& +3 "core" & t +2 "storage"(^& +4 "core" & r s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +93 "core" ' +2 "storage"(& +4 "core" & j\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & } +2 "storage"(T& +4 "core" & n n \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&"' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'P +33 "core" ' + "manipulator"&% +4 "core" % # +2 "storage"(& +4 "core" & I ; \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&l& +3 "core" & +2 "storage"(& +4 "core" & o q \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'? +45 "core" ' + "manipulator"&y& +4 "core" & ] +2 "manipulator"&!% +4 "core" %v 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +162 "core" ( + "manipulator"&[& +4 "core" &( g ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &( ?U +2 .tForearm.seek CC +2 "manipulator"&3'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(7& +4 "core" & \ +2 "storage"(& +4 "core" & \ +2 "manipulator"&~& +3 "core" &( ?P +2 "manipulator"&,% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&_( +153 "core" ( +2 "manipulator"&#& +3 "core" & R  +2 "storage"(D& +4 "core" & k\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&.' +102 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +54 "core" 1 +2 "manipulator"& % +4 "core" % n +2 "storage"(J& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&M& +4 "core" &   +2 "storage"( & +3 "core" & W\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +76 "core" ' +9 "storage"(+% +4 "core" %C "\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (n% +3 "core" %> Q\ V` +2 "manipulator"&o% +4 "core" %щ / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & *\ +2 "manipulator"&% +4 "core" %\ " p < +2 "storage"(u% +4 "core" %a \ +2 "storage"('. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(;( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (4& +2 "core" & [ Z\  +2 "manipulator"&& +4 "core" & Y  +2 .tElbow.seek 3 +2 "manipulator"&/( +17 "core" ( + "manipulator"&1& +4 "core" & n = +2 "storage"(<& +4 "core" & C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +94 "core" ' +2 "storage"(G& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +291 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (>& +3 "core" & R\  +2 "manipulator"&B& +3 "core" & m = +2 .tElbow.seek 3 +2 "manipulator"&O( +4 "core" ( +2 "manipulator"&9& +3 "core" & = +2 "storage"(}& +5 "core" & U\  +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&`'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(-'X +7 "core" & = +2 "manipulator"& % +4 "core" % ϰ c +3 .tForearm.seek :retract + "manipulator"&A'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&F& +4 "core" &' [ >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &' U >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'" +94 "core" ' +3 "manipulator"&H& +4 "core" &' >M +2 "manipulator"&% +4 "core" %#  +2 "collection"'t& +5 "core" & \ +3 "collection"'W& +5 "core" & /\ +2 .tCC.seek :closed +2 "collection"'R(V +3 "core" & z\  +10 &1z t\ *y +9 &d ~\ > +9 &up s\ N +10 &9T r\ M +9 &Z t\ N +10 &S t\ M +9 &~S r\ N +9 &AX j\ M +10 &U s\ M +9 &X g\ M +9 & W k\ M +10 &"GY k\ N +9 &$ S g\ M +10 &%W f\ N +9 &'Y e\ M +9 &)QS g\ M +10 &+V k\ M +9 &,T h\ N +9 &.Y i\ M +10 &0XY f\ N +9 &2W i\ M +10 &3T i\ M +9 &5T h\ M +9 &7_Z e\ N +10 &9"R h\ N +9 &:X \ N +9 &<W n\ N +10 &>hY i\ N +9 &@*X l\ N +10 &AY f\ N +9 &CZ c\ N +9 &Eo] g\ N +10 &G+f o\ P +9 &H| g\ R +9 &J e\ X +10 &LT h\ Z +9 &N f\ Z +10 &O h\ Z +9 &Q g\ Z +9 &SW d\ \\ +10 &U f\ \\ +9 &VhF i\ 1 +9 &V x f\ K +6 ( +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&a1 +3 "core" &Vn k\ K +55 1 +4 "manipulator"&q% +3 "core" % #  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &R\ +2 "manipulator"&c% +4 "core" %\   +2 "storage"($% +49 "core" %V @ A T\ +4 "storage"(. +4 "core" .( + "storage"(b& +4 "core" & > 4\  +2 "storage"(:& +4 "core" & 4 8\  +2 "manipulator"&Z& +3 "core" &' >M +2 "manipulator"&)% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&j( +163 "core" ( + "manipulator"&& +4 "core" & E w +2 "storage"(I& +4 "core" & s r \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +99 "core" ' +2 "storage"(h& +3 "core" & j m J\  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" & e p D\  +2 "manipulator"&5& +4 "core" & W w +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\\& +3 "core" & K w +2 "storage"(P& +3 "core" & v u \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +8 "core" & o w + "manipulator"&Y% +4 "core" % ϯ Q 9 +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +3 .tElbow.seek PC +2 "manipulator"&z(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&w& +3 "core" &s  3  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +4 "core" &s 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +102 "core" ' + "manipulator"&]& +4 "core" &s R  +2 "manipulator"&^% +4 "core" % U p +2 "processing"%d& +4 "core" &S\ +3 "processing"%& +5 "core" &]\ +2 .tPC.seek :closed +2 "processing"%i(Z +5 "core" &[\ +5 &9V\ $c +10 &TV\ 7 +9 &V\ L +10 &_Z\ N +9 &[]R\ N +9 &ZT\ O +10 &[W\ N +9 &\\W\ N +9 &c\\V\ N +10 &%YV\ N +9 &\\V\ O +10 &![V\ N +9 &#k\\U\ N +9 &%,ZU\ O +10 &&ZU\ N +9 &(\\V\ N +9 &*tYO\ N +10 &,5[Q\ N +9 &-\\E\ O +10 &/YG\ N +9 &1{ZH\ N +9 &3=ZD\ N +10 &4ZG\ N +9 &6ZG\ N +9 &8Z=\ N +10 &:FZG\ N +9 &<YG\ N +10 &=YJ\ N +9 &?YC\ N +9 &AMYE\ N +10 &CZH\ N +9 &D\\K\ O +9 &Ff@\ O +10 &HJ{F\ R +9 &JJ\ T +10 &KK\ T +9 &MH\ T +9 &OMI\ T +10 &QG\ T +9 &RK\ U +9 &TL\ U +10 &VRL\ U +9 &XJ\ U +10 &Y{nH\ 9 +9 &Z)pK\ N +9 &Z"M\ / +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&U1 +57 "core" 1 +2 "manipulator"&V% +4 "core" % x p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 "processing"%v& +3 "core" &Z!F\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&T% +4 "core" %\ ! 3 +2 "storage"(% +4 "core" %\\ A > \ +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" & 8 7 !\  +2 "storage"(l& +3 "manipulator"&& +6 "core" & 3 = \  + &s  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&y(s +2 "storage"(!'i +6 "core" ( +2 "manipulator"&(& +4 "core" &s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +42 "core" &s  +10 .tForearm.seek PC +2 "manipulator"&Q' +95 "core" ' +2 .tHand.close + "manipulator"&"/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +40 "core" ' + "storage"(8- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +45 "core" ' +337 ( +2 "storage"(k& +3 "core" & Z Y i\  +2 "manipulator"&|& +4 "core" &s 6  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +271 "core" ( + "manipulator"&E& +4 "core" & e +2 "storage"(7& +4 "core" & X Z i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +3 .tHand.open + "manipulator"&~1 +60 "core" 1 +2 "storage"(,- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(D' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(K& +4 "core" & \  +2 "manipulator"&@& +4 "core" & \\ +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&J& +3 "core" & ` +2 "storage"(M& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&+& +4 "core" & Y +2 "storage"(_& +4 "core" & W V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'} +28 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +23 "core" ' + "manipulator"&% +5 "core" %Ό + "storage"(& +4 "core" & Z Y\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&'ϸ +20 "core" ' + "manipulator"&u& +4 "core" & +2 "storage"('& +4 "core" & n n \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +28 "core" ' +2 "storage"(2% +3 "core" %o r p \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (0% +4 "core" %CG 6 > f\ Xg +2 "manipulator"&4% +3 "core" %1 + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (1& +3 "core" & m h *\  +2 "collection"'<& +4 "core" &Vm \ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&G% +3 "core" %\  x  +2 "storage"(f% +4 "core" %b s s \ +2 "storage"(X. +3 "core" .( + "storage"(& +4 "core" & r s \  +2 "storage"(>& +4 "core" & s s \  +2 "manipulator"&B& +3 "core" & n +3 .tElbow.seek 3 + "manipulator"&9( +4 "core" ( + "manipulator"&}& +4 "core" & X +2 "storage"(N& +4 "core" & s s \  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +95 "core" ' +2 "storage"( & +3 "core" & } r 9\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +282 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & u +2 "storage"(\ & +4 "core" & X N Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +23 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +29 "core" ' + "manipulator"&O% +4 "core" %Ί W +2 "storage"(t& +3 "core" & > .\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&-'϶ +21 "core" ' + "manipulator"&A& +4 "core" & +2 "storage"( & +4 "core" & L N #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(q'B +39 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&c% +4 "core" %' _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +161 "core" ( +2 "manipulator"&& +4 "core" &* _ @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &* @\\ +2 .tForearm.seek CC +2 "manipulator"&:'" +94 "core" ' + .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 .tCC.seek :open +2 "collection"')( +416 "core" ( + "storage"(s& +4 "core" & \  +2 "storage"(& +4 "core" & Y\  +2 "manipulator"&I& +3 "core" &* @[ +2 "manipulator"&h% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&x'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +7 .tElbow.seek 3 +2 "manipulator"&*( +162 "core" ( +2 "manipulator"&& +3 "core" & q  +2 "storage"(m& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&5'} +102 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +52 "core" 1 +2 "manipulator"&6% +4 "core" % | M +2 "storage"(& +5 "core" & G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&Y'Ϩ +20 "core" ' + "manipulator"&j& +4 "core" &   +2 "storage"(r& +4 "core" & B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +28 "core" ' +2 "storage"(g% +4 "core" %K f\ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (?% +3 "core" %!? !\ Vb +2 "manipulator"&% +3 "core" %/ v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'^& +3 "core" & "\ +2 "manipulator"&d% +4 "core" %\  h  +2 "storage"( % +4 "core" %a \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(%(,l +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (U& +2 "core" &,k g p ~\  +2 "manipulator"&V& +4 "core" & f  +2 .tElbow.seek 4 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&T& +3 "core" & j  +2 "storage"(& +4 "core" &,h \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +93 "core" ' +2 "storage"(& +3 "core" &,h \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,h X\  +2 "manipulator"&(& +4 "core" & c  +2 .tElbow.seek 4 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"("& +4 "core" &,h \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&8', +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&z/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(i'X +8 "core" & E  + "manipulator"&!% +4 "core" % : e a +2 .tForearm.seek :retract +2 "manipulator"&k'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &' W >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &' F >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'" +98 "core" ' +2 "manipulator"&7& +4 "core" &' >K +2 "manipulator"&y% +4 "core" %) +2 "collection"'~& +5 "core" & t\ +3 "collection"',& +6 "core" & -\ +2 .tCC.seek :closed +2 "collection"'3(V +3 "core" & s\ +8 &= s\ %f +9 &V~ s\ 8 +10 &{ r\ M +9 &T y\ M +10 &tX t\ N +9 &8R r\ M +9 &Y t\ M +10 &S k\ M +9 &}U k\ M +9 &>V d\ N +10 & X j\ M +9 &!Y l\ N +10 &#S j\ M +9 &%GU `\ M +9 &' W f\ M +10 &(R k\ M +9 &*T k\ M +9 &,NY d\ N +10 &.U i\ N +9 &/R j\ M +10 &1T m\ N +9 &3VU n\ N +9 &5W h\ M +10 &6W p\ M +9 &8W k\ M +9 &:^Y n\ N +10 &<X l\ N +9 &=U h\ M +10 &?Y i\ N +9 &AfU l\ N +9 &C)T k\ M +10 &DY j\ N +9 &Fb g\ O +9 &Hdu f\ Q +10 &J f\ V +9 &K j\ Z +10 &M g\ Z +9 &OS k\ Z +9 &Q g\ Z +10 &R g\ [\ +9 &T r\ \\ +9 &V/s h\ / +10 &V# l\ Q +8 ( +3 "collection"',& +3 "core" &Vj t\ J +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open + "manipulator"&K1 +54 "core" 1 + "manipulator"&@% +4 "core" % ) +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%M& +4 "core" &J\ +2 "manipulator"&% +3 "core" %\   +2 "storage"(+% +4 "core" %_ ) 1 &\ +2 "storage"(_. +4 "core" .(,l + "storage"([& +5 "core" &,h 5 1\  + "storage"(& +4 "core" &,h ( ) \  +2 "manipulator"&& +4 "core" &' >J +2 "manipulator"&#% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&u( +156 "core" ( +4 "manipulator"&'& +4 "core" & 9  +2 "storage"(2& +4 "core" &,h s s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&L'Ѽ +100 "core" ' +2 "storage"(& +4 "core" &,h j m 7\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'i +284 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +3 "core" &,h V O G\  +2 "manipulator"& & +3 "core" & W  +2 .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & .  +2 "storage"(n& +4 "core" &,h t s \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(G'X +8 "core" & W  +2 "manipulator"&f% +3 "core" % 4 p V +3 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&.(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +3 "manipulator"&& +3 "core" &u  7  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &u c  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +99 "core" ' +2 "manipulator"&}& +4 "core" &u `  +2 "manipulator"&N% +4 "core" % d  +2 "processing"%&& +4 "core" &Z\ +3 "processing"% & +5 "core" &Z\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &W\ +6 &T\ 4 +9 &7I~[\ 0 +10 &^pU\ E +9 &cX\ O +9 &YU\ N +10 &XT\ N +9 &D[V\ O +9 &ZU\ N +10 &ZU\ N +9 &UO\ N +10 &M\\S\ N +9 &!YU\ O +9 &"ZJ\ N +10 &$ZF\ O +9 &&VZN\ N +9 &(ZJ\ O +10 &)ZO\ N +9 &+ZH\ O +10 &-^YG\ N +9 &/ YJ\ N +9 &0ZF\ N +10 &2\\J\ N +9 &4fZL\ N +9 &6(ZL\ N +10 &7YG\ N +9 &9XL\ N +10 &;mYL\ N +9 &=/ZH\ N +9 &>XL\ N +10 &@YI\ N +9 &BuXM\ N +9 &D7XJ\ N +10 &E\\M\ N +9 &GgL\ P +10 &IryH\ R +9 &K-I\ U +9 &LF\ T +10 &NF\ T +9 &PsH\ T +9 &R5F\ T +10 &SF\ T +9 &UF\ U +10 &WzF\ U +9 &Y;F\ B +9 &Z_CnF\ Y +10 &Z:H\ / +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&o1 +3 "core" &Z#F\ / +60 1 +2 "manipulator"&% +3 "core" % l  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +100 "core" ' +2 "processing"%F& +4 "core" &Z#=\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\ % +4 "core" %\ # < +2 "storage"(H% +4 "core" %T A A \ +2 "storage"(O. +3 "core" .(,l +2 "storage"(t& +4 "core" &,h A A \  +3 "storage"(A& +2 "manipulator"& & +7 "core" &,h A A \  + &u  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(c'i +3 "core" ( + "manipulator"&{& +5 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &u  +2 .tForearm.seek PC +2 "manipulator"&/' +100 "core" ' +2 .tHand.close + "manipulator"&C/ +54 "core" / +2 .tPC.seek :open +2 "processing"%-( +86 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +52 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +239 ( +2 "storage"(b& +3 "core" &,h [ Y .\  +2 "manipulator"&a& +4 "core" &u [  +2 "manipulator"&`% +4 "core" % o +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&$( +272 "core" ( +2 "manipulator"&R& +4 "core" &  +2 "storage"(s& +4 "core" &,h X X 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +104 "core" ' +2 .tHand.open + "manipulator"&I1 +57 "core" 1 +2 "storage"(h- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(m' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +3 "core" -' +2 "storage"(W& +4 "core" &,h \  +2 "manipulator"&P& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&6( +8 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(j& +5 "core" &,h p\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&r'Ѽ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(g' +58 "core" ' +2 "manipulator"&x& +4 "core" & W +2 "storage"(?& +4 "core" &,h Z d \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +27 "core" ' +2 "manipulator"&Y% +4 "core" %  +2 "storage"(^& +3 "core" &,h 7 A U\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&d'< +27 "core" ' +2 "manipulator"& & +3 "core" & k +2 "storage"(& +4 "core" &,h t s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&q'Ѽ +27 "core" ' +2 "storage"(e% +4 "core" %n n A\ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (;% +4 "core" %C X X S\ Wd +2 "manipulator"&U% +4 "core" % g +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +94 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (T& +3 "core" &,h i L Y\  +2 "collection"'& +4 "core" &Vi S\ J +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %\ # N A +2 "storage"(\\% +4 "core" %T s r \ +2 "storage"(]. +3 "core" .(,l +2 "storage"(l& +4 "core" &,h o a \  +2 "storage"(& +3 "core" &,h s s 2\  +2 "manipulator"&(& +4 "core" & X +2 .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( + "manipulator"&"& +4 "core" & b +2 "storage"(z& +4 "core" &,h s s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +99 "core" ' +2 "storage"(!& +3 "core" &,h \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +283 "core" ' +2 "storage"(- +2 "core" -' +47 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & 7 +2 "storage"(& +3 "core" &,h o o\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&Q' +28 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(y'L +30 "core" ' +2 "manipulator"&=% +3 "core" % - +2 "storage"(~& +4 "core" &,h A 9 \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&i'@ +20 "core" ' +2 "manipulator"&k& +4 "core" & T +2 "storage"()& +4 "core" &,h s s &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&K'Ѽ +39 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(@'; +38 "core" ' +2 "manipulator"&M& +3 "core" & Y +2 "manipulator"&% +4 "core" %ѽ 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +163 "core" ( +2 "manipulator"&[& +4 "core" &+ Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &+ Aa +2 .tForearm.seek CC +2 "manipulator"&,'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'#( +416 "core" ( +2 "storage"(E& +3 "core" &,h \  +2 "storage"('& +5 "core" &,h \  + "manipulator"&2& +4 "core" &+ Aa +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&|'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&J( +161 "core" ( +2 "manipulator"&0& +4 "core" & c +2 "storage"(4& +4 "core" &,h K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& ' +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +52 "core" 1 +2 "manipulator"&1% +4 "core" %  c +2 "storage"(<& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&f'; +18 "core" ' + "manipulator"&u& +4 "core" & F c +2 "storage"(L& +4 "core" &,h /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&D'Ѽ +28 "core" ' +2 "storage"(% +3 "core" %> \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (>% +4 "core" %~? \ Va +2 "manipulator"& % +3 "core" %Ѫ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'N& +3 "core" & h\ +2 "manipulator"&&% +4 "core" %\  s  +2 "storage"(G% +4 "core" %a Z\  +2 "storage"(X. +2 "core" .(,l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +45 "storage"(( +656 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" & j -\ +2 "manipulator"&& +4 "core" & g c +2 .tElbow.seek 2 +2 "manipulator"&F( +40 "core" ( + "manipulator"&\ & +4 "core" & m % +2 "storage"(H& +4 "core" & ,\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +96 "core" ' +2 "storage"(O& +3 "core" & \ +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +285 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & \ +3 "manipulator"&{& +3 "core" & m $ +3 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&B& +3 "core" & x $ +2 "storage"(C& +4 "core" & @\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"('X +8 "core" & n $ +2 "manipulator"&b% +3 "core" % ! [ T +2 .tForearm.seek :retract +2 "manipulator"&a'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&c& +4 "core" &( ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &( ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +96 "core" ' +3 "manipulator"&s& +4 "core" &( o ?P +2 "manipulator"&% +4 "core" %" +2 "collection"'I& +4 "core" & \ +3 "collection"'h& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"':(V +2 "core" & n\ +7 &4 n\ $c +10 &V \ 7 +9 &{ \ L +9 &T t\ M +10 &iY t\ M +9 &+S s\ M +9 &X H\ N +10 &V r\ M +9 &qT t\ M +10 &3T q\ M +9 &U s\ M +9 &![ j\ M +10 &#yT t\ M +9 &%;W n\ M +10 &&W p\ N +9 &(U r\ M +9 &*T i\ M +10 &,CS u\ M +9 &.W r\ M +9 &/W f\ N +10 &1W q\ N +9 &3KV i\ M +9 &5T f\ M +10 &6Z f\ M +9 &8X l\ M +10 &:SZ g\ M +9 &<U h\ N +9 &=T f\ M +10 &?V i\ M +9 &AZX j\ N +9 &CX n\ N +10 &D\\ h\ N +9 &F_ f\ N +10 &HYn _\ Q +9 &J f\ U +9 &K m\ Y +10 &M m\ Z +9 &OG k\ Z +9 &Q o\ Z +10 &R o\ [ +9 &T m\ [ +10 &V%u s\ / +9 &V* r\ W +9 ( +3 "collection"'h& +2 "core" &V\\ f\ I +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&W1 +60 "core" 1 +3 "manipulator"&P% +3 "core" % "  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%j& +4 "core" &N\ +2 "manipulator"&Z% +3 "core" %\   +2 "storage"(x% +4 "core" %T X X 4\ +2 "storage"(?. +2 "core" .( +3 "storage"(& +3 "core" & G I T\ +2 "storage"(Y& +4 "core" & X W\ +2 "manipulator"&^& +4 "core" &( ?P + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +162 "core" ( + "manipulator"&& +4 "core" &  } +2 "storage"($& +4 "core" & r f /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +95 "core" ' +2 "storage"(& +3 "core" & 6\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +51 .tSE.seek :beamBreak +3 "storage"(m'i +283 "core" ' +2 "storage"(;- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" & f s /\ +2 "manipulator"&r& +5 "core" &  } +2 .tElbow.seek 2 + "manipulator"&6( +4 "core" ( + "manipulator"&g& +4 "core" & 4 } +2 "storage"(& +4 "core" & q o \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&d' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & Y } +2 "manipulator"&\\% +4 "core" %  p  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +4 .tElbow.seek PC +2 "manipulator"&](s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +2 "manipulator"&l& +4 "core" &l  " \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l U \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +105 "core" ' +2 "manipulator"&"& +4 "core" &l _ \ +2 "manipulator"&z% +4 "core" % P i +2 "processing"%q& +4 "core" &Y\ +3 "processing"%!& +5 "core" &Z\ +2 .tPC.seek :closed +2 "processing"%w(Z +5 "core" &Z\  +8 &0Z\ *y +9 &bZ\ > +10 &qxX\ N +9 &1[Z\ N +9 &[Z\ N +10 &\\X\ N +9 &w[Y\ N +10 &9ZZ\ N +9 &\\W\ N +9 &ZU\ N +10 & [V\ N +9 &"A[V\ N +9 &$[Y\ N +10 &%[Z\ N +9 &'[Y\ N +10 &)KZT\ N +9 &+ YU\ N +9 &,YW\ N +10 &.ZQ\ N +9 &0SZT\ N +9 &2YQ\ N +10 &3ZM\ N +9 &5ZP\ N +10 &7Z]O\ N +9 &9ZQ\ N +9 &:YR\ M +10 &<YG\ N +9 &>cZK\ N +9 &@$^F\ N +10 &AZH\ N +9 &C\\Q\ N +10 &Eh^L\ O +9 &G(hH\ O +9 &H}G\ R +10 &JK\ T +9 &L_L\ T +9 &N"L\ T +10 &OM\ T +9 &QH\ T +10 &SeH\ U +9 &U(L\ U +9 &VM\ U +10 &XL\ V +9 &ZaG\ %q +9 &ZRG\ + +6 ( +2 "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&*1 +3 "core" &ZI\ * +51 1 + "manipulator"&V% +4 "core" % i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 "processing"%& +4 "core" &Z8\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"(7% +4 "core" %b X X 2\ +2 "storage"(=. +2 "core" .( +3 "storage"(~& +3 "core" & V P \ +3 "storage"(k& +2 "manipulator"&)& +7 "core" & X X B\ + &l \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&M(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +4 "core" &l O \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &l \ +3 .tForearm.seek PC +2 "manipulator"&v' +95 "core" ' + .tHand.close +2 "manipulator"&Q/ +64 "core" / +2 .tPC.seek :open +2 "processing"%i( +85 "core" ' +2 "storage"(y- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +47 "core" ' +287 ( +2 "storage"(& +3 "core" & ^ [ \ +2 "manipulator"&K& +4 "core" &l  \ +2 "manipulator"&8% +4 "core" % w  +2 .tForearm.seek :retract +2 "manipulator"&'\ +136 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+( +262 "core" ( +2 "manipulator"&3& +3 "core" & O  +2 "storage"(E& +4 "core" & Z Y o\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&''ќ +96 "core" ' + .tHand.open +2 "manipulator"&21 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(0'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(4' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(,- +2 "core" -' +3 "storage"(_& +3 "core" & \ +2 "manipulator"&n& +4 "core" & d  +2 .tElbow.seek 2 +2 "manipulator"&1( +4 "core" ( + "manipulator"&<& +4 "core" & X  +2 "storage"(u& +4 "core" & U\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&|& +4 "core" & z  +2 "storage"(>& +4 "core" & t s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +24 "core" ' +2 "manipulator"&N% +4 "core" % P +2 "storage"(f& +4 "core" & Y X "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&&' +19 "core" ' +2 "manipulator"&G& +4 "core" & @  +2 "storage"(X& +4 "core" & r s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&@'ќ +17 "core" ' +2 "storage"(D% +3 "core" %o p s \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (%% +5 "core" %E Y N s\ Xg +2 "manipulator"&o% +4 "core" %ѡ W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" & Z e 7\ +2 "collection"'H& +4 "core" &V] #\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&O% +4 "core" %\ m 0 +2 "storage"(% +4 "core" %` s s \ +2 "storage"(}. +2 "core" .( +2 "storage"(A& +4 "core" & s s \ +2 "storage"( & +4 "core" & s s \ +2 "manipulator"&{& +5 "core" & }  + .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&C& +4 "core" & =  +2 "storage"(.& +4 "core" & s s \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +94 "core" ' +2 "storage"(b& +4 "core" & p Q\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'i +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & O  +2 "storage"(/& +4 "core" & r u \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&t' +30 "core" ' + .tElbow.hold +46 "manipulator"&, +6 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +33 "core" ' +2 "manipulator"&9% +3 "core" % +2 "storage"(I& +4 "core" & 4 3\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&' +20 "core" ' + "manipulator"&a& +4 "core" & F  +2 "storage"(#& +4 "core" & s s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(P'? +40 "core" ' + "manipulator"&j& +4 "core" & $  +2 "manipulator"&Z% +4 "core" %ў +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +163 "core" ( +3 "manipulator"&& +4 "core" &( ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &( ?T +2 .tForearm.seek CC +2 "manipulator"&Y'" +92 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(R& +3 "core" & ~ z\ +2 "storage"(& +4 "core" & o o U\ +2 "manipulator"&$& +4 "core" &( ?T +2 "manipulator"&% +4 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&;& +3 "core" &  +2 "storage"(U& +4 "core" & `\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&r' +101 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&T% +4 "core" % w +2 "storage"(& +3 "core" & L\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&\\' +21 "core" ' + "manipulator"& & +4 "core" & g  +2 "storage"(e& +4 "core" & 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +19 "core" ' +2 "storage"(d% +4 "core" %F o\ +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (% +3 "core" %< 7\ Va +2 "manipulator"&6% +4 "core" %њ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'z& +4 "core" & ,\ +2 "manipulator"&q% +4 "core" %\  e  +2 "storage"(% +3 "core" %b R\ +2 "storage"(5. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(-( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" & i q \  +2 "manipulator"&V& +3 "core" & L  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&& +3 "core" & Y Y +2 "storage"(7& +46 "core" & 8\  +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +96 "core" ' +2 "storage"(~& +4 "core" & y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +283 "core" ' +2 "storage"(k- +2 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (!& +3 "core" & W\  +2 "manipulator"&& +4 "core" & Q Y +2 .tElbow.seek 3 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&(& +3 "core" &  Y +2 "storage"(Q& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&y'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&]/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w'X +8 "core" & l Y +2 "manipulator"&% +4 "core" % ϲ F  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( +2 "manipulator"&8& +3 "core" &+  N Bi +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &, N Bi +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&3'" +102 "core" ' + "manipulator"&E& +4 "core" &, s Bi +2 "manipulator"&M% +4 "core" % w +2 "collection"'2& +4 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"',(V +3 "core" & \ +9 &4 \ $c +9 &V \ 7 +10 &| \ L +9 &T \ M +9 &fX \ M +10 &(X ]\ M +9 &Y \ M +9 &W \ N +10 &nV \ M +9 &0S >\ M +10 &T q\ M +9 &!U q\ N +9 &#vX s\ M +10 &%8Z s\ M +9 &&T l\ M +9 &(W p\ M +10 &*}W t\ N +9 &,@X r\ M +10 &.U t\ M +9 &/S v\ M +9 &1T o\ M +10 &3HW s\ M +9 &5 W t\ N +10 &6X h\ N +9 &8U e\ N +9 &:OX g\ N +10 &<X g\ N +9 &=U s\ M +9 &?U d\ M +10 &AXT g\ M +9 &CV d\ M +9 &D] f\ N +10 &Fb f\ O +9 &HTx f\ Q +10 &J ~\ V +9 &K f\ Y +9 &M h\ Z +10 &OE f\ Y +9 &Q g\ Z +10 &R c\ [\ +9 &T h\ \\ +9 &V$v g\ 0 +10 &V' f\ W +9 ( + &Vm h\ M +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&_1 +53 "core" 1 +3 "manipulator"&n% +4 "core" %  T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%u& +3 "core" &M\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(|% +4 "core" %S + ,\ +2 "storage"(>. +3 "core" .( +2 "storage"(N& +3 "core" & ) +\  +2 "storage"([& +4 "core" & G = \  +2 "manipulator"&f& +4 "core" &+ Bh +2 "manipulator"&0% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +166 "core" ( +2 "manipulator"&X& +3 "core" & n [ +2 "storage"(D& +4 "core" & s s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +105 "core" ' +2 "storage"('& +4 "core" & l u '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'i +283 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" & Y O \  +2 "manipulator"&L& +4 "core" & [ +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( +47 "manipulator"&& +6 "core" & s [ +2 "storage"( & +3 "core" & o r ~\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&&'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(O'X +8 "core" & g [ +2 "manipulator"&% +5 "core" % ϑ R  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&A& +4 "core" &g  A W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &g # W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{' +105 "core" ' +2 "manipulator"&C& +3 "core" &g W +2 "manipulator"&.% +4 "core" % \\ v +3 "processing"%@& +3 "core" &J\ +3 "processing"%b& +5 "core" &I\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &U\ +8 &9Z\ $d +9 &TS\ 7 +10 &~V\ L +9 &[Z\ N +10 &_\\`\ N +9 &!Y\\\ N +9 &[\\\ N +10 &ZY\ N +9 &f\\`\ N +10 &)ZW\ N +9 &[`\ N +9 &!Y\\\ O +10 &#oY]\ N +9 &%0ZW\ N +9 &&ZV\ N +10 &(ZT\ N +9 &*w\\V\ N +9 &,9ZZ\ N +10 &-ZZ\ N +9 &/YW\ N +10 &1\\[\ N +9 &3AYW\ N +9 &5ZV\ N +10 &6ZV\ N +9 &8]V\ N +9 &:JYV\ N +10 &< \\W\ N +9 &=XV\ N +10 &?[R\ N +9 &AQYL\ N +9 &CZL\ N +10 &D_T\ O +9 &FeM\ O +10 &HO|M\ Q +9 &J\ K\ T +9 &KH\ T +10 &MP\ T +9 &OPI\ T +9 &QG\ T +10 &RM\ T +9 &TH\ U +9 &VTD\ U +10 &XA\ U +9 &Y{mF\ 8 +10 &Z/K\ I +9 &ZJ\ ) +2 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&J1 +63 "core" 1 +2 "manipulator"&% +4 "core" % v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' + "processing"%c& +4 "core" &ZK\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&/% +3 "core" %\ & B +2 "storage"(s% +4 "core" %T A 6 y\ +2 "storage"(9. +2 "core" .( +3 "storage"(I& +3 "core" & > 4\  +3 "storage"(a& +2 "manipulator"&#& +8 "core" & @ A N\  +2 &g W +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&j(s +3 ."raiseStack"SE.seek :beamBreak + "storage"(Z'i +19 "core" ( +2 "manipulator"&S& +3 "core" &n +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" &n +3 .tForearm.seek PC +2 "manipulator"&F' +96 "core" ' + .tHand.close +2 "manipulator"&t/ +54 "core" / +4 .tPC.seek :open +2 "processing"%( +73 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +303 ( + "storage"(h& +4 "core" & J U $\  +2 "manipulator"&W& +4 "core" &p i +2 "manipulator"&% +3 "core" % H +3 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&x( +259 "core" ( +2 "manipulator"&:& +5 "core" & R  + "storage"(R& +4 "core" & [ [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +48 "manipulator"&'9 +92 "core" ' + .tHand.open +2 "manipulator"&$1 +62 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(;'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(U' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -' +2 "storage"(?& +5 "core" & \  + "manipulator"&& +4 "core" & i  +2 .tElbow.seek 3 +2 "manipulator"&T( +8 "core" ( +2 "manipulator"&& +3 "core" & Y y +2 "storage"( & +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(d' +58 "core" ' + "manipulator"&`& +4 "core" & g y +2 "storage"(& +4 "core" & Z Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'i +21 "core" ' +2 "manipulator"&z% +4 "core" %΅ i +2 "storage"(\\& +4 "core" & ] f I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&q'ϱ +19 "core" ' +2 "manipulator"&& +4 "core" & m y +2 "storage"(5& +4 "core" & h r s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +27 "core" ' +2 "storage"(m% +3 "core" %p n L\ +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (% +3 "core" %?E X W K\ We +2 "manipulator"&*% +4 "core" %= k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +94 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & X ] >\  +2 "collection"'7& +4 "core" &Vm h\ M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&~% +3 "core" %\  [ , +2 "storage"(g% +4 "core" %b s r \ +2 "storage"(". +3 "core" .( +2 "storage"(k& +4 "core" & e o s\  +2 "storage"(!& +4 "core" & Y d :\  +2 "manipulator"&& +3 "core" & x y +3 .tElbow.seek 3 + "manipulator"&(( +3 "core" ( +2 "manipulator"&Q& +4 "core" & J y +2 "storage"(]& +4 "core" & t r \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"(& +3 "core" & p q \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & q y +2 "storage"()& +4 "core" & J J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'} +18 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(E'S +25 "core" ' +2 "manipulator"&M% +3 "core" %· f +2 "storage"(2& +4 "core" & M K q\  +2 .tForearm.force -20 + "manipulator"&5 +48 .tForearm.seek 3 + 310 counts +3 "manipulator"&w'ϳ +20 "core" ' + "manipulator"&& +4 "core" & w y +2 "storage"(& +4 "core" & r g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'B +46 "core" ' +2 "manipulator"&u& +3 "core" & o y +2 "manipulator"&% +4 "core" %+ & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +161 "core" ( +2 "manipulator"&N& +5 "core" &# :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +4 "core" &# :1 +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' + .tHand.close +2 "manipulator"&f/ +62 "core" / +2 .tCC.seek :open +2 "collection"'0( +416 "core" ( +2 "storage"(3& +4 "core" & \  +2 "storage"(X& +3 "core" & -\  +2 "manipulator"&D& +4 "core" &# :1 +2 "manipulator"&'% +3 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<( +163 "core" ( +2 "manipulator"&%& +3 "core" & [ k +2 "storage"(o& +4 "core" & \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&L'} +102 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&\ % +4 "core" % ΂ i +2 "storage"(H& +5 "core" & K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&'Ϯ +20 "core" ' + "manipulator"&G& +4 "core" & U k +2 "storage"(+& +5 "core" & g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +41 "core" ' +2 "storage"(&% +3 "core" %C &\ +4 ."downElevator"SE.seek :down +3 "storage"(A'X +99 ( % +3 "core" %A t\ Va +2 "manipulator"&1% +4 "core" %! ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'.& +4 "core" & \ +2 "manipulator"&@% +4 "core" %\  T  +2 "storage"(O% +4 "core" %b Z\ +2 "storage"(}. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(i(,l +329 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" &,j 2\ +2 "manipulator"&& +4 "core" & g k +2 .tElbow.seek 4 +2 "manipulator"&c( +4 "core" ( +2 "manipulator"&/& +3 "core" & X k +3 "storage"(s& +3 "core" &,h f\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&b'Ѽ +93 "core" ' +2 "storage"(9& +3 "core" &,h 6\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +287 "core" ' +44 "storage"(#- +6 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (a& +3 "core" &,h 0\  +3 "manipulator"&S& +4 "core" & k +2 .tElbow.seek 4 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&{& +3 "core" & k +2 "storage"(t& +4 "core" &,h M\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&', +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"('X +9 "core" & F k +2 "manipulator"&Z% +4 "core" % - & R +2 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( + "manipulator"&& +4 "core" &% 2 A <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &% <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'" +104 "core" ' +2 "manipulator"&R& +3 "core" &% <: +2 "manipulator"&j% +4 "core" % +2 "collection"'$& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'Y(V +4 "core" & \  +8 &1{ \ *z +10 &c \ > +9 &}q \ N +9 &AR \ M +10 &W \ M +9 &U \ M +9 &S \ M +10 &HW \ M +9 &\ V \ M +10 &S \ M +9 & X \ N +9 &"OW \ N +10 &$U \ M +9 &%T ?\ M +9 &'V u\ N +10 &)YU s\ M +9 &+V p\ N +10 &,V r\ M +9 &.W l\ N +9 &0`W u\ M +10 &2"W r\ M +9 &3V r\ N +9 &5U s\ M +10 &7hT \ M +9 &9+S `\ M +10 &:X f\ N +9 &<Y j\ N +9 &>qT g\ M +10 &@1W l\ N +9 &AW g\ M +9 &CU c\ M +10 &Ew[ d\ N +9 &G5i h\ O +10 &Hz e\ Q +9 &J f\ X +9 &L_ m\ Y +10 &N" f\ X +9 &O m\ Z +9 &Q e\ Z +10 &Sa l\ [ +9 &U# h\ [ +10 &VnC e\ 2 +9 &Vu d\ L +5 ( +2 "collection"'& +4 "core" &Vl g\ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&^1 +60 "core" 1 +3 "manipulator"&?% +4 "core" %  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &L\ +2 "manipulator"& % +4 "core" %\   +2 "storage"(`% +3 "core" %T / * \ +2 "storage"(. +4 "core" .(,l +2 "storage"(z& +3 "core" &,h ? X\  +2 "storage"(\\& +4 "core" &,h T G M\  +2 "manipulator"&& +4 "core" &% <: +2 "manipulator"&% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&5( +162 "core" ( +2 "manipulator"&;& +3 "core" & K d +2 "storage"(m& +4 "core" &,h u t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&x'Ѽ +91 "core" ' + "storage"(& +4 "core" &,h l ;\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +278 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (*& +3 "core" &,h r _ q\  +2 "manipulator"&e& +3 "core" & c d +2 .tElbow.seek 4 +2 "manipulator"&T( +4 "core" ( + "manipulator"&d& +4 "core" & m d +2 "storage"(6& +3 "core" &,h s m\  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&q', +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&7& +2 "storage"(~'X +8 "core" & - d +2 "manipulator"&g% +5 "core" % 9 ^ +2 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&k& +4 "core" &u    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &u K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&Q& +4 "core" &u Z  +2 "manipulator"&]% +4 "core" % n  +3 "processing"%P& +3 "core" &b\ +3 "processing"%& +5 "core" &U\ +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &h\  +9 &5Y\ +| +9 &fa\ @ +10 &sW\ O +9 &SUY\ N +10 &ZW\ N +9 &\\V\ N +9 &ZU\ N +10 &_\ N +9 &Yb\ N +9 &Yc\ N +10 & Z_\ N +9 &"aZc\ N +10 &$$UY\ N +9 &%Za\ N +9 &'Z[\ N +10 &)iZb\ N +9 &++Yc\ N +9 &,W`\ N +10 &.W\\\ N +9 &0rZb\ N +10 &24Z[\ N +9 &3Y`\ N +9 &5Y]\ N +10 &7zX\\\ N +9 &9<Xb\ N +9 &:W[\ N +10 &<Wb\ N +9 &>W[\ N +10 &@DWZ\ N +9 &BYZ\ N +9 &CZ`\ N +10 &EYV\ O +9 &GJb\\\ O +10 &IvU\ R +9 &JW\ T +9 &LV\ T +10 &NDR\ S +9 &PS\ T +9 &QX\ T +10 &SR\ T +9 &UIR\ T +9 &W\ T\ U +10 &XU\ U +9 &Z,OmK\ / +10 &Z&F\ # +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +4 "core" &ZF\ # +50 1 + "manipulator"&V% +4 "core" % q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 "processing"%8& +3 "core" &ZB\ # +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&)% +4 "core" %\  [  +2 "storage"(p% +3 "core" %S X X ,\ +2 "storage"(M. +4 "core" .(,l + "storage"(2& +4 "core" &,h X X (\  +2 "storage"(& +4 "manipulator"&& +4 "core" &,h X X \  + &u k  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(u'i +2 "manipulator"&(s +7 "core" ( +2 "manipulator"&& +3 "core" &u d  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &u  +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&v/ +55 "core" / +2 .tPC.seek :open +2 "processing"%w( +91 "core" ' +2 "storage"(E- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'y +44 "core" ' +286 ( +2 "storage"([& +3 "core" &,h U X \  +2 "manipulator"&_& +5 "core" &u n  + "manipulator"&y% +4 "core" % n +2 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&|( +268 "core" ( +2 "manipulator"&,& +4 "core" & t  +2 "storage"(3& +3 "core" &,h X X W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&X'Ѽ +93 "core" ' +2 .tHand.open + "manipulator"&D1 +61 "core" 1 +2 "storage"('- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +47 "storage"(o' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(>& +3 "core" &,h q\  +2 "manipulator"& & +4 "core" & ^  +2 .tElbow.seek 4 +2 "manipulator"&\ ( +7 "core" ( +2 "manipulator"&H& +3 "core" & $  +2 "storage"(G& +4 "core" &,h v\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&+'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(&' +58 "core" ' + "manipulator"&K& +4 "core" & k  +2 "storage"( & +3 "core" &,h [ Z\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&1' +33 "core" ' + .tElbow.hold +4 "manipulator"&<, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +26 "core" ' +2 "manipulator"&% +3 "core" % +2 "storage"(.& +4 "core" &,h 8 9\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts + "manipulator"&@'< +22 "core" ' + "manipulator"&O& +4 "core" &  +2 "storage"(}& +5 "core" &,h r s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +19 "core" ' +2 "storage"(4% +4 "core" %o j l \ +3 ."downElevator"SE.seek :down +4 "storage"(A'X +98 (-% +3 "core" %>? Z Y \ Wc +2 "manipulator"&J% +4 "core" %ѣ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (/& +3 "core" &,h d Y \  +2 "collection"'s& +4 "core" &Vk '\ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&9% +4 "core" %\  e  +2 "storage"(% +5 "core" %a u s \ + "storage"(C. +3 "core" .(,l +2 "storage"(#& +5 "core" &,h u s !\  + "storage"(a& +4 "core" &,h s s \  +2 "manipulator"&S& +4 "core" & d  +2 .tElbow.seek 4 +2 "manipulator"&{( +4 "core" ( +2 "manipulator"&t& +3 "core" & O  +3 "storage"( & +3 "core" &,h s s \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& 'Ѽ +92 "core" ' +2 "storage"(Z& +3 "core" &,h m w\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +283 "core" ' +2 "storage"(b- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & l  +2 "storage"(I& +4 "core" &,h X d s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&F' +33 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(B'L +33 "core" ' + "manipulator"&j% +4 "core" % t +2 "storage"($& +3 "core" &,h : : #\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'? +19 "core" ' +2 "manipulator"&h& +3 "core" & E  +2 "storage"(0& +4 "core" &,h o r *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&^'Ѽ +29 "core" ' +3 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(?'; +87 "core" ' + "manipulator"&& +4 "core" & -  +2 "manipulator"& % +4 "core" %ѵ # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( + "manipulator"&z& +4 "core" && =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" && # ` =B +2 .tForearm.seek CC +2 "manipulator"&\\'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +3 .tCC.seek :open +2 "collection"'( +415 "core" ( + "storage"(:& +4 "core" &,h \  +2 "storage"(;& +4 "core" &,h t\  +2 "manipulator"&m& +4 "core" && =A +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" & P g +2 "storage"(*& +4 "core" &,h n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&e' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +60 "core" 1 +2 "manipulator"&% +4 "core" %  O } +2 "storage"(7& +4 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&g'> +21 "core" ' +2 "manipulator"&5& +3 "core" & g +2 "storage"(x& +4 "core" &,h ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&U'Ѽ +24 "core" ' +2 "storage"(q% +4 "core" %? a\ +3 ."downElevator"SE.seek :down +3 "storage"(k'X +100 (!% +4 "core" %< 9\ Va +2 "manipulator"&T% +4 "core" % 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"']& +3 "core" &  \ +2 "manipulator"&P% +4 "core" %\  k " +2 "storage"(~% +4 "core" %_ N\ +2 "storage"(r. +2 "core" .(,l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +651 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & D\ +3 "manipulator"&V& +3 "core" & F g +2 .tElbow.seek 2 +2 "manipulator"&8( +36 "core" ( + "manipulator"&)& +5 "core" & w !s +2 "storage"(p& +4 "core" & H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +91 "core" ' +2 "storage"(2& +3 "core" & X\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & a\ +2 "manipulator"&& +4 "core" & ^ g +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&& +5 "core" & a g +2 "storage"(v& +4 "core" & 8\ +47 .tForearm.seek 2 + 300 counts +3 "manipulator"&E' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(l'X +7 "core" & P g + "manipulator"&u% +4 "core" % % g N +2 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&y& +4 "core" &' ( >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' l >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'" +106 "core" ' +2 "manipulator"&3& +3 "core" &' p >H +3 "manipulator"&% +3 "core" % 9 +2 "collection"'D& +4 "core" & \ +3 "collection"''& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" & \ +8 &3 \ $e +9 &W~ \ 8 +9 &y \ L +10 &Q \ M +9 &kV \ M +9 &.R \ M +10 &V \ N +9 &U \ M +10 &sY \ M +9 &5V \ M +9 &X \ M +10 &!W \ N +9 &#{X \ M +9 &%<W \ N +10 &&U \ M +9 &(Q \ M +10 &*U \ M +9 &,ER \ M +9 &.R =\ M +10 &/U \ N +9 &1U \ N +9 &3MU \ M +10 &5W \ M +9 &6T \ M +10 &8S \ M +9 &:TW =\ N +9 &<Y \ M +10 &=T \ M +9 &?T \ M +9 &A]S \ M +10 &CT \ M +9 &DX i\ M +10 &F_ \ N +9 &H\\o \ P +9 &J \ U +10 &K `\ Y +9 &M @\ Z +9 &OI h\ Z +10 &Q q\ Z +9 &R o\ [\ +10 &T o\ [ +9 &V)w N\ / +9 &V$ `\ T +9 ( +2 &Vm  \ K +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&>% +4 "core" %  1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%H& +3 "core" &S\ +2 "manipulator"&G% +4 "core" %\   +2 "storage"(K% +4 "core" %T V N m\ +2 "storage"( . +2 "core" .( +2 "storage"(N& +4 "core" & X U \ +2 "storage"(%& +4 "core" & K U Z\ +2 "manipulator"&& +3 "core" && =G +3 "manipulator"&.% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&O( +158 "core" ( +2 "manipulator"&}& +3 "core" & +  +2 "storage"(4& +4 "core" & s s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +99 "core" ' +2 "storage"(X& +5 "core" & l u G\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' +2 "storage"(-- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & R X T\ +2 "manipulator"&+& +3 "core" & ^  +3 .tElbow.seek 2 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&&& +4 "core" & ?  +2 "storage"(1& +3 "core" & s s \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(9'X +7 "core" & d  +2 "manipulator"&% +5 "core" %  > H +2 .tForearm.seek :retract +2 "manipulator"&C'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +3 "manipulator"&#& +51 "core" &q x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +94 "core" ' +2 "manipulator"&t& +4 "core" &q h  +2 "manipulator"& % +4 "core" % o ( +2 "processing"%n& +4 "core" &j\ +3 "processing"%Z& +5 "core" &_\ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &f\  +9 &1}h\ *z +9 &ce\ > +9 &vv^\ O +10 &8Ze\ N +9 &Za\ N +10 &ZZ\ O +9 &ZW\ N +9 &AZW\ N +10 &\\V\ N +9 &[W\ N +9 & \\Y\ N +10 &"IZ_\ N +9 &$\ Y[\ N +9 &%Ya\ N +10 &'\\^\ N +9 &)PYc\ N +10 &+W]\ N +9 &,YX\ N +9 &.Wb\ N +10 &0XZc\ N +9 &2ZZ\ O +10 &3X[\ N +9 &5YW\ N +9 &7aU^\ N +10 &9"Y\\\ N +9 &:V]\ N +9 &<YZ\ N +10 &>iZ\\\ N +9 &@+ZV\ N +10 &AW\\\ N +9 &C\\W\ O +9 &En]U\ O +10 &G.hc\ P +9 &H~[\ R +9 &JY\ T +10 &LeW\ U +9 &N)W\ T +10 &O[\ U +9 &QS\ T +9 &SmY\ U +10 &U/X\ U +9 &VQ\ U +9 &XP\ U +10 &Z ]~T\ $o +9 &ZZR\ , +9 ( +3 "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&<1 +4 "core" &ZQ\ ( +53 1 + "manipulator"&% +4 "core" % x ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' +2 "processing"%& +4 "core" &ZB\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&I% +3 "core" %\ # ? +3 "storage"(R% +3 "core" %a B A G\ +2 "storage"(j. +3 "core" .( +2 "storage"($& +4 "core" & 4 > -\ +2 "storage"(h& +3 "manipulator"&0& +6 "core" & > 5 \ + &q  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i +2 "manipulator"& (s +6 "core" ( +2 "manipulator"& & +3 "core" &q )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &q X  +3 .tForearm.seek PC +2 "manipulator"&c' +96 "core" ' +2 .tHand.close + "manipulator"&F/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(B- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'y +48 "core" ' +287 ( +2 "storage"(& +4 "core" & X Y\ +2 "manipulator"&^& +4 "core" &q s  +2 "manipulator"&% +3 "core" % l  +3 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +264 "core" ( +2 "manipulator"&Y& +3 "core" & s \ +2 "storage"(:& +4 "core" & = G )\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +111 "core" ' +3 .tHand.open + "manipulator"&m1 +54 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(*' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(& +4 "core" & \ +2 "manipulator"&6& +3 "core" & b \ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&7& +4 "core" & S \ +2 "storage"(5& +5 "core" & \ +47 .tForearm.seek 2 + 700 counts +4 "manipulator"&x'ќ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(q' +63 "core" ' + "manipulator"&W& +4 "core" & f \ +2 "storage"(!& +4 "core" & s s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'i +23 "core" ' + "manipulator"&g% +4 "core" % g +2 "storage"(]& +4 "core" & N L ^\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&P' +20 "core" ' +2 "manipulator"&~& +3 "core" & $ \ +2 "storage"(r& +4 "core" & X O P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +17 "core" ' +2 "storage"(U% +4 "core" %q O a A\ +3 ."downElevator"SE.seek :down +4 "storage"(k'X +100 (i% +2 "core" %B X X Q\ Wd +3 "manipulator"&% +3 "core" %Ѧ q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ()& +3 "core" & \\ O `\ +2 "collection"'p& +4 "core" &Vm 0\ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&2% +3 "core" %\ # g < +2 "storage"(d% +4 "core" %[ K J 1\ +2 "storage"(Q. +3 "core" .( +2 "storage"(& +4 "core" & L P #\ +2 "storage"(& +3 "core" & a K K\ +2 "manipulator"&& +4 "core" & e \ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&v& +3 "core" & O \ +3 "storage"("& +3 "core" & J J \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +98 "core" ' + "storage"(u& +4 "core" & s r x\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +275 "core" ' +2 "storage"(M- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & _ \ +2 "storage"(& +5 "core" & d o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +30 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('P +27 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(D& +3 "core" & : 9\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&l' +22 "core" ' +2 "manipulator"&[& +3 "core" & b \ +2 "storage"(& +4 "core" & s s \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(>'? +40 "core" ' +2 "manipulator"&H& +3 "core" &  \ +2 "manipulator"&G% +4 "core" %|  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +170 "core" ( +43 "manipulator"&N& +11 "core" &# :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &# :0 +3 .tForearm.seek CC + "manipulator"&''" +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'.( +416 "core" ( +2 "storage"(,& +3 "core" & \ +2 "storage"(}& +4 "core" & X\ +2 "manipulator"&4& +4 "core" &# :0 +2 "manipulator"&X% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +158 "core" ( +2 "manipulator"&-& +3 "core" & : +2 "storage"(J& +4 "core" & u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&+' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +53 "core" 1 +2 "manipulator"&/% +4 "core" % t +2 "storage"(s& +3 "core" & \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +21 "core" ' +3 "manipulator"&O& +4 "core" & 3 +2 "storage"(|& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +25 "core" ' + "storage"(@% +4 "core" %D \ +3 ."downElevator"SE.seek :down +4 "storage"(#'X +98 (\ % +3 "core" %> \ V` +2 "manipulator"&a% +5 "core" %ѳ % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +89 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" & \ + "manipulator"&n% +4 "core" %\  e  +2 "storage"(9% +4 "core" %U S\ +2 "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(w( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & e ] m\  +2 "manipulator"&& +4 "core" & p +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&I& +4 "core" & U ~ +2 "storage"(R& +4 "core" & .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +92 "core" ' +2 "storage"($& +3 "core" & /\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Z'i +286 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" & h\  +2 "manipulator"& & +3 "core" & ? ~ +2 .tElbow.seek 3 +2 "manipulator"&{( +4 "core" ( + "manipulator"&S& +4 "core" & T ~ +2 "storage"(F& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&B'ϩ +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(A'X +8 "core" &  ~ + "manipulator"&% +51 "core" % ϱ E z +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.seek CC + "manipulator"&^( +99 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +64 "core" ( + "manipulator"&& +4 "core" & " = 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +3 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'" +104 "core" ' +3 "manipulator"&:& +4 "core" & i 7 +2 "manipulator"& % +4 "core" %5 a +3 "collection"'m& +3 "core" & \ +3 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'\\(V +5 "core" & \  +9 &3~ \ *z +9 &e \ ? +10 &n \ N +5 "Can"q\ Hi +4 "core" &JQ \ M +9 & U \ M +10 &T \ M +9 &W \ M +9 &QU \ M +10 &Q \ M +9 &T \ M +10 & T \ M +9 &"YR \ M +9 &$W \ M +10 &%V \ N +9 &'U \ M +9 &)aU \ M +10 &+#U \ M +9 &,Q \ M +10 &.U \ M +9 &0iV \ M +9 &2,Q \ M +10 &3V \ M +9 &5V \ M +9 &7pW \ N +10 &94U \ M +9 &:W \ N +10 &<W \ N +9 &>yV \ M +9 &@;W \ M +10 &AV \ N +9 &CV \ M +9 &E[ \ N +10 &G=i \ O +9 &H| \ R +10 &J \ X +9 &Lf <\ Y +9 &N) \ Y +10 &O \ Z +9 &Q \ Z +9 &Sg \ \\ +10 &U) \ [ +9 &VsC \ 2 +10 &Vs \ L +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&1 +4 "core" &Vm \ L +48 1 +3 "manipulator"&6% +4 "core" % 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%5& +3 "core" &[\ +2 "manipulator"&% +4 "core" %\  # +2 "storage"(W% +4 "core" %b X X B\ +2 "storage"(!. +2 "core" .( +3 "storage"(z& +3 "core" & T J l\  +2 "storage"(& +4 "core" & J > j\  +2 "manipulator"&g& +4 "core" & 7 +2 "manipulator"&]% +3 "core" %\  # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&~( +168 "core" ( + "manipulator"&r& +4 "core" & T +2 "storage"(`& +3 "core" & r r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +94 "core" ' + "storage"(;& +4 "core" & o n \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +280 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & Y P \  +2 "manipulator"&x& +4 "core" & i T +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&q& +4 "core" & ] T +2 "storage"(T& +4 "core" & r s \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'ϩ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(2'X +8 "core" & c T +2 "manipulator"&e% +3 "core" % ϰ H  +3 .tForearm.seek :retract +2 "manipulator"&d'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" &w  H \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w 4 \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&v& +4 "core" &w g \ +2 "manipulator"&"% +4 "core" % c +48 "processing"%?& +6 "core" &_\ +2 "processing"%u& +6 "core" &f\ +2 .tPC.seek :closed +2 "processing"%k(Z +5 "core" &]\ +6 &8]\ $d +9 &U}X\ 7 +9 &}]\ L +10 &XV\ N +9 &d^Z\ N +9 &&ZV\ N +10 &WY\ N +9 &Zc\ N +10 &kZZ\ O +9 &.W`\ N +9 &W\\\ N +10 &!WZ\ N +9 &#tWc\ N +9 &%6W]\ N +10 &&Yb\ O +9 &(YY\ O +10 &*|YY\ N +9 &,>V[\ N +9 &.\\W\ N +10 &/Yb\ O +9 &1Yb\ N +9 &3GZ_\ N +10 &5 Yc\ N +9 &6Y[\ N +10 &8WV\ N +9 &:NZY\ N +9 &<XX\ N +10 &=YU\ N +9 &?YU\ N +9 &AUX\\\ O +10 &CZ`\ N +9 &D\\V\ O +10 &Fe\\\ O +9 &HR}]\ R +9 &JV\ T +10 &K\\\ T +9 &Mb\ T +9 &OUV\ T +10 &QX\ U +9 &RU\ U +10 &TM\ U +9 &VZL\ U +9 &XU\ V +10 &Y}oV\ 4 +9 &Z*{U\ O +9 &Z$L\ . +3 ( +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&V% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' + "processing"%y& +4 "core" &Z#>\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ # 9 +2 "storage"(3% +4 "core" %a 8 4\ +2 "storage"(. +4 "core" .( + "storage"(D& +5 "core" & 9 9\  +2 "storage"([& +3 "manipulator"&& +6 "core" & 8 4\  + &w \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&H(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(G'i +2 "core" ( +2 "manipulator"&=& +4 "core" &w \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w  } \ +3 .tForearm.seek PC + "manipulator"&8' +98 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%l( +86 "core" ' + "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'y +42 "core" ' +295 ( +3 "storage"(& +3 "core" & X W I\  +2 "manipulator"&%& +4 "core" &w Y \ +2 "manipulator"&E% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&K( +274 "core" ( + "manipulator"&f& +4 "core" & a t +2 "storage"(,& +4 "core" & W X `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +87 "core" ' +2 .tHand.open +2 "manipulator"&41 +58 "core" 1 +2 "storage"(X- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +2 "core" -' +3 "storage"( & +3 "core" & 4\  +2 "manipulator"&1& +4 "core" & q t +2 .tElbow.seek 3 +2 "manipulator"&/( +7 "core" ( +2 "manipulator"&s& +3 "core" & * l +2 "storage"(O& +4 "core" & N\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(@' +58 "core" ' +2 "manipulator"&_& +3 "core" & h l +3 "storage"(\ & +3 "core" & U M k\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +48 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&a'} +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'i +24 "core" ' + "manipulator"&% +4 "core" %΃ l +2 "storage"( & +5 "core" & s r \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&n'ϯ +19 "core" ' +2 "manipulator"&9& +3 "core" & D l +2 "storage"(C& +4 "core" & f f E\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +25 "core" ' +2 "storage"(o% +4 "core" %o \  +5 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (% +3 "core" %sJ X @ @\ Yh +2 "manipulator"&<% +4 "core" %K 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (I& +3 "core" & s l $\  +2 "collection"'R& +4 "core" &Vl {\ L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&$% +3 "core" %\  d  +2 "storage"(&% +4 "core" %b t u \ +2 "storage"(t. +3 "core" .( +2 "storage"(h& +4 "core" & p o \  +2 "storage"(0& +3 "core" & s s !\  +3 "manipulator"& & +3 "core" & f l +3 .tElbow.seek 3 +2 "manipulator"&S( +2 "core" ( +2 "manipulator"&F& +4 "core" & i l +2 "storage"(L& +3 "core" & x n\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +99 "core" ' +2 "storage"(& +4 "core" & r u _\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & v l +2 "storage"(& +3 "core" & Z Y ^\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"({'T +28 "core" ' +2 "manipulator"& % +4 "core" %Ύ n +2 "storage"(m& +4 "core" & X Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&A'Ϻ +21 "core" ' + "manipulator"&& +4 "core" & l +2 "storage"(.& +4 "core" & n n O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'C +80 "core" ' +2 "manipulator"&5& +3 "core" & l +2 "manipulator"&% +5 "core" %$ D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +165 "core" ( +3 "manipulator"&z& +4 "core" &% <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &% r <> +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&g/ +61 "core" / +2 .tCC.seek :open +2 "collection"']( +416 "core" ( +9 "storage"(Y& +4 "core" & \  +2 "storage"(r& +3 "core" & \  +2 "manipulator"&`& +4 "core" &# :. +2 "manipulator"&;% +4 "core" % 1 g +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&7( +163 "core" ( +2 "manipulator"&i& +3 "core" & u +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&x'} +94 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +62 "core" 1 +2 "manipulator"&)% +3 "core" % Ώ .  +2 "storage"(p& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 318 counts + "manipulator"&e'ϻ +20 "core" ' +2 "manipulator"&~& +4 "core" & u +2 "storage"(U& +3 "core" & C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +26 "core" ' +2 "storage"(P% +3 "core" %L \ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +4 "core" %`C  u\ Wb +2 "manipulator"&% +3 "core" %7 6  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +91 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'"& +3 "core" & \ +2 "manipulator"&?% +4 "core" %\ ! U / +2 "storage"(2% +4 "core" %b d\ +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,l +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,l i\  +2 "manipulator"&V& +3 "core" & q u +2 .tElbow.seek 4 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&& +3 "core" & c u +2 "storage"(3& +4 "core" &,i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&u'Ѽ +87 "core" ' +2 "storage"(& +4 "core" &,i \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" &,i \  +2 "manipulator"&=& +3 "core" & Y u +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &  u + "storage"(& +4 "core" &,i \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&(', +29 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(k'X +8 "core" & [ u + "manipulator"&G% +4 "core" % B O M +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&E& +4 "core" &- 2 O Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +48 "core" &- q Cn +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +94 "core" ' +3 "manipulator"&,& +4 "core" &- Cn +2 "manipulator"&H% +4 "core" %  +2 "collection"'4& +4 "core" & \ +3 "collection"'X& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"''(V +2 "core" & \ +7 & \ 9 +9 &EHw \ 1 +9 &tt~ \ E +10 &] \ N +9 &Y \ M +9 &U \ M +10 &aT \ N +9 &$U \ M +10 &R \ M +9 &U \ M +9 &iU \ N +10 &!,T \ M +9 &"R \ M +9 &$T \ M +10 &&rR \ M +9 &(4V \ M +10 &)T \ M +9 &+R \ M +9 &-yT \ N +10 &/<T \ M +9 &0W \ M +9 &2T \ M +10 &4Q \ M +9 &6CU \ N +10 &8U \ M +9 &9V \ M +9 &;Y \ M +10 &=LR \ M +9 &?R \ M +9 &@T \ M +10 &BW \ M +9 &DSY \ N +10 &F_ \ N +9 &Gm \ P +9 &I \ T +10 &K9 \ Y +9 &L \ Z +9 &N \ Z +10 &P~ \ Z +9 &R@ \ Z +10 &S <\ [ +9 &U \ I +9 &V( \ *{ +10 &Vv 0\ T +2 ( +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&1% +5 "core" %  M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +94 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%O& +3 "core" &_\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(_% +3 "core" %_ 9 8 \ +2 "storage"(\ . +4 "core" .(,l + "storage"(N& +4 "core" &,i : ; \  +2 "storage"(-& +4 "core" &,i 9 : \  +2 "manipulator"&& +4 "core" &- n Cm +2 "manipulator"& % +4 "core" %\  g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&9( +165 "core" ( + "manipulator"&C& +4 "core" & _ R +2 "storage"(K& +4 "core" &,i W Y ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&o'Ѽ +96 "core" ' +2 "storage"(}& +3 "core" &,i s t\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +3 "core" &,i 4 8 x\  +2 "manipulator"&|& +3 "core" & > R +2 .tElbow.seek 4 +2 "manipulator"&/( +4 "core" ( + "manipulator"&@& +4 "core" & R +2 "storage"(a& +4 "core" &,i N X &\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&n', +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +3 "storage"($'X +8 "core" & V R +2 "manipulator"&&% +3 "core" % " f +3 .tForearm.seek :retract + "manipulator"&t'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&h& +3 "core" &z ) n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &z @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +96 "core" ' +2 "manipulator"&F& +4 "core" &z 2  +2 "manipulator"&L% +4 "core" % Y +2 "processing"%>& +4 "core" &g\ +3 "processing"%& +4 "core" &_\ +3 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &i\  +9 &3f\ +{ +9 &bg\ > +10 &|ve\ O +9 &>Yh\ N +9 &Yg\ N +10 &\\f\ N +9 &[e\ N +10 &FZ]\ N +9 &]Y\ N +9 &ZW\ N +10 & [W\ N +9 &"NYW\ N +9 &$U[\ N +50 &%ZW\ O +4 &'ZX\ N +3 &)W[[\ N + &+YY\ N + &,Y`\ N + &.XZ\ N +6 &0]Y[\ O +9 &2!Ya\ N +10 &3Yc\ N +9 &5Yb\ N +10 &7fYc\ N +9 &9)[^\ N +9 &:W`\ N +10 &<XW\ N +9 &>oW^\ N +9 &@0Yc\ N +10 &AXb\ N +9 &CZ]\ O +10 &Ev]Z\ N +9 &G6bY\ O +9 &Hr]\ Q +10 &JX\ S +9 &LlY\ T +9 &N0V\ T +10 &Oa\ T +9 &QY\ U +10 &St\\\ T +9 &U6V\ T +9 &VV\ U +10 &XU\ U +9 &Z%]R\ #k +9 &ZZM\ - +9 ( +2 &ZU\ * +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +2 "processing"%Z& +3 "core" &ZJ\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\ % G +2 "storage"(:% +4 "core" %T   P\ +2 "storage"( . +2 "core" .(,l +3 "storage"(m& +3 "core" &,i  \  +3 "storage"(& +3 "manipulator"&.& +5 "core" &,i   \  +2 &z  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&5(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +2 "manipulator"&b& +6 "core" &z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +3 "core" &z  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&c/ +57 "core" / +4 .tPC.seek :open +2 "processing"%A( +87 "core" ' + "storage"({- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'y +43 "core" ' +290 ( +2 "storage"(& +4 "core" &,i X ? '\  +2 "manipulator"&& +4 "core" &z g  +2 "manipulator"&B% +3 "core" % d  +3 .tForearm.seek :retract + "manipulator"&g'\ +100 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&W( +250 "core" ( +2 "manipulator"&\\& +4 "core" & "} +2 "storage"(Y& +3 "core" &,i 8 4\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&r'Ѽ +89 "core" ' + .tHand.open +2 "manipulator"&`1 +53 "core" 1 +2 "storage"(;- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(i'E +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(!& +4 "core" &,i 8\  +2 "manipulator"&T& +4 "core" & T "| +2 .tElbow.seek 4 +2 "manipulator"&)( +4 "core" ( + "manipulator"&p& +4 "core" & k "| +2 "storage"(~& +4 "core" &,i \  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&U'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(P' +57 "core" ' +2 "manipulator"&^& +3 "core" & n "| +2 "storage"(& +4 "core" &,i A A x\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'i +24 "core" ' +2 "manipulator"&e% +50 "core" % T - +2 "storage"("& +4 "core" &,i   k\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&?'@ +20 "core" ' +2 "manipulator"&2& +3 "core" & c "{ +2 "storage"(d& +4 "core" &,i A A j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&6'Ѽ +20 "core" ' + "storage"(*% +4 "core" %p e X\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (w% +3 "core" %; 9 5\ Vb +2 "manipulator"&% +4 "core" %ѩ p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +91 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,i X 5 \  +2 "collection"'3& +3 "core" &Vx \ T +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\   +2 "storage"(q% +3 "core" %` 2 H\ +2 "storage"(v. +4 "core" .(,l + "storage"(& +4 "core" &,i X W\  +2 "storage"([& +4 "core" &,i F ) \  +2 "manipulator"&=& +4 "core" & ~ "{ +2 .tElbow.seek 4 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" & "{ +2 "storage"(Q& +4 "core" &,i ) * !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&M'Ѽ +95 "core" ' +2 "storage"(G& +3 "core" &,i N ` 0\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +288 "core" ' +2 "storage"(u- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & v "{ +2 "storage"(D& +4 "core" &,i = L z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&(' +20 "core" ' +2 .tElbow.hold + "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(,'L +39 "core" ' +2 "manipulator"&H% +3 "core" % +2 "storage"(4& +4 "core" &,i 5 :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&k'> +19 "core" ' + "manipulator"&& +4 "core" &  "{ +2 "storage"(]& +4 "core" &,i ) , D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +19 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(1'; +41 "core" ' +2 "manipulator"&O& +3 "core" & p "{ +2 "manipulator"&% +4 "core" %ћ Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&\ ( +167 "core" ( +5 "manipulator"&X& +3 "core" &* j @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &* n @^ +2 .tForearm.seek CC +2 "manipulator"&-'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(f& +3 "core" &,i \  +2 "storage"(C& +4 "core" &,i f\  +2 "manipulator"&K& +4 "core" &* @^ +2 "manipulator"&}% +3 "core" % - +3 .tForearm.seek :retract + "manipulator"&%'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +40 "manipulator"&s( +165 "core" ( +2 "manipulator"&& +3 "core" & 0  +2 "storage"(<& +4 "core" &,i $\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&|' +104 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&a1 +59 "core" 1 +3 "manipulator"&I% +4 "core" %  % +2 "storage"(R& +4 "core" &,i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&&'= +18 "core" ' +2 "manipulator"&9& +3 "core" &   +2 "storage"(o& +4 "core" &,i q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&J'Ѽ +38 "core" ' +2 "storage"(n% +3 "core" %E \ +3 ."downElevator"SE.seek :down +4 "storage"(h'X +98 (0% +3 "core" %= :\ Va +2 "manipulator"&/% +4 "core" %ѕ U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +44623 "Can"\ 8[i +60003 \ 8i +60001 x\ 8i +60003 \ 8i +60002 \ 8di +60002 \ 8FIi +60002 \ 8 (i +60002 \ 8"\ ui +60002 z\ 8#\ i +60002 \ 8%\ i +60002 \ 8' 7i +60002 \ 8) i +60002 \ 8+t ci +60002 \ 8-V i +60002 \ 8/8 i +60002 \ 81%i +60003 \ 82i +60002 \ 84Qi +60002 \ 86i +60002 \ 88}i +60002 \ 8:i +60002 \ 8H?i +60002 \ 8@*i +60002 \ 8B ki +60002 \ 8Ci +60002 \ 8Ei +60002 \ 8G-i +60002 \ 8Ii +60002 \ 8KuYi +60002 \ 8MWi +33619 #t-> access 2 +3 "storage"(L% +3 "core" %a ,\ +2 "manipulator"&>% +3 "core" %\ " 9 +2 "manipulator"&$& +4 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(t(K +654 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" &K W N Q\  +479 #t-> exit +7 #mEXIT @1715193273.31EDT @1717092934.08EDT = =tMAIN =mMAIN_scheduler @EDT1717092934.83 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK +2 #t@21648 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +249 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"\ - + \ - + #tPolling Can every 10:00 +2 #Cleanly exited at 14:34:33EDT08-May-24 +6352 #-> ESP.ready! +3 #Powering core bus +576 .Gate.power :raw,:ON +2 "sampler") +51 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X !u +2 "storage"(-& +3 "core" & j l ]\  +3 "storage"(.% +3 "core" %a j ` \ +3 "collection"'/9 +3 "core" 9 +2 "processing"%09 +3 "core" 9vp +2552 #t-> require 'shuffle.rb' +2700 #-> 3.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'1& +3 "core" & f\  +2 .tHand.open + "manipulator"&21 +54 "core" 1 +2 "manipulator"&3% +3 "core" % \  % Q  +2 "storage"(4% +4 "core" %a ~ \ +3 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6( +170 .tSC.hold +2 "storage"(7, +3 "core" (` M d\ +14 , +2 .tSC.stop + "storage"(6 +4 .tSE.seek :down +2 "storage"(8'X +4 "core" ' + .tSE.stop +2 "storage"(5 +3 "manipulator"&9% +3 "core" % \  {  +3 !to:IRB::Abort: mesg"(Storage Carousel seek to 2 Aborted!:@checkpoint: omitted:bt["7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"1/home/esp/esp2/utils/storage.rb:139:in `to!'":/home/esp/esp2/utils/puckmoves.rb:245:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:363:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):3:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 3.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"':& +3 "core" & 9\  +2 "manipulator"&;% +3 "core" % \  2  +3 "storage"(<% +4 "core" %a h h T\ + "storage"(=. +3 "core" . +2 .tSC.seek 2 +2 "storage"(>( +173 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" & \ \ & "\ +2 "manipulator"&@& +4 "core" &  !u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&A( +41 "core" ( +2 "manipulator"&B& +4 "core" & b  + "storage"(C& +4 "core" & i k \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +91 "core" ' +2 "storage"(E& +3 "core" & } '\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +283 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" & !  \ +2 "manipulator"&I& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&K& +3 "core" & V  +2 "storage"(L& +4 "core" & N Q 7\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"(P'X +8 "core" & P  +2 "manipulator"&Q% +3 "core" %  e u +3 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +152 "core" ( +2 "manipulator"&T& +3 "core" &( "  ?P +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b + "core" ' +3 "manipulator"&U& + ."downElevator"SE.stop +5 "storage"(5 +2 "core" &( P ?P +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'" +94 "core" ' +38 "manipulator"&W& +11 "core" &(  >O +2 "manipulator"&X% +4 "core" % / +2 "collection"'Y& +3 "core" & ;\  +3 "collection"'Z& +6 "core" & \  +2 .tCC.seek :closed +2 "collection"'[(V +5 "core" & F\  +7 &I C\ %g +9 &rU B\ 8 +10 & @\ M +9 &zZ B\ P +9 &=W @\ P +10 &W B\ P +9 &W @\ O +9 &W <\ P +10 &DZ A\ P +9 &V A\ O +10 &Y =\ O +9 &![ ;\ O +9 &#NY >\ O +10 &%] 8\ P +9 &&Z 8\ P +9 &(Z 3\ O +10 &*U[ o\ P +9 &,Z /\ O +10 &-W -\ O +9 &/[ 3\ O +9 &1^[ .\ O +10 &3Z .\ P +9 &4[ 0\ P +9 &6\\ 8\ P +10 &8eZ ?\ P +9 &:(Y 6\ O +10 &;Z -\ P +9 &=Y +\ O +9 &?mZ 7\ P +10 &A/Z 5\ P +9 &BZ 4\ O +9 &D` 8\ P +10 &Fph 7\ Q +9 &H,v 8\ S +10 &I 6\ W +9 &K 4\ \\ +9 &M[ 7\ [ +10 &O 9\ [ +9 &P 8\ \\ +9 &R 9\ \\ +10 &T] 7\ ] +9 &Uw /\ ; +10 &V' 5\ $k +9 &Vw 7\ Q +2 ( +2 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&\\1 +63 "core" 1 +2 "manipulator"&]% +3 "core" %   u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%_& +4 "core" &;\ +2 "manipulator"&`% +3 "core" %\ / +3 "storage"(a% +4 "core" %c \ + "storage"(b. +3 "core" .( +2 "storage"(c& +3 "core" & R\ +2 "storage"(d& +4 "core" & \ +2 "manipulator"&e& +3 "core" &' V >O +2 "manipulator"&f% +4 "core" %\  / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +157 "core" ( + "manipulator"&h& +3 "core" & 7  +3 "storage"(i& +3 "core" & p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +88 "core" ' +2 "storage"(k& +3 "core" & \ \  E\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +279 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" & W\ +2 "manipulator"&o& +3 "core" & >  +3 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( +2 "manipulator"&q& +4 "core" &   + "storage"(r& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&s' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(v'X +8 "core" &   + "manipulator"&w% +4 "core" %  U +2 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&y(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +4 "manipulator"&z& +4 "core" &t y ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &t @ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +6 "manipulator"&|' +94 "core" ' +2 "manipulator"&}& +4 "core" &t  ' +2 "manipulator"&~% +3 "core" %   +3 "processing"%& +3 "core" &;\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &`\ +6 &D_\ $f +10 &aTR\ 8 +9 &~W\ M +9 &g\\[\ P +10 &(_W\ P +9 &[]\ O +10 &\\U\ P +9 &oY\ P +9 &1_\ P +10 &X)\ P +9 &Z\ O +10 &!w[;\ P +9 &#9](\ P +9 &$XH\ P +10 &&Y\ O +9 &(Z\ P +9 &*@X%\ P +10 &,Z5\ P +9 &-[?\ O +10 &/Y8\ P +9 &1IZ\ P +9 &3\ \\Y\ P +10 &4Z\ P +9 &6Y-\ P +9 &8QY2\ P +10 &:\\W\ P +9 &;]M\ P +9 &=Z@\ P +10 &?X\\Y\ P +9 &AY\ P +10 &BY@\ P +9 &D]t\ P +9 &F^`\ Q +10 &Hsh\ S +9 &IE\ V +9 &Kt\ V +10 &MW\ V +9 &O\ V +10 &PT\ V +9 &RM\ W +9 &T\\\ W +10 &V\ W +9 &W\ W +9 &YB\ A +10 &Z'e5\ Q +9 &Z%7\ 1 +3 ( + "processing"%& +39 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 +9 .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z&h\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  l  +2 "storage"(% +5 "core" %U \ + "storage"( . +3 "core" .( +2 "storage"(\ & +4 "core" & \ +2 "storage"( & +3 "manipulator"&& +5 "core" & \ +3 &t @ ' +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +2 "manipulator"&& +5 "core" &t > ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t s ' +3 .tForearm.seek PC + "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +49 "core" ' +280 ( +2 "storage"(& +3 "core" & \ +3 "manipulator"& & +4 "core" &t  ' + "manipulator"&% +4 "core" % K  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +246 "core" ( + "manipulator"&#& +4 "core" &\  \\ +2 "storage"($& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +94 "core" ' + .tHand.open +2 "manipulator"&&1 +61 "core" 1 +2 "storage"('- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"()' +47 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(*- +3 "core" -' +2 "storage"(+& +4 "core" & & ' %\ + "manipulator"&,& +4 "core" &\ \\ +2 .tElbow.seek 2 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&.& +4 "core" &\  H \\ +2 "storage"(/& +4 "core" & ' ' .\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +62 "core" ' + "manipulator"&2& +4 "core" &\ \\ +2 "storage"(3& +4 "core" & H\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&4' +28 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +27 "core" ' + "manipulator"&% +5 "core" % B N + "storage"(6& +4 "core" & :\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&7' +20 "core" ' +2 "manipulator"&& +3 "core" &\  \\ +3 "storage"(8& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&:'ќ +21 "core" ' +2 "storage"(;% +3 "core" %r k\ +3 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (=% +3 "core" %E 7\ Yj +2 "manipulator"&?% +3 "core" %э  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +90 "core" ' +62 ' +36 ."downElevator"SE.stop +9 "storage"(5 +3 (B& +3 "core" & \ \ +2 "collection"'C& +5 "core" &Vu \ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&E% +4 "core" %\    +2 "storage"(% +4 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(G& +4 "core" & \ + "storage"(H& +5 "core" & \ + "manipulator"&I& +4 "core" &\ Y \\ +2 .tElbow.seek 2 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&L& +4 "core" &\  e \\ + "storage"(N& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +99 "core" ' +2 "storage"(Q& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(A'i +285 "core" ' +3 "storage"(D- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &\ \\ +2 "storage"(U& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&F' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(J'O +27 "core" ' +2 "manipulator"&X% +4 "core" %   + "storage"(Y& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&P' +18 "core" ' + "manipulator"&R& +3 "core" &\ " \\ +2 "storage"(!& +5 "core" & q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(]'> +39 "core" ' + "manipulator"&_& +5 "core" &\ \\ +2 "manipulator"&`% +4 "core" %ъ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +154 "core" ( + "manipulator"&Z& +4 "core" &+ u Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &+ Bj +2 .tForearm.seek CC +2 "manipulator"&d'" +93 "core" ' +2 .tHand.close + "manipulator"&e/ +57 "core" / +2 .tCC.seek :open + "collection"'f( +420 "core" ( +2 "storage"(V& +3 "core" & " % S\ +2 "storage"(h& +4 "core" & " " \ +2 "manipulator"&i& +4 "core" &+  Ac +2 "manipulator"&k% +3 "core" %  0 +3 .tForearm.seek :retract + "manipulator"&S'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&^( +157 "core" ( +2 "manipulator"&m& +3 "core" & 8  +2 "storage"(n& +3 "core" & h h u\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&o' +100 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +53 "core" 1 +2 "manipulator"&t% +3 "core" % ~ +2 "storage"(u& +4 "core" & F G K\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&w' +20 "core" ' +3 "manipulator"&g& +4 "core" & v  + "storage"(j& +3 "core" & D ? \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +30 "core" ' +2 "storage"(s% +4 "core" %F j i f\ +2 ."downElevator"SE.seek :down +4 "storage"(z'X +99 ({% +38 "core" %˛? 6 $ F\ Wc +10 "manipulator"&p% +3 "core" %ї " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +9 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'~& +3 "core" & [\ +3 "manipulator"&% +4 "core" %\ 7 + "storage"(v% +5 "core" %V \\ [\ + "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &\  `\  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +16 "core" ( +2 "manipulator"&& +3 "core" & 8 a +3 "storage"(& +3 "core" & @ I \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + "storage"( & +4 "core" & l\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +286 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & H D\  +3 "manipulator"&& +4 "core" & " a +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&|& +4 "core" & Y a +2 "storage"(& +4 "core" & = T K\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +5 "storage"('X +3 "core" &  a +3 "manipulator"&% +4 "core" % ϗ e +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +3 "core" &' @ P >O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &' + >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'" +94 "core" ' +2 "manipulator"&$& +4 "core" &' % ; >O +2 "manipulator"&% +5 "core" %, r +2 "collection"'&& +3 "core" & S\ +3 "collection"''& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'*(V +5 "core" & 3\ +7 &5 3\ $c +9 &U 6\ 8 +9 & /\ M +10 &[ *\ O +9 &VZ 5\ P +9 &X 5\ P +10 &X 5\ O +9 &Y 3\ O +10 &_Z ;\ O +9 &!Y :\ O +9 &Z 8\ O +10 &!Z 5\ P +9 &#gX 8\ O +9 &%)\\ -\ O +10 &&X 5\ O +9 &(T 7\ O +10 &*pX 6\ O +9 &,2Y 6\ O +9 &-X 6\ O +10 &/Y 5\ O +9 &1xT 2\ O +9 &3:W 4\ O +10 &4Z 7\ O +9 &6Y 6\ P +10 &8W 4\ O +9 &:BY 5\ O +9 &<Y <\ O +10 &=V @\ O +9 &?Z <\ P +9 &AJW 7\ O +10 &C Y 8\ O +9 &DZ 7\ P +10 &Fd 6\ Q +9 &HEw 7\ T +9 &I <\ X +10 &K <\ [ +9 &Mt =\ [ +9 &O6 <\ [ +10 &P <\ \\ +9 &R <\ \\ +10 &Tw <\ ] +9 &Vv ;\ 2 +9 &V- @\ U +9 ( +3 "collection"''& +2 "core" &Vi =\ I +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&+1 +54 "core" 1 +3 "manipulator"&,% +4 "core" % , Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%/& +3 "core" &\ +2 "manipulator"&% +4 "core" %\  X ' +2 "storage"(2% +4 "core" %c \ +2 "storage"(3. +3 "core" .( +2 "storage"(& +3 "core" & \  +2 "storage"(& +4 "core" & H\  +2 "manipulator"&6& +4 "core" &' [ >O +2 "manipulator"&(% +4 "core" %\  b ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( +2 "manipulator"&8& +3 "core" & ' ` +2 "storage"(;& +5 "core" & g\  +39 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +104 "core" ' +2 "storage"(%& +6 "core" &\ )\  ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +284 "core" ' +2 "storage"(=- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" & g\  +2 "manipulator"&0& +3 "core" &  ` +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&1& +4 "core" &  ` +2 "storage"(4& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&7'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(C'X +8 "core" & B ` +2 "manipulator"&E% +3 "core" % Ϯ J  +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&G& +3 "core" &z & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&I' +99 "core" ' + "manipulator"&L& +3 "core" &z g +3 "manipulator"&N% +3 "core" %  +3 "processing"%:& +3 "core" &!\ +3 "processing"%Q& +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%<(Z +5 "core" &*\ +8 &9)\ $d +8 &S'\ 8 +9 &}(\ L +10 &\\(\ P +9 &VZ&\ P +9 &Z \ P +10 &Z%\ P +9 &X%\ P +10 &^^(\ P +9 &!Y'\ O +9 &\\&\ O +10 &!Z\ P +9 &#gY\ O +9 &%(^#\ P +10 &&W%\ O +9 &(Z\ O +10 &*n\\\ P +9 &,1]\ O +9 &-Y\ P +10 &/\\"\ P +9 &1wY\ O +9 &39Y\ O +10 &4\\\ P +9 &6\\\ O +10 &8W \ O +9 &:AY\ O +9 &<\\\ O +10 &=[\ O +9 &?\\\ O +9 &AJY\ O +10 &C ]#\ O +9 &D_\ P +10 &Fg\ Q +9 &HEz%\ T +9 &J\ U +10 &K \ U +9 &M\ U +9 &OG\ U +10 &Q\ V +9 &R\ V +10 &T\ V +9 &VL\ W +9 &X\ V +10 &Y|q\ < +9 &Z)k\ L +9 &Z'!\ 1 +3 ( + "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&51 +53 "core" 1 + "manipulator"&@% +4 "core" % # $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +98 "core" ' +4 "processing"%T& +4 "core" &Z&\ \ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&U% +3 "core" %\ " < +3 "storage"(W% +3 "core" %b \ +2 "storage"(X. +3 "core" .( +2 "storage"(Y& +3 "core" & \  +3 "storage"(R& +2 "manipulator"&!& +6 "core" & 7\  +2 &z , +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(_'i + "manipulator"&`(s +6 "core" ( +2 "manipulator"&O& +3 "core" &z H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &z z +3 .tForearm.seek PC + "manipulator"&A' +101 "core" ' +2 .tHand.close + "manipulator"&F/ +65 "core" / + .tPC.seek :open +2 "processing"%P( +76 "core" ' + "storage"(J- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'y +37 "core" ' +310 ( + "storage"(c& +3 "core" & |\  +3 "manipulator"&\\& +4 "core" &z ; +4 "manipulator"&M% +7 "core" %  +6 .tForearm.seek :retract +2 "manipulator"&e'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +39 "manipulator"&a( +271 "core" ( +2 "manipulator"&[& +3 "core" & ?  +2 "storage"(V& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +107 "core" ' +2 .tHand.open + "manipulator"&i1 +57 "core" 1 +2 "storage"(k- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(m'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(n' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(d- +3 "core" -' +2 "storage"(b& +3 "core" & B 6 w\  +2 "manipulator"&r& +4 "core" & /  +2 .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"&u& +3 "core" & H  +2 "storage"(g& +4 "core" & = K \  +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(s' +58 "core" ' +2 "manipulator"&S& +4 "core" &   + "storage"(^& +4 "core" &\  S\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'} +26 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +26 "core" ' +2 "manipulator"&w% +4 "core" %m } +2 "storage"(~& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 284 counts +2 "manipulator"&'ϙ +20 "core" ' + "manipulator"&v& +4 "core" & ~  +2 "storage"(x& +3 "core" &\  A\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +25 "core" ' + "storage"(l% +5 "core" %m\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(z'X +99 (>% +3 "core" %A \ Yj +2 "manipulator"&% +4 "core" %J y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &\ \ A\  +2 "collection"'& +4 "core" &Vh \ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\  ;  +2 "storage"(q% +4 "core" %b\ \  *\ +2 "storage"(}. +3 "core" .( +2 "storage"( & +4 "core" & \  \  + "storage"(& +4 "core" &\ C\  +2 "manipulator"&& +4 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&|( +4 "core" ( + "manipulator"&& +4 "core" & c  +2 "storage"(y& +4 "core" & \  R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' + "storage"(& +4 "core" &\ (\ $ \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"( & +3 "core" & :\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&\ '} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +29 "core" ' +2 "manipulator"&&% +4 "core" %΋ + "storage"(& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +19 "core" ' +2 "manipulator"&& +3 "core" & s  +2 "storage"(f& +42 "core" &\ \  #\  +9 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'B +39 "core" ' +2 "manipulator"&/& +4 "core" &  +2 "manipulator"&% +3 "core" %H ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +159 "core" ( + "manipulator"&& +3 "core" &' x >L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &' # >L +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&6/ +59 "core" / +2 .tCC.seek :open +2 "collection"'(( +419 "core" ( +2 "storage"(#& +3 "core" & " 2 A\  +2 "storage"(8& +4 "core" &   F\  +2 "manipulator"&;& +4 "core" &' $ >L +2 "manipulator"& % +3 "core" % 0 < +3 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&.( +161 "core" ( +2 "manipulator"&=& +3 "core" & C l +3 "storage"(?& +3 "core" & h f .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&0'} +95 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +60 "core" 1 +3 "manipulator"&9% +4 "core" % ΀ ? + "storage"(B& +4 "core" & W I ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&E'Ϭ +20 "core" ' +2 "manipulator"&& +4 "core" & 0 l +2 "storage"("& +4 "core" & ~ } +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +32 "core" ' + "storage"(7% +5 "core" %L x \ +2 ."downElevator"SE.seek :down +4 "storage"(G'X +98 (H% +3 "core" %A E D\ We +2 "manipulator"&-% +5 "core" %, ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +3 "core" & 6\ +2 "manipulator"&:% +4 "core" %\  8 +2 "storage"(C% +4 "core" %b [ [\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" &,j \  \  +3 "manipulator"&@& +4 "core" & | l + .tElbow.seek 4 +2 "manipulator"&T( +4 "core" ( + "manipulator"&U& +4 "core" & 8 l +2 "storage"(W& +4 "core" &,g S < \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&X'Ѽ +100 "core" ' + "storage"(Y& +4 "core" &,g |\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +281 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &,g C E\  +2 "manipulator"&O& +4 "core" & < l +2 .tElbow.seek 4 + "manipulator"&K( +3 "core" ( +2 "manipulator"&I& +4 "core" & Z l +2 "storage"(F& +3 "core" &,g ; < H\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&J', +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +48 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(<'X +8 "core" & 9 l + "manipulator"&_% +5 "core" % 6 4 x +2 .tForearm.seek :retract + "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&M& +3 "core" &* 6 C A_ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &* A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['" +102 "core" ' +3 "manipulator"&V& +5 "core" &* 9 @^ + "manipulator"&`% +5 "core" % U +2 "collection"'i& +4 "core" & \ +2 "collection"'k& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'d(V +5 "core" & )\ +7 & - -\ $d +9 &T )\ 8 +9 & +\ M +10 &Y -\ O +9 &YZ ;\ O +9 &X 6\ O +10 &X 2\ O +9 &W -\ O +10 &`X ;\ O +9 &#X /\ O +9 &X 7\ O +10 &!Z @\ P +9 &#hY 6\ O +9 &%)Y 4\ P +10 &&W 1\ O +9 &(V 3\ O +10 &*rY 8\ O +9 &,4W 7\ O +9 &-X 3\ O +10 &/X 7\ O +9 &1zX 6\ O +9 &3=V 7\ N +10 &4Y 4\ O +9 &6Z 7\ O +10 &8W 8\ O +9 &:C] 7\ O +9 &<Z 7\ O +10 &=Z 7\ O +9 &?Z 8\ O +9 &AMY 5\ N +10 &CZ 4\ O +9 &D] 5\ O +10 &Fc 1\ P +9 &HHv 7\ S +9 &I >\ W +10 &K 7\ \\ +9 &Mu 7\ [ +9 &O8 7\ [\ +10 &P <\ [ +9 &R ;\ \\ +10 &Tx :\ ] +9 &Vw 7\ 1 +9 &V+ =\ Y +9 ( +3 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&b1 +2 "core" &Vh 7\ I +50 1 +3 "manipulator"&r% +3 "core" %  + c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +3 "core" &2\ +2 "manipulator"&e% +4 "core" %\ \ /  +2 "storage"(S% +4 "core" %c \ +2 "storage"(^. +3 "core" .(,l + "storage"(Z& +4 "core" &,g \  +2 "storage"(w& +4 "core" &,g \  +2 "manipulator"&~& +4 "core" &* g @^ +2 "manipulator"&m% +3 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&v( +159 "core" ( + "manipulator"&x& +4 "core" & *  +2 "storage"(l& +3 "core" &,g\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&a'Ѽ +101 "core" ' +2 "storage"(h& +3 "core" &,g I 0\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +283 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,g &\  +2 "manipulator"&j& +4 "core" & P  +2 .tElbow.seek 4 + "manipulator"&t( +4 "core" ( +2 "manipulator"&s& +3 "core" &   +2 "storage"({& +4 "core" &,g\ \  V\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( 'X +8 "core" &   + "manipulator"&q% +4 "core" % # = S +2 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"& & +4 "core" &h % % +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h  % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" &h  % + "manipulator"&y% +5 "core" %  6 +2 "processing"%]& +3 "core" &+\ +3 "processing"%& +5 "core" &2\ +2 .tPC.seek :closed +45 "processing"%z(Z +12 "core" &2\ + &.\ + &1\ +2 &:\ + &1\ + &2\ + &4\ 6 +5 &=G|5\ 1 +10 &ao1\ E +9 &j2\ P +9 &\\1\ O +10 &Z0\ O +9 &D]3\ O +9 &_2\ O +10 &]3\ P +9 &Z1\ O +10 &LY0\ O +9 &!X3\ O +9 &"]1\ O +10 &$\\(\ O +9 &&TX+\ O +9 &(X/\ O +10 &)^-\ O +9 &+\\'\ P +10 &-\\["\ O +9 &/Z#\ P +9 &0[+\ O +10 &2\\/\ O +9 &4d\\,\ O +9 &6'\\+\ O +10 &7Z,\ O +9 &9\\\ O +9 &;lZ#\ O +10 &=.[!\ O +9 &>Z#\ O +10 &@\\#\ O +9 &BtZ#\ O +9 &D6^$\ O +10 &E\\#\ P +9 &Gh%\ Q +10 &Irv \ S +9 &K,&\ V +9 &L#\ U +10 &N&\ U +9 &Pr$\ U +9 &R2%\ V +10 &S$\ V +9 &U#\ V +10 &Ww#\ W +9 &Y:"\ C +9 &ZaFt$\ V +10 &Z9#\ 2 +5 ( +2 "processing"%& +4 "core" &Z+ \ 2 +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&p1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  G 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%& +3 "core" &Z+\ 2 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +3 "core" %\  T  +2 "storage"($% +4 "core" %b \ +2 "storage"(&. +3 "core" .(,l +2 "storage"(& +3 "core" &,g \  +3 "storage"(& +3 "manipulator"&f& +5 "core" &,g \  +2 &i  $ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&/(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +3 "manipulator"&& +4 "core" &i V $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &i  $ +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&\ / +58 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +286 ( + "storage"('& +3 "core" &,g S\  +3 "manipulator"&+& +4 "core" &i  $ + "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&6'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&2( +259 "core" ( +2 "manipulator"&*& +3 "core" &  +3 "storage"(#& +4 "core" &,g X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&8'Ѽ +87 "core" ' +2 .tHand.open + "manipulator"&;1 +55 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(='E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +48 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(3& +3 "core" &,g & ' \  +2 "manipulator"&4& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"&9( +7 "core" ( +2 "manipulator"&B& +3 "core" &   +2 "storage"(& +5 "core" &,g ; ) n\  +2 .tForearm.seek 4 + 700 counts + "manipulator"&"'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(7' +61 "core" ' + "manipulator"&%& +3 "core" & t  +3 "storage"(H& +4 "core" &,g \ N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&-' +30 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'i +30 "core" ' +2 "manipulator"&E% +3 "core" % K  +2 "storage"(N& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +50 .tForearm.seek 4 + 311 counts +2 "manipulator"&:'7 +27 "core" ' + "manipulator"&C& +5 "core" & #  + "storage"(& +4 "core" &,g \  G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&,'Ѽ +19 "core" ' +2 "storage"()% +3 "core" %q\ \ "\ +3 ."downElevator"SE.seek :down +4 "storage"(G'X +99 ( % +3 "core" %C %\ Xh +2 "manipulator"&5% +4 "core" %Ѯ 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" &,g p\  +2 "collection"'W& +5 "core" &Vg \ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&Y% +4 "core" %\   +2 "storage"(1% +3 "core" %T \ +2 "storage"(L. +3 "core" .(,l +2 "storage"(!& +4 "core" &,g\ O\  +2 "storage"(Q& +4 "core" &,g \  +2 "manipulator"&O& +3 "core" & {  +3 .tElbow.seek 4 + "manipulator"&I( +5 "core" ( + "manipulator"&F& +4 "core" &   +2 "storage"(& +4 "core" &,g\  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&D'Ѽ +96 "core" ' + "storage"(_& +4 "core" &,g\ \ ( 2\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +284 "core" ' +3 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  +2 "storage"(A& +4 "core" &,g n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&R' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.08 Pucks below Top Plate + "storage"(`'L +41 "core" ' + "manipulator"&K% +4 "core" % O  + "storage"(i& +4 "core" &,g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&<'? +21 "core" ' +2 "manipulator"&c& +3 "core" & 8  +3 "storage"((& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&b'Ѽ +32 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(r'; +39 "core" ' +2 "manipulator"&g& +3 "core" & L  +2 "manipulator"&e% +4 "core" % o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +155 "core" ( +3 "manipulator"&Z& +4 "core" &'  >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &'  >I +2 .tForearm.seek CC +2 "manipulator"&k'" +94 "core" ' + .tHand.close +2 "manipulator"&~/ +53 "core" / +2 .tCC.seek :open + "collection"'m( +417 "core" ( + "storage"([& +3 "core" &,g ( 1 -\  +3 "storage"(x& +4 "core" &,g " " P\  + "manipulator"&l& +3 "core" &'  >I +3 "manipulator"&h% +4 "core" % . +2 .tForearm.seek :retract + "manipulator"&\\'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&u( +160 "core" ( + "manipulator"&>& +4 "core" & Q  +2 "storage"(& +3 "core" &,g [ Z\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&j' +104 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&{1 +104 "core" 1 +10 "manipulator"&% +3 "core" %  h * +2 "storage"(& +3 "core" &,g  $ S\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&q'? +18 "core" ' +2 "manipulator"&v& +3 "core" & k  +3 "storage"(a& +4 "core" &,g h e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +28 "core" ' + "storage"(% +4 "core" %D h ] \ +2 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +3 "core" %> E F\ Vc +2 "manipulator"&t% +4 "core" %ѱ A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'y& +3 "core" & \ +2 "manipulator"&]% +3 "core" %\  5 +3 "storage"( % +4 "core" %b [ Z\ + "storage"(}. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(P( +657 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" & \ \  \ +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&( +40 "core" ( + "manipulator"& & +4 "core" &\ , D +2 "storage"($& +4 "core" & D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&&'ќ +92 "core" ' +2 "storage"(& +4 "core" & a \\ t\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Q\  w\ +2 "manipulator"&& +4 "core" &  D +2 .tElbow.seek 2 +2 "manipulator"&|( +24 "core" ( +3 "manipulator"&& +3 "core" & P u +2 "storage"(\ & +4 "core" & D C \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(z'X +8 "core" &  u + "manipulator"&% +4 "core" % 0 4 +2 .tForearm.seek :retract +2 "manipulator"&''\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &- 6 7 Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- - Cs +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&*'" +94 "core" ' +2 "manipulator"&#& +3 "core" &- " a Cr +3 "manipulator"&/% +3 "core" %" u  +3 "collection"';& +3 "core" & \ +3 "collection"' & +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & 6\ +7 &< K\ %f +9 &U~ @\ 8 +10 &~{ :\ L +9 &U 9\ O +9 &eW C\ O +10 &(W @\ O +9 &U 1\ O +10 &V +\ O +9 &oW *\ N +9 &0W 5\ O +10 &[ +\ O +9 &!Z 1\ N +9 &#uY 0\ O +10 &%8Y /\ O +9 &&U -\ O +10 &(T ,\ N +9 &*W 7\ N +9 &,AW -\ N +10 &.W 7\ N +9 &/X 8\ O +9 &1[ 8\ O +10 &3HX 6\ O +9 &5 X 7\ N +10 &6Y 5\ O +9 &8U 6\ O +9 &:PY 6\ O +10 &<Y -\ O +9 &=W 0\ O +9 &?Y 6\ N +11 &AXX 2\ O +8 &C\\ 4\ O +10 &D^ 3\ O +9 &Fe 3\ P +9 &HVs 8\ R +10 &J 5\ V +9 &K 5\ [ +9 &M 0\ Z +10 &OD 5\ [\ +9 &Q &\ [\ +10 &R ?\ ] +9 &T 6\ \\ +9 &V%v /\ 1 +10 &V! ?\ T +9 ( + &V` 5\ L +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open + "manipulator"&31 +64 "core" 1 +4 "manipulator"&4% +3 "core" % " Z  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +133 "core" ' +10 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &/\ +2 "manipulator"&6% +3 "core" %\    +3 "storage"(%% +4 "core" %b &\ + "storage"(H. +3 "core" .( +2 "storage"(& +3 "core" & $\ +3 "storage"(E& +4 "core" & \ + "manipulator"&N& +5 "core" &- r Cr + "manipulator"&=% +3 "core" %\  "  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +160 "core" ( +2 "manipulator"&2& +3 "core" & 0  +3 "storage"(& +4 "core" & \ \  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +105 "core" ' +2 "storage"(?& +3 "core" & \ \ " *\ +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +285 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & a\ +2 "manipulator"&5& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&9( +4 "core" ( +2 "manipulator"&7& +3 "core" & s  +2 "storage"(-& +4 "core" & \ c\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&:' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&W& + "storage"(Y'X +8 "core" & C  + "manipulator"&1% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&L'\ +96 "core" ' +4 .tElbow.seek PC +2 "manipulator"&0(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&!& +4 "core" &o   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &o H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&O' +102 "core" ' +2 "manipulator"&F& +3 "core" &o C +2 "manipulator"&% +4 "core" % = f +2 "processing"%,& +4 "core" &;\ +3 "processing"%_& +5 "core" &2\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &;\  +8 &1}5\ *x +10 &a8\ > +9 &fy;\ O +10 &(Z:\ O +9 &[9\ O +9 &[;\ O +10 &mW6\ O +9 &/W5\ O +9 &]/\ P +10 &\\1\ P +9 & u^2\ O +10 &"7\\8\ O +9 &#[5\ O +9 &%\\3\ O +10 &'|\\3\ P +9 &)@W0\ O +9 &+\\2\ O +10 &,Z4\ P +9 &.Z4\ O +10 &0GW0\ O +9 &2 \\-\ O +9 &3Y,\ O +10 &5W/\ O +9 &7OY-\ O +9 &9\\0\ O +10 &:Y-\ O +9 &<Z,\ O +10 &>XY+\ O +9 &@Z&\ O +9 &AY$\ O +10 &CX&\ O +9 &E^Z/\ P +10 &Gg$\ Q +9 &H}-\ S +9 &J2\ U +10 &LU)\ U +9 &N$\ U +9 &O.\ U +10 &Q$\ V +9 &S\\#\ V +9 &U#\ V +10 &V$\ V +9 &X$\ W +10 &Zf"\ (| +9 &Z]%\ 4 +9 ( + &Z"#\ 0 +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&.1 +61 "core" 1 + "manipulator"&@% +4 "core" %  f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' +2 "processing"%M& +4 "core" &Z"\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&A% +4 "core" %\ \   +2 "storage"(V% +4 "core" %b \ +2 "storage"(K. +3 "core" .( + "storage"(i& +5 "core" & 6\ +2 "storage"(c& +2 "manipulator"&(& +5 "core" & p\ +3 &o +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(g'i + "manipulator"&e(s +6 "core" ( +2 "manipulator"&D& +4 "core" &o ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +43 &I& +10 "core" &o  +3 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 .tHand.close + "manipulator"&R/ +61 "core" / +2 .tPC.seek :open +2 "processing"%<( +36 "core" ' +2 "storage"(`- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'y +49 "core" ' +336 ( +2 "storage"(w& +3 "core" & F\ +3 "manipulator"&b& +4 "core" &o  + "manipulator"&J% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&~'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&S( +248 "core" ( + "manipulator"&d& +5 "core" &\ C R + "storage"([& +4 "core" & M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +96 "core" ' +2 .tHand.open + "manipulator"&l1 +55 "core" 1 +3 "storage"(h- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(>'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(^& +3 "core" & 0 =\ +2 "manipulator"&{& +4 "core" &  Q +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  Q +2 "storage"(v& +3 "core" & ( &\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\\' +57 "core" ' +2 "manipulator"&& +4 "core" & < Q +2 "storage"(u& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +25 "core" ' +2 "manipulator"&q% +3 "core" % 5 +2 "storage"(y& +5 "core" & \ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&]' +20 "core" ' +2 "manipulator"& & +3 "core" & P Q +2 "storage"(}& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +23 "core" ' +2 "storage"(n% +3 "core" %m N\ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +4 "core" %oD a\ Yk +2 "manipulator"&p% +5 "core" %ћ  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & \ +2 "collection"'$& +3 "core" &V` M\ L +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ 5 +2 "storage"(s% +4 "core" %` \ +2 "storage"(. +3 "core" .( +2 "storage"(f& +3 "core" & c\ +2 "storage"(& +3 "core" & \ +3 "manipulator"&& +4 "core" &  Q + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +4 "core" & R Q +2 "storage"(o& +3 "core" & d\ +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 "storage"(& +3 "core" & \ \ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & D Q +2 "storage"(& +4 "core" & ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'O +31 "core" ' + "manipulator"&;% +4 "core" % % # +2 "storage"(|& +3 "core" & F\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&z' +17 "core" ' +2 "manipulator"&'& +4 "core" &\ f Q +2 "storage"(m& +4 "core" & \  B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(4'> +39 "core" ' +2 "manipulator"& & +4 "core" &  Q +2 "manipulator"&% +4 "core" %ў ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +153 "core" ( +3 "manipulator"&H& +4 "core" &( O ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( ; ?P +3 .tForearm.seek CC +2 "manipulator"&E'" +96 "core" ' + .tHand.close +2 "manipulator"&N/ +59 "core" / +2 .tCC.seek :open +2 "collection"'=( +416 "core" ( +2 "storage"(*& +4 "core" & ! ^\ +2 "storage"(2& +3 "core" &  $ `\ +3 "manipulator"&& +4 "core" &( P ?P + "manipulator"&?% +4 "core" % 0 c  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +151 "core" ( + "manipulator"&"& +4 "core" & H +2 "storage"( & +3 "core" & ? H }\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&5' +98 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "manipulator"&U% +3 "core" % - +2 "storage"(W& +4 "core" & F F\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&1' +18 "core" ' +2 "manipulator"&C& +3 "core" & k +2 "storage"(8& +4 "core" & D C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +34 "core" ' +2 "storage"(:% +4 "core" %C G I m\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (Q% +3 "core" %_>   J\ Xf +2 "manipulator"&9% +4 "core" %ѓ u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & =\ +2 "manipulator"&,% +3 "core" %\  '  +3 "storage"(Y% +3 "core" %\\ ] ]\ +2 "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &\ \  \  +2 "manipulator"&@& +3 "core" & = +3 .tElbow.seek 3 + "manipulator"&M( +18 "core" ( +2 "manipulator"&A& +4 "core" &  a + "storage"(V& +4 "core" & ` f j\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +88 "core" ' +2 "storage"(_& +3 "core" & ~ n Z\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +286 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" & < % \  +2 "manipulator"&D& +4 "core" & i a +2 .tElbow.seek 3 + "manipulator"&I( +4 "core" ( +2 "manipulator"&O& +4 "core" & _ a + "storage"(R& +4 "core" & D F \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&`'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(G'X +8 "core" &  a +2 "manipulator"&g% +3 "core" % ϧ p +3 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&J& +4 "core" &% & B <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &% p <@ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'" +96 "core" ' +2 "manipulator"&[& +3 "core" &%  O <@ +3 "manipulator"&e% +3 "core" % P +3 "collection"'l& +4 "core" & \ +2 "collection"'h& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'k(V +7 "core" & D\ +5 &4 K\ $c +9 &U H\ 8 +10 &{ M\ L +9 &T K\ O +10 &]Z G\ O +9 &U =\ O +9 &Z =\ O +10 &Y H\ O +9 &eY >\ O +9 &'[ A\ O +10 &Y 2\ O +9 &!W .\ O +10 &#mW .\ O +9 &%/Z 9\ O +9 &&U ;\ N +10 &(U -\ O +9 &*uY u\ O +9 &,8U 0\ N +10 &-V 6\ O +9 &/U -\ O +10 &1}V *\ O +9 &3?X /\ O +9 &5Y /\ O +10 &6W *\ O +9 &8V %\ N +9 &:GY 0\ O +10 &< X 0\ O +9 &=Z 4\ O +10 &?X 8\ O +9 &AOY .\ O +9 &CZ 0\ O +10 &D\\ .\ O +9 &Fb *\ P +9 &HKx *\ S +10 &I *\ X +9 &K /\ [\ +10 &Mz 6\ [ +9 &O< 3\ [ +9 &P 7\ \\ +10 &R -\ \\ +9 &T| 4\ ] +9 &Vv /\ 1 +10 &V* 4\ Y +9 ( + &Vj (\ K +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&^1 +58 "core" 1 +2 "manipulator"&{% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +3 "core" &1\ +3 "manipulator"&~% +3 "core" %\  F  +2 "storage"(% +3 "core" %T =\ +3 "storage"(u. +3 "core" .( +2 "storage"(q& +4 "core" & \  + "storage"(Z& +4 "core" & \  +2 "manipulator"&y& +3 "core" &% <; +2 "manipulator"&>% +5 "core" %\  6  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +212 "core" ( +2 "manipulator"&}& +5 "core" & / b + "storage"(n& +3 "core" & \  \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +96 "core" ' +2 "storage"(x& +3 "core" &\ *\  i\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & <\  +2 "manipulator"&a& +4 "core" & b +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\\& +3 "core" & R b +3 "storage"(& +4 "core" & e\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"('X +6 "core" & Q b +3 "manipulator"&s% +3 "core" % ϥ   +3 .tForearm.seek :retract + "manipulator"&j'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&f& +3 "core" &y    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&\ & +5 "core" &y ! n  + "manipulator"&o% +5 "core" %  +2 "processing"%r& +4 "core" &(\ +2 "processing"%& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"% (Z +5 "core" &.\ +7 & 74\ $e +9 &T8\ 8 +10 &;\ M +9 &^7\ O +10 &V\\:\ P +9 &Z:\ O +9 &\\<\ O +10 &Y<\ O +9 &_\\;\ O +9 &"W;\ O +10 &\\:\ P +9 &!Z;\ O +10 &#hW:\ O +9 &%(Z8\ P +9 &&Y:\ O +10 &([;\ O +9 &*oY5\ O +9 &,1\\;\ O +10 &-[5\ O +9 &/Z:\ O +9 &1wZ:\ O +10 &3:Z8\ O +9 &4Y4\ O +10 &6Y3\ O +9 &8X9\ O +9 &:BY7\ O +10 &<Y4\ O +9 &=Y7\ O +9 &?Y5\ O +10 &AJY5\ O +9 &C Z6\ O +10 &D`5\ O +9 &Fe5\ Q +9 &HF{/\ S +10 &J9\ U +9 &K.\ U +10 &M.\ U +9 &OH3\ U +9 &Q 0\ U +10 &R-\ V +9 &T3\ V +9 &VM,\ V +10 &X-\ V +9 &Y{n-\ < +10 &Z(k+\ O +9 &Z(/\ 1 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&t1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +100 "core" ' +2 "processing"%& +3 "core" &Z&\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ #  9 +2 "storage"(#% +3 "core" %b &\  +2 "storage"(;. +3 "core" .( +2 "storage"(|& +4 "core" & c\  +2 "storage"('& +2 "manipulator"&m& +8 "core" & \  + &y   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +3 "core" ( +2 "manipulator"&& +3 "core" &y @  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &y V  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%z( +88 "core" ' + "storage"(/- +3 "core" -'i +2 ."raiseStack"SE.configure :default +51 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +47 "core" ' +237 ( + "storage"(& +4 "core" & a\  +2 "manipulator"&3& +3 "core" &y  +2 "manipulator"&% +4 "core" % +3 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +264 "core" ( + "manipulator"&& +5 "core" &   +2 "storage"(*& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +105 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(?- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"("'E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(%& +3 "core" & ' % \  +3 "manipulator"&-& +3 "core" & s  +3 .tElbow.seek 3 + "manipulator"&U( +7 "core" ( +2 "manipulator"&W& +3 "core" & j  +2 "storage"(C& +4 "core" & C -\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(:' +58 "core" ' + "manipulator"&+& +5 "core" &  + "storage"(Q& +4 "core" &\  n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&9'} +26 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +24 "core" ' +2 "manipulator"&1% +3 "core" %΃  +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&,'ϯ +19 "core" ' +2 "manipulator"&Y& +4 "core" & <  +2 "storage"(L& +4 "core" &\ \  R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +28 "core" ' + "storage"()% +5 "core" %l\ \  \\\ +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (P% +3 "core" %#B \ Xh +2 "manipulator"&.% +4 "core" %D , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +87 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (A& +3 "core" & q\  +2 "collection"'V& +4 "core" &Vj ,\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&_% +4 "core" %\   +2 "storage"(7% +4 "core" %a \ +2 "storage"(F. +3 "core" .( +2 "storage"(c& +3 "core" & \  +2 "storage"((& +3 "core" &\ \  +2 "manipulator"&D& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&R& +3 "core" & q  +2 "storage"(0& +4 "core" &\  Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +97 "core" ' +2 "storage"(g& +3 "core" & \ ^\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +284 "core" ' +3 "storage"(K- +3 "core" -' +47 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & [  +2 "storage"(T& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&i'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(e'S +32 "core" ' + "manipulator"&l% +4 "core" %Ά - +2 "storage"(I& +4 "core" & %\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&G'ϲ +20 "core" ' +2 "manipulator"&w& +4 "core" & :  +2 "storage"(=& +3 "core" & \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"({'B +39 "core" ' +2 "manipulator"&v& +3 "core" & 2  +3 "manipulator"&~% +4 "core" %M ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +157 "core" ( +2 "manipulator"&q& +3 "core" &' " >M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &' c >M +3 .tForearm.seek CC +2 "manipulator"&Z'" +93 "core" ' + .tHand.close +2 "manipulator"&y/ +53 "core" / +2 .tCC.seek :open +2 "collection"'>( +419 "core" ( +2 "storage"(d& +3 "core" & b\  +2 "storage"(}& +4 "core" &\ \  \  +2 "manipulator"&n& +3 "core" &&  <@ +2 "manipulator"&b% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&x'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" &  T +2 "storage"(p& +4 "core" & D D \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&a'} +101 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"& % +3 "core" % ΍ +2 "storage"($& +4 "core" & H &\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&s'Ϲ +20 "core" ' +2 "manipulator"& & +3 "core" &  T +2 "storage"(S& +4 "core" & D C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +35 "core" ' +2 "storage"(]% +4 "core" %K ; H \ +2 ."downElevator"SE.seek :down +3 "storage"(f'X +100 (% +3 "core" %k@ $ $ <\ Xf +2 "manipulator"&% +4 "core" %* * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'o& +4 "core" & E\ + "manipulator"&r% +4 "core" %\ " _ 9 +2 "storage"(% +3 "core" %\\ D C\ +2 "storage"(j. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +45 "storage"(<(,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" &,i\ %\  /\  +2 "manipulator"&& +4 "core" &  T +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +5 "core" &  T +2 "storage"(#& +4 "core" &,g E D 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&;'Ѽ +97 "core" ' +2 "storage"(|& +3 "core" &,g g e m\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &,g G $ Q\  +2 "manipulator"&& +3 "core" & h T +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & M T +2 "storage"(& +4 "core" &,g "  \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&/', +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"( 'X +8 "core" & 8 T + "manipulator"&% +4 "core" % 3 0 F +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&& +4 "core" && ' L =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +95 "core" ' + "manipulator"&*& +5 "core" &% d <@ + "manipulator"& % +4 "core" %" 5  +3 "collection"'& +4 "core" & \ +2 "collection"'?& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'E(V +5 "core" & \ +7 & \ 4 +9 &4G~ \ 1 +9 &]q \ F +10 &_ \ O +9 &Y \ O +9 &Y \ N +10 &HU \ N +9 &\ W \ N +10 &Z \ N +9 &U \ N +9 &OV D\ O +10 &!U M\ O +9 &"W K\ N +9 &$[ H\ O +10 &&YU D\ N +9 &(Y K\ N +10 &)X E\ O +9 &+W L\ O +9 &-_W >\ O +10 &/"X E\ N +9 &0Z =\ O +9 &2W ;\ O +10 &4gW J\ O +9 &6)Y F\ O +9 &7U >\ N +10 &9U ;\ N +9 &;pY =\ N +10 &=2W >\ N +9 &>W <\ N +9 &@Z =\ O +10 &BvV ;\ O +9 &D9X D\ O +10 &E^ 7\ P +9 &Gn 4\ R +9 &Im =\ U +10 &K >\ [ +9 &L :\ [\ +9 &N :\ [ +10 &Pd =\ [ +9 &R% 7\ [\ +9 &S <\ ] +10 &U 1\ J +9 &V1 ;\ / +10 &Vk =\ K +2 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 2.01 + .Hand.open + "manipulator"&%1 +57 "core" 1 + "manipulator"&-% +4 "core" % "  s  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%C& +4 "core" &/\ +2 "manipulator"&N% +3 "core" %\  <  +3 "storage"(+% +4 "core" %b \ + "storage"(Q. +3 "core" .(,l +2 "storage"(H& +3 "core" &,g \  +2 "storage"(1& +5 "core" &,g 7\  + "manipulator"&& +4 "core" &% g <@ +2 "manipulator"&"% +3 "core" %\  n  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&Y( +157 "core" ( +2 "manipulator"&L& +3 "core" & 4 x +3 "storage"()& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&6'Ѽ +98 "core" ' +2 "storage"(2& +3 "core" &,g\ W\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +50 .tSE.seek :beamBreak +3 "storage"( 'i +288 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &,g t\  +2 "manipulator"&8& +3 "core" & < x +3 .tElbow.seek 4 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&:& +3 "core" &  x +2 "storage"(9& +4 "core" &,g \  +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&,', +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&V& +3 "storage"(_'X +8 "core" & c x + "manipulator"&7% +5 "core" % % K Q +2 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +3 "manipulator"&c& +4 "core" &k   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &k P  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +92 "core" ' +2 "manipulator"&R& +3 "core" &k E  +3 "manipulator"&0% +4 "core" %  9 +2 "processing"%4& +4 "core" &,\ +2 "processing"%g& +5 "core" &>\ +2 .tPC.seek :closed +2 "processing"%!(Z +3 "core" &4\ +8 &9>\ $c +9 &U9\ 7 +10 &}3\ L +9 &\\2\ O +9 &SZ5\ P +10 &Z/\ O +9 &X6\ O +9 &[;\ O +10 &\\Z:\ O +9 &Y1\ P +10 &Z3\ O +9 &!Z1\ P +9 &#d[2\ O +10 &%%Z4\ P +9 &&Y7\ O +9 &(Z;\ O +10 &*lU<\ O +9 &,-Z:\ P +10 &-Z:\ O +9 &/X;\ O +9 &1tY;\ O +10 &36W4\ O +9 &4W4\ O +9 &6X7\ O +10 &8|W8\ O +9 &:?Y:\ O +10 &<W:\ O +9 &=W:\ O +9 &?X2\ O +10 &AGX4\ O +9 &C X8\ O +9 &D\\:\ P +10 &F\\5\ P +9 &HHl6\ Q +10 &J:\ S +9 &K:\ U +9 &M.\ U +10 &OD9\ U +9 &Q3\ U +9 &R9\ V +10 &T:\ V +9 &VJ0\ V +10 &X 3\ V +9 &Y{p.\ = +9 &Z%Z0\ U +10 &Z-3\ 3 +2 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&B1 +53 "core" 1 +2 "manipulator"&@% +3 "core" % 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' +2 "processing"%J& +3 "core" &Z("\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&T% +4 "core" %\ % > D +2 "storage"([% +3 "core" %_ \ +2 "storage"(l. +3 "core" .(,l +2 "storage"(I& +3 "core" &,g f\  +3 "storage"(w& +2 "manipulator"&=& +5 "core" &,g \  +3 &k 3  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&v(s +2 "storage"(~'i +4 "core" ( +3 "manipulator"&X& +3 "core" &k &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &k   +3 .tForearm.seek PC + "manipulator"&M' +94 "core" ' + .tHand.close +2 "manipulator"&i/ +61 "core" / +2 .tPC.seek :open +2 "processing"%G( +87 "core" ' +2 "storage"(e- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(q'y +42 "core" ' +291 ( +2 "storage"(h& +4 "core" &,g n\  +2 "manipulator"&^& +4 "core" &k C  + "manipulator"&`% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +11 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +260 "core" ( + "manipulator"&k& +4 "core" & L  +2 "storage"(d& +4 "core" &,g \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&}'Ѽ +88 "core" ' + .tHand.open +2 "manipulator"&n1 +58 "core" 1 +2 "storage"(b- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +3 "core" -' +2 "storage"(u& +3 "core" &,g  (\  +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"& ( +8 "core" ( + "manipulator"&$& +4 "core" & 0  +2 "storage"( & +4 "core" &,g I\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&S'Ѽ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +60 "core" ' +2 "manipulator"&x& +3 "core" &   +2 "storage"(& +4 "core" &,g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +23 "core" ' +2 "manipulator"&s% +4 "core" % ( + "storage"(o& +3 "core" &,g \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&r'> +30 "core" ' +2 "manipulator"&& +3 "core" & 8  +2 "storage"(j& +4 "core" &,g $\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&{'Ѽ +41 "core" ' +2 "storage"(% +3 "core" %m N\ +3 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (% +3 "core" %> \ Xf +2 "manipulator"&t% +4 "core" % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,g E\  +2 "collection"'#& +3 "core" &Vk \ K +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&|% +4 "core" %\    +2 "storage"(\\% +3 "core" %a 4\ +2 "storage"(\ . +3 "core" .(,l +2 "storage"(m& +3 "core" &,g G\  +2 "storage"('& +4 "core" &,g z\  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & t  +2 "storage"(& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&&'Ѽ +92 "core" ' +2 "storage"(& +3 "core" &,g \ \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +3 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +3 "storage"(& +4 "core" &,g p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +16 "Can"\ Joti +13 "core" ' +2 .tElbow.hold +46 "manipulator"&/, +6 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(*- +3 "core" -' +2 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"( 'L +39 "core" ' +2 "manipulator"&% +3 "core" % ,  +2 "storage"(& +5 "core" &,g 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"& '@ +20 "core" ' +2 "manipulator"&3& +3 "core" & 0  +2 "storage"(>& +5 "core" &,g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&%'Ѽ +17 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(-'; +40 "core" ' +2 "manipulator"&C& +3 "core" & {  +3 "manipulator"&N% +4 "core" %ѿ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q( +157 "core" ( +2 "manipulator"&H& +4 "core" && t =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &1& +2 "core" && $ v =F +3 .tForearm.seek CC +2 "manipulator"&?'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / + .tCC.seek :open +2 "collection"'"( +416 "core" ( +2 "storage"(& +3 "core" &,g " " \  +3 "storage"(L& +4 "core" &,g   u\  + "manipulator"&)& +3 "core" && N =F +3 "manipulator"&2% +4 "core" % 4 k * +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&W( +159 "core" ( + "manipulator"&P& +4 "core" & ]  +2 "storage"(.& +3 "core" &,g D > \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&8' +106 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +54 "core" 1 +2 "manipulator"&A% +4 "core" %   + "storage"(V& +4 "core" &,g\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&7'> +21 "core" ' +3 "manipulator"&Y& +4 "core" & Y  + "storage"(6& +4 "core" &,g ] \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& 'Ѽ +23 "core" ' +2 "storage"(,% +4 "core" %E r q \ +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 ((% +3 "core" %= 9 * 3\ We +2 "manipulator"&U% +4 "core" %Ѡ O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +97 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'0& +3 "core" & \ +2 "manipulator"&4% +4 "core" %\    + "storage"(_% +4 "core" %a f ] @\ +2 "storage"(5. +3 "core" .(,l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(z( +653 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &   R\ +2 "manipulator"&@& +4 "core" & d  +2 .tElbow.seek 2 +2 "manipulator"&J( +35 "core" ( + "manipulator"&T& +4 "core" & * & +2 "storage"([& +48 "core" & D F @\ +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +90 "core" ' +2 "storage"(I& +3 "core" & S Y \ +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +282 "core" ' +5 "storage"(=- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +2 "core" & \ \ & 8\ +3 "manipulator"&X& +3 "core" & # % +2 .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&D& +3 "core" & ! % +3 "storage"(i& +4 "core" & &\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&e' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(!'X +8 "core" &  % +2 "manipulator"&~% +3 "core" %  u +3 .tForearm.seek :retract +2 "manipulator"&h'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +145 "core" ( +2 "manipulator"&`& +3 "core" & ! ( 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +4 "core" &  8 ' +3 ."downElevator"SE.stop +3 .tForearm.reconfigure :tight +2 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC + "manipulator"&k'" +98 "core" ' +3 "manipulator"&d& +4 "core" &! i 8 +2 "manipulator"&v% +4 "core" %   +2 "collection"'n& +6 "core" & \ +2 "collection"'b& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Z(V +5 "core" & \ +7 & 4 \ $e +10 &V~ \ 8 +9 &} \ M +9 &V \ O +10 &bY \ O +9 &$W \ O +10 &X \ O +9 &T \ N +9 &kW \ N +10 &-Z \ N +9 &V \ N +9 &![ \ O +10 &#rU \ O +9 &%5W \ N +9 &&T \ N +10 &(U \ N +9 &*zW I\ O +10 &,<W \ O +9 &-W \ O +9 &/W \ N +10 &1U J\ N +9 &3DW M\ O +10 &5T L\ N +9 &6W I\ O +9 &8U K\ O +10 &:MU J\ N +9 &<W K\ O +9 &=U J\ N +10 &?W F\ N +9 &AUU J\ N +10 &CW D\ O +9 &D\\ D\ O +9 &F` \ P +10 &HSp C\ R +9 &J E\ V +9 &K I\ [ +10 &M =\ [ +9 &OA F\ [ +10 &Q <\ Z +9 &R F\ \\ +9 &T ;\ \\ +10 &V!w D\ 0 +9 &V' <\ W +9 ( + &Vj ?\ K +2 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&u1 +61 "core" 1 +2 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &9\ +2 "manipulator"&y% +3 "core" %\ ! 5 +2 "storage"(x% +4 "core" %a S\ +2 "storage"(. +3 "core" .( +2 "storage"(q& +4 "core" & \ +2 "storage"(s& +3 "core" & [\ +2 "manipulator"&o& +5 "core" & _ 8 +2 "manipulator"&% +4 "core" %\ ! h 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +166 "core" ( +2 "manipulator"&j& +3 "core" & 9  +3 "storage"(& +4 "core" & k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +104 "core" ' +2 "storage"(}& +4 "core" & \ \ Z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & $\ +2 "manipulator"&S& +3 "core" & D  +3 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( +47 "manipulator"&]& +6 "core" & H  +2 "storage"(& +3 "core" & C\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&r' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(|'X +9 "core" & j  + "manipulator"&\\% +4 "core" % \ ( S +3 .tForearm.seek :retract + "manipulator"&a'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&\ (s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&m& +3 "core" &r   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &r -  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"&& +5 "core" &r   + "manipulator"&% +5 "core" %   + "processing"%{& +4 "core" &C\ +3 "processing"%& +5 "core" &;\ +2 .tPC.seek :closed +2 "processing"%f(Z +5 "core" &P\ +7 &8E\ $c +9 &UJ\ 7 +10 &|A\ L +9 &]G\ P +10 &S[J\ O +9 &\\E\ O +9 &[I\ O +10 &ZI\ O +9 &ZZC\ P +9 &X=\ O +10 &W3\ O +9 &!Y9\ O +10 &#cVC\ O +9 &%%VJ\ O +9 &&Z9\ O +10 &(Y7\ P +9 &*kXE\ O +9 &,-U7\ O +10 &-[>\ O +9 &/X=\ O +10 &1sZA\ O +9 &35XA\ O +9 &4Z=\ O +10 &6YF\ O +9 &8{XD\ O +9 &:=YC\ O +10 &;WA\ O +9 &=VB\ O +10 &?YA\ O +9 &AFWB\ O +9 &CY>\ O +10 &D\\B\ O +9 &F`B\ P +9 &HEtE\ R +10 &J6\ T +9 &KB\ V +10 &M=\ U +9 &OB6\ V +9 &Q@\ U +10 &R9\ V +9 &T4\ V +10 &VH:\ W +9 &X\ <\ V +9 &Y~s=\ : +10 &Z3;\ G +9 &Z8\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +93 "core" ' + "processing"%& +4 "core" &Z3\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"(*% +4 "core" %T \ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & e\ +2 "storage"(3& +2 "manipulator"&>& +7 "core" & <\ + &r   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(C'i + "manipulator"&N(s +7 "core" ( + "manipulator"&&& +5 "core" &r X  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r B  +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +4 .tPC.seek :open +2 "processing"% ( +92 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +44 "core" ' +286 ( +2 "storage"(1& +4 "core" & \ +2 "manipulator"&%& +3 "core" &r   +2 "manipulator"&/% +3 "core" %  0  +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +259 "core" ( +2 "manipulator"&E& +3 "core" &  +2 "storage"(& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +46 "manipulator"&L'ќ +102 "core" ' +2 .tHand.open + "manipulator"&)1 +56 "core" 1 +3 "storage"(2- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(.' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +2 "storage"(Q& +4 "core" &   W\ +2 "manipulator"&9& +4 "core" & 5  +2 .tElbow.seek 2 +2 "manipulator"&A( +7 "core" ( + "manipulator"&V& +4 "core" & V  +2 "storage"(Y& +4 "core" & & &\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +14 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +61 "core" ' +2 "manipulator"&& +4 "core" & @  +2 "storage"((& +4 "core" & n\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&U' +31 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +22 "core" ' +2 "manipulator"&0% +4 "core" %  +2 "storage"(7& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&4' +19 "core" ' + "manipulator"&_& +5 "core" & t  + "storage"(5& +4 "core" & _\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +35 "core" ' +2 "storage"( % +3 "core" %p \ +3 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (<% +3 "core" %F -\ Xj +2 "manipulator"&B% +3 "core" %ѕ p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (T& +3 "core" & \ +2 "collection"'[& +3 "core" &Va \ K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&I% +3 "core" %\ !  7 +3 "storage"(:% +3 "core" %` \ +2 "storage"(R. +3 "core" .( +2 "storage"(=& +3 "core" & f\ +2 "storage"(g& +4 "core" & {\ +2 "manipulator"&X& +3 "core" & {  +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( +2 "manipulator"&i& +4 "core" &  + "storage"(F& +3 "core" & |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +89 "core" ' +2 "storage"(~& +3 "core" & b\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +280 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & D  +2 "storage"(M& +4 "core" & k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w' +32 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'P +28 "core" ' + "manipulator"&n% +4 "core" % N +2 "storage"(O& +4 "core" & )\ + .tForearm.force -20 +2 "manipulator"&5 +48 .tForearm.seek 2 + 315 counts +3 "manipulator"&!' +18 "core" ' +2 "manipulator"&h& +3 "core" & ;  +3 "storage"("& +4 "core" & d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +39 "core" ' + "manipulator"& & +5 "core" &  + "manipulator"&y% +5 "core" %я r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&b& +4 "core" &% C <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &% 4 <9 +2 .tForearm.seek CC +2 "manipulator"&s'" +93 "core" ' +2 .tHand.close + "manipulator"&o/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(k& +4 "core" & \ \ \ +2 "storage"(j& +4 "core" & \ \ \ +2 "manipulator"&& +3 "core" &% F <9 +2 "manipulator"&}% +4 "core" % ' 2  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +159 "core" ( + "manipulator"&& +3 "core" & F  +3 "storage"(t& +4 "core" & D E\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&S' +97 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" %  + "storage"(#& +4 "core" & $ # Q\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&\\' +18 "core" ' +3 "manipulator"&& +3 "core" & +  +2 "storage"(& +3 "core" & $ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +28 "core" ' +2 "storage"(r% +3 "core" %C D D \ +3 ."downElevator"SE.seek :down +4 "storage"(m'X +100 ('% +3 "core" %$>  S\ We +2 "manipulator"& % +3 "core" %ѐ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & \ +2 "manipulator"&{% +3 "core" %\  l  +3 "storage"(|% +4 "core" %\\ C B \ + "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(G( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & Y\  +2 "manipulator"&& +3 "core" & G  +3 .tElbow.seek 3 + "manipulator"&( +13 "core" ( +2 "manipulator"&& +3 "core" & | c +2 "storage"(*& +4 "core" &   ~\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' + "storage"(& +4 "core" & ] \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +282 "core" ' +46 "storage"(>- +6 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" &\ &\  h\  +2 "manipulator"&&& +4 "core" & c c +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & e c + "storage"(& +4 "core" & ! ! \  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(f'X +9 "core" & c + "manipulator"&C% +3 "core" % ϰ = +3 .tForearm.seek :retract + "manipulator"&1'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&/& +4 "core" &( '  ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( R ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +103 "core" ' +3 "manipulator"&& +3 "core" &( # ?S +3 "manipulator"&N% +4 "core" %$ l +2 "collection"')& +4 "core" & \ +3 "collection"'2& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \  +9 &.z \ +| +9 &d \ ? +9 &wp \ O +10 &;U \ N +9 &V \ N +10 &T \ N +9 &U \ N +9 &CU \ N +10 &Y \ O +9 &W \ O +9 & U \ N +10 &"KV \ N +9 &$ U \ N +10 &%W \ N +9 &'Y \ O +9 &)SU \ N +10 &+U \ N +9 &,S \ N +9 &.U \ N +10 &0ZT \ O +9 &2R \ O +10 &3T \ N +9 &5U \ N +9 &7cV  \ N +10 &9$T \ O +9 &:Y \ O +9 &<V \ O +10 &>kW \ N +9 &@-V \ N +10 &AW \ N +9 &CW \ N +9 &Ep] \ O +10 &G-h \ Q +9 &H| \ T +9 &J \ Z +10 &LW \ [ +9 &N \ [ +10 &O \ ~[\ +9 &Q \ ~\\ +9 &SY \ z] +10 &U \ {] +9 &ViF \ 2 +9 &V\ v \ L +6 ( +2 "collection"'2& +4 "core" &Vk \ L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&?1 +63 "core" 1 +2 "manipulator"&Q% +3 "core" % $  . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%V& +3 "core" &H\ +3 "manipulator"&Y% +4 "core" %\  G  + "storage"(% +4 "core" %\\ [\ +2 "storage"((. +3 "core" .( +2 "storage"(H& +4 "core" & l\  + "storage"(0& +4 "core" & Z\  +2 "manipulator"&7& +3 "core" &(  ?S +3 "manipulator"&P% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&_( +161 "core" ( + "manipulator"&5& +5 "core" & - x +2 "storage"(+& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +95 "core" ' +2 "storage"(L& +3 "core" & Y\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +283 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & \  +2 "manipulator"&6& +3 "core" & I x +3 .tElbow.seek 3 + "manipulator"&A( +4 "core" ( +2 "manipulator"&,& +3 "core" & i x +2 "storage"(U& +4 "core" & *\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +49 "storage"(I'X +8 "core" & V x +3 "manipulator"&:% +5 "core" % ϓ |  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&=& +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +103 "core" ' + "manipulator"&i& +5 "core" &m ' + "manipulator"&F% +5 "core" %  + "processing"%-& +4 "core" &H\ +3 "processing"%~& +5 "core" &B\ +3 .tPC.seek :closed + "processing"%c(Z +5 "core" &O\ +7 & 8Q\ $e +9 &TT\ 8 +10 &~|S\ L +9 &YT\ P +9 &WZS\ O +10 &ZP\ O +9 &YS\ P +9 &WQ\ O +10 &_UN\ O +9 &!UN\ O +10 &\\S\ O +9 &!ZH\ P +9 &#g[Q\ O +10 &%(YL\ P +9 &&XO\ O +10 &(UH\ O +9 &*oUB\ O +9 &,1UD\ O +10 &-[C\ O +9 &/YK\ O +9 &1wUD\ O +10 &38WM\ P +9 &4WF\ O +9 &6WL\ O +10 &8TE\ O +9 &:AWI\ O +10 &<YF\ O +9 &=WG\ O +9 &?XD\ O +10 &AJUK\ O +9 &C\ YE\ P +9 &D^E\ P +10 &FcF\ P +9 &HE{F\ T +10 &JE\ U +9 &KH\ V +9 &MG\ U +10 &OGH\ U +14 &Q H\ U +4 &RF\ V +10 &TE\ V +9 &VMK\ V +10 &XN\ V +9 &Y{oH\ > +9 &Z"QD\ L +10 &Z?H\ 8 +2 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&W1 +56 "core" 1 +2 "manipulator"&@% +4 "core" % h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +101 "core" ' +2 "processing"%`& +3 "core" &Z<J\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&M% +3 "core" %\ % D +3 "storage"(d% +4 "core" %T y \ + "storage"(n. +3 "core" .( +2 "storage"(O& +4 "core" & \  +2 "storage"(h& +2 "manipulator"&"& +8 "core" & | \  + &m +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"& (s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(y'i +2 "core" ( +3 "manipulator"&K& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &m \\ +3 .tForearm.seek PC +2 "manipulator"&J' +103 "core" ' +2 .tHand.close + "manipulator"&w/ +61 "core" / +4 .tPC.seek :open +2 "processing"%!( +78 "core" ' +2 "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +45 "core" ' +302 ( +2 "storage"(q& +3 "core" & <\  +2 "manipulator"&u& +4 "core" &m  +2 "manipulator"&e% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&o'\ +93 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +262 "core" ( +2 "manipulator"&Z& +3 "core" & # r % +2 "storage"(k& +4 "core" & 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +93 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(}- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(t' +98 "core" ' +4 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"(& +5 "core" &   n\  + "manipulator"&& +5 "core" & $ + .tElbow.seek 3 +2 "manipulator"&( +31 "core" ( +2 "manipulator"&#& +4 "core" & @  +2 "storage"(& +4 "core" & " & *\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(r' +57 "core" ' +2 "manipulator"&^& +3 "core" & N  +2 "storage"('& +4 "core" & u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +27 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(S'i +27 "core" ' +2 "manipulator"&\\% +3 "core" %{ +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&{'ϧ +19 "core" ' +2 "manipulator"&|& +3 "core" & 9  +3 "storage"(a& +4 "core" & N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +20 "core" ' +2 "storage"(p% +4 "core" %l \\\ +2 ."downElevator"SE.seek :down +4 "storage"(m'X +98 (z% +3 "core" %D \ Xi +2 "manipulator"&% +5 "core" %5 b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & \  +3 "collection"'*& +4 "core" &Vk \ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\ # : +3 "storage"(]% +4 "core" %T 3\ + "storage"(. +3 "core" .( +2 "storage"(>& +4 "core" & H\  +2 "storage"(& +3 "core" & N\  +2 "manipulator"&&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & G  +2 "storage"(\ & +4 "core" & e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +95 "core" ' +2 "storage"(C& +3 "core" & j\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & }  +2 "storage"(3& +3 "core" & 1\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(N'S +26 "core" ' +2 "manipulator"&% +3 "core" %Ώ V +2 "storage"()& +4 "core" & -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&f'ϻ +19 "core" ' +2 "manipulator"&1& +3 "core" & ,  +2 "storage"(& +5 "core" & x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'B +84 "core" ' +3 "manipulator"&V& +4 "core" &  +2 "manipulator"&Y% +3 "core" %N & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +157 "core" ( +2 "manipulator"&H& +4 "core" &' >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &' W >H +2 .tForearm.seek CC +2 "manipulator"&0'" +93 "core" ' + .tHand.close +2 "manipulator"&7/ +59 "core" / +2 .tCC.seek :open +2 "collection"'P( +416 "core" ( +2 "storage"(E& +3 "core" &\ \  \  +2 "storage"(5& +4 "core" &\ \ \  +2 "manipulator"&+& +3 "core" && b =G +2 "manipulator"&L% +5 "core" % ' K +2 .tForearm.seek :retract + "manipulator"&%'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +160 "core" ( +2 "manipulator"&<& +4 "core" & p +2 "storage"(B& +4 "core" & E G X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&6'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +61 "core" 1 +2 "manipulator"&T% +3 "core" % ΃ 3 +2 "storage"([& +5 "core" & $ $ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&:'ϯ +20 "core" ' +2 "manipulator"&_& +3 "core" &  p +3 "storage"( & +3 "core" & ] ] \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +29 "core" ' +2 "storage"(4% +3 "core" %G e ] \  +3 ."downElevator"SE.seek :down +4 "storage"(='X +98 (g% +3 "core" %lB\  \ We +2 "manipulator"&A% +5 "core" %2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'F& +3 "core" & \ +2 "manipulator"&-% +5 "core" %\ 8 +2 "storage"(I% +3 "core" %b   i\ +2 "storage"(8. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,l +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &,i \  +3 "manipulator"&@& +3 "core" & p +3 .tElbow.seek 4 + "manipulator"&`( +4 "core" ( +2 "manipulator"&M& +3 "core" & k p +2 "storage"(d& +4 "core" &,g $ $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&n'Ѽ +96 "core" ' +2 "storage"(O& +3 "core" &,g ? ] 7\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +284 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &,g\ \ \  +2 "manipulator"&K& +3 "core" & N p +2 .tElbow.seek 4 +2 "manipulator"&D( +4 "core" ( + "manipulator"&X& +4 "core" & 4 p +2 "storage"(w& +3 "core" &,g   b\  +48 .tForearm.seek 4 + 300 counts +4 "manipulator"&v', +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&R/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&l& + "storage"(c'X +6 "core" & T p +3 "manipulator"&y% +3 "core" % & H I +3 .tForearm.seek :retract + "manipulator"&q'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +161 "core" ( + "manipulator"&e& +3 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 "core" &' w >I +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &' >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Z'" +94 "core" ' + "manipulator"&k& +5 "core" &' s >H + "manipulator"& % +5 "core" %&   +3 "collection"'& +5 "core" & \ +2 "collection"'}& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'s(V +5 "core" & \ +6 & 3 \ $d +9 &U~ \ 8 +10 &z \ L +9 &X \ O +10 &`V \ N +9 &"T \ N +9 &T \ N +10 &U \ N +9 &hY \ N +9 &*Y \ N +10 &X \ N +9 &!W \ N +10 &#nY \ O +9 &%2T \ N +9 &&U \ N +10 &(W \ O +9 &*xU \ N +9 &,:U \ N +10 &-W \ N +9 &/T \ O +10 &1T \ N +9 &3CT \ N +9 &5V \ O +10 &6Y \ O +9 &8V \ N +9 &:JW \ N +10 &< Z \ O +9 &=Z \ N +10 &?Z \ N +9 &ARY \ N +9 &CU \ N +10 &DY \ O +9 &Fa \ P +9 &HNu \ R +10 &J \ V +9 &K \ [ +10 &M| \ [ +9 &O? \ Z +9 &P \ \\ +10 &R \ ] +9 &T~ \ ~] +9 &Vv \ 1 +10 &V( \ V +9 ( + &Vj \ L +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&o1 +61 "core" 1 +3 "manipulator"&% +3 "core" % & "  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%#& +4 "core" &T\ + "manipulator"&% +4 "core" %\  O  +2 "storage"(^% +3 "core" %` D\ +3 "storage"('. +3 "core" .(,l + "storage"(b& +5 "core" &,g ]\  + "storage"(& +4 "core" &,g \  +2 "manipulator"&\\& +4 "core" &' V >H +2 "manipulator"&% +4 "core" %\  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&|( +157 "core" ( + "manipulator"&a& +5 "core" &  v +2 "storage"(x& +4 "core" &,g ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&p'Ѽ +97 "core" ' +2 "storage"(j& +3 "core" &,g z\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +279 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,g *\  +2 "manipulator"&& +3 "core" & 4 v +2 .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&r& +4 "core" & T v +2 "storage"( & +4 "core" &,g ?\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&{', +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&*& + "storage"('X +8 "core" & B v + "manipulator"&]% +5 "core" % ( F +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&S(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&>& +50 "core" &y  /  +5 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&' +95 "core" ' +2 "manipulator"&& +3 "core" &y   +3 "manipulator"&\ % +3 "core" %  " +3 "processing"%& +4 "core" &H\ +3 "processing"%C& +5 "core" &T\ +2 .tPC.seek :closed + "processing"%m(Z +4 "core" &T\ +8 & 0W\ $c +9 &UR\ 7 +10 &}T\ L +9 &\\Q\ O +9 &S\\R\ O +10 &YS\ O +9 &ZR\ O +10 &YS\ O +9 &\\ZT\ O +9 &XT\ O +10 &ZR\ O +9 &!YS\ O +9 &#dUS\ O +10 &%&XS\ O +9 &&YS\ O +10 &(UT\ O +9 &*kXT\ O +9 &,-YO\ O +10 &-YP\ P +9 &/WQ\ O +9 &1tYS\ O +10 &36WQ\ O +9 &4WQ\ O +10 &6WQ\ O +9 &8}WP\ O +9 &:>UJ\ O +10 &<WD\ O +9 &=VJ\ N +9 &?XO\ O +10 &AGWE\ O +9 &C XG\ O +10 &D[H\ O +9 &F]C\ P +9 &HHkD\ Q +10 &JD\ S +9 &KD\ U +9 &MD\ U +10 &ODD\ U +9 &QD\ U +10 &RC\ V +9 &TH\ V +9 &VJC\ V +10 &X\ B\ W +9 &Y|mE\ ; +9 &Z*iH\ L +10 &Z+C\ 1 +2 ( +2 "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&$1 +63 "core" 1 + "manipulator"&% +5 "core" % Z " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 "processing"%/& +3 "core" &Z+F\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&3% +3 "core" %\  9 ! +2 "storage"(% +4 "core" %` p\ +2 "storage"(. +2 "core" .(,l +2 "storage"()& +4 "core" &,g p\  +2 "storage"(1& +3 "manipulator"&& +8 "core" &,g z\  + &y  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&V(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +3 "manipulator"&;& +3 "core" &y  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y >  +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +4 .tPC.seek :open + "processing"%f( +83 "core" ' +2 "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +46 "core" ' +294 ( +2 "storage"(2& +3 "core" &,g Y\  +2 "manipulator"&?& +4 "core" &y   +2 "manipulator"& % +3 "core" % U +3 .tForearm.seek :retract + "manipulator"&7'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +264 "core" ( + "manipulator"&& +4 "core" & >  +2 "storage"(E& +4 "core" &,g I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&5'Ѽ +92 "core" ' +2 .tHand.open + "manipulator"&+1 +63 "core" 1 +2 "storage"(L- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(0- +3 "core" -' +2 "storage"((& +3 "core" &,g & ( N\  +2 "manipulator"&U& +4 "core" & 6  +2 .tElbow.seek 4 +2 "manipulator"&T( +5 "core" ( +2 "manipulator"&[& +3 "core" & I  +2 "storage"(_& +3 "core" &,g ( (\  +43 .tForearm.seek 4 + 700 counts +9 "manipulator"& 'Ѽ +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +56 "core" ' +2 "manipulator"&%& +3 "core" & U  +3 "storage"(g& +3 "core" &,g o\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&A' +30 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(6'i +26 "core" ' +2 "manipulator"&F% +4 "core" % +2 "storage"(:& +4 "core" &,g \\\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&-'? +20 "core" ' + "manipulator"&I& +5 "core" & d  + "storage"(8& +4 "core" &,g b\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Q'Ѽ +38 "core" ' + "storage"(.% +4 "core" %n \  \ +3 ."downElevator"SE.seek :down +4 "storage"(='X +99 (G% +2 "core" %E M\ Yi +3 "manipulator"&W% +4 "core" %ў  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" &,g ,\  +2 "collection"'d& +3 "core" &Vi \ L +3 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&O% +4 "core" %\  W ) +2 "storage"(,% +3 "core" %b ^\ +2 "storage"(i. +4 "core" .(,l + "storage"("& +4 "core" &,g \  +2 "storage"(h& +4 "core" &,g \  +2 "manipulator"&K& +3 "core" & h  +2 .tElbow.seek 4 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&w& +4 "core" &   +2 "storage"(R& +4 "core" &,g {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&l'Ѽ +87 "core" ' + "storage"(y& +4 "core" &,g\  '\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +285 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" & ^  +2 "storage"(J& +4 "core" &,g N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&~' +30 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"( 'K +30 "core" ' +2 "manipulator"&D% +4 "core" % Z  + "storage"(& +5 "core" &,g D\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&c'@ +18 "core" ' +2 "manipulator"&q& +3 "core" & )  +2 "storage"(P& +4 "core" &,g U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&o'Ѽ +17 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(': +40 "core" ' +2 "manipulator"&#& +3 "core" & `  +2 "manipulator"&% +4 "core" %Ѻ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +153 "core" ( +2 "manipulator"&}& +43 "core" &# Z ;6 +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &# h ;6 +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&\\/ +58 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(Z& +3 "core" &,g\ \ \ g\  +2 "storage"(a& +5 "core" &,g\ \  g\  + "manipulator"&x& +4 "core" &$  ;6 +2 "manipulator"&j% +4 "core" % ,   +2 .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +165 "core" ( +2 "manipulator"&z& +4 "core" & o r +2 "storage"(& +3 "core" &,g\ \  6\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&' +96 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  +2 "storage"(*& +5 "core" &,g\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&]'< +19 "core" ' + "manipulator"&|& +4 "core" & : s +2 "storage"(p& +4 "core" &,g C C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&t'Ѽ +34 "core" ' +2 "storage"({% +4 "core" %@ @ B h\ +3 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (% +3 "core" %? $ " \ Wd +2 "manipulator"&% +3 "core" %Ѳ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +32343 "Can"\ 8\ \ i +39915 #t-> access 2 +2 "storage"(\ % +3 "core" %T H F ^\ +2 "manipulator"&% +4 "core" %\ ! 6 +2 "manipulator"&& +3 "core" & s +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +650 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &K ]\  +19402 "Can"\ 8 i +60002 \ 8s6i +60003 \ 8Ri +60002 \ 82bi +60002 \ 8i +60002 \ 8i +60002 \ 7$i +60002 \ 8i +51340 !to:SignalException : mesg" SIGHUP:\ signoi:@timestampu: Time '^:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +3 #Waiting to Resume from Checkpoint "Storing generic puck in Collection Clamp to tube 4" +2 ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" @1717701822.66EDT = =tMAIN =mMAIN_scheduler @EDT1717701823.38 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK +2 #t@35974 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +385 "Can"\ ,% + \ ,% + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +605 #-> ESP.ready! +3 #Powering core bus +549 .Gate.power :raw,:ON +3 "sampler") +16 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1109 #-> 5.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" & G\  +2 .tHand.open +2 "manipulator"&21 +58 "core" 1 +2 "manipulator"&3% +3 "core" % \  & 5  +2 "storage"(4% +4 "core" %] \ +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(6( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" & E D J\ +2 "manipulator"&8& +4 "core" &  G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&9( +23 "core" ( + "manipulator"&:& +4 "core" &\ $ Q +2 "storage"(;& +4 "core" & y\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +97 "core" ' +2 "storage"(=& +4 "core" & t\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'i +280 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (@& +2 "core" & r l \ +3 "manipulator"&A& +3 "core" &\ Q +3 .tElbow.seek 2 + "manipulator"&B( +24 "core" ( + "manipulator"&C& +4 "core" & % ,  +2 "storage"(D& +4 "core" & v w ,\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(H'X +7 "core" &  +2 "manipulator"&I% +4 "core" %  ! I +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +154 "core" ( + "manipulator"&L& +4 "core" & % 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&M& +2 "storage"(5 +6 "core" & I 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'" +104 "core" ' +2 "manipulator"&O& +4 "core" & ' / 3 +2 "manipulator"&P% +4 "core" %  +2 "collection"'Q& +4 "core" & E\  +2 "collection"'R& +6 "core" & \  +2 .tCC.seek :closed +2 "collection"'S(V +4 "core" & K\ \  +8 &3 H\ +| +10 &d I\ @ +9 &Wv J\ P +9 &X I\ O +10 &^ H\ P +9 &[ H\ O +9 &_[ H\ P +10 &$Y I\ O +9 &Z N\ O +10 &\\ F\ O +9 & g^ C\ P +9 &")\\ J\ P +10 &#Z J\ O +9 &%Y H\ O +9 &'qW C\ O +10 &)2Z ;\ O +9 &*] @\ O +10 &,\\ C\ O +9 &.w\\ ?\ P +9 &0:Z 3\ O +10 &1W 5\ O +9 &3[ 4\ P +10 &5[ F\ P +9 &7B_ G\ O +9 &9[ M\ P +10 &:] G\ P +9 &<\\ G\ O +9 &>JY K\ O +10 &@ ] E\ O +38 &A\\ F\ P +9 &C] H\ P + &EPe A\ P + &Gn >\ Q + &H} A\ S +6 &J| B\ Y +9 &L9 E\ [ +10 &M G\ [\ +9 &O G\ [ +9 &Q} D\ [ +10 &S; D\ ] +9 &T F\ ] +10 &VWR H\ 0 +9 &V E\ W +9 ( +2 &Vr F\ U +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&T1 +58 "core" 1 + "manipulator"&U% +4 "core" % ( u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%W& +4 "core" &\  +2 "manipulator"&X% +4 "core" %\  +2 "storage"(Y% +3 "core" %a " % \ +2 "storage"(Z. +2 "core" .( +2 "storage"([& +4 "core" &   2\ +2 "storage"(\\& +4 "core" & !  $\ +2 "manipulator"&]& +3 "core" & " 3 +2 "manipulator"&^% +4 "core" %\ j  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&_( +158 "core" ( + "manipulator"&`& +4 "core" & \\  +2 "storage"(a& +4 "core" & Q O @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +89 "core" ' +2 "storage"(c& +3 "core" & K [ Y\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +285 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" & ! ! 8\ +2 "manipulator"&g& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&h( +3 "core" ( +2 "manipulator"&i& +3 "core" & N  +2 "storage"(j& +4 "core" & " " \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +64 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"(n'X +7 "core" &   +2 "manipulator"&o% +4 "core" %   F +2 .tForearm.seek :retract +2 "manipulator"&p'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&q(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&r& +4 "core" &{ ( y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &{ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +97 "core" ' +2 "manipulator"&u& +4 "core" &{  c +3 "manipulator"&v% +3 "core" % e +3 "processing"%w& +4 "core" &_\  +2 "processing"%x& +6 "core" &\  +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" &\  +7 &I\ %g +9 &wV\ 8 +9 &\ M +10 &]\ O +9 &D_\ O +9 &\\\ O +10 &\\\ O +9 &_\ O +10 &Ka\ P +9 & \\\ P +9 &^\ P +10 &!]\ P +9 &#T_\ O +9 &%]\ P +10 &&]\ P +9 &(]\ O +9 &*\\Z\ O +10 &,_\ O +9 &-^\ P +10 &/\\\ P +9 &1d^\ O +9 &3&Z\ O +10 &4Z\ O +9 &6]\ P +9 &8l\\\ O +10 &:.`\ O +9 &;^\ O +10 &=\\\ O +9 &?s]\ P +9 &A5\\\ P +10 &B^\ P +9 &Dc\ P +9 &Fze\ P +10 &H6x\ R +9 &I\ T +10 &K\ U +9 &Mr\ U +9 &O4\ U +10 &P\ V +9 &R\ V +9 &Tz\ U +10 &V<\ U +9 &W\ W +10 &Yv\ 9 +9 &Z/\ O +9 &Z\ + +3 ( + "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&z1 +54 "core" 1 +2 "manipulator"&{% +4 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +99 "core" ' +2 "processing"%}& +3 "core" &Z\ + +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&~% +3 "core" %\   0 . +2 "storage"(% +4 "core" %a K e\ +2 "storage"(. +2 "core" .( +2 "storage"(& +3 "core" & L i\ +3 "storage"(& +3 "manipulator"&& +7 "core" & I ?\ + &{ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +37 "storage"(#]@K-0-\ b +11 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +4 "core" &{   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{ o +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + .tHand.close + "manipulator"&\ / +60 "core" / +2 .tPC.seek :open +2 "processing"% ( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +295 ( + "storage"(& +4 "core" & !  \ +2 "manipulator"&& +4 "core" &{  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +261 "core" ( +2 "manipulator"&& +3 "core" & U \ +2 "storage"(& +4 "core" & " " X\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" & \ +3 "manipulator"&$& +4 "core" &  \ + .tElbow.seek 2 +2 "manipulator"&%( +4 "core" ( + "manipulator"&&& +4 "core" & u \ +2 "storage"('& +4 "core" & 7\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +58 "core" ' + "manipulator"&*& +5 "core" & Z \ + "storage"(+& +4 "core" & 1 C -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&,' +31 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +23 "core" ' + "manipulator"&/% +4 "core" %   & +2 "storage"(0& +3 "core" & \ $\  H\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&1' +22 "core" ' +3 "manipulator"&2& +3 "core" & : \ +3 "storage"(3& +4 "core" & " " .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +28 "core" ' +2 "storage"(5% +4 "core" %r R J H\ +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (7% +3 "core" %F # " %\ Xh +2 "manipulator"&8% +5 "core" %ф +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +90 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & A 1 \ +2 "collection"'=& +3 "core" &Vp A\ U +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %T G E \ + "storage"(?. +3 "core" .( +2 "storage"(@& +4 "core" & E E \ +2 "storage"(A& +4 "core" & C D \ + "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +4 "core" &  8 \ +2 "storage"(F& +4 "core" & E G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +95 "core" ' +10 "storage"(I& +4 "core" & : B \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +284 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  \ +2 "storage"(M& +4 "core" & 2 C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 +2 "manipulator"&>' +31 "core" ' +2 .tElbow.hold + "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'P +30 "core" ' +2 "manipulator"&B% +4 "core" % q  +2 "storage"(Q& +4 "core" & > \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&H' +19 "core" ' + "manipulator"&J& +3 "core" & [ \ +3 "storage"(!& +4 "core" & H R m\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(U'? +41 "core" ' +2 "manipulator"&W& +3 "core" & \ +3 "manipulator"&X% +4 "core" %њ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +155 "core" ( +2 "manipulator"&[& +4 "core" &+ $ p A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &*  3 A_ +3 .tForearm.seek CC +2 "manipulator"&\\'" +93 "core" ' + .tHand.close + "manipulator"&]/ +57 "core" / +2 .tCC.seek :open +2 "collection"'^( +416 "core" ( + "storage"(N& +3 "core" & e i b\ +3 "storage"(`& +4 "core" & i i \ + "manipulator"&a& +4 "core" & ' =C +2 "manipulator"&c% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&K'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&V( +154 "core" ( + "manipulator"&e& +4 "core" &    +2 "storage"(f& +3 "core" & v v *\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&g' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +60 "core" 1 +2 "manipulator"&l% +4 "core" % % ? +2 "storage"(m& +4 "core" & | h\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&o' +23 "core" ' +2 "manipulator"&_& +5 "core" & S  +2 "storage"(b& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +17 "core" ' + "storage"(k% +4 "core" %E "\ +2 ."downElevator"SE.seek :down +4 "storage"(r'X +98 (s% +3 "core" %@ k\ Wd +2 "manipulator"&h% +5 "core" %Ѣ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'v& +3 "core" & ?\ +2 "manipulator"&w% +4 "core" %\  3  +2 "storage"(n% +4 "core" %b \ +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" & a \\ \  +2 "manipulator"&{& +4 "core" &   +37 .tElbow.seek 3 +9 "manipulator"&}( +15 "core" ( +2 "manipulator"&~& +4 "core" & R x +2 "storage"(& +3 "core" & Q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +290 "core" ' +2 "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & t\  +2 "manipulator"&& +4 "core" &  x +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +4 "core" & f x + "storage"(\ & +4 "core" & @\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(y'X +6 "core" &  x +2 "manipulator"&% +4 "core" % ϰ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +3 "core" &' % >K +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &'   >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' + "manipulator"&& +4 "core" &(  ^ >J +2 "manipulator"&% +3 "core" %&  = +3 "collection"'& +4 "core" & G\ +2 "collection"' & +6 "core" & I\ +2 .tCC.seek :closed +3 "collection"'"(V +3 "core" & G\ +5 & P\ 4 +10 &8H B\ 1 +9 &cr I\ E +10 &e F\ O +9 &Y I\ N +9 &] L\ N +10 &L] D\ N +9 &_ C\ N +9 &Z G\ N +10 &] H\ N +9 &S] L\ O +10 &!_ D\ N +9 &"^ D\ N +9 &$` C\ O +10 &&[Z H\ O +9 &([ F\ O +9 &)Z L\ O +10 &+[ D\ O +9 &-c\\ H\ O +10 &/%Z I\ O +9 &0] G\ N +9 &2X C\ N +10 &4l] D\ N +9 &6._ G\ N +9 &7Z F\ N +10 &9X E\ N +9 &;t] F\ N +9 &=5] D\ O +10 &>\\ H\ O +9 &@] G\ O +10 &B{\\ C\ O +9 &D<_ F\ O +9 &Ef F\ P +10 &Gx D\ R +9 &Iq H\ U +9 &K# H\ Z +10 &L F\ Z +9 &N H\ Z +10 &Pi F\ Z +9 &R+ E\ Z +9 &S E\ \\ +10 &U E\ I +9 &V7 C\ &t +9 &Vk F\ I +3 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.99 + .Hand.open + "manipulator" +63 "core" 1 +3 "manipulator"&$% +4 "core" % &  - = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +3 "core" &o\ +2 "manipulator"& % +4 "core" %\ ! e 1 +2 "storage"(*% +4 "core" %T ! ( H\ + "storage"(+. +3 "core" .( +2 "storage"(/& +4 "core" &  # W\  +3 "storage"(0& +4 "core" & " $ !\  +2 "manipulator"&& +4 "core" &' L >J + "manipulator"&2% +4 "core" %\ ! h 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +160 "core" ( + "manipulator"&3& +4 "core" &  r l +2 "storage"(5& +4 "core" & < < 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(& +3 "core" & [ \\ D\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" & 2 D N\  +2 "manipulator"&(& +4 "core" &  l + .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&)& +4 "core" &  n l +2 "storage"(,& +4 "core" & I O 0\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +70 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&;/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"('X +8 "core" &  l +2 "manipulator"&% +4 "core" %  T +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&@& +3 "core" &u   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &u A  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&D& +4 "core" &u l  +2 "manipulator"&F% +4 "core" % Z  +2 "processing"%4& +3 "core" &\ +3 "processing"%I& +5 "core" &n\ +3 .tPC.seek :closed + "processing"%(Z +4 "core" &\  +9 &3\ +{ +10 &c\ ? +9 &x{\ P +9 &;Z\ O +10 &^\ O +9 &_\ P +9 &]\ O +10 &B[\ O +9 &]\ O +10 &]\ O +9 & `\ O +9 &"K]\ O +10 &$ \\\ O +9 &%\\\ O +9 &']\ P +10 &)T\\\ O +9 &+]\ O +10 &,\\\ N +9 &.]\ O +9 &0[\\\ O +10 &2[\ O +9 &3[\ O +10 &5Z\ O +9 &7d\\\ O +9 &9'[\ N +9 &:[\ O +10 &<\\\ O +9 &>k[\ O +10 &@-\\\ O +14 &AZ\ O +4 &C^\ O +12 &Eqc\ P +7 &G/n\ Q +10 &H\ T +9 &J\ U +9 &Lj\ U +10 &N-\ T +9 &O\ U +9 &Q\ U +10 &Sp\ U +9 &U2\ U +10 &V\ U +9 &X\ U +9 &Z"[~\ %r +10 &Zb\ 1 +9 ( +3 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&-1 +3 "core" &Z\ , +57 1 +2 "manipulator"&:% +4 "core" % $ r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +2 "processing"%L& +3 "core" &Zo\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\  x  +2 "storage"(O% +4 "core" %b !  .\ +2 "storage"(B. +3 "core" .( +2 "storage"(Q& +3 "core" & ! ! %\  +3 "storage"(J& +3 "manipulator"&!& +5 "core" & !  /\  +2 &u E  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(W'i +2 "manipulator"&X(s +6 "core" ( + "manipulator"&G& +4 "core" &u  C  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &u  n  +3 .tForearm.seek PC +2 "manipulator"&9' +95 "core" ' +2 .tHand.close + "manipulator"&>/ +65 "core" / +3 .tPC.seek :open + "processing"%H( +79 "core" ' + "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +48 "core" ' +296 ( +2 "storage"(R& +4 "core" & ( F -\  + "manipulator"&T& +4 "core" &u   +2 "manipulator"&E% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Y( +245 "core" ( + "manipulator"&S& +4 "core" &\ $ T +2 "storage"(N& +4 "core" &  " L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +96 "core" ' + .tHand.open + "manipulator"&a1 +60 "core" 1 +2 "storage"(c- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(e'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +50 "core" ' +4 #tLights, camera, ACTION! + "storage"(\\- +3 "core" -' +2 "storage"(Z& +4 "core" & \  +38 "manipulator"&j& +11 "core" &\  M +2 .tElbow.seek 3 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&m& +3 "core" &  M +2 "storage"(_& +4 "core" & K\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +58 "core" ' +2 "manipulator"&K& +4 "core" &\  M +2 "storage"(s& +4 "core" & = = h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'} +21 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +24 "core" ' +2 "manipulator"&v% +8 "core" %΁  + "storage"(w& +4 "core" & ! Z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&o'ϭ +21 "core" ' + "manipulator"&n& +4 "core" &\ l M +2 "storage"(p& +4 "core" & E G W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +28 "core" ' +2 "storage"(d% +4 "core" %q [ [\ +3 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (6% +2 "core" %)A $ " *\ Wf +3 "manipulator"&z% +4 "core" %# f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (~& +4 "core" & W H ;\  +2 "collection"'& +4 "core" &Vj F\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(i% +4 "core" %b = = }\  +2 "storage"(u. +3 "core" .( +2 "storage"(& +4 "core" & : = \  + "storage"(& +4 "core" & < = \  +2 "manipulator"&& +4 "core" &  M +2 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&\ & +4 "core" &  B M + "storage"(q& +4 "core" & : < H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +92 "core" ' +2 "storage"(& +4 "core" & ? J 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(}'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  M +2 "storage"( & +4 "core" & A 7 B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +38 "core" ' + "manipulator"&% +4 "core" %}  +2 "storage"(& +4 "core" & E D\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&y'ϩ +22 "core" ' +2 "manipulator"&& +4 "core" & %  M + "storage"(^& +5 "core" & ; A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +21 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"($'B +40 "core" ' +2 "manipulator"&'& +3 "core" &\ ) M +2 "manipulator"& % +4 "core" % j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +151 "core" ( +3 "manipulator"& & +3 "core" &" P 9) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &" 9) +3 .tForearm.seek CC + "manipulator"&0'" +98 "core" ' +9 .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'2( +415 "core" ( +2 "storage"(& +3 "core" & q ` |\  +3 "storage"(3& +4 "core" & k j \  + "manipulator"&5& +4 "core" &" 9) +2 "manipulator"&% +4 "core" % - ? +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +163 "core" ( +2 "manipulator"&7& +3 "core" &  ~ a +3 "storage"(8& +4 "core" & x  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +98 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +62 "core" 1 +2 "manipulator"&;% +3 "core" % ΐ  S +2 "storage"(=& +4 "core" & z i g\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +20 "core" ' + "manipulator"&& +4 "core" & s a +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +39 "core" ' +2 "storage"(1% +4 "core" %G >\ +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (A% +3 "core" %C  0\ We +2 "manipulator"&%% +4 "core" % j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +3 "core" & \ +2 "manipulator"&4% +4 "core" %\   * +2 "storage"(% +4 "core" %b h\ + "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" & \\ f 7\ +3 "manipulator"&:& +4 "core" &  a + .tElbow.seek 2 +2 "manipulator"&L( +32 "core" ( +2 "manipulator"&M& +3 "core" &  : !t +2 "storage"(O& +4 "core" & ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +94 "core" ' +2 "storage"(Q& +3 "core" & }\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +283 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" & v :\ +2 "manipulator"&G& +3 "core" &  !s +3 .tElbow.seek 2 + "manipulator"&C( +8 "core" ( + "manipulator"&& +4 "core" & # N +2 "storage"(>& +5 "core" & n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&P' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& + "storage"('X +7 "core" &\ A N +2 "manipulator"&W% +4 "core" %   C +2 .tForearm.seek :retract +2 "manipulator"&R'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +152 "core" ( +2 "manipulator"&E& +4 "core" &$ $ H ;4 + ' +2 ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &9& +3 "core" &$   ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +99 "core" ' +2 "manipulator"&N& +4 "core" &$ $ O ;3 +2 "manipulator"&X% +41 "core" %,  l +9 "collection"'a& +4 "core" & \ +2 "collection"'c& +5 "core" & C\ +3 .tCC.seek :closed + "collection"'\\(V +5 "core" & A\ +6 & . E\ $d +10 &V E\ 8 +9 &~ E\ L +9 &Z H\ N +10 &`Z K\ O +9 &#Z L\ N +9 &\\ O\ N +10 &\\ O\ N +9 &j[ L\ N +9 &+\\ O\ N +10 &W O\ O +9 &!] O\ O +10 &#pZ J\ O +9 &%3W I\ N +9 &&X D\ N +10 &(W L\ N +9 &*xZ G\ O +9 &,;Z F\ N +10 &-Z H\ N +9 &/W F\ N +10 &1Z F\ O +9 &3CY @\ N +9 &5W C\ N +10 &6] C\ O +9 &8Y D\ N +10 &:J^ D\ O +9 &< Z D\ O +9 &=W D\ O +10 &?[ G\ N +9 &ASV D\ N +10 &CV C\ N +9 &D[ H\ O +9 &Fd L\ O +10 &HPv N\ R +9 &J H\ V +9 &K D\ Z +10 &M~ F\ Z +9 &OA D\ Z +9 &Q H\ Z +10 &R G\ [ +9 &T F\ \\ +9 &V v C\ 0 +10 &V' K\ S +9 ( + &Vh H\ J +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&j% +4 "core" % ) ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%m& +3 "core" &q\ +2 "manipulator"&_% +4 "core" %\   Q  +2 "storage"(K% +3 "core" %[   \ +2 "storage"(s. +3 "core" .( +2 "storage"([& +4 "core" & ! ) o\ + "storage"(e& +4 "core" &   @\ +2 "manipulator"&v& +4 "core" &$ ] ;3 +2 "manipulator"&w% +3 "core" %\   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +166 "core" ( + "manipulator"&p& +4 "core" &  z  +2 "storage"(d& +3 "core" & < = \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +92 "core" ' +2 "storage"(`& +4 "core" & q o V\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +295 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (z& +2 "core" & C E \ +2 "manipulator"&b& +4 "core" & -  +3 .tElbow.seek 2 + "manipulator"&l( +4 "core" ( +2 "manipulator"&k& +4 "core" & s  +2 "storage"(h& +4 "core" & < : @\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" & _  + "manipulator"&i% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +3 "manipulator"&& +3 "core" &v ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &v T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&\ & +3 "core" &v p +3 "manipulator"&q% +4 "core" % $ ' +2 "processing"%U& +4 "core" &n\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &\ +7 & 1\ $c +9 &U\ 8 +9 &\ L +10 &`\ O +9 &^_\ O +10 & _\ O +9 &\\\ O +10 &_\ O +9 &f]\ O +9 &(`\ O +9 &]\ O +10 &!]\ O +9 &#m`\ O +10 &%0[\ O +9 &&Z\ O +9 &(Z\ O +10 &*u[\ O +9 &,7]\ O +9 &-]\ O +10 &/[\ N +9 &1~Z\ O +10 &3AZ\ N +9 &5Z\ O +9 &6X\ O +10 &8Z\ N +9 &:G\\\ O +10 &<\ Z\ O +9 &=\\\ O +9 &?Z\ N +10 &APY\ O +9 &CY\ O +9 &D_\ O +10 &Fe\ P +9 &HOs\ R +9 &J \ U +10 &K\ U +9 &M\ U +10 &ON\ U +9 &Q\ U +9 &R\ V +10 &T\ U +9 &VS\ V +10 &X\ V +9 &Y|n\ 8 +9 &Z0\ I +10 &Ze\ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&V1 +64 "core" 1 +2 "manipulator"&{% +49 "core" %  ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%& +3 "core" &Zk\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\   V  +2 "storage"(% +3 "core" %^ ! " \ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &   @\ +3 "storage"(& +2 "manipulator"&^& +6 "core" &   ?\ +2 &v  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&'(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +3 "manipulator"&|& +4 "core" &v \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &v  +3 .tForearm.seek PC +2 "manipulator"&}' +97 "core" ' + .tHand.close + "manipulator"&x/ +54 "core" / +2 .tPC.seek :open +2 "processing"%y( +90 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +39 "core" ' +290 ( +2 "storage"(/& +4 "core" & G G \ +2 "manipulator"&#& +4 "core" &v  + "manipulator"&% +4 "core" %  @ +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&*( +250 "core" ( +2 "manipulator"&"& +3 "core" &  / +2 "storage"(& +4 "core" & $ # 1\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +93 "core" ' +2 .tHand.open + "manipulator"&51 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(7'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +3 "core" -' +2 "storage"(+& +3 "core" & H\ +3 "manipulator"&,& +3 "core" &  / +2 .tElbow.seek 2 +2 "manipulator"&;( +10 "core" ( + "manipulator"&=& +4 "core" &    +2 "storage"(& +3 "core" & \ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +58 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(A& +3 "core" & I E 8\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&%' +22 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(('i +22 "core" ' +2 "manipulator"&% +4 "core" % < + "storage"(F& +4 "core" & R R 8\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&4' +15 "core" ' +2 "manipulator"&& +4 "core" & 7  +2 "storage"(.& +4 "core" & _ \\ 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +34 "core" ' + "storage"(% +4 "core" %k m m S\ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 ( % +3 "core" %_I " ! O\ Xh +2 "manipulator"&-% +4 "core" %Ѥ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +2 "core" & E G ]\ +3 "collection"'O& +41 "core" &V] \ J +9 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&Q% +4 "core" %\  6 +2 "storage"()% +3 "core" %b < : b\ +2 "storage"(D. +3 "core" .( +2 "storage"(!& +4 "core" & ; : A\ +2 "storage"(I& +4 "core" & : : @\ +2 "manipulator"&G& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( + "manipulator"&>& +4 "core" & f  +2 "storage"(?& +3 "core" & H T G\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +92 "core" ' +2 "storage"(W& +4 "core" & k i \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +282 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & T  +2 "storage"(9& +4 "core" & < < u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&J' +32 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(N- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'P +26 "core" ' + "manipulator"&C% +4 "core" % # +2 "storage"(a& +4 "core" & " " 6\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +17 "core" ' +2 "manipulator"&R& +3 "core" &  +2 "storage"(2& +4 "core" & ^ [ |\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'? +38 "core" ' +2 "manipulator"&m& +4 "core" &  +2 "manipulator"&_% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +153 "core" ( +2 "manipulator"&[& +3 "core" &( G ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &(  ?U +3 .tForearm.seek CC + "manipulator"&c'" +93 "core" ' +2 .tHand.close + "manipulator"&v/ +53 "core" / +2 .tCC.seek :open +2 "collection"'w( +416 "core" ( + "storage"(S& +4 "core" & |\ +2 "storage"(p& +4 "core" &  r :\ +2 "manipulator"&d& +3 "core" && U =G +2 "manipulator"&`% +4 "core" % # t +2 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&]( +168 "core" ( +2 "manipulator"&6& +4 "core" & }  +2 "storage"(z& +8 "core" & w\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&b' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&h1 +53 "core" 1 +2 "manipulator"&~% +3 "core" %  > +2 "storage"(& +5 "core" & c\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&i' +22 "core" ' +2 "manipulator"&n& +4 "core" & i  + "storage"(Y& +4 "core" & *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +27 "core" ' +2 "storage"(o% +4 "core" %D =\ +2 ."downElevator"SE.seek :down +5 "storage"('X +98 (% +3 "core" %gA \ Wc +2 "manipulator"&l% +4 "core" %ѻ +41 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +87 "core" ' +12 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'q& +3 "core" & b\ +2 "manipulator"&U% +4 "core" %\    +2 "storage"(% +4 "core" %a \ +2 "storage"(u. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(H( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" & _ v 3\  +3 "manipulator"&{& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" & D  +2 "storage"( & +4 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(& +4 "core" & m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +2 "core" & A\  +3 "manipulator"&|& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(x& +4 "core" & [\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(r'X +8 "core" & z  + "manipulator"& % +4 "core" % ϲ  +2 .tForearm.seek :retract +2 "manipulator"&/'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &* *  @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &*  @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'" +93 "core" ' + "manipulator"&& +4 "core" &* 6 @] +2 "manipulator"&'% +3 "core" %' b +3 "collection"'5& +4 "core" & D\ +2 "collection"'& +5 "core" & \ +5 .tCC.seek :closed +2 "collection"'0(V +3 "core" & 8\ +5 & A\ 5 +9 &BH~ F\ 1 +9 &jp \ E +10 & b H\ O +9 &T \ N +9 &V A\ N +10 &PY C\ O +9 &Y B\ N +10 &U H\ N +9 &T M\ N +9 &Y[ M\ N +10 &![ D\ N +9 &"\\ O\ N +9 &$\\ J\ N +10 &&bU J\ N +9 &(#Y N\ N +10 &)X L\ N +9 &+W O\ N +9 &-jY C\ N +10 &/+Y G\ N +9 &0W L\ N +9 &2Z M\ N +10 &4qY P\ N +9 &63[ G\ N +10 &7Y L\ O +9 &9Y L\ N +9 &;x] M\ O +10 &=;Z P\ N +9 &>V I\ N +10 &@Z L\ O +9 &BZ P\ N +9 &DCY G\ N +10 &Fb M\ P +9 &Gs O\ Q +9 &Iu P\ U +10 &K' O\ [ +9 &L I\ Z +9 &N H\ Z +10 &Pm O\ [ +9 &R. J\ [\ +10 &S N\ \\ +9 &U O\ J +9 &V4 O\ (w +10 &Vj G\ K +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&+1 +62 "core" 1 +2 "manipulator"&,% +3 "core" % ' 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&='\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &f\ +2 "manipulator"&% +4 "core" %\  \\  + "storage"(% +4 "core" %T D E\ +2 "storage"(A. +3 "core" .( +2 "storage"(& +3 "core" & ! ! \  +2 "storage"(F& +4 "core" & E @ ^\  +2 "manipulator"& & +3 "core" &*  [ @] +2 "manipulator"&% +4 "core" %\  #  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.( +161 "core" ( +2 "manipulator"&7& +4 "core" & K o + "storage"(& +4 "core" & k i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +41 "manipulator"&*'9 +107 "core" ' +2 "storage"(3& +4 "core" & o k -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(8'i +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & C O \  +2 "manipulator"&& +4 "core" &  o +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&1& +4 "core" & o + "storage"(%& +4 "core" & S ; (\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +3 "storage"(('X +7 "core" &  o +2 "manipulator"&Q% +4 "core" % ϥ A +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +3 .tElbow.seek PC + "manipulator"&D(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&!& +3 "core" &l 9   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &l   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +97 "core" ' +2 "manipulator"&>& +4 "core" &l  N  +2 "manipulator"&?% +4 "core" % A +2 "processing"%$& +3 "core" &.\ +3 "processing"%W& +5 "core" &4\ +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &\  +8 &0~\ +z +10 &b6\ > +9 &k{ \ O +10 &-\\d\ O +9 &[\ O +9 &_v\ O +10 &s[\ O +9 &6[5\ N +9 &]{\ O +10 &`.\ N +9 & |]z\ N +10 &">\\c\ N +9 &$\\\ N +9 &%\\f\ N +10 &'`\ O +9 &)FZs\ N +9 &+\\\ N +10 &,[e\ O +9 &._\ N +10 &0M_\ O +9 &2\\f\ O +9 &3Yv\ N +10 &5Z\ N +9 &7UYc\ O +9 &9Y[\ O +10 &:Y^\ N +9 &<Z&\ O +10 &>\\Zf\ O +9 &@ Z\ N +9 &AYa\ N +10 &C]\ O +9 &Ecb\ O +9 &G l\ Q +10 &Hg\ T +9 &J\ T +10 &LZe\ U +9 &N_\ U +9 &OX\ T +10 &Q\ U +9 &SaS\ U +10 &U#W\ U +9 &V\ V +9 &XR\ V +10 &Zc\ &v +9 &ZeK\ 6 +9 ( + &Z!U\ / +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&&1 +56 "core" 1 +2 "manipulator"&:% +3 "core" % % ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' +3 "processing"%E& +3 "core" &Z"\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&9% +3 "core" %\ "  R : +3 "storage"(N% +4 "core" %T ! ! \ + "storage"(C. +3 "core" .( +2 "storage"(a& +4 "core" & ! ! \  +2 "storage"(R& +3 "manipulator"&2& +7 "core" & " " \  + &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&m(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(_'i +2 "core" ( +3 "manipulator"&<& +4 "core" &l   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&L' +95 "core" ' + .tHand.close +2 "manipulator"&J/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(X- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +44 "core" ' +284 ( +2 "storage"(e& +4 "core" & F D \  + "manipulator"&Z& +4 "core" &l   +2 "manipulator"&P% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tElbow.seek 3 +2 "manipulator"&K( +263 "core" ( + "manipulator"&\\& +4 "core" &   +2 "storage"(S& +4 "core" & D D Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +98 "core" ' +3 .tHand.open + "manipulator"&d1 +59 "core" 1 +2 "storage"(`- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(s& +4 "core" & >\  +2 "manipulator"&h& +4 "core" & (  +2 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & <  + "storage"(n& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(o' +58 "core" ' + "manipulator"&T& +4 "core" & +  +2 "storage"(& +4 "core" & D N \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&l'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +21 "core" ' + "manipulator"&i% +3 "core" %Ώ " +2 "storage"(q& +4 "core" & I [ D\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&U'ϻ +13 "core" ' + "manipulator"&& +3 "core" & p  +3 "storage"(u& +4 "core" & ^ f l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +23 "core" ' +2 "storage"(f% +4 "core" %o n a w\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +4 "core" % A 2 ( B\ Wf +2 "manipulator"&V% +3 "core" %P [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & Q ]\  +2 "collection"' & +4 "core" &V` \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  7  +2 "storage"(k% +4 "core" %a W I .\ + "storage"(\ . +4 "core" .( +2 "storage"(& +4 "core" & [ Z\  + "storage"(^& +4 "core" & e \\\  +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&x& +4 "core" & D  +2 "storage"(g& +4 "core" & e [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' +2 "storage"( & +4 "core" & v p F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & a  +2 "storage"(}& +4 "core" & < < t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''S +38 "core" ' + "manipulator"&5% +4 "core" %Ύ  +2 "storage"(t& +4 "core" & F E \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&r'Ϻ +12 "core" ' +2 "manipulator"&/& +4 "core" & m  + "storage"(w& +5 "core" & ] [ N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'B +38 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&% +4 "core" %M A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +156 "core" ( +2 "manipulator"&& +3 "core" &' w >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  >I +2 .tForearm.seek CC +2 "manipulator"&F'" +97 "core" ' + .tHand.close + "manipulator"& / +65 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"("& +4 "core" & w \  +2 "storage"(7& +3 "core" & ~ \  +2 "manipulator"&& +4 "core" &'  >I +2 "manipulator"&#% +4 "core" % % A  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&=( +158 "core" ( +2 "manipulator"& & +4 "core" & h +2 "storage"(-& +4 "core" & R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +58 "core" 1 +2 "manipulator"&M% +4 "core" % ΁ @ +2 "storage"(O& +4 "core" & S\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&Q'ϭ +20 "core" ' + "manipulator"&.& +4 "core" & +2 "storage"(*& +4 "core" & )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +31 "core" ' +2 "storage"(4% +3 "core" %L \ +3 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (I% +3 "core" %= Q\ Vb +2 "manipulator"&;% +4 "core" %# +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'?& +3 "core" & \ +2 "manipulator"&$% +4 "core" %\  ?  +2 "storage"((% +4 "core" %a \ +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(y( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" & [ ] \ +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&E( +34 "core" ( +2 "manipulator"&9& +4 "core" &  h !t +2 "storage"(N& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 2 + 700 counts +4 "manipulator"&C'ќ +88 "core" ' + "storage"(a& +4 "core" & $\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +286 "core" ' +3 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" & r S\ +2 "manipulator"&<& +4 "core" &  !t +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&G& +4 "core" & !t +2 "storage"(J& +4 "core" & [\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&D/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +3 "storage"(@'X +5 "core" & ; !t +3 "manipulator"&_% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&e'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +146 "core" ( + "manipulator"&P& +4 "core" &! % s 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&L& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &  d 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'" +104 "core" ' +3 "manipulator"&S& +4 "core" &! _ 8 +2 "manipulator"&m% +3 "core" % H +3 "collection"'d& +4 "core" & \ +2 "collection"'`& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'c(V +4 "core" & \ +7 & 4 \ %f +10 &T| \ 7 +9 &~ \ L +10 &W \ N +9 &fY \ N +9 &(Z 0\ N +10 &Y B\ O +9 &W F\ O +9 &nX E\ N +10 &1U H\ N +9 &X B\ O +10 &!Y A\ O +9 &#vW @\ N +9 &%8V F\ N +10 &&T A\ N +9 &(U D\ N +9 &*T C\ N +10 &,?X L\ O +9 &.W H\ N +10 &/Y E\ N +9 &1Y H\ N +9 &3HW C\ N +10 &5\ U D\ N +9 &6Z G\ O +9 &8W N\ N +10 &:OZ E\ O +9 &<[ B\ O +10 &=W B\ N +9 &?T C\ N +9 &AXT K\ N +10 &CU F\ N +9 &DX J\ O +9 &Fd B\ P +10 &HVs C\ R +9 &J C\ V +10 &K L\ Z +9 &M C\ Z +9 &OF I\ Z +10 &Q C\ Z +9 &R H\ [ +9 &T D\ \\ +10 &V%v B\ 0 +9 &V$ M\ Q +10 ( + &Vj C\ K +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&s1 +54 "core" 1 +2 "manipulator"&h% +4 "core" %  % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%n& +4 "core" &G\ +2 "manipulator"&v% +4 "core" %\ !  | 1 +2 "storage"(T% +4 "core" %b $  \ + "storage"(. +3 "core" .( +2 "storage"(i& +4 "core" & %  d\ +2 "storage"(q& +4 "core" &   H\ + "manipulator"&[& +4 "core" & 8 +2 "manipulator"&% +4 "core" %\ ! j 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +164 "core" ( +2 "manipulator"&6& +4 "core" & 6 t + "storage"(f& +4 "core" & 9 ; \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +102 "core" ' + "storage"(p& +5 "core" & k i \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & P D s\ +2 "manipulator"&Y& +4 "core" &  t +2 .tElbow.seek 2 + "manipulator"&~( +3 "core" ( +2 "manipulator"&o& +4 "core" & d t +2 "storage"(l& +47 "core" & [ [\ +7 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"('X +7 "core" &  t +2 "manipulator"&k% +4 "core" %  ,  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&\ (s +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"&& +3 "core" &z : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +103 "core" ' +2 "manipulator"&x& +3 "core" &z $ ~ +3 "manipulator"&g% +4 "core" % O +2 "processing"%j& +4 "core" &U\ +2 "processing"% & +6 "core" &2\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &M\ +7 &1\ 7 +9 &:G{ \ 1 +10 &dr(\ E +9 &g'\ O +9 &ZH\ O +10 &Z+\ N +9 &K[,\ O +9 & _+\ O +10 &YN\ O +9 &Y.\ N +10 &SZ,\ O +9 &!]I\ O +9 &"Z)\ O +10 &$[C\ N +9 &&\\Z"\ N +9 &(ZB\ O +10 &)]5\ O +9 &+W)\ O +10 &-dX)\ N +9 &/%Y.\ O +9 &0]*\ N +10 &2Z!\ N +12 &4mZG\ N +6 &6-\\,\ O +10 &7W(\ O +9 &9YS\ O +10 &;sX0\ O +9 &=5\\M\ O +10 &>Z-\ O +9 &@Y+\ N +9 &B|Y*\ N +9 &D=\\)\ O +10 &EaO\ O +9 &GnV\ Q +10 &Iu/\ T +9 &K2)\ U +9 &L#\ U +10 &NN\ U +9 &PyS\ U +9 &R:-\ U +10 &S*\ V +9 &U*\ U +10 &W(\ U +9 &YA5\ B +9 &Z_Ap7\ \\ +10 &Z3$\ / +5 ( +2 "processing"% & +4 "core" &Z%#\ / +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&]1 +58 "core" 1 +2 "manipulator"&{% +4 "core" % % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +3 "core" &Z%F\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&}% +3 "core" %\  e  +3 "storage"(% +3 "core" %` " " \ +2 "storage"(5. +3 "core" .( +2 "storage"(t& +3 "core" & " " \ +3 "storage"(/& +3 "manipulator"&w& +5 "core" & " # \ +2 &z b +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&(s +6 "core" ( +2 "manipulator"&& +4 "core" &z \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z y +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open + "processing"%r( +80 "core" ' + "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +295 ( +2 "storage"(& +3 "core" & E D \ +2 "manipulator"&+& +4 "core" &z  + "manipulator"&% +4 "core" % +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +262 "core" ( + "manipulator"&0& +4 "core" &  L  +2 "storage"("& +4 "core" & ; ? u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +95 "core" ' +42 .tHand.open +9 "manipulator"&1 +59 "core" 1 +2 "storage"(#- +3 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(-' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(A& +4 "core" & x\ +2 "manipulator"&%& +3 "core" & >  +3 .tElbow.seek 2 +2 "manipulator"&M( +8 "core" ( + "manipulator"&O& +4 "core" & !  +2 "storage"(.& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +58 "core" ' + "manipulator"&3& +5 "core" & n  + "storage"(I& +4 "core" & J F j\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +21 "core" ' + "manipulator"&Q% +4 "core" %  n : +2 "storage"(?& +4 "core" & % >\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&$' +21 "core" ' +2 "manipulator"&(& +4 "core" &  +2 "storage"()& +4 "core" & Z [ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +18 "core" ' +2 "storage"(8% +3 "core" %s f h S\ +3 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (H% +3 "core" %HD #  \ Xg +2 "manipulator"&&% +6 "core" %ћ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (9& +4 "core" & B a 4\ +2 "collection"'N& +4 "core" &Vj \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&a% +5 "core" %\ !  5 + "storage"(1% +4 "core" %` N D \ +2 "storage"(>. +3 "core" .( +2 "storage"(2& +3 "core" & D N _\ +2 "storage"(R& +5 "core" & E G \ + "manipulator"&<& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&J& +4 "core" &  b  + "storage"(D& +4 "core" & D D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +95 "core" ' + "storage"(_& +4 "core" & [ ^ 6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +286 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&P& +3 "core" &   +2 "storage"(L& +4 "core" & A F ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +19 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(m'P +32 "core" ' + "manipulator"&d% +4 "core" % C +2 "storage"(& +3 "core" & ' D \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&@' +49 "core" ' +3 "manipulator"&e& +4 "core" &   +2 "storage"(& +4 "core" & D E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'? +40 "core" ' + "manipulator"&n& +4 "core" & 6  +2 "manipulator"&v% +3 "core" %ћ u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +3 "manipulator"&i& +4 "core" &% $ 4 <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &%  @ <= +3 .tForearm.seek CC +2 "manipulator"&`'" +93 "core" ' +2 .tHand.close + "manipulator"&[/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(\\& +4 "core" & u k \ +2 "storage"(6& +4 "core" & ^ ^ P\ +2 "manipulator"&f& +3 "core" &% <= +2 "manipulator"&p% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"& & +4 "core" &  3  + "storage"(V& +4 "core" & \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +102 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +65 "core" 1 +2 "manipulator"&% +3 "core" % W +2 "storage"( & +5 "core" & ~ \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&k' +20 "core" ' +2 "manipulator"&u& +4 "core" &  +2 "storage"(K& +4 "core" & +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +28 "core" ' + "storage"(U% +4 "core" %B &\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (^% +2 "core" %A T\ Vb +2 "manipulator"&~% +5 "core" %р g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'g& +3 "core" & \ +2 "manipulator"&j% +4 "core" %\ "  : +2 "storage"(% +4 "core" %S P\ + "storage"(b. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" & A 9 \  +2 "manipulator"&{& +4 "core" & 1  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&}& +4 "core" &  \\  +2 "storage"(& +4 "core" & \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +93 "core" ' +2 "storage"(t& +4 "core" & z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'i +284 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +48 "storage"(#QK-0-\ b +4 ( & +3 "core" & z W\  +2 "manipulator"&& +4 "core" & X  +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( + "manipulator"&|& +4 "core" & > \ +2 "storage"(& +4 "core" & Z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & K \ + "manipulator"&% +4 "core" % ϰ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &( * % ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( \\ ?P +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +96 "core" ' +2 "manipulator"&"& +4 "core" &(  ` ?P +2 "manipulator"&% +4 "core" % { +2 "collection"'& +4 "core" & \ +2 "collection"'#& +5 "core" & \ +3 .tCC.seek :closed +2 "collection"' (V +3 "core" & \ +6 & \ 6 +10 &@H \ 1 +9 &ip \ E +10 & b \ N +9 &X \ N +9 &W \ N +10 &RW \ N +9 &X \ N +9 &X \ N +10 &W \ N +9 &YX \ N +10 &!Z .\ N +9 &"Y ;\ N +9 &$Y \ N +10 &&bY \ N +9 &(%W <\ N +9 &)Y ?\ N +10 &+X <\ N +9 &-kW ?\ N +10 &/-W D\ N +9 &0X :\ N +9 &2W ;\ M +10 &4rW ?\ N +9 &64Y B\ N +9 &7X E\ N +10 &9X =\ N +9 &;{[ =\ N +10 &==Y 9\ N +9 &>X ?\ N +9 &@V :\ N +10 &BX ;\ N +9 &DCZ D\ N +9 &F` A\ O +10 &Gp F\ Q +9 &Iw A\ U +10 &K) 9\ Z +9 &L <\ Z +9 &N 9\ Z +10 &Pn A\ Z +9 &R/ :\ [ +10 &S F\ \\ +9 &U ;\ I +9 &V3 @\ )z +10 &Vb ;\ L +2 ( +2 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&F1 +63 "core" 1 +3 "manipulator"&A% +4 "core" %  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +103 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%O& +4 "core" &0\ +2 "manipulator"&.% +3 "core" %\   +3 "storage"(3% +4 "core" %_ C D \ + "storage"(I. +3 "core" .( +2 "storage"(& +3 "core" & D F t\  +2 "storage"(Q& +4 "core" & D G `\  +2 "manipulator"&?& +4 "core" &(  : ?P +2 "manipulator"& % +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +160 "core" ( +2 "manipulator"&)& +3 "core" &   +3 "storage"(8& +4 "core" & ^ ] L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' + "storage"(7& +4 "core" & a o 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +278 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" & . Q d\  +2 "manipulator"&*& +4 "core" & d  +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( + "manipulator"&4& +3 "core" & [  +3 "storage"(;& +4 "core" & ^ h\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&9'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(a'X +53 "core" &   +3 "manipulator"&1% +4 "core" % ϡ < +2 .tForearm.seek :retract +2 "manipulator"&>'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2(s +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +139 "core" ( +2 "manipulator"&& +4 "core" &w   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &w   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +98 "core" ' + "manipulator"&J& +4 "core" &w   +2 "manipulator"&D% +3 "core" %  +3 "processing"%,& +4 "core" &1\ +2 "processing"%_& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &3\  +9 &2}2\ )w +9 &a7\ > +9 &fx5\ O +10 &'[,\ O +9 &Z*\ N +10 &Z/\ O +9 &nY2\ O +10 &0X/\ O +9 &Z7\ O +9 &Y.\ O +9 & w\\1\ N +10 &"9[<\ N +9 &#Z.\ N +10 &%Z.\ N +9 &'\\2\ N +9 &)AZ6\ N +10 &+Y9\ N +9 &,Y;\ N +9 &.]9\ O +10 &0I]<\ N +9 &2 Z0\ N +10 &3W)\ O +9 &5]-\ N +9 &7PX:\ O +10 &9\\1\ N +9 &:X7\ N +9 &<\\;\ O +10 &>XZ3\ O +9 &@\\6\ O +9 &AW-\ N +10 &C\\5\ O +9 &E^b8\ O +10 &Gk4\ Q +9 &H;\ T +9 &J;\ T +10 &LV8\ U +9 &N.\ U +10 &O2\ T +9 &Q;\ T +9 &S]8\ U +10 &U:\ U +9 &V<\ U +9 &X7\ U +10 &Zg4\ * +9 &Zu/\ < +10 ( + &Z#0\ 0 +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&=1 +54 "core" 1 + "manipulator"&:% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +100 "core" ' + "processing"%P& +4 "core" &Z#6\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&L% +4 "core" %\ # h ? +2 "storage"(S% +4 "core" %\\ " $ \ +2 "storage"(d. +3 "core" .( +2 "storage"(& +4 "core" & + & '\  +2 "storage"(e& +3 "manipulator"&& +7 "core" & $  4\  + &w o  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(n'i + "manipulator"&v(s +7 "core" ( + "manipulator"&B& +4 "core" &w   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &w   +3 .tForearm.seek PC +2 "manipulator"&E' +97 "core" ' + .tHand.close + "manipulator"&W/ +57 "core" / +3 .tPC.seek :open +2 "processing"%@( +86 "core" ' +3 "storage"(m- +5 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'y +44 "core" ' +287 ( +2 "storage"(q& +3 "core" & G I \  +2 "manipulator"&s& +4 "core" &w   +2 "manipulator"&X% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +270 "core" ( +2 "manipulator"&c& +3 "core" &  V  +2 "storage"(\\& +4 "core" & W I M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +93 "core" ' + .tHand.open +2 "manipulator"&f1 +63 "core" 1 +2 "storage"(p- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +33 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(V' +52 "core" ' +2 #tLights, camera, ACTION! +48 "storage"(`- +4 "core" -' +2 "storage"(& +4 "core" & \  +2 "manipulator"&l& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & t  +2 "storage"(u& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +57 "core" ' +2 "manipulator"&Z& +4 "core" & ,  +2 "storage"(^& +4 "core" & [ ^ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&~'} +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +22 "core" ' +2 "manipulator"&k% +3 "core" %  +2 "storage"(g& +4 "core" & : E g\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&j'ϫ +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(b& +4 "core" & j a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +37 "core" ' + "storage"(z% +4 "core" %p r \  +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (y% +3 "core" %tG D - \ Yh +2 "manipulator"&]% +4 "core" %' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +2 "core" & \\ d ^\  +3 "collection"'& +4 "core" &V_ \ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&t% +3 "core" %\    +3 "storage"(o% +4 "core" %` h e\ + "storage"(x. +3 "core" .( +2 "storage"(w& +5 "core" & [ e\  + "storage"( & +4 "core" & ^ h \  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&|( +3 "core" ( +2 "manipulator"&& +3 "core" & Y  +2 "storage"(\ & +3 "core" & [ e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"(& +4 "core" & r \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & K  +2 "storage"(& +4 "core" & i i .\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'} +28 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +29 "core" ' + "manipulator"&% +4 "core" %· O w +2 "storage"(& +4 "core" &  - \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'ϳ +21 "core" ' + "manipulator"&& +3 "core" & e  +2 "storage"(& +4 "core" & [ [ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'B +40 "core" ' + "manipulator"&O& +44 "core" & |  +9 "manipulator"&.% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +156 "core" ( +3 "manipulator"&I& +4 "core" &$ % 0 ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &$ ~ ;7 +3 .tForearm.seek CC +2 "manipulator"&Q'" +99 "core" ' +2 .tHand.close + "manipulator"&?/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +415 "core" ( +3 "storage"(0& +4 "core" & a n W\  +2 "storage"()& +4 "core" & ] [ U\  +2 "manipulator"&8& +3 "core" &$ p ;7 +2 "manipulator"&7% +3 "core" %  } +3 .tForearm.seek :retract +2 "manipulator"&+'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +159 "core" ( +2 "manipulator"&H& +4 "core" & h } + "storage"(&& +4 "core" & Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +102 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +64 "core" 1 +2 "manipulator"&$% +4 "core" % ΍ U + "storage"(N& +5 "core" & +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&1'Ϲ +20 "core" ' +2 "manipulator"&(& +4 "core" & } +2 "storage"(& +4 "core" & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +26 "core" ' +2 "storage"(9% +4 "core" %L a\ +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (R% +3 "core" %C `\ Wd +2 "manipulator"&M% +4 "core" %{ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'D& +3 "core" & \ +2 "manipulator"&,% +4 "core" %\ # O ; +2 "storage"(a% +4 "core" %^ \ + "storage"(>. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(r( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" & g _ 7\ +3 "manipulator"&:& +4 "core" & } +2 .tElbow.seek 2 + "manipulator"&P( +33 "core" ( + "manipulator"&L& +3 "core" &  [ # +2 "storage"(S& +5 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +92 "core" ' +2 "storage"(& +4 "core" & A\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +284 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & s A\ +2 "manipulator"&B& +4 "core" &  "~ +2 .tElbow.seek 2 +2 "manipulator"&G( +2 "core" ( +2 "manipulator"&<& +4 "core" &  "~ +2 "storage"(W& +4 "core" & y m \ +4 .tForearm.seek 2 + 300 counts + "manipulator"&m' +47 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(!'X +7 "core" & "~ +2 "manipulator"&n% +3 "core" %  W r +3 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&X& +3 "core" & " R 9# +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" & " ` 9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'" +97 "core" ' +3 "manipulator"&\\& +3 "core" & # $ 9# +3 "manipulator"&v% +4 "core" %#  \\ +2 "collection"'f& +4 "core" & \ +2 "collection"'p& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(V +4 "core" & \ +8 & - \ $d +10 &V \ 7 +9 & \ L +9 &Y \ N +10 &`Y \ N +9 &$W \ M +10 &Y \ N +9 &Z \ N +9 &i\\ \ N +10 &+W \ N +9 &X \ N +9 &!] \ N +10 &#qY \ N +9 &%3\\ \ N +10 &&V \ N +9 &(W \ M +9 &*zW \ M +10 &,;X \ N +9 &-[ \ N +9 &/V \ N +10 &1W \ N +9 &3CV \ N +10 &5W \ N +9 &6X \ N +9 &8W \ \ M +10 &:KZ \ N +9 &< Z \ N +9 &=Y \ M +10 &?Y \ N +9 &ASZ \ N +10 &CW \ N +9 &D\\ \ N +9 &Fc \ O +10 &HQr \ Q +9 &J \ V +9 &K \ Y +10 &M| \ Z +9 &O? \ Z +10 &P  \ [\ +9 &R \ [\ +9 &T  \ \\ +10 &Vv \ 0 +9 &V( \ V +10 ( + &V_ \ K +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open + "manipulator"&[1 +65 "core" 1 +3 "manipulator"&% +4 "core" % " $ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +3 "core" &B\ +2 "manipulator"&u% +4 "core" %\ ! v 8 +2 "storage"(Z% +4 "core" %V D D \ +2 "storage"(^. +3 "core" .( +2 "storage"(i& +4 "core" &  ' \ +2 "storage"( & +3 "core" & D C P\ +2 "manipulator"&k& +4 "core" & " Y 9# +2 "manipulator"&g% +4 "core" %\ !  u 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +162 "core" ( + "manipulator"&b& +4 "core" &  h  +2 "storage"(z& +3 "core" & Z [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +95 "core" ' +2 "storage"(6& +3 "core" & h k ?\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +285 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" & G B #\ +2 "manipulator"&K& +4 "core" & A  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&U& +4 "core" & E  +2 "storage"(~& +4 "core" & ? H \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(t'X +6 "core" & v  +3 "manipulator"&o% +3 "core" % %  G +3 .tForearm.seek :retract +2 "manipulator"&x'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&Y(s +14 "Can"\ V +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&w& +4 "core" &n ; 4  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +50 & & +3 "core" &n   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' + "manipulator"&& +4 "core" &n :  +2 "manipulator"&\ % +3 "core" % V +3 "processing"%h& +4 "core" &;\ +3 "processing"%& +5 "core" &<\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &;\  +9 &1}<\ *z +10 &b>\ > +9 &nx4\ O +9 &1Z4\ N +10 &Y9\ N +9 &[2\ N +9 &wZ:\ N +10 &8]=\ O +9 &Y2\ O +10 &[2\ O +9 & Z9\ N +9 &"@\\2\ O +10 &$V3\ N +9 &%Y2\ N +9 &'^2\ N +10 &)IX4\ N +9 &+ Y6\ N +10 &,\\5\ N +9 &.\\3\ O +9 &0PZ3\ O +10 &2W5\ N +9 &3[;\ O +9 &5[5\ N +10 &7YZ7\ N +9 &9\\1\ O +10 &:V;\ N +9 &<\\1\ N +9 &>a[5\ N +10 &@#X;\ N +9 &AU9\ N +9 &C\\7\ N +10 &Eh^:\ O +9 &G&h=\ P +10 &H}<\ R +9 &J<\ T +9 &L_:\ T +10 &N";\ T +9 &O<\ T +9 &Q;\ T +10 &Sf;\ U +9 &U'<\ U +10 &V5\ U +9 &X8\ V +9 &Zc<\ 'w +10 &Za;\ 8 +9 ( + &Z+<\ 2 +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&{% +4 "core" % V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' +2 "processing"%& +4 "core" &Z+3\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 2 +2 "storage"("% +3 "core" %T " ! \ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &   \ +2 "storage"(& +3 "manipulator"&& +7 "core" & ! " \ + &n ^  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&O(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(.'i +3 "core" ( +2 "manipulator"&& +3 "core" &n   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &n m  +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&// +54 "core" / +2 .tPC.seek :open +2 "processing"%( +98 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I'y +47 "core" ' +275 ( + "storage"(& +3 "core" & I [ <\ +3 "manipulator"&F& +4 "core" &n   +2 "manipulator"&'% +4 "core" %  + +2 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3( +260 "core" ( +2 "manipulator"& & +3 "core" &  A +2 "storage"(0& +5 "core" & D D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +106 "core" ' +2 .tHand.open +2 "manipulator"&81 +57 "core" 1 +2 "storage"(7- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(#& +4 "core" & X\ +2 "manipulator"&;& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&$( +4 "core" ( + "manipulator"&N& +4 "core" & v +2 "storage"((& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +50 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +58 "core" ' + "manipulator"&+& +4 "core" & # +2 "storage"(R& +4 "core" & ] ^ H\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +31 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +24 "core" ' +2 "manipulator"&1% +4 "core" %  C + "storage"(D& +5 "core" & ) 8 \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts +2 "manipulator"&,' +21 "core" ' + "manipulator"&a& +4 "core" & l +2 "storage"(>& +4 "core" & i i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +20 "core" ' +2 "storage"(-% +4 "core" %m  n \ +4 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %I D , \ Yh +3 "manipulator"&=% +4 "core" %х d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +2 "core" & c _ ]\ +3 "collection"'S& +4 "core" &V_ \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %\  1  +3 "storage"(4% +4 "core" %b i h T\ + "storage"(J. +3 "core" .( +2 "storage"(e& +4 "core" & i h Q\ +2 "storage"(& +4 "core" & h h H\ + "manipulator"&B& +5 "core" & 1 + .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&W& +3 "core" & 4 +2 "storage"(2& +3 "core" & i j \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +99 "core" ' + "storage"(n& +4 "core" & r o\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +285 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  +2 "storage"(E& +4 "core" & [ Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&_' +30 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'O +28 "core" ' +2 "manipulator"&f% +4 "core" %  & +2 "storage"(G& +4 "core" & $ " H\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&!' +22 "core" ' + "manipulator"&q& +4 "core" & c +2 "storage"( & +4 "core" & Z [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +39 "core" ' +2 "manipulator"& & +3 "core" & ] +2 "manipulator"&u% +4 "core" %x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&p( +159 "core" ( +3 "manipulator"&^& +3 "core" &$ $ ;6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +42 &i& +9 "core" &$ i ;6 +3 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' +2 .tHand.close + "manipulator"&k/ +55 "core" / +2 .tCC.seek :open +2 "collection"'g( +415 "core" ( +2 "storage"(c& +3 "core" & | \ +3 "storage"(b& +4 "core" & q\ + "manipulator"&z& +4 "core" &% l ;2 +2 "manipulator"&6% +4 "core" % 2 -  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&l( +162 "core" ( +2 "manipulator"&y& +4 "core" & ;  + "storage"(]& +4 "core" & X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&K' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +54 "core" 1 +2 "manipulator"&}% +4 "core" % L + "storage"(& +4 "core" & ~ V\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 298 counts +2 "manipulator"&o'\ +23 "core" ' +2 "manipulator"&& +4 "core" & :  + "storage"(T& +4 "core" & j\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +21 "core" ' +2 "storage"(j% +3 "core" %B a\ +3 ."downElevator"SE.seek :down +4 "storage"(w'X +99 ( % +3 "core" %D X\ Wc +2 "manipulator"&% +4 "core" %z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'\ & +4 "core" & \ +2 "manipulator"&h% +3 "core" %\  :  +2 "storage"(t% +4 "core" %b \ +2 "storage"(x. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \\ ] 3\  +3 "manipulator"&{& +4 "core" & C  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&& +3 "core" &  < d +3 "storage"("& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +103 "core" ' +2 "storage"(& +4 "core" & %\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & a\  +2 "manipulator"&& +3 "core" & d +3 .tElbow.seek 3 + "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & d +2 "storage"(/& +3 "core" & U\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"('X +7 "core" &  d +2 "manipulator"&.% +4 "core" % Ϣ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +4 .tElbow.seek CC +2 "manipulator"&F( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&'& +4 "core" &+ C y A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &+ ^ A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +99 "core" ' +2 "manipulator"&0& +3 "core" &+ T A_ +3 "manipulator"&O% +4 "core" %( F +3 "collection"'8& +4 "core" & \ +2 "collection"'7& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'Q(V +3 "core" & \ +6 & \ 6 +9 &?H} \ 1 +9 &hp \ E +10 &\ ` \ N +9 &W \ N +10 &V \ N +9 &RV \ N +9 &U \ N +10 &V \ N +9 &U \ N +9 &ZW \ N +10 &!W \ N +9 &"X \ N +10 &$Y \ N +9 &&aU \ N +9 &($V \ N +10 &)T \ N +9 &+W \ N +9 &-jV \ N +10 &/+Z \ N +9 &0X \ N +10 &2U \ N +9 &4sW \ M +9 &64X \ N +10 &7V \ N +9 &9W \ M +9 &;yZ \ N +10 &=;Y \ N +9 &>W \ N +10 &@Z \ N +9 &BW \ N +9 &DB[ \ N +10 &F_ \ O +9 &Go \ Q +9 &Iu \ U +10 &K% \ [\ +9 &L \ [ +10 &N \ [ +9 &Pk \ [\ +9 &R- \ [\ +10 &S \ ] +9 &U \ J +9 &V6 \ 'u +10 &Vi \ K +2 ( +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.07 + .Hand.open + "manipulator" +63 "core" 1 +3 "manipulator"&;% +4 "core" % ( , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%(& +4 "core" &;\ +2 "manipulator"&?% +4 "core" %\   +2 "storage"(+% +4 "core" %b   g\ + "storage"(R. +3 "core" .( +2 "storage"(I& +4 "core" &  \  +2 "storage"(H& +4 "core" & ! \  +2 "manipulator"&1& +3 "core" &* 1 A_ +2 "manipulator"&D% +4 "core" %\  2  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&a( +161 "core" ( + "manipulator"&>& +4 "core" & ?  +2 "storage"(3& +4 "core" & [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +92 "core" ' +2 "storage"(-& +3 "core" & i k\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +284 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" & < C {\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&9& +4 "core" & T  + "storage"(M& +4 "core" & S ? C\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"('X +8 "core" & E  + "manipulator"&4% +4 "core" % Ϙ J  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&e& +3 "core" &q 6 p  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &q   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +94 "core" ' + "manipulator"&W& +4 "core" &q  \\  +2 "manipulator"&2% +4 "core" % h 7 +2 "processing"%A& +3 "core" &?\ +3 "processing"%n& +53 "core" &G\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &G\ +7 & 8@\ %f +9 &V;\ 8 +9 &~{;\ L +10 &[=\ O +9 &c\\9\ O +9 &'Y8\ N +10 &]2\ O +9 &Z6\ N +10 &mZ2\ N +9 &.\\7\ O +9 &\\1\ N +10 &!X5\ O +9 &#u]2\ N +10 &%6Y;\ O +9 &&Z3\ O +9 &(X/\ N +10 &*|W/\ O +9 &,>[.\ O +9 &.\\0\ N +10 &/Z;\ N +9 &1[3\ N +9 &3G\\5\ N +10 &5 ]6\ N +9 &6\\;\ N +10 &8Z<\ O +9 &:NZ7\ O +9 &<Y5\ O +10 &=Y6\ O +9 &?Z9\ N +9 &AXW<\ N +10 &C\\<\ O +9 &D\\8\ O +9 &Fh8\ P +10 &HS{<\ S +9 &J=\ T +10 &K9\ U +9 &M;\ U +9 &OT<\ U +10 &Q;\ U +9 &R<\ U +10 &T<\ U +9 &VY<\ V +9 &X;\ V +10 &Y{n;\ 6 +9 &Z3:\ E +9 &Z<\ ( +3 ( + "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&%1 +58 "core" 1 + "manipulator"&:% +4 "core" % 3 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +90 "core" ' + "processing"%X& +4 "core" &Z4\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&E% +5 "core" %\  !  + "storage"(\\% +4 "core" %T D D \ +2 "storage"(f. +2 "core" .( +2 "storage"(G& +4 "core" & D D \  +2 "storage"(q& +3 "manipulator"& & +6 "core" & E C \  + &q   +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'i +2 "manipulator"&u(s +5 "core" ( +2 "manipulator"&C& +4 "core" &q % $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &q   +2 .tForearm.seek PC +2 "manipulator"&P' +94 "core" ' + .tHand.close +2 "manipulator"&_/ +58 "core" / +3 .tPC.seek :open + "processing"%!( +85 "core" ' + "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +42 "core" ' +295 ( + "storage"(i& +4 "core" & J ^ ;\  +2 "manipulator"&[& +4 "core" &q   +2 "manipulator"&m% +4 "core" % z  +2 .tForearm.seek :retract +2 "manipulator"&k'\ +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +266 "core" ( +2 "manipulator"&`& +3 "core" &  =  +2 "storage"(c& +5 "core" & Z [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +87 "core" ' +2 .tHand.open + "manipulator"&z1 +63 "core" 1 +2 "storage"(6- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(]' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(p& +4 "core" & \  +2 "manipulator"&~& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&}( +8 "core" ( +2 "manipulator"&& +3 "core" & 7  +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +57 "core" ' + "manipulator"&s& +4 "core" &   +2 "storage"( & +3 "core" & Q Q F\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +47 "manipulator"&'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +22 "core" ' +2 "manipulator"&\ % +4 "core" %Ό  +2 "storage"(o& +4 "core" & E G M\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&h'ϸ +20 "core" ' +2 "manipulator"&t& +3 "core" & f  +3 "storage"(x& +4 "core" & Z [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(V% +3 "core" %s ^ h 1\ +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (r% +4 "core" %G F - X\ Xf +3 "manipulator"&% +4 "core" %$ h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & b p \  +2 "collection"'"& +4 "core" &Vl \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(U% +3 "core" %T ] ^\ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & ^ ]\  +2 "storage"(& +3 "core" & ] ^\  +2 "manipulator"&& +4 "core" & Y  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&/& +4 "core" & S  + "storage"(Y& +4 "core" & ] ^ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +94 "core" ' +2 "storage"(.& +4 "core" & r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & *  +2 "storage"(& +4 "core" & h e B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'S +28 "core" ' + "manipulator"&|% +5 "core" %Έ  + "storage"(8& +3 "core" & D D \  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +20 "core" ' + "manipulator"&& +5 "core" & N  + "storage"(g& +4 "core" & [ Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(;'B +39 "core" ' + "manipulator"&(& +4 "core" &  +2 "manipulator"&?% +4 "core" %> ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +167 "core" ( +3 "manipulator"&I& +3 "core" &+ < A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &+ [ A_ +3 .tForearm.seek CC +2 "manipulator"&H'" +96 "core" ' + .tHand.close +2 "manipulator"&1/ +53 "core" / +2 .tCC.seek :open +2 "collection"'D( +416 "core" ( + "storage"( & +4 "core" &  { D\  +2 "storage"(>& +48 "core" & { \  +4 "manipulator"&3& +3 "core" &+ A_ +2 "manipulator"&-% +4 "core" % 3 5 +2 .tForearm.seek :retract +2 "manipulator"&F'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&N( +166 "core" ( + "manipulator"&& +5 "core" &  / g + "storage"(=& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&'} +102 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +61 "core" 1 +2 "manipulator"&L% +4 "core" % Έ J +2 "storage"(S& +3 "core" & \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&4'ϴ +21 "core" ' +2 "manipulator"&a& +3 "core" & 5 g +2 "storage"()& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +37 "core" ' + "storage"(,% +4 "core" %J N\ +3 ."downElevator"SE.seek :down +3 "storage"(e'X +99 (% +3 "core" %$D `\ Wd +2 "manipulator"&$% +4 "core" %@ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +3 "core" & \ +2 "manipulator"&A% +4 "core" %\  ?  +2 "storage"(% +4 "core" %` \  +2 "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" & f ] k\ +2 "manipulator"&:& +4 "core" & g +2 .tElbow.seek 2 + "manipulator"&X( +31 "core" ( +2 "manipulator"&E& +3 "core" & " l +2 "storage"(\\& +4 "core" & i\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +104 "core" ' +2 "storage"(G& +3 "core" & +\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" & ;\ +2 "manipulator"&C& +4 "core" & g +2 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( +3 "manipulator"&B& +3 "core" & W g +2 "storage"(_& +4 "core" & ?\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&v' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +4 "storage"('X +6 "core" & : g +2 "manipulator"& % +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&i'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&m& +3 "core" &( 5 m ?U +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &(  ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +47 "manipulator"&`'" +99 "core" ' +2 "manipulator"&c& +3 "core" &( $ ?U +3 "manipulator"&u% +3 "core" % +3 "collection"'z& +4 "core" & \ +2 "collection"'6& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"' (V +4 "core" & \ +7 & 5 \ $d +9 &W~ \ 7 +9 &~ \ L +10 &T \ N +9 &gW \ M +10 &(W \ N +9 &W \ N +9 &Y \ N +10 &nW \ N +9 &0U \ N +9 &W \ M +10 &!X \ N +9 &#wX \ M +10 &%8Y \ N +9 &&U \ M +9 &(U \ N +10 &*}Y \ N +9 &,@W \ N +10 &.Y \ N +9 &/U \ N +9 &1W \ M +10 &3IW \ M +9 &5 X \ M +9 &6Z \ N +10 &8Y \ N +9 &:OW \ N +9 &<Y \ N +10 &=W \ N +9 &?V \ N +10 &AYV \ M +9 &CX \ M +9 &D[ \ N +10 &Fc \ O +9 &HVr \ Q +9 &J \ U +10 &K \ Z +9 &M \ Z +10 &OC \ Z +9 &Q \ Z +9 &R \ [\ +10 &T \ \\ +9 &V%v \ 0 +9 &V$ \ R +9 ( +3 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&p1 +2 "core" &Vk \ L +59 1 +3 "manipulator"&~% +4 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &G\ +2 "manipulator"&k% +4 "core" %\ #  ; +2 "storage"(s% +3 "core" %]   \ +2 "storage"( . +3 "core" .( +2 "storage"(^& +4 "core" &   Z\ +2 "storage"(y& +4 "core" & !  \ + "manipulator"&\ & +4 "core" &(  ?U +2 "manipulator"&o% +3 "core" %\ #  ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&t( +153 "core" ( + "manipulator"&x& +3 "core" & V +3 "storage"(Z& +4 "core" & ] [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +97 "core" ' + "storage"(b& +5 "core" & u k \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +285 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & 7 B \ +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&j& +4 "core" & F + "storage"(& +4 "core" & Z [\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&h' +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"('X +6 "core" &  +2 "manipulator"&U% +4 "core" % !  _ +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &q 6 N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +105 "core" ' + "manipulator"&/& +4 "core" &q g +2 "manipulator"&Y% +3 "core" % * +3 "processing"%& +3 "core" &H\ +3 "processing"%.& +4 "core" &C\ +3 .tPC.seek :closed +2 "processing"%w(Z +5 "core" &H\  +8 &1~M\ *y +9 &cI\ > +9 &sxA\ O +10 &5YF\ N +9 &ZG\ N +10 &]H\ O +9 &{]H\ N +9 &<XG\ O +10 &]J\ O +9 &Z=\ O +9 & X@\ N +10 &"EY@\ N +9 &$\\=\ O +10 &%\\E\ O +9 &'XC\ N +9 &)MZ@\ N +10 &+\\G\ O +9 &,Y=\ O +9 &.W>\ N +10 &0UYE\ N +9 &2X?\ O +57 &3\\=\ N +5 &5X;\ O +2 &7\\Z@\ O +2 &9V8\ N + &:W<\ N + &<Z?\ O + &>dY8\ O +6 &@%Z=\ O +10 &AU<\ N +9 &C\\5\ N +9 &Ek].\ O +10 &G*j2\ P +9 &H~0\ R +9 &J?\ T +10 &La<\ U +9 &N%<\ T +10 &O?\ T +9 &Q;\ U +9 &Sj>\ U +10 &U+9\ U +9 &V=\ U +9 &X9\ V +10 &Z^<\ $p +9 &Z^<\ - +9 ( +3 "processing"%.& +3 "core" &Z;\ ) +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&l1 +61 "core" 1 +2 "manipulator"&{% +4 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%'& +4 "core" &Z1\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  q  +2 "storage"(0% +4 "core" %T C D \ +2 "storage"(|. +3 "core" .( +2 "storage"(8& +4 "core" & D D \ +2 "storage"(& +3 "manipulator"&g& +6 "core" & D D \ + &q  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(('i +2 "manipulator"&?(s +6 "core" ( + "manipulator"&5& +4 "core" &q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q + +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open +2 "processing"%( +73 "core" ' +3 "storage"(O- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(I'y +48 "core" ' +298 ( + "storage"(7& +4 "core" & D F \ +2 "manipulator"&#& +4 "core" &q  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&1'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+( +269 "core" ( + "manipulator"&Q& +4 "core" &  +2 "storage"( & +4 "core" & C C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +91 "core" ' + .tHand.open +2 "manipulator"&31 +62 "core" 1 +2 "storage"(-- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(R& +3 "core" & I\ +2 "manipulator"&M& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( + "manipulator"&S& +4 "core" & O +2 "storage"(a& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +57 "core" ' +2 "manipulator"&F& +4 "core" & - +2 "storage"(& +4 "core" & F N ;\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&$' +30 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&4% +4 "core" %  / +2 "storage"(2& +4 "core" &   R\ + .tForearm.force -20 +47 "manipulator"&5 +6 .tForearm.seek 2 + 315 counts + "manipulator"&A' +20 "core" ' + "manipulator"&& +4 "core" & v +2 "storage"(*& +3 "core" & \\ ` 6\ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +23 "core" ' +2 "storage"(&% +4 "core" %s r \  +3 ."downElevator"SE.seek :down +3 "storage"(e'X +99 (@% +2 "core" %hI - D p\ Xg +3 "manipulator"&%% +4 "core" %Ѩ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" & E L \ +2 "collection"'\\& +4 "core" &Vk \ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&G% +4 "core" %\    +2 "storage"(9% +4 "core" %b Z Z\ +2 "storage"(W. +3 "core" .( +2 "storage"( & +4 "core" & a \\ =\ + "storage"(n& +4 "core" & V I C\ +2 "manipulator"&C& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&B( +4 "core" ( +2 "manipulator"&_& +3 "core" & N +2 "storage"(J& +4 "core" & Z Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +93 "core" ' + "storage"( & +4 "core" & k `\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'i +283 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & 5 +2 "storage"(P& +4 "core" & > < \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&q' +31 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(c'P +25 "core" ' + "manipulator"&u% +4 "core" %   +2 "storage"(z& +4 "core" & # % \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +18 "core" ' + "manipulator"&i& +4 "core" & c +2 "storage"(D& +4 "core" & e h j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'? +37 "core" ' + "manipulator"&& +4 "core" & j +2 "manipulator"&k% +3 "core" %ћ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&6( +161 "core" ( +2 "manipulator"& & +3 "core" &% $ + <: +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &% 1 <: +3 .tForearm.seek CC +2 "manipulator"&y'" +89 "core" ' + .tHand.close +2 "manipulator"&\ / +64 "core" / +2 .tCC.seek :open +2 "collection"'o( +419 "core" ( + "storage"(`& +4 "core" & S\ +2 "storage"(x& +4 "core" & K\ + "manipulator"&Z& +4 "core" &%  <: +2 "manipulator"&b% +4 "core" % 5 X  +2 .tForearm.seek :retract +2 "manipulator"&['\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +152 "core" ( +2 "manipulator"&T& +48 "core" &   +4 "storage"(r& +4 "core" & 8\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&% +4 "core" %  +2 "storage"("& +4 "core" & S\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 304 counts + "manipulator"&U' +22 "core" ' + "manipulator"&t& +4 "core" & '  +2 "storage"(V& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +30 "core" ' + "storage"(h% +4 "core" %I 5\  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %p@ T\ Vb +2 "manipulator"&}% +4 "core" %y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Y& +3 "core" & \ +2 "manipulator"&% +6 "core" %\  6  +2 "storage"(% +3 "core" %a \ +3 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(!( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" & g _ \  +3 "manipulator"&{& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&'( +16 "core" ( + "manipulator"&& +4 "core" & k +2 "storage"(0& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +92 "core" ' +2 "storage"(8& +3 "core" & ;\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & k \  +2 "manipulator"&5& +4 "core" & k +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" & \\ k +3 "storage"(& +4 "core" & C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w'X +7 "core" &  k +2 "manipulator"&(% +3 "core" % ϲ +3 .tForearm.seek :retract +2 "manipulator"&7'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +26 "core" ( + "manipulator"&& +4 "core" &+ , r Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* P Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'" +94 "core" ' +2 "manipulator"& & +3 "core" &( # y >O +3 "manipulator"&?% +4 "core" %& ^ +2 "collection"'3& +4 "core" & \ +2 "collection"'-& +6 "core" & \ +3 .tCC.seek :closed +3 "collection"'H(V +3 "core" & \ +6 & \ 5 +50 &;Fz \ 1 +4 &eq \ E &_ \ N +2 &W \ N + &V \ M + &PW \ M +7 &X \ M +10 &\\ \ N +9 &T \ M +10 &XY \ M +9 &!W \ M +9 &"W \ N +10 &$W \ N +9 &&_U \ N +9 &(!Y \ N +10 &)T \ N +9 &+U \ M +10 &-hW \ M +9 &/*W \ M +9 &0W \ N +10 &2Y \ N +9 &4oY \ N +9 &61\\ \ N +10 &7U \ N +9 &9U \ M +10 &;vZ \ N +9 &=9X \ N +9 &>Z \ N +10 &@Y \ N +9 &BY \ N +9 &DA] \ N +10 &Ec \ O +9 &Gn \ Q +10 &It \ T +9 &K& \ Z +10 &L \ Z +9 &N \ Z +9 &Pi \ [ +9 &R, \ Z +10 &S \ \\ +9 &U \ J +10 &V6 \ 'v +9 &Vh \ K +2 ( +3 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 2.04 + .Hand.open + "manipulator"&R1 +54 "core" 1 +2 "manipulator"&M% +3 "core" % & w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%a& +4 "core" &8\ +2 "manipulator"&1% +3 "core" %\  u  +3 "storage"(F% +3 "core" %b D D\ +2 "storage"(. +3 "core" .( +2 "storage"(4& +3 "core" & D D \  +2 "storage"(2& +4 "core" & D D \  +2 "manipulator"&I& +4 "core" &( r >O +2 "manipulator"&% +4 "core" %\  x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( + "manipulator"&*& +4 "core" & 9 q +2 "storage"(+& +4 "core" & ^ ^ E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +94 "core" ' + "storage"(>& +4 "core" & q %\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='i +276 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & 7 7 =\  +2 "manipulator"&%& +4 "core" & A q +2 .tElbow.seek 3 + "manipulator"&L( +3 "core" ( +2 "manipulator"&,& +3 "core" & # q +3 "storage"($& +4 "core" & Z [\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&A'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(G'X +7 "core" &  q +2 "manipulator"&9% +4 "core" % ϭ b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"& & +3 "core" &x  ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &x ` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' +2 "manipulator"&_& +4 "core" &x # +2 "manipulator"&J% +4 "core" %   +2 "processing"%;& +3 "core" &;\ +3 "processing"% & +5 "core" &=\ +2 .tPC.seek :closed +2 "processing"%e(Z +4 "core" &J\ +8 &9I\ $c +10 &TI\ 7 +9 &~C\ L +9 &_A\ N +10 &[`F\ N +9 &]A\ O +10 &\\A\ N +9 &X@\ N +9 &cW@\ N +10 &%\\A\ N +9 &^B\ N +9 &!\\E\ N +10 &#lZA\ N +9 &%-[F\ N +10 &&WA\ N +9 &(]A\ N +9 &*s\\F\ N +10 &,5]B\ N +9 &-^A\ N +9 &/]C\ N +10 &1{\\@\ N +9 &3<Z@\ O +10 &4ZG\ O +9 &6YA\ N +9 &8VA\ N +10 &:FYC\ N +9 &<Z@\ N +9 &=WE\ N +10 &?[E\ N +9 &AM[B\ N +10 &C\\A\ N +9 &D]7\ N +9 &Ff6\ P +10 &HH|7\ S +9 &J7\ T +9 &K/\ T +10 &M;\ T +9 &OK1\ T +10 &Q /\ T +9 &R0\ U +9 &T<\ U +10 &VP=\ U +9 &X1\ U +9 &Y{n3\ : +10 &Z*v7\ M +9 &Z%/\ . +3 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&N1 +56 "core" 1 + "manipulator"&:% +50 "core" % $  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 "processing"%m& +3 "core" &Z%6\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&P% +4 "core" %\   +2 "storage"(<% +3 "core" %T % $ \ +2 "storage"(u. +3 "core" .( +2 "storage"(z& +4 "core" &   \  +2 "storage"(i& +3 "manipulator"&D& +6 "core" & $ " \  + &x C +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(k'i +3 "core" ( + "manipulator"&d& +4 "core" &x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &x F +2 .tForearm.seek PC +2 "manipulator"&X' +96 "core" ' +2 .tHand.close + "manipulator"&q/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"(c- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +44 "core" ' +284 ( + "storage"(^& +4 "core" & D 9 S\  +2 "manipulator"&p& +4 "core" &x Z + "manipulator"&v% +4 "core" % B +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&s( +266 "core" ( +2 "manipulator"& & +4 "core" & <  +2 "storage"(`& +4 "core" & D C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +99 "core" ' +2 .tHand.open + "manipulator"&Z1 +65 "core" 1 +2 "storage"(b- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +36 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(y' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(r- +3 "core" -' +2 "storage"(6& +4 "core" & \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" & v  +2 "storage"(t& +4 "core" & \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +62 "core" ' +2 "manipulator"&[& +3 "core" & K  +3 "storage"(& +4 "core" & ^ f C\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&Y% +4 "core" %Έ  + "storage"(U& +4 "core" & D D y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +20 "core" ' +2 "manipulator"&& +4 "core" & 5  +2 "storage"(K& +4 "core" & Z [ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +28 "core" ' + "storage"(]% +4 "core" %p f ` :\ +38 ."downElevator"SE.seek :down +14 "storage"('X +99 (% +4 "core" %G D C \ Xf +2 "manipulator"&l% +3 "core" %$ / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & a o t\  +3 "collection"'0& +4 "core" &Vk \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&8% +4 "core" %\   +2 "storage"(j% +4 "core" %a a ^ @\ +2 "storage"(/. +3 "core" .( +2 "storage"(& +4 "core" & ^ f A\  +2 "storage"(g& +3 "core" & i k "\  +2 "manipulator"&5& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" & \\  + "storage"(& +4 "core" & ^ ] Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"((& +3 "core" & r \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +283 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & J Y T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&.'} +22 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(?'S +31 "core" ' +2 "manipulator"&% +4 "core" %΋  +2 "storage"(3& +4 "core" & D D \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&w'Ϸ +20 "core" ' +2 "manipulator"&7& +3 "core" &  +2 "storage"(o& +4 "core" & h i u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'B +38 "core" ' +2 "manipulator"&a& +3 "core" &  +2 "manipulator"&1% +4 "core" %% J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +164 "core" ( +2 "manipulator"&4& +4 "core" &,  Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &+ b Ae +2 .tForearm.seek CC +2 "manipulator"&I'" +92 "core" ' +2 .tHand.close + "manipulator"&-/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(Q& +4 "core" & ~ \  +2 "storage"(*& +3 "core" & } \  +2 "manipulator"&+& +4 "core" & (  >O +2 "manipulator"&>% +4 "core" % 5 +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&S( +165 "core" ( + "manipulator"&)& +4 "core" &  > ~ +2 "storage"(@& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&%'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +37 "manipulator"&$1 +70 "core" 1 +3 "manipulator"&E% +4 "core" % ΁  +2 "storage"(\\& +4 "core" & >\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&9'ϭ +20 "core" ' +2 "manipulator"&& +4 "core" & ~ +2 "storage"(&& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +28 "core" ' + "storage"(A% +4 "core" %L T\ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (n% +2 "core" %D 6\ Wc +2 "manipulator"&L% +5 "core" %. J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +29253 "Can"\ 5G +10338 #t-> exit +6 #mEXIT @1717703138.96EDT @1717782365.18EDT = =mMAIN_scheduler =tMAIN @EDT1717782365.94 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +109 #"core_reset"Sent BREAK +2 #t@53856 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +387 "Can"\ " + \ " + #tPolling Can every 10:00 +9 #Cleanly exited at 15:45:38EDT06-Jun-24 +508 #-> ESP.ready! +3 #Powering core bus +576 .Gate.power :raw,:ON +4 "sampler") +40 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +2361 #-> 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +4 "core" & \  +2 .tHand.open + "manipulator"&21 +53 "core" 1 +2 "manipulator"&3% +4 "core" % \ # .  +2 "storage"(4% +3 "core" %` O\ +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +2 "core" & 7 B a\ +3 "manipulator"&8& +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&9( +12 .tElbow.hold +2 "manipulator"&:, +4 "core" (  ! + , +3 .tSE.seek :down +2 "storage"(;'X +4 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&<% +4 "core" % \ #   +2 !to:IRB::Abort: mesg"Elbow seek to 2 Aborted!:@checkpoint: omitted:bt[!"7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'",/home/esp/esp2/utils/misc.rb:33:in `to'"0/home/esp/esp2/utils/misc.rb:122:in `place'"//home/esp/esp2/utils/misc.rb:126:in `pick'"4/home/esp/esp2/utils/puckmoves.rb:365:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):3:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'=& +4 "core" & 1\  +2 "manipulator"&>% +4 "core" % \ "  +2 "storage"(?% +3 "core" %` Z \\\ +2 "storage"(@. +3 "core" .( +2 "storage"(A& +4 "core" & c Y\ +2 "storage"(B& +4 "core" & g f\ + "manipulator"&C& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&D( +23 "core" ( + "manipulator"&E& +4 "core" & l + +2 "storage"(F& +4 "core" & / 4\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +108 "core" ' +3 "storage"(H& +7 "core" & r i\ +5 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +283 "core" ' + "storage"(J- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (K& +2 "core" & \ +3 "manipulator"&L& +3 "core" & % +2 .tElbow.seek 2 +2 "manipulator"&M( +28 "core" ( +2 "manipulator"&N& +4 "core" &  n + "storage"(O& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&P' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(S'X +7 "core" & r n +2 "manipulator"&T% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +156 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&W& + "storage"(5 +8 "core" &( : ?Q +36 .tElbow.reconfigure :loose +9 "manipulator"&$ &.,(#b +3 &X& +3 "core" &( ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&Y'" +93 "core" ' + "manipulator"&Z& +4 "core" &)  ?Q +2 "manipulator"&[% +4 "core" % L +2 "collection"'\\& +4 "core" & 3\  +2 "collection"']& +6 "core" & 0\  +2 .tCC.seek :closed +3 "collection"'^(V +3 "core" & ,\  +6 & ,\ = +9 &G} .\ 2 +10 &5o .\ F +9 &g /\ Q +9 &Y .\ O +10 &XX %\ P +9 &Y #\ P +9 &Z \ P +10 &W \ P +9 &aZ "\ P +9 &"] \ P +10 & Z \ P +9 &"\\ \ P +10 &$iZ \ P +9 &&+Y $\ P +9 &'Z \ P +10 &)X \ O +9 &+pZ \ P +9 &-3Y \ P +10 &.[ \ P +9 &0Z \ P +10 &2yW \ P +9 &4;Y \ P +9 &5Z \ P +10 &7[ \ P +9 &9Z \ P +9 &;A^ \ P +10 &=Z \ P +9 &>[ !\ P +10 &@W \ P +9 &BJ[ \ \ P +9 &D ] \ P +10 &Eb \ \ Q +9 &Gp \ S +9 &IA \ sV +10 &J \  \ a[ +9 &L \ p\\ +10 &Nt \ t\\ +9 &P5 \ p] +9 &Q \ p] +10 &S \ \ i^ +9 &Us  \ VK +9 &V> \ t){ +10 &V \ T +5 ( +2 "collection"']& +4 "core" &Vz  \ T +2 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&_1 +57 "core" 1 +2 "manipulator"&`% +4 "core" %  q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%b& +4 "core" &\  +2 "manipulator"&c% +4 "core" %\   +2 "storage"(d% +4 "core" %] B = \ +2 "storage"(e. +2 "core" .( +2 "storage"(f& +4 "core" & B @ \ +2 "storage"(g& +4 "core" & B = \ +2 "manipulator"&h& +4 "core" &( 3 ?Q +2 "manipulator"&i% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +157 "core" ( + "manipulator"&k& +4 "core" & r  +2 "storage"(l& +4 "core" & <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +106 "core" ' +2 "storage"(n& +4 "core" & [\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +285 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +3 "core" &   \ +2 "manipulator"&r& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&t& +4 "core" & m  +2 "storage"(u& +4 "core" &  K\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"(y'X +8 "core" &  +2 "manipulator"&z% +4 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&{'\ +103 "core" ' +4 .tElbow.seek PC +2 "manipulator"&|(s +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&}& +4 "core" &| ' P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &| y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' +2 "manipulator"&& +4 "core" &| +2 "manipulator"&% +4 "core" % +2 "processing"%& +4 "core" &\  +3 "processing"%& +4 "core" &\  +3 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +7 &G\ %h +9 &lU\ 9 +9 &}~\ M +10 &tZ\ P +9 &5\\\ Q +9 &Z\ Q +10 &Z\ Q +9 &}U\ P +10 &=]\ Q +9 &Z\ Q +9 &\\\ Q +10 &!X\ P +9 &#F\\\ P +10 &%[\ Q +9 &&Y\ P +9 &(\\\ Q +10 &*MW\ Q +9 &,Z\ Q +9 &-X\ Q +10 &/Z\ Q +9 &1VZ\ P +9 &3Z\ Q +10 &4U\ Q +9 &6Y\ Q +10 &8^Y\ P +9 &:\\\ Q +9 &;Z\ P +10 &=V\ P +9 &?d[\ Q +10 &A(V\ P +9 &BW\ P +9 &D\\\ Q +41 &Fja\ R +10 &H&r\ {T + &I\ V + &K\ W &Mc\ W +3 &O%\ W +10 &P\ W +9 &R\ W +10 &Tj\ vW +9 &V*\ wX +9 &W\ X +10 &Y~\ : +9 &Z,p\ T +9 &Z%\ / +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&1 +65 "core" 1 + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"% & +4 "core" &Z#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&\ % +3 "core" %\ t 3 +2 "storage"( % +4 "core" %V @ @ o\ +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" & @ @ V\ +2 "storage"(& +3 "manipulator"&& +5 "core" & < ? 4\ +2 &| +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i + "manipulator"& (s +7 "core" ( + "manipulator"&& +4 "core" &| +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &| +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +83 "core" ' +2 "storage"( - +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +303 ( + "storage"(& +4 "core" & 9\ +2 "manipulator"&"& +4 "core" &| +2 "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&$'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&%( +249 "core" ( +2 "manipulator"&&& +4 "core" & # +2 "storage"('& +4 "core" & X X +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +95 "core" ' + .tHand.open +2 "manipulator"&)1 +64 "core" 1 +3 "storage"(*- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +48 "core" ' + #tLights, camera, ACTION! + "storage"(-- +4 "core" -' +2 "storage"(.& +4 "core" & &\ +2 "manipulator"&/& +4 "core" & J # +2 .tElbow.seek 2 +2 "manipulator"&0( +4 "core" ( + "manipulator"&1& +4 "core" & k # +2 "storage"(2& +4 "core" & "\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +56 "core" ' + "manipulator"&5& +4 "core" & ~ # +2 "storage"(& +4 "core" & @ ? \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&7' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +24 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(9& +3 "core" &  @\ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&;& +4 "core" & W # +2 "storage"(=& +4 "core" &   G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +17 "core" ' + "storage"(?% +4 "core" %q  . f\ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (A% +3 "core" %D $  \ Ym +2 "manipulator"&B% +49 "core" %ї +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' +21 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & 2  z\ +3 "collection"'F& +4 "core" &Vy \ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&H% +5 "core" %\   +2 "storage"(:% +4 "core" %a   \ +2 "storage"(. +4 "core" .( + "storage"(J& +4 "core" & ' & \ +2 "storage"(K& +4 "core" &  "\ +2 "manipulator"&L& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&N( +4 "core" ( + "manipulator"&O& +4 "core" & # +2 "storage"(Q& +4 "core" &  " j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +87 "core" ' +2 "storage"(T& +3 "core" & C M \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'i +285 "core" ' +3 "storage"(G- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" & r # +2 "storage"(X& +4 "core" & X W \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&I' +31 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'O +30 "core" ' +2 "manipulator"&[% +4 "core" %  +2 "storage"(\\& +3 "core" &  C\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&S' +19 "core" ' +2 "manipulator"&U& +4 "core" & G # +2 "storage"(!& +3 "core" & x x \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(`'> +41 "core" ' + "manipulator"&b& +4 "core" & # +2 "manipulator"&c% +4 "core" %ѕ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +149 "core" ( + "manipulator"&f& +4 "core" &% S <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &% <> +3 .tForearm.seek CC + "manipulator"&g'" +92 "core" ' + .tHand.close +2 "manipulator"&h/ +53 "core" / +2 .tCC.seek :open +2 "collection"'i( +416 "core" ( + "storage"(Y& +4 "core" & \ +2 "storage"(k& +4 "core" & U\ +2 "manipulator"&l& +4 "core" &% <> +2 "manipulator"&n% +4 "core" %  R  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&a( +149 "core" ( + "manipulator"&p& +4 "core" & \ +2 "storage"(q& +4 "core" & \  [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&r' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +64 "core" 1 +2 "manipulator"&w% +4 "core" % +2 "storage"(x& +4 "core" & t\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&z' +21 "core" ' + "manipulator"&j& +4 "core" & ] \ +2 "storage"(m& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +66 "core" ' +8 "storage"(v% +5 "core" %E\ \  \\\ +2 ."downElevator"SE.seek :down +4 "storage"(}'X +99 (~% +3 "core" %qA v\ Xg +3 "manipulator"&s% +4 "core" %ѧ c m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & \ +3 "manipulator"&% +3 "core" %\   +2 "storage"(y% +4 "core" %T   Z\ +2 "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \  +3 "manipulator"&& +3 "core" & x \ +3 .tElbow.seek 3 + "manipulator"& ( +18 "core" ( +2 "manipulator"&\ & +4 "core" & \\ +2 "storage"( & +4 "core" & D B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +107 "core" ' +2 "storage"(& +4 "core" & l _ m\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & R \  +3 "manipulator"&& +3 "core" & T \\ +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & Q \\ +3 "storage"(& +4 "core" &  ' '\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & \\ +2 "manipulator"&% +4 "core" % Ϡ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&#& +4 "core" &% <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'" +95 "core" ' + "manipulator"&'& +4 "core" &% <@ +3 "manipulator"& % +4 "core" %" +2 "collection"')& +4 "core" & '\ +2 "collection"'*& +6 "core" & $\ +3 .tCC.seek :closed + "collection"'-(V +5 "core" & ,\ +7 & +  \ #b +9 &V !\ 8 +10 &~ \ M +9 &V !\ O +9 &YX  \ O +10 &X '\ O +9 &Y #\ O +9 &Y \ O +10 &aY \ O +9 &"Z \ O +10 &Y \ O +9 &!Z \ O +9 &#hY \ O +10 &%*Z \ O +9 &&U \ O +9 &(W \ O +10 &*q\\ \ O +9 &,4Y \ O +10 &-X \ O +9 &/Y \ O +9 &1yY \ O +10 &3<W \ O +9 &4Y \ O +9 &6Z \ O +10 &8U \ O +9 &:CZ  \ O +10 &<Z \ P +9 &=Z \ O +9 &?W \ O +10 &AKX \ \ O +9 &C Z \ O +10 &D_ \ P +9 &Fe \ Q +9 &HG{ \ S +10 &I \ X +9 &K \ }\\ +9 &Mu \ [ +10 &O8 \ [\ +9 &P \ ~[ +9 &R \ {\\ +10 &Tx  \ z] +9 &Vw \  \ 1 +10 &V* \ V +8 ( +3 "collection"'*& +3 "core" &Vb \ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&.1 +57 "core" 1 +3 "manipulator"&/% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +104 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%2& +4 "core" &\ +2 "manipulator"&$% +3 "core" %\  J  +2 "storage"(5% +4 "core" %c F\ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & \  +2 "storage"(& +4 "core" & r\  + "manipulator"&9& +4 "core" &% <@ +2 "manipulator"&+% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +40 .tElbow.seek 3 +10 "manipulator"&;( +159 "core" ( + "manipulator"&=& +4 "core" & * l +2 "storage"(?& +4 "core" & 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +94 "core" ' + "storage"((& +4 "core" &\ 0\  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +287 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" & \  +2 "manipulator"&3& +4 "core" & + l +2 .tElbow.seek 3 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&4& +4 "core" & = l +2 "storage"(7& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"(H'X +6 "core" & b l +2 "manipulator"&:% +4 "core" % ϲ g +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&J& +4 "core" &~  w / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &~ _ / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' +2 "manipulator"&O& +4 "core" &~ / +2 "manipulator"&Q% +7 "core" % w  +5 "processing"%T& +7 "core" &\ +5 "processing"%>& +14 "core" &\ +2 &\ +2 .tPC.seek :closed +2 "processing"%@(Z +5 "core" &\ +6 & 1\ $d +9 &U\ 8 +9 &}}\ L +10 &\\\ P +9 &Q]\ P +9 &Y\ O +10 &Z\ O +9 &X\ O +10 &Z]\ P +9 &Y\ O +9 &[\ P +10 &!Y\ O +9 &#b_\ P +9 &%%[\ O +10 &&Y\ O +9 &(\\\ O +10 &*k\\\ O +9 &,-X\ O +9 &-Z\ P +10 &/[\ P +9 &1sX\ O +9 &35W\ O +10 &4V\ O +9 &6W\ O +10 &8{Z\ O +9 &:=\\\ O +9 &;\\\ O +10 &=\\\ O +9 &?[\ O +9 &AEW\ O +10 &CZ\ O +9 &Da\ P +10 &Fh\ Q +9 &H@}\ T +9 &I\ U +10 &K\ V +9 &M\ U +10 &OC\ U +9 &Q\ V +9 &R\ V +10 &T\ V +9 &VJ\ V +9 &X\ \ V +10 &Y~s\ : +9 &Z3\ G +9 &Z\ ( +3 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&81 +63 "core" 1 + "manipulator"&C% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 "processing"%W& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&X% +4 "core" %\   +2 "storage"(M% +3 "core" %_ 5\ +2 "storage"([. +3 "core" .( +2 "storage"(\\& +4 "core" & \  +3 "storage"(U& +3 "manipulator"&!& +6 "core" & \  + &~ / +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(b'i +4 "manipulator"&c(s +9 "core" ( + "manipulator"&R& +4 "core" &x * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &x * +3 .tForearm.seek PC + "manipulator"&D' +95 "core" ' + .tHand.close +2 "manipulator"&I/ +61 "core" / +2 .tPC.seek :open +2 "processing"%S( +79 "core" ' + "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'y +40 "core" ' +303 ( + "storage"(]& +4 "core" & '\  +2 "manipulator"&_& +4 "core" &x * +2 "manipulator"&P% +42 "core" % n  +10 .tForearm.seek :retract + "manipulator"&h'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +257 "core" ( + "manipulator"&^& +5 "core" & \ + "storage"(Y& +4 "core" & h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +95 "core" ' + .tHand.open +2 "manipulator"&l1 +59 "core" 1 +2 "storage"(n- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(q' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(e& +4 "core" &  \  +2 "manipulator"&u& +4 "core" & \ +2 .tElbow.seek 3 +2 "manipulator"&w( +4 "core" ( + "manipulator"&x& +4 "core" & \ +2 "storage"(j& +4 "core" &   \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +60 "core" ' +2 "manipulator"&v& +4 "core" & \ +2 "storage"(a& +4 "core" & 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +17 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'i +25 "core" ' +2 "manipulator"&z% +4 "core" %΃ +2 "storage"(& +3 "core" & T\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϯ +20 "core" ' + "manipulator"&y& +3 "core" & R \ +3 "storage"({& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +37 "core" ' +2 "storage"(o% +4 "core" %p 1\ +3 ."downElevator"SE.seek :down +3 "storage"(}'X +98 (6% +5 "core" %I U\ Yj +2 "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" & H\  +2 "collection"' & +4 "core" &V] \ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(t% +4 "core" %a I\ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & 8\  +2 "storage"(& +4 "core" & <\  +2 "manipulator"&& +4 "core" & \ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  \ +2 "storage"(|& +4 "core" & 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' +2 "storage"(& +3 "core" & `\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +288 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & \ +2 "storage"(& +3 "core" & &\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"& , +8 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'S +30 "core" ' +2 "manipulator"&)% +3 "core" %΂  +2 "storage"(& +4 "core" & 1\  +2 .tForearm.force -20 + "manipulator"&5 +41 .tForearm.seek 3 + 305 counts +8 "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&& +4 "core" & ` \ +2 "storage"(i& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'B +41 "core" ' +2 "manipulator"&2& +4 "core" & o \ +2 "manipulator"&$% +4 "core" %;  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +153 "core" ( +3 "manipulator"&& +4 "core" &$ t ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$ $ ;4 +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&9/ +58 "core" / +2 .tCC.seek :open +2 "collection"'+( +416 "core" ( +2 "storage"(&& +3 "core" &\ \  \  +2 "storage"(=& +4 "core" &\ \ I\  +2 "manipulator"&?& +4 "core" &$ ;4 + "manipulator"&(% +4 "core" % , +2 .tForearm.seek :retract +2 "manipulator"&"'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&1( +158 "core" ( +2 "manipulator"&A& +3 "core" &  +2 "storage"(B& +4 "core" &  \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&3'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +64 "core" 1 +2 "manipulator"&E% +4 "core" % Έ +2 "storage"(F& +4 "core" &   q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&:'ϴ +21 "core" ' + "manipulator"&;& +4 "core" &   +2 "storage"(%& +4 "core" & 9 @ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +26 "core" ' +2 "storage"(% +4 "core" %D Z = N\ +3 ."downElevator"SE.seek :down +4 "storage"(J'X +99 (K% +3 "core" %C   =\ We +2 "manipulator"&0% +4 "core" %t o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'Q& +4 "core" & \ +2 "manipulator"&T% +4 "core" %\  p  +2 "storage"(H% +4 "core" %` Z Y\ + "storage"(<. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,l +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &,k 4\  +2 "manipulator"&C& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&W( +4 "core" ( + "manipulator"&X& +4 "core" & z  +2 "storage"(M& +4 "core" &,i @ : \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&['Ѽ +94 "core" ' +2 "storage"(\\& +4 "core" &,i j w\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'i +282 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +2 "core" &,i   K\  +3 "manipulator"&R& +3 "core" & F  +2 .tElbow.seek 4 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&L& +4 "core" & M  +2 "storage"(I& +3 "core" &,i 5 4 *\  +42 .tForearm.seek 4 + 300 counts +9 "manipulator"&Z', +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(@'X +6 "core" &  +2 "manipulator"&b% +4 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +154 "core" ' + ."downElevator"SE.stop +3 "storage"(5 + "core" ( +3 "manipulator"&P& +4 "core" &$ N ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &$ ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'" +94 "core" ' +3 "manipulator"&Y& +3 "core" &$ ;5 +3 "manipulator"&c% +4 "core" %  +2 "collection"'l& +4 "core" & "\ +3 "collection"'n& +4 "core" & '\ +3 .tCC.seek :closed +2 "collection"'g(V +4 "core" &  \ +7 &< %\ $e +10 &T \ 8 +9 & !\ M +10 &X  \ O +9 &dZ "\ O +9 &&Z !\ O +10 &Z \ O +9 &V \ N +10 &lY \ O +9 &/Z \ N +9 &X \ O +10 &!] \ O +9 &#uY \ N +10 &%6Z \ O +9 &&U \ N +9 &(V \ N +9 &*|V \ O +10 &,>V \ O +9 &.U \ O +10 &/W \ N +9 &1Y \ N +9 &3GU \ N +10 &5 Y \ N +9 &6Z \ O +9 &8Z \ N +10 &:N[ \ O +9 &<Z \ N +10 &=Z \ O +9 &?\\ \ O +9 &AWZ \ N +10 &CX \ N +9 &D\\ \ O +9 &Fg \ P +10 &HRx \ S +9 &J \ W +10 &K \ [ +9 &M~ \ \\ +9 &OC \ [ +10 &Q \ \\ +9 &R \ \ \\ +9 &T \ ] +10 &V"v \ 0 +9 &V' \ \ V +9 ( +2 &Vm \ \ L +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.01 + .Hand.open + "manipulator"&e1 +65 "core" 1 +2 "manipulator"&u% +4 "core" %  k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%j& +4 "core" &\ +2 "manipulator"&h% +4 "core" %\   +2 "storage"(v% +4 "core" %` \ +2 "storage"(a. +2 "core" .(,l +2 "storage"(z& +4 "core" &,i \  +2 "storage"(& +4 "core" &,i \  +2 "manipulator"&f& +4 "core" &# ;5 +2 "manipulator"&y% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&p( +161 "core" ( +2 "manipulator"&{& +4 "core" &  +2 "storage"(o& +4 "core" &,i `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&d'Ѽ +87 "core" ' + "storage"(k& +4 "core" &,i U\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +280 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &,i @\  +2 "manipulator"&m& +4 "core" & \\  +2 .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&V& +3 "core" & =  +2 "storage"(~& +4 "core" &,i 1\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&', +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('X +8 "core" & h  + "manipulator"&t% +4 "core" % > O +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +176 "core" ' + ."downElevator"SE.stop + "storage"(5 +68 "core" ( +3 "manipulator"&& +4 "core" &x  t \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &x \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&& +4 "core" &x \ +2 "manipulator"&|% +43 "core" % m +10 "processing"%`& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%}(Z +4 "core" &\ +7 & 1\ $c +10 &U\ 7 +9 &}\ L +9 &^\ P +10 &R]\ O +9 &]\ O +9 &\\\ O +10 &V\ O +9 &Y\\\ P +10 &Y\ O +9 &]\ O +9 &!\\\ P +10 &#b[\ O +9 &%%\\\ O +10 &&Y\ O +9 &(X\ O +9 &*j\\\ O +10 &,,[\ O +9 &-]\ O +9 &/Z\ O +10 &1sY\ O +9 &34Z\ O +9 &4[\ O +10 &6Z\ P +9 &8zX\ O +10 &:<Z\ O +9 &;Y\ P +9 &=Z\ O +10 &?Z\ O +9 &ACX\ P +10 &CY\ P +9 &DZ\ P +9 &F]\ P +10 &HEm\ R +9 &J\ T +9 &K\ U +10 &M\ U +9 &OA\ V +10 &Q\ V +9 &R\ V +9 &T\ V +10 &VI\ V +9 &X\ \ V +9 &Y~r\ : +10 &Z2\ K +9 &Z\ ) +3 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 + .Hand.open + "manipulator"&s1 +53 "core" 1 +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%#& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ b  +2 "storage"('% +4 "core" %_ \ +2 "storage"(). +3 "core" .(,l +2 "storage"(& +4 "core" &,i %\  +2 "storage"(& +3 "manipulator"&i& +7 "core" &,i \  + &x y \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&2(s +5 ."raiseStack"SE.seek :beamBreak + "storage"($'i +2 "core" ( +3 "manipulator"&& +4 "core" &x \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x \ +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +285 ( + "storage"(& +4 "core" &,i \  +2 "manipulator"&.& +4 "core" &x \ +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&5( +262 "core" ( +2 "manipulator"&-& +4 "core" &  +2 "storage"(&& +4 "core" &,i Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&='Ѽ +97 "core" ' + .tHand.open +2 "manipulator"&?1 +54 "core" 1 +2 "storage"((- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +4 "core" -' + "storage"(*& +4 "core" &,i !  \  +2 "manipulator"&7& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&E( +8 "core" ( + "manipulator"&F& +4 "core" & t  +2 "storage"(;& +4 "core" &,i   k\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&%'Ѽ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&"& +4 "core" & }  +2 "storage"(K& +4 "core" &,i z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&0' +31 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +63 "core" ' +9 "manipulator"&:% +4 "core" %  +2 "storage"(Q& +4 "core" &,i "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&T'= +28 "core" ' + "manipulator"&H& +5 "core" & p  +2 "storage"(<& +4 "core" &,i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&/'Ѽ +54 "core" ' + "storage"(,% +4 "core" %o H\ +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 ( % +4 "core" %xD X\ Yj +2 "manipulator"&8% +4 "core" %ѳ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +94 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +4 "core" &,i 9\  + "collection"'M& +4 "core" &Vl \ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&\\% +4 "core" %\ " : +2 "storage"(4% +3 "core" %_ >\ +2 "storage"(O. +3 "core" .(,l +2 "storage"(U& +4 "core" &,i \  +2 "storage"(!& +3 "core" &,i -\  +2 "manipulator"&R& +4 "core" & r  +2 .tElbow.seek 4 +2 "manipulator"&L( +4 "core" ( + "manipulator"&I& +4 "core" &  +2 "storage"(& +4 "core" &,i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G'Ѽ +101 "core" ' + "storage"(b& +4 "core" &,i \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'i +286 "core" ' +2 "storage"([- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &  +2 "storage"(D& +4 "core" &,i >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&>' +33 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.08 Pucks below Top Plate +2 "storage"(c'K +31 "core" ' + "manipulator"&l% +4 "core" % g +2 "storage"(N& +4 "core" &,i ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&@'? +23 "core" ' + "manipulator"&]& +4 "core" & >  +2 "storage"(+& +4 "core" &,i q\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&e'Ѽ +38 "core" ' +2 .tSE.seek 1.08 Pucks below Top Plate +2 "storage"(u': +40 "core" ' + "manipulator"&j& +4 "core" & 1  +2 "manipulator"&h% +4 "core" %Ѧ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&a( +158 "core" ( + "manipulator"&n& +4 "core" &$ v ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &$ w ;8 +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&f/ +53 "core" / +2 .tCC.seek :open +2 "collection"'y( +415 "core" ( +2 "storage"(^& +4 "core" &,i   x\  +2 "storage"({& +4 "core" &,i   v\  + "manipulator"&o& +4 "core" &$ g ;8 +2 "manipulator"&k% +4 "core" % !  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&x( +157 "core" ( +2 "manipulator"&6& +3 "core" & p  +2 "storage"(& +4 "core" &,i Y Y \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&m' +102 "core" ' +42 .tElbow.hold +9 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +62 "core" 1 +3 "manipulator"&\ % +4 "core" %  +2 "storage"( & +4 "core" &,i I 5\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 318 counts + "manipulator"&t'> +19 "core" ' +2 "manipulator"&p& +4 "core" & H  +2 "storage"(d& +4 "core" &,i $  8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&q'Ѽ +28 "core" ' +2 "storage"(% +3 "core" %9 B Y\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %c? 5 4\ Wd +2 "manipulator"&w% +4 "core" %Ѱ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'|& +3 "core" & \ +3 "manipulator"&`% +3 "core" %\  r  +3 "storage"(% +3 "core" %\\ Y Y\ +2 "storage"(. +3 "core" .(,l +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(S( +654 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" & \ \  \ +3 "manipulator"&& +3 "core" & b  +2 .tElbow.seek 2 +2 "manipulator"&#( +34 "core" ( +2 "manipulator"&& +4 "core" & Q $ +2 "storage"('& +4 "core" & 9 6 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +90 "core" ' +2 "storage"(& +4 "core" & Z Y c\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' +2 "storage"(i- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & O \ +3 "manipulator"&& +3 "core" & # +3 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & # +3 "storage"(& +4 "core" &   \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(}'X +8 "core" & z # +2 "manipulator"&$% +3 "core" %  k +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +158 "core" ' ( +2 "manipulator"& & +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &+ A` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &+ ~ A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&-'" +92 "core" ' +2 "manipulator"&&& +4 "core" &+ q A` +2 "manipulator"&2% +4 "core" % +2 "collection"'?& +4 "core" & \ +3 "collection"'(& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & \  +9 &1{ !\ *z +9 &c  \ ? +9 &xp !\ O +10 &;T "\ O +9 &V !\ N +10 &U "\ O +9 &X #\ N +9 &DW  \ N +10 &W (\ N +9 &Z %\ O +9 & [ )\ N +10 &"LX '\ N +9 &$ W *\ O +10 &%Y "\ N +9 &'Z &\ O +9 &)TX $\ N +10 &+Y \ O +9 &,W \ O +10 &.V (\ N +9 &0ZZ \ O +9 &2U !\ N +10 &3Z \ O +9 &5U  \ O +9 &7dY \ N +10 &9&V !\ N +9 &:Y \ O +10 &<Y \ O +9 &>lZ !\ N +9 &@.W \ N +10 &AW \ N +9 &CY \ N +9 &Eq\\ \ O +10 &G0d \ P +9 &Hw \ S +10 &J \ X +9 &LY \ Z +9 &N \ \ Z +10 &O \ Z +9 &Q \ [ +9 &S[ \ \\ +10 &U \ \\ +9 &VkE \ 1 +9 &V\ v \ K +6 ( +2 "collection"'(& +3 "core" &Vk  \ K +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&*1 +58 "core" 1 +43 "manipulator"&7% +12 "core" %  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%;& +4 "core" &\ +2 "manipulator"&9% +4 "core" %\   +2 "storage"("% +4 "core" %a \ +2 "storage"(K. +3 "core" .( +2 "storage"(& +4 "core" & p\ +2 "storage"(A& +3 "core" & m\ +2 "manipulator"&:& +4 "core" &+ A` +2 "manipulator"&Q% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +158 "core" ( +2 "manipulator"&H& +4 "core" & g  +2 "storage"(<& +3 "core" & P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +90 "core" ' +2 "storage"(B& +4 "core" & \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'i +282 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" & \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&8& +4 "core" & y  +2 "storage"(0& +4 "core" & 2\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&M& +2 "storage"(\\'X +8 "core" & D  +2 "manipulator"&4% +4 "core" %  3 +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&O(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&U& +4 "core" &} & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &} b \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +96 "core" ' +2 "manipulator"&I& +3 "core" &} \ +2 "manipulator"&% +4 "core" %  +2 "processing"%/& +4 "core" &\ +2 "processing"%b& +5 "core" &\ +3 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &\ +7 & 1\ #b +10 &U\ 8 +9 &~}\ L +9 &Z\ O +10 &W\\\ O +9 &[\ O +9 &Z\ P +10 &Y\ O +9 &_]\ O +10 &!\\\ O +9 &\\\ P +9 &!Z\ P +10 &#fY\ P +9 &%)Y\ O +9 &&U\ O +10 &(Z\ O +9 &*nY\ P +10 &,1Z\ O +9 &-]\ O +9 &/Y\ P +10 &1wY\ O +9 &39U\ O +9 &4X\ P +10 &6Y\ O +9 &8~Y\ P +10 &:AZ\ O +9 &<Z\ O +9 &=Z\ O +10 &?X\ O +9 &AKX\ O +9 &C ]\ O +10 &D_\ P +9 &Fe\ P +10 &HHt\ R +9 &J\ T +9 &K\ V +10 &M\ U +9 &OG\ U +9 &Q\ V +10 &R\ V +9 &T\ V +10 &VM\ V +9 &X\ W +9 &Y{n\ > +10 &Z"O\ L +9 &Z7\ 7 +2 ( +3 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&11 +61 "core" 1 +2 "manipulator"&C% +4 "core" % U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' + "processing"%P& +4 "core" &Z6\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&D% +3 "core" %\   +2 "storage"(Y% +4 "core" %c .\ +2 "storage"(l. +3 "core" .( +2 "storage"(N& +4 "core" & /\ +2 "storage"(]& +3 "manipulator"&+& +7 "core" & \ + &} \ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&j(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'i +50 "core" ( +2 "manipulator"&G& +5 "core" &} \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &} \ +2 .tForearm.seek PC +2 "manipulator"&W' +95 "core" ' +2 .tHand.close + "manipulator"&>/ +56 "core" / +2 .tPC.seek :open +2 "processing"%@( +94 "core" ' +2 "storage"(c- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +46 "core" ' +281 ( + "storage"(z& +4 "core" & \ +4 "manipulator"&e& +4 "core" &} \ +2 "manipulator"&Z% +4 "core" %  t  +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&v( +268 "core" ( + "manipulator"&g& +4 "core" & +2 "storage"(^& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +97 "core" ' + .tHand.open +2 "manipulator"&o1 +58 "core" 1 +2 "storage"(k- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(a& +4 "core" & & $ C\ +2 "manipulator"&~& +3 "core" & t +3 .tElbow.seek 2 +2 "manipulator"&\ ( +8 "core" ( +2 "manipulator"& & +4 "core" & \ +2 "storage"(p& +4 "core" &   t\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(_' +57 "core" ' + "manipulator"&& +4 "core" & u \ +2 "storage"(& +4 "core" & 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w' +33 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +24 "core" ' + "manipulator"&t% +4 "core" % w  +2 "storage"(|& +4 "core" & '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&`' +20 "core" ' +2 "manipulator"&& +4 "core" & A \ +2 "storage"(& +4 "core" & 0\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +27 "core" ' + "storage"(q% +4 "core" %k w\ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +5 "core" %uF b\ Xj +2 "manipulator"&s% +4 "core" %ѵ k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & !\ +2 "collection"''& +3 "core" &Vk \ K +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(V% +4 "core" %c F\ +2 "storage"(. +2 "core" .( +2 "storage"(i& +4 "core" & )\ +2 "storage"(& +4 "core" & _\ +2 "manipulator"&& +4 "core" & ~ \ +2 .tElbow.seek 2 +2 "manipulator"&( +50 "core" ( +2 "manipulator"&& +4 "core" & \\ \ +2 "storage"(r& +4 "core" & \ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"($& +4 "core" & @\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +284 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & ~ \ +2 "storage"( & +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(2'O +28 "core" ' +2 "manipulator"&?% +4 "core" % ~  +2 "storage"(& +4 "core" & "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&}' +16 "core" ' +2 "manipulator"&& +3 "core" & = \ +3 "storage"(y& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(7'> +41 "core" ' +2 "manipulator"&(& +3 "core" & R \ +2 "manipulator"&;% +4 "core" %ќ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&"( +161 "core" ( +2 "manipulator"&K& +4 "core" &(  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( ?U +2 .tForearm.seek CC +2 "manipulator"&A'" +98 "core" ' +2 .tHand.close + "manipulator"&:/ +57 "core" / +2 .tCC.seek :open +2 "collection"'Q( +418 "core" ( +2 "storage"(-& +4 "core" & \ +2 "storage"(H& +3 "core" & \ +3 "manipulator"&<& +4 "core" &(  ?U + "manipulator"&B% +4 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&.'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +161 "core" ( +2 "manipulator"&%& +4 "core" &  +2 "storage"(E& +4 "core" &  C\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&01 +59 "core" 1 +2 "manipulator"&X% +4 "core" % n +2 "storage"(M& +4 "core" & \ \  ?\ +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 308 counts + "manipulator"&4' +20 "core" ' + "manipulator"&5& +4 "core" & H  +2 "storage"(=& +4 "core" & 4 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +24 "core" ' + "storage"(T% +4 "core" %A > @ (\ +3 ."downElevator"SE.seek :down +3 "storage"(U'X +99 (!% +3 "core" %@ % 3 F\ Wd +2 "manipulator"& % +44 "core" %љ  +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +86 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & %\ +2 "manipulator"&/% +4 "core" %\   +2 "storage"(\\% +4 "core" %\\ Y X *\ +2 "storage"(3. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" & B\  +2 "manipulator"&C& +4 "core" & j  +2 .tElbow.seek 3 +2 "manipulator"&P( +15 "core" ( + "manipulator"&D& +4 "core" & z [ +3 "storage"(Y& +4 "core" & - 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&l'9 +3 !"core_reader"o:I2C::Bus::Error: mesg"Unexpected ACK byte: 0x43:bt[ "5/home/esp/esp2/lib/i2c/gateway.rb:344:in `reset'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"5/home/esp/esp2/lib/i2c/gateway.rb:329:in `reset'"4/home/esp/esp2/lib/i2c/gateway.rb:326:in `loop'"5/home/esp/esp2/lib/i2c/gateway.rb:326:in `reset'":/home/esp/esp2/lib/i2c/gateway.rb:321:in `initialize'"*/home/esp/esp2/lib/i2c/gateway.rb:321 +13 #"core_reset"Sent BREAK +2 #"core_reader"@26141 sendCRC with ifg=0x20, ie=0x7F + #@27457 sendCRC with ifg=0x20, ie=0x7F +2 #@27674 sendCRC with ifg=0x20, ie=0x7F #@28827 sendCRC with ifg=0x20, ie=0x7F + #@29043 sendCRC with ifg=0x20, ie=0x7F + #@30197 sendCRC with ifg=0x20, ie=0x7F + #@30413 sendCRC with ifg=0x20, ie=0x7F #@32248 sendCRC with ifg=0x08, ie=0x5F + #@40519 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +4 .tForearm.hold +2 "manipulator"&N+ +40 "Can"\ 5" +2 "core" ' U + "Can"\ 5" +2 #"Restarting_core_reader"Polling Can every 10:00 +5 "core" + +4 .tSE.seek :down +2 "storage"(b'X +3 "core" ' +3 .tSE.stop + "storage"(5 +3 "manipulator"&+% +4 "core" % m ] +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +85 "core" ' + !to:IRB::Abort: mesg",Forearm seek to 3 + 700 counts Aborted!:@checkpoint: omitted:bt[$"7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"1/home/esp/esp2/utils/misc.rb:106:in `extend'",/home/esp/esp2/lib/msg.rb:68:in `retry'"1/home/esp/esp2/utils/misc.rb:104:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"0/home/esp/esp2/utils/misc.rb:122:in `place'"//home/esp/esp2/utils/misc.rb:126:in `pick'"4/home/esp/esp2/utils/puckmoves.rb:365:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +6 #mEXIT @1717784648.39EDT @1726513770.41EDT = =tMAIN =mMAIN_scheduler @EDT1726513771.16 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK + #t@21908 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +248 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"\ L/<\ + \ L/<\ + #tPolling Can every 10:00 +11 #Cleanly exited at 14:24:08EDT07-Jun-24 +545 #-> ESP.ready! +3 #Powering core bus +583 .Gate.power :raw,:ON +2 "sampler") +20 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X  + +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 .tForearm.home.seek :retract +4 ."rdyProcessing"PS.home.seek 0ml +2 "sampler")  + "manipulator"& '\ +2 "processing"% ' +6 "core"  + "sampler") +3 "core"  +2 "sampler")  +4 "core"  +3 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.home.seek 0ml +3 "collection"'#d @b + "sampler")' +6 ."readyCS"CS.home.seek 0ml +2 "collection"'' +40 "core" ' + ."closeHand"Hand.close +4 .tElbow.reconfigure :loose +2 "manipulator"&/ +4 &$ &.,(#b +5 .tElbow.jog 1500 +2 "manipulator"&* +38 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&(d +2 "core" / +317 ' +126 ( + "storage"(& +4 "core" & $ / ,\ +2 .tSE.home.seek :down + "storage"('X +23 "core" ' [ \ O +3 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi[ :deltaPressi : voltagef13.1193264604811: @type2F: @tagi: mesg"@Storage Elevator overCurrent at 23.07 Pucks below Top Plate:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:402:in `to'"7/home/esp/esp2/utils/storage.rb:57:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:546:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.hold +2 "storage"(+ +15 "core" + +2 .tSE.jog -128 +2 "storage"() +30 "core" ) +2 "storage"(& +4 "core" & f\ +2 .tSC.configure :sloppy +2 "storage"($-.\ 1~b +3 .tSC.home.seek :initial +2 "storage"(( +172 "core" ' +15 ' + ."rdyProcessing"PS.stop + "processing"%5 +97 "core" )U L )\ w +4 !to:Slide::Error\ : mesg"ZStorage Elevator positionErr at 23 Pucks below Top Plate during Storage Carousel move: @replyo:I2C::Servo::RelMove3Reply : @error:positionErr: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioniU: velocityi: currenti:pwmi:erri: inPressiL : outPressi :deltaPressi) : voltagef13.315693667157586: @type2F: @tagi:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 "storage"(& +3 "core" &a " & $\ +2 .tSC.reconfigure :sloppy +3 "storage"($-.\ 1~b +37 .tSC.hold +7 "storage"(, +3 "core" ( b d\  +9 , +2 .tSC.jog 90 +2 "storage"(*Z +30 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"('X +59 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial +2 "storage"(( +1789 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 "manipulator"& & +3 "core" &d % +3 .tForearm.seek :retract +2 "manipulator"&!'\ +3 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&"( +92 "core" ( +2 "manipulator"&#& +3 "core" & v E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&$'\ +5 "core" ' + "manipulator"&%% +3 "core" %\ #  +3 "processing"%&& +2 "collection"''& +7 "core" &\ + & \ +2 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open + "processing"%(( +2 "collection"')( +278 "core" ( +13 ( +2 "collection"'* +3 "core"  +2 "processing"%+ +3 "core" V +2 "processing"%, +3 "core"  +2 "processing"%- +4 "core" A +2 "collection"'.% +3 "core" % \ +3 "processing"%/% +4 "core" %\ +2 "sampler")0% +4 "core" %\ \ \ V +2 "collection"'1& +4 "core" & \  +2 "processing"%2& +4 "core" &$\  +2 "manipulator"&3% +4 "core" %\ #  +2 "manipulator"&4& +4 "core" & J E +2 "storage"(5& +3 "core" &   I\  +2 "storage"(6% +5 "core" %U !  P\ + "collection"'79 +3 "core" 9 +2 "processing"%89 +3 "core" 9 +2985 #t-> require 'PrimeReagent.rb' +2 !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4062 #-> require 'PrimeReagent.rb' +2 !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):3:in `require'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +16999 #-> require 'PrimeReagent.rb' +8833 #-> primePSRsub1 +2 #**Prepare to clean and prime PSR sub1 reagent** + .PSV.dial :air +2 "processing"%9  +5 "core"  +2 .tPS.seek 0ml +2 "processing"%:' +2 "core" ' +2 .tPSV.dial PSR +2 "processing"%; +132 "core"  +2 .tPSR.select :sub1 +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR sub1 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +396 .PS.seek 2.5ml +2 "processing"%<' +2602 "core" ' +2 .tPSV.dial :waste1 + "processing"%=  +45 "core"  +3 .tPS.seek 0ml + "processing"%>' +2604 "core" ' +2 .tPSV.dial PSR + "processing"%? +44 "core" +2 .tPS.seek 2.5ml +2 "processing"%@' +2596 "core" ' +2 .tPSV.dial :waste1 + "processing"%A  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%B' +2605 "core" ' +2 .tPSV.dial PSR + "processing"%C +44 "core" +2 .tPS.seek 2.5ml +2 "processing"%D' +2599 "core" ' +2 .tPSV.dial :waste1 + "processing"%E  +46 "core"  +2 .tPS.seek 0ml + "processing"%F' +2598 "core" ' +2 .tPSV.dial PSR + "processing"%G +44 "core" +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +3063 "processing"%H% +3 "core" %D\ +3 .tPS.seek 0.5ml + "processing"%I' +581 "core" ' +3 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1515 .PS.seek 2.5ml + "processing"%J' +862 "Can"\ D +1235 "core" ' + .tPSV.dial :waste2 +2 "processing"%K  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%L' +2601 "core" ' + .tPSV.dial PSR +2 "processing"%M +73 "core"  +3 .tPS.seek 2.5ml + "processing"%N' +2607 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%O  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%P' +2597 "core" ' +2 .tPSV.dial PSR + "processing"%Q +108 "core"  +9 .tPS.seek 2.5ml + "processing"%R' +2601 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%S  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%T' +2597 "core" ' +2 .tPSV.dial PSR +2 "processing"%U +73 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +4445 "processing"%V% +2 "core" %R\ +3 .tPS.seek 0.5ml +2 "processing"%W' +578 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1553 .PS.seek 2.5ml +2 "processing"%X' +2096 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%Y  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%Z' +2594 "core" ' +2 .tPSV.dial PSR +2 "processing"%[ +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\\' +2603 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%]  +43 "core"  +3 .tPS.seek 0ml + "processing"%^' +2596 "core" ' +2 .tPSV.dial PSR +2 "processing"%_ +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%`' +2599 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%a  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%b' +2593 "core" ' + .tPSV.dial PSR +2 "processing"%c +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1041 "processing"%d% +3 "core" %`\ +2 .tPS.seek 0.5ml +2 "processing"%e' +590 "core" ' +2 #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +21625 "Can"t\ @[ +9811 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +1197 #**Priming reagent line** +3 .PS.seek 2.5ml +2 "processing"%f' +2093 "core" ' +2 .tPSV.dial :waste1 + "processing"%g  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%h' +2602 "core" ' +2 .tPSV.dial PSR +2 "processing"%i +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%j' +2599 "core" ' +2 .tPSV.dial :waste1 + "processing"%k  +45 "core"  +3 .tPS.seek 0ml + "processing"%l' +2601 "core" ' +2 #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%B +10 .tPSV.dial PSR + "processing"%m +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%n' +2607 "core" ' +2 .tPSV.dial :waste1 + "processing"%o  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%p' +2605 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR + "processing"%q +46 "core"  +2 .tPS.seek 2.5ml + "processing"%r' +2606 "core" ' + .tPSV.dial :waste1 +2 "processing"%s  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%t' +2598 "core" ' + .tPSV.dial PSR +2 "processing"%u +44 "core" +2 .tPS.seek 2.5ml + "processing"%v' +2597 "core" ' + .tPSV.dial :waste1 +2 "processing"%w  +43 "core"  +3 .tPS.seek 0ml + "processing"%x' +2606 "core" ' + #t**SUCCESSFULLY PRIMED PSR SUB1 REAGENT** @1727899655.66EDT = =mMAIN_scheduler =tMAIN @EDT1727899656.40 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK +2 #t@46053 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +258 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +428 "Can"\ " + \ " + #tPolling Can every 10:00 +11 #Cleanly exited at 15:09:40EDT16-Sep-24 +641 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON +2 "sampler") +55 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'1& +3 "core" & \  +2 .tHand.open + "manipulator"&21 +57 "core" 1 + "manipulator"&3& +4 "core" &  { o +2 "manipulator"&4% +3 "core" % \ ! q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&5(, +181 "core" ( + "manipulator"&6& +4 "core" &, G < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &,  < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&8'Ϧ +98 "core" ' + .tHand.close +2 "manipulator"&9/ +62 "core" / +2 "manipulator"&:& +3 "core" &, % U < +2 "manipulator"&;% +4 "core" % ϛ   +2 .tForearm.seek :retract +2 "manipulator"&<'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&=( +279 "core" ( +2 "manipulator"&>& +3 "core" &( % ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &(  r ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'" +95 "core" ' +2 "manipulator"&A& +3 "core" &) & o ?V +2 "manipulator"&B% +5 "core" %   +2 "collection"'C& +3 "core" & \  +3 "collection"'D& +5 "core" & \  +2 .tCC.seek :closed +3 "collection"'E(V +2 "core" & \  +7 &K \ $f +9 &mU \ 8 +10 & \ M +9 &_ \ N +9 &A_ \ N +10 &_ \ N +9 &_ \ N +10 &^ \ N +9 &I` \ N +9 & _ \ N +10 &` \ N +9 &!b \ N +9 &#R^ \ N +10 &%b \ N +9 &&^ \ N +10 &(\\ \ N +9 &*[` \ N +9 &,b \ N +10 &-_ \ N +9 &/] \ N +9 &1c_ \ N +10 &3%] \ N +9 &4` \ N +10 &6` \ N +9 &8h] \ O +9 &:+` \ N +10 &;^ \ N +9 &=^ \ N +9 &?q] \ N +10 &A3a \ N +9 &B` \ N +10 &D_ \ N +9 &Fvh\  \ O +9 &H4{\ \ \ Q +10 &I\ \ \ U +9 &K\ \ \ Y +9 &Md\ \ \ X +10 &O%\ \ \ Y +9 &P\ \ \ Y +10 &R\ \ \ Z +9 &Tf\ \ \ Z +9 &Vu\ \ \ 7 +10 &V(\ \ \ #i +9 &Vx\ \ \ P +2 ( +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + "collection"'F& +4 "core" &Vx\ \ \ P +2 .tHand.open + "manipulator"&G1 +58 "core" 1 + "manipulator"&H% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +1985 #t-> CBV.waste2 +2 .CBV.dial :waste2 + "collection"'J  +134 "core"  +4257 #t-> CSV.air + .CSV.dial :air +2 "collection"'K @ +95 "core" A +7502 #t-> CBV +1173 #-> CSV +3615 #-> CS.seek 10 + .CS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 10ml +2 "collection"'L' V +2578 "core" ' +2 "collection"'M% +3 "core" % R\ \ \  +6294 #t-> CBV.SSV +2 .CBV.dial SSV + "collection"'N @ +44 "core" A +2960 #t-> CBV.between CSV and waste2 + !o:ArgumentError: mesg"(wrong number of arguments (1 for 2):bt[ "(ESP):9:in `between'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +6463 #-> CBV.CSV/waste2 +2 .CBV.dial CSV + "collection"'O  +105 "core"  +2 !to:NoMethodError : mesgu:NameError::message@undefined method `/' for #: name:/: args[: waste2:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1551 #-> CSV.air/CTV +2 .CSV.dial :air + "collection"'P @ +39 "core" @ +10 !to:Log::CannotDump: mesg"R#>:bt["7/home/esp/esp2/lib/log.rb:501:in `recordException'"7/home/esp/esp2/lib/log.rb:636:in `recordException'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"7/home/esp/esp2/lib/log.rb:635:in `recordException'"5/home/esp/esp2/lib/esp.rb:327:in `log_exception'"7/opt/mbari/lib/ruby/1.8/irb.rb:177:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +669 #-> CBV +3032 #-> CTV.CSV +2 .CTV.dial CSV +2 "collection"'Q  +132 "core"  +5898 #t-> CBV +711 #-> CBV.SSV +2 .CBV.dial SSV + "collection"'R @ +105 "core" ? +992 #t-> CS.seek 7.2 +2 .CS.seek 7.2ml +2 "collection"'S' +776 "core" ' +2 "collection"'T% +3 "core" %\ \ \ +2179 #t-> CTV.CSV +2 .CTV.dial CSV + "collection"'U  +5 "core"  +957 "Can"\ KP +42 #t-> CSV.CTV +2 .CSV.dial CTV + "collection"'V  +53 "core"  +1609 #t-> CS.reconfigure :pressurize +2 .CS.reconfigure :pressurize +2 "collection"'# d@<<b +3 'W% +2 "core" %\ \ \ +1219 #t-> CS.seek 0 +2 .CS.seek 0ml + "collection"'X' +1848 "core" ' + "collection"'Y% +4 "core" %\ +4647 #t-> CSV.CSR + .CSV.dial CSR +2 "collection"'Z  +51 "core"  +1748 #t-> CSR.fix + .CSR.select :fix +2 !o:Valve::Manifold::Error: mesg"5Collection Valve::Manifold has no selection: fix:bt[ "//home/esp/esp2/lib/valve.rb:171:in `fetch'"./home/esp/esp2/lib/valve.rb:176:in `call'"//home/esp/esp2/lib/valve.rb:176:in `fetch'"//home/esp/esp2/lib/valve.rb:201:in `goal='"8/home/esp/esp2/lib/valve.rb:213:in `method_missing'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2790 #-> CSR.RNAlater +2 .CSR.select :RNAlater +2 "collection"'\ +1257 #t-> CS.seek 2 +2 .CS.seek 2ml +2 "collection"'['^ +556 "core" ' +2 "collection"'\\% +3 "core" %; [ ]\  +635 #t-> CSR.air + .CSR.select :air +2 "collection"' +2032 #t-> CS.reconfigure :fast + .CS.reconfigure :fast +2 "collection"'#d @b +3 ']% +3 "core" %; . 1\  +1163 #t-> CS.seek 10 +2 .CS.seek 10ml + "collection"'^' V +1825 "core" ' +2 "collection"'_% +3 "core" % V \  +920 #t-> CBV.SSV + .CBV.dial SSV +2 "collection"'` @ +5 "core" ? +37541 "Can"\ KiAP +60002 \ KP +60002 z\ L\ mP +60002 \ L :P +60002 \ LP +60002 |\ Lo/P +60002 |\ K P +60002 \ L[P +60002 \ K>P +60002 \ LP +60002 \ KsP +60002 \ K" P +60003 \ L$IP +60002 \ L'BP +60002 \ K) uP +60002 \ K,w\ P +60002 \ K/\ P +60002 \ K1 7P +60002 \ K4F P +60002 \ K6 cP +60002 \ L9{ P +60002 \ K< P +60002 \ L>%P +60002 \ KAJP +60002 \ LCQP +60002 \ LFP +60003 \ KI}P +60002 \ KKP +60002 \ KNTP +60002 \ LP?P +60002 \ LSP +60002 \ LV$kP +60002 \ KXP +60002 \ L[YP +60002 \ K]-P +60002 \ K`P +60002 \ Lc(YP +60002 \ LeP +60002 |\ Kh]P +60002 \ LjP +60002 \ LmP +60003 \ Lp-GP +60002 \ LrP +60002 \ LubsP +60002 \ Kw P +60002 \ KzP @EDT1727928470.55 \ K}15P +60002 \ KP +60002 \ LgaP +60002 \ LP +60002 \ LP +60002 \ L6#P +60003 \ KP +60002 \ Kl OP +60002 \ K P +60002 \ K!{P +60002 \ K;"P +60002 \ K"P +60002 \ Lq#=P +60002 \ K #P +60002 \ L$iP +60002 \ K@$P +60002 \ L%P +60002 \ Kv&+P +60002 \ K&P +60003 \ K'WP +60002 \ LE'P +60002 \ K(P +60002 \ L{)P +60002 \ L)P +60002 \ L*EP +60002 \ LK*P +60002 \ K+qP +60002 \ KÀ,P +60002 \ K,P +60002 \ Kȵ-3P +60002 \ KP-P +60002 \ K._P +60002 \ LЅ.P +60003 \ L /P +60002 \ Kպ0!P +60002 \ LU0P +60002 \ L1MP +60002 \ L݊1P +60002 \ L$2yP +60002 \ K3P +60002 \ LZ3P +60002 \ L4;P +60002 \ L4P +60002 \ L)5gP +60002 \ K5P +60002 \ K^6P +60003 \ K7)P +60002 \ K7P +60002 \ K.8UP +51608 #t-> exit +4 !o:Storage::Warning: mesg"/Exiting with FlushPuck in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +5 #mEXIT @1727957787.72EDT @1728066372.15EDT = =mMAIN_scheduler =tMAIN @EDT1728066372.89 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@17162 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"\ #. + \ #. + #tPolling Can every 10:00 +11 #Cleanly exited at 08:16:27EDT03-Oct-24 +2 !o:Storage::Warning: mesg"CC.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #ESP.ready! will restore puck positions +524 #-> ESP.ready! +3 #Powering core bus +546 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0XO +2 "manipulator"&)% +3 "core" % #  ' +3 "collection"'*& +4 "core" &\ \ :\  +2 "collection"'+& +5 "core" &\ \ 0\  +3 .tCC.seek :closed + "collection"',(V +5 "core" & \ 6\  +8 &I \ -\ %g +9 &hV \ =\ 8 +9 &}\ \ ;\ M +10 &}Y\ \ C\ N +9 &?Z\ \ D\ N +9 &Z \ 8\ M +10 &[\ \ @\ N +9 &Z\ \ R\ M +10 &G[\ \ 6\ N +9 &_ \ I\ N +9 &[ \ \ N +10 &!_\ \ M\ N +10 &#OZ\ \ ?\ N +8 &%_ \ /\ N +10 &&Z\ \ \ N +9 &(\\ \ w\ N +10 &*W]\ \ \ N +9 &,Y\ \ Q\ N +9 &-Y\ \ \ M +10 &/\\\ \ \ M +9 &1_[ \ L\ N +9 &3!X\ \ ,\ N +10 &4Z\ \ /\ N +9 &6X \ \ N +10 &8gZ \ v\ N +9 &:)Z \ z\ N +9 &;Z \ Q\ N +10 &=_ \ s\ N +9 &?oY\ \ /\ N +9 &A1X\ \ -\ N +10 &BY \ ,\ N +9 &DY \ 0\ N +10 &Fv_ \ ,\ N +9 &H4k \ *\ O +9 &I\ \ 2\ S +10 &K \ /\ W +9 &M_\ \ +\ Y +9 &O!\ \ ,\ Y +10 &P\ \ .\ Y +9 &R \ v\ Y +10 &Tb \ /\ Z +9 &Vu \ 4\ 7 +9 &V* \ 0\ "f +9 ( +2 &Vv\ \ R\ P +3 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + "collection"'-& +4 "core" &Vv\ \ '\ P +2 .tHand.open + "manipulator"&.1 +55 "core" 1 +3 "manipulator"&/% +4 "core" % #  + +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +2 "processing"%1& +3 "collection"'2& +7 "core" &\ + &Vv\ \ &\ P +2 ."openPC"PC.home.seek :open +2 "processing"%3( +277 "core" ( +3 "collection"'4 +3 "core" ? +2 "processing"%5 +3 "core" V +2 "processing"%6 +3 "core"  +2 "processing"%7 +3 "core" A +2 "collection"'8% +4 "core" % \ $\ +2 "processing"%9% +3 "core" %\ +3 "sampler"):% +3 "core" %\ \ \  +3 "collection"';& +5 "core" &Vv \ \ P +2 "processing"%<& +3 "core" &\  +2 "manipulator"&=% +5 "core" %\   6  + "manipulator"&>& +5 "core" &(  ) >O + "storage"(?& +4 "core" & \  +2 "storage"(@% +5 "core" %O w\  +2 "collection"'A9 +3 "core" 9 +2 "processing"%B9 +3 "core" 9~ +597 #t-> Cc.open +2 !o:NameError: mesg"uninitialized constant Cc: name:Cc:bt["(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +293 #-> CC.open + "collection"'C& +3 "core" &Vu\ \ '\ P +2 !to:Puck::Error: mesg"(Collection Clamp contains FlushPuck:bt[ "4/home/esp/esp2/utils/puckmoves.rb:957:in `open'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +471 #-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&D& +3 "core" &( >O +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&E( +21 "core" ( +2 "manipulator"&F& +3 "core" & $ , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" & x , +3 .tForearm.seek CC + "manipulator"&H'" +95 "core" ' +2 .tHand.close + "manipulator"&I/ +54 "core" / +2 .tCC.seek :open + "collection"'J( +416 "core" ( +2 "manipulator"&K& +3 "core" &  , +2 "manipulator"&L% +3 "core" % 5 X  +3 .tForearm.seek :retract + "manipulator"&M'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&N(, +281 "core" ( + "manipulator"&O& +4 "core" &, E - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &, k - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&Q'Ϧ +104 "core" ' +36 .tHand.open +9 "manipulator"&R1 +63 "core" 1 + "manipulator"&S% +4 "core" % ϯ  u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +100 "core" ' +603 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'U& +3 "core" &\ \ \ +2 "manipulator"&V& +3 "core" &,  - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +8 .tElbow.seek FlushPuck::Garage +2 "manipulator"&W(, +13 "core" ( + "manipulator"&X& +4 "core" &, C 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &,  7 +3 .tForearm.seek :garage +2 "manipulator"&Z'Ϧ +101 "core" ' + .tHand.close +2 "manipulator"&[/ +56 "core" / +2 "manipulator"&\\& +3 "core" &,  { 7 +2 "manipulator"&]% +5 "core" % ϴ @ L +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&_( +284 "core" ( + "manipulator"&`& +4 "core" &+ $ b Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +3 "core" &+  F Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'" +90 "core" ' +2 "manipulator"&c& +4 "core" &+ % N Ae +2 "manipulator"&d% +3 "core" %"    +3 "collection"'e& +4 "core" &\ \ \ +2 "collection"'f& +5 "core" &\ \ \ +3 .tCC.seek :closed + "collection"'g(V +5 "core" & \ 5\ +7 & - \ 5\ $c +9 &V\ \ 4\ 8 +10 &{ \ 4\ L +9 &W\ \ 7\ M +9 &f] \ 9\ M +10 &)Y \ 5\ M +9 &^\ \ 5\ N +9 &Z\ \ 6\ N +10 &nY \ G\ M +9 &0[ \ 8\ M +10 &] \ 6\ N +9 &!] \ 8\ N +9 &#v[ .\ M +10 &%7^ \ 5\ N +9 &&Z \ 8\ N +9 &(\\ \ 5\ M +10 &*~]\ \ 4\ M +9 &,@Z \ 8\ M +10 &.]\ \ .\ M +9 &/Y\ \ 3\ N +9 &1Z \ 7\ N +10 &3H\\ \ .\ M +9 &5 ^ \  \ N +10 &6\\\ \ 6\ N +9 &8[ \ '\ N +9 &:O\\\ \ 0\ N +10 &<Y \ s\ M +9 &=\\ \ 5\ M +9 &?_\ \ 2\ M +10 &AX\\ \ 4\ M +9 &CZ \ ,\ M +9 &DZ \ *\ M +10 &F` \ ,\ N +9 &H[m \ 3\ O +10 &J \ 8\ S +9 &K \ -\ W +9 &M \ *\ Y +10 &OG \ *\ Y +9 &Q \ 0\ Y +10 &R\ \ (\ Z +9 &T\ \ ,\ Z +9 &V'u\ \ /\ . +10 &V'\ \ )\ T +8 ( +3 "collection"'f& +3 "core" &V`\ \ -\ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 "collection"'h& +3 "core" &V` \ 9\ I +2 .tHand.open +2 "manipulator"&i1 +58 "core" 1 + "manipulator"&j% +4 "core" %" % %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +843 #t-> CC.open +2 "collection"'l& +3 "core" &V_\ \ 7\ I +2 !to:Puck::Error: mesg"(Collection Clamp contains FlushPuck:bt[ "4/home/esp/esp2/utils/puckmoves.rb:957:in `open'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +943 #-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&m& +3 "core" &* y Ae +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&o& +3 "core" &*  Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &+  Ae +3 .tForearm.seek CC + "manipulator"&q'" +92 "core" ' +2 .tHand.close + "manipulator"&r/ +55 "core" / +2 .tCC.seek :open +2 "collection"'s( +415 "core" ( +2 "manipulator"&t& +3 "core" &+ P Ae +2 "manipulator"&u% +4 "core" % 5 v +2 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&w(, +285 "core" ( + "manipulator"&x& +4 "core" &,  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &, 3 ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&z'Ϧ +101 "core" ' +2 .tHand.open + "manipulator"&{1 +53 "core" 1 +2 "manipulator"&|% +3 "core" % ϩ ' [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' +2942 #t-> Arm +2 "manipulator"&~& +3 "core" &, a ; +2 "manipulator"&% +4 "core" %\    +1109 #t-> Arm.garage + "manipulator"&& +3 "core" &,  ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +3 "core" ( +2 "manipulator"&& +4 "core" &, g ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, W ; +3 .tForearm.seek :garage + "manipulator"&'Ϧ +103 "core" ' +2 "manipulator"&& +4 "core" &, $ X ; + "manipulator"&% +4 "core" %ϫ   +1086 #t-> Hand.close + .Hand.close +2 "manipulator"& / +86 "core" / +832 #t-> Arm.home +2 "manipulator"&& +4 "core" &, ; +3 "manipulator"& % +4 "core" % ϫ  +988 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +142 "core" ' +3 .tElbow.jog 1500 + "manipulator"&* +56 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&(d +304 "core" ( +3 "manipulator"&& +4 "core" &d m i + "manipulator"& % +5 "core" %\  H  +590 #t-> Arm.garage + "manipulator"&& +3 "core" &d  i +2 "manipulator"& % +4 "core" %\  y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +134 "core" ( +2 "manipulator"&& +3 "core" &, N + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'Ϧ +105 "core" ' +2 "manipulator"&& +3 "core" &,  [ + +2 "manipulator"& % +5 "core" %ϭ x  +8539 #t-> CC + "collection"'!& +4 "core" & \ J\ +161 #t-> PC +2 "processing"%\ & +3 "core" &8\  +375 #t-> PC.close +3 "manipulator"&& +3 "core" &, # + +4 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:420:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +849 #-> CC.close + "manipulator"&#& +3 "core" &, . + +4 !to:Arm::Error: mesg"@Cannot hold puck in Collection Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:420:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +666 #-> Hand.open + .Hand.open +2 "manipulator"&$1 +62 "core" 1 +362 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +672 #-> CC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):20:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1483 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +152 "core" ' +2 ."closeHand"Hand.close +4 .tElbow.jog 1500 +2 "manipulator"&/ +2 &&* +57 "core" / +13 * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&(d +298 "core" ( +2 "manipulator"&(& +4 "core" &d J !v + "manipulator"&)% +4 "core" % \ L  +216 #t-> Flush +366 #-> PC.close +2 "manipulator"&*& +3 "core" &d !v +3 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:420:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):23:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +879 #-> Hand.open +2 .Hand.open + "manipulator"&'1 +61 "core" 1 +294 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"(ESP):25:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +615 #-> Cc.close +2 !o:NameError: mesg"uninitialized constant Cc: name:Cc:bt["(ESP):26:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +222 #-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:421:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +609 #-> Arm.claim +688 #-> Claim.Arm + !o:NameError: mesg"!uninitialized constant Claim: name:\ Claim:bt["(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +20456 "Can"\ 2  +3237 #t-> Arm.grab CC +2 "manipulator"&-& +3 "core" &d  !v +2 "manipulator"&.% +3 "core" % \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&/( +199 "core" ( +2 "manipulator"&2& +3 "core" && X =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" && _ =D +2 .tForearm.seek CC +2 "manipulator"&+'" +97 "core" ' + .tHand.close +2 "manipulator"&%/ +56 "core" / +734 #t-> Arm.grab PC +2 .Hand.open + "manipulator"&41 +63 "core" 1 +2 "manipulator"&5& +3 "core" &&  / =D +2 "manipulator"&6% +4 "core" % -  G +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&8(s +362 "core" ( +2 "manipulator"&9& +3 "core" &w W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &w \ +2 .tForearm.seek PC +2 "manipulator"&;' +96 "core" ' +2 .tHand.close + "manipulator"& Arm.relinquish +2 "manipulator"&=& +3 "core" &w +2 "manipulator"&>% +4 "core" % =  +515 #t-> Arm.garage + "manipulator"&?& +3 "core" &w # +2 "manipulator"&@% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&B(, +127 "core" ( +2 "manipulator"&C& +3 "core" &, D 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &,  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&F'Ϧ +113 "core" ' ) ) H Ş +11 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi) : outPressi) :deltaPressiH : voltagef12.441859597447227L: @type2F: @tagiK: mesg")Forearm speedErr at CC + 4711 counts:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):33:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +499 #-> Hand.open + .Hand.open + "manipulator"&G1 +54 "core" 1 +253 #t-> Arm.garage +2 "manipulator"&I& +3 "core" &,  8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&"(, +4 "core" ( + "manipulator"&0& +4 "core" &, 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &,  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&K'Ϧ +52 "core" ' +2 "manipulator"&L& +3 "core" &, # | 8 +3 "manipulator"&H% +4 "core" %Ϩ \\ +637 #t-> Hand.close +2 .Hand.close + "manipulator"&O/ +64 "core" / +652 #t-> Arm.relinquish + "manipulator"&P& +3 "core" &,  8 +3 "manipulator"&E% +4 "core" % Ϩ } \\ +1135 #t-> Hand.relinquish +468 #-> Hand.open + .Hand.open +2 "manipulator"&R1 +56 "core" 1 +38459 #t-> Hand.close +2 .Hand.close + "manipulator"&S/ +62 "core" / +1127 #t-> Hand.open! + .Hand.open + "manipulator"&M1 +59 "core" 1 +2767 #t-> Flush +5829 "Can"\ 8A +11102 #t-> hand.open + !o:NoMethodError : mesgu:NameError::message2private method `open' called for :hand:Symbol: name: open: args[:bt["(ESP):43:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +845 #-> Hand.open +797 #-> Arm.home +2 "manipulator"&Q& +3 "core" &, m 8 +2 "manipulator"&U% +3 "core" % Ϩ I \\ +995 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&V'\ +139 "core" ' +2 ."closeHand"Hand.close +4 .tElbow.jog 1500 +2 "manipulator"&X/ + &Y* +44 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear +2 "manipulator"&[(d +7 "core" / +306 ( +2 "manipulator"&\\& +5 "core" &d F & + "manipulator"&]% +4 "core" % \    +31043 #t-> Hand.close +481 #-> Arm.garage +2 "manipulator"&N& +3 "core" &d  & +2 "manipulator"&T% +3 "core" % \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&Z(, +134 "core" ( +2 "manipulator"&`& +3 "core" &, S > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &,  > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&W'Ϧ +76 "core" 'c  [ Ş +2 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionic: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi[ : voltagef12.441859597447227L: @type2F: @tagi\\: mesg")Forearm speedErr at CC + 4673 counts:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):48:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3587 #-> Arm.claim +10351 "Can"\ .׫ +30218 #t-> Hand.open + .Hand.open +2 "manipulator"&c1 +54 "core" 1 +435 #t-> Arm.CC + "manipulator"&d& +3 "core" &,  K +2 "manipulator"&e% +4 "core" % 7 +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +70 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&J( +274 "core" ( +2 "manipulator"&h& +4 "core" &$ O ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &$ ;6 +2 .tForearm.seek CC +2 "manipulator"&j'" +94 "core" ' + "manipulator"&f& +3 "core" &% E ;6 +3 "manipulator"&b% +4 "core" %\ " & +7400 #t-> Arm.home +2 "manipulator"&l& +3 "core" &$ $ ;6 +2 "manipulator"&m% +5 "core" %\  & +21092 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1728068781.61EDT @1728068845.98EDT = =mMAIN_scheduler =tMAIN @EDT1728068846.66 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +104 #"core_reset"Sent BREAK +2 #t@14916 receive with ifg=0x10, ie=0xFD #@15553 receive with ifg=0x10, ie=0xFD + #@16211 receive with ifg=0x10, ie=0xFD + #@16850 receive with ifg=0x10, ie=0xFD + #@17499 receive with ifg=0x10, ie=0xFD #@18147 receive with ifg=0x10, ie=0xFD + #@18796 receive with ifg=0x10, ie=0xFD #@19123 receive with ifg=0x80, ie=0xFD + #@1257 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +372 "Can"\ 5  + \ 5  #tPolling Can every 10:00 +11 #Cleanly exited at 15:06:21EDT04-Oct-24 +562 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %n\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \ \  +2 .tSS.configure :default +2 "sampler")#.0X Hand +224 #-> Arm +2 "manipulator"&3& +3 "core" &# q ;6 +2 "manipulator"&4% +3 "core" %\ G & +817 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&5'\ +135 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +3 "manipulator"&6/ + &7* +58 "core" / +5 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&8(d +548 "core" ( +2 "manipulator"&9& +3 "core" &d # +3 "manipulator"&:% +4 "core" % \    +56647 "Can"\ B \ +3011 #t-> Arm.garage + "manipulator"&;& +3 "core" &d d # +2 "manipulator"&<% +4 "core" % \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&=(, +131 "core" ( + "manipulator"&>& +3 "core" &, e E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &, I E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&@'Ϧ +76 "core" 'U ' & , Ş +3 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @sourcei+:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniU: velocityi: currenti:pwmi:erri: inPressi' : outPressi& :deltaPressi, : voltagef12.441859597447227L: @type2F: @tagiE: mesg")Forearm speedErr at CC + 4659 counts:@checkpoint: omitted:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +627 #-> Hand.open +2 .Hand.open + "manipulator"&A1 +61 "core" 1 +417 #t-> Arm.garage +2 "manipulator"&B& +3 "core" &, X T +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&C(, +3 "core" ( +2 "manipulator"&D& +4 "core" &,  T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &, \\ T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&F'Ϧ +57 "core" ' + "manipulator"&G& +3 "core" &, " " T +2 "manipulator"&H% +4 "core" %ϲ ( - +14857 #t-> exit +6 #mEXIT @1728069646.92EDT @1728073512.84EDT = =tMAIN =mMAIN_scheduler @EDT1728073513.59 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +109 #"core_reset"Sent BREAK +2 #t@60445 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +251 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +399 "Can"M\ ( + M\ ( + #tPolling Can every 10:00 +11 #Cleanly exited at 15:20:46EDT04-Oct-24 +956 #-> ESP.ready! +2 #Powering core bus +562 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +8 #mEXIT @1728073602.47EDT @1728667610.86EDT = =tMAIN =mMAIN_scheduler @EDT1728667611.61 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK +2 #t@52795 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +393 "Can"\ E+e + \ E+e + #tPolling Can every 10:00 +11 #Cleanly exited at 16:26:42EDT04-Oct-24 +640 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON +2 "sampler") +20 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1480 #-> access 2 +2 "storage"(1% +3 "core" %T J\ \ +3 "manipulator"&2% +3 "core" %\ !  +2 "manipulator"&3& +3 "core" & A +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(4(K +962 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &K\ \ $ >\  +1262 #t-> access 3 +2 "storage"(6% +3 "core" %U ; 9 W\  +2 "manipulator"&7% +3 "core" %\ !   +2 "manipulator"&8& +4 "core" & * A +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(9([ +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &[ X\  +28640 #t-> 5.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"';& +3 "core" & A DH\  +2 .tHand.open +2 "manipulator"&<1 +61 "core" 1 +2 "manipulator"&=% +3 "core" % \ !  0  +3 "storage"(>% +4 "core" %W \  + "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(@( +1602 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" & \ +2 "manipulator"&B& +4 "core" & A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +21 "core" ( +2 "manipulator"&D& +4 "core" & \ I U +2 "storage"(E& +4 "core" & 5 5 !\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +92 "core" ' +2 "storage"(G& +4 "core" & Y Z\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +283 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +2 "core" & \ \  W\ +2 "manipulator"&K& +4 "core" & \ w U +2 .tElbow.seek 2 +2 "manipulator"&L( +24 "core" ( +2 "manipulator"&M& +3 "core" & \ +2 "storage"(N& +4 "core" &   \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&O' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'X +8 "core" &  \ +2 "manipulator"&S% +3 "core" %  ~ +3 .tForearm.seek :retract +2 "manipulator"&T'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +153 "core" ( + "manipulator"&V& +4 "core" &'  g >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +36 ."downElevator"SE.stop +9 "manipulator"&W& + "storage"(5 +5 "core" &' _ >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'" +91 "core" ' +2 "manipulator"&Y& +4 "core" &(  >N +2 "manipulator"&Z% +3 "core" %% +3 "collection"'[& +4 "core" & B DF\  +2 "collection"'\\& +6 "core" & C EM\  +2 .tCC.seek :closed +2 "collection"'](V +4 "core" & A FE\ \  +9 &4 B CP\ +} +10 &d C EM\ @ +9 &Tw B DO\ P +9 &Z @ EI\ O +10 &\\ B DG\ O +9 &\\ B DJ\ O +10 &\\_ B EC\ O +9 &\\ C EH\ O +9 &[ @ CN\ P +10 &\\ B EM\ O +9 & d] B FG\ O +9 &"&Y B FM\ O +10 &#X B DO\ O +9 &%] C EI\ P +10 &'m\\ D DB\ O +9 &)/] C CF\ O +9 &*\\ C DM\ O +10 &,\\ B EF\ O +9 &.u] A EG\ O +9 &07\\ B FF\ O +10 &1Z B D7\ O +9 &3] B E?\ O +10 &5|\\ C E@\ O +9 &7>\\ A EK\ O +9 &9[ C C=\ O +10 &:_ C FI\ O +9 &<] D E9\ O +9 &>GY B D?\ O +10 &@ [ E F>\ O +9 &A[ A E2\ O +10 &C] D FC\ O +9 &EMe F HE\ P +9 &G\ r G JG\ Q +10 &H K IN\ T +9 &Jv O OJ\ Z +9 &L5 P QN\ [ +10 &M O RL\ Z +9 &O Q S?\ [\ +10 &Qz P RC\ [\ +9 &S7 P RB\ ] +9 &T R R8\ \\ +10 &VTR P R@\ 1 +9 &V R TO\ T +10 ( &Vv S SR\ R +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 + .Hand.open + "manipulator"&^1 +59 "core" 1 + "manipulator"&_% +4 "core" % % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +3 "core" &\  +2 "manipulator"&b% +4 "core" %\ / +2 "storage"(c% +4 "core" %Q w m \ + "storage"(d. +3 "core" .( +2 "storage"(e& +4 "core" & q 6\ +2 "storage"(f& +4 "core" & z p \ +2 "manipulator"&g& +4 "core" && =C + "manipulator"&h% +4 "core" %\ ! / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&i( +161 "core" ( +2 "manipulator"&j& +4 "core" & M  + "storage"(k& +4 "core" & 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +100 "core" ' +2 "storage"(m& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +282 "core" ' +2 "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" & K\ +3 "manipulator"&q& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( +2 "manipulator"&s& +4 "core" &  +2 "storage"(t& +4 "core" & A\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +3 "storage"(x'X +7 "core" &  +2 "manipulator"&y% +4 "core" % K W +2 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&{(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&|& +4 "core" &s  . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +101 "core" ' +2 "manipulator"&& +3 "core" &s p +3 "manipulator"&% +4 "core" % +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ \  +9 &5~\ +| +9 &d\ @ +9 &Qy\ P +10 &X\ O +9 &_\ P +9 &\\\ P +10 &[Y\ O +9 &\\\ O +10 &\\\ P +9 &_\ P +9 & dZ\ O +10 &"%`\ O +9 &#]\ O +9 &%]\ P +10 &'j]\ P +9 &)-]\ O +10 &*_\ O +9 &,_\ O +9 &.s_\ O +10 &04\\\ P +9 &1\\\ P +9 &3X\ O +10 &5zZ\ P +9 &7=Z\ O +10 &8[\ P +9 &:Y\ O +9 &<]\ P +10 &>EY\ O +9 &@Z\ P +9 &A\\\ P +10 &C[\ P +9 &EIa\ Q +39 &Gk\ R +10 &H\ U + &J\ V +2 &L@\ W + &N\ V +4 &O\ V +9 &Q\ V +9 &SH\ V +10 &U \ W +9 &V\ W +9 &X\ W +10 &Z_n\ 4 +9 &ZL\ , +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&1 +2 "core" &Z \ , +61 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 "processing"%& +3 "core" &Z \ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\   +2 "storage"(\ % +3 "core" %c \ +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" & \ +3 "storage"(& +3 "manipulator"&& +5 "core" & \ +2 &s +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i + "manipulator"&(s +7 "core" ( + "manipulator"& & +4 "core" &s 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &s +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +86 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +47 "core" ' +289 ( + "storage"(& +3 "core" & '\ +3 "manipulator"&& +4 "core" &s + "manipulator"&"% +4 "core" %  \   +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +249 "core" ( +2 "manipulator"&%& +3 "core" & I "y +2 "storage"(&& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +101 "core" ' + .tHand.open +2 "manipulator"&(1 +59 "core" 1 +2 "storage"()- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(+' +46 "core" ' +4 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(-& +4 "core" &  \ +2 "manipulator"&.& +4 "core" &  !q +2 .tElbow.seek 2 + "manipulator"&/( +4 "core" ( +2 "manipulator"&0& +3 "core" &  d !q +2 "storage"(1& +4 "core" &  a\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +56 "core" ' +2 "manipulator"&& +3 "core" & + !q +2 "storage"(5& +4 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +23 "core" ' +2 "manipulator"&4% +4 "core" % + "storage"(:& +4 "core" & L\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 309 counts + "manipulator"&;' +26 "core" ' +2 "manipulator"&<& +3 "core" & g !q +3 "storage"(=& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +20 "core" ' + "storage"(?% +4 "core" %q <\ +3 ."downElevator"SE.seek :down +5 "storage"(9'X +98 (A% +3 "core" %D g\ Xh +2 "manipulator"&B% +38 "core" % +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +19 ' + ."downElevator"SE.stop + "storage"(5 +4 (E& +2 "core" & Q\ +3 "collection"'G& +4 "core" &Vq P TI\ R +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %b p\  +2 "storage"(I. +3 "core" .( +2 "storage"(J& +4 "core" & d\ +2 "storage"(K& +4 "core" & B\ + "manipulator"&& +4 "core" & !q +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +4 "core" & !q +2 "storage"(P& +4 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +93 "core" ' + "storage"(S& +4 "core" & \ \\\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +285 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & l !q +3 "storage"(W& +4 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +32 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(L- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Y'W +33 "core" ' +2 "manipulator"&Z% +4 "core" % e  + "storage"([& +4 "core" & +\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&R' +17 "core" ' +2 "manipulator"&T& +3 "core" & \\ !p +2 "storage"(!& +3 "core" & Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'F +40 "core" ' +2 "manipulator"&a& +3 "core" & !p +2 "manipulator"&b% +4 "core" %ђ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +147 "core" ( +4 "manipulator"&e& +3 "core" &* @ Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &+ v Ae +3 .tForearm.seek CC + "manipulator"&f'" +94 "core" ' +2 .tHand.close + "manipulator"&g/ +61 "core" / +2 .tCC.seek :open +2 "collection"'h( +419 "core" ( + "storage"(X& +4 "core" & ( \ +2 "storage"(j& +4 "core" &   \ + "manipulator"&k& +4 "core" &* @W +2 "manipulator"&m% +4 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +159 "core" ( + "manipulator"&o& +4 "core" & c  +2 "storage"(p& +4 "core" & Y Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&q' +105 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +58 "core" 1 +4 "manipulator"&v% +4 "core" % B +2 "storage"(w& +4 "core" & /  4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&y' +20 "core" ' + "manipulator"&i& +4 "core" & 6  +2 "storage"(l& +4 "core" & w v ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +58 "core" ' +9 "storage"(u% +3 "core" %P w v ;\ +4 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (}% +3 "core" %< Y Y d\ Vb +2 "manipulator"&r% +4 "core" %Ѿ + ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & @ CQ\ +2 "manipulator"&% +3 "core" %\   +3 "storage"(x% +4 "core" %b \ + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &   x\  +2 "manipulator"&& +5 "core" & y  + .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(\ & +4 "core" & g j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"( & +3 "core" & j r @\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & R K\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&~& +4 "core" &  , + "storage"(& +4 "core" &   }\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & A + +2 "manipulator"&% +3 "core" % Ϩ V p +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( + "manipulator"&"& +5 "core" &* > @X + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 && +3 "core" &* @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +101 "core" ' +2 "manipulator"&&& +4 "core" &* @X +3 "manipulator"&% +4 "core" %$ +2 "collection"'(& +3 "core" & A CS\ +3 "collection"')& +6 "core" & A BT\ +2 .tCC.seek :closed +3 "collection"',(V +3 "core" & A CT\ +6 & C CM\ 4 +9 &;G @ CH\ 1 +9 &cq B DS\ E +10 &e A CI\ O +9 &Z A AM\ O +10 &Y B CF\ O +9 &J\\ @ DR\ O +9 & _ C C[\ O +10 &\\ B DR\ O +9 &W C CC\ N +9 &R\\ B DP\ O +10 &!\\ B DS\ N +9 &"\\ B DW\ N +10 &$] B CW\ N +9 &&[W B C[\ N +9 &(Z D D]\ N +10 &)Z C B[\ N +9 &+Y C CT\ N +9 &-c] @ CU\ N +10 &/%W A CU\ N +9 &0[ @ CW\ N +10 &2X D B_\ O +9 &4j\\ B DX\ O +9 &6,[ @ C^\ O +10 &7X A B_\ O +9 &9[ A C_\ O +9 &;r[ @ CX\ O +10 &=5Z B CZ\ N +9 &>X A DU\ O +10 &@] C D[\ N +9 &Bz] B CU\ O +9 &D=_ @ BR\ N +10 &Eb F F]\ O +9 &Gn C F_\ Q +9 &Is D E\\\ T +10 &K% K K\\\ Y +9 &L O NV\ Z +10 &N O N_\ Y +9 &Pi M MW\ Z +9 &R* O OV\ Z +10 &S N P_\ \\ +9 &U Q QT\ H +9 &V3 Q SV\ , +10 &Vh N Sa\ I +2 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&-1 +56 "core" 1 +3 "manipulator"&.% +3 "core" % $ " K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +4 "core" &\ +2 "manipulator"&#% +4 "core" %\  _  +2 "storage"(% +3 "core" %W M\ +2 "storage"(5. +3 "core" .( +2 "storage"(4& +3 "core" & \  +2 "storage"(:& +4 "core" & 4\  +2 "manipulator"& & +4 "core" &( >I + "manipulator"&<% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +39 .tElbow.seek 3 +9 "manipulator"&=( +161 "core" ( + "manipulator"&*& +4 "core" &  +2 "storage"(?& +3 "core" &\ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +91 "core" ' + "storage"('& +4 "core" & J \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'i +278 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & l\  +2 "manipulator"&2& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&/( +4 "core" ( + "manipulator"&3& +3 "core" &  +2 "storage"(6& +4 "core" & @\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +3 "storage"('X +7 "core" & k  +2 "manipulator"&% +4 "core" % Ϫ x +2 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&8(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&J& +3 "core" &k  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&N& +3 "core" &k +3 "manipulator"&P% +4 "core" % +2 "processing"%S& +4 "core" &\ +3 "processing"%>& +4 "core" &\ +3 .tPC.seek :closed + "processing"%9(Z +5 "core" &\ +7 &>\ %f +10 &T\ 8 +9 &~\ M +10 &\\\ O +9 &__\ P +9 &"Y\ O +10 &Z\ P +9 &W\ O +9 &hZ\ O +10 &)\\\ P +9 &]\ P +10 &!\\\ P +9 &#pZ\ O +9 &%1^\ P +10 &&Z\ P +9 &(W\ O +9 &*xY\ O +10 &,9\\\ P +9 &-\\\ P +10 &/\\\ O +9 &1\\\ P +9 &3A[\ P +10 &5W\ O +9 &6W\ O +9 &8W\ O +10 &:JY\ O +9 &< Z\ P +10 &=Z\ O +9 &?\\\ O +9 &AR\\\ O +10 &CY\ P +9 &D\\\ P +9 &Fd\ Q +10 &HOv\ S +9 &J \ U +10 &K\ U +9 &M\ U +9 &OP\ U +10 &Q\ V +9 &R\ V +9 &T\ W +10 &VV\ V +9 &X\ W +10 &Y}o\ 7 +9 &Z/\ N +9 &Z\ , +3 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&71 +59 "core" 1 + "manipulator"&D% +4 "core" % w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +100 "core" ' +3 "processing"%V& +3 "core" &Z\ , +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %\ p 8 +2 "storage"(L% +4 "core" %a \ + "storage"(Z. +3 "core" .( +2 "storage"([& +4 "core" & 5\  +2 "storage"(T& +3 "manipulator"&!& +6 "core" & M\  + &k T +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&a(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(b'i +2 "core" ( +3 "manipulator"&Q& +3 "core" &k  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &k g +3 .tForearm.seek PC +2 "manipulator"&C' +100 "core" ' +2 .tHand.close + "manipulator"&H/ +55 "core" / +2 .tPC.seek :open +2 "processing"%R( +88 "core" ' +2 "storage"(Y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +47 "core" ' +284 ( +2 "storage"(\\& +4 "core" & #\  +2 "manipulator"&^& +4 "core" &k + "manipulator"&O% +39 "core" % +11 .tForearm.seek :retract +2 "manipulator"&g'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +266 "core" ( + "manipulator"&]& +4 "core" & `  +2 "storage"(X& +4 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +95 "core" ' +3 .tHand.open + "manipulator"&k1 +54 "core" 1 +2 "storage"(m- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(p' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"(d& +3 "core" &  *\  +3 "manipulator"&t& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&v( +9 "core" ( + "manipulator"&w& +4 "core" & J +2 "storage"(i& +4 "core" & 5\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(U' +62 "core" ' + "manipulator"&u& +4 "core" & 9 +2 "storage"(`& +4 "core" & S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&}'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +25 "core" ' + "manipulator"&y% +3 "core" %Ά +2 "storage"(& +4 "core" & ^\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"&'ϲ +21 "core" ' + "manipulator"&x& +4 "core" & + +2 "storage"(z& +3 "core" & i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +33 "core" ' + "storage"(n% +4 "core" %s \ \ +2 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (@% +3 "core" %E \ Xh +2 "manipulator"&% +4 "core" %1 x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & "\  +2 "collection"'\ & +4 "core" &Vi R SV\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\   +2 "storage"(s% +3 "core" %T ?\ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & :\  +2 "storage"(& +3 "core" & -\  +2 "manipulator"& & +3 "core" & +3 .tElbow.seek 3 +2 "manipulator"&~( +9 "core" ( + "manipulator"&& +4 "core" & +2 "storage"({& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(& +4 "core" & @ r\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('T +41 "core" ' +2 "manipulator"&(% +3 "core" %Ή +2 "storage"(& +4 "core" & L\  +2 .tForearm.force -20 + "manipulator"&5 +39 .tForearm.seek 3 + 312 counts +9 "manipulator"&'ϵ +20 "core" ' + "manipulator"&& +4 "core" & O +2 "storage"(h& +4 "core" &\ \  q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +26 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'C +38 "core" ' + "manipulator"&1& +4 "core" & +2 "manipulator"&#% +4 "core" %D | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +150 "core" ( +2 "manipulator"&4& +4 "core" &#  T :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &# > :, +2 .tForearm.seek CC +2 "manipulator"&:'" +95 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / + .tCC.seek :open +2 "collection"'<( +416 "core" ( +2 "storage"(%& +4 "core" &  ,\  + "storage"(*& +4 "core" &\ \  "\  +2 "manipulator"&?& +4 "core" &" x 9' + "manipulator"&'% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&0( +161 "core" ( +2 "manipulator"&A& +4 "core" & o +2 "storage"(B& +4 "core" & ? 7 ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +100 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +61 "core" 1 +2 "manipulator"&E% +4 "core" % Έ W +2 "storage"(G& +4 "core" & 4 4\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +21 "core" ' + "manipulator"&=& +4 "core" &  o +2 "storage"($& +4 "core" & Y Z A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +48 "core" ' +2 "storage"(;% +3 "core" %M u ` \ +4 ."downElevator"SE.seek :down +3 "storage"(J'X +99 (K% +2 "core" %A A A h\ Wc +2 "manipulator"&/% +4 "core" %1 < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'P& +4 "core" & B CY\ +2 "manipulator"&S% +4 "core" %\   +2 "storage"(% +3 "core" %b } } t\ +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &   G\ +2 "manipulator"&D& +4 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&V( +28 "core" ( + "manipulator"&W& +4 "core" & t K +2 "storage"(L& +4 "core" & u u B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +97 "core" ' +2 "storage"(>& +4 "core" & y v P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +283 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & /  1\ +2 "manipulator"&Q& +4 "core" & K +2 .tElbow.seek 2 + "manipulator"&M( +3 "core" ( +2 "manipulator"&& +3 "core" & D K +2 "storage"(H& +4 "core" & ? 7 \ +39 .tForearm.seek 2 + 300 counts +10 "manipulator"&Y' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +3 "storage"(9'X +6 "core" & K +2 "manipulator"&b% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +149 "core" ( +2 "manipulator"&O& +4 "core" ' + &, T Bh +3 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&C& +4 "core" &, Bg +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'" +101 "core" ' +3 "manipulator"&X& +4 "core" &,  9 Bg +2 "manipulator"&a% +4 "core" %! +2 "collection"'k& +3 "core" & ? CY\ +3 "collection"'m& +5 "core" & @ BW\ +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" & B A\\\  +8 &1} B Ed\ *z +10 &c E C_\ ? +9 &zu A E_\ O +10 &<Y C CT\ N +9 &W A CS\ O +9 &X ? D\\\ N +10 &W A C_\ N +9 &EY B D`\ N +9 &] ? EY\ N +10 &[ A DS\ N +9 & ] A DQ\ N +10 &"L^ @ DZ\ N +9 &$\\ B DZ\ N +9 &%] @ ET\ O +10 &'Z B DT\ N +9 &)TY ? BY\ N +9 &+[ A D[\ O +10 &,Y C ES\ N +9 &.Z B DT\ O +10 &0\\Z C DX\ N +9 &2U A BZ\ N +9 &3[ A BS\ O +10 &5X C CY\ N +9 &7d\\ B E\\\ N +9 &9&Y A DX\ N +10 &:X B CR\ N +9 &<[ C CW\ O +10 &>lZ B DZ\ N +9 &@.] D CT\ N +9 &AZ A EQ\ N +10 &CY C FP\ N +9 &Es` D EZ\ O +9 &G0k D FY\ P +10 &H G FS\ S +9 &J J JY\ Y +10 &LZ L N\\\ Z +9 &N K LR\ Z +9 &O L LX\ Z +10 &Q L MS\ Z +9 &S] L PY\ \\ +9 &U! R NY\ [\ +10 &VjC O P[\ 2 +9 &Vp P RR\ H +6 ( + "collection"'m& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&d1 +3 "core" &V^ Q RN\ H +50 1 +2 "manipulator"&t% +4 "core" % !   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%i& +3 "core" &\ +2 "manipulator"&g% +4 "core" %\  _  +2 "storage"(u% +4 "core" %` M\ +2 "storage"(`. +3 "core" .( +2 "storage"(e& +4 "core" & 7\ + "storage"(y& +4 "core" & 2\ +2 "manipulator"&& +4 "core" &+ Aa +2 "manipulator"&o% +4 "core" %\  Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&x( +159 "core" ( + "manipulator"&z& +4 "core" & }  +2 "storage"(n& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +92 "core" ' +2 "storage"(j& +3 "core" &  0\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +285 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&l& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&U& +3 "core" & 0  +2 "storage"(}& +4 "core" & /\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"( 'X +7 "core" &  +2 "manipulator"&s% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( + "manipulator"&& +4 "core" &k * \\ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + "manipulator"&& +4 "core" &l \ +2 "manipulator"&{% +41 "core" %  +10 "processing"%_& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(Z +5 "core" &\ +7 &9\ $d +9 &T\ 7 +9 &}\ L +10 &\\\ O +9 &Q]\ P +10 &\\\ P +9 &\\\ P +9 &Z\ O +10 &ZY\ O +9 &X\ O +9 &]\ O +10 &!]\ O +9 &#b\\\ O +10 &%#\\\ P +9 &&Z\ O +9 &([\ O +10 &*j[\ O +9 &,-Y\ O +9 &-]\ O +10 &/X\ O +9 &1r\\\ O +10 &35\\\ O +9 &4Z\ O +9 &6Z\ O +10 &8{U\ O +9 &:<Z\ O +9 &;Z\ P +10 &=Y\ O +9 &?V\ O +10 &ACY\ P +9 &C[\ P +9 &D`\ P +10 &Ff\ Q +9 &H@{\ T +9 &I\ U +10 &K\ V +9 &M\ U +9 &OB\ U +10 &Q\ U +9 &R\ V +10 &T\ V +9 &VH\ V +9 &X \ W +10 &Y~s\ : +9 &Z2\ K +9 &Z\ * +3 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&r1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%"& +3 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(&% +4 "core" %_ \ +2 "storage"((. +3 "core" .( +2 "storage"(& +4 "core" & \ +2 "storage"(& +3 "manipulator"&h& +7 "core" & \ + &l M \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&1(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'i +3 "core" ( + "manipulator"&& +4 "core" &l \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &l \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +36 "core" ' +299 ( +2 "storage"()& +4 "core" & \ +2 "manipulator"&-& +4 "core" &l \ + "manipulator"&% +4 "core" % & +3 .tForearm.seek :retract + "manipulator"& '\ +5 "Can"\ G +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +243 "core" ( +2 "manipulator"&,& +4 "core" & $ +2 "storage"(%& +3 "core" & p\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +90 "core" ' +2 .tHand.open + "manipulator"&?1 +56 "core" 1 +3 "storage"('- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' +2 "storage"(5& +3 "core" &  \ +2 "manipulator"&6& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&E( +4 "core" ( + "manipulator"&G& +4 "core" & # +2 "storage"(=& +4 "core" &   \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +60 "core" ' +2 "manipulator"&& +3 "core" & # +2 "storage"(K& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +39 "storage"(2'i +31 "core" ' + "manipulator"&% +4 "core" % i W +2 "storage"(P& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&S' +20 "core" ' + "manipulator"&& +4 "core" & # +2 "storage"(I& +3 "core" & \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +33 "core" ' + "storage"(+% +4 "core" %m 8 \  +3 ."downElevator"SE.seek :down +3 "storage"(J'X +99 ( % +3 "core" %fD \ Yi +2 "manipulator"&7% +4 "core" %ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (W& +3 "core" & )\ +2 "collection"'L& +3 "core" &V] P PL\ H +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&>% +4 "core" %\  : . +2 "storage"(3% +3 "core" %c \ +2 "storage"(N. +3 "core" .( +2 "storage"(!& +3 "core" & Q\ +3 "storage"(T& +4 "core" & \ + "manipulator"&Q& +4 "core" & , # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&H& +4 "core" & V # +2 "storage"(8& +4 "core" & R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +97 "core" ' + "storage"(b& +3 "core" & \ \  q\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +287 "core" ' +3 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & # +2 "storage"(C& +3 "core" & C\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&[' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'W +31 "core" ' +2 "manipulator"&k% +3 "core" % M +2 "storage"(M& +3 "core" & B\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&9' +19 "core" ' +2 "manipulator"&\\& +3 "core" & # +3 "storage"(<& +4 "core" & :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'F +40 "core" ' + "manipulator"&i& +4 "core" & # +2 "manipulator"&g% +4 "core" %р +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +147 "core" ( +3 "manipulator"&e& +4 "core" && p =F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" && =F +2 .tForearm.seek CC +2 "manipulator"&m'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'o( +415 "core" ( +2 "storage"(]& +3 "core" & \ \ +2 "storage"(z& +103 "core" &   :\ +2 "manipulator"&n& +4 "core" &% <@ + "manipulator"&j% +4 "core" % ! K +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&w( +154 "core" ( +2 "manipulator"&@& +4 "core" & c  + "storage"(& +4 "core" & 8 <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&l' +94 "core" ' +10 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&}1 +59 "core" 1 +2 "manipulator"& % +4 "core" % +2 "storage"(\ & +4 "core" &   K\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&s' +20 "core" ' +2 "manipulator"&x& +4 "core" & b  + "storage"(c& +4 "core" & Y Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +28 "core" ' +2 "storage"(% +4 "core" %N h _ j\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +2 "core" %? A A n\ Wc +3 "manipulator"&v% +4 "core" %Ѡ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'{& +3 "core" & @ B]\ +2 "manipulator"&_% +4 "core" %\ _  +2 "storage"( % +4 "core" %c \ +2 "storage"(q. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &\ \  ~\  +3 "manipulator"&& +3 "core" & I  +3 .tElbow.seek 3 + "manipulator"&"( +12 "core" ( +2 "manipulator"&& +3 "core" & +  +2 "storage"(&& +4 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +90 "core" ' +2 "storage"(& +3 "core" & o q l\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &   |\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"& & +3 "core" & M  +2 "storage"(& +4 "core" & Y Y I\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +28 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(|'X +7 "core" &  + "manipulator"&#% +4 "core" % ϩ Q i +2 .tForearm.seek :retract +2 "manipulator"&)'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +152 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &( ^ ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( ?R +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'" +102 "core" ' + "manipulator"&%& +4 "core" &) K ?Q +2 "manipulator"&1% +3 "core" % 9 +3 "collection"'?& +3 "core" & @ Ad\ +4 "collection"''& +5 "core" & > Bd\ +2 .tCC.seek :closed +2 "collection"':(V +5 "core" & @ Bj\ +6 &< ? Cb\ $d +10 &U ? Ac\ 8 +9 &| @ @d\ L +9 &X ? Cd\ N +10 &gY ? Af\ N +9 &*U A Ch\ N +10 &Z A Ab\ N +9 &Y A BU\ N +9 &pW A Cc\ N +10 &2Z @ Cd\ N +9 &Z @ Bl\ N +9 &![ B DX\ N +10 &#w] B D^\ N +9 &%9[ B CT\ N +10 &&Z A D`\ N +9 &(X C CS\ N +9 &*Y @ BS\ N +10 &,AZ @ CR\ N +9 &.Y C DS\ N +9 &/Z B CW\ N +10 &1[ @ DW\ O +9 &3KY C DT\ N +10 &5 [ @ BQ\ N +9 &6_ @ AQ\ N +9 &8X B CP\ N +10 &:P[ A CW\ O +9 &<[ A CR\ N +9 &=V A AT\ N +10 &?Z C CR\ O +9 &AZW @ CL\ N +10 &CY @ EK\ N +9 &D^ A AV\ O +9 &Fe F G[\ P +10 &HXr C FX\ Q +9 &J G GO\ V +9 &K K JR\ Z +10 &M K MR\ Z +9 &OG L OQ\ Z +10 &Q M PW\ [ +9 &R L NX\ [ +9 &T N QR\ \\ +10 &V%t O OX\ 0 +9 &V& P Q\\\ Q +10 ( + &Vh P QW\ I +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.97 + .Hand.open + "manipulator"&51 +62 "core" 1 +10 "manipulator"&6% +4 "core" %   ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%=& +3 "core" &\ +2 "manipulator"& % +4 "core" %\  +2 "storage"(% +4 "core" %_ \ +2 "storage"(K. +3 "core" .( +2 "storage"(4& +4 "core" & \  +2 "storage"(A& +3 "core" & O\  +2 "manipulator"&& +4 "core" &' f >H +2 "manipulator"&P% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&I& +4 "core" & *  +2 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +93 "core" ' +2 "storage"(+& +4 "core" &  J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +285 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & k\  +2 "manipulator"&7& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&;& +3 "core" &   +2 "storage"(/& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(>'X +6 "core" &  +3 "manipulator"&3% +3 "core" % ϳ +3 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!(s +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&2& +4 "core" &k    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &k  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +103 "core" ' +2 "manipulator"&H& +4 "core" &k f  +2 "manipulator"&8% +3 "core" % +3 "processing"%.& +4 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +5 "core" &\ +7 & 1\ $c +9 &T\ 7 +10 &}\ L +9 &^\ O +10 &P\\\ P +9 &Z\ O +9 &Y\ O +10 &W\ O +9 &X[\ P +9 &Y\ O +10 &Y\ O +9 &!\\\ P +10 &#`Z\ P +9 &%"Z\ P +9 &&Y\ P +10 &(Y\ P +9 &*iZ\ O +9 &,*\\\ P +10 &-[\ P +9 &/Y\ P +10 &1q[\ O +9 &33Y\ O +9 &4\\\ O +10 &6X\ O +9 &8xX\ P +9 &:;[\ O +10 &;Y\ P +9 &=X\ O +10 &?W\ O +9 &ACW\ O +9 &CZ\ P +10 &DZ\ P +9 &Fb\ P +9 &HBu\ R +10 &I\ U +9 &K\ V +10 &M\ U +9 &OA\ U +9 &Q\ U +10 &R\ V +9 &T\ V +9 &VH\ V +10 &X \ V +9 &Y{p\ @ +10 &Z J\ B +9 &Zp\ 5 +9 ( + &Z$\ . +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&01 +62 "core" 1 +2 "manipulator"&D% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +100 "core" ' +2 "processing"%O& +4 "core" &Z%\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&C% +3 "core" %\  ` - +3 "storage"(X% +4 "core" %a ?\ + "storage"(k. +3 "core" .( +2 "storage"(M& +4 "core" & N\  +2 "storage"(\\& +3 "manipulator"&<& +6 "core" & \  +2 &k @  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&i(s +44 ."raiseStack"SE.seek :beamBreak +10 "storage"(g'i +2 "core" ( +3 "manipulator"&F& +4 "core" &k h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k  +3 .tForearm.seek PC +2 "manipulator"&V' +95 "core" ' +3 .tHand.close + "manipulator"&[/ +61 "core" / +2 .tPC.seek :open +2 "processing"%9( +84 "core" ' + "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +36 "core" ' +306 ( +2 "storage"(y& +4 "core" & \  +2 "manipulator"&d& +4 "core" &k  +2 "manipulator"&Y% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&u( +241 "core" ( +2 "manipulator"&f& +4 "core" & r @ +2 "storage"(]& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +95 "core" ' + .tHand.open +2 "manipulator"&n1 +61 "core" 1 +2 "storage"(j- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(`& +4 "core" & \  +2 "manipulator"&}& +4 "core" & \ = +2 .tElbow.seek 3 +2 "manipulator"& ( +9 "core" ( +2 "manipulator"&\ & +4 "core" &  +2 "storage"(x& +3 "core" &\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&^& +3 "core" &  +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&v'} +16 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +23 "core" ' +2 "manipulator"&s% +4 "core" %΂ +2 "storage"({& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&_'Ϯ +21 "core" ' + "manipulator"& & +3 "core" & h  +3 "storage"(q& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +34 "core" ' +2 "storage"(p% +4 "core" %m\  %\  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +4 "core" %B Y\ Wf +2 "manipulator"&r% +3 "core" %: _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & \  +2 "collection"'&& +4 "core" &Vh N PU\ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\   +2 "storage"(U% +3 "core" %a \ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & 3\  +2 "storage"(h& +5 "core" & k\  + "manipulator"&& +4 "core" &  +41 .tElbow.seek 3 +9 "manipulator"& ( +10 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" & _\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(#& +3 "core" &\ \ \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'i +284 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'S +33 "core" ' +2 "manipulator"&?% +4 "core" %΀ + "storage"(~& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&|'Ϭ +20 "core" ' +2 "manipulator"&)& +4 "core" & L  + "storage"(o& +4 "core" & p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'B +36 "core" ' +2 "manipulator"&=& +4 "core" & A  +2 "manipulator"& % +3 "core" %A e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&K& +4 "core" &( 5 ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &( Q ?S +2 .tForearm.seek CC +2 "manipulator"&A'" +91 "core" ' + .tHand.close +2 "manipulator"&/ +108 "core" / +2 .tCC.seek :open +2 "collection"'P( +415 "core" ( +2 "storage"(,& +4 "core" & Z B\  +2 "storage"(I& +4 "core" & 7 ? P\  + "manipulator"&& +4 "core" && c =F +2 "manipulator"&+% +3 "core" %  " +3 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +159 "core" ( +2 "manipulator"&$& +4 "core" &  +2 "storage"( & +4 "core" & g h \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&7'} +96 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +62 "core" 1 +2 "manipulator"&W% +3 "core" % Ύ +2 "storage"(L& +4 "core" & t u \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&3'Ϻ +28 "core" ' + "manipulator"&& +4 "core" & P  +2 "storage"(*& +4 "core" & ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +23 "core" ' +2 "storage"(S% +3 "core" %D "\  +3 ."downElevator"SE.seek :down +4 "storage"(2'X +99 (T% +3 "core" %c= Y Y o\ Vb +41 "manipulator"&E% +11 "core" %J , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'8& +3 "core" & @ CV\ +2 "manipulator"&.% +4 "core" %\  $ +2 "storage"(>% +3 "core" %R s s \ +3 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" & \ \  F\ +3 "manipulator"&D& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&O( +28 "core" ( +2 "manipulator"&C& +4 "core" & = U + "storage"(X& +4 "core" & X X Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +96 "core" ' + "storage"(b& +4 "core" & u y \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +286 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" & 4 B $\ +2 "manipulator"&F& +4 "core" &\ T +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&Q& +3 "core" &\ ? T +2 "storage"([& +4 "core" & Y X y\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&!' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&a/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(J'X +7 "core" &\ T +2 "manipulator"&g% +4 "core" %  k N +2 .tForearm.seek :retract +2 "manipulator"&y'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +149 "core" ( +2 "manipulator"&Y& +3 "core" ' + && u =A +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&V& +4 "core" && = =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +101 "core" ' + "manipulator"&]& +4 "core" && [ =A +2 "manipulator"&i% +4 "core" % 4 +3 "collection"'n& +4 "core" & ? Ah\ +2 "collection"'j& +5 "core" & > Ap\ +3 .tCC.seek :closed +2 "collection"'m(V +3 "core" & @ ?f\ +7 &< @ @o\ $e +10 &U ? Bj\ 8 +9 &{ @ @h\ L +9 &V @ @r\ N +10 &kY A Bl\ N +9 &-X > Ad\ N +10 &Z @ Ba\ N +9 &Y > Ai\ N +9 &uY B Ak\ M +10 &5Z A Cj\ N +9 &Y ? Bg\ N +9 &![ A Db\ N +10 &#{Z A Cc\ N +9 &%=Y @ Ad\ N +9 &&Y B CZ\ N +10 &(W B Bc\ N +9 &*\\ A Cf\ N +10 &,EY A Dj\ N +9 &.Y B C`\ N +9 &/X B D`\ M +10 &1Z A Cd\ N +9 &3OY @ D_\ M +9 &5Y @ Bd\ N +10 &6Z @ B[\ N +9 &8X @ AY\ N +10 &:V[ C AH\ N +9 &<Z @ CW\ N +9 &=Z A C[\ N +10 &?Y B Da\ N +9 &A\\W A Ch\ N +9 &CY ? Db\ N +10 &D] C DW\ O +9 &Fd D E^\ O +10 &HYy D Fc\ R +9 &J G H[\ W +9 &K J K]\ Z +10 &M K M`\ Z +9 &OI K Mb\ Z +9 &Q L Ne\ Z +10 &R M N^\ [ +9 &T M MU\ \\ +10 &V+v N R^\ 0 +9 &V O P[\ L +9 ( + &V^ N PX\ I +3 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&`1 +61 "core" 1 +2 "manipulator"&}% +4 "core" % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ ! / +3 "storage"(^% +3 "core" %V .\ +2 "storage"(. +3 "core" .( +2 "storage"(s& +4 "core" & b\ +2 "storage"({& +4 "core" & ,\ + "manipulator"&e& +4 "core" &% <@ +47 "manipulator"& % +5 "core" %\ ! / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&@( +157 "core" ( +2 "manipulator"&q& +3 "core" & t  +2 "storage"(p& +4 "core" & \ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +95 "core" ' +2 "storage"(z& +3 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"('i +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (r& +2 "core" & }\ +3 "manipulator"&c& +3 "core" &  +2 .tElbow.seek 2 +7 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & B  +6 "storage"(v& +4 "core" & b\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& +2 "storage"('X +7 "core" & ~  +2 "manipulator"&U% +4 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&l& +3 "core" &g  -  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &g  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" &g  +2 "manipulator"&% +4 "core" % 6 +2 "processing"%t& +4 "core" &\ +2 "processing"%#& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &\ +9 &9\ $c +9 &U\ 8 +10 &~}\ L +9 &^\ O +9 &\\\\\ O +10 &^\ O +9 &[\ O +9 &Z\ O +10 &c`\ O +9 &&Z\ O +10 &_\ O +9 &!\\\ O +9 &#m\\\ N +10 &%.\\\ O +9 &&Y\ O +9 &(\\\ N +10 &*t[\ O +9 &,6Y\ O +10 &-\\\ O +9 &/\\\ O +9 &1}Z\ N +10 &3=Z\ O +9 &4Z\ O +9 &6Z\ O +10 &8Y\ O +9 &:E]\ O +10 &< Y\ N +9 &=Y\ O +9 &?Y\ N +10 &AMY\ O +9 &CZ\ O +10 &D`\ P +9 &Fg\ P +9 &HH\ S +10 &J\ U +9 &K\ U +9 &M\ U +10 &OK\ U +9 &Q \ U +10 &R\ U +9 &T\ U +9 &VQ\ V +10 &X\ V +9 &Y{r\ : +9 &Z(r\ R +10 &Z#\ / +2 ( +2 "processing"%#& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&w1 +58 "core" 1 +2 "manipulator"&% +3 "core" % 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +90 "core" ' +3 "processing"%& +3 "core" &Z"\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(%% +4 "core" %a B\ + "storage"(?. +3 "core" .( +2 "storage"(~& +4 "core" & C\ +2 "storage"()& +3 "manipulator"&o& +6 "core" & \ +2 &g  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +24 "core" ( + "manipulator"&& +4 "core" &n - \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &n v \ +2 .tForearm.seek PC +2 "manipulator"&"' +98 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +6 .tPC.seek :open +2 "processing"%|( +63 "core" ' + "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(K'y +45 "core" ' +313 ( +2 "storage"(4& +4 "core" & \ +2 "manipulator"&5& +3 "core" &n \ +3 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&'( +247 "core" ( +2 "manipulator"&:& +4 "core" &  \ + "storage"(,& +4 "core" & x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +86 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(+- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' +2 "storage"(& +4 "core" &   *\ + "manipulator"&/& +4 "core" & o \ +2 .tElbow.seek 2 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&L& +4 "core" & | \ + "storage"(& +4 "core" &   \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(S' +62 "core" ' + "manipulator"&-& +4 "core" & \ +2 "storage"(T& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&E' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +23 "core" ' +2 "manipulator"&3% +4 "core" % o P +2 "storage"(8& +4 "core" & u\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&.' +20 "core" ' + "manipulator"&>& +4 "core" & # \ +2 "storage"(N& +4 "core" & \ \  I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&6'ќ +26 "core" ' + "storage"(B% +4 "core" %s   D\  +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (R% +3 "core" %QD \ Wg +2 "manipulator"&0% +4 "core" %ѝ E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" & ;\ +2 "collection"'X& +4 "core" &V^ Q Q]\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&b% +4 "core" %\   +2 "storage"(;% +4 "core" %] v\ + "storage"(H. +3 "core" .( +2 "storage"(<& +4 "core" & \ +2 "storage"(\\& +4 "core" & k\ +2 "manipulator"&F& +3 "core" & \ +3 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&[& +4 "core" & \ + "storage"(a& +4 "core" & X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +95 "core" ' +2 "storage"(g& +4 "core" &  )\ +46 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +283 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & P \ +2 "storage"(V& +3 "core" & e\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&M' +31 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'W +31 "core" ' +2 "manipulator"&n% +4 "core" % } / + "storage"(& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&J' +20 "core" ' +2 "manipulator"&y& +3 "core" & l \ +3 "storage"(P& +4 "core" & P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'F +42 "core" ' +2 "manipulator"&x& +4 "core" & F \ +2 "manipulator"&% +4 "core" %ѝ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&j& +4 "core" &( ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' +2 .tHand.close + "manipulator"&e/ +58 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"(f& +4 "core" & %  =\ +2 "storage"(q& +4 "core" &   [\ +2 "manipulator"&p& +4 "core" &( ?P + "manipulator"&z% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ ( +157 "core" ( +2 "manipulator"&& +4 "core" & e  +2 "storage"(r& +4 "core" & s ^ s\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +58 "core" 1 +2 "manipulator"&% +4 "core" % p +2 "storage"(&& +4 "core" & B A \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&U' +20 "core" ' +3 "manipulator"&@& +4 "core" & 6  +2 "storage"(u& +4 "core" & ` t O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 "storage"(_% +3 "core" %L z { }\ +3 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (h% +3 "core" %@ Y Y \ U` +2 "manipulator"& % +4 "core" %ј , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & = AW\ +2 "manipulator"&t% +4 "core" %\ ! X / +44 "storage"(% +8 "core" %b Y Y\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(9( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &\ \  \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +40 "core" ( + "manipulator"&& +4 "core" &\ w X +2 "storage"(%& +4 "core" & Y [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +87 "core" ' +2 "storage"(~& +4 "core" & [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'i +283 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +2 "core" & ? 0 \  +3 "manipulator"&& +3 "core" &\ W +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &\ 8 W +2 "storage"(& +5 "core" & * )\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"('X +7 "core" &\ W +2 "manipulator"& % +3 "core" % ϛ +3 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +149 "core" ( +2 "manipulator"&& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &( v ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +4 "core" &( ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'" +96 "core" ' +2 "manipulator"&,& +3 "core" &( ?P +4 "manipulator"&=% +3 "core" %# +3 "collection"'& +4 "core" & > Bl\ +2 "collection"'+& +5 "core" & = Bp\ +3 .tCC.seek :closed +3 "collection"'A(V +2 "core" & ? @q\ +7 & ? @e\ 4 +9 &;H ? Cc\ 1 +9 &gs @ Dk\ E +10 &\ b ? Cf\ O +9 &[ > @h\ N +9 &Y A Af\ N +10 &TY A Bo\ M +9 &Z A De\ N +10 &Y @ Cq\ M +9 &W ? Bj\ N +9 &ZY ? Cg\ N +10 &!X ? Cd\ N +9 &"Z ? Dd\ N +9 &$Z @ Cd\ N +10 &&dW B Ar\ M +9 &(%Y @ Ar\ N +10 &)Z @ Cm\ N +9 &+Y A Ce\ M +9 &-kX ? Cf\ N +10 &/-U A Bf\ N +9 &0Y @ Be\ N +9 &2W @ Bd\ N +10 &4tW @ Aj\ M +9 &65Y ? C]\ N +10 &7Y B Cc\ N +9 &9Z @ Df\ N +9 &;zZ A Bf\ N +10 &=<Y @ Bc\ N +9 &>X B Be\ N +9 &@Y A Ae\ N +10 &BW B Ce\ N +9 &DCZ B Bf\ N +10 &F` E De\ O +9 &Gk E Ff\ P +9 &Iy F Gg\ T +10 &K+ J Je\ Y +9 &L K Nh\ Z +9 &N L Oe\ Z +10 &Pn M Me\ Z +9 &R/ M Oe\ [ +10 &S N Pe\ \\ +9 &U N Pe\ I +9 &V4 P Re\ 'u +10 &Vj O S`\ J +2 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&/% +3 "core" % # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\   +2 "storage"(-% +4 "core" %b J\ +2 "storage"(T. +3 "core" .( +2 "storage"(3& +3 "core" & \  +2 "storage"(K& +4 "core" & \  +2 "manipulator"&8& +4 "core" &' >I + "manipulator"&$% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&>( +161 "core" ( + "manipulator"&N& +4 "core" &  +2 "storage"(B& +4 "core" & j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +49 "manipulator"&''9 +97 "core" ' + "storage"(I& +4 "core" &\ \  \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" & *\  +2 "manipulator"&*& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&W( +5 "core" ( + "manipulator"&S& +4 "core" & w  +2 "storage"(E& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +3 "storage"(b'X +6 "core" &  +2 "manipulator"&;% +4 "core" % Ϗ |  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&7(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&<& +3 "core" &l  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &l r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +95 "core" ' + "manipulator"&[& +3 "core" &l +3 "manipulator"&a% +3 "core" %  +3 "processing"%6& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(Z +4 "core" &\  +8 &0~\ *y +10 &b\ ? +9 &jy\ P +10 &,Z\ O +9 &[\ O +9 &Z\ O +10 &r[\ O +9 &5Y\ O +9 &\\\ O +10 &[\ O +9 & zZ\ O +10 &"<[\ O +9 &#Z\ O +9 &%Z\ O +10 &'[\ O +9 &)DZ\ O +9 &+[\ O +10 &,Y\ O +9 &.Y\ O +10 &0LY\ O +9 &2Z\ O +9 &3Z\ O +10 &5Y\ O +9 &7TY\ O +9 &9V\ O +10 &:X\ O +9 &<X\ O +10 &>\\Y\ O +9 &@Y\ O +9 &AX\ O +10 &C]\ O +9 &Ed\\\ O +9 &G"h\ Q +10 &H\ S +9 &J\ U +10 &LZ\ U +9 &N\ U +9 &O\ U +10 &Q\ U +9 &S`\ V +9 &U$\ U +10 &V\ V +9 &X\ V +10 &Zd\ ({ +9 &Zf\ 6 +9 ( + &Z"\ 0 +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&G1 +54 "core" 1 + "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 "processing"%Y& +4 "core" &Z"\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&V% +4 "core" %\  D  +2 "storage"(]% +3 "core" %_ \ +2 "storage"(n. +3 "core" .( +2 "storage"(& +3 "core" & (\  +3 "storage"(y& +2 "manipulator"&P& +8 "core" & \  + &l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&x(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +3 "manipulator"&Z& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &l +2 .tForearm.seek PC +2 "manipulator"&O' +94 "core" ' + .tHand.close +2 "manipulator"&M/ +55 "core" / +2 .tPC.seek :open + "processing"%J( +93 "core" ' +2 "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'y +36 "core" ' +294 ( + "storage"(s& +4 "core" & #\  +41 "manipulator"&`& +11 "core" &l +2 "manipulator"&!% +4 "core" % i +2 .tForearm.seek :retract +2 "manipulator"&e'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +256 "core" ( +2 "manipulator"&m& +3 "core" & {  +3 "storage"(f& +4 "core" & :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +103 "core" ' +3 .tHand.open + "manipulator"&p1 +54 "core" 1 +2 "storage"(z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(& +3 "core" &   \  +2 "manipulator"&v& +4 "core" & p  +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&&& +4 "core" & s  +2 "storage"(@& +4 "core" &   \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(_' +60 "core" ' +2 "manipulator"&d& +4 "core" &   + "storage"(h& +4 "core" & f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +22 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +23 "core" ' + "manipulator"&U% +4 "core" %΋ } +2 "storage"(& +4 "core" & s\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&t'Ϸ +12 "core" ' + "manipulator"&& +5 "core" &   + "storage"(}& +4 "core" &  0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(% +3 "core" %n : \ +4 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (% +2 "core" %? c\ Wf +3 "manipulator"&w% +4 "core" %3 [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \  $\  +2 "collection"'%& +3 "core" &Vh O PW\ J +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&~% +4 "core" %\   +2 "storage"(% +4 "core" %a\ \  k\ + "storage"(. +3 "core" .( +2 "storage"()& +3 "core" &\ \ W\  +2 "storage"(#& +4 "core" &\ \  \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +3 "core" & p  +3 "storage"(& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +93 "core" ' +2 "storage"( & +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"("& +3 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&o'} +20 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(='S +31 "core" ' +2 "manipulator"&% +4 "core" %΄ j + "storage"( & +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&'ϰ +20 "core" ' +2 "manipulator"&4& +4 "core" &   +2 "storage"( & +3 "core" & k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'B +38 "core" ' + "manipulator"&& +4 "core" & '  +2 "manipulator"&% +4 "core" %! P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +157 "core" ( + "manipulator"&3& +4 "core" &' l >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &' >I +3 .tForearm.seek CC +2 "manipulator"&K'" +96 "core" ' +2 .tHand.close + "manipulator"&8/ +55 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( + "storage"(:& +4 "core" & 7 9 [\  +2 "storage"(N& +3 "core" &   f\  +2 "manipulator"&B& +4 "core" &( >I +2 "manipulator"&5% +4 "core" % 6 +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&L( +154 "core" ( +2 "manipulator"&R& +4 "core" &  +2 "storage"(0& +4 "core" & u v L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +53 "core" 1 +2 "manipulator"&C% +4 "core" % Έ + "storage"(X& +3 "core" & 4 3\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&;'ϴ +21 "core" ' +5 "manipulator"&>& +4 "core" & j  +2 "storage"('& +3 "core" & N Y \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +32 "core" ' +2 "storage"(.% +4 "core" %L _ t 6\ +3 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (\\% +2 "core" %q? Y Y \ Wb +3 "manipulator"&W% +4 "core" %2 O x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'a& +3 "core" & A Bk\ +3 "manipulator"&6% +3 "core" %\  q " +2 "storage"(b% +4 "core" %_ o o \ +2 "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(|( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" &   ^\ +2 "manipulator"&D& +3 "core" & n  +47 .tElbow.seek 2 +3 "manipulator"&Y( +33 "core" ( + "manipulator"&V& +4 "core" & | !t +2 "storage"(]& +4 "core" & Z e ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +95 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'i +286 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & X X /\ +2 "manipulator"&Z& +4 "core" & [ +2 .tElbow.seek 2 +2 "manipulator"&Q( +27 "core" ( + "manipulator"&F& +4 "core" & / +2 "storage"(M& +3 "core" & o o O\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +4 "storage"(2'X +7 "core" & a + "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&s'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&!& +4 "core" &&  S =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" && =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +97 "core" ' +2 "manipulator"&f& +3 "core" && j =E +3 "manipulator"&x% +4 "core" %+ h +2 "collection"'p& +4 "core" & ? Bp\ +2 "collection"'z& +5 "core" & ? Bo\ +2 .tCC.seek :closed +3 "collection"'{(V +3 "core" & A Ag\ +6 & C @q\ : +10 &EI| ? Bv\ 1 +9 &qr ? @n\ E +10 &a ? Bw\ N +9 &Y ? Al\ M +9 &W B Ci\ N +10 &]T A As\ N +9 &X @ Dr\ N +9 &Z ? Dp\ N +10 &U ? Dl\ M +9 &eY A Dd\ N +10 &!'V C Cd\ N +9 &"Z @ Cn\ M +9 &$Y @ De\ N +10 &&mT B Dc\ N +9 &(/Z @ Ck\ N +9 &)T B Ch\ N +10 &+W B Df\ M +9 &-uW B Ad\ N +9 &/7Y B Di\ N +10 &0W ? Dp\ N +9 &2U B Dg\ N +10 &4}U A Cp\ N +9 &6>\\ @ Dp\ N +9 &8X B Cr\ N +10 &9U A Df\ N +9 &;Z @ Dc\ N +9 &=FW A Cp\ N +10 &?W @ Dk\ N +9 &@X A Bq\ N +10 &BX A Di\ N +9 &DOZ D Ee\ N +9 &F a C Fl\ O +10 &Gm E Gi\ P +9 &I F Ho\ U +10 &K4 L Kk\ Z +9 &L K Li\ Z +9 &N L Mg\ Z +10 &Px M Oc\ Z +9 &R8 K Nc\ [\ +9 &S L Nk\ \\ +10 &U N Qf\ I +9 &V4 P Od\ $n +9 &Vb M Po\ L +3 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&v% +3 "core" % + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&e% +4 "core" %\   +2 "storage"(d% +3 "core" %^ 9\ +2 "storage"(h. +3 "core" .( +2 "storage"(U& +3 "core" & j\ +2 "storage"(& +5 "core" & u\ + "manipulator"&j& +4 "core" && =E +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&}( +154 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +95 "core" ' + "storage"(q& +4 "core" &  ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +47 "core" & /\ +5 "manipulator"&u& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&_& +4 "core" & =  +2 "storage"( & +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(~'X +5 "core" & _  +3 "manipulator"&% +3 "core" %  M +3 .tForearm.seek :retract +2 "manipulator"&c'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&)& +4 "core" &r $ 6 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &r  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" &r o \ +2 "manipulator"&% +3 "core" % +3 "processing"%& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(Z +3 "core" &\ +8 &9\ $e +9 &U\ 8 +9 &}{\ L +10 &Y\ O +9 &ZZ\ O +9 &[\ O +10 &Z\ O +9 &V\ O +10 &b[\ O +9 &%Z\ O +9 &Z\ O +10 &!Z\ O +9 &#lZ\ O +10 &%.[\ O +9 &&Y\ O +9 &(Z\ O +10 &*sZ\ O +9 &,5Z\ O +9 &-[\ O +10 &/Y\ O +9 &1|Y\ O +10 &3>Z\ O +9 &4\\\ O +9 &6Y\ O +10 &8Y\ O +9 &:FY\ O +9 &<X\ O +10 &=Z\ O +9 &?W\ O +10 &AMY\ O +9 &CZ\ O +9 &D\\\ P +10 &Ff\ P +9 &HG|\ T +9 &J\ U +10 &K\ U +9 &M\ U +10 &OI\ V +9 &Q \ V +9 &R\ V +10 &T\ U +9 &VQ\ V +9 &X\ V +10 &Y|n\ 9 +9 &Z-\ J +9 &Z \ - +3 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&\ 1 +55 "core" 1 +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&"% +4 "core" %\   +2 "storage"(,% +4 "core" %` ^\ +2 "storage"(. +3 "core" .( +2 "storage"( & +3 "core" & r\ +2 "storage"(4& +4 "manipulator"& & +6 "core" & \ + &r \  \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&(& +3 "core" &r a \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &r \ +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&o/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +78 "core" ' +2 "storage"(=- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(3'y +40 "core" ' +303 ( + "storage"(+& +3 "core" & \ \  y\ +2 "manipulator"&& +4 "core" &r o \ +2 "manipulator"&1% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&8'\ +100 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-( +258 "core" ( + "manipulator"&A& +4 "core" & 6 +41 "storage"(:& +12 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +90 "core" ' +2 .tHand.open +2 "manipulator"&B1 +61 "core" 1 +2 "storage"(5- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(0' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(T& +4 "core" &  (\ +2 "manipulator"&E& +4 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&X& +4 "core" & k +2 "storage"(>& +4 "core" & $ \ S\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +58 "core" ' + "manipulator"&I& +4 "core" & n +2 "storage"(\\& +3 "core" & 7\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +24 "core" ' +2 "manipulator"&;% +3 "core" % H +3 "storage"(a& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&6' +21 "core" ' + "manipulator"&b& +4 "core" & ! +2 "storage"(H& +3 "core" & d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +28 "core" ' +2 "storage"( % +3 "core" %r\ \  \ +3 ."downElevator"SE.seek :down +4 "storage"(<'X +98 (9% +3 "core" % @ q\ Xf +2 "manipulator"&G% +5 "core" %ю  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +3 "core" & W\ +3 "collection"']& +4 "core" &Va O QS\ L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ u 0 +3 "storage"(S% +3 "core" %S H\ +2 "storage"([. +3 "core" .( +2 "storage"(y& +4 "core" & \ + "storage"(g& +4 "core" & g\ +2 "manipulator"&Z& +4 "core" & c +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&M& +4 "core" & q + "storage"(7& +4 "core" & e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +90 "core" ' + "storage"(& +3 "core" &  R \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +284 "core" ' +2 "storage"(n- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & +2 "storage"(O& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&P' +32 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(x'W +42 "core" ' +9 "manipulator"&p% +4 "core" % n  +2 "storage"(Q& +4 "core" & \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&2' +18 "core" ' +2 "manipulator"&s& +3 "core" & 1 +2 "storage"($& +4 "core" & l\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'F +41 "core" ' + "manipulator"&@& +4 "core" &  +2 "manipulator"&e% +3 "core" %љ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +156 "core" ( +3 "manipulator"&U& +4 "core" &( ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &( ?U +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' + .tHand.close + "manipulator"&j/ +56 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(m& +3 "core" & X I %\ +2 "storage"(& +3 "core" & 6 > _\ +2 "manipulator"&& +4 "core" &( \  >K +2 "manipulator"&q% +3 "core" % .  +3 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&( +160 "core" ( + "manipulator"&& +4 "core" & a  +2 "storage"(w& +3 "core" & o r\ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&u' +99 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % i + "storage"(%& +4 "core" & 0 = \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&}& +4 "core" &   +2 "storage"(^& +4 "core" & ] f\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +17 "core" ' + "storage"(t% +4 "core" %P m\ +3 ."downElevator"SE.seek :down +3 "storage"()'X +99 (#% +2 "core" %? \\ a \ Wc +3 "manipulator"&% +4 "core" %ѩ E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & @ Am\ +2 "manipulator"&% +3 "core" %\ " * +3 "storage"(~% +4 "core" %T s u \ +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +3 "storage"(J( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &\ \  \  +2 "manipulator"&& +4 "core" & h  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&"& +3 "core" & w +3 "storage"(,& +3 "core" & q o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +101 "core" ' + "storage"( & +4 "core" & .\  +46 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +286 "core" ' +2 "storage"(4- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ` N #\  +2 "manipulator"&(& +3 "core" & S w +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & 1 w + "storage"(o& +4 "core" & n n\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&='ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(l'X +8 "core" & Q w +2 "manipulator"&% +4 "core" % ϰ { 5 +2 .tForearm.seek :retract +2 "manipulator"&+'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&1& +3 "core" &( 2 Q ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &( s ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'" +105 "core" ' +2 "manipulator"&:& +4 "core" &) h ?V +2 "manipulator"&% +3 "core" % ` +3 "collection"'B& +4 "core" & @ Bo\ +2 "collection"'5& +5 "core" & D Cw\ +3 .tCC.seek :closed + "collection"'K(V +5 "core" & @ At\ +6 &< @ Cy\ $d +10 &U @ Ay\ 7 +9 &} @ Cy\ L +9 &W B Bx\ N +10 &hU B Cu\ N +9 &+U A @y\ M +10 &Z B B{\ N +9 &Y B Bt\ N +9 &pV B Cs\ N +10 &2W B Et\ N +9 &W @ Cw\ M +9 &!Y A Cw\ M +10 &#yX @ Fw\ M +9 &%:X ? Ev\ N +10 &&Z A Gv\ N +9 &(Z B Dt\ N +9 &*] A Bu\ N +10 &,BY C Cl\ N +9 &.U C Dp\ N +9 &/U A Do\ M +10 &1Y A Dm\ N +9 &3KZ B De\ M +10 &5 X A Cd\ M +9 &6Y B Cd\ M +9 &8V B Dj\ M +10 &:RY B Cd\ N +9 &<\\ C Dr\ N +9 &=Y B Dh\ N +10 &?\\ B Cn\ N +9 &AZY A Cr\ N +10 &CZ C Dp\ N +9 &DZ B Dc\ N +9 &Fa F Fd\ O +10 &HYo D Gi\ Q +9 &J G Hj\ V +9 &K L Mk\ Z +10 &M M Nk\ Z +9 &OF M Oe\ Z +10 &Q M Ng\ Z +9 &R N Po\ [ +9 &T N Nn\ [ +10 &V'w R Pk\ / +9 &V% Q Si\ T +10 ( &Vk R Rk\ L +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 + .Hand.open + "manipulator"&T1 +65 "core" 1 +2 "manipulator"&E% +4 "core" % i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" &\ +2 "manipulator"&8% +4 "core" %\ " E + +2 "storage"(I% +3 "core" %V \ +2 "storage"(\\. +4 "core" .( + "storage"(;& +4 "core" & =\  +2 "storage"(a& +4 "core" & m\  + "manipulator"&3& +4 "core" &' e >I +2 "manipulator"&b% +4 "core" %\ " R + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +164 "core" ( + "manipulator"&H& +4 "core" & r +2 "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +95 "core" ' +2 "storage"(N& +4 "core" & \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(0'i +284 "core" ' +2 "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & t\  +2 "manipulator"&'& +4 "core" & Y r +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&.& +4 "core" & j r + "storage"(W& +4 "core" & r\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tHand.close +3 "manipulator"&V/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +3 "storage"('X +7 "core" & r +2 "manipulator"&S% +3 "core" % Ϡ +3 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&y& +4 "core" &l  (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &l   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Z' +101 "core" ' +2 "manipulator"&M& +3 "core" &l  +3 "manipulator"&7% +4 "core" % +2 "processing"%/& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +4 "processing"%<(Z +3 "core" &\ +5 &\ 5 +10 &:F{\ 1 +9 &aq\ E +10 &h\ P +9 &Z\ O +9 &Z\ O +10 &H[\ O +9 &\ Z\ O +9 &]\ O +10 &Y\ O +9 &O\\\ O +10 &![\ O +9 &"\\\ O +9 &$Z\ N +10 &&XZ\ O +9 &(Y\ N +9 &)\\\ O +10 &+Z\ O +9 &-aZ\ N +9 &/"[\ O +10 &0Z\ O +9 &2Y\ O +10 &4g\\\ O +9 &6*W\ O +9 &7Y\ N +10 &9Z\ O +9 &;pY\ O +10 &=1]\ O +9 &>X\ O +9 &@\\\ O +10 &BxW\ O +9 &D9[\ O +9 &E`\ P +10 &Gn\ Q +9 &Ip\ T +9 &K0\ U +10 &L\ U +9 &N\ U +10 &Pt\ U +9 &R6\ U +9 &S\ V +10 &U\ V +9 &W{\ V +9 &Y<\ C +10 &Z_Dr\ [ +9 &Z<\ / +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"&L1 +4 "core" &Z"\ / +51 1 + "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 "processing"%!& +3 "core" &Z"\ / +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +3 "core" %\   +3 "storage"(f% +4 "core" %_ \ + "storage"(p. +3 "core" .( +2 "storage"(Q& +3 "core" & /\  +3 "storage"(s& +2 "manipulator"&$& +8 "core" & \  + &l w  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&@(s +3 "core" ( +3 "manipulator"&e& +4 ."raiseStack"SE.seek :beamBreak + "storage"(k'i +3 "core" &l @  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &l  +3 .tForearm.seek PC +2 "manipulator"&Y' +98 "core" ' +2 .tHand.close + "manipulator"&P/ +64 "core" / +4 .tPC.seek :open +2 "processing"%2( +86 "core" ' +2 "storage"(x- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'y +93 "core" ' +241 ( +2 "storage"(z& +4 "core" & Y\  +2 "manipulator"&& +4 "core" &l u  + "manipulator"&i% +4 "core" %  { +2 .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +264 "core" ( +2 "manipulator"&{& +4 "core" &  + "storage"(m& +4 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +48 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(h& +4 "core" & \  +2 "manipulator"& & +4 "core" & t  +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"(}& +3 "core" & e\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +57 "core" ' +2 "manipulator"&`& +4 "core" & t  + "storage"(#& +4 "core" & \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(u'i +24 "core" ' +2 "manipulator"&% +3 "core" %·  +2 "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&'ϳ +20 "core" ' +2 "manipulator"&~& +3 "core" &  +2 "storage"(c& +5 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +37 "core" ' +2 "storage"(r% +3 "core" %e 9 \  +3 ."downElevator"SE.seek :down +4 "storage"()'X +98 (|% +3 "core" %@ ,\ Wg +2 "manipulator"&\ % +6 "core" %+ } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" & ?\  +2 "collection"',& +4 "core" &Vj M Qs\ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\  `  +2 "storage"(_% +4 "core" %R h\ + "storage"(. +3 "core" .( +2 "storage"(4& +4 "core" & O\  +2 "storage"( & +4 "core" & q\  + "manipulator"&(& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&o& +4 "core" &  + "storage"(& +4 "core" & r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +97 "core" ' + "storage"(& +3 "core" & 7 6\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & w  +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +29 "core" ' +2 "manipulator"&% +4 "core" %Ύ + "storage"(B& +4 "core" & Z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&l'Ϻ +13 "core" ' + "manipulator"&+& +4 "core" & \\  +2 "storage"(& +3 "core" & i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'B +39 "core" ' +2 "manipulator"&>& +4 "core" & ,  + "manipulator"&8% +4 "core" %Q / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +160 "core" ( +3 "manipulator"&\\& +3 "core" &( ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +2 "core" &( ?Q +3 .tForearm.seek CC +2 "manipulator"&a'" +93 "core" ' +2 .tHand.close + "manipulator"&3/ +56 "core" / +2 .tCC.seek :open +2 "collection"'b( +416 "core" ( + "storage"(A& +4 "core" & A @ \  +2 "storage"(H& +3 "core" & 6 9 \  +2 "manipulator"& & +4 "core" &( ?Q +2 "manipulator"&N% +4 "core" % +  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&X( +161 "core" ( +2 "manipulator"&9& +4 "core" & ~ z +2 "storage"(G& +4 "core" & u s ;\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&''} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +55 "core" 1 +3 "manipulator"&V% +4 "core" % | o + "storage"(]& +4 "core" & K U 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&S'Ϩ +22 "core" ' +2 "manipulator"&R& +4 "core" & V z + "storage"(-& +3 "core" & t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +27 "core" ' +2 "storage"(6% +4 "core" %J K\ +2 ."downElevator"SE.seek :down +4 "storage"(y'X +99 (g% +3 "core" %= Y X m\ Vb +2 "manipulator"&C% +4 "core" %C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'7& +3 "core" & ? Ax\ +3 "manipulator"&/% +3 "core" %\ " w 0 +3 "storage"(% +4 "core" %b n p\ + "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +4 "core" & \ \  _\ +2 "manipulator"&D& +4 "core" & h z +2 .tElbow.seek 2 + "manipulator"&!( +31 "core" ( + "manipulator"&O& +4 "core" &\ h +2 "storage"(f& +4 "core" &  [ Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +94 "core" ' + "storage"(Q& +4 "core" &  n w s\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +282 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &    \ +2 "manipulator"&e& +4 "core" & x e +2 .tElbow.seek 2 +45 "manipulator"&F( +6 "core" ( +2 "manipulator"&Z& +4 "core" & O e +2 "storage"(P& +4 "core" &  A B \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(<'X +8 "core" & e + "manipulator"&k% +4 "core" %  R \ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&i& +3 "core" &* 2 t Ae +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &+ Ae +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&{'" +97 "core" ' +3 "manipulator"&m& +3 "core" &+ D Ae +3 "manipulator"&@% +3 "core" %  +3 "collection"'& +3 "core" & ? C|\ +3 "collection"'q& +5 "core" & B As\ +3 .tCC.seek :closed + "collection"'j(V +5 "core" & ? @j\ +7 & , @ At\ $d +9 &V} ? A\ 7 +10 &} A A}\ L +9 &W @ B{\ N +9 &iV @ Et\ N +10 &+Y @ B~\ N +9 &Y @ Bv\ N +10 &T @ Dx\ M +9 &qX A Cy\ N +9 &4Y @ Bz\ M +10 &W A Cp\ M +9 &!Y A Cz\ M +9 &#zW A Bu\ M +10 &%;W C Cu\ N +9 &&X D Bw\ N +10 &(W C Cv\ N +9 &*Y A Dz\ N +9 &,CU A By\ N +10 &.T @ By\ N +9 &/U @ Cx\ N +9 &1V B Bt\ N +10 &3KY B Bw\ N +9 &5 Y @ Bu\ N +10 &6X A Bo\ N +9 &8X @ Cx\ M +9 &:SY B Bz\ N +10 &<\\ @ Cw\ N +9 &=X ? Ex\ M +9 &?[ B Dy\ N +10 &A\\U B Bm\ M +9 &CX @ Cn\ M +10 &D[ C Dx\ N +9 &Fd E Hx\ O +9 &HXr E Gw\ Q +10 &J F Jx\ W +9 &K L Lu\ Z +9 &M P Nx\ Z +10 &OG L Mx\ Z +9 &Q M Nu\ [ +10 &R L Ox\ [ +9 &T M Ou\ [ +9 &V'v O Px\ 0 +10 &V" P Px\ T +9 ( + &Va L Rx\ M +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +3 "manipulator"&h% +4 "core" % t  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%%& +5 "core" &\ + "manipulator"&}% +4 "core" %\   +2 "storage"(`% +4 "core" %c }\ + "storage"(#. +3 "core" .( +2 "storage"(& +3 "core" &  l\ +2 "storage"(& +4 "core" &  ]\ +2 "manipulator"&U& +4 "core" &* @X +2 "manipulator"&~% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( + "manipulator"&c& +3 "core" &  +3 "storage"(r& +3 "core" & \ \  T\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +97 "core" ' +2 "storage"(& +4 "core" &    ]\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +285 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &  M\ +2 "manipulator"&^& +4 "core" & P  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&t& +3 "core" & Q  +2 "storage"(& +4 "core" &  Z\ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"( 'X +7 "core" & h  +2 "manipulator"&_% +4 "core" %  H  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +50 .tElbow.seek PC + "manipulator"&u(s +118 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +152 "core" ( + "manipulator"&4& +5 "core" &m   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &m G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +94 "core" ' + "manipulator"&o& +4 "core" &m u +2 "manipulator"&% +3 "core" % |  +3 "processing"%v& +3 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%)(Z +4 "core" &\ +6 &\ 4 +9 &:G~\ 1 +9 &cq\ E +10 &i\ O +9 &Z\ O +9 &Y\ O +10 &JZ\ O +9 & \\\ O +10 &Z\ O +9 &Y\ N +9 &QZ\ O +10 &!Y\ O +9 &"Y\ O +9 &$Y\ O +10 &&ZY\ O +9 &(\\\ O +10 &)Z\ O +9 &+X\ O +9 &-bY\ O +10 &/$Y\ O +9 &0\\\ O +9 &2Y\ O +10 &4kY\ N +9 &6,W\ O +10 &7Y\ O +9 &9]\ O +9 &;rY\ O +10 &=4W\ O +9 &>W\ O +9 &@[\ O +10 &BzY\ O +9 &D<\\\ O +10 &Ec\ P +9 &Gs\ R +9 &Ip\ U +10 &K3\ T +9 &L\ U +9 &N\ U +10 &Px\ U +9 &R9\ U +10 &S\ V +9 &U\ V +9 &W|\ V +10 &Y>\ C +9 &Z^Bp\ ^ +9 &Z3\ 0 +6 ( +2 "processing"%& +4 "core" &Z#\ 0 +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + "processing"%1& +4 "core" &Z#\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(:% +4 "core" %T \ +2 "storage"(. +3 "core" .( + "storage"(B& +4 "core" &  w\ +3 "storage"(+& +2 "manipulator"&& +8 "core" &  \ + &n +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&>(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(8'i +2 "core" ( +3 "manipulator"&?& +3 "core" &n +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +3 .tPC.seek :open +2 "processing"%l( +84 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +50 "core" ' +287 ( + "storage"(;& +4 "core" &  (\ +2 "manipulator"&T& +3 "core" &n h +2 "manipulator"&=% +4 "core" % U +3 .tForearm.seek :retract + "manipulator"&3'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&I( +253 "core" ( + "manipulator"&K& +4 "core" & e +2 "storage"(A& +4 "core" &  r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +94 "core" ' + .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "storage"(N- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(9'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(a- +3 "core" -' +2 "storage"(5& +4 "core" &  \ +2 "manipulator"&W& +3 "core" & { +42 .tElbow.seek 2 +9 "manipulator"&V( +4 "core" ( +2 "manipulator"&]& +4 "core" & m +2 "storage"(R& +4 "core" &   \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +57 "core" ' +2 "manipulator"&& +4 "core" & G +2 "storage"(g& +4 "core" &  1\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&C' +20 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(''i +23 "core" ' +2 "manipulator"&S% +4 "core" % +2 "storage"(7& +4 "core" &  a\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&/' +21 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(*& +4 "core" &  .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +22 "core" ' +2 "storage"(0% +3 "core" %q\ \  \ +4 ."downElevator"SE.seek :down +3 "storage"(y'X +98 (J% +3 "core" %> G\ Xg +3 "manipulator"&L% +3 "core" %э X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &  \  k\ +2 "collection"'f& +4 "core" &V` O Qp\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Q% +4 "core" %\ ! 8 +2 "storage"(.% +3 "core" %^ 7\ +2 "storage"(M. +3 "core" .( +2 "storage"(s& +4 "core" &  N\ +2 "storage"(& +4 "core" &  b\ + "manipulator"&e& +4 "core" & f +2 .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&P& +3 "core" & +2 "storage"([& +4 "core" & \ \  .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +104 "core" ' +2 "storage"(k& +3 "core" &   D\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +285 "core" ' +3 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & u +2 "storage"(Y& +3 "core" &  \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&$' +32 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(@'V +40 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(F& +4 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&<' +15 "core" ' + "manipulator"&z& +4 "core" & +2 "storage"(b& +5 "core" & \ \ # \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +22 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(h'E +40 "core" ' +2 "manipulator"&%& +4 "core" & f + "manipulator"&}% +4 "core" %ѷ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +52 .tForearm.seek :retract +9 "manipulator"&`'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +156 "core" ( +2 "manipulator"&& +4 "core" && v =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && =C +3 .tForearm.seek CC +2 "manipulator"&q'" +96 "core" ' + .tHand.close + "manipulator"&U/ +63 "core" / +2 .tCC.seek :open +2 "collection"'~( +416 "core" ( + "storage"({& +4 "core" &  F F \ +2 "storage"(c& +3 "core" &  5 > S\ +2 "manipulator"&r& +4 "core" && =C +2 "manipulator"&% +4 "core" % ,  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +160 "core" ( + "manipulator"&|& +3 "core" & t  +3 "storage"(\ & +3 "core" &  o c k\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&^' +103 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&"% +3 "core" % Y +2 "storage"(,& +6 "core" &  6 9 \ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&_' +19 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(d& +4 "core" &  X X I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +17 "core" ' +2 "storage"(% +4 "core" %J t ^ a\ +2 ."downElevator"SE.seek :down +4 "storage"(4'X +99 ( % +3 "core" %hB [ B [\ Wd +2 "manipulator"&% +4 "core" %њ ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & @ Du\ +2 "manipulator"&v% +4 "core" %\  k  +2 "storage"( % +4 "core" %^ u t \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(2( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &\ \  Z\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&1( +15 "core" ( +2 "manipulator"&& +4 "core" & k g + "storage"(:& +4 "core" & h f b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"(B& +3 "core" & *\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B 5 \  +2 "manipulator"&?& +3 "core" & e g +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&(& +4 "core" & F g +2 "storage"( & +3 "core" & X X J\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +58 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"()'X +8 "core" & F g + "manipulator"&8% +4 "core" % Ϫ X / +2 .tForearm.seek :retract +2 "manipulator"&;'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"&=& +4 "core" &- 1 W Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- C Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&K'" +102 "core" ' +2 "manipulator"&A& +3 "core" &- ' Cp +3 "manipulator"&>% +4 "core" % < +2 "collection"' & +3 "core" & ? A\ +3 "collection"'N& +5 "core" & B B\ +2 .tCC.seek :closed +2 "collection"'a(V +4 "core" & @ E\  +9 &0{ @ D\ +z +10 &c B C\ > +9 &rp @ E\ O +9 &7U B C\ M +10 &W B C\ N +9 &Y B D\ N +9 &|Y A D\ N +10 &>Y B C\ N +9 &Y C D\ N +10 &X B C}\ N +9 & U B Dx\ N +9 &"FW B Dx\ N +10 &$ V B Eu\ M +9 &%X A E\ N +9 &'V B C{\ M +10 &)OU B B~\ M +9 &+V @ A\ M +10 &,U C D\ N +9 &.Y B C\ N +9 &0VY B By\ N +10 &2T B Fu\ M +9 &3W C Dy\ M +9 &5U B Cy\ N +10 &7]Y C Bz\ N +9 &9!U B Ct\ M +10 &:W B Cv\ N +9 &<Y B Cu\ N +9 &>eZ C By\ N +10 &@)U B Dx\ M +9 &AW @ Dy\ N +9 &CW B Cz\ N +10 &Em\\ B Ey\ N +9 &G*f E Gy\ P +10 &Hu F Gy\ R +9 &J I Jv\ W +9 &LT J M{\ Y +10 &N L Ny\ Z +9 &O N Px\ Z +9 &Q O Oz\ Z +10 &SU M Oy\ \\ +9 &U O Nu\ \\ +10 &VgF Q Ry\ 2 +9 &V s P Q~\ J +5 ( +3 "collection"'N& +3 "core" &Vh N Rv\ J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&51 +64 "core" 1 +3 "manipulator"&W% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%]& +4 "core" &\ +2 "manipulator"&R% +3 "core" %\ ! 4 +3 "storage"(% +3 "core" %^ %\ +2 "storage"(g. +3 "core" .( +2 "storage"(\\& +4 "core" & \  + "storage"(S& +3 "core" & \  +2 "manipulator"&9& +4 "core" &+ l Aa +2 "manipulator"&7% +3 "core" %\ ! x 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +167 "core" ( +2 "manipulator"&*& +3 "core" & N +2 "storage"(0& +4 "core" & 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +97 "core" ' +2 "storage"(H& +4 "core" &  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'i +289 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" & G\  +2 "manipulator"&-& +4 "core" &  N +2 .tElbow.seek 3 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&6& +3 "core" & N +2 "storage"(C& +3 "core" & k\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(Q'X +7 "core" & n N +2 "manipulator"&.% +4 "core" % Ϧ p +2 .tForearm.seek :retract + "manipulator"&''\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&s& +4 "core" &g * ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g  ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +48 "manipulator"&e' +106 "core" ' +2 "manipulator"&P& +4 "core" &h ' +2 "manipulator"&[% +3 "core" % 3 W +3 "processing"%E& +4 "core" &\ +2 "processing"%k& +5 "core" &\ +3 .tPC.seek :closed + "processing"%y(Z +5 "core" &\ +7 &9\ $c +9 &T\ 7 +10 &~~\ L +9 &[\ O +9 &TZ\ O +10 &Y\ N +9 &Y\ O +10 &X\ O +9 &\\]\ O +9 &W\ O +10 &Z\ O +9 &!Z\ N +9 &#eZ\ O +10 &%'W\ O +9 &&W\ O +10 &(W\ O +9 &*mY\ O +9 &,/Y\ O +10 &-_\ O +9 &/[\ O +9 &1uX\ O +10 &37W\ O +9 &4V\ O +9 &6W\ O +10 &8~W\ N +9 &:?Y\ O +10 &<[\ O +9 &=W\ N +9 &?Y\ O +10 &AGZ\ O +9 &C W\ O +9 &D\\\ O +10 &Fe\ P +9 &HEu\ R +10 &J\ T +9 &K\ U +9 &M\ T +10 &OE\ U +9 &Q\ U +9 &R\ U +10 &T\ V +9 &VJ\ V +10 &X \ V +9 &Y|o\ ; +9 &Z)k\ O +10 &Z(\ / +2 ( +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&X1 +62 "core" 1 + "manipulator"&D% +4 "core" %  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +90 "core" ' +2 "processing"%i& +4 "core" &Z&\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +3 "core" %\   +3 "storage"(m% +3 "core" %V \ +2 "storage"(. +3 "core" .( +2 "storage"(F& +4 "core" & A\  +3 "storage"(z& + "manipulator"&b& +8 "core" & J\  +2 &h ' +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&%(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +22 "core" ( + "manipulator"&n& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &l +3 .tForearm.seek PC +2 "manipulator"&!' +93 "core" ' +3 .tHand.close + "manipulator"&$/ +65 "core" / +2 .tPC.seek :open +2 "processing"%<( +61 "core" ' +2 "storage"(@- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +49 "core" ' +315 ( +2 "storage"(& +4 "core" & <\  +2 "manipulator"&& +3 "core" &l d +2 "manipulator"&x% +4 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +263 "core" ( +2 "manipulator"&j& +4 "core" & t } + "storage"({& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +93 "core" ' +2 .tHand.open + "manipulator"&r1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(|'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(#& +3 "core" &   \  +2 "manipulator"&& +4 "core" & 0 } +2 .tElbow.seek 3 +2 "manipulator"&"( +4 "core" ( + "manipulator"&,& +3 "core" & D } +2 "storage"(& +4 "core" & ! \  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +45 "storage"(' +66 "core" ' +2 "manipulator"&& +3 "core" & @ } +3 "storage"( & +4 "core" & B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +23 "core" ' +2 "manipulator"&_% +4 "core" %~ N +2 "storage"(& +4 "core" & e\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&v'Ϫ +20 "core" ' +2 "manipulator"& & +3 "core" & % } +3 "storage"(& +3 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +33 "core" ' +4 "storage"(w% +2 "Can"\ ELW +4 "core" %n D \  +3 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (% +3 "core" %iE \ Xi +2 "manipulator"&&% +3 "core" %9 t s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & m\  +2 "collection"':& +4 "core" &Vh N Nv\ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&B% +4 "core" %\  r ' +2 "storage"(t% +3 "core" %` M\  +2 "storage"(o. +3 "core" .( +2 "storage"(+& +3 "core" & t\  +2 "storage"(& +4 "core" & |\  +2 "manipulator"&?& +4 "core" & G } +2 .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"& & +4 "core" & @ } +2 "storage"(u& +4 "core" & F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + "storage"(8& +4 "core" &   0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'i +289 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" & @ } +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('R +29 "core" ' +2 "manipulator"&>% +4 "core" %Ά k + "storage"( & +4 "core" & L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&)'ϲ +21 "core" ' + "manipulator"&;& +4 "core" &  } +2 "storage"(~& +4 "core" &\  0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'A +39 "core" ' +2 "manipulator"&]& +3 "core" &  } +2 "manipulator"&R% +4 "core" %? ; i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +168 "core" ( +2 "manipulator"&g& +3 "core" &- " S Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &- % Cn +2 .tForearm.seek CC +2 "manipulator"&S'" +134 "core" ' +8 .tHand.close + "manipulator"&9/ +55 "core" / +2 .tCC.seek :open +2 "collection"'7( +416 "core" ( + "storage"(K& +4 "core" & 7 %\  +2 "storage"(*& +3 "core" & Q >\  +3 "manipulator"&0& +4 "core" &+ c A` + "manipulator"&H% +4 "core" % " p +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +166 "core" ( +2 "manipulator"&J& +3 "core" & } Z +3 "storage"(L& +3 "core" & s u \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +59 "core" 1 +2 "manipulator"&O% +4 "core" % ΃ +2 "storage"(f& +5 "core" & ] o f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&.'ϯ +21 "core" ' + "manipulator"&& +4 "core" & Z +2 "storage"(I& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +28 "core" ' +2 "storage"(/% +3 "core" %C A\ \ +3 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (% +3 "core" %?; Y X B\ Vc +2 "manipulator"&V% +3 "core" %< C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +57225 "Can"\ 6# +33256 !to:SignalException : mesg" SIGHUP:\ signoi:@timestampu: Time r%60\ :bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +2 #Waiting to Resume from Checkpoint "Storing generic puck in Collection Clamp to tube 3" +2 ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" +1427 #"uploadLog"upsync @1729514141.01EDT = =tMAIN =mMAIN_scheduler @EDT1729514141.74 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +108 #"core_reset"Sent BREAK +2 #t@28386 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +248 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +380 "Can"\ u4 + \ u4 + #tPolling Can every 10:00 +9 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +453 #-> ESP.ready! +3 #Powering core bus +569 .Gate.power :raw,:ON +2 "sampler") +35 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +2 "sampler")#.0X Arm.retract +2 .Hand.open + "manipulator"&11 +60 "core" 1 +2 "manipulator"&2% +3 "core" % \ \ J  +3 "manipulator"&3& +4 "core" & ;  + "manipulator"&4% +4 "core" % \ \  +1855 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&5'\ +79 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 + "manipulator"&6/ +3 &7* +41 "core" * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&8(d +7 "core" / +446 ( + "manipulator"&9& +4 "core" &d  +2 "manipulator"&:% +3 "core" % \  ^  +471 #t-> Arm.retract + .Hand.open +2 "manipulator"&;1 +58 "core" 1 +2 "manipulator"&<% +3 "core" % \    +3 "manipulator"&=& +3 "core" &d -  +2 "manipulator"&>% +4 "core" % \  =  +1248 #t-> Elbow.to :garage +2 .Elbow.seek :garage +2 "manipulator"&?(, +122 "core" ( + "manipulator"&@& +4 "core" &, O M +3145 #t-> 8.times {Arm.hammer! -100; Forearm.retract} + .Forearm.force -100 +2 "manipulator"&5 +53 &A% +3 "core" % l Ȟ; + .tForearm.stop +2 "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' + .tForearm.force -100 + "manipulator"&5 +54 &C% +3 "core" %    Ȟ; + .tForearm.stop +2 "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' + .tForearm.force -100 + "manipulator"&5 +54 &E% +2 "core" %  Ȟ; +2 .tForearm.stop + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&F'\ +92 "core" ' +2 .tForearm.force -100 + "manipulator"&5 +53 &G% +3 "core" %  C Ȟ; +2 .tForearm.stop + "manipulator"&5 +3 .tForearm.seek :retract +2 "manipulator"&H'\ +90 "core" ' + .tForearm.force -100 + "manipulator"&5 +54 &I% +2 "core" % !  R Ǟ; +2 .tForearm.stop + "manipulator"&5 +3 .tForearm.seek :retract +2 "manipulator"&J'\ +90 "core" ' + .tForearm.force -100 +2 "manipulator"&5 +53 &K% +4 "core" %   Ȟ; + .tForearm.stop + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&L'\ +90 "core" ' +2 .tForearm.force -100 + "manipulator"&5 +53 &M% +2 "core" %   Ǟ; +2 .tForearm.stop +2 "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&N'\ +87 "core" ' +3 .tForearm.force -100 + "manipulator"&5 +53 &O% +3 "core" %  $ Ȟ; +2 .tForearm.stop + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' +469 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Q& +3 "core" & \  +3 "manipulator"&R& +4 "core" &, C U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&S(, +3 "core" ( +2 "manipulator"&T& +4 "core" &, H U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &, " U +3 .tForearm.seek :garage +2 "manipulator"&V'Ϧ +102 "core" ' +9 .tHand.close + "manipulator"&W/ +60 "core" / +2 "manipulator"&X& +3 "core" &, N U +2 "manipulator"&Y% +5 "core" % Ϯ = $ +2 .tForearm.seek :retract + "manipulator"&Z'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&[( +283 "core" ( + "manipulator"&\\& +4 "core" &$ c ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &$  ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'" +98 "core" ' + "manipulator"&_& +4 "core" &$  = ;6 +2 "manipulator"&`% +4 "core" %" Z +2 "collection"'a& +4 "core" & |\  +2 "collection"'b& +4 "core" & v\  +3 .tCC.seek :closed + "collection"'c(V +5 "core" & w\  +10 &4 w\ +{ +9 &d {\ ? +9 &[v w\ O +10 &Y x\ N +9 &] \ N +9 &] {\ N +10 &e_ }\ N +9 &'_ {\ N +10 &\\ x\ O +9 &\\ \ N +9 & m\\ \ N +10 &"/\\ \ N +9 &#^ |\ N +9 &%Z w\ N +10 &'u\\ v\ N +9 &)7\\ \ N +10 &*^ v\ N +9 &,\\ y\ O +9 &.}\\ \ N +10 &0>\\ z\ O +9 &2Z x\ N +9 &3Y {\ N +10 &5\\ \ O +9 &7G` {\ N +10 &9 ] z\ N +9 &:[ }\ O +9 &<] {\ N +10 &>NY \ O +9 &@[ y\ O +9 &A\\ y\ O +10 &C] z\ O +9 &EU_ u\ O +10 &Gk y\ P +9 &H| |\ R +9 &J \ W +10 &L> u\ Z +9 &N w\ Y +9 &O }\ Z +10 &Q {\ Z +9 &SA }\ [ +10 &U z\ [ +9 &VXM x\ 3 +9 &Vl \ E +6 ( + "collection"'b& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.98 +2 "collection"'d& +3 "core" &V\\ \ E + &V\\ ~\ E +2 .tHand.open + "manipulator"&e1 +62 "core" 1 +2 "manipulator"&f% +4 "core" %  @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +96 "core" ' +252 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp + "processing"%h& +3 "core" &\  +3 "manipulator"&i& +4 "core" &$  ;6 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j( +2 "core" ( +2 "manipulator"&k& +4 "core" &$ N ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &$ 6 ;6 +2 .tForearm.seek CC +2 "manipulator"&m'" +91 "core" ' +2 .tHand.close + "manipulator"&n/ +63 "core" / +2 .tCC.seek :open + "collection"'o( +416 "core" ( +2 "manipulator"&p& +3 "core" &$ 7 ;6 +2 "manipulator"&q% +4 "core" % - i +2 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&s(s +382 "core" ( +3 "manipulator"&t& +3 "core" &v  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &v E  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&v' +89 "core" ' +2 "manipulator"&w& +4 "core" &v   +2 "manipulator"&x% +4 "core" % K 6 +2 "processing"%y& +3 "core" & \  +2 "processing"%z& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &\ \  +10 &6~ \ +{ +9 &d \ ? +9 &]|\ O +10 &"_\ N +9 &b\ N +9 &b\ O +10 &e_\ O +9 &*\\\ N +10 &b\ N +9 &b\ N +9 & oa\ N +10 &"1c\ N +9 &#_\ N +9 &%a\ N +10 &'w`\ N +9 &)9b\ N +9 &*_\ N +10 &,\\\ \ N +9 &.b \ N +10 &0C_\ N +9 &2`\ N +9 &3_\ N +10 &5`\ N +9 &7K_\ N +10 &9 a\ N +9 &:`\ N +9 &<`\ \ N +10 &>S_\ N +9 &@b\ N +9 &A]\ N +10 &Ca\ O +9 &EY`\ N +10 &Gn\ P +9 &H\ R +9 &J\ T +10 &LO\ T +9 &N\ T +9 &O\ T +10 &Q\ T +9 &SW\ T +10 &U\ T +9 &V\ U +9 &X\ U +10 &Z`y\ )} +9 &Zf\ 3 +9 ( + &Z\ , +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.40 + "processing"%|& +3 "core" &Z\ , +2 .tHand.open + "manipulator"&}1 +61 "core" 1 + "manipulator"&~% +4 "core" % T 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "collection"'& +3 "core" & i\ +288 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" &w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(s +3 "core" ( + "manipulator"&& +4 "core" &w +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &w  +37 .tForearm.seek PC +9 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"% ( +437 "core" ( + "manipulator"&\ & +4 "core" &w &  +2 "manipulator"&% +4 "core" % ;  +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(, +119 "core" ( +2 "manipulator"&& +3 "core" &,  ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, 7 ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'Ϧ +102 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"& % +4 "core" % ϰ Z M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +3054 #t-> exit +6 #mEXIT @1729514377.82EDT @1729779801.59EDT = =mMAIN_scheduler =tMAIN @EDT1729779802.33 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@58504 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +387 "Can"\ z + \ z + #tPolling Can every 10:00 +9 #Cleanly exited at 08:39:37EDT21-Oct-24 +356 #-> ESP.ready! +3 #Powering core bus +574 .Gate.power :raw,:ON + "sampler") +42 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X SE +2 "storage"(1% +3 "core" %` r g H\ +182 #t-> SC +2 "storage"(2& +3 "core" & r r \ +457 #t-> SC.seek 6 +2 .SC.reconfigure :loose +3 "storage"($.\ 1~b +2 .tSC.seek 6 +2 "storage"(3(K +966 "core" ( +2 "storage"(4& +4 "core" &K6 G\  +726 #t-> SE.to 0 +2 .SE.seek :"Top Plate" +2 "storage"(5' +264 "core" ' +2 "storage"(6% +3 "core" % ?\ +1142 #t-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(7'X +320 "core" ' + "storage"(8% +4 "core" %c \ +255 #t-> SE + "storage"(9% +3 "core" %] \ +880 #t-> SC.seek 2 +2 .SC.seek 2 +2 "storage"(:( +1288 "core" ( + "storage"(;& +4 "core" & \  u\ +498 #t-> SE.to 0 +3 .SE.seek :"Top Plate" +2 "storage"(<' +268 "core" ' E X\  +3 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressiE :deltaPressiX : voltagef12.824775650466373: @type2F: @tagiA: mesg".Storage Elevator overCurrent at Top Plate:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:402:in `to'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2531 #-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(='X +305 "core" ' +2 "storage"(>% +3 "core" %b e \\ ^\ +4374 #t-> SE +2 "storage"(?% +3 "core" %b W \\ 0\ +1875 #t-> SE.home.to :up +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :up +2 "storage"(@' +255 "core" ' \ ! +2 !to:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.893504172803143: @type2F: @tagiE: mesg"?Storage Elevator overCurrent at 0.13 Pucks below Top Plate:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:402:in `to'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2184 #-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(A'X +310 "core" ' +2 "storage"(B% +3 "core" %a : > Q\ +7477 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1729780115.79EDT @1731938437.66EST = =mMAIN_scheduler =tMAIN @EST1731938438.42 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +113 #"core_reset"Sent BREAK +2 #t@32648 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +258 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +406 "Can" 9! +2  9! #tPolling Can every 10:00 +9 #Cleanly exited at 10:28:35EDT24-Oct-24 +466 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON + "sampler") +46 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +7 #mEXIT @1731938490.28EST @1731938638.36EST = =tMAIN =mMAIN_scheduler @EST1731938639.09 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@2639 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +383 "Can"  +   + #tPolling Can every 10:00 +9 #Cleanly exited at 09:01:30EST18-Nov-24 +529 #-> ESP.ready! +3 #Powering core bus +575 .Gate.power :raw,:ON +2 "sampler") +27 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +8 #mEXIT @1731938692.63EST @1732650193.71EST = =tMAIN =mMAIN_scheduler @EST1732650194.46 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK +2 #t@12456 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +388 "Can"f 7M82 + f 7M82 #tPolling Can every 10:00 +9 #Cleanly exited at 09:04:52EST18-Nov-24 +579 #-> ESP.ready! +3 #Powering core bus +569 .Gate.power :raw,:ON + "sampler") +35 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1732650631.66EST @1732656172.80EST = =tMAIN =mMAIN_scheduler @EST1732656173.53 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK +2 #t@37220 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +383 "Can" ;#c. +2  ;#c. #tPolling Can every 10:00 +9 #Cleanly exited at 14:50:31EST26-Nov-24 +1221 #-> ESP.ready! +3 #Powering core bus +543 .Gate.power :raw,:ON +2 "sampler") +14 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1732656242.33EST @1732725979.91EST = =tMAIN =mMAIN_scheduler @EST1732725980.65 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK +2 #t@56652 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +385 "Can"\  + \  + #tPolling Can every 10:00 +9 #Cleanly exited at 16:24:02EST26-Nov-24 +613 #-> ESP.roman +79 !o:NoMethodError : mesgu:NameError::message,undefined method `roman' for ESP:Module: name:\ roman: args[:bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +779 #-> ssh esp@esproman +2 !o:NoMethodError : mesg",undefined method `esp' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2873 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON +2 "sampler") +58 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1732726073.50EST @1733239288.22EST = =tMAIN =mMAIN_scheduler @EST1733239288.95 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@14725 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can"\ 7"G + \ 7"G + #tPolling Can every 10:00 +9 #Cleanly exited at 11:47:53EST27-Nov-24 +870 #-> ESP.ready! +3 #Powering core bus +544 .Gate.power :raw,:ON +2 "sampler") +58 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 3 +2 "storage"(1% +4 "core" %R \ +2 "manipulator"&2% +4 "core" %\   '  +2 "manipulator"&3& +4 "core" &   L +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(4([ +1276 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &[ ; D _\  +338 #t-> access 2 +2 "storage"(6% +4 "core" %R \ +2 "manipulator"&7% +3 "core" %\   A  +2 "manipulator"&8& +3 "core" & L +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(9(K +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "core" &K i k \ +992 #t-> Flush +369 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +3 "core" &CB\  +2 .tHand.open +2 "manipulator"&<1 +56 "core" 1 + "manipulator"&=& +4 "core" &  ` L +2 "manipulator"&>% +3 "core" % \   |  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(, +181 "core" ( +51 "manipulator"&@& +4 "core" &,  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &, ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&B'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&C/ +58 "core" / +2 "manipulator"&D& +4 "core" &, A ; + "manipulator"&E% +4 "core" % ϸ C  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G( +278 "core" ( + "manipulator"&H& +3 "core" &% ' <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &% u <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +97 "core" ' +2 "manipulator"&K& +3 "core" && \ 6 < <? +3 "manipulator"&L% +5 "core" %% 1  e +2 "collection"'M& +4 "core" &@D\  +2 "collection"'N& +5 "core" &BB!\  +2 .tCC.seek :closed +2 "collection"'O(V +5 "core" &BD$\  +6 &JCC%\ %i +9 &sUCB\ 9 +10 &AC\ N +9 &_BE\ O +9 &I]DD\ O +10 & ]AD!\ O +9 &bAE\ O +10 &]BC\ O +9 &Qb?D\ O +9 &\\BC!\ O +10 &]CD\ N +9 &!`AC\ O +9 &#Z]CE\ O +10 &%bDE\ O +9 &&]CE\ N +10 &(\\CE \ N +9 &*c_BD\ N +9 &,%]DE\ N +10 &-]CF\ N +9 &/]CD \ N +9 &1iaCF\ O +10 &3,ZDC\ O +9 &4bAF\ O +10 &6]BE\ O +9 &8s\\CE\ N +9 &:4_AC\ O +10 &;^AD\ O +9 &=_CE\ O +10 &?ybDE\ O +9 &A<\\AD \ O +9 &BaBD\ O +10 &DaGG\ O +9 &F~hTM\ P +9 &H;yPU\ R +10 &IRR \ V +9 &KUV\ Z +9 &MkRT\ Y +10 &O,QV\ Z +9 &PQT \ Z +10 &RRU \ [ +9 &TlRS \ \\ +9 &V sST \ 7 +10 &V$RT\ "e +9 ( +3 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + "collection"'P& +3 "core" &VQS\ V +2 &VOP\ V + .tHand.open +2 "manipulator"&Q1 +56 "core" 1 + "manipulator"&R% +4 "core" % % 0  K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +477 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp + "processing"%T& +4 "core" &\  +2 "manipulator"&U& +4 "core" &% 5 <? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&V( +2 "core" ( +2 "manipulator"&W& +4 "core" &% ( u <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &% <? +2 .tForearm.seek CC +2 "manipulator"&Y'" +93 "core" ' + .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 .tCC.seek :open +2 "collection"'[( +415 "core" ( +2 "manipulator"&\\& +4 "core" &%  <? +2 "manipulator"&]% +3 "core" % ) _ +2 .tForearm.seek :retract +2 "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&_(s +352 "core" ( +2 "manipulator"&`& +4 "core" &r & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &r  Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +94 "core" ' +2 "manipulator"&c& +3 "core" &r ( < +3 "manipulator"&d% +4 "core" % ' +2 "processing"%e& +4 "core" &w\  +2 "processing"%f& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%g(Z +5 "core" &\  +6 &I\ %h +9 &wVo\ 9 +10 &r\ M +9 &]}\ O +9 &Na\ O +10 &]\ N +9 &_:\ N +9 &b\ O +10 &Vb\ O +9 &^\ N +10 &`\ N +9 &!c\ N +9 &#^a9\ O +10 &%!`\ N +9 &&\\\ N +9 &(_\ N +10 &*fbi\ O +9 &,)]\ N +10 &-_\ O +9 &/_\ O +9 &1o\\\ N +10 &31^\ N +9 &4a\ N +9 &6]\ N +10 &8wb\ N +9 &:9b\ N +10 &;b@\ N +9 &=a\ N +9 &?~`\ O +10 &A@_\ O +9 &Ca\ O +10 &Dd\ N +9 &Fi\ P +9 &H?z\ R +10 &I\ T +9 &K\ T +9 &M}l\ T +10 &O@\ T +9 &Q\ T +9 &R\ T +10 &T\ T +9 &VE\ U +10 &X\ U +9 &Y{p\ A +9 &Z"NC\ C +10 ( + &Z8\ 8 +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.45 +2 "processing"%h& +3 "core" &Z8\ 8 +2 .tHand.open + "manipulator"&i1 +60 "core" 1 +2 "manipulator"&j% +3 "core" % ! K ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 "collection"'l& +3 "core" &<? \ +2867 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&m& +4 "core" &r  : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&n(s +3 "core" ( +2 "manipulator"&o& +4 "core" &r $ F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &r  +3 .tForearm.seek PC + "manipulator"&q' +95 "core" ' + .tHand.close +2 "manipulator"&r/ +61 "core" / +2 .tPC.seek :open +2 "processing"%s( +433 "core" ( +2 "manipulator"&t& +4 "core" &r  +2 "manipulator"&u% +3 "core" %  3  +3 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&w(, +129 "core" ( +2 "manipulator"&x& +4 "core" &, % ,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &,    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&z'Ϧ +105 "core" ' + .tHand.open +2 "manipulator"&{1 +61 "core" 1 +2 "manipulator"&|% +4 "core" % ϰ /  } $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +815 #t-> Flush +24100 #-> exit +8 #mEXIT @1733239714.83EST @1733240321.50EST = =tMAIN =mMAIN_scheduler @EST1733240322.26 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK + #t@27737 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +253 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +396 "Can"\ qe\ + \ qe\ + #tPolling Can every 10:00 +2 #Cleanly exited at 10:28:34EST03-Dec-24 +878 #-> ESP.ready! +2 #Powering core bus +555 .Gate.power :raw,:ON +2 "sampler") +10 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +4 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X@6\ +3 ."openPC"PC.home.seek :open +2 .tCC.home.seek :open +2 "processing"% ( + "collection"'!( +279 "core" ( +13 ( +3 "collection"'" +3 "core" ? +2 "processing"%# +4 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "collection"'&% +5 "core" %>A\ +2 "processing"%'% +3 "core" %\ +3 "sampler")(% +4 "core" %   \ \\ +2 "collection"')& +4 "core" &>@ \  +2 "processing"%*& +4 "core" &\  +2 "manipulator"&+% +4 "core" %\   ? \ +2 "manipulator"&,& +3 "core" &  ! D +3 "storage"(-& +3 "core" & 1\  +2 "storage"(.% +5 "core" %[ S\ +2 "collection"'/9 +3 "core" 9k +2 "processing"%09 +3 "core" 9cZ +1245 #t-> exit +6 #mEXIT @1733240393.79EST @1733257438.77EST = =tMAIN =mMAIN_scheduler @EST1733257439.51 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@44893 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +377 "Can" % +  % #tPolling Can every 10:00 +3 #Cleanly exited at 10:39:53EST03-Dec-24 +3998 #-> ESP.ready! +3 #Powering core bus +555 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X +3 "processing"%'% +3 "core" % +3 "sampler")(% +3 "core" %  j +2 "collection"')& +5 "core" &36h  + "processing"%*& +4 "core" &  +2 "manipulator"&+% +4 "core" %\  n  +2 "manipulator"&,& +3 "core" &  j +3 "storage"(-& +3 "core" & a  +2 "storage"(.% +3 "core" %U ~ +3 "collection"'/9 +3 "core" 9r +2 "processing"%09 +3 "core" 9kb +1062 #t-> access 2 +3 "storage"(1% +3 "core" %U +2 "manipulator"&2% +3 "core" %\    +2 "manipulator"&3& +5 "core" &  L j +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(4(K +962 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" &K %  +527 #t-> access 3 +3 "storage"(6% +3 "core" %U +2 "manipulator"&7% +3 "core" %\  A  +2 "manipulator"&8& +4 "core" &  j +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(9([ +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &[ V  +1056 #t-> access 2 +3 "storage"(;% +3 "core" %U h +2 "manipulator"&<% +3 "core" %\   k  +2 "manipulator"&=& +4 "core" &  ? j +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(>(K +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &K ] +5327 #t-> require 'Primereagent.rb' + !o:LoadError: mesg",no such file to load -- Primereagent.rb:bt[ "(ESP):5:in `require'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +729 #-> require 'PrimeReagent.rb' +2005 #-> primeCSRrnal +2 #**Prepare to clean and prime CSR rnal reagent** + .CSV.dial :air +2 "collection"'@ @ +88 "core" B +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A' +3 "core" ' +2 .tCSV.dial CSR +2 "collection"'B  +81 "core"  + .tCSR.select :rnal +2 "collection"'\ +10 #tAwaiting answer to "**Disinfect and attach CSR rnal fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +1665 .CS.seek 10ml +2 "collection"'C' V +2576 "core" ' +2 .tCSV.dial :waste1 + "collection"'D +153 "core" +2 .tCS.seek 0ml +2 "collection"'E' +2590 "core" ' + .tCSV.dial CSR +2 "collection"'F  +153 "core"  +2 .tCS.seek 10ml +2 "collection"'G' V +2574 "core" ' +2 .tCSV.dial :waste1 + "collection"'H +152 "core" +2 .tCS.seek 0ml +2 "collection"'I' +2598 "core" ' + .tCSV.dial CSR +2 "collection"'J  +153 "core"  +2 .tCS.seek 10ml +2 "collection"'K' V +2580 "core" ' +2 .tCSV.dial :waste1 + "collection"'L +152 "core" +2 .tCS.seek 0ml +2 "collection"'M' +2585 "core" ' + .tCSV.dial CSR +2 "collection"'N  +153 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +550 "collection"'O% +3 "core" %23m +3 .tCS.seek 0.5ml +2 "collection"'P'| +209 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1025 .CS.seek 10ml + "collection"'Q' V +2453 "core" ' +2 .tCSV.dial :waste2 + "collection"'R +49 "core"  +2 .tCS.seek 0ml + "collection"'S' +2576 "core" ' +2 .tCSV.dial CSR + "collection"'T  +43 "core"  +2 .tCS.seek 10ml +41 "collection"'U' V +2577 "core" ' + .tCSV.dial :waste2 +2 "collection"'V +50 "core"  +2 .tCS.seek 0ml +2 "collection"'W' +2602 "core" ' +2 .tCSV.dial CSR + "collection"'X  +41 "core"  +2 .tCS.seek 10ml +2 "collection"'Y' V +2580 "core" ' +2 .tCSV.dial :waste2 + "collection"'Z +49 "core"  +2 .tCS.seek 0ml +2 "collection"'[' +2575 "core" ' +2 .tCSV.dial CSR +2 "collection"'\\  +40 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +501 "collection"']% +4 "core" %36n +3 .tCS.seek 0.5ml +2 "collection"'^' +213 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1723 .CS.seek 10ml +2 "collection"'_' V +2312 "Can" >1t +139 "core" ' +2 .tCSV.dial :waste1 + "collection"'` +122 "core" +2 .tCS.seek 0ml +2 "collection"'a' +2581 "core" ' + .tCSV.dial CSR +2 "collection"'b  +120 "core"  +2 .tCS.seek 10ml +2 "collection"'c' V +2585 "core" ' +2 .tCSV.dial :waste1 + "collection"'d +122 "core" +2 .tCS.seek 0ml +2 "collection"'e' +2577 "core" ' +2 .tCSV.dial CSR + "collection"'f  +154 "core"  +2 .tCS.seek 10ml + "collection"'g' V +2584 "core" ' +2 .tCSV.dial :waste1 + "collection"'h +122 "core" +2 .tCS.seek 0ml +2 "collection"'i' +2596 "core" ' + .tCSV.dial CSR +2 "collection"'j  +153 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2149 "collection"'k% +3 "core" %13 +2 .tCS.seek 0.5ml +2 "collection"'l' +205 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +9609 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +196 #**Priming reagent line** + "collection"'m% +3 "core" %35  +3 .tCS.seek 5.5ml + "collection"'n' +1330 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'o +154 "core" +2 .tCS.seek 0ml +2 "collection"'p' +1454 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'q  +163 "core"  +2 "collection"'r% +3 "core" %36 +2 .tCS.seek 5ml +2 "collection"'s'q +1329 "core" ' + .tCSV.dial :waste1 +2 "collection"'t +122 "core" +2 .tCS.seek 0ml + "collection"'u' +1337 "core" ' +2 .tCSR.select :air + "collection"' +9 .tCSV.dial CSR +2 "collection"'v  +121 "core"  +2 .tCS.seek 10ml + "collection"'w' V +2578 "core" ' + .tCSV.dial :waste1 +2 "collection"'x +122 "core" +2 .tCS.seek 0ml +2 "collection"'y' +2583 "core" ' +2 #t**SUCCESSFULLY PRIMED CSR RNAL REAGENT** +17214 #-> primeCSRflush +2 #**Prepare to clean and prime CSR flush reagent** + .CSV.dial :air +2 "collection"'z @ +85 "core" A +3 .tCS.seek 0ml + "collection"'{' +4 "core" ' + .tCSV.dial CSR +2 "collection"'|  +83 "core"  +2 .tCSR.select :flush +2 "collection"' +10 #tAwaiting answer to "**Disinfect and attach CSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +1036 .CS.seek 10ml +2 "collection"'}' V +2579 "core" ' +2 .tCSV.dial :waste1 + "collection"'~ +154 "core" +2 .tCS.seek 0ml + "collection"'' +1385 "Can" >3Dt +1196 "core" ' + .tCSV.dial CSR +2 "collection"'  +153 "core"  +2 .tCS.seek 10ml +2 "collection"'' V +2587 "core" ' + .tCSV.dial :waste1 +2 "collection"' +151 "core" +2 .tCS.seek 0ml +2 "collection"'' +2598 "core" ' + .tCSV.dial CSR +2 "collection"'  +153 "core"  +2 .tCS.seek 10ml +2 "collection"'' V +2584 "core" ' + .tCSV.dial :waste1 +2 "collection"' +122 "core" +2 .tCS.seek 0ml + "collection"'' +2575 "core" ' + .tCSV.dial CSR +2 "collection"'  +153 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1261 "collection"'\ % +3 "core" %14 +2 .tCS.seek 0.5ml +2 "collection"' '| +208 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2028 .CS.seek 10ml +2 "collection"'' V +2459 "core" ' + .tCSV.dial :waste2 +2 "collection"' +48 "core"  +2 .tCS.seek 0ml +2 "collection"'' +2582 "core" ' +2 .tCSV.dial CSR + "collection"'  +41 "core"  +2 .tCS.seek 10ml +2 "collection"'' V +2577 "core" ' +2 .tCSV.dial :waste2 + "collection"' +61 "core"  +2 .tCS.seek 0ml +2 "collection"'' +2582 "core" ' +2 .tCSV.dial CSR + "collection"'  +41 "core"  +2 .tCS.seek 10ml +2 "collection"'' V +2574 "core" ' + .tCSV.dial :waste2 +2 "collection"' +50 "core"  +2 .tCS.seek 0ml +2 "collection"'' +2584 "core" ' + .tCSV.dial CSR +2 "collection"'  +86 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +457 "collection"'% +3 "core" %24/ +3 .tCS.seek 0.5ml +2 "collection"''| +209 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1496 .CS.seek 10ml +2 "collection"'"' V +2450 "core" ' +2 .tCSV.dial :waste1 + "collection"'# +122 "core" +2 .tCS.seek 0ml +2 "collection"'$' +2580 "core" ' +2 .tCSV.dial CSR +2 "collection"'%  +120 "core"  +2 .tCS.seek 10ml +2 "collection"'&' V +2585 "core" ' +2 .tCSV.dial :waste1 + "collection"'' +122 "core" +2 .tCS.seek 0ml +2 "collection"'(' +2593 "core" ' + .tCSV.dial CSR +2 "collection"')  +155 "core"  +2 .tCS.seek 10ml + "collection"'*' V +2586 "core" ' + .tCSV.dial :waste1 +2 "collection"'+ +154 "core" +3 .tCS.seek 0ml + "collection"',' +2585 "core" ' +2 .tCSV.dial CSR +2 "collection"'-  +156 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +626 "collection"'.% +3 "core" %137 +2 .tCS.seek 0.5ml +2 "collection"'/'} +209 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +9199 "Can" 9At +3955 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +270 #**Priming reagent line** +2 "collection"'0% +3 "core" %02Y  +2 .tCS.seek 5.5ml +2 "collection"'1' +1336 "core" ' +2 .tCSV.dial :waste1 + "collection"'2 +155 "core" +2 .tCS.seek 0ml +2 "collection"'3' +1457 "core" ' + #t**Air out CSR manifold** + .CSR.select :air +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'  +168 "core"  +2 .tCS.seek 10ml +2 "collection"'5' V +2575 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'6 +121 "core" +3 .tCS.seek 0ml + "collection"'7' +2587 "core" ' + #t**SUCCESSFULLY PRIMED CSR FLUSH REAGENT** +11996 #-> primeCSVflush + #**Prepare to clean and prime CSV flush reagent to CSV port 5** + .CSV.dial :air +2 "collection"'8 @ +85 "core" A +2 .tCS.seek 0ml +2 "collection"'4' +4 "core" ' + .tCSV.dial :flush +2 "collection"':  +40 "core"  +2 #tAwaiting answer to "**Disinfect and attach CSV flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +2249 .CS.seek 10ml +2 "collection"';' V +2588 "core" ' +2 .tCSV.dial :waste1 + "collection"'< +42 "core" +2 .tCS.seek 0ml +2 "collection"'=' +2576 "core" ' +2 .tCSV.dial :flush + "collection"'9  +52 "core"  +2 .tCS.seek 10ml + "collection"'?' V +2589 "core" ' + .tCSV.dial :waste1 +2 "collection"'@ +42 "core" +2 .tCS.seek 0ml +2 "collection"'B' +2585 "core" ' +2 .tCSV.dial :flush + "collection"'  +50 "core"  +3 .tCS.seek 10ml + "collection"'A' V +2577 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'D +42 "core" +2 .tCS.seek 0ml +2 "collection"'C' +2585 "core" ' + .tCSV.dial :flush +2 "collection"'F  +51 "core"  +3 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +732 "collection"'E% +4 "core" %24w +2 .tCS.seek 0.5ml +2 "collection"'H'~ +206 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +890 .CS.seek 10ml +2 "collection"'G' V +2453 "core" ' + .tCSV.dial :waste2 +2 "collection"'J +153 "core"  +2 .tCS.seek 0ml +2 "collection"'I' +2587 "core" ' + .tCSV.dial :flush +2 "collection"'L  +153 "core"  +2 .tCS.seek 10ml +2 "collection"'K' V +2583 "core" ' +2 .tCSV.dial :waste2 + "collection"'N +152 "core"  +2 .tCS.seek 0ml +2 "collection"'O' +2594 "core" ' +2 .tCSV.dial :flush +2 "collection"'M  +153 "core"  +2 .tCS.seek 10ml + "collection"'P' V +2584 "core" ' +2 .tCSV.dial :waste2 + "collection"'R +122 "core"  +2 .tCS.seek 0ml +2 "collection"'Q' +1716 "Can" =Kpt +858 "core" ' +2 .tCSV.dial :flush +2 "collection"'T  +121 "core" +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1340 "collection"'S% +3 "core" %12v +2 .tCS.seek 0.5ml +2 "collection"'V' +207 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +921 .CS.seek 10ml +2 "collection"'U' V +2454 "core" ' + .tCSV.dial :waste1 +2 "collection"'X +40 "core" +2 .tCS.seek 0ml +2 "collection"'W' +2574 "core" ' +2 .tCSV.dial :flush +2 "collection"'Z  +50 "core"  +2 .tCS.seek 10ml + "collection"'Y' V +2578 "core" ' + .tCSV.dial :waste1 +2 "collection"'\\ +42 "core" +2 .tCS.seek 0ml +2 "collection"']' +2585 "core" ' +2 .tCSV.dial :flush + "collection"'[  +50 "core"  +2 .tCS.seek 10ml +2 "collection"'^' V +2574 "core" ' +2 .tCSV.dial :waste1 + "collection"'` +41 "core" +49 .tCS.seek 0ml + "collection"'_' +2575 "core" ' +2 .tCSV.dial :flush + "collection"'b  +52 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +545 "collection"'a% +3 "core" %04x +3 .tCS.seek 0.501ml + "collection"'d' +197 "core" ' +2 #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +4459 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +69 #**Priming reagent line** + "collection"'c% +3 "core" %03 +3 .tCS.seek 5.5ml + "collection"'f' +1324 "core" ' + .tCSV.dial :waste1 +2 "collection"'e +42 "core" +2 .tCS.seek 0ml +2 "collection"'h' +1451 "core" ' + #t**SUCCESSFULLY PRIMED CSV FLUSH REAGENT** +776 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1733260132.17EST @1733325215.32EST = =tMAIN =mMAIN_scheduler @EST1733325216.07 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@2729 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +251 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +389 "Can"& hD/ +2 & hD/ #tPolling Can every 10:00 +3 #Cleanly exited at 16:08:52EST03-Dec-24 +445 #-> ESP.ready! +3 #Powering core bus +553 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +940 #-> primeCSRkill +2 #**Prepare to clean and prime CSR kill reagent** + .CSV.dial :air +2 "collection"'1 @ +87 "core" B +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'2' +3 "core" ' +2 .tCSV.dial CSR + "collection"'3  +83 "core"  + .tCSR.select :kill +2 "collection"' +10 #tAwaiting answer to "**Disinfect and attach CSR kill fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +266 .CS.seek 10ml + "collection"'4' V +2587 "core" ' +2 .tCSV.dial :waste1 + "collection"'5 +155 "core" +2 .tCS.seek 0ml +2 "collection"'6' +2575 "core" ' +2 .tCSV.dial CSR + "collection"'7  +157 "core"  +2 .tCS.seek 10ml +2 "collection"'8' V +2608 "core" ' +2 .tCSV.dial :waste1 + "collection"'9 +155 "core" +2 .tCS.seek 0ml +2 "collection"':' +2576 "core" ' + .tCSV.dial CSR +2 "collection"';  +156 "core"  +2 .tCS.seek 10ml +2 "collection"'<' V +2584 "core" ' + .tCSV.dial :waste1 +2 "collection"'= +154 "core" +3 .tCS.seek 0ml + "collection"'>' +2585 "core" ' +2 .tCSV.dial CSR + "collection"'?  +157 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1138 "collection"'@% +3 "core" %OQ +3 .tCS.seek 0.5ml +2 "collection"'A'} +199 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1317 .CS.seek 10ml +2 "collection"'B' V +2450 "core" ' +2 .tCSV.dial :waste2 +2 "collection"'C +48 "core"  +2 .tCS.seek 0ml +2 "collection"'D' +2576 "core" ' + .tCSV.dial CSR +2 "collection"'E  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'F' V +2585 "core" ' +2 .tCSV.dial :waste2 + "collection"'G +50 "core"  +2 .tCS.seek 0ml +2 "collection"'H' +2584 "core" ' + .tCSV.dial CSR +2 "collection"'I  +40 "core"  +3 .tCS.seek 10ml + "collection"'J' V +2584 "core" ' +2 .tCSV.dial :waste2 + "collection"'K +50 "core"  +2 .tCS.seek 0ml +2 "collection"'L' +2580 "core" ' +2 .tCSV.dial CSR + "collection"'M  +43 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1811 "collection"'N% +3 "core" %QQ +2 .tCS.seek 0.499ml +2 "collection"'O'y +212 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +724 .CS.seek 10ml +2 "collection"'P' V +2460 "core" ' + .tCSV.dial :waste1 +2 "collection"'Q +122 "core" +2 .tCS.seek 0ml +2 "collection"'R' +2574 "core" ' + .tCSV.dial CSR +2 "collection"'S  +120 "core"  +3 .tCS.seek 10ml + "collection"'T' V +2576 "core" ' +2 .tCSV.dial :waste1 + "collection"'U +122 "core" +2 .tCS.seek 0ml +2 "collection"'V' +2574 "core" ' +2 .tCSV.dial CSR + "collection"'W  +157 "core"  +2 .tCS.seek 10ml +35 "collection"'X' V +1321 "Can" 7Kڱ +1266 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'Y +156 "core" +2 .tCS.seek 0ml +2 "collection"'Z' +2583 "core" ' +2 .tCSV.dial CSR + "collection"'[  +157 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1170 "collection"'\\% +3 "core" %PS +3 .tCS.seek 0.499ml +2 "collection"']'z +204 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +7994 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +127 #**Priming reagent line** +2 "collection"'^% +3 "core" %{QT  +2 .tCS.seek 5.499ml +2 "collection"'_' +1326 "core" ' +2 .tCSV.dial :waste1 + "collection"'` +155 "core" +2 .tCS.seek 0ml +2 "collection"'a' +1451 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +10 .tCSV.dial CSR + "collection"'b  +157 "core"  + "collection"'c% +4 "core" %PS +2 .tCS.seek 5.001ml +2 "collection"'d'q +1334 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'e +153 "core" +2 .tCS.seek 0ml + "collection"'f' +1334 "core" ' + .tCSR.select :air +2 "collection"' +10 .tCSV.dial CSR + "collection"'g  +156 "core"  +3 .tCS.seek 10ml + "collection"'h' V +2579 "core" ' +2 .tCSV.dial :waste1 + "collection"'i +155 "core" +2 .tCS.seek 0ml +2 "collection"'j' +2579 "core" ' + #t**SUCCESSFULLY PRIMED CSR KILL REAGENT** +3863 #-> access 2 +2 "storage"(k% +4 "core" %_ +2 "manipulator"&l% +3 "core" %\     +2 "manipulator"&m& +4 "core" &  # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(n(K +968 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &K w  +30005 "Can" 1p +43803 #t-> exit +7 #mEXIT @1733326865.84EST @1733326955.34EST = =mMAIN_scheduler =tMAIN @EST1733326956.02 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK + #t@17341 receive with ifg=0x10, ie=0xFD + #@17986 receive with ifg=0x10, ie=0xFD + #@18642 receive with ifg=0x10, ie=0xFD + #@19287 receive with ifg=0x10, ie=0xFD #@19935 receive with ifg=0x10, ie=0xFD + #@20581 receive with ifg=0x10, ie=0xFD + #@21229 receive with ifg=0x10, ie=0xFD #@21555 receive with ifg=0x80, ie=0xFD + #@54950 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +365 "Can"  0 +   0 + #tPolling Can every 10:00 +2 #Cleanly exited at 10:41:05EST04-Dec-24 +1064 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %NO +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +3 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %    +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" &OPG  +2 .tHand.open + "manipulator"&41 +61 "core" 1 +2 "manipulator"&5& +3 "core" & % o # +2 "manipulator"&6% +4 "core" % \   d  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(, +171 "core" ( +2 "manipulator"&8& +3 "core" &,  H  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&:'Ϧ +95 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 "manipulator"&<& +4 "core" &, %  + "manipulator"&=% +3 "core" % Ϭ y +3 .tForearm.seek :retract + "manipulator"&>'\ +97 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&?( +281 "core" ( +2 "manipulator"&@& +3 "core" &-  Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &- 7 Cp +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'" +101 "core" ' +2 "manipulator"&C& +3 "core" &- : Co +2 "manipulator"&D% +4 "core" % % +2 "collection"'E& +3 "core" &MRR  +3 "collection"'F& +5 "core" &ORK  +2 .tCC.seek :closed +2 "collection"'G(V +5 "core" &OSU  +6 &ILPQ %g +9 &s[QQH 7 +10 &PRJ I +9 &pOQE I +10 &epORG H +9 &'rPSE H +9 &rNQH H +10 &qNPF H +9 &mtNRG H +9 &/rORF H +10 &qQRE H +9 &!rOPF H +10 &#trPRN H +9 &%7rPQ< H +9 &&uOQ1 I +10 &(nQQ7 H +9 &*{qOQF I +9 &,@pORR H +10 &.pPRV G +9 &/pQSW H +10 &1rOPY H +9 &3GpPQZ H +9 &5\ pRTW H +10 &6sPQZ H +9 &8oOQ\\ H +9 &:PrMSR H +10 &<rMSS H +9 &=rMOO H +10 &?rPRS H +9 &AWnPQR H +9 &CpPRQ H +10 &DvTTO H +9 &F{_\\S I +9 &HX^kQ K +10 &JbcZ N +9 &KcfX Q +10 &MbdY Q +9 &OJacS R +9 &Q _b\\ R +10 &RccY S +9 &TbeR R +9 &V(rccR )~ +10 &V)ccO K +9 ( + &Va_bT C +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.74 +2 "collection"'H& +3 "core" &Va^`2 C +2 .tHand.open + "manipulator"&I1 +53 "core" 1 +2 "manipulator"&J% +3 "core" %  ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +100 "core" ' +358 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp + "processing"%L& +3 "core" &  +2 "manipulator"&M& +5 "core" &+  Ad + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&O& +3 "core" &+ V Ad +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &+ ) s Ad +2 .tForearm.seek CC +2 "manipulator"&Q'" +92 "core" ' + .tHand.close + "manipulator"&R/ +54 "core" / +2 .tCC.seek :open +2 "collection"'S( +412 "core" ( +2 "manipulator"&T& +3 "core" &+ D Ad +2 "manipulator"&U% +3 "core" % 0 +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&W(s +356 "core" ( +2 "manipulator"&X& +3 "core" &r "  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &r 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z' +98 "core" ' +2 "manipulator"&[& +3 "core" &r %  +3 "manipulator"&\\% +3 "core" %   +2 "processing"%]& +5 "core" &  +2 "processing"%^& +6 "core" &  +2 .tPC.seek :closed + "processing"%_(Z +5 "core" &  +6 &O $e +10 &\\ 8 +9 & I +9 &p H +10 &{r H +45 &=s H + &q H + &n H + &r I + &Er H +7 & t H +9 &!r H +10 &#s H +9 &%Mr H +10 &'q I +9 &(q H +9 &*s I +10 &,Vr H +9 &.s H +9 &/q H +10 &1q H +9 &3_n H +10 &5!q H +9 &6q H +9 &8r H +10 &:fr H +9 &<)r H +9 &=p H +10 &?r H +9 &Anr H +10 &C/r H +9 &Du H +9 &F~ J +10 &Hm K +9 &J* M +9 &K M +10 &M M +9 &Op M +10 &Q1 M +9 &R M +9 &T N +10 &Vv N +9 &X8 N +9 &Ywy 'y +10 &Z,c $ +9 ( + &Z  \  +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.37 +2 "processing"%`& +3 "core" &Z  \  +2 .tHand.open +2 "manipulator"&a1 +64 "core" 1 + "manipulator"&b% +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +100 "core" ' +2 "collection"'d& +3 "core" &KM- +366 #t-> Flush.garage + #Garaging FlushPuck in Processing Clamp +2 "manipulator"&e& +3 "core" &r  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&f(s +3 "core" ( +2 "manipulator"&g& +3 "core" &r ' 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &r x +2 .tForearm.seek PC +2 "manipulator"&i' +93 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / +2 .tPC.seek :open + "processing"%k( +433 "core" ( + "manipulator"&l& +4 "core" &r X +2 "manipulator"&m% +3 "core" %  %  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&o(, +122 "core" ( +2 "manipulator"&p& +3 "core" &, % y  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &, ( ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +100 "core" ' + .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "manipulator"&t% +3 "core" % ϯ 7  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +102 "core" ' +423 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'v& +3 "core" &LMb +2 "manipulator"&w& +4 "core" &,    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&x(, +2 "core" ( +2 "manipulator"&y& +3 "core" &, ' 9  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &,  \\  +3 .tForearm.seek :garage + "manipulator"&{'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&|/ +64 "core" / +2 "manipulator"&}& +4 "core" &, 7  +2 "manipulator"&~% +3 "core" % ϸ A P +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&( +272 "core" ( +2 "manipulator"&& +3 "core" &*  @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &) " @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 "manipulator"&& +3 "core" &* * @] +3 "manipulator"&% +3 "core" %( > +2 "collection"' & +4 "core" &LL` +3 "collection"' & +5 "core" &KL) +2 .tCC.seek :closed +2 "collection"' (V +3 "core" &KM[ +9 &8KOc $d +10 &ZJMf 6 +9 &LN^ H +9 &kLN[ G +10 &sMNZ H +9 &[oMMZ G +9 &rLO` H +10 &pOQY H +9 &rOOX H +10 &apMOQ H +9 & $pMQR H +9 &!pMPR H +10 &#qNPT H +9 &%jpNOS H +9 &'+mOPP H +10 &(oLPP G +9 &*nPPW H +10 &,rqNQP H +9 &.3kNPU H +9 &/mMSV H +10 &1oNQU H +9 &3zpMOP H +9 &5<pLPU H +10 &6nLPQ H +9 &8mOPO G +10 &:pNOY H +9 &nMPY G +10 &?pNOR G +9 &AnMNT G +9 &CMnMOU G +10 &E uSPR H +9 &F}][S I +10 &HZdP J +9 &J?\\]T O +9 &K]`Q Q +10 &M[`[ Q +9 &O\\^Q Q +9 &Q?[^P R +10 &R[_S R +9 &T__W R +10 &V+X_`S 8 +9 &V^`Q F +5 ( +2 "collection"' & +3 "core" &V`]`V F +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 + "collection"'& +3 "core" &V`\\`- F +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&% +3 "core" % ( < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tPurging external Intake + "collection"'& +38 "core" &V`Z\\2 F +10 "collection"'% +3 "core" %Z]V +2 .tCSV.dial :flush +2 "collection"'  +50 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'' V +2115 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"' +2 '  +69 "core" ~ +33 + .tCTV.dial :intake +2 "collection"'  +69 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml +2 "collection"'' +2111 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +69 "core" +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &) @] + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& ( +4 "core" ( +2 "manipulator"&!& +3 "core" &) | @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &) @] +2 .tForearm.seek CC +2 "manipulator"&#'" +96 "core" ' +2 .tHand.close + "manipulator"&$/ +60 "core" / +2 .tCC.seek :open + "collection"'%( +413 "core" ( +2 "manipulator"&&& +3 "core" &* @] +2 "manipulator"&'% +4 "core" % * 2 +2 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&)(, +281 "core" ( +2 "manipulator"&*& +3 "core" &, " p 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &,  a 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&,'Ϧ +103 "core" ' +2 .tHand.open + "manipulator"&-1 +64 "core" 1 +2 "manipulator"&.% +3 "core" % ϭ - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +105 "core" ' +207 #t-> purgeIntake + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'0& +3 "core" &OQV +2 "manipulator"&1& +4 "core" &,  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&2(, +9 "core" ( +2 "manipulator"&3& +3 "core" &,  E 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &,  5 +2 .tForearm.seek :garage +2 "manipulator"&5'Ϧ +100 "core" ' +3 .tHand.close + "manipulator"&6/ +59 "core" / + "manipulator"&8& +4 "core" &, 5  5 +2 "manipulator"&9% +3 "core" % ϱ " g 7 +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&;( +280 "core" ( +2 "manipulator"&<& +3 "core" &+ -  Bl +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &+ # Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +2 "manipulator"&:& +3 "core" &,  ^ Bl +2 "manipulator"&@% +4 "core" %" L F +2 "collection"'A& +4 "core" &QRU +2 "collection"'7& +5 "core" &QS3 +2 .tCC.seek :closed +2 "collection"'C(V +4 "core" &OSf  +9 & 6PR` *x +9 &iPRX = +10 &}RSb I +9 &xoOSd G +10 &:mRRX G +9 &lPS_ G +9 &nQS` G +10 &kQSV H +9 &CmOQK G +9 &rPRV H +10 & qQTS G +9 &"tPSQ H +10 &$IpPRS H +9 && mQQP G +9 &'mQSP G +10 &)kORP G +9 &+RnNTM G +9 &-lPSR G +10 &.kSRO G +9 &0nRSR H +10 &2YpSRO H +9 &4lORR G +9 &5lORO G +10 &7pPSP G +9 &9apOSQ H +9 &;#oPSP H +10 &<nPSO H +9 &>oOTS H +10 &@jqQRR G +9 &B+oPRP H +9 &CoPSO H +10 &EpRRS H +9 &Gm}PSS I +9 &I*QQS K +10 &JPRU P +9 &LQT^ Q +10 &N^QUS Q +9 &PSSP Q +9 &QPUP R +10 &STTX S +9 &U^QS_ E +9 &VuCRTS 'u +10 &VvRT[ G +5 ( +2 "collection"'7& +3 "core" &VlSSY G +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.75 + "collection"'D& +4 "core" &VlRT3 G +2 .tHand.open + "manipulator"&E1 +52 "core" 1 +3 "manipulator"&>% +3 "core" % " 2 $ F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +95 "core" ' + #tPurging external Intake +2 "collection"'H& +3 "core" &VlPT' G +2 "collection"'I% +4 "core" %WT- +2 .tCSV.dial :flush + "collection"'J  +88 "core"  +45 .tCS.seek 10ml +2 "collection"'F' V +2113 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +3 "collection"'B +71 "core" ~ + .tCTV.dial :intake +2 "collection"'L  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'M' +2104 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'O  +72 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&P& +3 "core" &+ H Bk +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&R( +3 "core" ( +2 "manipulator"&?& +3 "core" &+  Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &+ Bk +2 .tForearm.seek CC +2 "manipulator"&G'" +93 "core" ' +2 .tHand.close + "manipulator"&T/ +58 "core" / +2 .tCC.seek :open +2 "collection"'U( +412 "core" ( +2 "manipulator"&Q& +3 "core" &+ Bk +2 "manipulator"&N% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Y(, +279 "core" ( +2 "manipulator"&[& +3 "core" &, i ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &, $ ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&]'Ϧ +104 "core" ' +2 .tHand.open + "manipulator"&V1 +58 "core" 1 +2 "manipulator"& % +3 "core" % ϫ 4 o 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +99 "core" ' +1190 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +3 "core" &OS; +2 "manipulator"&b& +3 "core" &,  ^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&d(, +3 "core" ( +2 "manipulator"&^& +3 "core" &,  j ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &,  ^ +2 .tForearm.seek :garage +2 "manipulator"&e'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&g/ +63 "core" / + "manipulator"&h& +4 "core" &, . ^ +2 "manipulator"&j% +3 "core" % Ϯ +3 .tForearm.seek :retract + "manipulator"&W'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&c( +276 "core" ( + "manipulator"&_& +4 "core" &)  ; @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &) > @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +98 "core" ' + "manipulator"&p& +4 "core" &* 6 @[ +2 "manipulator"&q% +3 "core" %  Z +3 "collection"'i& +3 "core" &PP[ +3 "collection"'f& +4 "core" &ORd +3 .tCC.seek :closed + "collection"'s(V +5 "core" &NQf +7 &BPPj $d +9 &ZORl 6 +9 &PSb I +10 &kQTc G +9 &nOS] H +10 &dnOSd H +9 &&pPQh H +9 &kPSX H +10 &jPR\\ H +9 &ljPQd H +9 & /kNQ\\ G +10 &!mPQ_ H +9 &#kORX H +10 &%tlQQ^ H +9 &'6nPQY H +9 &(pNSV G +10 &*mRTX G +9 &,}kPRT G +9 &.?mPQQ G +10 &0kOSS H +9 &1pPQU H +10 &3jPRW H +9 &5HjNRP G +9 &7pPPS H +10 &8mPT] G +9 &:jPRT H +10 &iORQ H +9 &?oPSU H +10 &AnPQX G +9 &CWkRRV G +9 &EpPTX G +10 &FvORY I +9 &HNP` J +9 &JELNw Q +10 &KHK^ S +9 &MHJP S +10 &OGJX T +9 &QDGIT S +9 &SFJd U +10 &THHU U +9 &V2_HKW - +9 &VIJ@ B +6 ( + "collection"'f& +4 "core" &VUIIR B +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.74 +2 "collection"'t& +3 "core" &VUIM1 B +2 .tHand.open +2 "manipulator"&n1 +58 "core" 1 +2 "manipulator"&r% +3 "core" %  } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 #tPurging external Intake + "collection"'w& +4 "core" &VTMPQ B +2 "collection"'y% +3 "core" %NOW +2 .tCSV.dial :flush +2 "collection"'z  +86 "core"  +3 .tCS.seek 10ml + "collection"'|' V +2112 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'} +67 "core"  +2 .tCTV.dial :intake +2 "collection"'~  +70 "core"  +44 .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml +2 "collection"'o' +2106 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'u  +68 "core" +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&{& +3 "core" &) @[ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &( @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &(  ; @[ +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"' ( +415 "core" ( +2 "manipulator"&& +3 "core" &) @[ +2 "manipulator"&S% +4 "core" % " +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(, +283 "core" ( +2 "manipulator"&& +3 "core" &, % : 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, Y 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"& 'Ϧ +108 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" % ϥ + * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +105 "core" ' +256 #t-> exit +6 #mEXIT @1733327330.57EST @1733327348.18EST = =mMAIN_scheduler =tMAIN @EST1733327348.88 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +104 #"core_reset"Sent BREAK + #t@22421 sendCRC with ifg=0x20, ie=0x7F + #@24254 sendCRC with ifg=0x08, ie=0x5F + #@16272 idle with ifg=0x84, ie=0x75 + #@16950 select with ifg=0x10, ie=0xF5 + #@17597 receive with ifg=0x10, ie=0xFD #@18244 receive with ifg=0x10, ie=0xFD + #@18890 receive with ifg=0x10, ie=0xFD #@19217 receive with ifg=0x80, ie=0xFD +2 #@41616 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +229 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +369 "Can" :EX +  :EX + #tPolling Can every 10:00 + #Cleanly exited at 10:48:50EST04-Dec-24 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +5 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1,\\n 4 => 2}\\nCan@10:49:16, 40% flow, 20.9C, 15% humidity, 14.7psia, 14.897V, 0.300A, 0.165Ah, 4.46W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +4 #Continuing at 10:49 +2 "Can" :EX +22 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +255 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,500], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1,\\n 4 => 2}\\nCan@10:49:16, 40% flow, 20.9C, 15% humidity, 14.7psia, 14.897V, 0.300A, 0.165Ah, 4.46W",Subject: "Asleep until 10:49" +202 "Can" GZ +5 #tPowering core bus +3 #"uploadLog"upsync +189 #upsync +337 .tGate.power :raw,:ON +3 "sampler") +35 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +34 % *\ +6 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1,\\n 4 => 2}\\nCan@10:50:01, 40% flow, 20.9C, 15% humidity, 14.7psia, 14.911V, 0.268A, 0.170Ah, 4.00W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,500], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &OQe  +2 .tHand.open +2 "manipulator"&"1 +63 "core" 1 +2 "manipulator"&#& +3 "core" &    +3 "manipulator"&$% +3 "core" % \  E  +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +173 "core" ( +4 "manipulator"&&& +10 "core" &, w ? +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &'& +6 "core" &,  ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +100 "core" ' +2 .tHand.close + "manipulator"&)/ +4 #"uploadLog"upsync +55 "core" / +2 "manipulator"&*& +4 "core" &, : ? +2 "manipulator"&+% +3 "core" % Ϲ . 1 +3 .tForearm.seek :retract +2 "manipulator"&,'\ +101 "core" ' +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +288 "core" ( +2 "manipulator"&.& +3 "core" &'  R >H +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &&   >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +98 "core" ' +2 "manipulator"&1& +3 "core" &' >H +4 "manipulator"&2% +3 "core" %   +3 "collection"'3& +3 "core" &NPk  +3 "collection"'4& +5 "core" &PQA  +3 .tCC.seek :closed + "collection"'5(V +5 "core" &QP`  +9 &7MPl *x +9 &iPPe = +10 &{|QPe H +9 &>mPQg G +9 &mNRa G +10 &kMPh G +9 &pNQf H +9 &FmPPf G +10 &kNP_ G +9 &pPQd G +10 & rOPc G +9 &"NrOQ_ G +9 &$pOQ` H +10 &%pPPe G +9 &'kORZ G +9 &)VmNQf G +10 &+lQRd G +9 &,mOPa G +10 &.lQR` G +9 &0]pMQ` H +9 &2 mOS` G +10 &3qNO_ G +9 &5mMRe G +9 &7fmPQd G +10 &9(nOR] G +9 &:jMRd G +10 &<oORn G +9 &>okORh G +9 &@0mOPf G +10 &ApPRa G +9 &CnPQb G +10 &EunQSc H +9 &G5zMRc I +9 &HILf J +10 &JCJd O +9 &LcBGf Q +9 &N&CE_ P +10 &OCFd Q +9 &QDDc Q +10 &SeEFa S +9 &U'GG[ S +9 &Vk=FHb - +10 &VnHKb B +5 ( +2 "collection"'4& +3 "core" &V`GJd B +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.77 + "collection"'6& +3 "core" &V_JK: B +3 .tHand.open + "manipulator"&71 +55 "core" 1 +2 "manipulator"&8% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +102 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &V_MO8 B +3 "collection"';% +3 "core" %MO8 +2 .tCSV.dial CSR +2 "collection"'<  +158 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='q +1324 "core" ' +8 .tdelay 5 seconds +502 .CSR.select :air +6 "collection"' +9 '>% +3 "core" %qPS\\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?': +594 "core" ' +2 .tCSV.dial :waste + "collection"'@ +157 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A' +1957 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &V_RSG B +2 "collection"'C% +4 "core" %QT +2 .tCSV.dial :flush + "collection"'D  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2089 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core" +61 +2 .tCTV.dial :intake + "collection"'H  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I' +2099 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +69 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +4 "core" &V_RR# B +2 "collection"'L% +3 "core" %RTP +2 .tCSV.dial :flush +2 "collection"'M  +87 "core"  +3 .tCS.seek 5ml + "collection"'N'q +1089 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +50 "core" A +2 "collection"'P% +3 "core" %qRT#  +3 .tCS.seek 7ml + "collection"'Q' +497 "core" ' +3 ."connect"CSV.dial CBV +2 "collection"'R +2 .tCBV.dial CSV +98 "core" ~ +2 .tCTV.dial :air + "collection"'S  +5 "core"  +2 .tCS.seek 0ml + "collection"'T' +1487 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'2 +691 "core" ' +2 .tCSV.dial :waste + "collection"'V +52 "core" +2 .tCS.seek 0ml + "collection"'W' +695 "core" ' +2 "collection"'X& +3 "core" &V_RT* B +2 "collection"'Y% +3 "core" %RUQ +2 .tCSV.dial :flush +2 "collection"'Z  +50 "core"  +3 .tCS.seek 3ml + "collection"'['2 +701 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'\\ @ +49 "core" A + "collection"']% +4 "core" %2QTP  +2 .tCS.seek 5ml +2 "collection"'^'q +492 "core" ' +3 .tCSV.dial :air + "collection"'_ @ +6 "core" @ +2 .tCS.seek 0ml + "collection"'`' +1093 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'a'2 +697 "core" ' +2 .tCSV.dial :waste + "collection"'b +69 "core" +3 .tCS.seek 0ml + "collection"'c' +709 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" && Y >H +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&e( +4 "core" ( +2 "manipulator"&f& +3 "core" && 7 >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &&  >H +3 .tForearm.seek CC + "manipulator"&h'" +93 "core" ' +2 .tHand.close + "manipulator"&i/ +60 "core" / +2 .tCC.seek :open +2 "collection"'j( +412 "core" ( +2 "manipulator"&k& +3 "core" && >H +41 "manipulator"&l% +4 "core" %  4 +3 .tForearm.seek :retract + "manipulator"&m'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(, +287 "core" ( +2 "manipulator"&o& +3 "core" &, E . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &, G . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'Ϧ +106 "core" ' +2 .tHand.open + "manipulator"&r1 +59 "core" 1 +2 "manipulator"&s% +4 "core" % ϫ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +96 "core" ' + #tStarting stand-alone da WCR +2 #da wcr sampling at most 500ml +3 #Whole Cell Archive sampling 500ml + ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 10:54:00EST04-Dec-24\\n{2 => 1,\\n 4 => 2}\\nCan@10:50:01, 40% flow, 20.9C, 15% humidity, 14.7psia, 14.911V, 0.268A, 0.170Ah, 4.00W",Subject: "da wcr sampling at most 500ml" +2 #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'u& +3 "core" &ST( +2 "manipulator"&v% +5 "core" %\    +2 "storage"(w% +3 "core" %^ W +2 "storage"(x. +3 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 ."WCR"SC.seek 2 +2 "storage"(y( +342 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +4 (z& +3 "core" & p +2 "manipulator"&{& +4 "core" &, 6 . +2 "manipulator"&|% +4 "core" %\  W  +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 #"uploadLog"upsync +4 ."WCR"Elbow.seek 2 +2 "manipulator"&}( +207 "core" ( + "manipulator"&~& +4 "core" & , +2 "storage"(& +4 "core" & +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 "storage"(& +3 "core" & w +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  +3 "manipulator"&& +3 "core" & ( +3 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & | +2 "storage"( & +5 "core" & +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&\ ' +14 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"& / +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +44 "core" & Q +8 "manipulator"&% +3 "core" %  I K +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&( +113 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +61 "core" ( +2 "manipulator"& & +3 "core" &* + 3 Ac +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* > Ac +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC + "manipulator"&'" +102 "core" ' +2 "manipulator"&& +4 "core" &*  Ac +2 "manipulator"&% +3 "core" %* +3 "collection"' & +3 "core" &QTl +3 "collection"'& +5 "core" &QTp +2 ."WCR"CC.seek :closed +3 "collection"'(V +4 "core" &RTt +5 &RVo 9 +10 &PNQSq / +9 &{STn D +10 &HnQUk G +9 & pSSk G +9 &mPSm G +10 &lQTw G +9 &QmSTp G +9 &lRTm G +10 &mPTn F +9 &nPSo G +10 &!YpSQj G +9 &#nSTm F +9 &$pRSl G +10 &&mRUm F +9 &(blQTl F +9 &*$nSSm F +10 &+mRSo G +9 &-pSSm G +10 &/iqQTj G +9 &1*pQSl G +9 &2nRTn F +10 &4nRTo F +9 &6rlTUj F +9 &84nPUn F +10 &9mRRm F +9 &;nTRl F +10 &=yoSTn G +9 &?;pPTn G +9 &@oPTn G +10 &BqPUl G +9 &DrRRj G +9 &F@uQTl H +10 &H{PTm H +9 &IRUl J +10 &KqRTn O +9 &M.SUm Q +9 &NRSn Q +10 &PRTn Q +9 &RqTSm R +9 &T1PTm R +10 &UxRSk < +9 &V2USi #j +10 &VQRSh B +2 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.67 + .Hand.open + "manipulator"&!1 +60 "core" 1 +2 "manipulator"&"% +3 "core" %  ) +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 #"WCR"collectSample 500ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")$+ +4 "core" + + "sampler")&% +4 "core" %   i +2 "collection"''& +3 "core" &VXSU< B +4 "Can" C +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"'  +5 "core"  +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler"))  +4 "core"  +2 ."WCR"SS.reconfigure :fast +4 "sampler")#.0X% +3 "core" %T   +29 "collection"'=% +3 "core" %8>/ +2 "sampler")@% +3 "core" %T   +32 "collection"'?% +3 "core" %:<9 +2 "sampler")B% +4 "core" %T   +36 "collection"'C% +3 "core" %;<- +2 "sampler")D% +4 "core" %T   +41 "collection"'A% +3 "core" %=@ +3 "sampler")G% +3 "core" %T   +47 "collection"'F% +3 "core" %>@0 +2 "sampler")H% +4 "core" %T   +53 "collection"'E% +4 "core" %?@1 +2 "sampler")J% +3 "core" %T   +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )K% +3 "core" %T   +2 ."WCR"SSV.dial :exhaust +2 "sampler")L  +69 "core"  +3 ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")M' +396 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 500.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X B +3 "Can" D + ."WCR"CTV.dial :intake +2 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")N  + "collection"'R @ +6 "core" ? +64  +2 #"WCR"Allowing 130s for 25.0ml of remaining 500.0ml + .Intake.select :open + "sampler") +210 "collection"'S% +3 "core" %IM +2 #"WCR"Intake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0Xc% +3 "core" %F~|  +70 "collection"'=% +4 "core" %7 +2 "sampler")@% +5 "core" %F  +77 "collection"'?% +3 "core" %'(1 +2 "sampler")B% +4 "core" %%  +88 "collection"'C% +3 "core" %BC8 +2 "sampler")D% +4 "core" % 5 +2 ."WCR"Intake.select :close + "sampler")0 +10 )6% +2 "core" % 5 +2 ."WCR"SSV.dial :exhaust +2 "sampler")A  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")G' +1000 "core" ' +2 ' + ."WCR"Exhaust.select :close +2 "sampler") +10 !to:Slide::Error : mesg"Sampler Syringe : @replyo:I2C::Servo::AbsMove3Reply : @channeli:@destinationi%: @tagiL: @sourcei.:@axisName"Sampler Syringe: @cohort[:@timestampu: Time ,!in:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1678:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1678:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:611:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 + #Waiting to Resume from Checkpoint "Sampling 500.0ml" +2 ."Qmail"BadNews.email "Sampler Syringe ",Subject: "Slide::Error in MAIN" +418 #"uploadLog"upsync +11568 #"dave"Session Begun +541 #-> MainTthread.resume +2 !o:NameError : mesg"'uninitialized constant MainTthread: name:MainTthread:@timestampu: Time ,5E:bt[" dave:1:in `topLevelBinding'" MainThread.resume +2 #tResuming Thread (suspended since 10:54:56) +6 #Sampling 500.0ml +3 .Intake.select :close +3 .Exhaust.select :close +4 .SS.reconfigure :default +3 "sampler")#.0X \ +2 .tCTV.dial :intake +2 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +3 "sampler")J  + "collection"'K @ +7 "core" ? +64 +2 #tAllowing 130s for 25.0ml of remaining 500.0ml + .Intake.select :open +3 "sampler") +211 "collection"'L% +3 "core" %LNu +3 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 2.19ml/s +5 "sampler")#.0Xc +3 "sampler"),% +3 "core" %Fus  +47 "collection"'3% +3 "core" %@ +2 "sampler")% +4 "core" %Fyw  +53 "collection"'/% +3 "core" %$C +2 "sampler")8% +4 "core" %F  +61 "collection"':% +3 "core" % $C +2 "sampler"))% +3 "core" %;  +69 "collection"';% +3 "core" %.0? +2 "sampler")4% +4 "core" %<  +78 "collection"'<% +3 "core" %BD +2 "sampler")0% +4 "core" %  +88 "collection"'% +3 "core" %KM +2 "sampler")>% +3 "core" %    +2 .tIntake.select :close +2 "sampler")0 +11 )=% +2 "core" % \   +2 .tSSV.dial :exhaust +2 "sampler")@  +71 "core"  +2 .tExhaust.select :open + "sampler")@ +55 .tSS.seek 0ml + "sampler")?' +902 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")B  +3 "collection"'C @ +6 "core" ? +63 + #tAllowing 130s for 25.0ml of remaining 425.0ml +2 .Intake.select :open +2 "sampler") +212 "collection"'D% +3 "core" %MN +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 1.75ml/s +4 "sampler")#.x0Xc  +53 "collection"'7% +3 "core" %88? +2 "sampler")`% +4 "core" %  +61 "collection"'b% +3 "core" %FG +2 "sampler")O% +4 "core" %  +2 .tIntake.select :close + "sampler")0 +11 )a% +2 "core" %  +2 .tSSV.dial :exhaust +2 "sampler")d  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")M' +872 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +3 "sampler")f  +3 "collection"'Q @ +7 "core" ? +102 + #tAllowing 130s for 25.0ml of remaining 400.0ml +2 .Intake.select :open +2 "sampler") +212 "collection"'g% +3 "core" %MN@ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 1.40ml/s +5 "sampler")#.`0Xc +2 "sampler")% +5 "core" % S +60 "collection"'n% +3 "core" %IJ +2 "sampler")% +3 "core" % +2 .tIntake.select :close +2 "sampler")0 +10 )t% +3 "core" %  +2 .tSSV.dial :exhaust +2 "sampler")  +72 "core"  + .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")' +898 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")  +3 "collection"' @ +5 "core" ? +62 +2 #tAllowing 130s for 25.0ml of remaining 375.0ml +2 .Intake.select :open +2 "sampler") +212 "collection"'% +3 "core" %LM< +2 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.40ml/s +5 "sampler")#.`0Xc +2 "sampler")% +3 "core" %Nol  +19 "collection"'% +3 "core" % +2 "sampler")}% +3 "core" %Mmn  +21 "collection"'z% +3 "core" % = +2 "sampler")% +4 "core" %Mqm  +24 "collection"'% +3 "core" % +2 "sampler") % +4 "core" %Nrp  +28 "collection"'% +3 "core" % D +2 "sampler")\ % +4 "core" %Fvr  +31 "collection"'% +3 "core" %#> +3 "sampler")% +3 "core" %Fxv  +36 "collection"'% +4 "core" %"# +2 "sampler")q% +3 "core" %F}|  +42 "collection"'% +3 "core" %'*G +2 "sampler")% +4 "core" %F  +47 "collection"'j% +3 "core" %)* +2 "sampler") % +5 "core" %C  +52 "collection"'{% +4 "core" %05 +2 "sampler")% +3 "core" %F  +62 "collection"''% +3 "core" %;=> +2 "sampler")% +4 "core" % * +68 "collection"'&% +3 "core" %FIE +2 "sampler")% +4 "core" % * +2 .tIntake.select :close + "sampler")0 +12 )$% +3 "core" %   * +2 .tSSV.dial :exhaust +2 "sampler")  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")+' +900 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +3 "sampler")(  +2 "collection"'. @ +41 "core" ? +29 +2 #tAllowing 130s for 25.0ml of remaining 350.0ml +2 .Intake.select :open +2 "sampler") +212 "collection"'%% +3 "core" %JM +2 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.40ml/s +4 "sampler")#.`0Xc +2 "sampler"):% +3 "core" %Bmj  +28 "collection"')% +3 "core" %"#H +2 "sampler");% +4 "core" %Bom  +32 "collection"'4% +3 "core" % $E +2 "sampler")<% +4 "core" %Bro  +36 "collection"'0% +3 "core" %"$ +2 "sampler")% +4 "core" %Bvv  +41 "collection"'>% +3 "core" %%' +2 "sampler")=% +4 "core" %B|{  +47 "collection"'@% +8 "core" %&(G +2 "sampler")"% +3 "core" %;  +54 "collection"'C% +3 "core" %)- +2 "sampler")B% +3 "core" %<  +61 "collection"'D% +4 "core" %35< +2 "sampler")?% +3 "core" %;  +70 "collection"'% +3 "core" %=@@ +2 "sampler")G% +3 "core" % 2 +78 "collection"'H% +4 "core" %JL +2 "sampler")6% +3 "core" %  2 +2 .tIntake.select :close + "sampler")0 +12 )A% +3 "core" %   2 +2 .tSSV.dial :exhaust + "sampler")J  +73 "core"  + .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")L' +876 "core" ' + .tExhaust.select :close + "sampler") +13 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")F  + "collection"'P @ +7 "core" ? +63 + #tAllowing 130s for 25.0ml of remaining 325.0ml +2 .Intake.select :open +3 "sampler") +211 "collection"'R% +3 "core" %JM@ +2 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.40ml/s +4 "sampler")#.`0XcNhh  +2 "collection"'X% +4 "core" %  +2 #tIntake @11.2psia, vacuum from 5.7 to 8.7psi +2 .SS.reconfigure :inhaling 1.12ml/s +4 "sampler")#.M0Xc +2 "sampler")$% +5 "core" %A  +40 "collection"'% +3 "core" %79B +2 "sampler") % +4 "core" %>  +47 "collection"'.% +3 "core" %>@@ +2 "sampler")(% +4 "core" %;  +53 "collection"'%% +3 "core" %EH> +2 "sampler")+% +4 "core" % ; +61 "collection"'2% +3 "core" %KLB +2 "sampler"),% +3 "core" %  +2 .tIntake.select :close +2 "sampler")0 +11 )!% +3 "core" %  +2 .tSSV.dial :exhaust +2 "sampler")3  +71 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml + "sampler")' +892 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")/  +3 "collection"'8 @ +5 "core" ? +62 +2 #tAllowing 130s for 25.0ml of remaining 250.0ml +2 .Intake.select :open +2 "sampler") +212 "collection"':% +3 "core" %NM +2 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.12ml/s +5 "sampler")#.M0Xc% +3 "core" %)+; +2 "sampler")=% +4 "core" %Mpm  +24 "collection"'*% +3 "core" %*, +2 "sampler")@% +4 "core" %Nrq  +28 "collection"'"% +3 "core" %*-B +2 "sampler")C% +3 "core" %Nur  +32 "collection"'B% +3 "core" %.-@ +2 "sampler")D% +3 "core" %Nwu  +37 "collection"'?% +3 "core" %.1 +2 "sampler")% +4 "core" %N}|  +41 "collection"'G% +3 "core" %11 +2 "sampler")H% +5 "core" %B  +46 "collection"'6% +3 "core" %56 +2 "sampler")A% +4 "core" %B  +53 "collection"'J% +3 "core" %9; +2 "sampler")1% +4 "core" %@  +61 "collection"'P% +3 "core" %BD +2 "sampler")F% +3 "core" % +69 "collection"'R% +12 "core" %JKD +2 "sampler")L% +4 "core" % , +78 "collection"'V% +3 "core" %LPK +2 "sampler")U% +4 "core" %   , +2 .tIntake.select :close + "sampler")0 +12 )X% +2 "core" %   , +3 .tSSV.dial :exhaust + "sampler")N  +71 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")I' +891 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")W  + "collection"'\\ @ +8 "core" ? +62 +2 #tAllowing 130s for 25.0ml of remaining 225.0ml + .Intake.select :open +3 "sampler") +212 "collection"']% +3 "core" %QQB +2 #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.12ml/s +5 "sampler")#.M0Xc?H +2 "sampler")r% +4 "core" %;  +69 "collection"'p% +3 "core" %EIV +2 "sampler")S% +4 "core" % 1 +78 "collection"'e% +3 "core" %LNY +2 "sampler")m% +3 "core" % 1 +2 .tIntake.select :close +2 "sampler")0 +10 )s% +3 "core" % 1 +2 .tSSV.dial :exhaust +2 "sampler")i  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml + "sampler")x' +877 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +3 "sampler")  +2 "collection"'w @ +8 "core" ? +62 +2 #tAllowing 130s for 25.0ml of remaining 200.0ml + .Intake.select :open +3 "sampler") +212 "collection"'|% +3 "core" %NN +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 1.12ml/s +5 "sampler")#.M0Xc0Xc@X +2 "sampler"){% +4 "core" %<  +53 "collection"'% +3 "core" %EFR +2 "sampler")'% +4 "core" %  +61 "collection"'% +3 "core" %KK* +2 "sampler")&% +3 "core" %  +2 .tIntake.select :close +2 "sampler")0 +10 )% +3 "core" %  +2 .tSSV.dial :exhaust +2 "sampler")$  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")' +907 "core" ' + .tExhaust.select :close +2 "sampler") +11 ."connect"SSV.dial CBV +2 "sampler")  +4 .tCBV.dial SSV +3 "collection"' @ +7 "core" ? +57 +2 #tAllowing 130s for 25.0ml of remaining 175.0ml + .Intake.select :open +3 "sampler") +212 "collection"'.% +3 "core" %MPW +2 #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +2 .SS.reconfigure :inhaling 0.90ml/s +4 "sampler")#.>0Xc% +3 "core" %;=[ +2 "sampler")=% +4 "core" %;  +47 "collection"'*% +3 "core" %@C[ +2 "sampler")@% +4 "core" % V +53 "collection"'"% +3 "core" %GHZ +2 "sampler")C% +4 "core" % $ +61 "collection"'B% +3 "core" %KM[ +2 "sampler")D% +3 "core" % $ +2 .tIntake.select :close +5 "sampler")0 +11 )?% +3 "core" % $ +2 .tSSV.dial :exhaust +2 "sampler")  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")G' +876 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")H  +3 "collection"') @ +5 "core" ? +62 +2 #tAllowing 130s for 25.0ml of remaining 150.0ml + .Intake.select :open +3 "sampler") +211 "collection"'6% +3 "core" %JN[ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 0.90ml/s +4 "sampler")#.>0Xc0Xc +78 "collection"'% +4 "core" %KL\\ +2 "sampler")~% +3 "core" % > +88 "collection"'% +4 "core" %KN] +2 "sampler")% +3 "core" %   > +2 .tIntake.select :close +2 "sampler")0 +10 )}% +3 "core" %   > +2 .tSSV.dial :exhaust +2 "sampler")z  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml + "sampler")' +913 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")u  +3 "collection"' @ +6 "core" ? +61 +2 #tAllowing 130s for 25.0ml of remaining 100.0ml + .Intake.select :open +3 "sampler") +212 "collection"' % +3 "core" %MN4 +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 0.90ml/s +4 "sampler")#.>0Xc% +2 "core" % / +2 .tSSV.dial :exhaust +2 "sampler")=  +71 "core"  +3 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")(' +871 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +3 "sampler")*  + .tCBV.dial SSV +5 "collection"'@ @ +6 "core" ? +59 +2 #tAllowing 130s for 25.0ml of remaining 75.0ml +2 .Intake.select :open +2 "sampler") +212 "collection"'"% +3 "core" %MP3 +2 #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +2 .SS.reconfigure :inhaling 0.73ml/s +4 "sampler")#.20Xc exit + #Session Ended +2526 "core" ' + #tStroke completed -- waiting for pressure to equalize ... + .SS.reconfigure :exhale +2 "sampler")#.0X +2 "sampler")Q% +4 "core" %;us  +21 "collection"'f% +3 "core" %03 +2 "sampler")J% +4 "core" %;xu  +24 "collection"'9% +3 "core" %12^ +2 "sampler")M% +5 "core" %;{z  +27 "collection"'5% +3 "core" %25A +2 "sampler")g% +3 "core" %;  +32 "collection"'l% +3 "core" %57/ +2 "sampler")h% +4 "core" %;  +36 "collection"'o% +3 "core" %36a +2 "sampler")Z% +4 "core" %;  +41 "collection"'r% +3 "core" %89i +2 "sampler")p% +4 "core" %;  +47 "collection"'S% +3 "core" %<<F +2 "sampler")e% +4 "core" %;  +53 "collection"'m% +4 "core" %@B` +2 "sampler")s% +3 "core" %<  +61 "collection"'i% +5 "core" %EGZ + "sampler")E% +4 "core" % 4 +69 "collection"'w% +3 "core" %HL% +2 "sampler")% +4 "core" % 4 +78 "collection"'|% +3 "core" %MMZ +2 "sampler")x% +3 "core" % 4 +89 "collection"'[% +3 "core" %LM] +2 "sampler")n% +4 "core" %  4 +2 .tIntake.select :close + "sampler")0 +9 )% +3 "core" %  4 +2 .tSSV.dial :exhaust +2 "sampler")t  +69 "core"  +2 .tExhaust.select :open + "sampler")@ +11 .tSS.seek 0ml +2 "sampler")' +901 "core" ' +2 .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")-  + "collection"' @ +6 "core" ? +64 +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +211 "collection"'% +3 "core" %ONZ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi + .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20Xc} +2 "sampler"){% +4 "core" %} L +61 "collection"'% +3 "core" %AD| +2 "sampler")'% +3 "core" %} L +69 "collection"'% +5 "core" %EE +2 "sampler")% +3 "core" %} L +78 "collection"'\ % +4 "core" %JJs +2 "sampler")$% +31 "core" %} L +65 "collection"'T% +3 "core" %INE +2 "sampler")% +4 "core" %} L +100 "collection"' % +3 "core" %JNQ +2 "sampler").% +3 "core" %}  L +3 .tIntake.select :close + "sampler")0 +9 )% +3 "core" %}   L +2 .tSSV.dial :exhaust +2 "sampler")+  +72 "core"  + .tExhaust.select :open + "sampler")@ +11 .tSS.seek 0ml + "sampler")2' +920 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampled 500.0ml + #Drying puck before fixing for 20:00 + .CBV.dial :waste2b +2 "collection"',  +69 "core"  +2 .tdelay 1:00 +6002 .CSV.dial :air +2 "collection"'! @ +88 "core" B +2 .tCS.seek 10ml +2 "collection"'3' V +2099 "core" ' +2 #tPumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"' @ +70 "core" ? +52 .tCBV.dial between CSV and waste2b +2 "collection"'8  +82 "core"  +2 "collection"'/% +3 "core" % QTXn  +2 .tCSV.dial between air and CTV +2 "collection"': ` +33 "core" b +3 .tCS.seek 7.21ml + "collection"''' +646 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'&  + '4  +32 "core"  +42  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ db +3 .tCS.seek 0ml + "collection"'<' +1241 "core" '\ h\ fe İ +3 .tCBV.dial :waste2b +42 "collection"'0  +31 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'' +690 "core" ' +2 .tdelay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'>  +122 "core" +2 #tFix #1 of 2 (with RNAlater) for 10:00 +2 .CSV.dial CSR + "collection"'=  +48 "core"  +2 #tPulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 .tCS.seek 2ml + "collection"''^ +581 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'@' V +1697 "core" ' +2 #tPumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'* @ +70 "core" > +52 .tCBV.dial between CSV and waste2b +2 "collection"'"  +82 "core"  +2 "collection"'(% +3 "core" % XXY  +2 .tCSV.dial between air and CTV +2 "collection"'D ` +55 "core" ^ +3 .tCS.seek 7.186ml + "collection"'?'l +655 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +3 "collection"'%  + '  +35 "core"  +92  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ db +3 .tCS.seek 0ml +2 "collection"')' +1453 "core" '\ d\ eO İ +3 .tdelay 10:00 +8132 "Can" Aj +51871 .tCBV.dial :waste2b + "collection"'H  +27 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'6' +446 "core" ' +2 .tdelay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'G  +121 "core" +2 #tFix #2 of 2 (with RNAlater) for 10:00 + .CSV.dial CSR + "collection"'1  +47 "core"  +2 #tPulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +10 .tCS.seek 2ml +2 "collection"'P'^ +581 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'F' V +351 "Can" E2j +1339 "core" ' +2 #tPumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'R @ +69 "core" ? +52 .tCBV.dial between CSV and waste2b +2 "collection"'L  +82 "core"  +2 "collection"'V% +3 "core" % Y\\]  +2 .tCSV.dial between air and CTV +2 "collection"'C ` +55 "core" _ +2 .tCS.seek 7.094ml +2 "collection"'U' +666 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'X  + 'N  +33 "core"  +93  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ db +3 .tCS.seek 0ml + "collection"';' +1599 "core" ' \ g\ f ï +5 .tdelay 10:00 +55972 "Can" AiGj +4030 .tCBV.dial :waste2b +2 "collection"'\\  +30 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'W' +332 "core" ' +2 .tdelay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"']  +122 "core" +2 "collection"'A& +3 "core" &VVRS B +3 #tStoring wcr puck in Collection Clamp to tube 1 + "manipulator"&I% +3 "core" %\   +3 "storage"(_% +3 "core" %`  +2 "storage"(B. +4 "core" .( +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(`(S +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &S ~ K +2 "manipulator"&b& +5 "core" &* d Ab +2 "manipulator"&^% +5 "core" %\ %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&d(. +176 "core" ( + "manipulator"&K& +5 "core" && 9 m + "storage"(Y& +4 "core" &U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&Q'ѷ +92 "core" ' +2 "storage"(f& +3 "core" &U +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +272 "core" ' + "storage"(9- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :place + "storage"(M'y +49 "core" ' +2 "manipulator"&5& +4 "core" &&  m +2 "manipulator"&g% +4 "core" %Ѭ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +159 "core" ( + "manipulator"&o& +5 "core" &+ J Bj + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &+ F Bj +2 .tForearm.seek CC +2 "manipulator"&r'" +95 "core" ' +2 .tHand.close + "manipulator"&p/ +61 "core" / +4 .tCC.seek :open + "collection"'O( +415 "core" ( + "storage"(S& +4 "core" &U m +2 "storage"(e& +4 "core" &U +2 "manipulator"&m& +3 "core" & *  K @[ +2 "manipulator"&s% +4 "core" % . c +2 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&E(. +158 "core" ( + "manipulator"&w& +4 "core" &+ A  +2 "storage"(& +4 "core" &U +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +44 .tForearm.seek 1 +3 "manipulator"&|' +97 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +59 "core" 1 +2 "manipulator"&n% +3 "core" %  X +2 "storage"(& +5 "core" &U  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 316 counts + "manipulator"&t'7 +18 "core" ' +2 "manipulator"&a& +3 "core" &+ 4  +2 "storage"(& +4 "core" &U c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&-'ѷ +28 "core" ' +2 "storage"(% +3 "core" % ! +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (~% +3 "core" %W PH +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'}& +4 "core" &Z]W +2 "manipulator"&z& +4 "core" &+  +2 "manipulator"&k% +3 "core" %\   +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +185 "core" ( +2 "manipulator"&u& +3 "core" &, X " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &, ! " +3 .tForearm.seek :garage + "manipulator"&'Ϧ +104 "core" ' +4 .tHand.close + "manipulator"&/ +56 "core" / +2 "manipulator"&& +3 "core" &, .  " +2 "manipulator"&q% +4 "core" % ϶ & +3 .tForearm.seek :retract + "manipulator"&'\ +194 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +301 "core" ( +3 "manipulator"& & +3 "core" &. " T E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &. 0  E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'" +93 "core" ' +2 "manipulator"&& +3 "core" &. E +2 "manipulator"& % +4 "core" %+  +3 "collection"'{& +4 "core" &\\\\h +2 "collection"'& +5 "core" &[\\g +2 .tCC.seek :closed +2 "collection"''(V +3 "core" &Z\\d +9 &A[^g #c +9 &\\[]g 6 +10 &Z]h G +9 &j\\_g F +9 &m[\\c G +10 &`h[]a F +9 & pY\\c G +9 &mZZh F +10 &l\\[e F +9 &gn[]d F +10 & )k[\\h F +9 &!p[\\a F +9 &#rY\\b F +10 &%op]]] F +9 &'0n\\\\g G +9 &(n[\\d G +10 &*m[[a G +9 &,wmZ\\_ F +10 &.9kZ]c F +9 &/p\\[[ F +9 &1lZ]` F +10 &3lY]^ F +9 &5BkZ]d F +9 &7oY\\b G +10 &8mY^` F +9 &:lZ\\\\ F +10 & n[]d F +9 &?rY[] F +48 &AoY]] F +10 &CQmX\\[ F + &EuZ[_ F + &Fx[\\_ G + &HY]Y H + &JGX[` M +4 &LSXa P +9 &MRTf P +10 &OPTg P +9 &QDRUf P +9 &SRTc R +10 &TRTg R +9 &V2aQUX * +10 &V'TS` J +9 ( + &V_QV\\ C +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.76 + "collection"'& +3 "core" &V_SUR C +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&\ % +3 "core" % + -   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'T& +4 "core" &V_XY^ C +2 "collection"'% +4 "core" %U[e +2 .tCSV.dial CSR + "collection"'  +46 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'.'q +1336 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '% +3 "core" %q\\]x  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'+'6 +599 "core" ' + .tCSV.dial :waste +2 "collection"' +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"',' +1954 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'!& +3 "core" &V_Z]d C +2 "collection"'c% +4 "core" %Z\\a +2 .tCSV.dial :flush + "collection"'  +51 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'8'q +1095 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'/ @ +50 "core" B +2 "collection"':% +3 "core" %q[]j  +3 .tCS.seek 6.999ml + "collection"'3' +488 "core" ' +3 ."connect"CSV.dial CTV +3 "collection"'4  + .tCTV.dial CSV +3 "collection"'&  +48 "core"  +78  + .tCBV.dial :waste2b +2 "collection"'  +5 "core"  +2 .tCS.seek 0ml + "collection"'0' +1497 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'<& +3 "core" &V_^_e C +2 "collection"'>% +3 "core" %[\\p +2 .tCSV.dial CSR +2 "collection"'=  +49 "core"  + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'' +1695 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'' V +492 "core" ' +3 ."connect"CSV.dial CBV +3 "collection"'* + .tCBV.dial CSV +3 "collection"'"  +45 "core"  +76 +2 .tCTV.dial :intake + "collection"'(  +69 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'D'^ +1692 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'@  +69 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'' +581 "core" ' +2 .tCSV.dial CSR + "collection"'%  +136 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'?'q +1330 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'H' V +1329 "core" ' +2 .tCSV.dial CBV + "collection"') +132 "core"  +2 .tCS.seek 0ml +2 "collection"'G' +2608 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&1& +4 "core" &. E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&6( +4 "core" ( +2 "manipulator"&P& +3 "core" &. 4 m E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &.  7 E +2 .tForearm.seek CC +2 "manipulator"&L'" +96 "core" ' + .tHand.close +2 "manipulator"&V/ +59 "core" / +2 .tCC.seek :open +2 "collection"'C( +413 "core" ( + "manipulator"&F& +4 "core" &.  E +2 "manipulator"&N% +3 "core" %  6 +3 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&U(, +289 "core" ( + "manipulator"&\\& +4 "core" &, [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &, i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&]'Ϧ +105 "core" ' + .tHand.open + "manipulator"&A1 +62 "core" 1 + "manipulator"&I% +4 "core" % Ϭ   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +104 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,500], $da)] begun 10:50:00 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0,\\n 4 => 2}\\nCan@11:39:18, 40% flow, 21.5C, 13% humidity, 14.7psia, 14.892V, 0.343A, 0.486Ah, 5.11W\\nSampled 500.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +490 #"uploadLog"upsync +6 #mEXIT @1733330726.26EST @1733342929.60EST = =mMAIN_scheduler =tMAIN @EST1733342930.29 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK + #t@52761 sendCRC with ifg=0x20, ie=0x7F + #@54596 sendCRC with ifg=0x08, ie=0x5F + #@55226 idle with ifg=0x84, ie=0x75 + #@55907 select with ifg=0x10, ie=0xF5 + #@56556 receive with ifg=0x10, ie=0xFD #@57205 receive with ifg=0x10, ie=0xFD + #@57854 receive with ifg=0x10, ie=0xFD #@58181 receive with ifg=0x80, ie=0xFD + #@29685 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +364 "Can" -6 +  -6 + #tPolling Can every 10:00 +3 #Cleanly exited at 11:45:26EST04-Dec-24 +462 #-> ESP.ready! +153 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %;>z +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %| +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  +2 .tSS.configure :default +3 "sampler")#.0Xk +2 "processing"%& +3 "core" &  +2 "collection"' +4 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +4 "core"  + "processing"%# +4 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "sampler")& +4 "core"  +2 "collection"''% +3 "core" %<>r +4 "processing"%(% +4 "core" %{ +2 "sampler"))% +38 "core" %  +8 "collection"'*& +3 "core" &:<k +3 "processing"%+& +3 "core" &  +3 "manipulator"&,% +5 "core" %\  1 + "manipulator"&-& +5 "core" &, s  + "storage"(.& +5 "core" &T f + "storage"(/% +5 "core" %^ +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9{n +2211 #t-> access 1 +2 "storage"(2% +3 "core" %^ +2 "manipulator"&3% +3 "core" %\  1 +3 "manipulator"&4& +4 "core" &, O  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<* +1285 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<* V  +3032 #t-> access 2 +3 "storage"(7% +3 "core" %^ +2 "manipulator"&8% +3 "core" %\ ` 1 +2 "manipulator"&9& +4 "core" &, g  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &K 9  +42644 #t-> exit +6 #mEXIT @1733343444.08EST @1733344336.34EST = =tMAIN =mMAIN_scheduler @EST1733344337.07 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@23635 receive with ifg=0x10, ie=0xFD + #@24282 receive with ifg=0x10, ie=0xFD + #@24940 receive with ifg=0x10, ie=0xFD + #@25587 receive with ifg=0x10, ie=0xFD #@26236 receive with ifg=0x10, ie=0xFD + #@26884 receive with ifg=0x10, ie=0xFD + #@27533 receive with ifg=0x10, ie=0xFD #@27859 receive with ifg=0x80, ie=0xFD + #@32189 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can" .9 +  .9 + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@15:32:24, 39% flow, 21.2C, 13% humidity, 14.7psia, 14.916V, 0.225A, 1.306Ah, 3.35W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +4 #Continuing at 15:32 +2 "Can" .9 +22 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +269 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,100], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@15:32:24, 39% flow, 21.2C, 13% humidity, 14.7psia, 14.916V, 0.225A, 1.306Ah, 3.35W",Subject: "Asleep until 15:32" +152 #"uploadLog"upsync +37 "Can" 9 +6 #tPowering core bus +225 #"uploadLog"upsync +335 .tGate.power :raw,:ON +3 "sampler") +13 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +7 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +35 % 0\ +8 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@15:33:09, 39% flow, 21.2C, 13% humidity, 14.7psia, 14.906V, 0.268A, 1.311Ah, 4.00W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,100], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &:: +2 .tHand.open +2 "manipulator"&"1 +64 "core" 1 + "manipulator"&#& +5 "core" &   + "manipulator"&$% +4 "core" % \  M  +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(, +180 "core" ( +6 "manipulator"&&& +9 "core" &,  P +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +4 "core" &,  P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&('Ϧ +93 #"uploadLog"upsync +9 "core" ' +2 .tHand.close + "manipulator"&)/ +57 "core" / + "manipulator"&*& +5 "core" &, +  P + "manipulator"&+% +4 "core" % Ϻ  +3 .tForearm.seek :retract + "manipulator"&,'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-( +296 "core" ( +2 "manipulator"&.& +3 "core" &+ -   Ab +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &+ Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +103 "core" ' +2 "manipulator"&1& +3 "core" &+ 2  Ab +3 "manipulator"&2% +3 "core" %6  % +3 "collection"'3& +3 "core" &:={ +3 "collection"'4& +5 "core" &:<x +2 .tCC.seek :closed +2 "collection"'5(V +3 "core" &8<x +9 &L9={ $d +9 &{\\:<w 7 +9 &:;w H +10 &m;;n G +9 &oq;;i H +9 &2k8<d H +10 &s;>k H +9 &r:<h H +10 &xp8<k H +9 &;m;=k G +9 &n:=b G +10 &!n:;k H +9 &#o9<l H +9 &%Bs;<o H +10 &'p;=j H +9 &(r:<j G +10 &*q;<d G +9 &,Ks9;d G +9 &. l99l G +10 &/n;;f G +9 &1p8;g G +9 &3Rj9<n H +10 &5p9;d G +9 &6n:=c G +10 &8j9;b H +9 &:Zr:<h H +9 &<l;;c H +10 &=l<<i H +9 &?l:=b H +9 &Abj9=g H +10 &C$q:<j H +9 &Du;<i H +10 &Fw9=i I +9 &Hb=<j K +9 &J7<h N +10 &K;<n Q +9 &M:>j R +9 &OW;;n Q +10 &Q;<i Q +9 &R:<s S +9 &T:=h S +10 &V*m9=i ({ +9 &V-:;c L +10 ( + &VR:>h @ + "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.76 + "collection"'6& +3 "core" &VT::m @ +3 .tHand.open + "manipulator"&71 +56 "core" 1 +3 "manipulator"&8% +3 "core" % 6 9 % +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VT;8m @ +2 "collection"';% +4 "core" %;=g +2 .tCSV.dial CSR + "collection"'<  +157 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1330 "core" ' +8 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 '>% +3 "core" %q8<c  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'?'5 +598 "core" ' +2 .tCSV.dial :waste + "collection"'@ +155 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A' +1950 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &VT9>g @ +2 "collection"'C% +3 "core" %<<k +2 .tCSV.dial :flush +2 "collection"'D  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2112 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 "collection"'F +2 .tCBV.dial CSV +3 "collection"'G  +5 "core" +61 ~ +2 .tCTV.dial :intake + "collection"'H  +71 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2113 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +69 "core"  +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VS9=i @ +2 "collection"'L% +3 "core" %:<l +2 .tCSV.dial :flush +2 "collection"'M  +87 "core"  +2 .tCS.seek 5ml + "collection"'N'q +1100 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +50 "core" A +2 "collection"'P% +3 "core" %q:=g  +3 .tCS.seek 6.999ml + "collection"'Q' +497 "core" ' +2 ."connect"CSV.dial CBV +2 "collection"'R +2 .tCBV.dial CSV +97 "core" ~ +2 .tCTV.dial :air +2 "collection"'S  +4 "core" +2 .tCS.seek 0ml +2 "collection"'T' +1501 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml + "collection"'U'2 +695 "core" ' + .tCSV.dial :waste +2 "collection"'V +50 "core" +2 .tCS.seek 0ml +2 "collection"'W' +696 "core" ' + "collection"'X& +5 "core" &VS:>f @ + "collection"'Y% +4 "core" %:<k +2 .tCSV.dial :flush + "collection"'Z  +50 "core"  +2 .tCS.seek 3ml +2 "collection"'['2 +697 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'\\ @ +50 "core" A +2 "collection"']% +3 "core" %2<<d  +3 .tCS.seek 5ml + "collection"'^'q +491 "core" ' + .tCSV.dial :air +2 "collection"'_ @ +5 "core" @ +2 .tCS.seek 0ml + "collection"'`' +1089 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'a'2 +692 "core" ' + .tCSV.dial :waste + "collection"'b +70 "core" +2 .tCS.seek 0ml + "collection"'c' +693 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +4 "core" &( f ?V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&e( +4 "core" ( + "manipulator"&f& +4 "core" &( -  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &( ?V +3 .tForearm.seek CC + "manipulator"&h'" +96 "core" ' +2 .tHand.close + "manipulator"&i/ +63 "core" / +2 .tCC.seek :open + "collection"'j( +413 "core" ( +2 "manipulator"&k& +3 "core" &( ?V +41 "manipulator"&l% +4 "core" % 0 x w +3 .tForearm.seek :retract + "manipulator"&m'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(, +287 "core" ( +2 "manipulator"&o& +3 "core" &, J P +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &p& +3 "core" &, , P +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&q'Ϧ +109 "core" ' +2 .tHand.open + "manipulator"&r1 +61 "core" 1 +2 "manipulator"&s% +4 "core" % ϰ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +100 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 100ml +3 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 15:37:09EST04-Dec-24\\n{2 => 1}\\nCan@15:33:09, 39% flow, 21.2C, 13% humidity, 14.7psia, 14.906V, 0.268A, 1.311Ah, 4.00W",Subject: "da wcr sampling at most 100ml" +2 #"WCR"Whole Cell Archive sampling 100ml +4 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'u& +3 "core" &8<` +2 "manipulator"&v% +5 "core" %\    +3 "storage"(w% +3 "core" %b +2 "storage"(x. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(y( +339 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" & 9 +3 "manipulator"&{& +4 #"uploadLog"upsync +2 "core" &, X P +2 "manipulator"&|% +4 "core" %\  &  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&}( +205 "core" ( +2 "manipulator"&~& +3 "core" & Y +3 "storage"(& +3 "core" & D +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(& +3 "core" & C +3 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & x +3 "manipulator"&& +3 "core" & h +3 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & +2 "storage"(& +4 "core" &  +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"&\ ' +15 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"& / +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +44 "core" &  +7 "manipulator"&% +4 "core" %  = N +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( +2 "manipulator"& & +3 "core" &) + @[ +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &) > @[ +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC + "manipulator"&'" +92 "core" ' +2 "manipulator"&& +3 "core" &) . / @[ +2 "manipulator"&% +5 "core" %  +2 "collection"' & +3 "core" &89e +3 "collection"'& +5 "core" &8;b +2 ."WCR"CC.seek :closed +2 "collection"'(V +5 "core" &7;b +7 &A9;i #c +9 &[9;e 6 +9 &7;a H +10 &k8;Z F +9 &n9;Z G +9 &^o9<[ G +10 &p7;W G +9 &l:<W F +10 &k;;S G +9 &ek8;P G +9 & (k;;T G +10 &!p9>X G +9 &#n9<X G +9 &%mq9;f G +10 &'1k:<a F +9 &(j:<g G +10 &*k7<i G +9 &,vj8<h G +9 &.8k7;i G +10 &/j:;i G +9 &1n::e G +9 &3~p8;h G +10 &5@n::i G +9 &7q:<h G +10 &8n:<i G +9 &:q9<e G +9 &\ m9<` G +9 &?p9<a G +9 &Ap::c G +10 &COp9:b G +9 &Es8;h G +10 &F{7<h H +9 &H;;i I +9 &JH8<f L +10 &L9:e O +9 &M8;a R +9 &Ox;:Y T +10 &QD<<W P +9 &S<;d R +10 &T9<b U +9 &V'Y:<b < +9 &V <>S 0 +10 &V9<Y ^ +2 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open + "manipulator"&!1 +63 "core" 1 +4 "manipulator"&"% +3 "core" %  a +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&#'\ +94 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")$+ +4 "core" + + "sampler")&% +4 "core" % C +2 "collection"''& +3 "core" &V:<P ^ +3 "Can" T;<<~ +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler") +5 "core"  +2 ."WCR"SS.reconfigure :fast +3 "sampler")#.0X% +3 "core" %@ +2 "sampler")=% +3 "core" %T3  +32 "collection"'@% +3 "core" %Q +2 "sampler")?% +4 "core" %T3  +36 "collection"'B% +3 "core" %"N +2 "sampler")C% +5 "core" %T7  +40 "collection"'D% +3 "core" % #J +2 "sampler")A% +4 "core" %T - +47 "collection"'G% +3 "core" %!%S +2 "sampler")F% +5 "core" %T - + ."WCR"Intake.select :close +2 "sampler")0 +9 )H% +3 "core" %T - +2 ."WCR"SSV.dial :exhaust +2 "sampler")E  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")J' +410 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 100.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X\\Z  +41 "collection"'b% +4 "core" %C + "sampler")a% +5 "core" %=a[  +46 "collection"'d% +3 "core" %D +2 "sampler")f% +5 "core" %@b^  +53 "collection"'g% +3 "core" %E +2 "sampler")i% +3 "core" %3gd  +61 "collection"'-% +3 "core" %C +2 "sampler")9% +3 "core" %3po  +70 "collection"'5% +3 "core" %D +2 "sampler")k% +3 "core" %+  +78 "collection"'l% +3 "core" %  M +37 "sampler")h% +10 "core" % & +3 ."WCR"Intake.select :close + "sampler")0 +10 )o% +2 "core" % & +2 ."WCR"SSV.dial :exhaust +2 "sampler")e  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")p' +898 "core" ' + ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "collection"'s @ + "sampler")r  +5 "core" ? +66  +2 #"WCR"Allowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open + "sampler") +211 "collection"'u% +3 "core" %/3F +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi + .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0XM +2 #"WCR"Intake @10.0psia, vacuum from 4.5 to 7.5psi +2 .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0XM% +2 "core" % 6 +2 ."WCR"SSV.dial :exhaust +2 "sampler")=  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")@' +902 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'? @ + "sampler")B  +4 "core" ? +67  +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'C% +3 "core" %/17 +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0XM +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'p  +85 "core"  +2 "collection"'w% +3 "core" % S<>B  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'x ` +55 "core" ^ +3 ."WCR"CS.seek 7.24ml +2 "collection"'q' +641 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'|  +2 '{  +34 "core"  +92  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ Kb +3 ."WCR"CS.seek 0ml + "collection"'~' +1453 "core" '\ J\ KT +45 ."WCR"delay 5:00 +30003 .CBV.dial :waste2b + "collection"'  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'n' +474 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'  +121 "core" + "collection"'t& +4 "core" &V-/m ^ +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 "manipulator"&% +3 "core" %\  & M  +2 "storage"(% +3 "core" %b s n +2 "storage"(. +4 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"((S +329 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &V J M 9 +2 "manipulator"&& +3 "core" &( . ; ?T +2 "manipulator"& % +5 "core" %\  . e  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&m(. +163 "core" ( +2 "manipulator"&& +3 "core" &. ; e +3 "storage"(v& +3 "core" &X  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +95 "core" ' + "storage"(& +5 "core" &X  +2 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(}'i +274 "core" ' + "storage"(- +4 "core" -'i + ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('y +40 "core" ' +3 "manipulator"& & +3 "core" &. { e +2 "manipulator"&% +3 "core" % o i +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&( +166 "core" ( +2 "manipulator"&& +3 "core" &" & l :1 +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &"   :1 +3 ."WCR"Forearm.seek CC + "manipulator"&'" +94 "core" ' + ."WCR"Hand.close +2 "manipulator"&/ +55 "core" / +2 ."WCR"CC.seek :open + "collection"'( +416 "core" ( +2 "storage"(z& +3 "core" &X  +2 "storage"(!& +4 "core" &X ^ +2 "manipulator"&"& +3 "core" &" N :1 +2 "manipulator"&&% +4 "core" % . +2 ."WCR"Forearm.seek :retract +2 "manipulator"&j'\ +95 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&(. +166 "core" ( +2 "manipulator"&& +3 "core" &/ B d +3 "storage"(& +3 "core" &X S +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."WCR"Forearm.seek 1 + "manipulator"&$' +107 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&+, +56 "core" , +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&*1 +65 "core" 1 +2 "manipulator"&% +3 "core" %  $ i +3 "storage"((& +3 "core" &X = +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 313 counts + "manipulator"&.'4 +18 "core" ' +2 "manipulator"&)& +4 "core" &/ d +2 "storage"(/& +3 "core" &X F +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&1'ѷ +35 "core" ' +4 "storage"(3% +3 "core" % , +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (,% +3 "core" %Y k QI +2 "manipulator"&%% +4 "core" %ѽ P +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&''\ +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +4 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'7& +3 "core" &8<s +2 "manipulator"&8& +4 "core" &/ d +2 "manipulator"&:% +4 "core" %\  n  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&;(, +193 "core" ( +3 "manipulator"&4& +3 "core" &, G  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&0'Ϧ +104 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 "manipulator"&>& +3 "core" &, ,  +2 "manipulator"&=% +5 "core" % ϵ  +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&?( +290 "core" ( +2 "manipulator"&B& +3 "core" &. $ S E} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &. "  E} +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&@'" +102 "core" ' +2 "manipulator"&A& +3 "core" &. D{ +2 "manipulator"&G% +5 "core" % +2 "collection"'F& +3 "core" &;> +3 "collection"'H& +5 "core" &:< +2 .tCC.seek :closed +2 "collection"'E(V +3 "core" &;< +9 &A;= $e +9 &];= 6 +9 &";> F +10 &e<= E +9 &n;; F +10 &ij;=L F +9 &,m8> E +9 &h;= E +10 &j<> E +9 &qk;> F +9 & 4m8= E +10 &!n:>{ F +9 &#l<= E +10 &%{k;> E +9 &';k:= F +9 &(i:< E +10 &*n<> F +9 &,k:=~ F +9 &.Dn;> E +10 &0n9=s F +9 &1k;= F +10 &3m;? E +9 &5Ln:< E +9 &7 n<< F +10 &8k;;y E +9 &:k:>} E +9 & F +10 &>l<= F +9 &?i== F +10 &Am;<x F +9 &CZm:>z F +9 &En8=~ E +10 &Fu:<~ G +9 &H:> H +9 &JO;<v M +10 &L;<z P +9 &M;?~ P +10 &O<< Q +9 &QK;<| Q +9 &S := R +10 &T;> R +9 &V=h<? / +9 &V:< < +10 &W \\;> ; +5 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + "collection"'6& +4 "core" &W;;>t ; +2 &W;;?t ; + .tHand.open + "manipulator"&L1 +63 "core" 1 +38 "manipulator"&M% +10 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +100 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'P& +4 "core" &W;;=| ; +2 "collection"'O% +4 "core" %:> +2 .tCSV.dial CSR +2 "collection"'J  +47 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'N'q +1326 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 'K% +3 "core" %q=?q  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'Q'7 +598 "core" ' + .tCSV.dial :waste +2 "collection"'T +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"' ' +1953 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'V& +4 "core" &W;;< ; +2 "collection"'U% +3 "core" %;>{ +2 .tCSV.dial :flush +2 "collection"'X  +51 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'Y'q +1096 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'Z @ +50 "core" B +2 "collection"'W% +3 "core" %q<>  +3 .tCS.seek 7ml + "collection"'\\' +488 "core" ' +2 ."connect"CSV.dial CTV +3 "collection"']  + .tCTV.dial CSV +4 "collection"'[  +57 "core"  +72  +2 .tCBV.dial :waste2b + "collection"'_  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'^' +1008 "Can" E?D +482 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'`& +3 "core" &W;;< ; +2 "collection"'D% +3 "core" %;> +2 .tCSV.dial CSR +2 "collection"'a  +49 "core"  +2 #tPulling 8ml of CSR.kill .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'R' +1702 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'c' V +502 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'g  + 'f +44 "core"  +80 + .tCTV.dial :intake +2 "collection"'i  +68 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'-'^ +1693 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'d  +69 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'k' +575 "core" ' + .tCSV.dial CSR +2 "collection"'5  +94 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'9'q +1325 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'h' V +1326 "core" ' +2 .tCSV.dial CBV + "collection"'l +131 "core"  +3 .tCS.seek 0ml + "collection"'e' +2584 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&S& +3 "core" &- Dz +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&o( +4 "core" ( +2 "manipulator"&s& +3 "core" &- 1 Dz +45 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &- Dz +2 .tForearm.seek CC +2 "manipulator"&p'" +93 "core" ' +2 .tHand.close + "manipulator"&w/ +63 "core" / +2 .tCC.seek :open + "collection"'x( +416 "core" ( +2 "manipulator"&r& +3 "core" &-  Dz +2 "manipulator"&{% +5 "core" %  $ +2 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&q(, +285 "core" ( + "manipulator"&& +4 "core" &, D ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &, ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'Ϧ +108 "core" ' + .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "manipulator"&% +3 "core" % ϯ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,100], $da)] begun 15:33:09 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@15:52:26, 40% flow, 21.6C, 13% humidity, 14.7psia, 14.882V, 0.368A, 1.448Ah, 5.48W\\nSampled 100.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +397 #"uploadLog"upsync +7 #mEXIT @1733345683.19EST @1733345917.37EST = =tMAIN =mMAIN_scheduler @EST1733345918.05 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK + #t@14438 sendCRC with ifg=0x20, ie=0x7F + #@16273 sendCRC with ifg=0x08, ie=0x5F + #@26491 idle with ifg=0x84, ie=0x75 + #@27169 select with ifg=0x10, ie=0xF5 + #@27818 receive with ifg=0x10, ie=0xFD #@28467 receive with ifg=0x10, ie=0xFD + #@29116 receive with ifg=0x10, ie=0xFD #@29443 receive with ifg=0x80, ie=0xFD + #@19398 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +365 "Can" *@z +  *@z + #tPolling Can every 10:00 +2 #Cleanly exited at 15:54:43EST04-Dec-24 +1101 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %<? +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %u +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  +2 .tSS.configure :default +3 "sampler")#.0X +4 "processing"%(% +5 "core" %w +2 "sampler"))% +37 "core" %  +8 "collection"'*& +3 "core" &=? +2 "processing"%+& +4 "core" &G  +2 "manipulator"&,% +5 "core" %\  |  + "manipulator"&-& +5 "core" &, ; + "storage"(.& +4 "core" &T / +2 "storage"(/% +5 "core" %V  +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9z +929 #t-> access 1 +2 "storage"(2% +3 "core" %V $ +2 "manipulator"&3% +3 "core" %\  @  +3 "manipulator"&4& +3 "core" &, U ; +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(5(<* +1285 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<)  +2742 #t-> access 2 +2 "storage"(7% +3 "core" %V 1 +2 "manipulator"&8% +3 "core" %\   +3 "manipulator"&9& +4 "core" &, \ ; + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K j  +35019 #t-> exit +7 #mEXIT @1733346346.22EST @1733346404.35EST = =mMAIN_scheduler =tMAIN @EST1733346405.07 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@32140 receive with ifg=0x10, ie=0xFD + #@32786 receive with ifg=0x10, ie=0xFD + #@33444 receive with ifg=0x10, ie=0xFD + #@34090 receive with ifg=0x10, ie=0xFD + #@34739 receive with ifg=0x10, ie=0xFD #@35387 receive with ifg=0x10, ie=0xFD + #@36035 receive with ifg=0x10, ie=0xFD #@36361 receive with ifg=0x80, ie=0xFD + #@34606 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +221 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +335 !o:SyntaxError: mesg"/home/esp/esp2/mission/phasecfg.rb:24: syntax error, unexpected tIDENTIFIER, expecting $end\ :BadNews.denotes mail.new wardens, :Subject=>'Trouble'\ ^ in /home/esp/esp2/mission/phasecfg.rb:bt["4/home/esp/esp2/lib/framework.rb:95:in `require'"7/home/esp/esp2/lib/framework.rb:95:in `requireAll'"1/home/esp/esp2/lib/framework.rb:93:in `each'"7/home/esp/esp2/lib/framework.rb:93:in `requireAll'"$/home/esp/esp2/utils/mail.rb:11"4/home/esp/esp2/utils/commskel.rb:8:in `require'"'/home/esp/esp2/utils/commskel.rb:8"4/home/esp/esp2/utils/mission.rb:10:in `require'"'/home/esp/esp2/utils/mission.rb:10"4/home/esp/esp2/lib/framework.rb:95:in `require'"7/home/esp/esp2/lib/framework.rb:95:in `requireAll'"1/home/esp/esp2/lib/framework.rb:93:in `each'"7/home/esp/esp2/lib/framework.rb:93:in `requireAll'"2/home/esp/esp2/type/shallow/initialize.rb:143"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:120:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +8 "Can" +A +  +A #tPolling Can every 10:00 +2 #Cleanly exited at 16:05:46EST04-Dec-24 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission + !o:NoMethodError\ : mesgu:NameError::message,undefined method `[]=' for nil:NilClass: name:[]=: args[: wcrVol0:@timestampu: Time ,>:bt["5/home/esp/esp2local/mission/standAloneWCR_4.rb:3"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:213:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 + #Waiting to Resume from Checkpoint "Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission" @1733346655.57EST = =tMAIN =mMAIN_scheduler @EST1733346656.25 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK + #t@32140 receive with ifg=0x10, ie=0xFD + #@32786 receive with ifg=0x10, ie=0xFD + #@33444 receive with ifg=0x10, ie=0xFD + #@34090 receive with ifg=0x10, ie=0xFD #@34739 receive with ifg=0x10, ie=0xFD + #@35387 receive with ifg=0x10, ie=0xFD + #@36035 receive with ifg=0x10, ie=0xFD #@36361 receive with ifg=0x80, ie=0xFD + #@39089 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +371 "Can" +B3p +  +B3p + #tPolling Can every 10:00 +2 #Cleanly exited at 16:06:51EST04-Dec-24 +1030 #-> exit +6 #mEXIT @1733346674.02EST @1733346682.99EST = =tMAIN =mMAIN_scheduler @EST1733346683.71 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@32140 receive with ifg=0x10, ie=0xFD + #@32786 receive with ifg=0x10, ie=0xFD + #@33444 receive with ifg=0x10, ie=0xFD + #@34090 receive with ifg=0x10, ie=0xFD + #@34739 receive with ifg=0x10, ie=0xFD #@35387 receive with ifg=0x10, ie=0xFD + #@36035 receive with ifg=0x10, ie=0xFD #@36361 receive with ifg=0x80, ie=0xFD + #@15890 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +223 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +361 "Can" +B:7 +  +B:7 + #tPolling Can every 10:00 + #Cleanly exited at 16:11:13EST04-Dec-24 +5 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +3 !o:RuntimeError: mesg"+Mission's startTube should be 3, not 2:@timestampu: Time ,;-:bt[":/home/esp/esp2/utils/commskel.rb:91:in `beginMission'"4/home/esp/esp2/utils/mission.rb:16:in `mission'"5/home/esp/esp2local/mission/standAloneWCR_4.rb:8"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:213:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Waiting to Resume from Checkpoint "Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission" +2 ."Qmail"BadNews.email "Mission's startTube should be 3, not 2",Subject: "RuntimeError in MAIN" +366 #"uploadLog"upsync @1733346785.60EST = =tMAIN =mMAIN_scheduler @EST1733346786.28 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK + #t@32140 receive with ifg=0x10, ie=0xFD + #@32786 receive with ifg=0x10, ie=0xFD + #@33444 receive with ifg=0x10, ie=0xFD + #@34090 receive with ifg=0x10, ie=0xFD #@34739 receive with ifg=0x10, ie=0xFD + #@35387 receive with ifg=0x10, ie=0xFD + #@36035 receive with ifg=0x10, ie=0xFD #@36361 receive with ifg=0x80, ie=0xFD + #@48932 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +367 "Can" *BS +  *BS #tPolling Can every 10:00 +210 #-> exit +5 #mEXIT @1733346795.72EST @1733346804.38EST = =mMAIN_scheduler =tMAIN @EST1733346805.13 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@32140 receive with ifg=0x10, ie=0xFD + #@32786 receive with ifg=0x10, ie=0xFD + #@33444 receive with ifg=0x10, ie=0xFD + #@34090 receive with ifg=0x10, ie=0xFD + #@34739 receive with ifg=0x10, ie=0xFD #@35387 receive with ifg=0x10, ie=0xFD + #@36035 receive with ifg=0x10, ie=0xFD #@36361 receive with ifg=0x80, ie=0xFD + #@63670 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +232 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +379 "Can" +BX +  +BX + #tPolling Can every 10:00 + #Cleanly exited at 16:13:15EST04-Dec-24 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +5 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@16:13:32, 39% flow, 21.5C, 14% humidity, 14.6psia, 14.926V, 0.206A, 1.523Ah, 3.08W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +4 #Continuing at 16:13 +3 "Can" +BX +21 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +200 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,500], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@16:13:32, 39% flow, 21.5C, 14% humidity, 14.6psia, 14.926V, 0.206A, 1.523Ah, 3.08W",Subject: "Asleep until 16:13" +146 #"uploadLog"upsync +114 "Can" BY +6 #tPowering core bus +116 #"uploadLog"upsync +454 .tGate.power :raw,:ON +2 "sampler") +27 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +4 % +3 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +35 .tPS.configure :default +6 "processing"%#A d`xb +2 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@16:14:18, 39% flow, 21.4C, 14% humidity, 14.6psia, 14.911V, 0.268A, 1.528Ah, 4.00W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,500], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'!& +3 "core" &<A  +2 .tHand.open + "manipulator"&"1 +57 "core" 1 +3 "manipulator"&#& +5 "core" & } +2 "manipulator"&$% +3 "core" % \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(, +185 "core" ( +3 "manipulator"&&& +4 "core" &, I  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +5 "core" &, [  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +63 #"uploadLog"upsync +38 "core" ' +2 .tHand.close + "manipulator"&)/ +58 "core" / +2 "manipulator"&*& +4 "core" &, /   +2 "manipulator"&+% +4 "core" % ϴ ( < * +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +289 "core" ( +2 "manipulator"&.& +3 "core" &. / E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &/ O E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +98 "core" ' + "manipulator"&1& +5 "core" &/ E +2 "manipulator"&2% +3 "core" %' +3 "collection"'3& +3 "core" &<@  +3 "collection"'4& +5 "core" &?@  +3 .tCC.seek :closed + "collection"'5(V +4 "core" &<?  +9 &7>@ *y +9 &k<B > +10 &{=A I +9 &Ck?> H +9 &n=@ H +10 &k?@ G +9 &l>@ G +9 &Lo=@ G +10 & p<@I H +9 &m??( H +10 & k>A G +9 &"Tl=? G +9 &$n??F H +10 &%q>A H +9 &'m>>D G +9 &)]k<?D G +10 &+p>?C G +9 &,n>@C H +10 &.m;@D H +9 &0co;@B H +9 &2%k=@G H +10 &3j>@G G +9 &5h>@D G +9 &7lj?@G G +10 &9/l=@E G +9 &:o??E G +10 &<m??F G +9 &>so@?E H +9 &@5k=?8 H +10 &An;AB G +9 &Cp=@I H +9 &E{t<@D H +10 &G9{??C I +9 &H?A= J +10 &J>@G O +9 &Lh>@< Q +9 &N+??9 Q +10 &O>AG R +9 &Q=>< Q +9 &Sj>@: S +10 &U-?AG R +9 &Vh9@A8 - +10 &V v=@7 @ +5 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.78 + "collection"'6& +4 "core" &VX=@6 @ +2 &VX>?: @ + .tHand.open + "manipulator"&71 +59 "core" 1 +2 "manipulator"&8% +4 "core" % ' " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VX>@ @ +3 "collection"';% +3 "core" %>@ +2 .tCSV.dial CSR +2 "collection"'<  +158 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='q +1334 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +38 "core" %q=@u  +8 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.501ml +2 "collection"'?'= +597 "core" ' +2 .tCSV.dial :waste + "collection"'@ +157 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'A' +1960 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &VX<AD @ +2 "collection"'C% +3 "core" %=@ +2 .tCSV.dial :flush +2 "collection"'D  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2104 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core"  +64 ~ + .tCTV.dial :intake +2 "collection"'H  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2088 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +71 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VW<>/ @ +2 "collection"'L% +4 "core" %@@ +2 .tCSV.dial :flush + "collection"'M  +90 "core"  +2 .tCS.seek 5ml + "collection"'N'q +1092 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +4 "collection"'O @ +50 "core" B + "collection"'P% +4 "core" %q>C3  +3 .tCS.seek 7ml + "collection"'Q' +492 "core" ' +2 ."connect"CSV.dial CBV +3 "collection"'R + .tCBV.dial CSV +3 "collection"'S  +7 "core"  +87 ~ +2 .tCTV.dial :air + "collection"'T  +16 "core" +3 .tCS.seek 0ml + "collection"'U' +1502 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'2 +697 "core" ' +2 .tCSV.dial :waste + "collection"'W +52 "core" +2 .tCS.seek 0ml +2 "collection"'X' +695 "core" ' + "collection"'Y& +4 "core" &VW@? @ +2 "collection"'Z% +3 "core" %>@. +2 .tCSV.dial :flush + "collection"'[  +51 "core"  +2 .tCS.seek 3ml + "collection"'\\'2 +689 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'] @ +50 "core" B +2 "collection"'^% +3 "core" %2=C  +3 .tCS.seek 4.999ml + "collection"'_'q +491 "core" ' +2 .tCSV.dial :air + "collection"'` @ +16 "core" > +2 .tCS.seek 0ml +2 "collection"'a' +1099 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'b'2 +691 "core" ' + .tCSV.dial :waste +2 "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d' +693 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &.  E +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&f( +3 "core" ( + "manipulator"&g& +4 "core" &. < E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &. V E +3 .tForearm.seek CC + "manipulator"&i'" +93 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / +2 .tCC.seek :open + "collection"'k( +413 "core" ( + "manipulator"&l& +5 "core" &. [ E + "manipulator"&m% +37 "core" % 2  +9 .tForearm.seek :retract + "manipulator"&n'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(, +281 "core" ( +2 "manipulator"&p& +3 "core" &, j N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &,  N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +106 "core" ' + .tHand.open + "manipulator"&s1 +59 "core" 1 + "manipulator"&t% +4 "core" % ϯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +101 "core" ' + #tStarting stand-alone da WCR + #da wcr sampling at most 500ml +3 #Whole Cell Archive sampling 500ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 16:18:18EST04-Dec-24\\n{2 => 1}\\nCan@16:14:18, 39% flow, 21.4C, 14% humidity, 14.6psia, 14.911V, 0.268A, 1.528Ah, 4.00W",Subject: "da wcr sampling at most 500ml" +4 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'v& +5 "core" &<@A +2 "manipulator"&w% +4 "core" %\  :  +2 "storage"(x% +5 "core" %_  + "storage"(y. +4 "core" .( +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."WCR"SC.seek 2 +2 "storage"(z( +323 #"uploadLog"upsync +18 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" & +2 "manipulator"&|& +3 "core" &,  N +3 "manipulator"&}% +3 "core" %\    +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +205 "core" ( + "manipulator"&& +4 "core" & |  +2 "storage"(& +4 "core" & % +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' +2 "storage"(& +3 "core" & V +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +276 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +4 "core" &   +2 ."WCR"Elbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &  +3 "storage"(\ & +3 "core" & a +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +20 "core" ' + ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +7 "core" &   +2 "manipulator"&% +3 "core" %  5 +39 ."WCR"Forearm.seek :retract +8 "manipulator"&'\ +101 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +115 "core" ' + ."downElevator"SE.stop + "storage"(5 +41 "core" ( +2 "manipulator"&& +3 "core" &) G  @W +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &) @W +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 "manipulator"&& +3 "core" &) @W +3 "manipulator"& % +3 "core" %& +3 "collection"'& +4 "core" &=@2 +2 "collection"'& +5 "core" &>? +3 ."WCR"CC.seek :closed + "collection"'!(V +4 "core" &<@8  +9 &5>A@ )w +10 &k<?@ = +9 &w>>@ H +9 &vm@@B F +10 &7j=@E G +9 &n?AA G +10 &m>?@ G +9 &}m?@A G +9 &?n?@@ G +10 &m<?A G +9 & k=@: G +9 &"l<@@ F +10 &$Hk>@? F +9 &&\ l=AA F +10 &'j=?A G +9 &)n=@? F +9 &+Pm@A: F +10 &-p=?3 G +9 &.n=@@ F +9 &0k<?5 G +10 &2Wj=?5 G +9 &4p=@1 F +10 &5j?@= G +9 &7n>@8 F +9 &9_j;@6 G +10 &;!p=@4 G +9 &<m=@1 G +9 &>k<?3 G +10 &@go@@- G +9 &B)n>@6 G +10 &Cm@>( G +9 &Ep<A* G +9 &Gk{?@2 H +10 &I+>A+ I +9 &JK@1 M +9 &L?A, P +10 &N\\>A+ P +9 &P?C1 Q +10 &Q>?) Q +9 &S<A2 R +9 &U]@A3 @ +10 &VN>@1 P +9 &V%>@6 #j +9 &Vr?A@ I +3 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&"1 +52 "core" 1 +4 "manipulator"&#% +3 "core" % & ( +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' +2 #"WCR"collectSample 500ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")&+ +3 "core" + +2 "sampler")'% +3 "core" % +2 "collection"'& +4 "core" &Vs?B3 I +4 "Can"1 DDH +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"')  +4 "core" +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X +22  +2 ."WCR"delay 3.8 seconds +382 "collection"'(% +3 "core" %@A +2 "sampler").% +5 "core" %2   + #"WCR"Sensor limits: Intake max 146.2psia; Outlet max 138.9psia + .SSV.dial :spit +2 "sampler")% +123 "core"  +2 ."WCR"SS.seek 0ml +2 "sampler")/' +274 "core" ' + ."WCR"SSV.dial CBV +2 "sampler")1  +123 "core"  +2 ."WCR"CTV.dial :intake +2 "collection"'2  +68 "core"  +2 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"', @ + "sampler")3  +6 "core" ? +3  + #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open +2 "sampler") +210 "collection"'% +3 "core" %66 +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0XO% +5 "core" %T3  +27 "collection"'=% +3 "core" %!| +2 "sampler")@% +4 "core" %T3  +31 "collection"'?% +3 "core" % # +3 "sampler")B% +3 "core" %T3  +36 "collection"'C% +6 "core" %#$ +2 "sampler")D% +4 "core" %T3  +41 "collection"'A% +3 "core" %'( +2 "sampler")G% +4 "core" %T*  +47 "collection"'F% +3 "core" %%, +2 "sampler")H% +4 "core" %T 0 +2 ."WCR"Intake.select :close + "sampler")0 +10 )E% +2 "core" %T 0 +2 ."WCR"SSV.dial :exhaust +2 "sampler")J  +69 "core"  +2 ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")K' +391 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 500.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0XXV  +21 "collection"'Y% +4 "core" % +2 "sampler")Z% +3 "core" %DYU  +24 "collection"'[% +3 "core" % +3 "sampler")X% +3 "core" % XW \ a +28 "collection"']% +3 "core" % +2 "sampler")^% +4 "core" %YW ; +32 "collection"'\\% +3 "core" % +2 "sampler")`% +4 "core" %ZY ; +36 "collection"'_% +3 "core" % +2 "sampler")a% +3 "core" %]Y ; +42 "collection"'c% +3 "core" % +2 "sampler")b% +3 "core" %`] ; +48 "collection"'e% +3 "core" %  +2 "sampler")g% +3 "core" %cb ; +54 "collection"'h% +3 "core" % +2 "sampler")j% +5 "core" %fe ; +60 "collection"'-% +3 "core" % +2 "sampler")9% +3 "core" %om ; +69 "collection"'5% +3 "core" %\ y +3 "sampler")l% +4 "core" %}~ ; +77 "collection"'m% +3 "core" %v +2 "sampler")i% +4 "core" % ; +92 "collection"'p% +3 "core" %(* +2 "sampler")q% +46 "core" % ; +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )f% +3 "core" % ; +2 ."WCR"SSV.dial :exhaust +2 "sampler")s  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")t' +916 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")v  + "collection"'w @ +7 "core" ? +62 +2 #"WCR"Allowing 130s for 25.0ml of remaining 475.0ml + .Intake.select :open +2 "sampler") +210 "collection"'n% +3 "core" %47 +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0XO% +3 "core" %s +3 "sampler")=% +3 "core" % E +54 "collection"'@% +3 "core" %+,{ +2 "sampler")?% +3 "core" % E +2 ."WCR"Intake.select :close +2 "sampler")0 +10 )B% +2 "core" % E +2 ."WCR"SSV.dial :exhaust +2 "sampler")C  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")D' +926 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "collection"'A @ + "sampler")6  +5 "core" ? +68 + #"WCR"Allowing 130s for 25.0ml of remaining 425.0ml +2 .Intake.select :open + "sampler") +210 "collection"'G% +3 "core" %68t +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0XO}{  +41 "collection"'|% +3 "core" %e +2 "sampler")% +5 "core" % J +46 "collection"'% +3 "core" %h +3 "sampler")% +27 "core" % 4 +2 ."WCR"Intake.select :close + "sampler")0 +10 ) % +2 "core" % 4 +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +71 "core"  +3 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler") ' +914 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")  + "collection"' @ +7 "core" ? +63 + #"WCR"Allowing 130s for 25.0ml of remaining 350.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %B7k +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0XO' +2016 "core" ' + #"WCR"Stroke completed -- waiting for pressure to equalize ... + .SS.reconfigure :exhale +2 "sampler")#.0Xpn  +35 "collection"'6% +3 "core" %h +2 "sampler")G% +5 "core" %<{k  +40 "collection"'D% +3 "core" %k +2 "sampler")E% +4 "core" % v +47 "collection"'J% +3 "core" %"j +3 "sampler")7% +3 "core" % ? +54 "collection"'M% +3 "core" %),o +2 "sampler")I% +3 "core" % ? +61 "collection"'>% +4 "core" %14i +2 "sampler")O% +3 "core" % ? +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )P% +4 "core" % ? +2 ."WCR"SSV.dial :exhaust +2 "sampler")N  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")K' +910 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")L  + "collection"'S @ +6 "core" A +64  +2 #"WCR"Allowing 130s for 25.0ml of remaining 200.0ml + .Intake.select :open + "sampler") +210 "collection"'Q% +4 "core" %59i +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0XO% +5 "core" %~ + #"WCR"Intake @12.1psia, vacuum from 6.6 to 9.6psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0XO0XO0XO0XO^\\  +21 "collection"'2% +38 "core" %| +9 "sampler")% +3 "core" %<aa  +24 "collection"',% +3 "core" % +2 "sampler")% +4 "core" %<eb  +28 "collection"'/% +3 "core" % +2 "sampler")% +5 "core" %<gf  +31 "collection"'8% +3 "core" %| +2 "sampler")3% +4 "core" %<nk  +36 "collection"'4% +3 "core" % +2 "sampler")y% +3 "core" %<vv  +42 "collection"'0% +3 "core" %#w +2 "sampler")% +4 "core" %<  +47 "collection"'% +3 "core" % #{ +2 "sampler")k% +4 "core" %  +53 "collection"'?% +3 "core" %(( +3 "sampler")B% +3 "core" % = +61 "collection"'C% +4 "core" %,/z +2 "sampler")(% +4 "core" % = +69 "collection"'A% +3 "core" %54y +2 "sampler")6% +3 "core" % = +3 ."WCR"Intake.select :close + "sampler")0 +10 )G% +2 "core" % = +2 ."WCR"SSV.dial :exhaust +2 "sampler")D  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")E' +875 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"': @ +2 "sampler")J  +4 "core" A +67 +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'7% +4 "core" %67} + #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0XO% +3 "core" %v +2 "sampler")<% +5 "core" %\\XX  +17 "collection"'@% +3 "core" %z +2 "sampler")N% +4 "core" %\\YW  +21 "collection"';% +3 "core" %{ +2 "sampler")S% +4 "core" %\\Z[  +24 "collection"'L% +3 "core" % +2 "sampler")Q% +4 "core" %\\\\Z  +28 "collection"'K% +3 "core" % w +2 "sampler")V% +3 "core" %]__  +32 "collection"'=% +3 "core" %{ +2 "sampler")F% +4 "core" %]a_  +36 "collection"'Z% +3 "core" % z +2 "sampler")[% +4 "core" %]fg  +45 "collection"'Y% +3 "core" %y +2 "sampler")H% +4 "core" %\\nk  +47 "collection"'`% +3 "core" %!"{ +2 "sampler")\\% +3 "core" % \\wv  +54 "collection"'X% +3 "core" %"#{ +2 "sampler")O% +4 "core" %!R  +60 "collection"'b% +4 "core" %#%| +2 "sampler")R% +3 "core" %" < +70 "collection"'e% +3 "core" %++o +2 "sampler")g% +3 "core" %" < +78 "collection"'P% +3 "core" %03z +2 "sampler")h% +39 "core" %" < +9 ."WCR"Intake.select :close + "sampler")0 +10 )]% +3 "core" %" < +2 ."WCR"SSV.dial :exhaust +2 "sampler")j  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml +2 "sampler")U' +900 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampled 500.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'5  +69 "core"  + ."WCR"delay 1:00 +2133 "Can" FIlN +3870 ."WCR"CSV.dial :air +2 "collection"'l @ +87 "core" A +3 ."WCR"CS.seek 10ml + "collection"'m' V +2098 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'i @ +71 "core" > +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'p  +84 "core"  +2 "collection"'W% +5 "core" % X;=  + ."WCR"CSV.dial between air and CTV +2 "collection"'s ` +33 "core" b +2 ."WCR"CS.seek 7.376ml +2 "collection"'f'Y +616 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'_  + 'q  +33 "core"  +39  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ Pb +3 ."WCR"CS.seek 0ml +2 "collection"'w' +1494 "core" '\ Q\ P +3 ."WCR"CBV.dial :waste2b +2 "collection"'v  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'^' +478 "core" ' +3 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'t  +124 "core" +3 #"WCR"Fix #1 of 1 (with RNAlater) for 5:00 + .CSV.dial CSR +2 "collection"'r  +47 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'c'^ +580 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +3 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'-' V +1695 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'n @ +68 "core" > +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +85 "core"  + "collection"'% +4 "core" % RBC  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'o ` +55 "core" _ +2 ."WCR"CS.seek 7.231ml +2 "collection"'' +644 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'9  +2 'u  +34 "core"  +90  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ Pb +3 ."WCR"CS.seek 0ml +2 "collection"'' +1469 "core" '[\ Q\ Q +5 ."WCR"delay 5:00 +30002 .CBV.dial :waste2b +2 "collection"'  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'' +508 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'  +121 "core" +2 "collection"'\ & +4 "core" &Vo7: I +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %] s +2 "storage"(. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."WCR"SC.seek 1 +2 "storage"(~(S +330 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &V p x . +2 "manipulator"&x& +4 "core" &( @W +3 "manipulator"&% +4 "core" %\  , j  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&|(. +157 "core" ( +2 "manipulator"&T& +3 "core" &3 ' v +2 "storage"({& +4 "core" &X  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +91 "core" ' +2 "storage"( & +3 "core" &X H +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +273 "core" ' + "storage"(- +4 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('y +37 "core" ' +3 "manipulator"&a& +3 "core" &3 o v +2 "manipulator"& % +4 "core" %ѫ g +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&}( +167 "core" ( + "manipulator"&'& +4 "core" &( $  ?T +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' & u ?T +3 ."WCR"Forearm.seek CC + "manipulator"&'" +93 "core" ' +2 ."WCR"Hand.close + "manipulator"&#/ +55 "core" / +3 ."WCR"CC.seek :open +2 "collection"'( +418 "core" ( + "storage"(& +4 "core" &X +2 "storage"(+& +3 "core" &X \\ +2 "manipulator"&)& +4 "core" &( n ?T +2 "manipulator"&% +4 "core" % 1 y +2 ."WCR"Forearm.seek :retract +2 "manipulator"&&'\ +93 "core" ' +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&(. +157 "core" ( +2 "manipulator"&*& +3 "core" &4 ; r +3 "storage"( & +44 "core" &X  +4 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&1' +97 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&2, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&,% +3 "core" %  +2 "storage"(& +5 "core" &X + ."WCR"Forearm.force -20 +2 "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 317 counts +2 "manipulator"&/'8 +22 "core" ' + "manipulator"&& +5 "core" &4 A r +2 "storage"(8& +3 "core" &X  +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&3'ѷ +18 "core" ' +2 "storage"(4% +3 "core" %~ c +3 ."downElevator"SE.seek :down +3 "storage"(y'X +99 (.% +3 "core" %2V OF +2 "manipulator"&0% +4 "core" % 1 +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +41 "Can" 5KN +32 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &>B +2 "manipulator"&k& +4 "core" &4 ? r +2 "manipulator"&?% +3 "core" %\    +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&B(, +184 "core" ( + "manipulator"&C& +5 "core" &, G  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &, z  +2 .tForearm.seek :garage +2 "manipulator"&A'Ϧ +103 "core" ' + .tHand.close + "manipulator"&6/ +57 "core" / +2 "manipulator"&G& +3 "core" &, ,  +2 "manipulator"&D% +4 "core" % Ϲ  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&:( +299 "core" ( +2 "manipulator"&J& +4 "core" &*  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &* Y Ae +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +101 "core" ' +2 "manipulator"&>& +3 "core" &* Ad +3 "manipulator"&<% +3 "core" % + D +3 "collection"'@& +3 "core" &@C +3 "collection"'N& +6 "core" &AC +2 .tCC.seek :closed + "collection"';(V +5 "core" &AB  +8 &5@C )w +10 &lAC = +9 &y@C G +9 &sg?A F +10 &6i@C E +9 &j@A F +10 &mAD F +9 &|iAC E +9 &<k@C F +10 &j?B E +9 & jBB F +9 &"k@B E +10 &$Dj@D F +45 &&kAB F +4 &'k@C F + &)l@B F &+Mj>A F + &-mBC F +5 &.j@B F +9 &0k@C F +10 &2Vi@B E +9 &4jAB F +9 &5j@B F +10 &7mAC F +9 &9\\k@C F +10 &;j?C F +9 &<h@B F +9 &>lAB F +10 &@dkBB F +9 &B'kAB F +10 &CjAC F +9 &Ep@D F +9 &Gg{CC H +10 &I&BB I +9 &JAC N +9 &LBB P +10 &NX@A P +9 &PBD Q +10 &QBD Q +9 &SBD R +9 &UXAB @ +10 &VMAD [ +9 &V2?BB $n +9 &WUBE @ +3 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 "collection"'S& +3 "core" &WU?C @ +2 .tHand.open + "manipulator"&L1 +64 "core" 1 +2 "manipulator"&Q% +3 "core" %  / o D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'V& +5 "core" &WUBC @ + "collection"'=% +4 "core" %BB +2 .tCSV.dial CSR +2 "collection"'F  +47 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'Z'q +1362 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '[% +3 "core" %qAD  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'Y': +595 "core" ' + .tCSV.dial :waste +2 "collection"'H +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'M' +1957 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'`& +4 "core" &WS@B @ +2 "collection"'\\% +3 "core" %@D +2 .tCSV.dial :flush +2 "collection"'X  +51 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'O'q +1099 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'b @ +50 "core" B +2 "collection"'R% +3 "core" %q@C  +3 .tCS.seek 7ml +2 "collection"'e' +497 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'g  + 'P  +49 "core"  +79  + .tCBV.dial :waste2b +2 .CS.seek 0ml +2 "collection"'h' +1487 "core" ' +2 #tDisinfecting external Intake with kill + "collection"']& +3 "core" &WSCF @ +2 "collection"'j% +4 "core" %BC +2 .tCSV.dial CSR + "collection"'I  +49 "core"  +2 #tPulling 7.999ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"'5' +1702 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'l' V +495 "core" ' +4 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'d + 'i  +47 "core"  +89  + .tCTV.dial :intake +2 "collection"'p  +69 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'W'^ +1687 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'s  +71 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +45 .tCS.seek 0ml +2 "collection"'m' +583 "core" ' +2 .tCSV.dial CSR + "collection"'q  +94 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'_'q +1334 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'f' V +1327 "core" ' + .tCSV.dial CBV +2 "collection"'v +120 "core" +2 .tCS.seek 0ml +2 "collection"'w' +2582 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&t& +3 "core" &* Ad +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&r( +4 "core" ( +2 "manipulator"&^& +3 "core" &*  g Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &* $  Ad +2 .tForearm.seek CC +2 "manipulator"&n'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "manipulator"&o& +3 "core" &* % Ad +3 "manipulator"&-% +3 "core" % 5 ,  +3 .tForearm.seek :retract + "manipulator"&u'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&9(, +283 "core" ( +2 "manipulator"&& +4 "core" &, s = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, b = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&\ % +3 "core" % Ϯ   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +105 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,500], $da)] begun 16:14:18 +5 #Asleep after completing standAloneWCR_4 assays + ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@16:43:35, 39% flow, 21.6C, 14% humidity, 14.6psia, 14.911V, 0.268A, 1.744Ah, 4.00W\\nSampled 500.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +427 #"uploadLog"upsync +7 #mEXIT @1733348848.45EST @1733349066.79EST = =mMAIN_scheduler =tMAIN @EST1733349067.46 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK + #t@65432 sendCRC with ifg=0x20, ie=0x7F + #@1730 sendCRC with ifg=0x08, ie=0x5F + #@60068 idle with ifg=0x84, ie=0x75 + #@60747 select with ifg=0x10, ie=0xF5 + #@61396 receive with ifg=0x10, ie=0xFD #@62044 receive with ifg=0x10, ie=0xFD + #@62693 receive with ifg=0x10, ie=0xFD #@63020 receive with ifg=0x80, ie=0xFD + #@27407 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can" .Ma% +  .Ma% + #tPolling Can every 10:00 +3 #Cleanly exited at 16:47:28EST04-Dec-24 +1332 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %?B +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % + .tPS.configure :default +4 "processing"%#A d`xb +2 "sampler")% +3 "core" % +2 .tSS.configure :default +3 "sampler")#.0X = +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +5 "storage"(& +3 "core" &X  +2 .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold +2 "storage"(, +5 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +3 "core" %\\ P +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast + "collection"' +2 .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast +2 "processing"% +2 .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'% +3 "core" %AA +2 "processing"%% +4 "manipulator"&% +2 "sampler")% +8 "core" %y + %\ / + % +3 "manipulator"&& +4 "core" &, = +2 "storage"(& +3 "core" &U  +2 "storage"(% +3 "core" %\\  +2 "collection"'& +4 "core" &@@ +2 "processing"%& +3 "core" &G  +2 "collection"' +4 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +2 "processing"%# +3 "core" V +2 "processing"%$ +4 "core"  +2 "processing"%% +2 "core" A +3 "sampler")& +3 "core"  +2 "collection"''% +3 "core" %@A +4 "processing"%(% +5 "core" %D +2 "sampler"))% +37 "core" % +8 "collection"'*& +4 "core" &@A +2 "processing"%+& +3 "core" &  +2 "manipulator"&,% +4 "core" %\ / +2 "manipulator"&-& +4 "core" &, = +2 "storage"(.& +4 "core" &U +2 "storage"(/% +4 "core" %\\ i +2 "collection"'09 +4 "core" 9 +2 "processing"%19 +3 "core" 9 +3326 #t-> access 1 +2 "storage"(2% +3 "core" %\\  +2 "manipulator"&3% +4 "core" %\  / +2 "manipulator"&4& +3 "core" &, | = +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<* +1281 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<' ~ +4541 #t-> access 2 +2 "storage"(7% +3 "core" %\\  +2 "manipulator"&8% +3 "core" %\ / +2 "manipulator"&9& +4 "core" &, = +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(:(K +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K  +2424 #t-> access 3 + "storage"(<% +4 "core" %]  +2 "manipulator"&=% +3 "core" %\  s . +2 "manipulator"&>& +3 "core" &, e = +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(?([ +330 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +3 "core" &[  +1995 #t-> require 'shuffle.rb' +1351 #-> 25.times {shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'A& +3 "core" &BC +2 .tHand.open +2 "manipulator"&B1 +18 "core" 1 +2 "manipulator"&C% +3 "core" %\  . +2 "storage"(D% +4 "core" %^  +2 "storage"(E. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(F( +591 .tSC.hold +2 "storage"(G, +3 "core" (>`\ 2\ 4 ` +13 , +2 .tSC.stop + "storage"(6 +4 .tSE.seek :down +2 "storage"(H'X +3 "core" ' +2 .tSE.stop +2 "storage"(5 +3 "manipulator"&I% +3 "core" %\  g . +2 !to:IRB::Abort: mesg"(Storage Carousel seek to 2 Aborted!:@checkpoint: omitted:bt["7/home/esp/esp2/lib/slide.rb:372:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:362:in `times'"7/home/esp/esp2/lib/slide.rb:362:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"1/home/esp/esp2/utils/storage.rb:139:in `to!'":/home/esp/esp2/utils/puckmoves.rb:245:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:363:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):6:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +4 "core" %CC + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %4 +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +2 "core" % +2 .tSS.configure :default +3 "sampler")#.0XY  +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +3 "core" %^ 8 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast + "collection"' +2 .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast +2 "processing"% +2 .tPH.configure :default +2 "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +2 "processing"%% +6 "manipulator"&% +2 "core" %BD + "sampler")% +7 "core" %3 +2 %\   . + % +2 "manipulator"&& +6 "core" &, - = + "storage"(& +4 "core" &>Y F +2 "storage"(% +4 "core" %^  + "collection"'& +3 "core" &CF +2 "processing"%& +4 "core" &;  +2 "collection"' +3 "core"  +2 "collection"' +3 "core"  +2 "collection"'  +4 "core"  +2 "processing"%! +2 "core"  +3 "processing"%" +3 "core" V +2 "processing"%# +3 "core"  +2 "processing"%$ +4 "core" A +2 "sampler")% +2 "core"  +3 "collection"'&% +3 "core" %ED +3 "processing"%'% +3 "core" %< +3 "sampler")(% +3 "core" % +4 "collection"')& +3 "core" &BC +37 "processing"%*& +9 "core" &>  +2 "manipulator"&+% +3 "core" %\  a . +3 "manipulator"&,& +3 "core" &,  = +2 "storage"(-& +5 "core" &>Y  +2 "storage"(.% +3 "core" %^  +2 "collection"'/9 +4 "core" 9 +2 "processing"%09 +3 "core" 9 +1045 #t-> require 'shuffle.rb' +1140 #-> 25.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" &DE +2 .tHand.open +2 "manipulator"&21 +24 "core" 1 + "manipulator"&3% +4 "core" %\  ? . +2 "storage"(4% +3 "core" %^  +2 "storage"(5. +4 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6( +1011 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +5 "core" &  +2 "manipulator"&8& +3 "core" &, % = +2 "manipulator"&9% +4 "core" %\  ~ . +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +203 "core" ( + "manipulator"&;& +5 "core" & P + "storage"(<& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +102 "core" ' + "storage"(>& +4 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +279 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (A& +2 "core" & E +3 "manipulator"&B& +3 "core" & P +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" & > +2 "storage"(E& +3 "core" & _ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(I'X +8 "core" &  +2 "manipulator"&J% +4 "core" % i +2 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&M& +4 "core" &'  V >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &' | >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'" +99 "core" ' +2 "manipulator"&P& +3 "core" &( >H +2 "manipulator"&Q% +5 "core" %' 3 + "collection"'R& +5 "core" &DF +2 "collection"'S& +5 "core" &DE +2 .tCC.seek :closed +2 "collection"'T(V +5 "core" &BE +7 &8GE #c +9 &ZCB 6 +9 &BD H +10 &jDG G +9 &pCE G +10 &LhDD G +9 & kBD H +9 &nCE G +10 &nCC H +9 &SlDD H +9 & mBD G +10 &!jDC G +9 &#mDD G +10 &%[iDC H +9 &'kCC H +9 &(kCE H +10 &*kCE H +9 &,ehEE G +9 &.&mDC G +10 &/nDD G +9 &1jCF G +10 &3lhBF G +9 &5/jCE G +9 &6kDF G +10 &8gDD G +9 &:tnBE G +9 &<5jFF H +10 &=mCC H +9 &?iFE G +10 &A|nBE G +10 &C>jEC G +8 &DpBD H +10 &FyDE I +9 &HzDD K +9 &J/EE P +10 &KFD Q +9 &MBD Q +10 &OoDE Q +9 &Q1DE Q +9 &RDC R +10 &TDF S +9 &V YDD ; +9 &VxGE @ +6 ( +2 "collection"'S& +4 "core" &VTCF @ +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&U1 +63 "core" 1 +3 "manipulator"&V% +7 "core" % ' c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +5 "core" &:  + "manipulator"&Y% +4 "core" %\  & +2 "storage"(Z% +4 "core" %b  +35 "storage"([. +10 "core" .( +3 "storage"(\\& +4 "core" &  + "storage"(]& +4 "core" &  +2 "manipulator"&^& +4 "core" &'  >H +2 "manipulator"&_% +4 "core" %\   & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +156 "core" ( +2 "manipulator"&a& +4 "core" & 2  +2 "storage"(b& +4 "core" & u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +104 "core" ' +2 "storage"(d& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'i +283 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +3 "core" & +2 "manipulator"&h& +4 "core" & .  +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&j& +5 "core" &  + "storage"(k& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&l' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +3 "storage"(o'X +7 "core" &  +2 "manipulator"&p% +3 "core" %  U +3 .tForearm.seek :retract +2 "manipulator"&q'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&r(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&s& +4 "core" &o  B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +104 "core" ' + "manipulator"&v& +5 "core" &o  ] + "manipulator"&w% +5 "core" % $ +2 "processing"%x& +4 "core" &C  +2 "processing"%y& +5 "core" &B  +2 .tPC.seek :closed +3 "processing"%z(Z +4 "core" &?  +5 &B @ +10 &*M@ 1 +9 &q}@ E +9 &)n> H +10 &p> H +9 &t? H +10 &pqA H +9 &3p@ G +9 &q? H +10 &oA H +9 &xqA H +9 &!9t@ H +10 &"pA H +9 &$s4 H +9 &&n1 G +10 &(Bo7 H +9 &*q6 H +10 &+p1 H +9 &-p1 H +9 &/Jp0 H +10 &1 u3 H +9 &2p2 H +10 &4p2 H +9 &6So4 G +9 &8p9 H +10 &9s; H +9 &;p0 H +9 &=[p5 G +10 &?p: H +9 &@o2 H +9 &Bq1 H +10 &D`s. H +9 &F y0 I +10 &G7 J +9 &I0 L +9 &KZ2 M +10 &M0 M +9 &N/ M +10 &P3 M +13 &Rb- M +5 &T#/ N +10 &U2 M +9 &W1 N +9 &Yi/ ; +10 &Zh?3 P +9 &Z#$ + +2 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&{1 +59 "core" 1 +2 "manipulator"&|% +3 "core" % } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +3 "processing"%~& +3 "core" &Z # + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  +2 "storage"(% +3 "core" %V +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" & +2 "storage"(& +3 "manipulator"&& +5 "core" & +2 &o  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +3 "storage"('i + "manipulator"& (s +6 "core" ( +2 "manipulator"& & +3 "core" &o } +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &o  +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(- +3 "core" -'i +36 ."raiseStack"SE.configure :default +10 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +261 ( +2 "storage"(& +3 "core" & + +2 "manipulator"&& +5 "core" &o +2 "manipulator"&% +3 "core" %  j +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +267 "core" ( +2 "manipulator"&& +3 "core" &  4  +3 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +91 "core" ' +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(!- +3 "core" -' +2 "storage"("& +3 "core" & p o +2 "manipulator"&#& +4 "core" & m  +2 .tElbow.seek 2 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&%& +3 "core" &  +2 "storage"(&& +4 "core" & p p  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"((' +56 "core" ' +2 "manipulator"&)& +3 "core" &  +2 "storage"(*& +4 "core" & ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&+' +20 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +23 "core" ' +2 "manipulator"&.% +3 "core" % +2 "storage"(/& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&0' +19 "core" ' +2 "manipulator"&1& +3 "core" &  +3 "storage"(2& +3 "core" & M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +26 "core" ' +2 "storage"(4% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(5'X +98 (7% +3 "core" %{V e b T PI +2 "manipulator"&8% +4 "core" % ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" & 4 +2 "collection"'<& +3 "core" &VTGF @ +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  * +2 "storage"(>% +3 "core" %b +2 "storage"(. +4 "core" .( + "storage"(@& +4 "core" & +2 "storage"(A& +4 "core" & +2 "manipulator"&B& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&D( +4 "core" ( +2 "manipulator"&E& +3 "core" & 5  +3 "storage"(G& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +99 "core" ' +2 "storage"(J& +3 "core" & w +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +280 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +2 "core" & m  +2 "storage"(N& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&?' +31 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +37 "manipulator"&$&.,(\ #b +10 "storage"(P- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'S +29 "core" ' +2 "manipulator"&R% +3 "core" % D +2 "storage"(C& +4 "core" & h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&I' +19 "core" ' +2 "manipulator"&K& +3 "core" & d  +3 "storage"(\ & +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'B +42 "core" ' + "manipulator"&X& +4 "core" &  +2 "manipulator"&Y% +4 "core" %ѽ d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +152 "core" ( +2 "manipulator"&[& +4 "core" &&  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" && ! =C +2 .tForearm.seek CC +2 "manipulator"&]'" +93 "core" ' +2 .tHand.close + "manipulator"&^/ +58 "core" / +2 .tCC.seek :open + "collection"'_( +413 "core" ( +3 "storage"(O& +3 "core" &  +2 "storage"(a& +4 "core" & < +2 "manipulator"&b& +3 "core" && =B +2 "manipulator"&d% +5 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +153 "core" ( +2 "manipulator"&f& +4 "core" & |  +2 "storage"(g& +3 "core" & J +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +104 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&k1 +58 "core" 1 +2 "manipulator"&m% +3 "core" % F N +2 "storage"(n& +4 "core" & s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +3 "manipulator"&p' +21 "core" ' + "manipulator"&`& +4 "core" &  +2 "storage"(c& +3 "core" & 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +26 "core" ' +2 "storage"(l% +3 "core" %G : +3 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (t% +3 "core" %;N  OD +2 "manipulator"&i% +4 "core" %ѩ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'w& +3 "core" &FE +2 "manipulator"&x% +4 "core" %\  h  +2 "storage"(o% +4 "core" %b  +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" &   +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +19 "core" ( +2 "manipulator"&& +4 "core" & 0 D + "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"(y& +3 "core" & H  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +38 "core" & k  +11 "manipulator"& & +3 "core" & D +3 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&u& +3 "core" & - D +3 "storage"(& +3 "core" & }   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z'X +9 "core" &  D + "manipulator"&% +4 "core" % ϣ ? 1 +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &(  @ ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( > ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +104 "core" ' +2 "manipulator"&& +4 "core" &) ?U +2 "manipulator"& % +4 "core" % d \\ +2 "collection"'& +4 "core" &DD +3 "collection"'& +4 "core" &FD +3 .tCC.seek :closed +2 "collection"'!(V +3 "core" &DE  +9 &6DG )w +9 &jCD = +10 &yCE G +9 &vjCC G +9 &8jBE G +10 &nDE G +9 &jFB G +10 &}hDD G +9 &@kCD G +9 &jFE G +10 & nDD G +9 &"kBD G +9 &$HkDE G +10 && kEE F +9 &'kCF G +10 &)hDC G +9 &+PkCF G +9 &-mFE G +10 &.jDE F +9 &0lDD G +9 &2XkCF G +10 &4nCE G +9 &5iBE F +10 &7jDE G +9 &9`mCF G +9 &;!hCE G +10 &<jDE G +9 &>kCE F +9 &@hkCD G +10 &B+kCE F +9 &CmDE G +10 &ErBE H +9 &GhDC J +9 &I$FD L +10 &JDF P +9 &LCG Q +9 &N[CF Q +10 &PCG Q +9 &QEE R +10 &SDF S +9 &U\\GF A +9 &VLDE Y +10 &V0DDE %p +9 &WODF A +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&"1 +63 "core" 1 +3 "manipulator"&#% +3 "core" %  [ \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%&& +3 "core" &9 +2 "manipulator"&% +4 "core" %\  q  +2 "storage"()% +3 "core" %^  +2 "storage"(*. +4 "core" .( + "storage"(& +4 "core" & x  +2 "storage"(.& +4 "core" &   +2 "manipulator"&/& +3 "core" &( ?U +2 "manipulator"&% +4 "core" %\  F  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&1( +162 "core" ( +2 "manipulator"&2& +3 "core" &  g +2 "storage"(4& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(& +3 "core" & D  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +281 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" & 8  +2 "manipulator"&'& +4 "core" & g +2 .tElbow.seek 3 +2 "manipulator"&$( +2 "core" ( +2 "manipulator"&(& +5 "core" & c g + "storage"(+& +4 "core" & 9  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"('X +8 "core" & X g +2 "manipulator"&>% +3 "core" % ϧ N +3 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&@& +3 "core" &w (  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +39 &A& +10 "core" &w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +97 "core" ' +2 "manipulator"&E& +3 "core" &w c  +3 "manipulator"&G% +3 "core" %   +4 "processing"%3& +3 "core" &9 +3 "processing"%J& +5 "core" &> +2 .tPC.seek :closed +2 "processing"%5(Z +5 "core" &? +6 &>A #a +9 &Y@ 6 +10 &A H +9 &lA G +10 &pA G +9 &OoA G +9 &o> G +10 &n> G +9 &r= H +9 &Vu7 H +10 & p8 H +9 &!p7 G +10 &#o2 G +9 &%^p1 H +9 &' s1 H +10 &(r0 H +9 &*p/ H +9 &,fs1 H +10 &.'n1 H +9 &/n2 G +10 &1n8 H +9 &3nl2 H +9 &51n: G +10 &6n: H +9 &8r; H +9 &:vl4 H +10 &<8m4 H +9 &=k2 H +10 &?m1 H +9 &A~k4 H +9 &C@n0 H +10 &Es2 H +9 &F}1 J +9 &H}1 K +10 &J<3 L +9 &K1 M +10 &M4 M +9 &O% M +9 &QA- M +10 &S2 N +9 &T0 M +9 &V0 M +10 &XG. N +9 &Yv{- #n +10 &Z.$ / +9 ( + &Z# " +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&,1 +61 "core" 1 +2 "manipulator"&9% +4 "core" %  5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +92 "core" ' +2 "processing"%M& +3 "core" &Z$ " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\  K  +2 "storage"(P% +3 "core" %b } +2 "storage"(R. +4 "core" .( +2 "storage"(C& +3 "core" & ^  +2 "storage"(K& +3 "manipulator"&\ & +6 "core" & r  +2 &w B  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +2 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&X(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +3 "manipulator"&H& +4 "core" &w J  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &w  +3 .tForearm.seek PC + "manipulator"&:' +132 "core" ' +3 .tHand.close +2 "manipulator"&?/ +54 "core" / +2 .tPC.seek :open +2 "processing"%I( +61 "core" ' +2 "storage"(Q- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +35 "core" ' +325 ( +2 "storage"(\\& +4 "core" &   +2 "manipulator"&U& +4 "core" &w '  +2 "manipulator"&F% +3 "core" % M +3 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +265 "core" ( +2 "manipulator"&T& +3 "core" &  \ +3 "storage"(O& +4 "core" & l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +87 "core" ' +2 .tHand.open + "manipulator"&b1 +64 "core" 1 +3 "storage"(d- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(f'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' + "storage"(Z& +4 "core" & H J  +2 "manipulator"&k& +4 "core" & _ \ +2 .tElbow.seek 3 + "manipulator"&m( +3 "core" ( +3 "manipulator"&n& +4 "core" & H \ + "storage"(`& +4 "core" &\ +   +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +55 "core" ' +2 "manipulator"&L& +3 "core" & d \ +3 "storage"(t& +3 "core" & h  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +38 "manipulator"&i'} +31 "core" ' +2 .tElbow.hold + "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +28 "core" ' +2 "manipulator"&w% +3 "core" %΄ y +2 "storage"(p& +5 "core" & n  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&x'ϰ +20 "core" ' +2 "manipulator"&o& +3 "core" & \ +2 "storage"(q& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +27 "core" ' +2 "storage"(e% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (6% +2 "core" %[U l d [ QI +2 "manipulator"&{% +5 "core" %8 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & t  +2 "collection"'& +4 "core" &WLCE A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&y% +4 "core" %\ g  + "storage"(j% +4 "core" %b  +2 "storage"(v. +4 "core" .( + "storage"(& +4 "core" & B  +2 "storage"(& +3 "core" &   +2 "manipulator"& & +4 "core" & l \ +3 .tElbow.seek 3 + "manipulator"&u( +5 "core" ( + "manipulator"&& +4 "core" & \ +2 "storage"(r& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +97 "core" ' +2 "storage"(& +3 "core" & @  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o \ +2 "storage"(& +4 "core" & w  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'T +33 "core" ' +2 "manipulator"& % +3 "core" %Ή u +2 "storage"(& +5 "core" & o  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&z'ϵ +20 "core" ' +2 "manipulator"&& +4 "core" & D \ + "storage"(_& +4 "core" & Z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(#'C +40 "core" ' + "manipulator"&&& +4 "core" & 7 \ +2 "manipulator"&% +4 "core" %B F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +159 "core" ( +3 "manipulator"&& +4 "core" &* w @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* @[ +2 .tForearm.seek CC +2 "manipulator"&.'" +95 "core" ' +2 .tHand.close + "manipulator"&// +53 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &   + "storage"(2& +4 "core" & 4  +2 "manipulator"&4& +3 "core" &* @[ +2 "manipulator"&% +4 "core" %  t +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&%( +160 "core" ( + "manipulator"&7& +41 "core" & B n +9 "storage"(8& +8 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +7 "manipulator"&''} +96 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +55 "core" 1 +2 "manipulator"&;% +5 "core" %   = + "storage"(<& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&>'ϫ +21 "core" ' +2 "manipulator"&1& +3 "core" & ; o +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +34 "core" ' + "storage"(0% +4 "core" %J  +3 ."downElevator"SE.seek :down +3 "storage"(@'X +100 ($% +3 "core" %7R  PF +2 "manipulator"&A% +3 "core" %. +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +89 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" &EE +2 "manipulator"&3% +4 "core" %\  G  +2 "storage"(% +4 "core" %a  +2 "storage"(-. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" & / +2 "manipulator"&9& +3 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&M( +34 "core" ( + "manipulator"&N& +4 "core" & x % +2 "storage"(P& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +87 "core" ' +2 "storage"(C& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +280 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & W +2 "manipulator"&H& +3 "core" & { "~ +3 .tElbow.seek 2 +2 "manipulator"&D( +19 "core" ( +2 "manipulator"&B& +4 "core" & 8  +3 "storage"(?& +4 "core" & +2 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(5'X +8 "core" &   +2 "manipulator"&Y% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&F& +3 "core" &* / + @Y +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &* ( F @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'" +102 "core" ' +3 "manipulator"&O& +3 "core" &* @Y +3 "manipulator"&X% +4 "core" %% +2 "collection"'b& +4 "core" &GE +3 "collection"'d& +5 "core" &AC +2 .tCC.seek :closed +2 "collection"'](V +3 "core" &ED +8 &BBE #c +10 &[ED 6 +9 &DE G +9 &fBB F +10 &kDC G +9 &ZlCC G +9 &nDD G +10 &hED G +9 &iBE F +10 &bjDD G +9 & $mDE G +9 &!hDE G +10 &#kDE G +9 &%ihDD G +9 &'-jEC F +10 &(jCE G +9 &*mBD G +10 &,rgCF G +9 &.4gCE G +9 &/jEC F +10 &1lEF G +9 &3znCB G +10 &5<gEE G +9 &6hCE G +9 &8gEF F +10 &:jDE G +9 &hCC G +10 &?jDE F +9 &AjDF G +9 &CLnCD G +10 &E pED G +9 &FzFF H +10 &HBG J +9 &J=DE O +42 &KED Q +9 &MBG Q + &O|BE Q + &Q=FD Q + &RFD R +3 &TFE R +9 &V2fCE , +9 &VDE N +9 ( +2 "collection"'d& +4 "core" &VkDF F +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&Z1 +53 "core" 1 +3 "manipulator"&k% +3 "core" % $ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +101 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +4 "core" &B +2 "manipulator"&^% +4 "core" %\  +2 "storage"(L% +3 "core" %` +2 "storage"(t. +4 "core" .( +2 "storage"([& +4 "core" & + "storage"(w& +5 "core" & + "manipulator"&f& +4 "core" &( ?V +2 "manipulator"&p% +4 "core" %\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&o( +161 "core" ( +2 "manipulator"&q& +3 "core" & ^  +3 "storage"(S& +4 "core" & ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +85 "core" ' +2 "storage"(a& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'i +280 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +3 "core" & i  +3 "storage"(i& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(y'X +8 "core" & {  +2 "manipulator"&j% +3 "core" %  C +3 .tForearm.seek :retract +2 "manipulator"&h'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&& +4 "core" &r 3 = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +100 "core" ' +2 "manipulator"&& +3 "core" &r  m +2 "manipulator"&r% +4 "core" % / +2 "processing"%V& +4 "core" &A +3 "processing"%& +5 "core" &= +2 .tPC.seek :closed +3 "processing"%s(Z +4 "core" &= +5 &@ 3 +10 &AKA . +9 &wwB C +9 &)rA G +10 &nA H +9 &m@ G +10 &onA G +9 &1m@ G +9 &n? G +10 &m@ G +9 &vn> H +9 &!8q@ H +10 &"q7 H +9 &$q7 G +10 &&m2 G +9 &(@m1 H +9 &*q0 H +10 &+r1 H +9 &-r1 H +9 &/Hq1 H +10 &1 p3 H +9 &2n0 G +10 &4n/ G +9 &6Pk9 H +9 &8k; G +10 &9p3 G +9 &;l4 H +9 &=Xq2 H +10 &?n/ H +9 &@m1 G +10 &Bq1 H +9 &D`p2 H +9 &F!u2 H +10 &G3 I +9 &I1 L +9 &KZ/ M +10 &M2 M +9 &N1 M +10 &P. L +9 &R`5 M +9 &T"0 M +10 &U1 N +9 &W2 N +9 &Yg0 : +10 &Zg=3 T +9 &Z&5 , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&W1 +63 "core" 1 +2 "manipulator"&|% +3 "core" % e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 "processing"%& +3 "core" &Z , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ _  +2 "storage"(% +4 "core" %W g v E +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" & ? +2 "storage"(& +3 "manipulator"&_& +6 "core" & u  + &r R +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +41 "storage"(&'i +9 "manipulator"&(s +6 "core" ( +2 "manipulator"&}& +3 "core" &r X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &r * +3 .tForearm.seek PC +2 "manipulator"&~' +94 "core" ' +3 .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%z( +78 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +51 "core" ' +292 ( +3 "storage"(& +3 "core" & +3 "manipulator"&"& +4 "core" &r + "manipulator"&% +4 "core" % r +3 .tForearm.seek :retract + "manipulator"&/'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +268 "core" ( +2 "manipulator"&!& +3 "core" & " [ +2 "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +100 "core" ' +2 .tHand.open +2 "manipulator"&41 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(.' +46 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(*& +3 "core" & N T +3 "manipulator"&+& +4 "core" & h +2 .tElbow.seek 2 + "manipulator"&;( +3 "core" ( +3 "manipulator"&<& +4 "core" & [ + "storage"(1& +4 "core" & J J 7 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(0' +55 "core" ' +2 "manipulator"&& +3 "core" & +3 "storage"($& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&A' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(''i +25 "core" ' +2 "manipulator"&>% +3 "core" % K +2 "storage"(G& +4 "core" & l u 4 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&3' +20 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(-& +4 "core" & 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +32 "core" ' +2 "storage"( % +3 "core" %s a +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 ( % +3 "core" %uY a l 6 PH +2 "manipulator"&,% +4 "core" %с ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +95 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (N& +3 "core" & p +3 "collection"'P& +4 "core" &VkDF F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&C% +3 "core" %\ ;  +2 "storage"((% +4 "core" %b = +2 "storage"(E. +3 "core" .( +2 "storage"(K& +4 "core" & t +2 "storage"(\ & +3 "core" & 2 +2 "manipulator"&H& +4 "core" & e +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&?& +4 "core" & U +2 "storage"(& +3 "core" & = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +96 "core" ' + "storage"(Y& +4 "core" &  +40 .tSE.reconfigure :pick +10 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +285 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & t +3 "storage"(:& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&J' +32 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(D'U +28 "core" ' +2 "manipulator"&X% +3 "core" % W $ +2 "storage"(b& +4 "core" & v n : +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&5' +20 "core" ' + "manipulator"&\\& +4 "core" & M +2 "storage"(& +3 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'D +39 "core" ' + "manipulator"&`& +4 "core" & w +2 "manipulator"&^% +3 "core" %у x +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +169 "core" ( +3 "manipulator"&[& +3 "core" &+  A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +2 "core" &+ A A_ +3 .tForearm.seek CC +2 "manipulator"&w'" +93 "core" ' +2 .tHand.close + "manipulator"&f/ +56 "core" / +2 .tCC.seek :open +2 "collection"'p( +416 "core" ( + "storage"(T& +4 "core" & I +2 "storage"(q& +4 "core" &  +2 "manipulator"&S& +4 "core" &* R @W +2 "manipulator"&a% +3 "core" % , [ +3 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +157 "core" ( + "manipulator"&c& +5 "core" &   + "storage"(6& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&{' +97 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +63 "core" 1 +2 "manipulator"&% +4 "core" % " +2 "storage"(& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&j' +21 "core" ' +2 "manipulator"&o& +3 "core" & K  +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +24 "core" ' + "storage"(x% +4 "core" %M ! +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %N  OD +2 "manipulator"&m% +3 "core" %ѩ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'r& +3 "core" &CE +3 "manipulator"&V% +3 "core" %\    +2 "storage"(y% +4 "core" %a  +2 "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(I( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" & &  +2 "manipulator"&|& +4 "core" & w  +2 .tElbow.seek 3 +2 "manipulator"&( +43 "core" ( +9 "manipulator"&& +3 "core" & i +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +103 "core" ' +2 "storage"( & +3 "core" & f  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +4 "core" & +  +2 "manipulator"&}& +4 "core" & 1 i +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( +2 "manipulator"& & +3 "core" & O i +2 "storage"(& +5 "core" & _  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(s'X +8 "core" & / i +2 "manipulator"&&% +3 "core" % Ϭ Z +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&"( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +5 "core" &) $ ! @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &)  @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'" +98 "core" ' +2 "manipulator"&& +3 "core" &* # O @^ +3 "manipulator"&% +3 "core" % +2 "collection"'4& +5 "core" &DF +2 "collection"'& +5 "core" &DC +2 .tCC.seek :closed +2 "collection"'8(V +4 "core" &BE +6 &8CF #a +10 &YCG 5 +9 &CD G +9 &dEF F +10 &nCF G +9 &MjDD G +10 &kDE G +9 &hDE F +9 &iED F +10 &UkCE G +9 & gDD F +9 &!jDD F +10 &#nDD F +9 &%]hDG G +10 &'jEE G +9 &(gFD F +9 &*mDC F +10 &,emBD G +9 &.'jDD G +10 &/kDF G +9 &1hEE G +9 &3nmCD F +10 &5/gCD G +9 &6jCC G +9 &8eEE F +10 &:vhDD F +9 &<8jCD F +9 &=hCF G +10 &?mED F +9 &A}mDE G +10 &C?kCD G +9 &EqDD G +9 &FvCE I +10 &H{DD J +9 &J0DF O +9 &KFF P +10 &MCD Q +9 &OoBD Q +10 &Q2EF Q +9 &RDC R +9 &TED R +10 &V(]DE 5 +9 &VDF )v +9 &VDF R +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&*1 +60 "core" 1 +2 "manipulator"&+% +4 "core" %  - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%1& +3 "core" &; +2 "manipulator"&/% +3 "core" %\   +3 "storage"(% +3 "core" %a o y +2 "storage"($. +3 "core" .( +2 "storage"(& +3 "core" & y y  +2 "storage"(>& +5 "core" & l p N  + "manipulator"&G& +4 "core" &) @^ +2 "manipulator"&7% +4 "core" %\  t  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +156 "core" ( +2 "manipulator"&-& +3 "core" & 9  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +92 "core" ' +2 "storage"(2& +3 "core" & .  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'i +277 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" & l r  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&0& +3 "core" & K  +2 "storage"(A& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +111 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(C'X +8 "core" &   +2 "manipulator"&(% +3 "core" % ϲ ) +3 .tForearm.seek :retract +2 "manipulator"&E'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&'(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&K& +5 "core" &q * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &q A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +104 "core" ' +2 "manipulator"&?& +3 "core" &q ? +3 "manipulator"&% +3 "core" %  g +3 "processing"%#& +4 "core" &C +2 "processing"%Y& +4 "core" &8 +3 .tPC.seek :closed + "processing"%@(Z +4 "core" &=  +9 &5E )v +10 & i> = +9 &~A H +9 &bk@ H +10 &$k@ H +9 &rB H +10 &p@ H +9 &kk@ G +9 &-nA G +10 &r> H +9 & pA G +9 &"rm? H +10 &$3p2 H +9 &%l= H +10 &'s8 G +9 &)zm6 H +9 &+<p1 H +10 &,n0 H +9 &.k7 G +9 &0n3 G +10 &2Cr0 H +14 &4r3 G +5 &5n2 G +11 &7q1 H +7 &9Lo2 H +10 &;j/ G +9 &<n1 G +9 &>p: G +10 &@Ts: H +9 &Bo: H +10 &Cs; H +9 &Es; H +9 &GX5 I +10 &I9 K +9 &J9 M +9 &L; M +10 &NV2 M +9 &P3 M +10 &Q5 M +9 &S6 N +9 &U[. N +10 &W8 N +9 &X3 N +9 &Z1Dc. %m +10 &Z;1 ! +5 ( +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.35 +2 .Hand.open + "manipulator"&%1 +4 "core" &Z4 ! +58 1 +2 "manipulator"&9% +3 "core" %  g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +90 "core" ' +2 "processing"%F& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&:% +4 "core" %\  .  +2 "storage"(O% +3 "core" %R m f Q +2 "storage"(X. +4 "core" .( + "storage"(b& +5 "core" & m e  +2 "storage"(\\& +2 "manipulator"&& +7 "core" & w g |  +2 &q + .tElbow.reconfigure :tight +7 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&`(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(^'i +2 "core" ( + "manipulator"&=& +6 "core" &q P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &q +3 .tForearm.seek PC +2 "manipulator"&M' +93 "core" ' + .tHand.close +2 "manipulator"&J/ +56 "core" / +3 .tPC.seek :open +2 "processing"%5( +89 "core" ' +2 "storage"(D- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +32 "core" ' +298 ( + "storage"(d& +4 "core" & k s c  +2 "manipulator"&Z& +3 "core" &q g +2 "manipulator"&Q% +4 "core" % m  +3 .tForearm.seek :retract + "manipulator"&f'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&L( +269 "core" ( +2 "manipulator"&]& +3 "core" & |  +2 "storage"(T& +3 "core" & a b 7  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +95 "core" ' +2 .tHand.open + "manipulator"&S1 +65 "core" 1 +2 "storage"(a- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(6' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(w- +2 "core" -' +3 "storage"(t& +3 "core" &\ B\ B x  +2 "manipulator"&i& +44 "core" & 4  +10 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  I  +3 "storage"(o& +3 "core" &\ B\ A  +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +52 "core" ' +2 "manipulator"&U& +3 "core" & j  +3 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&m'} +25 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"({'i +25 "core" ' + "manipulator"&j% +4 "core" %x U +2 "storage"(r& +3 "core" & a i h  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&V'Ϥ +19 "core" ' +2 "manipulator"&y& +3 "core" & C  +2 "storage"(h& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +34 "core" ' + "storage"(g% +5 "core" %s +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %~W o o  QH +2 "manipulator"&W% +3 "core" %Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  +2 "collection"'& +4 "core" &VFE R +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\ @  +2 "storage"(l% +4 "core" %]  +2 "storage"(. +2 "core" .( +2 "storage"(& +5 "core" & K  + "storage"(_& +4 "core" & @  +2 "manipulator"&}& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"( & +3 "core" & #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + "storage"(&& +4 "core" & e  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(~& +4 "core" & n  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +27 "core" ' +2 "manipulator"&u% +3 "core" %Ή ' +2 "storage"(4& +3 "core" & ]  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&s'ϵ +19 "core" ' +2 "manipulator"&& +3 "core" & n  +3 "storage"(p& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(+'B +39 "core" ' +2 "manipulator"&1& +3 "core" & Z  +2 "manipulator"&/% +5 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +166 "core" ( +3 "manipulator"&& +3 "core" &.  D{ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &. < D{ +2 .tForearm.seek CC +2 "manipulator"&>'" +100 "core" ' + .tHand.close +2 "manipulator"&G/ +55 "core" / +2 .tCC.seek :open + "collection"'7( +416 "core" ( +3 "storage"(!& +4 "core" &   +2 "storage"(-& +3 "core" & N  +3 "manipulator"& & +4 "core" &. ] Dz + "manipulator"&2% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&"'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +159 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(,& +5 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&A1 +60 "core" 1 +2 "manipulator"&N% +4 "core" % Ί  K +2 "storage"(P& +5 "core" & '  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&('϶ +20 "core" ' +2 "manipulator"&& +3 "core" & ;  +2 "storage"()& +5 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +28 "core" ' +2 "storage"(3% +3 "core" %L  +3 ."downElevator"SE.seek :down +5 "storage"(K'X +97 (\ % +3 "core" %XR  OE +2 "manipulator"&;% +5 "core" %# +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &FD +2 "manipulator"&#% +3 "core" %\  b  +3 "storage"(C% +3 "core" %b +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" &  +2 "manipulator"&9& +3 "core" & G  +3 .tElbow.seek 2 +2 "manipulator"&F( +30 "core" ( +2 "manipulator"&:& +4 "core" &  $ + "storage"(O& +4 "core" & @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +91 "core" ' + "storage"(b& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +279 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &  +2 "manipulator"&=& +3 "core" & "~ +3 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&H& +3 "core" & V "} +2 "storage"(J& +3 "core" & | +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&D' +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +60 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(@'X +8 "core" &  "} +2 "manipulator"&^% +4 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&d'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&Q& +3 "core" &* / ' @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &M& +2 "core" &* % < @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'" +103 "core" ' +3 "manipulator"&T& +3 "core" &* 4 @X +3 "manipulator"&`% +4 "core" % # +2 "collection"'S& +3 "core" &DE +3 "collection"'a& +5 "core" &CE +2 .tCC.seek :closed +2 "collection"'w(V +5 "core" &FD +6 &8ED #b +9 &ZEC 5 +10 &EG G +9 &eCF F +9 &fEF F +10 &VkEE F +9 &jDF G +10 &iDD G +9 &iDE F +9 &^fDD F +10 & kDD F +9 &!jDF G +9 &#jDF G +10 &%ejDE G +9 &'(jFE F +10 &(gDF F +9 &*jDE G +9 &,niDF F +10 &.1eHE F +9 &/kCE F +9 &1kFF G +10 &3viCE F +9 &58kDE F +9 &6jDE F +10 &8eDE F +9 &:}jCG G +10 &<@iED F +9 &>gDC F +9 &?lFG F +10 &AjEE F +9 &CHgCF F +10 &E kDD G +9 &FuCE H +9 &HGE J +10 &J9EF O +9 &KFF P +9 &MGE Q +10 &OyEG P +9 &Q;FF P +10 &RFG R +9 &THD R +9 &V)^CF / +10 &VEE H +8 ( +2 &V_EF C +2 "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&t1 +57 "core" 1 +3 "manipulator"&i% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &7 +3 "manipulator"&o% +4 "core" %\ \ w  +2 "storage"(U% +3 "core" %b  +2 "storage"(. +4 "core" .( + "storage"([& +4 "core" & +2 "storage"(c& +4 "core" & +2 "manipulator"&j& +3 "core" &* @W +2 "manipulator"&r% +4 "core" %\ \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&y( +156 "core" ( + "manipulator"&h& +4 "core" & D  +2 "storage"(g& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +97 "core" ' + "storage"(q& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &  +2 "manipulator"&e& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&x& +4 "core" &  +2 "storage"(m& +3 "core" & H +3 .tForearm.seek 2 + 300 counts + "manipulator"&V' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +8 "core" & d  +2 "manipulator"&l% +3 "core" % , +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +116 "core" ( +3 "manipulator"&& +4 "core" &i % k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &i =  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +48 "manipulator"&}' +95 "core" ' + "manipulator"&& +5 "core" &l >  + "manipulator"& % +5 "core" %  = +2 "processing"%k& +3 "core" &F +3 "processing"%&& +5 "core" &? +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &F  +8 &4E )v +9 &jF = +10 &D I +9 &_nB H +10 &"pF G +9 &qG H +9 &pA H +10 &gnE H +9 &*l@ G +9 &mE H +10 & pG G +9 &"okA H +10 &$1nH H +9 &%lB G +9 &'o? G +10 &)xrD G +9 &+:l> G +9 &,m? G +10 &.p: H +9 &0n/ G +10 &2Bn8 G +9 &4p. G +9 &5q4 G +10 &7k1 G +9 &9Jk- G +9 &; j6 G +10 &<k: H +9 &>n: H +10 &@Qp5 H +9 &Bm: H +9 &Cr; G +10 &Es; H +9 &GT~6 J +9 &I; K +10 &J; L +9 &L< L +9 &NT; L +10 &P: M +9 &Q9 M +10 &S8 M +9 &UZ: M +9 &W: N +10 &X8 M +9 &Z.Ei6 'q +9 &Z /- " +6 ( +2 "processing"%&& +3 "core" &Z6 " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.37 + .Hand.open +2 "manipulator"&n1 +63 "core" 1 +2 "manipulator"&|% +3 "core" % k = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 "processing"%& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\ `  +3 "storage"(% +3 "core" %] +2 "storage"(u. +3 "core" .( +2 "storage"(4& +4 "core" &  +2 "storage"(& +2 "manipulator"&p& +7 "core" & + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&1(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(/'i +2 "core" ( + "manipulator"&& +6 "core" &l {  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &l p  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +3 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%s( +88 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +32 "core" ' +299 ( + "storage"(& +4 "core" & * +3 "manipulator"&*& +4 "core" &m T  + "manipulator"&v% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&8& +3 "core" & n  +2 "storage"(!& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +93 "core" ' + .tHand.open +2 "manipulator"& 1 +62 "core" 1 +3 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"($& +3 "core" & \ O\ P j +2 "manipulator"&A& +4 "core" & N  +2 .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&P& +3 "core" &   +3 "storage"(& +3 "core" & \ O\ O  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +60 "core" ' +9 "manipulator"&"& +3 "core" &  +2 "storage"(\ & +4 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +26 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&(% +3 "core" % E +2 "storage"(& +4 "core" & w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&#' +19 "core" ' +2 "manipulator"&C& +3 "core" &  +3 "storage"(E& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +17 "core" ' +2 "storage"(.% +4 "core" %s   +2 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (I% +3 "core" %\ U b j  PH +2 "manipulator"&%% +4 "core" %Ѣ C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (:& +3 "core" & # +2 "collection"'O& +4 "core" &V_CF C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&b% +3 "core" %\ 8 +2 "storage"(0% +5 "core" %]  + "storage"(?. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(\\& +3 "core" &  +2 "manipulator"&=& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&J& +3 "core" & o  +2 "storage"('& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +102 "core" ' +2 "storage"(^& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'i +282 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +2 "core" & z  +3 "storage"(M& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&Y' +28 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(`'R +25 "core" ' +2 "manipulator"&B% +4 "core" % - h @ + "storage"(S& +4 "core" & ) +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&@' +19 "core" ' +2 "manipulator"&d& +3 "core" & U  +3 "storage"(7& +4 "core" & +6 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(i'A +39 "core" ' +2 "manipulator"&& +3 "core" & {  +3 "manipulator"&o% +3 "core" %ѧ K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( +3 "manipulator"&a& +3 "core" &&  d =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" && + =F +3 .tForearm.seek CC + "manipulator"&c'" +94 "core" ' + .tHand.close +41 "manipulator"&j/ +62 "core" / +2 .tCC.seek :open +2 "collection"'r( +416 "core" ( +2 "storage"(]& +3 "core" &  +2 "storage"(h& +4 "core" & 5 +2 "manipulator"&g& +4 "core" && =F +2 "manipulator"&q% +3 "core" % 1  +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&f( +156 "core" ( + "manipulator"&& +4 "core" & ?  +2 "storage"(W& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&e' +101 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +60 "core" 1 +3 "manipulator"&% +4 "core" % p V + "storage"(& +4 "core" & 7 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&l' +22 "core" ' + "manipulator"&y& +4 "core" & <  +2 "storage"(L& +3 "core" & < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +18 "core" ' +2 "storage"(V% +3 "core" %J  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (_% +3 "core" %O j OD +2 "manipulator"&% +4 "core" %ь +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +3 "core" &FE +2 "manipulator"&k% +3 "core" %\  x  +2 "storage"( % +4 "core" %S ( +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(5( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (n& +2 "core" & $  +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( +2 "manipulator"&~& +3 "core" & a +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +96 "core" ' + "storage"(&& +4 "core" & :  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +279 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & C  +2 "manipulator"&& +4 "core" & : a +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&}& +3 "core" & $ a +2 "storage"(& +4 "core" & !  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & x a +2 "manipulator"&/% +3 "core" % ϥ +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +48 "core" ( +4 "manipulator"&v& +3 "core" &* E @W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'" +98 "core" ' +3 "manipulator"&!& +3 "core" &* / @W +3 "manipulator"&1% +3 "core" %$ +3 "collection"' & +3 "core" &ED +3 "collection"'2& +6 "core" &DE +2 .tCC.seek :closed +3 "collection"'>(V +4 "core" &CD +5 &ED : +9 &ROCG 0 +10 &}DE D +9 &TgCF G +10 &gCE F +9 &eBD F +9 &dDE F +10 &]jAE F +9 &jFD F +9 &jCE F +10 &kDE F +9 &!dhDE G +10 &#&hDE G +9 &$iFE G +9 &&hDE F +10 &(neDD F +9 &*/iCD F +9 &+eFF F +10 &-hDD F +9 &/vgDE F +10 &16jCD G +9 &2iCD F +9 &4kCG F +10 &6}hDE F +9 &8?iDP F +9 &:fBF F +10 &;hDF F +9 &=fEE F +10 &?GiBC F +9 &A\ fDE F +9 &BjCG G +10 &DkCE G +9 &FMrDD G +9 &H\ BF I +10 &IDD L +9 &KwEE Q +10 &M8FF Q +9 &NDD P +9 &PDF Q +10 &R|DF R +9 &T<DE R +9 &UtFE B +10 &V~FF "c +9 &V'ED I +9 ( +3 "collection"'2& +2 "core" &VdDF D +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&$1 +53 "core" 1 +3 "manipulator"&A% +5 "core" %  I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &: + "manipulator"&G% +4 "core" %\ \  +2 "storage"("% +4 "core" %b +2 "storage"(\ . +2 "core" .( +2 "storage"((& +4 "core" &  +2 "storage"(& +4 "core" & c  +2 "manipulator"&& +3 "core" &* @W +2 "manipulator"& % +4 "core" %\ \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&C( +158 "core" ( +2 "manipulator"&E& +3 "core" & ` i +2 "storage"(.& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(-& +3 "core" & r  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'i +282 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & 9  +2 "manipulator"&)& +4 "core" & Y i +2 .tElbow.seek 3 +2 "manipulator"&N( +4 "core" ( +2 "manipulator"&3& +3 "core" & T i +3 "storage"(;& +4 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&#'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(b'X +8 "core" & S i +2 "manipulator"&% +3 "core" % ϭ  +3 .tForearm.seek :retract +2 "manipulator"&0'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&?(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&& +5 "core" &r 3 F  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +92 "core" ' +2 "manipulator"&J& +3 "core" &r }  +3 "manipulator"&'% +3 "core" % / $ +2 "processing"%+& +4 "core" &? +3 "processing"%^& +5 "core" &F +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" &? +6 &G : +10 &\\NB 0 +49 &|@ E +4 &XnA G +2 &pA H + &n@ H +2 &nB H + &_m; H +7 &!n> H +9 &m@ H +9 &n@ H +10 &!hn> G +9 &#*l@ G +9 &$k> G +10 &&p@ G +9 &(on4 H +10 &*1n= H +9 &+n6 H +9 &-p/ H +10 &/xn2 G +9 &1:q1 G +9 &2p7 G +10 &4n0 H +9 &6m2 G +9 &8Bn3 G +10 &:r1 G +9 &;o1 H +10 &=m1 G +9 &?Jp2 G +9 &A n1 H +10 &Bn2 G +9 &Dp: H +9 &FPu: H +10 &H 9 J +9 &I2 L +10 &K; L +9 &ML8 L +9 &O9 L +10 &P2 M +9 &R1 M +9 &TR2 M +10 &V4 M +9 &W5 M +10 &Y5 : +9 &Zz(s. S +9 &Z4 ( +3 ( + "processing"%^& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open +2 "manipulator"&<1 +55 "core" 1 +2 "manipulator"&9% +4 "core" % e $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' +2 "processing"%Q& +3 "core" &Z# ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\   , +2 "storage"(T% +3 "core" %V c c +2 "storage"(B. +4 "core" .( +2 "storage"(S& +4 "core" & d d  +2 "storage"(d& +2 "manipulator"&7& +7 "core" & c a A  + &r  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +3 "core" ( +2 "manipulator"&R& +3 "core" &r   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&F' +102 "core" ' +2 .tHand.close + "manipulator"&Y/ +55 "core" / +3 .tPC.seek :open +2 "processing"%@( +84 "core" ' +2 "storage"(`- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +32 "core" ' +305 ( +2 "storage"([& +4 "core" &  +2 "manipulator"&t& +3 "core" &r  +2 "manipulator"&D% +4 "core" % +3 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&U( +272 "core" ( +2 "manipulator"&w& +3 "core" & O  +2 "storage"(]& +4 "core" & u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +91 "core" ' + .tHand.open +2 "manipulator"&g1 +62 "core" 1 +2 "storage"(q- +4 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' + "storage"(& +5 "core" &\ M\ M @  + "manipulator"&m& +4 "core" & ,  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & >  +3 "storage"(y& +4 "core" &\ H\ M "  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(V' +58 "core" ' +2 "manipulator"&Z& +3 "core" &  +2 "storage"(_& +4 "core" & ?  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +48 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'i +23 "core" ' + "manipulator"& % +5 "core" % ] + "storage"(l& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&k'ϫ +22 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" & I  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +31 "core" ' +2 "storage"(6% +3 "core" %s 7  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (z% +3 "core" %R j d OF +2 "manipulator"&n% +4 "core" % j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (~& +3 "core" & ~ ?  +3 "collection"'& +4 "core" &VcDF D + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&&% +3 "core" %\   +3 "storage"(x% +3 "core" %\\  +2 "storage"(. +3 "core" .( +2 "storage"(p& +3 "core" &  +2 "storage"(& +4 "core" &   +2 "manipulator"&& +3 "core" & \\  +3 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +3 "core" & C  +2 "storage"({& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +104 "core" ' +2 "storage"(/& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & 4  +2 "storage"(v& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(!'R +29 "core" ' +2 "manipulator"&1% +3 "core" %·  +2 "storage"( & +3 "core" & 9  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +19 "core" ' +2 "manipulator"&& +3 "core" & U  +3 "storage"(r& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'A +39 "core" ' + "manipulator"&& +4 "core" & [  +2 "manipulator"&G% +4 "core" %? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&\ ( +167 "core" ( +3 "manipulator"&(& +4 "core" &+ ! 5 Ab + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &* !  Ab +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"' ( +415 "core" ( +2 "storage"(8& +3 "core" &   +2 "storage"(E& +4 "core" & m  +2 "manipulator"&.& +4 "core" &+ _ Aa +2 "manipulator"&-% +3 "core" % 1 H  +3 .tForearm.seek :retract +2 "manipulator"&*'\ +138 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P( +159 "core" ( +2 "manipulator"&I& +3 "core" & k z +3 "storage"(%& +3 "core" & ,  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&)'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +54 "core" 1 +3 "manipulator"&:% +5 "core" %  0 + "storage"(O& +4 "core" & g  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&'ϫ +19 "core" ' +2 "manipulator"&C& +3 "core" & , z +3 "storage"(& +3 "core" & 3  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +28 "core" ' +2 "storage"(#% +4 "core" %H  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (\\% +3 "core" %Q Z OD +2 "manipulator"&N% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"''& +3 "core" &ED +2 "manipulator"&+% +3 "core" %\ # ; +3 "storage"(b% +4 "core" %`  + "storage"(0. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(s( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &  +2 "manipulator"&9& +3 "core" & J z +3 .tElbow.seek 2 + "manipulator"&Q( +34 "core" ( +2 "manipulator"&M& +3 "core" &  ( +2 "storage"(T& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +99 "core" ' +2 "storage"(S& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(^'i +277 "core" ' +2 "storage"(7- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &  +2 "manipulator"&R& +4 "core" & S "{ +2 .tElbow.seek 2 +2 "manipulator"&H( +31 "core" ( +3 "manipulator"&=& +3 "core" & 4 A +2 "storage"(Y& +4 "core" & ~ +3 .tForearm.seek 2 + 300 counts + "manipulator"&`' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(K'X +8 "core" & ^ A + "manipulator"&o% +5 "core" % , +2 .tForearm.seek :retract + "manipulator"&['\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&D& +4 "core" &+ 7 Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &+  b Bf +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&w'" +99 "core" ' +3 "manipulator"&]& +3 "core" &+ 0 0 Ae +2 "manipulator"&% +4 "core" %" 9 +2 "collection"'g& +48 "core" &CE +5 "collection"'q& +6 "core" &CE +2 .tCC.seek :closed +2 "collection"'c(V +5 "core" &CF +7 &JDG $d +10 &\\EF 6 +9 &$DD G +9 &dFE F +10 &iED G +9 &jgEF G +9 &,hDE G +10 &hEE F +9 &dFE F +10 &sdEE F +9 & 5iDF F +9 &!jEG F +10 &#kED F +9 &%zhEF G +9 &'=gDF F +10 &(iFF G +9 &*hEE F +10 &,hEF F +9 &.FfDE F +9 &0jEC F +10 &1gFC F +9 &3iFE G +9 &5NjEF F +10 &7jDF F +9 &8iED F +10 &:lEE F +9 &hCF G +10 &?hFE F +9 &AhEE G +9 &C^jEE F +10 &EpCF G +9 &FwEG H +10 &HEG J +9 &JLEE O +9 &L\ FF P +10 &MGF P +9 &OBF P +9 &QNGG Q +10 &SEF R +9 &TFE R +10 &V>fGD . +9 &VFF , +9 &VpFE N +3 ( + "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +3 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&m% +3 "core" % " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%y& +3 "core" &A +2 "manipulator"&j% +4 "core" %\   :  +2 "storage"(Z% +3 "core" %` c o o +2 "storage"(_. +4 "core" .( + "storage"(a& +4 "core" & n n +2 "storage"(& +3 "core" & c b g +3 "manipulator"& & +4 "core" &* Ab + "manipulator"&l% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +154 "core" ( +2 "manipulator"&& +4 "core" & A  +2 "storage"(U& +3 "core" & 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +95 "core" ' +2 "storage"(6& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(W'i +278 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & G +2 "manipulator"&n& +3 "core" & u  +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&V& +4 "core" & -  +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(&'X +8 "core" & O  +2 "manipulator"&x% +3 "core" %  m  +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&p& +3 "core" &  | @ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&& +4 "core" & @ +2 "manipulator"&{% +5 "core" %   + "processing"%i& +4 "core" &7 +3 "processing"%/& +5 "core" &? +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &D +6 &5C #b +10 &XA 5 +9 &@ H +9 &kA G +10 &kA G +9 &Jo@ G +12 & jA G +7 &j@ G +9 &p@ H +10 &Ro9 G +9 & mA G +9 &!kA G +10 &#pA G +9 &%YoA H +10 &'n6 G +9 &(j= G +9 &*k? G +10 &,bk4 G +9 &.$q2 G +9 &/p0 G +10 &1m2 H +9 &3il2 H +10 &5,l2 G +9 &6i1 G +9 &8j2 G +10 &:ri2 G +9 &<4m2 G +9 &=l8 G +10 &?k; G +9 &A{i6 G +10 &C<p; G +9 &Do2 G +9 &Fx2 I +10 &Hy5 K +9 &J7: L +9 &K; M +10 &M; M +9 &O|6 L +10 &Q>: L +9 &R3 M +9 &T2 M +49 &V5 M +6 &XC3 M +2 &Ywz/ $o + &Z02 1 + ( + &Z1 " + &Z2 " +2 "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&f1 +2 "core" &Z7 " +55 1 + "manipulator"&|% +4 "core" %  6  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +90 "core" ' +4 "processing"%4& +3 "core" &Z4 " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&v% +3 "core" %\  G  +3 "storage"( % +3 "core" %b m +2 "storage"(1. +3 "core" .( +2 "storage"( & +3 "core" & } Y +3 "storage"(& +3 "manipulator"&r& +7 "core" & e + & # @ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'i +3 "core" ( +2 "manipulator"&& +3 "core" &z s 9 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &z w 9 +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +81 "core" ' +2 "storage"(!- +3 "core" -'i +3 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('y +37 "core" ' +198 "Can" VPbM +103 "core" ( + "storage"(2& +4 "core" & +2 "manipulator"&$& +3 "core" &z 9 +2 "manipulator"&% +5 "core" % ` +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&"( +274 "core" ( + "manipulator"&>& +4 "core" &  +3 "storage"(8& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +96 "core" ' +2 .tHand.open + "manipulator"&.1 +58 "core" 1 +2 "storage"(-- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(I' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +2 "core" -' +3 "storage"(\ & +4 "core" & \ G\ C  + "manipulator"&;& +4 "core" & x  +2 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&O& +4 "core" &   +2 "storage"(C& +4 "core" & \ A\ B +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(#' +56 "core" ' +2 "manipulator"&*& +3 "core" & o  +2 "storage"(\\& +3 "core" & B +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +23 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"()'i +23 "core" ' +2 "manipulator"&% +3 "core" % +2 "storage"('& +5 "core" & q j \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&+' +20 "core" ' +4 "manipulator"&b& +3 "core" &  +2 "storage"(0& +4 "core" & +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +28 "core" ' +2 "storage"(,% +3 "core" %n 1 +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (5% +3 "core" %uV v n W PG +2 "manipulator"&<% +4 "core" %ј } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +95 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (M& +3 "core" & Y +2 "collection"'T& +4 "core" &VpFF N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&S% +3 "core" %\  6 * +2 "storage"(3% +5 "core" %[  + "storage"(J. +4 "core" .( + "storage"(7& +4 "core" & +2 "storage"(d& +4 "core" & / +2 "manipulator"&R& +3 "core" & W  +2 .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(?& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +90 "core" ' +2 "storage"(o& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +279 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & Y  +2 "storage"(F& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +27 "core" ' + "manipulator"&H% +5 "core" % a h +2 "storage"(g& +4 "core" & t V + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&K' +21 "core" ' +2 "manipulator"&[& +3 "core" &  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'@ +39 "core" ' +2 "manipulator"&y& +3 "core" & :  +2 "manipulator"&j% +5 "core" %m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +166 "core" ( +2 "manipulator"&a& +3 "core" &' 5  >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &' >K +3 .tForearm.seek CC + "manipulator"&q'" +94 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +4 .tCC.seek :open + "collection"'l( +418 "core" ( +2 "storage"(w& +3 "core" &  +2 "storage"(& +3 "core" &  +3 "manipulator"&U& +4 "core" &' N >I + "manipulator"&6% +4 "core" %  Y +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&L& +3 "core" &  J  +2 "storage"(z& +4 "core" & ; +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&n' +96 "core" ' +3 .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&~% +3 "core" % c +2 "storage"(& +5 "core" & 7 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +2 "manipulator"&x' +19 "core" ' + "manipulator"& & +5 "core" & Z  + "storage"(h& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +30 "core" ' +2 "storage"(k% +3 "core" %J  +3 ."downElevator"SE.seek :down +4 "storage"(p'X +99 (% +4 "core" %M  OD +2 "manipulator"&% +3 "core" % { +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'{& +5 "core" &GF + "manipulator"&i% +4 "core" %\    +2 "storage"(&% +3 "core" %a  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" & H  +2 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&4( +16 "core" ( +2 "manipulator"&v& +3 "core" &  ; +3 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +97 "core" ' + "storage"( & +4 "core" & A  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &   +2 "manipulator"&& +3 "core" & F ; +3 .tElbow.seek 3 + "manipulator"&}( +4 "core" ( +2 "manipulator"&& +3 "core" &  ; +2 "storage"(& +4 "core" & P  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&e/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"('X +6 "core" &  ; +3 "manipulator"&G% +3 "core" % | 6 +3 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( + "manipulator"&& +5 "core" &, J 2 Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &+ \ Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&>'" +98 "core" ' +2 "manipulator"&8& +3 "core" &, Bj +3 "manipulator"&% +4 "core" %% +3 "collection"'.& +4 "core" &FF +2 "collection"'-& +5 "core" &CE +2 .tCC.seek :closed +2 "collection"'%(V +4 "core" &EE  +9 &5GD )w +9 &lDF = +9 &vCD G +10 &qgCE F +9 &3iDD F +9 &gFE F +10 &gCF G +9 &zgDE F +10 &;hDE F +9 &gDF G +9 & gCF F +10 &"iDE F +9 &$DjDC F +9 &&iCE F +10 &'hCE F +9 &)gFD F +10 &+KhFF F +9 &-dEF F +9 &.gDC F +10 &0hDF F +9 &2ThDF F +51 &4gCD F +2 &5gFE F + &7gDF F + &9ZgDC G + &;gDG F +3 &<gCD F +7 &>iDE G +9 &@dgDD F +9 &B%hGF F +10 &CgEE F +9 &EqCD G +10 &Ge~EE I +9 &I!DD K +9 &JEF P +10 &LCF P +9 &NVCD P +9 &PCE Q +10 &QDE Q +9 &SEE R +10 &UWEF B +9 &Vl<DD 0 +9 &V_GF @ +6 ( + "collection"'-& +4 "core" &VTCD @ +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&\ 1 +60 "core" 1 +3 "manipulator"&;% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%C& +3 "core" &: +2 "manipulator"&% +4 "core" %\ !  0 +2 "storage"(*% +4 "core" %^ e  +2 "storage"(\\. +3 "core" .( +2 "storage"(& +3 "core" & p s c  +2 "storage"('& +4 "core" & d q \\  +2 "manipulator"&(& +3 "core" &+ Bj +2 "manipulator"&b% +4 "core" %\  0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( +2 "manipulator"&0& +3 "core" & [ z +2 "storage"("& +4 "core" & j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +88 "core" ' + "storage"(E& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (5& +2 "core" & $  +2 "manipulator"&<& +4 "core" &  z +2 .tElbow.seek 3 +2 "manipulator"&:( +4 "core" ( +2 "manipulator"&#& +3 "core" & * z +2 "storage"(N& +4 "core" & G  +3 .tForearm.seek 3 + 300 counts + "manipulator"&+'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(S'X +8 "core" &  z + "manipulator"&3% +4 "core" % ϭ P +2 .tForearm.seek :retract +2 "manipulator"&)'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&J(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&7& +5 "core" &n  %  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &n 0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R' +105 "core" ' + "manipulator"&Y& +5 "core" &n # d  + "manipulator"&?% +5 "core" % ( +2 "processing"%A& +3 "core" &> +3 "processing"%o& +5 "core" &: +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &@  +10 &5@ )v +9 & i@ = +10 &}@ H +9 &dlE G +9 &&jA G +10 &q? G +9 &p? G +10 &km> H +9 &.n@ G +9 &n@ H +10 & nA G +9 &"sn7 H +9 &$6m> G +10 &%j: G +9 &'k< G +9 &)|j1 G +10 &+>n1 G +9 &-n, G +10 &.m1 G +9 &0m0 H +9 &2Fm7 G +10 &4j6 G +9 &5o: G +9 &7m1 G +10 &9Oi4 G +9 &;k; G +10 &<o6 G +9 &>m8 G +9 &@Vq; G +10 &Bm: G +9 &Cm; G +9 &Er: H +10 &GZ~8 I +9 &I; K +10 &J3 L +9 &L8 L +9 &NY5 L +10 &P/ L +9 &Q9 M +9 &S3 N +10 &U\\5 N +9 &W- M +10 &X4 M +9 &Z1De1 &n +9 &Z;5 ! +6 ( + "processing"%o& +4 "core" &Z1 ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&P1 +55 "core" 1 + "manipulator"&9% +4 "core" % U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' + "processing"%D& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&F% +51 "core" %\ o 5 +2 "storage"(]% +5 "core" %P  + "storage"(H. +4 "core" .( + "storage"(g& +4 "core" &  +3 "storage"([& +2 "manipulator"& & +5 "core" &  +3 &n #  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&y(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(j'i +3 "core" ( +2 "manipulator"&X& +3 "core" &n a  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &n t  +2 .tForearm.seek PC +2 "manipulator"&Q' +100 "core" ' +3 .tHand.close + "manipulator"&^/ +55 "core" / +2 .tPC.seek :open +2 "processing"%K( +83 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(a'y +51 "core" ' +284 ( +2 "storage"(& +3 "core" & C  +3 "manipulator"&& +4 "core" &n T  +2 "manipulator"&`% +3 "core" % > +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +276 "core" ( + "manipulator"&c& +4 "core" & l +2 "storage"(w& +3 "core" & +  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 .tHand.open +2 "manipulator"&U1 +59 "core" 1 +2 "storage"(6- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(L'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(z' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(_& +3 "core" &\ P\ P I  +2 "manipulator"&& +4 "core" &  l +2 .tElbow.seek 3 +2 "manipulator"&~( +8 "core" ( + "manipulator"&& +4 "core" &  e +2 "storage"( & +3 "core" &\ N\ P 7  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +56 "core" ' +2 "manipulator"&t& +4 "core" & m e +2 "storage"(& +3 "core" & D  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(n'i +27 "core" ' +2 "manipulator"&x% +3 "core" %΄ ` +2 "storage"({& +4 "core" & K  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&i'ϰ +19 "core" ' +2 "manipulator"&&& +3 "core" & k e +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +25 "core" ' +2 "storage"(W% +3 "core" %o g +3 ."downElevator"SE.seek :down +4 "storage"(p'X +98 (s% +4 "core" % U i N PH +2 "manipulator"&f% +4 "core" %F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"&|'\ +93 "core" ' +20 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +3 "core" & H  +2 "collection"' & +5 "core" &VTEF @ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\  ]  +2 "storage"(V% +3 "core" %a M +3 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(/& +3 "core" & c  +2 "manipulator"&& +4 "core" &  e +3 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 7 e +3 "storage"(e& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +99 "core" ' + "storage"(G& +5 "core" & 1  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +279 "core" ' +2 "storage"(1- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & e +2 "storage"(r& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +28 "core" ' +2 .tElbow.hold + "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(8'S +29 "core" ' +2 "manipulator"&% +3 "core" %΀ y +2 "storage"(.& +3 "core" & H  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +19 "core" ' +2 "manipulator"&2& +3 "core" & o e +3 "storage"(l& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'B +39 "core" ' + "manipulator"&C& +4 "core" & e +2 "manipulator"&% +5 "core" %7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +171 "core" ( +3 "manipulator"&-& +3 "core" &% # % <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &%  <> +3 .tForearm.seek CC + "manipulator"&''" +94 "core" ' +2 .tHand.close + "manipulator"&(/ +54 "core" / +2 .tCC.seek :open + "collection"'b( +416 "core" ( +2 "storage"(>& +3 "core" & )  +2 "storage"(0& +4 "core" & H  +2 "manipulator"&"& +3 "core" &% l <> +2 "manipulator"&E% +5 "core" % "  +2 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +166 "core" ( +2 "manipulator"&& +3 "core" & \\ [ +2 "storage"(5& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&<'} +94 "core" ' +2 .tElbow.hold + "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +59 "core" 1 +2 "manipulator"&M% +3 "core" % Ύ  ' +2 "storage"(T& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&3'Ϻ +68 "core" ' +2 "manipulator"&& +3 "core" & ? [ +3 "storage"(,& +4 "core" & U  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +28 "core" ' + "storage"(+% +4 "core" %K p  +3 ."downElevator"SE.seek :down +4 "storage"(7'X +98 (d% +3 "core" %L $ OD +2 "manipulator"&:% +4 "core" % G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'?& +3 "core" &CD +2 "manipulator"&A% +5 "core" %\   , +2 "storage"(S% +4 "core" %`  + "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (P& +2 "core" &  +2 "manipulator"&9& +4 "core" & N [ +2 .tElbow.seek 2 +2 "manipulator"&D( +52 "core" ( +2 "manipulator"&F& +3 "core" & \ y Q +2 "storage"(o& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +101 "core" ' +2 "storage"(H& +3 "core" & +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +280 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +4 "core" & +2 "manipulator"&X& +4 "core" & \ L +2 .tElbow.seek 2 +2 "manipulator"&=( +28 "core" ( +2 "manipulator"&R& +3 "core" & H b +2 "storage"(^& +4 "core" & F +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"('X +8 "core" & i b + "manipulator"&j% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&`& +4 "core" && / j =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" && =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&c'" +92 "core" ' +3 "manipulator"&w& +3 "core" && ~ =C +2 "manipulator"&y% +5 "core" %* G  +2 "collection"'U& +4 "core" &CD +2 "collection"'6& +5 "core" &DD +3 .tCC.seek :closed + "collection"'q(V +4 "core" &BE +7 &DE ; +9 &VPCE / +9 &|DE D +10 &TgEF F +9 &fDD F +10 &gCD F +9 &jDH F +9 &[hDC F +10 &hFD G +9 &gDG F +10 &hEF G +9 &!dgDF F +9 &#$hBD G +10 &$hCF F +9 &&gDD G +9 &(lgEF F +10 &*.hCE F +9 &+gDE F +9 &-gED F +10 &/rhDE G +9 &16gDD F +10 &2gEF F +9 &4hFD F +9 &6{gEE F +10 &8=gCE F +9 &9hCE F +9 &;hEE F +10 &=hCF F +9 &?FeFE F +10 &AhEG F +9 &BiED F +10 &DjDD G +9 &FKnEF G +9 &H EE H +9 &IEG L +10 &KvDE P +9 &M8CD P +10 &NEE Q +9 &PDF Q +9 &R|FF Q +10 &T<EE R +9 &UsEE B +9 &VzFE "b +10 &V%FF I +9 ( + &VhCD E +2 "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&_1 +55 "core" 1 +3 "manipulator"&% +3 "core" % * @  +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +3 "core" &; +2 "manipulator"& % +5 "core" %\   +2 "storage"(t% +3 "core" %a i +2 "storage"(. +4 "core" .( + "storage"(x& +5 "core" & t ' + "storage"(a& +4 "core" & r  +2 "manipulator"&{& +3 "core" && =A +3 "manipulator"&L% +4 "core" %\  7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&( +159 "core" ( +2 "manipulator"&& +3 "core" &  ^  +2 "storage"(W& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +95 "core" ' + "storage"(& +4 "core" & $ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(z'i +279 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" & +2 "manipulator"&h& +4 "core" & |  +2 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&k& +4 "core" & M  +2 "storage"(& +3 "core" & u +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"( 'X +8 "core" &   + "manipulator"&V% +4 "core" %  D +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&& +3 "core" &| / *  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +2 "core" &| c  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +3 "core" &|  q  +3 "manipulator"&e% +4 "core" % j +2 "processing"%m& +3 "core" &7 +3 "processing"%G& +5 "core" &7 +2 .tPC.seek :closed +2 "processing"%p(Z +5 "core" &6 +7 &FB $e +9 &]> 7 +10 &/; H +9 &j> G +9 &m@ G +10 &uo@ G +9 &6m6 H +9 &m> G +10 &n< G +9 &~j@ G +9 & ?o? G +10 &"mA G +9 &#j7 G +10 &%m0 G +9 &'Hk2 G +9 &)n& H +10 &*l0 G +9 &,n8 G +9 &.Om4 G +10 &0m3 G +9 &1m1 G +10 &3j+ G +9 &5Vn, H +9 &7k2 G +10 &8m2 H +9 &:k2 G +9 &<^k/ H +10 &>"k1 G +9 &?m1 G +10 &Ai9 G +9 &Cgn7 G +9 &E)p6 G +10 &Fx3 I +9 &H+ J +9 &Ja0 L +10 &L"/ M +9 &M0 L +10 &O. M +9 &Qg- M +9 &S*0 M +10 &T/ M +9 &V6 M +9 &Xn/ M +10 &Zwy. "k +9 &Zv2 2 +10 ( + &Z( ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&|% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' +3 "processing"%& +3 "core" &Z$ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&r% +3 "core" %\  H  +3 "storage"(}% +3 "core" %b z +2 "storage"(. +3 "core" .( +2 "storage"(.& +3 "core" & +3 "storage"(2& +4 "manipulator"&l& +5 "core" & g  + &| &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +51 .tElbow.seek PC +4 "manipulator"&C(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( + "manipulator"&u& +6 "core" &| h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &|  +3 .tForearm.seek PC +2 "manipulator"&4' +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +95 "core" ' +2 "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'y +52 "core" ' +273 ( +2 "storage"(& +3 "core" & F +3 "manipulator"&\ & +4 "core" &| I  + "manipulator"&!% +4 "core" % ( +3 .tForearm.seek :retract + "manipulator"&('\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&*( +273 "core" ( + "manipulator"&%& +4 "core" & c +2 "storage"(>& +3 "core" & M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +98 "core" ' +3 .tHand.open + "manipulator"&"1 +62 "core" 1 +2 "storage"(E- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(5' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"(\\& +3 "core" & \ P\ P \\ +3 "manipulator"&N& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&M( +3 "core" ( +2 "manipulator"&T& +4 "core" &  +2 "storage"(& +4 "core" & \ O\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"($' +56 "core" ' + "manipulator"&+& +4 "core" & +2 "storage"(O& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&d' +21 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +23 "core" ' +2 "manipulator"&?% +3 "core" %  +3 "storage"(3& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&A' +19 "core" ' +2 "manipulator"&S& +3 "core" & T +2 "storage"()& +4 "core" & ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +21 "core" ' +2 "storage"(I% +4 "core" %s +3 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (@% +3 "core" %Z l q - PI +2 "manipulator"&P% +4 "core" %і ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (F& +3 "core" & G +3 "collection"'o& +3 "core" &ViDE E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&H% +3 "core" %\ 4 +2 "storage"(#% +4 "core" %` @  +2 "storage"(Y. +3 "core" .( +2 "storage"([& +4 "core" & s +2 "storage"( & +42 "core" & = +11 "manipulator"&X& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&R( +4 "core" ( + "manipulator"&^& +5 "core" & p + "storage"(J& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +90 "core" ' +2 "storage"(j& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(D'i +284 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & G +2 "storage"(Q& +3 "core" & - +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'S +28 "core" ' +2 "manipulator"&=% +3 "core" %  +2 "storage"(U& +4 "core" & t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(b& +4 "core" & ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +42 "core" ' + "manipulator"&6& +5 "core" & 3 + "manipulator"& % +4 "core" %| B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +161 "core" ( +3 "manipulator"&& +5 "core" &  & 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  8 +3 .tForearm.seek CC + "manipulator"&a'" +95 "core" ' + .tHand.close +2 "manipulator"&{/ +56 "core" / +2 .tCC.seek :open +2 "collection"'L( +416 "core" ( + "storage"(c& +4 "core" & e +2 "storage"(& +4 "core" & y +2 "manipulator"&W& +3 "core" &! ? 8 +2 "manipulator"&% +4 "core" % 1 6 +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"&s& +4 "core" & D  +2 "storage"(f& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +94 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "manipulator"&v% +3 "core" % +2 "storage"( & +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&V' +20 "core" ' +3 "manipulator"&&& +3 "core" & o  +2 "storage"(Z& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +29 "core" ' + "storage"(i% +4 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (/% +2 "core" %P  PE +3 "manipulator"&~% +3 "core" %ъ " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +94 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'e& +3 "core" &ED +2 "manipulator"&m% +3 "core" %\   +2 "storage"( % +4 "core" %a   +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(K( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &   +2 "manipulator"&|& +4 "core" & c  +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( +2 "manipulator"&r& +3 "core" & 3 C +2 "storage"(}& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(.& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(G'i +274 "core" ' + "storage"(l- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &  +2 "manipulator"&u& +4 "core" &  C +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & K C +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&8'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(p'X +8 "core" & | C +2 "manipulator"&% +4 "core" % Ϛ P  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +31 "core" ( +2 "manipulator"&!& +4 "core" &* I  0 @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &*  F @Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'" +97 "core" ' + "manipulator"&>& +5 "core" &* 3 < @Y +3 "manipulator"&C% +3 "core" % r  +3 "collection"'"& +3 "core" &EG +3 "collection"'E& +5 "core" &DF +2 .tCC.seek :closed +2 "collection"''(V +5 "core" &DF +7 &0CF "` +9 &ZEE 5 +10 &CD G +9 &eGD F +10 &jDE F +9 &SeFF F +9 &iDG F +10 &gDD F +9 &gFE F +9 &\\gDE F +10 & gCE F +9 &!dDE F +10 &#hFD F +9 &%dcDE F +9 &'%gEE F +10 &(gDE F +9 &*gFE F +9 &,lcDF F +10 &..gEF F +9 &/gFD F +10 &1cDE F +9 &3sgGC F +9 &55eDD F +10 &6hEE F +9 &8eDE F +9 &:|gFE F +10 &<>gED F +9 &=gDF F +10 &?hEF F +9 &AcCF F +9 &CFgOD F +10 &EkFF G +9 &FuDF H +9 &HDF J +10 &J6FG O +9 &KFG Q +10 &MFF P +9 &OtEG Q +9 &Q7FF Q +10 &RGE R +9 &TDG R +9 &V#VGI ; +10 &V lDG < +5 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&\\1 +4 "core" &VGEF < +52 1 +2 "manipulator"&N% +4 "core" %   T  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &: +2 "manipulator"&(% +5 "core" %\   '  + "storage"(+% +4 "core" %b  +2 "storage"(O. +2 "core" .( +2 "storage"(-& +4 "core" & !  +2 "storage"(?& +48 "core" &  +5 "manipulator"&3& +4 "core" &*  @Y +2 "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +160 "core" ( +2 "manipulator"&)& +3 "core" & D l +2 "storage"(I& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +87 "core" ' + "storage"(0& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +282 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &   +2 "manipulator"&,& +4 "core" & C l +2 .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&$& +3 "core" & l +2 "storage"(d& +5 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&A'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(H'X +8 "core" & ' l + "manipulator"&#% +5 "core" % ϥ  +2 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +3 "manipulator"&<& +3 "core" &y 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &y < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +99 "core" ' + "manipulator"&^& +4 "core" &y +3 "manipulator"&J% +3 "core" % 2 +2 "processing"%;& +4 "core" &8 +3 "processing"%j& +5 "core" &? +2 .tPC.seek :closed +2 "processing"%7(Z +3 "core" &7 +8 &?= #b +10 &Z? 6 +9 &> H +9 &m? G +10 &pA G +9 &Vl8 G +10 &o> G +9 &m1 G +9 &pA G +10 &^nA G +9 & !k= G +9 &!m= G +10 &#j; G +9 &%fn. G +9 &')k8 G +10 &(m= G +9 &*n. H +10 &,om5 G +9 &.0m8 G +9 &/k7 G +10 &1i9 G +9 &3wl2 G +10 &58m4 G +9 &6j+ G +9 &8m, G +10 &:k1 G +9 &k. G +10 &?n, G +9 &Am0 G +9 &CHn7 G +10 &E o, H +9 &Fv, I +10 &H/ J +9 &JC: L +9 &L7 L +10 &M7 L +9 &O0 L +9 &QI9 M +10 &S 6 M +9 &T0 L +10 &V/ M +9 &XO2 M +9 &Yxy/ "j +10 &Z,4 0 +9 ( + &Z1 " +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&:1 +58 "core" 1 +2 "manipulator"&9% +4 "core" % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +2 "processing"%`& +3 "core" &Z% " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +3 "core" %\  <  +3 "storage"(w% +3 "core" %Y i +2 "storage"(=. +3 "core" .( +2 "storage"(U& +3 "core" &  +3 "storage"(& +3 "manipulator"&b& +5 "core" &  +2 &y E +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&6(s + "storage"( 'i +4 "core" ( +3 "manipulator"&B& +3 "core" &y @ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &y p +2 .tForearm.seek PC +2 "manipulator"&D' +98 "core" ' +46 .tHand.close +5 "manipulator"&g/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +45 "core" ' +2 "storage"(y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +32 "core" ' +343 ( +2 "storage"(x& +4 "core" & 3  +2 "manipulator"&_& +3 "core" &y  +2 "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&{'\ +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +298 "core" ( + "manipulator"&q& +5 "core" & . + "storage"(c& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 .tHand.open + "manipulator"&W1 +62 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(s'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(a- +3 "core" -' +2 "storage"(t& +3 "core" &\ F\ F  +3 "manipulator"&& +4 "core" & I +2 .tElbow.seek 3 + "manipulator"&v( +3 "core" ( +2 "manipulator"& & +4 "core" & r +2 "storage"(&& +4 "core" &\ M\ H 9  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +67 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(/& +4 "core" & I  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&~'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +23 "core" ' +2 "manipulator"&V% +3 "core" %΍ D +3 "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&e'Ϲ +20 "core" ' +2 "manipulator"&m& +3 "core" & +2 "storage"( & +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +39 "core" ' + "storage"(z% +5 "core" %l <  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %W u l d PI +2 "manipulator"&% +4 "core" % F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&|'\ +91 "core" ' +58 ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 (r& +2 "core" &   +3 "collection"'}& +4 "core" &VGFF < + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&.% +3 "core" %\ ! i 5 +3 "storage"(k% +3 "core" %b +2 "storage"(. +3 "core" .( +2 "storage"(l& +4 "core" &   +2 "storage"(2& +3 "core" & B  +2 "manipulator"&u& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  g +3 "storage"(n& +3 "core" & A  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +94 "core" ' +2 "storage"(& +51 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & G +2 "storage"(!& +3 "core" & Y  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&4'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(>'R +33 "core" ' +2 "manipulator"&C% +3 "core" %{ +2 "storage"("& +3 "core" & o  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 298 counts + "manipulator"&p'ϧ +19 "core" ' +2 "manipulator"&& +4 "core" & @ +2 "storage"(L& +3 "core" & ]  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'A +38 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&(% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +165 "core" ( + "manipulator"&-& +4 "core" &+  I A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &+ + # A_ +2 .tForearm.seek CC +2 "manipulator"&E'" +95 "core" ' + .tHand.close +2 "manipulator"&3/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(%& +3 "core" & p  +2 "storage"()& +4 "core" & `  +2 "manipulator"&I& +3 "core" &* @^ +2 "manipulator"&0% +5 "core" % & S  +2 .tForearm.seek :retract + "manipulator"&\ '\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&T( +162 "core" ( +2 "manipulator"&@& +3 "core" & [ +3 "storage"(P& +4 "core" & [  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&,'} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&d1 +56 "core" 1 +2 "manipulator"&F% +4 "core" %   +2 "storage"(o& +3 "core" & N  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&#'ϫ +21 "core" ' +2 "manipulator"&S& +3 "core" & o [ +2 "storage"(*& +4 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +50 "core" ' +2 "storage"(A% +4 "core" %J ( +2 ."downElevator"SE.seek :down +4 "storage"(<'X +98 ( % +3 "core" %P  PE +2 "manipulator"&M% +4 "core" %8 x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +86 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'J& +3 "core" &FE +45 "manipulator"&;% +6 "core" %\  R  +3 "storage"(H% +3 "core" %`   +2 "storage"(Y. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &  +2 "manipulator"&9& +3 "core" &  [ +3 .tElbow.seek 2 + "manipulator"&`( +40 "core" ( +2 "manipulator"&Q& +3 "core" & s & +2 "storage"(w& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +96 "core" ' + "storage"(U& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &  +2 "manipulator"&B& +4 "core" & S !p +2 .tElbow.seek 2 +2 "manipulator"&R( +30 "core" ( + "manipulator"&X& +4 "core" & [ J +2 "storage"(g& +3 "core" & ^ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&y' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +3 "storage"(7'X +8 "core" &  J + "manipulator"& % +5 "core" %  | +2 .tForearm.seek :retract +2 "manipulator"&x'\ +103 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +25 "core" ( +2 "manipulator"&& +3 "core" &+  g A` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &+ b A` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'" +99 "core" ' +2 "manipulator"&6& +4 "core" &+  A` +2 "manipulator"&c% +4 "core" % \ +2 "collection"'W& +4 "core" &DG +3 "collection"'& +5 "core" &FF +2 .tCC.seek :closed +3 "collection"'a(V +2 "core" &CE +7 &IFF $d +10 &^DF 7 +9 &"EF G +9 &cEG F +10 &eDE F +9 &igBG G +10 &,gEE F +9 &cED F +9 &hDF F +10 &rgGC F +9 & 4cFG F +9 &!iFF F +10 &#hEH G +9 &%ygEG G +10 &'<fGE F +9 &(iEG F +9 &*gFF G +10 &,gFE F +9 &.DiEG F +10 &0gED G +9 &1gCF G +9 &3fEH F +10 &5McCF F +9 &7gDG F +9 &8bDG F +10 &:fCE F +9 &hEE F +10 &?gFE F +9 &AcEF F +10 &C\\jEE F +9 &EmED G +9 &FuDG G +10 &HGH J +9 &JNGG N +9 &L\ EG P +10 &MFG P +9 &OGG Q +10 &QOGG P +9 &S EF R +9 &THF Q +10 &V<eHH . +9 &VFG _ +9 ( +3 "collection"'& +2 "core" &VyFF L +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&t1 +53 "core" 1 +4 "manipulator"&% +3 "core" %  ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%&& +4 "core" &= + "manipulator"&{% +4 "core" %\  -  +2 "storage"(% +4 "core" %W a a +2 "storage"(/. +2 "core" .( +2 "storage"(& +4 "core" & a b 4 +2 "storage"(V& +3 "core" & a `  +3 "manipulator"&& +4 "core" &) , @] + "manipulator"&s% +4 "core" %\  /  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&m( +155 "core" ( +2 "manipulator"& & +3 "core" & ;  +2 "storage"(z& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 2 + 700 counts +5 "manipulator"& 'ќ +95 "core" ' + "storage"(& +4 "core" & O +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&Z& +3 "core" & 3  +3 .tElbow.seek 2 + "manipulator"&v( +3 "core" ( +3 "manipulator"&i& +4 "core" & O  +2 "storage"(~& +3 "core" & ~ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&e' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(.'X +8 "core" & Q  +2 "manipulator"&k% +3 "core" %   K +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&l& +3 "core" &{ \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &{ H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +98 "core" ' + "manipulator"&& +5 "core" &{  + "manipulator"&n% +5 "core" % \\ > +2 "processing"%& +4 "core" &8 +2 "processing"%& +4 "core" &> +3 .tPC.seek :closed +2 "processing"%(Z +4 "core" &9 +7 &<9 #b +10 &[@ 6 +9 & A H +9 &i< G +10 &n- G +9 &Rk, G +9 &n; G +10 &l@ G +9 &m> H +10 &[m- G +9 & o- G +9 &!k2 G +10 &#m1 G +9 &%bm? G +9 &'#m8 H +10 &(l; G +9 &*j4 G +10 &,jl0 G +9 &.-i3 G +9 &/j1 G +10 &1k, H +9 &3sk# G +9 &54m. G +10 &6h G +9 &8k G +10 &:zk G +9 &<;j H +9 &=j( G +10 &?l0 G +9 &Ak G +9 &CDp- G +10 &Es* H +9 &F{$ I +10 &H/ K +9 &J?. L +9 &L. L +10 &M/ L +9 &O- M +9 &QE, M +10 &S7 M +9 &T8 M +10 &V/ M +9 &XJ0 N +9 &Yw{1 "j +10 &Z1/ 3 +9 ( + &Z2 ! +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&|% +4 "core" %  ] > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 "processing"%G& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&!% +3 "core" %\    +2 "storage"(% +4 "core" %P a ` +2 "storage"(C. +4 "core" .( + "storage"("& +4 "core" & e s +2 "storage"(& +2 "manipulator"&L& +8 "core" & g t + &{  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(('i +3 "core" ( +2 "manipulator"&1& +3 "core" &{ L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&4/ +53 "core" / +2 .tPC.seek :open +3 "processing"%p( +94 "core" ' +2 "storage"(>- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'y +33 "core" ' +295 ( +2 "storage"(?& +3 "core" & +42 "manipulator"&\\& +11 "core" &{ ; +2 "manipulator"&8% +4 "core" % F +4 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +255 "core" ( +2 "manipulator"&'& +3 "core" & > a +2 "storage"(%& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +95 "core" ' + .tHand.open +2 "manipulator"&I1 +53 "core" 1 +3 "storage"(0- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(O& +3 "core" & \ C\ I +3 "manipulator"&d& +3 "core" &\ p ` +2 .tElbow.seek 2 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&o& +3 "core" &\  ` +2 "storage"(S& +4 "core" & \ C\ C +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(A' +60 "core" ' + "manipulator"&\ & +4 "core" &\ x ` +2 "storage"( & +4 "core" & I +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&M' +21 "core" ' +2 .tElbow.hold + "manipulator"&T, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(,'i +23 "core" ' +2 "manipulator"&#% +3 "core" % u +3 "storage"(J& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&;' +20 "core" ' +2 "manipulator"&N& +4 "core" &\ G _ +2 "storage"(H& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +17 "core" ' +2 "storage"(5% +3 "core" %n z  +3 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (K% +3 "core" %S r o  QI +2 "manipulator"&:% +3 "core" %ѫ W +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Q& +3 "core" & ] +3 "collection"'w& +3 "core" &VyGF L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&U% +3 "core" %\  H  +2 "storage"($% +4 "core" %S +2 "storage"(^. +2 "core" .( +3 "storage"(b& +4 "core" & u + "storage"(j& +4 "core" & X +2 "manipulator"&B& +3 "core" &\ _ +3 .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&g& +3 "core" &\ _ +2 "storage"([& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&]'ќ +104 "core" ' +2 "storage"( & +3 "core" & M +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(`'i +286 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\  _ +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&D' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(R'S +29 "core" ' +2 "manipulator"&c% +3 "core" % +2 "storage"(W& +5 "core" & h c +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&7' +20 "core" ' +2 "manipulator"&x& +3 "core" &\  _ +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +41 "core" ' + "manipulator"&&& +4 "core" &\ _ +2 "manipulator"&{% +3 "core" %Ѥ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +158 "core" ( +4 "manipulator"&& +3 "core" && $ =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" && =G +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'s( +415 "core" ( +2 "storage"(q& +3 "core" & Y +3 "storage"( & +4 "core" & + "manipulator"&z& +4 "core" && { =G +2 "manipulator"&_% +3 "core" % ,  +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & O +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Z' +99 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&~1 +52 "core" 1 +2 "manipulator"&r% +3 "core" % i +2 "storage"(}& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&k' +20 "core" ' +2 "manipulator"&m& +4 "core" & ^  +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +29 "core" ' +2 "storage"(e% +3 "core" %G < +3 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (2% +3 "core" %T  PF +2 "manipulator"&v% +4 "core" %њ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'n& +3 "core" &CE +2 "manipulator"&% +3 "core" %\   \ +3 "storage"(.% +3 "core" %a   +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&|& +3 "core" &  +46 .tElbow.seek 3 +4 "manipulator"&G( +16 "core" ( +2 "manipulator"&!& +3 "core" & ` D +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +100 "core" ' + "storage"("& +5 "core" & (  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +279 "core" ' + "storage"(- +4 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&1& +4 "core" & D +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" &  D +2 "storage"(4& +5 "core" & $  +2 .tForearm.seek 3 + 300 counts + "manipulator"&>'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &  D +2 "manipulator"&(% +3 "core" % > ? +3 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&8& +4 "core" &'  >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' c >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''" +100 "core" ' + "manipulator"&%& +4 "core" &' / / >L +3 "manipulator"&% +3 "core" %) +2 "collection"'I& +4 "core" &EF +3 "collection"'0& +5 "core" &EE +2 .tCC.seek :closed +2 "collection"'E(V +4 "core" &DD  +9 &6DC )w +10 &kFF = +9 &rDD F +9 &ogEE F +10 &2hFG F +9 &fFD F +9 &gEG F +10 &xgGF F +9 &9gCE F +10 &gEG F +9 & gDE F +9 &"hEE F +10 &$BdED F +9 &&gEF F +9 &'gDH F +10 &)gCD F +9 &+JhGD F +10 &- gFC F +9 &.gDF F +9 &0hBD F +10 &2RgDF F +9 &4gGF F +9 &5gFD F +10 &7gHE F +9 &9[gDG F +10 &;hCF F +9 &<gEC F +9 &>hFD F +10 &@chGF F +9 &B%gGF F +9 &CiFD F +10 &EpDE G +9 &Ge~FF H +10 &I EG J +9 &JFH O +9 &LCE P +10 &NTBC P +9 &PCC P +9 &Q=@ Q +10 &S@@ R +9 &UWCD B +10 &Vl<CD . +9 &VmDD @ +5 ( +2 "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&O1 +4 "core" &VOCD @ +58 1 +3 "manipulator"&d% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%S& +4 "core" &; +2 "manipulator"&3% +4 "core" %\ \ ]  +2 "storage"(\ % +3 "core" %b  +2 "storage"( . +4 "core" .( + "storage"(#& +4 "core" & <  +2 "storage"(J& +3 "core" & @  +3 "manipulator"&-& +4 "core" &' i >L + "manipulator"&N% +3 "core" %\ \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&@( +159 "core" ( +2 "manipulator"&H& +4 "core" &  p + "storage"(5& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +96 "core" ' +2 "storage"()& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +282 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" & ;  +46 "manipulator"&*& +7 "core" & q p +3 .tElbow.seek 3 + "manipulator"&F( +4 "core" ( +2 "manipulator"&A& +3 "core" & 6 p +2 "storage"(M& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(U'X +9 "core" & p + "manipulator"&$% +4 "core" % ϣ V +3 .tForearm.seek :retract + "manipulator"&^'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(s +163 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&b& +3 "core" &l  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +99 "core" ' + "manipulator"&g& +4 "core" &l  2 +2 "manipulator"&[% +4 "core" % 6 +2 "processing"%Y& +4 "core" &: +3 "processing"% & +5 "core" &1 +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" &^  +9 &5; )v +9 & jZ = +9 &~E H +10 &gkD G +9 &*nD G +9 &k. G +10 &l- H +9 &pj; G +9 &1k1 G +10 &n/ G +9 & l+ G +10 &"xj- G +9 &$9l* G +9 &%nQ G +10 &'k5 G +9 &)m2 G +10 &+Ak( G +9 &-k, G +9 &.i( G +10 &0l# G +9 &2ImN G +9 &4 l- G +10 &5h& G +9 &7j# G +10 &9Rk G +9 &;k, G +9 &<mN G +10 &>k0 G +9 &@Xm H +9 &Bj) G +10 &Cm/ G +9 &Em) H +10 &G\\z( I +9 &I( K +9 &J) L +10 &L1 L +9 &N[. L +9 &P) L +10 &Q M +9 &S' M +9 &Ua' M +10 &W", M +9 &X" N +10 &Z5Ce) %m +9 &Z:& " +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.37 +2 .Hand.open + "manipulator"&T1 +4 "core" &Z& " +56 1 + "manipulator"&9% +3 "core" %  m +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' + "processing"%& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ "  = +2 "storage"(6% +4 "core" %V : +2 "storage"(c. +3 "core" .( +2 "storage"(W& +3 "core" & ~   +3 "storage"(x& +2 "manipulator"&& +7 "core" &  +2 &l z +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +2 "core" ( + "manipulator"&]& +5 "core" &l +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &l  +3 .tForearm.seek PC + "manipulator"&`' +99 "core" ' +2 .tHand.close + "manipulator"&D/ +55 "core" / +3 .tPC.seek :open +2 "processing"%7( +86 "core" ' +2 "storage"(R- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +38 "core" ' +298 ( +2 "storage"(V& +3 "core" &   +2 "manipulator"&t& +3 "core" &l X +3 "manipulator"&y% +4 "core" % t  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +265 "core" ( + "manipulator"&a& +5 "core" & 6  + "storage"(q& +51 "core" & x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +93 "core" ' +2 .tHand.open + "manipulator"&z1 +56 "core" 1 +2 "storage"(_- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(/& +3 "core" &\ G\ F  +2 "manipulator"&~& +4 "core" & #  +2 .tElbow.seek 3 +2 "manipulator"&r( +8 "core" ( + "manipulator"&}& +3 "core" & i  +3 "storage"(m& +3 "core" &\ G\ F   +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(e' +60 "core" ' +2 "manipulator"&& +3 "core" & E  +3 "storage"(2& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&v'} +18 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'i +23 "core" ' +2 "manipulator"&k% +3 "core" % A +3 "storage"(n& +3 "core" & v  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&'ϫ +19 "core" ' +2 "manipulator"&.& +3 "core" & N  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +30 "core" ' +2 "storage"(f% +3 "core" %q Z  +3 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (% +3 "core" %+P k V OF +3 "manipulator"&% +4 "core" %2 = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +93 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (!& +3 "core" &   +2 "collection"'& +4 "core" &VOFG @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&"% +3 "core" %\ \\ 7 +2 "storage"(i% +4 "core" %W  +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(& +3 "core" & t  +2 "manipulator"&1& +5 "core" & G  + .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"&4& +4 "core" & T  +2 "storage"(h& +4 "core" & i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"((& +3 "core" & /  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +285 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & 8  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&L'} +20 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +33 "core" ' +2 "manipulator"&% +43 "core" %y K +9 "storage"(I& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&'ϥ +20 "core" ' +2 "manipulator"&?& +3 "core" &   +2 "storage"(s& +4 "core" &  "  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(d'C +38 "core" ' + "manipulator"&S& +4 "core" &  +2 "manipulator"&3% +3 "core" %A g +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +168 "core" ( +2 "manipulator"& & +3 "core" &* # ( @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &)  @\\ +3 .tForearm.seek CC + "manipulator"&J'" +93 "core" ' +2 .tHand.close +2 "manipulator"&-/ +62 "core" / +2 .tCC.seek :open +2 "collection"'N( +413 "core" ( + "storage"('& +4 "core" &   +2 "storage"(H& +3 "core" &   +2 "manipulator"&5& +5 "core" &* I @[ + "manipulator"&)% +3 "core" % .  +3 .tForearm.seek :retract + "manipulator"&\\'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +160 "core" ( + "manipulator"&K& +5 "core" & 6 Q + "storage"(:& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&*'} +99 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +61 "core" 1 +2 "manipulator"&Q% +4 "core" % Ή  E +2 "storage"(w& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&$'ϵ +21 "core" ' + "manipulator"&@& +4 "core" & Q +2 "storage"(+& +4 "core" & c  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +34 "core" ' +2 "storage"(;% +4 "core" %H +2 ."downElevator"SE.seek :down +4 "storage"(b'X +99 (j% +3 "core" %S ] PF +2 "manipulator"&F% +3 "core" %B m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'[& +4 "core" &EC +2 "manipulator"&Y% +3 "core" %\  ^ # +2 "storage"(U% +4 "core" %a  +2 "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(p( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" & J +2 "manipulator"&9& +3 "core" & H Q +3 .tElbow.seek 2 + "manipulator"&( +47 "core" ( + "manipulator"&& +4 "core" &   @ # +2 "storage"(6& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +96 "core" ' +2 "storage"( & +3 "core" &  I +2 .tSE.reconfigure :pick +46 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(W'i +278 "core" ' +3 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  G +2 "manipulator"&]& +4 "core" & & k +2 .tElbow.seek 2 +2 "manipulator"&X( +29 "core" ( + "manipulator"&B& +4 "core" &  U +2 "storage"(D& +4 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&R' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"(<'X +8 "core" & [ U + "manipulator"&{% +5 "core" %    +2 .tForearm.seek :retract + "manipulator"&V'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&y& +4 "core" &( I ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &(  B ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&a'" +98 "core" ' +2 "manipulator"&q& +3 "core" &( # k ?Q +2 "manipulator"&&% +5 "core" % +2 "collection"'z& +3 "core" &DE +3 "collection"'_& +5 "core" &DD +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &EF +7 &ICF $d +9 &_FD 7 +10 &.CB G +9 &bCE F +9 &gDE G +10 &weEE F +9 &8gEE F +9 &hDF F +10 &gDG F +9 &fCF F +10 & @hEF F +9 &"gDE G +9 &#gFG F +10 &%fEG F +9 &'HfEE F +9 &)\ gDE F +10 &*iCD F +9 &,fCE F +10 &.QgDE F +9 &0gEF F +9 &1gFC F +10 &3gFD F +9 &5YcED F +9 &7gDE F +10 &8fCE F +9 &:gDG F +10 &<`hDE F +9 &>"gEG F +9 &?hBD F +10 &AgED F +9 &CigDG F +9 &E*nEE F +10 &FvFD H +9 &HDE J +10 &JW@D O +9 &L=@ P +9 &M=? P +10 &OA@ Q +9 &QZ@B Q +9 &SCA R +10 &T@C R +9 &VDbBB + +9 &V"CC ` +10 ( + &VrCC I +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&/1 +63 "core" 1 +3 "manipulator"&~% +3 "core" %  # o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%m& +4 "core" &@ +2 "manipulator"&% +3 "core" %\  h  +3 "storage"(% +3 "core" %` i f V +2 "storage"(2. +3 "core" .( +2 "storage"(k& +3 "core" &    +2 "storage"(& +5 "core" &  " + "manipulator"&n& +5 "core" &' >O + "manipulator"&% +4 "core" %\  %  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&.( +152 "core" ( + "manipulator"&& +5 "core" &   + "storage"(f& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"( & +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"& & +3 "core" & O  +3 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( +2 "manipulator"&e& +3 "core" & m  +2 "storage"(v& +4 "core" &  V +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +101 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"("'X +13 "core" &   +2 "manipulator"&i% +3 "core" %  , +7 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +3 "manipulator"&& +3 "core" &m   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +103 "core" ' +2 "manipulator"&4& +3 "core" &m  +2 "manipulator"&h% +4 "core" % c 9 +3 "processing"%& +3 "core" &- +3 "processing"%(& +5 "core" &) +2 .tPC.seek :closed +2 "processing"%l(Z +5 "core" &@  +8 &4s (t +9 &g: < +9 &S H +10 &]k= G +9 &j. G +10 &k7 G +9 &kZ H +9 &dk4 G +10 &&m/ G +9 &m1 G +9 & m9 G +10 &"lk2 G +9 &$-k6 G +10 &%k0 G +9 &'n- G +9 &)tlO G +10 &+5l3 G +9 &,l, G +9 &.k G +10 &0{k* G +9 &2=m/ G +10 &3j& G +9 &5m G +9 &7kF G +10 &9Fl# G +9 &;k- G +9 &<k G +10 &>j G +9 &@Om$ G +10 &Bj$ G +9 &Cn0 G +9 &Ep5 H +10 &GQ{3 I +9 &IQ J +9 &J5 L +10 &L/ L +9 &NQ0 L +10 &P, L +9 &Q" L +9 &SE M +10 &UV2 M +9 &W( M +9 &XP N +10 &Z,Gk/ (t +9 &Z /* ! +6 ( + "processing"%(& +4 "core" &Z$ ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&|% +3 "core" %  d 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' +2 "processing"%8& +4 "core" &Z ! + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  8  +3 "storage"(%% +3 "core" %U +2 "storage"(. +3 "core" .( +2 "storage"(I& +3 "core" &  +3 "storage"(?& +2 "manipulator"&s& +7 "core" &  + &m X +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&S(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'i +2 "core" ( +3 "manipulator"&& +3 "core" &m } +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &m +3 .tForearm.seek PC +2 "manipulator"&G' +99 "core" ' +2 .tHand.close + "manipulator"&L/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +74 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"( 'y +43 "core" ' +301 ( +2 "storage"(#& +3 "core" &  Z +3 "manipulator"&O& +4 "core" &m + "manipulator"&>% +4 "core" %  1 +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +273 "core" ( +2 "manipulator"&E& +3 "core" &  z  +2 "storage"('& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +96 "core" ' +2 .tHand.open + "manipulator"&51 +55 "core" 1 +2 "storage"()- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(K'E +28 "core" ' +48 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(:' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(0& +3 "core" & \ P\ P f +2 "manipulator"&M& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&Q( +4 "core" ( +2 "manipulator"&w& +3 "core" &   +3 "storage"(@& +3 "core" & \ P\ O +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +60 "core" ' + "manipulator"&\\& +5 "core" &  + "storage"(j& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&F' +18 "core" ' +2 .tElbow.hold + "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +23 "core" ' +2 "manipulator"&$% +3 "core" % Y +2 "storage"([& +4 "core" &  g +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&Y' +20 "core" ' +2 "manipulator"&U& +3 "core" &  +2 "storage"(^& +4 "core" &  f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +33 "core" ' +2 "storage"(P% +3 "core" %p   +3 ."downElevator"SE.seek :down +4 "storage"(b'X +98 (% +3 "core" %IY x y E QJ +2 "manipulator"&T% +4 "core" %Ѣ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &  d +3 "collection"'6& +3 "core" &VrGG I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\ # ^ @ +3 "storage"(A% +4 "core" %` L + "storage"(g. +4 "core" .( +2 "storage"(x& +3 "core" &  D +2 "storage"(& +4 "core" &  +2 "manipulator"&]& +3 "core" & ,  +3 .tElbow.seek 2 + "manipulator"&B( +3 "core" ( +3 "manipulator"&D& +4 "core" &  + "storage"(,& +4 "core" &  c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +90 "core" ' +2 "storage"({& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&y& +2 "core" &  +3 "storage"(W& +4 "core" &  * + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&`' +25 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'R +28 "core" ' +2 "manipulator"&&% +3 "core" % ~ +2 "storage"(z& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&<' +28 "core" ' + "manipulator"&V& +3 "core" & D  +2 "storage"(N& +5 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +43 "core" ' +10 .tSE.seek 1.09 Pucks below Top Plate + "storage"(~'A +45 "core" ' + "manipulator"&m& +5 "core" &  + "manipulator"&% +4 "core" %ѥ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +161 "core" ( +3 "manipulator"&k& +3 "core" &( - ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &( ?U +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&n/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(a& +4 "core" &   +2 "storage"(& +3 "core" &   +3 "manipulator"&f& +4 "core" &( \\ ?T + "manipulator"& % +4 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&}( +159 "core" ( + "manipulator"&& +4 "core" & k  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +97 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&v1 +62 "core" 1 +2 "manipulator"&!% +4 "core" % \\ +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&i' +20 "core" ' +3 "manipulator"&.& +3 "core" & A  +2 "storage"(& +3 "core" &  s +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' + "storage"(% +4 "core" %K  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %Q I OE +3 "manipulator"&r% +4 "core" %ё ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +4 "core" &DF +2 "manipulator"&% +3 "core" %\  +2 "storage"("% +4 "core" %`  +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(7( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" & &  +2 "manipulator"&|& +4 "core" & a  +2 .tElbow.seek 3 +2 "manipulator"&8( +13 "core" ( +2 "manipulator"&& +3 "core" & ; N +3 "storage"(%& +3 "core" & 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(I& +3 "core" & E  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +279 "core" ' +2 "storage"(?- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" & { D  +2 "manipulator"&& +3 "core" & 4 N +3 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( +2 "manipulator"&1& +3 "core" & B N +47 "storage"(L& +6 "core" & 0  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +3 "storage"(l'X +8 "core" & , N +2 "manipulator"&3% +4 "core" % ϱ  e +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +26 "core" ( +2 "manipulator"&>& +4 "core" &- 6 V Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &- Co +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +96 "core" ' +2 "manipulator"&'& +4 "core" &- 4 6 Co +2 "manipulator"&S% +4 "core" %    +2 "collection"'5& +4 "core" &FN +3 "collection"')& +5 "core" &HF +2 .tCC.seek :closed +2 "collection"'-(V +3 "core" &DG +8 &JFG #c +10 &\\ED 6 +9 &&ED F +9 &bEF F +10 &gFE F +9 &leFF F +9 &-eCF F +10 &fDF F +9 &gEF F +10 &tdDE F +9 & 6eDF F +9 &!eEH F +10 &#fBG F +9 &%{eDF F +9 &'=dDE F +10 &(eEF F +9 &*eEG F +10 &,eDF F +9 &.EfEF F +9 &0dFF F +10 &1fDG F +9 &3eGF F +9 &5MeEF F +10 &7eEG F +9 &8dEF F +10 &:fEC F +9 &eDG F +10 &?hEH F +9 &AeEF F +9 &C^fCE F +10 &EkGE G +9 &FuFF H +10 &HEE J +9 &JMGF O +9 &L\ EG P +10 &MEG P +9 &ODF Q +9 &QONE Q +10 &S @A R +9 &T=@ R +10 &V@h:< / +9 &V 8; 8 +9 &WZ:9 ? +6 ( + "collection"')& +4 "core" &WW:< ? +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&J1 +56 "core" 1 +3 "manipulator"&0% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%w& +3 "core" &- +2 "manipulator"&@% +3 "core" %\   +3 "storage"(\\% +4 "core" %a  + "storage"(j. +3 "core" .( +2 "storage"( & +3 "core" &   +2 "storage"($& +4 "core" &  +2 "manipulator"&[& +3 "core" &- Co +2 "manipulator"&K% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&U( +167 "core" ( + "manipulator"&^& +4 "core" &  G +2 "storage"(P& +3 "core" & w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +97 "core" ' +2 "storage"(H& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & -  +2 "manipulator"&+& +3 "core" & V G +3 .tElbow.seek 3 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&;& +3 "core" & r G +2 "storage"(F& +4 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"( 'X +9 "core" & < G + "manipulator"&A% +4 "core" % Ϯ   +2 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&x(s +158 "core" ' +48 ."downElevator"SE.stop +3 "storage"(5 +39 "core" ( +4 "manipulator"&*& +3 "core" &{ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &{  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +98 "core" ' +2 "manipulator"&D& +4 "core" &{  +2 "manipulator"&,% +4 "core" %  M +2 "processing"%d& +3 "core" &Q +3 "processing"%{& +6 "core" &< +2 .tPC.seek :closed +2 "processing"%b(Z +3 "core" &5 +9 &K5 $e +10 &]1 7 +9 &+3 H +9 &j: G +10 &j8 G +9 &qjR G +10 &4hL G +9 &kF G +9 &m1 G +10 &zm6 G +9 & ;k/ G +9 &!k9 G +10 &#g^ G +9 &%k3 G +9 &'Ck. G +10 &)k6 G +9 &*k- G +10 &,h+ G +9 &.Ll$ G +9 &0jO G +10 &1j/ G +9 &3j& G +10 &5Tk G +9 &7k0 G +9 &8ja G +10 &:j0 G +9 &<\\j+ G +9 &>i G +10 &?k G +9 &Aj G +10 &Cdm G +9 &E$p H +9 &Fw2 H +10 &H7 J +9 &J^! L +9 &L  L +10 &MG L +9 &O- M +10 &Qc' M +9 &S&? M +9 &T* M +10 &V) N +9 &Xi- N +9 &Z v{$ "l +10 &Z!v% 1 +9 ( + &Z' & +2 "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&o1 +64 "core" 1 +2 "manipulator"&9% +3 "core" % " : M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +98 "core" ' +2 "processing"%y& +87 "core" &Z2 & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %\ \ X  +2 "storage"(q% +4 "core" %U [ +2 "storage"(&. +3 "core" .( +2 "storage"(z& +3 "core" &   +2 "storage"(V& +3 "manipulator"&N& +8 "core" &   + &{ \\ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&m(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&=& +3 "core" &{ j +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" &{  +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&`/ +53 "core" / +2 .tPC.seek :open +2 "processing"%<( +95 "core" ' +2 "storage"(X- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +41 "core" ' +284 ( +2 "storage"(_& +3 "core" & 3  +2 "manipulator"&/& +6 "core" &{  + "manipulator"&R% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +274 "core" ( + "manipulator"&& +4 "core" & H  +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +3 .tHand.open + "manipulator"&f1 +59 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(2& +3 "core" &\ Q\ Q  +2 "manipulator"&v& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +3 "core" & u  +2 "Can" [RM +42 "storage"(.& +11 "core" &\ P\ P  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&t& +4 "core" &  +2 "storage"(& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +23 "core" ' +2 "manipulator"&h% +3 "core" %| ^ +3 "storage"(& +4 "core" & 1  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&i'Ϩ +19 "core" ' +2 "manipulator"&"& +3 "core" & I  +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +32 "core" ' +3 "storage"(% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (p% +3 "core" %Y l t / OE +2 "manipulator"& % +5 "core" %. 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +96 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'%& +4 "core" &WWDF ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&I% +3 "core" %\ \ n  +2 "storage"(e% +4 "core" %b  +2 "storage"(4. +3 "core" .( +2 "storage"(?& +3 "core" &  +2 "storage"((& +5 "core" &  +2 "manipulator"&& +3 "core" & -  +2 .tElbow.seek 3 +2 "manipulator"&1( +4 "core" ( +2 "manipulator"&L& +3 "core" &  +2 "storage"(Z& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +112 "core" ' + "storage"(3& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +282 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & `  +2 "storage"(s& +3 "core" & #  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&G'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'S +33 "core" ' + "manipulator"&u% +4 "core" %Ί v +2 "storage"(5& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&l'϶ +20 "core" ' + "manipulator"&#& +4 "core" & ?  +2 "storage"(& +3 "core" & )  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(0'B +38 "core" ' +2 "manipulator"&w& +4 "core" & b  +2 "manipulator"&@% +3 "core" %# % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +214 "core" ( +2 "manipulator"& & +4 "core" &*  g @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &*  @] +2 .tForearm.seek CC +2 "manipulator"&)'" +92 "core" ' +2 .tHand.close + "manipulator"&[/ +55 "core" / +2 .tCC.seek :open +2 "collection"'K( +416 "core" ( + "storage"(E& +4 "core" & e  +2 "storage"(^& +3 "core" & :  +2 "manipulator"&P& +5 "core" &( J ?Q + "manipulator"&H% +4 "core" % 4 +3 .tForearm.seek :retract + "manipulator"&O'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&M( +171 "core" ( +2 "manipulator"&& +4 "core" & u = + "storage"(T& +5 "core" & k  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&+'} +102 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +53 "core" 1 +2 "manipulator"&% +5 "core" % ΃   + "storage"(6& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&A'ϯ +20 "core" ' +2 "manipulator"&U& +3 "core" & = +2 "storage"(\ & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +27 "core" ' +2 "storage"(Y% +4 "core" %I ) +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (% +3 "core" % R i PF +2 "manipulator"&Q% +3 "core" %) } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"',& +3 "core" &CG +2 "manipulator"&d% +3 "core" %\  T  +3 "storage"( % +3 "core" %`  +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +3 "core" &  +2 "manipulator"&9& +4 "core" &  = +2 .tElbow.seek 2 +2 "manipulator"&{( +49 "core" ( +2 "manipulator"&y& +3 "core" & " 5 "{ +2 "storage"(W& +4 "core" &  > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +97 "core" ' +2 "storage"(&& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'i +275 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &  \\ +2 "manipulator"&=& +4 "core" &  !t +2 .tElbow.seek 2 +3 "manipulator"&B( +32 "core" ( + "manipulator"&]& +4 "core" & 2 m +2 "storage"(`& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&x/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(b'X +53 "core" & 2 m +3 "manipulator"&% +3 "core" %  Y +3 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +99 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&R& +3 "core" &' ' A >L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' 9 >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' + "manipulator"&a& +5 "core" &( - >K +2 "manipulator"&m% +3 "core" %  +3 "collection"'f& +4 "core" &DF +2 "collection"' & +5 "core" &DH +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &EH +7 &7DH #c +9 &\\FD 6 +9 &EF G +10 &eCG F +9 &jCF F +9 &_eEE F +10 & gGF F +9 &cCF F +10 &eEF G +9 &ffEE F +9 & )hBD F +10 &!fCE F +9 &#iEG F +9 &%ngGH F +10 &'1cGF F +9 &(fGG F +10 &*fGE F +9 &,ufEF G +9 &.9eCE F +10 &/fEE F +9 &1gDF F +10 &3cFE F +9 &5@fEE F +9 &7gFF G +10 &8eFH F +9 &:eGF F +9 &\ eDF F +9 &?fDF G +9 &AfEE F +10 &COfEE G +9 &EkEF G +10 &FsDD H +9 &HFF I +9 &JBDE N +10 &KGF Q +9 &MCE P +9 &O@C Q +10 &QA?@ Q +9 &S<> R +10 &T<> R +9 &V0_<> * +9 &V$== B +10 ( + &VB;< > +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&21 +63 "core" 1 +2 "manipulator"&v% +3 "core" %  . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%.& +3 "core" &A +2 "manipulator"&n% +4 "core" %\  G  +2 "storage"(t% +3 "core" %_ +2 "storage"(. +4 "core" .( + "storage"(k& +4 "core" &  @ +2 "storage"(& +4 "core" &   +2 "manipulator"&h& +4 "core" &% << +2 "manipulator"&% +3 "core" %\  x  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +161 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  5 +2 "manipulator"&& +4 "core" & L  +2 .tElbow.seek 2 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +3 "core" & ;  +3 "storage"(r& +3 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(I'X +8 "core" & y  +2 "manipulator"&e% +3 "core" % w +3 .tForearm.seek :retract + "manipulator"&4'\ +93 "core" ' +3 .tElbow.seek PC +2 "manipulator"& (s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&?& +3 "core" &u  m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&L& +4 "core" &u   +2 "manipulator"&Z% +50 "core" % n +5 "processing"%~& +4 "core" & +2 "processing"%3& +5 "core" &G +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &4  +9 &6A )u +9 &jM = +9 &~C G +10 &ik^ G +9 &+k] G +10 &kg G +9 &k@ G +9 &qjQ G +10 &3j. G +9 &k3 G +9 & kX G +10 &"zkE G +9 &$<k. G +10 &%k) G +9 &'nA G +9 &)j$ G +10 &+BkJ G +9 &-j. G +9 &.k@ G +10 &0l- G +9 &2Kk G +10 &4j G +9 &5j G +9 &7j# F +10 &9Sk G +9 &;jL G +9 &<k8 G +10 &>j5 F +9 &@Zm) G +10 &Bi" G +9 &CmG G +9 &El) H +10 &G^y% I +9 &I& K +9 &J4 L +10 &L L +9 &N\\> L +10 &P9 M +9 &Q> L +9 &S< L +10 &UcC M +9 &W%) M +9 &X) M +10 &Z7Dd' %l +9 &Z4* ! +6 ( + "processing"%3& +4 "core" &Z# ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&}1 +64 "core" 1 +2 "manipulator"&|% +3 "core" % l +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%>& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&s% +4 "core" %\    +2 "storage"('% +3 "core" %_ +2 "storage"(u. +4 "core" .( + "storage"(5& +4 "core" &  Q +3 "storage"(#& +3 "manipulator"&& +4 "core" &  +2 &u k  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&w(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(@'i +3 "core" ( +2 "manipulator"&C& +3 "core" &u $  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &u 7  +2 .tForearm.seek PC +2 "manipulator"&8' +94 "core" ' + .tHand.close +2 "manipulator"&G/ +64 "core" / +2 .tPC.seek :open + "processing"%l( +86 "core" ' +2 "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'y +41 "core" ' +294 ( + "storage"( & +4 "core" &  . +2 "manipulator"&$& +3 "core" &u .  +2 "manipulator"&% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\\( +270 "core" ( +2 "manipulator"&-& +3 "core" &  " +2 "storage"(E& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +93 "core" ' +2 .tHand.open +2 "manipulator"&P1 +54 "core" 1 +2 "storage"(H- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(T' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' +2 "storage"(j& +3 "core" & \ G\ G +2 "manipulator"&F& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&6& +3 "core" &  +3 "storage"(U& +4 "core" & \ <\ F +2 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Y' +60 "core" ' + "manipulator"&O& +4 "core" & N +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +48 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +20 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'i +23 "core" ' +2 "manipulator"&A% +4 "core" % +2 "storage"(,& +3 "core" &  X +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&d' +19 "core" ' +2 "manipulator"& & +3 "core" & [ +2 "storage"(g& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +37 "core" ' +2 "storage"(:% +3 "core" %q U +5 ."downElevator"SE.seek :down +3 "storage"(*'X +100 (7% +3 "core" %NW k t x PG +2 "manipulator"&o% +3 "core" % % +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" &  ] +2 "collection"'W& +4 "core" &VBCG > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&&% +3 "core" %\  >  +2 "storage"(;% +4 "core" %b - +2 "storage"(D. +2 "core" .( +3 "storage"(N& +4 "core" &   + "storage"(V& +4 "core" &  O +2 "manipulator"&=& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&]( +3 "core" ( +2 "manipulator"&`& +4 "core" & b +2 "storage"(x& +5 "core" &  9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +91 "core" ' +2 "storage"(& +3 "core" &  b +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +284 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & \\ +2 "storage"(R& +4 "core" &  ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'S +38 "core" ' +2 "manipulator"&m% +4 "core" % | G +2 "storage"(f& +3 "core" &  D +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&b' +20 "core" ' +2 "manipulator"&_& +3 "core" & j +2 "storage"(K& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'B +38 "core" ' +2 "manipulator"&.& +3 "core" &  +2 "manipulator"&n% +4 "core" %ѡ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +3 "manipulator"&k& +4 "core" &% << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &% << +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&h/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( +3 "storage"(& +4 "core" &  +2 "storage"(& +4 "core" &  T +2 "manipulator"&& +3 "core" &% <; +3 "manipulator"&% +3 "core" % ,  +3 .tForearm.seek :retract + "manipulator"&/'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( + "manipulator"&p& +4 "core" &  n  +2 "storage"( & +4 "core" &  [ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +102 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +52 "core" 1 +2 "manipulator"&% +4 "core" % S _ +2 "storage"(%& +4 "core" &  u +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +3 "manipulator"&e' +20 "core" ' +2 "manipulator"&"& +3 "core" & X  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +49 "core" ' + "storage"(i% +4 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(?'X +100 ((% +3 "core" %U  OE +2 "manipulator"&!% +3 "core" %њ t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +94 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Z& +3 "core" &DG +2 "manipulator"&~% +3 "core" %\ 1 / +2 "storage"(I% +4 "core" %b  +2 "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(<( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" & y  +2 "manipulator"&|& +3 "core" & R  +3 .tElbow.seek 3 +2 "manipulator"&>( +14 "core" ( +2 "manipulator"&s& +3 "core" & ` +3 "storage"('& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +92 "core" ' +2 "storage"(3& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +280 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & { -  +2 "manipulator"&C& +4 "core" & P ` +2 .tElbow.seek 3 +2 "manipulator"&1( +4 "core" ( + "manipulator"&& +4 "core" & M ` +2 "storage"(G& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & 3 ` + "manipulator"&@% +5 "core" % ϕ  +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&& +3 "core" &* 5 Q @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" &* @W +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&-'" +103 "core" ' +3 "manipulator"&E& +4 "core" &( s ?V +2 "manipulator"&w% +3 "core" % ' _ +3 "collection"'P& +4 "core" &DD +2 "collection"'H& +5 "core" &FE +2 .tCC.seek :closed +3 "collection"')(V +4 "core" &FF  +9 &9DE *x +9 &kEF = +9 &pDF G +10 &fFE F +9 &AdEE G +10 &eFF F +9 &fFG G +9 &eFF F +10 &KhFE F +9 & eHE F +9 & hFE F +10 &"fDG F +9 &$RgDF F +10 &&eGG F +9 &'hCE F +9 &)dGF F +10 &+[fED F +9 &-eDH F +9 &.eFE F +10 &0dFG F +9 &2beEF F +10 &4$dDF F +9 &5eBF F +9 &7eEE F +10 &9jeGF F +9 &;,eDF F +9 &<fEC F +10 &>bCE F +9 &@seFF F +10 &B4eCE F +9 &CgDD G +9 &EnCD G +10 &Gu|EG H +9 &I0ED K +9 &JDF P +10 &LEF P +9 &NeA@ P +10 &P&=? Q +9 &Q>? Q +9 &S>? R +10 &Ug>< ? +9 &VJ=> V +9 &V/D;> %q +10 &WU== A +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.91 +2 .Hand.open +2 "manipulator"&j1 +56 "core" 1 +2 "manipulator"&F% +3 "core" %  ^ _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%U& +4 "core" & + "manipulator"&[% +4 "core" %\  \  +2 "storage"(O% +4 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"(J& +3 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&A& +5 "core" &( &  ?V + "manipulator"&,% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +164 "core" ( +2 "manipulator"&g& +3 "core" & t +2 "storage"(\\& +5 "core" & >  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +96 "core" ' +2 "storage"(:& +4 "core" & 4  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +286 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &   +2 "manipulator"&\ & +4 "core" & t +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&Y& +4 "core" & 1 t + "storage"(Q& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&d'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(&'X +8 "core" & t t +2 "manipulator"&;% +3 "core" % E ' +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +3 "manipulator"&N& +4 "core" &m ;  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &m 5  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +101 "core" ' +2 "manipulator"&`& +3 "core" &m  d  +3 "manipulator"&x% +3 "core" % R +3 "processing"%0& +4 "core" &$ +2 "processing"%& +5 "core" &k +2 .tPC.seek :closed +2 "processing"%*(Z +5 "core" &Y +6 &>S #c +10 &[i 6 +9 & G +10 &hC G +9 &k_ G +9 &Zi< F +10 &jW G +9 &ho G +9 &kh G +10 &ak5 G +9 & #k= G +10 &!j^ G +9 &#h. G +9 &%hkE G +10 &'+jd G +49 &(i G +4 &*i? G +3 &,oj% G + &.2k' G + &/j' G + &1k1 G +6 &3yj G +10 &5:j; G +9 &6jQ G +9 &8iD G +10 &:hN G +9 &iL G +9 &?i: G +9 &Aj6 G +10 &CJlR G +9 &E\ o/ H +9 &Fs I +10 &H` J +9 &JC` L +10 &Lj M +9 &MY L +9 &O= M +10 &QIH M +9 &S S M +9 &T? L +10 &V6 M +9 &XPM M +10 &Ywy "j +9 &Z+y^ / +9 ( + &ZK # +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&M1 +64 "core" 1 +2 "manipulator"&9% +3 "core" % +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +98 "core" ' + "processing"%z& +5 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&R% +4 "core" %\ 6 +3 "storage"(B% +3 "core" %V +2 "storage"(m. +3 "core" .( +2 "storage"(f& +3 "core" &  +3 "storage"(_& +2 "manipulator"&K& +5 "core" &  +2 &m h  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&.(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(n'i +3 "core" ( +2 "manipulator"&c& +3 "core" &m 1  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &m   +2 .tForearm.seek PC +2 "manipulator"&{' +97 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open + "processing"%b( +85 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(k'y +32 "core" ' +304 ( +2 "storage"( & +3 "core" &   +3 "manipulator"&2& +4 "core" &m  + "manipulator"&X% +4 "core" % q +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&t( +271 "core" ( + "manipulator"&& +4 "core" &  P +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &\ F\ F  +2 "manipulator"&r& +5 "core" & + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&%& +5 "core" & t + "storage"("& +4 "core" &\ G\ L   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(i' +60 "core" ' + "manipulator"&/& +4 "core" & +2 "storage"((& +3 "core" & P  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&!'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&e% +3 "core" %Ά , +41 "storage"(Z& +11 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"&~'ϲ +26 "core" ' +2 "manipulator"&I& +3 "core" & A +2 "storage"(4& +5 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +16 "core" ' +2 "storage"(% +4 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (% +3 "core" % W e l T PG +2 "manipulator"&}% +3 "core" %+ { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (s& +3 "core" & t &  +3 "collection"''& +4 "core" &WSEG A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&3% +4 "core" %\ ! 4 +2 "storage"(% +4 "core" %b 3 +2 "storage"(L. +3 "core" .( +2 "storage"(#& +5 "core" &  +2 "storage"(& +3 "core" & |  +2 "manipulator"&C& +4 "core" & { +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&G& +4 "core" & +2 "storage"( & +4 "core" & ^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + "storage"(@& +4 "core" & 3  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +285 "core" ' +3 "storage"(u- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & c +2 "storage"(8& +4 "core" & >  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'} +17 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'T +32 "core" ' +2 "manipulator"&w% +3 "core" %}  +2 "storage"(P& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 "manipulator"& & +3 "core" & E +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(F'C +45 "core" ' +2 "manipulator"&U& +3 "core" & D +2 "manipulator"&[% +4 "core" %Q + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +172 "core" ( +2 "manipulator"&J& +3 "core" &+ Bh +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ Bg +2 .tForearm.seek CC +2 "manipulator"&H'" +93 "core" ' +2 .tHand.close + "manipulator"&A/ +57 "core" / +2 .tCC.seek :open + "collection"',( +416 "core" ( +2 "storage"(-& +3 "core" &   +2 "storage"(g& +4 "core" &   +2 "manipulator"&\\& +4 "core" &* m @W +2 "manipulator"&:% +3 "core" %  ! b +3 .tForearm.seek :retract + "manipulator"&$'\ +106 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +166 "core" ( +9 "manipulator"&7& +3 "core" & t ` +3 "storage"(o& +3 "core" & e  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&\ '} +97 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Q1 +59 "core" 1 +3 "manipulator"&y% +3 "core" % ΀ { +2 "storage"(W& +4 "core" & [  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&;'Ϭ +20 "core" ' +2 "manipulator"& & +3 "core" & ; ` +3 "storage"(^& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +23 "core" ' +2 "storage"(d% +3 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(N'X +99 (V% +3 "core" %@T  OE +2 "manipulator"&% +4 "core" %W @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'x& +3 "core" &DF +3 "manipulator"&0% +4 "core" %\  . . +2 "storage"(&% +3 "core" %b  +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(l( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" & 6 +2 "manipulator"&9& +3 "core" & G ` +3 .tElbow.seek 2 +2 "manipulator"&z( +35 "core" ( +2 "manipulator"&R& +3 "core" & 9 % +2 "storage"(B& +3 "core" & 8 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +111 "core" ' +2 "storage"(m& +3 "core" & H +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +281 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" & s +2 "manipulator"&c& +3 "core" &!  g +4 .tElbow.seek 2 + "manipulator"&]( +27 "core" ( +2 "manipulator"&=& +3 "core" & [ p +2 "storage"(& +3 "core" & 8 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(*'X +8 "core" & Z p + "manipulator"&n% +4 "core" %   +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&X& +3 "core" &(  M ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &( { ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +3 "manipulator"&& +4 "core" &(  ?R +2 "manipulator"&.% +4 "core" %, ] +2 "collection"'& +4 "core" &DF +2 "collection"'& +5 "core" &CD +3 .tCC.seek :closed +2 "collection"'(V +48 "core" &JD  +4 &6DE )v +4 &kDE = + &tBG G + &pfHF G + &3eGF F +4 &cFG F +7 &hED F +9 &xeEE G +9 &;gDF F +10 &cEF F +9 & fEE G +10 &"gFF F +9 &$CbEF F +9 &&hEF F +10 &'eFE F +9 &)bFD F +9 &+JfGE G +10 &-fGG F +9 &.eDF F +9 &0iEE F +10 &2RfFF G +9 &4eCD F +10 &5fBD G +9 &7eGF F +9 &9\\fDG F +10 &;fDE F +9 &<gDE F +10 &>gEC F +9 &@bgDD G +9 &B&fFF F +10 &CgDC G +9 &EnFF G +9 &Ge|CE H +10 &I!EE K +9 &JFG O +9 &LEF Q +10 &NVCE P +9 &P@D P +10 &Q>@ Q +9 &S>> S +9 &UY>> A +10 &VtB<? + +9 &Vj<@ D +5 ( +2 "collection"'& +4 "core" &V_>I D +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&r% +3 "core" % ,  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%"& +4 "core" & +2 "manipulator"&h% +3 "core" %\  d  +3 "storage"(/% +3 "core" %b W +2 "storage"((. +3 "core" .( +2 "storage"(e& +3 "core" & +2 "storage"(Z& +4 "core" & +2 "manipulator"&k& +3 "core" &'  >O +3 "manipulator"&p% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&I( +160 "core" ( +2 "manipulator"&4& +3 "core" & O  +2 "storage"(t& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & . +2 "manipulator"&}& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&i& +3 "core" & h  +2 "storage"(!& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&s' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"(3'X +8 "core" &   + "manipulator"&% +4 "core" %  X +3 .tForearm.seek :retract + "manipulator"&L'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&#& +4 "core" &  A 4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +92 "core" ' +2 "manipulator"&G& +4 "core" & 4 +2 "manipulator"& % +3 "core" %  < +2 "processing"%v& +4 "core" & +3 "processing"%@& +5 "core" &$ +2 .tPC.seek :closed +2 "processing"%?(Z +5 "core" &K  +8 &5m )u +9 & i < +10 &z( H +9 &eit G +9 &'j G +10 &m G +9 &k9 G +10 &miC G +9 &/j G +9 &m G +10 & i G +9 &"ujl G +9 &$8k F +10 &%k7 G +9 &'k G +10 &)|ni G +9 &+?k G +9 &-m\\ G +10 &.i* G +9 &0nw G +10 &2Fi G +9 &4 k G +9 &5j G +10 &7j` G +9 &9Nm" G +9 &;hr G +10 &<mX G +9 &>j F +9 &@Vm G +10 &Bi` G +9 &CmU G +10 &EpO H +9 &GYz I +9 &Ic K +10 &J L +9 &Lb L +9 &NW L +10 &P L +9 &Qc M +10 &S L +9 &U] M +9 &W M +10 &Xe M +9 &Z2Dc %l +9 &Z5 ! +6 ( +2 "processing"%@& +3 "core" &Z_ ! +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.38 + .Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&|% +52 "core" % J < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +97 "core" ' +2 "processing"%& +3 "core" &Zi ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&8% +4 "core" %\ %  +2 "storage"(1% +3 "core" %V  +2 "storage"(w. +3 "core" .( +2 "storage"(P& +3 "core" & ' +3 "storage"( & +3 "manipulator"&& +5 "core" & f +2 & 2 4 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(U'i + "manipulator"&[(s +8 "core" ( +2 "manipulator"&& +4 "core" &y  a . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y Q . +2 .tForearm.seek PC +2 "manipulator"&>' +93 "core" ' +2 .tHand.close + "manipulator"&5/ +64 "core" / +4 .tPC.seek :open +2 "processing"%( +79 "core" ' + "storage"(E- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'y +40 "core" ' +302 ( +2 "storage"(& +4 "core" & c + "manipulator"&j& +4 "core" &y ) . +2 "manipulator"&S% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&O( +270 "core" ( +2 "manipulator"&)& +3 "core" & a \ +2 "storage"(-& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +97 "core" ' +2 .tHand.open + "manipulator"&\\1 +60 "core" 1 +2 "storage"(:- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(o' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +3 "core" -' +2 "storage"(& +4 "core" & \ Q\ Q +2 "manipulator"&Q& +3 "core" & X \ +3 .tElbow.seek 2 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&W& +3 "core" &  ^ \ +2 "storage"( & +4 "core" & \ K\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(d' +58 "core" ' +2 "manipulator"&$& +3 "core" &  \ +3 "storage"(V& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +27 "core" ' +2 .tElbow.hold + "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'i +29 "core" ' +2 "manipulator"&x% +3 "core" % t +2 "storage"(;& +5 "core" & s . + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&0' +20 "core" ' +2 "manipulator"&&& +4 "core" & X \ + "storage"(D& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +23 "core" ' + "storage"(T% +5 "core" %s ; +48 ."downElevator"SE.seek :down +4 "storage"(N'X +98 (<% +5 "core" %Z l i QI +2 "manipulator"&M% +3 "core" %ѳ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" & j +2 "collection"'B& +4 "core" &V^GF D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&m% +3 "core" %\    +3 "storage"(Y% +3 "core" %_ +2 "storage"(`. +4 "core" .( + "storage"(_& +4 "core" &  +2 "storage"(K& +3 "core" & +3 "manipulator"&c& +3 "core" & 8 \ +2 .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&& +3 "core" &  \ +2 "storage"(+& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +87 "core" ' + "storage"(n& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  \ +2 "storage"({& +4 "core" & - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&f' +29 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(]'Q +37 "core" ' +2 "manipulator"&.% +3 "core" %  2 +2 "storage"(& +4 "core" & d d S +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&*' +20 "core" ' +2 "manipulator"& & +3 "core" & R \ +2 "storage"(,& +5 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'@ +37 "core" ' +2 "manipulator"&"& +3 "core" & \ +2 "manipulator"&h% +4 "core" %Ѫ q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +164 "core" ( + "manipulator"&e& +4 "core" &# % J :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &#   :- +3 .tForearm.seek CC + "manipulator"&Z'" +94 "core" ' +2 .tHand.close + "manipulator"&k/ +61 "core" / +2 .tCC.seek :open +2 "collection"'p( +413 "core" ( + "storage"(& +4 "core" & +2 "storage"(4& +3 "core" & +2 "manipulator"&t& +4 "core" &# % - :- +2 "manipulator"&% +4 "core" % ' # 0 +2 .tForearm.seek :retract +2 "manipulator"&2'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&%( +156 "core" ( + "manipulator"&& +4 "core" & l  +2 "storage"(& +3 "core" & b +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&}' +97 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +46 "manipulator"&!1 +56 "core" 1 +3 "manipulator"&~% +4 "core" %  +2 "storage"('& +3 "core" & ^ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +21 "core" ' + "manipulator"&I& +5 "core" & H  + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +35 "core" ' +2 "storage"(s% +3 "core" %G ; +3 ."downElevator"SE.seek :down +4 "storage"(#'X +98 (% +3 "core" %N  OE +2 "manipulator"&% +4 "core" %Ѩ  R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +3 "core" &EE +2 "manipulator"&v% +4 "core" %\   +2 "storage"(3% +3 "core" %\\ E +3 "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(b( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & n +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&@( +15 "core" ( +2 "manipulator"&& +3 "core" &  e +3 "storage"(8& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +100 "core" ' + "storage"(w& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & }  +2 "manipulator"&& +4 "core" & 1 e +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&C& +4 "core" & D e + "storage"(5& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(?'X +8 "core" &  e + "manipulator"&U% +5 "core" % Ϝ  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&S& +3 "core" &, * ~ Bf +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &+ , i Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&)'" +92 "core" ' +2 "manipulator"&-& +4 "core" &+ . Ae +2 "manipulator"&[% +4 "core" %) +2 "collection"'\\& +5 "core" &GE +2 "collection"':& +5 "core" &FF +4 .tCC.seek :closed +2 "collection"'H(V +3 "core" &DG +8 &JDD $d +9 &^CE 7 +10 &1FF G +9 &dCG F +9 &iDG F +10 &xeEG F +9 &;hFF F +10 &fFG F +9 &eCF G +9 &eGF F +10 & AgEG G +9 &"eFF F +9 &#fDD F +10 &%cEF F +9 &'JeFG F +10 &) bED F +9 &*gEF F +9 &,eCF F +10 &.ReFE F +9 &0gEF F +9 &1eED F +10 &3fCF F +9 &5ZeHF F +9 &7gFE F +10 &8eCE F +9 &:eEE F +10 &%fEG F +9 &?gDE F +10 &AgDF F +9 &CjgDF F +10 &E+iED G +9 &FvCD H +9 &HDE J +10 &JYFG O +9 &LGE P +9 &MDF P +51 &ODD Q +3 &QZAD Q + &S?@ R + &T=? R + &VDb;< , +3 &V=< V +5 ( +2 &Vx=< L +2 "collection"':& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&Q% +3 "core" % ) & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +3 "core" &{ +2 "manipulator"&A% +4 "core" %\  6 +2 "storage"($% +4 "core" %a m l +2 "storage"(V. +3 "core" .( +2 "storage"(x& +3 "core" & y v   +2 "storage"(J& +5 "core" & m m   + "manipulator"&;& +4 "core" &* o Ae +2 "manipulator"&7% +3 "core" %\ !  6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +153 "core" ( +2 "manipulator"&D& +4 "core" & U  +2 "storage"(T& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +87 "core" ' +2 "storage"(g& +3 "core" & 4  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(o'i +283 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &   +2 "manipulator"&M& +3 "core" & Z  +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"(& +4 "core" & V  +3 .tForearm.seek 3 + 300 counts + "manipulator"&0'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&R/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(m'X +9 "core" & R  + "manipulator"&Y% +4 "core" % ϧ o +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&_(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&\ & +3 "core" &i W  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +2 "core" &i   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +96 "core" ' + "manipulator"&& +5 "core" &i  9  + "manipulator"&+% +4 "core" % 1  +3 "processing"%F& +3 "core" &} +3 "processing"%n& +5 "core" & +2 .tPC.seek :closed +2 "processing"%N(Z +4 "core" &< +7 &?I #a +9 &YG 5 +9 &  G +10 &e G +9 &j G +10 &Rml G +9 &j G +9 &i^ F +10 &l G +9 &[j? G +9 & k G +10 &!ha G +9 &#ie G +10 &%cj. G +9 &'$j G +9 &(j G +10 &*k) G +9 &,kjv G +9 &.,n G +10 &/h G +9 &1i F +10 &3rj G +9 &55j G +9 &6i F +10 &8j G +9 &:|h^ F +9 &<=hQ G +10 &=eS G +9 &?iJ G +10 &Ai G +9 &CCnu G +9 &Ep G +10 &FxT H +9 &HX J +9 &J> L +10 &Kc L +9 &MK L +10 &O L +9 &QDc M +9 &SL L +10 &TO M +9 &V M +9 &XKW M +10 &Ywyg "j +9 &Z. 1 +10 ( + &Zd ! +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&61 +61 "core" 1 +2 "manipulator"&9% +3 "core" % " n  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "processing"%X& +4 "core" &ZZ ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&{% +3 "core" %\ \ $  +2 "storage"(% +4 "core" %Q +2 "storage"(.. +3 "core" .( +2 "storage"(& +3 "core" &   +50 "storage"( & +3 "manipulator"&,& +8 "core" &  + &i   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&"(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(h'i +2 "core" ( +3 "manipulator"&q& +3 "core" &i D  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &i >  +3 .tForearm.seek PC + "manipulator"&z' +90 "core" ' +2 .tHand.close + "manipulator"&f/ +53 "core" / +3 .tPC.seek :open +2 "processing"%*( +96 "core" ' + "storage"(]- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +50 "core" ' +276 ( +2 "storage"(& +3 "core" &   +2 "manipulator"&& +4 "core" &i $  +2 "manipulator"&a% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&/( +274 "core" ( +2 "manipulator"&& +3 "core" & w +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +87 "core" ' +2 .tHand.open + "manipulator"&t1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +33 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"((& +4 "core" &\ M\ E X  +2 "manipulator"&!& +3 "core" & w +3 .tElbow.seek 3 +2 "manipulator"&~( +9 "core" ( +2 "manipulator"&'& +3 "core" & D c +2 "storage"(I& +4 "core" &\ P\ P r  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(2' +58 "core" ' +2 "manipulator"&s& +3 "core" & c +2 "storage"(%& +4 "core" & "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +28 "core" ' +2 "manipulator"&% +3 "core" %· ! +2 "storage"( & +4 "core" & d b Q  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&v'ϳ +20 "core" ' +2 "manipulator"&3& +4 "core" & \\ c + "storage"(L& +5 "core" & =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +27 "core" ' +2 "storage"( % +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (l% +3 "core" %][ y o QI +2 "manipulator"&% +3 "core" %@  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 0  +2 "collection"'8& +3 "core" &VtFF L +49 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&w% +5 "core" %\  e  +2 "storage"(i% +3 "core" %V  +2 "storage"(G. +4 "core" .( + "storage"( & +4 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" & c +2 .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&5& +3 "core" & c +2 "storage"(& +4 "core" & %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +90 "core" ' + "storage"(U& +4 "core" & '  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +283 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" & d c +2 "storage"(>& +3 "core" & 1  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&P'} +26 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(-- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(['S +31 "core" ' + "manipulator"&% +4 "core" %Ά  +2 "storage"(\\& +3 "core" & w j   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&?'ϲ +20 "core" ' + "manipulator"&& +4 "core" & R c +2 "storage"(p& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'B +45 "core" ' + "manipulator"& & +4 "core" &  c +2 "manipulator"&A% +4 "core" %C + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +173 "core" ( +3 "manipulator"&:& +3 "core" &+ . " Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &+  Bk +3 .tForearm.seek CC + "manipulator"&J'" +97 "core" ' +2 .tHand.close + "manipulator"&;/ +56 "core" / +2 .tCC.seek :open +2 "collection"'7( +416 "core" ( +2 "storage"()& +3 "core" &   +2 "storage"(D& +3 "core" & K  +3 "manipulator"&T& +3 "core" &, Bj +2 "manipulator"&g% +4 "core" % & = +2 .tForearm.seek :retract +2 "manipulator"&j'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W( +160 "core" ( + "manipulator"&^& +5 "core" & S + "storage"(<& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&M'} +93 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&R% +3 "core" % ΀ _ +2 "storage"(B& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&Y'Ϭ +19 "core" ' +3 "manipulator"&&& +4 "core" & h +2 "storage"(O& +3 "core" &   +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +28 "core" ' +2 "storage"(0% +4 "core" %B  +2 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (K% +3 "core" %qR PE +2 "manipulator"&y% +5 "core" %1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'+& +3 "core" &EE +2 "manipulator"&F% +4 "core" %\ ' e : +2 "storage"(m% +4 "core" %b  +2 "storage"(`. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (6& +2 "core" &  +2 "manipulator"&9& +4 "core" & B +2 .tElbow.seek 2 +2 "manipulator"&X( +46 "core" ( +2 "manipulator"&{& +3 "core" & i !u +2 "storage"(& +4 "core" &  I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&.'ќ +91 "core" ' +2 "storage"(n& +3 "core" &  $ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  [ +2 "manipulator"&q& +3 "core" & & c +3 .tElbow.seek 2 + "manipulator"&=( +31 "core" ( + "manipulator"&c& +4 "core" & ~ R +2 "storage"(f& +3 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&_/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(N'X +8 "core" &  R +2 "manipulator"&h% +3 "core" % " N +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( + "manipulator"&a& +4 "core" &, E  Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &,  Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +102 "core" ' +3 "manipulator"&& +3 "core" &,  Bk +3 "manipulator"&"% +3 "core" %* 3 +3 "collection"'t& +4 "core" &EF +2 "collection"'& +5 "core" &CD +2 .tCC.seek :closed +2 "collection"'Z(V +3 "core" &CH +8 &8DF #b +10 &\\DE 6 +9 &EF G +9 &bDD F +10 &eFF F +9 &_eDF F +9 & eFG G +10 &dDE F +9 &dED F +10 &heDF F +9 & )eEE F +9 &!eEE F +10 &#fCF G +9 &%peED F +9 &'2eEF F +10 &(cDF F +9 &*eDD F +9 &,wgFG F +10 &.8eEG G +9 &/dDE F +10 &1fOG F +9 &3eEF F +9 &5BeDE F +10 &7fCF F +9 &8dDG F +9 &:eCF F +10 & eDG F +10 &?eFD F +9 &AeCD F +9 &CRfFD F +10 &EjFF G +9 &FsCD G +10 &HFE J +9 &JAFD O +9 &KFF P +10 &MDE P +9 &OBD Q +9 &QD?B P +10 &S=? R +9 &T>> R +9 &V2b<< + +10 &V":: E +9 ( + &V]<< B +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&(1 +63 "core" 1 +3 "manipulator"&!% +5 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%I& +49 "core" & +4 "manipulator"&k% +5 "core" %\ N  +2 "storage"(s% +3 "core" %^ +2 "storage"(%. +3 "core" .( +2 "storage"(e& +3 "core" &  +2 "storage"(& +5 "core" &   + "manipulator"& & +4 "core" &+ Bg +2 "manipulator"&% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3( +160 "core" ( + "manipulator"&L& +4 "core" & Z  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +92 "core" ' + "storage"(4& +5 "core" &  8 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&2& +4 "core" & O  + "storage"(& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&v' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(w'X +8 "core" & U  +2 "manipulator"&}% +3 "core" %  M +3 .tForearm.seek :retract + "manipulator"&i'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&G(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"& & +5 "core" &z   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&5& +3 "core" &z   +3 "manipulator"&% +3 "core" % x +2 "processing"%r& +5 "core" &; +2 "processing"%U& +5 "core" & +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &R  +9 &7 )w +9 &j = +10 &x H +9 &ng F +9 &.h G +10 &h G +9 &i{ G +9 &ui G +10 &8h F +9 &j G +9 & h G +10 &"}i6 G +9 &$?hA G +10 &&h F +9 &'j G +9 &)i G +10 &+Fi G +9 &- i^ G +9 &.hM G +10 &0l& G +9 &2Oix G +10 &4hZ G +9 &5i5 G +9 &7fX G +10 &9Wj G +9 &;g, F +10 &<jN G +9 &>hu F +9 &@]j G +10 &B h G +9 &Cj G +9 &Eq H +10 &G`} I +9 &I K +9 &Jd L +10 &Lb L +9 &N`j L +10 &P!k L +9 &Q L +9 &S L +10 &UfT M +9 &W( M +9 &X M +10 &Z:Dc %l +9 &Z /. " +6 ( + "processing"%U& +4 "core" &Zd " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&|% +4 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' +4 "processing"%S& +3 "core" &Zk " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&>% +3 "core" %\ # L D +2 "storage"(-% +4 "core" %] b d +2 "storage"(. +3 "core" .( +2 "storage"(\\& +4 "core" &  p Q +2 "storage"(& +2 "manipulator"&p& +7 "core" &  f g + &z z  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"& (s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(A'i +2 "core" ( +3 "manipulator"&u& +49 "core" &z # l  +5 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &z & K  +2 .tForearm.seek PC +2 "manipulator"&@' +102 "core" ' +2 .tHand.close + "manipulator"&P/ +55 "core" / +2 .tPC.seek :open +2 "processing"%?( +43 "core" ' + "storage"([- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'y +47 "core" ' +329 ( +2 "storage"(x& +3 "core" &  { +2 "manipulator"&& +4 "core" &z   +2 "manipulator"&E% +3 "core" % S +3 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +255 "core" ( +2 "manipulator"&H& +3 "core" &  h ^ +2 "storage"()& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +88 "core" ' + .tHand.open +2 "manipulator"&T1 +62 "core" 1 +2 "storage"(g- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' +2 "storage"(V& +4 "core" & \ O\ O + "manipulator"&& +4 "core" & p ^ +2 .tElbow.seek 2 +2 "manipulator"&R( +14 "core" ( +2 "manipulator"&B& +3 "core" &  ^  +2 "storage"(&& +4 "core" & \ P\ O _ +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +57 "core" ' +2 "manipulator"&0& +3 "core" &   +2 "storage"(W& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K' +25 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(M'i +34 "core" ' +2 "manipulator"&+% +3 "core" % +2 "storage"(Y& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&F' +20 "core" ' +2 "manipulator"&m& +3 "core" & A  +3 "storage"(`& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +17 "core" ' + "storage"(o% +5 "core" %f   +2 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (b% +4 "core" %L i l > OF +2 "manipulator"&6% +4 "core" %Ѡ g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ({& +3 "core" &  g +2 "collection"'& +4 "core" &V^FE B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&n% +3 "core" %\ " 9 +2 "storage"(d% +4 "core" %U  +2 "storage"(. +3 "core" .( +2 "storage"(,& +4 "core" &  & +2 "storage"( & +3 "core" &   +2 "manipulator"&q& +4 "core" & ?  +2 .tElbow.seek 2 +2 "manipulator"&c( +9 "core" ( + "manipulator"&f& +50 "core" & W  +3 "storage"(_& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +102 "core" ' +2 "storage"(h& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'i +287 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & <  +3 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&z' +20 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +34 "core" ' + "manipulator"&"% +3 "core" % a +2 "storage"(t& +5 "core" &  e + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&N' +21 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(7& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +26 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(!'A +36 "core" ' +2 "manipulator"&I& +3 "core" & y  +2 "manipulator"&% +4 "core" %ј 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&s( +163 "core" ( +2 "manipulator"&%& +4 "core" &+ - K Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &, ) Bj +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"(& +3 "core" &   +3 "storage"(L& +3 "core" &   +2 "manipulator"& & +4 "core" &*  @X +2 "manipulator"&4% +3 "core" % ,  +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +162 "core" ( + "manipulator"&l& +4 "core" & 9  +2 "storage"(& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +102 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % 3 Z +2 "storage"(8& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +3 "manipulator"&}' +21 "core" ' +2 "manipulator"&3& +3 "core" &  +2 "storage"(/& +4 "core" &  : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +38 "core" ' +2 "storage"(v% +3 "core" %J  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (% +3 "core" %R  OE +2 "manipulator"&~% +4 "core" %њ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&5'\ +92 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ' +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &EE +2 "manipulator"&r% +5 "core" %\ \\ 7 +2 "storage"(w% +3 "core" %b  +2 "storage"(i. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(*( +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&S( +13 "core" ( +2 "manipulator"&>& +3 "core" & M +3 "storage"(-& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(U& +3 "core" & ]  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +280 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & a  +3 "manipulator"&u& +4 "core" & ( M + .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" &  M +2 "storage"(P& +4 "core" & P  +3 .tForearm.seek 3 + 300 counts + "manipulator"&['ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&G/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&1& + "storage"(#'X +8 "core" & M + "manipulator"&A% +4 "core" % ϛ < +3 .tForearm.seek :retract + "manipulator"&x'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&E& +3 "core" &% # j <@ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &%  F <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'" +99 "core" ' + "manipulator"&)& +4 "core" &% ;8 +2 "manipulator"& % +5 "core" %* W +2 "collection"'T& +4 "core" &FE +3 "collection"'g& +5 "core" &DE +2 .tCC.seek :closed +2 "collection"'J(V +4 "core" &CD +7 &HCF $d +9 &]BG 6 +9 &0FF G +10 &`DE F +9 &eFF F +10 &ycCE F +9 &;dFG F +9 &fED F +10 &eFC F +9 &dEE F +9 & BdFD F +10 &"cED F +9 &#dFH F +10 &%eEG F +9 &'IdEF F +9 &) dDF F +10 &*eEE F +9 &,dGG F +9 &.RdEF F +10 &0dDE F +9 &1dFE F +10 &3cDE F +9 &5ZdFF F +9 &7eDD F +10 &8dCF F +9 &:eCE F +9 &$dEE F +9 &?eFF F +10 &AeEE F +9 &CieGE F +9 &E*lFD G +10 &FtEE H +9 &HGD J +9 &JYFG O +10 &LEG Q +9 &MDE Q +10 &OCD Q +9 &Q[@C Q +9 &S>C R +10 &T?= R +9 &VCa<= , +9 &V;= W +10 ( + &Vm== M +2 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&V1 +61 "core" 1 +3 "manipulator"&% +4 "core" % *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%&& +3 "core" & +2 "manipulator"&;% +4 "core" %\    +2 "storage"(0% +4 "core" %^ +2 "storage"(W. +3 "core" .( +2 "storage"(:& +3 "core" & u  +2 "storage"(+& +4 "core" & s g  +2 "manipulator"&Y& +3 "core" &$ ;8 +2 "manipulator"&^% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +47 "manipulator"&m( +168 "core" ( +2 "manipulator"&`& +3 "core" &  L +3 "storage"(o& +3 "core" & u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +97 "core" ' + "storage"(D& +4 "core" &   +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +277 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +2 "core" &   +2 "manipulator"&O& +4 "core" & L +2 .tElbow.seek 3 +2 "manipulator"&R( +4 "core" ( +2 "manipulator"&j& +3 "core" & ` L +2 "storage"(K& +4 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(n'X +8 "core" & 7 L + "manipulator"&d% +5 "core" % ϰ N  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( + "manipulator"&M& +4 "core" &h ( 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &h 6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&q' +99 "core" ' +2 "manipulator"&f& +3 "core" &i  Z  +3 "manipulator"&_% +4 "core" %  +2 "processing"%Q& +3 "core" &Y +3 "processing"%h& +5 "core" &B +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &  +8 &6 )w +10 &k = +9 &v H +10 &li5 G +9 &/h F +9 &j G +10 &jj G +9 &sgY G +9 &5i G +10 &j G +9 & j G +10 &"{g G +9 &$=i G +9 &%h| G +10 &'ii G +9 &)l G +9 &+Ej^ G +10 &-j G +9 &.gf G +10 &0j' G +9 &2Nj G +9 &4kt G +10 &5h G +9 &7f_ G +9 &9Uj G +10 &;h G +9 &<m G +10 &>j G +9 &@^j^ G +9 &Bk G +10 &Ck G +9 &Ek H +9 &G`y I +10 &I K +9 &Jd L +10 &Ll L +9 &N_ L +9 &P M +10 &Qa M +9 &S M +9 &Ue M +10 &W& M +9 &Xd M +10 &Z8Dd %m +9 &Z / " +5 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&y1 +4 "core" &Z. " +59 1 +2 "manipulator"&9% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +3 "processing"%a& +4 "core" &Zd " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\   " +2 "storage"(=% +4 "core" %P ~ b b +2 "storage"(". +3 "core" .( +2 "storage"(t& +3 "core" &  +3 "storage"(& +2 "manipulator"&7& +7 "core" &   + &i H  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&I(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&& +3 "core" &i Q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &i X  +3 .tForearm.seek PC + "manipulator"&X' +97 "core" ' + .tHand.close +2 "manipulator"&z/ +61 "core" / +2 .tPC.seek :open + "processing"%N( +83 "core" ' + "storage"(- +3 "core" -'i +42 ."raiseStack"SE.configure :default +10 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(%'y +39 "core" ' +250 ( +2 "storage"(e& +3 "core" &  +2 "manipulator"&(& +5 "core" &i p  +2 "manipulator"&]% +3 "core" % V +3 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&k( +259 "core" ( +2 "manipulator"&Z& +3 "core" &   +3 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +100 "core" ' +3 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "storage"(4- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +3 "storage"(s& +3 "core" &\ O\ M [  +2 "manipulator"&& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&8& +3 "core" & u  +2 "storage"(3& +4 "core" &\ P\ P x  +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(v' +57 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & #  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&~'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +27 "core" ' +2 "manipulator"&}% +3 "core" %Ί O +2 "storage"(& +5 "core" & g F  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&r'϶ +20 "core" ' +2 "manipulator"&w& +3 "core" &   +2 "storage"(i& +4 "core" & N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +17 "core" ' +2 "storage"(% +4 "core" %q ? +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +3 "core" %NV x p 7 PH +2 "manipulator"&% +4 "core" %" F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (>& +3 "core" & T  +2 "collection"'-& +4 "core" &VlEF M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&U% +4 "core" %\ & ^ < +2 "storage"(2% +4 "core" %[ C +2 "storage"(5. +3 "core" .( +2 "storage"(p& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&u& +3 "core" & i  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&P& +3 "core" &  k  +2 "storage"(G& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +93 "core" ' + "storage"(A& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +278 "core" ' +2 "storage"(- +43 "core" -' +9 .tSE.configure :default +2 "storage"(#QK-0-\ b +8 "manipulator"&E& +3 "core" &   +2 "storage"(@& +4 "core" &   +7 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&\\'} +21 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'R +26 "core" ' +2 "manipulator"&C% +3 "core" %} i +2 "storage"(T& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&#'ϩ +20 "core" ' + "manipulator"&x& +5 "core" & u  + "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +37 "core" ' +2 "manipulator"&&& +3 "core" & 3  +2 "manipulator"&;% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +167 "core" ( +2 "manipulator"&:& +3 "core" &, 3 o Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &,   Bj +3 .tForearm.seek CC +2 "manipulator"&+'" +99 "core" ' + .tHand.close +2 "manipulator"&Y/ +64 "core" / +2 .tCC.seek :open +2 "collection"'^( +415 "core" ( +2 "storage"(H& +4 "core" &   +2 "storage"(`& +3 "core" &   +2 "manipulator"&o& +3 "core" &) W ?V +3 "manipulator"&D% +4 "core" % / +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +163 "core" ( +2 "manipulator"&b& +3 "core" & c p +2 "storage"(6& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&O'} +96 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&K1 +60 "core" 1 +2 "manipulator"&{% +3 "core" % x f +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&d'Ϥ +21 "core" ' +2 "manipulator"&m& +3 "core" & ; p +3 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +36 "core" ' + "storage"(F% +4 "core" %K  +2 ."downElevator"SE.seek :down +4 "storage"(M'X +99 ( % +3 "core" %N o OE +2 "manipulator"&R% +4 "core" %0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +87 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'_& +3 "core" &EE +2 "manipulator"&Q% +3 "core" %\  =  +2 "storage"(n% +4 "core" %\\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +47 "storage"(?( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +3 "core" & = +2 "manipulator"&9& +3 "core" &  p +2 .tElbow.seek 2 +2 "manipulator"&a( +43 "core" ( +2 "manipulator"&& +3 "core" &' X & +2 "storage"(=& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +87 "core" ' +2 "storage"(h& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(t'i +279 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 0 +2 "manipulator"&& +4 "core" &' & +2 .tElbow.seek 2 +2 "manipulator"&c( +22 "core" ( +2 "manipulator"&q& +3 "core" &  +2 "storage"(z& +5 "core" & +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"(\ 'X +8 "core" &   + "manipulator"&e% +5 "core" %  ` J +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&]& +4 "core" &- 6 h Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &- ' " Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Z'" +98 "core" ' +2 "manipulator"&& +5 "core" &-  Co +2 "manipulator"&I% +3 "core" %  +3 "collection"' & +3 "core" &FE +3 "collection"'4& +6 "core" &DE +2 .tCC.seek :closed +3 "collection"'(V +2 "core" &FE +7 &DD ; +9 &OPGF / +10 &|DE D +9 &NcHF F +9 &dEE F +10 &eEF F +9 &cEF F +9 &WdDG F +10 &eDF F +9 &gEE F +10 &dEG F +9 &!^dEE F +9 &# dFE F +10 &$dCG F +9 &&cEE F +10 &(fcEH F +9 &*)cGF F +9 &+dFF F +10 &-cFD F +9 &/oeEF F +9 &11cEF F +10 &2cEG E +9 &4dEF F +9 &6vcCE F +10 &88dGD F +9 &9dCD F +10 &;dDF F +9 &=eCF F +9 &?AeDF F +10 &AeFE F +9 &BeDG F +9 &DgFE F +10 &FFmEF G +9 &HFD I +10 &ICG L +9 &KqEE P +9 &M1DF Q +10 &NEG P +9 &PFF P +9 &RuGE Q +10 &T6EE R +9 &UvEF A +10 &VFF (r +9 &V{GF M +2 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&s1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%3& +4 "core" & +2 "manipulator"& % +3 "core" %\  4 +3 "storage"(% +4 "core" %V z y | + "storage"(. +4 "core" .( + "storage"(}& +4 "core" & y z } +2 "storage"(%& +3 "core" & y y +3 "manipulator"&& +3 "core" &+ _ Bg +2 "manipulator"&l% +3 "core" %\  Z 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +164 "core" ( +2 "manipulator"&i& +3 "core" &  _ m +2 "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +95 "core" ' + "storage"(L& +4 "core" & X +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +48 .tSE.seek :beamBreak +6 "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & v +2 "manipulator"&/& +3 "core" &  m +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&v& +4 "core" &  m + "storage"(~& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&r' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(U'X +8 "core" &  m +2 "manipulator"&2% +4 "core" % \ k C +2 .tForearm.seek :retract + "manipulator"&5'\ +100 "core" ' +3 .tElbow.seek PC + "manipulator"&(s +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&p& +4 "core" &z B A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +93 "core" ' + "manipulator"&P& +4 "core" &z G +2 "manipulator"&G% +3 "core" % v 3 +3 "processing"%!& +3 "core" & +3 "processing"%A& +5 "core" & +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &m  +9 &6x )u +9 & hi < +10 &|g G +9 &fhO G +9 &(i- G +10 &h G +9 &jj G +10 &ngd G +9 &1h F +9 &i G +10 & i$ G +9 &"ug G +9 &$7i G +10 &%h G +9 &'g G +10 &)~h G +9 &+@h G +9 &-f G +10 &.h G +9 &0ja F +9 &2Gk G +10 &4\ h G +9 &5m G +9 &7h` G +10 &9QhK F +9 &;gk G +10 &<i F +9 &>j G +9 &@Xk5 G +10 &Bkv G +9 &Ck G +10 &Eoc H +9 &GZy I +9 &I K +10 &J1 L +9 &Lx L +9 &NY L +10 &P L +9 &Q M +9 &Sf L +10 &U_ M +9 &W  M +10 &X M +9 &Z3Dc %l +9 &Z1e ! +6 ( + "processing"%A& +4 "core" &Z` ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&'1 +58 "core" 1 + "manipulator"&|% +4 "core" %  z 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 "processing"%E& +3 "core" &Zr ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&@% +3 "core" %\  :  +3 "storage"()% +3 "core" %U b d +2 "storage"(C. +3 "core" .( +2 "storage"(T& +3 "core" & b d +3 "storage"(x& +2 "manipulator"&& +8 "core" & b c  + &z +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(&'i + "manipulator"&;(s +6 "core" ( +2 "manipulator"&1& +3 "core" &z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z +2 .tForearm.seek PC +2 "manipulator"&S' +99 "core" ' +2 .tHand.close + "manipulator"&\\/ +58 "core" / +2 .tPC.seek :open +2 "processing"%#( +79 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'y +47 "core" ' +293 ( +2 "storage"(g& +3 "core" & u  +3 "manipulator"&V& +4 "core" &z \\ + "manipulator"&[% +4 "core" % I +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +97 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +267 "core" ( +2 "manipulator"&J& +4 "core" &   +2 "storage"(H& +3 "core" & h e +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +92 "core" ' +2 .tHand.open +2 "manipulator"&o1 +57 "core" 1 +2 "storage"(D- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(b'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(6' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(W& +3 "core" & \ L\ B  +2 "manipulator"&K& +4 "core" & (  +2 .tElbow.seek 2 +2 "manipulator"&{( +4 "core" ( + "manipulator"&& +5 "core" &   +2 "storage"(m& +3 "core" & \ F\ B +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(F' +59 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"( & +4 "core" & / +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&R' +20 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(O'i +29 "core" ' +2 "manipulator"&d% +4 "core" % +2 "storage"(_& +3 "core" & s j k +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&Q' +18 "core" ' + "manipulator"&n& +4 "core" &  +2 "storage"(& +4 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"(<% +3 "core" %s . +3 ."downElevator"SE.seek :down +3 "storage"(M'X +100 (*% +2 "core" %W l o QI +2 "manipulator"&y% +5 "core" %ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &  +2 "collection"'=& +4 "core" &VwEH M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&h% +3 "core" %\ # 6 : +3 "storage"(j% +3 "core" %` +2 "storage"(f. +4 "core" .( + "storage"(7& +4 "core" & +2 "storage"(& +3 "core" & +2 "manipulator"&& +4 "core" & k  +2 .tElbow.seek 2 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&z& +3 "core" &  t  +3 "storage"(,& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +97 "core" ' + "storage"(e& +4 "core" & # +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +212 "Can" TUdM +68 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" &   +2 "storage"(t& +4 "core" & < +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(I'R +29 "core" ' +2 "manipulator"&c% +4 "core" % ~ B + "storage"( & +5 "core" & z z F + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&\ ' +20 "core" ' +2 "manipulator"&(& +3 "core" &  +2 "storage"(^& +4 "core" & 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +40 "core" ' + "manipulator"&3& +4 "core" &   +2 "manipulator"& % +4 "core" %ѣ N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +2 .tElbow.seek CC + "manipulator"&( +161 "core" ( +2 "manipulator"&}& +3 "core" &% ; <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &%  <; +3 .tForearm.seek CC + "manipulator"&%'" +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'l( +416 "core" ( +2 "storage"(Z& +3 "core" & +3 "storage"(i& +4 "core" &  + "manipulator"&& +4 "core" &% <: +2 "manipulator"&L% +3 "core" % $  +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +158 "core" ( +2 "manipulator"&& +3 "core" & p  +2 "storage"(& +4 "core" & D +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&/' +97 "core" ' +2 .tElbow.hold + "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +59 "core" 1 +2 "manipulator"&>% +3 "core" %  +2 "storage"(-& +3 "core" & J +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +2 "manipulator"&2' +15 "core" ' +3 "manipulator"&w& +5 "core" &   + "storage"(k& +4 "core" & 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +36 "core" ' + "storage"(r% +5 "core" %J \ +2 ."downElevator"SE.seek :down +3 "storage"(p'X +99 (% +3 "core" %O  OE +2 "manipulator"&% +4 "core" %ђ : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'G& +3 "core" &GE +2 "manipulator"&!% +4 "core" %\  _ + +2 "storage"(U% +4 "core" %a  +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(N( +338 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" & +  +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&E( +15 "core" ( + "manipulator"&@& +5 "core" & c +2 "storage"()& +3 "core" &   +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +95 "core" ' +2 "storage"(T& +3 "core" & \\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(A'i +280 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +3 "core" &   +2 "manipulator"&1& +3 "core" &  c +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" & e c +3 "storage"(\\& +3 "core" & :  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +8 "core" & \\ c +2 "manipulator"&&% +4 "core" % Ϯ 4  +2 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&[& +3 "core" &*  ; b @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &) @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +105 "core" ' + "manipulator"&H& +5 "core" &( , ?V + "manipulator"&;% +5 "core" %' +2 "collection"'o& +4 "core" &EF +2 "collection"'D& +5 "core" &FE +2 .tCC.seek :closed +2 "collection"'+(V +4 "core" &DF  +9 &6DG )w +10 &lDF = +9 &pEF F +9 &tdDD F +10 &7cDG F +9 &dCF E +9 &dDC F +10 &}cDF F +9 &?eDG F +10 &cDE E +9 & dEF F +9 &"dED F +10 &$GdCF F +9 && eFE F +9 &'hDE F +10 &)cED F +9 &+PeFD E +10 &-eEF F +9 &.cCG F +9 &0bED F +10 &2VcFG F +9 &4cHF F +9 &5dDF E +10 &7cEE F +9 &9_dCG F +10 &;!eEF F +9 &<bEF F +9 &>eFG F +10 &@fcEG F +9 &B(dEE F +9 &CgDF F +10 &EmGF G +9 &Gi{FF H +10 &I#DE K +9 &JGH P +9 &LFE P +10 &NXER P +9 &PHE Q +9 &QDH Q +10 &SFG R +9 &UZFG A +10 &VwBFI (v +9 &V~FG H +5 ( +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&W1 +4 "core" &VqCH H +55 1 +3 "manipulator"&K% +3 "core" % ' G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%m& +4 "core" &m +2 "manipulator"&Y% +3 "core" %\ j  +3 "storage"(% +4 "core" %^ R + "storage"( . +4 "core" .( + "storage"(d& +4 "core" &  +2 "storage"(_& +4 "core" &  +2 "manipulator"&:& +3 "core" &( k ?V +2 "manipulator"&n% +5 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +163 "core" ( +2 "manipulator"&& +3 "core" & m +3 "storage"(<& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +100 "core" ' + "storage"(`& +4 "core" & ;  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +278 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" & \  +2 "manipulator"&$& +5 "core" &  m +2 .tElbow.seek 3 + "manipulator"&{( +4 "core" ( +2 "manipulator"&F& +3 "core" & T m +46 "storage"(R& +7 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"(h'X +8 "core" & + m + "manipulator"&j% +4 "core" % Ϡ @ +3 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&7(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( + "manipulator"&O& +5 "core" &l $ Z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &l /  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&z& +4 "core" &p d +2 "manipulator"&,% +4 "core" %  c +3 "processing"%& +3 "core" & +3 "processing"%e& +5 "core" & +2 .tPC.seek :closed +3 "processing"%M(Z +3 "core" & +6 & 7 +10 &JM / +9 &{ C +9 &?g G +10 &i G +9 &j F +10 &k G +9 &Ih F +9 & j G +10 &g F +9 &i G +9 &!Ph G +10 &#g G +9 &$j G +10 &&i G +9 &(Wm G +9 &*i7 G +10 &+jz F +9 &-j G +9 &/`h G +10 &1!l G +9 &2ha G +10 &4lh G +9 &6hh G +9 &8*f G +10 &9j G +9 &;k G +9 &=oe G +10 &?2h9 G +9 &@kx G +10 &Bj G +9 &Dwm G +9 &F7t H +10 &G I +9 &I L +9 &Ksb K +10 &M3 L +9 &N L +10 &P M +9 &Rw M +9 &T9 M +10 &U M +9 &W M +9 &Y~ : +10 &Zn5a X +9 &ZZ " +3 ( + "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&B1 +64 "core" 1 + "manipulator"&9% +4 "core" % { c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +90 "core" ' +2 "processing"%]& +4 "core" &Zi " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&t% +4 "core" %\  S  +2 "storage"(% +4 "core" %`  +2 "storage"(c. +3 "core" .( +2 "storage"( & +4 "core" &   +2 "storage"((& +2 "manipulator"&^& +5 "core" & ]  +2 &p W +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&3(s +2 "core" ( +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"& & +5 "storage"(.'i +2 "core" &p n +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &p 3 +3 .tForearm.seek PC + "manipulator"&a' +94 "core" ' +2 .tHand.close + "manipulator"&X/ +57 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +100 "core" ' +2 "storage"(I- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'y +42 "core" ' +280 ( + "storage"(4& +4 "core" & [  +2 "manipulator"&s& +4 "core" &q  +2 "manipulator"&% +3 "core" % 2 +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +260 "core" ( +2 "manipulator"&& +3 "core" & g +3 "storage"(Z& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +92 "core" ' +41 .tHand.open +9 "manipulator"&1 +53 "core" 1 +2 "storage"(L- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(%- +2 "core" -' +3 "storage"(& +3 "core" &\ N\ E _  +2 "manipulator"&~& +5 "core" & +2 .tElbow.seek 3 + "manipulator"&>( +4 "core" ( +2 "manipulator"&-& +3 "core" &  +2 "storage"(w& +4 "core" &\ C\ ; m  +3 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(r' +59 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" & :  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +23 "core" ' +2 "manipulator"&2% +4 "core" %΅  + "storage"(G& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&!'ϱ +21 "core" ' + "manipulator"&U& +4 "core" &  +2 "storage"(5& +4 "core" & a  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +16 "core" ' +2 "storage"(% +3 "core" %n   +3 ."downElevator"SE.seek :down +3 "storage"(p'X +99 (?% +3 "core" %T y z o PG +2 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (@& +3 "core" & ~ n  +2 "collection"')& +4 "core" &VqDG H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&T% +3 "core" %\   +2 "storage"(v% +4 "core" %` +2 "storage"(P. +3 "core" .( +2 "storage"(x& +3 "core" & )  +2 "storage"(& +4 "core" &   +2 "manipulator"&1& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( +2 "manipulator"&\\& +3 "core" &  +2 "storage"(& +4 "core" & P  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 "storage"(&& +3 "core" & ;  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'i +283 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & ; +2 "storage"(S& +4 "core" & _  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&A'} +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(H'T +32 "core" ' +2 "manipulator"&;% +3 "core" %z M +2 "storage"(o& +3 "core" & t g  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"& 'Ϧ +20 "core" ' +47 "manipulator"&g& +5 "core" & +2 "storage"(l& +4 "core" & d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +49 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'C +39 "core" ' +2 "manipulator"&m& +4 "core" & { +2 "manipulator"&Y% +3 "core" %2 y +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +167 "core" ( +3 "manipulator"&D& +4 "core" & " 9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" & " B 9' +3 .tForearm.seek CC + "manipulator"&_'" +93 "core" ' +2 .tHand.close + "manipulator"&:/ +60 "core" / + .tCC.seek :open +2 "collection"'n( +416 "core" ( +3 "storage"(J& +3 "core" & )  +2 "storage"(& +4 "core" &   +2 "manipulator"&<& +3 "core" & " , 9' +2 "manipulator"&`% +5 "core" % 0 ? +2 .tForearm.seek :retract + "manipulator"&V'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&*& +4 "core" & ] p + "storage"(y& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&$'} +98 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +56 "core" 1 +3 "manipulator"&% +3 "core" % · + +2 "storage"(=& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&j'ϳ +21 "core" ' +2 "manipulator"&b& +3 "core" & t p +2 "storage"(0& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +34 "core" ' +2 "storage"(Q% +3 "core" %L  +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (% +3 "core" %T r PF +2 "manipulator"&{% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"',& +3 "core" &EF +2 "manipulator"&% +3 "core" %\  +3 "storage"(h% +3 "core" %V v +2 "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(#( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" & > +2 "manipulator"&9& +3 "core" & p +3 .tElbow.seek 2 +2 "manipulator"&]( +41 "core" ( +2 "manipulator"&t& +3 "core" & q 4 +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +91 "core" ' +2 "storage"( & +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +280 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +45 (^& +8 "core" &   +2 "manipulator"& & +3 "core" & 4 +3 .tElbow.seek 2 + "manipulator"&q( +24 "core" ( + "manipulator"&& +5 "core" & C r + "storage"(X& +4 "core" &  , +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&I' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(M'X +9 "core" &  r + "manipulator"&.% +3 "core" % @ +3 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&& +4 "core" &* 9  @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &* % w @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +3 "manipulator"&Z& +3 "core" &* ( 1 @] +2 "manipulator"&3% +5 "core" %/ $  +2 "collection"'& +4 "core" &EE +2 "collection"'L& +5 "core" &DF +2 .tCC.seek :closed +2 "collection"'%(V +4 "core" &DE  +9 &6EF )v +9 &jEE < +10 &sGH G +9 &qbEF F +9 &3cEF F +10 &dEE F +9 &gEF F +9 &ycDH F +10 &<eEF E +9 &dEG F +10 & cEF F +9 &"hEE F +9 &$CcGE F +10 &&dDG E +9 &'cDF F +9 &)cDE E +10 &+JdDE F +9 &- dEF F +9 &.gDF F +10 &0dEG F +9 &2TcEG E +10 &4cEF F +9 &5dFE F +9 &7cDF E +10 &9ZdED F +9 &;dCE F +9 &<dCF E +10 &>eED F +9 &@bdEF F +10 &B$dEG F +9 &CfEF F +9 &ElCF G +10 &GdxEE H +9 &I CE J +9 &JDE O +10 &LDG Q +9 &NUDF P +10 &PEG Q +9 &QFF Q +9 &SDF R +10 &UWFG B +9 &Vl<DF . +9 &VjGF C +6 ( +2 "collection"'L& +3 "core" &V^DE C +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +3 "manipulator"&% +4 "core" % / 3 O  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +98 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%-& +3 "core" &u +2 "manipulator"&w% +5 "core" %\  1 + "storage"(% +4 "core" %a b a  +2 "storage"(. +3 "core" .( +2 "storage"(2& +3 "core" &  d d +2 "storage"(G& +4 "core" &   s  +2 "manipulator"&}& +3 "core" &* @X +2 "manipulator"&U% +4 "core" %\ &  1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +161 "core" ( +2 "manipulator"&5& +3 "core" &   +2 "storage"(& +4 "core" &  ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(i& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(?- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &   +2 "manipulator"&k& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&>( +4 "core" ( +2 "manipulator"&r& +3 "core" & &  +2 "storage"(& +4 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&@' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +3 "storage"(T'X +5 "core" & 0  +3 "manipulator"&v% +50 "core" %   N +4 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +117 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +126 "core" ( +3 "manipulator"&/& +3 "core" & : L \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +96 "core" ' +2 "manipulator"&\\& +3 "core" & | \ +2 "manipulator"&% +5 "core" % 4 N +2 "processing"%& +3 "core" &w +3 "processing"%&& +5 "core" & +2 .tPC.seek :closed +2 "processing"%p(Z +5 "core" &D +6 &> #b +9 &[ 6 +10 & H +9 &i G +9 &l G +10 &]h F +9 &g G +9 &j G +10 &j F +9 &dj G +10 & %h G +9 &!g F +9 &#h G +10 &%kmk G +9 &'/h F +9 &(h G +10 &*g G +9 &,uh F +10 &.6j` G +9 &/g G +9 &1h' G +10 &3{ke G +9 &5=g G +9 &7h G +10 &8k G +9 &:j G +10 & ga F +9 &?i G +10 &Ak G +9 &CMh G +9 &En_ G +10 &Fv H +9 &H| J +10 &JG L +9 &L  L +9 &Md L +10 &O L +9 &QNe L +9 &S M +10 &T M +9 &V M +10 &XT M +9 &Ywx "j +9 &Z*u , +10 ( + &Z +2 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&81 +62 "core" 1 +2 "manipulator"&|% +3 "core" % N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +91 "core" ' + "processing"%[& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&S% +3 "core" %\  O  +3 "storage"(% +3 "core" %] +2 "storage"(;. +3 "core" .( +2 "storage"(o& +3 "core" &  +3 "storage"(g& +2 "manipulator"&l& +6 "core" &  +2 & u \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&m(s +2 "storage"(Y'i +10 "core" ( +2 "manipulator"&& +3 "core" &o   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &o   +2 .tForearm.seek PC +2 "manipulator"&E' +93 "core" ' + .tHand.close +2 "manipulator"&A/ +53 "core" / +2 .tPC.seek :open +2 "processing"% ( +91 "core" ' +2 "storage"(H- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'y +36 "core" ' +295 ( +2 "storage"(d& +3 "core" &   +2 "manipulator"&W& +4 "core" &o I  +2 "manipulator"& % +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +267 "core" ( +2 "manipulator"&+& +3 "core" &  +2 "storage"(J& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +90 "core" ' + .tHand.open +2 "manipulator"&<1 +62 "core" 1 +3 "storage"(`- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(y' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(_- +3 "core" -' +2 "storage"( & +50 "core" & \ Q\ Q +3 "manipulator"&R& +3 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&=& +4 "core" & G +2 "storage"(b& +4 "core" & \ H\ M +3 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +57 "core" ' +2 "manipulator"&V& +3 "core" & +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&{' +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +24 "core" ' + "manipulator"&j% +4 "core" % y +2 "storage"(,& +78 "core" &  X + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +21 "core" ' + "manipulator"&h& +4 "core" & 5 +2 "storage"(f& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +23 "core" ' +2 "storage"(6% +4 "core" %r  +2 ."downElevator"SE.seek :down +4 "storage"(O'X +99 (N% +2 "core" %[ a n Y QJ +2 "manipulator"&B% +5 "core" %ѱ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (t& +3 "core" &  m +2 "collection"'& +3 "core" &V^FF C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\   +3 "storage"(F% +3 "core" %a K +2 "storage"(z. +3 "core" .( +2 "storage"((& +3 "core" &  7 +2 "storage"(^& +4 "core" &  = +2 "manipulator"& & +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&X& +3 "core" &  +3 "storage"(7& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +90 "core" ' +2 "storage"(.& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'i +286 "core" ' + "storage"(c- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & h +2 "storage"(a& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&e' +24 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'S +34 "core" ' +2 "manipulator"&% +4 "core" % r  + "storage"(q& +4 "core" &  u q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&M' +20 "core" ' +2 "manipulator"&4& +3 "core" & ? +2 "storage"(n& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +41 "core" ' +2 "manipulator"&-& +3 "core" & +2 "manipulator"&w% +4 "core" %Ѡ G +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +164 "core" ( +2 "manipulator"&2& +4 "core" &* % @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &* $  @\\ +3 .tForearm.seek CC + "manipulator"&G'" +95 "core" ' + .tHand.close +2 "manipulator"&}/ +56 "core" / +2 .tCC.seek :open +2 "collection"'U( +416 "core" ( + "storage"(& +4 "core" &  I +2 "storage"(5& +3 "core" &   +2 "manipulator"&& +5 "core" &* H @X + "manipulator"&i% +4 "core" % 1 C +2 .tForearm.seek :retract +2 "manipulator"&s'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&~( +155 "core" ( +2 "manipulator"&?& +4 "core" & i  +2 "storage"('& +3 "core" &  n +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&k' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&!% +3 "core" % "  +3 "storage"()& +4 "core" &  : + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +2 "manipulator"&v' +19 "core" ' +2 "manipulator"&& +3 "core" & ]  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"(@% +3 "core" %L  +3 ."downElevator"SE.seek :down +3 "storage"(/'X +100 (% +2 "core" %BU  PG +2 "manipulator"&>% +4 "core" %ш ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +93 "core" ' +45 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &HD +2 "manipulator"&% +4 "core" %\ !  8 +2 "storage"(T% +3 "core" %`  +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" & S  +2 "manipulator"&|& +4 "core" & G  +2 .tElbow.seek 3 +2 "manipulator"&[( +17 "core" ( + "manipulator"&S& +4 "core" &  k Z +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +97 "core" ' +2 "storage"(o& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +280 "core" ' +2 "storage"(l- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & i  +2 "manipulator"&& +3 "core" &  Z +3 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&1& +4 "core" & i Z + "storage"(A& +4 "core" & \\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&H'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 .tHand.close +4 "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(p'X +8 "core" & Z +2 "manipulator"&Y% +3 "core" % ϯ w ^ +3 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +30 "core" ( + "manipulator"& & +4 "core" &( H \ - ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &( ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'" +106 "core" ' +3 "manipulator"&J& +3 "core" &) # $ ?S +2 "manipulator"&m% +4 "core" % A +2 "collection"'<& +4 "core" &HE +3 "collection"'`& +5 "core" &GE +2 .tCC.seek :closed +2 "collection"'_(V +5 "core" &EG +7 &JEG #c +10 &^CF 7 +9 &-~DF G +9 &`FF F +10 &dDE F +9 &vcCF F +10 &8eFE F +9 &bDF F +9 &cED F +10 &}dGE F +9 & ?cCG F +9 &"cEE F +10 &#dDG F +9 &%dDD F +10 &'GcFE F +9 &)\ dFF F +9 &*dGG F +10 &,dFG F +9 &.PcEE F +9 &0cEF E +10 &1dDG F +9 &3cDF F +10 &5WdDG F +9 &7dEG F +9 &8cEF F +10 &:dEG F +9 &<`eED F +9 &>"eED F +10 &?eEF F +9 &AeDF F +10 &CgeCF F +9 &E&jFE G +9 &FtDG H +10 &HFF J +9 &JTDG P +9 &LHG P +10 &MGG P +9 &OFE R +10 &QVDF Q +9 &SEG R +9 &TFD R +10 &VEeEG - +9 &VEG _ +9 ( +2 "collection"'`& +3 "core" &VnGF M +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"& 1 +59 "core" 1 +4 "manipulator"&:% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +4 "core" & +2 "manipulator"&b% +4 "core" %\ e  +2 "storage"(V% +3 "core" %` f +2 "storage"(. +4 "core" .( + "storage"(D& +5 "core" & u  + "storage"(*& +4 "core" &  +2 "manipulator"&j& +3 "core" &( ?S +2 "manipulator"&,% +4 "core" %\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +164 "core" ( + "manipulator"&& +4 "core" & y R +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(y& +4 "core" & :  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'i +279 "core" ' +2 "storage"(0- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&N& +3 "core" &  R +3 .tElbow.seek 3 + "manipulator"&B( +4 "core" ( + "manipulator"&Q& +4 "core" & m R +2 "storage"({& +3 "core" & +  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +8 "core" & # R +2 "manipulator"&F% +3 "core" % Ϫ  +3 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&$(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"&(& +3 "core" &g   F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &g  F +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' +2 "manipulator"&X& +3 "core" &g Y F +2 "manipulator"&7% +5 "core" %   +2 "processing"%K& +4 "core" & +2 "processing"%.& +5 "core" & +3 .tPC.seek :closed + "processing"%O(Z +5 "core" & +7 &= #c +10 &] 7 +9 & H +9 &d F +10 &h G +9 &bh F +9 &#h G +10 &g G +9 &j G +10 &hn G +9 & ,j F +9 &!h G +10 &#e G +9 &%qhm G +9 &'3g G +10 &(h G +9 &*k G +9 &,zh F +10 &.;i G +9 &/e G +10 &1g G +9 &3j G +9 &5Ci G +10 &7k G +9 &8h F +9 &:h G +10 &f F +10 &?h G +9 &Ae G +9 &CRj G +10 &Em G +9 &Fs H +9 &H J +10 &JL L +9 &L L +10 &M L +9 &O L +9 &QS L +10 &S M +9 &T L +9 &V M +10 &XY M +9 &Yww "k +10 &Z'm , +8 ( +2 &Z " +2 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&9% +3 "core" % "  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' + "processing"%& +4 "core" &ZT " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %\  {  +2 "storage"(Z% +4 "core" %b +2 "storage"(. +3 "core" .( +2 "storage"(q& +3 "core" &  +3 "storage"(4& +2 "manipulator"&n& +7 "core" & |  + &g o F +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&-(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(w'i +19 "core" ( +2 "manipulator"&"& +3 "core" &p w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &p 9 +3 .tForearm.seek PC + "manipulator"&]' +94 "core" ' +2 .tHand.close +2 "manipulator"&e/ +64 "core" / +2 .tPC.seek :open +2 "processing"%M( +76 "core" ' +2 "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'y +34 "core" ' +313 ( +2 "storage"(L& +3 "core" & ;  +3 "manipulator"&& +4 "core" &p n + "manipulator"&I% +4 "core" % Q +3 .tForearm.seek :retract + "manipulator"&}'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +261 "core" ( +2 "manipulator"&%& +3 "core" & P  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +93 "core" ' +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(i- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(& +4 "core" &\ O\ E \\  +2 "manipulator"&& +3 "core" & c  +3 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"(& +3 "core" &\ O\ O  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +51 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +65 "core" ' +2 "manipulator"&s& +4 "core" & e  +2 "storage"(& +4 "core" & u  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&>'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +24 "core" ' + "manipulator"&v% +4 "core" %΁ +2 "storage"(& +3 "core" & .  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&'ϭ +20 "core" ' + "manipulator"&T& +5 "core" & 0  + "storage"(P& +4 "core" & E  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +31 "core" ' +4 "storage"(% +3 "core" %s +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (#% +3 "core" %T f k  PG +2 "manipulator"&8% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +2 "core" &    +3 "collection"'& +3 "core" &VnEG M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&o% +3 "core" %\  0 +3 "storage"(r% +3 "core" %` +2 "storage"(\\. +3 "core" .( +2 "storage"(l& +3 "core" &    +2 "storage"(&& +5 "core" & c  +3 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&1( +5 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(x& +4 "core" & ~  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +104 "core" ' +2 "storage"(Y& +3 "core" & 7  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +285 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +4 "core" &   +2 "storage"(g& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&E'} +22 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(J'T +32 "core" ' +2 "manipulator"&m% +3 "core" %Έ  +2 "storage"(<& +4 "core" & i D  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&p'ϴ +20 "core" ' +2 "manipulator"&d& +3 "core" & -  +2 "storage"(U& +5 "core" & 5  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'C +38 "core" ' +2 "manipulator"&=& +3 "core" & \  +3 "manipulator"&b% +3 "core" %- +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +3 "manipulator"&`& +4 "core" &( ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &( i ?V +2 .tForearm.seek CC +42 "manipulator"&*'" +103 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open +2 "collection"',( +416 "core" ( + "storage"(+& +4 "core" &  +2 "storage"(& +3 "core" & Y  +2 "manipulator"&f& +4 "core" &(  ?U +2 "manipulator"&y% +3 "core" %  <  +3 .tForearm.seek :retract + "manipulator"&W'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +164 "core" ( +2 "manipulator"&0& +4 "core" & B ] +2 "storage"(& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&N'} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&{1 +58 "core" 1 +2 "manipulator"&t% +3 "core" % w  \\ +2 "storage"(& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 294 counts +2 "manipulator"&F'ϣ +21 "core" ' +2 "manipulator"&h& +3 "core" & H ] +3 "storage"(& +3 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +29 "core" ' +2 "storage"(% +3 "core" %M  +3 ."downElevator"SE.seek :down +4 "storage"(('X +98 (^% +3 "core" %#O + OE +2 "manipulator"&B% +4 "core" %>  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" &DD +2 "manipulator"&K% +5 "core" %\  :  + "storage"( % +4 "core" %a  +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&9& +3 "core" & . ] +3 .tElbow.seek 2 + "manipulator"&( +44 "core" ( + "manipulator"&a& +4 "core" &!  $ +2 "storage"(Z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + "storage"(q& +4 "core" & 1 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +280 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & Q +2 "manipulator"&"& +4 "core" &! * $ +2 .tElbow.seek 2 +2 "manipulator"&( +19 "core" ( +2 "manipulator"& & +4 "core" & ?  + "storage"(e& +4 "core" & < +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&3' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&c& + "storage"(O'X +7 "core" &   +2 "manipulator"&w% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&I& +5 "core" &'  I L >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &' >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'" +100 "core" ' +2 "manipulator"&& +5 "core" &'  >J + "manipulator"&-% +5 "core" %! +2 "collection"'& +3 "core" &CD +3 "collection"'i& +6 "core" &DG +2 .tCC.seek :closed +3 "collection"'G(V +4 "core" &EE +5 &DF 7 +9 &LMEE / +9 &|DF D +10 &IgDD F +9 & cHE F +10 &dDF F +9 &cGF F +9 &RdDF F +10 &hFF F +9 &cDF F +9 &eFE F +10 &!YdDC F +9 &#dFE F +10 &$eCE F +9 &&dFF F +9 &(bcEF F +10 &*$dFG F +9 &+dEE F +9 &-dDE F +10 &/jeDG F +9 &1,dEF F +10 &2gEF F +9 &4eOD F +9 &6qdCE F +10 &84dEE F +9 &9dEF F +9 &;gEF F +10 &=xdDF F +9 &?;eDD F +10 &@eCD F +9 &BeFE F +9 &DgDE F +10 &F?pEF G +9 &G}HF I +12 &IEE L +7 &KjFG Q +9 &M-GE P +10 &NGH P +9 &PEE P +9 &RpDF Q +10 &T1FF R +9 &UuEE D +9 &VyEF !` +10 &V$FG K +9 ( + &VqFH H +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +3 "core" % ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &~ + "manipulator"&}% +4 "core" %\  O  +2 "storage"(s% +4 "core" %_ e b n +2 "storage"(. +3 "core" .( +2 "storage"(2& +3 "core" & b f x +2 "storage"(?& +4 "core" & c c - +2 "manipulator"&v& +4 "core" &' & j >I +2 "manipulator"&% +3 "core" %\  % ~  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&T( +160 "core" ( + "manipulator"&P& +4 "core" &  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +95 "core" ' +2 "storage"(& +3 "core" & 7 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''i +286 "core" ' + "storage"(#- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&!( +4 "core" ( +2 "manipulator"&@& +3 "core" & C  +2 "storage"(>& +4 "core" & ` +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(o'X +7 "core" &   +2 "manipulator"&r% +3 "core" % $ +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&l(s +169 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&k& +4 "core" &l % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &l , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&A& +3 "core" &l  U +2 "manipulator"&x% +4 "core" % t +2 "processing"%& +5 "core" & +2 "processing"%Y& +5 "core" &s +2 .tPC.seek :closed +2 "processing"%/(Z +51 "core" & +4 &< #c +2 &[ 6 +2 & G + &e G + &i G + &We G +6 &g G +10 &f G +9 &g G +9 &_j G +10 & "h G +9 &!g G +10 &#h G +9 &%hi G +9 &')l G +10 &(g G +9 &*g G +9 &,ok G +10 &.1h G +9 &/g F +10 &1h G +9 &3yh F +9 &59i G +10 &6g F +9 &8g G +9 &:i G +10 &g F +10 &?h G +9 &Ag G +9 &CIj G +10 &E\ n G +9 &Ft H +9 &H J +10 &JC L +9 &L L +10 &M L +9 &O L +9 &QJ L +10 &S  M +9 &T M +9 &V M +10 &XP M +9 &Ywy "k +10 &Z-~ / +9 ( + &Z " +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&~1 +59 "core" 1 +2 "manipulator"&|% +3 "core" % r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' +2 "processing"% & +5 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&g% +4 "core" %\  ]  +2 "storage"(u% +3 "core" %X a b 4 +2 "storage"(m. +4 "core" .( +2 "storage"(<& +4 "core" & W ] % +2 "storage"(d& +2 "manipulator"&U& +7 "core" & b a  + &l +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( +3 "manipulator"&C& +3 "core" &l ~ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &l +3 .tForearm.seek PC + "manipulator"&[' +96 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / +3 .tPC.seek :open +2 "processing"%p( +84 "core" ' + "storage"(J- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +33 "core" ' +304 ( + "storage"(D& +5 "core" &  + "manipulator"& & +4 "core" &l A +2 "manipulator"&H% +3 "core" % c +3 .tForearm.seek :retract +2 "manipulator"&j'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&V( +266 "core" ( +2 "manipulator"&_& +3 "core" & X +2 "storage"(+& +3 "core" & ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' + .tHand.open +2 "manipulator"&f1 +55 "core" 1 +2 "storage"(y- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(0'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(*- +3 "core" -' +2 "storage"(& +4 "core" & \ B\ B T +2 "manipulator"&{& +3 "core" & > +3 .tElbow.seek 2 +2 "manipulator"&t( +24 "core" ( +2 "manipulator"&& +3 "core" &  ~ g +2 "storage"(h& +5 "core" & \ 5\ C +2 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +60 "core" ' +2 "manipulator"&W& +3 "core" &  g +2 "storage"(^& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&B' +27 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'i +23 "core" ' +2 "manipulator"&F% +4 "core" % u i + "storage"(7& +5 "core" & z z O + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&K' +19 "core" ' +2 "manipulator"& & +3 "core" &  g +3 "storage"(z& +4 "core" & M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&:'ќ +24 "core" ' +2 "storage"(6% +3 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(('X +100 (\ % +2 "core" %K] n q  RK +2 "manipulator"&% +5 "core" %ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" &  X +2 "collection"'Z& +3 "core" &VrEH H +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&q% +4 "core" %\ # > +2 "storage"(Q% +3 "core" %b +3 "storage"(X. +3 "core" .( +2 "storage"(n& +4 "core" & + "storage"(4& +5 "core" & + "manipulator"&"& +4 "core" &  f +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&e& +3 "core" & f +3 "storage"($& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +92 "core" ' +2 "storage"(w& +3 "core" & ) +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  f +2 "storage"(]& +4 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&.' +26 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +29 "core" ' +2 "manipulator"&-% +3 "core" % ) V +2 "storage"(& +4 "core" & z s 8 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&O' +20 "core" ' +2 "manipulator"&L& +3 "core" & t f +2 "storage"(,& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('@ +40 "core" ' +2 "manipulator"&& +3 "core" & 1 f +2 "manipulator"&}% +5 "core" %Ѥ _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&2& +4 "core" &  & % 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &  6 +3 .tForearm.seek CC + "manipulator"&?'" +97 "core" ' + .tHand.close +2 "manipulator"&v/ +61 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(%& +3 "core" &  +3 "storage"(P& +4 "core" &  +2 "manipulator"&& +3 "core" &  U 6 +2 "manipulator"&% +4 "core" % 2 e +3 .tForearm.seek :retract +41 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +157 "core" ( +2 "manipulator"&#& +3 "core" &   +3 "storage"(8& +3 "core" & z +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&>1 +53 "core" 1 +3 "manipulator"&S% +4 "core" % ) +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&r' +20 "core" ' +2 "manipulator"&T& +4 "core" & +  + "storage"(5& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +24 "core" ' +2 "storage"(% +3 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"(k'X +98 (&% +3 "core" %jV  PF +2 "manipulator"&!% +5 "core" %Ѥ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'x& +3 "core" &EG +2 "manipulator"&% +5 "core" %\ " o 9 + "storage"(o% +4 "core" %b  +2 "storage"(\\. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(M( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "core" &  +2 "manipulator"&|& +4 "core" & ~  +2 .tElbow.seek 3 +2 "manipulator"& ( +17 "core" ( + "manipulator"&g& +5 "core" &  M + "storage"(u& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +96 "core" ' +2 "storage"(<& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +280 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & X  +2 "manipulator"&C& +4 "core" &  M +2 .tElbow.seek 3 +2 "manipulator"&1( +4 "core" ( + "manipulator"&& +4 "core" & O M +2 "storage"(E& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&l/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&;& + "storage"(/'X +8 "core" &  M + "manipulator"&b% +5 "core" % Ϟ z +2 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( + "manipulator"&H& +4 "core" &( G  ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &( % ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'" +101 "core" ' +2 "manipulator"&+& +3 "core" &( $ ?V +3 "manipulator"&=% +5 "core" %  +47 "collection"'f& +5 "core" &FF +3 "collection"'y& +5 "core" &EG +2 .tCC.seek :closed +2 "collection"'*(V +5 "core" &FG +6 &8FF #c +9 &]EE 6 +10 &EF G +9 &dEF F +10 &fEF F +9 &fcDF E +9 &&eFG F +10 &dGF F +9 &dFD F +9 &lcFD F +10 & .eGH F +9 &!dFF F +10 &#cDD F +9 &%teDG F +9 &'7eEF F +10 &(hED F +9 &*eDE F +9 &,|hDF F +10 &.?dEE F +9 &0gBE F +10 &1eCG F +9 &3eEG E +9 &5FdGD F +10 &7 eFF F +9 &8bDE F +9 &:eFG F +10 &fEE F +10 &?eDF F +9 &AhDE F +9 &CVeFF F +10 &EjEE G +9 &FsBD H +9 &HGE I +10 &JEFG O +9 &LGE P +10 &MGG P +9 &OFH Q +9 &QHEE P +10 &SGH R +9 &TGH R +9 &V7eFF . +10 &VDH W +9 ( + &V|EH N +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&{% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%h& +4 "core" &v +2 "manipulator"&j% +4 "core" %\  O  +2 "storage"(W% +3 "core" %` y y +2 "storage"(^. +4 "core" .( + "storage"(`& +4 "core" & y y L  +2 "storage"(0& +4 "core" & z y  +2 "manipulator"&F& +4 "core" &( ?U +2 "manipulator"&7% +3 "core" %\  3  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +166 "core" ( +2 "manipulator"&V& +3 "core" & % j +2 "storage"(z& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"(6& +4 "core" & -  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & U  +2 "manipulator"&& +4 "core" &  j +2 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +4 "core" & ) j +2 "storage"(B& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&K'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(q'X +8 "core" & A j +2 "manipulator"&Q% +4 "core" %  B +2 .tForearm.seek :retract + "manipulator"&X'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +3 "manipulator"&n& +3 "core" &i ( 8 \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &i \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"' +100 "core" ' +2 "manipulator"&e& +4 "core" &j  \ +2 "manipulator"&$% +4 "core" %  +2 "processing"%:& +5 "core" & +2 "processing"%w& +5 "core" &u +2 .tPC.seek :closed +2 "processing"%((Z +5 "core" &  +8 &6 )u +9 &h < +10 &w H +9 &hf F +9 &)g G +10 &k G +9 &f G +10 &pf F +9 &1g G +9 &f G +10 & g G +9 &"vk G +10 &$:g F +9 &%h G +9 &'k G +10 &)g F +9 &+Ag G +9 &-i G +10 &.g F +9 &0h G +10 &2Ig G +9 &4 g G +9 &5j G +10 &7e F +9 &9Qg G +9 &;h G +10 &<k G +9 &>e G +10 &@Xh G +9 &Bf_ F +9 &Cj G +10 &En H +9 &GZ{ I +9 &I K +10 &J L +9 &L L +9 &NZ L +10 &P L +9 &Q M +49 &S M +4 &U` M +4 &W! M + &X M + &Z3Db %m + &Z4 \ +2 ( +2 "processing"%w& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&R1 +2 "core" &Z +58 1 +2 "manipulator"&9% +3 "core" %  N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 "processing"%I& +3 "core" &Z^ +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&]% +4 "core" %\ 2 +2 "storage"(% +4 "core" %^ y z @ +2 "storage"(-. +3 "core" .( +2 "storage"(& +3 "core" & z y  +3 "storage"(L& +3 "manipulator"&,& +6 "core" & y y k  + &k 1 \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(}'i +2 "core" ( +2 "manipulator"&c& +5 "core" &k 7 \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &k E \ +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close +2 "manipulator"&./ +64 "core" / +2 .tPC.seek :open +2 "processing"%O( +83 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'y +41 "core" ' +298 ( + "storage"(i& +4 "core" &  +2 "manipulator"&& +4 "core" &k \ +2 "manipulator"&3% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&v'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&s( +262 "core" ( +2 "manipulator"&G& +3 "core" & `  +2 "storage"(%& +4 "core" & "  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(8' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(& +4 "core" &\ B\ B  +2 "manipulator"&>& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&S( +6 "core" ( +2 "manipulator"&& +3 "core" & .  +3 "storage"(T& +3 "core" &\ B\ 5  +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(&& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&!'} +26 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' + "manipulator"&x% +4 "core" %} J +2 "storage"(r& +4 "core" & l e   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 "manipulator"&o& +4 "core" & /  + "storage"(\\& +4 "core" &   +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 "storage"('% +3 "core" %r ! +3 ."downElevator"SE.seek :down +3 "storage"(k'X +99 ( % +3 "core" %R r r  PI +2 "manipulator"&~% +5 "core" %Q ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +3 "core" & |   +2 "collection"'u& +4 "core" &V}GG N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&<% +3 "core" %\ $ / +3 "storage"(@% +3 "core" %\\ +2 "storage"(A. +3 "core" .( +2 "storage"(U& +3 "core" &  +2 "storage"(d& +4 "core" &  +2 "manipulator"&C& +3 "core" & =  +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +3 "core" & (  +3 "storage"(l& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +96 "core" ' +2 "storage"(b& +3 "core" & 9  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & `  +3 "storage"(Y& +3 "core" & i  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&['} +24 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'R +26 "core" ' +2 "manipulator"&=% +3 "core" %Α +2 "storage"(f& +3 "core" & o  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&/'Ͻ +20 "core" ' +2 "manipulator"&D& +3 "core" & G  +2 "storage"(& +4 "core" & ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"({'A +38 "core" ' + "manipulator"&h& +5 "core" &   + "manipulator"&j% +4 "core" %C  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +164 "core" ( +4 "manipulator"&`& +4 "core" &(  >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &' W >K +3 .tForearm.seek CC + "manipulator"&0'" +92 "core" ' + .tHand.close +2 "manipulator"&F/ +64 "core" / +2 .tCC.seek :open +2 "collection"'7( +416 "core" ( +2 "storage"(_& +30 "core" &   +2 "storage"(V& +3 "core" &   +2 "manipulator"&z& +5 "core" &'  >J + "manipulator"&6% +3 "core" % 1 ;  +3 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +3 "core" & 5 b +3 "storage"(\ & +3 "core" & u  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +9 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +59 "core" 1 +2 "manipulator"&a% +3 "core" % ΃  +2 "storage"(Z& +3 "core" & c  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&Q'ϯ +20 "core" ' + "manipulator"& & +4 "core" & k b +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(K% +3 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"(n'X +98 (4% +3 "core" %R  PF +2 "manipulator"&t% +4 "core" %9 L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +87 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'$& +3 "core" &EG +2 "manipulator"&:% +4 "core" %\   +2 "storage"(q% +3 "core" %a  +2 "storage"(X. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(p( +339 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +3 "core" &  +2 "manipulator"&9& +4 "core" &  b +2 .tElbow.seek 2 +2 "manipulator"&I( +45 "core" ( +2 "manipulator"&]& +4 "core" &  M i + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +94 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +282 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (L& +2 "core" &  +3 "manipulator"&c& +4 "core" &  a +2 .tElbow.seek 2 + "manipulator"& ( +30 "core" ( +2 "manipulator"&"& +3 "core" & J g +3 "storage"(.& +4 "core" & K +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(('X +8 "core" &  g +2 "manipulator"&}% +3 "core" % & < F +3 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&3& +3 "core" &, E  Bl +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ $ V Bl +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +97 "core" ' +2 "manipulator"&%& +3 "core" &, - Bl +2 "manipulator"&% +4 "core" %$ +2 "collection"'& +4 "core" &EG +3 "collection"'& +5 "core" &FG +2 .tCC.seek :closed +2 "collection"'?(V +4 "core" &DF +8 &8FG #b +9 &ZGG 5 +10 &FE G +9 &cEE F +9 &cEE F +10 &YcEF F +9 &eFF F +9 &eGF F +10 &gEF F +9 &bdGG F +10 & $cFH F +9 &!fFC F +9 &#dEH F +10 &%jeEG F +9 &'-cFE E +9 &(dGF F +10 &*dGF F +9 &,scGG E +10 &.3cFG F +9 &/cFE F +48 &1cEG E +4 &3ydEE F +3 &5<cFF F + &6eDF F + &8bFG F +2 &:dFG F +7 &eFH F +9 &?eEE E +10 &AeEF F +9 &CKdEF F +10 &E hFG G +9 &FrFG G +9 &HFE J +10 &J<EF N +9 &KEG P +9 &MGH Q +10 &OzFG Q +9 &Q<DF Q +9 &REF Q +10 &TGH R +9 &V*\\GF 0 +10 &VFF N +9 ( + &VhFG H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +3 "manipulator"&>% +3 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +106 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%T& +5 "core" & + "manipulator"&v% +4 "core" %\  I  +2 "storage"(% +4 "core" %b +2 "storage"(&. +3 "core" .( +2 "storage"(x& +3 "core" & Z +2 "storage"(2& +4 "core" & u P +2 "manipulator"&r& +3 "core" &+ t Bj +2 "manipulator"&#% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&o( +156 "core" ( +2 "manipulator"&\\& +4 "core" & *  +2 "storage"(s& +3 "core" & + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +100 "core" ' + "storage"('& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +280 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & N +2 "manipulator"&~& +3 "core" & N  +3 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( +2 "manipulator"&& +3 "core" & (  +2 "storage"(!& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(<'X +8 "core" &   +2 "manipulator"&@% +4 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&U& +3 "core" &q  e  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C' +95 "core" ' +2 "manipulator"&E& +3 "core" &q B  +3 "manipulator"&l% +3 "core" % b  +3 "processing"%& +4 "core" & +2 "processing"%b& +5 "core" & +2 .tPC.seek :closed +2 "processing"%k(Z +5 "core" & +7 &F #b +9 &[ 6 +10 & H +9 &h G +9 &g G +10 &^f F +9 & g F +10 &gm F +9 &j G +9 &em G +10 & 'g G +9 &!h F +9 &#h F +10 &%mi G +9 &'/kd G +10 &(e G +9 &*i F +9 &,vh F +10 &.7i G +9 &/k G +9 &1e G +10 &3}e G +9 &5>g G +10 &7gS F +9 &8ha F +9 &:gV F +10 & e` G +9 &?g G +10 &Ag G +9 &CNl G +10 &El G +9 &Fv H +9 &Hc J +10 &JI L +9 &L\  L +9 &M L +10 &O L +9 &QN M +10 &Sf L +9 &T L +9 &V3 M +10 &XVK M +9 &Ywx !i +9 &Z*uw - +10 ( + &Z ! +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&)1 +53 "core" 1 +2 "manipulator"&|% +3 "core" %  x  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +2 "processing"%H& +3 "core" &Zp ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Y% +51 "core" %\   +3 "storage"(+% +3 "core" %T +2 "storage"(=. +4 "core" .( + "storage"(f& +4 "core" & : +3 "storage"(D& +2 "manipulator"&& +5 "core" & q +2 &q >  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&h(s +2 "storage"(j'i +7 "core" ( + "manipulator"&;& +3 "core" &q o  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q |  +2 .tForearm.seek PC +2 "manipulator"& ' +102 "core" ' +2 .tHand.close + "manipulator"&[/ +59 "core" / +2 .tPC.seek :open +2 "processing"%/( +76 "core" ' +2 "storage"(1- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +50 "core" ' +297 ( + "storage"(y& +4 "core" & M +2 "manipulator"&& +3 "core" &q 2  +2 "manipulator"&J% +5 "core" % c +2 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +270 "core" ( +2 "manipulator"&*& +3 "core" & C  +2 "storage"(_& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +96 "core" ' +2 .tHand.open +2 "manipulator"&z1 +59 "core" 1 +2 "storage"(6- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +47 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(0- +2 "core" -' +3 "storage"(^& +4 "core" & \ O\ O + "manipulator"&B& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&a( +4 "core" ( +2 "manipulator"&Z& +4 "core" &   + "storage"( & +4 "core" & \ O\ O +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(K' +59 "core" ' +2 "manipulator"& & +3 "core" &  +2 "storage"(4& +4 "core" & $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&Q% +3 "core" % 8 { +2 "storage"($& +4 "core" & x +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&:' +20 "core" ' +2 "manipulator"&q& +3 "core" & 6  +3 "storage"(X& +3 "core" & 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +26 "core" ' +2 "storage"(% +3 "core" %q \\  +3 ."downElevator"SE.seek :down +4 "storage"(n'X +98 (M% +3 "core" %MX b n . QI +2 "manipulator"&R% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +42 "manipulator"&9'\ +97 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (]& +3 "core" &  +2 "collection"'& +4 "core" &VhFG H +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  Y  +2 "storage"(% +5 "core" %` * + "storage"(e. +3 "core" .( +2 "storage"(,& +3 "core" &  +2 "storage"(L& +5 "core" &  + "manipulator"&c& +5 "core" & n  + .tElbow.seek 2 +2 "manipulator"&"( +4 "core" ( +2 "manipulator"&.& +3 "core" & X  +2 "storage"(N& +4 "core" & B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +107 "core" ' +2 "storage"(}& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +282 "core" ' +3 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  +2 "storage"(& +5 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +28 "core" ' + "manipulator"&% +4 "core" % +2 "storage"( & +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&(' +20 "core" ' +2 "manipulator"&i& +3 "core" & N  +2 "storage"(7& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(>'A +40 "core" ' +2 "manipulator"&T& +3 "core" & R  +2 "manipulator"&v% +5 "core" %ѐ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +166 "core" ( +2 "manipulator"&&& +3 "core" &% 0 l <@ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &% 0 E <@ +3 .tForearm.seek CC + "manipulator"&2'" +94 "core" ' + .tHand.close +2 "manipulator"&r/ +59 "core" / +2 .tCC.seek :open +2 "collection"'#( +413 "core" ( +2 "storage"(G& +3 "core" & +2 "storage"(\\& +3 "core" & \\ +3 "manipulator"&s& +3 "core" &% 4 <? +2 "manipulator"&'% +4 "core" % ) X +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&5& +3 "core" & b +2 "storage"( & +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&~' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +60 "core" 1 +2 "manipulator"&g% +5 "core" %  i + "storage"(u& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +47 "manipulator"&@' +23 "core" ' +2 "manipulator"&o& +3 "core" & } +2 "storage"(P& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +16 "core" ' +2 "storage"(% +4 "core" %I 4 +3 ."downElevator"SE.seek :down +4 "storage"(U'X +100 (d% +3 "core" %T OD +2 "manipulator"&S% +3 "core" %ѥ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +94 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +3 "core" &ED +2 "manipulator"&% +5 "core" %\ # < +2 "storage"(<% +4 "core" %`  +2 "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(O( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +3 "core" &  +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&H( +13 "core" ( +2 "manipulator"&Y& +3 "core" & 3 P +3 "storage"(b& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +104 "core" ' +2 "storage"(=& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(f'i +279 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & =  +2 "manipulator"&;& +4 "core" & } P +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&C& +3 "core" & P +2 "storage"([& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(k'X +8 "core" &  P +2 "manipulator"&j% +3 "core" % Ϯ T +3 .tForearm.seek :retract +2 "manipulator"&y'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +23 "core" ( +2 "manipulator"&J& +3 "core" &% ,  <@ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &% < <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'" +99 "core" ' +2 "manipulator"&_& +4 "core" &&  K <@ +2 "manipulator"&h% +4 "core" %' ' +3 "collection"'z& +3 "core" &CG +3 "collection"'6& +5 "core" &DF +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" &CD +8 &HEF $d +10 &^DF 7 +9 &:~DE G +9 &aFF F +10 &dEG F +9 &bED F +10 &DdCE F +9 &dEE F +9 &dHG F +10 &dDG E +9 & LeEE F +9 &"dDF F +10 &#eFG F +9 &%hFF F +10 &'TcFF F +9 &)dED F +9 &*hFF F +10 &,cDF F +9 &.^cDF E +9 &0eQH F +10 &1dCE F +13 &3dFG F +6 &5dgEG F +9 &7&dGH F +9 &8eDF F +10 &:dFE F +9 &/eFE F +10 &?dDF E +9 &AeDE F +10 &CseFH F +9 &E4lDG G +9 &FwEF H +10 &HDG J +9 &JdFH N +9 &L FE P +10 &MRF P +9 &OFF Q +10 &QeEE Q +9 &S#EG R +9 &TGF R +10 &VDYGF )| +9 &V!GG H +9 ( + &VcGH D +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&^1 +60 "core" 1 +4 "manipulator"&B% +4 "core" % '  +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&F% +3 "core" %\  x \ +3 "storage"( % +3 "core" %` +2 "storage"(4. +3 "core" .( +2 "storage"(Q& +3 "core" & u  +3 "storage"($& +3 "core" &  +2 "manipulator"&`& +4 "core" &% #  <@ +2 "manipulator"&q% +4 "core" %\  = \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&X( +163 "core" ( +2 "manipulator"&& +3 "core" & . k +3 "storage"(& +3 "core" & d  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +98 "core" ' +2 "storage"(V& +3 "core" &   +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +285 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +2 "core" &   +2 "manipulator"&& +4 "core" &  k +2 .tElbow.seek 3 +2 "manipulator"&a( +4 "core" ( +2 "manipulator"&K& +4 "core" & M k + "storage"(t& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&:'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &  k +2 "manipulator"&% +3 "core" % ϭ + +3 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&& +4 "core" &| +  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &| ( \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +98 "core" ' +2 "manipulator"&.& +3 "core" &|  +3 "manipulator"&N% +4 "core" %  +2 "processing"%{& +3 "core" &{ +3 "processing"%}& +5 "core" & +2 .tPC.seek :closed +2 "processing"%n(Z +4 "core" & +8 &G #c +9 &[ 6 +10 & H +9 &h F +10 &h G +9 &_j G +9 &!eP G +10 &g F +9 &i F +9 &hj F +10 & )j G +9 &!e G +10 &#e> G +9 &%ph F +9 &'1h G +10 &(k G +9 &*g G +9 &,wh G +10 &.9k G +9 &/d6 G +10 &1ev G +9 &3g F +9 &5Bh F +10 &7h G +9 &8j G +9 &:g G +10 & d G +10 &?g G +9 &Ag F +9 &CPl G +10 &Em G +9 &Fs H +9 &H J +10 &JJ L +9 &L ^ L +10 &M* L +9 &O| L +9 &QQ L +10 &S M +9 &T M +9 &V` L +10 &XW M +9 &Yxx "j +9 &Z'k , +10 ( + &Z " +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&9% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +3 "processing"%3& +3 "core" &Zq " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" %\ #  > +3 "storage"(%% +3 "core" %a b b - +2 "storage"(. +3 "core" .( +2 "storage"( & +4 "core" & b b   +2 "storage"(i& +3 "manipulator"&7& +5 "core" & b d   +2 &| +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +50 .tElbow.seek PC +4 "manipulator"&T(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'i +2 "core" ( +3 "manipulator"&& +3 "core" &|  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &| +2 .tForearm.seek PC +2 "manipulator"&I' +96 "core" ' +2 .tHand.close + "manipulator"&w/ +61 "core" / +2 .tPC.seek :open +2 "processing"%(( +86 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(&'y +39 "core" ' +297 ( + "storage"(x& +5 "core" &  + "manipulator"&& +5 "core" &| O + "manipulator"&% +4 "core" % 7 +2 .tForearm.seek :retract +2 "manipulator"&r'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +269 "core" ( +2 "manipulator"&?& +4 "core" & *  +2 "storage"(G& +3 "core" & %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +91 "core" ' +2 .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "storage"('- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(& +3 "core" &\ Q\ Q 2  +2 "manipulator"&!& +4 "core" & >  +2 .tElbow.seek 3 + "manipulator"&g( +3 "core" ( +2 "manipulator"&u& +4 "core" & +  +2 "storage"(o& +3 "core" &\ Q\ Q  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +60 "core" ' + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" & "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&d'} +28 "core" ' +2 .tElbow.hold + "manipulator"&S, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(~'i +24 "core" ' +2 "manipulator"&l% +3 "core" %} E +2 "storage"(@& +4 "core" & @  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' + "manipulator"&<& +4 "core" & 9  +2 "storage"(A& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +34 "core" ' +2 "storage"(8% +3 "core" %q   +3 ."downElevator"SE.seek :down +3 "storage"(U'X +100 (p% +4 "core" %Q o b > PG +2 "manipulator"&)% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +3 "core" &   +2 "collection"'b& +4 "core" &VbCE D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&=% +3 "core" %\ G 5 +2 "storage"(% +3 "core" %Q X +2 "storage"(E. +4 "core" .( + "storage"(D& +4 "core" &   +2 "storage"(& +50 "core" &   +3 "manipulator"&;& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&[& +3 "core" & j  +3 "storage"(& +3 "core" & #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +91 "core" ' +2 "storage"(j& +3 "core" & /  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'i +283 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &  +2 "storage"( & +4 "core" & H  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&f'} +19 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'R +33 "core" ' +2 "manipulator"&h% +3 "core" %Ύ  +2 "storage"(z& +4 "core" & 7  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&k'Ϻ +21 "core" ' + "manipulator"&y& +4 "core" & d  +2 "storage"(#& +3 "core" & #  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'A +116 "core" ' +2 "manipulator"&6& +3 "core" & .  +3 "manipulator"& % +3 "core" %% l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +165 "core" ( +2 "manipulator"&4& +3 "core" &*  @ @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &* % 8 @W +3 .tForearm.seek CC +2 "manipulator"&$'" +96 "core" ' + .tHand.close +2 "manipulator"&`/ +56 "Can"  GW$M +5 "core" / +2 .tCC.seek :open +2 "collection"'q( +412 "core" ( +2 "storage"(*& +3 "core" & a  +3 "storage"(& +3 "core" & %  +2 "manipulator"&& +4 "core" &&  =D +2 "manipulator"&V% +3 "core" % + " A +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +164 "core" ( +2 "manipulator"&M& +3 "core" & \\  +2 "storage"(R& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +103 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&t1 +57 "core" 1 +2 "manipulator"&]% +5 "core" % | # +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&'Ϩ +20 "core" ' +2 "manipulator"&X& +4 "core" & h  + "storage"(W& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +27 "core" ' +2 "storage"(:% +3 "core" %C d +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (L% +10 "core" %R S OE +2 "manipulator"&a% +5 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +171 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'N& +3 "core" &EF  +2 "manipulator"&{% +4 "core" %\ ~  +2 "storage"(% +4 "core" %O y +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(/( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&3( +42 "core" ( +2 "manipulator"&& +3 "core" &  F +2 "storage"(%& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' + "storage"(}& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +280 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &   +2 "manipulator"&& +4 "core" & F +2 .tElbow.seek 2 +2 "manipulator"&"( +24 "core" ( +2 "manipulator"&c& +4 "core" &  +2 "storage"(w& +3 "core" &  Q +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(n'X +8 "core" &  +2 "manipulator"&v% +3 "core" %  6 +3 .tForearm.seek :retract +2 "manipulator"&x'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&& +3 "core" &" ( 9& +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &" } 9& +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'" +180 "core" ' + "manipulator"&G& +5 "core" &" 1 9& + "manipulator"&T% +4 "core" % # +2 "collection"'s& +4 "core" &EG  +3 "collection"''& +5 "core" &DF  +2 .tCC.seek :closed +2 "collection"'2(V +5 "core" &EG  +7 &HFG $e +9 &_DG 7 +10 &;~FG G +9 &`GH F +9 &bFH F +10 &cFE F +9 &FcFG F +9 &dFG F +10 &gHG F +9 &cEF F +9 & NdEF F +10 &"cEG F +9 &#dDG E +10 &%dDE F +9 &'UcDE F +9 &)dGF F +10 &*cGF F +9 &,gFG F +9 &.]cEG F +10 &0 cGF F +9 &1cGH F +10 &3hFF F +9 &5ecEG F +9 &7(dCE F +10 &8cFG F +9 &:bEF F +9 &.eGE F +9 &?eHG F +10 &AeFE F +9 &CteGG F +9 &E5lFH G +10 &FsEG H +9 &HGG J +10 &JdEF O +9 &L"DH P +9 &MHG P +10 &OFH Q +9 &QfHF Q +9 &S%GI R +10 &TFG R +9 &VDVGH * +9 &VFG D +10 ( + &VSGG B +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&!% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%o& +3 "core" & +2 "manipulator"&r% +4 "core" %\ k  +2 "storage"(% +4 "core" %^  +2 "storage"(. +3 "core" .( +2 "storage"(l& +3 "core" &   +2 "storage"(@& +49 "core" &   +4 "manipulator"&&& +4 "core" &" 9& +2 "manipulator"&5% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&<( +161 "core" ( +2 "manipulator"&A& +4 "core" & J  +2 "storage"(8& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' + "storage"(\\& +4 "core" &  ! +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &  +2 "manipulator"&P& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&g( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(d& +3 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(='X +8 "core" & 3  +2 "manipulator"&% +3 "core" %  M +3 .tForearm.seek :retract +2 "manipulator"&E'\ +100 "core" ' +3 .tElbow.seek PC +2 "manipulator"&D(s +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +2 "manipulator"&~& +3 "core" &r 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +100 "core" ' +2 "manipulator"&[& +3 "core" &r  z +3 "manipulator"&% +3 "core" %  +2 "processing"%>& +4 "core" & +3 "processing"%j& +5 "core" & +2 .tPC.seek :closed +2 "processing"%U(Z +5 "core" &  +8 &6 )v +10 &i < +9 &y H +10 &hf G +9 &+h F +9 &i F +10 &h G +9 &pj G +9 &2e G +10 &g G +10 & g F +9 &"xh G +9 &$:j G +9 &%k G +10 &'k G +9 &)e G +9 &+Cg F +10 &-g F +9 &.h G +10 &0l G +9 &2Jg G +9 &4 g F +10 &5h G +9 &7j G +9 &9Rk G +10 &;j G +9 &<l G +10 &>k G +9 &@Ym G +9 &Be G +10 &Ci G +9 &Em G +9 &G\\x I +10 &I K +9 &J L +10 &L L +9 &N[ L +9 &P L +10 &Q L +9 &S M +9 &Ua M +10 &W# M +9 &X M +10 &Z6Ec %k +9 &Z 0 " +5 ( +2 "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&S1 +4 "core" &Z " +57 1 + "manipulator"&|% +4 "core" % #   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' + "processing"%J& +4 "core" &ZG " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %\  :  +2 "storage"(% +4 "core" %P +2 "storage"(h. +3 "core" .( +2 "storage"(z& +3 "core" &  +3 "storage"(y& +2 "manipulator"&#& +7 "core" &  + &r O +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&6(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( + "manipulator"&m& +6 "core" &r f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &r : +3 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' +41 .tHand.close +9 "manipulator"&f/ +56 "core" / +2 .tPC.seek :open + "processing"%k( +43 "core" ' +2 "storage"(_- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +34 "core" ' +345 ( + "storage"(Q& +4 "core" &  G +2 "manipulator"&^& +3 "core" &r  +3 "manipulator"&1% +3 "core" % * ) +3 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +293 "core" ( + "manipulator"&0& +4 "core" & " % +2 "storage"(*& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(V- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(M'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(R' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"( & +3 "core" & \ E\ P t +2 "manipulator"&t& +4 "core" & S % +2 .tElbow.seek 2 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&& +3 "core" & R % +3 "storage"(X& +4 "core" & \ O\ O w +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(:' +64 "core" ' +2 "manipulator"&& +4 "core" & f % + "storage"(L& +4 "core" &   +7 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a' +25 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +22 "core" ' +2 "manipulator"&% +3 "core" % + +2 "storage"(N& +5 "core" &  h +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&B' +20 "core" ' + "manipulator"&{& +4 "core" & 5 $ +2 "storage"(& +3 "core" &  * +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +26 "core" ' +2 "storage"(\ % +3 "core" %n   +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (O% +3 "core" %U z y x PH +2 "manipulator"&% +4 "core" %ѫ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &  z +2 "collection"'%& +4 "core" &VTHG B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&}% +3 "core" %\ # N = +2 "storage"(K% +4 "core" %[ ; +2 "storage"(.. +3 "core" .( +2 "storage"(i& +3 "core" &  +2 "storage"(7& +4 "core" &  h +2 "manipulator"&& +4 "core" & | $ +2 .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( + "manipulator"&w& +4 "core" & " $ +2 "storage"(,& +3 "core" &  z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +97 "core" ' + "storage"(v& +50 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  $ +2 "storage"( & +4 "core" &  ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&I' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(G'R +29 "core" ' + "manipulator"&T% +4 "core" % / , +2 "storage"(s& +3 "core" &  { { D +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&n' +20 "core" ' +2 "manipulator"&x& +3 "core" & 2 $ +2 "storage"(q& +4 "core" &  ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(!'A +44 "core" ' +2 "manipulator"&o& +3 "core" & I $ +2 "manipulator"&r% +5 "core" %ѯ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +3 "manipulator"&'& +3 "core" &( - ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &l& +2 "core" &( ?U +3 .tForearm.seek CC +2 "manipulator"&@'" +92 "core" ' + .tHand.close +2 "manipulator"&&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'5( +416 "core" ( + "storage"(?& +4 "core" &   +2 "storage"(A& +3 "core" &  R +2 "manipulator"&8& +4 "core" &( ?S +2 "manipulator"&\\% +4 "core" % . [ , +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +158 "core" ( +2 "manipulator"&p& +3 "core" &  L  +2 "storage"()& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&P' +101 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&d1 +52 "core" 1 +2 "manipulator"&Y% +3 "core" % # A +2 "storage"(b& +4 "core" &  M +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +20 "core" ' +3 "manipulator"&<& +3 "core" & |  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +20 "core" ' +2 "storage"(% +3 "core" %K 3 +3 ."downElevator"SE.seek :down +3 "storage"(~'X +100 (% +3 "core" %T  OE +2 "manipulator"&g% +3 "core" %і  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &CG +2 "manipulator"&>% +50 "core" %\    +3 "storage"(=% +3 "core" %^  +2 "storage"(E. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"((( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &   +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&J( +16 "core" ( + "manipulator"& & +4 "core" & O W +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +92 "core" ' +2 "storage"(z& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +282 "core" ' + "storage"(#- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" & Q  +2 "manipulator"&m& +3 "core" & W +3 .tElbow.seek 3 + "manipulator"&C( +4 "core" ( +2 "manipulator"&;& +3 "core" & f W +2 "storage"(f& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&_'ϩ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&+& + "storage"(U'X +8 "core" &  W + "manipulator"& % +4 "core" % ϭ   +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&1& +4 "core" &( K ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &( ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +99 "core" ' + "manipulator"&*& +4 "core" &( 7 ?T +2 "manipulator"&6% +5 "core" % B A +3 "collection"'& +3 "core" &FF +3 "collection"'V& +5 "core" &FF +2 .tCC.seek :closed +2 "collection"'$(V +4 "core" &EF +8 &JDE #c +10 &\\DG 6 +9 &'EF F +9 &bFG F +10 &eHF F +9 &neFF F +9 &/hFF F +10 &eFG F +9 &cEH F +9 &vcDG F +10 & 7gEG F +9 &!cDG F +10 &#eFG F +9 &%~eEG F +9 &'?bFF F +10 &)dGG F +9 &*dFG F +9 &,dFG E +10 &.GePG F +9 &0\ dFH F +10 &1eFH F +9 &3eEG E +9 &5OeFF F +10 &7dDG F +9 &8cEE F +9 &:gEG F +10 &eGH F +10 &?eEF F +9 &AeEE F +9 &C_fFF F +10 &EjHF G +9 &FtFF H +10 &HDI J +9 &JMFH O +9 &L FH P +10 &MFF P +9 &OGG P +9 &QOHF Q +10 &SEG R +9 &TFH R +9 &V@hFH / +10 &V GG 7 +9 &WjGG B +6 ( + "collection"'V& +4 "core" &W_GH B +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"& 1 +53 "core" 1 +3 "manipulator"&t% +3 "core" %   3 A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +4 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%X& +4 "core" &s + "manipulator"&`% +4 "core" %\  &   +2 "storage"(% +4 "core" %b z +2 "storage"(L. +3 "core" .( +2 "storage"(& +3 "core" & i s p  +2 "storage"(4& +3 "core" & A  +2 "manipulator"&N& +5 "core" &( ?T + "manipulator"&M% +4 "core" %\     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&{( +165 "core" ( +2 "manipulator"&& +3 "core" & d U +2 "storage"(\ & +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +4 "manipulator"&F'9 +92 "core" ' + "storage"(& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(R'i +283 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  +3 "manipulator"&W& +4 "core" &  U +2 .tElbow.seek 3 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&:& +3 "core" & i U +3 "storage"(a& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&B'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(}'X +6 "core" &  U +3 "manipulator"&K% +3 "core" % ϥ {  +3 .tForearm.seek :retract + "manipulator"&.'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&i& +3 "core" &s 6 ~ " +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &s  " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&w& +3 "core" &s " " +3 "manipulator"&,% +3 "core" % X +2 "processing"%e& +5 "core" & +2 "processing"%v& +5 "core" & +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" & +6 & 6 +10 &KM / +9 &{ D +9 &De G +10 &k G +9 &e G +10 &g G +9 &Mg F +9 &g F +10 &e F +9 &h G +9 &!Tk G +10 &#l G +9 &$k G +10 &&j G +9 &(\\k G +9 &*k G +10 &+e G +9 &-e G +9 &/df G +10 &1&g G +9 &2h F +9 &4h F +10 &6lh G +9 &8/i F +10 &9i G +9 &;h G +9 &=uh F +10 &?7i F +9 &@i G +9 &Bl G +10 &D|k G +9 &F;p H +10 &G I +9 &I L +9 &Ku L +10 &M7 L +9 &N L +10 &P L +9 &R{ M +9 &T> L +10 &V L +9 &W M +9 &Y 9 +10 &Zr5 T +9 &Zd ! +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&Z1 +56 "core" 1 + "manipulator"&9% +4 "core" % " ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +4 "processing"%& +3 "core" &Zq ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +3 "core" %\  _  +3 "storage"("% +3 "core" %_ +2 "storage"(T. +3 "core" .( +2 "storage"(s& +3 "core" & _  +3 "storage"(x& +2 "manipulator"&q& +7 "core" &  +2 &s 5 " + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&o(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +2 "core" ( +3 "manipulator"&-& +3 "core" &s D " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &s  " +3 .tForearm.seek PC +2 "manipulator"&3' +98 "core" ' +2 .tHand.close + "manipulator"&I/ +61 "core" / +2 .tPC.seek :open +2 "processing"%n( +79 "core" ' + "storage"(G- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +50 "core" ' +293 ( +2 "storage"(l& +3 "core" & =  +46 "manipulator"&& +8 "core" &s l " + "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +267 "core" ( +2 "manipulator"&2& +3 "core" & !  +2 "storage"(?& +4 "core" & 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +102 "core" ' +2 .tHand.open +2 "manipulator"&81 +53 "core" 1 +2 "storage"(\\- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"()' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +3 "core" -' +2 "storage"(& +3 "core" &\ G\ G  +3 "manipulator"&d& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&Y( +7 "core" ( +2 "manipulator"&b& +4 "core" & #  +2 "storage"(<& +3 "core" & x\  Q  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"&& +4 "core" & w  +2 "storage"(& +4 "core" & X  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'} +20 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(P'i +24 "core" ' +2 "manipulator"&% +3 "core" %΄  +2 "storage"(& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&>'ϰ +21 "core" ' + "manipulator"&!& +4 "core" & R  +2 "storage"(=& +3 "core" & B  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +25 "core" ' +2 "storage"( % +3 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(~'X +100 (/% +4 "core" %#Z m q  PI +3 "manipulator"&S% +4 "core" %z } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & \\  +2 "collection"'& +4 "core" &W_EH B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&z% +3 "core" %\ " O 9 +2 "storage"(% +4 "core" %` e +2 "storage"([. +3 "core" .( +2 "storage"(#& +3 "core" &   +2 "storage"(y& +4 "core" &   +2 "manipulator"&m& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&f& +5 "core" &  H  + "storage"(D& +4 "core" & A  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +94 "core" ' + "storage"( & +4 "core" & P  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(J'i +277 "core" ' +2 "storage"(h- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &   +2 "storage"(j& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'} +20 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(C'R +28 "core" ' + "manipulator"&6% +4 "core" %y  +2 "storage"(& +4 "core" & a  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&U'ϥ +20 "core" ' +2 "manipulator"&Q& +3 "core" & <  +2 "storage"(5& +5 "core" & E  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'A +39 "core" ' +2 "manipulator"&X& +3 "core" & e  +3 "manipulator"&`% +3 "core" %!  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +162 "core" ( +3 "manipulator"&& +4 "core" &* @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &* @Z +3 .tForearm.seek CC + "manipulator"&V'" +95 "core" ' + .tHand.close +2 "manipulator"&N/ +61 "core" / +2 .tCC.seek :open + "collection"'M( +416 "core" ( +2 "storage"(0& +3 "core" &  +2 "storage"(& +3 "core" & .  +3 "manipulator"&\ & +3 "core" &* # ^ @Y +2 "manipulator"&^% +4 "core" % *  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&O& +3 "core" &  g X +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&W'} +101 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&a1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Ό  m +2 "storage"(%& +5 "core" & &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&K'ϸ +20 "core" ' + "manipulator"&{& +4 "core" & / X +2 "storage"(F& +3 "core" & <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +27 "core" ' + "storage"(B% +4 "core" %J 0 +3 ."downElevator"SE.seek :down +3 "storage"(i'X +100 (7% +2 "core" %U  PH +3 "manipulator"&]% +3 "core" %z  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +94 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"',& +3 "core" &GF +2 "manipulator"&e% +3 "core" %\ " C < +3 "storage"(}% +4 "core" %a  + "storage"(.. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(k( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +3 "core" & 5 +2 "manipulator"&9& +3 "core" & X +46 .tElbow.seek 2 +4 "manipulator"&( +43 "core" ( +2 "manipulator"& & +3 "core" & ~  +3 "storage"("& +3 "core" & [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +98 "core" ' +2 "storage"(s& +3 "core" & N +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(q'i +279 "core" ' +3 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & +2 "manipulator"&-& +4 "core" & x  +2 .tElbow.seek 2 +2 "manipulator"&c( +18 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(I& +4 "core" & > +3 .tForearm.seek 2 + 300 counts + "manipulator"&G' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" & 3  + "manipulator"&r% +4 "core" % S 5 +3 .tForearm.seek :retract + "manipulator"&l'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&& +3 "core" &+  [ Ae +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &*  ( Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'" +93 "core" ' +3 "manipulator"&?& +4 "core" &+  Ae +2 "manipulator"&o% +5 "core" % (  + "collection"'8& +5 "core" &GD +2 "collection"'\\& +5 "core" &FH +3 .tCC.seek :closed + "collection"'@(V +4 "core" &FG +8 &8FF #b +9 &ZHG 5 +9 &FH G +10 &`HG F +9 &eGI F +9 &[dEG F +10 &cGE F +9 &eGF F +10 &dDD F +9 &bdEG F +9 & #eDG F +10 &!eFG F +9 &#fGE F +9 &%ifFG F +10 &'+eEE F +9 &(eGF F +10 &*eFF F +9 &,reEE F +9 &.4cGG F +10 &/cDG F +9 &1eGG F +9 &3zdDG F +10 &5<dDG F +9 &6eFF F +10 &8dFF F +9 &:eDG F +9 &eGG F +9 &?bEE F +9 &AeGF F +10 &CKfFI F +9 &E kEG G +10 &FvHI H +9 &HDF J +9 &J<GG O +10 &KEG P +9 &MGI P +9 &OzFG Q +10 &Q>GH P +9 &RFH R +10 &TGF R +9 &V)ZIF 2 +9 &VHH O +10 ( + &VjFH I +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&d% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%<& +3 "core" &u +2 "manipulator"&&% +4 "core" %\ # 2 ? +2 "storage"(% +3 "core" %c m w 8 +2 "storage"(. +4 "core" .( + "storage"(& +5 "core" & m m +2 "storage"(& +5 "core" & x p d +2 "manipulator"&'& +4 "core" &* Ad +2 "manipulator"&!% +3 "core" %\ # 1 ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&p( +159 "core" ( +2 "manipulator"&=& +3 "core" &   +2 "storage"( & +3 "core" & @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(A& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"()'i +278 "core" ' +2 "storage"(/- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +3 "core" & O +46 "manipulator"&& +6 "core" & ,  +3 .tElbow.seek 2 + "manipulator"&Y( +4 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(g& +3 "core" & H +3 .tForearm.seek 2 + 300 counts + "manipulator"&>' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(z'X +8 "core" & l  +2 "manipulator"&% +4 "core" %  b +2 .tForearm.seek :retract + "manipulator"&P'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +3 "manipulator"&#& +3 "core" &t 9  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &t   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&m' +100 "core" ' +2 "manipulator"&f& +4 "core" &t  V  +2 "manipulator"&D% +3 "core" % q +3 "processing"%E& +3 "core" & +3 "processing"% & +5 "core" & +2 .tPC.seek :closed +2 "processing"%~(Z +5 "core" &  +9 &7 )w +9 &k = +9 &u H +10 &ne G +9 &1g F +9 &hl F +10 &j G +9 &vk G +10 &7k G +9 &g G +9 & g G +10 &"~j G +9 &$@e G +9 &&g F +10 &'i G +9 &)k G +10 &+Gj G +9 &- g F +9 &.g G +10 &0k G +9 &2Pg G +9 &4g F +10 &5h G +9 &7j G +10 &9Xk G +9 &;d G +9 &<f G +10 &>f F +9 &@`h G +9 &B"j G +10 &Cj G +9 &En G +10 &Gax I +9 &I K +9 &J L +10 &L L +9 &Na L +9 &P" L +10 &Q L +9 &S M +10 &Ug M +9 &W) M +9 &X M +10 &Z9Ca %k +9 &Z / # +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&u1 +3 "core" &Z # +58 1 +2 "manipulator"&|% +3 "core" % e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' + "processing"%1& +4 "core" &ZA # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&j% +4 "core" %\ " G ; + "storage"(*% +4 "core" %b n a i +2 "storage"(6. +3 "core" .( +2 "storage"(& +3 "core" & b b +3 "storage"(Q& +2 "manipulator"&5& +5 "core" & b b  +2 &t  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&X(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(`'i +3 "core" ( +2 "manipulator"&+& +3 "core" &t m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" &t [  +2 .tForearm.seek PC +2 "manipulator"&J' +96 "core" ' +2 .tHand.close +2 "manipulator"&H/ +61 "core" / +3 .tPC.seek :open +2 "processing"%U( +91 "core" ' +2 "storage"(C- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +295 ( +2 "storage"(4& +3 "core" & \ +2 "manipulator"& & +4 "core" &t &  +2 "manipulator"&_% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&N'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +267 "core" ( +2 "manipulator"&$& +3 "core" & / +3 "storage"(0& +51 "core" & O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 .tHand.open + "manipulator"&\ 1 +61 "core" 1 +3 "storage"(^- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(O'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(V- +2 "core" -' +3 "storage"(L& +3 "core" & \ B\ B N +2 "manipulator"&a& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"({& +4 "core" & \ A\ B +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +58 "core" ' + "manipulator"&& +5 "core" &  + "storage"(7& +4 "core" & Q +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]' +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +23 "core" ' + "manipulator"&K% +5 "core" % } + "storage"(,& +4 "core" & ; +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&e' +18 "core" ' +2 "manipulator"&}& +3 "core" & G +3 "storage"(.& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +28 "core" ' +2 "storage"(R% +3 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(i'X +99 ((% +4 "core" %,V p z J PH +2 "manipulator"&Z% +5 "core" %Ѧ O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &  +2 "collection"'"& +4 "core" &VhEF I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&s% +4 "core" %\  8 +2 "storage"(:% +3 "core" %a g +2 "storage"(w. +3 "core" .( +2 "storage"(x& +3 "core" &  +2 "storage"(v& +5 "core" &  + "manipulator"&-& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&I& +3 "core" &  A +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(r& +3 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(T- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(3& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q' +28 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(o'S +29 "core" ' + "manipulator"&c% +48 "core" % . c : +4 "storage"(8& +3 "core" & b b  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&l& +3 "core" & w +2 "storage"(M& +5 "core" & = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(d'B +38 "core" ' +2 "manipulator"&<& +3 "core" & Z +2 "manipulator"&&% +5 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +163 "core" ( +4 "manipulator"&& +4 "core" &' >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &' u >H +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&'/ +57 "core" / +2 .tCC.seek :open +2 "collection"'!( +416 "core" ( +2 "storage"(2& +3 "core" & s +2 "storage"(=& +3 "core" &  +3 "manipulator"& & +4 "core" &' >H + "manipulator"&A% +4 "core" % & y ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&b( +160 "core" ( +2 "manipulator"&/& +3 "core" & &  +2 "storage"(S& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +93 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +57 "core" 1 +3 "manipulator"& % +3 "core" % r +2 "storage"(& +3 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&p& +4 "core" & L  +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +29 "core" ' + "storage"(>% +4 "core" %H   +3 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (y% +3 "core" % S  PF +2 "manipulator"&Y% +3 "core" %Ѥ _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +92 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'D& +3 "core" &EG +3 "manipulator"&E% +3 "core" %\ " T ; +2 "storage"(z% +4 "core" %_  +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(n( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +3 "core" &   +2 "manipulator"&|& +3 "core" & <  +3 .tElbow.seek 3 + "manipulator"&1( +13 "core" ( + "manipulator"&j& +4 "core" & y j +2 "storage"(*& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +104 "core" ' + "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +46 .tSE.seek :beamBreak +5 "storage"('i +281 "core" ' + "storage"(Q- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" & V  +2 "manipulator"&+& +4 "core" &  j +2 .tElbow.seek 3 +2 "manipulator"&;( +4 "core" ( +2 "manipulator"&m& +3 "core" & b j +3 "storage"(H& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&C'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&h& +2 "storage"(~'X +7 "core" &  j +2 "manipulator"&`% +3 "core" % ϯ Z +3 .tForearm.seek :retract +2 "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +145 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&_& +3 "core" &  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &   6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'" +98 "core" ' +2 "manipulator"&0& +4 "core" & V 6 +2 "manipulator"&X% +3 "core" %  +3 "collection"'\ & +3 "core" &EH +3 "collection"'^& +6 "core" &EE +2 .tCC.seek :closed +3 "collection"'V(V +2 "core" &HG +7 &EH 6 +9 &IMEG / +10 &|GJ C +9 &EeGF F +9 &dGG F +10 &eGF F +9 &dFG F +10 &OeDG E +9 &eHI F +9 &dEG F +10 &eEG F +9 &!VcFF F +9 &#eGE F +10 &$fGG F +9 &&dDF F +10 &(]cFG F +9 &*dHH F +9 &+dEG F +10 &-dFH F +9 &/fdEG F +9 &1)dEH E +10 &2eFH F +9 &4eDH F +10 &6meFG F +9 &8/eGH F +9 &9dFF F +10 &;eFG F +9 &=veFG F +10 &?8eDG F +9 &@eFG F +9 &BeFH F +10 &D|gEG F +9 &F<nHF G +9 &G~FH I +10 &IHH L +9 &KgGH P +9 &M(FH Q +10 &NGH Q +9 &PGI Q +10 &RmGF Q +9 &T,GH R +9 &U{GG 9 +10 &V<IG a +9 ( + &VFFG > +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&L1 +61 "core" 1 +3 "manipulator"&a% +3 "core" %  & c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +3 "core" & +3 "manipulator"&N% +4 "core" %\ \ ?  + "storage"(% +4 "core" %a ! +2 "storage"(7. +3 "core" .( +2 "storage"(& +3 "core" & "  +2 "storage"(K& +4 "core" &  +2 "manipulator"&,& +3 "core" & s 6 +2 "manipulator"&O% +4 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&}( +171 "core" ( +2 "manipulator"&.& +3 "core" & K N +2 "storage"(R& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &   +2 "manipulator"&F& +4 "core" & N +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&B& +4 "core" & , N + "storage"(]& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(s'X +8 "core" & N +2 "manipulator"&:% +3 "core" % Ϲ { M +3 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&W& +5 "core" &{ 7  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &{  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +102 "core" ' +2 "manipulator"&I& +3 "core" &{  i +3 "manipulator"&% +3 "core" % +3 "processing"%t& +3 "core" & +3 "processing"%r& +5 "core" & +2 .tPC.seek :closed +3 "processing"%i(Z +3 "core" & +6 & 7 +10 &JM / +9 &{ C +9 &Af G +10 &h G +9 &h F +9 &i G +10 &Hk G +9 & f G +10 &f F +9 &g G +9 &!Qj G +10 &#g G +9 &$h F +9 &&g F +10 &(Yh G +9 &*j G +10 &+g F +9 &-h G +9 &/`j G +10 &1#g G +9 &2h G +9 &4k G +10 &6if G +9 &8+d G +10 &9h F +9 &;f F +9 &=rg F +10 &?4g F +9 &@h G +9 &Bk G +10 &Dxk G +9 &F7q H +10 &G J +9 &I K +9 &Kq L +10 &M3 L +9 &N L +9 &P L +10 &Ry L +9 &T:d M +10 &U L +9 &W M +9 &Y : +10 &Zn4 Z +9 &Z " +2 ( +2 "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&9% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +95 "core" ' +2 "processing"%& +3 "core" &Zn " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&3% +4 "core" %\  <  +2 "storage"(?% +3 "core" %Q +2 "storage"(c. +4 "core" .( + "storage"(8& +4 "core" & O  +2 "storage"(l& +3 "manipulator"&M& +8 "core" & `  + &{ g +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&<(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'i +2 "core" ( +3 "manipulator"&& +3 "core" &{ & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &{ o +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&q/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +79 "core" ' +2 "storage"(o- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +307 ( +2 "storage"(\\& +3 "core" &  +2 "manipulator"&& +3 "core" &{ H +3 "manipulator"&G% +4 "core" %  6 +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +267 "core" ( + "manipulator"&@& +3 "core" & +  +2 "storage"(2& +4 "core" & V  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +99 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(A- +7 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +23 "core" ' +2 .tSE.reconfigure :seal +43 "storage"(#QK-0-\ b +10 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(& +3 "core" &\ Q\ Q }  +2 "manipulator"&g& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(p& +4 "core" &\ Q\ Q  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +56 "core" ' +2 "manipulator"&& +3 "core" & a  +2 "storage"(y& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&Y'} +25 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&% +3 "core" %΋ +2 "storage"(D& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&E'Ϸ +19 "core" ' +2 "manipulator"&z& +3 "core" &  +3 "storage"(P& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +33 "core" ' + "storage"()% +4 "core" %m   +2 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (k% +3 "core" %U e v PH +2 "manipulator"&u% +3 "core" %4 ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (j& +2 "core" &  +3 "collection"'*& +4 "core" &VHEH > + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\  5 ! +2 "storage"(% +4 "core" %] +2 "storage"(f. +3 "core" .( +2 "storage"(Q& +3 "core" &    +2 "storage"(5& +4 "core" &  +2 "manipulator"&+& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&m( +3 "core" ( +2 "manipulator"&H& +4 "core" & $  +2 "storage"([& +4 "core" & 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +106 "core" ' +2 "storage"(`& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +280 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &  +2 "storage"(J& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'R +30 "core" ' +2 "manipulator"&\ % +3 "core" %΅ +2 "storage"(;& +4 "core" & u d  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&~'ϱ +21 "core" ' + "manipulator"&4& +5 "core" &  +2 "storage"(!& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +28 "core" ' +49 .tSE.seek 1.09 Pucks below Top Plate + "storage"(a'A +39 "core" ' +2 "manipulator"&{& +3 "core" & ;  +2 "manipulator"&N% +4 "core" %8 c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +162 "core" ( + "manipulator"&^& +4 "core" &* l @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* J @Y +3 .tForearm.seek CC + "manipulator"&K'" +98 "core" ' + .tHand.close +2 "manipulator"&,/ +61 "core" / +2 .tCC.seek :open + "collection"'O( +417 "core" ( + "storage"($& +4 "core" & E  +2 "storage"(.& +3 "core" &  +3 "manipulator"&R& +4 "core" && D =E + "manipulator"&% +4 "core" % &  a +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +156 "core" ( + "manipulator"&(& +4 "core" & g \ +2 "storage"(Z& +4 "core" & v  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&F'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +59 "core" 1 +2 "manipulator"& % +4 "core" % Ύ g +2 "storage"("& +4 "core" & ]  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&:'Ϻ +20 "core" ' +2 "manipulator"&}& +3 "core" & O \ +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +50 "core" ' + "storage"(e% +5 "core" %D  +2 ."downElevator"SE.seek :down +3 "storage"(W'X +99 (v% +3 "core" %6O  OE +2 "manipulator"&% +4 "core" %0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &FF +2 "manipulator"&t% +4 "core" %\  > - +2 "storage"(s% +4 "core" %b  +2 "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(U( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & +3 "manipulator"&9& +4 "core" & \ +2 .tElbow.seek 2 + "manipulator"&( +30 "core" ( + "manipulator"&3& +4 "core" &  e % +2 "storage"(?& +3 "core" & h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +95 "core" ' +2 "storage"(8& +4 "core" & O +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +281 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l& +3 "core" & 0 +2 "manipulator"&& +3 "core" &  k +2 .tElbow.seek 2 +2 "manipulator"&( +29 "core" ( +3 "manipulator"&-& +3 "core" & A X +45 "storage"(q& +8 "core" & +2 .tForearm.seek 2 + 300 counts + "manipulator"&o' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +3 "storage"(i'X +7 "core" &  X +2 "manipulator"&&% +3 "core" %  - E +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&G& +4 "core" &)  N @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &)   @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'" +96 "core" ' +2 "manipulator"&2& +3 "core" &* -  @\\ +3 "manipulator"&<% +4 "core" % +2 "collection"' & +3 "core" &EH +3 "collection"'A& +5 "core" &FG +2 .tCC.seek :closed +2 "collection"''(V +4 "core" &EF +8 &IFG $d +10 &]FG 6 +9 &#HF G +10 &`FG F +9 &eFH F +9 &kcFG F +10 &,eFH F +9 &eEG F +9 &bDG F +10 &seEH F +9 & 4dEG F +10 &!cEH F +9 &#eEH F +9 &%{bEE F +10 &'=dEF F +9 &(eFH F +9 &*eGG F +10 &,eEE G +9 &.EeGG F +10 &0cFF F +9 &1eFH F +9 &3eFE F +10 &5MbFE F +9 &7eFG F +9 &8dFG F +10 &:eHG F +9 &gFI F +9 &?fEG F +9 &AeFG G +10 &C\\gFH F +9 &EhFG G +9 &FtFG H +10 &HGH J +9 &JLEH O +10 &L GF P +9 &MGH Q +9 &OFH P +10 &QNGF Q +9 &S FF R +9 &TGG Q +10 &V8_HH )| +9 &V%GH I +10 ( + &V^HI B +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&% +3 "core" %  . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" &v +2 "manipulator"&p% +4 "core" %\  8  +2 "storage"(% +3 "core" %b +2 "storage"(y. +3 "core" .( +2 "storage"(& +3 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&D& +4 "core" &) @[ +2 "manipulator"&z% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&P( +163 "core" ( +2 "manipulator"&/& +3 "core" & > 3 +2 "storage"()& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(=& +3 "core" & - +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +280 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & > +2 "manipulator"&& +4 "core" &  2 +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&>& +3 "core" & 1 2 +2 "storage"(Y& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"( 'X +8 "core" & N 2 +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&f'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop +49 "storage"(5 +49 "core" ( +3 "manipulator"&Q& +4 "core" &u  f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &u % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&+' +103 "core" ' + "manipulator"&H& +5 "core" &u # + "manipulator"&[% +5 "core" % 6 +2 "processing"%d& +3 "core" & +3 "processing"%`& +5 "core" &v +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &  +9 &6 )v +9 & i < +10 &w H +9 &fe G +9 &(h G +10 &k G +9 &e G +9 &og F +10 &0h G +9 &k G +9 & h G +10 &"vk G +9 &$9h F +10 &%h G +9 &'l G +9 &)}e G +10 &+@g G +9 &-j G +10 &.h F +9 &0h G +9 &2Gg G +10 &4\ h G +9 &5k G +9 &7f F +10 &9Pg G +9 &;c G +10 &<g G +9 &>g G +9 &@Xi G +10 &Bj G +9 &Cj G +9 &En G +10 &GYw I +9 &I K +9 &J L +10 &L L +9 &NY L +10 &P L +9 &Q M +9 &S M +10 &U_ M +9 &W! M +9 &X M +10 &Z3Dd %l +9 &Z6 \ +6 ( + "processing"%`& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&b1 +59 "core" 1 +2 "manipulator"&|% +3 "core" % J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' + "processing"%_& +4 "core" &Zn +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&J% +3 "core" %\  @  +3 "storage"(0% +3 "core" %a +2 "storage"(\ . +3 "core" .( +2 "storage"(;& +3 "core" & +3 "storage"(4& +2 "manipulator"&!& +7 "core" & +2 &u +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&{(s + "storage"(N'i +7 "core" ( + "manipulator"&h& +4 "core" &u t +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &u V +3 .tForearm.seek PC + "manipulator"&1' +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +3 .tPC.seek :open + "processing"%~( +86 "core" ' +2 "storage"(X- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +33 "core" ' +302 ( +2 "storage"(& +3 "core" &  +3 "manipulator"&L& +4 "core" &u q + "manipulator"&C% +5 "core" % S +2 .tForearm.seek :retract + "manipulator"&,'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +264 "core" ( +2 "manipulator"&V& +4 "core" &  } +2 "storage"($& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&.'ќ +96 "core" ' +2 .tHand.open + "manipulator"&R1 +64 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Z' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(7& +3 "core" & \ U\ R +3 "manipulator"&]& +3 "core" & W +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&"& +4 "core" & o +48 "storage"(}& +5 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(e' +57 "core" ' +2 "manipulator"& & +3 "core" & } +2 "storage"(v& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(F'i +25 "core" ' +2 "manipulator"&:% +4 "core" % c +2 "storage"(& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&t' +21 "core" ' +2 "manipulator"&s& +3 "core" & @ +2 "storage"(w& +4 "core" & E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +23 "core" ' + "storage"(% +5 "core" %s  +2 ."downElevator"SE.seek :down +3 "storage"(W'X +99 (n% +3 "core" %U m d Y QJ +2 "manipulator"&% +4 "core" %ѝ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (3& +2 "core" &  +3 "collection"'?& +3 "core" &VZGG B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&8% +3 "core" %\ "  A +2 "storage"(B% +4 "core" %P  +2 "storage"(I. +3 "core" .( +2 "storage"(M& +4 "core" &  + "storage"(l& +5 "core" & +2 "manipulator"&& +3 "core" & h +3 .tElbow.seek 2 + "manipulator"&-( +4 "core" ( +2 "manipulator"&q& +3 "core" &  +2 "storage"(x& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +99 "core" ' +2 "storage"(&& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +3 "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" &  +2 "storage"(& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&r' +23 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(<'S +28 "core" ' + "manipulator"&% +4 "core" % > +2 "storage"( & +3 "core" & d +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&i' +20 "core" ' + "manipulator"&\\& +3 "core" & I +2 "storage"(O& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +39 "core" ' +2 "manipulator"&& +3 "core" & o +2 "manipulator"&p% +4 "core" %т +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +173 "core" ( +9 "manipulator"&& +3 "core" &* @] +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &) i @] +2 .tForearm.seek CC +2 "manipulator"&A'" +93 "core" ' + .tHand.close +2 "manipulator"&D/ +61 "core" / +2 .tCC.seek :open +2 "collection"'z( +412 "core" ( +2 "storage"(@& +4 "core" & f +2 "storage"(/& +3 "core" &  +3 "manipulator"&)& +3 "core" &* l @] +2 "manipulator"&=% +4 "core" % 6 G  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&g( +158 "core" ( +2 "manipulator"&k& +4 "core" & n  + "storage"(u& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +52 "core" 1 +2 "manipulator"&j% +5 "core" % W +2 "storage"(*& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&' +26 "core" ' +2 "manipulator"&P& +3 "core" & ,  +2 "storage"(& +4 "core" & k +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +20 "core" ' + "storage"(E% +5 "core" %F  +2 ."downElevator"SE.seek :down +3 "storage"(Q'X +99 (5% +3 "core" %Q  MA +2 "manipulator"& % +4 "core" %і  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'[& +3 "core" &FG +2 "manipulator"&d% +4 "core" %\   +2 "storage"( % +3 "core" %b j +2 "storage"(f. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &   +2 "manipulator"&|& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&_( +32 "core" ( + "manipulator"&J& +5 "core" & 1 + "storage"(0& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +99 "core" ' + "storage"(;& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +281 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (`& +2 "core" & v  +3 "manipulator"&h& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&m( +22 "core" ( +3 "manipulator"&+& +3 "core" &  !u +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&X'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +7 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&6& + "storage"(#'X +8 "core" &  !t + "manipulator"&N% +50 "core" % ϣ ] +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +99 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +66 "core" ( +2 "manipulator"&C& +5 "core" &( 6  ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &1& +3 "core" &( T ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&V'" +103 "core" ' + "manipulator"&$& +5 "core" &) - ?Q + "manipulator"&{% +5 "core" %( ( +2 "collection"'R& +3 "core" &EG +3 "collection"'& +5 "core" &EG +2 .tCC.seek :closed +2 "collection"'K(V +4 "core" &FH  +9 &9FH *x +10 &kFG = +9 &pGG G +9 &eFG F +10 &@eFH F +9 &eHG F +9 &bGG F +10 &eFD F +9 &HgGG F +10 & bFG F +9 & eHG F +9 &"fFI F +10 &$QbEF F +9 &&eFG F +9 &'gEG F +10 &)dFH F +9 &+XeEG F +10 &-gHG F +9 &.eGG F +9 &0gGG F +10 &2`eFG F +9 &4!eFH G +9 &5eFG F +10 &7dFH F +9 &9heEF F +10 &;+hHG F +9 &<eHG F +9 &>hEF F +10 &@peGG F +9 &B3cFG F +9 &CgGH G +10 &EiHG G +9 &GrGG H +10 &I.EG K +9 &JGH P +9 &LHG P +10 &NdHG P +9 &P#FJ Q +9 &QGH Q +10 &SFF R +9 &UeFH ? +10 &VIGF ] +9 &V1$GH "i +9 &W TGJ B +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&71 +59 "core" 1 +4 "manipulator"&]% +3 "core" % ( # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%}& +4 "core" & +2 "manipulator"&,% +3 "core" %\ # : +3 "storage"( % +3 "core" %^ ~ c K +2 "storage"(v. +3 "core" .( +2 "storage"(^& +4 "core" & b d ;  + "storage"((& +4 "core" & t ~ 5  +2 "manipulator"&:& +3 "core" &' ] >O +2 "manipulator"&% +5 "core" %\ # t : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&s( +165 "core" ( + "manipulator"&w& +4 "core" & " - p +2 "storage"(& +3 "core" & j  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +103 "core" ' +2 "storage"(.& +3 "core" & 5  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +278 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & _  +2 "manipulator"&& +3 "core" & p +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&e& +3 "core" & M p +2 "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&?& + "storage"(8'X +6 "core" &  p +3 "manipulator"&B% +3 "core" % Ϭ , \ +3 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&M& +3 "core" &p +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&q& +4 "core" &p e +2 "manipulator"&x% +4 "core" % )  +49 "processing"%a& +4 "core" & +3 "processing"%&& +5 "core" &r +3 .tPC.seek :closed + "processing"%W(Z +4 "core" & +9 &G #c +9 &[ 6 +9 & G +10 &i G +9 &g G +9 &_g F +10 & g G +9 &k G +10 &m G +9 &fh G +9 & 'h G +10 &!h F +9 &#h G +9 &%nl G +10 &'0g G +9 &(h F +10 &*j G +9 &,vl G +9 &.8m G +10 &/e G +9 &1f G +9 &3~e G +10 &5Ah F +9 &7h F +10 &8h F +9 &:h F +9 &\ f G +9 &?g G +9 &Ag F +10 &CPk G +9 &Em G +10 &Fw H +9 &H J +9 &JI L +10 &L  L +9 &M L +10 &O L +9 &QP L +9 &S L +10 &T M +9 &V M +9 &XV M +10 &Ywx "j +9 &Z)p + +9 ( +3 "processing"%&& +2 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&%1 +55 "core" 1 +2 "manipulator"&9% +3 "core" % h  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +102 "core" ' +2 "processing"%G& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ G  +2 "storage"(2% +4 "core" %Q 9 +2 "storage"(. +3 "core" .( +2 "storage"( & +3 "core" &  +2 "storage"(\\& +3 "manipulator"&O& +8 "core" & u  + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(p'i +3 "core" ( +2 "manipulator"&T& +3 "core" &p + +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &p W +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +3 .tHand.close +2 "manipulator"&r/ +62 "core" / +2 .tPC.seek :open +2 "processing"%i( +75 "core" ' +2 "storage"(<- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +44 "core" ' +303 ( +2 "storage"(& +4 "core" & M  +2 "manipulator"&& +3 "core" &p +3 "manipulator"&o% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&D'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +271 "core" ( +2 "manipulator"&'& +3 "core" & S  +2 "storage"(@& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +105 "core" ' +2 .tHand.open + "manipulator"&)1 +58 "core" 1 +2 "storage"(=- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(k'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(u' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(y& +3 "core" &\ Q\ Q `  +2 "manipulator"&Y& +4 "core" & 9  +2 .tElbow.seek 3 +2 "manipulator"&j( +4 "core" ( +2 "manipulator"&*& +3 "core" & _  +2 "storage"(P& +4 "core" &\ P\ P  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +58 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(5& +4 "core" & P  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +24 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' +2 "manipulator"&% +3 "core" %Ύ 9 +2 "storage"([& +5 "core" & ;  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&d'Ϻ +20 "core" ' + "manipulator"& & +4 "core" & T  +2 "storage"(f& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +43 "core" ' +3 "storage"(S% +3 "core" %s ( +3 ."downElevator"SE.seek :down +3 "storage"(Q'X +99 (U% +3 "core" %T k v q QI +2 "manipulator"&b% +4 "core" %\\ z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" & h  +2 "collection"'0& +3 "core" &W ^FG B +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&;% +4 "core" %\ " 2 @ +2 "storage"(>% +3 "core" %V  +2 "storage"(H. +3 "core" .( +2 "storage"(4& +4 "core" &   +2 "storage"(`& +4 "core" &   +2 "manipulator"&h& +3 "core" & S  +3 .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&& +3 "core" &  H  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +91 "core" ' +2 "storage"(N& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(_'i +279 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &   +2 "storage"(C& +4 "core" & N  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&1'} +27 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(m'S +32 "core" ' +2 "manipulator"&{% +3 "core" %y C +2 "storage"(R& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&#'ϥ +19 "core" ' +2 "manipulator"&& +3 "core" & ,  +2 "storage"(z& +3 "core" & C  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(]'B +38 "core" ' +2 "manipulator"&}& +3 "core" &   +2 "manipulator"&,% +5 "core" %B P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +164 "core" ( +3 "manipulator"&& +3 "core" && -  =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" && q =G +3 .tForearm.seek CC + "manipulator"&('" +99 "core" ' + .tHand.close +2 "manipulator"&:/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +419 "core" ( +42 "storage"(V& +10 "core" &   +2 "storage"(w& +5 "core" &   + "manipulator"&& +5 "core" &% / Z ;7 + "manipulator"&.% +4 "core" % * # P +2 .tForearm.seek :retract +2 "manipulator"&L'\ +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&"( +163 "core" ( +2 "manipulator"&n& +3 "core" & [ t +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +95 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&3% +3 "core" % Α H +2 "storage"(?& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&B'Ͻ +20 "core" ' + "manipulator"&s& +4 "core" & t +2 "storage"(& +4 "core" & V  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +32 "core" ' +2 "storage"(t% +3 "core" %E O \ +3 ."downElevator"SE.seek :down +3 "storage"(M'X +100 (l% +3 "core" % P OE +2 "manipulator"& % +3 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +88 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'x& +3 "core" &FH +2 "manipulator"&a% +4 "core" %\   +2 "storage"(8% +3 "core" %_  +2 "storage"(I. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(~( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" &  +2 "manipulator"&9& +3 "core" &  t +3 .tElbow.seek 2 + "manipulator"&G( +36 "core" ( +2 "manipulator"&& +3 "core" & " & +2 "storage"(2& +4 "core" &  - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' +2 "storage"(&& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +280 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &   +2 "manipulator"&T& +4 "core" & ) $ +2 .tElbow.seek 2 + "manipulator"&-( +3 "core" ( +2 "manipulator"&& +4 "core" &  $ +2 "storage"(r& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&<' +35 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(W'X +6 "core" &  $ +3 "manipulator"&p% +3 "core" %   q +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&o& +3 "core" &'  g >M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >M +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''" +94 "core" ' + "manipulator"&@& +4 "core" &' y >L +2 "manipulator"&% +5 "core" %$  # +2 "collection"')& +4 "core" &GH +2 "collection"'=& +5 "core" &FH +2 .tCC.seek :closed +2 "collection"'A(V +5 "core" &FE +7 &9EF #c +9 &\\FG 6 +9 &FF G +10 &eGH F +9 &fFG F +9 &VfFD F +10 &eGG F +9 &eFG F +10 &eDG F +9 &^fHF F +9 & eFG F +10 &!eGG F +9 &#gFF F +9 &%efGH F +10 &''eEG F +9 &(eGG F +10 &*eHF F +9 &,mfEG F +9 &.0bHI F +10 &/eGF F +9 &1eGG F +9 &3veFE F +10 &58eFF F +9 &6eFH F +10 &8eHE F +9 &:}eFH F +9 &bGG F +9 &?fFH F +10 &AeHG F +9 &CFfFG G +9 &EjGF G +10 &FsGG H +9 &HHG J +9 &J8DG O +10 &KKH Q +9 &MJH Q +10 &OvHH Q +9 &Q9HF Q +9 &RGH R +10 &TFG R +9 &V([GH 2 +9 &VHH 'p +10 &VrEJ P +2 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&y1 +59 "core" 1 +3 "manipulator"&Y% +3 "core" % % T " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%P& +3 "core" & +2 "manipulator"&D% +5 "core" %\   + "storage"(% +4 "core" %b i f s +2 "storage"(5. +3 "core" .( +2 "storage"(& +3 "core" &  g v % +2 "storage"(k& +4 "core" &  j a Z +2 "manipulator"&& +4 "core" &'  >I +2 "manipulator"&[% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +159 "core" ( + "manipulator"&f& +4 "core" & a ~ +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +87 "core" ' +2 "storage"(u& +3 "core" &  Y +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'i +276 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &  % +2 "manipulator"&& +4 "core" & ~ +2 .tElbow.seek 2 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&E& +3 "core" &  c ~ +2 "storage"( & +4 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&d' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(;'X +7 "core" &  ~ +2 "manipulator"&>% +3 "core" % 8 +3 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +113 "core" ( +3 "manipulator"&4& +3 "core" &l 7 \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h' +104 "core" ' +2 "manipulator"&& +3 "core" &m : +2 "manipulator"&% +5 "core" %  ] +2 "processing"%& +4 "core" & +2 "processing"%N& +5 "core" &s +2 .tPC.seek :closed +2 "processing"%Q(Z +5 "core" &  +8 &6 )v +9 & i < +10 &x H +9 &de G +10 &&e G +9 &g G +9 &f G +10 &le G +9 &/f F +9 &k G +10 & g F +9 &"ui F +9 &$6i G +10 &%k G +9 &'k G +10 &)|j G +55 &+>j G +4 &-j G +3 &.e G + &0g G +2 &2Fh G + &4 h F +2 &5h F +7 &7g F +9 &9Ng G +9 &;d G +10 &<k G +9 &>j G +10 &@Wj F +9 &Bg G +9 &Ck F +10 &Ep H +9 &GX| I +9 &I K +10 &J L +9 &L L +10 &NW L +9 &P L +9 &Q L +10 &S M +9 &U] M +9 &W M +10 &X M +9 &Z1C` %l +9 &Z6 \  +6 ( +2 "processing"%N& +3 "core" &Z  +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&g1 +56 "core" 1 + "manipulator"&|% +5 "core" % O ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +100 "core" ' + "processing"%!& +4 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&C% +3 "core" %\ "  > +3 "storage"($% +3 "core" %a d b - +2 "storage"({. +3 "core" .( +2 "storage"(R& +3 "core" &  b d  +3 "storage"(& +2 "manipulator"&z& +8 "core" &  f c . + &m +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(}'i + "manipulator"&,(s +6 "core" ( +2 "manipulator"&6& +3 "core" &m > +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &m i +2 .tForearm.seek PC +2 "manipulator"&_' +97 "core" ' + .tHand.close +2 "manipulator"&1/ +56 "core" / +3 .tPC.seek :open +2 "processing"%#( +91 "core" ' +2 "storage"(m- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +286 ( + "storage"(^& +4 "core" &  x +2 "manipulator"&7& +4 "core" &m e +2 "manipulator"&X% +3 "core" % ] +3 .tForearm.seek :retract + "manipulator"&:'\ +103 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +261 "core" ( +2 "manipulator"&K& +3 "core" & 3  +2 "storage"(V& +3 "core" &  t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +86 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(n'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +135 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(v& +3 "core" & \ M\ E d +3 "manipulator"&& +4 "core" & b  + .tElbow.seek 2 +2 "manipulator"&3( +4 "core" ( + "manipulator"&?& +4 "core" & z  +2 "storage"(s& +4 "core" & \ O\ O { +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +53 "core" ' +2 "manipulator"&L& +3 "core" &  +3 "storage"(l& +4 "core" &  4 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& ' +23 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&x% +3 "core" % b +2 "storage"(B& +51 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&a' +21 "core" ' + "manipulator"&8& +4 "core" & C  +2 "storage"(I& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&]'ќ +19 "core" ' + "storage"(Z% +5 "core" %s  +2 ."downElevator"SE.seek :down +4 "storage"(M'X +98 (% +3 "core" %WU y w QI +2 "manipulator"&%% +5 "core" %ш - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  " +3 "collection"'2& +3 "core" &VpIJ P +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&&% +4 "core" %\  A  +2 "storage"(e% +3 "core" %a  +2 "storage"(q. +4 "core" .( + "storage"(O& +5 "core" &   + "storage"(\\& +5 "core" &   + "manipulator"&T& +4 "core" & W  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&r& +4 "core" &  +2 "storage"(F& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +101 "core" ' +2 "storage"(p& +4 "core" &  & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +281 "core" ' +2 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" &   +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(@'R +37 "core" ' +2 "manipulator"&% +4 "core" % * + "storage"()& +4 "core" &  m q  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&W' +20 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'A +44 "core" ' +2 "manipulator"&P& +3 "core" &  +2 "manipulator"&D% +4 "core" %Ѡ D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +167 "core" ( +2 "manipulator"&& +4 "core" &+ A Ad +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &+ m Ad +3 .tForearm.seek CC + "manipulator"&k'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'[( +416 "core" ( +2 "storage"('& +3 "core" &  +3 "storage"(f& +3 "core" &  @ +2 "manipulator"&& +3 "core" &* @Z +3 "manipulator"&u% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +106 "Can"  4Z<M +55 "core" ( +2 "manipulator"&U& +3 "core" & 6  +2 "storage"(b& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +64 "core" 1 +2 "manipulator"&J% +4 "core" %  +2 "storage"(0& +4 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&>' +20 "core" ' + "manipulator"& & +4 "core" & r  +2 "storage"(/& +4 "core" &  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +16 "core" ' +2 "storage"(d% +3 "core" %K  +3 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (`% +3 "core" %fU 4 PF +2 "manipulator"&j% +5 "core" %щ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &GG +2 "manipulator"&% +4 "core" %\  O  +2 "storage"(;% +4 "core" %Y  +2 "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(i( +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +3 "core" & i  +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&!( +12 "core" ( +2 "manipulator"&C& +4 "core" &  < m +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +95 "core" ' +2 "storage"(R& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & N  +2 "manipulator"&6& +4 "core" & R m +2 .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&h& +3 "core" & * m +2 "storage"(1& +4 "core" & ^  +3 .tForearm.seek 3 + 300 counts + "manipulator"&m'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +3 "storage"(Q'X +8 "core" & ` m + "manipulator"&}% +4 "core" % ϱ X +3 .tForearm.seek :retract + "manipulator"&^'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( +2 "manipulator"&X& +3 "core" &-  4 Cn +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &-  Cn +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'" +92 "core" ' +2 "manipulator"&V& +4 "core" &- -  Cn +2 "manipulator"&,% +3 "core" %'  F  +4 "collection"'& +3 "core" &FF +3 "collection"'.& +5 "core" &HD +2 .tCC.seek :closed +2 "collection"':(V +39 "core" &EH  +15 &6FI )v +2 &kHF = + &tGG G +3 &ueEF F &7eHG F + &cFG F +8 &eGH F +10 &|eIE F +9 &>gFG F +9 &eCE F +10 & eFG F +9 &"dGH F +10 &$FeHF F +9 &&eGF F +9 &'eFG F +10 &)eGG F +9 &+NfEI F +9 &-eFG F +10 &.eFG F +9 &0eGG F +10 &2WdFG F +9 &4eFG F +9 &5eFE F +10 &7eFH F +9 &9_eFG F +9 &; cFH F +10 &<eEH F +9 &>gGH F +10 &@feFG F +9 &B(eGG F +9 &CgFF F +10 &EjFG F +9 &Gg}FG H +9 &I#GH K +10 &JGJ O +9 &LGG P +10 &NZGG P +9 &PGG P +9 &QGH P +10 &SFG S +9 &U[GF @ +9 &VOGH R +10 &V GE $n +9 ( + &VpHT N +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.92 +2 .Hand.open +2 "manipulator"&(1 +60 "core" 1 +3 "manipulator"&v% +3 "core" % '   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%?& +3 "core" & +2 "manipulator"&s% +4 "core" %\ , Z  +2 "storage"(L% +3 "core" %` +2 "storage"(l. +4 "core" .( +2 "storage"(& +3 "core" & u E  +2 "storage"(n& +4 "core" & k  +2 "manipulator"&x& +3 "core" &- Cn +2 "manipulator"&B% +5 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8( +165 "core" ( +2 "manipulator"&I& +4 "core" & V [ +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +90 "core" ' +2 "storage"(w& +3 "core" & k  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & U  +2 "manipulator"&%& +3 "core" & f [ +3 .tElbow.seek 3 + "manipulator"&3( +3 "core" ( +2 "manipulator"&t& +4 "core" & m [ +2 "storage"( & +4 "core" & (  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +3 "storage"(&'X +7 "core" &  [ +2 "manipulator"&e% +3 "core" % Ϭ  3 +3 .tForearm.seek :retract +2 "manipulator"&q'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&O& +3 "core" &i  `  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &i Z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +101 "core" ' +2 "manipulator"&r& +3 "core" &i  _  +2 "manipulator"&F% +4 "core" % [  +2 "processing"%]& +5 "core" & +2 "processing"%p& +5 "core" &x +2 .tPC.seek :closed +2 "processing"%M(Z +5 "core" &  +8 &8 )v +9 &k = +10 &w G +9 &mg G +9 &/j G +10 &h F +9 &h G +9 &uj G +10 &8h F +9 &i G +10 & h G +9 &"}k G +9 &$?e G +10 &&h G +9 &'k G +9 &)g G +10 &+Fj G +9 &- g G +10 &.j G +9 &0f G +9 &2Oh G +10 &4e G +9 &5g G +9 &7j G +10 &9Vg G +9 &;g G +10 &<l G +9 &>e G +9 &@_h G +10 &B!j G +9 &Cj G +9 &En G +10 &Gax I +9 &I K +10 &J L +9 &L L +9 &N` L +10 &P! L +9 &Q M +9 &S L +10 &Ug L +9 &W' M +10 &X M +9 &Z:C` %l +9 &Z 0 ! +6 ( + "processing"%p& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&"1 +56 "core" 1 +2 "manipulator"&9% +50 "core" %  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%o& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ E / +3 "storage"(-% +3 "core" %b e e ? +2 "storage"(. +3 "core" .( +2 "storage"()& +4 "core" & g e  +2 "storage"(& +3 "manipulator"&& +4 "core" & d e F  +2 &i v  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(P'i + "manipulator"&D(s +6 "core" ( + "manipulator"&c& +5 "core" &i ]  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i c  +3 .tForearm.seek PC +2 "manipulator"&G' +95 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%W( +86 "core" ' +2 "storage"(@- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +288 ( +2 "storage"(=& +3 "core" & U  +3 "manipulator"&y& +41 "core" &i z  +2 "manipulator"&<% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +260 "core" ( + "manipulator"&A& +4 "core" &  ; \ +2 "storage"('& +4 "core" & v /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +98 "core" ' + .tHand.open +2 "manipulator"&1 +57 "core" 1 +3 "storage"(u- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(U'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(5& +3 "core" &\ B\ C V  +3 "manipulator"& & +4 "core" & ! \ +2 .tElbow.seek 3 + "manipulator"&J( +18 "core" ( + "manipulator"&0& +4 "core" &  7  +2 "storage"( & +4 "core" &\ G\ B  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(d' +60 "core" ' +2 "manipulator"&& +3 "core" & A  +2 "storage"(`& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&j'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" %y  +2 "storage"(>& +3 "core" & s  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&'ϥ +20 "core" ' +2 "manipulator"&;& +4 "core" &  + "storage"(H& +4 "core" & L  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +28 "core" ' +2 "storage"(S% +3 "core" %p   +50 ."downElevator"SE.seek :down +3 "storage"(4'X +100 (~% +2 "core" %Y z p < QJ +3 "manipulator"&g% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +2 "core" & _  +3 "collection"'$& +3 "core" &VpHG N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&R% +3 "core" %\ " S ? +3 "storage"(E% +3 "core" %Y  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(z& +4 "core" &   +2 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&h( +4 "core" ( +2 "manipulator"&1& +3 "core" &  g  +2 "storage"(& +4 "core" & o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +107 "core" ' +2 "storage"(}& +4 "core" & 4  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +278 "core" ' +2 "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &   +2 "storage"(X& +3 "core" & a  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&_'} +20 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'R +27 "core" ' +2 "manipulator"&+% +3 "core" %z < +2 "storage"(& +3 "core" & S  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&Q'Ϧ +20 "core" ' +2 "manipulator"&^& +3 "core" &   +3 "storage"([& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'A +37 "core" ' +2 "manipulator"&?& +4 "core" &  +2 "manipulator"&s% +3 "core" %#  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +160 "core" ( +2 "manipulator"&l& +4 "core" &&  =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && y =G +3 .tForearm.seek CC + "manipulator"&n'" +99 "core" ' + .tHand.close +2 "manipulator"&x/ +53 "core" / +2 .tCC.seek :open + "collection"'B( +417 "core" ( +2 "storage"(K& +4 "core" & ,  + "storage"(I& +4 "core" & "  +2 "manipulator"& & +3 "core" && x =F +3 "manipulator"&w% +4 "core" % &   +2 .tForearm.seek :retract +2 "manipulator"&7'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&& +4 "core" &  m V + "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&%'} +102 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +103 "core" 1 +10 "manipulator"&% +3 "core" % v +2 "storage"(2& +4 "core" & U  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 293 counts +2 "manipulator"&e'Ϣ +23 "core" ' +2 "manipulator"&8& +3 "core" &  V +2 "storage"(Z& +5 "core" & S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +36 "core" ' + "storage"(a% +4 "core" %K +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (\\% +3 "core" %T  OE +2 "manipulator"&3% +4 "core" %# } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'F& +3 "core" &FH +2 "manipulator"&]% +3 "core" %\  ;  +3 "storage"(&% +3 "core" %^  +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(#( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ("& +2 "core" & h +2 "manipulator"&9& +5 "core" &  V + .tElbow.seek 2 +2 "manipulator"&p( +45 "core" ( +2 "manipulator"&o& +3 "core" &  a & +2 "storage"(& +5 "core" & z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +100 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&c& +3 "core" & ! % +3 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&T& +3 "core" & F % +3 "storage"( & +4 "core" & D +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(M'X +8 "core" & O % +2 "manipulator"&P% +3 "core" %   \ +3 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&<& +4 "core" &) I @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &)  # @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'" +100 "core" ' + "manipulator"&'& +4 "core" &* . @\\ +2 "manipulator"&D% +3 "core" % . +3 "collection"'& +4 "core" &GF +2 "collection"'u& +6 "core" &GH +2 .tCC.seek :closed +3 "collection"'k(V +3 "core" &EI +6 &FG 7 +9 &KNHG . +10 &zIG C +9 &?bHG F +10 &dFG F +9 &dJG F +9 &bHF F +10 &GdHH F +9 &\ eIH F +9 &dFH F +10 &eHG E +9 &!OdGH F +10 &#dHG F +9 &$eFI F +9 &&cEG F +10 &(WgHG F +9 &*eDH F +9 &+eHG F +10 &-eEG F +9 &/`eGH F +10 &1!bHG F +9 &2cGH F +9 &4dFG F +10 &6heHH F +9 &8*eHG F +9 &9gFG F +10 &;eGH F +9 &=oeFG F +10 &?1eEH F +9 &@eGH F +9 &BdHG F +10 &DwgEF F +9 &F5pDG G +9 &G}FH I +10 &IGG L +9 &KaGG P +10 &M$GH P +9 &NFG Q +9 &PHH P +52 &RfFT Q +3 &T%IH R + &U|GH 9 + &V3HF #h + &VUFI B + ( + &V_IH B +2 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&51 +58 "core" 1 +3 "manipulator"& % +3 "core" %  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +3 "core" & +3 "manipulator"&% +4 "core" %\  B  + "storage"(% +5 "core" %^ \ + "storage"(`. +3 "core" .( +2 "storage"(& +56 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&>& +4 "core" &)   @[ +2 "manipulator"&U% +3 "core" %\  F  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&;( +164 "core" ( +2 "manipulator"&H& +3 "core" & \\ q +2 "storage"(S& +4 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(f& +3 "core" &  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +279 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &  +2 "manipulator"&g& +4 "core" & q +2 .tElbow.seek 2 + "manipulator"&J( +3 "core" ( +2 "manipulator"&d& +4 "core" & p q +2 "storage"(j& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(R'X +8 "core" &  q +2 "manipulator"&E% +3 "core" % 2 8 +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( + "manipulator"&& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &k _ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&6' +96 "core" ' +2 "manipulator"&1& +3 "core" &k  +2 "manipulator"&% +4 "core" %  @ +2 "processing"%Y& +4 "core" &n +3 "processing"%}& +5 "core" & +2 .tPC.seek :closed +2 "processing"%4(Z +3 "core" & +8 &? #a +10 &[ 6 +9 & G +9 &e F +10 &g F +9 &^f F +9 & g F +10 &g F +9 &i G +10 &dj G +9 & 'j G +9 &!k G +10 &#k G +9 &%mk G +9 &'/f G +10 &(e G +9 &*f G +10 &,ug G +9 &.8j F +9 &/g F +10 &1h F +9 &3~h F +9 &5@h F +10 &7h F +9 &8i F +10 &:g F +9 & e G +10 &?g G +9 &Ag F +9 &COi G +10 &Ek G +9 &Fv H +10 &H J +9 &JH L +9 &L  L +10 &M K +9 &O L +9 &QO L +10 &S L +9 &T L +10 &V M +9 &XW L +9 &Ywx "j +10 &Z'k * +9 ( + &Z ! +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&*1 +54 "core" 1 +2 "manipulator"&|% +4 "core" %  / @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +95 "core" ' +2 "processing"%N& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&X% +4 "core" %\ \\ 8 +2 "storage"(V% +3 "core" %P  +3 "storage"(+. +3 "core" .( +2 "storage"(& +4 "core" & J +50 "storage"(^& +2 "manipulator"&[& +5 "core" & / +3 &l +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&?(s +2 "storage"(s'i +7 "core" ( + "manipulator"&\ & +4 "core" &l  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &l +3 .tForearm.seek PC +2 "manipulator"&!' +101 "core" ' +2 .tHand.close + "manipulator"&_/ +56 "core" / +2 .tPC.seek :open +2 "processing"%Q( +85 "core" ' + "storage"(,- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'y +34 "core" ' +303 ( + "storage"(& +4 "core" &  +2 "manipulator"&(& +4 "core" &l  +2 "manipulator"&m% +3 "core" % M +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&L( +261 "core" ( +2 "manipulator"&:& +3 "core" & P  +2 "storage"(K& +4 "core" & ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +95 "core" ' + .tHand.open +4 "manipulator"& 1 +57 "core" 1 +2 "storage"(w- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"(.& +3 "core" & \ :\ : ` +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&2& +3 "core" &  -  +2 "storage"(8& +4 "core" & \ :\ : p +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(7' +57 "core" ' +2 "manipulator"&a& +3 "core" &   +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&\\' +29 "core" ' +2 .tElbow.hold + "manipulator"&3, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(%'i +24 "core" ' +2 "manipulator"&e% +4 "core" % s + "storage"(F& +4 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&]' +18 "core" ' +2 "manipulator"&&& +3 "core" &  +2 "storage"(q& +4 "core" & ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +29 "core" ' +2 "storage"(% +3 "core" %o +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (i% +3 "core" %MT d c G QI +2 "manipulator"&"% +5 "core" %ћ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (o& +3 "core" &  +3 "collection"'& +3 "core" &V_HH B +49 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %\ \  +3 "storage"(t% +4 "core" %\\  +2 "storage"(r. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&c& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&T( +3 "core" ( +3 "manipulator"& & +3 "core" & D  +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(P& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'i +279 "core" ' +2 "storage"(-- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &  +2 "storage"(G& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&)' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(D'R +29 "core" ' +2 "manipulator"&% +3 "core" % g +2 "storage"(& +3 "core" & +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&M' +19 "core" ' +2 "manipulator"&=& +4 "core" &   + "storage"(B& +4 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'A +38 "core" ' +2 "manipulator"& & +3 "core" &   +2 "manipulator"&% +4 "core" % % r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +173 "core" ( + "manipulator"&u& +4 "core" &-  Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- Co +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&>/ +53 "core" / +2 .tCC.seek :open +2 "collection"'U( +416 "core" ( +2 "storage"(A& +3 "core" & +2 "storage"(H& +4 "core" & +2 "manipulator"&S& +3 "core" &- Cm +2 "manipulator"&f% +4 "core" %  6  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&0( +160 "core" ( +2 "manipulator"&/& +3 "core" & +3 "storage"(~& +3 "core" & H +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&g' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +57 "core" 1 +2 "manipulator"&C% +5 "core" % # 1 + "storage"($& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&E' +19 "core" ' +3 "manipulator"&;& +4 "core" & L +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +41 "core" ' + "storage"(% +5 "core" %I # +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (z% +3 "core" %R  PF +2 "manipulator"&J% +5 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &GG +2 "manipulator"&Y% +3 "core" %\    +2 "storage"(R% +5 "core" %V  + "storage"(. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(W( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" & @  +3 "manipulator"&|& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&N( +19 "core" ( + "manipulator"&X& +5 "core" &  W + "storage"(V& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +95 "core" ' + "storage"(& +4 "core" & @  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +289 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +3 "core" & v  +2 "manipulator"&\ & +3 "core" &  W +3 .tElbow.seek 3 + "manipulator"&h( +3 "core" ( +2 "manipulator"&6& +4 "core" & ? W +2 "storage"(_& +3 "core" & ;  +3 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(4'X +8 "core" &  W +2 "manipulator"&s% +4 "core" % ϥ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( + "manipulator"&m& +4 "core" &( G  } ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &( 9 ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'" +102 "core" ' +3 "manipulator"&K& +3 "core" &( >O +3 "manipulator"&?% +3 "core" %$ R +3 "collection"' & +3 "core" &FG +3 "collection"'w& +5 "core" &FF +2 .tCC.seek :closed +2 "collection"'n(V +3 "core" &FG +8 &JFG $d +10 &^GG 7 +9 &.EG G +9 &aFH F +10 &eIH F +9 &wdHH F +10 &9eFH F +9 &eGF F +9 &gHG F +10 &~eHH F +9 & @dFJ F +9 &"eEG F +10 &#eGG F +9 &%eHG F +10 &'JeFJ E +9 &)\ eHH F +9 &*eGI F +10 &,dGG F +9 &.QeEI F +9 &0gEH F +10 &1eGG F +9 &3cFH F +10 &5YdGG F +9 &7eHJ F +9 &8cFF E +10 &:eFE F +9 &<`eFH F +9 &>"eGE F +10 &?eJG F +9 &AeHI F +10 &CgeGH F +9 &E(hGH G +9 &FtHG H +10 &HGH J +9 &JWHG O +9 &LFI Q +10 &MHJ P +9 &OFH P +10 &QYFH Q +9 &SGI R +9 &TGH R +10 &VDdGI - +9 &VGI ] +9 ( +2 "collection"'w& +3 "core" &VrHH N +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&.1 +59 "core" 1 +2 "manipulator"& % +3 "core" % $  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%8& +3 "core" & +47 "manipulator"&x% +6 "core" %\ \  +2 "storage"(a% +5 "core" %a + "storage"(. +3 "core" .( +2 "storage"(e& +4 "core" & >  +2 "storage"(l& +4 "core" & m  +2 "manipulator"&F& +3 "core" &' >N +3 "manipulator"&% +3 "core" %\ \ I  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +168 "core" ( +2 "manipulator"&q& +3 "core" &  p +3 "storage"(& +4 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +96 "core" ' +3 "storage"(I& +5 "core" & K  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ("& +3 "core" &  +2 "manipulator"&Z& +3 "core" &  p +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&7& +3 "core" & S p +2 "storage"(\\& +4 "core" & 1  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &  p + "manipulator"&%% +4 "core" % Ϡ _ 6 +3 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +3 .tElbow.seek PC +2 "manipulator"&r(s +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +2 "manipulator"&& +4 "core" &k  x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &k x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&c' +100 "core" ' +2 "manipulator"& & +3 "core" &l z +3 "manipulator"&% +3 "core" % 1 +2 "processing"%v& +4 "core" &t +3 "processing"%P& +5 "core" & +2 .tPC.seek :closed +2 "processing"%O(Z +5 "core" & +6 &? #c +10 &\\ 6 +9 & G +10 &e F +9 &h G +9 &^j G +10 & d G +9 &d G +9 &h F +10 &gi F +9 & (h G +10 &!k G +9 &#e G +9 &%oh F +10 &'1g F +9 &(g G +9 &*k G +10 &,vk G +9 &.8f G +10 &/e G +9 &1g F +9 &3f F +10 &5Ag F +9 &7f G +9 &8h G +10 &:g G +9 & g F +9 &?g G +9 &Aj G +10 &COk G +9 &El G +9 &Fr H +10 &H J +9 &JI L +10 &L  L +9 &M L +9 &O L +10 &QO M +9 &S M +9 &T L +10 &V M +9 &XW M +10 &Ywy !h +9 &Z)v / +9 ( + &Z " +3 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&31 +53 "core" 1 +2 "manipulator"&9% +3 "core" %  K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' +3 "processing"%<& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&G% +3 "core" %\ " 0 : +3 "storage"('% +4 "core" %S d d +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & e f t  +2 "storage"(=& +2 "manipulator"&B& +7 "core" & d e '  + &l q +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'i + "manipulator"&(s +7 "core" ( + "manipulator"&& +3 "core" &l w +50 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &l k +3 .tForearm.seek PC +2 "manipulator"&p' +99 "core" ' +2 .tHand.close + "manipulator"&)/ +57 "core" / +2 .tPC.seek :open + "processing"%M( +32 "core" ' +2 "storage"(D- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(u'y +46 "core" ' +343 ( +2 "storage"(& +3 "core" & 7  +2 "manipulator"&5& +4 "core" &l +2 "manipulator"&@% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +262 "core" ( + "manipulator"&k& +4 "core" & H  +2 "storage"(A& +3 "core" & )  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +101 "core" ' +3 .tHand.open + "manipulator"&S1 +53 "core" 1 +2 "storage"(f- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(~' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(`& +3 "core" &\ Q\ P  +2 "manipulator"&j& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&$& +3 "core" & X  +3 "storage"(;& +4 "core" &\ Q\ P m  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(y' +58 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(0& +4 "core" & 8  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&z'} +21 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +22 "core" ' +2 "manipulator"&E% +3 "core" %w + +3 "storage"(& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"&Y'ϣ +21 "core" ' +2 "manipulator"&R& +3 "core" &   +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +37 "core" ' +2 "storage"(b% +3 "core" %r   +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (#% +3 "core" %DU v s 7 QI +2 "manipulator"&*% +4 "core" %u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +3 "core" & z  +2 "collection"'V& +4 "core" &VrGH N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(d% +3 "core" %_  +2 "storage"(1. +4 "core" .( + "storage"([& +4 "core" &   +2 "storage"(}& +4 "core" &   +2 "manipulator"&\ & +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&6( +4 "core" ( +2 "manipulator"&_& +3 "core" & `  +48 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +99 "core" ' +2 "storage"(s& +3 "core" & 3  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(N'i +285 "core" ' +2 "storage"(+- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &   +2 "storage"(^& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&!'} +28 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(K'R +28 "core" ' +2 "manipulator"&?% +3 "core" %· M +2 "storage"( & +3 "core" & s  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&4'ϳ +19 "core" ' +2 "manipulator"&& +4 "core" & +  +2 "storage"(U& +3 "core" & C  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( 'A +39 "core" ' +2 "manipulator"&8& +3 "core" &  +2 "manipulator"&x% +5 "core" %4 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +165 "core" ( +3 "manipulator"&& +3 "core" &+ ' A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &+ A_ +3 .tForearm.seek CC +2 "manipulator"&l'" +96 "core" ' +2 .tHand.close + "manipulator"&F/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(:& +3 "core" &   +2 "storage"(q& +3 "core" & e  +3 "manipulator"&& +4 "core" &( $ } >N + "manipulator"&I% +4 "core" % * u +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&2( +159 "core" ( + "manipulator"&i& +4 "core" & K  +2 "storage"("& +3 "core" & O  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Z'} +94 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&\\1 +61 "core" 1 +2 "manipulator"&o% +4 "core" % Έ 3 +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&%'ϴ +22 "core" ' +2 "manipulator"&&& +3 "core" & k  +3 "storage"(L& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +22 "core" ' + "storage"(]% +4 "core" %F F +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %vR  PF +2 "manipulator"&% +5 "core" %@ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +41 "manipulator"& '\ +98 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &GF +2 "manipulator"&v% +5 "core" %\   + "storage"(% +4 "core" %]  +2 "storage"(t. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Q( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" & +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&<( +33 "core" ( + "manipulator"&G& +3 "core" & # "x +2 "storage"('& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(& +3 "core" & Q +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +281 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & ! +2 "manipulator"&& +4 "core" &  !u +2 .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&c& +3 "core" & y !u +2 "storage"()& +4 "core" & D +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&D' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(O'X +8 "core" & ) !u +2 "manipulator"& % +3 "core" %  (  +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&@& +3 "core" &* W @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &) @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'" +102 "core" ' +3 "manipulator"&A& +3 "core" &* @^ +2 "manipulator"&% +5 "core" % +2 "collection"'S& +3 "core" &FG +3 "collection"'f& +5 "core" &FG +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &GG  +9 &9EH *x +10 &lFH = +9 &oEG F +10 &|dGH F +9 &>dGG F +9 &dFF F +10 &eFG F +9 &eFF F +9 &FcFG F +10 &eFF F +9 & eFG F +10 &"fGF F +9 &$NeGH F +9 &&eFG F +10 &'eGH F +9 &)cGH F +10 &+VhGG F +9 &-eFH F +9 &.dGI F +10 &0eHG F +9 &2`eGG E +9 &4 eFG F +10 &5eFG F +9 &7eFH F +9 &9fhGG F +10 &;(fGH F +9 &<fFF F +10 &>gIH F +9 &@neFH F +9 &B0eGH F +10 &CgHG F +9 &EpII G +9 &Go|EI H +10 &I+IH K +9 &JGG P +10 &LEH Q +9 &NaEH P +9 &P!HG Q +10 &QGF Q +9 &SHH R +9 &UcGH ? +10 &VJIH Z +9 &V27JH #m +10 &WVFF B +2 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&`1 +52 "core" 1 +3 "manipulator"&j% +4 "core" %  - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +101 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%;& +4 "core" & +2 "manipulator"&>% +4 "core" %\ 5  + "storage"(% +4 "core" %Z +2 "storage"(0. +3 "core" .( +2 "storage"(u& +3 "core" & +2 "storage"(E& +4 "core" &  +2 "manipulator"&& +3 "core" &* @^ +3 "manipulator"&/% +4 "core" %\ [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +46 "manipulator"&R( +160 "core" ( + "manipulator"&& +5 "core" & , { + "storage"(b& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +86 "core" ' +2 "storage"(H& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +278 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &  +2 "manipulator"&& +4 "core" & { +2 .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&y& +3 "core" & R { +2 "storage"(z& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&Y' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&V& + "storage"('X +8 "core" &  { + "manipulator"&d% +4 "core" % X  +3 .tForearm.seek :retract + "manipulator"&1'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&[(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&g& +4 "core" &o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +105 "core" ' +2 "manipulator"&_& +3 "core" &o 6 +3 "manipulator"&% +4 "core" %  e +2 "processing"% & +3 "core" & +3 "processing"%s& +5 "core" &t +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &  +8 &7 )v +9 &k = +10 &x H +9 &oc G +9 &2g F +10 &h F +9 &j F +9 &xh F +10 &9h G +9 &k G +10 & e G +9 &"e G +9 &$Ae G +10 &&h F +9 &'i G +9 &)k G +10 &+Ik G +9 &- e G +10 &.g F +9 &0g F +9 &2Qh G +10 &4j G +9 &5k G +9 &7e F +10 &9Yh G +9 &;i G +10 &<i G +9 &>f F +9 &@bi F +10 &B$g F +9 &Cj G +9 &En G +10 &Gcy I +9 &I K +10 &J L +9 &L L +9 &Nb L +10 &P$ L +9 &Q M +9 &S L +10 &Ug M +9 &W* M +10 &X M +9 &Z;Ba %m +9 &Z 0 " +6 ( + "processing"%s& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&J1 +57 "core" 1 + "manipulator"&|% +4 "core" % ! R e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' +2 "processing"%m& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&^% +3 "core" %\  f  +3 "storage"(h% +4 "core" %P + "storage"(?. +3 "core" .( +2 "storage"( & +3 "core" & +3 "storage"(& +2 "manipulator"&U& +7 "core" & + &o  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +6 "manipulator"&8(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'i +3 "core" ( +2 "manipulator"&{& +4 "core" &o G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &o  +3 .tForearm.seek PC + "manipulator"&N' +95 "core" ' +2 .tHand.close + "manipulator"&!/ +54 "core" / +2 .tPC.seek :open +2 "processing"%4( +90 "core" ' +2 "storage"(K- +3 "core" -'i +41 ."raiseStack"SE.configure :default +11 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +38 "core" ' +245 ( +2 "storage"(e& +4 "core" & b + "manipulator"&.& +4 "core" &o +2 "manipulator"&,% +4 "core" % 6  +3 .tForearm.seek :retract + "manipulator"&F'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&w( +269 "core" ( + "manipulator"&n& +4 "core" & `  +2 "storage"(:& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(I- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(i'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(a& +5 "core" & \ O\ O } + "manipulator"&\\& +4 "core" & _  +2 .tElbow.seek 2 +2 "manipulator"&o( +8 "core" ( +2 "manipulator"&& +3 "core" &  y  +3 "storage"(&& +3 "core" & \ O\ E j +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(]' +56 "core" ' +2 "manipulator"&(& +3 "core" &   +2 "storage"(& +5 "core" & . + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'i +23 "core" ' +2 "manipulator"&%% +3 "core" % \\ +2 "storage"(& +4 "core" & ` +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&v' +19 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(t& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +36 "core" ' + "storage"(% +5 "core" %r  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (W% +2 "core" %]W n b PH +2 "manipulator"&3% +4 "core" %t s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (G& +3 "core" &  +2 "collection"''& +4 "core" &W_FH B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ # j A +2 "storage"(7% +3 "core" %V  +2 "storage"( . +4 "core" .( + "storage"(=& +4 "core" &  +2 "storage"(B& +3 "core" &  +3 "manipulator"&& +4 "core" & }  + .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( + "manipulator"&)& +5 "core" & # #  + "storage"(r& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +112 "core" ' + "storage"( & +4 "core" & ' +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +276 "core" ' +2 "storage"(- +42 "core" -' +9 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &   +3 "storage"(p& +4 "core" & P + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&P' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(T'S +30 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(S& +4 "core" & I + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&O' +20 "core" ' +2 "manipulator"&& +3 "core" & E  +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'B +40 "core" ' +2 "manipulator"&;& +3 "core" & B  +2 "manipulator"&>% +4 "core" %Ѿ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +160 "core" ( +3 "manipulator"&u& +3 "core" & < 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" & A 6 +3 .tForearm.seek CC +2 "manipulator"&E'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'/( +416 "core" ( +2 "storage"(k& +3 "core" & t +2 "storage"(& +4 "core" & +2 "manipulator"&b& +3 "core" & f 6 +2 "manipulator"&H% +5 "core" % $ \\  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +161 "core" ( +2 "manipulator"&#& +3 "core" &  +2 "storage"(*& +4 "core" & = +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +95 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&z1 +55 "core" 1 +2 "manipulator"&X% +4 "core" %  f +2 "storage"(V& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&d' +22 "core" ' + "manipulator"&R& +4 "core" & Z  +2 "storage"(& +4 "core" & a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +24 "core" ' +2 "storage"(Y% +3 "core" %L  +3 ."downElevator"SE.seek :down +4 "storage"(g'X +98 (}% +3 "core" %T  OE +2 "manipulator"&C% +4 "core" %ѹ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &GG +2 "manipulator"& % +3 "core" %\   +2 "storage"(% +4 "core" %Q  +2 "storage"(1. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +46 "storage"(M( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +3 "core" & f  +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&m( +16 "core" ( +2 "manipulator"&^& +3 "core" & 3 m +2 "storage"(h& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +93 "core" ' +2 "storage"( & +3 "core" & .  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'i +279 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &  +2 "manipulator"&{& +3 "core" & l m +3 .tElbow.seek 3 + "manipulator"&6( +3 "core" ( +2 "manipulator"&\ & +4 "core" & U m +2 "storage"(!& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'ϩ +21 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&[/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&+& +3 "storage"('X +8 "core" &  m +2 "manipulator"&e% +3 "core" % ϥ  +3 .tForearm.seek :retract +2 "manipulator"&.'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( + "manipulator"&x& +4 "core" &* = I @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &*  @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&n'" +95 "core" ' +2 "manipulator"&:& +3 "core" &*  g @W +3 "manipulator"&8% +3 "core" % 1 |  +3 "collection"'& +4 "core" &FG +3 "collection"'I& +5 "core" &HH +2 .tCC.seek :closed +2 "collection"'l(V +5 "core" &GI +6 &8HG #c +9 &\\HF 6 +10 &HG G +9 &aFH F +10 &eGJ F +9 &bcHH F +9 &$eGG F +10 &hGH F +9 &dEG F +9 &ieGG F +10 & +eHI F +9 &!eGE F +10 &#eEF F +9 &%reDG F +9 &'4cGH F +10 &(dHH E +9 &*eGU F +9 &,ydFF F +10 &.<dIF F +9 &/dFH F +10 &1cGF F +9 &3dGF F +9 &5CeHG F +10 &7eEI F +9 &8eEG F +9 &:eFI F +10 & fFG F +10 &?fGG F +9 &AeFG F +9 &CSeFG F +10 &EjDH G +9 &FsIH G +9 &HHH I +10 &JCHH N +9 &LGH P +10 &MGH P +9 &OGH P +9 &QDGH Q +10 &SFH Q +9 &TGH R +9 &V2aGI + +10 &VII D +9 ( + &V]GG B +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open +2 "manipulator"&a1 +60 "core" 1 +3 "manipulator"&\\% +3 "core" %  -   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%&& +4 "core" & +2 "manipulator"&F% +3 "core" %\  - L  +2 "storage"((% +4 "core" %Y +2 "storage"(. +3 "core" .( +2 "storage"(%& +3 "core" & u  +3 "storage"(& +3 "core" &  +2 "manipulator"&& +4 "core" &*  # @W +2 "manipulator"&% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +159 "core" ( +2 "manipulator"&t& +4 "core" & 6 \ + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +95 "core" ' + "storage"(q& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +48 .tSE.seek :beamBreak +5 "storage"("'i +280 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +3 "core" &   +2 "manipulator"&L& +3 "core" & O \ +3 .tElbow.seek 3 + "manipulator"&o( +3 "core" ( +3 "manipulator"&]& +4 "core" & b \ + "storage"(& +5 "core" & b  +2 .tForearm.seek 3 + 300 counts + "manipulator"&v'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"('X +9 "core" & @ \ + "manipulator"&7% +5 "core" % ϣ  +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&=& +3 "core" &g   D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &g  D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&)& +3 "core" &g D D +2 "manipulator"&r% +5 "core" %   +2 "processing"% & +4 "core" & +2 "processing"% & +5 "core" &t +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &  +8 &6 )v +9 & i < +10 &v H +9 &de G +10 &&e G +9 &g G +9 &h F +10 &mg F +9 &/f F +9 &g G +10 & j G +9 &"tj G +10 &$6e G +9 &%e G +9 &'f G +10 &)}g F +9 &+>f G +9 &-h G +10 &.j G +9 &0e G +9 &2Gh F +10 &4 g F +9 &5h G +10 &7i G +9 &9Nj G +9 &;h F +10 &<g F +9 &>g F +9 &@Vj G +10 &Bj G +9 &Cm G +10 &Em H +9 &GZw H +9 &I K +10 &J L +9 &L L +9 &NW L +10 &P L +9 &Q M +10 &S M +9 &U\\ M +9 &W M +10 &X M +9 &Z1Dc %l +9 &Z5 " +6 ( +2 "processing"% & +3 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&21 +59 "core" 1 +2 "manipulator"&9% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 "processing"%@& +3 "core" &Zd " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&p% +3 "core" %\  Q  +3 "storage"(A% +3 "core" %T < +2 "storage"(. +4 "core" .( + "storage"(S& +4 "core" & #  +2 "storage"(& +3 "manipulator"&& +8 "core" &   + &g D +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&;(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'i +21 "core" ( + "manipulator"&-& +5 "core" &n ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &n $ +3 .tForearm.seek PC +2 "manipulator"&<' +94 "core" ' + .tHand.close +2 "manipulator"&P/ +53 "core" / +2 .tPC.seek :open +2 "processing"%O( +75 "core" ' +2 "storage"(T- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +50 "core" ' +296 ( +2 "storage"(f& +3 "core" & 9  +2 "manipulator"&`& +4 "core" &n +2 "manipulator"&D% +4 "core" %  ?  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +266 "core" ( +2 "manipulator"&& +3 "core" & !  +3 "storage"(k& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +3 .tHand.open + "manipulator"&b1 +55 "core" 1 +3 "storage"(H- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(*' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(0& +4 "core" &\ O\ P x  +2 "manipulator"&z& +3 "core" & W  +2 .tElbow.seek 3 +2 "manipulator"&X( +4 "core" ( + "manipulator"&V& +5 "core" &  e  + "storage"(R& +4 "core" &\ L\ A  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Y' +59 "core" ' +2 "manipulator"&5& +3 "core" &  +2 "storage"(}& +4 "core" & 4  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&d% +3 "core" %~ W +2 "storage"(& +5 "core" & :  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"& 'Ϫ +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(1& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +34 "core" ' + "storage"(~% +4 "core" %k   +2 ."downElevator"SE.seek :down +5 "storage"(g'X +99 (Q% +4 "core" %O j c O OF +2 "manipulator"&J% +5 "core" %X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +100 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (^& +3 "core" & k  +2 "collection"'h& +3 "core" &V_GG B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\  +2 "storage"(y% +4 "core" %\\  +2 "storage"(_. +2 "core" .( +3 "storage"(& +3 "core" &  +2 "storage"(s& +4 "core" &   +2 "manipulator"&{& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&!& +4 "core" & $  +2 "storage"([& +3 "core" & u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +93 "core" ' + "storage"(e& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +281 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & 0  +2 "storage"(U& +3 "core" & 5  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&N'} +29 "core" ' + .tElbow.hold +2 "manipulator"&K, +43 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'Q +31 "core" ' + "manipulator"&8% +4 "core" %| J +2 "storage"(& +4 "core" & t  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&'Ϩ +20 "core" ' +2 "manipulator"&.& +3 "core" &   +3 "storage"(/& +3 "core" & !  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\\'@ +39 "core" ' +2 "manipulator"&&& +3 "core" & ?  +2 "manipulator"&F% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +171 "core" ( +2 "manipulator"&%& +4 "core" &,  Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &+ / Bf +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(n& +4 "core" & l  + "storage"(t& +4 "core" &   +2 "manipulator"&& +3 "core" &, h Bf +3 "manipulator"&q% +4 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&,'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&W& +3 "core" &  J o +2 "storage"(3& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&L'} +94 "core" ' +2 .tElbow.hold +2 "manipulator"&], +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&G% +3 "core" % Έ  q +3 "storage"('& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&7'ϴ +22 "core" ' + "manipulator"&i& +4 "core" & ^ o +2 "storage"(w& +3 "core" & '  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +26 "core" ' +2 "storage"(v% +4 "core" %H  +2 ."downElevator"SE.seek :down +3 "storage"(='X +100 (B% +2 "core" %R  OE +2 "manipulator"&o% +5 "core" %x ( } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'r& +3 "core" &CF +2 "manipulator"& % +5 "core" %\  ]  + "storage"(% +4 "core" %a  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(4( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &  +2 "manipulator"&9& +3 "core" &  o +2 .tElbow.seek 2 +2 "manipulator"&@( +50 "core" ( +2 "manipulator"&p& +3 "core" & " m !t +3 "storage"(A& +4 "core" &  +45 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +2 "storage"( & +3 "core" & ' +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'i +276 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&-& +4 "core" & p !p +2 .tElbow.seek 2 +2 "manipulator"&c( +32 "core" ( +2 "manipulator"&& +3 "core" & e x +3 "storage"(P& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&Z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & [ x + "manipulator"&>% +5 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&f'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"&D& +5 "core" &* A  @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &* %  @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&k& +3 "core" &( , ?V +3 "manipulator"&;% +3 "core" %& +3 "collection"'b& +3 "core" &FH +3 "collection"'H& +5 "core" &FF +2 .tCC.seek :closed +2 "collection"'E(V +5 "core" &HG +7 &JFG $d +10 &_GG 7 +9 &0~GI G +9 &`GH F +10 &eIJ F +9 &yeEI F +9 &;gHG F +10 &eFH F +9 &dHH F +10 &eHG F +9 & CeFI F +9 &"eGG F +10 &#eGH F +9 &%fGG F +9 &'LeFI E +10 &) eGI F +9 &*eGG F +10 &,eHH F +9 &.ReGH F +9 &0cHI F +10 &1eHG F +9 &3eGF F +9 &5YhHH F +10 &7eHI F +9 &8eHH F +10 &:eGH F +9 &$fHG F +10 &?eGH F +9 &AfHG F +9 &CjfFG F +10 &E+mFH F +9 &FuEH H +10 &HHG J +9 &JXGI O +9 &LIG P +10 &MHH P +9 &OGH Q +9 &QZFH Q +10 &SHH R +9 &THH R +10 &VA^GI * +9 &VHH C +5 ( +2 "collection"'H& +4 "core" &V_FH B +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&01 +57 "core" 1 +3 "manipulator"&z% +3 "core" % & \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%R& +3 "core" & +2 "manipulator"&% +4 "core" %\  $ ^  +2 "storage"(5% +4 "core" %Z +2 "storage"(}. +3 "core" .( +2 "storage"(d& +3 "core" & ~ +2 "storage"(& +4 "core" & +2 "manipulator"&u& +4 "core" &( % S ?V +2 "manipulator"&% +3 "core" %\  5  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +158 "core" ( +2 "manipulator"&#& +3 "core" & J  +2 "storage"(~& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + "storage"(& +4 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +278 "core" ' +2 "storage"(Q- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & * +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&Y& +4 "core" & 6  +46 "storage"(C& +7 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&^/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"( 'X +9 "core" & '  + "manipulator"&y% +4 "core" %  J Q +3 .tForearm.seek :retract + "manipulator"&_'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&& +3 "core" &m 3  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &m b  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&{' +95 "core" ' +2 "manipulator"&!& +3 "core" &m )  +2 "manipulator"&[% +5 "core" % 4 ' +2 "processing"%j& +4 "core" & +2 "processing"%e& +5 "core" &u +2 .tPC.seek :closed +2 "processing"%g(Z +5 "core" &  +8 &6 )v +9 &k = +10 &z G +9 &ne F +9 &0g F +10 &h G +9 &k G +10 &uj G +9 &7j G +9 &k G +10 & e G +9 &"}d G +10 &$?e G +9 &&g F +9 &'h G +10 &)j G +9 &+Gj G +9 &- j G +10 &.d G +9 &0d G +9 &2Oe G +10 &4d G +9 &5g F +10 &7f F +9 &9Xg F +9 &;e F +10 &<g F +9 &>e G +9 &@^e G +10 &B"e F +9 &Ch G +10 &Em G +9 &Gaw I +9 &I K +10 &J L +9 &L L +9 &N` L +10 &P! L +9 &Q M +10 &S M +9 &Ug L +9 &W& M +10 &X M +9 &Z9Cd %m +9 &Z / ! +6 ( +2 "processing"%e& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open + "manipulator"&$1 +57 "core" 1 +2 "manipulator"&|% +3 "core" % " ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 "processing"%x& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&U% +4 "core" %\   $ +2 "storage"(:% +3 "core" %S +2 "storage"(8. +4 "core" .( + "storage"(& +4 "core" & +2 "storage"(.& +3 "manipulator"&/& +5 "core" & +2 &m f  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&&(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(F'i +3 "core" ( +2 "manipulator"&+& +3 "core" &m Q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &m   +2 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 .tHand.close + "manipulator"&N/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(6- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'y +34 "core" ' +306 ( + "storage"(I& +3 "core" & @ +3 "manipulator"&a& +4 "core" &m 0  + "manipulator"&K% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(( +269 "core" ( +2 "manipulator"&l& +3 "core" & o  +2 "storage"(n& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +142 "core" ' +3 .tHand.open + "manipulator"&1 +54 "core" 1 +4 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(W'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" & \ Q\ Q +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&G( +3 "core" ( +2 "manipulator"&'& +5 "core" & 7  + "storage"(i& +4 "core" & \ Q\ Q +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(v' +59 "core" ' +2 "manipulator"&,& +3 "core" &   +2 "storage"(B& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&o' +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(L'i +24 "core" ' +2 "manipulator"&r% +3 "core" % E v +2 "storage"(7& +4 "core" & t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"& ' +21 "core" ' + "manipulator"&& +4 "core" & V  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +24 "core" ' +2 "storage"("% +3 "core" %r   +3 ."downElevator"SE.seek :down +3 "storage"(='X +99 (M% +3 "core" % \\ a n N PH +2 "manipulator"&2% +6 "core" %Ѷ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +3 "core" &  +2 "collection"'A& +4 "core" &V_HH B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +4 "core" %\ \   + "storage"(]% +4 "core" %a  +2 "storage"(). +3 "core" .( +2 "storage"(& +3 "core" & Y +2 "storage"(& +4 "core" & 9 +2 "manipulator"&-& +3 "core" & 9  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&P& +4 "core" &   + "storage"(Z& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' +2 "storage"(>& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(@'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  +2 "storage"(D& +4 "core" & @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&<' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(k'R +27 "core" ' +2 "manipulator"&;% +3 "core" % +2 "storage"(b& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +43 "core" ' +9 "manipulator"&f& +3 "core" & !  +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(z'A +37 "core" ' +2 "manipulator"&R& +3 "core" &   +3 "manipulator"&% +3 "core" %ј S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +164 "core" ( +3 "manipulator"&d& +3 "core" &( # ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?T +3 .tForearm.seek CC + "manipulator"&H'" +94 "core" ' + .tHand.close +2 "manipulator"&u/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( +2 "storage"(& +3 "core" & ? +2 "storage"(#& +5 "core" &  + "manipulator"&~& +4 "core" &( >O +2 "manipulator"&% +3 "core" % " +3 .tForearm.seek :retract + "manipulator"&`'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&V( +163 "core" ( + "manipulator"&Q& +5 "core" & 6 +2 "storage"(J& +3 "core" & / +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +94 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +56 "core" 1 +2 "manipulator"&^% +4 "core" % " * +2 "storage"(h& +4 "core" & , +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +3 "manipulator"&y' +18 "core" ' +2 "manipulator"&1& +3 "core" & G +3 "storage"(& +3 "core" & ] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +34 "core" ' +2 "storage"( % +3 "core" %I \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (s% +3 "core" %S  OE +2 "manipulator"&X% +4 "core" %ћ S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +92 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'[& +4 "core" &HH + "manipulator"&j% +4 "core" %\ 1 +2 "storage"( % +3 "core" %a  +2 "storage"(_. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(O( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &  +2 "manipulator"&|& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&x( +17 "core" ( + "manipulator"&U& +4 "core" & > S +2 "storage"(:& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +94 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'i +281 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +51 (e& +3 "core" & y  +2 "manipulator"&+& +3 "core" & : S +3 .tElbow.seek 3 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&{& +3 "core" & O S +3 "storage"(N& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&6'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(g'X +9 "core" & * S + "manipulator"&F% +4 "core" % Ϯ ; +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&K& +3 "core" && 1  =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +2 "core" &&  =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&l'" +100 "core" ' +2 "manipulator"&n& +3 "core" && =G +3 "manipulator"&&% +4 "core" % K ^ +2 "collection"'& +3 "core" &GI +3 "collection"'q& +5 "core" &FF +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &IG  +9 & 8HG )w +9 &#lHG = +10 &pHG G +9 &cGI F +9 &GdGI F +10 &\ eHH F +9 &dHJ F +9 &eIH F +10 &OcHI F +9 &eGH F +10 & cGG F +9 &"eFF F +9 &$XdIH F +10 &&eHK F +9 &'eIF F +9 &)cGH E +10 &+_eGE F +9 &-!eEI F +9 &.dFI F +10 &0eHH F +9 &2hdGI F +10 &4*eGJ F +9 &5dFI F +9 &7hGH F +10 &9odGH F +9 &;1eIF F +10 &<eGI F +9 &>eGH F +9 &@veFI F +10 &B9gGI F +9 &CgHJ F +9 &EnGH G +10 &Gx{GH I +9 &I3HH K +10 &JHI P +9 &LHH P +9 &NiGI P +10 &P)GG Q +9 &QHG P +9 &SII R +10 &UkGI ? +9 &VGHH Z +9 &V24GH #m +10 &W OII A +2 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&% +3 "core" %  S Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +4 "core" &t + "manipulator"&i% +4 "core" %\  n  +2 "storage"(,% +3 "core" %X c +2 "storage"(B. +3 "core" .( +2 "storage"(r& +3 "core" & b  +3 "storage"(7& +3 "core" &  +2 "manipulator"&%& +4 "core" && { =G +2 "manipulator"&% +3 "core" %\  u  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +162 "core" ( + "manipulator"& & +4 "core" & B  +2 "storage"("& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +101 "core" ' + "storage"(t& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +274 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &  +2 "manipulator"&w& +4 "core" & u  +2 .tElbow.seek 3 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&v& +3 "core" &   +2 "storage"(o& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&p/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&A& + "storage"( 'X +8 "core" & u  +48 "manipulator"&]% +4 "core" % ϲ . g +3 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +116 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +132 "core" ( + "manipulator"&L& +5 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &o 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +95 "core" ' +2 "manipulator"&P& +3 "core" &o  S +3 "manipulator"&Z% +3 "core" % G  +2 "processing"%\\& +5 "core" &t +2 "processing"%>& +5 "core" & +2 .tPC.seek :closed +2 "processing"%=(Z +5 "core" & +6 &? #a +9 &Z 5 +10 & G +9 &g G +10 &k G +9 &Wi G +9 &j G +10 &j G +9 &k G +9 &_k G +10 & !f G +9 &!e G +9 &#g F +10 &%hh F +9 &'*h F +10 &(g F +9 &*g F +9 &,pg F +10 &.1g G +9 &/i F +9 &1g F +10 &3xg F +9 &5:h F +10 &6g F +9 &8g F +9 &:e F +10 &d F +9 &?h G +10 &Ae G +9 &CHm G +10 &E l G +9 &Fs H +9 &H J +10 &JB L +9 &L L +9 &M L +10 &O L +9 &QI L +10 &S\  M +9 &T M +9 &V M +10 &XN M +9 &Ywz "j +9 &Z. 1 +10 ( + &Z ! +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&9% +3 "core" % " -  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + "processing"%S& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&D% +3 "core" %\  A  +2 "storage"(c% +4 "core" %T u +2 "storage"(;. +3 "core" .( +2 "storage"(b& +3 "core" &  +3 "storage"(f& +2 "manipulator"&& +5 "core" &  +2 &o v +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(R'i +2 "manipulator"&(s +5 "core" ( +2 "manipulator"&& +5 "core" &o  k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &o  +2 .tForearm.seek PC +2 "manipulator"&@' +100 "core" ' + .tHand.close +2 "manipulator"&& +2 "core" &  +3 "manipulator"&& +4 "core" & $ + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&-& +3 "core" & f $ +2 "storage"(<& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&k' +26 "core" ' +2 .tForearm.reconfigure :loose +46 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(='X +8 "core" &  $ +2 "manipulator"&R% +3 "core" %  { +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&T& +3 "core" &( K D ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &( K ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&E'" +104 "core" ' + "manipulator"&& +5 "core" &( ?P + "manipulator"&% +5 "core" %% $ +2 "collection"'~& +3 "core" &JI +3 "collection"'& +5 "core" &GJ +2 .tCC.seek :closed +3 "collection"'H(V +2 "core" &GH +7 &HH ; +10 &TPGJ / +9 &}FH D +9 &RdGH F +10 &cHI F +9 &dHF F +9 &eGI F +10 &ZeHH F +9 &eFG F +10 &dHH G +9 &dGH F +9 &!ddGF F +10 &#&dGH F +9 &$fGI F +9 &&eII F +10 &(keGI F +9 &*-eHI F +10 &+eHG F +9 &-eGI F +9 &/sfHH F +10 &15eGH F +9 &2eGH F +9 &4fGG F +10 &6{eGH F +9 &8=eHI F +10 &9dGG F +9 &;eRI F +9 &=gHG F +10 &?CeHH G +9 &AeGH F +9 &BeGI F +10 &DhFH G +9 &FKoHJ G +10 &H~HG I +9 &IGH L +9 &KvII P +10 &M5GH Q +9 &NHI P +9 &PHH P +10 &RzIJ Q +9 &T9HI R +10 &UtHJ B +9 &VHJ %k +9 &W .JJ C +10 ( + &WFHI < +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +3 "core" &WHHK < + .tHand.open + "manipulator"&}1 +64 "core" 1 + "manipulator"&u% +4 "core" % % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%h& +3 "core" &u +2 "manipulator"&1% +4 "core" %\ 1  +2 "storage"(`% +3 "core" %`  +2 "storage"(s. +4 "core" .( +2 "storage"(d& +4 "core" &  + "storage"(Q& +4 "core" & +2 "manipulator"&y& +3 "core" &' r >O +2 "manipulator"&[% +3 "core" %\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +158 "core" ( + "manipulator"&_& +4 "core" &   +2 "storage"(*& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +95 "core" ' +4 "storage"(#& +3 "core" & ? +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +276 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" & Q +2 "manipulator"&& +4 "core" & Y  +2 .tElbow.seek 2 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(X& +4 "core" & : +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"('X +8 "core" &   +2 "manipulator"&Y% +3 "core" % / +3 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' +4 .tElbow.seek PC +2 "manipulator"&/(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +3 "core" &v 9 q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +48 "core" &v 4 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&+' +94 "core" ' +2 "manipulator"&N& +3 "core" &w ,  +3 "manipulator"&% +4 "core" % 0 - +2 "processing"%z& +3 "core" & +3 "processing"%F& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & +6 &G #b +9 &[ 6 +9 & H +10 &g F +9 &f F +10 &^j G +9 &!d G +9 &d G +10 &k G +9 &gk G +9 & )k G +10 &!d F +9 &#g G +10 &%ok G +9 &'1j G +9 &(j G +10 &*k F +9 &,xh F +9 &.:g F +10 &/f F +9 &1g F +10 &3g F +9 &5Af G +9 &7g F +10 &8k G +9 &:e G +10 & j G +9 &?k G +10 &Ad G +9 &CPk G +9 &Ek G +10 &Fv H +9 &H J +9 &JJ L +10 &L  L +9 &M L +10 &O L +9 &QP M +9 &S M +10 &T M +9 &V M +9 &XV M +10 &Yxw "j +9 &Z'r . +10 ( + &Z # +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&V1 +63 "core" 1 +2 "manipulator"&|% +3 "core" % } - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +99 "core" ' + "processing"%K& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&m% +3 "core" %\ " @ A +3 "storage"(n% +3 "core" %R +2 "storage"(\ . +3 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(I& +2 "manipulator"&& +8 "core" & + &w  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&'(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(i'i +2 "core" ( + "manipulator"&?& +5 "core" &w p  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &w 0  +3 .tForearm.seek PC + "manipulator"&x' +102 "core" ' +2 .tHand.close +2 "manipulator"&./ +53 "core" / +2 .tPC.seek :open + "processing"%g( +87 "core" ' + "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +35 "core" ' +300 ( + "storage"(q& +4 "core" & = +2 "manipulator"&& +3 "core" &w o  +2 "manipulator"&6% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&,( +273 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(l& +3 "core" & L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +92 "core" ' +3 .tHand.open + "manipulator"&"1 +57 "core" 1 +2 "storage"(t- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(M'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"(B& +3 "core" & \ Q\ Q +2 "manipulator"&o& +4 "core" & 0  +2 .tElbow.seek 2 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&A& +3 "core" & )  +2 "storage"(W& +4 "core" & \ M\ I p +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +3 "core" ' +42 .tSE.reconfigure :gently +10 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +58 "core" ' +2 "manipulator"&a& +3 "core" &  +3 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&G' +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +23 "core" ' + "manipulator"&]% +4 "core" %  +2 "storage"(Z& +4 "core" & 4 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&\\' +19 "core" ' +2 "manipulator"& & +3 "core" &   +2 "storage"()& +4 "core" & o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +32 "core" ' +2 "storage"(3% +3 "core" %n  +4 ."downElevator"SE.seek :down +4 "storage"(L'X +98 (O% +3 "core" %xS u l y QH +2 "manipulator"&% +4 "core" %Ѩ ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +98 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (D& +3 "core" &  +2 "collection"'c& +4 "core" &WGHH < +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&b% +3 "core" %\  +2 "storage"(v% +4 "core" %a " +2 "storage"(P. +2 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(>& +4 "core" &  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&<& +3 "core" &   +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(R& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'i +282 "core" ' +2 "storage"(;- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & s  +2 "storage"(f& +3 "core" & V +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&@' +29 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +27 "core" ' +2 "manipulator"&% +4 "core" % 5 1 +2 "storage"(~& +3 "core" & h K +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&=' +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" & E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(u'A +39 "core" ' + "manipulator"&h& +4 "core" &  +2 "manipulator"&1% +3 "core" %ѓ 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +3 "manipulator"&s& +4 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" & ! g 4 +42 .tForearm.seek CC +8 "manipulator"&Q'" +99 "core" ' +2 .tHand.close + "manipulator"&y/ +60 "core" / +2 .tCC.seek :open + "collection"'[( +417 "core" ( + "storage"(E& +4 "core" & w +2 "storage"(_& +3 "core" & : +3 "manipulator"&*& +3 "core" &  4 +2 "manipulator"&#% +4 "core" % 2 + +2 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +161 "core" ( +2 "manipulator"&4& +3 "core" & &  +2 "storage"($& +4 "core" & - +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +96 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&X1 +53 "core" 1 +2 "manipulator"&U% +3 "core" %  +2 "storage"(:& +4 "core" & / +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&Y' +18 "core" ' +3 "manipulator"& & +3 "core" & ?  +2 "storage"(5& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +48 "core" ' +2 "storage"(j% +4 "core" %K  +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (e% +3 "core" %L  OD +2 "manipulator"&^% +3 "core" %Ѭ m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +89 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &GI +3 "manipulator"&z% +3 "core" %\   +2 "storage"(% +4 "core" %_  +2 "storage"(!. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &   +3 "manipulator"&|& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&K( +18 "core" ( + "manipulator"&m& +4 "core" & # \\ +2 "storage"(n& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +95 "core" ' +2 "storage"(F& +4 "core" & Z  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &   +2 "manipulator"&?& +4 "core" & \\ +2 .tElbow.seek 3 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&+& +3 "core" & y \\ +2 "storage"(.& +4 "core" & >  +3 .tForearm.seek 3 + 300 counts + "manipulator"&&'ϩ +23 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"('X +8 "core" & @ \\ +2 "manipulator"&i% +4 "core" % Ϫ / j +2 .tForearm.seek :retract + "manipulator"&q'\ +97 "core" ' +37 .tElbow.seek CC +13 "manipulator"&( +112 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +52 "core" ( +2 "manipulator"&6& +3 "core" && \ H  =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" && =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +114 "core" ' +2 "manipulator"&l& +3 "core" && q =C +3 "manipulator"&'% +3 "core" % ( ^ +3 "collection"'"& +3 "core" &FJ +3 "collection"'t& +5 "core" &FH +2 .tCC.seek :closed +2 "collection"'7(V +5 "core" &HH +6 &AFH #c +9 &\\HG 6 +10 &HF G +9 &bHH F +9 &eHH F +10 &aeGH F +9 &#hHH F +10 &eGH F +9 &dIJ F +9 &heGI F +10 & *eGF F +9 &!eHG F +9 &#gHI F +10 &%peHH F +9 &'1eII F +9 &(eFI F +10 &*eGK F +9 &,weHS F +10 &.9eII F +9 &/eHI F +9 &1gIH F +10 &3eGH F +9 &5BeHG F +9 &7eFJ F +10 &8eGH F +9 &:eGH F +10 & eFI F +9 &?gGG F +10 &AfGH F +9 &CRgFG F +9 &EkHH G +10 &FuHH H +9 &HHH J +10 &JAEI O +9 &KIG P +9 &MGH P +10 &OHI Q +9 &QCIH Q +9 &SIG Q +10 &TII R +9 &V2aIH * +10 &V&IH H +9 ( + &V]HK B +2 "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&B1 +57 "core" 1 +3 "manipulator"&o% +3 "core" %  D [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%W& +3 "core" & +2 "manipulator"&%% +4 "core" %\  $ +2 "storage"(a% +3 "core" %\\ @ +2 "storage"(. +4 "core" .( + "storage"(r& +4 "core" &  h Q  +2 "storage"(M& +3 "core" & u b   +3 "manipulator"&]& +4 "core" &&  =C + "manipulator"&Z% +4 "core" %\  O $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +160 "core" ( + "manipulator"&)& +4 "core" &    +2 "storage"(,& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' +2 "storage"(3& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(2'i +276 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & J  +2 "manipulator"&(& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(G& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +49 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(b'X +8 "core" &   + "manipulator"&v% +5 "core" % Ͼ  E +2 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +3 "manipulator"&& +3 "core" &k    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &k   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&<& +4 "core" &l   +2 "manipulator"&% +4 "core" % _ +2 "processing"%& +4 "core" &v +3 "processing"%R& +5 "core" & +2 .tPC.seek :closed +52 "processing"%L(Z +4 "core" & +2 & + & + & +2 & + & + &  +5 &7 )w +9 &k = +10 &s H +9 &te F +9 &6g F +10 &g F +9 &g F +9 &|f F +10 &=e G +9 &i G +9 & h G +10 &"h G +9 &$Ei G +10 &&j G +9 &'g G +9 &)g F +10 &+Mg G +9 &-h G +10 &.c G +9 &0e G +9 &2Ue G +10 &4d G +9 &5g F +9 &7e G +10 &9]j G +9 &;g G +10 &<i G +9 &>j G +9 &@dk G +10 &B'e G +9 &Ci G +9 &En G +10 &Gfx I +9 &I$ K +9 &J L +10 &L5 L +9 &Nfw L +10 &P' L +9 &Q L +9 &S M +10 &Uk M +9 &W, M +9 &X M +10 &Z>De &n +9 &Z( " +6 ( + "processing"%R& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&9% +3 "core" % 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +99 "core" ' +2 "processing"%T& +3 "core" &Zm " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&f% +3 "core" %\ "  = +3 "storage"(% +3 "core" %P j 2 +2 "storage"(. +3 "core" .( +2 "storage"(~& +9 "core" & t  +2 "storage"(& +2 "manipulator"&& +13 "core" & s *  + &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&h(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'i +2 "core" ( + "manipulator"&& +6 "core" &l $   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &l - T  +3 .tForearm.seek PC +2 "manipulator"&S' +96 "core" ' + .tHand.close +2 "manipulator"&@/ +59 "core" / +2 .tPC.seek :open +2 "processing"%=( +83 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'y +34 "core" ' +301 ( + "storage"(d& +5 "core" & \  +2 "manipulator"&}& +3 "core" &l q  +2 "manipulator"&k% +5 "core" % $ +2 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +268 "core" ( + "manipulator"&H& +4 "core" & +2 "storage"(E& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +93 "core" ' +2 .tHand.open +2 "manipulator"&*1 +52 "core" 1 +2 "storage"(#- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"($' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +3 "core" -' +2 "storage"(& +4 "core" &\ Q\ Q  +2 "manipulator"&X& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&:& +3 "core" & y +2 "storage"( & +3 "core" &\ P\ P }  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +8 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +59 "core" ' + "manipulator"&0& +4 "core" & +2 "storage"(e& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&^'} +43 "core" ' +9 .tElbow.hold +2 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&Y% +3 "core" %΃ ` +2 "storage"(& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&z'ϯ +20 "core" ' +2 "manipulator"&& +3 "core" & c +3 "storage"(!& +3 "core" & [  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +34 "core" ' +2 "storage"(J% +3 "core" %j ; +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +2 "core" %YY r  QJ +2 "manipulator"&V% +4 "core" %= +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" & E  +2 "collection"'n& +4 "core" &V_IH B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&F% +3 "core" %\    +2 "storage"( % +4 "core" %a  +2 "storage"(N. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(I& +4 "core" &   +2 "manipulator"&?& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&.& +3 "core" &  > +2 "storage"(/& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +95 "core" ' +2 "storage"(i& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(K'i +283 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & T +2 "storage"(&& +4 "core" & C  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +21 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(l'R +25 "core" ' + "manipulator"&'% +5 "core" %Ή + "storage"("& +4 "core" & :  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +21 "core" ' + "manipulator"&q& +4 "core" & ' +2 "storage"([& +4 "core" & 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'A +36 "core" ' + "manipulator"&W& +4 "core" & +2 "manipulator"&%% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +170 "core" ( +2 "manipulator"&r& +5 "core" &( & ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &( ?V +3 .tForearm.seek CC + "manipulator"&M'" +94 "core" ' + .tHand.close +2 "manipulator"&]/ +62 "core" / +2 .tCC.seek :open +2 "collection"'Z( +413 "core" ( +2 "storage"(& +3 "core" & r  +3 "storage"()& +4 "core" & x  + "manipulator"&,& +44 "core" &( ?V +8 "manipulator"&3% +4 "core" % ) +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&A( +152 "core" ( +2 "manipulator"&O& +3 "core" & /  +3 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&('} +103 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&G1 +59 "core" 1 +4 "manipulator"&D% +3 "core" % r m +2 "storage"(c& +4 "core" & V  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 289 counts +2 "manipulator"&v'Ϟ +19 "core" ' +2 "manipulator"& & +3 "core" & c  +3 "storage"( & +4 "core" & \\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +28 "core" ' + "storage"(\\% +4 "core" %@  +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (>% +3 "core" %Q OE +2 "manipulator"&p% +3 "core" %: +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +88 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +2 "core" &HJ +3 "manipulator"&% +4 "core" %\   +2 "storage"(b% +3 "core" %b N +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(g( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & A +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&T( +39 "core" ( +2 "manipulator"&f& +3 "core" & y S +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' +2 "storage"(R& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & _ +2 "manipulator"&& +4 "core" &\ S +2 .tElbow.seek 2 +2 "manipulator"&-( +26 "core" ( +3 "manipulator"&& +3 "core" & 3 q +3 "storage"(@& +4 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +3 "storage"(L'X +8 "core" &  q + "manipulator"&1% +5 "core" %  *  +2 .tForearm.seek :retract + "manipulator"&d'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&k& +3 "core" &# G :+ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &" :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'" +106 "core" ' +5 "manipulator"&E& +3 "core" &# :+ +2 "manipulator"&h% +5 "core" %  d +2 "collection"'*& +3 "core" &HH +3 "collection"'#& +5 "core" &HI +2 .tCC.seek :closed +2 "collection"'Q(V +4 "core" &HF +7 &JGI $d +10 &]HI 6 +9 &*HI G +9 &bGH F +10 &dHH F +9 &qeFG F +9 &3eGJ F +10 &eIH F +9 &eIH F +10 &zdGR F +9 & <eHI F +9 &!eHG F +10 &#eHI F +9 &%eDI F +9 &'DeHH F +10 &)fHI F +9 &*eGH F +10 &,eHG F +9 &.LeIH F +9 &0eGJ F +10 &1eJF F +9 &3eIH F +9 &5TeHH F +10 &7eHG F +9 &8eHH F +10 &:fGI F +9 &<\\gIG F +9 &>gGG F +10 &?fII F +9 &AgHI F +9 &CbgGH G +10 &E$kEJ G +9 &FuGH H +10 &HGJ J +9 &JTHI O +9 &LGH Q +10 &MHH Q +9 &OTH Q +9 &QUHK Q +10 &SIH R +9 &TJJ R +10 &VBdHJ - +9 &VHI _ +9 ( + &VyHG L +3 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&X% +5 "core" %  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +3 "core" &{ +2 "manipulator"&y% +5 "core" %\  d 8 +2 "storage"(0% +3 "core" %a g j [ +2 "storage"(e. +4 "core" .( + "storage"(s& +5 "core" & w o  + "storage"(Y& +4 "core" & o w  +2 "manipulator"&& +3 "core" &"  :+ +3 "manipulator"&4% +4 "core" %\   8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( + "manipulator"&!& +4 "core" &  <  +2 "storage"(`& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +97 "core" ' +2 "storage"(_& +3 "core" & c +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +278 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&V& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&j& +4 "core" & +  +2 "storage"(^& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(F'X +8 "core" & 6  + "manipulator"& % +4 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&N'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&& +3 "core" &u B  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +102 "core" ' +2 "manipulator"&.& +3 "core" &u v  +3 "manipulator"&/% +3 "core" % d +2 "processing"%u& +4 "core" & +3 "processing"%i& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" & +8 &K $d +9 &^ 7 +10 &5 H +9 &h G +9 &g F +10 &}f G +9 &?h G +10 &d G +9 &g G +9 &k G +10 & Ff G +9 &" g. G +9 &#dz G +10 &%g G +9 &'Nj G +10 &)g G +9 &*j G +9 &,he F +10 &.Wg G +9 &0j G +9 &1g F +10 &3g] G +9 &5^g G +10 &7!g G +9 &8j G +9 &:g^ F +10 &)j G +52 &?f G +3 &Af G + &Coi G + &E/j G + &Fs H + &H J +7 &Jh L +9 &L*o L +9 &M L +10 &O L +9 &Qo L +10 &S1 L +9 &T M +9 &V M +10 &Xt M +9 &Z qx ` +9 &Z( 2 +10 ( + &ZS $ +2 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&C1 +60 "core" 1 +2 "manipulator"&|% +3 "core" % ! +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +100 "core" ' + "processing"%& +4 "core" &Zm $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&&% +3 "core" %\ $  E +3 "storage"({% +3 "core" %T o z x +2 "storage"('. +3 "core" .( +2 "storage"("& +4 "core" & m x +2 "storage"(q& +2 "manipulator"&[& +8 "core" & z z t + &u  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&W(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(%'i +3 "core" ( + "manipulator"&8& +3 "core" &u ?  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +3 "core" &u  +2 .tForearm.seek PC +2 "manipulator"&K' +97 "core" ' + .tHand.close +2 "manipulator"&6/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(l- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +34 "core" ' +301 ( + "storage"(t& +4 "core" & { +2 "manipulator"&B& +4 "core" &u r  +2 "manipulator"&x% +3 "core" % v +3 .tForearm.seek :retract + "manipulator"&]'\ +92 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&a( +268 "core" ( + "manipulator"&7& +4 "core" & R +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +98 "core" ' +2 .tHand.open + "manipulator"&,1 +61 "core" 1 +2 "storage"(3- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(O'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(M- +2 "core" -' +3 "storage"(& +4 "core" & \ L\ B  + "manipulator"&G& +4 "core" & ~ +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&c& +4 "core" & C +2 "storage"( & +3 "core" & \ A\ A o +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +59 "core" ' +2 "manipulator"&& +4 "core" & + "storage"(>& +4 "core" & 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p' +23 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(('i +26 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(v& +3 "core" & { +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&' +58 "core" ' +9 "manipulator"&b& +3 "core" &  +2 "storage"(P& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +27 "core" ' + "storage"(2% +5 "core" %q  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +4 "core" %DZ n p ! QI +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (f& +3 "core" & * +2 "collection"'& +4 "core" &VyGI L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&R% +3 "core" %\   +2 "storage"( % +4 "core" %b  +2 "storage"(<. +3 "core" .( +2 "storage"(& +5 "core" &  + "storage"(& +4 "core" & v +2 "manipulator"&& +3 "core" & +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +4 "core" &  +2 "storage"(w& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +88 "core" ' +2 "storage"(1& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +4 "core" & +2 "storage"(S& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&~' +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(-'R +28 "core" ' +2 "manipulator"&h% +3 "core" % M +2 "storage"(*& +5 "core" & n g \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&L' +20 "core" ' + "manipulator"&d& +4 "core" &  +2 "storage"(Z& +3 "core" & +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(X'A +39 "core" ' +2 "manipulator"& & +3 "core" & o +3 "manipulator"&y% +4 "core" %Ѩ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +168 "core" ( +4 "manipulator"&#& +3 "core" && A =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" && =C +3 .tForearm.seek CC + "manipulator"&Y'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'4( +416 "core" ( +2 "storage"(H& +3 "core" & c +3 "storage"(!& +4 "core" &  +2 "manipulator"&`& +3 "core" && Y =C +2 "manipulator"&_% +4 "core" % + z +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +159 "core" ( + "manipulator"&5& +4 "core" & '  +2 "storage"(& +3 "core" &  +43 .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&V' +104 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&^1 +57 "core" 1 +3 "manipulator"&m% +5 "core" % B J + "storage"(n& +4 "core" & e +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"& ' +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(J& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +20 "core" ' + "storage"(z% +4 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (I% +3 "core" %Q ] PF +2 "manipulator"&U% +3 "core" %} _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'/& +3 "core" &IG +2 "manipulator"&u% +4 "core" %\   " +2 "storage"(F% +4 "core" %a  +2 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(=( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (C& +2 "core" &  +2 "manipulator"&|& +4 "core" & Z  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&&& +3 "core" & A p +3 "storage"({& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +93 "core" ' +2 "storage"(i& +3 "core" & 1  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'i +277 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" & | T  +2 "manipulator"&8& +4 "core" & p +2 .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&?& +3 "core" & J p +3 "storage"(6& +4 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&l'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"('X +8 "core" & % p + "manipulator"&%% +5 "core" % Ϧ  a +2 .tForearm.seek :retract + "manipulator"&t'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +26 "core" ( +2 "manipulator"&x& +3 "core" && 2 =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" && $  =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&7'" +101 "core" ' +2 "manipulator"&& +3 "core" && .  =F +3 "manipulator"&W% +3 "core" % +3 "collection"',& +5 "core" &IH +3 "collection"'3& +5 "core" &DI +2 .tCC.seek :closed +2 "collection"'M(V +3 "core" &JH +9 &8HH #a +9 &[GG 5 +10 &HI G +9 &eHI F +10 &eGH F +9 &YeIJ F +9 &eGI E +10 &eEH F +9 &eFH F +9 &`eFH F +51 & #eHH F +3 &!dHI F + &#dDG F + &%gfGS F + &'*eHH F + &(eGG F +8 &*eFI F +9 &,qfGI F +10 &.3eGH F +9 &/gFG F +10 &1eHH F +9 &3xeHJ F +9 &5;eGE F +10 &6eGJ F +9 &8hHG F +9 &:fHH F +10 &gFH F +10 &?gHH F +9 &AfHI F +9 &CJgGG F +10 &E jGI G +9 &FsHH H +9 &HGH J +10 &J9GH O +9 &KII P +10 &MGK Q +9 &O{HH P +9 &Q:GJ Q +10 &RGI R +9 &TII R +9 &V(YIJ 8 +10 &V HJ *v +9 &V{IH T +3 ( + "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&G% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +3 "core" &[ +3 "manipulator"&]% +3 "core" %\ /  +2 "storage"(% +4 "core" %^ b t d +2 "storage"(>. +3 "core" .( +2 "storage"(& +3 "core" & [ `  +2 "storage"(v& +4 "core" & b b  +2 "manipulator"&r& +4 "core" && Q =F +2 "manipulator"&O% +4 "core" %\ =  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +165 "core" ( + "manipulator"&P& +5 "core" & Z t + "storage"(a& +4 "core" & %  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +91 "core" ' + "storage"()& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & q u 5  +2 "manipulator"&& +3 "core" & t +3 .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&\\& +3 "core" & 2 t +2 "storage"(p& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(R'X +8 "core" &  t + "manipulator"& % +5 "core" % Ϩ 0 R +2 .tForearm.seek :retract + "manipulator"&<'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&((s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&& +4 "core" &| % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &|  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 "manipulator"&@& +3 "core" &|  +3 "manipulator"&w% +3 "core" % _ +2 "processing"%o& +4 "core" & +3 "processing"%1& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +9 &9P *x +9 &j = +9 &sq H +10 &te& F +9 &5hC G +9 &g# G +10 &hC G +9 &{dh G +9 &=gs G +10 &kg G +9 & gX G +10 &"g. F +9 &$Eh G +9 &&g F +10 &'h- G +9 &)f G +10 &+Lkz G +9 &-f G +9 &.iU G +10 &0gS F +9 &2Ti G +9 &4g G +10 &5ki G +9 &7fZ F +9 &9]hI G +10 &; ef F +9 &<g[ F +10 &>g G +9 &@dm0 G +9 &B'gf G +10 &Cjf G +9 &En_ G +10 &Gfy> I +9 &I$W K +9 &J L +10 &L L +9 &Nfe L +9 &P' L +10 &Q] L +9 &S M +10 &Uk M +9 &W-c M +9 &XT M +10 &Z?Dc %m +9 &Z\ +b " +5 ( +2 "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&A1 +4 "core" &Z " +55 1 + "manipulator"&9% +5 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +139 "core" ' +4 "processing"%k& +3 "core" &Z! " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&S% +3 "core" %\  7  +2 "storage"(E% +4 "core" %V w n b +2 "storage"(h. +3 "core" .( +2 "storage"(*& +3 "core" & e i  +3 "storage"(d& +2 "manipulator"&Z& +7 "core" & b c l  +2 &| X +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'i +2 "core" ( +3 "manipulator"&;& +3 "core" &|  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &| _ +2 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' +2 .tHand.close +2 "manipulator"&~/ +56 "core" / +2 .tPC.seek :open +2 "processing"%L( +93 "core" ' +2 "storage"(-- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'y +32 "core" ' +295 ( + "storage"(s& +5 "core" & 2  + "manipulator"&& +4 "core" &| 5 +2 "manipulator"&% +4 "core" % p  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&0( +251 "core" ( +2 "manipulator"&Q& +3 "core" & % o +2 "storage"(H& +4 "core" & b c @  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +97 "core" ' +2 .tHand.open + "manipulator"&`1 +60 "core" 1 +2 "storage"(_- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' + "storage"(e& +4 "core" &\ B\ 4  +2 "manipulator"&^& +4 "core" & ' l +2 .tElbow.seek 3 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +3 "core" & q l +2 "storage"(& +4 "core" &\ B\ C ~  +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +59 "core" ' + "manipulator"&}& +4 "core" &  k +2 "storage"(I& +4 "core" & u l  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'} +24 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'i +27 "core" ' +2 "manipulator"&/% +3 "core" %΃ +2 "storage"( & +4 "core" & r w )  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 306 counts + "manipulator"&u'ϯ +19 "core" ' +2 "manipulator"&F& +3 "core" & I k +3 "storage"(N& +4 "core" & a c C  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +25 "core" ' + "storage"($% +5 "core" %o t P +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (g% +3 "core" %UX R L QJ +2 "manipulator"&C% +44 "core" %x % } +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +89 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (&& +3 "core" & q y M  +2 "collection"'{& +3 "core" &VyHK T +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&i% +4 "core" %\  S  +2 "storage"(j% +3 "core" %a +2 "storage"(.. +4 "core" .( +2 "storage"([& +4 "core" &  + "storage"(q& +5 "core" &  + "manipulator"&8& +4 "core" & 0 k +2 .tElbow.seek 3 +2 "manipulator"&?( +4 "core" ( +2 "manipulator"&6& +4 "core" & !  k +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +103 "core" ' +2 "storage"(%& +3 "core" & 5  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"('- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +4 "core" & w k +2 "storage"(K& +3 "core" & S  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&"'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +27 "core" ' +2 "manipulator"&W% +3 "core" %~ C +2 "storage"(,& +3 "core" & b b P  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&'Ϫ +19 "core" ' +2 "manipulator"&t& +3 "core" &  j +3 "storage"(4& +3 "core" & q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(G'A +37 "core" ' +2 "manipulator"& & +3 "core" & r j +2 "manipulator"&]% +4 "core" %! < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&>( +159 "core" ( +2 "manipulator"&& +3 "core" && \ =E +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &3& +2 "core" && 2 =E +3 .tForearm.seek CC + "manipulator"&v'" +94 "core" ' +2 .tHand.close + "manipulator"&r/ +63 "core" / +2 .tCC.seek :open +2 "collection"'O( +416 "core" ( + "storage"(7& +4 "core" &   +2 "storage"(P& +4 "core" & m  +2 "manipulator"&a& +3 "core" && a =D +2 "manipulator"&)% +3 "core" % % m * +3 .tForearm.seek :retract +2 "manipulator"&B'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&c( +162 "core" ( + "manipulator"& & +4 "core" & . o +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +102 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&p1 +52 "core" 1 +2 "manipulator"&f% +3 "core" % ΅ "  +2 "storage"(& +44 "core" &   +10 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"& 'ϱ +19 "core" ' +2 "manipulator"&b& +3 "core" & { o +3 "storage"(2& +3 "core" & C  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(% +4 "core" %J ! +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +2 "core" %U H PG +2 "manipulator"&D% +5 "core" %2  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +95 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'w& +3 "core" &GI +2 "manipulator"&o% +4 "core" %\  !  +2 "storage"(R% +3 "core" %V +2 "storage"(<. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &  +2 "manipulator"&9& +4 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&1( +41 "core" ( + "manipulator"&k& +4 "core" & S !s +2 "storage"(S& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +94 "core" ' +2 "storage"(h& +3 "core" & ? +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +282 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (Z& +2 "core" &  +2 "manipulator"&;& +5 "core" &\  !q + .tElbow.seek 2 +2 "manipulator"&( +28 "core" ( +2 "manipulator"&& +5 "core" & ,  +2 "storage"(~& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&-' +40 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" &   + "manipulator"&y% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +3 "core" &* ( : @Z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &*   @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'" +93 "core" ' +3 "manipulator"&H& +3 "core" &* 1 R @Y +3 "manipulator"& % +3 "core" %* K  +2 "collection"'`& +5 "core" &HH +2 "collection"'_& +5 "core" &II +2 .tCC.seek :closed +2 "collection"'Y(V +5 "core" &HI +6 &8GI #c +10 &\\IJ 6 +9 &IH G +9 &eFG F +10 &fFJ F +9 &bdGJ F +10 &#iGH F +9 &fHH F +9 &eHH F +10 &keIH E +9 & +eHI F +9 &!eGG F +10 &#eHG F +9 &%qeFI F +10 &'3fGJ F +9 &(eFG F +9 &*cHI F +10 &,yeHJ F +9 &.<fGI F +9 &/cFI F +10 &1eHH F +9 &3eHI F +10 &5CcHH F +9 &7eFI F +9 &8eGH F +10 &:dHJ F +9 &gGI F +10 &?hHI F +9 &AgHH F +10 &CTgGH F +9 &EkHJ F +9 &FtII H +10 &HIH I +9 &JBIG O +9 &KGI Q +10 &MGJ P +9 &OGI Q +10 &QEHI P +9 &SGH R +9 &THJ R +10 &V/\\HI - +9 &VFH > +5 ( +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open +46 "manipulator"&e1 +5 "core" &VHIH > +53 1 + "manipulator"&^% +4 "core" % * %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&% +3 "core" %\    +3 "storage"(}% +3 "core" %a +2 "storage"(I. +4 "core" .( + "storage"(/& +5 "core" & + "storage"( & +4 "core" & +2 "manipulator"&#& +3 "core" &) 0 @Y +2 "manipulator"&5% +5 "core" %\  ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +158 "core" ( +2 "manipulator"&N& +3 "core" & 8  +2 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +93 "core" ' + "storage"(!& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(g- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +3 "core" & - +2 "manipulator"&J& +3 "core" & ^  +3 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&z& +3 "core" & ?  +2 "storage"(U& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&u' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&{& +2 "storage"(i'X +5 "core" &  +3 "manipulator"&j% +3 "core" % \ c +3 .tForearm.seek :retract +2 "manipulator"&.'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +3 "manipulator"&V& +3 "core" &p 8  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +2 "core" &p !  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +100 "core" ' +2 "manipulator"&6& +4 "core" &p    +2 "manipulator"&% +4 "core" % 4 +2 "processing"%%& +4 "core" &4 +2 "processing"%X& +5 "core" &W +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &T  +9 &7^ )v +10 &kM = +9 &sS H +9 &scD F +10 &3g> G +9 &f_ G +9 &ip F +10 &{gV F +9 &<g] G +10 &jb G +9 & f F +9 &"gt F +10 &$Dh] G +9 &&kS G +9 &'fG G +10 &)g F +9 &+LgZ G +10 &-j_ G +9 &.dT G +9 &0eZ G +10 &2Ti# G +9 &4kw G +9 &5f[ G +10 &7f( F +9 &9[kF G +10 &;eN F +9 &<g F +9 &>e G +10 &@djd G +9 &B&jI G +9 &Cj G +10 &EoU H +9 &Gf|E I +10 &I"\\ K +9 &J[ K +9 &L_ L +10 &Nf L +9 &P( L +9 &Qa L +10 &S L +9 &Uk M +10 &W. L +9 &X M +9 &Z?C`O %l +10 &Z -9 \ +5 ( +2 "processing"%X& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&:1 +60 "core" 1 + "manipulator"&|% +4 "core" % " D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +98 "core" ' +2 "processing"%x& +3 "core" &Zf +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&K% +3 "core" %\ " W A +3 "storage"(+% +4 "core" %_ + "storage"(W. +3 "core" .( +2 "storage"(,& +3 "core" & +3 "storage"(t& +2 "manipulator"&4& +7 "core" & +2 &p W  +47 ."raiseStack"SE.reconfigure :place +7 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"& (s + "storage"(]'i +6 "core" ( +2 "manipulator"&\ & +3 "core" &p f  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &p ~  +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +3 .tHand.close + "manipulator"&"/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +287 ( +2 "storage"(3& +4 "core" &  +2 "manipulator"&& +4 "core" &p  +2 "manipulator"&l% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +271 "core" ( +2 "manipulator"&M& +3 "core" & y +2 "storage"(7& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +93 "core" ' +2 .tHand.open + "manipulator"&a1 +57 "core" 1 +2 "storage"()- +48 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +3 "core" -' +2 "storage"(>& +3 "core" & \ J\ N K +3 "manipulator"&p& +3 "core" & 4 +3 .tElbow.seek 2 + "manipulator"&f( +3 "core" ( +2 "manipulator"&& +4 "core" & b +2 "storage"(b& +4 "core" & \ H\ P i +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +59 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(c& +3 "core" & , +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"& % +3 "core" % y k +2 "storage"(w& +4 "core" & ` +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&o' +21 "core" ' + "manipulator"&R& +5 "core" & z + "storage"(<& +4 "core" & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +26 "core" ' + "storage"(% +5 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (=% +5 "core" %`S  QH +2 "manipulator"&A% +4 "core" %Ѯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (k& +2 "core" &  +2 "collection"'S& +4 "core" &VGJK > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&h% +3 "core" %\ \   +2 "storage"(\\% +50 "core" %b  +2 "storage"(@. +4 "core" .( + "storage"(d& +5 "core" &  + "storage"(Z& +4 "core" &  +2 "manipulator"&;& +3 "core" & 0 +3 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&~& +5 "core" & . + "storage"((& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +89 "core" ' +2 "storage"(y& +3 "core" & ; +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +280 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(T& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&*' +27 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'R +28 "core" ' +2 "manipulator"&`% +3 "core" % ! R +2 "storage"(& +4 "core" & g +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&' +21 "core" ' +2 "manipulator"&s& +3 "core" & " +2 "storage"(O& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(^'A +37 "core" ' +3 "manipulator"&_& +3 "core" & F +2 "manipulator"&% +5 "core" %Ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +166 "core" ( + "manipulator"&I& +4 "core" &)  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &) b @\\ +2 .tForearm.seek CC +2 "manipulator"& '" +98 "core" ' + .tHand.close +2 "manipulator"&#/ +55 "core" / +2 .tCC.seek :open + "collection"'5( +413 "core" ( +2 "storage"(Q& +3 "core" &  +3 "storage"(N& +3 "core" & U +2 "manipulator"&$& +3 "core" &*  1 @\\ +3 "manipulator"&!% +4 "core" % & +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +157 "core" ( + "manipulator"&g& +4 "core" &  A  +2 "storage"(C& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&J' +101 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&U1 +63 "core" 1 +2 "manipulator"&&% +3 "core" % X L +2 "storage"({& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +3 "manipulator"&j' +20 "core" ' +2 "manipulator"&F& +3 "core" & [  +2 "storage"(0& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +43 "core" ' +9 "storage"(u% +3 "core" %K  +3 ."downElevator"SE.seek :down +4 "storage"(V'X +98 (q% +3 "core" %dO  OE +2 "manipulator"&m% +5 "core" %Ѻ r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +98 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &FI +3 "manipulator"&%% +4 "core" %\   + "storage"(i% +4 "core" %Q  +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(L( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "core" & E  +2 "manipulator"&|& +4 "core" & 2  +2 .tElbow.seek 3 +2 "manipulator"&x( +16 "core" ( +2 "manipulator"&K& +3 "core" & a h +2 "storage"(+& +5 "core" & f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +93 "core" ' +2 "storage"(,& +4 "core" & [  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +280 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &   +2 "manipulator"&\ & +4 "core" &  h +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&8& +3 "core" & ' h +2 "storage"("& +4 "core" & J  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +8 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"('X +8 "core" &  h + "manipulator"&]% +5 "core" % B B +2 .tForearm.seek :retract + "manipulator"&3'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&l& +3 "core" &' G >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &&  q =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&M'" +97 "core" ' +2 "manipulator"&7& +3 "core" && #  =G +2 "manipulator"& % +4 "core" % , M +3 "collection"'a& +8 "core" &IH +3 "collection"')& +5 "core" &JH +2 .tCC.seek :closed +2 "collection"'v(V +5 "core" &HH  +8 &8HL )w +10 &"oGH > +9 &pGI F +9 &eHH F +10 &JeIJ F +9 & eHG F +10 &eII E +9 &eKH F +9 &RfII F +10 &dJI F +9 & bJH F +9 &"fHH F +10 &$ZeIJ F +9 &&eHH F +9 &'cHH F +10 &)dII F +9 &+bfII F +10 &-#iHH F +9 &.eHH F +9 &0fHJ E +10 &2ifHK F +9 &4,eGH F +9 &5cJI F +10 &7eFI F +9 &9reHI F +10 &;3iGI F +9 &<fHH F +9 &>fII F +10 &@zfHG F +9 &B<eHI F +9 &ChIH F +10 &EoIH G +9 &G|yHH H +10 &I6HG K +9 &JII P +9 &LHI P +10 &NmHI P +9 &P,IK Q +9 &QHH Q +10 &SIK R +9 &UmGH > +10 &VJJH R +9 &V&%GJ $m +9 &VgKK I +3 ( + "collection"')& +4 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&>1 +59 "core" 1 +3 "manipulator"&r% +3 "core" %  # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &h +2 "manipulator"&b% +3 "core" %\  $  +3 "storage"(% +4 "core" %X +46 "storage"(c. +6 "core" .( + "storage"( & +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&w& +3 "core" && e =G +2 "manipulator"& % +5 "core" %\  f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +163 "core" ( + "manipulator"&<& +4 "core" & 6 ^ +2 "storage"(& +3 "core" & O  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(P& +4 "core" & #  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"('i +279 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &  +2 "manipulator"&2& +3 "core" & ^ +3 .tElbow.seek 3 + "manipulator"&f( +4 "core" ( +2 "manipulator"&B& +3 "core" & U ^ +2 "storage"(& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&o'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(h'X +8 "core" &  ^ +2 "manipulator"&\\% +3 "core" % " 7 +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&@(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&d& +3 "core" &i % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +100 "core" ' +2 "manipulator"&~& +4 "core" &k  1 +2 "manipulator"&(% +3 "core" % # +2 "processing"%G& +4 "core" & +3 "processing"%y& +5 "core" &, +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &S  +9 &7 )w +9 &k- = +9 &sT H +10 &mcS G +9 &/gb G +9 &k G +10 &kY G +9 &ueM G +9 &7gX G +10 &k G +9 & ej G +10 &"~g F +9 &$?gl G +9 &&j] G +10 &'fR G +9 &)gk G +9 &+Gj G +10 &- ek G +9 &.g F +10 &0h G +9 &2Ok` G +9 &4eP G +10 &5h~ F +9 &7h^ F +10 &9Xh[ F +9 &;f F +9 &<i0 G +10 &>ky G +9 &@_la G +9 &B!dg G +10 &Cj G +9 &En G +10 &GaxR I +9 &I K +9 &Ja L +10 &L K +9 &N`V L +9 &P"U L +10 &Q? L +9 &SU M +10 &UfR M +9 &W' M +9 &X3 M +10 &Z9Cex %m +9 &Z -* ! +5 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&D1 +4 "core" &Zy ! +58 1 +2 "manipulator"&9% +3 "core" % 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +100 "core" ' +3 "processing"%& +3 "core" &Z> ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&T% +3 "core" %\ "  @ +2 "storage"(H% +4 "core" %S 0 +2 "storage"(`. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(s& +2 "manipulator"&O& +5 "core" & g g  +3 &k h +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&_(s +4 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( + "manipulator"&& +6 "core" &k % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k +43 .tForearm.seek PC +9 "manipulator"&1' +99 "core" ' + .tHand.close +2 "manipulator"&*/ +58 "core" / +2 .tPC.seek :open + "processing"%( +36 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(I'y +35 "core" ' +350 ( +2 "storage"(/& +3 "core" &   +2 "manipulator"&e& +4 "core" &k = +2 "manipulator"&-% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&Y& +3 "core" & "y +2 "storage"(Q& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +92 "core" ' +2 .tHand.open + "manipulator"&$1 +54 "core" 1 +3 "storage"(!- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(g'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +4 "storage"(C' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(}& +3 "core" &\ D\ I F  +2 "manipulator"&U& +4 "core" & w "x +2 .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&{& +4 "core" &  "x +2 "storage"(F& +3 "core" &\ A\ L  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +57 "core" ' + "manipulator"&& +4 "core" & $ "x +2 "storage"(q& +3 "core" & I  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&n'} +28 "core" ' +2 .tElbow.hold + "manipulator"&m, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'i +24 "core" ' + "manipulator"&j% +4 "core" %z \\ +2 "storage"(& +4 "core" & ~  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 297 counts + "manipulator"&%'Ϧ +13 "core" ' + "manipulator"&i& +4 "core" & 7 "x +2 "storage"(.& +4 "core" & T  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +22 "core" ' +2 "storage"(% +4 "core" %s p +2 ."downElevator"SE.seek :down +4 "storage"(V'X +99 (% +3 "core" %cY l q  QJ +2 "manipulator"&:% +4 "core" %[ 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (K& +2 "core" &  +3 "collection"'+& +3 "core" &VfIJ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&,% +3 "core" %\  u  +2 "storage"(z% +4 "core" %` / +2 "storage"(6. +2 "core" .( +2 "storage"(t& +5 "core" &  + "storage"(4& +4 "core" & >  +2 "manipulator"&\ & +3 "core" & q "x +3 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&"& +3 "core" &  k "x +2 "storage"([& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 3 + 700 counts +9 "manipulator"&''9 +106 "core" ' +2 "storage"(]& +3 "core" & c  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'i +278 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &  !w +3 "storage"(X& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'R +33 "core" ' + "manipulator"&?% +4 "core" %Ά _ +2 "storage"(a& +3 "core" & d b X  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&'ϲ +20 "core" ' +2 "manipulator"&3& +3 "core" & 2 !w +2 "storage"(5& +4 "core" & f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'A +40 "core" ' +2 "manipulator"&& +3 "core" & r !w +2 "manipulator"&b% +4 "core" %E  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +157 "core" ( +2 "manipulator"&)& +4 "core" && e =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" && & f =A +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&w/ +54 "core" / +3 .tCC.seek :open + "collection"' ( +416 "core" ( +2 "storage"(M& +3 "core" &   +2 "storage"(<& +4 "core" &   +2 "manipulator"&& +3 "core" && %  <@ +3 "manipulator"&P% +4 "core" % !  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +155 "core" ( +2 "manipulator"&=& +3 "core" & 5  +2 "storage"(A& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&2'} +97 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +6 "manipulator"&1 +60 "core" 1 +3 "manipulator"&k% +3 "core" % ΂  +2 "storage"(S& +3 "core" & u  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&\\'Ϯ +21 "core" ' +2 "manipulator"&R& +3 "core" & u  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' + "storage"(o% +4 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"(d'X +99 (Z% +3 "core" %KU  PF +2 "manipulator"&f% +4 "core" %> k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +93 "core" ' +52 ' + ."downElevator"SE.stop +45 "storage"(5 +6 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'(& +3 "core" &HH +2 "manipulator"&G% +4 "core" %\ %  D +2 "storage"(h% +3 "core" %a  +3 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (D& +2 "core" & ; +2 "manipulator"&9& +4 "core" & B  +2 .tElbow.seek 2 +2 "manipulator"&( +38 "core" ( +2 "manipulator"&T& +3 "core" & # G +2 "storage"(H& +4 "core" & E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +100 "core" ' +2 "storage"(y& +3 "core" & v +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & ? +2 "manipulator"&& +3 "core" & { G +2 .tElbow.seek 2 +2 "manipulator"&( +27 "core" ( +3 "manipulator"&;& +3 "core" & H t +3 "storage"(*& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"('X +8 "core" & t +2 "manipulator"&% +4 "core" %  }  +2 .tForearm.seek :retract +2 "manipulator"&/'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&-& +3 "core" &' 0  >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +4 "core" &' q >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'" +101 "core" ' +3 "manipulator"&Q& +5 "core" &' B >I + "manipulator"&_% +5 "core" %, B + "collection"'$& +5 "core" &IJ +2 "collection"'!& +5 "core" &HJ +3 .tCC.seek :closed + "collection"' (V +5 "core" &HH +7 &BHG #b +10 &]IH 6 +9 &IJ G +9 &eII F +10 &gII F +9 &geHJ E +10 &(gHH F +9 &hHH F +9 &eII F +10 &nfJI F +9 & 0cIK F +9 &!eGK F +10 &#cJI F +9 &%ufGH F +9 &'8eHI F +10 &(iII F +9 &*gFI F +10 &,~dIH F +9 &.@fJK F +9 &0iGI F +10 &1gHI F +9 &3dIH F +9 &5HfHI F +10 &7 jHI F +9 &8eHH E +10 &:gHI F +9 &jIF F +10 &?gHH F +9 &AeJH F +9 &CXhFH F +10 &EkIH F +9 &FuJH G +10 &HHI I +9 &JFHI O +9 &LGI P +10 &MHJ P +9 &OHJ P +9 &QIJL P +10 &SJH R +9 &TIH R +10 &V:hJJ / +9 &V HK 9 +9 &W[KI < +6 ( + "collection"'!& +4 "core" &WGIJ < +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open +2 "manipulator"&}1 +62 "core" 1 +4 "manipulator"&U% +3 "core" % 4 ) : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%F& +5 "core" &^ + "manipulator"&#% +4 "core" %\ ! 2 +2 "storage"(% +3 "core" %a +2 "storage"(q. +4 "core" .( + "storage"(I& +5 "core" & + "storage"(j& +4 "core" & u O +2 "manipulator"&& +3 "core" &' n >H +3 "manipulator"&i% +4 "core" %\ ! g 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&g( +153 "core" ( +2 "manipulator"&.& +48 "core" &   +5 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' + "storage"(N& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" & +2 "manipulator"&0& +4 "core" & 9  +2 .tElbow.seek 2 +2 "manipulator"&&( +4 "core" ( + "manipulator"&u& +5 "core" &   + "storage"(n& +4 "core" & S +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&%' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(,'X +8 "core" & %  +2 "manipulator"&z% +4 "core" % ; 3 +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&t& +5 "core" &{  F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &{ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +101 "core" ' + "manipulator"&"& +4 "core" &{  +2 "manipulator"&[% +4 "core" % +2 "processing"%^& +4 "core" &" +2 "processing"%]& +5 "core" &B +2 .tPC.seek :closed +2 "processing"%V(Z +5 "core" &r  +8 &7X )v +9 &k = +9 &tP H +10 &qd/ F +9 &2g G +9 &f7 G +10 &fT G +9 &xeO G +10 &;gI F +9 &h F +9 & f G +10 &"jg G +9 &$BjD G +9 &&kU G +10 &'mZ G +9 &)g G +10 &+JeU G +9 &- e[ G +9 &.ew G +10 &0e G +9 &2RfW G +9 &4hE F +10 &5hW F +9 &7gP F +10 &9[h\\ F +9 &;fo F +9 &<fY F +10 &>eV G +9 &@ch F +9 &B%h F +10 &CkG G +9 &Enl G +10 &GdyQ I +9 &I X K +9 &J K +10 &L L +9 &NdV L +9 &P& L +10 &Q` L +9 &SZ L +10 &Uj L +9 &W+r M +9 &X] M +10 &Z=B`% %l +9 &Z -O ! +5 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&m1 +3 "core" &Zg ! +53 1 + "manipulator"&|% +4 "core" % G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' +2 "processing"%l& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&X% +3 "core" %\ % : D +2 "storage"(7% +4 "core" %S +2 "storage"(?. +3 "core" .( +2 "storage"(a& +3 "core" & e +3 "storage"(3& +2 "manipulator"&5& +7 "core" & +2 &{ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( +3 "manipulator"&'& +3 "core" &{ P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &{ +3 .tForearm.seek PC +2 "manipulator"&x' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +84 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +46 ."raiseStack"SE.seek :place +6 "storage"()'y +49 "core" ' +240 ( +2 "storage"( & +3 "core" & < +2 "manipulator"&>& +4 "core" &{ ? +2 "manipulator"&% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +250 "core" ( +2 "manipulator"&v& +4 "core" &  "x +2 "storage"(M& +3 "core" & n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(P- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(='E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(c& +3 "core" & \ Q\ Q +3 "manipulator"&& +4 "core" & < "x +2 .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&S& +3 "core" &  "x +2 "storage"(R& +4 "core" & \ P\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(o' +59 "core" ' +2 "manipulator"&& +3 "core" &  "x +3 "storage"(Z& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&f' +25 "core" ' +2 .tElbow.hold + "manipulator"&p, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&\\% +4 "core" % +2 "storage"((& +3 "core" & a +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&r' +19 "core" ' +2 "manipulator"&G& +3 "core" & E "x +2 "storage"(h& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' + "storage"(% +5 "core" %m %  +2 ."downElevator"SE.seek :down +3 "storage"(d'X +99 (L% +3 "core" %X k f PI +2 "manipulator"&D% +3 "core" %ы p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +3 "core" &  +2 "collection"'H& +4 "core" &WGJI < +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&y% +3 "core" %\ # B ? +2 "storage"(B% +4 "core" %] K +2 "storage"(~. +2 "core" .( +2 "storage"(s& +5 "core" &  + "storage"(O& +4 "core" & F +2 "manipulator"&& +4 "core" & "x +2 .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&*& +3 "core" & "x +2 "storage"(@& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +99 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +50 "core" & !w +2 "storage"(1& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'R +28 "core" ' + "manipulator"&% +4 "core" % +2 "storage"($& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&/& +3 "core" & > !w +2 "storage"( & +4 "core" & L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'A +35 "core" ' +2 "manipulator"&F& +3 "core" & @ !w +2 "manipulator"&#% +5 "core" %щ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&q( +159 "core" ( +3 "manipulator"&!& +3 "core" &% W << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +2 "core" &% e << +3 .tForearm.seek CC +2 "manipulator"&j'" +92 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'i( +416 "core" ( +2 "storage"(Y& +3 "core" & l +2 "storage"(.& +4 "core" &  +2 "manipulator"&& +4 "core" &% & [ << +2 "manipulator"&e% +3 "core" % 2 b +3 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&{( +157 "core" ( + "manipulator"&& +4 "core" & ?  +2 "storage"(:& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&0' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +63 "core" 1 +2 "manipulator"&K% +5 "core" % # + "storage"(+& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +2 "manipulator"&z' +15 "core" ' +3 "manipulator"&g& +3 "core" & 3  +2 "storage"(& +4 "core" & _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +34 "core" ' +2 "storage"(%% +3 "core" %K   +3 ."downElevator"SE.seek :down +3 "storage"(t'X +99 (4% +3 "core" %Q  OF +2 "manipulator"&&% +3 "core" %і +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +86 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'[& +3 "core" &HI +2 "manipulator"&^% +3 "core" %\  (  +3 "storage"(,% +3 "core" %`  +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +46 "storage"($\ 1b +5 (m& +3 "core" & @  +2 "manipulator"&|& +4 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&l( +15 "core" ( +2 "manipulator"&X& +3 "core" & 7 < +2 "storage"(7& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +98 "core" ' + "storage"(a& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +279 "core" ' +2 "storage"(3- +2 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (5& +3 "core" & ]  +2 "manipulator"&'& +3 "core" & < +3 .tElbow.seek 3 + "manipulator"&8( +3 "core" ( +2 "manipulator"&\ & +4 "core" & < +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(V'X +8 "core" &  < + "manipulator"& % +4 "core" % ϩ S +2 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +89 "Can"5 D_M +59 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( +2 "manipulator"&& +3 "core" &' F  b >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +4 "core" &'  >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'" +104 "core" ' +2 "manipulator"&M& +4 "core" &' $ >O +2 "manipulator"&% +4 "core" % +2 "collection"'& +4 "core" &HH +3 "collection"'P& +5 "core" &HG +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &HJ +7 &AHI $d +9 &]JH 6 +9 &!IJ G +10 &fHH F +9 &gIJ F +10 &ieHJ F +9 &*jII F +9 &fHJ F +10 &eJJ F +9 &qfHJ F +9 & 3eHK F +10 &!hIG F +9 &#eGK F +10 &%xfHK F +9 &';eJJ F +9 &(fGK F +10 &*dGK F +9 &,fHI F +9 &.BeIJ F +10 &0eHJ F +9 &1gGJ F +10 &3dHJ F +9 &5JfIJ F +9 &7 fIJ F +10 &8dHI F +9 &:fGH F +9 &fHI F +9 &?gHH F +10 &AjGJ F +9 &CZhHH F +9 &ElIJ F +10 &FvGH H +9 &HIK J +9 &JJII N +10 &LHK P +9 &MIJ P +10 &OJI P +9 &QLIJ P +9 &S HG R +10 &THK Q +9 &V=hJI / +9 &VKH 9 +10 &W fJJ > +5 ( +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&c1 +4 "core" &W KJJ > +61 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%R& +4 "core" &` +2 "manipulator"&w% +4 "core" %\ \  +2 "storage"(% +3 "core" %^ L +2 "storage"(Z. +4 "core" .( +2 "storage"(\\& +4 "core" & T  + "storage"((& +4 "core" &   +2 "manipulator"&)& +3 "core" &' 3 >O +2 "manipulator"&G% +4 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=( +164 "core" ( + "manipulator"&h& +4 "core" & I b +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"(<& +3 "core" & ?  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +280 "core" ' +5 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &   +2 "manipulator"&& +4 "core" & b +2 .tElbow.seek 3 +2 "manipulator"&k( +4 "core" ( + "manipulator"&o& +5 "core" & [ b + "storage"(f& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&r'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(y'X +9 "core" & > b + "manipulator"&B% +4 "core" % ϱ  j +3 .tForearm.seek :retract + "manipulator"&~'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&s& +5 "core" &g    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &g   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&*& +3 "core" &g   +2 "manipulator"&@% +5 "core" %   + "processing"%& +5 "core" &F +2 "processing"%& +5 "core" &0 +2 .tPC.seek :closed +2 "processing"%d(Z +5 "core" &c +7 &<C #c +9 &\\. 6 +10 &N G +9 &eP F +9 &k8 G +10 &Xh. F +9 &ga F +9 &gS F +10 &mT G +9 &_gT G +10 & "h7 F +9 &!hZ F +9 &#hT F +10 &%gi/ G +9 &'(j2 G +9 &(hL F +10 &*h- G +9 &,okD G +10 &.1l G +9 &/e5 G +9 &1g1 G +10 &3wf G +9 &59gM G +9 &6e@ G +10 &8eA G +9 &:e* G +10 &jA G +9 &?k. G +10 &Ak G +9 &CHnG G +9 &E m G +10 &FvB H +9 &HG J +10 &JB7 L +9 &L2 L +9 &MP K +10 &O+ L +9 &QI( L +9 &S\ J M +10 &TN M +9 &VM M +10 &XP M +9 &YuxR !i +9 &Z0 1 +10 ( + &ZA  +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&p1 +54 "core" 1 +2 "manipulator"&9% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' + "processing"%-& +4 "core" &Z+  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&1% +3 "core" %\  3  +2 "storage"(Q% +4 "core" %S b +2 "storage"(. +3 "core" .( +2 "storage"($& +3 "core" &  +3 "storage"(/& +2 "manipulator"& & +7 "core" & -  + &g V  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&F(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(#'i +24 "core" ( +2 "manipulator"&E& +3 "core" &m +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &m +3 .tForearm.seek PC +3 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +63 "core" ' +2 "storage"(_- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +50 "core" ' +307 ( + "storage"(I& +4 "core" & ?  +2 "manipulator"&}& +4 "core" &n w +2 "manipulator"& % +3 "core" % +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +48 .tElbow.seek 3 +3 "manipulator"&( +261 "core" ( +2 "manipulator"& & +3 "core" & \ +3 "storage"(Y& +3 "core" & 3  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +93 "core" ' +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "storage"(e- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(:' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(j- +3 "core" -' +2 "storage"(q& +3 "core" &\ G\ G  +2 "manipulator"&n& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&K( +4 "core" ( +2 "manipulator"&+& +3 "core" &  \ +3 "storage"(g& +4 "core" &\ G\ I #  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(%' +57 "core" ' +2 "manipulator"&N& +4 "core" &  \ +2 "storage"(4& +3 "core" & &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'i +22 "core" ' +2 "manipulator"&z% +3 "core" %΋ L +2 "storage"([& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&^'Ϸ +21 "core" ' +2 "manipulator"&,& +3 "core" & > \ +2 "storage"(6& +4 "core" & F  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +27 "core" ' +2 "storage"(C% +4 "core" %l * +3 ."downElevator"SE.seek :down +4 "storage"(t'X +99 (% +2 "core" %PW g O QI +2 "manipulator"&m% +5 "core" %. U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +3 "core" & E  +2 "collection"'7& +4 "core" &W JVK > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&a% +3 "core" %\ q  +2 "storage"(u% +4 "core" %^  +2 "storage"(". +3 "core" .( +2 "storage"(3& +4 "core" &   + "storage"(5& +4 "core" &   +2 "manipulator"&'& +3 "core" &  \ +3 .tElbow.seek 3 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&& +3 "core" &  \ +2 "storage"(J& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +94 "core" ' + "storage"( & +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +276 "core" ' + "storage"(?- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  \ +2 "storage"(]& +3 "core" & F  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&x'} +20 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +47 "storage"(8- +5 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'R +38 "core" ' +2 "manipulator"&% +3 "core" %Ά F +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&V'ϲ +20 "core" ' +2 "manipulator"&>& +3 "core" & # \ +2 "storage"(i& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +39 "core" ' + "manipulator"&R& +4 "core" & - \ +2 "manipulator"&w% +4 "core" %5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&P( +168 "core" ( +2 "manipulator"&Z& +3 "core" &( " i ?S +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &( ?S +3 .tForearm.seek CC + "manipulator"&('" +92 "core" ' +2 .tHand.close + "manipulator"&)/ +60 "core" / +2 .tCC.seek :open + "collection"'G( +417 "core" ( +2 "storage"(v& +3 "core" &   +2 "storage"(h& +3 "core" &   +2 "manipulator"&& +4 "core" &( & ?S +2 "manipulator"&<% +4 "core" % . # y $ +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +167 "core" ( + "manipulator"&L& +3 "core" &  j +2 "storage"(D& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +95 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&f1 +52 "core" 1 +2 "manipulator"&T% +3 "core" % Ύ   +2 "storage"(H& +4 "core" &  +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +3 "manipulator"&B'Ϻ +17 "core" ' + "manipulator"&=& +5 "core" &  j + "storage"(& +4 "core" & X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +17 "core" ' +2 "storage"(r% +3 "core" %K  +3 ."downElevator"SE.seek :down +4 "storage"(s'X +98 (O% +3 "core" %EV  OF +2 "manipulator"&k% +4 "core" %B " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +52796 "Can"4 ,`|M +60002 B ,b\ M +60002 D +cyM +60002 O -d>M +60002 E ,fVM +60002 B ,gjM +60002 > +i3 M +60002 ? ,j M +60002 > ,l!,M +60002 C ,m~!M +60002 C ,n"XM +60002 K ,p["M +60003 O ,q#M +60002 Z ,s8$M @1733361999.37EST = =mMAIN_scheduler =tMAIN @EST1733362000.05 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +104 #"core_reset"Sent BREAK +2 #t@26058 select with ifg=0x10, ie=0xF5 #@26706 receive with ifg=0x10, ie=0xFD + #@27354 receive with ifg=0x10, ie=0xFD + #@28003 receive with ifg=0x10, ie=0xFD + #@28330 receive with ifg=0x80, ie=0xFD #@35482 sendCRC with ifg=0x20, ie=0x7F + #@35831 sendCRC with ifg=0x20, ie=0x7F + #@37519 sendCRC with ifg=0x08, ie=0x5F #@34261 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +359 "Can"\\ *sl$/. + \\ *sl$/. + #tPolling Can every 10:00 +30 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2710 #-> ESP.ready! +153 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %WVW +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %| +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1191 #-> 25.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +3 "core" &VY[ +2 .tHand.open +2 "manipulator"&31 +20 "core" 1 +2 "manipulator"&4% +4 "core" %\   J  + "storage"(5% +4 "core" %\\  +2 "storage"(6. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(7( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & r +2 "manipulator"&9& +5 "core" & E j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&:( +50 "core" ( +2 "manipulator"&;& +3 "core" &9  +2 "storage"(<& +4 "core" &  U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +102 "core" ' +2 "storage"(>& +3 "core" &  0 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +277 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &  C +2 "manipulator"&B& +4 "core" &9   +2 .tElbow.seek 2 +2 "manipulator"&C( +19 "core" ( + "manipulator"&D& +4 "core" & @  +2 "storage"(E& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&G/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&H& + "storage"(I'X +8 "core" & t  + "manipulator"&J% +4 "core" %   s +2 .tForearm.seek :retract +2 "manipulator"&K'\ +99 "core" ' +3 .tElbow.seek CC +2 "manipulator"&L( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&M& +5 "core" &, D k Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &, > Bg +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'" +101 "core" ' +2 "manipulator"&P& +4 "core" &- / Bg + "manipulator"&Q% +5 "core" % +2 "collection"'R& +3 "core" &WWP +3 "collection"'S& +5 "core" &XXW +2 .tCC.seek :closed +2 "collection"'T(V +5 "core" &WZW +6 &BTXM $d +10 &ZYYO 6 +9 &YZ> H +10 &eVYN G +9 &hXXP H +9 &XkXZW G +10 &mWY[ G +9 &kWYX G +9 &jV\\f G +10 &`kWZe G +9 & "eYYV G +10 &!fWYO G +9 &#gUZ\\ G +9 &%ggXZ\\ H +10 &')iXXI H +9 &(iYe@ G +9 &*eXYP G +10 &,pjV[' G +9 &.2jX[X G +10 &/hWZd H +9 &1lXZJ G +9 &3whX\\! H +10 &5:hWX% G +9 &6fX[P G +9 &8jYY^ G +10 &:hWX H +9 &kWZ G +9 &?lVYL G +9 &AkXZ> G +10 &CJlXX? G +9 &E\ qV[` H +9 &F|T[T I +10 &HVYQ K +9 &J:XY= P +10 &KW[4 Q +9 &MW[7 Q +9 &O|UY2 Q +10 &Q=XY: Q +9 &RZZ R +9 &TXX< R +10 &V.aXZ= * +9 &V$XYF E +10 ( + &VLXZN ? +46 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&U1 +4 "core" &VNXZ> ? + &VNXZ^ ? + &VNY[b ? + &VNVY? ? + &VNW\\b ? +45 1 + "manipulator"&V% +5 "core" %  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +4 "core" & +2 "manipulator"&Y% +3 "core" %\  * +3 "storage"(Z% +4 "core" %^ P + "storage"([. +4 "core" .( + "storage"(\\& +4 "core" &  x  +2 "storage"(]& +4 "core" &  A +2 "manipulator"&^& +3 "core" &, Bg +2 "manipulator"&_% +5 "core" %\   * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +160 "core" ( +2 "manipulator"&a& +3 "core" & # W  +3 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +112 "core" ' +2 "storage"(d& +3 "core" &  ] +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'i +278 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &  > +2 "manipulator"&h& +4 "core" & 3  +2 .tElbow.seek 2 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&j& +4 "core" &  y  +2 "storage"(k& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o'X +9 "core" &  + "manipulator"&p% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&q'\ +105 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +2 "manipulator"&s& +3 "core" &g 7 #  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &g   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +93 "core" ' +3 "manipulator"&v& +3 "core" &g & =  +3 "manipulator"&w% +3 "core" % [  +2 "processing"%x& +5 "core" &| +2 "processing"%y& +5 "core" & +2 .tPC.seek :closed +2 "processing"%z(Z +5 "core" &| +6 &F~ #c +9 &Zv 6 +9 & H +10 &h{ G +9 &nt G +10 &Tlw H +9 &mw H +9 &ly G +10 &kz G +9 &]jy G +9 & j{ G +10 &!ny G +9 &#n| G +10 &%doy H +9 &'&my H +9 &(my H +10 &*mx H +9 &,mmz G +9 &./iz G +10 &/iz G +9 &1hw G +10 &3uiy G +9 &57i{ G +9 &6ny G +10 &8nm G +9 &:}mq G +9 &kl H +9 &?ku H +10 &Amj H +9 &CFni H +9 &Esh H +10 &Fyi H +9 &Hj K +9 &JBi L +10 &Ll L +9 &Mj L +10 &Oi M +9 &QHj M +9 &S j M +10 &Td M +9 &Vh M +9 &XMi N +10 &Ywyi "j +9 &Z+yc . +10 ( &Zh ! +3 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&{1 +58 "core" 1 +3 "manipulator"&|% +4 "core" % 2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' +2 "processing"%~& +3 "core" &ZI ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ ! _ 5 +2 "storage"(% +4 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  7 +2 "storage"(& +3 "manipulator"&& +8 "core" &  a + &g   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +38 "core" ( +9 "manipulator"& & +4 "core" &t    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &t .  +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +44 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +247 ( +2 "storage"(& +3 "core" &  J +2 "manipulator"&& +4 "core" &u  h  +2 "manipulator"&% +4 "core" %  ^ +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +236 "core" ( + "manipulator"&& +4 "core" & # W +2 "storage"(& +3 "core" &  M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +3 "core" &  O M 1 +2 "manipulator"&$& +4 "core" &\  H W +2 .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +3 "core" &\ &  W +2 "storage"('& +4 "core" &  N O +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +57 "core" ' +2 "manipulator"&*& +3 "core" &\  W +2 "storage"(+& +4 "core" &  G +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +24 "core" ' + "manipulator"&/% +4 "core" %  +2 "storage"(0& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&1' +20 "core" ' +2 "manipulator"&2& +4 "core" &\ " \ W + "storage"(3& +6 "core" &  ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +20 "core" ' +2 "storage"(5% +3 "core" %p +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (% +3 "core" %U] h p QK +2 "manipulator"&8% +4 "core" %ћ 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +3 "core" &  ' +3 "collection"'<& +4 "core" &VMY\\[ ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&>% +4 "core" %\   S  +2 "storage"(% +3 "core" %a +2 "storage"(. +4 "core" .( + "storage"(@& +4 "core" &  n +2 "storage"(A& +3 "core" &  U +3 "manipulator"&B& +4 "core" &  < W + .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( +2 "manipulator"&E& +3 "core" &\ % u W +3 "storage"(G& +4 "core" &  m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +87 "core" ' +2 "storage"(J& +3 "core" &  N +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +325 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &\  W +2 "storage"(N& +3 "core" &  a +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&?' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'S +28 "core" ' +2 "manipulator"&R% +3 "core" % : < +2 "storage"(C& +4 "core" &  v { I +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&I' +20 "core" ' +2 "manipulator"&K& +3 "core" &\ $ $ W +2 "storage"(\ & +4 "core" &  H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'B +43 "core" ' +3 "manipulator"&X& +3 "core" &\ I W +2 "manipulator"&Y% +5 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +149 "core" ( +2 "manipulator"&\\& +3 "core" &!  8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &! f 8 +2 .tForearm.seek CC +2 "manipulator"&S'" +93 "core" ' + .tHand.close +2 "manipulator"&^/ +56 "core" / +2 .tCC.seek :open +2 "collection"'_( +417 "core" ( +2 "storage"(O& +3 "core" &  +2 "storage"(a& +4 "core" &  +2 "manipulator"&b& +3 "core" &" . H 8 +2 "manipulator"&d% +4 "core" % % )  +3 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +155 "core" ( +2 "manipulator"&f& +3 "core" & # 3  +2 "storage"(g& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +96 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +54 "core" 1 +2 "manipulator"&m% +3 "core" % $ C +2 "storage"(n& +4 "core" &  . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&p' +20 "core" ' +3 "manipulator"&`& +3 "core" & j  +3 "storage"(c& +3 "core" &  P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&e'ќ +26 "core" ' + "storage"(l% +4 "core" %H +3 ."downElevator"SE.seek :down +3 "storage"(s'X +100 (t% +2 "core" %S PH +3 "manipulator"&i% +3 "core" %Ѣ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'w& +3 "core" &WZD +2 "manipulator"&x% +4 "core" %\    +3 "storage"(o% +4 "core" %^  +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" & ^  +2 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&~( +16 "core" ( + "manipulator"&& +4 "core" & % ! : +37 "storage"(& +10 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +111 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & ]  +2 "manipulator"& & +4 "core" & ^ : +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&u& +4 "core" &  : +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&r'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&}& + "storage"(z'X +7 "core" & 1 : +2 "manipulator"&% +4 "core" % Ϗ n +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&& +3 "core" && (  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&  [ =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +3 "manipulator"&& +3 "core" && 0 O =C +3 "manipulator"&% +3 "core" % +2 "collection"'& +5 "core" &WZn +2 "collection"'& +5 "core" &YZ{ +2 .tCC.seek :closed +2 "collection"'"(V +5 "core" &W[]  +9 &8V[ *x +9 &jY[L = +10 &tXZH H +9 &ygZ[* G +9 &<gWZ= F +10 &gXY[ G +9 &gYY? G +9 &fYZ2 F +10 &BhWYc G +9 &fXZA G +10 & gX[I F +9 &"hWZD G +9 &$KeW[r G +10 && hV[J G +9 &'g[YB F +9 &)fXX` G +10 &+TgY[B F +9 &-fY[ G +10 &.gX\\ F +9 &0iWYF G +9 &2ZgZ[ G +10 &4gYZl F +9 &5gZY G +9 &7gYZ G +10 &9bjX\\T G +9 &;%gZZ G +10 &<iWYZ G +9 &>hWZ G +9 &@kgbY G +10 &B,k[[ G +9 &CjZ[ G +9 &ErWZ? H +10 &GkWZ@ J +9 &I(YZ& K +10 &JW[\ P +9 &LZXM Q +9 &N_Wg P +10 &PY[W Q +9 &QWZm R +9 &SXh! R +10 &U`WZO @ +9 &VLX[I T +10 &V+3W[K #l +9 &VbYZ G +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.90 + .Hand.open + "manipulator" +59 "core" 1 +3 "manipulator"&$% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +3 "core" &x +2 "manipulator"&% +4 "core" %\   +2 "storage"(*% +3 "core" %^ @ +2 "storage"(+. +4 "core" .( + "storage"(/& +4 "core" & X  +2 "storage"(0& +4 "core" & t   +2 "manipulator"&& +3 "core" && =C +2 "manipulator"&2% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +161 "core" ( + "manipulator"& & +5 "core" &  k + "storage"(5& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +279 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" & 0  +3 "manipulator"&(& +4 "core" &  k +2 .tElbow.seek 3 + "manipulator"&%( +4 "core" ( + "manipulator"&)& +4 "core" & S k +2 "storage"(,& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +62 "core" / +3 ."downElevator"SE.seek :down +48 "manipulator"&<& + "storage"(>'X +7 "core" &  k +2 "manipulator"&% +3 "core" % ϰ  $ +3 .tForearm.seek :retract + "manipulator"&.'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&@& +3 "core" &z ( +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +93 "core" ' +2 "manipulator"&E& +3 "core" &z  l +3 "manipulator"&G% +4 "core" % ; < +2 "processing"%4& +3 "core" &n +3 "processing"%J& +5 "core" &v +2 .tPC.seek :closed +2 "processing"%6(Z +5 "core" &z +6 &=y #a +10 &[v 6 +9 &y H +9 &gy G +10 &ku G +9 &Vhy G +10 &ky G +9 &g{ G +9 &my H +10 &]ky G +9 & my G +9 &!jx G +10 &#gx G +9 &%dkz H +10 &''ly G +9 &(kw H +9 &*ks G +10 &,mmr G +9 &./ki G +9 &/go G +10 &1jl G +9 &3vlh G +10 &57lh G +9 &6mh G +9 &8kh G +10 &:}im G +9 &ij G +10 &?lj G +9 &Aji G +10 &CFmi H +9 &E li G +9 &Fwi I +10 &Hi J +9 &JBi L +9 &Li L +10 &Mh L +9 &Oh L +10 &QHi M +9 &S\ h M +9 &Th M +10 &Vh M +9 &XNb M +9 &Ywvg "j +10 &Z,yi / +9 ( + &Zh " +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open + "manipulator"&-1 +65 "core" 1 + "manipulator"&9% +5 "core" % $ I < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +90 "core" ' +2 "processing"%M& +3 "core" &ZJ " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +3 "core" %\    +2 "storage"(P% +4 "core" %a  +2 "storage"(R. +4 "core" .( + "storage"(C& +5 "core" &   +2 "storage"(K& +2 "manipulator"&\ & +6 "core" & <  +2 &z  W +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(X'i +3 "manipulator"&Y(s +5 "core" ( +2 "manipulator"&H& +3 "core" &z ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &z +3 .tForearm.seek PC + "manipulator"&:' +96 "core" ' +2 .tHand.close + "manipulator"&?/ +54 "core" / +2 .tPC.seek :open +3 "processing"%I( +89 "core" ' + "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(\\'y +41 "core" ' +293 ( + "storage"(]& +4 "core" & #  +2 "manipulator"&U& +4 "core" &z  ` +2 "manipulator"&F% +3 "core" %  7 +3 .tForearm.seek :retract + "manipulator"&^'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +266 "core" ( +2 "manipulator"&T& +3 "core" &  T  +2 "storage"(O& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +105 "core" ' +2 .tHand.open + "manipulator"&b1 +55 "core" 1 +2 "storage"(d- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"([& +4 "core" &\ H\ P )  +2 "manipulator"&k& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&m( +4 "core" ( + "manipulator"&n& +4 "core" & T  +38 "storage"(`& +11 "core" &\ H\ J 4  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +14 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +59 "core" ' +2 "manipulator"&L& +3 "core" & O  +2 "storage"(t& +4 "core" & $  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&i'} +18 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +23 "core" ' +2 "manipulator"&w% +3 "core" %w # +2 "storage"(p& +4 "core" & @  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 294 counts +2 "manipulator"&x'ϣ +20 "core" ' +2 "manipulator"&o& +3 "core" &   +3 "storage"(q& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +35 "core" ' +2 "storage"(e% +4 "core" %r < +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (7% +3 "core" %Y y z 2 QK +2 "manipulator"&{% +4 "core" %6 g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & Q  +2 "collection"'& +4 "core" &VbX[z G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  C  +3 "storage"(j% +4 "core" %W 5 + "storage"(v. +4 "core" .( + "storage"(& +4 "core" & B  +2 "storage"(& +4 "core" &  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"&& +5 "core" &  k  + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +97 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'i +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 0  +2 "storage"(& +3 "core" & '  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&y'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('T +31 "core" ' +2 "manipulator"&% +3 "core" %Ώ  +2 "storage"( & +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&z'ϻ +19 "core" ' +2 "manipulator"&& +3 "core" &  %  +3 "storage"(_& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +43 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"($'C +40 "core" ' +2 "manipulator"&'& +3 "core" & T  +3 "manipulator"&% +4 "core" %_ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&+( +163 "core" ( +3 "manipulator"&/& +3 "core" &* @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* @\\ +2 .tForearm.seek CC +2 "manipulator"&0'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'2( +418 "core" ( + "storage"(& +40 "core" &  +9 "storage"( & +4 "core" &   +2 "manipulator"&5& +4 "core" &* $ R @\\ +2 "manipulator"&% +3 "core" %  F +3 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +161 "core" ( +2 "manipulator"&& +3 "core" &  ? } +3 "storage"(8& +3 "core" & f  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&('} +94 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +54 "core" 1 +3 "manipulator"&;% +3 "core" % Α  d +2 "storage"(<& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +19 "core" ' +2 "manipulator"&3& +3 "core" & } +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +29 "core" ' +2 "storage"(1% +4 "core" %G c +2 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (A% +3 "core" %=R PG +2 "manipulator"&%% +3 "core" %A J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" &XX +2 "manipulator"&4% +4 "core" %\ \   +2 "storage"(>% +4 "core" %^  +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" & M +2 "manipulator"&9& +3 "core" &  } +3 .tElbow.seek 2 + "manipulator"&M( +36 "core" ( + "manipulator"&N& +4 "core" & ' +2 "storage"(P& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +102 "core" ' + "storage"(C& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'i +280 "core" ' +2 "storage"(K- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & +2 "manipulator"&H& +3 "core" &  & +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&B& +5 "core" & & +2 "storage"(?& +4 "core" & [ +3 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(6'X +8 "core" &   & +2 "manipulator"&X% +3 "core" %  M +3 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +160 "core" ( +3 "manipulator"&F& +2 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +4 "core" &* @ @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +2 "core" &* - v @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'" +97 "core" ' +3 "manipulator"&O& +4 "core" &*  . @^ +2 "manipulator"&Y% +3 "core" % 9 +3 "collection"'b& +3 "core" &YZ +3 "collection"'d& +4 "core" &WZ +3 .tCC.seek :closed + "collection"'S(V +52 "core" &XZ; + &X[H + &XZF + &Y[[ + &WZK + &V[] +4 &CYZ #c +9 &[WZ; 6 +9 &[Z6 G +10 &fX[a G +9 &eWXc G +9 &`dXZK G +10 &"eZZW G +9 &eV\\ F +10 &fWZY G +9 &hjVXK G +9 & *jWY G +10 &!hZZI G +9 &#eZY G +9 &%peXYA G +10 &'3fW[. F +9 &(cWY G +10 &*dXZS G +9 &,xfWZJ G +9 &.:eWZ G +10 &/cX[ G +9 &1eXZY G +9 &3cW[ G +10 &5BcXZ G +9 &7eX[ G +10 &8gWZ G +9 &:gWY^ G +9 & gXY F +9 &?gWZG F +9 &AgWY F +10 &CSgX[ F +9 &ElUX G +10 &FvWY H +9 &HV[ J +9 &JAXZH P +10 &KX\\ Q +9 &MXYF Q +9 &OY\\f Q +10 &QDWZ3 Q +9 &SXZ| R +10 &TYZ S +9 &V8jYZ 0 +9 &V XZG 8 +10 &WcX[@ > +5 ( +2 "collection"'d& +5 "core" &WGY[ > +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&[1 +58 "core" 1 + "manipulator"&k% +4 "core" %  .  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +3 "core" &p +3 "manipulator"&^% +4 "core" %\  ) -  + "storage"(L% +4 "core" %Z  +2 "storage"(t. +3 "core" .( +2 "storage"(\\& +3 "core" & * +3 "storage"(f& +4 "core" & + + "manipulator"&w& +5 "core" &) 1 E @^ + "manipulator"&p% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&o( +157 "core" ( +2 "manipulator"&q& +4 "core" & j  +2 "storage"(Z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +95 "core" ' +4 "storage"(a& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +280 "core" ' +2 "storage"(7- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" & k +2 "manipulator"&c& +3 "core" & ^  +3 .tElbow.seek 2 + "manipulator"&m( +4 "core" ( +2 "manipulator"&l& +4 "core" & -  + "storage"(i& +4 "core" & Y +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &   + "manipulator"&j% +4 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&h'\ +96 "core" ' +3 .tElbow.seek PC + "manipulator"&v(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&& +3 "core" &q & 6  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &q 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&& +3 "core" &q <  +3 "manipulator"&% +3 "core" %  @ +3 "processing"%V& +4 "core" &z +2 "processing"%& +5 "core" &q +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &y  +9 &6{ )u +10 & hz < +9 &|z G +9 &ejx G +10 &'jy G +9 &ky G +9 &ky G +10 &ljy G +9 &.jy G +10 &jy G +9 & ix G +9 &"tjy G +10 &$6js G +9 &%jq G +9 &'kp G +10 &)|ju G +9 &+?kq G +10 &-il G +9 &.jp G +9 &0jq G +10 &2Gkm G +9 &4\ j^ G +9 &5k_ G +10 &7h] G +9 &9Pib G +10 &;fb G +9 &<i_ G +9 &>j] G +10 &@Xl` G +9 &Bhb G +9 &Ckc G +10 &Eqi H +9 &GZyg I +10 &Ii K +9 &Jj L +9 &Ld L +10 &NY^ L +9 &Ph M +9 &Q` L +10 &Si M +9 &U_i M +10 &W!i M +9 &Xh M +9 &Z3Dci %l +10 &Z5c \  +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&W1 +2 "core" &Zd  +51 1 +2 "manipulator"&|% +3 "core" % $ 8 @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%& +50 "core" &Z\\  +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ "  > +2 "storage"(% +3 "core" %T [ +2 "storage"(. +4 "core" .( + "storage"( & +4 "core" &  +3 "storage"(& +2 "manipulator"&_& +7 "core" & E + &q   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&'(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( +3 "manipulator"&}& +3 "core" &q   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &q /  +2 .tForearm.seek PC +3 "manipulator"&~' +3 "core" ' K e b +5 !"raiseStack"o:Slide::Error\ : @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @sourcei-:@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioniK: velocityi: currenti:pwmig:erri: inPressi : outPressi :deltaPressie : voltagef14.62153559155621`: @type2F: @tagi: mesg"6Storage Elevator overCurrent at down + 243 counts:@checkpoint: omitted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:633:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:395:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:360:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:352:in `seek'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/lib/slide.rb:86:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:403:in `to'"8/home/esp/esp2/utils/puckmoves.rb:600:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:577:in `raiseStack'"6/home/esp/esp2/utils/puckmoves.rb:438:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:437:in `unload'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Retry #1 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 ."raiseStack"SE.home.seek :down +2 "storage"(y'X +63 "core" ' + "storage"(z& +4 "core" & 6 +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 "core" ' + .tHand.close +4 "manipulator"&/ +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(/'i +54 "core" / +2 .tPC.seek :open + "processing"%( +217 "core" ' +3 "storage"(#- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(r'y +33 "core" ' +168 ( + "storage"(& +3 "core" & 6 +3 "manipulator"&*& +3 "core" &q   +2 "manipulator"&"% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +265 "core" ( +2 "manipulator"&5& +3 "core" &  )  +2 "storage"(& +3 "core" & R +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + .tHand.open +2 "manipulator"&81 +58 "core" 1 +2 "storage"(0- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +3 "core" -' +2 "storage"(<& +4 "core" & M O 7 +2 "manipulator"&3& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&1& +3 "core" & ~  +2 "storage"( & +5 "core" & N K +2 .tForearm.seek 2 + 700 counts + "manipulator"&A'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +54 "core" ' +2 "manipulator"&&& +4 "core" &   +2 "storage"((& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'i +21 "core" ' +2 "manipulator"&>% +3 "core" % + +3 "storage"(.& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&$' +19 "core" ' + "manipulator"&!& +6 "core" & K  +2 "storage"(@& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +30 "core" ' +2 "storage"(-% +3 "core" %m +3 ."downElevator"SE.seek :down +4 "storage"(9'X +98 (N% +3 "core" %W e l d QJ +2 "manipulator"&P% +4 "core" %ѥ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +39 "manipulator"&C'\ +98 "core" ' +22 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ()& +3 "core" &  +2 "collection"'E& +4 "core" &WGYZT > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&K% +3 "core" %\    +2 "storage"(\ % +4 "core" %S +2 "storage"(H. +4 "core" .( + "storage"(B& +4 "core" & b +2 "storage"(?& +4 "core" & k +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&=( +4 "core" ( +2 "manipulator"&X& +3 "core" & $  +2 "storage"(M& +4 "core" & W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +94 "core" ' +2 "storage"(F& +5 "core" & | +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +282 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & d  +3 "storage"(O& +3 "core" & - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&Y' +28 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'S +29 "core" ' +2 "manipulator"&]% +4 "core" % ) C + "storage"(2& +4 "core" & h  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&[' +20 "core" ' +2 "manipulator"&k& +3 "core" & \\  +2 "storage"(`& +5 "core" & D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(L'B +42 "core" ' +2 "manipulator"&t& +3 "core" &  +2 "manipulator"&\\% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +162 "core" ( +2 "manipulator"&w& +3 "core" && S =A +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" && &  =A +3 .tForearm.seek CC + "manipulator"&T'" +99 "core" ' + .tHand.close +2 "manipulator"&q/ +57 "core" / +2 .tCC.seek :open +2 "collection"'Z( +416 "core" ( +2 "storage"(a& +3 "core" & g +2 "storage"(U& +4 "core" & +2 "manipulator"&n& +3 "core" &% ) y <@ +2 "manipulator"&7% +5 "core" % /  ' +2 .tForearm.seek :retract + "manipulator"&{'\ +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&c( +166 "core" ( + "manipulator"&l& +4 "core" & E  +2 "storage"(i& +3 "core" & = +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +54 "core" 1 +3 "manipulator"&o% +3 "core" %  + +2 "storage"(e& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&g' +20 "core" ' + "manipulator"&x& +4 "core" & B  +2 "storage"(& +3 "core" & E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +19 "core" ' + "storage"(m% +4 "core" %H +49 ."downElevator"SE.seek :down +4 "storage"('X +100 (% +4 "core" %K OE +3 "manipulator"&V% +3 "core" %ѝ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'h& +3 "core" &YY? +2 "manipulator"&I% +4 "core" %\  ?  +2 "storage"(W% +4 "core" %O E +2 "storage"(|. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & 0  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&& +3 "core" & > a +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +96 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +280 "core" ' +2 "storage"(u- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & S  +2 "manipulator"& & +4 "core" &  a +2 .tElbow.seek 3 + "manipulator"&z( +4 "core" ( +2 "manipulator"&& +3 "core" & a +2 "storage"(v& +4 "core" & !  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(s'X +9 "core" & p a + "manipulator"&% +5 "core" % ϥ K +2 .tForearm.seek :retract + "manipulator"&*'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&"( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&/& +4 "core" &" N  $ 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &" - s 9% +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'" +102 "core" ' +2 "manipulator"&& +3 "core" &"  , 9% +3 "manipulator"&'% +3 "core" % +4 "collection"'8& +3 "core" &WZ\\ +3 "collection"'0& +5 "core" &YZ[ +2 .tCC.seek :closed +2 "collection"';(V +3 "core" &XZC  +9 &7WYD )w +10 &kXY = +9 &rWZ G +10 &scWV G +9 &5iZ[J G +9 &gXZ< G +10 &cX\\` F +9 &|eZXK F +9 &=jYYK G +10 &gWW9 G +9 & cYY G +10 &"hXZE G +9 &$EcYXc G +9 &&dWY! F +10 &'eX[Q F +9 &)hWZ F +9 &+MdW[| G +10 &-hXZQ F +9 &.cW[< F +10 &0fWXX F +9 &2UcWZ G +9 &4hXZ F +10 &5cY[0 G +9 &7hV[X F +9 &9]dY[ G +10 &;hYZ G +9 &<gXZ G +10 &>dXZY G +9 &@ehXZ G +9 &B'gWY G +10 &CfYZ G +9 &EmZ[ H +9 &Gh{X[2 I +10 &I"ZZ K +9 &JXYX P +10 &LYZ< Q +9 &NZZZ~ P +9 &PXYD Q +10 &QZ\\A Q +9 &SX[ R +9 &UZXZt A +10 &VzDYYP %p +9 &V XZ I +5 ( +2 "collection"'0& +4 "core" &VtX[ I +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&<1 +56 "core" 1 +2 "manipulator"&3% +3 "core" %  > +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &v +2 "manipulator"&% +3 "core" %\   +3 "storage"(&% +4 "core" %b f f V + "storage"((. +3 "core" .( +2 "storage"(>& +3 "core" & i >  +2 "storage"(.& +4 "core" & g h   +2 "manipulator"&r& +5 "core" &" % ! 9% +2 "manipulator"&!% +4 "core" %\  !  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@( +169 "core" ( +2 "manipulator"&+& +3 "core" & ! s +42 "storage"(-& +11 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +95 "core" ' +2 "storage"(& +3 "core" & #  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(,'i +277 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & w  +2 "manipulator"&A& +4 "core" &  s +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&%& +3 "core" & u s +2 "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&$'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +3 "storage"(K'X +7 "core" & b s +2 "manipulator"&\ % +4 "core" % ϰ  ! +2 .tForearm.seek :retract +2 "manipulator"&4'\ +99 "core" ' +4 .tElbow.seek PC +2 "manipulator"&H(s +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +119 "core" ( +2 "manipulator"&B& +3 "core" &p   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &?& +2 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&X& +4 "core" &p # C +2 "manipulator"&M% +4 "core" %  J +2 "processing"%F& +4 "core" &n +3 "processing"% & +5 "core" &l +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &x  +8 &7y )v +10 &ky = +9 &xz H +10 &pgw G +9 &1hz G +9 &iz G +10 &jz G +9 &viz G +9 &9jz G +10 &jz G +9 & hz G +10 &"hx G +9 &$Agx G +9 &&iy G +10 &'jz G +9 &)jw G +9 &+Iku G +10 &- hs G +9 &.ir G +10 &0hl G +9 &2Pjp G +9 &4hx G +10 &5kg G +9 &7il G +9 &9Yim G +10 &;gr G +9 &<hh G +10 &>hi G +9 &@bjh G +9 &B$hh G +10 &Cki G +9 &Epe H +9 &Gdyc I +10 &I!d K +9 &Jh L +10 &Lg L +9 &Nbi L +10 &P$` L +9 &Qg L +9 &Sg M +9 &Uih M +10 &W+h M +9 &Xj M +10 &Z<Dcf %m +9 &Z .h \ +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&G1 +2 "core" &Zg +54 1 +2 "manipulator"&C% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +93 "core" ' + "processing"%Q& +4 "core" &Zf +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&O% +3 "core" %\  |  +3 "storage"(b% +3 "core" %a +2 "storage"(]. +3 "core" .( +2 "storage"(2& +3 "core" & t  +2 "storage"(k& +3 "manipulator"&`& +5 "core" &  +2 &p  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(t'i +2 "manipulator"&\\(s +6 "core" ( + "manipulator"&R& +4 "core" &p # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &p m +3 .tForearm.seek PC + "manipulator"&:' +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +53 "core" / +2 .tPC.seek :open +2 "processing"%[( +95 "core" ' +2 "storage"(6- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'y +47 "core" ' +278 ( +2 "storage"(p& +3 "core" & V  +2 "manipulator"&^& +4 "core" &p  +2 "manipulator"&D% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&q'\ +135 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&f( +246 "core" ( + "manipulator"&S& +5 "core" &\   _ + "storage"(a& +4 "core" & $  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +97 "core" ' +2 .tHand.open + "manipulator"&n1 +60 "core" 1 +2 "storage"(7- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(l'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(i' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +4 "core" -' +2 "storage"(d& +3 "core" &\ F\ 7  +2 "manipulator"&j& +4 "core" &\  ^ +2 .tElbow.seek 3 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&e& +3 "core" &\ % ) ^ +2 "storage"(x& +4 "core" &\ 3\ & v  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(m' +60 "core" ' +2 "manipulator"&{& +3 "core" &\ Q ^ +3 "storage"(c& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&g% +4 "core" %x  +2 "storage"(h& +3 "core" & h  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&I'Ϥ +19 "core" ' +2 "manipulator"&W& +3 "core" &\ m ^ +2 "storage"(|& +5 "core" & N  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +32 "core" ' +2 "storage"(% +3 "core" %s N +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +3 "core" %\\ q n , QK +2 "manipulator"&% +3 "core" %8 I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & n  +2 "collection"' & +5 "core" &VsZZ~ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\  H  +3 "storage"(% +3 "core" %^ +2 "storage"(. +3 "core" .( +2 "storage"(u& +3 "core" & _  +2 "storage"(& +5 "core" &  + "manipulator"& & +4 "core" &\ $ ^ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&v& +3 "core" &\ $ ^ +2 "storage"(#& +4 "core" & {  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +98 "core" ' +2 "storage"(& +4 "core" & '  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" &\ ^ +2 "storage"(~& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&}'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +42 "core" , +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''S +28 "core" ' +2 "manipulator"&z% +3 "core" %Έ q +2 "storage"(8& +4 "core" & y  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&s'ϴ +22 "core" ' +2 "manipulator"&*& +3 "core" &\ ; ] +2 "storage"(Z& +5 "core" & '  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(3'B +43 "core" ' +2 "manipulator"& & +3 "core" &\ T ] +2 "manipulator"&% +4 "core" %" P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +154 "core" ( +3 "manipulator"&>& +3 "core" &" ) 9# +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &" / 9# +2 .tForearm.seek CC +2 "manipulator"&0'" +92 "core" ' + .tHand.close +2 "manipulator"&r/ +54 "core" / +2 .tCC.seek :open +2 "collection"'!( +417 "core" ( +2 "storage"(5& +4 "core" &  +2 "storage"(+& +3 "core" & B  +2 "manipulator"&-& +4 "core" &# q 9# +2 "manipulator"&"% +3 "core" % ,   +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1( +168 "core" ( +2 "manipulator"&N& +3 "core" & u P +2 "storage"(P& +4 "core" & E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&A'} +122 "core" ' +2 .tElbow.hold + "manipulator"&%, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +64 "core" 1 +3 "manipulator"&)% +3 "core" % Έ $ +2 "storage"(E& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&\ 'ϴ +21 "core" ' + "manipulator"&@& +4 "core" & U P +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +28 "core" ' +2 "storage"($% +3 "core" %E | +3 ."downElevator"SE.seek :down +3 "storage"(B'X +99 (?% +3 "core" %7R OF +2 "manipulator"&% +3 "core" %C f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'M& +3 "core" &XZH +2 "manipulator"&F% +4 "core" %\ "  9 +2 "storage"(K% +4 "core" %_  +2 "storage"(4. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" & ! +2 "manipulator"&C& +4 "core" & ' P +2 .tElbow.seek 2 +2 "manipulator"&Q( +37 "core" ( +2 "manipulator"&O& +4 "core" &  ( + "storage"(b& +48 "core" & } +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +97 "core" ' +2 "storage"(2& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +279 "core" ' +3 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & + +2 "manipulator"&R& +4 "core" &" ) "y +2 .tElbow.seek 2 +2 "manipulator"&=( +27 "core" ( + "manipulator"&& +5 "core" & b u + "storage"(Y& +4 "core" & ( +3 .tForearm.seek 2 + 300 counts + "manipulator"&6' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&J& + "storage"(9'X +8 "core" &  u +2 "manipulator"&t% +4 "core" % ~  +2 .tForearm.seek :retract + "manipulator"&p'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&D& +3 "core" &\  6 l 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &\   6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'" +97 "core" ' +2 "manipulator"&a& +3 "core" &\  6 +3 "manipulator"&\\% +3 "core" %) + +3 "collection"'n& +3 "core" &XZ +3 "collection"'7& +5 "core" &WZ; +2 .tCC.seek :closed +3 "collection"'T(V +3 "core" &[YU +6 &ZZS 7 +10 &KMX[ / +9 &{YZ9 C +9 &CfWZa G +10 &gXY F +9 &dXZ: F +10 &dYZ= F +9 &LcY[ F +9 &eZY[ F +10 &hWYB F +9 &iXZ F +9 &!TjYZW F +10 &#hXZ! F +9 &$jV\\( F +10 &&hXZP F +9 &(\\hWZ F +9 &*h[Z\\ G +10 &+gYXM F +9 &-cXZ F +9 &/djXZ F +10 &1&hYZU F +9 &2gXY G +10 &4hXY F +9 &6lcX[1 F +9 &8.cYZ~ F +10 &9hW[ F +9 &;hZZ F +9 &=tjWZZ F +10 &?6cWZ F +9 &@cW[I F +10 &BeWZ G +9 &D{kWY G +9 &F;pWZ3 G +10 &GWZp J +9 &IWZ L +9 &KhXY P +10 &M)XZ, P +9 &NYY Q +10 &PX[ P +9 &RmY[} Q +9 &T,WZ[ R +10 &U|Y[ 8 +9 &V4ZZV b +9 &VVZZ B +3 ( + "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&d1 +64 "core" 1 +4 "manipulator"&j% +3 "core" % ) J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +5 "core" &t + "manipulator"&q% +3 "core" %\ !  8 +3 "storage"({% +3 "core" %a 8 +2 "storage"(c. +4 "core" .( + "storage"(g& +4 "core" & 2 +2 "storage"(w& +3 "core" & x D +2 "manipulator"&h& +4 "core" &\   6 +2 "manipulator"&W% +3 "core" %\ ! " 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&l( +159 "core" ( +2 "manipulator"&|& +3 "core" & $ ?  +2 "storage"(& +4 "core" & + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +88 "core" ' +2 "storage"(U& +3 "core" & 4 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&o( +7 "core" ( +2 "manipulator"&m& +48 "core" & S  +4 "storage"(& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&I' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('X +9 "core" & .  +2 "manipulator"&% +3 "core" %   F +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&& +4 "core" &i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +103 "core" ' +2 "manipulator"&v& +3 "core" &i $ > +2 "manipulator"&#% +4 "core" % +2 "processing"%L& +5 "core" &n +2 "processing"%& +5 "core" &c +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &t  +9 &6x )w +9 & jy = +9 &xp G +10 &gjz G +9 &)iz G +10 &ku G +9 &jz G +9 &nhy G +10 &0hu G +9 &iy G +9 & kx G +10 &"xjx G +9 &$:ix G +10 &%iy G +9 &'hz G +9 &)hy G +10 &+Bhx G +9 &-hw G +10 &.hx G +9 &0iv G +9 &2Ijx G +10 &4 hv G +9 &5hw G +9 &7gq G +10 &9Qgc G +9 &;gg G +9 &<ip G +10 &>gl G +9 &@Xjh G +10 &Bhk G +9 &Clk G +9 &Epi H +10 &G]xi H +9 &Il K +10 &Ji L +9 &Li L +9 &NZe L +10 &Pc L +9 &Qh M +9 &Si L +10 &U`i M +9 &W"j M +10 &Xi M +9 &Z4Dci %m +9 &Z4b \ +6 ( + "processing"%& +4 "core" &Ze +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&V1 +55 "core" 1 +2 "manipulator"&% +3 "core" %  S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +101 "core" ' +2 "processing"%/& +4 "core" &Zi +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&~% +4 "core" %\ m  +2 "storage"(% +3 "core" %X  +2 "storage"(z. +4 "core" .( + "storage"(8& +4 "core" &  +2 "storage"(*& +3 "manipulator"&Z& +7 "core" &  + &i  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"& (s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&y& +3 "core" &i G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &i @ +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&}/ +56 "core" / +3 .tPC.seek :open +2 "processing"%s( +86 "core" ' +2 "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'y +47 "core" ' +286 ( +2 "storage"(.& +3 "core" & / +2 "manipulator"&<& +4 "core" &i +2 "manipulator"&% +3 "core" % 3 +3 .tForearm.seek :retract + "manipulator"&r'\ +99 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&&( +268 "core" ( + "manipulator"&;& +4 "core" & $   +2 "storage"(5& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +97 "core" ' +3 .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "storage"("- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(N'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' +2 "storage"((& +4 "core" & \ M\ B ) + "manipulator"&& +5 "core" & {  + .tElbow.seek 2 +2 "manipulator"&)( +4 "core" ( +2 "manipulator"&E& +3 "core" & $ #  +3 "storage"(@& +3 "core" & \ Q\ M { +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +58 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(?& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(A'i +22 "core" ' +2 "manipulator"&\ % +3 "core" % @ V +3 "storage"(M& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&F' +20 "core" ' +2 "manipulator"&K& +4 "core" & g  +2 "storage"(4& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +18 "core" ' +2 "storage"(,% +4 "core" %n Y  +2 ."downElevator"SE.seek :down +4 "storage"(B'X +99 (% +3 "core" %!Y e v 6 PI +2 "manipulator"&G% +3 "core" %х  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & ' +3 "collection"'b& +3 "core" &V`X] B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&2% +3 "core" %\    +3 "storage"(%% +4 "core" %V ] + "storage"(X. +3 "core" .( +2 "storage"(`& +4 "core" & g +2 "storage"( & +3 "core" & 7 +2 "manipulator"&R& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +4 "core" & $ A  +2 "storage"(H& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +96 "core" ' +2 "storage"(t& +3 "core" & ; +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +280 "core" ' +3 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" &   +2 "storage"(:& +4 "core" & p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&k' +30 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\\'S +29 "core" ' + "manipulator"&n% +4 "core" % ( / +2 "storage"(=& +3 "core" & c e ~ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&9' +48 "core" ' +3 "manipulator"&p& +3 "core" & z  +3 "storage"(!& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'B +41 "core" ' +2 "manipulator"&x& +3 "core" &   +3 "manipulator"&q% +3 "core" %Ѣ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +163 "core" ( +2 "manipulator"&c& +3 "core" &$  1 3 ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &$ ;7 +3 .tForearm.seek CC + "manipulator"&w'" +94 "core" ' + .tHand.close +2 "manipulator"&h/ +64 "core" / +2 .tCC.seek :open +2 "collection"'W( +414 "core" ( + "storage"(S& +4 "core" & +2 "storage"(|& +4 "core" & +2 "manipulator"&& +3 "core" &\ # :* +2 "manipulator"&U% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&e( +153 "core" ( +2 "manipulator"&& +4 "core" & i  +2 "storage"(& +3 "core" & ` +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +98 "core" ' +2 .tElbow.hold + "manipulator"&m, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % $ D +2 "storage"( & +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +3 "manipulator"&' +19 "core" ' +2 "manipulator"&l& +3 "core" &  [  +2 "storage"(f& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +17 "core" ' +2 "storage"(I% +3 "core" %G 7 +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" % U PG +2 "manipulator"&o% +4 "core" %ћ g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'#& +3 "core" &W_U +3 "manipulator"&L% +4 "core" %\    + "storage"(% +5 "core" %Y + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"([( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&/( +19 "core" ( + "manipulator"&~& +4 "core" & M K +2 "storage"(& +3 "core" & x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +94 "core" ' + "storage"(8& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(Z- +4 "core" -' +2 .tSE.configure :default +48 "storage"(#QK-0-\ b +5 (*& +2 "core" &  +2 "manipulator"&y& +5 "core" & . K + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & K +2 "storage"(}& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&''ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"('X +8 "core" & N K +2 "manipulator"&% +4 "core" % Ϫ (  +2 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( +2 "manipulator"&& +3 "core" &( * " >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &( 2 P >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'" +94 "core" ' +3 "manipulator"&5& +3 "core" &( n >J +2 "manipulator"& % +5 "core" %"  +2 "collection"'-& +3 "core" &Y[b +3 "collection"'"& +5 "core" &ZYH +2 .tCC.seek :closed +3 "collection"'0(V +4 "core" &ZZk +5 &V[r : +10 &XPW[ / +9 &|Y\\O D +9 &TdXZ[ F +10 &eXZL G +9 &fY[@ G +10 &eW[> F +9 &\\bWZA F +9 &hTXJ F +10 &fXZ| F +9 &bXYG F +9 &!dhZZq F +10 &#%eXX@ G +9 &$gX[` F +9 &&bW[ F +10 &(keXZ G +9 &*.fX[; F +10 &+bW\\: F +9 &-gX[b F +9 &/teX[ F +10 &16bW[K F +9 &2gXZ F +9 &4gZ[ G +10 &6|dXZF F +9 &8>hY[q F +10 &:fY[" F +9 &;hZ\\_ F +9 &=gX[# G +10 &?EfYZM G +9 &AfW\\ F +9 &BcY[R F +10 &DgX[D F +9 &FJvY[^ H +10 &HYZ I +9 &IX[D M +9 &KxW[ P +10 &M8[\\H Q +9 &NY[J Q +9 &PW[Q Q +10 &R{Y[[ R +9 &T=e[C R +10 &UsXYM B +9 &VzV] #e +9 &V&ZZH G +9 ( +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&(1 +3 "core" &V[X\\D C +54 1 +2 "manipulator"&% +3 "core" % " '   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%@& +3 "core" &t +3 "manipulator"&r% +4 "core" %\   + "storage"(% +4 "core" %b } +2 "storage"(?. +3 "core" .( +2 "storage"(\ & +3 "core" & "  +2 "storage"(M& +4 "core" &   +2 "manipulator"&>& +5 "core" &' $ >J +3 "manipulator"&K% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N( +164 "core" ( +2 "manipulator"&4& +3 "core" &  Y  +2 "storage"(,& +4 "core" & I  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +94 "core" ' +2 "storage"(+& +4 "core" & i  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & F  +2 "manipulator"& & +4 "core" & X  +2 .tElbow.seek 3 + "manipulator"&)( +4 "core" ( +2 "manipulator"&$& +3 "core" &  g  +2 "storage"(& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&b& + "storage"(2'X +6 "core" & w  +48 "manipulator"&%% +6 "core" % ϲ  +3 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A(s +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +142 "core" ( +3 "manipulator"&`& +5 "core" &q z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&R' +103 "core" ' +2 "manipulator"&Y& +3 "core" &q 9 +3 "manipulator"&H% +3 "core" %  X +2 "processing"%3& +5 "core" &q +2 "processing"%t& +5 "core" &g +2 .tPC.seek :closed +2 "processing"%B(Z +3 "core" &s  +10 &6s )w +9 &ju = +10 &{x G +9 &khz G +9 &,fv G +10 &hv G +9 &gy G +9 &sis G +10 &5lx G +9 &jx F +10 & hy G +9 &"zfu G +9 &$=hy G +10 &%ex G +9 &'hz G +9 &)my G +10 &+Ehy G +9 &-my G +10 &.gu G +9 &0gx G +9 &2Mhz G +10 &4kx G +9 &5gx F +9 &7go F +10 &9Uir G +9 &;es G +10 &<gv G +9 &>gs G +9 &@]gv G +10 &B fn F +9 &Ciq G +9 &Emx G +10 &G_wj I +9 &Ii K +10 &Ji L +9 &Lh L +9 &N`h K +10 &Pk L +9 &Qh L +9 &Sh L +10 &Ucc M +9 &W&g M +10 &Xh M +9 &Z8Dfh %l +9 &Z 0b ! +6 ( + "processing"%t& +4 "core" &Zn ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open + "manipulator"&11 +61 "core" 1 +2 "manipulator"&C% +3 "core" %   k X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 "processing"%D& +3 "core" &Zi ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&:% +3 "core" %\  2 +3 "storage"(a% +3 "core" %S  +2 "storage"(n. +4 "core" .( + "storage"(=& +4 "core" &   +2 "storage"(p& +3 "manipulator"&!& +8 "core" &   + &q  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&x(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'i +2 "core" ( +3 "manipulator"&J& +3 "core" &q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q 9 +3 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / +3 .tPC.seek :open + "processing"%9( +85 "core" ' + "storage"(\\- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'y +47 "core" ' +291 ( + "storage"(g& +4 "core" &   +2 "manipulator"&d& +3 "core" &q | +2 "manipulator"&6% +4 "core" % x +2 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&{( +270 "core" ( +2 "manipulator"&T& +4 "core" & $ * + "storage"(S& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +100 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(U- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +48 "storage"(w- +4 "core" -' +2 "storage"(7& +3 "core" &\ O\ Q  +3 "manipulator"&& +3 "core" & u +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"& & +3 "core" &  " x +3 "storage"(l& +3 "core" &\ [\ Y M  +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +21 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(I' +68 "core" ' +2 "manipulator"&^& +4 "core" & - x +2 "storage"(& +3 "core" & +  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&o'} +20 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&#% +3 "core" %΃ _ +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&L'ϯ +20 "core" ' +2 "manipulator"&& +3 "core" & _ x +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +28 "core" ' + "storage"(i% +5 "core" %n  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %E\\ p h QI +2 "manipulator"&V% +4 "core" %3  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +4 "core" & L  +2 "collection"'& +3 "core" &VZ\\[ C +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&8% +4 "core" %\  , +2 "storage"(m% +3 "core" %_ M +2 "storage"(v. +4 "core" .( + "storage"(Z& +4 "core" &  +2 "storage"(*& +4 "core" & m  +2 "manipulator"&y& +3 "core" & c x +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&}& +3 "core" & x +3 "storage"(u& +4 "core" & u  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +95 "core" ' +2 "storage"(& +3 "core" & p  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +284 "core" ' + "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  x +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +22 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('S +27 "core" ' +2 "manipulator"& % +3 "core" %΀ +2 "storage"(-& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +19 "core" ' + "manipulator"&.& +5 "core" & n x + "storage"(W& +4 "core" & <  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +37 "core" ' +2 "manipulator"&@& +47 "core" & x +5 "manipulator"&r% +3 "core" %=  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +162 "core" ( + "manipulator"&\ & +4 "core" &$ /  ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +4 "core" &#   ;8 +3 .tForearm.seek CC + "manipulator"&"'" +94 "core" ' + .tHand.close +2 "manipulator"&>/ +59 "core" / +2 .tCC.seek :open +2 "collection"'K( +420 "core" ( +2 "storage"(;& +3 "core" &  +3 "storage"(4& +4 "core" &  +2 "manipulator"&,& +3 "core" &$  ;4 +2 "manipulator"&+% +3 "core" % 2  +3 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E( +160 "core" ( +2 "manipulator"&& +3 "core" & f  +2 "storage"(G& +4 "core" & Z  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"& '} +102 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&O% +3 "core" % ΀ # W +2 "storage"(b& +4 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&%'Ϭ +20 "core" ' +2 "manipulator"&N& +4 "core" & ?  +2 "storage"(&& +4 "core" & X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +17 "core" ' + "storage"(F% +5 "core" %I {  +2 ."downElevator"SE.seek :down +4 "storage"(`'X +98 ( % +3 "core" %PQ " OD +2 "manipulator"&)% +4 "core" %3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'H& +4 "core" &Z[< +2 "manipulator"&3% +3 "core" %\    +3 "storage"(2% +4 "core" %` + "storage"(X. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(s( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" & F +2 "manipulator"&C& +3 "core" & Z  +2 .tElbow.seek 2 +2 "manipulator"&D( +41 "core" ( + "manipulator"&:& +4 "core" & Y 6 +2 "storage"(a& +3 "core" & V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +94 "core" ' + "storage"(=& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +274 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +2 "core" & - +3 "manipulator"&J& +4 "core" &  6 + .tElbow.seek 2 +2 "manipulator"&( +19 "core" ( +3 "manipulator"&R& +3 "core" &  G  +2 "storage"(k& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&\\' +48 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&]& + "storage"(B'X +8 "core" &   + "manipulator"&q% +4 "core" %  & @ +3 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&6& +5 "core" &% =  <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &% <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'" +94 "core" ' +3 "manipulator"&S& +3 "core" &%  <> +3 "manipulator"&x% +3 "core" %& +3 "collection"'& +4 "core" &[[N +2 "collection"'U& +5 "core" &XYG +3 .tCC.seek :closed + "collection"'w(V +5 "core" &XZk  +8 &7X[F )v +10 &\ kX[= = +9 &pX[> G +10 &jfYYB F +9 &,bZZ? F +9 &hY[F F +10 &gYZO F +9 &qeZ[L G +9 &4eXZ@ F +10 &bXYD F +9 & gX[C F +9 &"yeW[R G +10 &$;eXZZ G +9 &%fYZH F +10 &'cYZ@ F +9 &)gZ[8 F +9 &+DfZZ3 F +10 &-bY\\; F +9 &.eZZT G +9 &0gX[G F +10 &2LbW[8 F +9 &4 fY[ G +10 &5eXZD F +9 &7bW\\T F +9 &9SeY\\C G +10 &;eX[5 F +9 &<hWZM F +2 "Can"h Hu$  +8 "core" &>gX[F G +9 &@\\fX[2 F +9 &BcY[6 F +10 &CjX\\d F +9 &EmZ\\9 G +9 &G^}X\\ I +10 &I[Z5 J +9 &JX[a P +9 &LWY: P +10 &NP[[ P +9 &PZY` Q +10 &QZ[L Q +9 &S[[F R +9 &URZ\\9 D +10 &Vk@[\\= , +9 &VjZZ: C +5 ( +2 "collection"'U& +4 "core" &V`X[D C +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&h1 +62 "core" 1 +4 "manipulator"&7% +4 "core" % &  7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +3 "core" &f +2 "manipulator"&l% +4 "core" %\ !  3 +2 "storage"(^% +3 "core" %` s +2 "storage"(. +4 "core" .( + "storage"(c& +4 "core" & q +2 "storage"(& +4 "core" & j s  +2 "manipulator"&#& +3 "core" &% <= +2 "manipulator"&% +5 "core" %\  3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" & $ '  +2 "storage"({& +4 "core" & O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +96 "core" ' + "storage"(|& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & B +2 "manipulator"&f& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&I& +3 "core" &  +2 "storage"(o& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&L' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(8'X +8 "core" &  + "manipulator"&m% +4 "core" %  @ +2 .tForearm.seek :retract +2 "manipulator"&v'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&Z& +5 "core" &h [ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +48 &*& +5 "core" &h 3 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +97 "core" ' +2 "manipulator"&}& +3 "core" &h  ~ 7 +3 "manipulator"&u% +4 "core" % s +2 "processing"%j& +3 "core" &n +3 "processing"%& +5 "core" &m +3 .tPC.seek :closed + "processing"%(Z +5 "core" &n +8 &?l #b +9 &[o 6 +9 &p H +10 &hu G +9 &iy G +10 &\\gt G +9 &gy F +9 &hz G +10 &jy G +9 &chx G +9 & %iy G +10 &!hx G +9 &#hx G +10 &%lhx G +9 &'.h{ G +9 &(hy G +10 &*fx G +9 &,six G +9 &.5iy G +10 &/gy F +9 &1gx G +10 &3{gw G +9 &5>hs G +9 &6ew G +10 &8gx G +9 &:hs G +9 &hk G +9 &?ij F +10 &Ahq G +9 &CMjl G +9 &Ekl G +10 &Frk H +9 &Ho J +9 &JGl L +10 &Ll L +9 &Mh L +10 &Ok L +9 &QMh M +9 &Se M +10 &Tc M +9 &Vg M +9 &XRh N +10 &Ywwh "j +9 &Z+t` + +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&e1 +2 "core" &Zc +57 1 +2 "manipulator"&% +3 "core" % $ " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 "processing"%& +4 "core" &Z] +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +5 "core" %\   +2 "storage"(5% +3 "core" %Q 2 +2 "storage"( . +3 "core" .( +2 "storage"(-& +3 "core" &  +3 "storage"(.& +2 "manipulator"&W& +6 "core" &  +2 &h y 7 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(@'i +2 "manipulator"&r(s +12 "core" ( +2 "manipulator"&_& +3 "core" &i # $ s +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &i ) s +2 .tForearm.seek PC +2 "manipulator"&/' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%( +75 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'y +50 "core" ' +295 ( +2 "storage"(M& +5 "core" &  +2 "manipulator"&(& +3 "core" &i  s +2 "manipulator"&'% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&>'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +266 "core" ( + "manipulator"&0& +5 "core" & #  + "storage"(;& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +97 "core" ' +3 .tHand.open + "manipulator"&,1 +60 "core" 1 +2 "storage"(+- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(?& +3 "core" & \ Q\ Q +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&O( +4 "core" ( +2 "manipulator"&b& +3 "core" & T  +2 "storage"(N& +4 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"&&'ќ +51 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +58 "core" ' +2 "manipulator"&<& +3 "core" & 4  +2 "storage"( & +5 "core" & A + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&)' +27 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +22 "core" ' + "manipulator"&H% +4 "core" %  +2 "storage"(3& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&%' +20 "core" ' + "manipulator"&2& +5 "core" &  >  + "storage"(X& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +3 "storage"(P% +3 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(`'X +99 ([% +3 "core" %W f k PH +2 "manipulator"&1% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (:& +4 "core" & I +2 "collection"'a& +3 "core" &V_Y\\3 C +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&=% +4 "core" %\ ! x 6 +2 "storage"($% +3 "core" %`  +3 "storage"(Y. +3 "core" .( +2 "storage"(!& +3 "core" &  +2 "storage"(p& +4 "core" &  +2 "manipulator"&J& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&R( +4 "core" ( +2 "manipulator"&k& +4 "core" & $ 6  + "storage"(A& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +94 "core" ' +2 "storage"(q& +3 "core" & y +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'i +283 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" &   +2 "storage"(Q& +4 "core" & Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +20 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(x'S +28 "core" ' + "manipulator"&% +4 "core" % w +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&B' +19 "core" ' +2 "manipulator"&g& +3 "core" & h  +2 "storage"(K& +4 "core" & @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&h'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(7'B +42 "core" ' +2 "manipulator"& & +3 "core" & 9  +2 "manipulator"&l% +4 "core" %ў ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +153 "core" ( +2 "manipulator"&& +3 "core" & - = 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &c& +47 "core" & % 4 6 +6 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 .tHand.close + "manipulator"&#/ +63 "core" / +2 .tCC.seek :open + "collection"'( +418 "core" ( + "storage"(T& +4 "core" & m +2 "storage"(& +4 "core" & +2 "manipulator"&{& +3 "core" & 6 +2 "manipulator"&|% +5 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&d'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( +2 "manipulator"&& +3 "core" &  2  +2 "storage"(V& +4 "core" & " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&f' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&o1 +53 "core" 1 +2 "manipulator"&~% +3 "core" % # G +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&m' +20 "core" ' +2 "manipulator"&& +4 "core" & B  +2 "storage"(i& +4 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +19 "core" ' +2 "storage"(L% +3 "core" %K +3 ."downElevator"SE.seek :down +4 "storage"(Z'X +98 (*% +3 "core" %XT e PG +2 "manipulator"&% +4 "core" %т g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'u& +3 "core" &Y[C +2 "manipulator"&j% +5 "core" %\    + "storage"(8% +5 "core" %P  + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(9( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +3 "core" & N  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&& +3 "core" & ^ W +2 "storage"(5& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +97 "core" ' +2 "storage"(-& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +282 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Q  +2 "manipulator"&_& +3 "core" &  W +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&y& +4 "core" & i W +2 "storage"(& +3 "core" & V  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"('X +8 "core" & _ W +2 "manipulator"&@% +3 "core" % ϰ  +3 .tForearm.seek :retract + "manipulator"&M'\ +99 "core" ' +44 .tElbow.seek CC +6 "manipulator"&(( +101 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +64 "core" ( +2 "manipulator"&'& +3 "core" &(  M ! ?V +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &( ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +99 "core" ' +4 "manipulator"&;& +5 "core" &)  ?V +2 "manipulator"&r% +4 "core" %+ +2 "collection"',& +3 "core" &[\\I +3 "collection"'+& +6 "core" &Z[R +2 .tCC.seek :closed +2 "collection"'"(V +3 "core" &X[J +8 &IX[N #c +9 &\\X[L 6 +9 &X[R G +10 &bYZM F +9 &fY[S F +9 &gbY[Y F +10 &'fYYR G +9 &eX[C F +9 &gX[B F +10 &nfZ[A F +9 & 1b[\\H F +10 &!eY[O F +9 &#bWZC F +9 &%ueYZH G +10 &'9dY[B F +9 &(eVY? F +10 &*bZ\\O F +9 &,~eX[> F +9 &.?eZ[@ G +10 &0eW\\@ F +9 &1fX[C F +9 &3bX[6 F +10 &5IeZ[: F +9 &7\ fZ\\_ F +10 &8aY[< F +9 &:eZ[> F +9 &fX]2 F +9 &?cY[8 F +9 &AeX\\: G +10 &CXgX^> F +9 &EkW[_ F +10 &FxXZ? H +9 &HZ[6 J +9 &JHY\\? O +10 &LY\\: P +9 &M[[7 P +9 &O[^4 Q +10 &QIY[5 Q +9 &SY]2 R +9 &T[]? R +10 &V=iX\\= / +9 &V Z[G 8 +10 &WbW\\C > +5 ( +2 "collection"'+& +3 "core" &WHZ\\B > +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&?1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%N& +4 "core" &n +2 "manipulator"&>% +4 "core" %\ \ C  +2 "storage"(<% +3 "core" %b  +2 "storage"( . +4 "core" .( + "storage"(\ & +4 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&H& +4 "core" &( : ?U +2 "manipulator"&3% +3 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&2( +166 "core" ( +2 "manipulator"&X& +3 "core" & Z J +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +91 "core" ' +2 "storage"(4& +3 "core" & L  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +283 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & P  +2 "manipulator"&&& +4 "core" & { J +2 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&F& +3 "core" & 7 J +2 "storage"()& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&%'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(='X +8 "core" & F J +2 "manipulator"&$% +4 "core" % q L +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +4 "manipulator"&!& +3 "core" &z    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &z   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&J' +96 "core" ' +2 "manipulator"&k& +3 "core" &z =  +2 "manipulator"&A% +5 "core" %  7 +2 "processing"%& +4 "core" &i +2 "processing"%q& +55 "core" &m +2 &h +2 &k + &w + &q + &k + &s +2 .tPC.seek :closed +3 "processing"%`(Z +2 "core" &w +7 &o 7 +9 &INx . +9 &xt C +10 &7ly G +9 &hu G +9 &gy G +10 &~ku G +9 &@ew G +9 &hy F +10 &hy G +9 &jx F +10 &!Hjx G +9 &# hy G +9 &$iv G +10 &&ey G +9 &(Qhx F +9 &*hs G +10 &+hv G +9 &-ix F +10 &/Xhx G +9 &1lx G +9 &2ku G +10 &4ew G +9 &6`eu G +10 &8"eq G +9 &9he G +9 &;fo F +10 &=hhk G +9 &?)jl G +9 &@gp G +10 &Bkq G +9 &Donu G +9 &F/ri H +10 &Gl I +9 &Is K +10 &Kii L +9 &M,j L +9 &Nk L +10 &Pg L +9 &Roj M +10 &T2b L +9 &Uc M +9 &Wd M +10 &Yvh : +9 &Ze5i !b +9 &Z] +3 ( + "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&E1 +57 "core" 1 +2 "manipulator"&C% +3 "core" % $ 6 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' +2 "processing"%6& +3 "core" &Zj +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %\   +2 "storage"(S% +4 "core" %V 6 +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(g& +3 "manipulator"&K& +6 "core" &  + &z G  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"& (s +7 ."raiseStack"SE.seek :beamBreak + "storage"(l'i +3 "core" ( +2 "manipulator"&]& +3 "core" &z a  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &z , '  +3 .tForearm.seek PC +2 "manipulator"&D' +94 "core" ' +2 .tHand.close +2 "manipulator"&t/ +58 "core" / +2 .tPC.seek :open +2 "processing"%B( +87 "core" ' +2 "storage"(x- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +292 ( +2 "storage"(c& +4 "core" & O  +3 "manipulator"&h& +4 "core" &z 9  + "manipulator"&\\% +4 "core" % u +3 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +268 "core" ( + "manipulator"&w& +4 "core" & c  +2 "storage"(T& +3 "core" & 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 .tHand.open +2 "manipulator"&{1 +56 "core" 1 +3 "storage"(|- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(U& +4 "core" &\ J\ O E  + "manipulator"&o& +4 "core" & T  +2 .tElbow.seek 3 +2 "manipulator"&~( +8 "core" ( +2 "manipulator"&& +3 "core" &  U w +2 "storage"(& +4 "core" &\ G\ N S  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(L' +58 "core" ' + "manipulator"&d& +4 "core" &  w +2 "storage"(*& +4 "core" & g  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +47 "manipulator"&'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +23 "core" ' +2 "manipulator"&m% +4 "core" %Ί } +2 "storage"(u& +3 "core" & O  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&j'϶ +20 "core" ' + "manipulator"&8& +4 "core" & x w +2 "storage"(v& +4 "core" & a  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +39 "core" ' +3 "storage"(% +3 "core" %m   +3 ."downElevator"SE.seek :down +4 "storage"(Z'X +98 (s% +3 "core" %X {  QJ +2 "manipulator"&e% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & /  +2 "collection"'5& +4 "core" &WEZ\\8 > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&-% +3 "core" %\    +3 "storage"(I% +3 "core" %V . +2 "storage"(}. +4 "core" .( + "storage"(W& +4 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&_& +3 "core" &  w +3 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +2 "manipulator"&& +4 "core" & c w + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +86 "core" ' + "storage"(@& +4 "core" & U  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & w +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&''} +26 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'R +28 "core" ' +2 "manipulator"&r% +3 "core" %Ή  +2 "storage"(,& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +20 "core" ' +2 "manipulator"&M& +3 "core" & ' w +3 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +39 "core" ' +2 "manipulator"&N& +3 "core" & S w +2 "manipulator"&>% +5 "core" %B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +156 "core" ( +3 "manipulator"&+& +3 "core" &" $ 4 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &" I 9$ +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 .tCC.seek :open +2 "collection"'3( +417 "core" ( +2 "storage"(0& +3 "core" & <  +2 "storage"(X& +4 "core" & #  +46 "manipulator"&& +5 "core" &"  9$ +3 "manipulator"&4% +4 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&('\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&b( +163 "core" ( +2 "manipulator"&[& +3 "core" &   f +2 "storage"(1& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&&'} +99 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&)1 +63 "core" 1 +4 "manipulator"&:% +4 "core" % ΄ # +2 "storage"(a& +3 "core" & !  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&$'ϰ +20 "core" ' +2 "manipulator"&2& +3 "core" & X f +2 "storage"(P& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&G'9 +24 "core" ' +2 "storage"(%% +4 "core" %K  +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (p% +3 "core" %kR OE +2 "manipulator"&O% +4 "core" %P R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'A& +3 "core" &[\\B +2 "manipulator"&% +4 "core" %\ " D : +3 "storage"(=% +4 "core" %b  +2 "storage"(Y. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" & | J +3 "manipulator"&C& +4 "core" &  f + .tElbow.seek 2 +2 "manipulator"&6( +44 "core" ( + "manipulator"&Q& +4 "core" &\ $  O +2 "storage"(S& +3 "core" & & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(& +4 "core" & e +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +279 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & Q +2 "manipulator"&]& +4 "core" &\ Y O +2 .tElbow.seek 2 +2 "manipulator"&R( +29 "core" ( +2 "manipulator"&J& +4 "core" & I o +2 "storage"(t& +3 "core" & < +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(`'X +8 "core" & 7 o +2 "manipulator"&l% +4 "core" %  : u +2 .tForearm.seek :retract +2 "manipulator"&c'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&\\& +5 "core" &* ' 8 @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &*  @Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +47 "manipulator"&w'" +100 "core" ' +2 "manipulator"&T& +3 "core" &* Y @Z +3 "manipulator"& % +3 "core" % 0 S +3 "collection"'{& +3 "core" &YZT +3 "collection"'|& +5 "core" &Y[Q +2 .tCC.seek :closed +3 "collection"'(V +3 "core" &Y[O +6 &[\\Z 7 +10 &KMZ\\R / +9 &|Z^L D +9 &FcX[P F +10 & bZ\\O F +9 &g[\\O G +10 &e[\\R F +9 &MfZ\\K G +9 &eYZP F +10 &g[[Z F +9 &eY\\R F +9 &!WbY\\Q F +10 &#eY\\S F +9 &$bY\\S F +10 &&eX]T G +9 &(_dX\\Q F +9 &* fZ]S F +10 &+g[\\Q F +9 &-e[[S F +9 &/efY[E G +10 &1(eY\\O F +9 &2h[[D F +9 &4fZ]I F +10 &6ogX[I F +9 &80eZ[K F +10 &9f[]Q G +9 &;e[[E F +9 &=vcX\\@ F +10 &?8h[\\L F +9 &@g[Z@ F +10 &BcY]E F +9 &D}jY\\F G +9 &F<rY\\B H +10 &GZ]G I +9 &IZ\\R L +9 &Kh[]Q Q +10 &M*Z]H Q +9 &N[]@ P +10 &PX]A Q +9 &RnY]A Q +9 &T-Z\\D R +10 &U{Y[G 9 +9 &V6[\\B b +9 &VS[]@ @ +3 ( + "collection"'|& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open + "manipulator"&U1 +55 "core" 1 +3 "manipulator"&o% +3 "core" % & < M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &u +2 "manipulator"&#% +5 "core" %\ # ? + "storage"(d% +5 "core" %b d d S + "storage"(*. +3 "core" .( +2 "storage"(& +4 "core" & e d 8 +2 "storage"(& +4 "core" & c ` U +2 "manipulator"&m& +3 "core" &) @Z +3 "manipulator"&u% +4 "core" %\ # ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +154 "core" ( +2 "manipulator"&v& +3 "core" & $ e  +3 "storage"(^& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(V& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" & % +2 "manipulator"&e& +4 "core" & \  +2 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&L& +3 "core" & X  +2 "storage"(& +4 "core" & ( +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& +2 "storage"(-'X +8 "core" &   +2 "manipulator"&I% +3 "core" %  M U +3 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&W& +4 "core" &q ! 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q k +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&_' +94 "core" ' +2 "manipulator"&& +9 "core" &q f + "manipulator"&% +4 "core" % J ? +2 "processing"%7& +5 "core" &g +2 "processing"%@& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%Z(Z +5 "core" &q +6 &?l #a +9 &[n 6 +10 &w H +9 &hq G +9 &hw F +10 &_gp G +9 &!iy G +10 &fz G +9 &jy G +9 &gmz G +10 & )hy G +9 &!gy F +9 &#gz G +10 &%okz G +9 &'1gy G +10 &(gz G +9 &*ky G +9 &,xhx F +10 &.9hy G +9 &/jy G +9 &1dx G +10 &3gx F +9 &5Ahy G +10 &7fs G +52 &8fu G +2 &:fx G +2 & ex G + &?es G + &Agq F +6 &CPhk G +10 &Ekp G +9 &Frn H +9 &Hs J +10 &JIl L +9 &L\ p M +9 &Mp L +10 &Ok M +9 &QPj M +10 &Sq M +9 &Tj M +9 &Vl M +10 &XVh M +9 &Ywwj "k +9 &Z'kc * +10 ( + &Z` ! +2 "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" % # Q ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 "processing"%.& +4 "core" &Zc ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(;% +4 "core" %T  +2 "storage"(r. +3 "core" .( +2 "storage"(,& +3 "core" & ) +3 "storage"(M& +2 "manipulator"&& +6 "core" & +2 &q  @ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(N'i +3 "manipulator"&>(s +5 "core" ( +2 "manipulator"&z& +3 "core" &q # R +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &q P +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&'/ +53 "core" / +2 .tPC.seek :open +3 "processing"%( +86 "core" ' + "storage"( - +3 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'y +34 "core" ' +302 ( +2 "storage"(\ & +3 "core" &  +2 "manipulator"&?& +4 "core" &q +2 "manipulator"&/% +4 "core" % M  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&<( +249 "core" ( + "manipulator"&"& +4 "core" &\ " Z +2 "storage"(0& +3 "core" & t 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +100 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(4- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"( & +3 "core" & \ Q\ Q E +2 "manipulator"&)& +4 "core" &\ { Y +2 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&a& +3 "core" &\ Y +3 "storage"(2& +3 "core" & \ P\ O +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(%' +57 "core" ' + "manipulator"&(& +4 "core" &\  Y +2 "storage"(p& +3 "core" & 2 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&O' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(&'i +23 "core" ' +2 "manipulator"&$% +3 "core" %  | +2 "storage"(A& +5 "core" & C + .tForearm.force -20 + "manipulator"&5 +48 .tForearm.seek 2 + 320 counts +3 "manipulator"&' +21 "core" ' +2 "manipulator"&=& +3 "core" &\ u X +3 "storage"(Y& +3 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 "storage"(G% +3 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"(!'X +100 (9% +3 "core" %Y w p PI +2 "manipulator"&E% +3 "core" %Ѡ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +3 "core" & t +2 "collection"'S& +4 "core" &VT\\]D @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ # % < +2 "storage"(F% +4 "core" %S  +2 "storage"(k. +3 "core" .( +2 "storage"(K& +4 "core" &  +2 "storage"(g& +3 "core" &  +2 "manipulator"&]& +5 "core" &\ * X + .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&t& +3 "core" &\ ' - X +3 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +98 "core" ' + "storage"(l& +5 "core" & ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +278 "core" ' +3 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &\  X +2 "storage"(D& +4 "core" & - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q' +23 "core" ' +2 .tElbow.hold + "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(T'R +27 "core" ' + "manipulator"& % +4 "core" %  + "storage"({& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&`' +19 "core" ' +2 "manipulator"&c& +3 "core" &\ $ = X +2 "storage"(3& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +21 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(o'A +38 "core" ' +2 "manipulator"&& +3 "core" &\  X +7 "manipulator"&#% +3 "core" %~  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +8 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +159 "core" ( +3 "manipulator"&& +3 "core" && 7 l =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" && ? =F +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 .tHand.close + "manipulator"&m/ +53 "core" / +2 .tCC.seek :open +2 "collection"'u( +414 "core" ( +2 "storage"(w& +3 "core" & H +2 "storage"(v& +4 "core" & +2 "manipulator"&^& +4 "core" && @ =E +2 "manipulator"&V% +3 "core" % & +3 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&i& +3 "core" & #   +2 "storage"(s& +43 "core" & +9 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&e' +102 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +4 "manipulator"&% +3 "core" % ~ +2 "storage"(5& +5 "core" & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&I' +20 "core" ' +2 "manipulator"&8& +3 "core" & D  +2 "storage"(& +4 "core" & - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +19 "core" ' +2 "storage"(j% +3 "core" %F 6 +3 ."downElevator"SE.seek :down +4 "storage"(W'X +98 (% +3 "core" %U l PG +2 "manipulator"&~% +5 "core" %Ѣ ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &XZS +2 "manipulator"&7% +3 "core" %\  9  +3 "storage"(-% +3 "core" %Q ' +2 "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(B( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & *  +2 "manipulator"&& +3 "core" & =  +3 .tElbow.seek 3 + "manipulator"&.( +20 "core" ( +2 "manipulator"&& +3 "core" & . M +2 "storage"(;& +4 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +90 "core" ' +2 "storage"(,& +3 "core" & 1  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'i +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +2 "core" &  +3 "manipulator"&z& +3 "core" & $ M +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&_& +4 "core" &  M +2 "storage"('& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(Z'X +8 "core" &  M + "manipulator"&N% +5 "core" % ϧ  +2 .tForearm.seek :retract + "manipulator"&\ '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&?( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( + "manipulator"&/& +4 "core" &' 9 g >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'" +104 "core" ' +2 "manipulator"&0& +4 "core" &( R >L +2 "manipulator"&>% +3 "core" %*  V +4 "collection"'& +3 "core" &Z\\S +3 "collection"'4& +5 "core" &ZZS +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &X]R +6 &BY\\P $e +9 &_X[P 7 +9 &1\\[O G +10 &c[ZP F +9 &bY]S F +9 &xdY\\R F +49 &;gY\\P F +4 &eZ\\V F +2 &eX[O F + &aZ[O F + & BeY[M F +2 &"eZ\\P F +7 &#aY[Q F +9 &%eZ]T F +10 &'KfX\\T F +9 &) eY[S F +10 &*e[\\R F +9 &,dZ^Q F +9 &.S`X\\N F +10 &0dZ\\M F +9 &1d[\\R F +9 &3g[\\I F +10 &5[eX\\P F +9 &7eY[O F +10 &8eXZP G +9 &:eX\\P F +9 &%bY[L F +9 &?e[[S F +9 &AcZ[S F +10 &Cig[\\R G +9 &E+nZ[S G +10 &FvY\\Q H +9 &HY[Q J +9 &JYY]P O +10 &LY\\P P +9 &MZ]M P +9 &O[]P Q +10 &Q\\[]P Q +9 &SZ]J R +10 &Te\\Q R +9 &VEb[\\Q , +9 &V!Y]Q Z +10 ( + &VgY\\F I +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"& 1 +59 "core" 1 +3 "manipulator"&)% +5 "core" % + U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%2& +5 "core" &s + "manipulator"&H% +4 "core" %\ #  = +2 "storage"((% +4 "core" %Y e f v +2 "storage"(p. +3 "core" .( +2 "storage"($& +3 "core" & e e  +2 "storage"(+& +5 "core" & f h  + "manipulator"&A& +4 "core" &&  =G +2 "manipulator"&[% +3 "core" %\ # = +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=( +165 "core" ( +2 "manipulator"&Y& +4 "core" & # ` +2 "storage"(<& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +96 "core" ' +2 "storage"(G& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'i +279 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &   +2 "manipulator"&E& +5 "core" &  ` + .tElbow.seek 3 +2 "manipulator"&:( +4 "core" ( + "manipulator"&%& +4 "core" &  ` +2 "storage"(O& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"('X +8 "core" & % ` +2 "manipulator"&F% +3 "core" % ϸ  Y +3 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&K& +3 "core" &s 9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +2 "core" &s  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&]' +100 "core" ' +2 "manipulator"&t& +3 "core" &s $ x +3 "manipulator"& % +3 "core" %  +2 "processing"%& +5 "core" &s +2 "processing"%l& +5 "core" &r +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" &o +6 &?w #a +10 &Yp 5 +9 &v G +9 &dw F +10 &hx G +9 &Ufx G +9 &gz G +10 &j{ G +9 &jz F +10 &^hy G +9 & !hz F +9 &!gy G +10 &#ey G +9 &%fhz G +9 &'(ky G +10 &(gx F +9 &*gy G +10 &,mey G +9 &.0gz G +9 &/iy G +10 &1dz G +9 &3vgy G +10 &57kx G +9 &6gy F +9 &8gy F +10 &:~es G +9 &<@ix G +9 &>iq G +10 &?kj G +9 &Aex G +9 &CHjq G +10 &E lo G +9 &Fvy H +10 &Hw J +9 &JAu L +9 &Lv L +10 &Mt L +9 &Ox L +10 &QGy M +9 &S t M +9 &Tl M +10 &Vl M +9 &XNq M +9 &Yxwc !i +10 &Z.c 0 +9 ( + &Zj  +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&b1 +56 "core" 1 + "manipulator"&C% +5 "core" % X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +4 "manipulator"&'\ +99 "core" ' +2 "processing"%\\& +4 "core" &Z^  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&D% +5 "core" %\ "  > + "storage"(R% +4 "core" %P e e ] +2 "storage"( . +3 "core" .( +2 "storage"({& +3 "core" & c f d  +3 "storage"(c& +2 "manipulator"&3& +6 "core" & e f b  +2 &s w +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&#(s +7 "core" ( + "manipulator"&n& +4 "core" &s _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &s ; +2 .tForearm.seek PC +2 "manipulator"&6' +100 "core" ' +3 .tHand.close + "manipulator"&q/ +52 "core" / +2 .tPC.seek :open +3 "processing"%`( +87 "core" ' +2 "storage"(T- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +35 "core" ' +297 ( + "storage"(|& +5 "core" & P  + "manipulator"&U& +6 "core" &s z +2 "manipulator"&x% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +249 "core" ( + "manipulator"&& +4 "core" & $ 3 h +2 "storage"(w& +3 "core" & R  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +92 "core" ' +2 .tHand.open + "manipulator"&^1 +63 "core" 1 +3 "storage"(V- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(i'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(*& +4 "core" &\ Q\ P  +2 "manipulator"&& +3 "core" & > h +3 .tElbow.seek 3 + "manipulator"&( +13 "core" ( +2 "manipulator"&5& +3 "core" &  w ! +3 "storage"(8& +3 "core" &\ Q\ Q  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(j' +60 "core" ' +2 "manipulator"&h& +4 "core" &  ! + "storage"(& +4 "core" & (  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(e'i +23 "core" ' +2 "manipulator"&I% +4 "core" %z k +2 "storage"(& +3 "core" & )  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&7'Ϧ +20 "core" ' + "manipulator"&-& +3 "core" & g ! +2 "storage"(f& +4 "core" & C  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +44 "core" ' + "storage"(% +4 "core" %n k  +3 ."downElevator"SE.seek :down +4 "storage"(W'X +99 (% +49 "core" %V r s $ OG +3 "manipulator"&% +4 "core" %b : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +7 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & Z  +2 "collection"';& +4 "core" &Vg[[E I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&,% +3 "core" %\ #  J ? +3 "storage"(L% +4 "core" %a c  + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(@& +4 "core" & ;  +3 "manipulator"&z& +3 "core" &  ( ! +2 .tElbow.seek 3 +2 "manipulator"&_( +9 "core" ( +2 "manipulator"&'& +3 "core" &   +2 "storage"(}& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +96 "core" ' +2 "storage"(N& +4 "core" & 7  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'i +279 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & 9  +2 "storage"(M& +4 "core" & J  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(0'T +33 "core" ' + "manipulator"&>% +4 "core" %΁  +2 "storage"(& +3 "core" & f g p  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&Z'ϭ +21 "core" ' + "manipulator"&\ & +5 "core" &   +2 "storage"(u& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'C +40 "core" ' + "manipulator"&2& +56 "core" &  +2 "manipulator"&H% +3 "core" % U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +162 "core" ( +3 "manipulator"&4& +3 "core" &* - A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +3 "core" &* &  A_ +2 .tForearm.seek CC +2 "manipulator"&+'" +93 "core" ' +2 .tHand.close + "manipulator"&A/ +64 "core" / +2 .tCC.seek :open +2 "collection"'[( +414 "core" ( +2 "storage"("& +3 "core" &  +2 "storage"(Y& +4 "core" & a  +2 "manipulator"&<& +3 "core" &) k ?S +3 "manipulator"&G% +3 "core" % * - +3 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +163 "core" ( +2 "manipulator"&P& +4 "core" & W n + "storage"(9& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&E'} +100 "core" ' +2 .tElbow.hold + "manipulator"&%, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&O1 +61 "core" 1 +2 "manipulator"&Q% +3 "core" % ΅ $ +59 "storage"(S& +6 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&F'ϱ +19 "core" ' +2 "manipulator"&=& +3 "core" & f n +3 "storage"(X& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +28 "core" ' + "storage"(% +4 "core" %L +3 ."downElevator"SE.seek :down +3 "storage"(K'X +99 (g% +3 "core" %R i OE +2 "manipulator"&:% +4 "core" %<  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"' & +3 "core" &[\\P +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %O +2 "storage"(k. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" & 8 +3 "manipulator"&C& +4 "core" &  n +2 .tElbow.seek 2 + "manipulator"&l( +37 "core" ( +2 "manipulator"&\\& +4 "core" & $ ( +2 "storage"(D& +3 "core" & c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +93 "core" ' +2 "storage"( & +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"({'i +280 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" & t +2 "manipulator"&n& +3 "core" & ; % +3 .tElbow.seek 2 + "manipulator"&J( +33 "core" ( +2 "manipulator"&]& +3 "core" &   +2 "storage"(q& +4 "core" & 1 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(!'X +7 "core" & X  +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&|'\ +105 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&x& +3 "core" &' 9  >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &' ! >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +3 "manipulator"&w& +4 "core" &( .  >O +2 "manipulator"&#% +4 "core" % } +2 "collection"'^& +5 "core" &Z\\f +2 "collection"'V& +5 "core" &Y]\\ +3 .tCC.seek :closed + "collection"'(V +4 "core" &X]Q  +9 &:\\\\a *x +10 &.nZ]Y > +9 &pZ\\W G +9 &e[]Y F +10 &TdZ]W F +9 &d[]R F +10 &g[]P F +9 &eX\\R F +9 &\\e[[R F +10 &eY[S G +9 & dY]N F +9 &"fZ^T F +10 &$deZ]M F +9 &&'bY]S F +10 &'fZ\\P F +9 &)cZ]U F +9 &+le\\]O F +10 &-/gY\\^ F +9 &.e\\][ F +9 &0e[\\N F +10 &2tdX]R F +9 &46e\\[P F +10 &5e[\\V G +9 &7dY\\P F +9 &9}e[^S F +10 &;>eZ^R F +9 &=e[\\S F +10 &>b[\\P F +9 &@fZ\\R F +9 &BFeW[R F +10 &DjX\\S F +9 &Eo[]O G +9 &GyZ\\R H +10 &I@Z\\P K +9 &J[ZO P +9 &L\\]R P +10 &Nx[]Q P +9 &P7Z^R Q +10 &Q[^S Q +9 &SZ]Q R +9 &Uu[_W ? +10 &VCZ\\N _ +9 &V[^J O +5 ( +2 "collection"'V& +54 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +5 .Hand.open + "manipulator"&*1 +4 "core" &V~[\\C O + &VZ\\N O + &V[[M O + &V~[[K O + &V^[N O + &V[\\P O +55 1 +2 "manipulator"&% +3 "core" %  H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%8& +3 "core" &q +3 "manipulator"&m% +3 "core" %\  U  +2 "storage"(h% +4 "core" %V z h * +2 "storage"(. +3 "core" .( +2 "storage"(I& +4 "core" & p i +2 "storage"(& +3 "core" & h x  +3 "manipulator"&& +3 "core" &' >N +2 "manipulator"&i% +4 "core" %\  U  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&-( +152 "core" ( +2 "manipulator"&f& +4 "core" & F  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +96 "core" ' +2 "storage"(v& +5 "core" & W +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & w @ +3 "manipulator"&& +4 "core" & 9  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(~& +5 "core" & +2 .tForearm.seek 2 + 300 counts + "manipulator"&7' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&;& + "storage"(,'X +8 "core" &   + "manipulator"&L% +5 "core" % 1 % +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&e& +4 "core" &y C  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &y { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&z' +94 "core" ' +2 "manipulator"&'& +3 "core" &y < +3 "manipulator"&}% +3 "core" % * 0 +2 "processing"%N& +4 "core" &o +3 "processing"%o& +5 "core" &i +2 .tPC.seek :closed +2 "processing"%W(Z +4 "core" &q  +9 &7u )v +9 &ku = +10 &zx G +9 &mgo G +9 &.jx G +10 &hv G +9 &ks G +9 &vhu F +10 &7hw G +9 &my G +10 & hz G +9 &"|ks G +9 &$?hz G +10 &&jz G +9 &'gz G +9 &)iz G +10 &+Ggz G +9 &- hy G +10 &.f{ G +9 &0hy G +9 &2Nky G +10 &4gz F +9 &5hw G +9 &7ey G +10 &9Xhy F +9 &;gw F +10 &<hy G +9 &>jx G +9 &@^lz G +10 &B"gx F +9 &Cjy G +9 &Enx G +10 &Gaxy I +9 &Ir K +10 &Jn L +9 &Lt L +9 &Nav L +10 &P#s L +9 &Qo M +9 &So M +10 &Uft M +9 &W)s L +10 &Xu M +9 &Z9Ccg %m +9 &Z -m " +6 ( + "processing"%o& +4 "core" &Zo " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +3 "core" % $ B 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +91 "core" ' +3 "processing"%/& +3 "core" &Z\\ " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&M% +3 "core" %\  |  +3 "storage"(y% +3 "core" %S z r ? +2 "storage"(>. +3 "core" .( +2 "storage"(& +3 "core" & x < +3 "storage"(\ & +47 "manipulator"&u& +10 "core" & z w H + &y +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]@K-0-\ b +4 .tElbow.seek PC +5 "manipulator"&2(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'i +3 "core" ( + "manipulator"& & +4 "core" &y 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &y * +3 .tForearm.seek PC +2 "manipulator"&.' +95 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%Z( +91 "core" ' +2 "storage"(0- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(4'y +32 "core" ' +297 ( + "storage"($& +4 "core" &  +2 "manipulator"& & +3 "core" &y  +2 "manipulator"& % +5 "core" % t  +2 .tForearm.seek :retract + "manipulator"&A'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&(( +272 "core" ( +2 "manipulator"&& +4 "core" & j  +2 "storage"("& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +96 "core" ' +3 .tHand.open +2 "manipulator"&<1 +52 "core" 1 +2 "storage"(G- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(9' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(+- +3 "core" -' +2 "storage"(p& +3 "core" & \ @\ # a +2 "manipulator"&O& +5 "core" & 1  +2 .tElbow.seek 2 + "manipulator"&Q( +7 "core" ( +2 "manipulator"&S& +3 "core" & K  +2 "storage"(=& +4 "core" & \ #\ #  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(?' +58 "core" ' +2 "manipulator"&& +4 "core" & :  +2 "storage"(a& +3 "core" & > +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&g' +22 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(E'i +23 "core" ' +2 "manipulator"&F% +3 "core" % e +2 "storage"( & +5 "core" & j  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&& +3 "core" & o  +3 "storage"(k& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +25 "core" ' + "storage"(1% +5 "core" %n .  +2 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (B% +5 "core" %W s p  PI +2 "manipulator"&b% +3 "core" %ѯ  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" & - +2 "collection"'D& +4 "core" &V~\\\\F O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +49 "core" %\  b  +3 "storage"(%% +3 "core" %\\  +2 "storage"(t. +4 "core" .( + "storage"(c& +4 "core" &  +2 "storage"(3& +4 "core" & G +2 "manipulator"&n& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&]( +4 "core" ( +2 "manipulator"&q& +3 "core" & (  +2 "storage"(&& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(& +3 "core" & s +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'i +278 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &   +2 "storage"(6& +4 "core" & \\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&{' +25 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(w- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'S +26 "core" ' + "manipulator"&^% +4 "core" %  v +2 "storage"(J& +3 "core" & j f j +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&!' +20 "core" ' +2 "manipulator"&|& +3 "core" & n  +2 "storage"([& +4 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +40 "core" ' + "manipulator"&8& +4 "core" &   +2 "manipulator"&m% +4 "core" %ѣ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +3 "manipulator"&V& +3 "core" &+ A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &+ A_ +3 .tForearm.seek CC + "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'i( +418 "core" ( + "storage"(& +4 "core" & [ +2 "storage"(f& +3 "core" & i +2 "manipulator"&& +4 "core" &* * @^ +2 "manipulator"&v% +4 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&U'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5( +159 "core" ( +2 "manipulator"&& +3 "core" & ?  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +100 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +58 "core" 1 +2 "manipulator"&% +4 "core" % $ v +2 "storage"(;& +3 "core" & +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&L' +19 "core" ' +2 "manipulator"&-& +3 "core" &  +2 "storage"(d& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 2 + 700 counts +8 "manipulator"&s'ќ +26 "core" ' +2 "storage"(7% +4 "core" %H +3 ."downElevator"SE.seek :down +3 "storage"(e'X +100 (@% +2 "core" %=Q r OE +2 "manipulator"&% +5 "core" %ѩ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'}& +3 "core" &Z^S +2 "manipulator"&N% +4 "core" %\  7  +2 "storage"(,% +3 "core" %] ^ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(`( +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & >  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&/( +14 "core" ( + "manipulator"&M& +4 "core" &  Y +2 "storage"(y& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +96 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +282 "core" ' +3 "storage"(\ - +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &  +2 "manipulator"& & +4 "core" &  Y +2 .tElbow.seek 3 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&z& +3 "core" & L Y +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(W'X +7 "core" & ( Y +2 "manipulator"&H% +3 "core" % ϯ  +3 .tForearm.seek :retract +2 "manipulator"&$'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( +2 "manipulator"& & +3 "core" &*  F P @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &* @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 "manipulator"&"& +3 "core" &* /  @Y +3 "manipulator"&2% +3 "core" %"  +3 "collection"'<& +3 "core" &Y]k +3 "collection"'G& +7 "core" &Z]h +2 .tCC.seek :closed +3 "collection"'+(V +2 "core" &Y\\h +7 &AZ]h $d +9 &][]g 6 +10 &[]^ G +9 &d[]W F +10 &fe\\V F +9 &edY\\P F +9 &'e[_Z F +10 &e]]P F +9 &dZ\\Q F +9 &mdY\\] F +10 & /dY[T F +9 &!dX\\Y F +10 &#eZ[V F +9 &%ue[\\W F +9 &'7eY]Z F +10 &(e\\][ F +9 &*eY]R F +9 &,~eZZP F +10 &.@eZ\\U F +9 &0dZ[N F +10 &1eX\\N F +9 &3d\\^S F +9 &5IdY\\U F +10 &7 eY]` F +9 &8cZ\\O F +9 &:dY]X F +10 &e[\\R F +10 &?eZ[O F +9 &AeZ\\P F +9 &CXfZ]Q F +10 &EkX\\\\ G +9 &Fu[[\\ H +9 &HZ[X J +10 &JG[[P O +9 &LX[S P +10 &MY[T P +9 &OZ^X Q +9 &QJZ\\R P +10 &S\\hR R +9 &T[]R R +10 &V:h[\\P / +9 &V[]U / +9 &VZ_K P +2 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&p1 +64 "core" 1 +2 "manipulator"&O% +3 "core" % " / 4  +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +3 "core" &y +2 "manipulator"&A% +49 "core" %\   +4 "storage"(% +5 "core" %V z { + "storage"(a. +3 "core" .( +2 "storage"(F& +3 "core" & p z  +2 "storage"(4& +4 "core" & z z  +2 "manipulator"& & +4 "core" &) @Y +2 "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P( +163 "core" ( +2 "manipulator"&k& +3 "core" & ! w l +2 "storage"(1& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +97 "core" ' +2 "storage"(Y& +3 "core" & K  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(9'i +281 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & ;  +2 "manipulator"&X& +4 "core" & q l +2 .tElbow.seek 3 +2 "manipulator"&Q( +2 "core" ( +2 "manipulator"&?& +4 "core" &  t l +2 "storage"(g& +4 "core" & 5  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&\\/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"( 'X +9 "core" & t l + "manipulator"&E% +3 "core" % ϭ g +3 .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&c& +3 "core" &x  O  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +106 "core" ' + "manipulator"&q& +5 "core" &x $ S  + "manipulator"&&% +4 "core" % +3 "processing"%)& +3 "core" &q +3 "processing"%& +5 "core" &u +2 .tPC.seek :closed +2 "processing"%K(Z +5 "core" &} +6 &>p #b +9 &[u 6 +9 & G +10 &c{ F +9 &hq G +9 &\\jt G +10 &gv F +9 &go G +10 &hp F +9 &djw G +9 & 'iu F +10 &!hx G +9 &#fz G +9 &%lhu G +10 &'-kz G +9 &(hz F +10 &*gz G +9 &,uhy F +9 &.6jz G +10 &/ey G +9 &1gx F +9 &3|gz G +10 &5=ey G +9 &7gx G +10 &8jx G +9 &:gx F +9 &jy G +9 &?kx G +9 &Agy F +10 &CNhk G +9 &Eky G +10 &Fuv H +9 &Hy J +9 &JGw L +10 &L x L +9 &Mr L +9 &Oq L +10 &QNy L +9 &Ss M +10 &Tw M +9 &Vp M +9 &XVp L +10 &Ywxt "j +9 &Z*uq , +9 ( +2 "processing"%& +3 "core" &Zj  +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&:1 +65 "core" 1 + "manipulator"&C% +4 "core" % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +98 "core" ' +3 "processing"%x& +3 "core" &Z_  +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&6% +3 "core" %\ \   +2 "storage"(w% +4 "core" %W t B +2 "storage"(^. +3 "core" .( +2 "storage"(J& +4 "core" & "  +2 "storage"(|& +2 "manipulator"&[& +8 "core" &  + &x L  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&8(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'i +3 "core" ( +2 "manipulator"&& +3 "core" &x n  +42 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &]& +2 "core" &x }  +3 .tForearm.seek PC + "manipulator"&l' +95 "core" ' +2 .tHand.close + "manipulator"&{/ +63 "core" / +2 .tPC.seek :open +2 "processing"%!( +35 "core" ' + "storage"(#- +3 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'y +34 "core" ' +350 ( +2 "storage"(I& +4 "core" & s k   +2 "manipulator"&*& +3 "core" &x >  +2 "manipulator"&T% +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +250 "core" ( + "manipulator"&& +5 "core" & #  !t + "storage"(& +4 "core" & e u #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +103 "core" ' +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(v- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &\ M\ C %  +2 "manipulator"&~& +3 "core" & r !t +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&;& +3 "core" & $ 6 !t +2 "storage"(-& +4 "core" &\ P\ P .  +3 .tForearm.seek 3 + 700 counts + "manipulator"&d'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(U' +59 "core" ' +2 "manipulator"&7& +4 "core" & ' !t +2 "storage"(5& +4 "core" & e  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&@'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +89 "core" ' +2 "manipulator"&L% +3 "core" %΍ ^  +2 "storage"(}& +4 "core" & `  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&N'Ϲ +20 "core" ' +2 "manipulator"&,& +3 "core" & , !s +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(s% +4 "core" %k   +3 ."downElevator"SE.seek :down +3 "storage"(e'X +99 (% +3 "core" % V q ^ R PH +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +2 "core" &   +3 "collection"'y& +3 "core" &V~]]D P +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ \ 6  +3 "storage"(j% +3 "core" %a  +2 "storage"('. +3 "core" .( +2 "storage"(\ & +3 "core" & &  +2 "storage"(o& +5 "core" &   + "manipulator"& & +4 "core" &  !s +2 .tElbow.seek 3 +2 "manipulator"&z( +2 "core" ( +3 "manipulator"&& +4 "core" & # !s + "storage"(& +49 "core" & I  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +93 "core" ' + "storage"(H& +5 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'i +282 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"& & +3 "core" & R !s +2 "storage"(u& +3 "core" & e b  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&.'} +18 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(2'S +29 "core" ' + "manipulator"&_% +4 "core" %x  +2 "storage"(<& +4 "core" & } x 3  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 295 counts +2 "manipulator"&W'Ϥ +19 "core" ' +2 "manipulator"&$& +4 "core" &  !s +2 "storage"(i& +3 "core" & r i   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(O'B +39 "core" ' +2 "manipulator"&=& +3 "core" &  !s +2 "manipulator"&A% +5 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +166 "core" ( + "manipulator"&a& +4 "core" &+ 9 Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &+ Bi +3 .tForearm.seek CC + "manipulator"&4'" +96 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / + .tCC.seek :open +2 "collection"'( +421 "core" ( + "storage"(& +4 "core" &  +2 "storage"(k& +3 "core" & &  +3 "manipulator"&1& +3 "core" &, ~ Bg +2 "manipulator"&Y% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +163 "core" ( +2 "manipulator"&B& +3 "core" & #  O +3 "storage"(b& +4 "core" & A  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&X'} +102 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&g1 +53 "core" 1 +2 "manipulator"&\\% +4 "core" % y # = +2 "storage"(D& +3 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&E'ϥ +21 "core" ' + "manipulator"&P& +3 "core" & p O +3 "storage"((& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +17 "core" ' + "storage"(% +4 "core" %I   +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (3% +3 "core" %N t OE +2 "manipulator"&Q% +3 "core" %N  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +137 "core" ' + ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'&& +3 "core" &Z]P +2 "manipulator"&)% +4 "core" %\   ! +2 "storage"( % +4 "core" %a P +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(Z( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &  +2 "manipulator"&C& +4 "core" & / O +2 .tElbow.seek 2 +2 "manipulator"&x( +48 "core" ( +2 "manipulator"&6& +3 "core" & # C : +2 "storage"(w& +5 "core" & > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 "storage"(^& +4 "core" & H +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +281 "core" ' + "storage"([- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & +2 "manipulator"&& +4 "core" &  : +3 .tElbow.seek 2 + "manipulator"&]( +25 "core" ( +2 "manipulator"&n& +3 "core" & ` x +2 "storage"({& +4 "core" & $ +3 .tForearm.seek 2 + 300 counts + "manipulator"&#' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(K'X +6 "core" &  x +3 "manipulator"&m% +3 "core" %  F [ +3 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&T& +5 "core" &, D Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +4 "core" &+ Bj +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +3 "manipulator"&& +3 "core" &, Bj +2 "manipulator"&8% +5 "core" %! +2 "collection"'& +3 "core" &\\^h +3 "collection"'v& +5 "core" &Y[d +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &Z^f +9 &9\\\\d #c +10 &][\\_ 6 +9 &Y]` F +9 &b[_h F +10 &e\\\\l F +9 &Vc[^b F +9 &e[]` F +10 &eY^T F +9 &d[^X F +10 &^e[ZS F +9 & eY[Q F +9 &!d\\]Y F +10 &#e\\\\T F +9 &%gee_U F +9 &')e[[P F +10 &(e\\^P F +9 &*e[\\R F +9 &,pe\\^Q E +10 &.0dZ]Z F +9 &/e\\^X F +10 &1e_]N F +9 &3vd\\\\T F +9 &59e\\\\W F +10 &6e[^M F +9 &8g\\_Y F +9 &:~fZ\\V F +10 &<@e[\\R F +9 &>e\\`Z F +10 &?e[]P F +9 &Ae[\\Z F +9 &CIe[^P F +10 &Ek[]V G +9 &Fs[^X H +10 &H\\\\Z I +9 &J8\\]R N +9 &K\\_U Q +10 &M[^N P +9 &Ow^\\[ Q +9 &Q8\\^Y Q +10 &RY]N R +9 &T[]O R +9 &V'Z[_U 3 +10 &VZ]S M +9 ( + &Vu[\\T H +2 "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&~% +3 "core" % ! B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%-& +4 "core" &{ +2 "manipulator"&% +3 "core" %\  2  +2 "storage"(7% +4 "core" %V c e s +2 "storage"(5. +3 "core" .( +2 "storage"(V& +3 "core" & z q I +2 "storage"(& +4 "core" & u e * +2 "manipulator"&L& +3 "core" &+  Bg +2 "manipulator"&}% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&,( +206 "core" ( +4 "manipulator"&& +3 "core" & /  +3 "storage"(h& +3 "core" & 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +96 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(s'i +275 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & # +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&U& +4 "core" &  +2 "storage"(@& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&N' +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +4 "storage"('X +7 "core" & B  + "manipulator"&j% +4 "core" %   g +3 .tForearm.seek :retract + "manipulator"&''\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&& +3 "core" &w " 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &w   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +103 "core" ' +2 "manipulator"&& +3 "core" &w 6 +3 "manipulator"&% +3 "core" %  g +3 "processing"%& +4 "core" & +2 "processing"%H& +5 "core" &n +2 .tPC.seek :closed +2 "processing"%e(Z +5 "core" &~  +8 &6 )w +9 & kx = +9 &zu G +10 &kgu F +9 &,g~ G +9 &ey G +10 &gq G +9 &rjq G +10 &4ep G +9 &hw F +9 & hv G +10 &"zfv G +9 &$<g{ G +9 &%jz G +10 &'ev G +9 &)gt G +10 &+Djv G +9 &-ew G +9 &.gz F +10 &0hz F +9 &2Lhy G +9 &4iw G +10 &5jx G +9 &7j{ G +10 &9Tk{ G +9 &;cz F +9 &<hy G +10 &>jy F +9 &@\\iy G +9 &Biz G +10 &Cmz G +9 &Elz G +10 &G^wz I +9 &Iy K +9 &Jz K +10 &Lx L +9 &N]z L +9 &Pz L +10 &Qz L +9 &Sy M +10 &Ucs M +9 &W%y M +9 &Xr M +10 &Z7B`t %l +9 &Z0t ! +5 ( +2 "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&1 +3 "core" &Zy ! +60 1 +2 "manipulator"&% +3 "core" %  , g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +96 "core" ' +3 "processing"% & +4 "core" &Za ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&u% +5 "core" %\ s 3 + "storage"("% +4 "core" %T e d 9 +2 "storage"(_. +3 "core" .( +2 "storage"(<& +3 "core" & c b k +3 "storage"($& +2 "manipulator"&i& +6 "core" & e e b +2 &w  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&=(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(A'i +2 "core" ( + "manipulator"&r& +5 "core" &w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &w F +3 .tForearm.seek PC + "manipulator"&/' +101 "core" ' +2 .tHand.close + "manipulator"&./ +55 "core" / +2 .tPC.seek :open +2 "processing"%W( +88 "core" ' + "storage"(2- +4 "core" -'i + ."raiseStack"SE.configure :default +47 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +2 "storage"(a'y +50 "core" ' +233 ( +2 "storage"(F& +3 "core" &  +3 "manipulator"&p& +4 "core" &w 4 + "manipulator"&0% +5 "core" %  K +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&G( +266 "core" ( +2 "manipulator"&+& +3 "core" &  h +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +108 "core" ' +3 .tHand.open + "manipulator"&11 +55 "core" 1 +3 "storage"(Y- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(B'E +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(b' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(& +3 "core" & \ Q\ Q +3 "manipulator"&g& +4 "core" & , +2 .tElbow.seek 2 + "manipulator"&\\( +7 "core" ( +2 "manipulator"&D& +3 "core" & s  +2 "storage"(P& +5 "core" & \ Q\ Q  +3 .tForearm.seek 2 + 700 counts + "manipulator"&('ќ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"& & +3 "core" &   +2 "storage"(3& +4 "core" & : +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&Q' +29 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +24 "core" ' + "manipulator"&&% +4 "core" %  R +2 "storage"()& +3 "core" & f f J +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&E' +20 "core" ' +2 "manipulator"& & +3 "core" & &  +2 "storage"(%& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +19 "core" ' +2 "storage"(9% +3 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(c'X +100 (`% +3 "core" %:Y p n e PH +2 "manipulator"&:% +3 "core" %љ ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" & ? +2 "collection"'w& +4 "core" &Vu]^O H +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&^% +3 "core" %\    +2 "storage"(?% +4 "core" %b  +2 "storage"(q. +3 "core" .( +2 "storage"([& +4 "core" &  + "storage"(|& +4 "core" &  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&n( +4 "core" ( +2 "manipulator"&{& +3 "core" &  R  +3 "storage"(t& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +98 "core" ' + "storage"(m& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'i +284 "core" ' +2 "storage"(- +3 "core" -' +46 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & T  +3 "storage"(J& +4 "core" & f + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&l' +25 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(]'S +28 "core" ' +2 "manipulator"&8% +3 "core" %  q +2 "storage"(& +4 "core" & e f  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&K' +19 "core" ' +2 "manipulator"&I& +3 "core" & )  +3 "storage"(& +3 "core" & i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +21 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(~'B +45 "core" ' + "manipulator"&-& +4 "core" & 3  +2 "manipulator"&% +3 "core" %Ѧ  k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +162 "core" ( +2 "manipulator"&V& +3 "core" &' 7 >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +4 "core" &' 7 >N +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&L/ +64 "core" / +2 .tCC.seek :open +2 "collection"'}( +414 "core" ( +2 "storage"(& +3 "core" & n +2 "storage"(& +4 "core" & D +2 "manipulator"&h& +3 "core" &&  =F +3 "manipulator"&*% +4 "core" % &   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +163 "core" ( +2 "manipulator"&d& +4 "core" & \  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&@1 +59 "core" 1 +3 "manipulator"&M% +4 "core" % $ D + "storage"(y& +4 "core" & o +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts +2 "manipulator"&j' +20 "core" ' +2 "manipulator"&,& +3 "core" & b  +2 "storage"(f& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +24 "core" ' +2 "storage"(N% +3 "core" %K +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (o% +3 "core" %OO | OE +2 "manipulator"&% +3 "core" %ў y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &Y]X +3 "manipulator"&% +3 "core" %\  6  +2 "storage"(% +4 "core" %O u +2 "storage"('. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(!( +381 "core" ( +5 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & #  +2 "manipulator"&& +3 "core" & 9  +3 .tElbow.seek 3 + "manipulator"& ( +16 "core" ( +2 "manipulator"&u& +3 "core" &  H X +2 "storage"("& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +94 "core" ' +2 "storage"(H& +3 "core" & V  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'i +279 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" &  +2 "manipulator"&r& +3 "core" &  X +3 .tElbow.seek 3 + "manipulator"&z( +4 "core" ( +2 "manipulator"& & +3 "core" & $ X +2 "storage"(.& +4 "core" & [  +3 .tForearm.seek 3 + 300 counts + "manipulator"&2'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(e'X +8 "core" & L X + "manipulator"&F% +4 "core" % ϝ b +3 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&A& +4 "core" &+  g Ab +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &+ O Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'" +95 "core" ' +2 "manipulator"&& +3 "core" &+ 8 l Aa +3 "manipulator"&=% +3 "core" % " +3 "collection"'1& +3 "core" &\\^g +5 "collection"'Y& +5 "core" &[\\f +2 .tCC.seek :closed +2 "collection"'4(V +4 "core" &\\\\`  +9 &9]]_ *x +9 &(l[^n = +10 &o\\_e F +9 &eY^a F +9 &Md[^a F +10 &d^]Y E +9 &eZ\\_ F +10 &eZ]e F +9 &TcY^\\ F +9 &eZ^X F +10 & c[_X F +9 &"e[^W F +9 &$]d[^U F +10 &&h[\\X F +9 &'dZ^S F +10 &)g[\\R F +9 &+edZ]V F +9 &-&g[]W F +10 &.d\\_T F +9 &0h[]W F +9 &2meY]Z F +10 &4.h[][ F +9 &5e[^V F +10 &7h\\\\P F +9 &9ud[]V F +9 &;6hZ\\P F +10 &<e[^O F +9 &>e[^L F +9 &@}e[[O F +10 &B>hZ\\V F +9 &Ch[^P F +10 &EmZ^R G +9 &G}Z\\S I +9 &I8\\^M K +10 &JZ\\M P +9 &L]_O P +9 &Nl[]M Q +10 &P%Z\\X T +9 &Q\\_[ Q +10 &S\\]N R +9 &Uh\\^N B +9 &VBZ]V (y +10 &V\\^O Z +5 ( +2 "collection"'Y& +3 "core" &V[^Z Z +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.02 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&g% +4 "core" %  .  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +8 "core" &t +2 "manipulator"&P% +4 "core" %\   +2 "storage"( % +3 "core" %] t s 3 +2 "storage"(3. +4 "core" .( + "storage"(a& +4 "core" & k _ h  +2 "storage"(&& +4 "core" & s r  +2 "manipulator"&)& +3 "core" &* Aa +2 "manipulator"&B% +4 "core" %\  \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +162 "core" ( +2 "manipulator"&%& +3 "core" & E z +2 "storage"(9& +4 "core" & p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&G'9 +96 "core" ' +2 "storage"(k& +3 "core" & W  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +46 "storage"(b'i +143 "Can"w Yx-%[  +139 "core" ' + "storage"(`- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" & d e S  +2 "manipulator"&(& +3 "core" & V z +3 .tElbow.seek 3 + "manipulator"&\\( +4 "core" ( +2 "manipulator"&& +4 "core" & - z + "storage"(Q& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(^'X +8 "core" & R z +2 "manipulator"&?% +3 "core" % Ϥ E +3 .tForearm.seek :retract +2 "manipulator"&q'\ +101 "core" ' +4 .tElbow.seek PC +2 "manipulator"&[(s +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&X& +3 "core" &r . 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &r \ 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&{& +3 "core" &r $  +3 "manipulator"&t% +3 "core" % {  +2 "processing"%O& +5 "core" &{ +2 "processing"%m& +5 "core" & +2 .tPC.seek :closed +2 "processing"%c(Z +3 "core" & +8 &Gy #b +9 &] 6 +10 & G +9 &c G +9 &f~ G +10 &ai{ G +9 &#f G +9 &g| G +10 &gt G +9 &igy G +10 & ,hw G +9 &!fu F +9 &#fs G +10 &%rgv G +9 &'3fy G +9 &(hq G +10 &*gx F +9 &,ygt G +10 &.<hv G +9 &/hu G +9 &1ft G +10 &3j{ G +9 &5Dhw G +9 &7j{ G +10 &8ev G +9 &:ex G +10 &cz G +9 &?dw G +10 &Aew G +9 &CSkz G +9 &Ejx H +10 &Ftz H +9 &Hy J +10 &JMz L +9 &Ly L +9 &Mz L +10 &Oy L +9 &QU{ L +9 &Su M +10 &Ty M +9 &Vy M +10 &XZz M +9 &Ywvz !i +9 &Z)qy + +10 ( + &Zy ! +2 "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&S1 +62 "core" 1 +2 "manipulator"&C% +4 "core" % Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +3 "processing"%T& +3 "core" &Zk ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&J% +3 "core" %\  +3 "storage"(% +3 "core" %S | p K +2 "storage"(8. +3 "core" .( +2 "storage"(& +3 "core" & p w -  +3 "storage"(I& +2 "manipulator"&& +8 "core" & y z {  + &r h +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&-(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&R& +3 "core" &r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &r r +3 .tForearm.seek PC + "manipulator"&x' +95 "core" ' +2 .tHand.close + "manipulator"&l/ +58 "core" / +2 .tPC.seek :open +2 "processing"%K( +87 "core" ' + "storage"(]- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(V'y +46 "core" ' +288 ( + "storage"(v& +4 "core" & z {  +2 "manipulator"&& +3 "core" &r +2 "manipulator"&#% +5 "core" % g +2 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' +48 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&7( +265 "core" ( + "manipulator"&& +4 "core" &  Z  +2 "storage"(& +5 "core" & | z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +86 "core" ' +2 .tHand.open + "manipulator"&h1 +57 "core" 1 +2 "storage"(*- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(d'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +3 "core" &\ .\ 3  +2 "manipulator"&@& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&y& +3 "core" & g  +2 "storage"(,& +4 "core" &\ 1\ ' ,  +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(N' +55 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(o& +3 "core" & b c [  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +93 "core" ' + "manipulator"&% +4 "core" %{ _ +2 "storage"(j& +3 "core" & z {  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&'ϧ +20 "core" ' +2 "manipulator"&& +3 "core" & 3  +2 "storage"('& +4 "core" & c e #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +40 "core" ' +3 "storage"(s% +3 "core" %s w  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (Z% +3 "core" %Y p T Q QJ +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (u& +3 "core" & | z Q  +3 "collection"'"& +4 "core" &V]]R Z +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&H% +4 "core" %\ # } > +2 "storage"(U% +3 "core" %` d e +2 "storage"(. +3 "core" .( +2 "storage"($& +3 "core" & k b F  +2 "storage"(i& +5 "core" & c k H  + "manipulator"&r& +4 "core" & H  +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&.& +4 "core" &   +2 "storage"(\ & +3 "core" & k w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +93 "core" ' +2 "storage"(F& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +281 "core" ' +2 "storage"(_- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" & '  +2 "storage"(<& +3 "core" & f e u  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'} +26 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +49 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'R +29 "core" ' +2 "manipulator"&=% +3 "core" %΍  +3 "storage"(1& +4 "core" & { { :  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&e'Ϲ +21 "core" ' + "manipulator"&p& +4 "core" & ,  +2 "storage"(}& +4 "core" & x "  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(g'A +36 "core" ' +2 "manipulator"& & +3 "core" & "  +2 "manipulator"&P% +5 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +159 "core" ( + "manipulator"&a& +4 "core" &'  0 >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &' >I +3 .tForearm.seek CC + "manipulator"&&'" +96 "core" ' +2 .tHand.close + "manipulator"&)/ +58 "core" / +2 .tCC.seek :open +2 "collection"'B( +417 "core" ( +2 "storage"(+& +3 "core" &  +3 "storage"(%& +4 "core" & j  + "manipulator"&9& +4 "core" &' D >H +2 "manipulator"&k% +3 "core" % " 7  +3 .tForearm.seek :retract +2 "manipulator"&0'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&D( +160 "core" ( +2 "manipulator"&`& +3 "core" & J  +2 "storage"(:& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +62 "core" 1 +2 "manipulator"&6% +4 "core" % } $ 1 +2 "storage"(w& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +20 "core" ' +2 "manipulator"& & +3 "core" &  +3 "storage"(G& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +24 "core" ' +2 "storage"(E% +3 "core" %? \ +3 ."downElevator"SE.seek :down +4 "storage"(X'X +98 (|% +3 "core" %O OE +2 "manipulator"&\\% +4 "core" %P  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +88 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'t& +3 "core" &\\_^ +2 "manipulator"&O% +5 "core" %\    + "storage"(^% +4 "core" %^ +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(W( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &  +2 "manipulator"&C& +3 "core" & +  +3 .tElbow.seek 2 + "manipulator"&T( +32 "core" ( +2 "manipulator"&J& +4 "core" & ~ # + "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +99 "core" ' + "storage"(m& +4 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" & j +2 "manipulator"&R& +4 "core" &  !v +2 .tElbow.seek 2 +2 "manipulator"&n( +4 "core" ( +2 "manipulator"&& +4 "core" & N !v + "storage"(l& +4 "core" & K +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(c'X +8 "core" & ? !v +2 "manipulator"&% +3 "core" % (  P +3 .tForearm.seek :retract + "manipulator"&v'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&#& +3 "core" &  " r 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &  : 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +3 "manipulator"&& +3 "core" &   { 6 +2 "manipulator"&-% +4 "core" % `  +2 "collection"'h& +5 "core" &[]q +2 "collection"'*& +5 "core" &Y_d +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &Z]c +6 &8Y]k #a +9 &[]]j 5 +10 &[\\q G +9 &e[]m F +9 &d[^l F +10 &^d[]p E +9 &e[^k F +9 &h[_d F +10 &c\\]l F +9 &fd\\]k E +9 & 'e[\\_ F +10 &!g[^e F +9 &#i\\]g F +10 &%ne[]b E +9 &'0e\\\\_ E +9 &(eY_c F +10 &*h[^a F +9 &,uc\\]^ F +10 &.7b[\\R F +9 &/d\\]S E +9 &1e[^X F +10 &3}g[^T F +9 &5?b[\\\\ F +9 &7ee_S E +10 &8e[]Q F +9 &:h[\\V F +9 & f[]R F +9 &?dY\\R F +10 &Ae\\\\U F +9 &CNjZfU F +9 &EjY^X F +10 &Fs[_T H +9 &H\\^P J +9 &J?Y]U N +10 &K\\]R P +9 &M\\^R P +10 &O~\\]V P +9 &Q?^`[ Q +9 &R[\\R R +10 &T\\^U R +9 &V,\\\\_R . +9 &V"Z]S I +10 ( + &VY]]P D +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&51 +56 "core" 1 +3 "manipulator"&@% +4 "core" %  *  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%,& +4 "core" &| +2 "manipulator"&L% +3 "core" %\    +3 "storage"(% +3 "core" %a  +2 "storage"(o. +4 "core" .( + "storage"(V& +4 "core" &  +2 "storage"(d& +3 "core" &  +3 "manipulator"&& +4 "core" &   6 +2 "manipulator"&j% +3 "core" %\  K  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +156 "core" ( +2 "manipulator"&'& +3 "core" & ! H \ +2 "storage"(7& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +278 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & ? +2 "manipulator"&N& +3 "core" &  \ +3 .tElbow.seek 2 + "manipulator"&Z( +4 "core" ( +2 "manipulator"&& +3 "core" & % \ +2 "storage"(& +49 "core" & y +5 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&"& + "storage"(H'X +8 "core" &  \ + "manipulator"&U% +5 "core" % $ t K +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&& +3 "core" &q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &q | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +95 "core" ' +2 "manipulator"&.& +3 "core" &q [ +2 "manipulator"&\ % +4 "core" %  0 +2 "processing"%~& +4 "core" & +3 "processing"%F& +5 "core" &{ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" & +9 &M} #c +10 &[ 6 +9 & G +9 &c F +10 &f~ G +9 &ch G +9 &%h} G +10 &e| G +9 &h} G +10 &jjz G +9 & -gt G +9 &!ix G +10 &#cu G +9 &%sev G +10 &'5ev G +9 &(fz F +9 &*ew G +10 &,|fx F +9 &.>gx F +9 &0ew F +10 &1ft F +9 &3fz F +9 &5Fgz F +10 &7fx F +9 &8fu F +10 &:ez F +9 &bz G +10 &?du G +9 &Ady G +10 &CTgx G +9 &Ekz G +9 &Fsy H +10 &Hy J +9 &JMv L +9 &Ly L +10 &Mu L +9 &Oy L +9 &QUz L +10 &Sy M +9 &Tu L +10 &Vt M +9 &X\\y M +9 &Ywwz !i +10 &Z'mw + +9 ( + &Zs ! +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&;1 +59 "core" 1 +2 "manipulator"&% +3 "core" % $ 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +2 "processing"%A& +3 "core" &Z[ ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&<% +3 "core" %\    +2 "storage"(% +4 "core" %`   +2 "storage"(=. +3 "core" .( +2 "storage"(1& +3 "core" &  +3 "storage"(p& +5 "manipulator"&}& +2 "core" &  +2 &q  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"& (s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'i +2 "core" ( +3 "manipulator"&>& +3 "core" &q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &q v +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' + .tHand.close +2 "manipulator"&// +59 "core" / +2 .tPC.seek :open +2 "processing"%e( +94 "core" ' +2 "storage"(z- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +44 "core" ' +281 ( +2 "storage"(Y& +3 "core" & $ +2 "manipulator"&& +4 "core" &q  +2 "manipulator"&2% +3 "core" % ] % +3 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +265 "core" ( + "manipulator"&4& +4 "core" & <  +2 "storage"(+& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +98 "core" ' +2 .tHand.open + "manipulator"&91 +55 "core" 1 +10 "storage"(k- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(`'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(:' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' +2 "storage"(3& +3 "core" & \ Q\ Y k +2 "manipulator"&Q& +5 "core" & Z  +2 .tElbow.seek 2 + "manipulator"&6( +4 "core" ( +2 "manipulator"&w& +3 "core" & Z  +2 "storage"( & +4 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(E' +56 "core" ' + "manipulator"&0& +3 "core" &   +3 "storage"(|& +3 "core" & 2 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +20 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +71 "core" ' +3 "manipulator"&t% +4 "core" % { +2 "storage"(?& +3 "core" & + +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&O' +21 "core" ' +2 "manipulator"&^& +3 "core" & p  +2 "storage"(q& +4 "core" & r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +20 "core" ' + "storage"(b% +4 "core" %n  +3 ."downElevator"SE.seek :down +3 "storage"(X'X +99 (!% +3 "core" %U e  QI +2 "manipulator"&S% +4 "core" %і  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" & t +2 "collection"'& +3 "core" &VV]_R D +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&m% +4 "core" %\  #  +2 "storage"(% +3 "core" %V +3 "storage"({. +3 "core" .( +2 "storage"(& +3 "core" & +2 "storage"(I& +4 "core" & +2 "manipulator"&R& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&l& +4 "core" & c  +2 "storage"([& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +90 "core" ' +3 "storage"(& +3 "core" & +7 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +282 "core" ' +2 "storage"(8- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & I  +2 "storage"(x& +4 "core" & < +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(-'R +30 "core" ' +2 "manipulator"&h% +3 "core" %  @ +2 "storage"(n& +3 "core" & m g C +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&c' +20 "core" ' +2 "manipulator"&v& +49 "core" & +  +3 "storage"(B& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'A +47 "core" ' +2 "manipulator"&,& +3 "core" &   +2 "manipulator"&L% +5 "core" %њ z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +168 "core" ( +2 "manipulator"&V& +3 "core" &$ , c ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &$ ) j ;8 +2 .tForearm.seek CC +2 "manipulator"&*'" +94 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'j( +414 "core" ( +2 "storage"(& +4 "core" & f +2 "storage"('& +3 "core" & v +2 "manipulator"&7& +5 "core" & #  :0 + "manipulator"&% +4 "core" % .   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&y( +157 "core" ( +2 "manipulator"&f& +3 "core" &   +2 "storage"(M& +4 "core" & ^ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&N' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&u% +5 "core" % %  + "storage"("& +3 "core" & s +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&U' +19 "core" ' +2 "manipulator"&& +3 "core" & e  +3 "storage"(& +4 "core" & _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +25 "core" ' + "storage"(% +4 "core" %E +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (i% +3 "core" %TT PF +2 "manipulator"&Z% +3 "core" %ѩ k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'\ & +4 "core" &\\^d  +2 "manipulator"&~% +3 "core" %\  S  +3 "storage"(H% +4 "core" %S + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(K( +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" & +2 "manipulator"&& +4 "core" & &  +2 .tElbow.seek 3 +2 "manipulator"&A( +15 "core" ( + "manipulator"&<& +4 "core" & I ^ +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +105 "core" ' + "storage"(1& +4 "core" & K  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'i +280 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (F& +2 "core" & `  +45 "manipulator"&>& +8 "core" & F ^ +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&r& +4 "core" & F ^ +2 "storage"(/& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&_& + "storage"('X +8 "core" & G ^ + "manipulator"&P% +5 "core" % ϳ +2 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&2& +4 "core" &* M w @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &* N @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'" +96 "core" ' +3 "manipulator"&+& +4 "core" &* @[ +2 "manipulator"& % +4 "core" % ) +2 "collection"'9& +4 "core" &[_f  +3 "collection"'k& +5 "core" &\\`k  +2 .tCC.seek :closed + "collection"'&(V +5 "core" &[^n  +9 &:[_x *z +9 &-o\\_r > +9 &l\\]m F +10 &f\\]m F +9 &Ye[[i E +10 &e]`l F +9 &e\\]d F +9 &h[]k F +10 &`e\\^g F +9 &"i\\^h F +9 & e\\]m E +10 &"f[_n F +9 &$ie]_k E +10 &&)e\\_k F +9 &'f[_m F +9 &)h^_n F +10 &+qf]]v E +9 &-2e\\`m F +9 &.d[]m E +10 &0g]]_ F +9 &2xeY^` F +10 &49h\\]h F +9 &5e\\_W F +9 &7h[_e F +10 &9e\\`a F +9 &;Aj\\__ F +9 &=e\\_S F +10 &>f[_W F +9 &@f]^^ E +10 &BIf\\_c F +9 &D h]_^ F +9 &Ep]_g G +10 &G~\\\\n I +9 &IC[__ K +9 &J]_d P +10 &L]^Z P +9 &Nz^^X P +10 &P:\\^` Q +9 &QZ^T Q +9 &S_^] R +10 &Uw]_\\ ? +9 &VJ]_d L +9 &V]`b $l +10 ( + &V~[`c O +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&31 +53 "core" 1 +3 "manipulator"&Q% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&)% +3 "core" %\ # < +3 "storage"(0% +3 "core" %a r x  +2 "storage"(|. +3 "core" .( +2 "storage"(a& +3 "core" & q l 2  +2 "storage"(t& +4 "core" & r m   +2 "manipulator"&`& +5 "core" &) u @[ + "manipulator"&?% +4 "core" %\ #  < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&^( +160 "core" ( +2 "manipulator"&q& +3 "core" &  ' { +3 "storage"( & +4 "core" & :  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +102 "core" ' +2 "storage"(%& +3 "core" & H  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +279 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +2 "core" & g  +2 "manipulator"&S& +4 "core" &  { +2 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&E& +4 "core" & d { +2 "storage"(\\& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&O'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +161 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(m'X +6 "core" &  { + "manipulator"&% +4 "core" % ϟ C  +2 .tForearm.seek :retract +49 "manipulator"&('\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +109 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +156 "core" ( +2 "manipulator"&& +3 "core" &p * Z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &p * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&R' +97 "core" ' +2 "manipulator"&l& +3 "core" &q  N +2 "manipulator"&[% +5 "core" % R  + "processing"%g& +5 "core" &x +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%X(Z +5 "core" & +7 &E #b +9 &\\ 6 +10 & G +9 &c F +9 &h G +10 &Zj G +9 &f F +10 &e G +9 &g F +9 &bh G +10 & #f{ G +9 &!gz G +9 &#gv F +10 &%jgx G +9 &'+ev G +10 &(fu G +9 &*gw F +9 &,rg{ G +10 &.3et G +9 &/ft F +9 &1gr G +10 &3{fw F +9 &5<gw G +10 &6c{ G +9 &8et F +9 &:ev G +10 &cu G +9 &?gt F +10 &Aet G +9 &CKez G +10 &E jy H +9 &Fox H +9 &H{ J +10 &JEy L +9 &Lx L +9 &My L +10 &Oz L +9 &QKz M +10 &S z M +9 &Tz L +9 &V{ M +10 &XQz M +9 &Ywwu "k +9 &Z*tx , +10 ( + &Zy +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&D1 +62 "core" 1 +2 "manipulator"&C% +3 "core" % $ 4  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +100 "core" ' +2 "processing"%#& +3 "core" &Zw +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&x% +4 "core" %\ # a < +2 "storage"(% +3 "core" %P z z +2 "storage"(h. +4 "core" .( + "storage"(n& +4 "core" & { z  +2 "storage"(v& +3 "manipulator"&B& +6 "core" & z z  + &q  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(,'i +3 "manipulator"&L(s +5 "core" ( +2 "manipulator"&& +4 "core" &q 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q +3 .tForearm.seek PC + "manipulator"&T' +97 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%c( +84 "core" ' + "storage"(-- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'y +40 "core" ' +296 ( + "storage"(d& +4 "core" & I  +2 "manipulator"&5& +4 "core" &q  +2 "manipulator"&]% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&& +3 "core" &  o  +2 "storage"(& +4 "core" & u   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&''9 +98 "core" ' +4 .tHand.open + "manipulator"&71 +56 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(M' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +3 "core" -' +2 "storage"(o& +3 "core" &\ O\ P  +2 "manipulator"&& +50 "core" & !  +4 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( +2 "manipulator"&"& +3 "core" & _  +2 "storage"(& +4 "core" &\ P\ P  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&& +3 "core" & D  +2 "storage"(i& +4 "core" & ^  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'} +18 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(N'i +21 "core" ' +2 "manipulator"&U% +3 "core" %t ] +2 "storage"(\ & +4 "core" & 0  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 291 counts +2 "manipulator"&~'Ϡ +19 "core" ' +2 "manipulator"&H& +3 "core" & H  +3 "storage"(& +3 "core" & ,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +44 "core" ' +2 "storage"(s% +3 "core" %k 2  +3 ."downElevator"SE.seek :down +6 "storage"('X +96 (W% +3 "core" %QW n q QI +2 "manipulator"&;% +4 "core" %W R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +3 "core" & ~ P  +2 "collection"'& +3 "core" &V}]`] O +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&1% +3 "core" %\ G / +3 "storage"(% +3 "core" %\\ +2 "storage"(.. +3 "core" .( +2 "storage"(}& +4 "core" &  +2 "storage"(F& +3 "core" &  +3 "manipulator"&>& +4 "core" & )  + .tElbow.seek 3 +2 "manipulator"&r( +4 "core" ( + "manipulator"&/& +4 "core" &   +2 "storage"($& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +99 "core" ' + "storage"(P& +4 "core" & .  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +280 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" &   +3 "storage"(p& +3 "core" & T  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'S +32 "core" ' +2 "manipulator"& % +3 "core" %΍  +2 "storage"(9& +4 "core" & z w y  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 "manipulator"&Y& +3 "core" & #  +2 "storage"(j& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'B +39 "core" ' +2 "manipulator"& & +3 "core" &   +2 "manipulator"&)% +4 "core" %- q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +155 "core" ( +2 "manipulator"&a& +4 "core" & $  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" & 4 +2 .tForearm.seek CC +2 "manipulator"&t'" +93 "core" ' + .tHand.close +2 "manipulator"&`/ +64 "core" / +2 .tCC.seek :open +2 "collection"'?( +417 "core" ( +2 "storage"(4& +3 "core" & 9  +2 "storage"(q& +4 "core" &  +2 "manipulator"& & +3 "core" &  4 +3 "manipulator"&%% +4 "core" % -  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +165 "core" ( + "manipulator"&G& +4 "core" & Z  +2 "storage"(!& +4 "core" & 0  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&S'} +94 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&J% +4 "core" % Ό  x +2 "storage"(& +3 "core" & f  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +20 "core" ' +3 "manipulator"&^& +3 "core" & x  +2 "storage"(b& +4 "core" & [  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +50 "core" ' +2 "storage"(O% +3 "core" %G  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (I% +3 "core" %@S OE +2 "manipulator"&6% +4 "core" %! ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +88 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'[& +3 "core" &\\`] +2 "manipulator"&g% +4 "core" %\  P  +2 "storage"(m% +4 "core" %V  +2 "storage"((. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(e( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &  +2 "manipulator"&C& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&#( +39 "core" ( +2 "manipulator"&x& +3 "core" & \  V _ +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&h'ќ +91 "core" ' +2 "storage"(& +3 "core" & x +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +288 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" &  +2 "manipulator"&& +3 "core" &\ ' P +3 .tElbow.seek 2 + "manipulator"&( +28 "core" ( +3 "manipulator"&R& +3 "core" & G m +2 "storage"(& +4 "core" & ^ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&-' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +60 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&8& + "storage"(X'X +8 "core" & 9 m + "manipulator"&,% +5 "core" %    +2 .tForearm.seek :retract + "manipulator"&d'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&]& +4 "core" &'  Y >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &' A >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&& +5 "core" &' $ 6 >H +2 "manipulator"&L% +3 "core" %) t B +3 "collection"'7& +3 "core" &\\]j +3 "collection"'& +5 "core" &Y\\l +2 .tCC.seek :closed +2 "collection"'*(V +5 "core" &[`j +7 &9[_v #c +10 &\\[_z 6 +9 &\\_y G +9 &d\\_w F +9 &e[an F +10 &dg^_l F +9 &'e\\]n F +10 &d^_m F +9 &d]^u F +9 &mc\\_x F +10 & /d\\_o F +9 &!h\\^n F +9 &#e^^n E +10 &%te^^r F +9 &'8e]`n E +10 &(e_]i F +9 &*h[^v F +9 &,~d_]d E +10 &.?e[]m F +9 &0h\\^k F +13 &1e]]l E +6 &3e\\]m F +9 &5Gh^`g F +10 &7c\\^f F +9 &8c\\^X E +9 &:e\\_g F +10 &e[^_ F +9 &?e]_d E +10 &Ae[]e F +12 &CWe\\^^ F +7 &Ek[^d F +9 &Fu\\_d G +9 &H^^e J +10 &JG]^d N +9 &L\\_` Q +9 &M]_e P +10 &O\\`d Q +9 &QF\\_X Q +10 &S]_a R +9 &T]_m R +9 &V3`^^f * +10 &V$\\_c I +9 ( + &VU]^e C +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&o1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ) 1 B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%"& +3 "core" &y +2 "manipulator"&% +4 "core" %\  ) +2 "storage"(% +4 "core" %P @ +2 "storage"(i. +3 "core" .( +2 "storage"(V& +4 "core" &  + "storage"(U& +4 "core" & @ +2 "manipulator"&\ & +3 "core" && a =G +2 "manipulator"&f% +3 "core" %\  z ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&H( +160 "core" ( + "manipulator"&& +4 "core" & $ /  +2 "storage"(s& +4 "core" & ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +105 "core" ' + "storage"('& +4 "core" & I +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +283 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (;& +2 "core" & 6 +2 "manipulator"&& +4 "core" & _  +2 .tElbow.seek 2 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +4 "core" & Y  +2 "storage"(Z& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&' +95 "core" ' +2 "manipulator"&/& +3 "core" &z T  +3 "manipulator"&$% +3 "core" % / ; +3 "processing"%@& +3 "core" &~ +3 "processing"%P& +6 "core" &| +2 .tPC.seek :closed + "processing"%(Z +5 "core" & +7 &> #b +10 &Z 5 +9 & G +10 &c F +9 &i G +9 &Wg F +10 &f G +9 &h G +9 &e G +10 &]d G +9 & e G +10 &!h G +9 &#hu G +9 &%fdx G +10 &'(ev G +9 &(cs G +9 &*e F +10 &,oew F +9 &.1fx F +10 &/eu F +9 &1fu G +9 &3vjw G +10 &58ex G +9 &6cy G +9 &8dt G +10 &:dv F +9 &ct G +9 &?ez G +9 &Aev F +10 &CHhs G +9 &E kx G +9 &Fvz H +10 &Hv J +9 &JBw L +10 &Lz L +9 &Mr L +9 &Ow L +10 &QHz L +9 &S\ y L +9 &Tt M +10 &Vy M +9 &XOz M +9 &Yxwx !g +10 &Z/y 3 +9 ( + &Zy +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&y1 +58 "core" 1 +2 "manipulator"&% +4 "core" % $ + ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 "processing"%2& +3 "core" &Zl +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&p% +3 "core" %\  f  +2 "storage"(+% +4 "core" %_ J +2 "storage"( . +3 "core" .( +2 "storage"(9& +3 "core" & O +3 "storage"(Y& +2 "manipulator"&j& +6 "core" & q +2 &{   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +3 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"()'i +3 "core" ( +2 "manipulator"&_& +4 "core" &{   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &{ ;  +2 .tForearm.seek PC +2 "manipulator"&A' +94 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / + .tPC.seek :open +2 "processing"%( +96 "core" ' +2 "storage"( - +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +34 "core" ' +290 ( + "storage"(k& +4 "core" & Z +2 "manipulator"&3& +3 "core" &{   +2 "manipulator"&z% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&`'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +255 "core" ( +2 "manipulator"&&& +3 "core" &  w +2 "storage"(4& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +107 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "storage"(%- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(G'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(!' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -' +2 "storage"(|& +3 "core" & \ S\ Q p +3 "manipulator"&\\& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +4 "core" & t +2 "storage"(^& +3 "core" & \ K\ O +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +96 "core" ' +10 "manipulator"&& +4 "core" & x + "storage"(I& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6' +23 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(S'i +24 "core" ' +2 "manipulator"&% +4 "core" % e +2 "storage"([& +3 "core" & I +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&g' +21 "core" ' +2 "manipulator"&m& +4 "core" & G +2 "storage"((& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +29 "core" ' +2 "storage"(:% +4 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (K% +4 "core" %Y s | * PH +2 "manipulator"&D% +5 "core" %w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" & v +2 "collection"'& +4 "core" &VT]^d C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ ! > 5 +2 "storage"(E% +4 "core" %[ +2 "storage"(l. +2 "core" .( +3 "storage"(v& +4 "core" & k + "storage"(B& +5 "core" & + "manipulator"&& +4 "core" & ! +2 .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&& +3 "core" &  % +3 "storage"({& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +93 "core" ' +2 "storage"(,& +3 "core" & S +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +284 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & C +2 "storage"(T& +4 "core" & : +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&n' +28 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(L'S +24 "core" ' + "manipulator"&% +4 "core" % & 7 +2 "storage"(7& +3 "core" & # +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&X' +20 "core" ' + "manipulator"&d& +4 "core" & 0 +2 "storage"(?& +3 "core" & 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +38 "core" ' +2 "manipulator"&"& +3 "core" & a +3 "manipulator"&% +4 "core" %Ѩ  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +160 "core" ( +2 "manipulator"&V& +4 "core" &'  - >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' 3 >O +3 .tForearm.seek CC + "manipulator"&U'" +93 "core" ' +47 .tHand.close +3 "manipulator"&\ / +52 "core" / +2 .tCC.seek :open +2 "collection"'f( +414 "core" ( +2 "storage"(& +3 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&s& +4 "core" &' / 0 >N +2 "manipulator"&'% +3 "core" % ( +3 .tForearm.seek :retract +2 "manipulator"&5'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&W& +3 "core" &  ]  +3 "storage"(;& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +58 "core" 1 +2 "manipulator"&<% +3 "core" %   +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 307 counts +3 "manipulator"&' +16 "core" ' +2 "manipulator"&H& +3 "core" &  B  +3 "storage"(& +3 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +29 "core" ' +2 "storage"(~% +3 "core" %K H +3 ."downElevator"SE.seek :down +3 "storage"(}'X +99 (F% +3 "core" %R OE +2 "manipulator"&u% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +96 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'$& +3 "core" &]^k +3 "manipulator"&@% +4 "core" %\ # ^ < +2 "storage"(1% +3 "core" %b # +2 "storage"(.. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(c( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" & x  +3 "manipulator"&& +4 "core" & .  +2 .tElbow.seek 3 +2 "manipulator"&2( +15 "core" ( +2 "manipulator"&p& +3 "core" & c e +2 "storage"(+& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +99 "core" ' +2 "storage"(9& +3 "core" & 5  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +280 "core" ' +2 "storage"(j- +3 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +2 "core" &   +2 "manipulator"&_& +4 "core" &  e +2 .tElbow.seek 3 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&>& +3 "core" & - e +2 "storage"( & +6 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +5 "storage"('X +3 "core" & i e +3 "manipulator"&)% +3 "core" % ϯ  +3 .tForearm.seek :retract + "manipulator"&k'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&3( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +49 "core" ( +2 "manipulator"&z& +5 "core" &#  :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &# :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'" +100 "core" ' +2 "manipulator"&4& +4 "core" &#  h :+ +2 "manipulator"& % +3 "core" %$ +3 "collection"' & +3 "core" &[]d +3 "collection"'%& +5 "core" &\\_b +2 .tCC.seek :closed +2 "collection"'t(V +5 "core" &[_c  +9 &:_^c *y +9 &-o\\_d > +9 &m^]i F +10 &f[^w E +9 &VeZ]o F +10 &e\\]l F +9 &g\\_n E +9 &f\\_v F +10 &_d[^p F +9 &!f[^t F +10 & h]^n F +9 &"ei^n F +9 &$ggZ^m F +10 &&*f[_l E +9 &'f\\]p F +9 &)f_^m E +10 &+og\\]m F +9 &-2g^_l E +10 &.f[hg F +9 &0f\\_k F +9 &2vi\\^m F +10 &49f\\_m F +9 &5i[`l F +9 &7f]_l F +10 &9d[^m F +9 &;Ag\\`k F +9 &=j^]g F +10 &>g[^l F +9 &@g\\_m F +10 &BHe\\_m F +9 &D\ i^_l F +9 &Ep\\_g G +10 &G~\\_m I +9 &IC^^l K +10 &J^_x P +9 &L\\_l P +9 &Nw]`a Q +10 &P9\\`d Q +9 &Q]_g Q +9 &S__a R +10 &Uy]^e > +9 &VC[_\\ ] +9 &V,^_e b +10 ( + &Vp_^h J +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.79 + .Hand.open + "manipulator"&|1 +59 "core" 1 +3 "manipulator"&\\% +3 "core" % $ c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%`& +3 "core" & +3 "manipulator"&^% +4 "core" %\  3  + "storage"(% +4 "core" %b q 1 +2 "storage"(I. +3 "core" .( +2 "storage"(a& +3 "core" & p   +2 "storage"(G& +4 "core" & p   +2 "manipulator"&& +3 "core" &# 2  :* +3 "manipulator"&[% +3 "core" %\  - )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +163 "core" ( +2 "manipulator"&(& +3 "core" &  +2 "storage"(0& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +89 "core" ' +2 "storage"(:& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +277 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +2 "core" & ,  +3 "manipulator"&b& +3 "core" & 1  +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&O& +4 "core" &  \\  +2 "storage"(6& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &  + "manipulator"&E% +4 "core" % ϱ 4 +2 .tForearm.seek :retract +2 "manipulator"&l'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&S& +3 "core" &| ' U  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &| '  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" &|  ]  +2 "manipulator"&{% +3 "core" % ! 0 +3 "processing"%Q& +3 "core" &y +3 "processing"%,& +5 "core" &w +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &  +9 &7 )u +10 &h < +9 &y G +53 &jc G +2 &,f G +2 &j G + &g F + &rf G + &3h G +6 &g F +9 & g G +10 &"ze G +9 &$=g F +9 &%f G +9 &'iz G +10 &)e{ F +9 &+Efw F +10 &-ft G +9 &.it G +9 &0j~ G +10 &2Ler G +9 &4ft F +9 &5ew G +10 &7hu G +9 &9Tjy G +10 &;cw G +9 &<en G +9 &>dv G +10 &@[jx G +9 &Bct G +9 &Cg} G +10 &Elt G +9 &G_vw H +10 &Iy K +9 &Jy L +9 &Lt L +10 &N]v L +9 &Px L +9 &Qv M +10 &S{ M +9 &Ucs M +10 &W$z M +9 &Xx M +9 &Z6Dcy %m +10 &Z0x ! +5 ( +2 "processing"%,& +4 "core" &Zv ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open + "manipulator"&w1 +62 "core" 1 +2 "manipulator"&C% +4 "core" % # % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' +2 "processing"%]& +4 "core" &Zl ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&T% +3 "core" %\   # +3 "storage"(% +3 "core" %T t j V +2 "storage"(. +3 "core" .( +2 "storage"(7& +3 "core" & t ]  +3 "storage"(d& +2 "manipulator"&?& +8 "core" & r   + &|   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"("'i +2 "manipulator"&(s +6 "core" ( +2 "manipulator"&8& +4 "core" &|  f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &|  +3 .tForearm.seek PC + "manipulator"&#' +96 "core" ' + .tHand.close + "manipulator"&n/ +65 "core" / +3 .tPC.seek :open + "processing"%X( +75 "core" ' +2 "storage"(L- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'y +52 "core" ' +295 ( +2 "storage"(& +3 "core" & "  +2 "manipulator"&o& +4 "core" &| A  +2 "manipulator"&-% +3 "core" % _  +3 .tForearm.seek :retract + "manipulator"&\ '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +279 "core" ( + "manipulator"&*& +5 "core" & f % + "storage"(& +4 "core" & f f \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 .tHand.open + "manipulator"&s1 +58 "core" 1 +2 "storage"('- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(W'E +33 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(;' +52 "core" ' + #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(i& +3 "core" &\ M\ P >  +2 "manipulator"&Z& +4 "core" & x $ +2 .tElbow.seek 3 +2 "manipulator"&<( +2 "core" ( +2 "manipulator"&& +5 "core" & # N $ +2 "storage"(H& +3 "core" &\ N\ F j  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(~' +60 "core" ' +2 "manipulator"&5& +3 "core" &  $ +2 "storage"(F& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&u'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +48 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&$% +3 "core" %Έ  +2 "storage"(& +5 "core" & r   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&@'ϴ +19 "core" ' +2 "manipulator"&1& +3 "core" &   $ +3 "storage"(.& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +27 "core" ' +2 "storage"(M% +3 "core" %o F  +3 ."downElevator"SE.seek :down +4 "storage"(}'X +98 (e% +4 "core" %W _ s QJ +2 "manipulator"&y% +4 "core" %{ y x +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" & f  +2 "collection"'+& +4 "core" &Vp\\`g J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&9% +4 "core" %\    +2 "storage"(% +4 "core" %Q 7 +2 "storage"(/. +3 "core" .( +2 "storage"(j& +4 "core" &  + "storage"(Y& +4 "core" & l  +2 "manipulator"&_& +4 "core" & $ +2 .tElbow.seek 3 +2 "manipulator"&>( +4 "core" ( + "manipulator"& & +4 "core" & G $ +2 "storage"(N& +3 "core" & /  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +98 "core" ' + "storage"()& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & Q $ +2 "storage"( & +4 "core" &  M  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&z'} +20 "core" ' +2 .tElbow.hold + "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(4'T +33 "core" ' + "manipulator"& % +4 "core" %x  +2 "storage"( & +3 "core" & z z &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&'Ϥ +20 "core" ' + "manipulator"&k& +4 "core" &  S $ +2 "storage"(f& +3 "core" & ~  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\\'C +39 "core" ' +2 "manipulator"&`& +4 "core" & ` $ +2 "manipulator"&^% +3 "core" %C  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +54 !to:SignalException : mesg" SIGHUP:@checkpoint: omitted:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +4 !o:Storage::Warning: mesg">Exiting with generic puck from tube 3 in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:563:in `writeAll'"2/home/esp/esp2/utils/storage.rb:558:in `each'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:554:in `writeAll'"(/home/esp/esp2/utils/storage.rb:570"4/home/esp/esp2/lib/framework.rb:170:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"2/home/esp/esp2/lib/framework.rb:174:in `call'"4/home/esp/esp2/lib/framework.rb:174:in `atExit'"-/home/esp/esp2/lib/thread.rb:760:in `[]'"0/home/esp/esp2/lib/thread.rb:760:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +5 #mEXIT @1733363586.98EST @1733411970.58EST = =mMAIN_scheduler =tMAIN @EST1733411971.26 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@12541 sendCRC with ifg=0x20, ie=0x7F #@14376 sendCRC with ifg=0x08, ie=0x5F + #@30679 idle with ifg=0x84, ie=0x75 + #@31361 select with ifg=0x10, ie=0xF5 + #@32010 receive with ifg=0x10, ie=0xFD #@32659 receive with ifg=0x10, ie=0xFD + #@33308 receive with ifg=0x10, ie=0xFD + #@33636 receive with ifg=0x80, ie=0xFD #@63616 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can" D+T +  D+T #tPolling Can every 10:00 +41 #Cleanly exited at 20:53:06EST04-Dec-24 +3 !o:Storage::Warning: mesg"#CC.holds Puck.from 3, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 + #ESP.ready! will restore puck positions +4567 #-> CC.unloadPuck 3, :SH1 +155 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +4 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +4 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" % +2 .tSS.configure :default +2 "sampler")#.0X& +3 "core" &!  \  +2 "manipulator"&?& +3 "core" &* 8 @^ +2 "manipulator"&@% +4 "core" % / $ % +2 .tForearm.seek :retract +2 "manipulator"&A'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&B( +168 "core" ( +2 "manipulator"&C& +3 "core" &  k +2 "storage"(D& +3 "core" &! 4 \  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&E'} +100 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&G1 +57 "core" 1 +2 "manipulator"&H% +3 "core" % ·  R +2 "storage"(I& +4 "core" &" f g O \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&J'ϳ +20 "core" ' + "manipulator"&K& +4 "core" & L k +2 "storage"(L& +3 "core" &! 5 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +28 "core" ' +2 "storage"(N% +3 "core" %K  +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (P% +3 "core" %L z y PF +2 "manipulator"&Q% +4 "core" %D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' +49 ' +34 ."downElevator"SE.stop +8 "storage"(5 +3111 #t-> Puck.count +2 "storage"(S% +3 "core" %^ S +2 .tSE.seek :down +2 "storage"(T'X +3 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&U% +3 "core" %\  ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(V(S +654 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" &U D +2 "manipulator"&X& +4 "core" &  k +2 .tElbow.seek 1 +2 "manipulator"&Y(. +42 "core" ( +2 "manipulator"&Z& +3 "core" &:  t  +2 "storage"([& +3 "core" &W  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&\\'ѷ +99 "core" ' + "storage"(]& +4 "core" &W +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +270 "core" ' +2 "storage"(_- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`% +3 "core" %_ +3 ."downElevator"SE.seek :down +5 "storage"(a'X +99 (b% +3 "core" %"R  PH +2 "manipulator"&c% +3 "core" %  ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +98 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(e( +338 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" & }  +2 "manipulator"&g& +5 "core" &:   + .tElbow.seek 2 +2 "manipulator"&h( +32 "core" ( + "manipulator"&i& +4 "core" & $ ; V +2 "storage"(j& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +95 "core" ' +2 "storage"(l& +4 "core" &  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +299 "core" ' +2 "storage"(n- +3 "core" -'7 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o% +3 "core" % ?  +2 ."downElevator"SE.seek :down +3 "storage"(p'X +100 (q% +2 "core" %J = OD +2 "manipulator"&r% +4 "core" %ќ  _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +92 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(t( +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" & V  +2 "manipulator"&v& +5 "core" & y V + .tElbow.seek 3 +2 "manipulator"&w( +27 "core" ( + "manipulator"&x& +5 "core" & 6 w + "storage"(y& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +94 "core" ' + "storage"({& +4 "core" &  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'i +302 "core" ' + "storage"(}- +3 "core" -'7 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~% +3 "core" % > > +3 ."downElevator"SE.seek :down +5 "storage"('X +99 (% +3 "core" %I  OC +2 "manipulator"&% +4 "core" %C   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +36 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,l +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,l   +2 "manipulator"&& +3 "core" & * w +3 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( +2 "manipulator"& & +43 "core" &  w +2 "storage"( & +3 "core" &,i   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'Ѽ +95 "core" ' + "storage"(& +5 "core" &,i r  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +273 "core" ' +2 "storage"(- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (% +3 "core" %l y +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %+W l OE +2 "manipulator"&% +4 "core" %Ѵ 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<* +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<' +2 "manipulator"&& +4 "core" &  w +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&!& +3 "core" & < w +2 "storage"(& +4 "core" &<%  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&"'ы +101 "core" ' +2 "storage"($& +3 "core" &<% 5  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +274 "core" ' + "storage"(- +4 "core" -'i + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (&% +3 "core" %b +2 ."downElevator"SE.seek :down +3 "storage"(''X +100 (% +2 "core" %|U . PF +2 "manipulator"&(% +5 "core" %я : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +94 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(-(K +334 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" &K f  +3 "manipulator"&0& +3 "core" & i w +2 .tElbow.seek 6 +2 "manipulator"&1( +37 "core" ( +2 "manipulator"&4& +4 "core" &* b ! + "storage"(5& +4 "core" &K p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&#'a +88 "core" ' +2 "storage"( & +3 "core" &K V  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +269 "core" ' +2 "storage"()- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/% +3 "core" %q t +3 ."downElevator"SE.seek :down +3 "storage"(,'X +99 (8% +3 "core" %:N  OD +2 "manipulator"&9% +4 "core" %k 5 \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(*([ +336 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &[   +2 "manipulator"&6& +4 "core" &* - ! +2 .tElbow.seek 7 +2 "manipulator"&\ ( +20 "core" ( + "manipulator"&=& +4 "core" & G  +2 "storage"(>& +3 "core" &[   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&?'w +113 "core" ' +2 "storage"(@& +3 "core" &[ X  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +269 "core" ' +2 "storage"(D- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:% +3 "core" %q @ +3 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (G% +10 "core" %W[ + QI +2 "manipulator"&H% +4 "core" %l c \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +900 #t-> require 'shuffle.rb' +1052 #-> 10.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'K& +3 "core" & +2 "manipulator"&L% +3 "core" %\  )  +3 "storage"(N% +3 "core" %X +2 "storage"(A. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(P( +1603 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" & @ +2 "manipulator"&B& +4 "core" & 9  +2 .tElbow.seek 2 +2 "manipulator"&E( +15 "core" ( +2 "manipulator"&J& +3 "core" & , r +2 "storage"(3& +4 "core" & Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +94 "core" ' +2 "storage"(O& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +280 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & R +2 "manipulator"&& +4 "core" &  r +2 .tElbow.seek 2 + "manipulator"&W( +3 "core" ( +2 "manipulator"&X& +4 "core" & { r +2 "storage"(Z& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&[' +14 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(R'X +8 "core" & E r + "manipulator"&_% +4 "core" %   D +3 .tForearm.seek :retract + "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&c& +3 "core" &% w <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &% % t <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'" +93 "core" ' +2 "manipulator"&a& +3 "core" && _ <> +2 "manipulator"&V% +4 "core" %& -  +2 "collection"'f& +4 "core" & +3 "collection"'g& +5 "core" & +2 .tCC.seek :closed +2 "collection"'i(V +5 "core" & +7 &@ #c +10 &[ 6 +9 & G +9 &g G +10 &m G +9 &Ye G +9 &h G +10 &g G +9 &j G +10 &`j G +9 & #g G +9 &!g F +10 &#j G +9 &%jm F +9 &',h F +10 &(l G +9 &*k F +10 &,ri F +9 &.3k G +9 &/i G +10 &1iH F +9 &3yl G +9 &5<k F +10 &6gK G +9 &8h? G +10 &:f< F +9 &k< G +10 &?i; G +9 &Ae< F +9 &CLh? F +10 &E n> G +9 &Fy> H +10 &H; J +9 &J;< O +9 &K R +10 &M9 Q +9 &Oy R +11 &Q;; R +8 &RC R +9 &TF R +10 &V'XF 6 +9 &V& - +9 &VV T +3 ( + "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&j1 +59 "core" 1 +2 "manipulator"&l% +4 "core" % '  7 \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%d& +4 "core" & +2 "manipulator"&n% +3 "core" %\   +3 "storage"(o% +3 "core" %U m m 1 +2 "storage"(q. +3 "core" .( +2 "storage"(r& +3 "core" & r r  +2 "storage"(m& +4 "core" & q p ! +2 "manipulator"&k& +4 "core" &% ' 7 <> +2 "manipulator"&p% +4 "core" %\  + W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&e( +160 "core" ( +10 "manipulator"&u& +3 "core" & B  +2 "storage"(v& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +96 "core" ' +2 "storage"(y& +3 "core" & / +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +283 "core" ' + "storage"(h- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" & b c 6 +2 "manipulator"&}& +5 "core" & N  + .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +5 "core" & C  + "storage"(& +4 "core" & @ +3 .tForearm.seek 2 + 300 counts + "manipulator"&|' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t'X +9 "core" & )  + "manipulator"&% +4 "core" %  2 K +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"& & +3 "core" &i @ :  +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i n  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +96 "core" ' +2 "manipulator"&& +3 "core" &i \\  +2 "manipulator"&% +5 "core" %  / +2 "processing"%& +4 "core" & +2 "processing"%& +6 "core" &} +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &! +9 &> #b +10 &[3 6 +9 &1 H +9 &k G +10 &kp H +9 &Vj G +9 &l G +10 &i H +9 &k H +10 &^o G +9 & k G +9 &!k G +10 &#i H +9 &%ej H +9 &'(j G +10 &(k G +9 &*k G +10 &,ok G +9 &./n H +9 &/h G +10 &1l G +9 &3wk G +9 &57p H +10 &6n G +9 &8j H +10 &:}h H +9 &<@m G +9 &>h H +10 &?j H +9 &An G +9 &CGn H +10 &Es~ H +9 &Fy I +10 &H K +9 &JB L +9 &Lq L +10 &Mx M +9 &Os M +9 &QIs M +10 &S\ r M +9 &Ts M +10 &Vo M +9 &XO{ M +9 &Ywy{ "j +10 &Z-~| . +9 ( + &Z| +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % # - / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 "processing"%& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  `  +2 "storage"(% +3 "core" %c l m +2 "storage"(!. +3 "core" .( +2 "storage"(& +4 "core" & y z \\ +2 "storage"($& +2 "manipulator"& & +8 "core" &j z  + & y z l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&&& +3 "core" &j   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j   +2 .tForearm.seek PC +2 "manipulator"&(' +97 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%"( +89 "core" ' + "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +285 ( +2 "storage"(.& +3 "core" & j m +2 "manipulator"&0& +3 "core" &j b  +2 "manipulator"&4% +5 "core" % D +2 .tForearm.seek :retract +35 "manipulator"&5'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +259 "core" ( +2 "manipulator"&& +4 "core" & $ ~  + "storage"(+& +5 "core" & z z | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +99 "core" ' +2 .tHand.open + "manipulator"&/1 +64 "core" 1 +4 "storage"(8- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(9'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(%' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(,& +3 "core" & \ R\ Q v +3 "manipulator"&-& +4 "core" & \  +2 .tElbow.seek 2 + "manipulator"&;( +9 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(=& +3 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +58 "core" ' +2 "manipulator"&1& +3 "core" & &  +2 "storage"(2& +4 "core" & v l +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&D' +32 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(G'i +28 "core" ' +2 "manipulator"&H% +3 "core" % 5 +3 "storage"(C& +4 "core" & K L " + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&?' +27 "core" ' +2 "manipulator"&7& +3 "core" & B  +2 "storage"(K& +5 "core" & k e U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +21 "core" ' + "storage"(N% +5 "core" %p r +2 ."downElevator"SE.seek :down +4 "storage"(A'X +98 (*% +3 "core" %sT s ^ QH +2 "manipulator"&Q% +4 "core" %ѓ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" & j t +2 "collection"'3& +4 "core" &V T +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&O% +3 "core" %\ ! \\ / +3 "storage"(\ % +3 "core" %b t  C  +2 "storage"(I. +3 "core" .( +2 "storage"(U& +3 "core" & e c : +3 "storage"(T& +4 "core" & t  @ +2 "manipulator"&& +4 "core" & s  +2 .tElbow.seek 2 + "manipulator"&X( +4 "core" ( +2 "manipulator"&Z& +3 "core" & $ 5  +3 "storage"(]& +4 "core" & b b $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +97 "core" ' +2 "storage"(_& +4 "core" & y +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +278 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" &   +2 "storage"(^& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&S' +22 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(V'R +30 "core" ' + "manipulator"&f% +5 "core" % . + "storage"(W& +4 "core" & p z q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&R' +37 "core" ' +9 "manipulator"&`& +5 "core" &   + "storage"(<& +5 "core" & t j l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +42 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(l'A +39 "core" ' +2 "manipulator"&d& +3 "core" &   +3 "manipulator"&n% +3 "core" %у ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&q( +156 "core" ( +3 "manipulator"&r& +3 "core" &+ ,  Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &g& +2 "core" &,   Bf +3 .tForearm.seek CC + "manipulator"&m'" +96 "core" ' +2 .tHand.close + "manipulator"&k/ +56 "core" / +2 .tCC.seek :open +2 "collection"'p( +420 "core" ( + "storage"(\\& +4 "core" & u +2 "storage"(u& +4 "core" &  +2 "manipulator"&v& +3 "core" &) '  ?U +2 "manipulator"&y% +5 "core" % , & . +2 .tForearm.seek :retract + "manipulator"&b'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Y( +159 "core" ( +2 "manipulator"&h& +3 "core" & \ +2 "storage"(s& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&}' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"&z% +4 "core" % $ 2 + "storage"(& +4 "core" & \\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&e& +4 "core" & O \ + "storage"(x& +5 "core" & w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +38 "core" ' + "storage"(|% +4 "core" %G 2 +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +3 "core" %P = PG +2 "manipulator"&~% +4 "core" %ѓ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &< +2 "manipulator"&% +4 "core" %\   & +2 "storage"(t% +3 "core" %_   +3 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & {  +2 "manipulator"&& +4 "core" & x \ +2 .tElbow.seek 3 + "manipulator"&( +22 "core" ( +2 "manipulator"&& +3 "core" & % = ? +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +108 "core" ' +2 "storage"(& +3 "core" & q  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +3 "core" &   +2 "manipulator"&&& +3 "core" &  ? +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&w& +4 "core" &  * ? +2 "storage"(& +5 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +58 "core" ' +9 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +9 "core" & ? + "manipulator"&% +4 "core" % P . +3 .tForearm.seek :retract + "manipulator"&.'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&0( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&4& +3 "core" &# E  | :/ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &#  ) :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +3 "manipulator"&+& +3 "core" &# N :/ +2 "manipulator"&% +5 "core" %( 1 +2 "collection"'/& +4 "core" & +2 "collection"'8& +5 "core" &8 +2 .tCC.seek :closed +2 "collection"'#(V +5 "core" &L  +8 &5 )v +10 &i < +9 &v H +9 &`f F +10 &"i@ F +9 &hD F +9 &e= F +10 &gd= F +9 &)j; F +9 &iF F +10 & i? F +9 &"ngH G +10 &$0gH G +9 &%h@ G +9 &'gA F +10 &)xc@ F +9 &+8hD G +9 &,fA F +10 &.dC F +9 &0j< F +10 &2Ah= F +9 &4h9 G +9 &5g; G +10 &7g F +9 &9JeA F +9 &; i? F +10 &<g; G +9 &>g> F +10 &@QdD F +9 &Bc4 F +9 &Cj/ F +10 &Em< G +9 &GTxB H +10 &I3 J +9 &J< O +9 &L7 Q +10 &NC| Q +9 &P7 R +9 &Q? Q +10 &S< R +9 &UEV I +9 &VqO< &t +10 &V; "g +9 ( + &V7 T +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&,1 +60 "core" 1 +3 "manipulator"&-% +4 "core" % ( . < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +100 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +3 "core" & +2 "manipulator"&5% +4 "core" %\  - +2 "storage"(1% +3 "core" %a r q  +2 "storage"(2. +4 "core" .( + "storage"(& +4 "core" & s n  +3 "storage"(H& +3 "core" & r n   +2 "manipulator"&C& +3 "core" &# :/ +2 "manipulator"&9% +5 "core" %\   - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7( +166 "core" ( + "manipulator"&K& +5 "core" &  { i + "storage"(N& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +94 "core" ' + "storage"()& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +283 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Q& +3 "core" & y z  +2 "manipulator"&>& +3 "core" & < i +3 .tElbow.seek 3 + "manipulator"&;( +4 "core" ( +2 "manipulator"&@& +4 "core" & Q i + "storage"(D& +4 "core" & c d   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&3& + "storage"(O'X +8 "core" & S i + "manipulator"&\ % +5 "core" % ϝ +  +2 .tForearm.seek :retract + "manipulator"&I'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(s +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&G& +4 "core" &| P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &| 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +106 "core" ' +2 "manipulator"&Z& +3 "core" &| # +2 "manipulator"&]% +5 "core" % H , + "processing"%L& +5 "core" & +45 "processing"%_& +6 "core" & +2 .tPC.seek :closed +2 "processing"%A(Z +5 "core" & +6 &? #b +10 &[ 6 +9 & H +9 &m G +10 &n G +9 &Um H +10 &m H +9 &k H +9 &m H +10 &]m H +9 & m H +9 &!l H +10 &#m G +9 &%ek H +10 &''m H +9 &(k H +9 &*m H +10 &,nh G +9 &.0h G +9 &/h G +10 &1k G +9 &3vn G +9 &57o H +10 &6l G +9 &8i G +10 &:i G +9 &j H +10 &?k H +9 &Am G +9 &CGo H +10 &Er H +9 &Fv I +10 &H K +9 &JB L +9 &L L +10 &M L +9 &O L +9 &QJ L +10 &S N +9 &T M +10 &V M +9 &XO M +9 &Yyx "j +10 &Z+z / +9 ( + &Z " +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&:1 +57 "core" 1 + "manipulator"&B% +5 "core" %  $ s , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +97 "core" ' +2 "processing"%c& +4 "core" &Zn " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&^% +4 "core" %\  +2 "storage"(a% +3 "core" %a z y +2 "storage"(f. +4 "core" .( + "storage"(W& +5 "core" & z z  +2 "storage"(`& +2 "manipulator"&<& +5 "core" & y z  +3 &|  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(d'i +3 "manipulator"&n(s +5 "core" ( +2 "manipulator"&F& +4 "core" &| E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &|  +3 .tForearm.seek PC + "manipulator"&E' +97 "core" ' + .tHand.close +2 "manipulator"&S/ +59 "core" / +2 .tPC.seek :open +2 "processing"%R( +80 "core" ' +2 "storage"(V- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +49 "core" ' +293 ( +2 "storage"(g& +4 "core" & o b W  +2 "manipulator"&j& +3 "core" &| +2 "manipulator"&[% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&k'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +254 "core" ( + "manipulator"&i& +4 "core" & #  $ +2 "storage"(\\& +4 "core" & { y K  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +94 "core" ' +2 .tHand.open + "manipulator"&v1 +55 "core" 1 +2 "storage"(y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(h'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(m- +2 "core" -' +3 "storage"(q& +3 "core" &\ 1\ 1  +2 "manipulator"&& +4 "core" & e # +2 .tElbow.seek 3 +2 "manipulator"&z( +31 "core" ( + "manipulator"&& +4 "core" & Z  +2 "storage"(e& +4 "core" &\ %\ # 8  +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +57 "core" ' +2 "manipulator"&b& +3 "core" &   +2 "storage"(& +4 "core" & t  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&~'} +18 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(}'i +23 "core" ' +2 "manipulator"&% +4 "core" %Ώ   +38 "storage"(& +11 "core" & w z L  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +20 "core" ' +2 "manipulator"&t& +4 "core" & #  +2 "storage"(& +3 "core" & f e \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +32 "core" ' +2 "storage"({% +3 "core" %q +3 ."downElevator"SE.seek :down +3 "storage"( 'X +100 (P% +4 "core" %/U r _ W PH +2 "manipulator"&% +4 "core" %7 T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 4  +2 "collection"'& +4 "core" &V[ T +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\   +3 "storage"(% +3 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"( & +3 "core" &  +3 "storage"($& +3 "core" &  +2 "manipulator"&&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&w( +4 "core" ( +2 "manipulator"&& +3 "core" & $  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & I  +2 "storage"((& +4 "core" & r  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +28 "core" ' +2 "manipulator"&/% +3 "core" %z o +2 "storage"(& +5 "core" & z p p  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 297 counts + "manipulator"&'Ϧ +21 "core" ' +2 "manipulator"&.& +3 "core" &   +2 "storage"(p& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(-'A +40 "core" ' + "manipulator"&=& +4 "core" &   +2 "manipulator"&5% +3 "core" %F  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +161 "core" ( +3 "manipulator"&8& +3 "core" &, " Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ W Bi +3 .tForearm.seek CC + "manipulator"&H'" +94 "core" ' +3 .tHand.close +2 "manipulator"&C/ +53 "core" / +2 .tCC.seek :open +2 "collection"'9( +416 "core" ( +2 "storage"(& +3 "core" & d  +3 "storage"(K& +4 "core" & \\  + "manipulator"&N& +4 "core" &)  ?U +2 "manipulator"&)% +3 "core" % ! H +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6( +165 "core" ( +2 "manipulator"&*& +3 "core" & G N +2 "storage"(Q& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&>'} +97 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +47 .tHand.open + "manipulator"&D1 +63 "core" 1 +4 "manipulator"&J% +3 "core" % ~ ] +2 "storage"(3& +3 "core" & I  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"&\ 'Ϫ +20 "core" ' + "manipulator"&7& +4 "core" & A N +2 "storage"( & +4 "core" & x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +28 "core" ' +2 "storage"(?% +3 "core" %I T +3 ."downElevator"SE.seek :down +3 "storage"(G'X +100 (T% +2 "core" %O  OE +2 "manipulator"&;% +5 "core" %D v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"']& +3 "core" & +2 "manipulator"&L% +4 "core" %\    +2 "storage"(O% +3 "core" %T  +3 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"("( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" & 5 +2 "manipulator"&B& +4 "core" & N +2 .tElbow.seek 2 + "manipulator"&c( +55 "core" ( +2 "manipulator"&^& +3 "core" & " !r +3 "storage"(a& +4 "core" &  ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +103 "core" ' +2 "storage"(W& +3 "core" &  G +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +289 "core" ' +3 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &   +2 "manipulator"&F& +3 "core" &  !p +3 .tElbow.seek 2 + "manipulator"&X( +30 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(S& +5 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&M& + "storage"(A'X +6 "core" &   +3 "manipulator"&d% +4 "core" %  " +2 .tForearm.seek :retract +2 "manipulator"&g'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&[& +3 "core" &( # ~ ?Q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &(  ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'" +99 "core" ' + "manipulator"&\\& +4 "core" &) 7 ?P +2 "manipulator"&n% +5 "core" %#  + "collection"'v& +5 "core" & +2 "collection"'y& +5 "core" & +2 .tCC.seek :closed +2 "collection"'m(V +5 "core" & +7 &7 $d +9 &] 6 +10 &I G +9 &c F +9 &g< F +10 &`g> F +9 &#d= F +10 &gF F +9 &g@ G +9 &ig? F +10 & *f< F +9 &!g G +9 &#g/ F +10 &%ogF G +9 &'2gB F +10 &(f? F +9 &*fA G +9 &,yg= F +10 &.:g? F +9 &/g; G +9 &1g9 F +10 &3g9 F +9 &5Bf@ F +10 &7cF F +9 &8f: F +9 &:g3 F +10 & f0 F +9 &?g9 F +10 &Ag F +9 &CSf F +10 &Ej G +9 &Fs G +9 &H> J +10 &JB= O +9 &K P +10 &M1 P +9 &O; Q +9 &QC; Q +10 &S9 R +9 &T8 R +9 &V/] - +10 &V A +5 ( +2 "collection"'y& +4 "core" &VS @ +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&q1 +64 "core" 1 +3 "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +40 .tForearm.seek :retract +10 "manipulator"&'\ +100 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%k& +3 "core" & +2 "manipulator"&e% +4 "core" %\ ! 6 +2 "storage"(b% +4 "core" %a  t F +2 "storage"(. +3 "core" .( +2 "storage"(r& +3 "core" &  ` a U +2 "storage"(& +4 "core" &  u j f +2 "manipulator"&& +4 "core" &( [ >I +2 "manipulator"&h% +3 "core" %\  6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&t( +164 "core" ( +2 "manipulator"&& +4 "core" &  v +2 "storage"(o& +3 "core" &  P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +95 "core" ' +2 "storage"(u& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +279 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &   +2 "manipulator"&& +4 "core" &  v +2 .tElbow.seek 2 +2 "manipulator"&z( +4 "core" ( + "manipulator"&|& +4 "core" & w v +2 "storage"(~& +3 "core" &  ) +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" & # v +2 "manipulator"&% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&}& +5 "core" &p   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &p J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&' +99 "core" ' +2 "manipulator"&& +4 "core" &p ! S  +2 "manipulator"& % +3 "core" % f +3 "processing"%l& +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" & +8 &= #b +9 &[ 6 +10 & H +9 &j H +9 &k G +10 &Uh G +9 &k H +9 &j G +10 &i G +9 &]i G +10 & m G +9 &!j H +9 &#i G +10 &%eh G +9 &'%k H +9 &(j G +10 &*h G +9 &,lh G +10 &..m G +9 &/j G +9 &1j G +10 &3tf G +9 &56m G +9 &6j G +10 &8g G +9 &:}j G +10 &h G +9 &?k G +10 &Ai G +9 &CFi G +9 &Em G +10 &Fu H +9 &H K +10 &J@ L +9 &L M +9 &M L +10 &O L +9 &QG M +9 &S  M +10 &T M +9 &V M +10 &XMx M +9 &Ywu~ "k +9 &Z. 0 +10 ( + &Zy +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&Y1 +63 "core" 1 + "manipulator"&% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +100 "core" ' +3 "processing"%4& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&(% +4 "core" %\  7 +2 "storage"(+% +3 "core" %O +2 "storage"(/. +3 "core" .( +2 "storage"(& +3 "core" &  q +2 "storage"(.& +3 "manipulator"&p& +7 "core" &  + &p   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(5'i +2 "core" ( +3 "manipulator"&& +4 "core" &p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &p   +3 .tForearm.seek PC +39 "manipulator"&' +106 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +36 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(8'y +41 "core" ' +344 ( + "storage"(& +5 "core" &  T + "manipulator"&,& +4 "core" &p   +2 "manipulator"&'% +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +279 "core" ( +2 "manipulator"&#& +3 "core" & T o +2 "storage"(& +4 "core" &  t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&K'ќ +103 "core" ' +2 .tHand.open + "manipulator"&N1 +65 "core" 1 +2 "storage"()- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +4 "core" -' +2 "storage"(2& +3 "core" & \ E\ M e +3 "manipulator"&D& +3 "core" &  j +2 .tElbow.seek 2 +2 "manipulator"&J( +4 "core" ( +2 "manipulator"&3& +3 "core" &  j +2 "storage"(7& +4 "core" & \ P\ O +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(0' +53 "core" ' +2 "manipulator"&?& +3 "core" &  j +3 "storage"(6& +4 "core" &  0 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&T' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(>'i +24 "core" ' +2 "manipulator"&\ % +3 "core" % # X +2 "storage"(]& +5 "core" &  f 7 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&L' +18 "core" ' +2 "manipulator"&O& +3 "core" & v j +2 "storage"(I& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +32 "core" ' +2 "storage"(%% +3 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(G'X +100 ( % +3 "core" %S z z ^ QI +2 "manipulator"&:% +5 "core" %ё  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (^& +3 "core" &   +2 "collection"'a& +4 "core" &VSi @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&W% +3 "core" %\ Q 3 +2 "storage"(@% +4 "core" %P  +2 "storage"(Z. +3 "core" .( +2 "storage"(`& +3 "core" &   +2 "storage"(<& +5 "core" &  C + "manipulator"&F& +4 "core" &  j +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&S& +4 "core" &  Z j +2 "storage"(U& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +45 "manipulator"&M'ќ +97 "core" ' +2 "storage"(d& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(c'i +279 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" &  j +2 "storage"(E& +4 "core" &  1 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&_' +33 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'T +28 "core" ' +2 "manipulator"&X% +3 "core" % x +2 "storage"(v& +3 "core" &  r r 1 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&A' +18 "core" ' + "manipulator"&g& +4 "core" & E j +2 "storage"(9& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('C +39 "core" ' +2 "manipulator"&y& +4 "core" &  j +2 "manipulator"&k% +3 "core" %ю { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +153 "core" ( +3 "manipulator"&& +3 "core" &( ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &( Y ?P +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'h( +413 "core" ( +2 "storage"(i& +3 "core" &  +2 "storage"(& +5 "core" &  w + "manipulator"&o& +4 "core" && e =G +2 "manipulator"&u% +3 "core" % $ t +3 .tForearm.seek :retract + "manipulator"&j'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +154 "core" ( +2 "manipulator"&x& +3 "core" & l  +3 "storage"(P& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +99 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +60 "core" 1 +2 "manipulator"&% +4 "core" % R k +2 "storage"(& +3 "core" &  Y +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +3 "manipulator"&' +20 "core" ' + "manipulator"&t& +3 "core" & ,  +3 "storage"({& +3 "core" &  0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +23 "core" ' +2 "storage"(% +4 "core" %K  +2 ."downElevator"SE.seek :down +3 "storage"(}'X +100 ($% +2 "core" % R OD +3 "manipulator"&z% +3 "core" %ѥ C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +47 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +3 "core" &8 +2 "manipulator"&l% +4 "core" %\  0 +2 "storage"(% +4 "core" %b  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" & a  +2 "manipulator"&& +3 "core" & C  +3 .tElbow.seek 3 + "manipulator"&4( +25 "core" ( +2 "manipulator"&(& +3 "core" &  : S +3 "storage"(+& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(/& +3 "core" & Z  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &  +2 "manipulator"&& +3 "core" & : S +3 .tElbow.seek 3 + "manipulator"&w( +4 "core" ( +2 "manipulator"&&& +3 "core" & q S +2 "storage"(& +4 "core" &  +4 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +5 "storage"( 'X +6 "core" &  S +2 "manipulator"&5% +3 "core" % Ϥ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&,( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&'& +3 "core" &&  F =F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" && ? =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'" +100 "core" ' +3 "manipulator"&& +3 "core" && Y =F +3 "manipulator"&=% +3 "core" %) 6 +2 "collection"'N& +5 "core" & +2 "collection"')& +5 "core" & +2 .tCC.seek :closed +2 "collection"'H(V +5 "core" &  +8 &8 *y +10 &k = +9 &r8 G +10 &f> F +9 &Be= F +13 &g; F +6 &e: G +9 &fB F +9 &Jg> F +10 & fD F +9 & eA F +10 &"iF F +9 &$RfH F +9 &&fD F +10 &'e? F +9 &)gH F +9 &+Zg@ F +10 &-g F +9 &.f5 F +10 &0gE F +9 &2bc> F +9 &4$f< F +10 &5g8 F +9 &7e9 F +9 &9kc< F +10 &;,f$ F +9 &<f8 F +10 &>f< F +9 &@qg0 F +9 &B2f G +10 &Cg F +9 &Em G +9 &GuyJ H +10 &I0/ J +9 &J8 P +10 &L9 Q +9 &Nb9 Q +9 &P#8 Q +10 &Q R +9 &S S +9 &UdY @ +10 &VI} ^ +9 &V3'B "i +9 &W\ L8 B +3 ( +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&21 +59 "core" 1 +3 "manipulator"&D% +4 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%7& +4 "core" & + "manipulator"&C% +4 "core" %\ R  +2 "storage"(?% +4 "core" %`  +2 "storage"(6. +3 "core" .( +2 "storage"(8& +4 "core" &   +2 "storage"(\ & +3 "core" &   +2 "manipulator"&]& +4 "core" && x =F +2 "manipulator"&*% +3 "core" %\ m  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&O( +153 "core" ( +2 "manipulator"&I& +3 "core" & j  +2 "storage"(%& +50 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +102 "core" ' +2 "storage"(K& +3 "core" & q  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +278 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +3 "core" & <  +2 "manipulator"& & +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&J( +3 "core" ( +2 "manipulator"&0& +5 "core" & h  +2 "storage"(T& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(W'X +9 "core" &   +2 "manipulator"&@% +4 "core" % ϩ   +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&>(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&`& +4 "core" &q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &q H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +91 "core" ' +2 "manipulator"&S& +3 "core" &q 3 +2 "manipulator"&U% +5 "core" %  5 + "processing"%-& +5 "core" & +2 "processing"%d& +5 "core" & +2 .tPC.seek :closed +2 "processing"%G(Z +5 "core" & +7 &D #b +9 &[ 6 +9 & H +10 &j G +9 &g G +10 &Xi G +9 &k G +9 &h G +10 &j G +9 &_j H +9 & #i G +10 &!i G +9 &#k G +10 &%ij G +9 &'+j G +9 &(i G +10 &*j H +9 &,qi G +9 &.2j G +10 &/h G +9 &1i G +9 &3xi G +10 &5;l G +9 &6i G +10 &8h G +9 &:g G +9 &i G +9 &?j G +9 &Ai G +10 &CIk H +9 &E m H +10 &Ft H +9 &H J +9 &JE L +10 &L L +9 &M L +10 &O M +9 &QJ M +9 &S L +10 &T M +9 &V M +9 &XR M +10 &Ywy "j +9 &Z,z . +9 ( + &Z " +3 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&;1 +61 "core" 1 +2 "manipulator"&B% +4 "core" % # 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' +3 "processing"%[& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&E% +3 "core" %\ 2  +3 "storage"(\\% +4 "core" %a + "storage"(X. +3 "core" .( +2 "storage"(v& +3 "core" & U  +3 "storage"(g& +2 "manipulator"&9& +7 "core" & I  +2 &q 0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +5 "manipulator"&y(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(k'i +3 "core" ( +2 "manipulator"&M& +3 "core" &q d +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q  +2 .tForearm.seek PC +2 "manipulator"&c' +95 "core" ' +2 .tHand.close + "manipulator"&_/ +58 "core" / +2 .tPC.seek :open +2 "processing"%A( +94 "core" ' + "storage"(n- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +73 "core" ' +255 ( + "storage"(r& +4 "core" & (  +2 "manipulator"&q& +4 "core" &q + +2 "manipulator"&V% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +263 "core" ( +2 "manipulator"&m& +3 "core" & d  +2 "storage"(i& +5 "core" & \\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +4 .tHand.open + "manipulator"&o1 +62 "core" 1 +3 "storage"(u- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(x'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(b& +4 "core" &\ J\ H =  +2 "manipulator"&~& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +3 "core" & 4 +2 "storage"(t& +4 "core" &\ G\ G  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +60 "core" ' +2 "manipulator"&j& +3 "core" &  +3 "storage"($& +4 "core" & w  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&z'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"& % +5 "core" %΀ T + "storage"(& +6 "core" & }  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +19 "core" ' +2 "manipulator"&l& +3 "core" &  +3 "storage"(& +3 "core" & D  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(s% +3 "core" %s h +3 ."downElevator"SE.seek :down +4 "storage"(}'X +98 ("% +4 "core" %W u QI +2 "manipulator"&Y% +5 "core" % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ((& +3 "core" &  +2 "collection"'+& +4 "core" &W\ Ux B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&/% +3 "core" %\    +3 "storage"(|% +3 "core" %O  +2 "storage"(. +3 "core" .( +2 "storage"(p& +3 "core" & ]  +2 "storage"(.& +5 "core" & '  + "manipulator"&& +4 "core" & O +2 .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"( & +4 "core" & U  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +96 "core" ' +2 "storage"(5& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & g +41 "storage"(& +11 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(='S +29 "core" ' + "manipulator"&N% +5 "core" %Ή / + "storage"(w& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"& 'ϵ +20 "core" ' +2 "manipulator"&& +3 "core" & 9 +3 "storage"(h& +3 "core" & {  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(D'B +42 "core" ' +2 "manipulator"&7& +3 "core" & +2 "manipulator"&C% +5 "core" %9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +161 "core" ( +2 "manipulator"&)& +5 "core" &+ A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &+ n A_ +3 .tForearm.seek CC + "manipulator"&\ '" +97 "core" ' +2 .tHand.close + "manipulator"&]/ +58 "core" / +2 .tCC.seek :open +2 "collection"'*( +416 "core" ( +2 "storage"(#& +3 "core" & j  +2 "storage"(I& +4 "core" & 9  +2 "manipulator"&%& +3 "core" &* T @^ +2 "manipulator"&,% +4 "core" % "  m +3 .tForearm.seek :retract + "manipulator"&K'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&3( +162 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(:& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& '} +102 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&T1 +60 "core" 1 +3 "manipulator"&^% +3 "core" % ΅ T +2 "storage"(a& +5 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&@'ϱ +21 "core" ' + "manipulator"&O& +4 "core" & M  +2 "storage"(1& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +36 "core" ' +2 "storage"(L% +3 "core" %J Z +3 ."downElevator"SE.seek :down +4 "storage"(`'X +98 (<% +3 "core" %IQ * OE +2 "manipulator"&J% +4 "core" %? . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'U& +3 "core" & +3 "manipulator"&-% +4 "core" %\   + "storage"(W% +5 "core" %_  + "storage"(Z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +46 (;& +6 "core" & | +2 "manipulator"&B& +4 "core" & ?  +2 .tElbow.seek 2 +2 "manipulator"&[( +35 "core" ( +2 "manipulator"&E& +3 "core" &+ #  +3 "storage"(\\& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +92 "core" ' + "storage"(d& +5 "core" & Z +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +289 "core" ' +3 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" & n +2 "manipulator"&M& +4 "core" &+ 7  +2 .tElbow.seek 2 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&F& +3 "core" & K  +2 "storage"(_& +3 "core" & ? +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&n' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(G'X +8 "core" &   + "manipulator"&k% +5 "core" %  C E +2 .tForearm.seek :retract + "manipulator"&r'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&V& +3 "core" &( A d ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &( - ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'" +99 "core" ' +3 "manipulator"&i& +3 "core" &( K ?V +3 "manipulator"&y% +3 "core" %, +3 "collection"'o& +3 "core" & +3 "collection"'u& +5 "core" & +3 .tCC.seek :closed + "collection"'(V +4 "core" & +8 &9 #c +9 &\\ 6 +10 & G +9 &b6 F +9 &g< F +10 &^e G +9 &"eF F +9 &e3 F +10 &gF F +9 &gfC F +10 & (e G +9 &!e8 F +9 &#f< F +10 &%oc? F +9 &'1e: F +9 &(b< F +10 &*e< F +9 &,vf9 G +10 &.:e? F +9 &/e: F +9 &1c? F +10 &3~eF G +9 &5Bd: F +9 &7eE F +10 &8`8 F +9 &:e6 F +10 & e9 F +9 &?g9 F +10 &Ae8 F +9 &CRg F +9 &Ei G +10 &Fp> G +9 &H I +10 &JB< N +9 &K8 Q +9 &MT Q +10 &O; Q +9 &QA} Q +9 &S< R +10 &T6 S +9 &V0`8 * +10 &V( M +9 ( + &V`0 D +2 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&b1 +60 "core" 1 +2 "manipulator"&~% +4 "core" % ( A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +5 "core" & + "manipulator"&% +3 "core" %\  3 * +3 "storage"(j% +3 "core" %Y  d q +2 "storage"($. +3 "core" .( +2 "storage"( & +4 "core" & i c N +2 "storage"(& +3 "core" & r h ~ +2 "manipulator"&& +4 "core" &( d ?U +2 "manipulator"&x% +3 "core" %\  l * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&l( +154 "core" ( + "manipulator"&& +4 "core" & #  \ +2 "storage"(s& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +97 "core" ' +2 "storage"(& +4 "core" & 5 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'i +282 "core" ' +2 "storage"("- +50 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & ~ +2 "manipulator"&{& +4 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & " \ + "storage"(z& +5 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(/'X +9 "core" & r \ +2 "manipulator"&|% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +3 "manipulator"&& +3 "core" &p 0  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &p < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' +2 "manipulator"&& +3 "core" &p $ +3 "manipulator"& % +3 "core" % x +3 "processing"%& +4 "core" & +2 "processing"%5& +5 "core" & +2 .tPC.seek :closed +2 "processing"%}(Z +5 "core" & +7 &= #b +9 &] 6 +9 & H +10 &f G +9 &i G +10 &Zj G +9 &j G +9 &h G +10 &j G +9 &aj H +9 & %j G +10 &!h G +9 &#i G +10 &%ij H +9 &'-i G +9 &(h G +10 &*h G +9 &,rh G +9 &.5g G +10 &/h G +9 &1h G +10 &3{g G +9 &5<i G +9 &6g G +10 &8g G +9 &:g G +9 &g G +9 &?i G +10 &Ag G +9 &CLj G +9 &E h H +10 &Fr H +9 &H J +9 &JF L +10 &L L +9 &M M +10 &O L +9 &QM M +9 &S M +10 &T M +9 &V M +9 &XR N +10 &Ywx "k +9 &Z)u / +10 ( + &Z " +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ! 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + "processing"%'& +5 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  u  +2 "storage"(% +4 "core" %` +2 "storage"(N. +3 "core" .( +2 "storage"(w& +3 "core" & 5 +3 "storage"(& +2 "manipulator"&h& +7 "core" & g +2 &p  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&7(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(C'i +3 "core" ( +2 "Can" J.&U +2 "manipulator"&!& +3 "core" &p +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &p  +2 .tForearm.seek PC +2 "manipulator"&4' +94 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"% ( +98 "core" ' + "storage"(=- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'y +34 "core" ' +289 ( + "storage"(8& +5 "core" & + "manipulator"&2& +4 "core" &p  +2 "manipulator"&% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&]'\ +100 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +41 "manipulator"&?( +271 "core" ( + "manipulator"&H& +5 "core" &  3  + "storage"(#& +4 "core" & z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&I'ќ +89 "core" ' +2 .tHand.open + "manipulator"&%1 +56 "core" 1 +3 "storage"(,- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(:' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +4 "core" -' + "storage"(6& +5 "core" & \ P\ P + "manipulator"&T& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&^( +5 "core" ( +2 "manipulator"&a& +3 "core" &    +3 "storage"(O& +3 "core" & \ P\ P +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(L' +59 "core" ' +2 "manipulator"&K& +3 "core" &   +2 "storage"(<& +5 "core" & = + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J' +24 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +29 "core" ' + "manipulator"&@% +4 "core" % I +2 "storage"(U& +4 "core" &  e & +7 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&-' +20 "core" ' +2 "manipulator"&W& +3 "core" &   +2 "storage"(Z& +4 "core" & B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +40 "core" ' +2 "storage"(Q% +3 "core" %m % +3 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (R% +3 "core" %FU b j \\ QI +2 "manipulator"&;% +4 "core" %  w +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +94 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" & 5 +2 "collection"'\\& +4 "core" &V`J D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&d% +4 "core" %\ G  +2 "storage"(0% +4 "core" %U  +2 "storage"(S. +3 "core" .( +2 "storage"(g& +3 "core" &  +2 "storage"(9& +4 "core" &  +2 "manipulator"&M& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&_& +4 "core" & ?  +2 "storage"(>& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +93 "core" ' +2 "storage"(k& +3 "core" & ~ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +283 "core" ' +2 "storage"(X- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & o  +2 "storage"(c& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&v' +31 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'S +34 "core" ' + "manipulator"&o% +4 "core" % \\ \ +2 "storage"(& +3 "core" & p z U +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&G' +16 "core" ' + "manipulator"&r& +5 "core" & y  + "storage"(*& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'B +39 "core" ' + "manipulator"&t& +5 "core" &   + "manipulator"&% +5 "core" %ћ g e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&$( +159 "core" ( +2 "manipulator"&u& +3 "core" &+ .  A` +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &+ B A_ +3 .tForearm.seek CC + "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'x( +413 "core" ( +3 "storage"(m& +3 "core" & +3 "storage"(& +4 "core" & \\ + "manipulator"&s& +4 "core" &+ A_ +2 "manipulator"&% +4 "core" % / ' +2 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&"& +3 "core" &  ^  +2 "storage"(Y& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&{' +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +61 "core" 1 +3 "manipulator"&(% +4 "core" % #  + "storage"(+& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 300 counts +3 "manipulator"&|' +15 "core" ' +2 "manipulator"&l& +3 "core" & H  +2 "storage"(e& +5 "core" & A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +28 "core" ' + "storage"(% +5 "core" %I  +2 ."downElevator"SE.seek :down +3 "storage"('X +99 (.% +3 "core" %S q PG +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +3 "core" &2 +2 "manipulator"&% +5 "core" %\ \   + "storage"(/% +4 "core" %\\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(A( +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & M  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&'( +16 "core" ( + "manipulator"&& +4 "core" & n E +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +134 "core" ' +4 "storage"(w& +3 "core" & d  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +290 "core" ' + "storage"(h- +4 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +3 "core" & }  +2 "manipulator"&!& +3 "core" &  E +3 .tElbow.seek 3 + "manipulator"&&( +4 "core" ( +2 "manipulator"&& +3 "core" &  E +3 "storage"(& +3 "core" & [  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&='ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(}'X +5 "core" &  E +2 "manipulator"&C% +5 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +3 "core" &+ J  X Aa +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &+ A Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'" +96 "core" ' +2 "manipulator"&H& +5 "core" &+ 3  Aa + "manipulator"&#% +5 "core" % '  +2 "collection"'%& +4 "core" & +2 "collection"',& +5 "core" & +2 .tCC.seek :closed +2 "collection"'\ (V +4 "core" & +7 &G; $e +10 &^< 7 +9 &8, G +9 &e< F +10 &g? F +9 &~e= G +10 &BeD F +9 &e@ F +9 &e> F +10 &e F +9 & Kb. F +9 &" e@ F +10 &#e> F +9 &%f< F +9 &'Rg< F +10 &)e; F +9 &*e@ F +10 &,e= F +9 &.Ye< F +9 &0eC F +10 &1f: G +9 &3e< F +9 &5be< F +10 &7#e3 F +9 &8eE F +10 &:e@ G +9 &+e> F +10 &?f} G +9 &Ae F +9 &Cqf F +10 &E3i> F +9 &Fs= H +10 &H I +9 &J`; O +9 &L/ Q +10 &M Q +9 &OU Q +9 &Qa} Q +10 &S S +9 &TV S +10 &VBYT )~ +9 &V"9 I +9 ( +2 "collection"',& +3 "core" &Vm8 F +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&61 +59 "core" 1 +3 "manipulator"&T% +4 "core" %  8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%O& +3 "core" & +2 "manipulator"&]% +4 "core" %\   +2 "storage"(K% +4 "core" %V v y 4 +2 "storage"(<. +3 "core" .( +2 "storage"(@& +3 "core" & k v K  +2 "storage"()& +4 "core" & j e >  +2 "manipulator"&U& +4 "core" &* A` +2 "manipulator"& % +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +160 "core" ( +2 "manipulator"&Z& +3 "core" &  j { +2 "storage"(Q& +4 "core" & 9  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +96 "core" ' + "storage"(I& +3 "core" & J  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(:'i +276 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &   +2 "manipulator"&1& +3 "core" & C { +3 .tElbow.seek 3 + "manipulator"&^( +4 "core" ( +2 "manipulator"&L& +3 "core" & + { +2 "storage"(J& +4 "core" & .  +3 .tForearm.seek 3 + 300 counts + "manipulator"&-'ϩ +62 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&E/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(d'X +9 "core" & * { + "manipulator"& % +5 "core" % ϲ = - +2 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&g& +4 "core" &s D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +96 "core" ' + "manipulator"&_& +5 "core" &s  Z + "manipulator"&>% +4 "core" % B  +2 "processing"%D& +5 "core" & +2 "processing"%k& +5 "core" & +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &  +9 &6 )v +9 & j = +9 &{ H +10 &jg G +9 &,g G +9 &l G +10 &h G +9 &qh G +9 &3g G +10 &i G +9 & h G +10 &"zh G +9 &$=h F +9 &%h G +10 &'i G +9 &)h G +9 &+Ch G +10 &-h G +9 &.g G +10 &0g G +9 &2Kh G +9 &4g G +10 &5g G +9 &7k G +9 &9Th G +10 &;h F +9 &<i G +10 &>h F +9 &@[i G +9 &Bg G +10 &Cj G +9 &Em H +10 &G]w I +9 &I K +9 &J L +10 &L L +9 &N] L +9 &P M +10 &Q L +9 &S L +10 &Uc M +9 &W$ M +9 &X M +10 &Z5B` %k +9 &Z1 \ +5 ( +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&31 +2 "core" &Zy +59 1 +2 "manipulator"&B% +3 "core" % # 3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +97 "core" ' +2 "processing"%V& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&c% +4 "core" %\  8  +2 "storage"(i% +4 "core" %a  0 +2 "storage"(o. +3 "core" .( +2 "storage"(& +4 "core" & g l '  +2 "storage"(r& +2 "manipulator"&*& +7 "core" & p  +2 &s j +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&t(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&f& +3 "core" &s K +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &s  +2 .tForearm.seek PC +2 "manipulator"&[' +95 "core" ' + .tHand.close +2 "manipulator"&v/ +64 "core" / +3 .tPC.seek :open +2 "processing"%G( +80 "core" ' +2 "storage"(y- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +34 "core" ' +306 ( +2 "storage"( & +3 "core" & t q  +2 "manipulator"&b& +4 "core" &s I +2 "manipulator"&n% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +244 "core" ( +2 "manipulator"&& +3 "core" &\  ^ +2 "storage"(m& +4 "core" & j c =  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + .tHand.open +2 "manipulator"&s1 +59 "core" 1 +2 "storage"(- +47 "core" -'y +6 .tSE.seek -0.12 Pucks below Top Plate + "storage"("'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(Y' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"($& +3 "core" &\ E\ P _  +2 "manipulator"&z& +5 "core" &\ v ] +2 .tElbow.seek 3 + "manipulator"&(( +4 "core" ( +2 "manipulator"&+& +3 "core" &\ " w ] +3 "storage"(l& +3 "core" &\ O\ P  +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +61 "core" ' +2 "manipulator"&q& +4 "core" &\ ] + "storage"(.& +5 "core" &  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +22 "core" ' +2 "manipulator"&|% +3 "core" %Ά +3 "storage"( & +3 "core" & e j -  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&'ϲ +21 "core" ' +2 "manipulator"&/& +4 "core" &\ . ] +2 "storage"(& +3 "core" & 0  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +28 "core" ' + "storage"(P% +5 "core" %q  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %VW q n  QJ +2 "manipulator"&% +4 "core" % C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'& +4 "core" &VlF F +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&w% +3 "core" %\  [ ! +2 "storage"(% +4 "core" %[ +2 "storage"(. +3 "core" .( +2 "storage"(h& +4 "core" &  +2 "storage"(5& +3 "core" & ~  +2 "manipulator"&!& +4 "core" &\ n ] +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &\ $ 0 ] +2 "storage"(p& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 "storage"(C& +3 "core" & s  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +278 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ' ] +2 "storage"(4& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(H- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(#'S +39 "core" ' +2 "manipulator"&%% +4 "core" %Ί + "storage"(&& +4 "core" & k v /  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&}'϶ +21 "core" ' + "manipulator"&8& +4 "core" &\  : \\ +2 "storage"(x& +3 "core" &  +49 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(T'B +44 "core" ' + "manipulator"&O& +5 "core" &\ ' \\ + "manipulator"&]% +4 "core" %9 C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +151 "core" ( + "manipulator"&@& +4 "core" &* 3 @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &* ) @] +3 .tForearm.seek CC + "manipulator"&)'" +92 "core" ' + .tHand.close +2 "manipulator"&U/ +61 "core" / +2 .tCC.seek :open + "collection"' ( +414 "core" ( +2 "storage"(7& +3 "core" &  +3 "storage"(Z& +4 "core" & l  +2 "manipulator"&Q& +3 "core" &* - @\\ +2 "manipulator"&I% +4 "core" %  " P +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&a( +166 "core" ( +2 "manipulator"&R& +4 "core" & t O +2 "storage"(;& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&1'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&J1 +57 "core" 1 +2 "manipulator"&E% +5 "core" % { # & +3 "storage"(\\& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"& 'ϧ +20 "core" ' +2 "manipulator"&W& +3 "core" & k O +3 "storage"(?& +3 "core" & 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +29 "core" ' +2 "storage"(-% +3 "core" %A t +3 ."downElevator"SE.seek :down +3 "storage"(g'X +99 (9% +3 "core" %R OD +3 "manipulator"&^% +3 "core" %! M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +95 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'>& +3 "core" & +3 "manipulator"&D% +4 "core" %\ \   +2 "storage"(d% +3 "core" %a +2 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" & 9 +2 "manipulator"&B& +4 "core" & 5 O +2 .tElbow.seek 2 +2 "manipulator"&V( +39 "core" ( +2 "manipulator"&c& +3 "core" &\ S a +2 "storage"(i& +4 "core" & & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +92 "core" ' +2 "storage"(k& +4 "core" & r +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +276 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" & +2 "manipulator"&f& +46 "core" &  _ +7 .tElbow.seek 2 + "manipulator"&F( +30 "core" ( + "manipulator"&M& +4 "core" & /  +2 "storage"(v& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&y' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&S/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&X& + "storage"(`'X +8 "core" &   +2 "manipulator"&% +4 "core" % \  C +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&n& +3 "core" &%  R <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" &% . <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&m& +4 "core" &% M << +2 "manipulator"&t% +3 "core" % 4 +3 "collection"'s& +3 "core" &2 +3 "collection"'& +6 "core" & +2 .tCC.seek :closed + "collection"'(V +5 "core" &= +8 &IA $d +9 &]? 6 +9 &4B G +10 &a@ F +9 &g> F +9 &}e> F +10 &=h F +9 &f= F +10 &e> F +9 &e: F +9 & Ee< F +10 &"e; F +9 &#g; F +9 &%c= F +10 &'Oe> F +9 &)f< F +10 &*e< F +9 &,e F +9 &.Wd8 F +10 &0e8 F +9 &1fF F +9 &3f@ F +10 &5_eF F +9 &7!e2 F +10 &8e< F +9 &:e E +9 &'e F +9 &?f F +9 &Ae F +10 &Cnf F +9 &E/j F +10 &Fs G +9 &H I +9 &J\\ O +10 &L P +9 &M P +9 &O= Q +10 &Q`8 P +9 &S: R +10 &T R +9 &VC]W )| +9 &V} D +10 ( + &VS= B +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 + .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&$% +4 "core" %  / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%+& +5 "core" & + "manipulator"&l% +4 "core" %\  *  +2 "storage"(q% +3 "core" %a , +2 "storage"(.. +3 "core" .( +2 "storage"(u& +4 "core" & +2 "storage"(|& +4 "core" & s +2 "manipulator"& & +3 "core" &% ^ << +2 "manipulator"&"% +5 "core" %\  , h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +161 "core" ( + "manipulator"&& +4 "core" &  o q +2 "storage"(P& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +95 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +277 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ( +2 "manipulator"&e& +4 "core" & q +2 .tElbow.seek 2 + "manipulator"&(( +4 "core" ( +2 "manipulator"&& +3 "core" & W q +2 "storage"(& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w'X +8 "core" &  q +2 "manipulator"&% +3 "core" % P +5 .tForearm.seek :retract +48 "manipulator"&{'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +116 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +126 "core" ( +2 "manipulator"&h& +4 "core" &o  ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!' +98 "core" ' +2 "manipulator"&& +4 "core" &o  k  +2 "manipulator"&p% +3 "core" % +3 "processing"%~& +3 "core" & +3 "processing"%C& +5 "core" & +3 .tPC.seek :closed + "processing"%(Z +4 "core" & +8 &< #c +9 &[ 6 +9 &L G +10 &e G +9 &l G +9 &Xh G +10 &g G +9 &g G +10 &h G +9 &ah G +9 & #h G +10 &!j G +9 &#g G +9 &%hh G +10 &'+h G +9 &(f G +10 &*e G +9 &,oh G +9 &.2h G +10 &/g G +9 &1g G +9 &3yg G +10 &5:k G +9 &6g G +10 &8f G +9 &:h G +9 &e G +9 &?g G +9 &Ag F +10 &CJi G +9 &E\ l H +10 &Fr H +9 &H J +9 &JB M +10 &L L +9 &M L +9 &O L +10 &QJ M +9 &S  M +10 &T M +9 &V M +9 &XP M +10 &Ywx "j +9 &Z,y . +9 ( +3 "processing"%C& +2 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&% +5 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&4% +3 "core" %\    +3 "storage"(H% +3 "core" %P [ +2 "storage"(%. +3 "core" .( +2 "storage"(&& +3 "core" & ~ +3 "storage"(8& +2 "manipulator"&x& +8 "core" & A + &o m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&O(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'i +2 "core" ( +4 "manipulator"&& +4 "core" &o V  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &o ?  +3 .tForearm.seek PC + "manipulator"&'' +95 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +3 .tPC.seek :open + "processing"%}( +92 "core" ' + "storage"(#- +4 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(@'y +45 "core" ' +284 ( +2 "storage"(,& +3 "core" &  +2 "manipulator"&6& +4 "core" &o   +2 "manipulator"&=% +3 "core" %  " +3 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +246 "core" ( +2 "manipulator"&\ & +4 "core" &\  V +2 "storage"(7& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +96 "core" ' +2 .tHand.open + "manipulator"&Q1 +61 "core" 1 +2 "storage"(I- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(;' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(<& +3 "core" & \ O\ P | +3 "manipulator"&J& +49 "core" &\ V +4 .tElbow.seek 2 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&\\& +3 "core" &\ a V +2 "storage"(W& +4 "core" & \ P\ P +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(-' +57 "core" ' +2 "manipulator"&2& +3 "core" &\ 2 V +3 "storage"(9& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&^' +29 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(1'i +24 "core" ' + "manipulator"&>% +5 "core" % + X + "storage"( & +4 "core" & 7 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&D' +21 "core" ' + "manipulator"&d& +4 "core" &\ V +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +33 "core" ' + "storage"(:% +5 "core" %p  +2 ."downElevator"SE.seek :down +4 "storage"(g'X +98 (A% +3 "core" %q] n n r QJ +2 "manipulator"&3% +5 "core" %ќ 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +90 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (c& +3 "core" & ? +2 "collection"'i& +4 "core" &VU B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&k% +3 "core" %\  [  +2 "storage"(L% +4 "core" %[  +2 "storage"(_. +3 "core" .( +2 "storage"(r& +3 "core" &  +2 "storage"(*& +4 "core" &  +2 "manipulator"&f& +4 "core" & . V +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( + "manipulator"&v& +4 "core" &  e V +2 "storage"(S& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +97 "core" ' +2 "storage"(& +3 "core" & ' +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +278 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &\  U +2 "storage"([& +4 "core" & % +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'S +26 "core" ' + "manipulator"&s% +4 "core" % P . +2 "storage"(F& +3 "core" & l g i +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&`' +20 "core" ' +2 "manipulator"& & +3 "core" &\  U +3 "storage"( & +4 "core" & j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'B +38 "core" ' + "manipulator"&+& +5 "core" &\  U + "manipulator"&l% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +47 .tForearm.seek :retract +3 "manipulator"&q'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +162 "core" ( +3 "manipulator"&u& +4 "core" & j 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & I 2 +2 .tForearm.seek CC +2 "manipulator"&|'" +96 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open + "collection"'"( +417 "core" ( +2 "storage"(& +4 "core" & + "storage"(& +5 "core" & + "manipulator"&P& +4 "core" & , 2 +2 "manipulator"&% +3 "core" % 0 ' +3 .tForearm.seek :retract + "manipulator"&b'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&z( +153 "core" ( +2 "manipulator"&& +3 "core" & x  +2 "storage"(& +4 "core" & 0 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&e' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" %  ^ +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&' +21 "core" ' +2 "manipulator"&/& +3 "core" & ;  +2 "storage"(j& +5 "core" & ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +21 "core" ' +2 "storage"(% +3 "core" %I $ +3 ."downElevator"SE.seek :down +3 "storage"(h'X +99 (5% +3 "core" %=P S OE +2 "manipulator"&(% +4 "core" %ћ c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'p& +3 "core" &:  +2 "manipulator"&~% +4 "core" %\    +3 "storage"(w% +3 "core" %[  +2 "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(G( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & ;  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +18 "core" ( + "manipulator"&4& +4 "core" & * T +2 "storage"(H& +3 "core" & >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +98 "core" ' +2 "storage"(&& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +274 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &  +2 "manipulator"&& +4 "core" & / T +2 .tElbow.seek 3 + "manipulator"&( +5 "core" ( +2 "manipulator"&!& +3 "core" &  T +2 "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&#'ϩ +27 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"('X +9 "core" &  T + "manipulator"&]% +4 "core" % G , +3 .tForearm.seek :retract + "manipulator"&,'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&=& +5 "core" &* A S @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &* @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\ '" +100 "core" ' + "manipulator"&7& +5 "core" &* A @W +2 "manipulator"&O% +3 "core" %+ +3 "collection"'Q& +5 "core" &  +2 "collection"'I& +6 "core" &  +2 .tCC.seek :closed +2 "collection"')(V +5 "core" &  +7 &I> $d +9 &_L 7 +13 &0~A G +6 &`< F +9 &e; F +10 &ycD F +9 &:e> F +9 &e< F +10 &e8 F +9 &d< F +9 & Ad> F +10 &"e> F +9 &#e? G +10 &%e> F +9 &'Jd; F +9 &) e> F +10 &*e< F +9 &,e@ F +9 &.Rf; F +10 &0c; F +9 &1e: F +10 &3e: F +9 &5Ye; F +9 &7e; F +10 &8d= G +9 &:dG F +9 &#e> F +9 &?gE F +10 &Ae: F +9 &CieB F +9 &E*gF G +10 &Fr. G +9 &H= J +9 &JX= O +10 &LF Q +9 &M2 Q +10 &O: Q +9 &QX? R +9 &S? S +10 &T8 R +9 &VGgS / +9 &V~ 5 +10 &V{ J +5 ( +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&<1 +4 "core" &Vr9 J +58 1 +2 "manipulator"&J% +4 "core" % * A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\\& +4 "core" & +2 "manipulator"&W% +4 "core" %\  $ C  +2 "storage"(2% +4 "core" %_ g e +2 "storage"(9. +3 "core" .( +2 "storage"(@& +3 "core" & k h  +2 "storage"(R& +5 "core" & z h #  + "manipulator"&>& +4 "core" &)  , @W +2 "manipulator"& % +3 "core" %\  4  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +160 "core" ( + "manipulator"&0& +4 "core" & P +2 "storage"(:& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +87 "core" ' +2 "storage"(Z& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'i +276 "core" ' + "storage"(A- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" & R  +2 "manipulator"&?& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&E( +3 "core" ( +2 "manipulator"&-& +4 "core" & L +2 "storage"(^& +4 "core" & i  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&D'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(k'X +9 "core" & = + "manipulator"&L% +5 "core" % Ϝ 6 +2 .tForearm.seek :retract + "manipulator"&1'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&_(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&r& +3 "core" &n   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &n v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +2 "manipulator"&f' +98 "core" ' +2 "manipulator"&v& +3 "core" &n $ t +3 "manipulator"&S% +3 "core" % | +3 "processing"%T& +3 "core" &x +3 "processing"%& +5 "core" &J +3 .tPC.seek :closed + "processing"%g(Z +4 "core" &H  +9 &6 )v +10 &k? = +9 &z} H +9 &nf F +10 &.g= G +9 &g G +9 &g G +10 &ug G +9 &8h F +10 &i G +9 & g G +9 &"}h G +10 &$?h G +9 &&j G +9 &'g G +10 &)h G +9 &+Gg G +10 &-e G +9 &.f G +9 &0g G +10 &2Og G +9 &4e G +9 &5g G +10 &7f G +9 &9Ve G +10 &;f G +9 &<g G +9 &>j G +10 &@^g G +9 &B!e G +9 &Ck G +10 &Eh H +9 &Gav I +10 &I K +9 &J L +9 &L L +10 &N_ L +9 &P  M +9 &Q M +10 &S M +9 &Uf M +10 &W' M +9 &X M +9 &Z8Dd %k +10 &Z . " +5 ( +2 "processing"%& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&a1 +59 "core" 1 +2 "manipulator"&B% +3 "core" %  p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +99 "core" ' + "processing"%n& +4 "core" &Zz " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&[% +3 "core" %\ "  ? +2 "storage"(m% +4 "core" %X d j l +2 "storage"(s. +3 "core" .( +2 "storage"(F& +4 "core" & z z  +2 "storage"( & +2 "manipulator"& & +8 "core" & z z  + &n +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&+(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(l'i +2 "core" ( +2 "manipulator"&X& +5 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &n + +2 .tForearm.seek PC +2 "manipulator"&V' +98 "core" ' + .tHand.close +3 "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%`( +86 "core" ' +2 "storage"(t- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(u'y +41 "core" ' +295 ( + "storage"(& +5 "core" & 8  +2 "manipulator"&& +4 "core" &n $ + "manipulator"&y% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q( +262 "core" ( +2 "manipulator"&& +3 "core" &  \ +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 .tHand.open + "manipulator"&P1 +59 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(|- +2 "core" -' +3 "storage"(.& +3 "core" &\ O\ O  +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  g \ +3 "storage"(/& +4 "core" &\ P\ P  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +59 "storage"(' +59 "core" ' +2 "manipulator"&b& +4 "core" &  \ +2 "storage"(5& +3 "core" & Q  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&('} +28 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(e'i +26 "core" ' + "manipulator"&p% +5 "core" %· Z + "storage"(& +4 "core" & { | r  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&~'ϳ +21 "core" ' + "manipulator"&w& +3 "core" &  @ \ +3 "storage"({& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +31 "core" ' +2 "storage"(Y% +3 "core" %m +3 ."downElevator"SE.seek :down +4 "storage"(h'X +98 ( % +3 "core" %`U o y PH +2 "manipulator"&% +5 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (4& +3 "core" & r  +3 "collection"'H& +4 "core" &Vp J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&&% +4 "core" %\ L 3 +2 "storage"(% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(x& +3 "core" & 9  +2 "storage"(8& +5 "core" & =  +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&!( +4 "core" ( + "manipulator"&& +5 "core" &  q \ + "storage"(& +4 "core" & g  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +87 "core" ' +2 "storage"(]& +3 "core" & U  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" & % \ +2 "storage"('& +5 "core" & Q  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&C'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'S +27 "core" ' +2 "manipulator"&Q% +3 "core" %w ( +2 "storage"(& +4 "core" & { | M  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 294 counts + "manipulator"&'ϣ +19 "core" ' +2 "manipulator"&,& +4 "core" & ] \ +2 "storage"("& +3 "core" & `  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(J'B +40 "core" ' +2 "manipulator"&\\& +4 "core" &  \ +2 "manipulator"&W% +3 "core" %? R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +157 "core" ( +3 "manipulator"&@& +3 "core" && E =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" && =C +2 .tForearm.seek CC +2 "manipulator"&R'" +138 "core" ' +2 .tHand.close + "manipulator"&>/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +417 "core" ( + "storage"(\ & +5 "core" &  + "storage"(0& +5 "core" & 8  + "manipulator"&:& +4 "core" && ) =C +2 "manipulator"&Z% +4 "core" % ) . +2 .tForearm.seek :retract +2 "manipulator"&6'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +166 "core" ( +2 "manipulator"&A& +3 "core" & #  i +3 "storage"(3& +3 "core" & Y  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&?'} +196 "core" ' +3 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&^1 +58 "core" 1 +2 "manipulator"&c% +4 "core" % ΃  +2 "storage"(i& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&L'ϯ +21 "core" ' + "manipulator"&d& +4 "core" & L i +2 "storage"(K& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +30 "core" ' + "storage"(D% +4 "core" %I +3 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (*% +3 "core" %9R OE +2 "manipulator"&E% +3 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'S& +3 "core" &> +2 "manipulator"&T% +4 "core" %\    +2 "storage"(k% +4 "core" %]  +2 "storage"(1. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(}( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" & G +2 "manipulator"&B& +3 "core" &  i +3 .tElbow.seek 2 + "manipulator"&n( +37 "core" ( + "manipulator"&[& +4 "core" & $ $ +2 "storage"(m& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +98 "core" ' +2 "storage"(F& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  +2 "manipulator"&X& +5 "core" & ^ $ + .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( + "manipulator"&f& +4 "core" &  $ +3 "storage"(& +3 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&t' +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&_/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&o& + "storage"(g'X +8 "core" &  $ + "manipulator"&l% +4 "core" % "  P +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&y& +3 "core" &'   >H +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &' >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +3 "manipulator"&& +3 "core" && L =G +3 "manipulator"&+% +3 "core" %#  G +3 "collection"'P& +3 "core" & +3 "collection"'& +6 "core" & +2 .tCC.seek :closed + "collection"'|(V +4 "core" &< +8 &A $d +9 &] 6 +10 & G +9 &dB F +9 &f= F +10 &he= F +9 &*e> F +9 &f= F +10 &d> F +9 &obA F +9 & 1e@ F +10 &!c? F +9 &#e; F +10 &%xe< F +9 &';d= E +9 &(e; F +10 &*e= F +9 &,e= F +9 &.Ce: E +10 &0e< F +9 &1e= F +10 &3e; F +9 &5Kd< E +9 &7 e F +10 &8d? F +9 &:e0 E +9 &eG F +9 &?e7 F +10 &AeD F +9 &CZeF F +9 &Ej F +10 &Fr G +9 &HD J +10 &JHA O +9 &L~ Q +9 &M< Q +10 &O8 Q +9 &QH@ Q +9 &SV R +10 &T S +9 &V<h / +9 &V 2 +10 &Vh H +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&.1 +61 "core" 1 +4 "manipulator"&% +3 "core" % ) A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%/& +3 "core" &b +2 "manipulator"& % +5 "core" %\   $ + "storage"(b% +4 "core" %a c d +2 "storage"(5. +3 "core" .( +2 "storage"(u& +3 "core" & a ` * +2 "storage"(& +4 "core" & e e * +2 "manipulator"&p& +3 "core" && u =G +2 "manipulator"&% +5 "core" %\  $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +163 "core" ( + "manipulator"&{& +4 "core" & $ ~ +2 "storage"(q& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(Y& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & P +2 "manipulator"&j& +4 "core" & J ~ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 8 ~ +2 "storage"((& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&4/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(&'X +9 "core" &  ~ + "manipulator"&% +5 "core" %  j F +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&e& +3 "core" &n ! - +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &n : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &n $ +2 "manipulator"&% +3 "core" % t +3 "processing"%$& +4 "core" & +2 "processing"%]& +4 "core" &Y +3 .tPC.seek :closed + "processing"%h(Z +55 "core" &  +2 &6 )w + & k = + &t, H + &jf G + &,gL G +2 &kG G +7 &gK G +10 &qf G +9 &4g G +10 &h G +9 & j G +9 &"zf G +10 &$<g G +9 &%j G +9 &'g G +10 &)f G +9 &+Df G +10 &-d G +9 &.f G +9 &0g G +10 &2Mg F +9 &4 g G +9 &5g G +10 &7e F +9 &9Sf G +10 &;e G +9 &<e G +9 &>f G +10 &@\\g G +9 &Bi G +9 &Ch G +10 &Em H +9 &G]x I +10 &I K +9 &J L +9 &L M +10 &N[ M +9 &P L +9 &Q M +10 &S M +9 &Ub M +10 &W# M +9 &X M +9 &Z6Dc %m +10 &Z0 ! +5 ( +2 "processing"%]& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&z1 +53 "core" 1 +2 "manipulator"&% +3 "core" % * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +100 "core" ' +2 "processing"%=& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&'% +3 "core" %\ "  : +3 "storage"(7% +3 "core" %b 1 +2 "storage"(Q. +3 "core" .( +2 "storage"(& +3 "core" & s Q +3 "storage"(,& +2 "manipulator"&"& +5 "core" & j p  +3 &n  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\\(s +2 "storage"(W'i +6 "core" ( +2 "manipulator"&N& +4 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&C/ +56 "core" / +4 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(O- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'y +44 "core" ' +287 ( + "storage"(I& +4 "core" &  +2 "manipulator"&<& +3 "core" &n  +2 "manipulator"&#% +3 "core" % C  +3 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&2( +263 "core" ( + "manipulator"&)& +4 "core" & # M \ +2 "storage"(\ & +3 "core" & c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +95 "core" ' +2 .tHand.open + "manipulator"&:1 +53 "core" 1 +3 "storage"(Z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(9& +4 "core" & \ R\ Q +2 "manipulator"&^& +3 "core" & 2 \ +3 .tElbow.seek 2 + "manipulator"&c( +20 "core" ( +2 "manipulator"&i& +3 "core" &\  O N +3 "storage"(6& +3 "core" & \ N\ P +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(K' +60 "core" ' + "manipulator"&D& +4 "core" &\ B M +2 "storage"(*& +3 "core" & , +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&E' +28 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +24 "core" ' +2 "manipulator"&S% +3 "core" % W +2 "storage"(L& +4 "core" & j c +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&T' +21 "core" ' + "manipulator"&k& +4 "core" &  M +2 "storage"(1& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +27 "core" ' +2 "storage"(;% +3 "core" %r / +3 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (G% +2 "core" %W t o X PI +2 "manipulator"&a% +5 "core" %ѩ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 ([& +3 "core" &  +2 "collection"'m& +4 "core" &Ve H +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&F% +3 "core" %\  '  +2 "storage"(-% +4 "core" %J n +2 "storage"(v. +3 "core" .( +2 "storage"( & +3 "core" & +3 "storage"( & +4 "core" & +2 "manipulator"&X& +4 "core" &\  M +2 .tElbow.seek 2 + "manipulator"&f( +4 "core" ( +2 "manipulator"&& +3 "core" &\ # , M +2 "storage"(_& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +90 "core" ' + "storage"(l& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'i +282 "core" ' +3 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & " M +2 "storage"(V& +5 "core" & l + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +24 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'S +34 "core" ' +2 "manipulator"&P% +4 "core" % 7 +2 "storage"(M& +3 "core" & e e +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&g' +19 "core" ' + "manipulator"&& +4 "core" &  M +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('B +39 "core" ' +2 "manipulator"&/& +4 "core" & u M +2 "manipulator"& % +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +151 "core" ( +2 "manipulator"&& +4 "core" &' '  >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &' V >J +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&p/ +61 "core" / +2 .tCC.seek :open + "collection"'( +417 "core" ( +2 "storage"(& +3 "core" & +2 "storage"({& +4 "core" & +2 "manipulator"&q& +3 "core" && 0 R =G +2 "manipulator"&Y% +4 "core" %  + +41 .tForearm.seek :retract +9 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +160 "core" ( +2 "manipulator"& & +3 "core" &  =  +3 "storage"(& +3 "core" & ] +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&j' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&(1 +58 "core" 1 +3 "manipulator"&4% +4 "core" % +2 "storage"(H& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&w& +4 "core" & 4  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 "storage"(~% +4 "core" %F  +2 ."downElevator"SE.seek :down +3 "storage"(e'X +100 (8% +2 "core" %U PF +2 "manipulator"&% +5 "core" %Ѫ o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &; +2 "manipulator"&$% +4 "core" %\ #  9 +2 "storage"(&% +3 "core" %b  +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(`( +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" & /  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&=( +13 "core" ( + "manipulator"&'& +4 "core" & ! E c +2 "storage"(7& +4 "core" & 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +101 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'i +287 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &  +2 "manipulator"&N& +4 "core" &  c +2 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +3 "core" & B c +2 "storage"(C& +4 "core" & w  +3 .tForearm.seek 3 + 300 counts + "manipulator"&O'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(h'X +9 "core" &  c + "manipulator"&W% +4 "core" % ϩ L +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&#& +3 "core" &( 9  ?R +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( I ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'" +100 "core" ' +3 "manipulator"&\ & +3 "core" &( .   ?Q +3 "manipulator"&\\% +48 "core" % 3 N +4 "collection"':& +3 "core" & +3 "collection"'Z& +5 "core" & +3 .tCC.seek :closed + "collection"'R(V +5 "core" &:  +9 &2= (s +10 &g< ; +9 &v< G +9 &ge< F +10 &)e; F +9 &f@ F +10 &e= F +9 &oe< F +9 &1f= F +10 &e> F +9 & e> F +9 &"wf< F +10 &$9f; F +9 &%e: F +10 &'e? F +9 &)d; F +9 &+Ae; F +10 &-e< F +9 &.e< F +9 &0g; F +10 &2Ie: F +9 &4 f: F +9 &5f6 F +10 &7eD F +9 &9QeD F +10 &;e9 F +9 &<eC F +9 &>f9 F +10 &@YfC F +9 &Be? F +10 &Cg< F +9 &ElD G +9 &G[}: H +10 &IE J +9 &J2 P +9 &L: P +10 &NL2 P +9 &P 4 Q +10 &Q~ Q +9 &S R +9 &UL G +10 &VvQ 'w +9 &VY C +2 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&91 +55 "core" 1 +3 "manipulator"&^% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%6& +3 "core" &+ +2 "manipulator"&>% +5 "core" %\ " < + "storage"(D% +4 "core" %_ l e g +2 "storage"(*. +3 "core" .( +2 "storage"(@& +3 "core" & a d g  +3 "storage"(A& +4 "core" & e d -  +2 "manipulator"&S& +3 "core" &' % >M +2 "manipulator"&L% +4 "core" %\ # < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&k( +165 "core" ( + "manipulator"&2& +4 "core" &  5 l +2 "storage"(1& +4 "core" & *  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +87 "core" ' + "storage"(;& +4 "core" & !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +277 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &   +2 "manipulator"&a& +4 "core" & l +2 .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&K& +3 "core" & K l +3 "storage"(E& +4 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&T'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(F'X +8 "core" & l +2 "manipulator"&-% +4 "core" % Ϣ J +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&?& +3 "core" &k 4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &k y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +97 "core" ' +2 "manipulator"&& +4 "core" &k # X +2 "manipulator"&_% +3 "core" % +3 "processing"%J& +3 "core" &/ +3 "processing"%l& +5 "core" &c +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &'  +9 &6, )w +9 &k6 = +10 &y3 G +9 &me G +10 &/g$ G +9 &eX G +9 &g1 G +10 &vg F +9 &6g G +9 &gx G +10 & f F +9 &"|h G +10 &$?f G +9 &&f F +9 &'g G +10 &)g G +9 &+Fe G +9 &-g G +10 &.e G +9 &0j G +10 &2Og G +9 &4d G +9 &5e G +10 &7i G +9 &9Xg F +9 &;f G +10 &<j G +9 &>d G +10 &@_g G +9 &B!c G +9 &Ch G +10 &Ek H +9 &Gav I +9 &I K +10 &J L +9 &L M +57 &N_ L +5 &P  M + &Q M + &S M +3 &Ue M + &W' M + &X M +6 &Z9Db %m +9 &Z / ! +6 ( +2 "processing"%l& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&U1 +53 "core" 1 +2 "manipulator"&B% +3 "core" % "  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' +2 "processing"%y& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&V% +4 "core" %\   . +2 "storage"(% +4 "core" %P ~ +2 "storage"(P. +3 "core" .( +2 "storage"(M& +3 "core" & y  +3 "storage"(& +3 "manipulator"& & +5 "core" &  +2 &k  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "manipulator"&/(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +3 "manipulator"&o& +3 "core" &k ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &k +3 .tForearm.seek PC + "manipulator"&n' +97 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%g( +88 "core" ' + "storage"(+- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +301 ( + "storage"(u& +4 "core" &  +2 "manipulator"&.& +3 "core" &k M +2 "manipulator"&t% +4 "core" % q +3 .tForearm.seek :retract + "manipulator"&p'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +260 "core" ( +2 "manipulator"&|& +4 "core" & $  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +87 "core" ' +2 .tHand.open + "manipulator"&q1 +64 "core" 1 +2 "storage"(Y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(5& +3 "core" &\ R\ O F  +2 "manipulator"&(& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&4( +9 "core" ( + "manipulator"&H& +5 "core" &  + "storage"(w& +4 "core" &\ Q\ R  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(~' +58 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(8& +4 "core" & e  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(j'i +25 "core" ' +2 "manipulator"&% +3 "core" %{  +3 "storage"(& +4 "core" & | |  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts + "manipulator"&$'ϧ +21 "core" ' +2 "manipulator"&&& +3 "core" &  +2 "storage"(& +43 "core" &  +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +19 "core" ' +2 "storage"(% +3 "core" %q ? +3 ."downElevator"SE.seek :down +3 "storage"(e'X +100 (}% +2 "core" %NX q n A QI +3 "manipulator"&z% +4 "core" %3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ('& +3 "core" & #  +2 "collection"'7& +4 "core" &V^ C +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(% +4 "core" %[  +2 "storage"(. +3 "core" .( +2 "storage"("& +3 "core" & T  +2 "storage"(]& +5 "core" &   + "manipulator"&N& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&C& +5 "core" & 6  + "storage"(x& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +87 "core" ' +2 "storage"(W& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +283 "core" ' + "storage"(Q- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & c  +2 "storage"(& +5 "core" & i  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&,'} +19 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'S +31 "core" ' +2 "manipulator"&!% +3 "core" %Ύ 1 +2 "storage"(:& +3 "core" & }  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&h'Ϻ +19 "core" ' +2 "manipulator"&I& +4 "core" & (  +2 "storage"(& +3 "core" & N  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(^'B +43 "core" ' +3 "manipulator"&6& +3 "core" &  +2 "manipulator"&>% +5 "core" %C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +159 "core" ( +2 "manipulator"&@& +3 "core" &( % ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &( ?S +2 .tForearm.seek CC +2 "manipulator"&A'" +93 "core" ' +2 .tHand.close + "manipulator"&S/ +55 "core" / +2 .tCC.seek :open +2 "collection"'L( +413 "core" ( +2 "storage"()& +3 "core" &   +2 "storage"(2& +5 "core" & D  + "manipulator"&1& +4 "core" && - u =G +2 "manipulator"&;% +3 "core" % X  +3 .tForearm.seek :retract + "manipulator"&<'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +162 "core" ( + "manipulator"&d& +4 "core" &   +2 "storage"(G& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +41 "manipulator"&a'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +56 "core" 1 +3 "manipulator"&[% +4 "core" % Α < +2 "storage"(m& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&-'Ͻ +19 "core" ' +2 "manipulator"&k& +3 "core" & L  +3 "storage"(0& +3 "core" & y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +29 "core" ' +2 "storage"(T% +4 "core" %; +2 ."downElevator"SE.seek :down +3 "storage"(?'X +100 ( % +2 "core" %hR L PF +3 "manipulator"&c% +3 "core" %2  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'_& +4 "core" &< +2 "manipulator"&J% +3 "core" %\ % 0 +2 "storage"(F% +4 "core" %P  +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &  +3 "manipulator"&B& +4 "core" & G  +2 .tElbow.seek 2 + "manipulator"&y( +29 "core" ( + "manipulator"&V& +4 "core" & #  !t +2 "storage"(& +4 "core" & B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +98 "core" ' +2 "storage"(M& +4 "core" & V +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & +3 "manipulator"&o& +4 "core" &  j +2 .tElbow.seek 2 + "manipulator"&f( +4 "core" ( +2 "manipulator"&X& +4 "core" &  j + "storage"(& +5 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&+' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&s& + "storage"(r'X +6 "core" & 3 j +3 "manipulator"& % +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&u'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&t& +4 "core" &' ' O >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &'  O >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +98 "core" ' +2 "manipulator"&& +3 "core" &' $ >M +3 "manipulator"&/% +3 "core" %& +4 "collection"'q& +3 "core" & +3 "collection"'Y& +6 "core" & +2 .tCC.seek :closed + "collection"'(V +5 "core" &9  +8 &9 *x +9 &$nD > +10 &p G +9 &fE E +10 &KeC F +9 &e> F +9 &e F +10 &e< F +9 &Td< F +9 &e< F +10 & g< F +9 &"f= F +10 &$[dA F +9 &&e< F +9 &'e F +10 &)e< F +9 &+cf? F +50 &-%e= F +3 &.d= F + &0e< F + &2ke> F +2 &4.e; F + &5e< F +8 &7e: F +9 &9ud; E +9 &;5e7 F +10 &<e; F +9 &>e: F +10 &@{e; F +9 &B=d+ F +9 &CgA F +10 &EmE G +9 &G}wG H +9 &I8; K +10 &J2 P +9 &L- Q +10 &NnD P +9 &P,3 Q +9 &Q? Q +10 &S! S +9 &Ul. ? +9 &VID U +10 &V()? $o +9 &VqG I +2 ( +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&51 +62 "core" 1 +3 "manipulator"&(% +3 "core" % &  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%w& +3 "core" &e +2 "manipulator"&p% +4 "core" %\ # < : +3 "storage"(% +4 "core" %V z h ^ + "storage"(8. +4 "core" .( +2 "storage"(& +4 "core" & { z ] + "storage"(& +5 "core" & p z + "manipulator"&& +4 "core" &' >L +2 "manipulator"& % +3 "core" %\ # : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&&( +163 "core" ( +2 "manipulator"&& +3 "core" & " '  +3 "storage"(b& +4 "core" & O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + "storage"({& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (}& +2 "core" & 7 +3 "manipulator"&z& +3 "core" & !  +2 .tElbow.seek 2 +2 "manipulator"&4( +4 "core" ( +2 "manipulator"&~& +3 "core" & !  +2 "storage"(& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&$' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& +2 "storage"('X +9 "core" &   +2 "manipulator"&% +4 "core" % $  G +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&j(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&"& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &o % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N' +94 "core" ' +2 "manipulator"&C& +3 "core" &o 4 +3 "manipulator"&x% +4 "core" %  F +2 "processing"%& +3 "core" &d +3 "processing"%W& +5 "core" &, +2 .tPC.seek :closed +2 "processing"%e(Z +5 "core" &/ +6 &?/ #c +10 &[( 6 +9 &) G +9 &c) G +10 &g& F +9 &_g) F +9 &g& G +10 &e G +9 &hO G +10 &ff G +9 & (ho G +9 &!iJ G +10 &#gQ G +9 &%mjn G +9 &'0g G +10 &(j G +9 &*g F +9 &,vg G +10 &.9g F +9 &/e G +10 &1c G +9 &3~e G +9 &5?i G +10 &7d F +9 &8f F +9 &:e G +10 &\ c G +10 &?g G +9 &Ab G +9 &CPg G +10 &Ej G +9 &Fr H +10 &H J +9 &JG M +9 &L  M +10 &M L +9 &O M +9 &QP L +10 &S M +9 &T L +9 &V M +10 &XT N +9 &Yxv "j +10 &Z)n + +9 ( + &Z ! +2 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" % q F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +91 "core" ' +2 "processing"%#& +3 "core" &Z ! +50 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +5 "core" %\  O  + "storage"(\ % +5 "core" %O + "storage"(!. +3 "core" .( +3 "storage"(:& +4 "core" & +2 "storage"(I& +3 "manipulator"&& +4 "core" & q  +3 &o  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(6'i + "manipulator"&>(s +7 "core" ( + "manipulator"&%& +4 "core" &o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &o $ +3 .tForearm.seek PC + "manipulator"&=' +94 "core" ' +2 .tHand.close + "manipulator"&,/ +58 "core" / +3 .tPC.seek :open +2 "processing"%h( +82 "core" ' + "storage"(\\- +3 "core" -'i +3 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'y +46 "core" ' +291 ( +2 "storage"(Z& +3 "core" & s +2 "manipulator"&9& +4 "core" &o  +2 "manipulator"&O% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&D( +250 "core" ( +2 "manipulator"&R& +3 "core" & % h +3 "storage"()& +4 "core" & z z p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +90 "core" ' +2 .tHand.open + "manipulator"&11 +57 "core" 1 +2 "storage"(;- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(d'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +50 "core" ' +5 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(*& +3 "core" & \ O\ P | +3 "manipulator"&E& +3 "core" & n h +3 .tElbow.seek 2 + "manipulator"&[( +4 "core" ( +2 "manipulator"&m& +4 "core" &  h +2 "storage"(k& +3 "core" & \ O\ P } +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(<' +59 "core" ' +2 "manipulator"&T& +3 "core" &  h +2 "storage"( & +4 "core" & D +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&c' +23 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(a'i +28 "core" ' +2 "manipulator"&-% +3 "core" % a +2 "storage"(_& +4 "core" & | { Q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&J' +18 "core" ' + "manipulator"&F& +5 "core" &  R g + "storage"(v& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +33 "core" ' +2 "storage"(3% +4 "core" %o  +2 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (`% +2 "core" %pV r r  QJ +2 "manipulator"&U% +5 "core" %ј  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract +3 "manipulator"&B'\ +93 "core" ' +22 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +3 "core" & & +2 "collection"'& +5 "core" &Vp I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&M% +3 "core" %\  W - +3 "storage"(K% +4 "core" %W + "storage"(. +4 "core" .( +2 "storage"( & +4 "core" & l + "storage"(l& +4 "core" & e +2 "manipulator"&o& +4 "core" &\ W g +2 .tElbow.seek 2 +2 "manipulator"&X( +4 "core" ( +2 "manipulator"&& +4 "core" &\ r g + "storage"( & +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +88 "core" ' +2 "storage"( & +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +284 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +4 "core" &  g +3 "storage"(n& +3 "core" & [ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +20 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'R +28 "core" ' +2 "manipulator"&q% +3 "core" % - +2 "storage"(f& +4 "core" & z o [ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&r' +18 "core" ' + "manipulator"&u& +5 "core" & 1 g +2 "storage"(L& +3 "core" & S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('A +40 "core" ' +2 "manipulator"&w& +3 "core" &  g +3 "manipulator"&p% +3 "core" %q  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +156 "core" ( + "manipulator"&8& +3 "core" &  . 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  6 +3 .tForearm.seek CC +3 "manipulator"&'" +100 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"' ( +420 "core" ( +2 "storage"(|& +3 "core" & L +2 "storage"(& +5 "core" & * + "manipulator"&b& +4 "core" &   : 6 +2 "manipulator"&{% +3 "core" % 5 +3 .tForearm.seek :retract + "manipulator"&.'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +162 "core" ( +2 "manipulator"&& +3 "core" &  t +2 "storage"(}& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&z' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&'% +3 "core" % # L +2 "storage"(7& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +47 .tForearm.seek 2 + 309 counts +5 "manipulator"&' +20 "core" ' + "manipulator"&&& +4 "core" &  t +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +37 "core" ' +2 "storage"($% +4 "core" %I  +3 ."downElevator"SE.seek :down +3 "storage"("'X +100 (]% +2 "core" %T ! PF +3 "manipulator"&4% +4 "core" % h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +3 "core" &> +2 "manipulator"&% +5 "core" %\   + "storage"(% +4 "core" %c   +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(g( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & O  +2 "manipulator"&& +4 "core" &  t +2 .tElbow.seek 3 +2 "manipulator"&#( +49 "core" ( + "manipulator"&& +5 "core" &\  j F +2 "storage"(W& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +99 "core" ' +2 "storage"(!& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +291 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" & `  +2 "manipulator"&%& +3 "core" &  F +2 .tElbow.seek 3 +2 "manipulator"&( +24 "core" ( + "manipulator"&N& +5 "core" & :  + "storage"(,& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&\\'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"(e'X +8 "core" & 5  +2 "manipulator"&6% +3 "core" % ϱ  + +3 .tForearm.seek :retract + "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&O& +5 "core" &) + < ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &( O ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +101 "core" ' + "manipulator"&)& +5 "core" &( -  ?V + "manipulator"&>% +5 "core" % 0 +2 "collection"'1& +4 "core" & +2 "collection"';& +5 "core" & +2 .tCC.seek :closed +2 "collection"'A(V +5 "core" & +7 &8 #b +10 &\\ 6 +9 &J G +9 &aL F +10 &e= F +9 &VeC F +9 &f= F +10 &e; F +9 &e< F +10 &]e> F +9 & e? F +9 &!e; G +10 &#f< F +9 &%ff= F +9 &'(e= F +10 &(e? F +9 &*f= F +10 &,me< F +9 &./d> F +9 &/e> F +10 &1g= F +9 &3te> G +9 &59eB F +10 &6f? F +9 &8d; F +10 &:e: F +9 &<@f: F +9 &>f< F +10 &?e9 F +9 &AeE F +9 &CFe: G +10 &Ei: G +9 &Fq= G +10 &H: J +9 &J7F O +9 &K: Q +10 &M; Q +9 &Ou: Q +9 &Q7E Q +10 &R3 S +9 &T> R +10 &V#UD 7 +9 &V: L +9 ( + &VqD I +3 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&*1 +57 "core" 1 +48 "manipulator"&E% +6 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%k& +3 "core" &- +3 "manipulator"&S% +4 "core" %\  ' +2 "storage"(T% +3 "core" %\\ z z +2 "storage"( . +3 "core" .( +2 "storage"(-& +4 "core" & { {  +2 "storage"(_& +4 "core" & v k   +2 "manipulator"&@& +3 "core" &( ?V +2 "manipulator"&d% +5 "core" %\  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&F( +164 "core" ( +2 "manipulator"&v& +4 "core" &  ` i + "storage"(3& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +87 "core" ' + "storage"(2& +4 "core" & N  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(G'i +281 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +2 "core" & }  +2 "manipulator"&0& +4 "core" &  i +2 .tElbow.seek 3 +2 "manipulator"&[( +4 "core" ( + "manipulator"&<& +4 "core" & 6 i +2 "storage"(c& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(M'X +8 "core" &  i + "manipulator"&a% +4 "core" % ϭ 8 4 +3 .tForearm.seek :retract + "manipulator"&K'\ +99 "core" ' +4 .tElbow.seek PC + "manipulator"&(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"& & +4 "core" &u + ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &u < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +101 "core" ' + "manipulator"&& +5 "core" &u  + "manipulator"& % +5 "core" %  ^ + "processing"% & +4 "core" &7 +3 "processing"%^& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%?(Z +3 "core" &1 +9 &>8 #b +10 &\\/ 6 +9 &8 H +9 &f- G +10 &j) G +9 &]f. F +9 &e' G +10 &c% G +9 &d& G +10 &ef& F +9 & &g* G +9 &!i G +10 &#e= F +9 &%lg G +9 &'-ic G +10 &(e F +9 &*g G +10 &,th G +9 &.6c G +9 &/b G +10 &1e F +9 &3}e F +9 &5?e F +10 &7d G +9 &8h G +10 &:h G +9 & e F +10 &?f F +9 &Ae G +9 &CMk G +10 &Ej G +9 &Fq H +10 &H J +9 &JF L +9 &L M +10 &M L +9 &O L +9 &QN L +10 &S L +9 &T M +10 &V M +9 &XT M +9 &Yxw "j +10 &Z*t , +9 ( + &Z +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&i1 +64 "core" 1 + "manipulator"&B% +4 "core" %  ! ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +98 "core" ' +2 "processing"%t& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +4 "core" %\    +2 "storage"(% +3 "core" %` +2 "storage"(q. +4 "core" .( + "storage"(f& +5 "core" &  +2 "storage"(u& +2 "manipulator"&L& +5 "core" &  +2 &u  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +51 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&w(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(p'i +2 "core" ( +3 "manipulator"&s& +3 "core" &u  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &u 3 +2 .tForearm.seek PC +2 "manipulator"&y' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%r( +86 "core" ' + "storage"(/- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'y +40 "core" ' +295 ( +2 "storage"(& +3 "core" &  +2 "manipulator"&5& +4 "core" &u = +2 "manipulator"&+% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +273 "core" ( + "manipulator"&& +4 "core" &  Z  +2 "storage"(|& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +58 "Can" G0V' +37 "core" ' +3 .tHand.open +2 "manipulator"&b1 +64 "core" 1 +2 "storage"({- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(}' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(Y& +3 "core" &\ O\ I o  +2 "manipulator"&& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&'( +7 "core" ( +2 "manipulator"&7& +3 "core" & I v +3 "storage"(&& +3 "core" &\ P\ P ~  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +57 "core" ' +2 "manipulator"&$& +4 "core" & v +2 "storage"(H& +3 "core" & |  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&]'} +27 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +24 "core" ' +2 "manipulator"&% +4 "core" %Ά Q + "storage"(x& +5 "core" & y v J  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&'ϲ +20 "core" ' +2 "manipulator"&& +3 "core" &  v +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +28 "core" ' +2 "storage"(% +3 "core" %o @ +3 ."downElevator"SE.seek :down +3 "storage"("'X +100 (% +2 "core" %KZ b l T QJ +2 "manipulator"&% +5 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'W& +3 "core" &VpI I +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&!% +4 "core" %\ " D 5 +2 "storage"(~% +3 "core" %V F +2 "storage"(C. +4 "core" .( +2 "storage"(I& +48 "core" &   +3 "storage"(& +4 "core" &   +2 "manipulator"&%& +3 "core" & 6 v +3 .tElbow.seek 3 + "manipulator"&N( +4 "core" ( +2 "manipulator"&,& +3 "core" & I v +3 "storage"(j& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +87 "core" ' +2 "storage"(6& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +278 "core" ' + "storage"(\ - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & } v +2 "storage"(=& +4 "core" & C  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&:'} +28 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(>'S +28 "core" ' +2 "manipulator"&% +3 "core" %΅  +2 "storage"(1& +4 "core" & y w 5  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&e'ϱ +20 "core" ' +2 "manipulator"&Z& +3 "core" & 1 v +3 "storage"( & +3 "core" & ?  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'B +39 "core" ' + "manipulator"&;& +5 "core" & J v + "manipulator"&k% +5 "core" %5 W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +166 "core" ( +2 "manipulator"& & +4 "core" &' $ M >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &' 0 >I +2 .tForearm.seek CC +2 "manipulator"&_'" +92 "core" ' +2 .tHand.close + "manipulator"&@/ +58 "core" / +2 .tCC.seek :open +2 "collection"'d( +413 "core" ( +2 "storage"(R& +3 "core" &  +2 "storage"(v& +4 "core" &  +2 "manipulator"&3& +3 "core" &' M >I +2 "manipulator"&2% +4 "core" % 4 h  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&m( +149 "core" ( +2 "manipulator"&`& +4 "core" & " .  +2 "storage"(U& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&0'} +99 "core" ' +2 .tElbow.hold + "manipulator"&<, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&c1 +55 "core" 1 +2 "manipulator"&V% +3 "core" % Ό  l +2 "storage"(& +4 "core" & k  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&a'ϸ +23 "core" ' +2 "manipulator"&F& +4 "core" & \\  +2 "storage"(D& +3 "core" & #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +32 "core" ' +2 "storage"(J% +4 "core" %J +48 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (l% +3 "core" %:P OD +2 "manipulator"&[% +5 "core" %B  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"' & +3 "core" &9 +2 "manipulator"& % +4 "core" %\  i  +2 "storage"(M% +3 "core" %` % +2 "storage"(K. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(h( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" & , +2 "manipulator"&B& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&t( +36 "core" ( +2 "manipulator"&n& +3 "core" & + % +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +94 "core" ' +2 "storage"(^& +3 "core" & u +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +279 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &  +3 "manipulator"&s& +3 "core" & $ % +2 .tElbow.seek 2 +2 "manipulator"&X( +20 "core" ( +2 "manipulator"&o& +3 "core" & !  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(?'X +8 "core" & L  +2 "manipulator"&p% +5 "core" %   +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&+& +4 "core" &)  ; r @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &* +  @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +105 "core" ' +8 "manipulator"&|& +3 "core" &* @W +3 "manipulator"&w% +4 "core" %$ B +2 "collection"'b& +4 "core" & +2 "collection"'{& +5 "core" & +3 .tCC.seek :closed + "collection"'(V +4 "core" & +7 &@ $e +10 &_ 7 +9 &4 G +10 &bD E +9 &g= F +9 &}e5 F +10 &>c= F +9 &e6 F +9 &e= F +10 &e< F +9 & He E +10 &"e: F +9 &#e> F +9 &%f@ F +10 &'Nh? F +9 &)e? F +10 &*d> F +9 &,b= F +9 &.VcG F +10 &0d F +9 &1e@ F +9 &3e F +10 &5_d7 F +9 &7 h< F +9 &8d@ F +10 &:e; F +9 &*e, E +9 &?fE F +9 &Ae9 F +10 &Cnf7 F +9 &E.j; G +9 &FsE G +10 &HF I +9 &J]H O +10 &L: Q +9 &M: Q +9 &O3 Q +10 &Q]8 Q +9 &S? R +9 &T; R +10 &VIf; . +9 &VF 7 +10 &Wq0 F +5 ( +2 "collection"'{& +3 "core" &Wb F +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&Y1 +53 "core" 1 +5 "manipulator"&% +3 "core" % # @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%&& +3 "core" &q +3 "manipulator"&% +4 "core" %\ &   +2 "storage"($% +3 "core" %V +2 "storage"(H. +3 "core" .( +46 "storage"(& +6 "core" & { +2 "storage"(8& +5 "core" & { +2 "manipulator"&x& +4 "core" &)  @W + "manipulator"&% +5 "core" %\ <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +5 "core" & A | + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +103 "core" ' +3 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +277 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&& +4 "core" & a | +2 .tElbow.seek 2 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&.& +3 "core" & 0 | +2 "storage"(]& +4 "core" & ` +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(!'X +10 "core" &  | + "manipulator"&~% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&I& +4 "core" &r 6   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&%' +100 "core" ' +2 "manipulator"&,& +3 "core" &r  +  +2 "manipulator"&j% +4 "core" % J +2 "processing"%(& +5 "core" &o +2 "processing"%6& +5 "core" &8 +2 .tPC.seek :closed +2 "processing"%"(Z +3 "core" &9 +8 &G; #b +9 &[6 6 +9 &2 H +10 &h6 G +9 &g8 F +10 &]g G +9 &i> G +9 &f8 F +10 &g+ G +9 &ek& G +10 & &g) G +9 &!g% F +9 &#g# G +10 &%me% G +9 &'.e4 G +9 &(e4 F +10 &*f. G +9 &,uf( G +9 &.8gA F +10 &/f G +9 &1i G +10 &3}c G +9 &5?dR G +9 &7e F +10 &8f F +9 &:e F +9 &\ f F +9 &?g F +10 &Ae F +9 &COg G +9 &Ej G +10 &Fu H +9 &H J +9 &JH L +10 &L\  L +9 &M L +10 &O M +9 &QN M +9 &S M +10 &T M +9 &V M +9 &XU M +10 &Ywx "j +9 &Z(p - +10 ( + &Z " +2 "processing"%6& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&41 +57 "core" 1 +2 "manipulator"&% +3 "core" % r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +97 "core" ' +2 "processing"%O& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&=% +4 "core" %\   & +2 "storage"()% +4 "core" %O 2 +2 "storage"(. +3 "core" .( +2 "storage"(1& +3 "core" & r 4 +3 "storage"(Z& +2 "manipulator"& & +8 "core" &  e { + &r 8  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(;'i + "manipulator"&k(s +5 "core" ( +3 "manipulator"&Q& +4 "core" &r D  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &r  +3 .tForearm.seek PC +41 "manipulator"&#' +104 "core" ' + .tHand.close +2 "manipulator"&:/ +62 "core" / +2 .tPC.seek :open +2 "processing"%e( +30 "core" ' +2 "storage"(>- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +47 "core" ' +344 ( +2 "storage"(-& +4 "core" & Y +2 "manipulator"&*& +3 "core" &r C  +2 "manipulator"&\\% +4 "core" %  H +3 .tForearm.seek :retract + "manipulator"&@'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&S( +263 "core" ( + "manipulator"&A& +4 "core" &  y +2 "storage"(R& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +100 "core" ' +2 .tHand.open +2 "manipulator"&31 +57 "core" 1 +2 "storage"(2- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(`'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(U' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(T& +4 "core" & \ Q\ O ~ +2 "manipulator"&c& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&V( +3 "core" ( +2 "manipulator"&& +5 "core" & : + "storage"(F& +4 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(J' +57 "core" ' + "manipulator"&9& +5 "core" & x + "storage"(m& +4 "core" & 2 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&l' +23 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(0'i +24 "core" ' +2 "manipulator"&a% +3 "core" % 3 +2 "storage"( & +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"& ' +19 "core" ' +2 "manipulator"&M& +3 "core" & # +3 "storage"(K& +3 "core" & ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +23 "core" ' +2 "storage"(G% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (g% +3 "core" %U f k QI +2 "manipulator"&i% +5 "core" %є +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (n& +3 "core" & E +2 "collection"'& +3 "core" &W` F +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&^% +4 "core" %\ N  +2 "storage"(<% +4 "core" %Z  +2 "storage"(. +3 "core" .( +2 "storage"(L& +3 "core" &  +2 "storage"(u& +4 "core" &  +2 "manipulator"&s& +4 "core" & Z +2 .tElbow.seek 2 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&& +4 "core" &  G +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +47 "manipulator"&P'ќ +106 "core" ' +2 "storage"(p& +3 "core" & V +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +281 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&+& +3 "core" &  +2 "storage"(y& +3 "core" & ` +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&f' +32 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'S +35 "core" ' + "manipulator"&w% +4 "core" %  5 $ +2 "storage"(b& +4 "core" & d e Z +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&?' +18 "core" ' + "manipulator"&& +4 "core" & L +2 "storage"(d& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +42 "core" ' +2 "manipulator"&&& +3 "core" & ; +2 "manipulator"&% +4 "core" %ѡ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +163 "core" ( +3 "manipulator"&& +5 "core" &' C >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &' l >N +3 .tForearm.seek CC + "manipulator"&8'" +93 "core" ' +2 .tHand.close + "manipulator"&x/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(& +5 "core" & + "storage"(& +4 "core" &  +2 "manipulator"&& +4 "core" &'  >N +2 "manipulator"&% +3 "core" % ) K  +3 .tForearm.seek :retract + "manipulator"&5'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&7( +162 "core" ( +2 "manipulator"&& +3 "core" & X  +2 "storage"(& +4 "core" & S +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&' +97 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +64 "core" 1 +2 "manipulator"&% +4 "core" % # +2 "storage"(W& +4 "core" & - +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&~' +20 "core" ' + "manipulator"&& +4 "core" & @  +2 "storage"(& +4 "core" & # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +17 "core" ' +2 "storage"(% +3 "core" %L G +3 ."downElevator"SE.seek :down +4 "storage"(I'X +98 (% +3 "core" %rN NC +2 "manipulator"&'% +4 "core" %ѡ 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +50 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'j& +3 "core" & +2 "manipulator"&(% +5 "core" %\  |  +2 "storage"(!% +4 "core" %P  +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(r( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" & b  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&O( +15 "core" ( +2 "manipulator"&=& +3 "core" & W w +3 "storage"()& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 "storage"(1& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +285 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&Q& +4 "core" & w +2 .tElbow.seek 3 +2 "manipulator"&N( +12 "core" ( + "manipulator"&%& +4 "core" & H +2 "storage"(:& +4 "core" & D  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϩ +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"("'X +9 "core" &  + "manipulator"&;% +4 "core" % ϯ ( 0 +3 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&\\& +3 "core" &' - g >J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +2 "core" &' >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&A'" +94 "core" ' +2 "manipulator"&R& +3 "core" &( 3 @ >I +2 "manipulator"&k% +5 "core" %* $ i +2 "collection"'3& +4 "core" & +2 "collection"'2& +5 "core" & +2 .tCC.seek :closed +4 "collection"'_(V +5 "core" &; +5 & 7 +10 &KM7 / +9 &}J D +9 &Gc F +10 &\ eJ F +9 &e F +10 &eD F +9 &Pe@ F +9 &f@ F +10 &e: F +9 &f< F +9 &!Ye< F +10 &#f7 F +9 &$d: F +10 &&f@ F +9 &(`eA F +9 &*"gA F +10 &+e= F +9 &-e? F +9 &/ieA F +10 &1+e@ F +9 &2e; F +10 &4e= E +9 &6pe@ F +9 &82e; F +10 &9e< F +9 &;e@ F +9 &=yg< F +10 &?;g; F +9 &@f< F +10 &Bd< F +9 &D~gG G +9 &F@pG G +10 &Gy; I +9 &I< L +9 &KiF Q +10 &M*G Q +9 &N; P +10 &PG Q +9 &Rp< Q +9 &T.G R +10 &U|G 8 +9 &V4G !d +9 &V]F C +3 ( +2 "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&T1 +58 "core" 1 +2 "manipulator"&c% +3 "core" % * % U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%F& +3 "core" &- +2 "manipulator"&@% +4 "core" %\ # = +2 "storage"(9% +5 "core" %a W + "storage"(m. +4 "core" .( + "storage"( & +5 "core" & i   + "storage"(a& +4 "core" &  +2 "manipulator"& & +3 "core" &'  >I +3 "manipulator"&`% +3 "core" %\ "  = +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&M( +162 "core" ( +2 "manipulator"&K& +3 "core" & Z \\ +47 "storage"(G& +6 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +97 "core" ' +2 "storage"(v& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'i +281 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" & <  +2 "manipulator"&D& +4 "core" & # \\ +3 .tElbow.seek 3 + "manipulator"&V( +4 "core" ( +2 "manipulator"&J& +3 "core" & ; \\ +2 "storage"(l& +5 "core" & <  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(^'X +8 "core" & 4 \\ +2 "manipulator"&<% +4 "core" % ϡ j +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +4 .tElbow.seek PC + "manipulator"&0(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +114 "core" ( + "manipulator"&L& +4 "core" &j & K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +96 "core" ' +2 "manipulator"&& +3 "core" &j 8 +2 "manipulator"&% +4 "core" %   +2 "processing"%E& +5 "core" &n +2 "processing"%p& +5 "core" &2 +2 .tPC.seek :closed +2 "processing"% (Z +5 "core" &, +6 &D. #c +9 &[4 6 +10 &. G +9 &d3 F +9 &i. G +10 &[f0 G +9 &g6 F +9 &g9 G +10 &l; G +9 &ch- G +10 & %k0 G +9 &!g( G +9 &#h) G +10 &%kk' G +9 &'-e- G +9 &(e' G +10 &*g! G +9 &,sj$ G +10 &.5g! G +9 &/e G +9 &1gW F +10 &3|hn F +9 &5>g F +9 &7fK F +10 &8g G +9 &:h G +10 &h F +9 &?g F +10 &Ag F +9 &CMi G +9 &Ej G +10 &Fu H +9 &H J +10 &JF L +9 &L L +9 &M L +10 &O M +9 &QL M +9 &S M +10 &T M +9 &V M +10 &XS M +9 &Ywx "j +9 &Z+t , +10 ( + &Z ! +2 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&[1 +63 "core" 1 +2 "manipulator"&B% +3 "core" % #  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +99 "core" ' +2 "processing"%+& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&y% +3 "core" %\ / +3 "storage"(|% +3 "core" %a +3 "storage"(w. +3 "core" .( +2 "storage"(b& +3 "core" & -  +3 "storage"(& +2 "manipulator"&d& +7 "core" &  + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&&(s +5 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( + "manipulator"&P& +6 "core" &j t + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &j t +3 .tForearm.seek PC + "manipulator"&t' +97 "core" ' +2 .tHand.close + "manipulator"&f/ +58 "core" / +2 .tPC.seek :open + "processing"%?( +90 "core" ' + "storage"(X- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +81 "core" ' +251 ( + "storage"({& +5 "core" &  + "manipulator"&Y& +5 "core" &j ! + "manipulator"&/% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$( +260 "core" ( +2 "manipulator"&& +4 "core" & #  +2 "storage"(& +3 "core" & T  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(H& +3 "core" &\ Q\ Q  +3 "manipulator"&]& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&W& +3 "core" &  +3 "storage"(& +3 "core" &\ G\ J r  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&5& +4 "core" &  +2 "storage"(& +3 "core" & e  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&''} +18 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' + "manipulator"&j% +5 "core" %΀ z + "storage"(~& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +19 "core" ' +2 "manipulator"&(& +3 "core" & N  +2 "storage"(!& +5 "core" & 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +34 "core" ' + "storage"(}% +5 "core" %o % +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (h% +4 "core" %&U z v b PH +2 "manipulator"&4% +3 "core" %.  ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (=& +3 "core" &   +2 "collection"')& +4 "core" &VWM C +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&1% +3 "core" %\    +2 "storage"(.% +4 "core" %Y +2 "storage"(,. +4 "core" .( + "storage"(Z& +4 "core" &  +2 "storage"( & +3 "core" &   +3 "manipulator"&Q& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&:& +3 "core" & f  +2 "storage"(C& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +99 "core" ' + "storage"(;& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &   +47 "storage"(#& +5 "core" & k  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +19 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(k'S +28 "core" ' +2 "manipulator"&N% +3 "core" %΂  +2 "storage"(3& +4 "core" & "  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 305 counts + "manipulator"&"'Ϯ +21 "core" ' +2 "manipulator"&-& +3 "core" & f  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'B +44 "core" ' + "manipulator"&F& +4 "core" & (  +2 "manipulator"&@% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&m( +162 "core" ( +3 "manipulator"&2& +3 "core" &( f ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &( )  ?Q +3 .tForearm.seek CC + "manipulator"&a'" +97 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tCC.seek :open +2 "collection"'`( +413 "core" ( +2 "storage"(A& +4 "core" & P  +2 "storage"(K& +4 "core" &  +2 "manipulator"&G& +3 "core" &( O ?Q +2 "manipulator"&*% +5 "core" % " .  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( + "manipulator"&g& +4 "core" & o +2 "storage"(i& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&D'} +95 "core" ' +2 .tElbow.hold + "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +63 "core" 1 +3 "manipulator"&n% +4 "core" % ΅  + "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +3 "manipulator"&<'ϱ +20 "core" ' +2 "manipulator"&M& +4 "core" & U o + "storage"(S& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +27 "core" ' +2 "storage"( % +4 "core" %G +2 ."downElevator"SE.seek :down +3 "storage"(L'X +100 (u% +2 "core" %AS PF +2 "manipulator"&V% +5 "core" %= ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & +2 "manipulator"&E% +3 "core" %\  U  +2 "storage"(^% +5 "core" %` %  + "storage"(. +4 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(e( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +46 ([& +5 "core" &  K +3 "manipulator"&B& +4 "core" & r o +2 .tElbow.seek 2 + "manipulator"&+( +39 "core" ( +2 "manipulator"&y& +3 "core" & K g +2 "storage"(|& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +90 "core" ' +2 "storage"(w& +3 "core" & x +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +289 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & > +2 "manipulator"&P& +5 "core" &  e + .tElbow.seek 2 +2 "manipulator"&o( +27 "core" ( + "manipulator"&s& +4 "core" &  _  +2 "storage"(f& +3 "core" & j +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&q& + "storage"( 'X +6 "core" &   +3 "manipulator"&% +3 "core" %  e  +3 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&/& +4 "core" &+ R F Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +3 "core" &* / Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +3 "manipulator"&& +3 "core" &+ A` +3 "manipulator"&&% +3 "core" %( W +3 "collection"'& +3 "core" & +3 "collection"'& +4 "core" & +3 .tCC.seek :closed + "collection"'8(V +5 "core" & +8 &H $e +9 &_ 7 +10 &9 G +9 &b F +9 &f F +10 &g F +9 &De F +9 &e< F +10 &b F +9 &d F +9 & Le8 F +10 &"d> F +9 &#d< E +10 &%e: F +9 &'Sc? F +9 &)e F +10 &*e; F +9 &,h@ F +9 &.[dF F +10 &0dG F +9 &1e? F +10 &3eC E +9 &5ce; F +9 &7%e> F +10 &8eE F +9 &:e= E +9 &-e@ F +9 &?e@ F +10 &Ae< F +9 &Cte9 F +9 &E4j< F +10 &Fr@ H +9 &H: J +9 &Jb> O +10 &L= Q +9 &M; Q +10 &O= Q +9 &Qd: Q +9 &S!: R +10 &T; S +9 &VCX: )} +9 &V"F E +10 ( + &VZF C +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open +2 "manipulator"&H1 +59 "core" 1 +2 "manipulator"&]% +3 "core" % '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &d +3 "manipulator"&x% +4 "core" %\  *   +2 "storage"(5% +3 "core" %a q +2 "storage"(. +4 "core" .( + "storage"(j& +5 "core" & 4 + "storage"(~& +5 "core" & h +2 "manipulator"&& +4 "core" &+ A` +2 "manipulator"&(% +3 "core" %\  &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&!( +160 "core" ( + "manipulator"&& +4 "core" & D  +2 "storage"(}& +4 "core" & 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +94 "core" ' +2 "storage"(& +4 "core" & m +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(h- +47 "core" -' +5 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (4& +2 "core" & E +2 "manipulator"&& +4 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"('& +3 "core" & [ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"(1'X +9 "core" &   + "manipulator"&.% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(s +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +3 "manipulator"&Z& +4 "core" &z . 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &z : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +95 "core" ' + "manipulator"&:& +4 "core" &z  ] +3 "manipulator"&C% +4 "core" %  +2 "processing"%z& +3 "core" &7 +3 "processing"%;& +5 "core" &0 +2 .tPC.seek :closed +2 "processing"%I(Z +5 "core" &, +6 &. 8 +9 &NN- . +9 &y3 C +10 &=d* G +9 &d/ G +9 &e6 F +10 &g0 G +9 &Fj/ G +10 &e, G +9 &d0 F +9 &f- G +10 &!Mh7 G +9 &#d, G +9 &$e+ F +10 &&e+ G +9 &(Ui& G +9 &*f/ F +10 &+f G +9 &-j G +10 &/^c G +9 &1!e" F +9 &2f G +10 &4j" G +9 &6ei\\ G +10 &8(dT G +9 &9e3 G +9 &;b G +10 &=nbL G +9 &?0c G +9 &@cF G +10 &Be G +9 &Duj G +9 &F5q H +10 &G~ I +9 &I L +10 &Kn L +9 &M1 L +9 &N M +10 &P L +9 &Ru M +10 &T7 M +9 &U M +9 &W M +10 &Y{ : +9 &Zm5 X +9 &Z " +3 ( + "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&71 +53 "core" 1 + "manipulator"&% +5 "core" % # "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%\\& +5 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&#% +3 "core" %\    +3 "storage"(R% +4 "core" %` { + "storage"(N. +3 "core" .( +2 "storage"(3& +3 "core" & 7 +3 "storage"(-& +2 "manipulator"&& +8 "core" & ~ + &z  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&F(s + "storage"(@'i +6 "core" ( +2 "manipulator"&\ & +4 "core" &z g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &z A +2 .tForearm.seek PC +2 "manipulator"&O' +96 "core" ' + .tHand.close +2 "manipulator"&6/ +59 "core" / +3 .tPC.seek :open +2 "processing"%"( +86 "core" ' +2 "storage"(k- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'y +43 "core" ' +288 ( +2 "storage"( & +4 "core" &  + "manipulator"&T& +4 "core" &z +2 "manipulator"&>% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +41 "manipulator"&9( +278 "core" ( +2 "manipulator"&_& +3 "core" &   +2 "storage"(A& +4 "core" & P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +90 "core" ' + .tHand.open +2 "manipulator"&G1 +56 "core" 1 +2 "storage"(*- +4 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate + "storage"(g'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(i' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +3 "core" -' +2 "storage"(m& +4 "core" & \ G\ G O +2 "manipulator"&l& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&n( +4 "core" ( +2 "manipulator"&& +3 "core" & T  +2 "storage"(M& +4 "core" & \ G\ G  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +59 "core" ' +2 "manipulator"&v& +4 "core" &   +2 "storage"(u& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(D'i +23 "core" ' + "manipulator"&<% +5 "core" % ~ + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&E' +19 "core" ' +2 "manipulator"&^& +3 "core" &   +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +43 "core" ' +2 "storage"(U% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(L'X +99 (r% +4 "core" %U w j N PH +2 "manipulator"&[% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" & 0 +2 "collection"'|& +5 "core" &VY C + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +3 "core" %\ @  +3 "storage"(J% +3 "core" %U +2 "storage"(. +3 "core" .( +2 "storage"(d& +3 "core" & = +2 "storage"(& +5 "core" &  + "manipulator"&P& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&s( +4 "core" ( +2 "manipulator"&f& +4 "core" &   + "storage"(0& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +89 "core" ' +2 "storage"(& +3 "core" & i +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +275 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" &   +2 "storage"(t& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&b' +29 "core" ' +2 .tElbow.hold + "manipulator"&X, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate + "storage"(&'S +37 "core" ' +2 "manipulator"&o% +3 "core" % R +2 "storage"(& +4 "core" & d c Z +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"& ' +19 "core" ' +2 "manipulator"&{& +3 "core" &   +2 "storage"(`& +4 "core" & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(]'B +42 "core" ' +2 "manipulator"&& +3 "core" & !  +2 "manipulator"&x% +4 "core" %њ 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +164 "core" ( +2 "manipulator"&j& +3 "core" && % =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" && =G +3 .tForearm.seek CC + "manipulator"&~'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'(( +417 "core" ( +2 "storage"(& +3 "core" & +2 "storage"(& +5 "core" & C + "manipulator"&}& +4 "core" && Z =G +2 "manipulator"&% +3 "core" % , +3 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&W( +150 "core" ( + "manipulator"&h& +5 "core" & 9 +2 "storage"(4& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +58 "core" 1 +2 "manipulator"&=% +5 "core" % # + "storage"()& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +2 "manipulator"&.' +18 "core" ' +2 "manipulator"&!& +5 "core" & e + "storage"($& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +35 "core" ' +2 "storage"(% +4 "core" %J  +3 ."downElevator"SE.seek :down +3 "storage"(Z'X +100 ( % +3 "core" %S A PF +2 "manipulator"&% +3 "core" %ъ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'C& +3 "core" & +2 "manipulator"&z% +3 "core" %\    +2 "storage"(1% +4 "core" %a  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(?( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & :  +2 "manipulator"&& +4 "core" & S +2 .tElbow.seek 3 +2 "manipulator"&\\( +20 "core" ( +2 "manipulator"&#& +3 "core" & n ? +2 "storage"(R& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +146 "core" ' +5 "storage"(3& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +280 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (;& +2 "core" & r  +3 "manipulator"&\ & +3 "core" & 1 ? +2 .tElbow.seek 3 +2 "manipulator"&%( +4 "core" ( +2 "manipulator"&Q& +3 "core" & 5 ? +3 "storage"(6& +4 "core" & t  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&k'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&,/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(I'X +8 "core" & ? + "manipulator"&@% +4 "core" % Ϡ  +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +28 "core" ( + "manipulator"&>& +4 "core" &'  I Z >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &' >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'" +97 "core" ' + "manipulator"&_& +5 "core" &( - >M + "manipulator"&A% +5 "core" %* N +2 "collection"'G& +3 "core" & +3 "collection"'*& +5 "core" & +2 .tCC.seek :closed +2 "collection"'a(V +5 "core" & +7 &I #c +10 &\\ 6 +9 &$ G +9 &eI F +10 &eH F +9 &lcL F +9 &.e F +10 &c; F +9 &eI F +10 &sc= F +9 & 6d; F +9 &!c< F +10 &#f; F +9 &%{i< F +9 &'?d> E +10 &)f< F +9 &*i< F +9 &,d= E +10 &.Ee> F +9 &0e; F +10 &1e; E +9 &3d< F +9 &5Nd< F +10 &7e< F +9 &8d; E +9 &:e< F +10 &e? F +10 &?e; F +9 &Ae; F +9 &C\\e< F +10 &Ei? G +9 &Fr; G +10 &H- I +9 &JL= O +9 &L\ : P +10 &M; Q +9 &O> Q +9 &QM; Q +10 &S F R +9 &T< R +9 &V7_; )~ +10 &V(< M +9 ( + &V_E D +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&m1 +60 "core" 1 +2 "manipulator"&l% +4 "core" % * % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +191 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%M& +4 "core" &d  +2 "manipulator"& % +3 "core" %\    +2 "storage"(v% +5 "core" %_ t  + "storage"(u. +3 "core" .( +2 "storage"(<& +3 "core" & k  +2 "storage"(& +4 "core" &   +2 "manipulator"&2& +3 "core" &' >M +2 "manipulator"&^% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&g( +162 "core" ( + "manipulator"&& +3 "core" &  I  +3 "storage"(U& +3 "core" & u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +104 "core" ' +3 "storage"(K& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +280 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" & 7  +3 "manipulator"&S& +4 "core" & w  +2 .tElbow.seek 3 + "manipulator"&n( +4 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(V& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +48 "manipulator"&E'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&y/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(w'X +9 "core" &   + "manipulator"&J% +4 "core" % ϯ , +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&d(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&D& +3 "core" &y )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &y   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +102 "core" ' +2 "manipulator"&f& +3 "core" &y   +3 "manipulator"&0% +4 "core" %  q +2 "processing"%c& +3 "core" &=  +3 "processing"%& +5 "core" &:  +2 .tPC.seek :closed +2 "processing"%L(Z +3 "core" &/  +8 &L8 $e +9 &]3 7 +10 &79 G +9 &g- G +9 &e8 G +10 &}i. G +9 &Ae+ F +9 &f0 G +10 &f, G +9 &h5 G +9 & Gj- G +10 &"\ e- G +9 &#f< F +10 &%g; G +9 &'Oe; G +9 &)f= G +10 &*j2 G +9 &,g4 F +9 &.Xg G +10 &0c* G +9 &1f' G +10 &3e# G +9 &5`g2 G +9 &7"i2 G +10 &8d( G +9 &:e1 F +9 &*hA G +9 &?h6 F +10 &Af G +9 &Cph: G +9 &E0jA G +10 &Fr* H +9 &HF K +9 &JiQ L +10 &L* L +9 &M L +10 &O M +9 &Qn M +9 &S2 L +10 &T M +9 &V M +9 &Xv M +10 &Z nx _ +9 &Z, 5 +10 ( + &Z ! +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&B% +3 "core" % " h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +100 "core" ' +3 "processing"%/& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&t% +3 "core" %\  q  +2 "storage"(% +4 "core" %_ u +2 "storage"(o. +4 "core" .( + "storage"(& +5 "core" &  +2 "storage"({& +2 "manipulator"&`& +7 "core" &  +2 &y 8  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(x'i +3 "core" ( +2 "manipulator"&q& +3 "core" &y \\  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &y O  +2 .tForearm.seek PC +2 "manipulator"&+' +95 "core" ' +2 .tHand.close + "manipulator"&b/ +57 "core" / +2 .tPC.seek :open + "processing"% ( +91 "core" ' +2 "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(j'y +37 "core" ' +293 ( +2 "storage"(& +3 "core" &   +2 "manipulator"&H& +4 "core" &y n  +2 "manipulator"&X% +5 "core" % 9 +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&5( +268 "core" ( + "manipulator"&8& +5 "core" &  p + "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +3 .tHand.open +2 "manipulator"&}1 +61 "core" 1 +2 "storage"(- +49 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate + "storage"(h'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(4' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' +2 "storage"(& +3 "core" &\ Q\ R g  +2 "manipulator"&'& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&)& +4 "core" &  % + "storage"(!& +5 "core" &\ N\ P  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&Y& +3 "core" &  +2 "storage"( & +4 "core" & -  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&.% +5 "core" %s X + "storage"(C& +4 "core" & )  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 290 counts +2 "manipulator"&z'ϟ +19 "core" ' +2 "manipulator"&1& +3 "core" & C +3 "storage"(& +3 "core" & P  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +17 "core" ' + "storage"(% +5 "core" %r +2 ."downElevator"SE.seek :down +4 "storage"(Z'X +98 (e% +3 "core" %T f j f QJ +2 "manipulator"&7% +5 "core" %? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +3 "core" &  +3 "collection"'R& +3 "core" &V_ D +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&3% +4 "core" %\ # 4 ? +2 "storage"(% +3 "core" %_   +2 "storage"(:. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(;& +5 "core" & V  + "manipulator"&\ & +4 "core" & E +2 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&6& +3 "core" & " +2 "storage"(,& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"(@& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +278 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & Q +2 "storage"(-& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(%'R +35 "core" ' + "manipulator"&A% +4 "core" %{ 6 +2 "storage"(G& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&I'ϧ +19 "core" ' +2 "manipulator"& & +3 "core" & g +2 "storage"((& +49 "core" &  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(l'A +42 "core" ' + "manipulator"&*& +5 "core" & < + "manipulator"&M% +5 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +161 "core" ( +2 "manipulator"&u& +3 "core" && . =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &% =A +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&2/ +59 "core" / +2 .tCC.seek :open +2 "collection"'^( +416 "core" ( +3 "storage"(F& +3 "core" & b  +3 "storage"(& +4 "core" &   +2 "manipulator"&U& +3 "core" && =A +2 "manipulator"&K% +4 "core" % $ n +2 .tForearm.seek :retract +2 "manipulator"&T'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&r& +4 "core" & 2 j +2 "storage"([& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&S'} +93 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +65 "core" 1 +2 "manipulator"&y% +3 "core" % w   +2 "storage"(|& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 294 counts + "manipulator"&J'ϣ +20 "core" ' +2 "manipulator"&g& +3 "core" & v j +2 "storage"(9& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +35 "core" ' +2 "storage"(E% +4 "core" %K +3 ."downElevator"SE.seek :down +3 "storage"(D'X +99 (% +3 "core" %BN OE +2 "manipulator"&n% +3 "core" %G  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'0& +3 "core" &G +2 "manipulator"&c% +3 "core" %\   +2 "storage"(w% +4 "core" %^ o +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"("( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & 7 +2 "manipulator"&B& +3 "core" & j +3 .tElbow.seek 2 +2 "manipulator"&/( +41 "core" ( + "manipulator"&t& +5 "core" & # { f + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +94 "core" ' +2 "storage"(& +3 "core" & \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +274 "core" ' + "storage"({- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &  +2 "manipulator"&q& +47 "core" &\ Y +6 .tElbow.seek 2 +2 "manipulator"&s( +29 "core" ( +2 "manipulator"&P& +3 "core" & / T +2 "storage"(b& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&p& + "storage"(L'X +6 "core" &  T +3 "manipulator"&x% +3 "core" % N  +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&X& +4 "core" &% 7 W <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &%  <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&8'" +98 "core" ' +2 "manipulator"&& +4 "core" &% # % <= +2 "manipulator"&% +4 "core" %" ] G +2 "collection"'}& +5 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & +7 &J $d +9 &_ 7 +10 &/ G +9 &e F +9 &e F +10 &wd F +9 &9e F +10 &e: F +9 &dE F +9 &eH E +10 & @e= F +9 &"d F +9 &#eI F +10 &%e> F +9 &'Ie? F +10 &) e< F +9 &*hC F +9 &,d< F +10 &.Pd< F +9 &0c< F +9 &1d@ F +10 &3e F +9 &5Xg7 F +10 &7e> F +9 &8c? F +9 &:d= F +10 &#e< F +9 &?e< F +10 &Ae< E +9 &Cge; F +10 &E(j: G +9 &Fr; G +9 &H< J +10 &JW= O +9 &L= Q +9 &M= P +10 &O Q +9 &QV6 R +10 &S= R +9 &TE R +9 &VEh; / +10 &VF 6 +9 &V{: J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open +2 "manipulator"&~1 +2 "core" &Vr8 J +56 1 +3 "manipulator"&% +3 "core" % +  > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%)& +5 "core" &w + "manipulator"&!% +4 "core" %\  3 +2 "storage"(Y% +4 "core" %^ w g  +2 "storage"( . +3 "core" .( +2 "storage"(.& +3 "core" & x n L +2 "storage"(j& +4 "core" & z z ` +2 "manipulator"&C& +4 "core" &% 5 <= +2 "manipulator"&h% +3 "core" %\  c 3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&1( +166 "core" ( +2 "manipulator"&& +3 "core" & "  +2 "storage"(& +4 "core" & t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +96 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +283 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" & A +2 "manipulator"&$& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&& +3 "core" & ,  +2 "storage"(& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&#' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +3 "storage"(3'X +8 "core" & ,  +2 "manipulator"&% +3 "core" %  X +3 .tForearm.seek :retract +48 "manipulator"&:'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +128 "core" ( +2 "manipulator"&& +3 "core" &  M & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" & h & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\ ' +100 "core" ' +2 "manipulator"&6& +3 "core" &  x & +3 "manipulator"&,% +3 "core" %  +3 "processing"%]& +3 "core" &@ +3 "processing"%@& +5 "core" &; +2 .tPC.seek :closed +2 "processing"%Z(Z +3 "core" &; +8 &FC #b +9 &\\> 6 +10 &@ H +9 &g? G +9 &g? G +10 &^g@ G +9 &!e; F +9 &g? G +10 &hA G +9 &fj> G +10 & 'e; G +9 &!e5 G +9 &#h; G +10 &%nf; G +9 &'/i0 G +9 &(e2 G +10 &*j9 G +9 &,wg8 F +9 &.8g= G +10 &/c7 G +9 &1e7 G +10 &3}h8 G +9 &5Af6 F +9 &7d2 G +10 &8h. G +9 &:e' F +9 &\ e9 G +9 &?j G +10 &Ac/ F +9 &COg' G +9 &Ei- G +10 &Fq@ H +9 &H@ J +10 &JI L +9 &L ) M +9 &M. L +10 &O L +9 &QP L +9 &SS M +10 &T M +9 &Vb M +10 &XT N +9 &Ywv "k +9 &Z(p , +10 ( + &Z ! +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&W1 +63 "core" 1 +2 "manipulator"&% +4 "core" % " { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +100 "core" ' + "processing"%>& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&-% +3 "core" %\ " ? +3 "storage"(_% +4 "core" %V d d O +2 "storage"(A. +3 "core" .( +2 "storage"(G& +3 "core" & t h f +3 "storage"( & +2 "manipulator"&(& +7 "core" & b b P +2 &  & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(*'i + "manipulator"&M(s +9 "core" ( +2 "manipulator"&& +3 "core" &x  2 ! +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &x  ! +2 .tForearm.seek PC +2 "manipulator"&\\' +96 "core" ' + .tHand.close +2 "manipulator"&O/ +53 "core" / +3 .tPC.seek :open +2 "processing"%I( +83 "core" ' +2 "storage"(%- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +42 "core" ' +295 ( + "storage"(<& +4 "core" & +2 "manipulator"&m& +4 "core" &y u +2 "manipulator"&k% +3 "core" % &  +3 .tForearm.seek :retract + "manipulator"&2'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +271 "core" ( +2 "manipulator"&a& +4 "core" &  + "storage"(F& +5 "core" & } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 .tHand.open + "manipulator"&U1 +59 "core" 1 +3 "storage"(K- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(r'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(v& +4 "core" & \ S\ U ~ +2 "manipulator"&V& +49 "core" & +4 .tElbow.seek 2 +2 "manipulator"&y( +7 "core" ( +2 "manipulator"&|& +3 "core" & 2  +2 "storage"(g& +4 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(E' +59 "core" ' + "manipulator"&T& +5 "core" &   + "storage"(& +5 "core" & + + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&n' +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(S'i +23 "core" ' +2 "manipulator"&J% +3 "core" %  ` +2 "storage"(0& +4 "core" & l \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&c' +18 "core" ' +2 "manipulator"&w& +3 "core" & '  +3 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +29 "core" ' +2 "storage"(i% +4 "core" %m  +2 ."downElevator"SE.seek :down +4 "storage"(D'X +99 (?% +2 "core" %RW o z E QI +3 "manipulator"&% +3 "core" %ь +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (t& +4 "core" & * +2 "collection"'& +3 "core" &Vp J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  ?  +2 "storage"( % +4 "core" %a +2 "storage"(f. +3 "core" .( +2 "storage"({& +4 "core" & . +2 "storage"(`& +3 "core" & D +2 "manipulator"&q& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&b& +4 "core" & "   +2 "storage"(d& +5 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +93 "core" ' +2 "storage"(x& +3 "core" & V +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +278 "core" ' +3 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &  +2 "storage"(+& +4 "core" & 1 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('R +107 "core" ' + "manipulator"&s% +4 "core" %  < +2 "storage"(}& +4 "core" & m q ? + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&L' +20 "core" ' +2 "manipulator"&& +3 "core" & W  +2 "storage"(^& +4 "core" & ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('A +39 "core" ' + "manipulator"&)& +4 "core" & >  +2 "manipulator"&!% +4 "core" %ѣ N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract + "manipulator"&Y'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +162 "core" ( + "manipulator"&.& +5 "core" &  ; 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   5 +3 .tForearm.seek CC +2 "manipulator"&j'" +94 "core" ' + .tHand.close +2 "manipulator"&C/ +115 "core" / +2 .tCC.seek :open +2 "collection"'h( +417 "core" ( + "storage"(8& +4 "core" &  +2 "storage"(& +5 "core" & 7 + "manipulator"&& +4 "core" &  1 5 +2 "manipulator"&% +4 "core" % 5 Y +2 .tForearm.seek :retract +2 "manipulator"&H'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +163 "core" ( +2 "manipulator"&e& +3 "core" &   +3 "storage"(7& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&$' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&z% +3 "core" % # +3 "storage"(R& +5 "core" & ' +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&1& +3 "core" & <  +3 "storage"(5& +3 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +21 "core" ' +2 "storage"(#% +3 "core" %J  \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (;% +3 "core" %N F OE +2 "manipulator"&=% +5 "core" %ќ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +91 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"',& +3 "core" & +2 "manipulator"&]% +4 "core" %\  8 + +2 "storage"(3% +3 "core" %b  +2 "storage"(:. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" & p  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&>( +15 "core" ( +2 "manipulator"&-& +3 "core" & _ R +2 "storage"(_& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +88 "core" ' +2 "storage"(A& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" & y  +2 "manipulator"&& +3 "core" &  R +3 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&\ & +3 "core" & R +2 "storage"(O& +3 "core" & $  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +21 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&N& + "storage"(Z'X +8 "core" & ^ R +2 "manipulator"&*% +3 "core" % ϰ  +3 .tForearm.seek :retract + "manipulator"&<'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +23 "core" ( +2 "manipulator"&k& +3 "core" && 7 I =G +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &&  =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'" +100 "core" ' +2 "manipulator"&F& +4 "core" && $ =G +2 "manipulator"&M% +4 "core" %  +3 "collection"'U& +5 "core" & +2 "collection"'K& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & +6 &8 #c +9 &\\ 6 +10 & G +9 &e F +9 &f F +10 &`d F +9 &"e F +10 &e F +9 &dD F +9 &ie F +10 & ,eG E +9 &!e F +9 &#f8 F +10 &%peI F +9 &'2d= F +10 &(c> F +9 &*e; E +9 &,xe? F +10 &.:d; F +9 &/d; F +9 &1e= F +10 &3d F +9 &5Bc9 F +10 &7e? F +9 &8c> F +9 &:e? F +10 & e@ F +9 &?i9 F +10 &Ae= F +9 &CRf? F +10 &Ei> F +9 &Fr; H +9 &H? I +10 &J@; O +9 &K= P +9 &M P +10 &O9 Q +9 &QA; Q +10 &S= R +9 &T< S +9 &V:lC 1 +10 &V= 5 +9 &V}: I +5 ( +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&v1 +4 "core" &Vr: I +51 1 +3 "manipulator"&V% +4 "core" % #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%|& +4 "core" &} + "manipulator"&g% +4 "core" %\ # 9 +2 "storage"(T% +4 "core" %a z z +2 "storage"(. +3 "core" .( +2 "storage"(u& +4 "core" & z z  + "storage"(r& +5 "core" & z z  + "manipulator"&J& +4 "core" && =G +2 "manipulator"&0% +3 "core" %\ # . 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&w( +164 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(i& +4 "core" & z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' +2 "storage"(& +3 "core" & U  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +279 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B  +2 "manipulator"&9& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&E& +3 "core" &   +2 "storage"(n& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&c'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & G  +2 "manipulator"& % +4 "core" % ϱ   +2 .tForearm.seek :retract +2 "manipulator"&f'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&{& +4 "core" &z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek PC +3 "manipulator"&q' +100 "core" ' +2 "manipulator"&b& +4 "core" &z  +2 "manipulator"&d% +3 "core" %  H +3 "processing"%l& +3 "core" &x +3 "processing"%x& +5 "core" &< +2 .tPC.seek :closed +2 "processing"%D(Z +5 "core" &: +6 &>< #c +9 &[; 6 +10 &? G +9 &cC F +9 &fA G +10 &^gB G +9 & g< G +10 &g; G +9 &e@ G +9 &fd< G +10 & )f: F +9 &!f: G +9 &#h; G +10 &%oe: F +9 &'0f: G +10 &(c= G +9 &*d9 G +9 &,wf9 F +10 &.9g: F +9 &/d= F +9 &1e: F +10 &3~c< G +9 &5@i= G +10 &7h> G +9 &8c9 G +9 &:b3 G +10 &\ b6 G +9 &?c5 G +10 &Ab1 G +9 &CPg/ G +10 &Ei' G +9 &Fo- H +9 &H@ J +10 &JI> L +9 &L\ > L +10 &MU L +9 &O^ M +9 &QP# L +10 &SM L +9 &TY M +9 &V M +10 &XW[ M +9 &Ywv "j +9 &Z'k + +10 ( + &Z " +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&B% +4 "core" %  r H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 "processing"%X& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&+% +3 "core" %\ # < : +3 "storage"(% +3 "core" %U v k ! +2 "storage"(s. +3 "core" .( +2 "storage"(}& +4 "core" & o h .  +2 "storage"(& +4 "manipulator"&^& +5 "core" & x p o  + &z  +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&)(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(!'i +3 "core" ( +2 "manipulator"&p& +3 "core" &z Q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &z K +3 .tForearm.seek PC +2 "manipulator"&/' +95 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open + "processing"%L( +84 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'y +47 "core" ' +290 ( + "storage"(& +4 "core" &   +2 "manipulator"&~& +3 "core" &z  +2 "manipulator"&&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +268 "core" ( +2 "manipulator"&& +3 "core" & `  +2 "storage"(8& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(e'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(j- +3 "core" -' +2 "storage"( & +3 "core" &\ O\ M H  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&z( +8 "core" ( +2 "manipulator"&R& +3 "core" & ] +2 "storage"(1& +4 "core" &\ P\ O  +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +41 "storage"(#' +62 "core" ' + "manipulator"&H& +5 "core" & + "storage"(;& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&='} +29 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +24 "core" ' + "manipulator"&% +5 "core" %΃  + "storage"(,& +4 "core" & m w E  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&]'ϯ +19 "core" ' +2 "manipulator"&3& +3 "core" &  +3 "storage"(:& +3 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(4% +3 "core" %n  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ("% +3 "core" %HW v y e QI +2 "manipulator"&W% +4 "core" % E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (-& +3 "core" & =  +2 "collection"'_& +4 "core" &Vp I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&A% +5 "core" %\    +2 "storage"(% +3 "core" %U  +2 "storage"(6. +4 "core" .( + "storage"( & +4 "core" & !  +2 "storage"((& +3 "core" &   +3 "manipulator"&& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&O& +3 "core" & ~ +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +88 "core" ' +2 "storage"(*& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +278 "core" ' +3 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" & +3 "storage"(G& +4 "core" & 0  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&\\'} +26 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'R +28 "core" ' +2 "manipulator"&M% +3 "core" %Ώ l +2 "storage"(U& +4 "core" & q Z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&Z'ϻ +20 "core" ' +2 "manipulator"&<& +3 "core" & . +2 "storage"(h& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(V'A +39 "core" ' +2 "manipulator"&|& +3 "core" & z +3 "manipulator"&g% +3 "core" %, f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +164 "core" ( + "manipulator"&u& +5 "core" &( 1 ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &( ?T +3 .tForearm.seek CC + "manipulator"&r'" +134 "core" ' +9 .tHand.close + "manipulator"&J/ +62 "core" / +2 .tCC.seek :open + "collection"'0( +417 "core" ( +2 "storage"(a& +3 "core" &  +3 "storage"(& +3 "core" & v  +2 "manipulator"&i& +4 "core" &( q ?T +2 "manipulator"&% +4 "core" % -  +2 .tForearm.seek :retract +2 "manipulator"&m'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&2( +163 "core" ( +2 "manipulator"&?& +4 "core" & v m + "storage"(& +5 "core" &   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"&9'} +93 "core" ' +2 .tElbow.hold + "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +57 "core" 1 +2 "manipulator"&t% +4 "core" % t < +2 "storage"(& +3 "core" & <  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 291 counts +2 "manipulator"& 'Ϡ +20 "core" ' +3 "manipulator"&w& +4 "core" & { m +2 "storage"( & +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +25 "core" ' +2 "storage"(c% +4 "core" %J  +2 ."downElevator"SE.seek :down +4 "storage"({'X +99 (`% +2 "core" %\ R  OE +3 "manipulator"&y% +3 "core" %X  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'d& +3 "core" & +2 "manipulator"&l% +4 "core" %\ j  +3 "storage"(% +4 "core" %^ + "storage"(f. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(I( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & o +2 "manipulator"&B& +3 "core" & 7 m +3 .tElbow.seek 2 +2 "manipulator"&X( +38 "core" ( + "manipulator"&+& +4 "core" &  2 +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +93 "core" ' + "storage"(}& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (x& +2 "core" & +2 "manipulator"&p& +5 "core" &  2 +2 .tElbow.seek 2 +2 "manipulator"&P( +22 "core" ( +2 "manipulator"&q& +3 "core" & @  +2 "storage"(& +5 "core" & . +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(D'X +9 "core" &   + "manipulator"&!% +5 "core" % ( +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&~( +156 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&&& +3 "core" &%  <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &/& +2 "core" &% <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +106 "core" ' +2 "manipulator"&8& +4 "core" &% # 8 <> +2 "manipulator"&)% +3 "core" % +3 "collection"'& +3 "core" & +3 "collection"'& +5 "core" & +3 .tCC.seek :closed + "collection"'j(V +4 "core" &  +9 &7 )v +9 &l = +10 &q F +9 &xf E +9 &8e F +10 &e F +9 &c F +9 &dC F +10 &Ac F +9 &e F +10 & c F +9 &"eN F +9 &$Hc@ F +10 &&\ e< F +9 &'e; F +9 &)g> F +10 &+Qe< F +9 &-h8 F +10 &.d< F +9 &0d; F +9 &2Xd> F +10 &4e< F +9 &5hB F +9 &7eA F +10 &9ac> F +9 &;#e= F +10 &<h@ F +9 &>e> F +9 &@icA F +10 &B+e; F +9 &Cg< F +9 &Ej? F +10 &GixD I +9 &I%2 K +10 &J O +9 &L: P +9 &NY< Q +10 &PF Q +9 &QB Q +9 &S; S +10 &U[> B +9 &Vn;> . +10 &Vs; D +5 ( +2 "collection"'& +3 "core" &V_< D +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"& 1 +62 "core" 1 +3 "manipulator"&% +3 "core" %  # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%1& +4 "core" &z +2 "manipulator"&C% +5 "core" %\ {  + "storage"(H% +4 "core" %V n +2 "storage"(;. +4 "core" .( + "storage"(.& +4 "core" & { +2 "storage"(e& +3 "core" & +3 "manipulator"&& +4 "core" &% U <; + "manipulator"&,% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3( +158 "core" ( +2 "manipulator"&:& +3 "core" & L  +2 "storage"(Y& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' +2 "storage"(4& +3 "core" & 8 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +276 "core" ' +2 "storage"("- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & : +2 "manipulator"&5& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&#& +3 "core" &  +3 "storage"(=& +3 "core" & Y +3 .tForearm.seek 2 + 300 counts + "manipulator"&]' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"(A'X +9 "core" & F  + "manipulator"&% +4 "core" % & ) +2 .tForearm.seek :retract +2 "manipulator"&$'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&6(s +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"& & +5 "core" &q 6 K  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &q &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&O& +3 "core" &q  9  +3 "manipulator"&% +3 "core" % R +2 "processing"%& +5 "core" &: +2 "processing"%*& +5 "core" &x +2 .tPC.seek :closed +2 "processing"%(Z +51 "core" &; +4 &>? #c +2 &\\< 6 + &> H + &fA G + &eF F +2 &`dG G +7 &!hC G +9 &fD F +9 &hG G +10 &hjC G +9 & +gH F +9 &!gC G +10 &#d9 F +9 &%pe: G +10 &'2iB G +9 &(d: G +9 &*gA G +10 &,wj= G +9 &.:g9 G +9 &/g= G +10 &1c; G +9 &3d; F +10 &5Bg9 G +9 &7c; G +9 &8c9 G +10 &:e: F +9 & e+ F +10 &?f' G +9 &Ab9 G +10 &CRh; G +9 &Ei+ G +9 &Fq+ H +10 &H0 J +9 &JJ0 L +9 &L . L +10 &M M +9 &O2 M +10 &QQ/ M +9 &S L +9 &T M +10 &V M +9 &XV^ N +9 &Yvx "l +10 &Z(l* * +9 ( + &Z " +2 "processing"%*& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&'1 +54 "core" 1 + "manipulator"&% +5 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +97 "core" ' + "processing"%k& +5 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&G% +3 "core" %\  )  +3 "storage"(F% +4 "core" %a  N + "storage"(M. +4 "core" .( + "storage"(U& +5 "core" & t +2 "storage"(<& +2 "manipulator"&h& +7 "core" & r  + &q   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&|(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(g'i +3 "core" ( +2 "manipulator"&N& +3 "core" &q 9  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &q   +2 .tForearm.seek PC +2 "manipulator"&>' +102 "core" ' +2 .tHand.close + "manipulator"&\\/ +53 "core" / +3 .tPC.seek :open +2 "processing"%Z( +91 "core" ' +2 "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +33 "core" ' +296 ( + "storage"(K& +5 "core" & " + "manipulator"&v& +4 "core" &q   +2 "manipulator"&%% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&J'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&T( +268 "core" ( + "manipulator"&& +4 "core" & 1  +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 .tHand.open + "manipulator"&i1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(r- +3 "core" -' +2 "storage"(& +3 "core" & \ O\ P v +3 "manipulator"&n& +3 "core" & @  +2 .tElbow.seek 2 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"&& +4 "core" & ^  +2 "storage"(w& +3 "core" & \ O\ O +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(c' +57 "core" ' +2 "manipulator"&m& +3 "core" &  +2 "storage"(`& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&y' +26 "core" ' +2 .tElbow.hold + "manipulator"&2, +5 "core" , + .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +11 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +24 "core" ' +2 "manipulator"&d% +3 "core" %  w +2 "storage"( & +4 "core" & K +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&l' +18 "core" ' +2 "manipulator"&& +3 "core" & 2  +2 "storage"(f& +5 "core" & i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +18 "core" ' +2 "storage"([% +3 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"({'X +92 "Can" G2V +8 "storage"( % +3 "core" %U j c R PH +2 "manipulator"&% +4 "core" %z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +3 "core" & +2 "collection"'& +4 "core" &V_ D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&}% +3 "core" %\  *  +3 "storage"(E% +4 "core" %P + "storage"(b. +4 "core" .( + "storage"(& +4 "core" & 1 +2 "storage"(x& +5 "core" & G + "manipulator"&p& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&q( +4 "core" ( + "manipulator"&& +5 "core" & j  + "storage"(S& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +96 "core" ' + "storage"(!& +5 "core" & e +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +285 "core" ' +3 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &  +2 "storage"(/& +3 "core" & h +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&^' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'S +28 "core" ' +2 "manipulator"&)% +3 "core" % +2 "storage"(& +4 "core" & V +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&D' +20 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(0& +4 "core" & * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('B +38 "core" ' +2 "manipulator"&1& +4 "core" & d  +2 "manipulator"&C% +3 "core" %ќ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&( +163 "core" ( + "manipulator"&;& +4 "core" && $ =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" && =D +2 .tForearm.seek CC +2 "manipulator"&e'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"',( +413 "core" ( +2 "storage"(& +4 "core" & +2 "storage"(:& +3 "core" & +2 "manipulator"&Y& +4 "core" && ' 9 <; +2 "manipulator"&4% +3 "core" %   +47 .tForearm.seek :retract +4 "manipulator"&~'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&R( +160 "core" ( +2 "manipulator"&"& +3 "core" & ?  +3 "storage"(W& +3 "core" & E +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&5' +100 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +53 "core" 1 +3 "manipulator"&-% +5 "core" %  + "storage"(_& +4 "core" & F +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&3& +3 "core" &   +3 "storage"(& +3 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +28 "core" ' + "storage"(]% +5 "core" %H  +2 ."downElevator"SE.seek :down +4 "storage"( 'X +98 ((% +3 "core" %P OE +2 "manipulator"&z% +3 "core" %х b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +91 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &  +2 "manipulator"&% +4 "core" %\   +2 "storage"(A% +3 "core" %c  +2 "storage"($. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(L( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" & d  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&k( +43 "core" ( + "manipulator"&G& +4 "core" &  2 N +2 "storage"(F& +4 "core" & d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +98 "core" ' +2 "storage"(U& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +289 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &   +2 "manipulator"&N& +4 "core" &  M +3 .tElbow.seek 3 + "manipulator"&\ ( +9 "core" ( +2 "manipulator"&& +3 "core" & & "} +2 "storage"(\\& +3 "core" & W  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&@& + "storage"('X +8 "core" &  "} +2 "manipulator"&g% +3 "core" % ϣ q S +3 .tForearm.seek :retract + "manipulator"&K'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&%& +4 "core" &"  L 9% +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &" # - 9% +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +3 "manipulator"&a& +5 "core" &" 6 9% + "manipulator"&|% +48 "core" %"   +4 "collection"'i& +5 "core" &  +2 "collection"'& +5 "core" &  +3 .tCC.seek :closed + "collection"'r(V +4 "core" &  +7 &H $d +10 &] 6 +9 &. G +9 &a E +10 &e F +9 &wd F +10 &9d@ F +9 &b! F +9 &c F +10 &d@ F +9 & Ac: F +9 &"g; F +10 &#d; F +9 &%d@ F +10 &'Ic> F +9 &)\ c> F +9 &*d< F +10 &,d< F +9 &.Qd; F +9 &0c@ F +10 &1h? F +9 &3dC F +10 &5Xd? F +9 &7e; F +9 &8d> F +10 &:h< F +9 &<`e? F +9 &>"e= F +10 &?e> F +9 &Ad@ F +10 &Chf< F +9 &E(j> G +9 &Fs G +10 &HB J +9 &JWE O +9 &L: P +10 &M@ Q +9 &O; Q +10 &QV; R +9 &S? R +9 &T: R +10 &VGi 0 +9 &V: 0 +9 &V8 O +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&n% +5 "core" % " $ (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%w& +5 "core" &u + "manipulator"&J% +4 "core" %\    +2 "storage"(m% +3 "core" %b x z W +2 "storage"(`. +4 "core" .( +2 "storage"(u& +3 "core" & e o C  +2 "storage"(?& +5 "core" & k g [  + "manipulator"&d& +5 "core" &" 9% + "manipulator"& % +4 "core" %\  @  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +159 "core" ( + "manipulator"&f& +4 "core" & ? x +2 "storage"(T& +4 "core" & Z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +101 "core" ' +3 "storage"(& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & p n Q  +2 "manipulator"&& +4 "core" &  x +2 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&c& +4 "core" & : x +2 "storage"(y& +3 "core" & f (  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(}'X +6 "core" &  x +3 "manipulator"&E% +3 "core" % Ϫ 4 +3 .tForearm.seek :retract + "manipulator"&b'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&9(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&& +5 "core" &v  f  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &v \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&p' +104 "core" ' +2 "manipulator"&& +5 "core" &v  P  +2 "manipulator"&S% +3 "core" % W +3 "processing"%V& +4 "core" & +2 "processing"%!& +5 "core" &K +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &@ +8 &>> #b +9 &Z9 5 +9 &= H +10 &e? G +9 &eG F +9 &UeA G +10 &fG F +9 &eH G +9 &kG G +10 &]gG G +9 & eH G +10 &!eH G +9 &#fG F +9 &%egD G +10 &''eF G +9 &(eG G +9 &*eH G +10 &,mf= G +9 &..c: G +10 &/e; G +9 &1h; G +9 &3uf< G +10 &56j; G +9 &6f> G +9 &8h: G +10 &:~d< F +9 &<@d: F +10 &>e9 G +9 &?h: G +9 &Ae9 F +10 &CFi5 G +9 &Ek1 H +9 &Fu: H +10 &H9 J +9 &J?9 L +45 &L9 M +16 &M7 M +2 &O3 M + &QF. M + &S* M +2 &T@ M + &V> N +7 &XK- N +10 &Ywv> "j +9 &Z,H 1 +9 ( + &Z " +3 "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&21 +57 "core" 1 +2 "manipulator"&B% +3 "core" % D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' +2 "processing"%&& +5 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&/% +3 "core" %\ " H : +3 "storage"(P% +3 "core" %\\ s r % +2 "storage"(). +4 "core" .( + "storage"(& +5 "core" & n s   +2 "storage"(& +2 "manipulator"&0& +7 "core" & s r   +2 &v   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&1(s +2 "storage"(C'i +6 "core" ( +2 "manipulator"&o& +4 "core" &v   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &v O  +2 .tForearm.seek PC +2 "manipulator"&X' +95 "core" ' +2 .tHand.close + "manipulator"&^/ +57 "core" / +2 .tPC.seek :open + "processing"%D( +91 "core" ' +2 "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +42 "core" ' +288 ( +2 "storage"(.& +3 "core" &  +2 "manipulator"& & +5 "core" &v U  + "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +266 "core" ( +2 "manipulator"&j& +4 "core" & # i  +2 "storage"(& +4 "core" & z y P  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +93 "core" ' +3 .tHand.open + "manipulator"&Y1 +63 "core" 1 +2 "storage"(4- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(W' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +4 "core" -' +2 "storage"(& +3 "core" &\ O\ E Z  +3 "manipulator"&=& +3 "core" & u  +2 .tElbow.seek 3 +2 "manipulator"&-( +8 "core" ( + "manipulator"&_& +4 "core" & +  +2 "storage"(3& +3 "core" &\ B\ B  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +59 "core" ' +2 "manipulator"&~& +4 "core" &  +2 "storage"((& +3 "core" & }  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&z'} +19 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(5'i +23 "core" ' +2 "manipulator"&% +3 "core" %| O +2 "storage"(& +4 "core" & d b s  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&'Ϩ +21 "core" ' +2 "manipulator"&A& +3 "core" &   +2 "storage"($& +49 "core" & s 7  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +22 "core" ' +2 "storage"(7% +4 "core" %p a +4 ."downElevator"SE.seek :down +3 "storage"( 'X +100 (I% +3 "core" %JW z o { QI +2 "manipulator"&'% +3 "core" %< +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +3 "core" &   +3 "collection"'F& +3 "core" &V~8 O +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&U% +3 "core" %\    +2 "storage"(#% +4 "core" %_ +2 "storage"(O. +3 "core" .( +2 "storage"(<& +3 "core" &  +2 "storage"(*& +4 "core" &  +2 "manipulator"&N& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\\& +4 "core" &   +2 "storage"(6& +3 "core" & 1  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +97 "core" ' +2 "storage"(g& +4 "core" & x  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(k'i +277 "core" ' +2 "storage"(M- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & :  +2 "storage"(>& +4 "core" & f  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'} +29 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(|'R +28 "core" ' +2 "manipulator"&\ % +4 "core" %z < + "storage"(i& +5 "core" & b d 5  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 297 counts +2 "manipulator"&'Ϧ +20 "core" ' +2 "manipulator"&K& +3 "core" &   +2 "storage"(,& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +41 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'A +43 "core" ' +2 "manipulator"&w& +3 "core" &  +2 "manipulator"&J% +5 "core" %r a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +162 "core" ( +3 "manipulator"&u& +4 "core" &% <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &% <? +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&d/ +57 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( +2 "storage"(& +3 "core" & g  +2 "storage"(f& +3 "core" &   +3 "manipulator"&T& +4 "core" &% <? + "manipulator"&% +5 "core" % , n +2 .tForearm.seek :retract + "manipulator"&v'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +171 "core" ( + "manipulator"& & +4 "core" & % l +2 "storage"( & +4 "core" &   +6 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +46 "manipulator"&'} +104 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&y1 +63 "core" 1 +2 "manipulator"&+% +5 "core" % ΄ f + "storage"(& +3 "core" & N  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&E'ϰ +20 "core" ' +2 "manipulator"&& +3 "core" & N l +3 "storage"([& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +37 "core" ' +2 "storage"(l% +3 "core" %K b +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (x% +3 "core" %YQ J OE +2 "manipulator"&t% +5 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +2836 #t-> exit +7 #mEXIT @1733413918.41EST @1733428877.92EST = =tMAIN =mMAIN_scheduler @EST1733428878.61 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@10183 select with ifg=0x10, ie=0xF5 + #@10831 receive with ifg=0x10, ie=0xFD + #@11480 receive with ifg=0x10, ie=0xFD + #@12128 receive with ifg=0x10, ie=0xFD + #@12455 receive with ifg=0x80, ie=0xFD #@1317 sendCRC with ifg=0x20, ie=0x7F + #@1765 sendCRC with ifg=0x20, ie=0x7F + #@3355 sendCRC with ifg=0x08, ie=0x5F #@20004 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +366 "Can" -Xe~= +  -Xe~= + #tPolling Can every 10:00 +52 #Cleanly exited at 10:51:58EST05-Dec-24 +543 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %r +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % +2 .tSS.configure :default +3 "sampler")#.0X access 2 +3 "storage"(2% +3 "core" %a +2 "manipulator"&3% +3 "core" %\  I  +2 "manipulator"&4& +3 "core" & = l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(5(K +963 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K  +1034 #t-> access 3 +136 "storage"(7% +3 "core" %a +2 "manipulator"&8% +4 "core" %\    + "manipulator"&9& +4 "core" &  l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(:([ +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &[ a  +1829 #t-> access 2 +3 "storage"(<% +3 "core" %a +2 "manipulator"&=% +3 "core" %\  L  +2 "manipulator"&>& +3 "core" & ) l +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(?(K +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &K a +14407 #t-> exit +6 #mEXIT @1733429092.30EST @1733429145.51EST = =mMAIN_scheduler =tMAIN @EST1733429146.22 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@7082 receive with ifg=0x10, ie=0xFD + #@7729 receive with ifg=0x10, ie=0xFD #@8387 receive with ifg=0x10, ie=0xFD + #@9034 receive with ifg=0x10, ie=0xFD + #@9683 receive with ifg=0x10, ie=0xFD #@10332 receive with ifg=0x10, ie=0xFD + #@10980 receive with ifg=0x10, ie=0xFD + #@11306 receive with ifg=0x80, ie=0xFD #@51770 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +368 "Can" +Yye +  +Yye + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@15:05:53, 38% flow, 21.0C, 22% humidity, 14.3psia, 14.926V, 0.206A, 8.009Ah, 3.08W",Subject: "standAloneWCR_4 begun" +6 #tAsleep til + 00:00:05 +2 #Continuing at 15:05 +2 "Can" +Yye* +23 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +228 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,500], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@15:05:53, 38% flow, 21.0C, 22% humidity, 14.3psia, 14.926V, 0.206A, 8.009Ah, 3.08W",Subject: "Asleep until 15:05" +233 "Can" Y{e_ +7 #tPowering core bus +556 .Gate.power :raw,:ON +2 "sampler") +28 #"uploadLog"upsync +4 "sampler") +2 "core"  +3 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@15:06:39, 38% flow, 21.0C, 22% humidity, 14.3psia, 14.887V, 0.287A, 8.014Ah, 4.27W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,500], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &z8 +2 .tHand.open +5 "manipulator"&"1 +52 "core" 1 +2 "manipulator"&#& +4 "core" & "x +3 "manipulator"&$% +4 "core" % \  w  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage +3 "manipulator"&%(, +172 "core" ( +2 "manipulator"&&& +15 "core" &, y o +7 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &'& +6 "core" &,  o +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :garage +2 "manipulator"&('Ϧ +102 "core" ' +2 .tHand.close + "manipulator"&)/ +10 #"uploadLog"upsync +54 "core" / +2 "manipulator"&*& +4 "core" &, g o +2 "manipulator"&+% +4 "core" % ϭ +2 .tForearm.seek :retract +2 "manipulator"&,'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +282 "core" ( +2 "manipulator"&.& +3 "core" &&  \\ >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &' 1 >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +96 "core" ' +2 "manipulator"&1& +4 "core" &( >H +2 "manipulator"&2% +3 "core" %# +3 "collection"'3& +3 "core" &z +3 "collection"'4& +5 "core" &z4 +2 .tCC.seek :closed +2 "collection"'5(V +5 "core" &z +7 &G$ #c +9 &l[$ 7 +10 & H +9 &ct G +9 &cj G +10 &%j G +9 &kv G +9 &j% G +10 &kj G +9 &-j G +9 &j G +10 &!j G +9 &#sf G +10 &%4j H +9 &&h G +9 &(h G +10 &*zg H +9 &,<h H +10 &-g" G +9 &/d* G +9 &1f G +10 &3Fc G +9 &5j G +9 &6i H +10 &8k G +9 &:Li H +10 &<f G +9 &=j G +9 &?k H +10 &AUh G +9 &Cf G +9 &Dk H +10 &Fs I +9 &HU J +10 &J M +9 &K= Q +9 &M Q +10 &OG R +9 &Q  Q +9 &R S +10 &T R +9 &V"p (} +10 &V3 P +9 ( + &VM A +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + "collection"'6& +5 "core" &VM7 A + .tHand.open + "manipulator"&71 +59 "core" 1 +2 "manipulator"&8% +4 "core" % # 0 + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VM& A +2 "collection"';% +4 "core" %& +2 .tCSV.dial CSR +2 "collection"'<  +167 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1327 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 '>% +37 "core" %q\  +9 .tCS.reconfigure :fast + "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?'9 +597 "core" ' +2 .tCSV.dial :waste + "collection"'@ +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A' +1954 "core" ' + #tPurging external Intake + "collection"'B& +5 "core" &VM A + "collection"'C% +3 "core" %& +2 .tCSV.dial :flush +2 "collection"'D  +52 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2093 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV + "collection"'F +2 'G  +5 "core"  +65 ~ + .tCTV.dial :intake +2 "collection"'H  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2109 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +69 "core" +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VL\ A +2 "collection"'L% +4 "core" % +2 .tCSV.dial :flush +2 "collection"'M  +89 "core"  +2 .tCS.seek 5ml +2 "collection"'N'q +1099 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +49 "core" B +2 "collection"'P% +3 "core" %qA +3 .tCS.seek 7ml + "collection"'Q' +494 "core" ' +3 ."connect"CSV.dial CBV +2 "collection"'R +2 .tCBV.dial CSV +3 "collection"'S  +8 "core"  +87 ~ +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'T' +1493 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'2 +694 "core" ' +2 .tCSV.dial :waste + "collection"'V +52 "core" +2 .tCS.seek 0ml +2 "collection"'W' +691 "core" ' +2 "collection"'X& +3 "core" &VM- A +2 "collection"'Y% +5 "core" %0 + .tCSV.dial :flush +2 "collection"'Z  +49 "core"  +3 .tCS.seek 3ml + "collection"'['2 +689 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'\\ @ +50 "core" A +2 "collection"']% +3 "core" %2J  +3 .tCS.seek 5ml + "collection"'^'q +491 "core" ' + .tCSV.dial :air +2 "collection"'_ @ +5 "core" @ +2 .tCS.seek 0ml + "collection"'`' +1095 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml + "collection"'a'2 +695 "core" ' +2 .tCSV.dial :waste + "collection"'b +69 "core" +2 .tCS.seek 0ml +2 "collection"'c' +690 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" && a >H +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&f& +3 "core" && N >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" && ) >H +2 .tForearm.seek CC +2 "manipulator"&h'" +95 "core" ' +2 .tHand.close + "manipulator"&i/ +64 "core" / +2 .tCC.seek :open +2 "collection"'j( +415 "core" ( +2 "manipulator"&k& +4 "core" &' R >H +2 "manipulator"&l% +3 "core" % % * +36 .tForearm.seek :retract +8 "manipulator"&m'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&n(, +284 "core" ( +2 "manipulator"&o& +3 "core" &, 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'Ϧ +101 "core" ' +2 .tHand.open + "manipulator"&r1 +61 "core" 1 +2 "manipulator"&s% +3 "core" % ϯ   i +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' + #tStarting stand-alone da WCR +2 #da wcr sampling at most 500ml +3 #Whole Cell Archive sampling 500ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 15:10:38EST05-Dec-24\\n{2 => 1}\\nCan@15:06:39, 38% flow, 21.0C, 22% humidity, 14.3psia, 14.887V, 0.287A, 8.014Ah, 4.27W",Subject: "da wcr sampling at most 500ml" + #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'u& +3 "core" & +2 "manipulator"&v% +4 "core" %\    +3 "storage"(w% +3 "core" %a +3 "storage"(x. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +5 ."WCR"SC.seek 2 + "storage"(y( +330 #"uploadLog"upsync +7 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 (z& +3 "core" & < +2 "manipulator"&{& +5 "core" &, L + "manipulator"&|% +4 "core" %\    +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&}( +195 "core" ( +2 "manipulator"&~& +3 "core" & $ z \ +3 "storage"(& +3 "core" &  +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +102 "core" ' + "storage"(& +5 "core" &  m +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(- +4 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +5 "core" &  \ +2 ."WCR"Elbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +5 "core" &  \ + "storage"(& +5 "core" &  +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&\ ' +14 "core" ' + ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +9 "core" &  \ + "manipulator"&% +5 "core" %   G +2 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +130 "core" ' +8 ."WCR"Elbow.seek CC +2 "manipulator"&( +119 "core" ' + ."downElevator"SE.stop + "storage"(5 +30 "core" ( +2 "manipulator"& & +3 "core" & & ? 8 +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &  8 +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +101 "core" ' +30 "manipulator"&& +4 "core" &  8 +2 "manipulator"&% +4 "core" %) " +2 "collection"' & +4 "core" &, +3 "collection"'& +5 "core" &$ +2 ."WCR"CC.seek :closed +2 "collection"'(V +4 "core" & +7 & 9 +9 &PO / +9 &{ D +10 &Ig G +9 & e F +9 &d3 G +10 &c G +9 &Rc G +10 &j\ G +9 &h G +9 &j G +10 &!Zi G +9 &#h G +9 &$g G +10 &&e F +9 &(df F +10 &*$j G +9 &+i G +9 &-g G +10 &/jd G +9 &1,d G +9 &2c F +10 &4f F +9 &6rc G +10 &85c\ F +9 &9f F +9 &;j G +10 &=ze G +9 &?=d F +9 &@g G +10 &Bj G +9 &Dk G +10 &FBo G +9 &Hx I +9 &I J +10 &Kn Q +9 &M. Q +9 &N Q +10 &P Q +9 &Rp R +10 &T1 S +9 &Uv > +9 &V0\ !c +10 &VV C +2 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 + .Hand.open + "manipulator"&!1 +60 "core" 1 +2 "manipulator"&"% +3 "core" % & 0  A +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 #"WCR"collectSample 500ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")$+ +3 "core" + +2 "sampler")&% +3 "core" % M +2 "collection"''& +4 "core" &VU% C +4 "Can" BZf2 + #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler") +5 "core"  +2 ."WCR"SS.reconfigure :fast +3 "sampler")#.0X% +4 "core" %T V V * +32 "collection"'=% +3 "core" %% +2 "sampler")@% +3 "core" %T \\ \\ * +37 "collection"'?% +3 "core" %o +2 "sampler")B% +3 "core" %T a ^ * +42 "collection"'C% +3 "core" % +2 "sampler")D% +4 "core" %T h g * +47 "collection"'A% +3 "core" %% +2 "sampler")G% +3 "core" %T n k * +54 "collection"'F% +3 "core" % +2 "sampler")H% +4 "core" %T r q * +2 ."WCR"Intake.select :close + "sampler")0 +10 )E% +2 "core" %T u r * +2 ."WCR"SSV.dial :exhaust +2 "sampler")J  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")K' +390 "core" ' + ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 500.0ml + .Intake.select :close +2 .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")=' +873 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")@  + "collection"'? @ +6 "core" ? +62 +2 #"WCR"Allowing 130s for 25.0ml of remaining 425.0ml +2 .Intake.select :open + "sampler") +210 "collection"'B% +3 "core" % +2 #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X @ +6 "core" ? +64  +2 #"WCR"Allowing 130s for 25.0ml of remaining 325.0ml + .Intake.select :open + "sampler") +246 "collection"'% +10 "core" %g +2 #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X  +18 "collection"'D% +3 "core" % +2 "sampler")A% +4 "core" %>  +21 "collection"'G% +3 "core" %V +2 "sampler")F% +4 "core" %A   +24 "collection"'H% +3 "core" %c +2 "sampler")E% +4 "core" %?    +28 "collection"'J% +3 "core" % +2 "sampler") % +3 "core" %=  +32 "collection"'M% +3 "core" %\\ +2 "sampler")I% +4 "core" %=    +36 "collection"'P% +3 "core" %` +2 "sampler")O% +5 "core" %? !  +40 "collection"'K% +3 "core" %e +2 "sampler")N% +5 "core" %= 4 4  +46 "collection"'L% +3 "core" %c +2 "sampler")Q% +4 "core" % V U " +53 "collection"',% +3 "core" %d +2 "sampler")T% +4 "core" % w s " +61 "collection"'V% +3 "core" %b +2 "sampler")Y% +4 "core" % " +2 ."WCR"Intake.select :close + "sampler")0 +9 )Z% +4 "core" % " +2 ."WCR"SSV.dial :exhaust +2 "sampler")W  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")\\' +904 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 "sampler")C  +2 ."WCR"CBV.dial SSV +4 "collection"'_ @ +6 "core" ? +61  + #"WCR"Allowing 130s for 25.0ml of remaining 300.0ml +2 .Intake.select :open + "sampler") +210 "collection"'[% +3 "core" % +2 #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X0X0X% +3 "core" % +2 "sampler")% +3 "core" % ` [ I +54 "collection"'% +3 "core" % +2 "sampler")0% +4 "core" % x v I +60 "collection"'B% +4 "core" % +2 "sampler")=% +3 "core" % I +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )D% +4 "core" % I +2 ."WCR"SSV.dial :exhaust +2 "sampler")A  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")G' +908 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +11 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'F @ + "sampler")H  +5 "core" ? +68 + #"WCR"Allowing 130s for 25.0ml of remaining 225.0ml +2 .Intake.select :open + "sampler") +210 "collection"'E% +3 "core" %f +2 #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0X0X0X+ +4 "core" + +20 "collection"'% +3 "core" %# +2 "sampler")% +3 "core" %<   +19 "collection"'0% +3 "core" %# +2 "sampler")B% +3 "core" %=   +21 "collection"'=% +4 "core" % +2 "sampler")D% +3 "core" %=    +24 "collection"'A% +3 "core" % +2 "sampler"))% +4 "core" %= \   +28 "collection"'F% +3 "core" % +2 "sampler")H% +4 "core" %4   +32 "collection"'E% +3 "core" %# +2 "sampler")G% +3 "core" %3    +37 "collection"'M% +45 "core" %8 +2 "sampler")I% +4 "core" %3 * '  +41 "collection"'P% +3 "core" %# +2 "sampler")O% +4 "core" % 8 4 N +47 "collection"'K% +3 "core" % +2 "sampler")N% +4 "core" % K I 6 +53 "collection"'?% +3 "core" %! +2 "sampler")L% +4 "core" % _ ] 6 +61 "collection"'Q% +4 "core" %! +2 "sampler"),% +4 "core" % t q 6 +69 "collection"'T% +3 "core" %B +2 "sampler")V% +3 "core" %  | 6 +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )Y% +3 "core" % 6 +2 ."WCR"SSV.dial :exhaust +2 "sampler")Z  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")W' +914 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'@ @ + "sampler")J  +5 "core" ? +67 +2 #"WCR"Allowing 130s for 25.0ml of remaining 125.0ml + .Intake.select :open + "sampler") +211 "collection"'_% +3 "core" %" + #"WCR"Intake @13.5psia, vacuum from 8.0 to 11.0psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X 5 +69 "collection"'v% +4 "core" %' +2 "sampler")w% +5 "core" % W Y 5 +77 "collection"'m% +3 "core" %. +2 "sampler")X% +4 "core" % p o 5 +88 "collection"'U% +3 "core" %+ +2 "sampler")b% +5 "core" %  5 + ."WCR"Intake.select :close +2 "sampler")0 +9 )]% +3 "core" % 5 +2 ."WCR"SSV.dial :exhaust +2 "sampler")x  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")' +906 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +36 "sampler")q  +9 "collection"'z @ +7 "core" ? +62 +2 #"WCR"Allowing 130s for 25.0ml of remaining 100.0ml + .Intake.select :open + "sampler") +211 "collection"'t% +3 "core" %0 +2 #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")@' +915 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 "sampler")J  +2 ."WCR"CBV.dial SSV +4 "collection"'_ @ +5 "core" ? +61 +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'W% +3 "core" %& +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 0.58ml/s +2 "sampler")#.(0X +2 "sampler")9% +4 "core" %>  +18 "collection"'% +3 "core" %D +2 "sampler")% +4 "core" %>  +21 "collection"'n% +3 "core" %B +2 "sampler") % +4 "core" %>  +24 "collection"'{% +4 "core" %A +2 "sampler")% +4 "core" %>  +27 "collection"' % +4 "core" %G +2 "sampler")\ % +3 "core" %>  +32 "collection"'% +3 "core" %? +2 "sampler")% +4 "core" %>   +36 "collection"'% +4 "core" %E +2 "sampler")% +4 "core" %>    +41 "collection"'% +3 "core" %< +2 "sampler")% +4 "core" %>  +47 "collection"'% +3 "core" %7 +2 "sampler")j% +5 "core" %>    +2 "collection"'% +3 "core" %C +2 #"WCR"Intake @12.9psia, vacuum from 7.4 to 10.4psi +2 .SS.reconfigure :inhaling 0.47ml/s +2 "sampler")#. 0X +2 "sampler")|% +4 "core" %P k h : +69 "collection"'$% +3 "core" %B +2 "sampler")% +3 "core" %P v s : +79 "collection"'% +3 "core" %G +2 "sampler"):% +3 "core" %P ~ { : +2 ."WCR"Intake.select :close +2 "sampler")0 +10 )+% +2 "core" %P  | : +2 ."WCR"SSV.dial :exhaust +2 "sampler");  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")' +906 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampled 500.0ml +2 #Drying puck before fixing for 5:00 .CBV.dial :waste2b +2 "collection"'  +70 "core"  +2 ."WCR"delay 1:00 +6003 .CSV.dial :air + "collection"'0 @ +88 "core" A +2 ."WCR"CS.seek 10ml +2 "collection"'B' V +2104 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'= @ +71 "core" > +53 ."WCR"CBV.dial between CSV and waste2b + "collection"'D  +85 "core"  +2 "collection"'A% +4 "core" % R;  +2 ."WCR"CSV.dial between air and CTV +2 "collection"') ` +32 "core" b +3 ."WCR"CS.seek 7.379ml +2 "collection"'F'q +610 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'E  + 'H  +31 "core"  +42  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'G' +1521 "core" '\ \ G ¯ +3 ."WCR"CBV.dial :waste2b + "collection"'M  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'I' +441 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'4  +121 "core" +3 #"WCR"Fix #1 of 1 (with RNAlater) for 5:00 + .CSV.dial CSR +2 "collection"'.  +46 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +44 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'P'^ +583 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +3 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'O' V +1692 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'K @ +68 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'N  +83 "core"  + "collection"'?% +5 "core" % T_  + ."WCR"CSV.dial between air and CTV +2 "collection"'L ` +55 "core" ^ +2 ."WCR"CS.seek 7.329ml +2 "collection"'Q' +624 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"',  + 'T  +35 "core"  +90  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'V' +1482 "core" '\ \ d ± +3 ."WCR"delay 5:00 +24179 "Can" >ag +5823 ."WCR"CBV.dial :waste2b +2 "collection"'Y  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'Z' +460 "core" ' + ."WCR"delay 1:00 +6004 .CTV.dial :air,avoiding: :intake +2 "collection"'>  +121 "core" +2 "collection"'<& +3 "core" &VTq C +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +2 "manipulator"&_% +3 "core" %\    +2 "storage"(J% +4 "core" %V 7 +2 "storage"(W. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"(@(S +334 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &V T i  +2 "manipulator"&S& +5 "core" & a 8 +2 "manipulator"&f% +4 "core" %\  j  +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"& (. +158 "core" ( +2 "manipulator"&i& +3 "core" &7   +2 "storage"(R& +4 "core" &X z +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts + "manipulator"&-'ѷ +94 "core" ' +2 "storage"(g& +3 "core" &X { +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(5'i +282 "core" ' + "storage"(k- +4 "core" -'i + ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."WCR"SE.seek :place + "storage"(l'y +35 "core" ' +2 "manipulator"&h& +4 "core" &7 W  +2 "manipulator"&o% +3 "core" %ѹ k +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +45 ."WCR"Forearm.seek :retract + "manipulator"&p'\ +95 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&\\( +157 "core" ( +2 "manipulator"&C& +3 "core" &* ; Bf +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &+  Bf +3 ."WCR"Forearm.seek CC + "manipulator"&`'" +93 "core" ' +2 ."WCR"Hand.close + "manipulator"&e/ +64 "core" / +3 ."WCR"CC.seek :open + "collection"'r( +416 "core" ( +2 "storage"(s& +3 "core" &X W +2 "storage"(u& +4 "core" &X +2 "manipulator"&v& +4 "core" &+  d Bf +2 "manipulator"&w% +3 "core" % ,  +3 ."WCR"Forearm.seek :retract +2 "manipulator"&m'\ +97 "core" ' +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&X(. +162 "core" ( +2 "manipulator"&U& +3 "core" &4 G  +3 "storage"(b& +3 "core" &X U +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&]' +103 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&x, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&[1 +59 "core" 1 +2 "manipulator"&a% +4 "core" % $ O t +2 "storage"(t& +3 "core" &X +3 ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 317 counts +2 "manipulator"&q'8 +21 "core" ' + "manipulator"&& +4 "core" &4 b  +2 "storage"(z& +3 "core" &X +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +25 "core" ' +2 "storage"(9% +3 "core" %~ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %2W v OG +2 "manipulator"&n% +3 "core" %  +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'{& +3 "core" &k +2 "manipulator"&& +5 "core" &4   + "manipulator"& % +4 "core" %\  1 +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\ (, +177 "core" ( + "manipulator"&& +4 "core" &, # 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &,  7 +2 .tForearm.seek :garage +2 "manipulator"&'Ϧ +104 "core" ' +8 .tHand.close + "manipulator"&/ +64 "core" / +2 "manipulator"&& +4 "core" &, 7 +2 "manipulator"&% +4 "core" % Ϸ  + +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +295 "core" ( +2 "manipulator"&j& +3 "core" & # w / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  @ / +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'" +102 "core" ' + "manipulator"&& +5 "core" & # G / + "manipulator"&'% +5 "core" %'   C +2 "collection"'& +3 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed + "collection"'(V +4 "core" & +8 &H~ #c +10 &\\ 6 +9 &! G +9 &b~ F +10 &g F +9 &iey F +10 &*g{ F +9 &ez F +9 &ey F +10 &pe~ F +9 & 4bx F +9 &!e F +10 &#fu F +9 &%xfq F +10 &'<bx F +9 &(fx F +9 &*g F +10 &,ft F +9 &.Bfu F +9 &0h F +10 &1gs F +9 &3g} F +10 &5Kb{ F +9 &7 et F +9 &8et F +10 &:ev F +9 &cs F +10 &?gr F +9 &Aeq F +10 &CZfr F +9 &Eeu F +9 &Fku G +10 &Hyn I +9 &JOy M +10 &Lv P +9 &Mv P +9 &Oy Q +10 &QJw Q +9 &S v R +9 &Tu R +10 &V:e . +9 &Vo Z +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + "collection"'}& +4 "core" &Vus L + &Vv} L +2 .tHand.open + "manipulator"&*1 +62 "core" 1 +2 "manipulator"&% +3 "core" % ' C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'"& +4 "core" &Vvp L +2 "collection"'%% +3 "core" %x +2 .tCSV.dial CSR +2 "collection"'&  +48 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"' 'q +1337 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '1% +3 "core" %q e  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.501ml +2 "collection"''> +601 "core" ' +2 .tCSV.dial :waste + "collection"'2 +156 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'3' +1961 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'/& +4 "core" &Vuh L +2 "collection"'!% +3 "core" %m +2 .tCSV.dial :flush +2 "collection"'6  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'7'q +1098 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'8 @ +50 "core" B +2 "collection"'|% +3 "core" %q{ +3 .tCS.seek 7ml + "collection"'$' +488 "core" ' +49 ."connect"CSV.dial CTV +3 "collection"'  + .tCTV.dial CSV +2 "collection"'  +50 "core"  +78  + .tCBV.dial :waste2b +2 "collection"':  +5 "core"  +2 .tCS.seek 0ml + "collection"'+' +1493 "core" ' +2 #tDisinfecting external Intake with kill + "collection"';& +4 "core" &Vuw L +2 "collection"'% +4 "core" %~ +2 .tCSV.dial CSR + "collection"'  +48 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'0' +1697 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +4 "collection"' +9 .tCS.seek 10ml +2 "collection"'c' V +491 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'= + 'D  +44 "core" +80 + .tCTV.dial :intake +2 "collection"'A  +69 "core"  + .tIntake.select :open + "sampler") +11 .tCS.seek 2ml + "collection"')'^ +1693 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'B  +69 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'E' +584 "core" ' +2 .tCSV.dial CSR + "collection"'H  +96 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'F'q +1326 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +11 .tCS.seek 10ml + "collection"'M' V +1326 "core" ' + .tCSV.dial CBV +2 "collection"'G +133 "core"  +2 .tCS.seek 0ml + "collection"'4' +2582 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&.& +4 "core" &  / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&P& +3 "core" & k / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" & [ / +2 .tForearm.seek CC +2 "manipulator"&N'" +93 "core" ' +2 .tHand.close + "manipulator"&?/ +53 "core" / +2 .tCC.seek :open +2 "collection"'L( +414 "core" ( +2 "manipulator"&O& +3 "core" &  / +2 "manipulator"&T% +4 "core" % # 8 +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&Q(, +277 "core" ( + "manipulator"&Y& +3 "core" &, X 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &, , 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&>'Ϧ +103 "core" ' +67 .tHand.open + "manipulator"&<1 +59 "core" 1 + "manipulator"&_% +46 "core" % ϩ [ +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +99 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,500], $da)] begun 15:06:39 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@15:35:56, 38% flow, 21.3C, 20% humidity, 14.3psia, 14.892V, 0.325A, 8.217Ah, 4.83W\\nSampled 500.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +421 #"uploadLog"upsync +8 #mEXIT @1733431342.28EST @1733431850.46EST = =mMAIN_scheduler =tMAIN @EST1733431851.13 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK + #t@2041 sendCRC with ifg=0x20, ie=0x7F + #@3875 sendCRC with ifg=0x08, ie=0x5F + #@46107 idle with ifg=0x84, ie=0x75 + #@46785 select with ifg=0x10, ie=0xF5 + #@47434 receive with ifg=0x10, ie=0xFD #@48083 receive with ifg=0x10, ie=0xFD + #@48732 receive with ifg=0x10, ie=0xFD #@49059 receive with ifg=0x80, ie=0xFD + #@46101 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can" -dheQ +2  -dheQ #tPolling Can every 10:00 +3 #Cleanly exited at 15:42:22EST05-Dec-24 +500 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %  +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(2% +2 "core" %c  +3 "manipulator"&3% +3 "core" %\    +2 "manipulator"&4& +4 "core" &,  2 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<* +1284 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<)   +4677 #t-> access 2 +2 "storage"(7% +3 "core" %c $  +2 "manipulator"&8% +3 "core" %\    +2 "manipulator"&9& +4 "core" &,  2 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(:(K +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K ^  +50198 "Can" .f_hF +60002  /giF +60002  /itj'F +52110 #t-> start esp standAloneWCR_4.rb +2 !o:NoMethodError : mesgu:NameError::message6undefined method `rb' for :standAloneWCR_4:Symbol: name:rb: args[:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +683 #-> exit +6 #mEXIT @1733434186.21EST @1733434200.52EST = =mMAIN_scheduler =tMAIN @EST1733434201.25 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@65203 receive with ifg=0x10, ie=0xFD #@314 receive with ifg=0x10, ie=0xFD + #@972 receive with ifg=0x10, ie=0xFD + #@1618 receive with ifg=0x10, ie=0xFD + #@2267 receive with ifg=0x10, ie=0xFD #@2916 receive with ifg=0x10, ie=0xFD + #@3564 receive with ifg=0x10, ie=0xFD #@3890 receive with ifg=0x80, ie=0xFD + #@33027 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +221 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +365 "Can" ,jj +  ,jj #tPolling Can every 10:00 +2 #Cleanly exited at 16:29:46EST05-Dec-24 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +2 !o:RuntimeError: mesg"+Mission's startTube should be 3, not 2:@timestampu: Time ,k~x:bt[":/home/esp/esp2/utils/commskel.rb:91:in `beginMission'"4/home/esp/esp2/utils/mission.rb:16:in `mission'"5/home/esp/esp2local/mission/standAloneWCR_4.rb:8"2/home/esp/esp2/lib/framework.rb:124:in `load'"2/home/esp/esp2/lib/framework.rb:124:in `load'"5/home/esp/esp2/lib/framework.rb:182:in `execute'"-/home/esp/esp2/lib/esp.rb:213:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +2 #Waiting to Resume from Checkpoint "Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission" +2 ."Qmail"BadNews.email "Mission's startTube should be 3, not 2",Subject: "RuntimeError in MAIN" +404 #"uploadLog"upsync @1733434264.27EST = =mMAIN_scheduler =tMAIN @EST1733434265.01 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +107 #"core_reset"Sent BREAK + #t@65203 receive with ifg=0x10, ie=0xFD + #@314 receive with ifg=0x10, ie=0xFD + #@972 receive with ifg=0x10, ie=0xFD + #@1618 receive with ifg=0x10, ie=0xFD + #@2267 receive with ifg=0x10, ie=0xFD #@2916 receive with ifg=0x10, ie=0xFD + #@3564 receive with ifg=0x10, ie=0xFD + #@3890 receive with ifg=0x80, ie=0xFD #@31144 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +233 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +379 "Can" ,k j +  ,k j + #tPolling Can every 10:00 +7 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +5 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@16:31:12, 38% flow, 21.2C, 21% humidity, 14.4psia, 14.921V, 0.212A, 8.419Ah, 3.17W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +4 #Continuing at 16:31 +3 "Can" ,k j +21 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +201 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,500], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@16:31:12, 38% flow, 21.2C, 21% humidity, 14.4psia, 14.921V, 0.212A, 8.419Ah, 3.17W",Subject: "Asleep until 16:31" +140 #"uploadLog"upsync +118 "Can" k j +8 #tPowering core bus +126 #"uploadLog"upsync +414 .tGate.power :raw,:ON +3 "sampler") +40 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tPS.configure :default +2 "processing"%#A d`xb +36 .tSS.configure :default +5 "sampler")#.0X 1}\\nCan@16:31:57, 38% flow, 21.2C, 20% humidity, 14.4psia, 14.892V, 0.231A, 8.424Ah, 3.44W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,500], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'!& +3 "core" &} +2 .tHand.open + "manipulator"&"1 +62 "core" 1 + "manipulator"&#& +4 "core" &    +2 "manipulator"&$% +4 "core" % \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(, +174 "core" ( +4 "manipulator"&&& +9 "core" &,  R +6 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &'& +4 "core" &,  R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +99 #"uploadLog"upsync +4 "core" ' +2 .tHand.close + "manipulator"&)/ +55 "core" / + "manipulator"&*& +5 "core" &,   R + "manipulator"&+% +5 "core" % ϫ " +2 .tForearm.seek :retract + "manipulator"&,'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +290 "core" ( + "manipulator"&.& +4 "core" & # { , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" & B , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +105 "core" ' +2 "manipulator"&1& +4 "core" &  , +2 "manipulator"&2% +4 "core" %  j E +3 "collection"'3& +3 "core" & +3 "collection"'4& +5 "core" &~ +3 .tCC.seek :closed + "collection"'5(V +4 "core" &  +9 &8 *x +9 &l > +9 &u H +10 &Ffn G +9 &j| G +9 &h G +10 &h G +9 &Mg G +10 &i~ G +9 &g G +9 & e G +10 &"Th H +9 &$g} G +9 &%k} G +10 &'g} G +9 &)\\g H +9 &+ g G +10 &,g} G +9 &.iP G +10 &0ehy G +9 &2(h G +9 &3h G +10 &5g| G +9 &7mg G +10 &9/g} G +9 &:g} G +9 &<e G +10 &>uix G +9 &@8d G +9 &Ag G +10 &Cj G +9 &E}n G +10 &G:sz I +9 &H K +9 &J O +10 &Lh| Q +9 &N+| Q +9 &O R +10 &Q} Q +9 &Sk| S +9 &U. P +10 &Vc9z , +9 &V"~ B +6 ( + "collection"'4& +4 "core" &V\\w B +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 "collection"'6& +3 "core" &V\\ B +2 .tHand.open + "manipulator"&71 +59 "core" 1 +2 "manipulator"&8% +3 "core" % # P E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +103 "core" ' +3 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &V\\q B +2 "collection"';% +4 "core" %q +2 .tCSV.dial CSR + "collection"'<  +157 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='q +1328 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +37 "core" %qm  +9 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.499ml + "collection"'?'4 +595 "core" ' + .tCSV.dial :waste +2 "collection"'@ +156 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A' +1960 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &V\\s B +2 "collection"'C% +3 "core" %z +2 .tCSV.dial :flush +2 "collection"'D  +49 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'E' V +2101 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core" +62  +2 .tCTV.dial :intake + "collection"'H  +71 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'I' +2095 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +69 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VZh B +2 "collection"'L% +4 "core" %l +2 .tCSV.dial :flush +2 "collection"'M  +87 "core"  +3 .tCS.seek 5ml + "collection"'N'q +1091 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +52 "core" B +2 "collection"'P% +3 "core" %qp  +3 .tCS.seek 7ml +2 "collection"'Q' +504 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'R +96 "core" ~ +2 .tCTV.dial :air +2 "collection"'S  +4 "core"  +3 .tCS.seek 0ml + "collection"'T' +1513 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'2 +698 "core" ' + .tCSV.dial :waste +2 "collection"'V +51 "core" +3 .tCS.seek 0ml + "collection"'W' +688 "core" ' +2 "collection"'X& +3 "core" &Vcr B +2 "collection"'Y% +4 "core" %o +2 .tCSV.dial :flush + "collection"'Z  +50 "core"  +3 .tCS.seek 3ml + "collection"'['2 +695 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'\\ @ +50 "core" A +2 "collection"']% +3 "core" %2q  +3 .tCS.seek 5ml + "collection"'^'q +488 "core" ' +3 .tCSV.dial :air + "collection"'_ @ +4 "core" @ +2 .tCS.seek 0ml +2 "collection"'`' +1091 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'a'2 +694 "core" ' +2 .tCSV.dial :waste + "collection"'b +69 "core" +2 .tCS.seek 0ml +2 "collection"'c' +693 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" & 6 , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&f& +3 "core" & W , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" & n , +3 .tForearm.seek CC + "manipulator"&h'" +93 "core" ' +2 .tHand.close + "manipulator"&i/ +54 "core" / +2 .tCC.seek :open + "collection"'j( +413 "core" ( +2 "manipulator"&k& +3 "core" & _ , +2 "manipulator"&l% +3 "core" % 1 .  +36 .tForearm.seek :retract +8 "manipulator"&m'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(, +279 "core" ( +2 "manipulator"&o& +3 "core" &,  f 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &, ? 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'Ϧ +104 "core" ' +2 .tHand.open + "manipulator"&r1 +60 "core" 1 + "manipulator"&s% +4 "core" % ϰ  t F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' + #tStarting stand-alone da WCR +2 #da wcr sampling at most 500ml +3 #Whole Cell Archive sampling 500ml + ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 16:35:57EST05-Dec-24\\n{2 => 1}\\nCan@16:31:57, 38% flow, 21.2C, 20% humidity, 14.4psia, 14.892V, 0.231A, 8.424Ah, 3.44W",Subject: "da wcr sampling at most 500ml" +2 #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'u& +3 "core" &s +2 "manipulator"&v% +5 "core" %\   +2 "storage"(w% +3 "core" %Y 6 +3 "storage"(x. +2 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +3 "storage"(y( +325 #"uploadLog"upsync +12 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 (z& +3 "core" & U +2 "manipulator"&{& +5 "core" &,  4 +2 "manipulator"&|% +3 "core" %\  C  +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&}( +191 "core" ( +2 "manipulator"&~& +3 "core" & ^  +3 "storage"(& +3 "core" &  . +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 "storage"(& +3 "core" &  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  # +3 "manipulator"&& +3 "core" & p  +3 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(& +4 "core" &  +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&\ ' +14 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"& / +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +5 "core" & 7  +3 "manipulator"&% +3 "core" %  F +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +134 "core" ' +7 ."WCR"Elbow.seek CC +2 "manipulator"&( +119 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +50 "core" ( +2 "manipulator"& & +3 "core" & & ' r =D +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & &  =D +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +106 "core" ' +2 "manipulator"&& +3 "core" & ' J =D +3 "manipulator"&% +3 "core" %  +3 "collection"' & +3 "core" &h +3 "collection"'& +5 "core" &p +2 ."WCR"CC.seek :closed +2 "collection"'(V +4 "core" &u  +9 &8v *y +10 &k{ = +9 &rt G +9 &~d{ F +10 &@b| F +9 &fz F +9 &gq G +10 &hv F +9 &Hiw F +10 & hr G +9 & gm F +9 &"du G +10 &$Oem G +9 &&cn F +9 &'jl F +10 &)ha F +9 &+Xdg F +10 &-c_ F +9 &.cl F +9 &0gj F +10 &2`hd F +9 &4"il F +9 &5hx F +10 &7h{ F +9 &9hi{ F +10 &;)hs G +9 &<fz F +9 &>fv F +10 &@pix F +9 &B2cv F +9 &Cet G +10 &Eiu G +9 &Gsuy H +10 &I2z I +9 &J{ M +9 &Lu P +10 &Ncw P +9 &P"z Q +9 &Qp Q +10 &Sq R +9 &Udw ? +10 &VMp R +9 &V#s $n +9 &Vkn G +3 ( + "collection"'& +5 #"WCR"Collection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open + "manipulator"&!1 +60 "core" 1 + "manipulator"&"% +4 "core" %  ; +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&#'\ +92 "core" ' +2 #"WCR"collectSample 500ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold + "sampler")$+ +4 "core" + + "sampler")&% +5 "core" % ~ } + "collection"''& +4 "core" &Vjh G +3 "Can" Bl=k  +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"'  +3 "core"  +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")) +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %T* J G  +28 "collection"'=% +3 "core" %e +2 "sampler")@% +4 "core" %T+ L K  +31 "collection"'?% +4 "core" %d +2 "sampler")B% +3 "core" %T+ R R  +37 "collection"'C% +3 "core" %b +2 "sampler")D% +3 "core" %T+ Z V  +42 "collection"'A% +3 "core" %^ +2 "sampler")G% +4 "core" %T+ _ ]  +47 "collection"'F% +3 "core" %j +2 "sampler")H% +3 "core" %T+ d c  +2 ."WCR"Intake.select :close +2 "sampler")0 +10 )E% +2 "core" %T+ f c  +2 ."WCR"SSV.dial :exhaust +2 "sampler")J  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")K' +436 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 500.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X Q +46 "collection"'% +3 "core" %T +2 "sampler")/% +4 "core" % j i 0 +2 ."WCR"Intake.select :close + "sampler")0 +10 )8% +2 "core" % t q 0 +2 ."WCR"SSV.dial :exhaust +2 "sampler"):  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler");' +910 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")4  + "collection"'< @ +6 "core" ? +65 + #"WCR"Allowing 130s for 25.0ml of remaining 425.0ml +2 .Intake.select :open + "sampler") +210 "collection"'0% +3 "core" %O +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.75ml/s +3 "sampler")#.x0X+ +4 "core" + +20 "collection"'=% +3 "core" %U +2 "sampler")@% +3 "core" %O  +19 "collection"'?% +3 "core" %W +2 "sampler")B% +3 "core" %O  +21 "collection"'C% +4 "core" %T +2 "sampler")D% +3 "core" %P  +24 "collection"'6% +3 "core" %W +2 "sampler")A% +4 "core" %P  +28 "collection"'G% +3 "core" %V +2 "sampler")F% +3 "core" %O  +32 "collection"'H% +3 "core" %W +2 "sampler")E% +4 "core" %P  +36 "collection"'J% +3 "core" %U +2 "sampler")7% +4 "core" %O  +41 "collection"'M% +3 "core" %V +2 "sampler")I% +4 "core" %P    +47 "collection"'O% +3 "core" %W +2 "sampler")N% +4 "core" %   k +53 "collection"'P% +3 "core" %U +2 "sampler")K% +4 "core" % L I J +61 "collection"'R% +3 "core" %U +2 "sampler")L% +3 "core" % x v J +3 ."WCR"Intake.select :close + "sampler")0 +9 )T% +5 "core" % ~ { J +2 ."WCR"SSV.dial :exhaust +2 "sampler")V  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")U' +921 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +38 "sampler")X  +9 ."WCR"CBV.dial SSV +2 "collection"'Y @ +7 "core" ? +61 +2 #"WCR"Allowing 130s for 25.0ml of remaining 400.0ml + .Intake.select :open + "sampler") +210 "collection"'Z% +3 "core" %V +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0X% +3 "core" %T +2 "sampler")Y% +4 "core" %O  +21 "collection"'X% +3 "core" %W +2 "sampler")Z% +5 "core" %O  +23 "collection"'U% +3 "core" %P +2 "sampler")]% +4 "core" %O   +28 "collection"'[% +3 "core" %W +2 "sampler")_% +3 "core" %O  +32 "collection"'b% +3 "core" %P +2 "sampler")a% +4 "core" %    +36 "collection"'d% +3 "core" %T +2 "sampler")S% +4 "core" % 7 9 K +41 "collection"'W% +3 "core" %V +2 "sampler")f% +4 "core" % Y [ K +47 "collection"'g% +3 "core" %U +2 "sampler")i% +4 "core" % v t K +2 ."WCR"Intake.select :close + "sampler")0 +9 )-% +3 "core" % z v K +2 ."WCR"SSV.dial :exhaust +2 "sampler")\\  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")9' +906 "core" ' + ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")5  + "collection"'k @ +6 "core" ? +65 + #"WCR"Allowing 130s for 25.0ml of remaining 275.0ml +2 .Intake.select :open + "sampler") +210 "collection"'l% +3 "core" %T +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X0X% +3 "core" %[ +38 "sampler")Y% +10 "core" %D    +3 "collection"'X% +4 "core" %W +2 "sampler")Z% +3 "core" %D    +24 "collection"'U% +4 "core" %V +2 "sampler")]% +4 "core" %? - +  +28 "collection"'[% +6 "core" %` +2 "sampler")_% +4 "core" % C C ~ +32 "collection"'b% +3 "core" %T +2 "sampler")a% +4 "core" % Z X A +36 "collection"'d% +3 "core" %U +2 "sampler")S% +4 "core" % n m A +2 ."WCR"Intake.select :close + "sampler")0 +10 )W% +3 "core" % w r A +2 ."WCR"SSV.dial :exhaust + "sampler")f  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")R' +913 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")g  + "collection"'i @ +6 "core" ? +63  + #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml +2 .Intake.select :open + "sampler") +210 "collection"'-% +3 "core" %R +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0X < K +37 "collection"'x% +3 "core" %W +2 "sampler")q% +3 "core" % W Y K +42 "collection"'% +3 "core" %X +2 "sampler")r% +4 "core" % m m K +2 ."WCR"Intake.select :close + "sampler")0 +9 )|% +3 "core" % s s K +2 ."WCR"SSV.dial :exhaust +2 "sampler")~  +71 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")' +918 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'n @ + "sampler")h  +4 "core" ? +68  + #"WCR"Allowing 130s for 25.0ml of remaining 150.0ml + .Intake.select :open +2 "sampler") +210 "collection"'% +3 "core" %V + #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0X0X0Xu \ +3 #"WCR"Vacuum too high -- waiting up to 40 seconds +2 .SS.reconfigure :exhale +2 "sampler")#.0X    +18 "collection"'V% +3 "core" %Z +2 "sampler")>% +4 "core" %<    +21 "collection"'Y% +3 "core" %X +2 "sampler")X% +3 "core" %< ' &  +25 "collection"'Z% +3 "core" %\\ +2 "sampler")U% +4 "core" %3 8 6  +27 "collection"']% +3 "core" %O +2 "sampler")G% +5 "core" %* I H  +31 "collection"'[% +3 "core" %P +2 "sampler")_% +4 "core" % [ [ & +36 "collection"'b% +3 "core" %N +2 "sampler")a% +4 "core" % n k & +2 ."WCR"Intake.select :close + "sampler")0 +9 )d% +3 "core" % p p & +2 ."WCR"SSV.dial :exhaust +2 "sampler")S  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")W' +911 "core" ' +2 ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "collection"'f @ + "sampler")  +4 "core" ? +69 + #"WCR"Allowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open +2 "sampler") +210 "collection"'O% +3 "core" %K +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X  +28 "collection"'% +3 "core" %_ +2 "sampler")}% +4 "core" %<    +31 "collection"'% +3 "core" %j +2 "sampler"){% +4 "core" %< # "  +36 "collection"' % +3 "core" %^ +2 "sampler")\ % +4 "core" %< 6 3  +41 "collection"'t% +3 "core" %[ +2 "sampler")% +4 "core" % K J 2 +47 "collection"'% +3 "core" %Y +2 "sampler")% +4 "core" % _ _ 2 +53 "collection"' % +3 "core" %Q +2 "sampler")% +4 "core" % q o 2 +2 ."WCR"Intake.select :close + "sampler")0 +10 )j% +2 "core" % s s 2 +2 ."WCR"SSV.dial :exhaust +2 "sampler")o  +71 "core"  +5 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")"' +911 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")!  + ."WCR"CBV.dial SSV +4 "collection"' @ +4 "core" ? +61  +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"' % +3 "core" %U +2 #"WCR"Intake @13.6psia, vacuum from 8.1 to 11.1psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X' +655 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'Y  +2 'X  +33 "core"  +91  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ b +3 ."WCR"CS.seek 0ml +2 "collection"'Z' +1436 "core" '\ \  +3 ."WCR"delay 5:00 +30003 .CBV.dial :waste2b + "collection"'U  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"']' +503 "core" ' +3 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'G  +121 "core" +2 "collection"'[& +4 "core" &Vi G +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&_% +4 "core" %\  E  +2 "storage"(b% +3 "core" %W r n  +3 "storage"(a. +2 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 + "storage"(d(S +333 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" &U\ P\ E R +2 "manipulator"&S& +4 "core" & & ; =D +3 "manipulator"&K% +3 "core" %\  `  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&f(. +161 "core" ( +2 "manipulator"&& +3 "core" &4 7 \\ +3 "storage"(O& +3 "core" &V { z +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&W'ѷ +95 "core" ' +2 "storage"(-& +3 "core" &V 7 +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(R'i +281 "core" ' +2 "storage"(k- +3 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."WCR"SE.seek :place + "storage"(5'y +83 "core" ' +2 "manipulator"&l& +4 "core" &4  \\ +2 "manipulator"&9% +4 "core" %Ѻ ~ +42 ."WCR"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&p'\ +88 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&e( +158 "core" ( +2 "manipulator"&^& +3 "core" &! = 9( +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &!  9( +3 ."WCR"Forearm.seek CC +2 "manipulator"&u'" +93 "core" ' +3 ."WCR"Hand.close + "manipulator"&s/ +57 "core" / +2 ."WCR"CC.seek :open +2 "collection"'v( +132 "Can" Gslx +283 "core" ( +2 "storage"(`& +3 "core" &V ! +3 "storage"(i& +3 "core" &V  +2 "manipulator"&x& +4 "core" & 7 +2 "manipulator"&q% +5 "core" %  +3 ."WCR"Forearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 + "manipulator"&r(. +162 "core" ( +2 "manipulator"&\\& +3 "core" &8 \ c +2 "storage"(|& +4 "core" &V +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."WCR"Forearm.seek 1 + "manipulator"&g' +99 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&n, +3 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&L1 +62 "core" 1 +2 "manipulator"&h% +4 "core" % " +2 "storage"(~& +4 "core" &V 6 +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 317 counts + "manipulator"&'8 +22 "core" ' +2 "manipulator"&& +3 "core" &8 T c +3 "storage"(& +3 "core" &V +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +20 "core" ' +2 "storage"(% +3 "core" %~ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (z% +3 "core" %XZ  QJ +2 "manipulator"&% +4 "core" %ѹ +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'}& +3 "core" &* +3 "manipulator"&& +3 "core" &8 c +2 "manipulator"&{% +4 "core" %\   +3 .tElbow.seek FlushPuck::Garage + "manipulator"& (, +178 "core" ( +4 "manipulator"&\ & +3 "core" &, 1 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &, # 1 +38 .tForearm.seek :garage +8 "manipulator"&'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + "manipulator"&& +5 "core" &, R 1 + "manipulator"&% +5 "core" % ϴ  G +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +285 "core" ( + "manipulator"&j& +3 "core" &( 4 3 @^ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &(  @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +105 "core" ' + "manipulator"&& +4 "core" &)  @^ +2 "manipulator"&!% +4 "core" %% +2 "collection"' & +5 "core" & +2 "collection"'"& +5 "core" && +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &* +7 &9* #c +9 &\\4 6 +9 &( G +9 &e& F +10 &g) F +9 &ee* F +10 &&j' F +9 &g) F +9 &f3 F +10 &le3 F +9 & .f6 F +9 &!g2 F +10 &#h6 F +9 &%vg5 E +10 &'6g4 F +9 &(g2 F +9 &*g. F +10 &,|g4 F +9 &.?g6 F +9 &0e2 F +10 &1g0 F +9 &3e* F +10 &5Hf/ E +9 &7g3 F +9 &8e/ F +10 &:g5 F +9 &g/ F +10 &?g+ E +9 &Ag/ F +10 &CVg6 F +9 &Ei6 F +9 &Fk2 G +10 &Hx@ I +9 &JK* M +9 &L. P +10 &M1 P +9 &O/ Q +10 &QF4 Q +9 &S3 R +9 &T6 R +10 &V:h6 / +9 &V: / +9 &V{. O +3 ( + "collection"'"& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + "collection"'& +3 "core" &V{3 O +2 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&+% +9 "core" % $ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'(& +3 "core" &V~- O +2 "collection"'.% +3 "core" %/ +3 .tCSV.dial CSR + "collection"'%  +46 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'*'q +1325 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 '% +3 "core" %q\\  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'&'7 +592 "core" ' + .tCSV.dial :waste +2 "collection"'2 +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'3' +1955 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'1& +5 "core" &V} O + "collection"'% +4 "core" %_ +2 .tCSV.dial :flush + "collection"'/  +51 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"')'q +1099 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'8 @ +49 "core" B +2 "collection"':% +3 "core" %q  +3 .tCS.seek 7ml +2 "collection"''' +537 "core" ' +9 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'  + '<  +49 "core"  +80  +2 .tCBV.dial :waste2b + "collection"'4  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'0' +1522 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'m& +5 "core" &V}3 O + "collection"'% +4 "core" %  +2 .tCSV.dial CSR + "collection"'@  +48 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'?' +1707 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'c' V +499 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'D + '6  +45 "core"  +80 +2 .tCTV.dial :intake + "collection"',  +70 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'C'^ +1699 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"';  +69 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'E' +587 "core" ' +2 .tCSV.dial CSR +2 "collection"'H  +95 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'F'q +1335 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'7' V +1336 "core" ' + .tCSV.dial CBV +2 "collection"' +120 "core" +2 .tCS.seek 0ml +2 "collection"'I' +2582 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&J& +3 "core" &( , @^ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +3 "core" &(  S @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &( $ 0 @^ +2 .tForearm.seek CC +2 "manipulator"&A'" +93 "core" ' +2 .tHand.close + "manipulator"&T/ +60 "core" / +2 .tCC.seek :open + "collection"'V( +416 "core" ( +2 "manipulator"&B& +3 "core" &) @^ +3 "manipulator"&X% +3 "core" % ! ' W +3 .tForearm.seek :retract + "manipulator"&Y'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&>(, +281 "core" ( + "manipulator"&U& +4 "core" &, A 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &,  0 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&G'Ϧ +101 "core" ' +3 .tHand.open +2 "manipulator"&[1 +59 "core" 1 +4 "manipulator"&_% +3 "core" % ϰ / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +102 "core" ' + #tCompleted [initialPurge; standAloneWCR([nil,500], $da)] begun 16:31:57 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@17:01:15, 38% flow, 21.5C, 21% humidity, 14.4psia, 14.852V, 0.381A, 8.632Ah, 5.65W\\nSampled 500.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +427 #"uploadLog"upsync +7 #mEXIT @1733436319.85EST @1733499074.58EST = =mMAIN_scheduler =tMAIN @EST1733499075.26 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK +2 #t@53917 sendCRC with ifg=0x20, ie=0x7F #@55751 sendCRC with ifg=0x08, ie=0x5F + #@8655 idle with ifg=0x84, ie=0x75 + #@9339 select with ifg=0x10, ie=0xF5 + #@9988 receive with ifg=0x10, ie=0xFD #@10637 receive with ifg=0x10, ie=0xFD + #@11285 receive with ifg=0x10, ie=0xFD + #@11612 receive with ifg=0x80, ie=0xFD #@64411 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +91 "Can" 2| x +152 #t\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +369 "Can" .\  +  .\  + #tPolling Can every 10:00 +2 #Cleanly exited at 17:05:19EST05-Dec-24 +522 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %RS +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %> +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  +2 .tSS.configure :default +3 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" %b " +2 "manipulator"&3% +3 "core" %\   ( +2 "manipulator"&4& +4 "core" &,  0 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(5(<* +1282 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (6& +2 "core" &<* H  +1406 #t-> access 2 +2 "storage"(7% +3 "core" %b 6 +2 "manipulator"&8% +4 "core" %\   ( + "manipulator"&9& +3 "core" &,  0 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &K + +55428 "Can" 2" @1733499729.84EST = =tMAIN =mMAIN_scheduler @EST1733499730.53 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK + #t@37862 receive with ifg=0x10, ie=0xFD + #@38507 receive with ifg=0x10, ie=0xFD + #@39162 receive with ifg=0x10, ie=0xFD + #@39807 receive with ifg=0x10, ie=0xFD + #@40454 receive with ifg=0x10, ie=0xFD #@41100 receive with ifg=0x10, ie=0xFD + #@41747 receive with ifg=0x10, ie=0xFD #@42073 receive with ifg=0x80, ie=0xFD + #@34360 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +239 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +370 "Can" -H +  -H + #tPolling Can every 10:00 +1205 #-> ESP.ready! +153 "sampler") +3 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %PS4 +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %l +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  +2 .tSS.configure :default +3 "sampler")#.0X Flush.C +2 !o:RuntimeError: mesg"!C is neither clamp nor stage:bt[ "0/home/esp/esp2/utils/misc.rb:396:in `remap'"2/home/esp/esp2/utils/puckmoves.rb:764:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +372 #-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'2& +3 "core" &RQ" +2 .tHand.open +2 "manipulator"&31 +23 "core" 1 +2 "manipulator"&4& +4 "core" &, $ 3 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&5(, +2 "core" ( +2 "manipulator"&6& +5 "core" &, - 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &, G 0 +2 .tForearm.seek :garage +2 "manipulator"&8'Ϧ +99 "core" ' +2 .tHand.close + "manipulator"&9/ +61 "core" / +2 "manipulator"&:& +3 "core" &,  V 0 +2 "manipulator"&;% +4 "core" % Ϲ 0 3 ( +2 .tForearm.seek :retract +2 "manipulator"&<'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&=( +289 "core" ( + "manipulator"&>& +4 "core" &%  r <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &%  <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'" +101 "core" ' +5 "manipulator"&A& +3 "core" &% 9 <> +2 "manipulator"&B% +5 "core" % + "collection"'C& +4 "core" &NR" +3 "collection"'D& +4 "core" &OR4 +3 .tCC.seek :closed + "collection"'E(V +5 "core" &PQ5 +7 &CQQ6 $d +10 &\\QQg 7 +9 &PS+ H +9 &dNQ4 G +10 &lOP6 H +9 &_ePQ6 H +9 &!kOQ3 H +10 &jNQ3 H +9 &kOQ0 G +9 &hhQP0 G +10 & *hQP. G +9 &!hQQ4 G +10 &#jSQ( G +9 &%phSS* G +9 &'2gNP4 G +10 &(gOP; H +9 &*ePN7 H +9 &,xfQR( G +10 &.9gPQ$ H +9 &/jPR5 H +10 &1lOQ1 H +9 &3jQQ0 H +9 &5BjQQ6 G +10 &7hQR' G +9 &8eOO1 H +10 &:kNP% H +9 & kPQ" H +10 &?kQQ2 H +9 &AjPP G +9 &CRgQP" G +10 &EmNO! H +9 &FsRO! I +9 &HQP) K +10 &JEPP" O +9 &KPS) R +10 &MPS% Q +9 &OQS# R +9 &QEQR! Q +10 &SQR$ S +9 &TRR R +9 &V3`RRD * +10 &V$WR E +9 ( + &VSPQ! ? +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + "collection"'F& +3 "core" &VURQ ? +2 .tHand.open + "manipulator"&G1 +65 "core" 1 + "manipulator"&H% +4 "core" %  g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +1046 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%J& +3 "core" &X +2 "manipulator"&K& +3 "core" &% T <> +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&L( +4 "core" ( +2 "manipulator"&M& +3 "core" &% 5 G <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &% )  <> +2 .tForearm.seek CC +2 "manipulator"&O'" +94 "core" ' +2 .tHand.close + "manipulator"&P/ +57 "core" / +2 .tCC.seek :open + "collection"'Q( +414 "core" ( +2 "manipulator"&R& +3 "core" &% 3 <> +2 "manipulator"&S% +4 "core" % & \ +2 .tForearm.seek :retract + "manipulator"&T'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&U(s +377 "core" ( +3 "manipulator"&V& +4 "core" &m % \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &m | \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +103 "core" ' +2 "manipulator"&Y& +3 "core" &m # a \ +3 "manipulator"&Z% +3 "core" % +3 "processing"%[& +4 "core" &e +2 "processing"%\\& +5 "core" &X +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &Y  +10 &9V *x +9 &kU > +10 &|W H +9 &Nj` G +9 &jW H +10 &nW H +9 &kV G +9 &Uk\\ H +10 &j^ H +9 &mY H +10 & nZ H +9 &"]nX H +9 &$hV H +10 &%hZ H +39 &'kb G +9 &)ejX H + &+'m\\ H + &,jT G + &.kW G +5 &0mkW H +9 &2/p] H +10 &3hb H +9 &5hX H +9 &7viU G +10 &98j[ G +9 &:j\\ G +10 &<kT G +9 &>}hV H +9 &@@lR G +10 &BiU G +9 &ClU H +9 &EpP H +10 &GA|S J +9 &HX K +10 &JP M +9 &LR M +9 &NAP M +10 &PV L +9 &QV M +9 &SQ N +10 &UFU N +9 &WR N +10 &XV N +9 &Z%LpR - +9 &ZW  +6 ( + "processing"%\\& +4 "core" &Z U \  +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 "processing"%^& +3 "core" &Z W \  +2 .tHand.open +2 "manipulator"&_1 +62 "core" 1 +2 "manipulator"&`% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +99 "core" ' +2 "collection"'b& +3 "core" &OP +5143 #t-> Flush.garage +3 #Garaging FlushPuck in Processing Clamp + "manipulator"&c& +3 "core" &m  \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&d(s +3 "core" ( +2 "manipulator"&e& +4 "core" &m  Z \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &m d \ +2 .tForearm.seek PC +2 "manipulator"&g' +99 "core" ' +2 .tHand.close + "manipulator"&h/ +60 "core" / +2 .tPC.seek :open + "processing"%i( +430 "core" ( +2 "manipulator"&j& +3 "core" &m  \ +2 "manipulator"&k% +4 "core" %  + +2 .tForearm.seek :retract + "manipulator"&l'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&m(, +124 "core" ( +2 "manipulator"&n& +3 "core" &, $ 0  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &, N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&p'Ϧ +109 "core" ' +2 .tHand.open + "manipulator"&q1 +60 "core" 1 + "manipulator"&r% +3 "core" % Ϯ m ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +373 #t-> Puck.count +2 "storage"(t% +3 "core" %b Q +2 .tSE.seek :down +2 "storage"(u'X +2 "core" ' +2 .tSE.stop +2 "storage"(5 +2 "manipulator"&v% +3 "core" %\   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(w(S +1597 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +2 "core" &U  +2 "manipulator"&y& +4 "core" &, r  +2 "manipulator"&z% +3 "core" %\  }  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&{(. +179 "core" ( + "manipulator"&|& +4 "core" &&   ' +2 "storage"(}& +3 "core" &V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&~'ѷ +95 "core" ' +2 "storage"(& +4 "core" &V S +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +272 "core" ' + "storage"(- +4 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" %`  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %Q G QJ +2 "manipulator"&% +4 "core" %  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & ! ;  +2 "manipulator"&& +4 "core" &'  ' +2 .tElbow.seek 2 +2 "manipulator"&( +30 "core" ( + "manipulator"&& +4 "core" & C U +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +89 "core" ' +2 "storage"(& +3 "core" & B  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +304 "core" ' +2 "storage"(- +2 "core" -'D +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +38 (% +11 "core" % N : +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %T  QJ +2 "manipulator"&% +4 "core" %ѝ P ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & -  +2 "manipulator"& & +3 "core" & d U +3 .tElbow.seek 3 + "manipulator"&!( +11 "core" ( +2 "manipulator"&"& +3 "core" & Q c +2 "storage"(#& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +107 "core" ' + "storage"(%& +4 "core" & j  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +271 "core" ' + "storage"('- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ((% +3 "core" %j s +2 ."downElevator"SE.seek :down +4 "storage"()'X +99 (*% +2 "core" %GW  QJ +2 "manipulator"&+% +5 "core" %Z  ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +94 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(-(,l +337 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (.& +2 "core" &,k e f  +2 "manipulator"&/& +4 "core" & P c +2 .tElbow.seek 4 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +4 "core" & x c +2 "storage"(2& +4 "core" &,g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&3'Ѽ +97 "core" ' + "storage"(4& +4 "core" &,g  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +272 "core" ' +2 "storage"(7- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9% +3 "core" %b 4 +3 ."downElevator"SE.seek :down +3 "storage"(:'X +99 (;% +4 "core" %lT  PH +2 "manipulator"&% +4 "core" % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(8(<* +334 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &<)   +2 "manipulator"&5& +4 "core" & 4 c +2 .tElbow.seek 5 + "manipulator"&?( +4 "core" ( +2 "manipulator"&A& +4 "core" & l c + "storage"(B& +4 "core" &<&  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&C'ы +94 "core" ' + "storage"(<& +4 "core" &<&  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +278 "core" ' +2 "storage"(F- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G% +3 "core" %b d +3 ."downElevator"SE.seek :down +4 "storage"(H'X +99 (D% +4 "core" %IT U PH +2 "manipulator"&@% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +95 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(K(K +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &K   +35 "manipulator"&N& +12 "core" & 3 c + .tElbow.seek 6 +2 "manipulator"&P( +30 "core" ( +2 "manipulator"&=& +3 "core" & $ W & +3 "storage"(I& +4 "core" &K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&E'a +97 "core" ' + "storage"(R& +4 "core" &K 1  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +274 "core" ' + "storage"(O- +3 "core" -'i +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L% +3 "core" %d O +2 ."downElevator"SE.seek :down +4 "storage"(V'X +99 (W% +3 "core" %+R OF +2 "manipulator"&Y% +5 "core" %\\ L Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +89 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"([([ +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" &[ p f  +2 "manipulator"& & +4 "core" &  % +2 .tElbow.seek 7 +2 "manipulator"&^( +2 "core" ( +2 "manipulator"&_& +4 "core" & $ l % +2 "storage"(`& +3 "core" &[  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&b'w +96 "core" ' +2 "storage"(\\& +3 "core" &[ ]  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +273 "core" ' + "storage"(c- +4 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e% +3 "core" %c +3 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (h% +4 "core" %R Y PG +2 "manipulator"&U% +5 "core" %s & u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +93 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +1382 #t-> purgeIntake + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"']& +3 "core" &PR. +2 "manipulator"&j& +4 "core" & % +2 "manipulator"&k% +3 "core" %\  p  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&n(, +174 "core" ( + "manipulator"&o& +4 "core" &, X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &, %  +3 .tForearm.seek :garage + "manipulator"&d'Ϧ +102 "core" ' + .tHand.close +2 "manipulator"&q/ +61 "core" / +2 "manipulator"&r& +3 "core" &,    +2 "manipulator"&l% +3 "core" % Ϲ 2   +3 .tForearm.seek :retract + "manipulator"&p'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +4 "manipulator"&t( +285 "core" ( + "manipulator"&v& +5 "core" &/ . P D~ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &- 3 = Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +95 "core" ' + "manipulator"&x& +4 "core" &.   Cs +2 "manipulator"&y% +4 "core" % )  +2 "collection"'z& +3 "core" &OP) +2 "collection"'|& +5 "core" &MP3 +3 .tCC.seek :closed + "collection"'}(V +4 "core" &QO5 +7 &ANP7 #b +10 &ZOP6 6 +9 &OR6 H +9 &eOP6 G +10 &kPP6 G +9 &_hNO2 G +10 & iQO6 H +9 &hPP0 H +9 &iQQ; G +10 &fhQQ4 H +9 & (gNO/ H +9 &!hNQ4 H +10 &#iOR6 H +9 &%ngMQ7 H +10 &'1gPP4 G +9 &(dPP. G +9 &*iOP% G +10 &,vgOR, H +9 &.9gPP0 G +9 &/dOP4 G +10 &1eQP0 G +9 &3cXP+ G +10 &5@gOQ1 H +9 &7gNP3 G +9 &8bNQ6 G +10 &:gOQ$ H +9 & gPP$ G +10 &?eOO, G +9 &AcPO0 G +10 &CQiPR2 G +9 &EmPP1 H +9 &FrOO( H +10 &HPQ# J +9 &JEPQ' N +9 &KPQ. Q +10 &MQS+ Q +9 &OOQ: Q +10 &QDOP1 Q +9 &SPR$ S +9 &TQQ) R +10 &V2`PQ0 * +9 &V$RQ# I +9 ( +3 "collection"'|& +2 "core" &VQRR A +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + "collection"'& +3 "core" &VQPP( A +36 .tHand.open +9 "manipulator"&m1 +59 "core" 1 +2 "manipulator"&s% +4 "core" %  .   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tPurging external Intake +2 "collection"'& +3 "core" &VQPQ8 A +2 "collection"'% +4 "core" %QR +2 .tCSV.dial :flush +2 "collection"'  +87 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'' V +2113 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"'~ + '  +6 "core" +64 ~ +2 .tCTV.dial :intake + "collection"'w  +70 "core"  +2 .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"' ' +2109 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &\ , Bl +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&( +23 "core" ( + "manipulator"&& +4 "core" & # . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" & R . +3 .tForearm.seek CC + "manipulator"& '" +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'( +414 "core" ( +2 "manipulator"&& +3 "core" & } . +2 "manipulator"&% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +282 "core" ( +2 "manipulator"&& +3 "core" &, v L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &,  L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'Ϧ +100 "core" ' +3 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&"% +3 "core" % ϯ  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +1672 #t-> exit +7 #mEXIT @1733500076.43EST @1733500094.48EST = =tMAIN =mMAIN_scheduler @EST1733500095.20 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK + #t@24126 sendCRC with ifg=0x20, ie=0x7F + #@25959 sendCRC with ifg=0x08, ie=0x5F + #@37487 idle with ifg=0x84, ie=0x75 + #@38169 select with ifg=0x10, ie=0xF5 + #@38816 receive with ifg=0x10, ie=0xFD #@39462 receive with ifg=0x10, ie=0xFD + #@40109 receive with ifg=0x10, ie=0xFD #@40436 receive with ifg=0x80, ie=0xFD + #@27268 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +357 "Can" -  +2  -  + #tPolling Can every 10:00 +2 #Cleanly exited at 10:47:56EST06-Dec-24 +5 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 +3 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{1 => 0,\\n 2 => 1,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@10:48:22, 39% flow, 21.0C, 13% humidity, 14.6psia, 14.916V, 0.219A, 12.324Ah, 3.26W",Subject: "standAloneWCR_4 begun" +4 #tAsleep til + 00:00:05 +3 #Continuing at 10:48 +3 "Can" ,  +21 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +261 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,900], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{1 => 0,\\n 2 => 1,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@10:48:22, 39% flow, 21.1C, 13% humidity, 14.6psia, 14.911V, 0.212A, 12.324Ah, 3.17W",Subject: "Asleep until 10:48" +153 #"uploadLog"upsync +44 "Can" \  +6 #tPowering core bus +175 #"uploadLog"upsync +358 .tGate.power :raw,:ON +3 "sampler") +47 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +39 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 1,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@10:49:10, 39% flow, 21.0C, 13% humidity, 14.6psia, 14.847V, 0.250A, 12.329Ah, 3.71W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,900], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &MP0 +2 .tHand.open +2 "manipulator"&"1 +57 "core" 1 +2 "manipulator"&#& +6 "core" & ,  +2 "manipulator"&$% +3 "core" % \    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(, +173 "core" ( +2 "manipulator"&&& +5 "core" &, ; w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &, Z w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&('Ϧ +73 #"uploadLog"upsync +28 "core" ' +2 .tHand.close + "manipulator"&)/ +61 "core" / +2 "manipulator"&*& +3 "core" &, u w +2 "manipulator"&+% +4 "core" % ϳ  / +3 .tForearm.seek :retract + "manipulator"&,'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&-( +293 "core" ( +2 "manipulator"&.& +3 "core" & #  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &  K 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +96 "core" ' +2 "manipulator"&1& +4 "core" & W 4 +2 "manipulator"&2% +3 "core" %& 8 0 +3 "collection"'3& +3 "core" &MP +3 "collection"'4& +5 "core" &OO +3 .tCC.seek :closed +2 "collection"'5(V +3 "core" &MO +6 &NP 9 +10 &LOO / +9 &YzMP C +9 & fNO G +10 &gOP G +9 &gMO H +10 &TeNP G +9 &hLP G +9 &gMN H +10 &fMP G +9 &[gOP G +9 &!fLO G +10 &"dOO G +9 &$hNQ G +10 &&dhNP G +9 &(&hOO G +9 &)fNP G +10 &+gOP G +9 &-lcMP G +9 &/-eOP G +10 &0gON H +9 &2fNP G +10 &4tfNP G +9 &65gMN G +9 &7gNP G +10 &9cNO G +9 &;|gLO G +10 &=<gNP H +9 &?gMP G +9 &@hNP G +10 &BgMP H +9 &DEhMP G +9 &FnMP H +10 &G}QP I +9 &I~NP L +9 &K3JM P +10 &LIN Q +9 &NJK Q +10 &PvHJ Q +9 &R6GG R +9 &SFI S +10 &UGJ @ +9 &V0IH *{ +9 &VRFH @ +3 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 9/28 samples, on/off torque 1.86 + "collection"'6& +3 "core" &VVFH @ +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&8% +3 "core" %& 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +94 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VVKL @ +2 "collection"';% +4 "core" %JK  +2 .tCSV.dial CSR +2 "collection"'<  +156 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1328 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +44 '>% +8 "core" %qOQ(  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?'8 +589 "core" ' +2 .tCSV.dial :waste + "collection"'@ +156 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A' +1957 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &VTNRu @ +2 "collection"'C% +4 "core" %LR +2 .tCSV.dial :flush + "collection"'D  +51 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2110 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'F + 'G  +6 "core" +63 +2 .tCTV.dial :intake + "collection"'H  +69 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2107 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air + "collection"'J  +70 "core"  +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VTMR @ +2 "collection"'L% +4 "core" %MP +2 .tCSV.dial :flush + "collection"'M  +88 "core"  +2 .tCS.seek 5ml +2 "collection"'N'q +1104 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'O @ +50 "core" A +2 "collection"'P% +3 "core" %qOQ  +3 .tCS.seek 7ml + "collection"'Q' +497 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'R +95 "core" +2 .tCTV.dial :air +2 "collection"'S  +4 "core" +2 .tCS.seek 0ml +2 "collection"'T' +1501 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'U'2 +694 "core" ' + .tCSV.dial :waste +2 "collection"'V +50 "core" +2 .tCS.seek 0ml +2 "collection"'W' +693 "core" ' + "collection"'X& +4 "core" &VTMR @ +2 "collection"'Y% +3 "core" %OQ +2 .tCSV.dial :flush +2 "collection"'Z  +50 "core"  +2 .tCS.seek 3ml +2 "collection"'['2 +691 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'\\ @ +52 "core" B +2 "collection"']% +3 "core" %2NQ  +3 .tCS.seek 5ml + "collection"'^'q +496 "core" ' +2 .tCSV.dial :air +2 "collection"'_ @ +4 "core" A +2 .tCS.seek 0ml + "collection"'`' +1092 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'a'2 +694 "core" ' + .tCSV.dial :waste +2 "collection"'b +70 "core" +3 .tCS.seek 0ml + "collection"'c' +698 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" & \ 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&e( +12 "core" ( + "manipulator"&f& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" & T . +3 .tForearm.seek CC + "manipulator"&h'" +94 "core" ' +2 .tHand.close + "manipulator"&i/ +58 "core" / +2 .tCC.seek :open +2 "collection"'j( +416 "core" ( + "manipulator"&k& +3 "core" & - . +2 "manipulator"&l% +5 "core" % # L +35 .tForearm.seek :retract +8 "manipulator"&m'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 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"core" % 2 +100 "collection"'% +3 "core" %DH +2 "sampler") % +3 "core" % 2 +113 "collection"'n% +3 "core" %EF +2 "sampler")% +5 "core" % 2 +127 "collection"'&% +4 "core" %EI +2 "sampler")'% +3 "core" %   2 +145 "collection"'*% +3 "core" %FH +2 "sampler"))% +3 "core" % 2 +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )+% +3 "core" %  2 +2 ."WCR"SSV.dial :exhaust +38 "sampler")  +79 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")(' +877 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")  +71 "core" +2 #"WCR"Allowing 130s for 25.0ml of remaining 650.0ml + .Intake.select :open + "sampler") +210 "collection"'%% +3 "core" %GG +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 0.38ml/s +2 "sampler")#.0XrL +2 "sampler") % +4 "core" %l\\G  +24 "collection"':% +3 "core" %<@ +2 "sampler")% +4 "core" %l\\G  +28 "collection"';% +3 "core" %;@~ +2 "sampler")4% +4 "core" %l\\G  +31 "collection"'<% +4 "core" %@@U +2 "sampler")$% +3 "core" %l]G  +37 "collection"'>% +3 "core" %=A +2 "sampler")=% +5 "core" %l]G  +40 "collection"'% +3 "core" %?@ +2 "sampler")?% +4 "core" %l]G  +2 "collection"'3% +4 "core" %@@s +2 #"WCR"Intake @13.5psia, vacuum from 8.0 to 11.0psi +2 .SS.reconfigure :inhaling 0.31ml/s + "sampler")#.0XrB7 +2 "sampler")M% +3 "core" % L +28 "collection"'H% +3 "core" %@B +2 "sampler")0% +5 "core" % L +31 "collection"'I% +3 "core" %?B +2 "sampler")E% +3 "core" % L +37 "collection"'N% +3 "core" %@B\ +2 "sampler")R% +4 "core" % L +41 "collection"'S% +3 "core" %CC +2 "sampler")Q% +4 "core" % L +47 "collection"'T% +3 "core" %@A +2 "sampler")V% +4 "core" % L +53 "collection"'U% +3 "core" %AB; +2 "sampler")X% +4 "core" % L +61 "collection"'Y% +3 "core" %@C9 +2 "sampler")B% +3 "core" % L +69 "collection"'F% +4 "core" %?D +3 "sampler")Z% +3 "core" % L +78 "collection"'W% +3 "core" %BE +2 "sampler")\\% +5 "core" % L +87 "collection"']% +3 "core" %BD( +2 "sampler")[% +4 "core" % L +100 "collection"'% +3 "core" %CE +37 "sampler")^% +11 "core" % L +116 "collection"'O% +3 "core" %CE2 +3 "sampler")_% +3 "core" % L +128 "collection"'a% +3 "core" %EE +2 "sampler")C% +3 "core" % L +144 "collection"'g% +3 "core" %DH +2 "sampler")i% +5 "core" % L +162 "collection"'`% +3 "core" %FH +2 "sampler")5% +3 "core" % L +184 "collection"'k% +4 "core" %FJ$ +2 "sampler")l% +3 "core" %   L +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )P% +3 "core" %   L +2 ."WCR"SSV.dial :exhaust +2 "sampler")o  +73 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml + "sampler")p' +929 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")h  + ."WCR"CBV.dial SSV +72 "core" +2 #"WCR"Allowing 130s for 25.0ml of remaining 625.0ml + .Intake.select :open +2 "sampler") +210 "collection"'d% +3 "core" %FH +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 0.31ml/s +2 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."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (H& +4 "core" &U K M ( + "manipulator"&0& +4 ."raiseStack"SE.reconfigure :place +6 "storage"(#]@K-0-\ b +2 "core" &\ #  ;8 +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak + ."WCR"Elbow.seek CC +2 "storage"(I'i +2 "manipulator"&E( +28 "core" ( +2 "manipulator"&N& +3 "core" & $ 0 # +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" & b # +3 ."WCR"Forearm.seek CC +2 "manipulator"&S'" +98 "core" ' + ."WCR"Hand.close + "manipulator"&Q/ +63 "core" / +2 ."WCR"CC.seek :open +2 "collection"'@( +55 "core" ' +2 "storage"(T- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(V'y +34 "core" ' +314 ( + "storage"(U& +3 "core" &W J +3 "storage"(X& +3 "core" &W +2 "manipulator"&Y& +4 "core" & | # +2 "manipulator"&B% +4 "core" % * a +2 ."WCR"Forearm.seek :retract +2 "manipulator"&F'\ +99 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&Z(. +156 "core" ( + "manipulator"&W& +4 "core" &5 2  +2 "storage"(\\& +4 "core" &W  +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&]' +94 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&[, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&^% +5 "core" %  U + "storage"(O& +3 "core" &W +42 ."WCR"Forearm.force -20 +6 "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 302 counts +2 "manipulator"&_') +19 "core" ' +2 "manipulator"&a& +3 "core" &5 ]  +2 "storage"(C& +5 "core" &W C +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&g'ѷ +34 "core" ' + "storage"(i% +4 "core" %}  +3 ."downElevator"SE.seek :down +2 "storage"(`'X +100 (5% +3 "core" %5[ = QK +2 "manipulator"&k% +4 "core" %ѻ +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&l'\ +86 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'P& +3 "core" &VXK  +2 "manipulator"&o& +4 "core" &5  +2 "manipulator"&D% +4 "core" %\    +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&h(, +185 "core" ( +3 "manipulator"&d& +4 "core" &, @ 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &, _ 0 +2 .tForearm.seek :garage +2 "manipulator"&v'Ϧ +100 "core" ' +2 .tHand.close + "manipulator"&x/ +63 "core" / +2 "manipulator"&q& +3 "core" &, E 0 +2 "manipulator"&% +5 "core" % Ϻ 0 9 +2 .tForearm.seek :retract + "manipulator"&z'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&{( +284 "core" ( +2 "manipulator"&-& +3 "core" && s >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" && l >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'" +93 "core" ' + "manipulator"&b& +4 "core" && , v >I +2 "manipulator"&t% +5 "core" %& ( a +2 "collection"'e& +4 "core" &VYV  +2 "collection"'& +5 "core" &VWS  +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &UZL  +7 &GUYV $f +10 &^WZV 7 +9 &(~UXS G +10 &bVXV F +9 &fUXV F +9 &peYXT F +10 &2fWXV F +9 &bUXR F +9 &eXWV F +10 &weUVR G +9 & ;eTXW F +10 &!eVWW F +9 &#eVXV G +9 &%fWXX F +10 &'BeUZS F +9 &)eVYS F +9 &*gU[R F +10 &,eVWR F +9 &.JeXWM F +10 &0 gTWV F +9 &1eWXS F +9 &3bTXM F +10 &5RdUY[ F +9 &7fUXS G +9 &8dWWU F +10 &:eWVW F +9 &bVWX F +10 &?eYXV F +9 &AcUYS F +10 &CbfVYH F +9 &E$eUXX F +9 &FpVXM G +10 &HyVXR I +9 &JUWXS N +10 &LXZT P +9 &MVYY Q +9 &OWYg Q +10 &QRWXW Q +9 &SWXS R +9 &TVXR S +10 &VBhVWa / +9 &VXZY 8 +9 &W\ bVXT @ +6 ( +2 "collection"'& +3 "core" &W\ SVYQ @ +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + "collection"'& +3 "core" &W\ RVXL @ +3 .tHand.open + "manipulator"&s1 +58 "core" 1 +2 "manipulator"&f% +3 "core" % & % +40 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +106 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &W\ RVWa @ +2 "collection"'% +3 "core" %VZb +3 .tCSV.dial CSR + "collection"'w  +47 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"' 'q +505 "Can" E$S +821 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 ' % +3 "core" %qV[X  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'u'8 +601 "core" ' + .tCSV.dial :waste +2 "collection"' +156 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'}' +1957 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'& +3 "core" &W\ RUY` @ +2 "collection"'9% +4 "core" %WY` +2 .tCSV.dial :flush + "collection"',  +50 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"' 'q +1104 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"' @ +61 "core" ? +2 "collection"'% +3 "core" %qWZc  +3 .tCS.seek 7ml + "collection"'' +496 "core" ' +3 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'  + '  +53 "core"  +72  +2 .tCBV.dial :waste2b +2 .CS.seek 0ml + "collection"'j' +1492 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'m& +3 "core" &W\ SYZY @ +2 "collection"'!% +4 "core" %Y\\V +2 .tCSV.dial CSR + "collection"'"  +60 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"'' +1697 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"' ' V +501 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'n +2 '  +46 "core"  +80 +2 .tCTV.dial :intake + "collection"''  +69 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"''^ +1694 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'*  +69 "core" +3 .tCS.reconfigure :default + "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'\ ' +596 "core" ' +2 .tCSV.dial CSR + "collection"'&  +94 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"'+'q +1326 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'' V +1336 "core" ' + .tCSV.dial CBV +2 "collection"'c +120 "core" +46 .tCS.seek 0ml + "collection"'' +2577 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&%& +3 "core" && d >I +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&2& +4 "core" && $ { >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &&  >I +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' + .tHand.close + "manipulator"&6/ +55 "core" / +2 .tCC.seek :open +2 "collection"'.( +416 "core" ( + "manipulator"& & +5 "core" && 1 G >I + "manipulator"&7% +4 "core" %  / . +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&;(, +290 "core" ( +2 "manipulator"&:& +3 "core" &, (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &,   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&$'Ϧ +101 "core" ' +2 .tHand.open + "manipulator"&>1 +64 "core" 1 +2 "manipulator"&=% +3 "core" % Ϭ .  F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,900], $da)] begun 10:49:10 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@11:18:24, 39% flow, 21.3C, 12% humidity, 14.6psia, 14.872V, 0.368A, 12.530Ah, 5.48W\\nSampled 300.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +394 #"uploadLog"upsync +7 #mEXIT @1733502116.25EST @1733502631.71EST = =mMAIN_scheduler =tMAIN @EST1733502632.39 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@5197 sendCRC with ifg=0x20, ie=0x7F + #@7032 sendCRC with ifg=0x08, ie=0x5F + #@12588 idle with ifg=0x84, ie=0x75 + #@13267 select with ifg=0x10, ie=0xF5 + #@13915 receive with ifg=0x10, ie=0xFD #@14564 receive with ifg=0x10, ie=0xFD + #@15213 receive with ifg=0x10, ie=0xFD 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&_bo +2 "processing"%& +4 "core" & +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +2 "processing"%# +3 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "sampler")& +3 "core"  +2 "collection"''% +3 "core" %\\^n +5 "processing"%(% +3 "core" % +3 "sampler"))% +43 "core" %  +2 "collection"'*& +5 "core" &\\_m + "processing"%+& +4 "core" & +2 "manipulator"&,% +4 "core" %\   +2 "manipulator"&-& +4 "core" &,   +2 "storage"(.& +4 "core" &T { z +2 "storage"(/% +3 "core" %\\ | | +3 "collection"'09 +2 "core" 9 +3 "processing"%19 +3 "core" 9~u +851 #t-> access 1 +2 "storage"(2% +3 "core" %\\ | } X +2 "manipulator"&3% +4 "core" %\  Q  +2 "manipulator"&4& +3 "core" &,   +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<* +1283 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<' 9  @1733774263.47EST = =mMAIN_scheduler =tMAIN @EST1733774264.21 #t\ Environmental 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+4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X CC.to :closed +2 .CC.seek :closed + "collection"'1(V +415 "core" ( +2 "collection"'2& +3 "core" &V  +1259 #t-> CC.to :open +2 .CC.seek :open +2 "collection"'3( +413 "core" ( +2 "collection"'4& +3 "core" &j +735 #t-> PC.to :closed +2 .PC.seek :closed +2 "processing"%5(Z +431 "core" ( + "processing"%6& +5 "core" &Z: +8575 #t-> PC.to :open +2 .PC.seek :open +2 "processing"%7( +430 "core" ( +2 "processing"%8& +3 "core" &_ +383 #t-> PC.to :closed +2 .PC.seek :closed + "processing"%9(Z +434 "core" ( +2 "processing"%:& +3 "core" &Z^  +359 #t-> PC.to :open +2 .PC.seek :open +2 "processing"%;( +432 "core" ( +2 "processing"%<& +3 "core" &d +127 #t-> PC.to :closed +2 .PC.seek :closed +2 "processing"%=(Z +436 "core" ( +2 "processing"%>& +3 "core" &Z^  +154 #t-> PC.to :open +2 .PC.seek :open + "processing"%?( +432 "core" ( + "processing"%@& +5 "core" &^ +7924 #t-> CC.to :closed + .CC.seek :closed +2 "collection"'A(V +414 "core" ( +2 "collection"'B& +3 "core" &V  +2922 #t-> CC.to :open + .CC.seek :open +2 "collection"'C( +414 "core" ( +2 "collection"'D& +4 "core" & +203 #t-> CC.to :closed +2 .CC.seek :closed + "collection"'E(V +413 "core" ( +2 "collection"'F& +4 "core" &V  +341 #t-> CC.to :open +2 .CC.seek :open +2 "collection"'G( +411 "core" ( +2 "collection"'H& +4 "core" & +213 #t-> CC.to :closed +2 .CC.seek :closed +2 "collection"'I(V +412 "core" ( + "collection"'J& +4 "core" &V  +161 #t-> CC.to :open +2 .CC.seek :open + "collection"'K( +412 "core" ( +2 "collection"'L& +3 "core" & +10823 #t-> PSV.air +2 .PSV.dial :air +2 "processing"%M  +5 "core" +1044 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%N' +2605 "core" ' + "processing"%O% +4 "core" %]  +6621 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%P' +1113 "Can" ?t +1484 "core" ' +2 "processing"%Q% +4 "core" %U +556 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%R' +2597 "core" ' +2 "processing"%S% +3 "core" %]  +542 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%T' +2601 "core" ' +2 "processing"%U% +3 "core" %T +386 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%V' +2602 "core" ' +2 "processing"%W% +3 "core" %R  +739 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%X' +2599 "core" ' + "processing"%Y% +4 "core" %Y +3734 #t-> CSV.air +2 .CSV.dial :air + "collection"'Z @ +98 "core" ? +321 #t-> CS,fill + !o:SyntaxError: mesg"Icompile error\ (ESP):24: syntax error, unexpected '\\n', expecting '=':bt["(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +540 #-> CS.fill +2 .CS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 10ml +2 "collection"'[' V +2580 "core" ' +2 "collection"'\\% +3 "core" % S  +7777 #t-> CS.empty +3 .CS.seek 0ml +2 "collection"']' +2582 "core" ' +2 "collection"'^% +3 "core" % +1393 #t-> CS.fill +3 .CS.seek 10ml + "collection"'_' V +2585 "core" ' +2 "collection"'`% +4 "core" % \\ +539 #t-> CS.empty +4 .CS.seek 0ml + "collection"'a' +2578 "core" ' +2 "collection"'b% +4 "core" % +261 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'c' V +2582 "core" ' +2 "collection"'d% +4 "core" % Y  +333 #t-> CS.empty +3 .CS.seek 0ml + "collection"'e' +2579 "core" ' +2 "collection"'f% +4 "core" % +5604 #t-> SSV.air +2 .SSV.dial :air +503 #-> SS.fill +3 .SS.seek 25ml +2 "sampler")g' +1268 "core" ' +2 "sampler")h% +4 "core" % +3727 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")i' +1222 "core" ' +2 "sampler")j% +3 "core" % i +489 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")k' +1241 "core" ' +2 "sampler")l% +3 "core" % x +1217 "Can"K 4^t +2530 #t-> SS.empty +3 .SS.seek 0ml + "sampler")m' +1246 "core" ' + "sampler")n% +4 "core" %  +1126 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")o' +1230 "core" ' +2 "sampler")p% +3 "core" % y +261 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")q' +1222 "core" ' +2 "sampler")r% +4 "core" % j +1135 #t-> SS.fill +3 .SS.seek 25ml +2 "sampler")s' +1247 "core" ' + "sampler")t% +4 "core" % ~ +48125 #t-> CSV.air + .CSV.dial :air +2 "collection"'u @ +5 "core" ? +268 #t-> CS.fill +3 .CS.seek 10ml +2 "collection"'v' V +1561 "Can" 9t +1014 "core" ' +2 "collection"'w% +3 "core" % S  +58983 "Can"G 4 `t +7371 #t-> CS.empty +3 .CS.seek 0ml +2 "collection"'x' +2586 "core" ' + "collection"'y% +4 "core" % +4896 #t-> CS.fill +2 .CS.seek 10ml + "collection"'z' V +2586 "core" ' +2 "collection"'{% +3 "core" % T  +1548 #t-> CS.empty +2 .CS.seek 0ml +2 "collection"'|' +2574 "core" ' +2 "collection"'}% +4 "core" % +12569 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'~' V +2584 "core" ' + "collection"'% +4 "core" % Z  +568 #t-> CS.empty +4 .CS.seek 0ml + "collection"'' +2575 "core" ' + "collection"'% +4 "core" % +20099 "Can"= 5 & t +60002 B 5 t @1733779583.29EST = =tMAIN =mMAIN_scheduler @EST1733779584.04 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@5467 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +384 "Can"[ s\\ + [ s\\ + #tPolling Can every 10:00 +3 #Cleanly exited at 14:57:53EST09-Dec-24 +767 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON +2 "sampler") +56 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 1 +3 "storage"(1% +3 "core" %a +2 "manipulator"&2% +3 "core" %\  +  +2 "manipulator"&3& +4 "core" & W  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(4(<* +649 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &<, e  +193 #t-> access 2 +3 "storage"(6% +3 "core" %a w +2 "manipulator"&7% +4 "core" %\  @  +2 "manipulator"&8& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(9(K +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &K  +170 #t-> access 3 +2 "storage"(;% +3 "core" %a  +2 "manipulator"&<% +4 "core" %\    +2 "manipulator"&=& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(>([ +331 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &[   +175 #t-> access 4 +3 "storage"(@% +3 "core" %a X + "manipulator"&A% +4 "core" %\   +2 "manipulator"&B& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +7 "storage"(C(S +1912 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &U S +231 #t-> access 5 +3 "storage"(E% +3 "core" %a > +2 "manipulator"&F% +3 "core" %\  z  +2 "manipulator"&G& +4 "core" & a  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(H( +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &   +213 #t-> access 6 +3 "storage"(J% +3 "core" %a / +2 "manipulator"&K% +4 "core" %\    +2 "manipulator"&L& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(M( +331 "core" ( +4 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" & k  +200 #t-> access 7 +2 "storage"(O% +3 "core" %a  +2 "manipulator"&P% +5 "core" %\    + "manipulator"&Q& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(R(,l +333 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" &,j 8  +169 #t-> access 1 +2 "storage"(T% +3 "core" %a  +2 "manipulator"&U% +4 "core" %\    +2 "manipulator"&V& +3 "core" & '  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(W(<* +334 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" &<* j  +486 #t-> CC.close +2 "manipulator"&Y& +3 "core" &   +4 !to:Arm::Error: mesg"@Cannot hold puck in Collection Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:420:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:491:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:490:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:489:in `close'"0/home/esp/esp2/utils/misc.rb:507:in `close'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +353 #-> exit +7 #mEXIT @1733779715.91EST @1733847740.98EST = =tMAIN =mMAIN_scheduler @EST1733847741.71 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK + #t@47577 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +211 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +381 "Can" (  +  (  + #tPolling Can every 10:00 +2 #Cleanly exited at 16:28:35EST09-Dec-24 +422 #-> ESP.ready! +3 #Powering core bus +579 .Gate.power :raw,:ON +2 "sampler") +54 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(1% +3 "core" %W # +2 "manipulator"&2% +3 "core" %\   k +2 "manipulator"&3& +4 "core" &  $ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(4(K +965 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &K  +1808 #t-> access 3 +2 "storage"(6% +3 "core" %W  +2 "manipulator"&7% +3 "core" %\  f k +2 "manipulator"&8& +4 "core" & * $ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(9([ +329 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" &[ , +5490 #t-> require 'shuffle.rb' +1171 #-> 10.times{shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"';& +3 "core" & W X7  +2 .tHand.open + "manipulator"&<1 +64 "core" 1 + "manipulator"&=% +4 "core" % \  V k +2 "storage"(>% +3 "core" %W w +3 "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(@( +1602 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & 2 +2 "manipulator"&B& +4 "core" & N $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +35 "core" ( + "manipulator"&D& +5 "core" &  + "storage"(E& +3 "core" & $ +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +97 "core" ' + "storage"(G& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +272 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +2 "core" &  +3 "manipulator"&K& +3 "core" & A  +2 .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +4 "core" &  +2 "storage"(N& +4 "core" & ] +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&O' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"(R'X +7 "core" & O  +2 "manipulator"&S% +4 "core" %  ^ +2 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +156 "core" ( +2 "manipulator"&V& +4 "core" ' + &&  =B +2 .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +2 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&W& +7 "core" &&  =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'" +139 "core" ' +2 "manipulator"&Y& +5 "core" &&   =B + "manipulator"&Z% +5 "core" %" ! +2 "collection"'[& +3 "core" & X Y  +3 "collection"'\\& +5 "core" & X X0  +2 .tCC.seek :closed +2 "collection"'](V +5 "core" & Y Y:  +7 &L W X/ $e +9 &^ X Y6 7 +9 & W Z/ I +10 &m X X/ G +9 &zm W [2 H +10 &=m W Z. H +9 &o X Y1 H +9 &m W Z: G +10 &n W WB H +9 &Em W [9 H +9 & m V [4 H +10 &!m X ZA H +9 &#k X cB H +10 &%Km W Y? H +9 &'n X YB H +9 &(m W YC H +10 &*n Y [D H +9 &,To W [D H +9 &.m U Z@ H +10 &/m X XB H +9 &1m Y [C H +10 &3]m X YC H +9 &5o W YA H +9 &6p Y ZD H +10 &8m W ZB H +9 &:bp W ZB I +9 &<%n X Z2 H +10 &=n W Y0 H +9 &?m W Z8 H +10 &All Y \\: H +9 &C.n Y ZB H +9 &Du Z \\/ J +10 &F ] ^5 J +9 &Hi ] `7 L +9 &J! _ _> O +10 &K ] b5 R +9 &M ^ ^5 R +10 &O_ ^ _? R +9 &Q" _ ]4 R +9 &R ^ `1 S +10 &T ^ _@ S +9 &V,h ` _4 * +10 &V& [ ^k D +8 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&^1 +2 "core" &VI \\ _/ > +60 1 +3 "manipulator"&_% +4 "core" % "  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +4 "core" &  + "manipulator"&b% +4 "core" %\ B  +2 "storage"(c% +4 "core" %U  +2 "storage"(d. +3 "core" .( +2 "storage"(e& +3 "core" &  +3 "storage"(f& +3 "core" &  +2 "manipulator"&g& +3 "core" && N =B +2 "manipulator"&h% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +162 "core" ( + "manipulator"&j& +4 "core" & P +2 "storage"(k& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +95 "core" ' + "storage"(m& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'i +278 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & h +2 "manipulator"&q& +4 "core" & M +2 .tElbow.seek 2 +2 "manipulator"&r( +4 "core" ( + "manipulator"&s& +3 "core" & e +3 "storage"(t& +4 "core" & +2 .tForearm.seek 2 + 300 counts + "manipulator"&u' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&w& +3 "storage"(x'X +8 "core" & 4 + "manipulator"&y% +5 "core" %  2 M +2 .tForearm.seek :retract + "manipulator"&z'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +111 "core" ( +2 "manipulator"&|& +3 "core" &k , 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &k B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +100 "core" ' +2 "manipulator"&& +3 "core" &k  W +3 "manipulator"&% +3 "core" % @ +3 "processing"%& +3 "core" &  +3 "processing"%& +5 "core" &k  +3 .tPC.seek :closed + "processing"%(Z +5 "core" &  +8 &9c *y +9 &k > +10 &y I +9 &Oj G +9 &l H +10 &p H +9 &m H +9 &Wj\\ G +10 &mJ H +9 &p H +10 & p H +9 &"^q H +9 &$ p H +10 &%p H +9 &'p H +9 &)gk G +10 &+(n H +9 &,n G +10 &.m G +9 &0nk H +12 &20m H +7 &3n G +9 &5n G +9 &7wl G +10 &98k H +9 &:k G +10 &<n G +9 &>n G +9 &@@p H +10 &Bm H +9 &Cr H +9 &Ezk I +10 &GA J +9 &H L +10 &J M +9 &L M +9 &NB M +10 &P M +9 &Q N +9 &S M +10 &UH M +9 &W N +10 &X N +9 &Z'Nu *| +9 &Z A * +6 ( + "processing"%& +49 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&1 +3 "core" &Z * + &Z * + &Z * + &Z * + &ZR * +49 1 +2 "manipulator"&% +3 "core" %  / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"% & +4 "core" &Z * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %\ G  +4 "storage"(\ % +3 "core" %b z +2 "storage"( . +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(& +3 "manipulator"&& +8 "core" &  + &l  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s +2 "storage"('i +5 "core" ( +3 "manipulator"& & +3 "core" &l L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l D +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +44 "core" ' +290 ( +2 "storage"(& +3 "core" & T +2 "manipulator"&& +4 "core" &l % +2 "manipulator"&"% +4 "core" % 1 +2 .tForearm.seek :retract + "manipulator"&#'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&$( +259 "core" ( + "manipulator"&%& +5 "core" & _  + "storage"(&& +4 "core" & ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +95 "core" ' +2 .tHand.open + "manipulator"&(1 +54 "core" 1 +2 "storage"()- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +46 "core" ' +3 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(-& +3 "core" & L J 4 +2 "manipulator"&.& +3 "core" & *  +3 .tElbow.seek 2 + "manipulator"&/( +4 "core" ( + "manipulator"&0& +4 "core" & @  +2 "storage"(1& +4 "core" & z z +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +51 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(5& +4 "core" & ; + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&6' +24 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +27 "core" ' +2 "manipulator"&4% +4 "core" % R +2 "storage"(:& +4 "core" & a + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 309 counts +2 "manipulator"&;' +22 "core" ' + "manipulator"&<& +5 "core" &  + "storage"(=& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +18 "core" ' +2 "storage"(?% +3 "core" %q +3 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (A% +3 "core" %vW 5 QJ +2 "manipulator"&B% +4 "core" %ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +122 "core" ' +31 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &  +2 "collection"'G& +5 "core" &VI [ \\ > +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %b * +2 "storage"(I. +3 "core" .( +2 "storage"(J& +4 "core" &  +2 "storage"(K& +3 "core" & 2 +3 "manipulator"&& +3 "core" & M  +3 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +5 "core" & E  + "storage"(P& +4 "core" & & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +94 "core" ' +2 "storage"(S& +3 "core" & 0 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +285 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & ]  +2 "storage"(W& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&H' +32 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Y'Q +34 "core" ' +2 "manipulator"&Z% +4 "core" % + "storage"([& +4 "core" & W +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&R' +18 "core" ' +2 "manipulator"&T& +3 "core" & .  +3 "storage"(!& +3 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'@ +38 "core" ' +2 "manipulator"&a& +4 "core" & S  +2 "manipulator"&b% +4 "core" %ї 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +157 "core" ( +2 "manipulator"&d& +5 "core" &+  Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &+  Ac +3 .tForearm.seek CC + "manipulator"&f'" +94 "core" ' +2 .tHand.close + "manipulator"&g/ +55 "core" / +2 .tCC.seek :open + "collection"'h( +413 "core" ( +2 "storage"(X& +4 "core" &  + "storage"(j& +4 "core" & K +2 "manipulator"&k& +4 "core" &+  Ac +2 "manipulator"&m% +3 "core" % $  +3 .tForearm.seek :retract + "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +159 "core" ( +2 "manipulator"&o& +3 "core" & e  +2 "storage"(p& +3 "core" & b +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q' +100 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +57 "core" 1 +2 "manipulator"&v% +3 "core" % o D +2 "storage"(w& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&y' +26 "core" ' +2 "manipulator"&i& +4 "core" & t  + "storage"(l& +5 "core" & O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +16 "core" ' +2 "storage"(u% +4 "core" %I 9  +2 ."downElevator"SE.seek :down +38 "storage"(|'X +64 (}% +3 "core" %I OC +2 "manipulator"&r% +5 "core" %і L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +94 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & T X +2 "manipulator"&% +4 "core" %\  &  +2 "storage"(x% +3 "core" %^  +2 "storage"(z. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +13 "core" ( +2 "manipulator"&& +4 "core" & W i + "storage"(\ & +5 "core" & u  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +92 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & j  +2 "manipulator"& & +4 "core" &  i +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&~& +3 "core" & W i +3 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"('X +4 "core" & i +3 "manipulator"&% +4 "core" % Ϯ  j +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +158 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&"& + "storage"(5 +8 "core" &%  <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &%  <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'" +95 "core" ' + "manipulator"&&& +4 "core" &%  B <? +2 "manipulator"&% +5 "core" %, j +2 "collection"'(& +3 "core" & T X +3 "collection"')& +7 "core" & T X +2 .tCC.seek :closed + "collection"',(V +4 "core" & U X +8 &C V XJ #c +9 &\\ T Wu 7 +10 & T Wu H +9 &f T XC G +9 &r U X0 H +10 &en V X/ G +9 &'m U W! G +9 &k U X5 H +10 &n W W6 G +9 &lk U X+ H +9 & .p U W3 H +10 &!n W W$ H +9 &#n U X5 G +10 &%sp W W, H +9 &'7j W X5 G +9 &(i V Y1 H +10 &*m U W/ H +9 &,}j U X- G +9 &.>j T X1 H +10 &0k W W0 H +9 &1j V Ys H +10 &3m U W1 H +9 &5Gh X Y6 G +9 &7k U X, H +10 &8k W V0 H +9 &:k W W/ G +9 &m T Y0 H +9 &?j V WN G +10 &Ai T Y2 G +9 &CVm V W* H +9 &Eu X Z: H +10 &F X X= J +9 &H Y \\3 K +9 &JK ] ^7 N +10 &L ^ ^8 Q +9 &M [ \\B Q +10 &O ] ZA Q +9 &QK h ^C Q +9 &S [ [6 S +10 &T \\ ^; S +9 &V<h Z _> / +9 &V \\ ^@ , +10 &Vs \\ ]6 N +2 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open + "manipulator"&-1 +57 "core" 1 +2 "manipulator"&.% +3 "core" % , $ > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%1& +3 "core" & +2 "manipulator"&#% +3 "core" %\  @ \ +3 "storage"(% +4 "core" %Z } + "storage"(5. +3 "core" .( +2 "storage"(4& +3 "core" & q  +2 "storage"(:& +5 "core" &  + "manipulator"& & +5 "core" &%  <? + "manipulator"&<% +4 "core" %\  > \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&=( +161 "core" ( +2 "manipulator"&*& +4 "core" & 4 w + "storage"(?& +39 "core" &   +11 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +90 "core" ' +2 "storage"('& +3 "core" & E  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +278 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (B& +2 "core" & { O  +3 "manipulator"&2& +4 "core" & - w +2 .tElbow.seek 3 + "manipulator"&/( +4 "core" ( +2 "manipulator"&3& +3 "core" & _ w +2 "storage"(6& +4 "core" & s  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"('X +8 "core" & 6 w + "manipulator"&% +4 "core" % ϯ  + +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&8(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +70 "core" ( +2 "manipulator"&J& +4 "core" &u   P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &u  P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&' +96 "core" ' +2 "manipulator"&N& +4 "core" &u P P +2 "manipulator"&P% +3 "core" %   +3 "processing"%>& +4 "core" &* +2 "processing"%S& +5 "core" & +2 .tPC.seek :closed +2 "processing"%9(Z +3 "core" & +8 &> #c +9 &[ 6 +10 & H +9 &k G +10 &n H +9 &Uk H +9 &m^ G +10 &h G +9 &k G +9 &]m H +10 & p H +9 &!l` G +10 &#kl G +9 &%fo G +9 &''n H +10 &(kb H +9 &*m H +9 &,nj G +10 &./p H +9 &/l G +10 &1k G +9 &3vp G +9 &57n H +10 &6k H +9 &8k H +10 &:~h G +9 &<@n G +9 &>i G +10 &?k G +9 &An H +9 &CGp H +10 &Er H +9 &Fy I +9 &H K +10 &JA M +9 &L L +10 &M L +9 &O M +9 &QG M +10 &S N +9 &T N +10 &V N +9 &XO M +9 &Yy{ "j +10 &Z+y / +8 ( +2 &Z " +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&71 +62 "core" 1 +2 "manipulator"&D% +3 "core" % [  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +92 "core" ' +2 "processing"%V& +3 "core" &ZK " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +3 "core" %\    +3 "storage"(L% +4 "core" %U o + "storage"(Z. +4 "core" .( + "storage"([& +4 "core" & s  +2 "storage"(T& +3 "manipulator"&!& +8 "core" &  +2 &u  P +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +3 "core" ( + "manipulator"&Q& +4 "core" &u  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &u  P +2 .tForearm.seek PC + "manipulator"&C' +96 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 .tPC.seek :open +2 "processing"%R( +88 "core" ' +2 "storage"(Y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +43 "core" ' +288 ( +2 "storage"(e& +4 "core" &  +2 "manipulator"&^& +3 "core" &u  P +3 "manipulator"&O% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +38 .tElbow.seek 3 +11 "manipulator"&c( +246 "core" ( +2 "manipulator"&]& +4 "core" & O !w +2 "storage"(X& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +92 "core" ' +2 .tHand.open + "manipulator"&k1 +53 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +45 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(\\& +4 "core" & W X q  +2 "manipulator"&t& +4 "core" & 4 !t +2 .tElbow.seek 3 + "manipulator"&v( +4 "core" ( + "manipulator"&w& +4 "core" & h !t +2 "storage"(i& +4 "core" & T W .  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(u' +56 "core" ' +2 "manipulator"&U& +4 "core" &  !t + "storage"(}& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&r'} +26 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +23 "core" ' +2 "manipulator"&y% +4 "core" %΃ ) +2 "storage"(_& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϯ +19 "core" ' +2 "manipulator"&& +3 "core" & Y !t +3 "storage"(x& +3 "core" & *  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +30 "core" ' +2 "storage"(n% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (@% +3 "core" %Q x o j OE +2 "manipulator"&% +5 "core" %E 3 o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & F  +2 "collection"'\ & +5 "core" &Vt Z \\ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   \ +2 "storage"(s% +3 "core" %S v +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(& +4 "core" & +  +2 "manipulator"& & +4 "core" &  !s +2 .tElbow.seek 3 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&& +3 "core" & w !s +2 "storage"({& +4 "core" & .  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' + "storage"(& +4 "core" & 3  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  !s +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +38 "core" ' +2 "manipulator"&(% +4 "core" %|  + "storage"(& +4 "core" & 0  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&'Ϩ +20 "core" ' +2 "manipulator"&& +4 "core" & f !s +2 "storage"(h& +39 "core" & =  +10 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'@ +37 "core" ' + "manipulator"&1& +5 "core" &  !s + "manipulator"&#% +4 "core" %1 < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +154 "core" ( +3 "manipulator"&4& +4 "core" &   % 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &   5 +3 .tForearm.seek CC + "manipulator"&)'" +94 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / + .tCC.seek :open +2 "collection"'<( +416 "core" ( +2 "storage"(%& +4 "core" & #  + "storage"(*& +4 "core" &   +2 "manipulator"&?& +3 "core" &   5 +2 "manipulator"&% +4 "core" % , ? +3 .tForearm.seek :retract + "manipulator"&''\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0( +163 "core" ( +2 "manipulator"&A& +3 "core" & L \\ +2 "storage"(B& +5 "core" & q  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +93 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +57 "core" 1 +2 "manipulator"&E% +3 "core" % Έ  +2 "storage"(G& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'ϴ +22 "core" ' +2 "manipulator"&=& +3 "core" & y \\ +2 "storage"($& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +34 "core" ' +2 "storage"(;% +4 "core" %H >  +2 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (K% +3 "core" %FO  OD +2 "manipulator"&/% +4 "core" %7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +89 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'P& +3 "core" & U W +2 "manipulator"&>% +5 "core" %\  q  + "storage"(% +4 "core" %` |  +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & V +2 "manipulator"&D& +3 "core" & C \\ +2 .tElbow.seek 2 +2 "manipulator"&V( +42 "core" ( + "manipulator"&W& +3 "core" & L # +3 "storage"(L& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +96 "core" ' +2 "storage"([& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +278 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &  ( +2 "manipulator"&Q& +3 "core" & \ "} +3 .tElbow.seek 2 + "manipulator"&M( +31 "core" ( +2 "manipulator"&& +3 "core" & i s +2 "storage"(H& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +61 "core" / +10 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(9'X +8 "core" & 9 s +2 "manipulator"&b% +3 "core" %  @ H +3 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&O& +3 "core" &% ) = << +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &% s << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'" +97 "core" ' +3 "manipulator"&X& +4 "core" &% T << +2 "manipulator"&a% +3 "core" %&  +3 "collection"'k& +3 "core" & V U +3 "collection"'m& +5 "core" & U W# +2 .tCC.seek :closed +2 "collection"'f(V +4 "core" & U W +7 &@ U W2 #c +9 &Z T V/ 6 +10 & U V. H +9 &l W V, G +9 &n T X3 H +10 &Vk U X0 G +9 &k W W* G +9 &n X X* G +10 &k U V H +9 &^l V W, G +10 & n V Ww G +9 &!o V Y2 G +9 &#p U Yo G +10 &%fn U W{ G +9 &''k V W$ H +9 &(j V W- G +10 &*k W YJ G +9 &,oh V YD G +10 &.0k T WF G +9 &/m U Vx G +9 &1m S W0 H +10 &3vk T W( G +9 &57k U XM H +9 &6m U W/ G +10 &8k V Y/ G +9 &:~l V V- G +10 &<@j T W9 G +9 &>h V VM G +9 &?k V Wt H +10 &Aj V W G +9 &CHo V Xy G +9 &Ep X YD H +10 &F| Y [7 I +9 &H Y [= J +10 &J; \\ ^= O +9 &K [ ^4 Q +9 &M Z [v Q +10 &Oy Z \\ Q +9 &Q; Y \\~ Q +9 &R ] [ R +10 &T \\ [9 S +9 &V-b [ \\@ + +10 &V \\ ] D +8 ( +2 &VY Z _ A +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&\\1 +65 "core" 1 +3 "manipulator"&t% +3 "core" % & N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%i& +4 "core" &p + "manipulator"&g% +5 "core" %\    +2 "storage"(U% +4 "core" %b  + "storage"(}. +4 "core" .( + "storage"(y& +4 "core" &  % +2 "storage"(_& +3 "core" &  +2 "manipulator"&d& +4 "core" &% L << +2 "manipulator"&% +4 "core" %\  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x( +164 "core" ( +2 "manipulator"&o& +3 "core" & L n +2 "storage"(n& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +97 "core" ' +2 "storage"(j& +3 "core" &  W +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +278 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&l& +4 "core" & M n +2 .tElbow.seek 2 +2 "manipulator"&v( +4 "core" ( + "manipulator"&u& +3 "core" & n +3 "storage"(r& +3 "core" &  - +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"('X +8 "core" & ^ n + "manipulator"&s% +4 "core" %  U d +3 .tForearm.seek :retract + "manipulator"&q'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +116 "core" ( + "manipulator"&& +4 "core" &t  9  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &t   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&& +4 "core" &t   +2 "manipulator"&{% +3 "core" % 2 d +3 "processing"%z& +4 "core" & +2 "processing"%& +5 "core" &k +2 .tPC.seek :closed +44 "processing"%|(Z +11 "core" & +2 & + & + & + & +2 & + & 6 +8 &IL / +9 &z D +10 &?k G +9 &k G +10 &m G +9 &k G +9 &Fg G +10 &k H +9 &h G +9 &m G +10 &!Nj G +9 &#n G +10 &$k H +9 &&i G +9 &(Vm G +10 &*k G +9 &+h G +9 &-k H +10 &/^j G +9 &1 n G +9 &2k G +10 &4h G +9 &6fm G +10 &8(j G +9 &9i G +9 &;j G +10 &=nl G +9 &?0k G +9 &@n G +10 &Bo G +9 &Dts H +10 &F4v I +9 &G J +9 &I L +10 &Ko M +9 &M2 L +9 &N M +10 &P M +9 &Rv M +10 &T9 M +9 &U~ M +9 &W N +10 &Y| : +9 &Zl5 Y +9 &Z ! +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&`1 +54 "core" 1 +2 "manipulator"&% +3 "core" % L d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + "processing"%"& +5 "core" &ZD ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  '  +2 "storage"(&% +4 "core" %a o +2 "storage"((. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(& +2 "manipulator"&h& +5 "core" &   +3 &t   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(1'i +2 "manipulator"&#(s +7 "core" ( + "manipulator"&& +4 "core" &t d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +4 "core" &t   +2 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +35 "core" ' +298 ( +2 "storage"(:& +4 "core" &   + "manipulator"&-& +4 "core" &t *  +2 "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +260 "core" ( +2 "manipulator"&,& +4 "core" &  + "storage"(%& +5 "core" &  [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +88 "core" ' + .tHand.open +2 "manipulator"&?1 +62 "core" 1 +3 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(5& +4 "core" &  M K 0 +2 "manipulator"&6& +3 "core" & \  +3 .tElbow.seek 2 + "manipulator"&E( +17 "core" ( +2 "manipulator"&G& +3 "core" &  ^ a +2 "storage"(=& +4 "core" &  L K n +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +58 "core" ' +2 "manipulator"&'& +3 "core" &\ a ` +2 "storage"(K& +4 "core" &  ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&/' +28 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&% +3 "core" %  G +2 "storage"(P& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +41 .tForearm.seek 2 + 316 counts +9 "manipulator"&>' +19 "core" ' + "manipulator"&& +5 "core" &\ e _ + "storage"(I& +4 "core" &  ] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +32 "core" ' +2 "storage"(+% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(J'X +98 ( % +3 "core" %T PG +2 "manipulator"&7% +5 "core" %я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &  g +2 "collection"'L& +4 "core" &VX [ \\ A +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&[% +3 "core" %\   +3 "storage"(3% +4 "core" %U  +2 "storage"(N. +3 "core" .( +2 "storage"(!& +4 "core" &   + "storage"(T& +4 "core" &   +2 "manipulator"&Q& +3 "core" &\ E _ +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" &\ _ _ +2 "storage"(8& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +96 "core" ' + "storage"(b& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +275 "core" ' +3 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &\ J ^ +2 "storage"(C& +4 "core" &  6 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&S' +33 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(a'Q +27 "core" ' +2 "manipulator"&k% +4 "core" % S +2 "storage"(M& +4 "core" &  t + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&9' +22 "core" ' +2 "manipulator"&e& +4 "core" &\ ! [ + "storage"(<& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'@ +39 "core" ' + "manipulator"&i& +4 "core" &\ # [ +2 "manipulator"&g% +4 "core" %Ѩ j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +166 "core" ( +3 "manipulator"&m& +4 "core" &. E Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &. : Du +3 .tForearm.seek CC + "manipulator"&_'" +92 "core" ' +2 .tHand.close + "manipulator"&d/ +55 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"(]& +3 "core" &  . +2 "storage"(o& +3 "core" &   +3 "manipulator"&n& +4 "core" &-  Ct + "manipulator"&j% +4 "core" % . 7 +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +156 "core" ( +2 "manipulator"&@& +3 "core" & H  +2 "storage"(& +3 "core" &  ' +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&l' +100 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&r1 +63 "core" 1 +10 "manipulator"&% +4 "core" %  + "storage"(\ & +6 "core" &  " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&s' +21 "core" ' +2 "manipulator"&x& +4 "core" & G  +2 "storage"(c& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +16 "core" ' +2 "storage"(% +4 "core" %F @ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +3 "core" %KN  OD +2 "manipulator"&v% +4 "core" %ѫ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +3 "core" & T V +2 "manipulator"&z% +5 "core" %\    +2 "storage"(% +3 "core" %b  +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" & )  +2 "manipulator"&& +4 "core" & b  +2 .tElbow.seek 3 + "manipulator"&"( +24 "core" ( + "manipulator"&& +4 "core" &  ^ +2 "storage"(&& +4 "core" & e  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +96 "core" ' +2 "storage"(& +3 "core" & 6  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(h- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & :  +2 "manipulator"&& +4 "core" & y ^ +2 .tElbow.seek 3 + "manipulator"&~( +4 "core" ( +2 "manipulator"& & +3 "core" & P ^ +2 "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'X +9 "core" & ^ + "manipulator"&1% +3 "core" % ϯ < +3 .tForearm.seek :retract +2 "manipulator"&:'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&& +3 "core" &(  ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &( q ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'" +97 "core" ' + "manipulator"&%& +4 "core" &) ^ ?S +2 "manipulator"&#% +5 "core" %  9 +2 "collection"'?& +3 "core" & S V# +3 "collection"'& +5 "core" & U U +2 .tCC.seek :closed +2 "collection"')(V +4 "core" & U Xg  +9 &7 S X1 *x +9 &j U V/ = +10 &{ V T. G +9 &qk S W/ G +9 &3k T V/ G +10 &l V V/ G +9 &k W Xw G +9 &xk W X G +10 &:k V V1 G +9 &k S Wm H +10 & l W XH G +9 &"m V Xv G +9 &$Bn U Wv G +10 &&m V Wp G +9 &'k W Vy G +9 &)i U U G +10 &+Jk T W G +9 &- j V V G +10 &.j U W G +9 &0n T V H +9 &2Sj V X G +10 &4j U W G +9 &5k U X G +10 &7j V Vx G +9 &9[j V W G +9 &;l V W G +10 &<m W X G +9 &>k V V} G +9 &@cj U VP G +10 &B%k W W G +9 &Cm W X G +9 &Es V W H +10 &Gc X YT J +9 &I" Y [ K +10 &J \\ ^ O +9 &L W ]v Q +9 &NW Y ]S Q +10 &P Z \\O P +9 &Q Y ] R +9 &S [ [B R +10 &UY Y ] B +9 &Vr? \\ \\ / +10 &VI Z \\ = +5 ( +2 "collection"'& +4 "core" &VH Y [ = +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.78 + .Hand.open + "manipulator"&51 +64 "core" 1 +3 "manipulator"&6% +5 "core" %  4 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +10 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +3 "core" & +3 "manipulator"& % +4 "core" %\    +2 "storage"('% +4 "core" %Y + "storage"(K. +3 "core" .( +2 "storage"(4& +4 "core" &  +2 "storage"(& +4 "core" & W  + "manipulator"&P& +5 "core" &(  ?Q +2 "manipulator"&A% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +168 "core" ( +2 "manipulator"&I& +4 "core" & T d +2 "storage"(& +3 "core" & )  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +93 "core" ' +2 "storage"(+& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +279 "core" ' + "storage"($- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&7& +4 "core" & E d +2 .tElbow.seek 3 + "manipulator"&E( +4 "core" ( +2 "manipulator"&;& +3 "core" &  d +2 "storage"(/& +3 "core" & d  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(['X +8 "core" &  d + "manipulator"&3% +5 "core" % ϱ  * +2 .tForearm.seek :retract + "manipulator"&2'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&!& +4 "core" &j T  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &j  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +100 "core" ' +2 "manipulator"&H& +4 "core" &j (  +2 "manipulator"&8% +3 "core" %  +3 "processing"%.& +4 "core" & +2 "processing"%b& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &  +9 &6 )u +9 &h < +9 &{ H +10 &]j G +9 & m G +9 &k G +10 &k H +9 &fj G +10 &'j( G +9 &kd G +9 & j G +10 &"mj G +9 &$0g G +9 &%k G +10 &'m H +9 &)uk G +10 &+6j H +9 &,j G +9 &.k G +10 &0~k G +9 &2>m H +9 &4j G +10 &5h G +9 &7j H +10 &9Hj G +9 &; g G +10 &<f G +9 &>j G +9 &@On G +9 &Bl G +10 &Cm G +9 &Es H +10 &GP J +9 &I  L +9 &J L +10 &L L +9 &NQ L +9 &P M +10 &Q M +9 &S M +10 &UX M +9 &W M +9 &X N +10 &Z,Dc &p +9 &Z5 ! +5 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&01 +2 "core" &Z ! +55 1 +2 "manipulator"&D% +3 "core" % ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +102 "core" ' +2 "processing"%O& +3 "core" &Z) ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&C% +3 "core" %\   +2 "storage"(X% +5 "core" %P  + "storage"(k. +3 "core" .( +2 "storage"(M& +4 "core" &   +2 "storage"(e& +3 "manipulator"&<& +7 "core" &   +2 &j   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&i(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +3 "core" ( + "manipulator"&F& +4 "core" &j   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +42 && +10 "core" &j   +3 .tForearm.seek PC +2 "manipulator"&V' +95 "core" ' +2 .tHand.close + "manipulator"&S/ +60 "core" / +2 .tPC.seek :open +2 "processing"%9( +38 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'y +36 "core" ' +345 ( +2 "storage"(y& +3 "core" &   +3 "manipulator"&\\& +4 "core" &j   +2 "manipulator"&Y% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +271 "core" ( +2 "manipulator"&f& +3 "core" & S +2 "storage"(]& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +95 "core" ' +3 .tHand.open + "manipulator"&n1 +61 "core" 1 +2 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(}& +3 "core" & K J 3  +2 "manipulator"&r& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&\ & +3 "core" & M x +3 "storage"(x& +4 "core" & J J B  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"&^& +4 "core" & i x +2 "storage"(& +3 "core" & f  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&v'} +21 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate + "storage"(l'i +25 "core" ' + "manipulator"&{% +5 "core" %·  + "storage"(s& +3 "core" & |  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&z'ϳ +20 "core" ' + "manipulator"&& +5 "core" & x + "storage"(q& +5 "core" & ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&t'9 +30 "core" ' + "storage"(p% +5 "core" %r  +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %R OF +2 "manipulator"&`% +4 "core" %# +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & @  +2 "collection"'&& +4 "core" &VG Y Z = +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ \ I  +2 "storage"(u% +4 "core" %` Z +2 "storage"(. +2 "core" .( +2 "storage"(h& +5 "core" &   + "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" & x +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" & B x +2 "storage"(& +4 "core" & h  +41 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +97 "core" ' + "storage"(1& +5 "core" & 3  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +279 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & x +3 "storage"(& +4 "core" & M  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'P +28 "core" ' +2 "manipulator"&#% +3 "core" %Ή  +2 "storage"(?& +5 "core" & 6  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&|'ϵ +20 "core" ' +2 "manipulator"&:& +3 "core" & T x +3 "storage"(& +4 "core" & 5  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'? +38 "core" ' +2 "manipulator"&=& +4 "core" & H x +2 "manipulator"& % +3 "core" %p x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +169 "core" ( +3 "manipulator"&K& +3 "core" &+ # } Ad +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &+ Ac +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' + .tHand.close +2 "manipulator"&P/ +64 "core" / +2 .tCC.seek :open + "collection"'A( +413 "core" ( +2 "storage"(,& +3 "core" &   +2 "storage"(I& +4 "core" & >  +2 "manipulator"&& +3 "core" & ( ! >L +2 "manipulator"&+% +5 "core" % ( S +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +163 "core" ( + "manipulator"&$& +4 "core" & R e +2 "storage"( & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&7'} +94 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +60 "core" 1 +2 "manipulator"&W% +3 "core" % y x +2 "storage"(L& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +3 "manipulator"&3'ϥ +20 "core" ' +2 "manipulator"&& +3 "core" & e +3 "storage"(*& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +26 "core" ' + "storage"(>% +4 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (T% +3 "core" %N  PE +2 "manipulator"&E% +4 "core" %C ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +87 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'8& +3 "core" & U V +3 "manipulator"&.% +4 "core" %\  P  +2 "storage"([% +3 "core" %]  +2 "storage"(2. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" & > +2 "manipulator"&D& +5 "core" & U e +2 .tElbow.seek 2 + "manipulator"&O( +37 "core" ( +2 "manipulator"&C& +4 "core" & % + "storage"(X& +5 "core" & | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +94 "core" ' +2 "storage"(b& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +279 "core" ' + "storage"(<- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" & : +2 "manipulator"&F& +4 "core" &  # +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&Q& +3 "core" & H # +2 "storage"(S& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&N/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(J'X +8 "core" & ! # +2 "manipulator"&g% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&Y& +4 "core" && ? =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &&  =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +102 "core" ' +3 "manipulator"&]& +4 "core" && $ ; =F +2 "manipulator"&i% +3 "core" %( [ +3 "collection"'n& +3 "core" & W V +3 "collection"'j& +5 "core" & U X" +2 .tCC.seek :closed +2 "collection"'_(V +3 "core" & T V# +9 &A T Y/ #c +9 &[ V W/ 6 +10 & U U. H +9 &j T Y, G +10 &k T X+ G +9 &\\i T Xm G +9 &l U X G +10 &k W V G +9 &j V X G +9 &ci W W G +10 & $k U X G +9 &!k V XE G +9 &#k V Xs H +10 &%kj V X G +9 &'.j T X G +10 &(i W Z F +9 &*j W X G +9 &,tj W V G +10 &.5m V X G +9 &/j V X G +9 &1k T Xn G +10 &3|j U V G +9 &5>g X X{ G +10 &7j W W G +9 &8h V W F +9 &:k T W G +10 &k T W G +9 &?j W Z G +10 &Ai S XV G +9 &CNk V Y G +10 &E r X Y H +9 &Fz W ZT I +9 &H Y [ J +10 &JB [ ] N +9 &K [ _ Q +10 &M [ [ Q +9 &O~ Z Z Q +9 &Q@ Z \\ Q +10 &R Y [ R +9 &T Z [ R +9 &V,[ Y [ 0 +10 &V Z ] K +9 ( + &Vk Z \\ G +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&}1 +55 "core" 1 +3 "manipulator"&r% +5 "core" % (  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +5 "core" & +2 "manipulator"&d% +4 "core" %\ *  + "storage"(^% +3 "core" %U E +2 "storage"(. +4 "core" .( + "storage"({& +4 "core" & +2 "storage"(s& +3 "core" & / +3 "manipulator"&m& +3 "core" && ! =F +2 "manipulator"&% +4 "core" %\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&@( +157 "core" ( +4 "manipulator"&q& +4 "core" & &  +2 "storage"(p& +3 "core" & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +97 "core" ' +2 "storage"(o& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &  +2 "manipulator"&c& +5 "core" & '  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & t  +2 "storage"(v& +3 "core" & ] +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +5 "storage"('X +6 "core" & +  + "manipulator"&u% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"&l& +3 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &n   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + "manipulator"&& +5 "core" &n .  +2 "manipulator"&% +3 "core" %  +3 "processing"%t& +4 "core" & +2 "processing"%1& +5 "core" & +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" & +6 & : +10 &]O 0 +9 &} E +9 &\\g G +10 &k G +9 &j G +9 &j G +10 &ej G +9 &(i G +10 &g G +9 &j G +9 &!nh G +10 &#/k G +9 &$h G +9 &&h G +10 &(vh G +9 &*7h G +10 &+j G +9 &-j G +9 &/}h G +10 &1?j G +9 &3j G +9 &4j G +10 &6j G +9 &8Gh G +10 &:k G +9 &;i G +10 &=h G +9 &?Oi G +9 &Aj G +10 &Bl H +9 &Dp H +9 &FRv I +10 &H J +9 &I L +9 &K L +10 &MP L +9 &O M +9 &P M +10 &R M +9 &TW M +10 &V M +9 &W M +9 &Y : +10 &Z|%f S +9 &Z * +2 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&w1 +55 "core" 1 +2 "manipulator"&% +3 "core" % 6  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +92 "core" ' +2 "processing"%& +4 "core" &ZK * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\    +2 "storage"(%% +4 "core" %` +2 "storage"(#. +2 "core" .( +2 "storage"(?& +3 "core" & I +3 "storage"(:& +3 "manipulator"&& +6 "core" & # + &n   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&=(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( + "manipulator"& & +5 "core" &n "  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &n U  +3 .tForearm.seek PC + "manipulator"&"' +94 "core" ' +2 .tHand.close + "manipulator"& / +56 "core" / +2 .tPC.seek :open +2 "processing"%|( +93 "core" ' +2 "storage"(~- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +43 ."raiseStack"SE.seek :place +9 "storage"(K'y +47 "core" ' +232 ( +2 "storage"(4& +4 "core" &  +2 "manipulator"&5& +4 "core" &n  +2 "manipulator"&% +4 "core" % ? +2 .tForearm.seek :retract + "manipulator"&P'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +276 "core" ( +2 "manipulator"&)& +3 "core" & %  +2 "storage"(,& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&I'ќ +97 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(+- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & M K 7 +3 "manipulator"&/& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&W( +9 "core" ( + "manipulator"&L& +4 "core" & V } +2 "storage"(& +4 "core" & L K G +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(>' +57 "core" ' +2 "manipulator"&-& +4 "core" &  } +2 "storage"(T& +3 "core" & p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&E' +23 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +25 "core" ' + "manipulator"&3% +4 "core" %  +2 "storage"(8& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&.' +20 "core" ' + "manipulator"&[& +4 "core" & } +2 "storage"(2& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +26 "core" ' + "storage"(B% +5 "core" %o X +2 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (R% +3 "core" %}T L PF +2 "manipulator"&0% +4 "core" %Ѫ Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" & # +2 "collection"'X& +4 "core" &Vj Y [ G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&b% +5 "core" %\  T  + "storage"(;% +4 "core" %Y  +2 "storage"(H. +3 "core" .( +2 "storage"(<& +4 "core" &  + "storage"(e& +4 "core" &  +2 "manipulator"&F& +4 "core" &  } +2 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&S& +4 "core" & S } +2 "storage"(N& +4 "core" & @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +91 "core" ' + "storage"(g& +4 "core" & ^ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'i +279 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +50 "manipulator"&Y& +3 "core" & } +2 "storage"(V& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&M' +30 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +29 "core" ' +2 "manipulator"&i% +4 "core" %  , + "storage"(n& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&J' +18 "core" ' +2 "manipulator"&y& +4 "core" & _ } +2 "storage"(A& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(r'? +37 "core" ' + "manipulator"&x& +5 "core" & 7 } + "manipulator"&d% +4 "core" %ѝ P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&{& +3 "core" &+ $ Ac +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &+ \ Ab +3 .tForearm.seek CC + "manipulator"&s'" +95 "core" ' +2 .tHand.close + "manipulator"&m/ +55 "core" / +3 .tCC.seek :open + "collection"'( +412 "core" ( +2 "storage"(f& +3 "core" & +2 "storage"(q& +4 "core" & * +2 "manipulator"&p& +3 "core" &+  Aa +3 "manipulator"&o% +4 "core" % (  +2 .tForearm.seek :retract + "manipulator"&\\'\ +100 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&\ ( +156 "core" ( +2 "manipulator"&& +3 "core" & )  +2 "storage"(`& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&c' +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +61 "core" 1 +2 "manipulator"&% +4 "core" % C +2 "storage"(&& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 306 counts +2 "manipulator"&u' +16 "core" ' + "manipulator"&@& +4 "core" & T  +2 "storage"(U& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +40 "core" ' +2 "storage"(z% +4 "core" %H U  +2 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (% +3 "core" %K OD +2 "manipulator"&% +4 "core" %љ H i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & S V| +2 "manipulator"&t% +5 "core" %\   - + "storage"(% +4 "core" %a o +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(9( +339 "core" ( +6 .tSC.configure :limp +3 "storage"($\ 1b +3 (w& +3 "core" & z  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( + "manipulator"&& +5 "core" & m H + "storage"(%& +4 "core" & b  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +96 "core" ' +2 "storage"(?& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &   +2 "manipulator"& & +4 "core" & ! H +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & I H +2 "storage"( & +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&~'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +5 "storage"('X +3 "core" & H +3 "manipulator"&4% +4 "core" % ϵ N Q +2 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +27 "core" ( +2 "manipulator"& & +3 "core" &* 5 ] @^ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &* B @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'" +103 "core" ' +4 "manipulator"&,& +3 "core" &*  @^ +3 "manipulator"&=% +4 "core" %'  I +2 "collection"'& +4 "core" & T V +2 "collection"'+& +6 "core" & U Vf +2 .tCC.seek :closed + "collection"'(V +4 "core" & W W) +7 &C V X0 #c +10 &[ T W/ 6 +9 & W Wy G +9 &e V W0 F +10 &k W Xo G +9 &fk U W G +10 &(h T Xx G +9 &i U Vu F +9 &h V WF G +10 &nm W W G +9 & 0h U V G +9 &!j U W G +10 &#n V W G +9 &%vj T W G +10 &'8k U V G +9 &(k V Z G +9 &*l W WO G +10 &,~k T W G +9 &.@k V X G +9 &0k V X G +10 &1m V WW G +9 &3l T X G +10 &5Ik U W F +9 &7\ k V XM G +9 &8k W X F +10 &:k V W G +9 &j V V F +9 &?j V U F +9 &Aj V W F +10 &CXk W W G +9 &Er W X H +9 &F~ V Y I +10 &H X \\ I +9 &JL [ ] N +10 &L [ ] P +9 &M [ [ P +9 &O W [ Q +10 &QJ [ \\ Q +9 &S [ [ R +9 &T Y \\ R +10 &V;g [ \\ / +9 &V \\ \\ 0 +9 &Vy Z ] K +3 ( +2 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&/% +4 "core" % ' a I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" & + "manipulator"&P% +3 "core" %\  !  +3 "storage"(-% +4 "core" %b  + "storage"(T. +3 "core" .( +2 "storage"(3& +3 "core" &  +2 "storage"(8& +4 "core" & y  +2 "manipulator"&K& +4 "core" &)  @\\ +2 "manipulator"&$% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&[( +159 "core" ( + "manipulator"&2& +4 "core" & D W +2 "storage"(B& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&''9 +91 "core" ' +3 "storage"(I& +4 "core" & +  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"( 'i +317 "Can" F +6 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +2 "core" &  +3 "manipulator"&*& +3 "core" & M W +3 .tElbow.seek 3 + "manipulator"&W( +4 "core" ( +2 "manipulator"&>& +4 "core" &  W + "storage"(E& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&.'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&X& +3 "storage"(b'X +8 "core" & W + "manipulator"&;% +5 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&7(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"&<& +3 "core" &} n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +2 "core" &} E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +95 "core" ' + "manipulator"&S& +5 "core" &} D  + "manipulator"&N% +5 "core" % 0  +2 "processing"%6& +3 "core" & +3 "processing"%g& +4 "core" & +3 .tPC.seek :closed + "processing"%!(Z +5 "core" &  +9 &6 )v +10 &j = +9 &{ H +10 &lh G +9 &.i G +9 &j G +10 &j G +9 &ti G +10 &6h G +9 &l G +9 & h G +10 &"zj G +9 &$<h G +9 &%j G +10 &'j G +9 &)j G +9 &+Dh G +10 &-h G +9 &.h G +10 &0i G +9 &2Lj G +9 &4i G +10 &5i G +9 &7h G +9 &9Ti G +10 &;h G +9 &<h G +10 &>i G +9 &@]k G +9 &Bk G +10 &Co G +9 &Es H +9 &G^ J +10 &I L +9 &J L +10 &L L +9 &N^ L +9 &P  L +10 &Q M +9 &S M +9 &Ue M +10 &W' M +9 &X M +10 &Z8Dd %m +9 &Z 0 " +5 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&G1 +2 "core" &Z " +62 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' + "processing"%Y& +5 "core" &Z{ " + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&V% +4 "core" %\ \ E  +2 "storage"(]% +3 "core" %] G +2 "storage"(i. +3 "core" .( +2 "storage"(n& +3 "core" &   +3 "storage"(y& +2 "manipulator"&A& +5 "core" & A  +3 &} S  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(x'i + "manipulator"&d(s +7 "core" ( + "manipulator"&Z& +4 "core" &}   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &}   +3 .tForearm.seek PC +2 "manipulator"&O' +95 "core" ' + .tHand.close +2 "manipulator"&M/ +59 "core" / +3 .tPC.seek :open +2 "processing"%J( +83 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +52 "core" ' +286 ( +2 "storage"(j& +3 "core" &   +2 "manipulator"&}& +5 "core" &}   + "manipulator"&a% +4 "core" % p +2 .tForearm.seek :retract +2 "manipulator"&m'\ +98 "core" ' +2 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&^( +269 "core" ( +2 "manipulator"&_& +4 "core" & 2  +2 "storage"(f& +3 "core" & F  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +115 "core" ' +2 .tHand.open + "manipulator"&p1 +53 "core" 1 +3 "storage"(o- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +3 "core" -' +2 "storage"(& +4 "core" & K J 2  +2 "manipulator"&v& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&&& +5 "core" & !  + "storage"(@& +4 "core" & K J b  +3 .tForearm.seek 3 + 700 counts + "manipulator"&U'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +58 "core" ' + "manipulator"&\\& +5 "core" &  + "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(c'i +24 "core" ' +2 "manipulator"&u% +4 "core" %Ύ B  +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&t'Ϻ +19 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +34 "core" ' +2 "storage"(% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (% +6 "core" %|V QH +2 "manipulator"&w% +3 "core" %7 j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & :  +2 "collection"'%& +3 "core" &Vz X [ K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&?% +3 "core" %\  ] + +3 "storage"(% +4 "core" %\\ + "storage"(. +3 "core" .( +2 "storage"(:& +4 "core" & 7  +2 "storage"(1& +3 "core" & W  +2 "manipulator"& & +4 "core" & g  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(h& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +92 "core" ' + "storage"(4& +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & `  +2 "storage"("& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +4 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'P +27 "core" ' +2 "manipulator"&=% +3 "core" %}  +3 "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +20 "core" ' +2 "manipulator"&5& +3 "core" &  +3 "storage"(& +3 "core" & H  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'? +36 "core" ' +2 "manipulator"&& +3 "core" & \  +3 "manipulator"&P% +4 "core" %E ; z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +166 "core" ( +3 "manipulator"&3& +3 "core" &' [ >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &' h >H +3 .tForearm.seek CC + "manipulator"&+'" +94 "core" ' +2 .tHand.close + "manipulator"&K/ +58 "core" / +2 .tCC.seek :open +2 "collection"'$( +415 "core" ( +2 "storage"()& +3 "core" & -  +3 "storage"(2& +4 "core" &   + "manipulator"&B& +3 "core" && F =C +3 "manipulator"&I% +4 "core" % *  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&L( +163 "core" ( +2 "manipulator"&R& +3 "core" & R +2 "storage"(0& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&*'} +99 "core" ' +2 .tElbow.hold + "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +52 "core" 1 +2 "manipulator"&C% +5 "core" % Ί 6 + "storage"(X& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&;'϶ +21 "core" ' + "manipulator"&[& +3 "core" & R +3 "storage"('& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +26 "core" ' +2 "storage"(.% +4 "core" %H | +2 ."downElevator"SE.seek :down +4 "storage"(<'X +98 (e% +3 "core" %L W OD +2 "manipulator"&W% +5 "core" %S 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'N& +3 "core" & S U +2 "manipulator"&6% +4 "core" %\  W  +2 "storage"(b% +4 "core" %c  + "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(|( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" & }  +2 "manipulator"&D& +4 "core" & 5 R +2 .tElbow.seek 2 +2 "manipulator"&Y( +37 "core" ( +2 "manipulator"&V& +3 "core" &  % +2 "storage"(]& +4 "core" &  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +92 "core" ' +2 "storage"(i& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +288 "core" ' +3 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &  i +2 "manipulator"&Z& +4 "core" &  # +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&F& +3 "core" &  # +3 "storage"(M& +3 "core" &  ? +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(!'X +8 "core" &  # + "manipulator"&x% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&j'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +138 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +27 "core" ( +2 "manipulator"&a& +3 "core" &  ; 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'" +93 "core" ' +2 "manipulator"&f& +3 "core" &  4 +3 "manipulator"&d% +3 "core" % . +3 "collection"'p& +4 "core" & V _ +2 "collection"'o& +5 "core" & V Wh +3 .tCC.seek :closed + "collection"'s(V +4 "core" & U W3 +8 &A U W( #c +9 &\\ U Yp 6 +10 & V Y1 G +9 &h U W) G +9 &i V X. G +10 &^g V Vu F +9 &k V Vw G +9 &m T Yx G +10 &j U Wu G +9 &eg U WO G +10 & 'g U V1 G +9 &!j U W< F +9 &#j V W1 F +10 &%nj W WE F +9 &'/h U X~ G +9 &(g V X F +10 &*j W X F +9 &,ul W Xv G +10 &.6i V Vu G +9 &/f U V G +9 &1h U X G +10 &3}l W W= G +9 &5?j T Xz G +9 &7g U Y} F +10 &8g V X F +9 &:n X ZR G +10 & l W X G +9 &?m W X F +10 &Ai V W F +9 &CNn W WU G +9 &Ep X Zx G +10 &Fy Y [ H +9 &H [ ] I +10 &JD Z \\X M +9 &K \\ ^8 Q +9 &M Y Zx P +10 &O Z \\ P +9 &QB Y [T Q +9 &S [ [v R +10 &T X ^{ R +9 &V0` [ \\ )~ +9 &V, Y [ J +9 ( +3 "collection"'o& +3 "core" &VH Z ] > +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&v% +4 "core" %  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &_ +2 "manipulator"&m% +4 "core" %\  6 +2 "storage"(\\% +3 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(u& +3 "core" &   +2 "storage"({& +5 "core" &   + "manipulator"&& +4 "core" &  4 +2 "manipulator"&% +3 "core" %\  6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" &  n +2 "storage"(& +4 "core" &  Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +105 "core" ' +2 "storage"(q& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &  \\ +2 "manipulator"&U& +3 "core" & 1 n +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&z& +3 "core" & ? n +2 "storage"(& +49 "core" &  7 +5 .tForearm.seek 2 + 300 counts + "manipulator"&t' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(?'X +9 "core" & / n + "manipulator"&% +4 "core" %  \ +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&c(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&:& +3 "core" &t 5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &t 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +102 "core" ' +2 "manipulator"& & +3 "core" &t i +3 "manipulator"&h% +4 "core" % ' o +2 "processing"%r& +3 "core" &m +3 "processing"%4& +5 "core" &m +2 .tPC.seek :closed +2 "processing"%l(Z +3 "core" &  +9 &6 )u +10 &i < +9 &| G +9 &gg G +10 &(g G +9 &j G +9 &i F +10 &oj G +9 &2h F +9 &j G +10 & h F +9 &"wh G +10 &$9g G +13 &%k G +5 &'j G +11 &)~l G +8 &+Bh F +9 &-h G +10 &.h G +9 &0m G +10 &2Ij G +9 &4\ g G +9 &5i G +10 &7i G +9 &9Pk G +10 &;g F +9 &<i G +9 &>g F +10 &@Xj G +9 &Bi G +9 &Cm G +10 &Er H +9 &GY} J +10 &I K +9 &J L +9 &L M +10 &NY L +9 &P L +9 &Q M +10 &S M +9 &U` M +9 &W! M +10 &X M +9 &Z2Ba %k +10 &Z5 \ +5 ( +2 "processing"%4& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open +2 "manipulator"&\ 1 +52 "core" 1 +2 "manipulator"&% +3 "core" %  o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +91 "core" ' + "processing"% & +5 "core" &ZE + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&"% +4 "core" %\    + "storage"( % +4 "core" %O  +2 "storage"(=. +4 "core" .( + "storage"(& +3 "core" &   +3 "storage"(5& +2 "manipulator"&& +7 "core" &   +2 &t  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'i +3 "core" ( + "manipulator"&(& +3 "core" &t  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &t  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +33 "core" ' +296 ( +2 "storage"(8& +3 "core" &   +2 "manipulator"&& +4 "core" &t 0 +2 "manipulator"&~% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-( +273 "core" ( + "manipulator"&& +4 "core" & .  +2 "storage"()& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +95 "core" ' + .tHand.open +41 "manipulator"&B1 +61 "core" 1 +2 "storage"(I- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(R'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(0' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(T& +3 "core" &  K U T +2 "manipulator"&E& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&C( +8 "core" ( +2 "manipulator"&X& +4 "core" & [  +2 "storage"([& +4 "core" &  J J > +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +60 "core" ' + "manipulator"&& +4 "core" & n  +2 "storage"(e& +3 "core" &  O +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +25 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +21 "core" ' +2 "manipulator"&N% +4 "core" %  k +2 "storage"(;& +3 "core" &  5 +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&6' +20 "core" ' +2 "manipulator"&b& +4 "core" & k  +2 "storage"(H& +3 "core" &  m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +28 "core" ' +2 "storage"( % +3 "core" %o M  +3 ."downElevator"SE.seek :down +4 "storage"(<'X +98 (9% +3 "core" %HY  PH +2 "manipulator"&G% +5 "core" %ї  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +72 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &  x +3 "collection"']& +4 "core" &VG Z Z > +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&i% +4 "core" %\    +2 "storage"(>% +3 "core" %O Q +2 "storage"(S. +4 "core" .( + "storage"(y& +4 "core" &  H +2 "storage"(A& +4 "core" &   +2 "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&F( +3 "core" ( +2 "manipulator"&M& +4 "core" & $  +2 "storage"(7& +3 "core" &  ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +93 "core" ' + "storage"(x& +4 "core" &  o +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +278 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & A  +3 "storage"(n& +4 "core" &  k +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&O' +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(d'P +31 "core" ' + "manipulator"&p% +4 "core" %  +2 "storage"(Q& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&!' +19 "core" ' +47 "manipulator"&j& +5 "core" & /  +2 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(v'? +42 "core" ' + "manipulator"&@& +5 "core" & 7  + "manipulator"&m% +5 "core" %Ѻ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&u& +3 "core" &* > @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &)  @[ +3 .tForearm.seek CC + "manipulator"&{'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +3 .tCC.seek :open + "collection"'( +412 "core" ( +2 "storage"(_& +3 "core" &  U +2 "storage"(& +4 "core" &  R +2 "manipulator"&& +4 "core" &(  ?R +2 "manipulator"&q% +4 "core" % 6 +2 .tForearm.seek :retract + "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&( +162 "core" ( + "manipulator"&& +4 "core" &  u +2 "storage"(w& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&U' +106 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  Q  +2 "storage"(%& +4 "core" &  m + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&& +3 "core" &  u +3 "storage"(^& +4 "core" &  T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +37 "core" ' + "storage"(t% +3 "core" %H < +3 ."downElevator"SE.seek :down +4 "storage"(:'X +98 (1% +4 "core" %,O j M@ +2 "manipulator"&% +5 "core" %ј + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'h& +4 "core" & T V +2 "manipulator"&r% +3 "core" %\   ) +2 "storage"(?% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(J( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" & E  +2 "manipulator"&& +4 "core" & u +2 .tElbow.seek 3 +2 "manipulator"& ( +16 "core" ( + "manipulator"&"& +4 "core" & f 8 +2 "storage"( & +4 "core" & o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +95 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +46 (4& +6 "core" &   +4 "manipulator"&(& +4 "core" & 8 +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & r 8 +2 "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&#& + "storage"(l'X +7 "core" &  8 +2 "manipulator"&P% +3 "core" % ϫ  +3 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&~& +4 "core" &'  \\ >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +4 "manipulator"&)& +4 "core" &( 6 >J +2 "manipulator"&% +3 "core" %' z +3 "collection"'B& +3 "core" & T V +3 "collection"'I& +5 "core" & S Uf +2 .tCC.seek :closed +2 "collection"'+(V +5 "core" & S X( +6 &8 T W, #c +10 &[ V V 6 +9 & S U G +9 &d V W6 F +10 &m T XH G +9 &_h S Us G +9 &"g W W: G +10 &g T W6 G +9 &k S W1 G +10 &hi U Y4 G +9 & *g a W: G +9 &!g V W7 F +10 &#j V b/ G +9 &%pl V W0 G +9 &'2h U W; G +10 &(e T W4 F +9 &*g T X: G +10 &,xk U V4 G +9 &.:h W X G +9 &/k T V: G +10 &1l R Wy G +9 &3i U Vx G +9 &5Cj U W} F +10 &7h W XR G +9 &8e V X8 F +10 &:j W X F +9 & g U W G +10 &?k W X G +9 &Ah T X G +9 &CRh V X G +10 &Ep Y X8 G +9 &F} Z X; H +10 &H X Y J +9 &JG [ \\U M +9 &L [ ]Q P +10 &M Z \\~ P +9 &O [ \\ Q +9 &QD [ \\S Q +10 &S Z ]^ R +9 &T [ ]D R +10 &V3b Z \\ + +9 &V Z ^ @ +9 ( + &VH X Z > +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&T1 +55 "core" 1 +3 "manipulator"&K% +3 "core" % & $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +4 "core" & +2 "manipulator"&[% +4 "core" %\    +2 "storage"(% +4 "core" %a  + "storage"(e. +3 "core" .( +2 "storage"(3& +4 "core" & Y  + "storage"(N& +4 "core" & r  +2 "manipulator"&;& +3 "core" && L =D +2 "manipulator"&R% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&b( +163 "core" ( + "manipulator"&H& +5 "core" & Y } + "storage"( & +4 "core" & <  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +105 "core" ' + "storage"(2& +4 "core" & 1  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +275 "core" ' +2 "storage"(9- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (G& +3 "core" &  +2 "manipulator"&'& +4 "core" & } +2 .tElbow.seek 3 + "manipulator"&C( +4 "core" ( +2 "manipulator"&.& +3 "core" &  } +2 "storage"(W& +3 "core" & 5  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&]& + "storage"(i'X +8 "core" & } + "manipulator"&>% +4 "core" % Ϭ k o +49 .tForearm.seek :retract +3 "manipulator"&*'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S(s +118 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +125 "core" ( +4 "manipulator"&y& +4 "core" &o [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &o G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z' +99 "core" ' +2 "manipulator"&M& +4 "core" &o e  +2 "manipulator"&7% +3 "core" % / +3 "processing"%/& +4 "core" & +2 "processing"%x& +5 "core" & +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" & +7 &> #b +9 &Z 5 +10 & H +9 &h G +9 &g G +10 &Ug G +9 &g F +9 &g G +10 &g G +9 &]h G +10 & m G +9 &!h G +9 &#l G +10 &%eh G +9 &'&k G +9 &(g F +10 &*h G +9 &,mi G +10 &..m G +9 &/h G +9 &1h G +10 &3te G +9 &56h G +9 &6g G +10 &8k G +9 &:}g G +10 &<>k G +9 &>g F +9 &?h G +10 &Ah G +9 &CFj G +9 &Er H +10 &Fx H +9 &H K +10 &J@ L +9 &L L +9 &M L +10 &O L +9 &QF M +9 &S M +10 &T M +9 &V M +10 &XM M +9 &Ywy "k +9 &Z-~ 0 +9 ( +3 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&L1 +2 "core" &Z ! +52 1 + "manipulator"&D% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +2 "processing"%a& +3 "core" &ZJ ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +3 "core" %\  C  +2 "storage"(f% +5 "core" %_ + "storage"(p. +3 "core" .( +2 "storage"(Q& +3 "core" &   +3 "storage"(j& +2 "manipulator"&$& +5 "core" &   +3 &o p  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(@'i +2 "manipulator"&m(s +7 "core" ( + "manipulator"&k& +5 "core" &o   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &o   +2 .tForearm.seek PC +2 "manipulator"&Y' +95 "core" ' + .tHand.close +2 "manipulator"&O/ +53 "core" / +2 .tPC.seek :open +2 "processing"%!( +86 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +43 "core" ' +293 ( +2 "storage"(o& +4 "core" & Z  + "manipulator"&& +3 "core" &p   +3 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\\( +272 "core" ( + "manipulator"&s& +4 "core" &   +2 "storage"(_& +3 "core" & 3  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +101 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.79 Pucks below Top Plate + "storage"(w' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(& +50 "core" & O \\ t  +3 "manipulator"&& +3 "core" & '  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&%& +4 "core" & "  + "storage"(& +4 "core" & p T x  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +58 "core" ' +2 "manipulator"&}& +3 "core" & a  +2 "storage"(1& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(U'i +23 "core" ' +2 "manipulator"&% +3 "core" %Ώ C +2 "storage"(h& +4 "core" & 3  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&r'ϻ +20 "core" ' +2 "manipulator"&?& +4 "core" & w  +2 "storage"(& +3 "core" & )  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +28 "core" ' + "storage"(`% +5 "core" %n  +2 ."downElevator"SE.seek :down +4 "storage"(:'X +98 (|% +4 "core" %rT PH +2 "manipulator"&\ % +4 "core" %2  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ("& +3 "core" & 4  +2 "collection"' & +3 "core" &VG Z ^ > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  +3 "storage"(z% +4 "core" %b C + "storage"( . +4 "core" .( + "storage"(5& +4 "core" & V  +2 "storage"(4& +4 "core" & 1  +2 "manipulator"&(& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & $  +2 "storage"(c& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +104 "core" ' +2 "storage"(P& +4 "core" & M  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +278 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & &  +2 "storage"(& +4 "core" & y  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"()- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' +2 "manipulator"&% +3 "core" %Ύ c +2 "storage"(B& +4 "core" & a  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&l'Ϻ +20 "core" ' +2 "manipulator"&8& +4 "core" & H  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'? +38 "core" ' +2 "manipulator"&X& +3 "core" &  +2 "manipulator"&[% +49 "core" %? O +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +167 "core" ( +2 "manipulator"&3& +3 "core" &% f <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &%  <; +3 .tForearm.seek CC + "manipulator"&I'" +92 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 .tCC.seek :open + "collection"'R( +413 "core" ( +2 "storage"(& +3 "core" &   +2 "storage"(H& +4 "core" &   +2 "manipulator"& & +4 "core" &$ ;5 +2 "manipulator"&2% +3 "core" % 2  +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E( +162 "core" ( +2 "manipulator"&9& +4 "core" & ] y +2 "storage"(G& +4 "core" & z  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&''} +103 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +62 "core" 1 +2 "manipulator"&V% +5 "core" % { > +3 "storage"(]& +3 "core" & &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&>'ϧ +20 "core" ' +2 "manipulator"&b& +4 "core" & ~ y +2 "storage"(-& +3 "core" & ^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +32 "core" ' + "storage"(6% +4 "core" %H  \ +2 ."downElevator"SE.seek :down +3 "storage"(y'X +100 (A% +3 "core" % J d OC +2 "manipulator"&C% +4 "core" %, +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" & T VP +2 "manipulator"&/% +4 "core" %\ #  ; +2 "storage"(i% +3 "core" %b 7 +2 "storage"(*. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &  +2 "manipulator"&D& +3 "core" & \\ y +2 .tElbow.seek 2 +2 "manipulator"&a( +33 "core" ( +2 "manipulator"&n& +3 "core" &  ] "{ +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +105 "core" ' + "storage"(Q& +5 "core" & 4 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +277 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &  +2 "manipulator"&k& +4 "core" & !s +2 .tElbow.seek 2 + "manipulator"&F( +4 "core" ( +2 "manipulator"&Z& +4 "core" & $ !s +3 "storage"(O& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&d' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tHand.close +3 "manipulator"&S/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& + "storage"(<'X +8 "core" &  !s +2 "manipulator"&@% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&o'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&& +3 "core" &* % @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &* # ?W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'" +95 "core" ' +2 "manipulator"&_& +4 "core" &* & @W +2 "manipulator"&m% +3 "core" %  +3 "collection"'& +3 "core" & S V +3 "collection"'q& +5 "core" & T V +2 .tCC.seek :closed +2 "collection"'{(V +5 "core" & T W  +8 &8 T Wy *x +10 &k W V' = +9 &u U W( G +9 &|i V X3 F +10 &?i T W5 F +9 &l T W7 G +10 &j V W7 G +9 &g T X@ F +9 &Fi U V8 F +10 &k V V7 G +9 & j U W5 G +9 &"h T X0 G +10 &$Mg U X8 G +9 &&l U W0 G +10 &'j T W6 G +9 &)j U W3 F +9 &+Vi V W7 F +10 &-k U V@ G +9 &.h T X2 G +9 &0h U X5 G +10 &2^e V V5 F +9 &4 h S X4 F +10 &5k W W: G +9 &7i U V7 G +9 &9ff U X8 F +10 &;'h W W< G +9 &<l Y Y= G +9 &>j V X> G +10 &@mf T V# G +9 &B/k V Wp G +10 &Cn U Z7 G +9 &Es Y Y? H +9 &Gn X \\6 I +10 &I, Y Z< K +9 &J \\ ^ O +9 &L Y ]6 P +10 &Na Y \\ P +9 &P! Y Z Q +10 &Q Y [ Q +9 &S Y \\y R +9 &Ub Y [z @ +10 &VG Z \\ a +9 &V X h J +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&1 +3 "core" &Vh [ ] I +50 1 +3 "manipulator"&% +3 "core" % ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%%& +4 "core" &l + "manipulator"&% +4 "core" %\ ! H 6 +2 "storage"(}% +4 "core" %_  +2 "storage"(1. +3 "core" .( +2 "storage"(u& +4 "core" & b + "storage"(& +4 "core" & - +2 "manipulator"&& +4 "core" &*  @W +2 "manipulator"&h% +4 "core" %\  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&?( +159 "core" ( +2 "manipulator"&& +3 "core" & 3 z +2 "storage"(`& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +96 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +279 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &  +2 "manipulator"&^& +4 "core" & 3 z +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&t& +4 "core" & ! z +2 "storage"(& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&r' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"('X +7 "core" & y z +2 "manipulator"&z% +4 "core" %  d P +2 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&5& +4 "core" &h < 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &h 5 +3 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +99 "core" ' + "manipulator"&& +5 "core" &h  5 + "manipulator"&c% +4 "core" %  +3 "processing"%v& +3 "core" &k +3 "processing"%P& +5 "core" & +3 .tPC.seek :closed + "processing"%:(Z +4 "core" & +8 &> #b +9 &Z 5 +9 & H +10 &g G +9 &h G +9 &Tj G +10 &f G +9 &j G +10 &h F +9 &]h G +9 & g G +10 &!h G +9 &#h F +9 &%dg G +10 &'(g F +9 &(f G +10 &*e G +9 &,mh G +9 &..k G +10 &/g G +9 &1f G +9 &3th G +10 &58g F +9 &6g G +9 &8g G +10 &:~g F +9 &j G +9 &?h F +9 &Ai G +10 &CEj G +9 &En G +9 &Fy H +10 &H K +9 &J@ L +10 &L L +9 &M L +9 &O L +10 &QF M +9 &S M +9 &T M +10 &V M +9 &XM M +10 &Ywx "j +9 &Z+y . +9 ( + &Z ! +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&&1 +56 "core" 1 + "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' +2 "processing"%~& +4 "core" &ZE ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ $ 9 / +2 "storage"()% +3 "core" %b < +2 "storage"(. +4 "core" .( + "storage"(B& +4 "core" & +2 "storage"(8& +3 "manipulator"&& +8 "core" & ] +2 &h 7 5 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&X(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(['i +19 "core" ( +2 "manipulator"&#& +3 "core" &m l \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &n * +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +3 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%l( +76 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +55 "core" ' +292 ( +3 "storage"(N& +3 "core" & Y +2 "manipulator"&T& +4 "core" &n D +2 "manipulator"&,% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +261 "core" ( +2 "manipulator"&+& +4 "core" &  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +92 "core" ' +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(e& +3 "core" & J L + +3 "manipulator"&W& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&]& +4 "core" & < +2 "storage"(b& +4 "core" & L L | +2 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +49 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +54 "core" ' +2 "manipulator"&& +3 "core" & 2 +2 "storage"(A& +5 "core" & ! + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&C' +26 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(''i +23 "core" ' +2 "manipulator"&7% +4 "core" %  l +2 "storage"(>& +4 "core" & T + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&/' +18 "core" ' +2 "manipulator"&i& +4 "core" &  +2 "storage"(*& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +18 "core" ' +2 "storage"(0% +4 "core" %s  +2 ."downElevator"SE.seek :down +4 "storage"(y'X +98 (J% +3 "core" %U  PG +2 "manipulator"&L% +4 "core" % 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (n& +3 "core" & ' +2 "collection"'f& +4 "core" &Vh Z [ I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&Q% +3 "core" %\    +2 "storage"(.% +4 "core" %b  +2 "storage"(M. +3 "core" .( +2 "storage"($& +4 "core" &  +2 "storage"(x& +4 "core" &  + "manipulator"&k& +4 "core" & 3 +2 .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&O& +4 "core" & % +2 "storage"(S& +3 "core" & Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +91 "core" ' +2 "storage"(@& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +280 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & P +2 "storage"(Y& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j' +33 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(m'P +34 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"(F& +4 "core" & O +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&<' +16 "core" ' + "manipulator"&o& +4 "core" & N +2 "storage"(R& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +41 "core" ' +2 "manipulator"&%& +3 "core" &  +2 "manipulator"&% +3 "core" %Ѥ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +170 "core" ( +2 "manipulator"&u& +3 "core" &+  Ae +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ )  Ae +3 .tForearm.seek CC +41 "manipulator"&q'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'h( +416 "core" ( +2 "storage"(s& +3 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&`& +5 "core" &+ L Ae + "manipulator"&% +4 "core" % &  +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +151 "core" ( + "manipulator"&|& +5 "core" &  + "storage"(\ & +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&^' +105 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&"% +3 "core" % k $ +2 "storage"( & +4 "core" & F +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&z' +21 "core" ' + "manipulator"&?& +5 "core" & P + "storage"(\\& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +28 "core" ' +2 "storage"(r% +4 "core" %H j +2 ."downElevator"SE.seek :down +4 "storage"(5'X +98 (4% +3 "core" %/N Q OD +2 "manipulator"&% +5 "core" %х  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'c& +3 "core" & T V1 +2 "manipulator"&v% +3 "core" %\ " A +2 "storage"(% +4 "core" %] w +2 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(!( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" & '  +2 "manipulator"&& +4 "core" & + .tElbow.seek 3 +2 "manipulator"&~( +17 "core" ( +2 "manipulator"&& +4 "core" & ` ] +2 "storage"()& +4 "core" & l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(B& +4 "core" & m  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &   +2 "manipulator"&#& +3 "core" & ] +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&(& +5 "core" & N ] + "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(:'X +8 "core" &  ] +2 "manipulator"&[% +3 "core" % ϳ  +3 .tForearm.seek :retract + "manipulator"&N'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +147 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&,& +3 "core" &# & / :0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &# + :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'" +95 "core" ' +3 "manipulator"&& +3 "core" &# d :0 +2 "manipulator"&X% +5 "core" %& / +2 "collection"' & +4 "core" & U U( +2 "collection"'2& +5 "core" & V W +3 .tCC.seek :closed + "collection"'I(V +5 "core" & R Vk  +8 &8 T U *x +10 &k V Y/ = +9 &u T V* G +9 &vg V X: F +10 &8h T X6 F +9 &k W W7 G +9 &j U W4 G +10 &}h U W7 G +9 &?f W V= G +10 &k P W> G +9 & j T W8 G +9 &"h T W6 F +10 &$Hh V W6 F +9 &&\ h V W7 F +9 &'k U X5 G +10 &)h U V< G +9 &+Pg U Y7 F +10 &-g V V6 F +9 &.k V W7 F +9 &0j W W< F +10 &2Xe W W; F +9 &4g U V; F +9 &5j T X8 F +10 &7h T X4 F +9 &9`k U Y F +10 &;"j U WD F +9 &<i V V6 F +9 &>g T Wz G +10 &@he V W F +9 &B*h U W~ F +9 &Ck V X< F +10 &Et Y X7 H +9 &Gh W Z< I +10 &I& Z \\9 K +9 &J \\ \\x O +9 &L Z \\5 P +10 &N\\ X ^3 P +9 &P X \\w Q +9 &Q Z [x Q +10 &S Y \\ R +9 &U] Z \\~ @ +10 &VM Z \\ V +9 &V); Z \\S %r +9 &V` Z ]8 F +3 ( + "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&e1 +60 "core" 1 +2 "manipulator"&W% +4 "core" % & ! X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +4 "core" &n +2 "manipulator"&;% +4 "core" %\ ! 4 3 +2 "storage"(% +3 "core" %\\  +2 "storage"(A. +3 "core" .( +2 "storage"(3& +4 "core" & N  +2 "storage"(9& +3 "core" &  +2 "manipulator"&7& +4 "core" &#  :/ +2 "manipulator"&>% +4 "core" %\ = 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +168 "core" ( +2 "manipulator"&*& +3 "core" &  I +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +97 "core" ' +2 "storage"(H& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +279 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &   +2 "manipulator"&-& +3 "core" & \ I +3 .tElbow.seek 3 + "manipulator"&V( +4 "core" ( + "manipulator"&6& +4 "core" & z I +2 "storage"(C& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"(Q'X +8 "core" &  I + "manipulator"&.% +4 "core" % Ϯ  +3 .tForearm.seek :retract + "manipulator"&''\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&M(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&$& +3 "core" &t    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &x& +2 "core" &t |  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +100 "core" ' +2 "manipulator"&O& +4 "core" &t D  +2 "manipulator"&S% +4 "core" %  +2 "processing"%K& +3 "core" &k +3 "processing"%@& +5 "core" &j +2 .tPC.seek :closed +2 "processing"%y(Z +56 "core" & + & + & + & +2 & + & + & 6 +5 &JM / +10 &{ D +9 &Bk G +10 &k G +9 &g F +9 &g G +10 &Kg F +9 & g G +9 &c G +10 &g G +9 &!Re G +9 &#h G +10 &$j G +9 &&e F +10 &(Ye G +9 &*g G +9 &+j G +10 &-h F +9 &/bh G +9 &1%h F +10 &2h G +9 &4e G +10 &6jg G +9 &8-g F +9 &9i G +10 &;g F +9 &=rg G +9 &?3j G +10 &@g G +9 &Bi G +10 &Dwm H +9 &F8r H +9 &G J +10 &I L +9 &Ks L +9 &M3 M +10 &N L +9 &P M +10 &Ry M +9 &T: M +9 &U M +10 &W~ M +9 &Y : +9 &Zp5 V +10 &Z +2 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&E1 +52 "core" 1 +2 "manipulator"&D% +4 "core" %  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +98 "core" ' + "processing"%& +5 "core" &ZJ + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +3 "core" %\ \ {  +2 "storage"(_% +4 "core" %b  +2 "storage"(. +3 "core" .( +2 "storage"(F& +4 "core" &   +2 "storage"(o& +4 "manipulator"&R& +3 "core" &   +2 &t   +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&%(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&g& +3 "core" &t   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &t   +3 .tForearm.seek PC + "manipulator"&a' +97 "core" ' +2 .tHand.close + "manipulator"&j/ +63 "core" / +3 .tPC.seek :open + "processing"%<( +80 "core" ' +2 "storage"(m- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +42 "core" ' +300 ( + "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &t   + "manipulator"&d% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&}( +274 "core" ( +2 "manipulator"&{& +3 "core" & #  +3 "storage"(s& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +101 "core" ' + .tHand.open + "manipulator"&`1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(|'E +23 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(\ ' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(1& +3 "core" & J J 3  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&"( +10 "core" ( + "manipulator"& & +3 "core" & - r +2 "storage"(?& +4 "core" & K J   +3 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(r' +58 "core" ' +2 "manipulator"&& +3 "core" & n r +2 "storage"(4& +4 "core" & G  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold +47 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(^'i +24 "core" ' + "manipulator"&z% +4 "core" %ΐ   +2 "storage"(c& +4 "core" & Q  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&v'ϼ +20 "core" ' +2 "manipulator"&& +4 "core" & $ r +2 "storage"(U& +3 "core" & C  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +30 "core" ' +2 "storage"(w% +4 "core" %s 8 +2 ."downElevator"SE.seek :down +4 "storage"(5'X +99 (% +4 "core" %M  OE +2 "manipulator"&&% +4 "core" %, , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"')& +4 "core" &V_ [ [ F +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&B% +3 "core" %\    +2 "storage"(t% +4 "core" %U ~ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & a  +2 "storage"(8& +4 "core" & w  + "manipulator"&#& +3 "core" & r +3 .tElbow.seek 3 + "manipulator"&(( +4 "core" ( +2 "manipulator"&& +3 "core" & \\ r +2 "storage"( & +4 "core" & k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +96 "core" ' + "storage"([& +4 "core" & U  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & m r +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&,'} +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +30 "core" ' +2 "manipulator"&X% +3 "core" %v +2 "storage"( & +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 293 counts +2 "manipulator"&:'Ϣ +19 "core" ' +2 "manipulator"&N& +4 "core" & U r +2 "storage"(h& +4 "core" & (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'? +38 "core" ' +2 "manipulator"&b& +4 "core" & 4 r +2 "manipulator"&;% +4 "core" %2 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +167 "core" ( +3 "manipulator"&2& +3 "core" &(  ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &(  ?R +3 .tForearm.seek CC + "manipulator"&9'" +105 "core" ' + .tHand.close +2 "manipulator"&7/ +56 "core" / +2 .tCC.seek :open +2 "collection"'>( +415 "core" ( +2 "storage"(+& +4 "core" &   +2 "storage"(*& +4 "core" & B  + "manipulator"&& +4 "core" & % i <9 +46 "manipulator"&H% +6 "core" % & m +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +161 "core" ( +2 "manipulator"&J& +4 "core" & U O +2 "storage"(L& +3 "core" & s  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&-'} +99 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +59 "core" 1 +3 "manipulator"&n% +4 "core" % z O +2 "storage"(f& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&.'Ϧ +21 "core" ' +2 "manipulator"&i& +3 "core" & P O +3 "storage"(0& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +18 "core" ' +2 "storage"(/% +4 "core" %F ; \ +2 ."downElevator"SE.seek :down +4 "storage"($'X +98 (x% +3 "core" %#L  OE +2 "manipulator"&V% +5 "core" %* +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'S& +3 "core" & U W +3 "manipulator"&K% +4 "core" %\    +2 "storage"(Q% +3 "core" %b F +2 "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(l( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +3 "core" & K +2 "manipulator"&D& +4 "core" &  O +2 .tElbow.seek 2 +2 "manipulator"&( +42 "core" ( +2 "manipulator"&Y& +4 "core" & ? 1 +2 "storage"(_& +3 "core" & U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(F& +4 "core" & ; +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +279 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &  +2 "manipulator"&g& +3 "core" &  1 +3 .tElbow.seek 2 + "manipulator"&Z( +23 "core" ( +3 "manipulator"&k& +4 "core" & a u +2 "storage"(j& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&m' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(y'X +8 "core" & P u +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&d& +3 "core" &$ 6 ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &#  ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&{'" +102 "core" ' +47 "manipulator"&s& +6 "core" &$ ;7 +2 "manipulator"&%% +4 "core" % l +2 "collection"'`& +4 "core" & U W( +2 "collection"'& +6 "core" & R X +2 .tCC.seek :closed +2 "collection"'q(V +5 "core" & U W+ +7 &8 U W4 #c +9 &[ U W6 6 +10 & T V5 H +9 &e U X5 F +9 &g T V5 G +10 &Zd U W7 F +9 &f T W5 F +9 &h V V5 F +10 &j V X4 G +9 &bh T T4 F +10 & $h U W7 F +9 &!g T W7 G +9 &#k V V4 F +10 &%ig T W5 G +9 &'-e V Y; F +9 &(j W X? F +10 &*g U V6 F +9 &,sg V V< F +10 &.3h V X; G +9 &/j V V8 F +9 &1f W U5 F +10 &3ye S V; G +9 &5;g W X+ G +9 &6k V Y4 G +10 &8h U W9 G +9 &:i V W. G +10 &k U W6 F +9 &?g U W4 G +10 &Ah U W3 G +9 &CKf V Ws G +9 &E n W W6 G +10 &Fy X Z2 I +9 &H W [q I +10 &JA \\ ]2 M +9 &K \\ ]- Q +9 &M Y \\O Q +10 &O{ Y \\6 Q +9 &Q> X [| Q +10 &R X [} R +9 &T Y [ R +9 &V,] [ \\3 - +10 &V Z [ F +8 ( +2 &VX [ \\} A +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&11 +54 "core" 1 +2 "manipulator"&% +3 "core" %  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%?& +4 "core" &n +2 "manipulator"&% +3 "core" %\ \ D  +3 "storage"(% +3 "core" %b  +2 "storage"(4. +3 "core" .( +2 "storage"(u& +15 "core" &  +2 "storage"(|& +4 "core" &  + "manipulator"&z& +4 "core" &#  ;7 +2 "manipulator"&c% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&U& +4 "core" & o ^ +2 "storage"(}& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&w'ќ +96 "core" ' +2 "storage"(& +3 "core" & j +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +283 "core" ' +2 "storage"(\\- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&&& +4 "core" &  ^ + .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&r& +4 "core" & Z ^ +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(B'X +8 "core" &  ^ +2 "manipulator"&t% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +4 .tElbow.seek PC + "manipulator"&^(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&& +3 "core" &u  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&#' +103 "core" ' + "manipulator"&& +5 "core" &u 1 + "manipulator"& % +4 "core" %  +2 "processing"%& +4 "core" &l +3 "processing"%[& +5 "core" & +2 .tPC.seek :closed + "processing"%5(Z +5 "core" & +7 &> #b +10 &\\ 6 +9 & H +9 &c F +10 &f G +9 &\\d G +10 &g G +9 &j G +9 &h F +10 &dg G +9 & %k G +10 &!f F +9 &#f G +9 &%mg F +10 &'.g G +9 &(d G +9 &*g G +10 &,sk G +9 &.6g G +10 &/c G +9 &1g G +9 &3}g F +10 &5>h G +9 &7g F +9 &8g G +10 &:f F +9 &h G +9 &?e G +56 &Ah G +6 &CLj G + &E q H + &Fw I + &H K + &JE M +2 &L L +7 &M L +9 &O L +10 &QM M +9 &S M +9 &T M +10 &V M +9 &XT M +10 &Yww "j +9 &Z*u , +9 ( + &Z +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +3 "processing"%P& +4 "core" &Z{ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  / +2 "storage"( % +3 "core" %_ c +2 "storage"(X. +4 "core" .( + "storage"( & +4 "core" &  +2 "storage"(N& +2 "manipulator"&h& +8 "core" & > + &u , +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&b(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'i +2 "core" ( +3 "manipulator"&=& +3 "core" &u  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &u n +2 .tForearm.seek PC +2 "manipulator"&~' +101 "core" ' +2 .tHand.close + "manipulator"&,/ +54 "core" / + .tPC.seek :open +2 "processing"%:( +82 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'y +50 "core" ' +290 ( +4 "storage"(3& +8 "core" &  +4 "manipulator"&e& +5 "core" &u o + "manipulator"& % +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&7'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&I& +4 "core" & G  + "storage"(+& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +93 "core" ' +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(H- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(L' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(A& +3 "core" & J \\ > +2 "manipulator"&C& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&n( +8 "core" ( +2 "manipulator"&f& +3 "core" & .  +3 "storage"(i& +4 "core" & O K u +2 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(/' +58 "core" ' +2 "manipulator"&T& +4 "core" & W  +3 "storage"(x& +4 "core" & { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&V' +29 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +24 "core" ' +2 "manipulator"&.% +3 "core" %  W +2 "storage"(S& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&K' +43 "core" ' +8 "manipulator"&Q& +5 "core" &   +2 "storage"('& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +20 "core" ' + "storage"(G% +5 "core" %s S +4 ."downElevator"SE.seek :down +4 "storage"($'X +99 (!% +3 "core" %Y % PG +2 "manipulator"&E% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +3 "core" &  +2 "collection"'_& +4 "core" &VW Z [ A +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&F% +3 "core" %\ 8 +2 "storage"(6% +5 "core" %` E  + "storage"(O. +3 "core" .( +2 "storage"(o& +3 "core" &  +3 "storage"(@& +4 "core" &  +2 "manipulator"&g& +4 "core" & *  +2 .tElbow.seek 2 + "manipulator"&k( +9 "core" ( +2 "manipulator"&j& +3 "core" & C \ +2 "storage"(M& +5 "core" & X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&p'ќ +94 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" & ? \ +2 "storage"(a& +4 "core" & o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&R' +23 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'P +30 "core" ' +2 "manipulator"&%% +3 "core" %  +2 "storage"(`& +4 "core" & 2 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&y' +21 "core" ' + "manipulator"&& +4 "core" & P \ +2 "storage"(>& +3 "core" & G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('? +37 "core" ' +2 "manipulator"&?& +3 "core" & C \ +2 "manipulator"&% +4 "core" %Ѣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +162 "core" ( +3 "manipulator"&& +3 "core" &# e :, +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &#  :, +3 .tForearm.seek CC +2 "manipulator"&|'" +93 "core" ' +2 .tHand.close + "manipulator"&z/ +61 "core" / +2 .tCC.seek :open +2 "collection"'c( +413 "core" ( + "storage"({& +4 "core" &  +2 "storage"(U& +3 "core" & G +3 "manipulator"&}& +4 "core" &# :, +2 "manipulator"&% +3 "core" % + +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +157 "core" ( +2 "manipulator"&\\& +3 "core" &  +2 "storage"(& +4 "core" & W +2 .tElbow.reconfigure :limp +42 "manipulator"&$ ,(b +10 .tForearm.seek 2 +2 "manipulator"&&' +97 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +4 "manipulator"&% +4 "core" %  + "storage"()& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&t' +15 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(w& +4 "core" & E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +38 "core" ' + "storage"(v% +5 "core" %I   +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (8% +3 "core" %L OC +2 "manipulator"&"% +3 "core" %ѕ c s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & T V5 + "manipulator"&% +3 "core" %\  3  +3 "storage"(B% +3 "core" %` +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(<( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & g  +2 "manipulator"&& +3 "core" & d +3 .tElbow.seek 3 + "manipulator"&P( +17 "core" ( +2 "manipulator"&& +3 "core" & P < +3 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&X'9 +104 "core" ' + "storage"([& +5 "core" & Q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +280 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &  +2 "manipulator"&=& +3 "core" & < +2 .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&#& +3 "core" & f < +3 "storage"(,& +4 "core" & {  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(5'X +8 "core" &  < +2 "manipulator"&;% +4 "core" % ϰ  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"& & +4 "core" && 5 0 =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &&  =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'" +98 "core" ' + "manipulator"&+& +3 "core" && " Y =D +3 "manipulator"&b% +4 "core" % R +2 "collection"'& +5 "core" & S X: +2 "collection"'H& +5 "core" & U U +3 .tCC.seek :closed + "collection"'9(V +5 "core" & U V3  +8 &8 U V8 *x +9 &k U Y4 = +9 &s U W. G +10 &zg U X2 G +9 &=i S U0 F +10 &e U W- F +9 &h W V2 F +9 &j W W/ G +10 &Di V X7 G +9 &h T X4 G +9 & f V W? G +51 &"k W U= G +3 &$Lh T W@ G + &&f T X7 F +2 &'g V W6 F + &)i T V, F + &+Tl V W/ G +7 &-h T W6 G +9 &.h V W6 G +10 &0k W V2 G +9 &2\\h T W* G +10 &4h T X* G +9 &5i W W4 F +9 &7i T W+ F +10 &9ej U V9 F +9 &;'k V X3 F +9 &<g V X4 F +10 &>g U W@ F +9 &@mj T W9 F +10 &B/f V V6 F +9 &Cj V Y4 F +9 &Ep X X2 H +10 &Go} Y YD I +9 &I- X [C J +10 &J ^ \\7 O +9 &L \\ ]E Q +9 &N` Z [; P +10 &P Y ]7 Q +9 &Q X ]; Q +9 &S Y \\9 R +10 &Ub Y [7 ? +9 &VK Z \\G Z +9 &V3Q [ \\E %s +10 &W\ T \\ ] @ +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&A1 +54 "core" 1 +2 "manipulator"&C% +3 "core" %  j +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%i& +3 "core" &k +3 "manipulator"&7% +4 "core" %\    + "storage"(T% +4 "core" %a  +2 "storage"(x. +3 "core" .( +2 "storage"(2& +3 "core" &   +2 "storage"(.& +4 "core" &   +2 "manipulator"&S& +3 "core" &%  <> +2 "manipulator"&J% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q( +162 "core" ( +2 "manipulator"&'& +4 "core" &  f + "storage"(& +5 "core" & -  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&G'9 +92 "core" ' +2 "storage"(*& +4 "core" & H  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +277 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &   +2 "manipulator"&E& +4 "core" & 6 f +2 .tElbow.seek 3 +2 "manipulator"&n( +2 "core" ( +2 "manipulator"&/& +4 "core" & U f +2 "storage"(V& +4 "core" & z  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(F'X +9 "core" &  f + "manipulator"&6% +4 "core" % Ͼ  > +2 .tForearm.seek :retract +2 "manipulator"&O'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&-& +3 "core" &u c +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&g' +97 "core" ' + "manipulator"&j& +5 "core" &u Y +2 "manipulator"&M% +3 "core" %  +2 "processing"%W& +5 "core" & +2 "processing"%& +5 "core" &p +2 .tPC.seek :closed +2 "processing"%$(Z +4 "core" &  +9 &8 )v +9 &l = +10 &u G +9 &rc G +9 &4f G +10 &i G +9 &d G +9 &yd G +10 &<e G +9 &j G +10 & c G +9 &"f F +9 &$Dg G +10 &&h G +9 &'d G +9 &)e G +10 &+Lh G +9 &-d G +10 &.e F +9 &0h G +9 &2Te G +10 &4f F +9 &5f G +9 &7c G +10 &9\\g G +9 &;d G +10 &<g F +9 &>g G +9 &@cf G +10 &B%h G +9 &Cj G +10 &Eo H +9 &Gf} I +9 &I" K +10 &J L +9 &L L +9 &Nd L +10 &P& L +9 &Q L +9 &S M +10 &Uj M +9 &W, M +10 &X M +9 &Z?Ec %l +9 &Z ) " +6 ( + "processing"%& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&]1 +62 "core" 1 +2 "manipulator"&D% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +138 "core" ' +4 "processing"%d& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +3 "core" %\    +3 "storage"(Z% +4 "core" %^  +2 "storage"(%. +3 "core" .( +2 "storage"(`& +4 "core" &   +2 "storage"(& +2 "manipulator"&>& +7 "core" &   +2 &u  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&?(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&p& +3 "core" &u  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &u d +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&R/ +56 "core" / +3 .tPC.seek :open +2 "processing"%y( +89 "core" ' +2 "storage"(s- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +298 ( +2 "storage"(u& +3 "core" &   +2 "manipulator"&1& +5 "core" &u + "manipulator"&m% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +266 "core" ( +2 "manipulator"&q& +4 "core" &  + "storage"({& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&U'9 +97 "core" ' +2 .tHand.open + "manipulator"&}1 +53 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +49 "core" ' +4 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' + "storage"(4& +4 "core" & J J $  +2 "manipulator"&& +4 "core" & | +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&)& +3 "core" & @ +2 "storage"(& +4 "core" &\ + (  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(v' +59 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(8& +4 "core" & 6  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&"'} +21 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(&'i +28 "core" ' + "manipulator"&t% +5 "core" %l m +2 "storage"( & +4 "core" & ^  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 283 counts + "manipulator"&'Ϙ +20 "core" ' +2 "manipulator"&B& +3 "core" & " +2 "storage"(& +5 "core" & w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' + "storage"(\ % +3 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (l% +2 "core" %oV QI +2 "manipulator"&% +49 "core" % > +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +14 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & Z  +2 "collection"' & +4 "core" &W\ S X \\ @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&[% +3 "core" %\ h  +2 "storage"(r% +4 "core" %W  +2 "storage"(. +3 "core" .( +2 "storage"(N& +4 "core" &   +2 "storage"(h& +4 "core" & ]  + "manipulator"&=& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&,& +4 "core" &  +2 "storage"(^& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +102 "core" ' + "storage"(;& +4 "core" & S  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +281 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +4 "core" & +2 "storage"( & +4 "core" & Z  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('P +31 "core" ' +2 "manipulator"&b% +3 "core" %΀ 6 +2 "storage"(& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&5'Ϭ +21 "core" ' + "manipulator"&3& +4 "core" & +2 "storage"(c& +4 "core" & G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'? +39 "core" ' +2 "manipulator"&i& +4 "core" & b +2 "manipulator"&7% +4 "core" %- +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +156 "core" ( +3 "manipulator"&2& +4 "core" & N 8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &! D 8" +3 .tForearm.seek CC + "manipulator"&H'" +92 "core" ' +2 .tHand.close + "manipulator"&S/ +55 "core" / +2 .tCC.seek :open + "collection"'J( +416 "core" ( +2 "storage"(I& +3 "core" &   +2 "storage"('& +5 "core" &   + "manipulator"&& +4 "core" &! 8! +2 "manipulator"&*% +4 "core" % 2 y +2 .tForearm.seek :retract +2 "manipulator"&e'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +169 "core" ( + "manipulator"&!& +4 "core" & < { +2 "storage"(0& +4 "core" & a  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&E'} +104 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +55 "core" 1 +2 "manipulator"&Y% +5 "core" % { " + "storage"(_& +48 "core" &   +5 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&6'ϧ +19 "core" ' +2 "manipulator"&Q& +4 "core" & Y { +2 "storage"(G& +3 "core" & ]  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +37 "core" ' + "storage"(K% +4 "core" %I  +3 ."downElevator"SE.seek :down +3 "storage"(-'X +100 (@% +3 "core" %BT  PF +2 "manipulator"&n% +3 "core" %< +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'M& +3 "core" & V U6 +2 "manipulator"&W% +4 "core" %\ # = +2 "storage"(F% +3 "core" %b x +2 "storage"(O. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(:( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +3 "core" &  +2 "manipulator"&D& +4 "core" & { +2 .tElbow.seek 2 +2 "manipulator"&( +48 "core" ( +2 "manipulator"&d& +3 "core" & H ] +2 "storage"(a& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +97 "core" ' +2 "storage"(%& +3 "core" &  . +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (>& +3 "core" &   +2 "manipulator"&p& +3 "core" & \\ +3 .tElbow.seek 2 +3 "manipulator"&k( +27 "core" ( +2 "manipulator"&g& +3 "core" & M  +2 "storage"(R& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&s' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"($'X +8 "core" & Y  + "manipulator"&% +5 "core" %  M E +2 .tForearm.seek :retract +2 "manipulator"&u'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&m& +4 "core" &$   ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &#  ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'" +102 "core" ' +3 "manipulator"&{& +4 "core" &% M ;4 +2 "manipulator"&?% +4 "core" %  = +2 "collection"'}& +4 "core" & U U@ +2 "collection"'& +5 "core" & U V +3 .tCC.seek :closed + "collection"'|(V +4 "core" & U VA  +10 &8 U V8 *x +9 &k U X; = +9 &t W X; G +10 &ue T W> F +9 &7h W W? F +9 &f U X4 F +10 &h W Y8 F +9 &|f U W4 G +10 &?k V X2 F +9 &g W W5 G +9 & l V W F +10 &"h V X3 G +9 &$Gg V X8 F +9 && i U V+ F +10 &'k V W' G +9 &)h V V0 F +10 &+Oi V V) F +9 &-k V X2 F +9 &.e V W6 F +10 &0h T W< F +9 &2Wk T X3 F +9 &4k U W4 G +10 &5h V V7 G +9 &7h T V< G +10 &9`d W W> F +9 &; j W X> G +9 &<h T W@ G +10 &>j U VA G +9 &@ge V X> F +9 &B)f T W: F +10 &Cj W W@ G +9 &Er X Y@ H +10 &Gh| W Y@ I +9 &I& Z ] J +9 &J [ ^ O +10 &L X \\< P +9 &N[ X ]= P +9 &P X ZS Q +10 &Q \\ ZF Q +9 &S W [; R +10 &UZ Y \\; C +9 &Vm; Y Z= 1 +9 &VH Z g; = +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 +46 .Hand.open +4 "manipulator"&41 +53 "core" 1 +2 "manipulator"&% +4 "core" %   = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&z% +4 "core" %\  Q  +2 "storage"(% +4 "core" %b  +2 "storage"(8. +3 "core" .( +2 "storage"(t& +3 "core" &   +2 "storage"( & +3 "core" &   +3 "manipulator"&& +3 "core" &$  ;4 +2 "manipulator"&B% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&\\( +164 "core" ( +2 "manipulator"&& +3 "core" & Q  +3 "storage"(\ & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' +2 "storage"(U& +3 "core" &  < +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&w& +4 "core" & c  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&v& +4 "core" & n  + "storage"("& +5 "core" &   +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(['X +8 "core" &   + "manipulator"&r% +5 "core" %  t P +2 .tForearm.seek :retract + "manipulator"&&'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&N& +5 "core" &t L  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &t M  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +103 "core" ' + "manipulator"&,& +4 "core" &t  +2 "manipulator"&^% +4 "core" % e +2 "processing"%;& +3 "core" & +3 "processing"%& +4 "core" & +3 .tPC.seek :closed + "processing"%(Z +5 "core" &  +10 &8 )v +9 &k = +9 &s G +10 &qe F +9 &2g G +10 &j G +9 &j G +9 &xh G +10 &:h G +9 &g G +9 & f G +10 &"j G +9 &$Bd G +10 &&d G +9 &'e G +9 &)e F +10 &+Kf F +9 &- i G +9 &.f F +10 &0g G +9 &2Rk G +10 &4j G +9 &5d G +9 &7e F +10 &9[g F +9 &;f G +9 &<j G +10 &>j G +9 &@bk G +10 &B$e G +9 &Cj G +9 &Es H +10 &Gc~ I +9 &I  K +9 &J L +10 &L L +9 &Nc L +10 &P$ L +3 "Can" V'F +6 "core" &Q M +9 &S M +10 &Uj L +9 &W* M +9 &X M +10 &Z=Ec %l +9 &Z - ! +6 ( + "processing"%& +4 "core" &Zz ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&% +4 "core" % n e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +91 "core" ' +2 "processing"% & +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %\  +  +2 "storage"(+% +5 "core" %b  + "storage"(b. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(3& +2 "manipulator"&c& +5 "core" &   +3 &t a  +47 ."raiseStack"SE.reconfigure :place +7 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&i(s + "storage"(7'i +6 "core" ( +2 "manipulator"&& +3 "core" &t   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &t 6  +2 .tForearm.seek PC + "manipulator"&P' +96 "core" ' +2 .tHand.close + "manipulator"&~/ +58 "core" / +2 .tPC.seek :open +2 "processing"%5( +88 "core" ' +2 "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(2'y +35 "core" ' +299 ( +2 "storage"(.& +4 "core" &  K + "manipulator"&A& +5 "core" &t   + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&S'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&T( +265 "core" ( +2 "manipulator"&9& +3 "core" & \\  +3 "storage"(I& +3 "core" &  A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&''ќ +99 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(*- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.79 Pucks below Top Plate + "storage"(0' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(x& +3 "core" &  r ^ d +3 "manipulator"&V& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&Y( +4 "core" ( +2 "manipulator"&_& +3 "core" &   +2 "storage"(Q& +4 "core" &  k q } +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(e' +59 "core" ' +2 "manipulator"&K& +4 "core" & X  + "storage"(f& +4 "core" &  o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +24 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(E'i +28 "core" ' +2 "manipulator"&6% +4 "core" %  +2 "storage"(M& +4 "core" &  6 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&W' +19 "core" ' +2 "manipulator"&F& +3 "core" & S  +2 "storage"(O& +3 "core" &  A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +32 "core" ' + "storage"(L% +5 "core" %k  +2 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (<% +3 "core" %OU  PG +2 "manipulator"&]% +5 "core" %ё ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +97 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +3 "core" &  K +2 "collection"'a& +4 "core" &VH Y [ = +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&%% +4 "core" %\ " u < + "storage"(/% +50 "core" %Z +2 "storage"(j. +4 "core" .( + "storage"(& +4 "core" &  } +2 "storage"(>& +4 "core" &  { +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&g( +4 "core" ( +2 "manipulator"&R& +4 "core" &   +2 "storage"(o& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' +2 "storage"(& +4 "core" &  . +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &  +3 "storage"(& +4 "core" &  H + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&`' +24 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(?'P +28 "core" ' +2 "manipulator"&k% +4 "core" % + "storage"(}& +5 "core" &  a + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&$' +20 "core" ' +2 "manipulator"&u& +3 "core" & e  +3 "storage"(J& +3 "core" &  h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('? +39 "core" ' + "manipulator"&& +5 "core" & ;  + "manipulator"&% +4 "core" %њ Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&8& +5 "core" &# 3 :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &# H :* +3 .tForearm.seek CC +2 "manipulator"& '" +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'B( +413 "core" ( + "storage"(q& +4 "core" &   +2 "storage"(& +3 "core" &  ^ +2 "manipulator"&\ & +4 "core" &#  :* +2 "manipulator"&U% +4 "core" % 0 Q # +2 .tForearm.seek :retract +2 "manipulator"&1'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +164 "core" ( + "manipulator"&l& +4 "core" & , g +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&w' +107 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&"1 +64 "core" 1 +2 "manipulator"&% +3 "core" %   +4 "storage"( & +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&r' +16 "core" ' + "manipulator"&\\& +4 "core" &  g +2 "storage"(& +3 "core" &  S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +70 "core" ' +8 "storage"(% +5 "core" %F : +2 ."downElevator"SE.seek :down +4 "storage"(N'X +99 (h% +3 "core" %GN Y OD +2 "manipulator"&% +4 "core" %Ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'^& +3 "core" & S U4 +2 "manipulator"&;% +5 "core" %\    + "storage"([% +5 "core" %_ 7 + "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(y( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &   +2 "manipulator"&& +4 "core" &  g +2 .tElbow.seek 3 +2 "manipulator"& ( +14 "core" ( +2 "manipulator"& & +4 "core" & t D + "storage"(+& +4 "core" & :  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +96 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +290 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +5 "core" & . D + .tElbow.seek 3 +2 "manipulator"&#( +4 "core" ( + "manipulator"&=& +4 "core" & B D +2 "storage"(~& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&('ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&X& + "storage"('X +7 "core" &  D +2 "manipulator"&7% +4 "core" % ϗ e +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&& +3 "core" &&   =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" && F =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&9'" +100 "core" ' +2 "manipulator"&I& +3 "core" &&  =A +2 "manipulator"&i% +5 "core" % e +3 "collection"'& +4 "core" & S W8 +2 "collection"'*& +6 "core" & T V@ +2 .tCC.seek :closed +3 "collection"'H(V +3 "core" & U WA +6 & U U@ : +9 &TO V Y= 0 +9 &} T W; D +10 &Vh T U3 G +9 &h S W4 G +9 &g S W2 F +10 &h T W6 F +9 &_k U X- F +10 & g U W- G +9 &k V X) G +9 &j T W> G +10 &!fg W UH G +9 &#(k W X) G +10 &$j S X( G +9 &&e T W* F +9 &(pf U W1 F +10 &*0h V U+ G +9 &+e U W6 F +9 &-e W W8 G +10 &/vh U Vy G +9 &18e T W> G +9 &2i V X> F +10 &4j V YE G +9 &6g T W@ F +10 &8Ad S WF F +9 &:g V WD F +9 &;k S XH F +10 &=f T W@ F +9 &?Ig U WB F +9 &A\ j V X? G +10 &Bj V Y; G +9 &Dh S W= G +10 &FNp W XA G +9 &H Y YB I +9 &I \\ \\< L +10 &K| Z ] P +9 &M; [ ]? Q +9 &N W [ Q +10 &P Z [ P +9 &R Y \\/ Q +10 &T? Z Y? R +9 &Us \\ \\< @ +9 &V [ \\F 'q +10 &V Y ^= N +5 ( +2 "collection"'*& +3 "core" &V Z ^= N +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&x1 +57 "core" 1 +3 "manipulator"&V% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%Q& +3 "core" & +2 "manipulator"&S% +4 "core" %\    +47 "storage"(K% +6 "core" %b +2 "storage"(f. +3 "core" .( +2 "storage"(2& +3 "core" & @  +2 "storage"(6& +5 "core" & @  + "manipulator"&M& +4 "core" &% { <: +2 "manipulator"&!% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&F( +162 "core" ( +2 "manipulator"&O& +3 "core" & < y +3 "storage"(L& +6 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +94 "core" ' +2 "storage"('& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +278 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" & j  +2 "manipulator"&G& +4 "core" & y +2 .tElbow.seek 3 + "manipulator"&Y( +4 "core" ( +2 "manipulator"&e& +4 "core" &  y + "storage"(@& +4 "core" & F  +3 .tForearm.seek 3 + 300 counts + "manipulator"&W'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(%'X +7 "core" & u y +2 "manipulator"&/% +4 "core" % ϯ  +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&j(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +104 "core" ( + "manipulator"&& +3 "core" &j 5 G +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p' +97 "core" ' +2 "manipulator"&R& +3 "core" &j . +2 "manipulator"&o% +4 "core" % 2 +2 "processing"%C& +4 "core" &m +3 "processing"%& +4 "core" & +3 .tPC.seek :closed + "processing"%-(Z +5 "core" & +7 &> #b +10 &\\ 6 +9 & G +10 &c F +9 &g G +9 &^i G +10 & c G +9 &f F +10 &g G +9 &fj G +9 & 'j G +10 &!c G +9 &#g F +9 &%ng G +10 &'0j G +9 &(j G +10 &*e G +9 &,vd G +9 &.8d G +10 &/e F +9 &1f G +9 &3~e G +10 &5@d G +9 &7e F +9 &8g F +10 &:e G +9 &\ c G +9 &?c G +9 &Ag G +10 &CPj G +9 &Em H +9 &Fv H +10 &H K +9 &JH L +10 &L\  L +9 &M M +9 &O L +10 &QN M +9 &S M +9 &T M +10 &V M +9 &XT N +10 &Yww "j +9 &Z'k + +9 ( + &Z " +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&n1 +60 "core" 1 +2 "manipulator"&D% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +100 "core" ' +2 "processing"%m& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" %\  6 +3 "storage"({% +3 "core" %b  +2 "storage"(k. +3 "core" .( +2 "storage"(}& +4 "core" &   +2 "storage"(u& +2 "manipulator"&J& +8 "core" &   + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +3 "core" &j | +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +43 &g& +10 "core" &j 5 +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&`/ +61 "core" / +2 .tPC.seek :open + "processing"%$( +37 "core" ' +2 "storage"(?- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(8'y +34 "core" ' +351 ( +2 "storage"(t& +3 "core" & 7  +3 "manipulator"&4& +4 "core" &j  + "manipulator"&s% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&z( +261 "core" ( + "manipulator"&|& +5 "core" & T w + "storage"(q& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +3 .tHand.open + "manipulator"&\ 1 +57 "core" 1 +2 "storage"(U- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(& +3 "core" & K N A  +2 "manipulator"&"& +5 "core" & w +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"& & +4 "core" & I r +2 "storage"(\\& +3 "core" & K N w  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +57 "core" ' +2 "manipulator"&& +3 "core" &  r +3 "storage"()& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&h'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(w'i +25 "core" ' + "manipulator"&r% +5 "core" %l + "storage"(^& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 283 counts + "manipulator"&;'Ϙ +20 "core" ' +2 "manipulator"&[& +3 "core" & r +2 "storage"(&& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +29 "core" ' + "storage"(% +4 "core" %r +2 ."downElevator"SE.seek :down +4 "storage"(N'X +99 (:% +4 "core" %O y OF +2 "manipulator"& % +5 "core" %' @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & %  +2 "collection"'+& +4 "core" &V Y \\ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ " @ + "storage"(v% +4 "core" %U 1 +2 "storage"(,. +3 "core" .( +2 "storage"(c& +4 "core" &   +2 "storage"(& +3 "core" & j  +2 "manipulator"&& +4 "core" & r +2 .tElbow.seek 3 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&~& +4 "core" & & r +2 "storage"(& +3 "core" &  +42 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +99 "core" ' + "storage"(7& +5 "core" & "  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +278 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & { r +3 "storage"(3& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&P'} +28 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'P +27 "core" ' +2 "manipulator"&i% +3 "core" %y +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&'ϥ +20 "core" ' +2 "manipulator"&.& +4 "core" & I r +2 "storage"(B& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'? +38 "core" ' +2 "manipulator"&Q& +3 "core" & r +2 "manipulator"&S% +4 "core" %C  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +162 "core" ( + "manipulator"&f& +4 "core" &'  V >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &'  >I +2 .tForearm.seek CC +2 "manipulator"&6'" +93 "core" ' +2 .tHand.close + "manipulator"&M/ +57 "core" / +2 .tCC.seek :open + "collection"'!( +416 "core" ( +3 "storage"(9& +4 "core" &   +2 "storage"(O& +4 "core" &   + "manipulator"&L& +3 "core" &( >I +2 "manipulator"&'% +5 "core" % 6 ) +2 .tForearm.seek :retract + "manipulator"&A'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&_( +153 "core" ( + "manipulator"&<& +4 "core" & W  +2 "storage"(]& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&G'} +103 "core" ' +2 .tElbow.hold + "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +62 "core" 1 +2 "manipulator"&d% +3 "core" % ΀ 8 +2 "storage"(a& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&/'Ϭ +21 "core" ' +3 "manipulator"&F& +5 "core" & )  +2 "storage"(T& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +28 "core" ' +2 "storage"(W% +3 "core" %H 8  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (>% +3 "core" %9Q Q OE +2 "manipulator"&Y% +5 "core" %D 0 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'o& +4 "core" & T T+ +2 "manipulator"&C% +4 "core" %\   +2 "storage"(%% +4 "core" %` +2 "storage"(E. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(5( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" & < +2 "manipulator"&D& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&m( +36 "core" ( + "manipulator"&& +4 "core" & R d +2 "storage"({& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +95 "core" ' +2 "storage"(& +4 "core" &  ` +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +279 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &  +2 "manipulator"&& +4 "core" & q ` +2 .tElbow.seek 2 + "manipulator"&g( +27 "core" ( +3 "manipulator"&p& +3 "core" & p  +2 "storage"(`& +5 "core" &  % +2 .tForearm.seek 2 + 300 counts + "manipulator"&?' +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +4 "storage"(-'X +7 "core" & &  +2 "manipulator"&% +3 "core" %  x e +3 .tForearm.seek :retract + "manipulator"&t'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&s& +3 "core" &( 5 % ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'" +98 "core" ' +3 "manipulator"&q& +5 "core" &) ?R + "manipulator"&% +5 "core" %( u +2 "collection"'\ & +3 "core" & V V? +3 "collection"'U& +5 "core" & V W +2 .tCC.seek :closed +2 "collection"' (V +4 "core" & S W5 \ +9 &3 U V@ (s +9 & i S X9 < +10 &{ T X> H +9 &di U W; F +10 &&f S W7 F +9 &f V WJ F +9 &e U XF F +10 &le T W= F +9 &.f U X9 F +9 &e W V= F +10 & g U V@ F +9 &"tf T W: F +10 &$7h W W0 F +9 &%j T X8 G +9 &'h T W; G +10 &)|g V W= F +9 &+>g V W? F +9 &-e T W< F +10 &.f U WG F +9 &0g ` X? F +9 &2Fe U X= F +10 &4e U U> F +9 &5e T WG F +10 &7j U W> F +9 &9Nj T WF F +9 &;i U VI G +10 &<j V WE G +9 &>k U VJ F +10 &@Vj S WH F +9 &Bk V VF F +9 &Cm W YD G +10 &Ep T YG G +9 &GX X YH H +9 &I X \\I J +10 &J [ ^7 O +9 &L Z ] P +9 &NJ Z ^A P +10 &P Z \\H Q +9 &Q Y \\@ Q +10 &S Z ]G R +9 &UL [ ZC F +9 &VuS Z [G 'x +10 &VG Y ZD ? +2 ( +2 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 + .Hand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&"% +3 "core" % (  M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%\\& +5 "core" &o + "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %b  + "storage"(). +3 "core" .( +2 "storage"(r& +3 "core" &  O +3 "storage"(^& +4 "core" &   + "manipulator"&8& +4 "core" &( ?R +2 "manipulator"&[% +4 "core" %\  b  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&l( +158 "core" ( +48 "manipulator"&&& +4 "core" & H  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +87 "core" ' +2 "storage"(& +3 "core" &  r +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( + "manipulator"&1& +3 "core" & , y +3 "storage"(h& +4 "core" &  i +2 .tForearm.seek 2 + 300 counts + "manipulator"&;' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&+& +3 "storage"('X +8 "core" &  y + "manipulator"&v% +4 "core" % ! / T +2 .tForearm.seek :retract +2 "manipulator"&,'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&w(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +3 "manipulator"&c& +3 "core" &p 5 N  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p F  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&~& +3 "core" &p b  +2 "manipulator"&% +5 "core" % ,  +2 "processing"%& +4 "core" & +2 "processing"%7& +5 "core" &p +2 .tPC.seek :closed +2 "processing"%N(Z +4 "core" &  +9 &7 )w +9 &k = +10 &r H +9 &sb F +9 &4f G +10 &b G +9 &c F +10 &ze G +9 &<h G +9 &g G +10 & e F +9 &"e F +9 &$Ee F +10 &&e F +9 &'f F +10 &)e F +9 &+Md F +9 &-e F +10 &.e F +9 &0g F +9 &2Tg G +10 &4h G +9 &5h G +10 &7h G +9 &9\\i G +9 &;h G +10 &<j G +9 &>g G +9 &@dg G +10 &B%j G +9 &Ch G +10 &Er H +9 &Gd{ J +9 &I! K +10 &J L +9 &L M +9 &Nd L +10 &P% M +9 &Q L +10 &S M +9 &Ul L +9 &W- M +10 &X M +9 &Z?C` %l +9 &Z - ! +6 ( + "processing"%7& +4 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +2 "processing"%& +4 "core" &ZJ ! + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&3% +3 "core" %\    +3 "storage"(I% +4 "core" %S  + "storage"(i. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(.& +2 "manipulator"&B& +5 "core" &  + +2 &p ^  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(Q'i +2 "manipulator"&S(s +6 "core" ( + "manipulator"&X& +5 "core" &p   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &p b  +3 .tForearm.seek PC + "manipulator"& ' +95 "core" ' + .tHand.close +2 "manipulator"&P/ +55 "core" / +2 .tPC.seek :open + "processing"%( +87 "core" ' +2 "storage"(#- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +46 ."raiseStack"SE.seek :place +6 "storage"(f'y +42 "core" ' +246 ( +2 "storage"(2& +3 "core" &  +3 "manipulator"&x& +4 "core" &p  + "manipulator"&(% +5 "core" % 5  +2 .tForearm.seek :retract + "manipulator"&M'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +271 "core" ( + "manipulator"&H& +4 "core" &   +2 "storage"(9& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +97 "core" ' +2 .tHand.open + "manipulator"&L1 +63 "core" 1 +2 "storage"('- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(]' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(6- +3 "core" -' +2 "storage"(*& +3 "core" &  q m  +2 "manipulator"&@& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&d( +7 "core" ( +2 "manipulator"&a& +3 "core" & - x +2 "storage"(F& +4 "core" &  r r \ +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(W' +59 "core" ' +2 "manipulator"&A& +3 "core" &  x +2 "storage"(>& +4 "core" &  I +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&Y' +24 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(G'i +24 "core" ' + "manipulator"&/% +5 "core" % l + "storage"(o& +4 "core" &  f +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +3 "manipulator"&C' +19 "core" ' +2 "manipulator"&%& +4 "core" & b x +2 "storage"(E& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +37 "core" ' +2 "storage"(0% +3 "core" %q D +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (y% +3 "core" %U T PH +2 "manipulator"&n% +4 "core" %~ ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  L +2 "collection"'{& +4 "core" &VL Y \\8 ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"(e% +4 "core" %b +2 "storage"(R. +3 "core" .( +2 "storage"(J& +4 "core" &   + "storage"(u& +5 "core" &  E + "manipulator"&& +4 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&p( +4 "core" ( +2 "manipulator"&`& +4 "core" & ( x +2 "storage"(j& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +96 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +283 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +47 "storage"(#QK-0-\ b +5 "manipulator"&s& +3 "core" & x +2 "storage"(}& +3 "core" &  ] +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(g'P +28 "core" ' + "manipulator"&% +5 "core" %   + "storage"(\ & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&-' +20 "core" ' +3 "manipulator"&t& +3 "core" & x +2 "storage"(!& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"("'? +40 "core" ' +2 "manipulator"&\\& +4 "core" &  x + "manipulator"&% +5 "core" %Ѡ U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +163 "core" ( +2 "manipulator"&r& +3 "core" &+ f Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &, y Bk +3 .tForearm.seek CC + "manipulator"&^'" +92 "core" ' +2 .tHand.close + "manipulator"&8/ +60 "core" / +2 .tCC.seek :open +2 "collection"'[( +412 "core" ( + "storage"(|& +5 "core" &   + "storage"(&& +4 "core" &   +2 "manipulator"&& +3 "core" &, u Bk +2 "manipulator"&4% +3 "core" % 0  +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +163 "core" ( +2 "manipulator"&:& +3 "core" & O t +2 "storage"( & +5 "core" &  Y + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +98 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +57 "core" 1 +2 "manipulator"& % +4 "core" % S + "storage"(+& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&v' +15 "core" ' +2 "manipulator"&l& +4 "core" & E t +2 "storage"(z& +4 "core" &  1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 "storage"(;% +4 "core" %H  \ +2 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (% +5 "core" %I @ OB +2 "manipulator"&% +4 "core" %џ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +95 "core" ' +40 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & S V +3 "manipulator"&% +4 "core" %\ ! 4 +2 "storage"(% +4 "core" %N A +2 "storage"(,. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"($( +338 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & +2 "manipulator"&& +5 "core" & t +2 .tElbow.seek 3 + "manipulator"&( +16 "core" ( + "manipulator"&3& +4 "core" & / E +2 "storage"(I& +3 "core" & U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +97 "core" ' + "storage"(& +5 "core" & L +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(B'i +282 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &  +2 "manipulator"&X& +3 "core" & g E +3 .tElbow.seek 3 + "manipulator"&=( +4 "core" ( +2 "manipulator"&& +3 "core" &  E +2 "storage"(P& +3 "core" & +3 .tForearm.seek 3 + 300 counts + "manipulator"&#'ϩ +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(N'X +8 "core" & < E + "manipulator"&2% +4 "core" % ϰ % d +3 .tForearm.seek :retract + "manipulator"&x'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&Q( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&(& +3 "core" &'  $ >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &' - >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'" +106 "core" ' +3 "manipulator"&9& +4 "core" &' " >M +2 "manipulator"&S% +4 "core" % N +2 "collection"'L& +3 "core" & T U5 +3 "collection"''& +5 "core" & T V7 +2 .tCC.seek :closed +2 "collection"'6(V +3 "core" & S T8 +8 &A U U< #c +9 &\\ U W: 6 +10 & W U G +9 &h U XC F +9 &i V U? G +10 &`h V WB G +9 &#h S TC F +10 &l S WF G +9 &h T TI F +9 &jh T U; F +10 & *i W WJ G +9 &!g U WF F +9 &#i U W= F +10 &%qk V V9 F +9 &'3e U V F +10 &(e W X6 F +9 &*e T X< F +9 &,ye T V= F +10 &.;d T V; F +9 &/e U V= G +9 &1h U V? G +10 &3h V X> G +9 &5Bh V X> G +10 &7h T W; G +9 &8g T W> G +9 &:h V WG F +10 & i T XG G +9 &?k U U@ F +10 &Aj U WG F +9 &CSg X VH F +10 &En X X@ G +9 &Fy Y XF H +9 &H X ZH I +10 &JH \\ Z? M +9 &L [ [A P +9 &M \\ [H P +10 &O Y [F Q +9 &QF X \\F P +10 &S Y YF R +9 &T Y [@ R +9 &V2` Z \\H * +10 &V$ Y \\G H +8 ( +2 &VT Z \\E A +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&*1 +64 "core" 1 +3 "manipulator"&@% +4 "core" %  # E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%F& +3 "core" & +3 "manipulator"&M% +4 "core" %\   + "storage"(A% +4 "core" %a  +2 "storage"(>. +3 "core" .( +2 "storage"(/& +3 "core" &  +2 "storage"(o& +4 "core" &  +2 "manipulator"&f& +3 "core" &' , >K +2 "manipulator"&<% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +161 "core" ( +2 "manipulator"&E& +3 "core" & d ` +2 "storage"(0& +4 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +100 "core" ' +2 "storage"(O& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +324 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &  +2 "manipulator"&T& +4 "core" & & ` +2 .tElbow.seek 3 +2 "manipulator"&d( +4 "core" ( +2 "manipulator"&W& +4 "core" & / ` + "storage"(Y& +4 "core" & +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"('X +8 "core" &  ` +2 "manipulator"&e% +4 "core" % ϝ * +2 .tForearm.seek :retract + "manipulator"&R'\ +103 "core" ' + .tElbow.seek PC +2 "manipulator"&G(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&J& +3 "core" &r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' +2 "manipulator"&`& +4 "core" &r b +2 "manipulator"&j% +3 "core" %  U +3 "processing"%V& +4 "core" & +2 "processing"%& +6 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +8 &8 )v +10 &k = +9 &r G +9 &te F +10 &6e F +9 &e F +9 &f F +10 &{c G +9 &=c G +10 &d F +9 & e G +9 &"h G +10 &$Ec G +9 &&b G +9 &'h G +10 &)g F +9 &+Ne F +10 &-e F +9 &.h G +9 &0e G +10 &2Ud G +9 &4c G +9 &5c G +10 &7c F +9 &9]g G +10 &;c G +9 &<j G +9 &>j G +10 &@dk G +9 &B'e G +9 &Cj G +10 &Er H +9 &Ge{ J +10 &I" K +9 &J L +9 &L L +10 &Nf L +9 &P' L +9 &Q L +10 &S L +9 &Um L +10 &W- M +9 &X M +9 &Z@C` %l +10 &Z\ ) ! +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&_1 +2 "core" &Z ! +59 1 +2 "manipulator"&D% +4 "core" %  C U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +100 "core" ' +3 "processing"%s& +3 "core" &Z[ ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&}% +3 "core" %\ "  < +2 "storage"(q% +4 "core" %O  +2 "storage"(. +3 "core" .( +2 "storage"(\ & +4 "core" & G +2 "storage"(t& +2 "manipulator"&!& +6 "core" &  +3 &r +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(\\'i +3 "manipulator"&(s +4 "core" ( +2 "manipulator"&Z& +3 "core" &r e +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &r * +3 .tForearm.seek PC + "manipulator"&m' +95 "core" ' +2 .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%-( +87 "core" ' + "storage"(g- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +42 "core" ' +293 ( +2 "storage"(U& +3 "core" &  +2 "manipulator"&& +3 "core" &r +3 "manipulator"&?% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&8'\ +100 "core" ' +2 .tElbow.reconfigure :tight +49 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +271 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(|& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +94 "core" ' +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(4- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(:'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"()& +4 "core" & r p  +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +7 "core" ( + "manipulator"&+& +4 "core" & ' w +2 "storage"(l& +4 "core" & r r  +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +57 "core" ' +2 "manipulator"&& +3 "core" & l w +3 "storage"(& +4 "core" & [ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&v% +5 "core" %{ + "storage"(& +5 "core" & 4 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts + "manipulator"&'ϧ +20 "core" ' +2 "manipulator"&& +4 "core" & w +2 "storage"(,& +3 "core" & t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +37 "core" ' +2 "storage"(% +3 "core" %m & +3 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (5% +3 "core" %S w PG +2 "manipulator"&% +5 "core" %I G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (3& +2 "core" & m +3 "collection"'I& +4 "core" &VS X Z A + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\  f  +2 "storage"(1% +4 "core" %b r +2 "storage"(~. +2 "core" .( +2 "storage"(.& +4 "core" & +2 "storage"(7& +4 "core" & +2 "manipulator"&X& +4 "core" &  w +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&P& +4 "core" & w + "storage"(w& +5 "core" & { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&b'9 +94 "core" ' + "storage"(2& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & H w +2 "storage"(B& +3 "core" & ` +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +21 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 "storage"(=- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(9'O +26 "core" ' +2 "manipulator"&S% +3 "core" %{ y +3 "storage"(L& +4 "core" & 3 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts + "manipulator"&N'ϧ +21 "core" ' + "manipulator"&x& +5 "core" & @ w + "storage"([& +4 "core" & - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'> +36 "core" ' +2 "manipulator"&F& +3 "core" &  w +3 "manipulator"&M% +3 "core" %:  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&>( +161 "core" ( + "manipulator"&'& +4 "core" && l =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" && r =B +2 .tForearm.seek CC +2 "manipulator"&o'" +95 "core" ' + .tHand.close +2 "manipulator"&f/ +53 "core" / +2 .tCC.seek :open + "collection"'<( +416 "core" ( +2 "storage"(H& +4 "core" &  +2 "storage"(E& +3 "core" &  +2 "manipulator"&0& +4 "core" &% <@ +2 "manipulator"&O% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +161 "core" ( +2 "manipulator"&y& +4 "core" & s S +2 "storage"(n& +4 "core" & l +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&T'} +103 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +61 "core" 1 +3 "manipulator"&% +4 "core" % ΂ : + "storage"({& +5 "core" & 8 +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&e'Ϯ +20 "core" ' +2 "manipulator"&%& +3 "core" & ) S +2 "storage"(K& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&]'9 +27 "core" ' +2 "storage"(C% +4 "core" %< R  +2 ."downElevator"SE.seek :down +4 "storage"(J'X +99 (u% +3 "core" %L H OD +2 "manipulator"&d% +4 "core" %| l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'j& +3 "core" & U W0 +2 "manipulator"&V% +4 "core" %\  O . +2 "storage"(% +3 "core" %` _ +2 "storage"(R. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" & 8 +2 "manipulator"&D& +4 "core" & > S + .tElbow.seek 2 +2 "manipulator"&s( +46 "core" ( + "manipulator"&}& +4 "core" &\ > j +2 "storage"(q& +4 "core" & c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 2 + 700 counts +5 "manipulator"&'ќ +102 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +279 "core" ' +2 "storage"(t- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" & . +2 "manipulator"&Z& +4 "core" &  h +2 .tElbow.seek 2 + "manipulator"&p( +35 "core" ( + "manipulator"&& +4 "core" & ^ +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&g' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&G/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"('X +8 "core" &  ^ + "manipulator"&\\% +5 "core" %  d 3 +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&?& +3 "core" &% 6 ) << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +3 "core" &%  << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' +2 "manipulator"&|& +4 "core" &% W <; +2 "manipulator"&% +3 "core" %  +3 "collection"'& +4 "core" & T WL +2 "collection"'4& +5 "core" & V U +2 .tCC.seek :closed +2 "collection"'^(V +4 "core" & V W  +9 &5 R X@ )u +10 & i T WN < +9 &w T V< G +10 &gh U S F +9 &)e U V F +9 &e W V F +10 &e T T F +9 &oj W Y F +9 &1k T X F +10 &j V W F +9 & k W Y F +10 &"wk T X F +9 &$:k U XG F +9 &%i T XC G +10 &'h V WL F +9 &)d U VL F +9 &+@i V VF G +10 &-h V W? F +9 &.h U U= G +10 &0j W W; G +9 &2Ig T V> F +9 &4 k V V> F +10 &5i T V@ F +9 &7k T W> F +9 &9Qh R U@ F +10 &;k U X? F +9 &<j V U? G +10 &>i V U? F +9 &@Ye V W= F +9 &Bk V X= F +10 &Cl T W< F +9 &Er W [@ G +9 &GZ| W Z= I +10 &I Y [= J +9 &J ] ]< N +10 &L Z ]A P +9 &NN X Y? P +9 &P Z XB P +10 &Q W Z? P +9 &S Y [; R +9 &UO Z XD C +10 &Vj@ Y \\@ 0 +9 &VU W [A ? +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&)1 +57 "core" 1 +3 "manipulator"&h% +3 "core" %  , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%l& +5 "core" & + "manipulator"&8% +4 "core" %\ # 9 > +2 "storage"(% +3 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(v& +3 "core" & " +2 "storage"(& +5 "core" & \\ +2 "manipulator"&r& +3 "core" &%  <; +2 "manipulator"&% +3 "core" %\ #  > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&,( +154 "core" ( +2 "manipulator"&:& +3 "core" & E  +3 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' +2 "storage"(&& +3 "core" & H +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +278 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&z& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&;& +4 "core" & H  +2 "storage"(& +3 "core" & ~ +48 .tForearm.seek 2 + 300 counts +3 "manipulator"&' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& + "storage"('X +7 "core" & }  +2 "manipulator"&1% +3 "core" %  = +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&~(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&.& +5 "core" &w 6 o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &w   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +92 "core" ' +2 "manipulator"&P& +3 "core" &w A  +3 "manipulator"&w% +4 "core" %  9 +2 "processing"%"& +4 "core" &l +2 "processing"%2& +5 "core" & +2 .tPC.seek :closed +2 "processing"%c(Z +3 "core" & +8 &E #b +10 &\\ 6 +9 & H +9 &f F +10 &f F +9 &bh G +10 &%b F +9 &e G +9 &f G +10 &jc G +9 & ,e G +9 &!c F +10 &#f G +9 &%rh\\ G +10 &'3g G +9 &(d F +9 &*e F +10 &,{e F +9 &.=f F +9 &/e F +10 &1f F +9 &3h G +10 &5Dc G +9 &7b G +9 &8c G +10 &:b G +9 &b G +10 &?h G +9 &Ae G +10 &CThh G +9 &Em H +9 &Fu H +10 &H$ K +9 &JNi L +9 &L L +10 &M L +9 &O M +10 &QS M +9 &S M +9 &T M +10 &V M +9 &X[ M +9 &Yww !i +10 &Z'k * +9 ( + &Z ! +2 "processing"%2& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&% +4 "core" % 6 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +91 "core" ' +2 "processing"%(& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&B% +3 "core" %\    +2 "storage"(=% +5 "core" %b  + "storage"(S. +3 "core" .( +2 "storage"(L& +3 "core" &  +3 "storage"(x& +3 "manipulator"&[& +6 "core" &  +2 &w W  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&F(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(M'i +2 "core" ( +3 "manipulator"&b& +3 "core" &w /  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &w   +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tPC.seek :open +2 "processing"%N( +93 "core" ' + "storage"(9- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +33 "core" ' +296 ( + "storage"(/& +4 "core" & p +2 "manipulator"&*& +4 "core" &w  +2 "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +269 "core" ( +2 "manipulator"&6& +3 "core" & W  +2 "storage"(H& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +95 "core" ' + .tHand.open +2 "manipulator"&01 +58 "core" 1 +3 "storage"(O- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +33 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(n' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(>& +4 "core" & r r / +2 "manipulator"&Y& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&{& +3 "core" & N  +2 "storage"(%& +5 "core" & J J ) +2 .tForearm.seek 2 + 700 counts + "manipulator"&K'ќ +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +55 "core" ' +2 "manipulator"&Q& +3 "core" &   +2 "storage"(u& +4 "core" & N +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&d' +22 "core" ' +2 .tElbow.hold + "manipulator"&a, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(T'i +24 "core" ' +2 "manipulator"&e% +4 "core" %  +2 "storage"(j& +4 "core" & w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&V' +20 "core" ' + "manipulator"&& +4 "core" & B  +2 "storage"(R& +5 "core" & Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +26 "core" ' + "storage"(]% +4 "core" %s 4  +2 ."downElevator"SE.seek :down +4 "storage"(J'X +99 ($% +3 "core" %T  PG +2 "manipulator"&_% +3 "core" %ѷ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" & +2 "collection"'q& +4 "core" &VW Z Z ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ 2 +2 "storage"(W% +4 "core" %b +2 "storage"(`. +3 "core" .( +2 "storage"(t& +3 "core" & T +2 "storage"(!& +4 "core" & J +2 "manipulator"&Z& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & )  +2 "storage"(G& +3 "core" & a +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +98 "core" ' + "storage"(\\& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +282 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" & E  +2 "storage"(m& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&\ ' +33 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +28 "core" ' + "manipulator"&% +4 "core" % U +2 "storage"(p& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&U& +4 "core" & Y  +47 "storage"(<& +4 "core" & +7 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&)'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'> +38 "core" ' + "manipulator"&l& +5 "core" & ;  +2 "manipulator"&8% +3 "core" %Ѡ I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&v& +4 "core" & _ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &  3 +3 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"( & +3 "core" &  +2 "storage"(:& +4 "core" &  +2 "manipulator"&& +3 "core" & d 3 +2 "manipulator"&&% +3 "core" % / M +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+( +159 "core" ( +2 "manipulator"&5& +3 "core" & K  +2 "storage"(& +3 "core" & { +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&z' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&3% +3 "core" %  & +2 "storage"(I& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts +3 "manipulator"&1' +16 "core" ' +2 "manipulator"&,& +3 "core" & e  +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +31 "core" ' + "storage"(% +5 "core" %H w \ +2 ."downElevator"SE.seek :down +4 "storage"(.'X +99 (7% +3 "core" %\ L  OC +2 "manipulator"& % +5 "core" %ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +88 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +3 "core" & T W6 +3 "manipulator"&"% +4 "core" %\    +2 "storage"(% +3 "core" %`  +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(-( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & H  +2 "manipulator"&& +3 "core" & F  +3 .tElbow.seek 3 + "manipulator"&(( +18 "core" ( +2 "manipulator"&B& +4 "core" & W G +2 "storage"(=& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +88 "core" ' + "storage"(L& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'i +280 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &   +45 "manipulator"&b& +9 "core" & 9 G +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&X& +5 "core" & K G + "storage"( & +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&i& + "storage"(c'X +8 "core" &  G + "manipulator"&M% +5 "core" % τ  ! +2 .tForearm.seek :retract + "manipulator"&/'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&#& +4 "core" &( & Q ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &(  ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&6'" +99 "core" ' +3 "manipulator"&H& +4 "core" &(  A ?S +2 "manipulator"&F% +4 "core" %' [ +2 "collection"'0& +4 "core" & T V +2 "collection"'O& +5 "core" & U V +2 .tCC.seek :closed +3 "collection"'o(V +3 "core" & R W +6 & S V 7 +10 &MM T V / +9 &| U W D +10 &Ig T U F +9 &\ h V W F +9 &e T W F +10 &e T W F +9 &Pk S W F +9 &j V W G +10 &h U X G +9 &h T T G +10 &!Wi U X G +9 &#i V W G +9 &$i U V G +10 &&h T U G +9 &(`g V W F +9 &*"k T W F +10 &+i T U G +9 &-h U WJ G +10 &/hh V XD F +9 &1*f T WD F +9 &2e U WG F +10 &4k U W? F +9 &6oh T W< G +9 &82h T W= F +10 &9e V W< F +9 &;k T WE F +10 &=xk U V= F +9 &?:k U W< F +9 &@k V W? F +10 &Bj W W4 G +9 &Dh V X> G +9 &F?r W X< G +10 &G X [= J +9 &I Z \\/ K +10 &Kl \\ _H P +9 &M, Z ]? Q +9 &N X X? P +10 &P Z Y= P +9 &Rr Z \\< Q +9 &T0 W \\8 R +10 &Uw X Z @ +9 &V& Y ^: %k +10 &Vl X \\? I +2 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&>1 +57 "core" 1 +3 "manipulator"&Y% +3 "core" % ' L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%%& +4 "core" &r +2 "manipulator"&f% +3 "core" %\    +2 "storage"(Q% +5 "core" %`  + "storage"(u. +4 "core" .( + "storage"(e& +4 "core" &   +2 "storage"('& +4 "core" &   +2 "manipulator"&j& +3 "core" &( - ?Q +3 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&y( +160 "core" ( +2 "manipulator"&R& +4 "core" & a Z +2 "storage"(]& +3 "core" & p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +92 "core" ' +2 "storage"(E& +4 "core" & s  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +278 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &   +2 "manipulator"&K& +4 "core" & Z +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&C& +3 "core" & ` Z +2 "storage"(d& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&V'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +3 "storage"('X +5 "core" & { Z +3 "manipulator"&W% +4 "core" % Ϭ 8 $ +2 .tForearm.seek :retract +48 "manipulator"&`'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t(s +119 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +123 "core" ( +3 "manipulator"&T& +3 "core" &p D  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &p ,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Z' +95 "core" ' + "manipulator"&& +5 "core" &p '  +2 "manipulator"&G% +3 "core" %   +2 "processing"%@& +5 "core" &p +2 "processing"%\\& +5 "core" & +2 .tPC.seek :closed +2 "processing"%J(Z +3 "core" & +8 &> #c +9 &\\ 6 +10 & G +9 &e G +9 &h G +10 &_j F +9 &!e F +9 &e F +10 &j G +9 &gc F +10 & )f F +9 &!e F +9 &#e F +10 &%nj G +9 &'0i G +9 &(h G +10 &*g G +9 &,we F +10 &.9e F +9 &/c G +9 &1e F +10 &3~d G +9 &5@d G +10 &7c G +9 &8c G +9 &:c G +10 & b F +9 &?f G +10 &Ae G +9 &CPi G +10 &En H +9 &Fv I +9 &H J +10 &JH L +9 &L\  L +9 &M L +10 &O M +9 &QO M +9 &S M +10 &T M +9 &V M +10 &XV M +9 &Ywx "j +10 &Z'k + +8 ( +3 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&a1 +2 "core" &Z ! +56 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%?& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&m% +4 "core" %\    +2 "storage"(|% +4 "core" %b ' +2 "storage"(. +3 "core" .( +2 "storage"(p& +3 "core" & N  +3 "storage"(U& +2 "manipulator"&<& +8 "core" & @  +2 &p   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&l(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'i +2 "core" ( +3 "manipulator"&k& +3 "core" &p   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p 0  +3 .tForearm.seek PC +2 "manipulator"&s' +96 "core" ' + .tHand.close +2 "manipulator"&\ / +62 "core" / +3 .tPC.seek :open +2 "processing"%( +79 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +42 "core" ' +300 ( + "storage"(4& +4 "core" & ?  +2 "manipulator"&)& +3 "core" &p  +2 "manipulator"&g% +5 "core" % +2 .tForearm.seek :retract + "manipulator"&r'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +267 "core" ( + "manipulator"&^& +4 "core" & 5  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +109 "core" ' + .tHand.open +2 "manipulator"&1 +60 "core" 1 +3 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(5'E +23 "core" ' +2 .tSE.reconfigure :seal +10 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & J J 7  +42 "manipulator"&& +12 "core" &  + .tElbow.seek 3 +2 "manipulator"&3( +7 "core" ( +2 "manipulator"&I& +4 "core" & J  +2 "storage"(,& +3 "core" & K K   +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&& +5 "core" & p  + "storage"(7& +3 "core" & T  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(z'i +24 "core" ' +2 "manipulator"&w% +4 "core" %y +2 "storage"(1& +4 "core" & 0  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 296 counts +2 "manipulator"&"'ϥ +19 "core" ' +2 "manipulator"&& +3 "core" & s  +2 "storage"(& +4 "core" & %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +18 "core" ' +2 "storage"( % +4 "core" %p *  +2 ."downElevator"SE.seek :down +4 "storage"(.'X +99 (% +4 "core" %O  PF +2 "manipulator"& % +3 "core" %- 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +3 "core" & -  +2 "collection"'=& +4 "core" &Vj Y Z5 I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&L% +3 "core" %\  6 +3 "storage"(;% +4 "core" %U  +2 "storage"(P. +3 "core" .( + "storage"(x& +5 "core" &   + "storage"([& +4 "core" &   +2 "manipulator"&b& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&X( +4 "core" ( +2 "manipulator"& & +3 "core" & 4  +2 "storage"(~& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +88 "core" ' + "storage"(M& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +279 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & Y  +2 "storage"(& +4 "core" & ^  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&2'} +27 "core" ' +2 .tElbow.hold + "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' +2 "manipulator"&F% +4 "core" %΂ + "storage"(0& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&c'Ϯ +20 "core" ' +2 "manipulator"&/& +3 "core" &  +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Y'? +39 "core" ' +2 "manipulator"&%& +4 "core" & ^  + "manipulator"&f% +5 "core" %X } +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +156 "core" ( +2 "manipulator"&e& +3 "core" & n 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" & & 7 +3 .tForearm.seek CC +2 "manipulator"&''" +96 "core" ' + .tHand.close +2 "manipulator"&j/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(6& +4 "core" &   +2 "storage"(R& +3 "core" &   +2 "manipulator"&]& +3 "core" &  7 +2 "manipulator"&E% +4 "core" % / +3 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&{( +164 "core" ( +2 "manipulator"&$& +3 "core" & ~ | +2 "storage"(_& +5 "core" & W  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&K'} +101 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&d1 +64 "core" 1 +2 "manipulator"&}% +3 "core" % Ό G +2 "storage"(q& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&W'ϸ +20 "core" ' +2 "manipulator"&y& +3 "core" & v | +3 "storage"(A& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&n'9 +27 "core" ' +2 "storage"(V% +3 "core" %F A +3 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (!% +3 "core" %P K PE +2 "manipulator"&% +3 "core" %y } } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'G& +3 "core" & T V/ +3 "manipulator"&@% +4 "core" %\  5  + "storage"(% +4 "core" %a n +2 "storage"(`. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(N( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" & ) +2 "manipulator"&D& +3 "core" & | +3 .tElbow.seek 2 + "manipulator"&?( +44 "core" ( +2 "manipulator"&m& +4 "core" &\ > ^ +2 "storage"(|& +3 "core" &  H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 "storage"(p& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +277 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &   +2 "manipulator"&k& +4 "core" & < ] +2 .tElbow.seek 2 + "manipulator"&( +24 "core" ( +2 "manipulator"&Z& +3 "core" &  +2 "storage"(\ & +5 "core" &  g +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +45 "manipulator"&t/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(J'X +8 "core" &   + "manipulator"&8% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&4'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&g& +4 "core" &*  ) @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &* 7 @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&^'" +103 "core" ' +2 "manipulator"& & +3 "core" &* h @\\ +3 "manipulator"&l% +4 "core" % l +2 "collection"'& +3 "core" & S V +3 "collection"'&& +5 "core" & T W +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & U V +7 &. V W #a +9 &Z U W 5 +9 & T X G +10 &e T V F +9 &g U X F +9 &Ue U W F +10 &g U X F +9 &k W W F +10 &h V X F +9 &]e U W F +9 & k T X F +10 &!f V V F +9 &#g V W F +9 &%ee T V F +10 &''e V W F +9 &(d V W F +10 &*j U V F +9 &,mk V V F +9 &..h T W G +10 &/h U W F +9 &1e U W F +9 &3ue U W8 F +10 &57j U VC F +9 &6i V V G +10 &8g U V F +9 &:}j V X F +9 &j U W F +9 &?j U U F +9 &Aj W W/ F +10 &CFi W W) G +9 &Ek X W G +10 &Fx Y [ H +9 &H Y Z J +9 &J< [ [ M +10 &K [ ^ P +10 &M X ] Q +8 &Ox [ \\ P +10 &Q: X Z P +9 &R Z [ R +10 &T Y [ R +9 &V"R X [ 6 +9 &V Y [ (s +10 &V{ W Z R +2 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" % " | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%I& +3 "core" & +3 "manipulator"&,% +4 "core" %\  ,  +2 "storage"(% +4 "core" %b a + "storage"(7. +3 "core" .( +2 "storage"(v& +3 "core" &  H +2 "storage"(5& +4 "core" &   +2 "manipulator"&w& +3 "core" &* @[ +2 "manipulator"&1% +3 "core" %\  G  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" & ^  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(:& +4 "core" &  G +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&& +3 "core" & 1  +3 .tElbow.seek 2 + "manipulator"&3( +4 "core" ( + "manipulator"&& +3 "core" &  +7 "storage"( & +4 "core" &  u +3 .tForearm.seek 2 + 300 counts + "manipulator"&"' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&B/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +5 "storage"(L'X +6 "core" &   + "manipulator"&;% +4 "core" %  b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( + "manipulator"&x& +5 "core" &i  u  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &i   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +2 "manipulator"&b' +104 "core" ' + "manipulator"& & +4 "core" &j %  +2 "manipulator"&~% +5 "core" % % ` + "processing"%h& +5 "core" &g +2 "processing"%M& +5 "core" & +3 .tPC.seek :closed +2 "processing"%.(Z +3 "core" & +7 & 7 +9 &JN . +10 &y C +9 &;i G +10 &g G +9 &f F +9 &g F +10 &De F +9 &e F +9 &b G +10 &c G +9 &!Kb G +9 &# i G +10 &$c G +9 &&b F +10 &(Se G +9 &*h F +9 &+d F +10 &-e F +9 &/\\e F +9 &1g F +10 &2f F +9 &4g F +10 &6de F +9 &8&d F +9 &9f F +10 &;e F +9 &=jh G +9 &?-d G +10 &@f F +9 &Bi G +10 &Dql G +9 &F2q H +9 &G J +10 &I L +9 &Kl L +9 &M- L +10 &N M +9 &P M +10 &Rs L +9 &T5 L +9 &U L +10 &W M +9 &Yx : +9 &Zj6 Y +10 &Z ! +2 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&+1 +62 "core" 1 +2 "manipulator"&% +3 "core" % ^ ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +88 "core" ' +2 "processing"%#& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(H% +3 "core" %a  +2 "storage"(F. +4 "core" .( + "storage"(0& +4 "core" &  0 +3 "storage"(/& +2 "manipulator"&& +8 "core" &   + &k  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&%(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(f'i +2 "core" ( +3 "manipulator"&i& +3 "core" &k   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &k   +3 .tForearm.seek PC + "manipulator"&(' +96 "core" ' + .tHand.close +2 "manipulator"&2/ +56 "core" / +3 .tPC.seek :open +2 "processing"%c( +87 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(e'y +35 "core" ' +299 ( +2 "storage"(O& +3 "core" &  ] +3 "manipulator"&>& +4 "core" &l  + "manipulator"&9% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Q( +251 "core" ( +2 "manipulator"&o& +3 "core" & c  +2 "storage"(6& +4 "core" &  > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +105 "core" ' +2 .tHand.open + "manipulator"&]1 +58 "core" 1 +2 "storage"(E- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"('- +4 "core" -' +2 "storage"(u& +4 "core" &  O T - + "manipulator"&d& +5 "core" &  +3 .tElbow.seek 2 +4 "manipulator"&}( +11 "core" ( +2 "manipulator"&q& +11 "core" &   +4 "storage"(y& +4 "core" &  J K C +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +47 "storage"(V' +59 "core" ' +2 "manipulator"&*& +4 "core" & O  +2 "storage"(!& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +22 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +24 "core" ' + "manipulator"&W% +4 "core" % +2 "storage"(G& +3 "core" &  ; +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&@' +20 "core" ' + "manipulator"&& +4 "core" & %  +2 "storage"(`& +3 "core" &  X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +17 "core" ' +2 "storage"(n% +3 "core" %r s +3 ."downElevator"SE.seek :down +4 "storage"(T'X +99 (-% +3 "core" %P OF +2 "manipulator"&a% +4 "core" %љ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" &   +2 "collection"'|& +4 "core" &Vu X Y R +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&p% +3 "core" %\  % +2 "storage"(C% +4 "core" %X  +2 "storage"(. +3 "core" .( +2 "storage"(<& +3 "core" &   +2 "storage"(U& +4 "core" &   +2 "manipulator"&k& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&Z( +9 "core" ( +2 "manipulator"&\ & +3 "core" & 8 \ +3 "storage"(t& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 "storage"(8& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +281 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & H \ +2 "storage"(\\& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s' +32 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(l'O +28 "core" ' +2 "manipulator"&% +4 "core" % 2  + "storage"(& +4 "core" &  I +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&J' +17 "core" ' +2 "manipulator"&4& +3 "core" & \ +3 "storage"(& +4 "core" &  M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +36 "core" ' +2 "manipulator"&I& +4 "core" & ' \ +2 "manipulator"&,% +3 "core" %ѥ n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +162 "core" ( +2 "manipulator"&v& +3 "core" &( X ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &(  ?V +2 .tForearm.seek CC +2 "manipulator"&5'" +144 "core" ' + .tHand.close + "manipulator"&w/ +60 "core" / +2 .tCC.seek :open +2 "collection"'1( +416 "core" ( + "storage"(^& +3 "core" &   +2 "storage"(& +4 "core" &  \ +2 "manipulator"& & +5 "core" &( @ ?V + "manipulator"&:% +4 "core" % & N +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&r( +160 "core" ( +2 "manipulator"&& +3 "core" & &  +3 "storage"( & +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +155 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +53 "core" 1 +3 "manipulator"&B% +4 "core" % R + "storage"(=& +5 "core" &  T + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&;' +16 "core" ' +2 "manipulator"&& +4 "core" & '  + "storage"(& +5 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +31 "core" ' + "storage"("% +4 "core" %> q  +3 ."downElevator"SE.seek :down +3 "storage"(x'X +100 ([% +3 "core" %L 9 OD +2 "manipulator"&3% +3 "core" %ђ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'~& +3 "core" & S V7 +3 "manipulator"&h% +4 "core" %\ ! 5 + "storage"(L% +5 "core" %a i + "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" & B  +2 "manipulator"&& +3 "core" & w  +2 .tElbow.seek 3 +2 "manipulator"&#( +16 "core" ( +2 "manipulator"&& +3 "core" & 9 _ +3 "storage"(H& +4 "core" & \\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&F'9 +93 "core" ' +2 "storage"(0& +4 "core" & 7  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &   +2 "manipulator"&i& +4 "core" & - _ +2 .tElbow.seek 3 + "manipulator"&X( +4 "core" ( +2 "manipulator"&b& +3 "core" & 7 _ +2 "storage"(2& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +30 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&S& + "storage"(.'X +6 "core" & N _ +3 "manipulator"&f% +3 "core" % C 0 +3 .tForearm.seek :retract +2 "manipulator"&O'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&9& +3 "core" &(  3 ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +4 "core" &( J ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'" +100 "core" ' +2 "manipulator"&6& +3 "core" &)  ?R +2 "manipulator"&%% +5 "core" %( +2 "collection"']& +3 "core" & V V +4 "collection"'E& +5 "core" & T V +2 .tCC.seek :closed +3 "collection"''(V +4 "core" & W W +5 & S V 5 +10 &IM T W / +9 &| V W C +10 &Bh U W G +9 &h W V F +9 &h U V F +10 &d U W F +9 &Lj T V F +9 & i U U F +10 &e V W F +9 &h T V\ G +10 &!Sh S U F +9 &#k U W F +9 &$j V W G +10 &&h U W F +9 &(\\i T W F +9 &*h V W F +10 &+h T Y G +9 &-h T V F +10 &/ch T V F +9 &1&e U WC F +9 &2h V XJ F +10 &4j T W F +9 &6lh V Y F +9 &8-h U U F +10 &9j S W F +9 &;h T W F +10 &=sj V V F +9 &?4h W V G +9 &@h U V F +10 &Bk U V F +9 &D{m U X F +10 &F9s W X H +9 &G W Z H +9 &I [ ] K +10 &Ki \\ ^ O +9 &M' Z [ Q +9 &N [ \\ P +10 &P Z [ Q +9 &Rk Z Z Q +9 &T+ Z \\ R +10 &Uz [ [ ; +9 &V5 Z ] #i +10 &VJ \\ Z > +2 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 + .Hand.open +2 "manipulator"&u1 +62 "core" 1 +2 "manipulator"&d% +5 "core" % ( } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%j& +4 "core" &l +2 "manipulator"&y% +3 "core" %\ $ I 2 +2 "storage"(*% +4 "core" %` S +2 "storage"(!. +3 "core" .( +2 "storage"(e& +3 "core" &  +2 "storage"($& +4 "core" &  +2 "manipulator"&W& +3 "core" &( 7 ?Q +2 "manipulator"&G% +5 "core" %\ % a 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&`& +4 "core" & F N +2 "storage"(Q& +4 "core" & s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +98 "core" ' +2 "storage"(R& +3 "core" & 3  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +281 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (a& +3 "core" & J  +2 "manipulator"&A& +3 "core" & _ N +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&V& +3 "core" & b N +3 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(p'X +8 "core" & 7 N +2 "manipulator"&C% +3 "core" % Ϣ K M +3 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"&<& +3 "core" &v 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &v  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +98 "core" ' +2 "manipulator"&\ & +4 "core" &v L +2 "manipulator"&t% +4 "core" % & ] +2 "processing"%Y& +3 "core" &l +3 "processing"%8& +5 "core" & +2 .tPC.seek :closed +2 "processing"%T(Z +50 "core" & +5 &>/ #c +4 &\\z 6 + & G + &b F + &i G + &ah F +5 &#e F +9 &c G +9 &d G +10 &gg G +9 & +e F +10 &!h G +9 &#i F +9 &%qf F +10 &'2i G +9 &(h F +9 &*c G +10 &,xh G +9 &.:g G +10 &/c F +9 &1f F +9 &3f F +10 &5Bc G +9 &7b F +9 &8e F +10 &:d F +9 & f G +9 &?d G +9 &Ad G +10 &CRh G +9 &Em H +9 &Fx I +10 &H J +9 &JJ L +9 &L  L +10 &M L +9 &O L +10 &QR L +9 &S L +9 &T M +10 &V M +9 &XX M +10 &Yww !i +9 &Z'l + +9 ( + &Z " +2 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&{1 +61 "core" 1 + "manipulator"&D% +4 "core" % 3 ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 "processing"%g& +4 "core" &ZZ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\    +2 "storage"( % +4 "core" %b  +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(4& +2 "manipulator"&& +6 "core" &   +2 &v  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&I(s +2 "storage"(,'i +5 "core" ( +2 "manipulator"&& +3 "core" &v  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &v  +3 .tForearm.seek PC +2 "manipulator"&?' +96 "core" ' + .tHand.close +2 "manipulator"&s/ +54 "core" / +4 .tPC.seek :open +2 "processing"%J( +86 "core" ' +2 "storage"(l- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +42 "core" ' +292 ( + "storage"(&& +4 "core" &  +2 "manipulator"&& +4 "core" &v +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&w'\ +28 "Can" D +73 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +273 "core" ( + "manipulator"&& +4 "core" & ] } +2 "storage"(^& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"& 1 +64 "core" 1 +3 "storage"(:- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"( ' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"(7& +3 "core" & r r ,  +3 "manipulator"& & +4 "core" & 2 } +2 .tElbow.seek 3 +2 "manipulator"&B( +8 "core" ( + "manipulator"&=& +5 "core" & v + "storage"(& +4 "core" & q p   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +14 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +60 "core" ' + "manipulator"&"& +4 "core" &  v +2 "storage"([& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&3'} +28 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +45 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&;% +4 "core" %v  +2 "storage"(~& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 293 counts +2 "manipulator"&h'Ϣ +20 "core" ' + "manipulator"&L& +3 "core" & x v +3 "storage"(P& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +32 "core" ' +2 "storage"(% +3 "core" %n   +3 ."downElevator"SE.seek :down +3 "storage"(x'X +99 (N% +4 "core" %N _ PF +2 "manipulator"&+% +4 "core" %: +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & P  +2 "collection"'H& +4 "core" &VH W ^ > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&0% +4 "core" %\  =  +2 "storage"(% +4 "core" %a  +2 "storage"( . +3 "core" .( +2 "storage"(/& +4 "core" &   + "storage"(M& +4 "core" & 9  +2 "manipulator"&i& +4 "core" &  v +2 .tElbow.seek 3 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&2& +4 "core" & N v +2 "storage"(z& +3 "core" & R  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +98 "core" ' + "storage"(f& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +278 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" & N v +2 "storage"(& +4 "core" & i  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(6'Q +28 "core" ' + "manipulator"&%% +4 "core" %΄  +2 "storage"(]& +3 "core" & F  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&.'ϰ +20 "core" ' + "manipulator"&O& +5 "core" & ` v + "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +41 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(d'@ +43 "core" ' +2 "manipulator"&j& +3 "core" & ) v +2 "manipulator"&y% +3 "core" %b # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +93 "core" ' +2 .tElbow.seek CC +7 "manipulator"&E( +155 "core" ( +3 "manipulator"&!& +3 "core" &# } :- +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &#  :- +3 .tForearm.seek CC +2 "manipulator"&$'" +93 "core" ' +2 .tHand.close + "manipulator"&W/ +53 "core" / +2 .tCC.seek :open +2 "collection"'G( +413 "core" ( + "storage"(o& +4 "core" &   +2 "storage"(`& +4 "core" &   +2 "manipulator"&Q& +4 "core" &#  :+ + "manipulator"&R% +3 "core" % / ( +42 .tForearm.seek :retract +9 "manipulator"&>'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&q( +157 "core" ( +2 "manipulator"&-& +3 "core" & C Q +2 "storage"(a& +5 "core" & N  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&A'} +98 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&m% +5 "core" % Ό +2 "storage"(|& +4 "core" & }  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&C'ϸ +20 "core" ' + "manipulator"&& +4 "core" &  Q +2 "storage"(n& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +28 "core" ' +2 "storage"(@% +3 "core" %I m +3 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (U% +3 "core" %R 7 OD +2 "manipulator"&}% +4 "core" %D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +30784 #t-> access 2 +3 "storage"(t% +3 "core" %W  +2 "manipulator"&Y% +3 "core" %\ 7 +3 "manipulator"&p& +4 "core" & V Q +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(K(K +968 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &K !  +566 #t-> access 3 +2 "storage"({% +5 "core" %W  + "manipulator"&D% +4 "core" %\ 7 +2 "manipulator"&g& +4 "core" & Q + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(\\([ +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &[   +1087 #t-> access 2 +2 "storage"(% +3 "core" %W $ +2 "manipulator"&% +4 "core" %\ 7 +2 "manipulator"&4& +4 "core" & Q +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &K O +22074 "Can" 4 r +37546 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +8 #mEXIT @1733850529.54EST @1733854816.93EST = =mMAIN_scheduler =tMAIN @EST1733854817.61 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@57977 receive with ifg=0x10, ie=0xFD + #@58624 receive with ifg=0x10, ie=0xFD + #@59282 receive with ifg=0x10, ie=0xFD + #@59928 receive with ifg=0x10, ie=0xFD + #@60577 receive with ifg=0x10, ie=0xFD #@61226 receive with ifg=0x10, ie=0xFD + #@61874 receive with ifg=0x10, ie=0xFD + #@62200 receive with ifg=0x80, ie=0xFD #@19867 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +379 "Can" 1x +  1x + #tPolling Can every 10:00 + #Cleanly exited at 12:08:49EST10-Dec-24 +372 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" % O P +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %F +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \  v +2 .tSS.configure :default +3 "sampler")#.0X +2 "collection"' +4 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +2 "processing"%# +4 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "sampler")& +3 "core"  +3 "collection"''% +3 "core" % O Q +4 "processing"%(% +4 "core" %; +3 "sampler"))% +4 "core" %\ \  v +41 "collection"'*& +4 "core" & O R +2 "processing"%+& +3 "core" &M +3 "manipulator"&,% +3 "core" %\ 7 +3 "manipulator"&-& +3 "core" & 2 Q +3 "storage"(.& +3 "core" &K  +2 "storage"(/% +5 "core" %W  +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9 +962 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +3 "core" & P R +2 .tHand.open +2 "manipulator"&31 +21 "core" 1 +2 "manipulator"&4& +3 "core" & : Q +2 "manipulator"&5% +4 "core" %\  7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(, +168 "core" ( + "manipulator"&7& +4 "core" &,  b V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &,  V +2 .tForearm.seek :garage +2 "manipulator"&9'Ϧ +104 "core" ' +2 .tHand.close + "manipulator"&:/ +61 "core" / +2 "manipulator"&;& +3 "core" &, h V +2 "manipulator"&<% +4 "core" % ϱ { ! +2 .tForearm.seek :retract +2 "manipulator"&='\ +104 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>( +273 "core" ( +2 "manipulator"&?& +4 "core" &+ "  @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &* d @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'" +96 "core" ' +2 "manipulator"&B& +3 "core" &* $ / @Y +2 "manipulator"&C% +4 "core" % c +2 "collection"'D& +4 "core" & R Q +2 "collection"'E& +6 "core" & N R +2 .tCC.seek :closed +2 "collection"'F(V +3 "core" & P R +8 &B N P $d +9 &\\ P S 7 +10 & P R H +9 &g P R G +9 &m P R H +10 &ci [ Q G +9 &$l O P H +9 &i P R H +10 &j O R H +9 &jm O R H +9 & -j P P G +10 &!k P Q H +9 &#j P S G +10 &%qk O Q H +9 &'4h P Q H +9 &(j P S G +10 &*j P Q G +9 &,zi O S H +10 &.<l O S H +9 &/h P R H +9 &1k O Q H +10 &3m O R H +9 &5Dh P P H +9 &7k O S H +10 &8k Q R H +9 &:n P Q H +10 &k P S G +9 &?k O P H +10 &Ah O Q H +9 &CUj R S G +9 &Er P S I +10 &F{ O T J +9 &H R S K +10 &JJ S U N +9 &L V X P +9 &M S T Q +10 &O Q S Q +9 &QH T T Q +9 &S R S R +10 &T R T R +9 &V<j S T 0 +10 &V S V 8 +9 &Wo R S A +5 ( +2 "collection"'E& +3 "core" &WY R T A +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 + "collection"'G& +4 "core" &WY S S A +2 .tHand.open + "manipulator"&H1 +64 "core" 1 +2 "manipulator"&I% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +99 "core" ' +460 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%K& +3 "core" &F +2 "manipulator"&L& +3 "core" &) k @X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +3 "core" &* ; @X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &* L @X +4 .tForearm.seek CC + "manipulator"&P'" +99 "core" ' + .tHand.close +2 "manipulator"&Q/ +56 "core" / +2 .tCC.seek :open +2 "collection"'R( +416 "core" ( +2 "manipulator"&S& +3 "core" &* " @X +2 "manipulator"&T% +4 "core" % 0 _ +2 .tForearm.seek :retract + "manipulator"&U'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&V(s +354 "core" ( +2 "manipulator"&W& +3 "core" &x < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &x O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +99 "core" ' +3 "manipulator"&Z& +8 "core" &x  +4 "manipulator"&[% +8 "core" % ( +5 "processing"%\\& +8 "core" &P +3 "processing"%]& +5 "core" &> +2 .tPC.seek :closed +2 "processing"%^(Z +3 "core" &< +8 &=B #c +9 &[< 6 +10 &: H +9 &g6 H +10 &j5 G +9 &Zg9 G +9 &k? G +10 &k; G +9 &l5 H +9 &bk< G +10 & $h5 G +9 &!g6 G +44 &#k7 G +9 &%jl7 G +2 &'+k: H +3 &(g9 G &*k: H + &,rk6 G +7 &.4h4 G +9 &/g5 G +10 &1g: G +9 &3zg7 G +9 &5<h6 G +10 &6g8 G +9 &8h; G +9 &:f5 G +10 &h: G +10 &?g4 G +9 &Aj9 G +9 &CKn< H +10 &E s9 H +9 &Fx5 I +9 &H7 K +10 &JE7 M +9 &L3 M +10 &M6 M +9 &O2 M +9 &QM6 M +10 &S8 M +9 &T8 M +9 &V4 M +10 &XS; M +9 &Ywy1 "j +10 &Z+y3 . +9 ( + &Z6 ! +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 "processing"%_& +3 "core" &ZK ! +2 .tHand.open + "manipulator"&`1 +59 "core" 1 +2 "manipulator"&a% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +99 "core" ' +2 "collection"'c& +4 "core" & L N +7987 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&d& +3 "core" &x X +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&e(s +3 "core" ( +2 "manipulator"&f& +3 "core" &x  Q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &x ? +3 .tForearm.seek PC +2 "manipulator"&h' +97 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tPC.seek :open +2 "processing"%j( +434 "core" ( +2 "manipulator"&k& +3 "core" &x R +2 "manipulator"&l% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&m'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(, +129 "core" ( +2 "manipulator"&o& +3 "core" &, n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&q'Ϧ +103 "core" ' + .tHand.open +2 "manipulator"&r1 +59 "core" 1 +2 "manipulator"&s% +3 "core" % ϰ  l 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +99 "core" ' +518 #t-> purgeIntake +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'u& +3 "core" & N O +2 "manipulator"&v& +4 "core" &, 0  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&w(, +19 "core" ( +2 "manipulator"&x& +3 "core" &, , h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &, h +2 .tForearm.seek :garage +2 "manipulator"&z'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +2 "manipulator"&|& +3 "core" &, h +2 "manipulator"&}% +4 "core" % Ϸ  M +2 .tForearm.seek :retract +2 "manipulator"&~'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +276 "core" ( +2 "manipulator"&& +4 "core" &'  a >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + "manipulator"&& +4 "core" &(  L >I +2 "manipulator"&% +4 "core" %* +2 "collection"'& +3 "core" & K P +3 "collection"' & +5 "core" & N P +2 .tCC.seek :closed +2 "collection"' (V +5 "core" & O Q +6 &/ N O #b +10 &Z O Q 6 +9 &\ M R H +9 &g O Q G +10 &i N P H +9 &Ph N Q G +10 &n M Q H +9 &m Q P G +9 &i O P G +10 &Wm P R H +9 & j N P H +9 &!h O P H +10 &#i O Q H +9 &%`m O Q G +10 &'!g P P H +9 &(j N Q H +9 &*g N P G +10 &,hj O R G +9 &.)k N Q H +9 &/i M P H +10 &1i N P H +9 &3oj O P H +10 &52f P R G +9 &6j O P G +9 &8e N R G +10 &:xj O Q G +9 &<9k P Q H +9 &=m O P G +10 &?i O P G +9 &Al N R H +10 &CBl P P G +9 &En P P H +9 &Fv P R I +10 &H O S J +9 &J: R S M +9 &K T W P +10 &M R U Q +9 &Ou S T Q +10 &Q6 R T Q +9 &R P U R +9 &T R T R +10 &V$Y S T 9 +9 &V S S 'o +9 &V S T P +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 +2 "collection"' & +3 "core" &V R T P +2 .tHand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" % * # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + #tPurging external Intake +2 "collection"'& +3 "core" &V P S P +2 "collection"'% +3 "core" % P S +2 .tCSV.dial :flush +37 "collection"'  +57 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'' V +2105 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"' +2 '  +6 "core"  +61  + .tCTV.dial :intake +2 "collection"'  +69 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'' +2118 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &' j >I +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &' ! m >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &' d >I +2 .tForearm.seek CC +2 "manipulator"&!'" +93 "core" ' +2 .tHand.close + "manipulator"&"/ +62 "core" / + .tCC.seek :open +2 "collection"'#( +416 "core" ( +2 "manipulator"&$& +3 "core" && G =D +3 "manipulator"&%% +4 "core" % , % +2 .tForearm.seek :retract + "manipulator"&&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&'(, +290 "core" ( + "manipulator"&(& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&*'Ϧ +101 "core" ' +2 .tHand.open +2 "manipulator"&+1 +52 "core" 1 +2 "manipulator"&,% +3 "core" % ϰ  f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +95 "core" ' +21035 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'.& +3 "core" & O P +2 "manipulator"&/& +3 "core" &, +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&0(, +3 "core" ( + "manipulator"&1& +4 "core" &,  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &, = +2 .tForearm.seek :garage +2 "manipulator"&3'Ϧ +91 "core" ' +2 .tHand.close + "manipulator"&4/ +55 "core" / +2 "manipulator"&5& +3 "core" &, / +2 "manipulator"&7% +4 "core" % ϸ  +3 .tForearm.seek :retract + "manipulator"&8'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +281 "core" ( +2 "manipulator"&:& +3 "core" &( ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &(  ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'" +92 "core" ' + "manipulator"&& +4 "core" &( ?P +2 "manipulator"&9% +3 "core" %+ +3 "collection"'?& +4 "core" & P O +2 "collection"'@& +5 "core" & N P +2 .tCC.seek :closed +2 "collection"'6(V +4 "core" & N O  +9 &6 N O )w +9 &i M O = +9 &y N Q H +10 &jg N P G +9 &,h O O G +10 &l M R H +9 &j M P H +9 &rg N O G +10 &3h M O H +9 &j L P H +9 & h M M H +10 &"ym M N H +9 &$:k N M H +10 &%j N P G +9 &'l O O G +9 &)j O O H +10 &+Ck N P H +9 &-k N O G +10 &.l O O H +9 &0k L P H +9 &2Le M N G +10 &4i O O G +9 &5j N P H +9 &7g L P G +10 &9Th O O G +9 &;m M O H +9 &<m N O H +10 &>k M R H +9 &@\\f K N G +10 &Bi L Q G +9 &Cn L P H +9 &Ep N P H +10 &G]~ L O J +9 &I L N K +9 &J K N N +10 &L F H P +9 &NP F G Q +10 &P E H Q +9 &Q E F Q +9 &S F F R +10 &US E I D +9 &VnB F G *| +10 &Vj H J A +5 ( + "collection"'@& +4 "core" &VT F J A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.77 +2 "collection"'B& +3 "core" &VT E J A +2 .tHand.open +2 "manipulator"&C1 +61 "core" 1 + "manipulator"&D% +4 "core" % * d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' + #tPurging external Intake +2 "collection"'\ & +3 "core" &VT L O A +2 "collection"'G% +3 "core" % K O +2 .tCSV.dial :flush +2 "collection"'H  +86 "core"  +2 .tCS.seek 10ml +2 "collection"'I' V +2113 "core" ' +2 .tdelay 5 seconds +510 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"'E + 'A  +5 "core"  +64  +2 .tCTV.dial :intake + "collection"'K  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'L' +2113 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'N  +71 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&O& +4 "core" &( , ?P +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Q( +4 "core" ( +2 "manipulator"&>& +4 "core" &( m ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &(  ?P +3 .tForearm.seek CC +2 "manipulator"&F'" +93 "core" ' +2 .tHand.close + "manipulator"&S/ +63 "core" / +2 .tCC.seek :open + "collection"'T( +413 "core" ( +2 "manipulator"&P& +3 "core" &' >L +2 "manipulator"&M% +4 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&X(, +280 "core" ( +2 "manipulator"&Z& +3 "core" &, = > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &,  > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&\\'Ϧ +96 "core" ' +3 .tHand.open + "manipulator"&U1 +60 "core" 1 + "manipulator"& % +4 "core" % ϭ   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +101 "core" ' +829 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'`& +3 "core" & P O +2 "manipulator"&a& +3 "core" &, & > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&c(, +3 "core" ( +2 "manipulator"&]& +3 "core" &, E > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &, > +3 .tForearm.seek :garage + "manipulator"&d'Ϧ +99 "core" ' + .tHand.close +2 "manipulator"&f/ +61 "core" / + "manipulator"&g& +4 "core" &, ! 2 > +2 "manipulator"&i% +4 "core" % ϱ = s +2 .tForearm.seek :retract + "manipulator"&V'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&b( +295 "core" ( + "manipulator"&^& +4 "core" & ' & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'" +95 "core" ' + "manipulator"&o& +3 "core" &  & +3 "manipulator"&p% +4 "core" %  \ +2 "collection"'h& +4 "core" & O P +2 "collection"'e& +5 "core" & N Q +2 .tCC.seek :closed +2 "collection"'r(V +4 "core" & N P  +9 &6 O P )v +9 &j N R = +10 &x O O G +9 &pk O P G +9 &3k P P G +10 &j M P G +9 &j N P G +9 &xh M P G +10 &;f P R G +9 &h N P G +9 & k N O G +10 &"j O O G +9 &$Bk N O G +10 &&j N P G +9 &'k X P G +9 &)h O P G +10 &+Kj N P G +9 &- i O P G +9 &.j O P G +10 &0m N R G +9 &2Sh K Q G +10 &4j M P G +9 &5i O O G +9 &7k O O G +10 &9\\h O O G +9 &;j P P G +9 &<j N O G +10 &>j O Q H +9 &@ci O R G +10 &B%i O P G +9 &Ck O Q G +9 &El N R H +10 &Gez G L I +9 &I% I I J +9 &J K O N +10 &L J N P +9 &NX J K P +10 &P K K Q +9 &Q H K Q +9 &S I K R +10 &UY J K B +9 &Vo< I L . +9 &V\\ J N @ +6 ( + "collection"'e& +4 "core" &VM K O @ +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.78 +2 "collection"'s& +3 "core" &VM K L @ +2 .tHand.open +2 "manipulator"&m1 +58 "core" 1 + "manipulator"&q% +3 "core" %   \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +99 "core" ' +2 #tPurging external Intake + "collection"'v& +4 "core" &VM M O @ +2 "collection"'x% +3 "core" % N P +2 .tCSV.dial :flush +2 "collection"'y  +85 "core"  +3 .tCS.seek 10ml + "collection"'{' V +2128 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'| + '}  +6 "core"  +62  +2 .tCTV.dial :intake +2 "collection"'n  +68 "core"  +37 .tIntake.select :open +9 "sampler") +10 .tCS.seek 0ml +2 "collection"'t' +2109 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'z  +71 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&( +17 "core" ( + "manipulator"&w& +5 "core" &  ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ) +3 .tForearm.seek CC + "manipulator"&'" +100 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'~( +253 "Can" X@ +160 "core" ( +2 "manipulator"&R& +3 "core" & ) +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(, +274 "core" ( +2 "manipulator"&& +4 "core" &, d ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &,  ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"& 'Ϧ +106 "core" ' +2 .tHand.open + "manipulator"&1 +65 "core" 1 + "manipulator"&% +4 "core" % Ϯ # 2 ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +30798 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +2 "core" & P T +3 "manipulator"&& +4 "core" &, ; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +3 "core" ( +2 "manipulator"&& +3 "core" &, d ; +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, _ ; +3 .tForearm.seek :garage + "manipulator"&'Ϧ +102 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 "manipulator"& & +3 "core" &, ` ; +2 "manipulator"&"% +4 "core" % ϯ / G +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +277 "core" ( +2 "manipulator"& & +3 "core" &# # :1 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &# 4 :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +101 "core" ' +2 "manipulator"&!& +3 "core" &# # :1 +3 "manipulator"&(% +3 "core" %' l +3 "collection"')& +4 "core" & P S +2 "collection"'& +5 "core" & Q T +2 .tCC.seek :closed +2 "collection"'+(V +4 "core" & P S +7 &D Q S $e +9 &] R S 7 +10 &( R T H +9 &f Q T G +9 &j P S H +10 &nk Q T G +9 &/n R S H +10 &k R S H +9 &k Q T G +9 &vk P T G +10 & 7h Q S H +9 &!k S S G +9 &#k P T G +10 &%}h R S H +9 &'>j P T H +10 &)g Q R G +9 &*m R R H +9 &,j S R G +10 &.Gf R S H +9 &0j T U H +9 &1g R T G +10 &3g Q S G +9 &5Qh U T G +10 &7k R U H +9 &8k R S G +9 &:m R R G +10 &m P T G +9 &?m R R H +10 &Ai O T G +9 &C`j O T G +10 &Es Q T H +9 &Fy O Q I +9 &H K I J +10 &JX P P M +9 &L K O P +9 &M H N P +10 &O I J Q +9 &QU H K Q +10 &S L L R +9 &T M N R +9 &VGk M N 0 +10 &V N O . +9 &Vs M N I +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 +2 "collection"',& +3 "core" &Vu M O I +2 .tHand.open +2 "manipulator"&&1 +63 "core" 1 +2 "manipulator"&*% +3 "core" % # 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +99 "core" ' +2 #tPurging external Intake + "collection"'/& +4 "core" &Vu R S I +2 "collection"'1% +3 "core" % R R +2 .tCSV.dial :flush +2 "collection"'2  +85 "core"  +3 .tCS.seek 10ml + "collection"'4' V +2117 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"'5 + '7  +5 "core"  +62  +2 .tCTV.dial :intake + "collection"''  +71 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'-' +2105 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air +38 "collection"'3  +78 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&:& +3 "core" &" D :1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&0& +3 "core" &" * :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &#  :1 +3 .tForearm.seek CC + "manipulator"&9'" +93 "core" ' +2 .tHand.close + "manipulator"&?/ +55 "core" / +2 .tCC.seek :open +2 "collection"'8( +413 "core" ( +2 "manipulator"&#& +4 "core" &# U :1 + "manipulator"&B% +4 "core" % 0   +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&D(, +280 "core" ( +2 "manipulator"&\ & +3 "core" &, 4 S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &,  S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&@'Ϧ +105 "core" ' +2 .tHand.open + "manipulator"&H1 +59 "core" 1 +2 "manipulator"&<% +4 "core" % ϰ # E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +20224 #t-> exit +6 #mEXIT @1733856021.39EST @1733856050.23EST = =mMAIN_scheduler =tMAIN @EST1733856050.94 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK + #t@13883 sendCRC with ifg=0x20, ie=0x7F + #@15718 sendCRC with ifg=0x08, ie=0x5F + #@14488 idle with ifg=0x84, ie=0x75 + #@15161 select with ifg=0x10, ie=0xF5 + #@15810 receive with ifg=0x10, ie=0xFD #@16459 receive with ifg=0x10, ie=0xFD + #@17108 receive with ifg=0x10, ie=0xFD + #@17435 receive with ifg=0x80, ie=0xFD #@38644 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +382 "Can" E^6 +  E^6 + #tPolling Can every 10:00 +2 #Cleanly exited at 13:40:21EST10-Dec-24 +203 #-> exit +5 #mEXIT @1733856060.69EST @1733856155.45EST = =tMAIN =mMAIN_scheduler @EST1733856156.16 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK +2 #t@13883 sendCRC with ifg=0x20, ie=0x7F #@15718 sendCRC with ifg=0x08, ie=0x5F + #@14488 idle with ifg=0x84, ie=0x75 + #@15161 select with ifg=0x10, ie=0xF5 + #@15810 receive with ifg=0x10, ie=0xFD #@16459 receive with ifg=0x10, ie=0xFD + #@17108 receive with ifg=0x10, ie=0xFD #@17435 receive with ifg=0x80, ie=0xFD + #@7756 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +370 "Can" DQ +  DQ + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@13:42:43, 39% flow, 21.6C, 31% humidity, 14.7psia, 14.902V, 0.362A, 0.670Ah, 5.39W",Subject: "standAloneWCR_4 begun" +4 #tAsleep til + 00:00:05 +4 #Continuing at 13:42 +3 "Can" EQ +21 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +258 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@13:42:43, 39% flow, 21.6C, 31% humidity, 14.7psia, 14.902V, 0.368A, 0.671Ah, 5.49W",Subject: "Asleep until 13:42" +202 "Can" RH +7 #tPowering core bus +152 #"uploadLog"upsync +413 .tGate.power :raw,:ON +3 "sampler") +27 ) +2 "core"  +3 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@13:43:28, 39% flow, 21.6C, 31% humidity, 14.7psia, 14.892V, 0.219A, 0.675Ah, 3.25W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +3 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" & U X  +2 .tHand.open + "manipulator"&"1 +57 "core" 1 +2 "manipulator"&#& +3 "core" &   +4 "manipulator"&$% +5 "core" % \ H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +181 "core" ( +4 "manipulator"&&& +5 "core" &, 3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &'& +3 "core" &,  3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +100 "core" ' +2 .tHand.close +2 "manipulator"&)/ +2 #"uploadLog"upsync +60 "core" / +2 "manipulator"&*& +4 "core" &, l 3 +2 "manipulator"&+% +3 "core" % ϲ D 4 +3 .tForearm.seek :retract +2 "manipulator"&,'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC + "manipulator"&-( +285 "core" ( +2 "manipulator"&.& +3 "core" &+ # Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &+  Ae +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +95 "core" ' +2 "manipulator"&1& +3 "core" &+ & Ae +2 "manipulator"&2% +5 "core" %"  +2 "collection"'3& +3 "core" & X X  +3 "collection"'4& +6 "core" & U V  +2 .tCC.seek :closed +2 "collection"'5(V +4 "core" & W W  +10 &8 W Z *y +9 &l X X > +9 &u X W G +10 &Hj V X G +9 &\ i W Y G +9 &l W U G +10 &j W Y G +9 &Qg V X G +10 &k W Z H +9 &j W Y G +9 & n V X G +10 &"Xj W Y G +9 &$g X Y G +9 &%k V Y G +10 &'l W Y G +9 &)aj X X G +10 &+!k W Z H +9 &,j W R G +9 &.g W X G +10 &0gk W Z H +9 &2*i V X G +9 &3l V X G +10 &5m W W G +9 &7oh U X H +10 &91j V Z H +9 &:l W Y H +9 &<h U X G +10 &>xl U Z G +9 &@9j Y Y H +9 &Ai V Z G +10 &Ch V W G +9 &Eo X W H +10 &G=y S W I +9 &H K P J +9 &J E H N +10 &Lo @ D P +9 &N0 @ B P +9 &O A B Q +10 &Q B B Q +9 &Sp C C R +9 &U2 F D O +10 &Vf> F H 1 +9 &VX H H < +6 ( + "collection"'4& +4 "core" &VA F G < +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.78 + "collection"'6& +3 "core" &VA G I < +3 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&8% +3 "core" %"  p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +102 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VA O R < +2 "collection"';% +4 "core" % Q T +2 .tCSV.dial CSR +2 "collection"'<  +166 "core"  + #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +11 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml +2 "collection"'='q +1328 "core" ' +37 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +37 "core" %q [ \\  +9 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?'5 +600 "core" ' + .tCSV.dial :waste +2 "collection"'@ +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A' +1954 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &VA Y \\ < +2 "collection"'C% +4 "core" % \\ \\ +2 .tCSV.dial :flush + "collection"'D  +51 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'E' V +2086 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core"  +62  +2 .tCTV.dial :intake + "collection"'H  +69 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2097 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'J  +68 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &V@ [ \\ < +2 "collection"'L% +4 "core" % [ ] + .tCSV.dial :flush +2 "collection"'M  +86 "core"  +2 .tCS.seek 5ml +2 "collection"'N'q +1100 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +50 "core" B + "collection"'P% +4 "core" %q  ^ ^  +3 .tCS.seek 7.001ml + "collection"'Q' +494 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +7 "core"  +89 + .tCTV.dial :air +2 "collection"'T  +4 "core" +3 .tCS.seek 0ml + "collection"'U' +1487 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'V'2 +697 "core" ' +2 .tCSV.dial :waste + "collection"'W +50 "core" +2 .tCS.seek 0ml +2 "collection"'X' +684 "core" ' + "collection"'Y& +4 "core" &V@ Z ^ < +2 "collection"'Z% +4 "core" % ^ ] + .tCSV.dial :flush +2 "collection"'[  +50 "core"  +2 .tCS.seek 3ml + "collection"'\\'2 +689 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +50 "core" B +2 "collection"'^% +3 "core" %2 \\ ]  +3 .tCS.seek 4.999ml + "collection"'_'q +494 "core" ' +3 .tCSV.dial :air + "collection"'` @ +15 "core" > +2 .tCS.seek 0ml +2 "collection"'a' +1083 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'2 +685 "core" ' +2 .tCSV.dial :waste + "collection"'c +67 "core" +3 .tCS.seek 0ml + "collection"'d' +692 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &* T Ae +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" &*  z Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &* / Ae +3 .tForearm.seek CC + "manipulator"&i'" +95 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open + "collection"'k( +413 "core" ( +2 "manipulator"&l& +3 "core" &* Ae +2 "manipulator"&m% +4 "core" % " Z +35 .tForearm.seek :retract +8 "manipulator"&n'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(, +283 "core" ( + "manipulator"&p& +3 "core" &, I % +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &, % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +100 "core" ' +2 .tHand.open + "manipulator"&s1 +53 "core" 1 +2 "manipulator"&t% +3 "core" % ϫ ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +99 "core" ' + #tStarting stand-alone da WCR +2 #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml + ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 13:47:27EST10-Dec-24\\n{2 => 1}\\nCan@13:43:28, 39% flow, 21.6C, 31% humidity, 14.7psia, 14.892V, 0.219A, 0.675Ah, 3.25W",Subject: "da wcr sampling at most 200ml" +2 #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'v& +4 "core" & [ ^ + "manipulator"&w% +5 "core" %\  +  +2 "storage"(x% +4 "core" %a h +2 "storage"(y. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +3 "storage"(z( +347 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &  +3 "manipulator"&|& +4 "core" &, I % +3 #"uploadLog"upsync +2 "manipulator"&}% +5 "core" %\   +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&~( +191 "core" ( +2 "manipulator"&& +4 "core" & S +2 "storage"(& +4 "core" &  q +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +2 "storage"(& +3 "core" &  M +3 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  p +3 "manipulator"& & +3 "core" & k +3 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & ` +2 "storage"(\ & +5 "core" &  N +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +22 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" & @ +2 "manipulator"&% +4 "core" %  , +3 ."WCR"Forearm.seek :retract +44 "manipulator"&'\ +100 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +45 "core" ( +2 "manipulator"&& +3 "core" &)   @Y +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &) @Y +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +107 "core" ' + "manipulator"&& +5 "core" &)  w @X + "manipulator"& % +5 "core" % [ +2 "collection"'& +4 "core" & [ ] +3 "collection"'& +5 "core" & [ \\ +2 ."WCR"CC.seek :closed +2 "collection"'!(V +5 "core" & [ [ +7 &C X \\ $d +9 &\\ \\ [ 6 +10 & Y \\A G +9 &e \\ ]; F +9 &j \\ [ F +10 &hh Z ] F +9 &*j [ ] F +9 &i Z \\ F +10 &i [ \\ F +9 &ph [ _ F +10 & 2i X \\ F +9 &!j \\ \\ F +9 &#j \\ \\ G +10 &%wl Z \\ G +9 &'9k [ ] G +9 &(k ] ^ G +10 &*k [ \\ G +9 &,l Z ] G +10 &.Bk ] [ F +9 &0h Y ] G +9 &1l Z _ G +10 &3k [ \\ G +9 &5Jk [ \\ F +9 &7 i Z ] F +10 &8g [ ^ F +9 &:i Z ] F +10 &i Z \\ G +9 &?m [ ^ G +10 &Ak \\ \\ G +9 &CZl Z ^ F +9 &Em Z ] G +10 &Fs [ ^ H +9 &H| [ ] H +10 &JW \\ ^ J +9 &L \\ \\ N +9 &M [ ^ Q +10 &O [ ] P +9 &QM \\ ] P +9 &S ] ^ Q +10 &T \\ ] Q +9 &V@j ^ [ / +10 &V \\ _ 6 +9 &Vc ] ^ C +5 ( +2 "collection"'& +5 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.72 +3 .Hand.open + "manipulator"&"1 +4 "core" &V_ [ ^ C +60 1 + "manipulator"&#% +4 "core" %  "  +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + + "sampler")'% +4 "core" %\ \  +2 "collection"'& +4 "core" &V_ ^ ^ C +4 "Can" A + #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X +20  +2 ."WCR"delay 3.8 seconds +382 "collection"'% +4 "core" % \\ ^ +2 "sampler")(% +5 "core" %2\ \ \ | + #"WCR"Sensor limits: Intake max 127.3psia; Outlet max 120.3psia + .SSV.dial :spit +2 "sampler"). +122 "core"  +2 ."WCR"SS.seek 0ml +2 "sampler")/' +269 "core" ' + ."WCR"SSV.dial CBV +2 "sampler")%  +122 "core"  +3 ."WCR"CTV.dial :intake +2 "collection"'1  +68 "core"  +2 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'2 @ + "sampler")3  +6 "core" ?  +3 #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +210 "collection"',% +3 "core" % Q TA +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X [% +3 "core" % ; == +2 "sampler")=% +4 "core" %T,  +32 "collection"'@% +3 "core" % < @B +2 "sampler")?% +3 "core" %T+  +37 "collection"'B% +3 "core" % @ A +2 "sampler")C% +4 "core" %T,  +41 "collection"'D% +3 "core" % C D +2 "sampler")A% +4 "core" %T,  +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )G% +2 "core" %T,  +2 ."WCR"SSV.dial :exhaust +2 "sampler")F  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")H' +421 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default + "sampler")#.0X A +2 "sampler")m% +4 "core" % ( +2 ."WCR"Intake.select :close + "sampler")0 +10 )i% +4 "core" %  + ."WCR"SSV.dial :exhaust +37 "sampler")p  +77 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml +2 "sampler")q' +912 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'f @ + "sampler")s  +5 "core" ? +67  + #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml +2 .Intake.select :open + "sampler") +210 "collection"'t% +3 "core" % R U? +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X [ e ^  +18 "collection"'}% +3 "core" %   +2 "sampler")% +3 "core" % c ^ j +22 "collection"'% +3 "core" %   +2 "sampler")o% +4 "core" % e ` Z +24 "collection"'% +3 "core" %   +2 "sampler")u% +4 "core" % e S Z +27 "collection"'% +3 "core" %   +2 "sampler")% +4 "core" % h g Z +32 "collection"' % +3 "core" %   +2 "sampler")% +4 "core" % i g Z +36 "collection"'% +3 "core" %   +2 "sampler")\ % +3 "core" % m j Z +42 "collection"'% +3 "core" %  ! +2 "sampler")% +4 "core" %\ r p Z +47 "collection"'% +3 "core" % ! $ +2 "sampler")~% +3 "core" % z y Z +54 "collection"'% +3 "core" % ( ( +2 "sampler")% +4 "core" % Z +61 "collection"'% +3 "core" % . . +2 "sampler")% +3 "core" % Z +70 "collection"' % +4 "core" % = C +2 "sampler")% +3 "core" % Z +2 ."WCR"Intake.select :close + "sampler")0 +10 ) % +2 "core" % Z +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")' +876 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")  + "collection"' @ +7 "core" ? +63  +2 #"WCR"Allowing 130s for 25.0ml of remaining 150.0ml + .Intake.select :open + "sampler") +211 "collection"'k% +3 "core" % R U +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi + .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0X [  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")=' +897 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")@  + ."WCR"CBV.dial SSV +5 "collection"'? @ +5 "core" ? +61  + #"WCR"Allowing 130s for 25.0ml of remaining 125.0ml +2 .Intake.select :open + "sampler") +210 "collection"'B% +3 "core" % Q T +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X [% +5 "core" %Z h d L +20 "collection"'% +38 "core" % ! % +9 "sampler")?% +5 "core" %Z n k L +23 "collection"'@% +3 "core" % $ ' +3 "sampler")B% +3 "core" %Z r o L +28 "collection"'=% +3 "core" % ) ( +2 "sampler")D% +4 "core" %Z x t L +32 "collection"'A% +3 "core" % ' + +2 "sampler")G% +4 "core" %Z  | L +36 "collection"'F% +3 "core" % + - +2 "sampler")6% +3 "core" %Z L +42 "collection"'J% +3 "core" % 0 2 +2 "sampler")K% +4 "core" %Z L +47 "collection"'L% +3 "core" % < < +2 "sampler")I% +3 "core" %Z L +54 "collection"'M% +3 "core" % K K +2 "sampler")H% +4 "core" %Z L +2 ."WCR"Intake.select :close + "sampler")0 +10 )O% +2 "core" %Z L +2 ."WCR"SSV.dial :exhaust +2 "sampler")E  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")S' +866 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampled 200.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'R  +70 "core"  +2 ."WCR"delay 1:00 +6003 .CSV.dial :air + "collection"'T @ +87 "core" A +2 ."WCR"CS.seek 10ml +2 "collection"'C' V +2099 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'Q @ +70 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'U  +83 "core"  +2 "collection"'W% +3 "core" % Y Z ^}  +3 ."WCR"CSV.dial between air and CTV +2 "collection"'V ` +32 "core" b +3 ."WCR"CS.seek 7.284ml +2 "collection"''y +631 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'[  + 'Z  +32 "core"  +41  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< mb +3 ."WCR"CS.seek 0ml +2 "collection"'X' +1523 "core" 'K n n ð +2 ."WCR"CBV.dial :waste2b +2 "collection"'Y  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'\\' +413 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'`  +122 "core" +2 #"WCR"Fix #1 of 1 (with RNAlater) for 5:00 +2 .CSV.dial CSR + "collection"'_  +48 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml + "collection"'P'^ +578 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +3 "collection"' +9 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'a' V +1696 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'c @ +68 "core" @ +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'b  +85 "core"  +2 "collection"'e% +4 "core" % V ^ `  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'g ` +56 "core" ^ +9 ."WCR"CS.seek 7.236ml +2 "collection"'h' +645 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'-  +2 'j  +34 "core"  +90  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< mb +3 ."WCR"CS.seek 0ml +2 "collection"'9' +1429 "core" ' o n ï +3 ."WCR"delay 5:00 +30002 .CBV.dial :waste2b +2 "collection"'5  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'l' +522 "core" ' +3 ."WCR"delay 1:00 +3515 "Can" K"Q } +2488 ."WCR"CTV.dial :air,avoiding: :intake + "collection"'m  +121 "core" +2 "collection"']& +3 "core" &V] S UJ C +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&i% +3 "core" %\  ?  +2 "storage"(p% +5 "core" %a  + "storage"(N. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"(f(S +332 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &V +2 "manipulator"&t& +3 "core" &( < @W +4 "manipulator"&^% +3 "core" %\   +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&y(. +158 "core" ( + "manipulator"&x& +5 "core" &7 K  + "storage"(n& +4 "core" &Y z +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts + "manipulator"&q'ѷ +103 "core" ' +2 "storage"({& +3 "core" &Y  +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(|'i +274 "core" ' +2 "storage"(}- +3 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('y +33 "core" ' +2 "manipulator"&& +3 "core" &7 D  +2 "manipulator"&o% +4 "core" % q R +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"&u( +159 "core" ( +2 "manipulator"&& +3 "core" &% T <? +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% . <? +3 ."WCR"Forearm.seek CC + "manipulator"& '" +95 "core" ' +2 ."WCR"Hand.close + "manipulator"&/ +61 "core" / +4 ."WCR"CC.seek :open + "collection"'( +418 "core" ( +2 "storage"(\ & +4 "core" &Y & + "storage"(& +5 "core" &Y X + "manipulator"&& +4 "core" &% <? +2 "manipulator"&v% +3 "core" % * j +3 ."WCR"Forearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +46 ."WCR"Elbow.seek 1 +2 "manipulator"&(. +161 "core" ( + "manipulator"&~& +5 "core" &7 @ \\ + "storage"(& +5 "core" &Y d + ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&' +99 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&w1 +58 "core" 1 +3 "manipulator"&% +3 "core" %  c +2 "storage"( & +4 "core" &Y  +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 319 counts + "manipulator"& ': +21 "core" ' +2 "manipulator"&& +3 "core" &7 L \\ +2 "storage"(& +5 "core" &Y c +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +21 "core" ' +2 "storage"(k% +4 "core" %~ 6 +3 ."downElevator"SE.seek :down +4 "storage"('X +99 ('% +3 "core" %RX 7 QJ +2 "manipulator"&% +4 "core" %є +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +85 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'"& +3 "core" & [ \\ +3 "manipulator"&&& +3 "core" &7 \\ +2 "manipulator"&+% +4 "core" %\  _  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&*(, +178 "core" ( +2 "manipulator"&& +3 "core" &, @ 0 +3 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &(& +3 "core" &, 0 +3 .tForearm.seek :garage + "manipulator"&.'Ϧ +100 "core" ' +2 .tHand.close + "manipulator"&#/ +56 "core" / +2 "manipulator"&)& +4 "core" &, _ 0 +2 "manipulator"&% +3 "core" % ϵ Q H +3 .tForearm.seek :retract + "manipulator"&%'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&1( +279 "core" ( + "manipulator"&2& +5 "core" &* Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &* Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'" +105 "core" ' +2 "manipulator"&/& +3 "core" &*  Aa +2 "manipulator"&% +5 "core" % : A +2 "collection"':& +4 "core" & \\ _ +2 "collection"'8& +5 "core" & ] _ +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & ] _0 +7 &8 [ ^ #b +9 &\\ [ ^ 6 +9 & ] _ G +10 &h ] ` F +9 &k \\ ] F +9 &]g ^ _ F +10 &i ^ ` F +9 &e ] ] F +9 &h \\ ^ F +10 &eh _ ] F +9 & (e ^ ` F +10 &!h \\ ] F +9 &#h \\ a G +9 &%mh [ _ F +10 &'/g Y ^ F +47 &(e \\ _ F +9 &*h \\ _ F +2 &,uh [ Z F +2 &.6g ] ^ G + &/h _ ` F + &1i \\ ^ F +3 &3~e [ _ F +10 &5?h ] ^ F +9 &7h \\ ^ G +10 &8g ^ ] F +9 &:h ^ ] F +9 &\ h [ ^ F +9 &?i ] ` G +9 &Ag \\ _ F +10 &COi ^ ^ F +9 &Eh ] ^ F +10 &Fr ^ _ G +9 &H ] _ H +9 &JI ^ ` K +10 &L ] _ O +9 &M ] a P +9 &O ] _ P +10 &QA \\ a Q +9 &S _ ` Q +10 &T \\ ` Q +9 &V6g ] ` - +9 &V ] _ X +10 ( + &Vp _ a N +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + "collection"'7& +3 "core" &Vp ^ _ N +2 .tHand.open + "manipulator"&<1 +53 "core" 1 +3 "manipulator"&0% +3 "core" % ^ A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'>& +5 "core" &Vp ^ _ N +2 "collection"'% +3 "core" % ] ^ +2 .tCSV.dial CSR +2 "collection"'?  +46 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'@'q +1325 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +9 'B% +3 "core" %q ^ _  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'='8 +588 "core" ' +2 .tCSV.dial :waste + "collection"'D +123 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'A' +1951 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'G& +3 "core" &Vp ^ a N +2 "collection"'F% +5 "core" % \\ ^ + .tCSV.dial :flush +2 "collection"'6  +49 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"';'q +1091 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'J @ +50 "core" B + "collection"'K% +4 "core" %q ] ^  +3 .tCS.seek 7ml + "collection"'L' +500 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV + "collection"'I  +2 'M  +48 "core"  +78  +2 .tCBV.dial :waste2b + "collection"'H  +5 "core"  +3 .tCS.seek 0ml + "collection"'O' +1498 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'E& +4 "core" &Vp ^ _ N + "collection"'4% +3 "core" % ^ b +2 .tCSV.dial CSR +2 "collection"'R  +49 "core"  + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'T' +1688 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'d' V +498 "core" ' +3 ."connect"CSV.dial CBV +3 "collection"'Q + .tCBV.dial CSV +4 "collection"'U  +45 "core"  +86  +2 .tCTV.dial :intake + "collection"'W  +69 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'V'^ +1694 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'C  +70 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'[' +575 "core" ' + .tCSV.dial CSR +2 "collection"'Z  +93 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"''q +1328 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +39 "collection"'Y' V +1334 "core" ' + .tCSV.dial CBV +2 "collection"'X +120 "core" +2 .tCS.seek 0ml +2 "collection"'`' +2585 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&_& +4 "core" &( / @[ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&\\( +3 "core" ( +3 "manipulator"&P& +3 "core" &)  @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &) F @[ +3 .tForearm.seek CC + "manipulator"&b'" +97 "core" ' +2 .tHand.close + "manipulator"&e/ +52 "core" / +2 .tCC.seek :open +2 "collection"'g( +415 "core" ( +2 "manipulator"&a& +4 "core" &) K @[ +2 "manipulator"&j% +4 "core" %  j +2 .tForearm.seek :retract + "manipulator"&-'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&h(, +284 "core" ( +2 "manipulator"&5& +3 "core" &, L : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &, : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&m'Ϧ +100 "core" ' + .tHand.open + "manipulator"&]1 +62 "core" 1 + "manipulator"&i% +4 "core" % Ϭ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +97 "core" ' + #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 13:43:28 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@14:02:46, 39% flow, 21.9C, 30% humidity, 14.6psia, 14.902V, 0.406A, 0.806Ah, 6.05W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +394 #"uploadLog"upsync +7 #mEXIT @1733857651.39EST @1733857926.74EST = =tMAIN =mMAIN_scheduler @EST1733857927.41 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK +2 #t@62714 sendCRC with ifg=0x20, ie=0x7F #@64549 sendCRC with ifg=0x08, ie=0x5F + #@15816 idle with ifg=0x84, ie=0x75 + #@16497 select with ifg=0x10, ie=0xF5 + #@17145 receive with ifg=0x10, ie=0xFD #@17793 receive with ifg=0x10, ie=0xFD + #@18442 receive with ifg=0x10, ie=0xFD + #@18769 receive with ifg=0x80, ie=0xFD #@24730 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +357 "Can" 2$n\  +  2$n\  + #tPolling Can every 10:00 +3 #Cleanly exited at 14:07:31EST10-Dec-24 +590 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % W ] +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %K +3 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % X +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(2% +2 "core" %a  +2 "manipulator"&3% +4 "core" %\   +2 "manipulator"&4& +4 "core" &, : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<* +1279 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<( ( +5560 #t-> access 2 +2 "storage"(7% +3 "core" %b  +2 "manipulator"&8% +4 "core" %  v  +2 "manipulator"&9& +3 "core" &- ? +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K 7  +5067 #t-> access 3 +2 "storage"(<% +3 "core" %c  +2 "manipulator"&=% +4 "core" %  E  +2 "manipulator"&>& +3 "core" &- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(?([ +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &[ 0  +2009 #t-> require 'shuffle.rb' +1036 #-> 20.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'A& +3 "core" & [ [ +2 .tHand.open +2 "manipulator"&B1 +26 "core" 1 +2 "manipulator"&C% +4 "core" %  ;  + "storage"(D% +4 "core" %d +2 "storage"(E. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(F( +1601 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" & +3 "manipulator"&H& +3 "core" &- h +2 "manipulator"&I% +4 "core" %  7  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&J( +178 "core" ( +2 "manipulator"&K& +3 "core" &\ C X +3 "storage"(L& +4 "core" & s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +93 "core" ' +2 "storage"(N& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'i +279 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (Q& +2 "core" & ' +2 "manipulator"&R& +3 "core" &\ F X +3 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( +2 "manipulator"&T& +3 "core" &\ X X +2 "storage"(U& +4 "core" & G +3 .tForearm.seek 2 + 300 counts + "manipulator"&V' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&X& + "storage"(Y'X +8 "core" &\ : X + "manipulator"&Z% +4 "core" %  F C +2 .tForearm.seek :retract +2 "manipulator"&['\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&]& +3 "core" &+ ' S A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +2 "core" &+ e A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'" +97 "core" ' +4 "manipulator"&`& +3 "core" &* h @^ +3 "manipulator"&a% +4 "core" %#  +35 "collection"'b& +10 "core" & Y [ +3 "collection"'c& +5 "core" & [ Z +2 .tCC.seek :closed +2 "collection"'d(V +5 "core" & [ Z  +9 &5 [ [ )w +9 &j Z [ = +9 &{ Y [ H +10 &jj Y [ G +9 &,k Y [ G +10 &i Y Z H +9 &h Z Z G +9 &sf Z \\ G +10 &3j Z Z H +9 &h Z Y G +9 & g [ [ G +10 &"zg Z [ G +9 &$<k [ [ G +9 &%m Z [ G +10 &'i [ \\ G +9 &)e Y Z G +10 &+Cj [ \\ H +9 &-h Y ] G +9 &.h [ Z H +10 &0k X [ G +9 &2Me Y Z G +10 &4i Z Z G +9 &5g [ ] G +9 &7k Z Y G +10 &9Tj Y [ G +9 &;g [ \\ G +9 &<l [ Z G +10 &>m [ [ G +9 &@\\k \\ Z G +10 &Bj Y [ H +9 &Cl Y [ H +9 &Eq Y Z H +10 &G^ [ \\ J +9 &I [ Y K +9 &J W \\ O +10 &L F G Q +9 &NR C C P +9 &P L G Q +10 &Q Q O Q +9 &S U T R +10 &UT X X C +9 &VoC W Y )z +9 &Vu X X E +6 ( + "collection"'c& +4 "core" &Vk Z Z E +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&e1 +60 "core" 1 +3 "manipulator"&f% +3 "core" % # r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%h& +4 "core" &Y + "manipulator"&i% +4 "core" %\  c  +2 "storage"(j% +4 "core" %` + "storage"(k. +4 "core" .( +2 "storage"(l& +3 "core" & ) +2 "storage"(m& +4 "core" & 4 +2 "manipulator"&n& +4 "core" &*  @] + "manipulator"&o% +5 "core" %\  "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&p( +166 "core" ( +2 "manipulator"&q& +4 "core" & ? y + "storage"(r& +4 "core" & . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +89 "core" ' +2 "storage"(t& +3 "core" & F +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +280 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &  +2 "manipulator"&x& +4 "core" & d y +2 .tElbow.seek 2 + "manipulator"&y( +4 "core" ( +2 "manipulator"&z& +3 "core" & H y +2 "storage"({& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +5 "storage"('X +6 "core" & s y + "manipulator"&% +5 "core" %  G m +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +109 "core" ( +3 "manipulator"&& +4 "core" &l ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' +2 "manipulator"& & +4 "core" &m 5 +2 "manipulator"& % +3 "core" % _ +3 "processing"% & +4 "core" &S +2 "processing"%& +5 "core" &e +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &S  +9 &7V )w +9 &iP = +10 &xyR H +9 &=gR G +9 &mS G +10 &nW H +9 &kZ H +10 &CkZ H +9 &hZ G +9 &mZ H +10 & kZ H +9 &"KkZ H +9 &$hZ G +10 &%nX H +9 &'mR H +10 &)SlQ H +9 &+gP G +9 &,lQ H +10 &.jR H +9 &0\\jO G +9 &2kP G +10 &3nQ G +9 &5nR H +10 &7djR G +9 &9&hS G +9 &:hR G +10 &<jP H +9 &>kiM H +10 &@,nQ H +9 &AjQ G +9 &CnQ H +10 &ErtQ H +9 &G0}K J +9 &HL L +10 &JH L +9 &LmN M +9 &N0O L +10 &OE M +9 &QO M +10 &SrK N +9 &U4I N +9 &VJ N +10 &XN M +9 &Z [K ` +9 &ZcO ) +10 ( + &ZN # +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +3 "core" % w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +37 .tForearm.seek :retract +9 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &ZD # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  " , +2 "storage"(% +4 "core" %U +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(& +2 "manipulator"&& +7 "core" & { +2 &m m +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +3 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +3 "manipulator"&& +4 "core" &m # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&!' +97 "core" ' +2 .tHand.close + "manipulator"&"/ +56 "core" / +2 .tPC.seek :open +2 "processing"%#( +85 "core" ' +2 "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'y +42 "core" ' +294 ( +2 "storage"(&& +3 "core" & i +4 "manipulator"&'& +4 "core" &m a +2 "manipulator"&(% +3 "core" % s +3 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&*( +271 "core" ( +2 "manipulator"&+& +3 "core" & L !v +2 "storage"(,& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +101 "core" ' +2 .tHand.open +2 "manipulator"&.1 +52 "core" 1 +2 "storage"(/- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(0'E +21 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(1' +46 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(2- +2 "core" -' +3 "storage"(3& +3 "core" & K J ; +2 "manipulator"&4& +4 "core" & - !u +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&6& +3 "core" & m !u +3 "storage"(7& +4 "core" & K T _ +2 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(9' +57 "core" ' + "manipulator"&5& +3 "core" & ! !u +2 "storage"(;& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&<' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'i +29 "core" ' +2 "manipulator"&:% +3 "core" % . +2 "storage"(@& +4 "core" & \\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&A' +21 "core" ' + "manipulator"&B& +4 "core" & I !t +2 "storage"(C& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +30 "core" ' + "storage"(E% +3 "core" %o i +3 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (G% +2 "core" %pT a a ! PH +3 "manipulator"&H% +3 "core" %ѩ @ s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +3 "core" &  +2 "collection"'L& +4 "core" &Vj \\ ] E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&N% +3 "core" %\   +36 "storage"(% +11 "core" %V +3 "storage"(. +3 "core" .( +2 "storage"(P& +4 "core" &  + "storage"(Q& +4 "core" &  +2 "manipulator"&R& +3 "core" & O !t +3 .tElbow.seek 2 + "manipulator"&T( +4 "core" ( +2 "manipulator"&U& +3 "core" & h !t +3 "storage"(W& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +94 "core" ' + "storage"(Z& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +276 "core" ' +2 "storage"(M- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & K !s +2 "storage"(^& +3 "core" & q +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&O' +28 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'P +27 "core" ' +2 "manipulator"&b% +3 "core" % ! 8 +2 "storage"(S& +5 "core" & v { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&Y' +19 "core" ' +2 "manipulator"&[& +3 "core" & !r +3 "storage"(\ & +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(f'? +36 "core" ' +2 "manipulator"&h& +3 "core" & a !r +3 "manipulator"&i% +4 "core" %ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +156 "core" ( +2 "manipulator"&k& +4 "core" &'  K >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &'  >J +3 .tForearm.seek CC + "manipulator"&m'" +100 "core" ' +2 .tHand.close + "manipulator"&n/ +61 "core" / +2 .tCC.seek :open +2 "collection"'o( +413 "core" ( + "storage"(_& +4 "core" & k +2 "storage"(q& +4 "core" & $ + "manipulator"&r& +4 "core" &% ;5 +2 "manipulator"&t% +4 "core" % # ; +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +155 "core" ( +2 "manipulator"&v& +3 "core" & <  +2 "storage"(w& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&x' +96 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&{1 +54 "core" 1 +2 "manipulator"&}% +3 "core" % x +2 "storage"(~& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&' +20 "core" ' +3 "manipulator"&p& +4 "core" & /  +2 "storage"(s& +3 "core" & _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +28 "core" ' +2 "storage"(|% +3 "core" %=  \ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %R  OF +2 "manipulator"&y% +5 "core" %ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +20 .tForearm.seek :retract +2 "manipulator"& '\ +123 "core" ' +8 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & ] [ +2 "manipulator"& % +3 "core" %\  R  +3 "storage"(% +4 "core" %b  + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & d  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&& +3 "core" & T j +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +103 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &   +2 "manipulator"&& +4 "core" & m j +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & \\ j +2 "storage"("& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & % j +2 "manipulator"&% +4 "core" % ϫ  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&(& +3 "core" &' 5 < >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +4 "core" &'  >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'" +101 "core" ' +2 "manipulator"&,& +5 "core" &'  >H + "manipulator"&% +5 "core" %+  +2 "collection"'.& +4 "core" & X [ +2 "collection"'/& +5 "core" & \\ [ +2 .tCC.seek :closed +2 "collection"'2(V +5 "core" & [ [  +8 &8 Y Y *x +10 &k Y Z = +9 &v X Z G +10 &}g Z Z F +9 &>h Z [ G +9 &f Y [ G +10 &g [ [ G +9 &e Z [ G +9 &Fh [ Z G +10 &k Z X G +9 & g Y [ G +10 &"i Z [ G +9 &$Oh Y [ F +9 &&i \\ [ G +10 &'g \\ Z F +9 &)g Z \\ G +10 &+Ul Z \\ G +9 &-h [ [ F +9 &.h [ \\ G +10 &0m [ ] G +9 &2^g [ Z G +9 &4k Z Z G +10 &5h X Y F +9 &7h [ [ G +10 &9ff Y Z G +9 &;(j Y [ G +9 &<j [ [ F +10 &>i [ Z G +9 &@nh Z Z G +9 &B/g [ [ G +10 &Cj [ [ G +9 &Er [ [ H +10 &Go| Z ] I +9 &I. Z [ J +9 &J \\ \\ O +10 &L [ [ Q +9 &Nc \\ \\ P +9 &P# Z \\ Q +10 &Q ] [ Q +9 &S \\ _ R +9 &Ud [ [ ? +10 &VJ \\ [ Y +9 &V0? \\ [ #m +10 &W` X [ D +2 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open + "manipulator"&31 +57 "core" 1 +3 "manipulator"&4% +4 "core" % * " x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%7& +3 "core" &P +2 "manipulator"&)% +4 "core" %\    +3 "storage"(5% +4 "core" %b I + "storage"(;. +3 "core" .( +2 "storage"(:& +3 "core" & |  +2 "storage"(@& +5 "core" &  + "manipulator"&%& +4 "core" &' % >H +2 "manipulator"&B% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&C( +162 "core" ( + "manipulator"&0& +4 "core" & K  +2 "storage"(E& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +92 "core" ' +2 "storage"(-& +3 "core" &   +38 .tSE.reconfigure :pick +10 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +279 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &  +2 "manipulator"&8& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&9& +3 "core" & k  +2 "storage"(<& +4 "core" & U  +3 .tForearm.seek 3 + 300 counts + "manipulator"&A'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(N'X +10 "core" &  + "manipulator"&>% +5 "core" % ϝ \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +3 "manipulator"&P& +3 "core" &s 5 k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R' +113 "core" ' + "manipulator"&U& +4 "core" &s Q +2 "manipulator"&W% +3 "core" % ^ h +3 "processing"%D& +4 "core" &j +2 "processing"%Z& +5 "core" &U +3 .tPC.seek :closed + "processing"%?(Z +5 "core" &U +7 &DS #b +9 &\\Z 6 +9 &Q H +10 &hQ G +9 &kR G +9 &]iQ G +10 & kR G +9 &iQ G +10 &jQ G +9 &ejP G +9 & 'lQ G +10 &!hQ G +9 &#hO G +9 &%ljQ H +10 &'0jQ G +9 &(hQ G +10 &*jQ H +9 &,whO G +9 &.8iQ G +10 &/hF G +9 &1hD G +9 &3~fI G +10 &5@iO G +9 &7jH G +10 &8iG G +9 &:dC G +9 & gE G +9 &?hH H +9 &AjJ G +10 &COmK G +9 &EpI G +10 &FuK I +9 &HE K +9 &JKQ L +10 &L L L +9 &MK L +9 &OQ M +10 &QP@ M +9 &SP L +10 &TP M +9 &VK M +9 &XUI N +10 &YwxJ "j +9 &Z'rF . +9 ( + &ZF $ +3 "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&=1 +57 "core" 1 + "manipulator"&I% +4 "core" % m g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +90 "core" ' +2 "processing"%]& +4 "core" &ZZ $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&^% +4 "core" %\    +2 "storage"(`% +3 "core" %] Q +2 "storage"(b. +3 "core" .( +2 "storage"(S& +3 "core" &   +3 "storage"([& +3 "manipulator"&\ & +6 "core" & i  + &s ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&h(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(i'i +3 "core" ( +2 "manipulator"&X& +4 "core" &s ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &s } +3 .tForearm.seek PC +2 "manipulator"&J' +98 "core" ' + .tHand.close +2 "manipulator"&O/ +55 "core" / +2 .tPC.seek :open +2 "processing"%Y( +89 "core" ' +2 "storage"(a- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +50 "core" ' +282 ( + "storage"(l& +4 "core" &   +2 "manipulator"&e& +3 "core" &s K +2 "manipulator"&V% +4 "core" % r +3 .tForearm.seek :retract + "manipulator"&n'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +266 "core" ( +2 "manipulator"&d& +4 "core" & 1 +2 "storage"(_& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +39 .tForearm.seek 3 + 700 counts +9 "manipulator"&q'9 +105 "core" ' + .tHand.open +2 "manipulator"&r1 +59 "core" 1 +3 "storage"(t- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(v'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(c& +4 "core" & K J   +2 "manipulator"&{& +3 "core" & f +3 .tElbow.seek 3 + "manipulator"&}( +11 "core" ( + "manipulator"&~& +4 "core" & F  +2 "storage"(p& +4 "core" & M K G  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +57 "core" ' +2 "manipulator"&\\& +4 "core" & @  +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&y'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'i +23 "core" ' +2 "manipulator"&% +4 "core" %} x +2 "storage"( & +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +21 "core" ' + "manipulator"&& +4 "core" & 9  +2 "storage"(& +4 "core" & +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +26 "core" ' +2 "storage"(u% +4 "core" %s  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (F% +5 "core" %P u J OF +2 "manipulator"&% +3 "core" %I L | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 5  +2 "collection"'& +3 "core" &W_ \\ ] D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  n  +3 "storage"(z% +4 "core" %a G + "storage"( . +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(& +4 "core" &   + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +3 "core" &  +3 "storage"(& +4 "core" & R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' +2 "storage"(& +4 "core" & '  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & _  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&!'} +18 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'P +28 "core" ' + "manipulator"&% +4 "core" %΋ +2 "storage"(.& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +20 "core" ' + "manipulator"&&& +4 "core" & G  +2 "storage"(o& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(4'? +41 "core" ' +45 "manipulator"&7& +3 "core" & -  +2 "manipulator"&)% +5 "core" %9 . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +164 "core" ( +2 "manipulator"&:& +4 "core" &%  ] <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &% f <? +3 .tForearm.seek CC +2 "manipulator"&/'" +95 "core" ' + .tHand.close + "manipulator"&%/ +65 "core" / +2 .tCC.seek :open + "collection"'B( +416 "core" ( +2 "storage"(+& +3 "core" &  +2 "storage"(0& +4 "core" &   +2 "manipulator"&E& +4 "core" &$ 1 ;7 +2 "manipulator"&-% +5 "core" % .   +2 .tForearm.seek :retract + "manipulator"&''\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +162 "core" ( + "manipulator"&G& +5 "core" & C k + "storage"(H& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&8'} +98 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&<1 +53 "core" 1 +2 "manipulator"&K% +3 "core" % ΅  +2 "storage"(L& +5 "core" & ,  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&>'ϱ +21 "core" ' +2 "manipulator"&C& +3 "core" & X k +3 "storage"(*& +3 "core" & ^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +28 "core" ' + "storage"(A% +5 "core" %E " +2 ."downElevator"SE.seek :down +3 "storage"(P'X +100 (Q% +3 "core" %N \ OE +2 "manipulator"&% +3 "core" %: +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +94 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'W& +2 "core" & X \\ +3 "manipulator"&D% +4 "core" %\  E . + "storage"(N% +4 "core" %T  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(#( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &  +3 "manipulator"&I& +3 "core" & W k +2 .tElbow.seek 2 +2 "manipulator"&]( +47 "core" ( +2 "manipulator"&^& +3 "core" & / !w +2 "storage"(`& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +108 "core" ' +2 "storage"(S& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +278 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +4 "core" & V +2 "manipulator"&X& +3 "core" & X !u +3 .tElbow.seek 2 + "manipulator"&T( +31 "core" ( + "manipulator"&R& +4 "core" & m  +2 "storage"(O& +3 "core" & 5 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(?'X +8 "core" &   +2 "manipulator"&i% +3 "core" % G  +3 .tForearm.seek :retract +2 "manipulator"&l'\ +129 "core" ' +9 .tElbow.seek CC +2 "manipulator"&e( +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +54 "core" ( +2 "manipulator"&V& +3 "core" &% 5 << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &% K << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'" +95 "core" ' +2 "manipulator"&_& +3 "core" && : << +3 "manipulator"&h% +4 "core" % -  +2 "collection"'r& +3 "core" & [ [ +3 "collection"'t& +5 "core" & [ ] +2 .tCC.seek :closed +3 "collection"'m(V +4 "core" & [ \\ +5 & \\ [ : +10 &ON Z [ 1 +9 &} [ ] E +10 &Vd Z [ F +9 &g Z Z F +9 &h [ [ G +10 &j \\ \\ G +9 &]j \\ ] G +9 &l \\ \\ G +10 &i [ Z G +9 &k Y \\ G +10 &!ej \\ ] G +9 &#'e [ Z G +9 &$h \\ \\ F +10 &&g [ [ G +9 &(lh ] \\ G +9 &*0g Z ] F +10 &+h \\ \\ F +9 &-e Y \\ G +10 &/ue \\ ] G +9 &17d \\ \\ G +9 &2e [ \\ F +10 &4g [ Z G +9 &6}j [ \\ G +9 &8@j \\ \\ F +10 &:f ] \\ F +9 &;j \\ f G +10 &=e [ ] G +9 &?Ge [ ] G +9 &A e [ ] G +10 &Bj \\ ] G +9 &Dh [ [ G +9 &FLs \\ [ H +10 &H ~ \\ ^ J +9 &I [ ^ K +10 &K{ \\ ^ P +9 &M: \\ ] Q +9 &N ^ ^ P +10 &P [ ] Q +9 &R \\ ] Q +9 &T? \\ ] R +10 &Uu ^ ^ < +9 &V3 \\ ] Z +10 ( + &VJ [ \\ @ +2 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&c1 +58 "core" 1 +2 "manipulator"&{% +4 "core" %   D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%~& +4 "core" &O +2 "manipulator"&p% +3 "core" %\  Y  +2 "storage"(\\% +4 "core" %U S +2 "storage"(. +3 "core" .( +2 "storage"(k& +3 "core" & c +2 "storage"(& +4 "core" & $ +2 "manipulator"& & +4 "core" &%  <; +2 "manipulator"&v% +3 "core" %\  M  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(u& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +88 "core" ' + "storage"(q& +5 "core" & : +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +278 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&s& +4 "core" & e  +2 .tElbow.seek 2 +2 "manipulator"&}( +4 "core" ( + "manipulator"&|& +4 "core" &  +2 "storage"(y& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +6 "core" &  +3 "manipulator"&z% +4 "core" % ) W D +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +2 "manipulator"&x& +3 "core" &h  l +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&"& +3 "core" &h  +2 "manipulator"&% +5 "core" % @  + "processing"%f& +4 "core" &R +3 "processing"%& +4 "core" &f +3 .tPC.seek :closed +2 "processing"%(Z +4 "core" &T  +9 &7X )u +9 &kQ = +9 &yQ H +10 &ogL G +9 &1hP G +9 &iO G +10 &hH G +9 &wgM G +9 &9gP G +10 &hN G +9 & hM G +10 &"hQ G +9 &$AhL G +9 &&hI F +10 &'jC G +48 &)hL G +10 &+IgC G + &- gC G +2 &.gE G + &0g? G +3 &2PiG G +3 &4gJ G +7 &5hC G +9 &7g@ F +10 &9XhB G +9 &;gI G +9 &<hI F +10 &>jE G +9 &@alD G +9 &B$jD F +10 &CpD G +9 &EuE H +10 &Gb~@ I +9 &IE K +9 &J; L +10 &LC L +9 &N`D M +9 &P#E L +10 &Q@ L +9 &S4 M +10 &Ug? M +9 &W(4 M +9 &X( M +10 &Z:Dd/ %k +9 &Z 0; " +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&g1 +2 "core" &Z/ " +57 1 + "manipulator"&% +4 "core" % j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 "processing"%(& +3 "core" &ZN " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  @  +2 "storage"(,% +3 "core" %S +2 "storage"(. +3 "core" .( +2 "storage"(.& +3 "core" & +3 "storage"(&& +3 "manipulator"&o& +5 "core" &  +2 &h +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(7'i + "manipulator"&)(s +10 "core" ( +2 "manipulator"&& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m [ +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&!/ +59 "core" / +3 .tPC.seek :open + "processing"%( +72 "core" ' +2 "storage"( - +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'y +45 "core" ' +304 ( +2 "storage"(@& +3 "core" & +2 "manipulator"&3& +3 "core" &n +2 "manipulator"&$% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&%'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&5( +276 "core" ( + "manipulator"&2& +4 "core" & K !r +2 "storage"(+& +3 "core" & H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +107 "core" ' +2 .tHand.open + "manipulator"&E1 +58 "core" 1 +2 "storage"(-- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(G'E +22 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(H' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +3 "core" -' +2 "storage"(;& +3 "core" & J K 7 +3 "manipulator"&<& +4 "core" & @ !r + .tElbow.seek 2 +2 "manipulator"&K( +4 "core" ( + "manipulator"&L& +4 "core" & ; !r +2 "storage"(C& +4 "core" & J J 5 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(A' +58 "core" ' + "manipulator"&'& +4 "core" & !r +2 "storage"(Q& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +19 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +24 "core" ' +2 "manipulator"&>% +3 "core" % +2 "storage"(W& +5 "core" & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&D' +18 "core" ' + "manipulator"&N& +5 "core" & !r + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +29 "core" ' +39 "storage"(1% +11 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(P'X +98 ( % +4 "core" %U u L PH +2 "manipulator"&=% +5 "core" %ѓ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (^& +3 "core" &  +2 "collection"'`& +4 "core" &VL ^ _ @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&S% +3 "core" %\  z  +3 "storage"(9% +4 "core" %U + "storage"(U. +4 "core" .( + "storage"([& +4 "core" & S +2 "storage"(Z& +3 "core" &  +3 "manipulator"&X& +3 "core" & b !r +3 .tElbow.seek 2 + "manipulator"&R( +4 "core" ( +2 "manipulator"&O& +3 "core" & !r +3 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +95 "core" ' +2 "storage"(i& +3 "core" & 8 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'i +278 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\ & +3 "core" &  !r +2 "storage"(a& +4 "core" & " +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&V' +30 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(h'T +29 "core" ' + "manipulator"&T% +4 "core" % n H +2 "storage"(r& +4 "core" & r + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&?' +20 "core" ' + "manipulator"&l& +4 "core" & !q +2 "storage"(B& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"({'C +38 "core" ' +2 "manipulator"&~& +4 "core" & | !q + "manipulator"&p% +5 "core" %ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +3 "manipulator"&k& +3 "core" &(  } ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( ?U +3 .tForearm.seek CC + "manipulator"&t'" +101 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open +2 "collection"'v( +412 "core" ( +2 "storage"(d& +3 "core" & T +3 "storage"(& +4 "core" &  + "manipulator"&u& +4 "core" && <@ +2 "manipulator"&q% +4 "core" % # : +2 .tForearm.seek :retract + "manipulator"&e'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +158 "core" ( +2 "manipulator"&F& +3 "core" & 1  +3 "storage"(& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&s' +101 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  { +2 "storage"(& +3 "core" & < +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +3 "manipulator"&z' +16 "core" ' +2 "manipulator"&& +42 "core" & ^  +9 "storage"(j& +4 "core" & x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +34 "core" ' +2 "storage"( % +3 "core" %K +3 ."downElevator"SE.seek :down +4 "storage"(x'X +98 (% +3 "core" %Q q OC +2 "manipulator"&}% +5 "core" %ѝ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +85 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & ^ \\ +2 "manipulator"&f% +4 "core" %\    +2 "storage"(% +4 "core" %]  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(Y( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &   +3 "manipulator"&& +4 "core" & (  +2 .tElbow.seek 3 + "manipulator"&(( +16 "core" ( +2 "manipulator"&& +3 "core" & K g +2 "storage"(,& +4 "core" & `  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' +2 "storage"(.& +4 "core" & U  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +280 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +4 "core" & J g +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & g +2 "storage"(!& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +8 "core" &  g +2 "manipulator"&7% +4 "core" % ϭ ]  +2 .tForearm.seek :retract +2 "manipulator"&@'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +29 "core" ( + "manipulator"&$& +4 "core" &(  ' ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( + ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'" +104 "core" ' +3 "manipulator"&+& +4 "core" &)  ?S +2 "manipulator"&)% +4 "core" % K +2 "collection"'E& +3 "core" & a ] +3 "collection"'-& +5 "core" & ] ] +2 .tCC.seek :closed +2 "collection"'/(V +4 "core" & \\ ]  +9 &7 ^ ] )w +9 &l ] \\ = +9 &s [ ] G +10 &xe \\ ] F +9 &;g ^ ^ F +9 &h \\ \\ G +10 &e \\ ^ F +9 &e ] \\ F +10 &Bg [ [ F +9 &j ] ] F +9 & j ] [ G +10 &"h \\ ^ G +9 &$Ih ] ] G +9 && e ] \\ F +10 &'d \\ ^ F +9 &)e \\ ] F +10 &+Qh \\ [ G +9 &-d \\ \\ F +9 &.d [ \\ F +10 &0h \\ [ F +9 &2Zi \\ \\ F +9 &4j ] ] F +10 &5j [ ] F +9 &7d ] ] F +10 &9be [ [ F +9 &;#e [ \\ G +9 &<h ^ \\ G +10 &>e ] \\ G +9 &@ih [ \\ G +9 &B,e \\ \\ F +10 &Ci [ ^ F +9 &En [ \\ G +10 &Gkz [ \\ I +9 &I) \\ [ J +9 &J ] _ O +10 &L [ \\ P +9 &N] \\ \\ P +9 &P ] ] Q +10 &Q \\ [ Q +9 &S \\ ^ R +10 &U` _ \\ @ +9 &VH ] ] _ +9 &V' _ ] W +10 ( + &Vj ] _ H +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 + .Hand.open + "manipulator"&;1 +64 "core" 1 +4 "manipulator"&<% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%C& +4 "core" &N +2 "manipulator"&%% +3 "core" %\  *  +3 "storage"('% +4 "core" %b I + "storage"(Q. +3 "core" .( +2 "storage"(>& +3 "core" & q  +2 "storage"(W& +4 "core" & w  +49 "manipulator"&:& +3 "core" &( ?S +2 "manipulator"&N% +4 "core" %\  y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( +2 "manipulator"&G& +3 "core" & r +3 "storage"(1& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +96 "core" ' +2 "storage"(0& +4 "core" & ]  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +281 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &   +2 "manipulator"&=& +5 "core" & r + .tElbow.seek 3 +2 "manipulator"&K( +4 "core" ( +2 "manipulator"&A& +3 "core" & } r +2 "storage"(& +4 "core" & x  +3 .tForearm.seek 3 + 300 counts + "manipulator"&D'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(S'X +8 "core" & r +2 "manipulator"&9% +4 "core" % ϑ  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&[& +4 "core" &p O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &p < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X' +98 "core" ' + "manipulator"&O& +4 "core" &p 1 +2 "manipulator"&% +4 "core" % U  +2 "processing"%4& +3 "core" &M +3 "processing"%i& +5 "core" &_ +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &Q  +9 &7N )v +9 &jM = +10 &uM G +9 &og; G +9 &1hE G +10 &hJ G +9 &g@ G +10 &vg> G +9 &8g7 G +9 &h6 G +10 & g7 G +9 &"h; G +9 &$Ah; G +10 &&h6 F +9 &'h8 G +10 &)g8 G +9 &+If8 G +9 &-\ d: G +10 &.g7 G +9 &0i: G +9 &2Qh9 G +10 &4f7 G +9 &5g8 G +10 &7g7 G +9 &9Yg; G +9 &;g: G +10 &<k5 G +9 &>h: G +9 &@aj9 G +10 &B#j; G +9 &Ck7 G +10 &Ep: H +9 &Ga|8 J +9 &I1 K +10 &J/ L +9 &L2 L +9 &Na4 L +10 &P#4 L +9 &Q. M +10 &S3 M +9 &Ug. M +9 &W(# M +10 &X" M +9 &Z<Dc& %l +9 &Z\ -) # +6 ( + "processing"%i& +4 "core" &Z% # +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open + "manipulator"&61 +54 "core" 1 +2 "manipulator"&I% +3 "core" % g  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +99 "core" ' +3 "processing"%\ & +4 "core" &Z3 # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +4 "core" %\   + +2 "storage"(_% +4 "core" %` ( +2 "storage"(T. +3 "core" .( +2 "storage"(r& +3 "core" & _  +3 "storage"(l& +2 "manipulator"&B& +7 "core" & T  + &p / +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&~(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'i +3 "core" ( +2 "manipulator"&M& +3 "core" &p 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &p 7 +3 .tForearm.seek PC +2 "manipulator"&]' +101 "core" ' + .tHand.close +2 "manipulator"&V/ +64 "core" / +2 .tPC.seek :open +2 "processing"%?( +81 "core" ' +2 "storage"(h- +3 "core" -'i +2 ."raiseStack"SE.configure :default +46 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +2 "storage"(k'y +34 "core" ' +258 ( +2 "storage"(& +4 "core" &   +2 "manipulator"&c& +3 "core" &p F +3 "manipulator"&J% +4 "core" % H +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&\\( +274 "core" ( +2 "manipulator"&m& +4 "core" & [  + "storage"(d& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 .tHand.open + "manipulator"&u1 +57 "core" 1 +3 "storage"(q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(F'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(& +3 "core" & o o  +2 "manipulator"&y& +4 "core" & !  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & J  +2 "storage"(& +3 "core" & r r  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(e' +60 "core" ' + "manipulator"& & +3 "core" &  +2 "storage"(n& +5 "core" & R  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(s'i +23 "core" ' + "manipulator"&z% +5 "core" %r + "storage"(& +4 "core" & Q  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 289 counts + "manipulator"&f'Ϟ +20 "core" ' +2 "manipulator"&& +4 "core" & S  +2 "storage"( & +3 "core" & L  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +28 "core" ' + "storage"(w% +5 "core" %q   +2 ."downElevator"SE.seek :down +4 "storage"(x'X +98 (#% +3 "core" %U F PG +2 "manipulator"&g% +5 "core" %# { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 7  +2 "collection"',& +3 "core" &Vj _ _ H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&.% +3 "core" %\ E 6 +2 "storage"(|% +4 "core" %a  +2 "storage"(". +3 "core" .( +2 "storage"(o& +3 "core" &   +2 "storage"(& +4 "core" & c  +2 "manipulator"&& +3 "core" & >  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&!& +5 "core" & "  + "storage"(& +4 "core" & {  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(7& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('i +281 "core" ' +2 "storage"(- +3 "core" -' +41 .tSE.configure :default +9 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & :  +3 "storage"(&& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'P +35 "core" ' + "manipulator"&)% +4 "core" %Ή +2 "storage"(E& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +20 "core" ' +2 "manipulator"&@& +4 "core" & |  + "storage"(v& +5 "core" & ^  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(<'? +40 "core" ' + "manipulator"&C& +4 "core" & S  +2 "manipulator"&%% +4 "core" %/ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +167 "core" ( + "manipulator"&Q& +4 "core" &* 6 @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &*  @Z +3 .tForearm.seek CC +2 "manipulator"&W'" +91 "core" ' + .tHand.close +2 "manipulator"&:/ +56 "core" / +2 .tCC.seek :open +2 "collection"'N( +413 "core" ( +2 "storage"(2& +3 "core" &   +3 "storage"(G& +4 "core" & 5  + "manipulator"&1& +4 "core" &* 4 @X +2 "manipulator"&0% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&L( +162 "core" ( +2 "manipulator"&*& +3 "core" & M r +3 "storage"( & +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&='} +99 "core" ' +2 .tElbow.hold + "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&^% +4 "core" % ΀ M +2 "storage"(`& +4 "core" & /  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +3 "manipulator"&9'Ϭ +21 "core" ' + "manipulator"&& +3 "core" &  r +2 "storage"(5& +5 "core" & -  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +36 "core" ' +2 "storage"(D% +4 "core" %I  +2 ."downElevator"SE.seek :down +4 "storage"(['X +99 (Z% +2 "core" %=T g OD +3 "manipulator"&K% +4 "core" %? h v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & ^ \\ +2 "manipulator"&4% +4 "core" %\   +2 "storage"(S% +4 "core" %`  +2 "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +384 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &  +2 "manipulator"&I& +4 "core" & * r +2 .tElbow.seek 2 +2 "manipulator"&\ ( +39 "core" ( +2 "manipulator"&a& +4 "core" & Z k +2 "storage"(_& +4 "core" & + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +95 "core" ' +2 "storage"(r& +4 "core" & C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +277 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &  +2 "manipulator"&M& +4 "core" & e +2 .tElbow.seek 2 +2 "manipulator"&R( +8 "core" ( +2 "manipulator"&X& +5 "core" & a D +2 "storage"(V& +3 "core" & W +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +4 "storage"(P'X +4 "core" & S D +4 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&c'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +47 "core" ( +2 "manipulator"&J& +3 "core" & + < +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" & D < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +94 "core" ' +2 "manipulator"&d& +3 "core" & > < +3 "manipulator"&~% +4 "core" %  +2 "collection"'u& +3 "core" & ] ^ +3 "collection"'q& +5 "core" & [ ^ +2 .tCC.seek :closed +2 "collection"'t(V +5 "core" & ] ^ +7 &I ] ^ #c +9 &^ \\ ] 7 +10 &0 [ ^ G +9 &d _ ^ F +9 &j [ ] F +10 &vg ] \\ G +9 &9h ^ ^ F +9 &e \\ \\ F +10 &e \\ ^ F +9 &d ] \\ F +10 & Aj \\ _ F +9 &"j \\ ^ F +9 &#k \\ f F +10 &%j ] ] F +9 &'Ji ] ^ F +9 &)\ h \\ _ G +10 &*h \\ ] F +9 &,e \\ [ F +10 &.Qj ] ^ F +9 &0g [ ^ G +9 &1h [ ] G +10 &3h \\ ^ F +9 &5Ye _ ^ F +9 &7e \\ ] F +10 &8i ] _ F +9 &:h \\ ^ G +10 &<`h [ _ G +9 &>"h ] ] G +9 &?h ] ^ F +10 &Ad ^ ` F +9 &Cif _ ^ F +9 &E*n ^ ] G +10 &Fx ^ ^ H +9 &H \\ ` I +10 &J^ \\ ` M +9 &L ] ^ P +9 &M ^ _ P +10 &O ^ ] Q +9 &Q[ ^ ^ Q +9 &S ^ ^ R +10 &T ^ ` R +9 &V@[ _ ^ (y +10 &V" _ _ J +9 ( + &Vb ^ _ B +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&y% +3 "core" %  u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &L +2 "manipulator"& % +3 "core" %\    +2 "storage"( % +4 "core" %a +2 "storage"(n. +3 "core" .( +2 "storage"(z& +4 "core" & 9 + "storage"(k& +4 "core" & +2 "manipulator"&& +3 "core" & S < +3 "manipulator"&F% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +144 "core" ( +2 "manipulator"& & +4 "core" & n + "storage"(w& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +89 "core" ' +2 "storage"(& +3 "core" & - +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +46 "storage"('i +280 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & W +2 "manipulator"&j& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&e& +5 "core" & + "storage"(& +4 "core" & g +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&f' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"(.'X +8 "core" &  + "manipulator"&|% +4 "core" %  ` +3 .tForearm.seek :retract +2 "manipulator"&"'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"&s& +5 "core" &p g  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&!& +3 "core" &p   +3 "manipulator"&% +4 "core" % X  +2 "processing"%{& +3 "core" &] +3 "processing"%7& +5 "core" &K +2 .tPC.seek :closed +2 "processing"%x(Z +5 "core" &N +6 &=G #c +9 &\\G 6 +10 &? G +9 &d: G +9 &f; G +10 &^g; G +9 & f: G +9 &g? G +10 &k> G +9 &gh@ F +10 & (h> G +9 &!g8 F +9 &#g: G +10 &%nh< G +9 &'0k; G +10 &(e; G +9 &*h; G +9 &,ve7 G +10 &.8g7 G +9 &/e5 G +9 &1g3 G +10 &3~j5 G +9 &5@h2 G +9 &7j$ G +10 &8g$ G +9 &:e& F +10 &\ d% G +9 &?h, G +10 &Ah- F +9 &CNk+ G +10 &El- H +9 &Fv/ H +9 &H. J +10 &JG. M +9 &L , L +9 &M- L +10 &O- L +9 &QP- L +9 &S, M +10 &T) M +9 &V* M +10 &XU, M +9 &Ywu- "j +9 &Z'l, + +10 ( + &Z, ! +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&}1 +60 "core" 1 +2 "manipulator"&% +3 "core" % R  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%$& +4 "core" &Z0 ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&&% +4 "core" %\    + "storage"(% +4 "core" %a  +2 "storage"(). +3 "core" .( +2 "storage"(E& +3 "core" &  +3 "storage"(@& +3 "manipulator"&v& +7 "core" &  + &p  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&C(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(%'i +2 "core" ( +3 "manipulator"&& +3 "core" &p  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &p 3  +3 .tForearm.seek PC +2 "manipulator"&(' +96 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"(+- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +35 "core" ' +291 ( + "storage"(>& +4 "core" &  +2 "manipulator"&;& +3 "core" &p r  +2 "manipulator"& % +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +3 .tElbow.reconfigure :tight +49 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 + "manipulator"&'( +147 "Can" H&\  +120 "core" ( +2 "manipulator"&/& +4 "core" & I + "storage"(2& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +96 "core" ' +2 .tHand.open + "manipulator"&11 +55 "core" 1 +3 "storage"(0- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(W- +3 "core" -' +2 "storage"(-& +3 "core" & k ` r +3 "manipulator"&& +4 "core" & p + .tElbow.seek 2 +2 "manipulator"&^( +4 "core" ( + "manipulator"&`& +5 "core" & + "storage"(& +4 "core" & r q R +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(D' +57 "core" ' +2 "manipulator"&3& +3 "core" & v +3 "storage"(Z& +4 "core" & Q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&K' +20 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +23 "core" ' +2 "manipulator"&9% +3 "core" % { +2 "storage"(& +4 "core" & h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&4' +18 "core" ' + "manipulator"&S& +3 "core" & F +3 "storage"(8& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +36 "core" ' + "storage"(H% +5 "core" %q   +2 ."downElevator"SE.seek :down +3 "storage"(['X +99 (Y% +3 "core" %Y  PG +2 "manipulator"&6% +5 "core" %x 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +88 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" & ; +2 "collection"'_& +4 "core" &Vc _ _ B +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&r% +4 "core" %\  C  +2 "storage"(A% +3 "core" %b & +2 "storage"(O. +4 "core" .( + "storage"(B& +4 "core" & +2 "storage"(l& +3 "core" & ! +3 "manipulator"&M& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&X( +3 "core" ( +2 "manipulator"&V& +4 "core" & 7 +2 "storage"(U& +3 "core" & ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +95 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +278 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & [ +2 "storage"(J& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&h' +24 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +3 "storage"(R- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(d'O +30 "core" ' + "manipulator"&~% +3 "core" %  +2 "storage"(u& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&P' +20 "core" ' + "manipulator"&c& +5 "core" & k + "storage"(N& +4 "core" & m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'> +41 "core" ' + "manipulator"&& +5 "core" & $ + "manipulator"& % +5 "core" %с K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +159 "core" ( +3 "manipulator"&z& +3 "core" & h 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & 3 6 +3 .tForearm.seek CC +2 "manipulator"&k'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'F( +416 "core" ( + "storage"( & +4 "core" &  +2 "storage"(m& +4 "core" &  +2 "manipulator"&w& +3 "core" & 4 +2 "manipulator"&% +5 "core" % # o +2 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&#& +3 "core" & Z  +2 "storage"(g& +4 "core" & ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&j' +102 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" %  y + "storage"(,& +4 "core" & q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&|' +23 "core" ' + "manipulator"&& +3 "core" & A  +2 "storage"(\\& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 "storage"(f% +3 "core" %H v +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (% +3 "core" %O  NB +2 "manipulator"&% +3 "core" %Ѯ f +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +86 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & ] ] +3 "manipulator"&{% +3 "core" %\  j  +2 "storage"(.% +5 "core" %_ % + "storage"(". +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(?( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" &   +3 "manipulator"&& +4 "core" & B  + .tElbow.seek 3 +2 "manipulator"&$( +15 "core" ( + "manipulator"&&& +4 "core" & V _ +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +3 "manipulator"&)'9 +92 "core" ' + "storage"(E& +5 "core" & 6  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +278 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +2 "core" & R  +3 "manipulator"&& +4 "core" & k _ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ` _ +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&+'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(x'X +8 "core" & v _ +2 "manipulator"&%% +4 "core" % ϲ f , +2 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"& & +3 "core" &! % C 8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&/'" +104 "core" ' + "manipulator"&2& +5 "core" &  B 7 + "manipulator"&C% +5 "core" %* - +2 "collection"'1& +3 "core" & ] ] +3 "collection"'0& +5 "core" & _ _ +2 .tCC.seek :closed +2 "collection"'W(V +5 "core" & ] ^  +8 & 7 ^ _ )w +9 &l _ ^ = +10 &s ] ^ G +9 &h ] ^ F +9 &Bc ^ ^ F +10 &g ^ ^ G +9 &g ^ _ F +10 &i ] _ F +9 &Ih \\ ^ F +9 &\ g ^ ^ G +10 & g ] \\ F +9 &"h \\ _ G +9 &$Qg ^ ^ F +10 &&e ^ ^ F +9 &'g ^ _ F +10 &)i ^ ] F +9 &+Yh ^ _ F +9 &-j _ ] F +10 &.h ] ] F +9 &0j ] ^ G +9 &2ag _ ^ F +10 &4"h ^ ^ G +10 &5g ^ _ F +9 &7h ] ] F +9 &9ig ] ] F +9 &;,d \\ ^ F +10 &<k \\ \\ F +9 &>k _ \\ F +9 &@qi [ ^ F +10 &B2g _ _ G +9 &Ck ^ ^ F +10 &Em \\ _ G +9 &Gsx ` _ I +9 &I1 ` ^ J +10 &J a ^ N +9 &L _ ^ P +9 &Ne ] k P +10 &P% ` ^ Q +9 &Q \\ ` Q +10 &S \\ ` R +9 &Ug _ _ ? +9 &VE ^ a !e +10 &V ^ ^ I +5 ( +2 "collection"'0& +3 "core" &Vt ` ` H +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&-1 +63 "core" 1 +3 "manipulator"&% +5 "core" % *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &9 + "manipulator"&:% +5 "core" %\   + "storage"(3% +4 "core" %]  +2 "storage"(Z. +3 "core" .( +2 "storage"(9& +4 "core" &   + "storage"(& +4 "core" &   +2 "manipulator"&Q& +3 "core" & O 7 +2 "manipulator"&S% +5 "core" %\  o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&8( +164 "core" ( +2 "manipulator"&*& +4 "core" & H g +2 "storage"(H& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +87 "core" ' +2 "storage"(G& +3 "core" & >  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +280 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &   +2 "manipulator"&5& +3 "core" &  g +3 .tElbow.seek 3 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&D& +3 "core" & g +2 "storage"(K& +4 "core" & +  +48 .tForearm.seek 3 + 300 counts +3 "manipulator"&4'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"(r'X +8 "core" & g +2 "manipulator"&A% +4 "core" % ϯ  2 +2 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&=& +4 "core" &t *  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &t $  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +97 "core" ' + "manipulator"&V& +4 "core" &t   +2 "manipulator"&U% +4 "core" % _  +2 "processing"%<& +4 "core" &G +2 "processing"%& +5 "core" &5 +3 .tPC.seek :closed + "processing"%[(Z +5 "core" &;  +8 &6< )v +9 &i8 < +9 &x4 H +10 &ie7 F +9 &*g? G +10 &h8 F +9 &h; G +9 &oj9 G +10 &3f5 F +9 &g: G +10 & e: G +9 &"xf< G +9 &$:i: G +10 &%e; G +9 &'i8 F +9 &)h4 G +10 &+Bj9 G +9 &-i5 G +9 &.c4 G +10 &0h0 G +9 &2Jj' G +10 &4 h$ G +9 &5e# G +9 &7g F +10 &9Rg$ G +9 &;i$ G +9 &<e# G +10 &>g* F +9 &@Yh, G +10 &Bh- G +9 &Ck- G +9 &Es. H +10 &G[z. I +9 &I- K +9 &J- L +10 &L- L +9 &N[- L +10 &P, L +9 &Q, L +9 &S, M +10 &Ua- M +9 &W"+ M +9 &X, M +10 &Z5Ec' %l +9 &Z1% \ +6 ( + "processing"%& +4 "core" &Z' +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&L1 +63 "core" 1 +2 "manipulator"&I% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +2 "processing"%i& +3 "core" &Z* +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&J% +4 "core" %\ # ; +2 "storage"(R% +3 "core" %b i +2 "storage"(~. +3 "core" .( +2 "storage"(u& +4 "core" & "  +2 "storage"(c& +2 "manipulator"&N& +8 "core" &   + &t 8  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +6 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( + "manipulator"&b& +4 "core" &t w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &t o  +2 .tForearm.seek PC +2 "manipulator"&\ ' +93 "core" ' + .tHand.close +2 "manipulator"&h/ +61 "core" / +2 .tPC.seek :open + "processing"%P( +88 "core" ' +2 "storage"(d- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'y +50 "core" ' +284 ( + "storage"(q& +3 "core" & k  +3 "manipulator"&& +4 "core" &t b  + "manipulator"&]% +4 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +271 "core" ( + "manipulator"&t& +4 "core" & *  +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +92 "core" ' +2 .tHand.open + "manipulator"&w1 +99 "core" 1 +4 "storage"(- +3 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(#'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(n& +4 "core" & G @   +2 "manipulator"&& +3 "core" & g  +3 .tElbow.seek 3 +2 "manipulator"&( +5 "core" ( +2 "manipulator"&,& +4 "core" & U  + "storage"(& +4 "core" & J J &  +3 .tForearm.seek 3 + 700 counts + "manipulator"&\\'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(f' +59 "core" ' + "manipulator"&p& +4 "core" & u  +2 "storage"(& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +27 "core" ' +2 "manipulator"&% +4 "core" %~ E +2 "storage"({& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"&|'Ϫ +20 "core" ' +2 "manipulator"&.& +4 "core" & t  +2 "storage"("& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +32 "core" ' +3 "storage"(% +4 "core" %q  +2 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (% +4 "core" %9T OG +2 "manipulator"&}% +3 "core" %3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (&& +3 "core" & @  +2 "collection"'& +4 "core" &Vt ` _ H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&E% +3 "core" %\  (  +2 "storage"(e% +5 "core" %Z x + "storage"(!. +3 "core" .( +2 "storage"(@& +3 "core" &   +3 "storage"(v& +4 "core" & (  + "manipulator"&& +3 "core" & 8  +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & s  + "storage"(o& +4 "core" & w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(%& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +280 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & U  +2 "storage"((& +4 "core" & \\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'} +28 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +29 "core" ' +2 "manipulator"&C% +4 "core" %΂ I + "storage"(1& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&x'Ϯ +20 "core" ' + "manipulator"&>& +48 "core" & Q  +4 "storage"(F& +4 "core" & >  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +37 "core" ' +2 "manipulator"&& +3 "core" & l  +3 "manipulator"&:% +4 "core" %= + k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +163 "core" ( +3 "manipulator"&9& +3 "core" &' $ >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &' . >N +3 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&Q/ +59 "core" / +2 .tCC.seek :open +2 "collection"'S( +416 "core" ( + "storage"(/& +4 "core" &   +2 "storage"(*& +4 "core" &   +2 "manipulator"&H& +3 "core" && \  =B +2 "manipulator"&G% +4 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&`( +160 "core" ( +2 "manipulator"&Y& +3 "core" & 1  +2 "storage"(6& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&5'} +99 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +55 "core" 1 +2 "manipulator"&a% +5 "core" % Έ  + "storage"(_& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&A'ϴ +22 "core" ' +2 "manipulator"&8& +4 "core" & 1  +2 "storage"('& +3 "core" & M  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +18 "core" ' +2 "storage"(4% +4 "core" %A   +3 ."downElevator"SE.seek :down +3 "storage"(='X +98 (l% +3 "core" %ZP  OD +2 "manipulator"&^% +4 "core" % / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'U& +3 "core" & ^ ` +2 "manipulator"&<% +4 "core" %\   +2 "storage"(r% +5 "core" %N J + "storage"(O. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" & +2 "manipulator"&I& +4 "core" & i  +2 .tElbow.seek 2 +2 "manipulator"&i( +48 "core" ( +2 "manipulator"&J& +3 "core" & C m +2 "storage"(R& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +91 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +283 "core" ' +2 "storage"(N- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +48 "core" &  u +4 "manipulator"&b& +3 "core" & ` +3 .tElbow.seek 2 + "manipulator"&X( +31 "core" ( +2 "manipulator"&M& +3 "core" & R S +3 "storage"(h& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(['X +8 "core" & 9 S +2 "manipulator"& % +4 "core" %  _ C +2 .tForearm.seek :retract +2 "manipulator"&q'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&]& +4 "core" &&   =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" && D =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&t'" +97 "core" ' +3 "manipulator"& & +3 "core" && T =G +3 "manipulator"&% +3 "core" % +3 "collection"'w& +3 "core" & ^ ` +3 "collection"'& +5 "core" & ] ^ +3 .tCC.seek :closed + "collection"'k(V +5 "core" & ] ^ +7 &A _ ^ $d +9 &] ] ^ 6 +10 & ^ ] G +9 &g ^ ] F +9 &e _ ] F +10 &fh ` _ F +9 &'h \\ ` G +10 &g _ ^ F +9 &j ^ ^ F +9 &mg ` ^ G +10 & 0g ] _ F +9 &!e \\ ` F +9 &#e ] _ F +10 &%vj \\ ^ F +9 &'8g ^ _ F +9 &(d \\ ^ F +10 &*g ^ ` G +9 &,~g ^ ^ F +10 &.@i ^ ^ F +9 &0g ] ^ F +9 &1e ^ _ F +10 &3i \\ ] F +9 &5Hg ^ ] F +9 &7\ j ] ^ F +10 &8g ^ ] F +9 &:g ^ ^ G +10 &e \\ _ F +9 &?j a ] F +10 &Ah ` ^ F +9 &CYe ^ _ F +9 &Eo \\ ^ G +10 &Ft _ ^ H +9 &H _ _ I +10 &JN _ _ M +9 &L ^ _ P +9 &M ] _ P +10 &O ` _ P +9 &QK _ _ P +9 &S ` ` Q +10 &T _ _ R +9 &V?i _ _ / +10 &V _ _ 8 +9 &Vk ] ] D +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&1 +2 "core" &VZ _ _ D +54 1 +2 "manipulator"&n% +5 "core" %   ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%,& +3 "core" &S +2 "manipulator"&% +5 "core" %\    + "storage"(p% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(z& +3 "core" &   +2 "manipulator"&{& +6 "core" && 8 =G +2 "manipulator"&#% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.( +156 "core" ( +2 "manipulator"&"& +4 "core" & H  + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +95 "core" ' + "storage"(m& +4 "core" &  - +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +2 "core" &  ) +2 "manipulator"&\\& +5 "core" & +  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&f& +3 "core" & H  +3 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(E'X +8 "core" & I  +2 "manipulator"&j% +3 "core" %  C +48 .tForearm.seek :retract +4 "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!(s +103 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +142 "core" ( +3 "manipulator"&@& +3 "core" &v z  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &v& +2 "core" &v :  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&& +5 "core" &v  + "manipulator"&o% +5 "core" %  +2 "processing"%y& +4 "core" &< +2 "processing"%%& +4 "core" &R +3 .tPC.seek :closed + "processing"%s(Z +5 "core" &:  +9 &78 )v +10 &k= = +9 &t: H +10 &sc? F +9 &4g= G +9 &e@ G +10 &e= G +9 &{g9 F +9 &<f8 G +10 &h; G +9 & g9 G +9 &"j; G +10 &$Eg6 F +9 &&g7 F +10 &'g/ G +9 &)i5 G +9 &+Li. G +10 &-e% G +9 &.f1 F +10 &0i( G +9 &2Tj& G +9 &4i& G +10 &5i# G +9 &7e+ G +9 &9]g& F +10 &;g+ F +9 &<h+ G +10 &>j+ F +9 &@di, G +9 &B%g- G +10 &Ck- G +9 &En. H +9 &Gd{- J +10 &I!. K +9 &J- L +10 &L- L +9 &Nf- L +9 &P&- L +10 &Q- L +9 &S+ L +9 &Ul+ L +10 &W-, M +9 &X+ M +10 &Z?C`- %l +9 &Z\ -& " +5 ( +2 "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&1 +3 "core" &Z* " +53 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' +2 "processing"% & +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&(% +3 "core" %\    +2 "storage"(2% +4 "core" %`  +2 "storage"(C. +2 "core" .( +2 "storage"(1& +4 "core" &   +2 "storage"(>& +3 "manipulator"&F& +8 "core" &   + &v &  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(:'i +3 "core" ( +2 "manipulator"&& +3 "core" &v d  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &v W  +2 .tForearm.seek PC +2 "manipulator"&$' +92 "core" ' +2 .tHand.close + "manipulator"&7/ +55 "core" / +2 .tPC.seek :open + "processing"%x( +98 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(9'y +42 "core" ' +281 ( +2 "storage"(0& +3 "core" &  ' +3 "manipulator"&-& +4 "core" &v &  + "manipulator"&+% +3 "core" %   2 +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3( +270 "core" ( +2 "manipulator"&W& +4 "core" & ;  + "storage"(/& +4 "core" &  z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +96 "core" ' + .tHand.open +2 "manipulator"&H1 +62 "core" 1 +2 "storage"(G- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(Y'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(6' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(Z& +50 "core" &  q q +2 "manipulator"&K& +4 "core" &  +3 .tElbow.seek 2 + "manipulator"&a( +7 "core" ( +2 "manipulator"&_& +4 "core" & M  +2 "storage"(8& +3 "core" &  q q  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +57 "core" ' + "manipulator"&;& +4 "core" & k  +2 "storage"(l& +3 "core" &  . +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&^' +24 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +22 "core" ' +2 "manipulator"&U% +3 "core" % +2 "storage"(<& +5 "core" &  + + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&A' +19 "core" ' +2 "manipulator"&r& +4 "core" & Z  +2 "storage"(O& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"( % +4 "core" %s  +2 ."downElevator"SE.seek :down +4 "storage"(='X +99 (?% +2 "core" %[U O PF +3 "manipulator"&L% +3 "core" %ц +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" &  p +2 "collection"'R& +3 "core" &VZ _ _ D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ d 8 +3 "storage"(D% +4 "core" %_ / + "storage"(V. +3 "core" .( +2 "storage"(N& +4 "core" &  \\ +2 "storage"(c& +3 "core" &   +2 "manipulator"&b& +4 "core" & b  +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&h& +3 "core" & U  +2 "storage"(B& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +103 "core" ' +2 "storage"( & +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +278 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & 5  +2 "storage"(\ & +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&u' +26 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +27 "core" ' + "manipulator"&X% +4 "core" %  h +2 "storage"(w& +3 "core" &  g +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&[' +19 "core" ' +2 "manipulator"&q& +3 "core" & ~  +2 "storage"(S& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(n'? +42 "core" ' +3 "manipulator"&,& +4 "core" & t  +2 "manipulator"&% +3 "core" %Ѧ  +46 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +2 "manipulator"&& +4 "core" &% C <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &%  <; +3 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&{/ +62 "core" / +3 .tCC.seek :open +2 "collection"'#( +415 "core" ( + "storage"(t& +4 "core" &  \\ +2 "storage"("& +4 "core" &   +2 "manipulator"&& +3 "core" &% q <: +2 "manipulator"&m% +5 "core" % -  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +154 "core" ( +2 "manipulator"&& +4 "core" & y  +2 "storage"(}& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&\\' +101 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&&% +4 "core" %  +2 "storage"(& +3 "core" &  g +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&j' +19 "core" ' +2 "manipulator"&.& +3 "core" &  +2 "storage"( & +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +21 "core" ' +2 "storage"(|% +4 "core" %9 L +2 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (v% +3 "core" %Q  OD +2 "manipulator"&% +5 "core" %і ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'o& +3 "core" & _ ` +2 "manipulator"&y% +4 "core" %\ s 2 +2 "storage"(E% +3 "core" %] L +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(P( +338 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&& +4 "core" & 1  +2 .tElbow.seek 3 +2 "manipulator"& ( +16 "core" ( + "manipulator"&(& +4 "core" & # ` +2 "storage"(2& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +97 "core" ' +2 "storage"(1& +4 "core" & '  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +276 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & b  +2 "manipulator"&& +4 "core" & N ` +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & b ` + "storage"(7& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +45 .tHand.close +5 "manipulator"&!/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(s'X +8 "core" & 7 ` +2 "manipulator"&:% +3 "core" % Ϲ T E +3 .tForearm.seek :retract +2 "manipulator"&0'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&+& +4 "core" &"   :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +3 "core" &# ' :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'" +95 "core" ' +2 "manipulator"&/& +3 "core" &# 5 :* +3 "manipulator"&% +4 "core" %#   +2 "collection"'H& +3 "core" & ^ _ +3 "collection"'G& +5 "core" & _ ` +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & ^ a +7 &C ] _ #c +9 &] ` _ 6 +10 & ` _ G +9 &d _ a F +9 &i ^ ` F +10 &dg _ ` F +9 &&h ` _ F +9 &e ] a F +10 &h ^ ^ F +9 &lh ^ ` F +10 & -h _ ] G +9 &!h ^ a F +9 &#i a ` F +10 &%sh _ _ G +9 &'7g ^ _ F +10 &(g ^ ` F +9 &*g ` ` F +9 &,|h ` ` F +10 &.>h ] _ F +9 &0d ` ^ F +9 &1h _ ` F +10 &3h _ ^ G +9 &5Gg ` a F +9 &7 h _ ^ F +10 &8g ^ _ F +9 &:h _ _ F +10 &h _ _ F +9 &?h ^ _ F +10 &Ah _ ` G +9 &CVh _ _ F +9 &Ep _ ` G +10 &Fu ` ` H +9 &H ` b J +10 &JL ` ` M +9 &L _ _ P +9 &M _ a P +10 &O ` b P +9 &QI ` ` P +10 &S ` a R +9 &T ` a R +9 &V;i a ` / +10 &V _ b 4 +9 &Vu ` a H +5 ( +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&Z1 +4 "core" &Vs ` ` H +49 1 +3 "manipulator"&Q% +4 "core" % # }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%_& +3 "core" &7 +2 "manipulator"&8% +4 "core" %\  5  +2 "storage"(;% +4 "core" %a  +2 "storage"(l. +3 "core" .( +2 "storage"(9& +3 "core" &   +2 "storage"(Y& +4 "core" &   +2 "manipulator"&U& +3 "core" &" H :* +2 "manipulator"&<% +5 "core" %\  8  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&r( +162 "core" ( + "manipulator"&O& +4 "core" & P l +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +95 "core" ' +2 "storage"(*& +3 "core" & k  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +283 "core" ' + "storage"(?- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &   +2 "manipulator"&'& +4 "core" & / l +2 .tElbow.seek 3 + "manipulator"&a( +4 "core" ( +2 "manipulator"&4& +3 "core" & h l +2 "storage"(^& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&A'ϩ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&R& + "storage"('X +7 "core" & l +2 "manipulator"&D% +3 "core" % ϗ +3 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&5(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&N& +5 "core" &n * y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &n 1  +49 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +100 "core" ' +2 "manipulator"&h& +3 "core" &n   +3 "manipulator"&B% +3 "core" % & +3 "processing"%& +4 "core" &P +2 "processing"% & +5 "core" &= +2 .tPC.seek :closed +2 "processing"%=(Z +5 "core" &@ +7 &F> #b +9 &[< 6 +10 &7 G +9 &c5 F +9 &k: G +10 &_g8 G +9 & j8 G +10 &e8 G +9 &g8 F +9 &hg; F +10 & )g6 G +9 &!j/ G +10 &#f1 G +9 &%ph' F +9 &'1h% G +10 &(j) G +9 &*k$ G +9 &,xg' F +10 &.9g, G +9 &/i- G +9 &1e- G +10 &3e- G +9 &5Bg- F +10 &7g. G +9 &8j. G +9 &:h- G +10 & c- G +9 &?e, G +10 &Ah+ G +9 &CQj+ G +10 &En, H +9 &Fv, I +9 &H, K +10 &JK+ L +9 &L & L +9 &M+ L +10 &O% L +9 &QQ L +10 &S M +9 &T L +9 &V M +10 &XU N +9 &Ywy "j +9 &Z*u , +10 ( + &Z ! +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&`1 +58 "core" 1 + "manipulator"&I% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +92 "core" ' +2 "processing"%]& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\ % +4 "core" %\   +2 "storage"( % +3 "core" %b  +3 "storage"(X. +3 "core" .( +2 "storage"(w& +4 "core" &   +2 "storage"(q& +2 "manipulator"&S& +6 "core" &   + &n  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&,(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&T& +4 "core" &n g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&i' +96 "core" ' +2 .tHand.close + "manipulator"&u/ +54 "core" / +2 .tPC.seek :open + "processing"%[( +99 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +281 ( +2 "storage"(z& +3 "core" &   +2 "manipulator"&& +3 "core" &n  +3 "manipulator"&d% +3 "core" %  _ +3 .tForearm.seek :retract + "manipulator"&{'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +265 "core" ( +2 "manipulator"&k& +4 "core" & T  +2 "storage"(t& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(m- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(}' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & O \\   +2 "manipulator"&& +4 "core" & l  + .tElbow.seek 3 +2 "manipulator"&&( +9 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(.& +4 "core" & k n W  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +49 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +59 "core" ' + "manipulator"&& +3 "core" & q  +3 "storage"(v& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\\'i +23 "core" ' +2 "manipulator"&j% +3 "core" %΃ d +2 "storage"(o& +3 "core" & r  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&y'ϯ +21 "core" ' +2 "manipulator"&E& +3 "core" & i  +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +32 "core" ' +2 "storage"(g% +3 "core" %p   +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (% +3 "core" %W d OF +2 "manipulator"&% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ((& +3 "core" &   +2 "collection"'2& +4 "core" &Vr ` ` H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&1% +4 "core" %\ ! 5 +2 "storage"(f% +4 "core" %` z + "storage"(. +4 "core" .( + "storage"(>& +4 "core" & g  +2 "storage"(%& +3 "core" & t  +3 "manipulator"&& +3 "core" & c  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&7& +3 "core" &  +2 "storage"(!& +3 "core" & y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +97 "core" ' +2 "storage"(:& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +275 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" &  +2 "storage"(F& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&$'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('P +26 "core" ' +2 "manipulator"&% +4 "core" %΅ A +2 "storage"(H& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&s'ϱ +20 "core" ' + "manipulator"&0& +4 "core" &  +2 "storage"(#& +4 "core" & g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'? +42 "core" ' +2 "manipulator"&_& +3 "core" &  +2 "manipulator"&8% +5 "core" %+ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +156 "core" ( +2 "manipulator"&9& +4 "core" &( # ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &( G ?T +2 .tForearm.seek CC +47 "manipulator"&U'" +94 "core" ' +2 .tHand.close + "manipulator"&G/ +54 "core" / +2 .tCC.seek :open + "collection"'<( +416 "core" ( +2 "storage"(W& +3 "core" &   +2 "storage"(O& +4 "core" &   +2 "manipulator"& & +4 "core" &( ?S +2 "manipulator"&*% +3 "core" % " N +3 .tForearm.seek :retract + "manipulator"&-'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +165 "core" ( + "manipulator"&?& +4 "core" &  V +2 "storage"(L& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&''} +98 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +53 "core" 1 +2 "manipulator"&J% +4 "core" % Ά N + "storage"(R& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"&D'ϲ +21 "core" ' +2 "manipulator"&r& +3 "core" & " V +2 "storage"(3& +4 "core" & q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +24 "core" ' +2 "storage"(A% +4 "core" %? *  +2 ."downElevator"SE.seek :down +5 "storage"(N'X +97 (c% +3 "core" %1O  OD +2 "manipulator"&a% +4 "core" %M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'B& +5 "core" & a ` + "manipulator"&% +4 "core" %\  3 ' +2 "storage"(% +4 "core" %a ;  +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(x( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &  +2 "manipulator"&I& +3 "core" & c V +2 .tElbow.seek 2 +2 "manipulator"&]( +38 "core" ( +2 "manipulator"&\ & +4 "core" & % & +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +104 "core" ' +2 "storage"(w& +3 "core" & ] +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +280 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  +3 "manipulator"&T& +4 "core" & "} + .tElbow.seek 2 +3 "manipulator"&M( +31 "core" ( +2 "manipulator"&b& +4 "core" & A Q +2 "storage"(u& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(='X +8 "core" & q Q +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' +2 .tElbow.seek CC +47 "manipulator"&( +110 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +51 "core" ( + "manipulator"&d& +4 "core" &  b 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" & t 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'" +97 "core" ' +2 "manipulator"&t& +4 "core" &  M 7 +2 "manipulator"&,% +3 "core" % P +3 "collection"'& +3 "core" & a ` +3 "collection"'m& +4 "core" & ` ` +3 .tCC.seek :closed +2 "collection"'(V +4 "core" & a `  +10 &7 _ _ )w +9 &k _ ` = +9 &s _ _ G +10 &tg ` ` F +9 &5g a _ F +10 &g ^ _ G +9 &g a _ F +9 &{h ^ ` F +10 &>j ^ _ F +9 &g _ ` F +9 & h ` _ F +10 &"e ` _ F +9 &$Eh _ ` F +10 &&j _ a F +9 &'g _ ` F +9 &)h _ ` F +10 &+Mh _ a F +9 &-h ` ` F +9 &.h _ ` F +10 &0h ` _ F +9 &2Ug a ` F +10 &4h _ ` F +9 &5h a _ F +9 &7h ` _ F +10 &9]h b ` F +9 &;h ` _ G +9 &<h _ ` F +10 &>h a ` F +9 &@eg c ` F +10 &B(j _ ` F +9 &Ci i _ F +9 &Ep ` ` G +10 &Gh{ _ ^ H +9 &I& ` a I +9 &J ` ` N +10 &L _ a P +9 &NY a a P +10 &P ` c P +9 &Q ` a Q +9 &S ` b R +10 &U[ a a A +9 &Vr> ` b . +9 &Vm ` a ? +6 ( + "collection"'m& +4 "core" &VW a b ? +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" %  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%.& +4 "core" &9 +2 "manipulator"&{% +4 "core" %\    +2 "storage"(% +3 "core" %W  +2 "storage"(v. +3 "core" .( +2 "storage"(& +4 "core" & 2 +2 "storage"(& +3 "core" & = +3 "manipulator"&j& +3 "core" &  7 +2 "manipulator"&o% +3 "core" %\  D  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +161 "core" ( +2 "manipulator"&e& +4 "core" &  +2 "storage"(p& +3 "core" & 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +90 "core" ' +2 "storage"("& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"& & +3 "core" & <  +3 .tElbow.seek 2 + "manipulator"&&( +4 "core" ( +2 "manipulator"&|& +3 "core" & e  +3 "storage"(& +4 "core" & = +2 .tForearm.seek 2 + 300 counts + "manipulator"&y' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(1'X +8 "core" & @  + "manipulator"&\\% +5 "core" % 4 ( +2 .tForearm.seek :retract + "manipulator"&f'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +114 "core" ( +3 "manipulator"&>& +3 "core" &q 4 "  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &q 1  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&7& +5 "core" &q L  + "manipulator"&!% +4 "core" % V +2 "processing"%n& +4 "core" &G +3 "processing"%:& +5 "core" &N +2 .tPC.seek :closed +52 "processing"%@(Z +5 "core" &9 + &: + &6 + &7 + &: +2 &9 + &9 9 +6 &ON6 / +9 &|6 D +10 &Ic8 G +9 & j4 G +10 &j2 G +9 &k3 G +9 &Qj& G +10 &j$ G +9 &h" F +9 &g! G +10 &!Yh% G +9 &#k, G +10 &$j, G +9 &&h. F +9 &(bg. F +10 &*#g. G +9 &+j. G +9 &-g- G +10 &/je, F +9 &1,g, F +10 &2f, F +9 &4e& G +9 &6qe+ G +10 &83d+ G +9 &9f, G +9 &;c, G +10 &=yh+ G +9 &?:g( G +10 &@g+ G +9 &Bm G +9 &Dm G +10 &F@r H +9 &G J +9 &I L +10 &Kz L +9 &M< L +10 &N L +9 &P L +9 &R L +10 &TC L +9 &V M +9 &W M +10 &Y : +9 &Zt4 S +10 &Z # +2 ( +2 "processing"%:& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +96 "core" ' +2 "processing"%+& +4 "core" &Z# # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&F% +4 "core" %\ \ 2  +2 "storage"(/% +3 "core" %a s +2 "storage"(. +4 "core" .( + "storage"(H& +4 "core" & ) +3 "storage"(0& +2 "manipulator"&#& +8 "core" & q + &q m  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&_(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(8'i +3 "core" ( +2 "manipulator"&)& +4 "core" &q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q  +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' +3 .tHand.close + "manipulator"&$/ +59 "core" / +2 .tPC.seek :open +2 "processing"%s( +83 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'y +47 "core" ' +291 ( +2 "storage"(Y& +3 "core" &  +3 "manipulator"&Z& +4 "core" &q   +2 "manipulator"&% +3 "core" % I +3 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&;( +266 "core" ( + "manipulator"&& +5 "core" & C \ + "storage"(W& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +98 "core" ' +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +3 "storage"(*- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(L' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +3 "storage"(l& +3 "core" & q o +2 "manipulator"&^& +4 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&J( +9 "core" ( +2 "manipulator"&R& +3 "core" & @ +3 "storage"(r& +4 "core" & r r +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(A' +55 "core" ' +2 "manipulator"&-& +4 "core" & + "storage"(c& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&a' +25 "core" ' + .tElbow.hold +49 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(''i +24 "core" ' + "manipulator"&B% +5 "core" %  + "storage"(D& +4 "core" & @ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&' +21 "core" ' + "manipulator"&& +4 "core" & Z +2 "storage"(V& +5 "core" & = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +22 "core" ' +2 "storage"(6% +4 "core" %o +3 ."downElevator"SE.seek :down +4 "storage"(N'X +98 (P% +3 "core" %W A PH +2 "manipulator"&`% +5 "core" %њ  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +89 "core" ' +75 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\ & +3 "core" & { +2 "collection"' & +4 "core" &VW ` b ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +3 "core" %\   +2 "storage"(4% +5 "core" %] d +2 "storage"(h. +3 "core" .( +2 "storage"(S& +3 "core" & | +2 "storage"( & +4 "core" & Z +2 "manipulator"&T& +4 "core" & i +2 .tElbow.seek 2 +2 "manipulator"&b( +2 "core" ( +3 "manipulator"&u& +4 "core" &  + "storage"(5& +4 "core" & Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +104 "core" ' +2 "storage"(& +3 "core" & . +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'i +277 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & ! +2 "storage"(& +4 "core" & 7 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&d' +32 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(M- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'O +29 "core" ' +2 "manipulator"&,% +4 "core" % C ) + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&=' +29 "core" ' + "manipulator"&z& +4 "core" & +2 "storage"(<& +3 "core" & h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +42 "core" ' + "manipulator"&.& +4 "core" & V +2 "manipulator"&{% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +166 "core" ( +3 "manipulator"&& +4 "core" &' ` >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &' l >N +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open + "collection"'o( +413 "core" ( +2 "storage"(k& +3 "core" & +2 "storage"(e& +4 "core" &  +2 "manipulator"&p& +3 "core" &( p >N +42 "manipulator"&"% +10 "core" % +   +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" & E  +2 "storage"(& +3 "core" & W +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +101 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&(% +5 "core" % 0 + "storage"(2& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&\\' +21 "core" ' + "manipulator"&E& +4 "core" & =  +2 "storage"(g& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +25 "core" ' +2 "storage"(y% +4 "core" %H a +2 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (%% +3 "core" %`L  OD +2 "manipulator"&&% +5 "core" %ѩ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7'\ +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'!& +3 "core" & ` b +2 "manipulator"&n% +3 "core" %\  3  +3 "storage"(1% +3 "core" %P # +2 "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"([( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & | V  +2 "manipulator"&& +5 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&+( +15 "core" ( + "manipulator"&F& +3 "core" & U X +3 "storage"(/& +4 "core" & J  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +102 "core" ' + "storage"(H& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(:'i +282 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &   +2 "manipulator"&)& +4 "core" & S X +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & a X +2 "storage"($& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"(@'X +8 "core" & F X +2 "manipulator"&8% +4 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +4 "core" &&  =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" && ; =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +47 "manipulator"&W& +6 "core" && b =E +2 "manipulator"&_% +4 "core" % : +2 "collection"' & +4 "core" & ` a +3 "collection"'*& +5 "core" & _ a +3 .tCC.seek :closed + "collection"'U(V +5 "core" & _ a +6 &C ^ _ #c +9 &\\ ^ c 6 +10 & _ ` G +9 &c a a F +9 &h _ b G +10 &ge a _ F +9 &(g b _ F +9 &g _ ` G +10 &g b a F +9 &ng a a F +10 & 1c a a F +9 &!g _ b F +9 &#e a b F +10 &%wi a ` F +9 &'8g _ b F +9 &(f b ` G +10 &*g a ` F +9 &,~g ^ a F +10 &.Ac ` a F +9 &0g _ ` F +9 &1i b a F +10 &3g ` b F +9 &5Hg _ ` F +9 &7 d _ ` F +10 &8f ` ` F +9 &:g ` a F +10 &h ` b G +9 &?g a ` F +10 &Ag b ` F +9 &CYe b a F +10 &Eo _ c G +9 &Fu _ ` H +9 &H _ ` I +10 &JM ` a M +9 &L ` a P +9 &M c b P +10 &O a b P +9 &QJ a c Q +9 &S\ c b Q +10 &T b a R +9 &V?i a b / +10 &V ` c 8 +9 &Wo d d B +5 ( +2 "collection"'*& +4 "core" &W_ b a B +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&l1 +60 "core" 1 +3 "manipulator"&^% +4 "core" %  P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%r& +4 "core" &F +2 "manipulator"&G% +3 "core" %\ # g ; +3 "storage"(-% +3 "core" %[ i +2 "storage"(c. +3 "core" .( +2 "storage"(9& +3 "core" & )  +2 "storage"(?& +3 "core" &   +3 "manipulator"&B& +3 "core" && =E +2 "manipulator"&D% +4 "core" %\ # / ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&V& +3 "core" & . I +2 "storage"(;& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +107 "core" ' + "storage"(O& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'i +283 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & =  +2 "manipulator"&`& +4 "core" & I +2 .tElbow.seek 3 +2 "manipulator"&J( +2 "core" ( +3 "manipulator"&A& +4 "core" &  I + "storage"(a& +3 "core" & |  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +4 "storage"(w'X +4 "core" & 4 I +3 "manipulator"&'% +3 "core" % Ϧ 4 +3 .tForearm.seek :retract + "manipulator"&4'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +3 "manipulator"&S& +4 "core" &q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &q 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +97 "core" ' +2 "manipulator"&u& +4 "core" &q `  +2 "manipulator"&5% +3 "core" % h +3 "processing"%Q& +3 "core" &G +3 "processing"%& +4 "core" &: +3 .tPC.seek :closed + "processing"%N(Z +4 "core" &6 +8 &F6 #b +9 &\\7 6 +10 &7 G +9 &c4 F +9 &j6 G +10 &ac5 G +9 &#c6 G +10 &c4 G +9 &i4 G +9 &ii. G +10 & +h1 G +9 &!h5 G +9 &#h' G +10 &%qi) G +9 &'3i% G +9 &(i. G +10 &*i" G +9 &,yc" G +10 &.;c# G +9 &/c' G +9 &1f& F +10 &3e& F +9 &5Bi- G +10 &7c- G +9 &8c, G +9 &:b, G +10 & h+ G +9 &?j) G +52 &Ae+ G +3 &CRi G +2 &En& H + &Fu H + &H( J &JK- L +7 &L+ L +9 &M- L +10 &O& M +9 &QR M +10 &S M +9 &T$ M +9 &V! M +10 &XY M +9 &Yxy !h +9 &Z(q - +10 ( + &Z # +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&K1 +63 "core" 1 +2 "manipulator"&I% +3 "core" % E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +94 "core" ' +2 "processing"%q& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  I  +2 "storage"(M% +4 "core" %b  +2 "storage"(,. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(z& +2 "manipulator"&<& +7 "core" &   +2 &q c  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&.(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +2 "core" ( +3 "manipulator"&~& +3 "core" &q   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &q ' w  +2 .tForearm.seek PC +2 "manipulator"&]' +94 "core" ' +2 .tHand.close + "manipulator"&d/ +64 "core" / +4 .tPC.seek :open +2 "processing"%=( +79 "core" ' +2 "storage"(t- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +308 ( +2 "storage"(m& +4 "core" & ?  +2 "manipulator"&& +3 "core" &q 7  +2 "manipulator"&i% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +257 "core" ( +2 "manipulator"&& +4 "core" & -  + "storage"(k& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +97 "core" ' +2 .tHand.open + "manipulator"&p1 +53 "core" 1 +2 "storage"("- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(v& +3 "core" & q o  +2 "manipulator"&& +4 "core" & 1  +2 .tElbow.seek 3 +2 "manipulator"&(( +8 "core" ( +2 "manipulator"&2& +3 "core" & 1  +2 "storage"(E& +4 "core" & o o  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(y' +59 "core" ' +2 "manipulator"&& +3 "core" & r  +2 "storage"(%& +4 "core" & 0  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +25 "core" ' + "manipulator"&\\% +5 "core" %΅  + "storage"(!& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&n'ϱ +48 "core" ' +4 "manipulator"&1& +3 "core" & C  +3 "storage"(f& +3 "core" & /  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(}% +4 "core" %n +3 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (x% +3 "core" %eY % QI +2 "manipulator"&% +3 "core" %3 \\ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" & Y  +2 "collection"'/& +4 "core" &W_ _ a B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&H% +4 "core" %\ 4  +2 "storage"(|% +4 "core" %b  +2 "storage"(7. +3 "core" .( +2 "storage"(#& +3 "core" &   +2 "storage"(0& +4 "core" & &  +2 "manipulator"&)& +4 "core" & m  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&$& +5 "core" &   + "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +95 "core" ' +2 "storage"(8& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +277 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & g  +2 "storage"(:& +4 "core" & 6  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(W'Q +28 "core" ' +2 "manipulator"&_% +4 "core" %Ό  + "storage"( & +4 "core" & V  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&@'ϸ +19 "core" ' +2 "manipulator"&Y& +3 "core" & /  +2 "storage"(o& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(^'@ +42 "core" ' +2 "manipulator"&r& +3 "core" & O  +3 "manipulator"&G% +4 "core" %- ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +156 "core" ( +2 "manipulator"&*& +3 "core" &$ G ;7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &$  ;7 +3 .tForearm.seek CC +2 "manipulator"&?'" +92 "core" ' +2 .tHand.close + "manipulator"&B/ +63 "core" / +2 .tCC.seek :open + "collection"'D( +416 "core" ( +2 "storage"(& +3 "core" &   +2 "storage"(V& +4 "core" &   +2 "manipulator"&;& +3 "core" &$ ( ;7 +2 "manipulator"&O% +5 "core" %  s +2 .tForearm.seek :retract + "manipulator"&Z'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +161 "core" ( +2 "manipulator"&3& +3 "core" & e y +3 "storage"(P& +4 "core" & -  + .tElbow.reconfigure :limp +47 "manipulator"&$ ,(b +5 .tForearm.seek 3 +2 "manipulator"&`'} +96 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +56 "core" 1 +3 "manipulator"&\ % +5 "core" % ΋ = + "storage"( & +4 "core" & I  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts + "manipulator"&''Ϸ +21 "core" ' +2 "manipulator"&& +4 "core" &  y + "storage"(6& +5 "core" & ]  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +31 "core" ' + "storage"(% +4 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(S'X +100 ( % +2 "core" %Q  OD +3 "manipulator"&J% +3 "core" %5 J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +93 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'5& +3 "core" & a a +2 "manipulator"&Q% +4 "core" %\  l + +2 "storage"(w% +3 "core" %b   +2 "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(s( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &  +3 "manipulator"&I& +4 "core" & y + .tElbow.seek 2 +2 "manipulator"&q( +47 "core" ( +2 "manipulator"&& +3 "core" & & # +3 "storage"(M& +3 "core" & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +89 "core" ' +2 "storage"(& +4 "core" & T +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +290 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &  +2 "manipulator"&~& +3 "core" &  # +4 .tElbow.seek 2 +2 "manipulator"&b( +31 "core" ( +2 "manipulator"&T& +3 "core" & ] +2 "storage"(d& +4 "core" & ) +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(N'X +8 "core" & . +2 "manipulator"&{% +4 "core" %  / [ +2 .tForearm.seek :retract + "manipulator"&m'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&i& +4 "core" &' 6  >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &'  >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +3 "manipulator"&k& +3 "core" &' ` >I +3 "manipulator"&.% +4 "core" % D +2 "collection"'p& +3 "core" & b c +3 "collection"'"& +5 "core" & a ` +2 .tCC.seek :closed +2 "collection"'(V +3 "core" & c _ +8 &9 _ _ "` +9 &Z b b 5 +10 & _ a G +9 &g j b F +10 &g a b F +9 &Vf ^ b F +9 &g b a G +10 &g c a F +9 &g a a F +9 &^g b a F +55 & !i a c F +4 &!g a k F +2 &#g b a F + &%fh a b F + &')g ` c F +2 &(g b b F +3 &*g b a F +7 &,ng ` c F +10 &.0g a b F +9 &/h a a F +10 &1d ` a F +9 &3xg _ ` F +9 &5:g _ b F +10 &6h ` b F +9 &8f _ a F +9 &:g a b E +10 &<@h b b F +9 &>k c b F +10 &?h c b F +9 &Ag a ` F +9 &CHh b b F +10 &E n a a G +9 &Fv b b H +9 &H b c H +10 &J> c a M +9 &K b a O +10 &M b c P +9 &Oy c c P +9 &Q; a b P +10 &R d c Q +9 &T d c Q +9 &V(Z b b 1 +10 &V a b %m +9 &Vx c d L +2 ( +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&v1 +56 "core" 1 +3 "manipulator"&% +5 "core" %  e D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%E& +3 "core" &5 +2 "manipulator"&j% +4 "core" %\ # m : +2 "storage"(% +3 "core" %T +2 "storage"(%. +3 "core" .( +2 "storage"(\\& +4 "core" & +2 "storage"(& +3 "core" & +2 "manipulator"&!& +4 "core" &' ? >I +2 "manipulator"&% +3 "core" %\ # P : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +157 "core" ( +2 "manipulator"&f& +4 "core" & 5  +2 "storage"(& +3 "core" & 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&}'ќ +108 "core" ' +2 "storage"(e& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +3 "core" & N +2 "manipulator"&& +3 "core" & ;  +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&y& +4 "core" & L  +2 "storage"(&& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&n' +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&/& + "storage"(H'X +8 "core" & ,  + "manipulator"&|% +4 "core" %  - ) +3 .tForearm.seek :retract + "manipulator"&7'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"& & +3 "core" &r V  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &r :  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&)' +96 "core" ' + "manipulator"&$& +5 "core" &r B  + "manipulator"&% +4 "core" % 8 3 +2 "processing"%& +5 "core" &K +2 "processing"%8& +5 "core" &M +2 .tPC.seek :closed +2 "processing"%>(Z +5 "core" &8 +7 &F5 #b +9 &\\2 6 +9 &6 G +10 &b7 F +9 &g4 F +9 &ae9 G +10 &#h5 G +9 &g6 G +10 &h6 G +9 &ih5 G +9 & +i1 G +10 &!h& G +9 &#c% G +9 &%qd/ G +10 &'3c$ G +9 &(c! G +10 &*f" F +9 &,zf$ F +9 &.<f F +10 &/e& F +9 &1e& G +9 &3h* F +10 &5Df) F +9 &7f) F +10 &8e F +9 &:d+ F +9 &e F +9 &?g F +9 &Ag G +10 &CSi G +9 &En' H +10 &FuF H +9 &H. K +9 &JL, L +10 &L " L +9 &M L +9 &O L +10 &QR M +9 &S M +10 &T M +9 &V M +9 &XX M +10 &Yxw "j +9 &Z'l * +9 ( +2 "processing"%8& +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" % ) 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +141 "core" ' +4 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&:% +3 "core" %\  j  +3 "storage"(% +3 "core" %b # +2 "storage"(_. +3 "core" .( +2 "storage"( & +3 "core" & P +3 "storage"(Y& +3 "manipulator"&o& +6 "core" &  +2 &r ,  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&r(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'i +2 "core" ( + "manipulator"&C& +6 "core" &r <  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r  +3 .tForearm.seek PC +2 "manipulator"&+' +97 "core" ' + .tHand.close +2 "manipulator"& / +64 "core" / +2 .tPC.seek :open +2 "processing"%@( +92 "core" ' + "storage"(W- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'y +44 "core" ' +284 ( +2 "storage"(9& +3 "core" &  +2 "manipulator"&l& +4 "core" &r   +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&-( +286 "core" ( +2 "manipulator"&U& +4 "core" & J "~ + "storage"(& +4 "core" & ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +99 "core" ' +2 .tHand.open + "manipulator"&;1 +61 "core" 1 +2 "storage"(O- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(3'E +24 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(P' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(c& +3 "core" & L 3 +2 "manipulator"&a& +4 "core" & Q j +2 .tElbow.seek 2 +2 "manipulator"&\ ( +26 "core" ( +2 "manipulator"& & +3 "core" &   +3 "storage"(& +4 "core" & q q  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +59 "core" ' +2 "manipulator"&Z& +3 "core" &  +2 "storage"( & +4 "core" & W +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&J' +25 "core" ' +2 .tElbow.hold + "manipulator"&R, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(`'i +22 "core" ' +2 "manipulator"&'% +4 "core" % N +2 "storage"(5& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&Q' +20 "core" ' +2 "manipulator"&w& +3 "core" & M  +3 "storage"(4& +4 "core" & B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +25 "core" ' + "storage"(L% +4 "core" %r @ +3 ."downElevator"SE.seek :down +3 "storage"(S'X +99 ([% +3 "core" %Y  PG +2 "manipulator"&K% +43 "core" %Ѻ +10 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +86 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & i +3 "collection"'M& +4 "core" &Vx b d L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\  )  +2 "storage"(A% +3 "core" %a t +2 "storage"(u. +3 "core" .( +2 "storage"(<& +4 "core" & x +2 "storage"(z& +4 "core" & z +2 "manipulator"&~& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&d& +4 "core" & =  +2 "storage"(h& +3 "core" & | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +96 "core" ' +2 "storage"({& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +276 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & *  +2 "storage"(]& +5 "core" & 6 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'O +30 "core" ' +2 "manipulator"&b% +3 "core" % +2 "storage"(p& +4 "core" & # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&N' +20 "core" ' + "manipulator"&m& +4 "core" & k  +2 "storage"(D& +3 "core" & < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +45 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('> +36 "core" ' +2 "manipulator"&E& +3 "core" & %  +2 "manipulator"&j% +4 "core" % | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&%( +165 "core" ( +3 "manipulator"&\\& +3 "core" &' = >M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &'  >M +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&!/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +418 "core" ( +2 "storage"(& +3 "core" &  +2 "storage"(f& +4 "core" &  +2 "manipulator"&& +4 "core" &( T >M +2 "manipulator"&e% +4 "core" % 3   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&2( +153 "core" ( +2 "manipulator"&x& +3 "core" & B  +3 "storage"(g& +4 "core" & / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +100 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +57 "core" 1 +2 "manipulator"&F% +3 "core" % S +2 "storage"(/& +43 "core" &  +10 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&|' +20 "core" ' + "manipulator"&1& +4 "core" & @  +2 "storage"(}& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +19 "core" ' +2 "storage"(n% +3 "core" %>   +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (0% +3 "core" %N  OD +2 "manipulator"&(% +4 "core" %ё r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & b c +2 "manipulator"&% +3 "core" %\   +3 "storage"(H% +4 "core" %X ^ + "storage"(7. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(=( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & M  +3 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&8( +18 "core" ( + "manipulator"&& +4 "core" & W +2 "storage"(:& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' + "storage"(_& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" & _  +2 "manipulator"&C& +4 "core" & M W +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&)& +3 "core" & W +2 "storage"( & +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(>'X +8 "core" & / W +2 "manipulator"&G% +3 "core" % ϥ E +3 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&& +4 "core" &"  { 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &" [ 9' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +93 "core" ' + "manipulator"&& +4 "core" &" w 9' +2 "manipulator"&r% +4 "core" %)  +2 "collection"';& +4 "core" & b a +3 "collection"'O& +5 "core" & c b +3 .tCC.seek :closed + "collection"'?(V +4 "core" & ` b +9 &A a b #b +9 &\\ a b 6 +10 & ` a F +9 &c c b F +9 &h b b F +10 &af ` b F +9 &#g c c F +10 &g b d F +9 &g c ` F +9 &hg c d F +10 & *g b b F +9 &!g c d F +9 &#e a d F +10 &%qh b d F +9 &'3g c d F +10 &(g b b F +9 &*g b c F +9 &,yg b b F +10 &.;g c c F +9 &/g c c F +9 &1h d b F +10 &3g b d F +9 &5Bg b b F +10 &7h a c F +9 &8e b d F +9 &:g b a G +10 & h d d F +9 &?h b b F +10 &Ag a c F +9 &CSe c c F +10 &El b b G +9 &Fs b d H +9 &H b c I +10 &JH a b M +9 &L ` c P +9 &M b d P +10 &O b c P +9 &QD c d Q +10 &S b d Q +9 &T c d R +9 &V9i ` c / +10 &V c c / +9 &Vy c d K +2 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +47 .Hand.open +3 "manipulator"&c1 +60 "core" 1 +3 "manipulator"&a% +3 "core" % )  V  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +5 "core" &4 + "manipulator"&% +4 "core" %\  z  +2 "storage"(Z% +3 "core" %a I +3 "storage"( . +3 "core" .( +2 "storage"(*& +3 "core" &   +2 "storage"('& +4 "core" &  +2 "manipulator"&5& +3 "core" &" D 9' +2 "manipulator"&3% +4 "core" %\  \\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&w( +163 "core" ( + "manipulator"&4& +4 "core" &  ` +2 "storage"(L& +4 "core" & X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +95 "core" ' +2 "storage"(V& +4 "core" & !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +276 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &  +2 "manipulator"&6& +4 "core" &  ` +2 .tElbow.seek 3 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +4 "core" & z ` +2 "storage"(J& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"('X +8 "core" & ` ` + "manipulator"&A% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&`& +3 "core" &k ,   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &k  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +96 "core" ' + "manipulator"&d& +3 "core" &k 9  +3 "manipulator"&h% +4 "core" % !  +2 "processing"%{& +4 "core" &L +2 "processing"%^& +5 "core" &7 +2 .tPC.seek :closed +2 "processing"%S(Z +3 "core" &O +8 &F> #b +9 &\\4 6 +10 &5 G +9 &c5 F +9 &j4 G +10 &`c. G +9 &#e5 F +9 &e/ F +10 &e1 F +9 &hd3 G +9 & +e3 F +10 &!h( G +9 &#f, F +10 &%qg( F +9 &'2d# G +9 &(c G +10 &*d" G +9 &,xd G +10 &.:c$ G +9 &/c$ G +9 &1d& G +10 &3c) G +9 &5Bd* G +9 &7i, G +10 &8h$ G +9 &:g" G +9 & f( G +9 &?g, G +10 &Aj G +9 &CRi G +9 &En# G +10 &Fu I +9 &H J +10 &JJ L +9 &L  L +9 &M L +10 &O L +9 &QR L +9 &S+ M +10 &T% M +9 &V M +10 &XV N +9 &Ywx "j +9 &Z(p - +10 ( + &Z " +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&R1 +58 "core" 1 + "manipulator"&I% +4 "core" % 6  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +100 "core" ' + "processing"%i& +4 "core" &Z% " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&]% +3 "core" %\ \   +2 "storage"(k% +4 "core" %`  +2 "storage"(b. +3 "core" .( +2 "storage"(p& +4 "core" &   +2 "storage"(m& +3 "manipulator"&D& +7 "core" &   + &k   +48 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&E(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'i +2 "core" ( +2 "manipulator"&X& +4 "core" &k `  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &k   +3 .tForearm.seek PC +2 "manipulator"&q' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%N( +82 "core" ' + "storage"(.- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +45 "core" ' +292 ( +2 "storage"("& +3 "core" & !  +3 "manipulator"&v& +4 "core" &k   + "manipulator"&t% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&!'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +265 "core" ( +2 "manipulator"&& +3 "core" &  v +2 "storage"(& +3 "core" & f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +97 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(e- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(x'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(g' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(%& +3 "core" & J I (  +3 "manipulator"&&& +4 "core" & M v +2 .tElbow.seek 3 +2 "manipulator"&F( +7 "core" ( +2 "manipulator"&/& +3 "core" & R m +2 "storage"(1& +4 "core" & I I 6  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(n' +54 "core" ' + "manipulator"&& +4 "core" & m +2 "storage"(2& +4 "core" & j  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&0'} +16 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&|% +3 "core" %΄ +3 "storage"(& +4 "core" & b  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&'ϰ +20 "core" ' + "manipulator"&H& +4 "core" & ` m +2 "storage"(7& +4 "core" & 8  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(% +3 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (s% +2 "core" %qW PF +3 "manipulator"&% +3 "core" %" U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +17 "Can" M)7 7 +58 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & #  +2 "collection"':& +3 "core" &Vx c c K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&_% +3 "core" %\  c  +3 "storage"(y% +43 "core" %S f +8 "storage"($. +3 "core" .( +2 "storage"(Y& +3 "core" & z  +3 "storage"(o& +4 "core" & y  + "manipulator"&C& +4 "core" & p m +2 .tElbow.seek 3 +2 "manipulator"&)( +4 "core" ( +2 "manipulator"& & +4 "core" & T m + "storage"(#& +5 "core" & |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 "storage"(G& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  m +2 "storage"(+& +4 "core" & %  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(r'V +34 "core" ' +2 "manipulator"&;% +4 "core" %Ά + "storage"(& +8 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&>'ϲ +20 "core" ' +2 "manipulator"&9& +3 "core" & , m +2 "storage"(& +5 "core" & i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(a'E +40 "core" ' +2 "manipulator"&O& +3 "core" & 7 m +2 "manipulator"& % +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +157 "core" ( +3 "manipulator"& & +3 "core" &" H 9# +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &" m 9# +3 .tForearm.seek CC + "manipulator"&''" +94 "core" ' +2 .tHand.close + "manipulator"&5/ +63 "core" / +2 .tCC.seek :open +2 "collection"'3( +416 "core" ( + "storage"(U& +4 "core" &  +2 "storage"(4& +4 "core" &   + "manipulator"&L& +4 "core" &" J 9# +2 "manipulator"&V% +3 "core" % $ ] +3 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +162 "core" ( +2 "manipulator"&[& +4 "core" & = z + "storage"(K& +4 "core" & [  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&6'} +98 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&J1 +58 "core" 1 +2 "manipulator"&% +4 "core" % Ί  +2 "storage"(M& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&A'϶ +22 "core" ' +2 "manipulator"&w& +3 "core" & z z +3 "storage"(-& +4 "core" & 0  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +45 "core" ' +6 "storage"(Q% +5 "core" %M * +2 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (z% +3 "core" %Q  OD +2 "manipulator"&\ % +5 "core" %; B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +42 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'h& +3 "core" & a b +2 "manipulator"&{% +3 "core" %\ \  +3 "storage"(% +3 "core" %a 6  +2 "storage"(u. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(@( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" & \ +3 "manipulator"&I& +4 "core" & L z +2 .tElbow.seek 2 + "manipulator"&i( +57 "core" ( +2 "manipulator"&]& +4 "core" & F # + "storage"(k& +4 "core" &  J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +95 "core" ' +2 "storage"(p& +4 "core" &  ; +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +280 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &   +3 "manipulator"&X& +3 "core" & b !w +3 .tElbow.seek 2 + "manipulator"&T( +35 "core" ( +2 "manipulator"&~& +3 "core" & f = +2 "storage"(& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &'  >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +3 "manipulator"&& +4 "core" &' P >N +2 "manipulator"&E% +4 "core" %, D +2 "collection"'& +4 "core" & b a +2 "collection"'e& +5 "core" & a e +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & d c +8 &A b c #b +10 &\\ a c 6 +9 & a a F +9 &d a e F +10 &h c c F +9 &bf c b F +10 &$h p e F +9 &g c d F +9 &g c d F +10 &kg c c E +9 & *g c c F +9 &!h c d F +10 &#h b b F +9 &%ph b c F +10 &'2g c e F +9 &(g ` c F +9 &*g c b F +10 &,zh a c F +9 &.<g c e F +9 &/g d b E +10 &1h b d F +9 &3g b a F +10 &5Cg c b F +9 &7g b a F +9 &8g b d F +10 &:g c b F +9 & h c d F +10 &?h c d F +9 &Ag ` b F +10 &CSg b b F +9 &El ` e G +9 &Fr c m G +10 &H~ b c I +9 &JI b a L +9 &L b d O +10 &M c c P +9 &O e e P +10 &QE b c P +9 &S d c Q +9 &T b c R +10 &V9i c e / +9 &V c c 5 +9 &Wk c e E +6 ( +2 "collection"'e& +3 "core" &Wj d e E +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&%1 +64 "core" 1 +2 "manipulator"&&% +3 "core" % ,  = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%1& +4 "core" &3 + "manipulator"&!% +4 "core" %\   +2 "storage"(% +48 "core" %S { +5 "storage"(2. +3 "core" .( +2 "storage"(|& +3 "core" &  0 +2 "storage"(& +3 "core" &   +2 "manipulator"&\\& +5 "core" &'  >N + "manipulator"&H% +4 "core" %\ q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x( +159 "core" ( +2 "manipulator"&7& +3 "core" & 2 | +2 "storage"(& +5 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +86 "core" ' +2 "storage"(f& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +281 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&}& +4 "core" & : | +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&n& +3 "core" & X | +2 "storage"(0& +4 "core" &  C +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +3 "storage"(_'X +8 "core" &  | + "manipulator"&% +4 "core" %  V +2 .tForearm.seek :retract +2 "manipulator"&y'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&$(s +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( +2 "manipulator"&Y& +3 "core" &t 5 ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &t V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +100 "core" ' + "manipulator"& & +5 "core" &u = + "manipulator"&#% +5 "core" % @ +2 "processing"%& +4 "core" &: +2 "processing"%G& +5 "core" &O +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &2  +9 &85 )w +9 &k5 = +10 &s1 G +9 &se3 G +10 &5d3 G +9 &c5 G +9 &d5 G +10 &{d4 G +9 &=c3 G +9 &j5 G +10 & h1 G +9 &"i% G +10 &$Fc F +9 &&g G +9 &'i G +10 &)h G +9 &+Mh G +10 &-h+ G +9 &.hL G +9 &0i. G +10 &2Uh$ G +9 &4h, F +9 &5f! G +10 &7h F +9 &9^f F +9 &; e# F +10 &<i G +9 &>jJ G +10 &@ej* G +9 &B'j& G +9 &Ci G +10 &Er H +9 &Ggz I +9 &I# K +10 &J L +9 &L L +10 &Nd M +9 &P' L +9 &Q L +10 &S M +9 &Ul M +9 &W.\ M +10 &X M +9 &Z?B`\ %m +10 &Z . \ +5 ( +2 "processing"%G& +3 "core" &Z +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&(1 +60 "core" 1 +2 "manipulator"&% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + "processing"%& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&+% +4 "core" %\ N 6 +2 "storage"(% +4 "core" %a +2 "storage"(;. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(9& +2 "manipulator"&& +5 "core" &   +3 &u  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(O'i + "manipulator"& (s +7 "core" ( + "manipulator"&& +5 "core" &u ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +45 "core" &u c +10 .tForearm.seek PC +2 "manipulator"&8' +97 "core" ' +3 .tHand.close + "manipulator"& / +58 "core" / +3 .tPC.seek :open + "processing"%>( +30 "core" ' +2 "storage"(r- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +47 "core" ' +344 ( +4 "storage"(*& +3 "core" &   +3 "manipulator"&c& +4 "core" &u g + "manipulator"&W% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +257 "core" ( +2 "manipulator"&?& +3 "core" & z +2 "storage"(U& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +96 "core" ' +2 .tHand.open + "manipulator"&L1 +61 "core" 1 +3 "storage"(V- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(K' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"(Z& +3 "core" &  p m +3 "manipulator"&J& +4 "core" & d + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&M& +4 "core" & 0 +2 "storage"(w& +4 "core" &  o p L +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +58 "core" ' +2 "manipulator"&l& +3 "core" & ^ +2 "storage"(z& +5 "core" &  @ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&\ ' +25 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(6'i +23 "core" ' + "manipulator"&A% +4 "core" % +2 "storage"(h& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&{' +27 "core" ' + "manipulator"&& +5 "core" & q + "storage"(u& +4 "core" &  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +26 "core" ' + "storage"(P% +5 "core" %r = +2 ."downElevator"SE.seek :down +4 "storage"(`'X +99 (=% +4 "core" %R PG +2 "manipulator"&R% +5 "core" %Ѵ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (]& +3 "core" &  6 +2 "collection"'k& +4 "core" &Wj e f E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&p% +5 "core" %\ # G ; + "storage"(% +4 "core" %U w +2 "storage"(d. +3 "core" .( +2 "storage"(D& +3 "core" &  P +2 "storage"(m& +4 "core" &  m +2 "manipulator"&X& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&~( +4 "core" ( +2 "manipulator"&& +4 "core" & A +2 "storage"(<& +4 "core" &  M +2 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +104 "core" ' +2 "storage"(j& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +285 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" & +2 "storage"(q& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&^' +21 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'P +28 "core" ' +2 "manipulator"&T% +3 "core" % v +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&S' +26 "core" ' +2 "manipulator"&"& +4 "core" & + "storage"(3& +5 "core" &  ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'? +39 "core" ' +2 "manipulator"&1& +3 "core" & B +2 "manipulator"&!% +5 "core" % P { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&e( +161 "core" ( +3 "manipulator"&2& +3 "core" &' N >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &'  >M +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&\\/ +53 "core" / +2 .tCC.seek :open +2 "collection"'H( +416 "core" ( +3 "storage"(& +3 "core" &  ) +3 "storage"(7& +4 "core" &   + "manipulator"&& +4 "core" &( E >M +2 "manipulator"&f% +4 "core" % ) \\ +2 .tForearm.seek :retract +2 "manipulator"&v'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +155 "core" ( +2 "manipulator"&s& +3 "core" & )  +3 "storage"(& +4 "core" &  L + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&}' +101 "core" ' +2 .tElbow.hold + "manipulator"&n, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&01 +64 "core" 1 +2 "manipulator"&% +4 "core" % m +2 "storage"(:& +4 "core" &  F +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&x& +3 "core" &   +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +17 "core" ' +2 "storage"(% +3 "core" %F < +3 ."downElevator"SE.seek :down +3 "storage"(Y'X +99 (o% +3 "core" %Q  PE +2 "manipulator"&F% +4 "core" %ѭ s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +52 ' +8 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'#& +4 "core" & d c +2 "manipulator"&% +3 "core" %\ % n E +2 "storage"(_% +5 "core" %a  + "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(N( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +3 "core" &  +2 "manipulator"&& +4 "core" & b  +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"&+& +4 "core" & K  +2 "storage"(& +4 "core" & ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +93 "core" ' + "storage"(G& +5 "core" & A +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +3 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&C& +4 "core" & ?  +2 "storage"( & +4 "core" & u +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&r'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +8 "core" & ,  +2 "manipulator"&O% +4 "core" % ύ 7  +2 .tForearm.seek :retract + "manipulator"&*'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&W& +5 "core" &' # s >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &' K >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&?'" +102 "core" ' +2 "manipulator"&U& +3 "core" &( & >L +3 "manipulator"& % +3 "core" % O +4 "collection"'L& +3 "core" & e d +3 "collection"'V& +5 "core" & b d +2 .tCC.seek :closed +2 "collection"''(V +5 "core" & b c  +8 &7 d c )v +9 &l d d = +9 &p d d G +10 &uf c d F +9 &8g c c F +9 &g a c F +10 &f c d F +9 &~f d b F +10 &?g c e F +9 &g a d F +9 & g b d F +10 &"h c c F +9 &$Hg d d F +9 &&\ g c c F +10 &'g d c F +9 &)i d d F +10 &+Oh b c F +9 &-g d b F +9 &.g a b F +10 &0h c c F +9 &2Xg b c F +10 &4k _ e F +9 &5h c c F +9 &7g d d F +10 &9`g c d F +9 &;#g d c E +9 &<h b c F +10 &>g d c F +9 &@gg a d F +10 &B)g c d F +9 &Cj d c F +9 &Ep b d G +10 &Gi{ c c H +9 &I' d d J +9 &J c f N +10 &L c e O +9 &N[ d d P +9 &P c d P +10 &Q c c Q +9 &S c d R +10 &U\\ e c A +9 &Vp= c e - +9 &Vl e e A +6 ( + "collection"'V& +4 "core" &VS b d A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&Z1 +64 "core" 1 +2 "manipulator"&J% +4 "core" %   s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%w& +3 "core" &2 +2 "manipulator"&5% +4 "core" %\  M  +2 "storage"(l% +3 "core" %b  +2 "storage"(z. +3 "core" .( +2 "storage"(A& +3 "core" & L +3 "storage"(h& +4 "core" & - + "manipulator"& & +4 "core" &' >L +2 "manipulator"&[% +3 "core" %\   +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +47 "manipulator"&u& +6 "core" & A +2 "storage"(P& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"(4& +3 "core" &  +3 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'i +276 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" & \\ +2 "manipulator"&-& +5 "core" & A + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&Q& +4 "core" & a A +2 "storage"(\ & +3 "core" & u +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&{'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&k& + "storage"(p'X +6 "core" & M A +3 "manipulator"&% +3 "core" % ϯ v +3 .tForearm.seek :retract +2 "manipulator"&6'\ +98 "core" ' +3 .tElbow.seek PC +2 "manipulator"&d(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&D& +3 "core" &m  |  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &m A  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +102 "core" ' + "manipulator"&& +5 "core" &m F  + "manipulator"&<% +4 "core" % k n +2 "processing"%a& +3 "core" &5 +3 "processing"%j& +6 "core" &1 +2 .tPC.seek :closed +2 "processing"%`(Z +3 "core" &. +7 &+ 8 +9 &NN3 / +10 &{. C +9 &HhT F +9 & j; G +10 &hR F +9 &eX G +9 &Ph9 F +10 &fS F +9 &b4 G +10 &d G +9 &!XcH F +9 &#g$ G +10 &$h F +9 &&d1 F +9 &(`f F +10 &* i G +9 &+c G +10 &-h G +9 &/hhJ F +9 &1*e) F +10 &2g% F +9 &4eE F +9 &6oj" G +10 &81g G +9 &9g G +10 &;c G +9 &=wh G +9 &?9f G +10 &@c G +9 &Bg8 G +9 &D~l$ G +10 &F=u! H +9 &G J +10 &I K +9 &Kx L +9 &M: L +10 &ND L +9 &P& M +9 &R~ M +10 &T@> M +9 &V! M +10 &W M +9 &Y : +9 &Zu5 Q +10 &Z1 " +2 ( +2 "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&B1 +59 "core" 1 +2 "manipulator"&I% +3 "core" % C n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +3 "processing"%t& +3 "core" &Z> " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&q% +4 "core" %\    +2 "storage"(% +3 "core" %b & +2 "storage"(T. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"("& +2 "manipulator"&3& +8 "core" &  + &m s  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&1(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(!'i +2 "core" ( +2 "manipulator"&,& +5 "core" &m   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &m l  +3 .tForearm.seek PC +2 "manipulator"&i' +94 "core" ' +2 .tHand.close + "manipulator"&^/ +55 "core" / +2 .tPC.seek :open +2 "processing"%S( +89 "core" ' + "storage"(E- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +46 ."raiseStack"SE.seek :place +6 "storage"(2'y +34 "core" ' +250 ( +2 "storage"(|& +3 "core" &  +2 "manipulator"&%& +5 "core" &m  + "manipulator"&.% +3 "core" % r +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +267 "core" ( + "manipulator"&& +4 "core" & l  +2 "storage"(& +4 "core" & 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +92 "core" ' +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(f- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(s'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(e& +3 "core" & o o +2 "manipulator"&0& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +5 "core" ( + "manipulator"&:& +4 "core" & =  +2 "storage"(x& +3 "core" & o p +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&v& +3 "core" &   +2 "storage"(o& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&F'} +22 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +27 "core" ' +2 "manipulator"&% +3 "core" %ΐ E +2 "storage"(#& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +21 "core" ' +2 "manipulator"&_& +3 "core" &  +2 "storage"(y& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +29 "core" ' +2 "storage"(g% +3 "core" %n  +3 ."downElevator"SE.seek :down +4 "storage"(Y'X +98 (@% +3 "core" %cV  PG +2 "manipulator"&(% +5 "core" %0 / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (+& +3 "core" & J +2 "collection"'& +4 "core" &VS c d A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&G% +3 "core" %\ p 1 +2 "storage"(n% +4 "core" %] +2 "storage"( . +3 "core" .( +2 "storage"(9& +3 "core" & +2 "storage"(& +5 "core" & + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&C( +4 "core" ( +2 "manipulator"& & +4 "core" & |  +2 "storage"($& +4 "core" & R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(O& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +42 "manipulator"&W& +10 "core" & 2  +2 "storage"(& +5 "core" & p + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&8'} +19 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"()'Q +28 "core" ' +2 "manipulator"& % +4 "core" %~ . +2 "storage"(L& +3 "core" & u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"& 'Ϫ +20 "core" ' +2 "manipulator"&*& +4 "core" & J  +2 "storage"(H& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(J'@ +39 "core" ' + "manipulator"&w& +5 "core" & Q  + "manipulator"&5% +3 "core" % I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +165 "core" ( + "manipulator"&A& +4 "core" &# :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &# F :. +3 .tForearm.seek CC +2 "manipulator"&h'" +92 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'[( +413 "core" ( + "storage"(?& +4 "core" &  +2 "storage"(u& +4 "core" &  +2 "manipulator"&P& +3 "core" &#  :. +2 "manipulator"&c% +5 "core" % $  +2 .tForearm.seek :retract + "manipulator"&4'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&M( +169 "core" ( +2 "manipulator"&=& +4 "core" & O C + "storage"(R& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&-'} +97 "core" ' +2 .tElbow.hold + "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +52 "core" 1 +2 "manipulator"&]% +5 "core" % | K + "storage"(k& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +4 "manipulator"&'Ϩ +21 "core" ' + "manipulator"&& +4 "core" &  C +2 "storage"(& +3 "core" & N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +19 "core" ' + "storage"({% +4 "core" %H  \ +3 ."downElevator"SE.seek :down +4 "storage"(D'X +99 (m% +3 "core" %M  OC +2 "manipulator"&% +4 "core" %& +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +42 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +3 "core" & b d +2 "manipulator"&a% +3 "core" %\   +3 "storage"(p% +4 "core" %^ X + "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(>( +339 "core" ( +45 .tSC.configure :limp +5 "storage"($\ 1b +2 (B& +3 "core" &  +3 "manipulator"&I& +3 "core" & / C +2 .tElbow.seek 2 +2 "manipulator"&t( +50 "core" ( +2 "manipulator"&q& +3 "core" & ^ !r +2 "storage"(& +5 "core" & X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +86 "core" ' +2 "storage"(& +4 "core" & F +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(j'i +279 "core" ' +3 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &  +2 "manipulator"&,& +4 "core" & E !p +2 .tElbow.seek 2 + "manipulator"&~( +27 "core" ( +2 "manipulator"&X& +3 "core" & w  +2 "storage"(^& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&b& + "storage"(`'X +8 "core" & 1  + "manipulator"&|% +4 "core" %  G +3 .tForearm.seek :retract + "manipulator"&%'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&!& +4 "core" & * = 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & A 5 +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 "manipulator"&& +3 "core" & 8 5 +3 "manipulator"&1% +3 "core" % , +3 "collection"'& +3 "core" & c c +3 "collection"'f& +5 "core" & b d +2 .tCC.seek :closed +3 "collection"'(V +2 "core" & c c +7 &I c c $d +10 &] c d 6 +9 &) c d G +10 &g e e F +9 &h a d F +9 &qe b c F +10 &3g c d F +9 &g d c F +9 &g d e F +10 &zg b d F +9 & <g c e F +10 &!g c d F +9 &#g e c F +9 &%g c d F +10 &'Df c d F +9 &)f c c E +9 &*g d d F +10 &,g d d F +9 &.Kf d d F +10 &0f e d F +9 &1g a d F +9 &3g b f F +10 &5Sd b c F +9 &7g c f F +9 &8f d c F +10 &:g c e F +9 &<\\g c e F +9 &>g c d F +10 &?g d b F +9 &Ag d c F +10 &Cch d f F +9 &E#k c d G +9 &Ft f c G +10 &H} c d I +9 &JY f e L +10 &L d e P +9 &M a c O +9 &O e d P +10 &QU d e P +9 &S f d R +9 &T f g Q +10 &VDf b d . +9 &V d d 9 +9 &Wk e f D +6 ( +2 "collection"'f& +3 "core" &W_ c f D +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&e1 +57 "core" 1 +3 "manipulator"&0% +3 "core" %  U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +104 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +3 "core" &B +2 "manipulator"&\\% +5 "core" %\ .  + "storage"(v% +4 "core" %a  +2 "storage"(o. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(#& +4 "core" &  +2 "manipulator"&2& +4 "core" & < 5 +2 "manipulator"&s% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&_( +154 "core" ( +2 "manipulator"&y& +4 "core" & X + "storage"(g& +4 "core" & i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(7& +4 "core" & 1 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +5 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ((& +2 "core" & \\ +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(F& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(G'X +9 "core" & + "manipulator"&}% +5 "core" %  T O +2 .tForearm.seek :retract +2 "manipulator"&n'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +3 "manipulator"&9& +4 "core" &j b \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"& & +5 "core" &j C \ +2 "manipulator"&$% +3 "core" % 6 +3 "processing"%&& +4 "core" &O +2 "processing"%O& +5 "core" &I +2 .tPC.seek :closed +2 "processing"%Y(Z +4 "core" &*  +9 &8K )w +9 &k+ = +10 &r" G +9 &pe( G +9 &2j( G +10 &h% G +9 &g# G +10 &xb( G +9 &:c G +9 &i G +10 & h$ F +9 &"gD F +9 &$Cf F +10 &&e: F +9 &'iH G +9 &)hE G +10 &+JgH G +9 &- f" G +10 &.eA F +9 &0j& G +9 &2Sc F +10 &4e F +9 &5e F +9 &7eE F +10 &9ZdK G +9 &;c G +10 &<h G +9 &>g G +9 &@ch" F +10 &B$h G +9 &Cm G +11 &Em= H +9 &Gc{J I +8 &I  K +10 &J L +9 &L L +9 &NdB L +10 &P%! L +9 &Q L +9 &S? M +10 &Uh M +9 &W*0 M +10 &X. M +9 &Z<Dc %m +9 &Z .) ! +6 ( + "processing"%O& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&/1 +58 "core" 1 + "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' +2 "processing"%W& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ m  +2 "storage"(U% +3 "core" %_ y +2 "storage"( . +4 "core" .( + "storage"(L& +5 "core" & 7 +2 "storage"(*& +2 "manipulator"&H& +8 "core" & \\ +2 &j \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&w(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'i +2 "core" ( +3 "manipulator"&& +3 "core" &j  \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &j \ +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&8/ +61 "core" / +3 .tPC.seek :open +2 "processing"% ( +85 "core" ' +2 "storage"()- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +47 "core" ' +287 ( +2 "storage"(V& +3 "core" &  +3 "manipulator"&Z& +4 "core" &j / \ + "manipulator"&r% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +49 .tElbow.seek 2 +2 "manipulator"&l( +257 "core" ( +2 "manipulator"&'& +4 "core" & 6 \ +2 "storage"(?& +3 "core" & w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +106 "core" ' + .tHand.open +2 "manipulator"&P1 +56 "core" 1 +3 "storage"(c- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(='E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(R' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(z& +3 "core" & p q  +2 "manipulator"&\ & +4 "core" & 0 \ +2 .tElbow.seek 2 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&k& +4 "core" & 3 \ +2 "storage"(& +3 "core" & r q  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +57 "core" ' +2 "manipulator"&4& +4 "core" & > \ +2 "storage"(m& +3 "core" & L +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +22 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +27 "core" ' +2 "manipulator"&% +3 "core" % ^ +2 "storage"(<& +5 "core" & ; + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&a' +22 "core" ' +2 "manipulator"&p& +3 "core" & n \ +2 "storage"(6& +5 "core" & / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +20 "core" ' + "storage"(K% +4 "core" %o  +2 ."downElevator"SE.seek :down +4 "storage"(D'X +99 (N% +2 "core" %sY r QH +3 "manipulator"&B% +3 "core" %т  +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (q& +2 "core" &  +3 "collection"'& +4 "core" &W_ b e D + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"(Q% +5 "core" %[  + "storage"(. +3 "core" .( +2 "storage"("& +67 "core" &  + "storage"(3& +5 "core" & G + "manipulator"&,& +4 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&X( +4 "core" ( + "manipulator"&^& +4 "core" & N \ +2 "storage"(d& +3 "core" & E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +97 "core" ' +2 "storage"(|& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +285 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & \ +2 "storage"(i& +4 "core" & 6 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j' +29 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 "storage"(- +9 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'R +27 "core" ' +2 "manipulator"&~% +3 "core" % W @ +3 "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&`' +20 "core" ' + "manipulator"&%& +4 "core" & n \ +2 "storage"([& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(0'A +35 "core" ' +2 "manipulator"&x& +3 "core" & \\ \ +2 "manipulator"&\\% +5 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +152 "core" ( +3 "manipulator"&f& +3 "core" &! C 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 8 +3 .tForearm.seek CC +2 "manipulator"&#'" +93 "core" ' +2 .tHand.close + "manipulator"&2/ +58 "core" / +2 .tCC.seek :open +2 "collection"'s( +416 "core" ( + "storage"(& +4 "core" &  +2 "storage"(y& +4 "core" &  +2 "manipulator"&g& +3 "core" & N 7 +2 "manipulator"&7% +4 "core" % )  +2 .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +156 "core" ( +2 "manipulator"&@& +4 "core" & r  + "storage"((& +4 "core" & R +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +62 "core" 1 +2 "manipulator"&+% +5 "core" %  + "storage"(& +3 "core" & W +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 301 counts +2 "manipulator"&}' +19 "core" ' +2 "manipulator"&_& +3 "core" & N  +3 "storage"(& +4 "core" & [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' + "storage"(% +5 "core" %A @  +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 (% +3 "core" %L A OC +2 "manipulator"&% +4 "core" %Ѩ 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'$& +3 "core" & c d +2 "manipulator"&&% +3 "core" %\ 8 +2 "storage"(G% +5 "core" %a  + "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(S( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +3 "core" & k  +2 "manipulator"&& +4 "core" & v  +2 .tElbow.seek 3 +3 "manipulator"&W( +19 "core" ( +2 "manipulator"&& +3 "core" & C D +2 "storage"(U& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +45 "manipulator"& '9 +97 "core" ' +2 "storage"(L& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +290 "core" ' +4 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &   +2 "manipulator"&& +4 "core" & J D +2 .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&& +3 "core" &  D +3 "storage"(8& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +6 "storage"(Y'X +2 "core" & D +3 "manipulator"&5% +5 "core" % ϫ { +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&r& +4 "core" & % U 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ^ 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''" +102 "core" ' +3 "manipulator"&?& +4 "core" &  7 +2 "manipulator"&w% +3 "core" %  E +3 "collection"'P& +3 "core" & f e +3 "collection"'c& +5 "core" & a d +2 .tCC.seek :closed +2 "collection"'h(V +5 "core" & e d +6 &( c d "^ +9 &Y b e 4 +10 & c c G +9 &b e d F +9 &g d c F +10 &Yf a e F +9 &e e d F +10 &f d d F +9 &f d c F +9 &af d e F +10 & #f d d F +9 &!g c g F +9 &#f d d F +10 &%ig c d F +9 &'+f c d F +10 &(d d d F +9 &*f c d F +9 &,pf d c F +10 &.2e d d F +9 &/f e d F +9 &1f d e F +10 &3ye c a F +9 &5<e e d E +10 &6g d e F +9 &8e d d F +9 &:g c d F +10 &g c f F +9 &?g b e F +10 &Ag d b F +9 &CJg a d F +10 &E m b d G +9 &Fs d e G +9 &H~ d d I +10 &J@ c d L +9 &K d e P +9 &M o d P +10 &Oy c d Q +9 &Q< d d P +10 &R g e R +9 &T d e Q +9 &V*] e e . +10 &V e e J +9 ( + &Vc d e G +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&z1 +61 "core" 1 +3 "manipulator"&\ % +3 "core" %   E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &? +2 "manipulator"& % +3 "core" %\ #  = +3 "storage"(4% +4 "core" %a y + "storage"(m. +4 "core" .( + "storage"(& +4 "core" & ,  +2 "storage"(<& +3 "core" & N  +3 "manipulator"&A& +3 "core" & 7 +2 "manipulator"&=% +4 "core" %\ # > = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&p( +165 "core" ( +2 "manipulator"&6& +3 "core" &  q +2 "storage"(K& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +97 "core" ' +2 "storage"(u& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'i +282 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & I  +2 "manipulator"&& +4 "core" &  q +2 .tElbow.seek 3 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&{& +4 "core" & q + "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +47 "manipulator"&a'ϩ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" & k q +2 "manipulator"&Q% +3 "core" % ϙ  +3 .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +3 "manipulator"&"& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &t { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&,' +96 "core" ' +2 "manipulator"&^& +3 "core" &t  +3 "manipulator"&d% +4 "core" %   +2 "processing"%J& +3 "core" &6 +3 "processing"%|& +5 "core" &< +2 .tPC.seek :closed +2 "processing"%D(Z +4 "core" &7 +8 &F1 #a +9 &[, 5 +9 &O G +10 &c. F +9 &j( G +10 &Yg# G +9 &g G +9 &dG G +10 &e* G +9 &ak0 G +9 & "h( G +10 &!e0 F +9 &#j' G +10 &%idR G +9 &'+i% G +9 &(g G +10 &*e G +9 &,rdA F +9 &.4f F +10 &/e F +9 &1h G +10 &3yh G +9 &5:g G +9 &6e F +10 &8j$ G +9 &:hG G +9 &c! G +9 &?iJ G +10 &Ah$ G +9 &CJkA G +9 &E mG G +10 &Ft H +9 &H: J +9 &JD? L +10 &LH L +9 &M L +10 &OD L +9 &QJJ M +9 &S  M +10 &T M +9 &VD M +9 &XQQ M +10 &Ywx- "j +9 &Z+z . +9 ( +2 &Z ! + "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&M1 +55 "core" 1 + "manipulator"&I% +4 "core" % #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +97 "core" ' + "processing"%!& +4 "core" &Z' ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&i% +5 "core" %\ "  ? + "storage"(% +4 "core" %W  +2 "storage"(~. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(%& +2 "manipulator"&[& +5 "core" &   +3 &t ] +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(x'i + "manipulator"&\\(s +7 "core" ( + "manipulator"&b& +5 "core" &t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &t w +3 .tForearm.seek PC +2 "manipulator"&t' +91 "core" ' +2 .tHand.close + "manipulator"&j/ +64 "core" / +4 .tPC.seek :open +2 "processing"%`( +79 "core" ' +2 "storage"(1- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'y +38 "core" ' +304 ( +2 "storage"(& +3 "core" & T  +2 "manipulator"&e& +4 "core" &t f +2 "manipulator"&E% +4 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&v( +263 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & H  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +91 "core" ' +2 .tHand.open + "manipulator"&g1 +61 "core" 1 +48 "storage"(7- +4 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +4 "storage"(@'E +32 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"((' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +3 "core" -' +2 "storage"(o& +4 "core" & q p \  +2 "manipulator"&F& +3 "core" & "  +3 .tElbow.seek 3 +2 "manipulator"&+( +7 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(_& +4 "core" & q q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&.& +4 "core" &  +2 "storage"(& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&:, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +28 "core" ' +2 "manipulator"&}% +3 "core" %Έ +3 "storage"($& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&&'ϴ +20 "core" ' +2 "manipulator"&G& +3 "core" & q  +3 "storage"(n& +3 "core" & I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +28 "core" ' + "storage"(% +5 "core" %s V +2 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (>% +4 "core" %FW r PG +2 "manipulator"&/% +4 "core" %E V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & e  +2 "collection"'U& +4 "core" &Vb e e G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&L% +3 "core" %\  4 +2 "storage"(% +4 "core" %^ E +2 "storage"( . +3 "core" .( +2 "storage"(*& +3 "core" &   +2 "storage"(H& +4 "core" &   +2 "manipulator"&& +4 "core" & v  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&8& +3 "core" & *  +3 "storage"( & +4 "core" & k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +96 "core" ' +2 "storage"(5& +3 "core" & .  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +277 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & #  +2 "storage"(& +4 "core" & b  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'} +18 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(w'P +33 "core" ' + "manipulator"&P% +4 "core" %΅ [ +2 "storage"(C& +3 "core" & %  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&Y'ϱ +20 "core" ' +2 "manipulator"&V& +3 "core" &   +2 "storage"(s& +50 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\ '? +39 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"& % +5 "core" %E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +163 "core" ( +2 "manipulator"&m& +3 "core" &(  R ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &( . ?T +3 .tForearm.seek CC +2 "manipulator"&<'" +96 "core" ' +2 .tHand.close + "manipulator"&A/ +63 "core" / +2 .tCC.seek :open + "collection"'=( +413 "core" ( +2 "storage"('& +3 "core" &   +2 "storage"(6& +4 "core" & /  +2 "manipulator"&K& +4 "core" &' a =B + "manipulator"&u% +5 "core" %  _ +2 .tForearm.seek :retract + "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&k( +169 "core" ( +2 "manipulator"&N& +3 "core" & 4 A +2 "storage"(B& +4 "core" & )  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +97 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&q% +3 "core" % z f +2 "storage"(& +4 "core" & d  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 297 counts +3 "manipulator"&Q'Ϧ +19 "core" ' +2 "manipulator"&p& +3 "core" & E B +2 "storage"(l& +4 "core" & c  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +30 "core" ' +2 "storage"(a% +83 "core" %G - +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (3% +3 "core" %KQ  OD +2 "manipulator"&]% +4 "core" %5 d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +94 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'d& +3 "core" & d d +2 "manipulator"&J% +4 "core" %\ $  F +2 "storage"(% +4 "core" %b  +2 "storage"(-. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &  +2 "manipulator"&I& +4 "core" &  B +2 .tElbow.seek 2 + "manipulator"&!( +40 "core" ( +2 "manipulator"&i& +3 "core" &  G !w +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +98 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(%'i +277 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &   +2 "manipulator"&b& +46 "core" & w l +7 .tElbow.seek 2 +2 "manipulator"&X( +32 "core" ( +2 "manipulator"&,& +3 "core" & B U +3 "storage"(j& +4 "core" &  C +2 .tForearm.seek 2 + 300 counts + "manipulator"&1' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +3 "storage"(D'X +5 "core" & W U +3 "manipulator"&x% +4 "core" % 8 X +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&E& +4 "core" &( 4 4 ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &(  ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +2 "manipulator"&& +4 "core" &)  ?T +2 "manipulator"&\\% +3 "core" % < +3 "collection"'g& +3 "core" & e f +3 "collection"'7& +5 "core" & d d +2 .tCC.seek :closed +2 "collection"'2(V +5 "core" & f d +7 &I d c $d +9 &] d f 6 +10 &* d e G +9 &f c e F +10 &g c e F +9 &qe a d F +9 &3f d e F +10 &f d d F +9 &e c f F +9 &zf c d F +10 & <f d c F +9 &!f e c E +10 &#g b e F +9 &%f e e F +9 &'Be e e F +10 &)e c d F +9 &*e d c F +9 &,f d d F +10 &.Le d e F +9 &0e e e F +10 &1g c d F +9 &3e b d F +9 &5Te f e F +10 &7g c c F +9 &8e c d E +9 &:g c c F +10 &<[g d d F +9 &>g d d F +10 &?g d d F +9 &Af c d F +9 &Cbg e d F +10 &E#h c f G +9 &Ft e f H +9 &H d d I +10 &JY f e L +9 &L e f P +10 &M g e P +9 &O e d P +9 &QT f e Q +10 &S e d R +9 &T g e Q +9 &VCg e d / +10 &V d e 6 +13 &Vm c f F ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open +6 "manipulator" +60 "core" 1 +2 "manipulator"&o% +5 "core" %  ! U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &> + "manipulator"&_% +3 "core" %\ #  ; +3 "storage"(.% +3 "core" %] r +2 "storage"(. +3 "core" .( +2 "storage"(f& +3 "core" &  +3 "storage"(}& +4 "core" &  Q + "manipulator"&$& +4 "core" &( M ?T +2 "manipulator"&@% +3 "core" %\ # j ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&G( +159 "core" ( + "manipulator"&n& +4 "core" & m ~ +2 "storage"(& +4 "core" &  s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +97 "core" ' +2 "storage"(y& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('i +279 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &  b +2 "manipulator"&& +3 "core" & O ~ +2 .tElbow.seek 2 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&& +4 "core" & V ~ +2 "storage"(& +4 "core" &  p +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&&' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +2 "storage"(L'X +7 "core" &  ~ +2 "manipulator"&% +3 "core" %  3 +3 .tForearm.seek :retract +2 "manipulator"& '\ +141 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +115 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +130 "core" ( +2 "manipulator"&*& +4 "core" &g 6 X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &g <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' + "manipulator"&8& +4 "core" &g (  +2 "manipulator"& % +3 "core" %  +3 "processing"%0& +3 "core" &j +3 "processing"%5& +5 "core" &Z +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &Q +7 &F6 #b +9 &\\U 6 +10 &6 G +9 &aQ F +10 &gW G +9 &`g/ G +9 &$dP F +10 &cR G +9 &h3 G +9 &hg G +10 & ,f< F +9 &!cH G +10 &#f! F +9 &%qh; G +9 &'4i F +10 &(e F +9 &*i$ G +9 &,yg= G +10 &.;e G +9 &/c> F +10 &1eK G +9 &3g G +9 &5Cc G +10 &7c G +9 &8hA F +9 &:cI F +10 &hA F +10 &?fR F +9 &AfE F +9 &CSiJ G +10 &Em G +9 &Fu H +9 &H? K +10 &JM< L +9 &L< L +10 &MA L +9 &O1 L +9 &QS@ L +10 &SB M +9 &T4 M +9 &V9 M +10 &XY, M +9 &Ywy "j +10 &Z'k/ * +9 ( + &Z6 ! +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&:1 +54 "core" 1 +2 "manipulator"&% +3 "core" % > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' + "processing"%r& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ b  +2 "storage"(?% +4 "core" %a  +2 "storage"(P. +3 "core" .( +2 "storage"(C& +3 "core" &  \ +3 "storage"(V& +2 "manipulator"&s& +7 "core" &   +2 &h J  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +19 "core" ( +2 "manipulator"&;& +3 "core" &k  s \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l  \ +3 .tForearm.seek PC +2 "manipulator"&W' +94 "core" ' +2 .tHand.close + "manipulator"&O/ +58 "core" / +3 .tPC.seek :open +2 "processing"%Y( +74 "core" ' + "storage"(w- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(m'y +48 "core" ' +301 ( +2 "storage"(& +3 "core" &  @ +2 "manipulator"&z& +4 "core" &l R \ +2 "manipulator"&)% +4 "core" % ]  +2 .tForearm.seek :retract + "manipulator"&A'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&4( +261 "core" ( + "manipulator"&h& +4 "core" & # +2 "storage"('& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +108 "core" ' + .tHand.open +2 "manipulator"&K1 +55 "core" 1 +2 "storage"(u- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(N'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(c& +3 "core" &  K O A +2 "manipulator"&& +4 "core" &  +42 .tElbow.seek 2 +9 "manipulator"&q( +4 "core" ( +2 "manipulator"&& +5 "core" & ? +2 "storage"(p& +4 "core" &  K K [ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Z' +59 "core" ' +2 "manipulator"&a& +3 "core" & / +2 "storage"(k& +4 "core" &  2 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&3' +25 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&Q% +3 "core" % V +2 "storage"(d& +4 "core" &  ' +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&J' +18 "core" ' +2 "manipulator"&& +3 "core" & d +2 "storage"(-& +4 "core" &  l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +36 "core" ' +2 "storage"(R% +4 "core" %p   +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (S% +2 "core" %T i OF +3 "manipulator"&M% +4 "core" %џ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (i& +3 "core" &   +2 "collection"'& +4 "core" &Vj d e F +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ $ A 1 +2 "storage"({% +4 "core" %P = +2 "storage"(^. +3 "core" .( +2 "storage"([& +4 "core" &  * + "storage"(|& +4 "core" &  Y +2 "manipulator"&b& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&,( +3 "core" ( +2 "manipulator"&j& +5 "core" & y + "storage"(& +3 "core" &  A +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +95 "core" ' + "storage"(x& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +277 "core" ' +3 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & +2 "storage"(t& +4 "core" &  1 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +22 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(X'Q +29 "core" ' + "manipulator"&\\% +3 "core" % / +3 "storage"(g& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&D' +20 "core" ' +2 "manipulator"&& +3 "core" & a +2 "storage"(=& +4 "core" &  W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'@ +40 "core" ' +2 "manipulator"&& +3 "core" & L +3 "manipulator"&_% +4 "core" %ѭ = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&.'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +164 "core" ( + "manipulator"&& +4 "core" &* : @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &* @X +3 .tForearm.seek CC +2 "manipulator"&}'" +95 "core" ' +2 .tHand.close + "manipulator"&$/ +54 "core" / +2 .tCC.seek :open + "collection"'@( +416 "core" ( +2 "storage"(& +3 "core" &  +2 "storage"(n& +4 "core" &  \ +2 "manipulator"&& +3 "core" &(  >O +2 "manipulator"&y% +5 "core" %  a +2 .tForearm.seek :retract + "manipulator"&e'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +160 "core" ( + "manipulator"&>& +3 "core" & P  +2 "storage"(/& +5 "core" &  ] + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +99 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % S + "storage"(U& +4 "core" &  [ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&G& +3 "core" &   +2 "storage"(v& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +34 "core" ' +2 "storage"(&% +3 "core" %I : +4 ."downElevator"SE.seek :down +2 "storage"(*'X +99 (H% +3 "core" %L  OD +2 "manipulator"&+% +5 "core" %р \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +3 "core" & c e +2 "manipulator"&0% +4 "core" %\ # 3 : +2 "storage"(L% +3 "core" %N  +3 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(`( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" & 4 +3 "manipulator"&& +4 "core" & }  + .tElbow.seek 3 +2 "manipulator"&r( +12 "core" ( + "manipulator"&& +4 "core" & 3  +2 "storage"(?& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +95 "core" ' +2 "storage"(C& +3 "core" & F  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +281 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & -  +2 "manipulator"&;& +4 "core" & B  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & 7  + "storage"(O& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&w'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +49 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(9'X +8 "core" & I  +2 "manipulator"& % +4 "core" % Ϯ T +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( +2 "manipulator"&)& +3 "core" &(  ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &(  ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&h'" +102 "core" ' +2 "manipulator"&'& +4 "core" &( f ?R +2 "manipulator"&% +3 "core" %( Y +3 "collection"'K& +3 "core" & d d +3 "collection"'u& +5 "core" & g d +2 .tCC.seek :closed +2 "collection"'<(V +5 "core" & c g  +8 &6 e d )w +9 &l d d = +10 &v b c G +9 &sd e d F +9 &5f c e F +10 &g e c F +9 &f d d F +10 &|f f d F +9 &=j c d F +9 &g d e F +10 & g e g F +9 &"f d g F +9 &$Ed d e F +10 &&g a f F +9 &'h c e F +10 &)f c e F +9 &+Ng f f F +9 &-g c e E +10 &.g d d F +9 &0g d f F +10 &2Vf d e F +9 &4d e b F +9 &5g d d F +10 &7g b f F +9 &9]j d d F +9 &; g d e F +10 &<g e d F +9 &>g f e F +9 &@fg f f F +10 &B(g b f F +9 &Ci c e F +10 &En e c G +9 &Gg{ e d H +9 &I& d f I +10 &J d b N +9 &L g f P +9 &NY f e P +10 &P b d P +9 &Q d e P +10 &S g e R +9 &U[ d g A +9 &Vp? g g / +10 &Va e f A +5 ( +2 "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&c1 +4 "core" &VR g g A +55 1 +3 "manipulator"&% +4 "core" % % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &; +2 "manipulator"&p% +3 "core" %\  ;  +2 "storage"(a% +4 "core" %b  +2 "storage"(k. +3 "core" .( +2 "storage"(m& +3 "core" &   +2 "storage"(N& +3 "core" &   +2 "manipulator"&Q& +5 "core" &( " ?R + "manipulator"&d% +4 "core" %\  )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&-& +4 "core" & ] +2 "storage"(R& +3 "core" & ?  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&4'9 +91 "core" ' +2 "storage"(6& +3 "core" & (  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +283 "core" ' + "storage"(S- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & =  +2 "manipulator"&l& +3 "core" &  ] +3 .tElbow.seek 3 + "manipulator"&q( +4 "core" ( +2 "manipulator"&Z& +4 "core" & < ] + "storage"(3& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" &  ] + "manipulator"&{% +4 "core" % ϲ f 3 +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +3 "manipulator"&[& +3 "core" &j  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +147 "core" ' +2 "manipulator"&j& +4 "core" &k  +2 "manipulator"&% +3 "core" % F +3 "processing"%\ & +3 "core" &9 +3 "processing"%x& +5 "core" &9 +2 .tPC.seek :closed +2 "processing"%"(Z +5 "core" &7  +8 &79 )v +10 &k- = +9 &tU H +9 &pf6 G +10 &2c9 G +9 &h5 G +9 &fU G +10 &yh. F +9 &<d4 F +10 &i1 F +9 & e4 F +9 &"h/ F +10 &$De* F +9 &&iI G +9 &'g3 G +10 &)c G +9 &+Kg$ F +10 &- h" G +9 &.h F +9 &0e& G +10 &2Sh! F +9 &4c# G +9 &5h G +10 &7e) G +9 &9[b+ F +10 &;e* F +9 &<j- G +9 &>g G +10 &@bk G +9 &B$j+ G +9 &Cm% G +10 &Ep H +9 &Gcy I +10 &I  K +9 &J L +9 &L L +10 &Nc L +9 &P$, L +9 &QE L +10 &S- M +9 &Ui M +10 &W+ M +9 &X# M +9 &Z=C` %l +10 &Z .E # +5 ( +2 "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&]1 +2 "core" &ZC # +60 1 +2 "manipulator"&I% +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +92 "core" ' + "processing"%E& +5 "core" &Z # + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&t% +3 "core" %\    +3 "storage"(% +4 "core" %a ^ + "storage"(\\. +3 "core" .( +2 "storage"(g& +3 "core" & 1  +3 "storage"(& +2 "manipulator"&=& +7 "core" & f  +2 &k } +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(_'i +2 "core" ( +3 "manipulator"&T& +4 "core" &k / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &k t +3 .tForearm.seek PC + "manipulator"&!' +95 "core" ' +2 .tHand.close + "manipulator"&%/ +56 "core" / +2 .tPC.seek :open +2 "processing"%D( +91 "core" ' + "storage"(X- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +43 "core" ' +287 ( +2 "storage"(f& +3 "core" &   +2 "manipulator"&#& +3 "core" &k  +2 "manipulator"&1% +5 "core" % Q +2 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&.( +258 "core" ( +2 "manipulator"&2& +3 "core" & ;  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +96 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "storage"(y- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(/' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(7& +3 "core" & r o   +2 "manipulator"&& +4 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&U& +4 "core" & r  + "storage"(G& +4 "core" & o p  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(&' +99 "core" ' +9 "manipulator"&e& +3 "core" & a  +3 "storage"(H& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&+'} +21 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&% +5 "core" %Ή + "storage"( & +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&0'ϵ +19 "core" ' +2 "manipulator"&L& +4 "core" &   +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +25 "core" ' + "storage"((% +5 "core" %n   +2 ."downElevator"SE.seek :down +4 "storage"(*'X +99 ( % +3 "core" %S  PF +2 "manipulator"&:% +4 "core" %k L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +9 "core" & x  +2 "collection"'?& +3 "core" &VR d e A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&C% +3 "core" %\ 1 5 +3 "storage"(% +3 "core" %_ P  +2 "storage"(8. +3 "core" .( +2 "storage"(s& +3 "core" &  +2 "storage"(V& +4 "core" & m  +2 "manipulator"&;& +3 "core" & Q  +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +3 "manipulator"&O& +3 "core" & O  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' +2 "storage"( & +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +286 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &  +2 "storage"(W& +4 "core" & m  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'} +25 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +31 "core" ' +2 "manipulator"&% +3 "core" %Ώ [ +2 "storage"(K& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&9'ϻ +20 "core" ' +2 "manipulator"&& +4 "core" & R  + "storage"(@& +4 "core" & K  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('? +39 "core" ' +2 "manipulator"&& +3 "core" & +  +3 "manipulator"&p% +3 "core" %#  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&k( +162 "core" ( +3 "manipulator"&m& +3 "core" &( N ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &( = ?T +3 .tForearm.seek CC + "manipulator"&u'" +93 "core" ' + .tHand.close +2 "manipulator"&Q/ +103 "core" / +2 .tCC.seek :open +2 "collection"'d( +415 "core" ( +2 "storage"(h& +4 "core" &   +2 "storage"(-& +3 "core" &   +3 "manipulator"&R& +4 "core" &( ? ?S +2 "manipulator"&6% +3 "core" % - ) +3 .tForearm.seek :retract + "manipulator"&z'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&A( +167 "core" ( + "manipulator"&S& +5 "core" & C [ + "storage"(M& +4 "core" & \\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&l'} +97 "core" ' +2 .tElbow.hold + "manipulator"&Z, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +57 "core" 1 +3 "manipulator"&i% +3 "core" % ΁ Y +2 "storage"(& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&{'ϭ +20 "core" ' +2 "manipulator"&& +3 "core" & 1 [ +2 "storage"(4& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +33 "core" ' +2 "storage"(J% +3 "core" %H   +3 ."downElevator"SE.seek :down +4 "storage"(['X +98 (|% +3 "core" %$L * OD +2 "manipulator"&q% +5 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +85 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & d g +3 "manipulator"&\ % +3 "core" %\    +2 "storage"(% +4 "core" %L 0 +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(Y( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" &  +2 "manipulator"&I& +4 "core" & v [ +2 .tElbow.seek 2 +2 "manipulator"&E( +41 "core" ( +2 "manipulator"&t& +3 "core" & % " +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +107 "core" ' + "storage"(g& +5 "core" &  J +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +284 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  I +3 "manipulator"&T& +4 "core" &  "~ + .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&b& +3 "core" & G "~ +2 "storage"(%& +3 "core" &  9 +3 .tForearm.seek 2 + 300 counts + "manipulator"&X' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&^/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&~& + "storage"("'X +8 "core" & 6 "~ + "manipulator"&_% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +49 "core" ( +3 "manipulator"&1& +3 "core" &( Q ?T +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &( ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'" +93 "core" ' +2 "manipulator"&& +3 "core" &(  ?T +3 "manipulator"&% +3 "core" %' \ +3 "collection"'& +3 "core" & d f +3 "collection"'y& +5 "core" & d f +2 .tCC.seek :closed +2 "collection"'}(V +4 "core" & d d  +9 & 9 e d *x +10 &"k d f = +9 &r f d G +9 &e e f F +10 &He c d F +9 &\ e c f F +10 &e e e F +9 &e n e F +9 &Pg e d F +10 &f d d F +9 & e e e F +9 &"f d f F +10 &$We c e F +9 &&g d g F +10 &'g c d F +9 &)e e d F +9 &+_g c d F +10 &-!e f g F +9 &.f b e F +10 &0g e f F +9 &2ge d f F +9 &4*e q f F +10 &5f c e F +9 &7e f e F +9 &9oi f d F +10 &;1g e d F +9 &<f d d F +9 &>g f g F +10 &@vg n d F +9 &B8g f d F +10 &Ch d e G +9 &En f f G +9 &Gzy f e H +10 &I7 e d J +9 &J d d N +10 &L f f P +9 &Nj f g P +9 &P* d f Q +10 &Q d e P +9 &S f g R +9 &Uk e e > +10 &VH f e [ +9 &V2N d g %r +9 &WO i e A +3 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&71 +53 "core" 1 +4 "manipulator"&% +3 "core" % ' 2 \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%G& +3 "core" &< +2 "manipulator"&$% +4 "core" %\  w  +2 "storage"(e% +4 "core" %a  +2 "storage"(H. +3 "core" .( +2 "storage"(& +4 "core" &   + "storage"(>& +4 "core" &   +2 "manipulator"&& +4 "core" &( 4 ?T +2 "manipulator"& % +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&L( +155 "core" ( +2 "manipulator"& & +3 "core" & D  +2 "storage"(.& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +88 "core" ' +2 "storage"((& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &  { D +2 "manipulator"&v& +4 "core" & b  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&&& +3 "core" &   +2 "storage"(+& +4 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&0' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(C'X +8 "core" & V  + "manipulator"&% +5 "core" %  z 2 +2 .tForearm.seek :retract + "manipulator"&8'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&s& +5 "core" &{  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &{ ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&;' +101 "core" ' +2 "manipulator"&O& +4 "core" &{ = +2 "manipulator"&% +3 "core" %  +3 "processing"%o& +4 "core" &; +2 "processing"% & +5 "core" &; +2 .tPC.seek :closed +2 "processing"%*(Z +5 "core" &;  +8 &89 )v +10 &k< = +9 &s7 G +9 &sc8 F +57 &5f8 F +3 &c< G +3 &cX F + &zc: G +2 &=c6 F + &e7 G + & c: F +7 &"e7 F +10 &$Di8 G +9 &&h7 F +10 &'c; G +9 &)h8 F +9 &+Ne1 F +10 &-h. G +9 &.g+ G +9 &0e' F +10 &2Ue+ F +9 &4b# G +10 &5h" F +9 &7e& F +9 &9\\i" G +10 &;h' F +9 &<g* F +9 &>i' G +10 &@dj- G +9 &B&j- G +10 &Ci. G +9 &Eo. H +9 &Gey/ I +10 &I". K +9 &J. L +9 &L- L +10 &Ne- L +9 &P%' M +10 &Q, M +9 &S M +9 &Uj& M +10 &W-- M +9 &X) M +9 &Z@Ec$ %k +10 &Z ,% # +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&F1 +3 "core" &Z+ # +53 1 +2 "manipulator"&% +3 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' +2 "processing"%)& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&W% +4 "core" %\ > 6 +2 "storage"('% +3 "core" %T  +3 "storage"(. +3 "core" .( +2 "storage"(K& +4 "core" &   +2 "storage"(& +2 "manipulator"&@& +7 "core" &   + &{ # +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'i +2 "core" ( +3 "manipulator"& & +3 "core" &{  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 && +3 "core" &{  +2 .tForearm.seek PC +2 "manipulator"&r' +94 "core" ' +2 .tHand.close + "manipulator"&5/ +60 "core" / +3 .tPC.seek :open +2 "processing"%9( +91 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(m'y +48 "core" ' +284 ( +2 "storage"(N& +3 "core" &  +2 "manipulator"&c& +4 "core" &{ m +2 "manipulator"&w% +3 "core" % '  +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&a( +275 "core" ( + "manipulator"&<& +4 "core" & ~ O +2 "storage"(h& +4 "core" &  ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +94 "core" ' +2 .tHand.open + "manipulator"&R1 +59 "core" 1 +2 "storage"(6- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(S'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(M' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(k& +3 "core" &  p o +2 "manipulator"&3& +4 "core" & N +2 .tElbow.seek 2 +2 "manipulator"&i( +15 "core" ( +2 "manipulator"&& +3 "core" & A ( +3 "storage"(& +4 "core" &  q q ' +2 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(J' +58 "core" ' + "manipulator"&z& +5 "core" & O ' + "storage"(|& +4 "core" &  1 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q' +24 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +49 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +23 "core" ' +2 "manipulator"&{% +4 "core" % +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&\ ' +19 "core" ' + "manipulator"&& +3 "core" & b & +3 "storage"(& +4 "core" &  ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +36 "core" ' + "storage"(B% +5 "core" %n {  +2 ."downElevator"SE.seek :down +3 "storage"(['X +99 (`% +4 "core" %O $ NE +2 "manipulator"&]% +5 "core" %ќ 0 k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (t& +3 "core" &  i +2 "collection"'& +4 "core" &WO f f A +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&g% +3 "core" %\  U  +2 "storage"(Z% +4 "core" %U +2 "storage"(j. +3 "core" .( +2 "storage"(=& +3 "core" &  +2 "storage"(& +4 "core" &   +2 "manipulator"&T& +3 "core" &  & +2 .tElbow.seek 2 +2 "manipulator"&b( +4 "core" ( + "manipulator"&%& +5 "core" & V & + "storage"(^& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +97 "core" ' + "storage"(_& +3 "core" &  % +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +283 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & K & +2 "storage"(1& +4 "core" &  q +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&X' +29 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +33 "core" ' +2 "manipulator"&% +4 "core" % } O + "storage"(& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&"' +19 "core" ' +2 "manipulator"&f& +3 "core" &  & +3 "storage"(d& +3 "core" &  * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +38 "core" ' +2 "manipulator"&G& +3 "core" &  & +3 "manipulator"&$% +3 "core" %ѳ > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +16 "Can" A+ ͭ +71 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +160 "core" ( +3 "manipulator"&& +3 "core" && ; =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &&  =G +3 .tForearm.seek CC +2 "manipulator"&y'" +91 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(2& +4 "core" &   + "storage"( & +4 "core" &   +2 "manipulator"&.& +3 "core" && =F +2 "manipulator"&(% +5 "core" % , t  +2 .tForearm.seek :retract + "manipulator"&#'\ +98 "core" ' +48 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&U( +161 "core" ( + "manipulator"& & +5 "core" & M  + "storage"(:& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&v' +102 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&+1 +53 "core" 1 +4 "manipulator"&% +3 "core" % 0 +2 "storage"(?& +4 "core" &  5 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&L& +3 "core" & A  +2 "storage"(n& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +17 "core" ' +2 "storage"(0% +4 "core" %G  +2 ."downElevator"SE.seek :down +4 "storage"(s'X +98 (V% +3 "core" %1O  OD +2 "manipulator"&% +5 "core" %Ѫ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & d e +2 "manipulator"&o% +3 "core" %\ $ l C +3 "storage"(C% +4 "core" %a  + "storage"(8. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(D( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &   +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&)( +14 "core" ( +2 "manipulator"&W& +3 "core" & \ n +2 "storage"('& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' +2 "storage"(K& +3 "core" & m  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"& & +3 "core" & n +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&;& +3 "core" & Z n +2 "storage"(5& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(*'X +8 "core" & y n + "manipulator"&p% +4 "core" % ϣ 8 +2 .tForearm.seek :retract +2 "manipulator"&N'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&w& +3 "core" &+ 8 ' Ac +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &+ ] Ac +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'" +94 "core" ' +2 "manipulator"&h& +3 "core" &+  [ Ac +2 "manipulator"&% +4 "core" %# l +2 "collection"'R& +4 "core" & e e +48 "collection"'6& +7 "core" & e e +2 .tCC.seek :closed +2 "collection"'u(V +4 "core" & d g +8 &' e f "_ +9 &X e f 4 +9 & e g F +10 &c f g F +9 &g g g F +9 &Og n g F +10 &g f f F +9 &g e e G +9 &f e f F +10 &Xg d h F +9 & f e d F +10 &!h g f F +9 &#h e h F +9 &%`j g g F +10 &'#f d e F +9 &(f e f F +10 &*f f f F +9 &,ig g g F +9 &.+g c f F +10 &/g e f F +9 &1h d f F +13 &3qg e g F +6 &53f d g F +9 &6g e h F +9 &8e e f F +10 &:yg f g F +9 &<;g d g F +10 &=h d g F +9 &?h f f F +9 &Ag d d F +10 &CAg e e F +9 &En f g G +10 &Fv f g H +9 &H f g I +9 &J8 f f L +10 &K h d P +9 &M h e O +9 &Os f f P +10 &Q3 h g Q +9 &R f f Q +10 &T e g R +9 &V"X f f 5 +9 &V f g &n +10 &Vi e g J +2 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&k1 +60 "core" 1 +2 "manipulator"&3% +4 "core" % # a +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &9 +2 "manipulator"&Q% +4 "core" %\ # H = +2 "storage"(z% +3 "core" %U Q +2 "storage"(|. +4 "core" .( +2 "storage"(m& +4 "core" &  + "storage"(S& +4 "core" &  +2 "manipulator"&{& +4 "core" &* ; Ac +2 "manipulator"&% +4 "core" %\ # 6 = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" &  Z +2 "storage"(a& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +99 "core" ' +2 "storage"(B& +3 "core" & A  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +279 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & v  +2 "manipulator"&]& +4 "core" & f Z +2 .tElbow.seek 3 + "manipulator"&i( +4 "core" ( +2 "manipulator"&J& +3 "core" & l Z +2 "storage"(q& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(g'X +8 "core" & 0 Z + "manipulator"&Z% +4 "core" % ϫ = +2 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( + "manipulator"&=& +4 "core" &j + ( \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j B \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 "manipulator"&%& +3 "core" &j P \ +2 "manipulator"&^% +5 "core" % n  + "processing"%& +5 "core" &< +2 "processing"%_& +5 "core" &: +2 .tPC.seek :closed + "processing"%[(Z +5 "core" &:  +9 &8; )u +9 &l: = +10 &s9 G +9 &sc; F +10 &5e= F +9 &i> G +9 &h? G +10 &{c@ F +9 &=c> F +9 &g? F +10 & h8 G +9 &"g6 G +10 &$Dd6 G +9 &&h8 F +9 &'i7 G +10 &)e5 G +9 &+Mc6 F +9 &-f: F +10 &.h8 G +9 &0h* G +10 &2Uh8 F +9 &4c; G +9 &5h9 F +10 &7e0 F +9 &9]i$ F +9 &;d* G +10 &<j* F +9 &>e' F +10 &@eh* F +9 &B'g$ F +9 &Cj, G +10 &Ep+ H +9 &Gfy) I +9 &I#- K +10 &J. L +9 &L, L +10 &Nf. L +9 &P(- L +9 &Q- L +10 &S. M +9 &Uk- M +9 &W-/ M +10 &X. M +9 &Z@C`- %k +10 &Z\ +, # +48 ( +4 &Z* # +3 &Z, # + &Z, # +2 &Z@ # + &Z8 # +3 "processing"%_& +2 "core" &Z. # +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&A1 +63 "core" 1 + "manipulator"&I% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +92 "core" ' +2 "processing"%x& +3 "core" &Z* # +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&1% +4 "core" %\    +2 "storage"(,% +3 "core" %b  +2 "storage"(. +4 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(f& +2 "manipulator"&d& +7 "core" &   + &j v \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&G(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"($'i +3 "core" ( +2 "manipulator"&~& +3 "core" &j K \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &j  \ +2 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' +2 .tHand.close + "manipulator"&X/ +54 "core" / +3 .tPC.seek :open +2 "processing"%"( +90 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +33 "core" ' +299 ( + "storage"(>& +4 "core" & 7  +2 "manipulator"&7& +3 "core" &j \ +3 "manipulator"&!% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +259 "core" ( +2 "manipulator"&}& +4 "core" &  +2 "storage"(2& +4 "core" & $  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +96 "core" ' +2 .tHand.open + "manipulator"&.1 +64 "core" 1 +2 "storage"((- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(y'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(H& +5 "core" & r o  + "manipulator"&+& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&?& +3 "core" & R +2 "storage"(L& +4 "core" & r q &  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(0' +58 "core" ' +2 "manipulator"&#& +3 "core" & +2 "storage"(V& +4 "core" & B  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&U, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'i +25 "core" ' +2 "manipulator"&% +3 "core" %} l +2 "storage"(& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'ϩ +20 "core" ' +2 "manipulator"&C& +3 "core" & J +2 "storage"(8& +4 "core" &   +43 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(/% +4 "core" %s } +2 ."downElevator"SE.seek :down +4 "storage"(s'X +99 (Y% +2 "core" %uV Y QH +3 "manipulator"&F% +4 "core" %8 N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" & ]  +2 "collection"''& +5 "core" &Vf e h J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&K% +3 "core" %\ # ; +3 "storage"(&% +4 "core" %W { + "storage"(O. +3 "core" .( +2 "storage"(@& +3 "core" &  +2 "storage"(& +4 "core" & ]  +2 "manipulator"& & +3 "core" & +3 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&5& +3 "core" & = +2 "storage"(& +4 "core" & {  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&P'9 +97 "core" ' + "storage"(p& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" & 6 +3 "storage"( & +3 "core" & h  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&r'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +32 "core" ' +2 "manipulator"&% +3 "core" %΅ +2 "storage"(R& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&*'ϱ +20 "core" ' +2 "manipulator"&N& +3 "core" & o +2 "storage"( & +4 "core" & R  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(3'? +42 "core" ' +2 "manipulator"&& +4 "core" & + "manipulator"&Q% +5 "core" %9 > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +160 "core" ( +2 "manipulator"&6& +3 "core" &$  x ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &$ 8 ;5 +3 .tForearm.seek CC +2 "manipulator"&S'" +93 "core" ' + .tHand.close +2 "manipulator"&{/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(<& +4 "core" &   +2 "storage"(& +3 "core" &   +2 "manipulator"&a& +4 "core" &$ T ;5 +2 "manipulator"&B% +4 "core" % ( D  +2 .tForearm.seek :retract + "manipulator"&c'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&4& +3 "core" & > l +2 "storage"(`& +4 "core" & O  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&]'} +100 "core" ' +4 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +53 "core" 1 +2 "manipulator"&t% +3 "core" % Ί 4 +2 "storage"(& +5 "core" & $  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&Z'϶ +20 "core" ' +2 "manipulator"&& +3 "core" &  l +3 "storage"(-& +4 "core" & =  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&M'9 +32 "core" ' +2 "storage"(\ % +4 "core" %G X +2 ."downElevator"SE.seek :down +3 "storage"(='X +100 (% +3 "core" %vO  OC +2 "manipulator"&i% +4 "core" %7 [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'^& +3 "core" & e f +2 "manipulator"&% +4 "core" %\  l  +2 "storage"(g% +3 "core" %a # +2 "storage"(l. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(9( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &  +2 "manipulator"&I& +4 "core" & l +2 .tElbow.seek 2 +2 "manipulator"&x( +54 "core" ( +2 "manipulator"&1& +4 "core" & m !w + "storage"(,& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' +2 "storage"(& +3 "core" &  < +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +279 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &   +2 "manipulator"&~& +5 "core" & * l +2 .tElbow.seek 2 + "manipulator"&b( +33 "core" ( + "manipulator"&T& +3 "core" & 4 M +2 "storage"(X& +4 "core" &  4 +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +5 "storage"(['X +6 "core" & H M + "manipulator"&$% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +165 "core" ( + "manipulator"&!& +4 "core" ' + && @ =C +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &E& +3 "core" &&  =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&}'" +92 "core" ' +3 "manipulator"&2& +3 "core" &&  =C +2 "manipulator"&G% +4 "core" %( 9  +2 "collection"'.& +5 "core" & d f +2 "collection"'(& +5 "core" & e g +2 .tCC.seek :closed + "collection"':(V +4 "core" & e e  +9 &6 e f )v +9 &l e g = +10 &u g h G +9 &re d g F +9 &3g g e F +10 &g e f F +9 &g e f F +10 &zg h f F +9 &<g f g F +9 &g h g F +10 & g f f F +9 &"h g e F +9 &$Fg q f E +10 &&g e e F +9 &'g d h F +10 &)f g e F +9 &+Lk e g F +9 &-g d e F +10 &.g e g F +9 &0k f g F +9 &2Tg g g F +10 &4g d g F +48 &5j f f F +6 &7g g g F + &9]h f g F + &;j f g F + &<h e g F + &>h d e F +8 &@eg e g F +9 &B'g e e F +9 &Ci d g F +10 &En g g G +9 &Gey g e I +9 &I$ g h J +10 &J e f M +9 &L e h P +10 &NY g h O +9 &P g h P +9 &Q g g Q +10 &S e g R +9 &UZ f g @ +9 &VwC h h &r +10 &V g f L +5 ( +2 "collection"'(& +4 "core" &Vz h g L +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&H1 +60 "core" 1 +2 "manipulator"&+% +3 "core" % (   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%L& +3 "core" &: +2 "manipulator"&% +5 "core" %\ # Y A +2 "storage"(#% +4 "core" %W + "storage"(V. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "core" &  e +3 "manipulator"&& +4 "core" && y =C + "manipulator"&y% +4 "core" %\ # G A +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +156 "core" ( +2 "manipulator"&8& +3 "core" &  +2 "storage"(e& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +97 "core" ' +2 "storage"(/& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +275 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &  > +3 "manipulator"&F& +3 "core" & l  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&0& +3 "core" & G  +3 "storage"(& +4 "core" &  i +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +3 "storage"(K'X +8 "core" & )  +2 "manipulator"&&% +4 "core" %  \\  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O(s +165 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +104 "core" ( +3 "manipulator"&@& +4 "core" &k 5 x \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +98 "core" ' +2 "manipulator"&5& +4 "core" &l \ +2 "manipulator"&% +3 "core" %  +3 "processing"%& +4 "core" &L +2 "processing"%p& +5 "core" &U +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &>  +9 &7D )v +10 &k; = +9 &v5 G +9 &se9 G +10 &5c@ G +9 &h? F +9 &d? G +10 &|gB F +9 &>c@ F +10 &f: F +9 & h? G +9 &"f7 G +10 &$FeA F +9 &&hA G +9 &'f7 G +10 &)c? F +9 &+Ne: F +10 &-c/ G +9 &.h9 F +9 &0e: G +10 &2Vh9 F +9 &4c7 G +9 &5d4 F +10 &7e9 F +9 &9]i7 G +10 &;e9 G +9 &<j" G +9 &>g& G +10 &@ed# G +9 &B'j' G +9 &Ci$ G +10 &Eo' H +9 &Ggy% I +10 &I#' K +9 &J" L +9 &L+ L +10 &Nf' L +9 &P'- L +9 &Q- L +10 &S$ L +9 &Uk, M +10 &W/- L +9 &X. M +9 &Z@Dc- %l +10 &Z (- ! +5 ( +2 "processing"%p& +3 "core" &Z+ ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open + "manipulator"&U1 +62 "core" 1 + "manipulator"&% +4 "core" %  C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%w& +3 "core" &Z4 ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +49 "core" %\ [ 5 +5 "storage"(h% +4 "core" %R G +2 "storage"(. +3 "core" .( +2 "storage"(R& +4 "core" &  _ +2 "storage"(N& +2 "manipulator"& & +5 "core" &   +3 &l Z \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&Q(s +6 "core" ( +2 "manipulator"&P& +4 "core" &l { \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +2 "core" &l 2 \ +3 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' + .tHand.close +2 "manipulator"&r/ +62 "core" / +2 .tPC.seek :open +2 "processing"%*( +84 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'y +33 "core" ' +303 ( +3 "storage"(m& +3 "core" &   +2 "manipulator"&k& +5 "core" &l _ \ + "manipulator"&% +4 "core" % i  +2 .tForearm.seek :retract +2 "manipulator"&{'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&z( +255 "core" ( +2 "manipulator"&u& +3 "core" & +3 "storage"(<& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +93 "core" ' + .tHand.open +2 "manipulator"&a1 +64 "core" 1 +2 "storage"(B- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"(|& +4 "core" &  = A c +2 "manipulator"&q& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" & C +2 "storage"(& +4 "core" &  G J  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\ ' +60 "core" ' + "manipulator"&c& +4 "core" &  +2 "storage"(& +4 "core" &  3 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&i' +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +23 "core" ' + "manipulator"&Z% +5 "core" % v + "storage"(^& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&g& +3 "core" &  +3 "storage"(l& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +19 "core" ' + "storage"(M% +4 "core" %q 2 +3 ."downElevator"SE.seek :down +3 "storage"(='X +103 (D% +3 "core" %K  OF +2 "manipulator"&A% +3 "core" %ш ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&I'\ +138 "core" ' +5 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (1& +3 "core" &  +3 "collection"',& +4 "core" &Vy h i L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ \  +2 "storage"(J% +4 "core" %c  +2 "storage"(%. +3 "core" .( +2 "storage"(d& +4 "core" &  A +2 "storage"(f& +4 "core" &  7 + "manipulator"&~& +5 "core" & o + .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&X& +4 "core" & a +2 "storage"(j& +3 "core" &  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +93 "core" ' +2 "storage"($& +3 "core" &  Y +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & v +2 "storage"(_& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E' +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(G'O +28 "core" ' +2 "manipulator"&b% +3 "core" % j @ +2 "storage"(.& +4 "core" &  w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&[' +18 "core" ' +2 "manipulator"&>& +3 "core" & @ +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(+'> +40 "core" ' +2 "manipulator"&L& +3 "core" & +2 "manipulator"&% +5 "core" %ђ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +156 "core" ( +3 "manipulator"&(& +4 "core" &( h ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( A ?P +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'y( +416 "core" ( +2 "storage"(}& +3 "core" &   +2 "storage"(8& +3 "core" &   +2 "manipulator"&e& +4 "core" &' A >O +2 "manipulator"&/% +3 "core" % / B +3 .tForearm.seek :retract + "manipulator"&7'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&?( +161 "core" ( +2 "manipulator"&n& +4 "core" & e  +2 "storage"(Y& +3 "core" &  O +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&F' +101 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&W% +4 "core" % 9 + "storage"('& +4 "core" &  M +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&&' +60 "core" ' +9 "manipulator"&C& +3 "core" & @  +3 "storage"( & +4 "core" &  v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +24 "core" ' + "storage"(o% +5 "core" %H G +2 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (% +3 "core" %6U  PG +2 "manipulator"&% +4 "core" %Ѫ . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & f g + "manipulator"&% +5 "core" %\   + "storage"(K% +4 "core" %` C +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"("( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +3 "core" & y   +2 "manipulator"&& +4 "core" & +  +2 .tElbow.seek 3 + "manipulator"&w( +15 "core" ( +2 "manipulator"& & +3 "core" & e d +3 "storage"(p& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +93 "core" ' +2 "storage"(& +3 "core" & z  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +279 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&P& +4 "core" & [ d +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"& & +4 "core" & s d +2 "storage"(r& +3 "core" & i  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s'X +9 "core" & d + "manipulator"&% +4 "core" % Ϩ + +2 .tForearm.seek :retract +2 "manipulator"&m'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&k( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( + "manipulator"&& +4 "core" &'  D >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &' n >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'" +99 "core" ' +2 "manipulator"&<& +3 "core" &( { >N +3 "manipulator"&Q% +3 "core" %% t +2 "collection"'a& +5 "core" & g j +2 "collection"'B& +6 "core" & e g +2 .tCC.seek :closed + "collection"'S(V +4 "core" & g h  +10 & 8 g i )w +9 &#n g f > +9 &r f g G +10 &e f f F +9 &Kh f h F +9 & e h i F +10 &e h g F +9 &c h g F +10 &Se h j F +9 &e e g F +9 & e f f F +10 &"g g g E +9 &$[g h g F +9 &&f e g F +10 &'e e g F +9 &)d h g F +10 &+ci g f F +9 &-%e g g F +9 &.d g i F +10 &0g f h F +9 &2kc h g F +9 &4-e g g F +10 &5f g h F +9 &7e e g F +10 &9sc g h F +9 &;5e g h F +9 &<f g h F +10 &>f d g F +9 &@{f g e F +9 &B=f g g F +10 &Ch f f F +9 &Eo h g G +10 &G}} h g H +9 &I; e h J +9 &J f h N +10 &L g h P +9 &No g h P +9 &P. h e Q +10 &Q i h Q +9 &S g h R +10 &Up g g > +9 &VC f g !d +9 &V g h J +6 ( + "collection"'B& +4 "core" &Vs h h I +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&|1 +58 "core" 1 + "manipulator"&q% +4 "core" % % +47 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +3 "core" &Z +2 "manipulator"&{% +4 "core" %\   +2 "storage"(c% +4 "core" %\\  +2 "storage"(. +3 "core" .( +2 "storage"(Z& +4 "core" &   +2 "storage"(^& +3 "core" &   +2 "manipulator"&6& +4 "core" &'  >N +2 "manipulator"&g% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&l( +162 "core" ( + "manipulator"&4& +5 "core" & I q + "storage"(M& +4 "core" & ^  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +94 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +284 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (A& +2 "core" &   +2 "manipulator"&-& +5 "core" & a q + .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( + "manipulator"&\ & +4 "core" & t q +2 "storage"(i& +3 "core" & w  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&,& + "storage"('X +8 "core" & m q + "manipulator"&J% +5 "core" % ϒ O  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&](s +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +3 "manipulator"&d& +3 "core" &i 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &i _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +94 "core" ' +2 "manipulator"&X& +3 "core" &k m +2 "manipulator"&j% +4 "core" % w  +2 "processing"%3& +4 "core" &O +3 "processing"%$& +5 "core" &e +2 .tPC.seek :closed +2 "processing"%=(Z +3 "core" &L  +10 &7M )v +9 &kM = +9 &uQ H +10 &ybG F +9 &:eC F +9 &hO G +10 &gD G +9 &cC F +10 &BeD F +9 &iC G +9 & hE F +10 &"cA G +9 &$JcD F +9 && e@ F +10 &'hD G +9 &)iC F +10 &+RfD F +9 &-gE G +9 &.gC G +10 &0eD G +9 &2ZcB F +10 &4eE F +9 &5h> G +9 &7hC F +10 &9aeC G +9 &;$bB F +9 &<gC F +10 &>h= G +9 &@hh. G +9 &B,g= F +10 &CjC G +9 &Ep6 H +10 &Gjy< I +9 &I&; K +9 &J8 L +10 &L4 L +9 &Nk0 L +10 &P,= L +9 &Q4 M +9 &S/ M +10 &Up5 M +9 &W31 L +9 &X8 M +10 &ZDDc. %l +9 &Z&' " +5 ( +2 "processing"%$& +4 "core" &ZO " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&I% +3 "core" % ?  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%!& +3 "core" &Z] " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&_% +3 "core" %\  \\  +2 "storage"(2% +5 "core" %_  + "storage"(b. +3 "core" .( +2 "storage"(.& +3 "core" &   +3 "storage"(>& +3 "manipulator"&& +6 "core" &   + &k +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +47 "storage"(#]@K-0-\ b +5 "manipulator"&L(s +7 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&\\& +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &k X +3 .tForearm.seek PC +2 "manipulator"&x' +94 "core" ' + .tHand.close +2 "manipulator"&E/ +59 "core" / +4 .tPC.seek :open +2 "processing"%[( +87 "core" ' +2 "storage"(G- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(('y +45 "core" ' +288 ( + "storage"(& +5 "core" & k  + "manipulator"&H& +4 "core" &k | +2 "manipulator"&% +4 "core" % ; +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&#( +239 "core" ( +2 "manipulator"&:& +3 "core" & Z m +2 "storage"(}& +5 "core" & (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +97 "core" ' + .tHand.open +2 "manipulator"&e1 +57 "core" 1 +3 "storage"(/- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(n'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Y' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(V& +5 "core" & T K %  + "manipulator"&& +3 "core" & [ m +3 .tElbow.seek 3 +2 "manipulator"&W( +2 "core" ( +2 "manipulator"&'& +4 "core" & c m +2 "storage"(C& +4 "core" & M T '  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(7' +57 "core" ' +2 "manipulator"&o& +3 "core" & [ m +3 "storage"(?& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'i +25 "core" ' +2 "manipulator"&% +3 "core" % 9 +2 "storage"(&& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&'ϫ +20 "core" ' +2 "manipulator"&K& +3 "core" & [ m +2 "storage"(v& +4 "core" & W  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +29 "core" ' +2 "storage"( % +4 "core" %s  +2 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (9% +3 "core" %U  PH +2 "manipulator"&U% +4 "core" %% d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" & ?  +2 "collection"'p& +3 "core" &Vs h g I +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\ # y B +2 "storage"(0% +4 "core" %O  +2 "storage"(5. +3 "core" .( +2 "storage"(N& +3 "core" &   +2 "storage"( & +4 "core" &   +48 "manipulator"&P& +5 "core" & m + .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&r& +3 "core" & K m +3 "storage"(O& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + "storage"(& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'i +279 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & x m +2 "storage"()& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'P +28 "core" ' + "manipulator"&a% +4 "core" %΃ K +2 "storage"(;& +4 "core" & R  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"&s'ϯ +20 "core" ' +2 "manipulator"&m& +3 "core" & C m +2 "storage"(y& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(q'? +38 "core" ' +2 "manipulator"&B& +3 "core" & m +2 "manipulator"&% +5 "core" %- +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +159 "core" ( +2 "manipulator"&& +4 "core" &( u ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &( n ?U +3 .tForearm.seek CC +2 "manipulator"&^'" +94 "core" ' + .tHand.close +2 "manipulator"&6/ +53 "core" / +2 .tCC.seek :open + "collection"'g( +417 "core" ( + "storage"(u& +4 "core" &   +2 "storage"(4& +4 "core" &   + "manipulator"&M& +4 "core" &( { ?U +2 "manipulator"&% +3 "core" % B +3 .tForearm.seek :retract + "manipulator"&k'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( + "manipulator"&D& +4 "core" & g \\ +2 "storage"(A& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +60 "core" 1 +3 "manipulator"&1% +4 "core" % | H + "storage"(,& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&J'Ϩ +20 "core" ' +2 "manipulator"&l& +3 "core" & 7 \\ +2 "storage"(z& +4 "core" & #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&`'9 +18 "core" ' + "storage"(% +4 "core" %F 7 +3 ."downElevator"SE.seek :down +4 "storage"(d'X +99 (f% +10 "core" %I M OC +2 "manipulator"&t% +5 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +95 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'j& +3 "core" & f g +2 "manipulator"&3% +4 "core" %\ \ 5 +2 "storage"(% +4 "core" %`  +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(*( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&I& +4 "core" & \\ +2 .tElbow.seek 2 +2 "manipulator"&!( +39 "core" ( +2 "manipulator"&_& +3 "core" & & , +3 "storage"(2& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +97 "core" ' + "storage"(.& +3 "core" &  X +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +288 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &   +2 "manipulator"&\\& +4 "core" & e , +3 .tElbow.seek 2 +2 "manipulator"&T( +21 "core" ( + "manipulator"&~& +4 "core" & >  +2 "storage"(E& +4 "core" &  r +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&G/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(='X +7 "core" & s  +2 "manipulator"&% +4 "core" %  K  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" && % J =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &&  =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'" +102 "core" ' +2 "manipulator"&}& +3 "core" &&  =A +2 "manipulator"&L% +5 "core" %( E + "collection"'e& +5 "core" & i g +2 "collection"'/& +5 "core" & i h +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & g h  +9 &8 f h *x +10 &l g i = +9 &p h i F +9 &{f g h F +10 &=e g g F +9 &e h f E +10 &f h g F +9 &e g h F +9 &De f h F +10 &e h h F +10 & e h h F +8 &"e h f F +10 &$Me i h F +9 &&e g h F +10 &'e g r F +9 &)h f i F +9 &+Tf h g F +10 &-e h h F +9 &.e h g F +9 &0f f h F +10 &2^d g f E +9 &4f h f F +10 &5e g e F +9 &7h f h F +9 &9de f g F +10 &;'f g f F +9 &<f f i F +9 &>f h f F +10 &@ld g g F +9 &B.f g g F +10 &Ch g h F +9 &En e e G +9 &Gox h h H +10 &I, h g J +9 &J h g M +9 &L h g P +10 &N_ h h P +9 &P g i P +10 &Q i i Q +9 &S f i R +9 &Ub f k ? +10 &VK h h V +9 &V+? i i &s +9 &VZ i j C +3 ( + "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&V1 +56 "core" 1 +3 "manipulator"&% +3 "core" % (  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%C& +3 "core" &e +2 "manipulator"&% +5 "core" %\ 5 + "storage"(o% +4 "core" %a  +2 "storage"(?. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(&& +49 "core" &   +4 "manipulator"&(& +5 "core" &%  << + "manipulator"&K% +4 "core" %\  5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&v( +163 "core" ( +2 "manipulator"&n& +3 "core" & ( W +2 "storage"( & +4 "core" &  : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +105 "core" ' +3 "storage"(8& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'i +276 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &   +2 "manipulator"& & +4 "core" & d W +2 .tElbow.seek 2 +2 "manipulator"&W( +4 "core" ( + "manipulator"&7& +4 "core" & W W +2 "storage"(& +3 "core" &  c +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"('X +8 "core" & J W +2 "manipulator"&0% +3 "core" % / { 7 +3 .tForearm.seek :retract +2 "manipulator"&5'\ +99 "core" ' +3 .tElbow.seek PC +2 "manipulator"&F(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( + "manipulator"&N& +4 "core" &r (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +100 "core" ' + "manipulator"&r& +5 "core" &r "  + "manipulator"&O% +4 "core" % 2 +2 "processing"%+& +4 "core" &Q +2 "processing"%& +5 "core" &e +2 .tPC.seek :closed +2 "processing"%@(Z +5 "core" &R  +8 &7R )v +10 &kM = +9 &sL G +10 &rdP G +9 &4dR G +9 &jR G +10 &gL G +9 &{dQ F +9 &=eQ F +10 &eE G +9 & eL F +10 &"gE F +9 &$EgH F +9 &&iN G +10 &'iL F +9 &)dP G +9 &+McC F +10 &-gO F +9 &.fQ F +10 &0kP G +9 &2UiP F +9 &4eP F +10 &5iD G +9 &7iK F +9 &9]fE F +10 &;hD G +9 &<hD G +10 &>eD F +9 &@dhB G +9 &B%iE G +10 &CjC G +9 &EpE H +9 &Ge{C I +10 &I#E K +9 &J: L +10 &LC L +9 &NgA K +9 &P&C L +10 &QB L +9 &S> L +9 &Uk< M +10 &W-2 M +9 &X: M +10 &Z?Ba9 %l +9 &Z -7 " +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +4 "core" &Z2 " +56 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 "processing"%& +3 "core" &ZS " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&)% +3 "core" %\  W  +3 "storage"(<% +4 "core" %W  + "storage"(a. +3 "core" .( +2 "storage"(;& +4 "core" &   +2 "storage"(m& +2 "manipulator"&y& +7 "core" &   + &r   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&B(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&& +3 "core" &r ]  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &r D  +3 .tForearm.seek PC + "manipulator"&w' +98 "core" ' + .tHand.close +41 "manipulator"&R/ +64 "core" / +2 .tPC.seek :open +2 "processing"%s( +43 "core" ' +2 "storage"(Q- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +341 ( + "storage"(Z& +4 "core" &   +2 "manipulator"&|& +4 "core" &r   + "manipulator"&% +5 "core" % \\  +2 .tForearm.seek :retract + "manipulator"&6'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&{( +257 "core" ( + "manipulator"&S& +4 "core" & { +2 "storage"(u& +3 "core" &  ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +95 "core" ' + .tHand.open +2 "manipulator"&M1 +54 "core" 1 +3 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(D'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"(c& +4 "core" &  r o M +2 "manipulator"&i& +3 "core" & M +2 .tElbow.seek 2 +2 "manipulator"&1( +4 "core" ( + "manipulator"&,& +4 "core" & j +2 "storage"(l& +4 "core" &  p q +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&k& +3 "core" & W +2 "storage"(f& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +20 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +24 "core" ' + "manipulator"&j% +5 "core" % + "storage"(3& +4 "core" &  i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&J' +18 "core" ' +2 "manipulator"&& +3 "core" & D +2 "storage"(%& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +26 "core" ' +2 "storage"(`% +3 "core" %n   +3 ."downElevator"SE.seek :down +4 "storage"(d'X +99 ("% +3 "core" %S  PF +2 "manipulator"&% +4 "core" %ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&I'\ +93 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (_& +3 "core" &  P +2 "collection"'2& +4 "core" &VZ h j C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&.% +3 "core" %\ " h > +2 "storage"(\ % +4 "core" %` l +2 "storage"(X. +3 "core" .( +2 "storage"(>& +4 "core" &  + "storage"($& +4 "core" &  E +2 "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&E& +4 "core" & +2 "storage"(G& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' +2 "storage"(& +42 "core" &  @ +10 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'i +276 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ; +3 "storage"(x& +4 "core" &  Z + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +19 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(L'O +29 "core" ' +2 "manipulator"&T% +3 "core" % J +2 "storage"(e& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&=' +19 "core" ' + "manipulator"&& +3 "core" & O +3 "storage"(g& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +38 "core" ' +2 "manipulator"&C& +4 "core" & +2 "manipulator"&% +3 "core" %Ѣ V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +159 "core" ( +4 "manipulator"&& +3 "core" &*  @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &) % < @[ +2 .tForearm.seek CC +2 "manipulator"&&'" +95 "core" ' + .tHand.close + "manipulator"&(/ +55 "core" / +2 .tCC.seek :open +2 "collection"'K( +416 "core" ( +2 "storage"(:& +4 "core" &   + "storage"(n& +4 "core" &   +2 "manipulator"& & +3 "core" &( Z >N +2 "manipulator"&8% +5 "core" % + +2 .tForearm.seek :retract + "manipulator"&H'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +157 "core" ( + "manipulator"&9& +4 "core" & i +2 "storage"(U& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +97 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"& % +5 "core" % q + "storage"(p& +4 "core" &  ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&0' +21 "core" ' +2 "manipulator"&v& +4 "core" &  + "storage"(#& +4 "core" &  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +30 "core" ' +2 "storage"(% +4 "core" %F  +2 ."downElevator"SE.seek :down +4 "storage"(N'X +98 ( % +3 "core" %(S  OE +2 "manipulator"&W% +4 "core" %ј s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'O& +3 "core" & j l +2 "manipulator"&+% +47 "core" %\ " P 9 +5 "storage"(% +3 "core" %\\  +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"([( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & 5  +2 "manipulator"&& +3 "core" & +3 .tElbow.seek 3 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&)& +3 "core" & , 2 +2 "storage"(<& +4 "core" & &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +96 "core" ' +2 "storage"(;& +4 "core" & P  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'i +289 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & J  +2 "manipulator"&& +4 "core" & = 2 +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&P& +4 "core" & A 2 +2 "storage"(R& +3 "core" &   +4 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(@'X +8 "core" & 2 +2 "manipulator"&% +4 "core" % ϰ 3 / +2 .tForearm.seek :retract + "manipulator"&Z'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( + "manipulator"&& +5 "core" & 3  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +97 "core" ' +3 "manipulator"&u& +3 "core" &!  8 +3 "manipulator"&B% +3 "core" %+ & +2 "collection"'M& +5 "core" & h j +2 "collection"'& +5 "core" & h h +2 .tCC.seek :closed + "collection"'^(V +4 "core" & g h  +9 &7 h i )w +9 &l j j = +10 &q h i F +9 &se i h F +10 &5e i i F +9 &f i h F +9 &e h i F +10 &{e h h F +9 &=g h j F +9 &f g f F +10 & e k i F +9 &"f h j F +10 &$Ee i k F +9 &&g i h F +9 &'e g i F +10 &)e i i F +9 &+Mf i h F +9 &-f i i F +10 &.e i k F +9 &0g h i F +10 &2Ve g h F +9 &4f g g E +9 &5g h k F +10 &7e g i F +9 &9]f i h F +9 &;f h j F +10 &<e i j F +9 &>g h q F +10 &@ee g h F +9 &B'e g f F +9 &Cg h j F +10 &Eh j h G +9 &Ggz h j H +9 &I$ h i J +10 &J i j N +9 &L i j P +10 &NX j i P +9 &P i j Q +9 &Q j h Q +10 &S g i R +9 &UZ k j A +9 &Vo> f k 0 +10 &VS i i > +5 ( +2 "collection"'& +4 "core" &VH j j > +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&c1 +63 "core" 1 +3 "manipulator"&i% +3 "core" % +  Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%l& +4 "core" &S +2 "manipulator"&6% +3 "core" %\  % +3 "storage"(k% +4 "core" %a + "storage"(f. +5 "core" .( +2 "storage"(j& +3 "core" &   +3 "storage"(3& +4 "core" &   + "manipulator"&& +4 "core" &  8 +2 "manipulator"&% +4 "core" %\  / % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&%( +165 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(`& +3 "core" & O  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +4 "manipulator"&{'9 +95 "core" ' +2 "storage"(4& +3 "core" & p  +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +283 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&z& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&& +4 "core" & D  +2 "storage"(t& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&2& + "storage"(.'X +8 "core" &  + "manipulator"&\ % +5 "core" % ϳ U \\ +2 .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&>(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +2 "manipulator"&-& +3 "core" &u  : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +97 "core" ' +2 "manipulator"&E& +3 "core" &u \\ +3 "manipulator"&G% +3 "core" %  +3 "processing"%q& +3 "core" &Z +3 "processing"%& +5 "core" &f +2 .tPC.seek :closed +2 "processing"%d(Z +3 "core" &Q  +10 &7U )u +9 &iX < +9 &vR H +10 &lcS F +9 &.gR F +10 &jQ G +9 &hP G +9 &tcQ F +10 &6eR F +9 &iP G +9 & hR F +10 &"|fR F +9 &$>gL F +10 &%jP G +9 &'jR G +9 &)gI G +10 &+FcE F +9 &-eJ F +10 &.bM G +9 &0jH G +9 &2MgM G +10 &4cJ F +9 &5fQ F +9 &7dR G +10 &9VcQ F +9 &;cQ F +9 &<hQ G +10 &>gN G +9 &@]gF G +10 &BfF G +9 &CkO G +9 &EqJ H +10 &G^zG I +9 &IH K +10 &JH L +9 &LG L +9 &N^D L +10 &PC L +9 &QG L +9 &SE M +10 &UdE M +9 &W&D M +9 &XG M +10 &Z7BbF %m +9 &Z4= \ +6 ( + "processing"%& +4 "core" &ZC +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&I% +3 "core" % f  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +2 "processing"%& +4 "core" &ZS +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&x% +5 "core" %\  X  + "storage"(}% +4 "core" %\\ n +2 "storage"(T. +3 "core" .( +2 "storage"(e& +4 "core" & K  +2 "storage"(& +2 "manipulator"&g& +5 "core" & p  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 "core" &u +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(C'i + "manipulator"&(s +7 "core" ( + "manipulator"&& +4 "core" &u  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &u +3 .tForearm.seek PC + "manipulator"&!' +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%=( +89 "core" ' + "storage"(L- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +50 "core" ' +281 ( + "storage"(/& +48 "core" &   +5 "manipulator"&V& +4 "core" &u +2 "manipulator"&]% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&('\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&o( +258 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(:& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +95 "core" ' +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "storage"(8- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(U' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' +2 "storage"(?& +3 "core" & o r   +2 "manipulator"&& +4 "core" & R  +2 .tElbow.seek 3 +2 "manipulator"& ( +8 "core" ( + "manipulator"&p& +4 "core" & W  +2 "storage"(v& +4 "core" & r p  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&H& +3 "core" &  +2 "storage"( & +4 "core" & Y  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&W'} +19 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +25 "core" ' +2 "manipulator"&0% +3 "core" %} +2 "storage"(O& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&+'ϩ +20 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(& +9 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +7 "manipulator"&5'9 +28 "core" ' +2 "storage"(Y% +4 "core" %r   +2 ."downElevator"SE.seek :down +4 "storage"(N'X +99 (*% +2 "core" %S  PF +3 "manipulator"&% +4 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" & \\  +2 "collection"'<& +4 "core" &VG j j > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&;% +4 "core" %\ " l < +2 "storage"(7% +4 "core" %b x +2 "storage"(r. +3 "core" .( +2 "storage"(m& +3 "core" &  +2 "storage"(& +3 "core" &  +3 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&P( +4 "core" ( + "manipulator"&R& +5 "core" & '  + "storage"(F& +4 "core" & m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +96 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(y& +4 "core" & l  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&w'} +28 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(u- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(B'P +39 "core" ' +2 "manipulator"& % +3 "core" %΃ \\ +2 "storage"(M& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&@'ϯ +20 "core" ' +2 "manipulator"&Z& +3 "core" & A  +2 "storage"(K& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(i'? +38 "core" ' +2 "manipulator"&l& +3 "core" & .  +2 "manipulator"&6% +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +157 "core" ( + "manipulator"&& +4 "core" &'  >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &' ' >L +2 .tForearm.seek CC +2 "manipulator"&3'" +99 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( + "storage"(S& +4 "core" &  +2 "storage"(D& +3 "core" &  +3 "manipulator"&`& +3 "core" &' S >L +2 "manipulator"&|% +5 "core" % 1  +2 .tForearm.seek :retract + "manipulator"&4'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&,( +177 "core" ( +2 "manipulator"&"& +3 "core" & S < +3 "storage"(& +4 "core" & '  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&z'} +99 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +62 "core" 1 +3 "manipulator"&_% +4 "core" % ΐ H +2 "storage"(2& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&\ 'ϼ +19 "core" ' +2 "manipulator"&%& +3 "core" & } < +2 "storage"({& +4 "core" & 0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +27 "core" ' +2 "storage"(J% +3 "core" %G +3 ."downElevator"SE.seek :down +4 "storage"(-'X +98 ($% +3 "core" %R  OE +2 "manipulator"&1% +5 "core" %? J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'G& +3 "core" & i k +2 "manipulator"&q% +4 "core" %\  +2 "storage"(.% +4 "core" %` B +2 "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(s( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&I& +3 "core" & ; < +46 .tElbow.seek 2 +5 "manipulator"&( +3 "core" ( +2 "manipulator"&x& +4 "core" & y < +2 "storage"(}& +4 "core" &  < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +96 "core" ' +2 "storage"(e& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &   +2 "manipulator"&& +4 "core" & < +3 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&\\& +3 "core" & < +3 "storage"(& +4 "core" &  x +2 .tForearm.seek 2 + 300 counts + "manipulator"&L' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +4 "storage"(d'X +4 "core" & < +3 "manipulator"&C% +4 "core" % \ ? +3 .tForearm.seek :retract +2 "manipulator"&/'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&]& +4 "core" &( $ >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +2 "core" &' C >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +2 "manipulator"&:& +4 "core" &( P >N +2 "manipulator"&% +3 "core" %(  +3 "collection"' & +3 "core" & j j +3 "collection"'8& +5 "core" & k j +2 .tCC.seek :closed +2 "collection"'&(V +4 "core" & j j +8 &A i i #c +10 &\\ i k 6 +9 & g j G +9 &g h h F +10 &g h j F +9 &hf i j F +9 &*g k h F +10 &g h k F +9 &f g j F +10 &pg g i F +9 & 2e g i F +9 &!g h i F +10 &#f i i F +9 &%wg j i F +9 &'9f j k F +10 &(f i i F +9 &*f i k F +10 &,f h i F +9 &.Ae k i F +9 &0e h j F +10 &1f h h F +9 &3e i j F +9 &5If h j F +10 &7 g i j F +9 &8e j k F +10 &:g i l F +9 &f k j F +10 &?c i i F +9 &Ag h h F +9 &CYg i k F +10 &Eh i j F +9 &Fs j j H +10 &H i j I +9 &JO j k M +9 &L k j O +10 &M k k P +9 &O j j Q +9 &QL i i P +10 &S\ j j R +9 &T j j Q +10 &V5] k k * +9 &V" j l C +9 ( + &VR k k @ +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&?1 +54 "core" 1 +3 "manipulator"&% +3 "core" % (  t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%v& +3 "core" &d +2 "manipulator"&(% +4 "core" %\  m  +3 "storage"(H% +4 "core" %a  + "storage"( . +3 "core" .( +2 "storage"(0& +3 "core" &  +3 "storage"(& +4 "core" &   + "manipulator"&O& +4 "core" &( E >N +2 "manipulator"&% +3 "core" %\  :  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&9( +159 "core" ( +2 "manipulator"&& +3 "core" & Q  +2 "storage"(Y& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +94 "core" ' +2 "storage"(n& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'i +283 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  = +46 "manipulator"&#& +8 "core" & _  + .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(W& +4 "core" &  7 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&+' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&<& + "storage"(;'X +7 "core" & \\  +2 "manipulator"&7% +3 "core" %  ' +3 .tForearm.seek :retract +2 "manipulator"& '\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( + "manipulator"&m& +4 "core" &o  c  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &o  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&R& +3 "core" &o `  +2 "manipulator"&F% +5 "core" %   +2 "processing"%5& +4 "core" &j +2 "processing"%& +5 "core" &Z +2 .tPC.seek :closed +2 "processing"%N(Z +5 "core" &Y +6 &F^ #c +10 &\\X 6 +9 &T G +9 &dZ F +10 &jZ G +9 &fhT F +9 &(eS F +10 &hR G +9 &gQ G +10 &neP F +9 & 0gO F +9 &!eQ G +10 &#dP F +9 &%vfP F +9 &'7dQ G +10 &(hR F +9 &*gS F +10 &,~jO F +9 &.?eR G +9 &0cO F +10 &1fP F +9 &3hH G +9 &5GgC G +10 &7\ dI F +9 &8fP F +10 &:hO G +9 &cN F +9 &?eP G +9 &AdP F +9 &CViN G +10 &EmP G +9 &FuR H +10 &HQ J +9 &JQJ L +9 &LJ L +10 &MJ L +9 &OD L +9 &QXC L +10 &SK M +9 &TG L +10 &VG L +9 &X^G M +9 &ZvuG !i +10 &Z'lG + +9 ( + &Z9 " +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&'1 +53 "core" 1 + "manipulator"&% +4 "core" % L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +101 "core" ' + "processing"%& +5 "core" &Z5 " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&y% +3 "core" %\ \ i  +2 "storage"(u% +4 "core" %a t +2 "storage"( . +3 "core" .( +2 "storage"(M& +3 "core" &  { +3 "storage"(Z& +2 "manipulator"&K& +5 "core" &  z +3 &o  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(l'i + "manipulator"&6(s +6 "core" ( +2 "manipulator"&h& +4 "core" &o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &P& +2 "core" &o M  +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&w/ +63 "core" / +6 .tPC.seek :open + "processing"%@( +81 "core" ' +2 "storage"(B- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +298 ( + "storage"(j& +4 "core" &   +2 "manipulator"&c& +3 "core" &o  +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +248 "core" ( +2 "manipulator"&^& +3 "core" &\ ~ ^ +2 "storage"(S& +51 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +92 "core" ' + .tHand.open +2 "manipulator"&`1 +58 "core" 1 +2 "storage"(|- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(f& +3 "core" &  @ J +3 "manipulator"&t& +4 "core" &\ h ] +2 .tElbow.seek 2 + "manipulator"&_( +4 "core" ( +2 "manipulator"&2& +3 "core" &\ q ] +3 "storage"(%& +4 "core" &  J J  +2 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(J' +59 "core" ' +2 "manipulator"&4& +3 "core" &\ = ] +2 "storage"($& +4 "core" &  a +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&1' +24 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +30 "core" ' + "manipulator"&\ % +4 "core" % h +2 "storage"(G& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&q' +21 "core" ' +2 "manipulator"&.& +3 "core" & o ] +2 "storage"(X& +4 "core" &  9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +21 "core" ' +2 "storage"(A% +4 "core" %q E +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 ([% +3 "core" %wU T PG +2 "manipulator"&% +3 "core" %ѣ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +91 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &  % +2 "collection"'}& +4 "core" &VR k l @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&e% +4 "core" %\    +2 "storage"(% +3 "core" %U  +2 "storage"(E. +4 "core" .( + "storage"(& +4 "core" &   +2 "storage"(g& +4 "core" &  N +2 "manipulator"&& +3 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&& +4 "core" & \\ ] +2 "storage"(>& +4 "core" &  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +92 "core" ' +2 "storage"(C& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & ] +2 "storage"(!& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +19 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +34 "core" ' +2 "manipulator"&~% +47 "core" % +4 "storage"( & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&d' +18 "core" ' + "manipulator"&/& +5 "core" & K \\ + "storage"(& +4 "core" &  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('@ +37 "core" ' + "manipulator"&v& +5 "core" & \\ + "manipulator"&(% +4 "core" %ј r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +154 "core" ( +2 "manipulator"&0& +3 "core" &#  g ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# 2 ;2 +3 .tForearm.seek CC +2 "manipulator"&8'" +96 "core" ' + .tHand.close +2 "manipulator"&O/ +61 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"(& +3 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&Y& +3 "core" &" l 8 +2 "manipulator"&n% +5 "core" % 2 1 +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&p( +159 "core" ( +2 "manipulator"&*& +4 "core" &  + "storage"(& +5 "core" &  L + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&#' +95 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +63 "core" 1 +2 "manipulator"&)% +3 "core" % ~ +2 "storage"(<& +4 "core" &  . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 298 counts +3 "manipulator"&7'\ +16 "core" ' + "manipulator"&9& +4 "core" &   +2 "storage"(o& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +26 "core" ' +2 "storage"(+% +3 "core" %G  \ +3 ."downElevator"SE.seek :down +4 "storage"(m'X +98 (% +3 "core" %Q ' OD +2 "manipulator"& % +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +94 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'F& +3 "core" & j k +2 "manipulator"&5% +5 "core" %\ # = + "storage"(;% +4 "core" %_ Z +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(=( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &   +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&( +41 "core" ( +2 "manipulator"&y& +3 "core" & g b +2 "storage"(u& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +97 "core" ' +2 "storage"(M& +3 "core" & T  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +47 .tSE.seek :beamBreak +5 "storage"(Z'i +279 "core" ' +3 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&h& +5 "core" &\ [ ] + .tElbow.seek 3 +2 "manipulator"&P( +4 "core" ( +2 "manipulator"&& +4 "core" & ] + "storage"(w& +3 "core" & |  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&B'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +4 "storage"(N'X +4 "core" & ~ \\ +2 "manipulator"&l% +6 "core" % ϱ +2 .tForearm.seek :retract + "manipulator"&j'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&Q& +3 "core" &% } <= +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &% <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +6 "manipulator"&^'" +96 "core" ' +2 "manipulator"&S& +3 "core" &% s <= +3 "manipulator"&6% +4 "core" %%  +2 "collection"'`& +3 "core" & i i +3 "collection"'|& +5 "core" & j j +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" & i k +7 &I i k #c +9 &\\ i k 6 +10 &$ h l G +9 &d k l F +9 &f j k G +10 &kc i i F +9 &-e k j F +9 &e j i F +10 &e i i F +9 &se h i F +9 & 4e i k F +10 &!e j k F +9 &#h h j F +10 &%{e i j F +9 &'=e g i F +9 &(e k k F +10 &*e i j F +9 &,e k i F +9 &.De i j F +10 &0e h l F +9 &1f j k F +10 &3e i i F +9 &5Le k j F +9 &7e h i F +10 &8d i k F +9 &:b j h F +9 &e k k F +9 &?f j i F +10 &Ab h k F +9 &C\\f k i F +9 &Eh i j G +10 &Fs h k H +9 &H j l I +9 &JQ i m M +10 &L i j P +9 &M k k P +10 &O k k Q +9 &QN i m Q +9 &S k k R +10 &T j k R +9 &V@h k k / +9 &V h m 8 +10 &Wm k k D +5 ( +2 "collection"'|& +4 "core" &W_ j k D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&f1 +57 "core" 1 +3 "manipulator"&t% +4 "core" % %  f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%%& +5 "core" &_ + "manipulator"&% +4 "core" %\   +2 "storage"(4% +3 "core" %X  +2 "storage"($. +4 "core" .( + "storage"(\ & +4 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&G& +4 "core" &% t << +2 "manipulator"&"% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&.( +172 "core" ( +2 "manipulator"&X& +3 "core" & $ 0 +3 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +100 "core" ' +2 "storage"(D& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +275 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ?  +2 "manipulator"&{& +3 "core" & 0 +3 .tElbow.seek 3 + "manipulator"&_( +4 "core" ( +2 "manipulator"&J& +3 "core" & 0 +2 "storage"(1& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +98 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&}& + "storage"(e'X +6 "core" &  0 +3 "manipulator"&% +3 "core" % v > +3 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +3 "manipulator"&& +5 "core" &o F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' +2 "manipulator"&& +3 "core" &o +3 "manipulator"&>% +3 "core" % j +3 "processing"%i& +4 "core" &P +2 "processing"%C& +5 "core" &e +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &W  +9 &9Y *x +9 &kY = +9 &rZ G +10 &ybZ G +9 &<cV F +10 &eW F +9 &dY G +9 &cQ F +10 &DeN F +9 &iP G +9 & gT F +10 &"cQ G +9 &$LcQ F +10 &&eP F +9 &'iQ G +9 &)iP F +10 &+ScQ G +9 &-hL F +9 &.eL F +10 &0jP G +9 &2ZgJ G +10 &4cI G +9 &5jQ F +9 &7eK F +10 &9cjG G +9 &;&gP F +9 &<hL G +10 &>hK F +9 &@lgL F +10 &B.hQ F +9 &CjQ G +9 &ErQ H +10 &GmI I +9 &I)I K +9 &JM L +10 &LK L +9 &NmJ L +10 &P.C L +9 &QH M +9 &SG L +10 &UrH M +9 &W5J L +9 &XJ M +10 &ZGEbD #h +9 &Z&F $ +5 ( +2 "processing"%C& +4 "core" &Z? $ +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&,1 +52 "core" 1 +2 "manipulator"&I% +3 "core" % V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +92 "core" ' +2 "processing"%]& +4 "core" &ZI $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&!% +4 "core" %\  ^  +2 "storage"(:% +3 "core" %a  +2 "storage"(~. +3 "core" .( +2 "storage"( & +4 "core" &   +2 "storage"(/& +4 "manipulator"&& +5 "core" &   + &o s +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +5 "manipulator"&v(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(('i +2 "core" ( +3 "manipulator"&b& +3 "core" &o r +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &o +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +3 .tPC.seek :open +2 "processing"%d( +86 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +42 "core" ' +294 ( + "storage"(& +4 "core" & $  +2 "manipulator"&?& +4 "core" &o + "manipulator"&L% +4 "core" % q $ +3 .tForearm.seek :retract + "manipulator"&O'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&H( +244 "core" ( +2 "manipulator"&&& +4 "core" & t \\ + "storage"(& +4 "core" & 8  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + .tHand.open +2 "manipulator"&Y1 +55 "core" 1 +2 "storage"(n- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +23 "core" ' +48 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"( & +4 "core" & q q '  +2 "manipulator"&W& +3 "core" &\ ~ Y +3 .tElbow.seek 3 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&<& +3 "core" &\ Y +2 "storage"(9& +5 "core" & q r   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(+' +58 "core" ' + "manipulator"&V& +4 "core" &\ Y +2 "storage"(& +3 "core" & #  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +21 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(#'i +22 "core" ' +2 "manipulator"&F% +3 "core" %x a +3 "storage"(7& +3 "core" & G  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&5'Ϥ +11 "core" ' +2 "manipulator"&;& +3 "core" &\ 1 Y +3 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' + "storage"(U% +5 "core" %p ) +2 ."downElevator"SE.seek :down +3 "storage"(m'X +99 (s% +3 "core" %VX $ QI +2 "manipulator"&'% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" & L  +2 "collection"'u& +4 "core" &W_ j l D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&M% +3 "core" %\ \ {  +2 "storage"(% +4 "core" %a q +2 "storage"(R. +3 "core" .( + "storage"(K& +5 "core" & I  + "storage"(& +4 "core" &   +2 "manipulator"&h& +3 "core" &\ Y +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&w& +3 "core" &\ Y +2 "storage"(r& +5 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +93 "core" ' +2 "storage"(l& +4 "core" & ?  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &\ Y +2 "storage"(& +3 "core" & T  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&Z'} +20 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'P +27 "core" ' +2 "manipulator"&P% +3 "core" %· +2 "storage"(`& +4 "core" & ?  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&N'ϳ +20 "core" ' +2 "manipulator"&j& +3 "core" &\  X +3 "storage"(& +4 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +48 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate + "storage"(t'? +37 "core" ' +2 "manipulator"&%& +4 "core" &\ X +2 "manipulator"&% +3 "core" %x l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +152 "core" ( +3 "manipulator"&\ & +4 "core" &' >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &' ) >M +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&G/ +65 "core" / + .tCC.seek :open +2 "collection"'"( +416 "core" ( +2 "storage"(^& +3 "core" &   +2 "storage"(X& +4 "core" &   +2 "manipulator"&A& +3 "core" &' + >L +2 "manipulator"&D% +5 "core" %  ] +2 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&2( +142 "Can" 2- c +10 "core" ( +2 "manipulator"&[& +4 "core" & y  +2 "storage"(& +3 "core" & o  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"&{'} +98 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&11 +55 "core" 1 +2 "manipulator"&x% +4 "core" % ΐ Z +2 "storage"(}& +4 "core" & /  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +20 "core" ' +3 "manipulator"&.& +4 "core" &   +2 "storage"(k& +3 "core" & |  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +34 "core" ' + "storage"(q% +5 "core" %=  \ +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (g% +3 "core" %N  NB +2 "manipulator"&_% +3 "core" %> y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'>& +3 "core" & l k +2 "manipulator"&i% +4 "core" %\ " = +2 "storage"(e% +4 "core" %`  +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(@( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +2 "core" & < +2 "manipulator"&I& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&]( +37 "core" ( +2 "manipulator"&!& +3 "core" & J l +2 "storage"(:& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +99 "core" ' +2 "storage"( & +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &   +2 "manipulator"&b& +3 "core" & a j +3 .tElbow.seek 2 +2 "manipulator"&\\( +28 "core" ( +3 "manipulator"&& +3 "core" & y  +48 "storage"(& +4 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(-'X +8 "core" & ?  +2 "manipulator"&(% +3 "core" %  @ v +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&L& +4 "core" && 6 D >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' V >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'" +101 "core" ' +2 "manipulator"&& +3 "core" &' !  >N +2 "manipulator"&v% +5 "core" %$ N +2 "collection"'Y& +4 "core" & k k +2 "collection"'n& +5 "core" & j j +2 .tCC.seek :closed +3 "collection"'8(V +2 "core" & j l +8 &8 k l #b +9 &\\ k k 6 +9 & k j G +10 &c k k F +9 &h k j F +9 &_e h j F +10 &!g k k F +9 &g i j F +10 &f k i F +9 &ff j j F +9 & )c h k F +10 &!g k l F +9 &#g j j F +9 &%ng k i F +10 &'0e l l F +9 &(e j j F +10 &*f j i F +9 &,ve h k F +9 &.:c h j F +10 &/g j k F +9 &1g j k F +9 &3f k k F +10 &5Ae h k F +9 &7g k k F +10 &8e j l F +9 &:g k j F +9 & i k k F +9 &?g l k F +9 &Af h k F +10 &CPg h l F +9 &Eg j l F +10 &Fr j l H +9 &H l j I +9 &JG m j L +10 &K i l P +9 &M k l P +9 &O j k P +10 &QC k k P +9 &S j m R +10 &T k l Q +9 &V-Z l l / +9 &V j l K +10 ( + &Vk j k F +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open + "manipulator"&O1 +54 "core" 1 +4 "manipulator"& % +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%<& +3 "core" &f +3 "manipulator"&9% +4 "core" %\ \ R  + "storage"(V% +4 "core" %b   +2 "storage"(. +3 "core" .( +2 "storage"(0& +3 "core" &   +2 "storage"(F& +5 "core" &   + "manipulator"&7& +5 "core" &&  =G + "manipulator"&;% +4 "core" %\ \ 5  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +161 "core" ( + "manipulator"&*& +4 "core" & m  +2 "storage"(U& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +103 "core" ' +2 "storage"(& +3 "core" &  m +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &   +2 "manipulator"&o& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&)( +2 "core" ( +2 "manipulator"&+& +4 "core" & L  +2 "storage"( & +3 "core" &  Q +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&5' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(M'X +8 "core" & H  + "manipulator"&% +4 "core" %  h +3 .tForearm.seek :retract + "manipulator"&R'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&#(s +164 "core" ' + ."downElevator"SE.stop +49 "storage"(5 +36 "core" ( + "manipulator"&K& +5 "core" &w ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &w 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&h' +103 "core" ' +2 "manipulator"&w& +4 "core" &w t +2 "manipulator"&r% +5 "core" % < +2 "processing"%& +4 "core" &` +2 "processing"%l& +4 "core" &N +3 .tPC.seek :closed +2 "processing"%m(Z +4 "core" &T +8 &ER #a +9 &[S 5 +10 &W G +9 &aN G +9 &hR G +10 &ZfV G +9 &bT G +9 &iR F +10 &gP F +9 &bjO G +10 & $hQ G +9 &!cN F +9 &#eP G +10 &%jgN G +9 &',dP G +9 &(hP F +10 &*eS G +9 &,scP F +10 &.4dQ G +9 &/bQ F +9 &1dI F +10 &3zdK G +9 &5=dP F +9 &6gQ F +10 &8dG G +9 &:bJ G +10 &fD G +9 &?cD G +10 &AdE G +9 &CLhC G +9 &E mD G +10 &FuE H +9 &HQ J +10 &JFN L +9 &LE L +9 &ME L +10 &OE L +9 &QKF M +9 &S F M +10 &TI M +9 &VF M +10 &XRI M +9 &YxwD !i +9 &Z+yI / +10 ( + &ZD " +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&p1 +52 "core" 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + "processing"%Q& +5 "core" &ZV " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  4  +3 "storage"(S% +3 "core" %b +2 "storage"(P. +3 "core" .( +2 "storage"(`& +3 "core" &  1 +3 "storage"(j& +2 "manipulator"&& +7 "core" &  +2 &w W +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&%(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&a& +4 "core" &w S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&Z/ +56 "core" / +2 .tPC.seek :open +2 "processing"%N( +93 "core" ' +2 "storage"(6- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'y +49 "core" ' +280 ( +2 "storage"(|& +3 "core" &   +2 "manipulator"&f& +4 "core" &w +2 "manipulator"&B% +4 "core" % z # +2 .tForearm.seek :retract + "manipulator"&G'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&4( +272 "core" ( + "manipulator"&3& +4 "core" & W 9 +2 "storage"(^& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +96 "core" ' +2 .tHand.open + "manipulator"&A1 +55 "core" 1 +2 "storage"(D- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"($& +4 "core" &  q q  +2 "manipulator"&1& +4 "core" & S 8 +2 .tElbow.seek 2 + "manipulator"&x( +15 "core" ( +2 "manipulator"&}& +4 "core" & W % + "storage"(.& +52 "core" &  r r  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +55 "core" ' +2 "manipulator"&c& +4 "core" & $ +6 "storage"(g& +5 "core" &  b + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_' +25 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +23 "core" ' +2 "manipulator"&% +3 "core" % = +2 "storage"(>& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&i' +18 "core" ' +2 "manipulator"&e& +4 "core" & Y $ +2 "storage"(E& +3 "core" &  < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +29 "core" ' +2 "storage"(% +4 "core" %r , +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (=% +4 "core" %U  PH +2 "manipulator"&,% +4 "core" %Ѥ \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (!& +3 "core" &   +2 "collection"':& +4 "core" &Vj k l F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %\   +2 "storage"(J% +3 "core" %` +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" &  ^ +2 "storage"(C& +3 "core" &  < +3 "manipulator"&b& +3 "core" & f $ +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & 6 $ +2 "storage"(z& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +95 "core" ' +2 "storage"((& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +276 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & ~ $ +3 "storage"(& +4 "core" &  q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&/' +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'P +29 "core" ' +2 "manipulator"&\\% +3 "core" % + S +2 "storage"(Y& +4 "core" &  T +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&-' +20 "core" ' +2 "manipulator"&& +3 "core" & $ +2 "storage"("& +4 "core" &  % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '? +39 "core" ' +2 "manipulator"&<& +3 "core" & ; $ +3 "manipulator"&9% +4 "core" %ќ U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +158 "core" ( +8 "manipulator"&0& +5 "core" &+ T Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &+ I Bg +3 .tForearm.seek CC +2 "manipulator"&F'" +97 "core" ' +2 .tHand.close + "manipulator"&7/ +53 "core" / +2 .tCC.seek :open +2 "collection"';( +413 "core" ( +3 "storage"(&& +4 "core" &  Y + "storage"(*& +5 "core" &   + "manipulator"&U& +4 "core" &) M ?V +2 "manipulator"&% +4 "core" % 4 +2 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +165 "core" ( +2 "manipulator"&s& +3 "core" & J z +2 "storage"('& +4 "core" &  b +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&o' +100 "core" ' +2 .tElbow.hold + "manipulator"&+, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&y% +4 "core" % D +3 "storage"(u& +6 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"& & +3 "core" & 1 z +2 "storage"(H& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"(5% +3 "core" %D C +3 ."downElevator"SE.seek :down +3 "storage"(K'X +99 (% +3 "core" %]O  OD +2 "manipulator"&)% +5 "core" %э +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +3 "collection"'r& +3 "core" & m k +2 "manipulator"&% +4 "core" %\ ! \  4 +2 "storage"(M% +4 "core" %b  +2 "storage"(R. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(d( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "core" & v   +3 "manipulator"&& +3 "core" & z +2 .tElbow.seek 3 +2 "manipulator"&Q( +13 "core" ( + "manipulator"&& +4 "core" & E b +2 "storage"(S& +3 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +97 "core" ' + "storage"(`& +4 "core" & T  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &   +2 "manipulator"&a& +3 "core" & # b +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&h& +3 "core" & b +3 "storage"(Z& +4 "core" & w  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +30 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(m'X +7 "core" & [ b +2 "manipulator"&% +49 "core" % ϴ +3 .tForearm.seek :retract +2 "manipulator"&|'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +53 "core" ( +2 "manipulator"&B& +3 "core" & 5 ^ 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & 8 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&3'" +99 "core" ' +3 "manipulator"&^& +4 "core" & ? 7 +2 "manipulator"&%% +3 "core" %+ +3 "collection"'A& +3 "core" & l m +3 "collection"'D& +5 "core" & k m +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & j m +7 &I k l #c +9 &_ l l 7 +10 &+ k m G +9 &b k k E +9 &g m k F +10 &te j k F +9 &6e k n F +10 &f m m E +9 &f j j F +9 &|e k k F +10 & >f k n F +9 &"e j m E +9 &#g l k F +10 &%g k l F +9 &'Fe l l F +10 &)e l l F +9 &*i j k F +9 &,e k j F +10 &.Ne k k F +9 &0h k m F +9 &1f l l F +10 &3e l l F +9 &5We k k E +10 &7f j l F +9 &8e k k F +9 &:e l n F +10 &<]d l j F +9 &>g j k F +9 &?f k m F +10 &Af l k F +9 &Cfg l j F +10 &E&k n m F +9 &Ft j l H +9 &H j n I +10 &J[ l n L +9 &L o m P +9 &M m l P +10 &O k m P +9 &QX k l P +10 &S m l R +9 &T l l Q +9 &VCd k n - +10 &V l m _ +9 ( + &Vv m m Q +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&$1 +55 "core" 1 +3 "manipulator"&1% +3 "core" % + ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +104 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%.& +3 "core" &Q +2 "manipulator"&G% +5 "core" %\ \ ;  + "storage"(c% +4 "core" %a s +2 "storage"(g. +3 "core" .( +2 "storage"(\ & +3 "core" &   +2 "storage"([& +4 "core" &   +2 "manipulator"&& +4 "core" & r 7 +2 "manipulator"&>% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&e( +172 "core" ( +2 "manipulator"&E& +3 "core" & B 7 +2 "storage"(4& +4 "core" & l  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + "storage"(X& +4 "core" & C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &   +2 "manipulator"&k& +4 "core" & t 7 +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&q& +3 "core" & \\ 7 +2 "storage"(_& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"( 'X +8 "core" & 7 + "manipulator"&J% +5 "core" % ϭ 3 +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +4 "manipulator"&{& +3 "core" &p f  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&b' +103 "core" ' +2 "manipulator"&& +3 "core" &q f  +3 "manipulator"&z% +4 "core" % - +47 "processing"%t& +5 "core" &c +3 "processing"%(& +5 "core" &e +3 .tPC.seek :closed + "processing"%(Z +5 "core" &V +7 &FM #b +10 &\\V 6 +9 &T G +9 &fO G +10 &gT G +9 &acN G +10 &$hO F +9 &eO F +9 &cR G +10 &ihR G +9 & +hQ G +9 &!eO G +10 &#eO F +9 &%piR G +10 &'4cF F +9 &(eN F +9 &*cP G +10 &,ycO G +9 &.;gT G +9 &/eN G +10 &1eJ F +9 &3hC G +10 &5DhC F +9 &7eE F +9 &8hD G +10 &:bC F +9 & dC G +10 &?eD G +9 &AeC G +10 &CSiG G +9 &EmC G +9 &FuJ H +10 &HE J +9 &JLE L +9 &LF L +10 &ME L +9 &OE L +10 &QSM L +9 &SM M +9 &TG M +10 &VE M +9 &XZI M +9 &YxxG !i +10 &Z(qE , +9 ( + &ZB " +2 "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&21 +62 "core" 1 +2 "manipulator"&I% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +99 "core" ' +2 "processing"%L& +3 "core" &ZB " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\  +3 "storage"(% +3 "core" %b  +2 "storage"(\\. +3 "core" .( +2 "storage"(Y& +4 "core" & ;  +2 "storage"(& +2 "manipulator"&"& +8 "core" & b  + &q ,  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&<(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'i +2 "core" ( +2 "manipulator"&T& +4 "core" &q V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q {  +2 .tForearm.seek PC +2 "manipulator"&]' +96 "core" ' +3 .tHand.close +2 "manipulator"&// +58 "core" / +2 .tPC.seek :open +2 "processing"%-( +83 "core" ' +2 "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'y +46 "core" ' +289 ( +2 "storage"(n& +5 "core" &   +2 "manipulator"&O& +4 "core" &q 9  + "manipulator"&% +5 "core" % E +2 .tForearm.seek :retract + "manipulator"&7'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&V( +257 "core" ( +2 "manipulator"&8& +4 "core" &  + "storage"(&& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +107 "core" ' +3 .tHand.open +2 "manipulator"&U1 +54 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(s'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"('' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(F- +2 "core" -' +2 "storage"(& +4 "core" &\ -   +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&u& +4 "core" &  +2 "storage"( & +3 "core" &\ -  =  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(5' +58 "core" ' + "manipulator"&?& +4 "core" &  +2 "storage"(& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +47 "manipulator"&#Q@2^d^b +6 .tForearm.seek 3 +2 "manipulator"&)'} +20 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'i +25 "core" ' +2 "manipulator"&% +3 "core" %r % +3 "storage"(r& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 289 counts +2 "manipulator"&'Ϟ +19 "core" ' +2 "manipulator"&M& +3 "core" & S  +3 "storage"(R& +4 "core" & `  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +28 "core" ' + "storage"(% +4 "core" %r +3 ."downElevator"SE.seek :down +5 "storage"(K'X +99 (@% +3 "core" %Y PG +2 "manipulator"&p% +3 "core" %! & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & -  +2 "collection"'S& +4 "core" &Vu l n Q +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&`% +4 "core" %\ # A + "storage"(+% +4 "core" %O  +2 "storage"(w. +3 "core" .( +2 "storage"(j& +4 "core" &   +2 "storage"(l& +3 "core" &   +3 "manipulator"&a& +3 "core" & \   +3 .tElbow.seek 3 + "manipulator"&h( +4 "core" ( +2 "manipulator"&Z& +4 "core" & F  +2 "storage"(#& +4 "core" & 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +108 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +278 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 5  +2 "storage"(B& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(%'Q +34 "core" ' +2 "manipulator"&A% +3 "core" %΍ A +2 "storage"(& +4 "core" & 8  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&m'Ϲ +20 "core" ' +2 "manipulator"&|& +3 "core" & 7  +2 "storage"(;& +4 "core" & V  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(1'@ +41 "core" ' +2 "manipulator"&.& +3 "core" & ~  +2 "manipulator"&G% +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +160 "core" ( +3 "manipulator"&D& +3 "core" &(  H ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &( + ?V +3 .tForearm.seek CC +2 "manipulator"&['" +99 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'>( +415 "core" ( +2 "storage"(3& +49 "core" &   +3 "storage"(E& +4 "core" &   +2 "manipulator"&4& +4 "core" &' =C + "manipulator"&X% +5 "core" % ' T +2 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&}( +159 "core" ( + "manipulator"&=& +4 "core" & p  +2 "storage"(,& +4 "core" & 5  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&k'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +55 "core" 1 +3 "manipulator"&!% +4 "core" % ΀ % +2 "storage"(:& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&J'Ϭ +19 "core" ' +2 "manipulator"&e& +4 "core" & _  +2 "storage"(& +3 "core" & "  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(i% +3 "core" %I v +3 ."downElevator"SE.seek :down +3 "storage"({'X +99 (C% +3 "core" %\ R  OD +2 "manipulator"&x% +4 "core" %@ T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'z& +3 "core" & n m +3 "manipulator"&t% +4 "core" %\  z  + "storage"( % +5 "core" %a _ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(N( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" & L +2 "manipulator"&I& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&L( +37 "core" ( + "manipulator"&& +5 "core" & i + "storage"(& +3 "core" &  y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +94 "core" ' +2 "storage"((& +4 "core" &  G +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +282 "core" ' + "storage"("- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&T& +3 "core" &\ h +3 .tElbow.seek 2 +2 "manipulator"&( +31 "core" ( +3 "manipulator"&b& +4 "core" & k +2 "storage"(/& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&v' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +3 "storage"('X +8 "core" & I k + "manipulator"&9% +5 "core" %  # e +2 .tForearm.seek :retract + "manipulator"&n'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&O( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( +2 "manipulator"&& +3 "core" &  ~ / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" & / +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&8'" +93 "core" ' +2 "manipulator"&&& +4 "core" & y / +2 "manipulator"&<% +3 "core" %$  +3 "collection"'U& +3 "core" & l l +3 "collection"'& +5 "core" & j m +2 .tCC.seek :closed +2 "collection"'F(V +5 "core" & m l +7 &J l k #c +9 &^ k m 7 +10 &' k m G +9 &b l l E +10 &g l k F +9 &og l k F +9 &2e l l F +10 &h m m F +9 &e l m E +9 &xe l m F +10 & ;e m m E +9 &!e l n F +10 &#c m l F +9 &%f l m F +9 &'Ce n l E +10 &)e l n F +9 &*c k l F +9 &,e m m F +10 &.Jc l m F +9 &0 d m m F +10 &1c k n F +9 &3e m l F +9 &5Qh k m F +10 &7f k l E +9 &8e k k F +9 &:f k n E +10 &g j o F +10 &?f m n F +9 &Aj k m F +9 &Cbg l m F +10 &E"k n l F +9 &Fs l m G +9 &H k m I +10 &JW l m L +9 &L k l P +10 &M l m P +9 &O l n P +9 &QS l m P +10 &S m m Q +9 &T o m R +9 &V>a m m , +10 &V o o X +9 ( + &V o m R +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +3 "manipulator"& % +4 "core" % $ | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &R +2 "manipulator"&7% +3 "core" %\  /  +2 "storage"(?% +3 "core" %b m +3 "storage"(. +3 "core" .( + "storage"(0& +5 "core" &  I + "storage"(s& +4 "core" &   +2 "manipulator"&& +4 "core" & / +2 "manipulator"&r% +4 "core" %\  x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&M( +158 "core" ( +2 "manipulator"&R& +3 "core" & O y +3 "storage"(V& +4 "core" &  3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +103 "core" ' + "storage"(*& +5 "core" &  ? +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +280 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &   +2 "manipulator"&H& +3 "core" & y +3 .tElbow.seek 2 + "manipulator"&y( +4 "core" ( +2 "manipulator"&5& +4 "core" & C y + "storage"()& +3 "core" &  x +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(`'X +8 "core" & y + "manipulator"&+% +4 "core" % : +2 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&o& +5 "core" &s  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&a' +94 "core" ' +2 "manipulator"&Z& +4 "core" &s +2 "manipulator"&#% +3 "core" % w  +3 "processing"% & +4 "core" &n +2 "processing"%& +5 "core" &X +2 .tPC.seek :closed + "processing"%K(Z +5 "core" &d +7 &FV #b +10 &\\P 6 +9 &N G +9 &eH G +10 &iS F +9 &beS F +9 &%eO F +10 &hO G +9 &hQ G +10 &ifV G +9 & +dO G +9 &!c[ F +10 &#f[ G +9 &%pfX G +9 &'3b^ G +10 &(hU G +9 &*gY G +10 &,ycO G +53 &.;hR G +4 &/gO G +3 &1fP F + &3fS F + &5DfV F + &7eP F +2 &8iR G +9 &:gP G +10 & cU G +10 &?iV G +9 &AjU G +9 &CRkP G +10 &EmP G +9 &FuN H +10 &HL K +9 &JMF L +9 &LL L +10 &MQ L +9 &ON M +9 &QRE M +10 &SD L +9 &TO M +10 &VL M +9 &XYL M +9 &YxxE "j +10 &Z&kD + +9 ( + &ZH " +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&W1 +62 "core" 1 +2 "manipulator"&% +4 "core" % 7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +99 "core" ' +2 "processing"%& +3 "core" &ZL " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&B% +4 "core" %\ "  @ +2 "storage"(^% +3 "core" %a  +3 "storage"(A. +3 "core" .( +2 "storage"(& +4 "core" &  H +2 "storage"(|& +2 "manipulator"&;& +7 "core" &  X + &s l +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&.(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(G'i +2 "core" ( +3 "manipulator"& & +3 "core" &s k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &h& +2 "core" &s w +3 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +5 .tPC.seek :open +2 "processing"%m( +85 "core" ' +2 "storage"(%- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'y +47 "core" ' +287 ( +2 "storage"(\ & +3 "core" &  & +2 "manipulator"&$& +4 "core" &s +2 "manipulator"&6% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&c( +260 "core" ( +2 "manipulator"&& +4 "core" & D  + "storage"(3& +4 "core" &  ` +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +96 "core" ' +2 .tHand.open + "manipulator"&41 +61 "core" 1 +2 "storage"(X- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(='E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(g& +3 "core" &  F H +3 "manipulator"&_& +4 "core" & T  + .tElbow.seek 2 +2 "manipulator"&!( +4 "core" ( + "manipulator"&:& +5 "core" &  + "storage"(e& +4 "core" &  I I 1 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +53 "core" ' +2 "manipulator"&f& +3 "core" & >  +2 "storage"(C& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&x' +24 "core" ' +2 .tElbow.hold + "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +23 "core" ' +2 "manipulator"&J% +4 "core" % + "storage"(z& +49 "core" &   +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&t' +18 "core" ' +2 "manipulator"& & +4 "core" & h  +2 "storage"(& +3 "core" &  } +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +32 "core" ' +2 "storage"(% +3 "core" %q m +3 ."downElevator"SE.seek :down +4 "storage"({'X +98 (d% +3 "core" %oX O QI +2 "manipulator"&2% +4 "core" %ѕ y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +94 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  n +2 "collection"'& +4 "core" &V l m R +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&(% +4 "core" %\ " ? +2 "storage"(q% +4 "core" %`  + "storage"(. +3 "core" .( +2 "storage"("& +3 "core" &  p +3 "storage"(& +4 "core" &  3 + "manipulator"&T& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&/& +3 "core" &  +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +91 "core" ' +2 "storage"(9& +3 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +282 "core" ' +3 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(Y& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'P +26 "core" ' +2 "manipulator"&<% +3 "core" %  D +2 "storage"(U& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&n& +5 "core" & /  + "storage"(>& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '? +38 "core" ' +2 "manipulator"& & +4 "core" & A  +2 "manipulator"&7% +3 "core" %ѝ c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +2 "manipulator"&& +4 "core" &( ] ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &( ?P +3 .tForearm.seek CC +2 "manipulator"&s'" +96 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'r( +413 "core" ( +2 "storage"(8& +3 "core" &   +2 "storage"(R& +4 "core" &   +2 "manipulator"&V& +4 "core" && m <9 +2 "manipulator"&*% +3 "core" % 0 4 +3 .tForearm.seek :retract + "manipulator"&O'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +157 "core" ( +40 "manipulator"&@& +12 "core" & \   +2 "storage"(p& +4 "core" &  _ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&H' +97 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&)1 +58 "core" 1 +4 "manipulator"&% +3 "core" % . +2 "storage"(S& +4 "core" &  4 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&+' +24 "core" ' +2 "manipulator"&M& +4 "core" & u  +2 "storage"(& +3 "core" &  V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +20 "core" ' +2 "storage"(% +3 "core" %H J \ +3 ."downElevator"SE.seek :down +4 "storage"(o'X +99 (l% +3 "core" % L  OC +2 "manipulator"&y% +3 "core" %o M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'#& +4 "core" & k o + "manipulator"& % +5 "core" %\   + "storage"(`% +4 "core" %` [ +2 "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" & k  +3 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +42 "core" ( +2 "manipulator"&B& +4 "core" & f % + "storage"(^& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +88 "core" ' + "storage"(& +4 "core" & L  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &   +2 "manipulator"& & +4 "core" & \  # +2 .tElbow.seek 3 + "manipulator"&h( +4 "core" ( + "manipulator"&a& +4 "core" & f # +2 "storage"(& +5 "core" & }  +3 .tForearm.seek 3 + 300 counts + "manipulator"&%'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(K'X +8 "core" & P # +2 "manipulator"&G% +4 "core" % ϣ z +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&6& +4 "core" &* A @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &) g @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +4 "manipulator"&3& +3 "core" &* P @W +2 "manipulator"&.% +5 "core" %-  2 +2 "collection"'4& +3 "core" & m n +3 "collection"'X& +5 "core" & j m +2 .tCC.seek :closed +2 "collection"'[(V +5 "core" & l l  +53 &9 k l *x +4 &/l k k = +2 &o j o F + &g o n F +4 &Tc k m F + &f k n E +2 &e l l F +7 &h l l F +9 &\\c m m F +10 &f m m F +9 & h l n F +10 &"f l l E +9 &$de k m F +9 &&&b m m F +10 &'f m n F +9 &)b m p F +9 &+me l n E +10 &-.e l n F +9 &.h m l F +9 &0e n n F +10 &2te j m F +9 &46h l o F +10 &5c l l F +9 &7e n m E +9 &9|e k n F +10 &;=i m l F +9 &=e k n E +9 &>f m m F +10 &@e k n E +9 &BEf k m F +10 &Dg l n F +9 &Em l m G +9 &G{ j l H +10 &IB m m J +9 &J l m N +10 &L m m O +9 &Nw m l P +9 &P9 m m P +10 &Q o o P +9 &S j m R +9 &Ux m o > +10 &V{8 k m - +9 &Vk o l A +5 ( +2 "collection"'X& +4 "core" &VW m n A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.76 +2 .Hand.open + "manipulator"&g1 +54 "core" 1 +3 "manipulator"&_% +3 "core" % .  1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%e& +4 "core" &d +2 "manipulator"&% +3 "core" %\ #  9 +3 "storage"(f% +4 "core" %a l +2 "storage"(C. +3 "core" .( +2 "storage"(J& +4 "core" &   + "storage"(D& +5 "core" &   + "manipulator"&z& +4 "core" &) @W +2 "manipulator"&=% +3 "core" %\ # 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +161 "core" ( + "manipulator"&& +5 "core" & U a + "storage"(c& +4 "core" & D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +95 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & O  +2 "manipulator"&2& +4 "core" & a +2 .tElbow.seek 3 +2 "manipulator"&!( +2 "core" ( +2 "manipulator"&i& +4 "core" &  a +2 "storage"(x& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(('X +8 "core" & a + "manipulator"&q% +4 "core" % Ϯ +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&"& +4 "core" &k / @  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' +2 "manipulator"&/& +4 "core" &k U  +2 "manipulator"&% +3 "core" %  +3 "processing"%1& +4 "core" &h +2 "processing"%9& +5 "core" &y +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &d  +9 &7c )v +9 &k] = +9 &wU G +10 &qf\\ G +9 &3c\\ G +9 &h\\ F +10 &cW F +9 &{e[ F +10 &<hW F +9 &iP G +9 & h[ F +10 &"h\\ G +9 &$Di] F +9 &&e] F +10 &'h\\ G +9 &)f^ G +10 &+LbY F +9 &- c\\ G +9 &.i^ G +10 &0h\\ G +9 &2Tc] F +9 &4f[ F +10 &5c\\ G +9 &7cU F +10 &9\\eM F +9 &;c[ G +9 &<i[ F +10 &>d[ G +9 &@ceV G +9 &B%eX G +10 &CiS G +9 &EnR H +10 &GeyI I +9 &I T K +9 &JP L +10 &LK L +9 &NdY L +9 &P%V L +10 &QQ L +9 &SJ M +10 &UjL M +9 &W+L M +9 &XK M +10 &Z?EcQ %k +9 &Z (N ! +5 ( +2 "processing"%9& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open + "manipulator"&}1 +2 "core" &ZJ ! +62 1 + "manipulator"&I% +4 "core" % e  +48 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +92 "core" ' +2 "processing"%& +3 "core" &Zc ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +3 "core" %\   +3 "storage"(% +4 "core" %U _ + "storage"(<. +3 "core" .( +2 "storage"(U& +3 "core" & c  +3 "storage"(n& +2 "manipulator"&>& +7 "core" & {  +2 &k  + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"& (s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(7'i +2 "core" ( + "manipulator"&~& +5 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &k Y  +3 .tForearm.seek PC +2 "manipulator"&L' +95 "core" ' +2 .tHand.close + "manipulator"&]/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +300 ( +2 "storage"(0& +3 "core" &   +2 "manipulator"&& +4 "core" &k  +2 "manipulator"&v% +3 "core" % y  +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&?( +246 "core" ( + "manipulator"&F& +5 "core" & m i + "storage"(8& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +95 "core" ' +2 .tHand.open + "manipulator"&V1 +65 "core" 1 +2 "storage"(*- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +8 #tLights, camera, ACTION! + "storage"(p- +3 "core" -' +2 "storage"(& +4 "core" & o o  +2 "manipulator"&)& +4 "core" & e +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&S& +3 "core" & g e +2 "storage"(M& +5 "core" & o q <  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&O& +3 "core" & d e +2 "storage"(l& +3 "core" & ?  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&y'} +27 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'i +25 "core" ' +2 "manipulator"&#% +4 "core" %Έ = +2 "storage"(+& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"& 'ϴ +20 "core" ' + "manipulator"&`& +3 "core" & l e +2 "storage"(w& +5 "core" & H  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +35 "core" ' +2 "storage"('% +3 "core" %s e +3 ."downElevator"SE.seek :down +51 "storage"(o'X +51 (N% +3 "core" %OP  PF +2 "manipulator"&W% +5 "core" %8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +108 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +2 "core" &  +3 "collection"'^& +3 "core" &VW l m A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ " U 9 +2 "storage"(5% +4 "core" %b w +2 "storage"(Z. +3 "core" .( +2 "storage"(;& +4 "core" & {  +2 "storage"(|& +3 "core" & }  +2 "manipulator"& & +5 "core" & 7 e + .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&& +5 "core" & e + "storage"(j& +4 "core" & }  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +100 "core" ' +2 "storage"(G& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & e +2 "storage"(Q& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'P +34 "core" ' + "manipulator"&4% +5 "core" %~ + "storage"(h& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&K'Ϫ +21 "core" ' +2 "manipulator"&\ & +3 "core" & [ d +3 "storage"(r& +4 "core" & S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'? +38 "core" ' +2 "manipulator"&e& +3 "core" & R d +2 "manipulator"&% +4 "core" %- | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +156 "core" ( +3 "manipulator"&J& +3 "core" &+ " [ Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &+ n Bj +3 .tForearm.seek CC + "manipulator"&D'" +97 "core" ' +2 .tHand.close + "manipulator"&z/ +57 "core" / +2 .tCC.seek :open + "collection"'=( +413 "core" ( +2 "storage"(& +3 "core" &   +2 "storage"(& +3 "core" &   +2 "manipulator"&c& +4 "core" &+ A_ +2 "manipulator"&% +4 "core" % / [ +2 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&:( +160 "core" ( +2 "manipulator"&& +4 "core" & @  + "storage"(d& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +98 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&x1 +57 "core" 1 +4 "manipulator"&% +4 "core" % ΐ +2 "storage"(& +4 "core" & )  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts +2 "manipulator"&q'ϼ +20 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(E& +3 "core" & 5  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +34 "core" ' +2 "storage"(t% +3 "core" %I < +3 ."downElevator"SE.seek :down +3 "storage"("'X +99 (% +3 "core" %Q  OD +2 "manipulator"&!% +5 "core" %? e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & l m +2 "manipulator"&1% +4 "core" %\  G  +2 "storage"((% +3 "core" %R D +2 "storage"(k. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(m( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &  +2 "manipulator"&I& +3 "core" & [  +3 .tElbow.seek 2 + "manipulator"&9( +39 "core" ( +2 "manipulator"&& +3 "core" & n !s +2 "storage"(Y& +4 "core" & L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + "storage"(<& +4 "core" & W +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'i +283 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" & L +2 "manipulator"&~& +4 "core" & g +2 .tElbow.seek 2 +2 "manipulator"&b( +33 "core" ( +2 "manipulator"&T& +4 "core" & A +2 "storage"(]& +3 "core" & K +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"({'X +8 "core" & A +2 "manipulator"&7% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&v& +4 "core" &* 3 I @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &) d @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'" +101 "core" ' +3 "manipulator"&8& +3 "core" &* @W +2 "manipulator"& % +4 "core" %# H +2 "collection"'V& +4 "core" & m n +3 "collection"'*& +5 "core" & m n +2 .tCC.seek :closed +2 "collection"'p(V +3 "core" & k m +9 &J n m $d +9 &^ m n 7 +10 &4 l m G +9 &` m l E +10 &f k n F +9 &}e n n F +9 &>d m m F +10 &e k m F +9 &d j m F +9 &b o m F +10 & Gd n o F +9 &" d n n F +9 &#h n m F +10 &%e n m F +9 &'Od m n F +10 &)b m m F +9 &*e l l F +9 &,e w m E +10 &.Ve j m F +9 &0e m m F +9 &1e n l E +10 &3e o o F +9 &5_e m m F +10 &7 h l o F +9 &8d m m F +9 &:e n m E +10 &(f n n F +9 &?e n l F +10 &Af n n F +9 &Cog k l F +10 &E/k k m F +9 &Fs m n H +9 &H~ n m I +10 &Jd l l L +9 &L o m P +9 &M m o P +10 &O n l P +9 &Q_ m n Q +10 &S n m Q +47 &T m o R +4 &VAX n n *~ +3 &V m o @ +2 ( + &VC n m > + &VD l m > + &VD m m > +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 7/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&)% +3 "core" % # M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%M& +3 "core" &] +2 "manipulator"&% +4 "core" %\  v  +2 "storage"(O% +4 "core" %X O +2 "storage"(l. +3 "core" .( +2 "storage"(#& +3 "core" & C +3 "storage"(& +4 "core" &  + "manipulator"&+& +5 "core" &( ?V + "manipulator"&@% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +161 "core" ( +2 "manipulator"&w& +4 "core" & +2 "storage"('& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +94 "core" ' + "storage"(R& +4 "core" & $ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'i +275 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & | +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & K +2 "storage"(y& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"('X +8 "core" & q +2 "manipulator"&5% +3 "core" % K +3 .tForearm.seek :retract + "manipulator"&H'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&;& +3 "core" &s  V  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &|& +3 "core" &s c  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + "manipulator"&& +4 "core" &s  +2 "manipulator"&j% +3 "core" % Y ! +3 "processing"% & +3 "core" &g +3 "processing"%G& +5 "core" &z +2 .tPC.seek :closed + "processing"%o(Z +5 "core" &g  +9 &7h )v +9 &kg = +10 &ue H +9 &xbc F +9 &8hd G +10 &f_ G +9 &d] F +9 &c^ F +10 &BdQ F +9 &h] F +10 & h[ G +9 &"e_ G +9 &$Ib[ F +10 &&\ c^ G +9 &'f^ G +9 &)b_ F +10 &+Re_ F +9 &-h^ F +10 &.c] G +9 &0g\\ G +9 &2Xc\\ G +10 &4e[ G +9 &5c\\ F +9 &7c[ G +10 &9ah[ F +9 &;#b^ F +10 &<cU G +9 &>g[ F +9 &@hiQ G +10 &B*jU G +9 &CgO G +9 &Eq[ H +10 &Gj~[ I +9 &I&[ K +10 &JO K +9 &LT L +9 &NhS L +10 &P)Q M +9 &QQ L +9 &SO L +10 &UpQ L +9 &W1K M +10 &XM M +9 &ZCC`I %l +9 &Z (L ! +6 ( + "processing"%G& +4 "core" &ZI ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&u1 +53 "core" 1 + "manipulator"&% +4 "core" % S ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +93 "core" ' + "processing"%6& +5 "core" &Zc ! + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Q% +3 "core" %\   +2 "storage"(3% +4 "core" %O 6 +2 "storage"(4. +3 "core" .( +2 "storage"(h& +4 "core" & T +49 "storage"(\ & +3 "manipulator"&r& +4 "core" & a +3 &s  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b + "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "manipulator"&e(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +4 "manipulator"&P& +3 "core" &s |  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +3 "core" &s  +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +4 .tPC.seek :open +2 "processing"%K( +87 "core" ' + "storage"(.- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(J'y +44 "core" ' +291 ( + "storage"(X& +4 "core" &  +2 "manipulator"&g& +4 "core" &s h  +2 "manipulator"&%% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&z'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +3 "manipulator"&f( +251 "core" ( +2 "manipulator"&[& +3 "core" & w & +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' + .tHand.open +2 "manipulator"&c1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"(C& +3 "core" & o q % +3 "manipulator"&x& +4 "core" & % +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & a % +2 "storage"( & +4 "core" & o o +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +70 "core" ' + "manipulator"&$& +4 "core" & % +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&!' +29 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +33 "core" ' +2 "manipulator"&q% +4 "core" % X r +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&1' +21 "core" ' +2 "manipulator"&(& +3 "core" & q % +2 "storage"(k& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +24 "core" ' +2 "storage"(,% +4 "core" %g   +2 ."downElevator"SE.seek :down +4 "storage"("'X +98 (-% +3 "core" %V b PG +2 "manipulator"&}% +4 "core" %Ѡ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & [ +2 "collection"'Y& +4 "core" &VD o l > +48 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&<% +4 "core" %\  q  +2 "storage"(i% +3 "core" %U +2 "storage"(/. +3 "core" .( +2 "storage"(>& +4 "core" & z  +2 "storage"(n& +3 "core" & V +3 "manipulator"&~& +3 "core" & $ +3 .tElbow.seek 2 + "manipulator"&T( +4 "core" ( +2 "manipulator"&]& +4 "core" & m $ +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +88 "core" ' + "storage"(7& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +280 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & $ +2 "storage"(L& +3 "core" & = +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&U' +26 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'P +28 "core" ' +2 "manipulator"&b% +3 "core" % l +2 "storage"(V& +3 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&{' +20 "core" ' +2 "manipulator"&0& +3 "core" & e $ +3 "storage"(=& +4 "core" & N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'? +38 "core" ' +2 "manipulator"&M& +3 "core" & $ +2 "manipulator"&% +4 "core" %ѩ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +151 "core" ( +3 "manipulator"&#& +3 "core" && =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" && =G +3 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&+/ +58 "core" / +2 .tCC.seek :open + "collection"'@( +414 "core" ( + "storage"(F& +4 "core" & / +2 "storage"(w& +4 "core" &  +2 "manipulator"&'& +4 "core" && =A + "manipulator"&R% +4 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&S( +162 "core" ( +2 "manipulator"&N& +3 "core" & P  +2 "storage"(W& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +57 "core" 1 +2 "manipulator"&B% +4 "core" % b +2 "storage"(^& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +3 "manipulator"&5' +19 "core" ' +2 "manipulator"&`& +4 "core" & 6  + "storage"(?& +5 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +46 .tForearm.seek 2 + 700 counts +5 "manipulator"&s'ќ +30 "core" ' +2 "storage"( % +3 "core" %H ] +3 ."downElevator"SE.seek :down +3 "storage"(;'X +99 (|% +3 "core" %;N  OC +2 "manipulator"&% +4 "core" %Ѩ t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'j& +4 "core" & o n +2 "manipulator"& % +3 "core" %\ 5 +2 "storage"(% +4 "core" %a v +2 "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (u& +2 "core" & G  +3 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&6( +14 "core" ( + "manipulator"&Q& +4 "core" & _ +2 "storage"(3& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +97 "core" ' +2 "storage"(h& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +282 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (G& +3 "core" &  +2 "manipulator"&P& +3 "core" & _ +2 .tElbow.seek 3 +2 "manipulator"&a( +4 "core" ( +2 "manipulator"& & +4 "core" & m _ + "storage"(& +4 "core" & 8  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +17 "core" ' +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&A& + "storage"(o'X +8 "core" & _ + "manipulator"&% +5 "core" % ϟ 2 +2 .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&%& +3 "core" &  z / +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['" +99 "core" ' + "manipulator"&& +5 "core" & J / + "manipulator"&e% +5 "core" %( M +3 "collection"'c& +3 "core" & n n +3 "collection"'& +5 "core" & m n +2 .tCC.seek :closed +2 "collection"'D(V +5 "core" & k l +6 &I l n $d +9 &_ n n 7 +9 &0 m n G +10 &a k o F +9 &g n n F +10 &ze m n E +9 &:f k n F +9 &e m o F +10 &e n n F +9 &e l n F +9 & Ce n n F +10 &"e o n F +9 &#e o m F +10 &%e l n F +9 &'Le m m E +9 &) e m m F +10 &*e n o F +9 &,e n n F +9 &.Se l o F +10 &0h k m F +9 &1e o o F +9 &3e o p F +10 &5[e p m F +9 &7d n o F +10 &8e m l F +9 &:e k m F +9 &%e n n F +9 &?e m o F +10 &Ai o o F +9 &Cig n m F +9 &E+m m n F +10 &Fu m n H +9 &H n o I +9 &J^ n n M +10 &L m o P +9 &M m o O +9 &O o p Q +10 &Q[ m p Q +9 &S m o R +10 &T o n Q +9 &VEb p p , +9 &V o o _ +10 &Va p p G +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open + "manipulator"&C1 +63 "core" 1 +2 "manipulator"&x% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +3 "core" & +48 "manipulator"&z% +6 "core" %\  h # + "storage"($% +5 "core" %a  + "storage"(. +3 "core" .( +2 "storage"(J& +3 "core" &   +2 "storage"(q& +5 "core" &   + "manipulator"&& +5 "core" & / + "manipulator"&% +3 "core" %\  # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +162 "core" ( +2 "manipulator"&k& +4 "core" & G \\ + "storage"(,& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +105 "core" ' +3 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +282 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &   +2 "manipulator"&E& +3 "core" & w \\ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" & O \\ +2 "storage"(!& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(<'X +8 "core" & \\ + "manipulator"&2% +5 "core" % ό  +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +3 .tElbow.seek PC + "manipulator"&/(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&>& +3 "core" &w )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &w u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +100 "core" ' +2 "manipulator"&]& +3 "core" &w n  +3 "manipulator"&% +4 "core" % | +2 "processing"%_& +4 "core" &~ +2 "processing"%7& +5 "core" &g +2 .tPC.seek :closed +2 "processing"%"(Z +5 "core" &g +6 &Fj #b +9 &\\m 6 +9 &h G +10 &fc F +9 &ec F +10 &aha G +9 &#eb G +9 &b^ F +10 &bY G +9 &hf] G +9 & +c^ G +10 &!h^ G +9 &#h] F +10 &%rf\\ F +9 &'3iX G +9 &(g[ F +10 &*c_ G +9 &,zg[ F +9 &.;g_ G +10 &/e] G +9 &1c] F +10 &3e_ F +9 &5Cc^ G +9 &7b_ F +10 &8e^ F +9 &:g_ G +9 & b^ G +9 &?i\\ G +10 &Aj[ G +9 &CRk^ G +9 &Em^ G +10 &FuX H +9 &H^ K +9 &JLR L +10 &LM L +9 &MS L +10 &OO L +9 &QSH L +9 &SJ M +10 &TQ M +9 &VK M +10 &XYK M +9 &YwxN !i +9 &Z(qG , +9 ( +3 "processing"%7& +2 "core" &ZP " +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&:1 +58 "core" 1 +2 "manipulator"&I% +3 "core" % N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +4 "processing"%v& +4 "core" &ZR " + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&L% +3 "core" %\   +2 "storage"(8% +5 "core" %U  + "storage"(b. +3 "core" .( +2 "storage"(V& +3 "core" &   +3 "storage"(0& +3 "manipulator"&=& +8 "core" &   + &w P  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&M(s +2 "storage"('i +4 "core" ( +3 "manipulator"&\\& +3 "core" &w R  +42 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +3 &T& +2 "core" &w  +3 .tForearm.seek PC + "manipulator"&9' +98 "core" ' + .tHand.close +2 "manipulator"&U/ +53 "core" / +2 .tPC.seek :open +2 "processing"%{( +41 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'y +42 "core" ' +339 ( +2 "storage"(*& +3 "core" &   +2 "manipulator"&& +4 "core" &w \  +2 "manipulator"&&% +4 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +266 "core" ( +2 "manipulator"&p& +4 "core" & e +2 "storage"(F& +4 "core" & *  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +106 "core" ' +2 .tHand.open +2 "manipulator"&'1 +53 "core" 1 +2 "storage"(R- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(N'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(l& +3 "core" & q q   +3 "manipulator"&y& +3 "core" & \  e +2 .tElbow.seek 3 +2 "manipulator"&B( +7 "core" ( +2 "manipulator"&^& +3 "core" & L ] +3 "storage"(`& +4 "core" & q q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"& & +5 "core" & ] + "storage"(S& +4 "core" & t  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&|'} +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +29 "core" ' + "manipulator"&5% +4 "core" %t +2 "storage"(j& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 291 counts + "manipulator"& 'Ϡ +21 "core" ' + "manipulator"&& +4 "core" &  ] +2 "storage"(H& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +42 "core" ' +2 "storage"(s% +3 "core" %m  +3 ."downElevator"SE.seek :down +4 "storage"(;'X +98 (m% +3 "core" %\\Y # QH +2 "manipulator"&u% +5 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Q& +3 "core" & s *  +3 "collection"'3& +3 "core" &V` m n G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&h% +3 "core" %\   +3 "storage"(% +4 "core" %a  + "storage"(. +3 "core" .( +2 "storage"(r& +3 "core" & B  +2 "storage"(G& +4 "core" & D  +2 "manipulator"&P& +3 "core" & [ ] +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & ] +42 "storage"(Z& +10 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +102 "core" ' + "storage"(& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +283 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & ] +2 "storage"(& +4 "core" & 1  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&\ '} +25 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'P +27 "core" ' +2 "manipulator"&e% +4 "core" %΀ +2 "storage"(c& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&o'Ϭ +20 "core" ' + "manipulator"&X& +4 "core" & 1 ] +2 "storage"(@& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +51 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(x'? +38 "core" ' + "manipulator"& & +4 "core" & e ] +2 "manipulator"&z% +3 "core" %3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +159 "core" ( +4 "manipulator"&& +4 "core" && % =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" && ( =E +3 .tForearm.seek CC +2 "manipulator"&q'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"([& +3 "core" &   +2 "storage"(k& +3 "core" &   +3 "manipulator"&,& +4 "core" &\ # :- + "manipulator"&% +4 "core" % 1 P +2 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&-& +3 "core" & a +2 "storage"(}& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&E'} +99 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&!1 +57 "core" 1 +2 "manipulator"&% +5 "core" %  P + "storage"(Y& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&2'ϫ +23 "core" ' + "manipulator"&(& +4 "core" & +2 "storage"(f& +4 "core" & 7  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +33 "core" ' + "storage"(1% +4 "core" %I S  +3 ."downElevator"SE.seek :down +4 "storage"(>'X +99 (n% +3 "core" % N  OD +2 "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +41 "manipulator"&]'\ +101 "core" ' + ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & n t +2 "manipulator"&_% +3 "core" %\ " < +3 "storage"(<% +4 "core" %^ B + "storage"(i. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(K( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &  +3 "manipulator"&I& +3 "core" & +3 .tElbow.seek 2 + "manipulator"&v( +30 "core" ( + "manipulator"&L& +3 "core" & U i +2 "storage"(8& +5 "core" &  ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +92 "core" ' +2 "storage"(V& +3 "core" &  I +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +280 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &   +2 "manipulator"&\\& +3 "core" &\ e +3 .tElbow.seek 2 +2 "manipulator"&T( +30 "core" ( +3 "manipulator"&~& +5 "core" &  + "storage"(U& +4 "core" &  1 +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"("'X +8 "core" & h  + "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&&& +4 "core" && + =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" && } =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&p'" +103 "core" ' +2 "manipulator"&F& +4 "core" && ` =D +2 "manipulator"&M% +3 "core" %' " +3 "collection"''& +4 "core" & m n +2 "collection"'R& +5 "core" & m o +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & m n +7 &A o n #b +9 &\\ o n 6 +9 & l o G +10 &e m m F +9 &f l m F +10 &dd m n F +9 &&e q o F +9 &e l n F +10 &e n n F +9 &me n o F +9 & /e l n F +10 &!e m m F +9 &#f m o F +10 &%ue m o F +9 &'7e l n F +9 &(c m o F +10 &*f n o F +9 &,}e n n F +9 &.@f m o E +10 &0f m n F +9 &1f n n F +10 &3e l o F +9 &5Fc m m F +9 &7f m o F +10 &8d l m F +9 &:e l p E +9 &g l m F +9 &?g m n F +10 &Af l l F +9 &CWg n n F +9 &Ej n n F +10 &Fr l o H +9 &H} m o I +9 &JK o n M +10 &L n n O +9 &M m n P +10 &O o n P +9 &QG n o Q +9 &S n l Q +10 &T o n Q +9 &V9e m o , +9 &V o o R +10 ( + &Vs o o I +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open + "manipulator"&l1 +61 "core" 1 + "manipulator"&y% +5 "core" % & x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +4 "core" &s +2 "manipulator"&+% +3 "core" %\  ] ' +2 "storage"( % +4 "core" %a T +2 "storage"(S. +3 "core" .( +2 "storage"(5& +3 "core" &  # +2 "storage"(#& +4 "core" &  f +2 "manipulator"&j& +3 "core" && =D +3 "manipulator"&N% +4 "core" %\  s ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +46 "manipulator"&( +165 "core" ( + "manipulator"&H& +5 "core" & N  + "storage"(s& +5 "core" &  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +95 "core" ' +2 "storage"(w& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(W'i +283 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &  O +2 "manipulator"&?& +5 "core" & |  + .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&& +4 "core" & T  +2 "storage"(|& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(h'X +8 "core" & ^  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&r(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&& +4 "core" &m  } \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&P' +103 "core" ' +2 "manipulator"&& +3 "core" &m - \ +3 "manipulator"&Z% +4 "core" % m +2 "processing"%)& +3 "core" &l +3 "processing"%& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%;(Z +3 "core" &n +8 &Er #b +9 &\\p 6 +9 &o G +10 &ee F +9 &jf G +9 &afg G +10 &$ga F +9 &cV F +10 &e] F +9 &jh_ F +9 & +c^ G +10 &!h^ F +9 &#e^ F +9 &%qh_ G +10 &'3g\\ G +9 &(e_ G +10 &*c\\ F +9 &,yc[ G +9 &.<h] F +10 &/c[ F +9 &1d` F +9 &3da G +10 &5Di_ F +9 &7e_ F +10 &8h] G +9 &:e_ G +9 &b_ F +9 &?f` F +9 &AgZ F +10 &CSi^ G +9 &El\\ G +10 &Fu` H +9 &H_ J +9 &JM^ L +10 &L^ L +9 &M^ L +9 &OR L +10 &QSW L +9 &SR M +10 &TL M +9 &VS M +9 &XZQ M +10 &YwxP !i +9 &Z(pQ , +9 ( +2 "processing"%& +3 "core" &ZO ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +5 "core" % d m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +89 "core" ' +4 "processing"%%& +4 "core" &Zb ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  G  +2 "storage"(% +3 "core" %]  +2 "storage"(e. +3 "core" .( +2 "storage"(c& +4 "core" &  1 +2 "storage"(X& +2 "manipulator"&@& +8 "core" &   + &m % \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"& (s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'i +3 "core" ( + "manipulator"&A& +4 "core" &m < \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &m t \ +2 .tForearm.seek PC +2 "manipulator"&6' +95 "core" ' + .tHand.close + "manipulator"&\ / +54 "core" / +2 .tPC.seek :open + "processing"%o( +94 "core" ' + "storage"(a- +3 "core" -'i +42 ."raiseStack"SE.configure :default +10 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +231 ( + "storage"(J& +5 "core" &  " + "manipulator"&C& +4 "core" &m } \ +2 "manipulator"&.% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&D& +3 "core" & C j +2 "storage"([& +4 "core" &  . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +90 "core" ' +2 .tHand.open + "manipulator"&,1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(}' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"($& +3 "core" &  I J ? +2 "manipulator"&!& +4 "core" & j +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +3 "core" & d j +2 "storage"((& +4 "core" &  I J . +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +59 "core" ' +2 "manipulator"&g& +3 "core" & j +3 "storage"(n& +4 "core" &  h + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +25 "core" ' +2 "manipulator"&2% +3 "core" %  +2 "storage"(& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&_' +20 "core" ' +2 "manipulator"&<& +3 "core" & T j +3 "storage"(i& +4 "core" &  X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +17 "core" ' + "storage"(d% +5 "core" %s  +2 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (% +4 "core" %mU 3 PH +3 "manipulator"&:% +3 "core" %ѧ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" &  " +2 "collection"'8& +4 "core" &Vs m o I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&V% +3 "core" %\   +2 "storage"(t% +4 "core" %N X +2 "storage"(]. +3 "core" .( +2 "storage"(=& +3 "core" &  z +2 "storage"(7& +4 "core" &  y +2 "manipulator"&\\& +4 "core" & i +2 .tElbow.seek 2 + "manipulator"&~( +4 "core" ( +2 "manipulator"&U& +3 "core" & i +2 "storage"(/& +4 "core" &  _ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +100 "core" ' +2 "storage"(& +3 "core" &  O +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +279 "core" ' + "storage"(b- +42 "core" -' +9 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +4 "core" & i +2 "storage"(9& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&0' +30 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'Q +28 "core" ' +2 "manipulator"&T% +3 "core" % ) +2 "storage"('& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&"' +20 "core" ' +2 "manipulator"&*& +3 "core" & | i +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'@ +38 "core" ' + "manipulator"&`& +4 "core" & ~ i +2 "manipulator"&+% +4 "core" %ћ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +154 "core" ( + "manipulator"&5& +4 "core" &#  7 ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &# + ;5 +2 .tForearm.seek CC +2 "manipulator"&#'" +94 "core" ' +2 .tHand.close + "manipulator"&j/ +63 "core" / +2 .tCC.seek :open + "collection"'N( +416 "core" ( +3 "storage"(p& +3 "core" &   +2 "storage"(H& +4 "core" &  / +2 "manipulator"&s& +3 "core" &$ ;3 +3 "manipulator"&% +4 "core" % 4 e  +2 .tForearm.seek :retract + "manipulator"&w'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&^( +156 "core" ( + "manipulator"&m& +4 "core" & :  +2 "storage"(u& +3 "core" &  1 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&?' +97 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&|1 +60 "core" 1 +2 "manipulator"&Q% +3 "core" % [ +2 "storage"(3& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&' +26 "core" ' +4 "manipulator"&& +4 "core" & m  + "storage"(O& +4 "core" &  K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +20 "core" ' +2 "storage"( % +3 "core" %E i +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (G% +3 "core" %P  PE +2 "manipulator"&B% +4 "core" %y _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Z& +3 "core" & l n +2 "manipulator"&)% +4 "core" %\ " g > +2 "storage"(h% +4 "core" %S  + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +49 .SC.stop + "storage"(6 +3 .tSE.seek :down + "storage"({'X +4 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&% +4 "core" %\ # > +2 !to:IRB::Abort: mesg"User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:83:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +443 "Can" 10i  +653 #t-> exit +6 #mEXIT @1733860940.78EST @1733880950.73EST = =mMAIN_scheduler =tMAIN @EST1733880951.43 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +108 #"core_reset"Sent BREAK +2 #t@22172 receive with ifg=0x10, ie=0xFD #@22811 receive with ifg=0x10, ie=0xFD + #@23469 receive with ifg=0x10, ie=0xFD + #@24108 receive with ifg=0x10, ie=0xFD + #@24757 receive with ifg=0x10, ie=0xFD #@25405 receive with ifg=0x10, ie=0xFD + #@26053 receive with ifg=0x10, ie=0xFD #@26379 receive with ifg=0x80, ie=0xFD + #@51060 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +260 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +380 "Can" .e  +  .e  + #tPolling Can every 10:00 +21 #Cleanly exited at 15:02:20EST10-Dec-24 +588 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % N L^ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %x +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % +2 .tSS.configure :default +2 "sampler")#.0X +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.hold + "manipulator"&+ +4 "core" + +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +3 && +2 "core" & d  +2 .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +3 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +5 "storage"(& +3 "core" & | +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +3 "core" %S 8 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast + "collection"' +2 .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast +2 "processing"% +2 .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'% +2 "processing"%% +2 "manipulator"&% +6 "core" % K Md +3 % +2 %\ "  > +3 "manipulator"&& + "sampler")% +7 "core" & ^  + % + "storage"(& +4 "core" &  +2 "storage"(% +3 "core" %S  +2 "collection"'& +4 "core" & L Nc +2 "processing"%& +3 "core" &~ +3 "collection"' +2 "core"  +2 "collection"' +4 "core"  +2 "collection"'  +3 "core"  +2 "processing"%! +3 "core"  +2 "processing"%" +3 "core" V +2 "processing"%# +4 "core"  +2 "processing"%$ +3 "core" A +2 "sampler")% +3 "core"  +43 "collection"'&% +3 "core" % P Lb +4 "processing"%'% +3 "core" % +3 "sampler")(% +3 "core" % +3 "collection"')& +3 "core" & N Le +3 "processing"%*& +3 "core" & +3 "manipulator"&+% +3 "core" %\ "  > +2 "manipulator"&,& +5 "core" & x  +2 "storage"(-& +3 "core" &  +3 "storage"(.% +3 "core" %S > +2 "collection"'/9 +4 "core" 9 +2 "processing"%09 +3 "core" 9|o +1051 #t-> Puck.count + "storage"(1% +3 "core" %S b +3 .tSE.seek :down + "storage"(2'X +4 "core" ' + .tSE.stop +2 "storage"(5 +3 .tHand.open + "manipulator"&31 +20 "core" 1 +2 "manipulator"&4% +3 "core" %\ " K > +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(5(S +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &U > +2 "manipulator"&7& +4 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&8(. +52 "core" ( + "manipulator"&9& +4 "core" &7 R +2 "storage"(:& +4 "core" &W @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&;'ѷ +105 "core" ' + "storage"(<& +4 "core" &W  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='i +268 "core" ' +2 "storage"(>- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?% +3 "core" %p +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 (A% +3 "core" %!Q $ OF +2 "manipulator"&B% +3 "core" %Ѳ u t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +97 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(D( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" & V  +3 "manipulator"&F& +3 "core" &7 ! +2 .tElbow.seek 2 +2 "manipulator"&G( +36 "core" ( +2 "manipulator"&H& +4 "core" & / = +2 "storage"(I& +3 "core" & l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +102 "core" ' +2 "storage"(K& +3 "core" &   +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +300 "core" ' +2 "storage"(M- +3 "core" -'2 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N% +2 "core" % 8 +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (P% +3 "core" %DJ A OD +2 "manipulator"&Q% +3 "core" %ф = } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(S( +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &   +2 "manipulator"&U& +4 "core" &  = +2 .tElbow.seek 3 +2 "manipulator"&V( +25 "core" ( +2 "manipulator"&W& +3 "core" & h V +3 "storage"(X& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Y'9 +87 "core" ' + "storage"(Z& +4 "core" &   +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['i +300 "core" ' + "storage"(\\- +35 "core" -'5 +9 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (]% +2 "core" % <  +3 ."downElevator"SE.seek :down +4 "storage"(^'X +98 (_% +3 "core" %K g OD +2 "manipulator"&`% +5 "core" %B M M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +96 "core" ' +39 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(b(,l +333 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &,i   +2 "manipulator"&d& +3 "core" & * V +2 .tElbow.seek 4 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&f& +3 "core" & ? V +3 "storage"(g& +3 "core" &,f X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&h'Ѽ +94 "core" ' +3 "storage"(i& +4 "core" &,f   +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +271 "core" ' + "storage"(k- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (l% +3 "core" %a k +2 ."downElevator"SE.seek :down +3 "storage"(m'X +100 (n% +3 "core" %U ` PH +2 "manipulator"&o% +4 "core" %ѱ / ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +93 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(q(<* +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &<-   +3 "manipulator"&s& +4 "core" &  V +2 .tElbow.seek 5 + "manipulator"&t( +4 "core" ( +2 "manipulator"&u& +4 "core" & ; V + "storage"(v& +3 "core" &<* \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&w'ы +100 "core" ' +2 "storage"(x& +4 "core" &<* ;  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +272 "core" ' + "storage"(z- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ({% +3 "core" %` ? +2 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (}% +3 "core" %iQ ~ OF +3 "manipulator"&~% +3 "core" %g p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +334 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K m  +2 "manipulator"&& +5 "core" & $ V +2 .tElbow.seek 6 + "manipulator"&( +41 "core" ( +2 "manipulator"&& +3 "core" &% $ B +3 "storage"(& +4 "core" &K   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"& 'a +88 "core" ' +3 "storage"( & +3 "core" &K _  +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +269 "core" ' +2 "storage"(- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (% +2 "core" %c W +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %O  PF +2 "manipulator"&% +4 "core" %c  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +72 ' +2 ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +35 (& +9 "core" &[ J  +2 "manipulator"&& +4 "core" &%  B +3 .tElbow.seek 7 + "manipulator"&( +27 "core" ( +3 "manipulator"&& +5 "core" & q + "storage"(& +4 "core" &[  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&'w +96 "core" ' + "storage"(& +5 "core" &[   +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +268 "core" ' +2 "storage"(- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( % +2 "core" %m +3 ."downElevator"SE.seek :down +4 "storage"(!'X +98 ("% +4 "core" %"R Z PG +2 "manipulator"&#% +4 "core" %Q U v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +1009 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%%& +3 "core" & +2 "manipulator"&&& +3 "core" & M q +2 "manipulator"&'% +4 "core" %\    +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&((, +175 "core" ( + "manipulator"&)& +3 "core" &,  ! +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &,  ! +3 .tForearm.seek :garage + "manipulator"&+'Ϧ +107 "core" ' + .tHand.close +2 "manipulator"&,/ +54 "core" / +2 "manipulator"&-& +4 "core" &, % d ! +2 "manipulator"&.% +3 "core" % ϶ 5 +2 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&0(s +120 "core" ( +2 "manipulator"&1& +4 "core" &} 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &}  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&4' +102 "core" ' + "manipulator"&2& +3 "core" &} D +3 "manipulator"&6% +3 "core" %  +2 "processing"%7& +5 "core" &~ +2 "processing"%9& +5 "core" & +2 .tPC.seek :closed + "processing"%:(Z +4 "core" & +8 &< #c +9 &\\ 6 +10 & H +9 &g G +9 &k G +10 &^j G +9 &j G +9 &g G +10 &k G +9 &fk G +10 & 'k G +9 &!i G +9 &#g G +10 &%mk G +9 &'/k G +9 &(g G +10 &*k G +9 &,uk G +10 &.6k H +9 &/i G +9 &1j G +10 &3~h G +9 &5?l G +9 &7k G +10 &8j H +9 &:i G +10 &\ i G +7 &?k G +10 &Ah G +9 &COp G +9 &Ep H +10 &Fy I +9 &H K +10 &JK L +9 &L  L +9 &M M +10 &O L +9 &QQ L +9 &S M +10 &T M +9 &V M +10 &XU N +9 &Ywy "k +9 &Z)p , +10 ( + &Z " +2 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 +2 "processing"%<& +3 "core" &Z{ " +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +97 "core" ' +1815 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'?& +3 "core" & M Nn +2 "manipulator"&A& +3 "core" &}  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&B(s +3 "core" ( +2 "manipulator"&=& +4 "core" &}  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &}  +3 .tForearm.seek PC + "manipulator"&@' +97 "core" ' +2 .tHand.close + "manipulator"&5/ +56 "core" / +2 .tPC.seek :open +2 "processing"%E( +436 "core" ( +2 "manipulator"&F& +3 "core" &} V +2 "manipulator"&H% +3 "core" % [ +3 .tForearm.seek :retract + "manipulator"&I'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&K( +357 "core" ( +2 "manipulator"&8& +3 "core" &' 1 =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &'  =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&M'" +102 "core" ' + "manipulator"&N& +44 "core" &'  t =E +3 "manipulator"&P% +4 "core" %#   +2 "collection"'Q& +3 "core" & M M^ +3 "collection"'L& +5 "core" & L N_ +2 .tCC.seek :closed +2 "collection"'J(V +3 "core" & O Mb +8 &9 M Od #c +9 &[ M Nd 6 +10 & M M` H +9 &g M Md G +9 &g K Ld G +10 &Tf O P_ G +9 &g L N_ G +10 &g N Na H +9 &j N Mc G +9 &\\g M Mc G +10 & g M Me G +9 &!i M N\\ G +9 &#j L M^ H +10 &%cj L Kd H +9 &'%k L Mc H +10 &(g L Md G +9 &*k N Md G +9 &,kj O M^ H +10 &.-i N La H +9 &/j L M] G +9 &1h M K\\ H +10 &3th L N^ G +9 &56e N Oc G +9 &6m L L] G +10 &8k M Nb G +9 &:|m N Na G +10 &<=h N Nl H +9 &>m N Og G +9 &?m M Ne G +10 &Al M Ol H +9 &CFj K Nd G +9 &Em K Lc H +10 &Fu N Ng I +9 &H K Mn J +10 &J> M Mn M +9 &K M Po P +9 &M N Ne Q +10 &Ox N Om Q +9 &Q; O Nj Q +9 &R N Nm S +10 &T K Mg R +9 &V$T N Nh 8 +10 &V O Yn +{ +9 &V} O Od I +5 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 +2 "collection"'O& +3 "core" &Vw O Oi I + &Vw N Pg I +2 .tHand.open + "manipulator"&D1 +64 "core" 1 + "manipulator"&T% +4 "core" % #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +2 "processing"%W& +3 "core" & +804 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&X& +3 "core" && P =C +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Z( +10 "core" ( +2 "manipulator"&G& +3 "core" &  e 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &  ! 5 +2 .tForearm.seek CC +2 "manipulator"&\\'" +92 "core" ' +2 .tHand.close + "manipulator"&]/ +63 "core" / +2 .tCC.seek :open + "collection"'_( +412 "core" ( +2 "manipulator"&`& +3 "core" &  c 5 +2 "manipulator"&[% +3 "core" % ! # +3 .tForearm.seek :retract + "manipulator"&Y'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&^(, +290 "core" ( +2 "manipulator"&S& +4 "core" &, " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +4 "core" &, 5 " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&d'Ϧ +108 "core" ' + .tHand.open +2 "manipulator"&f1 +61 "core" 1 + "manipulator"&g% +4 "core" % ϭ ' !  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +105 "core" ' +2878 #t-> Flush +899 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'V& +3 "core" & N Ml +2 "manipulator"&a& +4 "core" &,  " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&k(, +4 "core" ( +2 "manipulator"&l& +3 "core" &, 1 " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &, " +2 .tForearm.seek :garage +2 "manipulator"&o'Ϧ +105 "core" ' +2 .tHand.close + "manipulator"&j/ +64 "core" / +2 "manipulator"&h& +3 "core" &, ! " +3 "manipulator"&m% +4 "core" % Ϸ q 0 +2 .tForearm.seek :retract + "manipulator"&b'\ +106 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&r( +288 "core" ( +2 "manipulator"&s& +3 "core" &. # E Dy +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &. @ Dy +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'" +100 "core" ' +2 "manipulator"&x& +4 "core" &. #  Dy + "manipulator"&e% +4 "core" %  +2 "collection"'p& +4 "core" & L Ni +3 "collection"'z& +5 "core" & N Ni +2 .tCC.seek :closed +2 "collection"'{(V +3 "core" & N O[ +9 &D K Od $e +9 &] M P^ 7 +10 && M N[ H +9 &d M L` G +10 &k L Oc H +9 &mg N Nc G +9 &-j N M` H +10 &h M O` G +9 &j L M^ G +9 &tg M MZ G +10 & 6j M Ma G +9 &!i M Me G +9 &#f M La G +10 &%}k M Me G +9 &'>h P N_ G +10 &)h N N` G +9 &*e L O^ G +9 &,h M P[ G +10 &.Eg M MX H +9 &0 h N NX G +10 &1i L Nd H +9 &3h M L] G +9 &5Ng N OX G +10 &7k N O\\ G +9 &8g M Nb G +9 &:l O Na G +10 &i M Nh H +9 &?h M Oa G +10 &Aj O Nd G +9 &C^h M Mc G +10 &E m M Nk G +9 &Ft M Kl I +9 &H L Ne I +10 &JV N Oc M +9 &L M Ng P +10 &M N N] P +9 &O O Of Q +9 &QT N Nj P +10 &S N Ql R +44 &T N Ol R +10 &VDj N Om 0 +2 &V L Ow / + &Vk P Oc E + ( +4 "collection"'z& +2 "core" &Vm N Oa E +2 &Vm O M\\ E +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + "collection"'}& +4 "core" &Vl M Nt E +2 .tHand.open + "manipulator"&~1 +64 "core" 1 + "manipulator"&y% +5 "core" %  %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +100 "core" ' +2 #tPurging external Intake + "collection"'|& +3 "core" &Vl N Nm E +2 "collection"'q% +5 "core" % O O\\ + .tCSV.dial :flush +2 "collection"'  +85 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'' V +2119 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +7 .tCBV.dial CSV +2 "collection"' +2 '  +5 "core"  +63  +2 .tCTV.dial :intake + "collection"'  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'t' +2117 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'  +71 "core" +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &, Bl +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &, # z Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &,  Bl +2 .tForearm.seek CC +2 "manipulator"& '" +93 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'( +411 "core" ( +2 "manipulator"&& +3 "core" &, A Bk +2 "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(, +285 "core" ( + "manipulator"&& +4 "core" &, ; 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, 9 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'Ϧ +105 "core" ' +3 .tHand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" % ϰ ] 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +5175 #t-> exit +7 #mEXIT @1733881310.44EST @1733938966.04EST = =tMAIN =mMAIN_scheduler @EST1733938966.72 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@24223 sendCRC with ifg=0x20, ie=0x7F #@26058 sendCRC with ifg=0x08, ie=0x5F + #@17392 idle with ifg=0x84, ie=0x75 + #@18069 select with ifg=0x10, ie=0xF5 + #@18718 receive with ifg=0x10, ie=0xFD #@19367 receive with ifg=0x10, ie=0xFD + #@20016 receive with ifg=0x10, ie=0xFD #@20343 receive with ifg=0x80, ie=0xFD + #@29511 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +365 "Can"j )Y. + j )Y. + #tPolling Can every 10:00 +22 #Cleanly exited at 20:41:50EST10-Dec-24 +911 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ \ 9  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(2% +3 "core" %V  +2 "manipulator"&3% +3 "core" %\   +2 "manipulator"&4& +3 "core" &, 2 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(5(K +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K +17803 #t-> exit +9 #mEXIT @1733939174.63EST @1733939640.51EST = =mMAIN_scheduler =tMAIN @EST1733939641.22 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@37116 receive with ifg=0x10, ie=0xFD + #@37761 receive with ifg=0x10, ie=0xFD + #@38418 receive with ifg=0x10, ie=0xFD + #@39064 receive with ifg=0x10, ie=0xFD + #@39713 receive with ifg=0x10, ie=0xFD #@40361 receive with ifg=0x10, ie=0xFD + #@41009 receive with ifg=0x10, ie=0xFD #@41335 receive with ifg=0x80, ie=0xFD + #@5378 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +220 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +363 "Can"b +KY} + b +KY} #tPolling Can every 10:00 +7 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 + ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@12:54:08, 38% flow, 22.2C, 48% humidity, 14.5psia, 14.936V, 0.206A, 5.375Ah, 3.08W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +4 #Continuing at 12:54 +2 "Can"b *KY׎ +22 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +228 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@12:54:08, 38% flow, 22.2C, 48% humidity, 14.5psia, 14.936V, 0.200A, 5.375Ah, 2.98W",Subject: "Asleep until 12:54" +231 "Can"c MY +8 #tPowering core bus +205 #"uploadLog"upsync +357 .tGate.power :raw,:ON +3 "sampler") +38 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default + "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@12:54:53, 39% flow, 22.2C, 48% humidity, 14.5psia, 14.887V, 0.237A, 5.380Ah, 3.53W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" + #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'!& +4 "core" &~\ \ R +2 .tHand.open + "manipulator"&"1 +65 "core" 1 +2 "manipulator"&#& +3 "core" &  % +4 "manipulator"&$% +4 "core" % \   h +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +179 "core" ( +2 "manipulator"&&& +4 "core" &, O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &,  O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +60 #"uploadLog"upsync +42 "core" ' +2 .tHand.close + "manipulator"&)/ +53 "core" / +2 "manipulator"&*& +4 "core" &,  j O +2 "manipulator"&+% +3 "core" % Ϲ d ! +3 .tForearm.seek :retract + "manipulator"&,'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-( +276 "core" ( +2 "manipulator"&.& +3 "core" &$ x ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &$ ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +92 "core" ' +2 "manipulator"&1& +4 "core" &$ < ;5 +2 "manipulator"&2% +3 "core" %" +3 "collection"'3& +3 "core" &~\ \ ] +3 "collection"'4& +5 "core" &~\ \ \\ +2 .tCC.seek :closed +2 "collection"'5(V +3 "core" &~\ \ ] +8 &D\ \ X #c +10 &lZ\ \ e 6 +9 &\ \ R H +9 &h\ \ S G +10 &[n\ \ [ H +9 &l\ \ c G +9 &h\ \ b H +10 &g\ \ d G +9 &dj\ \ g G +10 &&h\ \ e G +9 &h\ \ c G +9 &!j\ \ d G +10 &#lh\ \ a G +9 &%-g\ \ a H +9 &&g\ \ b G +10 &(h\ \ o G +9 &*sk\ \ o H +10 &,5h\ \ p H +9 &-g\ \ b H +9 &/g\ \ m H +10 &1{m\ \ i H +9 &3=k\ \ ^ H +9 &4n\ \ a H +10 &6n\ \ i H +9 &8i\ \ m G +10 &:Eh\ \ ` H +9 &<g\ \ S H +9 &=g\ \ K H +10 &?g\ \ K H +9 &AMk\ \ K H +9 &Cl\ \ W H +10 &Dp\ \ ` H +9 &Fu\ \ _ I +10 &HO\ \ f J +9 &J \ \ Y M +9 &K\ \ $Y P +10 &M\ \ T Q +9 &OA\ \ X Q +9 &Q\ \ Z Q +10 &R\ \ ^ R +9 &T\ \ W R +10 &Vp\ \ V ) +9 &V3\ \ ] M +9 ( + &VJ\ \ g < +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 + "collection"'6& +3 "core" &VL\ \ b < +3 .tHand.open + "manipulator"&71 +59 "core" 1 + "manipulator"&8% +5 "core" %" K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +98 "core" ' +3 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &VM\ \ U < +2 "collection"';% +4 "core" %\ \ S +2 .tCSV.dial CSR + "collection"'<  +153 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1330 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 '>% +43 "core" %q\ \ S  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.499ml +2 "collection"'?'4 +597 "core" ' +2 .tCSV.dial :waste + "collection"'@ +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A' +1957 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &VL\ \ P < +3 "collection"'C% +4 "core" %\ \ R + .tCSV.dial :flush +2 "collection"'D  +51 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2097 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core"  +62  +2 .tCTV.dial :intake + "collection"'H  +69 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2091 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'J  +70 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VL\ \ ? < +2 "collection"'L% +4 "core" %\ \ C +2 .tCSV.dial :flush + "collection"'M  +86 "core"  +3 .tCS.seek 5ml + "collection"'N'q +1099 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +51 "core" B + "collection"'P% +4 "core" %q\ \ J  +3 .tCS.seek 7.001ml + "collection"'Q' +497 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +6 "core"  +91 ~ + .tCTV.dial :air +2 "collection"'T  +4 "core"  +3 .tCS.seek 0ml + "collection"'U' +1493 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'2 +697 "core" ' +2 .tCSV.dial :waste + "collection"'W +50 "core" +3 .tCS.seek 0ml + "collection"'X' +696 "core" ' +2 "collection"'Y& +3 "core" &VL\ \ O < +2 "collection"'Z% +4 "core" %\ \ A + .tCSV.dial :flush +2 "collection"'[  +49 "core"  +3 .tCS.seek 3ml + "collection"'\\'2 +690 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'] @ +50 "core" B +2 "collection"'^% +4 "core" %2\ \ L  +2 .tCS.seek 4.999ml + "collection"'_'q +491 "core" ' +3 .tCSV.dial :air + "collection"'` @ +15 "core" > +2 .tCS.seek 0ml + "collection"'a' +1093 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'2 +710 "core" ' +2 .tCSV.dial :waste + "collection"'c +67 "core" +3 .tCS.seek 0ml + "collection"'d' +698 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &# ;4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" &# b ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &# 7 ;4 +3 .tForearm.seek CC + "manipulator"&i'" +97 "core" ' + .tHand.close + "manipulator"&j/ +54 "core" / +2 .tCC.seek :open +2 "collection"'k( +412 "core" ( +2 "manipulator"&l& +3 "core" &# U ;4 +3 "manipulator"&m% +36 "core" % - ] +9 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(, +280 "core" ( + "manipulator"&p& +5 "core" &, v < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &, < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'Ϧ +111 "core" ' +2 .tHand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&t% +3 "core" % ϭ _  +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +100 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 12:58:52EST11-Dec-24\\n{2 => 1}\\nCan@12:54:53, 39% flow, 22.2C, 48% humidity, 14.5psia, 14.887V, 0.237A, 5.380Ah, 3.53W",Subject: "da wcr sampling at most 200ml" +3 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'v& +4 "core" &\ \ @ +2 "manipulator"&w% +3 "core" %\   +3 "storage"(x% +5 "core" %S + "storage"(y. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."WCR"SC.seek 2 +4 "storage"(z( +338 "core" ( +3 #"uploadLog"upsync +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" & D +3 "manipulator"&|& +3 "core" &, ~ < +3 "manipulator"&}% +3 "core" %\  y  +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +190 "core" ( +2 "manipulator"&& +3 "core" & F  +2 "storage"(& +5 "core" &  z +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts + "manipulator"&'ќ +98 "core" ' + "storage"(& +4 "core" &  +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"(- +4 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  \ +2 "manipulator"&& +5 "core" & p  +2 ."WCR"Elbow.seek 2 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & p  +2 "storage"(\ & +5 "core" &  v +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +26 "core" ' +2 ."WCR"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 ."WCR"Hand.close +2 "manipulator"&/ +56 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +7 "core" & H  +2 "manipulator"&% +3 "core" % ' +40 ."WCR"Forearm.seek :retract +7 "manipulator"&'\ +94 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +122 "core" ' + ."downElevator"SE.stop + "storage"(5 +27 "core" ( +2 "manipulator"&& +3 "core" &) 2 A @Y +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &) @Y +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 "manipulator"&& +5 "core" &) n @Y + "manipulator"& % +5 "core" % Q +2 "collection"'& +3 "core" &\ \ E +3 "collection"'& +5 "core" &\ \ G +2 ."WCR"CC.seek :closed +2 "collection"'!(V +4 "core" &\ \ G  +9 &5\ \ F )w +9 &k\ \ C = +9 &y\ \ @ G +10 &og\ \ K G +9 &1h\ \ C G +9 &e\ \ %C G +10 &g\ \ M G +9 &ve\ \ L G +10 &8h\ \ G G +9 &g\ \ E G +9 & g\ \ E F +10 &"~h\ \ O G +9 &$@g\ \ L G +9 &&h\ \ N G +10 &'g\ \ H G +9 &)h\ \ R G +10 &+Jg\ \ M F +9 &- h\ \ S G +9 &.f\ \ W F +10 &0h\ \ T G +9 &2Qf\ \ V G +9 &4e\ \ U G +10 &5g\ \ L G +9 &7h\ \ P G +10 &9Zf\ \ X F +9 &;h\ \ U G +9 &<h\ \ V G +10 &>h\ \ W G +9 &@`j\ \ ^ G +9 &B#g\ \ V G +10 &Ck\ \ U G +9 &El\ \ P H +10 &Geu\ $\ V H +9 &I#~\ \ ] J +9 &J\ \ _ L +10 &L\ \ ^ P +9 &NU\ \ ` P +9 &P\ \ c P +10 &Q\ \ Z Q +9 &S\ \ \\ R +10 &UW\ \ W B +9 &Vn=\ \ ^ . +9 &V\\\ \ W ? +6 ( + "collection"'& +4 "core" &VM\ \ i ? +3 #"WCR"Collection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.75 + .Hand.open + "manipulator"&"1 +61 "core" 1 +2 "manipulator"&#% +4 "core" %  +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +3 "core" %\ \ b +2 "collection"'& +4 "core" &VM\ \ X ? +4 "Can"g EZ$1 +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air + "collection"')  +4 "core"  +2 ."WCR"SSV.dial :spit,avoiding: :exhaust + "sampler")* +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" % 7 +3 "sampler")=% +3 "core" %T,\ |\ x  +28 "collection"'@% +3 "core" % B +2 "sampler")?% +4 "core" %T,\ \   +32 "collection"'B% +3 "core" % = +2 "sampler")C% +3 "core" %T+\ \  +37 "collection"'D% +3 "core" % 6 +2 "sampler")A% +4 "core" %T.\ \  +41 "collection"'G% +3 "core" % \ = +2 "sampler")F% +3 "core" %T.\ \  +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )H% +2 "core" %T\ \  +3 ."WCR"SSV.dial :exhaust + "sampler")E  +68 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")J' +424 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default + "sampler")#.0X% +4 "core" %\ .\ - @ +36 "collection"'=% +3 "core" %  +2 "sampler")@% +4 "core" %\ 9\ 7 @ +41 "collection"'?% +3 "core" %  +2 "sampler")B% +4 "core" %\ J\ F @ +47 "collection"'C% +3 "core" %  +2 "sampler")D% +3 "core" %\ `\ b @ +54 "collection"'A% +3 "core" % \  +2 "sampler")7% +4 "core" %\ \ @ +61 "collection"'G% +3 "core" %\ \  +3 "sampler")F% +10 "core" %\ \ @ +4 ."WCR"Intake.select :close +4 "sampler")0 +10 )H% +4 "core" %\ \ @ +2 ."WCR"SSV.dial :exhaust +2 "sampler")E  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")8' +878 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'M @ + "sampler")L  +5 "core" ? +67 +2 #"WCR"Allowing 130s for 25.0ml of remaining 125.0ml + .Intake.select :open + "sampler") +210 "collection"'O% +3 "core" %\ \ 6 +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X\ 0X\ 0X\ % +3 "core" %0\ \  +3 ."WCR"Intake.select :close + "sampler")0 +9 )=% +3 "core" %0\ \  +2 ."WCR"SSV.dial :exhaust +2 "sampler")@  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml + "sampler")?' +878 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'B @ + "sampler")+  +4 "core" ? +67 +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +125 "Can"i M@Zn( +85 "collection"'C% +3 "core" %\ \ # +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +37 .SS.reconfigure :inhaling 0.90ml/s +9 "sampler")#.>0X\ 0X\   +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'=' +473 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'@  +122 "core" +2 "collection"'u& +3 "core" &VL\ \ _ ? +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&B% +4 "core" %\   +2 "storage"(+% +3 "core" %b 0 +2 "storage"(C. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"(?(S +331 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &V y e 6 +2 "manipulator"&G& +4 "core" &( @Y +3 "manipulator"&F% +3 "core" %\   +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&H(. +233 "core" ( + "manipulator"&E& +5 "core" &5  + "storage"(2& +4 "core" &X Z +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts + "manipulator"&M'ѷ +99 "core" ' + "storage"(L& +4 "core" &X C +2 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"(O'i +269 "core" ' + "storage"(8- +3 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."WCR"SE.seek :place + "storage"(P'y +38 "core" ' +2 "manipulator"&K& +4 "core" &5 D  +2 "manipulator"&R% +3 "core" %ѱ S x +44 ."WCR"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&T'\ +94 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"&Q( +155 "core" ( + "manipulator"&N& +4 "core" && >I +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" && >I +2 ."WCR"Forearm.seek CC +2 "manipulator"&S'" +93 "core" ' +2 ."WCR"Hand.close + "manipulator"&V/ +58 "core" / +2 ."WCR"CC.seek :open +2 "collection"'Y( +412 "core" ( +2 "storage"(Z& +3 "core" &X , +3 "storage"([& +4 "core" &X C + "manipulator"&X& +4 "core" && >H +2 "manipulator"&]% +4 "core" %  +2 ."WCR"Forearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&I(. +158 "core" ( +2 "manipulator"&\\& +3 "core" &. Q y +2 "storage"(`& +4 "core" &X +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 + "manipulator"&_' +99 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&a, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&c1 +60 "core" 1 +2 "manipulator"&A% +4 "core" %  O  +2 "storage"(g& +3 "core" &X x  +2 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 320 counts + "manipulator"&e'; +19 "core" ' + "manipulator"&h& +4 "core" &.  y +2 "storage"(b& +3 "core" &X +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&-'ѷ +34 "core" ' +2 "storage"(J% +3 "core" % +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (5% +3 "core" %T [ PF +2 "manipulator"&m% +4 "core" %ѻ j +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&9'\ +94 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'q& +4 "core" &\ \ r +2 "manipulator"&f& +4 "core" &.  y +2 "manipulator"&s% +4 "core" %\ \ "  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&t(, +170 "core" ( + "manipulator"&v& +4 "core" &, O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &, ) O +3 .tForearm.seek :garage + "manipulator"&n'Ϧ +102 "core" ' +2 .tHand.close + "manipulator"&x/ +61 "core" / +2 "manipulator"&U& +3 "core" &, O +2 "manipulator"&W% +41 "core" % Ϸ  +9 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&r( +285 "core" ( +2 "manipulator"&{& +3 "core" &0 } F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &0 F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +104 "core" ' +2 "manipulator"&& +3 "core" &0 a F +3 "manipulator"&j% +3 "core" % +3 "collection"'i& +3 "core" &\ \ o +3 "collection"'& +5 "core" &\ \ y +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &\ \ y  +9 &8\ \ } *x +10 &k\ \  = +9 &q\ \  G +9 &|f\ \  G +10 &?e\ \  F +9 &c\ \  F +9 &h\ \  F +10 &f\ \  G +9 &Gf\ \  F +9 &\ c\ \  F +10 & f\ \  G +9 &"g\ \  F +10 &$Oc\ \  F +9 &&c\ \  F +9 &'i\ \  F +10 &)f\ \  F +9 &+Wi\ \  F +10 &-g\ \  G +9 &.e\ \  F +9 &0j\ \  F +10 &2_h\ \  F +9 &4!g\ \  F +9 &5d\ \  F +10 &7h\ \  F +9 &9gf\ \  F +10 &;)c\ \  F +9 &<h\ \  F +9 &>h\ \  G +10 &@ng\ \  G +9 &B1g\ \  F +9 &Ce\ \  F +10 &Ej\ \  G +9 &Gru\ \  H +10 &I0\ \  J +9 &J\ \  M +9 &L\ \  P +10 &Nc\ \  P +9 &P#\ \  Q +9 &Q\ \  Q +10 &S\ \  R +9 &Ue\ \  ? +10 &VK\ \  T +9 &V+3\ \  %p +9 &V_\ \  D +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + "collection"'& +3 "core" &V]\ \  D +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"&p% +4 "core" %  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +99 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +3 "core" &VW\ \ ! D +3 "collection"'% +4 "core" %\ \ { + .tCSV.dial CSR +2 "collection"'  +47 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"'~'q +1329 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '% +3 "core" %q\ \   +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"''6 +588 "core" ' +2 .tCSV.dial :waste + "collection"' +155 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'' +1950 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"' & +3 "core" &VW\ \ ! D +2 "collection"'o% +4 "core" %\ \  +2 .tCSV.dial :flush +2 "collection"'}  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"''q +1089 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"' @ +48 "core" A +2 "collection"' % +3 "core" %q\ \   +3 .tCS.seek 7ml + "collection"'' +496 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'  + '  +48 "core"  +78  +2 .tCBV.dial :waste2b + "collection"'  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'"' +1491 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'k& +4 "core" &VW\ \  D +2 "collection"'|% +4 "core" %\ \  + .tCSV.dial CSR +2 "collection"'  +59 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +39 "collection"' +18 .tCS.seek 8ml + "collection"')' +1702 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +2 "collection"'d' V +501 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"' + '  +44 "core"  +79 +2 .tCTV.dial :intake + "collection"'&  +69 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"''^ +1687 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'*  +70 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +581 "core" ' + .tCSV.dial CSR +2 "collection"'/  +94 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"''q +1328 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'%' V +1333 "core" ' +2 .tCSV.dial CBV + "collection"'. +119 "core" +2 .tCS.seek 0ml +2 "collection"'3' +2577 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &0 F +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&,& +4 "core" &0 Q F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &0 F +2 .tForearm.seek CC +2 "manipulator"&1'" +91 "core" ' +2 .tHand.close + "manipulator"&:/ +55 "core" / +2 .tCC.seek :open +2 "collection"';( +416 "core" ( + "manipulator"&6& +4 "core" &. Dz +2 "manipulator"&0% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&<'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&4(, +284 "core" ( +2 "manipulator"&>& +3 "core" &, < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, _ < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&@'Ϧ +108 "core" ' +2 .tHand.open + "manipulator"&u1 +60 "core" 1 + "manipulator"&B% +4 "core" % ϭ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +105 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 12:54:53 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@13:14:10, 38% flow, 22.4C, 48% humidity, 14.5psia, 14.902V, 0.343A, 5.507Ah, 5.12W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +436 #"uploadLog"upsync +8 #mEXIT @1733941211.83EST @1733941269.93EST = =tMAIN =mMAIN_scheduler @EST1733941270.62 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@62476 sendCRC with ifg=0x20, ie=0x7F #@64311 sendCRC with ifg=0x08, ie=0x5F + #@5146 idle with ifg=0x84, ie=0x75 + #@5823 select with ifg=0x10, ie=0xF5 + #@6471 receive with ifg=0x10, ie=0xFD #@7119 receive with ifg=0x10, ie=0xFD + #@7767 receive with ifg=0x10, ie=0xFD + #@8094 receive with ifg=0x80, ie=0xFD #@57693 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +368 "Can"D .M[n + D .M[n + #tPolling Can every 10:00 +3 #Cleanly exited at 13:20:11EST11-Dec-24 +578 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %\ \  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  +2 .tSS.configure :default +3 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" %a  +2 "manipulator"&3% +3 "core" %\  Y + +3 "manipulator"&4& +4 "core" &, K < +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<* +1287 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<* V  +56202 "Can"B 0\\ @1734019228.22EST = =tMAIN =mMAIN_scheduler @EST1734019228.96 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@64043 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +384 "Can"  +   + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +431 #-> ESP.ready! +2 #Powering core bus +575 .Gate.power :raw,:ON +2 "sampler") +55 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +3129 #-> access 2 + "storage"(1% +3 "core" %a +2 "manipulator"&2% +4 "core" %\   +2 "manipulator"&3& +4 "core" & R A +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(4(K +963 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &K  +1033 #t-> access 3 + "storage"(6% +4 "core" %a +2 "manipulator"&7% +3 "core" %\ v  +2 "manipulator"&8& +3 "core" & A +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(9([ +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &[ ]  +2581 #t-> 20.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"';& +4 "core" &  i  +2 .tHand.open + "manipulator"&<1 +57 "core" 1 +2 "manipulator"&=% +3 "core" % \ w  +3 "storage"(>% +4 "core" %a + "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(@( +1605 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &  +3 "manipulator"&B& +3 "core" & ^ A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +34 "core" ( + "manipulator"&D& +4 "core" & }  +2 "storage"(E& +3 "core" & +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +86 "core" ' +2 "storage"(G& +3 "core" & Z +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +278 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" & +2 "manipulator"&K& +3 "core" & [  +3 .tElbow.seek 2 + "manipulator"&L( +10 "core" ( + "manipulator"&M& +5 "core" & h  + "storage"(N& +4 "core" & a +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(R'X +8 "core" &  + "manipulator"&S% +5 "core" %  T W +2 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +150 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&V& +2 "storage"(5 +7 "core" &'  C >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &' { >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +36 .tForearm.seek CC +9 "manipulator"&X'" +104 "core" ' +3 "manipulator"&Y& +3 "core" &(   >M +3 "manipulator"&Z% +3 "core" %'  +2 "collection"'[& +5 "core" &  w  +2 "collection"'\\& +6 "core" &  w  +2 .tCC.seek :closed +3 "collection"'](V +2 "core" &  w  +6 &  x = +10 &N  z 1 +9 &`{  w E +9 &e  x H +10 &j  x H +9 &g  x G +9 &^g   H +10 &h  ~ H +9 &h  ~ H +10 &j   H +9 &fg   H +9 &!(h   H +10 &"k   H +9 &$g   H +9 &&of   G +10 &(0h   H +9 &)j   H +10 &+e   H +9 &-vi   H +9 &/8j   H +10 &0g  w H +9 &2h   H +9 &4}k   H +10 &6?j   H +9 &8i   H +10 &9e   H +9 &;j   H +9 &=Ih  y G +10 &?\ h   H +9 &@i   G +9 &Bj   H +10 &DOm   H +9 &F x   J +10 &G   K +9 &I   M +9 &K=   Q +10 &L   R +9 &N   Q +9 &P   R +10 &RB   R +9 &T   S +10 &U   > +9 &V)   1 +9 &VJ   ? +3 ( + "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&^1 +57 "core" 1 +3 "manipulator"&_% +3 "core" % '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +3 "core" &2  +2 "manipulator"&b% +5 "core" %\    + "storage"(c% +4 "core" %a  +2 "storage"(d. +3 "core" .( +2 "storage"(e& +3 "core" &  +2 "storage"(f& +4 "core" &  +2 "manipulator"&g& +3 "core" &'  \\ >M +2 "manipulator"&h% +5 "core" %\  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +152 "core" ( + "manipulator"&j& +5 "core" &  +2 "storage"(k& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +95 "core" ' +2 "storage"(m& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'i +283 "core" ' +2 "storage"(o- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +3 "core" &  +2 "manipulator"&q& +6 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +3 "core" & g +2 "storage"(t& +4 "core" & n +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(x'X +8 "core" & n +2 "manipulator"&y% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +3 "manipulator"&|& +3 "core" &u ' ,  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +103 "core" ' +2 "manipulator"&& +3 "core" &u % L  +2 "manipulator"&% +5 "core" %  +2 "processing"%& +3 "core" &,  +3 "processing"%& +5 "core" &<  +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &9  +6 &K= #c +9 &Z3 6 +10 &2 H +9 &d8 G +9 &qk; G +10 &2g? H +9 &g9 G +10 &h> G +9 &xh8 H +9 &;g> G +10 &j> G +9 &!k9 H +9 &#l< G +10 &%Bl> H +9 &'j= H +10 &(h? G +9 &*k> G +9 &,Kh; G +10 &. m> H +9 &/i; H +9 &1g> G +10 &3Si> G +9 &5m9 H +10 &6k> G +9 &8h> H +9 &:[k? G +10 &<k> H +9 &=h> G +9 &?h= G +10 &Abl@ H +9 &C$n> H +10 &Ds; H +9 &Fx? I +9 &Ha? K +10 &J? L +9 &K@ M +10 &M? M +9 &Od? M +9 &Q&@ M +10 &R? M +9 &T? M +9 &Vi> N +10 &X+? N +38 &Yvy; / +11 &Z)9 H + &Z= ' + ( + &Z> ' + &Z> ' +2 "processing"%& +3 "core" &Z> ' +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" % & ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 "processing"%& +4 "core" &Z= ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +5 "core" %\ \ Z  + "storage"(\ % +5 "core" %T  + "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & . +2 "storage"(& +3 "manipulator"&& +5 "core" &  +2 &u B  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&(s +6 "core" ( +2 "manipulator"& & +3 "core" &u & B  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &u   +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +34 "core" ' +300 ( +2 "storage"(& +3 "core" & ' +2 "manipulator"&& +3 "core" &v J  +3 "manipulator"&"% +3 "core" % P +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +252 "core" ( +2 "manipulator"&%& +3 "core" &  +2 "storage"(&& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +86 "core" ' + .tHand.open +2 "manipulator"&(1 +59 "core" 1 +2 "storage"()- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(-& +3 "core" & n m = +2 "manipulator"&.& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&/( +9 "core" ( +2 "manipulator"&0& +3 "core" & a  +2 "storage"(1& +4 "core" & m n W +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(3' +57 "core" ' +2 "manipulator"&& +3 "core" & #  +2 "storage"(5& +4 "core" & : +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6' +25 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(8'i +24 "core" ' + "manipulator"&4% +4 "core" % v +2 "storage"(:& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&;' +18 "core" ' + "manipulator"&<& +5 "core" & |  + "storage"(=& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&>'ќ +17 "core" ' +2 "storage"(?% +3 "core" %r +3 ."downElevator"SE.seek :down +3 "storage"(9'X +100 (A% +3 "core" %R j s < PH +2 "manipulator"&B% +3 "core" %х p +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +36 "manipulator"&D'\ +100 "core" ' +14 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" &  +2 "collection"'G& +4 "core" &VU  ~ ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\  C , +2 "storage"(% +4 "core" %` > +2 "storage"(I. +3 "core" .( +2 "storage"(J& +4 "core" &  +2 "storage"(K& +3 "core" &  +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&M( +9 "core" ( +2 "manipulator"&N& +3 "core" & & E \ +2 "storage"(P& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +96 "core" ' + "storage"(S& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +279 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +4 "core" & ` \ +2 "storage"(W& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +27 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Y'P +32 "core" ' +2 "manipulator"&Z% +3 "core" %  T +2 "storage"([& +4 "core" & & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&R' +20 "core" ' +2 "manipulator"&T& +3 "core" & & % \ +2 "storage"(!& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'? +39 "core" ' + "manipulator"&a& +5 "core" & @ \ + "manipulator"&b% +4 "core" %ѵ = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +151 "core" ( +2 "manipulator"&e& +3 "core" &( $  >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +7 &\\& +2 "core" &(   >J +3 .tForearm.seek CC + "manipulator"&f'" +98 "core" ' +2 .tHand.close + "manipulator"&g/ +54 "core" / + .tCC.seek :open +2 "collection"'h( +413 "core" ( + "storage"(X& +5 "core" & d + "storage"(j& +4 "core" & +2 "manipulator"&k& +4 "core" &&   =G +2 "manipulator"&m% +3 "core" % 6   +3 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +158 "core" ( + "manipulator"&o& +4 "core" & % d  +2 "storage"(p& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&q' +97 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +55 "core" 1 +2 "manipulator"&v% +4 "core" % % 2 +2 "storage"(w& +3 "core" & A +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&y' +27 "core" ' +2 "manipulator"&i& +5 "core" & |  +2 "storage"(l& +3 "core" & h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +26 "core" ' +2 "storage"(u% +3 "core" %G m +3 ."downElevator"SE.seek :down +38 "storage"(|'X +99 (}% +3 "core" %,Q PG +2 "manipulator"&r% +4 "core" %ѽ 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &  R +2 "manipulator"&% +4 "core" %\  (  +2 "storage"(x% +4 "core" %^ +2 "storage"(z. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & 0  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"& & +4 "core" & % [ v +2 "storage"(\ & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"( & +3 "core" & k  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &   +2 "manipulator"& & +4 "core" & d v +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" & 9 v +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & : v + "manipulator"&% +5 "core" % ϲ  ) +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&"& +4 "core" && h =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" && F =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +97 "core" ' +2 "manipulator"&&& +3 "core" && ( D =B +3 "manipulator"&% +3 "core" %  \ +3 "collection"'(& +3 "core" &   +3 "collection"')& +5 "core" &  w +3 .tCC.seek :closed +2 "collection"',(V +4 "core" &  { +8 &C  ~ #c +10 &[  z 6 +9 &  x H +9 &e  x G +10 &i  x H +9 &]g  } H +9 &i  y H +10 &h  w H +9 &g  v G +10 &fd  u G +9 & (e   G +9 &!j   G +10 &#k  { G +9 &%nj  s G +9 &'/g  x H +10 &(g  { G +9 &*i  | G +10 &,wi   G +9 &.7g   H +9 &/g   G +10 &1e   G +9 &3~d   G +9 &5@h   G +10 &7i   H +9 &8c  } G +10 &:i   H +9 & e   H +10 &?h   H +9 &Ag   H +9 &COh   H +10 &Em   H +9 &Fx   I +10 &H   K +9 &JD   N +9 &K   Q +10 &M   Q +9 &O   R +9 &QB   R +10 &S   S +9 &T   R +10 &V/\\   - +9 &V   D +9 ( +2 "collection"')& +3 "core" &V`   B +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&-1 +53 "core" 1 +2 "manipulator"&.% +4 "core" %  0 K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%1& +3 "core" &, +2 "manipulator"&#% +5 "core" %\ !  O 0 + "storage"(% +4 "core" %b  +2 "storage"(5. +3 "core" .( +2 "storage"(4& +4 "core" &   +2 "storage"( & +3 "core" & ;  +2 "manipulator"&:& +4 "core" &%  * <= +2 "manipulator"&*% +3 "core" %\ !  0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +159 "core" ( + "manipulator"&=& +40 "core" & % R r +9 "storage"(?& +4 "core" & 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +96 "core" ' +2 "storage"('& +3 "core" & &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +277 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & 6  +2 "manipulator"&2& +5 "core" & T r +2 .tElbow.seek 3 + "manipulator"&/( +4 "core" ( +2 "manipulator"&3& +3 "core" & % p r +2 "storage"(6& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"('X +6 "core" & ] r +3 "manipulator"&% +3 "core" % ϭ 1 +3 .tForearm.seek :retract + "manipulator"&I'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&J& +5 "core" &r +   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&N& +4 "core" &r % 0  +2 "manipulator"&P% +4 "core" % +2 "processing"%>& +5 "core" &, +2 "processing"%S& +5 "core" &/ +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &2 +7 &>: #c +9 &[> 6 +10 &? H +9 &f6 G +9 &g9 H +10 &Zh9 G +9 &e6 G +10 &e4 G +9 &f6 G +9 &bg3 G +10 & $l4 G +9 &!j4 G +10 &#j2 G +9 &%ih6 H +9 &'+h4 H +10 &(g3 G +9 &*e6 G +9 &,rk3 G +10 &.4k< G +9 &/h> H +9 &1d5 G +10 &3yh5 H +9 &5;g4 H +10 &6g3 G +9 &8j8 G +9 &:i> G +10 & G +9 &>i7 G +9 &?h3 G +10 &Ae5 G +9 &CLj5 G +10 &E p9 H +9 &Fu5 I +9 &H5 K +10 &JE8 M +9 &L7 M +9 &M5 L +10 &O: L +9 &QM4 M +10 &S3 M +9 &T6 N +9 &V7 N +10 &XR? N +9 &Yww6 "k +9 &Z,y3 / +9 ( +2 &Z7 # +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&71 +62 "core" 1 +2 "manipulator"&D% +3 "core" % & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 "processing"%V& +3 "core" &Z$ # +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %\  q  +2 "storage"(L% +3 "core" %a  +2 "storage"(Z. +4 "core" .( + "storage"([& +4 "core" & \\  +2 "storage"(T& +3 "manipulator"&!& +8 "core" & ?  + &r   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'i +2 "core" ( +3 "manipulator"&Q& +3 "core" &r V  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&C' +98 "core" ' + .tHand.close +2 "manipulator"&H/ +62 "core" / +2 .tPC.seek :open +2 "processing"%R( +81 "core" ' +2 "storage"(Y- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +34 "core" ' +305 ( + "storage"(\\& +4 "core" & '  +2 "manipulator"&^& +3 "core" &r f  +2 "manipulator"&O% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' +39 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +259 "core" ( +2 "manipulator"&]& +3 "core" &  P  +2 "storage"(X& +5 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +90 "core" ' + .tHand.open +2 "manipulator"&k1 +61 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(p' +45 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(d& +3 "core" & X Q   +2 "manipulator"&t& +5 "core" & \  +2 .tElbow.seek 3 + "manipulator"&v( +8 "core" ( +2 "manipulator"&w& +3 "core" &  j  +2 "storage"(i& +4 "core" & R W P  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +4 "core" ' +6 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +56 "core" ' +2 "manipulator"&U& +3 "core" &   +3 "storage"(`& +3 "core" & )  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +24 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(q'i +28 "core" ' +2 "manipulator"&y% +3 "core" %Ό  +2 "storage"(& +5 "core" & Q  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +19 "core" ' +2 "manipulator"&x& +3 "core" & u  +3 "storage"(_& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +34 "core" ' +2 "storage"(n% +3 "core" %p _ +3 ."downElevator"SE.seek :down +4 "storage"(|'X +98 (@% +3 "core" %^T s  PG +2 "manipulator"&% +5 "core" %K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &  +2 "collection"'\ & +4 "core" &Va   B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\  5 +2 "storage"(s% +4 "core" %_ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & e  +2 "storage"(& +3 "core" & >  +3 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &  o  +2 "storage"({& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +3 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &   +2 "storage"(& +4 "core" & 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +31 "core" ' + "manipulator"&(% +5 "core" %ΐ  + "storage"(& +4 "core" & #  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&'ϼ +20 "core" ' + "manipulator"&& +4 "core" &   +38 "storage"(h& +11 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +32 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'@ +38 "core" ' +2 "manipulator"&1& +3 "core" & R  +2 "manipulator"&#% +5 "core" %1 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +156 "core" ( +3 "manipulator"&4& +3 "core" &% % A <= +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &% U <= +2 .tForearm.seek CC +2 "manipulator"&)'" +92 "core" ' + .tHand.close +2 "manipulator"&:/ +54 "core" / +2 .tCC.seek :open +2 "collection"'*( +413 "core" ( + "storage"(%& +4 "core" &  +2 "storage"(=& +3 "core" &  +2 "manipulator"&?& +4 "core" &% <= +2 "manipulator"&% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&0( +157 "core" ( + "manipulator"&A& +4 "core" &  { +2 "storage"(B& +4 "core" & |  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +94 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +55 "core" 1 +2 "manipulator"&E% +4 "core" % y  +2 "storage"(G& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&'ϥ +21 "core" ' +3 "manipulator"&<& +3 "core" & ^ { +2 "storage"($& +4 "core" & #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +24 "core" ' + "storage"(;% +5 "core" %I +2 ."downElevator"SE.seek :down +4 "storage"(J'X +98 (K% +3 "core" %O  OE +2 "manipulator"&/% +4 "core" % x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +85 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'P& +3 "core" &  s +2 "manipulator"&>% +3 "core" %\    +2 "storage"(% +5 "core" %_ +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" & l +2 "manipulator"&D& +4 "core" &  { +2 .tElbow.seek 2 +2 "manipulator"&V( +38 "core" ( +2 "manipulator"&W& +3 "core" & $ " # +2 "storage"(L& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +98 "core" ' +2 "storage"([& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +276 "core" ' + "storage"(!- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & , +2 "manipulator"&Q& +3 "core" &  # +3 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( +2 "manipulator"&& +3 "core" & } # +3 "storage"(H& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +92 "core" / +10 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(9'X +8 "core" & # + "manipulator"&b% +4 "core" %  & +3 .tForearm.seek :retract + "manipulator"&\\'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +150 "core" ( + "manipulator"&O& +5 "core" ' + &%  1 <= + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&C& +3 "core" &% # <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +95 "core" ' +2 "manipulator"&X& +3 "core" &% $  <= +2 "manipulator"&a% +5 "core" %    +2 "collection"'k& +3 "core" &  Q +3 "collection"'m& +5 "core" &  x +2 .tCC.seek :closed +2 "collection"'f(V +5 "core" & x +6 &D  | #c +10 &[  | 6 +9 &  { H +9 &e  y G +10 &g  { G +9 &\\g   G +10 &h   G +9 &g   G +9 &f   G +10 &cf   G +9 & %g   G +10 &!i   G +9 &#g   G +9 &%lf   G +10 &'/e   G +9 &(e   G +9 &*e   G +10 &,tg   G +9 &.7f   G +9 &/f   G +10 &1g   G +9 &3|e   G +10 &5>e   G +9 &7h   G +9 &8e   G +10 &:h   G +9 &g   G +10 &?g   G +9 &Af   G +10 &CNd   G +9 &En   H +9 &Fu   I +10 &H   K +9 &JC   N +9 &K   P +10 &M   Q +9 &O   Q +10 &Q>   R +9 &S   R +9 &T   S +10 &V8k   0 +9 &V\   8 +9 &WZ   ? +6 ( +2 "collection"'m& +3 "core" &WN   ? +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&d1 +54 "core" 1 +3 "manipulator"&t% +4 "core" %  V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%i& +3 "core" &* +2 "manipulator"&g% +4 "core" %\ \ v  +2 "storage"(U% +3 "core" %U ' +2 "storage"(`. +4 "core" .( + "storage"(y& +4 "core" &  +2 "storage"(& +4 "core" & +2 "manipulator"&e& +3 "core" &% + <= +2 "manipulator"&o% +3 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&x( +154 "core" ( +2 "manipulator"&_& +4 "core" & W  +2 "storage"(n& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +95 "core" ' +2 "storage"(j& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +279 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & w +2 "manipulator"&l& +3 "core" & V  +3 .tElbow.seek 2 + "manipulator"&v( +4 "core" ( +2 "manipulator"&u& +3 "core" & h  +2 "storage"(}& +3 "core" & Q +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"( 'X +8 "core" & ]  + "manipulator"&q% +5 "core" % \ 3 z +2 .tForearm.seek :retract + "manipulator"&s'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&& +3 "core" &l , m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +101 "core" ' +2 "manipulator"&& +3 "core" &l % 9  +2 "manipulator"&{% +5 "core" % +2 "processing"%z& +3 "core" &6 +3 "processing"%& +43 "core" && +9 &2 +2 .tPC.seek :closed +2 "processing"%|(Z +5 "core" &4 +8 &G9 #b +9 &]4 6 +9 &6 H +10 &e4 G +9 &j@ G +9 &^g5 G +10 & j6 G +9 &h3 G +10 &k9 G +9 &fh> G +9 & )k3 G +10 &!h< G +9 &#h6 G +9 &%nh2 G +10 &'0h8 G +9 &(e3 G +9 &*h3 G +10 &,uh3 H +9 &.9h? G +10 &/gE G +9 &1cC G +9 &3~g5 G +10 &5@i8 G +9 &7h5 G +10 &8h4 G +9 &:c3 G +9 &\ g2 G +9 &?g2 H +9 &Ag7 G +10 &COk9 H +9 &Ep3 H +10 &Fv; I +9 &H9 K +9 &JI5 M +10 &L / L +9 &M? M +9 &O9 L +10 &QR< L +9 &S7 M +10 &T9 M +9 &V: N +9 &XW4 M +10 &Ywv5 "k +9 &Z(q- , +9 ( +2 "processing"%& +3 "core" &Z2 " +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&r1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' + "processing"%"& +4 "core" &Z; " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  \\  +3 "storage"(&% +3 "core" %U  +2 "storage"((. +3 "core" .( +2 "storage"(& +3 "core" & T +3 "storage"(& +2 "manipulator"&h& +7 "core" & H +2 &l   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&1(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(#'i +2 "core" ( +3 "manipulator"&& +3 "core" &l B  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &l   +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +50 "core" ' +281 ( +2 "storage"( & +3 "core" & d +3 "manipulator"&-& +4 "core" &l   +2 "manipulator"&% +3 "core" %    +3 .tForearm.seek :retract + "manipulator"&:'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +252 "core" ( +2 "manipulator"&,& +3 "core" & r "| +2 "storage"(%& +4 "core" & U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +108 "core" ' +2 .tHand.open +2 "manipulator"&?1 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(A'E +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"()- +2 "core" -' +3 "storage"(5& +3 "core" & \ ]\ R S +2 "manipulator"&6& +4 "core" &  "{ +2 .tElbow.seek 2 + "manipulator"&E( +4 "core" ( +2 "manipulator"&G& +3 "core" &  [ "{ +3 "storage"(<& +3 "core" & \ O\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(;' +58 "core" ' +2 "manipulator"&'& +3 "core" &  "{ +3 "storage"(K& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/' +24 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&P% +4 "core" %  +2 "storage"(& +3 "core" & 5 +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&>' +19 "core" ' + "manipulator"&& +5 "core" &  "{ + "storage"(I& +5 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +29 "core" ' +3 "storage"(+% +5 "core" %n . +2 ."downElevator"SE.seek :down +4 "storage"(J'X +98 ( % +3 "core" %{Q  OF +2 "manipulator"&7% +4 "core" %ю  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (W& +2 "core" &  +2 "collection"'L& +4 "core" &WN   ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&[% +3 "core" %\    +3 "storage"(3% +3 "core" %U i +2 "storage"(N. +3 "core" .( +2 "storage"(!& +4 "core" & R +2 "storage"(T& +3 "core" &  +2 "manipulator"&Q& +4 "core" &  "{ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&H& +4 "core" &  i "{ +2 "storage"(8& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +101 "core" ' +2 "storage"(b& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +287 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &  "{ +2 "storage"(C& +4 "core" & F +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&S' +30 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'O +28 "core" ' + "manipulator"&k% +5 "core" %  + "storage"(M& +4 "core" & v r { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&9' +21 "core" ' +2 "manipulator"&\\& +3 "core" & Y "z +3 "storage"(*& +3 "core" & [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'> +35 "core" ' +2 "manipulator"&i& +3 "core" & C "z +2 "manipulator"&g% +3 "core" %s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +150 "core" ( +3 "manipulator"&y& +3 "core" &$  3 ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &$   ;5 +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&e/ +64 "core" / +2 .tCC.seek :open +2 "collection"'o( +415 "core" ( +2 "storage"(]& +3 "core" & Z +2 "storage"(_& +4 "core" & +2 "manipulator"&n& +3 "core" &$  ;4 +2 "manipulator"&j% +5 "core" % , / +2 .tForearm.seek :retract + "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +160 "core" ( +2 "manipulator"&@& +3 "core" &   +2 "storage"(& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&l' +97 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +41 .tHand.open +9 "manipulator"&}1 +53 "core" 1 +4 "manipulator"& % +3 "core" % ~ +2 "storage"(\ & +5 "core" & ; + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&q' +25 "core" ' +2 "manipulator"&x& +3 "core" &  +3 "storage"(c& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +18 "core" ' +2 "storage"(% +3 "core" %? .  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %L OD +2 "manipulator"&v% +3 "core" %ѡ ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +3 "core" &  N +2 "manipulator"&z% +5 "core" %\ #  ; + "storage"( % +5 "core" %b ^ + "storage"(s. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(R( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" & >  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&"( +16 "core" ( +2 "manipulator"&& +3 "core" & % a +2 "storage"(&& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +97 "core" ' +2 "storage"(& +3 "core" & 2  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &   +2 "manipulator"&& +3 "core" & a +3 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"& & +3 "core" &  a +2 "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(|'X +8 "core" &  a + "manipulator"&#% +4 "core" % ϟ  +4 .tForearm.seek :retract +4 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&& +3 "core" &'  d >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' 1 >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'" +104 "core" ' +2 "manipulator"&%& +3 "core" &( # C >M +2 "manipulator"&1% +4 "core" %  " +2 "collection"'?& +5 "core" &  Y +3 "collection"'& +5 "core" &  P +2 .tCC.seek :closed +2 "collection"')(V +5 "core" &  z +7 &J  x $d +9 &^  q 7 +10 &#  q H +9 &e  ~ G +9 &g   G +10 &ke   G +9 &,j   G +9 &f   G +10 &e   G +9 &rd   G +10 & 4f   G +9 &!f   G +9 &#g   G +10 &%{g   G +9 &'>e   F +9 &(e   G +10 &*e   F +9 &,e   G +10 &.Ef   G +9 &0i   G +9 &1f   G +10 &3e   G +9 &5Lh   G +9 &7f   G +10 &8g   G +9 &:g   G +10 &g   F +9 &?f   G +10 &Ag   G +9 &C]g   G +9 &Em   G +10 &Fv   I +9 &H   J +10 &JO   N +9 &L\   Q +9 &M   Q +10 &O   Q +9 &QM   R +9 &S   R +10 &T   R +9 &V8^   )} +10 &V"   K +8 ( +2 &Ve   D +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&51 +58 "core" 1 +2 "manipulator"&6% +5 "core" %   / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +148 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%:& +3 "core" &6 +2 "manipulator"&<% +5 "core" %\ 6  + "storage"('% +4 "core" %W  +2 "storage"(K. +4 "core" .( + "storage"(P& +4 "core" & [  +2 "storage"(& +3 "core" &   +3 "manipulator"&4& +3 "core" &' \\ >M +2 "manipulator"&A% +4 "core" %\ z  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( +2 "manipulator"&I& +4 "core" & ] | +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +97 "core" ' + "storage"(+& +4 "core" & s  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +281 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&7& +3 "core" & ' | +3 .tElbow.seek 3 + "manipulator"&E( +4 "core" ( +2 "manipulator"&;& +3 "core" & Y | +2 "storage"(/& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&>'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"(['X +8 "core" & k | +2 "manipulator"&3% +3 "core" % Ϡ 7 +3 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +3 .tElbow.seek PC + "manipulator"&N(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&!& +3 "core" &z '   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &z u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +92 "core" ' +2 "manipulator"&H& +3 "core" &{   +2 "manipulator"&8% +5 "core" % a F + "processing"%.& +5 "core" &8 +2 "processing"%b& +5 "core" &2 +2 .tPC.seek :closed +2 "processing"%J(Z +5 "core" &: +7 &>? #b +9 &[F 6 +10 &A H +9 &gA G +9 &g> G +10 &]fE G +9 &gF G +10 &gE G +9 &hF G +9 &fhF G +10 & 'hA G +9 &!g? G +9 &#fD G +10 &%ngI G +9 &'0hF G +10 &(h> G +9 &*h< G +9 &,whF G +10 &.9gF G +9 &/fD G +9 &1gE G +10 &3fE G +9 &5Ag? G +10 &7jE G +9 &8hE G +9 &:gF G +10 & eD G +9 &?jH G +10 &AgG G +9 &COiF G +13 &EmB G +6 &FvG I +9 &HF K +10 &JKF L +9 &L = L +9 &MF L +10 &OF M +9 &QQG L +10 &SF M +9 &TE M +9 &VG M +10 &XVE M +9 &YwvG "k +9 &Z'q= . +9 ( +2 &ZC # +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&01 +53 "core" 1 + "manipulator"&D% +4 "core" %  I F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +98 "core" ' +3 "processing"%O& +4 "core" &ZH # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&C% +3 "core" %\  - +2 "storage"(X% +5 "core" %\\ ? + "storage"(k. +3 "core" .( +2 "storage"(M& +3 "core" & @  +3 "storage"(\\& +2 "manipulator"&*& +7 "core" & }  +2 &| =  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&i(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +2 "core" ( + "manipulator"&F& +6 "core" &| j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +50 && +3 "core" &| ^  +3 .tForearm.seek PC + "manipulator"&V' +97 "core" ' + .tHand.close +2 "manipulator"&S/ +59 "core" / +2 .tPC.seek :open +2 "processing"%9( +35 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(y'y +47 "core" ' +341 ( + "storage"(m& +4 "core" & +  +2 "manipulator"&d& +4 "core" &|   +2 "manipulator"&Y% +3 "core" % '  +3 .tForearm.seek :retract +2 "manipulator"&e'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&U( +255 "core" ( +2 "manipulator"&f& +3 "core" & % Q  +2 "storage"(]& +4 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +96 "core" ' + .tHand.open +2 "manipulator"&n1 +59 "core" 1 +2 "storage"(j- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(`& +4 "core" &\ R\ K Q  +2 "manipulator"&}& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&\ & +3 "core" & $ <  +2 "storage"(x& +4 "core" &\ P\ K V  +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' + "manipulator"&^& +5 "core" &   + "storage"(w& +5 "core" & T  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(l'i +28 "core" ' +2 "manipulator"&{% +3 "core" %u  +2 "storage"(q& +5 "core" & +  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 292 counts +2 "manipulator"&z'ϡ +20 "core" ' +2 "manipulator"& & +4 "core" & e  +2 "storage"(s& +3 "core" & M  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +50 "core" ' + "storage"(p% +5 "core" %s a +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +2 "core" %{S E PH +2 "manipulator"&r% +4 "core" %6 [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & j  +2 "collection"'&& +4 "core" &Ve  c D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(u% +5 "core" %b N + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(h& +4 "core" & N  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & G  +2 "storage"(& +4 "core" &   +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' + "storage"(#& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +286 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & @  +2 "storage"(& +4 "core" & 2  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'R +31 "core" ' +2 "manipulator"&?% +3 "core" %v  +2 "storage"(~& +4 "core" & n  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 293 counts + "manipulator"&|'Ϣ +20 "core" ' +2 "manipulator"& & +3 "core" & 6  +2 "storage"(o& +5 "core" & B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'A +44 "core" ' +2 "manipulator"&& +3 "core" & L  +3 "manipulator"&:% +3 "core" %N k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +154 "core" ( +2 "manipulator"&K& +3 "core" &' " 9 >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &'   >L +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&4/ +63 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(,& +3 "core" & g  +2 "storage"(I& +3 "core" &  +3 "manipulator"&& +3 "core" &'   >L +2 "manipulator"&+% +3 "core" % '  ? +3 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +160 "core" ( +2 "manipulator"&$& +3 "core" &   +2 "storage"( & +4 "core" & j  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&7'} +97 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +61 "core" 1 +2 "manipulator"&W% +3 "core" % ΋  P +2 "storage"(L& +5 "core" & {  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts +3 "manipulator"&3'Ϸ +20 "core" ' + "manipulator"&& +4 "core" & e  +2 "storage"(=& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +30 "core" ' +2 "storage"(>% +3 "core" %I +3 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (T% +3 "core" %FP OE +2 "manipulator"&E% +4 "core" % m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'8& +3 "core" &   +3 "manipulator"&.% +3 "core" %\  6  +2 "storage"([% +5 "core" %` M + "storage"(2. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (0& +2 "core" & +2 "manipulator"&D& +4 "core" & q  +2 .tElbow.seek 2 +2 "manipulator"&O( +34 "core" ( + "manipulator"&C& +5 "core" &% K  + "storage"(X& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +94 "core" ' +2 "storage"(M& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\\'i +280 "core" ' + "storage"(*- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & M +2 "manipulator"&F& +3 "core" &%   +3 .tElbow.seek 2 + "manipulator"&( +16 "core" ( +3 "manipulator"&Q& +3 "core" &   +2 "storage"(S& +4 "core" & * +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(J'X +8 "core" & A  +2 "manipulator"&g% +3 "core" %  K +3 .tForearm.seek :retract +2 "manipulator"&m'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&Y& +4 "core" &( * ? ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &( 6  ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'" +100 "core" ' +3 "manipulator"&]& +4 "core" &) ) b ?R +2 "manipulator"&i% +3 "core" %%  Z +3 "collection"'n& +3 "core" &   +3 "collection"'j& +5 "core" & X +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &    +9 &6   )v +9 & j  = +9 &r   G +10 &le  } F +9 &.e   F +9 &f   F +10 &e   F +9 &te   F +9 &6f   F +10 &h   G +9 & c   G +10 &"{c   G +9 &$=c   G +9 &%c   G +10 &'c   G +9 &)c   F +9 &+Ef   G +10 &-h   G +9 &.f   G +10 &0e   G +9 &2Nd   F +9 &4h   G +10 &5c   F +9 &7e   G +10 &9Tg   G +9 &;f   G +9 &<j   G +10 &>d   G +9 &@^c   F +9 &Bg   G +10 &Ck  { G +9 &Em   H +10 &G_y   I +9 &I   K +9 &J   N +10 &L   Q +9 &NQ   P +9 &P  | Q +10 &Q  } Q +9 &S   S +9 &UQ   F +10 &VzS   'x +9 &VI | ? +3 ( + "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&`1 +60 "core" 1 +4 "manipulator"&}% +3 "core" % %  M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +3 "core" &7 +3 "manipulator"&e% +4 "core" %\  + "storage"(^% +4 "core" %a  +2 "storage"(w. +3 "core" .( +2 "storage"({& +4 "core" &  +2 "storage"(y& +3 "core" &  +2 "manipulator"&q& +3 "core" &( 3 ?R +2 "manipulator"&@% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +166 "core" ( +4 "manipulator"&s& +3 "core" & + ` +2 "storage"(U& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +96 "core" ' +2 "storage"(_& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &  +2 "manipulator"&c& +4 "core" &  ` +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" &  K ` +2 "storage"(& +4 "core" & H +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&&& + "storage"('X +8 "core" & ` + "manipulator"&u% +4 "core" % $ O [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +4 "manipulator"&l& +3 "core" &k  @  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &k & 7  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' +2 "manipulator"&& +3 "core" &k  *  +3 "manipulator"&% +4 "core" % +2 "processing"%t& +3 "core" &I +3 "processing"%#& +5 "core" &L +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &N +7 &= 8 +9 &MN> / +9 &{: C +10 &ChM G +9 &iA G +9 &f: G +10 &g: G +9 &Kj: G +9 & g? G +10 &e@ G +9 &h< G +10 &!TgE G +9 &#k@ G +9 &$g@ G +10 &&eD G +9 &(\\e@ G +10 &*e@ G +9 &+gF G +9 &-fF G +10 &/dgF G +9 &1$kG G +9 &2gE G +10 &4gF G +9 &6lfH G +10 &8-cE G +9 &9gE G +9 &;gE G +10 &=ugF F +9 &?6gF G +9 &@fG G +10 &BhD G +9 &DymG H +9 &F;pF H +10 &GF J +9 &IG L +10 &KuF L +9 &M6D L +9 &NE M +10 &PG L +9 &R{G M +9 &T<G M +10 &UF M +9 &WF N +10 &YF : +9 &Zr5F T +9 &ZG ! +3 ( + "processing"%#& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&v1 +58 "core" 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +98 "core" ' +2 "processing"%& +3 "core" &Z9 ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  +2 "storage"(%% +3 "core" %a +3 "storage"(?. +3 "core" .( + "storage"(~& +5 "core" &  +2 "storage"( & +3 "manipulator"&o& +6 "core" &  + &k   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"(:'i +2 "core" ( + "manipulator"&& +5 "core" &k   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k   +3 .tForearm.seek PC + "manipulator"&"' +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%|( +94 "core" ' + "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +43 ."raiseStack"SE.seek :place +10 "storage"(K'y +34 "core" ' +246 ( +2 "storage"(P& +3 "core" &  +3 "manipulator"&5& +3 "core" &k   +2 "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&4'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&<( +255 "core" ( + "manipulator"&)& +4 "core" & $ 2 !t +2 "storage"(,& +4 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&I'ќ +89 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(+- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"($'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +99 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"('& +5 "core" & \ \ E = + "manipulator"&/& +4 "core" &  !s +2 .tElbow.seek 2 +2 "manipulator"&W( +4 "core" ( +2 "manipulator"&L& +3 "core" &  !s +2 "storage"(& +5 "core" & \ 8\ E +2 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(>' +58 "core" ' +2 "manipulator"&-& +3 "core" &  !s +2 "storage"(T& +5 "core" & < + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&E' +24 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'i +22 "core" ' +2 "manipulator"&3% +3 "core" % +2 "storage"(8& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&.' +20 "core" ' +2 "manipulator"&[& +3 "core" &  i !r +2 "storage"(2& +5 "core" & z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +34 "core" ' + "storage"(B% +5 "core" %n  +2 ."downElevator"SE.seek :down +4 "storage"(!'X +98 (R% +3 "core" %@Y q u N QJ +2 "manipulator"&0% +4 "core" %ѯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +3 "core" & w +2 "collection"'X& +3 "core" &VQ  i ? +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&M% +3 "core" %\    +2 "storage"(;% +5 "core" %U  + "storage"(H. +4 "core" .( + "storage"(*& +4 "core" &  +2 "storage"(b& +3 "core" &  +2 "manipulator"&F& +4 "core" &  !r +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&S& +3 "core" &  O !r +2 "storage"(N& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +90 "core" ' + "storage"(g& +5 "core" & g +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +277 "core" ' +2 "storage"(k- +2 "core" -' +2 .tSE.configure :default +48 "storage"(#QK-0-\ b +5 "manipulator"&Y& +3 "core" &  !r +2 "storage"(V& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&\\' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'P +35 "core" ' +2 "manipulator"&n% +4 "core" % +2 "storage"(& +3 "core" & + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&J' +19 "core" ' + "manipulator"&m& +5 "core" & ( !r + "storage"(A& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +16 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(}'? +43 "core" ' +2 "manipulator"&x& +3 "core" &  !r +3 "manipulator"&e% +3 "core" %у  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +152 "core" ( +3 "manipulator"&j& +4 "core" &" $ L :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &#  4 :1 +2 .tForearm.seek CC +2 "manipulator"&y'" +96 "core" ' +2 .tHand.close +2 "manipulator"&q/ +61 "core" / + .tCC.seek :open +2 "collection"'@( +413 "core" ( + "storage"(f& +5 "core" & i +2 "storage"(s& +3 "core" & +2 "manipulator"&U& +3 "core" &#  M :1 +2 "manipulator"&_% +5 "core" % - h +2 .tForearm.seek :retract + "manipulator"&d'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +161 "core" ( +2 "manipulator"&& +3 "core" & 7  +2 "storage"(r& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" %  Q +2 "storage"(&& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +3 "manipulator"&u' +20 "core" ' +2 "manipulator"& & +3 "core" & h  +2 "storage"(p& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' + "storage"(z% +4 "core" %C v +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (h% +3 "core" %=Q OE +2 "manipulator"& % +4 "core" %Ѡ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +3 #Loading generic puck from tube 3 into Collection Clamp +3 "collection"'& +3 "core" &   +2 "manipulator"&t% +5 "core" %\ #  : + "storage"(% +4 "core" %a n +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(9( +381 "core" ( +5 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +3 "core" &  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( +2 "manipulator"&& +3 "core" & :  +2 "storage"(%& +4 "core" & *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +108 "core" ' +2 "storage"(~& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +280 "core" ' + "storage"( - +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &  +2 "manipulator"&& +5 "core" &  +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +5 "core" & ~  + "storage"(& +4 "core" & J  +4 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"('X +8 "core" &  + "manipulator"&P% +4 "core" % Ϸ W +3 .tForearm.seek :retract + "manipulator"&5'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&:& +3 "core" && D u =B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &&  =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'" +100 "core" ' +4 "manipulator"&,& +3 "core" &&  X =A +2 "manipulator"&% +4 "core" %!  C +3 "collection"'& +3 "core" &  ] +3 "collection"'+& +5 "core" & \\ +3 .tCC.seek :closed + "collection"'(V +4 "core" &   +8 &B   #c +9 &]   7 +9 &$   G +10 &e  G +9 &i   G +9 &kf   G +10 &.c   F +9 &e   F +10 &c   G +9 &th   F +9 & 6e   F +10 &!c   G +9 &#d   F +9 &%|f   F +10 &'?e   F +9 &(h   G +10 &*f  G +9 &,c   F +9 &.Fe   F +10 &0h  b G +9 &1h   F +9 &3c   G +10 &5Nh   F +9 &7e   F +10 &8h   G +9 &:f   G +9 &e  z F +9 &?f  F +9 &Aj   G +10 &C]e   G +9 &El  | G +10 &Fu   H +9 &H   J +9 &JQ   N +10 &L   P +9 &M   Q +9 &O   Q +10 &QN   Q +9 &S   R +10 &T  R +9 &VAh   / +9 &V   9 +10 &Wn  A +5 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&41 +3 "core" &WU   A +53 1 +3 "manipulator"&'% +3 "core" % ! '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%L& +5 "core" &@ + "manipulator"&% +4 "core" %\  +2 "storage"(-% +4 "core" %b  +2 "storage"(T. +3 "core" .( +2 "storage"(K& +3 "core" &   +2 "storage"($& +4 "core" &   +2 "manipulator"&3& +3 "core" && # =A +2 "manipulator"&8% +4 "core" %\ C  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&[( +161 "core" ( + "manipulator"&2& +4 "core" & M e +2 "storage"(B& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +86 "core" ' +2 "storage"(I& +3 "core" & u  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +50 .tSE.seek :beamBreak +3 "storage"( 'i +282 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" & &  +2 "manipulator"&=& +4 "core" &  e +2 .tElbow.seek 3 +2 "manipulator"&W( +4 "core" ( + "manipulator"&>& +4 "core" & F e +2 "storage"(E& +4 "core" & 0  +3 .tForearm.seek 3 + 300 counts + "manipulator"&.'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&C/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +3 "storage"(M'X +8 "core" & Z e + "manipulator"&;% +4 "core" % ϯ  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&H(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&*& +5 "core" &z * % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +95 "core" ' +2 "manipulator"&S& +3 "core" &z  +2 "manipulator"&N% +5 "core" %  +2 "processing"%6& +3 "core" &O +3 "processing"%g& +5 "core" &M +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" &V +7 &>P #b +9 &ZO 5 +10 &K H +9 &gO G +10 &hE G +9 &VfM G +9 &dO G +10 &gP G +9 &gG G +9 &]jF G +10 & gO G +9 &!eB G +10 &#hG G +9 &%fhJ G +9 &''kF G +10 &(fF G +9 &*gG F +9 &,mgC G +10 &.0gF G +9 &/dE G +10 &1gE G +9 &3vfF G +9 &57jF G +10 &6fE G +9 &8dE G +9 &:~eF G +10 &fH G +10 &?gG F +9 &AgF G +9 &CFi= G +10 &Eo@ H +9 &FuE H +9 &HI K +10 &JAK L +9 &LK L +10 &MH L +9 &OI M +9 &QHH L +10 &SF M +9 &TF M +9 &VF M +10 &XMG M +9 &YwyH "j +10 &Z-H 0 +8 ( +2 &ZG ! +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&G1 +53 "core" 1 +2 "manipulator"&D% +3 "core" % $   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +95 "core" ' +2 "processing"%Y& +3 "core" &Z= ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&V% +3 "core" %\ # : +3 "storage"(]% +3 "core" %U 9 +2 "storage"(n. +2 "Can" KC? +3 "core" .( +2 "storage"(& +3 "core" &  +3 "storage"(m& +4 "manipulator"&A& +3 "core" & :  +2 &z  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&x(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(e'i +2 "core" ( +3 "manipulator"&Z& +3 "core" &z  * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +4 "core" &z  ? +2 .tForearm.seek PC +2 "manipulator"&O' +97 "core" ' +2 .tHand.close + "manipulator"&\\/ +61 "core" / +3 .tPC.seek :open +2 "processing"%J( +81 "core" ' +2 "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(j'y +57 "core" ' +284 ( + "storage"({& +4 "core" &   +2 "manipulator"&`& +4 "core" &z  +2 "manipulator"&a% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&q'\ +93 "core" ' +48 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&^( +245 "core" ( +2 "manipulator"&& +3 "core" & % s a +2 "storage"(f& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +103 "core" ' + .tHand.open +2 "manipulator"&U1 +56 "core" 1 +2 "storage"(_- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +22 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(r' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(y- +2 "core" -' +2 "storage"(w& +5 "core" &\    + "manipulator"&& +4 "core" &\  _ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&&& +3 "core" & %  _ +2 "storage"( & +4 "core" &\ H\ G  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +57 "core" ' +2 "manipulator"&d& +3 "core" &\  _ +2 "storage"(h& +5 "core" & m  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +21 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +22 "core" ' +2 "manipulator"&% +3 "core" %Έ  +3 "storage"(u& +3 "core" & G  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&t'ϴ +20 "core" ' +2 "manipulator"&& +3 "core" &\  r _ +3 "storage"(& +3 "core" & .  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +37 "core" ' +2 "storage"(% +3 "core" %q 1 +3 ."downElevator"SE.seek :down +3 "storage"(l'X +100 (% +3 "core" %mU e d X PG +2 "manipulator"&v% +3 "core" %Y  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & @  +3 "collection"'%& +3 "core" &WU   A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&~% +3 "core" %\ !  6 +2 "storage"(% +5 "core" %]  + "storage"(. +3 "core" .( +2 "storage"( & +3 "core" &   +2 "storage"(o& +5 "core" &   + "manipulator"&& +5 "core" &  _ +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  C _ +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +92 "core" ' + "storage"(P& +5 "core" & _  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +3 "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&:& +2 "core" &\  _ +2 "storage"("& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'} +19 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +48 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +33 "core" ' +2 "manipulator"&% +3 "core" %΍  +2 "storage"( & +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 "manipulator"&5& +3 "core" &\ $ _ +3 "storage"(@& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''? +40 "core" ' + "manipulator"&L& +5 "core" & R _ +2 "manipulator"&% +3 "core" %? 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +151 "core" ( +2 "manipulator"&K& +3 "core" &( & z ?V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &(   ?V +3 .tForearm.seek CC + "manipulator"&$'" +97 "core" ' + .tHand.close +2 "manipulator"&3/ +64 "core" / +2 .tCC.seek :open +2 "collection"'8( +415 "core" ( +2 "storage"()& +3 "core" &  +2 "storage"(2& +4 "core" &  +2 "manipulator"&B& +3 "core" &( ?U +2 "manipulator"&I% +5 "core" % & X +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&/( +163 "core" ( + "manipulator"&R& +5 "core" & + i +2 "storage"(0& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&='} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +60 "core" 1 +3 "manipulator"&C% +4 "core" % Ώ . + "storage"(X& +5 "core" & d  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&;'ϻ +20 "core" ' +2 "manipulator"&[& +3 "core" & i +2 "storage"(<& +4 "core" & 3  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +32 "core" ' + "storage"(.% +4 "core" %I ' +3 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (b% +3 "core" %N PF +2 "manipulator"&W% +3 "core" %. P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'N& +4 "core" & \\ +2 "manipulator"&6% +3 "core" %\ \ 8  +3 "storage"(M% +3 "core" %U +2 "storage"(7. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(|( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &  +2 "manipulator"&D& +5 "core" & r i +2 .tElbow.seek 2 + "manipulator"&Y( +36 "core" ( + "manipulator"&V& +4 "core" &\ = ] +2 "storage"(]& +4 "core" &  ` +2 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +89 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'i +280 "core" ' +3 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" &  +2 "manipulator"&Z& +4 "core" & # ] +2 .tElbow.seek 2 +2 "manipulator"&Q( +23 "core" ( + "manipulator"&F& +5 "core" &    + "storage"(\\& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&i' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&H/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(!'X +8 "core" & Q  +2 "manipulator"&e% +3 "core" %  G +3 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +153 "core" ( + "manipulator"&a& +5 "core" ' + &$  { ;3 +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &O& +3 "core" &$ \\ ;3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' + "manipulator"&f& +4 "core" &$ $ s ;3 +2 "manipulator"&x% +5 "core" %  +2 "collection"'U& +3 "core" &  ^ +3 "collection"'_& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'y(V +5 "core" &   +6 &C   #c +10 &[  6 +9 &  G +9 &e   F +10 &i  G +9 &`f   G +9 &#h   F +10 &c   G +9 &f   G +10 &ic  F +9 & ,e   F +9 &!h   F +10 &#d  G +9 &%pg  G +9 &'3c   F +10 &(c  F +9 &*f  F +10 &,yh   F +9 &.;c   F +9 &/b   G +10 &1g  G +9 &3h  F +9 &5Bh   G +10 &7g   G +9 &8f   G +9 &:h  F +10 & c  F +10 &?f   F +9 &Ai  G +9 &CSj   F +10 &Ek   G +9 &Fw  H +10 &H   I +9 &JG   M +9 &L  P +10 &M   Q +9 &O   Q +9 &QE   Q +10 &S  { R +9 &T   R +10 &V3a   * +9 &V!   D +9 ( + &VP   @ +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&w1 +54 "core" 1 +3 "manipulator"&% +4 "core" %  ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +5 "core" &U +2 "manipulator"&q% +3 "core" %\   +2 "storage"(d% +4 "core" %\\  +2 "storage"(h. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(u& +5 "core" &   + "manipulator"&j& +4 "core" &$ $ ;3 +2 "manipulator"&% +3 "core" %\ P  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( + "manipulator"&& +4 "core" & j  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +94 "core" ' + "storage"(s& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'i +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +2 "core" &   +3 "manipulator"&p& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&z& +4 "core" &   +2 "storage"( & +48 "core" &   +5 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(~'X +8 "core" & k  + "manipulator"&% +5 "core" %  [ F +2 .tForearm.seek :retract +2 "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +2 "manipulator"& & +3 "core" &r ' 5  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &r +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&& +3 "core" &s |  +2 "manipulator"&% +4 "core" % + +2 "processing"%}& +4 "core" &M +3 "processing"%P& +5 "core" &K +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &Q +8 &>V #b +10 &ZZ 5 +9 &X H +9 &gP G +10 &hM G +9 &VjQ G +9 &gK G +10 &iE G +9 &gT G +9 &_iK G +10 & eH G +9 &!gO G +14 &#jO G +5 &%gg= G +14 &'(jF G +5 &(eI F +9 &*gN G +9 &,pg@ F +10 &.0gF G +9 &/fF F +10 &1gF G +9 &3vd: G +9 &59f= G +10 &6c< G +9 &8eB F +9 &:eI G +10 &f? F +10 &?hF G +9 &Ad: G +9 &CHh: G +10 &EmB H +9 &FuF H +9 &HF K +10 &JBF L +9 &LB L +10 &M@ L +9 &O: L +9 &QHE M +10 &S\ D M +9 &T> M +9 &VG M +10 &XMF N +9 &YwyE "j +10 &Z+yE 0 +8 ( +2 &ZF # +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&\ 1 +59 "core" 1 +2 "manipulator"&% +3 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +2 "processing"%:& +4 "core" &ZF # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&"% +4 "core" %\ # ? = +2 "storage"(,% +4 "core" %a . +2 "storage"(. +3 "core" .( +2 "storage"( & +3 "core" &  \\ +3 "storage"(5& +2 "manipulator"&@& +8 "core" &  9 +2 &s   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&L(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&(& +4 "core" &s l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &s d  +4 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&#/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +77 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(K'y +48 "core" ' +298 ( + "storage"(+& +3 "core" &  ; +2 "manipulator"&4& +5 "core" &s   +2 "manipulator"&1% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&3'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&-( +253 "core" ( +2 "manipulator"&& +3 "core" &    +3 "storage"()& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +96 "core" ' +2 .tHand.open +45 "manipulator"&B1 +64 "core" 1 +2 "storage"(I- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(0' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +4 "core" -' + "storage"(T& +5 "core" &  O N h +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&X& +3 "core" &  8  +2 "storage"([& +5 "core" &  N N +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +60 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(b& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +23 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +22 "core" ' +2 "manipulator"&;% +3 "core" %  +3 "storage"(N& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&6' +18 "core" ' + "manipulator"&M& +4 "core" & x  +2 "storage"(7& +5 "core" &  w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +29 "core" ' +2 "storage"( % +3 "core" %s +3 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (9% +3 "core" %W Y QH +2 "manipulator"&G% +4 "core" %ђ 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &  y +2 "collection"']& +4 "core" &VP  h @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  8 +2 "storage"(>% +4 "core" %` !  +2 "storage"(S. +2 "core" .( +2 "storage"(A& +5 "core" &  - + "storage"(g& +5 "core" &  1 + "manipulator"&Z& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&F( +3 "core" ( +2 "manipulator"&\\& +5 "core" & $   + "storage"(H& +5 "core" &  L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +96 "core" ' +2 "storage"(e& +3 "core" &  O +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +279 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & f  +2 "storage"(O& +4 "core" &  b +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&m' +23 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(x'Q +27 "core" ' +2 "manipulator"&U% +3 "core" %  +2 "storage"(Q& +4 "core" &  / +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&!' +20 "core" ' +41 "manipulator"&{& +11 "core" &   +2 "storage"(8& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('@ +41 "core" ' +2 "manipulator"& & +3 "core" &   +3 "manipulator"&q% +3 "core" %њ p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +159 "core" ( + "manipulator"&& +4 "core" && ' g =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &&  =A +3 .tForearm.seek CC + "manipulator"&u'" +98 "core" ' + .tHand.close +2 "manipulator"&j/ +61 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&& +4 "core" &% ^ <@ +2 "manipulator"&s% +4 "core" % + z +2 .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(v& +3 "core" &  7 +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&p' +102 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&% +3 "core" %  X r +2 "storage"(%& +4 "core" &  ] +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&& +4 "core" & v  +2 "storage"(^& +3 "core" &  M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +26 "core" ' +2 "storage"(t% +3 "core" %G @ +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (o% +3 "core" %S PG +3 "manipulator"&% +3 "core" %Ѡ 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & ~ +2 "manipulator"&}% +3 "core" %\  / +3 "storage"(~% +3 "core" %b 8 +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(J( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &   +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&:( +12 "core" ( +2 "manipulator"&"& +3 "core" & H x +2 "storage"(,& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' +2 "storage"(P& +3 "core" & i  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' + "storage"(5- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +46 (@& +6 "core" & I  +3 "manipulator"&(& +5 "core" & K x +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & ' x +2 "storage"(#& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(l'X +6 "core" & x +3 "manipulator"&% +3 "core" % ϱ   +3 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&1& +3 "core" & ; 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & e 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' +4 "manipulator"&)& +3 "core" & Q 3 +2 "manipulator"&L% +4 "core" % a +2 "collection"'B& +4 "core" & Z +3 "collection"'I& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'3(V +5 "core" &  +6 &D   $d +10 &]   6 +9 &#   G +10 &d  F +9 &h  G +9 &ke   F +10 &,c   G +9 &f  G +9 &f   G +10 &tb   F +9 & 5g  F +10 &!c  F +9 &#c  G +9 &%zf  G +10 &'>b  F +9 &(h  F +9 &*h  F +10 &,h  G +9 &.Ee   F +10 &0b  F +9 &1c  F +9 &3c  F +10 &5Mc  F +9 &7d   G +9 &8e  F +10 &:c  F +9 &i  F +9 &?c  F +9 &Ae  F +10 &C]j   F +9 &El  G +9 &Fw   H +10 &H   J +9 &JP   N +10 &L\  P +9 &M   P +9 &O   P +10 &QO   Q +9 &S  R +9 &T   R +10 &V@h   / +9 &V   9 +9 &Wb  @ +6 ( +2 "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&$1 +2 "core" &WL  @ +51 1 +2 "manipulator"&T% +4 "core" % $ ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +3 "core" &D +3 "manipulator"&[% +4 "core" %\   5  + "storage"(% +4 "core" %a +2 "storage"(b. +3 "core" .( +2 "storage"(;& +4 "core" & "  +2 "storage"(N& +4 "core" & $  +2 "manipulator"&K& +3 "core" &  3 +2 "manipulator"&M% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +167 "core" ( +2 "manipulator"&7& +3 "core" &  K \\ +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +96 "core" ' + "storage"(2& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +278 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &   +2 "manipulator"&<& +4 "core" & \\ +2 .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( + "manipulator"&.& +3 "core" & G \\ +3 "storage"(W& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&6'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +3 "storage"('X +5 "core" & , \\ +3 "manipulator"&>% +51 "core" % ϫ  +3 .tForearm.seek :retract + "manipulator"&S'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A(s +107 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +156 "core" ( +2 "manipulator"&=& +3 "core" &s   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &s   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +96 "core" ' +2 "manipulator"&\\& +3 "core" &s +  +2 "manipulator"&H% +5 "core" %   +2 "processing"%'& +3 "core" &X +3 "processing"%e& +5 "core" &X +2 .tPC.seek :closed +3 "processing"%*(Z +4 "core" &X +5 &Z 8 +10 &NMV 0 +9 &{Z D +9 &HiW G +10 & fW G +9 &hZ G +9 &gZ F +10 &RgW G +9 &d[ G +10 &dL F +9 &gI G +9 &![e[ F +10 &#f^ G +9 &$c_ G +9 &&cV F +10 &(beU G +9 &*$eO G +10 &+fW F +9 &-fX G +9 &/jcJ G +10 &1-eG F +9 &2eT G +9 &4iH G +10 &6reU G +9 &85e> F +10 &9gH G +9 &;cW G +9 &={dU F +10 &?;hG G +9 &@eF G +9 &BgR G +10 &DmM G +9 &F?s; H +10 &GB J +9 &I@ L +9 &Kz< L +10 &M<: L +9 &N: M +9 &PA M +10 &RH L +9 &TBF M +10 &V; M +9 &WG M +9 &YF : +10 &Zx5K N +9 &ZG ! +2 ( +2 "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&/1 +64 "core" 1 +2 "manipulator"&D% +3 "core" %  N  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 "processing"%a& +3 "core" &Z= ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +3 "core" %\  ^  +3 "storage"(f% +3 "core" %U  +2 "storage"(U. +3 "core" .( +2 "storage"(Q& +3 "core" &  +2 "storage"({& +3 "manipulator"&8& +6 "core" &   +2 &s (  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"( 'i + "manipulator"&q(s +7 "core" ( + "manipulator"&k& +4 "core" &s  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &s a  +3 .tForearm.seek PC +2 "manipulator"&Y' +97 "core" ' +2 .tHand.close + "manipulator"&m/ +64 "core" / +4 .tPC.seek :open +2 "processing"%!( +71 "core" ' +2 "storage"(x- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +304 ( +2 "storage"(_& +3 "core" & W  +2 "manipulator"&w& +4 "core" &s   +2 "manipulator"&i% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +243 "core" ( +2 "manipulator"&y& +3 "core" &  e !u +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(s- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(v' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +48 "storage"(h& +4 "core" & K L e  +2 "manipulator"& & +5 "core" &  !q +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&%& +3 "core" & L !q +2 "storage"(& +5 "core" & M N  +2 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +56 "core" ' +2 "manipulator"&`& +3 "core" &  !q +2 "storage"(o& +5 "core" & s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(p'i +18 "core" ' +2 "manipulator"&% +4 "core" %΃  +2 "storage"(& +3 "core" & G  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&}'ϯ +19 "core" ' +2 "manipulator"&~& +3 "core" & 5 !q +3 "storage"(c& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' + "storage"(r% +4 "core" %o +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (|% +3 "core" %V g j a PI +2 "manipulator"&\ % +4 "core" %2 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ("& +3 "core" & \\  +2 "collection"',& +3 "core" &WK  i @ +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&P% +4 "core" %\   +2 "storage"(z% +3 "core" %a +2 "storage"(. +4 "core" .( + "storage"(5& +4 "core" & a  +2 "storage"(@& +4 "core" &   +2 "manipulator"&(& +3 "core" &  !q +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&#& +3 "core" & 9 !q +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +93 "core" ' +2 "storage"(& +3 "core" & ~  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(:'i +284 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & a !p +2 "storage"(& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(L'P +32 "core" ' +2 "manipulator"&B% +3 "core" %Ό 3 +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&l'ϸ +20 "core" ' +2 "manipulator"&+& +3 "core" & L !p +2 "storage"(& +5 "core" & =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(T'? +39 "core" ' + "manipulator"&X& +4 "core" & , !p +2 "manipulator"&[% +50 "core" %.  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +150 "core" ( + "manipulator"&;& +5 "core" &' # ` >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &' ! >O +2 .tForearm.seek CC +2 "manipulator"&I'" +102 "core" ' + .tHand.close +2 "manipulator"&K/ +62 "core" / +2 .tCC.seek :open +2 "collection"'M( +416 "core" ( + "storage"(& +4 "core" & }  +2 "storage"(7& +4 "core" &  +2 "manipulator"& & +3 "core" &% { <> +2 "manipulator"&2% +4 "core" % / P +2 .tForearm.seek :retract +2 "manipulator"&4'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E( +160 "core" ( +2 "manipulator"&9& +3 "core" & X u +2 "storage"(G& +5 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&<'} +98 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&W1 +54 "core" 1 +2 "manipulator"&V% +4 "core" % Ό \\ +2 "storage"(]& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&>'ϸ +21 "core" ' + "manipulator"&R& +4 "core" & u +2 "storage"(-& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +25 "core" ' +2 "storage"(6% +3 "core" %I L +3 ."downElevator"SE.seek :down +4 "storage"(='X +98 (g% +3 "core" %O d OE +2 "manipulator"&C% +5 "core" %t ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'H& +3 "core" & i +2 "manipulator"&'% +3 "core" %\ [  +3 "storage"(% +3 "core" %O +2 "storage"(S. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (/& +2 "core" & \\ +2 "manipulator"&D& +4 "core" &  u +2 .tElbow.seek 2 +2 "manipulator"&a( +37 "core" ( +2 "manipulator"&O& +4 "core" & 3 E +2 "storage"(f& +3 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +85 "core" ' +2 "storage"(Q& +4 "core" & 0 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(e'i +280 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +3 "core" & +2 "manipulator"&k& +4 "core" & : E +2 .tElbow.seek 2 +2 "manipulator"&F( +25 "core" ( +2 "manipulator"&Z& +4 "core" & 8  +2 "storage"(m& +3 "core" & F +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +23 "core" ' +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(*'X +8 "core" &   + "manipulator"& % +5 "core" %  F o +2 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&i& +5 "core" &( >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +4 "core" &( w =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'" +101 "core" ' +2 "manipulator"&& +5 "core" && $ f =G +2 "manipulator"&q% +3 "core" %,  < +3 "collection"'& +3 "core" & | +3 "collection"'s& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'u(V +5 "core" &   +6 &9  #c +9 &\\ \  6 +10 &   G +9 &b  F +10 &f  F +9 &^g  F +9 & c  F +10 &d   F +9 &e  G +10 &fb  F +9 & (b   F +9 &!d  F +10 &#h  F +9 &%mh  G +9 &'0e  F +10 &(d   F +9 &*e  G +10 &,vg  F +9 &.8h  F +9 &/c   F +10 &1e  F +9 &3}e  G +9 &5?e  G +10 &7g   F +9 &8g  F +9 &:h   G +10 &\ h   F +10 &?c  F +9 &Ae  F +9 &CPi  F +10 &Ek  G +9 &Fv   H +9 &H  I +10 &JD { M +9 &K  P +10 &M   P +9 &O   Q +9 &QB  Q +10 &S  R +9 &T   R +9 &V/_   + +10 &V"  B +9 ( + &VS  ? +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&h1 +52 "core" 1 +3 "manipulator"& % +3 "core" % , % ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%%& +4 "core" &b +2 "manipulator"&% +4 "core" %\ a  +2 "storage"(`% +3 "core" %X  +2 "storage"(o. +4 "core" .( + "storage"(& +5 "core" &  + "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" &&  =G +2 "manipulator"&% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&~( +152 "core" ( + "manipulator"&c& +4 "core" & (  +2 "storage"(r& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +105 "core" ' + "storage"(& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +275 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & m +2 "manipulator"&^& +3 "core" & 8  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" & H  +2 "storage"(& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(P'X +8 "core" &  + "manipulator"&z% +5 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&5(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +3 "manipulator"&p& +3 "core" &i 6 t +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &i  +50 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +98 "core" ' + "manipulator"&#& +4 "core" &j +2 "manipulator"&% +5 "core" % ) U +2 "processing"%& +4 "core" &^ +3 "processing"%& +5 "core" &f +2 .tPC.seek :closed +2 "processing"% (Z +5 "core" &i +6 &` 7 +9 &KNa . +9 &xi C +10 &:j[ G +9 &eg G +9 &e_ G +10 &jg G +9 &Df] F +10 &gd G +9 &h` G +9 &ef G +10 &!Ld^ F +9 &# h` G +9 &$ch G +10 &&ec F +9 &(Sf` G +10 &*e] G +9 &+g\\ G +9 &-jb G +10 &/\\e\\ F +9 &1f] G +9 &2c[ G +10 &4f] F +9 &6dg] F +9 &8%f] G +10 &9kX G +9 &;c\\ G +10 &=kcY G +9 &?-cZ G +9 &@eZ F +10 &BiN G +9 &DqkQ G +9 &F2qU H +10 &GZ J +9 &I] L +10 &Kl\\ L +9 &M-V L +9 &NU L +10 &PU M +9 &RsS L +9 &T4M M +10 &UQ L +9 &WQ N +10 &YxK : +9 &Zf4N !a +9 &ZK ! +3 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&&1 +63 "core" 1 +2 "manipulator"&% +3 "core" %  E U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + "processing"%1& +4 "core" &ZF ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ \   +2 "storage"()% +4 "core" %R * +2 "storage"(B. +3 "core" .( +2 "storage"(& +3 "core" & " +3 "storage"(+& +2 "manipulator"&& +7 "core" & ' + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&X(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(['i +2 "core" ( +3 "manipulator"&?& +3 "core" &j 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j D +3 .tForearm.seek PC +2 "manipulator"&:' +90 "core" ' +3 .tHand.close + "manipulator"& / +64 "core" / +2 .tPC.seek :open + "processing"%l( +89 "core" ' + "storage"(L- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +47 "core" ' +287 ( +2 "storage"(N& +4 "core" & +2 "manipulator"&$& +3 "core" &j  +2 "manipulator"&% +4 "core" %   +3 .tForearm.seek :retract + "manipulator"&K'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +285 "core" ( +2 "manipulator"&3& +4 "core" & % H ( + "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&7'ќ +105 "core" ' +3 .tHand.open + "manipulator"& 1 +52 "core" 1 +2 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(b& +4 "core" & \ R\ R +2 "manipulator"&W& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&V( +30 "core" ( + "manipulator"&]& +3 "core" &  W v +3 "storage"(R& +3 "core" & \ x m +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +9 "core" ' +42 .tSE.reconfigure :gently +10 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +56 "core" ' +2 "manipulator"&4& +4 "core" & q v +2 "storage"(g& +4 "core" & " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&C' +22 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +23 "core" ' +2 "manipulator"&>% +3 "core" % f +2 "storage"(H& +5 "core" & ? + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&'' +19 "core" ' +2 "manipulator"&& +3 "core" & v +3 "storage"(S& +4 "core" & ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +20 "core" ' +4 "storage"(0% +4 "core" %r f +2 ."downElevator"SE.seek :down +4 "storage"(='X +99 (J% +3 "core" %V i QH +2 "manipulator"&/% +3 "core" %ј & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +99 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & q +2 "collection"'f& +5 "core" &VT  ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Q% +4 "core" %\ [  +2 "storage"(.% +4 "core" %N +2 "storage"(\\. +2 "core" .( +2 "storage"({& +4 "core" & +2 "storage"(8& +5 "core" & +3 "manipulator"&k& +3 "core" & * v +2 .tElbow.seek 2 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&m& +4 "core" & m v +2 "storage"(A& +4 "core" & v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&n'ќ +91 "core" ' +2 "storage"( & +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +274 "core" ' + "storage"(U- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &  v +2 "storage"(Y& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&e' +23 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(q'Q +26 "core" ' + "manipulator"&F% +3 "core" %  +3 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&*' +19 "core" ' +2 "manipulator"&_& +3 "core" & > v +2 "storage"(M& +4 "core" & o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '@ +37 "core" ' +2 "manipulator"&%& +3 "core" & v +2 "manipulator"&% +5 "core" %њ ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +162 "core" ( + "manipulator"&& +4 "core" &' % e >M +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &'  >M +42 .tForearm.seek CC +9 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +2 "storage"(y& +3 "core" & +2 "storage"(c& +4 "core" & +2 "manipulator"&r& +4 "core" &( m >L +2 "manipulator"&% +3 "core" % 4 U +3 .tForearm.seek :retract +2 "manipulator"&w'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +158 "core" ( +2 "manipulator"&|& +3 "core" & :  +2 "storage"(\ & +5 "core" & w + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&^' +98 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&"% +3 "core" %  d +2 "storage"(,& +5 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +3 "manipulator"&z' +19 "core" ' +2 "manipulator"&~& +3 "core" &  +3 "storage"(d& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +18 "core" ' + "storage"(}% +5 "core" %J X +2 ."downElevator"SE.seek :down +4 "storage"(p'X +98 (@% +3 "core" %gO z PF +2 "manipulator"&% +5 "core" %ѫ V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &  +3 "manipulator"&% +3 "core" %\  4  +2 "storage"(P% +4 "core" %b S +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(!( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &   +2 "manipulator"&& +3 "core" & 7  +3 .tElbow.seek 3 + "manipulator"&1( +16 "core" ( + "manipulator"&& +4 "core" & q P +2 "storage"()& +3 "core" & >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +100 "core" ' +2 "storage"(& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &  +2 "manipulator"&?& +3 "core" &  P +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&(& +5 "core" &  P + "storage"( & +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&L'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +8 "core" &  P +2 "manipulator"&[% +3 "core" % ϝ  9 +3 .tForearm.seek :retract + "manipulator"&N'\ +93 "core" ' +2 .tElbow.seek CC +47 "manipulator"&$( +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +60 "core" ( + "manipulator"&& +4 "core" &! 8  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &! & V 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&3'" +101 "core" ' +3 "manipulator"&& +5 "core" &"  H 8 +2 "manipulator"&X% +4 "core" %*  J +2 "collection"' & +4 "core" &  +3 "collection"'2& +5 "core" & u +2 .tCC.seek :closed +2 "collection"'I(V +5 "core" &  +7 &B  $e +9 &]  6 +10 &$  G +9 &d  F +9 &f  G +10 &mb  F +9 &.h \  F +9 &g  F +10 &g  F +9 &tc  F +10 & 6b  F +9 &!e  F +9 &#g  G +10 &%|c  F +9 &'>b  F +9 &)c  F +10 &*g   F +9 &,g  F +10 &.Fh  F +9 &0g  F +9 &1h  F +10 &3h  F +9 &5Me \  G +9 &7f  9 G +10 &8e s F +9 &:c  F +10 &c  F +9 &?e   F +10 &Ac   F +9 &C]d   G +9 &Ei J G +10 &Fx  H +9 &H  J +10 &JR  M +9 &L  P +9 &M  P +10 &O  Q +9 &QP   Q +9 &S  R +10 &T   R +9 &VCi  / +10 &V  7 +9 &Vp  D +5 ( +2 "collection"'2& +4 "core" &Va   D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&b1 +61 "core" 1 + "manipulator"&W% +4 "core" % *  ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%]& +5 "core" &` + "manipulator"&R% +4 "core" %\     +2 "storage"(4% +4 "core" %` +2 "storage"(g. +3 "core" .( + "storage"(;& +5 "core" & ~  +2 "storage"(9& +3 "core" & j  +2 "manipulator"&>& +4 "core" & ! y 8 +2 "manipulator"&H% +3 "core" %\  Q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +169 "core" ( +2 "manipulator"&& +3 "core" & # v r +2 "storage"(S& +4 "core" & D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +94 "core" ' + "storage"(7& +5 "core" & 1  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +283 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" & %  +2 "manipulator"&-& +3 "core" &  r +3 .tElbow.seek 3 + "manipulator"&V( +3 "core" ( +2 "manipulator"&6& +4 "core" & $ v r +2 "storage"(C& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(Q'X +8 "core" & b r + "manipulator"&.% +5 "core" % ϰ  +2 .tForearm.seek :retract + "manipulator"&\\'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&{(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&<& +3 "core" &r  A  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &r   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +101 "core" ' + "manipulator"&m& +4 "core" &r  ^  +2 "manipulator"&A% +4 "core" % S L +2 "processing"%T& +4 "core" &h +2 "processing"% & +6 "core" &^ +52 .tPC.seek :closed +4 "processing"%=(Z +4 "core" &` + &g + &` + &b + &h +2 &h + &a 7 +6 &LMh / +10 &{h D +9 &Dhf G +9 &gg F +10 &eh F +9 &fh G +9 &Mhh G +10 &ia G +9 &cg F +10 &gh G +9 &!Ucc G +9 &#fg G +10 &$ch G +9 &&b\\ G +9 &(]c` G +10 &*ch G +9 &+fh F +10 &-gb F +9 &/fec F +9 &1'g_ G +10 &2h^ G +9 &4ig G +10 &6mh\\ G +9 &8/g^ G +9 &9jZ G +10 &;jg G +9 &=uih G +9 &?7i\\ G +10 &@i\\ G +9 &BgY G +9 &D{kZ G +10 &F<pZ H +9 &G[ J +10 &I\\ L +9 &Kua L +9 &M6g M +10 &NZ L +9 &P] M +9 &R}V L +10 &T=_ M +9 &V[ M +10 &WZ M +9 &Y[ : +9 &Zs7Q P +10 &ZS " +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&E1 +64 "core" 1 +2 "manipulator"&D% +4 "core" %  < L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +96 "core" ' +2 "processing"%i& +4 "core" &ZX " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +3 "core" %\ 5  +2 "storage"(% +4 "core" %U  +2 "storage"(F. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(_& +4 "manipulator"&M& +3 "core" &   +2 &r 0  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(%'i + "manipulator"&(s +6 "core" ( +2 "manipulator"&n& +3 "core" &r  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &r   +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +3 .tHand.close +2 "manipulator"&e/ +61 "core" / +2 .tPC.seek :open +2 "processing"%*( +77 "core" ' +2 "storage"(q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +300 ( +3 "storage"(s& +3 "core" & P  +2 "manipulator"&h& +4 "core" &r   +2 "manipulator"&x% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&`( +263 "core" ( +2 "manipulator"&u& +3 "core" & a \ +2 "storage"(y& +4 "core" & !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +95 "core" ' +3 .tHand.open +2 "manipulator"&r1 +58 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(|'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(o& +4 "core" & L K /  + "manipulator"&& +5 "core" & \ + .tElbow.seek 3 +2 "manipulator"&"( +7 "core" ( +2 "manipulator"&,& +3 "core" &  g +2 "storage"(~& +5 "core" & L K +  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +9 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(}' +60 "core" ' +2 "manipulator"&w& +3 "core" &  +2 "storage"(@& +3 "core" & S  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +48 "core" ' +4 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +23 "core" ' +2 "manipulator"&z% +3 "core" %y S +2 "storage"(& +4 "core" & =  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"&'ϥ +20 "core" ' + "manipulator"&P& +4 "core" &  +2 "storage"(& +5 "core" & y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +30 "core" ' +2 "storage"(v% +4 "core" %o  +2 ."downElevator"SE.seek :down +5 "storage"(p'X +99 (% +3 "core" %T t k % PH +2 "manipulator"&&% +4 "core" %8 Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & l  +2 "collection"')& +4 "core" &V`  D +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  +2 "storage"(t% +3 "core" %S  +3 "storage"(#. +3 "core" .( +2 "storage"(& +4 "core" & I  + "storage"(+& +4 "core" & "  +2 "manipulator"&?& +4 "core" & R +2 .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"& & +3 "core" & ^ +3 "storage"(5& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +101 "core" ' +2 "storage"([& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +276 "core" ' +2 "storage"(B- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Q +2 "storage"(L& +84 "core" & ,  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +26 "core" ' +2 "manipulator"&X% +3 "core" %΍  +2 "storage"( & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"& 'Ϲ +20 "core" ' +2 "manipulator"&N& +3 "core" & l +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(W'? +38 "core" ' +2 "manipulator"&]& +3 "core" & } +3 "manipulator"&R% +4 "core" %* y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +157 "core" ( + "manipulator"&;& +4 "core" &$ & f ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &$  ; ;5 +2 .tForearm.seek CC +2 "manipulator"&9'" +95 "core" ' + .tHand.close +2 "manipulator"&>/ +64 "core" / +2 .tCC.seek :open +2 "collection"'H( +415 "core" ( +2 "storage"(3& +3 "core" & J  +2 "storage"(& +4 "core" &   +2 "manipulator"&S& +50 "core" &"  8 +2 "manipulator"&7% +4 "core" % 6 \ +3 .tForearm.seek :retract + "manipulator"&$'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&K( +168 "core" ( +2 "manipulator"&J& +3 "core" & o U +3 "storage"(/& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&-'} +99 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&C1 +60 "core" 1 +3 "manipulator"&'% +4 "core" % ΃  [ +2 "storage"(f& +3 "core" & x  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&.'ϯ +20 "core" ' + "manipulator"&& +4 "core" & 9 U +2 "storage"(0& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +30 "core" ' + "storage"(O% +4 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(<'X +100 (8% +3 "core" %Q MA +2 "manipulator"&V% +3 "core" %C E } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +88 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'A& +3 "core" & k +2 "manipulator"&T% +5 "core" %\  E * + "storage"(Q% +4 "core" %_  +2 "storage"(\\. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(l( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" & 9 +2 "manipulator"&D& +4 "core" &  U +2 .tElbow.seek 2 +2 "manipulator"&i( +35 "core" ( +2 "manipulator"&Y& +3 "core" &\  Z +3 "storage"(& +3 "core" & " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +93 "core" ' + "storage"( & +5 "core" & j +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(M- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" &  +2 "manipulator"&n& +3 "core" &\  Y +3 .tElbow.seek 2 + "manipulator"&Z( +23 "core" ( +3 "manipulator"&k& +3 "core" & *  +2 "storage"(e& +3 "core" & 1 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&q' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(='X +8 "core" & j  +2 "manipulator"&%% +3 "core" %  K o +3 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&x& +5 "core" & & 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'" +138 "core" ' +4 "manipulator"&y& +5 "core" & K 7 +2 "manipulator"&% +3 "core" %! $ +3 "collection"'r& +3 "core" &  +3 "collection"'& +6 "core" & \  +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  +7 &8  #b +10 &\\  6 +9 & \  G +9 &b  F +10 &g \  G +9 &]e  F +9 &c  F +10 &g 4 F +9 &e  F +9 &fb  F +10 & &e \  G +9 &!f  F +10 &#c  F +9 &%le \  G +9 &'/e \  F +10 &(b  F +9 &*f  G +9 &,uf  F +10 &.8b  F +9 &/e  F +10 &1c  F +9 &3~g  F +9 &5?e  F +10 &7h   F +9 &8e  F +9 &:c  F +10 & i  F +10 &?g  G +9 &Af  F +9 &COd  F +10 &Ei \  G +9 &Fx \  H +9 &H  J +10 &JE  M +9 &K  P +10 &M  P +9 &O  Q +9 &QB  P +10 &S \  R +9 &T  Q +10 &V-\\  . +9 &V  G +9 ( + &Va  D +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&o1 +57 "core" 1 +4 "manipulator"&% +3 "core" % !  D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%~& +3 "core" &\\  +2 "manipulator"&% +5 "core" %\  Z  + "storage"(w% +4 "core" %_  +2 "storage"(@. +3 "core" .( +2 "storage"(& +3 "core" & +3 "storage"(z& +3 "core" & G +2 "manipulator"&|& +4 "core" &  7 +2 "manipulator"&% +4 "core" %\  6  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +163 "core" ( +2 "manipulator"&& +3 "core" &  V | +2 "storage"(`& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +88 "core" ' + "storage"(c& +4 "core" & P +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &  +2 "manipulator"&&& +4 "core" & Z | +2 .tElbow.seek 2 +2 "manipulator"&"( +4 "core" ( + "manipulator"&}& +4 "core" & a | +2 "storage"(& +3 "core" & - +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +3 "storage"('X +7 "core" &  | +2 "manipulator"&t% +3 "core" %   R +3 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(s +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +120 "core" ( +2 "manipulator"&& +4 "core" &|  M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &| /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +95 "core" ' +2 "manipulator"& & +3 "core" &} N  +2 "manipulator"&5% +4 "core" %   +2 "processing"% & +5 "core" &k  +2 "processing"%[& +5 "core" &j  +2 .tPC.seek :closed +2 "processing"%p(Z +5 "core" &c  +8 & 9c *x +10 &%k[ = +9 &sg H +9 &cb G +10 &Ec` G +9 &eg F +9 &eh F +10 &el F +9 &Ned F +10 &fh G +9 & gh G +9 &"jh G +10 &$Ueh G +9 &&dh G +9 &'eh F +10 &)fi F +9 &+]ei G +10 &-hi G +9 &.ch F +9 &0hh G +10 &2eeg G +9 &4'dg G +9 &5dh G +10 &7eg F +9 &9lii G +10 &;0dh F +52 &<jc G +3 &>gh F + &@uhb G + &B7kg G + &Cjd G + &Erh H +6 &Gvzh I +10 &I3[ K +9 &Jb L +9 &Lf L +10 &Nvh L +9 &P6h M +9 &Q\\ L +10 &S[ L +9 &U{_ M +10 &W=Y M +9 &Xg N +9 &ZPDcc W +10 &Z=Z & +5 ( +2 "processing"%[& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&j1 +3 "core" &Zf & +54 1 +2 "manipulator"&% +3 "core" %  Z  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' + "processing"%& +5 "core" &ZK & + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&L% +3 "core" %\  R  +3 "storage"(% +3 "core" %R  +2 "storage"(X. +4 "core" .( + "storage"( & +4 "core" & 6 +2 "storage"(N& +3 "manipulator"&& +6 "core" & u + &} L  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(]'i + "manipulator"&R(s +6 "core" ( +2 "manipulator"&& +3 "core" &}  7  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +2 "core" &}  d  +3 .tForearm.seek PC + "manipulator"&1' +97 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +4 .tPC.seek :open + "processing"% ( +74 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(;'y +43 "core" ' +303 ( + "storage"(2& +5 "core" &  + "manipulator"&b& +4 "core" &} /  +2 "manipulator"&:% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&>'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&4( +253 "core" ( +2 "manipulator"&I& +3 "core" &  +3 "storage"(3& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +104 "core" ' + .tHand.open +2 "manipulator"&S1 +62 "core" 1 +3 "storage"(7- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(J'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(/' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(g& +3 "core" & \ G\ H +2 "manipulator"&C& +4 "core" & L  +2 .tElbow.seek 2 +2 "manipulator"&'( +7 "core" ( +2 "manipulator"&f& +3 "core" & 8  +3 "storage"(& +4 "core" & \ J\ N ( +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +15 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(O' +58 "core" ' + "manipulator"&$& +4 "core" &  +2 "storage"(8& +3 "core" & r +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V' +22 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +23 "core" ' +2 "manipulator"&.% +4 "core" % d +2 "storage"(A& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +41 "manipulator"&T' +26 "core" ' + "manipulator"&Q& +5 "core" & i  + "storage"(\\& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +30 "core" ' +2 "storage"(G% +4 "core" %q - +2 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (!% +2 "core" %`W r x + QI +2 "manipulator"&E% +5 "core" %я +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +3 "core" & +2 "collection"'& +3 "core" &V` y D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\  l  +3 "storage"(6% +3 "core" %b i +2 "storage"(m. +4 "core" .( + "storage"(M& +4 "core" & ! +2 "storage"(_& +3 "core" & P +2 "manipulator"&n& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&k( +4 "core" ( + "manipulator"&e& +4 "core" & 8  +2 "storage"({& +4 "core" & % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +92 "core" ' +2 "storage"(%& +3 "core" & ; +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +283 "core" ' +3 "storage"(F- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & Y  +2 "storage"(a& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'P +27 "core" ' +2 "manipulator"&% +3 "core" % n $ +2 "storage"(r& +4 "core" & f t 6 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts +2 "manipulator"&=' +18 "core" ' + "manipulator"&s& +4 "core" & W  +2 "storage"(H& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +40 "core" ' +2 "manipulator"&~& +3 "core" &  +2 "manipulator"&% +4 "core" %т u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +153 "core" ( +3 "manipulator"&& +3 "core" &%  R <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &%  <? +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&|/ +64 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(u& +3 "core" & +2 "storage"(& +4 "core" & 9 +2 "manipulator"&`& +3 "core" &%  <? +2 "manipulator"&c% +5 "core" % * # +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&,( +155 "core" ( +2 "manipulator"&& +3 "core" &  T  +2 "storage"(d& +49 "core" & * +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&&' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +3 "core" %  +3 "storage"()& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&t' +20 "core" ' +2 "manipulator"&P& +3 "core" &  +2 "storage"(v& +5 "core" & b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +16 "core" ' +2 "storage"(% +3 "core" %G +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (+% +2 "core" % Q OF +2 "manipulator"&"% +5 "core" %ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'5& +4 "core" & r +2 "manipulator"& % +3 "core" %\  6  +3 "storage"(% +3 "core" %b s +2 "storage"(#. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(*( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +20 "core" ( + "manipulator"&L& +4 "core" & p L +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +91 "core" ' +2 "storage"( & +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &   +2 "manipulator"&& +4 "core" &  L +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( + "manipulator"&?& +4 "core" & Y L +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&^/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(p'X +8 "core" & P L +2 "manipulator"&]% +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&:& +3 "core" &% : f <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &% f <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'" +98 "core" ' +2 "manipulator"&3& +3 "core" &% $  <: +3 "manipulator"&R% +3 "core" %!   +2 "collection"'S& +4 "core" &  +2 "collection"'7& +5 "core" &   +4 .tCC.seek :closed +2 "collection"'9(V +4 "core" &   +8 &:   *x +10 &"n  > +9 &m \  G +9 &e  F +10 &Ie  F +9 & b  F +56 &e  G +4 &e  F + &Rc \ \ 1 F +2 &f  G + & e  F + &"c \  F +3 &$Yg  F +7 &&f  G +10 &'f  F +9 &)g \ B F +9 &+ae \  F +10 &-#c  F +9 &.g  F +9 &0g  F +10 &2jb \  F +9 &4*e \  G +10 &5f  F +9 &7g \  F +9 &9qe  F +10 &;3c  F +9 &<c \  F +9 &>c  F +10 &@yh  F +9 &B;h  F +10 &Ck  G +9 &Ep \  G +9 &G{{  H +10 &I8  J +9 &J  N +10 &L \ L P +9 &Nm o P +9 &P-  Q +10 &Q G Q +9 &S F R +9 &Uo p ? +10 &Vw9  - +9 &Vk  A +5 ( +2 "collection"'7& +4 "core" &VT \ W A +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&g1 +63 "core" 1 +2 "manipulator"&C% +3 "core" % ! %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &k +2 "manipulator"&>% +3 "core" %\  K  +3 "storage"($% +3 "core" %b  +2 "storage"(8. +3 "core" .( +2 "storage"(;& +3 "core" & r  +2 "storage"(.& +5 "core" & F  + "manipulator"&A& +4 "core" &$ k ;8 +2 "manipulator"&J% +5 "core" %\  1  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Q( +165 "core" ( +2 "manipulator"&\\& +3 "core" & 1 Z +2 "storage"(4& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + "storage"(G& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +281 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &   +2 "manipulator"&E& +4 "core" & { Z +2 .tElbow.seek 3 +2 "manipulator"&'( +4 "core" ( + "manipulator"&O& +4 "core" &  Z +2 "storage"(V& +3 "core" & Y  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&T'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +8 "core" &  Z +2 "manipulator"&6% +4 "core" % ϫ  +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&-(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +4 "manipulator"&M& +4 "core" &i  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +102 "core" ' +2 "manipulator"&e& +3 "core" &i I +2 "manipulator"&{% +4 "core" % @ +2 "processing"%W& +5 "core" &p +2 "processing"%%& +5 "core" &y +2 .tPC.seek :closed +2 "processing"%<(Z +5 "core" &y +7 &Gv #a +9 &Zl 5 +9 &m H +10 &gq G +9 &ej G +9 &Zdc G +10 &eh F +9 &fc F +9 &gn G +10 &bgh G +9 & $fh G +10 &!gd F +9 &#gc G +9 &%jji G +10 &',ih G +9 &(hh G +10 &*id G +9 &,re_ G +9 &.5gh F +10 &/dj G +9 &1ei F +9 &3zei G +10 &5<hi G +9 &6hi G +9 &8ii G +10 &:hh G +9 &ei F +9 &?gi F +9 &Afc G +10 &CLhc G +9 &E ld H +9 &Fvc I +10 &Hi J +9 &JDh L +10 &Li L +10 &Mh L +8 &Oh L +10 &QKi M +9 &S i M +9 &Ti M +10 &Vh M +9 &XQh M +10 &Ywyc "j +9 &Z.c 0 +9 ( +2 "processing"%%& +3 "core" &Z` ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&K1 +52 "core" 1 + "manipulator"&D% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract +4 "manipulator"&F'\ +99 "core" ' +2 "processing"%x& +4 "core" &ZP ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %\ %  C +2 "storage"(Z% +5 "core" %b  + "storage"(. +4 "core" .( + "storage"(r& +4 "core" &  +2 "storage"(s& +3 "manipulator"&H& +5 "core" &  +3 &i  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&~(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&U& +3 "core" &i o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &i v +3 .tForearm.seek PC +2 "manipulator"&i' +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +4 .tPC.seek :open +2 "processing"%=( +85 "core" ' + "storage"(y- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +39 "core" ' +296 ( +2 "storage"(z& +4 "core" & ]  +2 "manipulator"&o& +4 "core" &i ' +2 "manipulator"&q% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +263 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(u& +5 "core" & &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"&`1 +56 "core" 1 +2 "storage"(c- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(@& +4 "core" & M L 9  +2 "manipulator"&& +3 "core" & p  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"(P& +4 "core" & N M  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' +2 "manipulator"&h& +3 "core" &  +2 "storage"(+& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'} +19 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(&'i +23 "core" ' +2 "manipulator"&5% +3 "core" %ΐ S +2 "storage"( & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&t'ϼ +21 "core" ' + "manipulator"&& +4 "core" & h  +2 "storage"(#& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' +2 "storage"(\ % +3 "core" %s +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (l% +10 "core" %jV m v > QI +2 "manipulator"&j% +4 "core" %; J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" &  _  +2 "collection"'& +4 "core" &VT \ ( A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\    +3 "storage"(}% +3 "core" %a ! +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"([& +3 "core" &  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&?( +4 "core" ( +2 "manipulator"&& +3 "core" &  d  +3 "storage"(^& +3 "core" & ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +97 "core" ' +2 "storage"(]& +3 "core" & d  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +286 "core" ' +3 "storage"(X- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&:& +3 "core" & @  +2 "storage"(1& +4 "core" & h  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&N'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(R'P +28 "core" ' + "manipulator"&S% +5 "core" %  + "storage"((& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&p'ϫ +20 "core" ' +2 "manipulator"&2& +3 "core" & {  +2 "storage"(& +5 "core" & +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'? +39 "core" ' +2 "manipulator"&& +3 "core" & D  +2 "manipulator"&>% +5 "core" %? : ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&8( +156 "core" ( +2 "manipulator"&;& +5 "core" &!  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &!  8 +2 .tForearm.seek CC +2 "manipulator"&.'" +96 "core" ' + .tHand.close +2 "manipulator"&A/ +64 "core" / +2 .tCC.seek :open + "collection"'J( +413 "core" ( +2 "storage"(I& +3 "core" & L  +2 "storage"(\\& +4 "core" & M  +2 "manipulator"&4& +3 "core" &! ^ 8 +2 "manipulator"&G% +3 "core" % % 9 +3 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +171 "core" ( +2 "manipulator"&0& +3 "core" & n F +2 "storage"(!& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&E'} +102 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&V1 +57 "core" 1 +2 "manipulator"&Y% +48 "core" % x  +6 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&6'Ϥ +20 "core" ' + "manipulator"&Q& +4 "core" & ' F +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +29 "core" ' +2 "storage"(T% +3 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(M'X +98 (_% +3 "core" %hS OE +2 "manipulator"&'% +4 "core" %B F ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'{& +3 "core" &  +2 "manipulator"&W% +4 "core" %\  Z  +2 "storage"( % +4 "core" %a * +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &  +3 "manipulator"&D& +3 "core" &  F +2 .tElbow.seek 2 +2 "manipulator"&%( +39 "core" ( +2 "manipulator"&x& +3 "core" & \  ^ V +2 "storage"(a& +4 "core" & 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +94 "core" ' +2 "storage"(& +4 "core" & , +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +278 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +3 "core" & +2 "manipulator"&U& +3 "core" & \  U +3 .tElbow.seek 2 + "manipulator"&k( +27 "core" ( +2 "manipulator"&n& +4 "core" &  F | +2 "storage"(& +4 "core" & # +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&y' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(<'X +7 "core" & | + "manipulator"&% +5 "core" %  q +2 .tForearm.seek :retract + "manipulator"&z'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&q& +4 "core" &% ! T <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &% _ <; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&u& +4 "core" &% $ T <; +2 "manipulator"&~% +4 "core" %+ d +2 "collection"'`& +5 "core" & f +2 "collection"'c& +5 "core" & c +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &  +7 &B  $e +9 &]  6 +10 &-  h G +9 &b  F +9 &h  F +10 &td \  F +9 &7b  F +9 &e \  G +10 &e \  F +9 &|g ` F +9 & =e = G +10 &"d \ I F +9 &#g D F +10 &%e \  G +9 &'Fd  F +9 &) b \  F +10 &*e  G +9 &,e \ K F +9 &.Oa < F +10 &0e 2 G +9 &1e > F +10 &3b 3 F +9 &5Wg \ = F +9 &7e \ 9 F +10 &8b ; F +9 &:h 1 F +9 &<]f 7 G +10 &>f \ D G +9 &?e < G +10 &Ae \ \\ G +9 &Cef @ G +9 &E&n ; G +10 &Fu > I +9 &H < J +10 &JZ \ < M +11 &L < P +7 &M \ : P +10 &O \ D Q +9 &QW \ @ Q +9 &S \ ; R +10 &T \ 9 R +9 &V?^ \ : * +9 &V \ 8 C +9 ( +50 &VX \ A A +3 &VX L A +2 &VX R A +4 &VX D A + &VX P A + &VX B A + &VX C A + "collection"'c& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&@1 +2 "core" &VX B A +61 1 + "manipulator"&% +4 "core" % + % T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%P& +3 "core" &x +2 "manipulator"&|% +5 "core" %\ $  + "storage"(h% +76 "core" %b  +2 "storage"(+. +4 "core" .( + "storage"(5& +4 "core" & c +2 "storage"( & +3 "core" &  +2 "manipulator"&& +5 "core" &%  <; + "manipulator"&% +4 "core" %\ *  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&#( +165 "core" ( +2 "manipulator"&& +3 "core" & F u +2 "storage"(\ & +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&w'ќ +95 "core" ' + "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +278 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &  +2 "manipulator"&v& +4 "core" & H u +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & u +2 "storage"("& +3 "core" & } +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& +5 "storage"( 'X +6 "core" & f u + "manipulator"&}% +9 "core" % 0  +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&& +4 "core" &j 6 J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +3 "core" &j % & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +3 "manipulator"&& +3 "core" &j  +2 "manipulator"&^% +5 "core" %  +2 "processing"%& +3 "core" &y +3 "processing"%]& +5 "core" &z +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &y +6 &w ; +10 &PPz 0 +9 &}w D +10 &Qeu G +9 &fy G +9 &er F +10 &gk F +9 &[eu F +9 &fl F +10 &cf G +9 &fq F +10 &!cex F +9 &#%hk F +9 &$fj F +10 &&eh F +9 &(kei F +9 &*-ej F +10 &+fq F +9 &-gi G +10 &/rhi G +9 &13ki G +9 &2di G +10 &4di G +9 &6zdi G +9 &8<ci G +10 &9ej G +9 &;dh G +10 &=ci G +9 &?Ddi G +9 &Afi F +10 &Bii G +9 &Dki G +9 &FGtj H +10 &Hi J +9 &Ii L +10 &Kj L +9 &MDi L +9 &Oi L +10 &Pk L +9 &Ri M +9 &TKi M +10 &V i M +9 &Wi N +10 &Yh : +9 &Zz0i P +9 &Zh $ +3 ( + "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&,1 +61 "core" 1 +2 "manipulator"&% +3 "core" %  A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +2 "processing"%:& +4 "core" &ZQ $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&1% +3 "core" %\    +2 "storage"(3% +4 "core" %T  +2 "storage"(S. +3 "core" .( +2 "storage"((& +3 "core" & C +50 "storage"(2& +3 "manipulator"&& +8 "core" & ^ + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'i +2 "core" ( +3 "manipulator"&B& +3 "core" &j : +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &j X +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&N/ +56 "core" / +2 .tPC.seek :open +2 "processing"%p( +90 "core" ' + "storage"(R- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(;'y +48 "core" ' +284 ( +2 "storage"(7& +3 "core" &  +2 "manipulator"&g& +4 "core" &j  +2 "manipulator"&% +3 "core" % 2 +3 .tForearm.seek :retract + "manipulator"&A'\ +24 "Can" D\ ? +79 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&$( +262 "core" ( +2 "manipulator"&9& +3 "core" & G  +2 "storage"(I& +4 "core" & z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\\'ќ +100 "core" ' +2 .tHand.open + "manipulator"&41 +57 "core" 1 +2 "storage"(G- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(0'E +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(.- +3 "core" -' +2 "storage"(8& +3 "core" & v X  +3 "manipulator"&V& +4 "core" & S  + .tElbow.seek 2 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&& +3 "core" &  \  +2 "storage"(Q& +5 "core" & \ * s +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(b' +53 "core" ' +2 "manipulator"&T& +3 "core" & ^  +3 "storage"(f& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&_' +26 "core" ' +2 .tElbow.hold + "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(E'i +24 "core" ' +2 "manipulator"&6% +4 "core" % < +2 "storage"({& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&W' +18 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(m& +3 "core" & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +29 "core" ' +2 "storage"(/% +4 "core" %r +2 ."downElevator"SE.seek :down +4 "storage"(M'X +99 (*% +3 "core" %W t QI +2 "manipulator"&K% +4 "core" %і h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &  +2 "collection"'a& +49 "core" &VW E A +3 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ ! 5 8 +2 "storage"(O% +4 "core" %b  +2 "storage"(e. +3 "core" .( +2 "storage"(s& +3 "core" &  +3 "storage"(H& +3 "core" &  +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&n( +4 "core" ( +2 "manipulator"&& +3 "core" & W  +2 "storage"(-& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +91 "core" ' +2 "storage"(& +3 "core" & 4 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +18 "core" ' +2 "storage"(Z- +2 "core" -'& +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg"5Impossible stack Height of 24.98 pucks in tube 2:bt[":/home/esp/esp2/utils/puckmoves.rb:316:in `placeStack'"6/home/esp/esp2/utils/puckmoves.rb:446:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:445:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"4/home/esp/esp2/utils/shuffle.rb:28:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >I +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close +2 "manipulator"&\ / +60 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(o& +3 "core" & +2 "storage"()& +3 "core" & > +3 "manipulator"&l& +3 "core" &&  =G +2 "manipulator"&j% +4 "core" % 5  +3 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +156 "core" ( + "manipulator"&"& +5 "core" & H  + "storage"(L& +4 "core" & U +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +103 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +93 "core" 1 +10 "manipulator"&w% +3 "core" % N H +2 "storage"(d& +5 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&t' +21 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"([& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +16 "core" ' +2 "storage"(% +3 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"(^'X +98 (% +3 "core" %KQ PE +2 "manipulator"& % +5 "core" %ѩ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'=& +5 "core" &  + "manipulator"&,% +5 "core" %\ # T > +2 "storage"(% +3 "core" %b L +2 "storage"(:. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(1( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (3& +2 "core" &   +2 "manipulator"&S& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&(( +19 "core" ( + "manipulator"&]& +4 "core" & m b +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +100 "core" ' +2 "storage"(B& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +274 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +2 "core" & T  +3 "manipulator"&R& +4 "core" & b + .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( + "manipulator"&X& +4 "core" & z b +2 "storage"(& +4 "core" & X  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&g& + "storage"('X +8 "core" & & b + "manipulator"&% +4 "core" % Ϣ 7 +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" & & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" & { 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'" +99 "core" ' +2 "manipulator"&.& +3 "core" & $ 7 +2 "manipulator"&8% +5 "core" %,  +2 "collection"'V& +3 "core" & \  +3 "collection"'& +5 "core" &  q +2 .tCC.seek :closed +3 "collection"'Q(V +5 "core" & y +7 &J \  $d +10 &_ \ \  7 +9 &.~   G +9 &a \  F +10 &h H F +9 &ud \ ; F +9 &7c  S F +10 &b \ 5 F +9 &g \ ? F +10 &}e \ M F +9 & @b  8 F +9 &"e \ D G +10 &#e \ @ F +9 &%g  F +9 &'Fd < G +10 &) e  \ 9 F +9 &*g \ > F +9 &,d 9 F +10 &.Pa \ C F +9 &0c D G +10 &1d \ E F +9 &3b F F +9 &5Ve \ D G +10 &7e B F +9 &8g  \ ? F +9 &:e \ \ D F +10 &<_c \ M F +9 &>!b N F +10 &?b  C F +9 &Ag D F +9 &Cgh \ E F +10 &E'h D G +9 &Fv H H +10 &H F J +9 &JZ \ M N +9 &L \ M P +10 &M N P +9 &O L P +9 &QY H Q +50 &S K R +3 &T D R + &VCc I , +2 &V \ H \\ +2 ( + &Vk \ J K + &Vm D K +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 5/28 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&A1 +61 "core" 1 +3 "manipulator"&T% +3 "core" % , $ ` +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%;& +3 "core" &p +2 "manipulator"&6% +5 "core" %\   l  +2 "storage"({% +3 "core" %b +2 "storage"(0. +4 "core" .( + "storage"( & +5 "core" & i  + "storage"(m& +4 "core" & x  +2 "manipulator"&/& +3 "core" &  7 +2 "manipulator"&$% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&\\( +164 "core" ( +2 "manipulator"&!& +3 "core" & $ m +3 "storage"(*& +3 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +96 "core" ' +2 "storage"(& +3 "core" & B  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +283 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & *  +2 "manipulator"&W& +4 "core" & T m +2 .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( + "manipulator"&a& +5 "core" & H m +2 "storage"(E& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(s'X +8 "core" & S m +2 "manipulator"&H% +3 "core" % ϡ $ m +3 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&-& +4 "core" &x  n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &x   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' +2 "manipulator"&Z& +3 "core" &x a  +3 "manipulator"&r% +3 "core" %  +3 "processing"%M& +3 "core" &o +3 "processing"%'& +5 "core" &q +2 .tPC.seek :closed +2 "processing"%D(Z +5 "core" &z +7 &Gw #b +9 &^y 6 +9 &y G +10 &cw F +9 &gv G +10 &eis G +9 &'cx G +9 &ct G +10 &dy G +9 &mey G +9 & /gq G +10 &!ih G +9 &#jo G +10 &%ujj G +9 &'7jj G +9 &(dp G +10 &*dt G +9 &,~fx F +10 &.?gu G +9 &0hl G +9 &1jl G +10 &3ep G +9 &5Gei G +9 &7\ eh F +10 &8ec F +9 &:ce F +9 &cc G +9 &?dj G +10 &Agi F +9 &CVii G +9 &Enj G +10 &Fui H +10 &Hk J +8 &JNi M +10 &Lj L +9 &Mh L +10 &Ob L +9 &QWh L +9 &Si M +10 &Tk M +9 &Vi L +9 &X\\h M +10 &Ywwi "k +9 &Z$ck ) +9 ( +3 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open +2 "manipulator"&%1 +2 "core" &Zh ! +61 1 + "manipulator"&y% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' +2 "processing"%~& +3 "core" &ZV ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&q% +3 "core" %\  W & +3 "storage"(<% +3 "core" %U +2 "storage"(J. +3 "core" .( +2 "storage"(@& +4 "core" &   +50 "storage"(P& +2 "manipulator"&|& +7 "core" &  + &x   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&+(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'i +3 "core" ( +2 "manipulator"&F& +3 "core" &x   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +3 "core" &x   +2 .tForearm.seek PC +2 "manipulator"&i' +97 "core" ' +3 .tHand.close + "manipulator"&k/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +77 "core" ' +2 "storage"(z- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +303 ( +3 "storage"(& +3 "core" &  +2 "manipulator"&c& +3 "core" &x 2  +2 "manipulator"&`% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +251 "core" ( + "manipulator"&& +4 "core" & k  +2 "storage"(o& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +103 "core" ' +2 .tHand.open + "manipulator"&l1 +61 "core" 1 +2 "storage"(j- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(L' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &\ H\ H  +2 "manipulator"&#& +4 "core" & &  +2 .tElbow.seek 3 +2 "manipulator"&w( +25 "core" ( +2 "manipulator"&d& +3 "core" & 5  +2 "storage"(& +5 "core" & v X e  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&v& +3 "core" & %  +3 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"& , +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&=% +4 "core" %v  +2 "storage"(,& +3 "core" & 6  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 293 counts +2 "manipulator"&t'Ϣ +20 "core" ' + "manipulator"&& +4 "core" & 3  +2 "storage"(:& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +35 "core" ' + "storage"(% +4 "core" %m  +3 ."downElevator"SE.seek :down +4 "storage"(^'X +99 ( % +5 "core" %O k w  OF +3 "manipulator"&3% +3 "core" %U Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (]& +3 "core" & J  +2 "collection"'& +3 "core" &Vl \ \ F K +49 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&B% +4 "core" %\ I  +2 "storage"(}% +5 "core" %` * + "storage"( . +4 "core" .( + "storage"(& +3 "core" &   +3 "storage"(N& +3 "core" & ,  +2 "manipulator"&R& +4 "core" & W  +2 .tElbow.seek 3 +2 "manipulator"&X( +4 "core" ( +2 "manipulator"&& +3 "core" & M  +2 "storage"(7& +4 "core" & X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +94 "core" ' +2 "storage"(& +3 "core" & j  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +285 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & @  +2 "storage"(4& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&?'} +21 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'O +31 "core" ' + "manipulator"&V% +5 "core" %Ό R + "storage"(&& +4 "core" & )  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +20 "core" ' +2 "manipulator"&9& +3 "core" & i  +2 "storage"(& +5 "core" & "  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(T'> +38 "core" ' +2 "manipulator"&;& +4 "core" & J  +2 "manipulator"&6% +3 "core" %@ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +156 "core" ( +3 "manipulator"&& +3 "core" &( $  >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &(  >N +2 .tForearm.seek CC +2 "manipulator"&m'" +94 "core" ' +2 .tHand.close + "manipulator"&// +59 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( +2 "storage"(G& +3 "core" &  +2 "storage"(!& +3 "core" & +  +2 "manipulator"&*& +5 "core" &( 7 >J + "manipulator"&% +4 "core" % + k +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +157 "core" ( +2 "manipulator"&b& +3 "core" & =  +3 "storage"(_& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&W'} +102 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +55 "core" 1 +3 "manipulator"&O% +3 "core" % Ί  +2 "storage"(e& +4 "core" & D  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&H'϶ +21 "core" ' +2 "manipulator"&\\& +3 "core" & O  +2 "storage"(K& +5 "core" & f  +2 .tForearm.reconfigure :tight +45 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +47 "core" ' +2 "storage"(% +3 "core" %D  +3 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (C% +2 "core" %)N OE +2 "manipulator"&x% +5 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +94 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'r& +3 "core" & 3 +2 "manipulator"&M% +4 "core" %\ !  4 +2 "storage"(s% +4 "core" %b 0 +2 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(p( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "core" & = +2 "manipulator"&y& +3 "core" & >  +3 .tElbow.seek 2 + "manipulator"&~( +33 "core" ( +2 "manipulator"&q& +3 "core" & i $ +2 "storage"(<& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +94 "core" ' +2 "storage"('& +3 "core" & a +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +278 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & R +2 "manipulator"&F& +3 "core" & # +3 .tElbow.seek 2 + "manipulator"&n( +3 "core" ( +2 "manipulator"&& +5 "core" &  q # + "storage"(k& +4 "core" & a +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&z' +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(D'X +8 "core" & # +2 "manipulator"&5% +3 "core" % \ 0  +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +150 "core" ( +2 "manipulator"&`& +3 "core" && # _ =C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&i& +2 ."downElevator"SE.stop +4 "storage"(5 +2 "core" && D =C +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +3 "manipulator"&o& +3 "core" && # 0 =C +2 "manipulator"&+% +4 "core" %* K +2 "collection"'l& +5 "core" & P +2 "collection"'j& +5 "core" & \ M +3 .tCC.seek :closed + "collection"'(V +5 "core" &  A  +8 &:  ? *x +10 &n  A > +9 &m \ M F +10 &d  M G +9 &Ed \ K F +9 &d  P F +10 &f  \ O F +9 &e \ M F +9 &Kf \ L G +10 &e  \ N F +9 & e  \ R F +10 &"b  L F +9 &$Te \ A F +9 &&b  \ F F +10 &'e M F +9 &)g  \ N F +9 &+\\f  R F +10 &-f  \ H G +9 &.e \ ? F +10 &0e \ N G +9 &2ed \ J F +9 &4&e  \ L F +10 &5b \ H F +9 &7e \ I F +9 &9mb  F F +10 &;.f  C F +9 &<c \ E F +10 &>f E G +9 &@te  \ S F +9 &B7c \ C F +10 &Cj  D F +9 &Ek  \ I G +9 &Gw| \ M H +10 &I5 F I +9 &J  A O +9 &L \ M P +10 &Nh  E P +9 &P) \ @ P +10 &Q \ L Q +9 &S  L S +9 &Ui F > +10 &VJ H X +9 &V,I N &u +10 &WZ E D +2 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&1 +100 "core" 1 +4 "manipulator"&#% +3 "core" % *  Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%d& +48 "core" &p +5 "manipulator"&% +3 "core" %\ # w B +3 "storage"(v% +3 "core" %T +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & +2 "storage"(=& +4 "core" & +2 "manipulator"&,& +4 "core" && f =C +2 "manipulator"&"% +4 "core" %\ # q B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&:& +4 "core" &   +2 "storage"(& +3 "core" & N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +104 "core" ' +3 "storage"()& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &  +2 "manipulator"&[& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&w( +4 "core" ( + "manipulator"&& +4 "core" & y  +2 "storage"(& +3 "core" & H +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(B'X +8 "core" & P  + "manipulator"&% +5 "core" %  . +2 .tForearm.seek :retract + "manipulator"&}'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&& +3 "core" &w 4 W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +3 "core" &w  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +102 "core" ' + "manipulator"&& +4 "core" &w S +2 "manipulator"&7% +5 "core" %  +2 "processing"%h& +3 "core" &e +3 "processing"%& +5 "core" &q +2 .tPC.seek :closed +2 "processing"%^(Z +5 "core" &o +6 &=w #c +9 &\\m 6 +10 &q G +9 &fn G +10 &ho G +9 &_gy G +9 &!hq G +10 &ix F +9 &gp G +9 &fhp G +10 & )ev G +9 &!gn F +10 &#er F +9 &%ofo G +9 &'0hn G +10 &(em F +9 &*fv F +10 &,xep F +9 &.8jn G +9 &/dl F +10 &1hm G +9 &3cf G +9 &5Ack G +10 &7cm G +9 &8cn F +9 &:dl G +10 & ge G +10 &?hb G +9 &Ahg G +9 &CQhp G +10 &Emm G +9 &Fsa H +9 &H^ K +10 &JJe L +9 &L _ L +10 &M` L +9 &Oa L +9 &QQc L +10 &S\\ M +9 &T^ L +9 &V` M +10 &XV^ M +9 &Ywxg "k +10 &Z(p_ - +8 ( +2 &Zb " +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&S% +3 "core" %  a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +3 "processing"%& +3 "core" &Z_ " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&4% +4 "core" %\    +2 "storage"(.% +3 "core" %a / +2 "storage"(V. +4 "core" .( + "storage"(&& +5 "core" & = +2 "storage"(9& +2 "manipulator"&& +6 "core" & B + &w  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(;'i + "manipulator"&6(s +6 "core" ( +2 "manipulator"&g& +51 "core" &w ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &w ~ +3 .tForearm.seek PC +2 "manipulator"&(' +96 "core" ' +2 .tHand.close + "manipulator"&?/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +31 "core" ' + "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +348 ( +2 "storage"( & +3 "core" & l +2 "manipulator"&A& +4 "core" &w \\ +2 "manipulator"&>% +4 "core" % M +2 .tForearm.seek :retract +2 "manipulator"&/'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&{( +268 "core" ( +2 "manipulator"&Q& +3 "core" & u  +2 "storage"(G& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +96 "core" ' +2 .tHand.open +2 "manipulator"&*1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(b'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(_' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(0& +4 "core" & N M 7 +2 "manipulator"&E& +3 "core" & Y  +3 .tElbow.seek 2 + "manipulator"&O( +7 "core" ( +2 "manipulator"&e& +3 "core" & V } +2 "storage"(\\& +5 "core" & M N P +2 .tForearm.seek 2 + 700 counts + "manipulator"&K'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(I' +59 "core" ' +2 "manipulator"&& +3 "core" &  } +3 "storage"(f& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&C' +27 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(W'i +24 "core" ' +2 "manipulator"&H% +3 "core" % r +3 "storage"(r& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&M' +20 "core" ' + "manipulator"&s& +4 "core" &  } +2 "storage"(U& +4 "core" & ] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +18 "core" ' +2 "storage"(Y% +3 "core" %s +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (1% +4 "core" %~Q i t ] PH +2 "manipulator"&%% +4 "core" %ѡ < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (q& +3 "core" & : +2 "collection"'<& +4 "core" &WW  N D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&'% +3 "core" %\  d  +2 "storage"(a% +4 "core" %O X +2 "storage"(Z. +2 "core" .( +2 "storage"(P& +4 "core" & N +2 "storage"(|& +4 "core" &  +2 "manipulator"&F& +3 "core" & 2 } +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&k& +50 "core" & Q } +2 "storage"(& +3 "core" & D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +97 "core" ' + "storage"(5& +4 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +283 "core" ' + "storage"(J- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & e } +2 "storage"(i& +4 "core" & U +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +23 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'P +29 "core" ' + "manipulator"&l% +5 "core" % + "storage"(n& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&D' +20 "core" ' +2 "manipulator"&& +3 "core" & ^ } +2 "storage"($& +6 "core" & l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(#'? +38 "core" ' +2 "manipulator"&j& +3 "core" & } +2 "manipulator"&d% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +154 "core" ( +3 "manipulator"&& +3 "core" &"  # 9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &"  L 9' +3 .tForearm.seek CC + "manipulator"&='" +92 "core" ' +2 .tHand.close + "manipulator"&,/ +63 "core" / +2 .tCC.seek :open +2 "collection"'"( +415 "core" ( +2 "storage"(& +3 "core" & +2 "storage"(:& +5 "core" & D +2 "manipulator"&& +3 "core" &" 3 9' +2 "manipulator"&)% +3 "core" % 1  +3 .tForearm.seek :retract +2 "manipulator"&c'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +160 "core" ( + "manipulator"& & +5 "core" & !  + "storage"(3& +4 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&[' +103 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&]% +5 "core" %  { Q + "storage"(& +5 "core" & n +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"( & +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +23 "core" ' +2 "storage"(t% +3 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (N% +3 "core" %O Y OF +2 "manipulator"&w% +4 "core" %ѐ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&'\ +96 "core" ' +2 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'7& +3 "core" & F +2 "manipulator"&h% +4 "core" %\ \  +2 "storage"(B% +5 "core" %\\ I +2 "storage"(}. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & k  +2 "manipulator"&S& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +20 "core" ( +2 "manipulator"&4& +3 "core" & v " +2 "storage"(.& +5 "core" & 5  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +95 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +292 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & w  +2 "manipulator"&g& +3 "core" & ~ " +3 .tElbow.seek 3 + "manipulator"&X( +4 "core" ( +2 "manipulator"&R& +3 "core" & Y " +2 "storage"(?& +4 "core" & 7  +6 .tForearm.seek 3 + 300 counts +2 "manipulator"&8'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(^'X +5 "core" &  " +2 "manipulator"&;% +5 "core" % ϟ  ) +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&>& +3 "core" & & i 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &  * 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'" +100 "core" ' +3 "manipulator"&G& +3 "core" &  / 7 +2 "manipulator"&6% +4 "core" %, 3 +2 "collection"'*& +5 "core" &  P +2 "collection"'& +5 "core" &  R +2 .tCC.seek :closed +2 "collection"'m(V +4 "core" & \ \ S +8 & &  S "_ +10 &X \ O 4 +9 & S F +9 &a  N F +10 &h  S F +9 &Qe  \ M F +10 &b  X F +9 &e  R F +9 &b  V F +10 &Yf  O F +9 & b  V F +9 &!f  \ T G +10 &#f  N F +9 &%ah Z F +10 &'#e \ T F +9 &(a  T F +9 &*f \ L F +10 &,ih  \ U F +9 &.+f V F +9 &/g  \ X F +10 &1f R F +9 &3pe  O G +10 &54e  V F +9 &6f \ P F +9 &8c  N F +10 &:zg \ T F +9 &<;g  N F +9 &=d  R F +10 &?h  \ O F +9 &Ae  P G +10 &CCe \ \ P F +9 &Ej  M G +9 &Ft O H +10 &H I I +9 &J7 Q M +9 &K T P +10 &M  K P +9 &Or  O Q +10 &Q6  F P +9 &R  O R +9 &T  C R +10 &V!V  J : +9 &V ~  D %j +9 &V  I "c +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&01 +63 "core" 1 +2 "manipulator"&E% +4 "core" % , % L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\\& +4 "core" &v +2 "manipulator"&/% +3 "core" %\  3  +3 "storage"(% +3 "core" %V z z D +2 "storage"(f. +3 "core" .( +2 "storage"(H& +3 "core" & z z  +2 "storage"(& +5 "core" & z z  + "manipulator"&r& +4 "core" & 6 7 +2 "manipulator"&b% +3 "core" %\  c  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tElbow.seek 3 +2 "manipulator"&s( +165 "core" ( +2 "manipulator"&U& +3 "core" & s x +2 "storage"(Y& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +97 "core" ' +2 "storage"(!& +3 "core" &   +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +277 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & g j  +2 "manipulator"&K& +5 "core" & 1 x +2 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&I& +3 "core" & 3 x +3 "storage"(C& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(''X +8 "core" & I x +2 "manipulator"&a% +4 "core" % ϫ  +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&W(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&P& +3 "core" &o 6  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &o X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +95 "core" ' +2 "manipulator"&k& +3 "core" &o 6 +2 "manipulator"&% +5 "core" %   +2 "processing"%T& +3 "core" &x +3 "processing"%5& +5 "core" &| +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &| +7 &? #b +10 &Zz 5 +9 & H +9 &f G +10 &jr G +9 &Vb G +10 &d F +9 &e F +9 &e F +10 &_e F +9 & e{ G +9 &!h G +10 &#i{ G +9 &%fi G +10 &'(b G +9 &(b G +9 &*c| G +10 &,nc G +9 &.1fu F +10 &/d F +9 &1ez F +9 &3we{ F +10 &59d| F +9 &6e~ G +9 &8gy G +10 &:~gx G +9 &<@g{ G +9 &>hw G +10 &?h{ G +9 &Adn G +10 &CHg~ G +9 &Elv G +9 &Fuw I +10 &Hp J +9 &J@s L +9 &Lh L +10 &Ml L +9 &Ok L +10 &QHo L +9 &Sm M +9 &Td M +10 &Ve M +9 &XMf M +9 &Yxvr "j +10 &Z,t 0 +9 ( + &Zg ! +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&x1 +62 "core" 1 +2 "manipulator"&y% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +3 "processing"%`& +4 "core" &Zb ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&i% +4 "core" %\    +2 "storage"(o% +3 "core" %P z z | +2 "storage"(l. +4 "core" .( + "storage"(n& +4 "core" & z z  +2 "storage"(& +3 "manipulator"&$& +8 "core" & z z  + &o +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&j(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'i +2 "core" ( +3 "manipulator"&u& +3 "core" &o B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &o  +2 .tForearm.seek PC +2 "manipulator"&~' +98 "core" ' +2 .tHand.close + "manipulator"&@/ +63 "core" / +2 .tPC.seek :open + "processing"%D( +79 "core" ' +9 "storage"(+- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +293 ( +2 "storage"(& +4 "core" & j c k  +2 "manipulator"&& +3 "core" &o 1 +2 "manipulator"&z% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&,'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&& +3 "core" & A +2 "storage"(& +5 "core" & j c C  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +103 "core" ' +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "storage"()- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(v& +3 "core" &\ P\ P  +3 "manipulator"&& +4 "core" & B + .tElbow.seek 3 +2 "manipulator"&]( +7 "core" ( +2 "manipulator"&& +3 "core" & W  +3 "storage"(& +3 "core" &\ P\ P  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +57 "core" ' + "manipulator"&c& +4 "core" & u  +2 "storage"(N& +4 "core" & r  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&w'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(['i +29 "core" ' +2 "manipulator"&% +3 "core" %΄ K +2 "storage"(7& +3 "core" & { z <  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&h'ϰ +20 "core" ' +2 "manipulator"&B& +4 "core" & D  +2 "storage"(}& +4 "core" & l g -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +30 "core" ' +2 "storage"(L% +3 "core" %o +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (p% +3 "core" %}T n q \ PH +2 "manipulator"& % +4 "core" %& + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (4& +3 "core" &   +2 "collection"'.& +3 "core" &V \ L !b +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %a u +2 "storage"(. +4 "core" .( + "storage"(9& +4 "core" & u  +2 "storage"(& +3 "core" &  +2 "manipulator"&g& +4 "core" & R  +3 .tElbow.seek 3 + "manipulator"&R( +4 "core" ( +2 "manipulator"&?& +3 "core" &  9  +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +96 "core" ' + "storage"(;& +4 "core" & M  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +319 "core" ' +8 "storage"(V- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +4 "core" &   +2 "storage"((& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'P +32 "core" ' +2 "manipulator"&X% +3 "core" %΃ m +2 "storage"(*& +4 "core" & { | 6  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&^'ϯ +21 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"("& +3 "core" & @  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(E'? +46 "core" ' + "manipulator"&\\& +4 "core" &   +2 "manipulator"&/% +4 "core" %;  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +155 "core" ( +2 "manipulator"&H& +3 "core" &' # - >L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' M >L +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open +2 "collection"'b( +415 "core" ( +2 "storage"(Q& +3 "core" &   +2 "storage"(U& +4 "core" & W  +2 "manipulator"&Y& +4 "core" && X <: +2 "manipulator"&!% +3 "core" %  k +3 .tForearm.seek :retract +2 "manipulator"&A'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +160 "core" ( + "manipulator"&1& +4 "core" & / o +2 "storage"(%& +4 "core" & .  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&K'} +102 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +64 "core" 1 +2 "manipulator"&q% +4 "core" % }  } +2 "storage"(<& +6 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'ϩ +20 "core" ' +2 "manipulator"&s& +4 "core" & K o +2 "storage"({& +3 "core" & %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +34 "core" ' +2 "storage"(M% +3 "core" %? +3 ."downElevator"SE.seek :down +4 "storage"(P'X +99 (|% +3 "core" %AQ PG +2 "manipulator"&O% +5 "core" %? 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &  \ E +2 "manipulator"&T% +3 "core" %\  C  +3 "storage"('% +3 "core" %^  +2 "storage"(Z. +3 "core" .( +45 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +2 "core" & S +2 "manipulator"&y& +4 "core" &  o +2 .tElbow.seek 2 +2 "manipulator"&`( +37 "core" ( +2 "manipulator"&i& +4 "core" & 1 !q +2 "storage"(o& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +96 "core" ' +2 "storage"(n& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(5'i +281 "core" ' + "storage"($- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&u& +4 "core" &  !p +2 .tElbow.seek 2 +2 "manipulator"&( +31 "core" ( +3 "manipulator"&F& +4 "core" &    +2 "storage"(@& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&+' +37 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(-'X +8 "core" & n  +2 "manipulator"&d% +4 "core" %   ` +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&z& +5 "core" &  9 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +4 "core" & 4 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +3 "manipulator"&& +3 "core" &\ $ ( 7 +3 "manipulator"&j% +3 "core" %, E +3 "collection"'& +3 "core" & U +3 "collection"')& +5 "core" &  \ R +2 .tCC.seek :closed +2 "collection"'=(V +5 "core" &  X  +8 &6  S )w +9 &l  Q = +9 &p  L F +10 &se \ W F +9 &4e  \ V F +9 &f  \\ F +10 &e  V F +9 &ze Y F +10 &<f  \ V F +9 &e  O F +9 & f  S F +10 &"g  O F +9 &$Ee \ \ U F +9 &&g  \ X F +10 &'f  \ ` F +9 &)e Q F +10 &+Mf  \ O F +9 &-f  \ Q F +9 &.f \ P F +10 &0f  P F +9 &2Vb  ] F +9 &4e  R F +10 &5f  S F +9 &7g \ S F +10 &9]f P F +9 &;f  R F +9 &<g  T G +10 &>f  \ S F +9 &@df  \ \\ F +9 &B%f  S G +10 &Ch  R F +9 &El  \ S G +10 &Gg{  S H +9 &I$  ^ J +9 &J \ \\ N +10 &L  U P +9 &NX  a P +9 &P \ c Q +10 &Q _ Q +9 &S  \ P R +10 &UZ  \ \\ A +9 &Vo>  X / +9 &Vc T ? +6 ( +2 "collection"')& +3 "core" &VW \ W ? +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&v1 +57 "core" 1 +3 "manipulator"&% +4 "core" % ,   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" &u +2 "manipulator"&,% +4 "core" %\ #  _ 9 +2 "storage"(c% +4 "core" %\\ U +2 "storage"(N. +3 "core" .( +2 "storage"(& +3 "core" & +2 "storage"(7& +4 "core" & +2 "manipulator"&& +4 "core" &\ 7 +2 "manipulator"& % +3 "core" %\ # 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&B( +161 "core" ( +2 "manipulator"&}& +3 "core" & 2 ~ +2 "storage"(L& +3 "core" & > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(:& +47 "core" & A +7 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'i +283 "core" ' + "storage"(p- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & 5 +2 "manipulator"& & +3 "core" & Y ~ +3 .tElbow.seek 2 +2 "manipulator"&]( +2 "core" ( +2 "manipulator"&t& +4 "core" & ~ +2 "storage"(w& +5 "core" & 2 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&4/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"('X +8 "core" & U ~ +2 "manipulator"&% +3 "core" % ) r H +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&[(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&9& +4 "core" &s ' \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &s : \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&g' +94 "core" ' +2 "manipulator"&?& +3 "core" &s o \ +3 "manipulator"& % +3 "core" % - +2 "processing"%#& +4 "core" &| +3 "processing"%;& +5 "core" &~ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &|  +8 &8~ )v +9 &k~ = +10 &r G +9 &td F +10 &6e F +9 &e F +9 &c G +10 &{b G +9 &>a F +9 &e F +10 & d F +9 &"e F +10 &$Ff F +9 &&e F +9 &'h G +10 &)c G +9 &+Mb G +10 &-b G +9 &.g G +9 &0h G +10 &2Ui G +9 &4h F +9 &5e F +10 &7c F +9 &9]g G +9 &; b F +10 &<f| F +9 &>c G +10 &@ed| G +9 &B'e G +9 &Ch G +10 &En} H +9 &Gfy I +9 &I# K +10 &J| L +9 &L{ L +10 &Nf{ L +9 &P&| M +9 &Q~ L +10 &S{ L +9 &Ul{ M +9 &W.| M +10 &X{ M +9 &Z>C`v %k +10 &Z\ -| # +5 ( +2 "processing"%;& +3 "core" &Zv # +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&\ 1 +56 "core" 1 + "manipulator"&S% +5 "core" % T - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +95 "core" ' +3 "processing"%>& +3 "core" &Zt # +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&(% +3 "core" %\    +3 "storage"(G% +3 "core" %a +2 "storage"(X. +3 "core" .( +2 "storage"(*& +3 "core" & A +3 "storage"( & +2 "manipulator"&"& +7 "core" & ! +2 &s \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&\\(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(/'i +3 "core" ( +2 "manipulator"&2& +3 "core" &s W \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &s 3 \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%^( +85 "core" ' + "storage"(6- +3 "core" -'i +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +42 "core" ' +293 ( + "storage"(& +4 "core" & > +2 "manipulator"&0& +4 "core" &s  \ +2 "manipulator"&8% +3 "core" % e +49 .tForearm.seek :retract +3 "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&m& +3 "core" & c  +3 "storage"(Q& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +95 "core" ' +2 .tHand.open + "manipulator"&Y1 +64 "core" 1 +2 "storage"(!- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(1'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(%' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(f& +3 "core" & \  z S +2 "manipulator"&C& +4 "core" & T  +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&<& +3 "core" &  .  +2 "storage"(s& +5 "core" & \ , { 1 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +59 "core" ' +2 "manipulator"&A& +3 "core" & ^  +2 "storage"(|& +4 "core" & = +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&O' +27 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +23 "core" ' + "manipulator"&a% +5 "core" %  + "storage"(& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&T' +19 "core" ' +2 "manipulator"&'& +3 "core" & [  +3 "storage"(Z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +23 "core" ' +2 "storage"(_% +3 "core" %q O +3 ."downElevator"SE.seek :down +4 "storage"(P'X +98 (% +5 "core" %SU s PH +2 "manipulator"&x% +3 "core" %ѱ E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (i& +2 "core" & +3 "collection"'o& +3 "core" &VW  \ V ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&n% +3 "core" %\   ' +2 "storage"(I% +4 "core" %b  +2 "storage"(k. +3 "core" .( +2 "storage"($& +3 "core" & ~ +2 "storage"(& +4 "core" &  +2 "manipulator"&u& +4 "core" & 0  +2 .tElbow.seek 2 +2 "manipulator"&F( +4 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"(W& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +100 "core" ' +2 "storage"(d& +3 "core" & w +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +278 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & 2  +2 "storage"(~& +3 "core" & ? +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&5' +48 "core" ' +3 .tElbow.hold +2 "manipulator"&+, +4 "core" , +6 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +6 "storage"(j'P +27 "core" ' +2 "manipulator"&% +3 "core" % _ = +3 "storage"(& +3 "core" & = +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&-' +18 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(b& +4 "core" & t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +44 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&,% +4 "core" %ѥ ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&N( +157 "core" ( +4 "manipulator"&)& +4 "core" & d 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  8 +2 .tForearm.seek CC +2 "manipulator"&7'" +100 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +412 "core" ( +2 "storage"(& +3 "core" & +3 "storage"(}& +4 "core" & 6 + "manipulator"&L& +5 "core" & 5 + "manipulator"&:% +4 "core" % 4 m +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&p& +3 "core" & [  +2 "storage"( & +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +101 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +64 "core" 1 +2 "manipulator"&4% +3 "core" % / +3 "storage"(.& +4 "core" & k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&B& +3 "core" &  +2 "storage"(& +5 "core" & ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +18 "core" ' +2 "storage"(h% +3 "core" %I - +3 ."downElevator"SE.seek :down +4 "storage"(9'X +98 (% +3 "core" %8Q OF +2 "manipulator"&]% +3 "core" %џ ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +3 "core" &  R +2 "manipulator"&#% +4 "core" %\  [  +2 "storage"(% +4 "core" %b  +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(D( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &   +2 "manipulator"&S& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&>( +18 "core" ( +2 "manipulator"&(& +46 "core" & 1 b +6 "storage"(G& +3 "core" & &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +97 "core" ' +2 "storage"(*& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (;& +2 "core" & | T  +3 "manipulator"&2& +3 "core" & X b +2 .tElbow.seek 3 +2 "manipulator"&R( +4 "core" ( +2 "manipulator"&g& +4 "core" & a b +2 "storage"(&& +3 "core" & a  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&V& + "storage"('X +8 "core" & b + "manipulator"&/% +4 "core" % Ϯ  +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&8& +5 "core" &$ :  ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &$ M ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'" +104 "core" ' +3 "manipulator"&Q& +3 "core" &# # C :1 +2 "manipulator"&\\% +5 "core" %  E +2 "collection"'Y& +3 "core" &  k +3 "collection"'!& +5 "core" &  j +2 .tCC.seek :closed +2 "collection"'(V +3 "core" & \ a  +10 &6  f )w +9 &l  \ a = +9 &t  [ G +10 &~e  V F +9 &?e  \ T F +9 &d  R F +10 &d  R F +9 &d  ^ F +10 &Fe  c F +9 &e  T F +9 & e  c F +10 &"f  \ i G +9 &$Pe  Y F +9 &&e  S F +10 &'e  ] F +9 &)d  U F +10 &+Wf  d F +9 &-e  e F +9 &.e  f F +10 &0e  c F +9 &2_d  l F +9 &4!d  f F +10 &5e  e F +9 &7e  \ f F +10 &9fe  d F +9 &;(f  \ f F +9 &<h  _ F +10 &>g  f F +9 &@ne  _ F +9 &B0f \ c F +10 &Ce  ` F +9 &El  f G +10 &Gq}  \ b H +9 &I.  ^ J +9 &J  b N +10 &L  \ c P +9 &Na d P +9 &P# \ e P +10 &Q  a Q +9 &S  f R +10 &Ud  f > +9 &VK \ n Y +9 &V.H g &t +10 &WM \ ` B +2 ( +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&f1 +63 "core" 1 +3 "manipulator"&C% +3 "core" %  # Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +5 "core" & + "manipulator"&r% +4 "core" %\    +2 "storage"(A% +3 "core" %]  +2 "storage"(|. +4 "core" .( + "storage"(H& +4 "core" &   +2 "storage"(a& +4 "core" &   +2 "manipulator"&& +3 "core" &# :, +2 "manipulator"&1% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&'( +165 "core" ( +2 "manipulator"&Z& +3 "core" &  0 V +2 "storage"(_& +4 "core" & s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +2 "storage"(U& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &  +2 "manipulator"&{& +4 "core" & V +2 .tElbow.seek 3 +2 "manipulator"&q( +47 "core" ( +5 "manipulator"&M& +3 "core" & O V +2 "storage"(O& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&T'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&o& + "storage"(n'X +6 "core" & R V +3 "manipulator"&I% +4 "core" % Ϟ  7 +3 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&k(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&$& +5 "core" &l ( :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u' +100 "core" ' + "manipulator"&@& +5 "core" &l <  +2 "manipulator"&W% +3 "core" % U +2 "processing"%E& +5 "core" & +2 "processing"%d& +5 "core" & +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &  +9 &8 )v +9 &k} = +9 &r H +10 &te G +9 &7c G +9 &c F +10 &d~ F +9 &}h G +10 &@g} F +9 &e F +9 & c F +10 &"h G +9 &$Gh| G +9 &&\ g~ F +10 &'e F +9 &)h G +10 &+Pf F +9 &-e F +9 &.e F +10 &0c G +9 &2Wc G +9 &4h G +10 &5f G +9 &7b G +10 &9`c F +9 &;"e F +9 &<c G +10 &>d G +9 &@gj G +9 &B)i G +10 &Ch G +9 &En G +10 &Gh{ I +9 &I$ K +9 &J L +10 &L L +9 &Ng L +9 &P*| L +10 &Q L +9 &S L +10 &Un M +9 &W.| M +9 &X| M +10 &Z@Dd %k +9 &Z&~ # +5 ( +2 "processing"%d& +4 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&e1 +63 "core" 1 + "manipulator"&y% +4 "core" % | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +100 "core" ' + "processing"%z& +5 "core" &Zv # + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +3 "core" %\ # / ; +3 "storage"(% +3 "core" %b +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & g  +3 "storage"(& +2 "manipulator"&b& +5 "core" &  +3 &l   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i +3 "manipulator"&,(s +4 "core" ( +2 "manipulator"&J& +4 "core" &l $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &l  \\  +3 .tForearm.seek PC + "manipulator"&`' +96 "core" ' + .tHand.close +2 "manipulator"&5/ +59 "core" / +5 .tPC.seek :open +2 "processing"%-( +79 "core" ' + "storage"(j- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"()'y +35 "core" ' +309 ( + "storage"(& +4 "core" &   +2 "manipulator"&v& +3 "core" &l 9  +2 "manipulator"&+% +4 "core" %    +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&c( +245 "core" ( +2 "manipulator"&=& +4 "core" & . b +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +48 "manipulator"&}'9 +96 "core" ' +2 .tHand.open + "manipulator"&L1 +63 "core" 1 +2 "storage"(:- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +21 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +3 "core" -' +2 "storage"(N& +4 "core" & N\    +2 "manipulator"&w& +21 "core" & C ^ +2 .tElbow.seek 3 +2 "manipulator"&4( +4 "core" ( + "manipulator"&.& +5 "core" & K ^ + "storage"(B& +4 "core" &\ N |  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +58 "core" ' +2 "manipulator"&& +4 "core" & M ^ +2 "storage"(& +4 "core" & !  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&]'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +23 "core" ' +2 "manipulator"& % +3 "core" %΀ & +2 "storage"(#& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&'Ϭ +20 "core" ' +2 "manipulator"&& +3 "core" &  ^ +3 "storage"(& +3 "core" & O  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' + "storage"(3% +5 "core" %r +2 ."downElevator"SE.seek :down +4 "storage"(9'X +98 (% +3 "core" %X e e u PI +2 "manipulator"&\ % +4 "core" %D  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ((& +3 "core" & \  +2 "collection"'G& +4 "core" &WU \ d B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&*% +3 "core" %\  +  +2 "storage"(t% +4 "core" %Y  +2 "storage"(?. +3 "core" .( +2 "storage"("& +4 "core" & ?  +2 "storage"(;& +3 "core" &   +2 "manipulator"&2& +5 "core" &\ ^ +2 .tElbow.seek 3 + "manipulator"&g( +3 "core" ( +2 "manipulator"&&& +4 "core" &\ 0 ^ +2 "storage"([& +3 "core" & _  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +95 "core" ' + "storage"(/& +4 "core" & o  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'i +292 "core" ' +2 "storage"(X- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &  ^ +2 "storage"(& +4 "core" & a  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +24 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'P +28 "core" ' + "manipulator"&R% +5 "core" %Ή Z + "storage"(Y& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +41 .tForearm.seek 3 + 312 counts +9 "manipulator"&'ϵ +20 "core" ' + "manipulator"&& +5 "core" & T ^ + "storage"( & +4 "core" & I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(C'? +44 "core" ' + "manipulator"&s& +5 "core" &  ^ + "manipulator"&r% +5 "core" %.  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +148 "core" ( +2 "manipulator"&H& +3 "core" && K =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &&   =D +3 .tForearm.seek CC + "manipulator"&a'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'1( +419 "core" ( +3 "storage"(m& +3 "core" &  +2 "storage"(Z& +4 "core" & H  +2 "manipulator"&_& +3 "core" &# R :1 +2 "manipulator"&U% +4 "core" % $ m +3 .tForearm.seek :retract + "manipulator"&0'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +160 "core" ( + "manipulator"&& +4 "core" & I b +2 "storage"(x& +4 "core" & ;  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&{'} +103 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +59 "core" 1 +2 "manipulator"&i% +3 "core" % ΀ S +2 "storage"(o& +4 "core" &  +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&I'Ϭ +20 "core" ' +2 "manipulator"&'& +3 "core" & p b +2 "storage"(& +4 "core" & S  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +17 "core" ' + "storage"(T% +4 "core" %I +3 ."downElevator"SE.seek :down +4 "storage"($'X +100 (% +3 "core" %vQ - OE +2 "manipulator"&q% +3 "core" % v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +96 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +3 #Loading generic puck from tube 2 into Collection Clamp + "collection"'W& +3 "core" &  R +3 "manipulator"&E% +3 "core" %\ \  +3 "storage"(n% +3 "core" %O +2 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(^( +342 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +2 "core" & ~ +2 "manipulator"&y& +4 "core" & f b +2 .tElbow.seek 2 +2 "manipulator"&z( +40 "core" ( +2 "manipulator"&~& +4 "core" &  o +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(d& +3 "core" & ] +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +5 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & +2 "manipulator"&J& +5 "core" & U n +2 .tElbow.seek 2 + "manipulator"&F( +28 "core" ( +3 "manipulator"&u& +3 "core" & H  +2 "storage"(5& +4 "core" & n +3 .tForearm.seek 2 + 300 counts + "manipulator"&j' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(P'X +8 "core" &   +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +157 "core" ' +7 ."downElevator"SE.stop +5 "storage"(5 +9 "core" ( +4 "manipulator"&+& +4 "core" &% M <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &%  <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='" +95 "core" ' +2 "manipulator"&& +4 "core" &% $ C <> +2 "manipulator"&,% +5 "core" %% H +2 "collection"'L& +3 "core" &  c +3 "collection"':& +5 "core" &  ] +2 .tCC.seek :closed +2 "collection"'7(V +5 "core" &  W +5 &  ` 5 +10 &EM  g . +9 &z  ` C +10 &:e  \\ F +9 &e  g F +9 &e  l F +10 &d  j F +9 &Bb  g F +9 &e  h F +10 &d  g F +9 &e  [ G +9 &!Je  f F +10 &# f  ^ F +9 &$f  d F +10 &&b  ^ F +9 &(Re  b F +9 &*d  [ F +10 &+e  c F +9 &-h  i F +9 &/Ze  \ ` F +10 &1e  \\ F +9 &2e  ` F +10 &4e  \\ G +9 &6be  h F +9 &8#e  c F +10 &9e  f F +9 &;h  ` F +10 &=if  e F +9 &?,h  d F +9 &@g  [ F +10 &Bg  \ h G +9 &Dpg  \ h G +9 &F1n  h G +10 &G  g I +9 &I  h K +10 &K_  i O +9 &M  e P +9 &N  h Q +10 &P  h Q +9 &Ra  j Q +9 &T!  i R +10 &U{  i ; +9 &V3  g $l +9 &VO  g B +3 ( +2 "collection"':& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&N1 +54 "core" 1 +3 "manipulator"&w% +3 "core" % %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&B% +3 "core" %\ ! | 6 +3 "storage"(% +3 "core" %] Q +2 "storage"(. +3 "core" .( +2 "storage"()& +3 "core" & +2 "storage"( & +4 "core" & +2 "manipulator"&#& +3 "core" &% e <> +2 "manipulator"&p% +3 "core" %\ ! w 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&& +3 "core" & J n +2 "storage"(3& +4 "core" & ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +92 "core" ' +2 "storage"(}& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" & +2 "manipulator"&& +4 "core" &  n +2 .tElbow.seek 2 +2 "manipulator"&4( +4 "core" ( +2 "manipulator"&h& +3 "core" &  n +2 "storage"(]& +4 "core" & # +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +50 "storage"(*'X +8 "core" & 5 n +2 "manipulator"&t% +3 "core" % y | +3 .tForearm.seek :retract + "manipulator"&?'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +111 "core" ( +3 "manipulator"&"& +4 "core" & [ \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" & Y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&2' +98 "core" ' +2 "manipulator"&&& +3 "core" & \ +3 "manipulator"&[% +3 "core" % 3  +3 "processing"%& +3 "core" & +3 "processing"%/& +5 "core" & +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" & +6 &? #b +10 &\\ 6 +9 & G +10 &b F +9 &h G +9 &`c G +10 &#c F +9 &f G +9 &i F +10 &hc G +9 & *c G +9 &!g~ G +10 &#h} G +9 &%of} G +10 &'2c G +9 &(c~ F +9 &*g G +10 &,wg~ G +9 &.;e} F +9 &/b~ G +10 &1c F +9 &3d F +10 &5Ce F +9 &7c G +9 &8c F +10 &:d F +9 & b F +9 &?e G +9 &Ai G +10 &CQk G +9 &El G +9 &Fs H +10 &H K +9 &JL L +9 &L L +10 &M L +9 &O L +10 &QR L +9 &S M +9 &T M +10 &V M +9 &XX M +9 &Ywx "j +10 &Z&m , +9 ( + &Z " +2 "processing"%/& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&S% +4 "core" % f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +101 "core" ' +2 "processing"%8& +3 "core" &Z~ " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ \   +2 "storage"(Q% +4 "core" %N  +2 "storage"(R. +3 "core" .( +2 "storage"(Y& +3 "core" &  +3 "storage"(& +2 "manipulator"& & +8 "core" & t + & \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&s(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +20 "core" ( + "manipulator"&V& +4 "core" &v  J ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &v ) p ! +3 .tForearm.seek PC +2 "manipulator"&>' +95 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +4 .tPC.seek :open +2 "processing"%( +74 "core" ' + "storage"(\\- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +33 "core" ' +310 ( + "storage"(!& +4 "core" & 0 +2 "manipulator"&f& +4 "core" &v  ! +2 "manipulator"&6% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +246 "core" ( +2 "manipulator"&& +3 "core" &  U h +3 "storage"(m& +3 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +97 "core" ' + .tHand.open +2 "manipulator"&_1 +56 "core" 1 +2 "storage"(U- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +98 "core" ' +3 #tLights, camera, ACTION! + "storage"(a- +3 "core" -' +2 "storage"(|& +5 "core" & \ D\ G + "manipulator"&O& +4 "core" &  h +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&o& +4 "core" & K h +2 "storage"('& +4 "core" & \ O\ K  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(T' +60 "core" ' +2 "manipulator"&0& +3 "core" & / h +3 "storage"(& +3 "core" & , +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q' +21 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"({'i +25 "core" ' +2 "manipulator"&I% +3 "core" %  +3 "storage"(W& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts +2 "manipulator"&E' +20 "core" ' +2 "manipulator"&n& +3 "core" & h +2 "storage"(K& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +27 "core" ' +2 "storage"(%% +4 "core" %r +3 ."downElevator"SE.seek :down +4 "storage"($'X +99 (D% +2 "core" %X l x f QJ +3 "manipulator"&e% +3 "core" %њ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & u +2 "collection"'& +4 "core" &VU  ] B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&d% +3 "core" %\ %  E +3 "storage"(M% +3 "core" %[  +2 "storage"(@. +3 "core" .( +2 "storage"(& +3 "core" & : +2 "storage"(b& +4 "core" & +2 "manipulator"&J& +3 "core" & 2 h +3 .tElbow.seek 2 + "manipulator"&u( +3 "core" ( +2 "manipulator"&5& +4 "core" &  h +2 "storage"(k& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +96 "core" ' + "storage"(& +5 "core" & 4 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & h +2 "storage"(+& +4 "core" & I +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&`' +28 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +29 "core" ' +2 "manipulator"&,% +3 "core" % K B +20 "storage"(L& +4 "core" & m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&P' +20 "core" ' + "manipulator"&& +5 "core" & N h + "storage"(1& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(w'? +50 "core" ' +2 "manipulator"&& +4 "core" & + h +2 "manipulator"&B% +4 "core" %ђ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +161 "core" ( + "manipulator"&)& +5 "core" &$ $  ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +2 "core" &$ ( ` ;8 +3 .tForearm.seek CC + "manipulator"& '" +96 "core" ' +2 .tHand.close +2 "manipulator"&#/ +59 "core" / +2 .tCC.seek :open +2 "collection"'p( +412 "core" ( +2 "storage"(=& +3 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&3& +3 "core" &$ g ;8 +2 "manipulator"&}% +5 "core" % / 7 +2 .tForearm.seek :retract + "manipulator"&v'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&.( +161 "core" ( +2 "manipulator"&& +3 "core" &  f +3 "storage"(\ & +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +101 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&]1 +55 "core" 1 +2 "manipulator"&(% +3 "core" % A } +3 "storage"(G& +3 "core" & K +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts +3 "manipulator"&t' +20 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(c& +4 "core" & i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +28 "core" ' +2 "storage"(% +3 "core" %;  \ +3 ."downElevator"SE.seek :down +4 "storage"("'X +99 (;% +3 "core" %L i OE +2 "manipulator"&4% +4 "core" %ѕ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'[& +3 "core" &  [ +2 "manipulator"&% +5 "core" %\  ;  + "storage"(*% +4 "core" %[ d +2 "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ]  +2 "manipulator"&S& +3 "core" & F +3 .tElbow.seek 3 + "manipulator"&8( +13 "core" ( + "manipulator"&& +5 "core" & z r + "storage"(Q& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +91 "core" ' +2 "storage"(R& +3 "core" & T  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & R  +2 "manipulator"&V& +3 "core" & c r +2 .tElbow.seek 3 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"&2& +3 "core" & U r +2 "storage"( & +4 "core" &   +3 .tForearm.seek 3 + 300 counts +45 "manipulator"&\\'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(9'X +8 "core" & C r +2 "manipulator"&r% +4 "core" % Ϣ ; ( +2 .tForearm.seek :retract +2 "manipulator"&!'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&6& +3 "core" &  g 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" & / 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&m& +3 "core" & # 7 +3 "manipulator"&s% +5 "core" % U +2 "collection"'_& +3 "core" &  o +3 "collection"'U& +5 "core" &  m +2 .tCC.seek :closed +2 "collection"'a(V +5 "core" &  n +6 &B  w $e +9 &_  l 7 +9 &0  k G +10 &c  z F +9 &e  o F +9 &ve  l F +10 &8e  l F +9 &b  n F +10 &e  k F +9 &~e  n F +9 & Ag  l F +10 &"d  l F +9 &#e  t F +9 &%e  k F +10 &'He  s F +9 &) g  i F +10 &*e  f F +9 &,f  d F +9 &.Qe  _ F +10 &0e  j F +9 &1e  h F +9 &3e  h F +10 &5Xe  g F +9 &7h  g F +10 &8e  d F +9 &:f  ` F +9 &<_e  a G +10 &>#e  g F +9 &?e  ` G +9 &Ae  c F +10 &Cgg  ^ G +9 &E)n  d G +10 &Fv  d H +9 &H  c I +9 &J\\  h M +10 &L  d P +9 &M  f P +10 &O  c Q +9 &QZ  \ n Q +9 &S  f R +10 &T  b R +9 &V@\\  h (y +9 &V#  d L +9 ( +3 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&1 +4 "core" &V`  g D +55 1 +3 "manipulator"&|% +3 "core" %  3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +100 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%o& +3 "core" &  +2 "manipulator"&'% +5 "core" %\ \ Z  +2 "storage"(0% +3 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(H& +3 "core" &   +2 "storage"(& +5 "core" &   + "manipulator"&I& +4 "core" & 7 +2 "manipulator"&W% +3 "core" %\ \ A  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&n( +160 "core" ( +2 "manipulator"&K& +3 "core" & 8 l +2 "storage"(%& +4 "core" & f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +91 "core" ' +2 "storage"(Z& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +283 "core" ' +2 "storage"(D- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" & #  +2 "manipulator"&& +3 "core" & E l +3 .tElbow.seek 3 + "manipulator"&i( +4 "core" ( +2 "manipulator"&T& +3 "core" & L l +2 "storage"(q& +4 "core" & 6  +3 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(d'X +8 "core" &  l +2 "manipulator"&M% +3 "core" %  + +3 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&{& +50 "core" &u  -  +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +4 "core" &u *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&J' +94 "core" ' +2 "manipulator"&5& +3 "core" &u g  +2 "manipulator"&k% +4 "core" % F > +3 "processing"%C& +3 "core" &  +3 "processing"%& +5 "core" &  +2 .tPC.seek :closed +2 "processing"%$(Z +5 "core" &  +8 & ; *y +9 &+n > +9 &o G +10 &e G +9 &Rc G +9 &h G +10 &e G +9 &g G +10 &Zc G +9 &b F +9 & c F +10 &"b G +9 &$cc F +9 &&%d F +10 &'e F +9 &)g G +10 &+jc G +9 &--a F +9 &.d} F +10 &0c~ G +9 &2rc} G +9 &45g} F +10 &5e} F +9 &7g G +10 &9yf G +9 &;<b} G +9 &<g G +10 &>f G +9 &@e} G +9 &BDi G +10 &Dg G +9 &Eq H +10 &G{ I +9 &I? K +9 &J L +10 &L L +9 &N M +9 &PD L +10 &R L +9 &S M +10 &U L +9 &WI M +9 &Y  I +10 &ZD<b #g +9 &Z5 " +5 ( +2 "processing"%& +4 "core" &Zx " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&<1 +56 "core" 1 +2 "manipulator"&y% +4 "core" %  > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&+% +3 "core" %\  7 +3 "storage"(F% +3 "core" %U +2 "storage"(,. +4 "core" .( + "storage"(L& +4 "core" &  +2 "storage"(& +3 "manipulator"&1& +8 "core" &  + &u t  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'i +2 "core" ( + "manipulator"&l& +6 "core" &u @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &u B  +3 .tForearm.seek PC + "manipulator"&z' +104 "core" ' + .tHand.close +2 "manipulator"&`/ +53 "core" / +3 .tPC.seek :open +2 "processing"%P( +83 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'y +33 "core" ' +304 ( +2 "storage"(:& +3 "core" &   +2 "manipulator"&N& +4 "core" &u u  +2 "manipulator"&j% +4 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +266 "core" ( +2 "manipulator"&7& +4 "core" &  4  +2 "storage"(=& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +2 .tHand.open +2 "manipulator"&31 +56 "core" 1 +2 "storage"(}- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +3 "storage"(& +3 "core" & v\    +2 "manipulator"&]& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&(( +8 "core" ( +2 "manipulator"&G& +3 "core" & m  +2 "storage"(& +4 "core" & K\ \   +2 .tForearm.seek 3 + 700 counts +50 "manipulator"&c'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&v& +3 "core" &  +2 "storage"(;& +5 "core" & f  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&4'} +19 "Can"s F 9o? +2 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +29 "core" ' +2 "manipulator"&t% +3 "core" %z  +2 "storage"([& +5 "core" & L  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&'Ϧ +21 "core" ' +2 "manipulator"&*& +3 "core" &  +2 "storage"(?& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +21 "core" ' +2 "storage"( % +3 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"("'X +100 (^% +2 "core" %:W NE +2 "manipulator"&% +5 "core" %4 b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  C  +2 "collection"'Q& +5 "core" &V`  a D + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&R% +3 "core" %\  {  +3 "storage"(h% +3 "core" %`  +2 "storage"(&. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"( & +4 "core" &   +2 "manipulator"&V& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&2( +3 "core" ( +2 "manipulator"& & +3 "core" & a  +3 "storage"( & +3 "core" & l  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&X'9 +95 "core" ' +2 "storage"(r& +4 "core" & o  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +285 "core" ' +3 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" &  +2 "storage"(>& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Y'} +24 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'P +30 "core" ' +2 "manipulator"&_% +3 "core" %΋  +2 "storage"(g& +4 "core" & +  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&9'Ϸ +19 "core" ' +2 "manipulator"&!& +3 "core" &  +2 "storage"(p& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(|'? +42 "core" ' +2 "manipulator"&o& +3 "core" & $  +2 "manipulator"&'% +5 "core" %@ [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( +3 "manipulator"&U& +42 "core" &* $  @X +9 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &* ' @X +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +2 .tHand.close + "manipulator"&I/ +60 "core" / +2 .tCC.seek :open +2 "collection"'W( +415 "core" ( +2 "storage"(& +3 "core" &   +3 "storage"(K& +3 "core" &   +2 "manipulator"&%& +4 "core" &* @X +2 "manipulator"&Z% +3 "core" % 2 +3 .tForearm.seek :retract + "manipulator"&f'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +160 "core" ( +2 "manipulator"&D& +3 "core" &  } +2 "storage"(e& +4 "core" & Z  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +99 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&q1 +52 "core" 1 +2 "manipulator"&~% +3 "core" %  P +2 "storage"(& +5 "core" & R  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&M'ϫ +21 "core" ' +2 "manipulator"&n& +3 "core" & } +3 "storage"(A& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +29 "core" ' +2 "storage"(E% +4 "core" %C  +3 ."downElevator"SE.seek :down +3 "storage"({'X +100 (i% +2 "core" %NQ  PF +3 "manipulator"&b% +3 "core" %0 O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +86 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'k& +3 "core" &  ` +3 "manipulator"&C% +4 "core" %\  H  + "storage"(d% +4 "core" %b $ +2 "storage"(@. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & > +2 "manipulator"&y& +3 "core" & ` } +2 .tElbow.seek 2 +2 "manipulator"&( +35 "core" ( + "manipulator"&+& +4 "core" & E "{ +2 "storage"(F& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +97 "core" ' +2 "storage"(L& +3 "core" & z +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(1- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&l& +3 "core" & P !p +3 .tElbow.seek 2 + "manipulator"&u( +3 "core" ( +2 "manipulator"&J& +4 "core" & 4 !p +2 "storage"(`& +4 "core" & \ +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"($'X +8 "core" &  !p + "manipulator"&B% +5 "core" %  E +47 .tForearm.seek :retract +3 "manipulator"&:'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +102 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +49 "core" ( +2 "manipulator"&j& +3 "core" &) , O ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &z& +3 "core" &) ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'" +102 "core" ' + "manipulator"&=& +4 "core" &( $ ?Q +3 "manipulator"&% +3 "core" %% l +3 "collection"'3& +3 "core" &  i +3 "collection"'}& +5 "core" &  i +3 .tCC.seek :closed + "collection"' (V +4 "core" &  o +9 &9  m #a +9 &[  q 5 +10 &  { G +9 &a  r F +9 &f  o F +10 &\\d  p F +9 &e  u F +9 &g  w F +10 &d  s F +9 &de  s F +10 & &d  } F +9 &!g  j F +9 &#e  m F +10 &%ld  v F +9 &'/a  n F +9 &(e  r F +10 &*d  n F +9 &,ub  b F +10 &.7e  c F +9 &/d  e F +9 &1b  b F +10 &3}d  d F +9 &5>d  d F +9 &6e  e G +10 &8c  p F +9 &:e  d F +10 &h  a F +9 &?f  j F +10 &Ab  ` F +9 &CNh  d F +9 &El  a G +10 &Fr  l H +9 &H  e I +10 &JD  j M +9 &K  c O +9 &M  e Q +10 &O  f P +9 &Q@  \ ` Q +9 &R  h R +10 &T  ^ Q +9 &V-\\  c . +10 &V  f M +8 ( +2 &Vg  d H +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +4 "manipulator"&]% +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&#% +5 "core" %\ \ J  + "storage"(v% +5 "core" %] E + "storage"(;. +4 "core" .( +2 "storage"()& +4 "core" & . + "storage"(& +4 "core" & ~ +2 "manipulator"&t& +3 "core" &( " ?Q +3 "manipulator"&[% +4 "core" %\ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +162 "core" ( +2 "manipulator"&?& +3 "core" & 2 f +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +99 "core" ' +2 "storage"(& +3 "core" & r +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +277 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&c& +3 "core" & f +3 .tElbow.seek 2 + "manipulator"&(( +3 "core" ( +2 "manipulator"&& +5 "core" & 1 f + "storage"(4& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"(R'X +8 "core" & + f + "manipulator"&h% +4 "core" %  C v +2 .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( + "manipulator"&& +4 "core" &l 6  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V' +99 "core" ' +2 "manipulator"& & +3 "core" &r 8 +2 "manipulator"& % +5 "core" % 5 +2 "processing"%w& +3 "core" & +50 "processing"%r& +6 "core" & +2 .tPC.seek :closed +3 "processing"%"(Z +4 "core" & +5 & 9 +9 &NN / +10 &| D +9 &Ge G +10 &\ c G +9 &b F +9 &e G +10 &Pe G +9 &c G +9 &b F +10 &e F +9 &!Yd F +10 &#i G +9 &$b F +9 &&c F +10 &(ae F +9 &*"c G +9 &+c G +10 &-c{ F +9 &/he G +10 &1*h G +9 &2h G +9 &4i G +10 &6ph G +9 &81f~ G +9 &9d~ G +10 &;c F +9 &=yd F +9 &?;d F +10 &@e F +9 &Bh G +10 &D~h H +9 &F>p H +9 &G J +10 &I L +9 &Kx L +9 &M; L +10 &N L +9 &P M +10 &R M +9 &TA M +9 &V M +10 &W M +9 &Y : +9 &Zu5 R +10 &Z # +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&.1 +62 "core" 1 +2 "manipulator"&S% +3 "core" %  c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +99 "core" ' +2 "processing"%6& +4 "core" &Zr # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&>% +3 "core" %\ "  = +2 "storage"(m% +4 "core" %a t +2 "storage"(_. +3 "core" .( +2 "storage"(g& +4 "core" & +2 "storage"(!& +4 "manipulator"&p& +3 "core" & | +3 &r  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(o'i + "manipulator"&'(s +6 "core" ( +2 "manipulator"&X& +3 "core" &r A +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &r +2 .tForearm.seek PC +2 "manipulator"&8' +101 "core" ' +2 .tHand.close + "manipulator"&Y/ +53 "core" / +2 .tPC.seek :open +2 "processing"%9( +86 "core" ' + "storage"(s- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'y +45 "core" ' +290 ( +2 "storage"(& +3 "core" & 2 +3 "manipulator"&H& +4 "core" &r  +2 "manipulator"&\\% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&0( +259 "core" ( +2 "manipulator"&a& +3 "core" & G +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +96 "core" ' +2 .tHand.open + "manipulator"&%1 +60 "core" 1 +3 "storage"(Z- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(D'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(e' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & w N ' +2 "manipulator"&q& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&& +3 "core" & ; +2 "storage"(n& +4 "core" & \ * +3 .tForearm.seek 2 + 700 counts + "manipulator"&A'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +56 "core" ' +2 "manipulator"&f& +3 "core" & k +3 "storage"(i& +3 "core" & i +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +42 .tForearm.seek 2 +9 "manipulator"&b' +21 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&M% +3 "core" % E +2 "storage"(k& +4 "core" & I +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&C' +21 "core" ' + "manipulator"&d& +5 "core" & \ +2 "storage"(@& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +30 "core" ' +2 "storage"(x% +3 "core" %o q  +3 ."downElevator"SE.seek :down +3 "storage"({'X +100 (-% +2 "core" %W k e PI +2 "manipulator"&<% +5 "core" %ў  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +2 "core" & 9 +3 "collection"'F& +4 "core" &Vg  c H + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&L% +3 "core" %\    +3 "storage"(T% +3 "core" %T m +2 "storage"(5. +3 "core" .( +2 "storage"(1& +4 "core" & X +2 "storage"(& +3 "core" & N +2 "manipulator"&l& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&J( +4 "core" ( + "manipulator"&`& +5 "core" & +2 "storage"(& +3 "core" & = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(B& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(j& +4 "core" & V +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&z' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +30 "core" ' +2 "manipulator"&3% +3 "core" %  +2 "storage"(u& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&$' +19 "core" ' +2 "manipulator"&:& +3 "core" & ` \ +2 "storage"(W& +4 "core" & Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(]'? +40 "core" ' + "manipulator"&& +5 "core" & ( \ + "manipulator"&#% +5 "core" %р S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +157 "core" ( +3 "manipulator"&;& +3 "core" && a =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +3 "core" &&  =E +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&t/ +58 "core" / +2 .tCC.seek :open +2 "collection"'[( +416 "core" ( + "storage"(7& +4 "core" & +41 "storage"(?& +11 "core" & j +2 "manipulator"&& +3 "core" &&  =E +3 "manipulator"&% +3 "core" % (  +3 .tForearm.seek :retract + "manipulator"&N'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&G( +160 "core" ( +2 "manipulator"&^& +4 "core" & O  +2 "storage"(& +3 "core" & \ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&c' +100 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&41 +61 "core" 1 +3 "manipulator"&% +5 "core" % 8 u + "storage"(Q& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&h' +26 "core" ' +2 "manipulator"&*& +3 "core" &   +2 "storage"( & +4 "core" & - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +29 "core" ' +2 "storage"(% +3 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +3 "core" %^Q l PF +2 "manipulator"&(% +5 "core" %ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" &  g + "manipulator"&w% +5 "core" %\  : " + "storage"(R% +4 "core" %W  +2 "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(P( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +3 "core" &   +2 "manipulator"&S& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&6( +13 "core" ( +2 "manipulator"&>& +3 "core" & F e +2 "storage"(m& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +97 "core" ' +2 "storage"(r& +3 "core" & O  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +280 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & g  +2 "manipulator"&X& +4 "core" &  e +2 .tElbow.seek 3 +2 "manipulator"&2( +4 "core" ( + "manipulator"&V& +4 "core" & e +2 "storage"(Y& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&s'ϩ +14 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& +2 "storage"("'X +8 "core" & b e +2 "manipulator"&o% +3 "core" % ϣ # ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&\\& +3 "core" & + 1 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" & L 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +3 "manipulator"&a'" +97 "core" ' +3 "manipulator"&& +3 "core" &  t 4 +2 "manipulator"&'% +4 "core" % D +3 "collection"'%& +3 "core" &  [ +3 "collection"'Z& +5 "core" &  ] +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &  a +6 &J  ^ #c +9 &\\  i 6 +10 &&  _ G +9 &a  i F +9 &f  m F +10 &ne  g F +9 &/e  l F +9 &d  o F +10 &d  t F +9 &vg  p F +10 & 8d  o F +9 &!c  y F +9 &#e  ~ F +10 &%~g  r F +9 &'@d  y F +9 &)e  \ p F +10 &*d  r F +9 &,g  w F +10 &.Hd  } F +9 &0 d  z F +9 &1e  x F +10 &3e  } F +9 &5Pe  { F +9 &7e  o F +10 &8d  v F +9 &:e  | F +10 &e  p F +9 &?f  m F +10 &Ae  r F +9 &C_h  r F +9 &E m  w G +10 &Ft   H +9 &H   J +10 &JT  s M +9 &L  } P +9 &M  | P +10 &O  | Q +9 &QR  u P +9 &S  x R +10 &T  } R +9 &VBg  | . +10 &V   ; +9 &Wc  w @ +5 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&1 +4 "core" &WT  v @ +52 1 +3 "manipulator"&q% +3 "core" %  # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%n& +5 "core" & + "manipulator"&I% +4 "core" %\  {  +2 "storage"(f% +4 "core" %[  +2 "storage"(i. +3 "core" .( +2 "storage"(U& +3 "core" &   +2 "storage"(D& +3 "core" &   +3 "manipulator"&M& +4 "core" &  4 + "manipulator"&k% +4 "core" %\  X  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +160 "core" ( + "manipulator"&@& +4 "core" & 3 ^ +2 "storage"(0& +3 "core" & Q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +106 "core" ' + "storage"(K& +4 "core" & j  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +282 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" & *  +2 "manipulator"&A& +3 "core" & 0 ^ +3 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&E& +4 "core" &  ^ + "storage"(b& +4 "core" & ;  +3 .tForearm.seek 3 + 300 counts + "manipulator"&C'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&F& + "storage"(L'X +8 "core" & P ^ + "manipulator"&T% +4 "core" % Ϥ 4  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&1& +3 "core" &|  +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &| O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&l' +94 "core" ' +2 "manipulator"&`& +3 "core" &| # +3 "manipulator"&% +3 "core" % L  +2 "processing"%|& +5 "core" & +2 "processing"%B& +5 "core" & +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &  +9 &8 )w +9 &k = +10 &r H +9 &ub G +9 &7c G +10 &h G +9 &e G +9 &~d F +10 &Ad F +9 &i G +10 & g G +9 &"f G +9 &$He F +10 && g G +9 &'g F +9 &)d F +10 &+Qc F +9 &-h G +10 &.g F +9 &0f F +52 &2Wd G +3 &4b G + &5g G + &7e G +2 &9_b G &;!b G +7 &<h~ G +9 &>g G +9 &@gd G +10 &B)e G +9 &Cg G +9 &En H +10 &Ghy I +9 &I$ K +10 &J L +9 &L} L +9 &Nh L +10 &P(} M +9 &Q L +9 &S L +10 &Un} M +9 &W0 M +10 &X| M +9 &ZADc} %m +9 &Z ( " +6 ( +2 "processing"%B& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&O1 +53 "core" 1 + "manipulator"&y% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&j% +4 "core" %\  F  +2 "storage"(=% +3 "core" %U k +2 "storage"(3. +4 "core" .( +2 "storage"(u& +3 "core" &  +3 "storage"(:& +2 "manipulator"&W& +7 "core" &  + &|  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'i +3 "core" ( +2 "manipulator"&& +3 "core" &| u +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &|  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&z/ +64 "core" / +2 .tPC.seek :open +2 "processing"%$( +83 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +33 "core" ' +305 ( +2 "storage"()& +3 "core" &   +2 "manipulator"&& +5 "core" &|  + "manipulator"&% +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v( +261 "core" ( + "manipulator"& & +5 "core" & H \ + "storage"(7& +4 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +105 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(}& +3 "core" & M K 9  +2 "manipulator"&4& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&Q& +3 "core" &  7 +2 "storage"(*& +4 "core" & N N m  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +22 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&N& +3 "core" &  +3 "storage"( & +3 "core" & =  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +24 "core" ' +2 "manipulator"&h% +3 "core" %΍  +2 "storage"( & +4 "core" &   +41 .tForearm.force -20 +9 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&w'Ϲ +21 "core" ' + "manipulator"&R& +4 "core" & R +2 "storage"(&& +4 "core" & ~ }  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +29 "core" ' + "storage"(\ % +5 "core" %s + +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %`U g E PI +2 "manipulator"&.% +5 "core" %1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +3 "core" & @  +2 "collection"'m& +4 "core" &WT  q @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&r% +3 "core" %\ #  > +2 "storage"(% +4 "core" %a @ +2 "storage"( . +3 "core" .( +2 "storage"(!& +3 "core" & .  +2 "storage"(p& +5 "core" & V  + "manipulator"&X& +4 "core" & D +2 .tElbow.seek 3 +2 "manipulator"&V( +4 "core" ( +2 "manipulator"&Y& +3 "core" &  \\ +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +98 "core" ' +2 "storage"(o& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'i +284 "core" ' +3 "storage"(_- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & P +2 "storage"(g& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&8'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +32 "core" ' +2 "manipulator"&'% +3 "core" %Έ  +2 "storage"(%& +3 "core" & } 8  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&"'ϴ +19 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"([& +4 "core" & (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(q'? +41 "core" ' +2 "manipulator"&n& +3 "core" &  +2 "manipulator"&I% +4 "core" %5 ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +157 "core" ( +3 "manipulator"&U& +3 "core" &' % >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &' p >H +2 .tForearm.seek CC +2 "manipulator"&Z'" +101 "core" ' + .tHand.close +2 "manipulator"&M/ +59 "core" / +2 .tCC.seek :open +2 "collection"'k( +416 "core" ( + "storage"(a& +4 "core" &   +2 "storage"(@& +3 "core" & `  +2 "manipulator"&0& +5 "core" & # 7 :/ +2 "manipulator"&K% +3 "core" % ( Z +2 .tForearm.seek :retract +2 "manipulator"&H'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&-& +50 "core" & T G +2 "storage"(<& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&A'} +98 "core" ' +2 .tElbow.hold + "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +62 "core" 1 +2 "manipulator"&+% +3 "core" % Ά H +2 "storage"(F& +5 "core" & k  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&T'ϲ +20 "core" ' + "manipulator"&d& +4 "core" & G +2 "storage"(x& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +28 "core" ' +2 "storage"(C% +4 "core" %E ? +2 ."downElevator"SE.seek :down +5 "storage"(1'X +99 (% +3 "core" %\ Q OD +2 "manipulator"&~% +5 "core" %@ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &  p +2 "manipulator"&|% +3 "core" %\ \ P  +3 "storage"(L% +3 "core" %a R +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (O& +2 "core" & m +2 "manipulator"&y& +4 "core" &  G +2 .tElbow.seek 2 +2 "manipulator"&( +44 "core" ( +2 "manipulator"&j& +4 "core" &\ G c + "storage"(=& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +86 "core" ' +2 "storage"(u& +3 "core" & " +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +277 "core" ' + "storage"(:- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & B +2 "manipulator"&& +3 "core" &  a +3 .tElbow.seek 2 + "manipulator"&J( +31 "core" ( +3 "manipulator"&l& +3 "core" & B t +2 "storage"(z& +4 "core" & ( +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&,& + "storage"({'X +8 "core" & u t + "manipulator"&#% +5 "core" %  E J +2 .tForearm.seek :retract + "manipulator"&)'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &$ ' ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &$ ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +92 "core" ' +3 "manipulator"&7& +3 "core" &$ w ;5 +3 "manipulator"&% +3 "core" %*  +2 "collection"'& +4 "core" &  p +2 "collection"'& +6 "core" &  m +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &  u +6 &A  z #c +51 &\\  j 6 +2 &  b G + &a  e F + &e  Z F + &`c  _ G +2 &$e  b F +7 &e  v F +10 &g  s F +9 &ie   F +10 & +e  { F +9 &!a  r F +9 &#f  { F +10 &%rg  x F +9 &'4e  o F +9 &(e  r F +10 &*e   F +9 &,zb   F +10 &.;e   F +9 &/d   G +9 &1e   F +10 &3d   F +9 &5De   F +9 &7e   F +10 &8d   F +9 &:h   F +10 & e   F +9 &?h   F +10 &Ae   F +9 &CSc   F +9 &Eg   G +10 &Fr   H +9 &H   J +10 &JI  ~ M +9 &L  ~ P +9 &M   Q +10 &O   P +9 &QE   Q +9 &S   Q +10 &T   R +9 &V9i   / +10 &V   / +9 &V~   M +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&}1 +56 "core" 1 +3 "manipulator"&4% +3 "core" % * $ < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%*& +4 "core" & + "manipulator"&t% +5 "core" %\  p  +2 "storage"(N% +3 "core" %a f & +2 "storage"( . +3 "core" .( +2 "storage"(;& +3 "core" & s ~ 1 +2 "storage"(h& +4 "core" & e * +2 "manipulator"& & +4 "core" &# G ;5 +2 "manipulator"&^% +3 "core" %\  /  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&R( +157 "core" ( + "manipulator"&&& +3 "core" & O  +3 "storage"(v& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +97 "core" ' + "storage"(\ & +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +285 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&.& +3 "core" & -  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & I  +2 "storage"((& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&w' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&m& +3 "storage"(r'X +8 "core" &   + "manipulator"&% +4 "core" %  F M +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +3 "manipulator"&c& +4 "core" &k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &k  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X' +97 "core" ' +2 "manipulator"&Y& +4 "core" &l  + "manipulator"&% +5 "core" %  \ +2 "processing"%]& +3 "core" & +2 "processing"%o& +6 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &  +9 &7 )w +10 &k = +9 &q H +10 &ub F +9 &6e G +9 &e G +10 &b G +9 &|e G +9 &>e G +10 &c G +9 & b F +10 &"e G +9 &$Gg F +9 && e F +10 &'h G +9 &)f G +9 &+Of F +10 &-d F +9 &.e F +9 &0j G +10 &2Vc G +9 &4c G +10 &5b G +9 &7b F +9 &9_c F +10 &; b G +9 &<h G +10 &>f G +9 &@gf F +9 &B)g F +10 &Ci G +9 &Ep H +9 &Gh~ I +10 &I# K +9 &J L +9 &L L +10 &Nf L +9 &P( L +10 &Q L +9 &S M +9 &Um| M +10 &W.| M +9 &X| M +10 &Z?Dc~ %k +9 &Z(| " +5 ( +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&G1 +2 "core" &Zy " +60 1 + "manipulator"&S% +4 "core" % G \ +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +2 "processing"%\\& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&g% +5 "core" %\  q * + "storage"(2% +4 "core" %] t +2 "storage"('. +4 "core" .( + "storage"(%& +4 "core" & p h  +3 "storage"(& +2 "manipulator"&[& +7 "core" & c d +2 &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&n(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'i +3 "core" ( +2 "manipulator"&/& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &l " +3 .tForearm.seek PC +2 "manipulator"&6' +101 "core" ' +2 .tHand.close +2 "manipulator"&8/ +55 "core" / +2 .tPC.seek :open +2 "processing"%"( +86 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'y +34 "core" ' +301 ( +2 "storage"(D& +5 "core" &  +2 "manipulator"&& +3 "core" &l C +2 "manipulator"&s% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&M'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&f( +255 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(a& +5 "core" & ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +95 "core" ' + .tHand.open +2 "manipulator"&01 +64 "core" 1 +2 "storage"(K- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Z' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(i& +3 "core" & \ I\ O X +2 "manipulator"&b& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&+( +7 "core" ( +2 "manipulator"&F& +3 "core" & j  +3 "storage"(d& +3 "core" & \ Q\ N . +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +59 "core" ' + "manipulator"&H& +4 "core" & M  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&~' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(A'i +29 "core" ' +2 "manipulator"&T% +3 "core" % B +2 "storage"(& +3 "core" & j ~  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&|' +19 "core" ' +2 "manipulator"&L& +4 "core" & K  +2 "storage"(5& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +24 "core" ' +2 "storage"(e% +4 "core" %l = +2 ."downElevator"SE.seek :down +49 "storage"(1'X +54 (P% +4 "core" %S z w P OF +2 "manipulator"&O% +5 "core" %ѩ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' +109 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +3 "core" & +3 "collection"'=& +3 "core" &Vy  q M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&u% +3 "core" %\    +3 "storage"(E% +3 "core" %b  +2 "storage"(`. +4 "core" .( + "storage"(:& +4 "core" &  +2 "storage"(B& +3 "core" &  +2 "manipulator"&& +5 "core" & A  + .tElbow.seek 2 +2 "manipulator"&l( +4 "core" ( +2 "manipulator"&z& +3 "core" &   +2 "storage"(& +4 "core" & @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +89 "core" ' +2 "storage"(#& +3 "core" & U +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & @  +3 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&W' +29 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +26 "core" ' + "manipulator"&% +5 "core" % } H + "storage"(J& +4 "core" & y +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&{' +21 "core" ' + "manipulator"&)& +3 "core" & @  +3 "storage"(k& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&}'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(4'> +39 "core" ' +2 "manipulator"&*& +3 "core" & t  +2 "manipulator"&t% +5 "core" %є  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +157 "core" ( +2 "manipulator"&;& +5 "core" &  > 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &  \ 6 +2 .tForearm.seek CC +2 "manipulator"&h'" +100 "core" ' +2 .tHand.close + "manipulator"& / +65 "core" / + .tCC.seek :open +2 "collection"'^( +416 "core" ( +2 "storage"( & +3 "core" & 9 +2 "storage"(&& +4 "core" & D +2 "manipulator"&v& +3 "core" &  6 +2 "manipulator"&\ % +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q( +163 "core" ( +2 "manipulator"& & +3 "core" &  { +2 "storage"(& +5 "core" & { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&.' +99 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +99 "core" 1 +11 "manipulator"&>% +3 "core" %  +2 "storage"(m& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&R& +3 "core" & f { +3 "storage"(?& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +18 "core" ' +2 "storage"(w% +4 "core" %G  +2 ."downElevator"SE.seek :down +5 "storage"(c'X +99 (p% +3 "core" %>R OE +2 "manipulator"&% +4 "core" %ц W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  l + "manipulator"&]% +5 "core" %\  o  + "storage"(r% +4 "core" %_  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"($( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" & M  +2 "manipulator"&S& +3 "core" &  { +3 .tElbow.seek 3 + "manipulator"&o( +13 "core" ( +2 "manipulator"&\\& +3 "core" & 4 l +2 "storage"(g& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +96 "core" ' +2 "storage"('& +3 "core" & n  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" & j  +2 "manipulator"&/& +3 "core" & & l +3 .tElbow.seek 3 + "manipulator"&V( +4 "core" ( +2 "manipulator"&X& +4 "core" & l + "storage"(8& +5 "core" & T  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +17 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"('X +8 "core" &  l +2 "manipulator"&I% +4 "core" % Ϥ 0 +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&s& +3 "core" && 7 K =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" && N =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +2 "manipulator"&a& +3 "core" &&  =C +2 "manipulator"&n% +4 "core" %% +2 "collection"'0& +4 "core" &  i +3 "collection"'K& +6 "core" &  k +2 .tCC.seek :closed +2 "collection"'<(V +5 "core" &  k +6 &8  q #c +9 &\\  j 6 +9 &  k G +10 &e  o F +9 &a  u F +9 &`c  l F +10 &"d  n F +9 &c  u F +10 &d  ~ F +9 &gd  p F +9 & )c  w F +10 &!e  o F +9 &#e  s G +9 &%pd  q F +10 &'2d  p F +9 &(d y F +10 &*c  F +9 &,xd   F +9 &.9d   F +10 &/d   F +9 &1e   F +9 &3d  } F +10 &5Bf   F +9 &7e   F +10 &8c  { F +9 &:e   F +9 & e   F +9 &?f   F +9 &Ae   F +10 &CRb   F +9 &El   G +10 &Fs   H +9 &H   I +9 &JE   M +10 &L  ~ P +9 &M   P +9 &O   Q +10 &QD   P +55 &S   R +4 &T   R +3 &V7i   0 + &V   9 +2 &Wm  y C + ( + &W_   C +2 &W_   C +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&i1 +52 "core" 1 +3 "manipulator"&b% +3 "core" % % $ + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%d& +3 "core" & +3 "manipulator"&M% +3 "core" %\   +2 "storage"(H% +4 "core" %O +2 "storage"(. +4 "core" .( + "storage"(U& +4 "core" & {  +2 "storage"(T& +3 "core" &  +3 "manipulator"&& +3 "core" &% ! <> +2 "manipulator"&-% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +168 "core" ( +2 "manipulator"&5& +3 "core" & - 2 +3 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +98 "core" ' +2 "storage"(@& +3 "core" & .  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +281 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & J  +2 "manipulator"&x& +3 "core" & , 2 +3 .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&C& +3 "core" & $ 2 +2 "storage"(~& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(u'X +8 "core" & ; 2 +2 "manipulator"&E% +3 "core" % Ϟ  +3 .tForearm.seek :retract +2 "manipulator"&A'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&:& +3 "core" &p 6   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &p 0  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&z& +4 "core" &p   +3 "manipulator"&% +3 "core" % D  +2 "processing"%q& +5 "core" & +2 "processing"%#& +5 "core" & +2 .tPC.seek :closed +2 "processing"%1(Z +5 "core" & +6 &> #c +9 &\\ 6 +9 & G +10 &_ F +9 &d G +9 &ag F +10 &#c F +9 &h G +10 &h G +9 &he G +9 & *c G +10 &!b G +9 &#g G +10 &%ph G +9 &'2f G +9 &(b G +10 &*i G +9 &,xg G +9 &.9f G +10 &/c F +9 &1g G +9 &3b F +10 &5Ce F +9 &7e F +10 &8h G +9 &:g G +9 & a G +9 &?h G +9 &Ah G +10 &CQk G +9 &Ek H +10 &Fs H +9 &H J +9 &JJ L +10 &L  L +9 &M L +9 &O L +10 &QS L +9 &S M +10 &T M +9 &V M +9 &XW M +10 &Ywx "j +9 &Z'k , +9 ( +2 "processing"%#& +3 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&y% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +98 "core" ' +2 "processing"%& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ Y 5 +2 "storage"(7% +4 "core" %` D +2 "storage"(. +3 "core" .( +2 "storage"(J& +3 "core" &  +50 "storage"()& +3 "manipulator"&k& +8 "core" & -  + &p   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +6 "manipulator"&*(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'i +2 "core" ( +2 "manipulator"&,& +5 "core" &p   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &p   +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +3 .tHand.close +2 "manipulator"&W/ +64 "core" / +2 .tPC.seek :open +2 "processing"%{( +83 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'y +42 "core" ' +296 ( +2 "storage"(& +4 "core" &   +2 "manipulator"&}& +4 "core" &p E  +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&N( +261 "core" ( +2 "manipulator"&& +3 "core" & O \ +3 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +94 "core" ' +2 .tHand.open +3 "manipulator"&v1 +58 "core" 1 +2 "storage"(\ - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +2 "core" -' +3 "storage"( & +3 "core" &\ G\ G   +2 "manipulator"&(& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&>( +7 "core" ( +2 "manipulator"&m& +3 "core" & ? +3 "storage"(R& +3 "core" &\ G\ H <  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&w& +3 "core" & +2 "storage"(Q& +5 "core" & W  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&p'} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(.'i +24 "core" ' + "manipulator"&% +5 "core" %΂  +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&]'Ϯ +19 "core" ' +2 "manipulator"&r& +4 "core" & Q +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +31 "core" ' +2 "storage"(% +3 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (9% +3 "core" %T h  PH +2 "manipulator"&G% +4 "core" % g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +89 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" & W  +2 "collection"'g& +50 "core" &W_  ~ C +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&'% +3 "core" %\   +3 "storage"(% +3 "core" %_ C +2 "storage"(Y. +4 "core" .( + "storage"(& +4 "core" & i  +2 "storage"([& +4 "core" & ,  +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&8& +5 "core" & < + "storage"(!& +4 "core" & 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +91 "core" ' + "storage"(I& +4 "core" & %  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' + "storage"(2- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  +2 "storage"(6& +4 "core" & m  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(n'O +26 "core" ' +2 "manipulator"&0% +3 "core" %Ά  +2 "storage"(V& +4 "core" & *  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 309 counts +2 "manipulator"&'ϲ +19 "core" ' +2 "manipulator"&D& +3 "core" & = +2 "storage"(^& +5 "core" & t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'> +39 "core" ' +2 "manipulator"&d& +3 "core" & s +2 "manipulator"&M% +4 "core" %> +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&U& +3 "core" &) # ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &(  ?P +2 .tForearm.seek CC +2 "manipulator"&K'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'-( +415 "core" ( +2 "storage"(& +4 "core" & x  +2 "storage"(5& +4 "core" &  +2 "manipulator"&e& +3 "core" &( + >O +2 "manipulator"&@% +5 "core" % , ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&F( +169 "core" ( +2 "manipulator"&P& +3 "core" & ; e +2 "storage"(O& +4 "core" & $  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'} +97 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +63 "core" 1 +2 "manipulator"&j% +5 "core" % u  r + "storage"(=& +6 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 292 counts +2 "manipulator"&E'ϡ +19 "core" ' +2 "manipulator"&L& +3 "core" & e +2 "storage"(f& +4 "core" &   +3 .tForearm.reconfigure :tight +45 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +30 "core" ' +2 "storage"(|% +3 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(:'X +98 (B% +3 "core" %=Q # OE +2 "manipulator"&+% +4 "core" %? s +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &   +2 "manipulator"&q% +4 "core" %\ S  +2 "storage"(u% +4 "core" %_ +2 "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"("( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & 8 +2 "manipulator"&y& +4 "core" &  e +2 .tElbow.seek 2 +2 "manipulator"&( +38 "core" ( + "manipulator"&& +4 "core" & K Q +2 "storage"(7& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 "storage"(J& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'i +279 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" & x +2 "manipulator"&,& +3 "core" &\  P +3 .tElbow.seek 2 + "manipulator"&l( +25 "core" ( +3 "manipulator"&& +3 "core" & %  +2 "storage"(W& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(1'X +8 "core" &   +2 "manipulator"&t% +3 "core" % * E +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +3 "core" &% ( X <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% ! <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +3 "manipulator"& & +3 "core" &% $ ; <> +3 "manipulator"&*% +3 "core" %+ 9 +2 "collection"'v& +5 "core" &  } +2 "collection"'\ & +5 "core" &   +2 .tCC.seek :closed +2 "collection"'h(V +4 "core" &   +9 &6  y )v +9 &l   = +9 &s  t G +10 &ve  u F +9 &9b  ~ F +9 &e   F +10 &b  | F +9 &~e  ~ F +9 &Ag   F +10 &e   F +9 & e  y F +10 &"e  | G +9 &$Id  y F +9 &&\ e u F +10 &'b v F +9 &)c  t F +9 &+Pf  s F +10 &-b  s F +9 &.e  t F +10 &0g  o F +9 &2Xe  t F +9 &4b  } F +10 &5f  } F +9 &7e  v F +9 &9`e  w F +10 &;!f  w G +9 &<e   F +10 &>e   F +9 &@ge  w G +9 &B+e   F +10 &Cg   G +9 &En   G +10 &Gk{  v H +9 &I(  y J +12 &J   N +7 &L  z P +9 &N\\   P +9 &P   Q +10 &Q   Q +9 &S   R +9 &U^   @ +10 &VH   !d +9 &V   I +6 ( + "collection"'\ & +4 "core" &Vr   H +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"& 1 +63 "core" 1 +3 "manipulator"&(% +3 "core" % +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +100 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%R& +51 "core" & +2 "manipulator"& % +7 "core" %\ \   +2 "storage"(w% +3 "core" %a +2 "storage"(Q. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(& +4 "core" & +2 "manipulator"&;& +3 "core" &%  << +2 "manipulator"&r% +4 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +163 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +101 "core" ' +3 "storage"(&& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & Z +2 "manipulator"&?& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&>( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(p& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(.'X +8 "core" & K  +2 "manipulator"&'% +3 "core" % %  B +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +115 "core" ( +2 "manipulator"&& +3 "core" &j 6   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" &j N  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&/' +95 "core" ' +2 "manipulator"&8& +4 "core" &l m  +2 "manipulator"&!% +3 "core" %  +3 "processing"%4& +3 "core" & +3 "processing"%I& +5 "core" & +2 .tPC.seek :closed + "processing"%c(Z +6 "core" &  +8 &7 )w +9 &k = +10 &r G +9 &od G +9 &2c F +10 &f G +9 &i G +10 &vf G +9 &:c F +9 &h G +10 & b F +9 &"e F +9 &$Be F +10 &&e F +9 &'i G +9 &)h G +10 &+Jg F +9 &- e F +10 &.c F +9 &0c G +9 &2Qd G +10 &4c G +9 &5c G +10 &7b F +9 &9Zd F +9 &;c F +10 &<b G +9 &>c F +9 &@ag G +10 &B#j G +9 &Ci G +10 &Ep H +9 &Gcy I +9 &I K +10 &J L +9 &L L +9 &Nb L +10 &P# L +9 &Q L +10 &S L +9 &Ui L +9 &W) M +10 &X M +9 &Z:B` %k +9 &Z 0 \ +6 ( +2 "processing"%I& +3 "core" &Z +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&S% +3 "core" % W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +3 "processing"%s& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&6% +3 "core" %\    +3 "storage"(a% +3 "core" %O +2 "storage"(0. +3 "core" .( +2 "storage"(V& +3 "core" & +3 "storage"(D& +2 "manipulator"&^& +8 "core" & + &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&d(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(M'i +2 "core" ( +43 "manipulator"&_& +11 "core" &l   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &l a  +3 .tForearm.seek PC + "manipulator"&o' +97 "core" ' +2 .tHand.close + "manipulator"&%/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +34 "core" ' +2 "storage"(n- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(U'y +38 "core" ' +349 ( +2 "storage"(T& +3 "core" & +2 "manipulator"&i& +3 "core" &m   +3 "manipulator"&% +3 "core" % : +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H( +257 "core" ( +2 "manipulator"&<& +3 "core" &   \ +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +95 "core" ' + .tHand.open +2 "manipulator"&e1 +64 "core" 1 +2 "storage"(@- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(O' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(& +3 "core" & \ I\ N ' +2 "manipulator"&~& +4 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&=& +3 "core" & [ \ +3 "storage"(L& +3 "core" & \ G\ G  +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&|& +3 "core" & \ +3 "storage"(F& +3 "core" & 2 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&B' +23 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(x'i +24 "core" ' +2 "manipulator"&E% +3 "core" % @ +2 "storage"(& +5 "core" & " + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&q' +23 "core" ' + "manipulator"&u& +4 "core" &  \ +2 "storage"(A& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +30 "core" ' + "storage"(Z% +5 "core" %p 9 +2 ."downElevator"SE.seek :down +4 "storage"(:'X +98 ($% +4 "core" %LZ b l L QJ +2 "manipulator"&% +5 "core" %Ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +100 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & ^ +2 "collection"'7& +4 "core" &Vq   H +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&J% +3 "core" %\ r  +2 "storage"(C% +3 "core" %[  +2 "storage"(z. +3 "core" .( +2 "storage"(k& +4 "core" & 2 +2 "storage"()& +3 "core" &  +2 "manipulator"&,& +4 "core" & + \ +2 .tElbow.seek 2 +2 "manipulator"&( +49 "core" ( +3 "manipulator"&W& +4 "core" & ] \ +2 "storage"(`& +3 "core" & L +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +93 "core" ' + "storage"(t& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  \ +2 "storage"(& +4 "core" & V +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(*'P +27 "core" ' +2 "manipulator"&l% +3 "core" % c O +2 "storage"(v& +3 "core" & k q ) +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&1' +18 "core" ' + "manipulator"&& +5 "core" & ] \ + "storage"(-& +5 "core" & & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('? +36 "core" ' +2 "manipulator"&\ & +3 "core" &  \ +2 "manipulator"&R% +4 "core" %Ѩ C e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +162 "core" ( +2 "manipulator"&Q& +5 "core" &  % 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" & % 6 +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&;/ +58 "core" / +2 .tCC.seek :open +2 "collection"'r( +416 "core" ( + "storage"(& +4 "core" &  +2 "storage"( & +3 "core" & V +2 "manipulator"&& +4 "core" & 4 6 +2 "manipulator"&&% +5 "core" % 6 s +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&m( +165 "core" ( + "manipulator"&9& +5 "core" & < k +2 "storage"(G& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&?' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +55 "core" 1 +2 "manipulator"&\\% +5 "core" %  + "storage"(g& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&'' +19 "core" ' +2 "manipulator"& & +3 "core" & b k +3 "storage"(N& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 "storage"(]% +3 "core" %=   +3 ."downElevator"SE.seek :down +4 "storage"('X +99 ([% +3 "core" %L Q PF +2 "manipulator"&>% +4 "core" % B ~ +2 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract + "manipulator"&8'\ +96 "core" ' +3 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'!& +5 "core" &  t + "manipulator"&4% +4 "core" %\ " D ; +2 "storage"(.% +4 "core" %b  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"({( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & K +2 "manipulator"&S& +3 "core" & \ k +3 .tElbow.seek 3 + "manipulator"&s( +13 "core" ( + "manipulator"&6& +4 "core" & M k +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +94 "core" ' + "storage"(I& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +279 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" & } +2 "manipulator"&_& +4 "core" &  k +2 .tElbow.seek 3 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&/& +3 "core" & f k +3 "storage"(%& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&n'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&Y/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&2& + "storage"(c'X +8 "core" & / k + "manipulator"&M% +5 "core" % ϲ r - +2 .tForearm.seek :retract + "manipulator"&T'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&& +3 "core" &' 6 X >L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &'  >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'" +92 "core" ' +2 "manipulator"&& +3 "core" &'  k >L +3 "manipulator"&d% +3 "core" % c +2 "collection"'e& +4 "core" &  +3 "collection"'@& +5 "core" & } +2 .tCC.seek :closed +2 "collection"'K(V +6 "core" &   +6 &8   #c +9 &\\   6 +10 &   F +9 &b  F +10 &e  F +9 &`d   F +9 &"e   F +10 &e   F +9 &e   F +9 &ge   F +10 & )e   F +9 &!e   F +9 &#f } F +10 &%oe } F +9 &'1e  } F +10 &(d  x F +9 &*e  } F +9 &,we  q F +10 &.9e  t F +9 &/e  v F +9 &1e  y F +10 &3e  o F +9 &5Ad  k F +10 &7e q F +9 &8d  t F +9 &:e  u F +10 &\ e  w G +9 &?f s F +10 &Af  n F +9 &CQf  s F +10 &Eg  q G +9 &Fs  q H +9 &H  x I +10 &JF  w M +9 &K  s P +9 &M  n P +10 &O  u P +9 &QD   P +10 &R   S +9 &T   Q +9 &V+X  v 3 +10 &V  t U +9 ( + &V  { P +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&~% +3 "core" %  # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%L& +3 "core" & +2 "manipulator"&% +4 "core" %\ # E < +2 "storage"(|% +3 "core" %U z z D +2 "storage"(F. +4 "core" .( + "storage"(E& +5 "core" & z { + "storage"(U& +4 "core" & z z +2 "manipulator"&& +4 "core" &' m >J +2 "manipulator"&P% +4 "core" %\ # v < +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +6 .tElbow.seek 3 + "manipulator"&u( +158 "core" ( +2 "manipulator"&A& +3 "core" & Z +2 "storage"(Z& +4 "core" & B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +98 "core" ' +2 "storage"(5& +3 "core" & V +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +278 "core" ' +2 "storage"($- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&f& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&j( +4 "core" ( +2 "manipulator"&& +3 "core" & ; +2 "storage"(B& +5 "core" &  +2 .tForearm.seek 3 + 300 counts + "manipulator"&q'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&7& +2 "storage"(J'X +8 "core" &  +2 "manipulator"&C% +3 "core" % ϖ % +3 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&k& +3 "core" &{ 7 I +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &{ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&,' +99 "core" ' +2 "manipulator"&W& +3 "core" &{ + +2 "manipulator"&`% +4 "core" %   +2 "processing"%b& +4 "core" & +3 "processing"%t& +5 "core" & +2 .tPC.seek :closed +2 "processing"%:(Z +4 "core" & +8 &F #b +10 &\\ 6 +9 & G +9 &b F +10 &h G +9 &]e G +9 &"d F +10 &i G +9 &i F +10 &fe G +9 & (i G +9 &!g G +10 &#e F +9 &%nh G +9 &'1j F +10 &(f F +9 &*j G +10 &,wc F +9 &.9f F +9 &/b G +10 &1b G +9 &3b F +9 &5Ad F +10 &7d G +9 &8h G +10 &:e G +9 & e F +10 &?h G +9 &Ac F +9 &COh G +10 &El G +9 &Fu H +10 &H J +9 &JI L +9 &L  L +10 &M L +9 &O L +9 &QP L +10 &S M +9 &T M +10 &V M +9 &XW M +9 &Yww !i +10 &Z*u , +8 ( +2 &Z ! +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&+1 +61 "core" 1 + "manipulator"&y% +4 "core" % @  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" %\    +3 "storage"( % +3 "core" %` H +2 "storage"(l. +3 "core" .( +2 "storage"(v& +3 "core" & d +2 "storage"(& +3 "manipulator"&-& +5 "core" & +3 &{  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&\ (s + "storage"(R'i +6 "core" ( +3 "manipulator"&3& +3 "core" &{  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &{  +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 .tHand.close + "manipulator"&#/ +61 "core" / +3 .tPC.seek :open +2 "processing"%1( +84 "core" ' +5 "storage"(*- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(Q'y +48 "core" ' +285 ( +2 "storage"(& +3 "core" & t < +2 "manipulator"& & +5 "core" &{  + "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&;'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +267 "core" ( +2 "manipulator"&h& +3 "core" &   +3 "storage"(& +3 "core" & b +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +98 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(G' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(w& +5 "core" &\ R\ Q b + "manipulator"&p& +4 "core" & 5  +2 .tElbow.seek 3 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&g& +4 "core" & {  +2 "storage"( & +4 "core" &\ R\ R +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(]' +60 "core" ' + "manipulator"&}& +4 "core" &  +2 "storage"([& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&>'} +27 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +23 "core" ' + "manipulator"&'% +4 "core" %΀  +2 "storage"(!& +3 "core" & +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&4'Ϭ +20 "core" ' +2 "manipulator"&.& +3 "core" & ?  +3 "storage"(& +3 "core" & 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +26 "core" ' + "storage"(% +4 "core" %k   +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ("% +3 "core" %U q p L PI +2 "manipulator"&% +4 "core" %[ = +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +7 "core" &  +3 "collection"'a& +3 "core" &V~   P +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&I% +5 "core" %\   + "storage"(% +4 "core" %_  +2 "storage"(8. +4 "core" .( + "storage"(D& +4 "core" &  +2 "storage"(^& +3 "core" &  +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&/( +4 "core" ( +2 "manipulator"&%& +4 "core" &   +2 "storage"(Y& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +93 "core" ' +2 "storage"(M& +3 "core" & P +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'i +326 "core" ' +3 "storage"(0- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & $  +2 "storage"(o& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&V'} +19 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(d'Q +40 "core" ' +2 "manipulator"&e% +3 "core" %{  +2 "storage"(X& +3 "core" & l t ' +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&c'ϧ +19 "core" ' +2 "manipulator"&T& +3 "core" & B  +2 "storage"(r& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'@ +39 "core" ' +2 "manipulator"&L& +3 "core" & V  +2 "manipulator"&% +4 "core" %/ V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +163 "core" ( +3 "manipulator"&E& +3 "core" &% 4 <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &%  <9 +2 .tForearm.seek CC +2 "manipulator"&U'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'P( +416 "core" ( +2 "storage"(<& +4 "core" &  +2 "storage"(A& +3 "core" & = +2 "manipulator"&Z& +4 "core" &% ` <9 +2 "manipulator"&5% +4 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&i'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=( +163 "core" ( +2 "manipulator"&$& +4 "core" & . > +2 "storage"(& +3 "core" & d +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&f'} +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +60 "core" 1 +2 "manipulator"&% +4 "core" % z  +2 "storage"(7& +5 "core" & W +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&C'Ϧ +20 "core" ' +2 "manipulator"&u& +3 "core" & [ > +2 "storage"(H& +4 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&O'9 +31 "core" ' +2 "storage"(q% +4 "core" %G  +2 ."downElevator"SE.seek :down +4 "storage"(k'X +99 ()% +3 "core" %Q  OE +2 "manipulator"&j% +4 "core" %4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'`& +3 "core" & v +2 "manipulator"&b% +5 "core" %\  A  +2 "storage"(J% +3 "core" %b  +2 "storage"(z. +3 "core" .( +45 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" & M +2 "manipulator"&y& +3 "core" & P > +3 .tElbow.seek 2 +2 "manipulator"&( +40 "core" ( +2 "manipulator"&& +3 "core" &  # +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +96 "core" ' +2 "storage"(v& +3 "core" & ' +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & 0 +2 "manipulator"&3& +4 "core" &  # +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&,& +5 "core" &  # +2 "storage"(#& +4 "core" & { +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&*' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(:'X +8 "core" &  # + "manipulator"&R% +5 "core" %  [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &' 8 >J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' I >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&h'" +100 "core" ' +3 "manipulator"&& +3 "core" &' # >J +3 "manipulator"&\ % +3 "core" % \\ +3 "collection"'& +3 "core" &   +3 "collection"'&& +5 "core" & { +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &   +6 &A   #b +9 &Z  5 +10 &   G +9 &d   F +10 &e   F +9 &Ud  F +9 &e  F +10 &d   F +9 &e   F +9 &]e   F +10 & d  ` F +9 &!d } F +9 &#e  F +10 &%ee   F +9 &'(d  F +10 &(d w F +9 &*d z F +9 &,ne t F +10 &./c  F +9 &/d   F +10 &1e   F +9 &3ue  F +9 &57e z F +10 &6e   F +9 &8e   F +9 &:~e  w F +10 &e  w F +10 &?e s F +9 &Af v F +9 &CFe z F +10 &Ek s G +9 &Fu s H +9 &H } I +10 &J=   L +9 &K  P +9 &M  P +10 &Oy ~ P +9 &Q8 y Q +10 &R  | R +9 &T  | R +9 &V&Z   4 +10 &V   T +9 ( + &Vk  K +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&w1 +55 "core" 1 +3 "manipulator"&p% +3 "core" %  $  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +3 "core" & +2 "manipulator"&;% +3 "core" %\ # Y : +3 "storage"(}% +3 "core" %b e e 1 +2 "storage"([. +3 "core" .( +2 "storage"('& +3 "core" & b d +2 "storage"(!& +4 "core" & e e ! +2 "manipulator"&Q& +3 "core" &' x >J +2 "manipulator"&9% +4 "core" %\ #  : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.( +157 "core" ( +2 "manipulator"&& +3 "core" &  c  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +97 "core" ' +2 "storage"( & +3 "core" & & +47 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +4 "storage"(G'i +283 "core" ' +2 "storage"("- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&N& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&\\( +4 "core" ( +2 "manipulator"&]& +3 "core" & ]  +2 "storage"(>& +4 "core" & m +3 .tForearm.seek 2 + 300 counts + "manipulator"&4' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&a& + "storage"(I'X +8 "core" &   + "manipulator"&% +4 "core" %  M +3 .tForearm.seek :retract + "manipulator"&?'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&D& +4 "core" &q   % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &q  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&_' +93 "core" ' + "manipulator"&%& +5 "core" &q  % + "manipulator"&Y% +5 "core" %  > +2 "processing"%(& +3 "core" & +3 "processing"%M& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +8 &@ #b +9 &^ 6 +10 & G +9 &b F +10 &f F +9 &eh F +9 &'c F +10 &d G +9 &i F +9 &lc G +10 & /i F +9 &!c G +10 &#j F +9 &%te G +9 &'5g G +10 &(b F +9 &*e F +9 &,|h G +10 &.?h F +9 &0b F +10 &1e F +9 &3f F +9 &5Gg F +10 &7c G +9 &8h F +9 &:a F +10 &g G +10 &?j G +9 &Ah G +9 &CVi G +10 &Em G +9 &Fx I +9 &H J +10 &JO L +9 &L L +10 &M L +9 &O L +9 &QW L +10 &S M +9 &T L +9 &V M +10 &X] M +9 &Zxw !h +10 &Z&h ) +8 ( +2 &Z ! +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&m1 +61 "core" 1 + "manipulator"&S% +4 "core" % K > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +3 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&o% +3 "core" %\ . 2 +2 "storage"(% +5 "core" %V + "storage"(e. +3 "core" .( +2 "storage"(X& +4 "core" & +2 "storage"(T& +2 "manipulator"&r& +8 "core" & + &q  % +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&L(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&2& +3 "core" &q  % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &q ( % +3 .tForearm.seek PC + "manipulator"&s' +100 "core" ' + .tHand.close +2 "manipulator"&V/ +56 "core" / +2 .tPC.seek :open +2 "processing"%c( +84 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'y +50 "core" ' +287 ( + "storage"(@& +5 "core" & ; + "manipulator"&& +4 "core" &q  % +2 "manipulator"&n% +3 "core" %   +3 .tForearm.seek :retract +41 "manipulator"&'\ +107 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +255 "core" ( +2 "manipulator"&K& +3 "core" & 7  +3 "storage"(<& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +95 "core" ' +3 .tHand.open + "manipulator"&Z1 +60 "core" 1 +2 "storage"(5- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"($'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +2 "core" -' +2 "storage"(F& +5 "core" & \ O\ Q a + "manipulator"&B& +4 "core" & }  +2 .tElbow.seek 2 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&7& +3 "core" &  B \ +3 "storage"(u& +3 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"&H'ќ +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +53 "core" ' +2 "manipulator"&i& +4 "core" &  \ +2 "storage"()& +3 "core" & . +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&j' +25 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +23 "core" ' + "manipulator"&C% +4 "core" %  +2 "storage"(`& +3 "core" & M +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&b' +19 "core" ' +2 "manipulator"&J& +3 "core" & V \ +2 "storage"(z& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +30 "core" ' +2 "storage"(O% +4 "core" %r Z +2 ."downElevator"SE.seek :down +4 "storage"(k'X +99 ({% +3 "core" %[ b j R PJ +2 "manipulator"&+% +3 "core" %ѓ # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +93 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & ~ y +3 "collection"' & +3 "core" &Vk   K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&v% +3 "core" %\ #  ? +2 "storage"(% +4 "core" %` p +2 "storage"(W. +3 "core" .( +2 "storage"(-& +4 "core" & +2 "storage"(t& +3 "core" &  +2 "manipulator"&3& +5 "core" & \ +2 .tElbow.seek 2 + "manipulator"&,( +9 "core" ( + "manipulator"&#& +4 "core" & Z +2 "storage"(x& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +106 "core" ' +2 "storage"(R& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" & N +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +28 "core" ' + .tElbow.hold +47 "manipulator"&*, +6 "core" , +2 "Can"w O? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\ 'P +31 "core" ' + "manipulator"&% +5 "core" % . H + "storage"(& +4 "core" & g c t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&:' +21 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(P& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&w'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(p'? +39 "core" ' +2 "manipulator"& & +3 "core" & 5  +2 "manipulator"&;% +4 "core" %ђ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +157 "core" ( + "manipulator"&'& +5 "core" &% $ G <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &% B <9 +2 .tForearm.seek CC +2 "manipulator"&!'" +93 "core" ' +2 .tHand.close + "manipulator"&Q/ +55 "core" / +2 .tCC.seek :open +2 "collection"'9( +412 "core" ( +2 "storage"(h& +4 "core" & : +2 "storage"(& +3 "core" & Y +2 "manipulator"&& +5 "core" &$  ;8 + "manipulator"& % +4 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +163 "core" ( +2 "manipulator"&"& +3 "core" & ; z +2 "storage"(& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&N' +104 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +55 "core" 1 +2 "manipulator"&6% +4 "core" % " w C +2 "storage"(a& +4 "core" & { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +3 "manipulator"&' +20 "core" ' + "manipulator"&.& +4 "core" & z +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&G'ќ +17 "core" ' +2 "storage"(4% +3 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(D'X +99 (^% +3 "core" % T { OE +2 "manipulator"&\\% +4 "core" %ў 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +91 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Y& +3 "core" & } +2 "manipulator"&(% +5 "core" %\   ! + "storage"(I% +4 "core" %_  +2 "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(1( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &  +2 "manipulator"&S& +3 "core" & w z +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( + "manipulator"&o& +5 "core" & & s +44 "storage"(& +7 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +105 "core" ' + "storage"(M& +5 "core" & .  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +279 "core" ' +2 "storage"(r- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &   +2 "manipulator"&2& +3 "core" & : s +3 .tElbow.seek 3 + "manipulator"&/( +3 "core" ( +2 "manipulator"&_& +4 "core" & p s +2 "storage"(V& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&d'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"('X +6 "core" & 2 s +3 "manipulator"&% +4 "core" % Ϝ 4  +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&n& +3 "core" &# & :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +2 "core" &# - :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&K'" +103 "core" ' +3 "manipulator"&<& +3 "core" &# ! :/ +3 "manipulator"&L% +3 "core" %  P +3 "collection"'Z& +3 "core" &  +3 "collection"'5& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'U(V +5 "core" &  +7 &J  $d +9 &]  6 +10 &4  G +9 &d { F +9 &e  F +10 &}c  E +9 &=e   F +10 &e  F +9 &d  F +9 &g  F +10 & Ed  F +9 &"c  F +9 &#e  F +10 &%e  F +9 &'Od  E +10 &)e  F +9 &*d   F +9 &,d   F +10 &.Vd   F +11 &0g  F +7 &1d  F +10 &3d   F +9 &5^c  F +10 &7 e   F +9 &8c   F +9 &:e  F +10 &(d  F +9 &?e   F +10 &Ae  F +9 &Cnf  F +10 &E-k  G +9 &Fs  H +9 &H   I +10 &J`  M +9 &L   P +9 &M   P +10 &O  Q +9 &Q^  Q +10 &S  U R +9 &T   Q +9 &VIe   . +10 &V  7 +9 &Vu   G +5 ( +2 "collection"'5& +4 "core" &Vj   G +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&F1 +61 "core" 1 + "manipulator"&B% +4 "core" %  m J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%u& +5 "core" & + "manipulator"&% +4 "core" %\ # m < +2 "storage"(i% +3 "core" %W i +2 "storage"(). +4 "core" .( + "storage"(E& +4 "core" & s   +2 "storage"(C& +3 "core" & h  +2 "manipulator"&`& +4 "core" &# h :/ +2 "manipulator"&$% +3 "core" %\ # # < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&J( +161 "core" ( + "manipulator"&z& +4 "core" &  g y +2 "storage"(O& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +94 "core" ' + "storage"(A& +4 "core" & 7  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" & 8  +2 "manipulator"&H& +3 "core" & ; y +3 .tElbow.seek 3 + "manipulator"&( +48 "core" ( +5 "manipulator"&q& +3 "core" &  y +2 "storage"(j& +4 "core" & .  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&b'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(v'X +8 "core" & b y +2 "manipulator"&% +3 "core" % ϳ  # +3 .tForearm.seek :retract +2 "manipulator"&W'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&f& +5 "core" &t * s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &t 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&3' +99 "core" ' +2 "manipulator"&#& +3 "core" &t S +3 "manipulator"&x% +3 "core" %  +2 "processing"%~& +4 "core" & +3 "processing"%R& +5 "core" & +2 .tPC.seek :closed +2 "processing"%k(Z +5 "core" & +6 &G #b +9 &\\ 6 +9 & H +10 &e F +9 &e F +10 &`g G +9 &#c F +9 &f F +10 &d G +9 &id F +9 & *e G +10 &!e G +9 &#e F +9 &%oh G +10 &'2h G +9 &(f G +10 &*c G +9 &,xh G +9 &.:h G +10 &/e G +9 &1d F +9 &3c G +10 &5Bc G +9 &7h G +10 &8g G +9 &:a G +9 &c F +9 &?g G +9 &Ah G +10 &CQk G +9 &Ek G +10 &Ft H +9 &H K +9 &JK L +10 &L  L +9 &M L +9 &O L +10 &QS L +9 &S L +10 &T M +9 &V M +9 &XY M +10 &Yxv !h +9 &Z'l + +9 ( +2 "processing"%R& +3 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&=1 +53 "core" 1 +2 "manipulator"&y% +3 "core" % 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +92 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" %\  3  +3 "storage"(% +3 "core" %T +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  +3 "storage"(& +2 "manipulator"&P& +7 "core" &  + &t j +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'i +2 "core" ( + "manipulator"&& +5 "core" &t +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &t   +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +3 "processing"%:( +86 "core" ' +2 "storage"(\ - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +51 "core" ' +282 ( + "storage"(&& +4 "core" &   +2 "manipulator"&w& +3 "core" &t  +2 "manipulator"&*% +5 "core" %  S % +2 .tForearm.seek :retract + "manipulator"&Q'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&}( +248 "core" ( +2 "manipulator"&& +3 "core" & + < +2 "storage"(h& +3 "core" & *  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +41 "manipulator"&'9 +103 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +35 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"([& +3 "core" &\ G\ H  +2 "manipulator"&>& +4 "core" &  ; +2 .tElbow.seek 3 +2 "manipulator"&6( +23 "core" ( +2 "manipulator"&a& +4 "core" & C  + "storage"(.& +4 "core" & \ )  +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +59 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(^& +3 "core" & x  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&\\'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'i +24 "core" ' +2 "manipulator"&% +3 "core" %Έ  +2 "storage"(Y& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&('ϴ +19 "core" ' +2 "manipulator"&I& +3 "core" & Q  +3 "storage"(?& +3 "core" & 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +28 "core" ' + "storage"(G% +4 "core" %s   +3 ."downElevator"SE.seek :down +3 "storage"(D'X +99 (% +3 "core" %W l e D PI +2 "manipulator"&m% +4 "core" %:  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +97 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (o& +3 "core" &  .  +2 "collection"'& +4 "core" &Vj  y G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&M% +3 "core" %\ \ $  +2 "storage"(]% +5 "core" %U \ + "storage"(%. +4 "core" .( + "storage"(r& +4 "core" &   +2 "storage"(T& +4 "core" &   +2 "manipulator"&2& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&_( +4 "core" ( +2 "manipulator"&V& +3 "core" & :  +2 "storage"(8& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +96 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &  +2 "storage"(s& +3 "core" & I  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&X'} +19 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(/'P +43 "core" ' + "manipulator"&L% +4 "core" %~  +2 "storage"(Z& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +48 .tForearm.seek 3 + 301 counts +3 "manipulator"&'Ϫ +20 "core" ' +2 "manipulator"&@& +3 "core" & t  +2 "storage"(9& +5 "core" & <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'? +40 "core" ' +2 "manipulator"&u& +3 "core" & g  +2 "manipulator"&% +5 "core" %0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +160 "core" ( +3 "manipulator"&5& +3 "core" &% s << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &% B << +2 .tForearm.seek CC +2 "manipulator"&C'" +102 "core" ' +2 .tHand.close + "manipulator"&`/ +53 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( +2 "storage"(K& +3 "core" & *  +2 "storage"(z& +3 "core" & n  +2 "manipulator"&O& +5 "core" &" y 9) + "manipulator"&A% +4 "core" % ) . +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7( +162 "core" ( +2 "manipulator"&{& +3 "core" & Q g +2 "storage"(+& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&H'} +99 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +53 "core" 1 +3 "manipulator"&% +4 "core" % Ή  9 + "storage"( & +5 "core" & s  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +22 "core" ' + "manipulator"&J& +4 "core" &  g +2 "storage"(|& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +36 "core" ' +2 "storage"(b% +3 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(f'X +100 (t% +3 "core" %JS " OE +2 "manipulator"&% +4 "core" %! = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'x& +3 "core" &  +2 "manipulator"&~% +4 "core" %\  7  +2 "storage"(v% +3 "core" %a & +2 "storage"(W. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(c( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (=& +2 "core" & m +2 "manipulator"&y& +4 "core" & < g +2 .tElbow.seek 2 +2 "manipulator"&( +44 "core" ( +2 "manipulator"&& +3 "core" & F % +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(& +4 "core" & $ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +281 "core" ' +5 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" & +2 "manipulator"&& +5 "core" &  $ +3 .tElbow.seek 2 +2 "manipulator"&,( +33 "core" ( +2 "manipulator"&3& +3 "core" &  +2 "storage"(& +5 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&\ ' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +2 "storage"(k'X +9 "core" &  + "manipulator"&;% +4 "core" %  r J +3 .tForearm.seek :retract + "manipulator"&&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&*& +5 "core" &! +  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &! G 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' + "manipulator"&h& +4 "core" &" = 8 +2 "manipulator"& % +4 "core" % j +2 "collection"'& +5 "core" &   +2 "collection"' & +5 "core" &  +2 .tCC.seek :closed +2 "collection"'!(V +5 "core" & s +6 &A  #c +10 &\\  6 +9 &  F +9 &b F +10 &e  F +9 &dc  F +10 &&d  F +9 &e  F +9 &d   F +10 &jh  F +9 & ,e   F +9 &!e   F +10 &#e  F +9 &%re  F +10 &'4d  F +9 &(e  F +9 &*d  F +10 &,{e   F +9 &.=d  F +9 &0d  F +10 &1d  F +9 &3e  F +10 &5Eb  F +9 &7e  F +9 &8d  F +10 &:e   F +9 &e  F +10 &?e  F +9 &Ae   F +10 &CUf  F +9 &Ej  G +9 &Fr  G +10 &H{  I +9 &JI  M +10 &L  P +9 &M  Q +9 &O  P +10 &QF  Q +9 &S   R +9 &T  R +10 &V;i  / +9 &V\  : +9 &Wa  > +6 ( +2 "collection"' & +3 "core" &W?   > +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&[1 +60 "core" 1 +3 "manipulator"&>% +3 "core" %   | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +4 "core" & +2 "manipulator"&.% +4 "core" %\  v  +2 "storage"( % +3 "core" %a  +2 "storage"(^. +4 "core" .( + "storage"('& +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&Y& +3 "core" &! 8 +2 "manipulator"&"% +4 "core" %\  \\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&I( +160 "core" ( +2 "manipulator"&?& +4 "core" & 4  +2 "storage"(G& +3 "core" & J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&}'ќ +96 "core" ' +2 "storage"(& +3 "core" & % +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (m& +3 "core" &  +2 "manipulator"& & +4 "core" & #  +2 .tElbow.seek 2 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&4& +3 "core" & W  +2 "storage"(\\& +5 "core" & H +2 .tForearm.seek 2 + 300 counts + "manipulator"&(' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +54 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&& +3 "storage"(M'X +8 "core" &   + "manipulator"&]% +5 "core" % , +2 .tForearm.seek :retract + "manipulator"&%'\ +95 "core" ' +2 .tElbow.seek PC +3 "manipulator"&N(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +3 "manipulator"&r& +3 "core" &i +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&2' +103 "core" ' +2 "manipulator"&V& +4 "core" &k F +2 "manipulator"&8% +3 "core" % = I +3 "processing"%p& +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%D(Z +5 "core" & +6 &G #b +9 &\\ 6 +10 & G +9 &e F +9 &h G +10 &aec G +9 &$c F +9 &e F +10 &j G +9 &ig G +10 & +h G +9 &!f G +9 &#h F +10 &%qd G +9 &'4i F +9 &(c F +10 &*e F +9 &,yh G +10 &.:g G +9 &/c F +9 &1e F +10 &3c F +9 &5Dg F +9 &7h G +10 &8g G +9 &:b F +10 & e G +9 &?c F +10 &Ag F +9 &CTh F +9 &Em G +10 &Ft H +9 &H J +10 &JM L +9 &L L +9 &M L +10 &O L +9 &QR M +9 &S M +10 &T L +9 &V L +10 &XZ M +9 &Yvt !i +9 &Z'k , +9 ( +3 "processing"%& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&g1 +56 "core" 1 +2 "manipulator"&S% +3 "core" % # I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +99 "core" ' +2 "processing"%n& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&s% +4 "core" %\ Y  +2 "storage"(<% +3 "core" %P +2 "storage"(L. +4 "core" .( + "storage"(Z& +4 "core" & + +2 "storage"(@& +3 "manipulator"&9& +8 "core" & ~ + &k  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&u(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&0& +3 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&X/ +63 "core" / +3 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(/- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +54 "core" ' +282 ( + "storage"(E& +3 "core" & +2 "manipulator"&F& +4 "core" &k  +2 "manipulator"&d% +3 "core" % 4 +3 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +254 "core" ( +2 "manipulator"&U& +3 "core" & 8 +2 "storage"(K& +3 "core" & 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +100 "core" ' +2 .tHand.open + "manipulator"&O1 +63 "core" 1 +2 "storage"(A- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"({'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +48 "storage"(+' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -' +2 "storage"()& +3 "core" & J K ( +2 "manipulator"&j& +5 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"& & +5 "core" & ^ +2 "storage"(J& +3 "core" & M M +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(b' +58 "core" ' + "manipulator"&& +5 "core" &  +2 "storage"(t& +3 "core" & S +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +24 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'i +22 "core" ' +2 "manipulator"&% +3 "core" %  +3 "storage"(x& +4 "core" & d + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts + "manipulator"&~' +20 "core" ' +2 "manipulator"&v& +3 "core" & B +2 "storage"(W& +5 "core" & y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +29 "core" ' +6 "storage"(% +5 "core" %r +2 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (1% +2 "core" %wR PH +3 "manipulator"&=% +3 "core" %ј f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +93 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &  +2 "collection"'& +4 "core" &W? } > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  5  +2 "storage"(q% +4 "core" %a  +2 "storage"(#. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(R& +5 "core" &  + "manipulator"&& +4 "core" & 5 +2 .tElbow.seek 2 +2 "manipulator"&3( +4 "core" ( + "manipulator"&& +5 "core" & C + "storage"(-& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +94 "core" ' +2 "storage"(;& +3 "core" & H +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & H +2 "storage"(& +4 "core" & O +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&P' +28 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'P +27 "core" ' +2 "manipulator"&,% +3 "core" % x P +2 "storage"(& +4 "core" & h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&k' +20 "core" ' + "manipulator"&&& +4 "core" & I +2 "storage"($& +3 "core" & M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +15 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +41 "storage"(>'? +48 "core" ' +2 "manipulator"&a& +3 "core" & l +2 "manipulator"&.% +4 "core" %ѕ R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +159 "core" ( +2 "manipulator"&'& +3 "core" &' $ >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &' S >H +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&Y/ +64 "core" / +2 .tCC.seek :open + "collection"'"( +416 "core" ( +2 "storage"(& +3 "core" & +2 "storage"(?& +4 "core" & +2 "manipulator"&G& +3 "core" &%  <9 +2 "manipulator"&% +5 "core" % / * +2 .tForearm.seek :retract + "manipulator"&w'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q( +158 "core" ( +2 "manipulator"&& +4 "core" & G  +2 "storage"(m& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& ' +98 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +63 "core" 1 +2 "manipulator"&o% +3 "core" % 7 +2 "storage"(& +4 "core" & J +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&]' +20 "core" ' +3 "manipulator"&I& +3 "core" & Z  +2 "storage"(}& +4 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +20 "core" ' + "storage"((% +4 "core" %E , +3 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (T% +2 "core" %Q h PF +3 "manipulator"&6% +3 "core" %љ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'8& +4 "core" &  +2 "manipulator"&p% +3 "core" %\ 7 +3 "storage"(M% +3 "core" %b   +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(:( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &   +2 "manipulator"&S& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&n( +13 "core" ( +2 "manipulator"&s& +3 "core" & B r +2 "storage"(<& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +99 "core" ' +2 "storage"(Z& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +2 "core" & o  +2 "manipulator"&0& +4 "core" & \\ r +2 .tElbow.seek 3 +2 "manipulator"&_( +4 "core" ( + "manipulator"&2& +4 "core" & C r +2 "storage"(X& +3 "core" & l  +46 .tForearm.seek 3 + 300 counts +6 "manipulator"&/'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(D'X +9 "core" &  r + "manipulator"&% +4 "core" % ϩ  , +2 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&d& +4 "core" && 8  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  y <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +93 "core" ' +4 "manipulator"&K& +3 "core" &%  <@ +3 "manipulator"&u% +3 "core" % S  +2 "collection"'O& +5 "core" & & +2 "collection"'A& +5 "core" &   +2 .tCC.seek :closed +3 "collection"'`(V +3 "core" & @ +6 &  1 +9 &UL  . +10 &y L B +9 &Fd 1 F +10 & e y F +9 &f | F +9 &e R F +10 &Of  F +9 &f  F +9 &c  F +10 &e  F +9 &!Ve  F +10 &#d  F +9 &$f  F +9 &&e  F +10 &(]d  F +9 &*e  F +9 &+e  F +10 &-e  F +9 &/ee  F +10 &1'e  F +9 &2e  F +9 &4e  F +10 &6me  F +9 &8/f  F +9 &9e  F +10 &;f  F +9 &=vh  F +10 &?8e  F +9 &@f  F +9 &Bg F +10 &D}d  F +9 &F=n  G +9 &G|  I +10 &I  K +9 &Kj  P +10 &M*  P +9 &N  P +9 &P  Q +10 &Ro   Q +9 &T.  R +9 &Ux  < +10 &V0  &p +9 &VT  A +2 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&C1 +56 "core" 1 +3 "manipulator"&)% +3 "core" %  # %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +4 "core" & + "manipulator"&J% +4 "core" %\    +2 "storage"(% +3 "core" %a " +2 "storage"(t. +4 "core" .( + "storage"(5& +4 "core" & -  +2 "storage"({& +4 "core" & *  +2 "manipulator"&& +4 "core" &% ? <@ +2 "manipulator"&x% +3 "core" %\  j  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v( +159 "core" ( +2 "manipulator"&W& +3 "core" & $ z +2 "storage"(& +4 "core" & w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +110 "core" ' + "storage"(z& +5 "core" & ]  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +289 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &   +2 "manipulator"&|& +5 "core" & k z +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&b& +3 "core" & z +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" & ) z +2 "manipulator"&q% +3 "core" % ϲ ( +3 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&H(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +52 "manipulator"&& +4 "core" &h   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" &h   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&& +3 "core" &h ]  +3 "manipulator"&-% +3 "core" % & l +3 "processing"%B& +3 "core" & +3 "processing"%;& +5 "core" &[ +2 .tPC.seek :closed +2 "processing"%f(Z +4 "core" &  +8 &7 )v +10 &k = +9 &s H +10 &pd G +9 &2c G +9 &b F +10 &d F +9 &yg F +9 &;d F +10 &g G +9 & d G +9 &"b F +10 &$Cd F +9 &&h G +10 &'h F +9 &)c G +9 &+Kg F +10 &- c G +9 &.b F +10 &0e F +9 &2Sg F +9 &4i G +10 &5h G +9 &7f G +9 &9[b F +10 &;b F +9 &<g G +10 &>e G +9 &@cf F +9 &B#j G +10 &Ch G +9 &En H +9 &Gdy I +10 &I  K +9 &J L +9 &L L +10 &Nd L +9 &P% L +10 &Q M +9 &S L +9 &Ui M +10 &W+ M +9 &X M +9 &Z>C_ %k +10 &Z - ! +5 ( +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&71 +3 "core" &Z ! +53 1 + "manipulator"&y% +5 "core" % 4 l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 "processing"%*& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   $ +2 "storage"(h% +4 "core" %S p +2 "storage"(,. +2 "core" .( +3 "storage"(& +4 "core" &  +2 "storage"(&& +2 "manipulator"&$& +5 "core" & 0  +3 &h &  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&a(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(.'i +27 "core" ( +2 "manipulator"&l& +3 "core" &l & [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &l F +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +4 .tHand.close + "manipulator"&P/ +64 "core" / +2 .tPC.seek :open +2 "processing"%k( +53 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +42 "core" ' +326 ( +3 "storage"( & +3 "core" &   +2 "manipulator"&[& +3 "core" &l [ +2 "manipulator"&\ % +5 "core" % +2 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +256 "core" ( +2 "manipulator"&!& +3 "core" & ! +2 "storage"(& +3 "core" & L  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +94 "core" ' +2 .tHand.open + "manipulator"&G1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(m' +47 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(^& +3 "core" & x N @  +2 "manipulator"&\\& +4 "core" & T +2 .tElbow.seek 3 +2 "manipulator"&o( +4 "core" ( +2 "manipulator"&& +3 "core" & ( +2 "storage"(I& +4 "core" & O N  +48 .tForearm.seek 3 + 700 counts +4 "manipulator"&}'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"((' +59 "core" ' +2 "manipulator"&w& +3 "core" & ~ +2 "storage"(T& +4 "core" & 0  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&6'} +26 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +23 "core" ' + "manipulator"&8% +5 "core" %· m + "storage"(]& +4 "core" & c  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&p'ϳ +19 "core" ' +2 "manipulator"&M& +3 "core" & _ +3 "storage"(%& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +28 "core" ' + "storage"(% +4 "core" %q   +3 ."downElevator"SE.seek :down +3 "storage"(r'X +100 (c% +3 "core" %V PG +2 "manipulator"&g% +5 "core" %"  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +2 "core" & 2  +2 "collection"'<& +4 "core" &VO  A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&Z% +3 "core" %\   +3 "storage"(4% +3 "core" %b m +2 "storage"(V. +3 "core" .( +2 "storage"(9& +3 "core" & x  +2 "storage"(@& +4 "core" &   +2 "manipulator"&0& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&2( +3 "core" ( +2 "manipulator"&X& +5 "core" & 6 + "storage"(N& +5 "core" & C  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +94 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +278 "core" ' + "storage"(L- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &  +2 "storage"(& +3 "core" & @  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +25 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(K- +4 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(u'O +28 "core" ' + "manipulator"&_% +4 "core" %Ί 9 +2 "storage"(O& +3 "core" & )  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&D'϶ +20 "core" ' +2 "manipulator"&E& +3 "core" &  +2 "storage"("& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'> +38 "core" ' +2 "manipulator"& & +3 "core" &  +2 "manipulator"&J% +5 "core" %4 f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +160 "core" ( + "manipulator"&5& +44 "core" &\  \ 3 +9 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &\  = 3 +2 .tForearm.seek CC +2 "manipulator"&A'" +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'x( +415 "core" ( +2 "storage"(U& +3 "core" &   +3 "storage"(W& +4 "core" & #  + "manipulator"&& +5 "core" &\   3 +2 "manipulator"&z% +3 "core" % 0 O +3 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +159 "core" ( +2 "manipulator"&1& +4 "core" & P  +2 "storage"(=& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&|'} +97 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +3 "core" % {  +2 "storage"(& +3 "core" & J  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&q'ϧ +21 "core" ' +2 "manipulator"&v& +3 "core" & h  +3 "storage"(i& +4 "core" & t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +18 "core" ' +2 "storage"(~% +3 "core" %H Y +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (% +3 "core" %R OE +2 "manipulator"&R% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'-& +3 "core" &  +2 "manipulator"&B% +5 "core" %\ 2  + "storage"(% +5 "core" %a y + "storage"(#. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (7& +2 "core" & c +2 "manipulator"&y& +4 "core" & s  +2 .tElbow.seek 2 +2 "manipulator"&*( +33 "core" ( +2 "manipulator"&& +3 "core" & ( "z +2 "storage"(h& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +93 "core" ' +2 "storage"(& +3 "core" & h +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +279 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & ; +2 "manipulator"&l& +3 "core" & !v +3 .tElbow.seek 2 + "manipulator"&3( +4 "core" ( +2 "manipulator"&& +3 "core" & X !v +2 "storage"(P& +4 "core" & K +2 .tForearm.seek 2 + 300 counts +3 "manipulator"& ' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(f'X +8 "core" &  !v + "manipulator"&.% +4 "core" % \\  +48 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +102 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +51 "core" ( +2 "manipulator"&\ & +3 "core" &% 7 4 <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'" +94 "core" ' +3 "manipulator"&& +4 "core" &% p <? +7 "manipulator"&a% +3 "core" % :  +3 "collection"'G& +3 "core" &  +3 "collection"'& +6 "core" &   +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & '  +7 &I) $e +9 &_1 7 +9 &,~ 2 G +10 &` 5 F +9 &e 5 F +9 &se 3 F +10 &5e x F +9 &b 7 F +10 &d C F +9 &{e 9 F +9 & >f F +10 &"e  F +9 &#d  F +9 &%g F +10 &'Fc  F +9 &)e  F +10 &*d  F +9 &,e  F +9 &.Ng  F +10 &0d  F +9 &1e  F +9 &3e  F +10 &5Ue  F +9 &7e  F +10 &8d  F +9 &:e  F +9 &<^d  F +10 &>e F +9 &?e  G +9 &Ae  F +10 &Cee < F +9 &E&g | G +10 &Fs  H +9 &H  I +9 &JY  M +10 &L   P +9 &M  P +9 &O  P +10 &QW  Q +9 &S  R +10 &T  Q +9 &VEh  / +9 &V  5 +10 &Vx  H +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&^1 +3 "core" &Vs H +59 1 +2 "manipulator"&\\% +3 "core" %  $ #  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%I& +3 "core" & +2 "manipulator"&Y% +4 "core" %\    +2 "storage"(w% +4 "core" %_ ) +2 "storage"(T. +3 "core" .( +2 "storage"('& +3 "core" &  +2 "storage"(& +4 "core" & +2 "manipulator"&8& +3 "core" &%  <? +2 "manipulator"&]% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&M( +158 "core" ( +2 "manipulator"&%& +3 "core" & @  +2 "storage"( & +3 "core" & ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(?& +4 "core" & , +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +282 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & E +2 "manipulator"&}& +3 "core" & X  +3 .tElbow.seek 2 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&(& +3 "core" & O  +2 "storage"(6& +4 "core" & * +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&<& + "storage"(Z'X +8 "core" &   + "manipulator"&4% +5 "core" % L +2 .tForearm.seek :retract + "manipulator"&V'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&9(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +3 "manipulator"& & +3 "core" &k 6 ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &k & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +92 "core" ' +2 "manipulator"&X& +3 "core" &r  \ +2 "manipulator"&N% +4 "core" %   +2 "processing"%>& +52 "core" &; +2 "processing"%& +5 "core" & +3 .tPC.seek :closed + "processing"%r(Z +5 "core" &k +7 &G7 #a +10 &Z 5 +9 & G +9 &c F +10 &i G +9 &Yg F +9 &b G +10 &b F +9 &e F +9 &`c G +10 & "d G +9 &!c F +10 &#e G +9 &%gf G +9 &'*b G +10 &(a F +9 &*e F +9 &,qe F +10 &.1h G +9 &/b F +10 &1e G +9 &3xg G +9 &59e G +10 &6c F +9 &8g G +9 &:b F +10 &d F +10 &?g G +9 &Ah G +9 &CIj G +10 &E\ k G +9 &Fs H +9 &H J +10 &JD L +9 &L L +10 &M L +9 &O L +9 &QJ L +10 &S  M +9 &T M +9 &V L +10 &XP M +9 &Ywv !i +10 &Z.~ - +8 ( +2 &Z  +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&Q1 +55 "core" 1 + "manipulator"&S% +4 "core" % _  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 "processing"%d& +3 "core" &Z  +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ #  > +2 "storage"(K% +3 "core" %a +2 "storage"(_. +3 "core" .( +2 "storage"(O& +4 "core" & +2 "storage"(E& +3 "manipulator"&"& +5 "core" &  +2 &r P \ +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& (s + "storage"(J'i +5 "core" ( +2 "manipulator"&e& +6 "core" &r " \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &r ( \ +2 .tForearm.seek PC +2 "manipulator"&n' +99 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%D( +84 "core" ' +2 "storage"(u- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +33 "core" ' +304 ( + "storage"(C& +4 "core" & Z +2 "manipulator"&{& +4 "core" &r  \ +2 "manipulator"&/% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +257 "core" ( + "manipulator"&`& +5 "core" &   + "storage"(U& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +95 "core" ' +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(z- +13 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(1'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(t& +3 "core" & \ G\ H 0 +3 "manipulator"&& +3 "core" & x  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & :  +2 "storage"(v& +4 "core" & \ H\ H +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(~' +53 "core" ' +2 "manipulator"&F& +3 "core" &   +2 "storage"(& +4 "core" & D +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +43 "manipulator"&#Q@2^d^b +10 .tForearm.seek 2 +2 "manipulator"&R' +25 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(|'i +22 "core" ' +2 "manipulator"&-% +3 "core" % u +3 "storage"(B& +3 "core" & $ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&q' +20 "core" ' +2 "manipulator"&& +3 "core" & ^  +2 "storage"(#& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +17 "core" ' + "storage"(+% +5 "core" %p   +2 ."downElevator"SE.seek :down +5 "storage"('X +98 (:% +3 "core" %X h n ] PI +2 "manipulator"&7% +5 "core" %ѥ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & +2 "collection"'h& +5 "core" &Vr  H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  i  +2 "storage"(b% +4 "core" %T  +2 "storage"(. +2 "core" .( +2 "storage"(&& +5 "core" &  + "storage"(;& +4 "core" &  +2 "manipulator"&l& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +3 "core" &   +2 "storage"(H& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' +2 "storage"(.& +3 "core" & T +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +284 "core" ' +3 "storage"(,- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & >  +2 "storage"(\ & +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +29 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'P +28 "core" ' +2 "manipulator"&G% +3 "core" % ; ( +2 "storage"(3& +4 "core" & z z ^ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&f' +21 "core" ' +2 "manipulator"& & +3 "core" & 2  +2 "storage"(x& +4 "core" & L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(\\'? +41 "core" ' +2 "manipulator"&I& +3 "core" &   +2 "manipulator"&Y% +4 "core" %у  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +152 "core" ( +3 "manipulator"&'& +4 "core" & V 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & k 4 +3 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&8/ +61 "core" / +2 .tCC.seek :open + "collection"']( +416 "core" ( +2 "storage"(!& +43 "core" & +9 "storage"(%& +3 "core" & +3 "manipulator"& & +3 "core" & ' 4 +2 "manipulator"&?% +3 "core" % /  +3 .tForearm.seek :retract +2 "manipulator"&['\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&c& +3 "core" & p  +2 "storage"(g& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&}' +102 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "manipulator"&s% +4 "core" % S \\ +2 "storage"(<& +4 "core" & { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&4' +18 "core" ' + "manipulator"&M& +4 "core" & ?  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +28 "core" ' +2 "storage"(p% +3 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (@% +3 "core" %\ T c PF +2 "manipulator"&o% +5 "core" %ѓ @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'N& +4 "core" &  +2 "manipulator"&>% +3 "core" %\   +3 "storage"(Z% +3 "core" %[  +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(k( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" & _  +2 "manipulator"&S& +4 "core" & <  +2 .tElbow.seek 3 +2 "manipulator"&d( +12 "core" ( + "manipulator"&& +4 "core" & \ y +2 "storage"(K& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +91 "core" ' +2 "storage"(O& +3 "core" & ~  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'i +279 "core" ' +2 "storage"("- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &   +3 "manipulator"&e& +3 "core" & v y +2 .tElbow.seek 3 +2 "manipulator"&2( +4 "core" ( + "manipulator"&0& +5 "core" & % y + "storage"(& +4 "core" & /  +3 .tForearm.seek 3 + 300 counts + "manipulator"&u'ϩ +21 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(r'X +8 "core" &  y +2 "manipulator"&J% +4 "core" % Ϯ j +2 .tForearm.seek :retract +2 "manipulator"&C'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&{( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&/& +4 "core" &* : : @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &*   @W +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'" +102 "core" ' +2 "manipulator"&U& +5 "core" &) ?V + "manipulator"& % +5 "core" % w M +2 "collection"'& +3 "core" &5 +3 "collection"'z& +5 "core" & / +2 .tCC.seek :closed +2 "collection"'A(V +5 "core" & 3  +8 &9 6 *x +10 &k2 = +9 &o4 G +9 &~c; F +10 &@d \ < F +9 &c3 F +9 &d6 F +10 &c< F +9 &Gd6 F +10 & d6 F +9 & d 0 F +9 &"e9 F +10 &$Od : F +9 &&e : F +9 &'dw F +10 &)d| F +9 &+We F +10 &-ev F +9 &.d F +9 &0e F +10 &2^c F +9 &4 d  F +9 &5c F +10 &7d F +9 &9fc F +10 &;(f  F +9 &<g  F +9 &>e F +10 &@ne  F +9 &B1g F +9 &Cg F +10 &Ek G +9 &Grz  H +10 &I/  J +9 &J N +9 &L P +10 &Nb O P +9 &P"  Q +10 &Q  Q +9 &S R +9 &Ud  ? +10 &VH  _ +9 &V*  \\ +9 ( +2 "collection"'z& +3 "core" &Vw  L +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&t1 +60 "core" 1 +2 "manipulator"&% +5 "core" % !  k L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +3 "core" &U +2 "manipulator"&% +5 "core" %\ ! 6 + "storage"(F% +4 "core" %\\ a b +2 "storage"(. +3 "core" .( +2 "storage"(5& +4 "core" & ^ c Q  +2 "storage"(1& +3 "core" & g k <  +2 "manipulator"&-& +4 "core" &( Y ?V +2 "manipulator"&B% +3 "core" %\ ! I 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( + "manipulator"&#& +5 "core" & B r + "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +92 "core" ' +2 "storage"(W& +3 "core" & 3  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +277 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +2 "core" & 6  +2 "manipulator"&i& +5 "core" & , r +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&~& +4 "core" & ? r +2 "storage"(R& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"('X +8 "core" &  r +2 "manipulator"&b% +3 "core" % ϱ  1 +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&&& +6 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &h 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&l' +105 "core" ' +2 "manipulator"&P& +3 "core" &i ,  +3 "manipulator"&H% +3 "core" %  +3 "processing"%)& +3 "core" &_ +3 "processing"%.& +5 "core" &W +2 .tPC.seek :closed +3 "processing"%(Z +2 "core" &c +8 &?e #c +9 &[U 6 +9 &Y G +10 &`] G +9 &bX G +9 &bb{ F +10 &#d^ G +9 &hh F +10 &ej F +9 &ibN G +9 & +b G +10 &!f G +9 &#g G +9 &%qh G +10 &'3h G +9 &(h G +10 &*i G +53 &,yg G +5 &.;g G +2 &/g G + &1b G + &3d F + &5Cc G +2 &7c G +10 &8d G +9 &:b F +9 & d G +9 &?e F +9 &Af F +10 &CSh G +9 &El G +10 &Ft H +9 &H J +9 &JL L +10 &L L +9 &M L +9 &O L +10 &QS L +9 &S M +10 &T M +9 &V L +9 &XY M +10 &Ywv !i +9 &Z)p + +9 ( +2 "processing"%.& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&j1 +63 "core" 1 + "manipulator"&y% +4 "core" % B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +100 "core" ' +2 "processing"%$& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\ % +4 "core" %\   +2 "storage"(% +4 "core" %P +2 "storage"(G. +3 "core" .( +2 "storage"(3& +3 "core" &  +3 "storage"( & +2 "manipulator"&x& +7 "core" &  + &i   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&I(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +3 "core" ( +2 "manipulator"&& +3 "core" &i T  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &i   +2 .tForearm.seek PC +2 "manipulator"&*' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%f( +86 "core" ' +2 "storage"(a- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +43 "core" ' +291 ( + "storage"(& +3 "core" & g  +3 "manipulator"&^& +4 "core" &i =  + "manipulator"& % +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&8'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&w( +262 "core" ( +2 "manipulator"&& +3 "core" & F  +2 "storage"(!& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +99 "core" ' +2 .tHand.open + "manipulator"& 1 +61 "core" 1 +3 "storage"(?- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(T& +3 "core" &\ Q\ P o  +2 "manipulator"&6& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&s( +4 "core" ( + "manipulator"&<& +5 "core" & `  +2 "storage"(M& +3 "core" &\ N\ Q  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +57 "core" ' +2 "manipulator"&[& +3 "core" & c  +2 "storage"(@& +5 "core" &   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&o'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +24 "core" ' + "manipulator"&4% +4 "core" %΋  +2 "storage"(N& +58 "core" &   +4 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&>'Ϸ +20 "core" ' +2 "manipulator"&Z& +3 "core" & E  +3 "storage"(V& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +34 "core" ' + "storage"(m% +4 "core" %l   +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (% +3 "core" %T x m E QI +2 "manipulator"&Q% +4 "core" %- E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & 5  +3 "collection"'K& +4 "core" &Vw  L + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&O% +3 "core" %\ # = +3 "storage"((% +3 "core" %a +2 "storage"(X. +3 "core" .( +2 "storage"("& +3 "core" &  +2 "storage"(& +5 "core" &   + "manipulator"&e& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&0( +4 "core" ( + "manipulator"&& +5 "core" &  H  +2 "storage"(9& +3 "core" & 5  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +107 "core" ' + "storage"(J& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +285 "core" ' +3 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & Z  +2 "storage"(E& +4 "core" & S  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'} +20 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'P +33 "core" ' + "manipulator"& % +4 "core" %΅ } +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&r'ϱ +19 "core" ' +2 "manipulator"&C& +3 "core" &  +2 "storage"(]& +4 "core" & 0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +45 "core" ' +2 "manipulator"&v& +4 "core" & t  +2 "manipulator"&% +4 "core" %& +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +161 "core" ( + "manipulator"&z& +4 "core" &%  } <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &% H <> +3 .tForearm.seek CC + "manipulator"&1'" +99 "core" ' +2 .tHand.close + "manipulator"&-/ +53 "core" / +2 .tCC.seek :open +2 "collection"'B( +416 "core" ( + "storage"(`& +3 "core" &   +2 "storage"(#& +4 "core" &   +2 "manipulator"&& +4 "core" &% 2 <9 +2 "manipulator"&W% +3 "core" % B +3 .tForearm.seek :retract +2 "manipulator"&{'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( +9 "manipulator"&:& +3 "core" &  c +2 "storage"(7& +4 "core" & o  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&i'} +102 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&R1 +62 "core" 1 +3 "manipulator"&q% +5 "core" % ·  +2 "storage"(h& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&b'ϳ +21 "core" ' +2 "manipulator"&& +3 "core" & n c +2 "storage"(+& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +43 "core" ' + "storage"(% +5 "core" %>  +2 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (;% +3 "core" %4R 4 PF +2 "manipulator"&% +5 "core" %p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +94 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'H& +4 "core" & +2 "manipulator"&)% +4 "core" %\ "  < +2 "storage"(% +4 "core" %]  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(D( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" & E +2 "manipulator"&y& +4 "core" & N c +2 .tElbow.seek 2 +2 "manipulator"&$( +38 "core" ( + "manipulator"&\ & +4 "core" &  $ +2 "storage"(& +3 "core" & P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +94 "core" ' + "storage"(G& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'i +280 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & E +3 "manipulator"&& +4 "core" & $ + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&l& +3 "core" & N $ +3 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"('X +8 "core" &  $ +2 "manipulator"&Y% +4 "core" % ,  2 +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"& & +3 "core" &# ) 3 :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &"  :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +3 "manipulator"&!& +3 "core" &# u :1 +3 "manipulator"&I% +3 "core" %&   +2 "collection"' & +4 "core" & +3 "collection"'?& +5 "core" &( +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & / +52 &I4 $d +4 &]6 6 + &$ 7 G &d- F + &e 7 F + &kd . F +4 &-e6 F +10 &e6 F +9 &e3 F +10 &sc) F +9 & 5e* F +9 &!e 1 F +10 &#eP F +9 &%|eB F +9 &'>d6 F +10 &)e' F +9 &*d4 F +10 &,h9 F +9 &.Dd 5 F +9 &0c5 F +10 &1dM F +9 &3d; F +9 &5Mc S F +10 &7e w F +9 &8c T F +10 &:eL F +9 &e F +10 &?b F +9 &Ae F +9 &C\\e F +10 &El  G +9 &Fs  G +9 &H~} I +10 &JS L +9 &L\  P +10 &M P +9 &O; Q +9 &QO 8 P +10 &S   R +9 &T R +9 &V?fY . +10 &V  5 +9 &Wc D +6 ( + "collection"'?& +4 "core" &WW  D +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&T1 +53 "core" 1 +4 "manipulator"&6% +3 "core" % &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%M& +3 "core" &? +3 "manipulator"&8% +4 "core" %\ ! K 7 + "storage"([% +4 "core" %\\ c +2 "storage"(@. +3 "core" .( +2 "storage"(4& +3 "core" &  +2 "storage"(N& +4 "core" & } +2 "manipulator"&'& +3 "core" &" :0 +2 "manipulator"&c% +4 "core" %\ | 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Z( +161 "core" ( +2 "manipulator"&V& +3 "core" & <  +2 "storage"(w& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +90 "core" ' +2 "storage"(m& +3 "core" & Q +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +278 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" & +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&p& +4 "core" & S  +2 "storage"(o& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&>' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(O'X +9 "core" &  + "manipulator"&(% +4 "core" % ' G +3 .tForearm.seek :retract + "manipulator"&X'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&"(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&}& +5 "core" &|  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &| + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +102 "core" ' + "manipulator"&& +5 "core" &| & +2 "manipulator"&9% +3 "core" %   +2 "processing"%\\& +5 "core" &b +2 "processing"%J& +4 "core" &7 +3 .tPC.seek :closed + "processing"% (Z +5 "core" &q  +9 &6c )v +9 &i\\ < +10 &uf H +9 &ibc F +9 &+dk F +10 &c G +9 &bJ F +10 &qcX F +9 &3eC F +9 &h G +10 & gL G +9 &"weC G +9 &$;c F +10 &%g G +9 &'g G +10 &)e G +9 &+Bb G +9 &-h G +10 &.g F +9 &0f F +9 &2Ke F +10 &4 b G +9 &5b F +10 &7d F +9 &9Rc G +9 &;b F +10 &<e F +9 &>b G +9 &@Zh G +10 &Bh G +9 &Cf G +10 &Eo G +9 &G[x I +9 &I K +10 &J L +9 &L K +9 &N[ L +10 &P L +9 &Q L +10 &S L +9 &Ua M +9 &W# M +10 &X L +9 &Z2Ba $i +9 &Z6 \  +6 ( +2 "processing"%J& +3 "core" &Z  +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +49 "manipulator"&S% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' +2 "processing"%/& +4 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&E% +3 "core" %\ # $ @ +2 "storage"(2% +4 "core" %S x +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" & } +3 "storage"(C& +2 "manipulator"&]& +7 "core" & +2 &| +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&v(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&L& +3 "core" &| +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &| O +2 .tForearm.seek PC +2 "manipulator"&d' +96 "core" ' +4 .tHand.close + "manipulator"&n/ +56 "core" / +2 .tPC.seek :open +2 "processing"%r( +89 "core" ' +2 "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'y +41 "core" ' +291 ( + "storage"(5& +5 "core" & K +2 "manipulator"&t& +3 "core" &| z +2 "manipulator"&u% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +255 "core" ( + "manipulator"&A& +4 "core" & h ) +2 "storage"(`& +4 "core" & s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +91 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(W- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(:'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(& +3 "core" & \ G\ N _ +3 "manipulator"&R& +4 "core" &  ( + .tElbow.seek 2 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&h& +3 "core" & F ( +2 "storage"(& +4 "core" & \ G\ G ? +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&{& +3 "core" & O ( +2 "storage"(;& +5 "core" & g + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(i'i +25 "core" ' + "manipulator"&b% +5 "core" % q +2 "storage"(H& +3 "core" & +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&)' +20 "core" ' + "manipulator"&& +5 "core" &  ( + "storage"(& +5 "core" & > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +19 "core" ' +2 "storage"(=% +3 "core" %s  +49 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (k% +4 "core" %R w y N PH +2 "manipulator"&j% +5 "core" %Ѧ \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\ & +3 "core" & J +3 "collection"'& +3 "core" &WW q D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&G% +4 "core" %\ D  +2 "storage"(~% +3 "core" %O " +2 "storage"(P. +4 "core" .( + "storage"(x& +4 "core" & +2 "storage"( & +3 "core" & +2 "manipulator"&& +4 "core" &  ( +2 .tElbow.seek 2 +2 "manipulator"&l( +4 "core" ( +2 "manipulator"&& +3 "core" &  ( +2 "storage"(|& +3 "core" & h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +99 "core" ' + "storage"(Y& +4 "core" & q +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +274 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  ( +2 "storage"(*& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&3' +21 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(I'Q +28 "core" ' +2 "manipulator"& % +3 "core" % 6 +2 "storage"(& +3 "core" & h +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&' +19 "core" ' + "manipulator"&& +5 "core" & G ' + "storage"(B& +4 "core" & c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'@ +42 "core" ' +2 "manipulator"&M& +4 "core" & ' +2 "manipulator"&8% +3 "core" %ё +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +155 "core" ( +2 "manipulator"&4& +3 "core" &\  # 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &\  5 +3 .tForearm.seek CC + "manipulator"&N'" +102 "core" ' +2 .tHand.close + "manipulator"&'/ +58 "core" / +2 .tCC.seek :open +2 "collection"'c( +416 "core" ( +2 "storage"(& +3 "core" & p +2 "storage"(V& +4 "core" &  +2 "manipulator"&w& +3 "core" &\   5 +2 "manipulator"&m% +4 "core" % - R +3 .tForearm.seek :retract + "manipulator"&^'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&<( +157 "core" ( +2 "manipulator"&& +3 "core" & 1  +2 "storage"(s& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +47 .tHand.open +4 "manipulator"&o1 +54 "core" 1 +2 "manipulator"&% +4 "core" % " +2 "storage"(K& +3 "core" & @ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&(' +20 "core" ' +2 "manipulator"&Z& +4 "core" &  +2 "storage"(%& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +23 "core" ' +2 "storage"(>% +3 "core" %D  +3 ."downElevator"SE.seek :down +4 "storage"(}'X +98 (% +3 "core" %R I PG +3 "manipulator"&Q% +3 "core" %ќ D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'9& +3 "core" &  +3 "manipulator"&\\% +5 "core" %\   +2 "storage"(O% +4 "core" %\\ +2 "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(f( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & N  +2 "manipulator"&S& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&J( +17 "core" ( + "manipulator"&/& +5 "core" & + ^ + "storage"(E& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +101 "core" ' + "storage"( & +4 "core" & 9  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(C- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" &   +2 "manipulator"&L& +3 "core" & | ^ +2 .tElbow.seek 3 +2 "manipulator"&0( +4 "core" ( + "manipulator"&e& +4 "core" & ^ +2 "storage"(n& +3 "core" & m  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&U'ϩ +11 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"( 'X +8 "core" &  ^ + "manipulator"&% +4 "core" % ϱ b . +3 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&u& +5 "core" &# % Y :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +4 "core" &#   :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'" +94 "core" ' + "manipulator"&`& +4 "core" &# a :1 +2 "manipulator"&v% +3 "core" %  \ +3 "collection"'& +3 "core" &7 +3 "collection"'W& +6 "core" &) +2 .tCC.seek :closed +4 "collection"'1(V +3 "core" &0 +5 &/ 9 +9 &NM7 / +10 &| 6 D +9 &Lc3 F +9 &d3 F +10 &d3 F +9 &c+ F +9 &Sd5 F +10 &e. F +9 &`) F +10 &e+ F +9 &!\\d, F +9 &#d) F +10 &$e- F +9 &&`4 F +9 &(dd. F +10 &*&d0 F +9 &+c@ F +10 &-eC F +9 &/ld9 F +9 &1-dH F +10 &2d< F +9 &4d9 G +9 &6td6 F +10 &86d: F +9 &9d> F +10 &;f; F +9 &=|b8 F +9 &?=e( F +10 &@e3 F +9 &Bb F +9 &Dg8 G +10 &FCnF G +9 &H5 I +10 &I2 K +48 &Kp: P +4 &M0: P +4 &N/ P + &P> P + &Ru? Q + &T33 R +6 &Uu5 A +10 &V#. (t +9 &VmE J +2 ( +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&R% +3 "core" %  " \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &5 +2 "manipulator"&-% +5 "core" %\  p  +2 "storage"({% +3 "core" %a + +2 "storage"(;. +4 "core" .( + "storage"(b& +4 "core" &   +2 "storage"(H& +4 "core" &   +2 "manipulator"&z& +3 "core" &" b :0 +2 "manipulator"&% +5 "core" %\  2  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&:( +163 "core" ( +2 "manipulator"&& +3 "core" & 3 I +2 "storage"(=& +5 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +95 "core" ' +2 "storage"(#& +3 "core" & `  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +278 "core" ' + "storage"(+- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & C  +2 "manipulator"&j& +4 "core" & F I +2 .tElbow.seek 3 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&& +3 "core" & A I +2 "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(G'X +8 "core" &  I +2 "manipulator"&~% +3 "core" % ϲ D +3 .tForearm.seek :retract + "manipulator"&i'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&x& +6 "core" &x 6 6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &x (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' +2 "manipulator"&& +3 "core" &x 1  +3 "manipulator"&|% +3 "core" %  m +2 "processing"%& +4 "core" &; +3 "processing"%Y& +5 "core" &j +2 .tPC.seek :closed + "processing"%&(Z +4 "core" &q +8 &Gu #b +9 &\\i 6 +9 &p G +10 &cq G +9 &hi F +9 &acl G +10 &$gq F +9 &dH G +10 &jN G +9 &jfj F +9 & ,ev F +10 &!g2 G +9 &#gU F +9 &%rb F +10 &'5e? F +9 &(f G +10 &*c G +9 &,zg F +9 &.;b\\ G +10 &/bX F +9 &1cJ F +9 &3h G +10 &5Bg G +9 &7b F +10 &8e F +9 &:g G +9 &b F +10 &?e F +8 &Af F +10 &CSh G +9 &Ek G +10 &Fr H +9 &H J +9 &JL L +10 &L L +9 &M L +9 &O L +10 &QT L +9 &S M +10 &T L +9 &V L +9 &XZ M +10 &Yvu !i +9 &Z'l , +9 ( +2 "processing"%Y& +3 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&y% +3 "core" %  m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 "processing"% & +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&*% +4 "core" %\   +2 "storage"(!% +3 "core" %b ^ +2 "storage"( . +4 "core" .( + "storage"(& +53 "core" & C  +2 "storage"(& +2 "manipulator"&B& +9 "core" & \\  + &x  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&M(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'i +2 "core" ( +3 "manipulator"&,& +4 "core" &x S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &x   +3 .tForearm.seek PC + "manipulator"&$' +102 "core" ' +3 .tHand.close + "manipulator"&3/ +54 "core" / +2 .tPC.seek :open + "processing"%( +91 "core" ' +2 "storage"(I- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +35 "core" ' +295 ( +2 "storage"(?& +3 "core" & @  +3 "manipulator"&T& +5 "core" &x 4  + "manipulator"&a% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&''\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&[( +268 "core" ( +2 "manipulator"&& +3 "core" & H +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +98 "core" ' +3 .tHand.open +2 "manipulator"&w1 +59 "core" 1 +2 "storage"(m- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(@& +3 "core" &\ Q\ P k  +2 "manipulator"&o& +5 "core" & +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&K& +3 "core" & > +2 "storage"(Z& +4 "core" &\ N\ P ~  +3 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +57 "core" ' + "manipulator"&^& +4 "core" &  +2 "storage"(<& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +29 "core" ' +2 "manipulator"&9% +3 "core" %} +2 "storage"((& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +20 "core" ' + "manipulator"&O& +4 "core" & @ +2 "storage"(X& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +28 "core" ' +2 "storage"(g% +3 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(}'X +100 (D% +3 "core" %PX s E QI +2 "manipulator"&% +4 "core" %= b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (/& +3 "core" &   +41 "collection"'E& +11 "core" &Vg0 J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\   +3 "storage"(p% +3 "core" %W  +2 "storage"(. +3 "core" .( +2 "storage"(C& +3 "core" &   +2 "storage"(]& +5 "core" &   + "manipulator"&L& +4 "core" & \ +2 .tElbow.seek 3 +2 "manipulator"&e( +4 "core" ( +2 "manipulator"&n& +3 "core" & y +3 "storage"("& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +92 "core" ' +2 "storage"(& +3 "core" & )  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +276 "core" ' +2 "storage"(2- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" & +2 "storage"(d& +4 "core" & <  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'O +28 "core" ' +2 "manipulator"&% +3 "core" %΋ +2 "storage"(0& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"& 'Ϸ +20 "core" ' + "manipulator"&5& +4 "core" & B +2 "storage"(c& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'> +39 "core" ' +2 "manipulator"&& +3 "core" & ; +2 "manipulator"&-% +4 "core" %B M y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&;( +161 "core" ( +3 "manipulator"&b& +3 "core" &' # >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &' X >O +2 .tForearm.seek CC +2 "manipulator"&z'" +94 "core" ' +2 .tHand.close + "manipulator"&W/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(A& +4 "core" & $  + "storage"(& +4 "core" & [  +2 "manipulator"&=& +3 "core" &' i >M +2 "manipulator"&#% +5 "core" % " H +2 .tForearm.seek :retract + "manipulator"&t'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +34 "Can"m 8j? +128 "core" ( +2 "manipulator"&+& +3 "core" & [ o +2 "storage"(k& +4 "core" & \\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&j'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&\ % +4 "core" %  H +2 "storage"(& +4 "core" & /  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&~'ϫ +19 "core" ' +2 "manipulator"&:& +3 "core" & o +2 "storage"(F& +48 "core" &  +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +30 "core" ' +2 "storage"()% +3 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(x'X +99 ( % +3 "core" %T  OE +2 "manipulator"&q% +4 "core" %D ` t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'|& +3 "core" &5 +2 "manipulator"&% +3 "core" %\ > 2 +3 "storage"(G% +3 "core" %_  +2 "storage"(i. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(r( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & R +2 "manipulator"&y& +3 "core" & o +2 .tElbow.seek 2 +2 "manipulator"& ( +42 "core" ( + "manipulator"&*& +4 "core" & 6  +2 "storage"(!& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +90 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'i +279 "core" ' +2 "storage"(B- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & J +2 "manipulator"&,& +3 "core" & <  +3 .tElbow.seek 2 + "manipulator"&l( +19 "core" ( +2 "manipulator"&& +5 "core" & c  + "storage"(3& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&I' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"(&'X +7 "core" & y  +2 "manipulator"&8% +4 "core" % 4 y / +2 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( + "manipulator"&a& +5 "core" &* Z @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &* ' @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +3 "manipulator"&& +4 "core" &* b @] +2 "manipulator"&M% +3 "core" %' o +3 "collection"'w& +3 "core" &5 +3 "collection"'m& +5 "core" &) +2 .tCC.seek :closed +2 "collection"'N(V +5 "core" &) +6 &AA #c +9 &] , 6 +10 &( G +9 &`- F +9 &e) F +10 &ec6 F +9 &&d/ F +9 &e8 F +10 &c3 F +9 &le8 F +10 & .e= F +9 &!d? F +9 &#e? F +10 &%re7 G +9 &'7d/ F +9 &(d9 F +10 &*d 8 F +9 &,}d; F +10 &.?d; F +9 &0c; F +9 &1d; F +10 &3d< F +9 &5Gd7 F +9 &7 e: F +10 &8d: F +9 &:e9 F +10 &e; F +9 &?e; F +10 &Ae F +9 &CTe5 G +9 &Ej< G +10 &FrG G +9 &H~< I +10 &JL; L +9 &L ? P +9 &M; P +10 &O; P +9 &QH5 P +9 &S A R +10 &TD R +9 &V;gF . +10 &V ; ^ +8 ( +2 &Vr8 J +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&@1 +64 "core" 1 +3 "manipulator"&o% +3 "core" % ' ! 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +104 "core" ' +4 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%Z& +3 "core" &G +2 "manipulator"&'% +5 "core" %\ \ ,  + "storage"(^% +5 "core" %a + "storage"(<. +4 "core" .( + "storage"(4& +4 "core" &  +2 "storage"(9& +4 "core" &  +2 "manipulator"&(& +3 "core" &* m @\\ +2 "manipulator"&% +5 "core" %\ \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +159 "core" ( +2 "manipulator"&X& +3 "core" & P  +2 "storage"(g& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +92 "core" ' + "storage"(V& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +277 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 2 +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&>& +3 "core" & D  +2 "storage"(& +4 "core" & 8 +3 .tForearm.seek 2 + 300 counts + "manipulator"&\\' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"('X +8 "core" & ,  +2 "manipulator"& % +3 "core" %  _ P +3 .tForearm.seek :retract +2 "manipulator"&p'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&C& +5 "core" &x    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &x   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +102 "core" ' +2 "manipulator"&n& +3 "core" &x Y  +3 "manipulator"&"% +3 "core" % v d +2 "processing"%6& +4 "core" &v +3 "processing"%& +5 "core" &r +2 .tPC.seek :closed +3 "processing"%}(Z +3 "core" &s +6 &u 9 +9 &QMw 0 +10 &{v D +9 &Ofr F +10 &hq G +9 &ef G +9 &cn F +10 &Wdv F +9 &g: G +10 &c G +9 &hm F +9 &!^b G +10 &#!hf F +9 &$ce F +9 &&dc F +10 &(ghH F +9 &*(cv G +9 &+hj F +10 &-hK G +9 &/ogD F +10 &11e F +9 &2h| G +9 &4fE G +10 &6wc F +9 &8:e F +9 &9h G +10 &;e G +9 &=g F +10 &?@c G +9 &Ac F +9 &Bh G +10 &Dj G +9 &FFr G +9 &H J +10 &I K +9 &K L +10 &MAs L +9 &O L +9 &P L +10 &R L +9 &TG M +9 &V\  L +10 &W M +9 &Y 9 +10 &Zw3 Q +9 &Z " +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&Q1 +60 "core" 1 +2 "manipulator"&S% +3 "core" %  d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +90 "core" ' +2 "processing"%u& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&d% +3 "core" %\    +3 "storage"(`% +3 "core" %O +2 "storage"(. +3 "core" .( +2 "storage"(0& +3 "core" &  +3 "storage"(5& +2 "manipulator"&c& +7 "core" & + &x  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'i +49 "core" ( +3 "manipulator"&_& +3 "core" &x x  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &x _  +2 .tForearm.seek PC +2 "manipulator"&J' +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"% ( +86 "core" ' + "storage"(v- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +47 "core" ' +287 ( +2 "storage"(H& +3 "core" & +3 "manipulator"&& +3 "core" &x   +2 "manipulator"&U% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&W'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&{( +264 "core" ( +2 "manipulator"&1& +3 "core" &   +2 "storage"(A& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 .tHand.open +2 "manipulator"&=1 +64 "core" 1 +2 "storage"(#- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +3 "core" -' +2 "storage"(;& +4 "core" & \ P\ P | +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +4 "core" & F  +2 "storage"(:& +4 "core" & \ P\ Q u +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(t' +59 "core" ' +2 "manipulator"&)& +3 "core" &   +3 "storage"(h& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& ' +24 "core" ' + .tElbow.hold +7 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(j'i +25 "core" ' +2 "manipulator"&~% +3 "core" % * +3 "storage"(|& +3 "core" & t + +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 306 counts + "manipulator"&' +19 "core" ' + "manipulator"&G& +4 "core" & @  +2 "storage"(i& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +35 "core" ' +2 "storage"(7% +4 "core" %n  +2 ."downElevator"SE.seek :down +4 "storage"(x'X +99 (f% +2 "core" %|Z j b - PI +3 "manipulator"&% +3 "core" %њ ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (*& +3 "core" & o +2 "collection"'!& +3 "core" &Vq 4 J +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %\ # > +2 "storage"(% +4 "core" %a   +2 "storage"(. +3 "core" .( +2 "storage"(B& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&,& +4 "core" & %  +2 .tElbow.seek 2 +2 "manipulator"&( +43 "core" ( +9 "manipulator"&3& +3 "core" &   +3 "storage"(P& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +94 "core" ' +2 "storage"(8& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +282 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & 5  +2 "storage"($& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y' +30 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'O +25 "core" ' + "manipulator"&w% +5 "core" % O  + "storage"(l& +4 "core" & c c " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&&' +19 "core" ' +2 "manipulator"&?& +3 "core" & k  +2 "storage"(& +5 "core" & P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'> +37 "core" ' +2 "manipulator"&Z& +3 "core" &  +3 "manipulator"&'% +3 "core" %Ѩ ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +157 "core" ( + "manipulator"&<& +4 "core" &' >L +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &' W >L +3 .tForearm.seek CC + "manipulator"&9'" +99 "core" ' +2 .tHand.close + "manipulator"&(/ +65 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +3 "core" & 2 +2 "storage"(X& +4 "core" &  +2 "manipulator"&g& +3 "core" &'  >L +3 "manipulator"&V% +3 "core" % 0 M +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +157 "core" ( + "manipulator"&D& +5 "core" & R  + "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&%' +100 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&/% +3 "core" % +2 "storage"(E& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"& ' +20 "core" ' +3 "manipulator"&O& +3 "core" & -  +2 "storage"([& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +26 "core" ' + "storage"(\\% +4 "core" %G q +3 ."downElevator"SE.seek :down +3 "storage"(C'X +100 (]% +2 "core" %Q \ PG +3 "manipulator"&% +3 "core" %ѷ K +42 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +90 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ' +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'"& +3 "core" & +3 "manipulator"&6% +4 "core" %\    +2 "storage"(% +3 "core" %b  +2 "storage"(p. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Q& +2 "core" &   +2 "manipulator"&S& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&u( +15 "core" ( + "manipulator"&d& +5 "core" & " a + "storage"(`& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' + "storage"(0& +5 "core" & A  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(c'i +282 "core" ' +2 "storage"(5- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +4 "core" & E  +2 "manipulator"&_& +4 "core" &  a +2 .tElbow.seek 3 +2 "manipulator"&e( +4 "core" ( +2 "manipulator"&L& +3 "core" & T a +2 "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(}'X +8 "core" &  a + "manipulator"&-% +5 "core" % ϝ @ +2 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&U& +5 "core" &)  P @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &* S @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'" +92 "core" ' + "manipulator"&A& +5 "core" &*  u @^ + "manipulator"&% +5 "core" % u +2 "collection"'=& +3 "core" & +3 "collection"'#& +7 "core" & +3 .tCC.seek :closed +2 "collection"'z(V +3 "core" &7 +9 &A: $d +9 &]+ 6 +9 & % G +10 &cz F +9 &d? F +10 &gc2 F +9 &)e; F +9 &d@ F +10 &c9 F +9 &od< F +9 & 1c< F +10 &!c< F +9 &#e> F +10 &%wd: F +9 &'9c; F +9 &(dA F +10 &*d@ F +9 &,d? F +9 &.Ac? F +10 &0c> F +9 &1d C F +10 &3dF F +9 &5Id< F +9 &7 e= F +10 &8c; F +9 &:d> F +9 &c< F +9 &?e: F +10 &Ae: F +9 &CXe; F +9 &Ef; G +10 &FsF H +9 &H H I +9 &JM: M +10 &LB P +9 &M< P +10 &O; Q +9 &QJ: Q +9 &S\ : Q +10 &T: R +9 &V<h @ / +9 &V: 9 +10 &Wt< D +5 ( +2 "collection"'#& +3 "core" &W_7 D +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&;1 +57 "core" 1 +2 "manipulator"&% +5 "core" %   j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%:& +3 "core" &H +2 "manipulator"&W% +4 "core" %\  q  +2 "storage"()% +4 "core" %b +2 "storage"(h. +2 "core" .( +2 "storage"(~& +4 "core" &   +2 "storage"(b& +4 "core" & `  +2 "manipulator"&|& +3 "core" &) x @^ +2 "manipulator"&+% +3 "core" %\   +48 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&G( +164 "core" ( +2 "manipulator"&i& +3 "core" & :  +2 "storage"(7& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&{'9 +97 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(k'i +285 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&F& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&t& +3 "core" & 6  +2 "storage"( & +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"('X +8 "core" &   + "manipulator"&% +4 "core" % Ϣ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&B(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +2 "manipulator"&j& +3 "core" &l 6 ^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&,' +97 "core" ' +2 "manipulator"&3& +3 "core" &l 1 +3 "manipulator"&P% +3 "core" %   +2 "processing"%R& +4 "core" &B +3 "processing"%8& +5 "core" &F +2 .tPC.seek :closed +2 "processing"%x(Z +5 "core" &u +7 &?v #b +9 &Zt 5 +9 &w G +10 &`m F +9 &ev F +10 &Tbv G +9 &gk F +9 &bq G +10 &bf F +9 &\\bq G +9 & hv G +10 &!fw G +9 &#cj F +10 &%een F +9 &''bf F +9 &(dn F +10 &*cj G +9 &,mgr F +9 &./e= F +10 &/g G +9 &1hl G +10 &3te@ G +9 &57b F +9 &6c F +10 &8gk G +9 &:}fo F +9 &<>f G +10 &>d G +9 &?ho F +10 &Ad F +9 &CEj G +9 &Ek G +10 &Fs H +9 &H J +9 &J? L +10 &L L +9 &M^ L +10 &O L +9 &QF L +9 &S L +10 &T L +9 &V L +9 &XM M +10 &Yxw !h +9 &Z-~ / +9 ( +3 "processing"%8& +3 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&q1 +54 "core" 1 + "manipulator"&y% +4 "core" % T  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 "processing"%a& +5 "core" &Z + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&$% +3 "core" %\    +3 "storage"(% +4 "core" %W  + "storage"(w. +3 "core" .( +2 "storage"(l& +3 "core" & '  +2 "storage"(?& +3 "manipulator"&& +8 "core" &  + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&Z(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(''i +2 "core" ( +3 "manipulator"&.& +3 "core" &l  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l I +3 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + .tHand.close +2 "manipulator"&Y/ +58 "core" / +2 .tPC.seek :open +45 "processing"%&( +45 "core" ' +2 "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(<'y +43 "core" ' +335 ( + "storage"(4& +4 "core" & C  +2 "manipulator"&@& +4 "core" &l u +2 "manipulator"&I% +4 "core" %  D  +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&m( +260 "core" ( +2 "manipulator"&N& +3 "core" & &  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +96 "core" ' +2 .tHand.open +3 "manipulator"&g1 +61 "core" 1 +2 "storage"(V- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(D'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' +2 "storage"(^& +3 "core" &\ F\ G  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&/( +7 "core" ( +2 "manipulator"&E& +4 "core" & K  +2 "storage"(O& +3 "core" & ~\  /  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\\' +58 "core" ' + "manipulator"&T& +5 "core" & Q  + "storage"(]& +4 "core" & $  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(%'i +23 "core" ' +2 "manipulator"&"% +3 "core" %n +2 "storage"( & +5 "core" & q  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 285 counts +2 "manipulator"&6'Ϛ +20 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(p& +3 "core" & d  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +28 "core" ' + "storage"(s% +4 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(C'X +100 (r% +2 "core" %]Y l s a QJ +3 "manipulator"&Q% +3 "core" %I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +88 "core" ' +72 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (d& +3 "core" & -  +2 "collection"'`& +3 "core" &W_z D +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&0% +4 "core" %\  }  +2 "storage"(>% +4 "core" %V  +2 "storage"(n. +3 "core" .( +2 "storage"(5& +3 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&_& +3 "core" & _  +3 .tElbow.seek 3 + "manipulator"&L( +4 "core" ( +2 "manipulator"&& +3 "core" & ,  +2 "storage"(v& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +93 "core" ' +2 "storage"(-& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +47 .tSE.seek :beamBreak +5 "storage"(u'i +276 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" & d  +2 "storage"(J& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&c'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' + "manipulator"&=% +4 "core" %|  +2 "storage"(e& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&}'Ϩ +19 "core" ' +2 "manipulator"&H& +3 "core" & \\  +3 "storage"(& +3 "core" & (  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +37 "core" ' +2 "manipulator"&:& +3 "core" & `  +2 "manipulator"&W% +5 "core" %, +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +163 "core" ( +3 "manipulator"&~& +4 "core" & \ f 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" & " 2 +2 .tForearm.seek CC +2 "manipulator"&#'" +97 "core" ' + .tHand.close +2 "manipulator"&|/ +59 "core" / +2 .tCC.seek :open +2 "collection"'+( +416 "core" ( + "storage"(1& +4 "core" &   +2 "storage"(i& +4 "core" & V  +2 "manipulator"&7& +3 "core" & e 2 +2 "manipulator"&% +3 "core" % ) Y +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +169 "core" ( +2 "manipulator"&f& +3 "core" & E X +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&F'} +100 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&*% +3 "core" % · 2 +2 "storage"(!& +5 "core" & (  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +19 "core" ' +2 "manipulator"&G& +3 "core" & X +2 "storage"({& +5 "core" & }  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +28 "core" ' + "storage"(% +4 "core" %I   +3 ."downElevator"SE.seek :down +3 "storage"(j'X +100 (% +3 "core" %O  OE +2 "manipulator"&\ % +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +97 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'P& +3 "core" &* +2 "manipulator"&R% +4 "core" %\ 7  +2 "storage"(% +3 "core" %a 2 +46 "storage"(. +5 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" & K +2 "manipulator"&y& +4 "core" & * X +2 .tElbow.seek 2 +2 "manipulator"&a( +41 "core" ( +2 "manipulator"&$& +4 "core" & + ( +2 "storage"(& +3 "core" & $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +93 "core" ' +2 "storage"(l& +3 "core" & T +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(?- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" & +2 "manipulator"&.& +4 "core" &  ' +2 .tElbow.seek 2 +2 "manipulator"&( +21 "core" ( +3 "manipulator"&,& +4 "core" &  t +2 "storage"(Y& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(x'X +8 "core" & ' t +2 "manipulator"&'% +3 "core" % 8 K +3 .tForearm.seek :retract + "manipulator"&4'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&I& +3 "core" &$ :  ;8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &# M ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'" +93 "core" ' + "manipulator"&& +4 "core" &% " ;7 +3 "manipulator"&Z% +4 "core" %&  +2 "collection"'g& +5 "core" & : +2 "collection"'V& +5 "core" &8 +2 .tCC.seek :closed +2 "collection"'9(V +5 "core" &9 +5 &.6 #a +10 &ZE 5 +9 &B G +10 &dD F +9 &`= F +9 &]c> F +10 &e< F +9 &d< F +9 &c< F +10 &cd3 G +9 & 'c< F +10 &!d> F +9 &#e = F +9 &%ke> G +10 &'/cB F +9 &(c@ F +9 &*c? F +10 &,td ? F +9 &.6d@ F +10 &/c> F +9 &1bH F +9 &3}dH F +10 &5?c@ F +9 &7dB F +9 &8c@ F +10 &:d< F +9 &dC F +9 &?g> F +9 &AeB F +10 &CNe@ F +9 &Eg; G +9 &Fr? H +10 &HF J +9 &JCH M +10 &KH P +9 &M ; Q +9 &O~@ Q +10 &Q?; Q +9 &RE R +9 &TC R +10 &V7jH / +9 &VD _ +10 &V|: M +2 ( +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&^1 +53 "core" 1 +3 "manipulator"&% +4 "core" % & $  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%O& +3 "core" &u +2 "manipulator"&(% +4 "core" %\  v  +2 "storage"(T% +3 "core" %U e d V +2 "storage"(]. +3 "core" .( +2 "storage"("& +3 "core" &  k +2 "storage"( & +4 "core" & s L +2 "manipulator"&<& +4 "core" &$ b ;7 +2 "manipulator"&D% +3 "core" %\  F  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +162 "core" ( +2 "manipulator"&p& +3 "core" &   +2 "storage"(s& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +100 "core" ' +5 "storage"(X& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" & - +2 "manipulator"&[& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&/( +4 "core" ( +2 "manipulator"&\\& +3 "core" & 1  +2 "storage"(& +5 "core" & m +2 .tForearm.seek 2 + 300 counts + "manipulator"&6' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(0'X +9 "core" &   + "manipulator"&%% +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&n(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +3 "manipulator"&5& +3 "core" &g 6  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&_' +97 "core" ' +2 "manipulator"&& +3 "core" &h % +2 "manipulator"&v% +4 "core" %  3 +3 "processing"%o& +4 "core" &x +2 "processing"%-& +4 "core" &I +3 .tPC.seek :closed + "processing"%C(Z +5 "core" &z  +9 &8z )v +9 &ky = +10 &py G +9 &sbx G +9 &5hx G +10 &fy G +9 &bs F +9 &|ex F +10 &=by G +9 &fr G +10 & bq G +9 &"ei G +9 &$Edl G +10 &&ht F +9 &'ci G +9 &)gf F +10 &+Ocj F +9 &-gg G +10 &.hi F +9 &0dm G +9 &2Vh9 F +10 &4cU G +9 &5ho G +10 &7dy G +9 &9^e> F +9 &;e G +10 &<e G +9 &>h F +9 &@ed G +10 &B(d F +9 &Ch G +10 &En H +9 &Ggx I +9 &I# K +10 &J L +9 &L L +9 &Ne L +10 &P( L +9 &Q L +9 &S M +10 &Ul M +9 &W. M +10 &X M +9 &ZAC_ %k +9 &Z ( ! +6 ( +2 "processing"%-& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&K1 +60 "core" 1 +2 "manipulator"&S% +3 "core" %  3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 "processing"%U& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&J% +3 "core" %\ #  9 +2 "storage"(A% +4 "core" %b +2 "storage"(=. +3 "core" .( +2 "storage"(e& +4 "core" & B +2 "storage"(H& +3 "manipulator"&& +8 "core" & e d y + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&:(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'i +4 "core" ( +2 "manipulator"&2& +3 "core" &l  i +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &l ? +3 .tForearm.seek PC +2 "manipulator"&u' +99 "core" ' +2 .tHand.close + "manipulator"&c/ +56 "core" / +2 .tPC.seek :open +2 "processing"%}( +88 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'y +37 "core" ' +297 ( + "storage"(b& +4 "core" & +2 "manipulator"&;& +3 "core" &l +42 "manipulator"&% +12 "core" % +4 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +259 "core" ( + "manipulator"&z& +4 "core" & < +2 "storage"(1& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +98 "core" ' +2 .tHand.open +2 "manipulator"&71 +60 "core" 1 +4 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' +2 "storage"(h& +3 "core" & \ Q\ Q +2 "manipulator"& & +4 "core" & n +2 .tElbow.seek 2 +2 "manipulator"&*( +4 "core" ( +2 "manipulator"&!& +3 "core" & K +2 "storage"(G& +4 "core" & \ P\ O | +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&& +3 "core" & +3 "storage"(& +3 "core" & p +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\ ' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'i +24 "core" ' + "manipulator"&P% +5 "core" % / + "storage"(& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&R' +21 "core" ' +2 "manipulator"&& +3 "core" & 4 +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +17 "core" ' +2 "storage"(k% +3 "core" %m .  +3 ."downElevator"SE.seek :down +3 "storage"(j'X +100 (% +2 "core" %U v j q PI +2 "manipulator"&q% +5 "core" %ѣ 4 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ($& +3 "core" & \\ +2 "collection"'& +4 "core" &V{2 M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&l% +3 "core" %\   +3 "storage"(t% +3 "core" %S K +2 "storage"(3. +3 "core" .( +2 "storage"(?& +4 "core" & ' +2 "storage"(8& +3 "core" &  +2 "manipulator"&.& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"&,( +4 "core" ( +2 "manipulator"&Y& +3 "core" & h +2 "storage"(B& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +95 "core" ' +2 "storage"('& +3 "core" & ? +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +292 "core" ' +2 "storage"(w- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" & M +2 "storage"( & +3 "core" & | +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +46 "manipulator"&' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'Q +28 "core" ' +2 "manipulator"&g% +4 "core" %  +2 "storage"(& +3 "core" & q +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts +2 "manipulator"&x' +19 "core" ' + "manipulator"&4& +4 "core" & 8 +2 "storage"(+& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('@ +43 "core" ' + "manipulator"&O& +5 "core" & P + "manipulator"&(% +4 "core" %ѐ  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +157 "core" ( +2 "manipulator"&"& +3 "core" &" # 9) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &" 9) +3 .tForearm.seek CC + "manipulator"&V'" +98 "core" ' +2 .tHand.close + "manipulator"&. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(&( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &   +2 "manipulator"&S& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&U( +56 "core" ( +5 "manipulator"&J& +3 "core" &  z +2 "storage"(A& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +93 "core" ' +2 "storage"(e& +3 "core" & L  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'i +280 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" & | L  +3 "manipulator"&2& +3 "core" & z +3 .tElbow.seek 3 + "manipulator"&L( +3 "core" ( +2 "manipulator"&_& +4 "core" & p z +2 "storage"(c& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(C'X +8 "core" & [ z +2 "manipulator"&W% +3 "core" % Ͻ H +3 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&;( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &# , < :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &# ] :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +106 "core" ' +2 "manipulator"&1& +4 "core" &# :, +2 "manipulator"&:% +4 "core" % E P +2 "collection"'7& +5 "core" & +2 "collection"'& +4 "core" &M +3 .tCC.seek :closed +2 "collection"'#(V +4 "core" &N +7 &@K #c +10 &\\6 6 +9 &K G +9 &aB F +10 &dD F +9 &bcJ F +9 &"g@ F +10 &d< F +9 &c; F +10 &hdD F +9 & *d? F +9 &!d< F +10 &#d= F +9 &%pd: F +9 &'2c F +10 &(d* F +9 &*c< F +10 &,ydE F +9 &.;d? F +9 &/cG F +10 &1dH F +9 &3cI F +9 &5DcI F +10 &7dF F +9 &8f F +10 &:eE F +9 & eH F +10 &?e@ F +9 &Ae? F +10 &CQe G +9 &Ei5 G +9 &FqH G +10 &H~I I +9 &JHH M +9 &L@ P +10 &MB P +9 &OE Q +9 &QDI Q +10 &SD R +9 &TC R +10 &V6hE / +9 &V ] +9 ( +2 "collection"'& +3 "core" &V{7 L +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&h1 +56 "core" 1 +4 "manipulator"& % +3 "core" %  J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%G& +3 "core" &I +2 "manipulator"&|% +5 "core" %\   + "storage"(% +4 "core" %b +2 "storage"(. +3 "core" .( +2 "storage"(P& +3 "core" &  +2 "storage"(~& +4 "core" &  +2 "manipulator"&& +3 "core" &# V :+ +2 "manipulator"&f% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&& +5 "core" & @ y + "storage"(k& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&)'9 +95 "core" ' +2 "storage"(i& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" & ;  +2 "manipulator"&{& +3 "core" & a y +46 .tElbow.seek 3 +6 "manipulator"&*( +3 "core" ( +2 "manipulator"&& +3 "core" & > y +3 "storage"(\ & +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&R'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(l'X +8 "core" &  y +2 "manipulator"&t% +4 "core" % ϣ l +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&?& +4 "core" &n 6 -  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &n   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.' +96 "core" ' +2 "manipulator"&Y& +3 "core" &n   +2 "manipulator"&B% +5 "core" %   +2 "processing"%& +3 "core" &w +3 "processing"%'& +5 "core" &w +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &v  +9 &7x )v +9 &kw = +10 &sw H +9 &qev G +10 &4bv F +9 &ex F +9 &hx F +10 &ybr G +9 &<fw F +9 &cw G +10 & gu F +9 &"ct G +10 &$Dhr F +9 &&eh F +9 &'ho F +10 &)hs G +9 &+Lgj F +9 &- ck G +10 &.gj F +9 &0dl G +10 &2SjC G +9 &4f G +9 &5bl F +10 &7dh F +9 &9[gl G +9 &;dh G +10 &<cN F +9 &>cv G +10 &@cj< G +9 &B&jj F +9 &Cjx G +10 &En= H +9 &GexR I +9 &I! K +10 &Jm L +9 &LM L +10 &NeI L +9 &P& L +9 &Q} L +10 &S M +9 &Ukl L +9 &W, M +10 &X M +9 &Z=B_ %m +10 &Z - ! +5 ( +2 "processing"%'& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&y% +4 "core" % 3  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' +2 "processing"%I& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +3 "core" %\ \   +3 "storage"(% +3 "core" %^ e +2 "storage"(g. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(4& +2 "manipulator"&+& +8 "core" & x  + &n   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&O(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(('i +3 "core" ( +2 "manipulator"& & +4 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &n \\  +3 .tForearm.seek PC +2 "manipulator"&a' +98 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%x( +86 "core" ' + "storage"(Z- +3 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'y +36 "core" ' +297 ( +2 "storage"( & +4 "core" &  + "manipulator"&^& +4 "core" &n   +2 "manipulator"&M% +3 "core" %  z +3 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&T( +244 "core" ( + "manipulator"&9& +3 "core" & J "z +2 "storage"(N& +4 "core" & k  +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +93 "core" ' +2 .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "storage"(X- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(r'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Q' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(]& +3 "core" &\ P\ O u  +2 "manipulator"&& +9 "core" & "y +2 .tElbow.seek 3 +2 "manipulator"&d( +4 "core" ( +2 "manipulator"&`& +8 "core" &  "y +2 "storage"(& +4 "core" &\ O\ O  +3 .tForearm.seek 3 + 700 counts + "manipulator"&m'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +59 "core" ' +2 "manipulator"&@& +3 "core" & "y +2 "storage"(& +4 "core" & ^  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'} +18 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +23 "core" ' +2 "manipulator"&v% +3 "core" %Α B +2 "storage"(%& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&o'Ͻ +19 "core" ' +2 "manipulator"&0& +4 "core" & , "y +2 "storage"(>& +3 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(% +4 "core" %k <  +2 ."downElevator"SE.seek :down +4 "storage"(5'X +99 ( % +2 "core" % V q l % PH +3 "manipulator"&K% +3 "core" %9 g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" & !  +2 "collection"'A& +4 "core" &V{D L +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&e% +3 "core" %\    +2 "storage"(\\% +4 "core" %a E +2 "storage"(. +2 "core" .( +2 "storage"(& +5 "core" &   + "storage"(H& +4 "core" &   +2 "manipulator"&2& +4 "core" &  "y +2 .tElbow.seek 3 +2 "manipulator"&_( +4 "core" ( + "manipulator"&c& +4 "core" & + "y +2 "storage"(n& +3 "core" & s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + "storage"(W& +5 "core" & 5  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'i +279 "core" ' +2 "storage"(=- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 5 "x +2 "storage"(u& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&-'} +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(:'O +32 "core" ' + "manipulator"&L% +4 "core" %Ά ' +49 "storage"(7& +3 "core" & b c =  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&C'ϲ +19 "core" ' +2 "manipulator"&b& +3 "core" & B "x +3 "storage"(D& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '> +39 "core" ' +2 "manipulator"&G& +3 "core" & "x +2 "manipulator"&|% +5 "core" %( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&P& +3 "core" &( $ ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( \\ ?S +2 .tForearm.seek CC +2 "manipulator"&~'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'f( +416 "core" ( +2 "storage"(z& +4 "core" & V  +2 "storage"(& +3 "core" &   +2 "manipulator"&k& +4 "core" &&  =E +2 "manipulator"&i% +3 "core" % / V +3 .tForearm.seek :retract + "manipulator"&;'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&!( +163 "core" ( +2 "manipulator"&& +3 "core" & T B +2 "storage"(q& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&{'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&$% +5 "core" % } B +2 "storage"(& +4 "core" & +  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +20 "core" ' +2 "manipulator"&& +3 "core" & 7 B +3 "storage"()& +3 "core" & ,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +30 "core" ' +2 "storage"(R% +4 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (8% +3 "core" %L p OD +2 "manipulator"&*% +4 "core" % 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'B& +3 "core" & +2 "manipulator"&% +3 "core" %\ # 9 +3 "storage"(l% +3 "core" %a  +2 "storage"(3. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(}( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &  +2 "manipulator"&y& +4 "core" & B +2 .tElbow.seek 2 +2 "manipulator"&I( +41 "core" ( +2 "manipulator"& & +3 "core" &\  9 !u +2 "storage"(& +5 "core" & _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +91 "core" ' +2 "storage"('& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +47 .tSE.seek :beamBreak +5 "storage"('i +276 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +2 "core" &  +3 "manipulator"& & +4 "core" &  !t +2 .tElbow.seek 2 + "manipulator"&,( +33 "core" ( + "manipulator"&.& +4 "core" & _ } +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&w& +5 "storage"(j'X +3 "core" & N } +3 "manipulator"&(% +4 "core" % ( G +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&M& +3 "core" &% 7 @ <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &% ! <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&9'" +96 "core" ' +2 "manipulator"&N& +4 "core" &%  n <@ +2 "manipulator"&O% +3 "core" %( X +3 "collection"'s& +3 "core" & +3 "collection"'X& +6 "core" &2 +2 .tCC.seek :closed +3 "collection"'V(V +3 "core" &F +6 &9 ; +10 &LM 0 +9 & D +10 &Rc F +9 &c E +9 &d F +10 &c F +9 &[cI F +9 &cK F +10 &g F +9 &d F +10 &!cc F +9 &#%c F +9 &$b9 F +10 &&c< F +9 &(jcC F +9 &*-c= F +10 &+c= F +9 &-g= F +10 &/rcC F +9 &15c> F +9 &2c? F +10 &4g@ F +9 &6{c@ F +9 &8=c< F +10 &:cB E +9 &;eH F +10 &=dH F +9 &?CcH F +9 &AdD F +10 &BeH F +9 &DhB F +10 &FHpE G +9 &Hy I +9 &IB K +10 &Kx7 O +9 &M5F Q +9 &NE P +10 &P@ Q +9 &Rz? Q +9 &T9H R +10 &Uu= B +9 &V|> #d +10 &V+\ H +9 ( + &WY C +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&]1 +64 "core" 1 +2 "manipulator"&% +3 "core" % ( # e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &L +2 "manipulator"&<% +5 "core" %\    + "storage"(@% +5 "core" %R M + "storage"(. +3 "core" .( +2 "storage"(v& +3 "core" &  +2 "storage"(%& +4 "core" & V +2 "manipulator"&"& +4 "core" &%  <? +2 "manipulator"&r% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +160 "core" ( +2 "manipulator"&>& +3 "core" & Y s +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&T'ќ +91 "core" ' +2 "storage"(p& +3 "core" & k +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" & u +2 "manipulator"&m& +3 "core" & s +3 .tElbow.seek 2 + "manipulator"&d( +4 "core" ( +2 "manipulator"&6& +3 "core" & L s +2 "storage"(/& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(e'X +9 "core" &  s + "manipulator"&\\% +5 "core" % & B S +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"&& +3 "core" &t  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +3 "core" &t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&2' +99 "core" ' +2 "manipulator"&c& +4 "core" &t +2 "manipulator"&n% +3 "core" %  +3 "processing"%& +3 "core" &N +3 "processing"%W& +5 "core" &K +2 .tPC.seek :closed +2 "processing"%5(Z +5 "core" & +7 &Fz #b +9 &^} 6 +10 &z G +9 &dy G +9 &gx G +10 &be} G +9 &%b{ F +9 &dx F +10 &hv G +9 &ifu G +10 & ,cv G +9 &!bx F +9 &#er F +10 &%rcw G +9 &'4hr G +9 &(eu G +10 &*ct G +9 &,zhr G +10 &.;fu G +9 &/cp F +9 &1gj G +10 &3bo F +9 &5Efr F +9 &7du F +10 &8gt G +9 &:eo G +9 &cj F +9 &?he G +10 &Aci G +9 &CTfe G +9 &Elh G +10 &Fs> H +9 &H J +10 &JLD L +9 &Lg L +9 &MI L +10 &O L +9 &QTD L +9 &SW L +10 &T M +9 &V L +9 &XZ M +10 &Yww "j +9 &Z&g ( +9 ( +3 "processing"%W& +3 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&E1 +63 "core" 1 +2 "manipulator"&S% +3 "core" % 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' + "processing"%& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&u% +3 "core" %\    +3 "storage"(1% +3 "core" %V [ +2 "storage"(L. +3 "core" .( +2 "storage"(7& +4 "core" & S +2 "storage"(b& +3 "manipulator"&D& +8 "core" & P + &t +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&G(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'i +2 "core" ( +2 "manipulator"&& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &t t +3 .tForearm.seek PC + "manipulator"&U' +97 "core" ' +2 .tHand.close + "manipulator"&-/ +60 "core" / +3 .tPC.seek :open +2 "processing"%C( +81 "core" ' +2 "storage"(:- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'y +34 "core" ' +307 ( + "storage"(& +4 "core" &  +2 "manipulator"&h& +4 "core" &t +2 "manipulator"&% +3 "core" % ] +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +245 "core" ( +2 "manipulator"&#& +4 "core" & 4 !p + "storage"(z& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +99 "core" ' + .tHand.open +2 "manipulator"&k1 +64 "core" 1 +2 "storage"(i- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +42 .tSE.reconfigure :seal +11 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(q' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(~- +2 "core" -' +3 "storage"(& +3 "core" & J J M +2 "manipulator"&\ & +4 "core" & !p +2 .tElbow.seek 2 +2 "manipulator"&$( +4 "core" ( +2 "manipulator"&& +3 "core" & > !p +2 "storage"(& +5 "core" & J J 3 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(R' +60 "core" ' + "manipulator"&;& +5 "core" & !p + "storage"(8& +4 "core" & ! +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&*' +23 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'i +20 "core" ' +2 "manipulator"&t% +3 "core" % . +2 "storage"(B& +5 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&l& +3 "core" & V o +3 "storage"(3& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +23 "core" ' +2 "storage"(% +4 "core" %m S  +2 ."downElevator"SE.seek :down +4 "storage"(?'X +99 (&% +2 "core" %W t m M PH +2 "manipulator"&% +5 "core" %Ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +86 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & +2 "collection"'& +4 "core" &WW C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&'% +3 "core" %\   +2 "storage"(% +5 "core" %V  + "storage"(Y. +4 "core" .( + "storage"(+& +4 "core" &  +2 "storage"(4& +3 "core" &  +2 "manipulator"& & +4 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&.( +4 "core" ( + "manipulator"&& +4 "core" & G o +2 "storage"(F& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +95 "core" ' +2 "storage"((& +3 "core" & 7 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +275 "core" ' +3 "storage"(g- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & o +2 "storage"(a& +4 "core" & a +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +21 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(O'P +28 "core" ' + "manipulator"&s% +3 "core" % ` +2 "storage"(,& +4 "core" & r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&j' +16 "core" ' + "manipulator"& & +4 "core" & 5 o +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +42 "core" ' +10 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +39 "core" ' + "manipulator"&& +5 "core" & o + "manipulator"&<% +5 "core" %ѱ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +170 "core" ( +3 "manipulator"&v& +3 "core" & + +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &  + +2 .tForearm.seek CC +2 "manipulator"&%'" +94 "core" ' + .tHand.close +2 "manipulator"&"/ +64 "core" / +2 .tCC.seek :open + "collection"'r( +416 "core" ( +2 "storage"(9& +3 "core" & i +2 "storage"(>& +5 "core" & 6 + "manipulator"&& +5 "core" & + + "manipulator"&p% +5 "core" % 5 g +2 .tForearm.seek :retract +2 "manipulator"&^'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +157 "core" ( +2 "manipulator"& & +3 "core" & y  +2 "storage"(K& +4 "core" & G +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&m' +94 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +56 "core" 1 +2 "manipulator"&J% +3 "core" % a +2 "storage"(A& +5 "core" & ? + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&\\' +21 "core" ' +2 "manipulator"&0& +3 "core" & +  +2 "storage"(T& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +25 "core" ' + "storage"(o% +4 "core" %F  +3 ."downElevator"SE.seek :down +4 "storage"('X +100 (H% +3 "core" %5Q g OE +2 "manipulator"&d% +3 "core" %Ѯ O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'n& +3 "core" &; +3 "manipulator"&% +3 "core" %\  | # +2 "storage"(e% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(x( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +3 "core" & 8  +2 "manipulator"&S& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&u& +3 "core" & f r +2 "storage"(1& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +93 "core" ' + "storage"(W& +4 "core" & q  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'i +279 "core" ' +2 "storage"(D- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" & 8  +2 "manipulator"&& +4 "core" &  r +2 .tElbow.seek 3 +2 "manipulator"&_( +4 "core" ( + "manipulator"&2& +48 "core" & d r +6 "storage"(-& +4 "core" & A  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&:'ϩ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(5'X +8 "core" &  r + "manipulator"&|% +4 "core" %  9 +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&h( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +31 "core" ( + "manipulator"&& +4 "core" &  ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &  ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'" +100 "core" ' +3 "manipulator"&z& +3 "core" & D ) +2 "manipulator"&G% +4 "core" %  +3 "collection"'k& +4 "core" & +2 "collection"'i& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & +6 &A $d +9 &] 6 +9 &! G +10 &c F +9 &d F +10 &hc F +9 &*d F +9 &d F +10 &d F +9 &qc F +9 & 3c F +10 &!d F +9 &#eI F +10 &%ydH F +9 &';eK F +9 &(cG F +10 &*gF F +9 &,d? F +9 &.Bd< F +10 &0c; F +9 &1d< F +10 &3dC F +9 &5Kc< F +9 &7 b; F +10 &8c< F +9 &:d9 F +9 &d= F +9 &?eC F +9 &Ad< F +10 &CYe7 F +9 &Eg< F +10 &Fp< G +9 &H~9 I +9 &JN> M +10 &L< P +9 &MA Q +10 &O Q +9 &QL8 P +9 &S @ R +10 &T@ R +9 &V<g / +9 &V ; +10 &Wd - ? +5 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&~1 +4 "core" &WL ? +58 1 +3 "manipulator"&% +3 "core" %   i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &z +2 "manipulator"&% +4 "core" %\   +2 "storage"(;% +3 "core" %b  +2 "storage"(8. +3 "core" .( +2 "storage"(P& +4 "core" &   +2 "storage"(t& +3 "core" &   +2 "manipulator"&B& +4 "core" & ) +2 "manipulator"&% +3 "core" %\ D  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&l( +156 "core" ( + "manipulator"&3& +4 "core" & X ` +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(& +3 "core" & x  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +280 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & k  +2 "manipulator"&)& +4 "core" & 7 ` +2 .tElbow.seek 3 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&R& +3 "core" & b ` +2 "storage"(*& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(''X +8 "core" & ` + "manipulator"&% +4 "core" % ϭ J 3 +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&+(s +163 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +3 "manipulator"&{& +5 "core" &i H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &i + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&& +3 "core" &i q +2 "manipulator"&F% +5 "core" % 1 > +2 "processing"% & +3 "core" &L +3 "processing"%(& +5 "core" & +2 .tPC.seek :closed +2 "processing"%?(Z +5 "core" & +6 &= #b +10 &Z 5 +9 & G +9 &` F +10 &g G +9 &\\d G +9 &!c F +10 &h F +9 &f F +10 &ehy G +9 & 'i G +9 &!fv G +10 &#c~ F +9 &%mg G +9 &'0gy F +10 &(c~ F +9 &*iv G +10 &,uhx G +9 &.6eu G +9 &/a G +10 &1a G +9 &3~bu F +9 &5?dp G +10 &7et G +9 &8b| G +10 &:bu F +9 &\ du F +10 &?gk G +9 &Abp G +9 &CPgg F +10 &Ekg H +9 &Frf H +10 &Hs J +9 &JHu L +9 &L s L +10 &Me L +9 &O& M +9 &QNq M +10 &Si M +9 &Tg L +10 &Vi M +9 &XUg M +9 &Ywvh "j +10 &Z'ki * +8 ( +2 &Zq +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&!1 +62 "core" 1 + "manipulator"&y% +4 "core" %  > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +90 "core" ' +2 "processing"%M& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %\    +3 "storage"(N% +3 "core" %W ( +2 "storage"(s. +3 "core" .( +2 "storage"(,& +3 "core" & 5  +2 "storage"( & +3 "manipulator"&f& +5 "core" & N  +2 &i  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&<(s +6 "core" ( +2 "manipulator"&w& +3 "core" &i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +2 "core" &i O +3 .tForearm.seek PC + "manipulator"&I' +92 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%j( +84 "core" ' +2 "storage"(O- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +34 "core" ' +305 ( +2 "storage"(X& +4 "core" & L  +2 "manipulator"&]& +3 "core" &j { +2 "manipulator"&Z% +5 "core" %  0 +2 .tForearm.seek :retract + "manipulator"&"'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@( +242 "core" ( + "manipulator"&V& +5 "core" & 3 9 + "storage"(9& +4 "core" & -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +97 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(p- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(K' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +2 "core" -' +2 "storage"(& +4 "core" & K K =  +2 "manipulator"&/& +4 "core" & z 9 +2 .tElbow.seek 3 +2 "manipulator"&J( +11 "core" ( +2 "manipulator"&A& +43 "core" &  +10 "storage"(0& +3 "core" & M K \\  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(o' +59 "core" ' + "manipulator"&^& +5 "core" & k  +2 "storage"(H& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&d'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(m'i +25 "core" ' +2 "manipulator"&\\% +3 "core" %Ό +2 "storage"(n& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ϸ +20 "core" ' + "manipulator"&e& +4 "core" & O  +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(Q% +3 "core" %r B +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (}% +3 "core" %X m s Y QJ +2 "manipulator"&E% +4 "core" %B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +3 "core" & L  +2 "collection"'1& +4 "core" &WL ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&W% +3 "core" %\   +3 "storage"(6% +3 "core" %U  +2 "storage"(c. +3 "core" .( +2 "storage"(D& +3 "core" &   +2 "storage"(b& +5 "core" &   + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&2( +9 "core" ( +2 "manipulator"&-& +3 "core" & A +2 "storage"([& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +91 "core" ' + "storage"(|& +4 "core" & &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' + "storage"(L- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(7& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'} +21 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'P +28 "core" ' +2 "manipulator"&G% +3 "core" %΀ +2 "storage"(k& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&5'Ϭ +19 "core" ' +2 "manipulator"&& +3 "core" & p +2 "storage"(r& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&~'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +38 "core" ' +2 "manipulator"&& +3 "core" & K +2 "manipulator"&% +4 "core" %~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 .tElbow.seek CC +41 "manipulator"&i( +166 "core" ( +3 "manipulator"&8& +3 "core" &$  B ;8 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &# ) ;8 +3 .tForearm.seek CC + "manipulator"&t'" +94 "core" ' +2 .tHand.close + "manipulator"&B/ +57 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(#& +3 "core" &  +2 "storage"(3& +5 "core" & y  + "manipulator"&& +5 "core" &"  9) + "manipulator"&% +5 "core" % 4  +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&\ ( +163 "core" ( + "manipulator"&&& +5 "core" & ^ l + "storage"(& +5 "core" & M  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&)'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +62 "core" 1 +2 "manipulator"& % +4 "core" % Έ $ +2 "storage"(& +4 "core" & Z  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +20 "core" ' + "manipulator"&l& +4 "core" & M l +2 "storage"(& +4 "core" & "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +28 "core" ' +2 "storage"(% +3 "core" %F m +3 ."downElevator"SE.seek :down +4 "storage"({'X +98 (4% +3 "core" %R v OE +2 "manipulator"&$% +4 "core" %" +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +8886 "Can"r 31? +60002 } 3? +48982 #t-> exit +11 #mEXIT @1734023931.35EST @1734117230.50EST = =mMAIN_scheduler =tMAIN @EST1734117231.19 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +104 #"core_reset"Sent BREAK +2 #t@6182 select with ifg=0x10, ie=0xF5 #@6831 receive with ifg=0x10, ie=0xFD + #@7479 receive with ifg=0x10, ie=0xFD + #@8128 receive with ifg=0x10, ie=0xFD #@8456 receive with ifg=0x80, ie=0xFD + #@6507 sendCRC with ifg=0x20, ie=0x7F + #@6954 sendCRC with ifg=0x20, ie=0x7F #@8545 sendCRC with ifg=0x08, ie=0x5F + #@3856 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +363 "Can" 1c_ +  1c_ + #tPolling Can every 10:00 +25 #Cleanly exited at 12:18:51EST12-Dec-24 +487 #-> ESP.ready! +153 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +4 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %z +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" % l +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +814 #-> 10.times{shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +3 "core" &R +2 .tHand.open +2 "manipulator"&31 +22 "core" 1 +2 "manipulator"&4% +3 "core" %\  p  +3 "storage"(5% +4 "core" %a ( + "storage"(6. +4 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(7( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" & o +2 "manipulator"&9& +4 "core" &  l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&:( +64 "core" ( +2 "manipulator"&;& +3 "core" & k  +2 "storage"(<& +4 "core" & +6 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +95 "core" ' +2 "storage"(>& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +277 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &  +2 "manipulator"&B& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&D& +3 "core" &  +2 "storage"(E& +3 "core" & n +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(I'X +8 "core" & 9  +2 "manipulator"&J% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&K'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&M& +3 "core" && ' L =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &&  =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'" +99 "core" ' +2 "manipulator"&P& +3 "core" && # 8 =D +2 "manipulator"&Q% +4 "core" %"  +2 "collection"'R& +5 "core" &X +2 "collection"'S& +5 "core" &I +2 .tCC.seek :closed +2 "collection"'T(V +5 "core" &L +6 &J/ $d +9 &]^ 7 +10 &1 H +9 &g6 G +10 &iC G +9 &ege G +9 &%he H +10 &fe H +9 &fd H +9 &mkV G +10 & /iO G +9 &!iR G +10 &#iR G +9 &%uh& G +9 &'6eO H +10 &(kR G +10 &*gR H +8 &,}fP G +10 &.?hP G +9 &0kP H +10 &1kR H +9 &3hR H +9 &5GjS G +10 &7gH H +9 &8eP G +9 &:iG G +10 &hG G +10 &?hF H +9 &AfG G +9 &CVjI H +10 &Ep$"@ H +9 &Fx+-D J +10 &H"&@ K +9 &JJ $I O +9 &LH Q +10 &M> R +9 &OG Q +9 &QI? R +10 &SB S +9 &T> R +9 &V?kC 0 +10 &VF 5 +9 &VpD F +6 ( + "collection"'S& +4 "core" &VlD F +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&U1 +56 "core" 1 +9 "manipulator"&V% +4 "core" % "  | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +99 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +4 "core" &z +2 "manipulator"&Y% +3 "core" %\   U , +3 "storage"(Z% +3 "core" %` g f  +2 "storage"([. +3 "core" .( +2 "storage"(\\& +4 "core" & i g ! +2 "storage"(]& +3 "core" & t j  +3 "manipulator"&^& +3 "core" && } =D +2 "manipulator"&_% +4 "core" %\  f , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +161 "core" ( + "manipulator"&a& +5 "core" &  T x + "storage"(b& +4 "core" & Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +95 "core" ' +2 "storage"(d& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +283 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & R +2 "manipulator"&h& +4 "core" & ' x +2 .tElbow.seek 2 + "manipulator"&i( +4 "core" ( +2 "manipulator"&j& +3 "core" & . x +2 "storage"(k& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&l' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&m/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o'X +8 "core" & - x +2 "manipulator"&p% +4 "core" % / f 1 +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( +2 "manipulator"&s& +4 "core" &g 5 P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &g  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +104 "core" ' +2 "manipulator"&v& +3 "core" &i  +3 "manipulator"&w% +3 "core" %  +2 "processing"%x& +4 "core" &z +3 "processing"%y& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%z(Z +5 "core" &z +7 &=z #c +9 &[z 6 +10 &z H +9 &gt H +10 &kx H +9 &]fy G +9 & gy G +10 &kv G +9 &mn H +9 &dln H +10 & 'mr G +9 &!gm G +10 &#hj G +9 &%mli G +9 &'/li G +10 &(kj H +9 &*ki G +9 &,vjj G +10 &.6jj H +9 &/ii H +10 &1ej G +9 &3}eh G +9 &5@hc G +10 &7ih H +9 &8g[ G +9 &:kg H +10 & f_ G +10 &?g_ H +9 &Ake G +9 &CNi\\ H +10 &EpZ H +9 &Fy\\ J +9 &HR K +10 &JIS L +9 &L V L +9 &MT L +10 &OZ M +9 &QP[ M +10 &S_ M +9 &T` M +9 &V\\ N +10 &XU] N +9 &Ywy\\ "j +9 &Z(oU , +10 ( + &Z^ ! +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&{1 +63 "core" 1 + "manipulator"&|% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' +2 "processing"%~& +3 "core" &ZJ ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  3 +2 "storage"(% +4 "core" %\\  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & x s +3 "storage"(& +4 "manipulator"&& +5 "core" & s . + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +3 "core" ( +2 "manipulator"& & +4 "core" &i r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +37 & & +11 "core" &i M +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tPC.seek :open + "processing"%( +58 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +332 ( + "storage"(& +3 "core" & +3 "manipulator"&& +4 "core" &i  +2 "manipulator"&% +3 "core" % Q +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +240 "core" ( +2 "manipulator"&& +3 "core" &\  g D +2 "storage"(& +5 "core" & g f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(#& +5 "core" & }\ - w + "manipulator"&$& +4 "core" &\ P D +2 .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" &\ ; D +2 "storage"('& +3 "core" & L N A +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +57 "core" ' +2 "manipulator"&*& +3 "core" &\  D +2 "storage"(+& +4 "core" & ; +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&,' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(.'i +23 "core" ' +2 "manipulator"&/% +3 "core" % V Z +2 "storage"(0& +4 "core" & f f h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&1' +20 "core" ' +2 "manipulator"&2& +3 "core" & L C +2 "storage"(3& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +23 "core" ' +2 "storage"(5% +3 "core" %r T +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (% +3 "core" %W o o " QK +2 "manipulator"&8% +3 "core" %ѓ  v +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &  +2 "collection"'<& +4 "core" &Vk3 F +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&>% +3 "core" %\ \ y  +2 "storage"(% +4 "core" %R  +2 "storage"(. +3 "core" .( +2 "storage"(@& +3 "core" &  +2 "storage"(A& +4 "core" &  +2 "manipulator"&B& +3 "core" &  C +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( +2 "manipulator"&E& +3 "core" & 7 C +2 "storage"(G& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +95 "core" ' +2 "storage"(J& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +281 "core" ' + "storage"(=- +5 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +46 "manipulator"&M& +3 "core" & F C +2 "storage"(N& +3 "core" & E +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&?' +27 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'P +28 "core" ' +2 "manipulator"&R% +3 "core" % V % +2 "storage"(C& +3 "core" & r | G +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&I' +20 "core" ' + "manipulator"&K& +4 "core" & X C +2 "storage"(\ & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'? +39 "core" ' + "manipulator"&X& +4 "core" & # C +2 "manipulator"&Y% +3 "core" %ѩ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +148 "core" ( +3 "manipulator"&[& +3 "core" &*  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &* : @X +2 .tForearm.seek CC +2 "manipulator"&]'" +97 "core" ' + .tHand.close +2 "manipulator"&^/ +58 "core" / +2 .tCC.seek :open +2 "collection"'_( +416 "core" ( +2 "storage"(O& +3 "core" & +2 "storage"(a& +4 "core" &  +2 "manipulator"&b& +3 "core" &* @X +2 "manipulator"&d% +5 "core" % '  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +153 "core" ( +2 "manipulator"&f& +3 "core" & k +3 "storage"(g& +3 "core" & $ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&h' +104 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +60 "core" 1 +2 "manipulator"&m% +3 "core" %   T +2 "storage"(n& +5 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&p' +20 "core" ' +3 "manipulator"&`& +3 "core" & +2 "storage"(c& +4 "core" & P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +29 "core" ' + "storage"(l% +5 "core" %E  +2 ."downElevator"SE.seek :down +4 "storage"(s'X +98 (t% +3 "core" %R O PH +2 "manipulator"&i% +4 "core" %ѕ 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +89 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +3 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +4 "core" &; +2 "manipulator"&x% +3 "core" %\    +2 "storage"(o% +4 "core" %X  +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &   +2 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +18 "core" ( +2 "manipulator"&& +3 "core" & ` | +3 "storage"(& +3 "core" & o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +36 "manipulator"&'9 +103 "core" ' +2 "storage"(y& +3 "core" & w  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +3 "manipulator"& & +4 "core" &  | +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&u& +3 "core" & | +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(z'X +9 "core" & % | + "manipulator"& % +5 "core" % ϯ 1 +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" &% , C <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +107 "core" ' +2 "manipulator"&& +3 "core" &% # l <> +2 "manipulator"&% +4 "core" % w +2 "collection"'& +4 "core" &W +3 "collection"'& +5 "core" & +3 .tCC.seek :closed +2 "collection"'"(V +4 "core" &I +6 &9 #b +10 &[F 6 +9 & > H +9 &g@ G +10 &hU H +9 &RfR G +10 &iI G +9 &hA G +9 &ib G +10 &Zh= G +9 & j? G +9 &!i E H +10 &#h \ = G +9 &%bi\ [ G +10 &'#gG H +9 &(g\ 0 G +9 &*g/ G +10 &,ki\ \ 1 G +9 &.-g\ - G +9 &/g , G +10 &1e\ , G +9 &3rg - G +10 &55d 5 G +9 &6h\ 5 G +9 &8f\ 0 G +10 &:zg\  3 G +9 &<=e\ 0 G +9 &=g \ 2 G +10 &?k 3 G +9 &Ag \ ) G +10 &CDh  1 G +9 &Ek 0 H +9 &Fv4 I +10 &H0 J +9 &J92 N +9 &K. Q +10 &M3 Q +9 &Ow0 Q +10 &Q90 Q +9 &R2 R +9 &T3 R +10 &V$X3 9 +9 &V ~3 'n +9 &V~1 N +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator" +65 "core" 1 +3 "manipulator"&$% +3 "core" %   3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +103 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +3 "core" &y +2 "manipulator"&% +4 "core" %\  f  +2 "storage"(*% +4 "core" %U f e +2 "storage"(+. +3 "core" .( +2 "storage"(/& +3 "core" & v g F  +2 "storage"(0& +4 "core" & g e  +2 "manipulator"&& +4 "core" &%  <> +2 "manipulator"&2% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&3( +161 "core" ( +2 "manipulator"& & +3 "core" & N  +2 "storage"(5& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' +2 "storage"(& +3 "core" & /  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" & h d K  +3 "manipulator"&(& +3 "core" & .  +2 .tElbow.seek 3 +2 "manipulator"&%( +4 "core" ( + "manipulator"&)& +4 "core" &  d  +2 "storage"(,& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(>'X +6 "core" & A  +39 "manipulator"&% +11 "core" % ϟ +3 .tForearm.seek :retract + "manipulator"&.'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +133 "core" ( +2 "manipulator"&@& +3 "core" &s 5 c +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" &s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +94 "core" ' +2 "manipulator"&E& +3 "core" &s % +2 "manipulator"&G% +4 "core" %  < +2 "processing"%4& +5 "core" &y +2 "processing"%J& +4 "core" &p +3 .tPC.seek :closed +2 "processing"%6(Z +5 "core" &z  +8 &8x )w +9 &my > +10 &xv H +9 &xdw G +9 &9kv G +10 &is H +9 &il H +9 &hj G +10 &Bgi G +9 &jh G +10 & fi G +9 &"gi G +9 &$Ifj G +10 && fi G +9 &'jj H +9 &)hi G +10 &+Qji G +9 &-ki G +10 &.jh G +9 &0ji H +9 &2Xii H +10 &4hh H +9 &5ih G +9 &7h] H +10 &9aif G +9 &;$ed G +10 &<kc G +9 &>h_ G +9 &@imT G +10 &B+l` G +9 &Cj_ G +9 &EqS H +10 &GkzZ J +9 &I(V K +10 &J] M +9 &LT M +9 &NkT L +10 &P-\\ L +9 &Q\\ M +9 &S\\ M +10 &Uq] M +9 &W2[ M +10 &X] M +9 &ZEDc^ %m +9 &Z&^ " +6 ( + "processing"%J& +4 "core" &Z\\ " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&-1 +52 "core" 1 +2 "manipulator"&9% +3 "core" %  < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +98 "core" ' + "processing"%M& +5 "core" &Z7 " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\ 0 +2 "storage"(P% +3 "core" %U { { +2 "storage"(R. +4 "core" .( + "storage"(C& +4 "core" & { {  +7 "storage"(K& +4 "manipulator"&\ & +4 "core" & n n )  +2 &s  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&X(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(Y'i +3 "core" ( +2 "manipulator"&H& +4 "core" &s R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &s  +2 .tForearm.seek PC +2 "manipulator"&:' +95 "core" ' + .tHand.close +2 "manipulator"&?/ +55 "core" / +2 .tPC.seek :open + "processing"%I( +89 "core" ' +2 "storage"(Q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +35 "core" ' +298 ( +2 "storage"(\\& +3 "core" & j t   +2 "manipulator"&U& +5 "core" &s | + "manipulator"&F% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +245 "core" ( + "manipulator"&T& +5 "core" & $ { P + "storage"(O& +4 "core" & x { U  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +102 "core" ' +2 .tHand.open + "manipulator"&b1 +60 "core" 1 +2 "storage"(d- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +45 "core" ' +4 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' + "storage"(S& +4 "core" &\ K\ P &  +2 "manipulator"&k& +3 "core" & r N +3 .tElbow.seek 3 + "manipulator"&m( +4 "core" ( +2 "manipulator"&n& +3 "core" &  D N +2 "storage"(`& +5 "core" &\ I\ P *  +2 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +60 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +57 "core" ' + "manipulator"&L& +4 "core" &\  M +2 "storage"(t& +4 "core" & w |   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&i'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +27 "core" ' +2 "manipulator"&p% +3 "core" %r +2 "storage"(w& +4 "core" & y s 2  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 289 counts + "manipulator"&x'Ϟ +20 "core" ' +2 "manipulator"&o& +3 "core" &  { M +2 "storage"(q& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +30 "core" ' +2 "storage"(e% +3 "core" %q  +3 ."downElevator"SE.seek :down +4 "storage"(s'X +98 (7% +3 "core" %]Z n p . QJ +2 "manipulator"&{% +5 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +88 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & }  +2 "collection"'& +4 "core" &V}& N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&y% +3 "core" %\   +2 "storage"(j% +5 "core" %b  + "storage"(v. +4 "core" .( +2 "storage"(& +3 "core" & T  +2 "storage"(& +4 "core" & T  +2 "manipulator"& & +3 "core" & n M +3 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( +2 "manipulator"&& +3 "core" &  s M +2 "storage"(r& +5 "core" & #  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +95 "core" ' + "storage"( & +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & = M +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +31 "core" ' +2 "manipulator"& % +3 "core" %Ά  +2 "storage"(& +4 "core" & s y 9  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&z'ϲ +20 "core" ' +2 "manipulator"&& +4 "core" & J M +2 "storage"(_& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'? +42 "core" ' +2 "manipulator"&'& +3 "core" & q M +2 "manipulator"&% +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +149 "core" ( +3 "manipulator"&+& +3 "core" && % b ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &' P ;4 +2 .tForearm.seek CC +2 "manipulator"&0'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'2( +420 "core" ( +2 "storage"(& +3 "core" & ~  +2 "storage"( & +4 "core" &  +2 "manipulator"&5& +40 "core" &% @ ;4 +10 "manipulator"&% +3 "core" % ! - +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +157 "core" ( +2 "manipulator"&& +3 "core" & D  +2 "storage"(8& +4 "core" & 8  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +96 "core" ' +2 .tElbow.hold + "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +62 "core" 1 +3 "manipulator"&;% +3 "core" % n I +2 "storage"(<& +5 "core" & o  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 285 counts +2 "manipulator"&'Ϛ +20 "core" ' +2 "manipulator"&3& +3 "core" & v  +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +16 "core" ' +4 "storage"(1% +7 "core" %H +8 ."downElevator"SE.seek :down +5 "storage"(@'X +99 (A% +3 "core" %U  OG +2 "manipulator"&%% +4 "core" %= @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" &E +2 "manipulator"&4% +4 "core" %\  +2 "storage"(>% +3 "core" %] +2 "storage"(.. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +3 "core" & \\ +2 "manipulator"&9& +4 "core" & @  +2 .tElbow.seek 2 +2 "manipulator"&M( +29 "core" ( + "manipulator"&N& +4 "core" & D !p +2 "storage"(P& +3 "core" &  u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +97 "core" ' +2 "storage"(C& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +280 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &  u +2 "manipulator"&H& +4 "core" & n +2 .tElbow.seek 2 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&B& +4 "core" & d n +2 "storage"(?& +3 "core" &  p +4 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"(6'X +8 "core" & J n + "manipulator"&Y% +4 "core" %  k { +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&F& +4 "core" &&   =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &&  =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'" +101 "core" ' +3 "manipulator"&O& +4 "core" && " O =D +2 "manipulator"&X% +3 "core" %& L +3 "collection"'b& +3 "core" &" +3 "collection"'d& +5 "core" &Z +3 .tCC.seek :closed + "collection"'](V +5 "core" &" +6 &8 #b +9 &\\F 6 +9 &a G +10 &b] F +42 &gD G +9 &Tc6 G + &g` G + &i> G + &fa F +2 &\\gK G +9 & de G +10 &!gH G +9 &#e; G +10 &%df` G +9 &'&cH G +9 &(f? F +10 &*f; G +9 &,kj@ G +10 &.-dB G +9 &/f> G +9 &1eC G +10 &3ufE F +9 &56fD G +9 &6e< G +10 &8e2 F +9 &:}g@ F +9 &<=g8 G +10 &>f1 F +9 &?g0 G +10 &Ad0 G +9 &CFg2 G +10 &Ek  4 G +9 &Ft= I +9 &H1 J +9 &J;= M +10 &K4 P +9 &M/ P +10 &Ow2 Q +9 &Q92 Q +9 &R3 R +10 &T1 R +9 &V#U0 7 +9 &V7 ,| +10 &Vy. K +2 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&S1 +64 "core" 1 +3 "manipulator"&k% +5 "core" % &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +3 "core" &o +2 "manipulator"&^% +4 "core" %\   +2 "storage"(L% +4 "core" %` e c G +2 "storage"(t. +3 "core" .( +2 "storage"([& +3 "core" &  f f a +2 "storage"(f& +3 "core" &  f f f +3 "manipulator"&p& +3 "core" &%  <@ +2 "manipulator"&w% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&o( +158 "core" ( +2 "manipulator"&q& +3 "core" &  +2 "storage"(Z& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +96 "core" ' +2 "storage"(e& +3 "core" &  p +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +282 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &  +2 "manipulator"&c& +4 "core" & V  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +4 "core" & C  +2 "storage"(i& +3 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(y'X +8 "core" & .  + "manipulator"&j% +4 "core" % <  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&v(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&& +3 "core" &} ) V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &} ^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 "manipulator"&& +3 "core" &}  W +3 "manipulator"&r% +3 "core" % ^ +2 "processing"%V& +5 "core" &z +2 "processing"% & +4 "core" &p +3 .tPC.seek :closed + "processing"%s(Z +5 "core" &q  +9 &7{ )w +10 &jw = +9 &vv G +9 &kgv G +10 &.dy G +9 &hx G +9 &fv G +10 &tgq G +9 &5gr G +10 &jj G +9 & ge G +9 &"{gj G +10 &$>di G +9 &%gi G +9 &'ii G +10 &)ei G +9 &+Ehi G +10 &-hj G +9 &.gj G +9 &0ii G +10 &2Ndi G +9 &4gi G +9 &5ji G +10 &7gh G +9 &9Uhi G +10 &;bi G +9 &<gi G +9 &>gi G +10 &@\\ii H +9 &Bii G +9 &Chi H +10 &Epf H +9 &G`}i I +10 &Ii K +9 &Jj M +9 &Lc L +10 &N^e M +9 &P^ M +9 &Q` L +10 &S^ M +9 &Ud` M +10 &W&[ M +9 &Xd N +9 &Z;Ec^ %k +10 &Z -W ! +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&W1 +2 "core" &ZU ! +53 1 + "manipulator"&|% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%& +3 "core" &ZM ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %\ i 5 +3 "storage"(% +3 "core" %X h v E +40 "storage"( . +11 "core" .( +2 "storage"(& +3 "core" &  x z +3 "storage"(& +2 "manipulator"&_& +6 "core" &  z x +2 &} 7 +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&'(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&}& +4 "core" &} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &} d +2 .tForearm.seek PC +2 "manipulator"&~' +103 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%z( +85 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'y +39 "core" ' +297 ( + "storage"(/& +3 "core" &  l e x +2 "manipulator"&#& +5 "core" &}  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +262 "core" ( +2 "manipulator"&"& +3 "core" & G  +3 "storage"(& +4 "core" &  v i D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +98 "core" ' +2 .tHand.open + "manipulator"&51 +60 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' + "storage"(*& +4 "core" & \ F\ P +2 "manipulator"&,& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&<& +4 "core" &  +2 "storage"(3& +4 "core" & \ P\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +57 "core" ' +2 "manipulator"&& +3 "core" & <  +2 "storage"(A& +4 "core" &  7 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +20 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +22 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"(G& +4 "core" &  v # +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&4' +20 "core" ' + "manipulator"&>& +5 "core" &  + "storage"(.& +5 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +23 "core" ' + "storage"(!% +4 "core" %s D  +3 ."downElevator"SE.seek :down +4 "storage"(@'X +99 ( % +2 "core" %Y t u PI +2 "manipulator"&-% +5 "core" %ѡ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +86 "core" ' +66 ' +3 ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &  T +2 "collection"'P& +4 "core" &Vz7 K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&C% +3 "core" %\  U  +2 "storage"()% +4 "core" %W  +2 "storage"(E. +3 "core" .( +2 "storage"(\ & +4 "core" &   +2 "storage"(J& +3 "core" &   +2 "manipulator"&H& +3 "core" &   +3 .tElbow.seek 2 +40 "manipulator"&B( +10 "core" ( +2 "manipulator"&?& +3 "core" & c  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +103 "core" ' +2 "storage"(Y& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'i +280 "core" ' +2 "storage"(R- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & C  +2 "storage"(:& +4 "core" &  > +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&K' +27 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'O +28 "core" ' + "manipulator"&b% +5 "core" %  o +2 "storage"(D& +3 "core" &  { { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&6' +20 "core" ' + "manipulator"&\\& +4 "core" &   +2 "storage"(2& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'> +37 "core" ' +2 "manipulator"&`& +3 "core" & Q  +2 "manipulator"&^% +3 "core" %ѫ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +155 "core" ( +2 "manipulator"&d& +5 "core" &$ % 2 ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &$  ;6 +3 .tForearm.seek CC +2 "manipulator"&f'" +93 "core" ' + .tHand.close +2 "manipulator"&p/ +56 "core" / +2 .tCC.seek :open +2 "collection"'w( +417 "core" ( + "storage"(T& +4 "core" &   +2 "storage"(q& +3 "core" &  +2 "manipulator"&Z& +4 "core" &$ } ;4 +2 "manipulator"&e% +4 "core" % 3 : +3 .tForearm.seek :retract + "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +160 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"({& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +103 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +61 "core" 1 +2 "manipulator"&% +3 "core" %  > c +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&j' +20 "core" ' +2 "manipulator"&o& +3 "core" &  +2 "storage"(a& +5 "core" &  } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +21 "core" ' +2 "storage"(x% +3 "core" %E X +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %W v PH +2 "manipulator"&m% +4 "core" %щ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'r& +3 "core" &K +2 "manipulator"&V% +3 "core" %\ H  +3 "storage"(y% +3 "core" %a +2 "storage"(h. +42 "core" .( +9 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(I( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" & G  +2 "manipulator"&|& +3 "core" & /  +3 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" &  i +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +104 "core" ' + "storage"( & +9 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &  +2 "manipulator"&}& +4 "core" & i +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"& & +5 "core" & i + "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s'X +8 "core" & 7 i +2 "manipulator"&% +3 "core" % ϳ ` +3 .tForearm.seek :retract +2 "manipulator"&/'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +159 "core" ( + "manipulator"&& +3 "core" ' +2 &# ; :/ +3 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +5 &~& +4 "core" &# 1 :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'" +96 "core" ' +2 "manipulator"&& +6 "core" &#  & :. +2 "manipulator"&'% +3 "core" %(  S +3 "collection"'5& +3 "core" &8 +3 "collection"'& +5 "core" &_ +2 .tCC.seek :closed +2 "collection"'0(V +5 "core" &"  +8 &6 )v +9 &kB = +10 &u9 G +9 &oiG G +9 &1hV G +10 &iF G +9 &j6 G +10 &whW G +9 &9jF G +9 &i> G +10 & jD G +9 &"e< G +9 &$BeB F +10 &&g> G +9 &'g` G +9 &)d^ F +10 &+HjI G +9 &- cG G +10 &.cc F +9 &0g? G +9 &2QhI G +10 &4hF G +9 &5g@ G +9 &7eE F +10 &9Yi= G +9 &;jC G +10 &<h= F +9 &>g; F +9 &@be< F +10 &B#cB G +9 &CgD F +10 &En B H +9 &GbyC I +9 &I!C J +10 &J< O +9 &L= Q +9 &NU: P +10 &P< Q +9 &Q7 Q +10 &S3 S +9 &UV< C +9 &Vm>/ 0 +10 &VW5 > +5 ( +2 "collection"'& +4 "core" &VH: > +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&*1 +62 "core" 1 +2 "manipulator"&,% +3 "core" % ( & ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%3& +3 "core" &z +2 "manipulator"&% +4 "core" %\ .  +2 "storage"(% +4 "core" %X  +2 "storage"(A. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(G& +3 "core" &   +2 "manipulator"&+& +4 "core" &" * :. +2 "manipulator"&>% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&.( +163 "core" ( +2 "manipulator"&& +3 "core" & x h +2 "storage"(!& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' +2 "storage"( & +3 "core" & l  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'i +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & R  +2 "manipulator"&& +43 "core" & 6 h +10 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&1& +3 "core" & R h +3 "storage"(%& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&N/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(C'X +8 "core" &  h + "manipulator"&)% +5 "core" % ϲ > +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&((s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +3 "manipulator"&\ & +3 "core" &h ( +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &h K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' +2 "manipulator"&?& +4 "core" &h  +2 "manipulator"&% +3 "core" % 3  +3 "processing"%$& +3 "core" &x +3 "processing"%Y& +5 "core" &t +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &v  +9 &7v )v +9 &kv = +10 &us G +9 &pgs G +9 &2gu G +10 &gr G +9 &iq G +10 &yfx G +9 &;fm G +9 &gp G +10 & fw F +9 &"gk G +10 &$Bgi G +9 &&gh G +9 &'hi G +10 &)gc G +9 &+Jgh G +9 &- fh G +10 &.gg G +9 &0hi G +9 &2Rig G +10 &4gg G +9 &5gh G +10 &7gi G +9 &9\\fj F +9 &;eg G +10 &<gi G +9 &>gh G +9 &@chg G +10 &B%hh G +9 &Cki G +10 &Eo` H +9 &Ge|e I +9 &I f K +10 &Jg L +9 &Lh L +10 &Nbg M +9 &P%e L +9 &Qh L +10 &S\\ M +9 &Ujb M +9 &W+e M +10 &X` N +9 &Z?Ebc %k +9 &Z (e +6 ( +2 "processing"%Y& +3 "core" &ZZ +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&&1 +52 "core" 1 +2 "manipulator"&9% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +101 "core" ' +2 "processing"%F& +3 "core" &ZV +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&:% +3 "core" %\   +3 "storage"(O% +4 "core" %]  + "storage"(b. +3 "core" .( +2 "storage"(D& +4 "core" &   +2 "storage"(\\& +3 "manipulator"&2& +8 "core" &   + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]@K-0-\ b + "manipulator"&`(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'i +18 "core" ( +2 "manipulator"&=& +3 "core" &i  S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &i  +3 .tForearm.seek PC + "manipulator"&M' +98 "core" ' +2 .tHand.close + "manipulator"&K/ +53 "core" / +2 .tPC.seek :open +2 "processing"%6( +78 "core" ' +2 "storage"(X- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +34 "core" ' +310 ( +2 "storage"([& +3 "core" & ,  +2 "manipulator"&S& +3 "core" &k \ +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +254 "core" ( +2 "manipulator"&]& +3 "core" & 9  +2 "storage"(T& +5 "core" & k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +107 "core" ' + .tHand.open +2 "manipulator"&Z1 +61 "core" 1 +2 "storage"(e- +3 "core" -'y +50 .tSE.seek -0.12 Pucks below Top Plate +4 "storage"(7'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(f- +2 "core" -' +3 "storage"(t& +3 "core" &\ H\ I   +2 "manipulator"&i& +4 "core" & L  +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&& +4 "core" &  G  +2 "storage"(o& +4 "core" &\ C\ @ B  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +13 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +53 "core" ' +2 "manipulator"&U& +3 "core" &   +2 "storage"(& +4 "core" & m  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&m'} +19 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +23 "core" ' + "manipulator"&r% +4 "core" %΂ J +2 "storage"(j& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&V'Ϯ +19 "core" ' +2 "manipulator"&y& +4 "core" & L  +2 "storage"(h& +4 "core" & g  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +17 "core" ' +2 "storage"(g% +4 "core" %r +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %Y c d W QK +2 "manipulator"&W% +4 "core" %? M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +89 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &   +3 "collection"'& +3 "core" &VG- > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\  3  +2 "storage"(l% +4 "core" %^ B +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(_& +5 "core" & a  + "manipulator"&}& +4 "core" & 5  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & ,  +2 "storage"(v& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(& +4 "core" & {  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(~& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''O +31 "core" ' +2 "manipulator"&u% +4 "core" %΂  + "storage"(5& +4 "core" & :  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&s'Ϯ +23 "core" ' +2 "manipulator"&/& +3 "core" &   +2 "storage"(w& +4 "core" &  +3 .tForearm.reconfigure :tight +45 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 3 + 700 counts + "manipulator"&*'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'> +37 "core" ' +2 "manipulator"&3& +3 "core" &  +2 "manipulator"&% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +158 "core" ( +3 "manipulator"&A& +3 "core" &'  s >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' n >K +2 .tForearm.seek CC +2 "manipulator"&G'" +94 "core" ' +2 .tHand.close + "manipulator"&+/ +64 "core" / +2 .tCC.seek :open +2 "collection"'>( +417 "core" ( +2 "storage"("& +3 "core" &  +2 "storage"(& +5 "core" &  +2 "manipulator"&!& +3 "core" &'  >K +2 "manipulator"& % +3 "core" % 4 1  +3 .tForearm.seek :retract + "manipulator"&#'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +155 "core" ( +2 "manipulator"& & +3 "core" & *  +2 "storage"(-& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&%1 +60 "core" 1 +3 "manipulator"&N% +3 "core" % Ύ  Z +2 "storage"(P& +3 "core" & f  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&)'Ϻ +19 "core" ' +3 "manipulator"&.& +3 "core" & )  +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +28 "core" ' +2 "storage"(4% +4 "core" %G f +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +100 (J% +3 "core" %T H QI +2 "manipulator"&;% +3 "core" %9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &@ +2 "manipulator"&$% +4 "core" %\  B . +2 "storage"(C% +3 "core" %S  +2 "storage"(E. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(z( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" & S +2 "manipulator"&9& +3 "core" & -  +3 .tElbow.seek 2 +2 "manipulator"&F( +25 "core" ( +2 "manipulator"&:& +3 "core" & Y i +3 "storage"(O& +3 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +98 "core" ' + "storage"(D& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'i +279 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" & Z +2 "manipulator"&=& +3 "core" &\ H ` +3 .tElbow.seek 2 +49 "manipulator"&B( +3 "core" ( +2 "manipulator"&H& +3 "core" &\ \\ ` +2 "storage"(K& +5 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(@'X +8 "core" &\ C ` +2 "manipulator"&^% +3 "core" % 2 C +3 .tForearm.seek :retract + "manipulator"&['\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +145 "core" ( +2 "manipulator"&Q& +4 "core" ' +2 & H 7 + .tElbow.reconfigure :loose +4 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&M& +4 "core" &  7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'" +99 "core" ' +3 "manipulator"&T& +4 "core" &  7 +2 "manipulator"&`% +3 "core" %  +3 "collection"'Z& +3 "core" &K +3 "collection"'e& +5 "core" &G +2 .tCC.seek :closed +2 "collection"'p(V +5 "core" &] +7 &If #c +9 &[I 6 +10 &? G +9 &b9 F +9 &g* F +10 &be4 F +9 &$f= F +10 &f] F +9 &eG F +9 &jeD F +10 & +eQ G +9 &!iF G +9 &#eB G +10 &%re? F +9 &'4dd F +10 &(cF G +9 &*c? G +9 &,zcA F +10 &.<gC F +9 &/eE F +9 &1gD G +10 &3fC G +9 &5Cb> G +10 &7hE G +9 &8d< G +9 &:cE F +10 &fC F +9 &?eD G +10 &AbD F +9 &CSfF G +10 &EnE G +9 &FwF I +9 &H> J +10 &JG< N +9 &K= Q +9 &MB Q +10 &O; Q +9 &QDD Q +10 &SD S +9 &TB R +9 &V0]D - +10 &V< @ +5 ( +2 "collection"'e& +4 "core" &VR: ? +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&f1 +59 "core" 1 +3 "manipulator"&t% +3 "core" %  $ \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &s +2 "manipulator"&o% +3 "core" %\  c  +3 "storage"(U% +3 "core" %b d +2 "storage"(. +3 "core" .( +2 "storage"(r& +3 "core" & p +2 "storage"(j& +5 "core" & K +2 "manipulator"&d& +3 "core" &  7 +2 "manipulator"&y% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&7( +159 "core" ( +2 "manipulator"&h& +3 "core" & ; +2 "storage"(g& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +100 "core" ' +2 "storage"(q& +3 "core" & 3 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &  +2 "manipulator"&a& +3 "core" & , +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&x& +5 "core" & # + "storage"(m& +3 "core" & q +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +8 "core" & e +2 "manipulator"&l% +3 "core" %  a  +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +3 "manipulator"&c& +4 "core" &u 8 . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &u  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&}' +102 "core" ' + "manipulator"&& +5 "core" &u \\ + "manipulator"&v% +5 "core" %  +2 "processing"%k& +3 "core" &k +3 "processing"%& +5 "core" &p +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &p +8 &>s #c +10 &\\o 6 +9 &x H +10 &gx G +9 &el G +9 &^ew G +10 &!ey F +9 &gk G +9 &ho G +10 &fhw G +9 & (gr G +10 &!jm G +9 &#em G +9 &%ngs G +10 &'0gm G +9 &(gb F +9 &*hh G +10 &,ugf G +9 &.7hh G +10 &/ec G +9 &1e] G +9 &3~ed G +10 &5?ei G +9 &7e_ G +9 &8fe G +10 &:ef G +9 &\ ce G +9 &?hk G +9 &Aej G +10 &CNhe G +9 &Eii H +9 &Ft` I +10 &He K +9 &JHb L +10 &L c M +9 &Mc M +9 &Oe M +10 &QN` M +9 &S\\ M +9 &Th M +10 &Vb M +9 &XUb M +10 &Yxtc "j +9 &Z(k^ * +9 ( +2 "processing"%& +3 "core" &Zf ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&n1 +59 "core" 1 +2 "manipulator"&|% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 "processing"%& +4 "core" &Z= ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\ $ U 7 +2 "storage"(% +4 "core" %` ~ +2 "storage"(u. +2 "core" .( +2 "storage"(5& +5 "core" & +2 "storage"(/& +2 "manipulator"&w& +6 "core" & +2 &u F +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&3(s +2 "core" ( +2 ."raiseStack"SE.seek :beamBreak +5 "manipulator"&& + "storage"('i +5 "core" &u $ +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 & & +2 "core" &u  +3 .tForearm.seek PC + "manipulator"&' +104 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%s( +87 "core" ' +2 "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +35 "core" ' +300 ( + "storage"(& +4 "core" & G +2 "manipulator"&*& +4 "core" &u O +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&+'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +263 "core" ( +2 "manipulator"&0& +3 "core" & :  +2 "storage"("& +4 "core" & G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' +2 .tHand.open + "manipulator"&!1 +56 "core" 1 +2 "storage"( - +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(& +3 "core" & \ O\ N 1 +2 "manipulator"&%& +4 "core" &   +48 .tElbow.seek 2 +3 "manipulator"&N( +4 "core" ( +2 "manipulator"&P& +4 "core" & 3  +2 "storage"(.& +3 "core" & \ O\ N +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +58 "core" ' +2 "manipulator"&#& +4 "core" &   +2 "storage"(J& +4 "core" & W +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&)% +3 "core" % L +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&$' +20 "core" ' +2 "manipulator"&C& +3 "core" & K  +3 "storage"(E& +3 "core" & E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +17 "core" ' +2 "storage"(8% +3 "core" %s 2 +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (I% +3 "core" %Z d u { QJ +2 "manipulator"&&% +5 "core" %ў G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +4 (:& +2 "core" & 6 +2 "collection"'O& +4 "core" &VT+ ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&D% +3 "core" %\  t  +2 "storage"(1% +5 "core" %[  + "storage"(?. +4 "core" .( + "storage"(2& +4 "core" & E +2 "storage"(\\& +4 "core" & $ +2 "manipulator"&=& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&H( +2 "core" ( +2 "manipulator"&K& +5 "core" &   + "storage"((& +4 "core" & 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +88 "core" ' +2 "storage"(^& +3 "core" & + +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +282 "core" ' +4 "storage"(b- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &   +2 "storage"(M& +4 "core" & , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y' +32 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(`'P +28 "core" ' +2 "manipulator"&Z% +3 "core" % |  +2 "storage"(B& +4 "core" & } | A +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&@' +22 "core" ' + "manipulator"&[& +4 "core" & p  +2 "storage"(>& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'? +43 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&o% +3 "core" %q / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&U'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ( + "manipulator"&r& +5 "core" &) # t @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" &* @Y +2 .tForearm.seek CC +2 "manipulator"&j'" +94 "core" ' + .tHand.close +2 "manipulator"&d/ +58 "core" / +2 .tCC.seek :open + "collection"'y( +414 "core" ( +2 "storage"(]& +4 "core" & K +2 "storage"(h& +3 "core" & a +2 "manipulator"&g& +4 "core" &( n >H +2 "manipulator"&q% +4 "core" % -  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +160 "core" ( +2 "manipulator"&& +3 "core" & 2  +2 "storage"(W& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&a' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&% +3 "core" %  m +2 "storage"(& +4 "core" & m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +3 "manipulator"&l' +16 "core" ' + "manipulator"&7& +5 "core" & |  + "storage"(L& +4 "core" & Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +33 "core" ' +2 "storage"(V% +4 "core" %I +3 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (_% +3 "core" %vR L PG +2 "manipulator"&% +4 "core" %ф 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'v& +3 "core" &2 +2 "manipulator"&k% +3 "core" %\  / ) +3 "storage"( % +3 "core" %^  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(6( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (n& +3 "core" & +  +2 "manipulator"&|& +3 "core" & 0  +3 .tElbow.seek 3 + "manipulator"&( +14 "core" ( + "manipulator"&~& +5 "core" & k l + "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +93 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +278 "core" ' +2 "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (w& +2 "core" & *  +2 "manipulator"&& +4 "core" &  l +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&}& +4 "core" & l +2 "storage"(& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +50 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('X +8 "core" &  l +2 "manipulator"&% +3 "core" % Ϙ  \ +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +3 "core" && ) 3 =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" && , =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +94 "core" ' +3 "manipulator"&"& +4 "core" && { =G +2 "manipulator"&3% +4 "core" %) [ \ +2 "collection"'!& +5 "core" &L +2 "collection"' & +5 "core" &8 +2 .tCC.seek :closed +2 "collection"'G(V +5 "core" &;  +9 &68 )w +9 &k? = +10 &qh G +9 &vcL F +9 &8dE F +10 &c= G +9 &bB F +9 &~dC F +10 &?h7 G +9 &eB G +10 & e> F +9 &"iA G +9 &$Hg5 F +10 &&\ e7 F +9 &'h? G +9 &)dC G +10 &+Ph< F +9 &-bB G +10 &.e= G +9 &0cA F +9 &2XcB F +10 &4g> G +9 &5f< G +9 &7gA F +10 &9`bF F +9 &;"d< F +10 &<g A G +9 &>f; G +9 &@hbB F +10 &B*e: F +9 &Cj9 G +9 &Em \ B G +10 &GiyB I +9 &I'C J +10 &JC O +9 &L9 Q +9 &N[< P +10 &P> Q +9 &Q8 Q +9 &S9 R +10 &U\\@ A +9 &V~F> #k +9 &V\ < M +6 ( +2 "collection"' & +4 "core" &Vy> M +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&%% +3 "core" % ) & l \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%P& +3 "core" &j +2 "manipulator"&.% +4 "core" %\  r  +2 "storage"(#% +3 "core" %a z z +2 "storage"(J. +3 "core" .( +2 "storage"(A& +3 "core" & {  +2 "storage"( & +5 "core" & } { v  + "manipulator"&)& +5 "core" && k =G + "manipulator"&% +3 "core" %\  {  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&C( +162 "core" ( +2 "manipulator"&E& +3 "core" & 8 p +3 "storage"(8& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(& +3 "core" & T  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'i +280 "core" ' + "storage"(I- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & u K  +2 "manipulator"&& +3 "core" & b p +3 .tElbow.seek 3 + "manipulator"&N( +4 "core" ( +2 "manipulator"&4& +3 "core" & p +2 "storage"(;& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(D'X +8 "core" & 3 p +2 "manipulator"&% +4 "core" % ϛ ; +2 .tForearm.seek :retract +2 "manipulator"&1'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +3 "manipulator"&2& +3 "core" &g )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &g   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +141 "core" ' +3 "manipulator"&K& +4 "core" &h .  +2 "manipulator"&(% +4 "core" %   +2 "processing"%,& +5 "core" &q +2 "processing"%^& +5 "core" &n +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &l +6 &l +10 &>p #c +9 &\\j 6 +10 &p H +9 &fq G +9 &fp G +10 &^ev G +9 &!er G +10 &jo G +9 &gy G +9 &fey G +10 & (gh G +9 &!et G +9 &#eu G +10 &%nim G +9 &'0gn G +9 &(fl G +10 &*eo G +9 &,vgc G +10 &.9fd G +9 &/d^ F +9 &1ef G +10 &3~dc G +9 &5Af_ G +9 &7ha G +10 &8eb G +9 &:c^ G +10 & b] G +9 &?e` G +10 &Aef F +9 &COh` G +9 &Ekb G +10 &Fsd H +9 &Hm J +10 &JHh M +9 &L b L +9 &M` L +10 &Oe L +9 &QP_ M +9 &S_ M +10 &Ta L +9 &Va M +10 &XU\\ N +9 &Ywva "j +9 &Z&g] ) +10 ( + &Z\\ ! +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&<1 +56 "core" 1 + "manipulator"&9% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +2 "processing"%Q& +3 "core" &Z` ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +3 "core" %\    +3 "storage"(T% +3 "core" %\\ = +2 "storage"(Z. +3 "core" .( +2 "storage"(B& +4 "core" & K  +2 "storage"([& +3 "manipulator"&>& +7 "core" & |  + &h   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +2 "core" ( +3 "manipulator"&R& +3 "core" &i 3  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &i )  +3 .tForearm.seek PC +2 "manipulator"&F' +97 "core" ' +2 .tHand.close + "manipulator"&Y/ +64 "core" / +2 .tPC.seek :open +2 "processing"%@( +82 "core" ' +2 "storage"(`- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(r'y +38 "core" ' +302 ( + "storage"(f& +4 "core" & \  +2 "manipulator"&e& +3 "core" &k  +2 "manipulator"&X% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&U( +255 "core" ( +2 "manipulator"&p& +3 "core" & #  +2 "storage"(]& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +94 "core" ' +2 .tHand.open +2 "manipulator"&g1 +53 "core" 1 +2 "storage"(q- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(& +5 "core" &\ P\ O  + "manipulator"&m& +4 "core" & /  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  &  +2 "storage"(7& +4 "core" &\ O\ O  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +58 "core" ' +2 "manipulator"&S& +5 "core" & .  +2 "storage"(_& +3 "core" & >  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +23 "core" ' +2 "manipulator"&l% +3 "core" %Ί B +3 "storage"(v& +3 "core" & (  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&k'϶ +19 "core" ' +2 "manipulator"& & +3 "core" & y  +3 "storage"(& +3 "core" & N  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +29 "core" ' +2 "storage"({% +3 "core" %m  +3 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (z% +3 "core" %X m n  QK +2 "manipulator"&n% +5 "core" %I  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (~& +2 "core" & W  +3 "collection"'& +3 "core" &VxL M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ #  < +3 "storage"(x% +3 "core" %P = +2 "storage"(. +3 "core" .( +2 "storage"(/& +3 "core" &   +2 "storage"(w& +4 "core" & R  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +3 "core" & \  +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +89 "core" ' +2 "storage"(& +3 "core" & C  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(u- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" & :  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'} +26 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'P +27 "core" ' +2 "manipulator"&!% +4 "core" %΃  +2 "storage"( & +4 "core" & h r I  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&'ϯ +20 "core" ' +2 "manipulator"&& +3 "core" & p  +3 "storage"(y& +3 "core" & :  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(%'? +39 "core" ' + "manipulator"&P& +4 "core" & C  +2 "manipulator"&.% +4 "core" %9 ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +152 "core" ( +3 "manipulator"&A& +3 "core" &% # P <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &% M <9 +2 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' +2 .tHand.close +45 "manipulator"&)/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(0& +3 "core" &  +2 "storage"(E& +4 "core" &  +2 "manipulator"&8& +4 "core" &% z <9 +2 "manipulator"&% +3 "core" % ( } +3 .tForearm.seek :retract +2 "manipulator"&*'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&+( +163 "core" ( +2 "manipulator"&I& +3 "core" & c | +3 "storage"(&& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +59 "core" 1 +2 "manipulator"&:% +3 "core" % Έ  a +2 "storage"(O& +4 "core" & w  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'ϴ +20 "core" ' +2 "manipulator"&C& +3 "core" &  | +2 "storage"(& +4 "core" & 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +29 "core" ' +2 "storage"($% +3 "core" %F \ +3 ."downElevator"SE.seek :down +4 "storage"(2'X +99 (\\% +2 "core" %R & PH +3 "manipulator"&N% +3 "core" %4  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'(& +3 "core" &? +2 "manipulator"&,% +4 "core" %\   +2 "storage"(D% +3 "core" %`  +2 "storage"(1. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(s( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "core" & 4 +2 "manipulator"&9& +4 "core" & B | +2 .tElbow.seek 2 +2 "manipulator"&Q( +31 "core" ( + "manipulator"&M& +4 "core" & e !v +2 "storage"(T& +4 "core" & ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +97 "core" ' +2 "storage"(B& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +279 "core" ' +2 "storage"([- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +3 "core" &  +2 "manipulator"&R& +3 "core" & G !u +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&=& +4 "core" & !u + "storage"(Y& +4 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&`' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&b& + "storage"(\ 'X +7 "core" & c !u +2 "manipulator"&o% +4 "core" % + +2 .tForearm.seek :retract + "manipulator"&f'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +47 "core" ( +4 "manipulator"&X& +4 "core" && I =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" && i =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&p'" +97 "core" ' +2 "manipulator"&]& +5 "core" && =B +2 "manipulator"&% +3 "core" % b +3 "collection"'g& +4 "core" &C +2 "collection"'q& +5 "core" &Y +3 .tCC.seek :closed +2 "collection"'j(V +4 "core" &@  +8 &8F *x +9 &kF = +10 &pH G +9 &zbE F +10 &;gE F +9 &bE F +9 &bI F +10 &aL F +9 &CbI F +9 &bG F +10 & cB F +9 &"fF G +10 &$LaD F +9 && hE F +9 &'g; F +10 &)f< F +9 &+Rf8 G +9 &-e< G +10 &.d< F +9 &0cB G +10 &2ZeD G +9 &4eA F +9 &5c? F +10 &7`@ F +9 &9cg@ F +9 &;$eG G +10 &<h= F +9 &>gE F +10 &@jeH G +9 &B-gH F +9 &CjH F +10 &Ek B G +9 &GmxD I +9 &I+A J +10 &JG O +9 &LC P +10 &N_A P +9 &PN Q +9 &QB Q +10 &SE R +9 &U_C A +9 &Vp;= . +10 &Vm? @ +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&1 +3 "core" &VX; @ +61 1 +3 "manipulator"&m% +5 "core" %   ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%7& +4 "core" &p +2 "manipulator"&d% +4 "core" %\ !   2 +2 "storage"(S% +3 "core" %_ f e N +2 "storage"(_. +4 "core" .( +2 "storage"(l& +3 "core" & h +2 "storage"(v& +4 "core" & e g $ +2 "manipulator"&r& +4 "core" &&   =B +2 "manipulator"& % +3 "core" %\ k 2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( + "manipulator"&& +4 "core" &  }  +2 "storage"({& +4 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +102 "core" ' + "storage"(h& +4 "core" & i +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +283 "core" ' +2 "storage"(z- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (n& +3 "core" & Y +2 "manipulator"&L& +3 "core" & H  +3 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&V& +4 "core" &  +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&k' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" & O  + "manipulator"&x% +4 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&a'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +111 "core" ( +3 "manipulator"&/& +3 "core" &k   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &k 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +3 "core" &k s +3 "manipulator"&% +3 "core" % b +2 "processing"%t& +4 "core" &k +3 "processing"%& +5 "core" &x +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &} +8 &Ft #b +9 &\\} 6 +9 & H +10 &g{ G +50 &c G +4 &\\e| G + &d} G + &h G + &g} G +3 &dj G +5 & 'f F +10 &!g G +9 &#e F +10 &%lf{ G +9 &'-d| G +9 &(e G +10 &*g F +9 &,sg G +9 &.6gx G +10 &/hx G +9 &1ex G +10 &3{hx G +9 &5>gl G +9 &6hp G +10 &8ff F +9 &:dv G +9 & bj F +9 &?fq G +10 &Aeq G +9 &CNhk G +9 &Elq G +10 &Fsq I +9 &Hv K +9 &JGp L +10 &L w L +9 &Ms L +10 &Oq L +9 &QMp M +9 &Sr M +10 &Tp M +9 &Vq M +9 &XTr M +10 &Yxvl !i +9 &Z,xe - +10 ( + &Zn +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&i1 +57 "core" 1 + "manipulator"&|% +4 "core" %  b b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +90 "core" ' +2 "processing"%& +3 "core" &Zl +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  e  +2 "storage"("% +3 "core" %_ N +2 "storage"(!. +4 "core" .( + "storage"( & +4 "core" & C +2 "storage"(& +3 "manipulator"&y& +6 "core" & D +2 &k  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(P'i + "manipulator"&.(s +7 "core" ( +2 "manipulator"& & +3 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &k  +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&5/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +81 "core" ' +2 "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(A'y +30 "core" ' +308 ( +2 "storage"( & +3 "core" &  +2 "manipulator"&& +5 "core" &k  + "manipulator"&'% +4 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&#( +245 "core" ( +2 "manipulator"&G& +3 "core" & ; $ +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +88 "core" ' + .tHand.open +2 "manipulator"&81 +59 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"(J& +3 "core" & \ Q\ Q +2 "manipulator"&;& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&:( +4 "core" ( + "manipulator"&O& +3 "core" &  @ $ +3 "storage"(C& +3 "core" & \ Q\ R +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +53 "core" ' +2 "manipulator"&*& +3 "core" &  $ +2 "storage"(\\& +4 "core" & Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +49 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" % ? +2 "storage"((& +3 "core" & [ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&,' +26 "core" ' + "manipulator"&D& +5 "core" & g $ + "storage"(1& +5 "core" & # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +22 "core" ' +2 "storage"(-% +4 "core" %s   +2 ."downElevator"SE.seek :down +4 "storage"(2'X +99 (6% +2 "core" %Y o z QL +3 "manipulator"&<% +3 "core" %y  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" & J +2 "collection"'T& +4 "core" &VWE @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&B% +5 "core" %\  e  + "storage"(4% +4 "core" %T u +2 "storage"(K. +3 "core" .( +2 "storage"([& +3 "core" & +2 "storage"(^& +4 "core" & q +2 "manipulator"&R& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&Y& +3 "core" &  n $ +2 "storage"(?& +5 "core" & X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +94 "core" ' +2 "storage"(o& +3 "core" & % +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +283 "core" ' +3 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & J $ +2 "storage"(`& +4 "core" & l +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X' +24 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +6 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 "Can" M +c +6 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(]'P +29 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(g& +3 "core" & q +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&\ ' +20 "core" ' + "manipulator"&f& +4 "core" & \ $ +2 "storage"(& +3 "core" & c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'? +38 "core" ' +2 "manipulator"&7& +4 "core" & $ +2 "manipulator"&d% +3 "core" %Ѭ n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +151 "core" ( +3 "manipulator"&_& +3 "core" &) ! p ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &)  ?S +2 .tForearm.seek CC +2 "manipulator"&v'" +92 "core" ' +2 .tHand.close + "manipulator"&r/ +57 "core" / + .tCC.seek :open +2 "collection"' ( +414 "core" ( +2 "storage"(p& +3 "core" & y +2 "storage"(& +4 "core" & +2 "manipulator"&{& +4 "core" &( ` ?P +2 "manipulator"&h% +3 "core" % 0 f +3 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&z& +3 "core" & n r +3 "storage"(n& +3 "core" & @ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&L' +100 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&~% +3 "core" % ~ +2 "storage"(& +19 "core" & W +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&x' +19 "core" ' +2 "manipulator"&& +4 "core" & @ r +2 "storage"(U& +4 "core" & M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +25 "core" ' +2 "storage"(k% +3 "core" %H +3 ."downElevator"SE.seek :down +4 "storage"(/'X +99 (w% +3 "core" %U 1 PG +2 "manipulator"&% +4 "core" %ѯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &H +2 "manipulator"&t% +5 "core" %\  1 + "storage"(% +4 "core" %b 9 +2 "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(@( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &  +2 "manipulator"&|& +3 "core" &  r +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" & L b +2 "storage"("& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +97 "core" ' +2 "storage"( & +3 "core" & |  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"& & +4 "core" & b +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( + "manipulator"&& +4 "core" & b +2 "storage"(5& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(c'X +7 "core" &  b +2 "manipulator"&P% +3 "core" % Ϧ  +3 .tForearm.seek :retract + "manipulator"& '\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&'& +3 "core" &# * :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &# T :. +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +108 "core" ' +2 "manipulator"&0& +3 "core" &# $ ; :. +2 "manipulator"&.% +4 "core" % +3 "collection"'8& +50 "core" &^ +3 "collection"'& +5 "core" &^ +3 .tCC.seek :closed + "collection"' (V +4 "core" &N +9 &BP $d +9 &\\K 6 +10 &&O G +9 &aO F +9 &eK G +10 &ldP F +9 &.bP F +9 &bP F +10 &gE F +9 &seF G +10 & 5eF G +9 &!dK G +9 &#eJ G +10 &%{eF G +9 &'>d> F +9 &)gH F +10 &*eF F +9 &,bD F +10 &.FgE F +9 &0dC G +9 &1eC G +10 &3dD F +9 &5NgC F +9 &7eA G +10 &8dD F +9 &:gD F +10 &gD F +9 &?eF G +10 &AeA G +9 &C]e? G +9 &EhB G +10 &FrD H +9 &HE J +10 &JRC M +9 &L C P +9 &MD P +10 &OD Q +9 &QNG Q +9 &SE R +10 &T< R +9 &V?gB / +10 &VG : +9 &W e; @ +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&J1 +3 "core" &W P> @ +55 1 +2 "manipulator"&;% +3 "core" %  $ l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%C& +3 "core" &| +2 "manipulator"&)% +3 "core" %\ !  4 +2 "storage"(*% +4 "core" %a I +2 "storage"(\\. +3 "core" .( +2 "storage"(A& +3 "core" &  +2 "storage"(I& +5 "core" &   +2 "manipulator"&& +3 "core" &# :- +2 "manipulator"&(% +4 "core" %\ ! 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&D( +162 "core" ( +2 "manipulator"&1& +3 "core" &  ; +2 "storage"(#& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +98 "core" ' +2 "storage"(E& +3 "core" & ?  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & /  +2 "manipulator"&<& +4 "core" & | +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&$& +3 "core" & Z +2 "storage"(N& +3 "core" & =  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(B'X +8 "core" & ] + "manipulator"&4% +5 "core" % Ϯ  +2 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&[& +3 "core" &u 6 +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R' +101 "core" ' +2 "manipulator"&Y& +3 "core" &u w +2 "manipulator"&?% +4 "core" % ( +2 "processing"%%& +4 "core" &s +3 "processing"%o& +5 "core" &| +2 .tPC.seek :closed +2 "processing"%2(Z +5 "core" &{ +6 &H{ #b +9 &\\ 6 +10 & G +9 &b G +9 &h} G +10 &^c| G +9 &!dz F +9 &f F +10 &g G +9 &fj G +10 & (j G +9 &!b G +9 &#e F +10 &%of F +9 &'0g G +9 &(h G +10 &*i G +9 &,ve G +10 &.9f F +9 &/e} F +9 &1e{ G +10 &3~g G +9 &5@i G +9 &7c G +10 &8d} G +9 &:e F +10 & cz F +9 &?ez F +10 &Aev G +9 &CPht G +10 &Ely G +9 &Fsr I +9 &H{ J +10 &JHz L +9 &L { M +9 &Mu L +10 &Oy M +9 &QOt M +9 &Sv M +10 &Tu M +9 &Vv M +53 &XVu M +3 &Ywvr "j + &Z(kv * + ( + &Zr ! + &Ze ! + &Zv ! +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&+1 +2 "core" &Zt ! +60 1 +2 "manipulator"&9% +3 "core" % c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 "processing"%>& +4 "core" &Zx ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&`% +3 "core" %\    +2 "storage"(H% +5 "core" %P  +2 "storage"(. +3 "core" .( +2 "storage"(g& +3 "core" & &  +3 "storage"(f& +2 "manipulator"&& +5 "core" & V  +3 &u  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(7'i +2 "manipulator"&d(s +6 "core" ( +2 "manipulator"&b& +3 "core" &u z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +3 "core" &u : +2 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' + .tHand.close +2 "manipulator"&X/ +53 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +90 "core" ' + "storage"(]- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'y +44 "core" ' +287 ( +2 "storage"(l& +3 "core" &   +2 "manipulator"&& +4 "core" &u  +2 "manipulator"&F% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&r'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&S( +259 "core" ( + "manipulator"&j& +4 "core" &  7  +2 "storage"(p& +3 "core" & `  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 .tHand.open + "manipulator"&{1 +64 "core" 1 +3 "storage"(h- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(z'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(n' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(q& +3 "core" &\ S\ R s  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&~( +6 "core" ( +2 "manipulator"&& +3 "core" & \\  +2 "storage"(& +4 "core" &\ P\ O  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +56 "core" ' +2 "manipulator"&e& +3 "core" &   +2 "storage"(w& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +23 "core" ' + "manipulator"&% +5 "core" %|  + "storage"(x& +4 "core" & )  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&t'Ϩ +20 "core" ' + "manipulator"&& +4 "core" & ;  +2 "storage"(a& +4 "core" &  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +34 "core" ' +2 "storage"(W% +4 "core" %q  +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (s% +3 "core" %@Y u ^ PI +2 "manipulator"&i% +4 "core" % Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  +2 "collection"'"& +4 "core" &W OP @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\    +3 "storage"(V% +3 "core" %P +2 "storage"(. +3 "core" .( +2 "storage"(y& +3 "core" & a  +2 "storage"(& +4 "core" &  +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&5& +3 "core" & $  +2 "storage"(& +5 "core" & +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +91 "core" ' +2 "storage"(P& +3 "core" & z  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & Y  +2 "storage"(& +4 "core" & u  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'O +26 "core" ' +2 "manipulator"&}% +3 "core" %Ί H +2 "storage"(8& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&c'϶ +20 "core" ' +2 "manipulator"& & +3 "core" & V  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'> +37 "core" ' +2 "manipulator"&C& +3 "core" &   +2 "manipulator"&)% +4 "core" %8  c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +149 "core" ( +3 "manipulator"&A& +4 "core" & #  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & _ 6 +2 .tForearm.seek CC +2 "manipulator"&I'" +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'(( +417 "core" ( + "storage"(G& +5 "core" & +  + "storage"(1& +4 "core" &   +2 "manipulator"&#& +3 "core" & + 6 +2 "manipulator"&E% +3 "core" % $ !  +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&O( +165 "core" ( +2 "manipulator"&& +3 "core" & 7 l +2 "storage"(6& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&<'} +99 "core" ' +4 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +55 "core" 1 +3 "manipulator"&M% +3 "core" % Ή ' +2 "storage"(T& +4 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&4'ϵ +20 "core" ' +2 "manipulator"&D& +3 "core" & m l +2 "storage"(-& +4 "core" & f  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +33 "core" ' +2 "storage"(,% +4 "core" %C  +3 ."downElevator"SE.seek :down +4 "storage"(['X +99 (^% +3 "core" %BR Y PF +2 "manipulator"&:% +5 "core" %* +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'?& +3 "core" &S +2 "manipulator"&%% +3 "core" %\  [  +3 "storage"(B% +3 "core" %\\ r +2 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & ; +3 "manipulator"&9& +3 "core" &  l +2 .tElbow.seek 2 +2 "manipulator"&>( +34 "core" ( +2 "manipulator"&`& +3 "core" & N O +2 "storage"(H& +4 "core" &  ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(g& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  j +2 "manipulator"&b& +5 "core" &\ ( M +2 .tElbow.seek 2 + "manipulator"&=( +21 "core" ( +2 "manipulator"&R& +4 "core" & @ +2 "storage"(X& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(2'X +8 "core" &  + "manipulator"&7% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&F& +4 "core" &" + F 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &" V 9' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'" +98 "core" ' +3 "manipulator"&p& +3 "core" &"  9' +2 "manipulator"&d% +4 "core" % C +2 "collection"'{& +4 "core" &E +3 "collection"'h& +5 "core" &L +2 .tCC.seek :closed +2 "collection"'v(V +5 "core" &F +5 &D 8 +10 &MMO / +9 &{T D +10 &IeR F +9 & eP G +9 &eP G +10 &eE F +9 &PbO F +9 &cO F +10 &gK F +9 &gQ F +9 &!XgQ F +10 &#hK F +9 &$hO F +10 &&gQ F +9 &(`gK F +9 &*!eJ G +10 &+eP G +9 &-eJ F +9 &/hcS F +10 &1*bK F +51 &2gC F +3 &4gK F + &6ofP G + &82e J F + &9bD F +3 &;bD F +5 &=xbI F +10 &?:bN F +9 &@cH F +10 &BcF F +9 &DgO F +9 &F>o \ Y H +10 &G|N I +9 &I[ K +9 &KmM P +10 &M,P Q +9 &N? P +10 &PN Q +9 &Ro? R +9 &T/M R +10 &UwJ ? +9 &V)> $j +9 &VzL M +3 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open +2 "manipulator"&q1 +57 "core" 1 +4 "manipulator"&% +3 "core" %  L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&r% +5 "core" %\  ] ) + "storage"(e% +4 "core" %Z t c A +2 "storage"(w. +3 "core" .( +2 "storage"(& +4 "core" &  h b y +2 "storage"(x& +4 "core" &  x y  +2 "manipulator"&_& +3 "core" &" V 9& +2 "manipulator"&% +4 "core" %\   ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&a( +168 "core" ( +2 "manipulator"&z& +3 "core" & 7  +2 "storage"(S& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(W& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +278 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +2 "core" &  b +2 "manipulator"&i& +4 "core" & l  +2 .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( +2 "manipulator"&k& +4 "core" & <  + "storage"(& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"( 'X +8 "core" & Q  +2 "manipulator"&V% +3 "core" %  t E +3 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +110 "core" ( +3 "manipulator"&y& +3 "core" &h  x  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +95 "core" ' +2 "manipulator"&5& +3 "core" &h {  +2 "manipulator"&% +5 "core" %   +2 "processing"%m& +3 "core" & +3 "processing"%P& +5 "core" & +2 .tPC.seek :closed +2 "processing"%/(Z +4 "core" &  +9 &8 )v +9 &k| = +9 &q H +10 &rc G +9 &4e} G +10 &i} G +9 &e~ G +9 &zh G +10 &<b} G +9 &e G +9 & f G +10 &"f F +9 &$Df G +10 &&e F +9 &'g G +9 &)c G +10 &+Ld G +9 &- g G +9 &.e G +10 &0i G +9 &2Ug F +10 &4e G +9 &5i G +9 &7d F +10 &9\\e G +9 &;e G +9 &<h G +10 &>c G +9 &@dg G +10 &B&e G +9 &Ci G +9 &Ekv H +10 &Gf{| I +9 &I!} K +9 &J{ L +10 &Lu M +9 &Nd{ L +10 &P&x L +9 &Q| M +9 &Sz M +10 &Ujy M +9 &W-v M +9 &Xv M +10 &Z?C_r $i +9 &Z .s ! +6 ( + "processing"%P& +4 "core" &Zt ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&|% +3 "core" % x  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +97 "core" ' +2 "processing"%'& +3 "core" &Zm ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +48 "manipulator"&% +5 "core" %\ # : = +2 "storage"(0% +5 "core" %P w y q + "storage"(}. +4 "core" .( + "storage"(8& +4 "core" &  y z +3 "storage"( & +2 "manipulator"& & +5 "core" &  w q +2 &h D  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&C(s + "storage"()'i +7 "core" ( +2 "manipulator"&u& +3 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k @  +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +3 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%c( +89 "core" ' + "storage"(.- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +34 "core" ' +299 ( +2 "storage"(& +3 "core" &  | t | +3 "manipulator"&J& +3 "core" &l   +2 "manipulator"&3% +4 "core" % l +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +255 "core" ( +2 "manipulator"& & +3 "core" &  T  +3 "storage"(G& +3 "core" &  d f < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +92 "core" ' + .tHand.open +2 "manipulator" +62 "core" 1 +2 "storage"(E- +4 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(6' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"(\\& +3 "core" & \ P\ P | +3 "manipulator"&N& +4 "core" & p  +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( +2 "manipulator"&T& +3 "core" &   +2 "storage"(D& +4 "core" & \ P\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +58 "core" ' + "manipulator"&& +5 "core" & "  + "storage"(^& +95 "core" &  { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&:' +28 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(<'i +23 "core" ' +2 "manipulator"&4% +3 "core" % W +2 "storage"(?& +4 "core" &  d e o +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&%' +18 "core" ' + "manipulator"&B& +4 "core" &   +2 "storage"(K& +4 "core" &  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +24 "core" ' +2 "storage"(&% +3 "core" %s I  +3 ."downElevator"SE.seek :down +6 "storage"(['X +96 (@% +3 "core" %GZ t x  QJ +2 "manipulator"&+% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&9'\ +89 "core" ' +15 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (`& +3 "core" &  +2 "collection"'H& +4 "core" &VyZ M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&g% +4 "core" %\    +2 "storage"($% +3 "core" %a  +2 "storage"(Y. +4 "core" .( + "storage"(f& +5 "core" &   +2 "storage"(& +3 "core" &  C +2 "manipulator"&b& +4 "core" & o  +2 .tElbow.seek 2 +2 "manipulator"&R( +4 "core" ( +2 "manipulator"&X& +3 "core" & # v  +2 "storage"(& +4 "core" &  : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +95 "core" ' +2 "storage"(7& +3 "core" &  8 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +18 "core" &   +2 "storage"(Q& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&o' +22 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(p- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +3 "storage"(d'O +29 "core" ' + "manipulator"&{% +4 "core" % ` +2 "storage"(=& +3 "core" &  e e x +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&2' +21 "core" ' + "manipulator"&l& +4 "core" & s  +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +23 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('> +39 "core" ' + "manipulator"&& +4 "core" & f  +2 "manipulator"&r% +4 "core" %Ѻ z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&w( +154 "core" ( +6 "manipulator"&& +3 "core" &( ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &( 3 ?R +2 .tForearm.seek CC +2 "manipulator"&x'" +93 "core" ' +2 .tHand.close + "manipulator"&_/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(j& +4 "core" &  O +2 "storage"(z& +3 "core" &  t +3 "manipulator"&S& +3 "core" && c <? +2 "manipulator"&W% +3 "core" % 6 ) +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&U& +3 "core" & + l +2 "storage"(s& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&i' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +5 "core" % @ e + "storage"("& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +45 "manipulator"&V' +24 "core" ' + "manipulator"&a& +5 "core" & d l + "storage"(& +5 "core" &  s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +18 "core" ' +2 "storage"(t% +3 "core" %F 7 +3 ."downElevator"SE.seek :down +4 "storage"(y'X +98 (% +3 "core" %4U PG +2 "manipulator"&~% +4 "core" %Ѩ ( d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &B +2 "manipulator"&m% +3 "core" %\ "  = +3 "storage"( % +3 "core" %_  +2 "storage"(L. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(\ ( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &   +2 "manipulator"&|& +5 "core" &  l + .tElbow.seek 3 +2 "manipulator"&'( +12 "core" ( +2 "manipulator"&& +3 "core" & J ` +2 "storage"(P& +4 "core" & L  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +96 "core" ' +2 "storage"(}& +3 "core" & s  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +286 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ^  +2 "manipulator"&u& +4 "core" & ` +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & X ` +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&!& +2 "storage"(/'X +7 "core" &  ` +2 "manipulator"&)% +4 "core" % ϥ ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&3& +3 "core" &% , 5 <? +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '" +99 "core" ' +2 "manipulator"&G& +3 "core" &% # Z <? +2 "manipulator"&C% +4 "core" %( u +2 "collection"'#& +4 "core" &[ +3 "collection"'E& +6 "core" &` +2 .tCC.seek :closed +2 "collection"'I(V +5 "core" &V +7 &8W #c +9 &\\T 6 +9 &U G +10 &bI F +9 &fG F +10 &_bH F +9 & fT F +9 &bR F +10 &eI F +9 &eeP G +9 & )eQ F +10 &!fQ F +9 &#gP G +10 &%ofQ F +9 &'0eQ F +9 &(eK F +10 &*bQ F +9 &,wfM F +9 &.9fO F +10 &/fY F +9 &1gK F +10 &3~fG F +9 &5@eQ F +9 &7eQ F +10 &8eW F +9 &:eU F +9 & gW F +9 &?gR F +10 &AgR F +9 &CQjO F +9 &EkT G +10 &Fv V H +9 &H[ J +9 &JD[ N +10 &KM P +9 &M(Z Q +10 &OY P +9 &QB\\ Q +9 &SV Q +10 &TV R +9 &V0`Z * +9 &V X H +10 ( + &V_Q C +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&\\1 +60 "core" 1 +2 "manipulator"&N% +3 "core" % ( $ +49 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%D& +3 "core" & +2 "manipulator"&% +5 "core" %\   + "storage"(% +5 "core" %O t + "storage"(A. +4 "core" .( +2 "storage"(^& +3 "core" & *  +2 "storage"(& +4 "core" & t   +2 "manipulator"&4& +3 "core" &%  <? +2 "manipulator"&*% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&?( +165 "core" ( + "manipulator"&1& +5 "core" & ' { + "storage"(B& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +99 "core" ' + "storage"(6& +4 "core" & =  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +283 "core" ' +2 "storage"(@- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +3 "core" & 9  +2 "manipulator"&-& +4 "core" & & { +2 .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&,& +4 "core" &  { +2 "storage"(:& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(g'X +8 "core" &  { +2 "manipulator"&$% +4 "core" % Ϛ  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +3 "manipulator"&<& +4 "core" &{ K  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &{   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +95 "core" ' + "manipulator"&X& +4 "core" &{ 3  +2 "manipulator"&% +4 "core" % 1 9 +2 "processing"%7& +4 "core" & +3 "processing"%;& +5 "core" & +2 .tPC.seek :closed +2 "processing"%[(Z +5 "core" & +6 &? #b +9 &\\ 6 +9 & G +10 &e~ G +9 &c G +9 &_c F +10 &!e F +9 &e F +10 &g G +9 &fjz G +9 & (d~ G +10 &!d G +9 &#e G +9 &%nh G +10 &'/i G +9 &(f F +10 &*g G +9 &,vj G +9 &.7d G +10 &/d F +9 &1e G +9 &3f F +10 &5@e G +9 &7h} G +10 &8i G +9 &:d F +9 & e| F +9 &?e~ G +9 &Ah G +10 &CPhz G +9 &El~ G +10 &Fs I +9 &H| J +9 &JH L +10 &L\ } L +9 &M L +9 &O L +10 &QP} L +9 &Sy L +10 &T| L +9 &V{ M +9 &XVv M +10 &Yxvx !i +9 &Z*t| , +9 ( + &Zz  +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&O1 +60 "core" 1 +2 "manipulator"&9% +3 "core" % 9 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 "processing"%F& +4 "core" &Zs  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %\  .  +2 "storage"(p% +4 "core" %Q +2 "storage"({. +3 "core" .( +2 "storage"(=& +3 "core" &  +2 "storage"(l& +4 "manipulator"&(& +6 "core" &  +2 &{   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +48 "storage"(#]@K-0-\ b +4 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +2 "core" ( +2 "manipulator"&Z& +4 "core" &{   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &R& +3 "core" &{   +2 .tForearm.seek PC +2 "manipulator"&>' +100 "core" ' + .tHand.close +2 "manipulator"&o/ +59 "core" / +2 .tPC.seek :open +2 "processing"%2( +90 "core" ' +2 "storage"(d- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +283 ( +2 "storage"(h& +3 "core" &   +2 "manipulator"&q& +4 "core" &{   +2 "manipulator"&]% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&_'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +267 "core" ( + "manipulator"&v& +4 "core" & #  +2 "storage"(j& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +95 "core" ' +2 .tHand.open + "manipulator"&S1 +60 "core" 1 +2 "storage"(W- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(U'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(x- +3 "core" -' +2 "storage"(w& +3 "core" &\ I\ H   +2 "manipulator"&& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&"& +3 "core" & B  +2 "storage"(a& +5 "core" &\ \ :  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +59 "core" ' +2 "manipulator"&t& +3 "core" &   +2 "storage"(& +4 "core" & &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +22 "core" ' +2 .tElbow.hold + "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +24 "core" ' +2 "manipulator"&% +3 "core" %{  +3 "storage"(V& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&m'ϧ +19 "core" ' +2 "manipulator"& & +3 "core" & k  +3 "storage"(L& +3 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(n% +4 "core" %n C +2 ."downElevator"SE.seek :down +4 "storage"(y'X +99 (% +2 "core" %R\\ w k R QK +3 "manipulator"&% +3 "core" %. a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & O  +2 "collection"'P& +4 "core" &V_V C +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&}% +3 "core" %\ \  +2 "storage"(k% +4 "core" %b ^ +2 "storage"(5. +3 "core" .( +2 "storage"( & +3 "core" & 0  +2 "storage"( & +49 "core" & 9  +3 "manipulator"&u& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & m  +2 "storage"(& +4 "core" & $  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +86 "core" ' +2 "storage"()& +4 "core" & ?  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''i +279 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & +  +2 "storage"(& +5 "core" & \\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&8'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(C'O +29 "core" ' +2 "manipulator"&#% +3 "core" %΀ +2 "storage"(& +4 "core" & $  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&/'Ϭ +20 "core" ' +2 "manipulator"&& +3 "core" & )  +3 "storage"(& +3 "core" & K  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'> +40 "core" ' + "manipulator"&E& +4 "core" & o  +2 "manipulator"&D% +4 "core" %) s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&A& +3 "core" && $ m =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" && Z =A +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&4/ +61 "core" / +2 .tCC.seek :open +2 "collection"'*( +417 "core" ( + "storage"( & +4 "core" &  +2 "storage"(1& +3 "core" & ]  +2 "manipulator"&B& +4 "core" &%  <@ +2 "manipulator"&6% +4 "core" % 3 -  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T( +159 "core" ( + "manipulator"&@& +4 "core" & 7  +2 "storage"(+& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +102 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&:1 +52 "core" 1 +2 "manipulator"&`% +3 "core" % Έ K +2 "storage"(H& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&$'ϴ +20 "core" ' +2 "manipulator"&?& +4 "core" & l  +2 "storage"(K& +4 "core" & C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +28 "core" ' +2 "storage"(%% +3 "core" %G + +3 ."downElevator"SE.seek :down +42 "storage"(<'X +60 (% +3 "core" %T PH +2 "manipulator"&M% +5 "core" %, s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' +92 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &C +2 "manipulator"&7% +4 "core" %\ "  : +2 "storage"(g% +4 "core" %H @ +2 "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(c( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &  +2 "manipulator"&9& +3 "core" & O  +3 .tElbow.seek 2 + "manipulator"&F( +31 "core" ( +2 "manipulator"&Q& +3 "core" &  l +2 "storage"(p& +4 "core" &  r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +93 "core" ' +2 "storage"(=& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(;'i +280 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ((& +3 "core" &  < +2 "manipulator"&Z& +3 "core" &  j +3 .tElbow.seek 2 + "manipulator"&R( +4 "core" ( +2 "manipulator"&b& +3 "core" & j +2 "storage"(o& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&d' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&f/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(['X +8 "core" & 8 j +2 "manipulator"&r% +3 "core" % ( > +3 .tForearm.seek :retract + "manipulator"&h'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +150 "core" ' ( +2 ."downElevator"SE.stop +2 "manipulator"&]& +2 "storage"(5 +7 "core" &% 9 <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &%  <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'" +97 "core" ' +3 "manipulator"&j& +4 "core" &% " 5 <: +2 "manipulator"&% +4 "core" %* 6 +2 "collection"'S& +3 "core" &j +3 "collection"'W& +6 "core" &j +2 .tCC.seek :closed +2 "collection"'x(V +5 "core" &Z +6 &IX $d +10 &_Y 7 +9 &1Z G +10 &d^ F +9 &eT G +9 &xcW F +10 &:e^ F +9 &fP F +9 &eY F +10 &a] F +9 & BeS F +9 &"eW F +10 &#h[ F +9 &%eQ F +10 &'IeX F +9 &) eY F +9 &*gY F +10 &,e[ F +9 &.QeX F +10 &0d[ F +9 &1g\\ F +9 &3eW F +10 &5ZdW F +9 &7g[ F +9 &8dV F +10 &:e[ F +9 &#eW F +10 &?g[ F +9 &AfR F +10 &ChfV G +9 &E)k[ G +9 &Fs X H +10 &H\\ J +9 &J^[ M +10 &L[ P +9 &M[ P +9 &O[ Q +10 &Q[W Q +9 &S[ R +9 &T[ Q +10 &VHf\\ . +9 &V\\ 8 +9 &WnY C +6 ( +2 "collection"'W& +3 "core" &W`^ C +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +4 .Hand.open +2 "manipulator"&w1 +56 "core" 1 +2 "manipulator"&% +3 "core" % *  ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +3 "core" & +2 "manipulator"&_% +3 "core" %\ # w : +3 "storage"(t% +3 "core" %^ e f 1 +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  Z _ O +48 "storage"(V& +6 "core" &  b c X +2 "manipulator"&& +4 "core" &% p <9 +2 "manipulator"& % +3 "core" %\ # $ : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&U( +153 "core" ( +2 "manipulator"&L& +4 "core" & d  +2 "storage"(n& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +95 "core" ' +2 "storage"(z& +3 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'i +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  \ +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" &  R +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(}'X +7 "core" & 7  +2 "manipulator"&k% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&i'\ +100 "core" ' +3 .tElbow.seek PC + "manipulator"&5(s +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +118 "core" ( + "manipulator"& & +4 "core" &l  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +101 "core" ' + "manipulator"&& +5 "core" &m P + "manipulator"&% +4 "core" %   +2 "processing"%& +4 "core" & +3 "processing"%)& +6 "core" & +2 .tPC.seek :closed +2 "processing"%y(Z +5 "core" &  +8 &8 )v +9 &k = +9 &r H +10 &rb G +9 &4d G +10 &e F +9 &e F +9 &{e F +10 &=d~ F +9 &f| G +9 & g| G +10 &"h~ G +9 &$Dd G +10 &&f} F +9 &'g F +9 &)e G +10 &+Lg G +9 &-c G +9 &.c G +10 &0g F +9 &2Tg G +10 &4h G +9 &5i G +9 &7b G +10 &9\\b G +9 &;a G +9 &<d G +10 &>d G +9 &@de G +10 &B&g G +9 &Ci G +9 &Eo H +10 &Gdy J +9 &I! K +9 &J} L +10 &L L +9 &Nd L +10 &P& L +9 &Q L +9 &S| M +10 &Ukv M +9 &W-{ M +9 &Xz M +10 &Z@D_z %k +9 &Z ({ " +6 ( + "processing"%)& +4 "core" &Zz " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&~1 +54 "core" 1 + "manipulator"&|% +4 "core" % ;  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +101 "core" ' +2 "processing"%3& +3 "core" &Zv " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ # Z B +2 "storage"(G% +3 "core" %^ e e P +2 "storage"(#. +4 "core" .( + "storage"(& +4 "core" &  e c ! +2 "storage"(& +3 "manipulator"&& +8 "core" &   t 6 + &m  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&E(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'i +2 "core" ( + "manipulator"&!& +5 "core" &m " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &m  +3 .tForearm.seek PC + "manipulator"&'' +96 "core" ' +5 .tHand.close + "manipulator"&8/ +53 "core" / +2 .tPC.seek :open +2 "processing"%/( +96 "core" ' +2 "storage"(C- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(A'y +42 "core" ' +283 ( +2 "storage"(^& +3 "core" &   +2 "manipulator"&\\& +5 "core" &m  + "manipulator"&.% +4 "core" %  7  +2 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +254 "core" ( +2 "manipulator"&I& +3 "core" & S +2 "storage"( & +4 "core" &  ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +92 "core" ' + .tHand.open +2 "manipulator"&B1 +58 "core" 1 +2 "storage"(6- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(@'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(+' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & \ R\ R +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&`( +4 "core" ( + "manipulator"&H& +4 "core" & ? +2 "storage"(?& +4 "core" & \ R\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +56 "core" ' + "manipulator"&J& +4 "core" & B +2 "storage"(& +4 "core" &  O +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +23 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +23 "core" ' +2 "manipulator"&$% +4 "core" %  +2 "storage"(N& +3 "core" &  ] +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&7& +3 "core" & t +2 "storage"(g& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +16 "core" ' +2 "storage"(&% +4 "core" %r   +2 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (\ % +2 "core" %V { y PI +3 "manipulator"&O% +3 "core" %щ l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +2 "core" &   +3 "collection"'p& +3 "core" &W_d C +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&=% +3 "core" %\   +3 "storage"(,% +3 "core" %Z  +2 "storage"(X. +3 "core" .( +2 "storage"(l& +3 "core" &  7 +3 "storage"((& +3 "core" &  9 +2 "manipulator"&Z& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&b( +4 "core" ( + "manipulator"&o& +4 "core" & < +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +3 "storage"(r& +3 "core" &  Q +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +282 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&]& +2 "core" &  +3 "storage"(>& +3 "core" &  8 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' + "manipulator"&S% +5 "core" % d 4 +2 "storage"(R& +3 "core" &  c d U +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts +2 "manipulator"&[' +19 "core" ' +2 "manipulator"&h& +3 "core" & W +2 "storage"(*& +4 "core" &  , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&w'ќ +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +38 "core" ' +2 "manipulator"&a& +3 "core" & O +2 "manipulator"&_% +4 "core" %p C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ( +3 "manipulator"&& +3 "core" &% #  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &% A <; +2 .tForearm.seek CC +2 "manipulator"&V'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +417 "core" ( +2 "storage"(v& +3 "core" &  _ +2 "storage"(L& +4 "core" &  ) +2 "manipulator"&n& +3 "core" &$ w ;6 +2 "manipulator"&z% +4 "core" % / \\ +3 .tForearm.seek :retract + "manipulator"&q'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +155 "core" ( +2 "manipulator"&& +4 "core" & \\  +2 "storage"(& +90 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +101 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +3 "core" %  o m +2 "storage"(P& +3 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&k' +20 "core" ' + "manipulator"&U& +4 "core" & z  +2 "storage"(e& +4 "core" &  e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +23 "core" ' +2 "storage"(m% +3 "core" %H  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +100 ( % +3 "core" %R x OF +2 "manipulator"&% +3 "core" %џ \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +47 "core" &K +4 "manipulator"&% +4 "core" %\   \ +2 "storage"(}% +4 "core" %U f +2 "storage"(i. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(2( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +2 "core" &   +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&3( +14 "core" ( + "manipulator"&& +4 "core" & W ` +2 "storage"(G& +4 "core" & B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +100 "core" ' +2 "storage"(& +3 "core" &  +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&!& +4 "core" &  ` +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&u& +4 "core" & V ` +2 "storage"(8& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(y'X +8 "core" &  ` + "manipulator"&D% +4 "core" % ϥ F e +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&.& +4 "core" &% , ? <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &% ) h <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'" +107 "core" ' + "manipulator"& & +4 "core" &% $ 8 <? +3 "manipulator"&E% +3 "core" % C +2 "collection"'B& +5 "core" &w +2 "collection"'6& +5 "core" &` +3 .tCC.seek :closed + "collection"'(V +5 "core" &b  +9 &9c *x +10 &l\\ = +9 &pa G +9 &zee F +10 &<fc F +9 &de F +9 &g^ F +10 &cd F +9 &Eb_ F +10 &c` G +9 & dZ F +9 &"e[ G +10 &$Le[ F +9 &&b[ F +10 &'eZ F +9 &)`[ F +9 &+TeX F +10 &-gU F +9 &.d\\ F +9 &0f] G +10 &2\\d\\ F +9 &4e] G +9 &5d] F +10 &7d\\ F +9 &9ea\\ F +10 &;&e\\ F +9 &<b\\ F +9 &>b\\ F +10 &@ke[ G +9 &B.e\\ F +10 &CiX F +9 &Ek[ G +9 &Gn{Z I +10 &I,\\ J +9 &J\\ O +9 &L[ P +10 &N_\\ P +9 &P [ Q +10 &QZ Q +9 &S[ R +9 &Ub(R ? +10 &VI[ ] +9 &V6Gd %q +9 &WB[ = +3 ( + "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&1 +65 "core" 1 + "manipulator"&:% +4 "core" %  [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%?& +4 "core" & + "manipulator"&4% +4 "core" %\ #  ; +2 "storage"(J% +3 "core" %`  +2 "storage"(. +4 "core" .( + "storage"($& +4 "core" & 9  +2 "storage"(N& +4 "core" &  +2 "manipulator"&A& +3 "core" &% = <? +2 "manipulator"&7% +4 "core" %\ # Z ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&g( +160 "core" ( + "manipulator"&@& +4 "core" & ) F +2 "storage"(&& +3 "core" &  +3 .tForearm.reconfigure :tight +55 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +102 "core" ' +2 "storage"(1& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'i +283 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (O& +2 "core" & 8  +2 "manipulator"&K& +5 "core" & F +2 .tElbow.seek 3 + "manipulator"&`( +4 "core" ( +2 "manipulator"&%& +4 "core" & F +2 "storage"(M& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&p& + "storage"(='X +7 "core" & F +2 "manipulator"&,% +3 "core" % ϭ 5 & +3 .tForearm.seek :retract +2 "manipulator"&X'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&-(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&l& +5 "core" &r 6   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &r Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Z' +93 "core" ' +2 "manipulator"&o& +4 "core" &s   +2 "manipulator"&f% +3 "core" %   +3 "processing"%Y& +3 "core" & +3 "processing"%r& +5 "core" & +2 .tPC.seek :closed +2 "processing"%<(Z +5 "core" &  +8 &8 )w +9 &k = +10 &r H +9 &pc G +9 &2c G +10 &e G +9 &c G +10 &yc F +9 &;e F +9 &e F +10 & e F +9 &"h G +9 &$Bd} G +10 &&d G +9 &'j G +10 &)i G +9 &+Jh| G +9 &- f G +10 &.d} F +9 &0i G +9 &2Rd G +10 &4i G +9 &5i F +9 &7d~ F +10 &9Zh G +9 &;b F +10 &<e F +9 &>d G +9 &@bf G +10 &B$j G +9 &Cj G +10 &Eo G +9 &Gd{ I +9 &I K +10 &J L +9 &L L +9 &Nd L +10 &P% L +9 &Q L +10 &S L +9 &Uj L +9 &W, L +10 &X M +9 &Z<Bb %m +9 &Z0| \  +6 ( +2 "processing"%r& +3 "core" &Z  +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&T1 +56 "core" 1 +3 "manipulator"&9% +3 "core" %  :  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +100 "core" ' + "processing"%]& +4 "core" &Zv  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&>% +4 "core" %\   +2 "storage"(j% +3 "core" %U x +2 "storage"(S. +4 "core" .( + "storage"(R& +5 "core" & C  +2 "storage"(h& +2 "manipulator"&*& +5 "core" &   +2 &s   +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(a'i + "manipulator"&_(s +6 "core" ( + "manipulator"&& +4 "core" &s R  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &s  N  +2 .tForearm.seek PC +2 "manipulator"&F' +98 "core" ' + .tHand.close +2 "manipulator"&;/ +54 "core" / +2 .tPC.seek :open +2 "processing"%[( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +37 "core" ' +296 ( +42 "storage"(W& +11 "core" & O  +2 "manipulator"&w& +3 "core" &s   +2 "manipulator"&d% +5 "core" % d +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&t( +262 "core" ( +2 "manipulator"&x& +3 "core" & I  +2 "storage"(v& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +94 "core" ' +2 .tHand.open +2 "manipulator"&n1 +60 "core" 1 +3 "storage"(z- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(V' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(& +4 "core" & M N 3  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +3 "manipulator"&P& +3 "core" & t  +2 "storage"(U& +4 "core" & N N  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(m' +53 "core" ' + "manipulator"&q& +4 "core" &   +2 "storage"( & +53 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' +2 "manipulator"&k% +3 "core" %΂ c +2 "storage"(& +4 "core" & V  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&'Ϯ +20 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(}& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +28 "core" ' +2 "storage"(s% +3 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (c% +2 "core" %W u K QK +2 "manipulator"&~% +5 "core" %! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &   +2 "collection"'G& +4 "core" &W?k = +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(% +4 "core" %^  +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(& +3 "core" &   +3 "manipulator"&!& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&8& +3 "core" &  +  +3 "storage"(5& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +100 "core" ' +2 "storage"(D& +4 "core" & ~  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +281 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &  +2 "storage"('& +3 "core" &   +2 .tElbow.reconfigure :limp +47 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&)'} +27 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'Q +29 "core" ' +2 "manipulator"& % +4 "core" %~ { +2 "storage"(B& +3 "core" & &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&y'Ϫ +20 "core" ' + "manipulator"&^& +4 "core" & @  +4 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(:'@ +40 "core" ' + "manipulator"&?& +4 "core" &  +2 "manipulator"&4% +4 "core" %/ x v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +2 "manipulator"&6& +3 "core" &( v ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &( F ?S +3 .tForearm.seek CC + "manipulator"&N'" +94 "core" ' + .tHand.close +2 "manipulator"&A/ +57 "core" / +2 .tCC.seek :open +2 "collection"'7( +417 "core" ( +2 "storage"(I& +3 "core" &   +2 "storage"(@& +5 "core" &  + "manipulator"&&& +4 "core" &(  ?P +2 "manipulator"&\\% +3 "core" %  R +3 .tForearm.seek :retract + "manipulator"&1'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H( +159 "core" ( +2 "manipulator"&\ & +3 "core" & ] u +2 "storage"(O& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&K'} +94 "core" ' +2 .tElbow.hold + "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&M1 +58 "core" 1 +3 "manipulator"&% +3 "core" % Α 3 +2 "storage"(p& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&,'Ͻ +20 "core" ' + "manipulator"&g& +4 "core" &  u +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +28 "core" ' +2 "storage"(Q% +3 "core" %J +3 ."downElevator"SE.seek :down +4 "storage"(l'X +98 ((% +3 "core" %+T a QI +2 "manipulator"&`% +4 "core" %@ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'f& +5 "core" &i + "manipulator"&Y% +4 "core" %\  +2 "storage"(=% +3 "core" %S " +2 "storage"(X. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(/( +339 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +3 "core" & u +2 "manipulator"&9& +46 "core" & M u +6 .tElbow.seek 2 + "manipulator"&]( +37 "core" ( +2 "manipulator"&>& +3 "core" & l $ +3 "storage"(j& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +89 "core" ' + "storage"(r& +5 "core" & a +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +281 "core" ' +3 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" & +2 "manipulator"&& +4 "core" & R $ +2 .tElbow.seek 2 +2 "manipulator"&b( +4 "core" ( +2 "manipulator"&Z& +4 "core" & $ +2 "storage"(;& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(<'X +8 "core" & q $ +2 "manipulator"&a% +3 "core" %  u y +3 .tForearm.seek :retract + "manipulator"&W'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&w( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&d& +3 "core" &* + 0 @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &* d @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'" +102 "core" ' + "manipulator"&v& +5 "core" &* # T @[ + "manipulator"&_% +5 "core" %#  +2 "collection"'n& +3 "core" &a +3 "collection"'z& +5 "core" &x +3 .tCC.seek :closed + "collection"'(V +5 "core" &o +8 &Bk #b +9 &^f 6 +9 &n G +10 &ce F +9 &eh G +10 &dcj F +9 &&be F +9 &bg F +10 &gd F +9 &lgh F +9 & .gp F +10 &!go F +9 &#gf F +10 &%tgb F +9 &'6gR F +9 &(d[ G +10 &*eV F +9 &,|bZ F +9 &.>b[ F +10 &0g[ F +9 &1g\\ F +10 &3e[ G +9 &5Fc\\ F +9 &7b\\ F +10 &8fZ F +9 &:e^ G +9 &eZ G +9 &?e] G +10 &AeZ G +9 &CUe Z G +9 &Eg] G +10 &Fs  \\ H +9 &H~\\ J +9 &JI\\ N +10 &LW P +9 &M[ Q +10 &OQ Q +9 &QHX Q +9 &SV R +10 &TQ R +9 &V=j\\ 0 +9 &VU 6 +10 &VmX F +5 ( +2 "collection"'z& +3 "core" &Vk[ F +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +3 "manipulator"&% +3 "core" % # # y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%U& +4 "core" & +2 "manipulator"&% +3 "core" %\  ]  +3 "storage"(q% +3 "core" %a e d E +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" & e e E +2 "storage"(& +4 "core" & e e W +2 "manipulator"&k& +4 "core" &) c @[ +2 "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( + "manipulator"&}& +4 "core" & ;  +2 "storage"(t& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +87 "core" ' +2 "storage"(L& +3 "core" & ; +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(V'i +283 "core" ' + "storage"(c- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +51 (~& +2 "core" & [ +2 "manipulator"&e& +4 "core" & X  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&m& +3 "core" & 9  +3 "storage"(& +3 "core" & c +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"('X +8 "core" & _  +2 "manipulator"&% +4 "core" % 1 E +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +118 "core" ( +2 "manipulator"&& +4 "core" &l    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!' +102 "core" ' +2 "manipulator"&8& +3 "core" &m (  +3 "manipulator"&5% +3 "core" %   +2 "processing"%i& +4 "core" & +3 "processing"%D& +5 "core" & +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" & +7 &? #b +9 &\\ 6 +10 & G +9 &f G +9 &h G +10 &]g G +9 &g G +9 &i G +10 &j G +9 &dg G +10 & (f~ F +9 &!e F +9 &#e F +10 &%ne F +9 &'/e G +10 &(c G +9 &*e G +9 &,ud G +10 &.7d G +9 &/c F +9 &1e G +10 &3}c G +9 &5?h G +9 &7h G +10 &8g G +9 &:d F +10 &\ g F +9 &?e F +10 &Ae G +9 &CNk G +9 &Ek H +10 &Fr H +9 &H J +10 &JH L +9 &L\  L +9 &M L +10 &O L +9 &QO| L +9 &S M +10 &T} M +9 &V M +10 &XU M +9 &Yxv{ !i +9 &Z+t} - +10 ( + &Z~ ! +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&"1 +63 "core" 1 +2 "manipulator"&|% +4 "core" % *  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 "processing"%.& +3 "core" &Zl ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&'% +4 "core" %\ #  < +2 "storage"( % +3 "core" %a s  ( +2 "storage"( . +4 "core" .( + "storage"(B& +4 "core" & h e +2 "storage"(^& +3 "manipulator"& & +8 "core" & e f l + &n c  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&?(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(4'i +3 "core" ( +2 "manipulator"&0& +3 "core" &n j  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &n   +2 .tForearm.seek PC +2 "manipulator"&3' +99 "core" ' +2 .tHand.close + "manipulator"&)/ +55 "core" / +3 .tPC.seek :open +2 "processing"%y( +89 "core" ' + "storage"(E- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'y +34 "core" ' +297 ( + "storage"($& +4 "core" & X +2 "manipulator"&& +4 "core" &o   +2 "manipulator"&C% +3 "core" % f ! +3 .tForearm.seek :retract + "manipulator"&A'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&J( +265 "core" ( + "manipulator"&& +52 "core" & X 9 + "storage"(I& +4 "core" & g u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&@'ќ +87 "core" ' +2 .tHand.open + "manipulator"&&1 +63 "core" 1 +2 "storage"(\\- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(\ 'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(O' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(& +3 "core" & \ R\ Q +2 "manipulator"&M& +4 "core" & I 8 +2 .tElbow.seek 2 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&p& +3 "core" & . !s +2 "storage"(g& +5 "core" & \ P\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +55 "core" ' +2 "manipulator"&1& +4 "core" &  !q +2 "storage"((& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&`' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(K'i +23 "core" ' +2 "manipulator"&,% +3 "core" %  q +3 "storage"(f& +3 "core" & x r , +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&Y' +21 "core" ' +2 "manipulator"&=& +3 "core" & ^ o +2 "storage"(X& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&:'ќ +31 "core" ' +2 "storage"(+% +4 "core" %s ' +3 ."downElevator"SE.seek :down +3 "storage"(l'X +100 (2% +4 "core" %}T n r " PI +3 "manipulator"&T% +3 "core" %ь  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +88 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (>& +3 "core" & +2 "collection"'j& +4 "core" &VkX F +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&r% +3 "core" %\  .  +2 "storage"(%% +4 "core" %N  +2 "storage"(o. +3 "core" .( +2 "storage"(h& +3 "core" &  +2 "storage"(*& +4 "core" &  +2 "manipulator"&& +3 "core" & 7 o +3 .tElbow.seek 2 + "manipulator"&Z( +4 "core" ( +2 "manipulator"&;& +3 "core" & 1 o +2 "storage"(-& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +91 "core" ' +2 "storage"(a& +3 "core" & A +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +277 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" & " n +2 "storage"(F& +4 "core" & @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&R' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'P +65 "core" ' +9 "manipulator"&n% +3 "core" % D S +2 "storage"(b& +5 "core" & f k { + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&<' +22 "core" ' + "manipulator"&W& +5 "core" & P n + "storage"(7& +4 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +39 "core" ' +2 "manipulator"&U& +4 "core" & * n +2 "manipulator"&% +3 "core" %Ѳ < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +151 "core" ( +3 "manipulator"&& +3 "core" &% $ ; <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &% p <> +3 .tForearm.seek CC + "manipulator"&z'" +94 "core" ' +2 .tHand.close +2 "manipulator"&k/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(x& +3 "core" & p +2 "storage"(}& +4 "core" & +2 "manipulator"&t& +4 "core" &%  <> +2 "manipulator"&L% +3 "core" % 2  \ +3 .tForearm.seek :retract +2 "manipulator"&w'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +158 "core" ( +2 "manipulator"&c& +3 "core" & B  +3 "storage"(~& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&e' +101 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +5 "core" % ^ + "storage"(G& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&& +3 "core" & I  +2 "storage"(s& +5 "core" & p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +17 "core" ' +2 "storage"(% +4 "core" %D b +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %IR  PG +2 "manipulator"&% +3 "core" %ѧ E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'5& +4 "core" &Y +2 "manipulator"&i% +3 "core" %\  K  +3 "storage"(% +3 "core" %` I +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"([( +336 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" & L +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&.( +29 "core" ( +2 "manipulator"&'& +3 "core" & u +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +92 "core" ' +2 "storage"(D& +3 "core" & O  +49 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'i +277 "core" ' +2 "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" & |  +2 "manipulator"&0& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( +2 "manipulator"&!& +4 "core" & +2 "storage"()& +4 "core" & b  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"( 'X +8 "core" & 2 +2 "manipulator"&4% +3 "core" % ύ +3 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&C& +4 "core" &! 8 V 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &!  { 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +2 "manipulator"&?& +3 "core" &" ^ 8 +3 "manipulator"&I% +3 "core" %% U +3 "collection"'&& +4 "core" &o +2 "collection"'\\& +5 "core" &z +3 .tCC.seek :closed + "collection"'N(V +4 "core" &n  +9 &6p )u +10 &je < +9 &sl G +10 &kdo F +9 &-go F +9 &de F +10 &am F +9 &sem F +9 &6bn F +10 &em F +9 & bn F +10 &"zfn G +9 &$=do F +9 &%gp F +10 &'dj F +9 &)ed F +9 &+Eey F +10 &-es G +9 &.df F +10 &0eh G +9 &2Mdn F +9 &4eh F +10 &5ac F +9 &7d[ F +9 &9VbU F +10 &;eT F +9 &<cQ F +10 &>h` F +9 &@]eS F +9 &B bZ F +10 &CgT G +9 &Eh[ G +9 &G`vS H +10 &IT I +9 &J` N +10 &LV P +9 &NQW P +9 &PV Q +10 &QQ Q +9 &SS R +9 &US_ C +10 &Vi<Y / +9 &VmU @ +6 ( + "collection"'\\& +4 "core" &VXX @ +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +3 "manipulator"&M% +4 "core" % %  j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%g& +3 "core" & +2 "manipulator"&A% +3 "core" %\  L  +2 "storage"(1% +4 "core" %_  +2 "storage"((. +3 "core" .( +2 "storage"(,& +3 "core" & Z  +2 "storage"(6& +4 "core" &  +2 "manipulator"&f& +4 "core" &!  8 +2 "manipulator"&\ % +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&=( +164 "core" ( +2 "manipulator"&X& +4 "core" &  X + "storage"(+& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +92 "core" ' +2 "storage"(@& +3 "core" & #  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +277 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &   +3 "manipulator"&& +3 "core" & X +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&Q& +4 "core" &  r X +2 "storage"(`& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&>/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(r'X +8 "core" & 1 X +2 "manipulator"&%% +4 "core" % ϴ ? _ +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&K& +3 "core" &h  V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &*& +3 "core" &h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&;& +4 "core" &h  +2 "manipulator"&-% +4 "core" %  +2 "processing"%:& +4 "core" & +2 "processing"%a& +5 "core" & +2 .tPC.seek :closed +2 "processing"%l(Z +5 "core" &  +8 &8 )v +9 &l = +9 &r G +10 &ue G +9 &7c G +10 &g G +9 &h G +9 &|e G +10 &@d F +9 &f F +9 & d F +10 &"h G +9 &$Gd G +10 && c G +9 &'h G +9 &)c G +10 &+Oc G +9 &-b| G +9 &.c G +10 &0d G +9 &2Xf~ F +10 &4e~ F +9 &5d F +9 &7c F +10 &9^g G +9 &;"b F +9 &<e G +10 &>g G +9 &@hf F +10 &B*f F +9 &Ch G +9 &Ep G +10 &Ghx I +9 &I% K +9 &J L +10 &L L +9 &Nh L +10 &P) L +9 &Q M +9 &S L +10 &Un M +9 &W/ M +9 &X M +10 &ZBC_ %l +9 &Z\ ( +5 ( +2 "processing"%a& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&H1 +54 "core" 1 +2 "manipulator"&9% +3 "core" % 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +97 "core" ' +2 "processing"%d& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&F% +4 "core" %\   +2 "storage"(v% +4 "core" %N  +2 "storage"(n. +3 "core" .( +2 "storage"(b& +4 "core" & [  +2 "storage"(W& +2 "manipulator"&7& +6 "core" &   +2 &h  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(U'i + "manipulator"&(s +33 "core" ( +2 "manipulator"&{& +3 "core" &n  c +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&]' +94 "core" ' +2 .tHand.close + "manipulator"&R/ +58 "core" / +3 .tPC.seek :open +2 "processing"%<( +58 "core" ' + "storage"(_- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +35 "core" ' +328 ( +2 "storage"(& +3 "core" &   +2 "manipulator"&& +3 "core" &n / +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&k'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&q( +238 "core" ( +2 "manipulator"&& +3 "core" & T \\ +2 "storage"(x& +4 "core" & j f h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +104 "core" ' +2 .tHand.open + "manipulator"&t1 +64 "core" 1 +2 "storage"(L- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +42 "storage"(c'E +30 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(~' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(z- +2 "core" -' +3 "storage"( & +3 "core" &\ H\ J .  +2 "manipulator"&& +4 "core" &\ V Y +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&G& +3 "core" &\ f Y +2 "storage"(& +3 "core" &\ I\ O a  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&w& +3 "core" &\ : Y +3 "storage"(& +3 "core" & y  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'i +24 "core" ' + "manipulator"&5% +4 "core" %x - +2 "storage"(& +4 "core" & *  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&i'Ϥ +20 "core" ' +2 "manipulator"&& +3 "core" &\ R Y +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' + "storage"(V% +5 "core" %n   +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (/% +3 "core" %2\\ z z QJ +2 "manipulator"&"% +4 "core" %H  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 ('& +2 "core" &   +3 "collection"' & +3 "core" &VWc @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&D% +3 "core" %\    +2 "storage"(m% +4 "core" %a  +2 "storage"(8. +3 "core" .( +2 "storage"( & +3 "core" &   +2 "storage"(^& +4 "core" &   +2 "manipulator"&0& +4 "core" &\  X +2 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&)& +4 "core" &\ @ X +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +95 "core" ' + "storage"(4& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(.'i +282 "core" ' +3 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &\ " X +2 "storage"(3& +3 "core" & {  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&B'} +25 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(I'P +28 "core" ' + "manipulator"&&% +5 "core" %Α  + "storage"(u& +4 "core" & t R  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"& 'Ͻ +20 "core" ' +2 "manipulator"&$& +3 "core" &\ V X +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +3 "manipulator"&'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'? +38 "core" ' +2 "manipulator"&g& +3 "core" &\ s X +3 "manipulator"&A% +3 "core" %! 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +152 "core" ( +3 "manipulator"&,& +5 "core" &% W <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &% ) <> +3 .tForearm.seek CC + "manipulator"&\\'" +95 "core" ' + .tHand.close +2 "manipulator"&f/ +58 "core" / +2 .tCC.seek :open + "collection"'\ ( +351 "Can" K"d +67 "core" ( + "storage"(& +4 "core" & x  +2 "storage"(X& +3 "core" & ^  +2 "manipulator"&+& +5 "core" &# L :* + "manipulator"&@% +4 "core" % 2 g +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +163 "core" ( + "manipulator"&2& +4 "core" & f u +2 "storage"(T& +4 "core" & O  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +94 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&`1 +60 "core" 1 +3 "manipulator"&>% +4 "core" % ΃ g +2 "storage"(j& +3 "core" & (  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&%'ϯ +19 "core" ' +2 "manipulator"&=& +3 "core" &  u +2 "storage"(J& +5 "core" & w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +25 "core" ' + "storage"(Y% +4 "core" %H 9 \ +3 ."downElevator"SE.seek :down +3 "storage"(K'X +99 (*% +3 "core" %R J OE +2 "manipulator"&% +4 "core" %V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'-& +3 "core" &] +2 "manipulator"&:% +3 "core" %\  v  +3 "storage"(r% +3 "core" %a & +2 "storage"(o. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(y( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" & M +2 "manipulator"&9& +3 "core" &  u +3 .tElbow.seek 2 + "manipulator"&d( +36 "core" ( +2 "manipulator"&F& +3 "core" &\  ` +2 "storage"(v& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +95 "core" ' + "storage"(b& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +281 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" & M +2 "manipulator"&{& +4 "core" & _ +2 .tElbow.seek 2 + "manipulator"&Z( +81 "core" ( +2 "manipulator"&& +3 "core" & 5 y +3 "storage"(R& +3 "core" & + +3 .tForearm.seek 2 + 300 counts + "manipulator"&_' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&h/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(l'X +8 "core" & p y +2 "manipulator"&U% +3 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &' : >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &'  >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +3 "manipulator"&x& +3 "core" &( # D >N +3 "manipulator"&% +3 "core" % i  +2 "collection"'t& +5 "core" &W +2 "collection"'L& +6 "core" &f +2 .tCC.seek :closed +2 "collection"'k(V +5 "core" &] +7 &If $d +10 &]h 6 +9 &'m G +10 &ad F +9 &fk G +9 &ocp F +10 &/em G +9 &dm F +9 &de F +10 &wan F +9 & 7do G +10 &!dk F +9 &#fh G +9 &%~eh F +10 &'Afk F +9 &)dl F +9 &*dh G +10 &,eb F +9 &.Hds F +10 &0 fq F +9 &1ef F +9 &3e\\ G +10 &5Qc_ F +9 &7ec F +9 &8e^ F +10 &:e[ F +9 &e] F +9 &?b_ F +9 &AeS F +14 &C`g_ F +5 &E!m` G +11 &Fv  ^ G +8 &Hb J +9 &JU` M +10 &L ^ P +9 &MW P +9 &Oa Q +10 &QR[ Q +9 &S` R +9 &T_ R +10 &VBf^ . +9 &V^ ; +10 &Wn^ ? +5 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&z1 +4 "core" &WTc ? +57 1 +2 "manipulator"& % +3 "core" %  & >  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%G& +5 "core" & +2 "manipulator"&% +3 "core" %\  k  +2 "storage"(w% +4 "core" %a ~ +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(5& +4 "core" & j +2 "manipulator"&& +3 "core" &' \ >M +3 "manipulator"&c% +4 "core" %\  t  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +167 "core" ( +2 "manipulator"&& +4 "core" & y d +2 "storage"(V& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +114 "core" ' +2 "storage"(}& +3 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +283 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" & ; +2 "manipulator"&s& +4 "core" & u d +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ' d +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(D'X +8 "core" & 6 d + "manipulator"&m% +4 "core" %  q N +2 .tForearm.seek :retract +2 "manipulator"&8'\ +99 "core" ' +49 .tElbow.seek PC +2 "manipulator"& (s +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +141 "core" ( + "manipulator"&e& +5 "core" &p 6 E  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &^& +2 "core" &p   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&0' +104 "core" ' +2 "manipulator"&)& +4 "core" &p 8  +2 "manipulator"&% +5 "core" %  + "processing"%& +5 "core" & +2 "processing"%4& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +9 &7 )w +10 &l = +9 &r H +9 &uc F +10 &7e F +9 &e F +10 &c G +9 &|c G +9 &>h G +10 &i F +9 & e F +9 &"e F +10 &$Gf F +9 &&h G +10 &'c G +9 &)b F +9 &+Ne~ G +10 &-h G +9 &.h~ G +9 &0i} G +10 &2Vi} G +9 &4c~ G +10 &5c G +9 &7b| G +9 &9^c G +10 &;!c F +9 &<f G +9 &>g G +10 &@gg F +9 &B(g G +9 &Ci G +10 &En H +9 &Ggy I +10 &I$ K +9 &J L +9 &L L +10 &Nf L +9 &P' M +10 &Q M +9 &S L +9 &Um M +10 &W. M +9 &X M +9 &ZBEb %k +10 &Z" " +5 ( +2 "processing"%4& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&P1 +4 "core" &Z~ " +58 1 + "manipulator"&|% +4 "core" %  : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 "processing"%C& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&3% +3 "core" %\  3  +3 "storage"(?% +3 "core" %_  +2 "storage"(&. +3 "core" .( +2 "storage"(u& +3 "core" & 8 +3 "storage"($& +2 "manipulator"&& +7 "core" & 6 +2 &p   + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&g(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(A'i +3 "core" ( +2 "manipulator"&#& +3 "core" &p   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &p   +2 .tForearm.seek PC +2 "manipulator"&.' +93 "core" ' +2 .tHand.close + "manipulator"&B/ +57 "core" / +3 .tPC.seek :open +2 "processing"% ( +99 "core" ' +2 "storage"(I- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'y +35 "core" ' +285 ( +2 "storage"(6& +3 "core" & ` +3 "manipulator"&& +3 "core" &p @  +2 "manipulator"&E% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&f'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&1( +248 "core" ( +2 "manipulator"&N& +3 "core" & , !u +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +95 "core" ' +2 .tHand.open +2 "manipulator"&+1 +64 "core" 1 +2 "storage"(@- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(T' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(\\- +2 "core" -' +3 "storage"((& +3 "core" & \ R\ Q +2 "manipulator"&`& +4 "core" & E !r +2 .tElbow.seek 2 +2 "manipulator"&>( +51 "core" ( +2 "manipulator"&j& +3 "core" & X !r +2 "storage"(=& +5 "core" & \ R\ R +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(Y' +59 "core" ' +2 "manipulator"&& +3 "core" &  !r +2 "storage"(*& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&%% +3 "core" % f k +2 "storage"(-& +4 "core" & t i C +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&:' +20 "core" ' +2 "manipulator"&r& +4 "core" &  !q +2 "storage"(o& +4 "core" & 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +19 "core" ' +2 "storage"(O% +3 "core" %r * +3 ."downElevator"SE.seek :down +4 "storage"(K'X +98 ([% +3 "core" %Z r p QJ +2 "manipulator"&H% +5 "core" %Ѩ  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (F& +3 "core" & +2 "collection"'v& +3 "core" &WTw ? +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&b% +4 "core" %\   +2 "storage"(Q% +3 "core" %\\  +2 "storage"(;. +4 "core" .( + "storage"(7& +5 "core" & c + "storage"(a& +4 "core" &  +2 "manipulator"&{& +4 "core" & b !q +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&R& +3 "core" & J !q +2 "storage"(h& +4 "core" & # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +97 "core" ' + "storage"(U& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +281 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  !p +2 "storage"(]& +4 "core" & P +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +29 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +29 "core" ' +2 "manipulator"&t% +3 "core" % W - +2 "storage"(Z& +4 "core" & z | N +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&l' +18 "core" ' + "manipulator"&& +3 "core" & 3 !p +3 "storage"(\ & +3 "core" & ~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"( '> +43 "core" ' +2 "manipulator"&G& +3 "core" &  !p +2 "manipulator"&% +4 "core" %ћ F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +95 "core" ' +3 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +3 "manipulator"&& +3 "core" &# < :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &# :- +3 .tForearm.seek CC + "manipulator"&5'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'c( +417 "core" ( + "storage"(& +4 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&V& +3 "core" &#  :- +2 "manipulator"&% +4 "core" %  $ +3 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +163 "core" ( +2 "manipulator"&/& +4 "core" & { +2 "storage"("& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&s' +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&'% +4 "core" % 9 +2 "storage"( & +5 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&m' +18 "core" ' +2 "manipulator"&& +3 "core" & l { +2 "storage"(q& +4 "core" & U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +29 "core" ' + "storage"(i% +5 "core" %H +2 ."downElevator"SE.seek :down +4 "storage"(e'X +98 (^% +3 "core" %U ^ PG +2 "manipulator"&% +4 "core" %ў j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +95 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &` +2 "manipulator"&% +3 "core" %\ #  B +3 "storage"(D% +3 "core" %_  +2 "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(<( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &   +2 "manipulator"&|& +3 "core" &  { +2 .tElbow.seek 3 +2 "manipulator"&C( +11 "core" ( +2 "manipulator"&3& +3 "core" & g l +3 "storage"(?& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +95 "core" ' +2 "storage"(u& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +3 "core" & %  +2 "manipulator"&#& +3 "core" & c l +3 .tElbow.seek 3 + "manipulator"&!( +4 "core" ( +2 "manipulator"&0& +3 "core" & O l +2 "storage"(B& +4 "core" & y  +3 .tForearm.seek 3 + 300 counts + "manipulator"&I'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & +47 "storage"('X +8 "core" & ; l +2 "manipulator"&A% +4 "core" % ϝ _ +3 .tForearm.seek :retract +2 "manipulator"&6'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&E& +4 "core" &% 8 I <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &%  <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'" +100 "core" ' +3 "manipulator"&& +5 "core" &%   <: + "manipulator"&g% +5 "core" %' f < +2 "collection"'+& +3 "core" &p +3 "collection"'@& +5 "core" &c +2 .tCC.seek :closed +2 "collection"'\\(V +5 "core" &b +7 &Ad $d +9 &^] 7 +9 &&~_ G +10 &cU F +9 &e^ F +9 &mda G +10 &1e^ F +9 &ea G +10 &ei F +9 &uek G +9 & 8ej F +10 &!gs F +9 &#eq F +9 &%hi F +10 &'@eb F +9 &)dd G +9 &*ea F +10 &,er F +9 &.Igq F +10 &0\ eg F +9 &1gs G +9 &3es F +10 &5Pes F +9 &7el G +10 &8dq F +9 &:el F +9 &fq G +9 &?eo F +9 &Ael F +10 &C`hn F +9 &E!mr G +10 &Ft r H +9 &Hs I +9 &JSu N +10 &L r P +9 &Mg P +9 &Oq Q +10 &QRq Q +9 &Sc R +10 &Tj R +9 &VAgx / +9 &Vt 9 +10 &Wln B +5 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&(1 +3 "core" &WZk B +55 1 +2 "manipulator"&`% +5 "core" % ( $ s ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%j& +4 "core" & +2 "manipulator"&=% +3 "core" %\   Q  +2 "storage"(% +4 "core" %a +2 "storage"(*. +3 "core" .( +2 "storage"(,& +3 "core" &  +2 "storage"(2& +4 "core" &  +2 "manipulator"&%& +3 "core" &% w <: +2 "manipulator"&-% +5 "core" %\  |  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&r( +162 "core" ( +2 "manipulator"&o& +3 "core" & n n +2 "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +99 "core" ' +2 "storage"(X& +3 "core" & _  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +283 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +2 "core" &   +2 "manipulator"&J& +4 "core" & E n +2 .tElbow.seek 3 +2 "manipulator"&>( +4 "core" ( + "manipulator"&Y& +4 "core" & [ n +2 "storage"(& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&:'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(b'X +8 "core" & V n +2 "manipulator"&Q% +3 "core" % ϲ  * +2 .tForearm.seek :retract +2 "manipulator"&;'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&7& +5 "core" &q  @ 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &q [ 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&{' +139 "core" ' +3 "manipulator"&R& +3 "core" &q \\ 4 +2 "manipulator"&h% +5 "core" %   +2 "processing"%M& +3 "core" & +3 "processing"%U& +5 "core" & +2 .tPC.seek :closed +2 "processing"%K(Z +5 "core" &  +8 &7 )v +9 &k = +10 &r H +9 &qg F +10 &3e F +9 &h G +9 &c F +10 &yc F +9 &<c F +9 &g G +10 & g F +9 &"e F +10 &$Bd G +9 &&h G +9 &'i G +10 &)f G +9 &+Jb G +9 &- c F +10 &.e G +9 &0g G +10 &2Rf G +9 &4g G +9 &5c G +10 &7b F +9 &9Zd G +9 &;d G +10 &<e} F +9 &>g G +10 &@bi G +9 &B$d G +9 &Ci G +10 &En H +9 &Gcx I +10 &I K +9 &J L +9 &L L +10 &Na M +9 &P# M +9 &Q M +10 &S M +9 &Uh M +9 &W+ M +10 &X M +9 &Z=Db %l +10 &Z& " +5 ( +2 "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&p1 +4 "core" &Z " +58 1 + "manipulator"&9% +4 "core" % c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&]% +4 "core" %\    +2 "storage"(x% +3 "core" %_ 1 +2 "storage"(t. +4 "core" .( + "storage"(Z& +4 "core" & u  +2 "storage"(& +4 "manipulator"&\ & +6 "core" & n  + &q  4 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +4 "storage"(#]@K-0-\ b + .tElbow.seek PC +4 "manipulator"&G(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( + "manipulator"&S& +6 "core" &q  4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q  4 +3 .tForearm.seek PC +2 "manipulator"&d' +94 "core" ' + .tHand.close +2 "manipulator"&W/ +55 "core" / +2 .tPC.seek :open +2 "processing"%l( +99 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +41 "core" ' +281 ( +2 "storage"(L& +3 "core" & ;  +2 "manipulator"&z& +4 "core" &q  4 +2 "manipulator"&_% +4 "core" %  & +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&w( +258 "core" ( + "manipulator"&k& +4 "core" & H  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' + .tHand.open +2 "manipulator"&V1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"(& +3 "core" &\ G\ G  +2 "manipulator"&& +3 "core" & 7  +3 .tElbow.seek 3 + "manipulator"&'( +3 "core" ( +2 "manipulator"& & +4 "core" & ]  +2 "storage"(& +4 "core" &\ G\ G  +3 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +53 "core" ' +2 "manipulator"&}& +49 "core" & q  +4 "storage"(^& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +17 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(s'i +24 "core" ' +2 "manipulator"&m% +3 "core" %}  +2 "storage"(& +5 "core" & ;  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' +2 "manipulator"&D& +3 "core" & :  +2 "storage"(8& +4 "core" & X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +17 "core" ' + "storage"(~% +5 "core" %r +2 ."downElevator"SE.seek :down +4 "storage"(e'X +98 (y% +3 "core" %Z d b ? QK +2 "manipulator"&P% +5 "core" %5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +4 "core" & e  +2 "collection"'?& +3 "core" &W\\d B +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&u% +3 "core" %\ \ ]  +3 "storage"(% +3 "core" %_ = +2 "storage"(). +4 "core" .( + "storage"(& +4 "core" & e  +2 "storage"($& +4 "core" &  +2 "manipulator"&#& +3 "core" & \\  +3 .tElbow.seek 3 + "manipulator"&0( +3 "core" ( +2 "manipulator"&B& +5 "core" &   + "storage"( & +4 "core" & -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +94 "core" ' + "storage"(A& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +283 "core" ' +2 "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" &   +2 "storage"(E& +4 "core" & ,  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&.'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(g'R +32 "core" ' +2 "manipulator"&+% +3 "core" %΄  +2 "storage"(!& +4 "core" & B  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&'ϰ +20 "core" ' +2 "manipulator"&6& +3 "core" & U  +2 "storage"(c& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(`'A +40 "core" ' + "manipulator"&j& +4 "core" &  +2 "manipulator"&=% +3 "core" %C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +157 "core" ( +2 "manipulator"&,& +5 "core" &( e ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &( ?P +3 .tForearm.seek CC + "manipulator"&2'" +94 "core" ' + .tHand.close +2 "manipulator"&%/ +65 "core" / +9 .tCC.seek :open +2 "collection"'-( +416 "core" ( +2 "storage"(N& +4 "core" & b  +2 "storage"(o& +3 "core" & i  +3 "manipulator"&1& +3 "core" &' < >N +2 "manipulator"&X% +4 "core" % + , +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +168 "core" ( +2 "manipulator"&[& +3 "core" & ] b +2 "storage"(H& +5 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&J'} +91 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&F% +4 "core" % ΁ Y +2 "storage"(v& +3 "core" & N  +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&Q'ϭ +20 "core" ' + "manipulator"&r& +4 "core" & 9 b +2 "storage"(O& +4 "core" & <  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +17 "core" ' +2 "storage"(:% +4 "core" %H = +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (a% +3 "core" %Q r OF +2 "manipulator"&>% +3 "core" %?  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'h& +3 "core" &c +2 "manipulator"&M% +4 "core" %\  D  +2 "storage"(b% +3 "core" %Q - +2 "storage"(;. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +3 "core" & 8 +2 "manipulator"&9& +4 "core" & b +2 .tElbow.seek 2 +2 "manipulator"&( +32 "core" ( +2 "manipulator"&]& +4 "core" & \ Y \\ +2 "storage"(x& +3 "core" & c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +104 "core" ' +2 "storage"(Z& +3 "core" & w +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & o +2 "manipulator"&S& +4 "core" &\ ; [ +2 .tElbow.seek 2 +2 "manipulator"&( +30 "core" ( +3 "manipulator"&{& +3 "core" &  ~ +2 "storage"(W& +4 "core" & + +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&n& + "storage"(K'X +8 "core" & d ~ + "manipulator"&% +4 "core" %  k  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&z( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&_& +3 "core" && . <@ +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &d& +3 "core" &% ] <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'" +95 "core" ' +3 "manipulator"&& +5 "core" &% $ <@ + "manipulator"&G% +5 "core" %  +2 "collection"'V& +3 "core" &d +3 "collection"'& +5 "core" &o +2 .tCC.seek :closed +2 "collection"'5(V +5 "core" &a  +8 &6k )w +9 &lc = +10 &p_ G +9 &sd\\ F +10 &3d_ G +9 &en F +9 &d[ G +10 &{d\\ F +9 &;ef G +9 &cY F +10 & e_ G +9 &"dl F +10 &$Dgb F +9 &&ep F +9 &'aw F +10 &)dx F +9 &+Kex G +9 &-ds F +10 &.ew F +9 &0e| G +10 &2Udw F +9 &4et F +9 &5bn F +10 &7es F +9 &9[ez G +9 &;ev F +10 &<hr F +9 &>er G +10 &@des F +9 &B'gq F +9 &Cgv G +10 &Ehs G +9 &Gey u I +9 &I$x J +10 &Jv N +9 &Lp P +10 &NXr P +9 &Pr Q +9 &Qr Q +10 &St R +9 &UYJ A +9 &VuBx *| +10 &Vku F +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&1 +4 "core" &V`w F +60 1 +3 "manipulator"&% +3 "core" %  # P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&% +5 "core" %\    +2 "storage"(}% +3 "core" %b +2 "storage"(^. +3 "core" .( +2 "storage"(& +3 "core" & z +2 "storage"(m& +5 "core" & ~ + "manipulator"&/& +4 "core" &%  <? +2 "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +160 "core" ( +2 "manipulator"&8& +3 "core" & f ] +2 "storage"(~& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +103 "core" ' +2 "storage"(& +3 "core" & ^ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +280 "core" ' +2 "storage"(y- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +3 "core" & E +2 "manipulator"&q& +3 "core" & m ] +3 .tElbow.seek 2 + "manipulator"&'( +3 "core" ( +2 "manipulator"&i& +4 "core" & # ] +2 "storage"(& +4 "core" & ; +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&3' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&?& + "storage"(u'X +8 "core" & " ] + "manipulator"&% +4 "core" % K 1 +2 .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&s& +3 "core" &i 8  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &i   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&#' +99 "core" ' +2 "manipulator"&B& +3 "core" &i    +2 "manipulator"& % +4 "core" %  +2 "processing"% & +5 "core" & +2 "processing"%A& +5 "core" & +2 .tPC.seek :closed +2 "processing"%e(Z +4 "core" &  +9 &7 )v +10 &k = +9 &v G +10 &rb F +9 &4e F +9 &f F +10 &c G +9 &yf G +49 &;d G +4 &b G +2 & g G +2 &"e G + &$Cb G + &&c G +7 &'i G +9 &)h F +9 &+Ld F +10 &- h G +9 &.f G +10 &0g G +9 &2Sd G +9 &4c F +10 &5e F +9 &7b G +9 &9\\b| F +10 &;b~ F +9 &<e~ F +10 &>g G +9 &@ci G +9 &B$g G +10 &Ci G +9 &Ep H +9 &Ge~~ I +10 &I!~ K +9 &J L +10 &L L +9 &Nc L +9 &P& L +10 &Q M +9 &S M +9 &Uk L +10 &W, M +9 &X M +10 &Z?Eb %k +9 &Z& ! +5 ( +2 "processing"%A& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +3 "core" &Z ! +59 1 +2 "manipulator"&|% +3 "core" % P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +92 "core" ' +2 "processing"%4& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&E% +4 "core" %\  ]  +2 "storage"(% +4 "core" %a 3 +2 "storage"(+. +2 "core" .( +2 "storage"(!& +4 "core" & +3 "storage"(6& +2 "manipulator"&c& +5 "core" & +3 &i   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&j(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(='i +2 "core" ( +2 "manipulator"& & +4 "core" &i   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &i ^  +3 .tForearm.seek PC +2 "manipulator"&C' +93 "core" ' + .tHand.close +2 "manipulator"&./ +56 "core" / +3 .tPC.seek :open +2 "processing"%( +95 "core" ' +2 "storage"(g- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(,'y +47 "core" ' +280 ( + "storage"(@& +4 "core" & 9 +2 "manipulator"&(& +4 "core" &i   +2 "manipulator"&I% +4 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +262 "core" ( + "manipulator"&\\& +4 "core" &   +2 "storage"(N& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +95 "core" ' +2 .tHand.open + "manipulator"&11 +64 "core" 1 +3 "storage"(X- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(H' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(*& +3 "core" & \ ? +2 "manipulator"&& +4 "core" & 3  +2 .tElbow.seek 2 +2 "manipulator"&F( +4 "core" ( + "manipulator"&v& +4 "core" & <  +2 "storage"(r& +4 "core" & N M +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(:' +59 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(a& +4 "core" & m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +24 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +37 "storage"(J'i +34 "core" ' +2 "manipulator"&Q% +3 "core" % +2 "storage"(h& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +19 "core" ' + "manipulator"&b& +5 "core" & ^  + "storage"(;& +5 "core" & 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +33 "core" ' +2 "storage"(T% +4 "core" %r " +2 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (<% +3 "core" %XZ o c j QJ +2 "manipulator"&p% +4 "core" %њ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (]& +3 "core" & g +2 "collection"'x& +4 "core" &V`h F +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&Z% +3 "core" %\ \ .  +3 "storage"(Y% +4 "core" %U  + "storage"(R. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(\ & +3 "core" & W +3 "manipulator"&S& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&{( +4 "core" ( +2 "manipulator"&W& +3 "core" & R  +3 "storage"(& +3 "core" & C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +95 "core" ' +2 "storage"(& +3 "core" & N +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" & x  +3 "storage"(U& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' + "manipulator"&G% +4 "core" %  +2 "storage"(V& +3 "core" & 1 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&K' +20 "core" ' +2 "manipulator"&L& +3 "core" & S  +2 "storage"(-& +4 "core" & 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +40 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +4 "core" % : | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +154 "core" ( +3 "manipulator"&& +4 "core" &&  @ >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' 2 >O +2 .tForearm.seek CC +2 "manipulator"&m'" +92 "core" ' + .tHand.close +2 "manipulator"&// +59 "core" / +2 .tCC.seek :open +2 "collection"'( +414 "core" ( +2 "storage"(k& +3 "core" & v +2 "storage"(8& +4 "core" & 9 +2 "manipulator"&~& +4 "core" &' h >N +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 .tElbow.seek 2 +2 "manipulator"& ( +158 "core" ( +2 "manipulator"&y& +4 "core" & E  +2 "storage"(P& +4 "core" & s +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q' +100 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +4 "manipulator"&% +4 "core" %  t +2 "storage"(?& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +21 "core" ' + "manipulator"&D& +4 "core" & P  +2 "storage"(w& +3 "core" & n +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +25 "core" ' +2 "storage"(3% +3 "core" %G ; +3 ."downElevator"SE.seek :down +4 "storage"(s'X +98 ($% +3 "core" %6V t PF +2 "manipulator"&'% +4 "core" %Ѹ X +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +99 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +3 "core" &d +2 "manipulator"& % +3 "core" %\  ]  +3 "storage"(u% +3 "core" %^ h +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(l( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &   +2 "manipulator"&|& +4 "core" & ;  +2 .tElbow.seek 3 +2 "manipulator"&4( +12 "core" ( +2 "manipulator"&E& +3 "core" & ;  +2 "storage"(& +4 "core" & |  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +90 "core" ' +2 "storage"(!& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +280 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & m  +2 "manipulator"& & +4 "core" & /  +2 .tElbow.seek 3 +2 "manipulator"&0( +2 "core" ( +2 "manipulator"&#& +4 "core" & V  +2 "storage"(.& +4 "core" & i  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(e'X +8 "core" &   + "manipulator"&=% +4 "core" % ϩ 6 +2 .tForearm.seek :retract +2 "manipulator"&@'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&I& +3 "core" &! :  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'" +100 "core" ' +2 "manipulator"&N& +3 "core" &! $ E 8 +3 "manipulator"&j% +3 "core" %"  u +2 "collection"'1& +5 "core" &t +2 "collection"'X& +54 "core" &d +3 &c + &p + &l +2 &l + &^ + &W +2 .tCC.seek :closed + "collection"'2(V +4 "core" &\\ +7 &V ; +9 &`PV / +10 &|V D +9 &^dY F +9 & df F +10 &en G +9 &cd F +10 &edm F +9 &(b` F +9 &dp F +10 &gx F +9 &!mer F +9 &#/g F +10 &$ex F +9 &&`s F +10 &(udx F +9 &*6dx G +9 &+dr F +10 &-cq F +9 &/~b F +9 &1>e G +10 &3cr F +9 &4dr F +14 &6gs F +5 &8Ges F +11 &: et F +8 &;cr F +9 &=c} F +9 &?Nez G +10 &Ae| F +9 &Bhr F +10 &Djz G +9 &FUns G +9 &H~u I +10 &I L +9 &K P +9 &MA| Q +10 &O| Q +9 &Pt P +10 &Rx Q +9 &TEv R +9 &Usy = +10 &V%w %m +9 &Vy} M +2 ( +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open +2 "manipulator"&*1 +58 "core" 1 +2 "manipulator"&% +3 "core" % " # S +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%r& +3 "core" & +2 "manipulator"&%% +4 "core" %\   +2 "storage"(% +3 "core" %` +2 "storage"(a. +4 "core" .( + "storage"(,& +4 "core" &  +2 "storage"([& +3 "core" &  +2 "manipulator"&Q& +4 "core" &  8 +2 "manipulator"&h% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&b( +162 "core" ( +2 "manipulator"&;& +3 "core" &  { +2 "storage"(& +4 "core" & P  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&o'9 +90 "core" ' + "storage"(T& +4 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +280 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +4 "core" & U  +2 "manipulator"&p& +3 "core" & H { +2 .tElbow.seek 3 +2 "manipulator"&F( +4 "core" ( + "manipulator"&:& +4 "core" & R { +2 "storage"(>& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(Z'X +8 "core" &  { +2 "manipulator"&Y% +3 "core" % ϲ  ( +3 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&R(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&& +4 "core" &p  7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &\ & +3 "core" &p   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +100 "core" ' + "manipulator"&W& +4 "core" &p  +2 "manipulator"&% +4 "core" %  8 +2 "processing"%`& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%7(Z +4 "core" & +8 &> #b +9 &^ 6 +9 &  G +10 &e G +9 &h G +9 &ge G +10 &)a G +9 &g F +10 &e F +9 &oh G +9 & 1i G +10 &!e G +9 &#b G +9 &%wh G +10 &'8g G +9 &(d F +10 &*h G +9 &,b F +9 &.Be F +10 &0c F +9 &1h G +10 &3b F +9 &5Je F +9 &7 b G +10 &8g G +9 &:e G +9 &g F +9 &?c G +9 &Ac G +10 &CXe~ G +9 &Ek G +10 &Fs H +9 &H K +9 &JS L +10 &L~ L +9 &M L +9 &O L +10 &QY L +9 &S L +10 &T M +9 &V M +9 &X` M +10 &Zxv} !h +9 &Z#` & +49 ( +4 &Z +4 &Z + &Z + &Z + &Z + &Z +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&f1 +2 "core" &Z +57 1 +2 "manipulator"&9% +3 "core" % & 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +90 "core" ' +2 "processing"%_& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&U% +4 "core" %\    +2 "storage"(% +3 "core" %a r  +3 "storage"(G. +3 "core" .( +2 "storage"(V& +3 "core" & 2  +3 "storage"(L& +2 "manipulator"&-& +5 "core" & _  +3 &p   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( + "manipulator"&n& +5 "core" &p =  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &p    +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%K( +93 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +295 ( +2 "storage"(& +3 "core" & ?  +2 "manipulator"&& +4 "core" &p z  +2 "manipulator"&d% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&}( +270 "core" ( +2 "manipulator"&5& +3 "core" & .  +2 "storage"(k& +4 "core" & K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +115 "core" ' + .tHand.open +2 "manipulator"&~1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(m'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(y' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(^& +4 "core" &\ R\ R  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +9 "core" ( + "manipulator"&?& +4 "core" & w +2 "storage"(D& +3 "core" &\ R\ Q  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(3' +59 "core" ' +2 "manipulator"&z& +3 "core" & I +2 "storage"($& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&''} +24 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(q'i +26 "core" ' +2 "manipulator"&% +4 "core" %~  +2 "storage"( & +3 "core" & l g >  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"& 'Ϫ +20 "core" ' + "manipulator"&u& +4 "core" & b +2 "storage"()& +3 "core" &   +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 "storage"("% +3 "core" %n  +3 ."downElevator"SE.seek :down +4 "storage"(s'X +98 ( % +4 "core" %TV v l C QI +2 "manipulator"&% +4 "core" %\\  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +99 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &  +3 "collection"'& +4 "core" &Vx{ M + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&!% +3 "core" %\    +3 "storage"(i% +3 "core" %^  +2 "storage"(B. +3 "core" .( +2 "storage"(c& +3 "core" & 9  +2 "storage"(6& +5 "core" & E  + "manipulator"& & +4 "core" & 5 +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&.& +4 "core" & D +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +95 "core" ' +2 "storage"(=& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +283 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &  +2 "storage"(C& +4 "core" & Q  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&A'} +20 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(j'P +33 "core" ' +2 "manipulator"&1% +3 "core" %΃ ( +2 "storage"(0& +4 "core" & d  D  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&e'ϯ +21 "core" ' + "manipulator"&@& +4 "core" & + +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +26 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +40 "core" ' +2 "manipulator"&r& +3 "core" & F +3 "manipulator"&%% +3 "core" %; O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +160 "core" ( +3 "manipulator"&X& +3 "core" &# G :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &#  :/ +3 .tForearm.seek CC + "manipulator"&['" +92 "core" ' +2 .tHand.close + "manipulator"&Q/ +58 "core" / +2 .tCC.seek :open +2 "collection"'h( +417 "core" ( +2 "storage"(\\& +4 "core" & z  +2 "storage"(;& +3 "core" & G  +2 "manipulator"&& +4 "core" &# f :+ +2 "manipulator"&T% +3 "core" % 5  +3 .tForearm.seek :retract +2 "manipulator"&('\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v( +165 "core" ( + "manipulator"&O& +4 "core" & I q +2 "storage"(<& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&p'} +102 "core" ' +3 .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +53 "core" 1 +2 "manipulator"&]% +3 "core" % ΀ M +3 "storage"(x& +3 "core" & y  +3 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&Y'Ϭ +19 "core" ' +2 "manipulator"&b& +3 "core" & o q +2 "storage"(o& +5 "core" & P  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +31 "core" ' +2 "storage"(M% +3 "core" %D  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (\ % +3 "core" %T PG +2 "manipulator"&F% +4 "core" %8 u  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &q +2 "manipulator"&`% +3 "core" %\    +3 "storage"(Z% +4 "core" %a  + "storage"(J. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &  +2 "manipulator"&9& +3 "core" & E q +3 .tElbow.seek 2 + "manipulator"&_( +39 "core" ( +2 "manipulator"&U& +3 "core" & i L +2 "storage"(& +5 "core" & ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +95 "core" ' +2 "storage"(V& +3 "core" & ^ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +282 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&n& +4 "core" &  K +2 .tElbow.seek 2 +2 "manipulator"&{( +27 "core" ( +3 "manipulator"&S& +4 "core" & Y  +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(7'X +8 "core" & E  +2 "manipulator"&% +3 "core" % d B +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( +2 "manipulator"&d& +3 "core" & 5 V 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'" +101 "core" ' +4 "manipulator"&k& +3 "core" & ] 6 +2 "manipulator"&% +5 "core" %* m + "collection"'~& +5 "core" &~ +2 "collection"'& +5 "core" & +3 .tCC.seek :closed + "collection"'P(V +4 "core" &u +8 &Ax #c +9 &\\t 6 +9 &~s G +10 &`h F +9 &eq F +9 &_cs F +10 &!dp F +9 &dp F +10 &fn F +9 &hdh F +9 & )cp F +10 &!eu F +9 &#gk F +9 &%pd_ F +10 &'1c` F +9 &(d` F +10 &*f` F +9 &,xd` F +9 &.:d_ F +10 &/di F +9 &1dk F +52 &3`y F + &5Bc F + &7cu F + &8cv F + &:e{ F +3 &\ e G +9 &?et F +9 &Ae} F +10 &CRg} F +9 &Ei G +10 &Fp H +9 &H I +9 &JG M +10 &K P +9 &M P +9 &O P +10 &QD P +9 &S R +10 &T| R +9 &V7j 0 +9 &V| 8 +10 &Wix D +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&^1 +3 "core" &WW| D +58 1 +3 "manipulator"&% +3 "core" % * $ ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%?& +3 "core" & +2 "manipulator"&D% +4 "core" %\    +2 "storage"(z% +4 "core" %a +2 "storage"($. +3 "core" .( +2 "storage"(& +3 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"& & +4 "core" & w 6 +2 "manipulator"&m% +4 "core" %\  F  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&u( +163 "core" ( +2 "manipulator"&)& +3 "core" & Q  +2 "storage"(}& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +99 "core" ' + "storage"("& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'i +283 "core" ' +2 "storage"(w- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &  +2 "manipulator"&& +3 "core" & K  +3 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&3& +4 "core" &  +2 "storage"('& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(!'X +8 "core" & a  +2 "manipulator"&i% +4 "core" %  w H +2 .tForearm.seek :retract +2 "manipulator"&B'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&q& +4 "core" &w  3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + "manipulator"&.& +4 "core" &w * +2 "manipulator"&% +3 "core" % o 8 +3 "processing"%& +3 "core" & +3 "processing"%=& +5 "core" & +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" & +7 &> #b +9 &\\ 6 +10 & G +9 &e F +10 &e F +9 &ch G +9 &&g F +10 &c G +9 &h G +9 &kg G +10 & .c F +9 &!d F +10 &#h G +9 &%rg G +9 &'5c G +10 &(b F +9 &*e F +9 &,{b G +10 &.>c F +9 &0c F +10 &1c G +9 &3c F +9 &5Fe F +10 &7b G +9 &8h G +9 &:e G +10 &c F +10 &?e F +9 &Ae F +9 &CUh G +10 &Ek} G +9 &Fw~ H +9 &H| K +10 &JO~ L +9 &L L +10 &M L +9 &O L +9 &QU L +10 &S~ M +9 &T M +9 &V M +10 &X[ M +9 &Yxv !i +9 &Z&g ) +10 ( + &Z ! + "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"& 1 +58 "core" 1 + "manipulator"&|% +4 "core" % M 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +97 "core" ' + "processing"%I& +5 "core" &Z{ ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +47 "manipulator"&C% +5 "core" %\  2 +2 "storage"(N% +5 "core" %b + "storage"(1. +4 "core" .( + "storage"(0& +4 "core" & +2 "storage"(@& +4 "manipulator"&& +5 "core" & z +2 &w  + .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&r(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(%'i +2 "core" ( + "manipulator"&&& +5 "core" &w G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &w  +3 .tForearm.seek PC +2 "manipulator"&4' +102 "core" ' + .tHand.close +2 "manipulator"&A/ +56 "core" / +3 .tPC.seek :open +2 "processing"%e( +84 "core" ' +2 "storage"(j- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +33 "core" ' +303 ( + "storage"(,& +4 "core" & +2 "manipulator"&*& +3 "core" &w  +3 "manipulator"&g% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +264 "core" ( +2 "manipulator"&2& +3 "core" & 4  +3 "storage"(\\& +3 "core" & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&;'ќ +88 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(T- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(O'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"([- +3 "core" -' +2 "storage"(a& +3 "core" & \ H\ J H +3 "manipulator"&>& +3 "core" & d  +2 .tElbow.seek 2 +2 "manipulator"&]( +4 "core" ( +2 "manipulator"&x& +3 "core" &   +3 "storage"(b& +3 "core" & \ H\ H  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(M' +58 "core" ' +2 "manipulator"&(& +4 "core" & 9  +2 "storage"(\ & +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&F' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(p'i +24 "core" ' +2 "manipulator"&Y% +4 "core" % ( +2 "storage"(& +3 "core" & 5 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&`' +20 "core" ' + "manipulator"&Z& +5 "core" & [  +2 "storage"(J& +3 "core" & + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 "storage"(H% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (l% +3 "core" %W s  PH +2 "manipulator"&f% +4 "core" %ѝ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&9'\ +105 "core" ' + ' +2 ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" & 6 +2 "collection"'& +5 "core" &WWu D + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&V% +3 "core" %\   - +3 "storage"(:% +3 "core" %_  +2 "storage"(W. +3 "core" .( +2 "storage"(-& +4 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&n& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&S( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(R& +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +105 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(_'i +281 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &   +2 "storage"(& +4 "core" & ! +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&L' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +4 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +66 "core" ' +2 "manipulator"&{% +3 "core" % :  +2 "storage"(~& +5 "core" & g l 0 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&7' +22 "core" ' +2 "manipulator"&& +3 "core" & y  +3 "storage"(h& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +43 "core" ' + "manipulator"&?& +4 "core" &  +2 "manipulator"&D% +3 "core" %ф w +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +154 "core" ( +2 "manipulator"&& +5 "core" &'  ? >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' ' >N +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'m( +420 "core" ( +2 "storage"(5& +3 "core" & +2 "storage"()& +4 "core" & a +2 "manipulator"&}& +4 "core" & % B ;5 +2 "manipulator"&"% +3 "core" % * < +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&/( +157 "core" ( + "manipulator"&w& +4 "core" & O  +2 "storage"( & +4 "core" & O +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +95 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +57 "core" 1 +2 "manipulator"&E% +4 "core" %  M +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 299 counts +43 "manipulator"&i' +24 "core" ' + "manipulator"&u& +3 "core" & A  +3 "storage"(8& +3 "core" & : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +28 "core" ' +2 "storage"( % +3 "core" %H +3 ."downElevator"SE.seek :down +4 "storage"(q'X +99 (6% +2 "core" %SU PG +2 "manipulator"&% +5 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &y +2 "manipulator"&% +4 "core" %\  ,  +2 "storage"(!% +4 "core" %N  +2 "storage"(B. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(K( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & T  +3 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&I( +17 "core" ( +2 "manipulator"&C& +3 "core" & + S +2 "storage"(=& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +99 "core" ' + "storage"(1& +4 "core" & /  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +3 "core" &  +2 "manipulator"&&& +3 "core" &  S +3 .tElbow.seek 3 + "manipulator"&#( +4 "core" ( + "manipulator"& & +4 "core" & W S +2 "storage"(A& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&j'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"(s'X +8 "core" & O S +2 "manipulator"&%% +3 "core" % ϱ 9 +3 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&g& +3 "core" &+ " 2 Aa +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &4& +2 "core" &+ ? Aa +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&2'" +95 "core" ' +2 "manipulator"&\\& +4 "core" &+  e Aa +2 "manipulator"&r% +4 "core" %  +2 "collection"'& +4 "core" &r +3 "collection"'T& +5 "core" & +4 .tCC.seek :closed + "collection"'[(V +4 "core" &o +8 &Bv #b +9 &\\x 6 +9 &q G +10 &ax F +9 &et F +9 &Ydt F +10 &fs F +9 &au F +10 &eu F +9 &`ex G +9 & $dz F +10 &!er F +9 &#ei F +9 &%ied F +10 &'*em G +9 &(dh F +10 &*d` F +9 &,re_ F +9 &.4ed F +10 &/ed F +9 &1eq F +9 &3yem F +10 &5;dm F +9 &6gm F +10 &8d} F +9 &:e F +9 &en F +9 &?ec G +9 &Ad| F +10 &CJe G +9 &E i G +10 &Fr H +9 &H{ J +9 &J> N +10 &K P +9 &M P +10 &O{ Q +9 &Q= Q +9 &R R +10 &T R +9 &V+] . +9 &V" K +10 ( + &VX| D +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&a1 +63 "core" 1 + "manipulator"&>% +4 "core" % $ +47 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +3 "core" & +2 "manipulator"&Q% +4 "core" %\ ! A 1 +2 "storage"((% +4 "core" %R \\ +2 "storage"(\ . +3 "core" .( +2 "storage"(Y& +3 "core" & s   +2 "storage"(& +4 "core" &   +2 "manipulator"&X& +3 "core" &* $ A` +3 "manipulator"&O% +3 "core" %\ X 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Z( +166 "core" ( +2 "manipulator"&J& +4 "core" & F i +2 "storage"(H& +3 "core" & B  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(;& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(<'i +276 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &   +2 "manipulator"&o& +4 "core" & x i +2 .tElbow.seek 3 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&M& +3 "core" &  i +2 "storage"(F& +5 "core" & [  +2 .tForearm.seek 3 + 300 counts + "manipulator"&`'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(V'X +8 "core" & M i + "manipulator"&:% +4 "core" % ϭ  1 +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( +3 "manipulator"&-& +3 "core" &k  @ \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n' +99 "core" ' +2 "manipulator"&& +3 "core" &k N \ +3 "manipulator"&R% +3 "core" %  +3 "processing"%& +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &  +9 &6 )v +9 &i < +9 &v H +10 &ia F +9 &+d F +10 &b G +9 &b F +9 &qd F +10 &3e F +9 &h G +9 & g G +10 &"yg F +9 &$;d F +10 &%c F +9 &'h G +9 &)b F +10 &+Cd F +9 &-d F +9 &.d F +10 &0g G +9 &2Jh G +10 &4 g F +9 &5e F +9 &7b G +10 &9Rg G +9 &;c G +10 &<b G +9 &>h G +9 &@Yg G +10 &Be F +9 &Ch G +9 &Em H +10 &G\\v I +9 &I K +9 &J L +10 &L L +9 &NY M +10 &P L +9 &Q L +9 &S} M +10 &Ua~ M +9 &W"{ M +9 &X M +10 &Z5C_} %l +9 &Z0} \ +6 ( + "processing"%& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&v1 +64 "core" 1 + "manipulator"&9% +4 "core" % 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +100 "core" ' + "processing"%d& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ # = +2 "storage"(k% +4 "core" %P ` +2 "storage"({. +4 "core" .( + "storage"(~& +4 "core" & S  +2 "storage"(& +3 "manipulator"&h& +8 "core" &  + &k  \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +51 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(?'i +3 "manipulator"&D(s +6 "core" ( + "manipulator"&t& +5 "core" &k : \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +2 "core" &k N \ +3 .tForearm.seek PC +2 "manipulator"&_' +100 "core" ' +3 .tHand.close + "manipulator"&L/ +64 "core" / +2 .tPC.seek :open +2 "processing"%7( +69 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +317 ( +3 "storage"(& +3 "core" &  +2 "manipulator"&^& +4 "core" &k M \ +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&z( +257 "core" ( +2 "manipulator"&P& +3 "core" & T  +3 "storage"(5& +4 "core" & 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +90 "core" ' +2 .tHand.open + "manipulator"&}1 +55 "core" 1 +2 "storage"("- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(w'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"($& +3 "core" &\ \ K   +2 "manipulator"&'& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&E( +7 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(u& +3 "core" & M K J  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"& & +4 "core" & > +2 "storage"(/& +3 "core" & J  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&i% +3 "core" %s  +2 "storage"(& +5 "core" & .  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 290 counts +2 "manipulator"&'ϟ +21 "core" ' +2 "manipulator"&!& +3 "core" & +2 "storage"(B& +4 "core" & J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(y% +3 "core" %k  +3 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (% +4 "core" %R k e  PH +2 "manipulator"& % +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +2 "core" & 5  +2 "collection"'=& +4 "core" &VW D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&1% +3 "core" %\    +2 "storage"(3% +4 "core" %b / +2 "storage"(.. +3 "core" .( +2 "storage"(& +3 "core" & $  +2 "storage"(@& +50 "core" &   +3 "manipulator"&&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&A& +3 "core" & R +2 "storage"(c& +4 "core" & 8  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +98 "core" ' +2 "storage"(%& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +282 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & b +2 "storage"(4& +3 "core" & /  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&0'} +23 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(r'P +32 "core" ' +2 "manipulator"&% +3 "core" %} F +2 "storage"(#& +3 "core" & j  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&s'ϩ +19 "core" ' + "manipulator"&,& +5 "core" & b + "storage"(m& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(>'? +41 "core" ' +2 "manipulator"&T& +3 "core" & Q +2 "manipulator"&b% +5 "core" %@ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +156 "core" ( +4 "manipulator"&\ & +3 "core" && =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &&  =G +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 .tHand.close + "manipulator"&X/ +54 "core" / +2 .tCC.seek :open + "collection"'O( +417 "core" ( +2 "storage"(2& +4 "core" &   +2 "storage"(J& +3 "core" & E  +2 "manipulator"&H& +5 "core" && : =E +2 "manipulator"&;% +3 "core" % % [ +2 .tForearm.seek :retract +2 "manipulator"&*'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&x( +161 "core" ( + "manipulator"&l& +4 "core" & , n +2 "storage"(f& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&o'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +64 "core" 1 +2 "manipulator"&U% +4 "core" %  e +2 "storage"(& +4 "core" & l  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&:'ϫ +20 "core" ' + "manipulator"&Z& +4 "core" & n +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +17 "core" ' +2 "storage"(`% +3 "core" %C + +3 ."downElevator"SE.seek :down +43 "storage"(-'X +60 (% +3 "core" %S PG +2 "manipulator"&]% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +96 ' +2 ."downElevator"SE.stop + "storage"(5 +8611 "Can" 3%/e! +19113 #t-> exit +7 #mEXIT @1734119228.94EST @1734442434.91EST = =mMAIN_scheduler =tMAIN @EST1734442435.65 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +108 #"core_reset"Sent BREAK +2 #t@64615 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +248 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +385 "Can"R K1 + R K1 + #tPolling Can every 10:00 +37 #Cleanly exited at 14:47:08EST13-Dec-24 +981 #-> require 'shuffle.rb' +982 #-> 5.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +3 #Powering core bus +518 .Gate.power :raw,:ON +3 "sampler") +41 ) +2 "core"  +3 "collection"' +3 ' +4 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +3 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +3 "sampler")#.0X ESP.ready! +2 "collection"'% +5 "core" % g + "processing"%% +2 "manipulator"&% +10 ."rdySampler"Intake.select :close +3 .Exhaust.select :close + .CTV.dial :air +2 "collection"'  +3 "core" %+ + % +2 ."rdyProcessing"PSV.dial :air +4 "manipulator"& % + "processing"%\  +5 "core"  + % _ +4 .tForearm.home.seek :retract +3 ."rdySampler"CSV.dial :waste1 +2 "manipulator"& '\ +2 "collection"' +4 "core" +3 ."rdyProcessing"PS.home.seek 0ml +2 "processing"% ' +2 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 "sampler") +2 "core"  +37 "sampler") +8 "core"  +2 "sampler") +2 "core" ' +4 ."closeHand"Hand.close +4 .tElbow.reconfigure :loose +3 "manipulator"&/ +2 &$ &.,(#b +4 .tElbow.jog 1500 + "manipulator"&* +3 "core"  +3 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.home.seek 0ml +3 "collection"'#d @b + "sampler")' +5 ."readyCS"CS.home.seek 0ml +2 "collection"'' +21 "core" * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&(d +4 "core" / +363 ' +67 ( + "storage"(& +4 "core" & / +2 .tSE.home.seek :down + "storage"('X +61 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial + "storage"(( +221 "core" ' +2 ."rdyProcessing"PS.stop + "processing"%5 +13 "core" ' +966 ( + .tSC.configure :limp +2 "storage"($\ 1b +3 "manipulator"&& +3 "core" &d ) +3 .tForearm.seek :retract +2 "manipulator"&'\ +3 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&( +97 "core" ( +3 "manipulator"&& +3 "core" & '  $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted +2 "manipulator"&'\ +3 "core" ' +2 "manipulator"&% +3 "core" %\  & *  +3 "processing"%& +3 "collection"' & +5 "core" &/ + & _ +3 ."openPC"PC.home.seek :open +2 .tCC.home.seek :open +2 "processing"%!( + "collection"'"( +272 "core" ( +19 ( +2 "collection"'# +3 "core"  +3 "processing"%$ +3 "core" V +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core" A +2 "collection"''% +3 "core" %  +3 "processing"%(% +3 "core" %9 +3 "sampler"))% +3 "core" %\ \ a +3 "collection"'*& +3 "core" &   +3 "processing"%+& +4 "core" &7 +2 "manipulator"&,% +4 "core" %\  S  +2 "manipulator"&-& +4 "core" & w $ +2 "storage"(.& +5 "core" &  +2 "storage"(/% +4 "core" %T +2 "collection"'09 +4 "core" 9x +2 "processing"%19 +2 "core" 9oh +436 #t-> 5.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'2& +3 "core" & _  +2 .tHand.open + "manipulator"&31 +53 "core" 1 +2 "manipulator"&4% +3 "core" % \  & 4  +2 "storage"(5% +5 "core" %T m +2 "storage"(6. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(7( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" & j +2 "manipulator"&9& +4 "core" & $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +35 "core" ( + "manipulator"&;& +4 "core" & &  +2 "storage"(<& +4 "core" & , +3 .tForearm.seek 2 + 700 counts + "manipulator"&='ќ +97 "core" ' +3 "storage"(>& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'i +276 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +2 "core" & +3 "manipulator"&B& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" &  v  +2 "storage"(E& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +3 "storage"(I'X +8 "core" & w  + "manipulator"&J% +38 "core" %  e +9 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&L( +105 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( +2 "manipulator"&M& +3 "core" &# & k :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &#  B :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'" +95 "core" ' +2 "manipulator"&P& +4 "core" &# ' :1 +2 "manipulator"&Q% +4 "core" %  k ( +2 "collection"'R& +4 "core" & o  +3 "collection"'S& +5 "core" & d  +3 .tCC.seek :closed + "collection"'T(V +5 "core" &   +9 &7  *y +9 &j  > +10 &y}  H +9 &=j  H +10 &m  H +9 &j  H +9 &k  H +10 &Dk  H +9 &k  H +9 &j  G +10 & m  H +9 &"Lj  H +10 &$j  H +9 &%k  G +9 &'k  H +10 &)Vk  G +9 &+k  H +9 &,l  H +10 &.k  G +9 &0\\l  H +10 &2k  H +9 &3k  H +9 &5m  H +10 &7dm  H +9 &9'j  H +9 &:o  H +10 &<m  H +9 &>km @ H +10 &@.k  H +9 &Ak  H +9 &Cm  H +10 &Equ  I +9 &G1}  J +9 &H  K +10 &J  P +9 &L`  R +10 &N#  Q +9 &O  R +9 &Q  R +10 &Sd  S +9 &U%  S +9 &Vg>  . +10 &Vz  ? +5 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&U1 +4 "core" &VO  ? +55 1 +2 "manipulator"&V% +3 "core" %  ! _ ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +4 "core" &= +2 "manipulator"&Y% +3 "core" %\   +  +2 "storage"(Z% +5 "core" %b  + "storage"([. +4 "core" .( + "storage"(\\& +4 "core" &  +2 "storage"(]& +4 "core" &  +2 "manipulator"&^& +4 "core" &#  K :1 +2 "manipulator"&_% +3 "core" %\     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +155 "core" ( + "manipulator"&a& +4 "core" & & p  +2 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +95 "core" ' +2 "storage"(d& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +278 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +2 "core" &  +3 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&j& +5 "core" & & v  + "storage"(k& +5 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&l' +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o'X +9 "core" &  +2 "manipulator"&p% +3 "core" % / p 6 +3 .tForearm.seek :retract + "manipulator"&q'\ +93 "core" ' +2 .tElbow.seek PC +3 "manipulator"&r(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&s& +3 "core" &l : m +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" &l  T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +95 "core" ' +2 "manipulator"&v& +4 "core" &l % ~ +2 "manipulator"&w% +3 "core" %  +4 "processing"%x& +3 "core" &@ +3 "processing"%y& +6 "core" &; +2 .tPC.seek :closed + "processing"%z(Z +4 "core" &H +8 &NF $d +9 &y\\? 7 +10 &H I +9 &lC H +9 &onD G +10 &0m> H +9 &p< H +9 &lC G +40 &vmC H +10 &8k= H + &m6 H + &!kA H + &#m> G +4 &%@m< H +9 &'pE H +9 &(p5 H +10 &*mE G +9 &,Hm: H +10 &. k< H +9 &/l1 G +9 &1m4 H +10 &3Qm0 G +9 &5m3 H +9 &6j4 H +10 &8l6 H +9 &:Wn0 H +10 &<k+ G +9 &=k* H +9 &?p* H +10 &Aam2 G +9 &C n3 H +9 &Du4 I +10 &F}3 J +9 &H_7 K +10 &J4 M +9 &K* M +9 &M2 M +10 &Oa5 M +9 &Q#) M +9 &R/ M +11 &T7 M +8 &Vh7 M +10 &X)< N +9 &Ywx5 - +9 &Z*t0 D +10 &Z8 ) +2 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&{1 +63 "core" 1 +2 "manipulator"&|% +4 "core" %  #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' +2 "processing"%~& +4 "core" &Z+ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ \ T  +2 "storage"(% +5 "core" %a  + "storage"(. +4 "core" .( + "storage"(& +5 "core" &  +2 "storage"(& +2 "manipulator"&& +9 "core" &  + &l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +3 "manipulator"& & +3 "core" &l +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &l +3 .tForearm.seek PC +2 "manipulator"&\ ' +97 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +43 "core" ' +283 ( + "storage"(& +4 "core" & ' +2 "manipulator"&& +4 "core" &l  I +2 "manipulator"&% +3 "core" % n +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +254 "core" ( +2 "manipulator"&& +3 "core" & &  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +66 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(#- +2 "core" -' +2 "storage"($& +5 "core" & n o  + "manipulator"&%& +4 "core" & E  +2 .tElbow.seek 2 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&'& +4 "core" & $   +2 "storage"((& +3 "core" & n n > +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(*' +56 "core" ' +2 "manipulator"&+& +3 "core" &   +2 "storage"(,& +4 "core" & z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&-' +28 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +23 "core" ' +2 "manipulator"&0% +3 "core" %  M Z +3 "storage"(1& +4 "core" & ) +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&2' +19 "core" ' +2 "manipulator"&3& +3 "core" & K  +2 "storage"(4& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +45 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +32 "core" ' +2 "storage"(6% +4 "core" %m H +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (8% +3 "core" %MV q QI +2 "manipulator"&9% +4 "core" %ј  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +95 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +3 "core" & + +2 "collection"'>& +3 "core" &VN  ? +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ # R 9 +2 "storage"(% +4 "core" %a V +2 "storage"(@. +3 "core" .( +2 "storage"(A& +3 "core" &  +2 "storage"(B& +4 "core" & G +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&E& +4 "core" &    +2 "storage"(G& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +95 "core" ' +2 "storage"(J& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +281 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" & B  +4 "storage"(M& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +23 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Q'O +29 "core" ' +2 "manipulator"&R% +3 "core" % +2 "storage"(C& +4 "core" & : +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&I' +18 "core" ' +2 "manipulator"&K& +3 "core" & @  +2 "storage"("& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +37 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(V'> +37 "core" ' +2 "manipulator"&X& +4 "core" & -  +2 "manipulator"&Y% +4 "core" %ѝ 8 e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +167 "core" ( + "manipulator"&\\& +5 "core" &( ) G >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &(  >M +3 .tForearm.seek CC + "manipulator"&S'" +93 "core" ' +2 .tHand.close + "manipulator"&^/ +60 "core" / +3 .tCC.seek :open + "collection"'_( +412 "core" ( +2 "storage"(O& +3 "core" & +2 "storage"(a& +4 "core" & +2 "manipulator"&b& +4 "core" &(  C >M +2 "manipulator"&d% +3 "core" %   D +3 .tForearm.seek :retract + "manipulator"&L'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&W( +158 "core" ( +2 "manipulator"&f& +4 "core" & & `  +2 "storage"(g& +3 "core" & % +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&h' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +59 "core" 1 +2 "manipulator"&m% +3 "core" % & L +2 "storage"(n& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +38 .tForearm.seek 2 + 303 counts +9 "manipulator"&p' +21 "core" ' + "manipulator"&`& +4 "core" & M  +2 "storage"(c& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +16 "core" ' +2 "storage"(l% +3 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (t% +4 "core" %K PF +2 "manipulator"&i% +3 "core" %ѕ T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'w& +3 "core" &  +2 "manipulator"&x% +4 "core" %\    +3 "storage"(o% +3 "core" %` j +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(!( +339 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" &   +2 "manipulator"&|& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&~( +12 "core" ( +2 "manipulator"&& +3 "core" &  P  +2 "storage"(& +4 "core" & {  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +92 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&u& +3 "core" & % [ +2 "storage"( & +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +12 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(z'X +7 "core" & E +2 "manipulator"&% +4 "core" % ϱ ` 1 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &&  % =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &&  =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 "manipulator"&& +3 "core" && % 5 =E +2 "manipulator"&% +4 "core" %   +2 "collection"'& +4 "core" & _ +3 "collection"' & +5 "core" & ] +2 .tCC.seek :closed +2 "collection"'#(V +7 "core" &  +5 &  : +9 &WN  0 +9 &{  D +10 &Pn  H +9 &k  H +9 &i  H +10 &n  H +9 &Xn  H +9 &p  H +10 &m  H +9 &n  H +10 &!`n  H +9 &#"n  H +9 &$p  H +10 &&h  G +9 &(ih  G +9 &**l  H +10 &+m  H +9 &-j  H +10 &/ph  H +9 &12h  H +9 &2g  H +10 &4h  H +9 &6yl  G +9 &8;j  G +10 &9h  H +9 &;l  G +10 &=k  H +9 &?Bk  H +9 &Al  G +10 &Bk  G +9 &Dm  H +9 &FGx  I +10 &H  K +9 &I  M +10 &Kt  R +9 &M5  R +9 &N  R +10 &P  R +9 &Rx  S +10 &T8  S +9 &Uw  B +9 &V  %j +10 &W )  F +8 ( +2 &WP  A +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&$1 +58 "core" 1 +2 "manipulator"&%% +3 "core" % 1 G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&''\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +3 "core" &O +2 "manipulator"&(% +4 "core" %\   K  +2 "storage"(+% +3 "core" %]  +2 "storage"(,. +3 "core" .( +48 "storage"(& +4 "core" &   +2 "storage"(0& +4 "core" &   +2 "manipulator"&1& +3 "core" &&  H =D +2 "manipulator"&% +5 "core" %\   /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +162 "core" ( +2 "manipulator"&4& +3 "core" & N  +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +103 "core" ' + "storage"(6& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +3 "core" &   +2 "manipulator"&9& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&&( +4 "core" ( + "manipulator"&*& +5 "core" & _  + "storage"(-& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&& + "storage"('X +6 "core" &  +3 "manipulator"&% +3 "core" % ϭ  +3 .tForearm.seek :retract + "manipulator"&/'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&A& +5 "core" &p .  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &p , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +110 "core" ' +2 "manipulator"&E& +3 "core" &p % 0 +3 "manipulator"&G% +3 "core" % i +3 "processing"%5& +3 "core" &I +3 "processing"%J& +5 "core" &N +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &U +8 &<W #c +9 &ZW 6 +9 &P H +10 &kU G +9 &pW H +9 &VmV G +10 &jK G +9 &mV H +10 &nV G +9 &]kK H +9 & oS G +10 &!iV H +9 &#nW H +9 &%elP H +10 &'(nS G +9 &(hS H +10 &*nO G +9 &,mjN H +9 &./oV H +10 &/kV H +9 &1hW G +9 &3uhN H +10 &57kN H +9 &6gP G +10 &8hI H +9 &:gD G +10 &jG G +9 &?hG H +9 &AgH G +10 &CHmP G +9 &EpQ H +10 &FxG I +9 &H< K +9 &JAI M +10 &LI M +9 &MH M +9 &OF L +10 &QI@ M +9 &S M M +10 &TI M +9 &VB M +9 &XNE N +10 &Ywx= "k +9 &Z,M 0 +9 ( +2 &ZG " +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&.1 +64 "core" 1 + "manipulator"&;% +4 "core" % % h i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' +3 "processing"%?& +3 "core" &Z6 " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\ 1 +2 "storage"(P% +4 "core" %V  +2 "storage"(R. +2 "core" .( +3 "storage"(C& +3 "core" &   +2 "storage"(K& +3 "manipulator"&"& +8 "core" &   + &p   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&X(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +2 "manipulator"&H& +4 "core" &p +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &p +3 .tForearm.seek PC +2 "manipulator"&:' +97 "core" ' + .tHand.close +2 "manipulator"&N/ +56 "core" / +2 .tPC.seek :open +2 "processing"%I( +87 "core" ' +2 "storage"(Q- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +40 ."raiseStack"SE.seek :place +9 "storage"(\\'y +42 "core" ' +247 ( + "storage"(]& +4 "core" & /  +2 "manipulator"&U& +4 "core" &p +2 "manipulator"&F% +5 "core" % Z +3 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +252 "core" ( +2 "manipulator"&T& +4 "core" &  $ +2 "storage"(O& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +100 "core" ' +2 .tHand.open +2 "manipulator"&b1 +55 "core" 1 +2 "storage"(d- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"([& +4 "core" &\ H\ H   +2 "manipulator"&k& +3 "core" & Y m +3 .tElbow.seek 3 + "manipulator"&m( +27 "core" ( +2 "manipulator"&n& +3 "core" & % : +2 "storage"(`& +4 "core" &\  z \\  +3 .tForearm.seek 3 + 700 counts + "manipulator"&c'9 +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +58 "core" ' +2 "manipulator"&L& +3 "core" &  +2 "storage"(W& +4 "core" & P  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&t'} +22 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +24 "core" ' +2 "manipulator"&w% +3 "core" %q  +2 "storage"(p& +4 "core" & 5  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 288 counts +2 "manipulator"&x'ϝ +19 "core" ' +2 "manipulator"&o& +3 "core" &  +2 "storage"(q& +5 "core" & c  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&V'9 +25 "core" ' +2 "storage"(e% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (7% +4 "core" %EW  PH +2 "manipulator"&{% +3 "core" %> @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & E  +2 "collection"'& +4 "core" &WN X A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +3 "storage"(j% +3 "core" %b +2 "storage"(v. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(& +4 "core" & n  +2 "manipulator"& & +5 "core" & 1 + .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"& & +5 "core" &  +2 "storage"(r& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +108 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +278 "core" ' + "storage"(y- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(\ & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +39 "storage"(- +10 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +26 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&z'ϫ +20 "core" ' + "manipulator"&& +5 "core" & Z + "storage"(_& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'> +37 "core" ' + "manipulator"& & +5 "core" & S + "manipulator"&(% +4 "core" %$ ? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +155 "core" ( +2 "manipulator"& & +3 "core" && ' =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &&  u =G +3 .tForearm.seek CC + "manipulator"&0'" +97 "core" ' +2 .tHand.close + "manipulator"&1/ +63 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(& +3 "core" &  +2 "storage"(4& +4 "core" &  +2 "manipulator"&& +4 "core" &&  =G +2 "manipulator"&6% +3 "core" % (   +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&'( +158 "core" ( +2 "manipulator"&)& +3 "core" & 0 ~ +2 "storage"(8& +5 "core" & x  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&9'} +96 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&-1 +62 "core" 1 +2 "manipulator"&<% +4 "core" % Ή % C +2 "storage"(>& +3 "core" & z  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +21 "core" ' +2 "manipulator"&3& +3 "core" & = ~ +2 "storage"( & +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' + "storage"(2% +4 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (B% +3 "core" %P PG +2 "manipulator"&&% +4 "core" %7 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" & a +2 "manipulator"&5% +4 "core" %\ "  4 +2 "storage"(% +4 "core" %_ d +2 "storage"(/. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" & & +2 "manipulator"&;& +5 "core" & ~ + .tElbow.seek 2 +2 "manipulator"&?( +31 "core" ( +2 "manipulator"&M& +3 "core" & % !s +2 "storage"(P& +4 "core" &  ^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +100 "core" ' +2 "storage"(J& +3 "core" &  r +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +281 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" &  +39 "manipulator"&H& +12 "core" & - !r +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( +2 "manipulator"&& +3 "core" &  ! !r +2 "storage"(N& +4 "core" &  d +3 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&=& + "storage"('X +6 "core" & o !r +3 "manipulator"&]% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +149 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&F& + "storage"(5 +8 "core" &%   << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &%   << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'" +105 "core" ' +3 "manipulator"&O& +4 "core" &%   << +2 "manipulator"&X% +5 "core" %   +2 "collection"'b& +3 "core" & \\ +3 "collection"'d& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'S(V +5 "core" &  +6 &:  #a +10 &[  6 +9 &  H +9 &f  H +10 &k  H +9 &Tf  G +10 &h  H +9 &m  G +9 &l  H +10 &[k  H +9 & l  G +9 &!h  H +10 &#m  G +9 &%dj { G +10 &'&k  G +9 &(j  G +9 &*k  G +10 &,lg  G +9 &.-e  H +9 &/i  H +10 &1g  H +9 &3si  H +10 &57k  G +9 &6k  H +9 &8j  G +10 &:|n  G +9 &<=h  H +9 &>g  G +10 &?g  G +9 &Ah  G +10 &CEj  H +9 &Em  H +9 &Fy  I +10 &H  J +9 &J:  N +9 &K  Q +10 &M  Q +9 &Ov  R +10 &Q9  Q +9 &R  S +9 &T  R +10 &V$W  : +9 &V~  E +5 ( +2 "collection"'d& +4 "core" &Vm  E +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&[1 +58 "core" 1 +2 "manipulator"&k% +5 "core" %  $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%n& +3 "core" &W +2 "manipulator"&`% +4 "core" %\   F  +2 "storage"(L% +3 "core" %` f f _ +2 "storage"(W. +4 "core" .( + "storage"(\\& +4 "core" &  q @ +2 "storage"(w& +4 "core" &  q  +2 "manipulator"&p& +4 "core" &%   <; +2 "manipulator"&f% +3 "core" %\     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&o( +169 "core" ( +2 "manipulator"&q& +3 "core" &  G  +2 "storage"(Z& +4 "core" &  1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +95 "core" ' + "storage"(a& +4 "core" &  v +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +285 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &   +2 "manipulator"&c& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +3 "core" & Y  +2 "storage"(t& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&x' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &   +2 "manipulator"&j% +4 "core" %  > G +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&h& +3 "core" &p '  +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +42 "core" &p   +10 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' +2 "manipulator"& & +3 "core" &p c  +3 "manipulator"&r% +4 "core" % 0 m +2 "processing"%V& +5 "core" &S +2 "processing"%& +5 "core" &Q +2 .tPC.seek :closed +2 "processing"%s(Z +5 "core" &Y  +8 &6W )w +9 & jW = +10 &yZ H +9 &igW G +9 &*gW G +10 &kV G +9 &oV H +9 &pkX G +10 &3jW G +9 &kX H +9 & gX G +10 &"wmW H +9 &$9jW H +10 &%kX H +9 &'nW G +9 &)mV H +10 &+BjP G +9 &-hV G +10 &.jV H +9 &0mS G +9 &2JmW G +10 &4 lV G +9 &5mW G +9 &7hV G +10 &9RhX G +9 &;eW G +9 &<lP H +10 &>jN G +9 &@ZnR G +10 &BnV H +9 &CnV H +9 &EsP H +10 &G\\|O J +9 &IT K +10 &JS M +9 &LP M +9 &N[R M +10 &PQ M +9 &QP M +9 &SV M +10 &UaN M +9 &W#S M +10 &XN M +9 &Z5DeP %k +9 &Z1N ! +6 ( + "processing"%& +4 "core" &ZP ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&i1 +59 "core" 1 + "manipulator"&|% +4 "core" %  a m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' +2 "processing"%& +3 "core" &Z; ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&\ % +4 "core" %\ g  +2 "storage"(% +3 "core" %O  +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" &  G +3 "storage"(& +2 "manipulator"&_& +7 "core" &   + &p   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(('i +3 "core" ( +2 "manipulator"&}& +3 "core" &p  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +3 "core" &p   +2 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%z( +81 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +35 "core" ' +305 ( +2 "storage"(& +4 "core" &  K +2 "manipulator"&$& +3 "core" &p   +2 "manipulator"&% +4 "core" %  z +3 .tForearm.seek :retract + "manipulator"&1'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +253 "core" ( +2 "manipulator"&#& +4 "core" &  $ +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +89 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(6- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(,& +3 "core" & \ P\ Q +2 "manipulator"&-& +4 "core" & ! $ +2 .tElbow.seek 2 +2 "manipulator"&<( +4 "core" ( + "manipulator"&>& +4 "core" & % ( $ +2 "storage"(3& +4 "core" & \ M\ Q +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(2' +57 "core" ' +2 "manipulator"&& +4 "core" &  $ +2 "storage"(B& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +41 "manipulator"&&' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +22 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(G& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&5' +19 "core" ' +2 "manipulator"&& +3 "core" &  k $ +3 "storage"(/& +3 "core" &  + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +34 "core" ' +2 "storage"(% +3 "core" %f ]  +3 ."downElevator"SE.seek :down +3 "storage"(A'X +99 (!% +4 "core" %R q n V OG +2 "manipulator"&.% +3 "core" %ў  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" &  Q +2 "collection"'P& +4 "core" &Vk  E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&J% +3 "core" %\ # y ? +3 "storage"(*% +3 "core" %T 3 +2 "storage"(E. +3 "core" .( +2 "storage"("& +3 "core" &  t +2 "storage"(K& +3 "core" &  +3 "manipulator"&H& +3 "core" & d $ +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&N& +3 "core" & % j $ +2 "storage"(@& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +108 "core" ' +2 "storage"(]& +3 "core" &  Z +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +279 "core" ' +3 "storage"(R- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &  # +2 "storage"(:& +4 "core" &  ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&C' +29 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'O +28 "core" ' + "manipulator"&D% +4 "core" % 9 ) +2 "storage"(b& +4 "core" &  { { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&U& +5 "core" &  " # + "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'> +35 "core" ' +2 "manipulator"&n& +3 "core" &  # +2 "manipulator"&`% +5 "core" %Ѩ  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&W( +151 "core" ( +2 "manipulator"&\\& +3 "core" &* & @^ +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &d& +3 "core" &*  @^ +3 .tForearm.seek CC + "manipulator"&w'" +93 "core" ' + .tHand.close +2 "manipulator"&p/ +64 "core" / +2 .tCC.seek :open +2 "collection"'f( +412 "core" ( +2 "storage"(T& +3 "core" &  +2 "storage"(q& +4 "core" &  +2 "manipulator"&Z& +4 "core" &*  G @] +2 "manipulator"&a% +3 "core" % 3 `  +3 .tForearm.seek :retract + "manipulator"&Y'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&^( +156 "core" ( + "manipulator"&7& +43 "core" &   +9 "storage"({& +5 "core" &  U +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&c' +101 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +61 "core" 1 +3 "manipulator"&% +5 "core" % { + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&j' +20 "core" ' + "manipulator"&o& +4 "core" &  +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +26 "core" ' + "storage"(x% +5 "core" %;  +2 ."downElevator"SE.seek :down +3 "storage"(h'X +100 (% +18 "core" %ęL PE +2 "manipulator"&m% +3 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +38 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'r& +3 "core" &  +2 "manipulator"&V% +4 "core" %\    +2 "storage"(% +3 "core" %] m +2 "storage"(v. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(I( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &  +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +20 "core" ( +2 "manipulator"&\ & +3 "core" & % \ +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &  +2 "manipulator"&}& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&u( +17 "core" ( +2 "manipulator"& & +3 "core" & J 4 +3 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +3 "storage"(s'X +5 "core" & b 4 +3 "manipulator"&(% +4 "core" % ϳ  - +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +149 "core" ( +2 "manipulator"&& +3 "core" &$ % ;4 +2 ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &~& +3 "core" &$  ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'" +103 "core" ' +3 "manipulator"&& +3 "core" &$  ;4 +2 "manipulator"& % +4 "core" %% ' o +2 "collection"'& +5 "core" & } +2 "collection"'6& +5 "core" & x +3 .tCC.seek :closed + "collection"'0(V +5 "core" &   +9 &5  )u +9 &j  = +10 &{  H +9 &jh  G +9 &,k  G +10 &j  G +9 &f  G +9 &sj  G +10 &4i  G +9 &j  G +10 & i  G +9 &"zg  G +9 &$<k  G +10 &%k  G +9 &'h  G +9 &)g  G +10 &+Df  G +9 &-j  G +10 &.h  G +9 &0j  H +9 &2Lh  G +10 &4e  G +9 &5h  G +9 &7j  G +10 &9Tg  G +9 &;i  H +10 &<h  G +9 &>g  G +9 &@\\h  G +10 &Bh  H +9 &Cj  G +9 &En  H +10 &G^  J +9 &I  K +10 &J  O +45 &L K Q +9 &NP  Q +2 &P  Q + &Q  R + &S  S + &US  D +6 &VoD  )z +10 &V{  H +5 ( +2 "collection"'6& +5 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&,1 +2 "core" &Vs  H +53 1 +3 "manipulator"&-% +3 "core" % %  n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%3& +4 "core" &V +2 "manipulator"&1% +3 "core" %\ \ R  +2 "storage"(% +4 "core" %` \ +2 "storage"(B. +3 "core" .( +2 "storage"( & +3 "core" &   +3 "storage"()& +3 "core" &   +2 "manipulator"&& +4 "core" &$ M ;4 +2 "manipulator"&G% +4 "core" %\ \ $  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&/& +4 "core" &  e +2 "storage"(+& +3 "core" & #  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +95 "core" ' +2 "storage"(& +3 "core" & [  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +4 "core" & 0  +2 "manipulator"&.& +3 "core" &  e +3 .tElbow.seek 3 + "manipulator"&<( +4 "core" ( +2 "manipulator"&2& +3 "core" & % e +2 "storage"(&& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&5'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&M/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(J'X +9 "core" & D e + "manipulator"&*% +5 "core" % Ϝ 5 +2 .tForearm.seek :retract + "manipulator"&9'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&E(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&"& +3 "core" &y 7 +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &y ^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +113 "core" ' + "manipulator"&N& +4 "core" &y  +2 "manipulator"&@% +4 "core" %  r +2 "processing"%%& +4 "core" &W +3 "processing"%]& +5 "core" &c +2 .tPC.seek :closed +3 "processing"%A(Z +4 "core" &c +5 &X 6 +10 &ILW / +9 &zV D +9 &=hW G +10 &hX G +9 &gR G +10 &hV G +9 &EfV G +9 &lV G +10 &iW H +9 &jV G +9 &!MgW G +10 &#iW G +9 &$hW G +10 &&dW G +9 &(UkX G +9 &*jW H +10 &+jV H +9 &-jV H +9 &/]jV G +10 &1hW G +9 &2lW G +10 &4jV H +9 &6eiW G +9 &8(eV G +10 &9jW H +9 &;jW G +9 &=ngW G +10 &?/jV G +9 &@eW G +10 &BnX G +9 &DumW G +9 &F3sX I +10 &GW J +9 &IT L +9 &KoU L +10 &M0V M +9 &NU M +10 &PW M +9 &RvX M +9 &T8V M +10 &UU M +9 &WW N +9 &Y{W : +10 &Zj5V \\ +9 &ZR ! +3 ( + "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&'1 +60 "core" 1 +2 "manipulator"&;% +4 "core" %  a r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +93 "core" ' +2 "processing"%F& +3 "core" &ZP ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&:% +4 "core" %\   +2 "storage"(O% +4 "core" %b p  +2 "storage"(D. +3 "core" .( +2 "storage"(b& +3 "core" & p   +2 "storage"(U& +3 "manipulator"&& +5 "core" & s   +2 &y  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +51 .tElbow.seek PC +5 "manipulator"&n(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(`'i +3 "core" ( +2 "manipulator"&=& +4 "core" &y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y +3 .tForearm.seek PC + "manipulator"&?' +96 "core" ' +3 .tHand.close + "manipulator"&C/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"(\\- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +42 "core" ' +289 ( + "storage"(d& +4 "core" &   +3 "manipulator"&[& +4 "core" &y  +2 "manipulator"&Q% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +258 "core" ( +2 "manipulator"&S& +3 "core" &  x  +2 "storage"(T& +5 "core" & <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +92 "core" ' + .tHand.open +2 "manipulator"&Z1 +53 "core" 1 +2 "storage"(a- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +3 "core" -' +2 "storage"(W& +4 "core" &\ ]\ ] g  +2 "manipulator"&t& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +3 "core" & $ d  +2 "storage"(o& +4 "core" &\ O\ O |  +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(x' +60 "core" ' + "manipulator"&Y& +5 "core" &   + "storage"(& +5 "core" & '  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&m'} +20 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +24 "core" ' +2 "manipulator"&j% +3 "core" %z  +2 "storage"(r& +4 "core" & 6  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 297 counts +2 "manipulator"&V'Ϧ +19 "core" ' +2 "manipulator"&& +3 "core" & [  +2 "storage"(v& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +29 "core" ' +2 "storage"(g% +3 "core" %s J +3 ."downElevator"SE.seek :down +3 "storage"(h'X +99 (% +5 "core" %M q { o OG +2 "manipulator"&i% +4 "core" %5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +2 "core" &  +2 "collection"'& +4 "core" &Vr  H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(l% +4 "core" %a  +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" &   +47 "storage"(_& +6 "core" &   +2 "manipulator"&}& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & $ y  +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +87 "core" ' + "storage"((& +4 "core" & ;  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(~& +5 "core" & "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'O +28 "core" ' + "manipulator"&% +4 "core" %~  +2 "storage"(u& +3 "core" & A  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&s'Ϫ +20 "core" ' + "manipulator"&& +4 "core" & c  +2 "storage"(f& +3 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +26 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(-'> +39 "core" ' + "manipulator"&3& +4 "core" &   +2 "manipulator"&1% +4 "core" %?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +157 "core" ( +3 "manipulator"& & +3 "core" & & ) 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &! ( 8 +2 .tForearm.seek CC +2 "manipulator"&)'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'G( +413 "core" ( +2 "storage"(#& +4 "core" &  +2 "storage"(/& +3 "core" &  +2 "manipulator"&+& +4 "core" &! 8 +2 "manipulator"&% +3 "core" % . +3 .tForearm.seek :retract +2 "manipulator"&$'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&>( +154 "core" ( + "manipulator"& & +5 "core" & % >  + "storage"(!& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&.'} +102 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&&1 +55 "core" 1 +2 "manipulator"&M% +4 "core" % ΁  +2 "storage"(P& +3 "core" & O  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +3 "manipulator"&*'ϭ +19 "core" ' +2 "manipulator"&& +4 "core" & Z  +2 "storage"(4& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +28 "core" ' +2 "storage"(5% +3 "core" %H  +3 ."downElevator"SE.seek :down +50 "storage"("'X +52 (K% +3 "core" %O PF +2 "manipulator"&<% +4 "core" %@  ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +96 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +3 "core" &  +2 "manipulator"&%% +4 "core" %\ # % : +2 "storage"(J% +4 "core" %Z \ +2 "storage"(9. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z( +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +4 "core" & +2 "manipulator"&;& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&F( +27 "core" ( +2 "manipulator"&:& +3 "core" & % % f +2 "storage"(O& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +107 "core" ' +2 "storage"(b& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'i +280 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & i +2 "manipulator"&=& +5 "core" & N e +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&H& +4 "core" & \\ e +3 "storage"(C& +5 "core" & V +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(A'X +8 "core" & u e +2 "manipulator"&`% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +148 "core" ( + "manipulator"&Q& +4 "core" ' + &" % | 9( +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &?& +2 "core" &"  9( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +102 "core" ' +4 "manipulator"&T& +3 "core" &"  R 9( +2 "manipulator"&n% +7 "core" %  V +2 "collection"'Z& +3 "core" & ~ +3 "collection"'a& +5 "core" & } +3 .tCC.seek :closed + "collection"'{(V +5 "core" &   +9 &6  )w +9 &k  = +10 &t  H +9 &vg  G +9 &7h  G +10 &h  G +9 &h  H +10 &~g  G +9 &@h  G +9 &g  G +10 & h  G +9 &"i  G +9 &$Fh  H +10 &&\ h  G +9 &'h  G +9 &)g  G +10 &+Qh  G +9 &-e  G +10 &.g  G +9 &0j  G +9 &2Xg  G +10 &4h  G +9 &5g  F +9 &7g  G +10 &9bg  F +9 &;"g  G +10 &<h  G +9 &>h  G +9 &@ig  G +10 &B*j  G +9 &Cj  G +9 &Er  H +10 &Gi}  J +9 &I'  K +10 &J  N +9 &L  Q +9 &N\\  Q +10 &P  Q +9 &Q  R +9 &S  R +10 &U_  ? +9 &VM  W +10 &V*:  %q +9 &Ve  E +2 ( +2 "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&W1 +59 "core" 1 +3 "manipulator"&t% +3 "core" %  '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%o& +3 "core" &[ +2 "manipulator"&p% +4 "core" %\ #  6 @ +2 "storage"(Y% +3 "core" %b f f c +2 "storage"(. +4 "core" .( + "storage"(j& +5 "core" & r t +49 "storage"(r& +3 "core" & p  +2 "manipulator"&X& +4 "core" &"   9' +2 "manipulator"&7% +4 "core" %\ #   @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&v& +4 "core" & $ r n +2 "storage"(g& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +105 "core" ' +2 "storage"(q& +3 "core" & = +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" & R +2 "manipulator"&e& +4 "core" & n +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&x& +4 "core" & _ n +2 "storage"(m& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +9 "core" & \\ n +2 "manipulator"&l% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +4 .tElbow.seek PC +2 "manipulator"&(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&c& +3 "core" &p 9 D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +3 "core" &p v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +94 "core" ' +2 "manipulator"&& +3 "core" &p $ l +3 "manipulator"&% +3 "core" % Z ( +2 "processing"%k& +4 "core" &e +3 "processing"%(& +5 "core" &X +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &` +8 &=_ #a +10 &Yd 5 +9 &\ ` H +9 &g^ G +10 &mX G +9 &PkY G +9 &kX G +10 &iX H +9 &jX H +10 &WjW H +9 & jW H +9 &!jW G +10 &#gV G +9 &%`hL G +9 &'"lI G +10 &(kW G +9 &*lL G +10 &,gjL H +9 &.)jV H +9 &/i\\ G +10 &1fS G +9 &3qf\\ G +9 &51j[ H +10 &6h] G +9 &8jV G +10 &:whW H +9 &<;gV G +9 &=h[ H +10 &?jW G +9 &Ae[ G +9 &CAnU H +10 &ErW H +9 &FvW I +10 &HW K +9 &J;V M +9 &K\\ L +10 &MV M +9 &OZ M +9 &QBW M +10 &SV M +9 &TQ M +10 &V\\ N +9 &XIW M +9 &YwxM "k +10 &Z0K 2 +8 ( +2 &ZY ! +2 "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&^1 +62 "core" 1 +2 "manipulator"&|% +4 "core" % $  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 "processing"%& +3 "core" &ZS ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\   ' +3 "storage"(% +3 "core" %S q @ +2 "storage"(. +4 "core" .( + "storage"(u& +4 "core" & " +2 "storage"(& +3 "manipulator"&f& +8 "core" & i g 3 + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&3(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(1'i +3 "core" ( +2 "manipulator"&y& +4 "core" &p   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &p  \ +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +5 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%s( +71 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +45 "core" ' +306 ( + "storage"(6& +5 "core" & u ( + "manipulator"&,& +4 "core" &p  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +263 "core" ( +2 "manipulator"&0& +3 "core" &  +2 "storage"(#& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&/'ќ +89 "core" ' +2 .tHand.open + "manipulator"&+1 +61 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' +2 "storage"(B& +3 "core" & \ R\ F i +2 "manipulator"&&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&P& +3 "core" & % +2 "storage"(& +5 "core" & \ O\ J z +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.08 Pucks below Top Plate + "storage"(5' +61 "core" ' +2 "manipulator"&$& +3 "core" &  +2 "storage"(K& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&<' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +25 "core" ' + "manipulator"&*% +5 "core" %  + "storage"(@& +5 "core" & ! + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&%' +19 "core" ' + "manipulator"&J& +4 "core" & q +2 "storage"(9& +4 "core" & L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +30 "core" ' + "storage"(8% +4 "core" %s n +3 ."downElevator"SE.seek :down +4 "storage"("'X +99 (I% +3 "core" %R { w K PH +2 "manipulator"&'% +5 "core" %ћ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (:& +3 "core" &  +2 "collection"'O& +4 "core" &Vn  E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&b% +4 "core" %\    +2 "storage"(2% +4 "core" %O  +2 "storage"(N. +3 "core" .( +2 "storage"(U& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&=& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&C& +3 "core" & #  +2 "storage"(E& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +94 "core" ' +3 "storage"(`& +3 "core" & . +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +287 "core" ' + "storage"(D- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +4 "core" &  +2 "storage"(?& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&]' +31 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(n'O +27 "core" ' +2 "manipulator"&Z% +4 "core" %  +2 "storage"(& +3 "core" & x z R +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&A' +19 "core" ' +2 "manipulator"&d& +4 "core" & $ j +2 "storage"(G& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'> +39 "core" ' + "manipulator"&o& +4 "core" &  +2 "manipulator"&p% +5 "core" %s D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +3 "manipulator"&a& +3 "core" &( ) & ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &(  k ?R +3 .tForearm.seek CC + "manipulator"&r'" +94 "core" ' +2 .tHand.close + "manipulator"&X/ +60 "core" / +2 .tCC.seek :open + "collection"'7( +416 "core" ( +2 "storage"(S& +3 "core" & +2 "storage"(v& +5 "core" & + "manipulator"&g& +4 "core" &( >H +2 "manipulator"&q% +4 "core" % * +2 .tForearm.seek :retract +2 "manipulator"&['\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +3 "core" &  ^ +2 "storage"(i& +4 "core" & ' +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&e' +102 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +57 "core" 1 +2 "manipulator"&\ % +3 "core" % #  p +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&l' +21 "core" ' +2 "manipulator"&& +3 "core" & 9 +3 "storage"(L& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +29 "core" ' +2 "storage"(V% +4 "core" %E M +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (_% +3 "core" %P n PF +2 "manipulator"&% +3 "core" %љ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +44 "collection"'& +7 "core" & p +2 "manipulator"&k% +4 "core" %\ \   +2 "storage"(% +4 "core" %Z [ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" & ; +2 "manipulator"&|& +3 "core" & i +3 .tElbow.seek 3 + "manipulator"&( +15 "core" ( +2 "manipulator"&~& +4 "core" & 7 y +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +86 "core" ' + "storage"((& +5 "core" & i  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(u'i +280 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & l  +2 "manipulator"&y& +4 "core" & k y +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&}& +4 "core" & n y +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +65 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(h'X +7 "core" & B y +2 "manipulator"&1% +4 "core" % ϫ A $ +2 .tForearm.seek :retract +2 "manipulator"&6'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &% ( / <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &% <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +92 "core" ' +2 "manipulator"&#& +5 "core" && $ Y <: +2 "manipulator"&3% +3 "core" %  +3 "collection"'+& +3 "core" & } +3 "collection"'& +6 "core" &  +2 .tCC.seek :closed + "collection"')(V +7 "core" &  +4 &  6 +9 &GL  / +10 &{  C +9 &=e  G +10 &h  G +9 &k  G +9 &h  F +10 &Ei  G +9 &i  G +9 &j  G +10 &h  G +9 &!Oi  F +9 &#j  G +10 &$j  G +9 &&g  G +10 &(Vj  G +9 &*g  F +9 &+h  G +10 &-k  G +9 &/^g  G +10 &1 h  G +9 &2e  G +9 &4h  F +10 &6fg  G +9 &8(j  G +9 &9j  G +10 &;f  G +9 &=nh  G +9 &?0e  G +10 &@h  G +9 &Bk  G +10 &Dvj  G +9 &F5t  H +9 &G  J +10 &I  L +9 &Kb  Q +9 &M"  Q +10 &N  P +9 &P  Q +10 &Rf  R +9 &T%  S +9 &U}  8 +10 &V0  #g +9 &Vk  I +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 + .Hand.open +2 "manipulator"&B1 +53 "core" 1 +2 "manipulator"&&% +3 "core" %  $ r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &o +2 "manipulator"&% +4 "core" %\ F  +2 "storage"($% +3 "core" %` k +2 "storage"(K. +4 "core" .( + "storage"(*& +4 "core" & e  +2 "storage"( & +4 "core" & <  +2 "manipulator"&@& +4 "core" &% v <9 +2 "manipulator"& % +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&J( +154 "core" ( + "manipulator"&9& +5 "core" & '  + "storage"(8& +5 "core" &  +49 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(/& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'i +278 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" & :  +2 "manipulator"&4& +4 "core" & L  +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( + "manipulator"&5& +5 "core" & Z  +2 "storage"(<& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(b'X +8 "core" &   +2 "manipulator"&2% +4 "core" % ϫ  3 +2 .tForearm.seek :retract +2 "manipulator"&N'\ +102 "core" ' +2 .tElbow.seek PC + "manipulator"&.(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&U& +4 "core" &s & {  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &s '  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&=' +98 "core" ' +2 "manipulator"&C& +3 "core" &s >  +2 "manipulator"&E% +5 "core" %   +2 "processing"%-& +3 "core" &o +3 "processing"%`& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%"(Z +5 "core" &x +7 &;y #a +9 &[w 6 +10 &x H +9 &es G +9 &kt G +10 &Yhv G +9 &ex G +10 &io H +9 &js G +9 &`ku H +10 & #ju G +9 &!hn H +10 &#gl G +9 &%hjk H +9 &'+jh G +10 &(ij H +9 &*jk G +9 &,pjh H +10 &.4io G +9 &/hg G +9 &1e^ G +10 &3yg[ G +9 &5:hi H +10 &6hb G +9 &8i_ G +9 &:jZ G +10 &hk G +9 &?il G +10 &Aeh G +9 &CJkh H +10 &E m\\ H +9 &Fvh I +9 &Hh J +10 &JDc M +9 &Lf L +9 &M] L +10 &Og L +9 &QLh M +10 &S h M +9 &Tb M +9 &V_ N +10 &XQ` N +9 &Ywvg "j +9 &Z)th . +9 ( +2 &Zh " +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&>1 +62 "core" 1 +2 "manipulator"&;% +3 "core" %  L  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +98 "core" ' +2 "processing"%Q& +3 "core" &ZM " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&?% +3 "core" %\ "  : @ +3 "storage"(T% +3 "core" %a f c ] +2 "storage"(Z. +3 "core" .( +2 "storage"(& +4 "core" & f e  +2 "storage"(d& +2 "manipulator"&G& +8 "core" & e e `  + &s    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&o(s +6 ."raiseStack"SE.seek :beamBreak +3 "storage"(p'i +2 "core" ( +2 "manipulator"&R& +6 "core" &s    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &s   +3 .tForearm.seek PC + "manipulator"&F' +94 "core" ' +2 .tHand.close + "manipulator"&]/ +60 "core" / +3 .tPC.seek :open +2 "processing"%A( +84 "core" ' + "storage"(n- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +45 "core" ' +289 ( +2 "storage"(j& +3 "core" & B  +2 "manipulator"&W& +5 "core" &s   + "manipulator"&\\% +5 "core" % . +2 .tForearm.seek :retract + "manipulator"&X'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +262 "core" ( +2 "manipulator"&{& +3 "core" &    +2 "storage"(S& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +98 "core" ' + .tHand.open +2 "manipulator"&g1 +59 "core" 1 +2 "storage"(q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(i' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +3 "core" -' +2 "storage"(& +4 "core" &\ H\ H  +2 "manipulator"&m& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&\ ( +9 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(& +5 "core" &\ H\ G   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +58 "core" ' +2 "manipulator"&[& +3 "core" &   +2 "storage"(_& +4 "core" & !  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(e'i +26 "core" ' + "manipulator"&l% +5 "core" %y  + "storage"(t& +4 "core" & t t K  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&'ϥ +21 "core" ' +2 "manipulator"&k& +3 "core" &   +3 "storage"(& +4 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +34 "core" ' +2 "storage"(w% +5 "core" %j  +2 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (z% +3 "core" %U k e PH +2 "manipulator"&^% +4 "core" %9  g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +89 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & ?  +2 "collection"'& +4 "core" &Vj { I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&(% +3 "core" %\    +2 "storage"(x% +4 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"(f& +3 "core" &   +2 "storage"(& +4 "core" & s  +2 "manipulator"&y& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( + "manipulator"&& +4 "core" &  Z  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(1& +5 "core" & q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &   +47 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&u'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'P +31 "core" ' +2 "manipulator"&+% +3 "core" % - +2 "storage"( & +4 "core" &  +  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&h'ϫ +20 "core" ' +2 "manipulator"&6& +3 "core" & m  +2 "storage"(7& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'? +38 "core" ' +2 "manipulator"&& +3 "core" & S  +3 "manipulator"&% +3 "core" %- / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +154 "core" ( +3 "manipulator"&*& +3 "core" &( % ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( ?P +3 .tForearm.seek CC + "manipulator"& '" +94 "core" ' +2 .tHand.close + "manipulator"&@/ +54 "core" / +2 .tCC.seek :open + "collection"' ( +413 "core" ( +2 "storage"(0& +3 "core" &  +2 "storage"(9& +3 "core" &  +2 "manipulator"&8& +4 "core" && U =A +2 "manipulator"&,% +4 "core" % 1 m +2 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P( +166 "core" ( +2 "manipulator"&I& +3 "core" &  Q | +2 "storage"('& +4 "core" & 6  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&4'} +99 "core" ' +2 .tElbow.hold + "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +62 "core" 1 +2 "manipulator"&:% +5 "core" % ·  ` +3 "storage"(O& +3 "core" & a  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&2'ϳ +19 "core" ' + "manipulator"&J& +4 "core" & y | +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +26 "core" ' + "storage"(%% +4 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(U'X +98 (% +3 "core" %SU PF +2 "manipulator"&M% +4 "core" %s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +97 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'E& +3 "core" & { +2 "manipulator"&-% +5 "core" %\ %  C + "storage"(b% +5 "core" %Z # + "storage"(N. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(s( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" & +47 "manipulator"&;& +5 "core" &  | +3 .tElbow.seek 2 + "manipulator"&Q( +27 "core" ( +2 "manipulator"&?& +4 "core" &\  z Z +2 "storage"(T& +3 "core" & C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +95 "core" ' +2 "storage"(`& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +3 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & +2 "manipulator"&R& +4 "core" &\  Z +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( + "manipulator"&=& +4 "core" &\  Z +2 "storage"(]& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&n' +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"("'X +8 "core" &\ k Z + "manipulator"&p% +4 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +152 "core" ( +2 "manipulator"&\\& +3 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +2 "core" &* & _ @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &*  . @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' +2 "manipulator"&S& +4 "core" &* % t @W +2 "manipulator"&o% +4 "core" %)  /  +2 "collection"'g& +4 "core" &  +3 "collection"'q& +5 "core" & u +2 .tCC.seek :closed +2 "collection"'r(V +4 "core" &   +9 &8  *x +9 &k  = +9 &u  G +10 &ve  G +9 &8e  G +9 &e  G +10 &g  F +9 &g , F +9 &@h  G +10 &j  G +9 & k  G +10 &"g  G +9 &$Ig  F +9 &&\ h  G +10 &'j  G +9 &)g  G +9 &+Qg  F +10 &-g  F +9 &.g  F +10 &0f  G +9 &2Yf  F +9 &4g  F +10 &5g  F +9 &7g  F +9 &9_j  G +10 &;"e  G +9 &<g  F +10 &>g  G +9 &@hi R G +9 &B*j  G +10 &Ck  G +9 &En  H +10 &Gjz  I +9 &I(  J +9 &J 1 N +10 &L  Q +9 &N]  P +9 &P  Q +10 &Q 0 Q +9 &S  S +9 &U^  ? +10 &VL  Z +9 &V+@ [ &t +10 &WZ  D +2 ( +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 .Hand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&m% +3 "core" % ) ' s  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" &z +2 "manipulator"&X% +4 "core" %\ !   1 +2 "storage"([% +4 "core" %R +2 "storage"(_. +3 "core" .( +2 "storage"(a& +3 "core" & +2 "storage"(l& +4 "core" & o +2 "manipulator"&t& +4 "core" &(   ?V +2 "manipulator"&% +3 "core" %\ !  d 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +159 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(w& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +89 "core" ' +2 "storage"(v& +3 "core" & ] +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +274 "core" ' +2 "storage"(z- +2 "core" -' +48 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (^& +3 "core" & e +2 "manipulator"&L& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&\ ( +4 "core" ( +2 "manipulator"&V& +3 "core" & W  +2 "storage"(& +5 "core" & U +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(('X +8 "core" & ?  + "manipulator"&x% +4 "core" %  I 3 +3 .tForearm.seek :retract + "manipulator"&e'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&f& +4 "core" &z * 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +95 "core" ' +2 "manipulator"&& +3 "core" &z  A +3 "manipulator"&% +3 "core" % _  +3 "processing"% & +3 "core" &y +3 "processing"%1& +5 "core" &y +2 .tPC.seek :closed +2 "processing"%c(Z +5 "core" &y +6 &L{ $d +9 &[u 6 +9 &(y H +10 &ex G +9 &jy G +10 &mjq H +9 &1iy G +9 &ix G +10 &lz G +9 &wit G +9 & 8iw G +10 &!hz G +9 &#jy G +10 &%jy G +9 &'@jy G +9 &)hz G +10 &*ev G +9 &,hy G +9 &.Ghy H +10 &0 hq G +9 &1hp G +10 &3hr G +9 &5Qkq G +9 &7ho G +10 &8hu G +9 &:gr G +9 &gp G +9 &?hl G +10 &Ael G +9 &C`kh G +9 &E!nb H +2 "Can"9 Tǻ +8 "core" &Fxi I +9 &Hk K +9 &JZl L +10 &Ll M +9 &Ml L +10 &Oh L +9 &Qak M +9 &S#g M +10 &Th M +9 &Vc M +9 &Xfg N +10 &Z\ wye "k +9 &Zig / +9 ( +3 "processing"%1& +3 "core" &Zh ' +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&|% +3 "core" % j  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z] ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  e  +2 "storage"(#% +4 "core" %a +2 "storage"(+. +3 "core" .( +2 "storage"( & +3 "core" & m +3 "storage"(6& +2 "manipulator"&7& +7 "core" & N +2 &z  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&(s +7 "core" ( + "manipulator"&& +4 "core" &z  " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &z u +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + .tHand.close +2 "manipulator"&u/ +61 "core" / +2 .tPC.seek :open +2 "processing"%h( +75 "core" ' +2 "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'y +46 "core" ' +301 ( + "storage"(& +4 "core" &  +2 "manipulator"&B& +4 "core" &z  +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&@'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +259 "core" ( +4 "manipulator"&)& +4 "core" & k  +2 "storage"(0& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +94 "core" ' +2 .tHand.open +2 "manipulator"&81 +62 "core" 1 +2 "storage"(,- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"('' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(K& +5 "core" & \ R\ R + "manipulator"&<& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&:( +4 "core" ( +2 "manipulator"&O& +3 "core" & Y  +2 "storage"(J& +5 "core" & \ O\ R +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +57 "core" ' +2 "manipulator"&/& +3 "core" &   +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +24 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(4'i +23 "core" ' +2 "manipulator"&2% +4 "core" %  +2 "storage"(E& +3 "core" & + +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&-' +19 "core" ' +2 "manipulator"&b& +4 "core" & E  +2 "storage"(N& +3 "core" & @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +17 "core" ' +2 "storage"(!% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(U'X +98 (% +3 "core" %R t ] PG +2 "manipulator"&>% +4 "core" %у J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +92 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (?& +3 "core" & l +2 "collection"'T& +4 "core" &WW  D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&`% +3 "core" %\   ( +2 "storage"(5% +4 "core" %_  +2 "storage"(C. +4 "core" .( + "storage"(G& +4 "core" & +2 "storage"(d& +3 "core" &  +2 "manipulator"&R& +4 "core" & <  +2 .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( + "manipulator"&]& +4 "core" & #   +2 "storage"(.& +3 "core" & & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +93 "core" ' + "storage"(p& +4 "core" & O +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +277 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &   +2 "storage"(F& +4 "core" & i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +48 "storage"(o'O +29 "core" ' +2 "manipulator"&g% +3 "core" %  ? +2 "storage"(H& +5 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&"' +19 "core" ' +2 "manipulator"&j& +3 "core" & X  +3 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'> +38 "core" ' + "manipulator"&& +4 "core" & G  +2 "manipulator"&X% +5 "core" %џ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +165 "core" ( +2 "manipulator"&q& +3 "core" &%  H << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &% O << +3 .tForearm.seek CC + "manipulator"&l'" +101 "core" ' +2 .tHand.close +2 "manipulator"&t/ +61 "core" / +2 .tCC.seek :open + "collection"'( +419 "core" ( +2 "storage"({& +3 "core" & + +2 "storage"(& +4 "core" &  +2 "manipulator"&w& +4 "core" &% M << +2 "manipulator"&v% +3 "core" % 4  Z +3 .tForearm.seek :retract +2 "manipulator"&W'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&z& +4 "core" & U  +2 "storage"(^& +4 "core" & i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&L' +100 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&~% +4 "core" % ` +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&x' +19 "core" ' +3 "manipulator"&k& +3 "core" &  +2 "storage"(Y& +4 "core" & 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +31 "core" ' +2 "storage"(% +3 "core" %F ) +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (% +3 "core" %)Q  PF +2 "manipulator"&\ % +4 "core" %њ  s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &  +2 "manipulator"& % +4 "core" %\  6  +2 "storage"((% +5 "core" %[  + "storage"(e. +6 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(A( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&|& +4 "core" & -  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&& +4 "core" & ] m +2 "storage"(#& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +96 "core" ' +5 "storage"( & +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +277 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +4 "core" & W  +2 "manipulator"&& +3 "core" & O m +3 .tElbow.seek 3 + "manipulator"&}( +4 "core" ( +2 "manipulator"&y& +3 "core" & m +2 "storage"(u& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&3'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(c'X +8 "core" & p m +2 "manipulator"&% +4 "core" % ϰ +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"& & +4 "core" &$ ( ;3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &$ : ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)'" +104 "core" ' + "manipulator"&0& +5 "core" &$ $ c ;3 + "manipulator"&% +4 "core" % D +3 "collection"'8& +3 "core" & 9 +3 "collection"',& +6 "core" &  +2 .tCC.seek :closed +3 "collection"' (V +4 "core" &  +5 &  6 +10 &@L  / +9 &{  C +9 &7e  G +10 &f  G +9 &g  F +9 &~g  F +10 &?g  G +9 &e E G +10 &f  F +9 &h w G +9 &!Fj S G +10 &#\ h  F +9 &$i K G +9 &&e - G +10 &(Od  G +9 &*d  G +10 &+e \\ G +9 &-g D F +9 &/Xg  F +10 &1g  F +9 &2g  F +9 &4g ! G +10 &6^h - G +9 &8"f H F +9 &9f { F +10 &;h C G +9 &=fj  G +10 &?*g  F +9 &@h 2 F +9 &Bh  F +10 &Dnj W G +9 &F.s I H +10 &G~ ` J +9 &I E L +9 &K\\ = P +10 &M ? Q +9 &N 9 P +9 &P > Q +10 &R` h Q +9 &T B R +10 &U ? 4 +9 &V7 5 P +9 &V : ] +6 ( + "collection"',& +4 "core" &V 8 ] +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&K1 +63 "core" 1 +3 "manipulator"&<% +3 "core" %   a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%J& +3 "core" &z +2 "manipulator"&@% +4 "core" %\ & t > +2 "storage"(/% +4 "core" %R a Z \\ +2 "storage"(. +4 "core" .( + "storage"(2& +4 "core" & r r T  +2 "storage"(E& +4 "core" & ] O 9  +2 "manipulator"&*& +3 "core" &#  ;3 +2 "manipulator"&b% +4 "core" %\ & b > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&I( +172 "core" ( + "manipulator"&N& +5 "core" &  c + "storage"(!& +4 "core" & z { _  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&$'9 +98 "core" ' +2 "storage"(9& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & z z  +2 "manipulator"&& +5 "core" & * c +2 .tElbow.seek 3 + "manipulator"&:( +3 "core" ( +2 "manipulator"&%& +4 "core" & ' c +2 "storage"(M& +4 "core" & h e Z  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'ϩ +62 "core" ' +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&T& + "storage"(`'X +6 "core" & C c +3 "manipulator"&5% +3 "core" % ϯ  +3 .tForearm.seek :retract +2 "manipulator"&4'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +2 "manipulator"&G& +4 "core" &j   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R' +103 "core" ' +2 "manipulator"&]& +4 "core" &o 3  +2 "manipulator"&.% +4 "core" %  i +2 "processing"%&& +4 "core" &j +3 "processing"%p& +5 "core" &# +2 .tPC.seek :closed +2 "processing"%U(Z +5 "core" &N +7 &<n #a +9 &Ys 5 +9 &\ w H +10 &gw G +9 &kw H +9 &Qit G +10 &hy G +9 &dx G +9 &jw G +10 &Xiy G +9 & gy G +10 &!jy G +9 &#kw G +9 &%`jx G +10 &'#ky G +9 &(hx G +9 &*hs H +10 &,hhw G +9 &.)iy H +10 &/gy G +9 &1hu G +9 &3qdv G +10 &52hy G +9 &6hx H +10 &8gy G +9 &:xgx G +9 &<:gx G +10 &=gx G +9 &?ho H +9 &Aho G +10 &CBmx G +9 &Emu G +9 &Fxn I +10 &Ho K +9 &J;w M +10 &Kr M +9 &Mk L +9 &Od L +10 &QCb M +9 &Sk M +9 &Tn M +10 &Vn M +9 &XHk N +10 &Ywyq "l +9 &Z1l 0 +9 ( +2 "processing"%p& +3 "core" &Zg  +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&P1 +64 "core" 1 +2 "manipulator"&;% +3 "core" %  I i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +91 "core" ' +2 "processing"%\\& +3 "core" &Z_  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&F% +3 "core" %\  :  +3 "storage"(S% +3 "core" %a v m & +2 "storage"(g. +3 "core" .( +2 "storage"(H& +3 "core" & w z M  +3 "storage"(j& +2 "manipulator"& & +8 "core" & n o :  +2 &o [  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&X(s +6 "core" ( +2 "manipulator"&D& +3 "core" &o i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" &o   +3 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +4 .tPC.seek :open + "processing"%"( +90 "core" ' +2 "storage"(o- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +39 "core" ' +292 ( +2 "storage"(a& +3 "core" & p z )  +2 "manipulator"&& +4 "core" &o   +2 "manipulator"&n% +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&[( +262 "core" ( +2 "manipulator"&r& +3 "core" &  r m +2 "storage"({& +4 "core" & o z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 .tHand.open + "manipulator"&w1 +64 "core" 1 +3 "storage"(v- +2 "core" -'y +50 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(z'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(^' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(l- +3 "core" -' +2 "storage"(_& +3 "core" &\ P\ P |  +2 "manipulator"&& +5 "core" &  m +2 .tElbow.seek 3 +2 "manipulator"&~( +7 "core" ( +2 "manipulator"&& +3 "core" &  t e +3 "storage"(k& +3 "core" &\ P\ N V  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&W& +3 "core" &  e +3 "storage"(& +3 "core" & c e y  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&\ '} +22 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +24 "core" ' +2 "manipulator"&x% +4 "core" %v  +2 "storage"(& +3 "core" & r r &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 293 counts +2 "manipulator"& 'Ϣ +20 "core" ' + "manipulator"&(& +4 "core" & e +2 "storage"(e& +4 "core" & h x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +16 "core" ' +2 "storage"(i% +3 "core" %o |  L +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (s% +3 "core" %[Y R M q QI +2 "manipulator"&% +4 "core" %6 " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +89 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & { k 2  +2 "collection"'#& +3 "core" &V ; ] +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\  w  +2 "storage"(V% +3 "core" %U b b / +2 "storage"(. +4 "core" .( + "storage"(6& +5 "core" & e j L  +2 "storage"(7& +3 "core" & c e Z  +2 "manipulator"&& +4 "core" & \ e +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&u& +5 "core" &   e +2 "storage"(& +3 "core" & d d N  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +86 "core" ' +2 "storage"(& +4 "core" & &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 1 e +2 "storage"(& +4 "core" & y u =  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&1'} +20 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('P +29 "core" ' + "manipulator"&8% +5 "core" %{ I +2 "storage"(}& +4 "core" & r n ,  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&c'ϧ +20 "core" ' +2 "manipulator"&& +3 "core" & Z e +2 "storage"(& +4 "core" & d c A  +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(<'? +41 "core" ' +2 "manipulator"&J& +3 "core" & , e +2 "manipulator"&@% +5 "core" %:  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&,( +158 "core" ( +2 "manipulator"&& +5 "core" &* $ B @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &2& +2 "core" &* @W +3 .tForearm.seek CC +2 "manipulator"&E'" +93 "core" ' + .tHand.close +2 "manipulator"&*/ +64 "core" / +2 .tCC.seek :open +2 "collection"'b( +415 "core" ( +2 "storage"()& +3 "core" & m  +2 "storage"(N& +4 "core" &  +2 "manipulator"&!& +4 "core" &* @W +2 "manipulator"&9% +3 "core" % " k +3 .tForearm.seek :retract +2 "manipulator"&B'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +163 "core" ( + "manipulator"&& +4 "core" &  T q +2 "storage"(>& +4 "core" & "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +60 "core" 1 +3 "manipulator"&?% +3 "core" % }  v +2 "storage"(T& +5 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&5'ϩ +20 "core" ' +2 "manipulator"&I& +3 "core" & S q +2 "storage"($& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +26 "core" ' +2 "storage"(-% +3 "core" %I +3 ."downElevator"SE.seek :down +4 "storage"(G'X +98 (d% +3 "core" %M OE +2 "manipulator"&:% +4 "core" %r b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +92 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'.& +3 "core" &  +2 "manipulator"&&% +4 "core" %\ 8 +2 "storage"(`% +3 "core" %b J +2 "storage"(4. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(h( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" & 6 +2 "manipulator"&;& +3 "core" & @ q +3 .tElbow.seek 2 + "manipulator"&\\( +31 "core" ( +2 "manipulator"&F& +3 "core" &\  P V +3 "storage"(S& +3 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +96 "core" ' +2 "storage"(H& +3 "core" & ^ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +277 "core" ' +2 "storage"(j- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & +3 "manipulator"&D& +3 "core" &\  U +46 .tElbow.seek 2 +6 "manipulator"&=( +4 "core" ( + "manipulator"&R& +4 "core" &\ F U +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(U'X +8 "core" &\ o U +2 "manipulator"&% +4 "core" %   G +2 .tForearm.seek :retract +2 "manipulator"&a'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&n& +5 "core" &(  ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &( ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'" +102 "core" ' +4 "manipulator"&{& +3 "core" &( Q ?V +3 "manipulator"&X% +3 "core" %% ] +3 "collection"'w& +4 "core" & % +2 "collection"'v& +5 "core" &  +3 .tCC.seek :closed +2 "collection"'t(V +5 "core" &   +8 &8  *x +10 &k  = +9 &t 4 G +10 &se  G +9 &6e ! F +9 &e J F +10 &f l F +9 &{j Q G +9 &=h 7 G +10 &e > F +9 & g D F +10 &"k L G +9 &$Fj K F +9 &&g  F +10 &'j @ F +9 &)h B F +10 &+Mf = G +9 &-g @ G +9 &.g C G +10 &0i D G +9 &2Vd P F +9 &4e : F +10 &5e < F +9 &7j B F +9 &9^j E F +10 &;k = G +9 &<j 5 G +10 &>e = G +9 &@eg < G +9 &B(e > F +10 &Ci J F +9 &En H G +9 &Ggy G I +10 &I& G J +9 &J E O +10 &L F Q +9 &NZ D P +9 &P @ R +10 &Q K Q +9 &S H R +9 &UZ E A +10 &VI M !e +9 &V I K +6 ( + "collection"'v& +4 "core" &Vg K J +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&l1 +63 "core" 1 +2 "manipulator"&_% +5 "core" % % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &] +2 "manipulator"&k% +3 "core" %\ #   > +3 "storage"(W% +3 "core" %_ e e W +2 "storage"(. +3 "core" .( +2 "storage"(x& +3 "core" & d j \\ +3 "storage"(& +3 "core" & g t +2 "manipulator"&q& +4 "core" &( * ?U +2 "manipulator"&(% +3 "core" %\ #  > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&z( +161 "core" ( + "manipulator"&e& +4 "core" &    +2 "storage"(i& +4 "core" & " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +95 "core" ' +2 "storage"(& +3 "core" & X +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +274 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & _ +2 "manipulator"&Y& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" &  _  +2 "storage"(\ & +84 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +3 "storage"( 'X +7 "core" & N  + "manipulator"&V% +5 "core" %  K +2 .tForearm.seek :retract + "manipulator"&L'\ +137 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +114 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +134 "core" ( + "manipulator"&6& +4 "core" &k 6 R ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &7& +3 "core" &k r ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' +2 "manipulator"&u& +4 "core" &l  +2 "manipulator"&% +4 "core" % f ~ +2 "processing"%m& +5 "core" & +2 "processing"%& +4 "core" &p +3 .tPC.seek :closed +2 "processing"%f(Z +4 "core" &r +7 &=v #b +9 &\\x 6 +10 &p H +9 &hu G +9 &hw G +10 &Ygo G +9 &du G +9 &iw G +10 &iu G +9 &bir G +10 & $ik G +9 &!h~ G +9 &#h{ G +10 &%ih} G +9 &'+i G +9 &(gs G +10 &*i{ G +9 &,piy H +10 &.4h} G +9 &/g| G +9 &1gv G +10 &3{g| G +9 &5=hz G +9 &6hy G +10 &8go F +9 &:gx G +10 &eq G +9 &?hw G +10 &Ahz G +9 &CJjx H +9 &E qr H +10 &Fu| H +9 &Ho J +10 &JEn L +9 &L| L +9 &Mz L +10 &Oy L +9 &QMq L +9 &St M +10 &Ts M +9 &V} M +10 &XQx N +9 &Ywwo "k +9 &Z+yx . +9 ( +2 &Z{ ! + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&|% +3 "core" %  L ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +97 "core" ' +2 "processing"% & +3 "core" &Zp ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ ! h 7 +2 "storage"(0% +4 "core" %b Y +2 "storage"(8. +3 "core" .( +2 "storage"(}& +3 "core" & 2 +3 "storage"(& +2 "manipulator"&& +8 "core" & 5 + &l  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&J(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(@'i +3 "core" ( +2 "manipulator"&& +3 "core" &l h +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &l { +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&1/ +59 "core" / +2 .tPC.seek :open +2 "processing"%c( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +51 "core" ' +283 ( +3 "storage"(2& +3 "core" & W +2 "manipulator"&K& +4 "core" &l  +2 "manipulator"&3% +4 "core" % (  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +259 "core" ( + "manipulator"& & +5 "core" & ?  + "storage"()& +4 "core" & \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +92 "core" ' +2 .tHand.open + "manipulator"&!1 +61 "core" 1 +2 "storage"(9- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(>' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(,& +3 "core" & \ R\ R { +2 "manipulator"&M& +3 "core" & &  +42 .tElbow.seek 2 +10 "manipulator"&?( +8 "core" ( +2 "manipulator"&T& +3 "core" &  U  +2 "storage"(I& +4 "core" & \ R\ P s +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(-' +58 "core" ' + "manipulator"&B& +4 "core" & Y  +2 "storage"(d& +4 "core" & ` +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +3 "manipulator"&:' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&5% +3 "core" %  +2 "storage"(.& +5 "core" & G + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&&' +18 "core" ' + "manipulator"&`& +4 "core" & }  +2 "storage"(4& +3 "core" & 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +33 "core" ' +2 "storage"('% +3 "core" %s c +3 ."downElevator"SE.seek :down +3 "storage"(G'X +99 (A% +3 "core" %uU v k } QJ +2 "manipulator"&P% +3 "core" %ѓ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (F& +3 "core" & +2 "collection"'S& +4 "core" &Vf G J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&H% +3 "core" %\ "  = +2 "storage"(%% +3 "core" %a  +2 "storage"(]. +4 "core" .( +2 "storage"(j& +3 "core" & = +2 "storage"( & +4 "core" & 0 +2 "manipulator"&D& +3 "core" & W  +3 .tElbow.seek 2 + "manipulator"&R( +3 "core" ( +2 "manipulator"&& +5 "core" &  [  +2 "storage"(C& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +109 "core" ' +2 "storage"(& +3 "core" & > +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +283 "core" ' +2 "storage"(g- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &  +2 "storage"(Q& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p' +25 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(X'N +27 "core" ' +2 "manipulator"&w% +3 "core" % S C +2 "storage"(=& +4 "core" & g e r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&U' +20 "core" ' +2 "manipulator"&a& +3 "core" & _  +2 "storage"(b& +4 "core" & s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'= +43 "core" ' + "manipulator"&& +4 "core" & E  +2 "manipulator"&k% +4 "core" %ь Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&W'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&v& +3 "core" &( $ E ?Q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &(  ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&q/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(( +415 "core" ( +2 "storage"(r& +3 "core" & +2 "storage"(e& +5 "core" & { + "manipulator"&i& +4 "core" &(  ?P +2 "manipulator"&% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( + "manipulator"&s& +4 "core" & ]  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +59 "core" 1 +2 "manipulator"&% +3 "core" %  [ +2 "storage"(#& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 301 counts + "manipulator"&V' +20 "core" ' + "manipulator"&z& +4 "core" & 6  +2 "storage"([& +4 "core" & q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +31 "core" ' +2 "storage"( % +5 "core" %G r +2 ."downElevator"SE.seek :down +4 "storage"(6'X +98 (7% +3 "core" %P M OD +2 "manipulator"&~% +5 "core" %я +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & K +2 "manipulator"&m% +3 "core" %\  V  +3 "storage"( % +3 "core" %Q  +2 "storage"(L. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"("( +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & P \ +2 "manipulator"&|& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"& ( +17 "core" ( +2 "manipulator"&& +3 "core" & ] +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +92 "core" ' +2 "storage"(}& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&& +4 "core" &  ] +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" & w ] +2 "storage"(1& +3 "core" & $ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"(f'X +8 "core" &  ] +2 "manipulator"&@% +4 "core" % Ϭ  - +2 .tForearm.seek :retract +2 "manipulator"&2'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&3& +3 "core" &% 6 <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &% a <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +94 "core" ' +3 "manipulator"&)& +3 "core" &% & <> +3 "manipulator"&J% +3 "core" %% w  +3 "collection"'!& +3 "core" & ? +3 "collection"'9& +5 "core" & J +2 .tCC.seek :closed +2 "collection"'E(V +5 "core" & _ +5 & G 8 +10 &KM O / +9 &| M C +10 &Dc N F +9 &j T G +9 &j S F +10 &i O G +9 &Kh J G +9 &e P F +10 &c T G +9 &h S G +10 &!Td Q F +9 &#g N F +9 &$g N G +10 &&d J F +9 &(\\e I F +9 &*d G G +10 &+h P G +9 &-g S G +10 &/di R F +9 &1%j P G +9 &2g J F +10 &4e R F +9 &6kd P G +9 &8-h I G +10 &9g E G +9 &;k G G +10 &=rh P G +9 &?6e H F +9 &@g F F +10 &Bi F G +9 &D{h E G +9 &F9s I H +10 &G B I +9 &I K L +10 &Kg J Q +9 &M( J Q +9 &N H Q +10 &P I Q +9 &Rm I Q +9 &T+ E R +10 &U~ C 6 +9 &V- I $j +10 &Vu O K +2 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&,1 +56 "core" 1 +2 "manipulator"&M% +4 "core" % % # B  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%T& +5 "core" & +2 "manipulator"&I% +3 "core" %\ # { @ +2 "storage"(B% +5 "core" %T { { + "storage"(d. +4 "core" .( + "storage"(& +4 "core" & v h A +2 "storage"(& +4 "core" & h c q +2 "manipulator"&5& +3 "core" &% j <> +2 "manipulator"&.% +5 "core" %\ # @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&`( +162 "core" ( + "manipulator"&4& +4 "core" &  x +2 "storage"('& +4 "core" & , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +94 "core" ' +2 "storage"(N& +3 "core" & ) +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +279 "core" ' + "storage"(A- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & ; +2 "manipulator"&$& +4 "core" &  x +2 .tElbow.seek 3 +2 "manipulator"&?( +4 "core" ( + "manipulator"&-& +4 "core" & D x +2 "storage"(:& +4 "core" & ! +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&S& + "storage"(H'X +7 "core" & _ x +2 "manipulator"&%% +4 "core" % ϥ 3 +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&](s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&j& +4 "core" &g 5 1 " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &g U " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +47 "manipulator"&D' +100 "core" ' +2 "manipulator"&& +4 "core" &g  W " +2 "manipulator"&C% +5 "core" %  +2 "processing"%<& +3 "core" & +3 "processing"%& +6 "core" & +2 .tPC.seek :closed + "processing"%G(Z +4 "core" & +7 &D #b +10 &[ 6 +9 & H +9 &g G +10 &h H +9 &[g G +9 &h G +10 &g G +9 &j H +10 &dh G +9 & %i| G +9 &!g{ G +10 &#g{ G +9 &%kj G +9 &'-i~ G +10 &(h} G +9 &*j{ G +10 &,sh{ G +9 &.4h{ G +9 &/f{ G +10 &1c| G +9 &3{g| G +9 &5=h~ G +10 &6g G +9 &8g G +10 &:g G +9 &f~ G +10 &?g G +9 &Ag G +9 &CMh{ G +10 &E q H +9 &Fv I +10 &H K +9 &JG L +9 &L L +10 &M L +9 &O L +10 &QL M +9 &S M +9 &T| M +10 &V M +9 &XR N +9 &Yvx "l +10 &Z'k , +9 ( + &Zx " +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&O1 +62 "core" 1 + "manipulator"&;% +5 "core" % $ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +95 "core" ' +2 "processing"%n& +3 "core" &Zt " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %\    +2 "storage"({% +3 "core" %` f  ) +2 "storage"(w. +4 "core" .( + "storage"(=& +4 "core" & b e p +2 "storage"(a& +3 "manipulator"&b& +7 "core" & p . + &g  " +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +25 "core" ( +2 "manipulator"&Z& +3 "core" &m ) f +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +4 "core" &m +2 .tForearm.seek PC +3 "manipulator"&\\' +96 "core" ' +3 .tHand.close +2 "manipulator"&p/ +62 "core" / +2 .tPC.seek :open +2 "processing"%U( +60 "core" ' +2 "storage"(X- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +35 "core" ' +327 ( +3 "storage"(x& +3 "core" & Q +2 "manipulator"&l& +3 "core" &m V +2 "manipulator"&o% +5 "core" % " +2 .tForearm.seek :retract + "manipulator"&q'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W( +252 "core" ( +2 "manipulator"&t& +3 "core" &  R +2 "storage"(r& +5 "core" & s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +93 "core" ' +2 .tHand.open +2 "manipulator"&i1 +53 "core" 1 +3 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(s'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &\ , { u +2 "manipulator"&\ & +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&#& +4 "core" & f +2 "storage"(z& +4 "core" & K K 6 +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +103 "core" ' +4 "manipulator"&& +4 "core" & & +2 "storage"(7& +3 "core" & ~ +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&~'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Y'i +25 "core" ' +2 "manipulator"&V% +4 "core" %k 4 +2 "storage"(& +3 "core" & j d ; +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 282 counts +2 "manipulator"&m'ϗ +19 "core" ' +2 "manipulator"& & +4 "core" & Y +2 "storage"(L& +4 "core" & 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +26 "core" ' +2 "storage"(^% +3 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(6'X +100 (h% +2 "core" %xW r q < QJ +3 "manipulator"&% +3 "core" %> i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & & +2 "collection"'0& +3 "core" &Vy I K +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&}% +4 "core" %\  e  +2 "storage"(% +3 "core" %`  +2 "storage"(u. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&1& +5 "core" & K + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +103 "core" ' + "storage"(@& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' +2 "storage"(8- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(J'O +27 "core" ' +2 "manipulator"&!% +3 "core" %q \\ +2 "storage"(y& +4 "core" & m +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 288 counts + "manipulator"&f'ϝ +20 "core" ' +2 "manipulator"&2& +3 "core" & q +3 "storage"((& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'> +39 "core" ' +2 "manipulator"&T& +4 "core" & = +2 "manipulator"&I% +3 "core" %0 @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +156 "core" ( +2 "manipulator"&& +3 "core" &*  n @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &*  @^ +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 .tHand.close +46 "manipulator"&5/ +66 "core" / +2 .tCC.seek :open +2 "collection"'.( +416 "core" ( +2 "storage"( & +3 "core" & H +2 "storage"(4& +4 "core" & c +3 "manipulator"&'& +3 "core" &* @^ +2 "manipulator"&N% +4 "core" % % a +3 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&*( +161 "core" ( +2 "manipulator"&A& +5 "core" &  \ + "storage"(P& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&$'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +62 "core" 1 +2 "manipulator"&F% +4 "core" % ΋  +2 "storage"(S& +5 "core" & l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&%'Ϸ +21 "core" ' + "manipulator"&`& +4 "core" & _ \ +2 "storage"(/& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +42 "core" ' +2 "storage"(&% +3 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"(j'X +100 ( % +2 "core" %L M OE +2 "manipulator"&?% +5 "core" %# ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +29840 "Can"$ 4 ] +31805 #t-> access 2 +3 "storage"(C% +3 "core" %b  +2 "manipulator"&<% +4 "core" %\  $ +2 "manipulator"&H& +3 "core" & 4 \ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +967 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &K b  +1265 #t-> access 3 +2 "storage"(O% +3 "core" %b  +2 "manipulator"&;% +4 "core" %\   $ +2 "manipulator"&n& +3 "core" &  \ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(Q([ +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" &[ c  +1829 #t-> access 2 +2 "storage"(w% +3 "core" %b  +2 "manipulator"&=% +3 "core" %\   $ +2 "manipulator"&& +4 "core" & p \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(b(K +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +3 "core" &K +17754 #t-> exit +7 #mEXIT @1734444191.89EST @1734444223.80EST = =mMAIN_scheduler =tMAIN @EST1734444224.51 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK +2 #t@10859 receive with ifg=0x10, ie=0xFD + #@11506 receive with ifg=0x10, ie=0xFD + #@12166 receive with ifg=0x10, ie=0xFD + #@12811 receive with ifg=0x10, ie=0xFD + #@13460 receive with ifg=0x10, ie=0xFD #@14108 receive with ifg=0x10, ie=0xFD + #@14757 receive with ifg=0x10, ie=0xFD #@15083 receive with ifg=0x80, ie=0xFD + #@28607 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +360 "Can" 3 +  3 + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@09:03:51, 39% flow, 21.5C, 45% humidity, 14.6psia, 14.911V, 0.256A, 0.159Ah, 3.82W",Subject: "standAloneWCR_4 begun" +4 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 +2 #Continuing at 09:03 +4 "Can" 2 +24 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +226 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@09:03:51, 39% flow, 21.5C, 45% humidity, 14.6psia, 14.911V, 0.250A, 0.159Ah, 3.72W",Subject: "Asleep until 09:03" +233 "Can"  +9 #tPowering core bus +480 #"uploadLog"upsync +104 .tGate.power :raw,:ON + "sampler") +33 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +4 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@09:04:38, 39% flow, 21.4C, 45% humidity, 14.6psia, 14.916V, 0.231A, 0.164Ah, 3.45W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +3 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" & ( +3 .tHand.open + "manipulator"&"1 +59 "core" 1 + "manipulator"&#& +4 "core" & e  +2 "manipulator"&$% +4 "core" % \  p n +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +3 "manipulator"&%(, +171 "core" ( +3 "manipulator"&&& +4 "core" &, ] B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &, B B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +67 #"uploadLog"upsync +35 "core" ' +2 .tHand.close + "manipulator"&)/ +61 "core" / +2 "manipulator"&*& +3 "core" &, # B +3 "manipulator"&+% +3 "core" % ϴ z +3 .tForearm.seek :retract +2 "manipulator"&,'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-( +281 "core" ( +2 "manipulator"&.& +3 "core" &(  h ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &( 3 ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +98 "core" ' +2 "manipulator"&1& +3 "core" &) # ?P +2 "manipulator"&2% +4 "core" %$ +3 "collection"'3& +4 "core" & / +3 "collection"'4& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'5(V +3 "core" & , +9 &K  $d +9 &u\\ . 7 +10 & ) H +9 &f 4 G +9 &kl ; H +10 &-l A H +9 &h B H +10 &j A G +9 &sj ? H +9 &5h A H +10 &h D H +9 &!l B H +9 &#{g B H +10 &%=h A H +9 &&g = H +10 &(h ; G +9 &*m 6 H +9 &,Ei : H +10 &.k 9 H +9 &/m 2 H +9 &1g 9 H +10 &3Mg J H +9 &5k : G +10 &6k F H +9 &8j A H +9 &:Ug 0 H +10 &<h 6 H +9 &=j P H +9 &?m 5 H +10 &A]k 1 H +9 &Cl , H +10 &Dm ) H +9 &Fx 9 I +9 &H^ 3 J +10 &J 3 M +9 &K 6 P +9 &M 0 Q +10 &OO * R +9 &Q 7 Q +10 &R 7 S +9 &T 0 R +9 &V+p 4 (| +10 &V1 - O +9 ( + &VG A = +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.75 +2 "collection"'6& +3 "core" &VH 8 = +2 .tHand.open + "manipulator"&71 +52 "core" 1 +2 "manipulator"&8% +4 "core" %$ $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +95 "core" ' +3 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &VI 5 = +2 "collection"';% +4 "core" % . +2 .tCSV.dial CSR +2 "collection"'<  +154 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1326 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +38 "core" %q /  +8 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'?': +593 "core" ' +2 .tCSV.dial :waste +2 "collection"'@ +150 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A' +1957 "core" ' +2 #tPurging external Intake + "collection"'B& +5 "core" &VH 3 = + "collection"'C% +4 "core" % 2 +2 .tCSV.dial :flush +2 "collection"'D  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2111 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core"  +62  +2 .tCTV.dial :intake + "collection"'H  +71 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'I' +2139 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +71 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +4 "core" &VH G = +2 "collection"'L% +4 "core" %  +2 .tCSV.dial :flush + "collection"'M  +86 "core"  +2 .tCS.seek 5ml +2 "collection"'N'q +1097 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +51 "core" B + "collection"'P% +4 "core" %q   +3 .tCS.seek 7ml + "collection"'Q' +500 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +7 "core"  +90 ~ +2 .tCTV.dial :air + "collection"'T  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'U' +1507 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'V'2 +700 "core" ' +2 .tCSV.dial :waste + "collection"'W +52 "core" +2 .tCS.seek 0ml +2 "collection"'X' +688 "core" ' +2 "collection"'Y& +3 "core" &VG  = +2 "collection"'Z% +4 "core" % ( +2 .tCSV.dial :flush + "collection"'[  +50 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'2 +701 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'] @ +50 "core" B +2 "collection"'^% +3 "core" %2   +3 .tCS.seek 5ml + "collection"'_'q +494 "core" ' +3 .tCSV.dial :air + "collection"'` @ +13 "core" @ +3 .tCS.seek 0ml + "collection"'a' +1095 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml +2 "collection"'b'2 +690 "core" ' +2 .tCSV.dial :waste + "collection"'c +68 "core" +2 .tCS.seek 0ml +2 "collection"'d' +688 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &( j ?P +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f( +4 "core" ( + "manipulator"&g& +5 "core" &( f ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +4 "core" &( J ?P +3 .tForearm.seek CC + "manipulator"&i'" +95 "core" ' + .tHand.close +2 "manipulator"&j/ +53 "core" / +3 .tCC.seek :open + "collection"'k( +412 "core" ( +2 "manipulator"&l& +3 "core" &( & ?P +2 "manipulator"&m% +4 "core" % /   +35 .tForearm.seek :retract +8 "manipulator"&n'\ +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&o(, +281 "core" ( + "manipulator"&p& +4 "core" &, f A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &,  A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +99 "core" ' +2 .tHand.open + "manipulator"&s1 +60 "core" 1 + "manipulator"&t% +4 "core" % Ϯ #  k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' + #tStarting stand-alone da WCR +2 #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 09:08:38EST17-Dec-24\\n{2 => 1}\\nCan@09:04:38, 39% flow, 21.4C, 45% humidity, 14.6psia, 14.916V, 0.231A, 0.164Ah, 3.45W",Subject: "da wcr sampling at most 200ml" +3 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'v& +4 "core" &  +2 "manipulator"&w% +5 "core" %\  O  +2 "storage"(x% +4 "core" %a * +2 "storage"(y. +4 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 ."WCR"SC.seek 2 +2 "storage"(z( +339 "core" ( +2 ."WCR"SC.configure :limp +3 #"uploadLog"upsync +3 "storage"($\ 1b +3 ({& +3 "core" & K +2 "manipulator"&|& +4 "core" &,  @ +2 "manipulator"&}% +4 "core" %\  8  +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&~( +192 "core" ( +2 "manipulator"&& +5 "core" & i + "storage"(& +4 "core" &  V +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 2 + 700 counts + "manipulator"&'ќ +91 "core" ' +2 "storage"(& +4 "core" &   +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('i +275 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  C +3 "manipulator"&& +3 "core" &  +3 ."WCR"Elbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +5 "core" & ` + "storage"(\ & +4 "core" &   +4 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +19 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" & + "manipulator"&% +4 "core" % p +39 ."WCR"Forearm.seek :retract +8 "manipulator"&'\ +97 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"& ( +113 "core" ' + ."downElevator"SE.stop + "storage"(5 +39 "core" ( +2 "manipulator"&& +4 "core" &* * & Aa +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* < Aa +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&& +3 "core" &* # Aa +3 "manipulator"& % +3 "core" %  +3 "collection"'& +4 "core" & ( +3 "collection"'& +5 "core" & ` +2 ."WCR"CC.seek :closed +2 "collection"'!(V +5 "core" & s +7 &A - #c +9 &[ r 6 +10 & N H +9 &g ] G +9 &j ) G +10 &df  G +9 &&i 4 G +10 &h 4 G +9 &g 2 G +9 &kf , G +10 & ,h . G +9 &!i / G +10 &#i g G +9 &%rh  G +9 &'4h 4 G +10 &(g , G +9 &*h * G +9 &,|g 2 G +10 &.>h - G +9 &0g 2 G +9 &1h - G +10 &3f + G +9 &5Eg 1 G +10 &7h 3 G +9 &8g 2 G +9 &:g - G +10 &h 2 G +9 &?e 5 G +10 &Ag 3 G +9 &CVh - G +10 &El ? G +9 &Fp 5 H +9 &H{ : I +10 &JR ? K +9 &L 4 N +10 &M 4 Q +9 &O : Q +9 &QI 2 Q +10 &S 3 R +9 &T \ 7 R +9 &V=j 4 0 +10 &V 1 3 +9 &Vh . G +2 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.74 +2 .Hand.open + "manipulator"&"1 +59 "core" 1 +4 "manipulator"&#% +3 "core" %  o +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&$'\ +99 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +3 "core" %\ \ a +2 "collection"'& +4 "core" &Vb 6 G +4 "Can" E'< +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"')  +4 "core"  +2 ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")* +4 "core"  +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +4 "core" % 0 +2 "sampler")=% +3 "core" %T1\ F\ B  +28 "collection"'@% +3 "core" %  +2 "sampler")?% +5 "core" %T0\ H\ E  +31 "collection"'B% +3 "core" %  +2 "sampler")C% +4 "core" %T-\ N\ K  +36 "collection"'D% +3 "core" % , +2 "sampler")A% +4 "core" %T0\ T\ Q  +41 "collection"'G% +3 "core" % + +2 "sampler")F% +4 "core" %T,\ Z\ W  +50 "collection"'H% +4 "core" % , +2 "sampler")E% +3 "core" %T+\ _\ ^  +3 ."WCR"Intake.select :close + "sampler")0 +10 )J% +2 "core" %T,\ a\ `  +2 ."WCR"SSV.dial :exhaust +2 "sampler")K  +71 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +12 ."WCR"SS.seek 0ml + "sampler")L' +387 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X% +4 "core" % { +2 "sampler")=% +4 "core" % \ S +53 "collection"'@% +3 "core" %  +2 "sampler")?% +4 "core" %\  \ S +60 "collection"'B% +3 "core" %  +2 "sampler")C% +4 "core" %\ \  \ S +69 "collection"'D% +3 "core" %  +2 "sampler")A% +4 "core" %\ L\ K \ S +78 "collection"'7% +3 "core" % } +2 "sampler")G% +4 "core" %\ v\ u \ S +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )F% +3 "core" %\ y\ y \ S +2 ."WCR"SSV.dial :exhaust +2 "sampler")H  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")E' +918 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'J @ + "sampler")K  +4 "core" ? +68  + #"WCR"Allowing 130s for 25.0ml of remaining 125.0ml +2 .Intake.select :open + "sampler") +210 "collection"'8% +4 "core" % z +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.75ml/s + "sampler")#.x0X % +3 "core" %  +2 "sampler")=% +4 "core" % B +21 "collection"'@% +3 "core" %  +2 "sampler")?% +3 "core" % B +25 "collection"'B% +3 "core" %  +2 "sampler")C% +4 "core" % B +27 "collection"'D% +4 "core" % y +42 "sampler")A% +5 "core" %\ \  B +3 "collection"'7% +4 "core" %  +2 "sampler")G% +4 "core" %\ \  B +36 "collection"'F% +3 "core" % y +2 "sampler")H% +4 "core" %\ /\ 0 B +41 "collection"'% +4 "core" % } +2 "sampler")J% +4 "core" %\ P\ L B +47 "collection"'K% +3 "core" % } +2 "sampler")8% +3 "core" %\ k\ j B +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )E% +3 "core" %\ p\ m B +2 ."WCR"SSV.dial :exhaust +2 "sampler")P  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")N' +259 "Can" l S +652 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'S @ + "sampler")L  +5 "core" ? +68  +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open +2 "sampler") +210 "collection"'R% +3 "core" % x +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X  +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'o  +83 "core"  +2 "collection"'% +3 "core" % V   +3 ."WCR"CSV.dial between air and CTV +2 "collection"'u ` +54 "core" _ +3 ."WCR"CS.seek 7.282ml + "collection"''j +643 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'Q  + '  +35 "core"  +92  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +4 ."WCR"CS.seek 0ml + "collection"'' +1443 "core" ']   +3 ."WCR"delay 5:00 +30003 .CBV.dial :waste2b + "collection"'  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"' ' +494 "core" ' +2 ."WCR"delay 1:00 +1850 "Can" G KS +4153 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'\  +122 "core" +2 "collection"'& +3 "core" &V_  G +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&y% +4 "core" %\ y  +2 "storage"(% +4 "core" %T +2 "storage"(. +3 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 + "storage"(~(S +334 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (w& +4 "core" &U r n +3 "manipulator"&& +4 "core" &* " A` +2 "manipulator"&% +3 "core" %\ #  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"& (. +152 "core" ( +2 "manipulator"&& +3 "core" &4 7  +3 "storage"( & +3 "core" &W +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&'ѷ +85 "core" ' +45 "storage"(& +4 "core" &W  +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('i +268 "core" ' + "storage"(- +3 "core" -'i +3 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."WCR"SE.seek :place +2 "storage"('y +47 "core" ' +2 "manipulator"&k& +4 "core" &4 V  +2 "manipulator"&% +4 "core" %ѵ  Z +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +3 "core" &&  p >N +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" && >N +2 ."WCR"Forearm.seek CC +2 "manipulator"&'" +96 "core" ' + ."WCR"Hand.close +2 "manipulator"&/ +55 "core" / +3 ."WCR"CC.seek :open +2 "collection"'&( +414 "core" ( +2 "storage"()& +3 "core" &W J +2 "storage"(*& +4 "core" &W w +2 "manipulator"&.& +4 "core" && / >N +2 "manipulator"&/% +4 "core" % Y +3 ."WCR"Forearm.seek :retract + "manipulator"&%'\ +99 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&+(. +157 "core" ( + "manipulator"&2& +4 "core" &, '  +2 "storage"(3& +4 "core" &W i +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."WCR"Forearm.seek 1 + "manipulator"& ' +100 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&", +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open +2 "manipulator"&,1 +53 "core" 1 +2 "manipulator"&6% +3 "core" %  i  +2 "storage"(r& +5 "core" &W [ + ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 320 counts + "manipulator"&:'; +20 "core" ' + "manipulator"&;& +4 "core" &, e  +3 "storage"(4& +3 "core" &W g +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&1'ѷ +16 "core" ' +2 "storage"(% +3 "core" %  +3 ."downElevator"SE.seek :down +3 "storage"(('X +100 (>% +3 "core" %&V  PH +2 "manipulator"&=% +3 "core" %ѷ . +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&@'\ +85 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +5 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'?& +3 "core" &   +3 "manipulator"&B& +3 "core" &,  +39 "manipulator"&C% +10 "core" %\  g  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&D(, +181 "core" ( + "manipulator"&A& +5 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &,  +3 .tForearm.seek :garage + "manipulator"&G'Ϧ +106 "core" ' + .tHand.close + "manipulator"&F/ +62 "core" / + "manipulator"&H& +4 "core" &,  Z  +2 "manipulator"&<% +4 "core" % ϩ k +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&J( +281 "core" ( +2 "manipulator"&K& +3 "core" &% l =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &% K =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +106 "core" ' + "manipulator"&P& +5 "core" &%  N =F +2 "manipulator"&0% +3 "core" % e +2 "collection"'S& +4 "core" &   +3 "collection"'L& +5 "core" &   +2 .tCC.seek :closed + "collection"'R(V +5 "core" &   +7 &G  $f +10 &^  7 +9 &0  G +9 &e  F +10 &h  F +9 &xc  F +9 &:j  F +10 &h  F +9 &g  G +10 &f  G +9 & Ag  G +9 &"f  F +10 &#e  F +9 &%d  G +9 &'Jg  F +10 &) d  F +9 &*i  F +10 &,h  F +9 &.Qg  G +9 &0f  F +10 &1d  F +9 &3d  F +9 &5Zh  F +10 &7g  G +9 &8e  F +10 &:d  F +9 &$i  F +10 &?j  F +9 &Ag  G +9 &Cig  G +10 &E,m  F +9 &Fp  G +10 &Hx  H +9 &Jc  L +9 &L  P +10 &M  P +9 &O  Q +9 &Q[  Q +10 &S  R +9 &T  R +10 &V?Z  )} +9 &V!  E +9 ( +2 "collection"'L& +3 "core" &VL  A +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + "collection"'N& +3 "core" &VL  A +3 .tHand.open + "manipulator"&W1 +55 "core" 1 + "manipulator"&V% +4 "core" %  Q +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'Z& +4 "core" &VL  A +2 "collection"'[% +3 "core" %  +3 .tCSV.dial CSR + "collection"'X  +47 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"']'q +1331 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'I% +3 "core" %q   +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'^': +589 "core" ' + .tCSV.dial :waste +2 "collection"'\\ +153 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'`' +1951 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'_& +5 "core" &VL  A + "collection"'a% +4 "core" % \  +2 .tCSV.dial :flush + "collection"'c  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'b'q +1098 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'e @ +49 "core" B +2 "collection"'M% +42 "core" %q   +9 .tCS.seek 6.999ml +2 "collection"'T' +499 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'g  + 'h  +48 "core"  +80  + .tCBV.dial :waste2b +2 "collection"'j  +4 "core"  +3 .tCS.seek 0ml + "collection"'-' +1496 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'9& +4 "core" &VL  A +2 "collection"'U% +4 "core" %  +2 .tCSV.dial CSR + "collection"'m  +48 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'l' +1708 "core" ' + .tdelay 5 seconds +503 .CSR.select :air + "collection"' +10 .tCS.seek 10ml +2 "collection"'d' V +489 "core" ' +3 ."connect"CSV.dial CBV +2 "collection"'5 +2 .tCBV.dial CSV +3 "collection"'f  +45 "core"  +75 + .tCTV.dial :intake +2 "collection"'s  +69 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'t'^ +1701 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'i  +69 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'x' +580 "core" ' +2 .tCSV.dial CSR +2 "collection"'q  +93 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'p'q +1337 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'v' V +1339 "core" ' + .tCSV.dial CBV +2 "collection"'n +119 "core" +2 .tCS.seek 0ml + "collection"'{' +2584 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&|& +4 "core" &% =E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &% ` =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &% =E +3 .tForearm.seek CC + "manipulator"&o'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'u( +416 "core" ( + "manipulator"&& +4 "core" && 8 =E +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +289 "core" ( + "manipulator"&& +4 "core" &, @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, { @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&\ 'Ϧ +106 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&y% +3 "core" % ϰ  4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +143 "core" ' +4 #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 09:04:38 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@09:23:54, 39% flow, 21.7C, 44% humidity, 14.6psia, 14.887V, 0.381A, 0.294Ah, 5.67W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +395 #"uploadLog"upsync +8 #mEXIT @1734445738.13EST @1734446009.55EST = =tMAIN =mMAIN_scheduler @EST1734446010.26 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@24459 sendCRC with ifg=0x20, ie=0x7F + #@26294 sendCRC with ifg=0x08, ie=0x5F + #@31265 idle with ifg=0x84, ie=0x75 + #@31943 select with ifg=0x10, ie=0xF5 + #@32592 receive with ifg=0x10, ie=0xFD #@33241 receive with ifg=0x10, ie=0xFD + #@33889 receive with ifg=0x10, ie=0xFD #@34216 receive with ifg=0x80, ie=0xFD + #@211 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +373 "Can" 2a+ +  2a+ + #tPolling Can every 10:00 +2 #Cleanly exited at 09:28:58EST17-Dec-24 +39577 #-> access 1 +155 "sampler") +2 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %F +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ y\ u b +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(% +3 "core" %V L +2 "manipulator"&% +4 "core" %\   ) +2 "manipulator"&& +4 "core" &, d @ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +35 "storage"((K +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &K  +1540 #t-> access 3 + "storage"( % +4 "core" %W R +2 "manipulator"&!% +3 "core" %\  ) +2 "manipulator"&"& +4 "core" &, d @ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(#([ +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" &[ j  +2345 #t-> require 'shuffle.rb' +1011 #-> 10.times{shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'%& +34 "core" &  +2 .tHand.open + "manipulator"&&1 +20 "core" 1 +2 "manipulator"&'% +3 "core" %\  _ ) +2 "storage"((% +4 "core" %Y  +2 "storage"(). +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(*( +1601 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" &  +2 "manipulator"&,& +3 "core" &, ] @ +2 "manipulator"&-% +4 "core" %\  P ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.( +180 "core" ( +2 "manipulator"&/& +3 "core" & B !s +2 "storage"(0& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +104 "core" ' + "storage"(2& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +279 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (5& +3 "core" &  +2 "manipulator"&6& +3 "core" & !s +2 .tElbow.seek 2 +2 "manipulator"&7( +4 "core" ( +2 "manipulator"&8& +3 "core" & !s +2 "storage"(9& +4 "core" & y +3 .tForearm.seek 2 + 300 counts + "manipulator"&:' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(='X +8 "core" & a !s +2 "manipulator"&>% +3 "core" %  J +3 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +147 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&A& + "storage"(5 +8 "core" &%  <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" &% 3 <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'" +98 "core" ' +3 "manipulator"&D& +3 "core" &%  <: +2 "manipulator"&E% +4 "core" %* M # +2 "collection"'F& +5 "core" &  +2 "collection"'G& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'H(V +5 "core" &   +9 &8  *x +9 &l  > +10 &y  I +9 &wg  H +9 &:j  G +10 &j  G +9 &j  H +9 &k  H +10 &Am  H +9 &l  H +9 & m  H +10 &"n  H +9 &$Ih  H +10 && k  H +9 &'k  H +9 &)h  G +10 &+Pm  H +9 &-h  H +9 &.l  H +10 &0o  H +9 &2Yh  H +10 &4h  H +9 &5h  H +9 &7f  H +10 &9bh  G +9 &;"l  H +9 &<k  H +10 &>n  H +9 &@ih  H +10 &B+i  H +9 &Ck  H +9 &Es  I +10 &Gk  J +9 &I*  K +9 &J  P +10 &L  Q +9 &N]  Q +10 &P  R +9 &Q  R +9 &S  S +10 &U_  C +9 &Vp<  2 +10 &VL  ; +5 ( +2 "collection"'G& +3 "core" &V>  ; +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&I1 +54 "core" 1 +2 "manipulator"&J% +4 "core" % * ! 2 # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%L& +3 "core" &G +2 "manipulator"&M% +4 "core" %\  f  +2 "storage"(N% +44 "core" %a +2 "storage"(O. +4 "core" .( +2 "storage"(P& +3 "core" &  +2 "storage"(Q& +4 "core" & +2 "manipulator"&R& +3 "core" &% <: +2 "manipulator"&S% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&T( +157 "core" ( +2 "manipulator"&U& +4 "core" &   +2 "storage"(V& +3 "core" & > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +87 "core" ' +2 "storage"(X& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'i +282 "core" ' +2 "storage"(Z- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" & V +2 "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&^& +4 "core" &   +2 "storage"(_& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&`' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&b& +2 "storage"(c'X +7 "core" & @  +2 "manipulator"&d% +4 "core" %  D - +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&f(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&g& +4 "core" &n  i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &n ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&i' +100 "core" ' + "manipulator"&j& +4 "core" &n J  +2 "manipulator"&k% +4 "core" % N j +2 "processing"%l& +4 "core" &M +3 "processing"%m& +5 "core" &_ +2 .tPC.seek :closed +2 "processing"%n(Z +5 "core" &N  +9 &9I *x +9 &lH > +9 &yH I +10 &GkL H +9 &\ gG G +9 &i< H +10 &i9 G +9 &Oi; H +10 &n< G +9 &p? H +9 & i? G +10 &"Xh> G +9 &$j@ G +9 &%n@ H +10 &'m8 H +9 &)`i> G +10 &+"j; G +9 &,n6 H +9 &.m: G +10 &0gp: H +9 &2)n8 H +9 &3k; H +10 &5n7 H +9 &7ok8 H +10 &92i: G +9 &:j9 G +9 &<n8 H +10 &>xj; G +9 &@:m1 G +9 &Aj$ H +10 &Cl6 H +9 &E|s; I +10 &G={. I +9 &H4 L +9 &J) L +10 &Lz+ L +9 &N<, L +9 &O" M +10 &Q" M +9 &S& M +10 &UA$ M +9 &W) N +9 &X' N +10 &Z#P{' 's +9 &Z\\) . +9 ( + &Z- + +3 "processing"%m& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&o1 +63 "core" 1 +2 "manipulator"&p% +3 "core" %  j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +93 "core" ' +2 "processing"%r& +3 "core" &ZA + +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&s% +3 "core" %\  x  +3 "storage"(t% +3 "core" %X Y +2 "storage"(u. +3 "core" .( +2 "storage"(v& +3 "core" & M +2 "storage"(w& +3 "manipulator"&x& +7 "core" & A + &n  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&y(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'i +3 "core" ( +2 "manipulator"&{& +3 "core" &n H  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &n W  +3 .tForearm.seek PC + "manipulator"&}' +96 "core" ' +2 .tHand.close + "manipulator"&~/ +55 "core" / +3 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"(- +37 "core" -'i +9 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +69 "core" ' +219 ( +2 "storage"(& +3 "core" & A +2 "manipulator"&& +5 "core" &n m  + "manipulator"&% +5 "core" % ( +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +259 "core" ( + "manipulator"& & +4 "core" & A \ +2 "storage"( & +4 "core" & + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & \ O\ O ] +3 "manipulator"&& +3 "core" & . \ +2 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&& +3 "core" & \ +2 "storage"(& +4 "core" & \ O\ P | +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' + "manipulator"&& +4 "core" & M \ +2 "storage"(& +3 "core" & ) +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& ' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"("'i +24 "core" ' +2 "manipulator"&% +4 "core" % H +2 "storage"($& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&%' +20 "core" ' +2 "manipulator"&&& +3 "core" & 8 \ +2 "storage"('& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +26 "core" ' + "storage"()% +4 "core" %r 0 +3 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (+% +3 "core" %W w h QJ +2 "manipulator"&,% +3 "core" %Ѷ | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (/& +3 "core" & ~  +2 "collection"'0& +4 "core" &V=  ; +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  O  +2 "storage"(2% +4 "core" %b +2 "storage"(. +3 "core" .( +2 "storage"(4& +3 "core" & +2 "storage"(5& +4 "core" &  +2 "manipulator"&6& +3 "core" & 8 \ +3 .tElbow.seek 2 + "manipulator"&8( +3 "core" ( +2 "manipulator"&9& +9 "core" & d \ +2 "storage"(;& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +97 "core" ' + "storage"(>& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'i +279 "core" ' +2 "storage"(1- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" & w \ +2 "storage"(B& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&3' +31 "core" ' +2 .tElbow.hold + "manipulator"&:, +38 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'N +30 "core" ' + "manipulator"&F% +4 "core" %   +2 "storage"(7& +4 "core" & i  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&=' +20 "core" ' +2 "manipulator"&?& +3 "core" & \ +3 "storage"(\ & +3 "core" & z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +18 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(J'= +37 "core" ' +2 "manipulator"&L& +3 "core" &  \ +2 "manipulator"&M% +4 "core" %z Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +156 "core" ( +2 "manipulator"&O& +4 "core" &( ! ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &(  ?S +3 .tForearm.seek CC +2 "manipulator"&Q'" +101 "core" ' +2 .tHand.close + "manipulator"&R/ +54 "core" / +2 .tCC.seek :open +2 "collection"'S( +412 "core" ( +2 "storage"(C& +3 "core" &  +2 "storage"(U& +4 "core" & i +2 "manipulator"&V& +4 "core" &( N ?S +2 "manipulator"&X% +3 "core" % " +3 .tForearm.seek :retract +2 "manipulator"&@'\ +37 "Can" ?QD +62 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&K( +150 "core" ( + "manipulator"&Z& +5 "core" & A + "storage"([& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&\\' +102 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +64 "core" 1 +2 "manipulator"&a% +3 "core" %  I +2 "storage"(b& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts +2 "manipulator"&d' +20 "core" ' +2 "manipulator"&T& +3 "core" & l +2 "storage"(W& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +21 "core" ' +2 "storage"(`% +4 "core" %F   +3 ."downElevator"SE.seek :down +3 "storage"(g'X +100 (h% +3 "core" %L  PF +2 "manipulator"&]% +3 "core" %| r +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +89 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'k& +3 "core" &  +2 "manipulator"&l% +4 "core" %\    +2 "storage"(c% +3 "core" %V N +2 "storage"(e. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +2 "core" & X  +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&r( +15 "core" ( + "manipulator"&s& +5 "core" &  + "storage"(t& +4 "core" & S  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +88 "core" ' + "storage"(v& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(m'i +284 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +37 "storage"(#QK-0-\ b +11 (w& +3 "core" &   +2 "manipulator"&{& +5 "core" & d  +2 .tElbow.seek 3 +2 "manipulator"&|( +4 "core" ( +2 "manipulator"&i& +3 "core" &  +2 "storage"(~& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&q& +2 "storage"(n'X +8 "core" & V  +2 "manipulator"&% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &% 7 << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &%  << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +105 "core" ' + "manipulator"& & +4 "core" &% s << +2 "manipulator"&y% +4 "core" % y +2 "collection"'& +4 "core" &  +3 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &   +8 &6  )w +9 &j  = +10 &x  H +9 &rh  G +9 &4h  G +10 &k  G +9 &k  H +9 &zh  G +10 &=h  G +9 &j  H +10 & k  G +9 &"l  H +9 &$Cj  H +10 &&g  G +9 &'g  H +9 &)h  G +10 &+Kg  H +9 &- i  H +10 &.h  H +9 &0m  G +9 &2Tf  G +10 &4g  G +9 &5f  G +9 &7e  G +10 &9\\k  G +9 &;l  H +10 &<i  H +9 &>k  G +9 &@dk  G +10 &B&k  G +9 &Cm  H +9 &Er  H +10 &Gf|  J +9 &I$  K +10 &J  O +9 &L  Q +9 &NX  Q +10 &P  R +9 &Q  R +9 &S  S +10 &UZ  C +9 &Vo<  . +9 &Va  > +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&1 +4 "core" &VF  > +49 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &9 +2 "manipulator"&% +3 "core" %\  & , +3 "storage"(% +3 "core" %[ +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & ~  +2 "storage"(& +4 "core" &   +2 "manipulator"&$& +4 "core" &% q << +2 "manipulator"&% +4 "core" %\  [ , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&&( +151 "core" ( +2 "manipulator"&'& +3 "core" & O +2 "storage"()& +4 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' + "storage"(& +4 "core" & >  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (,& +3 "core" &   +2 "manipulator"&& +3 "core" & ; +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"( & +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&// +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"('X +8 "core" &  + "manipulator"&2% +5 "core" % ϊ +  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&"& +39 "core" &m    +10 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&6' +103 "core" ' +2 "manipulator"&9& +4 "core" &n A  +2 "manipulator"&;% +4 "core" %  f +2 "processing"%(& +4 "core" &N +3 "processing"%>& +5 "core" &N +2 .tPC.seek :closed +2 "processing"%#(Z +5 "core" &: +7 &>9 #b +9 &Z< 6 +9 &: H +10 &j? G +9 &m7 H +10 &Tk6 H +9 &j= H +9 &j? G +10 &h: G +9 &^h8 G +9 & n: G +10 &!k; H +9 &#m7 G +9 &%dl5 H +10 &'&k9 H +9 &(j: H +10 &*j: H +9 &,mj; G +9 &./h3 G +10 &/g5 G +9 &1g) G +10 &3ug4 G +9 &57l/ G +9 &6k+ G +10 &8j' H +9 &:~j. G +9 &g( G +9 &?j" H +9 &Aj" H +10 &CFn" H +9 &Er" H +10 &Fz" I +9 &H# K +9 &JA% L +10 &L" M +9 &M& L +9 &O- L +10 &QH, M +9 &S\ 7 M +10 &T. M +9 &V. N +9 &XM, N +10 &Ywz, "k +9 &Z,}, 1 +9 ( + &Z, " +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&!1 +57 "core" 1 +2 "manipulator"&-% +3 "core" %  f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +96 "core" ' + "processing"%A& +4 "core" &Z" " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&B% +3 "core" %\   % +2 "storage"(D% +4 "core" %T  +2 "storage"(F. +3 "core" .( +2 "storage"(7& +3 "core" &   +3 "storage"(?& +2 "manipulator"&\ & +6 "core" &  +2 &n   +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(L'i +2 "manipulator"&M(s +6 "core" ( +2 "manipulator"&<& +3 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +3 "core" &n <  +2 .tForearm.seek PC +2 "manipulator"&.' +97 "core" ' +2 .tHand.close + "manipulator"&3/ +60 "core" / +2 .tPC.seek :open + "processing"%=( +82 "core" ' + "storage"(E- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'y +34 "core" ' +305 ( +2 "storage"(P& +5 "core" &  +2 "manipulator"&I& +3 "core" &n @  +2 "manipulator"&:% +5 "core" % D +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N( +262 "core" ( + "manipulator"&H& +4 "core" & )  +2 "storage"(C& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +88 "core" ' + .tHand.open +2 "manipulator"&V1 +61 "core" 1 +2 "storage"(X- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(G& +3 "core" &\ \ :  +2 "manipulator"&_& +4 "core" & h  +2 .tElbow.seek 3 +2 "manipulator"&a( +9 "core" ( +2 "manipulator"&b& +3 "core" &  +2 "storage"(T& +4 "core" &\ G\ E ?  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(`' +60 "core" ' +2 "manipulator"&@& +3 "core" & W  +2 "storage"(h& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +39 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&]'} +20 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\\'i +24 "core" ' + "manipulator"&d% +4 "core" %z p +2 "storage"(k& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&l'Ϧ +21 "core" ' + "manipulator"&c& +4 "core" & N  +2 "storage"(e& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +33 "core" ' +2 "storage"(Y% +3 "core" %q   +3 ."downElevator"SE.seek :down +4 "storage"(g'X +98 (*% +4 "core" %1T i s J PH +2 "manipulator"&o% +5 "core" %4 ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +2 "core" & Z  +3 "collection"'t& +3 "core" &VD  > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&v% +4 "core" %\ ! 1 +2 "storage"(^% +3 "core" %S +2 "storage"(j. +4 "core" .( + "storage"(x& +5 "core" & O  + "storage"(w& +4 "core" &   +2 "manipulator"&{& +4 "core" & 5  +2 .tElbow.seek 3 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&~& +3 "core" &   +2 "storage"(f& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +96 "core" ' +2 "storage"(& +3 "core" & O  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +284 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & T  +2 "storage"(}& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'} +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'P +31 "core" ' +2 "manipulator"&|% +3 "core" %΃  +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&n'ϯ +20 "core" ' + "manipulator"&& +4 "core" & -  +2 "storage"(S& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +45 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +4 "core" %% U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&& +3 "core" &# :0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# M :0 +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&$/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +2 "storage"( & +4 "core" & >  +2 "storage"('& +3 "core" &  +2 "manipulator"&)& +3 "core" &# f :+ +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +197 "core" ( +9 "manipulator"&+& +3 "core" &  +2 "storage"(,& +4 "core" & !  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +3 "manipulator"&/% +4 "core" % ΋ a +2 "storage"(0& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&2'Ϸ +20 "core" ' + "manipulator"&&& +5 "core" & I  +2 "storage"( & +3 "core" & \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +26 "core" ' + "storage"(%% +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"("'X +99 (5% +3 "core" %0Q  PG +2 "manipulator"&% +4 "core" %t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"';& +3 "core" &  +2 "manipulator"&(% +3 "core" %\   +2 "storage"(% +4 "core" %b  +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &  +2 "manipulator"&-& +3 "core" & C  +3 .tElbow.seek 2 + "manipulator"&A( +26 "core" ( + "manipulator"&B& +4 "core" & ( > +2 "storage"(D& +4 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +87 "core" ' +2 "storage"(7& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +280 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & +2 "manipulator"&<& +3 "core" & > +2 .tElbow.seek 2 +2 "manipulator"&8( +4 "core" ( + "manipulator"&6& +4 "core" & R > +2 "storage"(3& +3 "core" & > +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(#'X +7 "core" & > +2 "manipulator"&L% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&:& +3 "core" &% 4 <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &% " <: +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'" +94 "core" ' +2 "manipulator"&C& +4 "core" &% # @ <: +2 "manipulator"&M% +4 "core" % h +2 "collection"'V& +4 "core" &  +3 "collection"'X& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'Q(V +5 "core" &  +6 &  8 +10 &SL  0 +9 &|  D +9 &Pg  G +10 &i  G +9 &f  G +9 &h  G +10 &Xk  G +9 &j  G +10 &h  G +9 &g  G +9 &!_j  G +10 &#"g  G +9 &$k  H +9 &&h  G +10 &(hj  G +9 &**h  G +9 &+h  G +10 &-d  G +9 &/oi  G +10 &11j  G +9 &2h  G +9 &4e  G +10 &6wg  G +9 &8:e  G +10 &9h  G +9 &;k  G +9 &=~i  H +10 &?Ag  G +42 &Ai  G +9 &Bh  G + &Dk  G + &FFr  H + &H  J +3 &I  L +8 &Kt  Q +12 &M5  Q +7 &N  P +9 &P  Q +10 &Rx  R +9 &T:  R +10 &Us  B +9 &V  'p +9 &V  N +6 ( + "collection"'X& +4 "core" &Vs  N +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 + .Hand.open +2 "manipulator"&G1 +54 "core" 1 + "manipulator"&_% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +4 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%T& +3 "core" &Q +2 "manipulator"&R% +5 "core" %\    + "storage"(@% +4 "core" %b k k b +2 "storage"(h. +3 "core" .( +2 "storage"(O& +4 "core" & u y 4 +2 "storage"(Z& +3 "core" & x o @ +2 "manipulator"&d& +5 "core" &% f <: + "manipulator"&k% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&c( +161 "core" ( +2 "manipulator"&e& +3 "core" & 3  +2 "storage"(N& +5 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +93 "core" ' +2 "storage"(Y& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(['i +285 "core" ' +2 "storage"(*- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" & l  +2 "manipulator"&W& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&a( +3 "core" ( +2 "manipulator"&`& +4 "core" & N  +2 "storage"(]& +4 "core" & Y +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(v'X +8 "core" & 3  +2 "manipulator"&^% +3 "core" % 6 D +3 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&\\(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&x& +4 "core" &i   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{' +103 "core" ' +2 "manipulator"&~& +3 "core" &j  +3 "manipulator"&f% +3 "core" %  ] +2 "processing"%J& +5 "core" &? +2 "processing"%& +4 "core" &H +3 .tPC.seek :closed + "processing"%g(Z +4 "core" &5  +9 &67 )v +10 &j9 = +9 &{7 H +9 &kd4 G +10 &-j? G +9 &i@ G +9 &h: G +10 &se6 G +9 &4j5 G +10 &j: H +9 & h7 G +9 &"ze8 G +10 &$=e7 G +9 &%k6 G +9 &'k7 H +10 &)i6 G +9 &+Dk6 G +10 &-h8 G +9 &.e: G +9 &0j7 H +10 &2Lh7 G +9 &4j= G +9 &5j@ H +10 &7i@ G +9 &9Sj8 H +10 &;g3 G +9 &<e5 G +9 &>h4 G +10 &@\\l5 G +9 &Bj6 H +9 &Cn6 G +10 &Ep5 H +9 &G]}4 J +10 &I8 K +9 &J1 M +9 &L5 M +10 &N^5 L +9 &P1 M +9 &Q0 M +10 &S M +9 &Uc( M +10 &W%" M +9 &X# N +9 &Z8Dc" %m +10 &Z 0$ ! +5 ( +2 "processing"%& +4 "core" &Z" ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&K1 +53 "core" 1 +2 "manipulator"&p% +4 "core" %  9 ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +98 "core" ' +2 "processing"%& +3 "core" &Z, ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&}% +3 "core" %\ # @ 9 +3 "storage"( % +3 "core" %b a n ` +2 "storage"(|. +3 "core" .( +2 "storage"(& +3 "core" & j y  +2 "storage"(& +3 "manipulator"&S& +5 "core" & b f c +3 &j > +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +41 "manipulator"&$&.,(\ #b +14 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s +2 "storage"('i +7 "core" ( + "manipulator"&q& +4 "core" &j 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &j A +3 .tForearm.seek PC + "manipulator"&r' +97 "core" ' +2 .tHand.close +2 "manipulator"&m/ +59 "core" / +2 .tPC.seek :open +2 "processing"%n( +80 "core" ' + "storage"(y- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +299 ( + "storage"(& +4 "core" & p ^ +2 "manipulator"&& +4 "core" &j R +2 "manipulator"&% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&$'\ +96 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +246 "core" ( +2 "manipulator"&& +4 "core" & F +2 "storage"( & +3 "core" & a a # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +87 "core" ' +2 .tHand.open + "manipulator"&)1 +64 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(& +5 "core" & \ @\ A V + "manipulator"& & +5 "core" & + .tElbow.seek 2 +2 "manipulator"&/( +9 "core" ( + "manipulator"&0& +4 "core" & b  +2 "storage"(&& +4 "core" & \ N\ O ? +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +54 "core" ' + "manipulator"&z& +5 "core" &   + "storage"(5& +4 "core" & b +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&2% +4 "core" % V +2 "storage"(;& +4 "core" & c b * +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&(' +19 "core" ' + "manipulator"&& +5 "core" & u  + "storage"(& +4 "core" & P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +18 "core" ' +2 "storage"(% +3 "core" %s N +3 ."downElevator"SE.seek :down +4 "storage"("'X +98 ( % +3 "core" %W p r 8 PH +2 "manipulator"&!% +4 "core" %} o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +3 "core" & i +2 "collection"'D& +4 "core" &Vs  N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&7% +3 "core" %\ # . ; +2 "storage"(% +4 "core" %O  +2 "storage"(9. +3 "core" .( +2 "storage"(\ & +4 "core" &  +2 "storage"(>& +3 "core" &  +2 "manipulator"&<& +4 "core" & b  +2 .tElbow.seek 2 +2 "manipulator"&6( +5 "core" ( + "manipulator"&3& +4 "core" & ,  +2 "storage"(4& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&1'ќ +130 "core" ' +9 "storage"(L& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(A'i +290 "core" ' +3 "storage"(F- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +3 "core" & .  +2 "storage"(.& +4 "core" & S +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&?' +27 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'N +27 "core" ' +2 "manipulator"&V% +3 "core" %  F +2 "storage"(8& +3 "core" & y y , +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&#' +19 "core" ' +2 "manipulator"&P& +3 "core" & o  +2 "storage"(& +4 "core" & j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(_'= +38 "core" ' +2 "manipulator"&T& +3 "core" & 3  +2 "manipulator"&R% +5 "core" %k d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +152 "core" ( +2 "manipulator"&O& +3 "core" &(  > ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &( p ?P +2 .tForearm.seek CC +2 "manipulator"&X'" +93 "core" ' +2 .tHand.close + "manipulator"&d/ +60 "core" / +2 .tCC.seek :open +2 "collection"'k( +415 "core" ( +3 "storage"(H& +3 "core" &  +3 "storage"(e& +3 "core" &  +2 "manipulator"&N& +3 "core" &( ?P +2 "manipulator"&Y% +4 "core" % ) Z +2 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&b( +157 "core" ( +2 "manipulator"&*& +3 "core" & >  +2 "storage"(o& +4 "core" & J +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&W' +100 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +54 "core" 1 +2 "manipulator"&s% +4 "core" % 2 o +2 "storage"(t& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&^' +16 "core" ' + "manipulator"&c& +4 "core" & z  +2 "storage"(U& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +37 "core" ' + "storage"(l% +4 "core" %G   +3 ."downElevator"SE.seek :down +3 "storage"(x'X +99 (w% +3 "core" %L  OE +2 "manipulator"&a% +4 "core" %ё o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'f& +3 "core" &  +2 "manipulator"&J% +5 "core" %\ " d < +2 "storage"(v% +4 "core" %b | +2 "storage"(j. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(=( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" & | 4 +2 "manipulator"&p& +42 "core" & 7  +10 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&}& +4 "core" & $ w +2 "storage"( & +4 "core" & a  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +88 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&q& +4 "core" & w +3 .tElbow.seek 3 +2 "manipulator"&i( +4 "core" ( + "manipulator"&{& +4 "core" & l w +2 "storage"(m& +4 "core" & 6  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&y'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(g'X +8 "core" & m w +2 "manipulator"&% +3 "core" % ϧ m / +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &( 6 N ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &( i ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +3 "manipulator"& & +3 "core" &(  { ?T +2 "manipulator"&% +4 "core" % I +2 "collection"')& +5 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"',(V +5 "core" &  +6 &:  #c +9 &[  6 +9 &  H +10 &d  F +9 &j  G +10 &Zg  G +9 &h  G +9 &h  G +10 &g  G +9 &be  G +9 & #g  G +10 &!h  G +9 &#i  G +10 &%ih  G +9 &'+g  G +9 &(g  G +10 &*g  G +9 &,tg  F +9 &.4g  G +10 &/g  G +9 &1i  G +10 &3{g  G +9 &5<j  G +9 &6g  G +10 &8e  F +9 &:h  G +9 &g  G +9 &?h  G +10 &Ag  G +9 &CLk  G +9 &E l  H +10 &Fs  H +9 &H  I +9 &JA  N +10 &K  P +9 &M  P +10 &O}  Q +9 &Q?  Q +9 &R  R +10 &T  R +9 &V4h  / +9 &V  \\ +9 ( +2 &Vs  H +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +3 "manipulator"& % +4 "core" %  ~ I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%&& +5 "core" &@ + "manipulator"&$% +4 "core" %\ ! @ / +2 "storage"(z% +3 "core" %V o k ! +2 "storage"(5. +3 "core" .( +2 "storage"(2& +4 "core" & o l   +2 "storage"(& +4 "core" & l l  +2 "manipulator"&;& +3 "core" &(  ?T +2 "manipulator"&% +4 "core" %\ ! - / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" &  _ +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +87 "core" ' +2 "storage"('& +3 "core" & h  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +281 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &  +2 "manipulator"& & +4 "core" & _ +2 .tElbow.seek 3 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&%& +3 "core" & A _ +3 "storage"(& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +41 "manipulator"&('ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(7'X +7 "core" & + _ +2 "manipulator"&% +4 "core" % ϳ / +3 .tForearm.seek :retract +2 "manipulator"&9'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&& +3 "core" &n  0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &n . 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +108 "core" ' +2 "manipulator"&3& +4 "core" &n ; 0 +2 "manipulator"&4% +4 "core" % < @ +2 "processing"%& +4 "core" &N +3 "processing"%L& +5 "core" &] +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &G  +9 &7K )v +9 &jM = +10 &w< G +9 &kgK G +9 &.eA G +10 &hG G +9 &g; G +10 &shC G +9 &5kB G +9 &h: G +10 & j5 G +9 &"{h7 G +9 &$>i@ G +10 &%h: G +9 &'j; H +10 &)i@ G +9 &+Fj? G +9 &-h7 G +10 &.h9 H +9 &0iB G +9 &2Lh7 H +10 &4h> G +9 &5i? G +10 &7i? H +9 &9Vi@ G +9 &;g9 G +10 &<h< H +9 &>g5 G +9 &@]i3 G +10 &Bi7 H +9 &Cl< H +10 &Ep4 H +9 &G_}3 J +9 &I? L +10 &J= M +9 &L: M +9 &N_> L +10 &P!6 L +9 &Q3 L +9 &S4 M +10 &Ud6 M +9 &W&? M +10 &X0 M +9 &Z8Dc6 %k +9 &Z .' " +6 ( + "processing"%L& +4 "core" &Z0 " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&-% +4 "core" %  2 @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 "processing"%:& +3 "core" &Z3 " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&.% +3 "core" %\  V  +3 "storage"(C% +3 "core" %a a a +2 "storage"(V. +3 "core" .( +2 "storage"(8& +4 "core" & n a <  +2 "storage"(P& +3 "manipulator"&& +8 "core" & a b X  + &n < 0 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&T(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(R'i +3 "core" ( +2 "manipulator"&1& +3 "core" &n k 0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &n 0 +2 .tForearm.seek PC +2 "manipulator"&A' +97 "core" ' +2 .tHand.close +2 "manipulator"&?/ +59 "core" / +3 .tPC.seek :open +2 "processing"%#( +80 "core" ' +2 "storage"(M- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'y +44 "core" ' +299 ( + "storage"(Z& +4 "core" & g k U  +2 "manipulator"&G& +3 "core" &n  0 +2 "manipulator"&E% +4 "core" % I +3 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@( +259 "core" ( +2 "manipulator"&Q& +3 "core" & O +2 "storage"(H& +3 "core" & b a  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +97 "core" ' +2 .tHand.open + "manipulator"&N1 +64 "core" 1 +2 "storage"(Y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +22 "core" ' +41 .tSE.reconfigure :seal +11 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(o' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(X- +2 "core" -' +3 "storage"(h& +3 "core" &\ A\ @ O  +2 "manipulator"&]& +5 "core" & \\ +2 .tElbow.seek 3 + "manipulator"&s( +4 "core" ( +2 "manipulator"&t& +3 "core" & 7 +3 "storage"(c& +3 "core" &\ D\ A  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +18 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +58 "core" ' +2 "manipulator"&I& +3 "core" & K +3 "storage"(w& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&a'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +28 "core" ' + "manipulator"&^% +4 "core" %΃ T +2 "storage"(f& +4 "core" & a ` ?  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&J'ϯ +20 "core" ' +2 "manipulator"&v& +4 "core" & O +2 "storage"(j& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +26 "core" ' +2 "storage"([% +4 "core" %p +2 ."downElevator"SE.seek :down +4 "storage"(x'X +99 (% +2 "core" %^W n o PI +3 "manipulator"&K% +3 "core" %@ 6 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +3 "core" & e  +2 "collection"' & +4 "core" &Vr  H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\   +2 "storage"(`% +4 "core" %a  +2 "storage"(~. +4 "core" .( + "storage"(S& +4 "core" & B  +2 "storage"(& +3 "core" & c  +2 "manipulator"&q& +5 "core" & N +2 .tElbow.seek 3 + "manipulator"&{( +4 "core" ( +2 "manipulator"&m& +3 "core" &  +2 "storage"(\\& +4 "core" & *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +93 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +3 "storage"(|- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(r& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +29 "core" ' + "manipulator"&i% +5 "core" %΋ 3 +2 "storage"()& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts +2 "manipulator"&g'Ϸ +20 "core" ' + "manipulator"&& +4 "core" & v +2 "storage"(k& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +42 "core" ' +10 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +39 "core" ' + "manipulator"&&& +4 "core" & m +2 "manipulator"&$% +4 "core" %f ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +155 "core" ( + "manipulator"&2& +4 "core" &# U :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# :1 +3 .tForearm.seek CC + "manipulator"&'" +92 "core" ' +2 .tHand.close + "manipulator"&;/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +3 "storage"(& +3 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &#  :0 +2 "manipulator"&'% +3 "core" % .  +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0( +180 "core" ( +2 "manipulator"& & +3 "core" & f b +2 "storage"(!& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"& '} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +3 "manipulator"&B% +4 "core" % · a +2 "storage"(D& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +19 "core" ' +2 "manipulator"&& +4 "core" & 4 a +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +28 "core" ' +2 "storage"((% +3 "core" %D ) +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (>% +3 "core" %Q M PG +2 "manipulator"&/% +4 "core" %E ? | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'4& +3 "core" &  +2 "manipulator"&% +4 "core" %\    +2 "storage"(7% +3 "core" %^ +2 "storage"(9. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(n( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&-& +4 "core" & } a +2 .tElbow.seek 2 +2 "manipulator"&:( +19 "core" ( +2 "manipulator"&.& +3 "core" & 0  +2 "storage"(C& +4 "core" & l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +96 "core" ' + "storage"(8& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &  +2 "manipulator"&1& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&6( +18 "core" ( +2 "manipulator"&<& +45 "core" & [  +7 "storage"(?& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +3 "storage"("'X +7 "core" &  +2 "manipulator"&R% +4 "core" %  z B +3 .tForearm.seek :retract + "manipulator"&Z'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&E& +3 "core" &  X 8" +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" & t 8" +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Q'" +100 "core" ' +3 "manipulator"&H& +3 "core" &!  8" +3 "manipulator"&T% +3 "core" % f +2 "collection"'N& +5 "core" &  +2 "collection"'Y& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'d(V +5 "core" & \  +6 &9  #b +10 &Y  5 +9 &  G +10 &c  F +9 &h  G +9 &Qj  G +10 &g  G +9 &g  F +10 &g  G +9 &Yf  G +9 & g  F +10 &!i  G +9 &#h  F +9 &%`h  G +10 &'$g  F +9 &(f  F +9 &*h  F +10 &,ih  G +9 &.+j  G +10 &/f  G +9 &1h  F +9 &3qg  G +10 &53j  G +9 &6k  G +9 &8i  G +10 &:yk  G +9 &<;g  G +10 &=h  F +9 &?h  G +9 &Aj  G +10 &CCj  G +9 &Ek  G +9 &Fv  I +10 &H  J +9 &J8  M +10 &K  P +9 &M  Q +9 &Ot  Q +10 &Q5  Q +9 &R  R +9 &T  R +10 &V%X  9 +9 &V  )u +10 &V  O +5 ( +2 "collection"'Y& +4 "core" &V  O +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&X1 +54 "core" 1 +2 "manipulator"&h% +3 "core" % " " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%t& +3 "core" &d +2 "manipulator"&c% +3 "core" %\    +2 "storage"(I% +4 "core" %W y j ? +2 "storage"(w. +3 "core" .( +2 "storage"(O& +3 "core" & n `  +2 "storage"(^& +4 "core" & j b +2 "manipulator"&f& +3 "core" &  8" +3 "manipulator"&*% +3 "core" %\  T  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&v( +159 "core" ( +2 "manipulator"&j& +3 "core" & k  +2 "storage"([& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +98 "core" ' +2 "storage"(e& +3 "core" & R +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +275 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +3 "core" & ~ a 1 +2 "manipulator"&U& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&s( +3 "core" ( +2 "manipulator"&l& +4 "core" &   +2 "storage"(a& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"('X +7 "core" & {  +2 "manipulator"&`% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~(s +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&S& +3 "core" &n  e +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &n Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&q' +101 "core" ' + "manipulator"&m& +4 "core" &n D +2 "manipulator"&\\% +4 "core" % @ +3 "processing"%_& +3 "core" &[ +3 "processing"%& +6 "core" &[ +2 .tPC.seek :closed +2 "processing"%x(Z +5 "core" &O +6 &=O #c +9 &[O 6 +9 &M H +10 &hQ G +9 &jL G +10 &ZgL G +9 &gK H +9 &gO G +10 &iJ G +9 &ajC H +9 & $jG G +10 &!hA G +9 &#eB G +10 &%jhA G +9 &'+hI H +9 &(hE G +10 &*kC G +9 &,riB G +9 &.3jG H +10 &/gM G +9 &1gK G +10 &3ygN H +9 &5=gF G +9 &6gA G +10 &8gB H +9 &:gN G +9 &iE G +9 &?hD G +10 &AgB G +9 &CLfC G +9 &E mB H +10 &FuD I +9 &HD K +9 &JEC M +10 &LD L +9 &ME M +10 &OC M +9 &QMD M +9 &SA M +10 &TB M +9 &VB M +9 &XRD N +10 &YvxE "l +9 &Z)sB / +10 ( + &ZC " +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&b1 +54 "core" 1 +2 "manipulator"&p% +3 "core" % D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' + "processing"%& +5 "core" &Z( " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&r% +4 "core" %\    +2 "storage"( % +3 "core" %T o y 7 +2 "storage"(i. +4 "core" .( + "storage"()& +4 "core" & u o 7 +2 "storage"(& +4 "manipulator"&k& +5 "core" & m l A + &n ? +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"($'i +3 "core" ( +2 "manipulator"&u& +3 "core" &n 9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &{& +2 "core" &n % +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tPC.seek :open +3 "processing"%g( +93 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'y +47 "core" ' +280 ( + "storage"(& +7 "core" & k t e +2 "manipulator"&& +3 "core" &n +2 "manipulator"&y% +3 "core" %  + +3 .tForearm.seek :retract +2 "manipulator"&;'\ +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&z( +266 "core" ( + "manipulator"&,& +4 "core" & S +2 "storage"(& +3 "core" & b g 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"('- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" & \ A\ B +2 "manipulator"&& +4 "core" & y +2 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&D& +48 "core" & } +4 "storage"(& +5 "core" & \ B\ A +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"((' +54 "core" ' + "manipulator"&& +4 "core" & , +2 "storage"(>& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&/' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +23 "core" ' +2 "manipulator"&% +3 "core" % ' +2 "storage"(4& +4 "core" & g b | +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 307 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&7& +3 "core" & / +3 "storage"(9& +3 "core" & r [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +24 "core" ' +2 "storage"(+% +4 "core" %p +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (=% +3 "core" %IV n n QJ +2 "manipulator"&% +4 "core" %ѵ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (.& +3 "core" & r z A +2 "collection"'C& +3 "core" &V  O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&8% +3 "core" %\  O  +3 "storage"(%% +3 "core" %a  +2 "storage"(3. +3 "core" .( +2 "storage"(P& +3 "core" &  +2 "storage"(L& +4 "core" &  +2 "manipulator"&1& +4 "core" & ` +2 .tElbow.seek 2 +2 "manipulator"&<( +4 "core" ( + "manipulator"&?& +4 "core" & A +2 "storage"(\ & +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +93 "core" ' + "storage"(R& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +284 "core" ' + "storage"(V- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & +2 "storage"(A& +4 "core" & r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(T'N +30 "core" ' +2 "manipulator"&N% +3 "core" % E  +2 "storage"(6& +4 "core" & o q +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts +2 "manipulator"&"' +20 "core" ' + "manipulator"&Z& +4 "core" & +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(h'= +38 "core" ' +2 "manipulator"&t& +3 "core" & " +2 "manipulator"&c% +4 "core" %ѹ _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 .tElbow.seek CC +41 "manipulator"&w( +166 "core" ( +3 "manipulator"&O& +4 "core" &%  <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &% e <= +3 .tForearm.seek CC + "manipulator"&f'" +100 "core" ' + .tHand.close +2 "manipulator"&Y/ +61 "core" / +2 .tCC.seek :open + "collection"'*( +419 "core" ( +2 "storage"(Q& +4 "core" &  +2 "storage"(j& +4 "core" &  +2 "manipulator"&[& +3 "core" &% 4 << +2 "manipulator"&e% +5 "core" % +2 .tForearm.seek :retract + "manipulator"&G'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&]( +169 "core" ( +2 "manipulator"&& +3 "core" & s x +2 "storage"(K& +4 "core" & 4 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&U' +96 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&a1 +60 "core" 1 +2 "manipulator"&}% +5 "core" % + "storage"( & +4 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +2 "manipulator"&`' +18 "core" ' +2 "manipulator"&v& +3 "core" & K x +2 "storage"(@& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +17 "core" ' + "storage"(J% +4 "core" %C ; \ +3 ."downElevator"SE.seek :down +3 "storage"(S'X +99 (% +3 "core" %P  OD +2 "manipulator"&s% +3 "core" %і 8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'\\& +3 "core" &  +2 "manipulator"&_% +5 "core" %\ 3 + "storage"(% +4 "core" %] +2 "storage"(W. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(#( +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" & z J  +3 "manipulator"&p& +3 "core" & V x +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"&r& +4 "core" & a h +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +98 "core" ' +2 "storage"()& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(k- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&u& +3 "core" & h +2 .tElbow.seek 3 +2 "manipulator"&{( +4 "core" ( + "manipulator"&q& +4 "core" & h +2 "storage"(& +4 "core" & w  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&~/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&|& + "storage"(x'X +51 "core" & h +3 "manipulator"&$% +4 "core" % ϩ 0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +59 "core" ( + "manipulator"&y& +5 "core" &&  =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" && G =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'" +90 "core" ' +3 "manipulator"&& +4 "core" && S =E +2 "manipulator"&&% +4 "core" %, o  +2 "collection"'& +4 "core" &  +3 "collection"''& +4 "core" &  +3 .tCC.seek :closed +2 "collection"'(V +5 "core" &  +7 &A  #b +9 &[  6 +9 &\  G +10 &c  F +9 &k  G +10 &Og  G +9 &h  F +9 &g  F +10 &j  G +9 &Ye  F +9 & g  G +10 &!k  G +9 &#k  G +9 &%`j  G +10 &'!g  G +9 &(c  F +10 &*g  F +9 &,ig  F +9 &.*i  G +10 &/g  G +9 &1g  F +9 &3pd  G +10 &53d  F +9 &6g  F +10 &8c  F +13 &:yg  F +5 &<;h  F +10 &=g  F +9 &?e  G +9 &Ad  F +10 &CCg  F +9 &El  G +10 &Fu  H +9 &H  J +9 &J9  M +10 &K  P +9 &M  P +9 &Os  Q +10 &Q5  Q +9 &R  R +10 &T  R +9 &V!V  : +9 &V{  %i +10 &W-  G +9 ( + &WH  > +2 "collection"''& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&51 +58 "core" 1 +3 "manipulator"&% +3 "core" % ,  E  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%;& +4 "core" &e +2 "manipulator"&% +3 "core" %\ # P ? +3 "storage"(% +3 "core" %[ a ` A +2 "storage"(>. +4 "core" .( + "storage"(2& +4 "core" &   +2 "storage"( & +4 "core" & c i  +2 "manipulator"&& +3 "core" && k =E +2 "manipulator"&4% +4 "core" %\ #  ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7( +160 "core" ( +2 "manipulator"&9& +4 "core" & m +2 "storage"(z& +3 "core" & J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +100 "core" ' + "storage"(& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +281 "core" ' + "storage"(=- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +4 "core" & m +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&(& +4 "core" & u m +2 "storage"(/& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&C& + "storage"(8'X +7 "core" & N m +2 "manipulator"&%% +4 "core" % ϡ +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&P& +3 "core" &p  m  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &p u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&1' +103 "core" ' +2 "manipulator"&?& +3 "core" &p >  +2 "manipulator"&\ % +110 "core" % +2 "processing"% & +3 "core" &_ +3 "processing"%R& +5 "core" &b +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &P +8 &>K #c +9 &[K 6 +9 &O H +10 &dK G +9 &hP G +10 &[fH G +9 &eD G +9 &gD G +10 &hC G +9 &biD G +9 & #hD G +10 &!gE G +9 &#gC G +10 &%ihD G +9 &'-eF G +9 &(gF G +10 &*hA G +9 &,qhE G +9 &.4jI G +10 &/hE G +9 &1gB G +10 &3ygC G +9 &5;gD G +9 &6cM G +10 &8gH G +9 &:gH G +9 &gH G +9 &?gD G +10 &AcB G +9 &CJjF H +9 &E jC H +10 &FuB I +9 &HC K +9 &JED L +10 &LC M +9 &MF L +10 &OD M +9 &QLC M +9 &SB M +10 &TE M +9 &VE M +9 &XSB M +10 &YwxD "j +9 &Z,~E 1 +9 ( + &ZC " +3 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&01 +64 "core" 1 + "manipulator"&-% +4 "core" % O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +97 "core" ' + "processing"%E& +4 "core" &ZH " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&A% +3 "core" %\   , +2 "storage"(H% +4 "core" %a +2 "storage"(N. +3 "core" .( +2 "storage"(6& +3 "core" &   +3 "storage"(Z& +2 "manipulator"&& +5 "core" & h ,  +3 &p h  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(t'i + "manipulator"&c(s +7 "core" ( + "manipulator"&F& +4 "core" &p   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &p  +3 .tForearm.seek PC + "manipulator"&:' +95 "core" ' +3 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%"( +80 "core" ' + "storage"(T- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +42 "core" ' +299 ( +2 "storage"(O& +3 "core" &  +2 "manipulator"&^& +5 "core" &p   + "manipulator"&M% +4 "core" % ; * +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&I( +268 "core" ( +2 "manipulator"&d& +3 "core" & 2  +2 "storage"(Q& +4 "core" & _  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +99 "core" ' +3 .tHand.open +2 "manipulator"&[1 +55 "core" 1 +2 "storage"(e- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(K' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(w& +3 "core" &\ ;\ E >  +2 "manipulator"&a& +4 "core" & 8  +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"& & +3 "core" & i  +2 "storage"(v& +4 "core" &\ U\ 9 `  +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +14 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(J' +58 "core" ' +2 "manipulator"&G& +3 "core" & E  +2 "storage"(& +4 "core" & h  +2 .tElbow.reconfigure :limp +49 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&s'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +25 "core" ' +2 "manipulator"&\\% +3 "core" %΅ ^ +2 "storage"(`& +4 "core" & h  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&_'ϱ +21 "core" ' +2 "manipulator"&& +3 "core" & =  +2 "storage"(W& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +27 "core" ' +3 "storage"(o% +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(S'X +99 (n% +3 "core" %S k t t QI +2 "manipulator"&b% +4 "core" % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +88 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (r& +3 "core" & c  +2 "collection"' & +4 "core" &WG  > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&)% +3 "core" %\  y  +2 "storage"(l% +4 "core" %R + +2 "storage"(m. +3 "core" .( +2 "storage"(k& +4 "core" & I  +2 "storage"(& +3 "core" & *  +2 "manipulator"&u& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&q( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(~& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +94 "core" ' + "storage"($& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(y& +4 "core" & 6  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'O +27 "core" ' + "manipulator"&% +5 "core" %Έ +2 "storage"({& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&x'ϴ +21 "core" ' + "manipulator"&& +4 "core" & j  +2 "storage"(*& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('> +39 "core" ' +2 "manipulator"&;& +4 "core" & w  +2 "manipulator"&% +3 "core" %w  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&>( +153 "core" ( + "manipulator"&'& +6 "core" &% u <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &%  <9 +2 .tForearm.seek CC +2 "manipulator"& '" +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'4( +456 "core" ( +9 "storage"(,& +3 "core" &  +2 "storage"(9& +4 "core" &  +2 "manipulator"&z& +4 "core" &% <9 +2 "manipulator"&% +3 "core" % 0 \ +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&D( +161 "core" ( +2 "manipulator"&=& +3 "core" & 7 ] +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +63 "core" 1 +2 "manipulator"&.% +3 "core" % Ύ e +3 "storage"(C& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&%'Ϻ +19 "core" ' +2 "manipulator"&7& +3 "core" & d ] +2 "storage"(+& +4 "core" & z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +17 "core" ' + "storage"(% +4 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 (L% +3 "core" %@P  OE +2 "manipulator"&B% +4 "core" %# 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'8& +3 "core" &  +2 "manipulator"&\ % +4 "core" %\ " 5 > +2 "storage"( % +3 "core" %_ +2 "storage"(3. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(g( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" & {  +2 "manipulator"&-& +3 "core" & * ] +2 .tElbow.seek 2 +2 "manipulator"&E( +35 "core" ( +2 "manipulator"&A& +3 "core" &  $ +2 "storage"(H& +5 "core" & ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +103 "core" ' +2 "storage"(R& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +279 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&F& +3 "core" & 7 $ +2 .tElbow.seek 2 +2 "manipulator"&<( +4 "core" ( +3 "manipulator"&1& +3 "core" & $ +2 "storage"(& +4 "core" & | +3 .tForearm.seek 2 + 300 counts + "manipulator"&T' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"('X +8 "core" &  $ +2 "manipulator"&t% +3 "core" % \ 8 +3 .tForearm.seek :retract + "manipulator"&O'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +150 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&M& + "storage"(5 +8 "core" &( B ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +46 &:& +6 "core" &(  ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&d'" +103 "core" ' +3 "manipulator"&Q& +4 "core" &( ~ ?R +2 "manipulator"&c% +4 "core" %# p +2 "collection"'[& +4 "core" &  +3 "collection"'e& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'f(V +5 "core" &  +7 &:  #b +9 &Z  5 +10 &  G +9 &b  F +9 &j  G +10 &Uc  G +9 &e  G +9 &e  F +10 &g  G +9 &]j  G +9 & j  G +10 &!k  G +9 &#f  G +10 &%fg  F +9 &'(g  F +9 &(g  F +10 &*g  F +9 &,nf  F +9 &./d  G +10 &/c  G +9 &1e  G +10 &3ud  G +9 &58c  F +9 &6g  G +10 &8e  G +9 &:}d  G +10 &d  G +9 &?d  G +10 &Ad  G +9 &CGd  G +9 &E k  G +10 &Fs  I +9 &H  J +9 &J<  M +10 &K  P +9 &M  Q +10 &Ox  Q +9 &Q8  Q +9 &R  R +10 &T  R +9 &V#T  7 +10 &V  ,} +9 &Vm  L +2 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&w1 +59 "core" 1 +3 "manipulator"&a% +4 "core" % # 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%v& +4 "core" &d +2 "manipulator"&Y% +3 "core" %\ ! & 7 +2 "storage"(G% +4 "core" %_ q l +2 "storage"(. +3 "core" .( +2 "storage"(X& +3 "core" & l m o +2 "storage"(& +4 "core" & m q +2 "manipulator"&\\& +4 "core" &( ?R +2 "manipulator"&`% +4 "core" %\ ! 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&W& +4 "core" & 3  +2 "storage"(I& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +87 "core" ' +2 "storage"(o& +3 "core" & a +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +276 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" & +2 "manipulator"&@& +5 "core" &   +2 .tElbow.seek 2 + "manipulator"&}( +3 "core" ( +2 "manipulator"&J& +4 "core" & u  +2 "storage"(s& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"()'X +8 "core" & ^  +2 "manipulator"&l% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&m'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +3 "manipulator"&k& +3 "core" &r  o ! +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &r O ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u' +96 "core" ' +2 "manipulator"&& +3 "core" &r F ! +3 "manipulator"&~% +3 "core" % 1 +2 "processing"%h& +5 "core" &P +2 "processing"%$& +5 "core" &O +2 .tPC.seek :closed +2 "processing"%S(Z +5 "core" &R +5 &>R #c +10 &[O 6 +9 &P H +10 &dP G +9 &gR G +9 &YfP G +10 &eU G +9 &eQ G +9 &hQ G +10 &`gP G +9 & !iQ G +10 &!gQ G +49 &#hP G +5 &%fhP H +2 &'*gP G + &(gO G + &*gP G + &,ogP G +6 &.0hH H +10 &/fK G +9 &1fG G +9 &3xgH G +10 &5:gC G +9 &6eD G +9 &8fJ G +10 &:fL G +9 &eG G +9 &?fD G +9 &AgH G +10 &CHjJ H +9 &E\ nO H +9 &FtJ I +10 &HD J +9 &JBM M +10 &LK M +9 &MN L +9 &OK M +10 &QJI M +9 &S D M +10 &TF M +9 &VJ M +9 &XOJ N +10 &YwxE "k +9 &Z+xE 0 +9 ( +3 "processing"%$& +2 "core" &ZI " +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&]1 +63 "core" 1 + "manipulator"&p% +4 "core" % k 1 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +95 "core" ' +2 "processing"%& +3 "core" &ZD " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&y% +4 "core" %\ " ; +2 "storage"(% +4 "core" %S a a +2 "storage"(. +3 "core" .( +2 "storage"({& +3 "core" & a a +3 "storage"(& +2 "manipulator"&*& +6 "core" & d l Z +2 &r H ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&;(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( +3 "manipulator"&|& +3 "core" &r  ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &r ! +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%x( +79 "core" ' + "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +36 "core" ' +304 ( +2 "storage"(2& +3 "core" & Q +2 "manipulator"&5& +4 "core" &r ! +2 "manipulator"&% +3 "core" %  }  +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +262 "core" ( + "manipulator"&& +4 "core" & = +2 "storage"(,& +4 "core" & u X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +100 "core" ' +2 .tHand.open + "manipulator"&z1 +55 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(='E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(>& +3 "core" & \ L\ @ $ +2 "manipulator"&/& +5 "core" & > + .tElbow.seek 2 +2 "manipulator"&.( +4 "core" ( +2 "manipulator"&C& +3 "core" & +2 "storage"(7& +5 "core" & \ G\ D +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"&& +5 "core" & r + "storage"(L& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&B' +21 "core" ' +2 .tElbow.hold + "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +69 "core" ' +2 "manipulator"&8% +4 "core" % + +2 "storage"(%& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&\ ' +21 "core" ' +2 "manipulator"& & +3 "core" & +3 "storage"(3& +3 "core" & U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +32 "core" ' +2 "storage"(!% +4 "core" %q +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 (#% +3 "core" %OV r y 4 QH +2 "manipulator"&0% +4 "core" %z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (A& +3 "core" & G +2 "collection"'H& +4 "core" &Vk  L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&R% +3 "core" %\ # 9 +2 "storage"((% +3 "core" %a +2 "storage"(?. +4 "core" .( + "storage"(Z& +4 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&F& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&1( +4 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"( & +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +93 "core" ' +2 "storage"(t& +3 "core" & 9 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'i +283 "core" ' +3 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & +2 "storage"(6& +4 "core" & 8 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&T' +22 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Q'N +28 "core" ' + "manipulator"&c% +4 "core" % ` +2 "storage"([& +3 "core" & b m z +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&O& +4 "core" & [ +2 "storage"(4& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(a'= +37 "core" ' +2 "manipulator"&v& +4 "core" & j +2 "manipulator"&Y% +3 "core" %я U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( +3 "manipulator"&e& +3 "core" &* * @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &* | @Y +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&\\/ +56 "core" / +2 .tCC.seek :open +2 "collection"'`( +415 "core" ( +2 "storage"(d& +4 "core" &  +2 "storage"(W& +3 "core" &  +2 "manipulator"&I& +4 "core" &* @Y +2 "manipulator"&o% +3 "core" % % | +3 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 .tElbow.seek 2 +3 "manipulator"& ( +156 "core" ( +2 "manipulator"&n& +3 "core" &  +2 "storage"(b& +4 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&@' +104 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&s1 +57 "core" 1 +3 "manipulator"&r% +4 "core" % y U +2 "storage"( & +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&l' +16 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(j& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +34 "core" ' +2 "storage"(_% +3 "core" %G :  +3 ."downElevator"SE.seek :down +4 "storage"(k'X +98 (% +3 "core" %L  PF +2 "manipulator"&}% +5 "core" %ј +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'~& +3 "core" &  +2 "manipulator"&h% +3 "core" %\ L 8 +2 "storage"()% +4 "core" %` g +2 "storage"(m. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"("( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (]& +3 "core" & 9  +2 "manipulator"&p& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +16 "core" ( +2 "manipulator"&y& +3 "core" & g e +2 "storage"(& +4 "core" & a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +88 "core" ' + "storage"($& +5 "core" & -  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +279 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&|& +4 "core" & z e +2 .tElbow.seek 3 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&u& +3 "core" & v e +2 "storage"(& +4 "core" & V  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&&'ϩ +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&U/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(S'X +8 "core" & e +2 "manipulator"&% +3 "core" % ϟ +3 .tForearm.seek :retract +2 "manipulator"&2'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +5 "core" &# 6 > ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$ ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' +2 "manipulator"&,& +3 "core" &$  ;4 +3 "manipulator"&;% +4 "core" % 3  +2 "collection"'z& +3 "core" &  +3 "collection"'& +5 "core" &  +54 .tCC.seek :closed +2 "collection"' (V +3 "core" &  + &  + &  + &  + &  + &  +2 &  8 +6 &KL  0 +10 &{  D +9 &Gg  G +10 & g  G +9 &e  F +9 &f  F +10 &Oe  G +9 &e  F +9 &f  F +10 &j  G +9 &!Xe  F +10 &#g  G +9 &$k  G +9 &&i  F +10 &(_i  G +9 &* g  G +9 &+c  G +10 &-h  F +9 &/gi  G +10 &1)j  G +9 &2g  G +9 &4c  F +10 &6pe  F +9 &82i  F +9 &9c  F +10 &;g  F +9 &=xd  F +9 &?:f  F +10 &@j  G +9 &Bh  G +10 &Df  G +9 &F>n  H +9 &G~  H +10 &I  K +9 &Kl  P +9 &M+  Q +10 &N  P +9 &P  Q +10 &Rn  R +9 &T/  R +9 &Uz  : +10 &V4  !d +9 &VY  @ +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&>1 +62 "core" 1 +3 "manipulator"&/% +4 "core" %  ! z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%7& +3 "core" &Q +2 "manipulator"&% +4 "core" %\ #  9 +2 "storage"(% +4 "core" %S a a 7 +2 "storage"(L. +2 "core" .( +2 "storage"('& +4 "core" & g b  +2 "storage"(=& +4 "core" & a b   +2 "manipulator"&8& +4 "core" &$  ;3 +2 "manipulator"&%% +3 "core" %\ # q 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +154 "core" ( +2 "manipulator"&3& +3 "core" & |  +2 "storage"(& +4 "core" & h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +99 "core" ' + "storage"(!& +4 "core" & .  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +3 "core" &  +2 "manipulator"&0& +3 "core" & M  +2 .tElbow.seek 3 +2 "manipulator"&.( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(B& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(R'X +8 "core" & Q  + "manipulator"&(% +4 "core" % Ϯ H +2 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( + "manipulator"&Z& +4 "core" &u + b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +96 "core" ' +2 "manipulator"&& +3 "core" &u O +2 "manipulator"& % +5 "core" % 0  + "processing"%& +4 "core" &b +3 "processing"%t& +5 "core" &d +2 .tPC.seek :closed +2 "processing"%P(Z +5 "core" &L +7 &EN #b +9 &[Q 6 +9 &L H +10 &bO G +9 &fO G +10 &agP G +9 &"dQ G +9 &gY G +10 &hS G +9 &igO G +9 & +gP G +10 &!eQ G +9 &#gO G +10 &%qgO G +9 &'2eQ G +9 &(gQ G +10 &*gO G +9 &,xgQ G +9 &.:fQ G +10 &/eP G +9 &1eL G +10 &3gJ G +9 &5CgK G +9 &7fL G +10 &8jF G +9 &:eP G +9 & bL G +9 &?fH G +10 &AgD G +9 &CRiB G +9 &EpK H +10 &FuE H +9 &HF J +9 &JJN M +10 &L D L +9 &MO L +10 &OE L +9 &QSC L +9 &S? M +10 &TG M +9 &VB M +9 &XXB M +10 &YwvC "j +9 &Z)uG . +10 ( + &ZL " +2 "processing"%t& +55 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open +2 "manipulator"&D1 +2 "core" &ZC " + &ZA " + &ZO " + &ZI " + &ZH " +58 1 +2 "manipulator"&-% +3 "core" % U  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 "processing"%M& +4 "core" &ZB " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&6% +4 "core" %\  g \ +2 "storage"(<% +4 "core" %a +2 "storage"(c. +3 "core" .( +2 "storage"([& +3 "core" &  +3 "storage"(O& +4 "manipulator"&4& +5 "core" &  + &v  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&v(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +3 "manipulator"&V& +3 "core" &v E +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" &v +2 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' + .tHand.close +2 "manipulator"&T/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(Q- +4 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +33 "core" ' +300 ( +2 "storage"(X& +3 "core" &   +2 "manipulator"&w& +4 "core" &v +2 "manipulator"&:% +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +257 "core" ( +2 "manipulator"&f& +3 "core" & D & +2 "storage"(d& +4 "core" & q h ~  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +91 "core" ' +2 .tHand.open +2 "manipulator"&I1 +59 "core" 1 +2 "storage"(o- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(n' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(b- +2 "core" -' +2 "storage"(& +4 "core" &\ D\ O #  +2 "manipulator"&s& +4 "core" & g % +2 .tElbow.seek 3 +2 "manipulator"&r( +36 "core" ( +2 "manipulator"& & +3 "core" & c  +2 "storage"(& +4 "core" &\ O\ P 9  +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(_' +59 "core" ' +2 "manipulator"&^& +3 "core" & W  +2 "storage"(& +5 "core" & :  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&}'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(@'i +24 "core" ' + "manipulator"&l% +5 "core" %΂ + "storage"(~& +4 "core" & k  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 305 counts +2 "manipulator"&h'Ϯ +20 "core" ' + "manipulator"&)& +5 "core" & q  + "storage"(m& +4 "core" & K  +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +28 "core" ' +2 "storage"(K% +3 "core" %o +3 ."downElevator"SE.seek :down +3 "storage"(k'X +99 (g% +3 "core" %W k W PH +2 "manipulator"&]% +4 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +96 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (y& +3 "core" & 3  +2 "collection"'& +4 "core" &VX  @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&$% +3 "core" %\ J  +3 "storage"(J% +3 "core" %` +2 "storage"(. +3 "core" .( +2 "storage"(*& +3 "core" & {  +2 "storage"(& +4 "core" & _  +2 "manipulator"&|& +4 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +4 "core" & <  +2 "storage"(U& +3 "core" & o  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +92 "core" ' + "storage"(& +4 "core" & X  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&{'} +27 "core" ' +2 .tElbow.hold + "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(;'O +28 "core" ' +2 "manipulator"&z% +3 "core" %Έ +2 "storage"(q& +4 "core" & j q  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&S'ϴ +20 "core" ' + "manipulator"&2& +4 "core" & ^  +2 "storage"(`& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(/'> +37 "core" ' +2 "manipulator"&7& +3 "core" & h  +2 "manipulator"&% +4 "core" %' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +156 "core" ( +3 "manipulator"&& +3 "core" &'  @ >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &' ? >I +2 .tForearm.seek CC +2 "manipulator"&='" +95 "core" ' +2 .tHand.close + "manipulator"&8/ +61 "core" / +2 .tCC.seek :open +2 "collection"'%( +413 "core" ( +2 "storage"(& +4 "core" & F  +2 "storage"(3& +4 "core" &   +2 "manipulator"&& +4 "core" &'  >I +2 "manipulator"&!% +3 "core" % 6 3 +3 .tForearm.seek :retract + "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&C( +162 "core" ( + "manipulator"&+& +4 "core" & 9 [ +2 "storage"(#& +3 "core" & &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&0'} +97 "core" ' +45 .tElbow.hold +4 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +52 "core" 1 +2 "manipulator"&A% +4 "core" % Ή D +2 "storage"(H& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&('ϵ +20 "core" ' +2 "manipulator"& & +4 "core" & 7 [ +2 "storage"(9& +3 "core" & t  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(\ % +3 "core" %C  \ +3 ."downElevator"SE.seek :down +3 "storage"(Z'X +100 (% +3 "core" %K 3 OD +2 "manipulator"&.% +3 "core" %0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"' & +3 "core" &  +2 "manipulator"&% +4 "core" %\ " A +2 "storage"(R% +4 "core" %R { +2 "storage"(?. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(x( +305 "Can" e +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" & # +2 "manipulator"&-& +4 "core" & [ +2 .tElbow.seek 2 +2 "manipulator"&M( +36 "core" ( +2 "manipulator"&6& +3 "core" & G b +2 "storage"(<& +4 "core" & 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +102 "core" ' +2 "storage"([& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +283 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &  +2 "manipulator"&V& +4 "core" & _ +2 .tElbow.seek 2 +2 "manipulator"&1( +25 "core" ( +2 "manipulator"&F& +3 "core" &  +2 "storage"(T& +4 "core" & G +3 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(P'X +8 "core" &  +2 "manipulator"&Y% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&w( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&:& +3 "core" &' ' q >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &E& +2 "core" &'  >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +96 "core" ' +3 "manipulator"&d& +4 "core" &' T >K +7 "manipulator"&v% +4 "core" %* v +2 "collection"'I& +3 "core" &  +3 "collection"'o& +5 "core" &  +3 .tCC.seek :closed + "collection"'b(V +4 "core" &  +8 &A  $e +9 &^  7 +9 &'  G +10 &e  F +9 &h  F +9 &nc  G +10 &1j  F +9 &g  F +9 &i  G +10 &vg  G +9 & 9e  F +10 &!g  F +9 &#g  G +9 &%~e  G +10 &'@g  G +9 &)c  F +10 &*j  G +9 &,g  G +9 &.Ic  F +10 &0 g  F +9 &1e  G +9 &3i  F +51 &5Pc  G +3 &7h  G + &8b  F + &:e  G + &g  F +8 &?j  G +9 &Ag  G +10 &Cad  F +9 &E"l  G +10 &Fu  H +9 &H  J +9 &JT  N +10 &L  P +9 &M  Q +9 &O  Q +10 &QS  Q +9 &S  R +10 &T  R +9 &V@f  / +9 &V  : +10 &W m  ? +5 ( +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&1 +4 "core" &W P  ? +52 1 + "manipulator"&s% +4 "core" % *  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +3 "core" &` +2 "manipulator"&% +4 "core" %\  4  +2 "storage"(^% +4 "core" %b +2 "storage"(. +3 "core" .( +2 "storage"(e& +3 "core" & +2 "storage"(l& +4 "core" & +2 "manipulator"&~& +4 "core" &'  >K +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&)( +157 "core" ( +2 "manipulator"&m& +4 "core" & R  +2 "storage"(G& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +103 "core" ' + "storage"(K& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'i +282 "core" ' +2 "storage"(j- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +3 "core" & > +2 "manipulator"&]& +3 "core" & V  +2 .tElbow.seek 2 +2 "manipulator"&r( +4 "core" ( +2 "manipulator"&_& +3 "core" & N  +2 "storage"(}& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&h' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"($'X +8 "core" & 6  +2 "manipulator"&J% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +3 "manipulator"&*& +3 "core" &{ )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &{ K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +95 "core" ' + "manipulator"&& +4 "core" &{ I +2 "manipulator"&U% +4 "core" % % +2 "processing"%a& +5 "core" &Q +2 "processing"%& +5 "core" &c +2 .tPC.seek :closed +2 "processing"%k(Z +4 "core" &J  +9 &6H )v +9 &iL < +10 &xO G +9 &hdP G +9 &*fP G +10 &eJ G +9 &jO G +9 &oeI G +10 &2gS G +9 &fR G +10 & iN G +9 &"wfP G +9 &$9fU G +10 &%fU G +9 &'gN G +9 &)gQ G +10 &+BgP G +9 &-fQ F +10 &.gP G +9 &0gO G +9 &2IfZ G +10 &4 fT G +9 &5jP G +9 &7fK G +10 &9RfN G +9 &;eJ F +10 &<gR G +9 &>fP G +9 &@XkQ G +10 &BgJ G +9 &CjN H +9 &EpK H +10 &G[xP I +9 &IQ K +10 &JO L +9 &LP L +9 &NZE L +10 &PH M +9 &QG M +9 &SO M +10 &U`N M +9 &W!H M +10 &XJ M +9 &Z4DcJ %m +9 &Z1O \ +6 ( +2 "processing"%& +3 "core" &ZI +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"& 1 +60 "core" 1 + "manipulator"&p% +4 "core" % % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 "processing"%& +3 "core" &ZV +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +47 "manipulator"&% +5 "core" %\ # { = +2 "storage"(,% +5 "core" %X + "storage"(z. +4 "core" .( + "storage"(q& +4 "core" & +3 "storage"(2& +2 "manipulator"&`& +7 "core" &  + &{ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&7(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&i& +5 "core" &{ I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &{ a +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 .tHand.close +2 "manipulator"&{/ +55 "core" / +2 .tPC.seek :open +2 "processing"%S( +81 "core" ' +2 "storage"(;- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +293 ( + "storage"('& +4 "core" & +3 "manipulator"&>& +3 "core" &{ d +2 "manipulator"&&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +263 "core" ( + "manipulator"& & +4 "core" & \ +2 "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +94 "core" ' +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "storage"(!- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +4 "core" -' +2 "storage"(L& +3 "core" & \ W / +2 "manipulator"&B& +4 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&A( +4 "core" ( +2 "manipulator"&H& +3 "core" & \ +2 "storage"( & +5 "core" & \ ) | + +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(5' +59 "core" ' +2 "manipulator"&\ & +3 "core" & \ +2 "storage"(& +4 "core" & > +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&.' +22 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(0'i +24 "core" ' +2 "manipulator"&(% +4 "core" % +2 "storage"( & +3 "core" & & +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&R& +4 "core" & ` \ +2 "storage"(?& +3 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +20 "core" ' +2 "storage"(% +3 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(Z'X +98 ("% +4 "core" %U o i k PI +2 "manipulator"&D% +3 "core" %ў 8 +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&-'\ +94 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" &  +3 "collection"'<& +3 "core" &W O  ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&[% +3 "core" %\ \  +3 "storage"(% +3 "core" %Y = +2 "storage"(. +3 "core" .( +2 "storage"(O& +3 "core" & O +2 "storage"(4& +4 "core" & ( +2 "manipulator"&V& +4 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&T& +3 "core" &  \ +2 "storage"(& +4 "core" & M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +94 "core" ' + "storage"(Y& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +279 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +3 "core" & \ +2 "storage"(E& +4 "core" & 3 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'N +33 "core" ' +2 "manipulator"&I% +3 "core" % +2 "storage"(1& +4 "core" & o l +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&P' +16 "core" ' +2 "manipulator"&X& +3 "core" & \ +2 "storage"(%& +4 "core" & x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(s'= +35 "core" ' +2 "manipulator"& & +3 "core" & @ \ +2 "manipulator"&% +4 "core" %у w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +3 "manipulator"&e& +4 "core" && =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" && l =G +2 .tForearm.seek CC +2 "manipulator"&o'" +96 "core" ' +2 .tHand.close + "manipulator"&~/ +60 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(f& +3 "core" & J +2 "storage"(m& +4 "core" &  +2 "manipulator"&G& +4 "core" && N =G +2 "manipulator"&K% +3 "core" % ' E +3 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\\( +160 "core" ( +2 "manipulator"&j& +3 "core" &   +2 "storage"(g& +4 "core" & 3 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&]' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +62 "core" 1 +2 "manipulator"&y% +3 "core" % +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +46 "manipulator"&J' +24 "core" ' +2 "manipulator"&)& +3 "core" & F  +2 "storage"(W& +5 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +25 "core" ' + "storage"(h% +4 "core" %@ C  +3 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (% +3 "core" %M  OD +2 "manipulator"&r% +4 "core" %ш +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'U& +4 "core" &  +2 "manipulator"&a% +4 "core" %\ # B +2 "storage"($% +3 "core" %` +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" &   +2 "manipulator"&p& +92 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +16 "core" ( + "manipulator"&& +4 "core" & A ; +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +105 "core" ' + "storage"(z& +4 "core" & !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +279 "core" ' +2 "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (2& +3 "core" &   +2 "manipulator"&i& +3 "core" & ; +3 .tElbow.seek 3 + "manipulator"&u( +4 "core" ( +2 "manipulator"&|& +3 "core" & I ; +2 "storage"({& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(k'X +7 "core" & h ; +2 "manipulator"&% +4 "core" % Ϟ +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&&& +3 "core" &$  Y ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &# a ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +99 "core" ' + "manipulator"&& +4 "core" &$ ;4 +2 "manipulator"&7% +4 "core" %  +2 "collection"'& +5 "core" &  +2 "collection"'!& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'=(V +3 "core" &  +9 &I  $d +9 &^  7 +10 &%  H +9 &d  G +9 &k  G +10 &mg  G +9 &0j  F +10 &e  G +9 &d  F +9 &ue  G +10 & 8j  F +9 &!h  F +9 &#l  G +10 &%}k  G +9 &'?h  G +10 &)j  F +9 &*j  G +9 &,h  G +10 &.Gh  G +9 &0\ j  F +9 &1k  G +10 &3h  G +9 &5Og  G +10 &7e  F +9 &8h  F +9 &:e  F +10 &f  G +9 &?j  F +10 &Ae  F +9 &C`h  F +10 &E!l  G +9 &Fu  H +9 &H  I +10 &JU  M +9 &L  Q +9 &M  P +10 &O  Q +9 &QQ  Q +10 &S  R +9 &T  R +9 &V@h  / +10 &V  : +9 &Wn  A +5 ( +2 "collection"'!& +4 "core" &WX  A +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&L1 +54 "core" 1 +3 "manipulator"&B% +48 "core" %  +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +3 "core" &w +2 "manipulator"&8% +4 "core" %\  8  +2 "storage"(\ % +4 "core" %` s _ & +2 "storage"(. +3 "core" .( +2 "storage"((& +3 "core" &  +2 "storage"( & +5 "core" &  + "manipulator"&& +4 "core" &# p ;2 +2 "manipulator"&+% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&R( +162 "core" ( + "manipulator"&?& +4 "core" & [  +2 "storage"(& +4 "core" & U  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"(3& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'i +280 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" & a  +2 "manipulator"&9& +4 "core" & o  +2 .tElbow.seek 3 +2 "manipulator"&A( +4 "core" ( + "manipulator"&5& +4 "core" & 2  +2 "storage"(.& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(['X +8 "core" & x  +2 "manipulator"&% +3 "core" % ϥ +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +6 .tElbow.seek PC + "manipulator"&0(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&O& +4 "core" &| * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &| +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V' +96 "core" ' + "manipulator"&T& +5 "core" &| = + "manipulator"&% +5 "core" % g ' +2 "processing"%/& +3 "core" &g +3 "processing"%Y& +6 "core" &y +2 .tPC.seek :closed +2 "processing"%Z(Z +3 "core" &h +9 &=g #c +9 &\\c 6 +10 &f G +9 &ce G +9 &f] G +10 &_dO G +9 &!fO G +10 &gG G +9 &hN G +9 &gjQ G +10 & )gY G +9 &!eT G +9 &#eS G +10 &%oeO G +9 &'1hZ G +10 &(gQ G +9 &*gV G +9 &,xf] G +10 &.9d^ G +9 &/e\\ G +9 &1e^ G +10 &3g] G +9 &5Ai\\ G +10 &7fZ G +9 &8f] G +9 &:hY G +10 & g] G +9 &?fZ G +10 &AdV G +9 &CPh\\ G +10 &EjX H +9 &Ft] H +9 &H^ K +10 &JJ^ L +9 &L W L +9 &MS L +10 &OP M +9 &QPT M +10 &S\\ M +9 &TW M +9 &VU M +10 &XWX M +9 &YxwZ !i +9 &Z*uO , +9 ( +2 &ZS +2 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&C1 +64 "core" 1 +2 "manipulator"&-% +3 "core" % ~ ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' + "processing"%:& +4 "core" &Z; +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&E% +3 "core" %\   +2 "storage"(d% +4 "core" %b g v , +2 "storage"(I. +3 "core" .( +2 "storage"(1& +4 "core" & w h  +2 "storage"(X& +2 "manipulator"&%& +8 "core" & s e 9  + &| ] +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +47 "storage"(#]@K-0-\ b +6 .tElbow.seek PC +5 "manipulator"& (s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&N& +3 "core" &| +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &| +2 .tForearm.seek PC +3 "manipulator"&M' +93 "core" ' +2 .tHand.close + "manipulator"&t/ +53 "core" / +2 .tPC.seek :open +2 "processing"%P( +100 "core" ' +2 "storage"(v- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +47 "core" ' +273 ( +2 "storage"(l& +4 "core" &  +2 "manipulator"&& +3 "core" &| +2 "manipulator"&Q% +5 "core" % < ! +2 .tForearm.seek :retract + "manipulator"&~'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +278 "core" ( +2 "manipulator"&b& +3 "core" & C & +2 "storage"(f& +5 "core" & ^ Y   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +90 "core" ' +2 .tHand.open +2 "manipulator"&G1 +59 "core" 1 +2 "storage"(K- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(j'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(g' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +2 "core" -' +3 "storage"(& +3 "core" &\ F\ H  +2 "manipulator"&}& +4 "core" & "| +2 .tElbow.seek 3 +2 "manipulator"&y( +19 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"()& +4 "core" &\ O\ L 8  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(w' +60 "core" ' +2 "manipulator"&h& +3 "core" & u  +2 "storage"(\\& +9 "core" & _  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(]'i +26 "core" ' +2 "manipulator"&U% +3 "core" % +2 "storage"(J& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&a'ϫ +20 "core" ' + "manipulator"&$& +4 "core" & J  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +23 "core" ' +2 "storage"(n% +4 "core" %q +3 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (x% +2 "core" %dT u l v PH +2 "manipulator"& % +5 "core" %S s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & ~  +2 "collection"'& +4 "core" &WX  A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&z% +3 "core" %\   +2 "storage"(_% +4 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(`& +3 "core" &  +50 "storage"(2& +5 "core" &   +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&|( +10 "core" ( + "manipulator"&{& +4 "core" & h  +2 "storage"(@& +4 "core" & 0  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +107 "core" ' +2 "storage"(& +3 "core" & H  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" &  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'} +24 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(7'P +33 "core" ' + "manipulator"&u% +4 "core" %x +2 "storage"(& +3 "core" & w ?  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&k'Ϥ +21 "core" ' + "manipulator"&'& +5 "core" & Y  + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'? +40 "core" ' +2 "manipulator"&!& +4 "core" &  +2 "manipulator"& % +3 "core" %' } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +159 "core" ( +3 "manipulator"&& +3 "core" &  e 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" & 9 6 +3 .tForearm.seek CC + "manipulator"& '" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'+( +416 "core" ( +2 "storage"( & +4 "core" &   +2 "storage"(?& +3 "core" &   +2 "manipulator"&& +4 "core" & l 5 +2 "manipulator"&3% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H( +170 "core" ( + "manipulator"&"& +4 "core" & j +2 "storage"(D& +3 "core" & /  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&9'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +53 "core" 1 +2 "manipulator"&6% +4 "core" % Ί +2 "storage"(<& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'϶ +20 "core" ' + "manipulator"&R& +4 "core" &  j +2 "storage"(& +4 "core" & |  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +27 "core" ' +2 "storage"(% +3 "core" %C E +42 ."downElevator"SE.seek :down +11 "storage"(O'X +99 (4% +3 "core" %Q S OE +2 "manipulator"&A% +4 "core" %x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &  +2 "manipulator"&/% +5 "core" %\ " : +2 "storage"([% +3 "core" %a +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(S( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (C& +2 "core" & z +2 "manipulator"&-& +4 "core" & j +2 .tElbow.seek 2 +2 "manipulator"&:( +40 "core" ( + "manipulator"&E& +4 "core" &  v !v +2 "storage"(d& +3 "core" & / +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +87 "core" ' +2 "storage"(Y& +4 "core" & Q +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +290 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & - +2 "manipulator"&N& +4 "core" &\ 1 !u +2 .tElbow.seek 2 +2 "manipulator"&F( +34 "core" ( +3 "manipulator"&V& +3 "core" & ~ +2 "storage"(t& +4 "core" & ' +3 .tForearm.seek 2 + 300 counts + "manipulator"&v' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&0/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&c& +2 "storage"(Z'X +8 "core" & ~ +2 "manipulator"&% +3 "core" % Q ! +3 .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&Q& +3 "core" &' 3 P >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &' k >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'" +94 "core" ' +3 "manipulator"&f& +3 "core" && ' =G +3 "manipulator"& % +3 "core" %/ X +2 "collection"'G& +4 "core" &  +3 "collection"'K& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'o(V +4 "core" &  +8 &9  #c +9 &\\  6 +10 &  G +9 &e  G +10 &k  G +9 &_f  G +9 &"d  F +10 &f  F +9 &f  F +9 &gi  G +10 & )i  G +9 &!h  G +10 &#g  F +9 &%pf  F +9 &'1c  G +10 &(h  F +9 &*f  F +9 &,wi  G +10 &.9g  G +9 &/d  G +10 &1e  G +9 &3h  F +9 &5Ce  F +10 &7i  G +9 &8e  G +9 &:c  F +10 &\ h  G +10 &?e  G +9 &Ac  F +9 &CQf  G +10 &En  G +9 &Fu  H +9 &H  J +10 &JF  M +9 &L  P +10 &M  Q +9 &O  Q +9 &QB  Q +10 &S  R +9 &T  R +9 &V.[  . +10 &V  H +9 ( + &V_  E +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&}% +3 "core" % /  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%)& +3 "core" &v +2 "manipulator"&~% +5 "core" %\  +2 "storage"(h% +3 "core" %^  +2 "storage"(\\. +3 "core" .( +2 "storage"(e& +3 "core" & u +49 "storage"(U& +5 "core" &  + "manipulator"&J& +4 "core" && a =G +2 "manipulator"&j% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +162 "core" ( +2 "manipulator"&& +4 "core" & o  +2 "storage"(n& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +94 "core" ' +2 "storage"(m& +3 "core" & f +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +277 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & ! +2 "manipulator"&W& +4 "core" & 9  +2 .tElbow.seek 2 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&w& +4 "core" &  +2 "storage"(& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(z'X +8 "core" &  + "manipulator"&_% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&]'\ +102 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +125 "core" ( +2 "manipulator"&`& +3 "core" &k 3 d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &k { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&i' +102 "core" ' +2 "manipulator"&{& +4 "core" &l T +2 "manipulator"&@% +4 "core" % +2 "processing"%s& +4 "core" &e +3 "processing"%& +5 "core" &{ +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &h  +9 &7f )v +9 &jk = +9 &wj G +10 &qeh G +9 &4fi G +9 &gk G +10 &do G +9 &zee G +10 &=d_ F +9 &e] G +9 & d_ G +10 &"e] G +9 &$CfX G +9 &&f\\ G +10 &'g\\ G +9 &)fS G +10 &+MdV F +9 &- fZ G +9 &.e] G +10 &0g] G +9 &2TfY G +9 &4d[ G +10 &5e` G +9 &7e[ G +10 &9\\ea G +9 &;d] F +9 &<f] G +10 &>fZ G +9 &@dg[ G +9 &B$j[ G +10 &CkZ G +9 &Eq] H +10 &Gdx\\ J +9 &I!_ K +9 &J\\ L +10 &L^ M +9 &Nd^ L +10 &P%] M +9 &Q^ M +9 &S^ M +10 &Uj] M +9 &W+] M +9 &X] M +10 &Z=Db] %k +9 &Z\ +\\ " +5 ( +2 "processing"%& +4 "core" &Z[ " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&r1 +58 "core" 1 + "manipulator"&p% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +100 "core" ' +9 "processing"%&& +4 "core" &ZG " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ # ? +2 "storage"(% +4 "core" %a p s J +2 "storage"(u. +3 "core" .( +2 "storage"(& +3 "core" & a a +3 "storage"('& +2 "manipulator"&& +7 "core" & ` ` + &l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&!(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +3 "manipulator"&& +3 "core" &l +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &|& +2 "core" &l +3 .tForearm.seek PC +2 "manipulator"&' +138 "core" ' +5 .tHand.close +2 "manipulator"&q/ +54 "core" / +2 .tPC.seek :open +2 "processing"%k( +45 "core" ' +2 "storage"(7- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +328 ( +2 "storage"((& +3 "core" &  +2 "manipulator"&L& +4 "core" &l +2 "manipulator"&;% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +242 "core" ( +2 "manipulator"&=& +3 "core" &  "x +2 "storage"( & +5 "core" & v m = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&?'ќ +91 "core" ' +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(3- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(D' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(\ & +3 "core" & \ @\ @ Z +2 "manipulator"&.& +4 "core" &  "x +2 .tElbow.seek 2 +2 "manipulator"&6( +4 "core" ( + "manipulator"&<& +5 "core" & z "x + "storage"(R& +4 "core" & \ N\ C J +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&>& +4 "core" & "x +2 "storage"(H& +4 "core" & * +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(9'i +24 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(& +4 "core" & Y +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&/' +21 "core" ' + "manipulator"&[& +4 "core" & "x +2 "storage"(& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +24 "core" ' +2 "storage"(#% +3 "core" %q  +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (% +3 "core" %eU m m QI +2 "manipulator"&C% +6 "core" %ѯ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" & ~ t +2 "collection"'d& +4 "core" &V`  E +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Y% +4 "core" %\ # > +2 "storage"(5% +4 "core" %a +2 "storage"(T. +2 "core" .( +2 "storage"(%& +4 "core" & v +2 "storage"(X& +3 "core" & +2 "manipulator"&N& +4 "core" & @ !w +2 .tElbow.seek 2 +2 "manipulator"&V( +4 "core" ( +2 "manipulator"&t& +3 "core" & m !w +2 "storage"(0& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +143 "core" ' +9 "storage"(& +3 "core" & H +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(:'i +278 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & !w +2 "storage"(M& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&1' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'O +36 "core" ' +2 "manipulator"&F% +3 "core" %  +2 "storage"(G& +4 "core" & l p O +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&Z' +15 "core" ' + "manipulator"&l& +4 "core" & T !w +2 "storage"(+& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +52 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'> +37 "core" ' +2 "manipulator"&)& +3 "core" & % !w +2 "manipulator"&~% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +157 "core" ( +2 "manipulator"&e& +3 "core" &*  s @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +3 "core" &*  @X +2 .tForearm.seek CC +2 "manipulator"&U'" +93 "core" ' + .tHand.close +2 "manipulator"&J/ +55 "core" / + .tCC.seek :open +2 "collection"'j( +416 "core" ( +2 "storage"(b& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&n& +4 "core" &) @ ?P +2 "manipulator"&m% +3 "core" % 2 +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&x& +4 "core" & N  +2 "storage"( & +3 "core" & 1 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&W' +97 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" % g +2 "storage"(& +4 "core" & Q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&_' +18 "core" ' +3 "manipulator"&$& +3 "core" & '  +3 "storage"(^& +3 "core" & 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +36 "core" ' + "storage"(a% +4 "core" %D # +3 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (2% +3 "core" %Q  OE +2 "manipulator"&y% +4 "core" %ы  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +94 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +48 "collection"'@& +3 "core" &  +2 "manipulator"&s% +5 "core" %\ E  + "storage"(z% +4 "core" %a  +2 "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(P( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &   +2 "manipulator"&p& +5 "core" & T  +2 .tElbow.seek 3 + "manipulator"&&( +19 "core" ( +2 "manipulator"&& +3 "core" & G +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(u& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +274 "core" ' + "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &   +2 "manipulator"&& +4 "core" & G +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&i& +3 "core" & g G +2 "storage"(q& +4 "core" & .  +3 .tForearm.seek 3 + 300 counts + "manipulator"&7'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(*'X +8 "core" & a G + "manipulator"& % +4 "core" % V @ +2 .tForearm.seek :retract +2 "manipulator"&('\ +105 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +23 "core" ( + "manipulator"&;& +4 "core" &) 7 o @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* R @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='" +98 "core" ' +2 "manipulator"& & +3 "core" &* o @Y +3 "manipulator"&!% +3 "core" %' +3 "collection"'& +5 "core" &  +2 "collection"'3& +5 "core" &  +3 .tCC.seek :closed + "collection"' (V +5 "core" &  +7 &I  $d +10 &^  7 +9 &)  G +9 &e  G +10 &j  F +9 &pc  G +10 &2e  G +9 &i  G +9 &f  G +10 &xd  G +9 & ;c  F +9 &!g  G +10 &#j  G +9 &%h  G +10 &'Af  G +9 &)c  G +9 &*i  G +10 &,f  G +9 &.Jc  G +9 &0 i  G +10 &1i  G +9 &3g  G +10 &5Sc  F +9 &7f  F +9 &8b  F +10 &:f  F +9 &<[g  F +9 &>i  G +10 &?i  F +9 &Ad  G +10 &Cbi  G +9 &E#n  G +9 &Fv  H +10 &H  I +9 &JW  M +9 &L  P +10 &M  Q +9 &O  Q +10 &QT  Q +9 &S  R +9 &T  R +10 &VDh  0 +9 &V  3 +9 &Vn  I +3 ( +2 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&\ 1 +56 "core" 1 +4 "manipulator"&.% +3 "core" % '  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%R& +3 "core" &p +2 "manipulator"&% +4 "core" %\  ]  +2 "storage"(>% +3 "core" %b d a  +2 "storage"(H. +3 "core" .( +2 "storage"(& +3 "core" & a a 3  +2 "storage"(& +4 "core" & W a  +2 "manipulator"&& +4 "core" &) + @X +2 "manipulator"&[% +3 "core" %\  H  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&"( +162 "core" ( +2 "manipulator"&& +4 "core" & S +2 "storage"(#& +3 "core" & y  +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +93 "core" ' +2 "storage"(?& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(D'i +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +3 "core" &  +2 "manipulator"&& +4 "core" & S +2 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&& +3 "core" & ] S +2 "storage"(4& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&/'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(Y'X +8 "core" & S + "manipulator"&5% +4 "core" % ϭ +3 .tForearm.seek :retract + "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&%& +3 "core" &t + /  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &t  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N' +103 "core" ' +2 "manipulator"&t& +4 "core" &t X  +2 "manipulator"&0% +4 "core" % { g +2 "processing"%B& +4 "core" & +3 "processing"%& +5 "core" &p +2 .tPC.seek :closed +2 "processing"%O(Z +5 "core" &n +6 &=r #c +9 &\\o 6 +10 &m H +9 &bo F +9 &ei G +10 &`co G +9 &#ep F +10 &gp G +9 &go F +9 &hfn G +10 & +go F +9 &!ep G +9 &#eo G +10 &%oeo G +9 &'2gc G +10 &(em G +9 &*fi G +9 &,wdf G +10 &.9go G +9 &/e_ F +9 &1e` G +10 &3e] G +9 &5Ahe G +10 &7f^ G +9 &8d_ G +9 &:e` G +10 & d\\ G +9 &?ha G +10 &Ag[ G +9 &CRhZ G +10 &Eld H +9 &Ftb H +9 &H` J +10 &JJd L +9 &L Z M +9 &MZ M +10 &O[ M +9 &QRZ L +10 &SZ M +9 &T] L +9 &V^ M +10 &XWW M +9 &Yxt\\ "j +9 &Z%g[ + +10 ( + &ZY # +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&A1 +55 "core" 1 +2 "manipulator"&-% +3 "core" % X g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +2 "processing"%Q& +4 "core" &Z] # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&M% +3 "core" %\   +2 "storage"(f% +5 "core" %_ + "storage"(F. +3 "core" .( +2 "storage"(G& +3 "core" & x x  +2 "storage"(l& +3 "manipulator"&+& +6 "core" & x j [  + &t  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&)(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'i +3 "core" ( +2 "manipulator"&c& +4 "core" &t R  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +3 "core" &t  +2 .tForearm.seek PC +2 "manipulator"&:' +102 "core" ' +2 .tHand.close +2 "manipulator"&1/ +60 "core" / +2 .tPC.seek :open +2 "processing"%Z( +75 "core" ' +2 "storage"( - +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +85 "core" ' +261 ( + "storage"(K& +4 "core" &  +2 "manipulator"&& +3 "core" &t X  +2 "manipulator"&v% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&J'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +254 "core" ( + "manipulator"&o& +5 "core" & !u + "storage"(b& +5 "core" & l l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 .tHand.open + "manipulator"&n1 +57 "core" 1 +3 "storage"(m- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(x'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(\\& +4 "core" &\ G\ H   +2 "manipulator"&& +4 "core" & !p +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & !p +2 "storage"($& +3 "core" &\ G\ G  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +16 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(a' +58 "core" ' +2 "manipulator"&& +3 "core" & !p +2 "storage"(2& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'} +23 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'i +25 "core" ' + "manipulator"&_% +4 "core" %Α +2 "storage"(@& +4 "core" & n k  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&}'Ͻ +19 "core" ' +2 "manipulator"&s& +4 "core" & !p +2 "storage"(z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +34 "core" ' +2 "storage"(g% +3 "core" %p  +3 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (S% +3 "core" %sV o o QJ +2 "manipulator"&r% +4 "core" %0 q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +89 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & p Z  +2 "collection"'& +4 "core" &Ve  I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&u% +3 "core" %\   +2 "storage"(w% +4 "core" %a +2 "storage"({. +4 "core" .( + "storage"(& +5 "core" &  + "storage"('& +5 "core" &  + "manipulator"&& +4 "core" & N !p +2 .tElbow.seek 3 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&q& +3 "core" & ~ !p +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +97 "core" ' +2 "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'i +276 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" & !p +3 "storage"(& +3 "core" & >  +48 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(!'O +28 "core" ' + "manipulator"&|% +4 "core" %q +2 "storage"(& +4 "core" & a a  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 288 counts +2 "manipulator"&*'ϝ +19 "core" ' +2 "manipulator"&(& +3 "core" & 3 !p +2 "storage"(j& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'> +38 "core" ' +2 "manipulator"&R& +3 "core" & !p +3 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +158 "core" ( +2 "manipulator"&& +4 "core" &' >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' j >N +3 .tForearm.seek CC + "manipulator"&3'" +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'[( +415 "core" ( +2 "storage"(=& +4 "core" &   +2 "storage"(& +3 "core" & W  +2 "manipulator"&#& +5 "core" &' >M +2 "manipulator"&L% +4 "core" % 5 } +2 .tForearm.seek :retract +2 "manipulator"&?'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&<( +163 "core" ( + "manipulator"&& +4 "core" & u b +2 "storage"(C& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +60 "core" 1 +3 "manipulator"&E% +3 "core" % } T +2 "storage"(d& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&5'ϩ +23 "core" ' + "manipulator"&"& +4 "core" & y b +2 "storage"(8& +3 "core" & @  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +25 "core" ' +2 "storage"(/% +3 "core" %H O +3 ."downElevator"SE.seek :down +3 "storage"(%'X +100 (X% +2 "core" %*P > OE +2 "manipulator"&6% +5 "core" %r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'0& +3 "core" &  +2 "manipulator"&B% +4 "core" %\   +2 "storage"(Y% +3 "core" %V @ +2 "storage"(9. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(k( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +37 "core" &  +13 "manipulator"&-& +4 "core" & \ b +2 .tElbow.seek 2 +2 "manipulator"&Q( +39 "core" ( +2 "manipulator"&M& +4 "core" & R ( +2 "storage"(f& +3 "core" & & +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +93 "core" ' +2 "storage"(G& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +280 "core" ' +3 "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&c& +3 "core" & $ +3 .tElbow.seek 2 + "manipulator"&V( +36 "core" ( +2 "manipulator"&N& +3 "core" & r E +2 "storage"(1& +4 "core" & / +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(O'X +8 "core" & E +2 "manipulator"&~% +4 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&v& +3 "core" &$ % / ;8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &$ r ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'" +103 "core" ' +2 "manipulator"&b& +3 "core" &$ [ ;8 +3 "manipulator"&)% +3 "core" %$ G 8 +2 "collection"'n& +5 "core" &  +2 "collection"'m& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'U(V +5 "core" &  +7 &9  #b +9 &Z  5 +10 &  G +9 &`  F +9 &j  G +10 &Sh  F +9 &e  G +9 &i  F +10 &f  F +9 &Yg  G +10 & c  G +9 &!j  F +9 &#g  F +10 &%bi  G +9 &'%h  F +9 &(h  G +10 &*g  G +9 &,kh  F +10 &.-h  F +9 &/c  F +9 &1g  F +10 &3sd  F +9 &56e  F +9 &6g  G +10 &8b  F +9 &:{i  F +10 &<<e  G +9 &=i  F +9 &?d  G +10 &Ag  G +9 &CEc  F +9 &Ej  G +10 &Fr  H +9 &H~  I +10 &J:  M +9 &K  P +9 &M  Q +10 &Ot  Q +9 &Q6  Q +9 &R  R +10 &T  R +9 &V$V  7 +10 &V  +| +9 &Vw  N +2 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&\\1 +54 "core" 1 +3 "manipulator"&% +5 "core" % $ S 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%$& +3 "core" &r +2 "manipulator"&J% +4 "core" %\   +2 "storage"(% +4 "core" %\\ j `  +2 "storage"(2. +2 "core" .( +2 "storage"(e& +4 "core" & W g w +2 "storage"(_& +4 "core" & p m +2 "manipulator"&@& +3 "core" &$ H ;7 +2 "manipulator"&x% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&s( +171 "core" ( + "manipulator"&z& +5 "core" & R 5 + "storage"(g& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&h'ќ +103 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +286 "core" ' +2 "storage"(S- +3 "core" -' +45 .tSE.configure :default +6 "storage"(#QK-0-\ b +3 (r& +3 "core" & +2 "manipulator"&^& +4 "core" & 5 +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&a& +3 "core" & t 5 +2 "storage"(y& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&}' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(u'X +8 "core" & 5 +2 "manipulator"&w% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&{(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&& +4 "core" &m * . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&q& +4 "core" &m +2 "manipulator"&% +4 "core" % g +2 "processing"%]& +4 "core" &{ +3 "processing"% & +5 "core" &o +2 .tPC.seek :closed +2 "processing"%`(Z +5 "core" &i +6 &>l #c +9 &[o 6 +10 &p H +9 &fo G +10 &io G +9 &]eo G +9 &hq G +10 &en F +9 &gm G +9 &deh G +10 & &ge G +9 &!eg G +9 &#ii G +10 &%mfg G +9 &'/gf G +10 &(di G +9 &*gj G +9 &,ugf G +10 &.6d` G +9 &/ed G +9 &1ed G +10 &3~ef F +9 &5>e` G +10 &7gb G +9 &8d` G +9 &:ef G +10 &eX G +10 &?eO G +9 &AcX G +9 &CMhT G +10 &EnW H +9 &FsZ I +9 &HT K +10 &JG[ L +9 &L Z L +10 &MT M +9 &O] L +9 &QM] M +10 &S] M +9 &TW M +9 &V^ M +10 &XT[ M +9 &Ywv\\ "k +9 &Z*u_ - +9 ( +2 &Z] ! +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&p% +4 "core" % } g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%;& +3 "core" &Zd ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\   +2 "storage"( % +3 "core" %T k k +2 "storage"(|. +4 "core" .( + "storage"(& +4 "core" & p k +2 "storage"((& +4 "manipulator"&j& +5 "core" & j l + &m 9 +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&R(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&,& +3 "core" &m y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &m +3 .tForearm.seek PC + "manipulator"&&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +4 .tPC.seek :open + "processing"%*( +88 "core" ' +2 "storage"(!- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +286 ( +2 "storage"(& +3 "core" & T +2 "manipulator"&\ & +4 "core" &m \  +2 "manipulator"&7% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&>( +263 "core" ( +3 "manipulator"& & +3 "core" & g  +3 "storage"(=& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 .tHand.open + "manipulator" +56 "core" 1 +3 "storage"(L- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(C' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' +2 "storage"(H& +3 "core" & \ N\ = " +2 "manipulator"&4& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&E( +4 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"("& +4 "core" & \ C\ L +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +58 "core" ' + "manipulator"&?& +4 "core" &  +2 "storage"(X& +3 "core" & y  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&6' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&5% +4 "core" % +2 "storage"(0& +4 "core" & o q  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&B' +21 "core" ' + "manipulator"&Y& +4 "core" & ;  +2 "storage"(9& +4 "core" & ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +23 "core" ' + "storage"(D% +4 "core" %r +3 ."downElevator"SE.seek :down +3 "storage"(%'X +99 (P% +3 "core" %V p o  PH +2 "manipulator"&A% +4 "core" %с q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +2 "core" & } { Y +3 "collection"'f& +3 "core" &V{  N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&G% +3 "core" %\ # = +2 "storage"(% +4 "core" %a i h +2 "storage"(t. +4 "core" .( + "storage"(l& +4 "core" &  +2 "storage"(& +3 "core" & t +2 "manipulator"&c& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&N( +4 "core" ( +2 "manipulator"&1& +3 "core" & u  +2 "storage"(T& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +99 "core" ' +2 "storage"(~& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Q'i +282 "core" ' + "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &  +2 "storage"(+& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:' +33 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +45 "storage"(b'N +29 "core" ' + "manipulator"&)% +4 "core" % +2 "storage"(n& +4 "core" & m o  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&O' +18 "core" ' + "manipulator"&K& +4 "core" & 6  +2 "storage"([& +4 "core" & 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +38 "core" ' +2 "manipulator"&$& +4 "core" &  +2 "manipulator"&J% +4 "core" %ћ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +151 "core" ( +3 "manipulator"&e& +4 "core" &% e <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &%  <: +2 .tForearm.seek CC +2 "manipulator"&@'" +98 "core" ' +2 .tHand.close + "manipulator"&m/ +56 "core" / +2 .tCC.seek :open +2 "collection"'x( +416 "core" ( +2 "storage"(o& +3 "core" &  +2 "storage"(z& +4 "core" & x +2 "manipulator"&g& +3 "core" &% <: +2 "manipulator"&% +5 "core" % ( ^ +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +157 "core" ( +2 "manipulator"&S& +3 "core" & k  +2 "storage"(r& +5 "core" & 6 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&^' +98 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&y1 +57 "core" 1 +2 "manipulator"&% +4 "core" % +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&w' +21 "core" ' +2 "manipulator"&s& +3 "core" & ]  +2 "storage"(h& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +37 "core" ' + "storage"(}% +5 "core" %B +2 ."downElevator"SE.seek :down +4 "storage"('X +98 ('% +3 "core" %HP OE +2 "manipulator"&% +4 "core" %ь  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +95 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &  +2 "manipulator"&]% +3 "core" %\ # \  ? +3 "storage"(u% +3 "core" %a +2 "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(Z( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&p& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&;( +13 "core" ( +2 "manipulator"&& +4 "core" & g +2 "storage"( & +3 "core" & .  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +97 "core" ' +47 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +280 "core" ' + "storage"((- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +3 "core" &   +2 "manipulator"&,& +4 "core" & g +2 .tElbow.seek 3 +2 "manipulator"&i( +4 "core" ( +2 "manipulator"&& +4 "core" & k g +2 "storage"(& +3 "core" & y  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&{/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(`'X +8 "core" & g +2 "manipulator"&% +4 "core" % ϧ ~  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&\ ( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&7& +3 "core" &%  i <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &% . <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +100 "core" ' +2 "manipulator"&=& +3 "core" &%   <= +2 "manipulator"&R% +4 "core" %" +2 "collection"'#& +5 "core" &  +2 "collection"'L& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'3(V +4 "core" &  +8 &9  #c +9 &\\  6 +9 &  G +10 &c  F +9 &k  G +10 &^e  F +9 &!g  F +9 &i  F +10 &h  F +9 &fc  F +9 & )g  F +10 &!j  F +9 &#f  G +10 &%ni  F +9 &'0i  F +9 &(c  F +10 &*j  G +9 &,vg  F +9 &.8c  F +10 &/d  F +9 &1g  F +10 &3~j  F +9 &5@h  F +9 &7h  F +10 &8h  F +9 &:h  F +9 &\ g  F +9 &?d  F +10 &Ac  F +9 &CQe  F +9 &Em  G +10 &Fr  H +9 &H~  I +9 &JE  M +10 &K  P +9 &M  P +10 &O  Q +9 &QA  Q +9 &R  R +10 &T  R +9 &V1b  + +9 &V!  C +9 ( +2 &VN  ? +2 "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&H1 +55 "core" 1 +2 "manipulator"&4% +5 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%"& +3 "core" & +2 "manipulator"&% +4 "core" %\    +2 "storage"(?% +4 "core" %` +2 "storage"(X. +3 "core" .( +2 "storage"(5& +3 "core" & \\  +2 "storage"(& +4 "core" &  +2 "manipulator"&0& +4 "core" &$ y ;6 +2 "manipulator"&% +3 "core" %\  s  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +160 "core" ( +2 "manipulator"&9& +3 "core" & u +2 "storage"(D& +4 "core" & e  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +106 "core" ' + "storage"(& +5 "core" & 6  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +276 "core" ' + "storage"(P- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &  +2 "manipulator"&8& +4 "core" & u +2 .tElbow.seek 3 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&/& +4 "core" & u u +2 "storage"(6& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&B'ϩ +51 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&M/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(G'X +8 "core" & u +2 "manipulator"&% +4 "core" % ϳ +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t(s +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&l& +3 "core" &i . H  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c' +103 "core" ' +2 "manipulator"&1& +3 "core" &i d  +3 "manipulator"&T% +3 "core" % J +2 "processing"%.& +4 "core" &p +3 "processing"%~& +5 "core" &} +3 .tPC.seek :closed +2 "processing"%%(Z +3 "core" &e  +9 &8n )v +9 &ko = +10 &qo H +9 &rcn G +9 &4ft G +10 &hp G +9 &fo F +10 &zeo G +9 &=eh F +9 &en G +10 & dh G +9 &"en G +9 &$Dcn G +10 &&eg G +9 &'gy F +10 &)ep G +9 &+Mes F +9 &-eo G +10 &.cn G +9 &0gi G +9 &2Ten G +10 &4ei G +9 &5ip G +10 &7ep G +9 &9[hn G +9 &;dp G +10 &<ee G +9 &>fj G +9 &@cjb G +10 &B%g_ G +9 &Cj\\ G +10 &Ekl H +9 &Ge{^ I +9 &I"] K +10 &J] L +9 &L^ M +9 &Nc] M +10 &P%\\ M +9 &Q[ L +10 &S\\ M +9 &UkW M +9 &W,[ M +10 &Xd M +9 &Z>Eb_ $j +9 &Z -\\ " +6 ( +2 "processing"%~& +3 "core" &Z\\ " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&<1 +60 "core" 1 +2 "manipulator"&-% +3 "core" %  y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +98 "core" ' + "processing"%v& +4 "core" &Z^ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&+% +3 "core" %\   +2 "storage"(V% +4 "core" %N +2 "storage"(). +3 "core" .( +2 "storage"(n& +4 "core" & Z  +2 "storage"(K& +4 "manipulator"&[& +3 "core" &  +2 &i V  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"($'i + "manipulator"&J(s +7 "core" ( + "manipulator"&I& +4 "core" &i E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &i  +3 .tForearm.seek PC + "manipulator"&Q' +96 "core" ' +2 .tHand.close + "manipulator"&:/ +60 "core" / +3 .tPC.seek :open +2 "processing"%O( +80 "core" ' + "storage"(b- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(e'y +43 "core" ' +299 ( + "storage"(_& +4 "core" & o  +2 "manipulator"&\\& +4 "core" &i  +2 "manipulator"& % +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&m'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +262 "core" ( +2 "manipulator"&U& +4 "core" & o  +2 "storage"(o& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +95 "core" ' +2 .tHand.open + "manipulator"&g1 +64 "core" 1 +2 "storage"(- +4 "core" -'y +49 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(S'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(2& +5 "core" &\ G\ ; d  + "manipulator"&y& +5 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(s& +4 "core" &\ :\ 8 A  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +58 "core" ' +2 "manipulator"&& +4 "core" & Q  +2 "storage"('& +3 "core" & k  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +29 "core" ' + "manipulator"&w% +4 "core" %b +2 "storage"(& +4 "core" & }  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 273 counts + "manipulator"&]'ώ +12 "core" ' + "manipulator"&u& +4 "core" & @  +2 "storage"(W& +4 "core" & q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 "storage"( % +3 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (k% +4 "core" %>T b m  PH +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +95 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 (& +2 "core" &  +3 "collection"' & +3 "core" &VO  ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ % - F +3 "storage"(a% +3 "core" %W S +2 "storage"(q. +3 "core" .( +2 "storage"((& +3 "core" & )  +2 "storage"( & +3 "core" &  +2 "manipulator"&,& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"({& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"(& +3 "core" & /  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'i +279 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  +2 "storage"(&& +4 "core" & "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&j'} +20 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(R'P +32 "core" ' + "manipulator"&i% +4 "core" %΃ \  +2 "storage"(#& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&`'ϯ +20 "core" ' +2 "manipulator"&& +4 "core" & H  +2 "storage"(x& +3 "core" & %  +3 .tForearm.reconfigure :tight +46 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(4'? +37 "core" ' +2 "manipulator"&"& +3 "core" & Y  +3 "manipulator"&% +3 "core" % j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +162 "core" ( +3 "manipulator"&5& +3 "core" &) @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &) > @Z +3 .tForearm.seek CC + "manipulator"&L'" +96 "core" ' + .tHand.close +2 "manipulator"&0/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +3 "storage"( & +3 "core" &   +2 "storage"(9& +4 "core" &   +2 "manipulator"&D& +4 "core" &\ & e =C +2 "manipulator"&% +3 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&d( +163 "core" ( +2 "manipulator"&P& +3 "core" &  +2 "storage"(A& +4 "core" & )  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&8'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&61 +53 "core" 1 +2 "manipulator"&M% +4 "core" % Ά +2 "storage"(f& +5 "core" & #  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&'ϲ +20 "core" ' + "manipulator"&Y& +4 "core" & |  +2 "storage"(>& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +32 "core" ' +2 "storage"(B% +3 "core" %A   +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 (% +3 "core" %L  OD +2 "manipulator"&E% +4 "core" %& +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'T& +3 "core" &  +2 "manipulator"&.% +4 "core" %\ " 9 +2 "storage"(G% +4 "core" %N \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(*( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &  +2 "manipulator"&-& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&v( +33 "core" ( +2 "manipulator"&+& +3 "core" & h $ +3 "storage"(V& +3 "core" & 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +90 "core" ' +2 "storage"(~& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'i +282 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &  +2 "manipulator"&I& +4 "core" & _ +46 .tElbow.seek 2 +4 "manipulator"&N( +26 "core" ( +2 "manipulator"&c& +3 "core" & k p +2 "storage"(:& +4 "core" & h +3 .tForearm.seek 2 + 300 counts + "manipulator"&b' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"(%'X +8 "core" & E p +2 "manipulator"&$% +4 "core" %  l +2 .tForearm.seek :retract +2 "manipulator"&_'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"& & +4 "core" &&  \\ =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" && { =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +98 "core" ' +2 "manipulator"&o& +3 "core" &&  { =B +2 "manipulator"&J% +4 "core" %, X +2 "collection"'g& +5 "core" &  +2 "collection"'& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'m(V +3 "core" &   +9 &7  )w +10 &k  = +9 &r  G +9 &wc  G +10 &:h  F +9 &c  F +10 &f  F +9 &h  G +9 &Ag  G +10 &g  G +9 & e  G +9 &"j  G +10 &$Hh  G +9 && f  F +9 &'i  F +10 &)c  F +9 &+Rg  F +10 &-h  F +9 &.h  G +9 &0h  G +10 &2Zc  F +9 &4e  F +9 &5h  F +10 &7h  G +9 &9bg  F +10 &;$e  F +9 &<h  G +9 &>g  G +10 &@jh  F +9 &B,c  F +10 &Cg  F +9 &Ek  G +9 &Glv  I +10 &I)  J +9 &J  N +9 &L  P +10 &N]  P +9 &P  Q +10 &Q  Q +9 &S  R +9 &U]  B +10 &Vp;  . +9 &Vh  A +5 ( +2 "collection"'& +4 "core" &VM  A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&@1 +54 "core" 1 +3 "manipulator"&2% +4 "core" % , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +3 "manipulator"&s% +3 "core" %\ # 0 < +2 "storage"(% +4 "core" %Y a a +2 "storage"('. +2 "core" .( +2 "storage"(e& +4 "core" & u ` J +2 "storage"(w& +4 "core" & t f +2 "manipulator"&& +3 "core" && =B +3 "manipulator"&S% +3 "core" %\ # O < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&u( +160 "core" ( + "manipulator"&W& +4 "core" & u  +2 "storage"( & +4 "core" & y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(z& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +276 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & T +2 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" &  +2 "storage"(& +4 "core" & Y +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"('X +8 "core" & o  +2 "manipulator"&^% +5 "core" %  . +2 .tForearm.seek :retract + "manipulator"&a'\ +99 "core" ' +3 .tElbow.seek PC + "manipulator"&q(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +3 "manipulator"&(& +3 "core" &t * 0  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &t  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +96 "core" ' +2 "manipulator"&& +3 "core" &t \\  +3 "manipulator"&{% +3 "core" % 5 +3 "processing"%& +3 "core" & +3 "processing"%& +6 "core" &r +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &u +7 &> #c +9 &\\{ 6 +9 &q G +10 &cq F +9 &es G +9 &\\gt G +10 &cp G +9 &eq F +10 &gu G +9 &des G +9 & &gu G +10 &!h| G +9 &#ep F +9 &%let G +10 &'-ip G +9 &(eo G +10 &*jv G +9 &,ufj F +9 &.6gj G +10 &/co G +9 &1ep F +9 &3{eg G +10 &5=cf G +9 &7ef G +9 &8hi G +10 &:es F +9 &ep G +9 &?cq G +9 &Aes G +10 &CNhs G +9 &E kp H +10 &Fsi H +9 &Hp K +9 &JGd L +10 &Lc L +9 &Mm L +9 &Oj L +10 &QNe L +9 &S] M +10 &TZ M +9 &Vq M +9 &XSi M +10 &Yww] "j +9 &Z-}_ / +9 ( +3 "processing"%& +2 "core" &Zh ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&p% +3 "core" % 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +91 "core" ' +2 "processing"%7& +3 "core" &Zd ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&&% +3 "core" %\  {  +2 "storage"(=% +4 "core" %P  +2 "storage"(i. +3 "core" .( +2 "storage"(#& +3 "core" & +3 "storage"(& +2 "manipulator"&x& +7 "core" & + &t  +3 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&"(s +2 "storage"('i +4 "core" ( +3 "manipulator"&& +3 "core" &t   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &t  +2 .tForearm.seek PC +2 "manipulator"&;' +97 "core" ' + .tHand.close +2 "manipulator"&j/ +53 "core" / +2 .tPC.seek :open +3 "processing"%`( +88 "core" ' +2 "storage"(R- +5 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +43 "core" ' +289 ( +2 "storage"(& +3 "core" &  +2 "manipulator"&H& +4 "core" &t  +2 "manipulator"&!% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&0'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&?( +260 "core" ( + "manipulator"&3& +5 "core" &  + "storage"( & +4 "core" & B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +96 "core" ' + .tHand.open +2 "manipulator"&D1 +53 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(X& +4 "core" & \ O\ N = +2 "manipulator"&6& +3 "core" & \  +42 .tElbow.seek 2 +9 "manipulator"&M( +20 "core" ( +2 "manipulator"&f& +3 "core" &  +2 "storage"(Y& +5 "core" & \ K\ O U +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +57 "core" ' + "manipulator"&\ & +5 "core" &  + "storage"(& +5 "core" & [ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +22 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(T& +3 "core" & J +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&.' +21 "core" ' + "manipulator"&G& +5 "core" & <  + "storage"(& +5 "core" & y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +18 "core" ' +2 "storage"(C% +3 "core" %r 7 +3 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (Z% +3 "core" %T Y j  PG +2 "manipulator"&<% +4 "core" %Ѡ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +89 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +3 "core" & P +2 "collection"'V& +3 "core" &VM  A +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&~% +3 "core" %\   +2 "storage"(/% +4 "core" %R +2 "storage"(1. +3 "core" .( +2 "storage"(K& +3 "core" & ^ +2 "storage"([& +4 "core" & ( +2 "manipulator"&I& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&c( +4 "core" ( +2 "manipulator"&:& +3 "core" & M  +2 "storage"(t& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +93 "core" ' +2 "storage"($& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +274 "core" ' +3 "storage"()- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  +2 "storage"(n& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&Q' +34 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(J'O +28 "core" ' +2 "manipulator"&N% +3 "core" % .  +2 "storage"(g& +4 "core" & g b 0 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&%' +22 "core" ' + "manipulator"&_& +5 "core" &  + "storage"(& +4 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&@'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(2'> +37 "core" ' +2 "manipulator"&& +3 "core" &  +2 "manipulator"&s% +4 "core" %џ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +169 "core" ( +2 "manipulator"&& +3 "core" &% <: +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &% / <: +3 .tForearm.seek CC + "manipulator"&w'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'S( +413 "core" ( + "storage"(U& +4 "core" & +2 "storage"(W& +4 "core" & % +2 "manipulator"& & +4 "core" &%  <9 +2 "manipulator"&z% +3 "core" % ( +3 .tForearm.seek :retract + "manipulator"&\\'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&y( +159 "core" ( +2 "manipulator"&k& +4 "core" & ~  +2 "storage"(& +3 "core" & J +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +100 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % U + "storage"( & +4 "core" & - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +3 "manipulator"&^' +20 "core" ' + "manipulator"&u& +4 "core" & ?  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +20 "core" ' +2 "storage"(]% +3 "core" %E   +3 ."downElevator"SE.seek :down +4 "storage"(('X +98 ( % +3 "core" %P  OD +2 "manipulator"&% +4 "core" %ё +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +3 "core" &  +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %b  +2 "storage"(a. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(O( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &   +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&7( +14 "core" ( +2 "manipulator"&&& +3 "core" & o r +2 "storage"(=& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +95 "core" ' + "storage"(#& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &   +2 "manipulator"&& +3 "core" & r +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&,& +3 "core" & r +2 "storage"(j& +4 "core" & $  +3 .tForearm.seek 3 + 300 counts + "manipulator"&R'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +63 "core" / +48 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"('X +8 "core" & r +2 "manipulator"&% +4 "core" % Ϫ +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +46 "Can" Kp +99 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +23 "core" ( +2 "manipulator"&!& +3 "core" &% 5 r <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &;& +3 "core" &% D <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'" +94 "core" ' +3 "manipulator"& & +4 "core" &% <@ +2 "manipulator"&"% +4 "core" %+ +2 "collection"'D& +5 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'L(V +4 "core" &   +9 &9  *x +9 &+m  > +9 &r  H +10 &b  F +9 &Ph  G +10 &g  G +9 &h  F +9 &c  G +10 &Xh  G +9 &c  F +9 & f  F +10 &"k  G +9 &$ah  F +10 &&#f  F +9 &'i  F +9 &)h  G +10 &+hh  G +9 &-*g  G +9 &.c  F +10 &0f  G +9 &2og  G +10 &43c  F +9 &5c  G +9 &7e  G +10 &9xf  G +9 &;;c  F +9 &<f  F +10 &>i  G +9 &@f  G +10 &BAg  G +9 &De  G +9 &Ek  G +10 &Gu  I +9 &IA  J +9 &J  O +10 &L  P +9 &Nt  P +10 &P5  Q +9 &Q  Q +9 &S  R +10 &Uu  ? +9 &V{7  , +9 &Vg  C +6 ( + "collection"'& +4 "core" &VX  C +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&X1 +54 "core" 1 +2 "manipulator"&6% +4 "core" % + g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%f& +4 "core" & +2 "manipulator"&Y% +3 "core" %\  p  +2 "storage"(\ % +4 "core" %a ! +2 "storage"(. +3 "core" .( +2 "storage"(5& +3 "core" &  +2 "storage"(P& +4 "core" &  +2 "manipulator"&& +4 "core" &% w <? +2 "manipulator"&T% +4 "core" %\  W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +170 "core" ( + "manipulator"&& +5 "core" & b * + "storage"(C& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +91 "core" ' + "storage"(9& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +277 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &   +2 "manipulator"&>& +4 "core" & * +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&B& +3 "core" & * +2 "storage"(E& +3 "core" & V  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&V& + "storage"(~'X +8 "core" & _ * + "manipulator"&/% +4 "core" % Ϧ 6 +2 .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&K& +4 "core" &v g  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +47 "manipulator"&I' +105 "core" ' +2 "manipulator"&:& +3 "core" &v o  +3 "manipulator"&t% +3 "core" % U +3 "processing"%4& +3 "core" & +3 "processing"%$& +6 "core" & +2 .tPC.seek :closed +3 "processing"%l(Z +3 "core" &} +6 & 7 +10 &MN / +9 &{ D +9 &Ehu G +10 &e G +9 &d G +10 &h G +9 &Mbs G +9 &cq G +10 &d| F +9 &fq G +9 &!Uhr G +10 &#iy G +9 &$d{ F +10 &&c| G +9 &(\\h| G +9 &*e} G +10 &+h} G +9 &-i} G +9 &/fd F +10 &1'g G +9 &2b} G +10 &4e| F +9 &6mer G +9 &8/h| G +10 &9eo G +9 &;ev F +9 &=uew G +10 &?7h~ G +9 &@d{ F +10 &Bgq G +9 &D{jq G +9 &F<nq H +10 &Gx J +9 &Iq L +9 &Kvq L +10 &M6q M +9 &N| M +10 &Pu M +9 &R}u L +9 &T=r M +10 &V~ M +9 &Wt M +9 &Yp : +10 &Zo2w \\ +9 &Zt ! +2 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&d1 +63 "core" 1 +2 "manipulator"&-% +3 "core" %  o U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +99 "core" ' +2 "processing"% & +3 "core" &Z_ ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +4 "core" %\ \ Z  +2 "storage"(o% +3 "core" %R +2 "storage"(N. +4 "core" .( +2 "storage"(g& +3 "core" & K  +3 "storage"(_& +2 "manipulator"&& +7 "core" & 6  + &v  +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'i +2 "core" ( +2 "manipulator"&F& +4 "core" &v E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &v \   +2 .tForearm.seek PC +2 "manipulator"&v' +99 "core" ' +3 .tHand.close + "manipulator"&Q/ +53 "core" / + .tPC.seek :open +2 "processing"%%( +88 "core" ' + "storage"(J- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +287 ( +2 "storage"(e& +3 "core" &  +2 "manipulator"&@& +5 "core" &v  +2 "manipulator"&b% +4 "core" % I +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +266 "core" ( +2 "manipulator"&m& +3 "core" & ] \ +2 "storage"(U& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +87 "core" ' + .tHand.open +2 "manipulator"& 1 +54 "core" 1 +3 "storage"(z- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(k'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"('& +4 "core" &\ 8\ : 1  +2 "manipulator"&& +4 "core" & \ +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"& & +4 "core" & \\ +2 "storage"(u& +3 "core" &\ <\ 8  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +98 "core" ' +9 "manipulator"&\\& +4 "core" & +2 "storage"( & +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +25 "core" ' +2 "manipulator"&^% +4 "core" %΀ +2 "storage"({& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&'Ϭ +21 "core" ' + "manipulator"&& +4 "core" & X +2 "storage"(a& +4 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +32 "core" ' +2 "storage"(r% +4 "core" %o +3 ."downElevator"SE.seek :down +3 "storage"(('X +100 (*% +2 "core" %fW d m QJ +2 "manipulator"&% +4 "core" %0 | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +93 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +4 "core" & w  +2 "collection"'=& +3 "core" &VW  C +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&#% +3 "core" %\  ! +2 "storage"(}% +5 "core" %a  + "storage"(. +4 "core" .( + "storage"(& +4 "core" & 7  +2 "storage"(x& +3 "core" &   +3 "manipulator"&& +3 "core" & +2 .tElbow.seek 3 +2 "manipulator"&,( +4 "core" ( + "manipulator"&j& +4 "core" & L +2 "storage"(q& +4 "core" & w  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +99 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'i +277 "core" ' + "storage"(i- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&;'} +27 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"("'P +29 "core" ' +2 "manipulator"&% +3 "core" %΋ +2 "storage"(D& +4 "core" & m  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +20 "core" ' +2 "manipulator"&& +3 "core" & Y +2 "storage"(S& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(6'? +39 "core" ' +2 "manipulator"&f& +3 "core" & +2 "manipulator"&Y% +4 "core" %E ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +162 "core" ( +3 "manipulator"&5& +4 "core" &(  ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( T ?P +2 .tForearm.seek CC +2 "manipulator"&P'" +100 "core" ' +46 .tHand.close +3 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'T( +413 "core" ( +2 "storage"(3& +3 "core" &   +2 "storage"(& +4 "core" & Y  +2 "manipulator"&C& +4 "core" &&  =C +2 "manipulator"&9% +3 "core" % 0 q +3 .tForearm.seek :retract +2 "manipulator"&H'\ +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&0( +166 "core" ( +2 "manipulator"&Z& +3 "core" & S V +2 "storage"(<& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&>'} +99 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&E1 +54 "core" 1 +2 "manipulator"&+% +4 "core" % ΍ +2 "storage"(V& +3 "core" & [  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&/'Ϲ +20 "core" ' +2 "manipulator"&G& +3 "core" & y V +2 "storage"(?& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +33 "core" ' +2 "storage"(.% +3 "core" %C P +3 ."downElevator"SE.seek :down +4 "storage"(K'X +98 ([% +3 "core" %R  PF +2 "manipulator"&M% +4 "core" % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +94 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'t& +3 "core" &  +2 "manipulator"&4% +3 "core" %\ 6 +2 "storage"(~% +4 "core" %b V +2 "storage"(1. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(`( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &  +2 "manipulator"&-& +4 "core" & V +2 .tElbow.seek 2 +2 "manipulator"& ( +43 "core" ( + "manipulator"&n& +4 "core" &\ { "~ +2 "storage"(o& +4 "core" &  . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +90 "core" ' + "storage"($& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +2 "core" &   +3 "manipulator"&F& +3 "core" & "z +2 .tElbow.seek 2 +3 "manipulator"&c( +35 "core" ( +2 "manipulator"&I& +3 "core" & v Q +2 "storage"(Q& +4 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&J' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +3 "storage"(l'X +7 "core" & Q +2 "manipulator"&s% +4 "core" %  b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +153 "core" ' +2 ."downElevator"SE.stop +47 "storage"(5 +3 "core" ( +2 "manipulator"&b& +5 "core" && f =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" && =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'" +99 "core" ' +2 "manipulator"&U& +3 "core" && p =D +3 "manipulator"&% +3 "core" % y K +3 "collection"' & +3 "core" &  +3 "collection"'z& +5 "core" &  +3 .tCC.seek :closed + "collection"'w(V +4 "core" &  +8 &H  #c +9 &\\  6 +10 &)  G +9 &d  F +9 &j  G +10 &oe  G +9 &2d  F +10 &f  F +9 &h  G +9 &we  G +10 & :c  F +9 &!f  F +9 &#j  G +10 &%i  G +9 &'Af  G +10 &)h  F +9 &*i  G +9 &,f  G +10 &.Jh  F +9 &0 h  G +9 &1g  G +10 &3c  F +9 &5Se  F +10 &7g  G +9 &8b  F +9 &:h  G +10 &c  F +9 &?f  F +10 &Ah  F +9 &Cad  G +10 &E"h  G +9 &Fu  H +9 &H  J +10 &JV  M +9 &L  P +9 &M  Q +10 &O  Q +9 &QT  Q +10 &S  R +9 &T  R +9 &VCg  / +10 &V  8 +9 &Wi  C +5 ( +2 "collection"'z& +4 "core" &WW  C +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&'1 +60 "core" 1 +4 "manipulator"&% +3 "core" %  - K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%u& +3 "core" & +2 "manipulator"&% +4 "core" %\   +2 "storage"(\\% +4 "core" %\\ u 2 +2 "storage"( . +3 "core" .( +2 "storage"(& +3 "core" &  t % +2 "storage"(k& +4 "core" &  d t  +2 "manipulator"&^& +4 "core" && =D +2 "manipulator"&{% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&a& +3 "core" & p  +2 "storage"(& +4 "core" &  * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +99 "core" ' + "storage"(r& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(*- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&]& +3 "core" & R  +2 "storage"(& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(#'X +8 "core" &  +2 "manipulator"&}% +3 "core" %  W +3 .tForearm.seek :retract +2 "manipulator"&h'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &k { +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +114 "core" ' +2 "manipulator"&j& +3 "core" &k \\ +2 "manipulator"&q% +5 "core" % c +2 "processing"%2& +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%((Z +5 "core" & +53 &> #b +4 &\\ 6 +2 & G + &b F +2 &e G + &^h G + & c G +8 &f F +9 &g G +10 &fjq G +9 & 'i} G +9 &!c G +10 &#eu G +9 &%mj G +9 &'1g~ F +10 &(g G +9 &*g G +10 &,vd G +9 &.8g} G +9 &/g G +10 &1e F +9 &3~ez G +9 &5@e{ G +10 &7e F +9 &8g~ F +10 &:fv G +9 &\ c G +10 &?cq G +9 &Acz G +9 &COhq G +10 &El~ H +9 &Fsv H +10 &H} J +9 &JHv L +9 &L\ x L +10 &M{ L +9 &O L +9 &QOz M +10 &S~ M +9 &T~ M +10 &Vv M +9 &XUq M +9 &Ywv~ "k +10 &Z(ps , +9 ( + &Z{ ! +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&y1 +65 "core" 1 +2 "manipulator"&p% +3 "core" % { c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' + "processing"%!& +4 "core" &Zl ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +3 "storage"( % +3 "core" %\\ +2 "storage"(. +4 "core" .( + "storage"(D& +4 "core" &  +2 "storage"(& +3 "manipulator"&S& +8 "core" &  + &k +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&f(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +2 "core" ( +3 "manipulator"&|& +3 "core" &k +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&7' +96 "core" ' + .tHand.close +2 "manipulator"&;/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"("- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +45 "core" ' +288 ( + "storage"(& +4 "core" &  +2 "manipulator"&X& +3 "core" &k +2 "manipulator"&R% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +263 "core" ( +2 "manipulator"&L& +3 "core" & +2 "storage"(3& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + .tHand.open +2 "manipulator"&C1 +62 "core" 1 +3 "storage"(9- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(Z' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(<- +2 "core" -' +3 "storage"(& +3 "core" & \ N\ O Q +2 "manipulator"&E& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&V& +4 "core" & +2 "storage"(G& +4 "core" & \ O\ O E +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +3 "storage"(.' +58 "core" ' + "manipulator"&H& +4 "core" & +2 "storage"([& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +26 "core" ' +2 .tElbow.hold + "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 .tSE.reconfigure :default +10 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'i +25 "core" ' + "manipulator"&/% +4 "core" % } ^ +2 "storage"(t& +4 "core" &  w # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&4' +19 "core" ' +2 "manipulator"&~& +3 "core" & O +2 "storage"(1& +4 "core" &  R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +18 "core" ' +2 "storage"(A% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(K'X +100 (O% +2 "core" %{T ` ` $ PH +2 "manipulator"&d% +4 "core" %р +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (n& +3 "core" &  j +3 "collection"'o& +3 "core" &WW  C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&$% +3 "core" %\   +3 "storage"(B% +3 "core" %Q  +2 "storage"(:. +3 "core" .( +2 "storage"(& +3 "core" &  q +2 "storage"(_& +4 "core" &  \ +2 "manipulator"&F& +3 "core" & +3 .tElbow.seek 2 + "manipulator"&I( +4 "core" ( +2 "manipulator"&Q& +3 "core" & +2 "storage"(8& +4 "core" &  K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +96 "core" ' + "storage"(s& +4 "core" &  , +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +285 "core" ' +2 "storage"(N- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & +2 "storage"(J& +4 "core" &  7 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&b' +34 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'N +28 "core" ' + "manipulator"&% +4 "core" % L +2 "storage"( & +3 "core" &  n n +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&l' +18 "core" ' + "manipulator"&e& +4 "core" & +2 "storage"(T& +4 "core" &  6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&''ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('= +37 "core" ' +2 "manipulator"&u& +4 "core" & +2 "manipulator"&% +3 "core" %ѯ p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +161 "core" ( +3 "manipulator"&& +3 "core" &' S >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &' " >K +2 .tForearm.seek CC +2 "manipulator"&k'" +97 "core" ' +2 .tHand.close + "manipulator"&^/ +55 "core" / +2 .tCC.seek :open +2 "collection"'{( +415 "core" ( +2 "storage"(m& +4 "core" &   +2 "storage"(a& +3 "core" &   +2 "manipulator"&& +4 "core" &' >K +2 "manipulator"&r% +4 "core" %  +2 .tForearm.seek :retract +41 "manipulator"&@'\ +107 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +158 "core" ( +2 "manipulator"&*& +3 "core" & _  +2 "storage"(& +4 "core" &  1 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +99 "core" ' +2 .tElbow.hold + "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&&% +4 "core" % +2 "storage"(=& +3 "core" &  K +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&}' +19 "core" ' +2 "manipulator"&& +4 "core" & &  +2 "storage"(W& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 "storage"(% +3 "core" %B ! +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (x% +3 "core" %O  OE +2 "manipulator"&% +4 "core" %ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'q& +3 "core" &  +2 "manipulator"&2% +4 "core" %\ \  +2 "storage"(#% +3 "core" %\\  +2 "storage"(h. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(%( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" &   +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&!( +12 "core" ( + "manipulator"&& +4 "core" & A k +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' + "storage"(D& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(S- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&|& +3 "core" & k +2 .tElbow.seek 3 +2 "manipulator"&,( +4 "core" ( +2 "manipulator"&& +3 "core" & g k +2 "storage"(;& +4 "core" & s  +3 .tForearm.seek 3 + 300 counts + "manipulator"&"'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(('X +8 "core" & k +2 "manipulator"&Y% +3 "core" % Ϟ @ +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&R& +4 "core" &% <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &% <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'" +102 "core" ' + "manipulator"&3& +4 "core" &% < <= +2 "manipulator"&f% +4 "core" %) Z +47 "collection"'C& +7 "core" &  +2 "collection"'9& +6 "core" &  +2 .tCC.seek :closed +3 "collection"'<(V +3 "core" &  +6 &  : +10 &PO  0 +9 &~  D +9 &Re  G +10 &c  F +9 &e  F +9 &i  F +10 &[c  G +9 &g  G +10 &b  F +9 &c  G +9 &!dh  F +10 &#%c  G +9 &$d  F +9 &&d  F +10 &(ke  G +9 &*/b  F +10 &+c  F +9 &-d  F +9 &/sg  G +10 &16c  F +9 &2e  F +9 &4h  F +10 &6{h  G +9 &8>e  F +10 &9b  G +9 &;g  G +9 &=c  G +10 &?Fh  F +9 &Ac  F +9 &Bf  F +10 &Dj  G +9 &FKn  G +10 &H }  I +9 &I  L +9 &Kx  P +10 &M7  Q +9 &N  P +9 &P  Q +10 &R|  Q +9 &T;  R +10 &Ut  B +9 &V}  #d +9 &V)  I +10 ( + &WW  C +2 "collection"'9& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&E% +3 "core" % ) G +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%G& +4 "core" & +2 "manipulator"&% +3 "core" %\  v  +2 "storage"(H% +4 "core" %U y +2 "storage"([. +3 "core" .( +2 "storage"(5& +3 "core" & w K  +2 "storage"(P& +4 "core" &  +2 "manipulator"&/& +4 "core" &% x <: +2 "manipulator"&t% +3 "core" %\  7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&~( +166 "core" ( +2 "manipulator"&1& +4 "core" & g + +2 "storage"(\ & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +95 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'i +279 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &   +2 "manipulator"&d& +3 "core" & + +2 .tElbow.seek 3 +2 "manipulator"&+( +4 "core" ( +2 "manipulator"&.& +3 "core" & 9 + +2 "storage"(M& +4 "core" & W  +3 .tForearm.seek 3 + 300 counts + "manipulator"&4'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"($'X +8 "core" & n + +2 "manipulator"&B% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&:'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"&& +4 "core" &y =  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&F' +103 "core" ' +2 "manipulator"&Q& +4 "core" &y V  +2 "manipulator"&8% +4 "core" % x +2 "processing"%6& +4 "core" & +3 "processing"%s& +5 "core" & +2 .tPC.seek :closed +2 "processing"%K(Z +5 "core" & +6 &> #b +9 &Z 5 +9 & H +10 &g G +9 &e G +9 &Uf G +10 &h G +9 &c G +10 &e F +9 &]g G +9 & e G +10 &!e F +9 &#g| G +9 &%fg~ F +10 &''g G +9 &(e F +10 &*g G +9 &,ne F +9 &./f G +10 &/c~ G +9 &1f} G +9 &3ti G +10 &58e} F +9 &6f G +10 &8h} G +9 &:~d~ F +9 &<@e F +10 &>e} G +9 &?i G +9 &Ad G +10 &CFh G +9 &En} G +10 &Fs H +9 &H K +9 &J@~ L +10 &L L +9 &My L +9 &Ou L +10 &QF~ M +49 &S{ M +4 &Ty M +2 &V| M +2 &XLq M + &Yxuu "j + &Z-}q . +6 ( + &Zq +2 "processing"%s& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&01 +61 "core" 1 +2 "manipulator"&-% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +98 "core" ' +2 "processing"%g& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&J% +4 "core" %\ % C +2 "storage"(c% +4 "core" %a s a [ +2 "storage"(. +2 "core" .( +2 "storage"( & +4 "core" & r  +3 "storage"(e& +2 "manipulator"&T& +5 "core" & j x b  +2 &y  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(u'i + "manipulator"&(s +5 "core" ( +2 "manipulator"&)& +3 "core" &y  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' + .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tPC.seek :open +2 "processing"%l( +84 "core" ' + "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +293 ( + "storage"(z& +4 "core" & ,  +2 "manipulator"&'& +3 "core" &y \   +2 "manipulator"&v% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&\\( +264 "core" ( +2 "manipulator"&w& +3 "core" & 3 +2 "storage"(m& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +99 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(r- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(k'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(*' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" &\ O\ N c  +2 "manipulator"&& +4 "core" & \  +2 .tElbow.seek 3 +2 "manipulator"&&( +4 "core" ( +2 "manipulator"&=& +3 "core" & +2 "storage"(& +4 "core" &\ N\ N m  +3 .tForearm.seek 3 + 700 counts + "manipulator"&W'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&@& +3 "core" & +3 "storage"(x& +3 "core" & O  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +25 "core" ' +2 "manipulator"&}% +3 "core" %o +2 "storage"(q& +4 "core" & D  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 286 counts +2 "manipulator"&2'ϛ +20 "core" ' + "manipulator"&#& +5 "core" & H + "storage"(h& +5 "core" &   +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' + "storage"(% +4 "core" %s ) +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (`% +4 "core" %dR l l " PH +2 "manipulator"&y% +4 "core" % u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +87 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & { K  +2 "collection"' & +5 "core" &WW  C + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&D% +3 "core" %\   +3 "storage"(]% +3 "core" %N ^ +2 "storage"(j. +4 "core" .( + "storage"(S& +4 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&|& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&;& +4 "core" & +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&i'9 +97 "core" ' +2 "storage"(Y& +3 "core" & (  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & +2 "storage"(7& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'P +32 "core" ' +2 "manipulator"&,% +3 "core" %΄ ] +2 "storage"(C& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&('ϰ +20 "core" ' +2 "manipulator"&& +3 "core" & I +2 "storage"({& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(E'? +40 "core" ' +2 "manipulator"&G& +4 "core" & +2 "manipulator"&% +3 "core" %V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +160 "core" ( +3 "manipulator"&5& +3 "core" &' ] >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &' m >L +2 .tForearm.seek CC +2 "manipulator"&P'" +97 "core" ' +2 .tHand.close + "manipulator"&// +60 "core" / +2 .tCC.seek :open + "collection"'t( +416 "core" ( +2 "storage"(L& +3 "core" &   +2 "storage"(1& +4 "core" & D  +2 "manipulator"&\ & +4 "core" &% U <@ +2 "manipulator"&% +3 "core" % 3 C +3 .tForearm.seek :retract +2 "manipulator"&X'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&V( +161 "core" ( +2 "manipulator"&?& +3 "core" & ^ x +2 "storage"(O& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&d'} +98 "core" ' +8 .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tHand.open +2 "manipulator"&M1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % ΋ \\ +2 "storage"(o& +5 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&B'Ϸ +20 "core" ' +2 "manipulator"&~& +4 "core" & \ x +2 "storage"(A& +3 "core" & 3  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +26 "core" ' +2 "storage"(4% +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"('X +100 (_% +2 "core" %N  OD +2 "manipulator"&+% +4 "core" %w | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'8& +3 "core" &  +2 "manipulator"&6% +4 "core" %\   +2 "storage"($% +3 "core" %b  +2 "storage"(:. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" &  +2 "manipulator"&-& +4 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&g( +37 "core" ( + "manipulator"&J& +4 "core" & { "x +2 "storage"(c& +4 "core" & X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + "storage"(s& +4 "core" & 1 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +3 "core" & h +2 "manipulator"&)& +3 "core" & !s +3 .tElbow.seek 2 + "manipulator"&I( +32 "core" ( +3 "manipulator"&F& +3 "core" &  +2 "storage"(b& +3 "core" & ! +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(K'X +8 "core" &  +2 "manipulator"&u% +4 "core" % 1 : +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&v& +3 "core" &% 8 ` <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &% < <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&w'" +106 "core" ' +3 "manipulator"&m& +4 "core" &% v <> +2 "manipulator"&% +5 "core" %$ o + "collection"'& +4 "core" &  +3 "collection"'r& +5 "core" &  +2 .tCC.seek :closed +3 "collection"'(V +4 "core" &  +5 &  7 +10 &IL  / +9 &|  D +9 &Ce  G +10 &f  G +9 &c \ F +10 &e  F +9 &Li  G +9 &f  G +10 &e  G +9 &h  F +9 &!Tc  G +10 &#h  F +9 &$g  F +9 &&h  F +10 &(]c  F +9 &*b  F +10 &+d  F +9 &-f  G +9 &/eh \ F +51 &1&g  G +3 &2e  G + &4b  F + &6mb  F + &80d  F + &9e  G +8 &;c  F +9 &=tc  G +10 &?6f  G +9 &@c  F +9 &Bd  G +10 &D|j  G +9 &F=n  G +10 &G}  I +9 &I  K +9 &Ki  P +10 &M*  P +9 &N  Q +10 &P  Q +9 &Rm  Q +9 &T,  R +10 &Ux  > +9 &V0  #i +9 &VR  B +3 ( + "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open +2 "manipulator"& 1 +52 "core" 1 +3 "manipulator"&% +3 "core" % $ u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&^% +4 "core" %\   +2 "storage"(@% +3 "core" %` +2 "storage"(x. +4 "core" .( + "storage"(}& +4 "core" & Y +2 "storage"(q& +4 "core" & { +2 "manipulator"&& +3 "core" &%  <> +2 "manipulator"&#% +5 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +161 "core" ( +2 "manipulator"&h& +3 "core" & U  +2 "storage"(\\& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +93 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(*'i +277 "core" ' + "storage"(W- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & A +2 "manipulator"&y& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&&( +4 "core" ( +2 "manipulator"&& +3 "core" & (  +2 "storage"(& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&2' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(D'X +8 "core" &  +2 "manipulator"&]% +3 "core" % + H +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +3 "manipulator"&S& +4 "core" &s ) | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&|' +103 "core" ' +2 "manipulator"&;& +4 "core" &s W +2 "manipulator"&% +4 "core" % + +2 "processing"%& +4 "core" & +3 "processing"%Y& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & +6 &= #c +9 &[ 6 +9 & H +10 &g G +9 &g G +9 &[e G +10 &c G +9 &e G +10 &g F +9 &cg G +9 & &g F +10 &!f G +9 &#f G +9 &%lf F +10 &',f G +9 &(e G +10 &*f F +9 &,rgz G +9 &.5g G +10 &/e F +9 &1e~ G +9 &3{e~ G +10 &5<h~ G +9 &6ev G +10 &8iz G +9 &:e~ G +9 &e~ F +9 &?g~ G +9 &Ae F +10 &CKh G +9 &E h G +10 &Fs I +9 &H J +9 &JE L +10 &L L +9 &M L +9 &O L +10 &QL M +9 &S M +10 &T L +9 &V M +9 &XR} M +10 &Yxs !i +9 &Z+x~ . +9 ( + &Zq ! +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&p% +3 "core" % ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%R& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +47 "manipulator"&7% +6 "core" %\  \   +2 "storage"(3% +4 "core" %O +2 "storage"(,. +3 "core" .( +2 "storage"(C& +3 "core" & +3 "storage"(& +2 "manipulator"&{& +6 "core" & w +3 &s \  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(G'i + "manipulator"&(s +7 "core" ( + "manipulator"&i& +5 "core" &s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &s +3 .tForearm.seek PC + "manipulator"&!' +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +4 .tPC.seek :open +2 "processing"%(( +88 "core" ' +2 "storage"(f- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'y +44 "core" ' +289 ( + "storage"(9& +4 "core" & +2 "manipulator"&& +4 "core" &s +2 "manipulator"&"% +3 "core" %  & +3 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +257 "core" ( +2 "manipulator"&<& +3 "core" & 5 +2 "storage"(L& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +95 "core" ' + .tHand.open +2 "manipulator"&\ 1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(O' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"([& +4 "core" & \ :\ B v +2 "manipulator"&M& +4 "core" & 5 +2 .tElbow.seek 2 +2 "manipulator"&n( +12 "core" ( +2 "manipulator"&o& +3 "core" & d  +2 "storage"(~& +5 "core" & \ ;\ < ' +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +59 "core" ' +2 "manipulator"&X& +4 "core" &  +2 "storage"(_& +3 "core" & | B +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&+' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'i +29 "core" ' + "manipulator"&B% +4 "core" % P & +2 "storage"(8& +4 "core" & q m  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&6' +19 "core" ' +2 "manipulator"&$& +4 "core" & U  +2 "storage"(:& +3 "core" & v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +17 "core" ' +2 "storage"(Z% +3 "core" %o E +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (%% +3 "core" %rW k ` QI +2 "manipulator"&0% +4 "core" %ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&-'\ +88 "core" ' +28 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" & I +2 "collection"'c& +4 "core" &VZ  B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&s% +3 "core" %\   +3 "storage"(.% +3 "core" %W t +2 "storage"(Q. +4 "core" .( + "storage"(e& +4 "core" & +2 "storage"(T& +4 "core" & +2 "manipulator"&)& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&F( +10 "core" ( +2 "manipulator"&b& +3 "core" & +2 "storage"(>& +5 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +92 "core" ' + "storage"(u& +4 "core" & f +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +280 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & +2 "storage"( & +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& ' +30 "core" ' +2 .tElbow.hold + "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(I'N +37 "core" ' +2 "manipulator"&% +3 "core" % +2 "storage"(& +4 "core" & q r +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&K' +18 "core" ' +2 "manipulator"&z& +4 "core" & +2 "storage"(t& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +38 "core" ' +2 "manipulator"&& +3 "core" & , +2 "manipulator"&^% +4 "core" % 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +161 "core" ( +3 "manipulator"&}& +3 "core" &&  =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" && =E +2 .tForearm.seek CC +2 "manipulator"&'" +92 "core" ' + .tHand.close +2 "manipulator"&r/ +55 "core" / +2 .tCC.seek :open + "collection"'#( +413 "core" ( +2 "storage"(w& +3 "core" &  +2 "storage"(h& +4 "core" &  +2 "manipulator"&\\& +4 "core" && =E +2 "manipulator"&% +3 "core" % ) \ +3 .tForearm.seek :retract +2 "manipulator"&''\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&=( +158 "core" ( +2 "manipulator"&W& +4 "core" &  +2 "storage"(`& +3 "core" & W +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&y' +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +3 "core" % | +2 "storage"( & +5 "core" & & + .tForearm.force -20 +2 "manipulator"&5 +42 .tForearm.seek 2 + 319 counts +10 "manipulator"&]' +22 "core" ' + "manipulator"&k& +4 "core" & I  +3 "storage"(a& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +20 "core" ' +2 "storage"(2% +3 "core" %E T +3 ."downElevator"SE.seek :down +4 "storage"(S'X +100 (% +3 "core" %Q  OE +2 "manipulator"&&% +3 "core" %щ 3 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &   +2 "manipulator"&% +3 "core" %\   +3 "storage"(D% +3 "core" %W  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(l( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &  +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&R( +15 "core" ( + "manipulator"&7& +5 "core" & w I + "storage"(Y& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +102 "core" ' +2 "storage"(,& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'i +283 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ({& +3 "core" &   +2 "manipulator"&i& +4 "core" & I +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&|& +3 "core" & G I +2 "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&f'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&j/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" & e I + "manipulator"&G% +4 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&"& +3 "core" &" $ 9) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +2 "core" &" 4 9) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'" +103 "core" ' +4 "manipulator"&L& +3 "core" &" ~ 9) +3 "manipulator"&% +3 "core" %* W +3 "collection"'\ & +3 "core" &   +3 "collection"'& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'P(V +5 "core" &   +8 &9  *y +9 &+m  > +10 &p  G +9 &b  F +10 &Rd  F +9 &f  G +9 &c  F +10 &c  G +9 &Xf  G +9 &c  F +10 & f  F +9 &"j  G +10 &$`e  G +9 &&#c  F +9 &'c  G +10 &)e  G +9 &+gg  G +9 &-+b  F +10 &.c  F +9 &0e  G +10 &2pg  G +9 &43g  F +9 &5h  F +10 &7h  F +9 &9yh  F +9 &;;h  F +10 &<h \ G +9 &>f  G +10 &@f  G +9 &BCh  F +9 &Dj  G +10 &En  G +9 &Gw  H +9 &I@ \ J +10 &J \ O +9 &L  Q +10 &Nt  P +9 &P3  Q +9 &Q  Q +10 &S  R +9 &Uu  ? +9 &Vz7  , +10 &Vo  D +5 ( +2 "collection"'& +4 "core" &VY  D +2 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&[1 +57 "core" 1 +3 "manipulator"&M% +48 "core" % * W +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%~& +3 "core" & +2 "manipulator"&/% +4 "core" %\    +2 "storage"(X% +4 "core" %T +2 "storage"(_. +3 "core" .( +2 "storage"(5& +3 "core" &  +3 "storage"(B& +3 "core" &  +2 "manipulator"&8& +4 "core" &" 9% +2 "manipulator"&?% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&$( +166 "core" ( +2 "manipulator"&:& +3 "core" & T g +2 "storage"(Z& +4 "core" & ~  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&H'9 +96 "core" ' + "storage"(1& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(O'i +282 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (0& +3 "core" & N  +2 "manipulator"&A& +3 "core" & g +3 .tElbow.seek 3 + "manipulator"&n( +4 "core" ( + "manipulator"&4& +4 "core" & y g +2 "storage"(+& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(s'X +8 "core" & g +2 "manipulator"&d% +3 "core" % ϱ 8 +3 .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' +4 .tElbow.seek PC +2 "manipulator"&Q(s +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&e& +3 "core" &k   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &k  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +100 "core" ' +2 "manipulator"&b& +3 "core" &k c  +3 "manipulator"&>% +3 "core" % _ c +2 "processing"%u& +5 "core" & +2 "processing"%E& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & +6 &= #c +9 &\\ 6 +10 & G +9 &c G +9 &i G +10 &^c G +9 & c G +10 &c G +9 &g F +9 &gg F +10 & (f G +9 &!h G +9 &#f F +10 &%nf G +9 &'0e G +10 &(e G +9 &*i G +9 &,vd G +10 &.9e F +9 &/d F +10 &1e G +9 &3~c G +9 &5@d G +10 &7f~ F +9 &8fz G +9 &:h~ G +10 & d F +9 &?e F +10 &Ae G +9 &CPh G +10 &Em| H +9 &Fs H +9 &H J +10 &JH L +9 &L\  L +10 &M M +9 &O M +9 &QO M +10 &S M +9 &T L +9 &V M +10 &XT N +9 &Ywv "j +9 &Z'k + +9 ( +2 &Zq " +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&V1 +56 "core" 1 + "manipulator"&-% +4 "core" % m c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 "processing"%v& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\  +2 "storage"(m% +4 "core" %a K +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & H  +3 "storage"(z& +2 "manipulator"&t& +7 "core" & =  +2 &k S  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +51 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i +2 "manipulator"&^(s +6 "core" ( + "manipulator"&N& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &k  +3 .tForearm.seek PC +2 "manipulator"&g' +95 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%K( +84 "core" ' + "storage"(I- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'y +34 "core" ' +298 ( +2 "storage"(q& +4 "core" &  +2 "manipulator"& & +3 "core" &k G  +2 "manipulator"&U% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&r'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&@( +264 "core" ( +2 "manipulator"&& +3 "core" & c  +2 "storage"(w& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +87 "core" ' +3 .tHand.open +2 "manipulator"&\\1 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(x& +3 "core" &\ F\ E  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & I  +2 "storage"(k& +4 "core" &\ 8\ < a  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"('' +60 "core" ' + "manipulator"&2& +4 "core" &  +2 "storage"(=& +3 "core" & v  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&&, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(y'i +23 "core" ' +2 "manipulator"&]% +3 "core" %Ώ +2 "storage"(& +4 "core" & c  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&'ϻ +20 "core" ' + "manipulator"&D& +4 "core" &   +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +31 "core" ' +2 "storage"(*% +4 "core" %l   +2 ."downElevator"SE.seek :down +5 "storage"(S'X +99 (% +3 "core" %T ` m 4 OG +2 "manipulator"& % +4 "core" %0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" &    +2 "collection"'Y& +4 "core" &VX  D +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&,% +4 "core" %\  \  % +2 "storage"(% +4 "core" %V  +2 "storage"(;. +2 "core" .( +2 "storage"(& +5 "core" & @  +46 "storage"({& +5 "core" &   +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&|( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(j& +4 "core" & %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' + "storage"(G& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +283 "core" ' +2 "storage"(3- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  +2 "storage"(!& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +26 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(L'P +28 "core" ' + "manipulator"&% +4 "core" %| +2 "storage"(\ & +3 "core" & g u N  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&'Ϩ +20 "core" ' +2 "manipulator"&9& +4 "core" &   +2 "storage"(#& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'? +38 "core" ' +2 "manipulator"&& +3 "core" & }  +2 "manipulator"&~% +4 "core" %> ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +161 "core" ( +3 "manipulator"&_& +4 "core" &% p <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &% { <= +2 .tForearm.seek CC +2 "manipulator"&B'" +98 "core" ' +2 .tHand.close + "manipulator"&8/ +58 "core" / +2 .tCC.seek :open +2 "collection"'?( +412 "core" ( +2 "storage"(<& +3 "core" &  +3 "storage"(:& +3 "core" & (  +2 "manipulator"&Z& +3 "core" & " 9$ +2 "manipulator"&1% +4 "core" % # D w +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&o( +166 "core" ( +2 "manipulator"&%& +3 "core" & 2 h +2 "storage"(0& +4 "core" & ;  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&A'} +97 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&+1 +56 "core" 1 +2 "manipulator"&J% +4 "core" % w +2 "storage"(c& +3 "core" & ~  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 294 counts +3 "manipulator"&d'ϣ +21 "core" ' +2 "manipulator"&$& +3 "core" & h +2 "storage"(H& +4 "core" & X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +35 "core" ' +2 "storage"(6% +4 "core" %E  +2 ."downElevator"SE.seek :down +47 "storage"(e'X +99 (T% +3 "core" %{G  PE +2 "manipulator"&n% +3 "core" %/ l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +18904 "Can" 5 +45585 #t-> exit +7 #mEXIT @1734448873.32EST @1734542730.38EST = =tMAIN =mMAIN_scheduler @EST1734542731.14 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +110 #"core_reset"Sent BREAK + #t@53585 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +252 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +392 "Can" ] +2  ] + #tPolling Can every 10:00 +14 #Cleanly exited at 10:21:13EST17-Dec-24 +493 #-> ESP.ready! +3 #Powering core bus +554 .Gate.power :raw,:ON +13 "sampler") +40 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 1 +2 "storage"(1% +3 "core" %` +2 "manipulator"&2% +4 "core" %\  c  +2 "manipulator"&3& +3 "core" &  % +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(4(<* +650 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &<) /  +1341 #t-> access 2 +2 "storage"(6% +3 "core" %`  +3 "manipulator"&7% +3 "core" %\     +2 "manipulator"&8& +4 "core" &   % +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(9(K +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &K $  +2028 #t-> access 3 +2 "storage"(;% +3 "core" %` . +2 "manipulator"&<% +4 "core" %\   9  +2 "manipulator"&=& +3 "core" & v % +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(>([ +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &[  +1742 #t-> access 2 +2 "storage"(@% +3 "core" %`  +2 "manipulator"&A% +3 "core" %\  V  +3 "manipulator"&B& +3 "core" & = % +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &K  +11868 #t-> exit +7 #mEXIT @1734542970.01EST @1734543008.87EST = =mMAIN_scheduler =tMAIN @EST1734543009.63 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK + #t@52261 receive with ifg=0x10, ie=0xFD + #@52906 receive with ifg=0x10, ie=0xFD + #@53565 receive with ifg=0x10, ie=0xFD + #@54208 receive with ifg=0x10, ie=0xFD + #@54856 receive with ifg=0x10, ie=0xFD #@55503 receive with ifg=0x10, ie=0xFD + #@56151 receive with ifg=0x10, ie=0xFD + #@56477 receive with ifg=0x80, ie=0xFD #@58139 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +232 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +379 "Can" 5Xf +  5Xf + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@12:30:16, 40% flow, 20.5C, 25% humidity, 14.7psia, 14.911V, 0.268A, 0.024Ah, 4.00W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +3 #Continuing at 12:30 +3 "Can" 6Xx +22 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +285 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@12:30:17, 40% flow, 20.5C, 25% humidity, 14.7psia, 14.911V, 0.275A, 0.024Ah, 4.10W",Subject: "Asleep until 12:30" +174 "Can" Y +8 #tPowering core bus +152 #"uploadLog"upsync +391 .tGate.power :raw,:ON +3 "sampler") +35 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +3 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +4 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X 1}\\nCan@12:31:03, 40% flow, 20.5C, 25% humidity, 14.7psia, 14.916V, 0.268A, 0.029Ah, 4.00W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" & = +2 .tHand.open +2 "manipulator"&"1 +53 "core" 1 +2 "manipulator"&#& +7 "core" &  +2 "manipulator"&$% +4 "core" % \ # i  +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +179 "core" ( +4 "manipulator"&&& +10 "core" &, ! I +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &'& +4 "core" &, I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :garage + "manipulator"&('Ϧ +101 "core" ' +2 .tHand.close +2 #"uploadLog"upsync +2 "manipulator"&)/ +60 "core" / +2 "manipulator"&*& +4 "core" &, $ 2 I +2 "manipulator"&+% +4 "core" % Ϸ  H K +2 .tForearm.seek :retract +2 "manipulator"&,'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +283 "core" ( +2 "manipulator"&.& +3 "core" &* 0 r @X +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &)  d @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +98 "core" ' +2 "manipulator"&1& +4 "core" &* ' 3 @W +3 "manipulator"&2% +3 "core" %! ( ; . +3 "collection"'3& +3 "core" &  ^ +3 "collection"'4& +5 "core" & ; +3 .tCC.seek :closed + "collection"'5(V +5 "core" & X +7 &J a #c +10 &{Z  j 6 +9 &  X I +10 &i  i H +9 &jk m H +9 &+l  m H +10 &j  l H +9 &k  n H +9 &sj l G +10 &4j  l H +9 &j  o G +10 &!l  k H +9 &#zi  l H +9 &%;m  m H +10 &&i  m G +9 &(h k H +9 &*l  i H +10 &,Dj l H +9 &.l k H +10 &/i l G +9 &1j  l H +9 &3Lg l H +10 &5k q H +9 &6k  l H +9 &8g  l H +10 &:Uj  m G +9 &<j  t H +10 &=j  n H +9 &?m  l H +9 &A\\g  l H +10 &Cj m G +9 &Dl l H +9 &Fw  m I +10 &H]~  m J +9 &J  l M +10 &K  l P +9 &M  k R +9 &OO  m R +10 &Q  i R +9 &R  n S +9 &T  l S +10 &V*q  i ) +9 &V(  i I +9 ( +3 "collection"'4& +3 "core" &VM  l ? +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.74 + "collection"'6& +4 "core" &VN  r ? +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&8% +3 "core" %! 1 V . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +99 "core" ' +3 #tFlushing the Collection Valve::Manifold + "collection"':& +5 "core" &VO  G ? + "collection"';% +4 "core" %  @ +2 .tCSV.dial CSR +2 "collection"'<  +153 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1329 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 '>% +43 "core" %q  M  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?'9 +601 "core" ' + .tCSV.dial :waste +2 "collection"'@ +151 "core" +3 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'A' +1955 "core" ' +2 #tPurging external Intake + "collection"'B& +5 "core" &VN  ` ? + "collection"'C% +4 "core" %  7 +2 .tCSV.dial :flush + "collection"'D  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'E' V +2116 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 "collection"'F + .tCBV.dial CSV +3 "collection"'G  +5 "core"  +61 +2 .tCTV.dial :intake + "collection"'H  +71 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I' +2106 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'J  +70 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &VM  e ? + "collection"'L% +4 "core" %  c +2 .tCSV.dial :flush + "collection"'M  +86 "core"  +3 .tCS.seek 5ml + "collection"'N'q +1093 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +49 "core" B +2 "collection"'P% +4 "core" %q  6  +2 .tCS.seek 6.999ml +2 "collection"'Q' +487 "core" ' +3 ."connect"CSV.dial CBV +3 "collection"'R + .tCBV.dial CSV +3 "collection"'S  +6 "core"  +87 +2 .tCTV.dial :air + "collection"'T  +5 "core" +2 .tCS.seek 0ml +2 "collection"'U' +1501 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'V'2 +700 "core" ' +2 .tCSV.dial :waste + "collection"'W +50 "core" +3 .tCS.seek 0ml + "collection"'X' +696 "core" ' +2 "collection"'Y& +3 "core" &VN  C ? +2 "collection"'Z% +5 "core" %  g + .tCSV.dial :flush +2 "collection"'[  +49 "core"  +3 .tCS.seek 3ml + "collection"'\\'2 +701 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +61 "core" ? +2 "collection"'^% +3 "core" %2  j  +3 .tCS.seek 5ml + "collection"'_'q +502 "core" ' +2 .tCSV.dial :air + "collection"'` @ +5 "core" @ +2 .tCS.seek 0ml +2 "collection"'a' +1091 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'2 +691 "core" ' +2 .tCSV.dial :waste + "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d' +693 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &) @W +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" &) ' ( @W +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &( @W +3 .tForearm.seek CC + "manipulator"&i'" +93 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / +2 .tCC.seek :open + "collection"'k( +413 "core" ( +2 "manipulator"&l& +3 "core" &( ?V +3 "manipulator"&m% +36 "core" % ! +9 .tForearm.seek :retract +2 "manipulator"&n'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(, +276 "core" ( +2 "manipulator"&p& +4 "core" &,  i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &,  i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage + "manipulator"&r'Ϧ +105 "core" ' + .tHand.open + "manipulator"&s1 +65 "core" 1 +2 "manipulator"&t% +4 "core" % Ϯ $ * $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +103 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 12:35:03EST18-Dec-24\\n{2 => 1}\\nCan@12:31:03, 40% flow, 20.5C, 25% humidity, 14.7psia, 14.916V, 0.268A, 0.029Ah, 4.00W",Subject: "da wcr sampling at most 200ml" + #"WCR"Loading wcr puck from tube 2 into Collection Clamp +4 "collection"'v& +3 "core" & _ +3 "manipulator"&w% +3 "core" %\ " : +3 "storage"(x% +4 "core" %U +2 "storage"(y. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +3 "storage"(z( +341 "core" ( +2 ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 #"uploadLog"upsync +4 "storage"({& +3 "core" & +4 "manipulator"&|& +3 "core" &,  i +2 "manipulator"&}% +5 "core" %\ "  : +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +211 "core" ( +2 "manipulator"&& +4 "core" & & + g +2 "storage"(& +4 "core" & n +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(& +4 "core" & +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & a +2 "manipulator"&& +5 "core" & g +2 ."WCR"Elbow.seek 2 + "manipulator"& ( +12 "core" ( + "manipulator"&& +4 "core" & $ ) +2 "storage"(\ & +4 "core" & +3 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +21 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +59 "core" / +4 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"('X +8 "core" & ) +2 "manipulator"&% +3 "core" %  +39 ."WCR"Forearm.seek :retract +8 "manipulator"&'\ +95 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +121 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +29 "core" ( + "manipulator"&& +5 "core" &( ( } ?V + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  V ?V +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +103 "core" ' +2 "manipulator"&& +3 "core" &) & Z ?V +3 "manipulator"& % +4 "core" %* +2 "collection"'& +3 "core" & ; +3 "collection"'& +6 "core" & : +2 ."WCR"CC.seek :closed +2 "collection"'!(V +5 "core" & h  +8 &7 e *x +10 &j k = +9 &v  c G +9 &th g G +10 &7j g G +9 &h \ k G +10 &j l G +9 &}h k G +9 &=h k H +10 &h k G +9 & j l H +9 &"j  m H +10 &$Fi k G +9 &&g z G +10 &'j m G +9 &)h i G +9 &+Mh j H +10 &-h y G +9 &.j j G +9 &0k _ G +10 &2Xf ` G +9 &4i  i G +10 &5h i G +9 &7h k G +9 &9`j h G +10 &;!k k G +9 &<j g G +9 &>j k G +10 &@fi e G +9 &B(i d G +10 &Cg \ e G +9 &En  f H +9 &Gjv i I +10 &I+|  k I +9 &J  k M +9 &L g P +10 &N[  m Q +9 &P _ Q +10 &Q  _ Q +9 &S ] S +9 &U^  e A +10 &Vv?  _ , +9 &VV ] > +5 ( +2 "collection"'& +4 "core" &VI  k > +2 #"WCR"Collection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.75 +2 .Hand.open + "manipulator"&"1 +61 "core" 1 + "manipulator"&#% +5 "core" %  & ; +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&$'\ +96 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")&+ +4 "core" + +2 "sampler")'% +3 "core" % p +2 "collection"'& +4 "core" &VI = > +4 "Can"  Dm + #"WCR"Calibrating pressure and temperature sensors +4 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X +26  + ."WCR"delay 3.8 seconds +383 "collection"'% +3 "core" %  , +2 "sampler")(% +3 "core" %2 s +2 #"WCR"Sensor limits: Intake max 132.5psia; Outlet max 124.2psia + .SSV.dial :spit +2 "sampler"). +121 "core"  +3 ."WCR"SS.seek 0ml +2 "sampler")/' +269 "core" ' + ."WCR"SSV.dial CBV +2 "sampler")%  +123 "core"  +2 ."WCR"CTV.dial :intake +2 "collection"'1  +68 "core"  +2 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")2  + "collection"'3 @ +7 "core"  +10 A + #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml +2 .Intake.select :open + "sampler") +212 "collection"',% +3 "core" %  * +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X #% +3 "core" %8 +2 "sampler")=% +5 "core" %T'  +31 "collection"'@% +3 "core" %, +2 "sampler")?% +4 "core" %T(  +36 "collection"'B% +3 "core" %V +2 "sampler")C% +4 "core" %T)  +41 "collection"'D% +3 "core" %S +2 "sampler")A% +5 "core" %T%  +46 "collection"'G% +3 "core" %R +2 "sampler")F% +4 "core" %T%  +53 "collection"'H% +3 "core" %* +3 "sampler")E% +4 "core" %T%  + ."WCR"Intake.select :close +2 "sampler")0 +9 )J% +3 "core" %T%  +2 ."WCR"SSV.dial :exhaust +2 "sampler")K  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml + "sampler")L' +421 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default + "sampler")#.0X +3 "Can"  @ + ."WCR"CTV.dial :intake +2 ."connect"SSV.dial CBV +3 "sampler")P  + ."WCR"CBV.dial SSV +3 "collection"'N @ +6 "core" A +63  + #"WCR"Allowing 130s for 25.0ml of remaining 200.0ml +2 .Intake.select :open + "sampler") +210 "collection"'S% +3 "core" %  c +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X #  +46 "collection"'9% +3 "core" %/ +2 "sampler")5% +4 "core" %R L J  +53 "collection"'l% +3 "core" %* +38 "sampler")m% +10 "core" % z z  +19 "collection"'i% +3 "core" %3 +2 "sampler")p% +4 "core" % 4 +69 "collection"'q% +3 "core" % - +2 "sampler")f% +3 "core" % 4 +2 ."WCR"Intake.select :close +2 "sampler")0 +10 )s% +2 "core" % 4 +2 ."WCR"SSV.dial :exhaust +2 "sampler")t  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml + "sampler")v' +875 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")n  + ."WCR"CBV.dial SSV +4 "collection"'w @ +4 "core" A +61  +2 #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml + .Intake.select :open +2 "sampler") +210 "collection"'x% +3 "core" %  R +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.75ml/s + "sampler")#.x0X # =  +47 "collection"'% +3 "core" %/ +2 "sampler")% +4 "core" %R K J  +53 "collection"'~% +3 "core" %5 +2 "sampler")% +5 "core" %G d e  +60 "collection"'% +3 "core" %) +2 "sampler")% +4 "core" % 6 +68 "collection"'% +5 "core" %- +2 "sampler") % +3 "core" % 6 +2 ."WCR"Intake.select :close + "sampler")0 +10 )% +2 "core" % 6 +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")' +907 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")  +2 "collection"' @ +6 "core" A +63 + #"WCR"Allowing 130s for 25.0ml of remaining 150.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %  ] +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0X #  +31 "collection"'2% +3 "core" %2 +3 "sampler")3% +3 "core" %F H H  +36 "collection"',% +4 "core" %d +2 "sampler")/% +4 "core" %F V R  +41 "collection"'7% +3 "core" %8 +3 "sampler")8% +3 "core" %F k m  +47 "collection"':% +3 "core" %X +3 "sampler");% +3 "core" % - +54 "collection"'4% +3 "core" %_ +2 "sampler")<% +3 "core" % ) +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )0% +3 "core" % ) +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")>' +902 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")=  + "collection"'@ @ +6 "core" A +64 +2 #"WCR"Allowing 130s for 25.0ml of remaining 125.0ml + .Intake.select :open + "sampler") +211 "collection"'?% +3 "core" %  5 +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X #  +36 "collection"'N% +3 "core" %Q +3 "sampler")P% +3 "core" %G K K  +41 "collection"'L% +4 "core" %f +2 "sampler")S% +3 "core" %G _ [  +48 "collection"'M% +3 "core" %d +2 "sampler")Q% +4 "core" %+ } {  +53 "collection"'U% +3 "core" %: +2 "sampler")W% +5 "core" % 2 + ."WCR"Intake.select :close +2 "sampler")0 +9 )R% +3 "core" % 2 +37 ."WCR"SSV.dial :exhaust +9 "sampler")T  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")Z' +875 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "sampler")[  + "collection"'X @ +5 "core" A +66 + #"WCR"Allowing 130s for 25.0ml of remaining 100.0ml +2 .Intake.select :open + "sampler") +210 "collection"']% +3 "core" %  3 +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X # +3 "sampler")% +3 "core" %R X X  +32 "collection"'y% +3 "core" %6 +2 "sampler")% +4 "core" %6 n l  +36 "collection"'% +4 "core" %c +2 "sampler")~% +3 "core" % 8 +42 "collection"'% +3 "core" %e +2 "sampler")% +4 "core" % 8 +2 ."WCR"Intake.select :close + "sampler")0 +10 )% +2 "core" % 8 +3 ."WCR"SSV.dial :exhaust + "sampler")  +73 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler") ' +898 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")  + "collection"' @ +6 "core" A +66 +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +211 "collection"'r% +3 "core" %  = +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X #% +3 "core" %; +3 "sampler") % +3 "core" %R - ,  +24 "collection"'D% +3 "core" %W +3 "sampler")A% +4 "core" %R 0 /  +27 "collection"'G% +3 "core" %? +2 "sampler")F% +4 "core" %R 4 3  +32 "collection"'H% +3 "core" %< +2 "sampler")E% +3 "core" %R : 8  +37 "collection"'J% +3 "core" %[ +2 "sampler")K% +3 "core" %R B @  +42 "collection"'6% +3 "core" %_ +2 "sampler")I% +5 "core" %Q J L  +46 "collection"'O% +3 "core" %c +2 "sampler")N% +4 "core" %7 ^ \\  +53 "collection"'P% +3 "core" %k +2 "sampler")L% +4 "core" % { z E +61 "collection"'S% +4 "core" %; +2 "sampler")B% +3 "core" % E +69 "collection"'M% +3 "core" % ; +2 "sampler")Q% +5 "core" % E + ."WCR"Intake.select :close +2 "sampler")0 +9 )U% +3 "core" % E +2 ."WCR"SSV.dial :exhaust +2 "sampler")W  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")R' +880 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampled 200.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'T  +70 "core"  +2 ."WCR"delay 1:00 +6003 .CSV.dial :air + "collection"'C @ +88 "core" B +2 ."WCR"CS.seek 10ml +2 "collection"'X' V +2110 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'[ @ +72 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"']  +83 "core"  +2 "collection"'Z% +3 "core" % W  o  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'` ` +32 "core" a +2 ."WCR"CS.seek 7.44ml +2 "collection"'_'W +607 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'a  + '^  +34 "core"  +38  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"'\\' +1523 "core" ') " !z ° +3 ."WCR"CBV.dial :waste2b + "collection"'e  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'g' +465 "core" ' +3 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'h  +120 "core" +2 #"WCR"Fix #1 of 1 (with RNAlater) for 5:00 +2 .CSV.dial CSR + "collection"'j  +47 "core"  + #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'-'^ +583 "core" ' +2 ."WCR"delay 5 seconds +546 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'V' V +1693 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'9 @ +68 "core" ? +53 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'5  +81 "core"  +2 "collection"'l% +3 "core" % U a  +2 ."WCR"CSV.dial between air and CTV +3 "collection"'m ` +54 "core" ^ +3 ."WCR"CS.seek 7.341ml +2 "collection"'i'C +619 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'p  + 'q  +36 "core"  +91  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +4 ."WCR"CS.seek 0ml + "collection"'f' +1468 "core" ', # #o ° +3 ."WCR"delay 5:00 +30003 .CBV.dial :waste2b + "collection"'s  +28 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'t' +486 "core" ' +3 ."WCR"delay 1:00 +1659 "Can" H +4344 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'c  +122 "core" + "collection"'Y& +5 "core" &VI  ( > +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&w% +3 "core" %\  X  +3 "storage"(n% +3 "core" %W  +2 "storage"(x. +4 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 1 +2 "storage"(b(S +330 "core" ( + ."WCR"SC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &U g g +2 "manipulator"&{& +5 "core" &( } ?V +2 "manipulator"&|% +4 "core" %\  K  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&v(. +163 "core" ( +2 "manipulator"&o& +4 "core" &/ E p +2 "storage"(& +3 "core" &W +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&u'ѷ +93 "core" ' +2 "storage"(& +4 "core" &W n +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"(- +3 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."WCR"SE.seek :place + "storage"('y +39 "core" ' +3 "manipulator"&& +3 "core" &/ d p +3 "manipulator"&\ % +3 "core" %ѭ   +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&y( +155 "core" ( +2 "manipulator"&& +3 "core" &( # ?P +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &'  ?P +3 ."WCR"Forearm.seek CC +2 "manipulator"&~'" +91 "core" ' +44 ."WCR"Hand.close +3 "manipulator"&}/ +58 "core" / +4 ."WCR"CC.seek :open +2 "collection"'( +413 "core" ( +2 "storage"(& +4 "core" &W +2 "storage"(& +3 "core" &W p +3 "manipulator"&& +3 "core" &% <@ +2 "manipulator"&% +4 "core" % * p +3 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"& (. +156 "core" ( +2 "manipulator"&& +4 "core" &6 b  +2 "storage"(r& +3 "core" &W s +3 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"& ' +98 "core" ' +2 ."WCR"Elbow.hold +2 "manipulator"&, +2 "core" , +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&#% +4 "core" % N +2 "storage"('& +3 "core" &W M +3 ."WCR"Forearm.force -20 + "manipulator"&5 +4 ."WCR"Forearm.seek 1 + 316 counts + "manipulator"&'7 +21 "core" ' + "manipulator"&k& +4 "core" &6 :  +2 "storage"("& +3 "core" &W +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts + "manipulator"&'ѷ +23 "core" ' +2 "storage"(&% +4 "core" %| +2 ."downElevator"SE.seek :down +3 "storage"(+'X +100 (*% +3 "core" %R] B QI +2 "manipulator"&% +3 "core" %Ѽ * +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&('\ +85 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'.& +3 "core" &  +3 "manipulator"&)& +4 "core" &6 )  + "manipulator"&%% +4 "core" %\  ^  +3 .tElbow.seek FlushPuck::Garage + "manipulator"& (, +178 "core" ( + "manipulator"&1& +4 "core" &, ] 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &,  8 +2 .tForearm.seek :garage +2 "manipulator"&3'Ϧ +101 "core" ' +2 .tHand.close + "manipulator"&,/ +61 "core" / +2 "manipulator"&/& +3 "core" &, # N 7 +2 "manipulator"&7% +5 "core" % ϶ n  +2 .tForearm.seek :retract + "manipulator"&8'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +276 "core" ( +2 "manipulator"&& +3 "core" &$  <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &$ } <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +38 "manipulator"&;'" +105 "core" ' + "manipulator"&<& +5 "core" &% # <= +2 "manipulator"&:% +3 "core" %% +3 "collection"'& +4 "core" &  +2 "collection"'@& +5 "core" &  +3 .tCC.seek :closed + "collection"'=(V +5 "core" &   +8 &8 \ H *y +9 &m X > +10 &r : G +9 &d 3 G +9 &Ci 7 G +10 &h D G +9 &e K F +9 &g \ D F +10 &Kj E G +9 & h > G +10 & e ? G +9 &"g J F +9 &$Sh B G +10 &&j ; F +9 &'f C G +9 &)i ? F +10 &+[f A G +9 &-i @ F +10 &.e D F +9 &0i C F +9 &2eg \ @ F +10 &4&j B F +9 &5e A G +9 &7j G F +10 &9kj B G +9 &;-h A G +10 &<e D F +9 &>f F G +9 &@sj B G +10 &B5h \ A G +9 &Cg H F +9 &Ej C G +10 &Gxw C H +9 &I6 @ I +10 &J K M +9 &L E Q +9 &Ng E P +10 &P( \ M Q +9 &Q B Q +10 &S  G R +9 &Ug E ? +9 &VK F S +10 &V&' F %p +9 &Vj D H +2 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.77 + "collection"'?& +3 "core" &Vr G H +3 .tHand.open + "manipulator"&>1 +57 "core" 1 +2 "manipulator"& % +4 "core" % % $ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +99 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'A& +4 "core" &Vr B H +2 "collection"'G% +3 "core" % @ +2 .tCSV.dial CSR +2 "collection"'F  +47 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'H'q +1337 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'E% +3 "core" %q! @  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.501ml + "collection"'J'? +601 "core" ' +2 .tCSV.dial :waste + "collection"'K +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'6' +1957 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'I& +4 "core" &Ve \ G H +2 "collection"'0% +4 "core" % D + .tCSV.dial :flush +2 "collection"'O  +51 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"'N'q +1099 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'P @ +48 "core" A +2 "collection"'L% +4 "core" %q B  +2 .tCS.seek 7.001ml +2 "collection"'S' +492 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'B  + 'M  +50 "core"  +77  +2 .tCBV.dial :waste2b +2 .CS.seek 0ml + "collection"'Q' +1497 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'U& +4 "core" &Ve I H + "collection"'W% +4 "core" % K +2 .tCSV.dial CSR + "collection"'  +49 "core"  + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'T' +1698 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'C' V +498 "core" ' +4 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'d + '[  +47 "core"  +76 +2 .tCTV.dial :intake + "collection"']  +71 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +44 "collection"'Z'^ +1690 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'`  +69 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'X' +593 "core" ' + .tCSV.dial CSR +2 "collection"'^  +94 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'a'q +1337 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'_' V +1333 "core" ' + .tCSV.dial CBV +2 "collection"'e +119 "core" +2 .tCS.seek 0ml + "collection"'\\' +2578 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&h& +3 "core" &%  <= +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&j( +3 "core" ( +2 "manipulator"&g& +4 "core" &$  8 <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &$  <= +3 .tForearm.seek CC + "manipulator"&9'" +92 "core" ' + .tHand.close + "manipulator"&5/ +56 "core" / +2 .tCC.seek :open + "collection"'l( +416 "core" ( +2 "manipulator"&m& +3 "core" &% k <= +2 "manipulator"&V% +4 "core" % # ( +3 .tForearm.seek :retract + "manipulator"&q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&p(, +287 "core" ( +2 "manipulator"&i& +4 "core" &,  0  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &,   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&f'Ϧ +108 "core" ' + .tHand.open + "manipulator"&c1 +62 "core" 1 + "manipulator"&Y% +4 "core" % ϭ # 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 12:31:02 +5 #Asleep after completing standAloneWCR_4 assays + ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@12:50:19, 39% flow, 21.2C, 23% humidity, 14.7psia, 14.892V, 0.387A, 0.161Ah, 5.76W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +413 #"uploadLog"upsync +7 #mEXIT @1734544524.85EST @1734546009.80EST = =mMAIN_scheduler =tMAIN @EST1734546010.50 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@29054 sendCRC with ifg=0x20, ie=0x7F + #@30889 sendCRC with ifg=0x08, ie=0x5F + #@3680 idle with ifg=0x84, ie=0x75 + #@4366 select with ifg=0x10, ie=0xF5 + #@5015 receive with ifg=0x10, ie=0xFD #@5664 receive with ifg=0x10, ie=0xFD + #@6314 receive with ifg=0x10, ie=0xFD + #@6646 receive with ifg=0x80, ie=0xFD #@56080 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +12 #ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +381 "Can" 1 +F +  1 +F + #tPolling Can every 10:00 +3 #Cleanly exited at 12:55:24EST18-Dec-24 +1273 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %  N +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" % l +2 .tSS.configure :default +2 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" %a $  +2 "manipulator"&3% +4 "core" %\    +2 "manipulator"&4& +3 "core" &, !  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<* +1285 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<) V  +8246 #t-> access 2 +3 "storage"(7% +3 "core" %a  +2 "manipulator"&8% +4 "core" %\  g  + "manipulator"&9& +4 "core" &, L  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(:(K +332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K   +1224 #t-> exit +6 #mEXIT @1734546151.92EST @1734707638.10EST = =tMAIN =mMAIN_scheduler @EST1734707638.85 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +111 #"core_reset"Sent BREAK + #t@28337 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +255 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +463 "Can" " +  " + #tPolling Can every 10:00 +2 #Cleanly exited at 13:22:31EST18-Dec-24 +1166 #-> ESP.ready! +3 #Powering core bus +563 .Gate.power :raw,:ON +2 "sampler") +23 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 3 +2 "storage"(1% +3 "core" %[  +2 "manipulator"&2% +3 "core" %\   +2 "manipulator"&3& +4 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(4([ +1276 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &[ 3  +1722 #t-> require 'shuffle.rb' +795 #-> 20.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'6& +3 "core" & +2 .tHand.open + "manipulator"&71 +64 "core" 1 + "manipulator"&8% +3 "core" % \   q  +3 "storage"(9% +4 "core" %[  + "storage"(:. +3 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(;( +1600 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" & +2 "manipulator"&=& +4 "core" &  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&>( +24 "core" ( +2 "manipulator"&?& +4 "core" & ) [ l + "storage"(@& +3 "core" &  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +96 "core" ' + "storage"(B& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +284 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (E& +3 "core" & +2 "manipulator"&F& +5 "core" & S l + .tElbow.seek 2 +2 "manipulator"&G( +4 "core" ( + "manipulator"&H& +3 "core" & l +2 "storage"(I& +4 "core" & ' +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&K/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&L& +3 "storage"(M'X +7 "core" &  D l +2 "manipulator"&N% +3 "core" %   ) +3 .tForearm.seek :retract +2 "manipulator"&O'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +148 "core" ( +2 "manipulator"&Q& +4 "core" &* '  @Z + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +5 &R& +3 "core" &*  c @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +94 "core" ' +2 "manipulator"&T& +3 "core" &* ( I @Z +3 "manipulator"&U% +3 "core" %+ ! K +5 "collection"'V& +3 "core" & +3 "collection"'W& +5 "core" & +3 .tCC.seek :closed +2 "collection"'X(V +40 "core" &;  +9 &7> *x +2 &k: > + &y{< I + &>k< H &n: H +7 &k> H +9 &lN G +10 &ElL H +9 &kA H +10 &iP H +9 & mP H +9 &"NlN H +10 &$kQ G +9 &%lQ H +9 &'kQ H +10 &)WkQ G +9 &+nM H +10 &,kM H +9 &.lS H +9 &0^kN H +10 &2mN H +9 &3lQ H +9 &5lR H +10 &7dlS H +9 &9&jC H +10 &:j; H +10 &<i? H +8 &>mk< H +10 &@/j> H +9 &Aj? H +9 &CmC H +10 &Esr= I +9 &G1L J +10 &HO L +9 &JK P +9 &LaP R +10 &N$A Q +9 &OJ R +9 &QN R +10 &SdE S +9 &U'W S +10 &Vg=N - +9 &V uG A +5 ( +3 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open + "manipulator"&Y1 +4 "core" &VTP A +52 1 +2 "manipulator"&Z% +3 "core" % + 1 / +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%\\& +4 "core" & +2 "manipulator"&]% +4 "core" %\    + "storage"(^% +4 "core" %]  +2 "storage"(_. +3 "core" .( +2 "storage"(`& +3 "core" &  +2 "storage"(a& +4 "core" &  +2 "manipulator"&b& +4 "core" &* 0 @Z + "manipulator"&c% +4 "core" %\   0  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&d( +154 "core" ( + "manipulator"&e& +4 "core" & ! T  +2 "storage"(f& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +94 "core" ' + "storage"(h& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +281 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & I +2 "manipulator"&l& +3 "core" & ]  +3 .tElbow.seek 2 +2 "manipulator"&m( +8 "core" ( + "manipulator"&n& +4 "core" & S  +2 "storage"(o& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"(s'X +8 "core" &  +2 "manipulator"&t% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +3 "manipulator"&w& +3 "core" &p / : +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &p T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +104 "core" ' + "manipulator"&z& +5 "core" &p V + "manipulator"&{% +4 "core" % +2 "processing"%|& +3 "core" & +3 "processing"%}& +6 "core" & +2 .tPC.seek :closed + "processing"%~(Z +5 "core" &  +8 &8 )w +10 &l > +9 &| H +9 &Ij H +10 & j G +9 &k H +9 &k G +10 &Qk H +9 &k G +10 &l H +9 & j H +9 &"Xm H +10 &$h G +9 &%k H +9 &'m H +10 &)ah H +9 &+#j H +10 &,g H +9 &.j H +9 &0hm H +10 &2+j H +9 &3l H +9 &5k G +10 &7qk H +9 &93h H +10 &:i G +9 &<j H +9 &>yg H +10 &@:j H +9 &Ak H +9 &Cn H +10 &E}r I +9 &G>x J +10 &H L +9 &J M +9 &Lz M +10 &N< M +9 &O M +9 &Q N +10 &S M +9 &UB N +10 &W N +9 &X N +9 &Z%Pu &p +10 &Z_ - +9 ( +3 "processing"%}& +2 "core" &Z ) +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +3 "core" %  K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%& +3 "core" &Z ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ \   +36 "storage"(% +12 "core" %c  +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "manipulator"& & +5 "core" &  +2 &p +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(\ 'i + "manipulator"& (s +6 "core" ( +2 "manipulator"&& +3 "core" &p   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &p 5 +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +95 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +37 "core" ' +287 ( +2 "storage"(& +3 "core" &  +2 "manipulator"&& +4 "core" &p   +2 "manipulator"&% +4 "core" %  " +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +251 "core" ( + "manipulator"&& +4 "core" & T  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +99 "core" ' + .tHand.open + "manipulator" +55 "core" 1 +2 "storage"($- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +48 "core" ' +3 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +3 "storage"((& +4 "core" & Q P > +2 "manipulator"&)& +4 "core" & +  +2 .tElbow.seek 2 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&+& +4 "core" & ]  + "storage"(,& +4 "core" & { { +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +57 "core" ' + "manipulator"&/& +4 "core" & ^  +2 "storage"(0& +4 "core" & L + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&1' +26 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +23 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(5& +3 "core" & # +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&6' +22 "core" ' +2 "manipulator"&7& +3 "core" &  +2 "storage"(8& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +17 "core" ' + "storage"(:% +4 "core" %n @ +3 ."downElevator"SE.seek :down +5 "storage"(4'X +98 (<% +3 "core" %HZ f v W QK +3 "manipulator"&=% +4 "core" %Ѱ p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +4 (@& +2 "core" & +2 "collection"'B& +4 "core" &VS A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %R  + "storage"(D. +3 "core" .( +3 "storage"(E& +3 "core" & +2 "storage"(F& +4 "core" & o +36 "manipulator"&& +11 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&I& +3 "core" &  +3 "storage"(K& +4 "core" & V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +107 "core" ' + "storage"(N& +4 "core" & N +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'i +276 "core" ' +3 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & P  +3 "storage"(R& +3 "core" & 4 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&C' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'P +26 "core" ' +2 "manipulator"&V% +3 "core" % } P +2 "storage"(G& +5 "core" & v a +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&M' +19 "core" ' +2 "manipulator"&O& +4 "core" & 9  +2 "storage"(!& +4 "core" & I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Z'? +38 "core" ' +2 "manipulator"&\\& +4 "core" &   +2 "manipulator"&]% +4 "core" %џ A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +156 "core" ( +2 "manipulator"&`& +3 "core" &( " Z ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &(  K ?P +3 .tForearm.seek CC +2 "manipulator"&W'" +97 "core" ' + .tHand.close +2 "manipulator"&b/ +62 "core" / +2 .tCC.seek :open +2 "collection"'c( +413 "core" ( + "storage"(S& +4 "core" & z +2 "storage"(e& +4 "core" &  + "manipulator"&f& +4 "core" &'  3 >O +2 "manipulator"&h% +3 "core" % 0  d +3 .tForearm.seek :retract +2 "manipulator"&P'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&[( +157 "core" ( + "manipulator"&j& +4 "core" &  H  +2 "storage"(k& +4 "core" & m + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&l' +95 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&o1 +63 "core" 1 +2 "manipulator"&q% +4 "core" % * F +2 "storage"(r& +4 "core" & ^ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 301 counts +2 "manipulator"&t' +18 "core" ' + "manipulator"&d& +4 "core" &  +2 "storage"(g& +4 "core" & T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +36 "core" ' +2 "storage"(p% +4 "core" %E +2 ."downElevator"SE.seek :down +4 "storage"(w'X +99 (x% +3 "core" %4Q PG +2 "manipulator"&m% +4 "core" %Ѫ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'{& +3 "core" &4 +2 "manipulator"&|% +4 "core" %\    $ +37 "storage"(s% +10 "core" %_ , +2 "storage"(u. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & R  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( + "manipulator"&& +4 "core" & & N z +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +95 "core" ' +2 "storage"(& +4 "core" & i  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" &  +2 "manipulator"&& +4 "core" & 8 z +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&y& +4 "core" & z + "storage"(& +4 "core" & 4  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(~'X +7 "core" &  z +2 "manipulator"&\ % +4 "core" % Ϧ +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +3 "core" &$ ) ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +3 ."downElevator"SE.stop +2 "manipulator"&& +2 "storage"(5 +6 "core" &$  ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 "manipulator"&& +3 "core" &$ 2  ;7 +3 "manipulator"& % +4 "core" %   +2 "collection"'#& +4 "core" &< +2 "collection"'$& +6 "core" & +39 .tCC.seek :closed + "collection"''(V +3 "core" &9 +2 &< + &: + &< +3 &7  +4 &8K *x +9 &(l> > +9 &x= I +10 &k= H +9 &Gh> H +10 &\ lC G +9 &iC H +9 &kG H +10 &OmI H +9 &lG H +9 & mI H +10 &"h; H +9 &$Xi8 G +10 &&iP H +9 &'mG H +9 &)iV H +10 &+`jP G +9 &-!gS H +9 &.fQ G +10 &0kX H +9 &2gkG H +10 &4(iC H +9 &5gK H +9 &7fM G +10 &9phT G +9 &;2k_ G +9 &<j^ H +10 &>lX G +9 &@xh_ G +10 &B9kS H +9 &CnX H +9 &EqZ H +10 &GyZ J +9 &I6^ L +9 &JZ P +10 &L\\ R +9 &NlY Q +10 &P,_ R +9 &QZ R +9 &S^ S +10 &Um^ @ +9 &V~>] *| +9 &Vi\\ D +6 ( +2 "collection"'$& +4 "core" &Vaa D +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open + "manipulator"&(1 +64 "core" 1 +2 "manipulator"&)% +4 "core" %  # l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%,& +3 "core" & +2 "manipulator"&% +4 "core" %\   9  +2 "storage"(/% +4 "core" %a  +2 "storage"(0. +3 "core" .( +2 "storage"(& +4 "core" &   + "storage"(& +4 "core" & V  +2 "manipulator"&5& +4 "core" &$  0 ;7 + "manipulator"&%% +4 "core" %\     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&7( +153 "core" ( +2 "manipulator"&8& +4 "core" &  +2 "storage"(:& +4 "core" & J  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +103 "core" ' + "storage"("& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +277 "core" ' +2 "storage"(<- +39 "core" -' +9 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &   +3 "manipulator"&-& +4 "core" & [  +2 .tElbow.seek 3 + "manipulator"&*( +4 "core" ( +2 "manipulator"&.& +4 "core" &   + "storage"(1& +4 "core" & 2  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&@/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +6 "storage"('X +3 "core" &  +2 "manipulator"&% +4 "core" % Ϧ  +3 .tForearm.seek :retract +2 "manipulator"&D'\ +104 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +103 "core" ( +3 "manipulator"&E& +3 "core" &j ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &j ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&I& +4 "core" &m & ; +3 "manipulator"&K% +3 "core" % 1  +3 "processing"%9& +4 "core" & +2 "processing"%N& +5 "core" & +3 .tPC.seek :closed + "processing"%4(Z +5 "core" &  +9 &6 )w +9 &j = +9 &x H +10 &ke H +9 &.k G +9 &h H +10 &h G +9 &th G +10 &5k H +9 &j H +9 & f H +10 &"|j G +9 &$=g H +9 &&g G +10 &'j G +9 &)k G +10 &+Fg G +9 &-k H +9 &.h H +10 &0g G +9 &2Nh G +9 &4k H +10 &5j\ H +9 &7k G +10 &9Ug H +9 &;c G +9 &<k H +10 &>g G +9 &@^j G +9 &Bl\ H +10 &Cn H +9 &Eq H +10 &G`} I +9 &I L +9 &J M +10 &L M +9 &N_ M +9 &P! M +10 &Q M +9 &S M +10 &Ue M +9 &W& N +9 &X N +10 &Z<Ea %k +9 &Z - ! +6 ( +2 "processing"%N& +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&21 +58 "core" 1 +2 "manipulator"&?% +3 "core" % ! .  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' + "processing"%Q& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&R% +4 "core" %\    +2 "storage"(T% +4 "core" %`  +2 "storage"(V. +3 "core" .( +2 "storage"(G& +4 "core" &   +2 "storage"(O& +2 "manipulator"&!& +6 "core" & ,  +2 &m +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&\\(s +2 "storage"(]'i +4 "core" ( +3 "manipulator"&L& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &m  +3 .tForearm.seek PC +2 "manipulator"&>' +94 "core" ' + .tHand.close +2 "manipulator"&C/ +54 "core" / +2 .tPC.seek :open +3 "processing"%M( +94 "core" ' + "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +37 "core" ' +291 ( + "storage"(a& +4 "core" & 1  +2 "manipulator"&Y& +4 "core" &m  + "manipulator"&J% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +253 "core" ( + "manipulator"&X& +4 "core" & &  m +2 "storage"(S& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +96 "core" ' + .tHand.open +2 "manipulator"&f1 +53 "core" 1 +10 "storage"(h- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(_& +4 "core" &\ Q\ R  +2 "manipulator"&o& +4 "core" & j +2 .tElbow.seek 3 +2 "manipulator"&q( +30 "core" ( +2 "manipulator"&r& +3 "core" &  { +2 "storage"(d& +4 "core" &\ [\ Q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +56 "core" ' +2 "manipulator"&P& +4 "core" & a +2 "storage"(x& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&m'} +21 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +21 "core" ' +2 "manipulator"&t% +3 "core" %Ή +2 "storage"({& +4 "core" & d  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&|'ϵ +20 "core" ' +2 "manipulator"&s& +4 "core" & + "storage"(Z& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +32 "core" ' + "storage"(i% +4 "core" %n +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (;% +3 "core" %W h e Z PI +2 "manipulator"&% +5 "core" %! 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 6  +2 "collection"'& +3 "core" &V`Q D +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\  }  +3 "storage"(n% +4 "core" %a P +2 "storage"(z. +3 "core" .( +2 "storage"(& +3 "core" & b  +2 "storage"( & +3 "core" & |  +3 "manipulator"&& +4 "core" & Q +2 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +2 "manipulator"&& +3 "core" & $ +2 "storage"(v& +4 "core" & K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(\ & +4 "core" & |  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(& +4 "core" & B  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'O +32 "core" ' +2 "manipulator"&% +3 "core" %΍ +2 "storage"(#& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&~'Ϲ +21 "core" ' +2 "manipulator"&& +3 "core" & +2 "storage"(c& +5 "core" & 2  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'> +40 "core" ' +2 "manipulator"&,& +4 "core" & + "manipulator"&% +4 "core" %! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +39 .tForearm.seek :retract +9 "manipulator"&/'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +153 "core" ( + "manipulator"&& +4 "core" &% ' <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &%  y <; +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&5/ +61 "core" / +2 .tCC.seek :open +2 "collection"'%( +416 "core" ( + "storage"(& +4 "core" &  +2 "storage"(8& +4 "core" &  + "manipulator"&:& +4 "core" &%  3 <; +2 "manipulator"&"% +4 "core" % #  / +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&+( +159 "core" ( +2 "manipulator"&<& +4 "core" & % . x +2 "storage"(=& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +57 "core" 1 +2 "manipulator"&@% +5 "core" % }  6 + "storage"(B& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +22 "core" ' + "manipulator"&7& +4 "core" & Q x +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +24 "core" ' + "storage"(6% +3 "core" %D +3 ."downElevator"SE.seek :down +4 "storage"(E'X +98 (F% +3 "core" %5O OE +2 "manipulator"&*% +4 "core" %Q { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'K& +3 "core" &: +2 "manipulator"&9% +4 "core" %\ \ k  +2 "storage"(% +3 "core" %a +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" & G +3 "manipulator"&?& +4 "core" & 7 x +2 .tElbow.seek 2 + "manipulator"&Q( +31 "core" ( +2 "manipulator"&R& +4 "core" & d + "storage"(T& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +86 "core" ' +2 "storage"(G& +3 "core" &  b +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +282 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &  +2 "manipulator"&L& +4 "core" & d +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( + "manipulator"&& +4 "core" & & d +2 "storage"(C& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +4 "storage"(4'X +7 "core" & d +2 "manipulator"&]% +3 "core" % ! I +3 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +150 "core" ( + "manipulator"&J& +42 "core" ' +8 &#  5 :* +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&>& +7 "core" &#   :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'" +99 "core" ' +3 "manipulator"&S& +4 "core" &# ! 4 :* +3 "manipulator"&\\% +4 "core" %  B +2 "collection"'f& +4 "core" & +2 "collection"'h& +5 "core" &> +2 .tCC.seek :closed +2 "collection"'W(V +4 "core" &9 +7 &98 #b +10 &[8 6 +10 &C H +8 &f< G +10 &mD G +9 &XjB G +10 &mK G +9 &gO G +9 &fM G +10 &`gO G +9 & !gO H +9 &!j@ H +10 &#h? G +9 &%ggJ H +10 &')hO H +9 &(hO G +9 &*kM G +10 &,pkH G +9 &.1iK H +9 &/iO G +10 &1i[ G +9 &3xiQ G +10 &5:eS G +9 &6lR G +9 &8hQ H +10 &:jN H +9 &iO H +10 &?jP H +9 &AhP G +10 &CJkO G +9 &E\ lQ H +9 &FuP I +10 &HP J +9 &J?P N +9 &KP Q +10 &MN Q +9 &O{N Q +10 &Q=X Q +9 &RZ R +9 &TQ S +10 &V/cM , +9 &VM ? +10 ( + &VCP = +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open + "manipulator"&_1 +56 "core" 1 +2 "manipulator"&o% +3 "core" %  2 +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%r& +4 "core" & +2 "manipulator"&d% +4 "core" %\   + "storage"(P% +4 "core" %V 2 +2 "storage"(x. +3 "core" .( +2 "storage"(`& +4 "core" &  + "storage"(t& +4 "core" &   +2 "manipulator"&{& +4 "core" &# :* +2 "manipulator"&j% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&s( +159 "core" ( + "manipulator"&Z& +4 "core" & X  +2 "storage"(^& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +94 "core" ' + "storage"(e& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +283 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  1 +2 "manipulator"&g& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&p& +4 "core" & |  + "storage"(m& +4 "core" &  V +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +6 "core" &  +2 "manipulator"&n% +4 "core" %  M +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&l(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&& +4 "core" &q ' = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +3 "core" &q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' +2 "manipulator"&& +4 "core" &q % 5 + "manipulator"&v% +4 "core" %  _ +2 "processing"%u& +4 "core" & +3 "processing"%\ & +4 "core" & +3 .tPC.seek :closed + "processing"%w(Z +4 "core" &  +9 &8 )v +10 &k = +9 &w H +9 &pj G +10 &2k G +9 &k H +9 &i G +10 &xe G +9 &;g G +10 &i G +9 & g G +9 &"i G +10 &$Cg G +9 &&h H +9 &'j H +10 &)h H +9 &+Ji G +11 &- i G +8 &.j G +9 &0j H +10 &2Qj H +9 &4h G +9 &5e G +10 &7e G +9 &9Yk H +10 &;f G +9 &<e G +49 &>j G +11 &@aj H + &B#i H + &Cm H + &Ep H + &Gc} J +3 &I  L +8 &J M +9 &L M +10 &Nc M +9 &P& L +9 &Q M +10 &S M +9 &Uh N +10 &W* N +9 &X N +9 &ZAFa $j +10 &Z - " +5 ( +2 "processing"%\ & +5 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.40 + .Hand.open + "manipulator"&[1 +3 "core" &Z " +60 1 +2 "manipulator"&% +4 "core" % ' ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ \  +2 "storage"(% +3 "core" %U $ +2 "storage"(. +3 "core" .( +2 "storage"(#& +4 "core" &  V +2 "storage"(& +3 "manipulator"&c& +7 "core" &  [ + &q +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&,(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +5 "core" &q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &q  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%~( +89 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +40 "core" ' +292 ( +2 "storage"($& +4 "core" &   +2 "manipulator"&(& +4 "core" &q + "manipulator"& % +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +265 "core" ( + "manipulator"&'& +4 "core" & & % +2 "storage"(& +4 "core" &  \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +95 "core" ' +2 .tHand.open + "manipulator"&:1 +54 "core" 1 +2 "storage"("- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(=' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(0& +4 "core" &  V M < +2 "manipulator"&1& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&@( +26 "core" ( + "manipulator"&B& +4 "core" & & 3 !u +2 "storage"(7& +4 "core" & \ \ F P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +59 "core" ' +2 "manipulator"&& +3 "core" & !u +2 "storage"(F& +4 "core" &  ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&*' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +24 "core" ' + "manipulator"&K% +4 "core" % +2 "storage"(& +4 "core" &  * + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&9' +22 "core" ' +2 "manipulator"&& +3 "core" & &  !t +2 "storage"(D& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +29 "core" ' +2 "storage"(&% +4 "core" %q v  +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 ( % +48 "core" %lW { ~ z PH +2 "manipulator"&2% +5 "core" %ь J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +2 "core" &  4 +3 "collection"'T& +3 "core" &VC% = +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&G% +3 "core" %\ # = +3 "storage"(.% +3 "core" %R  +2 "storage"(I. +3 "core" .( +2 "storage"(!& +4 "core" &  H +2 "storage"(N& +4 "core" &  9 +2 "manipulator"&L& +4 "core" & !t +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&C& +3 "core" & ^ !t +3 "storage"(3& +4 "core" &  9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +97 "core" ' + "storage"(]& +4 "core" &  H +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +275 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & !t +2 "storage"(O& +4 "core" &  \\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&>' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'P +37 "core" ' +2 "manipulator"&\\% +3 "core" %   O +2 "storage"(f& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&4' +20 "core" ' +2 "manipulator"&a& +4 "core" & % h !s +2 "storage"(%& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'? +39 "core" ' + "manipulator"&r& +4 "core" & !s +2 "manipulator"&d% +3 "core" %р T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&x( +150 "core" ( + "manipulator"&`& +4 "core" &( $ > ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &(  - ?Q +3 .tForearm.seek CC +3 "manipulator"&h'" +94 "core" ' + .tHand.close + "manipulator"&{/ +60 "core" / +2 .tCC.seek :open +2 "collection"'j( +412 "core" ( +3 "storage"(X& +3 "core" &  ? +2 "storage"(Z& +4 "core" &   +2 "manipulator"&^& +3 "core" &( ; ?Q +2 "manipulator"&e% +4 "core" %   #  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&b( +157 "core" ( +2 "manipulator"&;& +4 "core" &  + "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&g' +94 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +63 "core" 1 +2 "manipulator"&% +4 "core" %   +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&n' +21 "core" ' + "manipulator"&s& +4 "core" & Y  +2 "storage"(i& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 2 + 700 counts +9 "manipulator"&k'ќ +18 "core" ' +2 "storage"(|% +3 "core" %A +4 ."downElevator"SE.seek :down +3 "storage"('X +98 ( % +3 "core" %/Q PH +2 "manipulator"&q% +5 "core" %Ѫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'v& +3 "core" &C +3 "manipulator"&u% +4 "core" %\   + "storage"(% +4 "core" %a +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(M( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +25 "core" ( +2 "manipulator"&& +4 "core" & - + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(\ & +4 "core" & !  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'i +280 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 4  +2 "manipulator"&& +3 "core" & , +3 .tElbow.seek 3 + "manipulator"&y( +9 "core" ( + "manipulator"&& +4 "core" &\ o U +2 "storage"(& +4 "core" & t  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&l/ +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&}& +3 "storage"(w'X +7 "core" & O +2 "manipulator"&% +3 "core" % Ϟ 1 +3 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +153 "core" ( +2 "manipulator"& & +4 "core" &( ! N ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +4 "manipulator"&& + "storage"(5 +5 "core" &( )  ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''" +95 "core" ' +2 "manipulator"&& +4 "core" &( 1 ~ ?T +2 "manipulator"&,% +4 "core" %*  0 +2 "collection"':& +4 "core" & +3 "collection"'"& +4 "core" &H +3 .tCC.seek :closed +2 "collection"'(V +4 "core" &? +7 &CJ $d +9 &\\I 6 +9 &G H +10 &eO G +9 &mM G +9 &cgO H +10 &'iO G +9 &iQ H +10 &hO G +9 &meO G +9 & .kM G +10 &!lP G +9 &#gO G +9 &%tfQ G +10 &'7jP G +9 &(gP G +10 &*hL G +9 &,}jN G +9 &.>h] G +10 &0hN G +9 &1gO G +10 &3hP H +9 &5GgS G +9 &7iQ G +10 &8cP G +9 &:jM G +9 &hP G +9 &?eO G +10 &AhP G +9 &CUhN H +9 &EoP H +10 &FxL I +9 &HI J +9 &JKK N +10 &LN Q +9 &MO R +9 &ON Q +10 &QHK R +9 &SL S +10 &TO R +9 &V9eL - +9 &VO R +9 ( +3 "collection"'"& +3 "core" &VtR J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&01 +57 "core" 1 +2 "manipulator"&1% +4 "core" % * 1 S +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%7& +3 "core" & +2 "manipulator"&5% +4 "core" %\  _  +2 "storage"(% +3 "core" %X c g +2 "storage"(F. +3 "core" .( +2 "storage"(& +4 "core" & d -  +2 "storage"(K& +4 "core" & e c !  +2 "manipulator"&& +4 "core" &(  k ?T +2 "manipulator"&<% +4 "core" %\    +41 .tElbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&D& +3 "core" & & R { +2 "storage"(&& +4 "core" & ^  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +89 "core" ' +2 "storage"(8& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +278 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &   +2 "manipulator"&2& +4 "core" & p { +2 .tElbow.seek 3 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&6& +4 "core" & F { +2 "storage"(*& +3 "core" & V  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&9'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +5 "storage"(G'X +6 "core" & { +2 "manipulator"&.% +4 "core" % Ϯ w , +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&!& +4 "core" &i + o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &N& +2 "core" &i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +98 "core" ' +2 "manipulator"&C& +4 "core" &i $ ' +2 "manipulator"&3% +4 "core" %   +2 "processing"%]& +4 "core" & +2 "processing"%)& +4 "core" & +3 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &  +8 &7 )v +10 &j = +9 &v H +9 &lg G +10 &.e G +9 &j G +9 &k G +10 &sh H +9 &6j G +10 &h G +9 & e\ G +9 &"|g G +10 &$>d G +9 &&e G +9 &'k G +10 &)k G +9 &+Fi G +10 &-g G +9 &.c G +9 &0f G +10 &2Ne G +9 &4j G +9 &5h H +10 &7g G +9 &9Vj G +10 &;h G +9 &<g H +9 &>g G +10 &@]i H +9 &Bi H +9 &Cm H +10 &Es H +9 &G`y J +10 &I K +9 &J L +9 &L L +10 &N` L +9 &P! M +9 &Q M +10 &S N +9 &Ue M +10 &W& N +9 &X N +9 &Z;Db %l +10 &Z . \ +5 ( +2 "processing"%)& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&+1 +58 "core" 1 +2 "manipulator"&?% +4 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' +2 "processing"%J& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +4 "core" %\ !  6 +2 "storage"(H% +4 "core" %a c c D +2 "storage"(\\. +3 "core" .( +2 "storage"(f& +4 "core" & d c  +2 "storage"(a& +4 "manipulator"&%& +4 "core" & f d U  + &i  + +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&r(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(d'i +2 "core" ( +3 "manipulator"&A& +4 "core" &i h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i  +3 .tForearm.seek PC +2 "manipulator"&Q' +97 "core" ' + .tHand.close + "manipulator"&>/ +62 "core" / +3 .tPC.seek :open +2 "processing"%4( +92 "core" ' + "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(`'y +87 "core" ' +242 ( +2 "storage"(t& +4 "core" &   + "manipulator"&_& +4 "core" &i { +2 "manipulator"&U% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P( +242 "core" ( +2 "manipulator"&W& +3 "core" & & ( F +3 "storage"(X& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +100 "core" ' + .tHand.open +2 "manipulator"&^1 +56 "core" 1 +2 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(;'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(x& +4 "core" &\ \ P ~  +2 "manipulator"&m& +4 "core" & J A +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" & '  A +2 "storage"(s& +4 "core" &\ Z\ R  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(|' +54 "core" ' + "manipulator"&Y& +4 "core" & d A +2 "storage"(b& +4 "core" & %  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +23 "core" ' +2 "manipulator"&n% +3 "core" %Ή # +3 "storage"(v& +4 "core" & *  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&u'ϵ +20 "core" ' +2 "manipulator"&& +3 "core" & n A +2 "storage"(z& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +34 "core" ' +2 "storage"(k% +3 "core" %p Q  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %U z | PI +2 "manipulator"&[% +4 "core" %# J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & H  +2 "collection"'& +4 "core" &Vt J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&\ % +3 "core" %\  1  +3 "storage"(p% +4 "core" %^ + "storage"(. +3 "core" .( +2 "storage"(c& +4 "core" &   +2 "storage"(& +3 "core" &   +3 "manipulator"&& +4 "core" & A + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & % A +2 "storage"(l& +3 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +93 "core" ' +2 "storage"(& +3 "core" & o  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 9 A +42 "storage"(& +11 "core" & 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'} +27 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'O +29 "core" ' +2 "manipulator"&:% +4 "core" %Έ +2 "storage"(y& +4 "core" & t i  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&w'ϴ +20 "core" ' +2 "manipulator"&$& +3 "core" & H A +3 "storage"(j& +4 "core" & 5  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(1'> +38 "core" ' + "manipulator"&7& +5 "core" & > A + "manipulator"&5% +3 "core" %0 + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +148 "core" ( +2 "manipulator"&& +4 "core" &"  X 9& + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &" 9& +3 .tForearm.seek CC + "manipulator"&"'" +92 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'<( +416 "core" ( + "storage"('& +4 "core" &  +2 "storage"(D& +4 "core" &  + "manipulator"&&& +4 "core" &"  9& +2 "manipulator"&8% +4 "core" % )  ? +2 .tForearm.seek :retract +2 "manipulator"&('\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +163 "core" ( +2 "manipulator"& & +4 "core" & n e +2 "storage"( & +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +98 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&*1 +63 "core" 1 +2 "manipulator"&R% +4 "core" % Έ & +2 "storage"(T& +5 "core" & u  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&.'ϴ +20 "core" ' + "manipulator"&& +4 "core" & e +2 "storage"(/& +4 "core" & /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +25 "core" ' +2 "storage"(9% +3 "core" %E f +3 ."downElevator"SE.seek :down +5 "storage"(!'X +99 (N% +3 "core" %Q PH +2 "manipulator"&@% +3 "core" %Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +87 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'3& +3 "core" &__ +2 "manipulator"&]% +3 "core" %\   +2 "storage"(G% +4 "core" %b +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(~( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +46 (+& +5 "core" &  +2 "manipulator"&?& +4 "core" &  e +2 .tElbow.seek 2 +2 "manipulator"&J( +29 "core" ( + "manipulator"&O& +4 "core" &\  h +2 "storage"(H& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +98 "core" ' +2 "storage"()& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +279 "core" ' +3 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" & i +2 "manipulator"&A& +4 "core" & w g +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&L& +4 "core" & t g +2 "storage"(>& +4 "core" & T +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(E'X +8 "core" & g + "manipulator"&d% +4 "core" %  2 b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&_( +147 "core" ( + "manipulator"&U& +4 "core" &! & G 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +2 "core" &! ! 8 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'" +105 "core" ' +3 "manipulator"&X& +4 "core" &"  8 +2 "manipulator"&r% +4 "core" %!  [ +2 "collection"'^& +4 "core" &bfN +2 "collection"'e& +6 "core" &ce% +2 .tCC.seek :closed +2 "collection"'h(V +3 "core" &dfO  +9 &5deM )w +10 &jeeQ = +9 &tceJ H +9 &jgdfM G +10 &,hegM G +9 &hegP G +9 &ideO G +10 &sgefK G +9 &4hegF G +9 &gfgV G +10 & hfhE G +9 &"xidhN H +10 &$<hdjM G +9 &%hhhN G +9 &'hgfN G +10 &)fgiO G +9 &+DghiO G +9 &-gfgN G +10 &.hfiF G +9 &0jejL G +10 &2LgehI G +9 &4hhhP G +9 &5guiG G +10 &7gijO G +9 &9TeijG G +9 &;hjiI G +10 &<jhmN G +9 &>hjkK G +10 &@\\ghiK G +9 &BhjjK G +9 &CijkC G +10 &EprqC H +9 &G^z{B I +9 &IA K +10 &JC O +9 &LF P +10 &NPB Q +9 &PJ Q +9 &QF Q +10 &SB R +9 &US@ B +9 &Vk>D / +10 &V`A A +5 ( +2 "collection"'e& +4 "core" &VN? A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&x1 +57 "core" 1 +3 "manipulator"&m% +4 "core" % ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%s& +5 "core" & + "manipulator"&{% +4 "core" %\ !  C 8 +2 "storage"(Y% +3 "core" %V  +2 "storage"(b. +3 "core" .( +2 "storage"(n& +4 "core" &  +2 "storage"(v& +4 "core" &  + "manipulator"&`& +4 "core" &!   8 +2 "manipulator"&% +4 "core" %\ !   8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&z( +154 "core" ( +2 "manipulator"&;& +4 "core" & % |  +2 "storage"(k& +3 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +103 "core" ' + "storage"(Z& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +2 "storage"(- +47 "core" -' +5 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" & +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&|& +4 "core" & 7  +2 "storage"( & +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(\ 'X +8 "core" & ~  +2 "manipulator"&p% +4 "core" % , 0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +4 "manipulator"&g& +3 "core" &v |  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &v  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&& +4 "core" &v  Y  +2 "manipulator"&l% +3 "core" % +3 "processing"%o& +4 "core" & +2 "processing"%& +6 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +6 &= #b +10 &[ 6 +9 &\ H +9 &e G +10 &h G +9 &Zd G +9 &g G +10 &c G +9 &i\ G +9 &bf G +10 & "j H +9 &!g G +10 &#h G +9 &%if G +9 &'*h H +10 &(g G +9 &*h H +9 &,qh G +10 &.2h H +9 &/f G +10 &1g G +9 &3zc G +9 &5;g G +10 &6e G +9 &8g G +9 &:i G +10 &g G +10 &?h G +9 &Ac G +9 &CJi H +10 &E j H +9 &Fr H +9 &H K +10 &JD M +9 &L M +10 &M M +9 &O M +9 &QM L +10 &S  M +9 &T M +9 &V N +10 &XR M +9 &Yyx "j +10 &Z(p - +9 ( + &Z " +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&q1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ) 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' + "processing"% & +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  +2 "storage"(% +4 "core" %U S + "storage"(:. +3 "core" .( +2 "storage"(y& +4 "core" &  +2 "storage"($& +3 "manipulator"&j& +7 "core" &  + &v   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&7(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(5'i +3 "core" ( +2 "manipulator"&}& +5 "core" &v  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &v   +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close + "manipulator"&#/ +55 "core" / +3 .tPC.seek :open +2 "processing"%w( +85 "core" ' +2 "storage"(,- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +53 "core" ' +284 ( + "storage"(K& +4 "core" &  +2 "manipulator"&0& +4 "core" &v  + "manipulator"& % +4 "core" % +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +309 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"('& +5 "core" & y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +96 "core" ' + .tHand.open +2 "manipulator"&&1 +59 "core" 1 +3 "storage"(8- +3 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(F& +3 "core" & \ F\ N h +3 "manipulator"&*& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&R( +8 "core" ( +2 "manipulator"&T& +4 "core" &  G  +2 "storage"(& +3 "core" & \  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +59 "core" ' +2 "manipulator"&(& +4 "core" &   + "storage"(N& +3 "core" & a +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&@' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&3% +4 "core" %  +2 "storage"(.& +4 "core" & < + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&]' +19 "core" ' + "manipulator"&G& +4 "core" & s  +2 "storage"(I& +4 "core" & T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +28 "core" ' +2 "storage"(=% +4 "core" %r D +2 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (M% +3 "core" %+V  QJ +2 "manipulator"&+% +5 "core" %т - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" & ! +2 "collection"'H& +4 "core" &VL A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&)% +4 "core" %\    +2 "storage"(6% +3 "core" %a   +2 "storage"(C. +3 "core" .( +2 "storage"(%& +3 "core" &  +2 "storage"(a& +5 "core" & + "manipulator"&A& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&>& +4 "core" & &  + "storage"(-& +4 "core" & h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +90 "core" ' +2 "storage"(d& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +282 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &   +2 "storage"(Q& +4 "core" & c +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&f' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(r'O +27 "core" ' +2 "manipulator"&^% +3 "core" %   a +2 "storage"(& +4 "core" & 0 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&E' +20 "core" ' +2 "manipulator"&t& +3 "core" &   +3 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'> +35 "core" ' + "manipulator"&s& +5 "core" & :  + "manipulator"&{% +4 "core" %Ѳ $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +156 "core" ( + "manipulator"&e& +4 "core" &* ' @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &*  * @[ +2 .tForearm.seek CC +2 "manipulator"&v'" +93 "core" ' +2 .tHand.close + "manipulator"&`/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(W& +4 "core" & +2 "storage"(;& +3 "core" & +3 "manipulator"&k& +4 "core" &&   =D + "manipulator"&Z% +3 "core" % 6  h +3 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" & & + | +2 "storage"([& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&i' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +60 "core" 1 +3 "manipulator"&% +4 "core" %   + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +2 "manipulator"&p' +18 "core" ' + "manipulator"&z& +4 "core" & | +2 "storage"(P& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +36 "core" ' +2 "storage"(u% +3 "core" %@ g  +3 ."downElevator"SE.seek :down +4 "storage"(g'X +99 (% +3 "core" %Q ND +2 "manipulator"&% +3 "core" %ѥ 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'l& +4 "core" &hiG +2 "manipulator"&o% +3 "core" %\    +2 "storage"(\ % +4 "core" %_ x +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(4( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "core" &   +2 "manipulator"&& +5 "core" &  | +2 .tElbow.seek 3 + "manipulator"& ( +14 "core" ( + "manipulator"&& +4 "core" & & T +2 "storage"(& +4 "core" & z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +105 "core" ' +2 "storage"(y& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +290 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" & q  +2 "manipulator"&}& +4 "core" & T +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & n T +2 "storage"(#& +4 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & = T +2 "manipulator"&5% +3 "core" % ϱ { +3 .tForearm.seek :retract +2 "manipulator"&K'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"& & +4 "core" &% 6 J << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &%  9 << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&7'" +106 "core" ' +3 "manipulator"&& +4 "core" &% << +2 "manipulator"&'% +4 "core" %  : +2 "collection"'&& +3 "core" &lnV +3 "collection"'8& +5 "core" &jnO +2 .tCC.seek :closed +2 "collection"'"(V +4 "core" &nmK +7 &Ilo\\ $d +9 &\\mnQ 6 +10 &onM H +9 &fmmO G +9 &inoL G +10 &dglnI G +9 &&impG G +9 &gmoG G +10 &gmoC G +9 &mgnpI G +10 & .gmpC G +9 &!hopB G +9 &#klrK G +10 &%uhoqQ G +9 &'7goqD G +9 &(gmpC G +10 &*gnrC G +9 &,~gopC G +9 &.?iosE G +10 &0gnrD G +9 &1hpqD G +10 &3gorB G +9 &5GfqqB G +9 &7 gptD G +10 &8errN G +11 &:hpqC G +7 &gqrC G +9 &?fptC G +10 &AjrqC G +9 &CVgqtC G +9 &EowvO H +10 &FzK H +9 &HP J +9 &JJS N +10 &LW Q +9 &MU Q +10 &OK Q +9 &QIT Q +9 &SU S +10 &TY S +9 &V<hU 0 +9 &VU : +10 &WeT @ +5 ( +2 "collection"'8& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&F1 +2 "core" &WTS @ +53 1 +3 "manipulator"&*% +4 "core" %  ) O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" & + "manipulator"&% +4 "core" %\  +2 "storage"((% +4 "core" %U  +2 "storage"(N. +2 "core" .( +2 "storage"(3& +3 "core" & C  +2 "storage"(& +6 "core" &  +2 "manipulator"&.& +3 "core" &% <; +2 "manipulator"&G% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +163 "core" ( +2 "manipulator"&I& +3 "core" & r k +2 "storage"(=& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(D& +4 "core" & Y  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +281 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" & +  +2 "manipulator"&/& +4 "core" & # k +2 .tElbow.seek 3 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&9& +3 "core" &  k +2 "storage"(@& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +48 "manipulator"&]'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"()'X +7 "core" & k +2 "manipulator"&6% +4 "core" % ϲ m +2 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&%(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +3 "manipulator"&2& +4 "core" &h  =  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &h _  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +101 "core" ' + "manipulator"&>& +4 "core" &h % ,  +2 "manipulator"&-% +3 "core" % I +3 "processing"%1& +4 "core" & +2 "processing"%d& +5 "core" & +3 .tPC.seek :closed +2 "processing"%!(Z +4 "core" & +6 &= #c +10 &[ 6 +9 & H +10 &c G +11 &g G +7 &[f G +9 &c G +10 &g G +9 &h H +10 &dg G +9 & &h G +9 &!g G +10 &#h G +9 &%lg G +9 &'-g G +10 &(g H +9 &*h G +10 &,sh G +9 &.4h H +9 &/e G +10 &1e G +9 &3|e G +9 &5>f G +10 &6g G +9 &8g G +10 &:f G +9 &f G +10 &?g G +9 &Af G +9 &CMk G +10 &Eo H +9 &Ft H +10 &H K +9 &JF M +9 &L M +10 &M L +9 &O L +9 &QM M +10 &S M +9 &T M +10 &V M +9 &XT M +9 &Ywt "k +10 &Z(p\ - +9 ( +3 "processing"%d& +2 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&B1 +58 "core" 1 +2 "manipulator"&?% +3 "core" %  F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 "processing"%U& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +3 "core" %\  : 2 +3 "storage"(X% +4 "core" %`  + "storage"(^. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(t& +2 "manipulator"&<& +8 "core" & K  +2 &h    +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&s(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +21 "core" ( + "manipulator"&V& +5 "core" &k \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &l \ +3 .tForearm.seek PC +2 "manipulator"&J' +97 "core" ' +2 .tHand.close + "manipulator"&f/ +56 "core" / +4 .tPC.seek :open +2 "processing"%E( +69 "core" ' +2 "storage"(r- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +35 "core" ' +317 ( + "storage"(n& +4 "core" &   +2 "manipulator"&x& +4 "core" &l  \ + "manipulator"&S% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&`'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Y( +235 "core" ( +2 "manipulator"&h& +3 "core" &\  V +2 "storage"(W& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +98 "core" ' + .tHand.open + "manipulator"&k1 +65 "core" 1 +41 "storage"(Z- +11 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +4 "core" -' +2 "storage"(b& +4 "core" &\ Q\ Q  + "manipulator"& & +4 "core" & T +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & & r T +2 "storage"(z& +4 "core" &\ Q\ P  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +52 "core" ' + "manipulator"&_& +4 "core" &  T +2 "storage"(& +3 "core" & j  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +24 "core" ' + "manipulator"&p% +4 "core" %z \\ +2 "storage"(l& +3 "core" & I  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&o'Ϧ +20 "core" ' + "manipulator"&\ & +5 "core" &\ % f T + "storage"(& +4 "core" & 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +19 "core" ' +2 "storage"(% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(g'X +98 (~% +3 "core" %W y r ; QK +2 "manipulator"&q% +5 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 8  +2 "collection"'& +4 "core" &WT/ @ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&y% +4 "core" %\  D  +2 "storage"(|% +4 "core" %b 6 + "storage"(. +3 "core" .( +2 "storage"(j& +3 "core" & 4  +2 "storage"($& +4 "core" &   +2 "manipulator"&}& +4 "core" &\ 4 T +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" &  t T +2 "storage"(c& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(5& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +281 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &\  T +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +29 "core" ' +2 "manipulator"&'% +3 "core" %} +2 "storage"(&& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 "manipulator"&K& +4 "core" &\  < T + "storage"(& +49 "core" & s  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(*'> +40 "core" ' +2 "manipulator"&& +3 "core" &\  T +3 "manipulator"&% +4 "core" %U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +148 "core" ( +5 "manipulator"&3& +3 "core" &#  q :0 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &#  G :0 +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&./ +63 "core" / +2 .tCC.seek :open +2 "collection"'G( +416 "core" ( + "storage"(7& +3 "core" &  +2 "storage"(I& +4 "core" &  +2 "manipulator"&=& +3 "core" &#  C :, +2 "manipulator"&D% +4 "core" %   \ +2 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&T( +163 "core" ( + "manipulator"&M& +4 "core" &   +2 "storage"(+& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&/'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "Can" 9 +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&@1 +62 "core" 1 +2 "manipulator"&O% +3 "core" % · % 8 +2 "storage"(H& +5 "core" & O  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&6'ϳ +20 "core" ' +2 "manipulator"& & +3 "core" &   +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +17 "core" ' +2 "storage"(]% +4 "core" %H M  +2 ."downElevator"SE.seek :down +4 "storage"(2'X +99 (a% +3 "core" %Q PH +2 "manipulator"&R% +4 "core" %3 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +96 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'-& +3 "core" &mnH +3 "manipulator"&1% +4 "core" %\ =  +2 "storage"()% +4 "core" %b +2 "storage"(C. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(w( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" & Z +2 "manipulator"&?& +3 "core" & _  +3 .tElbow.seek 2 +2 "manipulator"&U( +29 "core" ( + "manipulator"&Q& +4 "core" & 1 !s +2 "storage"(X& +4 "core" & 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +90 "core" ' +2 "storage"(& +4 "core" & [ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(d'i +277 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &  +2 "manipulator"&V& +51 "core" & & o +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&A& +4 "core" &  o + "storage"(f& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&r' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(!'X +8 "core" & o +2 "manipulator"&{% +3 "core" %  t ` +3 .tForearm.seek :retract +2 "manipulator"&n'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +150 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&S& + "storage"(5 +8 "core" &( ?P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +4 "core" &( Q ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'" +104 "core" ' +3 "manipulator"&W& +4 "core" &' ( u >O +2 "manipulator"&s% +4 "core" %* +2 "collection"'k& +4 "core" &qs6 +2 "collection"'Z& +5 "core" &qs- +2 .tCC.seek :closed +2 "collection"'`(V +5 "core" &qt[ +7 &9oqT #c +9 &[rsU 6 +10 &suR H +9 &fquK G +9 &htuP G +10 &ZcpvN G +9 &hquK G +9 &gtuB G +10 &dswR G +9 &bgswU G +10 & $gruW G +9 &!gsxK G +9 &#htuD G +10 &%jguvC G +9 &'-fsvS G +10 &(dsuT G +9 &*ftwT G +9 &,rdvvW G +10 &.5fsxV G +9 &/euwV G +9 &1guwU G +10 &3{fvwP G +9 &5<duuU G +10 &6gtwV G +9 &8huxT G +9 &:gtwU F +10 &guxU G +9 &?gwyV G +10 &AgxwY G +9 &CLetyT G +10 &E k}{U H +9 &Fs\\ H +9 &Hb I +10 &JB[ M +9 &KX P +9 &MU Q +10 &O}\\ Q +9 &Q>\\ Q +10 &RV R +9 &TV S +9 &V0dX - +10 &VT P +9 ( +3 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&v1 +3 "core" &Vu` I +53 1 +3 "manipulator"&b% +4 "core" % * ' @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&z% +4 "core" %\   ` , +2 "storage"(_% +4 "core" %a d u q +2 "storage"(. +3 "core" .( +2 "storage"(p& +4 "core" & v r * + "storage"(l& +4 "core" & g f V +2 "manipulator"&e& +4 "core" &&  v >O + "manipulator"&\ % +5 "core" %\    , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +4 "core" & & &  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +92 "core" ' + "storage"(;& +4 "core" & 0 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +283 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" & A +2 "manipulator"&P& +4 "core" & ^  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +3 "core" & c  +2 "storage"(& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&o' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y'X +7 "core" &   +2 "manipulator"&|% +3 "core" %  Q O +3 .tForearm.seek :retract +47 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +111 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +134 "core" ( +3 "manipulator"&i& +4 "core" &h & k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&}' +99 "core" ' +2 "manipulator"&#& +4 "core" &h  x  +2 "manipulator"&c% +3 "core" %  +3 "processing"%m& +4 "core" & +2 "processing"%5& +5 "core" & +3 .tPC.seek :closed +3 "processing"%g(Z +3 "core" & +5 & 7 +10 &MM / +9 &z D +10 &Cj G +9 &h G +9 &g G +10 &g G +9 &Kf G +9 & g G +10 &e G +9 &g G +10 &!Tg G +9 &#i G +9 &$g G +10 &&d G +9 &([f G +9 &*g G +10 &+h G +9 &-h H +10 &/ef G +9 &1&g G +9 &2f G +10 &4f G +9 &6mf G +9 &8/f G +10 &9i G +9 &;h G +10 &=ug G +9 &?6e G +9 &@g G +10 &Bh H +9 &Dzk\ H +9 &F;p H +10 &G J +9 &I M +10 &Ku L +9 &M7 L +9 &N M +10 &P M +9 &R| M +9 &T> M +10 &U M +9 &W N +10 &Y : +9 &Zs5\ S +9 &Z " +3 ( + "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +101 "core" ' +2 "processing"% & +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ $ E +3 "storage"(% +4 "core" %\\ c f q + "storage"('. +3 "core" .( +2 "storage"(&& +4 "core" & b e b +2 "storage"(K& +3 "manipulator"&& +5 "core" & d f \\ +2 &h  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +19 "core" ( + "manipulator"&& +4 "core" &i ( s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i  C  +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +76 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +47 "core" ' +298 ( + "storage"(8& +4 "core" & u +2 "manipulator"&F& +4 "core" &i X  + "manipulator"&,% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(( +259 "core" ( + "manipulator"&"& +4 "core" & % S  +2 "storage"(7& +4 "core" & b d v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +95 "core" ' +2 .tHand.open + "manipulator"&=1 +57 "core" 1 +2 "storage"(D- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(M'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +51 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(N& +4 "core" & \ O\ O p +46 "manipulator"&@& +7 "core" &   + .tElbow.seek 2 +2 "manipulator"&O( +8 "core" ( +2 "manipulator"&H& +4 "core" &  8  +2 "storage"( & +4 "core" & \ P\ O +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +55 "core" ' +2 "manipulator"&0& +3 "core" & N  +3 "storage"(a& +4 "core" & D + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&R' +23 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +21 "core" ' +2 "manipulator"&-% +4 "core" %  + "storage"(1& +4 "core" & $ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&6' +22 "core" ' + "manipulator"&)& +4 "core" & T  +2 "storage"(C& +3 "core" & H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +26 "core" ' +2 "storage"( % +3 "core" %n  +3 ."downElevator"SE.seek :down +4 "storage"(2'X +98 (4% +3 "core" %Z q x QK +2 "manipulator"&B% +4 "core" %ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Q& +4 "core" & B +2 "collection"'X& +3 "core" &VuW I +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(9% +4 "core" %[ ) + "storage"(>. +3 "core" .( +2 "storage"(<& +4 "core" &  +2 "storage"(t& +4 "core" &  +2 "manipulator"&V& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&A( +4 "core" ( + "manipulator"&f& +4 "core" & $  +2 "storage"(%& +3 "core" & . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +101 "core" ' +2 "storage"({& +3 "core" & # +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(U'i +279 "core" ' +3 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &   +2 "storage"(J& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&d' +21 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(s'O +28 "core" ' +2 "manipulator"&L% +4 "core" % ^ + "storage"(k& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&!' +19 "core" ' + "manipulator"&n& +4 "core" & T  +2 "storage"(G& +4 "core" & ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +56 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'> +38 "core" ' +2 "manipulator"&& +3 "core" & H  +2 "manipulator"&z% +4 "core" %ћ +2 .tForearm.reconfigure :loose +46 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&_'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +2 "manipulator"&p& +4 "core" &+ ! 6 Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &,  7 Bj +3 .tForearm.seek CC +2 "manipulator"&l'" +96 "core" ' + .tHand.close + "manipulator"&e/ +60 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +416 "core" ( + "storage"(h& +4 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&& +4 "core" &+   Ab + "manipulator"&;% +4 "core" % 2 ( L +2 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +155 "core" ( + "manipulator"&~& +4 "core" & W  +2 "storage"(q& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&P' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  | +2 "storage"(& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&|' +20 "core" ' +3 "manipulator"&& +4 "core" &  +2 "storage"(Y& +3 "core" & " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +28 "core" ' +2 "storage"(o% +3 "core" %C +3 ."downElevator"SE.seek :down +4 "storage"(i'X +99 ($% +3 "core" %S ND +2 "manipulator"&% +4 "core" %ћ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'c& +3 "core" &qr +2 "manipulator"&m% +4 "core" %\    +2 "storage"(y% +4 "core" %\\ { + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(E( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"& ( +39 "core" ( +2 "manipulator"&& +3 "core" & % > l +2 "storage"(& +4 "core" & $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +90 "core" ' + "storage"(5& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +282 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +4 "core" & a l +2 .tElbow.seek 3 +2 "manipulator"&( +19 "core" ( +3 "manipulator"&}& +3 "core" &\ & R Z +2 "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +108 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(g'X +8 "core" &\ ` Z + "manipulator"&% +4 "core" % Ϯ  +3 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&,& +4 "core" &*  # Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &*  P Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'" +106 "core" ' +2 "manipulator"&7& +4 "core" &+ $  Ad +2 "manipulator"&% +4 "core" %  +2 "collection"'=& +3 "core" &uwT +3 "collection"'D& +5 "core" &vw7 +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &wvh  +9 &5twc )v +9 &huud < +10 &vwvd H +9 &fcuxf G +9 &)fwwg G +10 &dvxf G +9 &fvwf G +10 &njvyh G +9 &1gwya G +9 &kwwg G +10 & hwzc G +9 &"wiwya G +9 &$:gvz` F +10 &%hwwe G +9 &'fuyi G +9 &)iwzb G +10 &+@ew{d G +9 &-fy|b G +10 &.jwze G +9 &0hv{` G +9 &2Jfv{g F +10 &4 fyzf G +9 &5dyzd G +10 &7ey{` F +9 &9Qfwza G +9 &;gzye G +10 &<jy|Z G +9 &>gy|e G +9 &@Xcy{a G +10 &Bfz|n G +9 &Cgz|b G +10 &Ema H +9 &GZy` I +9 &I_ J +10 &Jb O +9 &L` Q +9 &NM\\ P +10 &P b R +9 &Qb R +10 &S_ S +9 &UNf D +9 &Vi?a 2 +10 &VE_ ; +5 ( +2 "collection"'D& +4 "core" &V8a ; +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&N1 +54 "core" 1 +3 "manipulator"&@% +4 "core" %   2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%H& +3 "core" & +2 "manipulator"& % +4 "core" %\  ; 8 +2 "storage"(0% +4 "core" %U  +2 "storage"(a. +3 "core" .( +2 "storage"(3& +4 "core" &   + "storage"(M& +4 "core" &   +2 "manipulator"&-& +4 "core" &*   Ad + "manipulator"&1% +4 "core" %\ !  5 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)( +161 "core" ( +2 "manipulator"&C& +4 "core" &  x +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +93 "core" ' +2 "storage"(I& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +277 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & H  +2 "manipulator"&& +4 "core" &  x +2 .tElbow.seek 3 +2 "manipulator"&O( +4 "core" ( + "manipulator"&]& +4 "core" & A x +2 "storage"(R& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&X& + "storage"('X +8 "core" & x + "manipulator"&9% +4 "core" % Ϡ Y +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&<(s +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +99 "core" ( +3 "manipulator"&/& +3 "core" &t 9  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &t 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&V' +94 "core" ' +2 "manipulator"&f& +4 "core" &t % '  +2 "manipulator"&%% +3 "core" %   +3 "processing"%*& +4 "core" & +2 "processing"%{& +5 "core" & +2 .tPC.seek :closed +2 "processing"%2(Z +5 "core" &  +9 &6 )v +9 &\ h < +10 &x H +9 &cg G +9 &%h G +10 &e G +9 &g G +10 &kf G +9 &.g F +9 &h G +10 & g G +9 &"re G +9 &$4g G +10 &%g G +9 &'h F +10 &)zf G +9 &+=f G +9 &-g F +10 &.g G +9 &0h G +9 &2Fg F +10 &4g G +9 &5g F +10 &7g G +9 &9Mf G +9 &;c G +10 &<h G +9 &>f G +9 &@Uh G +10 &Bh G +9 &Ck G +10 &Er H +9 &GVy I +9 &I K +10 &J L +9 &L L +9 &NT M +10 &P L +9 &Q M +10 &S L +9 &U[ M +9 &W M +10 &X N +9 &Z0Db %l +9 &Z3 ! +6 ( +2 "processing"%{& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 + .Hand.open + "manipulator"&T1 +59 "core" 1 +2 "manipulator"&?% +3 "core" % % S  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 "processing"%S& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&J% +4 "core" %\  y  +2 "storage"(W% +4 "core" %a  + "storage"(L. +3 "core" .( +2 "storage"(k& +4 "core" &   +2 "storage"(n& +3 "manipulator"&G& +7 "core" &  + &t   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'i +2 "core" ( +2 "manipulator"&\\& +4 "core" &t e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &t   +2 .tForearm.seek PC +2 "manipulator"&U' +99 "core" ' + .tHand.close +2 "manipulator"&d/ +53 "core" / +2 .tPC.seek :open +2 "processing"%!( +91 "core" ' +2 "storage"(s- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(p'y +32 "core" ' +298 ( +2 "storage"(Z& +4 "core" & F  +2 "manipulator"&v& +4 "core" &t   + "manipulator"&r% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&e'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&_( +250 "core" ( +2 "manipulator"&`& +3 "core" & $  +2 "storage"(h& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +89 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(;- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(~'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(q' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(& +4 "core" &\  O *  +2 "manipulator"&& +4 "core" & /  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & & p  +2 "storage"(& +3 "core" &\ , v  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +48 "storage"(o' +54 "core" ' +2 "manipulator"&x& +3 "core" & T  +3 "storage"($& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(P'i +22 "core" ' +2 "manipulator"&|% +4 "core" %ΐ  +2 "storage"(c& +4 "core" & U  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&m'ϼ +21 "core" ' + "manipulator"&y& +4 "core" & M  +2 "storage"(& +3 "core" & J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +28 "core" ' +2 "storage"([% +3 "core" %s +3 ."downElevator"SE.seek :down +5 "storage"(i'X +98 (w% +3 "core" %Z u  QJ +2 "manipulator"&% +4 "core" %#  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +70 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & +  +2 "collection"'& +3 "core" &V81 ; +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %\  '  +2 "storage"(u% +4 "core" %S + "storage"(#. +4 "core" .( +2 "storage"(K& +4 "core" &  + "storage"(& +4 "core" &   +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(j& +4 "core" & i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +91 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &   +2 "storage"( & +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(7- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' +2 "manipulator"&% +4 "core" %΍ \ + "storage"(=& +4 "core" & /  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&g'Ϲ +20 "core" ' +2 "manipulator"&8& +3 "core" & .  +2 "storage"(\ & +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'? +35 "core" ' +2 "manipulator"&H& +4 "core" & .  + "manipulator"& % +4 "core" %G 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +153 "core" ( +3 "manipulator"&3& +4 "core" &' ( >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &'   >M +3 .tForearm.seek CC +2 "manipulator"&M'" +141 "core" ' +2 .tHand.close + "manipulator"&-/ +63 "core" / +2 .tCC.seek :open +2 "collection"'1( +412 "core" ( +2 "storage"("& +3 "core" & \\  +2 "storage"(C& +5 "core" &  + "manipulator"& & +4 "core" &' >M +2 "manipulator"&I% +4 "core" % -  p  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&.( +153 "core" ( +2 "manipulator"&4& +3 "core" &    +3 "storage"(B& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +63 "core" 1 +2 "manipulator"&Q% +4 "core" % ΋ $ p +2 "storage"(X& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts +3 "manipulator"&9'Ϸ +20 "core" ' + "manipulator"&)& +4 "core" &   +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +17 "core" ' +2 "storage"(6% +4 "core" %@  +2 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (t% +3 "core" %O PF +2 "manipulator"&O% +4 "core" %3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +88 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'%& +3 "core" &rwa +2 "manipulator"&*% +4 "core" %\    +2 "storage"(% +4 "core" %`  + "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +2 "core" & V +2 "manipulator"&?& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&S( +33 "core" ( + "manipulator"&J& +4 "core" &\ % 7 ^ +2 "storage"(W& +4 "core" &  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +91 "core" ' + "storage"(k& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(G'i +278 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ({& +2 "core" &  +2 "manipulator"&\\& +4 "core" &  ] +2 .tElbow.seek 2 +2 "manipulator"&A( +17 "core" ( +2 "manipulator"&V& +5 "core" & [  +2 "storage"(d& +3 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&s' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e{}c G +10 &?g{|f F +9 &Af{}d G +10 &CYj{~g G +9 &Emn G +9 &Fte H +10 &Hh I +9 &JN^ N +9 &L\\ P +10 &Me Q +9 &Of Q +10 &QKh Q +9 &S g R +9 &Te R +10 &V4[` , +9 &V_ ? +6 ( +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&1 +3 "core" &VCd > +52 1 +4 "manipulator"&% +3 "core" %    +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" & +2 "manipulator"&e% +4 "core" %\   +2 "storage"(x% +4 "core" %b  + "storage"($. +3 "core" .( +2 "storage"(p& +3 "core" &   +2 "storage"(|& +4 "core" &   +2 "manipulator"&~& +4 "core" &# ;4 +2 "manipulator"&c% +4 "core" %\   m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&y( +162 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(_& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +94 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +281 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  3 +2 "manipulator"&Y& +4 "core" & <  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&o& +4 "core" &   + "storage"(& +4 "core" &  } +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(5'X +7 "core" &   +2 "manipulator"&u% +4 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&K& +4 "core" &i , i  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +104 "core" ' +2 "manipulator"&& +4 "core" &i  +2 "manipulator"&j% +4 "core" % 2 L +2 "processing"%b& +4 "core" & +2 "processing"%& +4 "core" & +3 .tPC.seek :closed +2 "processing"%i(Z +55 "core" & +3 & +2 & & + & + & + &< #c +5 &\\ 6 +10 & H +9 &g G +9 &h F +10 &ag G +9 &$f F +9 &g G +10 &k G +9 &ig G +9 & *j G +10 &!e G +9 &#g F +10 &%ph G +9 &'2e G +9 &(f G +10 &*g G +9 &,ze F +9 &.:g G +10 &/e F +9 &1f G +10 &3e G +9 &5Bj G +9 &7g G +10 &8h G +9 &:e G +10 &d F +9 &?g G +10 &Af F +9 &CQi G +9 &Ej" H +10 &Ft I +9 &H" J +10 &JK L +9 &L  M +9 &M M +10 &O M +9 &QS L +9 &S L +10 &T M +9 &V M +9 &XX M +10 &Ywu "j +9 &Z&g ) +9 ( +3 "processing"%& +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +3 "core" %  % , L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +90 "core" ' + "processing"%,& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\   +2 "storage"(7% +4 "core" %a  + "storage"(. +3 "core" .( +2 "storage"(=& +4 "core" &   +2 "storage"(8& +4 "manipulator"&\ & +4 "core" &   +2 &i   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&H(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"( 'i +3 "core" ( +3 "manipulator"&:& +3 "core" &i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +2 "core" &i   +3 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + .tHand.close + "manipulator"&&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%g( +93 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +35 "core" ' +293 ( +2 "storage"(D& +3 "core" &  \\ +2 "manipulator"&N& +4 "core" &i   +2 "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&-'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +266 "core" ( +2 "manipulator"&& +4 "core" &  c  +2 "storage"("& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +98 "core" ' + .tHand.open +2 "manipulator"& 1 +59 "core" 1 +3 "storage"(I- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(M- +3 "core" -' +2 "storage"(a& +3 "core" &  Y x +3 "manipulator"&R& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&X& +4 "core" & $   +2 "storage"()& +4 "core" &  P > +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +57 "core" ' + "manipulator"&F& +3 "core" &   +2 "storage"(t& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&O' +24 "core" ' +2 .tElbow.hold +41 "manipulator"&., +11 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&%% +3 "core" %  +2 "storage"(9& +4 "core" &  & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&*' +19 "core" ' +2 "manipulator"&& +4 "core" & C  + "storage"(>& +5 "core" &  Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +34 "core" ' + "storage"(+% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (E% +3 "core" %YW v QI +2 "manipulator"&T% +4 "core" %ѝ  g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +98 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" &  & +2 "collection"'W& +4 "core" &VCc > +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&k% +4 "core" %\ %  F +2 "storage"(]% +4 "core" %b + "storage"(f. +3 "core" .( +2 "storage"(n& +3 "core" &  d +2 "storage"({& +6 "core" &  H + "manipulator"&\\& +4 "core" &   +3 .tElbow.seek 2 + "manipulator"&V( +4 "core" ( +2 "manipulator"&d& +4 "core" &  |  + "storage"(<& +4 "core" &  K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +88 "core" ' +2 "storage"(z& +3 "core" &  } +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(S'i +280 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & Y  +2 "storage"(U& +4 "core" &  M +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&G' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +29 "core" ' + "manipulator"&% +4 "core" %  J +2 "storage"(A& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&2' +21 "core" ' + "manipulator"&Z& +4 "core" & K  +2 "storage"(1& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +7 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +40 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&e% +4 "core" %Ѧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +156 "core" ( +3 "manipulator"&p& +3 "core" &' ! J >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &'   >O +3 .tForearm.seek CC + "manipulator"&;'" +94 "core" ' + .tHand.close +2 "manipulator"&~/ +58 "core" / +2 .tCC.seek :open +2 "collection"'c( +412 "core" ( +2 "storage"(`& +3 "core" &  l +2 "storage"(& +4 "core" &  +2 "manipulator"&_& +4 "core" && =A +41 "manipulator"&% +11 "core" % - +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&w& +3 "core" & .  +3 "storage"(& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +100 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +4 "manipulator"&% +4 "core" %  +2 "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&u' +20 "core" ' +2 "manipulator"&y& +4 "core" & _  + "storage"([& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +25 "core" ' +2 "storage"(m% +4 "core" %> +2 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (% +3 "core" %O OD +2 "manipulator"&% +4 "core" %ќ $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'j& +3 "core" &wy2 +2 "manipulator"&b% +4 "core" %\    +2 "storage"(5% +4 "core" %P { +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(!( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +2 "core" & T  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&,( +14 "core" ( + "manipulator"& & +4 "core" & 6 b +2 "storage"(7& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(=& +4 "core" & y  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +279 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&:& +4 "core" &  b +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +3 "core" & o b +2 "storage"(&& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(i'X +8 "core" & L b + "manipulator"& % +4 "core" % ϭ  . +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&N( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &' 2 P >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &(  5 >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 "manipulator"&"& +50 "core" &(   >J +2 "manipulator"&H% +5 "core" %  m +2 "collection"' & +4 "core" &w{< +2 "collection"'I& +5 "core" &wyf +3 .tCC.seek :closed + "collection"'M(V +5 "core" &vyd +6 &Axyg $d +10 &\\w{h 6 +9 &!w{b G +10 &cz|d F +9 &kyz` G +9 &gfxzb G +10 &)jy{] G +9 &e{~` G +9 &fz|k F +10 &pgz|h F +9 & 1hy}o G +10 &!h{}k F +9 &#h|}h G +9 &%wgy{e G +10 &'8h||h G +9 &(d}a G +9 &*e|~p G +10 &,fz~h F +9 &.Bfz|l F +10 &0gz~s G +9 &1gxc F +9 &3g|}u G +10 &5Iczn G +9 &7 fzm F +9 &8e|}q F +10 &:f}s G +9 &j}o G +9 &?g~g F +9 &Af|~o G +10 &CXj}m G +9 &Elq H +9 &Fwo I +10 &Hn J +9 &JMo N +10 &Lq Q +9 &Mo Q +9 &Or Q +10 &QIr R +9 &S\ t R +9 &Ts S +10 &V;gs / +9 &Vo ] +10 ( + &Vyt L +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open + "manipulator"&a1 +59 "core" 1 +2 "manipulator"&R% +4 "core" % $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%)& +5 "core" & + "manipulator"&-% +3 "core" %\    +3 "storage"(F% +4 "core" %` f f c + "storage"(t. +3 "core" .( +2 "storage"(3& +3 "core" & g   +2 "storage"(4& +4 "core" &   +2 "manipulator"&%& +4 "core" &&  f =E + "manipulator"&9% +4 "core" %\   t  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&>& +4 "core" & ) O + "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +92 "core" ' + "storage"(+& +4 "core" & Q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'i +283 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +2 "core" & '  +3 "manipulator"&T& +3 "core" &  O +3 .tElbow.seek 3 + "manipulator"&Q( +4 "core" ( + "manipulator"&6& +4 "core" & } O +2 "storage"(O& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(k'X +8 "core" & N O + "manipulator"&]% +4 "core" % ϸ  Q +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +112 "core" ( + "manipulator"&& +4 "core" &p ' f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &p a  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +102 "core" ' +2 "manipulator"&d& +3 "core" &r  L  +3 "manipulator"&<% +4 "core" % +2 "processing"%@& +4 "core" & +2 "processing"%z& +5 "core" & +2 .tPC.seek :closed +2 "processing"%/(Z +4 "core" &  +10 &8 )w +9 &k = +9 &v H +10 &sc G +9 &5f G +10 &f G +9 &f G +9 &|e G +10 &>e G +9 &g F +9 & f G +10 &"g G +9 &$Ef! G +10 &&e G +9 &'g G +9 &)f G +10 &+Nf G +9 &-f G +9 &.j G +10 &0g G +9 &2Ug G +10 &4f G +9 &5e G +9 &7c G +10 &9]e G +9 &; e G +9 &<e G +10 &>g G +9 &@eg G +10 &B(g G +56 &Ch G +5 &Eq H +2 &Gg{ I +3 &I#! K + &J M + &L M + &Nf L +6 &P' M +9 &Q M +9 &S M +10 &Uk M +9 &W. M +9 &X M +10 &Z@Db %m +9 &Z ( " +6 ( + "processing"%z& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&.1 +2 "core" &Z " +55 1 + "manipulator"&?% +5 "core" % % ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +97 "core" ' +2 "processing"%r& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&U% +4 "core" %\  +2 "storage"(h% +4 "core" %P J +2 "storage"(. +3 "core" .( +2 "storage"(A& +4 "core" & ?  +2 "storage"(Z& +2 "manipulator"&1& +8 "core" & =  + &r   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(e'i +4 "core" ( + "manipulator"&^& +4 "core" &r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &r   +2 .tForearm.seek PC +2 "manipulator"&S' +95 "core" ' +2 .tHand.close + "manipulator"&G/ +61 "core" / +4 .tPC.seek :open +2 "processing"%2( +83 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(p'y +32 "core" ' +304 ( +2 "storage"(|& +3 "core" & v a  +2 "manipulator"&& +4 "core" &r   +2 "manipulator"&s% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&~'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +256 "core" ( +2 "manipulator"&l& +4 "core" &  s  +2 "storage"(`& +3 "core" & f f J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 .tHand.open + "manipulator"&_1 +64 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +121 "core" ' + #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"($& +4 "core" &\ R\ Q m  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(y& +4 "core" &\ P\ S  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(m' +56 "core" ' +2 "manipulator"&v& +4 "core" &  +2 "storage"(& +4 "core" & =  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +23 "core" ' +2 "manipulator"&u% +3 "core" %t  +2 "storage"(j& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 291 counts + "manipulator"&b'Ϡ +65 "core" ' +4 "manipulator"&5& +4 "core" & a  + "storage"(P& +4 "core" & \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +17 "core" ' +2 "storage"(q% +3 "core" %r 5  +3 ."downElevator"SE.seek :down +4 "storage"(K'X +98 (% +3 "core" %W x n I QJ +2 "manipulator"& % +5 "core" %2 - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &   +2 "collection"'7& +4 "core" &Vyj L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\ \   +2 "storage"(o% +3 "core" %Z  +2 "storage"(. +3 "core" .( +2 "storage"(8& +5 "core" & g  + "storage"(& +4 "core" & 5  +2 "manipulator"&:& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&&& +4 "core" & % #  +2 "storage"(#& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +96 "core" ' + "storage"( & +4 "core" & W  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'i +282 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"( & +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&\ '} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(}'O +33 "core" ' + "manipulator"&H% +4 "core" %΄  +2 "storage"( & +3 "core" & h   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&i'ϰ +21 "core" ' + "manipulator"&D& +4 "core" &  +2 "storage"(c& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'> +41 "core" ' +2 "manipulator"&)& +3 "core" & F  +2 "manipulator"&-% +4 "core" %3 o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +157 "core" ( +2 "manipulator"&3& +4 "core" &) & ? @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &*   @[ +2 .tForearm.seek CC +2 "manipulator"&I'" +92 "core" ' +2 .tHand.close + "manipulator"&%/ +57 "core" / +2 .tCC.seek :open +2 "collection"'9( +415 "core" ( +2 "storage"(& +3 "core" & &  +3 "storage"(>& +3 "core" &   +2 "manipulator"&0& +4 "core" &(   >O +2 "manipulator"&+% +4 "core" %  ` +2 .tForearm.seek :retract +2 "manipulator"&N'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +3 "manipulator"&X( +165 "core" ( +2 "manipulator"&(& +3 "core" &  l +2 "storage"(E& +5 "core" & b  + .tElbow.reconfigure :limp +42 "manipulator"&$ ,(b +10 .tForearm.seek 3 +2 "manipulator"&T'} +102 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +62 "core" 1 +2 "manipulator"&J% +4 "core" % ~ $ l +2 "storage"(W& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&]'Ϫ +19 "core" ' +2 "manipulator"&& +3 "core" & J l +2 "storage"(C& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +33 "core" ' +2 "storage"(*% +4 "core" %F +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ({% +3 "core" %IQ PG +2 "manipulator"&Q% +4 "core" % l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +3 "core" &vy; +2 "manipulator"&@% +3 "core" %\ $  8 +3 "storage"(k% +4 "core" %a * +2 "storage"(f. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(g( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" & @ +2 "manipulator"&?& +4 "core" &  l +2 .tElbow.seek 2 +2 "manipulator"&r( +34 "core" ( + "manipulator"&U& +4 "core" &  l +2 "storage"(h& +3 "core" &  h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(A& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +277 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +3 "core" &  . +2 "manipulator"&^& +3 "core" &  j +3 .tElbow.seek 2 + "manipulator"&V( +3 "core" ( +2 "manipulator"&\\& +4 "core" & l j +2 "storage"(G& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +4 "storage"(/'X +7 "core" & l j + "manipulator"&e% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&|'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ( + "manipulator"&s& +5 "core" ' + &( % ?U + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&S& +3 "core" &(  : ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&l'" +98 "core" ' +2 "manipulator"&`& +4 "core" &( $ y ?U +2 "manipulator"&% +4 "core" % +2 "collection"'_& +3 "core" &yz] +3 "collection"'& +6 "core" &xx< +2 .tCC.seek :closed +2 "collection"'~(V +4 "core" &x{i  +8 &6yzu )w +9 &kx{h = +10 &rz{p G +9 &mez|p G +9 &/hx}f G +10 &iz|s G +9 &jz|v G +9 &udz{s G +10 &7dz}s G +9 &cz|v G +10 & g|}t G +50 &"|kzq G +3 &$@gz~s F + &&g||r G + &'j|}p G + &)hz}s G + &+Gjz~t G +8 &- h{}t G +10 &.i{|y F +9 &0h|s G +9 &2Oh|~q G +10 &4i~t G +9 &5h}t F +9 &7e|~s F +10 &9Wc{~t G +9 &;d|s G +10 &<e}~s G +9 &>e~u G +9 &@_d}v G +10 &B!d~r G +9 &Ce~r G +10 &El| H +9 &Gbw} I +9 &I w J +10 &J| O +9 &L{ Q +9 &NS{ P +10 &P{ Q +9 &Qs Q +9 &S{ S +10 &UTt D +9 &VmAw + +10 &Vux E +5 ( +2 "collection"'& +4 "core" &Vnx E +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&;1 +60 "core" 1 +3 "manipulator"&$% +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&y% +4 "core" %\   $ +2 "storage"(v% +3 "core" %S f f [ +2 "storage"(. +3 "core" .( +2 "storage"(p& +4 "core" &  f f d +2 "storage"(w& +4 "core" &  b e j +2 "manipulator"&u& +4 "core" &( ?T +2 "manipulator"&j% +4 "core" %\  $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&5( +160 "core" ( +2 "manipulator"&P& +3 "core" & %   +3 "storage"(x& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +92 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  F +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&m& +3 "core" & h  +2 "storage"(& +4 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +3 "storage"(='X +7 "core" & ]  +2 "manipulator"&o% +4 "core" %   \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +3 "manipulator"&8& +3 "core" &l d  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &l   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&:' +102 "core" ' + "manipulator"&&& +4 "core" &l   +2 "manipulator"&#% +4 "core" %  +2 "processing"%& +4 "core" & +2 "processing"% & +6 "core" & +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" & +6 &>$ #c +9 &\\ 6 +10 & G +9 &c G +9 &f G +10 &[e G +9 &c G +10 &e" G +9 &h G +9 &bj G +10 & $g G +9 &!f F +9 &#f G +10 &%kf G +9 &'.f F +10 &(f! G +9 &*g G +9 &,sg G +10 &.4j G +9 &/e G +9 &1e F +10 &3{e G +9 &5>e F +10 &6g G +9 &8e F +9 &:f! G +10 &e! G +10 &?c G +9 &Ad G +9 &CLi G +10 &E k! H +9 &Fs H +9 &H K +10 &JE L +9 &L L +10 &M M +9 &O M +9 &QL M +10 &S  M +9 &T M +9 &V M +10 &XQ N +9 &Yvy "l +9 &Z)o + +9 ( +3 "processing"% & +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +65 "core" 1 + "manipulator"&% +4 "core" % & $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +147 "core" ' +3 "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\ \   +2 "storage"("% +4 "core" %O  +2 "storage"(H. +3 "core" .( +2 "storage"( & +3 "core" &   +3 "storage"(D& +2 "manipulator"&c& +8 "core" &  O +2 &l   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&)(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(-'i +2 "core" ( +2 "manipulator"&'& +6 "core" &l   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l   +2 .tForearm.seek PC +2 "manipulator"&,' +95 "core" ' +2 .tHand.close +2 "manipulator"&\ / +58 "core" / +2 .tPC.seek :open +2 "processing"%i( +95 "core" ' + "storage"(}- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'y +34 "core" ' +293 ( +3 "storage"(4& +3 "core" &   +2 "manipulator"&a& +4 "core" &l   +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&%'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +247 "core" ( +2 "manipulator"&M& +3 "core" &  v % +2 "storage"(& +4 "core" &  z r ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +96 "core" ' + .tHand.open +2 "manipulator"&01 +55 "core" 1 +4 "storage"(+- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(t& +3 "core" & \ P\ P +3 "manipulator"&O& +4 "core" &  % + .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&W& +3 "core" &  D % +2 "storage"(& +5 "core" & \ Q\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(*' +53 "core" ' +2 "manipulator"&N& +3 "core" &  % +2 "storage"({& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +24 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(T'i +23 "core" ' +2 "manipulator"&]% +3 "core" % +2 "storage"(<& +4 "core" &  + +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&@' +20 "core" ' +2 "manipulator"&k& +4 "core" &  b % +2 "storage"(f& +3 "core" &  ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +25 "core" ' + "storage"(B% +4 "core" %q t  +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (!% +3 "core" %U q n r PJ +2 "manipulator"&.% +51 "core" %Ѩ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +86 "core" ' +24 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" &  +2 "collection"'h& +4 "core" &Vnm E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&A% +3 "core" %\    +3 "storage"(6% +4 "core" %O  + "storage"(d. +3 "core" .( +2 "storage"(1& +4 "core" &   +2 "storage"(Z& +4 "core" &   +2 "manipulator"&^& +4 "core" &  % +2 .tElbow.seek 2 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&G& +4 "core" & + % +2 "storage"(n& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +98 "core" ' +2 "storage"(e& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &  % +2 "storage"(S& +4 "core" &  d +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&z' +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +28 "core" ' +2 "manipulator"&_% +4 "core" % s + "storage"(V& +4 "core" &  f e +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&/' +20 "core" ' + "manipulator"&|& +4 "core" &  " % +2 "storage"(9& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"($'> +40 "core" ' + "manipulator"&& +5 "core" &  % + "manipulator"&y% +4 "core" %ѳ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&p& +4 "core" &" %  9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &"   9' +3 .tForearm.seek CC +2 "manipulator"&w'" +94 "core" ' + .tHand.close + "manipulator"&u/ +62 "core" / +2 .tCC.seek :open +2 "collection"'j( +415 "core" ( +2 "storage"(l& +4 "core" &  + "storage"(P& +4 "core" &  +2 "manipulator"&x& +3 "core" &" U 9' +2 "manipulator"&% +4 "core" %  < +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&[& +4 "core" & <  +2 "storage"(& +4 "core" &  e + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +97 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&b% +3 "core" % I +2 "storage"(7& +51 "core" &  } +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&o' +21 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(q& +33 "core" &  - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' +2 "storage"( % +3 "core" %D C +3 ."downElevator"SE.seek :down +4 "storage"(8'X +99 (% +3 "core" %R OF +2 "manipulator"&% +4 "core" %ќ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'#& +3 "core" &vwp +3 "manipulator"&% +3 "core" %\   ! +2 "storage"(=% +5 "core" %[ b + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(2( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & N  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +17 "core" ( +2 "manipulator"&& +4 "core" & $ a + "storage"( & +3 "core" & t  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +88 "core" ' + "storage"(H& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +274 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &   +2 "manipulator"&'& +4 "core" &  a +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&:& +4 "core" & { a + "storage"(\ & +4 "core" & a  +3 .tForearm.seek 3 + 300 counts + "manipulator"&}'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Y/ +58 "core" / +5 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(K'X +7 "core" &  a +2 "manipulator"&-% +4 "core" % ϫ  / +2 .tForearm.seek :retract +2 "manipulator"&4'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &" % = 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &"  w 9% +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&M'" +106 "core" ' + "manipulator"&& +4 "core" &" ' 9% +2 "manipulator"&)% +4 "core" %  + +2 "collection"'0& +4 "core" &zx +2 "collection"'+& +6 "core" &xz +2 .tCC.seek :closed +3 "collection"'I(V +3 "core" &zzw +5 &zz~ < +10 &VMyyp / +9 &{xzw D +10 &Ofz{u G +9 &cy{y G +9 &dz}u G +10 &i{{t G +9 &Xhy|s G +9 &hz}r G +10 &ez|u F +9 &j|}w G +10 &!`d|}u G +9 &##gzt F +9 &$h{s F +10 &&fs F +9 &(ic|~s F +9 &*+e|} F +10 &+e|}w F +9 &-iz}y G +10 &/oh|}r G +9 &13g|~{ F +9 &2f}|v F +10 &4j|} G +9 &6yh|~ F +9 &8<e}} F +10 &9i}~z G +9 &;g}s G +10 &=fr F +9 &?Bi|z G +9 &Ai|{ F +10 &Bgw F +9 &Dht G +9 &FGqw H +10 &Hw I +9 &Is L +10 &Ktv P +9 &M5o Q +9 &No Q +10 &Pt Q +9 &Rxr R +9 &T8q R +10 &Uxu ; +9 &V1q $k +10 &VUm @ +2 ( +2 "collection"'+& +50 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 +2 .Hand.open +2 "manipulator"&t1 +53 "core" 1 + "manipulator"&O% +4 "core" %  ' t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &1 +2 "manipulator"&%% +4 "core" %\  +2 "storage"(N% +3 "core" %^  +2 "storage"({. +3 "core" .( +2 "storage"(]& +4 "core" &   +2 "storage"(<& +4 "core" &   +2 "manipulator"&3& +4 "core" &"  9$ + "manipulator"&k% +4 "core" %\ 4  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(( +161 "core" ( + "manipulator"&f& +4 "core" & # b +2 "storage"(B& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +91 "core" ' + "storage"(>& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'i +284 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +2 "core" &  +2 "manipulator"&C& +4 "core" &  b +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&*& +3 "core" & : b +2 "storage"(Q& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(A'X +7 "core" &  b +2 "manipulator"&6% +4 "core" % ϳ  1 +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&1& +3 "core" &q '   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &Z& +3 "core" &q   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +95 "core" ' +2 "manipulator"&G& +4 "core" &q  Q  +2 "manipulator"&n% +4 "core" %  +2 "processing"%e& +4 "core" &$ +2 "processing"%R& +5 "core" &1 +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &1  +9 &75 )w +10 &k/ = +9 &s+ G +9 &re& G +10 &4h1 G +9 &d, G +10 &e* G +9 &zh1 G +9 &<b G +10 &f F +9 & e) G +9 &"h( G +10 &$Ee F +9 &&e G +10 &'j G +9 &)e" F +9 &+Le# G +10 &-h G +9 &.e" F +9 &0g! G +10 &2Sj G +9 &4c G +10 &5f G +9 &7h" G +9 &9]e F +10 &;e F +9 &<g! G +9 &>i# G +10 &@dj# G +9 &B%e" G +10 &Ci" G +9 &Ek" H +9 &Gex" I +10 &I"# K +9 &J L +10 &L# M +9 &Nc! M +9 &P%# M +10 &Q M +9 &S" M +9 &Uj" M +10 &W+ M +9 &X! M +9 &Z=Dc# %k +10 &Z\ + # +5 ( +2 "processing"%R& +4 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&X1 +56 "core" 1 + "manipulator"&?% +3 "core" % $ z  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%s& +4 "core" &Z # + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&S% +4 "core" %\  C  +2 "storage"(`% +4 "core" %a  + "storage"(_. +3 "core" .( +2 "storage"(V& +3 "core" &   +3 "storage"(|& +2 "manipulator"&9& +54 "core" &   +3 &q   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(y'i +4 "core" ( + "manipulator"&L& +4 "core" &q  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &q   +2 .tForearm.seek PC +2 "manipulator"&r' +96 "core" ' + .tHand.close +2 "manipulator"&z/ +55 "core" / +2 .tPC.seek :open +2 "processing"%/( +95 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(p'y +32 "core" ' +294 ( + "storage"(& +4 "core" & C  +2 "manipulator"&;& +3 "core" &q   +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&v( +263 "core" ( +2 "manipulator"&~& +4 "core" &  \  +2 "storage"(l& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +87 "core" ' +2 .tHand.open + "manipulator"&x1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +3 "core" -' +2 "storage"(& +4 "core" &\ ,\ K  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&b( +3 "core" ( +2 "manipulator"&7& +4 "core" &  @  +2 "storage"(5& +4 "core" & \ + Q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +58 "core" ' + "manipulator"& & +4 "core" &   +2 "storage"(& +4 "core" & E  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +23 "core" ' +2 "manipulator"&o% +3 "core" %΁  +2 "storage"(#& +4 "core" & $  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&'ϭ +21 "core" ' + "manipulator"&=& +4 "core" & g  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +25 "core" ' +2 "storage"(% +4 "core" %p r  +2 ."downElevator"SE.seek :down +4 "storage"(8'X +99 (g% +3 "core" %W k n PI +2 "manipulator"&% +4 "core" %N ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"' & +3 "core" &VQD @ +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&H% +3 "core" %\  # +2 "storage"(m% +49 "core" %_ +3 "storage"(&. +3 "core" .( +2 "storage"(c& +4 "core" &  +2 "storage"(D& +3 "core" &  +2 "manipulator"&'& +4 "core" &   +3 .tElbow.seek 3 + "manipulator"&:( +3 "core" ( +2 "manipulator"&\ & +4 "core" &  `  +2 "storage"(Y& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(-& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +284 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & )  +2 "storage"(,& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"()'O +32 "core" ' +2 "manipulator"&0% +3 "core" %~  +2 "storage"(& +3 "core" & 7  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&K'Ϫ +19 "core" ' +2 "manipulator"&4& +8 "core" & f  +2 "storage"(j& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(O'> +45 "core" ' + "manipulator"&+& +4 "core" &  +2 "manipulator"&% +3 "core" %N { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&N( +153 "core" ( + "manipulator"&{& +4 "core" &# % :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &#  f :- +2 .tForearm.seek CC +2 "manipulator"&<'" +93 "core" ' +2 .tHand.close + "manipulator"&3/ +65 "core" / + .tCC.seek :open +2 "collection"'k( +416 "core" ( +2 "storage"(M& +4 "core" & }  + "storage"(f& +4 "core" &  +2 "manipulator"&B& +4 "core" &#  :- + "manipulator"&>% +4 "core" % 4   +2 .tForearm.seek :retract +2 "manipulator"&a'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +166 "core" ( + "manipulator"&!& +4 "core" & O r +2 "storage"(.& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&C'} +102 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +59 "core" 1 +2 "manipulator"&U% +4 "core" % Έ & . +2 "storage"(h& +5 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&6'ϴ +21 "core" ' + "manipulator"&(& +4 "core" & f r +2 "storage"(F& +4 "core" & 2  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +67 "core" ' +9 "storage"(@% +4 "core" %@ +2 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (Z% +3 "core" %PQ PG +2 "manipulator"&J% +5 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +94 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'n& +3 "core" &xyM +2 "manipulator"&e% +3 "core" %\ (  +3 "storage"(A% +4 "core" %Q + "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(i( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" & K +2 "manipulator"&?& +4 "core" & B r +2 .tElbow.seek 2 +2 "manipulator"&s( +29 "core" ( +2 "manipulator"&S& +3 "core" &\  X +2 "storage"(`& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +93 "core" ' + "storage"(V& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +281 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" & +2 "manipulator"&L& +4 "core" &\ % V +2 .tElbow.seek 2 +2 "manipulator"&\\( +2 "core" ( +2 "manipulator"&^& +4 "core" &  T V +2 "storage"(z& +4 "core" & 0 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +6 "core" &\  V +3 "manipulator"&y% +3 "core" %   L +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &&  _ =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &&  { =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&~'" +98 "core" ' + "manipulator"&l& +4 "core" && % ~ =C +2 "manipulator"&% +3 "core" %!  1 +3 "collection"'x& +4 "core" &xy +2 "collection"'& +5 "core" &y{ +2 .tCC.seek :closed +3 "collection"'w(V +3 "core" &x{ +7 &y| ; +9 &YPy{ / +9 &{x| D +10 &Thyz F +9 &iy{ G +9 &cy{~ F +10 &gx{ G +9 &[i||x G +9 &h{|x G +10 &f||t F +9 &gz}q F +10 &!dg|~k F +9 &#&gz|n F +9 &$hyt F +10 &&e||} F +9 &(kc|x G +9 &*.i{s F +10 &+f{~~ F +9 &-h~~n G +10 &/rh{}w G +9 &16e~~t F +9 &2c~~q G +10 &4h{}h G +9 &6zfzm G +10 &8=c~k G +9 &:i|l F +9 &;g|t F +10 &=f~t F +9 &?Ff|t F +9 &Ai~~i G +10 &Be~ G +9 &Df| G +9 &FJrs H +10 &H w I +9 &I K +10 &Kw P +9 &M9 P +9 &Nw P +10 &P~ Q +9 &Rzw R +9 &T;x R +10 &Uu{ B +9 &V| "c +10 &V'~ K +9 ( +2 "collection"'& +3 "core" &Vj} F +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" % ! & H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%5& +4 "core" &1 +2 "manipulator"&u% +3 "core" %\ #  B : +47 "storage"( % +6 "core" %` f g ^ +2 "storage"(. +3 "core" .( +2 "storage"(o& +4 "core" & f e ' +2 "storage"(#& +4 "core" & b e 5 +2 "manipulator"&p& +4 "core" &&  > =B + "manipulator"&=% +4 "core" %\ #  : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +165 "core" ( +2 "manipulator"&& +4 "core" &  ]  +2 "storage"(& +4 "core" & 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +97 "core" ' + "storage"(P& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +284 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +4 "core" & d  +2 .tElbow.seek 2 +2 "manipulator"&b( +4 "core" ( + "manipulator"&q& +3 "core" & g  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(H'X +8 "core" &   + "manipulator"&m% +4 "core" %   H +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +3 .tElbow.seek PC +2 "manipulator"&&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +120 "core" ( +2 "manipulator"&c& +3 "core" &g & K ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &g [ ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'' +91 "core" ' +2 "manipulator"&\ & +4 "core" &h  k ' +2 "manipulator"&Y% +3 "core" % t ! +3 "processing"%$& +3 "core" &2 +3 "processing"%-& +5 "core" &6 +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &1  +9 &85 )w +10 &n2 > +9 &t6 G +9 &|d2 G +10 &>e2 G +9 &i8 G +9 &g3 F +10 &f2 G +9 &Gd1 F +9 &e8 G +10 & g. G +9 &"e0 G +10 &$Nc3 G +9 &&e4 G +9 &'j1 G +10 &)e& G +9 &+Vg. G +9 &-d/ F +10 &.d2 G +9 &0h$ G +10 &2_e( F +9 &4 e0 G +9 &5e) F +10 &7e) G +9 &9ec$ G +10 &;)c# F +9 &<e+ G +9 &>c$ G +10 &@ng# G +9 &B/j# G +9 &Cj! G +10 &Ep# H +9 &Gny" J +10 &I+# K +9 &J# L +9 &L" M +10 &Nm& M +9 &P0% L +9 &Q L +10 &S# M +9 &Uu$ M +9 &W6# M +10 &X) N +9 &ZHB_" %m +10 &Z& " +5 ( +2 "processing"%-& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +3 "core" &Z# " +55 1 + "manipulator"&% +3 "core" % % | ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +96 "core" ' +3 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&,% +4 "core" %\ #  Z A +2 "storage"(% +4 "core" %` f c [ + "storage"(0. +3 "core" .( +2 "storage"(& +4 "core" & e f U +2 "storage"(4& +3 "manipulator"&j& +6 "core" & e c ~ +2 &i & +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&+(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&& +4 "core" &i  o & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +43 &:& +10 "core" &i  & +3 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%K( +36 "core" ' +2 "storage"()- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +34 "core" ' +351 ( + "storage"(]& +4 "core" & " +2 "manipulator"&t& +4 "core" &j  % + "manipulator"&}% +4 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&3'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%( +255 "core" ( +2 "manipulator"&I& +3 "core" & J  +2 "storage"(M& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +99 "core" ' +2 .tHand.open +2 "manipulator"&B1 +57 "core" 1 +2 "storage"(>- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(.' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(N& +4 "core" & \ I\ O X +2 "manipulator"&Q& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&U( +4 "core" ( +2 "manipulator"&h& +3 "core" & % /  +2 "storage"((& +4 "core" & \ P\ K D +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(a' +56 "core" ' +2 "manipulator"&@& +4 "core" &  +2 "storage"(W& +4 "core" & f +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&Z' +25 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +24 "core" ' + "manipulator"&6% +4 "core" %  +2 "storage"(n& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&e' +19 "core" ' +2 "manipulator"&A& +3 "core" & I  +2 "storage"(T& +4 "core" & ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +41 "core" ' +2 "storage"(E% +4 "core" %q I +2 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (2% +5 "core" %aY z z P QJ +2 "manipulator"&X% +4 "core" %  y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (S& +3 "core" & T +2 "collection"'`& +4 "core" &Vj F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&V% +4 "core" %\    +2 "storage"(*% +4 "core" %a +2 "storage"(G. +3 "core" .( +2 "storage"(|& +4 "core" &  + "storage"(R& +4 "core" & n +2 "manipulator"&L& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&^( +4 "core" ( +2 "manipulator"&z& +4 "core" &   + "storage"(d& +4 "core" & +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' + "storage"(y& +4 "core" & I +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'i +282 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +3 "storage"(r& +3 "core" & & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&9' +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('Q +27 "core" ' +2 "manipulator"&x% +4 "core" % L + "storage"(\\& +4 "core" & g f  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +21 "core" ' +2 "manipulator"&& +3 "core" & W  +2 "storage"(k& +4 "core" & + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('@ +43 "core" ' + "manipulator"&5& +4 "core" & j  +2 "manipulator"&u% +3 "core" %ѵ " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&& +4 "core" &(   ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &(  { ?T +3 .tForearm.seek CC +2 "manipulator"&#'" +93 "core" ' + .tHand.close +2 "manipulator"&p/ +64 "core" / +2 .tCC.seek :open +2 "collection"'=( +415 "core" ( +3 "storage"(~& +3 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&& +3 "core" && =F +3 "manipulator"&P% +4 "core" % , x +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&7( +161 "core" ( +2 "manipulator"&g& +3 "core" &  A +2 "storage"(& +4 "core" & m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +102 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" % $ c +2 "storage"( & +4 "core" & k +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&m' +18 "core" ' +3 "manipulator"&[& +3 "core" & b +3 "storage"(v& +4 "core" & | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +30 "core" ' +2 "storage"(% +4 "core" %I +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (D% +2 "core" %T PG +2 "manipulator"&b% +5 "core" %ѡ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +88 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Y& +3 "core" &uwI +3 "manipulator"&$% +4 "core" %\    +2 "storage"(H% +4 "core" %a +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(/( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  +3 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( + "manipulator"&,& +4 "core" & k n +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +97 "core" ' + "storage"(& +4 "core" & ;  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'i +225 "Can" EJB +52 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & B  +2 "manipulator"&& +4 "core" & n +2 .tElbow.seek 3 +2 "manipulator"&:( +4 "core" ( + "manipulator"&'& +4 "core" & n +2 "storage"( & +4 "core" & f  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& + "storage"(8'X +8 "core" & 7 n + "manipulator"&% +4 "core" % ϥ  +3 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&}& +4 "core" & *  5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & n 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'" +95 "core" ' + "manipulator"&M& +4 "core" & | 5\ +2 "manipulator"&+% +3 "core" % =  +3 "collection"'B& +4 "core" &xyW +2 "collection"'>& +5 "core" &wy[ +2 .tCC.seek :closed +4 "collection"'<(V +4 "core" &vy +6 &9wx "` +10 &Ywy 5 +9 &wz~ G +9 &_xz F +10 &ex{ G +9 &[hzzy G +9 &hy{w G +10 &dx{ G +9 &h{{ G +10 &cgz| G +9 & &dz} F +9 &!g{| F +10 &#g{| F +9 &%lgy|w F +9 &'-d{}~ G +10 &(h{~ F +9 &*j{} G +9 &,th}z F +10 &.6c|} F +9 &/f{| F +10 &1e{| F +9 &3|i}~ F +9 &5?e} F +10 &7i{~ F +9 &8c{} G +10 &:g|} G +9 &i{~ G +10 &?g~~ G +9 &Ac F +9 &CNg| F +10 &Ek G +9 &Fv I +9 &H J +10 &JA N +9 &K P +10 &M Q +9 &O} Q +9 &Q= R +10 &R R +9 &T R +9 &V+Zf 2 +10 &VT O +9 ( + &Vr I +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&N1 +54 "core" 1 +2 "manipulator"&Q% +4 "core" %  % x  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%(& +4 "core" &4 +2 "manipulator"&3% +4 "core" %\   4  + "storage"(@% +4 "core" %_ U +2 "storage"(W. +3 "core" .( +2 "storage"(6& +4 "core" & y 2  + "storage"({& +4 "core" & v X  +2 "manipulator"&n& +3 "core" &  5\ +3 "manipulator"&!% +4 "core" %\  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +165 "core" ( +3 "manipulator"&T& +4 "core" & g y +2 "storage"(E& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +100 "core" ' +2 "storage"(f& +4 "core" & S  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +281 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (X& +2 "core" & ?  +3 "manipulator"&F& +4 "core" &  y +2 .tElbow.seek 3 + "manipulator"&U( +4 "core" ( +2 "manipulator"&a& +4 "core" &  y + "storage"(Z& +4 "core" & w  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& + "storage"(V'X +8 "core" &  y +2 "manipulator"&*% +4 "core" % Ϗ   +2 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +2 "manipulator"&|& +4 "core" &q ' 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &q C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +92 "core" ' +2 "manipulator"&z& +3 "core" &q n +2 "manipulator"&d% +3 "core" % J 9 +3 "processing"%O& +4 "core" &1 +2 "processing"%y& +5 "core" &- +3 .tPC.seek :closed + "processing"%1(Z +4 "core" &6 +8 &F6 #b +10 &]1 6 +9 &0 H +10 &e9 G +9 &e0 F +9 &ce7 G +10 &%c< G +9 &e5 G +9 &i1 G +10 &le7 F +9 & ,f0 G +10 &!c2 G +9 &#f0 G +9 &%re3 G +10 &'5f1 G +9 &(c9 G +9 &*e7 G +10 &,{b0 G +9 &.=e6 G +10 &/h0 G +9 &1e0 G +9 &3h0 G +10 &5Ee/ G +9 &7h, G +9 &8d/ F +10 &:d2 G +9 &d0 F +9 &?f$ G +9 &Ae" F +10 &CTh( G +9 &Em" G +9 &Fs0 H +10 &H, J +9 &JL( M +10 &L" L +9 &M( L +9 &O) L +10 &QT$ M +9 &S M +9 &T# M +10 &V# M +9 &XY" N +10 &Ywx- "k +9 &Z%g& * +9 ( + &Z" ! +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&J1 +54 "core" 1 +2 "manipulator"&?% +4 "core" % $ o 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' +2 "processing"%& +4 "core" &Z" ! + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&r% +4 "core" %\ ! [ 3 +2 "storage"(l% +4 "core" %b j t C + "storage"(x. +3 "core" .( +2 "storage"(\\& +4 "core" & v O  +2 "storage"(& +3 "manipulator"&k& +6 "core" & e j A  +2 &q  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&5(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'i +3 "core" ( + "manipulator"&& +4 "core" &q ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &q x +2 .tForearm.seek PC +2 "manipulator"&s' +94 "core" ' + .tHand.close + "manipulator"&9/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +43 ."raiseStack"SE.seek :place +10 "storage"('y +30 "core" ' +244 ( + "storage"(o& +4 "core" &   +2 "manipulator"&& +3 "core" &q  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +264 "core" ( +2 "manipulator"&w& +4 "core" & q m +2 "storage"(~& +3 "core" & T  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "storage"(P- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(g'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(& +4 "core" &\ U\ S  +2 "manipulator"&& +4 "core" &  m +2 .tElbow.seek 3 + "manipulator"&( +7 "core" ( +2 "manipulator"& & +3 "core" & & f +2 "storage"([& +4 "core" &\ Q\ O  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&;& +3 "core" & C f +2 "storage"(D& +4 "core" & :  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&b'} +21 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&m% +4 "core" %p  +3 "storage"(Y& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 287 counts + "manipulator"&$'Ϝ +20 "core" ' + "manipulator"&H& +5 "core" & f + "storage"( & +4 "core" & c  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +16 "core" ' + "storage"(% +4 "core" %r  +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (i% +3 "core" %W { z PH +2 "manipulator"&% +3 "core" %>  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (,& +3 "core" & r  +2 "collection"'& +4 "core" &Vr] I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ "  A + "storage"(q% +4 "core" %P # +2 "storage"(\ . +3 "core" .( +2 "storage"(j& +3 "core" &   +2 "storage"(4& +4 "core" &   +2 "manipulator"&& +4 "core" &  f +2 .tElbow.seek 3 + "manipulator"&'( +4 "core" ( +2 "manipulator"& & +4 "core" &  h f + "storage"(&& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&"'9 +99 "core" ' +3 "storage"(& +4 "core" & S  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(0- +4 "core" -' + .tSE.configure :default +49 "storage"(#QK-0-\ b +5 "manipulator"&}& +3 "core" &  f +2 "storage"( & +3 "core" & 0  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&-'} +20 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'P +32 "core" ' +2 "manipulator"&B% +3 "core" %΂  +2 "storage"(:& +4 "core" & h   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 305 counts + "manipulator"&8'Ϯ +21 "core" ' + "manipulator"&]& +4 "core" &  7 f +2 "storage"(=& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&N'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'? +38 "core" ' + "manipulator"&(& +4 "core" & i f +2 "manipulator"&3% +4 "core" %E  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +159 "core" ( +2 "manipulator"&6& +4 "core" &% $ p <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &%  <? +3 .tForearm.seek CC +2 "manipulator"&n'" +94 "core" ' + .tHand.close +2 "manipulator"&>/ +56 "core" / +4 .tCC.seek :open + "collection"'!( +418 "core" ( + "storage"(I& +4 "core" & u  +2 "storage"(T& +4 "core" & "  +2 "manipulator"&E& +4 "core" &# :* + "manipulator"&f% +4 "core" % # Y +2 .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&h( +165 "core" ( +2 "manipulator"&2& +3 "core" & E z +2 "storage"(X& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&F'} +96 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&Z1 +53 "core" 1 +2 "manipulator"&S% +4 "core" % p  J +2 "storage"(`& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 287 counts +2 "manipulator"&*'Ϝ +19 "core" ' +2 "manipulator"&A& +3 "core" & z +2 "storage"(%& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +29 "core" ' + "storage"(e% +5 "core" %G  +2 ."downElevator"SE.seek :down +4 "storage"(|'X +99 (R% +5 "core" %N OF +2 "manipulator"&U% +4 "core" %: 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'d& +4 "core" &xws + "manipulator"&O% +4 "core" %\ \ @  +2 "storage"(V% +3 "core" %] +2 "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(K( +382 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" & H +2 "manipulator"&?& +4 "core" & C z +2 .tElbow.seek 2 +2 "manipulator"&( +30 "core" ( + "manipulator"&r& +4 "core" & $ o +2 "storage"(l& +3 "core" & +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +95 "core" ' +2 "storage"(\\& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(k'i +15 "core" ' +2 "storage"(- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg"5Impossible stack Height of 24.98 pucks in tube 2:bt["4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'" +99 "core" ' + "manipulator"&#& +4 "core" &' $ y >M +2 "manipulator"&% +4 "core" %&   +2 "collection"'& +4 "core" &vza +2 "collection"' & +6 "core" &zzS +2 .tCC.seek :closed +2 "collection"'[(V +4 "core" &vy +7 &9wz #a +9 &Zxy 5 +10 &yy G +9 &cz{ F +10 &gy{ G +9 &Zeyz G +9 &ezz F +10 &ez{ F +9 &cx{ G +9 &cc{{ F +10 & %f{~ F +9 &!jz| G +9 &#ex} F +10 &%jf|} G +9 &',fz{ G +10 &(b|| F +9 &*e{| F +9 &,shz} F +10 &.4bz| G +9 &/f{| G +10 &1c{} G +9 &3{h{} F +9 &5<hz G +10 &6g{~ G +9 &8g{} F +9 &:hy} G +10 &c}| G +9 &?h}~ F +10 &Ac|~ F +9 &CMf| F +10 &E k G +9 &Fu H +9 &H J +10 &JA M +9 &K P +9 &M Q +10 &O} Q +9 &Q? Q +10 &R R +9 &T R +9 &V+\\ / +10 &V H +9 ( + &Vc D +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open + "manipulator"&p1 +55 "core" 1 +3 "manipulator"&;% +4 "core" % &  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &5 +2 "manipulator"&m% +4 "core" %\  + "storage"(Y% +4 "core" %Y $ +2 "storage"(g. +3 "core" .( +2 "storage"(H& +4 "core" &  + "storage"( & +5 "core" & D + "manipulator"&& +4 "core" &' h >L +2 "manipulator"& % +4 "core" %\ +  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +200 "core" ( +5 "manipulator"&& +4 "core" & d  + "storage"(i& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +85 "core" ' +2 "storage"(v& +4 "core" & ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" &  +3 "manipulator"&$& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&,( +4 "core" ( +2 "manipulator"&& +4 "core" & d  + "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&q' +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"(j'X +8 "core" &  +2 "manipulator"&4% +3 "core" %  ] k +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +112 "core" ( +2 "manipulator"&&& +3 "core" &h & A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&c& +4 "core" &i  T +2 "manipulator"&7% +3 "core" % +3 "processing"%& +4 "core" &7 +2 "processing"%0& +5 "core" &7 +2 .tPC.seek :closed +2 "processing"%}(Z +5 "core" &< +7 &=8 #c +9 &[2 6 +10 &9 G +9 &b9 F +9 &f8 G +10 &ah: G +9 &$e8 F +10 &e< G +9 &i= G +9 &je; F +10 & *f4 G +9 &!b; G +9 &#e8 G +10 &%ph9 G +9 &'4e6 F +10 &(e8 G +9 &*f: G +9 &,yh9 G +10 &.;e5 G +9 &/g8 G +9 &1e7 F +10 &3e8 G +9 &5Bc2 G +10 &7d9 G +9 &8h8 G +9 &:d8 G +10 & b3 G +9 &?e0 G +10 &Ah9 G +9 &CRh1 G +10 &Ek0 H +9 &Fr9 H +9 &H7 K +10 &JK6 L +9 &L 8 L +9 &M7 M +10 &O9 M +9 &QR6 M +10 &S4 M +9 &T+ M +9 &V. M +10 &XW1 N +9 &Ywv0 "k +9 &Z'k, , +9 ( +2 &Z0 " +3 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"& 1 +62 "core" 1 + "manipulator"&M% +4 "core" %  b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 "processing"%:& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&]% +3 "core" %\  ]  +3 "storage"(=% +3 "core" %N ( +2 "storage"((. +3 "core" .( +2 "storage"(3& +3 "core" & E +3 "storage"("& +2 "manipulator"&'& +7 "core" & L + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'i +2 "core" ( +3 "manipulator"&8& +3 "core" &i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &+& +2 "core" &i ' +3 .tForearm.seek PC +2 "manipulator"&6' +99 "core" ' +2 .tHand.close + "manipulator"&{/ +61 "core" / +3 .tPC.seek :open +2 "processing"%N( +76 "core" ' +2 "storage"()- +3 "core" -'i +2 ."raiseStack"SE.configure :default +44 "storage"(#QK-0-\ b +10 ."raiseStack"SE.seek :place +2 "storage"(>'y +50 "core" ' +246 ( +2 "storage"(@& +4 "core" & [ +2 "manipulator"&<& +4 "core" &i > +2 "manipulator"&I% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&T'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&E( +241 "core" ( +2 "manipulator"&f& +4 "core" &  # & + "storage"(2& +4 "core" & 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +102 "core" ' + .tHand.open +2 "manipulator"&n1 +59 "core" 1 +2 "storage"(W- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +49 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(A& +3 "core" & \ P\ O v +2 "manipulator"&%& +4 "core" & r % +2 .tElbow.seek 2 +2 "manipulator"&e( +4 "core" ( + "manipulator"&t& +4 "core" &   % +2 "storage"(R& +4 "core" & \ O\ O +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(h' +60 "core" ' +2 "manipulator"&F& +4 "core" &  % +2 "storage"(*& +4 "core" & E + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&d' +26 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'i +25 "core" ' +2 "manipulator"&C% +3 "core" % B +2 "storage"(Q& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&.' +19 "core" ' + "manipulator"&|& +4 "core" &  g % +2 "storage"(/& +4 "core" & D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +28 "core" ' +2 "storage"(?% +3 "core" %s +3 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (l% +3 "core" %oZ z { PJ +2 "manipulator"&\\% +3 "core" %Ѣ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &  +3 "collection"'a& +3 "core" &Vc{ D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&z% +4 "core" %\ # L < +2 "storage"(k% +4 "core" %O N + "storage"(L. +4 "core" .( +2 "storage"(9& +3 "core" &  +2 "storage"(& +4 "core" & 6 +2 "manipulator"&y& +4 "core" &  % +2 .tElbow.seek 2 + "manipulator"&_( +4 "core" ( +2 "manipulator"&1& +4 "core" &  % + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + "storage"(s& +4 "core" & - +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +3 "storage"(x- +3 "core" -' +51 .tSE.configure :default +10 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &  % +2 "storage"(& +3 "core" & + +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&^' +23 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +27 "core" ' +2 "manipulator"&% +4 "core" % w + "storage"(G& +4 "core" & 9 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&u' +19 "core" ' +2 "manipulator"&w& +4 "core" &  = % + "storage"(!& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'> +41 "core" ' + "manipulator"&& +4 "core" &  % +2 "manipulator"&m% +3 "core" %ѣ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&g( +153 "core" ( +2 "manipulator"&H& +4 "core" &% $ i <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &%   <> +3 .tForearm.seek CC +2 "manipulator"& '" +92 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +413 "core" ( + "storage"(P& +4 "core" & +2 "storage"(& +4 "core" & +2 "manipulator"&i& +4 "core" &$ @ ;7 + "manipulator"&~% +4 "core" % . # +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&D( +162 "core" ( + "manipulator"&& +4 "core" & y +2 "storage"(b& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&$' +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  K + "storage"(\ & +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&4' +20 "core" ' +3 "manipulator"&& +4 "core" &  y +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +18 "core" ' +2 "storage"(q% +3 "core" %G j +4 ."downElevator"SE.seek :down +3 "storage"(&'X +98 (% +3 "core" %SU PG +2 "manipulator"&,% +4 "core" %ѣ ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'7& +3 "core" &t +2 "manipulator"&% +4 "core" %\ !  8 +2 "storage"(j% +4 "core" %a H  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +46 "storage"(( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & G \ +2 "manipulator"&M& +4 "core" &  y +2 .tElbow.seek 3 +2 "manipulator"&:( +12 "core" ( +2 "manipulator"&]& +3 "core" & $ \\ +3 "storage"(=& +4 "core" & q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +96 "core" ' +2 "storage"(3& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(0'i +279 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" & +2 "manipulator"&8& +4 "core" &  \\ +2 .tElbow.seek 3 +2 "manipulator"&+( +4 "core" ( + "manipulator"&& +4 "core" & b \\ +2 "storage"({& +3 "core" & # +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +16 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&B& + "storage"(}'X +7 "core" &  \\ +2 "manipulator"&@% +3 "core" % Ϥ $ 5 +3 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&I& +4 "core" &# R :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &6& +2 "core" &# & :/ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +100 "core" ' +2 "manipulator"&2& +4 "core" &#  u :/ +2 "manipulator"&% +3 "core" % | S +3 "collection"'n& +3 "core" &vyi +3 "collection"'W& +5 "core" &xy +3 .tCC.seek :closed +4 "collection"'`(V +2 "core" &ww +7 &wz < +9 &`Pww / +9 &|xx D +10 &\\exy G +9 &exz G +9 &czz F +10 &hx{ G +9 &dfwz G +9 &'hx| F +10 &gyz F +9 &cy{ F +10 &!mgz| F +9 &#.jy| G +9 &$hz{ G +10 &&cy{ F +9 &(ucz| F +10 &*7cz{ F +9 &+cw| F +9 &-ez{ F +10 &/|gz| G +9 &1?h{| F +9 &3i|} G +10 &4g{} F +9 &6c|| F +10 &8He} F +9 &:g{ G +9 &;f|} G +10 &=d|~ F +9 &?Oc{~ F +9 &Aez~ F +10 &Bj|} F +9 &Di} F +10 &FRq H +9 &H I +9 &I L +10 &K P +9 &MA Q +9 &O P +10 &P Q +9 &R R +10 &TE R +9 &Us B +9 &Vo Z +10 &V  L +5 ( +2 "collection"'W& +4 "core" &Vz K +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&A1 +57 "core" 1 +2 "manipulator"&%% +4 "core" %   ' M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&t'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%R& +4 "core" &8 + "manipulator"&T% +4 "core" %\   +2 "storage"(F% +3 "core" %a  +2 "storage"(*. +3 "core" .( +2 "storage"(C& +4 "core" & s +2 "storage"(Q& +4 "core" & i  + "manipulator"&>& +5 "core" &# 1 :/ + "manipulator"&|% +4 "core" %\  '  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +160 "core" ( + "manipulator"&/& +3 "core" &  c c +2 "storage"(?& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&E'9 +95 "core" ' + "storage"(X& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +50 .tSE.seek :beamBreak +3 "storage"(S'i +278 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" & T +2 "manipulator"&U& +4 "core" & 7 c +2 .tElbow.seek 3 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&h& +4 "core" & ; c +2 "storage"(d& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(z'X +9 "core" & k c + "manipulator"&k% +4 "core" % 7 7 +2 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +3 "manipulator"&9& +4 "core" &| ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &| +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +94 "core" ' +2 "manipulator"&1& +4 "core" &|  n +2 "manipulator"&% +4 "core" % X  +2 "processing"%J& +4 "core" &+ +2 "processing"%s& +5 "core" &5 +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &1 +7 &D< #b +10 &\\4 6 +9 &> H +10 &e> G +9 &d3 G +9 &^b8 G +10 &!e> F +9 &e; G +9 &e1 G +10 &fe1 G +9 & 'h= G +10 &!d5 G +9 &#h= G +9 &%nf: G +10 &'/i: G +9 &(e< G +10 &*d< G +9 &,ve< G +9 &.7c: G +10 &/c8 G +9 &1b3 G +9 &3~d8 G +10 &5@d8 G +9 &7f< G +10 &8c: G +9 &:d2 G +9 & c2 F +9 &?e9 G +9 &Ac8 G +10 &COh? G +9 &El9 H +9 &Fr8 H +10 &H1 K +9 &JG8 M +10 &L\ 2 L +9 &M5 M +9 &O8 M +10 &QO6 M +9 &S6 M +9 &T2 M +10 &V4 M +9 &XT2 N +10 &Yww9 "k +9 &Z+{3 . +9 ( + &Z0 ! +2 "processing"%s& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&O1 +57 "core" 1 +2 "manipulator"&% +4 "core" % $ 9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +2 "processing"%5& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  A  +2 "storage"(#% +3 "core" %O s D +2 "storage"(. +3 "core" .( +2 "storage"(G& +4 "core" &   +2 "storage"(w& +2 "manipulator"&!& +8 "core" & 4 + &|  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'i +2 "core" ( +3 "manipulator"&& +3 "core" &| +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &| % I +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&^/ +63 "core" / +2 .tPC.seek :open +2 "processing"%u( +81 "core" ' +2 "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +34 "core" ' +305 ( +2 "storage"( & +4 "core" & u  +2 "manipulator"&p& +4 "core" &| , + "manipulator"&o% +4 "core" % H +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +265 "core" ( + "manipulator"&[& +4 "core" & Y  +2 "storage"(P& +3 "core" & v = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open + "manipulator"&i1 +60 "core" 1 +2 "storage"(~- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(g& +3 "core" &\ P\ P +3 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&\ & +4 "core" &  H  + "storage"(& +4 "core" &\ Q\ Q +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(q' +56 "core" ' +2 "manipulator"&v& +3 "core" & c  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&,'} +21 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +77 "core" ' + "manipulator"&7% +4 "core" %΍ +2 "storage"(4& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +20 "core" ' + "manipulator"&j& +4 "core" & 5  +2 "storage"(& +4 "core" & K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +33 "core" ' + "storage"(% +4 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(&'X +99 (K% +3 "core" %Z } { PI +2 "manipulator"& % +3 "core" %, # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (]& +3 "core" & Z +2 "collection"'=& +4 "core" &Vyi K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&3% +3 "core" %\    +2 "storage"(% +4 "core" %]  +2 "storage"(c. +3 "core" .( +2 "storage"("& +4 "core" &  + "storage"('& +4 "core" &  +2 "manipulator"&8& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&{& +3 "core" &   +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +87 "core" ' +2 "storage"(@& +4 "core" & + +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +287 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &   +2 "storage"(6& +4 "core" & - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&0'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +47 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +28 "core" ' +2 "manipulator"&n% +3 "core" %Έ  +2 "storage"(+& +4 "core" & 2 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&}'ϴ +21 "core" ' + "manipulator"&-& +4 "core" & S  +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'> +41 "core" ' +2 "manipulator"&R& +4 "core" &   + "manipulator"&T% +5 "core" %: w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +159 "core" ( +2 "manipulator"&C& +3 "core" &% $ i <9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &% 9 <9 +3 .tForearm.seek CC +2 "manipulator"&W'" +94 "core" ' + .tHand.close + "manipulator"&>/ +59 "core" / +2 .tCC.seek :open + "collection"'|( +416 "core" ( +2 "storage"(f& +4 "core" & + "storage"(/& +4 "core" & +2 "manipulator"&?& +4 "core" &% 8 <9 + "manipulator"&X% +4 "core" % )  +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t( +160 "core" ( +2 "manipulator"&l& +3 "core" &  m +2 "storage"(\\& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&U'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&d1 +55 "core" 1 +2 "manipulator"&% +4 "core" % ΅ $  + "storage"(a& +4 "core" & y +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&k'ϱ +21 "core" ' +2 "manipulator"&Z& +4 "core" & F m +2 "storage"(E& +4 "core" & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +28 "core" ' + "storage"(.% +4 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"(9'X +99 (% +2 "core" %U PG +2 "manipulator"&e% +5 "core" %, +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &tvc +2 "manipulator"&J% +4 "core" %\ " ; +2 "storage"(z% +4 "core" %\\ + "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(N( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +2 "core" & W +2 "manipulator"&& +4 "core" & * m +2 .tElbow.seek 2 +2 "manipulator"&5( +36 "core" ( +2 "manipulator"&& +3 "core" &  p % +2 "storage"(#& +4 "core" & L +45 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(G& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'i +279 "core" ' +3 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" & q +2 "manipulator"&& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&y& +3 "core" & %  $ +2 "storage"(^& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(r'X +7 "core" & } $ +2 "manipulator"&m% +4 "core" % . W 8 +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&o& +3 "core" &   3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['" +96 "core" ' + "manipulator"&P& +4 "core" &   R 3 +2 "manipulator"&% +4 "core" % <  +2 "collection"'i& +3 "core" &vx +3 "collection"'~& +5 "core" &sw +2 .tCC.seek :closed +3 "collection"' (V +5 "core" &vv +5 &ux 9 +9 &LPxw / +9 &|uv D +10 &Hfuy F +9 &\ hxz F +9 &cvz F +10 &dvx G +9 &Phxz F +10 &jwy F +9 &hy| F +9 &dyz F +10 &!Xexz F +9 &#hxy F +9 &$ewz G +10 &&gv{ F +9 &(`hz| F +10 &*!gxz G +9 &+gz{ F +9 &-fx{ G +10 &/ggx| G +9 &1*c{{ F +9 &2cyz F +10 &4c{{ F +9 &6pcz{ F +10 &82cx| F +9 &9c{{ F +9 &;cz| F +10 &=xcz} F +9 &?;ez{ F +9 &@f{| G +10 &Bgz| G +9 &De} F +10 &F?k G +9 &G{ J +9 &I K +10 &Kl P +9 &M, Q +9 &N Q +10 &Pw Q +9 &Rq Q +10 &T/ R +9 &Uz : +9 &V7 ` +10 &VD = +2 ( +2 "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open + "manipulator"&g1 +60 "core" 1 +3 "manipulator"&% +4 "core" %   v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &" +2 "manipulator"&% +4 "core" %\   w ! + "storage"(v% +4 "core" %b \ +2 "storage"(. +2 "core" .( +2 "storage"(H& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&7& +4 "core" &  3 +2 "manipulator"&4% +3 "core" %\  S ! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +162 "core" ( + "manipulator"&& +4 "core" &  ;  +2 "storage"(Y& +4 "core" & 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(b'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" & +2 "manipulator"&& +4 "core" & H  + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&q& +3 "core" &  [  +49 "storage"(,& +5 "core" & ) +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(3'X +8 "core" &   + "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&c'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&$(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +123 "core" ( + "manipulator"&"& +4 "core" &p * l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &p 5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&8' +101 "core" ' + "manipulator"&{& +4 "core" &q u  +2 "manipulator"& % +3 "core" %  O +3 "processing"%;& +4 "core" &- +2 "processing"%@& +6 "core" &$ +2 .tPC.seek :closed +2 "processing"%&(Z +4 "core" &7 +7 &F3 #b +10 &^6 6 +9 &5 G +9 &b4 F +10 &f0 F +9 &ce7 G +9 &%h1 G +10 &h3 G +9 &h/ G +10 &kh1 G +9 & -c6 G +9 &!c3 G +10 &#g: F +9 &%sg4 G +9 &'4j6 G +10 &(c4 G +9 &*e2 G +10 &,{h3 G +9 &.=c: G +9 &0e7 F +10 &1f3 G +9 &3h5 G +9 &5Eh2 G +10 &7c1 G +9 &8b6 G +10 &:d3 F +9 &e7 F +10 &?g5 G +9 &Ad2 G +9 &CTi5 G +10 &El3 H +9 &Fr2 H +10 &H3 J +9 &JL7 M +9 &L0 L +10 &M5 L +9 &O3 M +9 &QU2 L +10 &S5 L +9 &T1 M +10 &V2 M +9 &XZ6 M +9 &Yxw6 !i +10 &Z'k4 , +9 ( +3 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&D1 +2 "core" &Z3 " +58 1 +2 "manipulator"&M% +3 "core" % U O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +90 "core" ' + "processing"%I& +4 "core" &Z0 " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&6% +4 "core" %\    +2 "storage"(2% +4 "core" %`  + "storage"(n. +3 "core" .( +2 "storage"(+& +3 "core" & D +3 "storage"(-& +2 "manipulator"& & +8 "core" &  + &q   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&R(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'i +3 "core" ( + "manipulator"&B& +5 "core" &q  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q   +2 .tForearm.seek PC +2 "manipulator"&:' +97 "core" ' + .tHand.close + "manipulator"&0/ +57 "core" / +3 .tPC.seek :open +2 "processing"%}( +88 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'y +46 "core" ' +287 ( + "storage"(Q& +3 "core" &  +3 "manipulator"&A& +4 "core" &r   + "manipulator"&)% +4 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&F( +256 "core" ( + "manipulator"&`& +4 "core" &  g  +2 "storage"(f& +4 "core" & Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +94 "core" ' +9 .tHand.open + "manipulator"&?1 +57 "core" 1 +2 "storage"(X- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(l'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\\' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(*& +4 "core" & O O = +2 "manipulator"&d& +4 "core" & E  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&a& +4 "core" & Z  +2 "storage"(Z& +3 "core" & N N +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +58 "core" ' +2 "manipulator"&<& +3 "core" & b  +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&e' +21 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +29 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(k& +4 "core" & < + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&J' +19 "core" ' + "manipulator"&z& +3 "core" & k  +3 "storage"(V& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +28 "core" ' +2 "storage"(S% +4 "core" %p l +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 (% +3 "core" %MZ x " QJ +2 "manipulator"&O% +3 "core" %љ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" & 5 +3 "collection"'#& +3 "core" &VBw = +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&G% +3 "core" %\  h  +3 "storage"(h% +4 "core" %` + "storage"(1. +3 "core" .( +2 "storage"(w& +3 "core" & +2 "storage"(s& +4 "core" & & +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&y( +2 "core" ( +2 "manipulator"&^& +3 "core" & O  +2 "storage"(L& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +96 "core" ' + "storage"(m& +3 "core" & K +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +279 "core" ' +4 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" &   +2 "storage"(& +4 "core" & w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&!' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +30 "core" ' +2 "manipulator"&i% +3 "core" % O +2 "storage"(_& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&r' +46 "core" ' +5 "manipulator"& & +4 "core" &  +2 "storage"(|& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +39 "core" ' +2 "manipulator"&& +3 "core" &   +3 "manipulator"&% +3 "core" %с g +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ( + "manipulator"&H& +4 "core" &% ' b << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  \\ << +2 .tForearm.seek CC +2 "manipulator"&~'" +98 "core" ' + .tHand.close + "manipulator"&7/ +56 "core" / + .tCC.seek :open +2 "collection"'4( +413 "core" ( +3 "storage"([& +4 "core" &  + "storage"(& +4 "core" & +2 "manipulator"&Y& +4 "core" &\ " 9$ + "manipulator"&% +4 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&p'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ ( +157 "core" ( + "manipulator"&& +4 "core" &  ?  +2 "storage"(K& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +102 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +58 "core" 1 +2 "manipulator"&]% +3 "core" %  l n +2 "storage"(=& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +3 "manipulator"&' +19 "core" ' + "manipulator"&j& +4 "core" & s  +2 "storage"(& +4 "core" & 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +50 "core" ' + "storage"(% +5 "core" %C +2 ."downElevator"SE.seek :down +3 "storage"("'X +99 ('% +3 "core" % S OF +2 "manipulator"& % +4 "core" %{  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" &tt + "manipulator"&;% +4 "core" %\  F  +2 "storage"(3% +4 "core" %V +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(u( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (D& +2 "core" &   +2 "manipulator"&M& +4 "core" & k  +2 .tElbow.seek 3 +2 "manipulator"&I( +17 "core" ( +2 "manipulator"&6& +4 "core" &  _ B +2 "storage"(2& +4 "core" & 8  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +92 "core" ' + "storage"(+& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +322 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +47 "storage"(#QK-0-\ b +6 (@& +3 "core" & -  +2 "manipulator"&B& +4 "core" & P B +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&8& +3 "core" & P B +3 "storage"(0& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(&'X +8 "core" &  B +2 "manipulator"&T% +3 "core" % ϯ E , +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&)& +4 "core" & - 9 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" & W 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'" +101 "core" ' + "manipulator"&f& +4 "core" &! # X 8 +2 "manipulator"&R% +3 "core" %% u +3 "collection"'?& +3 "core" &vx +3 "collection"'X& +6 "core" &vw +2 .tCC.seek :closed +3 "collection"'W(V +3 "core" &tw +5 &vx 9 +10 &QMtv / +9 &|vw D +10 &Kevw G +9 & fwy G +9 &cwx F +10 &evx F +9 &Shxx G +9 &gww G +10 &hyz F +9 &czy G +10 &![huz G +9 &#gv| G +9 &$ey{ G +10 &&by| F +9 &(dcyz F +9 &*'dz{ F +10 &+hyy G +9 &-exy G +10 &/kfy G +9 &1.cy{ F +9 &2eyy F +10 &4h{| G +9 &6sew| G +9 &86g{{ F +10 &9hy| G +9 &;f{| G +10 &=|cz| F +9 &?=cz{& G +9 &Ah{{ F +10 &Bdz| G +9 &De}| G +9 &FBp H +10 &H~ I +9 &I L +10 &Ko P +9 &M0 Q +9 &N Q +10 &P Q +9 &Rs R +9 &T4 R +10 &Uw = +9 &V3 !e +10 &VU B +2 ( +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&*1 +60 "core" 1 +3 "manipulator"&d% +4 "core" % % % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Z& +3 "core" &@ +2 "manipulator"&>% +4 "core" %\     +2 "storage"(<% +4 "core" %[ V +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & I  + "storage"(k& +4 "core" &   +2 "manipulator"&C& +4 "core" &  v 8 +2 "manipulator"&z% +4 "core" %\  z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&l( +160 "core" ( +2 "manipulator"&V& +3 "core" &   < +3 "storage"(S& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +97 "core" ' + "storage"(/& +4 "core" & X  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & x  +2 "manipulator"&E& +4 "core" & X < +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&.& +3 "core" & < +3 "storage"(e& +4 "core" & (  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&J'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(G'X +53 "core" &  < +3 "manipulator"&h% +3 "core" % ϯ  1 +3 .tForearm.seek :retract +2 "manipulator"&U'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1(s +104 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +141 "core" ( + "manipulator"&w& +5 "core" &z & + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &z : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 "manipulator"&^& +4 "core" &z  > +2 "manipulator"&L% +3 "core" % d +3 "processing"%%& +3 "core" &8 +3 "processing"%m& +5 "core" &> +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &F +7 &F6 #c +9 &[7 6 +9 &; G +10 &b; G +9 &d7 G +10 &_e5 G +9 &!c> G +9 &f7 F +10 &f7 G +9 &gd6 G +9 & )e+ G +10 &!h* G +9 &#e2 G +10 &%nh* G +9 &'1e+ G +9 &(h2 G +10 &*g3 G +9 &,wc+ G +9 &.9e( G +10 &/g) G +9 &1h2 G +10 &3e2 F +9 &5Af/ G +10 &7c2 G +9 &8e5 F +9 &:d) G +10 & c1 F +9 &?e9 G +10 &Ae3 F +9 &CPh2 G +9 &En3 G +10 &Fs3 H +9 &H3 K +9 &JJ9 L +10 &L\ 4 M +9 &M@ M +10 &O4 M +9 &QP3 M +9 &S, M +10 &T2 M +9 &V/ M +10 &XV7 M +9 &Yxt6 "j +9 &Z%g8 * +9 ( +3 "processing"%m& +3 "core" &Z4 ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&t1 +52 "core" 1 +2 "manipulator"&% +4 "core" % " j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + "processing"%o& +4 "core" &Z& ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(P% +3 "core" %O ? +2 "storage"(i. +3 "core" .( +2 "storage"(_& +3 "core" & _  +3 "storage"( & +3 "manipulator"&|& +5 "core" & W  +2 &z ) +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i +2 "manipulator"&(s +5 "core" ( +2 "manipulator"&x& +4 "core" &z W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &z  +3 .tForearm.seek PC +2 "manipulator"&5' +97 "core" ' +2 .tHand.close + "manipulator"&!/ +53 "core" / +2 .tPC.seek :open +2 "processing"%r( +85 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'y +42 "core" ' +295 ( + "storage"(& +4 "core" &   +2 "manipulator"&g& +3 "core" &z < +2 "manipulator"&% +4 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v( +267 "core" ( +2 "manipulator"& & +3 "core" & \\ { +3 "storage"([& +4 "core" & 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + .tHand.open +2 "manipulator"&Y1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(K' +49 "core" ' +2 #tLights, camera, ACTION! +41 "storage"(~- +10 "core" -' +2 "storage"(& +4 "core" &\ O\ O C  +2 "manipulator"&,& +3 "core" &  { +3 .tElbow.seek 3 +2 "manipulator"&]( +7 "core" ( + "manipulator"&=& +4 "core" &  z s +2 "storage"(j& +4 "core" &\ P\ P W  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 "manipulator"&p& +4 "core" & ' s + "storage"('& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&% +4 "core" %{  +2 "storage"( & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&;'ϧ +20 "core" ' +2 "manipulator"&3& +3 "core" & 0 s +2 "storage"(c& +4 "core" & ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' + "storage"(b% +4 "core" %p  +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (N% +3 "core" %^\\ e u RK +2 "manipulator"&D% +4 "core" %T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +75 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (6& +3 "core" & %  +3 "collection"'2& +4 "core" &V`j B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&+% +3 "core" %\    +3 "storage"(q% +4 "core" %Y _ + "storage"({. +3 "core" .( +2 "storage"(-& +4 "core" &  +2 "storage"(@& +4 "core" & \  + "manipulator"&B& +4 "core" & s +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&0& +4 "core" & K s +2 "storage"($& +4 "core" & t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +95 "core" ' +2 "storage"(T& +3 "core" & R  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +277 "core" ' +2 "storage"(n- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & u s +2 "storage"(:& +4 "core" & E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(R'O +29 "core" ' +2 "manipulator"&?% +4 "core" %Α . + "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&&'Ͻ +20 "core" ' +2 "manipulator"&Q& +4 "core" & c s + "storage"(4& +4 "core" & Q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(d'> +39 "core" ' +2 "manipulator"&Z& +43 "core" &  s +9 "manipulator"&>% +4 "core" %- K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +170 "core" ( +4 "manipulator"&& +3 "core" & ) 1 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" & i 1 +2 .tForearm.seek CC +2 "manipulator"&k'" +94 "core" ' + .tHand.close + "manipulator"&C/ +54 "core" / +2 .tCC.seek :open +2 "collection"'z( +415 "core" ( +2 "storage"(`& +3 "core" &  +2 "storage"(V& +4 "core" &  +2 "manipulator"&S& +4 "core" & ; 1 + "manipulator"&/% +4 "core" % % a +2 .tForearm.seek :retract +2 "manipulator"&A'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&a( +157 "core" ( + "manipulator"&& +4 "core" & >  +2 "storage"(O& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&E'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +54 "core" 1 +2 "manipulator"&% +3 "core" % ΍  ` +2 "storage"(#& +4 "core" & o  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&h'Ϲ +22 "core" ' + "manipulator"&l& +4 "core" & E  +2 "storage"(F& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +34 "core" ' +2 "storage"(J% +4 "core" %G  +2 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (s% +3 "core" %Q PG +2 "manipulator"&% +4 "core" %/ F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'L& +4 "core" &rta  +2 "manipulator"&%% +3 "core" %\ !  3 +2 "storage"(G% +4 "core" %b 9 +2 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(}( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +3 "core" & 7 +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&o( +38 "core" ( + "manipulator"&& +4 "core" & X $ +2 "storage"(P& +3 "core" &  + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +97 "core" ' + "storage"(_& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +279 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &  +2 "manipulator"&x& +4 "core" &  $ +2 .tElbow.seek 2 + "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" & < $ +3 "storage"(!& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +50 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(9'X +6 "core" & 5 $ +2 "manipulator"&% +3 "core" %  % J +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" & &  4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &  4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +95 "core" ' +2 "manipulator"&[& +3 "core" &  A 4 +3 "manipulator"&% +4 "core" %  +2 "collection"'Y& +4 "core" &sv  +2 "collection"'& +6 "core" &rv  +2 .tCC.seek :closed +4 "collection"'~(V +4 "core" &tw?  +5 &rw > +9 &TOuw 0 +9 &~x E +10 &Yduv F +9 &buv G +9 &fvw G +10 &cwy F +9 &`cuw G +9 &"gwx G +10 &bwv F +9 &dyx G +9 &!hgxz G +10 &#+cwy F +9 &$fyx F +10 &&hvy F +9 &(qczy F +9 &*3cvx F +10 &+cyw G +9 &-eyx G +9 &/xewz G +10 &1;gy{L F +9 &2hy{ F +10 &4dxy F +9 &6cwy F +9 &8Ccy{ F +10 &:cwy F +9 &;cwy G +9 &=fyz G +10 &?Kbzz F +9 &A cyz F +10 &Bfx{ F +9 &Dj{| G +9 &FOpW H +10 &H~ I +9 &I3 L +9 &K}z P +10 &M= Q +9 &O P +10 &P Q +9 &RG R +9 &TA R +10 &UsD B +9 &V~X "c +9 &V' J +9 ( +3 "collection"'& +3 "core" &V`3 D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&71 +63 "core" 1 +3 "manipulator"&% +4 "core" %  $ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%=& +3 "core" &F +2 "manipulator"&j% +4 "core" %\   +2 "storage"(p% +4 "core" %a *  +2 "storage"('. +2 "core" .( +2 "storage"(H& +4 "core" &  \\ +2 "storage"(& +4 "core" &  + "manipulator"&& +4 "core" & i 4 +2 "manipulator"& % +4 "core" %\  {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&3( +167 "core" ( +2 "manipulator"&c& +4 "core" &  R  +2 "storage"(b& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +90 "core" ' +2 "storage"(& +4 "core" &  \\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +278 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&]( +4 "core" ( + "manipulator"&& +4 "core" &  k  +2 "storage"( & +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&2& +3 "storage"(+'X +8 "core" & C  + "manipulator"&% +4 "core" %  3 L +2 .tForearm.seek :retract +2 "manipulator"&q'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(s +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&-& +4 "core" &y 5 ? +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +51 &@& +3 "core" &y F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +99 "core" ' + "manipulator"&0& +4 "core" &y  +2 "manipulator"&$% +4 "core" % 9 +2 "processing"%& +4 "core" &E +2 "processing"%T& +6 "core" &F +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &J +7 &=C #c +9 &[E 6 +10 &D H +9 &cF F +9 &d@ G +10 &^gA G +9 &!dH F +9 &fH G +10 &i7 G +9 &fcM G +10 & (eP G +9 &!gG G +9 &#b7 G +10 &%ne4 G +9 &'0h: G +9 &(e* F +10 &*f) G +9 &,vc2 G +10 &.8f5 G +9 &/b7 G +9 &1e/ F +10 &3~d2 G +9 &5@c4 G +9 &7eB F +10 &8e5 G +9 &:b: G +10 & d@ F +9 &?e4 G +10 &Ac? G +9 &CPh7 G +9 &ElA G +10 &Fs: I +9 &H8 J +10 &JH8 L +9 &L\ 8 L +9 &M9 L +10 &OF M +9 &QN8 M +9 &S? M +10 &T8 M +9 &VF M +10 &XTB N +9 &Ywv: "j +9 &Z%g4 + +9 ( +3 "processing"%T& +3 "core" &ZB " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&\ 1 +59 "core" 1 + "manipulator"&M% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 "processing"%)& +3 "core" &Z: " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&:% +3 "core" %\  L  +3 "storage"(f% +3 "core" %P W +2 "storage"(?. +3 "core" .( +2 "storage"(& +3 "core" &  ; +3 "storage"(Q& +3 "manipulator"&4& +7 "core" &  C + &y  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&Z(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'i +3 "core" ( + "manipulator"&(& +3 "core" &y J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &y Z +3 .tForearm.seek PC +2 "manipulator"&I' +97 "core" ' +2 .tHand.close + "manipulator"& / +55 "core" / +2 .tPC.seek :open +2 "processing"%&( +92 "core" ' +2 "storage"(R- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +32 "core" ' +296 ( +2 "storage"(X& +4 "core" &  N +2 "manipulator"&*& +3 "core" &y  +2 "manipulator"&% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&<( +262 "core" ( +2 "manipulator"&W& +4 "core" &  p + "storage"(`& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +99 "core" ' +2 .tHand.open + "manipulator"&S1 +58 "core" 1 +2 "storage"(/- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(O' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(& +4 "core" & \ G\ H  +2 "manipulator"&e& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & $ z +2 "storage"(l& +4 "core" & \ H\ H +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +43 "core" ' +10 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(J' +58 "core" ' + "manipulator"&A& +4 "core" &  +2 "storage"(s& +3 "core" &  0 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +21 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +28 "core" ' +2 "manipulator"&h% +4 "core" %  + "storage"(L& +4 "core" &  " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&%' +19 "core" ' +2 "manipulator"&G& +4 "core" & h + "storage"(U& +4 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +24 "core" ' +2 "storage"(\\% +3 "core" %q T +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (u% +3 "core" %`Z n r 0 QJ +2 "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  +2 "collection"'P& +4 "core" &V_w D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&_% +4 "core" %\    +2 "storage"(.% +3 "core" %a  +2 "storage"(^. +3 "core" .( +2 "storage"(|& +3 "core" &  +2 "storage"(m& +4 "core" &  +2 "manipulator"&x& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&!& +4 "core" & R +2 "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +88 "core" ' +2 "storage"(& +4 "core" &  . +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +280 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o +2 "storage"(5& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"& ' +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('N +33 "core" ' + "manipulator"&Y% +4 "core" %  +2 "storage"(y& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&9' +20 "core" ' + "manipulator"&& +4 "core" & + +2 "storage"(z& +3 "core" &  N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +39 "core" ' +2 "manipulator"&=& +4 "core" & P +2 "manipulator"&j% +4 "core" %ѭ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +165 "core" ( +2 "manipulator"&& +4 "core" &# # e :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +42 &H& +10 "core" &# t :1 +3 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( + "storage"( & +4 "core" &  +2 "storage"(c& +4 "core" &  +2 "manipulator"&b& +4 "core" & # q :, + "manipulator"&% +5 "core" % ) Z +2 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&,( +168 "core" ( + "manipulator"&N& +3 "core" & - o +2 "storage"(D& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&6% +3 "core" %  +2 "storage"(2& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&3& +4 "core" & 0 o +2 "storage"(v& +4 "core" &  M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +26 "core" ' +2 "storage"(;% +4 "core" %D > +2 ."downElevator"SE.seek :down +4 "storage"(-'X +98 (]% +3 "core" %T PG +2 "manipulator"&@% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'$& +3 "core" &osu +2 "manipulator"&% +4 "core" %\    +2 "storage"(+% +3 "core" %` +2 "storage"(q. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(r( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" & Q  +2 "manipulator"&M& +3 "core" &  o +3 .tElbow.seek 3 + "manipulator"&)( +13 "core" ( +2 "manipulator"&:& +3 "core" & 1 W +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +101 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +280 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" & N  +3 "manipulator"&(& +4 "core" &  W +2 .tElbow.seek 3 + "manipulator"&8( +3 "core" ( +2 "manipulator"&B& +3 "core" & R W +2 "storage"( & +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&R'ϩ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"("'X +7 "core" & D W +2 "manipulator"&>% +4 "core" % Ϭ 0 +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +3 "core" && + O =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &I& +2 "core" && d =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&W'" +100 "core" ' +2 "manipulator"&`& +3 "core" && $ 8 =F +3 "manipulator"&Z% +3 "core" %$   +3 "collection"'S& +4 "core" &rs +3 "collection"'/& +4 "core" &uv +4 .tCC.seek :closed +2 "collection"'k(V +5 "core" &tt +6 &Btu #b +10 &Ztu 5 +9 &tv G +9 &dtw F +10 &iuw G +9 &Wesx G +10 &iuv F +9 &cww G +9 &fuw8 G +10 &`cvx F +9 & !cvw G +9 &!ivw F +10 &#dwxM G +9 &%ghuw G +10 &')exy G +9 &(eww G +9 &*hxyF F +10 &,pcww F +9 &.1btx G +9 &/evyG G +10 &1cvz7 F +9 &3wcxyb G +10 &59dxyL G +9 &6hwy F +9 &8gxz( F +10 &:cwz F +9 &hyw G +10 &?gy{ G +9 &Afyy G +10 &CJcwz F +9 &E\ j}}! G +9 &Fuh H +10 &HI I +9 &J=C N +9 &K1 P +10 &M] Q +9 &Ozb Q +10 &Q<B Q +9 &R5 R +9 &T3 R +10 &V&W> ; +9 &V d0 ; +6 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&1 +3 "core" &V<# ; +59 1 + "manipulator"&e% +4 "core" % $ $ ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&#'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%l& +4 "core" &P +2 "manipulator"&C% +4 "core" %\ k  + "storage"(A% +4 "core" %[  +2 "storage"(s. +3 "core" .( +2 "storage"(& +4 "core" &   + "storage"(& +4 "core" &   +2 "manipulator"&h& +4 "core" && , =E +2 "manipulator"&L% +4 "core" %\ O  +6 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +163 "core" ( +2 "manipulator"&U& +4 "core" & + ^ +2 "storage"(<& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +95 "core" ' + "storage"(V& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +281 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & .  +2 "manipulator"&F& +4 "core" & L ^ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&J& +4 "core" & I ^ + "storage"(& +4 "core" & "  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(_'X +7 "core" &  ^ +2 "manipulator"&.% +3 "core" % Ϛ  +3 .tForearm.seek :retract +2 "manipulator"&^'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&|(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&E& +4 "core" &m 5 Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&x' +94 "core" ' +2 "manipulator"&!& +3 "core" &m  J +2 "manipulator"&1% +4 "core" % b  +2 "processing"%d& +4 "core" &C +2 "processing"%& +53 "core" &T +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &T +7 &>T #c +10 &\\I 6 +9 &V G +9 &bR F +10 &eI F +9 &`eR F +9 &"eV F +10 &fA F +9 &fL G +9 &ghN G +10 & )hP G +9 &!hE F +10 &#e< G +9 &%ojE G +9 &'1i= G +10 &(i> G +9 &*dG G +10 &,xfJ F +9 &.:f; F +9 &/c@ F +10 &1eE F +9 &3e: F +9 &5Ag9 G +10 &7h: G +9 &8iE G +9 &:gE G +10 & e9 F +10 &?e@ F +9 &AfF F +9 &CPiF G +10 &EmF G +9 &FtH H +10 &HF J +9 &JJG L +9 &L E L +10 &ME L +9 &OA L +9 &QQE L +10 &SE M +9 &TG M +9 &VG M +10 &XVE M +9 &YwwH "k +10 &Z'kF * +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&a1 +3 "core" &ZF ! +58 1 +2 "manipulator"&% +4 "core" %  ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +91 "core" ' +2 "processing"%& +4 "core" &ZA ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&5% +4 "core" %\  o  +2 "storage"([% +4 "core" %a  + "storage"(Y. +3 "core" .( +2 "storage"(y& +3 "core" &  +3 "storage"(& +2 "manipulator"&z& +8 "core" & ]  +2 &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&=(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(j'i +4 "core" ( + "manipulator"&& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m +3 .tForearm.seek PC +2 "manipulator"&o' +96 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +4 .tPC.seek :open +2 "processing"%9( +95 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +292 ( + "storage"(7& +3 "core" & >  +3 "manipulator"&H& +4 "core" &m  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +266 "core" ( +2 "manipulator"&~& +4 "core" &  W  + "storage"( & +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +96 "core" ' +2 .tHand.open + "manipulator"&b1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(N'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(D' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"('& +3 "core" &\ + 9  +3 "manipulator"& & +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&6( +4 "core" ( + "manipulator"&2& +5 "core" &   + "storage"(3& +4 "core" & X M n  +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +58 "core" ' +2 "manipulator"&g& +3 "core" &  +2 "storage"(]& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +42 "manipulator"&@'} +30 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&$% +3 "core" %΂  +3 "storage"(& +4 "core" & }  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&+& +3 "core" & w  +3 "storage"(q& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(K% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(-'X +98 (}% +3 "core" %+Y w k % QI +2 "manipulator"&\ % +4 "core" %0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" & x  +2 "collection"'f& +4 "core" &V<" ; +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   . +2 "storage"(% +4 "core" %Q + "storage"(0. +3 "core" .( +2 "storage"(Q& +4 "core" & U  +2 "storage"(T& +4 "core" & V  + "manipulator"&(& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"& & +4 "core" &  |  +2 "storage"({& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +88 "core" ' + "storage"(>& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +279 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & .  +3 "storage"(I& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&4'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'P +32 "core" ' + "manipulator"&8% +4 "core" %΁ h +2 "storage"(S& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&"'ϭ +20 "core" ' +2 "manipulator"&X& +4 "core" &  + "storage"( & +4 "core" & &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(e'? +37 "core" ' +2 "manipulator"&l& +4 "core" &  +2 "manipulator"&C% +4 "core" %7 M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +156 "core" ( +2 "manipulator"&/& +3 "core" && $ =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && - =B +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&h/ +63 "core" / +2 .tCC.seek :open + "collection"'L( +413 "core" ( +2 "storage"(W& +3 "core" & e  +2 "storage"(U& +3 "core" & g  +47 "manipulator"&<& +5 "core" && } =A +2 "manipulator"&V% +4 "core" % % w +2 .tForearm.seek :retract +2 "manipulator"&*'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&#( +168 "core" ( + "manipulator"&u& +4 "core" &  x 5 +2 "storage"(t& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&F'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +55 "core" 1 +3 "manipulator"&% +3 "core" % ΐ z +2 "storage"(P& +4 "core" & #  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&.'ϼ +20 "core" ' +2 "manipulator"&G& +3 "core" & : 5 +2 "storage"(\\& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&O'9 +35 "core" ' +2 "storage"(%% +4 "core" %F \ +2 ."downElevator"SE.seek :down +4 "storage"(E'X +99 (m% +3 "core" %O a PF +2 "manipulator"&% +4 "core" %0 P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" &pt +3 "manipulator"&d% +3 "core" %\ &  ? +3 "storage"(_% +3 "core" %`  +2 "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(&( +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" & D +2 "manipulator"&& +4 "core" & = 5 +2 .tElbow.seek 2 +2 "manipulator"&( +42 "core" ( +2 "manipulator"&5& +4 "core" &  . & +2 "storage"([& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +104 "core" ' +2 "storage"(y& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  } +2 "manipulator"&& +3 "core" &  & +4 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&x& +4 "core" & G & +2 "storage"( & +4 "core" &  @ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& +2 "storage"(w'X +7 "core" &  & +2 "manipulator"&j% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&7'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +154 "core" ' + ."downElevator"SE.stop +3 "storage"(5 + "core" ( +3 "manipulator"&& +3 "core" &'  0 >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &'  >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +46 "manipulator"&~'" +97 "core" ' +4 "manipulator"& & +4 "core" &(  , >M +2 "manipulator"&=% +4 "core" %  +2 "collection"'b& +3 "core" &qtm +3 "collection"'& +6 "core" &qsG +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &tu  +8 &6rw )w +9 &ktu = +10 &ppu G +9 &sbsu F +9 &6dtw F +10 &huv F +9 &huwC G +10 &zetx= G +9 &=buw F +9 &dvw9 F +10 & itw? G +9 &"gxJ G +9 &$Eevy F +10 &&hvyQ G +9 &'euxJ G +10 &)buy> F +9 &+Lcwy@ G +9 &-evz> G +10 &.bxz< F +9 &0fxxB F +9 &2Ugwx? F +10 &4cwy4 G +9 &5evx1 G +10 &7bwy= F +9 &9]bxz> F +10 &;exz4 F +9 &<hxz@ G +9 &>gy{8 G +9 &@eby{= F +10 &B'ewz? F +9 &Cjy{E G +10 &EkF G +9 &GgyA H +9 &I$D J +10 &JD N +9 &L= Q +9 &NX@ P +10 &P; R +9 &Q@ Q +10 &SA S +9 &UXA D +9 &Vn?A , +10 &VgB D +5 ( +2 "collection"'& +4 "core" &V[A D +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&'1 +54 "core" 1 +2 "manipulator"& % +4 "core" %  ' s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "Can" Jؗ +2 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%3& +4 "core" &P +2 "manipulator"&% +3 "core" %\ !   0 +2 "storage"(g% +4 "core" %Y / +2 "storage"(]. +3 "core" .( +2 "storage"(& +4 "core" &  g f +2 "storage"(N& +4 "core" &  h o + "manipulator"&$& +4 "core" &' >M +2 "manipulator"&% +4 "core" %\ 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +158 "core" ( + "manipulator"&q& +3 "core" &  H s +3 "storage"(p& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +94 "core" ' + "storage"(c& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'i +280 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &  N +2 "manipulator"&\ & +4 "core" & s +2 .tElbow.seek 2 +2 "manipulator"&6( +4 "core" ( + "manipulator"&;& +4 "core" & k s +2 "storage"(@& +3 "core" &  | +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +3 "storage"('X +7 "core" & = s +2 "manipulator"&% +4 "core" %  9 ^ +2 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +3 "manipulator"&Q& +4 "core" &p & C  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &T& +2 "core" &p   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +104 "core" ' + "manipulator"& & +4 "core" &p   +2 "manipulator"&{% +4 "core" % +2 "processing"%& +4 "core" &P +2 "processing"%>& +6 "core" &W +2 .tPC.seek :closed +2 "processing"%-(Z +5 "core" &W +6 &=W #b +9 &ZV 5 +9 &S G +10 &cT G +9 &iW G +10 &VgW G +9 &bV G +9 &bV G +10 &dV G +9 &^dW G +9 & gP G +10 &!hQ G +9 &#iW G +10 &%fdP G +9 &'(fN G +9 &(cP G +10 &*eV G +9 &,nhW G +9 &.0eT G +10 &/dP F +9 &1fV G +10 &3vgQ G +51 &58cP G +3 &6dN F + &8dP G +2 &:~bU G + &dN F +5 &?fO G +10 &AhG G +9 &CHh= G +9 &EkD G +10 &Fs> H +9 &HH K +9 &JAG L +10 &LE L +9 &MI L +10 &OC L +9 &QGF M +9 &S F M +10 &TF M +9 &VG M +9 &XMF M +10 &YxuB "j +9 &Z+yF / +9 ( +3 "processing"%>& +3 "core" &ZF " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&,1 +53 "core" 1 + "manipulator"&M% +4 "core" %  c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +2 "processing"%& +3 "core" &ZF " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&I% +3 "core" %\    +3 "storage"(`% +4 "core" %P  + "storage"(8. +3 "core" .( +2 "storage"(S& +3 "core" &  a +3 "storage"(X& +3 "manipulator"& & +5 "core" &  o +2 &p K  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(l'i +2 "manipulator"&C(s +4 "core" ( +2 "manipulator"&n& +4 "core" &p  S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &p   +2 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' +2 .tHand.close + "manipulator"&4/ +57 "core" / +2 .tPC.seek :open +2 "processing"%"( +84 "core" ' +2 "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'y +44 "core" ' +293 ( + "storage"(& +4 "core" &  / +2 "manipulator"&& +4 "core" &p   + "manipulator"&R% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +254 "core" ( + "manipulator"&k& +4 "core" & 9 +2 "storage"(W& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +94 "core" ' + .tHand.open +2 "manipulator"&<1 +56 "core" 1 +2 "storage"(V- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(u'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(t' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(s& +4 "core" & \ G\ H +2 "manipulator"&& +4 "core" & L +2 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( + "manipulator"&P& +4 "core" & ? +2 "storage"(G& +4 "core" & \ P\ J  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +55 "core" ' +2 "manipulator"&*& +3 "core" & +3 "storage"(m& +4 "core" &  K + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'i +23 "core" ' +2 "manipulator"&.% +4 "core" %  +2 "storage"(1& +4 "core" &   + .tForearm.force -20 +46 "manipulator"&5 +6 .tForearm.seek 2 + 314 counts +2 "manipulator"&d' +18 "core" ' +2 "manipulator"&_& +4 "core" & S +2 "storage"(^& +3 "core" &  9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +31 "core" ' + "storage"(O% +4 "core" %p d +3 ."downElevator"SE.seek :down +3 "storage"(E'X +99 (r% +3 "core" %Y t p OG +2 "manipulator"&a% +3 "core" %љ h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (5& +3 "core" &   +2 "collection"'[& +4 "core" &V[; D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&y% +4 "core" %\ # \\ @ +2 "storage"(J% +4 "core" %U  +2 "storage"(!. +3 "core" .( + "storage"(z& +5 "core" &   + "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"& & +4 "core" & V + "storage"(|& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +90 "core" ' +2 "storage"(j& +4 "core" &  y +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & @ +2 "storage"(o& +4 "core" &  / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'P +27 "core" ' + "manipulator"&=% +4 "core" % J +2 "storage"(b& +4 "core" &  q 8 + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&w' +20 "core" ' + "manipulator"&7& +3 "core" & +2 "storage"(L& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&''ќ +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '? +41 "core" ' +2 "manipulator"&3& +3 "core" & " +2 "manipulator"&% +4 "core" %џ ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +154 "core" ( +3 "manipulator"&& +3 "core" &  8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  S 8 +3 .tForearm.seek CC +2 "manipulator"&N'" +96 "core" ' +2 .tHand.close + "manipulator"&$/ +60 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(~& +4 "core" &  + "storage"(q& +4 "core" &  " +2 "manipulator"&p& +4 "core" &! T 8 + "manipulator"&c% +4 "core" % !  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&2( +166 "core" ( + "manipulator"&v& +43 "core" & n  +9 "storage"(}& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&\ ' +97 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +55 "core" 1 +3 "manipulator"&:% +4 "core" % { + "storage"(f& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 299 counts + "manipulator"&' +17 "core" ' + "manipulator"&+& +4 "core" & l  +2 "storage"(K& +4 "core" &  X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +51 "core" ' +2 "storage"(% +3 "core" %G x +3 ."downElevator"SE.seek :down +4 "storage"(Q'X +98 (T% +3 "core" %7T PG +2 "manipulator"&6% +5 "core" %є P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +4 "core" &qs + "manipulator"&% +4 "core" %\  "  +2 "storage"(% +3 "core" %^ w +2 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(9( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &   +2 "manipulator"&M& +4 "core" & d  +2 .tElbow.seek 3 + "manipulator"&( +15 "core" ( + "manipulator"&I& +4 "core" & P x +2 "storage"(`& +3 "core" & R  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +98 "core" ' +2 "storage"(S& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &  +2 "manipulator"&n& +4 "core" & ' x +2 .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&(& +3 "core" &  x +2 "storage"(4& +4 "core" & !  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϩ +23 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(-'X +7 "core" & i x +2 "manipulator"&l% +4 "core" % Ϸ R +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&R& +3 "core" &' , S >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &)& +2 "core" &'  >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'" +94 "core" ' +2 "manipulator"&W& +3 "core" &' $ L >O +2 "manipulator"&C% +5 "core" %  C  +2 "collection"'<& +4 "core" &rtr +3 "collection"'V& +5 "core" &tu4 +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &st +7 &Iss #c +9 &]rt 7 +50 &+~tv@ G +3 &dsu? G + &gqv6 G + &rbsuI G +2 &5htwF F +2 &etvJ F +7 &gtw@ G +9 &yeuu9 G +9 & <cuyD G +10 &!ctxE G +9 &#ctv6 G +10 &%hvw< G +9 &'DeuwC G +9 &)ctx@ F +10 &*evwE F +9 &,gtxB G +10 &.LeuxG G +9 &0guxF F +9 &1evyH F +10 &3hvvI G +9 &5Teww@ G +9 &7cx> F +10 &8auyA G +9 &:etxJ G +9 &<\\cwyH G +10 &>hvzG F +9 &?cwxE G +10 &AhxyF F +9 &CegwzE F +9 &E&k{{D G +10 &FvH H +9 &HE I +9 &JXE N +10 &LD P +9 &ME Q +10 &OE Q +9 &QUG Q +9 &SB S +10 &TH R +9 &VCfM / +9 &VB : +10 &WmF A +5 ( +2 "collection"'V& +4 "core" &WTK A +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&s1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  $ [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%G& +3 "core" &W +2 "manipulator"&h% +4 "core" %\ #  U 9 +2 "storage"(*% +4 "core" %a g i  +2 "storage"(m. +3 "core" .( +2 "storage"(.& +4 "core" & s   + "storage"(1& +5 "core" & f   + "manipulator"&/& +4 "core" &'  ] >O +2 "manipulator"&u% +4 "core" %\ !  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&_( +156 "core" ( + "manipulator"&^& +4 "core" &  p  +2 "storage"(A& +3 "core" & O  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +97 "core" ' + "storage"(O& +4 "core" & \\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'i +283 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & ?  +2 "manipulator"&a& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&%& +3 "core" & ~  +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&d'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(y'X +7 "core" & &  +2 "manipulator"&J% +4 "core" % Ϲ  E +2 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&F(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&z& +4 "core" &x 6 #  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"& & +4 "core" &x A  +2 "manipulator"&|% +4 "core" % K +2 "processing"%e& +4 "core" &M +2 "processing"%j& +5 "core" &H +3 .tPC.seek :closed + "processing"%E(Z +5 "core" &N  +8 &7Q )v +10 &kV = +9 &tW H +9 &pcW G +10 &2dV G +9 &cV G +10 &eT F +9 &yeV F +9 &;eW F +10 &eX F +9 & cX F +9 &"eV F +10 &$BfV G +9 &&hW G +10 &'iX G +9 &)hV G +9 &+IhV G +10 &- eW F +9 &.dV G +9 &0iV G +10 &2RhH G +9 &4bQ G +10 &5cV G +9 &7bV G +9 &9ZcV G +10 &;cK F +9 &<gU F +9 &>eP G +10 &@cfR F +9 &B$gT G +10 &CiI G +9 &EnB H +9 &GdxO I +10 &I K K +9 &JJ L +9 &LU M +10 &NbO L +9 &P$O L +10 &QG M +9 &SH M +9 &UiJ M +10 &W*N M +9 &XI M +9 &Z:B`F %l +10 &Z 0? ! +5 ( +2 "processing"%j& +4 "core" &ZE ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator" +63 "core" 1 + "manipulator"&% +4 "core" % 0 +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +100 "core" ' +2 "processing"%& +4 "core" &ZF ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&o% +4 "core" %\ % P E +2 "storage"(% +3 "core" %a ^ +2 "storage"(=. +3 "core" .( +2 "storage"(b& +4 "core" &  +2 "storage"(7& +3 "manipulator"&L& +6 "core" & S  + &x 6  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&3(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&i& +5 "core" &x x  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" &x $  +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +4 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%w( +86 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +290 ( +2 "storage"(& +4 "core" &   +3 "manipulator"&'& +3 "core" &x   +2 "manipulator"&% +4 "core" % Z +3 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&g( +271 "core" ( + "manipulator"&& +4 "core" &  q u +2 "storage"(~& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +94 "core" ' +3 .tHand.open + "manipulator"&p1 +62 "core" 1 +2 "storage"(c- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(v'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(N' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(]& +4 "core" &\ G\ H   + "manipulator"&@& +4 "core" & % u +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&f& +4 "core" &  u + "storage"(+& +4 "core" &\ H\ G   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&H& +4 "core" & ) u +2 "storage"(T& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&6'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'i +23 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"({& +4 "core" & '  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&'ϫ +24 "core" ' + "manipulator"&& +4 "core" & v u +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +27 "core" ' + "storage"(D% +4 "core" %q  +3 ."downElevator"SE.seek :down +48 "storage"(Q'X +54 (&% +3 "core" %R  OF +2 "manipulator"&,% +4 "core" %J ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +94 "core" ' +112 ' + ."downElevator"SE.stop + "storage"(5 +3 (I& +3 "core" & U  +3 "collection"'`& +3 "core" &WT? A +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&S% +4 "core" %\ #  ; +2 "storage"(;% +4 "core" %W  +2 "storage"( . +3 "core" .( +2 "storage"( & +4 "core" &   + "storage"(>& +4 "core" &   +2 "manipulator"&n& +4 "core" &  u +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( + "manipulator"&4& +4 "core" & # u +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +96 "core" ' + "storage"(l& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +287 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & 5 u +2 "storage"(X& +4 "core" & '  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&)'} +21 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(C'P +28 "core" ' + "manipulator"&<% +4 "core" %·  +2 "storage"(B& +4 "core" & ?  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&-'ϳ +20 "core" ' + "manipulator"&& +4 "core" & u +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +38 "core" ' + "manipulator"&G& +4 "core" & % u +2 "manipulator"&h% +3 "core" %, W ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +163 "core" ( +3 "manipulator"&m& +3 "core" &% $ 8 << +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &% ` << +3 .tForearm.seek CC +2 "manipulator"&1'" +97 "core" ' + .tHand.close +2 "manipulator"&// +57 "core" / +2 .tCC.seek :open +2 "collection"'u( +416 "core" ( +2 "storage"(k& +4 "core" & X  + "storage"(^& +4 "core" & q  +2 "manipulator"&A& +3 "core" &% S << +2 "manipulator"&O% +4 "core" % # "  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&P( +163 "core" ( + "manipulator"&\\& +4 "core" & J  +2 "storage"(r& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&a'} +94 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +95 "core" 1 +9 "manipulator"&5% +4 "core" % Έ  +2 "storage"([& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&J'ϴ +20 "core" ' + "manipulator"&_& +4 "core" & %  +2 "storage"(U& +4 "core" & 7  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +30 "core" ' +2 "storage"(d% +3 "core" %E v +3 ."downElevator"SE.seek :down +5 "storage"(z'X +99 (% +3 "core" %IT PG +2 "manipulator"&% +4 "core" %, J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'|& +3 "core" &psA +2 "manipulator"&e% +4 "core" %\    +2 "storage"(y% +3 "core" %a l +2 "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"("( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (#& +3 "core" &  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&j( +39 "core" ( +2 "manipulator"&& +4 "core" & $ !v + "storage"(o& +4 "core" & C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(=& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +281 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" & A +2 "manipulator"&i& +3 "core" & !t +2 .tElbow.seek 2 +2 "manipulator"&x( +29 "core" ( +2 "manipulator"&& +3 "core" & '  +3 "storage"(& +4 "core" & ( +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(E'X +8 "core" & x  + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +166 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&& +2 "storage"(5 +7 "core" && U =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &&  =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +3 "manipulator"&~& +4 "core" &&  w =C +2 "manipulator"&3% +4 "core" %% z +2 "collection"'p& +3 "core" &rtG +3 "collection"'c& +6 "core" &rsA +2 .tCC.seek :closed +2 "collection"'}(V +4 "core" &st$ +7 &8rtA #b +9 &[ruM 6 +10 &rvJ H +9 &cstU G +9 &ittT G +10 &^ettQ G +9 &!duvR F +9 &evuS F +10 &hswS G +9 &fgvvM G +10 & )huwT F +9 &!evwM F +9 &#iuuG G +10 &%oivwB F +9 &'1buvJ F +9 &(duwJ F +10 &*ftwH G +9 &,wbtxE F +10 &.9bwwE F +9 &/bxH G +9 &1huwG F +10 &3cvwF F +9 &5BevxD F +9 &7huxD F +10 &8fwyG G +9 &:fvxH G +10 &\ fxyG G +9 &?cwxF F +10 &AewzJ F +9 &CPiwyL G +9 &Em|zM G +10 &FtN H +9 &HH J +10 &JEL M +9 &KL P +9 &MK Q +10 &OO Q +9 &QBN Q +55 &SN R +5 &TN R +2 &V2cN + +4 &V"M D + ( + &VUM @ + &VTM @ + &VTM @ +2 "collection"'c& +4 "core" &VTM @ +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&]1 +64 "core" 1 +2 "manipulator"&@% +4 "core" % % % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +96 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%+& +3 "core" &] +3 "manipulator"&$% +4 "core" %\  u ( +2 "storage"(H% +4 "core" %a  + "storage"(T. +3 "core" .( +2 "storage"(& +6 "core" & 9 +2 "storage"(& +3 "core" & r 3 +3 "manipulator"&{& +4 "core" && - =B + "manipulator"&v% +4 "core" %\   ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +163 "core" ( + "manipulator"&0& +4 "core" & V  +2 "storage"(D& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +102 "core" ' + "storage"(q& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +278 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" & +2 "manipulator"&K& +4 "core" & >  +2 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&& +4 "core" & 5  + "storage"(6& +4 "core" & D +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& + "storage"(S'X +8 "core" & M  +2 "manipulator"&\ % +3 "core" %  , +3 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"& (s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +3 "manipulator"& & +3 "core" &p ! \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &p  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n' +102 "core" ' +2 "manipulator"&4& +4 "core" &p 4 +2 "manipulator"&% +4 "core" % H ^ +2 "processing"% & +4 "core" &b +2 "processing"%l& +6 "core" &` +2 .tPC.seek :closed +2 "processing"%Q(Z +3 "core" &U +9 &>e #c +9 &[` 6 +9 &[ G +10 &aY F +9 &hY G +10 &_h^ G +9 &!h` G +9 &i_ G +10 &i_ G +9 &hhS F +9 & *eY F +10 &!dg F +9 &#ei G +10 &%ohi G +9 &'1jX G +9 &(d[ G +10 &*eS G +9 &,wcU G +9 &.9c[ G +10 &/b_ G +9 &1cX G +10 &3cf G +9 &5Acd G +9 &7cZ G +10 &8cX F +9 &:dR G +9 & dV G +9 &?bX G +10 &AcZ G +9 &CQh[ G +9 &EkI G +10 &Fs[ H +9 &HZ J +9 &JJS L +10 &L U L +10 &MZ M +9 &OZ L +9 &QPW M +9 &SQ M +10 &TX M +9 &VX M +9 &XWW M +10 &YwxQ "k +9 &Z*uX . +10 ( + &Zf # +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&21 +60 "core" 1 +2 "manipulator"&M% +4 "core" %   ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +90 "core" ' + "processing"%R& +4 "core" &ZP # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&X% +4 "core" %\  =  +2 "storage"(W% +3 "core" %W \\ +2 "storage"(<. +3 "core" .( +2 "storage"(B& +3 "core" &  +51 "storage"(& +2 "manipulator"&& +7 "core" &  + &p M +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&G(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'i +2 "core" ( +3 "manipulator"&?& +4 "core" &p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &p  +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&)/ +57 "core" / +3 .tPC.seek :open +2 "processing"%-( +94 "core" ' +2 "storage"(C- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'y +38 "core" ' +288 ( +2 "storage"(.& +3 "core" & ' +2 "manipulator"&s& +4 "core" &p  +2 "manipulator"&Z% +4 "core" % S +2 .tForearm.seek :retract +2 "manipulator"&/'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*( +268 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(k& +4 "core" & x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +91 "core" ' +2 .tHand.open + "manipulator"&A1 +61 "core" 1 +3 "storage"(O- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +50 "core" ' +4 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(V& +4 "core" & \ H\ G +2 "manipulator"&& +3 "core" & B  +3 .tElbow.seek 2 +2 "manipulator"&5( +2 "core" ( +2 "manipulator"&[& +4 "core" &   +2 "storage"(_& +4 "core" & \ H\ H +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&d& +3 "core" & l  +3 "storage"(P& +3 "core" & ? +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'i +24 "core" ' + "manipulator"&J% +4 "core" %  +2 "storage"(|& +4 "core" & B + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&e' +23 "core" ' + "manipulator"&y& +4 "core" & o  +2 "storage"(!& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +20 "core" ' +2 "storage"(t% +3 "core" %p X +3 ."downElevator"SE.seek :down +4 "storage"(z'X +99 (9% +2 "core" %X e f y PH +2 "manipulator"&#% +4 "core" %ѓ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &  +3 "collection"'o& +48 "core" &VTH @ +3 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&=% +3 "core" %\  ^  +2 "storage"(%% +4 "core" %b Z +2 "storage"( . +3 "core" .( +2 "storage"(7& +4 "core" & X + "storage"(L& +4 "core" & 0 +2 "manipulator"&i& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & J  +2 "storage"(F& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +96 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(b& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'O +29 "core" ' + "manipulator"&3% +4 "core" %  M +2 "storage"(p& +3 "core" & t i > +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&E' +20 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(u& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'> +37 "core" ' +2 "manipulator"&+& +4 "core" & M  +2 "manipulator"&$% +4 "core" %s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +164 "core" ( +3 "manipulator"&c& +3 "core" &* % ; @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &*  ? @] +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&{/ +58 "core" / +2 .tCC.seek :open +2 "collection"'v( +412 "core" ( +2 "storage"(& +4 "core" & P + "storage"(0& +4 "core" & +2 "manipulator"&D& +4 "core" &* = @\\ + "manipulator"&q% +4 "core" % $ p +3 .tForearm.seek :retract + "manipulator"&''\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&f( +162 "core" ( + "manipulator"&&& +3 "core" &  s +2 "storage"(,& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&K' +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +64 "core" 1 +2 "manipulator"&I% +3 "core" %  +2 "storage"(`& +4 "core" & t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +3 "manipulator"&\ ' +19 "core" ' + "manipulator"&& +4 "core" & e s +2 "storage"(g& +3 "core" & ; +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +25 "core" ' + "storage"(% +4 "core" %H } +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (>% +2 "core" %_U PF +2 "manipulator"&:% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &ps6 +2 "manipulator"& % +4 "core" %\ # H B +2 "storage"(S% +4 "core" %] + "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(w( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" & U  +2 "manipulator"&M& +3 "core" &  s +3 .tElbow.seek 3 +2 "manipulator"&R( +12 "core" ( +2 "manipulator"&X& +3 "core" &  y Y +2 "storage"(W& +4 "core" & #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +107 "core" ' +2 "storage"(B& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & T  +2 "manipulator"&?& +3 "core" & - Y +3 .tElbow.seek 3 + "manipulator"&(( +4 "core" ( + "manipulator"&n& +4 "core" &  Y +2 "storage"()& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&8& + "storage"(Q'X +8 "core" & Z Y +2 "manipulator"&h% +4 "core" % Ϟ +2 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&s( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( + "manipulator"&Z& +3 "core" &' * < >K +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &'  L >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +104 "core" ' +2 "manipulator"&k& +4 "core" &' s >K +2 "manipulator"&G% +4 "core" %, u +2 "collection"'A& +3 "core" &osR +3 "collection"'O& +5 "core" &qrQ +2 .tCC.seek :closed +2 "collection"'1(V +4 "core" &prL  +9 &:orN *x +9 &*nosQ > +9 &lrrP G +10 &estO G +9 &PbqqO F +10 &bqtQ F +9 &dquL F +9 &bruR G +10 &XgtuR F +9 &gsuP G +9 & fqvW G +10 &"ctvS G +9 &$_htvS G +10 &&"gttI F +9 &'htwO G +9 &)etvH G +10 &+ghtuV G +9 &-)eswR G +10 &.euvP G +9 &0cwuN F +9 &2qeuwE F +10 &42huvD F +9 &5btw> F +9 &7dvwC F +10 &9wetxF G +9 &;:buwC F +9 &<duvG F +10 &>gvwE G +9 &@fuuM G +10 &B@fvxL G +9 &DdwzE G +9 &El}A G +10 &GzF H +9 &I>C K +10 &JD O +9 &LE Q +9 &NsD P +10 &P2C Q +9 &QH R +9 &SC R +10 &UsC @ +9 &Vz7E , +9 &VnA D +6 ( +2 "collection"'O& +4 "core" &VUA D +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open + "manipulator"&V1 +55 "core" 1 +2 "manipulator"&% +3 "core" % + e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%_& +52 "core" &p + "manipulator"&/% +4 "core" %\  o  +2 "storage"(d% +3 "core" %b +2 "storage"(P. +3 "core" .( +2 "storage"(J& +3 "core" & \\  +3 "storage"(|& +4 "core" &  +2 "manipulator"&m& +4 "core" &&  >K + "manipulator"&y% +4 "core" %\  `  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&\\( +161 "core" ( +2 "manipulator"&!& +4 "core" & C _ +2 "storage"(t& +4 "core" & W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +87 "core" ' +2 "storage"(^& +4 "core" & N  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +277 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &   +2 "manipulator"&U& +4 "core" &  _ +2 .tElbow.seek 3 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&& +4 "core" & 4 _ + "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(a'X +8 "core" &  _ + "manipulator"&=% +4 "core" % Ϩ l +2 .tForearm.seek :retract +2 "manipulator"&%'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&7& +3 "core" &w  E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &w q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&i' +101 "core" ' +2 "manipulator"&& +4 "core" &w l +2 "manipulator"&F% +4 "core" % 3 +2 "processing"%& +4 "core" &o +2 "processing"%& +5 "core" &y +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &r +7 &Et #b +9 &\\p 6 +10 &s G +11 &al F +8 &eg F +9 &^dg F +9 & ej F +9 &er F +10 &gr G +9 &dgm G +10 & 'ek G +9 &!hc F +9 &#de G +10 &%mhh G +9 &'.gd G +9 &(g^ G +10 &*i] G +10 &,ui_ G +9 &.7h\\ G +9 &/gi G +9 &1hi G +10 &3}bi G +9 &5?ci G +9 &7ce G +10 &8hh G +9 &:gi G +10 &\ fc F +9 &?eh F +10 &Aeh G +9 &CNkh G +9 &Ekg G +10 &Fsh H +9 &Hi J +10 &JGi L +9 &L i L +9 &Mh M +10 &Oh L +9 &QOi L +9 &Si L +10 &Th L +9 &Vi M +10 &XUh M +9 &Ywxh !i +9 &Z+zc . +9 ( +3 "processing"%& +3 "core" &Zg ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" %  H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + "processing"%& +4 "core" &Zg ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&b% +5 "core" %\    + "storage"(x% +4 "core" %V : +2 "storage"(3. +3 "core" .( +2 "storage"(p& +4 "core" & |  +2 "storage"(& +2 "manipulator"&u& +8 "core" &   + &w 9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&+(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"($'i +2 "core" ( +2 "manipulator"&Y& +52 "core" &w G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w $ N +3 .tForearm.seek PC + "manipulator"&j' +98 "core" ' +3 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%E( +42 "core" ' +2 "storage"(~- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(c'y +33 "core" ' +345 ( +2 "storage"(& +4 "core" &   +2 "manipulator"&]& +4 "core" &w  + "manipulator"& % +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&{'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H( +263 "core" ( +2 "manipulator"&}& +3 "core" & 7  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +97 "core" ' +3 .tHand.open + "manipulator"&D1 +57 "core" 1 +2 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(&'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(T& +4 "core" &\ H\ G   +2 "manipulator"&6& +3 "core" & /  +3 .tElbow.seek 3 + "manipulator"&I( +3 "core" ( +2 "manipulator"&`& +3 "core" & G  +2 "storage"(& +4 "core" &\ Q\ O  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"('' +57 "core" ' +2 "manipulator"&& +4 "core" & =  + "storage"(f& +4 "core" & +  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&>'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +23 "core" ' +2 "manipulator"&\ % +3 "core" %s  +2 "storage"(& +5 "core" & 6  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 290 counts +2 "manipulator"& 'ϟ +21 "core" ' + "manipulator"&S& +4 "core" & q  +2 "storage"(;& +3 "core" & s  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +17 "core" ' +2 "storage"(N% +3 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 ("% +4 "core" %R w z & PI +2 "manipulator"&2% +5 "core" %?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (X& +3 "core" & m  +2 "collection"'W& +5 "core" &VUD D + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&B% +4 "core" %\  V  +2 "storage"(% +4 "core" %` + "storage"(4. +3 "core" .( +2 "storage"(& +4 "core" & k  + "storage"(l& +5 "core" &  + "manipulator"&?& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&n( +4 "core" ( +48 "manipulator"&)& +4 "core" & +  +6 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +96 "core" ' + "storage"(h& +4 "core" & |  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +282 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" &   +2 "storage"(& +4 "core" & 4  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('P +31 "core" ' +2 "manipulator"&G% +4 "core" %Ά  +2 "storage"(A& +4 "core" & H  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&Q'ϲ +21 "core" ' + "manipulator"&.& +4 "core" &  +2 "storage"(v& +4 "core" & f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +40 "core" ' +2 "manipulator"&_& +3 "core" & 4  +2 "manipulator"&O% +4 "core" %2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +158 "core" ( +3 "manipulator"&P& +3 "core" &' $ " >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &' a >I +3 .tForearm.seek CC +2 "manipulator"&|'" +94 "core" ' + .tHand.close +2 "manipulator"&m/ +53 "core" / +2 .tCC.seek :open +2 "collection"'y( +415 "core" ( +2 "storage"(& +3 "core" & q  +2 "storage"(!& +4 "core" &   +2 "manipulator"&t& +4 "core" &' n >H + "manipulator"&^% +4 "core" % . k +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&[( +165 "core" ( + "manipulator"&9& +4 "core" & K ? +2 "storage"(#& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&U'} +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&e% +4 "core" % Έ  +2 "storage"(o& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&='ϴ +23 "core" ' + "manipulator"&\\& +5 "core" & t ? + "storage"(*& +4 "core" & (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +17 "core" ' +2 "storage"(% +3 "core" %F 4 +3 ."downElevator"SE.seek :down +4 "storage"(7'X +99 (L% +3 "core" %:U . PG +2 "manipulator"&5% +4 "core" %E % +2 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +4 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'F& +3 "core" &mpD +2 "manipulator"&% +4 "core" %\  k  +2 "storage"(a% +3 "core" %`  +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(-( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & b +2 "manipulator"&& +3 "core" & 1 ? +3 .tElbow.seek 2 +2 "manipulator"&( +40 "core" ( +2 "manipulator"&b& +4 "core" &  & + "storage"(x& +5 "core" &  e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +90 "core" ' +2 "storage"(p& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &  +2 "manipulator"&Y& +3 "core" & ^ % +3 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&i& +3 "core" & ? % +3 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(z'X +8 "core" &  % + "manipulator"&$% +4 "core" %  j y +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"& & +3 "core" &&  Y =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +2 "core" && G =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&}'" +102 "core" ' +3 "manipulator"&& +3 "core" && #  =C +3 "manipulator"&+% +4 "core" %  k +2 "collection"'D& +3 "core" &ntP +3 "collection"'q& +6 "core" &osQ +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &orN +6 &7rrM #a +9 &ZpsS 5 +10 &psS G +9 &_ssR F +9 &cqtU G +10 &YfrrW F +9 &hssT G +10 &fss\\ G +9 &bsu\\ F +9 &aervQ F +10 & "hsvS G +9 &!gtuS G +9 &#cquP G +10 &%icttR F +9 &'+dsuP F +9 &(gswQ F +10 &*btvO F +9 &,retvO F +10 &.3hsuP F +9 &/gtvO G +9 &1etuK G +10 &3ycwtS F +9 &5:btvP G +10 &6evvR G +9 &8btwC F +9 &:huwG G +10 &cuwK F +9 &?evvJ F +10 &AgvwG G +9 &CJgvwE G +9 &E hyzG G +10 &FsR H +9 &H}P I +10 &J?_ M +9 &KH P +9 &MP Q +10 &OzI Q +9 &Q<I Q +9 &RG R +10 &TY R +9 &V'VG : +10 &V qK A +5 ( +2 "collection"'q& +4 "core" &VLH A +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&T1 +60 "core" 1 +3 "manipulator"&6% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &y + "manipulator"&{% +4 "core" %\ ! } 3 +2 "storage"(% +3 "core" %U 9 +2 "storage"(f. +3 "core" .( +2 "storage"(\ & +4 "core" &  9 +2 "storage"(& +4 "core" &  7 + "manipulator"&c& +4 "core" &% d <@ +2 "manipulator"&S% +4 "core" %\ ! d 3 +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +5 .tElbow.seek 2 +2 "manipulator"&;( +162 "core" ( +2 "manipulator"&&& +3 "core" & 7 z +3 "storage"(N& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +101 "core" ' +3 "storage"(0& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +283 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &  7 +2 "manipulator"&g& +4 "core" &  z +2 .tElbow.seek 2 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&'& +4 "core" & u z +2 "storage"(>& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(B'X +8 "core" & \ z + "manipulator"&% +4 "core" %  @  +2 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&K& +4 "core" &k 5 V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &k   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +105 "core" ' + "manipulator"&)& +4 "core" &k  z  +2 "manipulator"& % +4 "core" % Q +2 "processing"%@& +4 "core" &y +2 "processing"%h& +6 "core" &q +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &z  +8 &7z )w +10 &ky = +9 &pv H +9 &qcw F +10 &2ey G +9 &hy F +9 &ey F +10 &ydx F +9 &;cw F +10 &hr G +9 & cu G +9 &"iw G +10 &$Bdu G +9 &&dl G +9 &'jk G +10 &)ch G +9 &+Jcr G +10 &- eh F +9 &.fh F +9 &0ei G +10 &2Rdh G +9 &4cg G +9 &5ch G +10 &7bi G +9 &9Zch G +10 &;bh G +9 &<hh G +9 &>hh F +10 &@cgh F +9 &B$gh G +9 &Cmi G +10 &Epc H +9 &Gexi I +10 &Ij K +9 &Ji L +9 &Li M +10 &Nbj L +9 &P$j L +9 &Qh M +10 &Si M +9 &Uij M +10 &W*i M +9 &Xj N +9 &Z>Ebi %k +10 &Z\ +c " +5 ( +2 "processing"%h& +4 "core" &Ze " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&:1 +53 "core" 1 +2 "manipulator"&M% +3 "core" %  A +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +91 "core" ' +3 "processing"%Z& +4 "core" &Z\\ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(k% +4 "core" %a w +2 "storage"(G. +3 "core" .( +2 "storage"(A& +4 "core" &  z +2 "storage"(.& +2 "manipulator"&v& +6 "core" &  % + &k K  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(_'i + "manipulator"&O(s +7 "core" ( + "manipulator"&8& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &k -  +3 .tForearm.seek PC +2 "manipulator"&R' +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%Q( +89 "core" ' +9 "storage"((- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'y +36 "core" ' +288 ( +2 "storage"(J& +3 "core" &  1 +2 "manipulator"&V& +4 "core" &k 8  +2 "manipulator"&C% +5 "core" % L +3 .tForearm.seek :retract +2 "manipulator"&m'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +262 "core" ( + "manipulator"&1& +4 "core" & & ' +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&!'ќ +95 "core" ' +3 .tHand.open + "manipulator"&t1 +57 "core" 1 +2 "storage"(^- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(#' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(d& +4 "core" & \ O\ Q +2 "manipulator"&& +3 "core" &  ' +3 .tElbow.seek 2 + "manipulator"&e( +3 "core" ( +2 "manipulator"&o& +4 "core" & 4 ' +2 "storage"(\\& +4 "core" & \ P\ R +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +54 "core" ' + "manipulator"&s& +4 "core" & V ' +2 "storage"(L& +4 "core" &  J +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&5' +24 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'i +23 "core" ' +2 "manipulator"&F% +4 "core" %  +2 "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&=' +18 "core" ' +2 "manipulator"&a& +4 "core" & 2 ' +2 "storage"(%& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' + "storage"(r% +4 "core" %q Z +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (w% +4 "core" %U k d t PG +2 "manipulator"&% +4 "core" %Ѣ 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (b& +3 "core" &  q +2 "collection"'x& +3 "core" &VL^ A +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&p% +4 "core" %\  m  +2 "storage"(% +3 "core" %b a +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &  T +2 "storage"(u& +4 "core" &  ) + "manipulator"&Y& +3 "core" &  ' +3 .tElbow.seek 2 + "manipulator"&i( +4 "core" ( + "manipulator"&& +4 "core" & ' +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"($& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +41 "storage"('i +287 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & H ' +3 "storage"(j& +4 "core" &  V + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'O +29 "core" ' + "manipulator"&D% +4 "core" % \\ +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 302 counts + "manipulator"&z' +15 "core" ' +2 "manipulator"&& +4 "core" & * & + "storage"(y& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(6'> +42 "core" ' + "manipulator"&& +4 "core" &  & +2 "manipulator"&{% +4 "core" %} i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +151 "core" ( +2 "manipulator"&q& +4 "core" &+ % [ Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &* " Ae +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close + "manipulator"&c/ +59 "core" / +2 .tCC.seek :open + "collection"'S( +413 "core" ( +2 "storage"(}& +3 "core" &  ( +2 "storage"(&& +4 "core" &  + +2 "manipulator"&N& +4 "core" &+  Ac + "manipulator"&0% +4 "core" % 1 M +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +155 "core" ( + "manipulator"&"& +4 "core" &   +2 "storage"(2& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&g' +97 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +52 "core" 1 +2 "manipulator"& % +4 "core" % - +2 "storage"(W& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 307 counts +2 "manipulator"&' +26 "core" ' +3 "manipulator"&;& +4 "core" & F  +2 "storage"(H& +4 "core" &  F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +19 "core" ' +2 "storage"(X% +4 "core" %H  +2 ."downElevator"SE.seek :down +4 "storage"(K'X +99 (l% +3 "core" %SR M PG +2 "manipulator"&I% +4 "core" %ѣ 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" &no@ +2 "manipulator"&@% +3 "core" %\ ! ' 2 +2 "storage"(B% +3 "core" %R 9 +2 "storage"(4. +3 "core" .( +45 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(E( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (:& +2 "core" & C  +3 "manipulator"&M& +3 "core" & 5  +3 .tElbow.seek 3 +2 "manipulator"&Z( +17 "core" ( + "manipulator"&& +4 "core" &  2 +2 "storage"(k& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +97 "core" ' + "storage"(A& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +281 "core" ' + "storage"(v- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &  +2 "manipulator"&8& +4 "core" & O 2 +2 .tElbow.seek 3 + "manipulator"&n( +4 "core" ( + "manipulator"&?& +4 "core" & 2 +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&('ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"( 'X +9 "core" & g 2 + "manipulator"&_% +4 "core" % ϧ b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&C& +4 "core" &) +  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &* h @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'" +97 "core" ' +2 "manipulator"&& +4 "core" &* $ \\ @W +2 "manipulator"&O% +4 "core" %# c +2 "collection"'t& +4 "core" &oqU +3 "collection"'^& +6 "core" &prW +2 .tCC.seek :closed +3 "collection"'|(V +4 "core" &prO +5 &orR 9 +9 &SOpq[ 0 +9 &~pqR D +10 &TeptU G +9 &gnrR F +10 &bqrP G +9 &fqsZ G +9 &^bqtQ F +10 &drsN G +9 &eptM G +9 &cstO G +10 &!fhtsP F +9 &#(ertS F +10 &$hsuW G +9 &&ertQ G +9 &(ngrtO F +10 &*0hru^ F +9 &+crwW F +9 &-dsvU F +10 &/vhruc F +9 &17bstc G +10 &2esu^ G +9 &4hsvW F +9 &6~gtuU F +10 &8@btuS F +9 &:csw^ G +9 &;fvv^ G +10 &=cswT F +9 &?IdquW F +9 &A\ hsvL F +10 &BiuwW G +9 &Djvy[ G +10 &FMoc G +9 &H {e I +9 &Ic L +10 &Kzc P +9 &M:c Q +10 &Nc P +9 &Pd Q +9 &Ra Q +10 &T>d R +9 &Usd B +9 &VyQ !` +10 &V#V J +9 ( + &Vj` F +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +6 .Hand.open +2 "manipulator"&d1 +59 "core" 1 +2 "manipulator"&% +4 "core" % # ! { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%\\& +3 "core" &s +2 "manipulator"&m% +4 "core" %\   +2 "storage"(s% +3 "core" %] d b  +2 "storage"(L. +3 "core" .( +2 "storage"(F& +4 "core" & i f b  +2 "storage"(& +4 "core" & d e  + "manipulator"&P& +4 "core" &) n @W +2 "manipulator"&a% +3 "core" %\  z  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&9( +160 "core" ( + "manipulator"&%& +4 "core" & z m +2 "storage"(r& +4 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +100 "core" ' +2 "storage"(!& +47 "core" & z  +6 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +281 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&*& +4 "core" &  m +2 .tElbow.seek 3 +2 "manipulator"&e( +4 "core" ( + "manipulator"&& +4 "core" & d m +2 "storage"(5& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&='ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&x& +2 "storage"(p'X +6 "core" &  m +2 "manipulator"&% +3 "core" % ϩ  1 +3 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&& +3 "core" &r  - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &r . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Y' +100 "core" ' +2 "manipulator"&& +4 "core" &r  R +2 "manipulator"& % +4 "core" % r  +2 "processing"%& +4 "core" &p +2 "processing"%$& +5 "core" &x +2 .tPC.seek :closed +2 "processing"%7(Z +4 "core" &y +7 &?y #c +9 &\\v 6 +9 &y H +10 &ez G +9 &hu G +10 &^gz G +9 & hx G +9 &hy F +10 &fz G +9 &egx G +9 & (fu G +10 &!ht G +9 &#gm G +10 &%nhm G +9 &'0jy G +9 &(cw G +10 &*dx G +9 &,vfv G +9 &.8hy G +10 &/gs G +9 &1hj G +10 &3~cs G +9 &5@cu G +9 &7dl G +10 &8cp G +9 &:eo F +9 & ck F +9 &?ch G +10 &Ael F +9 &COhd G +9 &Elg G +10 &Fsf H +9 &Hf K +9 &JIh L +10 &L\ h L +9 &Mb L +10 &Ob M +9 &QOg M +9 &Sf M +10 &Tf M +9 &Vf M +10 &XTe N +9 &Ywwa "k +9 &Z*u\\ , +9 ( +3 "processing"%$& +3 "core" &Zh ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&[1 +56 "core" 1 +2 "manipulator"&% +3 "core" %  z  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 "processing"% & +4 "core" &Zh ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&j% +4 "core" %\  K  +2 "storage"(% +4 "core" %b y +2 "storage"(D. +3 "core" .( + "storage"(& +4 "core" & |  +2 "storage"(& +3 "manipulator"&y& +7 "core" & H  + &r  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +2 "core" ( +3 "manipulator"&& +3 "core" &r  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &r 0 +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%z( +94 "core" ' +2 "storage"(+- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +35 "core" ' +291 ( +2 "storage"(\ & +3 "core" & W  +2 "manipulator"&T& +4 "core" &r  +2 "manipulator"&~% +3 "core" % r +43 .tForearm.seek :retract +9 "manipulator"&c'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +258 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(}& +4 "core" & \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +97 "core" ' +3 .tHand.open + "manipulator"&N1 +63 "core" 1 +2 "storage"(0- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(f& +4 "core" &\ Q\ R  +2 "manipulator"&>& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&W& +4 "core" & & +2 "storage"(;& +4 "core" &\ G\ H 7  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(X' +59 "core" ' +2 "manipulator"&]& +4 "core" &  +2 "storage"(l& +3 "core" & #  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&I'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +23 "core" ' +2 "manipulator"&% +4 "core" %Α  +2 "storage"( & +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&@'Ͻ +21 "core" ' + "manipulator"&B& +4 "core" & E +2 "storage"(4& +3 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +34 "core" ' +2 "storage"(,% +3 "core" %r i  +3 ."downElevator"SE.seek :down +4 "storage"(K'X +99 (-% +3 "core" %U z z QI +2 "manipulator"&:% +4 "core" %9 Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & .  +2 "collection"'k& +4 "core" &VjT F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&A% +3 "core" %\  4  +3 "storage"('% +4 "core" %^  + "storage"(). +3 "core" .( +2 "storage"(v& +4 "core" &   + "storage"(h& +5 "core" &   + "manipulator"&8& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +3 "core" & . +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +97 "core" ' + "storage"(_& +4 "core" & 2  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'i +280 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & +2 "storage"(R& +3 "core" & ]  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&.'} +43 "core" ' +9 .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'P +28 "core" ' +2 "manipulator"&n% +3 "core" %~ 6 +2 "storage"(t& +4 "core" & 1  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"& 'Ϫ +20 "core" ' + "manipulator"&J& +3 "core" & Y +2 "storage"(S& +5 "core" & W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +39 "core" ' +2 "manipulator"&\\& +4 "core" & ` + "manipulator"&m% +4 "core" %D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +156 "core" ( +2 "manipulator"&^& +4 "core" &' # 7 >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &' \\ >M +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&P/ +58 "core" / +2 .tCC.seek :open +2 "collection"'a( +416 "core" ( + "storage"(1& +4 "core" & s  +2 "storage"(%& +4 "core" &  + "manipulator"&r& +4 "core" &' M >M +2 "manipulator"&!% +4 "core" %  d +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +160 "core" ( +2 "manipulator"&w& +4 "core" & z + "storage"(& +4 "core" & D  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +63 "core" 1 +2 "manipulator"&b% +4 "core" % ΂ Z + "storage"(x& +6 "core" & e  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&9& +4 "core" & l z + "storage"(/& +4 "core" & z  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +29 "core" ' +2 "storage"(=% +4 "core" %G +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (u% +3 "core" %S G PG +2 "manipulator"&e% +4 "core" %. K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +3 "core" &noR +2 "manipulator"&% +4 "core" %\ # m 9 +2 "storage"(p% +3 "core" %Y v +2 "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(Q( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +3 "core" &  +2 "manipulator"&& +4 "core" &  z +2 .tElbow.seek 2 + "manipulator"& ( +34 "core" ( + "manipulator"&j& +48 "core" & i $ +5 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +97 "core" ' + "storage"(& +4 "core" &  h +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +3 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &  @ +2 "manipulator"&& +4 "core" &  "| +2 .tElbow.seek 2 +2 "manipulator"&i( +19 "core" ( +2 "manipulator"&Y& +4 "core" & C  +2 "storage"(& +4 "core" &  d +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&+' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +3 "storage"(7'X +7 "core" & 0  +2 "manipulator"&{% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +102 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&~& +4 "core" & 5 4 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +3 "manipulator"&}& +4 "core" &   4 +2 "manipulator"&% +4 "core" %'   +2 "collection"'N& +3 "core" &mrd +3 "collection"'0& +5 "core" &nrd +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &nph +7 &Jnpe $d +10 &\\orZ 6 +9 &pr[ G +9 &dpqS F +10 &gor[ G +9 &haqrO F +9 &)ippT F +10 &brrc F +9 &dprd F +10 &nfprf G +9 & 1hqr^ F +9 &!hpt\\ G +10 &#frsT G +9 &%whrt^ F +9 &'9gqs\\ F +10 &(btsh F +9 &*crub F +10 &,~brtc G +9 &.@ess^ G +9 &0ept` G +10 &1hsuf F +9 &3httd F +9 &5Igqu] F +10 &7 httb F +9 &8gswb F +10 &:hsv[ F +9 &etvd F +10 &?fru\\ G +9 &Absve F +9 &CXiuvb G +10 &Emwx^ G +9 &Fs\\ H +10 &H}b I +9 &JN] M +9 &Lp P +10 &M^ Q +9 &Od Q +9 &QK] Q +10 &S c R +9 &Ta R +10 &V:gb / +9 &Vd - +9 &Vsg O +3 ( + "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&f1 +57 "core" 1 + "manipulator"&>% +4 "core" % ' "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%;& +3 "core" &d +2 "manipulator"&c% +4 "core" %\  [  +2 "storage"(]% +3 "core" %b e c Z +2 "storage"(l. +3 "core" .( +2 "storage"(q& +3 "core" &  u  +2 "storage"(& +4 "core" &  e e +2 "manipulator"& & +4 "core" &  4 +2 "manipulator"&"% +3 "core" %\  U  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&B( +161 "core" ( +2 "manipulator"&4& +3 "core" &  d  +2 "storage"(,& +4 "core" &  ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + "storage"(&& +3 "core" &  > +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +286 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &  +2 "manipulator"&H& +4 "core" & H  +2 .tElbow.seek 2 +46 "manipulator"& ( +6 "core" ( +2 "manipulator"&X& +3 "core" & Z  +2 "storage"(I& +4 "core" &  O +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(A'X +8 "core" &  + "manipulator"&'% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&v(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +115 "core" ( +2 "manipulator"&g& +4 "core" &i &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &i 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&8' +105 "core" ' + "manipulator"&& +5 "core" &l 8  + "manipulator"&% +4 "core" %  +2 "processing"%6& +3 "core" &u +3 "processing"%_& +5 "core" &d +3 .tPC.seek :closed + "processing"%K(Z +5 "core" &t  +8 &7} )v +9 &k| = +10 &ro G +9 &tdv F +10 &4hq G +9 &cn G +9 &bz G +10 &{bx G +9 &=by G +9 &il G +10 & bv G +9 &"cz G +10 &$Eco G +9 &&bk F +9 &'fn G +10 &)hu G +9 &+Mhm G +9 &-ho G +10 &.hl G +9 &0hk G +10 &2Uhu G +9 &4gm G +9 &5hm G +10 &7fl G +9 &9]hn G +9 &;gm G +10 &<ik G +9 &>gk G +10 &@ff_ F +9 &B'fh G +9 &Chn G +10 &Emp H +9 &Gfwm I +9 &I#e K +10 &Jm L +9 &Lo L +10 &Nee L +9 &P&i M +9 &Qj M +10 &Sa M +9 &Uki M +9 &W,e M +10 &Xb M +9 &Z?Dci %m +10 &Z\ +e # +5 ( +2 "processing"%_& +4 "core" &Zb # +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&`1 +59 "core" 1 +2 "manipulator"&M% +5 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 "processing"%C& +3 "core" &Zj # +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&R% +3 "core" %\   +3 "storage"(% +3 "core" %W +2 "storage"(n. +3 "core" .( +2 "storage"(t& +3 "core" &  P +3 "storage"(J& +3 "manipulator"&S& +6 "core" &  ~ + &l   +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(\\'i + "manipulator"&m(s +7 "core" ( + "manipulator"&<& +4 "core" &l   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &l N  +2 .tForearm.seek PC +2 "manipulator"&Z' +95 "core" ' + .tHand.close +2 "manipulator"&./ +61 "core" / +3 .tPC.seek :open +2 "processing"% ( +83 "core" ' +2 "storage"(O- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +47 "core" ' +290 ( + "storage"(F& +4 "core" &   +2 "manipulator"&d& +3 "core" &n   +2 "manipulator"&(% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&s( +257 "core" ( +2 "manipulator"&|& +3 "core" &  +3 "storage"(1& +4 "core" &  r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 2 + 700 counts +9 "manipulator"&%'ќ +96 "core" ' +2 .tHand.open +2 "manipulator"&r1 +59 "core" 1 +2 "storage"(!- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(w'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(L& +4 "core" & \ O\ Q +2 "manipulator"&5& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&b( +4 "core" ( + "manipulator"&x& +4 "core" & ;  +2 "storage"(9& +3 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(=' +58 "core" ' +2 "manipulator"&V& +4 "core" &   +2 "storage"(u& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&e' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +23 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"( & +3 "core" &  * +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&p& +4 "core" & R  +2 "storage"(U& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +29 "core" ' +2 "storage"(#% +4 "core" %q d  +3 ."downElevator"SE.seek :down +3 "storage"('X +98 (E% +3 "core" % ] u y P PI +2 "manipulator"&[% +5 "core" %ў  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (j& +2 "core" &  A +3 "collection"'& +4 "core" &VpN O + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\   \ +3 "storage"(% +3 "core" %b  +2 "storage"(. +3 "core" .( +2 "storage"(y& +3 "core" &   +2 "storage"($& +4 "core" &   +2 "manipulator"&& +4 "core" & J  +2 .tElbow.seek 2 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&& +4 "core" & K  + "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +89 "core" ' + "storage"({& +4 "core" &  # +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +281 "core" ' +2 "storage"(D- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" & *  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +27 "core" ' +2 "manipulator"&N% +3 "core" %  \\ +2 "storage"(i& +4 "core" &  h j h +2 .tForearm.force -20 +47 "manipulator"&5 +5 .tForearm.seek 2 + 315 counts + "manipulator"&7' +18 "core" ' +2 "manipulator"&\ & +4 "core" & R  + "storage"(a& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +27 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(>'> +38 "core" ' +2 "manipulator"&;& +3 "core" &   +3 "manipulator"&c% +4 "core" %ѡ e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +178 "core" ( +2 "manipulator"&q& +3 "core" &  0 $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & h $ +3 .tForearm.seek CC +2 "manipulator"&0'" +94 "core" ' + .tHand.close + "manipulator"& / +54 "core" / +2 .tCC.seek :open +2 "collection"'"( +415 "core" ( +2 "storage"(& +3 "core" &  1 +3 "storage"(4& +4 "core" &  t + "manipulator"&,& +4 "core" & $ +2 "manipulator"&&% +4 "core" % 0  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +152 "core" ( + "manipulator"&-& +4 "core" & Z  +2 "storage"(:& +4 "core" &  e +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&H' +97 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&I1 +64 "core" 1 +2 "manipulator"&% +3 "core" % o +2 "storage"(k& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 303 counts + "manipulator"&'' +18 "core" ' +2 "manipulator"&B& +3 "core" &  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +34 "core" ' +2 "storage"(@% +3 "core" %D > +3 ."downElevator"SE.seek :down +4 "storage"(g'X +99 (h% +4 "core" %R 5 OF + "manipulator"& % +4 "core" %ќ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &mnT + "manipulator"&6% +4 "core" %\  D  +2 "storage"(A% +4 "core" %`  +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(z( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" & t  +2 "manipulator"&M& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&C( +14 "core" ( +2 "manipulator"&R& +3 "core" & d [ +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +87 "core" ' +2 "storage"(t& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +322 "core" ' +5 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" & O  +2 "manipulator"&<& +4 "core" & U [ +3 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&8& +3 "core" & ( [ +2 "storage"(.& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +3 "storage"(K'X +7 "core" & [ [ +2 "manipulator"&\\% +4 "core" % ϐ u  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&(& +4 "core" &' - ^ >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &' Y >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +103 "core" ' +3 "manipulator"&1& +3 "core" &'  0 >M +3 "manipulator"&m% +4 "core" %% K R +2 "collection"'r& +4 "core" &mpb +2 "collection"'!& +5 "core" &np_ +3 .tCC.seek :closed +2 "collection"'(V +4 "core" &lpg +6 &Alp_ $d +9 &]np_ 6 +10 &npf G +9 &bnqk F +9 &ipql F +10 &bgpol F +9 &$hnrd F +10 &hrta F +9 &hprd F +9 &jhpsd F +10 & ,hqsg F +9 &!hotb F +9 &#cqqc F +10 &%rcpsd F +9 &'5dpse F +10 &(esse F +9 &*bosc F +9 &,zb|tc F +10 &.<bsrf F +9 &/grsc F +9 &1cqsb F +10 &3hqu[ F +9 &5Dgste F +10 &7hrsd F +9 &8ers^ G +9 &:eqtd G +10 &htt^ F +9 &?hqu[ F +10 &Ahttd F +9 &CSiqv\\ G +10 &Emxxc G +9 &Fse H +9 &H~i I +10 &JH` M +9 &Lh P +9 &Mg P +10 &Of Q +9 &QEc Q +10 &Sf R +9 &Th R +9 &V1\\a , +10 &VZ = +9 ( +3 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open + "manipulator"&L1 +4 "core" &V7_ ; +58 1 +3 "manipulator"&5% +4 "core" % + # L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%9& +4 "core" &y +2 "manipulator"&P% +3 "core" %\ #  b ? +2 "storage"(V% +4 "core" %^ | +2 "storage"(u. +3 "core" .( +2 "storage"(& +3 "core" & 2  +2 "storage"( & +4 "core" & 1  +2 "manipulator"&^& +4 "core" &' ] >M +2 "manipulator"&p% +4 "core" %\ # s ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&w( +165 "core" ( + "manipulator"&U& +4 "core" & J m +2 "storage"(#& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +99 "core" ' + "storage"(%& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" & \\  +2 "manipulator"&/& +3 "core" &  m +3 .tElbow.seek 3 + "manipulator"&b( +4 "core" ( + "manipulator"&=& +4 "core" &  m +2 "storage"(e& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +59 "core" / +3 ."downElevator"SE.seek :down +52 "manipulator"&& +2 "storage"('X +8 "core" & L m +2 "manipulator"&% +4 "core" % ϲ  5 +2 .tForearm.seek :retract +2 "manipulator"&*'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +53 "Can" C\ on +45 "core" ( + "manipulator"&y& +4 "core" &k  h \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &k a \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&& +3 "core" &l 1 +3 "manipulator"&% +4 "core" %   +2 "processing"%& +4 "core" &{ +2 "processing"%{& +5 "core" &q +3 .tPC.seek :closed + "processing"%(Z +4 "core" & +8 &F #c +10 &\\| 6 +9 &t G +9 &dy G +10 &h~ G +9 &cg} F +10 &&e F +9 &h G +9 &i F +10 &jc~ G +9 & ,h G +10 &!e G +9 &#c F +9 &%sf F +10 &'4c G +9 &(c G +9 &*c G +10 &,zh} G +9 &.=h F +9 &/e F +10 &1e F +9 &3h G +10 &5Dd| G +9 &7c G +9 &8c F +10 &:c G +9 &c{ G +9 &?d~ G +9 &Ad G +10 &CSf} G +9 &El| G +9 &Fs} H +10 &H{ J +9 &JNt L +9 &L~ L +10 &M L +9 &O| M +10 &QRv M +9 &S M +9 &T| M +10 &V| M +9 &XY| M +9 &Yxv| "j +10 &Z%hz + +9 ( + &Zs $ +2 "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&o1 +58 "core" 1 +2 "manipulator"&% +4 "core" % C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' + "processing"%~& +4 "core" &Z` $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(}% +4 "core" %W  +2 "storage"(N. +3 "core" .( +2 "storage"(i& +4 "core" &   +2 "storage"(\ & +3 "manipulator"&a& +5 "core" &   +2 &l  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(;'i + "manipulator"&c(s +7 "core" ( + "manipulator"&3& +4 "core" &l N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" &l n +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%7( +76 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +45 "core" ' +299 ( +2 "storage"(& +4 "core" &   + "manipulator"&f& +4 "core" &l +2 "manipulator"&+% +4 "core" %  a +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&]( +262 "core" ( + "manipulator"&& +4 "core" & : m +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +99 "core" ' + .tHand.open + "manipulator"&,1 +65 "core" 1 +2 "storage"(&- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +45 "storage"(:' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(l& +3 "core" & N N f  +2 "manipulator"&I& +4 "core" &  m +3 .tElbow.seek 3 + "manipulator"&( +8 "core" ( + "manipulator"&k& +4 "core" &  ; e +2 "storage"(B& +3 "core" & N N  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +54 "core" ' + "manipulator"&T& +4 "core" & e +2 "storage"(h& +4 "core" & u  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'i +23 "core" ' +2 "manipulator"&'% +4 "core" %y +2 "storage"(& +4 "core" & H  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&6'ϥ +21 "core" ' + "manipulator"&A& +4 "core" & \\ e +2 "storage"()& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +19 "core" ' +2 "storage"(2% +4 "core" %s   +2 ."downElevator"SE.seek :down +4 "storage"(g'X +99 (Q% +3 "core" %W PI +2 "manipulator"&`% +4 "core" %# U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" & `  +2 "collection"'& +4 "core" &V7b ; +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&t% +4 "core" %\    +2 "storage"(X% +4 "core" %b z + "storage"(. +3 "core" .( +2 "storage"(J& +3 "core" &  +2 "storage"(S& +4 "core" &  +2 "manipulator"&<& +3 "core" &  e +3 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&.& +4 "core" & F e + "storage"(v& +4 "core" & <  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&G'9 +94 "core" ' + "storage"(\\& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +279 "core" ' +3 "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & \ e +2 "storage"(_& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(?'P +33 "core" ' +2 "manipulator"&m% +4 "core" %Ή + "storage"(r& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&K'ϵ +19 "core" ' +2 "manipulator"&F& +3 "core" & R e +2 "storage"("& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +41 "storage"(5'? +45 "core" ' + "manipulator"&9& +4 "core" &  e +2 "manipulator"&P% +4 "core" %- K | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +159 "core" ( + "manipulator"&!& +4 "core" && # / =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&  =E +2 .tForearm.seek CC +2 "manipulator"& '" +96 "core" ' +2 .tHand.close + "manipulator"&^/ +60 "core" / +2 .tCC.seek :open +2 "collection"'p( +415 "core" ( +2 "storage"(|& +3 "core" &  +2 "storage"(U& +4 "core" &  +2 "manipulator"&#& +4 "core" &&  =B + "manipulator"&%% +5 "core" % ) n +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +157 "core" ( +2 "manipulator"&E& +4 "core" & K  + "storage"([& +4 "core" & 1  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&/'} +94 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +55 "core" 1 +3 "manipulator"&j% +4 "core" % {  + "storage"(& +4 "core" & 2  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 298 counts + "manipulator"&'ϧ +21 "core" ' +3 "manipulator"&w& +4 "core" &   +2 "storage"(s& +4 "core" & 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' + "storage"(% +4 "core" %H  +2 ."downElevator"SE.seek :down +4 "storage"(y'X +99 ($% +3 "core" %yP x OE +2 "manipulator"&b% +3 "core" %E C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &joc +2 "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %W  +2 "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +3 "core" & _ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&~( +32 "core" ( + "manipulator"&& +4 "core" & Y # +2 "storage"(}& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +95 "core" ' +2 "storage"(i& +4 "core" & { +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +281 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" & [ +2 "manipulator"&3& +3 "core" &  # +3 .tElbow.seek 2 + "manipulator"&Y( +4 "core" ( + "manipulator"&& +4 "core" & # +2 "storage"(& +48 "core" & +5 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"('X +8 "core" & \ "~ +2 "manipulator"&;% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&+& +4 "core" &&  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" && * =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +3 "manipulator"&& +4 "core" && ' =F +2 "manipulator"&c% +4 "core" %) +2 "collection"',& +3 "core" &nrr +3 "collection"'&& +6 "core" &nqh +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &ook +7 &Anpg #c +9 &[lok 6 +9 &opo G +10 &cmpn F +9 &iorn G +10 &adnqn G +9 &"fqpm G +9 &bprl F +10 &dprp F +9 &hfpri G +9 & ,bpsq F +10 &!eoto F +9 &#hoqh G +10 &%rhrtk F +9 &'4bpse F +14 &(bprh G +5 &*erta G +11 &,zbos_ F +7 &.;bstb G +10 &/dqte G +9 &1csth F +10 &3cstf G +9 &5Ceste G +9 &7ctue F +10 &8brtj F +9 &:cqsn G +9 &esug F +9 &?isuc F +10 &Ahquf G +9 &CSgruh G +9 &Ekwuh G +10 &Fs^ H +9 &H~f J +9 &JGd N +10 &L] P +9 &Me Q +10 &Oc Q +9 &QCe R +9 &Sd R +10 &Td S +9 &V8g^ / +9 &Vb , +10 &V_ P +2 ( +2 "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&01 +62 "core" 1 +2 "manipulator"&l% +3 "core" % )  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +4 "core" &| +2 "manipulator"&B% +4 "core" %\ ! z 7 +2 "storage"(T% +4 "core" %a z z C +2 "storage"(h. +3 "core" .( +2 "storage"(q& +4 "core" & h c Z + "storage"('& +5 "core" & w z 8 + "manipulator"&& +4 "core" && G =F +2 "manipulator"&-% +4 "core" %\  r 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +160 "core" ( + "manipulator"&)& +4 "core" & #  +2 "storage"(2& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +95 "core" ' +2 "storage"(4& +4 "core" & 7 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +282 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & - +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +3 "core" &  +2 "storage"( & +4 "core" & z +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&6' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(t'X +7 "core" &   +2 "manipulator"&X% +3 "core" % H % +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +4 "manipulator"&H& +4 "core" &l ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &l y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +98 "core" ' +2 "manipulator"&.& +4 "core" &l J +2 "manipulator"&v% +3 "core" %  % +3 "processing"%>& +4 "core" & +2 "processing"%\\& +5 "core" & +2 .tPC.seek :closed +2 "processing"%g(Z +5 "core" & +7 &F #b +10 &^ 6 +9 & G +10 &f G +9 &e F +9 &bh G +10 &%b} G +9 &c} G +9 &i} G +10 &kh} G +9 & -i G +10 &!h F +9 &#e~ F +9 &%tf} F +10 &'6f F +9 &(e F +9 &*i G +10 &,|e F +9 &.>g F +10 &/c G +9 &1e G +9 &3c G +10 &5Ed G +9 &7c G +10 &8h G +9 &:f G +9 &d F +9 &?h G +9 &Ac G +10 &CUh G +9 &Ek G +9 &Fs~ H +10 &H J +9 &JM L +10 &L L +9 &M} L +9 &O| M +10 &QU L +9 &S L +10 &T M +9 &V~ M +9 &XZ M +10 &Ywy{ "k +9 &Z&l| + +9 ( + &Z " +3 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open + "manipulator"&W1 +64 "core" 1 +2 "manipulator"&M% +3 "core" % % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' +2 "processing"%(& +3 "core" &Zd " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&_% +4 "core" %\ # ? ? +2 "storage"(1% +3 "core" %U c e " +2 "storage"(m. +3 "core" .( +2 "storage"(r& +3 "core" & c b +3 "storage"(F& +2 "manipulator"&"& +8 "core" & c d  +2 &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&9(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'i +2 "core" ( +2 "manipulator"&G& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &l +2 .tForearm.seek PC +2 "manipulator"&C' +99 "core" ' + .tHand.close +2 "manipulator"&Z/ +55 "core" / +2 .tPC.seek :open +2 "processing"%K( +86 "core" ' + "storage"(?- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(!'y +47 "core" ' +288 ( + "storage"(& +3 "core" & @ +3 "manipulator"&L& +4 "core" &l  + "manipulator"&O% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +253 "core" ( + "manipulator"&& +4 "core" & /  +2 "storage"(|& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +95 "core" ' +2 .tHand.open + "manipulator" +63 "core" 1 +2 "storage"(%- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(E'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"([' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(u& +4 "core" & \ P\ P +2 "manipulator"&e& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&j( +4 "core" ( + "manipulator"&& +4 "core" &  .  +2 "storage"(w& +44 "core" & \ O\ P +9 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&d& +4 "core" & M  +2 "storage"($& +4 "core" & s J + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&b' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +23 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(& +4 "core" & ] +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&' +21 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(*& +3 "core" & z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +20 "core" ' +2 "storage"(% +3 "core" %r Q +3 ."downElevator"SE.seek :down +4 "storage"(y'X +99 (z% +3 "core" %U s r + QI +2 "manipulator"&o% +3 "core" %х \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  v +3 "collection"'}& +4 "core" &V~V P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&i% +4 "core" %\   " +2 "storage"(=% +4 "core" %` + "storage"(. +3 "core" .( +2 "storage"(a& +3 "core" & z +2 "storage"({& +6 "core" & +2 "manipulator"&3& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(& +4 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +100 "core" ' +2 "storage"(;& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'i +282 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&+& +2 "core" &   +3 "storage"( & +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&\ ' +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(c'O +27 "core" ' +2 "manipulator"&,% +4 "core" %  + "storage"(Y& +4 "core" & k e +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(p& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(l'> +37 "core" ' + "manipulator"&k& +4 "core" & (  +2 "manipulator"&B% +4 "core" %Ѱ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +206 "core" ( +3 "manipulator"&&& +4 "core" &' >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &' 0 >M +3 .tForearm.seek CC +2 "manipulator"&''" +99 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'-( +415 "core" ( +2 "storage"(& +3 "core" & > +2 "storage"()& +4 "core" & N +2 "manipulator"&2& +4 "core" &' F >L +2 "manipulator"&4% +4 "core" % 3 @ +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&I( +157 "core" ( + "manipulator"&Q& +4 "core" & D +2 "storage"(`& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&R% +4 "core" %  . k + "storage"(& +4 "core" & i +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&X' +21 "core" ' +2 "manipulator"&A& +3 "core" & K +2 "storage"(]& +4 "core" & W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +29 "core" ' +2 "storage"(6% +3 "core" %G u \ +3 ."downElevator"SE.seek :down +4 "storage"(H'X +98 (S% +3 "core" %Q t PG +2 "manipulator"&% +4 "core" %Ѩ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'v& +3 "core" &nm` +2 "manipulator"&>% +4 "core" %\  w  +2 "storage"(t% +3 "core" %b  +2 "storage"(. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(7( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &   +2 "manipulator"&M& +4 "core" & / +2 .tElbow.seek 3 +2 "manipulator"&(( +16 "core" ( + "manipulator"&_& +5 "core" & > + "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +96 "core" ' + "storage"(m& +4 "core" & r  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +280 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" & 0  +2 "manipulator"&G& +4 "core" & 8 +2 .tElbow.seek 3 +2 "manipulator"&8( +4 "core" ( + "manipulator"&<& +3 "core" & D +3 "storage"(Z& +4 "core" & z  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +24 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +3 "storage"(g'X +7 "core" & 7 +2 "manipulator"&P% +49 "core" % Ϡ I g +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +65 "core" ( +2 "manipulator"&O& +4 "core" &\  ' t 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &\  P 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +91 "core" ' +3 "manipulator"&|& +4 "core" &\    3 +2 "manipulator"&9% +4 "core" %* o  +2 "collection"'#& +3 "core" &lnf +3 "collection"'%& +6 "core" &lol +2 .tCC.seek :closed +3 "collection"' (V +3 "core" &lol +6 &kqq 9 +9 &IMloq / +10 &|npk D +9 &Eemol F +9 &floz G +10 &eoo{ G +9 &eoqy F +9 &Menpu F +10 &gnrw F +9 &bprt F +9 &cprq F +10 &!Tcopi F +9 &#eosl F +10 &$goqn G +9 &&boqm F +9 &(\\hqrp F +10 &*errm G +9 &+grqf F +10 &-fosl G +9 &/cfqri G +9 &1%ftpc G +10 &2cqtf F +9 &4fqth G +9 &6kfstf G +10 &8.essa F +9 &9crtj F +9 &;cqsg F +10 &=ufsvp F +9 &?5frsh G +10 &@frud G +9 &Bguuc G +9 &D{juvd G +10 &F<o{^ G +9 &G}j H +10 &Il L +9 &Khk P +9 &M(j Q +10 &N^ P +9 &Pd Q +9 &Rl_ Q +10 &T+l R +9 &Uvb C +10 &V!f %j +9 &Vg Q +5 ( +2 "collection"'%& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&u1 +6 "core" &Vf Q +49 1 +3 "manipulator"&e% +3 "core" % *  y  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%w& +5 "core" & + "manipulator"&^% +4 "core" %\ # \ Z 9 +2 "storage"(d% +4 "core" %a y z + "storage"($. +3 "core" .( +2 "storage"(!& +4 "core" & x y p  +2 "storage"(E& +3 "core" & z z  +2 "manipulator"&& +4 "core" &\  ~ 3 +2 "manipulator"&% +4 "core" %\ # | 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +169 "core" ( + "manipulator"&*& +4 "core" & e a +2 "storage"(V& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +102 "core" ' + "storage"(U& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +277 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &  +2 "manipulator"&s& +4 "core" & ? a +2 .tElbow.seek 3 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&& +3 "core" & I a +2 "storage"(b& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +2 "storage"(i'X +8 "core" & W a +2 "manipulator"&=% +4 "core" % ϥ  1 +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&/& +4 "core" &m 4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &{& +3 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&3' +95 "core" ' +2 "manipulator"&& +3 "core" &m  +2 "manipulator"&% +4 "core" %   +48 "processing"%5& +5 "core" & +2 "processing"%;& +5 "core" & +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" &  +9 &8 )v +10 &k = +9 &r G +9 &td F +10 &6e F +9 &e F +9 &e F +10 &{b G +9 &?d} F +9 &h G +10 & b F +9 &"e} G +10 &$Eh~ G +9 &&c G +9 &'i G +10 &)b G +9 &+Mc G +10 &-e F +9 &.f F +9 &0f F +10 &2Vf F +9 &4e F +9 &5e F +10 &7d F +9 &9\\h G +10 &;c G +9 &<d G +9 &>c F +10 &@dg G +9 &B'd G +9 &Ci G +10 &Ep H +9 &Ghw I +10 &I" K +9 &J L +9 &L L +10 &Ne L +9 &P( L +9 &Q M +10 &S M +9 &Ul M +9 &W- M +10 &X M +9 &Z?Db %m +10 &Z & ! +5 ( +2 "processing"%;& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&x1 +57 "core" 1 + "manipulator"&% +4 "core" % m  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 "processing"%+& +4 "core" &Z ! + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +3 "core" %\    +3 "storage"(% +4 "core" %T w o 2 + "storage"(,. +3 "core" .( +2 "storage"(Y& +3 "core" & x o W  +3 "storage"(& +2 "manipulator"&p& +8 "core" & k g  +2 &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&k(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'i +2 "core" ( +2 "manipulator"&D& +4 "core" &m m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&~' +96 "core" ' +2 .tHand.close + "manipulator"&\ / +54 "core" / +3 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(c- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +50 "core" ' +278 ( +2 "storage"(0& +3 "core" & c  +3 "manipulator"&q& +4 "core" &m  + "manipulator"&% +3 "core" % m +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&T( +257 "core" ( + "manipulator"& & +4 "core" & ; \ +2 "storage"(& +4 "core" & d c   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +102 "core" ' + .tHand.open +2 "manipulator"&21 +62 "core" 1 +2 "storage"(4- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Q'E +35 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +9 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(`' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"(h& +4 "core" &\ O\ O }  + "manipulator"& & +4 "core" & * \ +2 .tElbow.seek 3 +2 "manipulator"&R( +14 "core" ( +2 "manipulator"&& +8 "core" & \\  +2 "storage"(A& +3 "core" &\ Q\ U  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +52 "core" ' +2 "manipulator"&f& +4 "core" &   +2 "storage"(S& +4 "core" & <  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +26 "core" ' +2 "manipulator"&v% +3 "core" %΁  +2 "storage"(X& +4 "core" & z z  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&>'ϭ +20 "core" ' + "manipulator"&t& +4 "core" & N  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&l'9 +25 "core" ' + "storage"(:% +4 "core" %r H +2 ."downElevator"SE.seek :down +4 "storage"(H'X +99 ( % +3 "core" %*U s n ' PH +3 "manipulator"&W% +4 "core" %W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (_& +2 "core" & t ~  +3 "collection"'1& +4 "core" &Vi Q + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&m% +3 "core" %\ % # 1 +2 "storage"(@% +4 "core" %U t ) +2 "storage"(.. +3 "core" .( +2 "storage"("& +81 "core" &  + "storage"(F& +4 "core" & g  +2 "manipulator"&G& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&Z& +4 "core" & X  + "storage"(J& +4 "core" & v I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +94 "core" ' + "storage"(P& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('i +282 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & 8  +2 "storage"(O& +4 "core" & A  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&C'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(9'P +31 "core" ' +2 "manipulator"&#% +3 "core" %~  +2 "storage"(8& +4 "core" & z z k  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&g'Ϫ +21 "core" ' +2 "manipulator"&& +4 "core" & 7  +2 "storage"(-& +4 "core" & t   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(e'? +39 "core" ' +2 "manipulator"&w& +3 "core" & 2  +2 "manipulator"&^% +4 "core" %3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +157 "core" ( +2 "manipulator"&!& +4 "core" &" i 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &" g 9% +3 .tForearm.seek CC +2 "manipulator"&E'" +99 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +8 "storage"(& +4 "core" &   +2 "storage"(*& +3 "core" &   +2 "manipulator"&V& +4 "core" &"  8" +2 "manipulator"&U% +3 "core" % 0  +3 .tForearm.seek :retract +2 "manipulator"&L'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&z& +3 "core" & R t +3 "storage"(o& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&s'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Ή W + "storage"(}& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts +2 "manipulator"&='ϵ +20 "core" ' +2 "manipulator"&& +4 "core" & / t +2 "storage"(& +4 "core" & 8  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +43 "core" ' +2 "storage"(% +3 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(/'X +99 ({% +4 "core" %)Q  OE + "manipulator"&j% +4 "core" %| +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &jlh +2 "manipulator"&5% +4 "core" %\   +2 "storage"(i% +4 "core" %a + "storage"(. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(K( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" & +2 "manipulator"&& +5 "core" & t + .tElbow.seek 2 +2 "manipulator"&+( +37 "core" ( + "manipulator"& & +3 "core" & $ & +2 "storage"(& +4 "core" & K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +91 "core" ' +2 "storage"(Y& +4 "core" & y +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & +2 "manipulator"&D& +4 "core" & \ % +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&3& +4 "core" &  V % + "storage"(\ & +4 "core" & +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&c' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"(y'X +7 "core" &  % +2 "manipulator"&B% +4 "core" %  2  +2 .tForearm.seek :retract + "manipulator"&0'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &( 8  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +38 "core" &(  n ?V +13 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +98 "core" ' +2 "manipulator"&& +4 "core" &(  ] ?V +2 "manipulator"&k% +3 "core" % +3 "collection"'2& +4 "core" &mmh +2 "collection"'4& +5 "core" &kpc +2 .tCC.seek :closed +2 "collection"''(V +4 "core" &mn`  +9 &6lol )w +9 &klpw = +10 &tmnm G +9 &talog F +9 &5enor F +10 &bono F +9 &fnpq F +10 &zdoon G +9 &=eqpl F +9 &bmpn F +10 & bprl F +9 &"hnrp F +9 &$Egoqm F +10 &&hotj F +9 &'erql G +10 &)dpq^ F +9 &+Ncote F +9 &-gqtj F +10 &.eorq G +9 &0foq~ F +9 &2Ubps} F +10 &4gotn F +9 &5eptj G +10 &7dqqg G +9 &9]eptm F +9 &;gptt F +10 &<epru G +9 &>errr F +9 &@ebqtc F +10 &B'gpuc F +9 &Chqth F +10 &Ekzyd G +9 &Ggyy H +9 &I&{ I +10 &Jv O +9 &Lp P +9 &NXv P +10 &Pt Q +9 &Qt Q +9 &Sp S +10 &U[o @ +9 &VOk T +10 &V&'w %o +9 &Veg H +2 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&h1 +53 "core" 1 +3 "manipulator"& % +4 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&A% +4 "core" %\  p ) +2 "storage"(f% +4 "core" %` d b +2 "storage"(S. +3 "core" .( +2 "storage"(&& +4 "core" & q w * + "storage"(Q& +4 "core" & d b n +2 "manipulator"&v& +4 "core" &' _ >M +2 "manipulator"&X% +4 "core" %\  O ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&t( +159 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(T& +4 "core" & G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +92 "core" ' +2 "storage"(:& +3 "core" & ' +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +283 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" & A +2 "manipulator"&]& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&R( +4 "core" ( + "manipulator"&6& +4 "core" &   +2 "storage"(& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&>' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(m'X +5 "core" & l  +3 "manipulator"&@% +3 "core" %   Y +3 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( +2 "manipulator"&"& +4 "core" &j 6 G \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &j h \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G' +93 "core" ' +2 "manipulator"&Z& +4 "core" &j 6 \ +2 "manipulator"&J% +3 "core" % - H +3 "processing"%l& +4 "core" & +2 "processing"%P& +6 "core" & +2 .tPC.seek :closed +2 "processing"%H(Z +4 "core" & +6 &< #b +9 &Z 5 +10 & G +9 &a F +9 &h G +10 &\\e G +9 & e F +9 &h G +10 &d G +9 &fh F +10 & (e F +9 &!d F +9 &#d F +10 &%ne F +9 &'/d G +52 &(e F +3 &*d G + &,ve F + &.6h G + &/a G + &1b G +7 &3}c G +9 &5@c F +9 &7e G +10 &8f G +9 &:c F +10 &\ a} F +9 &?e G +10 &Ag F +9 &COg G +9 &Ek G +10 &Fs H +9 &H J +10 &JH L +9 &L\  L +9 &M L +10 &O L +9 &QO L +9 &S M +10 &T M +9 &V M +10 &XS N +9 &Yww "k +9 &Z*u . +9 ( +3 "processing"%P& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&I1 +57 "core" 1 + "manipulator"&M% +4 "core" %  H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +100 "core" ' + "processing"%r& +4 "core" &Z| " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&O% +4 "core" %\ # t @ +2 "storage"(|% +4 "core" %a e c W +2 "storage"(#. +3 "core" .( +2 "storage"(8& +4 "core" & i e b +2 "storage"(& +2 "manipulator"&-& +9 "core" & c e % + &j  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&w(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(^'i +4 "core" ( + "manipulator"&n& +4 "core" &j 9 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &j + \ +2 .tForearm.seek PC +2 "manipulator"&(' +102 "core" ' + .tHand.close +2 "manipulator"&C/ +53 "core" / +4 .tPC.seek :open +2 "processing"%g( +90 "core" ' +2 "storage"(9- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'y +33 "core" ' +299 ( + "storage"(%& +3 "core" &  +2 "manipulator"&u& +4 "core" &j > \ +2 "manipulator"&?% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&d( +257 "core" ( +2 "manipulator"& & +4 "core" &  >  +2 "storage"(& +4 "core" & z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +87 "core" ' + .tHand.open +2 "manipulator"&V1 +64 "core" 1 +2 "storage"(U- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(z'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(o' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"($& +4 "core" & \ O\ P : +2 "manipulator"&b& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +8 "core" ( +2 "manipulator"&}& +3 "core" & \\  +2 "storage"(& +4 "core" & \ Q\ N +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&L& +3 "core" &  +2 "storage"({& +4 "core" & ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&j' +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(s'i +29 "core" ' + "manipulator"&=% +50 "core" % h +3 "storage"(& +4 "core" & Y +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&5' +21 "core" ' + "manipulator"&i& +4 "core" & O  +2 "storage"(& +3 "core" & $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +19 "core" ' + "storage"([% +4 "core" %n  +3 ."downElevator"SE.seek :down +3 "storage"(/'X +98 (7% +3 "core" %Y d j / QI +2 "manipulator"&x% +4 "core" %ф ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" & } +2 "collection"'& +4 "core" &Vei H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Y% +4 "core" %\ \ 4  +2 "storage"(% +4 "core" %b L + "storage"(. +4 "core" .( + "storage"(& +4 "core" & 2 +2 "storage"(;& +3 "core" &  +2 "manipulator"&D& +4 "core" & D  +2 .tElbow.seek 2 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&\ & +3 "core" & k  +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +95 "core" ' +2 "storage"(B& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +280 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & r  +2 "storage"(~& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&p' +25 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +31 "core" ' +2 "manipulator"&k% +4 "core" % 1 z + "storage"(2& +4 "core" & r  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&y' +20 "core" ' + "manipulator"&0& +4 "core" & s  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +39 "core" ' + "manipulator"&& +3 "core" &  +2 "manipulator"&A% +4 "core" %Ѡ O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&S( +175 "core" ( +3 "manipulator"&&& +4 "core" & T o + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  o +3 .tForearm.seek CC + "manipulator"&4'" +95 "core" ' +2 .tHand.close + "manipulator"&v/ +64 "core" / +2 .tCC.seek :open +2 "collection"'X( +416 "core" ( +2 "storage"( & +4 "core" &  + "storage"(& +4 "core" &  +2 "manipulator"&T& +4 "core" & o +2 "manipulator"&:% +3 "core" % #  +3 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +41 "manipulator"&( +161 "core" ( +2 "manipulator"& & +4 "core" & / l +2 "storage"(W& +4 "core" & # + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&]' +102 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +59 "core" 1 +4 "manipulator"&_% +3 "core" % p +2 "storage"(1& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&@' +20 "core" ' +2 "manipulator"&t& +4 "core" & 8 l +2 "storage"()& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +17 "core" ' + "storage"(>% +4 "core" %E ! +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (F% +3 "core" %R 4 OE +2 "manipulator"&R% +4 "core" %њ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'J& +3 "core" &ilb +2 "manipulator"&l% +5 "core" %\ #  C +2 "storage"(m% +4 "core" %b  +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &  +2 "manipulator"&M& +4 "core" &  l +2 .tElbow.seek 3 +2 "manipulator"&r( +12 "core" ( + "manipulator"&O& +4 "core" & g N +2 "storage"(|& +4 "core" & (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +97 "core" ' + "storage"(8& +4 "core" & O  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'i +279 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & /  +2 "manipulator"&n& +4 "core" & b N +2 .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&G& +4 "core" & l N + "storage"(C& +4 "core" & 8  +3 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(H'X +7 "core" &  N +2 "manipulator"&^% +4 "core" % Ϣ  S +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&?& +3 "core" &% 9  <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &% 4 <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +103 "core" ' +2 "manipulator"&& +3 "core" &% F <> +3 "manipulator"&w% +4 "core" % $ Z +2 "collection"'V& +3 "core" &mna +3 "collection"'U& +5 "core" &lpa +3 .tCC.seek :closed +62 "collection"'E(V +5 "core" &noi +2 &loj + &mnd + &mna + &mme + &mnd + &lnl + &lnd  +4 &5lnl )v +9 &jloo < +9 &sloo G +10 &ielon F +9 &+gmpr F +10 &eooe F +9 &bnpl F +9 &rgmps F +10 &3goo| F +9 &hmr F +9 & ioo} F +10 &"xfosx G +9 &$;fmrm F +9 &%cprp F +10 &'hpry F +9 &)eqp| F +10 &+Ccqt F +9 &-enr| G +9 &.eprw F +10 &0hpq F +9 &2Keors F +10 &4bqsr F +9 &5eps{ F +9 &7bpst F +10 &9Sepqy F +9 &;cosw F +9 &<hput F +10 &>foqp G +9 &@[eqsy F +9 &Bhptq F +10 &Chsuu F +9 &Enyx} G +10 &G^w| H +9 &Iw J +9 &Jv N +10 &Lp P +9 &NNr P +10 &Pr P +9 &Q| Q +9 &Sm R +10 &UOz F +9 &VoGw 'u +9 &Vsp H +6 ( +2 "collection"'U& +3 "core" &Vgx H +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 + .Hand.open + "manipulator"&$1 +61 "core" 1 +2 "manipulator"&b% +4 "core" % $ N P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&% +4 "core" %\ # { > +2 "storage"(L% +3 "core" %Y d d  +2 "storage"({. +3 "core" .( +2 "storage"(=& +3 "core" & b c  +2 "storage"(!& +6 "core" & d b   + "manipulator"&z& +4 "core" &%  <> +2 "manipulator"&% +4 "core" %\ #  > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +167 "core" ( + "manipulator"&& +4 "core" & T < +2 "storage"(d& +4 "core" & 2  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +98 "core" ' +2 "storage"(*& +4 "core" & ]  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(o'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" & t   +2 "manipulator"&x& +4 "core" & < +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ( < +2 "storage"(j& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&5'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Y'X +7 "core" &  < +2 "manipulator"&% +4 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&& +4 "core" &r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&D' +95 "core" ' + "manipulator"&\ & +4 "core" &r  +2 "manipulator"&a% +3 "core" %  = +3 "processing"%e& +4 "core" & +2 "processing"%B& +5 "core" & +2 .tPC.seek :closed +2 "processing"%/(Z +5 "core" & +8 &E #b +9 &] 6 +9 & G +10 &e G +9 &c G +9 &bb G +10 &$b G +9 &h G +10 &h G +9 &jg G +9 & ,c G +10 &!c G +9 &#c G +9 &%rd G +10 &'5c F +9 &(e G +10 &*h G +10 &,{g F +8 &.=e F +10 &/b G +9 &1c F +9 &3e G +10 &5Cf G +9 &7d F +10 &8h G +9 &:a F +9 &b G +9 &?c G +9 &Ac F +10 &CSh G +9 &Ek{ G +10 &Fs H +9 &H} J +9 &JL L +10 &L L +9 &M} L +9 &O{ L +10 &QU L +9 &S} M +10 &T~ M +9 &V M +9 &XZ M +10 &Ywy !i +9 &Z(p , +9 ( + &Z " +2 "processing"%B& +50 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.48 +3 .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % E = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' +2 "processing"%& +4 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +3 "core" %\  B  +3 "storage"(% +3 "core" %] s ~  +2 "storage"(k. +3 "core" .( +2 "storage"(2& +3 "core" & k .  +3 "storage"(0& +3 "manipulator"&& +6 "core" & g  + &r  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('i + "manipulator"&A(s +7 "core" ( +2 "manipulator"&N& +4 "core" &r _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &r  +2 .tForearm.seek PC +2 "manipulator"&+' +96 "core" ' + .tHand.close +2 "manipulator"&p/ +61 "core" / +2 .tPC.seek :open +2 "processing"%y( +83 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(&'y +35 "core" ' +303 ( + "storage"(Q& +3 "core" & /  +2 "manipulator"&h& +4 "core" &r  +2 "manipulator"&c% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&v'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +264 "core" ( +2 "manipulator"&'& +4 "core" & L ' +2 "storage"( & +4 "core" & e d H  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + .tHand.open +2 "manipulator"&T1 +62 "core" 1 +2 "storage"(:- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(W- +3 "core" -' +2 "storage"(S& +3 "core" &\ O\ O  +2 "manipulator"&& +4 "core" &  % +2 .tElbow.seek 3 +2 "manipulator"&_( +33 "core" ( + "manipulator"&1& +4 "core" & 7 q +2 "storage"(t& +4 "core" &\ G\ F   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +56 "core" ' + "manipulator"&q& +4 "core" & G q +3 "storage"(F& +3 "core" & r  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&R'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +28 "core" ' + "manipulator"&J% +4 "core" %΃ +2 "storage"(l& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&@'ϯ +20 "core" ' +2 "manipulator"&m& +3 "core" &  q +2 "storage"(.& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +46 "manipulator"& '9 +29 "core" ' + "storage"(`% +4 "core" %p Z +2 ."downElevator"SE.seek :down +4 "storage"("'X +99 (K% +3 "core" %ZY j e * PH +2 "manipulator"&I% +3 "core" %$ F +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +3 "core" &  +3 "collection"'|& +4 "core" &Vgi H + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&8% +3 "core" %\  i  +3 "storage"(6% +4 "core" %`  + "storage"(Z. +3 "core" .( +2 "storage"(-& +3 "core" &   +2 "storage"(& +4 "core" & *  +2 "manipulator"&n& +4 "core" & . q +2 .tElbow.seek 3 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&C& +3 "core" &  q +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +94 "core" ' +2 "storage"(^& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +281 "core" ' + "storage"(#- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &  q +2 "storage"((& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&P'} +27 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(w'O +32 "core" ' + "manipulator"&V% +4 "core" %  +2 "storage"(<& +4 "core" & f e   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&H'ϫ +20 "core" ' +2 "manipulator"&%& +3 "core" & t q +2 "storage"(X& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'> +37 "core" ' +2 "manipulator"&& +3 "core" &  q +2 "manipulator"&% +4 "core" %- A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +157 "core" ( +2 "manipulator"&=& +4 "core" &' $ >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &' # >H +2 .tForearm.seek CC +2 "manipulator"&!'" +94 "core" ' +2 .tHand.close + "manipulator"&z/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( + "storage"( & +4 "core" & b  +2 "storage"(& +4 "core" &  + "manipulator"&d& +4 "core" &% ] <= +2 "manipulator"&*% +4 "core" % ! , +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&}( +163 "core" ( +2 "manipulator"&& +3 "core" &  i +2 "storage"(7& +4 "core" & Q  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'} +102 "core" ' +2 .tElbow.hold +2 "manipulator"&, +42 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +56 "core" 1 +4 "manipulator"& % +3 "core" % |  +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&'Ϩ +20 "core" ' +2 "manipulator"&i& +4 "core" &  i + "storage"([& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +24 "core" ' +2 "storage"(5% +3 "core" %F . +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (;% +2 "core" %T  PH +2 "manipulator"&% +4 "core" %F + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'a& +3 "core" &kmf  +2 "manipulator"&e% +4 "core" %\    +2 "storage"(Y% +3 "core" %a  +2 "storage"(s. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(g( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & ` +3 "manipulator"&& +4 "core" & B i +2 .tElbow.seek 2 + "manipulator"&B( +45 "core" ( + "manipulator"&& +3 "core" & , & +3 "storage"(~& +4 "core" &  N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(k& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'i +274 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  k +2 "manipulator"&N& +4 "core" &  N $ +2 .tElbow.seek 2 +2 "manipulator"&3( +31 "core" ( +2 "manipulator"&D& +3 "core" & W m +2 "storage"(p& +4 "core" &  N +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"(/'X +8 "core" &  m + "manipulator"&% +4 "core" %  < +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&c& +4 "core" &* ) 8 @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &* , @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''" +98 "core" ' +2 "manipulator"& & +4 "core" &* # 2 @W +2 "manipulator"&A% +4 "core" %* } +2 "collection"'T& +4 "core" &mnt  +2 "collection"':& +6 "core" &lmm  +3 .tCC.seek :closed + "collection"'W(V +4 "core" &knl  +8 &Hjlc $d +9 &\\lme 6 +10 &4nlg G +9 &`nno F +9 &cnnr F +10 &{anqw F +9 &=fnos F +9 &glpf F +10 &doqm G +9 &dnrr G +10 & Demq G +9 &"dnsy F +9 &#bnq| F +10 &%bpow F +9 &'Mbop F +9 &)gnqw F +10 &*eqr G +9 &,dor F +10 &.Uaor F +9 &0fpp F +9 &1gnr F +10 &3eos G +9 &5\\crp G +9 &7eop F +10 &8`pq F +9 &:eor@ G +10 &'dqs F +5 &?btr F + &Abpr F +2 &Cmbpt{ F + &E.jvu G +2 &Fs{ H + &H}~ I +8 &Ja M +9 &L P +9 &M P +10 &O Q +9 &Q^ Q +9 &S R +10 &T R +9 &VC^ )~ +10 &V E +8 ( +3 "collection"':& +3 "core" &VW~ C +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&S1 +63 "core" 1 +3 "manipulator"&% +4 "core" % *  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%1& +4 "core" & +2 "manipulator"&t% +3 "core" %\  $  +3 "storage"(q% +4 "core" %a + "storage"(F. +3 "core" .( +2 "storage"(&& +4 "core" &  +2 "storage"(J& +4 "core" &  + "manipulator"&4& +4 "core" &'  >N +2 "manipulator"&l% +4 "core" %\  b  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&m( +163 "core" ( +2 "manipulator"&.& +4 "core" & # ~ + "storage"(f& +4 "core" &  6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +105 "core" ' +2 "storage"(`& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +278 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &  ' +2 "manipulator"&I& +4 "core" &  ~ +2 .tElbow.seek 2 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&>& +4 "core" & N ~ + "storage"(R& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(8'X +8 "core" &  ~ + "manipulator"&6% +4 "core" %  v  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&Z(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&-& +4 "core" &n 6 Q  +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &n   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n' +94 "core" ' +2 "manipulator"&C& +3 "core" &n B  +3 "manipulator"&% +3 "core" % , +3 "processing"% & +40 "core" & +2 "processing"%^& +6 "core" & +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &  +9 &8 )w +9 &k = +9 &q G +10 &qd F +9 &2g G +10 &g G +9 &e F +9 &ye F +10 &;e F +9 &h G +9 & c G +10 &"i G +9 &$Cc F +9 &&f G +10 &'h G +9 &)h G +10 &+Jc G +9 &- e F +9 &.d G +10 &0j G +9 &2Rc G +10 &4b G +9 &5e F +9 &7d F +10 &9Zd G +9 &;f G +9 &<g G +10 &>h G +9 &@bi G +9 &B$d G +10 &Ch G +9 &Eo H +10 &Gdx I +9 &I  K +9 &J L +10 &L M +9 &Nb L +9 &P# M +10 &Q M +9 &S M +10 &Ui M +9 &W* M +9 &X N +10 &Z=Eb %l +9 &Z\ , " +6 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&1 +3 "core" &Z " +56 1 +2 "manipulator"&M% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' +2 "processing"%?& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&(% +3 "core" %\    +2 "storage"(% +50 "core" %U +4 "storage"(V. +3 "core" .( +2 "storage"(<& +4 "core" &  U +2 "storage"(%& +3 "manipulator"&X& +6 "core" &  +2 &n   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( +2 "manipulator"&\\& +5 "core" &n   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &n #  +3 .tForearm.seek PC +2 "manipulator"&r' +95 "core" ' + .tHand.close + "manipulator"&P/ +65 "core" / +2 .tPC.seek :open +2 "processing"%H( +79 "core" ' +2 "storage"(w- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +49 "core" ' +291 ( +3 "storage"(U& +3 "core" &  v +2 "manipulator"&$& +4 "core" &n   +2 "manipulator"&9% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&z'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&L( +263 "core" ( +2 "manipulator"&E& +3 "core" & >  +3 "storage"( & +4 "core" &  G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +108 "core" ' +2 .tHand.open +2 "manipulator"&d1 +63 "core" 1 +2 "storage"(*- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(!- +3 "core" -' +2 "storage"({& +4 "core" &  y\  i +2 "manipulator"&j& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & D  + "storage"(i& +4 "core" & \ G\ F f +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +17 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +58 "core" ' +2 "manipulator"&5& +4 "core" & .  +2 "storage"(}& +4 "core" &  2 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'i +23 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(a& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&e' +19 "core" ' + "manipulator"&Y& +4 "core" & '  +2 "storage"(s& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +28 "core" ' +2 "storage"(o% +4 "core" %q t  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %Z x e = PJ +2 "manipulator"&% +4 "core" %ј = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +63 ' +40 ."downElevator"SE.stop +9 "storage"(5 +2 (& +4 "core" &  4 +2 "collection"'~& +4 "core" &VWd C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&k% +4 "core" %\  ) - +2 "storage"(% +3 "core" %W  +2 "storage"(\ . +3 "core" .( +2 "storage"(0& +4 "core" &  ' +2 "storage"(& +4 "core" &   +2 "manipulator"&N& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&p& +4 "core" & 4  +2 "storage"(& +4 "core" &  b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +105 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & R  +2 "storage"(+& +4 "core" &  " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&2' +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(A'O +29 "core" ' + "manipulator"&T% +4 "core" % 7 +2 "storage"(3& +3 "core" &  D +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&/' +20 "core" ' +2 "manipulator"&Q& +3 "core" &  +2 "storage"(& +4 "core" &  D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +38 "core" ' + "manipulator"&1& +4 "core" & G  +2 "manipulator"&t% +4 "core" %Ѧ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +154 "core" ( +2 "manipulator"&&& +5 "core" &' # @ >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &' { >O +3 .tForearm.seek CC +2 "manipulator"&J'" +92 "core" ' + .tHand.close +2 "manipulator"&4/ +56 "core" / +2 .tCC.seek :open +2 "collection"'l( +416 "core" ( + "storage"('& +4 "core" &  = +2 "storage"(.& +4 "core" &   + "manipulator"&f& +4 "core" &' >O +2 "manipulator"&`% +3 "core" % 5 +3 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&v( +157 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(K& +4 "core" &  < + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&I' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % ; +2 "storage"(|& +4 "core" &  U + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&6' +22 "core" ' + "manipulator"&m& +48 "core" & *  +4 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +17 "core" ' + "storage"(@% +4 "core" %B P  +2 ."downElevator"SE.seek :down +4 "storage"(-'X +99 (% +3 "core" %R > PF +2 "manipulator"&_% +4 "core" %{ W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +95 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &jl +3 "manipulator"& % +4 "core" %\    +2 "storage"(8% +4 "core" %b + "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(y( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & K  +2 "manipulator"&M& +4 "core" & s  +2 .tElbow.seek 3 +2 "manipulator"&?( +14 "core" ( + "manipulator"&(& +4 "core" & 1 p +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +94 "core" ' +2 "storage"(V& +4 "core" & t  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'i +281 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%& +2 "core" & G  +2 "manipulator"&\\& +4 "core" & [ p +2 .tElbow.seek 3 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&n& +3 "core" & 2 p +2 "storage"(P& +4 "core" & R  +3 .tForearm.seek 3 + 300 counts + "manipulator"&w'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&Z/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"("'X +8 "core" &  p + "manipulator"&% +4 "core" % ϩ V +2 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&$( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&9& +4 "core" &% 7 \ <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &% = <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +98 "core" ' + "manipulator"& & +4 "core" &% # <> +2 "manipulator"&% +3 "core" % | +3 "collection"'d& +4 "core" &ilt +3 "collection"'*& +5 "core" &lnx +2 .tCC.seek :closed +2 "collection"'!(V +4 "core" &jnv  +9 &9jmv *x +9 &kknz = +10 &plnv G +9 &bnlv F +9 &Adimv G +10 &emow F +9 &bno G +10 &eopu F +9 &Jbnnk F +9 & bnot F +10 & blqx F +9 &"cmqn F +9 &$Rboop F +10 &&bmor F +9 &'bno F +10 &)foo~ F +9 &+Yfmpv G +9 &-epp F +10 &.aop F +9 &0cnp F +9 &2bbop F +10 &4$goq F +9 &5goo F +10 &7gnq F +9 &9ieor G +9 &;+epr G +10 &<gor G +9 &>cpp F +9 &@rgpr F +10 &B4hos F +9 &Cjpr G +10 &Enxy G +9 &Gtw H +9 &I2 J +10 &J O +9 &L{ Q +9 &Ne P +10 &P$ Q +9 &Qz R +10 &S R +9 &Ue| ? +9 &VJ \\ +10 &V21 #l +9 &WI} ? +2 ( +3 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&{1 +56 "core" 1 +2 "manipulator"&j% +4 "core" %  ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +49 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%z& +4 "core" & +2 "manipulator"&i% +4 "core" %\ # > + "storage"(5% +4 "core" %V < +2 "storage"(}. +3 "core" .( +2 "storage"(& +4 "core" & <  + "storage"(=& +4 "core" &   +2 "manipulator"&a& +3 "core" &% [ <> +2 "manipulator"&% +4 "core" %\ # S > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +161 "core" ( +2 "manipulator"&s& +3 "core" & ; e +3 "storage"(o& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +100 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'i +278 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & $  +2 "manipulator"&[& +4 "core" & ( e +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&u& +4 "core" & k e + "storage"(;& +4 "core" & N  +3 .tForearm.seek 3 + 300 counts + "manipulator"&e'ϩ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +3 "storage"(~'X +7 "core" &  e +2 "manipulator"&k% +3 "core" % ϲ  2 +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&0& +4 "core" &z & e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N' +96 "core" ' +2 "manipulator"&p& +4 "core" &z Y  +2 "manipulator"&% +4 "core" % 5  +2 "processing"%b& +4 "core" & +2 "processing"%& +5 "core" & +3 .tPC.seek :closed + "processing"%(Z +5 "core" & +7 &E #b +9 &[ 6 +10 & G +9 &a F +9 &g G +10 &_e G +9 &#c F +10 &h G +9 &h G +9 &hf G +10 & +c F +9 &!g G +9 &#h G +10 &%qg F +9 &'2c G +10 &(b G +9 &*c G +9 &,xb G +10 &.:h G +9 &/g F +9 &1e F +10 &3e F +9 &5Bd G +10 &7b G +9 &8h G +9 &:g G +10 & b F +9 &?d G +10 &Ah F +9 &CQh G +10 &Ek G +9 &Fr H +9 &H J +10 &JK L +9 &L  L +9 &M L +10 &O L +9 &QQ M +10 &S M +9 &T M +9 &V M +10 &XV N +9 &Ywx "j +9 &Z'k + +9 ( +2 &Z " +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % [  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +3 "processing"%c& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&+% +3 "core" %\ #  ? +2 "storage"( % +4 "core" %O y +2 "storage"(T. +3 "core" .( +2 "storage"(3& +4 "core" &  +2 "storage"(Q& +2 "manipulator"&& +7 "core" & r  + &z G  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +2 "manipulator"&1(s +52 ."raiseStack"SE.seek :beamBreak + "storage"(t'i +2 "core" ( +3 "manipulator"&,& +4 "core" &z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &z ( z  +2 .tForearm.seek PC +2 "manipulator"&B' +98 "core" ' + .tHand.close + "manipulator"&2/ +63 "core" / +2 .tPC.seek :open +2 "processing"%/( +80 "core" ' + "storage"(A- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'y +50 "core" ' +291 ( + "storage"(:& +4 "core" & 6  +2 "manipulator"&S& +4 "core" &z   + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&4'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q( +256 "core" ( + "manipulator"&W& +4 "core" & * +2 "storage"('& +4 "core" & 5  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +97 "core" ' +3 .tHand.open + "manipulator"&f1 +55 "core" 1 +2 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(K' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +3 "core" -' +2 "storage"(F& +4 "core" &\ O\ O  +2 "manipulator"&R& +4 "core" &  % +2 .tElbow.seek 3 +2 "manipulator"&O( +31 "core" ( + "manipulator"&|& +4 "core" & $ n +2 "storage"(m& +4 "core" &\ J\ N A  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(@' +56 "core" ' +2 "manipulator"&h& +3 "core" &  n +2 "storage"(v& +4 "core" & M  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(I'i +28 "core" ' + "manipulator"&6% +5 "core" %~  + "storage"(& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"& 'Ϫ +19 "core" ' +2 "manipulator"&8& +3 "core" & > n +3 "storage"(]& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' + "storage"( % +4 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (g% +2 "core" %eZ t x QJ +2 "manipulator"&% +5 "core" %Y < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 ((& +3 "core" & ]  +2 "collection"'& +4 "core" &WR ? +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&V% +4 "core" %\ "  A +2 "storage"(>% +4 "core" %c 1  + "storage"(C. +3 "core" .( +2 "storage"(X& +3 "core" &   +2 "storage"(%& +4 "core" &   +2 "manipulator"&\\& +3 "core" & f n +48 .tElbow.seek 3 +3 "manipulator"&n( +3 "core" ( +2 "manipulator"&P& +4 "core" &  < n +2 "storage"(Z& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +105 "core" ' +2 "storage"(& +4 "core" & p  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +283 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" & n +2 "storage"(r& +4 "core" & #  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&<'} +24 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +27 "core" ' +2 "manipulator"&d% +4 "core" %s R + "storage"(G& +3 "core" & t   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 290 counts + "manipulator"&"'ϟ +13 "core" ' + "manipulator"&U& +4 "core" & M n +2 "storage"(l& +4 "core" & #  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'> +39 "core" ' +2 "manipulator"&*& +3 "core" & M n +2 "manipulator"&z% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +160 "core" ( +2 "manipulator"&}& +4 "core" &' >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'  >N +2 .tForearm.seek CC +2 "manipulator"&='" +97 "core" ' +2 .tHand.close + "manipulator"&a/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(E& +4 "core" & T  +2 "storage"(s& +3 "core" & j  +2 "manipulator"&o& +4 "core" &' H >K +2 "manipulator"&% +4 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" & ( g +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&['} +98 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +62 "core" 1 +2 "manipulator"&% +4 "core" % p  +2 "storage"(x& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 287 counts + "manipulator"&k'Ϝ +20 "core" ' +3 "manipulator"&Y& +3 "core" & r g +2 "storage"(L& +4 "core" & Q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +28 "core" ' + "storage"(e% +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"(0'X +99 (% +41 "core" %ΡV i OG +9 "manipulator"& % +4 "core" %+ . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +95 "core" ' +6 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &jm +2 "manipulator"&b% +4 "core" %\ "  : +2 "storage"(~% +3 "core" %W +3 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(H( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&& +4 "core" & O g +2 .tElbow.seek 2 + "manipulator"&c( +35 "core" ( +2 "manipulator"&+& +3 "core" & r % +2 "storage"( & +4 "core" & u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +95 "core" ' +2 "storage"(3& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & [ +2 "manipulator"&,& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&N& +4 "core" & d $ +2 "storage"(2& +5 "core" & 9 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\ ' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +7 "core" & * $ +2 "manipulator"&t% +4 "core" %   q +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +154 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +8 "core" &% <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &% 4 <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&W'" +96 "core" ' +3 "manipulator"&'& +3 "core" &% V <= +3 "manipulator"&1% +3 "core" % +3 "collection"'f& +3 "core" &lj +3 "collection"'`& +6 "core" &jm~ +3 .tCC.seek :closed + "collection"'J(V +4 "core" &kmy  +9 &5kl )u +9 &jlmw < +10 &tllw G +9 &qeln{ F +10 &3gmn F +9 &gnn| F +9 &gkox F +10 &ygmp F +9 &;gmo F +9 &eoo{ G +10 & blov F +9 &"hmp| G +10 &$Cenqu F +9 &&cool F +9 &'coqp F +10 &)bmpq F +9 &+Khoom F +9 &- gmpm F +10 &.gnrw F +9 &0gmqt G +10 &2Tgnq} F +9 &4eorx G +9 &5enry F +10 &7bpqz F +9 &9[bpo} F +9 &;horu F +10 &<hnq F +9 &>hqp F +10 &@cgqq F +9 &B%hqq{ F +9 &Cdqs F +10 &Ekvv G +9 &Gdy~ I +9 &I$~ J +10 &Jy N +9 &Lv P +10 &NW~ P +9 &P| Q +9 &Q Q +10 &S S +9 &UW D +9 &VpC (x +10 &V{ G +5 ( +2 "collection"'`& +4 "core" &Vb G +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&F1 +54 "core" 1 +3 "manipulator"&R% +3 "core" %   N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%|& +4 "core" & +2 "manipulator"&m% +4 "core" %\  T  +2 "storage"(h% +4 "core" %b  + "storage"(v. +3 "core" .( +2 "storage"(&& +4 "core" & +2 "storage"(6& +3 "core" &  +2 "manipulator"&& +48 "core" &$  ;7 +5 "manipulator"&)% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +162 "core" ( +2 "manipulator"&]& +3 "core" & e _ +3 "storage"(q& +4 "core" & c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +89 "core" ' + "storage"(.& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(K'i +286 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +3 "manipulator"&& +4 "core" & _ +2 .tElbow.seek 2 + "manipulator"&O( +4 "core" ( + "manipulator"&@& +4 "core" &  _ +2 "storage"(& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(V'X +8 "core" &  _ +2 "manipulator"&>% +4 "core" %  T H +2 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&X(s +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&I& +3 "core" &h  (  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &h   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +103 "core" ' +2 "manipulator"&P& +4 "core" &h  +2 "manipulator"&Z% +4 "core" %  +2 "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%-(Z +5 "core" & +7 &> #b +9 &\\ 6 +10 & H +9 &c F +10 &c G +9 &_b G +9 &!b G +10 &c F +9 &e G +10 &fg G +9 & *e F +9 &!e F +10 &#h G +9 &%pe F +9 &'2f F +10 &(e F +9 &*e F +9 &,we G +10 &.8e G +9 &/b F +10 &1e F +9 &3c G +9 &5Ac G +10 &7c F +9 &8e F +9 &:c F +10 & b G +10 &?h G +9 &Ah G +9 &CQh G +10 &Ej G +9 &Fs H +9 &H J +10 &JI L +9 &L  L +10 &M M +9 &O M +9 &QQ L +10 &S M +9 &T M +10 &V M +9 &XV M +9 &Yww "j +10 &Z(q , +8 ( +3 "processing"%& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.49 + .Hand.open + "manipulator"&_1 +57 "core" 1 +2 "manipulator"&M% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +4 "processing"%9& +4 "core" &Zw ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&r% +4 "core" %\    +2 "storage"( % +4 "core" %U +2 "storage"(d. +3 "core" .( +2 "storage"(G& +3 "core" & R +2 "storage"(U& +4 "manipulator"&l& +5 "core" & + &h v  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&*(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(z'i +20 "core" ( +2 "manipulator"&#& +3 "core" &j  I \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &k h \ +3 .tForearm.seek PC +2 "manipulator"&?' +90 "Can" [  +3 "core" ' + .tHand.close +2 "manipulator"& + "manipulator"&{& +4 "core" &k u \ +2 "manipulator"&w% +4 "core" %  , ' +2 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&i( +254 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(E& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +95 "core" ' +2 .tHand.open + "manipulator"&o1 +65 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +29 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(5& +4 "core" & \ Q\ R +2 "manipulator"&;& +4 "core" & \\ +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&x& +4 "core" &  +2 "storage"(Y& +4 "core" & \ R\ R +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(e' +59 "core" ' +2 "manipulator"&$& +4 "core" &  + "storage"(& +4 "core" & / +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +18 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +22 "core" ' +2 "manipulator"&k% +4 "core" % R +2 "storage"(& +4 "core" & , +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&b' +28 "core" ' +2 "manipulator"&~& +4 "core" & +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +20 "core" ' +2 "storage"(7% +4 "core" %k   +3 ."downElevator"SE.seek :down +3 "storage"(0'X +99 (y% +2 "core" %X i v ; QJ +4 "manipulator"&% +4 "core" %ф F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +3 "core" & % +2 "collection"' & +3 "core" &Vb} G +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&3% +4 "core" %\   +2 "storage"(u% +4 "core" %^  + "storage"(p. +3 "core" .( +2 "storage"(Q& +3 "core" & \ +3 "storage"(& +4 "core" &  + "manipulator"&,& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&2& +4 "core" & j + "storage"(A& +4 "core" & = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +92 "core" ' +2 "storage"(t& +49 "core" &  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'i +283 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & +3 "storage"(B& +21 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'O +28 "core" ' +2 "manipulator"&D% +3 "core" %  K +2 "storage"(f& +3 "core" & e k ~ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +21 "core" ' + "manipulator"&:& +4 "core" & +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +17 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(R'> +39 "core" ' +2 "manipulator"&|& +3 "core" & +2 "manipulator"&m% +4 "core" %Ѫ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +157 "core" ( +3 "manipulator"&&& +4 "core" &+  V A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &+ { A_ +3 .tForearm.seek CC + "manipulator"&6'" +97 "core" ' + .tHand.close +2 "manipulator"&/ +75 "core" / +2 .tCC.seek :open +2 "collection"')( +416 "core" ( + "storage"(W& +4 "core" & U +2 "storage"(]& +4 "core" & + "manipulator"&q& +4 "core" &) * ?R +2 "manipulator"&.% +3 "core" % 0 +3 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&4( +162 "core" ( + "manipulator"&g& +4 "core" & )  +2 "storage"(& +4 "core" & # + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&(% +3 "core" % K +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 301 counts + "manipulator"&>' +18 "core" ' +3 "manipulator"&8& +4 "core" &   + "storage"( & +4 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +27 "core" ' +2 "storage"( % +3 "core" %B  +3 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (%% +4 "core" % T k PG +2 "manipulator"&O% +6 "core" %х | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +90 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Z& +3 "core" &iko  +2 "manipulator"&% +48 "core" %\    +4 "storage"(V% +4 "core" %`  +2 "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(/( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" & .  +2 "manipulator"&M& +4 "core" & B  +2 .tElbow.seek 3 +2 "manipulator"&9( +13 "core" ( + "manipulator"&r& +4 "core" & d l +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +97 "core" ' + "storage"(G& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(U'i +280 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & s  +2 "manipulator"&#& +4 "core" & l +2 .tElbow.seek 3 +2 "manipulator"&n( +4 "core" ( + "manipulator"&\\& +4 "core" & 1 l +2 "storage"(<& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(-'X +8 "core" & \ l +2 "manipulator"&z% +4 "core" % ϝ  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&w& +3 "core" &# $ ;2 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &# b ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'" +97 "core" ' +2 "manipulator"&E& +3 "core" &$ ! ~ ;2 +3 "manipulator"&*% +4 "core" % +2 "collection"'o& +4 "core" &jm}  +2 "collection"'& +5 "core" &km  +2 .tCC.seek :closed +2 "collection"'=(V +4 "core" &jl  +6 &Hkm $e +10 &`kl 7 +9 &1kn~ G +10 &cko F +9 &gjn G +9 &xdkn~ G +10 &;elp F +9 &bko F +9 &blo{ F +10 &ano~ F +9 & Bbmr} G +10 &"eln G +9 &#eooz G +9 &%bknu F +10 &'Kgnow F +9 &) gno| F +9 &*glo F +10 &,gnpv F +9 &.Reoph G +10 &0emqv G +9 &1enom G +9 &3dnpq G +10 &5[dprw F +9 &7bppn G +9 &8dppz F +10 &:brms F +9 &%bopl F +9 &?coqw F +9 &Abqph F +10 &Cjcqs G +9 &E+mst{ G +9 &Ft| H +10 &H|~ J +9 &J_x M +10 &L Q +9 &Mv P +9 &O Q +10 &Q]y Q +9 &St R +9 &T R +10 &VHf| . +9 &V 7 +10 &Vj D +5 ( +2 "collection"'& +4 "core" &V_ D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open + "manipulator"&51 +58 "core" 1 +2 "manipulator"&;% +4 "core" %  ! y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Y& +4 "core" & +2 "manipulator"&a% +4 "core" %\ # 9 +2 "storage"($% +4 "core" %a d e " + "storage"(. +3 "core" .( +2 "storage"(k& +3 "core" & s i W  +2 "storage"(& +4 "core" & d ~ C  +2 "manipulator"&}& +4 "core" &# z ;2 + "manipulator"&% +4 "core" %\ #  9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&~( +159 "core" ( + "manipulator"&& +4 "core" & 3  +2 "storage"(7& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +5 "manipulator"&i'9 +86 "core" ' +2 "storage"(s& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &   +2 "manipulator"&L& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&e& +4 "core" & z  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&+'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(3'X +7 "core" & L  +2 "manipulator"&u% +4 "core" % Ϧ +2 .tForearm.seek :retract +2 "manipulator"&p'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +113 "core" ( + "manipulator"&[& +3 "core" &l   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &l + \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&,' +93 "core" ' + "manipulator"&2& +5 "core" &l ' \ +3 "manipulator"&A% +4 "core" %  5 +2 "processing"%j& +4 "core" & +2 "processing"%t& +5 "core" & +3 .tPC.seek :closed + "processing"%0(Z +5 "core" &  +9 &8 )v +9 &l = +9 &p G +10 &xc F +9 &9b G +9 &c F +10 &e F +9 &e F +10 &Ah G +9 &h F +9 & d F +10 &"g G +9 &$Ig G +9 && g F +10 &'f F +9 &)e F +10 &+Rg F +9 &-e F +9 &.h G +10 &0c G +9 &2Yh G +9 &4g G +10 &5f G +9 &7c G +10 &9bc F +9 &;$d F +9 &<e F +10 &>h G +9 &@ih G +9 &B*g G +10 &Ch G +9 &Em H +10 &Gkw I +9 &I( K +9 &J L +10 &L L +9 &Ni L +9 &P+ L +10 &Q L +9 &S L +10 &Up M +9 &W2 M +9 &X M +10 &ZBC` %k +9 &Z ( ! +6 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"& 1 +2 "core" &Z ! +56 1 +2 "manipulator"&% +3 "core" % - 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&B% +5 "core" %\ \   + "storage"('% +4 "core" %W  +2 "storage"(D. +3 "core" .( +2 "storage"(f& +4 "core" &  +2 "storage"(:& +2 "manipulator"&& +9 "core" & Q  + &l  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&|(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(m'i +4 "core" ( + "manipulator"&& +3 "core" &l  \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &l  \ +2 .tForearm.seek PC +2 "manipulator"&c' +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +3 .tPC.seek :open +2 "processing"%( +81 "core" ' +2 "storage"(1- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(&'y +34 "core" ' +306 ( +2 "storage"(`& +43 "core" &   +10 "manipulator"&F& +3 "core" &l  \ +2 "manipulator"&\ % +5 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h( +255 "core" ( +2 "manipulator"&J& +4 "core" & 0  +2 "storage"(W& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +99 "core" ' +2 .tHand.open + "manipulator"&q1 +68 "core" 1 +4 "storage"(.- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(g'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(v& +4 "core" &\ G\ H  +2 "manipulator"&& +4 "core" & I  +2 .tElbow.seek 3 +2 "manipulator"&(( +8 "core" ( + "manipulator"&& +4 "core" & *  +2 "storage"(8& +4 "core" &\ G\ H {  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 "manipulator"&S& +3 "core" & #  +2 "storage"(%& +4 "core" & G  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'} +22 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&>% +3 "core" %΁ +2 "storage"(Z& +5 "core" & 1  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&'ϭ +20 "core" ' + "manipulator"&R& +4 "core" & ?  +2 "storage"(V& +4 "core" & V  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +28 "core" ' +2 "storage"(K% +4 "core" %m   +2 ."downElevator"SE.seek :down +4 "storage"(I'X +99 (H% +4 "core" %V y { \\ PI +3 "manipulator"&_% +3 "core" %6  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (r& +3 "core" &  +2 "collection"' & +4 "core" &V_ D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&G% +4 "core" %\ \ E  +2 "storage"(@% +3 "core" %b = +2 "storage"(P. +3 "core" .( +2 "storage"(l& +4 "core" & 7  + "storage"(& +5 "core" &  + "manipulator"&#& +4 "core" & Y  +2 .tElbow.seek 3 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&<& +3 "core" & 6  +2 "storage"(X& +4 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +92 "core" ' +2 "storage"(z& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +280 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +3 "core" &  +2 "storage"(?& +4 "core" & m  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'} +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(*'O +29 "core" ' + "manipulator"&o% +4 "core" %~  +2 "storage"(n& +4 "core" & Q  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&-'Ϫ +20 "core" ' +2 "manipulator"&& +3 "core" & *  +3 "storage"()& +4 "core" & 6  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'> +38 "core" ' +2 "manipulator"&Y& +3 "core" & c  +2 "manipulator"&a% +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&k& +3 "core" &\  j 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &\  L 3 +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&}/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(!& +4 "core" & v  +2 "storage"(& +4 "core" &   + "manipulator"&7& +3 "core" &\  I 3 +3 "manipulator"&{% +4 "core" % +  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&x( +167 "core" ( + "manipulator"&y& +4 "core" & m k +2 "storage"(& +4 "core" & H  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&L'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&b% +4 "core" % ΃ ' + "storage"( & +4 "core" & E  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&u'ϯ +19 "core" ' +2 "manipulator"&~& +3 "core" & f k +3 "storage"(i& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +31 "core" ' +2 "storage"(+% +4 "core" %H  +2 ."downElevator"SE.seek :down +4 "storage"(['X +99 (% +3 "core" %Q . PG +2 "manipulator"&% +4 "core" %* % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'A& +3 "core" &hji +2 "manipulator"&j% +4 "core" %\ K  +2 "storage"(3% +4 "core" %a  + "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"("( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & | +2 "manipulator"&& +4 "core" & k +46 .tElbow.seek 2 +4 "manipulator"&( +36 "core" ( +2 "manipulator"&B& +4 "core" & U % + "storage"('& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +101 "core" ' +2 "storage"(f& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +3 "core" & +2 "manipulator"&& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&N( +4 "core" ( + "manipulator"&,& +3 "core" & " $ +3 "storage"(& +4 "core" & Z +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&1' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"(0'X +7 "core" &  $ +2 "manipulator"&m% +4 "core" % 8 i +2 .tForearm.seek :retract +2 "manipulator"&`'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +148 "core" ' + ( +2 "manipulator"&\ & + ."downElevator"SE.stop +6 "storage"(5 +3 "core" &! @ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &!  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'" +94 "core" ' +3 "manipulator"&W& +3 "core" &!  8 +3 "manipulator"&|% +4 "core" %! -  +2 "collection"'q& +4 "core" &jl +2 "collection"'.& +5 "core" &jkz +2 .tCC.seek :closed +2 "collection"'6(V +5 "core" &ik} +6 &/kk #a +9 &[kj} 5 +9 &kl G +10 &bkl F +9 &hkn G +9 &Ycnn F +10 &hlm F +9 &gkn F +10 &gko F +9 &agko F +9 & #hkn F +10 &!hlo F +9 &#hlo F +9 &%igko F +10 &'+fkp F +9 &(dkq G +10 &*donz F +9 &,qboo F +9 &.3bnq F +10 &/amp F +9 &1coo| F +9 &3zbnq| F +10 &5;fmp F +9 &6eoo G +10 &8dnp G +9 &:eno F +9 &fnsz G +9 &?eooz G +9 &Aenqy G +10 &CJenq G +9 &E grs G +10 &Fq| H +9 &H~ J +9 &J? N +10 &K{ P +9 &M P +9 &O{~ Q +10 &Q< Q +9 &R R +10 &T R +9 &V)Z 2 +9 &V P +9 ( +3 "collection"'.& +3 "core" &Vr~ I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&v1 +57 "core" 1 +3 "manipulator"&% +3 "core" % !   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&8% +4 "core" %\ \   +2 "storage"(S% +4 "core" %V m + "storage"(%. +3 "core" .( +2 "storage"(>& +4 "core" & + "storage"(Z& +5 "core" & + "manipulator"&&& +3 "core" & f 7 +2 "manipulator"&R% +5 "core" %\ \ ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&g( +161 "core" ( + "manipulator"&V& +4 "core" & K  +2 "storage"(K& +4 "core" & # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +90 "core" ' +2 "storage"(]& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +47 (_& +6 "core" & +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"& & +4 "core" & M  +2 "storage"(O& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(G'X +8 "core" &   +2 "manipulator"&@% +4 "core" %  r U +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&l(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&& +4 "core" &k 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &k = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +101 "core" ' +2 "manipulator"&<& +3 "core" &k 0 +3 "manipulator"&X% +4 "core" %  +2 "processing"%C& +3 "core" & +3 "processing"%z& +5 "core" & +2 .tPC.seek :closed +2 "processing"%I(Z +4 "core" &  +9 &7 )w +10 &k = +9 &p H +10 &qb F +9 &2e G +9 &f G +10 &d F +9 &xg G +9 &;g F +10 &e F +9 & c F +9 &"h G +10 &$Cc F +9 &&e G +10 &'h G +9 &)h G +9 &+Jg G +10 &- b F +9 &.e G +10 &0c G +9 &2Rc G +9 &4b G +10 &5b G +9 &7a G +9 &9Za G +10 &;b G +9 &<b G +10 &>c G +9 &@bd G +9 &B%f F +10 &Ci G +9 &Eo H +9 &Gew I +10 &I  K +9 &J L +10 &L M +9 &Nb L +9 &P$ L +10 &Q M +9 &S M +9 &Uh M +10 &W* M +9 &X M +9 &Z<Dc %m +10 &Z . ! +5 ( +2 "processing"%z& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 + .Hand.open + "manipulator"&41 +3 "core" &Z ! +56 1 +2 "manipulator"&M% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' + "processing"%w& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&?% +4 "core" %\  C  +2 "storage"(E% +4 "core" %b + "storage"(o. +3 "core" .( +2 "storage"(n& +3 "core" & @ +3 "storage"(& +3 "manipulator"&)& +5 "core" & t  +2 &k " +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(Y'i +2 "manipulator"&a(s +6 "core" ( + "manipulator"&^& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&9' +99 "core" ' +2 .tHand.close + "manipulator"&U/ +63 "core" / +3 .tPC.seek :open +2 "processing"%-( +75 "core" ' + "storage"(*- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +116 "core" ' +228 ( +2 "storage"(& +4 "core" & V + "manipulator"&5& +4 "core" &k s +2 "manipulator"&% +3 "core" % w +3 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +249 "core" ( +2 "manipulator"&=& +51 "core" &  2 +2 "storage"(!& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&71 +64 "core" 1 +2 "storage"({- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +3 "storage"(& +4 "core" & \ O\ E d + "manipulator"&& +4 "core" &  2 +2 .tElbow.seek 2 +2 "manipulator"&b( +9 "core" ( + "manipulator"& & +4 "core" & Q  +2 "storage"(~& +4 "core" & \ Q\ Q +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(+' +68 "core" ' + "manipulator"&s& +4 "core" &  +2 "storage"(& +4 "core" & Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'i +23 "core" ' +2 "manipulator"&u% +3 "core" %  +2 "storage"(A& +5 "core" & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&j' +20 "core" ' + "manipulator"&3& +4 "core" & D  +2 "storage"(p& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +30 "core" ' + "storage"(% +4 "core" %s   +3 ."downElevator"SE.seek :down +3 "storage"(['X +99 (/% +3 "core" %Y p z S QJ +2 "manipulator"& % +4 "core" %ё +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (B& +3 "core" & @ +3 "collection"''& +4 "core" &Vr I + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&f% +4 "core" %\    +2 "storage"(e% +3 "core" %`  +2 "storage"(2. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(:& +4 "core" &  +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&,( +10 "core" ( + "manipulator"&& +4 "core" & =  +2 "storage"(Q& +4 "core" & ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +103 "core" ' +2 "storage"(m& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +4 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" & h  +2 "storage"(c& +4 "core" & H +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&t' +27 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(|'O +48 "core" ' +4 "manipulator"&q% +3 "core" % \\ \\ +2 "storage"(N& +4 "core" & z y +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&0' +20 "core" ' +2 "manipulator"&`& +3 "core" & Y  +2 "storage"(& +5 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +37 "core" ' + "manipulator"&& +4 "core" & $  +2 "manipulator"&8% +4 "core" % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +154 "core" ( +2 "manipulator"&>& +4 "core" && ; =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" && < =C +2 .tForearm.seek CC +2 "manipulator"&Z'" +100 "core" ' +2 .tHand.close + "manipulator"&&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'R( +413 "core" ( +2 "storage"(J& +4 "core" & p +2 "storage"(V& +4 "core" &  + "manipulator"&K& +4 "core" &# F :0 +2 "manipulator"&]% +4 "core" % - M +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( + "manipulator"&H& +3 "core" &   +2 "storage"(_& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +96 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&O1 +62 "core" 1 +2 "manipulator"&r% +4 "core" % Q +2 "storage"( & +3 "core" & +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +4 "manipulator"&@' +20 "core" ' +2 "manipulator"&g& +3 "core" & B  +3 "storage"(h& +4 "core" & A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +25 "core" ' + "storage"(% +4 "core" %H  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %O $ OE +2 "manipulator"&(% +4 "core" %Ѭ n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'X& +3 "core" &hj  +2 "manipulator"&C% +4 "core" %\    +2 "storage"(G% +4 "core" %\\  +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" &   +2 "manipulator"&M& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&w( +12 "core" ( + "manipulator"&?& +4 "core" &  { +2 "storage"(E& +4 "core" & 2  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +94 "core" ' + "storage"(n& +4 "core" &  +45 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +291 "core" ' + "storage"()- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &  +2 "manipulator"&^& +4 "core" & 2 { +2 .tElbow.seek 3 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&#& +3 "core" & j { +2 "storage"(U& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&d& +2 "storage"(I'X +7 "core" & x { +2 "manipulator"&Y% +3 "core" % Ϩ B i +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &% * / <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &% V <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='" +102 "core" ' +3 "manipulator"&a& +4 "core" &% 2 <> +2 "manipulator"&!% +3 "core" %%  C +3 "collection"'7& +3 "core" &ik|  +3 "collection"'{& +5 "core" &hn  +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &hj  +8 &Hkk $d +10 &_kk 7 +9 &;ljz G +9 &`kkz F +10 &fll F +9 &ahk F +10 &Cdln G +9 &dkn~ F +9 &gkm F +10 &dmo G +9 & Leon F +9 &"bnm F +10 &#blml F +9 &%gmo F +10 &'Ufkn F +9 &)emn F +9 &*gkp F +10 &,cko F +9 &.]amp F +9 &0dlp G +10 &1emo F +9 &3gkn F +10 &5ddoo F +9 &7&gnp F +9 &8coq F +10 &:gmo F +9 &.enn F +10 &?cmq F +9 &Aflo G +10 &Ctfoq F +9 &E5kvt G +9 &Ft H +10 &H I +9 &Jg N +9 &L" P +10 &MJ P +9 &O Q +10 &Qe Q +9 &S$ R +9 &T R +10 &VEYz (z +9 &V  D +9 ( + &VRz A +2 "collection"'{& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % % f C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%~& +3 "core" & +2 "manipulator"&}% +4 "core" %\   +2 "storage"(s% +4 "core" %O + "storage"(. +3 "core" .( +2 "storage"(k& +4 "core" & w  +2 "storage"(u& +3 "core" & O  +2 "manipulator"&A& +4 "core" &% 4 <> +2 "manipulator"&y% +3 "core" %\  ,  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +155 "core" ( + "manipulator"&p& +4 "core" & 6 \ +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +95 "core" ' +2 "storage"(& +3 "core" & n  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&i& +3 "core" &  \ +3 .tElbow.seek 3 + "manipulator"&b( +3 "core" ( +2 "manipulator"&+& +4 "core" & X \ + "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&j'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tHand.close +2 "manipulator"&B/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(f'X +8 "core" &  \ +2 "manipulator"&e% +4 "core" % ϩ +2 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +4 "manipulator"&L& +3 "core" &n h +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &:& +2 "core" &n (  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&& +3 "core" &n \ +3 "manipulator"&Q% +4 "core" %  5 +2 "processing"%;& +4 "core" & +2 "processing"%m& +5 "core" & +3 .tPC.seek :closed + "processing"%[(Z +5 "core" &  +8 &8 )v +10 &k = +9 &p G +9 &ua G +10 &8b F +9 &e F +10 &c G +9 &}h G +9 &@g F +10 &h G +9 & g F +9 &"c G +10 &$Gb G +9 && g G +10 &'g G +9 &)h G +9 &+Oh G +10 &-h G +9 &.g G +9 &0g G +10 &2Wd G +9 &4g F +10 &5d F +9 &7c F +9 &9`d F +10 &;!b G +9 &<h G +9 &>f G +10 &@gc G +9 &B)c G +10 &Cg G +9 &Em G +9 &Ghv I +10 &I$ K +9 &J L +9 &L L +10 &Nf M +9 &P) L +10 &Q L +9 &S M +9 &Un M +10 &W/ M +9 &X M +9 &Z@Dc %k +10 &Z' # +5 ( +2 "processing"%m& +4 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&x1 +54 "core" 1 +2 "manipulator"&% +3 "core" %  5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +2 "processing"%\ & +3 "core" &Z # +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&c% +3 "core" %\    +3 "storage"(W% +4 "core" %` q + "storage"(q. +3 "core" .( +2 "storage"(N& +4 "core" &  +3 "storage"(`& +2 "manipulator"&& +7 "core" &  + &n  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(8'i +4 "core" ( + "manipulator"&T& +4 "core" &n W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &n 8 +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&t/ +58 "core" / +2 .tPC.seek :open +2 "processing"%0( +89 "core" ' + "storage"(|- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'y +33 "core" ' +298 ( +2 "storage"(.& +3 "core" & >  +2 "manipulator"&v& +4 "core" &n F +2 "manipulator"&1% +4 "core" % 0 " +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&S( +262 "core" ( + "manipulator"&6& +4 "core" & K +2 "storage"(J& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +105 "core" ' + .tHand.open +2 "manipulator"&K1 +64 "core" 1 +2 "storage"(]- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +63 "core" ' +9 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"(%& +3 "core" &\ Z\ G _  +3 "manipulator"&O& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&r( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(g& +4 "core" &\ G\ G   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&F& +4 "core" & | +2 "storage"(& +8 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +22 "core" ' +2 "manipulator"&X% +4 "core" %q +2 "storage"(@& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 288 counts + "manipulator"&C'ϝ +20 "core" ' +2 "manipulator"&G& +4 "core" & G + "storage"(P& +4 "core" & ^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(% +4 "core" %k * +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ("% +2 "core" %Z f k K QK +2 "manipulator"&4% +5 "core" %C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (?& +3 "core" & 3  +2 "collection"'E& +4 "core" &VR A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&n% +3 "core" %\    +2 "storage"( % +4 "core" %O  +2 "storage"(<. +3 "core" .( +2 "storage"()& +4 "core" &  +2 "storage"(z& +4 "core" &   + "manipulator"&^& +4 "core" & & +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&U& +4 "core" & _ +2 "storage"(l& +3 "core" & W  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +94 "core" ' +2 "storage"(Y& +4 "core" & <  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'i +281 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(9& +3 "core" & 1  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(!'Q +28 "core" ' +2 "manipulator"&\\% +4 "core" %· a + "storage"(7& +4 "core" & F  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&I'ϳ +20 "core" ' + "manipulator"&& +4 "core" & i +2 "storage"(R& +4 "core" & W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +41 "manipulator"&'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('@ +43 "core" ' +2 "manipulator"&~& +4 "core" & / +2 "manipulator"&}% +4 "core" %> m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&{& +4 "core" & U 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &  7 +2 .tForearm.seek CC +2 "manipulator"&u'" +93 "core" ' +2 .tHand.close + "manipulator"&A/ +60 "core" / +2 .tCC.seek :open + "collection"'y( +413 "core" ( +2 "storage"(=& +4 "core" & b  + "storage"(p& +4 "core" & &  +2 "manipulator"&& +3 "core" & 5 7 +3 "manipulator"&% +4 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +169 "core" ( + "manipulator"&/& +4 "core" & H X +2 "storage"( & +4 "core" & [  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&i'} +99 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&B% +3 "core" % · - +2 "storage"('& +4 "core" & L  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&e'ϳ +20 "core" ' +2 "manipulator"&3& +4 "core" & w X +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(j% +3 "core" %B  +3 ."downElevator"SE.seek :down +4 "storage"(L'X +99 (:% +3 "core" %PT y QH +2 "manipulator"&b% +4 "core" % s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'Q& +3 "core" &hh  +2 "manipulator"&;% +4 "core" %\  y  +2 "storage"(f% +4 "core" %O / + "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(-( +337 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +3 "core" & k +2 "manipulator"&& +4 "core" &  X +2 .tElbow.seek 2 +2 "manipulator"&\ ( +37 "core" ( + "manipulator"&c& +4 "core" & Y m +2 "storage"(W& +4 "core" & k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +95 "core" ' +2 "storage"(N& +3 "core" & ) +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & ! +2 "manipulator"&T& +3 "core" & ; l +3 .tElbow.seek 2 + "manipulator"&,( +46 "core" ( +7 "manipulator"&& +4 "core" & c  + "storage"(t& +4 "core" & e +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(['X +8 "core" & (  + "manipulator"&8% +4 "core" %  X H +2 .tForearm.seek :retract +2 "manipulator"&.'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&1& +4 "core" & 5 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&6'" +98 "core" ' +3 "manipulator"&J& +4 "core" & y 2 +2 "manipulator"&% +4 "core" %  +2 "collection"'K& +4 "core" &ij  +2 "collection"']& +5 "core" &hk  +2 .tCC.seek :closed +2 "collection"'&(V +5 "core" &jk  +8 &8ij )w +9 &+nij > +9 &olk G +10 &ajm F +9 &Qfjk F +10 &ekl G +9 &dll G +9 &dkm F +10 &Ybml F +9 &bko F +9 & gkn F +10 &"hnn F +9 &$agko F +10 &&#gln F +9 &'hmp F +9 &)dln G +10 &+idnn F +9 &-+bmn F +9 &.gml F +10 &0hmo F +9 &2penn G +10 &43dlo F +9 &5bln F +9 &7aon F +10 &9ygmm F +9 &;:fnp G +9 &<enq G +10 &>eno G +9 &@eoq G +9 &BCenq F +10 &Dfpq F +9 &Enwu G +10 &Gv H +9 &IA J +9 &J N +10 &L P +9 &Nu P +10 &P5 Q +9 &Q Q +9 &S R +10 &Uu ? +9 &V{7 , +9 &Vj C +6 ( +2 "collection"']& +3 "core" &V_ C +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open + "manipulator"&Z1 +55 "core" 1 +2 "manipulator"&%% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +4 "core" & + "manipulator"&g% +4 "core" %\   +2 "storage"(F% +3 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(>& +3 "core" &  +2 "storage"(X& +4 "core" & % +2 "manipulator"&@& +4 "core" & { 2 +2 "manipulator"&H% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&G( +164 "core" ( + "manipulator"&P& +4 "core" & < v +2 "storage"(& +4 "core" & + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +94 "core" ' +2 "storage"(V& +4 "core" & V +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +282 "core" ' +2 "storage"("- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" & ~ +2 "manipulator"&h& +4 "core" & " v +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&& +3 "core" & C v +2 "storage"((& +4 "core" & $ +3 .tForearm.seek 2 + 300 counts + "manipulator"&C' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(n'X +6 "core" & > v +3 "manipulator"& % +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.seek PC +48 "manipulator"&<(s +114 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +130 "core" ( +2 "manipulator"&)& +4 "core" &p 5   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &p   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +97 "core" ' +2 "manipulator"&U& +4 "core" &p \\  +2 "manipulator"&l% +4 "core" % / 8 +2 "processing"%& +3 "core" & +3 "processing"%Y& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +9 &8 )v +10 &k = +9 &p H +9 &rg F +10 &4e F +9 &c G +10 &c F +9 &yd G +9 &:e G +10 &c G +9 & b F +9 &"e F +10 &$Dd F +9 &&d F +9 &'j G +10 &)b G +9 &+Kc G +10 &- b G +9 &.c G +9 &0i G +10 &2Sh G +9 &4f G +9 &5d F +10 &7g G +9 &9[g G +10 &;f F +9 &<f F +9 &>h G +10 &@ci G +9 &B%i G +10 &Cl G +9 &Em H +9 &Gew I +10 &I! K +9 &J L +9 &L L +10 &Nc L +9 &P% L +10 &Q L +9 &S M +9 &Ui M +10 &W+ M +9 &X M +9 &Z<Dc %k +10 &Z - ! +5 ( +2 "processing"%Y& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&M% +4 "core" % / 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +98 "core" ' +2 "processing"%& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&9% +4 "core" %\ # d A +2 "storage"(a% +4 "core" %O + "storage"(\\. +3 "core" .( +2 "storage"(7& +4 "core" & ~ U +2 "storage"(& +2 "manipulator"&R& +8 "core" & L + &p   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&~(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +2 "core" ( +2 "manipulator"&d& +5 "core" &p   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &p  +3 .tForearm.seek PC +2 "manipulator"&w' +96 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%I( +83 "core" ' +2 "storage"(!- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +50 "core" ' +289 ( +2 "storage"(k& +3 "core" & : +2 "manipulator"&& +4 "core" &p !  +2 "manipulator"&*% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&A'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&s( +249 "core" ( +2 "manipulator"&& +4 "core" &  X +2 "storage"(=& +9 "core" & = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +89 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(& +4 "core" & \ P\ R +2 "manipulator"&& +4 "core" &\ U + .tElbow.seek 2 +2 "manipulator"&B( +43 "core" ( +9 "manipulator"&'& +4 "core" &\ l U +2 "storage"(3& +4 "core" & \ P\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +58 "core" ' + "manipulator"&5& +4 "core" &\  U +2 "storage"(:& +4 "core" & w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&b' +23 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +23 "core" ' + "manipulator"&e% +4 "core" %  +2 "storage"(Q& +3 "core" & { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&;' +22 "core" ' +2 "manipulator"&f& +4 "core" &\  U + "storage"(2& +4 "core" & [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"(% +4 "core" %r * +2 ."downElevator"SE.seek :down +4 "storage"(L'X +99 (% +3 "core" %\\ v y $ QK +2 "manipulator"&x% +3 "core" %ы 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (c& +4 "core" & G +2 "collection"'W& +3 "core" &V_{ C +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&N% +3 "core" %\  ]  +3 "storage"(+% +4 "core" %`  + "storage"(. +3 "core" .( +2 "storage"(`& +3 "core" &  +2 "storage"(m& +4 "core" &  +2 "manipulator"&T& +4 "core" &\ > U +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +4 "core" & 4 U +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +94 "core" ' +2 "storage"(8& +3 "core" & 0 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +283 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &\  U +2 "storage"(& +4 "core" & H +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +20 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +34 "core" ' +2 "manipulator"&,% +4 "core" %  + "storage"(K& +4 "core" & [ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&[' +21 "core" ' +2 "manipulator"&.& +3 "core" &\ Z U +2 "storage"(y& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'> +37 "core" ' + "manipulator"& & +4 "core" & l U +2 "manipulator"&g% +4 "core" %Ѳ ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +87 "core" ' +9 .tElbow.seek CC +2 "manipulator"&( +161 "core" ( +2 "manipulator"&>& +4 "core" &   0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" & r 0 +2 .tForearm.seek CC +2 "manipulator"&]'" +94 "core" ' + .tHand.close +2 "manipulator"&@/ +64 "core" / +2 .tCC.seek :open +2 "collection"'H( +413 "core" ( + "storage"(6& +4 "core" & +2 "storage"(P& +4 "core" & @ + "manipulator"&& +4 "core" &  0 +2 "manipulator"&V% +4 "core" % 2  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&O( +152 "core" ( +2 "manipulator"&"& +4 "core" & )  + "storage"(4& +4 "core" & @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +55 "core" 1 +2 "manipulator"&?% +4 "core" %  +2 "storage"(E& +4 "core" & | + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"& ' +20 "core" ' +2 "manipulator"&G& +4 "core" &  +2 "storage"(S& +4 "core" & G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +35 "core" ' + "storage"(C% +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"()'X +99 (r% +3 "core" % R P OF +2 "manipulator"&z% +4 "core" %Ѽ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +3 "core" &hk~  +2 "manipulator"&% +4 "core" %\    +2 "storage"(n% +3 "core" %X  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(0( +338 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & I  +2 "manipulator"&M& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&9& +4 "core" & N  +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\\'9 +98 "core" ' +2 "storage"(Y& +3 "core" &  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'i +290 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & f  +2 "manipulator"&d& +4 "core" & ;  +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&^& +3 "core" & H  +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&emq G +9 &@ydoq G +9 &B;eoo G +10 &Cgop G +9 &Ekwt G +10 &G|y I +9 &I: J +9 &J O +10 &L Q +9 &Nn P +9 &P/ P +10 &Q Q +9 &S R +10 &Um ? +9 &VH V +9 &V17 #m +10 &WZ C +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 + .Hand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" & +2 "manipulator"&3% +4 "core" %\    +2 "storage"(5% +4 "core" %^ + "storage"(:. +3 "core" .( +2 "storage"({& +3 "core" & q  +2 "storage"(/& +4 "core" & s  +2 "manipulator"&e& +3 "core" && \\ =F +2 "manipulator"&Q% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&f( +162 "core" ( + "manipulator"&2& +4 "core" & 0  +2 "storage"(s& +4 "core" & @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(p& +4 "core" & :  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (x& +2 "core" &   +3 "manipulator"&$& +4 "core" & %  + .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&j& +4 "core" & ?  +2 "storage"(b& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(N'X +7 "core" &   +2 "manipulator"&+% +4 "core" % ϔ +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +114 "core" ( +2 "manipulator"&i& +3 "core" &k % : +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &l  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +100 "core" ' +48 "manipulator"&t& +5 "core" &l  +2 "manipulator"&% +3 "core" %  +3 "processing"%& +4 "core" & +2 "processing"%8& +5 "core" & +3 .tPC.seek :closed + "processing"%L(Z +5 "core" &  +8 &7 )v +9 &k = +10 &q G +9 &yc F +9 &;e F +10 &e F +9 &f F +10 &d G +9 &De F +10 &j G +9 & b F +9 &"e G +9 &$Jh G +10 && g F +9 &'f G +10 &)j G +9 &+Ri G +9 &-d G +10 &.c G +9 &0i G +9 &2Zc G +10 &4h G +9 &5h G +10 &7c F +9 &9bf G +9 &;%g F +10 &<f F +9 &>e F +9 &@ke F +10 &B-f F +9 &Ci G +10 &Em H +9 &Glx I +9 &I) K +10 &J L +9 &L L +9 &Nk L +10 &P+ M +9 &Q L +10 &S M +9 &Uq M +9 &W1 M +10 &X M +9 &ZEDc %l +9 &Z# ! +6 ( +2 "processing"%8& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +4 "core" % \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 "processing"%1& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(J% +4 "core" %U  +2 "storage"(,. +3 "core" .( +2 "storage"(K& +4 "core" & O  +2 "storage"(.& +5 "manipulator"&y& +3 "core" & "  + &l n +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"& (s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i +2 "core" ( +3 "manipulator"&D& +3 "core" &l  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &l 8 +3 .tForearm.seek PC +2 "manipulator"&\ ' +91 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 .tPC.seek :open +2 "processing"%[( +94 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'y +50 "core" ' +278 ( +2 "storage"(X& +4 "core" & $  +2 "manipulator"&Z& +4 "core" &l + "manipulator"&|% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&@'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +259 "core" ( + "manipulator"&&& +4 "core" &   +2 "storage"(6& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +106 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "storage"(V- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"("'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(4' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' +2 "storage"(& +4 "core" &\ G\ G   +2 "manipulator"&(& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&?( +7 "core" ( +2 "manipulator"&E& +3 "core" & &  +2 "storage"(G& +4 "core" &\ H\ G  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +59 "core" ' +2 "manipulator"&v& +4 "core" &   +49 "storage"(r& +3 "core" & )  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&z'} +27 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +23 "core" ' +2 "manipulator"& % +3 "core" %΀ +2 "storage"(l& +4 "core" & Y  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&'Ϭ +20 "core" ' + "manipulator"&n& +3 "core" & ;  +3 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +27 "core" ' + "storage"(_% +4 "core" %r l +3 ."downElevator"SE.seek :down +3 "storage"()'X +99 (-% +2 "core" %Y k d ? QJ +2 "manipulator"&% +4 "core" %6 < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +96 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" & "  +2 "collection"'a& +4 "core" &WY C +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Y% +4 "core" %\ m  +2 "storage"(% +3 "core" %P ' +2 "storage"(U. +3 "core" .( +2 "storage"(R& +6 "core" &   +2 "storage"(& +3 "core" &   +3 "manipulator"&d& +4 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&& +4 "core" & d  + "storage"(<& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +98 "core" ' +2 "storage"(}& +4 "core" & n  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' +3 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" &  +2 "storage"(*& +4 "core" & B  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&w'} +28 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'P +28 "core" ' + "manipulator"&#% +4 "core" %  +2 "storage"(& +4 "core" & O  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&'ϫ +20 "core" ' +2 "manipulator"&k& +3 "core" & `  +2 "storage"(H& +4 "core" & _  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +38 "core" ' +2 "manipulator"&'& +3 "core" & *  +2 "manipulator"&3% +4 "core" %> +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +163 "core" ( +3 "manipulator"&& +4 "core" & T 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" & K 4 +2 .tForearm.seek CC +2 "manipulator"&/'" +93 "core" ' + .tHand.close + "manipulator"&e/ +54 "core" / +41 .tCC.seek :open +9 "collection"'Q( +416 "core" ( +2 "storage"(& +4 "core" &  +2 "storage"(2& +3 "core" & k  +2 "manipulator"&s& +3 "core" &  4 +2 "manipulator"&p% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +164 "core" ( +2 "manipulator"&& +4 "core" & + "storage"(x& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&$'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&b1 +53 "core" 1 +2 "manipulator"&c% +3 "core" % ΁ V +2 "storage"(W& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +4 "manipulator"&+'ϭ +20 "core" ' + "manipulator"&f& +4 "core" &  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +42 "core" ' +2 "storage"(;% +3 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"(i'X +99 (m% +3 "core" %+R OF +2 "manipulator"&B% +4 "core" %!  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +13540 "Can" 3a +60002  40 +42862 #t-> access 2 +2 "storage"(% +3 "core" %a E +2 "manipulator"&% +4 "core" %\  /  +2 "manipulator"&N& +3 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +967 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" &K   +1055 #t-> access 3 +2 "storage"( % +3 "core" %a f +2 "manipulator"&% +3 "core" %\    +2 "manipulator"&1& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +329 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (J& +2 "core" &[  @1734976587.65EST = =tMAIN =mMAIN_scheduler @EST1734976588.40 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK + #t@23583 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +379 "Can" X +  X + #tPolling Can every 10:00 +525 #-> ESP.ready! +3 #Powering core bus +550 .Gate.power :raw,:ON +5 "sampler") +44 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(1% +3 "core" %^ +2 "manipulator"&2% +4 "core" %\   A  +2 "manipulator"&3& +3 "core" &  ( e +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(4(K +961 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &K  +595 #t-> require 'shuffle.rb' +2700 #-> 20.times{shuffle 2..3} + #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'6& +3 "core" &,  +2 .tHand.open +2 "manipulator"&71 +60 "core" 1 + "manipulator"&8% +4 "core" % \  1 o  +2 "storage"(9% +3 "core" %^ c +2 "storage"(:. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(;( +1285 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & [ +2 "manipulator"&=& +3 "core" &  7 e +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&>( +21 "core" ( +2 "manipulator"&?& +3 "core" &7 ( G  +2 "storage"(@& +4 "core" & +3 .tForearm.seek 2 + 700 counts + "manipulator"&A'ќ +98 "core" ' +2 "storage"(B& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'i +281 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +3 "core" & E +2 "manipulator"&F& +4 "core" &7\  Q  +2 .tElbow.seek 2 +2 "manipulator"&G( +14 "core" ( + "manipulator"&H& +4 "core" & +2 "storage"(I& +5 "core" & 9 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&K/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(M'X +8 "core" &  : +2 "manipulator"&N% +3 "core" %    + +3 .tForearm.seek :retract +2 "manipulator"&O'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +152 "core" ' + ( +2 "manipulator"&Q& + ."downElevator"SE.stop +7 "storage"(5 +3 "core" &*  @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &* " \\ @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +98 "core" ' +2 "manipulator"&T& +4 "core" &* 7 y @W +3 "manipulator"&U% +4 "core" %! # 3 +2 "collection"'V& +5 "core" &&  +2 "collection"'W& +6 "core" &'  +2 .tCC.seek :closed + "collection"'X(V +41 "core" &#  +10 &%  +2 &)  + &)  + &# < &K. 0 +5 &Z{. D +9 &h0 H +10 &k4 H +9 &k+ H +9 &Ul2 H +10 &k+ H +9 &j1 H +9 &l- H +10 &^kA H +9 &!m@ H +10 &"j> H +9 &$k< H +9 &&fiC H +10 &('k= H +9 &)iB G +9 &+j H +10 &-nj< H +9 &//kA H +10 &0jJ H +9 &2jD G +10 &4ujJ H +9 &67mw H +9 &7j- H +9 &9i H +10 &;~k H +9 &=@j. H +10 &?iO G +9 &@j H +9 &Bk+ H +10 &DGn6 H +9 &Fw4 I +9 &G!- K +10 &IUA M +9 &K5+ Q +10 &L.E0 R +9 &N#) R +9 &Py"$ R +10 &R:!9 R +9 &S  T +9 &U! @ +10 &V/  *{ +9 &VP ? +3 ( +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&Y1 +56 "core" 1 +2 "manipulator"&Z% +3 "core" % ! 5 o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%\\& +3 "core" & +2 "manipulator"&]% +5 "core" %\ ! ^ 0 +2 "storage"(^% +3 "core" %a 8 +2 "storage"(_. +4 "core" .( +2 "storage"(`& +3 "core" & ! +2 "storage"(a& +4 "core" & G +2 "manipulator"&b& +3 "core" &( ` ?V +2 "manipulator"&c% +5 "core" %\ !  I 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&d( +158 "core" ( +2 "manipulator"&e& +3 "core" & ' V  +2 "storage"(f& +5 "core" & < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +93 "core" ' +2 "storage"(h& +3 "core" & J +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +283 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" & b +2 "manipulator"&l& +4 "core" &  *  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +4 "core" & & ,  +2 "storage"(o& +3 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&p' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&r& +3 "storage"(s'X +7 "core" &  X  +2 "manipulator"&t% +4 "core" %  4 " +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&v(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +4 "manipulator"&w& +3 "core" &l +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &l    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y' +102 "core" ' +2 "manipulator"&z& +4 "core" &l " \\  +2 "manipulator"&{% +3 "core" %  2 +2 "processing"%|& +4 "core" & +2 "processing"%}& +5 "core" & +3 .tPC.seek :closed + "processing"%~(Z +5 "core" &  +9 &7 )w +9 &i = +10 &q{ I +9 &6g G +9 &j H +10 &n H +9 &{n H +9 &=n H +10 &o H +9 &o H +10 & k G +9 &"Dn H +9 &$g H +10 &%i H +9 &'k H +9 &)Mh H +10 &+i H +9 &,j G +10 &.m H +9 &0Uh H +9 &2i H +10 &3g H +9 &5j H +9 &7^h G +10 &9k H +9 &:l G +10 &<j G +9 &>eh H +9 &@'k H +10 &Aj H +9 &Cn H +9 &Eks H +10 &G*~ I +9 &H L +10 &J L +9 &Lh L +9 &N* L +10 &O M +9 &Q M +9 &Sl N +10 &U/ M +9 &V M +10 &X N +9 &Z] b +9 &Z_ ( +9 ( +3 "processing"%}& +2 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&% +3 "core" % & 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%& +3 "core" &Z # +44 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\   + "storage"(% +5 "core" %b L +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & 4 +2 "storage"( & +4 "manipulator"&& +5 "core" &  +2 &l  g  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&\ (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +3 "manipulator"&& +3 "core" &l  5  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l    +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' +2 "storage"( - +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +31 "core" ' +297 ( +2 "storage"(& +3 "core" & / +2 "manipulator"&& +4 "core" &l  2  +2 "manipulator"&% +3 "core" %   K +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +251 "core" ( +2 "manipulator"&& +3 "core" & $ 2 $ +2 "storage"(& +3 "core" & j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&"'ќ +101 "core" ' +2 .tHand.open + "manipulator" +64 "core" 1 +3 "storage"($- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"((& +3 "core" & U k I +3 "manipulator"&)& +4 "core" &   $ + .tElbow.seek 2 +2 "manipulator"&*( +4 "core" ( + "manipulator"&+& +4 "core" & 2 $ +2 "storage"(,& +3 "core" & _ | +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +58 "core" ' + "manipulator"&/& +4 "core" &  ; $ +2 "storage"(0& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&1' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +24 "core" ' + "manipulator"&% +4 "core" % ^ +2 "storage"(5& +3 "core" & @ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&6' +21 "core" ' +2 "manipulator"&7& +3 "core" & ! w $ +2 "storage"(8& +4 "core" & Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +35 "core" ' + "storage"(:% +4 "core" %r   +3 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (<% +2 "core" %\\ | | QK +2 "manipulator"&=% +5 "core" %Ѡ  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (@& +3 "core" & $ +2 "collection"'B& +4 "core" &VU2 ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\   d , +2 "storage"(% +4 "core" %_ J +2 "storage"(D. +2 "core" .( +2 "storage"(E& +5 "core" & [ +42 "storage"(F& +5 "core" & 4 + "manipulator"&& +4 "core" &  Q $ +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( + "manipulator"&I& +4 "core" & $ ] $ +2 "storage"(K& +3 "core" & 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +100 "core" ' +2 "storage"(N& +3 "core" & 2 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'i +280 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  % $ +2 "storage"(R& +3 "core" & J +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&C' +20 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(T- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'P +27 "core" ' +2 "manipulator"&V% +4 "core" % ? +2 "storage"(G& +3 "core" & s w +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&M' +20 "core" ' +2 "manipulator"&O& +3 "core" & $ f $ +2 "storage"(!& +4 "core" & / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +3 "storage"(Z'? +39 "core" ' +2 "manipulator"&\\& +3 "core" &  9 $ +2 "manipulator"&]% +4 "core" %ы  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +148 "core" ( + "manipulator"&W& +3 "core" && % ? =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +4 "core" &&  W =E +2 .tForearm.seek CC +2 "manipulator"&a'" +93 "core" ' +2 .tHand.close + "manipulator"&b/ +56 "core" / +2 .tCC.seek :open +2 "collection"'c( +413 "core" ( + "storage"(S& +4 "core" & 5 +2 "storage"(e& +3 "core" &  +2 "manipulator"&f& +3 "core" &&  5 =D +2 "manipulator"&h% +5 "core" % /  O +2 .tForearm.seek :retract + "manipulator"&P'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +160 "core" ( +2 "manipulator"&j& +3 "core" & $ m  +2 "storage"(k& +5 "core" &  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&l' +104 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&o1 +53 "core" 1 +3 "manipulator"&q% +4 "core" % %  b + "storage"(r& +3 "core" & O +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +3 "manipulator"&t' +22 "core" ' + "manipulator"&d& +4 "core" & N  +2 "storage"(g& +3 "core" & w +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +31 "core" ' + "storage"(p% +4 "core" %D 4 +3 ."downElevator"SE.seek :down +4 "storage"(w'X +99 (x% +3 "core" %T  PI +2 "manipulator"&m% +3 "core" %ј +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +86 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +38 "core" &% +9 "manipulator"&|% +4 "core" %\    +2 "storage"(s% +3 "core" %U  +2 "storage"(u. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & J  +3 "manipulator"&& +3 "core" & 7  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(}& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +91 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +3 "core" & w  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&y& +3 "core" &   +2 "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(~'X +9 "core" &   + "manipulator"& % +4 "core" % ϯ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &$ I ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &$  " ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&& +3 "core" &$ (  ;4 +3 "manipulator"&\ % +3 "core" %( ! \\ +3 "collection"'#& +4 "core" &1 +3 "collection"'$& +6 "core" &2 +2 .tCC.seek :closed +2 "collection"''(V +3 "core" &* +8 &B" $d +10 &[+ 6 +9 &'/ H +9 &h0 G +10 &m) H +9 &li H +10 &/h) G +9 &i/ G +9 &j\ G +10 &uf* G +9 & 7i7 G +9 &!h6 H +11 &#h2 G +8 &%|h1 H +10 &'>i3 H +9 &)f2 G +9 &*k6 G +10 &,gC G +9 &.HhC G +9 &0j@ H +10 &1g> G +9 &3g3 H +10 &5Oj4 G +9 &7m2 G +9 &8e/ G +10 &:h9 H +9 &j@ G +10 &?l? H +9 &AhC G +10 &C_i) G +9 &Eq: H +9 &F{ A I +10 &H.> K +9 &JTmSC N +9 &L Dy< Q +10 &M&,N Q +9 &O!'D Q +10 &QQ"&@ R +9 &S!#B S +9 &T $A S +10 &VDi!"? 0 +9 &V!? 3 +9 &Vt A J +3 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&(1 +60 "core" 1 +2 "manipulator"&)% +5 "core" % ( " ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%,& +3 "core" & +2 "manipulator"&% +4 "core" %\  ! O  +2 "storage"(/% +3 "core" %W , +2 "storage"(0. +4 "core" .( + "storage"(& +4 "core" & X  +2 "storage"(5& +3 "core" & '  +2 "manipulator"&& +4 "core" &#   ;3 +2 "manipulator"&7% +3 "core" %\  0  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +162 "core" ( +2 "manipulator"&8& +3 "core" & ) w j +2 "storage"(:& +5 "core" & <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +105 "core" ' +2 "storage"("& +3 "core" & m  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +278 "core" ' +37 "storage"(<- +10 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" & ?  +2 "manipulator"&-& +4 "core" &  j +2 .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&.& +3 "core" & r j +2 "storage"(1& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"('X +8 "core" & ( j + "manipulator"&% +4 "core" % ϥ  m +3 .tForearm.seek :retract + "manipulator"&D'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +106 "core" ( +2 "manipulator"&E& +3 "core" &n 2 T  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &n    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 "manipulator"&I& +3 "core" &o (   +3 "manipulator"&K% +3 "core" % L +2 "processing"%9& +5 "core" & +3 "processing"%N& +5 "core" & +2 .tPC.seek :closed + "processing"%4(Z +4 "core" & +9 &D #b +9 &] 6 +9 & H +10 &c G +9 &h H +9 &[k G +10 &g H +13 &l G +6 &m H +9 &bk H +9 & %m G +10 &!f G +9 &#h G +9 &%kn G +10 &'-i G +9 &(j G +10 &*m G +9 &,sh G +9 &.5j G +10 &/k G +9 &1f G +9 &3{g G +10 &5>k G +9 &6j H +10 &8g G +9 &:g G +9 &e G +9 &?j G +9 &Ak G +10 &CMk G +9 &E p H +10 &Fz I +9 &H K +9 &JH L +10 &L M +9 &M M +10 &O M +9 &QN M +9 &S M +11 &T M +8 &V N +9 &XT M +10 &Yxx "k +9 &Z*u . +9 ( +2 "processing"%N& +3 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open + "manipulator"&21 +55 "core" 1 +2 "manipulator"&?% +4 "core" % % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +98 "core" ' +2 "processing"%Q& +3 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&R% +4 "core" %\ #  O A +2 "storage"(T% +3 "core" %[ q q ? +2 "storage"(V. +4 "core" .( + "storage"(G& +4 "core" & s u E  +2 "storage"(O& +3 "manipulator"&!& +8 "core" & s u ,  + &o    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&\\(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'i +2 "core" ( +2 "manipulator"&L& +4 "core" &o  V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &o    +3 .tForearm.seek PC + "manipulator"&>' +97 "core" ' +2 .tHand.close + "manipulator"&C/ +60 "core" / +3 .tPC.seek :open +2 "processing"%M( +87 "core" ' +2 "storage"(U- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'y +32 "core" ' +302 ( +2 "storage"(`& +3 "core" & 6  +2 "manipulator"&Y& +4 "core" &o    +2 "manipulator"&J% +3 "core" %  9 +3 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +249 "core" ( +2 "manipulator"&X& +3 "core" & ' 8 "~ +3 "storage"(S& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +94 "core" ' +38 .tHand.open +9 "manipulator"&f1 +52 "core" 1 +2 "storage"(h- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(k' +45 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(a- +3 "core" -' +2 "storage"(_& +3 "core" &\ D\ D   +2 "manipulator"&o& +4 "core" &   !w +2 .tElbow.seek 3 +2 "manipulator"&q( +30 "core" ( + "manipulator"&r& +3 "core" & % \\  +3 "storage"(d& +3 "core" & Z [  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +56 "core" ' + "manipulator"&P& +4 "core" &\   +2 "storage"(x& +3 "core" & N  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&m'} +20 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(l'i +24 "core" ' +2 "manipulator"&t% +3 "core" %s   +2 "storage"({& +4 "core" & f  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 290 counts + "manipulator"&Z'ϟ +20 "core" ' +2 "manipulator"&|& +3 "core" & t  +2 "storage"(s& +5 "core" & l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +35 "core" ' + "storage"(i% +5 "core" %n D  +2 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (;% +3 "core" %7X v { * QJ +2 "manipulator"&% +4 "core" %G { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & e  +2 "collection"'}& +3 "core" &Vh/ J +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\     +2 "storage"(n% +3 "core" %O  +2 "storage"(z. +3 "core" .( +2 "storage"( & +3 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(v& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"( & +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" & )  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\ 'P +27 "core" ' +2 "manipulator"&#% +4 "core" %΍\  a +2 "storage"(& +3 "core" & '  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&~'Ϲ +20 "core" ' +2 "manipulator"&& +3 "core" & O  +2 "storage"(c& +4 "core" & I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'? +37 "core" ' +2 "manipulator"&,& +3 "core" & W  +2 "manipulator"&% +4 "core" %7 a +39 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +154 "core" ( +3 "manipulator"&& +3 "core" &+ 5 g A_ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &+  * A_ +3 .tForearm.seek CC + "manipulator"&5'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'7( +416 "core" ( + "storage"(& +4 "core" &  +2 "storage"(8& +3 "core" &  +2 "manipulator"&:& +4 "core" &+  h A_ +2 "manipulator"&"% +3 "core" % . Y +3 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&+( +157 "core" ( +2 "manipulator"&<& +3 "core" & c  +2 "storage"(=& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +96 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&11 +54 "core" 1 +2 "manipulator"&@% +4 "core" % { ( ; +2 "storage"(B& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&'ϧ +21 "core" ' +2 "manipulator"&%& +3 "core" &  +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +19 "core" ' +2 "storage"(6% +3 "core" %E W +3 ."downElevator"SE.seek :down +4 "storage"(E'X +98 (F% +3 "core" %U  PH +2 "manipulator"&*% +4 "core" %' 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'K& +3 "core" &! +2 "manipulator"&9% +3 "core" %\   e  +3 "storage"(% +3 "core" %P  +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" & +3 "manipulator"&?& +4 "core" &  )  + .tElbow.seek 2 +2 "manipulator"&Q( +28 "core" ( +2 "manipulator"&R& +3 "core" & & !u +2 "storage"(T& +4 "core" &  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +96 "core" ' + "storage"(G& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +280 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O& +2 "core" &  X +2 "manipulator"&L& +4 "core" &   !s +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&& +3 "core" & ( L !s +2 "storage"(C& +5 "core" &  2 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"(4'X +8 "core" &  Q !s + "manipulator"&]% +4 "core" %  A  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +149 "core" ' +9 ( + "manipulator"&J& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &(  R ?T +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &(  [ ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'" +100 "core" ' +4 "manipulator"&S& +3 "core" &( # j ?T +3 "manipulator"&\\% +3 "core" %'  _ +2 "collection"'f& +5 "core" &# +2 "collection"'h& +5 "core" &0 +2 .tCC.seek :closed +2 "collection"'a(V +6 "core" &2 +5 &8. #c +10 &Z' 6 +9 &2 H +9 &e- G +10 &m: G +9 &Wj. G +10 &j5 H +9 &i3 G +9 &j1 G +10 &^h6 G +9 & f- G +9 &!g' G +10 &#h* G +9 &%fg% G +10 &')e9 G +9 &(h; G +9 &*e1 G +10 &,nh0 G +9 &.1j. G +9 &/h/ G +10 &1g. G +9 &3uj1 H +10 &59h5 G +9 &6j1 H +9 &8g2 G +10 &:~h8 G +9 &j6 G +10 &?f. G +9 &Ah1 G +10 &CHk7 G +9 &Er0 H +9 &Fv\ 7 I +10 &H&< J +9 &J<oW< N +9 &KH; P +10 &M&+6 Q +9 &O{#': Q +10 &Q:!$0 R +9 &R . R +9 &T!!4 S +10 &V)\\ !9 1 +9 &V 3 L +9 ( +2 "collection"'h& +3 "core" &Vk0 G +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&_1 +57 "core" 1 +3 "manipulator"&o% +3 "core" % ' $ M +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%r& +4 "core" & +2 "manipulator"&d% +3 "core" %\  ! 4  +2 "storage"(P% +4 "core" %[  +2 "storage"(x. +3 "core" .( + "storage"(W& +5 "core" &  |  + "storage"(t& +4 "core" &  f G +2 "manipulator"&{& +4 "core" &( ! ` ?T +2 "manipulator"&j% +4 "core" %\   U  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +157 "core" ( +2 "manipulator"&s& +3 "core" & ( =  +2 "storage"(i& +4 "core" &  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +94 "core" ' +2 "storage"(e& +4 "core" &  8 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'i +280 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  8 +2 "manipulator"&g& +4 "core" &  L  +2 .tElbow.seek 2 +2 "manipulator"&q( +4 "core" ( + "manipulator"&p& +5 "core" & ) @  +2 "storage"(m& +3 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&Z' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&}& + "storage"('X +8 "core" &  6  + "manipulator"&n% +4 "core" %  1 < +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +4 "manipulator"&l& +3 "core" &r 3  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &r  F  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' +2 "manipulator"&& +3 "core" &r %   +2 "manipulator"&v% +4 "core" %  M # +2 "processing"%u& +4 "core" & +2 "processing"% & +6 "core" & +2 .tPC.seek :closed + "processing"%w(Z +4 "core" &  +9 &8 )w +9 &m > +10 &x I +9 &sh G +10 &5e G +9 &g G +9 &g H +10 &{i G +9 &>g G +9 &k G +10 & f G +9 &"f G +10 &$Fg G +9 &&j G +9 &'k G +10 &)k H +9 &+Mh G +9 &-h G +10 &.h H +9 &0j H +10 &2Uk G +9 &4i G +9 &5j G +41 &7j G +10 &9\\k H +2 &;g G +2 &<g G +2 &>f G + &@eg G +8 &B&f H +9 &Cm H +10 &Ep H +9 &Ggy J +9 &I$ K +10 &J M +9 &L M +10 &Nf M +9 &P) L +9 &Q M +10 &S M +9 &Ul M +9 &W- N +10 &X M +9 &Z?Dc %l +9 &Z\ + " +6 ( +2 "processing"% & +3 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open + "manipulator"&[1 +56 "core" 1 +2 "manipulator"&% +3 "core" % % N # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %\   4  +3 "storage"(% +3 "core" %P w + +2 "storage"(#. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(& +2 "manipulator"&c& +6 "core" &  \ +2 &r  W  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&,(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i +2 "core" ( +3 "manipulator"&& +3 "core" &r    +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &r  r  +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +4 .tPC.seek :open +2 "processing"%~( +77 "core" ' +2 "storage"(\ - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +308 ( + "storage"($& +4 "core" &  - +2 "manipulator"&(& +4 "core" &r  G  +2 "manipulator"& % +3 "core" %  y +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +255 "core" ( + "manipulator"&'& +4 "core" & %   +2 "storage"(& +4 "core" &  ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +100 "core" ' +2 .tHand.open + "manipulator"&:1 +53 "core" 1 +2 "storage"("- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +2 "core" -' +3 "storage"(0& +4 "core" & \ ^\ ^ _ + "manipulator"&1& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&@( +4 "core" ( + "manipulator"&B& +4 "core" & , F  +2 "storage"(%& +3 "core" & \ ^\ T [ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +58 "core" ' +2 "manipulator"&& +3 "core" & P  +3 "storage"(F& +4 "core" &  A + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&*' +25 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +22 "core" ' + "manipulator"&% +4 "core" %  y +2 "storage"(K& +3 "core" &  5 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&9' +19 "core" ' +2 "manipulator"&& +3 "core" & H  +2 "storage"(D& +5 "core" &  B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +37 "core" ' +2 "storage"(&% +3 "core" %p )  +3 ."downElevator"SE.seek :down +42 "storage"(E'X +61 ( % +3 "core" %W y { : PJ +2 "manipulator"&2% +3 "core" %ь  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +100 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (R& +3 "core" &  B +2 "collection"'T& +4 "core" &Vj0 G +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&G% +3 "core" %\  8 +2 "storage"(.% +5 "core" %R 9 + "storage"(I. +3 "core" .( +2 "storage"(!& +3 "core" &   +2 "storage"(O& +5 "core" &   + "manipulator"&L& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&C& +3 "core" & ' G  +2 "storage"(3& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&A'ќ +100 "core" ' +2 "storage"(]& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'i +283 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &  +2 "storage"(>& +4 "core" &  x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&N' +31 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'P +28 "core" ' +2 "manipulator"&H% +3 "core" %  P  +2 "storage"(f& +4 "core" &  | \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&4' +22 "core" ' + "manipulator"&`& +5 "core" &  + "storage"(7& +4 "core" &  j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&_'ќ +17 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(o'? +43 "core" ' +2 "manipulator"&r& +3 "core" &  +3 "manipulator"&d% +3 "core" %ѕ v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&x( +158 "core" ( +2 "manipulator"&W& +3 "core" &+ ! X Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &+   Bf +3 .tForearm.seek CC + "manipulator"&h'" +96 "core" ' +2 .tHand.close + "manipulator"&{/ +57 "core" / +2 .tCC.seek :open + "collection"'j( +413 "core" ( + "storage"(X& +5 "core" &  + "storage"(s& +4 "core" &  f +2 "manipulator"&i& +3 "core" &* " V @] +2 "manipulator"&e% +4 "core" % ( +3 .tForearm.seek :retract + "manipulator"&Y'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +6 "manipulator"&b( +156 "core" ( + "manipulator"&;& +3 "core" & $ X +3 "storage"(& +4 "core" &  Y + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&g' +104 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +63 "core" 1 +2 "manipulator"&% +4 "core" % $ Q R +3 "storage"(}& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&n' +19 "core" ' +2 "manipulator"&|& +3 "core" & +2 "storage"(^& +4 "core" &  q +41 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +34 "core" ' +2 "storage"(Z% +3 "core" %H 5 +3 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (% +3 "core" %HT  PH +2 "manipulator"&q% +5 "core" %э ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'v& +4 "core" && + "manipulator"&u% +5 "core" %\ !  7 +2 "storage"(% +4 "core" %b  + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(M( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" & 2  +2 "manipulator"&& +4 "core" &  C +2 .tElbow.seek 3 +2 "manipulator"&( +20 "core" ( + "manipulator"&& +4 "core" & *  ~ +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +97 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & (  +2 "manipulator"&& +3 "core" & ~ +3 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +2 "manipulator"&& +3 "core" & ~ +2 "storage"(& +5 "core" &  +2 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w'X +6 "core" &   ~ +3 "manipulator"&% +3 "core" % ϟ  $ +3 .tForearm.seek :retract +2 "manipulator"&$'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&(( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"& & +3 "core" &' 7 5 >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' !  >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&''" +102 "core" ' +2 "manipulator"&& +4 "core" &' 2 9 =E + "manipulator"&,% +5 "core" %  T +2 "collection"':& +4 "core" &2 +2 "collection"'"& +5 "core" &' +3 .tCC.seek :closed +3 "collection"'5(V +3 "core" &) +6 &- < +10 &[O( 0 +9 &}, D +9 &Zg- G +10 &g; G +9 &h0 G +9 &h. G +10 &ch0 G +9 &$i5 G +10 &h7 G +9 &h5 G +9 &!ih. G +10 &#*h, H +9 &$i9 G +9 &&g1 G +10 &(qg5 G +9 &*4h/ G +10 &+g2 G +9 &-g6 G +9 &/zh7 G +10 &1;g. G +9 &2g- G +9 &4h5 G +10 &6g. G +9 &8Dh+ G +10 &:h1 G +9 &;j. G +9 &=e3 G +10 &?Kg2 G +9 &A g. G +9 &Bh. G +10 &Dl1 G +9 &FPrB H +10 &H4 J +9 &IJ61 L +9 &K~~~< Q +10 &M=(1' R +9 &O#&+ Q +10 &P "0 R +9 &R "+ R +9 &TC + R +10 &Uu ". = +9 &V'  #h +9 &Vk- I +3 ( + "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 + .Hand.open +2 "manipulator"&01 +57 "core" 1 + "manipulator"&1% +5 "core" %  1 ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%%& +3 "core" & +2 "manipulator"&% +4 "core" %\   Z  +2 "storage"(% +3 "core" %` , +2 "storage"(F. +4 "core" .( + "storage"(& +4 "core" &   +2 "storage"(& +3 "core" & u   +2 "manipulator"&K& +4 "core" &&  e =D +2 "manipulator"&<% +44 "core" %\  A  +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&D& +4 "core" & ) 0  +2 "storage"(&& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +104 "core" ' +2 "storage"(8& +3 "core" & /  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" & 4  +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&@( +4 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(*& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&R& + "storage"(T'X +8 "core" &    + "manipulator"&G% +4 "core" % Ϣ   , +2 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&!& +3 "core" &m # .  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &O& +3 "core" &m 8  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' +2 "manipulator"&C& +3 "core" &m Q  +3 "manipulator"&3% +3 "core" % % +2 "processing"%)& +5 "core" & +2 "processing"%]& +5 "core" & +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" & +7 &< #c +9 &[ 6 +10 & H +9 &e G +10 &k G +9 &[h G +9 &e G +10 &h H +9 &j G +9 &ck G +10 & %h G +9 &!e G +10 &#j G +9 &%kj G +9 &'-g G +10 &(j G +9 &*j H +9 &,si G +10 &.5e G +9 &/g G +10 &1d G +9 &3|j G +9 &5=h G +10 &7e G +9 &8h G +9 &:d G +10 &e G +10 &?h G +9 &Ae G +9 &CMl G +10 &Em H +9 &Fv H +9 &H K +10 &JF M +9 &L  L +10 &M M +9 &O M +9 &QN M +10 &S M +9 &T M +9 &V N +10 &XT M +9 &Yyx "j +10 &Z&k - +8 ( +2 &Z # +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&+1 +59 "core" 1 +2 "manipulator"&?% +3 "core" % (  % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +2 "processing"%J& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&>% +4 "core" %\    + "storage"(S% +4 "core" %T +2 "storage"(H. +3 "core" .( +2 "storage"(f& +3 "core" &   +3 "storage"(`& +3 "manipulator"&7& +5 "core" & I  +2 &m   +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(r'i + "manipulator"&d(s +7 "core" ( + "manipulator"&A& +3 "core" &m ' 6  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m    +3 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' +2 .tHand.close + "manipulator"&N/ +65 "core" / +2 .tPC.seek :open + "processing"%4( +80 "core" ' + "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +42 "storage"(W'y +39 "core" ' +265 ( +2 "storage"(t& +4 "core" &   + "manipulator"&_& +4 "core" &m  w  +2 "manipulator"&U% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P( +258 "core" ( +2 "manipulator"&a& +3 "core" & % ' !p +2 "storage"(X& +4 "core" & 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +94 "core" ' +2 .tHand.open + "manipulator"&i1 +63 "core" 1 +2 "storage"(e- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(;'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(x& +3 "core" &\ ^\ Q B  +2 "manipulator"&m& +5 "core" &  / n + .tElbow.seek 3 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&}& +3 "core" & & ? w +3 "storage"(|& +4 "core" &\ J\ E K  +2 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Y' +54 "core" ' + "manipulator"&Z& +4 "core" & Y w +2 "storage"(b& +3 "core" & 8  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +23 "core" ' + "manipulator"&n% +4 "core" %Ά   +2 "storage"(v& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&u'ϲ +20 "core" ' + "manipulator"&& +4 "core" &  K w +2 "storage"(z& +4 "core" & \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +29 "core" ' + "storage"(k% +4 "core" %m   +3 ."downElevator"SE.seek :down +3 "storage"(l'X +100 (% +3 "core" %X ~ u QK +2 "manipulator"&[% +3 "core" %1  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & E  +2 "collection"'& +4 "core" &Vj+ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(p% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(c& +4 "core" & }  + "storage"( & +4 "core" & L  +2 "manipulator"&& +3 "core" & M w +3 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & f w +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +98 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +3 "storage"(#- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +42 "core" & w +9 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'O +28 "core" ' + "manipulator"&y% +5 "core" %Ά  + "storage"(:& +4 "core" & K  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&w'ϲ +20 "core" ' + "manipulator"&$& +5 "core" & x w + "storage"(j& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(1'> +39 "core" ' +2 "manipulator"&%& +3 "core" & + w +2 "manipulator"&% +4 "core" %v d u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +157 "core" ( +2 "manipulator"&& +3 "core" &# 1 F :* +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &#  e :* +3 .tForearm.seek CC + "manipulator"&"'" +97 "core" ' +2 .tHand.close + "manipulator"&K/ +60 "core" / +2 .tCC.seek :open +2 "collection"'<( +415 "core" ( +2 "storage"('& +4 "core" & "  + "storage"(D& +4 "core" &   +2 "manipulator"&&& +3 "core" &"  I 9) +2 "manipulator"&8% +5 "core" % %  E + .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&B( +166 "core" ( +2 "manipulator"& & +3 "core" & ' ! n +2 "storage"(2& +3 "core" & X  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& '} +97 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&*1 +57 "core" 1 +2 "manipulator"&-% +3 "core" % r  g +2 "storage"(R& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 289 counts +2 "manipulator"&G'Ϟ +21 "core" ' +2 "manipulator"&& +3 "core" & 8 n +2 "storage"(/& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +17 "core" ' + "storage"(9% +4 "core" %C  +3 ."downElevator"SE.seek :down +4 "storage"(!'X +100 (O% +3 "core" %T  PH +2 "manipulator"&@% +3 "core" %5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +88 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'3& +3 "core" &0 +2 "manipulator"&)% +4 "core" %\    +2 "storage"(T% +3 "core" %V  +2 "storage"(.. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(~( +341 "core" ( + .tSC.configure :limp +46 "storage"($\ 1b +5 (+& +3 "core" & +2 "manipulator"&?& +3 "core" &  n +3 .tElbow.seek 2 + "manipulator"&J( +29 "core" ( +2 "manipulator"&>& +3 "core" & % ' "} +2 "storage"(S& +5 "core" & J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +106 "core" ' + "storage"(f& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'i +279 "core" ' +3 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" & +2 "manipulator"&A& +3 "core" & ) "x +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&L& +3 "core" & "x +2 "storage"(N& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(E'X +8 "core" & "x +2 "manipulator"&r% +3 "core" % ^ ) +3 .tForearm.seek :retract + "manipulator"&t'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&U& +4 "core" &#  M :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &# * / :. +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'" +103 "core" ' +2 "manipulator"&X& +3 "core" &# 2 F :, +3 "manipulator"&d% +3 "core" %3   +2 "collection"'i& +4 "core" &@ +3 "collection"'e& +5 "core" &8 +2 .tCC.seek :closed +4 "collection"'h(V +2 "core" &5 +6 &> 6 +10 &FL; / +9 &{: D +9 &>d7 G +10 &g> F +9 &g5 G +10 &g. G +9 &Gg; F +9 &h4 G +10 &g0 G +9 &g2 F +9 &!Mg. G +10 &#h4 G +9 &$i8 G +10 &&g3 G +9 &(Wg0 F +9 &*g- G +10 &+g4 F +9 &-f1 G +10 &/]e( G +9 &1f* G +9 &2g1 F +10 &4g1 G +9 &6ed. G +9 &8(g1 G +10 &9i8 G +9 &;i0 G +9 &=ng2 G +10 &?0g4 G +9 &@k/ G +10 &Bg1 G +9 &Dvi\ G +9 &F4o) H +10 &G~ : J +9 &IN6$ L +9 &Kcq$ P +10 &M#+0& Q +9 &N!& Q +10 &P # Q +9 &Rf ! R +9 &T%"" S +10 &U  5 +9 &V7  I +9 ( +3 "collection"'e& +2 "core" &VS ? +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&x1 +63 "core" 1 +3 "manipulator"&m% +3 "core" % 3 1   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%}& +4 "core" & + "manipulator"&|% +4 "core" %\ ! ! 5 +2 "storage"(Z% +3 "core" %b +2 "storage"(b. +3 "core" .( +2 "storage"(W& +3 "core" &  +2 "storage"(n& +4 "core" &  +2 "manipulator"&v& +4 "core" &" y 9) +2 "manipulator"&;% +3 "core" %\ ! ! M 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +163 "core" ( +2 "manipulator"&z& +3 "core" &  k  +2 "storage"(P& +4 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +95 "core" ' +2 "storage"(s& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +277 "core" ' +5 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" & # +2 "manipulator"&^& +4 "core" & d  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&Y& +4 "core" & t  +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +9 "core" & &  + "manipulator"&p% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +4 "manipulator"&c& +3 "core" &n  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &n  ]  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 "manipulator"&& +3 "core" &n '   +2 "manipulator"& % +4 "core" %   +2 "processing"%o& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%l(Z +3 "core" & +9 &< #c +9 &[ 6 +10 & H +9 &e G +10 &h G +9 &]e G +9 &h G +10 &e G +9 &i G +13 &cj H +6 & &h G +9 &!g H +10 &#g G +9 &%ki H +9 &'.h G +10 &(h H +9 &*h G +9 &,tj G +10 &.6h G +9 &/d G +9 &1h G +10 &3}d G +9 &5?h G +10 &7h G +9 &8g G +9 &:c G +10 &g G +10 &?h G +9 &Ad G +9 &CMj H +10 &Ep H +9 &Fu H +9 &H K +10 &JG M +9 &L  M +10 &M M +9 &O L +9 &QO M +10 &S M +9 &T M +9 &V M +10 &XU M +9 &Ywu "k +9 &Z(p , +9 ( +2 &Z ! +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&q1 +56 "core" 1 +2 "manipulator"&% +3 "core" % " _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' +2 "processing"% & +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %\     +3 "storage"(% +3 "core" %P  +2 "storage"(y. +3 "core" .( +2 "storage"(:& +3 "core" &  +3 "storage"($& +2 "manipulator"&j& +7 "core" & : + &n    +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&%(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&& +3 "core" &n  P  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &n  C  +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +4 "processing"%w( +93 "core" ' + "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('y +34 "core" ' +293 ( +2 "storage"(& +3 "core" & ' +2 "manipulator"&0& +3 "core" &n  ?  +2 "manipulator"&\ % +5 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&K'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +42 "manipulator"&( +254 "core" ( +2 "manipulator"&5& +3 "core" & ' # D +3 "storage"('& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +98 "core" ' +2 .tHand.open + "manipulator"&&1 +57 "core" 1 +2 "storage"(8- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(2' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(F& +3 "core" & \ ]\ Q G +3 "manipulator"&*& +4 "core" &  D + .tElbow.seek 2 +2 "manipulator"&-( +10 "core" ( +2 "manipulator"&R& +3 "core" & &  +2 "storage"(& +4 "core" & \ ^\ ^ i +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +58 "core" ' + "manipulator"&(& +5 "core" & R  + "storage"(O& +4 "core" & G +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +23 "core" ' +2 "manipulator"&G% +3 "core" %  6 +2 "storage"(3& +3 "core" & S +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&)' +22 "core" ' + "manipulator"&T& +5 "core" & ' :  +2 "storage"(.& +3 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +26 "core" ' + "storage"(=% +4 "core" %m   +3 ."downElevator"SE.seek :down +4 "storage"(!'X +99 (M% +3 "core" %W d d z PI +2 "manipulator"&+% +4 "core" %ѩ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +3 "core" & / +2 "collection"'S& +3 "core" &VT& ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&f% +3 "core" %\  %  +3 "storage"(6% +4 "core" %a + "storage"(C. +3 "core" .( +2 "storage"(7& +3 "core" &  +2 "storage"(]& +5 "core" &  +2 "manipulator"&A& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&L( +10 "core" ( + "manipulator"&N& +4 "core" & '   +2 "storage"(I& +3 "core" & 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +95 "core" ' +2 "storage"(r& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +282 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &  +2 "storage"(Q& +3 "core" & r +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&`' +21 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +48 "core" -' +4 .tSE.seek 0.09 Pucks below Top Plate + "storage"(d'P +28 "core" ' + "manipulator"&i% +4 "core" %  +2 "storage"(& +3 "core" & O +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&E' +18 "core" ' +2 "manipulator"&t& +3 "core" & ' +  +2 "storage"(<& +4 "core" & ) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(m'? +42 "core" ' +2 "manipulator"&}& +3 "core" &  +2 "manipulator"&|% +5 "core" %Ѧ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&e( +155 "core" ( + "manipulator"&b& +4 "core" &+ 0 j Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &, I Bj +2 .tForearm.seek CC +2 "manipulator"&n'" +96 "core" ' +2 .tHand.close + "manipulator"&v/ +63 "core" / +2 .tCC.seek :open +2 "collection"';( +415 "core" ( +2 "storage"(a& +4 "core" & + +2 "storage"(z& +3 "core" &  +2 "manipulator"&P& +3 "core" &) ! ?V +2 "manipulator"&s% +5 "core" % 2 ! . +2 .tForearm.seek :retract + "manipulator"&_'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&{( +155 "core" ( +2 "manipulator"&& +3 "core" & & 5  +2 "storage"([& +5 "core" & ( + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&^' +99 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ( C +2 "storage"(& +3 "core" & e +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&p' +18 "core" ' +3 "manipulator"&& +4 "core" & n  +2 "storage"(k& +3 "core" & r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +33 "core" ' +2 "storage"(u% +3 "core" %B  +3 ."downElevator"SE.seek :down +3 "storage"(c'X +99 ( % +3 "core" %&T  PH +2 "manipulator"&% +3 "core" %љ u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" &2 +2 "manipulator"&o% +3 "core" %\    +2 "storage"(% +3 "core" %a  +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(4( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (q& +2 "core" &  +2 "manipulator"&& +4 "core" & [  +2 .tElbow.seek 3 +2 "manipulator"& ( +11 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +47 "manipulator"&y'9 +88 "core" ' + "storage"(:& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'i +278 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & >  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +3 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & <  +2 "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(l'X +8 "core" & D  +2 "manipulator"&% +3 "core" % Ϝ +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&\ & +6 "core" &*  @ A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ ) d A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'" +99 "core" ' +3 "manipulator"&'& +4 "core" &+ 4 y A_ +2 "manipulator"&%% +3 "core" %,  a +3 "collection"'&& +4 "core" &@ +2 "collection"'8& +5 "core" &< +2 .tCC.seek :closed +2 "collection"'"(V +5 "core" &@ +7 &8 #c +10 &[/ 6 +9 &< H +9 &f9 G +10 &h? G +9 &Zh5 G +10 &g G +9 &j) G +9 &f( G +10 &cc# G +9 & %g& G +9 &!h, G +10 &#h4 G +9 &%lg* F +10 &',g+ G +9 &(e& F +9 &*g! F +10 &,sf G +9 &.5c, G +9 &/e' F +10 &1h$ G +9 &3|f F +10 &5=f) G +9 &6j! G +9 &8c G +10 &:g! F +9 &g( G +10 &?e$ G +9 &Af F +10 &CLg G +9 &E l, G +9 &Ft0 H +10 &H~* J +9 &JC]E3 M +9 &KQ( P +10 &M&-% Q +9 &O}"%+ Q +10 &Q>!#% Q +9 &R!#+ R +9 &T0 R +10 &V,\\ $ . +9 &V 1 J +9 ( +2 "collection"'8& +3 "core" &V[, D +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&F1 +60 "core" 1 +3 "manipulator"&*% +3 "core" % , ( % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&K% +3 "core" %\   G  +3 "storage"((% +4 "core" %T  + "storage"(O. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(G& +4 "core" &   +2 "manipulator"&3& +3 "core" &)  @^ +2 "manipulator"& % +4 "core" %\   )  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T( +161 "core" ( +2 "manipulator"&.& +3 "core" &  +2 "storage"(=& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"(D& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'i +280 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +2 "core" & O  +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&9& +3 "core" & f  +2 "storage"(@& +4 "core" & 7  +48 .tForearm.seek 3 + 300 counts +4 "manipulator"&)'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&>/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(f'X +30 "core" & d  +2 "manipulator"&6% +3 "core" % Ͽ [ 4 +3 .tForearm.seek :retract + "manipulator"&C'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&7(s +134 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +115 "core" ( + "manipulator"& & +4 "core" &w / K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &w  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +96 "core" ' +2 "manipulator"&N& +4 "core" &w ' ' +2 "manipulator"&I% +4 "core" %  +2 "processing"%1& +3 "core" & +3 "processing"%r& +5 "core" & +2 .tPC.seek :closed +3 "processing"%!(Z +4 "core" & +5 & 8 +10 &MN / +9 &{ C +9 &Ah G +10 &h G +9 &f G +10 &j G +9 &Ig G +9 & h G +10 &c G +9 &h G +9 &!Qg G +10 &#h H +9 &$g G +10 &&g G +9 &(Zi G +9 &*h G +10 &+j G +9 &-e G +9 &/bg G +10 &1$h G +9 &2g G +10 &4g G +9 &6kc G +9 &8,f G +10 &9i G +9 &;g G +9 &=rg G +10 &?4g G +9 &@f G +10 &Bk G +9 &Dxn H +9 &F:q H +10 &G J +9 &I M +9 &Kt L +10 &M4 M +9 &N M +10 &P M +9 &Ry M +9 &T; M +10 &U M +9 &W M +9 &Y : +10 &Zp5 W +9 &Z +3 ( + "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&B1 +54 "core" 1 +2 "manipulator"&?% +3 "core" %  ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +100 "core" ' +2 "processing"%U& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +3 "core" %\ #  Q = +3 "storage"(X% +4 "core" %O  + "storage"(i. +3 "core" .( +2 "storage"(& +4 "core" & m  +2 "storage"(t& +4 "manipulator"&<& +6 "core" & ?  +2 &w  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&}(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'i +2 "core" ( + "manipulator"&V& +5 "core" &w   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &w  4 +2 .tForearm.seek PC +2 "manipulator"&J' +97 "core" ' + .tHand.close +2 "manipulator"&`/ +56 "core" / +5 .tPC.seek :open +4 "processing"%E( +83 "core" ' +2 "storage"(d- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +42 "core" ' +298 ( +2 "storage"(W& +3 "core" &   +2 "manipulator"&x& +5 "core" &w  + "manipulator"&\\% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +261 "core" ( +2 "manipulator"&h& +3 "core" &   +2 "storage"(a& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +92 "core" ' + .tHand.open +2 "manipulator"&P1 +59 "core" 1 +49 "storage"(s- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"([' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +3 "core" -' +2 "storage"(e& +5 "core" &\ K\ E !  + "manipulator"&& +4 "core" & E  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +5 "core" &\ P\ [  +2 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(u' +57 "core" ' +2 "manipulator"&_& +3 "core" &  +2 "storage"( & +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +24 "core" ' +2 "manipulator"&p% +3 "core" %Ή m +2 "storage"( & +4 "core" & L  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&o'ϵ +20 "core" ' +2 "manipulator"&& +3 "core" & ;  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +29 "core" ' +2 "storage"(% +3 "core" %s ^  +3 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (~% +3 "core" % W t q & QJ +2 "manipulator"&q% +4 "core" %; h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & Z  +2 "collection"'& +3 "core" &VZ, D +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&:% +3 "core" %\   +2 "storage"(Y% +5 "core" %S  + "storage"(. +3 "core" .( +2 "storage"($& +3 "core" & 7  +2 "storage"(& +4 "core" &   +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & & -  +2 "storage"(g& +4 "core" & 6  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +98 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +281 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &   +2 "storage"(& +3 "core" & E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&j'} +19 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(%'P +27 "core" ' +2 "manipulator"&% +3 "core" %x +2 "storage"(&& +4 "core" & b  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&l'Ϥ +20 "core" ' +2 "manipulator"&& +3 "core" & ,  +38 "storage"(;& +14 "core" & B  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(*'? +37 "core" ' +2 "manipulator"&& +3 "core" & M  +3 "manipulator"&K% +3 "core" %> 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +156 "core" ( +2 "manipulator"&& +3 "core" &# $ B :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &#   :/ +3 .tForearm.seek CC + "manipulator"&G'" +95 "core" ' + .tHand.close +2 "manipulator"&3/ +64 "core" / +2 .tCC.seek :open + "collection"' ( +413 "core" ( +6 "storage"(5& +5 "core" &   + "storage"(.& +4 "core" &   +7 "manipulator"&=& +3 "core" &#  3 :/ +2 "manipulator"&D% +4 "core" % 0  , +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&R( +98 "Can" <  +70 "core" ( +2 "manipulator"&M& +3 "core" & % " m +2 "storage"(+& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&/'} +99 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +52 "core" 1 +2 "manipulator"&>% +5 "core" % ΀ & / +2 "storage"(S& +3 "core" & %  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&6'Ϭ +20 "core" ' +2 "manipulator"&T& +3 "core" & m +2 "storage"(& +3 "core" & N  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +44 "core" ' +2 "storage"()% +3 "core" %G I +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (]% +3 "core" %Z  PH +2 "manipulator"&-% +4 "core" % 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'I& +3 "core" &1 +2 "manipulator"&1% +4 "core" %\  U  + "storage"(f% +4 "core" %a  +2 "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(w( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" & X +2 "manipulator"&?& +4 "core" & m +2 .tElbow.seek 2 +2 "manipulator"&U( +34 "core" ( +2 "manipulator"&Q& +3 "core" & % 9 "} +2 "storage"(X& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +93 "core" ' + "storage"(& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'i +279 "core" ' +2 "storage"(<- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (t& +2 "core" &  + +47 "manipulator"&V& +5 "core" & "{ +3 .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&A& +3 "core" & "{ +2 "storage"(`& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(!'X +8 "core" & P "{ +2 "manipulator"&|% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&W'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&x( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&\\& +3 "core" &* C @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &)  P ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&h'" +102 "core" ' +5 "manipulator"&a& +3 "core" &(  1 >L +3 "manipulator"&}% +3 "core" %"  " B +2 "collection"'P& +5 "core" &= +2 "collection"'s& +4 "core" &A +3 .tCC.seek :closed + "collection"'n(V +5 "core" &3 +7 &D3 $d +10 &\\2 6 +9 &). G +9 &e' G +10 &f% G +9 &qc' F +9 &2g' G +10 &h* G +9 &e4 F +10 &ye2 F +9 & 9j' G +9 &!f+ F +10 &#h" G +9 &%i G +10 &'Bd, G +9 &)d" F +9 &*g$ G +10 &,i, F +9 &.Ke4 F +9 &0 d( G +10 &1g2 F +9 &3i( G +9 &5Sc9 F +10 &7f- G +9 &8f+ G +10 &:e. G +9 &<[i- F +9 &>g0 G +10 &?j+ F +9 &Af+ F +9 &Ccg& F +10 &E"n, G +9 &Fy4 I +10 &H 6 J +9 &JUkR2 N +9 &LG4 Q +10 &M')& Q +9 &O#&, Q +9 &QT"$7 Q +10 &S!. R +9 &T#$? R +10 &VBg #. / +9 &V % 9 +9 &Wm $ C +6 ( +2 "collection"'s& +3 "core" &W`, C +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&v1 +54 "core" 1 +2 "manipulator"&e% +5 "core" % " $ P B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&% +3 "core" %\  Z  +2 "storage"(_% +4 "core" %b { F +2 "storage"( . +3 "core" .( +2 "storage"(p& +3 "core" &  J +2 "storage"( & +4 "core" &  +2 "manipulator"&b& +3 "core" &'  Y >L +2 "manipulator"&% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +164 "core" ( +2 "manipulator"&& +3 "core" & & U +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +88 "core" ' + "storage"(z& +4 "core" &  z +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['i +282 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &  # +2 "manipulator"&k& +3 "core" & +3 .tElbow.seek 2 + "manipulator"&( +14 "core" ( +2 "manipulator"&u& +3 "core" & / +2 "storage"(& +4 "core" &  = +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(:'X +7 "core" & . +2 "manipulator"&Y% +4 "core" %  J +47 .tForearm.seek :retract +4 "manipulator"&^'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +166 "core" ( + "manipulator"&$& +5 "core" &l . I \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l - | \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' +2 "manipulator"&& +3 "core" &l ) C \ +2 "manipulator"&g% +5 "core" %   +2 "processing"%m& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +3 "processing"%c(Z +4 "core" & +5 & 8 +10 &KM / +9 &z D +9 &Af G +10 &h G +9 &g G +10 &g G +9 &Hf G +9 &\ h G +10 &c G +9 &h G +9 &!Qg G +10 &#i G +9 &$g G +10 &&e G +9 &(Xh G +9 &*h G +10 &+e G +9 &-i G +9 &/ag G +10 &1"h G +9 &2g G +10 &4g G +9 &6hg G +9 &8*g G +10 &9j G +9 &;g G +9 &=pg G +10 &?2g G +9 &@f G +10 &Bi H +9 &Dvk H +9 &F8r H +10 &G~ J +9 &I L +9 &Kq M +10 &M3 M +9 &N M +10 &P L +9 &Ry M +9 &T< L +10 &U M +9 &W N +9 &Y : +10 &Zo5 X +9 &Z " +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&{1 +64 "core" 1 +2 "manipulator"&% +4 "core" % ' X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' +2 "processing"%\ & +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\    +3 "storage"('% +4 "core" %S  + "storage"(. +4 "core" .( + "storage"(&& +4 "core" &   +2 "storage"(& +3 "manipulator"&;& +8 "core" &  + &l \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(K'i +3 "core" ( +2 "manipulator"&#& +3 "core" &l \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l \ +3 .tForearm.seek PC + "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +3 .tPC.seek :open +2 "processing"%l( +90 "core" ' +2 "storage"(%- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +298 ( + "storage"(8& +4 "core" &  u +2 "manipulator"&F& +4 "core" &l  \ +2 "manipulator"&,% +3 "core" %  ' +3 .tForearm.seek :retract + "manipulator"&3'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&(( +241 "core" ( +2 "manipulator"&"& +3 "core" & & - % +2 "storage"(5& +4 "core" &  " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +94 "core" ' +2 .tHand.open + "manipulator"&=1 +64 "core" 1 +2 "storage"(D- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(M'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(O& +48 "core" & \ [\ ^ Y +5 "manipulator"&@& +3 "core" & % +3 .tElbow.seek 2 + "manipulator"&>( +4 "core" ( +2 "manipulator"&S& +4 "core" &   % +2 "storage"(T& +3 "core" & \ [\ S [ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +55 "core" ' +2 "manipulator"&0& +4 "core" & % +2 "storage"(]& +3 "core" &  M +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&-' +28 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'i +19 "core" ' + "manipulator"&6% +4 "core" % ! W S +2 "storage"(I& +3 "core" &  v h +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&1' +18 "core" ' +2 "manipulator"&f& +3 "core" & ' ! % +3 "storage"(C& +3 "core" &  5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&*'ќ +29 "core" ' + "storage"(2% +4 "core" %l  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (4% +3 "core" %\\ | ~ RM +2 "manipulator"&B% +3 "core" %Ѥ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +2 "core" &  F +3 "collection"'X& +4 "core" &W`+ C + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\   % +2 "storage"(9% +4 "core" %a  +2 "storage"(N. +3 "core" .( +2 "storage"(<& +3 "core" &   +2 "storage"(t& +4 "core" &  \ +2 "manipulator"&V& +3 "core" & w $ +3 .tElbow.seek 2 + "manipulator"&A( +4 "core" ( + "manipulator"&`& +4 "core" & & : $ +2 "storage"(7& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +101 "core" ' + "storage"(|& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'i +282 "core" ' +3 "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & $ +2 "storage"(J& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&r' +32 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(a- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(}'P +28 "core" ' +2 "manipulator"&L% +4 "core" % -  + "storage"(P& +4 "core" &   } s +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&!' +22 "core" ' + "manipulator"&W& +4 "core" & % ) $ +2 "storage"( & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(e'? +41 "core" ' +2 "manipulator"&& +4 "core" & $ +2 "manipulator"&% +3 "core" %ѱ c +45 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +151 "core" ( + "manipulator"&p& +4 "core" && 1 =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &&  { =D +2 .tForearm.seek CC +2 "manipulator"&s'" +95 "core" ' + .tHand.close +2 "manipulator"&b/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(h& +3 "core" &  +3 "storage"(& +4 "core" &   + "manipulator"&& +4 "core" & #  @ :. +2 "manipulator"&z% +3 "core" %  ) +3 .tForearm.seek :retract + "manipulator"&x'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&~& +3 "core" & + 9  +2 "storage"(q& +5 "core" &  y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&k' +98 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  r +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&Y' +19 "core" ' +2 "manipulator"&& +3 "core" & 1  +2 "storage"(Z& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +41 "core" ' +2 "storage"(o% +3 "core" %B +3 ."downElevator"SE.seek :down +4 "storage"($'X +98 (% +3 "core" %%X  PG +2 "manipulator"&% +4 "core" %|  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +39 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'g& +2 "core" & +3 "manipulator"&:% +3 "core" %\ \ Z  +2 "storage"(m% +4 "core" %b +2 "storage"(^. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(E( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" & R  +2 "manipulator"&& +4 "core" & s  +2 .tElbow.seek 3 + "manipulator"&\ ( +16 "core" ( +2 "manipulator"&& +3 "core" & * i +2 "storage"('& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(&& +3 "core" & y  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ,  +2 "manipulator"&#& +3 "core" & m i +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & H i +2 "storage"(j& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +45 .tHand.close +5 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&y& + "storage"(c'X +8 "core" & i + "manipulator"&K% +5 "core" % ϭ +2 .tForearm.seek :retract + "manipulator"&8'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&F( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&,& +3 "core" && & = =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &&  F =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'" +103 "core" ' +3 "manipulator"&5& +3 "core" && & =F +3 "manipulator"&% +3 "core" %  [ +2 "collection"'=& +4 "core" &1 +3 "collection"'D& +6 "core" &3 +2 .tCC.seek :closed +2 "collection"'G(V +5 "core" &/  +8 &5/ )u +9 &i8 < +10 &x1 G +9 &rc< F +9 &3f? G +10 &i> G +9 &i> G +9 &zi; F +10 &<f= F +9 &f> F +10 & g< F +9 &"g{ G +9 &$Ci% G +10 &&j8 G +9 &'dL G +9 &)h> G +10 &+Jg> G +9 &-e> F +10 &.c> G +9 &0e< G +9 &2Te= F +10 &4i; G +9 &5c; G +10 &7c= G +9 &9[h! G +9 &;j, G +10 &<g0 F +9 &>g2 F +9 &@cf/ G +10 &B$g; G +9 &Cg= G +10 &Em; G +9 &Gdy9 I +9 &I#*= J +10 &Jy_= O +9 &L:`4 Q +9 &NV(+= Q +10 &P$'< R +9 &Q$&> R +10 &S#$B S +9 &UW"#9 C +9 &Vl< "; 1 +10 &VV!D = +5 ( +2 "collection"'D& +5 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&O1 +2 "core" &VI1 = +56 1 +3 "manipulator"&3% +3 "core" %  $ 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%S& +4 "core" & +2 "manipulator"&T% +4 "core" %\   (  +2 "storage"(0% +3 "core" %] +2 "storage"(]. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(M& +4 "core" &  +2 "manipulator"&6& +3 "core" &&  0 =F +2 "manipulator"&I% +4 "core" %\   F  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +165 "core" ( +2 "manipulator"&C& +3 "core" & h v +2 "storage"(2& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +107 "core" ' +2 "storage"(.& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'i +280 "core" ' +2 "storage"(4- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" &   +2 "manipulator"&& +3 "core" & v +2 .tElbow.seek 3 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&)& +4 "core" & v + "storage"(-& +5 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&X& +3 "storage"('X +7 "core" & o v +2 "manipulator"&9% +3 "core" % ϩ a +3 .tForearm.seek :retract + "manipulator"&/'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +3 "manipulator"&<& +5 "core" &p . A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &p +59 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V' +102 "core" ' +2 "manipulator"&`& +3 "core" &p & @ +2 "manipulator"&7% +5 "core" %  = +2 "processing"%*& +3 "core" & +3 "processing"%|& +6 "core" & +2 .tPC.seek :closed +3 "processing"% (Z +4 "core" & +4 & 8 +10 &KM 0 +9 &} D +9 &Jg G +10 & h G +9 &g G +9 &k G +10 &Rg G +9 &g G +10 &e G +9 &g G +9 &![g G +10 &#j G +9 &$g G +9 &&f G +10 &(bg G +9 &*$g G +10 &+g G +9 &-g G +9 &/kg G +10 &1+k G +9 &2g G +9 &4g G +10 &6sf G +9 &86e F +10 &9h G +9 &;f G +9 &=|g F +10 &?<g G +9 &@f G +9 &Bi G +10 &Dl H +9 &FBp H +10 &G J +9 &I L +9 &Kz M +10 &M= L +9 &N M +9 &P L +10 &R L +9 &TD M +10 &V M +9 &W M +9 &Y : +10 &Zx6 J +9 &Z " +2 ( +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&R1 +62 "core" 1 + "manipulator"&?% +5 "core" %  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +100 "core" ' + "processing"%\\& +5 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&J% +4 "core" %\  ^  +2 "storage"(a% +3 "core" %P < +2 "storage"(L. +4 "core" .( + "storage"(P& +5 "core" &   +2 "storage"(W& +2 "manipulator"& & +6 "core" &   +2 &p +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&H& +4 "core" &p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &p +3 .tForearm.seek PC + "manipulator"&U' +95 "core" ' +3 .tHand.close +2 "manipulator"&r/ +59 "core" / +2 .tPC.seek :open +2 "processing"%!( +87 "core" ' + "storage"(}- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(p'y +34 "core" ' +301 ( +3 "storage"( & +3 "core" & ,  +2 "manipulator"&v& +3 "core" &p +3 "manipulator"&d% +4 "core" % / +2 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&_( +255 "core" ( +2 "manipulator"&n& +3 "core" & &   +2 "storage"(h& +4 "core" & <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(z- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(~'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(q' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"( & +4 "core" &\ J\ K \\  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & & c  +2 "storage"(& +4 "core" &\ J\ K Q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +50 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(o' +58 "core" ' +2 "manipulator"&x& +3 "core" &  +2 "storage"(& +4 "core" & Y  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(k'i +23 "core" ' +2 "manipulator"&Y% +3 "core" %s +2 "storage"(g& +5 "core" & <  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 290 counts + "manipulator"&:'ϟ +20 "core" ' +2 "manipulator"&m& +4 "core" & >  +2 "storage"(^& +3 "core" & $  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +23 "core" ' +2 "storage"([% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"($'X +99 (w% +4 "core" %R q p  OH +2 "manipulator"&{% +5 "core" %D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & [  +2 "collection"''& +4 "core" &VI0 = +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&&% +3 "core" %\ # B +2 "storage"(u% +4 "core" %P  +2 "storage"(. +3 "core" .( + "storage"(;& +5 "core" & s  + "storage"(& +4 "core" & "  +2 "manipulator"&#& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&j& +3 "core" & ' @  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +105 "core" ' + "storage"(K& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +283 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  +2 "storage"( & +4 "core" & &  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' +2 "manipulator"&% +3 "core" %p +2 "storage"(=& +4 "core" & h  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 287 counts +2 "manipulator"&c'Ϝ +20 "core" ' +2 "manipulator"&8& +3 "core" &  +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(3'? +37 "core" ' +2 "manipulator"&S& +3 "core" &  +2 "manipulator"&T% +5 "core" %F g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +156 "core" ( +3 "manipulator"&& +3 "core" &* " @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &*  U @Z +2 .tForearm.seek CC +46 "manipulator"&M'" +97 "core" ' + .tHand.close +2 "manipulator"&6/ +58 "core" / +2 .tCC.seek :open + "collection"'I( +413 "core" ( + "storage"("& +5 "core" &  + "storage"(C& +4 "core" & a  +2 "manipulator"&2& +3 "core" &*  m @Z +2 "manipulator"&.% +4 "core" % (  +3 .tForearm.seek :retract + "manipulator"&F'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&@( +152 "core" ( +2 "manipulator"&4& +3 "core" & \ +2 "storage"(B& +4 "core" & W  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +103 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&-1 +64 "core" 1 +2 "manipulator"&Q% +3 "core" % | ' ? +2 "storage"(X& +4 "core" & I  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +3 "manipulator"&9'Ϩ +20 "core" ' +2 "manipulator"&f& +3 "core" & A \ +2 "storage"((& +5 "core" & 7  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +35 "core" ' +2 "storage"(1% +4 "core" %E < +2 ."downElevator"SE.seek :down +4 "storage"(<'X +98 (t% +3 "core" %V  QI +2 "manipulator"&>% +4 "core" %F # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" &* +2 "manipulator"&*% +3 "core" %\   +3 "storage"(% +3 "core" %U  +2 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(l( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +2 "core" & +2 "manipulator"&?& +4 "core" & ` \ +2 .tElbow.seek 2 +2 "manipulator"&\\( +26 "core" ( +2 "manipulator"&J& +3 "core" &  E $ +2 "storage"(a& +4 "core" &  > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +87 "core" ' +2 "storage"(|& +3 "core" &  } +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +280 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  r +2 "manipulator"&H& +3 "core" & [ $ +3 .tElbow.seek 2 + "manipulator"&A( +20 "core" ( +2 "manipulator"&V& +3 "core" &  +2 "storage"(r& +4 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&i& + "storage"( 'X +8 "core" & P  + "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' + .tElbow.seek CC +47 "manipulator"&v( +111 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +52 "core" ( + "manipulator"&d& +4 "core" &+ ' Y Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &+ 1 Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'" +96 "core" ' +3 "manipulator"&h& +4 "core" &,  6 Bj +2 "manipulator"&% +5 "core" %+  : + "collection"'& +4 "core" &) +3 "collection"'z& +5 "core" &? +2 .tCC.seek :closed +2 "collection"'s(V +4 "core" &g  +9 &8' *y +9 &k: = +9 &s= G +10 &|e= G +9 &>i= G +9 &j> G +10 &j? F +9 &hC F +10 &GjA F +9 &d@ G +9 & j> G +10 &"m? G +9 &$MhB G +9 &&fA F +10 &'j? G +9 &)i> F +10 &+Wg= F +9 &-e@ G +9 &.h? F +10 &0f> G +9 &2^d> G +9 &4!j> F +10 &5d> G +9 &7d= F +10 &9gg< F +9 &;'k= G +9 &<g> F +10 &>d@ G +9 &@nc= G +9 &B0j> G +10 &CkA G +9 &EoA G +10 &Go{1 I +9 &I-2#7 K +9 &Jk5 O +10 &L1K? Q +9 &Nb$+4 P +9 &P!"&4 Q +10 &Q"$B R +9 &S!"= R +10 &Ub "5 @ +9 &VJ"< ] +9 &V8> 9 %q +10 &W:!9 ; +2 ( +2 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 +3 "manipulator"&% +3 "core" % + ' ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&b% +3 "core" %\  Q  +2 "storage"(x% +5 "core" %U & + "storage"(. +3 "core" .( +2 "storage"(p& +3 "core" &  9 +2 "storage"(~& +4 "core" &  Q +2 "manipulator"&Y& +3 "core" &*  @Y +2 "manipulator"&g% +4 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&m( +157 "core" ( +2 "manipulator"&^& +3 "core" & u +2 "storage"(_& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +103 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +284 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &  = +2 "manipulator"&Z& +4 "core" & Q +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&o& +4 "core" & j +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&:' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(&'X +8 "core" & +2 "manipulator"&u% +3 "core" %  K +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( +3 "manipulator"&;& +3 "core" &j  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +96 "core" ' +2 "manipulator"&j& +3 "core" &m +3 "manipulator"&% +3 "core" % 5  +2 "processing"%e& +4 "core" & +3 "processing"%K& +5 "core" & +2 .tPC.seek :closed +53 "processing"%$(Z +5 "core" & + & + & +2 & + & + & + &  +4 &6 )v +9 &j = +10 &z H +9 &qe F +9 &1g G +10 &g G +9 &g G +10 &wf G +9 &:e G +9 &h G +10 & g F +9 &"g G +9 &$Ah G +10 &&g G +9 &'g G +10 &)g G +9 &+Hj G +9 &- f G +10 &.g G +9 &0g G +9 &2Rh G +10 &4j G +9 &5f G +10 &7e F +9 &9Yg G +9 &;e G +10 &<k G +9 &>g G +9 &@`k G +10 &B#h G +9 &Cj G +10 &Ek H +9 &Gc{ I +9 &I K +10 &J L +9 &L L +9 &Nb L +10 &P# M +9 &Q M +10 &S L +9 &Uh M +9 &W* M +10 &X M +9 &Z<Dc %m +9 &Z + +6 ( +2 "processing"%K& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +3 "core" % %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%,& +4 "core" &Z + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %\   +3 "storage"(5% +4 "core" %T F + "storage"(. +4 "core" .( + "storage"(=& +4 "core" &  5 +2 "storage"(8& +4 "manipulator"&& +3 "core" &  E +2 &m +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&S(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(T'i +3 "core" ( +2 "manipulator"&y& +3 "core" &m { +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m V +3 .tForearm.seek PC +2 "manipulator"&\ ' +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%c( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +295 ( +2 "storage"(D& +3 "core" &  { +2 "manipulator"&O& +3 "core" &m +2 "manipulator"&%% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&6'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +245 "core" ( + "manipulator"&G& +3 "core" & ' # +2 "storage"("& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&C'ќ +101 "core" ' + .tHand.open +2 "manipulator"&21 +64 "core" 1 +2 "storage"(.- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(4'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(B' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(M- +3 "core" -' +2 "storage"(]& +3 "core" &  \ 2  +3 "manipulator"&-& +4 "core" & # + .tElbow.seek 2 +2 "manipulator"&Q( +4 "core" ( +2 "manipulator"&X& +3 "core" & % P # +2 "storage"(f& +4 "core" & \ F L +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +53 "core" ' +2 "manipulator"&F& +3 "core" & # +3 "storage"(t& +4 "core" &  : + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +24 "core" ' +46 .tElbow.hold +4 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&9% +3 "core" %   +2 "storage"(7& +5 "core" &  S + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&*' +19 "core" ' + "manipulator"&& +5 "core" & % / # + "storage"(/& +5 "core" &  R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +33 "core" ' +2 "storage"(+% +4 "core" %q 8 +3 ."downElevator"SE.seek :down +4 "storage"(<'X +99 (E% +3 "core" %M\\ ~ | QK +2 "manipulator"&R% +4 "core" %ѯ 5 ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +97 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (J& +3 "core" &  $ +2 "collection"'a& +5 "core" &W72 ; + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&|% +3 "core" %\ # B +3 "storage"()% +3 "core" %` @ +2 "storage"(`. +3 "core" .( +2 "storage"(W& +3 "core" &  > +2 "storage"( & +4 "core" &   +2 "manipulator"&H& +3 "core" &  k # +3 .tElbow.seek 2 + "manipulator"&V( +4 "core" ( +2 "manipulator"&r& +4 "core" &  # +2 "storage"(N& +3 "core" &  N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +102 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +283 "core" ' +3 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" & # +2 "storage"(}& +3 "core" &  g +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&d' +29 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(h'P +29 "core" ' + "manipulator"&% +4 "core" %  ; , +2 "storage"(& +3 "core" &  s , +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"& ' +22 "core" ' +2 "manipulator"& & +4 "core" & % 5 # +2 "storage"(I& +3 "core" &  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +36 "core" ' +2 "manipulator"&& +3 "core" & # +2 "manipulator"&b% +5 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +147 "core" ( +2 "manipulator"&& +3 "core" &# # Y ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +4 "core" &$  w ;5 +2 .tForearm.seek CC +2 "manipulator"&~'" +98 "core" ' +2 .tHand.close + "manipulator"&Y/ +56 "core" / +2 .tCC.seek :open +2 "collection"'g( +416 "core" ( + "storage"(n& +4 "core" &   +2 "storage"(^& +3 "core" &  +2 "manipulator"&_& +44 "core" &$  ;4 +8 "manipulator"&% +4 "core" % /  i +2 .tForearm.seek :retract +2 "manipulator"&v'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( + "manipulator"&w& +5 "core" & R  + "storage"({& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&Z' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +3 "manipulator"&% +3 "core" % & +2 "storage"('& +3 "core" &  p +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&u' +26 "core" ' + "manipulator"&m& +5 "core" & {  +2 "storage"([& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +18 "core" ' + "storage"(:% +5 "core" %I o +2 ."downElevator"SE.seek :down +4 "storage"(;'X +98 (% +3 "core" %?U PH +2 "manipulator"&% +4 "core" %ќ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +97 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &8 +2 "manipulator"&e% +4 "core" %\ # 9 ? +2 "storage"(&% +3 "core" %a - +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(!( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &   +3 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&,( +16 "core" ( + "manipulator"& & +4 "core" & % c +2 "storage"(5& +3 "core" & '  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' +2 "storage"(=& +3 "core" & l  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +2 "core" &  +2 "manipulator"&y& +5 "core" & R c +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&#& +5 "core" &  p c + "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"($'X +8 "core" & c +2 "manipulator"&T% +3 "core" % ϥ + +3 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&O( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&%& +3 "core" &# ) R ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &#   ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'" +98 "core" ' +3 "manipulator"&"& +4 "core" &#  h :/ +2 "manipulator"&S% +3 "core" %%  L +3 "collection"'2& +3 "core" &H +3 "collection"'.& +7 "core" &: +2 .tCC.seek :closed +2 "collection"'M(V +5 "core" & +7 &C5 #c +9 &\\3 6 +9 &f G +10 &e) G +9 &j* G +9 &]h< G +10 &k> G +9 &j G +10 &i2 G +9 &ej> G +9 & 'i= G +10 &!j? G +9 &#h< F +9 &%mg; G +10 &'/i> G +9 &(gC G +10 &*fn F +9 &,wf# F +9 &.7i@ G +10 &/i? G +9 &1d< G +9 &3}i> G +10 &5@hB F +9 &7gB F +10 &8c> G +9 &:d; F +9 & e> G +9 &?d: G +9 &AcC G +10 &COd> G +9 &EkC G +10 &FvH H +9 &HS I +9 &JCZBQ N +10 &KdP P +9 &M)0O Q +9 &O#(Q Q +10 &Q?!%P R +9 &R!"S R +10 &T"#Q R +9 &V+Y!$O 2 +9 &V"O P +9 ( +3 "collection"'.& +3 "core" &Vr !S J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&]1 +57 "core" 1 +2 "manipulator"&-% +3 "core" % % ' D +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%f& +4 "core" & +2 "manipulator"&6% +3 "core" %\     +3 "storage"(F% +3 "core" %a ' +2 "storage"(t. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(4& +3 "core" &   +3 "manipulator"&9& +4 "core" &#  :- + "manipulator"&7% +4 "core" %\   O  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&/& +3 "core" & %  +2 "storage"(0& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +99 "core" ' +2 "storage"(+& +3 "core" & u  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +280 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" & 2  +2 "manipulator"&R& +3 "core" & P  +3 .tElbow.seek 3 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&1& +3 "core" & S  +2 "storage"(>& +5 "core" & 7  +2 .tForearm.seek 3 + 300 counts + "manipulator"&*'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(|'X +8 "core" &  +2 "manipulator"&)% +3 "core" % ϯ +3 .tForearm.seek :retract + "manipulator"&`'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +3 "manipulator"&W& +3 "core" &{ *  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &{ w  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +100 "core" ' +2 "manipulator"&r& +3 "core" &{ X  +3 "manipulator"&N% +4 "core" % ~ [ +2 "processing"%3& +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed + "processing"%<(Z +6 "core" & +5 &< #b +10 &\\ 6 +9 & H +10 &f G +9 &g G +9 &[d G +10 &g G +9 &g G +9 &e G +10 &dg G +9 & &g G +10 &!e G +9 &#f G +9 &%lg G +10 &'-f G +9 &(g G +9 &*h G +10 &,sg G +9 &.5h G +10 &/e G +9 &1e G +9 &3{f G +10 &5=g G +9 &7f G +9 &8e G +10 &:f G +10 &c G +51 &?f G +3 &Af G + &CNi G + &E m H + &Ft I + &H J +7 &JE M +10 &L L +9 &M L +9 &O L +10 &QM M +9 &S M +10 &T M +9 &V M +9 &XR N +10 &Yww "k +9 &Z*t , +9 ( +2 "processing"%& +3 "core" &Z +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&@1 +58 "core" 1 +2 "manipulator"&?% +3 "core" % & l [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +97 "core" ' +2 "processing"%P& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&}% +3 "core" %\   +3 "storage"(A% +3 "core" %U  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"( & +2 "manipulator"&I& +6 "core" &   +2 &{  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i + "manipulator"&b(s +6 "core" ( +2 "manipulator"&i& +3 "core" &{ & )  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +4 "core" &{\  +2 .tForearm.seek PC +2 "manipulator"&\\' +101 "core" ' +2 .tHand.close + "manipulator"&d/ +56 "core" / +2 .tPC.seek :open +2 "processing"% ( +85 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +32 "core" ' +305 ( +2 "storage"(p& +3 "core" &  +2 "manipulator"& & +5 "core" &{  +2 "manipulator"&U% +4 "core" % t +2 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +266 "core" ( + "manipulator"&s& +3 "core" & a \ +2 "storage"(n& +4 "core" & =  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +93 "core" ' +2 .tHand.open + "manipulator"&_1 +56 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(~- +2 "core" -' +2 "storage"(z& +4 "core" &\ F\ O [  +2 "manipulator"&& +4 "core" & v \ +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&'& +5 "core" & & + "storage"(m& +4 "core" &\ F\ P C  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(:' +53 "core" ' +2 "manipulator"&v& +4 "core" & m + "storage"(& +4 "core" & %  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'i +23 "core" ' +2 "manipulator"&% +3 "core" % +2 "storage"(u& +5 "core" & {   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&e'ϫ +65 "core" ' +3 "manipulator"&&& +4 "core" &  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +34 "core" ' +2 "storage"(q% +3 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"(;'X +99 (l% +3 "core" %ZZ |  QK +2 "manipulator"&% +4 "core" %0 f { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &   +2 "collection"'5& +4 "core" &VrL J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\  & +2 "storage"(o% +3 "core" %a   +2 "storage"(j. +4 "core" .( + "storage"(8& +4 "core" &   +2 "storage"(K& +3 "core" &   +2 "manipulator"&y& +5 "core" & +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&& +3 "core" & & +2 "storage"(k& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(T& +3 "core" & y  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'i +282 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & N +2 "storage"(\ & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'P +29 "core" ' + "manipulator"&2% +4 "core" %| L +2 "storage"(& +3 "core" & z  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&$'Ϩ +20 "core" ' +2 "manipulator"&D& +3 "core" & +2 "storage"(g& +4 "core" & /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(-'? +43 "core" ' +2 "manipulator"&f& +3 "core" & , +2 "manipulator"&6% +5 "core" %\\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&t( +161 "core" ( + "manipulator"&& +4 "core" &! $ ? 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &!  P 8 +3 .tForearm.seek CC + "manipulator"&.'" +94 "core" ' +2 .tHand.close + "manipulator"&9/ +53 "core" / +2 .tCC.seek :open +2 "collection"'7( +416 "core" ( + "storage"(G& +4 "core" & V  +2 "storage"(/& +3 "core" &  +2 "manipulator"&0& +4 "core" &" b 8 +2 "manipulator"&+% +3 "core" % - +3 .tForearm.seek :retract + "manipulator"&O'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&X( +171 "core" ( + "manipulator"&(& +4 "core" & % < p +2 "storage"(E& +4 "core" &  +46 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&R'} +100 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&>1 +55 "core" 1 +3 "manipulator"&J% +4 "core" %  s +2 "storage"(a& +3 "core" & 0  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&)'ϫ +26 "core" ' + "manipulator"&& +5 "core" & p + "storage"(C& +5 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +17 "core" ' +2 "storage"(*% +3 "core" %E +3 ."downElevator"SE.seek :down +3 "storage"(W'X +100 ( % +3 "core" % Q  PG +2 "manipulator"&Q% +3 "core" %3 f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'N& +3 "core" &> +2 "manipulator"&3% +5 "core" %\   +2 "storage"(|% +3 "core" %_ +2 "storage"(`. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(c( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (@& +3 "core" & 2 +2 "manipulator"&?& +3 "core" & p +3 .tElbow.seek 2 + "manipulator"&P( +36 "core" ( + "manipulator"&}& +4 "core" & l L +2 "storage"(A& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(& +4 "core" & v +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" & +2 "manipulator"&i& +3 "core" & I +3 .tElbow.seek 2 + "manipulator"&V( +22 "core" ( +2 "manipulator"&H& +5 "core" & k  + "storage"(d& +3 "core" & ` +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(<'X +8 "core" & M  + "manipulator"&% +4 "core" %  P L +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&U& +3 "core" &* % I @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &*  A @Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&s'" +98 "core" ' +4 "manipulator"&n& +3 "core" &* H @Z +2 "manipulator"&b% +5 "core" %%  G +2 "collection"'_& +3 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'~(V +5 "core" & +7 &8 #a +9 &[. 5 +9 & G +10 &e3 F +9 &e G +9 &Xc F +10 &h3 G +9 &h3 F +55 &f, F +4 &_i2 G + & !d9 G +4 &!jF G +2 &#e G + &%gc< G + &')iP G +7 &(hR F +10 &*cP G +9 &,pcT F +9 &.2e{ F +10 &/h4 G +9 &1j# G +9 &3wg? G +10 &5:cZ F +9 &6eQ F +10 &8gR G +9 &:f^ G +9 &iR G +9 &?gO G +9 &AcJ G +10 &CIiT G +9 &E nT G +10 &FsT H +9 &HR J +9 &J=bHT N +10 &KTJ P +9 &M%,M P +9 &Oy"&N Q +10 &Q:%P Q +9 &R !T R +10 &T!#R R +9 &V$T !Q 8 +9 &V!K ,} +10 &VvK N +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&z1 +54 "core" 1 +2 "manipulator"&% +4 "core" % %  8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%m& +3 "core" &7 +2 "manipulator"&Y% +4 "core" %\   T  +2 "storage"(v% +4 "core" %b d d < +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & h d D +2 "storage"(u& +3 "core" & m c V +3 "manipulator"&h& +4 "core" &*  D @Y + "manipulator"&w% +5 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&&( +157 "core" ( + "manipulator"&& +4 "core" & % +2 "storage"(x& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +94 "core" ' +2 "storage"(q& +3 "core" & c +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +283 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & 3 +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&:& +4 "core" & h + "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&e' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&5& + "storage"(='X +8 "core" & + "manipulator"&o% +4 "core" % M \ +2 .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +3 "manipulator"&Z& +5 "core" &s  = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +98 "core" ' +2 "manipulator"&& +3 "core" &s & +2 "manipulator"&k% +4 "core" % v +2 "processing"%& +4 "core" & +3 "processing"%T& +5 "core" & +2 .tPC.seek :closed +2 "processing"%;(Z +4 "core" &  +9 &7 )v +9 &j = +10 &v G +9 &pf G +10 &2g G +9 &g G +9 &g G +10 &zf F +9 &:g G +9 &h G +10 & g G +9 &"g F +10 &$Ah G +9 &&g G +9 &'g G +10 &)g G +9 &+Jg G +9 &- g G +10 &.g G +9 &0j G +10 &2Rg G +9 &4f G +9 &5g G +10 &7j G +9 &9Zg G +9 &;e G +10 &<g G +9 &>g G +10 &@cg G +9 &B%g G +9 &Cj G +10 &En H +9 &Ge{ I +9 &I  K +10 &J M +9 &L M +10 &Nb M +9 &P$ M +9 &Q M +10 &S M +9 &Ui M +9 &W) N +10 &X N +9 &Z>Dc %l +9 &Z . ! +6 ( +2 "processing"%T& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +3 "core" % $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&'\ +95 "core" ' +2 "processing"%%& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&\ % +3 "core" %\   +3 "storage"("% +4 "core" %U  + "storage"(2. +3 "core" .( +2 "storage"(& +5 "core" &  +2 "storage"(D& +2 "manipulator"&g& +7 "core" &  + &s 8 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&f(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'i +2 "core" ( + "manipulator"&& +5 "core" &s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &s T +3 .tForearm.seek PC + "manipulator"&,' +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%$( +90 "core" ' +2 "storage"(S- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +296 ( +2 "storage"(4& +3 "core" & +2 "manipulator"&]& +5 "core" &s + "manipulator"&% +4 "core" %  O * +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&F( +246 "core" ( +2 "manipulator"&M& +4 "core" &\ & ] +2 "storage"(G& +3 "core" & c d +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +95 "core" ' + .tHand.open +2 "manipulator"&01 +58 "core" 1 +2 "storage"(+- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(E' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(t& +4 "core" & \ S\ R +2 "manipulator"&>& +3 "core" &\ _ ] +3 .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&a& +3 "core" &\  l ] +2 "storage"(& +4 "core" & \ R\ R +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(*' +58 "core" ' + "manipulator"&O& +4 "core" &\ ] +2 "storage"( & +3 "core" & z  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Q' +28 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(R'i +24 "core" ' +2 "manipulator"&N% +3 "core" %   P +2 "storage"(3& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&)' +19 "core" ' + "manipulator"&|& +5 "core" &\ % X ] +2 "storage"(`& +4 "core" & + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +28 "core" ' +2 "storage"(B% +3 "core" %n &  +3 ."downElevator"SE.seek :down +4 "storage"(W'X +98 (!% +3 "core" %Z { | PJ +41 "manipulator"&@% +12 "core" %ѥ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +8 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +4 "core" &   +2 "collection"'A& +3 "core" &VrH N +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %\ ! g 6 +3 "storage"(1% +4 "core" %_   + "storage"(r. +3 "core" .( +2 "storage"( & +3 "core" &  +2 "storage"(I& +5 "core" &  + "manipulator"&i& +4 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&d& +3 "core" & % ] +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +92 "core" ' + "storage"(& +4 "core" & * +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(P'i +283 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +3 "core" &\ ] +2 "storage"(\\& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(b'P +27 "core" ' +2 "manipulator"&_% +4 "core" %  N J +2 "storage"(V& +3 "core" & | ~ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&<' +22 "core" ' +2 "manipulator"&p& +4 "core" &\ % C ] +2 "storage"(7& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"('? +38 "core" ' +2 "manipulator"&m& +3 "core" &\ K ] +3 "manipulator"&Y% +3 "core" %љ { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ( + "manipulator"&& +5 "core" &. &  Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &.  _ Du +4 .tForearm.seek CC +2 "manipulator"&h'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'w( +416 "core" ( + "storage"(s& +4 "core" & +2 "storage"(& +3 "core" &  +2 "manipulator"&x& +4 "core" &,  ( Bg +2 "manipulator"&q% +3 "core" % !  +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'( +160 "core" ( +2 "manipulator"&[& +3 "core" & I  +3 "storage"(l& +6 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +99 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"& % +4 "core" % & b +41 "storage"(5& +11 "core" & M +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&o' +18 "core" ' + "manipulator"&&& +4 "core" & )  +2 "storage"(^& +4 "core" & % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +39 "core" ' +2 "storage"(e% +3 "core" %D m +3 ."downElevator"SE.seek :down +4 "storage"(Z'X +98 (K% +3 "core" %1V PH +2 "manipulator"&% +4 "core" % O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'k& +3 "core" &B +2 "manipulator"&% +3 "core" %\  = * +3 "storage"(=% +3 "core" %^ ! +2 "storage"(j. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & +2 "manipulator"&& +3 "core" & <  +3 .tElbow.seek 3 + "manipulator"&T( +12 "core" ( +2 "manipulator"&%& +3 "core" & % [ m +3 "storage"(\ & +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +98 "core" ' +2 "storage"(2& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +3 "core" & z +2 "manipulator"&& +3 "core" & y m +3 .tElbow.seek 3 + "manipulator"&#( +4 "core" ( +2 "manipulator"&y& +3 "core" & l m +2 "storage"(& +3 "core" & +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(;'X +8 "core" & f m + "manipulator"&6% +5 "core" % Ϡ . +2 .tForearm.seek :retract + "manipulator"&4'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&]( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &' < 3 >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &'   >O +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&M'" +92 "core" ' +2 "manipulator"&G& +3 "core" &' ( >O +2 "manipulator"&f% +3 "core" %'    +3 "collection"'0& +3 "core" & +3 "collection"'+& +6 "core" & +3 .tCC.seek :closed +3 "collection"'.(V +3 "core" & +5 & 7 +9 &JM / +10 &{ D +9 &Dg F +9 &c F +10 &e F +9 &i G +10 &Lh F +9 & e G +9 &hB F +10 &e6 G +9 &!Td9 F +9 &#g F +10 &$h. F +9 &&h? G +10 &([e; G +9 &*f: G +9 &+h< F +10 &-h; G +9 &/cf8 G +9 &1%i9 G +10 &2gY G +9 &4h6 F +10 &6lcQ F +9 &8/e^ F +9 &9f7 G +10 &;dX F +9 &=sd6 G +9 &?6iT F +10 &@d} G +9 &Bj: F +10 &DzkT G +9 &F:p| H +9 &G| I +10 &I<'I K +9 &Khy P +9 &M).:B P +10 &N$%0 P +9 &P#$W Q +10 &Rm #\ Q +9 &T, #e R +9 &Uy !0 < +10 &V3! #i +9 &VD < ? +2 ( +2 "collection"'+& +55 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 +2 .Hand.open + "manipulator"&t1 +3 "core" &VMO ? + &VNP ? + &VM/ ? + &VME ? + &VML ? +45 1 +3 "manipulator"&>% +3 "core" % ' & X  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&9% +4 "core" %\   Q  +2 "storage"(O% +3 "core" %X  +2 "storage"( . +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(N& +3 "core" &  +3 "manipulator"&3& +4 "core" &'  0 >N + "manipulator"&(% +5 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&|( +158 "core" ( +2 "manipulator"&`& +3 "core" & R  +2 "storage"(B& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&F'9 +96 "core" ' + "storage"(/& +4 "core" & @ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'i +283 "core" ' + "storage"(!- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & 8 +2 "manipulator"&C& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&J( +4 "core" ( + "manipulator"&*& +5 "core" & ~  + "storage"(Q& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&A& + "storage"('X +8 "core" & E  + "manipulator"&1% +3 "core" % ϖ z  +3 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"& (s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&R& +3 "core" &g ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&i' +98 "core" ' +2 "manipulator"&d& +4 "core" &g % I +2 "manipulator"&% +4 "core" % 1 +2 "processing"%& +4 "core" & +2 "processing"%-& +5 "core" &B +3 .tPC.seek :closed + "processing"%W(Z +5 "core" &Q +7 &> #c +9 &\\ 6 +10 & H +9 &f G +9 &f G +10 &\\f? G +9 &f G +10 &d G +9 &g G +9 &cgG G +10 & %g G +9 &!eF G +9 &#e G +10 &%lg4 G +9 &'-e G +10 &(fY G +9 &*g G +9 &,sf~ G +10 &.5gM G +9 &/e G +9 &1eE G +10 &3|e| G +9 &5=d G +10 &6f G +9 &8f G +9 &:e G +10 &d G +9 &?jx G +10 &Af G +9 &CLi G +10 &E j& H +9 &Ft H +9 &Hv K +10 &JFb L +9 &L M +9 &MC L +10 &Os L +9 &QMv M +10 &Sz M +9 &T M +9 &Vs N +10 &XR N +9 &Yvy "k +9 &Z*{ / +9 ( +3 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&X1 +4 "core" &Zj " +60 1 + "manipulator"&?% +4 "core" % & \\ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%U& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\\% +3 "core" %\ #  ? +2 "storage"(n% +4 "core" %P  +2 "storage"(_. +3 "core" .( +2 "storage"(V& +3 "core" &  +2 "storage"(p& +48 "manipulator"&7& +10 "core" &  + &g  1 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&m(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'i +27 "core" ( + "manipulator"&L& +4 "core" &k , K \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &l  / \ +3 .tForearm.seek PC +2 "manipulator"&P' +97 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%<( +63 "core" ' +2 "storage"(b- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +326 ( +3 "storage"(u& +5 "core" & ' +4 "manipulator"&z& +10 "core" &l \ +4 "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&v( +258 "core" ( +2 "manipulator"&~& +3 "core" & %  +2 "storage"(s& +5 "core" & 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +105 "core" ' +3 .tHand.open + "manipulator"&x1 +60 "core" 1 +2 "storage"(q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(['E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(& +3 "core" &\  > +2 "manipulator"&& +4 "core" & J  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&5& +5 "core" & %  +2 "storage"(&& +3 "core" & M L +3 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 "manipulator"&e& +3 "core" & ?  +3 "storage"('& +3 "core" & N +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&o% +4 "core" %΄ ? +2 "storage"(k& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&'ϰ +21 "core" ' +2 "manipulator"&=& +3 "core" & F  +2 "storage"(j& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +27 "core" ' + "storage"({% +5 "core" %q +2 ."downElevator"SE.seek :down +3 "storage"(Z'X +99 (c% +4 "core" %U w { E PI +2 "manipulator"&% +5 "core" %1 l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (%& +3 "core" & P +2 "collection"'\ & +3 "core" &VLD ? +3 #tStoring generic puck in Collection Clamp to tube 3 +47 "manipulator"&2% +4 "core" %\    +2 "storage"(:% +4 "core" %P  +2 "storage"(. +2 "core" .( +2 "storage"(g& +4 "core" & +2 "storage"(D& +3 "core" & 3 +3 "manipulator"&& +3 "core" & f  +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( +2 "manipulator"&& +3 "core" &  )  +3 "storage"(8& +3 "core" & P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +138 "core" ' +2 "storage"(6& +3 "core" & $ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +280 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(,& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(f'O +28 "core" ' +2 "manipulator"&0% +3 "core" %΋ _ +2 "storage"(#& +4 "core" & h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&;'Ϸ +21 "core" ' + "manipulator"&4& +3 "core" &  +3 "storage"(w& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(>'> +42 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&9% +3 "core" %L h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +159 "core" ( +3 "manipulator"&& +3 "core" &# $ :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &# ( :- +2 .tForearm.seek CC +2 "manipulator"&3'" +96 "core" ' +2 .tHand.close + "manipulator"&+/ +63 "core" / +2 .tCC.seek :open + "collection"'(( +413 "core" ( +2 "storage"(M& +4 "core" &  + "storage"(`& +4 "core" & +2 "manipulator"&B& +3 "core" &#  i :- +2 "manipulator"&/% +3 "core" % 2 d +3 .tForearm.seek :retract + "manipulator"&]'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&a( +163 "core" ( +2 "manipulator"&!& +3 "core" & |  +2 "storage"(@& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&C'} +99 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +63 "core" 1 +2 "manipulator"&}% +4 "core" % ΍ % z +4 "storage"(A& +3 "core" & v +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&1'Ϲ +21 "core" ' +2 "manipulator"&|& +3 "core" & W  +2 "storage"(F& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +42 .tForearm.seek 3 + 700 counts +9 "manipulator"&E'9 +26 "core" ' + "storage"()% +4 "core" %D \ +3 ."downElevator"SE.seek :down +4 "storage"(R'X +99 (I% +2 "core" %V  PH +3 "manipulator"&J% +3 "core" %9 . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"&% +4 "core" %\ G  +2 "storage"(% +4 "core" %W +2 "storage"(r. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"($( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" & +2 "manipulator"&?& +3 "core" & W  +3 .tElbow.seek 2 +2 "manipulator"&U( +31 "core" ( + "manipulator"&\\& +4 "core" & V !v +2 "storage"(n& +3 "core" & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +95 "core" ' +2 "storage"(_& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +279 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & +2 "manipulator"&L& +4 "core" & ? !q +2 .tElbow.seek 2 + "manipulator"&H( +3 "core" ( +2 "manipulator"&i& +4 "core" &  , !q +2 "storage"(& +3 "core" & S +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&b' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(W'X +8 "core" & !q +2 "manipulator"&Y% +3 "core" %  r +3 .tForearm.seek :retract + "manipulator"&u'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&z( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &(  1 ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &( { ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'" +101 "core" ' +2 "manipulator"&s& +4 "core" &( $ ?T +4 "manipulator"&m% +3 "core" %! +3 "collection"'x& +3 "core" & +3 "collection"'q& +5 "core" & +2 .tCC.seek :closed +2 "collection"'h(V +5 "core" &\ +7 &I $d +9 &^ 7 +9 &. G +10 &b F +9 &l\ G +9 &ug G +10 &8e F +9 &f F +10 &i G +9 &|f G +9 & ?e G +10 &"e G +9 &#f\ G +9 &%j\ G +10 &'Gg G +9 &)\ c\ F +10 &*dE G +9 &,h0 F +9 &.Pd F +10 &0g? F +9 &1g F +9 &3j G +10 &5WfB G +9 &7c/ F +10 &8b G +9 &:i F +9 &<`h: F +10 &>!e; G +9 &?dT F +9 &Ag F +10 &Cge= G +9 &E)m/ G +10 &FsT H +9 &Ha I +9 &J[iM8 N +10 &LLd Q +9 &M%,7 P +9 &O"&W Q +10 &QX $6 Q +9 &S#3 R +10 &T!"8 R +9 &VHi " 0 +9 &V H / +10 &V}3 I +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&1 +2 "core" &VuJ I +54 1 +3 "manipulator"&% +3 "core" % !  ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%&& +49 "core" & +4 "manipulator"&% +4 "core" %\   -  +2 "storage"(e% +3 "core" %R  +2 "storage"('. +4 "core" .( +2 "storage"(o& +4 "core" &  + "storage"(k& +4 "core" & 1 +2 "manipulator"&& +4 "core" &(   ?S +2 "manipulator"&=% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +166 "core" ( + "manipulator"&[& +5 "core" & ^  + "storage"({& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&v'ќ +105 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(l'i +283 "core" ' +2 "storage"(c- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & A +2 "manipulator"&^& +4 "core" & 7  +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"& & +4 "core" & i  + "storage"(K& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"(2'X +8 "core" & ?  + "manipulator"&% +5 "core" %   % +2 .tForearm.seek :retract +2 "manipulator"&:'\ +97 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +110 "core" ( +2 "manipulator"&g& +3 "core" &g + @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &g x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&& +3 "core" &g & A +3 "manipulator"&8% +3 "core" % } +2 "processing"%& +4 "core" & +3 "processing"%6& +5 "core" & +2 .tPC.seek :closed +2 "processing"%Z(Z +4 "core" & +8 &; #a +9 &Z 5 +10 & H +9 &g G +10 &f G +9 &Ve G +9 &e G +11 &f G +8 &g G +9 &^g G +10 & !g G +9 &!e G +10 &#e G +9 &%ei G +9 &'(f G +10 &(e G +9 &*g G +9 &,mf G +10 &./f G +9 &/e G +10 &1e G +9 &3ve G +9 &59e G +10 &6f G +9 &8e G +9 &:~e G +10 &d F +10 &?e G +9 &Ae G +9 &CGg G +10 &Em H +9 &Fs H +9 &H K +10 &J@ M +9 &L M +10 &M L +9 &O L +9 &QI L +10 &S  M +9 &T M +9 &V N +10 &XM N +9 &Ywv "j +9 &Z*y 1 +9 ( +2 &Z # +2 "processing"%6& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' +2 "processing"%& +4 "core" &ZF # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&,% +3 "core" %\   +2 "storage"(G% +4 "core" %a  +2 "storage"(0. +3 "core" .( +2 "storage"(#& +3 "core" &  +2 "storage"(4& +3 "manipulator"&w& +8 "core" & C + &g + +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(9'i +4 "core" ( +2 "manipulator"&& +43 "core" &i \\  +9 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &y& +2 "core" &i m  +3 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%;( +45 "core" ' + "storage"(f- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +343 ( +2 "storage"(N& +3 "core" &  +2 "manipulator"&t& +3 "core" &i   +3 "manipulator"&S% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&O( +238 "core" ( +2 "manipulator"&.& +4 "core" &  j + "storage"(M& +4 "core" & g d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +99 "core" ' + .tHand.open +2 "manipulator"&B1 +59 "core" 1 +2 "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate + "storage"(!'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(@' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +3 "core" -' +2 "storage"( & +3 "core" & \ ^\ ^ $ +3 "manipulator"&Q& +3 "core" & [ i +2 .tElbow.seek 2 +2 "manipulator"&}( +4 "core" ( +2 "manipulator"&A& +3 "core" &  ? i +2 "storage"(|& +5 "core" & \ S\ P +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +58 "core" ' +2 "manipulator"&)& +3 "core" & ; i +3 "storage"(a& +4 "core" & 0 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&I' +26 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +23 "core" ' + "manipulator"&1% +5 "core" %  N + "storage"(& +5 "core" & # + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&' +22 "core" ' + "manipulator"&& +5 "core" & % [ i +2 "storage"(r& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&>'ќ +20 "core" ' +2 "storage"(E% +3 "core" %o   +3 ."downElevator"SE.seek :down +4 "storage"(R'X +98 ( % +3 "core" %\\ | | QL +2 "manipulator"&X% +4 "core" %њ @ +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\\& +2 "core" & S +3 "collection"'n& +3 "core" &VhR I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&_% +3 "core" %\  Q  +2 "storage"(*% +4 "core" %]  +2 "storage"(d. +3 "core" .( +2 "storage"(7& +3 "core" & +2 "storage"(p& +5 "core" &  + "manipulator"&L& +4 "core" &  i +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&& +50 "core" &  i +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(Y& +3 "core" & x +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'i +283 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & b i +2 "storage"(P& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V' +30 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(s- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(m'O +28 "core" ' + "manipulator"&x% +4 "core" %  1 +2 "storage"(H& +3 "core" & z ~ X +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&W' +20 "core" ' +2 "manipulator"&u& +3 "core" & % R h +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('> +38 "core" ' +2 "manipulator"&&& +3 "core" & h +3 "manipulator"&q% +3 "core" %х K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +148 "core" ( +3 "manipulator"&'& +3 "core" &'   >N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &'   >N +2 .tForearm.seek CC +2 "manipulator"&k'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'=( +412 "core" ( +2 "storage"(~& +3 "core" & +2 "storage"([& +4 "core" & +2 "manipulator"&{& +4 "core" &' h >N +2 "manipulator"&% +3 "core" % &  +3 .tForearm.seek :retract + "manipulator"&z'\ +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +157 "core" ( +2 "manipulator"&c& +3 "core" & k  +2 "storage"(& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&^' +99 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +55 "core" 1 +2 "manipulator"&%% +3 "core" % % B +2 "storage"(\ & +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +3 "manipulator"&' +27 "core" ' + "manipulator"&j& +5 "core" & H  +2 "storage"(v& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +29 "core" ' +2 "storage"(% +4 "core" %H W +2 ."downElevator"SE.seek :down +4 "storage"(g'X +98 (D% +3 "core" %PV PG +2 "manipulator"& % +4 "core" %ј +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +41 .tForearm.seek :retract +9 "manipulator"&'\ +90 "core" ' +4 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'8& +3 "core" & +2 "manipulator"&% +3 "core" %\  #  +3 "storage"(2% +4 "core" %c + "storage"(:. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(<( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&,& +3 "core" & 3 q +2 "storage"(G& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +36 "Can" 7P@  +67 "core" ' +2 "storage"(#& +3 "core" & v  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'i +277 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &  +2 "manipulator"&& +3 "core" & q +3 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" & \ q +2 "storage"(& +4 "core" & c  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&f'ϩ +19 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(Z'X +8 "core" & T q +2 "manipulator"&9% +3 "core" % Ϭ w  +3 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&S& +5 "core" &+ = Ab + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &+   Ab +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'" +102 "core" ' +2 "manipulator"&M& +3 "core" &+  Ab +3 "manipulator"&% +3 "core" %!   F +2 "collection"'B& +5 "core" & +2 "collection"'/& +5 "core" & +3 .tCC.seek :closed +2 "collection"'3(V +3 "core" &  +9 & 8 )w +10 &%n > +9 &r G +10 &e F +9 &Le F +9 & g G +10 &i F +9 &h F +9 &Sd F +10 &e G +9 & g G +10 &"e F +9 &$[f F +9 &&h F +10 &'i G +9 &)f F +10 &+cd F +9 &-$d G +9 &.f G +10 &0i G +9 &2kc F +9 &4-cE F +10 &5c F +9 &7e F +9 &9sgE F +10 &;6g F +9 &<k G +10 &>g G +9 &@zg@ G +9 &B<hG G +10 &Cj G +9 &En G +9 &G|| I +10 &I;' J +9 &J{c O +10 &L8^ P +9 &Nn%) P +9 &P/"% Q +10 &Q!" Q +9 &S "F R +9 &Un"" ? +10 &VD ! c +9 &V! \ K +6 ( + "collection"'/& +4 "core" &Vj\ J +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.82 + .Hand.open + "manipulator"& 1 +64 "core" 1 +2 "manipulator"&Q% +3 "core" % ! ! @ F +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +105 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%|& +3 "core" & +2 "manipulator"&+% +4 "core" %\     +2 "storage"()% +3 "core" %P  +2 "storage"(a. +4 "core" .( + "storage"(1& +4 "core" &   +2 "storage"(& +3 "core" &   +3 "manipulator"&& +3 "core" &*  < Aa +2 "manipulator"&!% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +47 .tElbow.seek 3 +5 "manipulator"&( +164 "core" ( +2 "manipulator"&r& +3 "core" &  R +3 "storage"(E& +3 "core" & 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +104 "core" ' +3 "storage"(`& +4 "core" & o  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(@'i +281 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & H  +2 "manipulator"&F& +3 "core" & 6 R +3 .tElbow.seek 3 + "manipulator"&}( +4 "core" ( + "manipulator"&]& +5 "core" & I R + "storage"(I& +4 "core" & )  +3 .tForearm.seek 3 + 300 counts + "manipulator"&\\'ϩ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(_'X +8 "core" & ~ R +2 "manipulator"&*% +3 "core" % f * +3 .tForearm.seek :retract +2 "manipulator"&d'\ +99 "core" ' +3 .tElbow.seek PC +2 "manipulator"&7(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +2 "manipulator"&C& +3 "core" &i + k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &i   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&L' +94 "core" ' +2 "manipulator"&& +3 "core" &i 0  +2 "manipulator"& % +5 "core" % " & +2 "processing"%>& +3 "core" & +3 "processing"%Y& +5 "core" & +2 .tPC.seek :closed +3 "processing"%R(Z +4 "core" & +5 & 7 +9 &IM / +10 &{ D +9 &Bg G +10 &k G +9 &e G +9 &g G +10 &Jf G +9 & f F +10 &e G +9 &g G +9 &!Re G +10 &#g G +9 &$f G +9 &&c G +10 &(Ye G +9 &*f G +9 &+g G +10 &-g G +9 &/ce F +10 &1#g G +9 &2e G +9 &4e G +10 &6kf F +9 &8+e G +10 &9h G +9 &;f G +9 &=qi G +10 &?4e G +9 &@e G +9 &Bk G +10 &Dxg G +9 &F7o H +9 &G} J +10 &I L +9 &Kr L +10 &M3 M +9 &N M +9 &P L +10 &Ry M +9 &T; M +9 &U M +10 &W N +9 &Y~ ; +10 &Zq5 T +9 &Z " +2 ( +2 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&J1 +62 "core" 1 +2 "manipulator"&?% +3 "core" %  > & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +95 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&P% +4 "core" %\ ! V 0 +2 "storage"(s% +3 "core" %b { f +2 "storage"(x. +4 "core" .( + "storage"(H& +4 "core" & C  +2 "storage"(u& +3 "manipulator"&(& +8 "core" & y   + &i X  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'i +2 "core" ( +2 "manipulator"&& +4 "core" &i    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &i    +2 .tForearm.seek PC +2 "manipulator"&U' +94 "core" ' +2 .tHand.close + "manipulator"&V/ +64 "core" / +2 .tPC.seek :open +2 "processing"%W( +82 "core" ' +5 "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'y +35 "core" ' +301 ( +2 "storage"(o& +3 "core" &   +2 "manipulator"&& +5 "core" &i 8  + "manipulator"&b% +5 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +251 "core" ( + "manipulator"&h& +5 "core" & $ [  + "storage"(~& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +91 "core" ' +2 .tHand.open + "manipulator"&{1 +55 "core" 1 +3 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(e& +3 "core" &\ O\ J .  +2 "manipulator"&K& +5 "core" & &  + .tElbow.seek 3 +2 "manipulator"&%( +7 "core" ( +2 "manipulator"&\ & +3 "core" & % 2  +2 "storage"(j& +4 "core" &\ J\ O `  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"&z& +5 "core" &   + "storage"(D& +4 "core" & 5  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +19 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(^'i +24 "core" ' +2 "manipulator"&% +3 "core" %  +2 "storage"(8& +3 "core" & S  +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 302 counts +2 "manipulator"&'ϫ +19 "core" ' +2 "manipulator"&2& +3 "core" &  +2 "storage"(:& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +26 "core" ' +2 "storage"(l% +3 "core" %n  +3 ."downElevator"SE.seek :down +4 "storage"(g'X +98 ($% +3 "core" %L_ z k 5 RL +2 "manipulator"&% +4 "core" %*  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (,& +2 "core" &  +3 "collection"'G& +3 "core" &ViS J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&#% +3 "core" %\    +2 "storage"( % +4 "core" %[  +2 "storage"(. +3 "core" .( +2 "storage"(4& +4 "core" & ;  + "storage"(6& +4 "core" & V  +2 "manipulator"&& +3 "core" & L  +3 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +4 "core" & % G  +2 "storage"(& +4 "core" & j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +96 "core" ' +2 "storage"(9& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +321 "core" ' +9 "storage"(0- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" & g  +2 "storage"(T& +3 "core" & *  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&w'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +28 "core" ' + "manipulator"&y% +3 "core" %΄ +2 "storage"(B& +4 "core" & ;  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&Z'ϰ +19 "core" ' +2 "manipulator"&N& +3 "core" & .  +2 "storage"(=& +4 "core" & h  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'? +42 "core" ' +2 "manipulator"&|& +3 "core" & D  +3 "manipulator"&+% +4 "core" %# +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +160 "core" ( +3 "manipulator"&a& +4 "core" &% 0 7 << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &%  << +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open + "collection"'!( +416 "core" ( +2 "storage"(.& +3 "core" &   +2 "storage"(r& +4 "core" & \\  +2 "manipulator"&E& +3 "core" &%  h << +2 "manipulator"&`% +5 "core" % 8    +2 .tForearm.seek :retract + "manipulator"&t'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +161 "core" ( +2 "manipulator"& & +3 "core" & u +2 "storage"(X& +5 "core" & >  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&F'} +101 "core" ' +2 .tElbow.hold + "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&I1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ΅ % / +2 "storage"(n& +5 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&*'ϱ +19 "core" ' +2 "manipulator"&& +3 "core" & +2 "storage"(O& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +27 "core" ' +2 "storage"(\\% +3 "core" %@ d +3 ."downElevator"SE.seek :down +3 "storage"(C'X +100 (p% +3 "core" %Q PG +2 "manipulator"&}% +3 "core" %O ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +4 "core" & +2 "manipulator"&>% +3 "core" %\ #  ? +2 "storage"(_% +4 "core" %` +2 "storage"(d. +3 "core" .( +45 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(;( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" & ' +2 "manipulator"&?& +5 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +30 "core" ( + "manipulator"&P& +3 "core" & % : !v +3 "storage"(s& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +99 "core" ' +2 "storage"(H& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +285 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & +2 "manipulator"&& +3 "core" &  !t +3 .tElbow.seek 2 + "manipulator"&i( +4 "core" ( +2 "manipulator"&L& +3 "core" & o !t +4 "storage"(V& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&'' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(R'X +8 "core" & O !t + "manipulator"&q% +4 "core" %  d M +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&b& +3 "core" &* C  @Z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &U& +3 "core" &* i @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&h'" +100 "core" ' +3 "manipulator"&~& +3 "core" &'  e =E +3 "manipulator"&&% +3 "core" %$ c 8 +2 "collection"'{& +5 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'k(V +4 "core" & +7 &C $d +9 &\\ 6 +9 & G +10 &c F +9 &k F +10 &dh F +9 &%j G +9 &g F +10 &d F +9 &kc G +9 & -h G +10 &!e F +9 &#h F +10 &%sj G +9 &'6g F +9 &(c F +10 &*d F +9 &,}f F +10 &.=g G +9 &/g G +9 &1j F +10 &3j F +9 &5Fi F +9 &7j F +10 &8h F +9 &:j F +9 &g G +9 &?d F +10 &Ai F +9 &CUk G +9 &Eo G +10 &Fu H +9 &H  J +9 &JJeJ M +10 &LP P +9 &M&+ Q +10 &O"% Q +9 &QG$ Q +9 &S" R +10 &T ! R +9 &V3^!" * +9 &V&  G +9 ( +3 "collection"'& +3 "core" &VU @ +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&e1 +63 "core" 1 +4 "manipulator"&K% +5 "core" % $  P 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%j& +4 "core" & +2 "manipulator"&% +3 "core" %\   +  +3 "storage"(z% +4 "core" %^  + "storage"(D. +3 "core" .( +2 "storage"(& +3 "core" &  +3 "storage"(8& +4 "core" &  + "manipulator"&m& +4 "core" &&  N =E +2 "manipulator"&2% +4 "core" %\   s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&:( +165 "core" ( +2 "manipulator"&c& +3 "core" &  !  +2 "storage"(l& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"([& +3 "core" & { +47 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ) +2 "manipulator"&v& +3 "core" & 9  +3 .tElbow.seek 2 +2 "manipulator"&%( +2 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"( & +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(#'X +6 "core" & ?  +3 "manipulator"& % +3 "core" % - " 2 +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&^(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&4& +3 "core" &q = F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&& +5 "core" &q 7 +2 "manipulator"&% +3 "core" % L  +2 "processing"%& +5 "core" & +2 "processing"%9& +5 "core" & +2 .tPC.seek :closed +2 "processing"%g(Z +5 "core" & +6 &<< #c +10 &[ 6 +9 & H +9 &e? G +10 &f G +9 &^e G +9 & e G +10 &c G +9 &g G +10 &fg G +9 & (f G +9 &!h G +10 &#g G +9 &%ng G +9 &'/e G +10 &(e G +9 &*f G +10 &,ve G +9 &.7d G +9 &/d G +10 &1f G +9 &3e F +9 &5?f G +10 &7e G +9 &8c G +10 &:d G +9 &\ c G +10 &?f G +9 &Ac G +9 &CNi G +10 &Ej H +9 &Fs H +10 &H J +9 &JF M +9 &L\  L +10 &M M +9 &O M +9 &QO M +10 &S M +9 &T M +10 &V M +9 &XU M +9 &Ywu "k +10 &Z*u , +8 ( +2 &Z +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&51 +56 "core" 1 + "manipulator"&% +5 "core" %  #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +3 "processing"%S& +4 "core" &ZP +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&T% +4 "core" %\   + "storage"(M% +4 "core" %b  +2 "storage"(y. +2 "core" .( +2 "storage"(B& +4 "core" &  +2 "storage"(N& +3 "manipulator"&=& +5 "core" &  +2 &q  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&|(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'i +2 "core" ( +3 "manipulator"&"& +3 "core" &q z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q * +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&w/ +55 "core" / +2 .tPC.seek :open + "processing"%Z( +95 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +36 "core" ' +291 ( +2 "storage"(1& +3 "core" &  +2 "manipulator"& & +4 "core" &q  +2 "manipulator"&f% +4 "core" %    +2 .tForearm.seek :retract +41 "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&/( +257 "core" ( + "manipulator"&3& +4 "core" &  I  +2 "storage"(.& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +89 "core" ' +3 .tHand.open +2 "manipulator"&E1 +54 "core" 1 +2 "storage"(`- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(X' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"()& +4 "core" & \ J\ H - + "manipulator"&I& +4 "core" & 5  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&n& +4 "core" & % @  +2 "storage"(& +4 "core" & \ J\ J W +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +57 "core" ' +2 "manipulator"&t& +3 "core" &   +2 "storage"(p& +4 "core" & 2 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&}' +24 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'i +24 "core" ' + "manipulator"&*% +5 "core" % ] +2 "storage"( & +3 "core" & & +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 311 counts +2 "manipulator"&>' +22 "core" ' + "manipulator"&_& +4 "core" &   +2 "storage"(d& +5 "core" & 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +19 "core" ' +2 "storage"(@% +4 "core" %r % +2 ."downElevator"SE.seek :down +4 "storage"(C'X +99 (<% +3 "core" %#] x ~ j PJ +2 "manipulator"&J% +5 "core" %ю +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (P& +3 "core" &  +2 "collection"'s& +4 "core" &VU+ @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&H% +3 "core" %\  "  +2 "storage"(]% +4 "core" %a X  +2 "storage"(. +3 "core" .( + "storage"((& +4 "core" & H +2 "storage"(u& +4 "core" & ? +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&V& +3 "core" & d  +2 "storage"(7& +5 "core" & 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +89 "core" ' + "storage"(q& +4 "core" & D +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &  +2 "storage"(U& +3 "core" & ! +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y' +28 "core" ' +2 .tElbow.hold +47 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'P +28 "core" ' +2 "manipulator"&{% +3 "core" %  > 4 +2 "storage"(i& +4 "core" & ~ { 7 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&R' +20 "core" ' +2 "manipulator"&o& +3 "core" & c  +3 "storage"(!& +7 "core" & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +15 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(K'? +40 "core" ' +2 "manipulator"&j& +3 "core" &  +2 "manipulator"&% +4 "core" %ї W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +155 "core" ( +3 "manipulator"&& +3 "core" &% ( <; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &%   <; +3 .tForearm.seek CC + "manipulator"&8'" +95 "core" ' + .tHand.close +2 "manipulator"&m/ +53 "core" / +2 .tCC.seek :open +2 "collection"'2( +415 "core" ( +2 "storage"(h& +3 "core" & r +2 "storage"(c& +4 "core" & +2 "manipulator"&l& +3 "core" &" f 9) +2 "manipulator"&[% +5 "core" % . m +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&\ ( +163 "core" ( + "manipulator"&$& +5 "core" & % ,  + "storage"(& +4 "core" & m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&v' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&,% +3 "core" % $  +2 "storage"(G& +4 "core" & o +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"& ' +28 "core" ' +2 "manipulator"&:& +5 "core" &  + "storage"(& +4 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +30 "core" ' +2 "storage"(% +3 "core" %F +3 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (6% +3 "core" %1U B PG +2 "manipulator"&%% +4 "core" %t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & +2 "manipulator"&% +3 "core" %\   # +3 "storage"(#% +4 "core" %a + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(W( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" &  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&S( +16 "core" ( + "manipulator"&T& +5 "core" & $ w h +44 "storage"(M& +7 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +96 "core" ' +2 "storage"(B& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +279 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +5 (9& +4 "core" &  + "manipulator"&"& +4 "core" & ^ h +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & h +2 "storage"(w& +4 "core" & :  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +4 "storage"(g'X +7 "core" & x h + "manipulator"&+% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&f& +3 "core" &( % B ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &(   ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'" +107 "core" ' + "manipulator"&.& +5 "core" &( H ?Q +2 "manipulator"&|% +3 "core" %  % +2 "collection"'E& +5 "core" & +2 "collection"'`& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &  +9 &8( *y +9 &l" = +10 &r G +9 &{c F +9 &<h G +10 &g F +9 &f F +9 &g G +10 &Fe F +9 &h F +10 & e G +9 &"j G +9 &$Lg G +10 &&e F +9 &'d F +9 &)e F +10 &+Ti G +9 &-g G +10 &.g G +9 &0i G +9 &2]c F +10 &4i F +9 &5d F +9 &7c F +10 &9ed F +9 &;'e F +9 &<d F +10 &>e G +9 &@lg G +10 &B.h G +9 &Ce F +9 &Em G +10 &Gpx H +9 &I.$ I +10 &Jx^ N +9 &L:i P +9 &N`$( P +10 &P$$ Q +9 &Q!"# Q +9 &S" R +10 &Ua " @ +9 &VH  a +9 &V  M +6 ( +2 "collection"'`& +3 "core" &Vm M +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&)1 +63 "core" 1 +3 "manipulator"&I% +3 "core" %  ' T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&% +4 "core" %\  +2 "storage"(t% +3 "core" %V  +2 "storage"(p. +4 "core" .( + "storage"(*& +4 "core" & H  +2 "storage"( & +3 "core" &   +3 "manipulator"&a& +3 "core" &(  ?P +2 "manipulator"&_% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +166 "core" ( + "manipulator"&d& +5 "core" & 2 y + "storage"(@& +5 "core" & %  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +97 "core" ' +2 "storage"(r& +4 "core" & q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +278 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & O  +2 "manipulator"&O& +3 "core" &  y +3 .tElbow.seek 3 + "manipulator"&( +48 "core" ( +5 "manipulator"&\\& +4 "core" &  y + "storage"(}& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(H'X +9 "core" & y + "manipulator"&]% +4 "core" % Ϩ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&((s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&F& +4 "core" &w ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &w Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + "manipulator"&V& +4 "core" &w | +2 "manipulator"&7% +4 "core" % W +2 "processing"%Q& +5 "core" & +2 "processing"%q& +5 "core" & +2 .tPC.seek :closed +2 "processing"%C(Z +3 "core" &  +10 &6 )v +9 &h < +9 &x G +10 &hd G +9 &*e G +9 &g G +10 &e G +9 &peQ G +10 &3e G +9 &d G +9 & ei G +10 &"ye G +9 &$;e G +10 &%e G +9 &'f G +9 &)f G +10 &+Cf G +9 &-d G +9 &.h G +10 &0e G +9 &2Kg G +9 &4 e G +10 &5j G +9 &7e G +10 &9Se G +9 &;` G +9 &<e G +10 &>e F +9 &@Zg G +9 &Bh G +10 &Ck G +9 &Em H +10 &G\\x I +9 &I K +9 &J L +10 &L M +9 &NZ M +9 &P L +10 &Q L +9 &S M +10 &Ua M +9 &W" M +9 &X M +10 &Z5Dc %m +9 &Z4 \ +6 ( + "processing"%q& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&A1 +56 "core" 1 +2 "manipulator"&?% +3 "core" % % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +99 "core" ' + "processing"%b& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&U% +3 "core" %\ 6 +2 "storage"(~% +5 "core" %N v | + "storage"({. +3 "core" .( +2 "storage"(i& +3 "core" & u K  +3 "storage"(o& +2 "manipulator"&!& +7 "core" & c e  +2 &w { +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&j(s +7 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&-& +3 "core" &w  ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &w +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + .tHand.close +2 "manipulator"&Y/ +55 "core" / +3 .tPC.seek :open +2 "processing"%R( +87 "core" ' + "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +31 "core" ' +302 ( +2 "storage"(& +3 "core" &   +2 "manipulator"&e& +4 "core" &w +2 "manipulator"&'% +3 "core" % ' +3 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&z( +265 "core" ( + "manipulator"&k& +4 "core" & $  ~ +2 "storage"(h& +3 "core" & $  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +48 "manipulator"&c'9 +99 "core" ' +2 .tHand.open + "manipulator"&l1 +57 "core" 1 +2 "storage"([- +4 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"($'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(D& +3 "core" &\ V\ ^ q  +2 "manipulator"& & +4 "core" &  ~ +2 .tElbow.seek 3 +2 "manipulator"&,( +9 "core" ( + "manipulator"&G& +4 "core" &  { +2 "storage"(:& +3 "core" &\ S\ R  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"&& +4 "core" &  { +2 "storage"(6& +3 "core" & G  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&%'} +18 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(v'i +24 "core" ' +2 "manipulator"& % +3 "core" %u  +2 "storage"(& +4 "core" & ;  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 292 counts + "manipulator"&'ϡ +21 "core" ' + "manipulator"&#& +5 "core" & Q { + "storage"(& +5 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +18 "core" ' + "storage"(% +4 "core" %l  +3 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (;% +4 "core" %\\ ~ | QL + "manipulator"&5% +5 "core" %/  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +3 "core" & L  +3 "collection"'M& +3 "core" &Vl M +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&B% +3 "core" %\    +2 "storage"(% +4 "core" %P  +2 "storage"(. +2 "core" .( +2 "storage"(=& +5 "core" & [  + "storage"(9& +4 "core" & 9  +2 "manipulator"&"& +3 "core" &  { +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&w& +5 "core" & $ { + "storage"(^& +4 "core" & 0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +94 "core" ' +2 "storage"(+& +3 "core" & w  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'i +279 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &  { +3 "storage"(& +4 "core" & )  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&N'} +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +26 "core" ' + "manipulator"&|% +4 "core" %|  +2 "storage"(E& +3 "core" & &  +2 .tForearm.force -20 +2 "manipulator"&5 +48 .tForearm.seek 3 + 299 counts +3 "manipulator"&g'Ϩ +19 "core" ' +2 "manipulator"&1& +3 "core" & \\ { +3 "storage"(2& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&)'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(I'> +38 "core" ' + "manipulator"&& +4 "core" & % { +2 "manipulator"&% +3 "core" %< ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +159 "core" ( +2 "manipulator"&p& +3 "core" && =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &&   =G +2 .tForearm.seek CC +2 "manipulator"& '" +93 "core" ' +2 .tHand.close + "manipulator"&a/ +63 "core" / +2 .tCC.seek :open + "collection"'_( +416 "core" ( +2 "storage"(3& +3 "core" & o  +2 "storage"(d& +3 "core" &  +2 "manipulator"&@& +5 "core" &% v <? + "manipulator"&r% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&n( +160 "core" ( +2 "manipulator"&<& +3 "core" & A  +2 "storage"(J& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'} +102 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&}1 +53 "core" 1 +2 "manipulator"&>% +3 "core" % Ή %  +2 "storage"(s& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&]'ϵ +21 "core" ' +2 "manipulator"& & +4 "core" & ]  +2 "storage"(/& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +40 "core" ' +2 "storage"(P% +3 "core" %F e +3 ."downElevator"SE.seek :down +4 "storage"(F'X +98 (u% +3 "core" %vU PG +2 "manipulator"&% +4 "core" %r E { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'7& +3 "core" & +2 "manipulator"&Q% +3 "core" %\ #  ? +3 "storage"(H% +4 "core" %] # + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(Z( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" & > +2 "manipulator"&?& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&b( +30 "core" ( + "manipulator"&U& +3 "core" &  # +3 "storage"(~& +4 "core" & } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +112 "core" ' + "storage"(i& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(q'i +279 "core" ' +36 "storage"(o- +16 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" & f +2 "manipulator"&-& +4 "core" & M "x +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&& +3 "core" & [ "x +3 "storage"(Y& +4 "core" & . +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(C'X +8 "core" & "x + "manipulator"&% +4 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&'& +3 "core" &% ( 7 <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% w <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'" +97 "core" ' +2 "manipulator"&h& +4 "core" &%  ` <? +2 "manipulator"&j% +5 "core" %   +2 "collection"'l& +4 "core" &( +2 "collection"'[& +6 "core" &* +2 .tCC.seek :closed +2 "collection"'8(V +3 "core" &(  +9 &7, )v +10 &k$ = +9 &r$ G +9 &sf, F +10 &5h) F +9 &i% F +9 &d* F +10 &zc" G +9 &<g G +10 &g G +9 & g G +9 &"j" F +10 &$Ej F +9 &&e F +9 &'d F +10 &)h F +9 &+Lh G +10 &-g" F +9 &.c! F +9 &0k F +10 &2Ud F +9 &4j$ F +10 &5g G +9 &7f F +9 &9^c F +10 &;h G +9 &<g F +9 &>e F +10 &@ed F +9 &B'j$ F +10 &Ck% F +9 &Em# G +9 &Gg|( H +10 &I$&. J +9 &J~d% O +9 &L6[' P +10 &NY$)( P +9 &P"%* Q +10 &Q #$ Q +9 &S $7 R +9 &UY $+ B +10 &Vn<#& . +9 &Vg!% @ +5 ( +2 "collection"'[& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&m1 +4 "core" &VN' @ +59 1 +2 "manipulator"&D% +3 "core" %  '   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%G& +5 "core" & +2 "manipulator"&:% +4 "core" %\ #   9 + "storage"(% +4 "core" %b  +2 "storage"(6. +3 "core" .( +2 "storage"( & +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" &%   <? +2 "manipulator"&#% +4 "core" %\ #  9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&$( +161 "core" ( + "manipulator"&& +4 "core" &  %  +2 "storage"(& +3 "core" & X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +92 "core" ' +2 "storage"(c& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +3 "core" &  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(%& +4 "core" & h +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(B'X +54 "core" &  +3 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +3 "manipulator"&=& +3 "core" &| 6 R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &| H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"' +94 "core" ' + "manipulator"&w& +5 "core" &|  + "manipulator"&^% +5 "core" % K . +2 "processing"%K& +4 "core" & +2 "processing"%+& +5 "core" & +2 .tPC.seek :closed +2 "processing"%4(Z +5 "core" &  +8 &6 )v +9 &i < +9 &x G +10 &ge G +9 &)c G +9 &g G +10 &j G +9 &pf F +10 &1f G +9 &j G +9 & e G +10 &"vj G +9 &$9e G +9 &%i G +10 &'h G +9 &)~j G +10 &+Af G +9 &-e F +9 &.f G +10 &0f F +9 &2Hg G +9 &4 f F +10 &5g G +9 &7e F +10 &9Qf G +9 &;b G +9 &<f G +10 &>h G +9 &@Yg G +9 &Bj G +10 &Cj G +9 &Eq H +10 &GZy I +9 &I K +9 &J L +10 &L L +9 &NY L +9 &P L +10 &Q L +9 &S M +10 &U_ M +9 &W! M +9 &X N +10 &Z5Ec %k +9 &Z0 \ +5 ( +2 "processing"%+& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&\ 1 +53 "core" 1 +2 "manipulator"&% +4 "core" % % " . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' +2 "processing"%f& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  T  +2 "storage"(.% +4 "core" %` H +2 "storage"(|. +3 "core" .( +2 "storage"(E& +3 "core" & > +2 "storage"(1& +3 "manipulator"&2& +8 "core" & # + &|  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +2 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +3 "manipulator"&0& +3 "core" &| +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &|  +3 .tForearm.seek PC + "manipulator"&S' +94 "core" ' +2 .tHand.close + "manipulator"&N/ +58 "core" / +2 .tPC.seek :open +2 "processing"%g( +91 "core" ' +2 "storage"(- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +36 "core" ' +295 ( + "storage"(*& +4 "core" &  +2 "manipulator"&)& +3 "core" &|  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t( +263 "core" ( +2 "manipulator"&& +3 "core" & & :  +2 "storage"(3& +4 "core" & P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +88 "core" ' +2 .tHand.open + "manipulator"&@1 +54 "core" 1 +2 "storage"(r- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(J' +53 "core" ' +10 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(`& +3 "core" & \ M } L +2 "manipulator"&}& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&>( +4 "core" ( +2 "manipulator"&s& +3 "core" & # n  +2 "storage"( & +5 "core" & \ L\ P  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(P' +57 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(u& +4 "core" & ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(O'i +24 "core" ' + "manipulator"&]% +4 "core" %  M +2 "storage"(7& +3 "core" & 1 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&Q' +19 "core" ' + "manipulator"&H& +4 "core" & l  +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +28 "core" ' +2 "storage"(X% +3 "core" %r +3 ."downElevator"SE.seek :down +4 "storage"(F'X +98 (W% +3 "core" %X t j { QJ +2 "manipulator"&A% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" & V +2 "collection"'~& +4 "core" &VM @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&i% +3 "core" %\ !  3 +2 "storage"(\\% +4 "core" %Q u +2 "storage"(V. +2 "core" .( +2 "storage"(o& +4 "core" & z +2 "storage"(!& +5 "core" & > + "manipulator"&-& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&Y& +3 "core" & & #  +2 "storage"((& +4 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +93 "core" ' + "storage"(& +5 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +280 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &   +2 "storage"(& +3 "core" & ) +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&q' +23 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(h- +5 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(j'P +26 "core" ' +2 "manipulator"&l% +4 "core" %  + "storage"(L& +4 "core" & E +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&C' +20 "core" ' +2 "manipulator"&& +3 "core" & 0  +2 "storage"(_& +4 "core" & 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&m'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(D'? +48 "core" ' +5 "manipulator"&G& +4 "core" & n  +2 "manipulator"&:% +3 "core" %ѓ L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +154 "core" ( +2 "manipulator"&[& +4 "core" && ' & =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &&  =C +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'#( +412 "core" ( +2 "storage"(k& +3 "core" & +2 "storage"(& +4 "core" & 9 +2 "manipulator"&& +3 "core" &&   =B +2 "manipulator"&c% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +157 "core" ( +2 "manipulator"&;& +3 "core" &   +2 "storage"(5& +4 "core" & 9 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +53 "core" 1 +2 "manipulator"&T% +3 "core" % % H +2 "storage"(M& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&' +21 "core" ' +2 "manipulator"&$& +4 "core" & )  +2 "storage"(z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +21 "core" ' +2 "storage"(% +4 "core" %G +2 ."downElevator"SE.seek :down +4 "storage"(='X +98 (9% +3 "core" %zV QI +2 "manipulator"&,% +4 "core" %ч +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'^& +3 "core" & +2 "manipulator"&K% +4 "core" %\   $ +2 "storage"(B% +3 "core" %` +2 "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(R( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &   +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&f( +13 "core" ( +2 "manipulator"&& +3 "core" &  o ~ +2 "storage"(.& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +97 "core" ' +2 "storage"(E& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'i +279 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &  +2 "manipulator"&0& +3 "core" &  ~ +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" & Q ~ +2 "storage"(N& +3 "core" & A  +3 .tForearm.seek 3 + 300 counts +46 "manipulator"&'ϩ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(4'X +9 "core" & ~ + "manipulator"&% +4 "core" % Ͻ n 8 +2 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&)( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&& +3 "core" && : 3 =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &S& +3 "core" &&  L =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +3 "manipulator"&3& +3 "core" && $ n =E +3 "manipulator"&% +3 "core" %  3 +2 "collection"'@& +5 "core" &- +2 "collection"'r& +5 "core" &! +3 .tCC.seek :closed + "collection"' (V +5 "core" &+ +7 &K( $d +10 &]# 6 +9 &/! G +9 &f0 F +10 &i0 G +9 &vg* G +10 &9j. F +9 &j3 G +9 &g8 F +10 &~d0 G +9 & @h1 G +9 &"d* F +10 &#e( G +9 &%g0 G +10 &'HfB G +9 &)\ g3 G +9 &*h/ G +10 &,g: G +9 &.Pg3 G +9 &0g2 G +11 &1j4 F +8 &3i* F +10 &5Yi1 F +9 &7j1 F +9 &8h3 F +10 &:j$ F +9 &#e* F +10 &?e' G +9 &Ag( G +10 &Cij( F +9 &E)j/ G +9 &Fv* H +10 &H\ 0 J +9 &J][B1 M +9 &Lb4 P +10 &M'.( P +9 &O!$& Q +10 &QZ""( Q +9 &S"1 R +9 &T! ) R +10 &VDc! 0 - +9 &V!- a +9 ( +2 "collection"'r& +3 "core" &Vm) L +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&`1 +53 "core" 1 +3 "manipulator"&}% +3 "core" %  & T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&a% +3 "core" %\   O  +2 "storage"( % +4 "core" %^  +2 "storage"(u. +3 "core" .( +2 "storage"(p& +3 "core" & :  +2 "storage"(]& +4 "core" & ;  +2 "manipulator"&7& +3 "core" &&   =E +2 "manipulator"&<% +5 "core" %\   R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H( +163 "core" ( +2 "manipulator"&& +3 "core" & v \\ +2 "storage"(X& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&t'9 +108 "core" ' +2 "storage"(d& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'i +283 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & (  +2 "manipulator"&/& +4 "core" & b \\ +2 .tElbow.seek 3 + "manipulator"&>( +3 "core" ( +2 "manipulator"&P& +4 "core" & E \\ +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(i'X +8 "core" & [ \\ +2 "manipulator"&\\% +3 "core" % Ϥ G +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(s +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&O& +51 "core" &o *  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &!& +2 "core" &o  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +100 "core" ' +2 "manipulator"&Y& +4 "core" &o  +2 "manipulator"&(% +4 "core" % +2 "processing"%I& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%F(Z +5 "core" & +6 &= #b +9 &Z 5 +10 & H +9 &f G +9 &g G +10 &Ve F +9 &e G +9 &f G +10 &e G +9 &]g G +9 & j G +10 &!f G +9 &#f F +10 &%dg G +9 &''g G +9 &(d G +10 &*g G +9 &,mh G +9 &./g G +10 &/h G +9 &1e G +10 &3th G +9 &57g G +9 &6c G +10 &8f G +9 &:}c G +10 &h G +9 &?f F +10 &Ae G +9 &CFh G +9 &En G +10 &Fs H +9 &H J +10 &J? L +9 &L L +9 &M M +10 &O M +9 &QG L +9 &S M +10 &T M +9 &V M +10 &XL M +9 &Yxw !i +9 &Z0 1 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&n1 +2 "core" &Z  +52 1 +2 "manipulator"&?% +3 "core" % ! 2  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +98 "core" ' +2 "processing"%'& +3 "core" &Z  +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" %\ #  A +3 "storage"(h% +3 "core" %V  +2 "storage"(l. +3 "core" .( +2 "storage"(L& +4 "core" & y  +2 "storage"(& +2 "manipulator"&_& +7 "core" & \  + &o > +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&G(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(:'i +2 "core" ( +3 "manipulator"&x& +3 "core" &o H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &o +3 .tForearm.seek PC + "manipulator"&b' +100 "core" ' +2 .tHand.close +2 "manipulator"&q/ +59 "core" / +4 .tPC.seek :open +2 "processing"%C( +83 "core" ' + "storage"(j- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['y +35 "core" ' +302 ( +2 "storage"( & +3 "core" & B  +2 "manipulator"&m& +4 "core" &o  +2 "manipulator"&&% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +251 "core" ( + "manipulator"&8& +5 "core" &  {  + "storage"(k& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(c- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(;'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(5' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(6& +4 "core" &\ R\ P  +2 "manipulator"&%& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&T( +7 "core" ( +2 "manipulator"&M& +4 "core" &   +2 "storage"($& +3 "core" &\ O\ P  +3 .tForearm.seek 3 + 700 counts +47 "manipulator"&z'9 +6 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +60 "core" ' + "manipulator"&e& +5 "core" & W  + "storage"(9& +4 "core" & 3  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'} +19 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' + "manipulator"&^% +5 "core" %ΐ   + "storage"(& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&K'ϼ +20 "core" ' +2 "manipulator"&B& +3 "core" & A  +3 "storage"(& +4 "core" & S  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +28 "core" ' +2 "storage"(% +3 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(='X +98 (Z% +3 "core" %8_ { { RL +2 "manipulator"&\ % +5 "core" %E  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & 6  +3 "collection"'.& +4 "core" &Vk) L + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&E% +3 "core" %\    +3 "storage"(% +4 "core" %a \ + "storage"(w. +3 "core" .( +2 "storage"(1& +3 "core" & 4  +2 "storage"(+& +5 "core" &   + "manipulator"&0& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&N& +3 "core" & $ ,  +2 "storage"(v& +4 "core" & @  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +96 "core" ' +2 "storage"(& +3 "core" & P  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +283 "core" ' +3 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(S& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&2'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +33 "core" ' +2 "manipulator"&% +3 "core" %|  +2 "storage"(@& +3 "core" & 7  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&4'Ϩ +19 "core" ' +2 "manipulator"&*& +3 "core" & E  +2 "storage"(#& +4 "core" & ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&`'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'> +37 "core" ' +2 "manipulator"& & +3 "core" & A  +2 "manipulator"&a% +5 "core" %" v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +152 "core" ( + "manipulator"&p& +4 "core" &# % > :/ +42 .tElbow.reconfigure :loose +9 "manipulator"&$ &.,(#b +3 &]& +3 "core" &#  :/ +2 .tForearm.seek CC +2 "manipulator"&7'" +95 "core" ' + .tHand.close +2 "manipulator"&r/ +56 "core" / +2 .tCC.seek :open +2 "collection"'<( +415 "core" ( +2 "storage"(& +3 "core" & J  +2 "storage"(& +5 "core" & i  + "manipulator"&X& +4 "core" &#  :, +2 "manipulator"&d% +4 "core" %  \\ +2 .tForearm.seek :retract +2 "manipulator"&)'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +165 "core" ( + "manipulator"&W& +5 "core" & Q g + "storage"(A& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&/'} +92 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&U% +4 "core" % Β , +2 "storage"(~& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 321 counts +2 "manipulator"&\\'Ͼ +22 "core" ' + "manipulator"&H& +3 "core" & z g +2 "storage"(t& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +26 "core" ' + "storage"(Q% +5 "core" %F e  +2 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (>% +3 "core" %X PH +2 "manipulator"&!% +4 "core" %t s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'(& +3 "core" & +2 "manipulator"&I% +5 "core" %\    + "storage"(i% +4 "core" %a +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(g( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" & s +2 "manipulator"&?& +4 "core" &  g +2 .tElbow.seek 2 +2 "manipulator"&'( +30 "core" ( +2 "manipulator"&& +3 "core" &\   g +2 "storage"(h& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +94 "core" ' +2 "storage"(L& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"&x& +4 "core" &\ R ` +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&-& +3 "core" &\ Z ` +2 "storage"(q& +4 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +3 "storage"(F'X +7 "core" &\ n ` +2 "manipulator"&:% +3 "core" %    +3 .tForearm.seek :retract +47 "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&m( +101 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +54 "core" ( + "manipulator"&&& +4 "core" &$ F ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &$  ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'" +104 "core" ' +3 "manipulator"&k& +3 "core" &$ 9 ;7 +3 "manipulator"&G% +3 "core" %) Z 9 +3 "collection"'& +3 "core" &# +3 "collection"'c& +5 "core" &1 +2 .tCC.seek :closed +3 "collection"'(V +3 "core" &6 +6 &C 9 +10 &MM2 / +9 &|5 D +9 &Ig; G +10 & f5 F +9 &c8 F +10 &c3 F +9 &Rc; F +9 &j8 F +10 &h2 F +9 &i6 F +9 &!Zi= F +10 &#i6 F +9 &$e6 F +10 &&c3 F +9 &(bb4 F +9 &*$h4 F +10 &+g0 G +9 &-f8 F +9 &/jc7 F +10 &1,c4 F +9 &2c6 F +10 &4h1 F +9 &6rf4 F +9 &84c0 F +10 &9h5 F +9 &;j5 F +9 &=zj3 F +10 &?<h2 F +9 &@h2 F +10 &Bg5 G +9 &Di4 G +9 &FAp6 G +10 &G~2 I +9 &ID+4 L +9 &Kn4 P +10 &M.+52 Q +9 &N"%2 P +10 &P"$0 Q +9 &Rs #0 Q +9 &T3", R +10 &Uw!+ = +9 &V3!3 "f +9 &VC1 ? +3 ( + "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&61 +63 "core" 1 +3 "manipulator"&%% +3 "core" % )  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%$& +4 "core" & +2 "manipulator"&% +3 "core" %\   )  +2 "storage"(e% +4 "core" %b  +2 "storage"(9. +3 "core" .( +2 "storage"([& +4 "core" &  + "storage"(;& +4 "core" &  +2 "manipulator"&^& +3 "core" &$  1 ;4 +2 "manipulator"&% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&B( +168 "core" ( + "manipulator"&& +4 "core" &  J  +2 "storage"(& +4 "core" & > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +282 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" & P +2 "manipulator"&z& +4 "core" & h  +2 .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&& +3 "core" & n  +2 "storage"(,& +5 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&K' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(E'X +8 "core" &   +2 "manipulator"&% +3 "core" % $  Z +3 .tForearm.seek :retract + "manipulator"&w'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&1(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&& +3 "core" &r + w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &r & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +98 "core" ' +2 "manipulator"&N& +3 "core" &r  | +3 "manipulator"&v% +4 "core" % r  +2 "processing"%D& +3 "core" & +50 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%=(Z +5 "core" &  +8 &8 )v +9 &l = +10 &s H +9 &uc G +9 &8e F +10 &g G +9 &e G +10 &}g G +9 &@f F +9 &g G +10 & e F +9 &"e G +10 &$Fe G +9 &&e G +9 &'h G +10 &)j G +9 &+Og G +9 &-d G +10 &.e G +9 &0e G +9 &2Vg G +10 &4e F +9 &5g G +10 &7f F +9 &9_g G +9 &;!c G +10 &<f F +9 &>f G +9 &@fj G +10 &B)g G +9 &Cj G +10 &Ep H +9 &Ghx I +9 &I$ K +10 &J L +9 &L L +9 &Ng L +10 &P) L +9 &Q L +10 &S M +9 &Un M +9 &W0 M +10 &X M +9 &ZAB` %m +9 &Z ( ! +6 ( +2 "processing"%& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"& 1 +59 "core" 1 +2 "manipulator"&% +3 "core" %  8  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' + "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&S% +3 "core" %\  3  +3 "storage"(3% +4 "core" %a  + "storage"(. +4 "core" .( + "storage"(@& +3 "core" &  +3 "storage"(*& +2 "manipulator"&#& +6 "core" &  +2 &r  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'i +3 "manipulator"&a(s +4 "core" ( +2 "manipulator"&y& +4 "core" &r % * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &"& +3 "core" &r  b +2 .tForearm.seek PC +2 "manipulator"&f' +98 "core" ' + .tHand.close +2 "manipulator"&2/ +62 "core" / +2 .tPC.seek :open +2 "processing"%4( +85 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(p'y +39 "core" ' +298 ( + "storage"(`& +4 "core" & ' +2 "manipulator"&]& +3 "core" &r  +2 "manipulator"&% +5 "core" %  + .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +248 "core" ( + "manipulator"& & +4 "core" & $ j f +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + .tHand.open +2 "manipulator"&X1 +58 "core" 1 +2 "storage"(d- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(W'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(A' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(7- +3 "core" -' +2 "storage"(u& +3 "core" & \ X\ R +2 "manipulator"&& +5 "core" &  f +2 .tElbow.seek 2 + "manipulator"&U( +4 "core" ( +2 "manipulator"&~& +3 "core" & &  f +2 "storage"(H& +5 "core" & \ P\ O +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +53 "core" ' +2 "manipulator"&)& +3 "core" & f +2 "storage"(>& +4 "core" & 5 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +42 "manipulator"&!' +34 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'i +24 "core" ' + "manipulator"&(% +5 "core" % j + "storage"(\\& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&I' +20 "core" ' +2 "manipulator"&i& +3 "core" &  K f +3 "storage"(V& +3 "core" & = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +20 "core" ' +2 "storage"(J% +3 "core" %r i +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (R% +3 "core" %[ e v | QK +2 "manipulator"&n% +4 "core" %ё  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & [ +3 "collection"'h& +3 "core" &VL$ ? +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&L% +4 "core" %\    +2 "storage"(P% +3 "core" %N 1 +2 "storage"(Y. +4 "core" .( + "storage"(_& +4 "core" & + +2 "storage"(& +4 "core" & V +2 "manipulator"&x& +4 "core" &\  e +2 .tElbow.seek 2 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&q& +3 "core" &\  Q e +3 "storage"(o& +3 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +97 "core" ' +2 "storage"(:& +3 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +278 "core" ' +3 "storage"(l- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  e +2 "storage"(j& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&&' +22 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(G'O +27 "core" ' + "manipulator"&% +5 "core" % Z + "storage"(& +4 "core" & 6 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&F' +22 "core" ' +2 "manipulator"& & +3 "core" & &  e +2 "storage"(<& +87 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'> +40 "core" ' + "manipulator"&$& +4 "core" &  e +2 "manipulator"&% +4 "core" %ѱ C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&9( +153 "core" ( +2 "manipulator"&c& +4 "core" && $ M =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" && =B +2 .tForearm.seek CC +2 "manipulator"&;'" +100 "core" ' + .tHand.close +2 "manipulator"&^/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(8& +3 "core" & +2 "storage"(& +50 "core" & +2 "manipulator"&& +4 "core" && =A +2 "manipulator"&% +3 "core" % . +3 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M( +160 "core" ( +2 "manipulator"&Z& +3 "core" & k } +2 "storage"(\ & +4 "core" & w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&z' +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +62 "core" 1 +3 "manipulator"&% +3 "core" % g +2 "storage"(.& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&B& +4 "core" & N } +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +29 "core" ' +2 "storage"(K% +3 "core" %D C +3 ."downElevator"SE.seek :down +4 "storage"('X +100 (+% +3 "core" %U PG +2 "manipulator"&T% +3 "core" %ђ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +90 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'v& +3 "core" &\ +3 "manipulator"&D% +4 "core" %\    + "storage"(E% +4 "core" %V +2 "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(C( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &   +2 "manipulator"&& +3 "core" &  } +3 .tElbow.seek 3 + "manipulator"&( +13 "core" ( +2 "manipulator"&S& +4 "core" & ? + "storage"(3& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(@& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +275 "core" ' +2 "storage"(*- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (#& +3 "core" &  +2 "manipulator"&y& +3 "core" & +3 .tElbow.seek 3 + "manipulator"&"( +16 "core" ( + "manipulator"&0& +4 "core" & \ +2 "storage"(2& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(='X +8 "core" & d \ +2 "manipulator"& % +3 "core" % Ϡ 9 ( +3 .tForearm.seek :retract + "manipulator"&`'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +140 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&& +5 "core" &! * < 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &! ' 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek CC +3 "manipulator"& '" +101 "core" ' +3 "manipulator"&& +3 "core" &  6 7 +3 "manipulator"&a% +3 "core" %   +2 "collection"'X& +5 "core" &: +2 "collection"'d& +5 "core" & +2 .tCC.seek :closed +2 "collection"'7(V +5 "core" &:  +8 &8? )w +10 &m< > +9 &p4 G +10 &g7 G +9 &Cc7 F +9 &c2 G +10 &g; G +9 &c< F +9 &Kc= F +10 & cK G +9 & i> F +10 &"j= G +9 &$Rg: G +9 &&c< F +10 &'h7 G +9 &)f4 F +9 &+[c1 F +10 &-c5 F +9 &.b6 G +10 &0h@ G +9 &2cc; F +9 &4$h6 G +10 &5g; F +9 &7c7 F +9 &9kc5 F +10 &;-e5 F +9 &<d1 F +10 &>g2 F +9 &@rg3 G +9 &B4h8 G +10 &Ck2 F +9 &Em: G +9 &Gt|6 I +10 &I2&1 J +9 &Jz^? N +10 &L:d6 P +9 &Nf$(/ P +9 &P( $5 P +10 &Q"#> P +9 &S"7 R +9 &Ug#4 ? +10 &VK C Q +9 &V(* D #l +10 &Vp9 H +2 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&u1 +57 "core" 1 +2 "manipulator"&% +5 "core" % ' : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%H& +4 "core" & +2 "manipulator"&r% +3 "core" %\ b  +3 "storage"()% +3 "core" %b \ +2 "storage"(>. +3 "core" .( +2 "storage"(p& +3 "core" &   +2 "storage"(W& +4 "core" &   +2 "manipulator"&(& +3 "core" &  7 +2 "manipulator"&\\% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +162 "core" ( +2 "manipulator"&V& +3 "core" & A [ +2 "storage"( & +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(J& +4 "core" & t  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +283 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (n& +2 "core" & G  +3 "manipulator"&t& +4 "core" & C [ + .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&Q& +3 "core" & T [ +2 "storage"(!& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&h& +5 "storage"(L'X +3 "core" &  [ +3 "manipulator"&P% +4 "core" % Ϧ  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&_(s +171 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&/& +3 "core" &u *   +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u +  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&x' +95 "core" ' +2 "manipulator"&q& +4 "core" &u V  +2 "manipulator"&o% +3 "core" %   +3 "processing"%}& +3 "core" & +3 "processing"%:& +5 "core" & +2 .tPC.seek :closed +2 "processing"%O(Z +5 "core" & +7 &= #c +9 &[ 6 +9 & G +10 &c G +9 &g F +9 &^f G +10 & c G +9 &f F +10 &g G +9 &ej G +9 & (g G +10 &!h G +9 &#g G +9 &%mk G +10 &'/e G +9 &(g G +10 &*e G +9 &,we F +9 &.8g G +10 &/c G +9 &1e F +56 &3}g G +4 &5@g G +3 &7j G + &8c G + &:e G +2 &\ c G +7 &?f G +9 &Aj G +10 &COi G +9 &Em H +10 &Fs H +9 &H J +9 &JH L +10 &L  L +9 &M M +9 &O L +10 &QP L +9 &S M +10 &T M +9 &V M +9 &XU M +10 &Yvy "k +9 &Z)v . +9 ( +3 "processing"%:& +2 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&s1 +62 "core" 1 +2 "manipulator"&?% +3 "core" % $ n  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +98 "core" ' +2 "processing"%& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&j% +4 "core" %\ # S : +2 "storage"(k% +3 "core" %U d e Q +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" & c c &  +2 "storage"( & +3 "manipulator"&<& +8 "core" & c c (  + &u /  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&$(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&{& +4 "core" &u h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &u t  +2 .tForearm.seek PC +2 "manipulator"&'' +99 "core" ' +2 .tHand.close + "manipulator"&&/ +55 "core" / +4 .tPC.seek :open +2 "processing"%F( +87 "core" ' +2 "storage"(G- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'y +47 "core" ' +286 ( + "storage"([& +3 "core" & ,  +2 "manipulator"&6& +4 "core" &u   +2 "manipulator"&b% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +267 "core" ( +2 "manipulator"&& +3 "core" & \\  +2 "storage"(8& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(\ ' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(;- +3 "core" -' +2 "storage"(9& +3 "core" &\ T\ S   +2 "manipulator"&,& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&.& +5 "core" & $ }  +2 "storage"(B& +4 "core" &\ I\ I R  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(K' +53 "core" ' +2 "manipulator"&m& +3 "core" &  +2 "storage"(+& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&T'} +19 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +24 "core" ' +2 "manipulator"&% +3 "core" %u  +2 "storage"(v& +4 "core" & 7  +2 .tForearm.force -20 +46 "manipulator"&5 +5 .tForearm.seek 3 + 292 counts + "manipulator"&D'ϡ +20 "core" ' +2 "manipulator"&E& +3 "core" &   +2 "storage"(w& +4 "core" & S  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&%'9 +17 "core" ' +2 "storage"(5% +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (g% +3 "core" %Y ~ z W QK +2 "manipulator"& % +4 "core" %2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +3 "core" & E  +2 "collection"'3& +3 "core" &Vp* H +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&@% +4 "core" %\   +2 "storage"(% +3 "core" %Q +2 "storage"(N. +3 "core" .( +2 "storage"(*& +4 "core" & 1  +2 "storage"(#& +3 "core" &  +2 "manipulator"&y& +5 "core" &  +2 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( +2 "manipulator"&2& +3 "core" & |  +2 "storage"(1& +4 "core" & t  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +95 "core" ' +2 "storage"( & +3 "core" & I  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(f& +4 "core" & ;  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('O +33 "core" ' + "manipulator"&a% +5 "core" %x  + "storage"(X& +3 "core" & x "  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&='Ϥ +20 "core" ' + "manipulator"&`& +5 "core" & k  +2 "storage"(& +3 "core" & <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +39 "core" ' +2 "manipulator"&H& +3 "core" &  +2 "manipulator"&r% +5 "core" %B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&>( +156 "core" ( +2 "manipulator"&p& +4 "core" && # =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" && =B +2 .tForearm.seek CC +2 "manipulator"&W'" +94 "core" ' +2 .tHand.close + "manipulator"&(/ +64 "core" / +2 .tCC.seek :open +2 "collection"'\\( +416 "core" ( + "storage"( & +4 "core" &  +2 "storage"(V& +3 "core" &  +2 "manipulator"& & +4 "core" & # :* +2 "manipulator"&J% +3 "core" % 2 +3 .tForearm.seek :retract + "manipulator"&]'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&~( +160 "core" ( +2 "manipulator"&R& +44 "core" & * s +9 "storage"(n& +5 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&t'} +100 "core" ' +2 .tElbow.hold + "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +60 "core" 1 +3 "manipulator"&I% +4 "core" % Ί p +2 "storage"(h& +3 "core" & s  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&P'϶ +20 "core" ' + "manipulator"&i& +4 "core" & s +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +33 "core" ' +2 "storage"(% +3 "core" %E X +3 ."downElevator"SE.seek :down +3 "storage"(/'X +100 (% +3 "core" % T PG +2 "manipulator"&U% +3 "core" %- Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +87 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'o& +3 "core" & +2 "manipulator"&}% +3 "core" %\  *  +2 "storage"(L% +5 "core" %U + "storage"(Y. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(4( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (s& +2 "core" & 6 +2 "manipulator"&?& +4 "core" & s +2 .tElbow.seek 2 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&j& +3 "core" &  ? # +2 "storage"(k& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(:& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(<- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & 7 +2 "manipulator"&{& +3 "core" &  # +3 .tElbow.seek 2 + "manipulator"&-( +4 "core" ( +2 "manipulator"&x& +3 "core" & %  # +3 "storage"(&& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&G' +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(O'X +8 "core" & U # + "manipulator"&% +5 "core" %  ] +2 .tForearm.seek :retract + "manipulator"&['\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&b& +3 "core" &'  I >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &' >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +3 "manipulator"&8& +3 "core" &( $ , >J +2 "manipulator"&$% +4 "core" %*  +2 "collection"'& +4 "core" &F +3 "collection"'& +5 "core" &A +2 .tCC.seek :closed +2 "collection"';(V +5 "core" &@  +8 &7? )v +10 &kI = +50 &r@ G +3 &sfA F + &4h4 F +2 &h: F + &f7 G + &yg/ G +7 &;g4 G +10 &g. F +9 & d/ F +9 &"e* F +10 &$Dd0 F +9 &&d9 F +10 &'c; F +9 &)fD G +9 &+Lg= F +10 &-c7 F +9 &.iB F +9 &0h; G +10 &2Sg; G +9 &4fD F +10 &5c8 F +9 &7h7 F +4 "Can" J  +5 "core" &9[f5 G +10 &;g7 F +9 &<d< F +9 &>d7 F +10 &@dc5 F +9 &B&dA F +10 &Ce? F +9 &EmC G +9 &GgzJ H +10 &I%&J I +9 &J|bJ O +9 &L4XJ P +10 &NX"&J P +9 &P!#I Q +10 &Q!"F Q +9 &S!H R +9 &UX D B +10 &Vn= D . +9 &Vi!I B +5 ( +2 "collection"'& +4 "core" &V`F B +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&91 +61 "core" 1 +2 "manipulator"&,% +5 "core" % * $ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%B& +3 "core" & +2 "manipulator"&^% +5 "core" %\   =  +2 "storage"(m% +3 "core" %b  +2 "storage"(+. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(v& +4 "core" & \ +2 "manipulator"&c& +3 "core" &' >J +2 "manipulator"&Z% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +164 "core" ( +2 "manipulator"&w& +3 "core" & $ ,  +2 "storage"(e& +4 "core" & s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +97 "core" ' +2 "storage"(& +4 "core" & h +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'i +282 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 7 +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&K& +4 "core" & ;  +2 "storage"(T& +4 "core" & > +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&D' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(@'X +8 "core" &   + "manipulator"&% +5 "core" %  U +2 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"&*& +3 "core" &o ' { +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &o 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y' +97 "core" ' +2 "manipulator"&2& +3 "core" &o  +3 "manipulator"&1% +3 "core" % +2 "processing"%%& +5 "core" & +2 "processing"% & +5 "core" & +2 .tPC.seek :closed + "processing"%(Z +5 "core" & +8 &E #b +9 &[ 6 +9 & H +10 &f\ G +9 &g G +9 &_i\ G +10 &"e F +9 &e G +9 &j\ G +10 &fd G +9 & (g G +10 &!g F +9 &#g G +9 &%og G +10 &'0e G +9 &(f G +9 &*e G +10 &,vj G +9 &.9f G +10 &/h G +9 &1g G +9 &3e G +10 &5Ae G +9 &7e F +9 &8e G +10 &:b G +9 & e G +9 &?e G +9 &Af G +10 &CQh G +9 &El H +9 &Fs H +10 &H K +9 &JJ L +10 &L  L +9 &M L +9 &O M +10 &QP M +9 &S M +10 &T M +9 &V M +9 &XU N +10 &Yvx "l +9 &Z(k + +9 ( +2 "processing"% & +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&M1 +60 "core" 1 + "manipulator"&% +50 "core" % % +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&f% +3 "core" %\  u " +3 "storage"("% +3 "core" %_  +2 "storage"(a. +3 "core" .( +2 "storage"(X& +3 "core" &  +3 "storage"(`& +2 "manipulator"&& +7 "core" &  + &o  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&H(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +3 "core" ( +2 "manipulator"&|& +3 "core" &o  w +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +2 "core" &o C +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%=( +83 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +35 "core" ' +303 ( +3 "storage"(d& +3 "core" & % +2 "manipulator"&u& +5 "core" &o ' + "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&('\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +261 "core" ( + "manipulator"&7& +4 "core" &  m  +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +101 "core" ' +3 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "storage"(J- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"(>& +3 "core" & \ H\ I 6 +2 "manipulator"&!& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&I( +7 "core" ( +2 "manipulator"&h& +3 "core" &  0  +2 "storage"(i& +4 "core" & \ H\ H  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +53 "core" ' +2 "manipulator"&]& +3 "core" &  +2 "storage"(& +5 "core" & Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&U' +27 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(t'i +24 "core" ' +2 "manipulator"&P% +3 "core" % { L +2 "storage"(o& +4 "core" & h d  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&}' +21 "core" ' + "manipulator"&L& +4 "core" & G  +2 "storage"(Y& +3 "core" & I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 "storage"(A% +3 "core" %r  +3 ."downElevator"SE.seek :down +49 "storage"(/'X +53 (C% +3 "core" %HV r ` QI +2 "manipulator"&s% +4 "core" %p z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +91 "core" ' +106 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (j& +3 "core" &  +2 "collection"'k& +3 "core" &V`C B +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&:% +3 "core" %\    +3 "storage"(Q% +3 "core" %_ G +2 "storage"(q. +3 "core" .( +2 "storage"(<& +4 "core" & " +2 "storage"( & +3 "core" & C +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&&& +4 "core" & '  + "storage"(_& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +97 "core" ' +2 "storage"(& +3 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" & {  +3 "storage"('& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"($'P +39 "core" ' + "manipulator"&% +5 "core" % + "storage"(-& +4 "core" & y T +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&O' +19 "core" ' +2 "manipulator"&[& +3 "core" & r  +2 "storage"(\\& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'? +43 "core" ' + "manipulator"&B& +4 "core" & N  +2 "manipulator"&^% +3 "core" %ў +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +160 "core" ( +2 "manipulator"&& +3 "core" &* &  Ad +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* < Ad +2 .tForearm.seek CC +2 "manipulator"&v'" +94 "core" ' + .tHand.close +2 "manipulator"&c/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Z( +413 "core" ( +2 "storage"(& +3 "core" & +2 "storage"(w& +3 "core" & +2 "manipulator"&e& +5 "core" &+ K A_ + "manipulator"&% +3 "core" % , !  +3 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&.( +160 "core" ( +2 "manipulator"&g& +4 "core" & f  + "storage"(& +4 "core" & } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +97 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +101 "core" 1 +5 "manipulator"&S% +3 "core" % \\ +2 "storage"(3& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&E& +4 "core" & T  + "storage"(5& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +27 "core" ' +2 "storage"(D% +3 "core" %I  +3 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (#% +3 "core" %Z PH +2 "manipulator"&% +5 "core" %Ѡ L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'1& +3 "core" &4  +2 "manipulator"&%% +5 "core" %\  e  + "storage"(@% +4 "core" %\\ +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(F( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +2 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +16 "core" ( + "manipulator"&& +4 "core" & i ^ +2 "storage"(f& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +93 "core" ' +2 "storage"(a& +3 "core" & }  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +281 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&|& +3 "core" & + ^ +3 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( +2 "manipulator"&y& +4 "core" & ^ ^ + "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +6 "core" & r ^ +3 "manipulator"&r% +3 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &( B ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  i ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'" +101 "core" ' + "manipulator"& & +4 "core" &( & ?Q +2 "manipulator"&H% +4 "core" %  O +2 "collection"' & +4 "core" &?  +2 "collection"'J& +6 "core" &  +3 .tCC.seek :closed + "collection"'n(V +4 "core" &L  +9 &:B *x +9 &/n@ > +10 &n; G +9 &hG F +9 &VcG F +10 &dO F +9 &cS F +10 &bK G +9 &]fP G +9 &gK G +10 & iK F +9 &"jD G +9 &$ehD G +10 &&(hD F +9 &'hF F +9 &)gE F +10 &+mgG G +9 &-/gI G +10 &.e? G +9 &0gD G +9 &2vhF F +10 &48hD F +9 &5fJ G +10 &7eI G +9 &9~fF F +9 &;?dF G +10 &=cE F +9 &>dF F +9 &@cG F +10 &BHdG F +9 &D gF F +9 &ErE G +10 &G|G I +9 &IE)G J +10 &J~bF O +9 &L8eI Q +9 &Ny%(E P +10 &P9!%S Q +9 &Q $H Q +49 &S#H R +4 &Uy!"F ? +2 &Vz4#M +~ +2 &Vp A C + ( + &VXF C + &VXE C +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&>1 +55 "core" 1 +2 "manipulator"&!% +4 "core" %  &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%i& +3 "core" & +3 "manipulator"&(% +4 "core" %\  {  + "storage"(]% +5 "core" %T  + "storage"(. +3 "core" .( +2 "storage"(p& +3 "core" &   +2 "storage"(P& +5 "core" &   + "manipulator"&o& +5 "core" &(  ` ?Q + "manipulator"&R% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +162 "core" ( +2 "manipulator"&Y& +3 "core" & 6 | +2 "storage"(A& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +93 "core" ' +2 "storage"(V& +3 "core" & ~  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +277 "core" ' +2 "storage"(C- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (s& +3 "core" & 1  +2 "manipulator"&& +3 "core" & | +3 .tElbow.seek 3 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&& +4 "core" &  | +2 "storage"(U& +3 "core" & L  +3 .tForearm.seek 3 + 300 counts + "manipulator"&}'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(:'X +8 "core" & | +2 "manipulator"&Q% +3 "core" % Ϧ  +3 .tForearm.seek :retract + "manipulator"&q'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"&<& +3 "core" &q + m +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{' +94 "core" ' +2 "manipulator"&&& +4 "core" &q $  + "manipulator"&_% +4 "core" % p ; +3 "processing"%& +3 "core" & +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%/(Z +3 "core" &  +9 &6 )v +10 &i < +9 &x G +10 &ke F +9 &,f G +9 &i G +10 &d G +9 &re G +9 &4h G +10 &h G +9 & e F +10 &"zf G +9 &$<h G +9 &%e F +10 &'g G +9 &)d G +9 &+Ee F +10 &-e\ G +9 &.h G +10 &0c G +9 &2Mg F +9 &4g G +10 &5i G +9 &7c G +9 &9Tc G +10 &;c F +9 &<e F +10 &>g F +9 &@\\g G +9 &Bi G +10 &Cj G +9 &En H +9 &G]x I +10 &I K +9 &J L +10 &L L +9 &N\\ L +9 &P L +10 &Q L +9 &S L +9 &Ub M +10 &W# M +9 &X M +10 &Z5De &n +9 &Z 0 " +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&~1 +2 "core" &Z " +60 1 + "manipulator"&?% +3 "core" %  @ ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 "processing"%b& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&'% +3 "core" %\  ^ ! +2 "storage"(8% +5 "core" %O  + "storage"(. +3 "core" .( +2 "storage"(-& +3 "core" &   +50 "storage"([& +3 "manipulator"&\\& +6 "core" & C  + &q O +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +6 .tElbow.seek PC + "manipulator"&B(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'i +2 "core" ( +3 "manipulator"&l& +3 "core" &q z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" &q  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +4 .tPC.seek :open + "processing"%O( +88 "core" ' + "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +299 ( + "storage"(& +4 "core" &   +2 "manipulator"&9& +4 "core" &q  +2 "manipulator"&G% +3 "core" % @  +3 .tForearm.seek :retract + "manipulator"&c'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&m( +245 "core" ( + "manipulator"&;& +4 "core" & g +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&w'9 +95 "core" ' + .tHand.open +2 "manipulator"&e1 +56 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(g'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(v- +2 "core" -' +3 "storage"(+& +4 "core" &\ S\ ^ X  + "manipulator"&T& +4 "core" &  g +2 .tElbow.seek 3 +2 "manipulator"&S( +4 "core" ( + "manipulator"&3& +4 "core" & k g +2 "storage"(E& +4 "core" &\ P\ P  +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +58 "core" ' +2 "manipulator"&D& +3 "core" &  g +2 "storage"(.& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'} +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +24 "core" ' + "manipulator"&% +4 "core" %m  +2 "storage"(1& +4 "core" & $  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 284 counts +2 "manipulator"&%'ϙ +20 "core" ' +2 "manipulator"&@& +3 "core" & 9 g +2 "storage"(z& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +28 "core" ' + "storage"(\ % +4 "core" %s k +3 ."downElevator"SE.seek :down +4 "storage"(*'X +99 (4% +2 "core" %\\ z t M QK +2 "manipulator"&M% +5 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 3  +2 "collection"'f& +4 "core" &VW C +48 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&a% +3 "core" %\ #  ? +3 "storage"(K% +3 "core" %O  +2 "storage"(2. +3 "core" .( +2 "storage"(`& +3 "core" & #  +2 "storage"(& +4 "core" & *  +2 "manipulator"&|& +3 "core" &  g +3 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +2 "manipulator"&& +3 "core" & $ w g +3 "storage"(N& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' +2 "storage"(r& +3 "core" & 4  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +281 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  g +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&X'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +11 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(H'P +32 "core" ' +2 "manipulator"&0% +4 "core" %Α q + "storage"( & +4 "core" & `  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'Ͻ +19 "core" ' +2 "manipulator"&d& +3 "core" & v g +2 "storage"(Z& +4 "core" & b  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(!'? +39 "core" ' +2 "manipulator"&i& +3 "core" &  g +3 "manipulator"&(% +3 "core" %< c r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ( +2 "manipulator"&p& +3 "core" &( $ | ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +62 "core" &(  ' ?T +2 .tForearm.seek CC + "manipulator"&P'" +98 "core" ' + .tHand.close +2 "manipulator"&o/ +57 "core" / +2 .tCC.seek :open +2 "collection"'R( +416 "core" ( +2 "storage"(7& +4 "core" & f  + "storage"(Y& +4 "core" &   +2 "manipulator"&A& +3 "core" &'  >N +2 "manipulator"&V% +4 "core" % '  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h( +165 "core" ( + "manipulator"&C& +4 "core" & 4 ` +2 "storage"(s& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +97 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +58 "core" 1 +3 "manipulator"&j% +3 "core" % Ύ  N +2 "storage"(k& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&Q'Ϻ +20 "core" ' + "manipulator"&L& +4 "core" & r ` +2 "storage"()& +3 "core" &  +3 .tForearm.reconfigure :tight +41 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 3 + 700 counts +2 "manipulator"&W'9 +30 "core" ' +2 "storage"(}% +3 "core" %E ] +3 ."downElevator"SE.seek :down +4 "storage"(<'X +98 ( % +3 "core" %>U PG +2 "manipulator"&I% +4 "core" %0  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'_& +3 "core" & +2 "manipulator"&% +3 "core" %\ #  > +3 "storage"(:% +3 "core" %`  +2 "storage"(q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(=( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &  +2 "manipulator"&?& +3 "core" & \ ` +2 .tElbow.seek 2 +2 "manipulator"&b( +33 "core" ( +2 "manipulator"&'& +3 "core" &  e $ +3 "storage"(8& +3 "core" & + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +98 "core" ' + "storage"(-& +4 "core" & f +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(\\- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" & +3 "manipulator"&l& +4 "core" & K !q + .tElbow.seek 2 +2 "manipulator"&x( +33 "core" ( + "manipulator"&{& +4 "core" & j > +2 "storage"(& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&$' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/'X +8 "core" & k > + "manipulator"&^% +5 "core" %  H +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +160 "core" ( +2 "manipulator"&G& +4 "core" &%  S <? ' +2 .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +7 "core" &% <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'" +101 "core" ' +3 "manipulator"&& +3 "core" &% V <? +3 "manipulator"&B% +4 "core" % +2 "collection"'e& +3 "core" &( +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" &G +8 &8R #c +10 &\\_ 6 +9 &T G +9 &bS F +10 &hT F +9 &^gT F +10 & hT F +9 &hU F +9 &f] G +10 &egT G +9 & 'gS G +9 &!cT F +10 &#iT F +9 &%miS G +10 &'0eT F +9 &(cS F +9 &*iS F +10 &,vhR F +9 &.7fS G +9 &/fS G +10 &1gT G +9 &3}fS G +10 &5@eE F +9 &7cI F +9 &8gN F +10 &:gF G +9 &\ iG F +10 &?iD F +9 &AgH G +10 &COgE G +9 &EiD G +9 &FtD H +10 &H\ I I +9 &JEaCG M +9 &K\\@ Q +10 &M&-C P +9 &O!$E Q +10 &QA"#D Q +9 &S "E R +9 &T! H R +10 &V,Y!"E 2 +9 &V"= L +9 ( +2 "collection"'& +3 "core" &VsE J +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&+1 +53 "core" 1 +4 "manipulator"&T% +3 "core" %   G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%E& +48 "core" &\ +4 "manipulator"&c% +5 "core" %\   + "storage"(D% +4 "core" %\\ r t + +2 "storage"(.. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(1& +4 "core" & t j \ +2 "manipulator"&& +5 "core" &% <> +2 "manipulator"&@% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&z( +171 "core" ( + "manipulator"&g& +4 "core" &  9 0 +2 "storage"(\ & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +88 "core" ' + "storage"(w& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"('i +281 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & O +2 "manipulator"&5& +3 "core" &  0 +3 .tElbow.seek 2 + "manipulator"&S( +13 "core" ( + "manipulator"&6& +5 "core" & %  !w +2 "storage"(#& +4 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&%' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(a'X +8 "core" & 2 !s + "manipulator"& % +5 "core" %  \\ Y +2 .tForearm.seek :retract +2 "manipulator"&K'\ +97 "core" ' +3 .tElbow.seek PC + "manipulator"&2(s +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( + "manipulator"&`& +4 "core" &r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &r   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&|' +98 "core" ' + "manipulator"&& +4 "core" &r   +2 "manipulator"&N% +4 "core" % $ 8 +2 "processing"%,& +3 "core" & +3 "processing"%r& +5 "core" & +2 .tPC.seek :closed +2 "processing"%*(Z +5 "core" & +6 &D #b +10 &^ 6 +9 & G +10 &c G +9 &j G +9 &dd G +10 &&c G +9 &e G +9 &i G +10 &ke G +9 & .g G +10 &!d G +9 &#f G +9 &%se G +10 &'6e G +9 &(h G +9 &*f G +10 &,|e G +9 &.>g G +10 &/i G +9 &1e G +9 &3h G +10 &5Gg F +9 &7e G +9 &8e F +10 &:e G +9 &e F +9 &?f G +9 &Ac G +10 &CUh G +9 &Ek H +10 &Fs H +9 &H J +9 &JN L +10 &L M +9 &M L +9 &O L +10 &QU M +9 &S M +10 &T M +9 &V M +9 &XZ N +10 &Ywx "k +9 &Z%g + +9 ( +2 "processing"%r& +3 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +3 "core" %  ` 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +91 "core" ' +3 "processing"%& +3 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"( % +5 "core" %a / + "storage"(0. +4 "core" .( + "storage"( & +3 "core" &  +3 "storage"(d& +2 "manipulator"&Z& +7 "core" & G +2 &r  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&i(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(('i +2 "core" ( +42 "manipulator"&& +12 "core" &r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &r   +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' +2 .tHand.close + "manipulator"&X/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +42 "core" ' +2 "storage"(H- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +35 "core" ' +344 ( +2 "storage"(>& +3 "core" & " +2 "manipulator"&J& +3 "core" &r   +2 "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&o'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&]( +263 "core" ( +2 "manipulator"&n& +3 "core" &  [  +2 "storage"(7& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +94 "core" ' +3 .tHand.open + "manipulator"&A1 +57 "core" 1 +2 "storage"(V- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(C'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(& +4 "core" & \ H\ P , +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&k& +3 "core" &   +2 "storage"(L& +3 "core" & \ O\ Q { +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(u' +58 "core" ' + "manipulator"&}& +5 "core" & @  + "storage"(h& +4 "core" & R +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +30 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' + "manipulator"&Q% +5 "core" %  e - + "storage"(_& +4 "core" & { y Q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +22 "core" ' +2 "manipulator"&:& +3 "core" & k  +2 "storage"(q& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&!'ќ +36 "core" ' +2 "storage"(W% +3 "core" %o Y +3 ."downElevator"SE.seek :down +4 "storage"(<'X +98 (F% +3 "core" %Z { | PI +2 "manipulator"&~% +4 "core" %ѽ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +3 "core" &  +2 "collection"'8& +4 "core" &VrI J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&-% +3 "core" %\   * +2 "storage"(% +4 "core" %b  +2 "storage"(&. +3 "core" .( +2 "storage"(\\& +3 "core" &  +2 "storage"([& +5 "core" &  +3 "manipulator"&l& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&{( +3 "core" ( +47 "manipulator"&& +5 "core" &   +2 "storage"(t& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(^& +5 "core" & ; +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & N  +2 "storage"(& +5 "core" & - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(x'O +27 "core" ' +2 "manipulator"&B% +3 "core" %  E / +2 "storage"(e& +4 "core" & z { n +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&/' +21 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(R& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(T'> +44 "core" ' +2 "manipulator"&E& +3 "core" & ^  +2 "manipulator"&% +4 "core" %ј q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&D( +155 "core" ( +3 "manipulator"&.& +3 "core" &' ' O >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' y >K +2 .tForearm.seek CC +2 "manipulator"&1'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'@( +413 "core" ( + "storage"(;& +4 "core" & 7 +2 "storage"(g& +3 "core" & y +2 "manipulator"&\ & +5 "core" &%  << + "manipulator"&w% +3 "core" %  h +3 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&3( +165 "core" ( + "manipulator"&4& +5 "core" & $  + "storage"(M& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&5' +95 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +56 "core" 1 +2 "manipulator"&% +4 "core" % $ +2 "storage"(f& +3 "core" & u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +3 "manipulator"& ' +18 "core" ' +2 "manipulator"&z& +3 "core" &  +3 "storage"(m& +4 "core" & T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +29 "core" ' +2 "storage"(%% +4 "core" %G V +2 ."downElevator"SE.seek :down +3 "storage"(`'X +99 (% +3 "core" %U PH +2 "manipulator"&S% +4 "core" %Ѡ ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +49 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +8 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'N& +4 "core" & +2 "manipulator"&,% +4 "core" %\  !  +2 "storage"(a% +4 "core" %_ +2 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(O( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & { +2 "manipulator"&& +4 "core" & )  +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"&& +3 "core" & b { +2 "storage"( & +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +94 "core" ' + "storage"( & +4 "core" & k  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +278 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +2 "core" & l  +2 "manipulator"&& +4 "core" &  { +2 .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&|& +3 "core" & { { +2 "storage"(X& +4 "core" & A  +3 .tForearm.seek 3 + 300 counts + "manipulator"&H'ϩ +32 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(*'X +8 "core" & u { +2 "manipulator"&(% +3 "core" % ϲ 6 e +3 .tForearm.seek :retract + "manipulator"&>'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&& +4 "core" &( C v ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &( ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'" +102 "core" ' +2 "manipulator"&7& +4 "core" &( % , ?T +2 "manipulator"&i% +3 "core" %" I +3 "collection"'A& +3 "core" &M +3 "collection"'V& +5 "core" &Q +3 .tCC.seek :closed +3 "collection"'P(V +2 "core" &Q +7 &P ; +9 &VNR / +9 &}b D +10 &SeS F +9 &fX F +9 &cV F +10 &gV G +9 &ZgS F +10 &dT F +9 &fT G +9 &gT F +10 &!ccV F +9 &#$hV F +9 &$hS G +10 &&eS G +9 &(keM F +10 &*+eR G +9 &+fR F +9 &-cS F +10 &/rgS F +9 &14cY F +9 &2hK F +10 &4gR F +9 &6{bS F +10 &8<eR F +9 &9bK F +9 &;gJ G +10 &=jL G +9 &?EcN F +9 &AfN F +10 &BjH F +9 &DiL G +10 &FIpZ G +9 &H}Y I +9 &I=%X K +10 &Kx{R O +9 &M7-=I P +9 &N$(J P +10 &P $H Q +9 &R{!K Q +10 &T< E Q +9 &Ut G A +9 &V!P &n +10 &VT J +5 ( +2 "collection"'V& +4 "core" &VuT J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&U% +5 "core" % " % E I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%L& +3 "core" & +2 "manipulator"&o% +4 "core" %\ #   9 +2 "storage"(}% +3 "core" %_ v i +2 "storage"(h. +4 "core" .( + "storage"(p& +4 "core" & ~ }  +2 "storage"(Q& +4 "core" & s i  +2 "manipulator"&_& +3 "core" &( ) ?S +2 "manipulator"&C% +4 "core" %\ # E 9 +2 .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&:( +171 "core" ( +2 "manipulator"&q& +4 "core" &  S Y + "storage"(W& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +99 "core" ' +3 "storage"(Y& +3 "core" & )  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'i +282 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &   +2 "manipulator"&)& +4 "core" &  Y +2 .tElbow.seek 3 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&u& +3 "core" & Y +2 "storage"( & +5 "core" &  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +2 "storage"(-'X +8 "core" & U Y + "manipulator"&% +4 "core" % ϯ  , +3 .tForearm.seek :retract + "manipulator"&&'\ +109 "core" ' +3 .tElbow.seek PC +2 "manipulator"&\\(s +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&& +4 "core" &q ' e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&l' +90 "core" ' +2 "manipulator"&& +3 "core" &q R +2 "manipulator"&t% +5 "core" %  ! + "processing"%!& +4 "core" & +3 "processing"%^& +5 "core" & +2 .tPC.seek :closed +2 "processing"%<(Z +5 "core" & +7 &> #b +10 &Z 5 +9 & G +10 &c G +9 &e G +9 &Ue G +10 &b G +9 &e F +9 &g G +10 &]e\ G +9 & g F +10 &!g G +9 &#d G +9 &%ef G +10 &''i G +9 &(d G +9 &*h G +10 &,lj G +9 &.0g F +10 &/f F +9 &1e G +9 &3uh G +10 &57d G +9 &6e F +9 &8f F +10 &:}f G +9 &h G +9 &?i G +9 &Ac G +10 &CFh G +9 &El H +9 &Fs H +10 &H J +9 &J? L +10 &L L +9 &M L +9 &O M +10 &QF M +9 &S M +9 &T L +10 &V M +9 &XK N +10 &Ywy "k +9 &Z.} / +9 ( + &Z " +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&I1 +60 "core" 1 + "manipulator"&?% +5 "core" %  w ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 "processing"%G& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\  '  +2 "storage"(% +3 "core" %_ N  +2 "storage"(B. +4 "core" .( + "storage"(e& +5 "core" & '  +2 "storage"(& +2 "manipulator"&R& +7 "core" &   +2 &q  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&E(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +3 "manipulator"&& +3 "core" &q U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &q  +3 .tForearm.seek PC + "manipulator"&b' +98 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open + "processing"%/( +101 "core" ' +9 "storage"(x- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(.'y +39 "core" ' +274 ( + "storage"(& +5 "core" & 8  + "manipulator"&+& +4 "core" &q  +2 "manipulator"&$% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +257 "core" ( +2 "manipulator"&v& +3 "core" &  # +2 "storage"(;& +4 "core" & @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +94 "core" ' +2 .tHand.open + "manipulator"&\ 1 +53 "core" 1 +2 "storage"(w- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(M' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' +2 "storage"(D& +4 "core" &\ Q\ Q  +2 "manipulator"&#& +3 "core" &  # +2 .tElbow.seek 3 +2 "manipulator"&( +34 "core" ( + "manipulator"&f& +4 "core" &  J +2 "storage"(z& +3 "core" &\ P\ R  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +58 "core" ' +2 "manipulator"&9& +3 "core" &  +3 "storage"(& +3 "core" & F  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&S'} +18 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'i +24 "core" ' +2 "manipulator"&N% +3 "core" %x +2 "storage"( & +3 "core" & J  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&,'Ϥ +19 "core" ' +2 "manipulator"&a& +3 "core" & r +2 "storage"(K& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T'9 +29 "core" ' + "storage"(% +4 "core" %m  +2 ."downElevator"SE.seek :down +4 "storage"(`'X +99 (=% +4 "core" %V s x B PI +2 "manipulator"&% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & @  +2 "collection"' & +4 "core" &VsL J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\    +2 "storage"(6% +4 "core" %T % +2 "storage"(. +2 "core" .( +2 "storage"(d& +4 "core" & #  +2 "storage"(Z& +3 "core" &   +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&|( +4 "core" ( +2 "manipulator"&X& +3 "core" & j +2 "storage"(2& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +97 "core" ' +2 "storage"((& +3 "core" & b  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +320 "core" ' +9 "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ^ +2 "storage"( & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'} +24 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'P +27 "core" ' +2 "manipulator"&y% +3 "core" %΋ h +2 "storage"(A& +4 "core" & +  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&*'Ϸ +20 "core" ' + "manipulator"&>& +4 "core" & +2 "storage"(@& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'? +43 "core" ' +2 "manipulator"&L& +5 "core" & + "manipulator"&o% +4 "core" %$ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&V( +159 "core" ( +3 "manipulator"&h& +3 "core" &) $ X @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &*  C @Y +2 .tForearm.seek CC +2 "manipulator"&Q'" +96 "core" ' + .tHand.close +2 "manipulator"&_/ +59 "core" / +2 .tCC.seek :open +2 "collection"'C( +416 "core" ( + "storage"(n& +5 "core" &  + "storage"(q& +3 "core" &  +2 "manipulator"&W& +4 "core" &( 6 ?V +2 "manipulator"&Y% +4 "core" % ( t +2 .tForearm.seek :retract +2 "manipulator"&J'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&k( +165 "core" ( + "manipulator"&F& +3 "core" &  d [ +2 "storage"(~& +5 "core" & k  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&)'} +98 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&'% +3 "core" %   C +2 "storage"(8& +5 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&'ϫ +19 "core" ' +2 "manipulator"&:& +3 "core" & j [ +2 "storage"(]& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +26 "core" ' +2 "storage"(% +3 "core" %H +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ([% +3 "core" %Y PH +2 "manipulator"&j% +4 "core" %x J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'t& +3 "core" &( +2 "manipulator"&!% +3 "core" %\    +3 "storage"(-% +4 "core" %` % + "storage"(&. +3 "core" .( +45 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" & +3 "manipulator"&?& +3 "core" & ~ [ +2 .tElbow.seek 2 +2 "manipulator"&G( +33 "core" ( +2 "manipulator"&& +3 "core" &  9 # +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +96 "core" ' +2 "storage"(e& +3 "core" & Q +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" & X +2 "manipulator"&& +3 "core" &  # +3 .tElbow.seek 2 + "manipulator"&{( +4 "core" ( + "manipulator"&l& +4 "core" &  a # +2 "storage"(& +3 "core" &  +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(<'X +7 "core" &  # +2 "manipulator"&% +3 "core" %   : +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +150 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( + "manipulator"&$& +5 "core" &'  h >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &' >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'" +101 "core" ' +2 "manipulator"&;& +3 "core" &' $ [ >H +2 "manipulator"&E% +4 "core" %'  +3 "collection"'\ & +5 "core" &8 +2 "collection"'w& +5 "core" &\\ +3 .tCC.seek :closed + "collection"'1(V +4 "core" &\\ +7 &[ : +9 &QPd / +9 &|W D +10 &McY F +9 &h[ F +10 &gS F +9 &cR F +9 &UgS F +10 &iS F +9 &eR F +9 &cZ F +10 &!]h\\ F +9 &#g\\ G +10 &$hU F +9 &&b\\ F +9 &(efS F +10 &*(c^ F +10 &+fT F +8 &-cX F +10 &/lgZ G +9 &1/f^ F +10 &2fZ G +9 &4gV F +9 &6tfR G +10 &88e] F +9 &9fU F +9 &;cU F +10 &=}hS F +9 &?>eT G +10 &AfS F +9 &Bd_ F +9 &Dk' G +10 &FEpX G +9 &H` H +9 &IC+` L +10 &KqY P +9 &M2+8^ P +10 &N#'a Q +9 &P #^ Q +9 &Rv "_ Q +10 &T4 !X R +9 &Ut"] B +9 &V  "X 'p +10 &V  ^ Q +5 ( +2 "collection"'w& +4 "core" &VZ Q +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&D1 +57 "core" 1 +3 "manipulator"&#% +3 "core" % '  ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&z% +3 "core" %\ k  +2 "storage"(9% +4 "core" %] c f X +2 "storage"(. +3 "core" .( +2 "storage"(.& +3 "core" & e c ? +2 "storage"(N& +4 "core" & f d G +2 "manipulator"& & +3 "core" &&  =A +2 "manipulator"&4% +4 "core" %\ -  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&a( +159 "core" ( + "manipulator"&K& +4 "core" & 0  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +94 "core" ' + "storage"(g& +48 "core" &  +6 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(M'i +277 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&m& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&%& +4 "core" & (  +2 "storage"(S& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&,' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( 'X +8 "core" &   +2 "manipulator"&6% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&5(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&d& +4 "core" &r  i \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &r  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +112 "core" ' + "manipulator"&X& +4 "core" &r i \ +2 "manipulator"&2% +3 "core" % & b +3 "processing"%T& +3 "core" & +3 "processing"%(& +5 "core" & +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &  +9 &7 )v +9 &k = +10 &w G +9 &qd\ F +9 &2e G +10 &h G +9 &c G +10 &xc\ G +9 &;d\ F +9 &g G +10 & g G +9 &"c\ G +9 &$Bb G +10 &&e F +9 &'f G +10 &)h G +9 &+Jd\ G +9 &- e F +10 &.e G +9 &0i\ G +9 &2Rd\ G +10 &4e F +9 &5e G +10 &7g\ G +9 &9Zd\ G +9 &;c G +10 &<d G +9 &>c G +9 &@ae G +10 &B$f G +9 &Ch G +10 &Em H +9 &Gcx\ I +9 &I!\ K +10 &J L +9 &L L +9 &Nb L +10 &P$\ L +9 &Q M +10 &S\ M +9 &Uh M +9 &W*\ M +10 &X M +9 &Z<Ec $j +9 &Z 0 # +6 ( +2 "processing"%(& +3 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&31 +59 "core" 1 +2 "manipulator"&% +3 "core" %  b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' +4 "processing"%& +3 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %\ # A < +2 "storage"(7% +4 "core" %O } { +2 "storage"(y. +3 "core" .( +2 "storage"(A& +3 "core" & { { +2 "storage"(>& +3 "manipulator"&@& +7 "core" & { } + &r  \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&L(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +2 "core" ( +2 "manipulator"&"& +3 "core" &r \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &r X \ +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&r/ +60 "core" / +2 .tPC.seek :open + "processing"%*( +87 "core" ' + "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(h'y +39 "core" ' +296 ( + "storage"(p& +4 "core" & x  +2 "manipulator"&& +3 "core" &r  \ +2 "manipulator"&H% +3 "core" % +42 .tForearm.seek :retract +9 "manipulator"&_'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&}( +264 "core" ( +2 "manipulator"&P& +3 "core" &  +3 "storage"(n& +3 "core" & z y c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +105 "core" ' +2 .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "storage"(Y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(F'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(~' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(V& +3 "core" & \ Q\ Q +2 "manipulator"& & +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&'( +4 "core" ( +2 "manipulator"&8& +3 "core" &  +2 "storage"(:& +4 "core" & \ P\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&J& +5 "core" & `  + "storage"([& +3 "core" & # +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&j' +32 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"()'i +23 "core" ' +2 "manipulator"&% +3 "core" % q +2 "storage"(t& +4 "core" & m m F +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&!' +15 "core" ' +2 "manipulator"&-& +3 "core" &   +2 "storage"(&& +4 "core" & y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +38 "core" ' +2 "storage"(s% +3 "core" %m > +3 ."downElevator"SE.seek :down +4 "storage"('X +100 (O% +2 "core" %] m ^ K QL +3 "manipulator"&I% +3 "core" %Ѫ = d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & { / +2 "collection"'& +3 "core" &V. Q +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&e% +3 "core" %\   ' +3 "storage"(u% +3 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(R& +3 "core" &  +3 "manipulator"&& +3 "core" & 8  +2 .tElbow.seek 2 +2 "manipulator"&l( +4 "core" ( + "manipulator"&& +4 "core" &  <  +2 "storage"(\\& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'i +283 "core" ' +2 "storage"(B- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &   +2 "storage"(b& +3 "core" & 9 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^' +47 "core" ' +4 .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'O +27 "core" ' +2 "manipulator"&\ % +3 "core" % W +2 "storage"({& +5 "core" & m m # + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&<' +16 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(C& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(#'> +36 "core" ' +2 "manipulator"&& +3 "core" & P  +2 "manipulator"&z% +5 "core" %ѩ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ( +3 "manipulator"&.& +3 "core" &$ $ X ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &# ( W ;7 +2 .tForearm.seek CC +2 "manipulator"&N'" +97 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open + "collection"'4( +416 "core" ( +2 "storage"(v& +3 "core" & +2 "storage"(K& +4 "core" & +2 "manipulator"&& +3 "core" &#  :1 +2 "manipulator"&g% +4 "core" % &  G +2 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&f( +158 "core" ( + "manipulator"&=& +4 "core" & w  +2 "storage"(& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&m' +98 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +57 "core" 1 +2 "manipulator"&% +3 "core" %  O +2 "storage"( & +4 "core" & " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&6' +21 "core" ' +3 "manipulator"&a& +3 "core" & +  +2 "storage"(c& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +37 "core" ' +2 "storage"(,% +3 "core" %@  +3 ."downElevator"SE.seek :down +3 "storage"(d'X +99 (Z% +3 "core" %W OF +2 "manipulator"&% +4 "core" %ѿ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +100 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'2& +3 "core" &R +2 "manipulator"&T% +3 "core" %\ \ g  +3 "storage"( % +3 "core" %] +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(/( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" &  +2 "manipulator"&& +4 "core" & (  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"& & +47 "core" & + m +5 "storage"(7& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +103 "core" ' +2 "storage"(A& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('i +280 "core" ' +2 "storage"(@- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" & H  +2 "manipulator"&"& +4 "core" & [ m +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & ` m +2 "storage"(r& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(`'X +7 "core" & E m +2 "manipulator"&o% +3 "core" % ϣ m i +2 .tForearm.seek :retract +2 "manipulator"&p'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&H& +5 "core" & ( 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'" +104 "core" ' +4 "manipulator"&n& +3 "core" &  9 3 +2 "manipulator"&L% +5 "core" %  +2 "collection"'W& +3 "core" &e +3 "collection"'Y& +5 "core" &c +2 .tCC.seek :closed +3 "collection"'Q(V +4 "core" &d +5 &^ 9 +10 &QNc / +9 &|` C +9 &Le` F +10 &fk F +9 &gf F +9 &ee F +10 &Tfi F +9 &ca F +9 &eo F +10 &fh G +9 &!]e` F +10 &#eh F +9 &$dc F +9 &&ei F +10 &(ecb F +9 &*'g` F +9 &+g_ F +10 &-e` F +9 &/mb_ F +10 &1.e` F +9 &2cd F +9 &4e F +10 &6ugL F +9 &87e^ F +9 &9ec F +10 &;c_ F +9 &={fc G +10 &?>ed F +9 &Ahd F +9 &Bgb F +10 &Dee G +9 &FDnb G +9 &Hzc I +10 &I8$e K +9 &Kqxc P +10 &M0->d Q +9 &N#&c P +9 &P"#a Q +10 &Ru"!_ Q +9 &T3 !8 R +9 &Uw !V B +10 &V "_ %j +9 &W*!b E +9 ( +3 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&V1 +2 "core" &WAd > +54 1 +2 "manipulator"& % +4 "core" %  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%:& +4 "core" & +2 "manipulator"&_% +3 "core" %\ #  < +2 "storage"(J% +3 "core" %P  +2 "storage"([. +3 "core" .( +2 "storage"(h& +4 "core" & X  +2 "storage"(& +3 "core" & '  +2 "manipulator"&t& +4 "core" & e 3 +2 "manipulator"&F% +4 "core" %\ # L < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&-( +166 "core" ( +2 "manipulator"&&& +3 "core" & 9  +2 "storage"(s& +3 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +7 "manipulator"&}'9 +97 "core" ' + "storage"(q& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +276 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &   +2 "manipulator"&]& +3 "core" &  +3 .tElbow.seek 3 +46 "manipulator"&'( +6 "core" ( +2 "manipulator"&& +3 "core" & '  +2 "storage"(j& +5 "core" & {  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(e'X +8 "core" & ,  + "manipulator"&u% +5 "core" % ϩ 2 +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +4 "manipulator"&)& +3 "core" &y < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &y - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&& +3 "core" &y E +2 "manipulator"&\\% +4 "core" % e +2 "processing"%U& +4 "core" & +2 "processing"%& +6 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &  +9 &7 )w +10 &k = +9 &r H +9 &rc G +10 &5e F +9 &e F +9 &g G +10 &zh G +9 &<h G +10 &j G +9 & h G +9 &"h G +10 &$Ec F +9 &&f F +10 &'g G +9 &)h\ G +9 &+Ld G +10 &-e\ F +9 &.e F +9 &0f F +10 &2Tg G +9 &4h G +9 &5h\ G +10 &7h\ G +9 &9\\i G +10 &;g F +9 &<g\ F +9 &>e F +10 &@dg G +9 &B&i G +9 &Ci G +10 &En H +9 &Gfw I +10 &I"\ K +9 &J L +9 &L L +10 &Ne L +9 &P% M +10 &Q M +9 &S\ M +9 &Uk M +10 &W- M +9 &X M +9 &Z?Dd\ %l +10 &Z ) " +5 ( +2 "processing"%& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&k1 +60 "core" 1 + "manipulator"&?% +4 "core" %  Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +92 "core" ' +2 "processing"%$& +4 "core" &Z " + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&b% +3 "core" %\  M  +3 "storage"(;% +4 "core" %O  + "storage"(\ . +4 "core" .( + "storage"({& +3 "core" & I  +3 "storage"(& +2 "manipulator"&C& +5 "core" & >  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 "core" &y " +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('i +2 "manipulator"&z(s +7 "core" ( +2 "manipulator"&& +3 "core" &y i +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &y * +3 .tForearm.seek PC + "manipulator"&G' +95 "core" ' +2 .tHand.close + "manipulator"&^/ +57 "core" / +3 .tPC.seek :open +2 "processing"%<( +83 "core" ' + "storage"(E- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'y +45 "core" ' +291 ( +2 "storage"(w& +3 "core" & |  +2 "manipulator"&D& +4 "core" &y  +2 "manipulator"&x% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&9( +246 "core" ( + "manipulator"&1& +5 "core" & X !s + "storage"(v& +3 "core" & H  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 3 + 700 counts +3 "manipulator"&K'9 +102 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(g- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(='E +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"(& +3 "core" &\ Q\ Q  +3 "manipulator"&S& +3 "core" & !s +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +4 "core" &  A !s +2 "storage"(a& +3 "core" &\ Q\ P  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +60 "core" ' + "manipulator"&+& +4 "core" &  !s +2 "storage"(Z& +4 "core" & 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(m'i +24 "core" ' + "manipulator"&6% +5 "core" %΄ B + "storage"(2& +4 "core" & ]  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&T'ϰ +21 "core" ' + "manipulator"& & +5 "core" &  !s +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +32 "core" ' + "storage"(M% +5 "core" %m \ +2 ."downElevator"SE.seek :down +4 "storage"(d'X +98 (% +3 "core" %[ e v x QK +2 "manipulator"&3% +4 "core" %7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &   +2 "collection"'7& +4 "core" &WA_ > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&A% +3 "core" %\ # b ; +2 "storage"(%% +4 "core" %`   +2 "storage"(X. +2 "core" .( +2 "storage"(@& +4 "core" &  +2 "storage"(>& +4 "core" & $  +2 "manipulator"&"& +3 "core" & 0 !s +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&r& +3 "core" &  8 !s +2 "storage"(5& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +109 "core" ' +2 "storage"(o& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +3 "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & T !s +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +23 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(|'O +31 "core" ' + "manipulator"&L% +4 "core" %Ύ  +2 "storage"(W& +3 "core" & +  +48 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&`'Ϻ +20 "core" ' +2 "manipulator"&p& +3 "core" & 2 !r +2 "storage"(4& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&V'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +37 "core" ' +2 "manipulator"&:& +4 "core" & ` !r +2 "manipulator"&_% +3 "core" %! Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +148 "core" ( + "manipulator"&h& +5 "core" &% $ Q <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &%  <? +3 .tForearm.seek CC + "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&t/ +55 "core" / +2 .tCC.seek :open +2 "collection"'F( +419 "core" ( + "storage"(P& +4 "core" &  +2 "storage"(&& +3 "core" &  +2 "manipulator"&s& +4 "core" &#  :1 +2 "manipulator"&q% +3 "core" % 3 B +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&8( +166 "core" ( + "manipulator"&O& +5 "core" &  6 [ + "storage"(I& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&]'} +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +57 "core" 1 +2 "manipulator"&% +3 "core" % Ύ  +2 "storage"(& +3 "core" &   +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&u'Ϻ +20 "core" ' +2 "manipulator"&-& +3 "core" & z [ +2 "storage"(}& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&~'9 +35 "core" ' + "storage"(!% +5 "core" %H \ +2 ."downElevator"SE.seek :down +4 "storage"()'X +99 (R% +2 "core" %R PG +2 "manipulator"&'% +4 "core" %? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'\\& +3 "core" &' +2 "manipulator"&U% +3 "core" %\  5  +3 "storage"(e% +3 "core" %\\ j +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(*( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" & V +2 "manipulator"&?& +4 "core" &  [ +2 .tElbow.seek 2 + "manipulator"&$( +34 "core" ( +2 "manipulator"&b& +4 "core" & a % + "storage"(;& +4 "core" &  ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +88 "core" ' +2 "storage"({& +4 "core" &  F +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +328 "core" ' +2 "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &  c +2 "manipulator"&& +3 "core" & & # +3 .tElbow.seek 2 + "manipulator"&l( +16 "core" ( +2 "manipulator"&& +3 "core" & Z - +2 "storage"(^& +4 "core" &  t +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"('X +9 "core" & - + "manipulator"&% +4 "core" %  g o +2 .tForearm.seek :retract +2 "manipulator"&w'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&D( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&x& +3 "core" && * N =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" && Q =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&1'" +100 "core" ' +2 "manipulator"&v& +3 "core" &&  I =D +2 "manipulator"&z% +4 "core" %* n ; +2 "collection"'& +5 "core" &n +2 "collection"'g& +6 "core" &F +2 .tCC.seek :closed +2 "collection"'N(V +4 "core" &m +8 &8n #b +9 &[o 5 +10 & r G +9 &_s F +10 &hp G +9 &Qes G +9 &go G +10 &gq G +9 &fr G +9 &Yfp G +10 & el G +9 &!gl G +9 &#hq F +10 &%bhq F +9 &'$hr F +10 &(hd F +9 &*f` G +9 &,jf` F +10 &.,b_ F +9 &/c_ F +9 &1c_ F +10 &3rh` F +9 &54hi F +10 &6f` G +9 &8el F +9 &:zc` F +10 &<<c` F +9 &=c^ F +9 &?c` F +10 &Ah` F +9 &CDia F +10 &Eh_ G +9 &Fs` H +9 &Hd I +10 &J8]Ce M +9 &Kya P +9 &M'0_ P +10 &Ot"%] Q +9 &Q6#$a Q +10 &R#%b R +9 &T!#e R +9 &V&Y #Y 8 +10 &V !` +z +9 &V"] P +2 ( +2 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&S% +4 "core" % * & | ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +3 "core" & +2 "manipulator"& % +4 "core" %\   -  +2 "storage"(+% +4 "core" %b { { +2 "storage"(Z. +3 "core" .( +2 "storage"(6& +4 "core" &  y } + "storage"(2& +4 "core" &  { { +2 "manipulator"&.& +4 "core" && } =C +2 "manipulator"& % +3 "core" %\  Z  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&=( +159 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(M& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +104 "core" ' +2 "storage"(K& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &  , +2 "manipulator"&c& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&,& +3 "core" & V  +3 "storage"(& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +52 "manipulator"&7& + "storage"(A'X +8 "core" &   + "manipulator"&%% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&m& +4 "core" &m 6 {  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &m   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"' +99 "core" ' +2 "manipulator"&r& +4 "core" &n  B  +2 "manipulator"&5% +3 "core" % L +3 "processing"%#& +4 "core" & +2 "processing"%o& +5 "core" & +2 .tPC.seek :closed +2 "processing"%d(Z +5 "core" & +6 &< #a +9 &Z 5 +10 & H +9 &e G +9 &h G +10 &Xh G +9 &c G +9 &f F +10 &g G +9 &`j G +10 & "j G +9 &!h G +9 &#c G +10 &%if F +9 &'+g F +9 &(g G +10 &*k G +9 &,pg G +10 &.2j G +9 &/h G +9 &1c G +10 &3xc G +9 &5:d G +9 &6f F +10 &8e F +9 &:e F +10 &c G +9 &?c G +10 &Ac G +9 &CJh G +10 &E\ m G +9 &Fs H +9 &H J +10 &JC L +9 &L L +9 &M L +10 &O M +9 &QI M +9 &S  L +10 &T M +9 &V M +10 &XN N +9 &Ywx "j +9 &Z+{ / +9 ( +3 "processing"%o& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&f1 +62 "core" 1 +2 "manipulator"&% +3 "core" %  8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +2 "processing"%H& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  4  +2 "storage"(n% +4 "core" %^ { i m +2 "storage"(L. +3 "core" .( +2 "storage"(W& +3 "core" &  s } +2 "storage"(p& +3 "manipulator"&4& +8 "core" &  h r @ + &n P  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&:(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'i +2 "core" ( +3 "manipulator"&0& +3 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n \  +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&(/ +64 "core" / +3 .tPC.seek :open + "processing"%`( +83 "core" ' + "storage"(|- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +31 "core" ' +307 ( + "storage"(Y& +5 "core" &   + "manipulator"&V& +3 "core" &n R  +2 "manipulator"&i% +5 "core" % C +2 .tForearm.seek :retract +2 "manipulator"&t'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +248 "core" ( + "manipulator"&Q& +4 "core" &\  w b +2 "storage"(P& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +94 "core" ' + .tHand.open +2 "manipulator"&s1 +64 "core" 1 +2 "storage"(q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(O'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +45 "storage"(I' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"([& +3 "core" & \ P\ Q +3 "manipulator"&j& +3 "core" &  b +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" &  Z b +2 "storage"(-& +3 "core" & \ Q\ Q +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(!' +57 "core" ' +2 "manipulator"&& +3 "core" & < b +2 "storage"(R& +4 "core" &  F +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'' +30 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +22 "core" ' +2 "manipulator"&u% +3 "core" %   +2 "storage"(\\& +5 "core" &  m n @ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&U' +20 "core" ' + "manipulator"&e& +4 "core" & R b +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +17 "core" ' +2 "storage"(~% +3 "core" %o \\  +3 ."downElevator"SE.seek :down +4 "storage"()'X +98 (/% +3 "core" %\ ^ m m  QK +2 "manipulator"&k% +4 "core" %ѓ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +94 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (b& +3 "core" &   +2 "collection"';& +4 "core" &V|0 P +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&{% +3 "core" %\ #  B +3 "storage"(% +3 "core" %T ) +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  4 +2 "storage"(C& +4 "core" &  B +2 "manipulator"&& +3 "core" &  b +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&^& +3 "core" &  V b +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +100 "core" ' + "storage"(& +4 "core" &  @ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +281 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&x& +2 "core" &  b +3 "storage"(G& +4 "core" &  " + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +29 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(v- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(z'O +29 "core" ' +2 "manipulator"&% +3 "core" %   +2 "storage"(l& +4 "core" &  r n E +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&w& +4 "core" & B a +2 "storage"(F& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +40 "storage"(S'> +44 "core" ' +2 "manipulator"&a& +3 "core" & $ a +3 "manipulator"& % +3 "core" %ѧ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +151 "core" ( +3 "manipulator"&g& +3 "core" &(  9 ?Q +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&2'" +93 "core" ' +2 .tHand.close + "manipulator"&./ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(1& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&M& +3 "core" &' " >H +2 "manipulator"&K% +4 "core" % &  d +2 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +159 "core" ( +2 "manipulator"&& +3 "core" & { +2 "storage"(3& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&c' +96 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +3 "manipulator"& % +4 "core" %  b + "storage"(7& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&%' +19 "core" ' +2 "manipulator"&=& +4 "core" & +2 "storage"(9& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +47 "core" ' + "storage"(T% +4 "core" %E +3 ."downElevator"SE.seek :down +4 "storage"(m'X +99 (>% +2 "core" %W PG +2 "manipulator"&% +5 "core" %ѣ ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'5& +3 "core" &_ +3 "manipulator"&#% +3 "core" %\ #  : +2 "storage"(A% +4 "core" %V +2 "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(<( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &   +2 "manipulator"&& +4 "core" & V +2 .tElbow.seek 3 +2 "manipulator"&H( +13 "core" ( + "manipulator"&& +4 "core" &  j ^ +2 "storage"(n& +3 "core" & i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +94 "core" ' +2 "storage"(W& +4 "core" & O  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(o'i +280 "core" ' + "storage"(4- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &  +2 "manipulator"&0& +4 "core" &  ^ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&"& +3 "core" & F ^ +2 "storage"((& +49 "core" &  +5 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϩ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"(d'X +9 "core" &  ^ + "manipulator"&_% +4 "core" % Ϣ + p +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&i& +3 "core" &% ; U <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &%  K <@ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'" +101 "core" ' +4 "manipulator"&P& +3 "core" &%  - <@ +2 "manipulator"&:% +5 "core" %   + "collection"'s& +5 "core" &r +2 "collection"'q& +5 "core" &o +2 .tCC.seek :closed +2 "collection"'t(V +5 "core" &q  +8 &6s )w +10 &kv = +9 &sq G +9 &qer G +10 &4en F +9 &bq F +9 &hr F +10 &zfn F +9 &<cm F +10 &cr F +9 & cp F +9 &"dq F +10 &$Dc~ F +9 &&dr F +9 &'cr F +10 &)eq F +9 &+Ldo F +10 &-hu F +9 &.gn G +9 &0gq F +10 &2Ucn F +9 &4gr F +9 &5cl F +10 &7fi F +9 &9]bn F +10 &;gk F +9 &<es F +9 &>jd F +10 &@dfg F +9 &B'db F +9 &Ch] G +10 &Eim G +9 &Gfy^ H +10 &I$b J +9 &JuY` N +9 &LB|b P +10 &NX&+_ P +9 &P#"_ Q +9 &Q!"` Q +10 &S#\\ S +9 &UY!$` A +9 &VuB #_ *| +10 &Vu \\ G +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&1 +4 "core" &Vg R G +58 1 +3 "manipulator"&[% +3 "core" %  % { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&-% +4 "core" %\  `  +2 "storage"(% +3 "core" %a D +2 "storage"(R. +3 "core" .( +2 "storage"(h& +3 "core" & R  +2 "storage"(u& +4 "core" & b  +2 "manipulator"&\\& +3 "core" &% k <@ +2 "manipulator"&O% +5 "core" %\  w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +153 "core" ( +2 "manipulator"&& +4 "core" & z +2 "storage"(~& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +97 "core" ' + "storage"(&& +5 "core" & L  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'i +268 "Can" I\ l # +16 "core" ' + "storage"(/- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & "  +2 "manipulator"&}& +3 "core" & C +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&!& +3 "core" & g +2 "storage"('& +4 "core" & \\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&U'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& +3 "storage"({'X +5 "core" & U +3 "manipulator"&% +4 "core" % Ϩ H +2 .tForearm.seek :retract +2 "manipulator"&]'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +116 "core" ( +4 "manipulator"&& +3 "core" &m I \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &m ] \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + "manipulator"&^& +5 "core" &m \ + "manipulator"&% +4 "core" %  +3 "processing"% & +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%)(Z +5 "core" & +7 &G #b +9 &[ 6 +10 & H +9 &f F +9 &f F +10 &`e F +9 &"e F +9 &e F +10 &f F +9 &ge G +10 & *f F +9 &!f F +9 &#f F +10 &%pg F +9 &'1g G +9 &(h G +10 &*i G +9 &,wc G +10 &.9c G +9 &/c G +9 &1c G +10 &3c G +9 &5Ad G +10 &7c G +9 &8c G +9 &:c G +10 & d\ G +9 &?j G +10 &Ac\ G +9 &CQi G +10 &Ek\ G +9 &Fw\ I +9 &H J +10 &JJ\ L +9 &L  L +9 &M L +10 &O L +9 &QP M +9 &S L +10 &T M +9 &V M +10 &XW M +9 &Ywy "k +9 &Z(q - +9 ( +3 "processing"%& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&81 +56 "core" 1 +2 "manipulator"&?% +3 "core" %  f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' + "processing"%x& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&G% +3 "core" %\  9 \ +2 "storage"(v% +4 "core" %O > +2 "storage"(. +3 "core" .( +2 "storage"(l& +3 "core" & ?  +2 "storage"(w& +3 "manipulator"&F& +7 "core" &  + &m M \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +2 "core" ( +3 "manipulator"&B& +5 "core" &m : \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m  \ +2 .tForearm.seek PC +2 "manipulator"&$' +97 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +3 .tPC.seek :open +2 "processing"%( +77 "core" ' + "storage"(z- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'y +36 "core" ' +303 ( +2 "storage"(6& +3 "core" & !  +2 "manipulator"&& +4 "core" &m  \ +2 "manipulator"&E% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&+( +256 "core" ( +2 "manipulator"&N& +4 "core" & F  + "storage"(1& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + .tHand.open +2 "manipulator"&M1 +59 "core" 1 +2 "storage"(K- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(Z& +3 "core" &\ Q\ P  +3 "manipulator"&& +4 "core" & H  + .tElbow.seek 3 +2 "manipulator"& ( +7 "core" ( +2 "manipulator"&7& +3 "core" &  W  +2 "storage"(=& +43 "core" &\ Q\ P  +10 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(T' +57 "core" ' +2 "manipulator"&D& +3 "core" & o  +3 "storage"(>& +3 "core" & E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"& , +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +22 "core" ' +2 "manipulator"&%% +3 "core" %k Y +2 "storage"(5& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 282 counts +2 "manipulator"&#'ϗ +19 "core" ' +2 "manipulator"&A& +3 "core" & r  +3 "storage"(X& +3 "core" & K  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +18 "core" ' +2 "storage"(% +3 "core" %h  +3 ."downElevator"SE.seek :down +3 "storage"(m'X +100 (*% +2 "core" % _ | u b QL +2 "manipulator"&f% +5 "core" %3 R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &   +2 "collection"'n& +3 "core" &Vg] G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&W% +3 "core" %\  &  +3 "storage"(,% +4 "core" %a ~ + "storage"(r. +3 "core" .( +2 "storage"(4& +3 "core" & N  +2 "storage"(p& +4 "core" & {  +2 "manipulator"&0& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&(& +3 "core" & B  +2 "storage"(@& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&y'9 +92 "core" ' +2 "storage"(_& +4 "core" & a  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +281 "core" ' +2 "storage"(L- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & 3  +2 "storage"(& +3 "core" & Z  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&o'} +27 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(:'O +33 "core" ' +2 "manipulator"&s% +3 "core" %· ` +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&d'ϳ +20 "core" ' + "manipulator"&Y& +4 "core" & v  +2 "storage"( & +5 "core" & 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(['> +44 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&-% +4 "core" %> R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +162 "core" ( +10 "manipulator"&h& +3 "core" &#  s ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +2 "core" &#   ;4 +3 .tForearm.seek CC +2 "manipulator"&u'" +93 "core" ' + .tHand.close +2 "manipulator"&\\/ +64 "core" / +2 .tCC.seek :open + "collection"'O( +413 "core" ( +2 "storage"(Q& +3 "core" &  +2 "storage"(& +5 "core" &  + "manipulator"&~& +4 "core" &# :1 +2 "manipulator"&&% +3 "core" %  t +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +165 "core" ( + "manipulator"&/& +4 "core" & (  +2 "storage"(k& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&}'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +59 "core" 1 +2 "manipulator"&b% +3 "core" % · $ +2 "storage"(;& +4 "core" & e  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +3 "manipulator"&'ϳ +20 "core" ' +2 "manipulator"&e& +3 "core" & I  +3 "storage"(J& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +25 "core" ' +2 "storage"(U% +4 "core" %G +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (C% +3 "core" %S PG +2 "manipulator"&% +4 "core" %t ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &E  +2 "manipulator"& % +4 "core" %\    +2 "storage"({% +3 "core" %^ +2 "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & +3 "manipulator"&?& +4 "core" & E  + .tElbow.seek 2 +2 "manipulator"&x( +29 "core" ( +2 "manipulator"&G& +3 "core" &  : k +2 "storage"(v& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 "storage"(l& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +278 "core" ' +2 "storage"(w- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&B& +3 "core" & m f +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & f +2 "storage"(& +3 "core" & T +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"()'X +6 "core" & f +3 "manipulator"& % +50 "core" %  > M +3 .tForearm.seek :retract + "manipulator"&6'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +106 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +48 "core" ( +2 "manipulator"&E& +3 "core" &# * : :/ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +3 "core" &# F :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +102 "core" ' + "manipulator"&1& +4 "core" &# ( n :/ +3 "manipulator"&a% +4 "core" %!  H +2 "collection"'M& +3 "core" &H  +3 "collection"'K& +5 "core" &q  +2 .tCC.seek :closed +2 "collection"'2(V +5 "core" &x  +6 &Iy $d +10 &\\r 6 +9 &0r G +10 &bq F +9 &es F +9 &xho F +10 &9hl G +9 &f F +9 &hP F +10 &go G +9 & BgG F +10 &"c_ F +9 &#jh F +9 &%hk F +10 &'Igm G +9 &) fk F +9 &*ge F +10 &,ck F +9 &.Rgw F +10 &0cw F +9 &1hl F +9 &3gc F +10 &5[gd F +9 &7fd F +9 &8ee G +10 &:fm F +9 &#gf G +9 &?fc F +9 &Agb F +10 &Cjdd F +9 &E+jc G +9 &Fu H +10 &H R J +9 &J]dJw N +10 &L`t P +9 &M%/o P +9 &O#&t Q +10 &QZ #x Q +9 &S"h R +9 &T!s S +10 &VA^"r )| +9 &V!m D +9 ( +2 &VLk A +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&Z1 +61 "core" 1 +3 "manipulator"&% +3 "core" % !  B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%=& +4 "core" &  +2 "manipulator"&.% +3 "core" %\ #  y < +2 "storage"(D% +5 "core" %a + "storage"(>. +4 "core" .( + "storage"(g& +5 "core" & V +2 "storage"(& +4 "core" & U + "manipulator"&%& +4 "core" &" 9) +2 "manipulator"&5% +3 "core" %\ # < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +167 "core" ( +2 "manipulator"&X& +3 "core" & #  +2 "storage"(+& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +282 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" & V +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&T& +3 "core" & V  +2 "storage"(& +5 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&#' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +5 "storage"(W'X +6 "core" & P  + "manipulator"&,% +5 "core" %  H +2 .tForearm.seek :retract + "manipulator"&r'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +108 "core" ( +2 "manipulator"&4& +4 "core" &n )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &n  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +97 "core" ' + "manipulator"&(& +4 "core" &n  N \ +2 "manipulator"&@% +3 "core" % {  +48 "processing"%S& +5 "core" &  +3 "processing"%_& +6 "core" &  +2 .tPC.seek :closed +3 "processing"%m(Z +3 "core" &  +6 & < +9 &cN 0 +10 &} D +9 &be G +9 &%g G +10 &h G +9 &e F +10 &kf G +9 &-h G +9 &a G +10 &d G +9 &!te F +9 &#5g G +10 &$h G +9 &&b G +10 &(|f F +9 &*=g G +9 &,g F +10 &-g G +9 &/c G +9 &1Ff F +10 &3e G +9 &4h G +10 &6f F +9 &8Mf G +9 &:j G +10 &;h G +9 &=b G +9 &?Ub G +10 &Ae F +9 &Bh G +10 &Dk\ G +10 &FXs H +8 &H\ J +10 &I\ L +9 &K\ L +9 &MU L +10 &O\ L +9 &P\ L +10 &R M +9 &T\\\ M +9 &V M +10 &W M +9 &Y 6 +9 &Zs- Z +10 &Z " +2 ( +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 + "manipulator"&% +5 "core" % m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +97 "core" ' + "processing"%i& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  U " +3 "storage"(P% +4 "core" %U 6 + "storage"(s. +4 "core" .( + "storage"(& +5 "core" &  +2 "storage"(Y& +2 "manipulator"& & +5 "core" &  +3 &n 0 \ +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('i + "manipulator"&-(s +6 "core" ( +2 "manipulator"&y& +3 "core" &n  \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &n : \ +3 .tForearm.seek PC + "manipulator"&H' +98 "core" ' + .tHand.close +2 "manipulator"&o/ +59 "core" / +3 .tPC.seek :open +2 "processing"%d( +80 "core" ' +2 "storage"(:- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +41 "core" ' +299 ( +2 "storage"(q& +4 "core" & h + "manipulator"&& +7 "core" &n  \ + "manipulator"&|% +5 "core" % +2 .tForearm.seek :retract + "manipulator"&\\'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +245 "core" ( + "manipulator"&t& +5 "core" &   & + "storage"(Q& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' + .tHand.open +2 "manipulator"&~1 +58 "core" 1 +2 "storage"(&- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(k' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(u- +2 "core" -' +2 "storage"(R& +4 "core" & \ E\ O ` +2 "manipulator"&'& +4 "core" & v & +2 .tElbow.seek 2 +2 "manipulator"&b( +4 "core" ( + "manipulator"&;& +5 "core" &  c & + "storage"(e& +4 "core" & \ J\ J Y +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +57 "core" ' +2 "manipulator"&V& +3 "core" &  & +3 "storage"(C& +3 "core" & / +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'i +23 "core" ' +2 "manipulator"&% +3 "core" % \\ 8 +2 "storage"(& +4 "core" & d d c +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"& ' +19 "core" ' +2 "manipulator"&{& +3 "core" &  & +3 "storage"(]& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +17 "core" ' +2 "storage"(I% +3 "core" %p k +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (<% +3 "core" %HY w k V QK +2 "manipulator"&8% +4 "core" %ѣ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +3 "core" & T +3 "collection"'v& +3 "core" &VL8 A +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&l% +3 "core" %\  ) ! +2 "storage"(!% +4 "core" %a  +2 "storage"(^. +3 "core" .( +2 "storage"(w& +4 "core" & $ +2 "storage"(& +3 "core" & 2 +2 "manipulator"&B& +5 "core" &  % + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &  O % +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&\ 'ќ +92 "core" ' +2 "storage"( & +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & v % +3 "storage"(E& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&$' +31 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(a'O +28 "core" ' +2 "manipulator"&M% +4 "core" % w + "storage"(& +3 "core" & o { [ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&)' +18 "core" ' + "manipulator"&6& +5 "core" & g % + "storage"(O& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +37 "core" ' +2 "manipulator"&=& +4 "core" &  % +2 "manipulator"&.% +4 "core" %ђ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +150 "core" ( +3 "manipulator"&K& +4 "core" &% # t <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &%  <> +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&%/ +61 "core" / +2 .tCC.seek :open +2 "collection"'5( +413 "core" ( +36 "storage"(N& +15 "core" & +2 "storage"(X& +4 "core" & +2 "manipulator"&+& +3 "core" &%  <= +3 "manipulator"&% +4 "core" % 6   +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&7( +158 "core" ( +2 "manipulator"&*& +3 "core" &  S  +3 "storage"(f& +3 "core" & D +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&9' +99 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +5 "core" % + "storage"(n& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&,' +18 "core" ' +2 "manipulator"&A& +4 "core" & Y  +2 "storage"(& +3 "core" & ? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +32 "core" ' +2 "storage"(#% +3 "core" %E G +3 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (p% +3 "core" %W QI +2 "manipulator"& % +5 "core" %ѓ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +91 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'@& +3 "core" &o  +2 "manipulator"&S% +4 "core" %\  L & +2 "storage"(W% +4 "core" %Q +2 "storage"(r. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &   +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&i( +11 "core" ( +2 "manipulator"&& +3 "core" &  l +2 "storage"(P& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +93 "core" ' + "storage"(_& +4 "core" & w  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(Y- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &  +3 "manipulator"&y& +4 "core" & l l +2 .tElbow.seek 3 + "manipulator"&"( +4 "core" ( + "manipulator"&0& +5 "core" & ~ l + "storage"(o& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&:'ϩ +27 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(m'X +8 "core" &  l + "manipulator"&% +4 "core" % χ   +2 .tForearm.seek :retract +2 "manipulator"&q'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&|& +4 "core" &% C U <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &%  > <@ +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&t'" +97 "core" ' +4 "manipulator"&Q& +3 "core" &% P <? +3 "manipulator"&-% +3 "core" %  +3 "collection"'~& +4 "core" &  +2 "collection"'&& +5 "core" &]  +2 .tCC.seek :closed +2 "collection"'u(V +5 "core" &  +8 &:z *x +10 &/my > +9 &m{ G +9 &gk F +10 &Wb F +9 &hO F +9 &gh G +10 &ep F +9 &_ci F +10 &!it F +9 & is F +9 &"gl G +10 &$gfv F +9 &&)cu F +9 &'hx F +10 &)e{ F +9 &+oiw F +10 &-2hl F +9 &.f F +9 &0j| F +10 &2whw F +9 &49ft F +9 &5bi F +10 &7et G +9 &9e} F +10 &;@hn G +9 &=gr G +9 &>gs F +10 &@cu F +9 &BHgz G +9 &D\ h~ G +10 &Eox G +9 &Gzz H +10 &IF${ J +9 &J{^} O +9 &L5cz P +10 &N{#(| P +9 &P:"} Q +9 &Q"z Q +10 &S!{ R +9 &Uz | ? +10 &Vz5{ . +9 &V` y @ +5 ( +2 "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&R1 +4 "core" &VRx @ +52 1 +3 "manipulator"&'% +3 "core" %  % | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%e& +4 "core" & +2 "manipulator"&\\% +4 "core" %\   +2 "storage"(V% +3 "core" %b  +2 "storage"(C. +4 "core" .( + "storage"(h& +3 "core" &   +2 "storage"(/& +4 "core" & =  +2 "manipulator"&& +5 "core" &% ~ <? +3 "manipulator"&% +3 "core" %\  L  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&{( +164 "core" ( +2 "manipulator"&]& +3 "core" &  I I +2 "storage"(& +4 "core" & 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&I'9 +101 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'i +282 "core" ' +2 "storage"(<- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" & J  +2 "manipulator"&J& +4 "core" & ' I +2 .tElbow.seek 3 +2 "manipulator"&b( +4 "core" ( + "manipulator"&U& +5 "core" & g I + "storage"(& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&G'ϩ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(l'X +9 "core" & J I + "manipulator"&!% +5 "core" % ϭ  +2 .tForearm.seek :retract + "manipulator"&^'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&}(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&w& +4 "core" &l 8 _ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&B' +102 "core" ' +2 "manipulator"&& +3 "core" &l  H +2 "manipulator"&% +5 "core" % n +2 "processing"%[& +5 "core" & +3 "processing"% & +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & +7 &= #c +9 &\\ 6 +9 & G +10 &b G +9 &d G +10 &_e G +9 & h G +9 &e F +10 &g G +9 &gc G +9 & )f G +10 &!i G +9 &#g F +9 &%og G +10 &'1e G +9 &(g F +57 &*g G +4 &,wd G +2 &.9g G + &/h G +2 &1f F + &3~f G + &5Bf F +7 &7e G +10 &8h G +10 &:d F +8 &\ i G +9 &?d G +10 &Ae F +9 &COj G +9 &En H +10 &Fw I +9 &H J +9 &JI L +10 &L  L +9 &M L +10 &O L +9 &QP M +9 &S M +10 &T M +9 &V\ M +9 &XW M +10 &Ywv "j +9 &Z&g\ ) +9 ( +2 &Z ! +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&j1 +54 "core" 1 +2 "manipulator"&?% +3 "core" %  E +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%F& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&E% +3 "core" %\  <  +3 "storage"(1% +3 "core" %b  +2 "storage"(M. +3 "core" .( +2 "storage"(& +3 "core" & "  +3 "storage"(6& +2 "manipulator"&O& +7 "core" &   + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&=(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'i +2 "core" ( +3 "manipulator"&\ & +4 "core" &l n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l  +3 .tForearm.seek PC +2 "manipulator"&x' +94 "core" ' +2 .tHand.close + "manipulator"&$/ +55 "core" / +2 .tPC.seek :open +3 "processing"%)( +97 "core" ' +2 "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +43 "core" ' +280 ( + "storage"(g& +4 "core" &   +2 "manipulator"&Z& +4 "core" &l  +2 "manipulator"&z% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +244 "core" ( +2 "manipulator"&2& +3 "core" &  : L +2 "storage"(N& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +98 "core" ' +2 .tHand.open + "manipulator"&+1 +57 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +53 "core" ' +9 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(>& +4 "core" &\ O\ T J  +2 "manipulator"&& +4 "core" &  K +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&n& +3 "core" &  ` K +3 "storage"(A& +4 "core" &\ Q\ Z  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(#' +57 "core" ' +2 "manipulator"&& +3 "core" & K +2 "storage"(p& +3 "core" & I  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +19 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'i +30 "core" ' + "manipulator"&,% +4 "core" %r 9 +2 "storage"(@& +44 "core" &   +9 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 289 counts +2 "manipulator"&S'Ϟ +21 "core" ' + "manipulator"&W& +4 "core" &  N K +2 "storage"(r& +4 "core" & Y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +15 "core" ' + "storage"(3% +5 "core" %p  +2 ."downElevator"SE.seek :down +4 "storage"(4'X +98 (`% +3 "core" %`] c k | QK +2 "manipulator"& % +5 "core" %@  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &   +3 "collection"'P& +3 "core" &VRD @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&_% +3 "core" %\  7  +2 "storage"(T% +4 "core" %b  +2 "storage"((. +2 "core" .( +2 "storage"(Y& +4 "core" &   +2 "storage"( & +4 "core" &   +2 "manipulator"&y& +3 "core" & $ K +3 .tElbow.seek 3 + "manipulator"&0( +3 "core" ( +2 "manipulator"&o& +4 "core" & $ K +2 "storage"(c& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L'9 +104 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'i +283 "core" ' +2 "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" & - K +2 "storage"(H& +3 "core" & P  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(Q'O +33 "core" ' + "manipulator"&-% +4 "core" %΁ 2 +2 "storage"(~& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&m'ϭ +21 "core" ' + "manipulator"&q& +3 "core" & G K +2 "storage"(5& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''> +41 "core" ' + "manipulator"&e& +4 "core" &  K +2 "manipulator"&\\% +4 "core" %+  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&C( +154 "core" ( +3 "manipulator"&h& +3 "core" && 4 =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &&  =A +2 .tForearm.seek CC +2 "manipulator"&&'" +91 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"(t& +3 "core" &  +2 "storage"(]& +4 "core" &  +2 "manipulator"&& +3 "core" &% <: +2 "manipulator"&% +4 "core" %  N  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&;( +162 "core" ( +4 "manipulator"&<& +3 "core" & k t +2 "storage"(8& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&J'} +99 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +3 "core" % x  } +2 "storage"(v& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +3 "manipulator"&!'Ϥ +20 "core" ' +2 "manipulator"&{& +3 "core" & 8 t +2 "storage"(I& +4 "core" & 2  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +26 "core" ' +2 "storage"(G% +3 "core" %F T +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (% +3 "core" %Z PH +2 "manipulator"&b% +4 "core" %1 s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &m +2 "manipulator"&[% +5 "core" %\   ! +2 "storage"(l% +3 "core" %^ < +2 "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(d( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" & F +2 "manipulator"&?& +3 "core" & 8 t +3 .tElbow.seek 2 + "manipulator"&F( +32 "core" ( +2 "manipulator"&E& +4 "core" &\  E g + "storage"(1& +4 "core" & d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +99 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +281 "core" ' +2 "storage"(6- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & +2 "manipulator"&\ & +3 "core" &  b +3 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&B& +3 "core" & @ b +4 "storage"($& +3 "core" & I +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & B b +2 "manipulator"&.% +3 "core" %   E +4 .tForearm.seek :retract + "manipulator"&g'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&z& +4 "core" & : 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'" +105 "core" ' +3 "manipulator"&N& +3 "core" & $ / 5 +2 "manipulator"&=% +5 "core" % l +2 "collection"'+& +3 "core" &v +3 "collection"'& +5 "core" &v +2 .tCC.seek :closed +2 "collection"'(V +54 "core" &u +2 &I $d +2 &^ 7 + &;v G + &bl F + &ht F + &cu F +5 &Cgu G +9 &gm F +9 &hu F +10 &gj F +9 & Mcv F +10 &" g{ G +9 &#g F +9 &%c{ F +10 &'Uh} F +9 &)g{ F +9 &*iz F +10 &,gz F +9 &.]c| F +10 &0f~ F +9 &1c| F +9 &3c} F +10 &5cf} G +9 &7&g~ F +9 &8f G +10 &:f F +9 &-fz G +9 &?g} F +9 &Ai F +10 &Csh| G +10 &E5n G +8 &Fu} H +10 &H ~ I +9 &JffJ N +10 &L#W~ P +9 &M%*{ P +9 &O#$ Q +10 &Qf""| Q +9 &S# } R +9 &T { R +10 &VFZ!~ 'v +9 &V$} M +9 ( +3 "collection"'& +3 "core" &V`z C +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&>1 +54 "core" 1 +2 "manipulator"&% +4 "core" %  # , +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%A& +3 "core" & +2 "manipulator"&%% +4 "core" %\   +2 "storage"(% +4 "core" %b   +2 "storage"(p. +3 "core" .( +2 "storage"(K& +3 "core" &  +2 "storage"(,& +3 "core" & +3 "manipulator"&@& +3 "core" &  5 +2 "manipulator"&*% +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&W( +166 "core" ( + "manipulator"&r& +5 "core" & >  + "storage"(D& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +95 "core" ' +2 "storage"(3& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +2 "core" &  +2 "manipulator"& & +5 "core" & M  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & Y  +2 "storage"( & +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(_'X +8 "core" & I  + "manipulator"&T% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +4 "manipulator"&9& +3 "core" &u W D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &u  D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +99 "core" ' +2 "manipulator"&o& +3 "core" &u   D +3 "manipulator"&c% +3 "core" % d +2 "processing"%& +4 "core" & +3 "processing"%& +4 "core" &# +3 .tPC.seek :closed + "processing"%4(Z +4 "core" &# +8 &F" #b +9 &\\+ 6 +9 &) H +10 &e" G +9 &f( F +10 &_e$ G +9 &!c( G +9 &g F +10 &g! G +9 &gc" G +9 & *g F +10 &!e# G +9 &#i G +10 &%pf F +9 &'1g G +9 &(e F +10 &*f G +9 &,wc" G +9 &.9f" G +10 &/h" G +9 &1c" G +10 &3e G +9 &5Ae G +9 &7d G +10 &8h! G +9 &:d" F +9 & e! G +9 &?h G +10 &Ac G +9 &CPh G +9 &Ek H +10 &Fr H +9 &H! J +9 &JI L +10 &L  L +9 &M M +10 &O M +9 &QQ L +9 &S M +10 &T M +9 &V M +9 &XV M +10 &Yww "k +9 &Z'j * +9 ( +3 "processing"%& +2 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&71 +60 "core" 1 + "manipulator"&% +50 "core" % $ +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +100 "core" ' +2 "processing"%|& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&H% +4 "core" %\ # ; +2 "storage"("% +3 "core" %\\ _ +2 "storage"(-. +3 "core" .( +3 "storage"(~& +4 "core" & r +2 "storage"(q& +5 "manipulator"&5& +2 "core" &  +2 &u  D +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&e(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'i +2 "core" ( +3 "manipulator"&L& +4 "core" &u e D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &u o D +2 .tForearm.seek PC +2 "manipulator"&i' +101 "core" ' +3 .tHand.close + "manipulator"&/ +65 "core" / + .tPC.seek :open +2 "processing"%m( +77 "core" ' + "storage"(Q- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +31 "core" ' +313 ( +3 "storage"(/& +3 "core" & i +2 "manipulator"&R& +5 "core" &u  D +2 "manipulator"&:% +3 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +253 "core" ( + "manipulator"&u& +4 "core" &  S ( +2 "storage"(t& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +105 "core" ' +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(<'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(C& +3 "core" & \ ]\ Q 9 +2 "manipulator"&& +3 "core" & 0 ( +3 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&v& +3 "core" &  > ( +2 "storage"({& +3 "core" & \ Q\ N +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(G' +58 "core" ' +2 "manipulator"&& +3 "core" & - ( +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&b' +29 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'i +22 "core" ' +2 "manipulator"&% +4 "core" % T  +2 "storage"(!& +3 "core" & | { a +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&[' +18 "core" ' +2 "manipulator"&l& +3 "core" &  ' +3 "storage"(^& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +28 "core" ' + "storage"(k% +4 "core" %p  +49 ."downElevator"SE.seek :down +6 "storage"(w'X +99 (% +2 "core" %BZ s x | RL +2 "manipulator"&j% +5 "core" %Ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +91 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +3 "core" & i +2 "collection"'1& +4 "core" &V`D C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"(U% +4 "core" %S j +2 "storage"(. +3 "core" .( +2 "storage"(6& +3 "core" &  +2 "storage"( & +4 "core" &  +2 "manipulator"&\ & +4 "core" & & ' +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( + "manipulator"&$& +4 "core" &  ' +2 "storage"(}& +3 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' + "storage"(.& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +285 "core" ' +2 "storage"(M- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" &  ' +2 "storage"(x& +3 "core" & [ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&O' +29 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(='O +23 "core" ' + "manipulator"&+% +4 "core" %  +2 "storage"(& +3 "core" & { z \\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&g& +3 "core" &  l ' +3 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&>'ќ +30 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('> +38 "core" ' + "manipulator"&A& +4 "core" & 6 ' +2 "manipulator"&%% +4 "core" %ч Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&p( +156 "core" ( +3 "manipulator"&K& +3 "core" &' $ W >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &' H >K +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&@/ +58 "core" / +2 .tCC.seek :open +2 "collection"'*( +416 "core" ( + "storage"(2& +4 "core" & +2 "storage"(r& +3 "core" & +2 "manipulator"&D& +4 "core" & % [ ;5 +2 "manipulator"&3% +4 "core" % J +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +157 "core" ( +2 "manipulator"&& +3 "core" & 3  +2 "storage"(`& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +97 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +44 "manipulator"& 1 +59 "core" 1 +4 "manipulator"&S% +3 "core" % m +2 "storage"(P& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts +2 "manipulator"&T' +21 "core" ' + "manipulator"&W& +4 "core" & 1  +2 "storage"(X& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +27 "core" ' + "storage"(% +4 "core" %H +2 ."downElevator"SE.seek :down +4 "storage"(9'X +99 ( % +2 "core" %Y PH +2 "manipulator"&% +5 "core" %ѱ G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'c& +5 "core" &D + "manipulator"&% +4 "core" %\  "  +2 "storage"(_% +3 "core" %S " +2 "storage"((. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"()( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&|& +4 "core" & + g +2 "storage"(H& +3 "core" & I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +100 "core" ' +2 "storage"(-& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +281 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &  +2 "manipulator"&L& +3 "core" & ; g +3 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( + "manipulator"&y& +5 "core" & W g + "storage"(& +3 "core" & %  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(4'X +8 "core" & p g +2 "manipulator"&\\% +3 "core" % ϡ  2 +3 .tForearm.seek :retract + "manipulator"&/'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&:& +4 "core" &( & ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &(  6 ?R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'" +103 "core" ' + "manipulator"&t& +5 "core" &( % _ ?R + "manipulator"&e% +5 "core" %   +2 "collection"'& +4 "core" & +2 "collection"'& +6 "core" &R +3 .tCC.seek :closed +2 "collection"'&(V +5 "core" &| +6 &8s #b +9 &Z~ 5 +10 & G +9 &by F +10 &g F +9 &^b F +9 &g G +10 &f G +9 &e F +9 &fcP F +10 & 'hs F +9 &!ez G +10 &#g| F +9 &%lc| G +9 &'/e F +10 &(b| F +9 &*e G +9 &,tf} G +10 &.7e| F +9 &/b| F +10 &1h~ F +9 &3|f G +9 &5?e~ F +10 &7b} F +9 &8g F +9 &:f F +10 & f F +10 &?b F +9 &Ab F +9 &COh F +10 &Eh G +9 &Fs H +9 &H~ I +10 &JDW: M +9 &Kw P +10 &M%. P +50 &O~"" Q +3 &Q@# Q + &R" R +2 &T  R + &V/^" + + &V#  ? +7 ( + &VD < +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&C1 +61 "core" 1 +2 "manipulator"&% +4 "core" % $ A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&v'\ +99 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%{& +3 "core" &. +2 "manipulator"&% +5 "core" %\ # ] A +2 "storage"(% +3 "core" %a +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" &  +2 "storage"(h& +3 "core" &  +2 "manipulator"&!& +5 "core" &( y ?Q + "manipulator"&l% +4 "core" %\ #  A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +7 "manipulator"&<( +160 "core" ( + "manipulator"&^& +4 "core" & 6 ~ +2 "storage"(k& +4 "core" & 6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +96 "core" ' +2 "storage"(]& +3 "core" & g  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +281 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&j& +3 "core" & Y ~ +3 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&G& +4 "core" &  ~ + "storage"(b& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&['ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"('X +8 "core" & + ~ + "manipulator"&U% +5 "core" % ϲ p +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +104 "core" ( +4 "manipulator"&6& +3 "core" &h < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +99 "core" ' +2 "manipulator"&$& +3 "core" &i n +3 "manipulator"&}% +3 "core" %  +2 "processing"%'& +5 "core" &. +2 "processing"%.& +5 "core" &$ +2 .tPC.seek :closed +2 "processing"%w(Z +3 "core" &,  +9 &8/ )v +10 &k1 = +9 &t- G +9 &rc, F +10 &3e. G +9 &g, G +10 &c0 G +9 &zd+ F +9 &;d$ G +10 &h G +9 & b" G +9 &"d F +10 &$Ce" G +9 &&b G +10 &'e G +9 &)i" G +9 &+Le F +10 &- e" G +9 &.h! G +9 &0e! G +10 &2Se" G +9 &4g" G +10 &5b" G +9 &7d" F +9 &9[e! G +10 &;g G +9 &<h# G +9 &>c G +10 &@bd G +9 &B%e! G +9 &Cg# G +10 &En$ H +9 &Gdw# I +10 &I!! K +9 &J" L +9 &L# M +10 &Nc$ L +9 &P%" L +10 &Q! L +9 &S M +9 &Uk L +10 &W+" M +9 &X# M +9 &Z=Eb$ $j +10 &Z -! # +5 ( +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&;1 +2 "core" &Z" # +57 1 + "manipulator"&?% +5 "core" %  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +92 "core" ' +2 "processing"%z& +3 "core" &Z # +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&x% +3 "core" %\  0  +3 "storage"(N% +4 "core" %]  + "storage"(+. +3 "core" .( +2 "storage"(& +3 "core" &   +50 "storage"(g& +3 "manipulator"&& +4 "core" &   +2 &j 7 +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(A'i + "manipulator"&%(s +6 "core" ( +2 "manipulator"&& +3 "core" &j O +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&F' +96 "core" ' + .tHand.close +2 "manipulator"&O/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +95 "core" ' +2 "storage"(=- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'y +47 "core" ' +278 ( +2 "storage"(,& +3 "core" & m  +2 "manipulator"&>& +4 "core" &j _ +2 "manipulator"&a% +3 "core" %   +3 .tForearm.seek :retract + "manipulator"&@'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +252 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(2& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +98 "core" ' + .tHand.open +2 "manipulator"&D1 +61 "core" 1 +2 "storage"(3- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(`' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(p& +3 "core" &\ B\    +2 "manipulator"& & +4 "core" & 3 +2 .tElbow.seek 3 +2 "manipulator"&S( +4 "core" ( + "manipulator"&P& +4 "core" &  ] +2 "storage"(W& +4 "core" & {\   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Z' +58 "core" ' +2 "manipulator"&& +3 "core" & z +2 "storage"(n& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +24 "core" ' + "manipulator"&T% +4 "core" %~ [ +2 "storage"(c& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&'Ϫ +20 "core" ' +2 "manipulator"&_& +3 "core" &  +2 "storage"((& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 "storage"(f% +3 "core" %m \ +3 ."downElevator"SE.seek :down +3 "storage"(9'X +100 (d% +2 "core" %$Y k u ? PI +2 "manipulator"&7% +5 "core" %^  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &   +2 "collection"'H& +3 "core" &VA < +49 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\   ! +2 "storage"(#% +4 "core" %] +2 "storage"(o. +3 "core" .( +2 "storage"(q& +3 "core" &   +2 "storage"(5& +4 "core" & S  +2 "manipulator"&L& +3 "core" & Z +3 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( +2 "manipulator"&& +4 "core" & Y + "storage"(Y& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +97 "core" ' +2 "storage"(\\& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&:& +2 "core" & ; +2 "storage"(i& +4 "core" & F  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(t- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(e'O +33 "core" ' +2 "manipulator"&0% +3 "core" %}  +2 "storage"(& +4 "core" & !  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +20 "core" ' + "manipulator"&/& +4 "core" & - +2 "storage"(*& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +43 "core" ' +2 "manipulator"&{& +3 "core" & / +3 "manipulator"&% +4 "core" %M r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +3 "manipulator"&& +3 "core" &( ! ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( P ?T +2 .tForearm.seek CC +2 "manipulator"&h'" +94 "core" ' +2 .tHand.close + "manipulator"&!/ +61 "core" / +2 .tCC.seek :open +2 "collection"'l( +413 "core" ( + "storage"(u& +4 "core" & v  +2 "storage"(^& +4 "core" &  +2 "manipulator"&k& +3 "core" &' j >K +2 "manipulator"&]% +5 "core" % ! ]  +2 .tForearm.seek :retract + "manipulator"&R'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v( +173 "core" ( + "manipulator"&I& +5 "core" & f t + "storage"(& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&j'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +59 "core" 1 +2 "manipulator"&E% +3 "core" % ΁ A +4 "storage"(1& +4 "core" & C  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&U'ϭ +23 "core" ' + "manipulator"&<& +3 "core" &  t +2 "storage"(V& +4 "core" & $  +3 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +35 "core" ' + "storage"([% +4 "core" %@ +3 ."downElevator"SE.seek :down +4 "storage"(6'X +100 ( % +3 "core" %AU PG +2 "manipulator"& % +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'}& +3 "core" &R +3 "manipulator"&'% +3 "core" %\  Q  +2 "storage"(% +4 "core" %Z +2 "storage"(J. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(m( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" & v +2 "manipulator"&?& +3 "core" & F t +3 .tElbow.seek 2 +2 "manipulator"&z( +28 "core" ( +2 "manipulator"&x& +3 "core" &  p !v +2 "storage"(N& +4 "core" &  5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +87 "core" ' +2 "storage"(& +3 "core" &  E +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &  +2 "manipulator"&& +3 "core" &  !u +3 .tElbow.seek 2 + "manipulator"&B( +4 "core" ( + "manipulator"&\ & +5 "core" &   !u + "storage"(O& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&=' +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&M& +2 "storage"(w'X +8 "core" &  !u +2 "manipulator"&A% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&a& +3 "core" &" - R 9% +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &"  ` 9% +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +2 "manipulator"&2& +3 "core" &" # = 9$ +2 "manipulator"&%% +4 "core" %+  +2 "collection"'D& +5 "core" &[ +2 "collection"'3& +6 "core" & +2 .tCC.seek :closed +3 "collection"'(V +4 "core" & +6 & ; +9 &UM / +9 &| D +10 &Qd G +9 &e F +9 &g F +10 &e G +9 &Ye G +10 &e G +9 &d F +9 &b F +10 &!bb F +9 &#$h F +9 &$i F +10 &&b F +9 &(jg F +10 &*+e G +9 &+e| F +9 &-b F +10 &/rh F +9 &14h~ F +9 &2f} F +10 &4cx F +9 &6zg~ F +10 &8;e G +9 &9f F +9 &;b~ F +10 &=c F +9 &?Dc F +9 &Ab F +10 &Bi^ F +9 &De} G +10 &FIo G +9 &H I +9 &IC6 L +10 &Kw} P +9 &M7)6 P +9 &N"' P +10 &P $ Q +9 &Ry " R +10 &T9  R +9 &Ut  B +9 &V| $h +10 &W, F +8 ( +2 &W M @ +2 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&p1 +64 "core" 1 +3 "manipulator"& % +3 "core" % + # 9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +47 "processing"%W& +5 "core" &- +2 "manipulator"&@% +5 "core" %\ \ L  + "storage"(% +4 "core" %b  +2 "storage"(n. +3 "core" .( +2 "storage"(T& +3 "core" &   +2 "storage"(c& +4 "core" &   +2 "manipulator"&K& +4 "core" &"  9# +2 "manipulator"&_% +3 "core" %\ \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&(( +158 "core" ( +2 "manipulator"&& +3 "core" &   +3 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + "storage"(r& +5 "core" &  y +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(`'i +280 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +2 "core" &  . +2 "manipulator"&X& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&Z& +4 "core" & (  +2 "storage"( & +3 "core" &  j +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(-'X +8 "core" &   +2 "manipulator"& % +3 "core" %  J F +3 .tForearm.seek :retract +2 "manipulator"&#'\ +89 "core" ' +4 .tElbow.seek PC + "manipulator"&o(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&q& +3 "core" &s 8  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &s   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +96 "core" ' +2 "manipulator"&& +3 "core" &s  R  +3 "manipulator"&Y% +4 "core" % s +2 "processing"%& +3 "core" &$ +3 "processing"%\\& +5 "core" &1 +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &4 +6 &<3 #b +9 &Z/ 5 +9 &" G +10 &b* F +9 &f0 G +9 &Yh( G +10 &c! G +9 &c$ G +10 &g# F +9 &bg1 F +9 & #f! G +10 &!h" G +9 &#c! G +9 &%jf" F +10 &'+g G +9 &(c G +10 &*e G +9 &,rf" F +9 &.3f" G +10 &/g F +9 &1e G +10 &3yh G +9 &5;d" G +9 &6d! G +10 &8c# F +9 &:d" G +9 &b# F +9 &?c" G +9 &Ae! F +10 &CJi" G +9 &E k# G +10 &Fr H +9 &H" K +9 &JD$ L +10 &L$ M +9 &M# L +9 &O! L +10 &QK L +9 &S  L +10 &T L +9 &V" M +9 &XQ M +10 &Ywv" "k +9 &Z,y! - +9 ( +2 "processing"%\\& +3 "core" &Z" +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" % t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +94 "core" ' +4 "processing"%:& +4 "core" &Z + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&i% +4 "core" %\  Q  +2 "storage"(t% +4 "core" %O  +2 "storage"(0. +3 "core" .( + "storage"(& +4 "core" &   +2 "storage"(/& +3 "manipulator"&*& +8 "core" &   + &s   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&{(s +2 "storage"('i +5 "core" ( +41 "manipulator"&s& +13 "core" &s   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &s + w  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&~/ +63 "core" / +2 .tPC.seek :open + "processing"%4( +33 "core" ' +2 "storage"(e- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('y +39 "core" ' +349 ( +2 "storage"(& +3 "core" &   +2 "manipulator"&C& +5 "core" &s   + "manipulator"&Q% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&!'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +266 "core" ( +2 "manipulator"&&& +3 "core" & m  +2 "storage"(u& +4 "core" &  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +93 "core" ' +2 .tHand.open + "manipulator"&k1 +64 "core" 1 +2 "storage"(]- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +2 "core" -' +3 "storage"(& +3 "core" & \ R\ ] a +2 "manipulator"&b& +3 "core" & s  +3 .tElbow.seek 2 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&1& +3 "core" &  q  +2 "storage"(<& +5 "core" & \ S\ O M +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(R' +67 "core" ' +2 "manipulator"&[& +3 "core" & C  +2 "storage"(v& +4 "core" &  u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +29 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +23 "core" ' +2 "manipulator"&U% +3 "core" %  = +3 "storage"(}& +3 "core" &  , +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&'' +20 "core" ' +2 "manipulator"&& +3 "core" &  +3 "storage"(J& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +20 "core" ' +2 "storage"(8% +3 "core" %s l +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 ()% +4 "core" %b] t k T OH +2 "manipulator"&;% +5 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (x& +3 "core" &  w +2 "collection"'N& +3 "core" &W LQ @ +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(G% +3 "core" %L +2 "storage"($. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(.& +5 "core" &   + "manipulator"&& +4 "core" & X  +2 .tElbow.seek 2 +2 "manipulator"&\ ( +3 "core" ( +47 "manipulator"&O& +5 "core" & u  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +96 "core" ' +2 "storage"(A& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +282 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & n  +2 "storage"(F& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g' +30 "core" ' +2 .tElbow.hold + "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(%'O +34 "core" ' +2 "manipulator"&D% +4 "core" %  + "storage"(B& +4 "core" &  t y  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&w' +18 "core" ' + "manipulator"&,& +5 "core" & w  +2 "storage"(l& +4 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +15 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +37 "core" ' +2 "manipulator"&W& +3 "core" & N  +2 "manipulator"&3% +4 "core" %џ D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +2 "manipulator"&n& +3 "core" &+ 3 Bf +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &+  Bf +3 .tForearm.seek CC + "manipulator"&c'" +95 "core" ' + .tHand.close +2 "manipulator"&K/ +62 "core" / +2 .tCC.seek :open +2 "collection"'_( +416 "core" ( + "storage"(& +5 "core" &  o + "storage"(& +3 "core" &  +2 "manipulator"&f& +4 "core" &* a @X +2 "manipulator"&r% +4 "core" % & M +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&P( +162 "core" ( +2 "manipulator"&d& +3 "core" & q  +2 "storage"(7& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&X' +99 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&|% +4 "core" %  +2 "storage"(H& +3 "core" &  ) +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"& ' +19 "core" ' +2 "manipulator"&(& +3 "core" & 7  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&`'ќ +30 "core" ' +2 "storage"(% +3 "core" %G m \ +3 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (5% +3 "core" %W PH +2 "manipulator"&S% +4 "core" %џ M +46 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ' +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Y& +4 "core" &w +2 "manipulator"&% +4 "core" %\  7 +2 "storage"(-% +4 "core" %[  +2 "storage"(#. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & :  +2 "manipulator"&& +5 "core" & 4  +2 .tElbow.seek 3 + "manipulator"&:( +36 "core" ( +2 "manipulator"&i& +3 "core" & # 1 +2 "storage"(t& +4 "core" & <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +102 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +281 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" & D  +2 "manipulator"&s& +3 "core" &  1 +3 .tElbow.seek 3 + "manipulator"&y( +19 "core" ( +3 "manipulator"&L& +4 "core" &  c !q +2 "storage"(~& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&"& + "storage"(9'X +8 "core" &  o + "manipulator"&% +4 "core" % ϰ \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +155 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&Q& + "storage"(5 +8 "core" &+  ~ Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+  Bl +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'" +104 "core" ' +4 "manipulator"&u& +3 "core" &,  Bl +3 "manipulator"&{% +3 "core" %"  +3 "collection"'k& +3 "core" & +3 "collection"']& +5 "core" & +2 .tCC.seek :closed +2 "collection"'h(V +4 "core" &  +9 &7 )w +10 &k = +9 &p G +9 &pb F +10 &2d F +9 &h F +9 &c G +10 &xg F +9 &:c F +10 &b G +9 & h G +9 &"f G +10 &$Bh F +9 &&e F +9 &'f G +10 &)d G +9 &+Jh F +10 &- h F +9 &.g; G +9 &0g| F +10 &2Sd F +9 &4e G +9 &5g F +10 &7g F +9 &9Zh~ F +10 &;h G +9 &<g~ G +9 &>f{ G +10 &@bg F +9 &B$h| F +9 &Cd~ G +10 &Ei G +9 &Gdv{ H +10 &I" x J +9 &JuXz N +9 &L7ow P +10 &NU$(w P +9 &P"$ Q +9 &Q $ Q +10 &S } S +9 &UV!} C +10 &VoA  - +9 &V]| @ +5 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&1 +4 "core" &VP~ @ +55 1 +3 "manipulator"&b% +3 "core" % " , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%<& +4 "core" &1 + "manipulator"&!% +5 "core" %\ w 3 + "storage"([% +4 "core" %\\ +2 "storage"(v. +3 "core" .( +2 "storage"(& +3 "core" & s  +2 "storage"(U& +5 "core" & u .  + "manipulator"&}& +3 "core" &+ R Bk +2 "manipulator"&I% +4 "core" %\ 3 +47 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&J& +4 "core" &  b U + "storage"(8& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(^& +4 "core" &  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +276 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & ?  +2 "manipulator"&V& +3 "core" &  U +3 .tElbow.seek 3 + "manipulator"&E( +4 "core" ( +2 "manipulator"&R& +3 "core" & 9 U +2 "storage"( & +5 "core" & z  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&x'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&N& + "storage"('X +7 "core" & G U +2 "manipulator"&G% +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' +4 .tElbow.seek PC +2 "manipulator"&(s +172 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&j& +4 "core" &| z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &.& +3 "core" &|   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&O& +3 "core" &|  +3 "manipulator"&% +3 "core" % ! +2 "processing"%& +4 "core" &8 +3 "processing"%A& +5 "core" &( +2 .tPC.seek :closed +2 "processing"%6(Z +3 "core" &/ +9 &<2 #c +9 &\\1 6 +10 &6 G +9 &c/ F +10 &e) F +9 &ae0 F +9 &"c1 G +10 &h1 G +9 &c/ G +9 &hc. G +10 & +e. F +9 &!e2 G +10 &#g, G +9 &%pc$ G +9 &'2c) G +10 &(f. G +9 &*h/ G +9 &,xc$ G +10 &.;e, F +9 &/e# F +10 &1d" F +9 &3e! G +9 &5Bh! G +10 &7h" G +9 &8b G +9 &:c! F +10 & e! F +10 &?f# G +9 &Ac& G +9 &CRg$ G +10 &Ek" G +9 &Fr# I +9 &H$ J +10 &JJ& L +9 &L ! M +10 &M, L +9 &O% L +9 &QQ$ M +10 &S$ M +9 &T! M +9 &V! M +10 &XW M +9 &Yxw !i +10 &Z*s# , +8 ( +2 &Z  +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"& 1 +64 "core" 1 +2 "manipulator"&?% +3 "core" % A ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' +4 "processing"%a& +4 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&F% +4 "core" %\    +2 "storage"(2% +4 "core" %N  +2 "storage"(D. +2 "core" .( +2 "storage"(B& +4 "core" & E  +2 "storage"(,& +3 "manipulator"&l& +8 "core" &   + &|   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&W(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'i +2 "core" ( +2 "manipulator"&M& +4 "core" &| u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &|   +2 .tForearm.seek PC +2 "manipulator"&z' +98 "core" ' +2 .tHand.close + "manipulator"&g/ +63 "core" / +2 .tPC.seek :open + "processing"%w( +78 "core" ' +9 "storage"(%- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'y +43 "core" ' +333 ( + "storage"(T& +5 "core" & 4  + "manipulator"&p& +5 "core" &| D  + "manipulator"&=% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&K'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@( +245 "core" ( + "manipulator"&& +4 "core" & $ !s +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' + .tHand.open +2 "manipulator"&f1 +58 "core" 1 +3 "storage"(r- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(d'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(& +3 "core" &\ P\ O `  +2 "manipulator"& & +4 "core" &  m +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&H& +3 "core" & " _ m +2 "storage"((& +5 "core" &\ O\ O  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&>& +4 "core" & ; m + "storage"(5& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&S'} +18 "core" ' +2 .tElbow.hold + "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +23 "core" ' +2 "manipulator"& % +3 "core" %s S +2 "storage"(Y& +5 "core" & C  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 290 counts +2 "manipulator"&'ϟ +20 "core" ' +2 "manipulator"&-& +3 "core" &  m +2 "storage"(#& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +16 "core" ' +2 "storage"(`% +3 "core" %s }  +3 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (m% +3 "core" %\\ w k 7 QJ +2 "manipulator"&% +5 "core" %7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +3 "core" & E  +2 "collection"'t& +3 "core" &VOQ @ +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  .  +2 "storage"(Z% +4 "core" %P $ +2 "storage"(. +3 "core" .( + "storage"(*& +4 "core" &   +2 "storage"(\\& +4 "core" &   +2 "manipulator"&s& +3 "core" &  m +3 .tElbow.seek 3 + "manipulator"&L( +4 "core" ( +2 "manipulator"&~& +4 "core" & m + "storage"(o& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&"'9 +94 "core" ' + "storage"(& +3 "core" & >  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +46 "storage"(:'i +279 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" & & m +2 "storage"(& +4 "core" & E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'} +25 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(y'P +28 "core" ' +2 "manipulator"&{% +3 "core" %Ή  +2 "storage"(k& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&9'ϵ +19 "core" ' +2 "manipulator"&& +3 "core" & j l +3 "storage"(_& +4 "core" & ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'? +43 "core" ' +2 "manipulator"&<& +3 "core" & # l +3 "manipulator"&!% +3 "core" %>  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +150 "core" ( +3 "manipulator"&& +3 "core" &$ " ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &$ 4 ;6 +2 .tForearm.seek CC +2 "manipulator"&U'" +92 "core" ' +2 .tHand.close + "manipulator"&}/ +65 "core" / +2 .tCC.seek :open + "collection"'I( +416 "core" ( +2 "storage"(&& +3 "core" &  +2 "storage"(J& +4 "core" &  +2 "manipulator"&8& +3 "core" &% ;6 +2 "manipulator"&^% +5 "core" % 6 T  +2 .tForearm.seek :retract + "manipulator"&C'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1( +165 "core" ( +2 "manipulator"&)& +3 "core" & R Q +2 "storage"(;& +5 "core" & F  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&V'} +94 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&'% +3 "core" % Ό | +2 "storage"(N& +5 "core" & <  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&G'ϸ +21 "core" ' +2 "manipulator"&& +3 "core" & g Q +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +33 "core" ' +2 "storage"(x% +3 "core" %F +3 ."downElevator"SE.seek :down +4 "storage"(j'X +98 (.% +3 "core" %^Y PH +2 "manipulator"&E% +4 "core" %" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &| +2 "manipulator"&% +4 "core" %\ " \ B +2 "storage"(% +3 "core" %N + +2 "storage"($. +47 "core" .( +5 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(4( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & z +2 "manipulator"&?& +3 "core" &  Q +3 .tElbow.seek 2 + "manipulator"&a( +37 "core" ( + "manipulator"&F& +4 "core" &  d % +2 "storage"(2& +4 "core" &  Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +94 "core" ' +2 "storage"(B& +4 "core" &  & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'i +282 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &  +2 "manipulator"&M& +3 "core" & t $ +3 .tElbow.seek 2 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&& +3 "core" & s $ +4 "storage"(g& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&%' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(6'X +8 "core" & 9 $ + "manipulator"&3% +5 "core" %    +2 .tForearm.seek :retract + "manipulator"&T'\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&p( +139 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&=& +3 "core" &' ' . >N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &'  >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +3 "manipulator"&& +3 "core" &' $ K >N +2 "manipulator"&W% +4 "core" % +2 "collection"'f& +5 "core" &k +2 "collection"'r& +5 "core" & +2 .tCC.seek :closed +2 "collection"'c(V +3 "core" & +7 &I $d +10 &] 6 +9 &$ G +10 &d F +9 &j F +9 &lg F +10 &.c F +9 &c F +9 &c F +10 &sb G +9 & 5f G +10 &!c F +9 &#c F +9 &%|d F +10 &'>g F +9 &)g F +9 &*h F +10 &,h F +9 &.Fh F +10 &0g F +9 &1c F +9 &3d F +10 &5Me G +9 &7e G +9 &8c G +10 &:f G +9 &gV F +9 &?cs F +9 &Abx G +10 &C]fw G +9 &Ei{ G +9 &Fv H +10 &H I +9 &JR_D M +10 &L [ P +9 &M$+ P +9 &O"% Q +10 &QP ! Q +9 &S " R +9 &T  S +10 &V>d/ , +9 &Vj T +9 ( +2 &Vi J +2 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"& % +5 "core" % % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%(& +4 "core" &* + "manipulator"&K% +4 "core" %\ !  ~ 1 +2 "storage"(>% +3 "core" %a e f +2 "storage"(5. +3 "core" .( +2 "storage"( & +3 "core" &  f f +2 "storage"(Y& +4 "core" &  f c k +2 "manipulator"&n& +3 "core" &&  s >N +2 "manipulator"&-% +5 "core" %\ !  1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&#( +157 "core" ( +2 "manipulator"&d& +3 "core" &   +2 "storage"(`& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&@'ќ +93 "core" ' + "storage"(& +48 "core" &   +5 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(7'i +282 "core" ' +2 "storage"(m- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&& +3 "core" & v  +3 .tElbow.seek 2 + "manipulator"&|( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(S& +4 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"('X +8 "core" & e  +2 "manipulator"&Z% +3 "core" %  q +3 .tForearm.seek :retract + "manipulator"&X'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +3 "manipulator"&*& +4 "core" &y 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&s' +104 "core" ' +2 "manipulator"&~& +3 "core" &y : +3 "manipulator"&o% +4 "core" %  +2 "processing"% & +4 "core" &3 +2 "processing"%& +5 "core" &7 +2 .tPC.seek :closed +3 "processing"%q(Z +4 "core" &7 +5 &; 6 +10 &ON4 . +9 &y8 C +9 &@b2 G +10 &c2 G +9 &c2 F +10 &e1 F +9 &Ic1 F +9 &\ e1 G +10 &f1 G +9 &h1 G +9 &!Pb1 G +10 &#d3 G +9 &$c0 F +9 &&b+ F +10 &(Xd$ G +9 &*g$ G +10 &+c' G +9 &-c" G +9 &/`b% G +10 &1#e# F +9 &2d F +9 &4c! F +10 &6id" F +9 &8+c# F +10 &9f! G +9 &;e# G +9 &=qc" F +10 &?2b! G +9 &@c# F +9 &Bf! G +10 &Dwi& G +9 &F6q! H +10 &G$ J +9 &I$ L +9 &Ko" M +10 &M2& L +9 &N# L +9 &P# M +10 &Rv" M +9 &T9# M +10 &U" M +9 &W% M +9 &Y|# : +10 &Zk4& \\ +9 &Z# +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&P1 +54 "core" 1 +2 "manipulator"&% +3 "core" % $ ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0'\ +99 "core" ' +2 "processing"%Q& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %\   +3 "storage"(u% +4 "core" %U  + "storage"({. +3 "core" .( +2 "storage"(k& +3 "core" &  > +3 "storage"(& +2 "manipulator"&_& +8 "core" &  B + "Can" J  # + "core" &y +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&<(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(!'i +2 "core" ( +3 "manipulator"&"& +3 "core" &y z +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &L& +2 "core" &y @ +3 .tForearm.seek PC +2 "manipulator"&:' +97 "core" ' +2 .tHand.close + "manipulator"&// +57 "core" / +2 .tPC.seek :open + "processing"%9( +89 "core" ' +2 "storage"(y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +297 ( + "storage"(]& +4 "core" &  o +2 "manipulator"&& +4 "core" &y  +2 "manipulator"&e% +3 "core" %  +42 .tForearm.seek :retract +10 "manipulator"&}'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&[( +263 "core" ( + "manipulator"&h& +4 "core" &  $ +2 "storage"(&& +4 "core" &  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +95 "core" ' +2 .tHand.open + "manipulator"&81 +54 "core" 1 +3 "storage"(^- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(;' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(v& +3 "core" & \ Q\ Q +2 "manipulator"& & +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&N& +3 "core" &  s +2 "storage"(& +4 "core" & \ P\ Q +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(x' +58 "core" ' +2 "manipulator"&C& +3 "core" & . +2 "storage"(.& +4 "core" &  5 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E' +26 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'i +22 "core" ' +2 "manipulator"&G% +3 "core" %  O 2 +2 "storage"(& +4 "core" &  g  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&& +5 "core" & u + "storage"($& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +27 "core" ' +2 "storage"(% +3 "core" %l N  +3 ."downElevator"SE.seek :down +3 "storage"(j'X +100 (% +3 "core" %Y u { ( QK +2 "manipulator"& % +5 "core" %љ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" &  O +2 "collection"'2& +4 "core" &Vi J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&B% +3 "core" %\    +2 "storage"(R% +4 "core" %`  +2 "storage"(O. +3 "core" .( +2 "storage"(l& +71 "core" &  +2 "storage"(,& +3 "core" &  , +2 "manipulator"&M& +3 "core" & 7 +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&g& +4 "core" & Z + "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +97 "core" ' +2 "storage"(3& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +281 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &  +2 "storage"(z& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&A' +46 "core" ' +5 .tElbow.hold + "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(W'O +27 "core" ' +2 "manipulator"&f% +3 "core" %  +2 "storage"(\ & +5 "core" &  } ~ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&6' +18 "core" ' +2 "manipulator"&T& +3 "core" & . +2 "storage"(I& +4 "core" &  L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +40 "core" ' +2 "manipulator"&(& +3 "core" & +2 "manipulator"&K% +5 "core" %ё d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +156 "core" ( +2 "manipulator"& & +5 "core" &* " > Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &*  Ad +3 .tForearm.seek CC + "manipulator"&Y'" +94 "core" ' +2 .tHand.close + "manipulator"&n/ +58 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( + "storage"(& +4 "core" &  e +2 "storage"(d& +3 "core" &  k +2 "manipulator"&`& +4 "core" &+ 0 Ac +2 "manipulator"&% +3 "core" %  L  +3 .tForearm.seek :retract + "manipulator"&p'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H( +154 "core" ( +2 "manipulator"&m& +3 "core" & , +2 "storage"(& +4 "core" &  * +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +56 "core" 1 +2 "manipulator"&i% +3 "core" %  +2 "storage"(t& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&Z' +18 "core" ' +3 "manipulator"&#& +4 "core" & & +2 "storage"(@& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +36 "core" ' + "storage"(% +5 "core" %B +2 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (\\% +3 "core" %9S PH +2 "manipulator"&|% +4 "core" %ў u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'o& +3 "core" &[ +2 "manipulator"& % +3 "core" %\ \ N  +2 "storage"(% +3 "core" %_ +2 "storage"(X. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(w( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" & i  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&Q( +17 "core" ( +2 "manipulator"&& +47 "core" & { x +4 "storage"(u& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +96 "core" ' + "storage"(k& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (_& +3 "core" & v  +2 "manipulator"&"& +4 "core" & < x +2 .tElbow.seek 3 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&s& +4 "core" & ^ x +2 "storage"(/& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&y'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(q'X +8 "core" & k x + "manipulator"&!% +5 "core" % ϲ f +2 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&e& +3 "core" &( + b ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &(  ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&h'" +97 "core" ' +3 "manipulator"&&& +3 "core" &( $ ?Q +3 "manipulator"&<% +3 "core" % +2 "collection"'8& +5 "core" & +2 "collection"'^& +6 "core" &` +2 .tCC.seek :closed +2 "collection"'U(V +4 "core" &  +9 &8 )w +9 &n > +9 &q G +10 &|b F +9 &=h F +10 &f G +9 &f G +9 &f F +10 &Ec F +9 &d F +9 & c F +10 &"c F +9 &$Lc G +10 &&g G +9 &'g F +9 &)b F +10 &+Uj F +9 &-f G +9 &.e F +10 &0d F +9 &2]c F +10 &4i F +9 &5g G +9 &7e F +10 &9ei F +9 &;&h G +9 &<g F +10 &>d F +9 &@lg G +10 &B/g F +9 &Ce G +9 &Ep G +10 &Go{ H +9 &I. I +9 &JwZ N +10 &L9k P +9 &Na$( P +10 &P  # Q +9 &Q Q +9 &S  R +10 &Ub! ? +9 &VK  X +9 &V1L %q +10 &WP @ +2 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&v1 +60 "core" 1 +3 "manipulator"& % +3 "core" %  # { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +3 "core" &* +2 "manipulator"&}% +4 "core" %\ #  + > +2 "storage"(C% +4 "core" %U * +2 "storage"(.. +2 "core" .( +2 "storage"(G& +5 "core" & )  + "storage"(& +4 "core" & ^  +2 "manipulator"&& +3 "core" &( ?Q +2 "manipulator"&% +4 "core" %\ #  > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)( +166 "core" ( +2 "manipulator"&$& +4 "core" & u l +2 "storage"(& +4 "core" & ]  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +96 "core" ' +2 "storage"(J& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'i +278 "core" ' + "storage"(- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&& +3 "core" & $ l +3 .tElbow.seek 3 +45 "manipulator"&'( +6 "core" ( +2 "manipulator"&x& +5 "core" & \\ l +2 "storage"(E& +3 "core" & e  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&F/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(B'X +8 "core" &  l +2 "manipulator"&R% +4 "core" % ϥ J +2 .tForearm.seek :retract + "manipulator"&O'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&V(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&l& +5 "core" &q ' u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &q u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +94 "core" ' + "manipulator"&g& +5 "core" &q $ +2 "manipulator"&% +3 "core" % p 6 +2 "processing"%b& +5 "core" &1 +2 "processing"%3& +5 "core" &2 +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &<  +9 &76 )v +9 &k7 = +10 &x4 G +9 &rd2 F +9 &4e9 F +10 &e8 G +9 &g3 G +9 &zd8 F +10 &<e8 F +9 &f1 F +12 & e3 G +7 &"i3 G +9 &$Cc8 G +10 &&b8 G +9 &'d8 G +9 &)e1 F +10 &+Ld3 F +9 &-e+ F +10 &.d) F +9 &0f0 G +9 &2Sh0 G +10 &4g0 G +9 &5g* F +9 &7e# F +10 &9\\e- F +9 &;d# F +10 &<f" F +9 &>d$ G +9 &@df F +10 &B%e" G +9 &Ch# G +9 &Em$ H +10 &Gdw$ I +9 &I!# K +10 &J% L +9 &L" L +9 &Nd$ L +10 &P%" L +9 &Q# M +9 &S# M +10 &Uj! M +9 &W*& M +10 &X" M +9 &Z<C_" %k +9 &Z +" ! +6 ( + "processing"%3& +4 "core" &Z& ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&11 +63 "core" 1 +2 "manipulator"&?% +3 "core" % X 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +2 "processing"%=& +3 "core" &Z$ ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&z% +4 "core" %\  D  +2 "storage"(% +3 "core" %P  +2 "storage"(f. +4 "core" .( + "storage"(\ & +4 "core" &   +2 "storage"(T& +3 "manipulator"&I& +8 "core" &  + &q a +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&((s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'i +2 "core" ( +3 "manipulator"&+& +3 "core" &q 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q  +3 .tForearm.seek PC + "manipulator"&a' +94 "core" ' + .tHand.close +2 "manipulator"&A/ +56 "core" / +2 .tPC.seek :open +2 "processing"%6( +89 "core" ' + "storage"(W- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'y +48 "core" ' +284 ( +2 "storage"(r& +3 "core" & T  +2 "manipulator"&& +4 "core" &q  +2 "manipulator"&%% +3 "core" % 7  +3 .tForearm.seek :retract + "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&>( +247 "core" ( +2 "manipulator"&c& +3 "core" & 1 b +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +43 .tForearm.seek 3 + 700 counts +9 "manipulator"&d'9 +93 "core" ' +2 .tHand.open + "manipulator"&`1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(m'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -' +2 "storage"(5& +5 "core" &\ R\ R  +2 "manipulator"&S& +4 "core" &  a + .tElbow.seek 3 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&t& +4 "core" & # r a +2 "storage"(#& +4 "core" &\ O\ P  +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&p& +3 "core" &  a +2 "storage"(\\& +4 "core" & 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&|'} +18 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +4 "manipulator"&Z% +3 "core" %v  +2 "storage"(o& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 293 counts + "manipulator"& 'Ϣ +20 "core" ' + "manipulator"&& +4 "core" & x a +2 "storage"(X& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +17 "core" ' +2 "storage"(7% +3 "core" %s +3 ."downElevator"SE.seek :down +4 "storage"(*'X +100 (4% +3 "core" %W v { ; PJ +2 "manipulator"&P% +3 "core" %"  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  +2 "collection"'u& +4 "core" &WO @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&k% +4 "core" %\  }  + "storage"(% +4 "core" %Z +2 "storage"(~. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(_& +4 "core" & .  +2 "manipulator"&"& +3 "core" &  a +3 .tElbow.seek 3 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&/& +3 "core" &  t a +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +99 "core" ' +3 "storage"(!& +3 "core" & .  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(Q'i +285 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +5 "core" &  a + "storage"(:& +3 "core" & X  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +17 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(<'O +33 "core" ' +2 "manipulator"&8% +3 "core" %w  +2 "storage"(L& +3 "core" &   +2 .tForearm.force -20 +48 "manipulator"&5 +3 .tForearm.seek 3 + 294 counts +2 "manipulator"&q'ϣ +21 "core" ' + "manipulator"&]& +4 "core" & E a +3 "storage"(-& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +37 "core" ' +2 "manipulator"&& +3 "core" &  a +2 "manipulator"&}% +5 "core" %W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&.( +152 "core" ( + "manipulator"&^& +4 "core" &( $ f ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &(  ( ?Q +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(h& +4 "core" &  +2 "storage"($& +3 "core" &  +2 "manipulator"&& +4 "core" &)  ?Q +2 "manipulator"&J% +4 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N( +161 "core" ( + "manipulator"&& +4 "core" &  x  +2 "storage"( & +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +103 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +54 "core" 1 +2 "manipulator"&F% +4 "core" % ΀ o +2 "storage"(2& +3 "core" & F  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&R'Ϭ +20 "core" ' +2 "manipulator"&)& +3 "core" &  +2 "storage"([& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +28 "core" ' +2 "storage"(% +4 "core" %E +2 ."downElevator"SE.seek :down +4 "storage"(l'X +99 (,% +3 "core" % T z PG +2 "manipulator"&'% +4 "core" %@ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & +3 "manipulator"&b% +4 "core" %\  ^  + "storage"(B% +4 "core" %a +2 "storage"(O. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9( +339 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" & +2 "manipulator"&?& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&=( +42 "core" ( + "manipulator"&z& +4 "core" &\ ! ] +2 "storage"(& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +98 "core" ' +2 "storage"(\ & +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'i +319 "core" ' +7 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & +2 "manipulator"&+& +4 "core" & ' [ +2 .tElbow.seek 2 +2 "manipulator"&( +28 "core" ( + "manipulator"&M& +4 "core" &   +2 "storage"(A& +3 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&W' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(j'X +8 "core" &  +2 "manipulator"&K% +3 "core" %  M f +3 .tForearm.seek :retract + "manipulator"&r'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&%& +5 "core" & * Z 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" & _ 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'" +107 "core" ' + "manipulator"&& +4 "core" &" %  6 +2 "manipulator"&(% +4 "core" %  p +2 "collection"'`& +5 "core" &{ +2 "collection"'& +5 "core" &r +2 .tCC.seek :closed +2 "collection"'Y(V +5 "core" & +6 &C $d +10 &^ 7 +9 &! G +9 &d F +10 &j F +9 &hg F +10 &*j F +9 &c F +10 &c F +9 &pc F +9 & 2f F +9 &!i F +10 &#e F +9 &%yf F +10 &'9g G +9 &(e F +9 &*c F +10 &,c F +9 &.Bc F +9 &0h F +10 &1c F +9 &3i F +10 &5Jh F +9 &7 g G +9 &8e F +10 &:c F +9 &g F +10 &?d F +9 &Ad F +10 &CZe F +9 &Ek G +9 &Ft H +10 &H~ I +9 &JN_D M +9 &L[ P +10 &M$+ Q +9 &O$ Q +10 &QM ! P +9 &S " R +9 &T" R +10 &V>g" . +9 &V  6 +9 &W ` @ +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&51 +2 "core" &W L @ +60 1 +2 "manipulator"&S% +4 "core" % ' b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +101 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%#& +3 "core" &7 +2 "manipulator"&n% +5 "core" %\ #  X > + "storage"(p% +4 "core" %W  +2 "storage"(\\. +3 "core" .( +2 "storage"(Z& +4 "core" & @ +2 "storage"(o& +3 "core" & # +2 "manipulator"& & +4 "core" & w 6 +2 "manipulator"&% +4 "core" %\ #  > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&X( +166 "core" ( +2 "manipulator"&m& +3 "core" &  r z +2 "storage"(7& +4 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +95 "core" ' +2 "storage"(d& +3 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & 6 +3 "manipulator"&@& +7 "core" & 0 z +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( + "manipulator"&& +4 "core" & 5 z +2 "storage"(|& +4 "core" & & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +50 ."downElevator"SE.seek :down +5 "manipulator"&u& + "storage"(k'X +8 "core" & z + "manipulator"&% +5 "core" %  ? I +2 .tForearm.seek :retract + "manipulator"&~'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&& +3 "core" &i 7 [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +3 "core" &i K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"' +99 "core" ' +2 "manipulator"&/& +3 "core" &i  ~ +3 "manipulator"&% +3 "core" % X +3 "processing"% & +3 "core" &3 +3 "processing"%!& +5 "core" &- +2 .tPC.seek :closed +2 "processing"%*(Z +5 "core" &8 +7 &D= #c +9 &[> 6 +10 &3 G +9 &f; G +9 &f= G +10 &bg; G +9 &$g> G +9 &g9 G +10 &i: G +9 &jh< G +10 & ,h9 G +9 &!h; G +9 &#h; G +10 &%rc8 G +9 &'4c8 G +10 &(b8 G +9 &*e9 F +9 &,{e6 F +10 &.<f1 G +9 &/g/ F +9 &1e0 G +10 &3g4 G +9 &5Dh2 G +9 &7h/ G +10 &8h0 G +9 &:g6 G +10 &e$ F +9 &?c# G +10 &Ad" F +9 &CSh" G +10 &Ek. G +9 &Fr+ H +9 &H( J +10 &JL$ L +9 &L. L +9 &M' L +10 &O' M +9 &QS" M +10 &S" L +9 &T$ M +9 &V% M +10 &XZ% M +9 &Yxv$ !i +9 &Z'j$ + +9 ( +3 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&H1 +3 "core" &Z% ! +53 1 + "manipulator"&% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +105 "core" ' + "processing"%e& +4 "core" &Z# ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&:% +3 "core" %\ \ :  +2 "storage"(&% +4 "core" %] - +2 "storage"(8. +2 "core" .( +2 "storage"(L& +5 "core" & M +2 "storage"(]& +3 "manipulator"&-& +6 "core" & % + &i +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +3 "core" ( +2 "manipulator"&0& +3 "core" &i  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &i N +3 .tForearm.seek PC + "manipulator"&Q' +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +4 .tPC.seek :open + "processing"%q( +90 "core" ' + "storage"(<- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +33 "core" ' +301 ( + "storage"(G& +4 "core" &  +2 "manipulator"&v& +3 "core" &i +2 "manipulator"&y% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&C( +257 "core" ( +2 "manipulator"&U& +3 "core" & U F +2 "storage"(h& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&$'ќ +96 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(J- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +48 "storage"( ' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(.& +3 "core" & \ I\ I 1 +3 "manipulator"&E& +4 "core" & Y F +2 .tElbow.seek 2 + "manipulator"&F( +22 "core" ( + "manipulator"&2& +4 "core" & F  +2 "storage"()& +3 "core" & O O ~ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' + "manipulator"&& +4 "core" & Q  +2 "storage"(,& +3 "core" & b +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'' +22 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +23 "core" ' +2 "manipulator"&R% +3 "core" % ' +2 "storage"(& +5 "core" & _ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&b' +20 "core" ' + "manipulator"&B& +5 "core" & y  + "storage"(O& +5 "core" & ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +24 "core" ' +2 "storage"(;% +3 "core" %n  +3 ."downElevator"SE.seek :down +4 "storage"(l'X +98 (w% +3 "core" % Y s j ! PI +2 "manipulator"&1% +4 "core" %ѵ i +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (z& +3 "core" &  +2 "collection"'& +3 "core" &W L^ @ +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&\ % +4 "core" %\ ! C 7 +2 "storage"(x% +3 "core" %\\ +2 "storage"(g. +4 "core" .( + "storage"(I& +4 "core" & V +2 "storage"(T& +3 "core" & E +2 "manipulator"&+& +5 "core" &   + .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&A& +4 "core" &  d  +2 "storage"(V& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +87 "core" ' +2 "storage"(K& +3 "core" & s +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +285 "core" ' +4 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &   +2 "storage"(a& +4 "core" & > +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&3' +33 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(('O +28 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(`& +3 "core" & f r +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&j' +19 "core" ' + "manipulator"&r& +4 "core" & \\  +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&5'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +45 "storage"(S'> +41 "core" ' + "manipulator"&#& +5 "core" & O  + "manipulator"&n% +5 "core" %щ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&\\& +3 "core" &+ w Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &+ H Bf +3 .tForearm.seek CC +2 "manipulator"&o'" +98 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(c& +3 "core" & m +3 "storage"(m& +4 "core" &  + "manipulator"&7& +4 "core" & ( >M +2 "manipulator"&d% +3 "core" %  i +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t( +159 "core" ( + "manipulator"&4& +5 "core" &  2  + "storage"(P& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&@' +99 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&|1 +64 "core" 1 +2 "manipulator"&% +5 "core" %  + "storage"(u& +6 "core" & - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&' +22 "core" ' +2 "manipulator"&X& +3 "core" & {  +2 "storage"(>& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"( % +3 "core" %G +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (_% +2 "core" %U OG +2 "manipulator"&i% +5 "core" %ѡ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +94 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &e +2 "manipulator"& % +3 "core" %\ " - ? +3 "storage"(k% +4 "core" %U  + "storage"(~. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(6( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (H& +2 "core" & .  +2 "manipulator"&& +4 "core" & <  +2 .tElbow.seek 3 +2 "manipulator"&e( +10 "core" ( +2 "manipulator"&:& +3 "core" & ? | +2 "storage"(&& +4 "core" & ~  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +93 "core" ' + "storage"(!& +4 "core" & Q  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +279 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +2 "core" &  +2 "manipulator"&0& +4 "core" & k | +2 .tElbow.seek 3 +2 "manipulator"&s( +4 "core" ( + "manipulator"&"& +4 "core" & O | +2 "storage"(& +3 "core" &   +47 .tForearm.seek 3 + 300 counts +4 "manipulator"&<'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(*'X +9 "core" & ` | + "manipulator"&}% +4 "core" % ϱ L - +3 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&y& +4 "core" &, +  Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &, M Bi +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&U'" +100 "core" ' + "manipulator"&h& +4 "core" &( $ W >I +3 "manipulator"&% +3 "core" %(  +3 "collection"'& +3 "core" & +3 "collection"'J& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &  +8 &8 *x +9 &k = +10 &r G +9 &wc F +9 &:e F +10 &g G +9 &c F +10 &c F +9 &@e G +9 &h G +10 & e F +9 &"e F +9 &$Jf F +10 && j F +9 &'i F +10 &)i F +9 &+Ph G +9 &-g G +10 &.g G +9 &0h G +10 &2Xg G +9 &4g G +9 &5g G +10 &7g G +9 &9`g G +9 &;#g F +10 &<f F +9 &>h G +10 &@hg G +9 &B*g G +9 &Ci G +10 &El G +9 &Gl| H +9 &I)  J +13 &JwZ N +6 &L7m* P +10 &N]$( P +9 &P ! Q +9 &Q" P +10 &S! R +9 &U^ ? +9 &VJ  _ +10 &V( b +9 ( + &V} N +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&.% +5 "core" % (   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%2& +3 "core" &= +2 "manipulator"&)% +4 "core" %\ #  @ +2 "storage"(% +3 "core" %a { z +2 "storage"(,. +4 "core" .( + "storage"(^& +5 "core" & { {  + "storage"(R& +3 "core" & { {  +2 "manipulator"&& +5 "core" &&  =G +2 "manipulator"&% +4 "core" %\ #  | @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +166 "core" ( + "manipulator"&O& +4 "core" &   +2 "storage"(;& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +92 "core" ' +2 "storage"($& +3 "core" & X  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &   +2 "manipulator"&[& +3 "core" & )  +2 .tElbow.seek 3 +2 "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" &  N  +2 "storage"('& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&b'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(\ 'X +8 "core" &   + "manipulator"&x% +4 "core" % ϫ . 3 +2 .tForearm.seek :retract +2 "manipulator"&g'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +50 "manipulator"&I& +3 "core" &y $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&+' +106 "core" ' +2 "manipulator"&A& +3 "core" &y r +2 "manipulator"&V% +5 "core" %  I +2 "processing"% & +3 "core" &7 +3 "processing"%K& +5 "core" &+ +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &1  +9 &82 )v +9 &k8 = +10 &r; H +9 &vb6 F +9 &6d; G +10 &c> G +9 &c> G +10 &~e; F +9 &@d= F +9 &f< G +10 & b< G +9 &"b= G +9 &$Hb; F +10 && d= G +9 &'h; G +10 &)h: G +9 &+Pd8 F +9 &-d9 F +10 &.d3 G +9 &0h8 G +9 &2Wc9 G +10 &4c9 F +9 &5e= F +10 &7e3 G +9 &9_h6 G +9 &;!b6 G +10 &<b2 G +9 &>b7 G +9 &@gc2 G +10 &B(c5 G +9 &Ch9 G +10 &Eo8 H +9 &Gix0 I +9 &I%0 K +10 &J0 L +9 &L7 M +9 &Ng6 L +10 &P(3 M +9 &Q5 L +10 &S/ L +9 &Un. M +9 &W0, M +10 &X% M +9 &ZBEb, %l +9 &Z&# ! +6 ( +2 "processing"%K& +3 "core" &Z$ ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&N1 +63 "core" 1 +2 "manipulator"&?% +3 "core" %  s I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' +2 "processing"%%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %\ % o C +2 "storage"(% +4 "core" %W l f +2 "storage"(. +4 "core" .( + "storage"(`& +5 "core" & w z =  +2 "storage"(r& +3 "manipulator"&& +6 "core" & { {  + &y  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +5 .tElbow.seek PC + "manipulator"&#(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'i +2 "core" ( +2 "manipulator"&D& +5 "core" &y U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &y +3 .tForearm.seek PC + "manipulator"&=' +95 "core" ' +2 .tHand.close + "manipulator"&3/ +53 "core" / +2 .tPC.seek :open +2 "processing"%j( +92 "core" ' +2 "storage"((- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +41 "core" ' +287 ( +2 "storage"(Z& +3 "core" &   +2 "manipulator"&5& +4 "core" &y  +2 "manipulator"&W% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p( +244 "core" ( + "manipulator"&Y& +4 "core" &\ $ V +2 "storage"(c& +3 "core" & d c G  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +97 "core" ' + .tHand.open +2 "manipulator"&71 +58 "core" 1 +2 "storage"(d- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(o- +3 "core" -' +2 "storage"(& +3 "core" &\ P\ P  +2 "manipulator"&|& +4 "core" &\  V +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&u& +3 "core" & _  +2 "storage"(X& +40 "core" &\ R\ P  +14 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +57 "core" ' + "manipulator"&& +5 "core" & &  + "storage"(_& +5 "core" & ;  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&i'} +20 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(@'i +21 "core" ' +2 "manipulator"&% +3 "core" %΁ ( +2 "storage"(& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"& 'ϭ +20 "core" ' +2 "manipulator"&k& +3 "core" & G  +2 "storage"(~& +4 "core" & :  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&S'9 +17 "core" ' +2 "storage"(% +3 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (9% +3 "core" %Z { s QL +2 "manipulator"&H% +4 "core" %7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +2 "core" & ,  +2 "collection"'&& +5 "core" &V}o N + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&!% +3 "core" %\  Q  +3 "storage"(% +4 "core" %b  + "storage"(/. +3 "core" .( +2 "storage"(-& +3 "core" &   +2 "storage"(]& +5 "core" &  + "manipulator"&0& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&"( +10 "core" ( + "manipulator"&& +5 "core" & p  + "storage"(& +4 "core" & &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{'9 +96 "core" ' +2 "storage"(}& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +282 "core" ' +3 "storage"(8- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" &   +2 "storage"(Q& +3 "core" & f e  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&L'} +17 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +33 "core" ' +2 "manipulator"&% +3 "core" % ( +2 "storage"(s& +3 "core" & i y (  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&*'ϫ +20 "core" ' + "manipulator"&G& +5 "core" & l  + "storage"(& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'> +38 "core" ' +2 "manipulator"&2& +3 "core" &   +2 "manipulator"&)% +5 "core" %6 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +153 "core" ( +42 "manipulator"&J& +10 "core" &) 8 @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &) @[ +3 .tForearm.seek CC + "manipulator"&R'" +98 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +418 "core" ( +2 "storage"(U& +4 "core" & r  +2 "storage"(O& +3 "core" &  +3 "manipulator"&;& +4 "core" &% ;6 + "manipulator"&$% +5 "core" % +  +2 .tForearm.seek :retract + "manipulator"&v'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E( +167 "core" ( + "manipulator"&w& +4 "core" & A [ +2 "storage"(1& +3 "core" & =  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&['} +189 "core" ' +3 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +62 "core" 1 +2 "manipulator"&z% +4 "core" % ΀ $ r +2 "storage"(& +3 "core" & 5  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&x'Ϭ +19 "core" ' +2 "manipulator"&B& +3 "core" & [ +2 "storage"(C& +5 "core" & H  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +29 "core" ' + "storage"(b% +4 "core" %G # +3 ."downElevator"SE.seek :down +3 "storage"(F'X +100 (I% +3 "core" %Z R QI +2 "manipulator"&T% +3 "core" %? +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'V& +3 "core" &j +2 "manipulator"& % +5 "core" %\  1 + "storage"(\ % +4 "core" %` } +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(q( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (N& +3 "core" & : +2 "manipulator"&?& +3 "core" &  [ +2 .tElbow.seek 2 +2 "manipulator"&%( +32 "core" ( +2 "manipulator"&a& +3 "core" &  " +2 "storage"(& +3 "core" &  ? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(K& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +280 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (r& +2 "core" &  m +2 "manipulator"&D& +4 "core" & _ "z +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&+& +3 "core" &  "z +2 "storage"(3& +3 "core" &  +5 .tForearm.seek 2 + 300 counts +2 "manipulator"&(' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(l'X +8 "core" & = "z +2 "manipulator"&n% +3 "core" % M } +48 .tForearm.seek :retract +3 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +101 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +47 "core" ( +2 "manipulator"&W& +3 "core" && + m =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &&  =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Y'" +99 "core" ' +3 "manipulator"&c& +3 "core" && $ ` =E +3 "manipulator"&#% +3 "core" % f +2 "collection"'7& +5 "core" & +2 "collection"'d& +5 "core" & +2 .tCC.seek :closed +2 "collection"'o(V +4 "core" & +7 &BB #b +10 &\\t 6 +9 & G +9 &b F +10 &g G +9 &Ue F +9 &i F +10 &g G +9 &e F +9 &^c F +10 & g G +9 &!g G +10 &#g F +9 &%ed F +9 &''h F +10 &(f F +9 &*c F +10 &,lg G +9 &./g F +9 &/h F +10 &1h G +9 &3ug F +9 &58h F +10 &6g F +9 &8e G +9 &:~g F +10 &<>h G +9 &>f F +10 &?j F +9 &Ag F +9 &CHd F +10 &Em/ G +9 &Frz H +10 &H  J +9 &J=]@ M +9 &Kc P +10 &M&- P +9 &Ox#$ P +9 &Q9!#H Q +10 &R! Q +9 &T! R +9 &V'Y !F 5 +10 &V"U 'r +9 &V| N +3 ( + "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&|% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +4 "core" &1 +2 "manipulator"& % +3 "core" %\  l  +2 "storage"(% +4 "core" %a f g 8 +2 "storage"(_. +3 "core" .( +2 "storage"(\\& +3 "core" &  e d  +2 "storage"(4& +4 "core" &  p  +2 "manipulator"&& +3 "core" && " =E +2 "manipulator"&% +4 "core" %\ .  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +159 "core" ( + "manipulator"&~& +5 "core" & y  +2 "storage"(p& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +92 "core" ' +2 "storage"(m& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +279 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &  +2 "manipulator"&>& +4 "core" & )  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & v  +2 "storage"(i& +3 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&:' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&&& + "storage"(!'X +8 "core" & V  + "manipulator"&% +5 "core" %  % +2 .tForearm.seek :retract + "manipulator"&/'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-(s +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&@& +3 "core" &y ( +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &]& +3 "core" &y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0' +98 "core" ' + "manipulator"&& +4 "core" &y > +2 "manipulator"&% +4 "core" % I +2 "processing"%S& +52 "core" &0 +3 "processing"%}& +5 "core" &0 +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &3 +6 &, 8 +9 &NN1 / +10 &{3 C +9 &Eb5 G +10 &e1 G +9 &g: G +9 &d7 G +10 &Od< F +9 &e9 G +9 &b3 F +10 &e9 G +9 &!Vb6 G +10 &#e; G +9 &$h: G +9 &&c: F +10 &(]e1 G +9 &* e8 G +9 &+b5 G +10 &-c7 F +9 &/fc8 G +10 &1'c0 G +9 &2d2 G +9 &4g0 G +10 &6od2 F +9 &80d2 G +9 &9c/ G +10 &;b0 F +9 &=wb7 F +10 &?8d0 G +9 &@f. G +9 &Bg/ F +10 &D{j& H +9 &F<m. H +9 &G}/ J +10 &I/ L +9 &Kw0 L +10 &M8' L +9 &N$ M +9 &P$ M +10 &R}$ M +9 &T?" M +9 &V" M +10 &W M +9 &Y' : +10 &Zu6 N +9 &Z" ! +2 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&t1 +53 "core" 1 +2 "manipulator"&% +3 "core" % x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +92 "core" ' +2 "processing"%y& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Q% +4 "core" %\  a  + "storage"(h% +4 "core" %] f f f +2 "storage"(. +3 "core" .( +2 "storage"(s& +3 "core" &  f f d +3 "storage"(G& +2 "manipulator"&& +8 "core" &  e d 5 + &y  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&2(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"()'i +4 "core" ( + "manipulator"&{& +4 "core" &y S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &y  +2 .tForearm.seek PC +2 "manipulator"&e' +96 "core" ' +2 .tHand.close + "manipulator"&L/ +65 "core" / +3 .tPC.seek :open +2 "processing"%*( +79 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'y +47 "core" ' +296 ( + "storage"(& +5 "core" &  j u Y + "manipulator"&^& +4 "core" &y A +2 "manipulator"&<% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +263 "core" ( + "manipulator"&& +4 "core" & t +2 "storage"(U& +4 "core" &  g c O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +97 "core" ' + .tHand.open +2 "manipulator"&;1 +55 "core" 1 +2 "storage"($- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"(,& +4 "core" & \ M\ P T +2 "manipulator"&'& +3 "core" & E +3 .tElbow.seek 2 + "manipulator"&z( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(v& +4 "core" & \ P\ Q +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +55 "core" ' +2 "manipulator"&b& +3 "core" & k +2 "storage"(I& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek 2 + "manipulator"&T' +33 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +23 "core" ' + "manipulator"&x% +4 "core" % {  +2 "storage"(V& +3 "core" &  n r 2 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"& ' +21 "core" ' +2 "manipulator"&\ & +3 "core" & u +2 "storage"(g& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +18 "core" ' +2 "storage"( % +3 "core" %r e +3 ."downElevator"SE.seek :down +3 "storage"(F'X +99 (6% +3 "core" %Z s n QK +2 "manipulator"&N% +3 "core" %ѝ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (a& +3 "core" &  G +2 "collection"'& +4 "core" &V~ N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&K% +3 "core" %\    +2 "storage"(% +4 "core" %b K +2 "storage"(A. +3 "core" .( +2 "storage"(& +3 "core" &  n +2 "storage"(r& +4 "core" &  = +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&3& +3 "core" &  V +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&f'ќ +97 "core" ' + "storage"(n& +3 "core" &  F +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'i +283 "core" ' +3 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" &  +2 "storage"(W& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&=' +33 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'N +28 "core" ' +2 "manipulator"&7% +4 "core" %  + "storage"(M& +4 "core" &  m m * +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&l' +18 "core" ' +2 "manipulator"&Z& +3 "core" & N +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(|'= +37 "core" ' +2 "manipulator"&X& +3 "core" &  +2 "manipulator"& % +4 "core" %Ѥ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +158 "core" ( +2 "manipulator"&\\& +3 "core" &+ X Bi +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &+ 0 L Bi +3 .tForearm.seek CC +2 "manipulator"&4'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(Y& +42 "core" &  +10 "storage"(~& +3 "core" &  o +2 "manipulator"&p& +5 "core" &* { @\\ +2 "manipulator"&m% +3 "core" %  | +3 .tForearm.seek :retract + "manipulator"&5'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&u( +163 "core" ( +2 "manipulator"&9& +3 "core" & ~ e +3 "storage"(H& +3 "core" &  . +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&>' +97 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&i1 +60 "core" 1 +3 "manipulator"& % +4 "core" % y +2 "storage"(&& +3 "core" &  & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&k& +3 "core" & o e +2 "storage"(& +5 "core" &  3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +19 "core" ' +2 "storage"(:% +3 "core" %G U +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (]% +3 "core" %$U  PH +2 "manipulator"&% +4 "core" %ѡ ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & +2 "manipulator"&S% +3 "core" %\   +3 "storage"(!% +3 "core" %b { +2 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(j( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" & 0  +2 "manipulator"&& +3 "core" & e +2 .tElbow.seek 3 +2 "manipulator"&y( +45 "core" ( +2 "manipulator"&Q& +3 "core" & j o +2 "storage"(h& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +100 "core" ' +2 "storage"(s& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +2 "core" & #  +3 "manipulator"&{& +4 "core" & C n +2 .tElbow.seek 3 + "manipulator"&"( +16 "core" ( +2 "manipulator"&0& +3 "core" & m  +2 "storage"(L& +3 "core" & 5  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&8& +3 "storage"('X +8 "core" &   + "manipulator"&)% +5 "core" % ϳ +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +140 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&<& +3 "core" && ' H =E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" &&  y =E +47 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 "manipulator"&U& +5 "core" && $ G =E +2 "manipulator"&2% +3 "core" %" +3 "collection"';& +3 "core" & +3 "collection"'$& +5 "core" & +2 .tCC.seek :closed +2 "collection"'R(V +5 "core" & +7 &9 #c +9 &\\ 6 +10 & G +9 &g F +9 &e F +10 &`e G +9 &$g F +10 &g G +9 &f F +9 &hg G +10 & +g F +9 &!g G +9 &#g F +10 &%re F +9 &'3g F +10 &(c F +9 &*g F +9 &,zi F +10 &.;f F +9 &/f G +9 &1g F +10 &3g F +9 &5Dc F +10 &7g F +9 &8e G +9 &:g F +10 & g G +9 &?g F +10 &Ag G +9 &CSg F +10 &Ej G +9 &Fs G +9 &H|L I +10 &JIV: M +9 &Lo[ P +9 &M&- P +10 &O%E P +9 &QE!] Q +10 &S  R +9 &T  R +9 &V1] h , +10 &V!X = +5 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&,1 +4 "core" &V? < +58 1 +2 "manipulator"&'% +3 "core" % "  D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +3 "core" &, +2 "manipulator"&% +4 "core" %\ \ v  +2 "storage"(b% +4 "core" %b  +2 "storage"(I. +3 "core" .( + "storage"(J& +5 "core" &   + "storage"(w& +5 "core" &   + "manipulator"&x& +4 "core" && S =E +2 "manipulator"&V% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&\ ( +160 "core" ( +2 "manipulator"&g& +3 "core" & > d +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' +2 "storage"(O& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'i +281 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &   +2 "manipulator"&B& +3 "core" & 5 d +3 .tElbow.seek 3 + "manipulator"&z( +4 "core" ( + "manipulator"&C& +4 "core" & l d +2 "storage"(T& +3 "core" & L  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&a/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(K'X +8 "core" &  d +2 "manipulator"&% +3 "core" % Ϭ . +3 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.seek PC +3 "manipulator"&[(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +3 "manipulator"&& +3 "core" &m   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &m ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +103 "core" ' +2 "manipulator"&3& +4 "core" &n a +2 "manipulator"&% +3 "core" %  +3 "processing"%.& +3 "core" &9 +3 "processing"%n& +5 "core" &: +2 .tPC.seek :closed + "processing"%F(Z +4 "core" &B +7 &=: #c +10 &[: 6 +9 &4 G +9 &b. F +10 &g/ F +9 &^e7 G +9 &!e7 F +10 &e4 G +9 &i1 G +10 &fc2 G +9 & )e: F +9 &!e5 G +10 &#h= G +9 &%nc8 G +9 &'1e6 F +10 &(e< G +9 &*d= G +49 &,wd= F +4 &.8e: G +2 &/f3 G +2 &1c8 G + &3~b8 G +3 &5@c= G +5 &7c8 F +9 &8d7 F +10 &:c5 G +9 &\ g9 G +10 &?h4 G +9 &Ab0 G +9 &CPh6 G +10 &Ek0 G +9 &Fs2 H +10 &H2 K +9 &JJ3 L +9 &L 9 L +10 &M7 M +9 &O5 M +9 &QN1 M +10 &S6 M +9 &T, L +10 &V. M +9 &XU1 M +9 &Yww0 "k +10 &Z'k/ + +8 ( +2 &Z0 " +2 "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open + "manipulator"&E1 +59 "core" 1 + "manipulator"&?% +4 "core" % $ Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%`& +3 "core" &Z! " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&W% +3 "core" %\ % O H +3 "storage"(c% +3 "core" %a  +2 "storage"(7. +3 "core" .( +2 "storage"(M& +3 "core" &   +3 "storage"(Z& +2 "manipulator"&& +7 "core" &  +2 &n  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&X(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( + "manipulator"&f& +5 "core" &n u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &n . +3 .tForearm.seek PC + "manipulator"&%' +99 "core" ' +2 .tHand.close + "manipulator"&=/ +58 "core" / +3 .tPC.seek :open +2 "processing"%l( +86 "core" ' +2 "storage"(#- +3 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +31 "core" ' +305 ( +2 "storage"(d& +3 "core" & o  +2 "manipulator"&& +4 "core" &n z +2 "manipulator"&(% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +251 "core" ( + "manipulator"&o& +4 "core" & $ % +2 "storage"(Y& +3 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&~'9 +95 "core" ' + .tHand.open +2 "manipulator"&p1 +58 "core" 1 +2 "storage"(m- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(9'E +31 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(H' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' + "storage"(_& +4 "core" & \   +2 "manipulator"&i& +3 "core" & A # +3 .tElbow.seek 3 +2 "manipulator"& ( +30 "core" ( + "manipulator"&&& +4 "core" & j  +2 "storage"(k& +3 "core" & K M G  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(:' +53 "core" ' + "manipulator"&5& +4 "core" &   +2 "storage"(]& +3 "core" & e  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(>'i +24 "core" ' + "manipulator"&% +4 "core" %· : +2 "storage"(& +50 "core" & 2  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&S'ϳ +20 "core" ' +2 "manipulator"&!& +3 "core" & P  +3 "storage"(/& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +32 "core" ' +2 "storage"(P% +4 "core" %s J  +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 (q% +3 "core" % Z 1 QJ +2 "manipulator"&t% +4 "core" %@ # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +3 "core" &   +2 "collection"'h& +3 "core" &V@5 < +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&s% +3 "core" %\  F  +2 "storage"( % +4 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"(G& +3 "core" &  +2 "storage"(}& +3 "core" &  +2 "manipulator"&{& +5 "core" & }  +2 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( +2 "manipulator"&L& +3 "core" &   +2 "storage"(-& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&8'9 +92 "core" ' +2 "storage"()& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'i +277 "core" ' +3 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & Y  +2 "storage"(e& +3 "core" &   +2 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'O +29 "core" ' + "manipulator"&2% +3 "core" %΀ 5 +2 "storage"(;& +4 "core" & O  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +20 "core" ' +2 "manipulator"&& +3 "core" & d  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&,'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''> +37 "core" ' +2 "manipulator"&v& +3 "core" & 4  +2 "manipulator"&% +5 "core" %= R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I( +156 "core" ( +2 "manipulator"&$& +5 "core" &* $ T @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &* @X +3 .tForearm.seek CC + "manipulator"&w'" +94 "core" ' + .tHand.close +2 "manipulator"&x/ +64 "core" / +2 .tCC.seek :open +2 "collection"'V( +412 "core" ( +2 "storage"(& +3 "core" &  +2 "storage"(g& +4 "core" &  +2 "manipulator"&& +3 "core" &( ?T +2 "manipulator"&O% +3 "core" % #  +3 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( +9 "manipulator"&6& +3 "core" &   +2 "storage"(N& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&B'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +63 "core" 1 +3 "manipulator"&a% +3 "core" % ΋  e +3 "storage"(& +3 "core" & [  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'Ϸ +20 "core" ' +2 "manipulator"&\ & +3 "core" & [  +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +29 "core" ' +2 "storage"( % +3 "core" %A P  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (r% +3 "core" %V x OG +2 "manipulator"&z% +4 "core" %A J { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +13474 "Can" 9  +60001  49.  +60002  3  +60002  3Z  +19941 #t-> exit +7 #mEXIT @1734982200.27EST @1735653778.35EST = =mMAIN_scheduler =tMAIN @EST1735653779.10 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +109 #"core_reset"Sent BREAK +2 #t@22882 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +251 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +390 "Can"R w_ + R w_ + #tPolling Can every 10:00 +25 #Cleanly exited at 14:30:00EST23-Dec-24 +680 #-> ESP.ready! +3 #Powering core bus +538 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +891 #-> 10.times{shuffle 2..3} +3 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'1& +3 "core" & / 0 +2 .tHand.open + "manipulator"&21 +60 "core" 1 +2 "manipulator"&3% +4 "core" % \  " m  +2 "storage"(4% +3 "core" %T  +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(6( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & * +2 "manipulator"&8& +3 "core" &  L !v +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&9( +21 "core" ( +2 "manipulator"&:& +3 "core" & ( @ "y +2 "storage"(;& +4 "core" &  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +90 "core" ' +2 "storage"(=& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(>'i +274 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +2 "core" & P +3 "manipulator"&A& +4 "core" &   "y +2 .tElbow.seek 2 +2 "manipulator"&B( +26 "core" ( +2 "manipulator"&C& +4 "core" & ' D  + "storage"(D& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(H'X +7 "core" &  +2 "manipulator"&I% +4 "core" % % > +2 .tForearm.seek :retract +2 "manipulator"&J'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +153 "core" ( + "manipulator"&L& +5 "core" &$ $ f ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" ' +5 ."downElevator"SE.stop + "storage"(5 +2 "core" &$  I ;6 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'" +96 "core" ' +2 "manipulator"&O& +3 "core" &$ '  ;6 +3 "manipulator"&P% +3 "core" %# "  +3 "collection"'Q& +4 "core" & . . +2 "collection"'R& +5 "core" & - / +3 .tCC.seek :closed +2 "collection"'S(V +3 "core" & / 1 +42 &L / 0 #c +9 &sZ . / 6 + & . / H + &i / / H +2 &`j 0 1 H &#m / 1\ H +9 &n / 0\ H +10 &p . 1\ H +9 &im . 1 H +9 &+k / 4\ H +10 &m / 2E H +9 &!m 1 3 H +10 &#pn - 2: H +9 &%3n 1 3J H +9 &&j / 2= H +10 &(k 0 2; G +9 &*ym / 28 H +9 &,;k . 18 H +10 &-m 0 27 H +9 &/m . 3; H +10 &1j 0 2@ H +9 &3Cl 0 2f H +9 &5m 0 1h H +10 &6o 0 1@ H +9 &8k / 0. H +9 &:Km - 1O H +10 &< n / 3 H +9 &=m / 1i H +10 &?k 2 3< H +9 &ASj 1 2 H +9 &Cm 1 0r H +10 &Ds 7 7 I +9 &F E C J +9 &HR Y U# K +10 &J\ A QH N +9 &K : ;\\ Q +10 &M 4 8; R +9 &OH 5 6 Q +9 &Q 6 7 R +10 &R 3 7 S +9 &T 3 5s S +10 &V$r 3 5; ) +9 &V2 1 6S O +9 ( + &VH 0 45 > +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&T1 +58 "core" 1 +2 "manipulator"&U% +3 "core" % # 1 > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%W& +3 "core" & +2 "manipulator"&X% +4 "core" %\   N  +2 "storage"(Y% +4 "core" %\\ J + "storage"(Z. +3 "core" .( +2 "storage"([& +4 "core" & K +2 "storage"(\\& +4 "core" & ` +2 "manipulator"&]& +4 "core" &$  5 ;6 +2 "manipulator"&^% +3 "core" %\   :  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&_( +161 "core" ( +2 "manipulator"&`& +4 "core" & ' > m +2 "storage"(a& +4 "core" & U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +96 "core" ' + "storage"(c& +4 "core" & 9 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +282 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +3 "core" & P +2 "manipulator"&g& +4 "core" &  m +2 .tElbow.seek 2 + "manipulator"&h( +4 "core" ( +2 "manipulator"&i& +4 "core" &  I m +2 "storage"(j& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(n'X +8 "core" &  m +2 "manipulator"&o% +4 "core" %   [ +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +2 "manipulator"&r& +4 "core" &k / N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &k  0  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +102 "core" ' + "manipulator"&u& +4 "core" &n ' 1  +2 "manipulator"&v% +5 "core" %  + "processing"%w& +4 "core" & +3 "processing"%x& +5 "core" & +2 .tPC.seek :closed +3 "processing"%y(Z +4 "core" & +5 & : +10 & O / +9 &]y D +10 &n H +9 &m H +9 &l G +10 &Vm H +9 &k H +9 &k H +10 &h H +9 &_l H +10 &!!j H +9 &"m H +9 &$l G +10 &&gl H +9 &(*k G +9 &)m H +10 &+l G +9 &-nk H +10 &/2k G +9 &0m H +9 &2m G +10 &4wl H +9 &69j H +9 &7k H +10 &9o H +9 &;kI G +10 &=Ak H +9 &?j H +9 &@m H +10 &Bq H +9 &DGp H +9 &FwI I +10 &Gm J +9 &Iu L +10 &KBv M +9 &M M +9 &N< M +10 &Pv M +9 &RI M +9 &T u M +10 &U N +9 &W N +10 &YQ : +9 &ZZ9ot $i +9 &Zu ! +6 ( +2 "processing"%x& +3 "core" &ZO ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.38 + .Hand.open +2 "manipulator"&z1 +54 "core" 1 +4 "manipulator"&{% +3 "core" %  8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +97 "core" ' +2 "processing"%}& +3 "core" &Z/ ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\ !  3 +39 "storage"(% +11 "core" %U \ +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "manipulator"&& +5 "core" &  +3 &n   +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +3 "core" ( +2 "manipulator"& & +4 "core" &n  g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n  7  +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&\ / +60 "core" / +2 .tPC.seek :open +2 "processing"% ( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +38 "core" ' +293 ( +2 "storage"(& +3 "core" &  +2 "manipulator"&& +5 "core" &n  m  + "manipulator"&% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +246 "core" ( + "manipulator"&& +4 "core" & % 4 ' +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +3 "storage"(#& +4 "core" & x j 8 + "manipulator"&$& +4 "core" &   ' +2 .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" & ( E ' +2 "storage"('& +4 "core" & g d +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +55 "core" ' +2 "manipulator"&*& +4 "core" &  ) ' +2 "storage"(+& +3 "core" & 4 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&,' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +23 "core" ' +2 "manipulator"&/% +3 "core" %  g +3 "storage"(0& +4 "core" & E + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&1' +22 "core" ' +3 "manipulator"&2& +3 "core" & j & +3 "storage"(3& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +20 "core" ' + "storage"(5% +5 "core" %r g +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (7% +3 "core" %W  PG +2 "manipulator"&8% +3 "core" %ѐ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & N +3 "collection"'=& +4 "core" &VG . /T > + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\   0  +2 "storage"(% +4 "core" %T @ +2 "storage"(?. +3 "core" .( +2 "storage"(@& +3 "core" & b +3 "storage"(A& +3 "core" & f +3 "manipulator"&& +40 "core" &  H & +9 .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +3 "core" & # G & +2 "storage"(F& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +94 "core" ' +3 "storage"(I& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +280 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  & +2 "storage"(M& +4 "core" & \\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&>' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'N +28 "core" ' +2 "manipulator"&Q% +3 "core" %  f  +2 "storage"(B& +3 "core" & _ +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&H' +18 "core" ' +2 "manipulator"&J& +3 "core" & & - & +3 "storage"(!& +4 "core" & T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +36 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(U'= +40 "core" ' +2 "manipulator"&W& +6 "core" &   & + "manipulator"&X% +5 "core" %Ѯ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +146 "core" ( +2 "manipulator"&[& +4 "core" & ' H 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &! ! P 8 +3 .tForearm.seek CC + "manipulator"&R'" +93 "core" ' +2 .tHand.close + "manipulator"&]/ +60 "core" / +2 .tCC.seek :open + "collection"'^( +413 "core" ( +2 "storage"(N& +3 "core" &  +2 "storage"(`& +4 "core" & 7 +2 "manipulator"&a& +4 "core" &!  8 8 + "manipulator"&c% +4 "core" % "  J +3 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&V( +158 "core" ( +2 "manipulator"&e& +3 "core" & ! ^  +2 "storage"(f& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&g' +98 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +54 "core" 1 +2 "manipulator"&l% +5 "core" % ! * + "storage"(m& +4 "core" & B +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 295 counts + "manipulator"&o' +15 "core" ' +2 "manipulator"&_& +4 "core" & U  +2 "storage"(b& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +16 "core" ' +2 "storage"(k% +3 "core" %@ +4 ."downElevator"SE.seek :down +3 "storage"(r'X +98 (s% +3 "core" %R PG +2 "manipulator"&h% +5 "core" %ј T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'v& +3 "core" & % %A +3 "manipulator"&w% +4 "core" %\     +38 "storage"(n% +11 "core" %X | +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &  +2 "manipulator"&{& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&}( +17 "core" ( + "manipulator"&~& +3 "core" &  +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +91 "core" ' + "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"& & +4 "core" & 6  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&t& +5 "core" & [  + "storage"(\ & +3 "core" & \\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +3 "storage"(y'X +8 "core" &  +2 "manipulator"&% +4 "core" % ϔ +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" &# 8 } ;4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$  X ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 "manipulator"&& +4 "core" &$ 1 2 ;4 +2 "manipulator"&% +4 "core" %! \ { A +2 "collection"'& +4 "core" & $ %H +2 "collection"' & +7 "core" & # ' +3 .tCC.seek :closed + "collection"'"(V +5 "core" & % &  +8 &8 # &: *x +9 &l $ %: > +10 &{ ' &; H +9 &}k $ 'f H +9 &@n $ (= G +10 &j ' '< G +9 &l & '3 G +10 &j $ )* H +9 &Hp ) (N G +9 & k ( ( H +10 & p ' )G H +9 &"n & (2 H +9 &$Pk $ ( G +10 &&j & ) H +9 &'l & (r H +10 &)k ( (b H +9 &+Xp & (9 G +9 &-i ( (X G +10 &.h & *W H +9 &0o ' )Y H +9 &2`j & )X G +10 &4"j ( )X G +9 &5i ' )W G +10 &7j ( (W G +9 &9hi ( )X G +9 &;)l ( )Y H +10 &<p ( +Y H +9 &>m ) )T H +9 &@ok ( +T H +10 &B1m ' )X H +9 &Cn ) + H +10 &Es 4 1; H +9 &Gr ? <S J +9 &I0 C GU K +10 &J 8 <T O +9 &L 7 7U Q +9 &Nf 4 5W P +10 &P& 3 5W Q +9 &Q 3 4. R +10 &S 2 5I S +9 &Uf 2 5W @ +9 &VG 2 5X ` +10 &V) 2 2T [ +9 ( + &Vw 0 4R M +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.79 +2 .Hand.open + "manipulator" +58 "core" 1 +2 "manipulator"&$% +4 "core" % ! + 2 A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%'& +3 "core" & +2 "manipulator"& % +4 "core" %\   ]  +2 "storage"(*% +4 "core" %`  +2 "storage"(+. +3 "core" .( +2 "storage"(/& +4 "core" &   + "storage"(0& +4 "core" &   +2 "manipulator"&& +4 "core" &$  x ;4 +2 "manipulator"&2% +3 "core" %\  R  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +160 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(5& +4 "core" & B  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(& +3 "core" & ^  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +41 (8& +10 "core" & ]  +2 "manipulator"&(& +4 "core" & +3 .tElbow.seek 3 + "manipulator"&%( +4 "core" ( +2 "manipulator"&)& +4 "core" & +2 "storage"(,& +4 "core" & i  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +3 "storage"('X +8 "core" &  Q + "manipulator"&% +5 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&@& +3 "core" &u B Y +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&D& +4 "core" &u ! R +2 "manipulator"&F% +4 "core" %  D < +2 "processing"%4& +4 "core" & +2 "processing"%I& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &  +9 &6 )v +9 & i = +10 &~ I +9 &gk G +9 &(k H +10 &n H +9 &n H +9 &nh H +10 &1k G +9 &k G +10 & k H +9 &"vn H +9 &$8h H +10 &%h H +9 &'j G +9 &)k G +10 &+@j H +9 &-m H +10 &.i H +9 &0j H +9 &2Hi H +10 &4\ h H +9 &5h H +9 &7h H +10 &9Ph H +9 &;h G +10 &<k H +9 &>m H +9 &@Wn H +10 &Bj G +9 &Cn H +9 &Er I +10 &GZ} J +9 &I K +10 &J M +9 &L M +9 &NZ M +10 &P M +9 &Q M +9 &S N +10 &U` M +9 &W" M +9 &X N +10 &Z5Dc %m +9 &Z3 " +6 ( + "processing"%I& +4 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.40 + .Hand.open + "manipulator"&-1 +65 "core" 1 + "manipulator"&:% +5 "core" % T < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +93 "core" ' + "processing"%L& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&M% +4 "core" %\     + "storage"(O% +5 "core" %b  + "storage"(Q. +4 "core" .( + "storage"(B& +5 "core" &   +2 "storage"(J& +3 "manipulator"&!& +6 "core" &   +2 &u  h +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&W(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'i +2 "core" ( +2 "manipulator"&G& +5 "core" &u  P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &C& +2 "core" &u ! +3 .tForearm.seek PC +2 "manipulator"&9' +94 "core" ' +2 .tHand.close + "manipulator"&>/ +64 "core" / +3 .tPC.seek :open +2 "processing"%H( +85 "core" ' + "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +43 "core" ' +294 ( + "storage"(\\& +4 "core" &   +2 "manipulator"&T& +3 "core" &u   +3 "manipulator"&E% +4 "core" % \   +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +265 "core" ( + "manipulator"&S& +4 "core" & # J  +2 "storage"(N& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +94 "core" ' + .tHand.open +2 "manipulator"&a1 +64 "core" 1 +2 "storage"(c- +3 "core" -'y +49 .tSE.seek -0.12 Pucks below Top Plate + "storage"(e'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(f' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(Z& +4 "core" & ] \\  +2 "manipulator"&j& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&l( +9 "core" ( + "manipulator"&m& +5 "core" & ' -  + "storage"(_& +4 "core" & W Y  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +55 "core" ' +2 "manipulator"&K& +4 "core" &   +2 "storage"(s& +4 "core" & \\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&h'} +19 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +22 "core" ' +2 "manipulator"&v% +4 "core" %΍   +2 "storage"(o& +3 "core" & >  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&w'Ϲ +20 "core" ' +2 "manipulator"&n& +4 "core" &  +2 "storage"(U& +4 "core" & 4  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +28 "core" ' +2 "storage"(d% +4 "core" %q U +2 ."downElevator"SE.seek :down +4 "storage"(r'X +99 (6% +3 "core" %`X v i v QJ +2 "manipulator"&z% +4 "core" %$ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (~& +3 "core" & ;  +2 "collection"'& +3 "core" &V| / /Y M +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   b  +2 "storage"(i% +4 "core" %`  + "storage"(u. +4 "core" .( +2 "storage"(& +4 "core" &   + "storage"(& +4 "core" &   +2 "manipulator"& & +4 "core" & A  +2 .tElbow.seek 3 +2 "manipulator"&t( +8 "core" ( +2 "manipulator"&\ & +3 "core" & & 9 +3 "storage"(q& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +96 "core" ' +2 "storage"(& +4 "core" & #  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(}'i +280 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & | +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +33 "core" ' +2 "manipulator"&% +3 "core" %~  +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"&y'Ϫ +22 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(^& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'= +38 "core" ' +2 "manipulator"&'& +3 "core" & @ +2 "manipulator"& % +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +126 "core" ' +9 .tElbow.seek CC +2 "manipulator"&+( +154 "core" ( +3 "manipulator"&/& +3 "core" && %  =A +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &&  : =A +3 .tForearm.seek CC +2 "manipulator"&0'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'2( +416 "core" ( + "storage"(& +4 "core" & Z  +2 "storage"(& +3 "core" &   +2 "manipulator"&5& +5 "core" &% (  <@ + "manipulator"&% +4 "core" % "  X +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&&( +156 "core" ( + "manipulator"&7& +4 "core" &   +2 "storage"(8& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&('} +98 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +57 "core" 1 +2 "manipulator"&;% +4 "core" % ΂ X +2 "storage"(=& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&'Ϯ +21 "core" ' + "manipulator"&3& +5 "core" & P  + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 "storage"(1% +3 "core" %G +4 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (A% +3 "core" %U QI +2 "manipulator"&%% +5 "core" %Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +3 "core" & # $U +2 "manipulator"&4% +4 "core" %\   3  +2 "storage"(% +4 "core" %X +2 "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( ( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" &  +3 "manipulator"&:& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&L( +28 "core" ( + "manipulator"&M& +4 "core" & & H j +2 "storage"(O& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +100 "core" ' +2 "storage"(I& +4 "core" & 9 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'i +281 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +2 "core" & W +2 "manipulator"&G& +5 "core" & & i +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" & ' - i +2 "storage"(>& +4 "core" & R +3 .tForearm.seek 2 + 300 counts + "manipulator"&P' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&<& +3 "storage"('X +7 "core" &   i +2 "manipulator"&X% +4 "core" %   |  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +148 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&E& +2 "storage"(5 +47 "core" &$  ? ;5 +9 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +4 "core" &#  4 ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'" +92 "core" ' +3 "manipulator"&N& +4 "core" &$ " = ;5 +2 "manipulator"&W% +4 "core" %% ! +4 "collection"'a& +4 "core" & " $ +3 "collection"'c& +4 "core" & ! $ +3 .tCC.seek :closed +2 "collection"'R(V +3 "core" & " $ +8 &D " $J #c +9 &[ # $= 6 +10 & " $> H +9 &h # %= G +9 &m " #A H +10 &Yj # $ G +9 &j # %4 G +9 &i # $: G +10 &n # 'C G +9 &ak % %2 G +10 & #j $ & G +9 &!j # & G +9 &#k $ % G +10 &%ii # &H G +9 &',h % '8 G +10 &(k # ' H +9 &*k $ 'I G +9 &,qm " & G +10 &.2k " %H H +9 &/l % % G +9 &1j % &I G +10 &3yj $ % G +9 &5<m $ &H G +9 &6l # (: G +10 &8m % ' G +9 &:m $ % G +10 &k & '< H +9 &?l % (V G +10 &Ai $ (V G +9 &CKn % %X G +9 &E s + , H +10 &Fy 8 6Q I +9 &H F B5 J +10 &J@ 8 @ N +9 &K 5 8! Q +9 &M 3 4I Q +10 &O~ 1 4, Q +9 &Q= 1 4K R +9 &R 2 4; R +10 &T 1 22 R +9 &V)X 1 4V 4 +10 &V / 3~ 'r +9 &V~ 0 3< M +2 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&]1 +56 "core" 1 +3 "manipulator"&Z% +5 "core" % % " 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%m& +4 "core" & +2 "manipulator"&_% +3 "core" %\    +2 "storage"(K% +3 "core" %T  +3 "storage"(s. +3 "core" .( +2 "storage"(v& +4 "core" & + "storage"(o& +5 "core" &  + "manipulator"&[& +4 "core" &#  6 ;5 +2 "manipulator"&n% +4 "core" %\     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&U( +158 "core" ( +2 "manipulator"&e& +4 "core" & ' J  +2 "storage"(d& +4 "core" & 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +95 "core" ' + "storage"(`& +4 "core" & J +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'i +277 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & R +2 "manipulator"&b& +5 "core" &  + .tElbow.seek 2 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&k& +4 "core" & ' D  +2 "storage"(h& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +8 "core" &  N  +2 "manipulator"&i% +4 "core" %  W  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +3 "manipulator"&& +3 "core" &q H i +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &q x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 "manipulator"&\ & +4 "core" &r ' 5  +2 "manipulator"&q% +3 "core" %\ Z : +3 "processing"%p& +3 "core" & +3 "processing"%& +4 "core" & +3 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &  +9 &6 )v +9 & i = +9 &{ H +10 &gh H +9 &*h G +9 &j H +10 &k H +9 &og H +10 &1h H +9 &n H +9 & m G +10 &"wh H +9 &$9h H +9 &%m H +10 &'m G +9 &)j G +10 &+Al H +9 &-m G +9 &.j G +10 &0n H +9 &2Ik H +9 &4 g G +10 &5i G +9 &7l G +10 &9Rh G +9 &;i G +9 &<m G +10 &>h G +9 &@Zk G +9 &Bm G +10 &Cl H +43 &Er H +13 &G\\{ J + &I K + &J M +2 &L M + &N\\ L +4 &P L +10 &Q M +9 &S N +10 &U` N +9 &W" N +9 &X N +10 &Z4Ba %l +9 &Z9 " +5 ( +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open + "manipulator"&V1 +3 "core" &Z " +51 1 +2 "manipulator"&{% +3 "core" % (  : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' + "processing"%& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   Q  +2 "storage"(% +5 "core" %]  + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "manipulator"&^& +8 "core" &  + &r \   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&'(s +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +3 "core" ( +2 "manipulator"&|& +3 "core" &r    +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &r  =  +2 .tForearm.seek PC +2 "manipulator"&}' +98 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%y( +85 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'y +47 "core" ' +287 ( +2 "storage"(#& +4 "core" & + "manipulator"& & +4 "core" &r  +2 "manipulator"&% +3 "core" % k  +3 .tForearm.seek :retract +2 "manipulator"&'\ +106 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +257 "core" ( + "manipulator"&"& +5 "core" & f  + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' +2 .tHand.open + "manipulator"&51 +54 "core" 1 +2 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(0- +3 "core" -' +2 "storage"(+& +4 "core" & O O S +2 "manipulator"&,& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&;( +2 "core" ( +3 "manipulator"&=& +3 "core" & ' 3  +2 "storage"(3& +4 "core" & L L _ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(1' +60 "core" ' +2 "manipulator"&& +3 "core" & #  +2 "storage"(A& +4 "core" & L +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&%' +22 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +23 "core" ' + "manipulator"&% +4 "core" %  ? +2 "storage"(F& +3 "core" & O +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&4' +18 "core" ' +2 "manipulator"&& +4 "core" & % 3  +2 "storage"(?& +3 "core" & U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +32 "core" ' +2 "storage"(% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(@'X +98 ( % +3 "core" %T  PH +42 "manipulator"&-% +12 "core" %ш ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' +11 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" &  +2 "collection"'O& +5 "core" &V{ / 0 M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&I% +4 "core" %\ # > +2 "storage"()% +3 "core" %` c +2 "storage"(D. +3 "core" .( +2 "storage"(!& +4 "core" & M +2 "storage"(J& +4 "core" &  +2 "manipulator"&G& +4 "core" & w  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&>& +3 "core" & & L  +2 "storage"(.& +4 "core" & A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +105 "core" ' +2 "storage"(X& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'i +282 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&E& +3 "core" &  +2 "storage"(B& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&P' +30 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(C- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(N'N +30 "core" ' + "manipulator"&W% +5 "core" %  y & + "storage"(a& +5 "core" & x k + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&\\& +5 "core" &   + "storage"(2& +4 "core" & X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Z'= +38 "core" ' + "manipulator"&m& +5 "core" &  + "manipulator"&_% +5 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +156 "core" ( +3 "manipulator"&v& +4 "core" && & =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &o& +2 "core" &&  , =B +3 .tForearm.seek CC + "manipulator"&c'" +95 "core" ' +2 .tHand.close + "manipulator"&[/ +65 "core" / +2 .tCC.seek :open + "collection"'n( +419 "core" ( +2 "storage"(S& +3 "core" & M +2 "storage"(e& +5 "core" & = + "manipulator"&d& +4 "core" &&   =B +2 "manipulator"&`% +4 "core" % /  < +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +160 "core" ( + "manipulator"&6& +5 "core" &   + "storage"(z& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&b' +94 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +54 "core" 1 +2 "manipulator"&~% +4 "core" % & + "storage"(& +5 "core" & i + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 299 counts +2 "manipulator"&i' +18 "core" ' +3 "manipulator"&U& +4 "core" &  '  +2 "storage"(Y& +3 "core" & & +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +78 "core" ' +9 "storage"(w% +5 "core" %C ] +2 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" % R OF +2 "manipulator"&l% +5 "core" %ѐ m z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'q& +3 "core" & ! X +2 "manipulator"&p% +5 "core" %\ \ {  + "storage"(% +4 "core" %a L +2 "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(H( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +3 "core" &  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" &  +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(^'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&|& +4 "core" & n  +2 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"& & +4 "core" & Q  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +3 "storage"(r'X +8 "core" &  d  + "manipulator"& % +4 "core" % Ϡ   +2 .tForearm.seek :retract +2 "manipulator"&#'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &+ 4 j A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &+  A A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'" +99 "core" ' + "manipulator"&& +5 "core" &+ 1 A_ + "manipulator"&'% +5 "core" %  H +2 "collection"'5& +5 "core" & # +3 "collection"'& +6 "core" & ! ! +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" & $ +7 &9 " !\ #a +10 &Y " " 5 +9 & " "6 H +10 &k  $ G +9 &k ! % H +9 &Cj & G +10 &m $ $ G +9 &l %? G +9 &n # &A G +10 &Kl " %J G +9 & k $ %s G +10 &!m # %6 H +9 &#m $ %D G +9 &%Sn $ &? G +10 &'k # &: G +9 &(j " '8 G +9 &*j $ & G +10 &,[k " '2 G +9 &.k # $4 G +10 &/k $ &9 G +9 &1m # %; H +9 &3ck $ '= G +10 &5%j $ &6 G +9 &6k % &4 G +9 &8j # $ G +10 &:kk " '4 G +9 &<,m # $; G +10 &=k % &: G +9 &?h # $: G +9 &Atk % &7 G +10 &C5k $ '< G +9 &Dp ( ); H +9 &Fx 7 4: H +10 &Hs D @7 J +9 &J, 9 A M +10 &K 6 9 P +9 &M 4 6< Q +9 &Og 2 5 Q +10 &Q( 2 7@ Q +9 &R 2 4. R +9 &T 2 36 S +10 &VY 1 43 : +9 &V~ 1 31 %i +10 &V / 3 S +5 ( +2 "collection"'& +4 "core" &V 2 2h S +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&+1 +57 "core" 1 +3 "manipulator"&,% +3 "core" %  ) + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%3& +3 "core" & +3 "manipulator"&% +4 "core" %\   U  + "storage"(% +4 "core" %] ( +2 "storage"(A. +3 "core" .( +2 "storage"(& +3 "core" & m W  +2 "storage"(F& +4 "core" & k $  +2 "manipulator"&/& +4 "core" &+  ~ A_ +2 "manipulator"&% +4 "core" %\   9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +45 .tElbow.seek 3 +9 "manipulator"&?( +169 "core" ( +2 "manipulator"&7& +4 "core" & ' / @ +2 "storage"(& +3 "core" & M  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +87 "core" ' +2 "storage"(& +4 "core" & A  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +281 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & r   +2 "manipulator"&& +4 "core" & < +2 .tElbow.seek 3 +2 "manipulator"&;( +4 "core" ( + "manipulator"&1& +4 "core" & & < < +2 "storage"(%& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"(I'X +8 "core" &\ $ < +2 "manipulator"&)% +4 "core" % Ϟ +2 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&((s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&!& +3 "core" &i 3 +  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &i d  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +104 "core" ' + "manipulator"&>& +3 "core" &i H  +3 "manipulator"&.% +3 "core" % q +3 "processing"%X& +3 "core" & +3 "processing"%$& +5 "core" & +2 .tPC.seek :closed +2 "processing"%@(Z +5 "core" &  +8 &6 )w +9 & j = +10 &z I +9 &gj H +9 &*g G +10 &g H +9 &m G +9 &pg G +10 &2j G +9 &n G +10 & g H +9 &"wk H +9 &$:g G +10 &%i G +9 &'m G +9 &)h H +10 &+Bl G +9 &-l G +10 &.h G +9 &0j H +9 &2Jm G +10 &4 l H +9 &5j H +9 &7j H +10 &9Qj H +9 &;e G +11 &<h G +8 &>h G +9 &@Yh H +10 &Bk H +9 &Cj H +9 &Ep H +10 &G\\{ J +9 &I K +9 &J M +10 &L M +9 &N[ M +10 &P M +9 &Q M +9 &S M +10 &U` N +9 &W" N +10 &X N +9 &Z6Dc %m +9 &Z3 " +6 ( + "processing"%$& +4 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open + "manipulator"&&1 +56 "core" 1 + "manipulator"&:% +3 "core" % & . q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' +3 "processing"%E& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&B% +4 "core" %\   9 - +2 "storage"(C% +4 "core" %V  +2 "storage"(W. +4 "core" .( + "storage"(a& +5 "core" &   +2 "storage"(\\& +2 "manipulator"&2& +6 "core" &   + &i <  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&m(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(_'i +3 "core" ( +2 "manipulator"&<& +3 "core" &i !  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i  &  +3 .tForearm.seek PC +2 "manipulator"&L' +96 "core" ' +2 .tHand.close + "manipulator"&P/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +42 "core" ' +296 ( +2 "storage"(o& +45 "core" &   +10 "manipulator"&]& +3 "core" &i l  +2 "manipulator"&9% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&K( +254 "core" ( + "manipulator"&R& +4 "core" & ' > % +2 "storage"(S& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +100 "core" ' +3 .tHand.open + "manipulator"&d1 +63 "core" 1 +2 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(s& +3 "core" &\ F\ N  +2 "manipulator"&h& +4 "core" & ^ "z +3 .tElbow.seek 3 + "manipulator"&~( +31 "core" ( +2 "manipulator"&& +3 "core" & & 7  +3 "storage"(U& +4 "core" & L N \\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +12 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(T' +59 "core" ' +2 "manipulator"&w& +4 "core" &   +2 "storage"(j& +4 "core" & 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +22 "core" ' +2 "manipulator"&i% +4 "core" %΅ +2 "storage"(q& +3 "core" & <  +3 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&p'ϱ +21 "core" ' +2 "manipulator"&& +4 "core" & w  + "storage"(g& +5 "core" & J  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&Z'9 +35 "core" ' +2 "storage"(f% +3 "core" %r   +4 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +3 "core" %U } | QJ +2 "manipulator"&V% +5 "core" %A ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & P  +3 "collection"'& +3 "core" &V , /U S +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  w  +2 "storage"(k% +4 "core" %b + "storage"(\ . +4 "core" .( +2 "storage"(& +4 "core" &   + "storage"(& +4 "core" &   +2 "manipulator"&|& +4 "core" & n  +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" & e  +2 "storage"(u& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +101 "core" ' +2 "storage"( & +3 "core" & A  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & b  +2 "storage"(}& +4 "core" & 2  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +51 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&^'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''N +31 "core" ' +2 "manipulator"&t% +3 "core" %  +2 "storage"(5& +4 "core" & d i b  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&r'ϫ +20 "core" ' +2 "manipulator"&#& +4 "core" & V  +2 "storage"(n& +4 "core" & I  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'= +38 "core" ' +2 "manipulator"&3& +3 "core" & a  +2 "manipulator"&% +5 "core" % y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +154 "core" ( +2 "manipulator"&& +3 "core" &# " E ;6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &#   ;6 +3 .tForearm.seek CC + "manipulator"&F'" +95 "core" ' + .tHand.close +2 "manipulator"&// +56 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"("& +4 "core" &   +2 "storage"(7& +4 "core" & )  + "manipulator"&& +5 "core" &$  ' ;6 + "manipulator"&% +3 "core" % % +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=( +160 "core" ( +2 "manipulator"& & +3 "core" & P  +3 "storage"(-& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +100 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +59 "core" 1 +2 "manipulator"&M% +4 "core" % ΁ ' = +2 "storage"(O& +4 "core" & P  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&)'ϭ +21 "core" ' + "manipulator"&?& +4 "core" &   +2 "storage"(*& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +33 "core" ' + "storage"(4% +5 "core" %D +2 ."downElevator"SE.seek :down +4 "storage"(!'X +100 (J% +3 "core" %Q  PF +2 "manipulator"&;% +4 "core" %: < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'.& +3 "core" &  } +2 "manipulator"&X% +4 "core" %\  ^  +2 "storage"(I% +3 "core" %a _ +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(y( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" & a +2 "manipulator"&:& +50 "core" &  +4 .tElbow.seek 2 +2 "manipulator"&E( +29 "core" ( +2 "manipulator"&B& +4 "core" & ' !r +2 "storage"(C& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +97 "core" ' + "storage"(a& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +282 "core" ' +3 "storage"(2- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +2 "core" &  r +3 "manipulator"&<& +4 "core" & !r +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&G& +3 "core" & # d !r +3 "storage"(P& +3 "core" &  I +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&N' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(@'X +8 "core" & !r +2 "manipulator"&_% +3 "core" % \ +3 .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +154 "core" ( +3 "manipulator"&9& +3 "core" ' + && % = =D +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 +2 "manipulator"&$ &.,(#b +5 &L& +3 "core" && * g =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'" +94 "core" ' +3 "manipulator"&S& +3 "core" && 1 m =D +3 "manipulator"&m% +3 "core" %  :  +3 "collection"'d& +3 "core" &  !\ +3 "collection"'`& +6 "core" & " +2 .tCC.seek :closed +2 "collection"'c(V +3 "core" &   +7 & ! %\ 6 +9 &IL ! / +10 &z  C +9 &>g  " G +9 &j # F +10 &k ! #\ G +9 &j $ G +9 &Gk " $\ G +10 &n # G +9 &j $ G +9 &k ! & G +10 &!Nn $K G +9 &#k $ $ G +10 &$m " $ G +9 &&j $ G +9 &(Xj ! $ F +10 &*j # G +9 &+j # # F +9 &-j # %1 G +10 &/`j # F +9 &1 j ! # G +10 &2j ! &m G +9 &4k # & F +10 &6gj # "7 G +9 &8(g # $D G +9 &9j $ % G +10 &;j " "E G +9 &=nj # $8 G +9 &?1j $ G +10 &@n " $8 G +9 &Bm # %4 G +9 &Dup $ & G +10 &F7t 4 /J G +9 &G @ = I +10 &I ; CD L +9 &Kd 4 9G P +9 &M$ 6 5B Q +10 &N 3 5 Q +9 &P 3 4 Q +9 &Rg 1 3> R +10 &T' 0 4J R +9 &U 0 4P 5 +9 &V. / 3> #g +10 &V 0 1Y N +2 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&s1 +54 "core" 1 +3 "manipulator"&h% +3 "core" %  " [  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&U% +5 "core" %\  !   + "storage"(w% +3 "core" %Z * +3 "storage"(j. +3 "core" .( +2 "storage"(v& +4 "core" &   + "storage"(i& +4 "core" &   +2 "manipulator"&q& +5 "core" &&  Z =D + "manipulator"&6% +4 "core" %\   _  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( + "manipulator"&g& +3 "core" & 5  +3 "storage"(K& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +91 "core" ' + "storage"(e& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'i +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +50 (V& +5 "core" &   +3 "manipulator"&Y& +3 "core" & D  +2 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&T& +5 "core" & &  + "storage"(& +5 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &  +2 "manipulator"&k% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +111 "core" ( + "manipulator"&& +5 "core" &v . A  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &v   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +93 "core" ' +2 "manipulator"&& +4 "core" &v ~  +2 "manipulator"&u% +4 "core" % + +2 "processing"%Z& +3 "core" & +3 "processing"% & +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & +6 &> #b +10 &[ 6 +9 & H +9 &j G +10 &m G +9 &Vl G +9 &g H +10 &j H +9 &g G +10 &^g G +9 & !j G +9 &!j H +10 &#h G +9 &%fj G +9 &'(m G +10 &(g G +9 &*j G +9 &,nk G +10 &./m H +9 &/i H +10 &1l G +9 &3vk G +9 &57k H +10 &6i G +9 &8g G +9 &:g G +10 &h H +10 &?l G +9 &Ak G +9 &CGn H +10 &E n H +9 &Fx H +10 &H K +9 &JA M +9 &L L +10 &M M +9 &O M +9 &QH M +10 &S  M +9 &T M +9 &V M +10 &XN N +9 &Ywx "k +10 &Z,~ 0 +8 ( +3 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open + "manipulator"&l1 +4 "core" &Z ! +50 1 + "manipulator"&{% +4 "core" % & 2 + +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&}% +4 "core" %\ # 9 +2 "storage"(% +4 "core" %a A +2 "storage"(t. +3 "core" .( +2 "storage"(5& +3 "core" &   +3 "storage"(#& +2 "manipulator"&n& +5 "core" &   +3 &v  -  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&3(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&x& +5 "core" &v  X  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &v  :  +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&^/ +58 "core" / +4 .tPC.seek :open +2 "processing"%r( +90 "core" ' + "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +37 "core" ' +294 ( + "storage"(& +4 "core" &   +2 "manipulator"&+& +3 "core" &v  T  +2 "manipulator"&% +4 "core" %   # +2 .tForearm.seek :retract +2 "manipulator"&/'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +242 "core" ( + "manipulator"&0& +45 "core" & & "x +10 "storage"("& +4 "core" &  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +89 "core" ' +2 .tHand.open + "manipulator"&1 +59 "core" 1 +3 "storage"(- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +22 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +4 "core" -' +2 "storage"(A& +4 "core" & \ P\ F  +2 "manipulator"&%& +4 "core" & !w +2 .tElbow.seek 2 + "manipulator"&M( +5 "core" ( + "manipulator"&O& +4 "core" &  > !w +2 "storage"(?& +3 "core" & \ K\ I \\ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +59 "core" ' + "manipulator"& & +5 "core" & !w +2 "storage"(J& +4 "core" &  , + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +24 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +22 "core" ' +2 "manipulator"&)% +4 "core" %  d +2 "storage"(.& +3 "core" &  3 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&X' +19 "core" ' +2 "manipulator"&I& +4 "core" & & @ !v +2 "storage"(D& +4 "core" &  L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +23 "core" ' +2 "storage"(8% +3 "core" %r \\ +4 ."downElevator"SE.seek :down +3 "storage"(!'X +98 (H% +3 "core" %cZ z q 8 QJ +2 "manipulator"&&% +4 "core" %ѥ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +91 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (B& +3 "core" &   +2 "collection"'C& +4 "core" &V . /E N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&a% +3 "core" %\   +3 "storage"(1% +3 "core" %` +2 "storage"(>. +3 "core" .( +2 "storage"(2& +3 "core" &   +2 "storage"($& +5 "core" &   + "manipulator"&<& +3 "core" & g !v +3 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&P& +4 "core" &  !v +2 "storage"((& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +107 "core" ' +2 "storage"(_& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'i +283 "core" ' +3 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" & !v +2 "storage"(L& +5 "core" &   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +33 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(m'N +50 "core" ' +4 "manipulator"&d% +4 "core" %  + "storage"(& +4 "core" &  l i S +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&@' +19 "core" ' +2 "manipulator"&o& +4 "core" & ' !u +2 "storage"(& +3 "core" &  W +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +37 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'= +41 "core" ' + "manipulator"&& +5 "core" & !u + "manipulator"&U% +4 "core" %ѫ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +150 "core" ( +2 "manipulator"&v& +4 "core" &' % V >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &'  >L +2 .tForearm.seek CC +2 "manipulator"&`'" +95 "core" ' +2 .tHand.close + "manipulator"&q/ +61 "core" / +2 .tCC.seek :open +2 "collection"'6( +413 "core" ( + "storage"(R& +4 "core" &  +2 "storage"(g& +3 "core" &  +3 "manipulator"&K& +4 "core" &(   >L +2 "manipulator"&e% +3 "core" % *  +3 .tForearm.seek :retract + "manipulator"&]'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&[( +157 "core" ( +2 "manipulator"& & +3 "core" & & l  +2 "storage"(V& +4 "core" &  * +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +97 "core" ' +2 .tElbow.hold + "manipulator"&T, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "manipulator"&% +4 "core" % &  + "storage"(& +3 "core" &  D +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 298 counts +4 "manipulator"&k'\ +16 "core" ' + "manipulator"&& +5 "core" & 9  + "storage"(f& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +27 "core" ' +2 "storage"(p% +4 "core" %D +3 ."downElevator"SE.seek :down +4 "storage"('X +97 (% +3 "core" %mR  PF +3 "manipulator"&~% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'u& +3 "core" &   +2 "manipulator"&Z% +5 "core" %\   + "storage"(% +5 "core" %a ~ + "storage"(b. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" & F  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&}& +3 "core" & L  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +97 "core" ' + "storage"(5& +3 "core" &  +50 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(#'i +276 "core" ' + "storage"(n- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & z  +3 "manipulator"&x& +5 "core" & J  +2 .tElbow.seek 3 + "manipulator"& ( +5 "core" ( + "manipulator"&|& +4 "core" & ' Q  +2 "storage"(^& +4 "core" & s  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('X +8 "core" &  +2 "manipulator"&% +4 "core" % ϰ W +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&& +3 "core" &' '  >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &'  E >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +103 "core" ' +3 "manipulator"&"& +4 "core" &(  & >H +2 "manipulator"&3% +3 "core" %  % K +3 "collection"'& +4 "core" & !  +2 "collection"'& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'F(V +4 "core" & ! "  +8 & 7   *x +10 &k  !\ = +9 &v  # G +9 &~j " ! F +10 &@j ! " F +9 &j ! & F +10 &j # G +9 &m ! # G +9 &Gn " " G +10 & i " $ G +9 & j # G +9 &"l ! $ G +10 &$Nn " # G +9 &&k ! # G +10 &'n # " G +9 &)m $ G +9 &+Wj $ G +10 &-h ! # G +9 &.j # # F +9 &0m $ " G +10 &2_m # # G +9 &4!m " # G +10 &5m ! $ G +9 &7l " # G +9 &9gh # # G +10 &;)j $ $E G +9 &<k " $ G +9 &>n # % G +10 &@nm " % G +9 &B0h " % G +10 &Ck $ ' G +9 &Er / + G +9 &Gp~ 8 7 I +10 &I0 @ C J +9 &J 7 < N +9 &L 4 8 P +10 &Ne 1 4 P +9 &P% 3 6 P +10 &Q 3 3 Q +9 &S 3 3 R +9 &Ue 3 4E ? +10 &VJ 0 4 Z +9 &V1R 2 3 %r +9 &W Z / 3 A +3 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.78 + .Hand.open +2 "manipulator"&A1 +59 "core" 1 +2 "manipulator"&%% +5 "core" %  " ? K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%?& +3 "core" & +2 "manipulator"&/% +4 "core" %\ #   > +2 "storage"( % +3 "core" %b  +3 "storage"(J. +3 "core" .( +2 "storage"()& +4 "core" & .  + "storage"(.& +4 "core" &   +2 "manipulator"&& +4 "core" &'  X >H +2 "manipulator"&I% +3 "core" %\ # ( o > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +159 "core" ( + "manipulator"&D& +4 "core" & % P  +2 "storage"(8& +4 "core" & D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(7& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +282 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &  +2 "manipulator"&*& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&M( +4 "core" ( +2 "manipulator"&4& +3 "core" &  +2 "storage"(;& +4 "core" & +  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&X'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +50 .tHand.close +3 "manipulator"&B/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +3 "storage"(a'X +8 "core" &  X  + "manipulator"&1% +5 "core" % ϧ +2 .tForearm.seek :retract +2 "manipulator"&>'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&2& +3 "core" &i  !  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +3 "core" &i o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&<' +104 "core" ' + "manipulator"&P& +4 "core" &j z  +2 "manipulator"&(% +3 "core" % a +3 "processing"%,& +3 "core" & +3 "processing"%_& +5 "core" & +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" & +6 &> #b +9 &[ 6 +10 & H +9 &f G +9 &l G +10 &Xj H +9 &h H +10 &h H +9 &i H +9 &aj G +10 & #h G +9 &!k G +9 &#k G +10 &%hj H +9 &'+i G +10 &(f G +9 &*k G +9 &,pi H +10 &.2j H +9 &/h G +9 &1f G +10 &3ze G +9 &5;h G +10 &6e G +9 &8h H +9 &:h G +10 &j G +9 &?f G +10 &Ak G +9 &CJk H +10 &E l G +9 &Fw I +9 &H K +10 &JD M +9 &L M +10 &M L +9 &O L +9 &QL M +10 &S  M +9 &T M +9 &V M +10 &XQ N +9 &Ywy "k +9 &Z+z . +9 ( +3 "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&=1 +4 "core" &Z " +59 1 +2 "manipulator"&:% +3 "core" % & ^ a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +2 "processing"%9& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&L% +4 "core" %\   +2 "storage"(S% +3 "core" %V  +2 "storage"(d. +3 "core" .( +2 "storage"(& +3 "core" & '  +3 "storage"(o& +3 "manipulator"&& +7 "core" &  + &j #  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(U'i +2 "core" ( +4 "manipulator"&Q& +3 "core" &j  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &j v  +3 .tForearm.seek PC +2 "manipulator"&E' +94 "core" ' +2 .tHand.close + "manipulator"&\\/ +56 "core" / +3 .tPC.seek :open +2 "processing"%@( +89 "core" ' +2 "storage"(m- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +31 "core" ' +302 ( + "storage"(i& +4 "core" & I  +2 "manipulator"&s& +4 "core" &j  +2 "manipulator"&N% +3 "core" %  $ +3 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w( +254 "core" ( + "manipulator"&c& +4 "core" & % : + +2 "storage"(R& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +94 "core" ' + .tHand.open +2 "manipulator"&K1 +59 "core" 1 +2 "storage"(e- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +64 "core" ' +11 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(j& +4 "core" & O O U  +2 "manipulator"&& +4 "core" & & +2 .tElbow.seek 3 +2 "manipulator"&( +31 "core" ( + "manipulator"&& +4 "core" & & x ~ +2 "storage"(& +4 "core" & Q M   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +56 "core" ' +2 "manipulator"&]& +3 "core" & ~ +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&~'} +27 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +22 "core" ' +2 "manipulator"&u% +4 "core" %΃ i +2 "storage"(k& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&Z'ϯ +19 "core" ' +2 "manipulator"&& +4 "core" & D ~ +2 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +32 "core" ' +2 "storage"(z% +4 "core" %s +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (y% +3 "core" %yY  QJ +2 "manipulator"&l% +5 "core" %1  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +88 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" &   +2 "collection"'& +5 "core" &W W 0 . A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +3 "core" %\    +3 "storage"(T% +3 "core" %[ +2 "storage"(. +3 "core" .( +2 "storage"(n& +4 "core" & v  +2 "storage"( & +4 "core" &  + "manipulator"&x& +4 "core" &  ~ +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&^& +4 "core" & } ~ +2 "storage"(\ & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' + "storage"(& +4 "core" & a  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +274 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ; ~ +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&#'} +27 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'O +29 "core" ' +2 "manipulator"& % +4 "core" %΁ + "storage"(& +4 "core" & `  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&'ϭ +20 "core" ' +2 "manipulator"&& +3 "core" &  ~ +2 "storage"(6& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +48 "manipulator"&A'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'> +40 "core" ' + "manipulator"&?& +5 "core" & ~ + "manipulator"&/% +5 "core" %/ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +155 "core" ( +2 "manipulator"&& +3 "core" &" &  9$ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &"  Y 9$ +2 .tForearm.seek CC +2 "manipulator"&.'" +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'I( +415 "core" ( +2 "storage"(0& +3 "core" &   +3 "storage"(D& +4 "core" & y  + "manipulator"&8& +4 "core" &" 9$ +2 "manipulator"&7% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +177 "core" ( +2 "manipulator"&H& +3 "core" & S D +2 "storage"(&& +5 "core" & l  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +98 "core" ' +2 .tElbow.hold + "manipulator"&4, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +54 "core" 1 +2 "manipulator"&B% +5 "core" % o & B +4 "storage"(C& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 286 counts + "manipulator"&1'ϛ +20 "core" ' +2 "manipulator"& & +4 "core" & D +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +29 "core" ' +2 "storage"(X% +4 "core" %D a +2 ."downElevator"SE.seek :down +4 "storage"(2'X +99 ($% +3 "core" %P OE +2 "manipulator"&M% +4 "core" %! h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&P'\ +94 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'(& +3 "core" &   +3 "manipulator"&,% +4 "core" %\ \ H  +2 "storage"(a% +4 "core" %U + "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(r( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" & +3 "manipulator"&:& +3 "core" &  D +2 .tElbow.seek 2 +2 "manipulator"&9( +15 "core" ( +2 "manipulator"&L& +3 "core" &  !t +3 "storage"(S& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +95 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'i +280 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & { +2 "manipulator"&Q& +4 "core" & 1 !p +2 .tElbow.seek 2 +2 "manipulator"&G( +60 "core" ( +3 "manipulator"&<& +4 "core" & Q !p +2 "storage"(\\& +4 "core" & ' +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&W& + "storage"(!'X +8 "core" & !p +2 "manipulator"&U% +4 "core" %  % I +2 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +148 "core" ( +2 "manipulator"&N& +3 "core" &# ) H :, +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&E& + "storage"(5 +7 "core" &"  l :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'" +103 "core" ' +3 "manipulator"&R& +4 "core" &# $ : :, +2 "manipulator"&% +3 "core" % ( Q +3 "collection"'K& +3 "core" &   +3 "collection"'e& +6 "core" &   +2 .tCC.seek :closed + "collection"'`(V +4 "core" &   +9 & (  ! #` +9 &Y   5 +9 &  G +10 &f  ! F +9 &k   G +10 &Wg  " G +9 &k " G +9 &n  ! G +10 &i ! $ F +9 &_j ! G +9 & m  ! G +10 &!k  " G +9 &#i ! " G +10 &%fj # G +9 &'*j ! " F +9 &(j ! " G +10 &*m  G +9 &,og  " G +9 &.1g " # G +10 &/j ! # F +9 &1k ! # G +10 &3wh " % G +9 &5:i # F +9 &6i ! # F +10 &8h " $ F +9 &:j $ G +9 &<@m " G +10 &>k " " F +9 &?j " # G +10 &Am ! $ G +9 &CHm # & G +9 &E p ' ( G +10 &Fx 4 3 H +9 &H A @ J +9 &J> 9 @ M +10 &K 4 8 Q +9 &M 5 4 P +10 &Oz 5 4 Q +9 &Q= 1 4 P +9 &R 2 3 R +10 &T 2 3 R +9 &V'Y 0 4 4 +9 &V 0 4" T +9 ( +3 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&q1 +4 "core" &Vn / 2 J +49 1 +2 "manipulator"&j% +3 "core" %  ) L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +3 "manipulator"&% +4 "core" %\    + "storage"(]% +5 "core" %T  + "storage"(. +3 "core" .( +2 "storage"(v& +4 "core" &  +2 "storage"(u& +4 "core" &  +2 "manipulator"&k& +4 "core" &# :, + "manipulator"& % +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&b& +3 "core" & Z  +2 "storage"(w& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +89 "core" ' + "storage"(g& +4 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +277 "core" ' + "storage"(y- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & % +2 "manipulator"&f& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&p& +3 "core" & \\  +2 "storage"(~& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&Z' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(5'X +8 "core" &   +2 "manipulator"&T% +4 "core" %   x +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +90 "core" ' +40 .tElbow.seek PC +13 "manipulator"&(s +110 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +155 "core" ( + "manipulator"&n& +5 "core" &i . 3  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &i   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&x' +95 "core" ' +2 "manipulator"&^& +3 "core" &i % 1  +3 "manipulator"&\ % +4 "core" %  +2 "processing"%h& +4 "core" & +2 "processing"%& +5 "core" & +3 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +9 &6 )v +9 &j = +9 &| H +10 &gi H +9 &*h G +9 &g G +10 &g G +9 &pk G +10 &2k G +6 "Can"E UN +3 "core" &l G +9 & k G +10 &"xk G +9 &$:j G +9 &%j G +10 &'j H +9 &)i H +10 &+Bi G +9 &-f G +9 &.e G +10 &0k G +9 &2Ij H +9 &4 h G +10 &5k G +9 &7j G +10 &9Ri G +9 &;d G +9 &<i H +10 &>h G +9 &@Yj H +9 &Bi G +10 &Ck G +9 &Eo H +10 &G]{ I +9 &I K +9 &J M +10 &L M +9 &N\\ L +9 &P L +10 &Q M +9 &S M +10 &U` N +9 &W" N +9 &X M +10 &Z5De &n +9 &Z . ! +5 ( +2 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open + "manipulator"&[1 +4 "core" &Z ! +57 1 + "manipulator"&{% +4 "core" % * '  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +3 "storage"("% +3 "core" %N +2 "storage"( . +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +2 "manipulator"&6& +9 "core" &  + &i  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&?(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(/'i +2 "core" ( +3 "manipulator"&& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &i t  +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + .tHand.close +2 "manipulator"&#/ +62 "core" / +4 .tPC.seek :open + "processing"%( +82 "core" ' + "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +304 ( +2 "storage"()& +3 "core" &  +3 "manipulator"&A& +4 "core" &i _  + "manipulator"&'% +4 "core" %  f +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +254 "core" ( + "manipulator"&F& +3 "core" & % _ +3 "storage"(0& +4 "core" & ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +91 "core" ' + .tHand.open +2 "manipulator"&81 +62 "core" 1 +2 "storage"(7- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(.- +3 "core" -' +2 "storage"(J& +3 "core" & O L j +2 "manipulator"&;& +3 "core" & 4 +3 .tElbow.seek 2 +49 "manipulator"&B( +6 "core" ( + "manipulator"&C& +5 "core" &  + "storage"( & +4 "core" & N O +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(X' +60 "core" ' + "manipulator"&+& +4 "core" & 0 +2 "storage"($& +4 "core" & - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +28 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +29 "core" ' + "manipulator"&1% +4 "core" % i ] +2 "storage"((& +4 "core" & N +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&,' +20 "core" ' + "manipulator"&a& +5 "core" & q + "storage"(>& +4 "core" & s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +37 "core" ' + "storage"(-% +4 "core" %p +2 ."downElevator"SE.seek :down +4 "storage"(2'X +99 (% +3 "core" %j[ u F QJ +2 "manipulator"&=% +4 "core" %y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +86 "core" ' +74 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +3 "core" &  +2 "collection"'S& +5 "core" &Vh . / J + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\   +2 "storage"(4% +3 "core" %Z D +2 "storage"(P. +3 "core" .( +2 "storage"(o& +3 "core" & U +2 "storage"(& +4 "core" & +2 "manipulator"&Q& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&<( +4 "core" ( +2 "manipulator"&\\& +3 "core" &  +2 "storage"(& +4 "core" & \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +93 "core" ' +2 "storage"(U& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +279 "core" ' +2 "storage"(d- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" & @ +2 "storage"(E& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&_' +24 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +29 "core" ' +2 "manipulator"&K% +4 "core" %  v + "storage"(G& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&!' +19 "core" ' + "manipulator"&i& +4 "core" & k +2 "storage"(I& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'= +38 "core" ' +2 "manipulator"&& +3 "core" & v +2 "manipulator"&% +4 "core" %ћ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +138 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( + "manipulator"&v& +5 "core" &' 1 \\ >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &e& +3 "core" &'  g >K +2 .tForearm.seek CC +2 "manipulator"&u'" +94 "core" ' + .tHand.close +2 "manipulator"&k/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +415 "core" ( +2 "storage"(c& +3 "core" & F +2 "storage"(b& +4 "core" & f +2 "manipulator"&w& +3 "core" &' >K +2 "manipulator"&g% +4 "core" % 0  +3 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&y& +4 "core" & & P  +2 "storage"(l& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&f' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&~1 +58 "core" 1 +2 "manipulator"&}% +3 "core" % %  +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&T' +21 "core" ' +2 "manipulator"&& +3 "core" & p  +3 "storage"(z& +4 "core" & p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +28 "core" ' + "storage"(Z% +4 "core" %F +2 ."downElevator"SE.seek :down +4 "storage"(n'X +99 ( % +3 "core" %*R PF +2 "manipulator"&% +3 "core" %ѥ * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'\ & +3 "core" &   +3 "manipulator"&h% +4 "core" %\ #  ? +2 "storage"(5% +4 "core" %\\ ] + "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(@( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" & (  +2 "manipulator"&{& +4 "core" & ;  +2 .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&& +3 "core" &  L  +3 "storage"("& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +106 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ?  +2 "manipulator"&& +3 "core" & D  +3 .tElbow.seek 3 + "manipulator"&|( +4 "core" ( +2 "manipulator"&x& +4 "core" & /  + "storage"(#& +4 "core" & d  +3 .tForearm.seek 3 + 300 counts + "manipulator"&3'ϩ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&t& +3 "storage"('X +8 "core" &   +2 "manipulator"&/% +3 "core" % ϧ  +3 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&'& +3 "core" &' 3  >N +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'" +103 "core" ' +3 "manipulator"&0& +4 "core" &'  f >N +3 "manipulator"&?% +3 "core" % +2 "collection"'8& +5 "core" &   +2 "collection"'7& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'.(V +4 "core" &    +9 &5   )v +10 &\ i   < +9 &x   H +9 &cg   G +10 &&i  ! F +9 &j   F +9 &h   G +10 &kg   G +9 &,h  " G +10 &i  ! F +9 & j   G +9 &"rm ! G +10 &$6j " F +9 &%j  ! G +9 &'g  ! G +10 &){k   G +9 &+=m ! ! G +10 &-k  # F +9 &.i "% F +9 &0k  ! G +10 &2Em   G +9 &4m ! " G +9 &5j  " G +10 &7h  # F +9 &9Ni  " F +10 &;j ! F +9 &<j  G +9 &>m ! "! G +10 &@Ug # G +9 &Bh " " G +9 &Ck # " F +10 &Ep ) ( H +9 &GXz 8 6 H +10 &I B B J +9 &J 6 ; N +9 &L 3 6 P +10 &NJ 2 2 P +9 &P 1 2 Q +9 &Q 2 5J Q +10 &S 0 4# R +9 &UJ 2 4 G +9 &VqP 0 3 %s +10 &V 1 3" !c +9 ( + &Vy 2 1 K +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.79 + .Hand.open + "manipulator"&J1 +62 "core" 1 +2 "manipulator"&;% +5 "core" %  % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%C& +3 "core" & +3 "manipulator"& % +4 "core" %\   F  + "storage"(+% +5 "core" %a  + "storage"($. +3 "core" .( +2 "storage"(& +4 "core" & R  +2 "storage"(H& +4 "core" & 8  +2 "manipulator"&1& +4 "core" &'  p >N + "manipulator"&(% +5 "core" %\   '  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +159 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"( & +4 "core" & n  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +93 "core" ' +2 "storage"(D& +3 "core" & S  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" & 1  +2 "manipulator"&& +4 "core" & U  +2 .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&X& +4 "core" & & 5  +2 "storage"(M& +3 "core" & C  +3 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"('X +7 "core" &  +2 "manipulator"&*% +3 "core" % Ϣ { +3 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +3 "manipulator"&o& +3 "core" &h + B +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +94 "core" ' +3 "manipulator"&\\& +4 "core" &m % +2 "manipulator"&% +3 "core" % o  +3 "processing"%%& +4 "core" & +2 "processing"%U& +6 "core" & +2 .tPC.seek :closed +3 "processing"%2(Z +4 "core" & +5 & 7 +10 &IL / +9 &z D +10 &?h G +9 &j G +9 &j G +10 &j H +9 &Fi G +9 & g G +10 &i G +9 &h G +10 &!Od G +9 &#j H +9 &$i G +10 &&j G +9 &(Ui H +9 &*h G +10 &+k G +9 &-h H +10 &/^g G +9 &1 e G +9 &2k G +10 &4h G +9 &6gk G +9 &8(h G +10 &9k G +9 &;h G +10 &=oi G +9 &?1g G +9 &@h H +10 &Bj G +9 &Dvl G +9 &F6r H +10 &G J +9 &I L +10 &Kp L +9 &M1 M +9 &N L +10 &P M +9 &Rv M +9 &T7 M +10 &U N +9 &W M +10 &Y| : +9 &Zl5 Y +9 &Z ! +3 ( + "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&O1 +55 "core" 1 + "manipulator"&:% +4 "core" %  u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +92 "core" ' +2 "processing"%N& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&E% +4 "core" %\  [  +2 "storage"(R% +3 "core" %\\  +2 "storage"(K. +3 "core" .( +2 "storage"(G& +4 "core" &   +2 "storage"(i& +3 "manipulator"&I& +7 "core" &   + &m +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +3 "manipulator"&W& +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &m  _ +2 .tForearm.seek PC +2 "manipulator"&9' +100 "core" ' +2 .tHand.close + "manipulator"&_/ +61 "core" / +3 .tPC.seek :open +2 "processing"%!( +81 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +48 "core" ' +289 ( +2 "storage"(q& +3 "core" &   +2 "manipulator"&e& +4 "core" &m # +2 "manipulator"&m% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +247 "core" ( +2 "manipulator"&`& +3 "core" & & "z +2 "storage"(c& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +96 "core" ' +2 .tHand.open + "manipulator"&w1 +54 "core" 1 +2 "storage"(g- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(l' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(& +4 "core" & K N "  +2 "manipulator"&~& +4 "core" & b d +2 .tElbow.seek 3 + "manipulator"&}( +26 "core" ( +2 "manipulator"&& +3 "core" & %  +2 "storage"(& +5 "core" & N N  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&z'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Z' +57 "core" ' +2 "manipulator"&s& +50 "core" & [  +4 "storage"( & +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +25 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +23 "core" ' + "manipulator"&T% +5 "core" %Ύ * + "storage"(\ & +4 "core" & !  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&h'Ϻ +20 "core" ' +2 "manipulator"&5& +3 "core" & T  +2 "storage"(Y& +5 "core" & x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +32 "core" ' +2 "storage"(V% +3 "core" %n  +3 ."downElevator"SE.seek :down +4 "storage"(n'X +98 (r% +3 "core" %U PI +2 "manipulator"&[% +4 "core" %>  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +85 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'"& +5 "core" &Vz / / K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  1  +3 "storage"(p% +3 "core" %a ] +2 "storage"(^. +3 "core" .( +2 "storage"(6& +3 "core" &   +2 "storage"(& +5 "core" & Q  + "manipulator"&& +5 "core" &   + .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( +2 "manipulator"&#& +3 "core" & P  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&t'9 +93 "core" ' +2 "storage"(/& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & A  +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(?'O +32 "core" ' +2 "manipulator"&|% +4 "core" %· u +2 "storage"(8& +4 "core" & 5  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'ϳ +20 "core" ' +2 "manipulator"&)& +4 "core" & o  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'> +38 "core" ' +2 "manipulator"&C& +3 "core" &  +2 "manipulator"& % +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +154 "core" ( +3 "manipulator"&& +3 "core" &$ " 4 ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &$  ;4 +3 .tForearm.seek CC +2 "manipulator"&H'" +94 "core" ' +2 .tHand.close + "manipulator"&1/ +62 "core" / +3 .tCC.seek :open +2 "collection"'(( +417 "core" ( +2 "storage"(F& +3 "core" & "  +3 "storage"(>& +4 "core" &   + "manipulator"& & +5 "core" &#  V :1 + "manipulator"&D% +5 "core" % &  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&& +3 "core" & B  +3 "storage"(=& +3 "core" & x  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&M1 +57 "core" 1 +3 "manipulator"&L% +4 "core" % w & T +2 "storage"(S& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"&*'ϣ +20 "core" ' +2 "manipulator"&a& +3 "core" &   +3 "storage"(-& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +32 "core" ' + "storage"(,% +5 "core" %C +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (% +3 "core" %T $ PH +2 "manipulator"&B% +5 "core" %* < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &   +3 "manipulator"&%% +4 "core" %\  T  +2 "storage"(% +4 "core" %_ + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" &  +2 "manipulator"&:& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&N( +26 "core" ( +2 "manipulator"&E& +3 "core" & & B U +3 "storage"(R& +4 "core" & i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +107 "core" ' +2 "storage"(G& +4 "core" & * +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +279 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (U& +2 "core" & Y +3 "manipulator"&W& +4 "core" &\ 6 U +2 .tElbow.seek 2 + "manipulator"&<( +4 "core" ( +2 "manipulator"&Q& +4 "core" &\  U +3 "storage"(_& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +3 "storage"(2'X +7 "core" &\ U +2 "manipulator"&% +3 "core" %  K +3 .tForearm.seek :retract + "manipulator"&q'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&e( +150 "core" ( + "manipulator"&m& +5 "core" && &  =D + .tElbow.reconfigure :loose +51 "manipulator"&$ &.,(#b +3 "core" ' +2 "manipulator"&9& +2 ."downElevator"SE.stop +4 "storage"(5 +2 "core" && j =D +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'" +97 "core" ' +2 "manipulator"&c& +4 "core" &' ) =C +2 "manipulator"&% +4 "core" %  +2 "collection"'w& +4 "core" &   +3 "collection"'g& +5 "core" &  - +2 .tCC.seek :closed +2 "collection"'u(V +5 "core" &  * +6 &9  + #b +9 &\\  + 6 +10 &  % G +9 &h  + F +10 &i   F +9 &\\g  ! G +9 &h  & G +10 &h  ! F +9 &l  " G +9 &dg   G +10 & &g  !$ G +9 &!j   F +10 &#j  F +9 &%lj   G +9 &'.k   G +10 &(k  F +9 &*g  ' G +9 &,tg  ( G +10 &.6l  + G +9 &/l  % F +10 &1k  $ G +9 &3|k  $ G +9 &5>g  " G +10 &7l ! $ G +9 &8i ! "& G +9 &:m ## G +10 &h " G +10 &?g ! # G +9 &Al  #( G +9 &CNm ## G +10 &Er & %' G +9 &Fv 3 0) H +9 &H @ ?+ I +10 &JC 9 ?+ M +9 &K 4 6' P +10 &M 4 5) Q +9 &O 1 5. Q +9 &QA 0 3) Q +10 &S 2 4( R +9 &T 2 4( R +9 &V0` 4 2( * +10 &V$ 1 2) I +9 ( + &VP 0 3& A +2 "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&~% +4 "core" % ! V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&k% +4 "core" %\ #   > +2 "storage"(s% +4 "core" %b  +2 "storage"( . +3 "core" .( +2 "storage"(v& +4 "core" &  +2 "storage"(y& +3 "core" & ' +2 "manipulator"&T& +4 "core" &&  L =C +2 "manipulator"&\ % +4 "core" %\ #  B > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&5( +169 "core" ( +2 "manipulator"&]& +3 "core" & & 4 p +2 "storage"(Y& +5 "core" & R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +104 "core" ' +2 "storage"(V& +3 "core" & < +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(l'i +286 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +2 "core" & D +3 "manipulator"&z& +4 "core" & t p +2 .tElbow.seek 2 + "manipulator"&}( +4 "core" ( +2 "manipulator"&Z& +4 "core" & + p + "storage"(& +5 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"('X +7 "core" & p +2 "manipulator"&p% +4 "core" %  # H +2 .tForearm.seek :retract +2 "manipulator"&^'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&f& +3 "core" &| + D +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &| C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&#& +4 "core" &| & R +2 "manipulator"&% +3 "core" % k 6 +3 "processing"%j& +3 "core" & +3 "processing"%/& +5 "core" & +2 .tPC.seek :closed +2 "processing"%n(Z +4 "core" & +8 &J $e +10 &] 7 +9 &. H +9 &e G +10 &h G +53 &th H + &8h G +2 &i G + &j H + &~h G +3 & ?i G +4 &"h G +10 &#e G +9 &%j G +10 &'Fj H +9 &)\ h G +9 &*i G +10 &,h G +10 &.Nh H +8 &0h G +10 &1i G +9 &3h G +10 &5Vi H +10 &7g G +8 &8g G +10 &:g G +9 &#g G +10 &?i G +9 &Ah G +10 &Cgk G +9 &E)m G +9 &Fu I +10 &H K +9 &J` M +10 &L" M +9 &M M +9 &O L +10 &Qh M +9 &S) M +9 &T M +10 &V M +9 &Xn M +9 &Zvx !i +10 &Z s 1 +9 ( + &Z % +2 "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&{% +4 "core" % % 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 "processing"%'& +4 "core" &Z % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   e  +2 "storage"(0% +3 "core" %[  +2 "storage"(|. +3 "core" .( +2 "storage"(8& +4 "core" &  +2 "storage"()& +4 "manipulator"& & +5 "core" &  + &|  6 +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&C(s +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +2 "core" ( +3 "manipulator"&t& +4 "core" &|   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &|   +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' +3 "storage"(?- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +295 ( + "storage"(7& +4 "core" &  +2 "manipulator"&J& +4 "core" &| 1 +2 "manipulator"&3% +3 "core" % F # +3 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +261 "core" ( +2 "manipulator"&.& +4 "core" & & h +2 "storage"(F& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +101 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "storage"(D- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +3 "core" -' +2 "storage"($& +4 "core" & K B d +2 "manipulator"&M& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&L( +4 "core" ( +2 "manipulator"&S& +4 "core" &  1 +2 "storage"(a& +3 "core" & O N +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +59 "core" ' + "manipulator"&A& +4 "core" & j +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&B' +20 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +51 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"('i +24 "core" ' +2 "manipulator"&*% +3 "core" % M +3 "storage"(& +3 "core" & R +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&%' +19 "core" ' +2 "manipulator"&& +4 "core" & k +2 "storage"(4& +3 "core" & k +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +28 "core" ' + "storage"(&% +5 "core" %o *  +2 ."downElevator"SE.seek :down +4 "storage"(o'X +99 (@% +3 "core" %\\  PJ +2 "manipulator"&O% +4 "core" %ѝ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" & +2 "collection"'R& +5 "core" &VO / .$ A + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&G% +3 "core" %\    +3 "storage"(X% +3 "core" %] +2 "storage"(\\. +3 "core" .( +2 "storage"(i& +3 "core" & +3 "storage"(U& +3 "core" & +2 "manipulator"&W& +5 "core" &  +2 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&_& +4 "core" &  + "storage"(P& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +93 "core" ' +3 "storage"(& +5 "core" & % +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +283 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +4 "core" &  +2 "storage"(I& +4 "core" & E +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +20 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(c'N +27 "core" ' +2 "manipulator"&% +4 "core" %  +2 "storage"(w& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&2' +19 "core" ' +2 "manipulator"&q& +4 "core" & . + "storage"((& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(~'= +42 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&k% +3 "core" %Ѳ 4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +154 "core" ( + "manipulator"& & +4 "core" &# ( ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &#  ;2 +3 .tForearm.seek CC + "manipulator"&y'" +93 "core" ' +2 .tHand.close + "manipulator"&T/ +63 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +412 "core" ( +2 "storage"(`& +3 "core" & # +2 "storage"(]& +4 "core" & + +2 "manipulator"&Y& +3 "core" &$ * ;2 +2 "manipulator"&V% +3 "core" % # ) , +3 .tForearm.seek :retract +2 "manipulator"&e'\ +133 "core" ' +10 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +166 "core" ( + "manipulator"&r& +5 "core" & A  +2 "storage"([& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&z' +96 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % $ ( +2 "storage"("& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 301 counts +2 "manipulator"&p' +28 "core" ' +2 "manipulator"&5& +3 "core" & T  +3 "storage"(b& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +25 "core" ' + "storage"(h% +5 "core" %E  +2 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (% +3 "core" %\ T  PH +2 "manipulator"&}% +4 "core" %ѥ M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &   +2 "manipulator"&j% +4 "core" %\   $ +2 "storage"(% +4 "core" %a +2 "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(!( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & 4 \ +2 "manipulator"&{& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&'( +11 "core" ( + "manipulator"&& +3 "core" & %  +3 "storage"(0& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +114 "core" ' +2 "storage"(8& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +276 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (/& +2 "core" & * +2 "manipulator"&t& +5 "core" & h  + .tElbow.seek 3 +2 "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & x +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(n'X +8 "core" & |  +2 "manipulator"& % +4 "core" % ϩ  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&3& +4 "core" && ) =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&  =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'" +101 "core" ' +2 "manipulator"&F& +4 "core" &'  , =D +2 "manipulator"&C% +3 "core" %# +3 "collection"' & +3 "core" &  & +52 "collection"'D& +6 "core" &   +2 .tCC.seek :closed +2 "collection"'H(V +5 "core" &  " +6 &  ( 9 +9 &VO  $ / +9 &{  + D +10 &Mi  . G +9 &h  4 G +9 &g  , G +10 &j  2 F +9 &Wi  9 G +10 &m  / G +9 &g  2 G +9 &g  8 G +10 &!_j  3 G +9 &# m  9 G +9 &$k  0 G +10 &&k  4 G +9 &(gl  1 G +10 &*(j  0 G +9 &+i  0 F +9 &-i  4 F +10 &/pj  1 F +9 &11j  3 G +9 &2g  3 G +10 &4i  4 F +9 &6wh  6 G +10 &89k  6 G +9 &9k  2 G +9 &;l  3 G +10 &=i  4 F +9 &?Ah  4 G +9 &Al  !3 G +10 &Bm  4 G +9 &Di "d G +10 &FEu , *9 H +9 &H : 72 I +9 &I = B6 L +10 &Kt 6 :5 P +9 &M5 2 43 P +9 &N / 43 P +10 &P 1 41 Q +9 &Rv 1 24 R +10 &T6 1 34 S +9 &Us 1 66 C +9 &V} 2 2+ #d +10 &V* / 3. I +9 ( + &W` 0 20 C +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&$1 +60 "core" 1 +2 "manipulator"&M% +4 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" & +2 "manipulator"&1% +3 "core" %\  L  +3 "storage"(A% +3 "core" %N  +3 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&*& +3 "core" && =D +2 "manipulator"&% +4 "core" %\ Q  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&4& +3 "core" & 6  +2 "storage"(+& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +85 "core" ' +2 "storage"(&& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(='i +280 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & \\ +4 "manipulator"&O& +4 "core" & K  +2 .tElbow.seek 3 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&,& +3 "core" &   +2 "storage"(B& +4 "core" & M +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(G'X +7 "core" &   +2 "manipulator"&X% +3 "core" % Ϩ 7 +3 .tForearm.seek :retract + "manipulator"&\\'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +3 "manipulator"&i& +3 "core" &o - > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &o C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&W' +107 "core" ' +2 "manipulator"&_& +4 "core" &o & +2 "manipulator"&P% +4 "core" % 2 +2 "processing"%;& +4 "core" & +3 "processing"%& +4 "core" &\ +3 .tPC.seek :closed +2 "processing"%o(Z +4 "core" &  +8 &7 )w +10 &j = +9 &x H +9 &lg G +10 &-h G +9 &k G +10 &i G +9 &tk G +9 &5h G +10 &j H +9 & g G +9 &"{h G +10 &$>c G +9 &%g G +10 &'h H +9 &)h G +9 &+Ej G +10 &-h G +9 &.c G +9 &0i G +10 &2Mj G +9 &4g G +10 &5g G +9 &7e G +9 &9Uh G +10 &;f G +9 &<g H +9 &>f G +10 &@]h G +9 &Bh G +10 &Ch H +9 &El H +9 &G_{ J +10 &I K +9 &J L +9 &L L +10 &N_ L +9 &P  M +10 &Q M +9 &S M +9 &Ue M +10 &W& M +9 &X M +59 &Z9Dc %m +4 &Z / ! +2 ( + &Z ! +2 &Z ! + &Z ! +2 &Z ! + &Z ! +3 "processing"%& +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&:% +4 "core" %   R 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' +2 "processing"%m& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&I% +5 "core" %\  + "storage"(<% +5 "core" %b  + "storage"(. +3 "core" .( +2 "storage"(w& +4 "core" & a +2 "storage"(q& +4 "manipulator"&(& +5 "core" & : + &o  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +3 "core" ( + "manipulator"&d& +4 "core" &o v +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &o +3 .tForearm.seek PC +2 "manipulator"&N' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%2( +82 "core" ' + "storage"(c- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +47 "core" ' +293 ( +2 "storage"(v& +3 "core" & 9 +3 "manipulator"&& +4 "core" &o  +2 "manipulator"&9% +4 "core" % V +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&s( +268 "core" ( + "manipulator"&u& +4 "core" &   z +2 "storage"(`& +3 "core" & 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +94 "core" ' +4 .tHand.open + "manipulator"&Y1 +60 "core" 1 +2 "storage"(V- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(g& +4 "core" & O O P +2 "manipulator"&& +4 "core" &  z +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" & & K z + "storage"(5& +5 "core" & N N +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +57 "core" ' +2 "manipulator"&e& +4 "core" & c z +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +27 "core" ' +2 "manipulator"&p% +3 "core" %x +2 "storage"(& +5 "core" & I + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 295 counts +2 "manipulator"&j'Ϥ +20 "core" ' +2 "manipulator"&& +3 "core" & %  z +2 "storage"(^& +4 "core" & d +49 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +34 "core" ' +3 "storage"(l% +3 "core" %p  +3 ."downElevator"SE.seek :down +4 "storage"(f'X +99 (% +3 "core" %^Y  QJ +2 "manipulator"&% +4 "core" %[  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  +2 "collection"'0& +3 "core" &W` , /. C +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&8% +4 "core" %\    +2 "storage"(Z% +4 "core" %a +2 "storage"(#. +3 "core" .( +2 "storage"( & +4 "core" & +2 "storage"(/& +4 "core" & + "manipulator"&t& +5 "core" &  z + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & %  z +3 "storage"(6& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +105 "core" ' +2 "storage"( & +3 "core" & U +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +282 "core" ' + "storage"(|- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  z +2 "storage"(& +5 "core" & t + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&)'} +21 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate + "storage"(C'O +29 "core" ' + "manipulator"& % +4 "core" %΁  +2 "storage"(x& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&n'ϭ +20 "core" ' + "manipulator"&7& +4 "core" & V z +2 "storage"(\ & +3 "core" & : +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'> +46 "core" ' +2 "manipulator"&a& +3 "core" & = z +2 "manipulator"&1% +5 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +158 "core" ( +3 "manipulator"&D& +3 "core" &) ' H @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &) = @Y +3 .tForearm.seek CC + "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&*/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(.& +4 "core" &  +2 "storage"(4& +3 "core" & I +2 "manipulator"&+& +5 "core" &*  @Y +2 "manipulator"&&% +3 "core" % (  +3 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&S( +163 "core" ( +2 "manipulator"&-& +3 "core" &  a +2 "storage"(@& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'} +137 "core" ' +9 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&B1 +58 "core" 1 +2 "manipulator"&E% +4 "core" % Ί & N +2 "storage"(R& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 313 counts + "manipulator"&X'϶ +21 "core" ' + "manipulator"&& +4 "core" &  a +2 "storage"(>& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +16 "core" ' +2 "storage"(%% +4 "core" %H  +2 ."downElevator"SE.seek :down +4 "storage"(i'X +99 (U% +3 "core" %O PG +2 "manipulator"&L% +4 "core" %# q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'P& +3 "core" &   +2 "manipulator"&;% +3 "core" %\    +3 "storage"(G% +4 "core" %[ + "storage"(\\. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & G +2 "manipulator"&:& +5 "core" & P a +2 .tElbow.seek 2 + "manipulator"&m( +32 "core" ( +2 "manipulator"&I& +4 "core" & & D h +2 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(w& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('i +279 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  } # +2 "manipulator"&d& +3 "core" &  h +3 .tElbow.seek 2 + "manipulator"&Q( +4 "core" ( +2 "manipulator"&W& +4 "core" & ' k h +2 "storage"(& +3 "core" &  P +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&c' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(o'X +8 "core" & h +2 "manipulator"&k% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&v'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&9& +4 "core" &'  Y >H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &'  ! >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'" +104 "core" ' +3 "manipulator"&`& +4 "core" &( ! $ >H +2 "manipulator"&% +3 "core" %  ? +3 "collection"'Y& +4 "core" &   +2 "collection"'V& +5 "core" &  9 +3 .tCC.seek :closed +2 "collection"'[(V +4 "core" &  6 +6 &A  ; $d +9 &\\  8 6 +10 &  ; G +9 &h  ; F +9 &k  7 G +10 &`k  2 F +9 &"i  < F +9 &i  = F +10 &h  > F +9 &gg  > G +10 & (g  ? G +9 &!i  > F +9 &#j  > G +10 &%nl  > G +9 &'1f  > G +9 &(j  > F +10 &*h  < F +9 &,xh  6 F +10 &.9k  < G +56 &/f  < F +4 &1j  7 G + &3f  = F +4 &5Ag  @ G + &7k  6 F + &8g  9 F +3 &:l  7 G +5 & g  6 G +9 &?g  : G +10 &Al  8 G +9 &CQl  ? G +9 &Eq " 2 G +10 &Fx , +: H +9 &H < :8 I +10 &JF 7 <: M +9 &K 2 66 P +9 &M 0 46 P +10 &O 1 49 Q +9 &QD 2 36 Q +9 &S 2 25 R +10 &T 2 22 R +9 &V2b / 24 , +10 &V 0 21 B +8 ( +3 "collection"'V& +3 "core" &VL / 2/ @ +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&g1 +60 "core" 1 +3 "manipulator"&% +3 "core" % ' ; +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%5& +3 "core" & +2 "manipulator"&T% +4 "core" %\ #  ? ; +2 "storage"(e% +5 "core" %a  + "storage"(. +3 "core" .( +2 "storage"(p& +4 "core" &  O +2 "storage"(& +3 "core" &  @ +2 "manipulator"& & +5 "core" &'   >H + "manipulator"&% +4 "core" %\ # ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&y( +156 "core" ( + "manipulator"&^& +5 "core" & %   + "storage"(s& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +96 "core" ' +2 "storage"(l& +3 "core" &  * +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(r'i +282 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  t +2 "manipulator"&& +4 "core" & 1  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&h& +5 "core" & w  + "storage"(}& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(8'X +8 "core" & ~  +2 "manipulator"&Z% +4 "core" %   \ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +2 "manipulator"& & +5 "core" &y <  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &y k  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +97 "core" ' +2 "manipulator"&& +3 "core" &z & 4  +3 "manipulator"&6% +4 "core" %  # +2 "processing"%~& +3 "core" & +3 "processing"% & +5 "core" & +3 .tPC.seek :closed + "processing"%f(Z +5 "core" & +7 &G #c +9 &[ 6 +10 & H +9 &e G +9 &h G +10 &]c G +9 &g G +9 &d G +10 &j G +9 &ef G +10 & &j G +9 &!e G +9 &#h G +10 &%mf G +9 &'.h G +9 &(e G +10 &*h H +9 &,th G +10 &.6j G +9 &/g G +9 &1c G +10 &3|f G +9 &5=g H +9 &7g G +10 &8g G +9 &:i G +10 & g G +9 &?h G +10 &Af G +9 &CNf G +10 &Ek G +9 &Fs I +9 &H K +10 &JG M +9 &L  M +9 &M L +10 &O M +9 &QO M +9 &S M +10 &T M +9 &V M +10 &XT N +9 &Yww "k +9 &Z*t , +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +3 "core" &Z +54 1 +2 "manipulator"&{% +3 "core" % ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +99 "core" ' + "processing"%3& +4 "core" &Z +52 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ # U 9 +2 "storage"(F% +4 "core" %V  +2 "storage"( . +3 "core" .( +2 "storage"(x& +4 "core" &   +2 "storage"(7& +3 "manipulator"&\ & +8 "core" &   + &z )  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&a(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(1'i +3 "core" ( +2 "manipulator"& & +4 "core" &z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &z  +2 .tForearm.seek PC +2 "manipulator"&'' +92 "core" ' + .tHand.close +2 "manipulator"&)/ +61 "core" / +2 .tPC.seek :open +2 "processing"%n( +91 "core" ' + "storage"(C- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'y +50 "core" ' +281 ( +2 "storage"(& +4 "core" &  +2 "manipulator"&$& +3 "core" &z   +3 "manipulator"&?% +3 "core" % X  +3 .tForearm.seek :retract + "manipulator"&*'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +236 "core" ( +2 "manipulator"&H& +4 "core" & & < ? +2 "storage"(.& +4 "core" &  z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +95 "core" ' +2 .tHand.open + "manipulator"&+1 +64 "core" 1 +3 "storage"(&- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(-'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(@' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &  M L 1 +2 "manipulator"&B& +3 "core" &  ; +3 .tElbow.seek 2 + "manipulator"&E( +4 "core" ( +2 "manipulator"&R& +4 "core" & % " ; + "storage"(& +5 "core" &  L M ~ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +58 "core" ' +2 "manipulator"&J& +4 "core" &  ; +2 "storage"(U& +4 "core" &  v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&L' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(O'i +29 "core" ' +2 "manipulator"&P% +4 "core" %  * i +2 "storage"(X& +4 "core" &  3 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&;' +20 "core" ' +2 "manipulator"&G& +3 "core" & $ . ; +2 "storage"(\\& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +20 "core" ' + "storage"(=% +4 "core" %o +3 ."downElevator"SE.seek :down +4 "storage"(i'X +98 (!% +4 "core" %8W PI +2 "manipulator"&% +5 "core" %ў  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tForearm.seek :retract +3 "manipulator"&:'\ +95 "core" ' +3 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (I& +3 "core" &  W +3 "collection"'<& +4 "core" &VL , . @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&w% +4 "core" %\ #  B +2 "storage"(,% +3 "core" %b  +2 "storage"(_. +3 "core" .( +2 "storage"(q& +4 "core" &  H +2 "storage"(& +4 "core" &   +2 "manipulator"&d& +3 "core" &  ; +3 .tElbow.seek 2 + "manipulator"&W( +4 "core" ( +2 "manipulator"&& +4 "core" &  + ; + "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +96 "core" ' +2 "storage"(k& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" &  ; +2 "storage"(N& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&(' +31 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +28 "core" ' +2 "manipulator"&Y% +3 "core" %   +2 "storage"(Q& +4 "core" &  a +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&o' +20 "core" ' +2 "manipulator"&v& +4 "core" & i ; +2 "storage"(& +4 "core" &  H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&g'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +43 "core" ' + "manipulator"&5& +4 "core" & 6 ; +2 "manipulator"&T% +3 "core" %ч ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +3 "manipulator"&V& +4 "core" &" ( ~ :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &#   :/ +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( + "storage"(u& +4 "core" &  b +2 "storage"(^& +4 "core" &  +2 "manipulator"&s& +3 "core" &#  :/ +2 "manipulator"&l% +3 "core" %  +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&"( +164 "core" ( +2 "manipulator"&b& +3 "core" & >  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&' +94 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +60 "core" 1 +2 "manipulator"&% +4 "core" % & ( + "storage"(0& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +43 .tForearm.seek 2 + 317 counts +11 "manipulator"&Z' +20 "core" ' +2 "manipulator"&y& +3 "core" &  +3 "storage"(]& +4 "core" &  : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +28 "core" ' +2 "storage"(j% +4 "core" %B M +3 ."downElevator"SE.seek :down +4 "storage"( 'X +97 (/% +3 "core" %R PF +2 "manipulator"&% +5 "core" %Ѩ E | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'6& +3 "core" &   +2 "manipulator"&~% +4 "core" %\ #  > +2 "storage"(8% +5 "core" %O  + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(2( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & _  +4 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&3( +12 "core" ( +2 "manipulator"&& +3 "core" & & G  +2 "storage"( & +4 "core" & .  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +106 "core" ' + "storage"( & +5 "core" & [  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +283 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +3 "core" & ,  +2 "storage"()& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +3 "storage"(f'X +8 "core" & ]  +2 "manipulator"&1% +19 "core" % ϯ  +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +139 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&?& +4 "core" &# ' : :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &# :. +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&H'" +103 "core" ' +2 "manipulator"&.& +5 "core" &# % # :. + "manipulator"&a% +5 "core" %$ T +2 "collection"'+& +4 "core" &  ? +2 "collection"'&& +5 "core" &   +3 .tCC.seek :closed + "collection"'(V +5 "core" &  6  +8 &9  2 *x +10 & n  6 > +9 &t  1 G +9 &h  5 F +10 &Eh  @ F +9 &g  8 G +10 &f  3 G +9 &k  1 G +9 &Kj  5 G +10 &h  5 F +9 & i  3 F +9 &"j  9 F +10 &$Uj  7 F +9 &&j  5 G +10 &'j  6 G +9 &)f  @ F +9 &+]j  6 F +10 &- h  ? F +9 &.l  H G +10 &0n  ; G +9 &2el  B F +9 &4&g  7 G +10 &5k  6 F +9 &7g  6 G +9 &9lj  7 G +10 &;/h  D F +9 &<i  6 G +9 &>j  ? G +10 &@ug  A F +9 &B7j  C F +10 &Cj  J G +9 &Ep $ $I G +9 &Gw 2 /K H +10 &I5 @ >? J +9 &J 7 :G O +9 &L 3 4E P +10 &Nh 2 1J P +9 &P( / 3J Q +10 &Q 2 4K Q +9 &S . 3G R +9 &Uj 0 2I ? +10 &VJ 0 3E U +9 &V)9 0 2Q %q +9 &Va . .H E +3 ( + "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&B% +52 "core" % $ c T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&*% +3 "core" %\ %  G D +2 "storage"(J% +5 "core" %b - + "storage"(U. +3 "core" .( +2 "storage"(D& +4 "core" &  +2 "storage"(P& +3 "core" & T  +2 "manipulator"&X& +5 "core" &" :. +2 "manipulator"&-% +3 "core" %\ %  x D +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +156 "core" ( +2 "manipulator"&\\& +3 "core" & % O  +3 "storage"(=& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +96 "core" ' +2 "storage"(4& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'i +281 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&>& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&E( +2 "core" ( +2 "manipulator"&%& +5 "core" & %   + "storage"(L& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(w'X +8 "core" & W  +2 "manipulator"&,% +3 "core" % ϱ D Q +3 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +3 .tElbow.seek PC +2 "manipulator"&q(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&O& +4 "core" &} ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &} ( z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +94 "core" ' +2 "manipulator"&& +4 "core" &~ @ \ +2 "manipulator"&% +4 "core" % W : +2 "processing"%k& +3 "core" & +3 "processing"%M& +5 "core" & +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" &  +9 &6 )v +9 &k = +10 &{\ H +9 &kg G +10 &-g G +9 &h G +9 &i G +10 &rh G +9 &5e G +9 &i G +10 & h G +9 &"zg G +10 &$<g G +9 &%j G +9 &'h G +10 &)h G +9 &+Dh G +9 &-h G +10 &.j G +9 &0h G +10 &2Mh G +9 &4h G +9 &5i G +10 &7g G +9 &9Uh G +9 &;g G +10 &<h G +9 &>g G +10 &@^h G +9 &B h G +9 &Ck G +10 &En H +9 &G_y I +9 &I K +10 &J L +9 &L M +10 &N^ L +9 &P M +9 &Q M +10 &S M +9 &Ue M +9 &W& M +10 &X M +9 &Z9Ec %l +9 &Z . # +6 ( +2 "processing"%M& +3 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&S1 +62 "core" 1 + "manipulator"&:% +4 "core" %  : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +3 "processing"%9& +3 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&N% +3 "core" %\ \ 4  +2 "storage"(`% +4 "core" %W  +2 "storage"(Y. +3 "core" .( +2 "storage"(Q& +4 "core" &   +2 "storage"(v& +3 "manipulator"&& +6 "core" &   +2 &~  \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +52 "storage"(#]@K-0-\ b +6 .tElbow.seek PC +2 "manipulator"&5(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'i +4 "core" ( +2 "manipulator"&K& +4 "core" &r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &r  +3 .tForearm.seek PC +2 "manipulator"&m' +95 "core" ' + .tHand.close +2 "manipulator"&(/ +59 "core" / +2 .tPC.seek :open +2 "processing"%o( +85 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(V'y +40 "core" ' +296 ( +2 "storage"(p& +3 "core" & R  +2 "manipulator"&g& +4 "core" &r  +2 "manipulator"&c% +85 "core" %  +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&e( +262 "core" ( +2 "manipulator"&[& +3 "core" &  T +3 "storage"(u& +4 "core" & F  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +106 "core" ' + .tHand.open +2 "manipulator"&s1 +64 "core" 1 +2 "storage"(l- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(b'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & M N U  +2 "manipulator"&}& +5 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&0& +3 "core" &  o +2 "storage"(y& +5 "core" & M N  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 "manipulator"&j& +4 "core" &  +2 "storage"("& +4 "core" & M  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&/'} +26 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +28 "core" ' +2 "manipulator"&Z% +3 "core" %΀ +2 "storage"(6& +4 "core" & ~  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&~'Ϭ +20 "core" ' +2 "manipulator"&8& +3 "core" & @ +3 "storage"(z& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' + "storage"(r% +4 "core" %q u +3 ."downElevator"SE.seek :down +4 "storage"( 'X +99 (% +4 "core" %*Z ~ QJ +2 "manipulator"&% +3 "core" %9  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +85 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +3 "core" &   +3 "collection"' & +4 "core" &Vk + / E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +3 "core" %\    +3 "storage"(h% +3 "core" %V +2 "storage"(. +4 "core" .( + "storage"(\ & +51 "core" & g  +3 "storage"(7& +4 "core" & :  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( +2 "manipulator"&)& +4 "core" & % # + "storage"(#& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +104 "core" ' +2 "storage"(1& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'i +279 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &  +2 "storage"(x& +5 "core" & 9  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&''} +27 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(.- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'O +27 "core" ' +2 "manipulator"&+% +3 "core" %{ Z +2 "storage"(& +4 "core" & 0  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&f'ϧ +21 "core" ' + "manipulator"&& +4 "core" & B +2 "storage"(& +3 "core" & >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'> +40 "core" ' + "manipulator"&&& +5 "core" &  +2 "manipulator"&% +4 "core" %&  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +154 "core" ( +3 "manipulator"&U& +4 "core" && % =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &&  =B +2 .tForearm.seek CC +2 "manipulator"&P'" +93 "core" ' +2 .tHand.close + "manipulator"&X/ +54 "core" / +2 .tCC.seek :open + "collection"'-( +416 "core" ( +3 "storage"(H& +4 "core" & Z  + "storage"(\\& +4 "core" &  +2 "manipulator"&=& +4 "core" &&  =A +2 "manipulator"&4% +3 "core" % $  +3 .tForearm.seek :retract + "manipulator"&$'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +161 "core" ( +2 "manipulator"&!& +4 "core" &   +2 "storage"(& +4 "core" & l  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&>'} +96 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +59 "core" 1 +2 "manipulator"&I% +4 "core" % }  F + "storage"(<& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +21 "core" ' +2 "manipulator"&G& +3 "core" &  +2 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +30 "core" ' +2 "storage"(;% +3 "core" %H +51 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (% +3 "core" %-R 3 PG +2 "manipulator"&E% +5 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &   +3 "manipulator"&k% +4 "core" %\ %  E +2 "storage"(w% +3 "core" %[  +2 "storage"(_. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(n( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (S& +2 "core" & r +3 "manipulator"&:& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&9( +33 "core" ( + "manipulator"&N& +4 "core" & % 9 l +2 "storage"(`& +3 "core" &  +3 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +104 "core" ' +2 "storage"(M& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Q'i +17 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg"5Impossible stack Height of 24.98 pucks in tube 2:bt["4/home/esp/esp2/utils/puckmoves.rb:366:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'"4/home/esp/esp2/utils/puckmoves.rb:359:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"l  D G +10 &?f  D F +9 &Ah  H G +10 &CLj  G G +9 &Em ! D G +9 &Fy - *? H +10 &H < 8E I +9 &JC 7 ;K M +9 &K 1 6E P +10 &M 0 3J Q +9 &O} 2 3E Q +10 &Q> 2 1I Q +9 &R 2 1F R +9 &T 2 1I R +10 &V*X / 2I 4 +9 &V / 2F ,~ +9 &V / 1G O +3 ( + "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&y1 +54 "core" 1 +5 "manipulator"&j% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%V& +4 "core" & +2 "manipulator"&Z% +4 "core" %\ !  \ 7 +2 "storage"(6% +4 "core" %a c h z +2 "storage"(b. +3 "core" .( +2 "storage"(8& +4 "core" & p % +2 "storage"(z& +4 "core" & e +2 "manipulator"&r& +4 "core" &&  + =G +2 "manipulator"&e% +3 "core" %\ ! 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&^( +163 "core" ( +2 "manipulator"&& +4 "core" & & V { + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(]& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +285 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (/& +2 "core" &  +3 "manipulator"&~& +3 "core" &  { +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" &  { +2 "storage"( & +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(\ 'X +8 "core" & k { +2 "manipulator"&7% +4 "core" %   p +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +111 "core" ( + "manipulator"&#& +5 "core" &i 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&1' +98 "core" ' +2 "manipulator"& & +3 "core" &i %  +3 "manipulator"&% +4 "core" % +2 "processing"%{& +3 "core" & +3 "processing"%F& +5 "core" & +2 .tPC.seek :closed +2 "processing"%?(Z +5 "core" & +7 &> #a +9 &Z 5 +10 & H +9 &f\ G +9 &i G +10 &Vh G +9 &h G +9 &h G +10 &h G +9 &]h G +10 & i G +9 &!h G +9 &#h G +10 &%eh G +9 &''i G +9 &(e G +10 &*h G +9 &,ng G +10 &.0h G +9 &/g G +9 &1h\ G +10 &3vg\ G +9 &58g G +9 &6g\ G +10 &8f\ G +9 &:f G +10 &e G +9 &?h\ G +10 &Ag G +9 &CHj\ G +9 &Eo H +10 &Fs H +9 &H J +10 &J@ M +9 &L\ L +9 &M\ L +10 &O L +9 &QH M +9 &S\  M +10 &T M +9 &V M +10 &XN M +9 &Yxv "j +9 &Z,y / +9 ( +3 "processing"%F& +3 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&x1 +58 "core" 1 +2 "manipulator"&.% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' +2 "processing"%& +3 "core" &Z # +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ %   C +2 "storage"(% +3 "core" %a u +2 "storage"(&. +3 "core" .( +2 "storage"(& +3 "core" & +3 "storage"(|& +3 "manipulator"&t& +7 "core" & + &i   +3 .tElbow.reconfigure :tight +49 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&3(s +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(''i +2 "core" ( +3 "manipulator"&f& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &i +3 .tForearm.seek PC +2 "manipulator"&U' +95 "core" ' +3 .tHand.close + "manipulator"&D/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(C- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'y +46 "core" ' +286 ( +2 "storage"(*& +5 "core" &  + "manipulator"&& +4 "core" &j  +2 "manipulator"&H% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&=( +244 "core" ( +2 "manipulator"&4& +4 "core" & " S "~ +2 "storage"(!& +4 "core" & o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + .tHand.open +2 "manipulator"&P1 +64 "core" 1 +3 "storage"(J- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(L'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(I' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(G& +3 "core" & \ R\ Q +2 "manipulator"&A& +4 "core" &  "} +3 .tElbow.seek 2 + "manipulator"&;( +14 "core" ( +2 "manipulator"&$& +3 "core" & %  ' +2 "storage"(R& +5 "core" & \ R\ Q ` +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +57 "core" ' +2 "manipulator"&>& +3 "core" &  ' +2 "storage"(,& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +24 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +22 "core" ' +2 "manipulator"&_% +3 "core" % +2 "storage"(B& +5 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&@' +20 "core" ' +2 "manipulator"&O& +4 "core" & u ' +2 "storage"(2& +3 "core" & : +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +16 "core" ' +2 "storage"(:% +4 "core" %r -  +2 ."downElevator"SE.seek :down +4 "storage"(N'X +98 (`% +3 "core" %V w z  PI +2 "manipulator"&M% +6 "core" %Ѣ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (K& +3 "core" &  +2 "collection"'%& +4 "core" &V~ , /K O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"(Q% +5 "core" %`  + "storage"(d. +3 "core" .( +49 "storage"((& +5 "core" &  +2 "storage"(& +5 "core" &  +2 "manipulator"&v& +4 "core" & ' ' +2 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&i& +3 "core" &  W  +2 "storage"(p& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +91 "core" ' +2 "storage"(m& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'i +283 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&5& +2 "core" &   +3 "storage"(s& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&W' +23 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +28 "core" ' +2 "manipulator"&}% +4 "core" % 2 +2 "storage"(q& +4 "core" & j + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&c' +20 "core" ' +2 "manipulator"&[& +3 "core" &   +2 "storage"(-& +5 "core" & C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'= +44 "core" ' + "manipulator"&V& +5 "core" &   + "manipulator"&Z% +3 "core" %џ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +152 "core" ( +3 "manipulator"&8& +3 "core" &" * u 9& +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &"   9& +3 .tForearm.seek CC +2 "manipulator"&z'" +93 "core" ' +2 .tHand.close + "manipulator"&r/ +53 "core" / +2 .tCC.seek :open +2 "collection"'e( +416 "core" ( +2 "storage"(l& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&& +4 "core" &"  9% +2 "manipulator"&]% +4 "core" %  w +2 .tForearm.seek :retract + "manipulator"&u'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +163 "core" ( +2 "manipulator"&& +3 "core" &  w  +2 "storage"(/& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&~' +104 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  5 Y +2 "storage"(& +5 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&7' +21 "core" ' + "manipulator"&^& +4 "core" &  +2 "storage"(& +4 "core" & * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 "storage"(h% +45 "core" %B f +9 ."downElevator"SE.seek :down +4 "storage"(#'X +99 (% +3 "core" %SR PG +2 "manipulator"&% +4 "core" %ѫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  D +2 "manipulator"&{% +3 "core" %\    +2 "storage"(\ % +4 "core" %Q \\ +2 "storage"( . +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(o( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &   +2 "manipulator"&.& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +5 "core" & M  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +104 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'i +279 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & {  +2 "manipulator"&f& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&1& +4 "core" & ~  +2 "storage"(D& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(?'X +8 "core" & c  +2 "manipulator"&'% +4 "core" % Ϩ  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&H& +4 "core" &#  1 ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &# 5 ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'" +93 "core" ' +2 "manipulator"&!& +3 "core" &$ ( p ;2 +3 "manipulator"&3% +4 "core" %   +2 "collection"'P& +3 "core" &  Z +3 "collection"'J& +5 "core" &  U +3 .tCC.seek :closed +5 "collection"'<(V +4 "core" &  X +3 &  S  +9 &5  U )w +9 & k  S = +9 &v  T H +10 &ii  W G +9 &,e  R F +9 &h  T F +10 &e  V G +9 &qj  U G +10 &3i  S G +9 &e  U F +9 & i  S F +10 &"zj  Q F +9 &$<h  U F +9 &%i  T F +10 &'k  U G +9 &)h  R G +10 &+Df  T F +9 &-h  U F +9 &.k  T G +10 &0j  S G +9 &2Mg  T F +9 &4k  H F +10 &5f  S G +9 &7j  S F +10 &9Tf  S F +9 &;h  R F +9 &<m  T G +10 &>g  C F +9 &@\\h  O F +10 &Bk  N G +9 &Cm  R G +9 &Er # !R H +10 &G]} 0 .T I +9 &I = =L J +9 &J 6 :C N +10 &L 2 5Q P +9 &NP 2 1N P +9 &P 0 2P Q +10 &Q 0 3M Q +9 &S / 3I R +10 &UP 2 3O F +9 &VwR / 0B 'v +9 &VT . 2= A +3 ( + "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&G1 +53 "core" 1 +2 "manipulator"&A% +4 "core" %  !  +6 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%\\& +3 "core" & +2 "manipulator"&R% +5 "core" %\     + "storage"(>% +4 "core" %U P +2 "storage"(,. +49 "core" .( +5 "storage"(_& +4 "core" &   +2 "storage"(X& +4 "core" &  +2 "manipulator"&B& +4 "core" &# ( R ;2 + "manipulator"&L% +5 "core" %\   b  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +161 "core" ( +2 "manipulator"&2& +4 "core" & d  +2 "storage"(:& +3 "core" & J  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +93 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +281 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &   +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&E& +4 "core" & [  + "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"('X +8 "core" &  +2 "manipulator"&Q% +4 "core" % ϖ  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&((s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +3 "manipulator"&w& +3 "core" &g   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h ,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&v' +103 "core" ' +2 "manipulator"&i& +4 "core" &j   +2 "manipulator"&p% +3 "core" %  c +3 "processing"%S& +3 "core" & +3 "processing"%m& +5 "core" & +3 .tPC.seek :closed +2 "processing"%N(Z +4 "core" & +5 & 7 +10 &JM / +9 &{ C +10 &?h G +9 &i G +9 &h G +10 &j G +9 &Ih F +9 & h G +10 &e G +9 &g G +10 &!Pg G +9 &#h G +9 &$h G +10 &&g F +9 &(Vh G +9 &*h G +10 &+g G +9 &-h G +10 &/`g G +9 &1"h G +9 &2h G +10 &4g F +9 &6gh G +9 &8*g G +10 &9h G +9 &;e G +10 &=pg G +9 &?1e\ G +9 &@g G +10 &Bi G +9 &Dum H +9 &F6s H +10 &G J +9 &I\ L +10 &Kp L +9 &M1 M +9 &N L +10 &P M +9 &Rw\ M +9 &T9 M +10 &U\ M +9 &W N +10 &Y| : +9 &Zk3 ^ +9 &Z +3 ( + "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&k1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  C c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +93 "core" ' +2 "processing"%5& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&s% +4 "core" %\   +2 "storage"(% +3 "core" %b  +3 "storage"(}. +3 "core" .( + "storage"(q& +5 "core" &  +2 "storage"([& +4 "manipulator"&-& +5 "core" & E  + &k   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&V(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Z'i +2 "core" ( +2 "manipulator"&g& +5 "core" &k   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &k   +44 .tForearm.seek PC +10 "manipulator"&9' +97 "core" ' +3 .tHand.close + "manipulator"&W/ +63 "core" / +2 .tPC.seek :open +2 "processing"%c( +32 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'y +32 "core" ' +40 "Can"6 R +318 "core" ( + "storage"(0& +5 "core" &   +2 "manipulator"&y& +4 "core" &k   +2 "manipulator"&T% +3 "core" % 3  +3 .tForearm.seek :retract +2 "manipulator"&r'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6( +260 "core" ( +2 "manipulator"& & +3 "core" & % d  +3 "storage"(l& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(]- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(/' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +4 "core" -' +2 "storage"(b& +3 "core" & U N e  +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&& +5 "core" & $ y ~ + "storage"(^& +4 "core" & N X K  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +60 "core" ' + "manipulator"&u& +4 "core" &  ~ +2 "storage"("& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(~'i +24 "core" ' + "manipulator"&7% +5 "core" %Ύ  + "storage"(& +4 "core" & X  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&{'Ϻ +20 "core" ' +2 "manipulator"&\ & +3 "core" &  ~ +2 "storage"( & +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +31 "core" ' + "storage"(% +4 "core" %o S  +3 ."downElevator"SE.seek :down +3 "storage"(#'X +99 (n% +4 "core" %T PH +2 "manipulator"&x% +3 "core" %# g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & A  +3 "collection"'& +4 "core" &VO - -K A + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\    +3 "storage"( % +4 "core" %b i + "storage"( . +3 "core" .( +2 "storage"(|& +4 "core" & D  +2 "storage"(t& +4 "core" &   +2 "manipulator"&f& +4 "core" & 7 ~ + .tElbow.seek 3 +2 "manipulator"&1( +5 "core" ( + "manipulator"&D& +4 "core" & $ ] ~ +2 "storage"()& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 3 + 700 counts +3 "manipulator"&+'9 +95 "core" ' + "storage"('& +4 "core" & /  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' + "storage"(&- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &  ~ +2 "storage"(U& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&F'} +19 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'N +28 "core" ' +2 "manipulator"&P% +3 "core" %{  +2 "storage"(a& +4 "core" & M  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 298 counts + "manipulator"&?'ϧ +20 "core" ' +2 "manipulator"&*& +4 "core" & & ~ +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(A'= +39 "core" ' +2 "manipulator"&\\& +4 "core" & # ~ +2 "manipulator"&R% +4 "core" %F T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +157 "core" ( +2 "manipulator"&J& +4 "core" &( ' ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &(   ?P +3 .tForearm.seek CC +2 "manipulator"&X'" +93 "core" ' +2 .tHand.close + "manipulator"&B/ +55 "core" / +2 .tCC.seek :open + "collection"'L( +416 "core" ( +2 "storage"(4& +3 "core" &   +2 "storage"(2& +3 "core" & {  +3 "manipulator"&:& +3 "core" &' >N +2 "manipulator"&% +5 "core" % 2 S +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +152 "core" ( +2 "manipulator"&`& +4 "core" & + +2 "storage"(M& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +96 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&K% +3 "core" % Ά $  +2 "storage"(%& +5 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"&Q'ϲ +22 "core" ' +2 "manipulator"&O& +3 "core" & 0 +2 "storage"(=& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +30 "core" ' +2 "storage"(@% +4 "core" %G  +2 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (% +3 "core" %FU PF +2 "manipulator"&;% +4 "core" %- o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +49 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'p& +3 "core" &  ! +2 "manipulator"&S% +5 "core" %\    + "storage"(% +5 "core" %S  + "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" & H +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&5( +26 "core" ( + "manipulator"&s& +5 "core" &  < + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +87 "core" ' + "storage"(m& +4 "core" & ` +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'i +291 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &  +2 "manipulator"&g& +3 "core" &  < +3 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( + "manipulator"&v& +4 "core" &  `  +2 "storage"(W& +4 "core" & { +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Y& + "storage"(N'X +8 "core" & e  +2 "manipulator"&Z% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +144 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&T& +3 "core" &% C <= +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &%   <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +95 "core" ' +2 "manipulator"&l& +4 "core" &% ' 7 << +3 "manipulator"&V% +4 "core" %  2 +2 "collection"'& +3 "core" &  X +3 "collection"']& +5 "core" &  ( +2 .tCC.seek :closed +2 "collection"'z(V +4 "core" &  T  +9 &5  ^ )w +9 &k  W = +9 &y  U G +10 &cj  U F +9 &%h  T F +9 &f  V G +10 &k  N G +9 &ii  T G +9 &-h  V F +10 &k  U G +9 & l  X G +10 &"qj  Y G +9 &$5h  X F +9 &%i  S F +10 &'f  T G +9 &){e  T F +10 &+<g  P G +9 &,e  X F +9 &.f  U G +10 &0k  Y G +9 &2De  Z G +9 &4k  O F +10 &5f  T F +9 &7h  O F +9 &9Ml  T F +10 &;g  O G +9 &<g  T F +10 &>i  L F +9 &@Tk  S G +10 &Bj  R G +9 &Ch  T F +9 &En # !T G +10 &GVz 1 .U I +9 &I ? >a J +9 &J 4 8\\ O +10 &L 2 3] P +9 &NI 2 1[ P +9 &P 2 2[ Q +10 &Q 0 0[ Q +9 &S / 0_ R +9 &UI . 3] H +10 &VkK 0 3` 'w +9 &V 0 1_ !c +9 ( +3 "collection"']& +2 "core" &Vy / 2] L +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&b1 +57 "core" 1 +3 "manipulator"& % +4 "core" % & k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%^& +4 "core" & +2 "manipulator"&r% +3 "core" %\  1 5 +3 "storage"(u% +3 "core" %b y +2 "storage"(". +3 "core" .( +2 "storage"(7& +3 "core" & +2 "storage"(8& +6 "core" & +2 "manipulator"&& +3 "core" &% << +2 "manipulator"&% +5 "core" %\ 5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ ( +157 "core" ( + "manipulator"& & +52 "core" & $  +3 "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +96 "core" ' + "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'i +280 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&h& +3 "core" &  [  +2 "storage"(& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +8 "core" &   +2 "manipulator"& % +4 "core" %   N +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&|(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&~& +5 "core" &j + Q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &j   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&f' +92 "core" ' +2 "manipulator"&D& +3 "core" &j  M  +3 "manipulator"&)% +3 "core" % C - +3 "processing"%j& +3 "core" & +3 "processing"%'& +5 "core" & +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &"  +9 &9 *x +9 &m > +10 &v! H +9 &~e G +10 &@g G +9 &g G +9 &h G +10 &g G +9 &Hf G +9 &\ g G +10 & e G +9 &"f G +10 &$Pg\ G +9 &&g G +9 &'k G +10 &)h H +9 &+Wg G +9 &-f G +10 &.g G +9 &0g G +9 &2`h G +10 &4"g G +9 &5h F +10 &7g G +9 &9gg G +9 &;*e G +10 &<g G +9 &>j G +9 &@oh G +10 &B1g G +9 &Cj H +10 &Eq H +9 &Gpy J +9 &I- K +10 &J L +9 &L L +10 &No M +9 &P2 L +9 &Q M +10 &S M +9 &Uw M +9 &W7 M +10 &X M +9 &ZJDc "e +9 &Z\ + " +6 ( +2 "processing"%'& +3 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&.% +4 "core" % $ - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +94 "core" ' +4 "processing"%H& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&U% +4 "core" %\  ~ $ +2 "storage"(!% +3 "core" %a o +2 "storage"(P. +3 "core" .( +2 "storage"(a& +4 "core" & +2 "storage"(*& +3 "manipulator"&e& +6 "core" & v +2 &j   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&\\(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'i +2 "core" ( +3 "manipulator"&+& +3 "core" &j  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &1& +2 "core" &j \\  +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&F/ +61 "core" / +2 .tPC.seek :open +2 "processing"%?( +91 "core" ' +2 "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +51 "storage"(J'y +34 "core" ' +248 ( +2 "storage"(_& +4 "core" & 8 +2 "manipulator"&G& +4 "core" &j   + "manipulator"&C% +5 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&B'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&>( +253 "core" ( +2 "manipulator"&<& +4 "core" & $ + & +2 "storage"(4& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +95 "core" ' + .tHand.open +2 "manipulator"&:1 +62 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(`'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(M' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +3 "core" -' +3 "storage"(,& +4 "core" & \ G\ G  + "manipulator"&& +5 "core" &  % + .tElbow.seek 2 +2 "manipulator"&K( +4 "core" ( +2 "manipulator"&%& +4 "core" & & + % +2 "storage"(O& +3 "core" & \ Y\ G A +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(@' +58 "core" ' + "manipulator"&& +4 "core" &  % +2 "storage"(& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +25 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&Q% +3 "core" % +2 "storage"(A& +5 "core" & V + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&p' +19 "core" ' +2 "manipulator"&S& +3 "core" &   % +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +23 "core" ' +2 "storage"(I% +3 "core" %r n  +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (o% +3 "core" %t s s  Q> +2 "manipulator"&k% +5 "core" %ѯ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +134 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (s& +3 "core" & B +3 "collection"'& +3 "core" &Vy + ,O L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&m% +3 "core" %\  ' +3 "storage"(E% +4 "core" %R - +2 "storage"(i. +3 "core" .( +2 "storage"(-& +4 "core" & - +2 "storage"([& +4 "core" & + "manipulator"&g& +4 "core" &  % +2 .tElbow.seek 2 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&W& +4 "core" & % Q % + "storage"((& +4 "core" & & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +92 "core" ' +2 "storage"(Z& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +282 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&T& +54 "core" &  % +2 "storage"(9& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&q' +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(V'N +29 "core" ' +2 "manipulator"&% +3 "core" %  +3 "storage"(& +4 "core" & n e f +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&N' +20 "core" ' + "manipulator"&0& +4 "core" & %  % +2 "storage"(L& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +26 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '= +39 "core" ' +2 "manipulator"&^& +3 "core" &  % +2 "manipulator"&r% +4 "core" %ѩ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +148 "core" ( + "manipulator"&7& +4 "core" &' $  >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &( A >J +3 .tForearm.seek CC +2 "manipulator"&8'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"( & +3 "core" & # +3 "storage"( & +4 "core" &  + "manipulator"&& +3 "core" && r =G +3 "manipulator"&y% +4 "core" % ' q +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( + "manipulator"&n& +4 "core" & A | +2 "storage"(x& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +5 "core" % $ , _ +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"& ' +20 "core" ' + "manipulator"&\ & +5 "core" & | + "storage"(6& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +24 "core" ' +2 "storage"({% +3 "core" %G  +3 ."downElevator"SE.seek :down +4 "storage"(~'X +98 (t% +3 "core" %P ] OE +2 "manipulator"&% +5 "core" %ѯ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"')& +3 "core" &  U +2 "manipulator"&j% +5 "core" %\  V  + "storage"(% +4 "core" %a n +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(c( +339 "core" ( +47 .tSC.configure :limp +5 "storage"($\ 1b +3 (& +3 "core" & +2 "manipulator"&.& +4 "core" &  | +2 .tElbow.seek 3 +2 "manipulator"&H( +12 "core" ( +2 "manipulator"&U& +4 "core" &  ; h +2 "storage"(!& +4 "core" & ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +89 "core" ' +2 "storage"('& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'i +279 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &  +3 "manipulator"&+& +3 "core" &  h +3 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&f& +3 "core" &  h +3 "storage"(F& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&&& + "storage"(#'X +8 "core" &  h +2 "manipulator"&_% +4 "core" % ϳ  / +2 .tForearm.seek :retract +2 "manipulator"&G'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&R& +3 "core" &"  9% +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &"  i 9% +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'" +105 "core" ' +3 "manipulator"&4& +4 "core" &" M 9# +2 "manipulator"&\\% +4 "core" %;  +2 "collection"':& +3 "core" &  f +3 "collection"'& +5 "core" &  Y +2 .tCC.seek :closed +2 "collection"'X(V +6 "core" &  ^  +8 &6  Y )u +9 &i  U < +9 &v  T H +10 &kh  P F +9 &-h  _ F +9 &k  [ G +10 &h  U G +9 &se  ^ F +10 &5h  c F +9 &j  _ G +9 & j  b G +10 &"zg  a G +9 &$=k  b F +9 &%i  e F +10 &'j  c F +9 &)e  c F +10 &+Eh  d F +9 &-k  d F +9 &.l  f G +10 &0j  ^ G +9 &2Me  _ F +9 &4f  c F +10 &5f  d G +9 &7h  c G +10 &9Ti  d G +9 &;k  a F +9 &<k  c F +10 &>g  a F +9 &@^h  d F +9 &Bj  b G +10 &Cg  d F +9 &En !e G +9 &G`x . .f H +10 &I B ?` I +9 &J 3 7k N +10 &L / 4b Q +9 &NQ 0 3d P +9 &P . 1c Q +10 &Q 0 /e Q +9 &S . 0a R +10 &UQ . 1c F +9 &VxR . 1h 'w +9 &VU . /` B +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&,1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ; % ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%O& +4 "core" & +2 "manipulator"&B% +4 "core" %\ #  K : +2 "storage"(% +3 "core" %\\  +2 "storage"(. +3 "core" .( +2 "storage"(Q& +4 "core" &  +2 "storage"(A& +4 "core" & 8 +2 "manipulator"&J& +3 "core" &"   9# +2 "manipulator"&S% +5 "core" %\ #  : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&`( +158 "core" ( + "manipulator"&& +4 "core" & % ~ +2 "storage"(I& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&>'9 +94 "core" ' + "storage"(2& +5 "core" & ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +283 "core" ' +50 "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & + +2 "manipulator"&=& +5 "core" &  + .tElbow.seek 3 +2 "manipulator"&K( +4 "core" ( +2 "manipulator"&@& +4 "core" & ` +2 "storage"(;& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&p'ϩ +15 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"('X +8 "core" & j +2 "manipulator"&m% +4 "core" % ϯ  / +2 .tForearm.seek :retract +2 "manipulator"&E'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +110 "core" ( +2 "manipulator"&-& +3 "core" &k : \ \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &k l \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&g' +96 "core" ' + "manipulator"&W& +3 "core" &k l \ +3 "manipulator"&(% +3 "core" % ' * +3 "processing"%d& +3 "core" & +3 "processing"%Z& +5 "core" & +2 .tPC.seek :closed +2 "processing"%w(Z +5 "core" & +7 &? #c +9 &\\ 6 +10 &! H +9 &h" G +10 &h G +9 &\\g G +9 &g G +10 &g G +9 &h G +9 &cg G +10 & %i G +9 &!g G +9 &#g G +10 &%lg G +9 &'.g G +10 &(g G +9 &*g G +9 &,sk G +10 &.5h G +9 &/f G +9 &1f G +10 &3|f G +9 &5>g G +10 &6d G +9 &8g G +9 &:f G +10 &g G +9 &?g G +10 &Ae G +9 &CMi G +10 &E l H +9 &Fs H +9 &H J +10 &JE\ M +9 &L L +9 &M L +10 &O L +9 &QL M +10 &S L +9 &T M +9 &V M +10 &XS M +9 &Yxv "j +9 &Z(o , +9 ( +3 "processing"%Z& +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&$1 +56 "core" 1 + "manipulator"&% +4 "core" % % o * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 "processing"%T& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&9% +3 "core" %\ " T $ +2 "storage"(l% +5 "core" %V  + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & * +2 "storage"(0& +3 "manipulator"&L& +7 "core" &  +2 &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&^(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(r'i +2 "core" ( +3 "manipulator"&Y& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &l S +3 .tForearm.seek PC + "manipulator"&5' +96 "core" ' + .tHand.close +2 "manipulator"&q/ +62 "core" / +3 .tPC.seek :open +2 "processing"%N( +82 "core" ' +2 "storage"(V- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"(7'y +46 "core" ' +293 ( + "storage"(]& +4 "core" & 4 +2 "manipulator"&b& +3 "core" &l +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +48 "manipulator"&u( +259 "core" ( + "manipulator"&z& +3 "core" & % +3 "storage"( & +3 "core" & ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(y- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(n'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"("& +3 "core" & M N # +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & 2 +2 "storage"(\ & +5 "core" & N N +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +58 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(t& +4 "core" & : +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"& % +4 "core" %ΐ H  +2 "storage"()& +3 "core" & ? +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&j'ϼ +20 "core" ' +2 "manipulator"&& +3 "core" & d +2 "storage"( & +5 "core" & } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +27 "core" ' +2 "storage"(/% +4 "core" %p   +2 ."downElevator"SE.seek :down +4 "storage"(~'X +99 (% +3 "core" %W t ^ PI +2 "manipulator"&% +4 "core" %C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&.'\ +87 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (U& +3 "core" & g +2 "collection"'!& +3 "core" &VZ + -[ B +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&'% +4 "core" %\    +2 "storage"(h% +4 "core" %a  +2 "storage"(D. +3 "core" .( +2 "storage"(e& +4 "core" &  +2 "storage"(*& +3 "core" & +2 "manipulator"&+& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&f( +4 "core" ( + "manipulator"&F& +4 "core" & $ X +2 "storage"(|& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&&'9 +91 "core" ' + "storage"(_& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +283 "core" ' + "storage"(P- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&a'} +26 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +50 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'O +28 "core" ' + "manipulator"&1% +4 "core" %΅  +2 "storage"(:& +4 "core" & I +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&#'ϱ +20 "core" ' +2 "manipulator"&G& +3 "core" & = +2 "storage"(& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +41 "core" ' + "manipulator"&O& +4 "core" & H +2 "manipulator"&B% +3 "core" %2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&& +3 "core" &# ' r ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &# ;2 +3 .tForearm.seek CC +2 "manipulator"&A'" +93 "core" ' +2 .tHand.close + "manipulator"&J/ +54 "core" / +2 .tCC.seek :open + "collection"'S( +413 "core" ( +2 "storage"(<& +3 "core" & R +3 "storage"(& +4 "core" &  + "manipulator"&I& +4 "core" &$ ;2 +2 "manipulator"&2% +4 "core" % = +2 .tForearm.seek :retract +2 "manipulator"&C'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +163 "core" ( +2 "manipulator"&o& +4 "core" & 8  +2 "storage"(k& +4 "core" & p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&='} +97 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ΂  < + "storage"(s& +5 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&m'Ϯ +20 "core" ' +2 "manipulator"&`& +3 "core" & R  +2 "storage"(>& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +28 "core" ' + "storage"(p% +3 "core" %G m +3 ."downElevator"SE.seek :down +4 "storage"(-'X +99 ([% +3 "core" %BR PG +2 "manipulator"&K% +3 "core" %3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'(& +3 "core" &  S +2 "manipulator"&d% +3 "core" %\ $  I +3 "storage"(% +4 "core" %b  + "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(?( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" & +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&T( +26 "core" ( + "manipulator"&9& +4 "core" &\  ` +2 "storage"(l& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +46 "manipulator"&'ќ +98 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'i +285 "core" ' +3 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &  ? +2 "manipulator"&Y& +4 "core" &\  ] +3 .tElbow.seek 2 + "manipulator"&v( +4 "core" ( +2 "manipulator"&g& +4 "core" &\  ] + "storage"(q& +4 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +3 "storage"(w'X +7 "core" &\ I ] +2 "manipulator"&r% +4 "core" % #  O +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +152 "core" ( + ' +2 ."downElevator"SE.stop +2 "manipulator"&& +2 "storage"(5 +7 "core" &%  0 <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &%  p <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'" +106 "core" ' +2 "manipulator"& & +4 "core" && & * <> +2 "manipulator"&^% +3 "core" %# R K +3 "collection"'& +3 "core" &  d +3 "collection"'y& +5 "core" &  H +2 .tCC.seek :closed +2 "collection"'8(V +4 "core" &  [  +9 &6  c )v +10 &k  o = +9 &x  r G +10 &rh  q G +9 &5e  q F +9 &h  p F +10 &k  r F +9 &ze  j G +9 &<j  g G +10 &e  o F +9 & l  p G +10 &"j  i G +9 &$Df  j G +9 &&k  g F +10 &'k  d G +9 &)h  a F +9 &+Lg  a G +10 &-h  b G +9 &.e  [ F +10 &0g  b G +9 &2Uk  a F +9 &4f  b F +10 &5g  ` F +9 &7k  ` F +9 &9]k  c F +10 &;k  d G +9 &<h  e G +10 &>k  _ F +9 &@dk  c G +9 &B&h  d G +10 &Cl  c G +9 &Ep ! a G +9 &Gg{ 1 ,d H +10 &I% A >d J +9 &J 4 7f O +10 &L / 5_ P +9 &NY 0 2_ P +9 &P / 0` Q +10 &Q 0 1c Q +9 &S . 1d R +9 &U[ 0 0d @ +10 &VJ / 0_ ` +9 &V, / /e b +9 ( +3 "collection"'y& +2 "core" &Vz . 0Y L +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&"1 +54 "core" 1 +3 "manipulator"&% +3 "core" % #  2 K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%\ & +3 "core" &# +2 "manipulator"&% +4 "core" %\   l . +2 "storage"(% +4 "core" %O i +2 "storage"(t. +3 "core" .( +2 "storage"( & +4 "core" &  + "storage"()& +4 "core" &  +2 "manipulator"&7& +3 "core" &%   <> +2 "manipulator"&% +5 "core" %\    . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +161 "core" ( +2 "manipulator"&n& +3 "core" & \\  +3 "storage"(/& +4 "core" &  Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +96 "core" ' +2 "storage"( & +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'i +285 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +3 "manipulator"&6& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&{& +3 "core" & % 4  +2 "storage"(& +4 "core" &   +3 .tForearm.seek 2 + 300 counts +50 "manipulator"&j' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(''X +8 "core" &   + "manipulator"&h% +5 "core" %  5 S +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&e& +4 "core" &g ' :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &g  %  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&+' +97 "core" ' +2 "manipulator"&F& +4 "core" &g $  +2 "manipulator"&|% +3 "core" % +3 "processing"% & +4 "core" & +2 "processing"%_& +5 "core" &% +3 .tPC.seek :closed +2 "processing"%~(Z +3 "core" &" +7 &>( #c +10 &[# 6 +9 &$ H +9 &g# G +10 &g" G +9 &Zg" G +10 &f" G +9 &g$ G +9 &h$ G +10 &bh" G +9 & $h" G +9 &!g" G +10 &#h# G +9 &%ig" G +9 &',g G +10 &(f G +9 &*g G +10 &,qg G +9 &.3h" G +9 &/f G +10 &1g G +9 &3yg G +9 &5;f G +12 &6e# G +7 &8g! G +10 &:g G +9 &g G +10 &?g G +9 &Ag G +10 &CKi G +9 &E n! H +9 &Fs H +10 &H J +9 &JD M +9 &L M +10 &M L +9 &O L +10 &QL M +9 &S M +9 &T M +10 &V M +9 &XR M +9 &Ywy "k +10 &Z+y! . +9 ( + &Z ! +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&.% +4 "core" % $ < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +101 "core" ' + "processing"%R& +5 "core" &Z ! + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ %  D +2 "storage"(4% +4 "core" %Y ` +2 "storage"(1. +3 "core" .( +2 "storage"(:& +3 "core" &  +3 "storage"(G& +3 "manipulator"&& +6 "core" &  +2 &g W  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&O(s +5 ."raiseStack"SE.seek :beamBreak + "storage"(B'i +11 "core" ( + "manipulator"&&& +5 "core" &o ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &o +2 .tForearm.seek PC +2 "manipulator"&H' +99 "core" ' + .tHand.close +2 "manipulator"&a/ +59 "core" / +3 .tPC.seek :open +2 "processing"%#( +73 "core" ' + "storage"(\\- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +47 "core" ' +301 ( + "storage"(Q& +4 "core" &  7 +2 "manipulator"&,& +4 "core" &p  + "manipulator"&3% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +243 "core" ( + "manipulator"&X& +3 "core" &  h % +3 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 .tHand.open + "manipulator"&I1 +64 "core" 1 +50 "storage"(2- +4 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +22 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(& +4 "core" & \ G\ G  +2 "manipulator"&;& +3 "core" &  $ +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&s& +4 "core" & $ ( $ +2 "storage"(`& +3 "core" & \ H\ J * +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +59 "core" ' +2 "manipulator"&C& +3 "core" & , $ +2 "storage"([& +4 "core" &  t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K' +26 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +24 "core" ' + "manipulator"&(% +4 "core" %   z +2 "storage"(m& +4 "core" &  v w +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&d' +18 "core" ' +2 "manipulator"&& +4 "core" & Z $ +2 "storage"(E& +3 "core" &  H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +2 "storage"(M% +3 "core" %q f +3 ."downElevator"SE.seek :down +4 "storage"(-'X +98 (c% +3 "core" % U y v - QI +2 "manipulator"&$% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" &   +2 "collection"'l& +4 "core" &Vy * ,^ L +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\    +2 "storage"(@% +4 "core" %a  +2 "storage"(W. +3 "core" .( +2 "storage"(0& +4 "core" &   +2 "storage"(Z& +4 "core" &   + "manipulator"&Y& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&q& +4 "core" &  V $ +2 "storage"(i& +4 "core" &  ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&}'ќ +94 "core" ' +2 "storage"(r& +4 "core" &  X +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +281 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  $ +2 "storage"(5& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&L' +22 "core" ' +2 .tElbow.hold + "manipulator"&V, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(^'M +27 "core" ' +2 "manipulator"&v% +3 "core" %  +2 "storage"(& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&w' +19 "core" ' +2 "manipulator"&]& +4 "core" &  I $ +2 "storage"(S& +51 "core" &   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&"'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('< +36 "core" ' +2 "manipulator"&\ & +3 "core" &  $ +3 "manipulator"&% +3 "core" %|  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +152 "core" ( +2 "manipulator"& & +4 "core" && % G =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &&  =A +3 .tForearm.seek CC +2 "manipulator"&y'" +93 "core" ' +2 .tHand.close + "manipulator"&7/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(z& +4 "core" &  + "storage"(n& +5 "core" &   + "manipulator"&/& +4 "core" &% <@ +2 "manipulator"& % +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&b'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +3 "core" & X  +2 "storage"(& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&6' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&U% +4 "core" % % = + "storage"(!& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&h' +20 "core" ' + "manipulator"& & +4 "core" & b  +2 "storage"(u& +3 "core" &  d +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +36 "core" ' + "storage"(j% +4 "core" %:   +3 ."downElevator"SE.seek :down +3 "storage"(e'X +99 (*% +3 "core" %R PF +2 "manipulator"&% +4 "core" %Ѹ Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +86 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'|& +4 "core" &  2 +2 "manipulator"& % +4 "core" %\    + "storage"('% +4 "core" %[ B +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(N( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & O  +2 "manipulator"&.& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&R( +14 "core" ( + "manipulator"&& +3 "core" &  H i +3 "storage"(4& +4 "core" & w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +97 "core" ' +2 "storage"(_& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +289 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &  +2 "manipulator"&&& +52 "core" &  i +2 .tElbow.seek 3 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&+& +4 "core" & ; i +2 "storage"(a& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"(~'X +8 "core" & D i +2 "manipulator"&B% +4 "core" % Ϣ  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&3& +3 "core" &# . * :- +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &# :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'" +105 "core" ' +3 "manipulator"&<& +4 "core" &#  9 :- +2 "manipulator"&O% +4 "core" %  0 +2 "collection"'I& +3 "core" &  s +3 "collection"'2& +5 "core" &  q +3 .tCC.seek :closed +3 "collection"'J(V +3 "core" &  r +6 &  q : +9 &JO  q 0 +9 &~  u D +10 &Kh  s G +9 &e  m F +9 &g  r F +10 &j  o F +9 &Ue  p F +10 &h  u F +9 &j  r F +9 &k  r G +10 &!]j  r F +9 &#f  s G +9 &$g  o F +10 &&f  r F +9 &(ej  q F +10 &*'j  t F +9 &+e  p G +9 &-h  q G +10 &/me  i F +9 &1.f  f G +9 &2h  a G +10 &4f  f F +9 &6uj  r F +10 &87e  t F +9 &9e  m F +9 &;g  e F +10 &=~g  ] F +9 &?>h  Y G +10 &Ae  g F +9 &Bk  a G +9 &Dk  c G +10 &FCr $ "i H +9 &H| 4 /a I +9 &I 9 ?f L +10 &Kq 1 4b P +9 &M0 0 2w Q +9 &N / /h P +10 &P / 2k Q +9 &Rw . 0q Q +10 &T6 - 0a R +9 &Ut / 0c B +9 &V , /l &o +10 &V , /g L +5 ( +2 "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&A1 +3 "core" &Vy , 1f L +54 1 + "manipulator"&% +5 "core" %  % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%s& +3 "core" & +2 "manipulator"&`% +5 "core" %\ #  : + "storage"(C% +4 "core" %\\ +2 "storage"([. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"((& +3 "core" & w  +3 "manipulator"&m& +4 "core" &"  E :- + "manipulator"&o% +5 "core" %\ # : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +161 "core" ( + "manipulator"&E& +4 "core" &  q | +2 "storage"(M& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' +2 "storage"(& +4 "core" & 2  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(k'i +283 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &   +2 "manipulator"&>& +4 "core" & | +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&p& +3 "core" & N | +2 "storage"(K& +4 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&d'ϩ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"('X +8 "core" & L | +2 "manipulator"&@% +4 "core" % ϩ  - +50 .tForearm.seek :retract +3 "manipulator"&='\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W(s +114 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +127 "core" ( +3 "manipulator"&0& +3 "core" &| I +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &|  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y' +94 "core" ' +2 "manipulator"&q& +4 "core" &| $ l +2 "manipulator"&i% +3 "core" % u . +3 "processing"%& +4 "core" &# +2 "processing"%r& +5 "core" & +3 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &" +8 &>! #b +9 &\\# 6 +9 &" H +10 &g" G +9 &g$ G +10 &^c# G +9 & f G +9 &h# G +10 &h$ G +9 &fj" G +9 & )h! G +10 &!f% F +9 &#g$ G +10 &%ng# G +9 &'1g$ G +9 &(g# G +10 &*g# G +9 &,vj$ G +9 &.8g# G +10 &/f# G +9 &1f# G +10 &3f# G +9 &5@e$ G +9 &7g# G +10 &8g G +9 &:f" G +9 & f# G +9 &?f# G +10 &Ac$ G +9 &COi# G +9 &Ek! G +10 &Fs! H +9 &H" J +9 &JH# M +10 &L\  M +9 &M! M +10 &O" L +9 &QO M +9 &S M +10 &T! M +9 &V M +9 &XV M +10 &Ywx "j +9 &Z)o" + +9 ( +3 "processing"%r& +2 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&%1 +52 "core" 1 +2 "manipulator"&% +4 "core" %  @ . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&5% +4 "core" %\  G . +2 "storage"( % +3 "core" %b f +2 "storage"(v. +3 "core" .( +2 "storage"(& +3 "core" &  +3 "storage"(]& +2 "manipulator"&S& +8 "core" &  + &|  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&\ (s +7 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( +2 "manipulator"&}& +4 "core" &| o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &| ] +3 .tForearm.seek PC +2 "manipulator"&T' +95 "core" ' + .tHand.close +2 "manipulator"&L/ +54 "core" / +2 .tPC.seek :open +2 "processing"%w( +96 "core" ' +2 "storage"(^- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +46 "core" ' +279 ( +2 "storage"()& +3 "core" & M  +2 "manipulator"&"& +4 "core" &|  +2 "manipulator"&V% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +263 "core" ( + "manipulator"&8& +5 "core" & B +2 "storage"(z& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +101 "core" ' + .tHand.open +2 "manipulator"&/1 +64 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +3 "storage"(t& +51 "core" & M K !  +3 "manipulator"&& +5 "core" & +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&!& +4 "core" &  +2 "storage"( & +4 "core" & x\ h  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +17 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(j' +59 "core" ' + "manipulator"&b& +5 "core" &  + "storage"(*& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +3 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(6'i +23 "core" ' +2 "manipulator"&h% +4 "core" %΄  +2 "storage"(|& +3 "core" & S  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"& 'ϰ +21 "core" ' +2 "manipulator"&'& +4 "core" & [ +2 "storage"(D& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(x% +3 "core" %n \\ +4 ."downElevator"SE.seek :down +4 "storage"(e'X +97 (?% +3 "core" %bW b b QJ +2 "manipulator"&% +5 "core" %D  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +93 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  +2 "collection"'4& +4 "core" &Vy ) +g L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&_% +4 "core" %\   $ +2 "storage"({% +5 "core" %R U + "storage"(F. +3 "core" .( +2 "storage"(& +3 "core" &  +3 "storage"(G& +4 "core" & X  + "manipulator"&&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&+( +4 "core" ( + "manipulator"&a& +4 "core" & $ 5 +2 "storage"(& +4 "core" & Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +93 "core" ' +2 "storage"(B& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +282 "core" ' + "storage"(1- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & B +2 "storage"(H& +4 "core" & p  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&:'} +25 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(O'O +28 "core" ' +2 "manipulator"&I% +4 "core" %΍  +2 "storage"(f& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&~'Ϲ +20 "core" ' +2 "manipulator"&Q& +3 "core" & P +2 "storage"(& +4 "core" & K  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +37 "core" ' +2 "manipulator"&s& +5 "core" & i +2 "manipulator"&`% +5 "core" % +43 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +156 "core" ( +2 "manipulator"&& +4 "core" &" % 9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &2& +3 "core" &"  9' +2 .tForearm.seek CC +2 "manipulator"&('" +96 "core" ' +2 .tHand.close +2 "manipulator"&m/ +53 "core" / +2 .tCC.seek :open +2 "collection"'o( +416 "core" ( +2 "storage"(X& +4 "core" & -  + "storage"(E& +5 "core" & l  + "manipulator"&M& +4 "core" &! " 8" +2 "manipulator"&% +4 "core" % /  +3 .tForearm.seek :retract +2 "manipulator"&,'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&;( +166 "core" ( +2 "manipulator"&c& +3 "core" &  d +2 "storage"($& +5 "core" & $  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&>'} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&9% +4 "core" % ΀ $ W +2 "storage"(l& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&@'Ϭ +20 "core" ' +6 "manipulator"&& +3 "core" & k d +2 "storage"(& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +32 "core" ' + "storage"(d% +4 "core" %G n +3 ."downElevator"SE.seek :down +3 "storage"(0'X +100 (Z% +3 "core" %+S $ PG +2 "manipulator"&% +4 "core" %3 [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +88 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'i& +3 "core" &  E +2 "manipulator"&% +4 "core" %\    +2 "storage"(% +3 "core" %\\ +2 "storage"(=. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(#( +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" & ; +2 "manipulator"&& +4 "core" &  d +3 .tElbow.seek 2 + "manipulator"&( +31 "core" ( +2 "manipulator"&5& +3 "core" & f f +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&v'ќ +103 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +279 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (r& +2 "core" & } 1 +2 "manipulator"&}& +5 "core" &  d + .tElbow.seek 2 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&Y& +4 "core" & 2 d +2 "storage"(L& +4 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +32 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +50 "manipulator"&W/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(-'X +9 "core" & m d + "manipulator"&% +5 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&"( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&V& +5 "core" & = 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&8'" +98 "core" ' +2 "manipulator"&z& +3 "core" &!  O 8 +3 "manipulator"&\ % +3 "core" %   +3 "collection"'/& +4 "core" &  s +2 "collection"' & +5 "core" &  I +3 .tCC.seek :closed + "collection"'y(V +5 "core" &  r  +8 &6  l )w +10 &k  s = +9 &s  r G +9 &og  t G +10 &2d  l F +9 &f  p F +10 &g  q F +9 &wh  r G +9 &;f  i F +10 &j  n F +9 & k   G +9 &"j  m G +10 &$Bj  w F +9 &&g  w G +10 &'h  v G +9 &)f  y F +9 &+Jf  y F +10 &- e  | F +9 &.k  } F +9 &0m  w G +10 &2Rh  y F +9 &4e  v F +10 &5f  l F +9 &7e  u F +9 &9Zj  l F +10 &;j  r F +9 &<k  o F +9 &>k  h F +10 &@ah  n G +9 &B#h  u G +10 &Cl  { F +9 &En  v G +9 &Gc~ , + I +10 &I" > :{ J +9 &J 4 8{ O +9 &L 0 2| P +10 &NU / 0z P +9 &P / 1| Q +10 &Q . 2y Q +9 &S - 0{ R +9 &UW 0 0z E +10 &VrG 0 0y 'u +9 &Vy . /F J +2 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&t1 +59 "core" 1 +3 "manipulator"&7% +3 "core" %  $ 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%!& +4 "core" & + "manipulator"& % +4 "core" %\ #  - B +2 "storage"(b% +4 "core" %` +2 "storage"(*. +3 "core" .( +2 "storage"( & +4 "core" &  +2 "storage"(& +4 "core" & ~ + "manipulator"&h& +5 "core" &   8 + "manipulator"&|% +4 "core" %\ #   B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +163 "core" ( + "manipulator"&D& +4 "core" &  T  +2 "storage"(x& +4 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +102 "core" ' + "storage"(n& +4 "core" & > +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & R +2 "manipulator"&u& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(& +3 "core" & % +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(_'X +8 "core" &  +2 "manipulator"&6% +4 "core" %  G ` +2 .tForearm.seek :retract + "manipulator"&{'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +4 "manipulator"&& +4 "core" &z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +96 "core" &z /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek PC +2 "manipulator"&&' +102 "core" ' + "manipulator"&a& +5 "core" &z  +2 "manipulator"&% +4 "core" % _ b +2 "processing"%& +3 "core" &* +3 "processing"%B& +5 "core" & +3 .tPC.seek :closed +2 "processing"%e(Z +4 "core" &$ +8 &>, #c +9 &[* 6 +9 &% H +10 &e$ G +9 &h" G +9 &Yg! G +10 &f" F +9 &g# G +10 &g G +9 &`g# G +9 & "h% G +10 &!g& G +9 &#g* G +9 &%ig$ G +10 &'+g( G +9 &(i+ G +10 &*g" G +9 &,pg! G +9 &.2h" G +10 &/g! G +9 &1g# G +9 &3yf G +10 &5:i( G +9 &6f- G +10 &8f# G +9 &:e G +9 &g# G +9 &?g" G +9 &Af" G +10 &CJi# G +9 &E\ o$ H +10 &Fv" I +9 &H# J +9 &JC! L +10 &L" L +9 &M# L +9 &O" L +10 &QJ! M +9 &S $ M +10 &T M +9 &V# M +9 &XP# M +10 &Ywy# "k +9 &Z,x / +9 ( + &Z " +2 "processing"%B& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&.% +4 "core" %  a b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +93 "core" ' +2 "processing"%3& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&H% +3 "core" %\  q  +3 "storage"(<% +3 "core" %V  +2 "storage"(I. +3 "core" .( +2 "storage"(f& +4 "core" &  +2 "storage"(Q& +3 "manipulator"&& +5 "core" & K +2 &z   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +6 "manipulator"&s(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'i +2 "core" ( +2 "manipulator"&P& +5 "core" &z C  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &z   +2 .tForearm.seek PC +2 "manipulator"&R' +96 "core" ' +2 .tHand.close + "manipulator"&:/ +63 "core" / +2 .tPC.seek :open + "processing"%~( +87 "core" ' +2 "storage"(O- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +302 ( +3 "storage"(2& +4 "core" &  +2 "manipulator"&A& +4 "core" &z   + "manipulator"&\\% +5 "core" % L +2 .tForearm.seek :retract + "manipulator"&m'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +263 "core" ( +2 "manipulator"&J& +4 "core" &  <  +2 "storage"(X& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +98 "core" ' +2 .tHand.open +2 "manipulator"&M1 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"($' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +3 "core" -' +2 "storage"([& +3 "core" & M L [ +3 "manipulator"&K& +4 "core" & 2  +2 .tElbow.seek 2 + "manipulator"&9( +4 "core" ( +2 "manipulator"&l& +3 "core" &  d  +2 "storage"(& +4 "core" & N K h +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +47 "storage"(d' +61 "core" ' +2 "manipulator"&,& +4 "core" &  +2 "storage"(Z& +4 "core" & 9 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'i +28 "core" ' +2 "manipulator"&@% +4 "core" %  +2 "storage"(i& +4 "core" & e + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&& +4 "core" &  X  +2 "storage"(=& +5 "core" & S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +26 "core" ' +3 "storage"(k% +3 "core" %l S +3 ."downElevator"SE.seek :down +4 "storage"(0'X +98 (N% +3 "core" %U S QI +2 "manipulator"&%% +5 "core" %ѫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +3 "core" & [ +2 "collection"' & +4 "core" &Vu ) +o J +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +5 "core" %\    +2 "storage"(p% +3 "core" %b 8 +2 "storage"(q. +3 "core" .( +2 "storage"(]& +3 "core" & +3 "storage"(r& +3 "core" & M +2 "manipulator"&}& +3 "core" &   +3 .tElbow.seek 2 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&L& +4 "core" &  s  +2 "storage"(W& +4 "core" & W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' + "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &  +3 "storage"(T& +4 "core" & ) + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&S' +29 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(\ 'M +40 "core" ' +2 "manipulator"&/% +4 "core" % F ` +2 "storage"(g& +3 "core" & u +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&-' +20 "core" ' + "manipulator"&)& +5 "core" &  + "storage"(o& +4 "core" & % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&t'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(7'< +39 "core" ' +2 "manipulator"&!& +4 "core" & R  +2 "manipulator"& % +3 "core" %Ѥ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +86 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +158 "core" ( + "manipulator"& & +4 "core" &* $ @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &*  0 @Z +3 .tForearm.seek CC + "manipulator"&'" +136 "core" ' +9 .tHand.close + "manipulator"&h/ +53 "core" / +2 .tCC.seek :open +2 "collection"'|( +412 "core" ( +2 "storage"(8& +3 "core" &  +3 "storage"(D& +4 "core" &  +2 "manipulator"&x& +3 "core" &* @Z +2 "manipulator"&n% +5 "core" % / +2 .tForearm.seek :retract + "manipulator"&"'\ +107 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&?& +3 "core" & 2  +2 "storage"(& +5 "core" & f +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&u' +102 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +5 "core" % % m 8 +3 "storage"(4& +4 "core" & ` +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&6' +20 "core" ' +2 "manipulator"&'& +3 "core" & ~  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 "storage"( % +3 "core" %@ n +4 ."downElevator"SE.seek :down +3 "storage"('X +98 (U% +3 "core" %ET  PF +2 "manipulator"&G% +5 "core" %ў +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +91 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'a& +4 "core" &  h +2 "manipulator"&% +3 "core" %\   ! +2 "storage"(% +4 "core" %\\ z +2 "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(w( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & @  +2 "manipulator"&.& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&3( +14 "core" ( +2 "manipulator"&H& +3 "core" &  > r +2 "storage"(<& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +100 "core" ' +2 "storage"(f& +4 "core" & k  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & )  +2 "manipulator"&P& +4 "core" & e r +2 .tElbow.seek 3 +2 "manipulator"&+( +4 "core" ( + "manipulator"&&& +4 "core" & Q r +2 "storage"(:& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'ϩ +13 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&1& + "storage"(e'X +8 "core" & r +2 "manipulator"&`% +4 "core" % ϧ  0 +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +148 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&\\& +4 "core" && ' U =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &&  =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +103 "core" ' + "manipulator"&X& +5 "core" && % | =F + "manipulator"&s% +6 "core" %  - +3 "collection"'M& +5 "core" &  m +2 "collection"'& +5 "core" &  D +2 .tCC.seek :closed +2 "collection"'((V +4 "core" &  o  +9 &8  w *x +9 &k  r = +10 &t  r G +9 &e  m F +9 &@k  x F +10 &j  r F +9 &j  v G +10 &h  { F +9 &Hf  z F +9 &\ e  } F +10 & k  | F +9 &"g   G +9 &$Oi   G +10 &&e   F +9 &'j   F +10 &)j   F +9 &+Wj   G +9 &-h   G +10 &.h   G +9 &0j   G +10 &2`e  x F +9 &4"k   F +9 &5k  ~ F +10 &7h   G +9 &9hh   F +9 &;)f   G +10 &<k   F +9 &>k  ~ F +9 &@pk   F +10 &B2k   F +9 &Cl  { F +10 &Em ! | G +9 &Gr} , )} H +9 &I1 < :| I +10 &J 2 6z N +9 &L 0 2 P +9 &Ne / / P +10 &P$ . 0 Q +9 &Q . /~ Q +10 &S . / R +9 &Ue - . ? +9 &VJ . .} X +10 &V)= - / 'v +9 &WY + /| D +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&[1 +56 "core" 1 +3 "manipulator"&K% +4 "core" %  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &0 +2 "manipulator"&m% +3 "core" %\    +2 "storage"(,% +5 "core" %b  + "storage"(Z. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(c& +4 "core" &   + "manipulator"&@& +5 "core" &&  7 =F + "manipulator"&i% +5 "core" %\   x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +161 "core" ( + "manipulator"&=& +3 "core" &  H t +3 "storage"(C& +4 "core" & 2  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +100 "core" ' +2 "storage"(k& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +280 "core" ' + "storage"(N- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" & /  +2 "manipulator"&& +3 "core" &  t +2 .tElbow.seek 3 +2 "manipulator"&9( +4 "core" ( + "manipulator"&d& +4 "core" & W t +2 "storage"(& +4 "core" & 5  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"('X +8 "core" & t + "manipulator"&p% +5 "core" % ϫ +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +4 "manipulator"&]& +3 "core" &g  X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &g  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&}' +103 "core" ' +2 "manipulator"&L& +3 "core" &g  q +2 "manipulator"&W% +5 "core" % X +2 "processing"%& +4 "core" &: +2 "processing"%& +5 "core" &+ +3 .tPC.seek :closed + "processing"%0(Z +57 "core" &3  +3 &60 )u + &i1 < + &y% G + &if+ G + &+g/ G + &g& G +4 &h" G +9 &qj# G +10 &3g$ G +9 &h% G +9 & f! F +10 &"yg! G +9 &$<e" G +10 &%g" G +9 &'k( G +9 &)h! G +10 &+Cg, G +9 &-g. G +9 &.j$ G +10 &0h* G +9 &2Lg- G +10 &4 d) G +9 &5g! G +9 &7f+ G +10 &9Sj% G +9 &;f+ G +9 &<g) F +10 &>g" G +9 &@\\g# G +10 &Bj! G +9 &Cj% G +9 &Ek# H +10 &G]w$ I +9 &I# K +9 &J" L +10 &L# L +9 &N[# M +10 &P# M +9 &Q$ L +9 &S M +10 &Ud" L +9 &W#$ M +9 &X" M +10 &Z7Ec# %l +9 &Z /" " +6 ( + "processing"%& +4 "core" &Z# " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open + "manipulator"&;1 +60 "core" 1 + "manipulator"&% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 "processing"%V& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&T% +4 "core" %\ $ v D +2 "storage"(z% +4 "core" %]  +2 "storage"(/. +3 "core" .( +2 "storage"(g& +4 "core" & b  +2 "storage"()& +3 "manipulator"&o& +7 "core" &   + &h  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&!(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +4 "core" ( + "manipulator"&& +5 "core" &l S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &l ( w +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&S/ +55 "core" / +3 .tPC.seek :open +2 "processing"%-( +90 "core" ' +2 "storage"(\ - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +32 "core" ' +298 ( + "storage"( & +4 "core" & n  +2 "manipulator"&t& +3 "core" &l  +2 "manipulator"&^% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&h'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&b( +241 "core" ( +2 "manipulator"&y& +4 "core" &\  v X +2 "storage"(8& +3 "core" & x  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +96 "core" ' +2 .tHand.open + "manipulator"&x1 +60 "core" 1 +2 "storage"(n- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(?'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +4 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(*& +4 "core" & V P L  +2 "manipulator"&& +4 "core" &\  X +2 .tElbow.seek 3 +2 "manipulator"&( +5 "core" ( +2 "manipulator"&4& +4 "core" & ! U ? + "storage"('& +5 "core" & K L +  +2 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' +2 "manipulator"&"& +4 "core" &  ? + "storage"(U& +5 "core" & y  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&G'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(u'i +23 "core" ' +2 "manipulator"&a% +3 "core" %΄  +2 "storage"(6& +5 "core" & v  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&'ϰ +21 "core" ' + "manipulator"&& +3 "core" & Y ? +3 "storage"({& +3 "core" & _  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&7'9 +28 "core" ' +2 "storage"(% +3 "core" %s q  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (#% +3 "core" %$X QJ +2 "manipulator"&% +5 "core" %> X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" & Y  +2 "collection"'<& +3 "core" &WV ) +Q D +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&f% +4 "core" %\   +2 "storage"(j% +4 "core" %U C +2 "storage"(_. +3 "core" .( +2 "storage"(Q& +4 "core" &  + "storage"(B& +5 "core" &  +2 "manipulator"&P& +4 "core" &  ? +2 .tElbow.seek 3 +2 "manipulator"&&( +19 "core" ( +2 "manipulator"&:& +3 "core" & X  +3 "storage"(F& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +93 "core" ' +2 "storage"(`& +4 "core" & A  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +293 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &   +2 "storage"(& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&R'} +20 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'O +32 "core" ' +2 "manipulator"&s% +4 "core" %΄  +2 "storage"(M& +4 "core" & |  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&e'ϰ +20 "core" ' +2 "manipulator"&2& +4 "core" & F  +2 "storage"(|& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(K'> +40 "core" ' + "manipulator"&& +4 "core" & G  +2 "manipulator"&m% +3 "core" %N $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +158 "core" ( +3 "manipulator"&& +4 "core" &( $ c ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &(  g ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&@/ +65 "core" / +2 .tCC.seek :open + "collection"'i( +416 "core" ( +2 "storage"(J& +3 "core" & S  +3 "storage"(=& +4 "core" &   + "manipulator"&C& +4 "core" &( q ?Q +2 "manipulator"&k% +4 "core" % 3 T  +2 .tForearm.seek :retract +49 "manipulator"&A'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&l( +161 "core" ( +2 "manipulator"&N& +4 "core" & t q +2 "storage"(%& +3 "core" & &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +100 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +3 "manipulator"&5% +3 "core" % ΂ r +3 "storage"( & +4 "core" & o  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&p'Ϯ +20 "core" ' +2 "manipulator"&& +3 "core" & @ q +2 "storage"(E& +69 "core" & p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +47 "core" ' + "storage"(% +4 "core" %D 5 +2 ."downElevator"SE.seek :down +4 "storage"(]'X +99 (r% +3 "core" %R A PF +2 "manipulator"&9% +4 "core" %/ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +87 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +5146 "Can"- 2i: +8402 #t-> access 2 +3 "storage"(W% +3 "core" %a y +2 "manipulator"&% +4 "core" %\    + "manipulator"&& +4 "core" &  q +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +970 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& +2 "core" &K 8  +1139 #t-> access 3 +2 "storage"(;% +3 "core" %a Z +2 "manipulator"&% +4 "core" %\    +2 "manipulator"&V& +3 "core" & \\ q +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(T([ +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &[ h  +1650 #t-> access 2 +2 "storage"(/% +3 "core" %a c +2 "manipulator"&% +3 "core" %\  F  +3 "manipulator"&g& +3 "core" & I q +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"()(K +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +3 "core" &K a @1735656139.00EST = =tMAIN =mMAIN_scheduler @EST1735656139.69 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@28024 receive with ifg=0x10, ie=0xFD + #@28669 receive with ifg=0x10, ie=0xFD + #@29325 receive with ifg=0x10, ie=0xFD + #@29970 receive with ifg=0x10, ie=0xFD + #@30617 receive with ifg=0x10, ie=0xFD #@31263 receive with ifg=0x10, ie=0xFD + #@31910 receive with ifg=0x10, ie=0xFD + #@32236 receive with ifg=0x80, ie=0xFD #@63293 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +353 "Can"( 1  + ( 1  + #tPolling Can every 10:00 +456 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %   +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %X +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % z +3 .tSS.configure :default +2 "sampler")#.0X Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%2& +3 "core" &C +2 .tHand.open +2 "manipulator"&31 +20 "core" 1 +2 "manipulator"&4& +4 "core" & ] q + "manipulator"&5% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(, +174 "core" ( + "manipulator"&7& +4 "core" &, S 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &,  9 +3 .tForearm.seek :garage +2 "manipulator"&9'Ϧ +102 "core" ' +2 .tHand.close + "manipulator"&:/ +57 "core" / +2 "manipulator"&;& +4 "core" &, $ L 9 + "manipulator"&<% +4 "core" % ϸ   +2 .tForearm.seek :retract + "manipulator"&='\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&>(s +120 "core" ( +2 "manipulator"&?& +4 "core" &n  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +100 "core" ' +2 "manipulator"&B& +4 "core" &n  P +2 "manipulator"&C% +3 "core" % g +3 "processing"%D& +4 "core" &X +2 "processing"%E& +5 "core" &H +2 .tPC.seek :closed +2 "processing"%F(Z +4 "core" &E +7 &?2 #b +10 &[F 6 +9 &L H +9 &jK G +10 &mL G +9 &WmI G +9 &gK G +10 &hJ G +9 &jK H +10 &`hL G +9 & mK H +9 &!jK G +10 &#jK G +9 &%fnK H +9 &')kK G +10 &(hK G +9 &*lK G +10 &,ohK G +9 &.1iJ G +9 &/kK G +10 &1lE H +9 &3vjH H +10 &58jJ H +9 &6iK H +9 &8gJ G +10 &:fJ G +9 &lK G +10 &?gL G +9 &AgK G +9 &CIkK G +10 &E oA H +9 &FyE I +10 &HE K +9 &JDF L +9 &LF M +10 &MN M +9 &OJ M +9 &QJE M +10 &S L M +9 &TI M +10 &VK N +9 &XOF N +9 &YwyK !i +10 &Z-~G 0 +9 ( + &ZC ! +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 + "processing"%G& +3 "core" &ZW ! +2 .tHand.open +2 "manipulator"&H1 +58 "core" 1 + "manipulator"&I% +4 "core" % % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +97 "core" ' +402 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&K& +3 "core" &n  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&L(s +4 "core" ( + "manipulator"&M& +4 "core" &n  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &n : +2 .tForearm.seek PC +2 "manipulator"&O' +102 "core" ' +2 .tHand.close + "manipulator"&P/ +55 "core" / +2 .tPC.seek :open +2 "processing"%Q( +435 "core" ( +2 "manipulator"&R& +4 "core" &n  + "manipulator"&S% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&U(, +130 "core" ( +2 "manipulator"&V& +4 "core" &,  ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&X'Ϧ +111 "core" ' +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 + "manipulator"&Z% +5 "core" % ϥ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +103 "core" ' +1525 #t-> exit +7 #mEXIT @1735656209.74EST @1735656294.80EST = =mMAIN_scheduler =tMAIN @EST1735656295.50 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@25189 sendCRC with ifg=0x20, ie=0x7F + #@27023 sendCRC with ifg=0x08, ie=0x5F + #@50477 idle with ifg=0x84, ie=0x75 + #@51161 select with ifg=0x10, ie=0xF5 #@51808 receive with ifg=0x10, ie=0xFD + #@52454 receive with ifg=0x10, ie=0xFD #@53101 receive with ifg=0x10, ie=0xFD + #@53428 receive with ifg=0x80, ie=0xFD + #@6804 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can"( ?\  + ( ?\  + #tPolling Can every 10:00 + #Cleanly exited at 09:43:29EST31-Dec-24 +5 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +6 #Preparing to sleep until + 00:00:05 +4 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@09:45:02, 39% flow, 21.0C, 26% humidity, 14.6psia, 14.902V, 0.331A, 0.249Ah, 4.93W",Subject: "standAloneWCR_4 begun" +4 #tAsleep til + 00:00:05 +2 #Continuing at 09:45 +2 "Can"( >\  +22 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +229 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@09:45:02, 39% flow, 21.0C, 26% humidity, 14.6psia, 14.902V, 0.325A, 0.249Ah, 4.84W",Subject: "Asleep until 09:45" +232 "Can"$ \  +10 #tPowering core bus +541 .Gate.power :raw,:ON +3 "sampler") +23 ) +9 "core"  +6 "collection"' +4 ' +6 "core"  +5 "processing"% +5 % +6 "core"  +10 "collection"' 9\ +6 ' 0\ +4 ' -\ +8 "processing"% 9\ +6 % 2\ +4 % *\ +4 % 0\ +8 "sampler")&\ +5 .tCS.configure :default +4 "collection"'#P d@b +5 .tPS.configure :default +3 "processing"%#A d`xb +5 .tSS.configure :default +4 "sampler")#.0X 1}\\nCan@09:45:48, 39% flow, 21.0C, 26% humidity, 14.6psia, 14.926V, 0.250A, 0.254Ah, 3.73W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" + #tStarting initialPurge +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +4 "core" &  X + .tHand.open +2 "manipulator"&"1 +57 "core" 1 +2 "manipulator"&#& +4 "core" & z "{ +2 "manipulator"&$% +3 "core" % \  ` +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +4 "manipulator"&%(, +180 "core" ( +3 "manipulator"&&& +4 "core" &,   2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &, Z 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&('Ϧ +65 #"uploadLog"upsync +36 "core" ' +2 .tHand.close + "manipulator"&)/ +54 "core" / + "manipulator"&*& +5 "core" &, $ o 2 + "manipulator"&+% +4 "core" % Ϩ  " +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&-( +281 "core" ( + "manipulator"&.& +5 "core" &" " 9) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &" 9) +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&0'" +101 "core" ' +2 "manipulator"&1& +3 "core" &" & , 9( +3 "manipulator"&2% +4 "core" %#  +2 "collection"'3& +3 "core" &  W +3 "collection"'4& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'5(V +4 "core" &  `  +9 &7  X )w +9 &l  V > +10 &|{  \\ H +9 &@h  W G +9 &k  _ H +10 &i  d G +9 &h  a H +10 &Gg  ` H +9 &\ i  ` G +9 &h  f H +10 & m  k H +9 &"Pi  f G +9 &$h  ` H +10 &%m  e H +9 &'g  ` H +10 &)Wg  h H +9 &+g  ` H +9 &,h  e G +10 &.j  a G +9 &0_j  f H +9 &2!k  d H +10 &3g  i H +9 &5j  d H +9 &7gk  i H +10 &9)g  e H +9 &:g  X H +10 &<k  a H +9 &>oh  O H +9 &@2h  P G +10 &Ai  P G +9 &Ch  Y H +10 &Evm  R H +9 &G5x ' &Y I +9 &H 6 2[ J +10 &J 7 ?[ N +9 &Lf . 2V P +9 &N& * 0R Q +10 &O * -Y Q +9 &Q + ,P R +10 &Sh + +R R +9 &U( , +U S +9 &Vm? ) -W - +10 &V v * ,U ? +5 ( +2 "collection"'4& +4 "core" &VY ) +T ? +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.79 + "collection"'6& +4 "core" &VY ( )^ ? +2 .tHand.open + "manipulator"&71 +52 "core" 1 +2 "manipulator"&8% +3 "core" %  x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +99 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &VY ' )Z ? + "collection"';% +5 "core" % ( )T +2 .tCSV.dial CSR + "collection"'<  +153 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='q +1332 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +67 "collection"' +9 '>% +37 "core" %q % (K  +9 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'?'5 +599 "core" ' +2 .tCSV.dial :waste + "collection"'@ +151 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'A' +1957 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &VY & *C ? +3 "collection"'C% +3 "core" % ' 'D +2 .tCSV.dial :flush +2 "collection"'D  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2114 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'F +2 'G  +6 "core"  +62  +2 .tCTV.dial :intake + "collection"'H  +69 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2125 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +67 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &VZ &F ? +2 "collection"'L% +3 "core" % $ 'O  +2 .tCSV.dial :flush +2 "collection"'M  +84 "core"  +3 .tCS.seek 5ml + "collection"'N'q +1093 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +49 "core" A +2 "collection"'P% +4 "core" %q $ %M  +2 .tCS.seek 7ml + "collection"'Q' +499 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +6 "core"  +89 +2 .tCTV.dial :air + "collection"'T  +5 "core" +2 .tCS.seek 0ml + "collection"'U' +1489 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'V'2 +691 "core" ' + .tCSV.dial :waste +2 "collection"'W +50 "core" +2 .tCS.seek 0ml +2 "collection"'X' +686 "core" ' +2 "collection"'Y& +3 "core" &VX $ &F ? +2 "collection"'Z% +4 "core" % % &> +2 .tCSV.dial :flush + "collection"'[  +49 "core"  +3 .tCS.seek 3ml + "collection"'\\'2 +693 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'] @ +50 "core" B +2 "collection"'^% +3 "core" %2 & &K  +3 .tCS.seek 5ml + "collection"'_'q +497 "core" ' +3 .tCSV.dial :air + "collection"'` @ +4 "core" A +2 .tCS.seek 0ml +2 "collection"'a' +1107 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml + "collection"'b'2 +695 "core" ' + .tCSV.dial :waste +2 "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d' +696 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +3 "core" &"  9( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" &! $ u 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &! R 9( +2 .tForearm.seek CC +2 "manipulator"&i'" +95 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open + "collection"'k( +416 "core" ( +2 "manipulator"&l& +3 "core" &" 9( +2 "manipulator"&m% +37 "core" % $  +9 .tForearm.seek :retract + "manipulator"&n'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(, +278 "core" ( +2 "manipulator"&p& +3 "core" &,  x  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &, d  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +107 "core" ' +2 .tHand.open + "manipulator"&s1 +60 "core" 1 +2 "manipulator"&t% +4 "core" % Ϩ # P 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 09:49:48EST31-Dec-24\\n{2 => 1}\\nCan@09:45:48, 39% flow, 21.0C, 26% humidity, 14.6psia, 14.926V, 0.250A, 0.254Ah, 3.73W",Subject: "da wcr sampling at most 200ml" +2 #"WCR"Whole Cell Archive sampling 200ml +4 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'v& +4 "core" & # #<  +2 "manipulator"&w% +4 "core" %\    +3 "storage"(x% +3 "core" %S +2 "storage"(y. +3 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"(z( +336 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +4 ({& + #"uploadLog"upsync +5 "core" &  i +2 "manipulator"&|& +4 "core" &, q  +2 "manipulator"&}% +4 "core" %\    +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +172 "core" ( +2 "manipulator"&& +4 "core" &\ Z c +2 "storage"(& +3 "core" &  B +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 "storage"(& +3 "core" &   +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  g +3 "manipulator"&& +3 "core" &  c +3 ."WCR"Elbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&\ & +3 "core" & Y c +2 "storage"(& +5 "core" &   +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +25 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &  c +2 "manipulator"&% +4 "core" %   +38 ."WCR"Forearm.seek :retract +8 "manipulator"&'\ +93 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"& ( +116 "core" ' + ."downElevator"SE.stop + "storage"(5 +37 "core" ( + "manipulator"&& +4 "core" &- 8 Cq +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- ? Cq +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 "manipulator"&& +4 "core" &-  H Cp +2 "manipulator"& % +4 "core" %, Z +2 "collection"'& +3 "core" & #$  +3 "collection"'& +5 "core" & " "  +2 ."WCR"CC.seek :closed +2 "collection"'!(V +4 "core" & " "  +7 &I ! #[ $d +10 &] ! # 7 +9 &( " " H +10 &h # # G +9 &j " $ G +9 &ph ! " G +10 &3i ! #" F +9 &i # # G +9 &g " $a G +10 &yh " "V F +9 & 9i $ #m G +10 &!j #O G +9 &#j ! #2 G +9 &%j # %c G +10 &'Ah " # G +9 &)h " $D F +9 &*h # $T G +10 &,h  $Q G +9 &.Ik # $L G +10 &0 h ! $S G +9 &1i # "C F +9 &3i " "A G +10 &5Rg #4 G +9 &7g " "; G +9 &8g " #8 G +10 &:k ! "7 G +9 &h %? G +9 &?g " #/ G +9 &Ah " #O G +10 &Cbh ! %> G +9 &E#m " #@ G +9 &Fs " #G H +10 &H{ " #G H +9 &J` ! #D J +10 &L # %A N +9 &M " $; Q +9 &O $ $B Q +10 &QU # "D Q +9 &S # $M R +9 &T # $E R +10 &VEh &E / +9 &V{ $ $E 1 +10 &Vc ! $H B +5 ( +2 "collection"'& +3 "core" &VZ %H B +3 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.74 + .Hand.open + "manipulator"&"1 +64 "core" 1 +2 "manipulator"&#% +3 "core" % ,  +3 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&$'\ +99 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")&+ +3 "core" + +2 "sampler")'% +3 "core" % r +2 "collection"'& +4 "core" &VZ # $G B +3 "Can"' H 8 +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")) +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X +21  +2 ."WCR"delay 3.8 seconds +382 "collection"'(% +3 "core" % # %5 +2 "sampler").% +3 "core" %2 +2 #"WCR"Sensor limits: Intake max 131.0psia; Outlet max 122.8psia +2 .SSV.dial :spit + "sampler")/ +120 "core" +2 ."WCR"SS.seek 0ml +2 "sampler")%' +280 "core" ' +2 ."WCR"SSV.dial CBV +2 "sampler")1  +123 "core"  +2 ."WCR"CTV.dial :intake + "collection"'2  +69 "core"  +2 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"', @ + "sampler")3  +8 "core" ?  +2 #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml +3 .Intake.select :open + "sampler") +211 "collection"' % +3 "core" %  7 +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X 7% +4 "core" %T,  +27 "collection"'=% +3 "core" %  $ +2 "sampler")@% +4 "core" %T  +32 "collection"'?% +3 "core" %  \ ; +2 "sampler")B% +3 "core" %T 0 +37 "collection"'C% +3 "core" %  \ @ +2 "sampler")D% +3 "core" %T 0 +42 "collection"'A% +3 "core" % D +2 "sampler")G% +3 "core" %T 0 +47 "collection"'F% +3 "core" %  H +3 "sampler")H% +4 "core" %T 0 + ."WCR"Intake.select :close +2 "sampler")0 +9 )E% +2 "core" %T 0 +2 ."WCR"SSV.dial :exhaust +2 "sampler")J  +68 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")K' +385 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X = 9  +2 "collection"'W% +4 "core" %3 + #"WCR"Intake @10.3psia, vacuum from 4.8 to 7.8psi +2 .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0X 7 ? H +24 "collection"'`% +4 "core" %1 +2 "sampler")_% +4 "core" % @ ? H +27 "collection"'a% +3 "core" %9 +2 "sampler")c% +4 "core" % A @ H +31 "collection"'b% +4 "core" %8 +2 "sampler")e% +4 "core" % D B H +35 "collection"'g% +3 "core" %7 +2 "sampler")h% +4 "core" % G D H +41 "collection"'j% +3 "core" %; +3 "sampler")-% +4 "core" % H F H +46 "collection"'9% +3 "core" %0 +2 "sampler")5% +3 "core" % M K H +54 "collection"'l% +3 "core" %8 +38 "sampler")m% +11 "core" % \\ [ H +18 "collection"'i% +3 "core" %/ +2 "sampler")p% +4 "core" % d c H +69 "collection"'q% +3 "core" %6 +2 "sampler")f% +3 "core" %  ~ H +78 "collection"'s% +3 "core" %  / +3 "sampler")t% +3 "core" % H +88 "collection"'v% +3 "core" %  1 +3 "sampler")w% +4 "core" % H + ."WCR"Intake.select :close +2 "sampler")0 +9 )n% +3 "core" % H +2 ."WCR"SSV.dial :exhaust +2 "sampler")x  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +4 "sampler")y' +917 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")r  + ."WCR"CBV.dial SSV +4 "collection"' @ +4 "core" ? +61  +2 #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml + .Intake.select :open +2 "sampler") +210 "collection"'{% +3 "core" %   + #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.75ml/s +2 "sampler")#.x0X 7% +3 "core" % I +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )=% +3 "core" % I +2 ."WCR"SSV.dial :exhaust +2 "sampler")@  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")?' +874 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")B  +2 "collection"'C @ +5 "core" ? +66 + #"WCR"Allowing 130s for 25.0ml of remaining 125.0ml +2 .Intake.select :open + "sampler") +210 "collection"'D% +3 "core" %   +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X 70X 70X 7% +3 "core" % +2 "sampler")=% +4 "core" % ^ _ C +36 "collection"'@% +3 "core" %  +2 "sampler")+% +4 "core" % l j C +41 "collection"'C% +10 "core" %   +2 "sampler")B% +4 "core" % C +47 "collection"'D% +3 "core" %   +2 "sampler")?% +4 "core" % C +53 "collection"'G% +3 "core" %   +3 "sampler")F% +3 "core" % C +61 "collection"'H% +3 "core" %   +2 "sampler")E% +4 "core" % C +2 ."WCR"Intake.select :close + "sampler")0 +10 )J% +3 "core" % C +2 ."WCR"SSV.dial :exhaust +2 "sampler")7  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")M' +918 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")I  + ."WCR"CBV.dial SSV +4 "collection"'O @ +4 "core" ? +64 +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +211 "collection"'P% +3 "core" %   +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0X 7% +3 "core" %*X ? PI +2 "manipulator"&=% +3 "core" %Ѷ +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&@'\ +95 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +46 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'+& +3 "core" & ! "\\ +3 "manipulator"&C& +3 "core" &4 p +3 "manipulator"&B% +3 "core" %\ " ; +3 .tElbow.seek FlushPuck::Garage + "manipulator"&,(, +171 "core" ( +2 "manipulator"&D& +3 "core" &, h h +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &,  h +3 .tForearm.seek :garage + "manipulator"&G'Ϧ +105 "core" ' + .tHand.close + "manipulator"&F/ +63 "core" / +2 "manipulator"&H& +4 "core" &, # B h +2 "manipulator"&E% +4 "core" % Ϻ s  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&7( +276 "core" ( +2 "manipulator"&3& +3 "core" &%  =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &%  =F +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'" +101 "core" ' +2 "manipulator"&P& +3 "core" && " t =F +2 "manipulator"&M% +4 "core" % = +2 "collection"'S& +4 "core" & "o +3 "collection"'L& +4 "core" &  "f +2 .tCC.seek :closed +2 "collection"'Q(V +3 "core" & !b  +10 & 9  "l *y +9 &$m "l > +9 &n " $o G +10 &g ! $r F +9 &Jg ! $v G +9 & g ! "x F +10 &j ! "u F +9 &g #{ F +10 &Sd " "~ F +9 &j  $w F +9 & g  #x G +10 &"h ! "z F +9 &$\\d !w F +9 &&j " #x F +10 &'h  #{ F +9 &)d ! ${ F +10 &+ch ! # F +9 &-%c !^ F +9 &.i " "~ F +10 &0i ! "x G +9 &2kg ! "v F +9 &4-i " #u F +10 &5g  #~ G +9 &7g " $9 F +10 &9rh " #r G +9 &;5h ! $w F +9 &<e ! #v F +10 &>e # $z F +9 &@{j  #z F +9 &B=j !w F +10 &Cl #v F +9 &En "w G +10 &G~v " " H +9 &I=  # I +9 &J "~ M +10 &L % P +9 &No $} P +10 &P/ " # Q +9 &Q  %} Q +9 &S ! $ R +10 &Uq ! # ? +9 &Vw8 ! $} . +9 &Vc  #| @ +6 ( + "collection"'L& +4 "core" &VW ! #~ @ +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.79 + "collection"'U& +4 "core" &VW $ @ + .tHand.open + "manipulator"&61 +56 "core" 1 +2 "manipulator"&W% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'[& +4 "core" &VW  $ @ +2 "collection"'X% +4 "core" % "{ + .tCSV.dial CSR +2 "collection"']  +58 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'^'q +1333 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '\\% +3 "core" %q ! $x  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'`'5 +592 "core" ' +2 .tCSV.dial :waste +2 "collection"'A +120 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'c' +1950 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'a& +3 "core" &VW ! #} @ +2 "collection"'N% +3 "core" % # # +2 .tCSV.dial :flush +2 "collection"'b  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'_'q +1093 "core" ' +9 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'g @ +50 "core" B +2 "collection"'h% +3 "core" %q " #  +3 .tCS.seek 6.999ml + "collection"'T' +500 "core" ' +6 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'j  +2 '-  +48 "core"  +80  + .tCBV.dial :waste2b +2 "collection"'V  +5 "core"  +2 .tCS.seek 0ml + "collection"'9' +1489 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'5& +3 "core" &VW %q @ +2 "collection"'K% +3 "core" % ! # +2 .tCSV.dial CSR +2 "collection"'m  +47 "core"  +2 #tPulling 7.999ml of CSR.kill + .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'i' +1703 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'d' V +499 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'q +2 'f  +47 "core"  +87  +2 .tCTV.dial :intake + "collection"'s  +69 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'t'^ +1695 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'p  +69 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'w' +574 "core" ' +2 .tCSV.dial CSR + "collection"'v  +92 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'e'q +1339 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'x' V +1336 "core" ' +2 .tCSV.dial CBV + "collection"'n +119 "core" +2 .tCS.seek 0ml +2 "collection"'' +2580 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&r& +5 "core" &%  =F +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&Y( +3 "core" ( + "manipulator"&{& +4 "core" &% " =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &% G =F +3 .tForearm.seek CC + "manipulator"&'" +97 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'R( +416 "core" ( +2 "manipulator"&y& +4 "core" && 2 =F + "manipulator"&}% +3 "core" % , 4 +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(, +282 "core" ( +2 "manipulator"&\ & +3 "core" &, ; 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &, G 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'Ϧ +104 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&% +5 "core" % ϭ ] D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +109 "core" ' + #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 09:45:48 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@10:05:05, 39% flow, 21.4C, 25% humidity, 14.6psia, 14.897V, 0.368A, 0.384Ah, 5.49W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +388 #"uploadLog"upsync +8 #mEXIT @1735657841.98EST @1735657963.65EST = =tMAIN =mMAIN_scheduler @EST1735657964.35 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@52520 sendCRC with ifg=0x20, ie=0x7F #@54355 sendCRC with ifg=0x08, ie=0x5F + #@12347 idle with ifg=0x84, ie=0x75 + #@13027 select with ifg=0x10, ie=0xF5 + #@13676 receive with ifg=0x10, ie=0xFD #@14325 receive with ifg=0x10, ie=0xFD + #@14973 receive with ifg=0x10, ie=0xFD + #@15300 receive with ifg=0x80, ie=0xFD #@8571 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +364 "Can" )\  +  )\  + #tPolling Can every 10:00 +3 #Cleanly exited at 10:10:41EST31-Dec-24 +505 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  " +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +2 "core" % +2 .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +2 "core" %  +2 .tSS.configure :default +3 "sampler")#.0X access 1 +2 "storage"(2% +3 "core" %a ' +2 "manipulator"&3% +4 "core" %\    +2 "manipulator"&4& +4 "core" &, a 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(5(<* +1284 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &<* ;  +2246 #t-> access 2 +2 "storage"(7% +3 "core" %a & +2 "manipulator"&8% +3 "core" %\  z  +2 "manipulator"&9& +4 "core" &, 4 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &K   +255 #t-> exit +6 #mEXIT @1735658028.28EST @1736192790.01EST = =tMAIN =mMAIN_scheduler @EST1736192790.74 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@35656 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +249 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +383 "Can" R5 +  R5 + #tPolling Can every 10:00 +3 #Cleanly exited at 10:13:48EST31-Dec-24 +488 #-> ESP.ready! +3 #Powering core bus +558 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X access 3 +2 "storage"(1% +3 "core" %W N +2 "manipulator"&2% +5 "core" %\ #  s  + "manipulator"&3& +4 "core" &\  3 V +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(4([ +1279 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (5& +2 "core" &[ 4  +759 #t-> require 'shuffle.rb' +2544 #-> 20.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'6& +3 "core" &\   +2 .tHand.open +2 "manipulator"&71 +63 "core" 1 +2 "manipulator"&8% +4 "core" % \ ! # s  +2 "storage"(9% +4 "core" %W r + "storage"(:. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(;( +1602 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &  +2 "manipulator"&=& +4 "core" &\  w V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&>( +2 "core" ( +2 "manipulator"&?& +4 "core" &\ 2 v V +2 "storage"(@& +4 "core" & \ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +90 "core" ' +2 "storage"(B& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +292 "core" ' +2 "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +3 "core" & f +2 "manipulator"&F& +4 "core" &\ & V +2 .tElbow.seek 2 +2 "manipulator"&G( +2 "core" ( +3 "manipulator"&H& +3 "core" &\ & V +2 "storage"(I& +4 "core" & ) +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +25 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +3 "storage"(M'X +7 "core" &\  A V +2 "manipulator"&N% +4 "core" %   E +2 .tForearm.seek :retract +2 "manipulator"&O'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +145 "core" ( +2 "manipulator"&Q& +3 "core" && 1 =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +4 "core" &&  { =B + ' +3 .tForearm.reconfigure :tight +3 ."downElevator"SE.stop +3 "manipulator"&#Q@2^d^\ b +2 "storage"(5 +5 .tForearm.seek CC +2 "manipulator"&S'" +93 "core" ' +2 "manipulator"&T& +3 "core" && 3 I =B +2 "manipulator"&U% +4 "core" %  N  +2 "collection"'V& +4 "core" &\   +3 "collection"'W& +6 "core" &\   +2 .tCC.seek :closed +2 "collection"'X(V +3 "core" &    +40 &8  *x +10 &k   > &~\  H + &Dk   H + &k G +4 &l  H +9 &j  H +10 &Mk  G +9 & k  H +9 &j H +10 & o H +9 &"Sl H +10 &$j G +9 &%m H +9 &'h H +10 &)]j G +9 &+m H +9 &,k H +10 &.n  H +9 &0dl  H +10 &2%m H +9 &3l H +9 &5k H +10 &7jm  H +9 &9,l  H +9 &:k  H +10 &<n H +9 &>ul G +10 &@6k H +9 &An H +9 &Cm H +10 &Eys I +9 &G8.' J +9 &HQD L +10 &J O +9 &Li Q +10 &N*8V Q +9 &O'* S +9 &Q!# R +10 &Sj  S +9 &U," S +9 &Vl<! - +10 &V t A +5 ( +2 "collection"'W& +4 "core" &VN A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&Y1 +64 "core" 1 + "manipulator"&Z% +4 "core" % ) ]  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%\\& +3 "core" &~  +2 "manipulator"&]% +4 "core" %\  q  +2 "storage"(^% +4 "core" %\\  +2 "storage"(_. +2 "core" .( +3 "storage"(`& +3 "core" & ] +2 "storage"(a& +4 "core" & [ +2 "manipulator"&b& +4 "core" && T =B +2 "manipulator"&c% +3 "core" %\  D  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&d( +156 "core" ( + "manipulator"&e& +4 "core" & 2 s  +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +95 "core" ' +2 "storage"(h& +4 "core" & @ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'i +281 "core" ' +2 "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +2 "core" & C +2 "manipulator"&l& +5 "core" & L  + .tElbow.seek 2 +2 "manipulator"&m( +4 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(o& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +56 "core" / +76 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(s'X +7 "core" &  4  +2 "manipulator"&t% +4 "core" %   + F +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&w& +4 "core" &k * * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &k  L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y' +100 "core" ' +2 "manipulator"&z& +4 "core" &k & 3 +2 "manipulator"&{% +4 "core" %  > +2 "processing"%|& +4 "core" &  +3 "processing"%}& +5 "core" &  +2 .tPC.seek :closed +2 "processing"%~(Z +4 "core" &  +8 &Q $d +9 &\\ 7 +10 & H +9 &i H +9 &|m H +10 &>k H +9 &k H +10 &j G +9 &l H +9 &El H +10 & m H +9 &!l H +9 &#o H +10 &%Nm H +9 &'k~ H +10 &(i H +9 &*k H +9 &,Wk G +10 &.l H +9 &/j H +9 &1k H +10 &3^h H +9 &5!j G +10 &6k~ H +9 &8m H +9 &:gj G +10 &<(j~ H +9 &=h H +9 &?k~ G +10 &Anj H +9 &C0m H +10 &Dr H +9 &Fx J +9 &Hm K +10 &J) M +9 &K M +9 &M M +10 &Op| M +9 &Q2| M +10 &R{ M +9 &T M +9 &Vu N +10 &X6 N +9 &Yxx 'y +9 &Z+^v \ # +9 ( +2 &Z t \  +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" % ( T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +3 "core" &Z { \  +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   &  +37 "storage"(% +11 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & r +2 "storage"(& +3 "manipulator"& & +8 "core" & p + &k  F +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +2 "manipulator"&& +4 "core" &k  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &k  _ +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open +2 "processing"%( +84 "core" ' + "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +300 ( +2 "storage"(& +3 "core" & +2 "manipulator"&& +4 "core" &k  / +2 "manipulator"&% +3 "core" %  * +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&\ ( +243 "core" ( +2 "manipulator"&& +3 "core" & 2 U +2 "storage"(& +4 "core" & . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&"'ќ +88 "core" ' +2 .tHand.open + "manipulator" +63 "core" 1 +2 "storage"($- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"('- +3 "core" -' +2 "storage"((& +4 "core" & \ E\ H ! +2 "manipulator"&)& +3 "core" &\  ) U +3 .tElbow.seek 2 + "manipulator"&*( +3 "core" ( +2 "manipulator"&+& +4 "core" &\ 2 y U +2 "storage"(,& +3 "core" & \ J\ H +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(.' +58 "core" ' +2 "manipulator"&/& +3 "core" &\  + U +3 "storage"(0& +3 "core" & W +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&1' +22 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'i +23 "core" ' + "manipulator"&% +4 "core" %  N +2 "storage"(5& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&6' +18 "core" ' +2 "manipulator"&7& +3 "core" &\  Y T +2 "storage"(8& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +27 "core" ' +2 "storage"(:% +3 "core" %m   +3 ."downElevator"SE.seek :down +4 "storage"(4'X +99 (<% +3 "core" %X x 6 QK +2 "manipulator"&=% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (@& +3 "core" &  +2 "collection"'B& +3 "core" &VN  A +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   F + +2 "storage"(% +4 "core" %\\ O + "storage"(D. +3 "core" .( +2 "storage"(& +4 "core" & t +2 "storage"(E& +4 "core" & \\ +36 "manipulator"&F& +11 "core" &  V T +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( + "manipulator"&I& +4 "core" &  u T +2 "storage"(K& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +100 "core" ' + "storage"(N& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'i +279 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &\  I T +2 "storage"(R& +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&C' +25 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(U'O +27 "core" ' +2 "manipulator"&V% +4 "core" %  # e +2 "storage"(G& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&M' +19 "core" ' +2 "manipulator"&O& +3 "core" &\ 3 T +2 "storage"(!& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Y'ќ +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Z'> +36 "core" ' +2 "manipulator"&\\& +5 "core" &\  d T + "manipulator"&]% +4 "core" %ы  o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +155 "core" ( +2 "manipulator"&`& +4 "core" &% ( ? <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &%  # <; +2 .tForearm.seek CC +2 "manipulator"&a'" +96 "core" ' + .tHand.close +2 "manipulator"&b/ +55 "core" / +2 .tCC.seek :open + "collection"'c( +416 "core" ( + "storage"(S& +4 "core" &  +2 "storage"(e& +4 "core" & u +2 "manipulator"&f& +3 "core" &%   ;8 +2 "manipulator"&h% +4 "core" % 0 "  +2 .tForearm.seek :retract +2 "manipulator"&P'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +165 "core" ( + "manipulator"&j& +4 "core" & ]  +2 "storage"(k& +4 "core" & ] +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&l' +97 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&o1 +60 "core" 1 +2 "manipulator"&q% +4 "core" % # ) +2 "storage"(r& +5 "core" & b +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&t' +19 "core" ' +2 "manipulator"&d& +3 "core" & V  +2 "storage"(g& +5 "core" & " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +27 "core" ' +2 "storage"(p% +4 "core" %@  +3 ."downElevator"SE.seek :down +4 "storage"(w'X +100 (x% +2 "core" %V x QI +3 "manipulator"&m% +3 "core" %щ z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'{& +3 "core" & +2 "manipulator"&|% +39 "core" %\ #  3 ; +9 "storage"(s% +5 "core" %^  + "storage"(u. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & 0  +2 "manipulator"&& +4 "core" &  P  +2 .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( + "manipulator"&& +4 "core" & 4 r t +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&}'9 +99 "core" ' + "storage"(& +4 "core" & !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +3 "core" &  t +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&y& +4 "core" & " w t +2 "storage"(& +3 "core" & w  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(~'X +7 "core" & 2 t +2 "manipulator"& % +4 "core" % Ϧ e i +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &# + 8 :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &# " G :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&& +3 "core" &# * X :+ +2 "manipulator"& % +4 "core" %(  B +2 "collection"'#& +4 "core" & +3 "collection"'$& +5 "core" & +2 .tCC.seek :closed +2 "collection"''(V +7 "core" & +4 & ; +10 &XO 0 +9 &} D +9 &Tm G +10 &m H +9 &m G +10 &h H +9 &[l H +9 &k H +10 &g G +9 &k G +9 &!cm H +10 &#&h G +9 &$k H +10 &&j H +9 &(lg G +9 &*.h G +10 &+i G +9 &-l G +9 &/ti G +10 &16j G +9 &2h G +10 &4j G +9 &6{j H +9 &8>g G +10 &9m H +9 &;n H +9 &=j H +10 &?Ek H +9 &Ak H +10 &Bn G +9 &Dm H +9 &FJv\  I +10 &H% J +9 &IXF M +9 &Kzc~ P +10 &M:*4 Q +9 &N# Q +10 &P R +9 &R} R +9 &T= S +10 &Ut B +9 &V #f +9 &W# E +9 ( +2 &WW B +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 + .Hand.open +2 "manipulator"&(1 +55 "core" 1 +2 "manipulator"&)% +3 "core" % ( 8 m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%,& +3 "core" & +2 "manipulator"&% +4 "core" %\ \  (  +2 "storage"(/% +4 "core" %a 3 + "storage"(0. +3 "core" .( +2 "storage"(& +4 "core" & 9  +2 "storage"(& +4 "core" & O  +2 "manipulator"&5& +3 "core" &#  8 :* +2 "manipulator"&%% +4 "core" %\ \  S  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&7( +167 "core" ( +2 "manipulator"&8& +3 "core" & !  +2 "storage"(:& +4 "core" & /  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +96 "core" ' + "storage"("& +4 "core" & #  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +282 "core" ' + "storage"(<- +4 "core" -' +37 .tSE.configure :default +10 "storage"(#QK-0-\ b +3 (=& +3 "core" & M  +2 "manipulator"&-& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&*( +4 "core" ( +2 "manipulator"&.& +3 "core" &  +2 "storage"(1& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"('X +8 "core" &  @  +2 "manipulator"&% +4 "core" % ϭ  + +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(s +161 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &i < L  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &i  #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +96 "core" ' +2 "manipulator"&I& +3 "core" &i 2 o  +2 "manipulator"&K% +4 "core" %  2  +2 "processing"%9& +4 "core" & +3 "processing"%N& +5 "core" & +2 .tPC.seek :closed +2 "processing"%4(Z +3 "core" & +8 &L $d +9 &] 7 +10 &( H +9 &h G +9 &k H +10 &nn H +9 &0m H +9 &h G +10 &k H +9 &vm H +9 & 8n H +10 &!m H +9 &#m H +10 &%~n H +9 &'@n H +9 &)k H +10 &*j G +9 &,h H +10 &.Hj H +9 &0 i G +9 &1j G +10 &3j G +9 &5Pn H +9 &7l H +10 &8j H +9 &:g H +10 &h H +9 &?n H +10 &Aj H +9 &Cak G +9 &E q H +10 &Fx I +9 &H K +10 &J[ L +9 &L L +9 &M M +10 &O M +9 &Qb M +9 &S# M +10 &T N +9 &V N +10 &Xh M +9 &Z yx "j +9 &Z!x 4 +9 ( +3 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&21 +2 "core" &Z & +54 1 +2 "manipulator"&?% +4 "core" % & X  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' + "processing"%Q& +4 "core" &Z & +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&R% +4 "core" %\   "  +2 "storage"(T% +4 "core" %T +2 "storage"(V. +2 "core" .( +2 "storage"(G& +4 "core" &  +2 "storage"(O& +4 "manipulator"&!& +4 "core" & w  +2 &i    +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\\(s +2 "storage"(]'i +4 "core" ( +2 "manipulator"&L& +5 "core" &i  #  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &i   +2 .tForearm.seek PC +2 "manipulator"&>' +94 "core" ' + .tHand.close +2 "manipulator"&C/ +54 "core" / +3 .tPC.seek :open + "processing"%M( +92 "core" ' +2 "storage"(U- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +50 "core" ' +278 ( + "storage"(W& +4 "core" & \\  +2 "manipulator"&Y& +3 "core" &i  (  +2 "manipulator"&J% +4 "core" %  y  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +252 "core" ( +2 "manipulator"&X& +4 "core" & ' Q $ +2 "storage"(S& +4 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +95 "core" ' +2 .tHand.open + "manipulator"&f1 +58 "core" 1 +38 "storage"(h- +11 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +46 "core" ' + #tLights, camera, ACTION! +2 "storage"(a- +3 "core" -' +2 "storage"(_& +4 "core" & V V  +2 "manipulator"&o& +4 "core" &  I "y +2 .tElbow.seek 3 +2 "manipulator"&q( +27 "core" ( +2 "manipulator"&r& +4 "core" & %   +2 "storage"(d& +3 "core" & X Q  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&g'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +56 "core" ' +2 "manipulator"&P& +3 "core" &   +3 "storage"(x& +3 "core" & g  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(l'i +24 "core" ' + "manipulator"&{% +4 "core" %s  6 +2 "storage"(t& +3 "core" & i  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 290 counts +2 "manipulator"&|'ϟ +19 "core" ' +2 "manipulator"&Z& +4 "core" &  +2 "storage"(s& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +28 "core" ' +2 "storage"(i% +3 "core" %s p +3 ."downElevator"SE.seek :down +4 "storage"(w'X +99 (;% +3 "core" %Z \\ QJ +2 "manipulator"&% +4 "core" %H\  G m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 1  +2 "collection"'& +3 "core" &WX  B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\     +2 "storage"(n% +3 "core" %b +2 "storage"(z. +3 "core" .( +2 "storage"( & +3 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&& +5 "core" &  `  +2 .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&& +3 "core" & 1 a  +2 "storage"(v& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 "storage"( & +3 "core" & ,  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &    +2 "storage"(& +4 "core" & ^  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"( 'O +31 "core" ' +2 "manipulator"&#% +4 "core" %}  @ +2 "storage"(& +3 "core" & g  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&~'ϩ +20 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(c& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +18 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"()'> +42 "core" ' +3 "manipulator"&,& +3 "core" & a  +2 "manipulator"&% +4 "core" %! 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +39 .tForearm.seek :retract +9 "manipulator"&/'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +148 "core" ( + "manipulator"&& +4 "core" & 2 Q 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &  h 7 +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&5/ +61 "core" / +2 .tCC.seek :open +2 "collection"'%( +418 "core" ( +2 "storage"(& +4 "core" & o  +2 "storage"(8& +4 "core" & [  +2 "manipulator"&:& +3 "core" & 7 +2 "manipulator"&"% +4 "core" % *  G +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&+( +160 "core" ( + "manipulator"&<& +4 "core" & % A +2 "storage"(=& +4 "core" & O  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&-'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&., +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +63 "core" 1 +2 "manipulator"&@% +4 "core" % ΂ %  +2 "storage"(B& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&7& +3 "core" & +2 "storage"(\ & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +27 "core" ' +2 "storage"(6% +3 "core" %G @ +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (E% +3 "core" %OU j OE +2 "manipulator"&*% +4 "core" %w\  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +94 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'K& +3 "core" & +2 "manipulator"&9% +4 "core" %\ "  i 6 +2 "storage"(% +4 "core" %O  +2 "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" & ^ +2 "manipulator"&?& +3 "core" &  U +2 .tElbow.seek 2 +2 "manipulator"&Q( +30 "core" ( + "manipulator"&R& +4 "core" & 3 " k +2 "storage"(T& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +108 "core" ' + "storage"(G& +4 "core" & < +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +288 "core" ' +2 "storage"(!- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +2 "core" & * +3 "manipulator"&L& +3 "core" &  A k +3 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&F& +3 "core" &  k +3 "storage"(C& +3 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +3 "storage"(4'X +7 "core" &  6 k +2 "manipulator"&]% +3 "core" %   * t +3 .tForearm.seek :retract +2 "manipulator"&W'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +146 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +39 "core" ( +10 "manipulator"&J& +4 "core" &#   :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &# @ :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'" +99 "core" ' +2 "manipulator"&S& +3 "core" &# 4 U :. +2 "manipulator"&\\% +4 "core" %) ! 5 +2 "collection"'f& +4 "core" & +3 "collection"'h& +5 "core" & +2 .tCC.seek :closed +2 "collection"'a(V +5 "core" & +6 &; #b +10 &[ 6 +9 &  H +10 &h G +9 &k H +9 &Ni H +10 &l H +9 &k H +10 &j H +9 &Wk G +9 & h G +10 &!k H +9 &#k H +9 &%_l G +10 &'!k G +9 &(j H +10 &*j H +9 &,gj G +9 &.)g G +10 &/f G +9 &1j G +9 &3nj H +10 &50i H +9 &6j H +9 &8h G +10 &:wg G +9 &<8i H +10 &=k G +9 &?l H +9 &Aj G +10 &C@g H +9 &Er H +10 &Fv J +9 &H~0& K +9 &J6pW N +10 &Ke Q +9 &M&0 Q +10 &Oq" R +9 &Q3 R +9 &R S +9 &T S +10 &VT 8 +9 &V )v +10 &V O +2 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&b1 +57 "core" 1 +3 "manipulator"&_% +3 "core" % ) $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%r& +3 "core" & +2 "manipulator"&d% +4 "core" %\ \  J  +2 "storage"(P% +4 "core" %V ~ +2 "storage"(x. +2 "core" .( +2 "storage"(`& +4 "core" & ^ +2 "storage"({& +4 "core" & g +2 "manipulator"&t& +3 "core" &#  W :- +2 "manipulator"&j% +4 "core" %\ \  5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&Z( +167 "core" ( +2 "manipulator"&s& +3 "core" & $ {  +2 "storage"(i& +4 "core" & H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&^'ќ +94 "core" ' +2 "storage"(e& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'i +279 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"&g& +4 "core" & \  [  +2 .tElbow.seek 2 +2 "manipulator"&q( +2 "core" ( +3 "manipulator"&p& +3 "core" &\   +2 "storage"(m& +5 "core" & @ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &  +2 "manipulator"&n% +3 "core" %   r +3 .tForearm.seek :retract +2 "manipulator"&z'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"& & +3 "core" &u ' ` +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &u  $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' +2 "manipulator"&& +3 "core" &u 1 ? +2 "manipulator"&v% +4 "core" %  Y +2 "processing"%u& +4 "core" & +3 "processing"% & +5 "core" & +2 .tPC.seek :closed + "processing"%w(Z +5 "core" &  +8 &6 )w +10 & j = +9 &y I +10 &dh H +9 &(i G +9 &m H +10 &h G +9 &ni G +9 &0i G +10 &m H +9 & k H +10 &"vl G +9 &$8h G +9 &%j G +10 &'n H +9 &)}h H +9 &+@g G +10 &-h H +9 &.j H +10 &0k H +9 &2Hj G +9 &4 l H +10 &5l G +9 &7g H +9 &9Om H +10 &;h H +9 &<f G +10 &>g H +48 &@Xm G +11 &Bh H + &Cm G +2 &Es H + &GZ| J + &I L +3 &J M +8 &L M +9 &NY M +9 &P M +10 &Q M +9 &S N +10 &U^ N +9 &W  N +9 &X N +10 &Z6Eb %k +9 &Z4 ! +5 ( +2 "processing"% & +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 +2 .Hand.open + "manipulator"&[1 +61 "core" 1 +2 "manipulator"&% +4 "core" % % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %R e +2 "storage"(#. +2 "core" .( +2 "storage"(& +4 "core" & j +2 "storage"(& +3 "manipulator"&c& +8 "core" & l + &u  R +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&,(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&& +3 "core" &u  > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &u  H +3 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%~( +90 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +296 ( +2 "storage"($& +4 "core" & { + "manipulator"&(& +4 "core" &u   +2 "manipulator"& % +4 "core" %   ` +2 .tForearm.seek :retract +2 "manipulator"&5'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&/( +252 "core" ( +2 "manipulator"&'& +3 "core" & ! W  +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +107 "core" ' + .tHand.open +2 "manipulator"&:1 +59 "core" 1 +2 "storage"("- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(0& +3 "core" & \ I\ X k +2 "manipulator"&1& +4 "core" &  K  +2 .tElbow.seek 2 +2 "manipulator"&@( +21 "core" ( + "manipulator"&B& +4 "core" & G  +2 "storage"(7& +3 "core" & \  k +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(6' +56 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(E& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&*' +26 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(-'i +24 "core" ' +2 "manipulator"&% +5 "core" %  + + "storage"(K& +4 "core" & W +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts +2 "manipulator"&9' +19 "core" ' +2 "manipulator"&& +4 "core" &  L  +2 "storage"(D& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +20 "core" ' +2 "storage"(&% +3 "core" %r = +3 ."downElevator"SE.seek :down +3 "storage"('X +100 ( % +40 "core" %X^ z r X RL +10 "manipulator"&2% +4 "core" %ш * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +22 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R& +3 "core" & 8 +2 "collection"'T& +4 "core" &V  O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&G% +3 "core" %\     +2 "storage"(.% +4 "core" %b +2 "storage"(I. +2 "core" .( +2 "storage"(!& +4 "core" &  +2 "storage"(N& +3 "core" &  +2 "manipulator"&L& +4 "core" &  1  +2 .tElbow.seek 2 +2 "manipulator"&F( +4 "core" ( + "manipulator"&C& +4 "core" & ! W  +2 "storage"(3& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +95 "core" ' + "storage"(]& +4 "core" & i +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'i +282 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&O& +3 "core" &  +2 "storage"(U& +3 "core" & M +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(H- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'O +40 "core" ' +2 "manipulator"&\\% +4 "core" %   +2 "storage"(f& +3 "core" & ] +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +3 "manipulator"&4' +20 "core" ' +2 "manipulator"&W& +3 "core" &  +2 "storage"(%& +4 "core" & } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&b'ќ +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(_'> +39 "core" ' + "manipulator"&r& +4 "core" & \  +2 "manipulator"&d% +9 "core" %ѕ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +156 "core" ( + "manipulator"&h& +4 "core" && 6 Y =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" && ! =G +2 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' +2 .tHand.close + "manipulator"&t/ +61 "core" / +2 .tCC.seek :open +2 "collection"'j( +416 "core" ( +2 "storage"(X& +3 "core" & L +2 "storage"(s& +4 "core" & , +2 "manipulator"&i& +3 "core" & #  W :, +2 "manipulator"&e% +4 "core" % +  d +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&o( +166 "core" ( +2 "manipulator"&;& +3 "core" & ! ` y +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&g' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +55 "core" 1 +2 "manipulator"&% +3 "core" % 2 > d +2 "storage"(& +5 "core" & ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&n' +28 "core" ' +2 "manipulator"&Z& +4 "core" &  y +2 "storage"(^& +3 "core" & T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +40 "manipulator"&k'ќ +24 "core" ' +2 "storage"(|% +3 "core" %H  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (% +4 "core" %iU Z QI +2 "manipulator"&q% +4 "core" %њ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'v& +4 "core" &@ +2 "manipulator"&u% +3 "core" %\   "  +2 "storage"(% +4 "core" %P 4 +2 "storage"(z. +2 "core" .( +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(M( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" & 8  +2 "manipulator"&& +4 "core" &  { y +2 .tElbow.seek 3 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +3 "core" & d x +2 "storage"(& +4 "core" & "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&#'9 +96 "core" ' + "storage"( & +4 "core" & D  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +3 "core" &   x +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" &  < x +2 "storage"(& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(w'X +6 "core" &  b x +3 "manipulator"&% +3 "core" % Ϩ  ! +3 .tForearm.seek :retract + "manipulator"&$'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"& & +4 "core" &#   :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &#  7 :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''" +104 "core" ' + "manipulator"&& +4 "core" &# * T :* +2 "manipulator"&,% +4 "core" %  M A +2 "collection"':& +4 "core" & +3 "collection"'"& +5 "core" & +2 .tCC.seek :closed +4 "collection"'(V +3 "core" & +6 & 8 +10 &HL / +9 &z D +9 &>g G +10 &h G +9 &j G +10 &j G +9 &Ej G +9 &j H +10 &h G +9 &k G +9 &!Lj H +10 &#j G +9 &$l G +9 &&i G +10 &(Vj G +9 &*h G +10 &+h G +9 &-h G +9 &/]h G +10 &1 k G +9 &2i G +9 &4j G +10 &6eh G +9 &8'h G +10 &9i G +9 &;l G +9 &=mj G +10 &?0k G +9 &@j G +9 &Bk G +10 &Dun G +9 &F4s H +10 &G! I +9 &IUB M +9 &Kd P +10 &M"7K Q +9 &N%* Q +9 &P"# Q +10 &Rf! R +9 &T'  R +10 &U  3 +9 &V4 W +9 &V R +6 ( +2 "collection"'"& +3 "core" &V Q +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&01 +55 "core" 1 + "manipulator"&1% +4 "core" %  $ 9 A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%B& +3 "core" & +2 "manipulator"&7% +5 "core" %\   r  + "storage"(% +4 "core" %b < +2 "storage"(E. +3 "core" .( +2 "storage"(& +4 "core" & 8  + "storage"(& +4 "core" & 0  +2 "manipulator"&K& +3 "core" &"  m 9) +2 "manipulator"&<% +4 "core" %\   i  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +51 .tElbow.seek 3 + "manipulator"&( +167 "core" ( +2 "manipulator"&D& +3 "core" & " =  +3 "storage"(&& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +99 "core" ' +2 "storage"(8& +3 "core" & c  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & ;  +2 "manipulator"&2& +3 "core" &\  j  +2 .tElbow.seek 3 +2 "manipulator"&@( +4 "core" ( +2 "manipulator"&6& +3 "core" & " g  +2 "storage"(*& +4 "core" & Q  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&9'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +3 "storage"(G'X +7 "core" &  H  +2 "manipulator"&.% +4 "core" % ϳ  X ) +2 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&!& +3 "core" &p 5 \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &p   \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +97 "core" ' +2 "manipulator"&C& +4 "core" &p ( D \ +2 "manipulator"&3% +4 "core" %  @ +2 "processing"%]& +4 "core" & +3 "processing"%)& +4 "core" & +3 .tPC.seek :closed + "processing"%(Z +4 "core" & +7 &D #c +10 &[ 6 +9 & H +9 &h G +10 &k G +9 &Uk H +9 &j H +10 &k G +9 &n H +10 &]k H +9 & h G +9 &!g H +10 &#k G +9 &%el H +9 &''j H +10 &(i H +9 &*h G +9 &,ng G +10 &./h H +9 &/i H +10 &1e G +9 &3uf H +9 &57i H +10 &6k G +9 &8k G +9 &:~g G +10 &<@e G +9 &>f H +10 &?h H +9 &Ae G +9 &CFm H +10 &E n H +9 &Fv J +10 &H K +9 &J@ M +9 &L M +10 &M L +9 &O L +9 &QH M +10 &S  M +9 &T M +10 &V N +9 &XM N +9 &Ywu "k +10 &Z,~ 0 +9 ( + &Z +2 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&+1 +62 "core" 1 +2 "manipulator"&?% +3 "core" % ' W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +2 "processing"%O& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&U% +3 "core" %\   G  +3 "storage"(H% +3 "core" %a 8 +2 "storage"(\\. +3 "core" .( +2 "storage"(f& +4 "core" & O  +2 "storage"(W& +3 "manipulator"&%& +8 "core" & >  + &p  t \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&r(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'i +2 "core" ( +3 "manipulator"&A& +3 "core" &p  H \ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &p \ +3 .tForearm.seek PC +2 "manipulator"&Q' +96 "core" ' + .tHand.close +2 "manipulator"&J/ +64 "core" / +2 .tPC.seek :open +3 "processing"%4( +79 "core" ' +2 "storage"(S- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'y +42 "core" ' +300 ( +2 "storage"(`& +3 "core" & l  +2 "manipulator"&b& +4 "core" &p  O \ +2 "manipulator"&>% +4 "core" %  ` +2 .tForearm.seek :retract +2 "manipulator"&t'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P( +257 "core" ( +2 "manipulator"&a& +4 "core" &  V  +2 "storage"(X& +4 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +98 "core" ' + .tHand.open +2 "manipulator"&i1 +55 "core" 1 +2 "storage"(e- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(;'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(x& +3 "core" &\ E\ D  +2 "manipulator"&m& +4 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&( +21 "core" ( + "manipulator"&& +4 "core" & & %  +2 "storage"(Z& +4 "core" & Z [   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Y' +59 "core" ' +2 "manipulator"&|& +4 "core" &  +2 "storage"(o& +3 "core" & K  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +71 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +22 "core" ' +2 "manipulator"&n% +5 "core" %΄  ) + "storage"(v& +4 "core" & y  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&u'ϰ +19 "core" ' +2 "manipulator"&& +4 "core" & r  +2 "storage"(z& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +28 "core" ' + "storage"(k% +4 "core" %l P  +4 ."downElevator"SE.seek :down +5 "storage"( 'X +98 (% +3 "core" %?[ s s 6 QJ +2 "manipulator"&[% +4 "core" %" z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & F  +2 "collection"'& +4 "core" &Vu Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ #  " < +2 "storage"(p% +4 "core" %\\ I +2 "storage"(. +2 "core" .( +2 "storage"(c& +4 "core" & E  +2 "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  X  +2 "storage"(l& +3 "core" & -  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +99 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +3 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  G  +2 "storage"(& +43 "core" & 4  +9 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(,'O +27 "core" ' +2 "manipulator"&:% +4 "core" %{  +2 "storage"(y& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&w'ϧ +19 "core" ' +2 "manipulator"&$& +4 "core" &  +2 "storage"(j& +4 "core" & /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&0'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(1'> +36 "core" ' +2 "manipulator"&B& +4 "core" &  +2 "manipulator"&7% +4 "core" %7 k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E( +156 "core" ( + "manipulator"&& +4 "core" &# %  :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &# ! h :+ +2 .tForearm.seek CC +2 "manipulator"&"'" +93 "core" ' +2 .tHand.close + "manipulator"&K/ +60 "core" / +2 .tCC.seek :open + "collection"'<( +416 "core" ( +2 "storage"('& +3 "core" & \\  +2 "storage"(D& +4 "core" & =  + "manipulator"&&& +4 "core" &!  # 8 +2 "manipulator"&8% +4 "core" % !  Z +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&5( +169 "core" ( +2 "manipulator"& & +3 "core" &  t S +2 "storage"(\ & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +53 "core" 1 +2 "manipulator"&R% +3 "core" % | ( ; +2 "storage"(T& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&.'Ϩ +20 "core" ' +3 "manipulator"&& +3 "core" &  S +2 "storage"(/& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +30 "core" ' +2 "storage"(9% +3 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (N% +4 "core" %U  QI +2 "manipulator"&@% +3 "core" %7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +96 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'3& +3 "core" & +2 "manipulator"&]% +4 "core" %\ "   ? +2 "storage"(G% +3 "core" %_   +2 "storage"(-. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(~( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +46 "core" &  +5 "manipulator"&?& +3 "core" &  + S +3 .tElbow.seek 2 + "manipulator"&O( +35 "core" ( +2 "manipulator"&U& +3 "core" & ( G "{ +2 "storage"(H& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +87 "core" ' + "storage"(f& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +279 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +3 "core" & +2 "manipulator"&A& +3 "core" &   "{ +2 .tElbow.seek 2 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&L& +3 "core" & O "{ +2 "storage"(J& +4 "core" & Y +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"('X +8 "core" &  S "{ +2 "manipulator"&d% +3 "core" % \  U G +3 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&>& +3 "core" &#  7 ;4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &$  [ ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&a'" +101 "core" ' +3 "manipulator"&X& +4 "core" &$ ! X ;3 +2 "manipulator"&r% +4 "core" %  * +2 "collection"'i& +5 "core" & +2 "collection"'e& +5 "core" & +2 .tCC.seek :closed +2 "collection"'{(V +5 "core" & +7 &A #c +9 &[ 6 +9 & G +10 &e F +9 &k G +9 &Zh G +10 &m G +9 &j G +10 &k G +9 &ci F +9 & #j G +10 &!j G +9 &#j G +9 &%ki F +10 &'+i G +9 &(i F +10 &*j G +9 &,rg G +9 &.4i G +10 &/l G +9 &1j G +9 &3zh G +10 &5;j G +9 &6h G +10 &8j G +9 &:g G +9 &h G +9 &?g G +10 &Ah G +9 &CLi G +9 &E n G +10 &Fv\  H +9 &H% J +9 &JAiN M +10 &Kv P +9 &M.: Q +10 &O|#' Q +9 &Q< $ R +9 &R! R +10 &T  R +9 &V.` * +9 &V% D +9 ( +2 &VB > +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&x1 +61 "core" 1 +2 "manipulator"&m% +3 "core" % 1 J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +3 "core" & +2 "manipulator"&Z% +4 "core" %\ #  Y = +2 "storage"(|% +4 "core" %` 3 +2 "storage"(o. +3 "core" .( + "storage"(h& +4 "core" & b +2 "storage"(;& +4 "core" & _ +2 "manipulator"&n& +4 "core" &#  ] :, +2 "manipulator"&v% +4 "core" %\ # ! ` = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&z& +4 "core" &  n +2 "storage"(P& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +104 "core" ' +2 "storage"(s& +4 "core" & ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +288 "core" ' + "storage"(^- +48 "core" -' +5 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&[& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&Y& +3 "core" &  ) +2 "storage"(& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&u' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +8 "core" &  +2 "manipulator"&p% +4 "core" % \ q J +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( +2 "manipulator"&c& +5 "core" &k B \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k W \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &k   \ +2 "manipulator"&l% +4 "core" %   +2 "processing"%_& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" & +8 &= #c +9 &[ 6 +9 & H +10 &f H +9 &i H +9 &Uh H +10 &h H +9 &g G +10 &m G +9 &^l G +9 & g G +10 &!f G +9 &#e G +9 &%fg G +10 &'(g G +9 &(g G +10 &*g G +9 &,ng G +9 &.0f G +10 &/j G +9 &1j G +9 &3uh H +10 &58h G +9 &6f G +10 &8f G +9 &:~j G +9 &g G +9 &?e G +9 &Ad G +10 &CGm H +9 &Ep H +10 &Fu I +9 &H K +9 &J@ M +10 &L M +9 &M L +9 &O M +10 &QH M +9 &S\  M +10 &T M +9 &V M +9 &XO M +10 &Ywu "k +9 &Z-~ / +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&q1 +2 "core" &Z ! +58 1 + "manipulator"&% +4 "core" % %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 "processing"% & +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   A  +2 "storage"(% +4 "core" %` : +2 "storage"(:. +2 "core" .( +3 "storage"(y& +3 "core" &  +3 "storage"($& +4 "manipulator"&j& +5 "core" & ; + &k  ! \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&B(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(7'i +3 "core" ( +2 "manipulator"&}& +3 "core" &k   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &k ) \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%w( +86 "core" ' + "storage"(,- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +301 ( +2 "storage"(& +3 "core" & +2 "manipulator"&0& +4 "core" &k  m \ +2 "manipulator"& % +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&K'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +290 "core" ( +9 "manipulator"&& +4 "core" &  Y $ +2 "storage"('& +4 "core" & i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +100 "core" ' +2 .tHand.open + "manipulator"&&1 +58 "core" 1 +2 "storage"(8- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +21 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(\ ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"("- +2 "core" -' +2 "storage"(E& +4 "core" & \  [ +2 "manipulator"&*& +4 "core" &   ) # +2 .tElbow.seek 2 +2 "manipulator"&R( +28 "core" ( +2 "manipulator"&T& +3 "core" & " M  +2 "storage"(& +5 "core" & Z [ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(9' +58 "core" ' +2 "manipulator"&(& +4 "core" &  +2 "storage"(N& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&@' +24 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +24 "core" ' +2 "manipulator"&.% +3 "core" %  +2 "storage"(3& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&]' +18 "core" ' +2 "manipulator"&G& +4 "core" & 5  +2 "storage"(-& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +36 "core" ' + "storage"(=% +4 "core" %o   +3 ."downElevator"SE.seek :down +3 "storage"(!'X +99 (M% +3 "core" % Z m QK +2 "manipulator"&+% +6 "core" %ѥ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (U& +4 "core" & , +2 "collection"'H& +3 "core" &VB > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&f% +3 "core" %\  F 5 +3 "storage"(6% +3 "core" %R  +2 "storage"(C. +4 "core" .( + "storage"(%& +4 "core" & ; +2 "storage"(W& +3 "core" & +2 "manipulator"&A& +4 "core" &\  F  +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&J& +3 "core" & ' m  +2 "storage"(I& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +93 "core" ' +2 "storage"(d& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +279 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&>& +4 "core" &   +2 "storage"(Q& +3 "core" & ; +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&)' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(r'O +29 "core" ' +2 "manipulator"&i% +4 "core" %  o +2 "storage"(F& +3 "core" & 5 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&`& +4 "core" & %  +2 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&x'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'> +37 "core" ' + "manipulator"&t& +4 "core" & W  +2 "manipulator"&Z% +5 "core" %Ѣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +154 "core" ( +2 "manipulator"&e& +4 "core" &% 5 V <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &% "  <? +2 .tForearm.seek CC +2 "manipulator"&;'" +97 "core" ' +2 .tHand.close +2 "manipulator"&n/ +61 "core" / + .tCC.seek :open +2 "collection"'v( +413 "core" ( + "storage"(a& +4 "core" &  +2 "storage"(z& +3 "core" & & +2 "manipulator"&P& +4 "core" &#  > :+ +2 "manipulator"&s% +3 "core" % .  2 +3 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&^& +3 "core" &  :  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&[' +104 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +3 "core" % % $ l +2 "storage"(& +4 "core" & < +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&p' +21 "core" ' +2 "manipulator"&& +3 "core" & ^  +2 "storage"(k& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +29 "core" ' + "storage"(u% +4 "core" %G : +3 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (% +3 "core" % V m QI +2 "manipulator"&% +3 "core" %э ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'l& +3 "core" & +2 "manipulator"&_% +4 "core" %\    +2 "storage"( % +4 "core" %a  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(4( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +4 "core" & > + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +14 "core" ( + "manipulator"&& +5 "core" & ( ? } + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +92 "core" ' +3 "storage"(y& +3 "core" & O +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (j& +3 "core" & Y +2 "manipulator"&}& +3 "core" & t } +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" & } + "storage"(& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&,'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&#& +4 "storage"( 'X +6 "core" &  } + "manipulator"&7% +5 "core" % Ϡ c +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +3 .tElbow.seek CC + "manipulator"&0( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"& & +3 "core" &$ A ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &$  o ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' + "manipulator"&B& +4 "core" &$ ( ;5 +2 "manipulator"&'% +4 "core" %  T +2 "collection"'&& +4 "core" & +3 "collection"'8& +5 "core" & +3 .tCC.seek :closed + "collection"'"(V +5 "core" &  +9 &6 )w +10 &j = +9 &v G +10 &wh G +9 &:h F +9 &h G +10 &h G +9 &~j G +9 &Ah G +10 &k G +9 & h G +10 &"g G +9 &$Hh G +9 && h G +10 &'g G +9 &)g G +9 &+Pk G +10 &-h F +9 &.h G +9 &0j G +10 &2Zh F +9 &4h G +10 &5h G +9 &7k G +9 &9`g G +10 &;#i G +9 &<h F +9 &>j G +10 &@ih G +9 &B*l G +10 &Cj G +9 &Ep H +9 &Gi}  J +10 &I(;, K +9 &Jt O +9 &LR~ Q +10 &N]+2 P +9 &P#' Q +10 &Q!" R +9 &S" R +9 &U]  B +10 &Vt> / +9 &VS > +5 ( +2 "collection"'8& +4 "core" &VH > +2 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&E1 +54 "core" 1 +2 "manipulator"&*% +4 "core" %  * x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +103 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%T& +4 "core" & +2 "manipulator"&% +4 "core" %\   +2 "storage"((% +3 "core" %` i +2 "storage"(N. +3 "core" .( +2 "storage"(& +4 "core" & " +2 "storage"(.& +3 "core" & Y +2 "manipulator"&3& +4 "core" &#   ;5 +2 "manipulator"& % +3 "core" %\ N  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +167 "core" ( + "manipulator"&-& +4 "core" & <  +2 "storage"(& +4 "core" & 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +95 "core" ' +2 "storage"(D& +4 "core" & _ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'i +284 "core" ' +2 "storage"(M- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" & [ +2 "manipulator"&/& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&R( +2 "core" ( +2 "manipulator"&9& +4 "core" &  +2 "storage"(@& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&]'ϩ +50 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(f'X +7 "core" &    + "manipulator"&6% +4 "core" % Ϟ   +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&%& +4 "core" &o 6 f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &o  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +97 "core" ' +2 "manipulator"&J& +3 "core" &o ' @  +3 "manipulator"&I% +3 "core" %   +2 "processing"%1& +4 "core" & +3 "processing"%d& +5 "core" & +2 .tPC.seek :closed +2 "processing"%!(Z +3 "core" & +8 &< #c +9 &[ 6 +9 & H +10 &b G +9 &k G +10 &Wj G +9 &f G +9 &g G +10 &l H +9 &_j G +9 & !g G +10 &!j G +9 &#j H +10 &%gj G +9 &')h G +9 &(g G +10 &*g G +9 &,ol G +9 &.1k G +10 &/j G +9 &1j G +10 &3vh H +9 &58i H +9 &6j G +10 &8f G +9 &:e G +9 &<@h H +10 &>g G +9 &?j G +10 &Ah H +9 &CHk H +9 &E\ m H +10 &Fv I +9 &H J +9 &JC L +10 &L L +9 &M M +10 &O M +9 &QI M +9 &S  M +10 &T M +9 &V M +9 &XP M +10 &Yww "j +9 &Z,y . +9 ( +2 &Z ! + "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&51 +62 "core" 1 +2 "manipulator"&?% +3 "core" % ! Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 "processing"%>& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Q% +4 "core" %\   9  +2 "storage"(X% +4 "core" %a $ + "storage"(i. +3 "core" .( +2 "storage"(F& +4 "core" &  +2 "storage"(`& +3 "manipulator"&<& +8 "core" &  + &o   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&t(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(Z'i +3 "core" ( + "manipulator"&V& +4 "core" &o  F  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &o    +3 .tForearm.seek PC + "manipulator"&O' +97 "core" ' +2 .tHand.close + "manipulator"&)/ +64 "core" / +4 .tPC.seek :open + "processing"%( +78 "core" ' +2 "storage"(r- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'y +35 "core" ' +309 ( + "storage"(h& +4 "core" & +2 "manipulator"&x& +4 "core" &o   +2 "manipulator"&S% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|( +245 "core" ( +2 "manipulator"&{& +3 "core" & & o +2 "storage"(a& +4 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +96 "core" ' +2 .tHand.open + "manipulator"&P1 +61 "core" 1 +2 "storage"(s- +3 "core" -'y +50 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(^'E +23 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(o& +4 "core" & [ Z +2 "manipulator"&& +4 "core" &  j +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & % ? j +2 "storage"(& +4 "core" & [ Z +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(u' +58 "core" ' +2 "manipulator"&b& +4 "core" &  j +2 "storage"(& +4 "core" & B +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +23 "core" ' + "manipulator"&p% +4 "core" %}  5 +2 "storage"(l& +4 "core" & J +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +20 "core" ' + "manipulator"& & +4 "core" & j +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +16 "core" ' +2 "storage"(% +4 "core" %q 6  +2 ."downElevator"SE.seek :down +4 "storage"(c'X +99 (~% +3 "core" %X ! QJ +2 "manipulator"&q% +4 "core" %$  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" & +2 "collection"'& +4 "core" &VH  > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&y% +4 "core" %\   ?  +2 "storage"(Y% +4 "core" %P  +2 "storage"(. +3 "core" .( +2 "storage"($& +3 "core" & +2 "storage"(j& +5 "core" &  + "manipulator"&}& +4 "core" &  4 j +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & $ V j +2 "storage"(g& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +106 "core" ' + "storage"(7& +4 "core" & J +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +278 "core" ' +3 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  j +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''O +26 "core" ' +2 "manipulator"&% +3 "core" %~  9 +2 "storage"(&& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"& 'Ϫ +24 "core" ' + "manipulator"&& +4 "core" & i +2 "storage"(v& +4 "core" &  +2 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(*'> +36 "core" ' +2 "manipulator"&T& +3 "core" &  i +2 "manipulator"&% +4 "core" %J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +152 "core" ( +2 "manipulator"&& +3 "core" &# 1 G ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &#  1 ;5 +2 .tForearm.seek CC +2 "manipulator"&.'" +95 "core" ' +2 .tHand.close + "manipulator"&3/ +63 "core" / +2 .tCC.seek :open +2 "collection"' ( +396 "Can" F$ +16 "core" ( +2 "storage"(& +3 "core" & \\ +2 "storage"(-& +4 "core" & 0 +2 "manipulator"&& +4 "core" &$   ;5 + "manipulator"&D% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&0'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&K( +168 "core" ( + "manipulator"&M& +4 "core" & $  a +2 "storage"(+& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&/'} +100 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +58 "core" 1 +3 "manipulator"&U% +4 "core" % Ό ' ) +2 "storage"(H& +3 "core" & 5 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&6'ϸ +21 "core" ' +2 "manipulator"&G& +3 "core" & V a +2 "storage"(=& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&\ '9 +17 "core" ' +2 "storage"(]% +4 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(%'X +100 (W% +2 "core" %Q PG +2 "manipulator"&R% +4 "core" %, X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'I& +3 "core" & +2 "manipulator"&1% +4 "core" %\ "   9 +2 "storage"(f% +4 "core" %Q  +2 "storage"(2. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(w( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +3 "core" & \ +2 "manipulator"&?& +3 "core" &  a +2 .tElbow.seek 2 +2 "manipulator"&>( +37 "core" ( +2 "manipulator"&Q& +4 "core" & ( g $ +2 "storage"(X& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +94 "core" ' + "storage"(F& +4 "core" & X +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'i +275 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & U +2 "manipulator"&V& +3 "core" &  "{ +46 .tElbow.seek 2 +5 "manipulator"&L( +32 "core" ( +2 "manipulator"&A& +4 "core" & F W +2 "storage"()& +4 "core" & k +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&r' +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(!'X +8 "core" &  W +2 "manipulator"&Z% +4 "core" % 4 d ; +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&x( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&S& +4 "core" &$ A W ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &$  ` ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&{'" +93 "core" ' +2 "manipulator"&a& +4 "core" &% 2 ;4 +2 "manipulator"&t% +4 "core" %'  ; +2 "collection"'P& +4 "core" & +3 "collection"'s& +5 "core" & +2 .tCC.seek :closed +2 "collection"';(V +5 "core" &  +8 &6 )w +9 &k = +9 &v G +10 &vk G +9 &:g F +9 &h G +10 &k G +9 &f G +10 &Ag G +9 &h F +9 & i G +10 &"l G +9 &$Ih G +9 &&\ k G +10 &'h F +9 &)g F +10 &+Qh G +9 &-k G +9 &.e G +10 &0j F +9 &2Yh G +10 &4k G +9 &5e G +9 &7e G +10 &9af G +9 &;$i F +9 &<j G +10 &>h F +9 &@ih G +10 &B*k G +9 &Cj G +9 &En H +10 &Gk|\  I +9 &I(6) K +9 &Jn O +10 &LY Q +9 &N]-4 P +9 &P#' Q +10 &Q"# Q +9 &S! R +10 &U] A +9 &VJ \\ +9 &V56 #m +10 &WJ ? +2 ( +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&n1 +54 "core" 1 +2 "manipulator"&o% +4 "core" % ' 2 + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&% +4 "core" %\   Z  +2 "storage"(b% +4 "core" %] ) +2 "storage"(. +2 "core" .( +2 "storage"(p& +4 "core" & A +2 "storage"(l& +4 "core" & P +2 "manipulator"&e& +3 "core" &$ ! o ;2 +2 "manipulator"& % +4 "core" %\   W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&^( +167 "core" ( + "manipulator"&& +4 "core" &  #  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +101 "core" ' +2 "storage"(z& +4 "core" & ) +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" & +2 "manipulator"&k& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&u& +3 "core" &   +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y'X +6 "core" &   +3 "manipulator"&Y% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&['\ +98 "core" ' +5 .tElbow.seek PC +2 "manipulator"&(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&$& +4 "core" &t E p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &t   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&}' +96 "core" ' +2 "manipulator"&& +4 "core" &t  C +2 "manipulator"&g% +5 "core" %   +2 "processing"%m& +3 "core" & +3 "processing"%7& +5 "core" & +2 .tPC.seek :closed +2 "processing"%c(Z +5 "core" &  +8 &7 )v +9 &j = +10 &x G +9 &le G +10 &.j G +9 &i H +9 &h H +10 &tg G +9 &7d G +9 &h H +10 & h G +9 &"|e G +10 &$?d G +9 &&k G +9 &'h G +10 &)e G +9 &+Fj G +9 &- h G +10 &.g G +9 &0f G +10 &2Mj H +9 &4g G +9 &5g H +10 &7g G +9 &9Uh H +9 &;f G +10 &<i G +9 &>j G +10 &@^i G +9 &Bi H +9 &Cm G +10 &En H +9 &G`{ J +9 &I L +10 &J M +9 &L L +10 &N` L +9 &P" L +9 &Q M +10 &S M +9 &Ue M +9 &W' M +10 &X N +9 &Z;Ec %l +9 &Z . \ +6 ( +2 "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&1 +2 "core" &Z +52 1 + "manipulator"&% +5 "core" % !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 "processing"% & +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\     +2 "storage"(B% +4 "core" %O 7 +2 "storage"(. +2 "core" .( +2 "storage"(&& +4 "core" & ^ +2 "storage"(& +3 "manipulator"&v& +5 "core" & t +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 "core" &t \  @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(T'i +2 "manipulator"&(s +6 "core" ( +2 "manipulator"&#& +3 "core" &t  C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &t   +3 .tForearm.seek PC + "manipulator"& ' +100 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"% ( +86 "core" ' +3 "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +301 ( + "storage"(8& +4 "core" & ; +2 "manipulator"&E& +3 "core" &t  +2 "manipulator"&,% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&3'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&(( +269 "core" ( +2 "manipulator"&"& +3 "core" & &   +2 "storage"(& +4 "core" & c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&-'ќ +100 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(D- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(M'E +21 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(+' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(N& +3 "core" & W Z o +2 "manipulator"&@& +4 "core" &   +47 .tElbow.seek 2 +4 "manipulator"&U( +4 "core" ( +2 "manipulator"&H& +4 "core" &    +2 "storage"(G& +3 "core" & Z Z +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +56 "core" ' +2 "manipulator"&0& +3 "core" &   +2 "storage"(W& +4 "core" & N +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&R' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'i +22 "core" ' +2 "manipulator"&I% +3 "core" %  +2 "storage"(1& +5 "core" & K + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&6' +19 "core" ' + "manipulator"&f& +4 "core" &  +2 "storage"(2& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +19 "core" ' + "storage"(\ % +4 "core" %k  +3 ."downElevator"SE.seek :down +4 "storage"(%'X +99 (4% +3 "core" %\\ # RM +2 "manipulator"&5% +4 "core" %v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +3 "core" & / +2 "collection"'X& +3 "core" &WU  ? +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&F% +4 "core" %\    +2 "storage"(9% +3 "core" %U R +2 "storage"(J. +3 "core" .( +2 "storage"(<& +4 "core" & ^ +2 "storage"(`& +4 "core" & s +2 "manipulator"&V& +3 "core" &   +3 .tElbow.seek 2 + "manipulator"&A( +4 "core" ( +2 "manipulator"&)& +3 "core" & ' H  +2 "storage"(C& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +93 "core" ' +2 "storage"(Z& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'i +281 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  +2 "storage"(O& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&d' +25 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'O +29 "core" ' + "manipulator"&P% +4 "core" %  ~ U +2 "storage"(L& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&!' +21 "core" ' + "manipulator"&h& +4 "core" & W  +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&n'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(o'> +38 "core" ' +3 "manipulator"&& +4 "core" & d  +2 "manipulator"&% +3 "core" %Ѧ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +45 "manipulator"&b'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"&p& +4 "core" &( % + ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +4 "core" &(   ?P +2 .tForearm.seek CC +2 "manipulator"&s'" +93 "core" ' +2 .tHand.close + "manipulator"&e/ +57 "core" / +2 .tCC.seek :open +2 "collection"' ( +418 "core" ( +2 "storage"({& +4 "core" & C +2 "storage"(& +3 "core" &  +2 "manipulator"&& +4 "core" & $  A ;8 +2 "manipulator"&z% +3 "core" % +  ' +3 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&~& +3 "core" & & .  +2 "storage"(q& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&k' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +3 "core" % ' 4 +2 "storage"(& +4 "core" & m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&Y' +20 "core" ' + "manipulator"&^& +4 "core" & o  +2 "storage"(|& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +41 "core" ' + "storage"(_% +4 "core" %E ? +3 ."downElevator"SE.seek :down +3 "storage"($'X +99 (j% +3 "core" %Z QJ +2 "manipulator"&% +4 "core" %} P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'g& +3 "core" & +2 "manipulator"&m% +4 "core" %\   $ +2 "storage"(y% +3 "core" %_  +2 "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +344 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &  +2 "manipulator"&& +4 "core" &  *  +2 .tElbow.seek 3 +2 "manipulator"& ( +11 "core" ( +2 "manipulator"&& +5 "core" & & V + "storage"(B& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(&& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(7- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +3 "core" &   +2 "manipulator"&#& +3 "core" & V +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" & 3 V +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(c'X +7 "core" &   V +2 "manipulator"&T% +4 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&E( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&,& +3 "core" &' & " >I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &'  E >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'" +105 "core" ' + "manipulator"&& +4 "core" &' 2 ~ >I +2 "manipulator"&% +4 "core" %\  B +2 "collection"'& +4 "core" & +3 "collection"'D& +5 "core" & +2 .tCC.seek :closed +2 "collection"'.(V +4 "core" &  +9 &6 )w +9 &j = +9 &u G +10 &nf G +9 &0h G +10 &k G +9 &g G +9 &wg F +10 &8h G +9 &k G +10 & f G +9 &"~i G +9 &$?k G +10 &&h F +9 &'h F +9 &)g F +10 &+Ih F +9 &-\ g G +9 &.k G +10 &0m G +9 &2Qg F +10 &4h F +9 &5h F +9 &7g F +10 &9Yh F +9 &;h F +9 &<h G +10 &>f G +9 &@ah F +10 &B#h F +9 &Cj G +9 &Eo H +10 &Gb|\  I +9 &I 6( J +10 &Jo N +9 &LU Q +9 &NU+? P +10 &P!& Q +9 &Q ! Q +9 &S" R +10 &UU  D +9 &VpD  (w +9 &Vq I +6 ( +2 "collection"'D& +3 "core" &Vh I +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&N1 +63 "core" 1 +4 "manipulator"&@% +3 "core" % \ ! 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%H& +4 "core" & +2 "manipulator"&G% +3 "core" %\   K  +3 "storage"(0% +3 "core" %a l +2 "storage"(W. +4 "core" .( + "storage"(& +4 "core" & g  +2 "storage"(M& +3 "core" & ~  +2 "manipulator"&I& +5 "core" &'  >I + "manipulator"&1% +4 "core" %\  I  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&f( +154 "core" ( +7 "manipulator"&2& +3 "core" & l  +2 "storage"(\ & +4 "core" &   +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +94 "core" ' + "storage"(-& +4 "core" & '  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'i +278 "core" ' +2 "storage"(4- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (5& +3 "core" &  +2 "manipulator"&=& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&]& +4 "core" &  +2 "storage"(R& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(F'X +8 "core" & 5  +2 "manipulator"&9% +3 "core" % Ϩ e +3 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&J(s +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&<& +4 "core" &s 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +48 "manipulator"&V' +96 "core" ' +2 "manipulator"&)& +3 "core" &s ( ! +2 "manipulator"&C% +4 "core" %  " +2 "processing"%*& +94 "core" & +2 "processing"%Z& +6 "core" & +2 .tPC.seek :closed +2 "processing"%%(Z +5 "core" &  +8 &6 )w +9 &j = +10 &w G +9 &ig G +9 &+e G +10 &j H +9 &j G +9 &qg G +10 &4d G +9 &h G +9 & g H +10 &"yh G +9 &$<j G +10 &%i G +9 &'i H +9 &)h G +10 &+Dh G +9 &-g G +9 &.i G +10 &0j G +9 &2Lk G +10 &4h G +9 &5h G +9 &7d G +10 &9Sh G +9 &;c G +9 &<h G +10 &>g G +9 &@Zj H +10 &Bh G +9 &Cn H +9 &Er H +10 &G]| J +9 &I K +10 &J L +9 &L M +9 &N] L +10 &P L +9 &Q M +9 &S M +10 &Ub M +9 &W$ M +10 &X M +9 &Z7Dc %m +9 &Z3 " +6 ( +2 "processing"%Z& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&K1 +56 "core" 1 + "manipulator"&?% +4 "core" % " T " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +95 "core" ' +2 "processing"%S& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&O% +3 "core" %\    +2 "storage"(a% +4 "core" %] w +2 "storage"(P. +3 "core" .( +2 "storage"(L& +4 "core" & g  +2 "storage"(h& +4 "manipulator"& & +3 "core" & d  +2 &s   +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(s +2 "storage"('i +6 "core" ( +2 "manipulator"&\\& +4 "core" &s  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &s  + +2 .tForearm.seek PC +2 "manipulator"&>' +97 "core" ' +3 .tHand.close + "manipulator"&d/ +60 "core" / +2 .tPC.seek :open +2 "processing"%!( +82 "core" ' +2 "storage"(t- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +34 "core" ' +306 ( +3 "storage"(l& +3 "core" & a  +2 "manipulator"&n& +4 "core" &s  E +2 "manipulator"&r% +3 "core" %  A +3 .tForearm.seek :retract + "manipulator"&e'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&b( +268 "core" ( + "manipulator"&;& +4 "core" & \\ +2 "storage"({& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(z- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(~'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(q' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(s- +2 "core" -' +2 "storage"(& +4 "core" & X Z 2  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & &  +2 "storage"(^& +4 "core" & [ [  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&|'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(_' +60 "core" ' +3 "manipulator"&x& +4 "core" & +2 "storage"(j& +3 "core" & 0  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +22 "core" ' +2 "manipulator"&Y% +4 "core" %ΐ  y +2 "storage"(g& +3 "core" & U  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&m'ϼ +19 "core" ' +2 "manipulator"&y& +4 "core" & +2 "storage"([& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +34 "core" ' +2 "storage"(% +3 "core" %m   +3 ."downElevator"SE.seek :down +3 "storage"($'X +99 (w% +5 "core" %T v w i PJ +2 "manipulator"&% +5 "core" %W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'B& +4 "core" &Vg  I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&&% +3 "core" %\  ^  +2 "storage"(u% +4 "core" %P s +2 "storage"(. +2 "core" .( +2 "storage"(7& +4 "core" &  +2 "storage"(v& +4 "core" & E  +2 "manipulator"&#& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +95 "core" ' + "storage"(T& +4 "core" & )  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +283 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  +2 "storage"(& +4 "core" & H  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +24 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +32 "core" ' + "manipulator"&% +4 "core" %Ό  +2 "storage"(& +3 "core" & L  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&c'ϸ +21 "core" ' +2 "manipulator"&8& +3 "core" & u +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(@'> +38 "core" ' + "manipulator"&H& +4 "core" & c +2 "manipulator"&G% +4 "core" %9 X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +158 "core" ( +4 "manipulator"&W& +3 "core" &#  4 ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &#  6 ;6 +3 .tForearm.seek CC + "manipulator"&M'" +93 "core" ' +47 .tHand.close +3 "manipulator"&I/ +58 "core" / +2 .tCC.seek :open +2 "collection"'1( +415 "core" ( +2 "storage"("& +4 "core" &   +2 "storage"(2& +3 "core" & P  +2 "manipulator"&\ & +4 "core" &$   ;5 +2 "manipulator"&-% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&E'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +163 "core" ( +2 "manipulator"&4& +3 "core" &   +2 "storage"(5& +4 "core" & 3  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&='} +96 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +63 "core" 1 +2 "manipulator"&Q% +3 "core" % t ' ' +2 "storage"(X& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 291 counts +2 "manipulator"&9'Ϡ +12 "core" ' +2 "manipulator"&f& +4 "core" & #  +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +23 "core" ' +2 "storage"(6% +3 "core" %G / +3 ."downElevator"SE.seek :down +3 "storage"(<'X +99 (`% +4 "core" %Y  QJ +2 "manipulator"&U% +3 "core" %^ z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'C& +3 "core" & +2 "manipulator"&F% +4 "core" %\  B # +2 "storage"(*% +4 "core" %`  +2 "storage"(/. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" &  +2 "manipulator"&?& +4 "core" & 4  +2 .tElbow.seek 2 +2 "manipulator"&S( +45 "core" ( + "manipulator"&O& +4 "core" & & ? h +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +95 "core" ' +2 "storage"(L& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +279 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" & +2 "manipulator"&\\& +4 "core" & ! f +2 .tElbow.seek 2 +2 "manipulator"&A( +18 "core" ( +3 "manipulator"&V& +4 "core" & D  +2 "storage"(d& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +4 "storage"(%'X +5 "core" &  +3 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +157 "core" ' +2 ."downElevator"SE.stop +47 "storage"(5 +3 "core" ( +3 "manipulator"&r& +4 "core" &&   =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" && ! =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&;'" +104 "core" ' + "manipulator"&{& +4 "core" &' " } =A +2 "manipulator"&% +4 "core" % F +2 "collection"'& +4 "core" & +3 "collection"'z& +5 "core" & +2 .tCC.seek :closed +2 "collection"'s(V +5 "core" & +6 &J $d +10 &^ 7 +9 &, H +9 &g F +10 &j G +9 &uj F +10 &6h G +9 &k G +9 &j G +10 &|e G +9 & >f G +9 &"g F +10 &#h G +9 &%k G +10 &'Fe G +9 &)j G +9 &*h G +10 &,g F +9 &.Oh F +9 &0k G +10 &1g F +9 &3h F +9 &5Xg F +10 &7k G +9 &8d F +10 &:h G +9 &<]l G +9 &> f G +10 &?g G +9 &Af G +9 &Cgh F +10 &E&n G +9 &Fv H +10 &H% J +9 &J[kO M +9 &L P +10 &M0= Q +9 &O"' Q +9 &QX# Q +10 &S" R +9 &T  R +10 &VFg  . +9 &V 9 +9 &Wc @ +6 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&1 +2 "core" &WU @ +51 1 +2 "manipulator"&% +5 "core" %  ' 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%^& +4 "core" & +2 "manipulator"&e% +3 "core" %\    +2 "storage"(x% +4 "core" %V ! +2 "storage"(j. +2 "core" .( +3 "storage"(Y& +3 "core" & 8 +2 "storage"(g& +4 "core" & 7 +2 "manipulator"&p& +3 "core" &&  =A +2 "manipulator"&y% +4 "core" %\     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&~( +161 "core" ( +2 "manipulator"&[& +3 "core" & L  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +97 "core" ' +2 "storage"(& +3 "core" & \\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'i +280 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & Y +2 "manipulator"&|& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&_& +3 "core" & A  +2 "storage"(& +4 "core" & T +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +3 "storage"(&'X +7 "core" &  A  +2 "manipulator"&u% +4 "core" %  )  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(s +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +107 "core" ( +3 "manipulator"&7& +4 "core" &l  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &l  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&#' +96 "core" ' +2 "manipulator"&& +3 "core" &l ' 2 \ +2 "manipulator"&% +4 "core" %  q +2 "processing"%o& +4 "core" & +3 "processing"%T& +5 "core" & +2 .tPC.seek :closed + "processing"%$(Z +4 "core" & +56 &C #b +5 &Y 5 + &  H +2 &g G + &h G + &Rg H +3 &g G +5 &i G +10 &i H +9 &[i G +10 & k G +9 &!g G +9 &#i G +10 &%ch G +9 &'&e G +9 &(g H +10 &*h G +9 &,le G +10 &.,i H +9 &/f G +9 &1g G +10 &3tc G +9 &54h H +9 &6h G +10 &8h G +9 &:|e G +10 &<=g G +9 &=g G +9 &?g H +10 &Af G +9 &CDk H +9 &Em H +10 &Fv I +9 &H K +10 &J> M +9 &L M +9 &M M +10 &O M +9 &QF M +9 &S M +10 &T M +9 &V M +10 &XK N +9 &Yvw "l +9 &Z/ 0 +9 ( +2 &Z +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%,& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %Z ) +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" & ^ +2 "storage"(8& +2 "manipulator"& & +9 "core" & 8 + &l \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&H(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(G'i +2 "core" ( +3 "manipulator"&:& +4 "core" &l  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &l  \ +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +3 .tPC.seek :open +2 "processing"%c( +84 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(W'y +41 "core" ' +295 ( + "storage"(& +4 "core" & b +2 "manipulator"&N& +5 "core" &m  \ + "manipulator"&'% +4 "core" %  / +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +258 "core" ( +2 "manipulator"&.& +3 "core" & ' \\  +2 "storage"("& +4 "core" & ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +96 "core" ' + .tHand.open +2 "manipulator"&\ 1 +55 "core" 1 +2 "storage"(-- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(5' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(M- +3 "core" -' +2 "storage"(D& +3 "core" & N H  +2 "manipulator"&R& +4 "core" & k  +2 .tElbow.seek 2 +2 "manipulator"&Q( +7 "core" ( +2 "manipulator"&X& +4 "core" & ' T  +2 "storage"(f& +3 "core" & Q Z  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(6' +57 "core" ' + "manipulator"&E& +4 "core" &   +2 "storage"(`& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&U' +25 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +48 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='i +22 "core" ' +2 "manipulator"&C% +3 "core" %  +2 "storage"(9& +4 "core" & X +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&F' +22 "core" ' +2 "manipulator"&*& +3 "core" & ^  +2 "storage"(/& +4 "core" & ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'ќ +26 "core" ' + "storage"(+% +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(<'X +98 (% +3 "core" %\\  QK +2 "manipulator"&K% +4 "core" %ѩ O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +3 "core" & 2 +2 "collection"'a& +3 "core" &WU @ +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&L% +4 "core" %\   +2 "storage"(]% +3 "core" %S  +2 "storage"(). +4 "core" .( + "storage"( & +4 "core" &  +2 "storage"(Z& +4 "core" & { +2 "manipulator"&\\& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&V( +4 "core" ( + "manipulator"&d& +4 "core" &  )  +2 "storage"(J& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +104 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +283 "core" ' +2 "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &  +2 "storage"(t& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&r' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"({'O +28 "core" ' +2 "manipulator"&% +4 "core" %  4 +2 "storage"(& +4 "core" & I +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&%' +18 "core" ' +2 "manipulator"&l& +3 "core" & X  +2 "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +39 "core" ' +2 "manipulator"&^& +3 "core" & =  +2 "manipulator"&e% +4 "core" %њ 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +165 "core" ( +3 "manipulator"&Y& +4 "core" &# X :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &#  :, +2 .tForearm.seek CC +2 "manipulator"&p'" +94 "core" ' + .tHand.close +2 "manipulator"&z/ +59 "core" / +2 .tCC.seek :open +2 "collection"'y( +415 "core" ( +2 "storage"(;& +4 "core" &  +2 "storage"([& +3 "core" &  +2 "manipulator"&& +3 "core" &#  J :+ +2 "manipulator"&% +4 "core" % 1   +2 .tForearm.seek :retract +47 "manipulator"&n'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +162 "core" ( + "manipulator"&w& +4 "core" & & T  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&|' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   +2 "storage"(B& +4 "core" & N +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&u' +20 "core" ' +2 "manipulator"&~& +3 "core" & h  +2 "storage"(b& +4 "core" & _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&q'ќ +24 "core" ' +2 "storage"(m% +4 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (v% +3 "core" %U QI +2 "manipulator"&% +4 "core" %ѯ I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & +2 "manipulator"&o% +4 "core" %\  a  +2 "storage"(&% +3 "core" %T S +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(!( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & %  +2 "manipulator"&& +3 "core" & -  +2 .tElbow.seek 3 +2 "manipulator"&,( +17 "core" ( +2 "manipulator"&& +3 "core" & r V +2 "storage"(& +4 "core" & a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'i +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +3 "core" & A  +2 "manipulator"&:& +3 "core" & V +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&#& +5 "core" & V + "storage"( & +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"($'X +7 "core" & w V +2 "manipulator"&G% +3 "core" % Ϲ S +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&N( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&'& +3 "core" & $ g 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&.'" +97 "core" ' + "manipulator"&"& +4 "core" & 1 6 +2 "manipulator"&H% +4 "core" %  C  +48 "collection"'\ & +5 "core" & +3 "collection"'-& +5 "core" & +3 .tCC.seek :closed + "collection"'M(V +4 "core" & +7 &9 #b +10 &Z 5 +9 &  G +9 &d F +10 &m G +9 &Sj F +9 &i F +10 &k G +9 &k F +10 &[g F +9 & k G +9 &!l G +10 &#k G +9 &%bf G +9 &'%e F +10 &(g F +9 &*g G +10 &,jf\ G +9 &.-e F +9 &/g F +10 &1i F +9 &3sh F +9 &53k G +10 &6f F +9 &8g F +10 &:{h F +9 &<=h F +9 &=h F +10 &?h\ F +9 &Ak G +9 &CDg G +10 &Em\ G +9 &Fx H +10 &H" I +9 &J8iO N +9 &KD P +10 &M2A P +9 &Ou(* Q +9 &Q8!% P +10 &R " R +9 &T  R +10 &V$V " 7 +9 &V  S +8 ( +3 "collection"'-& +3 "core" &Vg H +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&D1 +57 "core" 1 +2 "manipulator"&R% +4 "core" % ! ^  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%f& +3 "core" & +2 "manipulator"&I% +4 "core" %\  X  +2 "storage"(E% +4 "core" %\\ - +2 "storage"(`. +2 "core" .( +3 "storage"(W& +3 "core" &   +2 "storage"(4& +4 "core" & $  +2 "manipulator"&C& +4 "core" &  g 6 +2 "manipulator"&9% +4 "core" %\   w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&*( +168 "core" ( +2 "manipulator"&/& +3 "core" & ' S w +2 "storage"(0& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +99 "core" ' + "storage"(+& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'i +277 "core" ' + "storage"((- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & E  +2 "manipulator"&K& +4 "core" & w +2 .tElbow.seek 3 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&6& +3 "core" & " e w +2 "storage"(U& +5 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(L'X +8 "core" &  w +2 "manipulator"&]% +3 "core" % % +3 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)(s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"& & +3 "core" &m # 9 " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +4 "core" &m  " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&\\' +100 "core" ' +2 "manipulator"&d& +4 "core" &m ) ? " +2 "manipulator"&J% +4 "core" %  K +2 "processing"%@& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%<(Z +5 "core" & +6 &< #b +10 &Z 5 +9 &  H +9 &f G +10 &j H +9 &Ph G +10 &h G +9 &g G +9 &j G +10 &Xh G +9 & i G +9 &!e G +10 &#h G +9 &%^i H +10 &'"h G +9 &(h G +9 &*j G +10 &,hh G +9 &.)i G +9 &/h G +10 &1e G +9 &3oh G +10 &50g H +9 &6g G +9 &8f G +10 &:we G +9 &<9g G +9 &=g G +10 &?h H +9 &Ag G +10 &C@j H +9 &Ep H +9 &Fu I +10 &H~ K +9 &J: M +9 &K L +10 &M M +9 &O M +10 &QB M +52 &S M +3 &T M + &V M + &XH M + &Yxv "j +2 &Z0 1 +4 ( +3 "processing"%& +3 "core" &Z  +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&31 +52 "core" 1 +2 "manipulator"&?% +4 "core" % ' Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +2 "processing"%h& +3 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&t% +4 "core" %\    +2 "storage"(A% +3 "core" %] - +2 "storage"(. +4 "core" .( + "storage"(& +4 "core" & O  +2 "storage"(l& +4 "manipulator"&1& +5 "core" & -  + &m  " +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&^(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(e'i +3 "core" ( +2 "manipulator"&i& +4 "core" &m  " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &m " +2 .tForearm.seek PC +2 "manipulator"&S' +93 "core" ' +2 .tHand.close + "manipulator"&r/ +56 "core" / +2 .tPC.seek :open +2 "processing"%%( +95 "core" ' + "storage"({- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'y +36 "core" ' +291 ( +2 "storage"(g& +5 "core" & %  + "manipulator"&& +4 "core" &m   " +2 "manipulator"&>% +3 "core" %   +3 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +277 "core" ( +2 "manipulator"&s& +4 "core" & & !  +2 "storage"(;& +3 "core" & >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +101 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(p'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(w' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(j& +3 "core" & M N Q  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&B& +4 "core" & & `  +2 "storage"(~& +3 "core" & P M b  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(m' +59 "core" ' +2 "manipulator"&n& +3 "core" &  +2 "storage"(v& +4 "core" & P  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(|'i +24 "core" ' + "manipulator"&u% +4 "core" %ΐ +2 "storage"(& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&o'ϼ +21 "core" ' +2 "manipulator"&&& +3 "core" & }  +3 "storage"(& +3 "core" &   +42 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' +2 "storage"(q% +4 "core" %n I  +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 ( % +4 "core" %W  r O QK +2 "manipulator"&% +5 "core" %2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & 8  +2 "collection"'& +4 "core" &Vg  H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(_% +4 "core" %_ _  +2 "storage"(. +2 "core" .( +2 "storage"( & +4 "core" & e  +2 "storage"(8& +4 "core" & !  +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"& & +5 "core" & & !  + "storage"(k& +4 "core" & L  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +95 "core" ' +2 "storage"(G& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +5 "manipulator"&'& +3 "core" & r  +3 "storage"( & +3 "core" & a  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&T'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(H'O +31 "core" ' +2 "manipulator"&\ % +4 "core" %~ + "storage"(}& +4 "core" & Y  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&$'Ϫ +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(y& +4 "core" & :  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(R'> +38 "core" ' +2 "manipulator"&f& +3 "core" &  +2 "manipulator"&I% +4 "core" %N \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +166 "core" ( +4 "manipulator"&W& +3 "core" &%  M <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &-& +2 "core" &% ) T <> +3 .tForearm.seek CC + "manipulator"&4'" +93 "core" ' +2 .tHand.close + "manipulator"&C/ +61 "core" / +2 .tCC.seek :open +2 "collection"'9( +413 "core" ( + "storage"(.& +4 "core" & 6  +2 "storage"(/& +4 "core" & ?  +2 "manipulator"&0& +3 "core" &%  \ <= +3 "manipulator"&+% +3 "core" % /  e  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&X( +161 "core" ( +2 "manipulator"&(& +4 "core" & u +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&K'} +133 "core" ' +9 .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +54 "core" 1 +3 "manipulator"&O% +4 "core" % ~   +2 "storage"(a& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&]'Ϫ +19 "core" ' +2 "manipulator"&*& +4 "core" & 0 u +2 "storage"(2& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +19 "core" ' + "storage"(F% +4 "core" %B  +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (Z% +3 "core" %7V L QI +2 "manipulator"&Q% +4 "core" %$ ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'J& +3 "core" & +2 "manipulator"&@% +4 "core" %\ # : +2 "storage"(L% +4 "core" %b  +2 "storage"(=. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(c( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" & 1 +2 "manipulator"&?& +3 "core" &   u +2 .tElbow.seek 2 +2 "manipulator"&h( +33 "core" ( +2 "manipulator"&t& +3 "core" & & 4 o +2 "storage"(A& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +106 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'i +280 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & +2 "manipulator"&i& +4 "core" & h +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( +3 "manipulator"&\\& +4 "core" & h +2 "storage"(r& +4 "core" & q +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(<'X +8 "core" &   h + "manipulator"&e% +4 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&>& +4 "core" &( E ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &(  m ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'" +96 "core" ' +3 "manipulator"&;& +4 "core" &( 1 N ?S +2 "manipulator"&^% +4 "core" %(  ` +2 "collection"'& +4 "core" & +2 "collection"'& +5 "core" & +3 .tCC.seek :closed + "collection"'(V +4 "core" & +9 &K $d +9 &\\ 6 +9 &* G +10 &g G +9 &j G +9 &qe G +10 &3k G +9 &h\ G +10 &e G +9 &yj G +9 & :j G +10 &!f G +9 &#g G +9 &%k G +10 &'Dk F +9 &)f F +9 &*h F +10 &,e" G +9 &.Lj( F +49 &0 f G +5 &1g" G + &3k F +2 &5Tg F + &7k G +2 &8g G +6 &:k G +9 &<[k G +10 &>j G +9 &?e G +9 &Ak F +10 &Cdi" F +9 &E$n! G +10 &Fy" H +9 &H#& J +9 &JXlO' M +10 &L' P +9 &M2?' P +9 &O&*& Q +10 &QV!$! Q +9 &S $ R +10 &T "$ R +9 &VGi" / +9 &V 2 +10 &Vv K +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&j1 +57 "core" 1 +4 "manipulator"&% +4 "core" % (  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +6 "processing"%~& +5 "core" & + "manipulator"&z% +4 "core" %\ #  n ? +2 "storage"(n% +4 "core" %W r s T +2 "storage"(v. +3 "core" .( +2 "storage"(u& +4 "core" & d n m +2 "storage"(& +3 "core" & v R +2 "manipulator"&Y& +4 "core" &(  W ?R +2 "manipulator"&&% +4 "core" %\ #  ? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&p( +159 "core" ( +2 "manipulator"&& +4 "core" & ) S  +2 "storage"(x& +3 "core" & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +100 "core" ' + "storage"(q& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +283 "core" ' +2 "storage"(b- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & O +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&m& +3 "core" & w  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" &  +2 "manipulator"&_% +3 "core" %  r  +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"& (s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +108 "core" ( +3 "manipulator"&|& +4 "core" &k - M \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &k  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:' +98 "core" ' + "manipulator"& & +4 "core" &k % ' \ +2 "manipulator"&k% +4 "core" % `  +2 "processing"%& +4 "core" & +3 "processing"%G& +5 "core" & +2 .tPC.seek :closed +2 "processing"%7(Z +5 "core" &  +8 &6 )w +9 &k = +10 &v G +9 &kg G +9 &.i G +10 &h G +9 &h G +10 &sg G +9 &7b G +9 &h G +10 & g G +9 &"{h G +9 &$>c G +10 &&g G +9 &'h G +10 &)g H +9 &+Ff G +9 &-g G +10 &.g G +9 &0i H +9 &2Mh G +10 &4g G +9 &5h G +10 &7f G +9 &9Ug G +9 &;c G +10 &<h G +9 &>h G +9 &@]h G +10 &B e G +9 &Ck G +10 &En H +9 &G`{ I +9 &I K +10 &J M +9 &L M +9 &N_ L +10 &P  M +9 &Q M +10 &S M +9 &Ud M +9 &W& M +10 &X M +9 &Z9Eb %m +9 &Z / \ +6 ( +2 "processing"%G& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 + .Hand.open +2 "manipulator"&1 +2 "core" &Z +61 1 +2 "manipulator"&% +4 "core" % ) K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%'& +3 "core" &Z +50 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %\ 3 +2 "storage"("% +4 "core" %U  +2 "storage"(\ . +3 "core" .( +2 "storage"(}& +4 "core" & J +2 "storage"(& +3 "manipulator"&y& +8 "core" & Z + &k  # \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&f(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'i +3 "core" ( + "manipulator"&& +5 "core" &k\ R \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &k ! = \ +3 .tForearm.seek PC + "manipulator"&,' +97 "core" ' +3 .tHand.close + "manipulator"&T/ +57 "core" / +2 .tPC.seek :open +2 "processing"%$( +88 "core" ' + "storage"(H- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'y +36 "core" ' +298 ( +2 "storage"(-& +4 "core" & D +2 "manipulator"&D& +4 "core" &k \ +2 "manipulator"&% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&C'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&E( +260 "core" ( + "manipulator"&M& +4 "core" & & H +2 "storage"(.& +3 "core" & 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +95 "core" ' +2 .tHand.open + "manipulator"&01 +60 "core" 1 +2 "storage"(+- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +2 "core" -' +3 "storage"(`& +3 "core" & \ I\ K m +2 "manipulator"&U& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&a& +4 "core" & ( +2 "storage"(*& +3 "core" & \ G\ P < +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +60 "core" ' + "manipulator"&N& +4 "core" & +2 "storage"(Z& +4 "core" & L +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&Q' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +23 "core" ' +2 "manipulator"&J% +3 "core" % +2 "storage"(@& +4 "core" & [ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&]' +18 "core" ' +2 "manipulator"&L& +4 "core" & S +2 "storage"(=& +4 "core" & # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +28 "core" ' + "storage"(5% +4 "core" %r +3 ."downElevator"SE.seek :down +4 "storage"( 'X +98 (!% +4 "core" %\\ | | I QJ +2 "manipulator"&3% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +43 .tForearm.seek :retract +9 "manipulator"&?'\ +91 "core" ' +19 ' + ."downElevator"SE.stop + "storage"(5 +3 (t& +4 "core" & X +2 "collection"'A& +3 "core" &Vy  K +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\  j & +3 "storage"(6% +3 "core" %a [ +2 "storage"(d. +3 "core" .( +2 "storage"(1& +4 "core" & 9 +2 "storage"(& +4 "core" & . +2 "manipulator"&i& +3 "core" & +3 .tElbow.seek 2 + "manipulator"&\\( +3 "core" ( +2 "manipulator"&r& +4 "core" & & t +2 "storage"()& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +101 "core" ' +2 "storage"(e& +3 "core" & f +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +283 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & E +2 "storage"(S& +3 "core" & S +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&l' +29 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(^'O +27 "core" ' +2 "manipulator"&V% +3 "core" % T ) +2 "storage"(& +4 "core" & s v ' +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&<' +20 "core" ' + "manipulator"&g& +4 "core" & M +2 "storage"(9& +4 "core" & l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +40 "core" ' + "manipulator"&~& +4 "core" & +2 "manipulator"&z% +3 "core" %ѳ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +2 "manipulator"&v& +4 "core" &# " 6 ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &$  ;7 +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&Y/ +62 "core" / +2 .tCC.seek :open +2 "collection"'&( +413 "core" ( + "storage"(s& +4 "core" & Y +2 "storage"(& +4 "core" & d +2 "manipulator"&x& +3 "core" &$  ( ;7 +2 "manipulator"&q% +4 "core" % 6 +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&B( +160 "core" ( +2 "manipulator"&b& +4 "core" & & G +2 "storage"( & +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +99 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % $ W +2 "storage"(& +4 "core" & Y + .tForearm.force -20 +2 "manipulator"&5 +47 .tForearm.seek 2 + 317 counts +6 "manipulator"&_' +20 "core" ' + "manipulator"&p& +4 "core" & N +2 "storage"([& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +26 "core" ' + "storage"(o% +4 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (8% +3 "core" %U ! PH +2 "manipulator"&% +3 "core" %ѥ ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'k& +4 "core" & +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %b  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(%( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & 2 +2 "manipulator"&& +3 "core" & +3 .tElbow.seek 3 + "manipulator"&'( +19 "core" ( +2 "manipulator"& & +3 "core" & % = k +2 "storage"(G& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +96 "core" ' + "storage"(\ & +4 "core" & V  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +278 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +3 "core" & k +2 .tElbow.seek 3 +2 "manipulator"&#( +4 "core" ( + "manipulator"&:& +4 "core" & a k +2 "storage"(T& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&H'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(7'X +8 "core" & f k +2 "manipulator"&I% +3 "core" % Ϧ +3 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +29 "core" ( +2 "manipulator"&& +3 "core" &" 3 Y 9# +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &,& +2 "core" &"  G 9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'" +106 "core" ' +3 "manipulator"&.& +3 "core" &" 1  9# +2 "manipulator"&f% +4 "core" %$  , +2 "collection"'0& +4 "core" & +3 "collection"'+& +5 "core" & +2 .tCC.seek :closed +2 "collection"'4(V +4 "core" &  +8 &9 *x +10 &'k = +9 &s G +9 &e F +10 &Kg F +9 & j F +10 &j G +9 &h G +9 &Qh G +10 &f& F +9 & e G +9 &"l F +10 &$Ye G +9 &&j& F +10 &'k& G +9 &)g' F +9 &+af# G +10 &-#h G +9 &.i( G +9 &0m% F +10 &2jf" F +9 &4,f' F +10 &5g( F +9 &7f' F +9 &9rf' F +10 &;3g G +9 &<h' G +9 &>k' F +10 &@zk' F +9 &B;k* G +10 &Ck& G +9 &En( G +9 &G|{ ( H +10 &I85&& K +9 &Js' O +9 &LV' P +10 &Nn+6' P +9 &P-$(' Q +10 &Q#$( P +9 &S #& S +9 &Un !& ? +10 &VB" "h +9 &V# I +5 ( +2 "collection"'+& +4 "core" &Vh& I +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&`1 +64 "core" 1 +48 "manipulator"&U% +6 "core" % $ ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%*& +4 "core" & +2 "manipulator"&C% +4 "core" %\   g  +2 "storage"(N% +4 "core" %a E +2 "storage"(Z. +2 "core" .( +2 "storage"(J& +4 "core" & /  +2 "storage"(@& +4 "core" & A  +2 "manipulator"&W& +3 "core" &"  V 9# +2 "manipulator"&(% +4 "core" %\   E  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&L( +162 "core" ( +2 "manipulator"&=& +4 "core" & ) Y  +2 "storage"(5& +3 "core" & }  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +95 "core" ' + "storage"(/& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"('i +276 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +2 "core" & B  +2 "manipulator"&2& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&F& +3 "core" & D  +2 "storage"(Q& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"('X +8 "core" &   +2 "manipulator"&6% +3 "core" % ϧ +3 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +4 .tElbow.seek PC + "manipulator"&d(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( + "manipulator"&1& +4 "core" &h , A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i' +97 "core" ' +2 "manipulator"&r& +5 "core" &h ' H + "manipulator"&)% +4 "core" %  +2 "processing"%e& +4 "core" & +3 "processing"%R& +5 "core" & +2 .tPC.seek :closed +2 "processing"% (Z +3 "core" &  +10 &7 )v +9 &j = +9 &v G +10 &pe G +9 &2f G +10 &g H +9 &g G +9 &yg G +10 &;e G +9 &h G +9 & f G +10 &"g G +9 &$Bg G +10 &&h G +9 &'g G +9 &)h G +10 &+Jf G +9 &- f G +9 &.g G +10 &0g G +9 &2Sg G +10 &4e G +9 &5g G +9 &7e G +10 &9Zg G +9 &;e G +9 &<g G +10 &>f G +9 &@cg G +10 &B$g G +9 &Ck G +9 &Em H +10 &Gfz I +9 &I  L +9 &J L +10 &L M +9 &Nd L +10 &P& L +9 &Q M +9 &S M +10 &Uk M +9 &W+ M +9 &X N +10 &Z>Db %m +9 &Z' # +6 ( + "processing"%R& +4 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&X1 +62 "core" 1 +2 "manipulator"&?% +4 "core" % ( 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 "processing"%>& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&S% +5 "core" %\   l  + "storage"(;% +4 "core" %b +2 "storage"(V. +2 "core" .( +2 "storage"(& +4 "core" &   +3 "storage"(g& +2 "manipulator"&9& +7 "core" & 7  + &h +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +52 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&~(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'i +8 "core" ( + "manipulator"&P& +4 "core" &n ) < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &n  / +3 .tForearm.seek PC + "manipulator"&h' +98 "core" ' + .tHand.close +2 "manipulator"&l/ +61 "core" / +2 .tPC.seek :open +2 "processing"%<( +83 "core" ' +2 "storage"(^- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +33 "core" ' +306 ( + "storage"(u& +4 "core" &   +2 "manipulator"&j& +4 "core" &o +2 "manipulator"&{% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&n( +262 "core" ( + "manipulator"&& +4 "core" & ' Y # +2 "storage"(s& +4 "core" & /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' +3 .tHand.open + "manipulator"&x1 +60 "core" 1 +2 "storage"(q- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(b'E +37 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &\ D\ E   +2 "manipulator"&& +4 "core" & # +2 .tElbow.seek 3 +2 "manipulator"&( +34 "core" ( + "manipulator"&& +4 "core" & % U t +2 "storage"(p& +4 "core" & W Q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&o& +4 "core" & t +2 "storage"(B& +4 "core" & 7  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&8'} +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&_% +4 "core" %| ; +2 "storage"(k& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&'Ϩ +21 "core" ' +2 "manipulator"&& +3 "core" & 7 t +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +30 "core" ' +3 "storage"(w% +4 "core" %n   +3 ."downElevator"SE.seek :down +3 "storage"(|'X +99 (c% +3 "core" %Y * QK +2 "manipulator"&% +4 "core" %0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & 8  +2 "collection"'G& +3 "core" &Vg  I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&\ % +3 "core" %\ % g 6 +2 "storage"(m% +4 "core" %Q  +2 "storage"( . +3 "core" .( +2 "storage"(y& +49 "core" &   +3 "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" & m t +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&T& +4 "core" & % E t +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +97 "core" ' +3 "storage"(I& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +281 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  t +2 "storage"(}& +3 "core" & S  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(.'O +32 "core" ' +2 "manipulator"&f% +4 "core" %Ί  + "storage"(0& +4 "core" & -  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&7'϶ +19 "core" ' +2 "manipulator"&-& +3 "core" & 6 t +2 "storage"(&& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&`'9 +28 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(U'> +41 "core" ' +2 "manipulator"&+& +4 "core" & t +2 "manipulator"&*% +4 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&N( +165 "core" ( +2 "manipulator"&Z& +3 "core" &# 0 j ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &# V ;5 +3 .tForearm.seek CC +2 "manipulator"&@'" +96 "core" ' + .tHand.close +2 "manipulator"&W/ +53 "core" / +2 .tCC.seek :open +2 "collection"'(( +416 "core" ( + "storage"(M& +4 "core" & #  +2 "storage"(=& +3 "core" & $  +2 "manipulator"&5& +4 "core" &"  a 9# +2 "manipulator"&/% +3 "core" % 0  l +3 .tForearm.seek :retract + "manipulator"&D'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&a( +162 "core" ( + "manipulator"&!& +4 "core" & & g +2 "storage"(3& +3 "core" & z  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&2'} +103 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +63 "core" 1 +2 "manipulator"&t% +3 "core" % ΅  * +2 "storage"(A& +5 "core" & @  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&6'ϱ +20 "core" ' +2 "manipulator"&L& +4 "core" & ) g +2 "storage"(E& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' +2 "storage"(]% +3 "core" %D  +50 ."downElevator"SE.seek :down +3 "storage"(1'X +99 (% +3 "core" %\\  NE +2 "manipulator"&O% +4 "core" %?  k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"')& +3 "core" & +2 "manipulator"&e% +4 "core" %\ $ 1 +2 "storage"(% +4 "core" %b  +2 "storage"(K. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"($( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &  +2 "manipulator"&?& +4 "core" & g +2 .tElbow.seek 2 +2 "manipulator"&>( +47 "core" ( + "manipulator"&S& +4 "core" & & - $ +2 "storage"(;& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&V'ќ +103 "core" ' +2 "storage"(& +3 "core" & X +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'i +274 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (9& +3 "core" & t +2 "manipulator"&P& +3 "core" & # +2 .tElbow.seek 2 +3 "manipulator"&\\( +31 "core" ( +2 "manipulator"&i& +3 "core" & `  +3 "storage"(l& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&^' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +8 "core" & i  +2 "manipulator"&z% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +3 .tElbow.seek CC + "manipulator"&j( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&{& +4 "core" &" # 1 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &"  N 9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +107 "core" ' +2 "manipulator"&s& +3 "core" &" ( ; 9( +2 "manipulator"&~% +4 "core" %  +2 "collection"'x& +4 "core" &( +2 "collection"'q& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &  +8 &5) )v +9 & i% < +9 &v G +10 &id% F +9 &)j" G +9 &h$ G +10 &e" F +9 &pe# F +10 &2h F +9 &j F +9 & l G +10 &"wj G +9 &$:e F +9 &%h F +10 &'i G +9 &)e# F +10 &+Bk# F +9 &-e F +9 &.e" G +10 &0k& F +9 &2Ie# G +9 &4\ h G +10 &5d F +9 &7e& G +10 &9Qh( G +9 &;i' G +9 &<e% F +10 &>g F +9 &@Zj" F +10 &Be G +9 &Cl' G +9 &Ep! H +10 &G\\|  I +9 &I,! J +9 &Jg N +10 &Ld P +9 &NN.9 P +9 &P%( Q +10 &Q % Q +9 &S # R +10 &UN# F +9 &VtN  $p +9 &Vw  L +6 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&1 +4 "core" &Vm L +52 1 +2 "manipulator"&% +4 "core" % 0 ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" & + "manipulator"&p% +5 "core" %\  T  + "storage"(o% +4 "core" %_  +2 "storage"(B. +3 "core" .( +46 "storage"(v& +7 "core" & 6 + "storage"(_& +4 "core" &  +2 "manipulator"&k& +4 "core" &" 9' +2 "manipulator"&b% +3 "core" %\  t  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +5 "core" & w  + "storage"(n& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +88 "core" ' + "storage"(& +4 "core" & K +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"( 'i +283 "core" ' +2 "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" & X +2 "manipulator"&[& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & |  +2 "storage"(8& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(\ 'X +8 "core" &  +2 "manipulator"&m% +3 "core" %  x E +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&y(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &v 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &v   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&T& +4 "core" &v & < +2 "manipulator"& % +4 "core" % 3 +2 "processing"%& +4 "core" & +3 "processing"%I& +6 "core" & +2 .tPC.seek :closed +2 "processing"%|(Z +5 "core" & +5 &< #b +10 &[ 6 +9 & H +10 &g G +9 &g G +9 &]g G +10 &f G +9 &f G +9 &g G +10 &eg G +9 & 'g G +10 &!g G +9 &#g G +9 &%mg G +10 &'/h G +9 &(f G +9 &*g H +10 &,we G +9 &.9g G +10 &/f G +9 &1g G +9 &3f G +10 &5Af G +9 &7e G +9 &8e G +10 &:e G +9 &\ e G +9 &?f G +9 &Ae G +10 &COi G +9 &Ej H +9 &Fs H +10 &H J +9 &JH M +10 &L  L +9 &M M +9 &O M +10 &QP M +9 &S M +9 &T M +10 &V M +9 &XV M +10 &Yxu "j +9 &Z'j , +9 ( + &Z " +3 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +5 "core" % ' B 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +95 "core" ' +3 "processing"%& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&}% +4 "core" %\    # +2 "storage"(#% +4 "core" %U  +2 "storage"(f. +2 "core" .( +3 "storage"(0& +4 "core" &  +2 "storage"(-& +2 "manipulator"&&& +8 "core" &  + &v  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&+(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(*'i +2 "core" ( +3 "manipulator"&& +4 "core" &v  ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &v )  +2 .tForearm.seek PC +42 "manipulator"&'' +104 "core" ' +2 .tHand.close + "manipulator"&,/ +63 "core" / +2 .tPC.seek :open +2 "processing"%7( +42 "core" ' +2 "storage"(.- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(Z'y +46 "core" ' +332 ( +2 "storage"(J& +4 "core" & H +2 "manipulator"&`& +4 "core" &v  +2 "manipulator"&H% +3 "core" %  ) +3 .tForearm.seek :retract + "manipulator"&W'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&C( +267 "core" ( + "manipulator"&4& +4 "core" & ( G +2 "storage"(M& +4 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +89 "core" ' +3 .tHand.open +2 "manipulator"&51 +61 "core" 1 +2 "storage"(/- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(!'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(3' +48 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(@- +2 "core" -' +3 "storage"(N& +3 "core" & N W ] +2 "manipulator"&Q& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&t( +2 "core" ( +3 "manipulator"&A& +3 "core" & ' . +2 "storage"(L& +4 "core" & O X V +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +58 "core" ' +2 "manipulator"&D& +4 "core" & r +2 "storage"(a& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +24 "core" ' + "manipulator"&6% +4 "core" % +2 "storage"()& +3 "core" & D +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&e' +21 "core" ' +2 "manipulator"&& +3 "core" & % - +2 "storage"(K& +4 "core" & h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +23 "core" ' + "storage"(% +4 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(1'X +98 (%% +4 "core" %\\ u u x RM +2 "manipulator"&X% +3 "core" %ѯ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +90 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +2 "core" & M +3 "collection"';& +3 "core" &Vl  L +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(F% +3 "core" %U  +2 "storage"(r. +4 "core" .( + "storage"(g& +4 "core" &  +2 "storage"(9& +4 "core" & +2 "manipulator"&P& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( +2 "manipulator"&l& +3 "core" & ' n +2 "storage"(d& +4 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +47 "manipulator"&'ќ +102 "core" ' + "storage"(z& +4 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +280 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" & N +2 "storage"(h& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&R' +29 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'O +28 "core" ' +2 "manipulator"&~% +3 "core" %   E +2 "storage"(x& +4 "core" & < +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"& ' +20 "core" ' +2 "manipulator"&u& +3 "core" & '  +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +40 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&p% +5 "core" %ѹ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +159 "core" ( +2 "manipulator"&v& +4 "core" &% ( f << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &%   << +2 .tForearm.seek CC +2 "manipulator"&_'" +97 "core" ' + .tHand.close +2 "manipulator"&k/ +53 "core" / +2 .tCC.seek :open +2 "collection"'b( +412 "core" ( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "core" & T +2 "manipulator"&n& +4 "core" &&   <: +2 "manipulator"&% +3 "core" %   $  +3 .tForearm.seek :retract + "manipulator"&j'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&Y( +157 "core" ( + "manipulator"&c& +4 "core" &  +5 "storage"(& +3 "core" & ) +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&[' +94 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +63 "core" 1 +2 "manipulator"& % +4 "core" %  +2 "storage"(G& +4 "core" & v + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +3 "manipulator"&m' +18 "core" ' +2 "manipulator"&& +3 "core" & b +2 "storage"(w& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +26 "core" ' +2 "storage"(% +3 "core" %C  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %W  QI +2 "manipulator"&% +5 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +49 "Can" 4xb$ +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" &$  +3 "manipulator"&% +4 "core" %\   +2 "storage"(\ % +4 "core" %U +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(<( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&}& +3 "core" & h +2 "storage"(#& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +88 "core" ' + "storage"(I& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +280 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" & A  +2 "manipulator"&& +3 "core" & h +2 .tElbow.seek 3 +2 "manipulator"&:( +4 "core" ( + "manipulator"&& +4 "core" & ' : h +2 "storage"(,& +5 "core" & P  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(|'X +8 "core" & h +2 "manipulator"&*% +3 "core" % ϟ +3 .tForearm.seek :retract +2 "manipulator"&J'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&`( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&H& +3 "core" && @ f =D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &&   =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'" +97 "core" ' +2 "manipulator"&M& +3 "core" && ' J =B +3 "manipulator"&+% +3 "core" %*   +2 "collection"'5& +4 "core" &'  +4 "collection"'/& +5 "core" &'  +2 .tCC.seek :closed +2 "collection"'@(V +5 "core" &)  +9 &9% *x +9 &*n" > +9 &r! G +10 &e( F +9 &Od* G +9 &h$ G +10 &h$ G +9 &d( F +10 &Wk G +9 &h$ F +9 & e% G +10 &"j$ G +9 &$`f F +9 &&#h F +10 &'h G +9 &)g G +10 &+gi G +9 &-+d F +9 &.h G +10 &0j G +9 &2qe F +9 &42j F +10 &5j F +9 &7j F +10 &9xk F +9 &;9k G +9 &<i" G +11 &>e\ F +8 &@e F +9 &BAe G +10 &Dj G +9 &En G +10 &G  H +9 &I?4( J +9 &Jr O +10 &LU P +9 &Ns+3 P +9 &P4#& Q +10 &Q# Q +9 &S" R +10 &Uu# ? +9 &Vx6  - +9 &Vh B +6 ( +2 "collection"'/& +3 "core" &VY B +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open + "manipulator"&N1 +64 "core" 1 +3 "manipulator"&Q% +4 "core" % * ' C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%L& +3 "core" & +2 "manipulator"&W% +4 "core" %\ #  b > +2 "storage"(D% +4 "core" %U  +2 "storage"(a. +2 "core" .( +2 "storage"(6& +4 "core" &   +2 "storage"()& +3 "core" &   +2 "manipulator"&Z& +4 "core" &&  P =A +2 "manipulator"&% +3 "core" %\ #  d > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&!( +167 "core" ( +2 "manipulator"&K& +3 "core" & ) r +2 "storage"(& +52 "core" & /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +115 "core" ' +3 "storage"(=& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'i +282 "core" ' +2 "storage"(%- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +3 "core" &   +2 "manipulator"&E& +4 "core" & r +2 .tElbow.seek 3 +2 "manipulator"&t( +2 "core" ( +2 "manipulator"&]& +4 "core" & & t r +2 "storage"(& +3 "core" & 3  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϩ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"('X +8 "core" & T r +2 "manipulator"&F% +3 "core" % I M +3 .tForearm.seek :retract +2 "manipulator"&2'\ +102 "core" ' +2 .tElbow.seek PC + "manipulator"&r(s +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +115 "core" ( +2 "manipulator"&g& +3 "core" &h + D +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&P' +93 "core" ' +2 "manipulator"&l& +3 "core" &j & ? +3 "manipulator"&d% +3 "core" %  +2 "processing"%U& +4 "core" & +3 "processing"%z& +5 "core" & +2 .tPC.seek :closed +2 "processing"%1(Z +3 "core" & +9 &> #c +9 &[ 6 +9 & H +10 &h G +9 &g G +10 &`e G +9 &!i G +9 &g G +10 &g G +9 &gj G +9 & *h G +10 &!g F +9 &#g G +10 &%pg G +9 &'1e G +9 &(e G +10 &*g G +9 &,yg F +9 &.9h G +10 &/g G +9 &1j G +10 &3g G +9 &5Bg G +9 &7i G +10 &8e F +9 &:e G +9 & g F +9 &?g G +10 &Af F +9 &CPj G +9 &En H +10 &Fv I +9 &H J +9 &JI M +10 &L  M +9 &M M +10 &O M +9 &QR L +9 &S L +10 &T M +9 &V M +9 &XW M +10 &Yww "j +9 &Z'j , +9 ( +2 &Z " +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&O1 +62 "core" 1 +2 "manipulator"&?% +4 "core" % ' @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +3 "processing"%{& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&h% +4 "core" %\   (  +2 "storage"(s% +4 "core" %` D + "storage"(~. +3 "core" .( +2 "storage"(x& +4 "core" &  +2 "storage"(u& +3 "manipulator"&(& +8 "core" &   + &k  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"(p'i +2 "core" ( +3 "manipulator"&& +3 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +2 "core" &k   +3 .tForearm.seek PC +2 "manipulator"&>' +92 "core" ' + .tHand.close +2 "manipulator"&R/ +54 "core" / +3 .tPC.seek :open +2 "processing"% ( +95 "core" ' +2 "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'y +78 "core" ' +248 ( +2 "storage"(q& +3 "core" & $  +2 "manipulator"&& +4 "core" &k   +2 "manipulator"&^% +3 "core" %    * +3 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +263 "core" ( +2 "manipulator"&& +4 "core" &    +2 "storage"(& +3 "core" & 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open +2 "manipulator"&n1 +63 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +30 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(B& +4 "core" & M N Q  +2 "manipulator"&8& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&G& +4 "core" & %  +2 "storage"(& +4 "core" & Z Q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +23 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' + "manipulator"&j& +4 "core" &  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +27 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +24 "core" ' + "manipulator"&m% +4 "core" %΃  A +2 "storage"(& +4 "core" & F  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"& 'ϯ +20 "core" ' +2 "manipulator"&& +3 "core" & d  +2 "storage"(\ & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +28 "core" ' +2 "storage"( % +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ($% +3 "core" %]  QK +2 "manipulator"&% +4 "core" %A ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +3 "core" & 6  +2 "collection"'#& +4 "core" &VX B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&I% +4 "core" %\   +2 "storage"(% +4 "core" %S  + "storage"(T. +3 "core" .( +2 "storage"(&& +4 "core" & 9  +2 "storage"(-& +3 "core" &   +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&,& +4 "core" & & ?  +2 "storage"(y& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +95 "core" ' +2 "storage"(*& +4 "core" & G  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & b  +47 "storage"('& +5 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&0'} +20 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(+'O +35 "core" ' + "manipulator"&:% +4 "core" %Ά ~ +2 "storage"(5& +4 "core" & G  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&|'ϲ +20 "core" ' +2 "manipulator"&J& +3 "core" & _  +2 "storage"(b& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&N'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Q'> +38 "core" ' +2 "manipulator"&L& +3 "core" & m  +2 "manipulator"&W% +4 "core" %, +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +163 "core" ( +4 "manipulator"&a& +3 "core" &' A >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &'  7 >I +2 .tForearm.seek CC +2 "manipulator"&)'" +93 "core" ' +2 .tHand.close + "manipulator"&Z/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( + "storage"(4& +4 "core" & v  +2 "storage"(K& +4 "core" & `  +2 "manipulator"&& +3 "core" &(  ' >I +2 "manipulator"&`% +4 "core" % (  . +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +163 "core" ( + "manipulator"&%& +4 "core" & ) k y +2 "storage"(X& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&E'} +101 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&S% +4 "core" % Ί & 8 +2 "storage"(;& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&F'϶ +20 "core" ' + "manipulator"&!& +4 "core" & y +2 "storage"(C& +4 "core" & B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +30 "core" ' + "storage"(e% +4 "core" %A O  +3 ."downElevator"SE.seek :down +3 "storage"(g'X +99 (9% +3 "core" %T % PH +2 "manipulator"&t% +4 "core" %; # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&l'\ +93 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'d& +3 "core" & +3 "manipulator"&U% +3 "core" %\ ! 0 +2 "storage"(% +4 "core" %`  +2 "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(7( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +46 (O& +6 "core" &  & +2 "manipulator"&?& +5 "core" & y +2 .tElbow.seek 2 + "manipulator"&{( +35 "core" ( + "manipulator"&h& +4 "core" & & B & +2 "storage"(s& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&~'ќ +92 "core" ' +2 "storage"(x& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'i +276 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +2 "core" &  +3 "manipulator"&& +3 "core" & b !u +2 .tElbow.seek 2 +2 "manipulator"&i( +33 "core" ( +2 "manipulator"&P& +4 "core" & j D +2 "storage"(R& +3 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"(1'X +7 "core" & a D +2 "manipulator"&p% +4 "core" % M +2 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&^& +3 "core" &" 5 T 9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &>& +2 "core" &"  A 9$ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +2 "manipulator"&& +3 "core" &" 1 ; 9$ +2 "manipulator"&% +5 "core" %   +2 "collection"'n& +3 "core" &- +3 "collection"'& +4 "core" &% +3 .tCC.seek :closed +2 "collection"'_(V +4 "core" &* +7 &I/ #c +10 &\\) 6 +9 &" G +10 &d! F +9 &e# F +9 &id F +10 &,h F +9 &h G +9 &h G +10 &re F +9 & 3k F +10 &!e F +9 &#h F +9 &%xk G +10 &';h F +9 &(e$ F +9 &*k F +10 &,j% F +9 &.Ck# F +10 &0j% F +9 &1e F +9 &3e$ F +10 &5Kd! F +9 &7 e G +9 &8g F +10 &:e" F +9 &k F +9 &?f F +9 &Af F +10 &C[h F +9 &Em% F +9 &Fx, H +10 &H% J +9 &JPeI$ M +10 &L # P +9 &M/>! P +9 &O'( Q +10 &QM # Q +9 &S  # R +9 &T  R +10 &V:b  + +9 &V J +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&B1 +3 "core" &V` D +59 1 +2 "manipulator"&8% +4 "core" %  1 +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&k% +4 "core" %\ #  s ; +2 "storage"(j% +3 "core" %]  +2 "storage"(. +4 "core" .( + "storage"(v& +4 "core" & +2 "storage"(m& +3 "core" & " +2 "manipulator"&& +4 "core" &"  ) 9$ +2 "manipulator"&c% +3 "core" %\ #   ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&\ & +3 "core" & &  +2 "storage"( & +4 "core" & 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&o'ќ +99 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"($- +47 "core" -' +6 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&w& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & % U  +2 "storage"(& +3 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(I'X +7 "core" &  + "manipulator"&% +4 "core" %  s +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +3 "manipulator"&&& +3 "core" &n 3 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +4 "core" &n m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&,& +3 "core" &n % F +2 "manipulator"&y% +4 "core" %  ? +2 "processing"% & +4 "core" & +2 "processing"%*& +6 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +6 &< #a +9 &Y 5 +10 & H +9 &e G +10 &k G +9 &Tf G +9 &f G +10 &f G +9 &h G +9 &]h G +10 & h G +9 &!g G +10 &#g G +9 &%eg G +9 &'(g F +10 &(g G +9 &*h G +9 &,lh G +10 &..g G +9 &/e G +10 &1j G +9 &3te G +9 &57g G +10 &6g G +9 &8e G +9 &:|f G +10 &e G +10 &?e F +9 &Ae G +9 &CDh H +10 &Em H +9 &Fv I +9 &H K +10 &J? L +9 &L L +10 &M L +9 &O L +9 &QE M +10 &S  L +9 &T M +9 &V M +10 &XL M +9 &Yvy "l +10 &Z. 1 +9 ( + &Z ! +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&Y1 +63 "core" 1 +2 "manipulator"&% +3 "core" % % 5 ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' + "processing"%H& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&'% +3 "core" %\   `  +2 "storage"(M% +4 "core" %`  +2 "storage"(:. +3 "core" .( +2 "storage"(5& +4 "core" &  +2 "storage"(J& +3 "manipulator"&b& +8 "core" & + &n +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&L(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(W'i +2 "core" ( + "manipulator"&"& +5 "core" &n   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &n   +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&0/ +55 "core" / +2 .tPC.seek :open +2 "processing"%|( +91 "core" ' + "storage"(+- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'y +36 "core" ' +295 ( + "storage"(6& +4 "core" &  +2 "manipulator"&N& +3 "core" &n +2 "manipulator"&.% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +318 "core" ( +2 "manipulator"&@& +3 "core" & &  +2 "storage"(4& +4 "core" & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&K'ќ +91 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(%'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(X' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +3 "core" -' +2 "storage"(/& +3 "core" & \ J\ G 9 +2 "manipulator"&& +4 "core" & >  +2 .tElbow.seek 2 +2 "manipulator"&S( +7 "core" ( +2 "manipulator"&;& +4 "core" & & $  +2 "storage"(!& +3 "core" & \ G G +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&C'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(e' +57 "core" ' +2 "manipulator"&=& +3 "core" &  +2 "storage"(9& +4 "core" & Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t' +24 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +22 "core" ' +2 "manipulator"&F% +3 "core" % +2 "storage"(d& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&U' +19 "core" ' +2 "manipulator"&& +3 "core" & ?  +2 "storage"(2& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +18 "core" ' +2 "storage"(3% +3 "core" %n ,  +3 ."downElevator"SE.seek :down +4 "storage"(g'X +98 (<% +4 "core" %[  RM +2 "manipulator"&O% +3 "core" %~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&?'\ +89 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (h& +3 "core" & +6 "collection"'s& +4 "core" &V`   D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&x% +3 "core" %\   +2 "storage"(]% +4 "core" %R  +2 "storage"(l. +2 "core" .( +3 "storage"((& +3 "core" &  +2 "storage"(u& +4 "core" & ] +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&P( +4 "core" ( +2 "manipulator"&R& +3 "core" &  +2 "storage"(r& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +98 "core" ' +2 "storage"(p& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'i +282 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" &  +2 "storage"(>& +4 "core" & 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&z' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +50 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'O +27 "core" ' +2 "manipulator"&% +3 "core" %   , +2 "storage"(n& +4 "core" & w y T +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&1' +19 "core" ' +2 "manipulator"&q& +3 "core" & /  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(8'> +37 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&k% +3 "core" %ѓ L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +3 "core" &# " ? :0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &#  j :0 +2 .tForearm.seek CC +2 "manipulator"&m'" +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'c( +412 "core" ( +2 "storage"(& +3 "core" & # +2 "storage"(\ & +4 "core" &  +2 "manipulator"& & +3 "core" &#   :/ +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&G( +160 "core" ( +2 "manipulator"&$& +3 "core" & Z  +3 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&w' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&}% +3 "core" % $ j x +2 "storage"(#& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +3 "manipulator"&' +17 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(o& +4 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +32 "core" ' +2 "storage"( % +3 "core" %D * +3 ."downElevator"SE.seek :down +4 "storage"(&'X +98 (-% +3 "core" %=[  QI +2 "manipulator"& % +4 "core" %Ѩ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +94 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'y& +3 "core" &  +2 "manipulator"& % +3 "core" %\ # : +2 "storage"(I% +4 "core" %a  +2 "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 3 + "storage"( ( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&H( +29 "core" ( + "manipulator"&'& +4 "core" & % m  +2 "storage"(M& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +138 "core" ' +5 "storage"(5& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +280 "core" ' +3 "storage"(b- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" &  +2 "manipulator"&"& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&& +3 "core" & { n +2 "storage"(0& +4 "core" & Y  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&+'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"('X +8 "core" & l +2 "manipulator"&W% +4 "core" % Ϭ  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&.& +3 "core" &  M 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'" +104 "core" ' +2 "manipulator"&@& +4 "core" &  ' F 5 +2 "manipulator"&4% +4 "core" %  5 +2 "collection"'& +5 "core" &  +2 "collection"'`& +5 "core" &  +2 .tCC.seek :closed +2 "collection"')(V +5 "core" &  +6 &K $d +9 &_ 7 +10 &7 G +9 &c F +10 &k" G +9 &~h# F +9 &@e) F +10 &g( F +9 &h( G +9 &i/ F +10 & Hj$ F +9 &"\ e* F +9 &#g$ F +10 &%k F +9 &'Pe$ F +10 &)d) F +9 &*j) F +9 &,e$ F +10 &.Xe% F +9 &0j# F +9 &1e! F +10 &3e" F +9 &5`d# F +10 &7"k, F +9 &8j# F +9 &:h* G +10 &)k$ G +9 &?h! F +10 &Ag, F +9 &Cph* F +10 &E0q+ G +9 &Fy! H +9 &H + I +10 &JckT) N +9 &Lz! P +9 &M1=% P +10 &O&,* P +9 &Qb!$, Q +10 &S!## R +9 &T "* R +9 &VC["* (z +10 &V ( G +8 ( +2 &Va# C +3 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&/1 +57 "core" 1 +3 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%!& +3 "core" & +2 "manipulator"&Z% +4 "core" %\  ( k  +2 "storage"(=% +4 "core" %U 6 +2 "storage"(9. +2 "core" .( +2 "storage"(F& +4 "core" &   +2 "storage"(d& +3 "core" & &  +2 "manipulator"&a& +4 "core" &   5 +2 "manipulator"&% +3 "core" %\   ]  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +163 "core" ( +2 "manipulator"&2& +3 "core" & &  +2 "storage"(3& +4 "core" & *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +96 "core" ' +2 "storage"(K& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +280 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +4 "core" & T  +2 "manipulator"&C& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&S( +2 "core" ( +2 "manipulator"&e& +4 "core" &  F  +2 "storage"(t& +3 "core" & 5  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'ϩ +62 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(x'X +7 "core" &  +2 "manipulator"&]% +4 "core" % ϧ `  +2 .tForearm.seek :retract +2 "manipulator"&E'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&(& +4 "core" &u F  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &u  L  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&R& +4 "core" &u %  +2 "manipulator"&r% +4 "core" % +2 "processing"%Q& +4 "core" & +3 "processing"%p& +5 "core" & +2 .tPC.seek :closed +2 "processing"%g(Z +3 "core" &  +9 &6 )v +10 &k = +9 &y H +9 &nc G +10 &0g G +9 &f G +10 &g G +9 &xe F +9 &8e G +10 &g G +9 & f G +9 &"g F +10 &$@g G +9 &&f G +10 &'g G +9 &)g G +9 &+Ig G +10 &-\ j G +9 &.g G +10 &0e G +9 &2Pg G +9 &4f G +10 &5i G +9 &7e G +9 &9Xk G +10 &;f G +9 &<k G +9 &>j G +10 &@bh F +9 &B#g G +10 &Cj G +9 &Ep H +9 &Gd{ H +10 &I K +9 &J L +9 &L M +10 &Na L +9 &P" M +10 &Q M +9 &S L +9 &Uh M +10 &W) M +9 &X M +9 &Z<Ec %l +10 &Z , " +5 ( +2 "processing"%p& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&A1 +53 "core" 1 + "manipulator"&?% +4 "core" % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +98 "core" ' +2 "processing"%^& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&>% +4 "core" %\ $  G +2 "storage"(% +4 "core" %b  +2 "storage"(. +3 "core" .( +2 "storage"(n& +3 "core" &   +3 "storage"(q& +2 "manipulator"&& +7 "core" & @  + &u  %  +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +2 "core" ( +3 "manipulator"&V& +3 "core" &u  P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &u  0  +2 .tForearm.seek PC +2 "manipulator"&{' +99 "core" ' +2 .tHand.close + "manipulator"&z/ +58 "core" / +4 .tPC.seek :open + "processing"%1( +85 "core" ' +2 "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +301 ( + "storage"(v& +4 "core" &   +2 "manipulator"&B& +4 "core" &u H  +2 "manipulator"&\\% +3 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +269 "core" ( +2 "manipulator"&_& +4 "core" & ( Q  +2 "storage"(& +4 "core" & D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +95 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(- +3 "core" -'y +49 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"($'E +92 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(m- +2 "core" -' +2 "storage"(& +4 "core" & W M 1  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&}( +5 "core" ( +2 "manipulator"&#& +3 "core" & & )  +3 "storage"(& +3 "core" & W Y   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + "manipulator"&& +4 "core" & 8  +2 "storage"(-& +4 "core" & W  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& '} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +27 "core" ' +2 "manipulator"&% +4 "core" % +2 "storage"(y& +3 "core" & <  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"& 'ϫ +21 "core" ' + "manipulator"&I& +4 "core" & %  +2 "storage"([& +3 "core" & A  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +27 "core" ' + "storage"(% +4 "core" %l  +3 ."downElevator"SE.seek :down +4 "storage"(&'X +98 (7% +3 "core" %|Z { QK +2 "manipulator"&Y% +4 "core" %}  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +73 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ('& +3 "core" &  +2 "collection"'M& +4 "core" &Va C +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %\  E  +2 "storage"(% +4 "core" %P  + "storage"(,. +3 "core" .( +2 "storage"(b& +4 "core" & t  +2 "storage"(J& +3 "core" & ^  +2 "manipulator"&"& +4 "core" & i  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&0& +3 "core" & % 8  +2 "storage"(T& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +92 "core" ' + "storage"(W& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +280 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & l  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&*'} +24 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(4'O +28 "core" ' +2 "manipulator"&% +3 "core" %~ +2 "storage"(& +4 "core" & r  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&'Ϫ +20 "core" ' +2 "manipulator"&6& +4 "core" & <  +2 "storage"(c& +4 "core" &   +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +44 "core" ' +2 "manipulator"&!& +4 "core" & =  +2 "manipulator"&Z% +4 "core" %< 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +168 "core" ( + "manipulator"&F& +4 "core" & f 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &  I 6 +2 .tForearm.seek CC +2 "manipulator"&`'" +93 "core" ' +2 .tHand.close + "manipulator"&a/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +2 "storage"(L& +4 "core" &   +2 "storage"(2& +4 "core" &   +2 "manipulator"&3& +3 "core" &  N 6 +2 "manipulator"&K% +4 "core" % 3  p +2 .tForearm.seek :retract +2 "manipulator"&N'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&;( +168 "core" ( + "manipulator"&<& +4 "core" & & { [ +2 "storage"(O& +3 "core" & E  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&C'} +100 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +52 "core" 1 +2 "manipulator"&U% +4 "core" % ΄ & +2 "storage"(s& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +3 "manipulator"&]'ϰ +20 "core" ' + "manipulator"&%& +4 "core" & ] [ +2 "storage"(D& +4 "core" & !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +28 "core" ' +2 "storage"(h% +3 "core" %D ] +3 ."downElevator"SE.seek :down +4 "storage"(('X +98 (u% +3 "core" %!V  OF +2 "manipulator"&S% +4 "core" %& +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'r& +3 "core" &% +2 "manipulator"&Q% +4 "core" %\ $ P E +2 "storage"(x% +6 "core" %a   +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(|( +337 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +3 "core" & l +2 "manipulator"&?& +4 "core" & [ +2 .tElbow.seek 2 +2 "manipulator"&^( +48 "core" ( +2 "manipulator"&>& +3 "core" & % < 0 +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +100 "core" ' +2 "storage"(n& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" & f +2 "manipulator"&V& +4 "core" & / +49 .tElbow.seek 2 +2 "manipulator"&P( +25 "core" ( + "manipulator"&& +4 "core" & & k +2 "storage"(z& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&i' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +3 "storage"(g'X +7 "core" &  _ k +2 "manipulator"&k% +4 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&v'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +28 "core" ( +2 "manipulator"&\\& +4 "core" &$ . U ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &$ ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&_'" +99 "core" ' +3 "manipulator"&& +4 "core" &% ) J ;7 +2 "manipulator"&% +4 "core" % l J +2 "collection"' & +4 "core" &+ +3 "collection"'& +5 "core" &. +2 .tCC.seek :closed +3 "collection"'(V +4 "core" &# +5 &- < +9 &^M& 0 +10 &~2 D +9 &bg( F +9 &$j! F +10 &j$ F +9 &h+ G +10 &kd" F +9 &+j' G +9 &g$ G +10 &h) F +9 &!rf+ F +10 &#3f- G +9 &$i# G +9 &&h# F +10 &(zd* F +9 &*<j+ F +9 &+j+ F +10 &-g+ G +9 &/i) G +10 &1Ch) G +9 &3g3 F +9 &4e+ F +10 &6j+ F +9 &8Kh, G +9 &:h% F +10 &;g+ F +9 &=h$ F +9 &?Si( G +10 &Ah% G +9 &Bi% G +10 &Dl) G +9 &FZp+ G +9 &H * H +10 &IF0% K +9 &K* P +9 &MIC^& P +10 &O\ *1+ P +9 &P$+# P +10 &R!(# Q +9 &TK"& R +9 &Uq %' ? +10 &V"$ (r +9 &V~* N +2 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&m1 +53 "core" 1 +3 "manipulator"&% +4 "core" %   1 J +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%#& +3 "core" & +2 "manipulator"&% +4 "core" %\     +2 "storage"(% +3 "core" %^  +2 "storage"(-. +2 "core" .( +2 "storage"(& +4 "core" & u w j +2 "storage"(& +3 "core" & y , +2 "manipulator"&y& +5 "core" &#  " ;6 + "manipulator"&$% +4 "core" %\   X  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&I( +157 "core" ( +2 "manipulator"&[& +3 "core" & '   +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +88 "core" ' +2 "storage"(\ & +3 "core" & K +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +3 "core" &  +2 "manipulator"&o& +3 "core" & m  +2 .tElbow.seek 2 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"( & +4 "core" & + +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(5'X +7 "core" &  +2 "manipulator"&% +4 "core" %  |  +2 .tForearm.seek :retract +2 "manipulator"&w'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&,(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +119 "core" ( +3 "manipulator"&b& +4 "core" &j  g \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +4 "core" &j  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&"' +104 "core" ' +2 "manipulator"&0& +4 "core" &j ' \ +2 "manipulator"&T% +4 "core" % b +2 "processing"%8& +4 "core" & +3 "processing"%W& +5 "core" & +2 .tPC.seek :closed +2 "processing"%&(Z +4 "core" & +7 &< #b +9 &\\ 6 +10 & H +9 &c G +9 &g G +10 &[f G +9 &f G +10 &f G +9 &g G +9 &bj G +10 & $f G +9 &!f G +9 &#f G +10 &%jh G +9 &',g G +10 &(g G +9 &*h G +9 &,qg G +10 &.3f G +9 &/e G +9 &1e G +10 &3zg G +9 &5<g G +10 &6g G +9 &8f G +9 &:e G +10 &e G +9 &?g G +10 &Ag G +9 &CKj G +10 &E o H +9 &Ft H +9 &H J +10 &JD M +9 &L L +9 &M L +10 &O M +9 &QL M +10 &S  M +9 &T M +9 &V N +10 &XQ N +9 &Yxu "j +9 &Z+s , +9 ( +2 &Z ! +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&G1 +57 "core" 1 + "manipulator"&% +4 "core" % { b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +90 "core" ' +2 "processing"%.& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(@% +4 "core" %_  +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(6& +3 "manipulator"&c& +8 "core" & E + &j \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&!(s +7 ."raiseStack"SE.seek :beamBreak + "storage"(Z'i +3 "core" ( +2 "manipulator"&f& +4 "core" &j  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j l \ +2 .tForearm.seek PC +2 "manipulator"&H' +95 "core" ' +2 .tHand.close + "manipulator"&*/ +57 "core" / +3 .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'y +33 "core" ' +291 ( +2 "storage"(d& +3 "core" &  +2 "manipulator"&/& +4 "core" &j \ +2 "manipulator"&+% +3 "core" %  R  +3 .tForearm.seek :retract + "manipulator"&a'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&=( +263 "core" ( +2 "manipulator"&)& +3 "core" & & v  +2 "storage"(L& +4 "core" & G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +87 "core" ' + .tHand.open +2 "manipulator"&31 +61 "core" 1 +2 "storage"(K- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(O' +52 "core" ' +5 #tLights, camera, ACTION! + "storage"(`- +3 "core" -' +2 "storage"(9& +4 "core" & \ Z\ ^ [ +2 "manipulator"&t& +3 "core" & ]  +48 .tElbow.seek 2 +4 "manipulator"&U( +2 "core" ( +3 "manipulator"&s& +4 "core" & & +  +2 "storage"(%& +3 "core" & \ ^\ ^ +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(h' +59 "core" ' +2 "manipulator"&N& +3 "core" &  +2 "storage"(u& +4 "core" & W +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&S' +23 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +24 "core" ' + "manipulator"&r% +4 "core" % +2 "storage"(]& +4 "core" & G +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts +2 "manipulator"&Q' +20 "core" ' +2 "manipulator"&x& +4 "core" & _  +2 "storage"(E& +3 "core" & G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"(X% +4 "core" %r M \ +3 ."downElevator"SE.seek :down +3 "storage"(('X +99 ( % +3 "core" %] z ~ PJ +2 "manipulator"&A% +4 "core" %ф  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +3 "core" & > +2 "collection"'& +4 "core" &V~ N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&n% +3 "core" %\  +  +2 "storage"(e% +4 "core" %U +2 "storage"(R. +2 "core" .( +2 "storage"(q& +4 "core" &  +2 "storage"(p& +4 "core" & B +2 "manipulator"&V& +4 "core" & G  +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&z& +4 "core" &  +2 "storage"(l& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +87 "core" ' + "storage"(k& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'i +281 "core" ' +3 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & d  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&{' +26 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +29 "core" ' +2 "manipulator"&% +3 "core" %   J +2 "storage"( & +4 "core" & s  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&g' +20 "core" ' + "manipulator"&v& +4 "core" & #  +2 "storage"(& +3 "core" & K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +37 "core" ' +2 "manipulator"&#& +4 "core" & o  +2 "manipulator"&% +4 "core" %| 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +42 .tForearm.seek :retract +9 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +164 "core" ( + "manipulator"&& +4 "core" &% ' M << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  b << +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 .tHand.close + "manipulator"&y/ +57 "core" / +2 .tCC.seek :open + "collection"'$( +416 "core" ( +2 "storage"(_& +4 "core" & 3 +2 "storage"([& +3 "core" & $ +2 "manipulator"&& +4 "core" &$   ;4 +2 "manipulator"&\ % +4 "core" % +   +2 .tForearm.seek :retract +2 "manipulator"&B'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&7& +4 "core" & c  +2 "storage"(Y& +4 "core" & s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&o' +95 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&'% +3 "core" % & L +2 "storage"(M& +4 "core" & # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&' +18 "core" ' +3 "manipulator"&I& +4 "core" & X  +2 "storage"(j& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"( % +3 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(b'X +98 (J% +3 "core" %1V S PG +2 "manipulator"&}% +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'T& +3 "core" && +2 "manipulator"&8% +4 "core" %\  w  +2 "storage"(5% +3 "core" %Q +2 "storage"(w. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(1( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &  +2 "manipulator"&& +4 "core" & 9  +2 .tElbow.seek 3 +2 "manipulator"&.( +18 "core" ( +2 "manipulator"&& +4 "core" & % C ' +2 "storage"(@& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'i +280 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (W& +2 "core" &   +2 "manipulator"&f& +4 "core" & D ' +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" & ' + "storage"(*& +4 "core" & W  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +59 "core" / +49 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(&'X +8 "core" & ' +2 "manipulator"&Z% +4 "core" % Ϯ X +2 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +26 "core" ( +2 "manipulator"&+& +3 "core" && 3 o =C +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" && =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'" +101 "core" ' +3 "manipulator"&L& +4 "core" &&   =C +2 "manipulator"&!% +4 "core" %)  ? +2 "collection"'3& +4 "core" &4 +3 "collection"'K& +5 "core" &9 +2 .tCC.seek :closed +2 "collection"'`(V +3 "core" &4 +9 &C; #c +9 &\\4 6 +9 &1 G +10 &d4 F +9 &k. F +9 &_g- F +10 &"g0 F +9 &h: G +10 &g& F +9 &hc. F +9 & )i, F +10 &!j, F +9 &#j% F +9 &%oj4 F +10 &'0g0 G +9 &(g+ F +10 &*c( F +9 &,vg/ G +9 &.9g& F +10 &/d# F +9 &1e* F +10 &3i+ F +9 &5Ah* F +9 &7g/ G +10 &8e0 F +9 &:d$ F +9 &\ g+ G +9 &?g) G +10 &Ag' G +9 &CPh* G +9 &Ei& G +10 &Ft$ H +9 &H) J +9 &JEbE) M +10 &L$ P +9 &M:O- P +10 &O*/, Q +9 &QC$(* Q +9 &S#$- R +10 &T#$- R +9 &V2b $* + +9 &V! - ? +9 ( +2 &VH- = +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&91 +61 "core" 1 +3 "manipulator"&t% +4 "core" % ) ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +4 "core" & +2 "manipulator"&%% +4 "core" %\    +2 "storage"(N% +3 "core" %_ 4 +2 "storage"(u. +4 "core" .( + "storage"(F& +4 "core" &   +2 "storage"(<& +3 "core" &   +2 "manipulator"&r& +4 "core" &&  y =C +2 "manipulator"&]% +3 "core" %\   /  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&x( +165 "core" ( +2 "manipulator"&E& +3 "core" & & R +2 "storage"(X& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +96 "core" ' + "storage"(2& +4 "core" & $  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +283 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +4 "core" & %  + "manipulator"&D& +4 "core" & h R +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&h& +4 "core" & T R +2 "storage"(S& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(n'X +8 "core" & R +2 "manipulator"&e% +3 "core" % Ϝ  +3 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&q& +3 "core" &t 7   +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +48 "manipulator"&V' +106 "core" ' +2 "manipulator"&z& +4 "core" &t  g  +2 "manipulator"&l% +4 "core" % +2 "processing"%& +4 "core" & +3 "processing"%k& +6 "core" & +2 .tPC.seek :closed +2 "processing"%((Z +4 "core" & +7 &< #b +10 &\\ 6 +9 & H +9 &c G +10 &g G +9 &[g G +9 &e G +10 &f G +9 &g G +9 &cf G +10 & $g G +9 &!d G +10 &#e G +9 &%jg G +9 &'-g G +10 &(g G +9 &*g G +9 &,rf G +10 &.4e G +9 &/e G +10 &1e G +9 &3zf G +9 &5<f G +10 &6f G +9 &8f G +10 &:d G +9 &e G +10 &?g G +9 &Af G +9 &CLi G +10 &E n H +9 &Ft H +10 &H K +9 &JD M +9 &L M +10 &M M +9 &O M +9 &QL M +10 &S  M +9 &T M +9 &V M +10 &XQ N +9 &Yww "k +10 &Z,y - +9 ( + &Z +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&;1 +60 "core" 1 +2 "manipulator"&?% +3 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%\\& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(P% +4 "core" %_  +2 "storage"(. +2 "core" .( +2 "storage"( & +4 "core" &  +2 "storage"(v& +2 "manipulator"&& +6 "core" &  +2 &t  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&#(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&~& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &t L  +2 .tForearm.seek PC +2 "manipulator"&^' +96 "core" ' +2 .tHand.close + "manipulator"&{/ +55 "core" / +3 .tPC.seek :open +2 "processing"%g( +101 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +51 "core" ' +269 ( +2 "storage"(& +4 "core" &   +2 "manipulator"&m& +3 "core" &t V  +2 "manipulator"&i% +4 "core" % g +2 .tForearm.seek :retract +2 "manipulator"&y'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +264 "core" ( +2 "manipulator"&& +4 "core" & & +2 "storage"(_& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +94 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "storage"(\ - +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(Y' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(-& +4 "core" & N W J  +2 "manipulator"& & +3 "core" & j +2 .tElbow.seek 3 +2 "manipulator"&'( +7 "core" ( +2 "manipulator"&M& +4 "core" & $ >  +2 "storage"(I& +4 "core" & W Y O  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +8 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +7 "storage"( ' +58 "core" ' +9 "manipulator"&B& +4 "core" &  +2 "storage"(J& +4 "core" & K  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(o'i +24 "core" ' +2 "manipulator"&% +4 "core" %x ] +2 "storage"(T& +3 "core" & N  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&8'Ϥ +20 "core" ' + "manipulator"&5& +4 "core" & j  +2 "storage"(w& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +26 "core" ' + "storage"(% +4 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(b'X +99 (|% +3 "core" %_  RL +2 "manipulator"&G% +4 "core" %w a | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & Y  +2 "collection"'@& +4 "core" &VI( = +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ # t ; +2 "storage"( % +4 "core" %P  +2 "storage"(0. +3 "core" .( +2 "storage"(6& +3 "core" &   +2 "storage"(W& +4 "core" & I  +2 "manipulator"&f& +4 "core" & o  +2 .tElbow.seek 3 +2 "manipulator"&"( +2 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(,& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +99 "core" ' +2 "storage"(Z& +3 "core" & =  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & v  +3 "storage"(H& +3 "core" & G  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'} +27 "core" ' + .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(L'O +28 "core" ' + "manipulator"&!% +4 "core" %{ % +2 "storage"(3& +4 "core" & <  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&&'ϧ +20 "core" ' +2 "manipulator"&d& +3 "core" & &  +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'> +39 "core" ' + "manipulator"&s& +4 "core" &   +2 "manipulator"&%% +4 "core" % H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +162 "core" ( +3 "manipulator"&F& +3 "core" && '  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" && ( e =G +2 .tForearm.seek CC +2 "manipulator"&<'" +92 "core" ' +41 .tHand.close +9 "manipulator"&r/ +63 "core" / +2 .tCC.seek :open +2 "collection"']( +412 "core" ( +2 "storage"()& +4 "core" & K  +2 "storage"(E& +4 "core" &   +2 "manipulator"&X& +3 "core" &&  # =F +2 "manipulator"&2% +4 "core" % 6  K \ +2 .tForearm.seek :retract +2 "manipulator"&/'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +157 "core" ( + "manipulator"& & +4 "core" & $  +2 "storage"(A& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&D'} +95 "core" ' +3 .tElbow.hold +3 "manipulator"&h, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tHand.open +2 "manipulator"&S1 +62 "core" 1 +2 "manipulator"&>% +4 "core" % Ά & ` +3 "storage"(& +3 "core" & N  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&e'ϲ +20 "core" ' +2 "manipulator"&x& +3 "core" & 8  +2 "storage"(=& +4 "core" & <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&O'9 +29 "core" ' + "storage"(Q% +4 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(q'X +99 (p% +3 "core" %Z PG +2 "manipulator"&U% +3 "core" %# 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +86 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'l& +4 "core" &' +2 "manipulator"&% +4 "core" %\  c  +2 "storage"(n% +3 "core" %b  +2 "storage"(R. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &  +2 "manipulator"&?& +4 "core" & )  +2 .tElbow.seek 2 +2 "manipulator"&\\( +41 "core" ( + "manipulator"&& +4 "core" & % / !w +2 "storage"(P& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +87 "core" ' +2 "storage"( & +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(v'i +276 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +3 "core" &  +2 "manipulator"&~& +3 "core" & !s +2 .tElbow.seek 2 +2 "manipulator"&( +28 "core" ( +3 "manipulator"&V& +3 "core" & & y  +2 "storage"({& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(('X +8 "core" & U  +2 "manipulator"&% +3 "core" %   @ +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +49 "core" ( +3 "manipulator"&i& +4 "core" &! Z 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &! ( 8 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +103 "core" ' + "manipulator"&_& +4 "core" &" % 8 +2 "manipulator"&#% +4 "core" % D +2 "collection"'& +4 "core" & +3 "collection"'\ & +5 "core" &W +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & +7 &B5 $d +10 &_< 7 +9 &.; G +9 &c> F +10 &e= F +9 &ui8 F +10 &7j7 F +9 &j< F +9 &h6 F +10 &|g. G +9 & >h* G +9 &"g- G +10 &#h. G +9 &%j/ F +10 &'Fh& G +9 &) g6 F +9 &*e+ F +10 &,d. F +9 &.Oi9 F +9 &0i2 F +10 &1i) F +10 &3h$ G +9 &5Vg! G +9 &7h) F +9 &8c' F +10 &:j) F +9 &<^h- G +9 &> h# G +10 &?h. F +9 &Ae. F +9 &Cgj2 F +10 &E'j2 G +9 &Fu4 H +10 &H~5 I +9 &J\\dE4 M +9 &L7 P +10 &M<L8 P +9 &O+/9 Q +9 &QY$(6 Q +10 &S#%8 Q +9 &T"$4 R +10 &VDc $@ + +9 &V&9 Y +9 ( +3 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&-1 +2 "core" &Vr9 H +53 1 +3 "manipulator"& % +3 "core" % ! H D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +99 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%I& +3 "core" & +2 "manipulator"&y% +4 "core" %\   +2 "storage"(B% +3 "core" %b  +2 "storage"(J. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&T& +4 "core" & 7 +2 "manipulator"&7% +3 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5( +159 "core" ( +2 "manipulator"&w& +3 "core" & &  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' +2 "storage"([& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'i +280 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (G& +2 "core" & U +3 "manipulator"&j& +3 "core" & ;  +2 .tElbow.seek 2 +2 "manipulator"&'( +4 "core" ( +2 "manipulator"& & +3 "core" & & k  +2 "storage"(}& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"('X +8 "core" &  + "manipulator"& % +4 "core" % t F +2 .tForearm.seek :retract +2 "manipulator"&o'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&0(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&6& +4 "core" &o 3 = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +93 "core" ' +2 "manipulator"&*& +3 "core" &o  +2 "manipulator"&,% +4 "core" % < +2 "processing"%& +4 "core" & +3 "processing"%Z& +5 "core" & +2 .tPC.seek :closed +2 "processing"%b(Z +4 "core" &  +9 &6 )w +56 &k = +4 &v G +3 &lf G + &.g G +2 &g G + &g G +3 &te G +5 &6e G +9 &h G +10 & f G +9 &"}g G +10 &$?f G +9 &&f G +9 &'h G +10 &)g G +9 &+Ge G +9 &- e G +10 &.e G +9 &0j G +10 &2Ng G +9 &4e G +9 &5e G +10 &7c G +9 &9Ve G +9 &;d G +10 &<d G +9 &>e G +10 &@_h G +9 &B j G +9 &Cj H +10 &Ep H +9 &Ga{ I +9 &I K +10 &J M +9 &L M +10 &N_ L +9 &P  M +9 &Q L +10 &S M +9 &Ud M +9 &W& M +10 &X N +9 &Z:Db %l +10 &Z . ! +5 ( +2 "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&1 +3 "core" &Z ! +58 1 + "manipulator"&% +4 "core" % & < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%+& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&H% +4 "core" %\  B 0 +2 "storage"(% +3 "core" %P  +2 "storage"(!. +2 "core" .( +2 "storage"(3& +4 "core" &  +3 "storage"(d& +2 "manipulator"&$& +5 "core" & " +2 &o  v +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&s(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(%'i +2 "core" ( +3 "manipulator"&:& +3 "core" &o +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &o  V +3 .tForearm.seek PC + "manipulator"&.' +97 "core" ' + .tHand.close +2 "manipulator"&c/ +62 "core" / +4 .tPC.seek :open +2 "processing"%&( +80 "core" ' + "storage"(L- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'y +34 "core" ' +306 ( + "storage"(K& +4 "core" &  +2 "manipulator"&9& +4 "core" &o +2 "manipulator"&4% +3 "core" % u +2 .tForearm.seek :retract +2 "manipulator"&r'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&N( +269 "core" ( +2 "manipulator"&`& +4 "core" & % 1 +2 "storage"()& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +95 "core" ' + .tHand.open +2 "manipulator"&X1 +58 "core" 1 +2 "storage"(2- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(A' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(u& +4 "core" & X R +2 "manipulator"&S& +3 "core" & X +3 .tElbow.seek 2 +2 "manipulator"&>( +2 "core" ( +2 "manipulator"&& +4 "core" & % 4 +2 "storage"(x& +3 "core" & M M J +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 "manipulator"&/& +3 "core" & " +2 "storage"(p& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&U' +19 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +49 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(D'i +23 "core" ' +2 "manipulator"&l% +3 "core" % S +2 "storage"(e& +4 "core" & / +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&n& +3 "core" & $  +2 "storage"(R& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +34 "core" ' + "storage"(O% +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(q'X +98 (1% +3 "core" %Z  QK +2 "manipulator"&;% +4 "core" %ѡ * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +89 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & * +2 "collection"'P& +3 "core" &Vj ; H +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %\  q  +2 "storage"(h% +4 "core" %R  +2 "storage"(z. +3 "core" .( +2 "storage"(& +3 "core" & J +2 "storage"(k& +4 "core" & = +2 "manipulator"&~& +3 "core" & j +2 .tElbow.seek 2 +2 "manipulator"&V( +4 "core" ( + "manipulator"&{& +4 "core" & % = +2 "storage"(C& +4 "core" & < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +90 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\\'i +277 "core" ' +4 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &  +2 "storage"(& +3 "core" & X +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&i' +23 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(_'O +27 "core" ' + "manipulator"&#% +4 "core" % +2 "storage"(& +3 "core" & \\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&(' +20 "core" ' + "manipulator"&& +4 "core" & d +2 "storage"(]& +3 "core" & ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +37 "core" ' +2 "manipulator"&I& +4 "core" & . +2 "manipulator"&y% +3 "core" %ћ l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +157 "core" ( +2 "manipulator"&& +3 "core" &&  =C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &&  =C +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&T/ +63 "core" / +2 .tCC.seek :open +2 "collection"'7( +415 "core" ( +2 "storage"(& +4 "core" & q +2 "storage"(w& +3 "core" & +2 "manipulator"&& +4 "core" &%  ) ;6 +2 "manipulator"&[% +3 "core" % /   +3 .tForearm.seek :retract + "manipulator"&m'\ +142 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M( +159 "core" ( + "manipulator"&|& +4 "core" & x  +2 "storage"(G& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&j' +97 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&}1 +63 "core" 1 +3 "manipulator"&% +4 "core" % X +2 "storage"(@& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"& ' +19 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +17 "core" ' +2 "storage"(8% +3 "core" %G G \ +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (W% +3 "core" %S PG +2 "manipulator"&'% +5 "core" %ѕ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"',& +4 "core" &( +2 "manipulator"&% +3 "core" %\  y # +2 "storage"(% +5 "core" %] D + "storage"(o. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(g( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&& +3 "core" & M  +2 .tElbow.seek 3 +2 "manipulator"&+( +18 "core" ( + "manipulator"&H& +4 "core" &  \\ < +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +97 "core" ' + "storage"(3& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +287 "core" ' +3 "storage"(d- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" & 3  +2 "manipulator"&:& +4 "core" & ; < +2 .tElbow.seek 3 +2 "manipulator"&"( +2 "core" ( +2 "manipulator"&f& +4 "core" &  < +2 "storage"(c& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(b'X +7 "core" & < +2 "manipulator"&%% +5 "core" % Ϧ y M +2 .tForearm.seek :retract + "manipulator"&K'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&4& +4 "core" && 3 r =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &%  =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&`'" +98 "core" ' +2 "manipulator"&)& +4 "core" && # . =A +2 "manipulator"&s% +4 "core" %'  r +2 "collection"'X& +49 "core" &> +4 "collection"'2& +6 "core" &> +2 .tCC.seek :closed +2 "collection"'<(V +3 "core" &= +7 &88 #a +10 &Z8 5 +9 &5 G +9 &c3 F +10 &e8 F +9 &YcD F +9 &jB F +10 &i@ F +9 &gB G +10 &`g7 G +9 & "g9 G +9 &!g4 G +10 &#h@ G +9 &%jcG F +9 &'+h@ F +10 &(h? F +9 &*gA G +10 &,pgA G +9 &.3g& F +9 &/c- F +10 &1dB F +9 &3yj; F +9 &5<h9 F +10 &6h: G +9 &8f: F +10 &:j= F +9 &k6 F +10 &?e7 F +9 &Aj9 F +9 &CKj8 F +10 &E o: G +9 &Fu9 H +10 &H9 J +9 &J@aF4 M +9 &K4 P +10 &M>P7 P +9 &Oz)14 Q +9 &Q=#); Q +10 &R"%9 R +9 &T!#5 R +10 &V*["#< 0 +9 &V 6 M +8 ( +3 "collection"'2& +3 "core" &Vk7 G +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&u1 +53 "core" 1 +2 "manipulator"&S% +4 "core" % ' * ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%x& +3 "core" & +2 "manipulator"&r% +4 "core" %\   ^  +2 "storage"(/% +4 "core" %P  +2 "storage"(p. +2 "core" .( +2 "storage"(F& +4 "core" &   +2 "storage"(l& +4 "core" &   +2 "manipulator"& & +3 "core" &&  =A +2 "manipulator"&e% +4 "core" %\   $  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&n( +163 "core" ( + "manipulator"&R& +4 "core" & % _ +2 "storage"(N& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +97 "core" ' +2 "storage"(E& +3 "core" & ^  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'i +283 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" & 2  +2 "manipulator"&;& +4 "core" & _ +2 .tElbow.seek 3 +2 "manipulator"&>( +4 "core" ( + "manipulator"&Q& +5 "core" & o _ + "storage"(U& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +2 "storage"( 'X +7 "core" & 6 _ +2 "manipulator"&h% +4 "core" % ϯ _ +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +4 .tElbow.seek PC +2 "manipulator"&z(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&& +4 "core" &j < U \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &j  c \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +100 "core" ' +2 "manipulator"&{& +5 "core" &j & \\ \ +2 "manipulator"&C% +3 "core" % h +3 "processing"%t& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%q(Z +3 "core" &  +9 &6 )w +10 &k = +9 &u G +9 &ne G +10 &0g G +9 &g G +10 &f G +9 &uf G +9 &8e G +10 &g F +9 & g G +9 &"~g G +10 &$@f G +9 &&d G +9 &'f G +10 &)f F +9 &+Gg G +10 &- f G +9 &.g G +9 &0e G +10 &2Og G +9 &4f G +9 &5d G +10 &7e G +9 &9Xe G +10 &;e G +9 &<e G +9 &>e G +10 &@^k G +9 &B!g G +9 &Ch G +10 &Em H +9 &Gax I +10 &I K +9 &J M +9 &L M +10 &N_ M +9 &P! M +10 &Q M +9 &S L +9 &Ue M +52 &W& N + &X M +3 &Z:Db %m + &Z . " + ( + &Z " +2 &Z " +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.38 + .Hand.open +2 "manipulator"&a1 +60 "core" 1 + "manipulator"&?% +4 "core" % ) Z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 "processing"%v& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %]  +2 "storage"(#. +2 "core" .( +3 "storage"(& +3 "core" & $  +3 "storage"(& +2 "manipulator"&]& +7 "core" &   + &j { \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&I(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'i +3 "core" ( +2 "manipulator"&& +3 "core" &j  8 \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &j l \ +3 .tForearm.seek PC +2 "manipulator"&\\' +94 "core" ' +2 .tHand.close + "manipulator"&i/ +55 "core" / +2 .tPC.seek :open +2 "processing"%(( +92 "core" ' +2 "storage"(_- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +52 "core" ' +277 ( +2 "storage"(\ & +3 "core" & G  +2 "manipulator"&-& +4 "core" &j T \ +2 "manipulator"&^% +5 "core" % +2 .tForearm.seek :retract + "manipulator"&T'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +264 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +97 "core" ' +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"([- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(|' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(J& +4 "core" & W M Z  +2 "manipulator"&}& +4 "core" & D  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +3 "core" & %  +2 "storage"(5& +3 "core" & W O b  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(8' +58 "core" ' +2 "manipulator"&m& +3 "core" & b  +2 "storage"(W& +4 "core" & A  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&''} +22 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +23 "core" ' +2 "manipulator"&,% +3 "core" %΁ +2 "storage"(& +4 "core" & 2  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"& 'ϭ +19 "core" ' +2 "manipulator"&& +4 "core" & ;  +2 "storage"(o& +4 "core" & I  +2 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +34 "core" ' +3 "storage"(Y% +3 "core" %k Z  +3 ."downElevator"SE.seek :down +4 "storage"(6'X +98 (% +4 "core" %] { w  RM +2 "manipulator"&% +3 "core" %8 I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" & M  +2 "collection"'& +5 "core" &Vj0 G + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&3% +3 "core" %\ \ \\  +3 "storage"( % +3 "core" %a  +2 "storage"(*. +3 "core" .( +2 "storage"(d& +4 "core" &   +2 "storage"($& +4 "core" &   +2 "manipulator"&:& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&f( +4 "core" ( + "manipulator"&c& +4 "core" & Y  +2 "storage"(0& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + "storage"(%& +4 "core" & +  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'i +283 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & t  +2 "storage"(Z& +3 "core" & G  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&.'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"("'O +32 "core" ' + "manipulator"&s% +4 "core" % F +2 "storage"(X& +3 "core" & 1  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&b'ϫ +20 "core" ' +2 "manipulator"&K& +3 "core" & Y  +2 "storage"(7& +4 "core" & `  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(S'> +41 "core" ' + "manipulator"&x& +4 "core" &   +2 "manipulator"&r% +5 "core" %8 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +163 "core" ( +4 "manipulator"&F& +3 "core" &%  N <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &%  / <> +2 .tForearm.seek CC +2 "manipulator"& '" +95 "core" ' + .tHand.close +2 "manipulator"&2/ +53 "core" / +2 .tCC.seek :open +2 "collection"'e( +413 "core" ( + "storage"(`& +4 "core" &  +2 "storage"(R& +4 "core" &   +2 "manipulator"&N& +3 "core" &%   <> +2 "manipulator"&E% +4 "core" % (  " +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&=& +3 "core" & % s +2 "storage"(1& +4 "core" & M  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +3 "manipulator"&;'} +103 "core" ' +4 .tElbow.hold + "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +61 "core" 1 +2 "manipulator"&% +3 "core" % ΃ % +3 "storage"(P& +4 "core" & ^  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 306 counts + "manipulator"&h'ϯ +20 "core" ' +2 "manipulator"&n& +4 "core" & : s +2 "storage"(O& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +28 "core" ' + "storage"(% +4 "core" %C ) +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (k% +3 "core" %WW C PH +2 "manipulator"&>% +4 "core" %D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'C& +4 "core" &(  +2 "manipulator"&t% +3 "core" %\   +2 "storage"( % +4 "core" %W +2 "storage"(D. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(&( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +4 "core" &  +2 "manipulator"&?& +3 "core" & / s +2 .tElbow.seek 2 +2 "manipulator"&v( +44 "core" ( + "manipulator"&& +4 "core" & $ B # +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +86 "core" ' +2 "storage"(& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&& +3 "core" & !s +2 .tElbow.seek 2 +2 "manipulator"&V( +34 "core" ( +3 "manipulator"&~& +3 "core" & c D + "Can" 8 $ +3 "storage"(i& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(q'X +8 "core" & D + "manipulator"&y% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +94 "core" ' +3 .tElbow.seek CC + "manipulator"&-( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&^& +3 "core" & ) 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +3 "manipulator"&& +4 "core" & [ 2 +2 "manipulator"&I% +4 "core" % E +2 "collection"'& +4 "core" &2  +3 "collection"'[& +5 "core" &>  +2 .tCC.seek :closed +2 "collection"'G(V +5 "core" &  +6 &J[ $e +10 &^K 7 +9 &7! G +9 &fw F +10 &f, F +9 &}dA F +9 &@iZ F +10 &gw F +9 &d F +10 &i< F +9 & FhN G +9 &" gJ F +10 &#eN F +9 &%eP F +9 &'PiN F +10 &)gY F +9 &*jM F +10 &,gP F +9 &.XcP F +9 &0gH F +55 &1dE F +6 &3gN G + &5_gG F +2 &7!jG F + &8gG F + &:jG F +3 &(hE G +10 &?gF F +9 &AeE F +9 &CojL F +10 &E/o; G +9 &FuE H +10 &H}E I +9 &JceGL M +9 &L P +10 &M9K0 P +9 &O*.@ Q +9 &Qa$(F Q +10 &S!#%F Q +9 &T"%F R +10 &VC\\" B ({ +9 &V !D F +8 ( +2 &V]I B +3 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&J1 +64 "core" 1 +2 "manipulator"&}% +4 "core" %  '  E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%5& +4 "core" & +2 "manipulator"&T% +4 "core" %\     +2 "storage"(m% +3 "core" %T  +2 "storage"(W. +3 "core" .( +2 "storage"(,& +4 "core" &  +2 "storage"(& +4 "core" & = +2 "manipulator"&& +3 "core" & 2 +2 "manipulator"&% +4 "core" %\  z  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( + "manipulator"&o& +4 "core" &  y  +2 "storage"(B& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +100 "core" ' +2 "storage"(Y& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & H +2 "manipulator"&& +3 "core" & o  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&8& +5 "core" &   + "storage"('& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(3'X +6 "core" &  +3 "manipulator"& % +3 "core" % 7 +3 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(s +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&j& +4 "core" &v E Q +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&:' +95 "core" ' +2 "manipulator"&c& +4 "core" &v  K +2 "manipulator"&0% +5 "core" %  +2 "processing"% & +3 "core" & +3 "processing"%%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%6(Z +3 "core" & +9 &< #c +9 &[ 6 +10 & H +9 &c G +10 &g G +9 &\\f G +9 &f F +10 &f G +9 &g G +10 &df G +9 & &f G +9 &!i G +10 &#g G +9 &%lh G +9 &'-e G +10 &(g G +9 &*g G +9 &,tg G +10 &.5j G +9 &/g F +10 &1f G +9 &3|g G +9 &5=j G +10 &7g G +9 &8d G +9 &:e G +10 &e G +10 &?g G +9 &Ae G +9 &CMj G +10 &E n H +9 &Fu H +9 &H K +10 &JG L +9 &L L +10 &M L +9 &O M +9 &QL M +10 &S M +9 &T M +9 &V M +10 &XS M +9 &Yxu !i +10 &Z*u . +9 ( + &Z " +2 "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&M1 +60 "core" 1 +2 "manipulator"&% +3 "core" % & l  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +99 "core" ' + "processing"%4& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Z% +49 "core" %\ $  D +4 "storage"()% +4 "core" %L +2 "storage"(s. +2 "core" .( +3 "storage"(X& +3 "core" &  +3 "storage"(K& +2 "manipulator"&7& +7 "core" &  + &v  _ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&x(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'i +2 "core" ( +3 "manipulator"&& +4 "core" &v ( e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &v ( l +2 .tForearm.seek PC +2 "manipulator"&+' +99 "core" ' + .tHand.close +2 "manipulator"&./ +58 "core" / +2 .tPC.seek :open +2 "processing"%b( +84 "core" ' +2 "storage"("- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'y +35 "core" ' +302 ( + "storage"(l& +4 "core" & \ +4 "manipulator"&u& +4 "core" &v  j +2 "manipulator"&L% +3 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +260 "core" ( +2 "manipulator"&<& +4 "core" & &  +2 "storage"(`& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&R'ќ +101 "core" ' +2 .tHand.open +2 "manipulator"&N1 +58 "core" 1 +2 "storage"(E- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(='E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(1' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +2 "storage"(p& +4 "core" & \ K\ K K +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +15 "core" ( + "manipulator"&P& +4 "core" & % \\  +2 "storage"(n& +4 "core" & \ F\ J  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&9& +4 "core" & \\  +2 "storage"(k& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&>' +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(;'i +24 "core" ' +2 "manipulator"&h% +4 "core" % { +2 "storage"(C& +4 "core" & 5 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&t' +20 "core" ' +2 "manipulator"& & +3 "core" &  +2 "storage"(D& +4 "core" & 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +24 "core" ' +2 "storage"(A% +5 "core" %s  +2 ."downElevator"SE.seek :down +3 "storage"('X +100 (g% +3 "core" %4[ {  QL +2 "manipulator"&a% +4 "core" %ѧ \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +142 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & I +2 "collection"'& +4 "core" &Vb@ B +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ % G E +2 "storage"(Q% +4 "core" %] +2 "storage"({. +3 "core" .( +2 "storage"(]& +4 "core" & +2 "storage"(& +4 "core" & P +2 "manipulator"&& +3 "core" & f  +2 .tElbow.seek 2 +2 "manipulator"&~( +4 "core" ( + "manipulator"&i& +4 "core" & % 3  +2 "storage"(z& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' + "storage"(y& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +281 "core" ' +2 "storage"(#- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" & :  +2 "storage"(& +3 "core" & 4 +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(V'O +28 "core" ' +2 "manipulator"&I% +4 "core" %  T I +2 "storage"(& +3 "core" & P +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&q' +20 "core" ' + "manipulator"&\ & +4 "core" & &  +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&J'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'> +37 "core" ' +2 "manipulator"&5& +3 "core" &  +2 "manipulator"&T% +4 "core" %ѣ S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +163 "core" ( +3 "manipulator"&,& +4 "core" &% * R <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +4 "core" &%  : <? +2 .tForearm.seek CC +2 "manipulator"&'" +101 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( +2 "storage"(& +3 "core" & +2 "storage"(o& +4 "core" & +2 "manipulator"&B& +4 "core" &#  - 9# +2 "manipulator"&Y% +3 "core" % !  3 +3 .tForearm.seek :retract + "manipulator"&-'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&@( +156 "core" ( +2 "manipulator"&& +4 "core" & % :  +2 "storage"(& +4 "core" & 0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +59 "core" 1 +2 "manipulator"&H% +3 "core" % % L +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"& ' +67 "core" ' + "manipulator"&& +4 "core" & 3  +2 "storage"(w& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +19 "core" ' + "storage"( % +4 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(j'X +99 ($% +3 "core" %#W ~ PH +2 "manipulator"&% +3 "core" %ѐ k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'0& +4 "core" &@  +2 "manipulator"& % +4 "core" %\  T  +2 "storage"(3% +4 "core" %]  +2 "storage"(*. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"((( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" & +2 "manipulator"&& +3 "core" & ?  +3 .tElbow.seek 3 + "manipulator"&4( +37 "core" ( + "manipulator"&Z& +4 "core" & B +2 "storage"(%& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +105 "core" ' + "storage"(s& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'i +276 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &   +2 "manipulator"&& +3 "core" & O +3 .tElbow.seek 3 + "manipulator"&f( +21 "core" ( + "manipulator"&:& +5 "core" &  c +2 "storage"(.& +3 "core" & -  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&"'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(6'X +7 "core" & a +2 "manipulator"&r% +5 "core" % ϯ  +2 .tForearm.seek :retract + "manipulator"&l'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&L& +3 "core" &* C N @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &*  : @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&<'" +102 "core" ' +3 "manipulator"&`& +3 "core" &*  < @W +3 "manipulator"&x% +3 "core" %+  H +3 "collection"'N& +3 "core" &  +3 "collection"'E& +5 "core" &  +2 .tCC.seek :closed +2 "collection"' (V +4 "core" &  +8 &J5 $d +9 &_2 7 +10 &41 G +9 &c1 F +10 &k2 F +9 &zg2 G +9 &<g2 G +10 &gW G +9 &g[ F +9 &c/ F +10 & EdL F +9 &"dS F +10 &#eT F +9 &%eS F +9 &'NdQ F +10 &)gS G +9 &*gP F +9 &,dO F +10 &.UiI F +9 &0gJ G +10 &1hM G +9 &3gO F +9 &5^dQ F +10 &7jO F +9 &8gM F +9 &:eO F +10 &'eN F +10 &?jP F +9 &AjL F +9 &CmjP F +10 &E/mM F +9 &FxF H +9 &HB J +10 &JbfJI M +9 &LB P +10 &M@RB P +9 &O*0D Q +9 &Q`$)J P +10 &S.%D R +9 &T!#K R +9 &VC] #K )} +10 &V H D +8 ( +3 "collection"'E& +3 "core" &V_F B +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&p1 +64 "core" 1 +2 "manipulator"&U% +4 "core" % + ) C +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%n& +3 "core" & +2 "manipulator"&2% +5 "core" %\   P  +3 "storage"(9% +3 "core" %b 3 +2 "storage"(k. +3 "core" .( +2 "storage"(F& +4 "core" &   +2 "storage"(h& +3 "core" &   +2 "manipulator"&C& +4 "core" &*   @W +2 "manipulator"&=% +4 "core" %\   (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +165 "core" ( +2 "manipulator"&D& +3 "core" & } k +2 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&/'9 +97 "core" ' +2 "storage"(R& +4 "core" &   +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +281 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" & O  +2 "manipulator"&O& +3 "core" &  k +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & % < k +2 "storage"(>& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('X +8 "core" &  k +2 "manipulator"&Q% +4 "core" % ϗ y +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&{(s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&]& +3 "core" &j , S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j }  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&i& +4 "core" &j % l  +2 "manipulator"&z% +4 "core" % +2 "processing"%S& +4 "core" & +3 "processing"%y& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" & +8 &D #b +9 &[ 6 +9 & G +10 &d F +9 &g G +9 &_e F +10 & e G +9 &e F +9 &h G +10 &fe G +9 & (h G +10 &!d G +9 &#h G +9 &%mf G +10 &'0h G +9 &(d G +9 &*g G +10 &,wf F +9 &.8g G +10 &/f F +9 &1f G +9 &3~f G +10 &5?j G +9 &7g G +9 &8j G +10 &:e F +9 &\ i G +9 &?j G +9 &Ag G +10 &CNm G +9 &Eo H +10 &Fx I +9 &H J +9 &JG M +10 &L  L +9 &M L +9 &O L +10 &QP L +9 &S L +9 &T M +10 &V M +9 &XU M +10 &Ywv "j +9 &Z%g + +9 ( +3 "processing"%y& +2 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&?% +4 "core" % ) 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 "processing"%^& +3 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\    +2 "storage"(% +4 "core" %`  +2 "storage"(I. +2 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(\ & +3 "manipulator"&e& +5 "core" & #  +2 &j  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +52 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(5'i +2 "manipulator"&T(s +7 "core" ( + "manipulator"&& +5 "core" &j %   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +3 "core" &j  v  +2 .tForearm.seek PC +2 "manipulator"&v' +97 "core" ' +2 .tHand.close + "manipulator"&\\/ +61 "core" / +2 .tPC.seek :open +2 "processing"%q( +86 "core" ' +2 "storage"(V- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'y +33 "core" ' +302 ( +2 "storage"([& +3 "core" &   +2 "manipulator"&J& +4 "core" &j  +2 "manipulator"&_% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +270 "core" ( + "manipulator"&G& +4 "core" & Q w +2 "storage"(& +4 "core" & +  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&o'9 +102 "core" ' +2 .tHand.open +2 "manipulator"&B1 +55 "core" 1 +2 "storage"(Y- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(W& +4 "core" & W M W  +2 "manipulator"&'& +3 "core" & | w +2 .tElbow.seek 3 +2 "manipulator"&H( +8 "core" ( + "manipulator"&& +5 "core" & % g p + "storage"(& +4 "core" & N P ^  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&w'9 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"( ' +53 "core" ' +2 "manipulator"&-& +3 "core" &  p +2 "storage"(@& +5 "core" & N  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&$'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +24 "core" ' +2 "manipulator"&0% +3 "core" %x +2 "storage"( & +5 "core" & 3  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"& 'Ϥ +20 "core" ' + "manipulator"&3& +4 "core" & q p +2 "storage"(*& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +16 "core" ' +2 "storage"(|% +4 "core" %o  +3 ."downElevator"SE.seek :down +4 "storage"(j'X +99 (&% +3 "core" %Y D QJ +2 "manipulator"&M% +3 "core" % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +3 "core" &  +2 "collection"'%& +4 "core" &V` 2 B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&s% +4 "core" %\  o " +2 "storage"(8% +4 "core" %Y +2 "storage"(c. +2 "core" .( +2 "storage"(7& +37 "core" &   +2 "storage"(K& +49 "core" &   +3 "manipulator"&& +5 "core" & p +3 .tElbow.seek 3 +2 "manipulator"&:( +2 "core" ( +2 "manipulator"&.& +4 "core" & &  p +2 "storage"(d& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&!'9 +96 "core" ' +2 "storage"(r& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'i +280 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & ` p +2 "storage"(+& +3 "core" & >  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'} +21 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(f'O +27 "core" ' + "manipulator"&x% +4 "core" %z +2 "storage"(N& +3 "core" & e  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&6'Ϧ +20 "core" ' + "manipulator"&l& +4 "core" &  p +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&p'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'> +41 "core" ' +5 "manipulator"&E& +6 "core" & ^ p +2 "manipulator"&n% +4 "core" %: . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +160 "core" ( +2 "manipulator"&k& +4 "core" &* 1 _ @^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &*   @^ +2 .tForearm.seek CC +2 "manipulator"&h'" +93 "core" ' + .tHand.close +2 "manipulator"&C/ +54 "core" / +3 .tCC.seek :open + "collection"'=( +413 "core" ( + "storage"(<& +4 "core" & *  +2 "storage"(D& +3 "core" &  +2 "manipulator"&A& +4 "core" &*  @^ +2 "manipulator"&R% +4 "core" % +  b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&P( +163 "core" ( + "manipulator"&g& +4 "core" & % > H +2 "storage"(a& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'} +102 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +53 "core" 1 +3 "manipulator"&% +3 "core" % ΁  +2 "storage"(& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +3 "manipulator"&Q'ϭ +19 "core" ' +2 "manipulator"& & +3 "core" & ^ H +2 "storage"(/& +4 "core" & 7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +30 "core" ' +2 "storage"(t% +3 "core" %H H +3 ."downElevator"SE.seek :down +43 "storage"(]'X +59 (% +3 "core" % W  QI +2 "manipulator"&% +5 "core" %D @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +88 "core" ' +105 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'z& +31 "core" &L +2 "manipulator"&S% +3 "core" %\   +2 "storage"(% +4 "core" %U +2 "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(b( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &  +2 "manipulator"&?& +3 "core" & x H +2 .tElbow.seek 2 +2 "manipulator"&^( +49 "core" ( + "manipulator"&& +4 "core" & % g "} +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +98 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'i +281 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +2 "core" & U +2 "manipulator"&& +4 "core" & 8 !r +3 .tElbow.seek 2 +2 "manipulator"&~( +33 "core" ( +2 "manipulator"&& +8 "core" & % 9 5 +2 "storage"(\\& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"('X +7 "core" & b 5 +2 "manipulator"&5% +4 "core" % +  +2 .tForearm.seek :retract +2 "manipulator"&['\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&J( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&_& +3 "core" &  , W 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'" +97 "core" ' +3 "manipulator"&& +4 "core" &   B 4 +2 "manipulator"&T% +4 "core" %  h +2 "collection"'B& +4 "core" & +3 "collection"'Y& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +3 "core" &  +10 &8 )w +9 &*n > +9 &p G +10 &g G +9 &Ph F +10 &f G +9 &g2 G +9 &f6 G +10 &Wg G +9 &g\ G +9 & f> G +10 &"h G +9 &$_gd G +10 &&#c F +9 &'g_ G +9 &)e/ F +10 &+hcF F +9 &-*bG F +9 &.hG F +10 &0hF G +9 &2qc" F +10 &41g; G +9 &5gF F +9 &7bF F +10 &9ycG F +9 &;:iH F +10 &<iF F +9 &>iF G +9 &@gH F +10 &BBiL F +9 &DjG G +9 &EpW G +10 &G{N I +9 &I?,K J +9 &JgG O +10 &LyH P +9 &Nt7DW P +10 &P4)/P Q +9 &Q&*L Q +9 &S#%F R +10 &Us$$O ? +9 &Vy8#K , +9 &Vr J C +6 ( +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&W1 +2 "core" &VaX C +60 1 + "manipulator"&'% +4 "core" %  # 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&% +4 "core" %\  +2 "storage"(-% +3 "core" %Y ' +2 "storage"(@. +3 "core" .( +2 "storage"(0& +3 "core" & +2 "storage"(,& +51 "core" &  +2 "manipulator"& & +4 "core" &\   4 +2 "manipulator"&3% +3 "core" %\ V  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(|& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +92 "core" ' +2 "storage"(o& +5 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(&- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (M& +3 "core" & l +2 "manipulator"&w& +3 "core" & c  +3 .tElbow.seek 2 + "manipulator"&H( +3 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"($& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(s'X +8 "core" & ~  + "manipulator"&8% +4 "core" % 0 & +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' +4 .tElbow.seek PC +2 "manipulator"&(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&7& +3 "core" &g - ~  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&.& +4 "core" &h  j  +2 "manipulator"&d% +4 "core" %  +2 "processing"%}& +4 "core" &m +2 "processing"%r& +5 "core" & +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" & +8 &> #c +9 &\\ 6 +9 & G +10 &c G +9 &i G +9 &cb G +10 &%c G +9 &h G +10 &e G +9 &lf F +9 & -g G +10 &!h G +9 &#f G +9 &%si G +10 &'5c G +9 &(e G +10 &*f F +9 &,{f G +9 &.<d G +10 &/f G +9 &1h G +9 &3e G +10 &5Dh G +9 &7b G +10 &8e F +9 &:e G +9 &b G +9 &?e F +9 &Ae F +10 &CSh G +9 &Em G +10 &Fr H +9 &H K +9 &JM L +10 &L M +9 &M L +9 &O L +10 &QT M +9 &S M +10 &T M +9 &V M +9 &X[ M +10 &Yww "k +9 &Z&g ) +9 ( +3 "processing"%r& +2 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +3 "core" % '  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +90 "core" ' +2 "processing"%L& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&+% +3 "core" %\   +2 "storage"(`% +4 "core" %b ! +2 "storage"(x. +3 "core" .( +2 "storage"(N& +3 "core" &  +2 "storage"(l& +3 "manipulator"&& +6 "core" &  + &h R  +4 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(E'i +2 "manipulator"&n(s +7 "core" ( + "manipulator"&!& +4 "core" &i  J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&4' +96 "core" ' +9 .tHand.close +2 "manipulator"&X/ +56 "core" / +2 .tPC.seek :open +2 "processing"%6( +86 "core" ' +2 "storage"(f- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +33 "core" ' +303 ( + "storage"(F& +4 "core" & M +2 "manipulator"&p& +4 "core" &i Z  +2 "manipulator"&"% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&C'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&2( +257 "core" ( + "manipulator"& & +4 "core" & f +2 "storage"(<& +4 "core" & 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +86 "core" ' +2 .tHand.open + "manipulator"&A1 +60 "core" 1 +2 "storage"(R- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(g'E +20 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(a' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(9& +4 "core" & P M X +2 "manipulator"&>& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & ( N +2 "storage"( & +4 "core" & N M W +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +56 "core" ' +2 "manipulator"&u& +3 "core" & = +2 "storage"(& +4 "core" & R +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(O'i +23 "core" ' +2 "manipulator"&Q% +4 "core" % _ +2 "storage"(U& +4 "core" & 5 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&z' +19 "core" ' + "manipulator"&S& +4 "core" & F +2 "storage"(& +4 "core" & i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +27 "core" ' +2 "storage"(1% +3 "core" %q +3 ."downElevator"SE.seek :down +4 "storage"(]'X +98 ((% +3 "core" %] \ QJ +2 "manipulator"&% +4 "core" %ц  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & - +2 "collection"'& +4 "core" &Va P C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  6  +2 "storage"(% +3 "core" %a  +2 "storage"(i. +3 "core" .( +2 "storage"(e& +5 "core" &  + "storage"(y& +5 "core" & c + "manipulator"&& +4 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&\\& +4 "core" &  +2 "storage"({& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +95 "core" ' +3 "storage"(5& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'i +282 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +4 "core" & 9 + "storage"(v& +4 "core" & G +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\ ' +24 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(T'P +28 "core" ' +2 "manipulator"&~% +3 "core" % \\ +2 "storage"(B& +4 "core" & 0 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&[& +3 "core" & 6 +2 "storage"(=& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(''? +36 "core" ' +2 "manipulator"&& +3 "core" & U +2 "manipulator"&% +5 "core" %у \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&Y( +165 "core" ( +3 "manipulator"&@& +4 "core" &'  9 >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &'  W >M +2 .tForearm.seek CC +2 "manipulator"&,'" +95 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'3( +413 "core" ( + "storage"(G& +4 "core" & K +2 "storage"(*& +4 "core" &  +2 "manipulator"&|& +3 "core" &$   :. +2 "manipulator"&o% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&&& +4 "core" & j  +2 "storage"(M& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&w' +97 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +64 "core" 1 +2 "manipulator"& % +4 "core" %  | +2 "storage"(%& +4 "core" & D +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +3 "manipulator"&8' +15 "core" ' +2 "manipulator"&& +3 "core" & <  +2 "storage"(m& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +46 "core" ' +2 "storage"(Z% +3 "core" %? V  +3 ."downElevator"SE.seek :down +4 "storage"(7'X +98 (K% +4 "core" %Z QJ +2 "manipulator"&H% +3 "core" % H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +90 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'d& +47 "core" &O  +5 "manipulator"&}% +3 "core" %\  O % +2 "storage"(s% +4 "core" %b +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(q( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & \  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&L( +15 "core" ( +2 "manipulator"&+& +3 "core" & & L n +2 "storage"(`& +4 "core" & #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +94 "core" ' +2 "storage"(N& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +276 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &   +2 "manipulator"&!& +4 "core" & M n +2 .tElbow.seek 3 +2 "manipulator"&:( +4 "core" ( + "manipulator"&& +4 "core" & n +2 "storage"(X& +3 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&f'ϩ +18 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +2 "storage"(j'X +7 "core" & ; n +2 "manipulator"&E% +4 "core" % ϱ m +2 .tForearm.seek :retract +2 "manipulator"&F'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( + "manipulator"&"& +4 "core" &  6 E 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +4 "core" &   8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +98 "core" ' +2 "manipulator"&<& +3 "core" &! #  8 +3 "manipulator"&n% +5 "core" %   +2 "collection"'A& +3 "core" &  +3 "collection"'R& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'h(V +3 "core" &  +9 &: *x +10 &/m > +9 &m G +10 &g F +9 &Wc F +9 &c F +10 &c F +9 &h F +9 &_h: F +10 & g G +9 & g? G +10 &"g G +9 &$fg G +9 &&(f6 G +10 &'g6 F +9 &)c0 F +9 &+ngY G +10 &-1f8 F +9 &.c F +10 &0km F +9 &2wh8 F +9 &48g G +10 &5fA F +9 &7c+ F +9 &9hD F +10 &;@hU G +9 &=d F +10 &>i6 F +9 &@iz F +9 &BIi3 F +10 &D\ jU G +9 &Eq H +9 &G}n I +10 &IG/? J +9 &Jj/ O +10 &LrI P +9 &Nz5A[ P +9 &P;).Z Q +10 &Q%)4 Q +9 &S$%N R +9 &U{"$] ? +10 &V}9#$ + +9 &Vh E E +6 ( + "collection"'R& +4 "core" &VjX E +3 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 1.78 + .Hand.open + "manipulator"&91 +64 "core" 1 +2 "manipulator"&>% +4 "core" %  0 P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&C% +4 "core" %\ #  W 9 +2 "storage"(u% +4 "core" %^  + "storage"(. +3 "core" .( +2 "storage"(Q& +4 "core" &   +2 "storage"(U& +3 "core" &   +2 "manipulator"&k& +4 "core" &  ; 8 +2 "manipulator"&S% +3 "core" %\ #  ! 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +172 "core" ( +2 "manipulator"&g& +4 "core" &  5 +2 "storage"(1& +3 "core" &   +3 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +94 "core" ' +3 "storage"(D& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +279 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&/& +4 "core" &  6 +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&t& +3 "core" & $ E 6 +2 "storage"(& +4 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϩ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & D 6 +2 "manipulator"&% +3 "core" % Ϡ K 1 +3 .tForearm.seek :retract + "manipulator"&i'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&e(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +115 "core" ( +2 "manipulator"&O& +3 "core" &h = 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &h | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +105 "core" ' +2 "manipulator"&\\& +3 "core" &i & 9 +2 "manipulator"&{% +4 "core" % +2 "processing"%;& +4 "core" & +3 "processing"%5& +5 "core" & +2 .tPC.seek :closed +2 "processing"%](Z +3 "core" & +8 &< #c +9 &[ 6 +9 & G +10 &d F +9 &g G +10 &]e G +10 & f F +8 &h G +10 &e G +9 &eg G +9 & &j G +10 &!g G +9 &#j G +10 &%lh G +9 &'.g G +9 &(g G +10 &*e G +9 &,tf G +9 &.7g G +10 &/i G +9 &1g G +10 &3|e G +9 &5?f G +9 &7f F +10 &8g G +9 &:e F +9 & h G +9 &?e G +10 &Ag G +9 &COj G +9 &Em G +10 &Ft I +9 &H J +10 &JH L +9 &L  L +9 &M L +10 &O L +9 &QN M +9 &S M +10 &T M +9 &V M +9 &XT M +10 &Yww "k +9 &Z*t - +9 ( +2 &Z + "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&P1 +54 "core" 1 + "manipulator"&?% +4 "core" % ' d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +3 "processing"%_& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&v% +3 "core" %\ 5 +2 "storage"(% +4 "core" %b  +2 "storage"(~. +3 "core" .( +2 "storage"(B& +3 "core" &   +3 "storage"([& +2 "manipulator"&=& +7 "core" &  + &i +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +7 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +2 "manipulator"&#& +5 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i +2 .tForearm.seek PC +2 "manipulator"&^' +99 "core" ' + .tHand.close +2 "manipulator"&\ / +56 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(T- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'y +36 "core" ' +297 ( +2 "storage"(0& +51 "core" & /  +2 "manipulator"&W& +3 "core" &i  +2 "manipulator"&V% +4 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&-( +263 "core" ( + "manipulator"&& +4 "core" &  & +2 "storage"(G& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +94 "core" ' +2 .tHand.open +2 "manipulator"&|1 +58 "core" 1 +2 "storage"(o- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(&'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(M' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(Y& +3 "core" &\ K\ I  +2 "manipulator"&$& +4 "core" & e % +2 .tElbow.seek 3 +2 "manipulator"& ( +33 "core" ( + "manipulator"&%& +4 "core" & & H  +2 "storage"(& +4 "core" & Z Y  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Z' +57 "core" ' + "manipulator"&J& +4 "core" & X  +2 "storage"(K& +4 "core" & 1  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&H'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'i +25 "core" ' +2 "manipulator"&8% +4 "core" %΄  +2 "storage"('& +3 "core" & [  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&d'ϰ +20 "core" ' +2 "manipulator"&}& +3 "core" &   +2 "storage"(s& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +34 "core" ' + "storage"(% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (b% +4 "core" %Y e f QK +2 "manipulator"&% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (+& +3 "core" & G  +2 "collection"'`& +4 "core" &Vj X E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&N% +4 "core" %\ " / ? +2 "storage"( % +4 "core" %N > +2 "storage"(.. +2 "core" .( +2 "storage"(l& +4 "core" & c  +2 "storage"(& +3 "core" & i  +2 "manipulator"&!& +4 "core" & ?  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&X& +4 "core" & % P  +2 "storage"(& +4 "core" & 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +107 "core" ' + "storage"(E& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +275 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" & <  +2 "storage"(r& +4 "core" &   +2 .tElbow.reconfigure :limp +47 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&4'} +26 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(:'O +28 "core" ' + "manipulator"&n% +4 "core" %΃  +2 "storage"(A& +3 "core" & `  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&j'ϯ +20 "core" ' +2 "manipulator"&F& +3 "core" &  +2 "storage"(3& +4 "core" & G  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(>'> +37 "core" ' +2 "manipulator"& & +4 "core" &   +2 "manipulator"&C% +4 "core" %B ; v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +162 "core" ( +3 "manipulator"&& +3 "core" &' & / >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &'   >N +2 .tForearm.seek CC +2 "manipulator"&U'" +95 "core" ' +2 .tHand.close + "manipulator"&k/ +57 "core" / +2 .tCC.seek :open +2 "collection"'S( +415 "core" ( +2 "storage"( & +4 "core" &  +2 "storage"(g& +3 "core" & i  +2 "manipulator"&1& +4 "core" &'  I >N +2 "manipulator"&p% +4 "core" % ,  i  +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +154 "core" ( + "manipulator"&(& +4 "core" & $ \  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&/'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ΀ % U +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&'Ϭ +20 "core" ' +3 "manipulator"&& +4 "core" &  +2 "storage"(2& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +25 "core" ' +2 "storage"(z% +3 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (y% +3 "core" %9W PH +2 "manipulator"&% +4 "core" %R | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\\'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'{& +3 "core" &I +2 "manipulator"&;% +4 "core" %\    +2 "storage"(% +4 "core" %` % +2 "storage"(i. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(6( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" & ; +2 "manipulator"&?& +48 "core" &   +5 .tElbow.seek 2 +2 "manipulator"&_( +39 "core" ( +2 "manipulator"&v& +3 "core" & $ / + +2 "storage"(& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +87 "core" ' +2 "storage"(B& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='i +281 "core" ' +3 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" & s +2 "manipulator"&#& +4 "core" &  % +2 .tElbow.seek 2 +2 "manipulator"&( +31 "core" ( +2 "manipulator"&& +3 "core" & A Y +2 "storage"(\ & +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(]'X +8 "core" & Y +2 "manipulator"&% +3 "core" %  D +3 .tForearm.seek :retract +2 "manipulator"&0'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&V& +4 "core" &# : b :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &#   :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +2 "manipulator"&G& +3 "core" &#  { :. +2 "manipulator"&% +5 "core" %#  < +2 "collection"'|& +4 "core" & +2 "collection"'o& +5 "core" & +2 .tCC.seek :closed +2 "collection"',(V +5 "core" & +7 &8 #b +9 &\\ 6 +9 & G +10 &e F +9 &g F +9 &]h F +10 &g G +9 &f F +9 &c F +10 &ei F +9 & &g G +10 &!g F +9 &#d F +9 &%mc F +10 &'0c F +9 &(fD F +10 &*c F +9 &,vh8 F +9 &.7f@ F +10 &/c F +9 &1h F +9 &3|g G +10 &5?eE F +9 &7dA F +9 &8e G +10 &:gE F +9 & dH F +9 &?dB F +9 &Ai9 F +10 &CNh; G +9 &Eh; G +9 &Fs^ H +10 &H  I +9 &JD]?H M +10 &Kb P +9 &MCZ@ P +9 &O~,4; Q +10 &QA(( Q +9 &S"'o Q +9 &T%@ R +10 &V.^!"Z , +9 &V  [ = +9 ( +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&Y1 +3 "core" &V8Z ; +56 1 +2 "manipulator"&$% +4 "core" % # ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%%& +3 "core" & +2 "manipulator"&% +4 "core" %\ "   + +2 "storage"(J% +4 "core" %[  +2 "storage"(K. +3 "core" .( +2 "storage"(@& +3 "core" &  +2 "storage"(8& +4 "core" &  +2 "manipulator"&'& +4 "core" &#   :- +2 "manipulator"&&% +3 "core" %\ "  b + +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&}( +164 "core" ( +2 "manipulator"&s& +3 "core" & % O  +2 "storage"(-& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(*& +4 "core" & ( +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +278 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +47 (& +6 "core" &  +2 "manipulator"&m& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +19 "core" ( +2 "manipulator"&Z& +3 "core" & % # +2 "storage"(H& +4 "core" & A +3 .tForearm.seek 2 + 300 counts + "manipulator"&d' +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(N'X +8 "core" & "} + "manipulator"& % +4 "core" % 2 " +2 .tForearm.seek :retract +2 "manipulator"&.'\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +127 "core" ( +2 "manipulator"&w& +3 "core" &i < & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&!' +102 "core" ' + "manipulator"&X& +4 "core" &i  . +2 "manipulator"&% +4 "core" % \ +2 "processing"%c& +4 "core" &9 +3 "processing"%E& +4 "core" & +3 .tPC.seek :closed + "processing"%7(Z +4 "core" & +7 &< #b +10 &\\ 6 +9 & H +10 &g G +9 &j G +9 &^j G +10 & h G +9 &j G +9 &j G +10 &eh G +9 & )h F +10 &!g F +9 &#h F +9 &%of F +10 &'1g F +9 &(g F +9 &*f G +10 &,uh G +9 &.8e G +10 &/g F +9 &1f G +9 &3~j G +10 &5@j G +9 &7c G +10 &8c G +9 &:e F +9 &\ d G +9 &?e G +9 &Ac G +10 &CPi G +9 &El G +9 &Ft H +10 &H J +9 &JI L +10 &L  L +9 &M L +9 &O L +10 &QP L +9 &S M +9 &T M +10 &V M +9 &XV M +10 &Ywx "j +9 &Z%g + +9 ( +3 "processing"%E& +2 "core" &Z # +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +98 "core" ' +2 "processing"%"& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&r% +4 "core" %\   8 +2 "storage"(<% +4 "core" %N  +2 "storage"(n. +2 "core" .( +3 "storage"(A& +3 "core" &  +3 "storage"(F& +2 "manipulator"&3& +7 "core" &  + &i y +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"& (s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(C'i +2 "core" ( + "manipulator"&)& +6 "core" &i l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i 5 ! +2 .tForearm.seek PC +2 "manipulator"&L' +96 "core" ' + .tHand.close +2 "manipulator"&4/ +59 "core" / +3 .tPC.seek :open +2 "processing"%j( +87 "core" ' + "storage"(:- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +40 "core" ' +290 ( +2 "storage"(Q& +3 "core" & N +2 "manipulator"&9& +4 "core" &i 0 +2 "manipulator"&f% +3 "core" % c  +3 .tForearm.seek :retract + "manipulator"&k'\ +100 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&u( +242 "core" ( +2 "manipulator"&h& +51 "core" &\ . ^ +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +91 "core" ' +2 .tHand.open + "manipulator"&11 +55 "core" 1 +2 "storage"(p- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +25 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(R& +4 "core" & L V 9 +2 "manipulator"&& +3 "core" &\ [ ] +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &\ % ] +2 "storage"(& +4 "core" & Y Y +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(z' +57 "core" ' +2 "manipulator"&D& +4 "core" &\ ] +2 "storage"(y& +3 "core" & J +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +22 "core" ' + "manipulator"&{% +4 "core" % +2 "storage"(& +4 "core" & M +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&;' +20 "core" ' +2 "manipulator"&& +4 "core" &\  B \\ +2 "storage"(i& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +23 "core" ' +2 "storage"(a% +3 "core" %n s  +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (q% +3 "core" %E`  RL +2 "manipulator"&P% +4 "core" %Ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (v& +3 "core" & U +2 "collection"'& +4 "core" &V8f ; +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&B% +3 "core" %\ \ C  +2 "storage"(t% +4 "core" %^ +2 "storage"(\\. +2 "core" .( +3 "storage"([& +3 "core" & +2 "storage"(5& +4 "core" & +2 "manipulator"&#& +4 "core" &\  [ +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +3 "core" &\ S [ +2 "storage"(e& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&I'ќ +101 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(_'i +282 "core" ' +2 "storage"(~- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &\ \\ [ +2 "storage"(^& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&=' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('P +71 "core" ' +4 "manipulator"&% +4 "core" %  0 +2 "storage"(|& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&]' +20 "core" ' +2 "manipulator"&0& +3 "core" &\ $ 9 Z +3 "storage"(S& +3 "core" & ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'? +43 "core" ' +2 "manipulator"&%& +4 "core" &\ 2 Z +2 "manipulator"&% +4 "core" %є ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +151 "core" ( +2 "manipulator"&@& +3 "core" & I 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +4 "core" &  6 +2 .tForearm.seek CC +2 "manipulator"&8'" +93 "core" ' + .tHand.close +2 "manipulator"&'/ +59 "core" / +2 .tCC.seek :open +2 "collection"'&( +412 "core" ( +2 "storage"(& +4 "core" & 1 +2 "storage"(s& +4 "core" & + "manipulator"&-& +4 "core" &   6 +2 "manipulator"&*% +3 "core" % #  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +163 "core" ( + "manipulator"&b& +5 "core" &   + "storage"(& +4 "core" & U +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 2 + "manipulator"&m' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +54 "core" 1 +2 "manipulator"&+% +4 "core" % & L +2 "storage"(`& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +3 "manipulator"& ' +21 "core" ' +2 "manipulator"&}& +4 "core" & f  +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +20 "core" ' +2 "storage"(d% +3 "core" %I w +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (% +3 "core" %[ PH +2 "manipulator"& % +4 "core" %ъ h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & +2 "manipulator"&c% +4 "core" %\    +2 "storage"(N% +3 "core" %Q  +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & w  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&"( +13 "core" ( +2 "manipulator"&r& +3 "core" & % 0 j +2 "storage"(<& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&n'9 +88 "core" ' + "storage"(A& +47 "core" & z  +6 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'i +274 "core" ' +2 "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (3& +3 "core" &   +2 "manipulator"&)& +3 "core" & * j +3 .tElbow.seek 3 + "manipulator"&( +5 "core" ( +2 "manipulator"&!& +3 "core" & " j +2 "storage"(4& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&:'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(7'X +8 "core" & j + "manipulator"&C% +4 "core" % ϩ  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&f& +4 "core" & * l 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" & 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'" +105 "core" ' +3 "manipulator"& & +3 "core" & & , 3 +2 "manipulator"& % +4 "core" % E +2 "collection"'1& +4 "core" & +3 "collection"'p& +5 "core" & +2 .tCC.seek :closed +2 "collection"'U(V +4 "core" &  +8 &7 )w +10 &k = +9 &r G +9 &xg F +10 &:i F +9 &g G +10 &g G +9 &g F +9 &Bd F +10 &j F +9 & j F +9 &"h G +10 &$Ig G +9 && g G +10 &'g F +9 &)c F +9 &+Qh G +10 &-g F +9 &.c F +9 &0k F +10 &2Zh F +9 &4g G +10 &5f F +9 &7h F +9 &9agC G +10 &;$h F +9 &<d F +9 &>c> F +10 &@jc9 F +9 &B,h F +10 &CjC F +9 &Em G +9 &Gl| H +10 &I*'C J +9 &JbH O +9 &L| P +10 &N^9E< P +9 &P,/ Q +10 &Q&(8 Q +9 &S"$@ R +9 &U^!$G A +10 &Vq< #; - +9 &Vkk B +5 ( +2 "collection"'p& +4 "core" &V`D B +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&R1 +64 "core" 1 + "manipulator"&% +4 "core" %  ! m E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&k% +3 "core" %\ \  +2 "storage"(D% +4 "core" %`  +2 "storage"(y. +2 "core" .( +2 "storage"({& +4 "core" &   +2 "storage"(& +4 "core" & 1  +2 "manipulator"&& +3 "core" & \\ 3 +2 "manipulator"&% +4 "core" %\ \   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(( +169 "core" ( +2 "manipulator"&i& +3 "core" & 7 v +2 "storage"(a& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&u'9 +94 "core" ' +2 "storage"(g& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & 3  +2 "manipulator"&2& +4 "core" &  v +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&z& +4 "core" & v +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&v/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +6 "storage"(B'X +3 "core" & { v +3 "manipulator"&t% +4 "core" % ϥ +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&/& +4 "core" &o + n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&#' +104 "core" ' +2 "manipulator"&\ & +3 "core" &o  { +2 "manipulator"&e% +4 "core" %   +2 "processing"%>& +4 "core" &: +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%O(Z +5 "core" & +6 &L #c +9 &[ 6 +9 &' H +10 &g G +9 &e G +10 &pg F +9 &1f G +9 &c G +10 &e G +10 &vg G +8 & 9h G +10 &!j G +9 &#g F +10 &%h G +9 &'Af G +9 &)g G +10 &*j G +9 &,f F +9 &.Hg G +10 &0 e G +9 &1g G +10 &3i G +9 &5Rf F +9 &7f G +10 &8d G +9 &:e F +9 &g G +9 &?j G +10 &Ag F +9 &C_k G +9 &E p H +10 &Fx H +9 &H J +9 &J[ L +10 &L L +9 &M L +10 &O L +9 &Q` M +9 &S# L +10 &T M +9 &V M +9 &Xg M +10 &Z\ xw !h +9 &Z#m - +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +3 "core" &Z # +58 1 +2 "manipulator"&?% +3 "core" % ( % +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +92 "core" ' +2 "processing"%V& +4 "core" &Z # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&^% +3 "core" %\  u  +2 "storage"(G% +4 "core" %b  +2 "storage"(. +2 "core" .( +3 "storage"(|& +3 "core" &   +3 "storage"(0& +2 "manipulator"&S& +6 "core" & 1  +2 &o  +5 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(%'i +2 "manipulator"&(s +6 "core" ( +2 "manipulator"&I& +3 "core" &o  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &o  u +3 .tForearm.seek PC + "manipulator"&_' +97 "core" ' +2 .tHand.close + "manipulator"&=/ +65 "core" / +3 .tPC.seek :open +2 "processing"%]( +83 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'y +31 "core" ' +306 ( + "storage"(o& +4 "core" & =  +2 "manipulator"&Y& +3 "core" &o > +2 "manipulator"&T% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&J( +260 "core" ( +2 "manipulator"&,& +3 "core" & % ]  +2 "storage"(& +4 "core" & C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +101 "core" ' + .tHand.open +2 "manipulator"&-1 +59 "core" 1 +2 "storage"(*- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +48 "storage"(b'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(K& +4 "core" & M L K  +2 "manipulator"&H& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&+( +15 "core" ( + "manipulator"&`& +4 "core" & % `  +2 "storage"(}& +4 "core" & M L b  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(d' +57 "core" ' +2 "manipulator"&W& +4 "core" & o  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +23 "core" ' +2 "manipulator"&% +3 "core" %Ό  +2 "storage"( & +4 "core" & @  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&c'ϸ +19 "core" ' +2 "manipulator"&N& +4 "core" & >  +2 "storage"(.& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +36 "core" ' + "storage"(M% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (6% +4 "core" %] } C QK +2 "manipulator"&% +4 "core" %)  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (r& +3 "core" & 5  +2 "collection"'<& +4 "core" &V` W B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&A% +4 "core" %\    +2 "storage"(Z% +4 "core" %P > +2 "storage"(X. +3 "core" .( +2 "storage"(F& +3 "core" &   +2 "storage"(3& +4 "core" & L  +2 "manipulator"&)& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&4& +4 "core" & k  +2 "storage"(l& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +97 "core" ' +2 "storage"(C& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +282 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" &   +2 "storage"(L& +4 "core" & >  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&E'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&:, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'O +30 "core" ' + "manipulator"& % +4 "core" %΁  +2 "storage"(1& +4 "core" & s  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&7'ϭ +19 "core" ' +2 "manipulator"&Q& +3 "core" & j  +2 "storage"(&& +4 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +3 "manipulator"&R'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +37 "core" ' +2 "manipulator"&& +4 "core" & +  +2 "manipulator"&k% +3 "core" %+  v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +156 "core" ( + "manipulator"&p& +4 "core" && ! =B +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &&   =B +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +2 "storage"(h& +4 "core" &   +2 "storage"(i& +3 "core" & (  +2 "manipulator"&a& +4 "core" &%  g <; +2 "manipulator"&g% +3 "core" % 8  +3 .tForearm.seek :retract + "manipulator"&9'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( + "manipulator"&q& +4 "core" &  ` +2 "storage"(P& +4 "core" & V  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +103 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&v% +3 "core" % Έ  +4 "storage"(& +3 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&t'ϴ +20 "core" ' +2 "manipulator"&(& +4 "core" & ` ` +2 "storage"(u& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(;% +4 "core" %G +2 ."downElevator"SE.seek :down +5 "storage"(/'X +99 (5% +3 "core" %T PI +2 "manipulator"&% +4 "core" %= ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'e& +84 "core" & + "manipulator"&>% +4 "core" %\    +2 "storage"(B% +3 "core" %a V +2 "storage"(\\. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(j( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & n +2 "manipulator"&?& +3 "core" & 0 ` +2 .tElbow.seek 2 +2 "manipulator"&V( +39 "core" ( +2 "manipulator"&^& +4 "core" &  L % +2 "storage"(G& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 "storage"(|& +4 "core" & O +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(0- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +2 "core" & v +3 "manipulator"&I& +3 "core" & b "~ +2 .tElbow.seek 2 +2 "manipulator"&( +83 "core" ( +2 "manipulator"&#& +3 "core" &  = 5 +2 "storage"(=& +4 "core" & 2 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(O'X +8 "core" & O 5 + "manipulator"&%% +4 "core" %   < +3 .tForearm.seek :retract + "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&T& +3 "core" & 3 s 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &  3 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'" +100 "core" ' +2 "manipulator"&& +4 "core" &! & 8 +2 "manipulator"&% +4 "core" %  v +2 "collection"'-& +4 "core" & +3 "collection"'*& +5 "core" & +2 .tCC.seek :closed +2 "collection"''(V +3 "core" & +8 &J $d +9 &^ 7 +9 &5 G +10 &e G +9 &g G +10 &ze G +9 &<fB G +9 &f" G +10 &h F +9 &g G +9 & Dg G +10 &"c F +9 &#i F +10 &%d F +9 &'Mc F +9 &)c F +10 &*h F +9 &,h F +9 &.Vh F +10 &0g G +9 &1h F +10 &3f G +9 &5\\e G +9 &7f F +10 &8b F +9 &:g G +9 &(b F +9 &?h F +10 &Ag G +9 &Clg G +9 &E.iB G +10 &Fu H +9 &H J +9 &JafE M +10 &LA P +9 &M=P P +10 &O+0 Q +9 &Q^%( Q +9 &S $\ R +10 &T %C R +9 &VA[ # ({ +9 &V"!\ J +9 ( +2 &VY6 C +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&81 +61 "core" 1 +3 "manipulator"&K% +4 "core" %   \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +4 "core" & +2 "manipulator"&}% +4 "core" %\   A  +2 "storage"(W% +3 "core" %_ 5 +2 "storage"(. +3 "core" .( +2 "storage"(@& +4 "core" & \ +2 "storage"(& +4 "core" & I +2 "manipulator"& & +3 "core" &  d 8 +2 "manipulator"&b% +4 "core" %\   f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&N( +154 "core" ( +2 "manipulator"&.& +4 "core" &  2  +2 "storage"(J& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&M'ќ +96 "core" ' +2 "storage"(s& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(6- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & \ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&+( +4 "core" ( + "manipulator"&d& +4 "core" & % !  +2 "storage"( & +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&c' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +56 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&<& + "storage"(A'X +9 "core" & u  + "manipulator"&Z% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&m'\ +97 "core" ' +2 .tElbow.seek PC +49 "manipulator"&X(s +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +142 "core" ( + "manipulator"&F& +4 "core" &t - u  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &t :  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +99 "core" ' +2 "manipulator"&4& +4 "core" &t % u  +2 "manipulator"&l% +4 "core" % } +2 "processing"%$& +4 "core" & +3 "processing"%C& +6 "core" &: +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &  +8 &8 )w +10 &m~ > +9 &uZ G +9 &yf F +10 &:g G +9 &f G +10 &h F +9 &g G +9 &Bi G +10 &jx G +9 & f F +9 &"g G +10 &$Ij G +9 && h G +10 &'l G +9 &)f G +9 &+Rh G +10 &-e G +9 &.f F +9 &0h F +10 &2Zh G +9 &4k G +10 &5e G +9 &7f F +9 &9cg F +10 &;$e G +9 &<k G +9 &>j G +10 &@ik G +9 &B,g G +10 &Ck G +9 &Es H +9 &Gl{ I +10 &I( K +9 &J L +9 &L L +10 &Ni M +9 &P, L +10 &Q M +9 &S M +9 &Up M +10 &W2 M +9 &X M +9 &ZEEc %l +10 &Z# ! +5 ( +2 "processing"%C& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.40 +2 .Hand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ( [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' +2 "processing"%f& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&L% +3 "core" %\ "  [ : +2 "storage"(% +4 "core" %b 7 +2 "storage"( . +3 "core" .( +2 "storage"(1& +4 "core" & - +2 "storage"(Q& +2 "manipulator"&&& +8 "core" & $ + &t U  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +3 "core" ( +2 "manipulator"&x& +3 "core" &t  R  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +4 "core" &t 0 V  +2 .tForearm.seek PC +2 "manipulator"&"' +97 "core" ' + .tHand.close +2 "manipulator"&E/ +61 "core" / +3 .tPC.seek :open +2 "processing"%7( +88 "core" ' +2 "storage"( - +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'y +44 "core" ' +288 ( + "storage"({& +4 "core" & : +2 "manipulator"&R& +3 "core" &t   +2 "manipulator"&:% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +267 "core" ( +2 "manipulator"&U& +3 "core" & % ( +2 "storage"(h& +4 "core" & < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&i'ќ +88 "core" ' +2 .tHand.open + "manipulator"&a1 +61 "core" 1 +2 "storage"(g- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(q'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(P' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(y& +4 "core" & \ J\ J : +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +42 "manipulator"&v( +16 "core" ( +2 "manipulator"&& +4 "core" &  i \ +2 "storage"((& +3 "core" & \ ^\ [ T +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&u'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +56 "core" ' +2 "manipulator"&9& +4 "core" &  \ +2 "storage"(5& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +18 "core" ' +2 "manipulator"&t% +4 "core" % a +2 "storage"(& +4 "core" & 8 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&e' +20 "core" ' +2 "manipulator"&>& +3 "core" & G \ +2 "storage"(B& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +24 "core" ' +2 "storage"(% +4 "core" %m +3 ."downElevator"SE.seek :down +4 "storage"(/'X +99 (% +3 "core" %]  QK +2 "manipulator"&% +4 "core" %Ѣ 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (^& +3 "core" & ^ +2 "collection"'G& +4 "core" &VX X C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&|% +4 "core" %\  0  +2 "storage"(z% +4 "core" %_ l +2 "storage"(\ . +2 "core" .( +2 "storage"(0& +4 "core" & g +2 "storage"(S& +4 "core" & o +2 "manipulator"&I& +3 "core" & ? \ +3 .tElbow.seek 2 + "manipulator"&#( +4 "core" ( +2 "manipulator"&=& +3 "core" &  = \ +2 "storage"([& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'ќ +93 "core" ' +2 "storage"(%& +3 "core" & J +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +4 "core" & l \ +2 "storage"(_& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +27 "core" ' + "manipulator"&-% +4 "core" %   9 +2 "storage"(& +3 "core" & 4 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&O' +20 "core" ' +2 "manipulator"&o& +3 "core" & O \ +3 "storage"(& +3 "core" & _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'> +40 "core" ' +2 "manipulator"&`& +4 "core" &  \ +2 "manipulator"&}% +3 "core" %ј Y n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +137 "core" ' +3 .tElbow.seek CC + "manipulator"&( +156 "core" ( +3 "manipulator"&@& +5 "core" & ' ? 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +4 "core" &  H 5 +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'b( +412 "core" ( +2 "storage"(,& +3 "core" & ] +2 "storage"(.& +4 "core" & +2 "manipulator"&J& +4 "core" & w 5 +2 "manipulator"&s% +4 "core" % " ` +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&H( +161 "core" ( +2 "manipulator"&6& +4 "core" &    +2 "storage"(& +3 "core" & T +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +100 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +64 "core" 1 +3 "manipulator"&r% +3 "core" % % 9 z +3 "storage"(<& +5 "core" & e + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&Z' +20 "core" ' +2 "manipulator"&N& +3 "core" & \  +2 "storage"(M& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +27 "core" ' +2 "storage"(c% +3 "core" %H G +3 ."downElevator"SE.seek :down +4 "storage"(F'X +98 (3% +3 "core" %HX PH +2 "manipulator"&+% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +88 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'l& +4 "core" & +2 "manipulator"&$% +3 "core" %\    +2 "storage"(A% +4 "core" %] ^ +2 "storage"(m. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(]( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & p  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&f( +16 "core" ( +2 "manipulator"&L& +3 "core" & z o +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +96 "core" ' + "storage"(1& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'i +281 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +2 "core" &   +2 "manipulator"&x& +4 "core" & o +2 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&)& +4 "core" & N o +2 "storage"(E& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"& 'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +56 "core" / +3 ."downElevator"SE.seek :down +48 "manipulator"&n& +4 "storage"(w'X +7 "core" &  o +2 "manipulator"&k% +4 "core" % Ϧ   +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( + "manipulator"&:& +4 "core" & - Y 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" & * 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'" +104 "core" ' +3 "manipulator"&h& +5 "core" &  L 3 + "manipulator"&% +4 "core" %(  +2 "collection"'a& +4 "core" &# +2 "collection"'g& +5 "core" &! +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &$  +9 &8$ )w +11 &#k = +8 &r G +9 &g G +10 &Fh F +9 &g G +9 &f G +10 &f F +9 &Nd F +9 &j F +10 & j F +9 &"j F +10 &$Vi F +9 &&i F +9 &'g G +10 &)e F +9 &+^d F +7 "Can" K\ $ +3 "core" &- i F +9 &.g G +9 &0i G +10 &2fg F +9 &4)d F +9 &5g G +10 &7g G +9 &9og F +9 &;0k F +10 &<j F +9 &>h G +10 &@ug G +9 &B8g F +9 &Ce G +10 &En G +9 &Gw{ I +9 &I6- J +10 &Jg N +9 &L` P +10 &Nj.9 P +9 &P*&* Q +9 &Q!$ Q +10 &S" R +9 &Uj  ? +9 &VH   Y +10 &V3, "h +9 &W K ? +2 ( +2 "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&y1 +59 "core" 1 +3 "manipulator"&% +4 "core" % ' $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&(% +3 "core" %\  +2 "storage"(9% +4 "core" %b ; +2 "storage"(5. +2 "core" .( +2 "storage"(p& +4 "core" &   +2 "storage"(q& +4 "core" &   +2 "manipulator"&t& +3 "core" &  3 +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&>( +168 "core" ( +2 "manipulator"&B& +3 "core" & % x W +2 "storage"(D& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +91 "core" ' + "storage"(i& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&u& +4 "core" &  W +2 .tElbow.seek 3 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&;& +4 "core" &  p W +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"(|'X +7 "core" &  W +2 "manipulator"&z% +4 "core" % ϙ  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&0(s +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&2& +4 "core" &n + [  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &n C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&I' +92 "core" ' +3 "manipulator"&=& +4 "core" &n %  +2 "manipulator"&[% +4 "core" % 3 +2 "processing"%\\& +4 "core" &) +3 "processing"%%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%/(Z +5 "core" & +6 &> #c +9 &[ 6 +9 & H +10 &h G +9 &k G +9 &Zk G +10 &e G +9 &gk G +10 &gt G +9 &bf G +9 & %i F +10 &!g F +9 &#i G +9 &%jm@ G +10 &',l G +9 &(m G +10 &*h~ G +9 &,sg~ F +9 &.3lc G +10 &/gT F +9 &1h G +9 &3{h\ F +10 &5=iC F +9 &6h G +10 &8k G +9 &:j G +9 &h G +9 &?i6 F +9 &AiE F +10 &CKl G +9 &E p G +10 &FvD H +9 &H I +9 &JF} L +10 &L L +9 &M L +9 &O* L +10 &QMq L +9 &S M M +10 &T L +9 &Vh L +9 &XS M +10 &Yvy !g +9 &Z. 1 +9 ( +3 "processing"%%& +2 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&?% +4 "core" %  C 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 "processing"%T& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&_% +3 "core" %\ \  +2 "storage"(% +4 "core" %T  +2 "storage"(-. +3 "core" .( +2 "storage"(& +3 "core" &   +3 "storage"(o& +2 "manipulator"&& +6 "core" &   +2 &n   +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(`'i +2 "manipulator"&}(s +6 "core" ( +2 "manipulator"&~& +3 "core" &n "  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +4 "core" &n   +2 .tForearm.seek PC +2 "manipulator"&V' +95 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%O( +88 "core" ' +3 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'y +47 "core" ' +285 ( +2 "storage"(@& +3 "core" &  +2 "manipulator"&*& +4 "core" &n   +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +275 "core" ( +2 "manipulator"&'& +4 "core" &   +2 "storage"(,& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +101 "core" ' +2 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "storage"(s- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(& +3 "core" & M M ;  +3 "manipulator"& & +3 "core" & \  +2 .tElbow.seek 3 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&<& +3 "core" &   +2 "storage"(N& +4 "core" & P M 5  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&M'9 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(c' +57 "core" ' +2 "manipulator"&Y& +51 "core" &   +2 "storage"(3& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&+'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&Z% +4 "core" %΁  +2 "storage"(l& +3 "core" & D  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&$'ϭ +20 "core" ' +2 "manipulator"&A& +3 "core" &   +2 "storage"(m& +4 "core" & P  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +31 "core" ' + "storage"(% +4 "core" %k a  +3 ."downElevator"SE.seek :down +3 "storage"(F'X +99 (j% +3 "core" %] v 3 QK +2 "manipulator"& % +4 "core" %(  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (L& +3 "core" & j  +2 "collection"'& +3 "core" &W U X ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&1% +3 "core" %\    +2 "storage"(d% +4 "core" %_   +2 "storage"(4. +4 "core" .( +4 "storage"(Q& +6 "core" &   +5 "storage"(C& +7 "core" &   +2 "manipulator"&x& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&)( +4 "core" ( +2 "manipulator"&E& +3 "core" &   +2 "storage"(X& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&n'9 +101 "core" ' + "storage"(k& +4 "core" & {  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +4 "core" &   +2 "storage"("& +4 "core" & 0  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(!- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(h'O +28 "core" ' +2 "manipulator"&% +4 "core" %΍  +2 "storage"(a& +3 "core" & `  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&w'Ϲ +20 "core" ' + "manipulator"&{& +4 "core" & M  +2 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +35 "core" ' +3 "manipulator"&& +3 "core" & o  +2 "manipulator"&(% +4 "core" %. / | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +159 "core" ( +2 "manipulator"&g& +3 "core" &( # + ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &(   ?P +3 .tForearm.seek CC + "manipulator"&q'" +101 "core" ' +2 .tHand.close + "manipulator"&t/ +96 "core" / +10 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(U& +4 "core" & t  +2 "storage"(B& +4 "core" &   +2 "manipulator"&D& +3 "core" & %   ;7 +2 "manipulator"&i% +4 "core" % .  * +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +160 "core" ( +2 "manipulator"&& +3 "core" & $  b +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&u'} +99 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&^% +4 "core" % ΂  _ +2 "storage"(G& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts +2 "manipulator"&z'Ϯ +19 "core" ' +2 "manipulator"&>& +4 "core" & b +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +25 "core" ' + "storage"(e% +4 "core" %>  +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (S% +4 "core" %O OF +3 "manipulator"&v% +3 "core" %x  z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +85 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'[& +4 "core" & +2 "manipulator"&\\% +3 "core" %\  =  +2 "storage"(|% +4 "core" %b v +2 "storage"(\ . +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(7( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & D +2 "manipulator"&?& +5 "core" &  b + .tElbow.seek 2 +2 "manipulator"&T( +50 "core" ( +2 "manipulator"&_& +3 "core" & $ # +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +93 "core" ' + "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +278 "core" ' + "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&~& +4 "core" &\  "| +2 .tElbow.seek 2 +2 "manipulator"&#( +35 "core" ( + "manipulator"&I& +4 "core" & t } +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/'X +8 "core" & / } +2 "manipulator"&`% +3 "core" %  f +3 .tForearm.seek :retract + "manipulator"&@'\ +105 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +138 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +26 "core" ( +46 "manipulator"&& +5 "core" &* A @] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &* i @] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&''" +94 "core" ' + "manipulator"&,& +4 "core" &* % @] +2 "manipulator"&}% +4 "core" %+  : +2 "collection"'J& +4 "core" && +3 "collection"'s& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &/  +8 &6( )w +9 &k' = +10 &u! G +9 &pg& G +9 &2g$ G +10 &g F +9 &e F +9 &yc F +10 &;d F +9 &d F +10 & k F +9 &"k F +9 &$Ci F +10 &&d F +9 &'j F +9 &)f F +10 &+Ke F +9 &-c F +10 &.j F +9 &0i G +9 &2Rg G +10 &4h F +9 &5d F +9 &7c F +10 &9Zg G +9 &;h F +10 &<d F +9 &>e F +9 &@cd F +10 &B%j F +9 &Ck G +9 &Eo G +10 &Gey I +9 &I$& J +10 &Je N +9 &L^ P +9 &NW-6 P +10 &P"( Q +9 &Q   Q +9 &S! R +10 &UY" A +9 &VuB' *{ +9 &Vi C +6 ( +2 "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&1 +3 "core" &V` C +56 1 + "manipulator"& % +4 "core" % + ( # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%N& +3 "core" & +2 "manipulator"& % +4 "core" %\   \\  +2 "storage"(Y% +3 "core" %`  +2 "storage"(3. +4 "core" .( + "storage"(8& +4 "core" & % +2 "storage"(6& +4 "core" & 4 +2 "manipulator"&Z& +4 "core" &*  p @\\ +2 "manipulator"&l% +3 "core" %\     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +159 "core" ( +2 "manipulator"&m& +3 "core" & & O  +2 "storage"(W& +4 "core" & # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +99 "core" ' +3 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & A +2 "manipulator"&M& +3 "core" & p  +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&c& +4 "core" & b  +2 "storage"(+& +3 "core" & u +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&$' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(1'X +7 "core" & h  +2 "manipulator"&d% +3 "core" % %  K +3 .tForearm.seek :retract + "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&Q& +4 "core" &o + a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &o E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&x' +92 "core" ' + "manipulator"&E& +4 "core" &o  t  +2 "manipulator"&X% +4 "core" %  +2 "processing"%K& +4 "core" & +3 "processing"%k& +5 "core" & +2 .tPC.seek :closed +2 "processing"%F(Z +5 "core" & +5 &< #c +10 &[ 6 +9 & H +10 &h G +9 &k F +52 &]g F +3 &g F +2 &h F +2 &i G + &ci G + & 'h F +5 &!hE F +9 &#j F +9 &%lj G +10 &'-j G +9 &(h G +9 &*l G +10 &,tk G +9 &.6k G +10 &/j G +9 &1kH G +9 &3|k G +10 &5>k G +9 &7k G +9 &8i= G +10 &:f F +9 & j F +9 &?jL F +9 &AiE G +10 &CMoD G +9 &Ep[ G +9 &Fv H +10 &HH J +9 &JH L +10 &L\  L +9 &M@ L +9 &OH K +10 &QO= L +9 &S L +9 &Ts M +10 &VN L +9 &XU M +10 &Yuy !i +9 &Z-~ / +8 ( +3 &Ze +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&H1 +54 "core" 1 + "manipulator"&% +4 "core" % % @  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 "processing"%:& +5 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&"% +4 "core" %\  A  +2 "storage"(!% +3 "core" %b u +2 "storage"(. +3 "core" .( +2 "storage"(a& +4 "core" & t +2 "storage"({& +3 "manipulator"&b& +8 "core" & E + &o   +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(('i +3 "core" ( +2 "manipulator"&n& +3 "core" &o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &o 4  +2 .tForearm.seek PC +2 "manipulator"&f' +98 "core" ' +2 .tHand.close + "manipulator"&&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%w( +85 "core" ' + "storage"(h- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'y +34 "core" ' +303 ( +2 "storage"(p& +3 "core" & , +2 "manipulator"&y& +4 "core" &o   +2 "manipulator"& % +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&t'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&9( +283 "core" ( +2 "manipulator"&& +5 "core" & % 7 "{ + "storage"(U& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +96 "core" ' + .tHand.open +2 "manipulator"&D1 +62 "core" 1 +2 "storage"(i- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +3 "core" -' +2 "storage"(5& +4 "core" & \ F\ F +2 "manipulator"&& +3 "core" & !w +3 .tElbow.seek 2 + "manipulator"&^( +4 "core" ( +2 "manipulator"&G& +3 "core" & $ o !w +2 "storage"(>& +4 "core" & \ K\ J W +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(e' +53 "core" ' +2 "manipulator"&R& +3 "core" & !w +2 "storage"(S& +4 "core" & 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&v' +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +49 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(u'i +24 "core" ' +2 "manipulator"&z% +3 "core" %  +2 "storage"([& +4 "core" & 2 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&\\' +19 "core" ' +2 "manipulator"&|& +3 "core" & + !w +3 "storage"(\ & +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +31 "core" ' +3 "storage"(P% +4 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (]% +3 "core" %_  } k RM +2 "manipulator"&% +4 "core" %я 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (_& +3 "core" & ( +2 "collection"'& +4 "core" &V`  C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ !  7 +2 "storage"(;% +4 "core" %V j +2 "storage"(=. +4 "core" .( + "storage"(o& +4 "core" & c +2 "storage"(& +3 "core" & [ +2 "manipulator"&~& +4 "core" &  !w +2 .tElbow.seek 2 +2 "manipulator"&I( +4 "core" ( + "manipulator"&& +4 "core" &  !w +2 "storage"(0& +4 "core" & ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(`& +3 "core" & C +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'i +283 "core" ' + "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  !v +2 "storage"(%& +4 "core" & E +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +31 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(,'O +30 "core" ' +2 "manipulator"&}% +4 "core" %  T  +2 "storage"(J& +3 "core" & g d B +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&/' +15 "core" ' +2 "manipulator"&@& +3 "core" &  k !v +2 "storage"(& +4 "core" & f +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +38 "core" ' + "manipulator"&N& +4 "core" &  !v +2 "manipulator"& % +5 "core" %r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +152 "core" ( +3 "manipulator"&8& +4 "core" &  R 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &  6 +2 .tForearm.seek CC +2 "manipulator"&s'" +96 "core" ' +2 .tHand.close + "manipulator"&Z/ +57 "core" / +2 .tCC.seek :open +2 "collection"'l( +412 "core" ( +2 "storage"('& +3 "core" &  +2 "storage"(m& +5 "core" & N + "manipulator"&W& +4 "core" &  6 +2 "manipulator"&% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +9 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&<( +162 "core" ( +2 "manipulator"&j& +4 "core" & $   +2 "storage"( & +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&M' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +55 "core" 1 +2 "manipulator"&L% +4 "core" % & / +2 "storage"(& +3 "core" & E +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +3 "manipulator"&d' +18 "core" ' + "manipulator"&A& +4 "core" &  W  +2 "storage"(.& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"($% +4 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(Q'X +99 (C% +3 "core" %T  OF +2 "manipulator"&r% +4 "core" %Ѩ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'X& +3 "core" & +2 "manipulator"&K% +4 "core" %\  F ' +2 "storage"(1% +4 "core" %b s + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(O( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" & 4  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&:( +21 "core" ( +2 "manipulator"&"& +4 "core" & $ 2 s +2 "storage"(!& +3 "core" & X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(a& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +281 "core" ' +2 "storage"({- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +2 "core" &   +3 "manipulator"&n& +3 "core" &  s +2 .tElbow.seek 3 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&x& +4 "core" & J s +2 "storage"(&& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&h'ϩ +24 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(F'X +8 "core" & s +2 "manipulator"&(% +3 "core" % ϳ  +3 .tForearm.seek :retract + "manipulator"&p'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( +2 "manipulator"& & +3 "core" &$ & ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &$ ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +99 "core" ' +2 "manipulator"&U& +4 "core" &$ ) ] ;8 +2 "manipulator"&% +4 "core" %  9 +2 "collection"'D& +6 "core" & +49 "collection"'i& +5 "core" & +2 .tCC.seek :closed +2 "collection"'q(V +5 "core" & +7 &I# #c +9 &^ 7 +9 &, G +10 &b F +9 &e F +9 &td F +10 &6j F +9 &h F +10 &h F +9 &{g G +9 & =g G +10 &!g G +9 &#h G +9 &%g G +10 &'Ff F +9 &) c F +10 &*g G +9 &,f F +9 &.Nc" F +10 &0i F +9 &1i F +9 &3g G +10 &5Vf F +9 &7d F +10 &8f G +9 &:g F +9 &<^d F +10 &> e F +9 &?d F +9 &Aj F +10 &Ceh$ G +9 &E'j G +10 &Fu H +9 &H}" I +9 &JZeI( M +10 &L" P +9 &M3>' P +9 &O$*( P +10 &QY #' P +9 &S " R +10 &T% R +9 &VCb!* + +9 &V$ U +9 ( +2 &Vs' J +2 "collection"'i& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&51 +58 "core" 1 +2 "manipulator"&% +4 "core" %  $ b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" & +2 "manipulator"&t% +4 "core" %\ #  I B +2 "storage"(R% +4 "core" %b  +2 "storage"(S. +2 "core" .( +2 "storage"(g& +4 "core" & \  +2 "storage"(& +4 "core" &  +2 "manipulator"&z& +4 "core" &#   ;8 +2 "manipulator"&[% +4 "core" %\ #   B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&|( +167 "core" ( +2 "manipulator"&\ & +4 "core" &  n +2 "storage"(9& +3 "core" & ^  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&B'9 +97 "core" ' +2 "storage"(P& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" & F  +2 "manipulator"&& +3 "core" & X n +2 .tElbow.seek 3 +2 "manipulator"&^( +4 "core" ( +2 "manipulator"&e& +3 "core" & E n +2 "storage"(v& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & n +2 "manipulator"&;% +3 "core" % Ϙ +3 .tForearm.seek :retract +2 "manipulator"&u'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&o& +3 "core" &q u +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &q # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~' +107 "core" ' + "manipulator"&& +4 "core" &q   +2 "manipulator"&0% +4 "core" %  r +2 "processing"%& +4 "core" & +3 "processing"%`& +5 "core" &Z +2 .tPC.seek :closed +2 "processing"%2(Z +5 "core" & +5 &=A #b +10 &Z 5 +9 &J H +9 &gA F +10 &j G +9 &Ucu G +9 &h G +10 &j G +9 &j G +10 &]f G +9 & hv F +9 &!e[ G +10 &#dZ G +9 &%ef G +9 &''kD G +10 &(j{ G +9 &*fT G +10 &,me` G +9 &./e| G +9 &/d} G +10 &1c G +9 &3ucz G +10 &57dO G +9 &6e G +9 &8e F +10 &:}g G +9 &<@j F +9 &>gK F +10 &?jq G +9 &Ae1 G +9 &CHi F +10 &En H +9 &Fu H +10 &H J +9 &J@ L +9 &Ly L +10 &Md L +9 &O L +9 &QGh L +10 &S  L +9 &T~ L +10 &V L +9 &XM M +50 &Yxx !i +4 &Z/ 0 + ( +4 "processing"%`& +3 "core" &Z + &Z + &Z + &ZN +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&?% +4 "core" % % % r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' +2 "processing"%& +3 "core" &Z +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&%% +5 "core" %\ % f G + "storage"(#% +4 "core" %]  +2 "storage"(}. +4 "core" .( + "storage"(J& +4 "core" & S  +3 "storage"(@& +2 "manipulator"&& +7 "core" &   + &q ^ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&N(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +2 "manipulator"&& +4 "core" &q  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &q  +2 .tForearm.seek PC +2 "manipulator"&T' +100 "core" ' +3 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%/( +87 "core" ' +2 "storage"(,- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'y +45 "core" ' +288 ( +2 "storage"(6& +4 "core" &   +3 "manipulator"&& +4 "core" &q  +2 "manipulator"&V% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&Z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +269 "core" ( +2 "manipulator"&& +4 "core" & % <  +2 "storage"('& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&m'9 +107 "core" ' +6 .tHand.open +2 "manipulator"&W1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(j'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +3 "core" -' +2 "storage"(3& +3 "core" & O N V  +2 "manipulator"&+& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&L( +5 "core" ( + "manipulator"&& +4 "core" & %   +2 "storage"(A& +3 "core" & O M  +3 .tForearm.seek 3 + 700 counts + "manipulator"&.'9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +52 "core" ' +2 "manipulator"&*& +4 "core" &   +2 "storage"(C& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&r'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(M'i +23 "core" ' +2 "manipulator"&d% +4 "core" %Έ  +2 "storage"(X& +3 "core" & G  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&K'ϴ +19 "core" ' +2 "manipulator"&1& +3 "core" &  +3 "storage"(4& +3 "core" &   +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +17 "core" ' +2 "storage"(% +4 "core" %h ? +3 ."downElevator"SE.seek :down +3 "storage"(Q'X +99 (7% +3 "core" %] r M QK +2 "manipulator"&H% +3 "core" %$  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ("& +3 "core" &   +2 "collection"'!& +4 "core" &Vr J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&a% +4 "core" %\ !  5 +2 "storage"(c% +4 "core" %Q  +2 "storage"(E. +3 "core" .( +2 "storage"({& +3 "core" & ,  +2 "storage"(k& +4 "core" & Y  +2 "manipulator"&n& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&&& +5 "core" & ^  + "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +96 "core" ' +2 "storage"((& +4 "core" & E  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(:'i +275 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & K  +2 "storage"(f& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&b'} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"()'P +28 "core" ' +2 "manipulator"&% +4 "core" %΋  + "storage"(D& +4 "core" & L  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&F'Ϸ +20 "core" ' +2 "manipulator"&p& +3 "core" & <  +2 "storage"(l& +4 "core" & -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&5'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('? +39 "core" ' +2 "manipulator"&>& +4 "core" &   +2 "manipulator"&t% +3 "core" %B B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +168 "core" ( + "manipulator"&i& +4 "core" &) ' % @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &* 3 @Z +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&z/ +55 "core" / +2 .tCC.seek :open +2 "collection"'[( +416 "core" ( +2 "storage"(& +4 "core" & Z  +2 "storage"(\ & +3 "core" & 9  +2 "manipulator"&9& +4 "core" &*  A @X +2 "manipulator"&P% +3 "core" %   1 +3 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&G( +163 "core" ( + "manipulator"&& +4 "core" & - a +2 "storage"(]& +3 "core" & 2  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +98 "core" ' +4 .tElbow.hold + "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +56 "core" 1 +2 "manipulator"&_% +4 "core" % | # +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&;'Ϩ +20 "core" ' +3 "manipulator"&|& +4 "core" & l a +2 "storage"(B& +4 "core" & >  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +30 "core" ' + "storage"(\\% +4 "core" %D - +3 ."downElevator"SE.seek :down +4 "storage"(o'X +98 (% +3 "core" %BV E QI +2 "manipulator"&^% +4 "core" %A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'0& +3 "core" & +2 "manipulator"&% +4 "core" %\  0 +2 "storage"(% +4 "core" %^ +2 "storage"(u. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(w( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" & G + "manipulator"&?& +4 "core" &  a +2 .tElbow.seek 2 +2 "manipulator"&( +42 "core" ( +2 "manipulator"&%& +3 "core" &  K  +2 "storage"(#& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&}'ќ +96 "core" ' + "storage"(`& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +3 "core" & : +2 "manipulator"&& +3 "core" & >  +2 .tElbow.seek 2 +2 "manipulator"&I( +19 "core" ( +3 "manipulator"&~& +3 "core" &  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&,' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(2'X +7 "core" & 3  +2 "manipulator"& % +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&6'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&V& +3 "core" &# < _ :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &# W :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +3 "manipulator"&'& +3 "core" &" % 9) +2 "manipulator"&N% +4 "core" % q P +2 "collection"'W& +4 "core" &$ +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'s(V +4 "core" &-  +8 &6( )w +10 &l& = +9 &u G +9 &rg& F +10 &5i F +9 &g" F +9 &c* F +10 &yg G +9 &<h5 F +10 &i3 F +9 & g2 F +9 &"d F +10 &$Dh! F +9 &&f0 G +9 &'f* F +10 &)e( F +9 &+Lc& F +10 &- g+ G +9 &.e( F +9 &0j( F +51 &2Sg& G +3 &4f' F + &5f G +2 &7e( F + &9\\h' F + &;h' F +7 &<c' F +9 &>c% F +10 &@cg$ G +9 &B&g" F +9 &Ce$ F +10 &Ek' G +9 &Gh|( H +10 &I$() J +9 &Jc' N +9 &L`' P +10 &NY-6& P +9 &P$(: P +9 &Q $+ P +10 &S ' R +9 &UY( D +10 &VqC!& (y +9 &Vn% G +5 ( +2 "collection"'& +4 "core" &Va+ G +2 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&31 +54 "core" 1 +3 "manipulator"&+% +3 "core" %   i P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%A& +3 "core" &s +2 "manipulator"&Z% +4 "core" %\   L % +2 "storage"(*% +4 "core" %a  +2 "storage"(C. +3 "core" .( +2 "storage"(d& +5 "core" &  + "storage"(X& +4 "core" &  +2 "manipulator"&8& +4 "core" &"  9& +2 "manipulator"&1% +3 "core" %\   % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&4( +159 "core" ( + "manipulator"&j& +4 "core" &  O \ +2 "storage"(Y& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +97 "core" ' + "storage"(m& +4 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +276 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" & 6 +2 "manipulator"&H& +3 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( +2 "manipulator"&$& +3 "core" & t \ +2 "storage"(r& +4 "core" & \\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&K' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(a'X +8 "core" & P \ + "manipulator"&c% +4 "core" % *  > +2 .tForearm.seek :retract +2 "manipulator"&M'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&E(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&{& +4 "core" &o   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &o D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +99 "core" ' +2 "manipulator"&&& +3 "core" &o  _ \ +2 "manipulator"&% +4 "core" % u i +2 "processing"% & +4 "core" &r +3 "processing"%(& +5 "core" &8 +2 .tPC.seek :closed +2 "processing"%Q(Z +5 "core" &t +7 &E{ #b +9 &] 6 +10 & G +9 &h G +10 &gu F +9 &cf F +9 &%f F +10 &g F +9 &h F +9 &jgv G +10 & -i F +9 &!em G +10 &#gH F +9 &%shp F +9 &'3j G +10 &(d G +9 &*g G +9 &,{g F +10 &.=g F +9 &/f G +10 &1e G +9 &3d~ G +9 &5De G +10 &7e~ G +9 &8e G +9 &:g F +10 &f G +10 &?k G +9 &Ae F +9 &CRj G +10 &En H +9 &Fr H +9 &H J +10 &JN L +9 &L L +10 &M L +9 &O L +9 &QS M +10 &S M +9 &T M +9 &V M +10 &XZ M +9 &Ywx "j +10 &Z$c ( +9 ( + &Z ! +2 "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&<1 +55 "core" 1 + "manipulator"&% +4 "core" % % + i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"% & +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +47 "manipulator"&f% +7 "core" %\    + "storage"(U% +4 "core" %b  +2 "storage"(. +3 "core" .( +2 "storage"(D& +4 "core" & ! +3 "storage"(p& +2 "manipulator"&l& +7 "core" & K + &o \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&>(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'i +2 "core" ( +2 "manipulator"& & +4 "core" &o \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" &o N \ +2 .tForearm.seek PC +2 "manipulator"&:' +95 "core" ' +2 .tHand.close + "manipulator"&b/ +57 "core" / +2 .tPC.seek :open +2 "processing"%F( +90 "core" ' +2 "storage"()- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'y +36 "core" ' +294 ( +2 "storage"(g& +3 "core" &  +2 "manipulator"&5& +4 "core" &o  \ +2 "manipulator"&h% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&R( +253 "core" ( +2 "manipulator"&q& +4 "core" & $ n W +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&\ 'ќ +95 "core" ' +2 .tHand.open + "manipulator"&91 +63 "core" 1 +2 "storage"(P- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(]' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(S& +4 "core" & \ \\\ ^ s +2 "manipulator"&v& +4 "core" &\ W +2 .tElbow.seek 2 +2 "manipulator"&_( +9 "core" ( +2 "manipulator"&& +3 "core" & % J 0 +2 "storage"(|& +4 "core" & \ H\ F m +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\\' +57 "core" ' +2 "manipulator"&y& +4 "core" & B 0 +2 "storage"(& +3 "core" & L +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^' +20 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +28 "core" ' +2 "manipulator"&;% +4 "core" %  +2 "storage"(0& +3 "core" & : +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +20 "core" ' + "manipulator"&& +4 "core" &  0 +2 "storage"(u& +3 "core" & D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +28 "core" ' +2 "storage"(% +3 "core" %l  +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (O% +3 "core" %7Z d d  QL +2 "manipulator"&% +4 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&?'\ +96 "core" ' +9 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (%& +3 "core" & 0 +2 "collection"'#& +3 "core" &V`( G +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&`% +3 "core" %\ "  : +3 "storage"(e% +3 "core" %^ 6 +2 "storage"(. +4 "core" .( + "storage"(& +5 "core" & q + "storage"(@& +4 "core" & D +2 "manipulator"&& +4 "core" &  0 +2 .tElbow.seek 2 +2 "manipulator"&~( +19 "core" ( + "manipulator"&& +4 "core" &  e  +2 "storage"(=& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +102 "core" ' + "storage"( & +5 "core" & ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +4 "core" & B  +2 "storage"(J& +3 "core" & b +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T' +32 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(''O +28 "core" ' + "manipulator"&N% +4 "core" %  $ +2 "storage"(W& +3 "core" & / +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&2' +19 "core" ' + "manipulator"&6& +4 "core" &  +2 "storage"([& +4 "core" & % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(+'> +37 "core" ' +2 "manipulator"&A& +4 "core" &   +2 "manipulator"&Z% +3 "core" %ѯ  o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&C( +162 "core" ( +3 "manipulator"&d& +4 "core" &(   ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &(  C ?R +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&8/ +53 "core" / +2 .tCC.seek :open +2 "collection"'1( +412 "core" ( +2 "storage"(& +4 "core" &  +2 "storage"(j& +4 "core" & w +2 "manipulator"&Y& +3 "core" &% <? +2 "manipulator"&m% +4 "core" % + +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&.& +3 "core" &   +2 "storage"(7& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&H' +102 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&r1 +54 "core" 1 +2 "manipulator"&"% +3 "core" %  a +2 "storage"(!& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +47 .tForearm.seek 2 + 320 counts +4 "manipulator"&c' +28 "core" ' +2 "manipulator"&4& +4 "core" & :  +2 "storage"(& +4 "core" & a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +19 "core" ' +2 "storage"(K% +3 "core" %F +3 ."downElevator"SE.seek :down +4 "storage"({'X +98 (k% +3 "core" %T QI +2 "manipulator"&L% +5 "core" %і d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"& % +5 "core" %\ #  @ +2 "storage"(a% +4 "core" %a +2 "storage"(M. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(/( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" & L  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +17 "core" ( +2 "manipulator"&f& +3 "core" &  o H +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&U'9 +93 "core" ' +2 "storage"(& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +278 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (p& +2 "core" &  +3 "manipulator"& & +3 "core" &  H +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&n& +4 "core" & # H +2 "storage"(b& +3 "core" & a  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(Q'X +7 "core" & | H +2 "manipulator"&t% +4 "core" % ό   +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( + "manipulator"&h& +4 "core" &" " 1 9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &"  & 9# +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'" +101 "core" ' + "manipulator"&& +4 "core" &" $ = 9# +2 "manipulator"&>% +5 "core" %,  @ +2 "collection"'9& +4 "core" && +2 "collection"'P& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &#  +8 &8* )w +9 &'k! = +10 &r* G +9 &g& F +10 &If, G +9 & f4 F +9 &c2 F +10 &g0 F +9 &Sd/ F +10 &g4 G +9 & f1 F +9 &"e& F +10 &$Zi2 F +9 &&h1 G +9 &'g, F +10 &)f[ F +9 &+bdC F +10 &-#g, G +9 &.g+ F +9 &0k' F +10 &2ig' G +9 &4,f0 F +9 &5h' F +10 &7g% F +9 &9rc* F +10 &;4j' F +9 &<h% F +9 &>g( G +10 &@zg( F +9 &B<c7 F +9 &Cf- G +10 &Ep( G +9 &G{{, I +9 &I9,4 J +10 &Jh) O +9 &LR- P +10 &Nn)3( P +9 &P.#%' Q +9 &Q#$ Q +10 &S , R +9 &Un' ? +9 &VC ' !c +10 &V. J +5 ( +2 "collection"'P& +4 "core" &Vv, J +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&S1 +54 "core" 1 +2 "manipulator"&v% +49 "core" % ,  p +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%|& +4 "core" & +2 "manipulator"&z% +4 "core" %\ #  ) < +2 "storage"(y% +3 "core" %` @ +2 "storage"(. +3 "core" .( +2 "storage"(i& +4 "core" &   +2 "storage"(;& +3 "core" &   +2 "manipulator"&0& +4 "core" &"   9# +2 "manipulator"&% +3 "core" %\ #  ~ < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( + "manipulator"&u& +4 "core" &  ` +2 "storage"(& +4 "core" & *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +94 "core" ' + "storage"(\ & +4 "core" & e  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(]'i +283 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & 9  +2 "manipulator"&B& +3 "core" &  ` +2 .tElbow.seek 3 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&\\& +4 "core" & & ` +2 "storage"(^& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&%/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& +2 "storage"(`'X +7 "core" & | ` +2 "manipulator"&e% +4 "core" % ϭ 7 +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +4 .tElbow.seek PC + "manipulator"&(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&& +3 "core" &h + H $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &h 6 $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" &h  $ +2 "manipulator"&=% +4 "core" % c +2 "processing"%& +4 "core" & +2 "processing"% & +5 "core" & +2 .tPC.seek :closed +2 "processing"%o(Z +4 "core" & +7 &> #c +10 &\\P 6 +9 & H +9 &g} G +10 &k G +9 &[em G +9 &g} F +10 &h F +9 &i G +10 &bj G +9 & %ik G +9 &!j G +10 &#k G +9 &%kg[ G +9 &'-g G +10 &(f G +9 &*i F +10 &,sh G +9 &.4j G +9 &/e F +10 &1f G +9 &3{f G +9 &5>gm F +10 &6g G +9 &8gl G +10 &:e F +9 &h G +10 &?fu G +9 &Ai G +9 &CLj G +10 &E m H +9 &Fu H +10 &Hx K +9 &JE L +9 &L L +10 &M L +9 &O L +9 &QL M +10 &S M +9 &T} M +10 &V5 M +9 &XQr N +9 &Ywv "j +10 &Z'k , +9 ( + &Z " +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&G1 +60 "core" 1 +2 "manipulator"&?% +3 "core" % % P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +3 "processing"%V& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&J% +4 "core" %\  w  +2 "storage"(I% +4 "core" %T  +2 "storage"(N. +2 "core" .( +2 "storage"(W& +4 "core" & *  +2 "storage"(6& +4 "manipulator"&[& +5 "core" &   + &h 9 $ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +49 "storage"(#]@K-0-\ b +5 .tElbow.seek PC +4 "manipulator"&A(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(Z'i +24 "core" ( +2 "manipulator"&-& +3 "core" &o Q \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &~& +2 "core" &o   \ +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&T/ +58 "core" / +2 .tPC.seek :open +2 "processing"%2( +62 "core" ' +2 "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +42 "core" ' +316 ( +2 "storage"(X& +4 "core" & D  +2 "manipulator"&3& +4 "core" &o  \ +2 "manipulator"&,% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&*( +257 "core" ( +2 "manipulator"&s& +3 "core" &  w  +2 "storage"(& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +93 "core" ' + .tHand.open +2 "manipulator"&Y1 +54 "core" 1 +4 "storage"(m- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(.'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(7' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(C& +4 "core" &\ J\ H 2  +2 "manipulator"&r& +3 "core" & 7  +3 .tElbow.seek 3 + "manipulator"&"( +8 "core" ( + "manipulator"&!& +4 "core" & %   +2 "storage"(4& +4 "core" &\ K\ K ^  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +60 "core" ' +2 "manipulator"&K& +3 "core" &   +2 "storage"(& +4 "core" & K  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&k'} +18 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'i +23 "core" ' +2 "manipulator"&% +4 "core" %y  +2 "storage"(c& +4 "core" & u  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +2 "manipulator"& 'ϥ +20 "core" ' +2 "manipulator"&a& +4 "core" & |  +2 "storage"(M& +4 "core" & %  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +39 "core" ' +2 "storage"( % +4 "core" %m   +3 ."downElevator"SE.seek :down +3 "storage"({'X +99 (w% +5 "core" %U } { T PJ +2 "manipulator"&<% +4 "core" %{  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (f& +3 "core" & J  +2 "collection"'(& +3 "core" &Vu  J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ % ! C +2 "storage"($% +4 "core" %O > +2 "storage"(&. +3 "core" .( +2 "storage"(l& +3 "core" &   +41 "storage"(p& +11 "core" & h  +2 "manipulator"& & +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&b& +4 "core" &   +2 "storage"(E& +3 "core" & E  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(t& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +287 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &   +2 "storage"(D& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(>'P +27 "core" ' + "manipulator"&x% +4 "core" %  +2 "storage"(9& +4 "core" & B  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&Q'ϫ +19 "core" ' +2 "manipulator"&g& +4 "core" & /  +2 "storage"(1& +3 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'? +39 "core" ' + "manipulator"&P& +4 "core" &  +2 "manipulator"&|% +4 "core" %5 e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +163 "core" ( +3 "manipulator"&& +4 "core" &\  & 9 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &\   ] 5 +2 .tForearm.seek CC +2 "manipulator"&;'" +93 "core" ' +2 .tHand.close + "manipulator"&0/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +416 "core" ( +2 "storage"(q& +3 "core" &  +2 "storage"(u& +4 "core" &   +2 "manipulator"&& +3 "core" &\  ~ 5 +2 "manipulator"&\ % +4 "core" % , 0 +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&O& +4 "core" &  s +2 "storage"(& +4 "core" & A  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&B'} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +58 "core" 1 +2 "manipulator"&%% +4 "core" % } &  +2 "storage"(#& +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&e'ϩ +20 "core" ' +4 "manipulator"&& +3 "core" & p +2 "storage"(R& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +28 "core" ' +2 "storage"(% +3 "core" %B [ +3 ."downElevator"SE.seek :down +47 "storage"('X +55 (@% +3 "core" %B +103 "storage"(_% +3 "core" %IQ  PG +2 "manipulator"&% +4 "core" %C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"&`% +4 "core" %\  Q  +2 "storage"(% +5 "core" %Y + "storage"(F. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(G( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (?& +2 "core" & 7 +3 "manipulator"&V& +3 "core" & D +2 .tElbow.seek 2 +2 "manipulator"&J( +38 "core" ( +2 "manipulator"&I& +3 "core" & G l +2 "storage"(N& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +100 "core" ' +2 "storage"( & +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'i +279 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (-& +3 "core" & f +2 "manipulator"&~& +4 "core" &  [ +2 .tElbow.seek 2 +2 "manipulator"&( +28 "core" ( +3 "manipulator"&T& +5 "core" & S f + "storage"('& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(Z'X +7 "core" & N f + "manipulator"&X% +4 "core" % " +2 .tForearm.seek :retract +3 "manipulator"&3'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +23 "core" ( +2 "manipulator"&& +4 "core" & 9 - 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &  9 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +103 "core" ' +3 "manipulator"&A& +4 "core" & 6 +2 "manipulator"&Y% +4 "core" %1 3 +2 "collection"'m& +4 "core" &$ +2 "collection"'& +6 "core" &# +2 .tCC.seek :closed +2 "collection"'C(V +5 "core" &' +5 & 8 +10 &JM. / +9 &|) D +9 &Ge0 F +10 &f4 F +9 &h4 F +9 &f: F +10 &Oc6 F +9 &g0 G +10 &e4 F +9 &i0 F +9 &!Uf1 G +10 &#g7 F +9 &$e7 F +10 &&h5 F +9 &(^g7 F +9 &*!h4 F +10 &+g4 F +9 &-h/ F +9 &/fg1 F +10 &1(c4 F +9 &2f- G +10 &4f. F +9 &6oh3 F +9 &80g& F +10 &9h- F +9 &;g% G +9 &=vf( F +10 &?8c$ F +9 &@h( F +10 &Bg, F +9 &D}e( G +9 &F=m2 H +10 &Gz\ 3 I +9 &I@)- K +9 &Kj0 P +10 &M+8P% P +9 &N#+' Q +10 &P#( Q +9 &Ro' Q +9 &T.' R +10 &Ux5 = +9 &V3, "f +9 &VU1 @ +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&r1 +56 "core" 1 +3 "manipulator"&!% +4 "core" % 1  J 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%8& +4 "core" & +2 "manipulator"&K% +3 "core" %\   Z  +2 "storage"(% +4 "core" %`  +2 "storage"(. +3 "core" .( +46 "storage"(c& +7 "core" &  +2 "storage"(d& +3 "core" &  +2 "manipulator"&a& +4 "core" & d 6 +2 "manipulator"&.% +3 "core" %\  #  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&M( +162 "core" ( + "manipulator"& & +4 "core" & V  +2 "storage"(*& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +96 "core" ' +2 "storage"(7& +3 "core" & D +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(w'i +283 "core" ' +2 "storage"(<- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&"& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&k& +3 "core" &   +2 "storage"( & +4 "core" & ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&f' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"($'X +7 "core" & z  +2 "manipulator"&H% +4 "core" %  D o +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( +2 "manipulator"&p& +4 "core" &p ' [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &p e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +99 "core" ' + "manipulator"&E& +4 "core" &p % C +2 "manipulator"&+% +4 "core" % ?  +2 "processing"%t& +4 "core" &[ +3 "processing"%{& +5 "core" &1 +2 .tPC.seek :closed + "processing"%L(Z +4 "core" & +9 &= #c +9 &\\w 6 +9 &) H +10 &f G +9 &j G +10 &]e G +9 & e F +9 &g F +10 &g G +9 &ej G +9 & 'k G +10 &!d G +9 &#gl F +10 &%lgH G +9 &'0g F +9 &(g G +10 &*j G +9 &,ve F +9 &.7g G +10 &/i G +9 &1d G +9 &3~g F +10 &5?g G +9 &7h G +10 &8i G +9 &:c G +9 &\ e F +9 &?g G +10 &Aj G +9 &COi G +9 &Em H +10 &Fs H +9 &H J +9 &JI L +10 &L  L +9 &M L +9 &O L +10 &QO L +9 &S M +10 &T M +9 &V M +9 &XT M +10 &Ywx "k +9 &Z)oK , +9 ( +3 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +3 "core" &Zs ! +55 1 +2 "manipulator"&U% +3 "core" % $   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +3 "processing"%D& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\  ~  +2 "storage"(x% +3 "core" %`  +2 "storage"(9. +3 "core" .( +2 "storage"(g& +4 "core" &  +2 "storage"(1& +2 "manipulator"&P& +7 "core" & < + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&|(s +4 ."raiseStack"SE.seek :beamBreak + "storage"('i +3 "core" ( + "manipulator"&n& +5 "core" &p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &p +3 .tForearm.seek PC +46 "manipulator"&:' +98 "core" ' + .tHand.close +2 "manipulator"&Q/ +54 "core" / +2 .tPC.seek :open +2 "processing"%>( +56 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'y +49 "core" ' +316 ( + "storage"(S& +4 "core" & V +2 "manipulator"&)& +4 "core" &p  +2 "manipulator"&0% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +258 "core" ( +2 "manipulator"&q& +3 "core" & $ q  +2 "storage"(u& +4 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +87 "core" ' +2 .tHand.open + "manipulator"&\ 1 +58 "core" 1 +2 "storage"(O- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(;' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"(^& +4 "core" & \ J\ Q # +2 "manipulator"&%& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&#( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(R& +4 "core" & \ I\ I Y +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(5' +57 "core" ' + "manipulator"&@& +4 "core" &   +2 "storage"(& +4 "core" & % +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&_' +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +24 "core" ' +2 "manipulator"&e% +4 "core" %  +2 "storage"(v& +3 "core" & S +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&`& +4 "core" &  Z  +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&F'ќ +22 "core" ' + "storage"(]% +4 "core" %r +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (/% +3 "core" %` { ? RM +2 "manipulator"&?% +4 "core" %{ +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (I& +3 "core" &  +2 "collection"'N& +3 "core" &VT ' @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +4 "core" %\    +2 "storage"(\\% +3 "core" %M  +2 "storage"(=. +3 "core" .( +2 "storage"([& +3 "core" &  +2 "storage"(-& +3 "core" & . +3 "manipulator"&~& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&T( +4 "core" ( + "manipulator"&'& +4 "core" & $   +2 "storage"(}& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +48 "manipulator"&o'ќ +99 "core" ' +2 "storage"(X& +4 "core" & ` +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(J'i +277 "core" ' +2 "storage"(W- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o  +2 "storage"(6& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&s' +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(A'O +26 "core" ' +2 "manipulator"&Y% +4 "core" %   [ + "storage"(m& +4 "core" & C +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&Z' +21 "core" ' +2 "manipulator"&3& +4 "core" & t  +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(!'> +37 "core" ' +2 "manipulator"&8& +3 "core" & D  +2 "manipulator"&K% +4 "core" %т k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +3 "manipulator"&c& +4 "core" &%  H <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &%  <@ +3 .tForearm.seek CC +2 "manipulator"&d'" +96 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tCC.seek :open +2 "collection"'.( +416 "core" ( +2 "storage"(& +3 "core" &  +2 "storage"( & +4 "core" & J +2 "manipulator"&*& +3 "core" &# :* +2 "manipulator"&7% +4 "core" % '  S +2 .tForearm.seek :retract +2 "manipulator"&,'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&4( +156 "core" ( + "manipulator"&<& +5 "core" &   + "storage"(& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&"' +94 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&(% +4 "core" %  g +2 "storage"(& +4 "core" & p +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&H' +21 "core" ' +2 "manipulator"&M& +3 "core" & i  +2 "storage"(j& +3 "core" & \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +19 "core" ' +2 "storage"(f% +3 "core" %F +3 ."downElevator"SE.seek :down +4 "storage"(p'X +98 ( % +3 "core" %W PI +2 "manipulator"&% +4 "core" %ќ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +49 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'+& +3 "core" & +2 "manipulator"&t% +5 "core" %\    + "storage"($% +4 "core" %]  +2 "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(2( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &  +2 "manipulator"&U& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&D( +15 "core" ( + "manipulator"&& +5 "core" &  q + "storage"(x& +4 "core" & _  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +93 "core" ' + "storage"(g& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'i +279 "core" ' +2 "storage"(1- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P& +2 "core" & O  +2 "manipulator"&n& +4 "core" & C q +2 .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&b& +4 "core" & q +2 "storage"(Q& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +3 "storage"(L'X +7 "core" &  q +2 "manipulator"&% +4 "core" % ϱ  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&0& +3 "core" &' B >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &&  >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'" +98 "core" ' + "manipulator"&u& +4 "core" &' $ >M +2 "manipulator"&|% +4 "core" %(  6 +2 "collection"'\ & +4 "core" &5 +4 "collection"'O& +5 "core" & +2 .tCC.seek :closed +2 "collection"'y(V +4 "core" && +8 &I/ $d +10 &^# 7 +9 &03 G +9 &e6 F +10 &g4 F +9 &xc4 F +9 &:i: F +10 &h4 F +9 &g9 G +10 &e2 G +9 & Ag6 G +9 &"g4 G +10 &#g: G +9 &%f< F +9 &'Jb4 F +10 &) h5 F +9 &*g4 G +10 &,g7 G +9 &.Rf1 F +9 &0c8 F +10 &1c. F +9 &3c2 F +9 &5Zh. F +10 &7h2 F +9 &8e2 G +10 &:f9 G +9 &#g1 G +10 &?g1 G +9 &Ag0 G +9 &Cji/ F +10 &E*i4 G +9 &Fv5 H +10 &H2 J +9 &J]iK1 N +9 &Lq2 P +10 &M*6+ P +9 &O$0 Q +9 &Q[ / Q +10 &S/ R +9 &T% R +10 &VB_# * +9 &V, G +8 ( +3 "collection"'O& +3 "core" &VX& D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&^1 +57 "core" 1 +2 "manipulator"&%% +4 "core" % (  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%R& +3 "core" &w +2 "manipulator"&z% +4 "core" %\ "  / B +2 "storage"(@% +4 "core" %a  + "storage"(. +3 "core" .( +2 "storage"(e& +4 "core" &   +2 "storage"(v& +3 "core" & \  +2 "manipulator"&i& +4 "core" &'  + >M +2 "manipulator"&`% +4 "core" %\ #   B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 "storage"(]& +51 "core" & x  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' + "storage"(& +4 "core" & O  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'i +276 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (?& +3 "core" &   +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&#( +2 "core" ( +2 "manipulator"&5& +4 "core" & g \ +2 "storage"(_& +4 "core" & C  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"( 'X +7 "core" & b \ +2 "manipulator"&\\% +4 "core" % ϲ  +2 .tForearm.seek :retract +2 "manipulator"&='\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +3 "manipulator"&B& +4 "core" &j [ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &j 8 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +93 "core" ' +2 "manipulator"&'& +3 "core" &j E \ +2 "manipulator"&}% +4 "core" % w ( +2 "processing"%F& +4 "core" & +3 "processing"%X& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" & +7 &< #c +10 &\\ 6 +9 & G +9 &c< G +10 &dC G +9 &`f F +10 &!d G +9 &h G +9 &g F +10 &hfD F +9 & )g G +9 &!h G +10 &#d G +9 &%pg F +10 &'1f G +9 &(h G +9 &*f F +10 &,wf G +9 &.9e G +9 &/f F +10 &1g G +9 &3c G +10 &5@d G +9 &7e G +9 &8h G +10 &:h G +9 & f F +10 &?h G +9 &Ad G +10 &CPh G +9 &Em H +9 &Fs H +10 &H J +9 &JJ L +9 &L  L +10 &M L +9 &O L +10 &QP M +9 &S L +9 &T M +10 &V M +9 &XW M +9 &Yxv !h +10 &Z+y . +8 ( +3 "processing"%X& +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&V% +4 "core" %  G ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&6% +4 "core" %\  B  +2 "storage"(% +3 "core" %X  +2 "storage"(Y. +3 "core" .( +2 "storage"(m& +4 "core" &   +2 "storage"(3& +3 "manipulator"&& +8 "core" & [  + &j + \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&8(s +6 ."raiseStack"SE.seek :beamBreak + "storage"(K'i +2 "core" ( +2 "manipulator"&o& +5 "core" &j c \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &j E \ +2 .tForearm.seek PC +2 "manipulator"&J' +93 "core" ' +2 .tHand.close + "manipulator"&s/ +58 "core" / +2 .tPC.seek :open +2 "processing"%Z( +95 "core" ' +2 "storage"(A- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'y +83 "core" ' +243 ( + "storage"(& +4 "core" & H  +2 "manipulator"&r& +5 "core" &j  \ + "manipulator"&% +4 "core" %  +3 .tForearm.seek :retract + "manipulator"&a'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +259 "core" ( +2 "manipulator"&C& +3 "core" &   +2 "storage"(& +4 "core" & (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +95 "core" ' +2 .tHand.open + "manipulator"&*1 +55 "core" 1 +2 "storage"(7- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +20 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +4 "core" -' + "storage"(& +4 "core" & M V 8  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&& +3 "core" & P +3 "storage"(M& +3 "core" & Y Y  +3 .tForearm.seek 3 + 700 counts + "manipulator"&j'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(f' +56 "core" ' +2 "manipulator"&,& +3 "core" &  +2 "storage"( & +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +23 "core" ' +2 "manipulator"&+% +4 "core" %|  +2 "storage"(H& +3 "core" & 8  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&!'Ϩ +19 "core" ' +2 "manipulator"&t& +4 "core" & R +2 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +29 "core" ' +2 "storage"(w% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(p'X +99 (G% +3 "core" %k] { M RN +2 "manipulator"&% +4 "core" %5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & y  +2 "collection"'x& +4 "core" &VW D +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&g% +4 "core" %\    +2 "storage"(k% +3 "core" %b  +2 "storage"(E. +3 "core" .( +2 "storage"(1& +4 "core" &   +2 "storage"(P& +3 "core" &   +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&Q& +4 "core" & $ +2 "storage"(l& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +95 "core" ' +3 "storage"(& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'i +283 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&0& +3 "core" &  +47 "storage"(:& +6 "core" & v  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(|'O +28 "core" ' +2 "manipulator"&\ % +4 "core" %  +2 "storage"( & +3 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&L'ϫ +20 "core" ' + "manipulator"&S& +4 "core" & > +2 "storage"(.& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&^'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'> +37 "core" ' +2 "manipulator"&R& +5 "core" & ^ +3 "manipulator"&z% +3 "core" % ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&O& +4 "core" & ( 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &   5 +2 .tForearm.seek CC +2 "manipulator"&v'" +95 "core" ' + .tHand.close +2 "manipulator"&i/ +55 "core" / +3 .tCC.seek :open + "collection"'`( +415 "core" ( +2 "storage"(q& +4 "core" & W  +2 "storage"(& +3 "core" & z  +2 "manipulator"&]& +4 "core" &  ` 5 +2 "manipulator"&)% +3 "core" % 0  2 +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +170 "core" ( +2 "manipulator"&/& +3 "core" &  W +2 "storage"(?& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'} +93 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +56 "core" 1 +2 "manipulator"&I% +3 "core" % Α T  +2 "storage"(N& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&\\'Ͻ +20 "core" ' + "manipulator"&& +4 "core" &  W +2 "storage"(& +3 "core" & =  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +30 "core" ' + "storage"(% +4 "core" %H  +3 ."downElevator"SE.seek :down +3 "storage"(B'X +99 (-% +3 "core" %T PH +2 "manipulator"&#% +5 "core" %7 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'}& +3 "core" & +2 "manipulator"&F% +4 "core" %\   " +2 "storage"( % +4 "core" %a T + "storage"(=. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(>( +339 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +46 (& +5 "core" &  +2 "manipulator"&V& +4 "core" &  W +2 .tElbow.seek 2 +2 "manipulator"&( +38 "core" ( +2 "manipulator"&6& +3 "core" &  : % +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +99 "core" ' +2 "storage"(m& +4 "core" & ^ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +3 "storage"(3- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +2 "core" & +2 "manipulator"&o& +4 "core" &  $ +2 .tElbow.seek 2 +2 "manipulator"&T( +4 "core" ( + "manipulator"&~& +4 "core" &  ( $ +2 "storage"(s& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&A' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +3 "storage"('X +7 "core" & $ +2 "manipulator"&K% +4 "core" % @ - +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 .tElbow.seek CC + "manipulator"&r( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&& +3 "core" &( , f ?R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +4 "core" &(   ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'" +98 "core" ' +2 "manipulator"&& +4 "core" &( % = ?R +2 "manipulator"&8% +4 "core" %+  +2 "collection"'*& +4 "core" & +3 "collection"'7& +4 "core" &1 +3 .tCC.seek :closed +2 "collection"'d(V +5 "core" &5 +6 &92 #b +10 &\\6 6 +9 &4 G +9 &b; F +10 &d5 F +9 &eb7 F +10 &'c: F +9 &h; F +9 &h< F +10 &le; G +9 & .g< G +9 &!e< G +10 &#g< G +9 &%tg< G +10 &'6fD G +9 &(e; F +9 &*h5 F +10 &,}h5 F +9 &.>e; G +9 &0e; F +10 &1c; F +9 &3c8 F +10 &5GhA F +9 &7f9 G +9 &8d; F +10 &:cD F +9 &h3 F +10 &?h- F +9 &Ag3 G +10 &CVg. G +9 &Ek6 G +9 &Fv3 H +10 &H~ . J +9 &JMcC4 M +9 &L. P +10 &M*7' P +9 &O#$1 Q +10 &QJ( P +9 &S& R +9 &T) Q +10 &V4^) * +9 &V%& G +9 ( +3 "collection"'7& +2 "core" &VU' @ +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open + "manipulator"&1 +64 "core" 1 +3 "manipulator"& % +3 "core" % +   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%M& +4 "core" & +2 "manipulator"&a% +4 "core" %\ !  . 5 +2 "storage"(,% +3 "core" %T  +2 "storage"( . +4 "core" .( + "storage"(+& +4 "core" & & +2 "storage"(H& +3 "core" &  +2 "manipulator"&c& +4 "core" &\ %  <9 +2 "manipulator"&t% +3 "core" %\   5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&$( +169 "core" ( +2 "manipulator"&<& +3 "core" &  +2 "storage"(w& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +104 "core" ' + "storage"( & +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' + "storage"(G- +50 "Can" F !$$ +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&j& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&f& +3 "core" & %   +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(g'X +8 "core" &   +2 "manipulator"&k% +4 "core" % \ A L +2 .tForearm.seek :retract +2 "manipulator"&E'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +118 "core" ( +3 "manipulator"&"& +4 "core" &   +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" & M  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +100 "core" ' +2 "manipulator"&Q& +4 "core" & U  +2 "manipulator"&l% +4 "core" % % a +2 "processing"%&& +5 "core" & +2 "processing"%& +6 "core" & +2 .tPC.seek :closed +3 "processing"%p(Z +2 "core" & +7 &D #b +10 &\\ 6 +9 & H +9 &g G +10 &j G +9 &_f F +10 &!e F +9 &eA F +9 &g G +10 &fj G +9 & (e G +9 &!e F +10 &#e F +9 &%ng G +10 &'0e G +9 &(f F +9 &*g G +10 &,vc G +9 &.8e G +10 &/d G +9 &1e G +9 &3~i G +10 &5?j G +9 &7c G +9 &8c G +10 &:e F +9 & e F +10 &?e G +9 &Ah G +10 &COg G +9 &En G +9 &Fr H +10 &H J +9 &JI L +9 &L\  L +10 &M L +9 &O M +10 &QO M +9 &S L +9 &T M +10 &V M +9 &XV M +9 &Yxv !h +10 &Z- 0 +8 ( +3 "processing"%& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open + "manipulator"&41 +57 "core" 1 +2 "manipulator"&U% +4 "core" % " w a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +2 "processing"%0& +3 "core" &Z ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&:% +4 "core" %\ !  7 +2 "storage"(u% +3 "core" %O d +2 "storage"(\ . +4 "core" .( + "storage"( & +4 "core" & J +2 "storage"(S& +3 "manipulator"&.& +8 "core" &  + & .  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&R(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'i +5 "core" ( + "manipulator"&h& +4 "core" & O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" & 7 # +3 .tForearm.seek PC + "manipulator"&D' +96 "core" ' +2 .tHand.close + "manipulator"&{/ +60 "core" / +2 .tPC.seek :open + "processing"%L( +86 "core" ' +2 "storage"(|- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'y +36 "core" ' +299 ( + "storage"(e& +4 "core" & 0 +2 "manipulator"&^& +4 "core" &  +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&i'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +41 "manipulator"&@( +260 "core" ( +2 "manipulator"&y& +4 "core" &  ~  +2 "storage"(q& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 .tHand.open + "manipulator"&]1 +53 "core" 1 +2 "storage"()- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +22 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(v- +2 "core" -' +2 "storage"(& +4 "core" & P N 9 +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&I( +9 "core" ( +2 "manipulator"&N& +3 "core" &  Q  +2 "storage"(& +5 "core" & N M +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(-& +3 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#' +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&\\% +3 "core" %  +2 "storage"(}& +4 "core" & Q +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&F' +19 "core" ' +2 "manipulator"& & +4 "core" & n  +2 "storage"(=& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&%'ќ +34 "core" ' +2 "storage"(;% +3 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(B'X +98 (2% +3 "core" % _ { Q QK +2 "manipulator"&% +4 "core" %ѣ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" & d +2 "collection"'& +4 "core" &VT  @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&m% +4 "core" %\  7 +2 "storage"(5% +3 "core" %` < +2 "storage"('. +3 "core" .( +2 "storage"(3& +4 "core" &  +2 "storage"(X& +3 "core" &  +2 "manipulator"&o& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&~( +9 "core" ( +2 "manipulator"&s& +4 "core" &  Z +2 "storage"([& +3 "core" & 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +105 "core" ' +2 "storage"(K& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(Y- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(J& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +29 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +46 "core" -' +6 .tSE.seek 0.09 Pucks below Top Plate + "storage"(T'O +28 "core" ' +2 "manipulator"&8% +5 "core" %   V + "storage"(*& +5 "core" & 1 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&& +4 "core" & q +2 "storage"(`& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '> +43 "core" ' +2 "manipulator"&M& +4 "core" & b +2 "manipulator"&a% +5 "core" %| Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +159 "core" ( +2 "manipulator"& & +4 "core" &* q @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &* ; @\\ +2 .tForearm.seek CC +2 "manipulator"&H'" +94 "core" ' + .tHand.close +2 "manipulator"&c/ +59 "core" / +2 .tCC.seek :open +2 "collection"'t( +413 "core" ( + "storage"(C& +4 "core" & +2 "storage"(<& +4 "core" &  +2 "manipulator"&w& +3 "core" &*  l @Z +2 "manipulator"& % +4 "core" % 2  Q +2 .tForearm.seek :retract +2 "manipulator"&r'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +156 "core" ( + "manipulator"&G& +5 "core" & L  + "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&j' +100 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" %  J +2 "storage"(x& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&k' +18 "core" ' +3 "manipulator"&$& +3 "core" & $  +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +34 "core" ' + "storage"(!% +4 "core" %G N +3 ."downElevator"SE.seek :down +4 "storage"("'X +98 (P% +3 "core" %T b PH +2 "manipulator"&(% +4 "core" %Ѱ  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q'\ +94 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +3 "core" & +2 "manipulator"&&% +4 "core" %\ "  = +2 "storage"(g% +3 "core" %] +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(Z( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" & /  +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&0( +11 "core" ( +2 "manipulator"&:& +4 "core" &   e +2 "storage"(u& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +45 "manipulator"&\ '9 +101 "core" ' + "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (S& +3 "core" &   +2 "manipulator"&h& +4 "core" &  e +2 .tElbow.seek 3 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&n& +3 "core" & r e +2 "storage"({& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& + "storage"(p'X +8 "core" & f e +2 "manipulator"&z% +4 "core" % ϩ ^ ` +2 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &" + f 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &" k 9( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'" +94 "core" ' +3 "manipulator"&q& +3 "core" &"  X 9( +2 "manipulator"&R% +4 "core" %' X +2 "collection"']& +4 "core" &? +3 "collection"')& +5 "core" & +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" &A  +8 &8> )v +10 &)l8 = +9 &p6 G +9 &g1 F +10 &Mc8 F +9 & f6 G +10 &f2 F +9 &b: F +10 &Sg6 G +9 &f5 F +9 & c; F +9 &"i6 F +10 &$[g9 G +9 &&g8 G +10 &'g0 F +9 &)g: F +9 &+dg0 F +10 &-&c1 F +9 &.h7 F +9 &0h1 F +10 &2lc9 F +9 &4-f. G +10 &5e1 F +9 &7h2 F +9 &9uf= F +10 &;5g0 G +9 &<g9 G +9 &>f1 F +10 &@|h0 F +9 &B=g2 G +10 &Ch3 G +9 &En5 G +9 &G~{0 H +10 &I<-4 J +9 &Jj3 O +9 &LOy0 P +10 &Nq&/5 P +9 &P/!&5 Q +10 &Q!4 Q +9 &S 3 R +11 &Up4 > +8 &VH0 V +9 &V.<) %p +9 &W`7 C +3 ( +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&_% +4 "core" % '  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +96 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&i% +4 "core" %\ !  M 2 +2 "storage"(% +4 "core" %a  +2 "storage"(-. +2 "core" .( +2 "storage"(\\& +4 "core" &   +2 "storage"(O& +4 "core" &   +2 "manipulator"&}& +3 "core" &"  9( +2 "manipulator"&/% +4 "core" %\ !  A 2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +164 "core" ( +2 "manipulator"&=& +3 "core" & $ u _ +2 "storage"(;& +4 "core" & ]  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +95 "core" ' +2 "storage"(& +3 "core" & l  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +282 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & I  +2 "manipulator"&& +3 "core" &  _ +2 .tElbow.seek 3 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&& +3 "core" & _ +2 "storage"(#& +4 "core" & N  +2 .tForearm.seek 3 + 300 counts +49 "manipulator"&F'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(m'X +9 "core" & e _ +2 "manipulator"&5% +3 "core" % Ϧ  +3 .tForearm.seek :retract +2 "manipulator"&''\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( +2 "manipulator"&& +3 "core" &m 9 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&o' +99 "core" ' + "manipulator"&s& +4 "core" &n * \ +2 "manipulator"&[% +4 "core" %  9 +2 "processing"%%& +4 "core" & +3 "processing"%K& +5 "core" & +2 .tPC.seek :closed +2 "processing"%B(Z +3 "core" &  +10 &7 )v +9 &j = +10 &s H +9 &oc F +9 &/f G +10 &f G +9 &d G +9 &we F +10 &8e G +9 &j G +10 & e F +9 &"g F +9 &$@g G +10 &&d G +9 &'g G +9 &)h G +10 &+If F +9 &-\ f G +10 &.e G +9 &0e G +9 &2Pg G +10 &4h G +9 &5c G +9 &7d F +10 &9Yg F +9 &;e F +10 &<g G +9 &>j G +9 &@`k G +10 &B!e G +9 &Cj G +10 &Ek H +9 &Gax I +9 &I K +10 &J L +9 &L M +9 &N` L +10 &P" L +9 &Q L +9 &S L +10 &Uh L +9 &W( M +10 &X M +9 &Z;Dc %l +9 &Z\ ) ! +6 ( +2 "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&1 +2 "core" &Z ! +54 1 + "manipulator"&V% +4 "core" % $ # 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&J% +8 "core" %\ % J +2 "storage"(% +5 "core" %]  + "storage"(8. +8 "core" .( +2 "storage"(*& +5 "core" & 2  +2 "storage"(& +4 "manipulator"&`& +3 "core" &   +2 &n j \ +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(M'i + "manipulator"&a(s +6 "core" ( +2 "manipulator"&W& +4 "core" &n ' \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &n   \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(T- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +32 "core" ' +304 ( + "storage"(+& +4 "core" &  +2 "manipulator"&& +4 "core" &n  \ +2 "manipulator"&A% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&c'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&,( +258 "core" ( +2 "manipulator"&d& +3 "core" & % .  +2 "storage"(C& +4 "core" & 6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +92 "core" ' +2 .tHand.open +2 "manipulator"&w1 +61 "core" 1 +49 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(G'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(7& +4 "core" & L L  +2 "manipulator"&& +4 "core" & $  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&x& +3 "core" &  '  +2 "storage"($& +4 "core" & L L U  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(!' +59 "core" ' +2 "manipulator"&r& +3 "core" &   +2 "storage"(P& +4 "core" & .  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('} +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +29 "core" ' +2 "manipulator"&k% +3 "core" %Έ  +2 "storage"(l& +4 "core" & B  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&&'ϴ +20 "core" ' + "manipulator"&g& +4 "core" & '  +2 "storage"(E& +4 "core" & ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +38 "core" ' + "storage"(% +5 "core" %q +2 ."downElevator"SE.seek :down +4 "storage"("'X +98 (>% +4 "core" %$] z s ` PI +2 "manipulator"&4% +4 "core" %E N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" &   +2 "collection"'u& +4 "core" &W`  % C +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ #  ; +2 "storage"(f% +3 "core" %] E +2 "storage"(Q. +4 "core" .( +2 "storage"(.& +3 "core" &   +2 "storage"(S& +4 "core" &   +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&n( +2 "core" ( +3 "manipulator"&{& +3 "core" & %   +2 "storage"(1& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +95 "core" ' + "storage"(z& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +282 "core" ' +2 "storage"(\ - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(D& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(R'O +27 "core" ' +2 "manipulator"&]% +3 "core" %΀ U +2 "storage"(b& +4 "core" & @  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&p'Ϭ +20 "core" ' +2 "manipulator"&e& +3 "core" & y  +2 "storage"(t& +50 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(_'> +35 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&i% +3 "core" %- j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +166 "core" ( +2 "manipulator"&\\& +3 "core" &# ( ;2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &$  8 ;2 +2 .tForearm.seek CC +2 "manipulator"&O'" +94 "core" ' + .tHand.close +2 "manipulator"&}/ +59 "core" / +2 .tCC.seek :open +2 "collection"'/( +416 "core" ( + "storage"(y& +4 "core" & 8  +2 "storage"(=& +4 "core" & Y  +2 "manipulator"&;& +3 "core" &$  O ;2 +2 "manipulator"&% +5 "core" % ,   +2 .tForearm.seek :retract + "manipulator"&^'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&N( +167 "core" ( +2 "manipulator"&2& +4 "core" &  q u +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +55 "core" 1 +3 "manipulator"&6% +3 "core" % ΅ % * +2 "storage"(& +5 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&5'ϱ +20 "core" ' +2 "manipulator"& & +3 "core" & F u +2 "storage"(@& +4 "core" & p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&?'9 +16 "core" ' +2 "storage"(F% +3 "core" %<  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (X% +3 "core" %W PG +2 "manipulator"&I% +4 "core" %C T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'[& +4 "core" & +2 "manipulator"&%% +4 "core" %\ %  C +2 "storage"(m% +3 "core" %^ +2 "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(L( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&V& +3 "core" &  u +2 .tElbow.seek 2 +2 "manipulator"&( +42 "core" ( + "manipulator"&J& +4 "core" & $ "} +2 "storage"(& +4 "core" & O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +95 "core" ' +2 "storage"(K& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'i +278 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +2 "core" &  +45 "manipulator"&W& +8 "core" &  !p +2 .tElbow.seek 2 +2 "manipulator"&~( +33 "core" ( +2 "manipulator"&o& +4 "core" & C Q +2 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(B'X +8 "core" & Z Q +2 "manipulator"&M% +3 "core" %  O +3 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&A& +4 "core" &  ' 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  ` 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&d'" +98 "core" ' +2 "manipulator"&C& +4 "core" &  ' . 0 +2 "manipulator"&a% +4 "core" % V +2 "collection"'w& +4 "core" &B +3 "collection"' & +5 "core" & +2 .tCC.seek :closed +2 "collection"'H(V +3 "core" &@ \ +10 & 4F (s +9 &j? < +9 &vB G +10 &re@ F +9 &4c? F +9 &c? F +10 &h7 F +9 &ye4 G +10 &<e8 F +9 &b6 F +9 & h7 F +10 &"i5 F +9 &$Dg/ F +9 &&h4 F +10 &'f6 F +9 &)b; F +10 &+Kf= G +9 &-eC F +9 &.g4 F +10 &0g6 G +9 &2Te3 F +9 &4h6 F +10 &5f4 G +9 &7d6 F +10 &9[e: G +9 &;f4 F +9 &<b2 F +10 &>h4 F +9 &@cf/ G +10 &B&f8 F +9 &Ce4 F +9 &Ej6 G +10 &Gfw< I +9 &I%%8 J +9 &J`: N +10 &LQA P +9 &NW)/F P +9 &P !H P +10 &Q= Q +9 &S? R +10 &UYC A +9 &Vq?C . +9 &VTC ? +6 ( +2 "collection"' & +3 "core" &VTD ? +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&c1 +54 "core" 1 +3 "manipulator"&7% +4 "core" %  ' " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%x& +3 "core" & +2 "manipulator"&$% +3 "core" %\   +3 "storage"(r% +3 "core" %Q 9 +2 "storage"(P. +3 "core" .( +2 "storage"(k& +3 "core" &  +2 "storage"( & +4 "core" & 0 +2 "manipulator"&l& +4 "core" &  ( 0 +2 "manipulator"&G% +3 "core" %\  @  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&g( +164 "core" ( +2 "manipulator"&E& +3 "core" &  p  +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +104 "core" ' +2 "storage"(<& +4 "core" & O +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(>- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (4& +3 "core" & 6 +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&!& +4 "core" & 4  +2 "storage"((& +3 "core" & t +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&&' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"( 'X +6 "core" &   +2 "manipulator"&f% +4 "core" % ! +2 .tForearm.seek :retract +49 "manipulator"&Q'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j(s +114 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +132 "core" ( +2 "manipulator"&.& +4 "core" &y * l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &y   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&h' +94 "core" ' +2 "manipulator"&{& +3 "core" &y  C  +3 "manipulator"&1% +3 "core" % k < +3 "processing"% & +3 "core" & +3 "processing"%z& +5 "core" & +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" & +8 &> #c +9 &\\ 6 +10 & G +9 &c G +9 &e G +10 &Ye G +9 &f F +9 &g G +10 &j G +9 &`e G +10 & #h G +9 &!c G +9 &#f G +10 &%hj G +9 &'+h G +9 &(k G +10 &*g F +9 &,qh G +10 &.3e G +9 &/e F +9 &1g G +10 &3ze F +9 &5;h G +9 &6e G +10 &8g F +9 &:f G +10 &c G +9 &?f G +10 &Ad G +9 &CJj G +9 &E\ m H +10 &Fs H +9 &H J +10 &JD L +9 &L M +9 &M L +10 &O L +9 &QK L +9 &S  M +10 &T L +9 &V M +10 &XP M +9 &Ywt "j +9 &Z+s , +9 ( +2 &Z +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&U% +3 "core" % %  < +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +95 "core" ' +2 "processing"%& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&D% +4 "core" %\  l " +2 "storage"(q% +4 "core" %b  +2 "storage"(]. +2 "core" .( +3 "storage"(b& +3 "core" &  +3 "storage"(e& +2 "manipulator"&t& +8 "core" &  + &y  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(i'i +3 "core" ( + "manipulator"&9& +5 "core" &y |  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &y k  +2 .tForearm.seek PC +2 "manipulator"&0' +95 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +3 .tPC.seek :open +2 "processing"%p( +90 "core" ' + "storage"(R- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +32 "core" ' +298 ( + "storage"()& +5 "core" &  + "manipulator"&& +4 "core" &y   +2 "manipulator"&|% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +283 "core" ( +2 "manipulator"&v& +4 "core" &  h $ +2 "storage"(y& +3 "core" & . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +101 "core" ' +2 .tHand.open + "manipulator"&;1 +53 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +22 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(-& +4 "core" & \ J\ J * +2 "manipulator"&#& +52 "core" & ) # +2 .tElbow.seek 2 + "manipulator"&6( +3 "core" ( +2 "manipulator"&& +4 "core" & $ & # +2 "storage"( & +4 "core" & \ J\ J F +3 .tForearm.seek 2 + 700 counts + "manipulator"&@'ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +58 "core" ' +2 "manipulator"&^& +4 "core" &  # +2 "storage"(X& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&I' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&[% +3 "core" % +2 "storage"(5& +4 "core" & = +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&%' +20 "core" ' +2 "manipulator"&m& +3 "core" & $ 1 # +2 "storage"('& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +26 "core" ' + "storage"(?% +4 "core" %o u  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (Z% +4 "core" %X | { m PJ +2 "manipulator"&% +4 "core" %Ѷ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (J& +3 "core" & # +2 "collection"'& +4 "core" &VT 4 ? +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&K% +3 "core" %\ #  A +3 "storage"(% +3 "core" %Q  +2 "storage"(s. +3 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(`& +3 "core" &  +2 "manipulator"&W& +4 "core" &  # +2 .tElbow.seek 2 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&& +4 "core" &  < # +2 "storage"(3& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +98 "core" ' +2 "storage"(M& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &  # +2 "storage"(*& +4 "core" & > +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +20 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(~'O +28 "core" ' +2 "manipulator"&a% +4 "core" % ~ +2 "storage"(w& +3 "core" & F +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&B' +20 "core" ' +2 "manipulator"&+& +3 "core" &  # +2 "storage"(/& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&c'ќ +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(7'> +37 "core" ' +2 "manipulator"&x& +4 "core" &  # +2 "manipulator"&$% +3 "core" %ѵ  +3 .tForearm.reconfigure :loose +42 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract + "manipulator"&r'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +154 "core" ( + "manipulator"&k& +4 "core" &( % ' ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &(  " ?U +2 .tForearm.seek CC +2 "manipulator"&l'" +93 "core" ' +2 .tHand.close + "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'G( +413 "core" ( +2 "storage"(d& +3 "core" & * +2 "storage"(E& +4 "core" &  +2 "manipulator"&& +3 "core" &% ^ <@ +2 "manipulator"&<% +4 "core" % 1  c +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( + "manipulator"&>& +4 "core" &  d  +2 "storage"(4& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +100 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +58 "core" 1 +3 "manipulator"&:% +3 "core" % % % +2 "storage"(u& +4 "core" & g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +3 "manipulator"&f' +20 "core" ' +2 "manipulator"&g& +3 "core" & p  +2 "storage"(,& +4 "core" & r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 "storage"(&% +4 "core" %G  +3 ."downElevator"SE.seek :down +3 "storage"(.'X +99 (S% +3 "core" %U a PI +2 "manipulator"&% +4 "core" %ї j x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +42 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'1& +3 "core" &; +3 "manipulator"& % +3 "core" %\ (  F +2 "storage"( % +4 "core" %a +2 "storage"(Q. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &   +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&D& +4 "core" & $ ( a +2 "storage"(q& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +101 "core" ' + "storage"(b& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +280 "core" ' +2 "storage"(t- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +3 "core" & W  +2 "manipulator"&9& +3 "core" &  a +2 .tElbow.seek 3 +2 "manipulator"&n( +4 "core" ( + "manipulator"&h& +4 "core" & D a +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&R'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +109 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"("'X +8 "core" & ` a +2 "manipulator"&i% +4 "core" % ϲ  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +98 "core" ' +3 .tElbow.seek CC + "manipulator"&( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +23 "core" ( + "manipulator"&|& +4 "core" &( C ?P +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &(  ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'" +98 "core" ' +3 "manipulator"&y& +3 "core" &( ( >O +2 "manipulator"&% +4 "core" %(  +2 "collection"';& +4 "core" & +2 "collection"'& +6 "core" &G +2 .tCC.seek :closed +2 "collection"'O(V +3 "core" &@ +8 &AH $d +9 &]B 6 +10 &(F G +9 &e> G +10 &gE G +9 &ne@ F +9 &0h< F +10 &f8 G +9 &e3 F +9 &vh5 F +10 & 7g9 G +9 &!e3 F +10 &#c9 F +9 &%~cL F +9 &'@hF F +10 &)fC F +9 &*hE F +9 &,fA G +10 &.HfD F +9 &0\ h; F +10 &1g> G +9 &3g5 F +9 &5Ph3 F +10 &7g6 G +9 &8f@ F +9 &:f4 G +10 &f8 F +10 &?c@ F +9 &AjD F +9 &C_h@ G +10 &E!oD G +9 &FuJ H +9 &H K I +10 &JUdGK M +9 &L{H P +10 &M*8A P +9 &O %H Q +9 &QS D P +10 &SJ R +9 &TH R +9 &V9^E )~ +10 &V"C E +8 ( +3 "collection"'& +3 "core" &VTH A +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open +2 "manipulator"&-1 +62 "core" 1 +2 "manipulator"&#% +4 "core" % (  # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" & + "manipulator"& % +4 "core" %\ # ( ? +2 "storage"(^% +4 "core" %b  +2 "storage"(X. +2 "core" .( +3 "storage"(\\& +3 "core" & !  +2 "storage"(2& +4 "core" &   +2 "manipulator"&[& +4 "core" &' I >O +2 "manipulator"&5% +3 "core" %\ # ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&m( +157 "core" ( + "manipulator"&'& +4 "core" &  < j +2 "storage"(?& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(=& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(Z- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&@& +3 "core" &  j +2 .tElbow.seek 3 +2 "manipulator"&6( +4 "core" ( + "manipulator"&F& +4 "core" & V j +2 "storage"(I& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(K'X +7 "core" & [ j + "manipulator"&% +5 "core" % Ϧ o ) +2 .tForearm.seek :retract +2 "manipulator"&s'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&& +5 "core" &u R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&W' +101 "core" ' +2 "manipulator"&& +4 "core" &u % 9 +2 "manipulator"&3% +4 "core" % e +2 "processing"%_& +4 "core" & +3 "processing"%M& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +11 "core" & + & 7 +8 &IM / +10 &{ C +9 &@e G +9 &g G +10 &i G +9 &g F +9 &Ie G +10 & j G +9 &c G +10 &g G +9 &!Qi G +9 &#e G +10 &$e G +9 &&c G +9 &(Yf G +10 &*g G +9 &+e G +10 &-f G +9 &/bf F +9 &1"f G +10 &2e F +9 &4fq G +9 &6je F +10 &8+en G +9 &9k G +10 &;c G +9 &=qcp G +9 &?4e F +10 &@e G +9 &Bh G +9 &Dxk; G +10 &F8o H +9 &G J +10 &I@ L +9 &Kr@ L +9 &M2 M +10 &N M +9 &P M +9 &Rx M +10 &T: M +9 &U M +10 &W M +9 &Y~ : +9 &Zo5 W +10 &Z ! +2 ( +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&N1 +57 "core" 1 +2 "manipulator"&V% +3 "core" %  5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +2 "processing"%A& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&*% +3 "core" %\   +2 "storage"(C% +4 "core" %R  +2 "storage"(a. +2 "core" .( +3 "storage"(w& +3 "core" &   +3 "storage"(+& +2 "manipulator"&/& +8 "core" & .  +2 &u  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&x(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"($'i +3 "core" ( + "manipulator"&Y& +5 "core" &u Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &u # +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%B( +80 "core" ' + "storage"(~- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +36 "core" ' +304 ( +2 "storage"( & +4 "core" & 3  +2 "manipulator"&c& +3 "core" &u  +2 "manipulator"&T% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&r( +267 "core" ( +2 "manipulator"&H& +3 "core" &  K  +2 "storage"(d& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(<- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(4' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +4 "core" -' + "storage"(P& +4 "core" & M M 7  +2 "manipulator"&(& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&:( +2 "core" ( +2 "manipulator"&u& +4 "core" &    +2 "storage"(g& +3 "core" & X y  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +42 "storage"(&' +66 "core" ' +2 "manipulator"&& +3 "core" &   +3 "storage"(S& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&f% +4 "core" %w  +2 "storage"(1& +3 "core" & )  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"& 'ϣ +20 "core" ' +2 "manipulator"& & +3 "core" & p  +2 "storage"(Q& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&7'9 +32 "core" ' + "storage"(% +5 "core" %r +2 ."downElevator"SE.seek :down +3 "storage"(.'X +99 (L% +3 "core" %] {  QK +2 "manipulator"&% +5 "core" %#  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +86 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (D& +3 "core" & >  +2 "collection"'q& +4 "core" &VS 9 A +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&b% +3 "core" %\    +2 "storage"(!% +4 "core" %P +2 "storage"({. +2 "core" .( +3 "storage"(t& +4 "core" &   + "storage"(e& +4 "core" &  +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&& +4 "core" & X  +2 "storage"(j& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +102 "core" ' +2 "storage"(i& +3 "core" & N  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' +3 "storage"(]- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &   +2 "storage"(0& +4 "core" & ;  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&z'} +27 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(y- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('P +27 "core" ' +2 "manipulator"&n% +4 "core" %z  +2 "storage"(;& +3 "core" & 5  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&"'Ϧ +20 "core" ' +2 "manipulator"&)& +3 "core" & P  +2 "storage"(G& +4 "core" & Q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(#'? +39 "core" ' +2 "manipulator"&& +3 "core" & L  +2 "manipulator"& % +5 "core" %{ N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +159 "core" ( +2 "manipulator"&& +3 "core" &&  K =G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &&   =G +2 .tForearm.seek CC +2 "manipulator"&2'" +94 "core" ' +3 .tHand.close + "manipulator"&[/ +64 "core" / +2 .tCC.seek :open +2 "collection"'5( +413 "core" ( +2 "storage"(v& +3 "core" & M  +2 "storage"('& +4 "core" &  +2 "manipulator"&?& +3 "core" &&  Q =G +2 "manipulator"&=% +4 "core" % +   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&}( +154 "core" ( +2 "manipulator"&Z& +3 "core" &  l +2 "storage"(& +4 "core" & s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&@'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&I1 +63 "core" 1 +2 "manipulator"&J% +4 "core" % Έ $ ~ +2 "storage"(& +4 "core" & k  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +3 "manipulator"&'ϴ +20 "core" ' +2 "manipulator"&m& +3 "core" & } +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +32 "core" ' +2 "storage"(%% +3 "core" %D +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (`% +3 "core" %+Z PH +2 "manipulator"&6% +4 "core" %4 X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'3& +4 "core" &: +2 "manipulator"&_% +3 "core" %\    +2 "storage"(K% +4 "core" %W ! +2 "storage"(s. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(p( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (N& +2 "core" &  +2 "manipulator"&V& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&A( +30 "core" ( +2 "manipulator"&*& +4 "core" &  [ # +2 "storage"(C& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +98 "core" ' +2 "storage"(w& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'i +276 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & +2 "manipulator"&Y& +4 "core" &  d +2 .tElbow.seek 2 +2 "manipulator"&o( +30 "core" ( +3 "manipulator"&W& +3 "core" & F f +2 "storage"(& +4 "core" & A +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +3 "storage"('X +7 "core" & U f +2 "manipulator"&$% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +189 "core" ' +2 ( +2 ."downElevator"SE.stop +3 "manipulator"&T& +2 "storage"(5 +5 "core" &&  h =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&   =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'" +92 "core" ' + "manipulator"&d& +4 "core" && ( r =F +2 "manipulator"&x% +4 "core" %+    +2 "collection"'& +4 "core" &E +3 "collection"'<& +5 "core" &F +2 .tCC.seek :closed +2 "collection"'l(V +5 "core" &B  +8 &9N *x +9 &$nF > +10 &p> G +9 &fB F +9 &Jb@ F +10 & f3 G +9 &fB G +10 &e> F +9 &Sc@ F +9 &iH F +10 & fI G +9 &"g: F +9 &$ZcO F +10 &&bG F +9 &'hD F +10 &)e? F +9 &+bc? F +9 &-$hJ F +10 &.eE F +9 &0d@ F +9 &2ifK G +10 &4,eH F +9 &5hC F +10 &7eH F +9 &9sbD F +9 &;3gE G +10 &<fH G +9 &>g: G +9 &@zeB F +10 &B<hG F +9 &CjJ F +10 &En? G +9 &G{yD I +9 &I:(F J +10 &JhK O +9 &LKzK P +9 &Nn%.H P +10 &P.#G Q +9 &QI Q +10 &SI R +9 &UpI ? +9 &V{;H , +10 &VZG @ +5 ( +2 "collection"'<& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&P1 +3 "core" &VLG @ +53 1 +3 "manipulator"&(% +3 "core" % + %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%g& +3 "core" & +2 "manipulator"& % +4 "core" %\   4  +2 "storage"(% +3 "core" %a  +2 "storage"(S. +3 "core" .( +2 "storage"(k& +4 "core" &  +2 "storage"(>& +4 "core" & 8 +2 "manipulator"&f& +3 "core" &&  =F +2 "manipulator"&1% +3 "core" %\     +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +158 "core" ( + "manipulator"&Q& +4 "core" &  B  +2 "storage"(r& +3 "core" & | +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +92 "core" ' +2 "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'i +281 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&,& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&:( +4 "core" ( +2 "manipulator"&&& +3 "core" & H  +2 "storage"(& +5 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(b'X +8 "core" &   +2 "manipulator"&!% +3 "core" %  ' +3 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +3 "manipulator"&t& +4 "core" &l D \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &l  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9' +101 "core" ' +2 "manipulator"&& +3 "core" &l  J \ +2 "manipulator"&j% +4 "core" % +2 "processing"%7& +4 "core" & +3 "processing"%i& +5 "core" & +2 .tPC.seek :closed +2 "processing"%.(Z +52 "core" & +4 &< #c +4 &\\ 6 + & G + &c G + &e G &`e F +5 & d G +9 &c F +9 &e G +10 &he F +9 & (g G +10 &!e F +9 &#f G +9 &%of G +10 &'1c G +9 &(e G +9 &*e G +10 &,vh G +9 &.:e F +10 &/e G +9 &1e F +9 &3~e G +10 &5Ae G +9 &7b G +9 &8e G +10 &:g G +9 & e G +10 &?e G +9 &Ae G +10 &CPg G +9 &Ek H +9 &Fr H +10 &H K +9 &JI L +9 &L  L +15 &M M +4 &O M +11 &QP M +8 &S M +9 &T M +10 &V M +9 &XV M +10 &Yxw !i +9 &Z+s , +9 ( + &Z +3 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&U% +3 "core" % $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' +2 "processing"%|& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&0% +3 "core" %\ ~ / +2 "storage"(y% +4 "core" %[  +2 "storage"(n. +2 "core" .( +3 "storage"(;& +4 "core" &  +2 "storage"()& +2 "manipulator"&G& +8 "core" & _ + &l  \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +2 "manipulator"&\ & +4 "core" &l p \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &l \ +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&z/ +61 "core" / +2 .tPC.seek :open +2 "processing"%"( +87 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +297 ( +2 "storage"(\\& +3 "core" & + +2 "manipulator"&-& +4 "core" &l  \ +2 "manipulator"&R% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&['\ +97 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&^( +244 "core" ( +2 "manipulator"&O& +4 "core" & % 1 n +2 "storage"(v& +3 "core" & E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +96 "core" ' +2 .tHand.open + "manipulator"&?1 +57 "core" 1 +2 "storage"(=- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Z'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(2- +2 "core" -' +2 "storage"(X& +4 "core" & M M G +2 "manipulator"&I& +4 "core" &  n +2 .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +3 "core" &   n +2 "storage"(m& +4 "core" & L N \\ +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +53 "core" ' + "manipulator"&& +4 "core" &  n +2 "storage"(`& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&6' +24 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tSE.reconfigure :default +10 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(@'i +23 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(3& +4 "core" & , +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&_' +19 "core" ' +2 "manipulator"&K& +4 "core" & + n +2 "storage"(s& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&#'ќ +25 "core" ' + "storage"(% +4 "core" %o v  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %_  QK +2 "manipulator"&N% +4 "core" %ѯ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (*& +3 "core" & 6 +2 "collection"'C& +3 "core" &VL  @ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +4 "core" %\    +2 "storage"(F% +4 "core" %Q +2 "storage"(. +2 "core" .( +3 "storage"(+& +3 "core" & J +2 "storage"(M& +4 "core" & \\ +2 "manipulator"&Y& +4 "core" &  n +2 .tElbow.seek 2 +2 "manipulator"&W( +2 "core" ( +2 "manipulator"&& +4 "core" & s n +4 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +91 "core" ' +2 "storage"($& +3 "core" & { +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'i +279 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&/& +4 "core" &  n +2 "storage"(T& +3 "core" & P +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&~' +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(d'O +29 "core" ' +2 "manipulator"&x% +4 "core" % w +2 "storage"(& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&' +20 "core" ' +2 "manipulator"& & +3 "core" &  D n +2 "storage"(5& +4 "core" & h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&P'ќ +21 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(('> +37 "core" ' + "manipulator"&g& +4 "core" &  n +2 "manipulator"& % +4 "core" %Ѡ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +168 "core" ( +3 "manipulator"&k& +4 "core" &  % 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &  6 +2 .tForearm.seek CC +2 "manipulator"&<'" +93 "core" ' +2 .tHand.close + "manipulator"&f/ +61 "core" / +2 .tCC.seek :open +2 "collection"'1( +413 "core" ( + "storage"(H& +4 "core" & ' +2 "storage"(Q& +3 "core" & + +2 "manipulator"&r& +4 "core" &  q 6 +2 "manipulator"&% +3 "core" % 2  +3 .tForearm.seek :retract +41 "manipulator"&c'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +161 "core" ( + "manipulator"&L& +4 "core" & S  +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&,' +97 "core" ' +2 .tElbow.hold + "manipulator"&&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "manipulator"&D% +4 "core" % < +2 "storage"(q& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&!' +19 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(E& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +34 "core" ' +2 "storage"( % +3 "core" %G +3 ."downElevator"SE.seek :down +4 "storage"(t'X +98 (e% +3 "core" %W PH +2 "manipulator"&:% +4 "core" %і q ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'j& +3 "core" &; +2 "manipulator"&7% +4 "core" %\    +2 "storage"(b% +4 "core" %\\ +2 "storage"({. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(B( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & %  +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&|( +15 "core" ( +2 "manipulator"&0& +4 "core" &  a L +2 "storage"(y& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +92 "core" ' +2 "storage"(i& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'i +279 "core" ' +2 "storage"(G- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ()& +2 "core" & ]  +3 "manipulator"&\ & +3 "core" & > L +2 .tElbow.seek 3 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&9& +3 "core" & 8 L +2 "storage"(z& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +3 "storage"(.'X +7 "core" & ^ L +2 "manipulator"& % +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( + "manipulator"&R& +4 "core" &( ' M ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &(   ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'" +107 "core" ' + "manipulator"&v& +4 "core" &) # R ?P +2 "manipulator"&% +4 "core" %   +48 "collection"'?& +5 "core" & +3 "collection"'=& +5 "core" & +2 .tCC.seek :closed +2 "collection"'2(V +4 "core" &A +7 &B; $d +10 &]8 6 +9 &'6 G +10 &bA F +9 &gH G +9 &nfE F +10 &0cA F +9 &cM F +9 &fI G +10 &veM F +9 & 8cH F +10 &!hF F +9 &#iJ F +9 &%~iK F +10 &'@gD F +9 &)bF F +9 &*fD G +10 &,f? F +9 &.HhH F +10 &0 eE G +9 &1gK F +9 &3cH F +10 &5QhH F +9 &7gE F +9 &8b@ F +10 &:gJ F +9 &cG F +9 &?hI F +9 &AgG G +10 &C_gG G +9 &E!nF G +10 &FtG H +9 &H I I +9 &JUcGP M +10 &L J P +9 &M.;K P +9 &O!%F Q +10 &QRI Q +9 &SI Q +9 &TJ R +10 &VDiG / +9 &VF 6 +10 &VvD G +5 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&X1 +4 "core" &VjC G +52 1 +3 "manipulator"&I% +3 "core" % ' ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%m& +4 "core" & +2 "manipulator"&[% +4 "core" %\ \ {  +2 "storage"(% +3 "core" %b  +2 "storage"(`. +4 "core" .( + "storage"(& +4 "core" &   +2 "storage"(Z& +4 "core" & %  +2 "manipulator"&& +3 "core" &( ^ ?P +2 "manipulator"&3% +4 "core" %\ \ j  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +164 "core" ( + "manipulator"&s& +4 "core" & Y f +2 "storage"(^& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"('& +3 "core" & W  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" & C  +2 "manipulator"&N& +3 "core" &  f +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&%& +4 "core" & f +2 "storage"(6& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(w'X +7 "core" & y f +2 "manipulator"&F% +4 "core" % ϟ V +2 .tForearm.seek :retract +2 "manipulator"&@'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +117 "core" ( +3 "manipulator"&+& +4 "core" &p $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &p   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +94 "core" ' +2 "manipulator"&& +5 "core" &q f  + "manipulator"&% +4 "core" %  ) +2 "processing"%#& +4 "core" & +3 "processing"%$& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & +6 &C #b +9 &[ 6 +10 & H +9 &f G +9 &f G +10 &ae F +9 &!d G +10 &e G +9 &i G +9 &he G +10 & *g G +9 &!h G +9 &#e G +10 &%oj G +9 &'1f G +10 &(e G +9 &*f G +9 &,xe G +10 &.9h G +9 &/e G +9 &1e F +10 &3e G +9 &5Be G +10 &7g G +9 &8e F +9 &:d G +10 & e G +9 &?h G +10 &Ae F +9 &CPh G +10 &El H +9 &Fu I +9 &H J +10 &JI M +9 &L  L +9 &M L +10 &O L +53 &QQ M +4 &S M + &T L + &V M + &XW M &Yws "j +5 &Z$b ( +9 ( +2 &Z ! +2 "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"&V% +3 "core" % $ ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +90 "core" ' +2 "processing"%/& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&T% +5 "core" %\   + "storage"(o% +4 "core" %` ! +2 "storage"(x. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"( & +3 "manipulator"&5& +8 "core" &   + &q S  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&g(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +3 "manipulator"&8& +3 "core" &q   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &W& +3 "core" &q #  +2 .tForearm.seek PC +2 "manipulator"&A' +96 "core" ' +2 .tHand.close + "manipulator"&~/ +65 "core" / +3 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(d- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'y +33 "core" ' +305 ( + "storage"(>& +4 "core" & X  +2 "manipulator"&P& +4 "core" &q   +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&f'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +259 "core" ( + "manipulator"&l& +4 "core" & $ q  +2 "storage"(H& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +100 "core" ' +2 .tHand.open +2 "manipulator"&r1 +62 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(<'E +34 "core" ' +2 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(L' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(S& +4 "core" &\ I\ G   +2 "manipulator"&& +3 "core" &   +3 .tElbow.seek 3 + "manipulator"&D( +4 "core" ( + "manipulator"&q& +4 "core" & % p  +2 "storage"( & +4 "core" &\ J\ Q `  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +59 "core" ' +2 "manipulator"&c& +3 "core" &   +2 "storage"(e& +4 "core" & U  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&:'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'i +22 "core" ' + "manipulator"&!% +4 "core" %Ί  +2 "storage"(j& +4 "core" & D  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&7'϶ +20 "core" ' + "manipulator"&b& +4 "core" & &  +2 "storage"({& +46 "core" &  +9 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +32 "core" ' +2 "storage"(4% +3 "core" %k n  +3 ."downElevator"SE.seek :down +4 "storage"(t'X +98 (p% +4 "core" %\\ t n QL +2 "manipulator"&% +4 "core" %8 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (0& +3 "core" & 5  +2 "collection"'y& +3 "core" &Vj  G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&i% +4 "core" %\ "  B +2 "storage"(&% +3 "core" %`   +2 "storage"(. +3 "core" .( +2 "storage"(G& +3 "core" & c  +2 "storage"()& +5 "core" & #  + "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&z& +4 "core" &  e  +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +98 "core" ' + "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'i +282 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" &   +2 "storage"(;& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'O +27 "core" ' +2 "manipulator"&% +4 "core" %~  +2 "storage"(?& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&.'Ϫ +20 "core" ' +2 "manipulator"&\\& +4 "core" &  +2 "storage"(1& +3 "core" & t  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(I'> +38 "core" ' +2 "manipulator"&m& +3 "core" & b  +2 "manipulator"&[% +4 "core" %C F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +164 "core" ( +4 "manipulator"&=& +4 "core" &+  I Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &+ ( v Ac +3 .tForearm.seek CC + "manipulator"&Z'" +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'3( +416 "core" ( +2 "storage"(O& +4 "core" & ^  + "storage"(s& +4 "core" &  +2 "manipulator"&^& +4 "core" &+   Ac + "manipulator"&'% +4 "core" % !  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" &   r +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +6 "manipulator"&N'} +155 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&61 +64 "core" 1 +3 "manipulator"&*% +3 "core" % ΄ z +2 "storage"(C& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&F'ϰ +20 "core" ' +2 "manipulator"&K& +3 "core" & [ r +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +36 "core" ' +2 "storage"(_% +5 "core" %G +2 ."downElevator"SE.seek :down +4 "storage"(+'X +98 (M% +3 "core" %W PH +2 "manipulator"&J% +4 "core" %0 9 q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +12010 "Can" 5$ +18398 #t-> exit +7 #mEXIT @1736196586.94EST @1736258469.31EST = =tMAIN =mMAIN_scheduler @EST1736258470.04 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +106 #"core_reset"Sent BREAK +2 #t@3623 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +378 "Can"  +   + #tPolling Can every 10:00 +25 #Cleanly exited at 15:49:46EST06-Jan-25 +675 #-> ESP.ready! +3 #Powering core bus +575 .Gate.power :raw,:ON +6 "sampler") +10 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +855 #-> 20.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +3 "core" & +2 .tHand.open +2 "manipulator"&21 +63 "core" 1 +2 "manipulator"&3% +4 "core" % \   t  +2 "storage"(4% +3 "core" %` Y +2 "storage"(5. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(6( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" & ^ +2 "manipulator"&8& +4 "core" & # o L +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&9( +26 "core" ( +2 "manipulator"&:& +3 "core" & 5 R "} +2 "storage"(;& +4 "core" & P +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +87 "core" ' +2 "storage"(=& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +281 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &  +2 "manipulator"&A& +4 "core" &\ x "| +2 .tElbow.seek 2 +2 "manipulator"&B( +29 "core" ( + "manipulator"&C& +4 "core" & $  +2 "storage"(D& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&E' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(H'X +8 "core" & t  +2 "manipulator"&I% +3 "core" %  \  7 l +3 .tForearm.seek :retract +2 "manipulator"&J'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&L& +4 "core" &%  A  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &% w ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'" +102 "core" ' + "manipulator"&O& +4 "core" &% - J ;6 +2 "manipulator"&P% +4 "core" %$  : +2 "collection"'Q& +4 "core" & +3 "collection"'R& +5 "core" & +2 .tCC.seek :closed +2 "collection"'S(V +3 "core" &  +39 &6 )v +9 &j = + &ux H + &9g G + &j H +6 &j H +9 &~g H +9 &Al G +10 &g H +9 &f G +9 & j G +10 &"Hh H +9 &$ f G +10 &%j G +9 &'k H +9 &)Pj H +10 &+h H +9 &,k G +9 &.g H +10 &0Yh G +9 &2h G +10 &3m H +9 &5m H +9 &7`i H +10 &9#f G +9 &:h H +9 &<k G +10 &>ij G +9 &@*l H +10 &Aj H +9 &Ci H +9 &Enp H +10 &G-~ I +9 &H* L +9 &J{] O +10 &L\\g Q +9 &N) Q +10 &O  R +9 &Q  R +9 &S` S +10 &U! S +9 &Vd> - +9 &V w > +6 ( +2 "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&T1 +2 "core" &VJ > +51 1 + "manipulator"&U% +4 "core" % $ 3 m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +98 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%W& +4 "core" &" +2 "manipulator"&X% +3 "core" %\ \  }  +2 "storage"(Y% +4 "core" %a +2 "storage"(Z. +2 "core" .( +2 "storage"([& +4 "core" & +2 "storage"(\\& +4 "core" & +2 "manipulator"&]& +3 "core" &$ "  ;5 +2 "manipulator"&^% +4 "core" %\ \ S  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&_( +160 "core" ( +2 "manipulator"&`& +3 "core" &  9  +2 "storage"(a& +4 "core" & S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +94 "core" ' +2 "storage"(c& +3 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +281 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +3 "core" &  +2 "manipulator"&g& +3 "core" & D  +2 .tElbow.seek 2 +2 "manipulator"&h( +4 "core" ( + "manipulator"&i& +4 "core" & #  +2 "storage"(j& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(n'X +8 "core" & X  +2 "manipulator"&o% +4 "core" % \ | +3 .tForearm.seek :retract + "manipulator"&p'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +109 "core" ( +2 "manipulator"&r& +4 "core" &h 8 p +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &h # z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +103 "core" ' + "manipulator"&u& +4 "core" &h +2 "manipulator"&v% +4 "core" %  G b +2 "processing"%w& +4 "core" &7 +3 "processing"%x& +5 "core" &. +2 .tPC.seek :closed +2 "processing"%y(Z +3 "core" &8  +9 &7; )w +10 &j- = +9 &u{8 I +9 &9k4 H +10 &j/ G +9 &m/ G +10 &k6 H +9 &Bn5 G +9 &l4 G +10 &n9 H +9 & k6 H +9 &"Ij, H +10 &$ h1 G +9 &%m6 G +9 &'m7 G +10 &)Qn5 H +9 &+m/ H +10 &,j+ H +9 &.h3 H +9 &0Yn/ H +10 &2m5 H +9 &3k3 G +9 &5n6 H +10 &7ak5 H +9 &9$h7 G +9 &:h5 G +10 &<m3 H +9 &>ik/ H +10 &@+k6 H +9 &An$ H +9 &Cn, H +10 &Eps/ H +9 &G.}5 J +10 &H/ K +9 &J, M +9 &Lk) M +10 &N.- L +9 &O4 L +9 &Q- L +10 &Sq6 M +9 &U3, M +10 &V* M +9 &X& N +9 &ZZ1 c +10 &Z[, $ +8 ( +3 "processing"%x& +3 "core" &Z, +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.37 + .Hand.open + "manipulator"&z1 +55 "core" 1 + "manipulator"&{% +4 "core" % 4 @ b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' + "processing"%}& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\   Z  +36 "storage"(% +12 "core" %T +2 "storage"(. +2 "core" .( +3 "storage"(& +4 "core" & +3 "storage"(& +2 "manipulator"&& +7 "core" & + &i  ` +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&(s +8 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +3 "manipulator"& & +4 "core" &i  V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 .tHand.close + "manipulator"&\ / +55 "core" / +3 .tPC.seek :open +2 "processing"% ( +89 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +299 ( +2 "storage"(& +4 "core" & h +2 "manipulator"&& +4 "core" &n  a +2 "manipulator"&% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +4 "core" & &  > +2 "storage"(& +4 "core" & K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +49 "core" ' +4 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +4 "core" & v z m +2 "manipulator"&$& +3 "core" & 7 > +3 .tElbow.seek 2 + "manipulator"&%( +4 "core" ( +2 "manipulator"&&& +4 "core" & 2 > +2 "storage"('& +4 "core" & s s > +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +50 "core" ' +2 "manipulator"&*& +4 "core" &  $ > +2 "storage"(+& +4 "core" & W +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&,' +23 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +23 "core" ' + "manipulator"&/% +4 "core" % n +2 "storage"(0& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 309 counts + "manipulator"&1' +22 "core" ' +2 "manipulator"&2& +3 "core" &  ] > +2 "storage"(3& +4 "core" & W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +35 "core" ' + "storage"(5% +4 "core" %s K +4 ."downElevator"SE.seek :down +4 "storage"('X +99 (7% +2 "core" %^ [ QM +3 "manipulator"&8% +3 "core" %ѱ * j +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 (;& +3 "core" & +2 "collection"'=& +3 "core" &VJ > +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\    +2 "storage"(% +4 "core" %N b +2 "storage"(?. +2 "core" .( +2 "storage"(@& +4 "core" & W +2 "storage"(A& +4 "core" & +2 "manipulator"&& +38 "core" &  K > +9 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" & % > +2 "storage"(F& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +95 "core" ' +2 "storage"(I& +4 "core" & T +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'i +278 "core" ' +2 "storage"(<- +4 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  I > +2 "storage"(M& +4 "core" & L +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(P'N +26 "core" ' +2 "manipulator"&Q% +4 "core" % ` . +2 "storage"(B& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts +2 "manipulator"&H' +16 "core" ' +2 "manipulator"&J& +4 "core" & i > +2 "storage"(!& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'= +36 "core" ' +2 "manipulator"&W& +4 "core" &  j > +2 "manipulator"&X% +4 "core" %ќ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +147 "core" ( +3 "manipulator"&[& +4 "core" &! )  8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &! Z 8" +3 .tForearm.seek CC +2 "manipulator"&R'" +90 "core" ' + .tHand.close +2 "manipulator"&]/ +64 "core" / +2 .tCC.seek :open +2 "collection"'^( +412 "core" ( +2 "storage"(N& +3 "core" & +2 "storage"(`& +4 "core" & +2 "manipulator"&a& +3 "core" &" 8 +2 "manipulator"&c% +4 "core" % 2 " c +2 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&V( +157 "core" ( +2 "manipulator"&e& +3 "core" & '   +2 "storage"(f& +4 "core" & X +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&g' +104 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +55 "core" 1 +2 "manipulator"&l% +4 "core" % 4 p +2 "storage"(m& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&o' +19 "core" ' + "manipulator"&_& +4 "core" & {  +2 "storage"(b& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +32 "core" ' +2 "storage"(k% +3 "core" %G O +3 ."downElevator"SE.seek :down +4 "storage"(r'X +98 (s% +3 "core" %uW U PI +2 "manipulator"&h% +3 "core" %ѥ p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'v& +4 "core" & +2 "manipulator"&w% +4 "core" %\  \   +36 "storage"(n% +11 "core" %b G  +2 "storage"(p. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" & +2 "manipulator"&{& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&}( +17 "core" ( +2 "manipulator"&~& +4 "core" & ` U +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +97 "core" ' + "storage"(& +4 "core" & c +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"& & +4 "core" &  } U +3 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&t& +4 "core" & % J U +2 "storage"(\ & +4 "core" & +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +15 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(y'X +7 "core" &  k U +2 "manipulator"&% +4 "core" % ϡ  ` , +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &$  D  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &$ # [ ;5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +104 "core" ' +2 "manipulator"&& +4 "core" &$ ) ^ ;5 +2 "manipulator"&% +4 "core" %'  5 8 +2 "collection"'& +4 "core" & +2 "collection"' & +6 "core" & +3 .tCC.seek :closed + "collection"'"(V +5 "core" & +7 &E $d +10 &^ 7 +9 &( G +9 &f G +10 &k H +9 &mh G +10 &/m G +9 &j H +9 &h G +10 &vj G +9 & 7j G +9 &!g G +10 &#g G +9 &%}l G +10 &'?h G +9 &)f G +9 &*j G +10 &,h H +9 &.Hh G +9 &0 i G +10 &1f G +9 &3j H +10 &5Ph G +9 &7j G +9 &8f G +10 &:j G +10 &j G +10 &?j H +9 &Aj G +10 &C^k H +9 &E r H +9 &F{ I +10 &H  J +9 &JS\\= N +9 &Lt Q +10 &M0 Q +9 &O Q +10 &QR\   Q +9 &S\  R +9 &T  R +10 &VCj\   0 +9 &V 3 +9 &V~ M +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator" +54 "core" 1 + "manipulator"&$% +4 "core" % ( &  7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&&'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &. +2 "manipulator"& % +3 "core" %\  !   +2 "storage"(*% +4 "core" %]  +2 "storage"(+. +2 "core" .( +2 "storage"(/& +4 "core" &  +2 "storage"(0& +4 "core" &  +2 "manipulator"&& +4 "core" &$ + { ;4 + "manipulator"&2% +4 "core" %\  " z  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +168 "core" ( + "manipulator"&& +4 "core" & ( b +2 "storage"(5& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' +2 "storage"(& +4 "core" & [ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +40 (8& +10 "core" & 8 +3 "manipulator"&(& +4 "core" &  / +2 .tElbow.seek 3 +2 "manipulator"&%( +4 "core" ( + "manipulator"&)& +4 "core" &  +2 "storage"(,& +4 "core" & +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&;/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"('X +7 "core" &  +2 "manipulator"&% +4 "core" % ϥ  *  +2 .tForearm.seek :retract +2 "manipulator"&?'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +116 "core" ( +2 "manipulator"&.& +4 "core" &k + U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &k ' l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&D& +4 "core" &l 4 I +2 "manipulator"&F% +4 "core" %  U +2 "processing"%4& +4 "core" &- +3 "processing"%I& +5 "core" &. +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &5 +6 &E7 #c +10 &[8 6 +9 &8 H +9 &i6 G +10 &l9 G +9 &Yl; H +10 &j8 H +9 &j6 H +9 &n6 G +10 &bn: G +9 & #h= H +9 &!j7 H +10 &#g4 G +9 &%ji7 G +10 &'+i7 H +9 &(j6 H +9 &*h7 G +10 &,qh6 H +9 &.3k5 H +9 &/i5 H +10 &1f7 G +9 &3zk6 G +10 &5<i6 G +9 &6g7 G +9 &8g1 G +10 &:e7 G +9 &g4 G +10 &?k4 G +9 &Ag1 G +10 &CKj6 H +9 &E p7 H +9 &Fx/ I +10 &H7 K +9 &JF7 L +9 &L6 L +10 &M8 L +9 &O/ M +9 &QM- M +10 &S5 M +9 &T. M +10 &V5 N +9 &XS6 M +9 &Yvy7 "k +10 &Z(o6 - +9 ( +2 "processing"%I& +3 "core" &Z1 " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&-1 +61 "core" 1 +2 "manipulator"&:% +4 "core" % 6 ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +96 "core" ' +2 "processing"%L& +4 "core" &Z( " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\ !  1 +2 "storage"(O% +4 "core" %\\ O +2 "storage"(Q. +2 "core" .( +2 "storage"(B& +4 "core" & q +2 "storage"(J& +2 "manipulator"&!& +9 "core" &  + &l " W +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&W(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(X'i +3 "core" ( + "manipulator"&G& +4 "core" &l  O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&9' +94 "core" ' +2 .tHand.close + "manipulator"&>/ +154 "core" ' + "storage"(H- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 "core" / +4 .tPC.seek :open + ."raiseStack"SE.seek :place +4 "processing"%P( + "storage"(['y +52 "core" ' +383 ( + "storage"(\\& +4 "core" & _ +2 "manipulator"&T& +4 "core" &l  , +2 "manipulator"&E% +3 "core" %  ~  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +258 "core" ( +2 "manipulator"&S& +3 "core" & 2  +2 "storage"(N& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +96 "core" ' + .tHand.open +2 "manipulator"&a1 +62 "core" 1 +2 "storage"(c- +39 "core" -'y +10 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(e'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(f' +46 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(Z& +4 "core" & _ \\ R +2 "manipulator"&j& +3 "core" &   +3 .tElbow.seek 3 +2 "manipulator"&l( +7 "core" ( + "manipulator"&m& +4 "core" & 2 `  +2 "storage"(_& +4 "core" & \\ k ] +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(k' +55 "core" ' + "manipulator"&K& +4 "core" &   +2 "storage"(s& +4 "core" & 9 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&h'} +26 "core" ' +2 .tElbow.hold + "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'i +18 "core" ' +3 "manipulator"&o% +3 "core" %΄  - +2 "storage"(v& +4 "core" & W +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&w'ϰ +21 "core" ' + "manipulator"&n& +4 "core" &   +2 "storage"(U& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&p'9 +26 "core" ' + "storage"(d% +4 "core" %m +3 ."downElevator"SE.seek :down +3 "storage"(r'X +99 (6% +2 "core" %_ . RM +4 "manipulator"&z% +3 "core" %/ W +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +86 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & c +2 "collection"'& +4 "core" &V| M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   2  +2 "storage"(i% +4 "core" %P +2 "storage"(u. +2 "core" .( +2 "storage"(& +5 "core" & +2 "storage"(& +3 "core" & +2 "manipulator"& & +4 "core" & " !  +2 .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( + "manipulator"&\ & +4 "core" & '  +2 "storage"(q& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&|'9 +94 "core" ' +2 "storage"(& +3 "core" & ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +279 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" &  =  +2 "storage"(& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +26 "core" ' +2 "manipulator"&% +3 "core" %΁ " Z +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&y'ϭ +21 "core" ' +2 "manipulator"&& +4 "core" & Q  +2 "storage"(^& +3 "core" & Z +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'= +36 "core" ' +2 "manipulator"&'& +4 "core" & o  +2 "manipulator"& % +4 "core" %/ . > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +38 "manipulator"&*'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +157 "core" ( +2 "manipulator"&/& +4 "core" &' < d >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +3 "core" &' ' + >N +2 .tForearm.seek CC +2 "manipulator"& '" +100 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'2( +415 "core" ( +2 "storage"(& +3 "core" & X +2 "storage"(& +4 "core" & 3 +2 "manipulator"&5& +4 "core" &( >N +2 "manipulator"&% +3 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&&( +161 "core" ( +2 "manipulator"&7& +4 "core" & & ` +2 "storage"(8& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&('} +97 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +61 "core" 1 +2 "manipulator"&;% +4 "core" %  3 V +2 "storage"(=& +5 "core" & ) +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts +2 "manipulator"&'ϫ +20 "core" ' + "manipulator"&3& +4 "core" & ` +2 "storage"(& +4 "core" & J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' + "storage"(1% +4 "core" %E % +3 ."downElevator"SE.seek :down +3 "storage"(.'X +99 (A% +3 "core" %Q PH +2 "manipulator"&%% +4 "core" %@ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +3 "core" & +2 "manipulator"&4% +4 "core" %\ "  Q A +2 "storage"(% +4 "core" %] +2 "storage"(?. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +335 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (-& +2 "core" & ] +3 "manipulator"&:& +3 "core" &  j ` +2 .tElbow.seek 2 +2 "manipulator"&L( +37 "core" ( +2 "manipulator"&M& +3 "core" & & % +2 "storage"(O& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +96 "core" ' + "storage"(B& +4 "core" & - +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +280 "core" ' +2 "storage"(!- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & n +2 "manipulator"&G& +4 "core" &   !s +2 .tElbow.seek 2 +2 "manipulator"&C( +31 "core" ( +3 "manipulator"&& +3 "core" & !  R +2 "storage"(H& +3 "core" & _ +3 .tForearm.seek 2 + 300 counts + "manipulator"&>' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"('X +6 "core" &   R +2 "manipulator"&X% +4 "core" %   7 +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +38 "manipulator"&E& +12 "core" &% ? << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &9& +2 "core" &%  ^ << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'" +98 "core" ' + "manipulator"&N& +4 "core" &% ( u << +2 "manipulator"&W% +4 "core" %.  I  +2 "collection"'a& +4 "core" & +3 "collection"'c& +5 "core" & +2 .tCC.seek :closed +2 "collection"'R(V +5 "core" & +6 &9 #c +9 &\\ 6 +10 & G +9 &g F +9 &o G +10 &\\j F +9 &k F +10 &k F +9 &j F +9 &dk F +10 & &j F +9 &!k G +10 &#n G +9 &%ki G +9 &'-g G +10 &(g G +9 &*m G +9 &,sm G +10 &.5l G +9 &/m G +9 &1h G +10 &3{h G +9 &5>i F +10 &6n G +9 &8f G +9 &:m G +10 &j G +9 &?n G +10 &Am G +9 &CMm G +10 &Eo G +9 &F| I +9 &H  I +10 &J@P3 N +9 &K P +9 &M%5 Q +10 &O} Q +9 &Q? Q +10 &R  R +9 &T   R +9 &V._ + +10 &V" > +5 ( +2 "collection"'c& +4 "core" &VB = +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&Z1 +64 "core" 1 +3 "manipulator"&]% +3 "core" % .   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%m& +3 "core" &4 +2 "manipulator"&_% +5 "core" %\ #  6 9 + "storage"(K% +4 "core" %P T +2 "storage"(s. +2 "core" .( +2 "storage"(o& +4 "core" & : +2 "storage"(v& +4 "core" & $ +2 "manipulator"&[& +3 "core" &% Z << +2 "manipulator"&n% +4 "core" %\ # ! } 9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&U( +156 "core" ( +2 "manipulator"&e& +3 "core" & (  +2 "storage"(d& +4 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +100 "core" ' +2 "storage"(`& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'i +281 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & = +2 "manipulator"&b& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&l( +4 "core" ( + "manipulator"&k& +4 "core" &  Y  +2 "storage"(h& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &    +2 "manipulator"&i% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(s +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &k E i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &k  _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&\ & +4 "core" &k 2 +2 "manipulator"&q% +3 "core" %  \\ +3 "processing"%p& +4 "core" &9 +2 "processing"%& +5 "core" &6 +2 .tPC.seek :closed +2 "processing"%r(Z +4 "core" &8  +9 &66 )v +9 &j1 = +9 &{0 H +10 &kj/ G +9 &.f6 G +10 &k2 H +9 &k1 H +9 &ti2 G +10 &4i0 H +9 &j1 G +9 & k9 G +10 &"{j6 G +9 &$>g: G +10 &%j; G +9 &'h6 G +9 &)k9 H +10 &+Fi2 G +9 &-h1 G +9 &.e6 G +10 &0k: G +9 &2Nh6 G +10 &4j1 G +9 &5j9 G +9 &7f8 G +10 &9Ui7 G +9 &;e6 G +9 &<j6 G +10 &>i5 G +9 &@]k6 G +10 &Bk9 H +47 &Cm7 H +13 &Eq2 H + &G_{7 J +2 &I6 K + &J6 L + &L2 L +2 &N_0 L +8 &P!0 L +9 &Q6 M +9 &S4 L +10 &Uf1 M +9 &W'1 M +9 &X4 M +10 &Z8Cc/ &n +9 &Z *1 +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open +2 "manipulator"&V1 +2 "core" &Z1 +61 1 + "manipulator"&{% +4 "core" % ( U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 "processing"%& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\   t  +2 "storage"(% +4 "core" %b +2 "storage"(. +2 "core" .( +3 "storage"(& +3 "core" & +3 "storage"(& +2 "manipulator"&^& +7 "core" & + &k  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +6 "manipulator"&'(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'i +2 "core" ( +2 "manipulator"&|& +5 "core" &k  N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &k  O +3 .tForearm.seek PC + "manipulator"&}' +99 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%y( +92 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'y +35 "core" ' +295 ( + "storage"(#& +4 "core" & +2 "manipulator"&0& +4 "core" &k  4 +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&*( +252 "core" ( +2 "manipulator"&"& +4 "core" & 2 L # +2 "storage"(& +4 "core" & s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 .tHand.open + "manipulator"&51 +61 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(8' +46 "core" ' +3 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +3 "storage"(+& +3 "core" & [ [ +2 "manipulator"&,& +4 "core" & N # +2 .tElbow.seek 2 +2 "manipulator"&;( +4 "core" ( + "manipulator"&=& +4 "core" &  g # +2 "storage"(3& +4 "core" & [ [ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(1' +55 "core" ' +2 "manipulator"&& +3 "core" &  J # +2 "storage"(A& +4 "core" & L +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +22 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +19 "core" ' +2 "manipulator"&F% +4 "core" % ( p +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&4' +18 "core" ' +2 "manipulator"&& +3 "core" &  h # +2 "storage"(?& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +35 "core" ' +2 "storage"(% +3 "core" %n Q +3 ."downElevator"SE.seek :down +4 "storage"(.'X +98 ( % +4 "core" %^ r RM +2 "manipulator"&-% +49 "core" %ё  U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +98 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (M& +3 "core" & c +2 "collection"'O& +4 "core" &VB = +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&B% +4 "core" %\   +2 "storage"()% +4 "core" %a w +2 "storage"(D. +2 "core" .( +2 "storage"(!& +4 "core" & R +2 "storage"(J& +4 "core" & +2 "manipulator"&G& +4 "core" &  # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&H& +4 "core" &  X # +2 "storage"(@& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +96 "core" ' + "storage"(X& +4 "core" & ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'i +282 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" & ! # +2 "storage"(I& +4 "core" & ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&>' +28 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(C- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(N'N +27 "core" ' +2 "manipulator"&W% +3 "core" % " j 4 +2 "storage"(a& +4 "core" & . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&\\& +4 "core" & 0  # +2 "storage"(2& +4 "core" & d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(]'= +43 "core" ' + "manipulator"&m& +4 "core" &   # +2 "manipulator"&_% +4 "core" %ё  i { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&s( +154 "core" ( +2 "manipulator"&c& +4 "core" &* 8 ] @\\ +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &o& +3 "core" &*  R @\\ +2 .tForearm.seek CC +2 "manipulator"&v'" +92 "core" ' + .tHand.close +2 "manipulator"&[/ +53 "core" / +2 .tCC.seek :open +2 "collection"'n( +412 "core" ( +2 "storage"(S& +3 "core" & E +2 "storage"(e& +4 "core" & B +2 "manipulator"&d& +4 "core" &( g >O +2 "manipulator"&`% +3 "core" % 0 '  +3 .tForearm.seek :retract + "manipulator"&T'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +158 "core" ( +2 "manipulator"&6& +4 "core" & 3 t  +2 "storage"(z& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&b' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +61 "core" 1 +2 "manipulator"&~% +4 "core" % %  +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&i' +21 "core" ' + "manipulator"&U& +4 "core" & "  +2 "storage"(Y& +3 "core" & G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +55 "core" ' +9 "storage"(w% +4 "core" %> +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +4 "core" %'W = PI +2 "manipulator"&l% +4 "core" %ў H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +89 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'q& +3 "core" & +2 "manipulator"&p% +4 "core" %\     +2 "storage"(% +4 "core" %a H +2 "storage"(u. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(P( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (V& +2 "core" & o  +2 "manipulator"&{& +4 "core" &  w  +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( + "manipulator"&& +4 "core" & ) c G +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 "storage"(& +5 "core" & f  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +2 "core" &  +3 "manipulator"&|& +3 "core" &  [ G +2 .tElbow.seek 3 +2 "manipulator"&t( +4 "core" ( + "manipulator"& & +4 "core" & ! G +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(r'X +8 "core" & D G +2 "manipulator"& % +4 "core" % ϳ f S +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &' M , >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &' " D >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'" +102 "core" ' +2 "manipulator"&& +3 "core" &( 3 J >K +2 "manipulator"&'% +4 "core" %! 2 +2 "collection"'5& +4 "core" & +3 "collection"'& +5 "core" & +3 .tCC.seek :closed +2 "collection"' (V +5 "core" & +5 &D $d +10 &^ 7 +9 &+ G +10 &e F +9 &k G +9 &rf G +10 &5i F +9 &h G +9 &k G +10 &zf G +9 & <i G +9 &!k G +10 &#h G +9 &%l G +10 &'Eg F +9 &)g G +9 &*k G +10 &,f G +9 &.Mg F +9 &0h F +10 &1h G +9 &3f G +10 &5Uf F +9 &7h F +9 &8g F +10 &:g G +9 &h G +10 &?g G +9 &Af G +10 &Cdh G +9 &E%p G +9 &F} H +10 &H  J +9 &JWR8 N +9 &L P +10 &M'< P +9 &O Q +10 &QV  Q +9 &S   R +9 &T  R +10 &VEh  / +9 &V 4 +9 &Vu E +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&+1 +3 "core" &Vk E +53 1 + "manipulator"&,% +4 "core" % ! 5 b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%3& +4 "core" &4 +2 "manipulator"&% +3 "core" %\ # G ? +2 "storage"(% +4 "core" %V  +2 "storage"(A. +2 "core" .( +2 "storage"(F& +4 "core" & V  +2 "storage"(& +4 "core" & E  +2 "manipulator"&/& +4 "core" &'  Y >K +2 "manipulator"&% +4 "core" %\ # ! h ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tElbow.seek 3 +9 "manipulator"&?( +163 "core" ( +2 "manipulator"&7& +4 "core" & & c Z +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +103 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak + "storage"(8'i +283 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &  +2 "manipulator"&& +4 "core" &  * Z +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&1& +4 "core" & & W Z +2 "storage"(%& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(B'X +8 "core" &  M Z +2 "manipulator"&)% +4 "core" % Ͽ  m B +2 .tForearm.seek :retract +2 "manipulator"&D'\ +102 "core" ' +2 .tElbow.seek PC + "manipulator"&!(s +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&(& +4 "core" &x ' b  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +4 "core" &x  4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G' +92 "core" ' +2 "manipulator"&H& +4 "core" &x ' n  +2 "manipulator"&@% +4 "core" %   " +2 "processing"%X& +4 "core" &> +3 "processing"%$& +5 "core" &> +2 .tPC.seek :closed +2 "processing"%.(Z +5 "core" &F +6 &=> #a +10 &Z= 5 +9 & = H +9 &g= G +10 &j1 G +9 &Rh< H +10 &h: G +9 &h8 G +9 &l6 G +10 &\\j1 G +9 & k6 G +9 &!g= G +10 &#j7 G +9 &%dh6 G +10 &'%j8 G +9 &(k7 G +9 &*j1 G +10 &,lk6 G +9 &..j6 G +9 &/i7 G +10 &1e7 G +9 &3sh7 G +10 &54j8 H +9 &6h; G +9 &8i7 G +10 &:{h7 G +9 &<>k7 G +9 &>j: G +10 &?j< G +9 &Ah8 G +10 &CEm; G +9 &Ep6 H +9 &Fu: H +10 &H; K +9 &J@7 L +9 &L: M +10 &M; L +9 &O8 L +10 &QF; M +9 &S; M +9 &T9 M +10 &V6 M +9 &XL6 M +9 &Ywy6 "j +10 &Z+y8 / +9 ( +3 "processing"%$& +2 "core" &Z( " +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&&1 +61 "core" 1 +2 "manipulator"&:% +4 "core" % & V " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +95 "core" ' +2 "processing"%E& +4 "core" &Z' " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&I% +3 "core" %\   9 ! +2 "storage"(C% +4 "core" %\\ q +2 "storage"(W. +2 "core" .( +2 "storage"(a& +4 "core" &   +2 "storage"(\\& +3 "manipulator"&2& +5 "core" &   +2 &x  Z  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(m'i + "manipulator"&_(s +7 "core" ( + "manipulator"&<& +4 "core" &x # 9  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x  M  +3 .tForearm.seek PC +2 "manipulator"&L' +97 "core" ' + .tHand.close +2 "manipulator"&>/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +80 "core" ' +2 "storage"(N- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'y +34 "core" ' +304 ( +2 "storage"(o& +43 "core" & C  +10 "manipulator"&Z& +3 "core" &x  .  +2 "manipulator"&9% +6 "core" %  _ +3 .tForearm.seek :retract + "manipulator"&['\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&K( +295 "core" ( +2 "manipulator"&R& +4 "core" & # 8 # +2 "storage"(S& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&e'9 +97 "core" ' + .tHand.open +2 "manipulator"&d1 +57 "core" 1 +3 "storage"(`- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(z' +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +3 "core" -' +2 "storage"(s& +4 "core" & [ [  +2 "manipulator"&h& +4 "core" &  F # +2 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & %  # +2 "storage"(U& +4 "core" & [ \\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(w' +59 "core" ' + "manipulator"&T& +4 "core" &  y # +2 "storage"(j& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +28 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'i +24 "core" ' +2 "manipulator"&i% +3 "core" %|  D +2 "storage"(q& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&p'Ϩ +20 "core" ' +2 "manipulator"&& +3 "core" &  { # +2 "storage"(u& +4 "core" & m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +24 "core" ' +2 "storage"(f% +4 "core" %s +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ( % +5 "core" %] w $ QL +2 "manipulator"&V% +4 "core" %L " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &  +2 "collection"'& +4 "core" &Vj E +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ \  !  +3 "storage"(k% +3 "core" %b +2 "storage"(\ . +4 "core" .( + "storage"(& +4 "core" & =  +2 "storage"(^& +3 "core" &  +2 "manipulator"&|& +4 "core" & \  t # +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &   # +2 "storage"(g& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&x'9 +91 "core" ' +2 "storage"( & +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   # +3 "storage"(}& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +42 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(''N +28 "core" ' +2 "manipulator"&5% +4 "core" %ΐ  K +2 "storage"(t& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&r'ϼ +19 "core" ' +2 "manipulator"&#& +4 "core" & ) Y "~ +2 "storage"(n& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'= +37 "core" ' +2 "manipulator"&3& +3 "core" &  C "~ +2 "manipulator"&% +4 "core" %{  2 t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +151 "core" ( +3 "manipulator"&F& +3 "core" &% $  =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" && " U =A +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&// +61 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"("& +3 "core" & l  +2 "storage"(7& +4 "core" &   +2 "manipulator"&& +3 "core" && " A =A +2 "manipulator"&% +5 "core" %  ] +2 .tForearm.seek :retract + "manipulator"&0'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=( +165 "core" ( + "manipulator"& & +4 "core" & * Q R +2 "storage"(-& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +59 "core" 1 +3 "manipulator"&M% +3 "core" % Ύ % ; +2 "storage"(O& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&)'Ϻ +20 "core" ' +2 "manipulator"&?& +3 "core" & R +2 "storage"(*& +4 "core" & k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +28 "core" ' +2 "storage"(4% +4 "core" %F ! +3 ."downElevator"SE.seek :down +3 "storage"(('X +99 (J% +3 "core" %U  QI +2 "manipulator"&;% +4 "core" %= x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +3 "core" & +2 "manipulator"&X% +4 "core" %\   d  +2 "storage"(B% +4 "core" %b  + "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(y( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +4 "core" & k +2 "manipulator"&:& +3 "core" &  , R +46 .tElbow.seek 2 +4 "manipulator"&E( +39 "core" ( +2 "manipulator"&I& +4 "core" & & p & +2 "storage"(C& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +92 "core" ' + "storage"(a& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'i +282 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (2& +3 "core" &  +2 "manipulator"&<& +4 "core" &  t % +2 .tElbow.seek 2 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&G& +4 "core" & & d % +2 "storage"(>& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&N' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +3 "storage"(.'X +8 "core" &  D % + "manipulator"&m% +4 "core" %  <  +2 .tForearm.seek :retract +2 "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&9& +4 "core" &*  d @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &*  ; @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'" +97 "core" ' +3 "manipulator"&_& +4 "core" &* " @Z +2 "manipulator"&S% +3 "core" %,  +3 "collection"'d& +4 "core" & +3 "collection"'`& +5 "core" & +2 .tCC.seek :closed +3 "collection"'v(V +4 "core" & +5 & 3 +9 &UM . +9 &y C +10 &Dh G +9 &e F +10 &h G +9 &k G +9 &Mk G +10 &l G +9 &j G +10 &k G +9 &!Uj G +9 &#k G +10 &$g G +9 &&e G +9 &(]e G +10 &* e F +9 &+h G +10 &-h G +9 &/fg F +9 &1&k G +10 &2e G +9 &4g F +9 &6nh F +10 &81h F +9 &9k G +9 &;m G +10 &=ue G +9 &?7k G +10 &@k G +9 &Bj G +9 &D}j G +10 &F;s H +9 &G J +10 &I- L +9 &Kkq P +9 &M*Ej Q +10 &N( Q +9 &P Q +9 &Rm R +10 &T/   R +9 &Uv  A +9 &V$ } *x +10 &Vp H +2 ( +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&s1 +59 "core" 1 +4 "manipulator"&h% +4 "core" % , B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%U& +3 "core" &H +2 "manipulator"&[% +4 "core" %\ #   = +2 "storage"(T% +4 "core" %b f  +2 "storage"(j. +2 "core" .( +2 "storage"(i& +4 "core" & d +2 "storage"(q& +4 "core" & m +2 "manipulator"&c& +4 "core" &( " W ?T +2 "manipulator"&% +4 "core" %\ # @ = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&6( +163 "core" ( + "manipulator"&u& +4 "core" & & X  +2 "storage"(f& +4 "core" & X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +94 "core" ' +2 "storage"(e& +4 "core" & C +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +342 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +48 (V& +6 "core" & +2 "manipulator"&Y& +4 "core" &\  o  +2 .tElbow.seek 2 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&w& +4 "core" &  ,  +2 "storage"(& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('X +7 "core" &\  u  +2 "manipulator"&k% +4 "core" %   = @ +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (s +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &{ 6 =  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &^& +3 "core" &{  G  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&|' +104 "core" ' +2 "manipulator"&& +3 "core" &{ 2 h  +2 "manipulator"&g% +4 "core" %   +2 "processing"%]& +4 "core" &< +3 "processing"% & +4 "core" &G +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &F +8 &=E #c +9 &[E 6 +9 &E H +10 &eF G +9 &hC G +9 &XjF G +10 &hD G +9 &e= G +10 &i8 G +9 &_jE H +9 & "hE G +10 &!h? G +9 &#e= G +9 &%hh8 G +10 &')i< H +9 &(h3 G +10 &*j6 G +9 &,pi6 G +9 &.2i7 G +10 &/e8 G +9 &1h6 G +9 &3wg7 H +10 &5;i6 G +9 &6i8 G +10 &8i; H +9 &:g7 G +9 &g; G +9 &?g6 H +9 &Ag8 G +10 &CIj: H +9 &E p6 H +10 &Fu7 I +9 &H7 J +9 &JC9 M +10 &L: M +9 &M7 M +9 &O6 L +10 &QL9 L +9 &S 8 M +10 &T< L +9 &V< M +9 &XQ; M +10 &Ywx< "j +9 &Z,y8 - +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&l1 +3 "core" &Z5 +50 1 +2 "manipulator"&{% +4 "core" % &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%& +4 "core" &Z, +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&}% +4 "core" %\     +2 "storage"(% +3 "core" %T 1 +2 "storage"(5. +2 "core" .( +2 "storage"(t& +4 "core" & e +3 "storage"(#& +2 "manipulator"&n& +8 "core" & # + &{    +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b + "manipulator"&3(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&x& +4 "core" &{  u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &{  I  +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +3 .tPC.seek :open +2 "processing"%r( +81 "core" ' + "storage"('- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'y +42 "core" ' +298 ( +2 "storage"(& +3 "core" & n +3 "manipulator"&+& +3 "core" &{  R  +2 "manipulator"&% +4 "core" % ! l +2 .tForearm.seek :retract +2 "manipulator"&/'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +265 "core" ( +2 "manipulator"& & +43 "core" &\  C  +9 "storage"("& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +95 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(-' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(A& +4 "core" & [ [ +2 "manipulator"&%& +3 "core" &    +3 .tElbow.seek 2 + "manipulator"&M( +8 "core" ( +2 "manipulator"&O& +4 "core" & ' q  +2 "storage"(?& +4 "core" & \\ \\ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +56 "core" ' +2 "manipulator"&0& +4 "core" &  +2 "storage"(J& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&)% +4 "core" %  ? + "storage"(@& +5 "core" & @ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 308 counts + "manipulator"&X' +22 "core" ' + "manipulator"&B& +4 "core" &  F  +2 "storage"(D& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +24 "core" ' +2 "storage"(8% +3 "core" %q N \ +3 ."downElevator"SE.seek :down +4 "storage"(('X +98 (P% +4 "core" %^ 6 PK +3 "manipulator"&&% +4 "core" %ѯ   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (I& +3 "core" & e +2 "collection"'C& +3 "core" &Vs H +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&a% +4 "core" %\   H  +2 "storage"(1% +3 "core" %R +2 "storage"(H. +4 "core" .( + "storage"(\\& +4 "core" & +2 "storage"(2& +4 "core" & +2 "manipulator"&<& +4 "core" &  {  +2 .tElbow.seek 2 +2 "manipulator"&G( +2 "core" ( +2 "manipulator"&>& +4 "core" & % _  +2 "storage"(!& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +95 "core" ' + "storage"(m& +4 "core" & N +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'i +278 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" &  V  +3 "storage"(L& +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&$' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(S'N +48 "core" ' +3 "manipulator"&d% +5 "core" % " ^ L + "storage"(& +4 "core" & x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&.' +20 "core" ' + "manipulator"&o& +4 "core" & , Z  +2 "storage"(& +4 "core" & z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'= +37 "core" ' + "manipulator"&U& +4 "core" &  +2 "manipulator"&[% +4 "core" %ё +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +155 "core" ( +2 "manipulator"&`& +4 "core" &' 5 T >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &' " C >L +2 .tForearm.seek CC +2 "manipulator"&q'" +98 "core" ' +2 .tHand.close + "manipulator"&c/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +2 "storage"(R& +4 "core" & F +2 "storage"(u& +3 "core" & % +2 "manipulator"&f& +4 "core" &'  d >J +2 "manipulator"&e% +4 "core" % 0  ^ +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"& & +4 "core" & #  +2 "storage"(V& +4 "core" & n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Y' +98 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +8 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % & L +2 "storage"(& +4 "core" & % +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +3 "manipulator"&k' +20 "core" ' + "manipulator"&6& +4 "core" &  +2 "storage"(K& +4 "core" & K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&z'ќ +28 "core" ' +2 "storage"(p% +4 "core" %F  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (^% +3 "core" %BZ j QJ +2 "manipulator"&~% +3 "core" %ј \  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'g& +4 "core" & +2 "manipulator"&]% +4 "core" %\   D  +2 "storage"(% +3 "core" %b  +2 "storage"(b. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" & r +2 "manipulator"&{& +4 "core" &  [  +2 .tElbow.seek 3 + "manipulator"&( +19 "core" ( + "manipulator"&}& +4 "core" & . A +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +95 "core" ' +2 "storage"(t& +49 "core" & i +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n'i +280 "core" ' +2 "storage"(#- +3 "core" -' +4 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & S +2 "manipulator"&x& +4 "core" & w A +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&|& +4 "core" & R A +2 "storage"(& +4 "core" & c +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϩ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +8 "core" &  - A +2 "manipulator"&% +3 "core" % ϭ  7 +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&+( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &  J # 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &  Q 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +93 "core" ' +2 "manipulator"&3& +4 "core" & 2 I 7 +2 "manipulator"&"% +4 "core" %"  +2 "collection"'& +3 "core" & +3 "collection"'& +6 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" & +6 &J #c +9 &] 7 +9 &1 G +10 &f G +9 &j G +10 &yd F +9 &:e G +9 &j F +10 &e G +9 &j F +9 & Bf G +10 &"e F +9 &#h F +9 &%h F +10 &'Kj F +9 &) e F +10 &*f F +9 &,g F +9 &.Sj F +10 &0k G +9 &1h G +10 &3e F +9 &5\\f F +9 &7h G +10 &8c F +9 &:k G +9 &%j F +9 &?f G +10 &Ah~ G +9 &Ckf F +9 &E*o G +10 &Fx H +9 &H J +9 &J^O4 N +10 &L~ P +9 &M2R P +9 &O" Q +10 &Q] Q +9 &S  R +10 &T\   R +9 &VB]   )| +11 &V\  D +8 ( + &VW B +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&A1 +61 "core" 1 +3 "manipulator"&%% +4 "core" % " 3 L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%?& +4 "core" &F +2 "manipulator"&/% +3 "core" %\ ! Q 2 +2 "storage"(0% +4 "core" %c / +2 "storage"(J. +2 "core" .( +2 "storage"()& +4 "core" &  +2 "storage"(F& +4 "core" & $ +2 "manipulator"&@& +4 "core" &  l 7 + "manipulator"& % +4 "core" %\ ! a 2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +166 "core" ( +2 "manipulator"&D& +4 "core" & % `  + "storage"(8& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +93 "core" ' + "storage"(7& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'i +280 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" & +3 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( + "manipulator"&4& +4 "core" &   +2 "storage"(;& +3 "core" & +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&X'ϩ +30 "core" ' + .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&I/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +3 "storage"(a'X +8 "core" & \  +2 "manipulator"&1% +3 "core" % ϴ c +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&\\& +4 "core" &w 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &w  G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +98 "core" ' +2 "manipulator"&>& +4 "core" &w  l +2 "manipulator"&!% +4 "core" %   S +2 "processing"%,& +4 "core" &> +3 "processing"%m& +5 "core" &< +2 .tPC.seek :closed +2 "processing"%((Z +5 "core" &F +6 &<J #c +10 &[B 6 +9 &F H +9 &dA G +10 &hF G +9 &ZhE G +10 &gF G +9 &i7 G +9 &i9 G +10 &aj@ G +9 & $e; G +9 &!gF G +10 &#gE G +9 &%ihB G +10 &'*iD H +9 &(hF G +9 &*hB G +10 &,qh= G +9 &.3h; G +9 &/g6 G +10 &1d0 G +9 &3zg? G +10 &5<h5 G +9 &6h6 G +9 &8g9 G +10 &:g9 G +9 &f7 G +10 &?g5 G +9 &Ag0 G +10 &CKk3 G +9 &E l1 G +9 &Fu4 I +10 &H3 K +9 &JE6 L +9 &L. L +10 &M/ L +9 &O/ M +10 &QL0 M +9 &S- M +9 &T0 M +10 &V1 M +9 &XR: M +9 &Yxu1 "j +10 &Z+t/ , +9 ( +3 "processing"%m& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&=1 +2 "core" &Z1 ! +51 1 +2 "manipulator"&:% +4 "core" % &  S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +2 "processing"%9& +3 "core" &Z7 ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&L% +3 "core" %\   6  +2 "storage"(_% +4 "core" %^ . +2 "storage"(d. +2 "core" .( +2 "storage"(& +4 "core" &  +3 "storage"(o& +2 "manipulator"&& +7 "core" &  + &w  a +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&U(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(['i +2 "core" ( +3 "manipulator"&Q& +4 "core" &w  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &w  < +2 .tForearm.seek PC +2 "manipulator"&E' +96 "core" ' +2 .tHand.close + "manipulator"&$/ +55 "core" / +2 .tPC.seek :open +2 "processing"%.( +93 "core" ' +2 "storage"(S- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +36 "core" ' +294 ( + "storage"(i& +4 "core" &  +2 "manipulator"&s& +4 "core" &w  " +2 "manipulator"&N% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&c'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&T( +257 "core" ( +2 "manipulator"&v& +4 "core" & ! G  +2 "storage"(R& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +93 "core" ' +2 .tHand.open + "manipulator"&f1 +55 "core" 1 +2 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +46 "storage"( 'E +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(V' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(j& +4 "core" & Y ^ +2 "manipulator"&& +3 "core" &  [  +3 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&& +4 "core" & 3 j  +2 "storage"(6& +4 "core" & W W +3 .tForearm.seek 3 + 700 counts + "manipulator"&K'9 +22 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(p' +57 "core" ' +2 "manipulator"&Z& +4 "core" & s  +2 "storage"(^& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&~'} +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +22 "core" ' +2 "manipulator"&k% +4 "core" %~  Q +2 "storage"(g& +3 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&]'Ϫ +19 "core" ' +2 "manipulator"&& +4 "core" & #  +2 "storage"(b& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h'9 +31 "core" ' +2 "storage"(z% +3 "core" %g `  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (y% +4 "core" %] V QL +3 "manipulator"&l% +3 "core" %4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (}& +3 "core" & Q +2 "collection"'& +4 "core" &VY B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&t% +4 "core" %\  \  S  +2 "storage"(w% +4 "core" %] + "storage"(. +3 "core" .( +2 "storage"(#& +4 "core" &  +2 "storage"( & +4 "core" & X +2 "manipulator"&x& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&& +4 "core" & i  +2 "storage"(\ & +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +107 "core" ' +2 "storage"(& +4 "core" & F +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & R  +2 "storage"(& +3 "core" & + +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'} +25 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"("'N +33 "core" ' +2 "manipulator"&% +3 "core" %x  +2 "storage"( & +4 "core" & X +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&'Ϥ +21 "core" ' +2 "manipulator"&& +3 "core" & N  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 3 + 700 counts +4 "manipulator"&A'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'= +44 "core" ' +2 "manipulator"&?& +3 "core" & A  +2 "manipulator"&/% +4 "core" %= +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +166 "core" ( +2 "manipulator"&& +4 "core" &  (  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &  " [ 4 +2 .tForearm.seek CC +2 "manipulator"&F'" +93 "core" ' + .tHand.close +2 "manipulator"&@/ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +412 "core" ( +2 "storage"( & +4 "core" & +2 "storage"(D& +3 "core" & A +2 "manipulator"&8& +4 "core" &   0 4 +2 "manipulator"&7% +3 "core" % #  p +3 .tForearm.seek :retract + "manipulator"&+'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +155 "core" ( + "manipulator"&P& +4 "core" &  Z +2 "storage"(&& +4 "core" & S +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +94 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +60 "core" 1 +2 "manipulator"&I% +4 "core" % ΁  Z +2 "storage"(C& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&1'ϭ +20 "core" ' +5 "manipulator"&B& +5 "core" & s + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&-'9 +27 "core" ' +2 "storage"(X% +4 "core" %B  +3 ."downElevator"SE.seek :down +4 "storage"(\\'X +98 (2% +3 "core" %wY e QI +2 "manipulator"&M% +4 "core" %7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +4 "core" & + "manipulator"&,% +4 "core" %\ %   C +2 "storage"(a% +4 "core" %_ W +2 "storage"(H. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(r( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" & +2 "manipulator"&:& +4 "core" &  B +2 .tElbow.seek 2 +2 "manipulator"&9( +32 "core" ( +2 "manipulator"&L& +3 "core" &\ 2 = V +2 "storage"(_& +4 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +100 "core" ' +2 "storage"(& +3 "core" & 2 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'i +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &  +2 "manipulator"&Q& +4 "core" &\ \  Z L +2 .tElbow.seek 2 +2 "manipulator"&G( +71 "core" ( +4 "manipulator"&<& +4 "core" & # z +2 "storage"($& +4 "core" & S +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&S' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(('X +7 "core" & V z +2 "manipulator"&[% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&i'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&N& +3 "core" &# # i :, +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &#  F :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'" +101 "core" ' +3 "manipulator"&R& +4 "core" &# 5 o :, +2 "manipulator"&U% +4 "core" %( " +2 "collection"'f& +4 "core" & +3 "collection"'e& +5 "core" & +2 .tCC.seek :closed +2 "collection"'q(V +4 "core" &  +9 & 7 )w +9 &k = +10 &t G +9 &j G +9 &Ce F +10 &k F +9 &k F +9 &f F +10 &Ig G +9 & j G +10 & k F +9 &"m G +9 &$Rk F +10 &&g F +9 &'g F +9 &)e F +10 &+Yf G +9 &-h G +10 &.i G +9 &0m G +9 &2ah G +10 &4#h G +9 &5e F +9 &7j F +10 &9je F +9 &;+g G +10 &<f F +9 &>h F +9 &@qk G +10 &B3j G +9 &Cl G +9 &Er G +10 &Gs| I +9 &I1 J +10 &JjM O +9 &Lj P +9 &Nf&4 P +10 &P% Q +9 &Q P +9 &S  R +10 &Ue  ? +9 &VK   U +9 &V-7  $o +10 &VY D +2 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&j1 +53 "core" 1 +3 "manipulator"&c% +4 "core" % ( # ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &9 +2 "manipulator"&6% +4 "core" %\ # !  ; +2 "storage"(Z% +4 "core" %W 7 +2 "storage"(^. +2 "core" .( +2 "storage"(`& +4 "core" &  +2 "storage"(k& +4 "core" & U +2 "manipulator"&g& +4 "core" &" " S 9& +2 "manipulator"& % +3 "core" %\ # "  ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( + "manipulator"&b& +4 "core" & 2 }  +2 "storage"(T& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +97 "core" ' + "storage"(u& +4 "core" & T +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'i +283 "core" ' +2 "storage"(y- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" & +2 "manipulator"&K& +4 "core" &\  b  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&p& +4 "core" & 7  +2 "storage"(~& +4 "core" & + +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t'X +7 "core" &  +2 "manipulator"&w% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +46 "manipulator"&Y(s +107 "core" ' + ."downElevator"SE.stop + "storage"(5 +174 "core" ( +2 "manipulator"&#& +4 "core" &o 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &o   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&x' +99 "core" ' +2 "manipulator"&& +4 "core" &o 1  +2 "manipulator"&\ % +4 "core" %  U +3 "processing"%h& +4 "core" &I +3 "processing"%& +5 "core" &E +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &G  +8 &7J )w +9 &kG = +10 &vF G +9 &mgL G +9 &/hG G +10 &hH G +9 &iA G +10 &tgF G +9 &6gK G +9 &hH G +10 & jG G +9 &"}hF G +9 &$?hE G +10 &&hC G +9 &'mF G +10 &)hG G +9 &+FgB G +9 &-g< G +10 &.gF G +9 &0jD G +9 &2OgE G +10 &4hF G +9 &5gC G +13 &7gD G +6 &9WgJ G +9 &;e: G +10 &<g: G +9 &>h; F +9 &@^i? G +10 &B i? G +9 &Cm1 G +10 &Er6 H +9 &Ga{; I +9 &I< K +10 &J9 L +9 &L; L +9 &N`1 L +10 &P"4 L +9 &Q0 M +10 &S; L +9 &Uf2 M +9 &W'; M +10 &X2 M +9 &Z;Eb/ %l +9 &Z *- +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&1 +3 "core" &Z7 +60 1 +2 "manipulator"&{% +3 "core" %  d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 "processing"%& +4 "core" &Z% +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\     +2 "storage"(3% +4 "core" %\\ +2 "storage"(. +3 "core" .( +2 "storage"( & +3 "core" & +3 "storage"(& +2 "manipulator"&& +7 "core" & + &o  . +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&?(s +4 "Can" F8 +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(/'i + "core" ( +3 "manipulator"&& +4 "core" &o  " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &o   +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 .tHand.close + "manipulator"&n/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +80 "core" ' + "storage"("- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +41 "core" ' +301 ( + "storage"()& +4 "core" & +2 "manipulator"&A& +3 "core" &o  6 +2 "manipulator"&'% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&@'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +262 "core" ( + "manipulator"&& +4 "core" & 2 p +2 "storage"( & +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&D'ќ +94 "core" ' + .tHand.open +2 "manipulator"&81 +55 "core" 1 +2 "storage"(7- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(P'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(F- +3 "core" -' +2 "storage"(J& +4 "core" & ^ ^ +2 "manipulator"&;& +3 "core" &\  g +2 .tElbow.seek 2 +2 "manipulator"&I( +51 "core" ( + "manipulator"&C& +4 "core" & ) k +2 "storage"(B& +4 "core" & X Z +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(X' +57 "core" ' +2 "manipulator"&+& +4 "core" &   +2 "storage"(2& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +23 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +29 "core" ' + "manipulator"&!% +4 "core" %  U +2 "storage"(1& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&,' +21 "core" ' + "manipulator"&a& +4 "core" & +2 "storage"(H& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +16 "core" ' +2 "storage"(-% +4 "core" %r A +3 ."downElevator"SE.seek :down +3 "storage"(\\'X +99 (% +3 "core" %]^  QL +2 "manipulator"&=% +3 "core" %ѡ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +3 "core" & i +2 "collection"'_& +4 "core" &VW D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ %  > E +2 "storage"(4% +4 "core" %a c +2 "storage"(>. +2 "core" .( +2 "storage"(& +4 "core" & = +2 "storage"(m& +4 "core" & +2 "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&$& +4 "core" & ( W +2 "storage"(& +4 "core" & Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&W'ќ +100 "core" ' +2 "storage"([& +3 "core" & D +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'i +277 "core" ' +3 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &  . +3 "storage"(E& +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&o' +24 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(G'N +28 "core" ' + "manipulator"&U% +4 "core" % ! 6 M +2 "storage"(f& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&(' +18 "core" ' +2 "manipulator"&i& +4 "core" & { +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +29 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(c'= +39 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&6% +3 "core" %љ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +87 "core" ' +5 .tElbow.seek CC +2 "manipulator"&^( +168 "core" ( +3 "manipulator"&`& +4 "core" &# % P :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +4 "core" &# " y :0 +2 .tForearm.seek CC +2 "manipulator"&k'" +98 "core" ' +2 .tHand.close + "manipulator"&g/ +54 "core" / +2 .tCC.seek :open + "collection"' ( +416 "core" ( + "storage"(v& +4 "core" & +2 "storage"(b& +4 "core" &  +2 "manipulator"&T& +4 "core" &#  W :0 +2 "manipulator"&u% +3 "core" % 0  N +2 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&y& +4 "core" &  "  +2 "storage"(l& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&K' +103 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"&}% +4 "core" % & C b +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&w' +19 "core" ' +2 "manipulator"&& +4 "core" & $ j  +2 "storage"(z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +26 "core" ' +2 "storage"(]% +3 "core" %E +3 ."downElevator"SE.seek :down +3 "storage"(#'X +99 ( % +3 "core" %_  QK +3 "manipulator"&% +3 "core" % I v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'t& +3 "core" & +2 "manipulator"&\ % +4 "core" %\   +2 "storage"(h% +4 "core" %_  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(.( +334 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" & + "manipulator"&{& +4 "core" &  ]  +2 .tElbow.seek 3 +2 "manipulator"&( +18 "core" ( +2 "manipulator"&& +4 "core" &  Y 6 + "storage"(3& +4 "core" & 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +98 "core" ' +2 "storage"( & +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"&& +4 "core" & 6 +3 .tElbow.seek 3 + "manipulator"&|( +3 "core" ( +2 "manipulator"&x& +4 "core" & 6 +2 "storage"(n& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&"'ϩ +24 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +62 "core" / +3 ."downElevator"SE.seek :down +47 "manipulator"&5& +5 "storage"('X +8 "core" & 5 6 +2 "manipulator"&/% +4 "core" % Ϸ H +2 .tForearm.seek :retract +2 "manipulator"&)'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +27 "core" ( +2 "manipulator"&'& +3 "core" & 6 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  H 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +2 "manipulator"& & +3 "core" & 2 3 +2 "manipulator"&?% +4 "core" % X +2 "collection"'8& +4 "core" & +3 "collection"'7& +5 "core" &f +2 .tCC.seek :closed +3 "collection"'F(V +4 "core" &z +5 & 4 +9 &ONi . +9 &ye B +10 &?jf F +9 &if G +10 &h{ G +9 &hg G +9 &Geu F +10 & fq F +9 &e F +9 &fq F +10 &!Nfr G +9 &#h G +10 &$gr F +9 &&j F +9 &(Wks F +10 &*is G +9 &+h G +9 &-h F +10 &/_e F +9 &1!f F +10 &2e F +9 &4k F +9 &6fh G +10 &8(h G +9 &9j F +9 &;h G +10 &=ok F +9 &?1k F +10 &@g F +9 &Bm G +9 &Dul G +10 &F5t H +9 &G J +9 &I* L +10 &Kczv P +9 &M#Hf Q +10 &N#+ P +9 &P Q +9 &Rg Q +10 &T(  R +9 &U{  : +9 &V< ` +10 &V< < +2 ( +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&J1 +53 "core" 1 +3 "manipulator"&;% +5 "core" %  ( : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%C& +4 "core" &I +2 "manipulator"&B% +3 "core" %\   e  +2 "storage"(+% +4 "core" %] +2 "storage"(2. +2 "core" .( +3 "storage"(& +3 "core" & l +2 "storage"(P& +4 "core" & ] +2 "manipulator"&!& +4 "core" &  ' 3 +2 "manipulator"&1% +3 "core" %\   I  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +167 "core" ( + "manipulator"&H& +4 "core" & ! q 8 +2 "storage"(0& +4 "core" & 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +98 "core" ' +2 "storage"(D& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &  +3 "manipulator"&& +3 "core" & 1 8 +2 .tElbow.seek 3 +2 "manipulator"&I( +4 "core" ( + "manipulator"&X& +4 "core" &\ 8 +2 "storage"(M& +4 "core" & " +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϩ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +3 "storage"('X +8 "core" &  T 8 + "manipulator"&4% +4 "core" % Ϭ  @  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&*& +5 "core" &y 2 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &y  U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q' +102 "core" ' +3 "manipulator"&$& +4 "core" &y % 7 +2 "manipulator"&% +4 "core" % d +2 "processing"%%& +4 "core" &R +2 "processing"%[& +6 "core" &I +2 .tPC.seek :closed +2 "processing"%\\(Z +4 "core" &R +8 &EM #c +9 &]Y 7 +10 &Z H +9 &hP G +10 &hM G +9 &dhL G +9 &&gM G +10 &gN G +9 &hS G +9 &miT G +10 & .hT G +9 &!gP G +9 &#gU G +10 &%thM G +9 &'6hL G +10 &(hT G +9 &*hO G +9 &,}hS G +10 &.?hO G +9 &0fT G +10 &1fT G +9 &3fK G +9 &5HgS G +10 &7 eO G +9 &8hG G +9 &:gO G +10 &gV G +10 &?eS G +9 &AgI G +9 &CViU G +10 &EjT H +9 &FtJ H +9 &HN J +10 &JOL M +9 &LS L +9 &MH L +10 &OP M +9 &QWI M +10 &SI M +9 &TD L +10 &VC M +9 &X^C M +9 &Zwv8 "k +10 &Z%cJ ' +9 ( + &Z@ +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&O1 +53 "core" 1 +2 "manipulator"&:% +3 "core" % 3 H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +92 "core" ' +2 "processing"%N& +4 "core" &Z< +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&E% +4 "core" %\   1  +2 "storage"(R% +4 "core" %b +2 "storage"(U. +2 "core" .( +2 "storage"(f& +5 "core" & +3 "storage"(i& +2 "manipulator"& & +7 "core" & J +2 &y  % +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'i +3 "core" ( + "manipulator"&W& +4 "core" &y  g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &y  g +2 .tForearm.seek PC +2 "manipulator"&9' +104 "core" ' +2 .tHand.close + "manipulator"&o/ +57 "core" / + .tPC.seek :open +2 "processing"%(( +81 "core" ' + "storage"(G- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +36 "core" ' +306 ( + "storage"(e& +4 "core" &  +2 "manipulator"&j& +3 "core" &y   +2 "manipulator"&S% +5 "core" %  2 P +2 .tForearm.seek :retract +2 "manipulator"&g'\ +96 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +267 "core" ( + "manipulator"&q& +4 "core" & ( I  +2 "storage"(v& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +94 "core" ' + .tHand.open +2 "manipulator"&T1 +61 "core" 1 +2 "storage"(u- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(l' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +3 "core" -' +2 "storage"(^& +4 "core" & _ ^ * +2 "manipulator"&~& +4 "core" &  2  +2 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&& +4 "core" & ) U  +2 "storage"(& +3 "core" & X Z +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(]' +52 "core" ' +2 "manipulator"&s& +49 "core" &  :  +4 "storage"( & +4 "core" & ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +22 "core" ' +2 "manipulator"&w% +4 "core" %w  G +2 "storage"(t& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"&\ 'ϣ +20 "core" ' +2 "manipulator"&h& +5 "core" & [  + "storage"(& +4 "core" & C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +35 "core" ' + "storage"(V% +4 "core" %q 2 +3 ."downElevator"SE.seek :down +4 "storage"(#'X +98 (r% +3 "core" %` P RL +2 "manipulator"&% +4 "core" %K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & i +2 "collection"'3& +3 "core" &VG < +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\ #  < = +2 "storage"(p% +4 "core" %N +2 "storage"(. +3 "core" .( +2 "storage"(& +5 "core" & 2 + "storage"(& +4 "core" &  +2 "manipulator"&& +4 "core" &  6  +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&n& +4 "core" & & <  +2 "storage"(Y& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +99 "core" ' + "storage"(/& +4 "core" & ^ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  %  +2 "storage"('& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'N +27 "core" ' + "manipulator"&?% +4 "core" %{  w +2 "storage"(8& +4 "core" & O +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&'ϧ +20 "core" ' +2 "manipulator"&)& +3 "core" & o  +2 "storage"( & +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +41 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'= +40 "core" ' + "manipulator"&C& +4 "core" & J  +2 "manipulator"&B% +4 "core" % z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +165 "core" ( +3 "manipulator"&& +4 "core" &' ( T >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &'  Y >J +3 .tForearm.seek CC +2 "manipulator"&!'" +93 "core" ' +2 .tHand.close + "manipulator"&7/ +61 "core" / +4 .tCC.seek :open +2 "collection"'1( +414 "core" ( + "storage"(& +4 "core" & ? +2 "storage"(H& +3 "core" &  +2 "manipulator"&0& +4 "core" &(  L >I +2 "manipulator"&D% +4 "core" % 5  C  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&@( +166 "core" ( +2 "manipulator"&& +3 "core" & u  +2 "storage"(=& +4 "core" & T +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +97 "core" ' +2 .tElbow.hold + "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +57 "core" 1 +2 "manipulator"&L% +4 "core" % ~  B +2 "storage"(_& +5 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"&4'Ϫ +21 "core" ' +2 "manipulator"&a& +3 "core" & R  +2 "storage"(-& +4 "core" & b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +24 "core" ' +2 "storage"(,% +3 "core" %C +3 ."downElevator"SE.seek :down +4 "storage"(*'X +98 (m% +3 "core" %,V Q PH +2 "manipulator"&I% +5 "core" %E W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & +3 "manipulator"&%% +3 "core" %\   ( & +2 "storage"(% +4 "core" %b  +2 "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" & y +2 "manipulator"&:& +4 "core" &  A  +2 .tElbow.seek 2 +2 "manipulator"&N( +33 "core" ( +2 "manipulator"&E& +4 "core" & " V % +2 "storage"(R& +4 "core" &  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +100 "core" ' + "storage"(f& +4 "core" &  W +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +282 "core" ' + "storage"(i- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +3 "core" &   +2 "manipulator"&W& +4 "core" &   # +2 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&Q& +4 "core" & ! K # +2 "storage"(o& +4 "core" &  s +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&G' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(\\'X +8 "core" &  9 # +2 "manipulator"&6% +4 "core" %  6 +2 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&S& +49 "core" &#  \\ ;6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &# + ? ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&q'" +95 "core" ' + "manipulator"&v& +4 "core" &$ 1 B ;6 +2 "manipulator"&% +4 "core" %' ! @ +2 "collection"'T& +4 "core" &h +2 "collection"'u& +6 "core" &% +2 .tCC.seek :closed +2 "collection"'k(V +5 "core" &g  +8 &7k )w +9 &kg = +9 &sg G +10 &yev F +9 &9jl G +9 &hj F +10 &gw F +9 &hv G +10 &Bdv F +9 &kk G +9 & hg F +10 &"gp F +9 &$Jjr F +9 && ei F +10 &'gu F +9 &)gk G +10 &+Qhu G +9 &-ir F +9 &.gk G +10 &0kl F +9 &2Zdp F +9 &4et G +10 &5gn G +9 &7hr F +10 &9bj F +9 &;#k G +9 &<k F +10 &>ev G +9 &@igp G +9 &B,ew F +10 &Civ F +9 &Em G +10 &Glz H +9 &I) J +9 &JkJq N +10 &Lg P +9 &N]+: P +9 &P  P +10 &Qe Q +9 &S R +10 &U_ B +9 &Vo:  . +9 &Vk  @ +6 ( +2 "collection"'u& +4 "core" &VT @ +2 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&^1 +57 "core" 1 +3 "manipulator"&~% +4 "core" % ' # 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &Q +2 "manipulator"&g% +4 "core" %\ !  \ 4 +2 "storage"(s% +4 "core" %b ! + "storage"( . +3 "core" .( +2 "storage"(`& +4 "core" &  E +2 "storage"(w& +4 "core" &  ( +2 "manipulator"&t& +4 "core" &# " S ;5 + "manipulator"&y% +4 "core" %\ ! ! Q 4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&h( +166 "core" ( + "manipulator"&& +4 "core" &   y +2 "storage"(Z& +5 "core" &  ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +99 "core" ' +2 "storage"(b& +4 "core" &  w +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(l'i +278 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  D +3 "manipulator"&z& +3 "core" & ~ y +2 .tElbow.seek 2 +2 "manipulator"&}( +4 "core" ( + "manipulator"&]& +5 "core" & y + "storage"(& +4 "core" &  ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\ ' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +3 "storage"( 'X +7 "core" & P y +2 "manipulator"&p% +4 "core" % D t +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +115 "core" ( +2 "manipulator"&& +4 "core" &m = a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 "manipulator"&n& +4 "core" &m ( ; +2 "manipulator"&Y% +3 "core" % S +3 "processing"%c& +3 "core" &U +3 "processing"%/& +5 "core" &T +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &P +7 &DZ #b +9 &[Q 6 +9 &W H +10 &hY G +9 &hQ G +9 &[eZ G +50 &h[ G +4 &gW G +3 &h[ G + &dh[ G + & $kZ G + &!gZ G +6 &#hT G +9 &%li[ G +10 &'.hW G +9 &(iV G +10 &*gZ G +9 &,skV G +9 &.5hT G +10 &/gW G +9 &1gV G +9 &3}hT F +10 &5=jU G +9 &7hT G +10 &8gV F +9 &:gW G +9 &eU G +9 &?gT G +9 &AgO G +10 &CLjU G +9 &E oT H +10 &FxU I +9 &HU J +9 &JEU M +10 &LT L +9 &MU L +9 &OO M +10 &QLX M +9 &ST L +10 &TK M +9 &VQ M +9 &XTN M +10 &YwwK "k +9 &Z(oN , +9 ( + &ZP +2 "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&{% +4 "core" % * 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%& +4 "core" &ZG +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&'% +5 "core" %\  I  + "storage"(|% +4 "core" %`  +2 "storage"(?. +3 "core" .( +2 "storage"(8& +4 "core" &   +3 "storage"()& +2 "manipulator"& & +7 "core" &  T + &n   +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&C(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'i +3 "core" ( +2 "manipulator"&5& +3 "core" &n  ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &n  - +3 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' +2 "storage"( - +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +298 ( +2 "storage"(P& +5 "core" &  % + "manipulator"&J& +4 "core" &n   +2 "manipulator"&"% +3 "core" % \ +3 .tForearm.seek :retract +2 "manipulator"&7'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&+( +244 "core" ( +2 "manipulator"&F& +4 "core" & % V +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +98 "core" ' +2 .tHand.open + "manipulator"&01 +64 "core" 1 +2 "storage"(D- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +50 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(!- +2 "core" -' +3 "storage"(2& +3 "core" &  V f +2 "manipulator"&M& +4 "core" &  n V +2 .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( + "manipulator"&_& +4 "core" & ( & V +2 "storage"(a& +4 "core" &  [ X +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&-'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(,' +58 "core" ' + "manipulator"&A& +4 "core" &  V +2 "storage"(m& +5 "core" &  J + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&I' +21 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +47 "storage"('i +23 "core" ' + "manipulator"&4% +4 "core" %  q +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&%' +20 "core" ' + "manipulator"&& +4 "core" & %  V +2 "storage"(>& +4 "core" &  c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +18 "core" ' +2 "storage"(&% +3 "core" %m   +3 ."downElevator"SE.seek :down +3 "storage"(*'X +99 (.% +3 "core" %Y k QK +2 "manipulator"&O% +4 "core" %ѣ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +92 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +3 "core" &  G +2 "collection"'R& +4 "core" &VU @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&f% +4 "core" %\ #  H 9 +2 "storage"(X% +4 "core" %` +2 "storage"($. +2 "core" .( +2 "storage"(i& +4 "core" &  +2 "storage"([& +4 "core" &  +2 "manipulator"&W& +4 "core" &  m V +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&o& +4 "core" & $ ] V +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +101 "core" ' + "storage"(6& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'i +283 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  H V +2 "storage"( & +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&G' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'N +26 "core" ' +2 "manipulator"&% +3 "core" %  e +2 "storage"(T& +5 "core" &  O + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&\\' +16 "core" ' + "manipulator"&e& +4 "core" & \ 8 V +2 "storage"(1& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(~'= +40 "core" ' + "manipulator"&& +4 "core" & \  < V +2 "manipulator"&g% +4 "core" %щ \  e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +151 "core" ( +3 "manipulator"&`& +4 "core" &,  H Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &+  C Bh +2 .tForearm.seek CC +2 "manipulator"&w'" +93 "core" ' + .tHand.close +2 "manipulator"&t/ +61 "core" / +2 .tCC.seek :open +2 "collection"'y( +412 "core" ( +2 "storage"(q& +3 "core" &  ^ +2 "storage"(& +4 "core" &  F +2 "manipulator"&Z& +4 "core" &* ! S @Z + "manipulator"&b% +4 "core" % *  K +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +41 .tElbow.reconfigure :tight +10 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&r& +4 "core" &  !  +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&z' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +3 "core" % ! c  +2 "storage"(3& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 298 counts + "manipulator"&p'\ +15 "core" ' + "manipulator"&h& +4 "core" &  +2 "storage"(V& +4 "core" &  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +33 "core" ' + "storage"(\ % +4 "core" %@ ' +3 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %.Y  PI +2 "manipulator"&}% +4 "core" %ѐ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Y& +3 "core" &n +2 "manipulator"&c% +4 "core" %\   B  +2 "storage"( % +4 "core" %a !  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"((( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & ;  +2 "manipulator"&{& +4 "core" &   +3 .tElbow.seek 3 + "manipulator"&( +17 "core" ( + "manipulator"&'& +4 "core" &  @ C +2 "storage"(|& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +96 "core" ' + "storage"(/& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +277 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ()& +2 "core" &  +3 "manipulator"&5& +3 "core" &  C +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&& +3 "core" & ' X C +2 "storage"(& +4 "core" & c  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(#'X +7 "core" & C +2 "manipulator"&B% +4 "core" % Ϟ j +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&J( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&"& +4 "core" &! $ U 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &! u 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&F'" +97 "core" ' +2 "manipulator"&& +3 "core" &! ( M 8 +2 "manipulator"&C% +4 "core" %   +2 "collection"'0& +4 "core" &m +49 "collection"'D& +6 "core" && +3 .tCC.seek :closed +2 "collection"'!(V +4 "core" &l +8 &Jy #c +9 &]i 7 +10 &2h G +9 &ek F +9 &hu G +10 &ygq G +9 &<id F +10 &i\\ F +9 &ic G +9 &gf F +10 & Ceh G +9 &"gs G +9 &#dl F +10 &%gk F +9 &'Lih F +10 &)hi F +9 &*io F +9 &,il F +10 &.Tj F +9 &0hi G +9 &1go F +10 &3dl F +9 &5\\cl F +10 &7ep G +9 &8fp F +9 &:ew G +10 &%hq G +9 &?h| G +10 &Af{ F +9 &Ckky G +10 &E-qz G +9 &F}o H +9 &Hz I +10 &J_I0s N +9 &L|q P +9 &M7Ir P +10 &O&| Q +9 &Q^ Q +10 &Sr R +9 &Tp R +9 &VD`| * +10 &V  S +8 ( +3 "collection"'D& +3 "core" &Vj I +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&21 +54 "core" 1 +2 "manipulator"&M% +4 "core" %  7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&_'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" &P +2 "manipulator"&7% +4 "core" %\ !  T 1 +2 "storage"(A% +4 "core" %a a + "storage"(m. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +4 "core" &   +2 "manipulator"&4& +3 "core" &! P 8 +2 "manipulator"&% +4 "core" %\ ! 1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&>& +4 "core" & %  V +2 "storage"(+& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +94 "core" ' + "storage"(H& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='i +283 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" &  +2 "manipulator"&O& +3 "core" &  V +2 .tElbow.seek 3 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&,& +4 "core" & P V +2 "storage"(I& +3 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(f'X +6 "core" &   V +2 "manipulator"&X% +4 "core" % Ϟ  / +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" &} $ +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +4 "core" &}  <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&W' +103 "core" ' +2 "manipulator"&o& +4 "core" &}    +2 "manipulator"&% +4 "core" %\ s e +2 "processing"%;& +4 "core" &Q +3 "processing"%6& +5 "core" &J +2 .tPC.seek :closed +2 "processing"%*(Z +4 "core" &V +7 &>Q #c +10 &\\V 6 +9 &N H +9 &fO G +10 &gW G +9 &YiV G +9 &fQ G +10 &gX G +9 &gS G +10 &bhW G +9 & #gQ G +9 &!eY G +10 &#fR G +9 &%igY G +10 &',gZ G +9 &(g[ G +9 &*gQ G +10 &,qgY G +9 &.3g[ G +9 &/e[ G +10 &1f\\ G +9 &3ze[ G +10 &5<g[ G +9 &6f[ F +9 &8g[ G +10 &:eY G +9 &eW F +10 &?eY G +9 &AfY G +10 &CJhV G +9 &E iY H +9 &Fs[ H +10 &HZ K +9 &JCZ M +9 &LU M +10 &MU L +9 &OU M +10 &QKV M +9 &S T M +9 &TU M +10 &VZ M +9 &XPV N +9 &YwvV "k +10 &Z*sV . +9 ( +49 &ZX " +4 &ZT " + &ZV " +3 &ZT " + &ZT " + &ZT " + &ZW " +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&@1 +53 "core" 1 + "manipulator"&:% +4 "core" % ( G e +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +96 "core" ' + "processing"%S& +4 "core" &ZB " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +4 "core" %\ $   F +2 "storage"(<% +4 "core" %T i +2 "storage"(. +2 "core" .( +3 "storage"(T& +3 "core" & j  +3 "storage"(e& +2 "manipulator"&1& +6 "core" &   +2 &}  j  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'i + "core" ( +3 "manipulator"&d& +4 "core" &}  ^  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &}  :  +3 .tForearm.seek PC +2 "manipulator"&N' +97 "core" ' +4 .tHand.close + "manipulator"&G/ +57 "core" / +2 .tPC.seek :open +2 "processing"%\\( +85 "core" ' +2 "storage"(v- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'y +36 "core" ' +301 ( +3 "storage"(u& +3 "core" & %  +2 "manipulator"&^& +4 "core" &}   +2 "manipulator"&9% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&t'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +263 "core" ( +2 "manipulator"&k& +3 "core" & ' 7 +2 "storage"(q& +4 "core" & &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' +2 .tHand.open +2 "manipulator"&Z1 +57 "core" 1 +2 "storage"(b- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(r' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" & ] Y  +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&3& +4 "core" &   \ +2 "storage"(h& +5 "core" & ] Y  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\ ' +53 "core" ' +2 "manipulator"&j& +4 "core" &  \ +2 "storage"(& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&}'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +24 "core" ' + "manipulator"&p% +4 "core" %Ώ   +2 "storage"(Y& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&c'ϻ +20 "core" ' +2 "manipulator"& & +4 "core" & D \ +2 "storage"(& +3 "core" &   +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&~'9 +35 "core" ' + "storage"(l% +4 "core" %q u +4 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %` w  QL +2 "manipulator"&% +4 "core" %N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +98 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ('& +3 "core" & k  +2 "collection"'|& +4 "core" &Vil I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&/% +4 "core" %\ \ \  +2 "storage"(]% +4 "core" %P x +2 "storage"(n. +2 "core" .( +3 "storage"( & +3 "core" &   +2 "storage"()& +4 "core" & H  +2 "manipulator"&5& +4 "core" & % \ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & | \ +2 "storage"(K& +5 "core" & }  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' +2 "storage"(B& +4 "core" & [  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' +2 "storage"(?- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  B \ +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(C'N +28 "core" ' + "manipulator"&0% +4 "core" %|  ~ +2 "storage"(x& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&#'Ϩ +21 "core" ' + "manipulator"&P& +4 "core" & q \ +2 "storage"(y& +4 "core" & F  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'= +43 "core" ' + "manipulator"&a& +4 "core" & r \ +2 "manipulator"&7% +4 "core" % l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +157 "core" ( +2 "manipulator"&& +4 "core" &' 2 s >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &' M >M +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&4/ +64 "core" / +2 .tCC.seek :open + "collection"'( +416 "core" ( +2 "storage"(F& +3 "core" & s  +2 "storage"(>& +4 "core" & q  +2 "manipulator"&+& +3 "core" &% !  <= +2 "manipulator"&H% +4 "core" % E +2 .tForearm.seek :retract +2 "manipulator"&J'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&_( +160 "core" ( +2 "manipulator"&.& +3 "core" &    +2 "storage"(-& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'} +96 "core" ' +4 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&I1 +60 "core" 1 +2 "manipulator"&%% +4 "core" % Ό " X +2 "storage"(R& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&X'ϸ +20 "core" ' + "manipulator"&& +4 "core" & 7  +2 "storage"(&& +4 "core" & 6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&='9 +38 "core" ' + "storage"(E% +4 "core" %G  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 ([% +3 "core" %{V 2 PG +2 "manipulator"&L% +4 "core" %% K +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +96 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & +2 "manipulator"&;% +4 "core" %\ #  Q = +2 "storage"(f% +4 "core" %^ w +2 "storage"($. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (@& +2 "core" &  +2 "manipulator"&:& +4 "core" &  '  +3 .tElbow.seek 2 + "manipulator"&S( +31 "core" ( +2 "manipulator"& & +3 "core" & 3  e +2 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' +2 "storage"(T& +3 "core" & c +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'i +279 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (6& +2 "core" & +3 "manipulator"&d& +3 "core" &\   U +2 .tElbow.seek 2 +2 "manipulator"&Q( +7 "core" ( +2 "manipulator"&W& +3 "core" & W 1 +3 "storage"(G& +3 "core" & - +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&v' +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(*'X +7 "core" &   1 +2 "manipulator"&g% +4 "core" %   B +2 .tForearm.seek :retract +2 "manipulator"&u'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&9& +4 "core" &$ 4 j ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &#  ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'" +99 "core" ' +2 "manipulator"&q& +3 "core" &$ 2 T ;6 +3 "manipulator"&% +4 "core" %" !  +3 "collection"'Z& +3 "core" &' +3 "collection"'b& +5 "core" &l +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &a +8 &9t #c +9 &\\k 6 +10 &i G +9 &gx G +9 &hk G +10 &`gp F +9 &"el F +10 &eo F +9 &jq F +9 &ghy G +10 & )hq G +9 &!hp G +9 &#ku F +10 &%pjx F +9 &'1h~ G +10 &(g| F +9 &*iw F +9 &,yjy F +10 &.9gz G +9 &/hy F +56 &1ey F +4 &3d| F +2 &5BiN F + &7jv F +2 &8gv F + &:e| F + & et F +10 &?et F +9 &Ajx F +9 &CQht G +10 &Ejx G +9 &Fvy H +9 &H` I +10 &JFD)x M +9 &L~} P +10 &M6Ky Q +9 &O&z P +9 &QDz Q +10 &S{ Q +9 &T } R +9 &V4d { , +10 &V { M +8 ( +3 "collection"'b& +3 "core" &Vas G +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"& 1 +64 "core" 1 +3 "manipulator"&% +4 "core" % "  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%h& +4 "core" &b + "manipulator"&t% +4 "core" %\    ) +2 "storage"(j% +4 "core" %] E +2 "storage"(. +3 "core" .( +2 "storage"(p& +4 "core" & 6 +2 "storage"(Y& +3 "core" & G +2 "manipulator"&`& +4 "core" &#  N ;5 +2 "manipulator"& % +3 "core" %\   ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&w& +4 "core" & ( 8  +2 "storage"(s& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +96 "core" ' +2 "storage"(& +4 "core" & = +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +283 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & 9 +3 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" & % A  +2 "storage"(}& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&c' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +3 "storage"(/'X +7 "core" &  ,  +2 "manipulator"&]% +4 "core" %   C 6 +2 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(s +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +3 "manipulator"& & +3 "core" &l % W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &l   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&5' +101 "core" ' + "manipulator"&& +4 "core" &l $ p +2 "manipulator"&K% +4 "core" %   +2 "processing"%~& +4 "core" &_ +2 "processing"%B& +5 "core" &] +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &d +8 &;e #c +10 &[d 6 +9 &c H +9 &fX G +10 &eV G +9 &[eU G +10 &eX G +9 &fV F +9 &gX G +10 &dgV G +9 & &gV G +10 &!hI G +9 &#eP G +9 &%kgP G +10 &'.gR G +9 &(dU G +9 &*fV G +10 &,tfQ G +9 &.6gY G +9 &/hV G +10 &1dW G +9 &3}e[ F +10 &5=h[ G +9 &7gW G +9 &8eY G +10 &:i[ G +9 & e[ F +10 &?fW G +9 &AeZ G +10 &CMhW G +9 &EnW G +9 &FtZ I +10 &HY J +9 &JD[ M +10 &L [ L +9 &MW L +9 &OZ M +10 &QMT M +9 &SX L +9 &T[ M +10 &VY N +9 &XRV N +9 &YwwU "k +10 &Z)nY + +9 ( +3 "processing"%B& +2 "core" &ZV ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&{% +4 "core" % "  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +92 "core" ' +2 "processing"%"& +3 "core" &ZL ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +51 "core" %\   ]  +2 "storage"(% +4 "core" %^ 7 +2 "storage"(0. +3 "core" .( +2 "storage"(x& +4 "core" & I +2 "storage"(P& +4 "manipulator"&y& +5 "core" & $ + &l  ) +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&a(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(7'i + "core" ( +3 "manipulator"&& +4 "core" &l  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l  9 +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' + .tHand.close +2 "manipulator"&8/ +62 "core" / +2 .tPC.seek :open +2 "processing"%#( +76 "core" ' + "storage"(C- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +48 "core" ' +298 ( +2 "storage"(D& +3 "core" &  +2 "manipulator"&2& +4 "core" &l  W +2 "manipulator"& % +4 "core" %  M +2 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +252 "core" ( +2 "manipulator"&!& +4 "core" & % # +2 "storage"(F& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +90 "core" ' +2 .tHand.open + "manipulator"&+1 +60 "core" 1 +2 "storage"(H- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(.'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +53 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(m& +3 "core" & T X +2 "manipulator"&I& +4 "core" &   # +2 .tElbow.seek 2 +2 "manipulator"&%( +4 "core" ( +2 "manipulator"&R& +3 "core" & ( V # +2 "storage"(& +4 "core" & [ Z +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(E' +53 "core" ' +2 "manipulator"&J& +4 "core" &\  h # +2 "storage"([& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&L' +23 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(O'i +24 "core" ' +2 "manipulator"&X% +3 "core" %  [ +2 "storage"(& +4 "core" & Y +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&;' +19 "core" ' + "manipulator"&f& +4 "core" & P # +2 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +16 "core" ' +2 "storage"(=% +4 "core" %k . +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ((% +3 "core" %` y  QM +2 "manipulator"&@% +4 "core" %щ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&:'\ +95 "core" ' +11 ' + ."downElevator"SE.stop + "storage"(5 +4 ( & +3 "core" &  +2 "collection"'<& +4 "core" &V`x G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&T% +4 "core" %\ \  ;  +2 "storage"(,% +4 "core" %O . +2 "storage"(o. +3 "core" .( +2 "storage"(1& +4 "core" & +2 "storage"(6& +4 "core" & +2 "manipulator"&d& +3 "core" &  5 # +2 .tElbow.seek 2 +2 "manipulator"&W( +4 "core" ( + "manipulator"&G& +4 "core" &  ~ # +2 "storage"(i& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +91 "core" ' + "storage"(g& +4 "core" & / +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" &  # +2 "storage"(N& +4 "core" & < +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&e' +30 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('N +27 "core" ' + "manipulator"&Q% +4 "core" %  K / +2 "storage"(Z& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&*' +22 "core" ' + "manipulator"&u& +5 "core" & " | # + "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +38 "core" ' + "manipulator"&h& +4 "core" &  # +2 "manipulator"&t% +4 "core" %Ѡ ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( + "manipulator"&b& +4 "core" &# ' d :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +4 "core" &# ! Y :0 +3 .tForearm.seek CC +2 "manipulator"&Y'" +96 "core" ' + .tHand.close +2 "manipulator"&`/ +56 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(k& +4 "core" &  +2 "storage"(w& +4 "core" & 8 + "manipulator"&s& +4 "core" &#  l :/ +2 "manipulator"&% +4 "core" % 5  (  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&3( +165 "core" ( + "manipulator"&V& +4 "core" &  p  +2 "storage"(& +4 "core" & N +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&}1 +52 "core" 1 +2 "manipulator"&'% +4 "core" % ( ; +2 "storage"(|& +4 "core" & - +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 298 counts +45 "manipulator"&]'\ +20 "core" ' +2 "manipulator"&& +4 "core" & /  +2 "storage"(l& +4 "core" & L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +35 "core" ' + "storage"(c% +4 "core" %E +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 ()% +3 "core" %@Z C QJ +2 "manipulator"&% +4 "core" %ѥ f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'K& +4 "core" &p +2 "manipulator"&~% +3 "core" %\   E  +2 "storage"(/% +4 "core" %]  +2 "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\\( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & f  +3 "manipulator"&{& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&"( +16 "core" ( + "manipulator"&& +4 "core" & / +2 "storage"(B& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' +2 "storage"(0& +4 "core" & >  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +278 "core" ' +2 "storage"(P- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +3 "core" & $  +2 "manipulator"&& +4 "core" & / +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&5& +4 "core" & ` / +2 "storage"(8& +3 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"('X +8 "core" &  * / +2 "manipulator"&7% +4 "core" % ϰ U +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( +2 "manipulator"& & +3 "core" &  * 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   ( 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&!'" +105 "core" ' + "manipulator"&F& +5 "core" &  1 4 +2 "manipulator"&a% +4 "core" %  ] +2 "collection"'+& +4 "core" & +3 "collection"'H& +5 "core" &; +2 .tCC.seek :closed +2 "collection"'(V +3 "core" & +9 &9 #a +9 &[ 5 +9 & G +10 &c F +9 &j~ F +10 &Zh F +9 &hw G +9 &g~ G +10 &gz F +9 &cc| F +9 & $j{ F +10 &!g~ G +9 &#hw G +10 &%ihx G +9 &',fr F +9 &(cy F +10 &*g| G +9 &,rgz F +10 &.5c| F +9 &/f~ G +9 &1h~ G +10 &3zgy F +9 &5<h F +9 &6g{ G +10 &8ez F +9 &:h~ G +9 &j F +9 &?j| F +10 &Agz G +9 &CKh~ G +9 &E j G +10 &Fv} H +9 &H{ I +10 &J@C*~ M +9 &K||z P +9 &M1F{ P +10 &O| x Q +9 &Q>} Q +9 &R~ R +10 &T x R +9 &V,]\  x - +9 &V n D +10 ( + &VT| A +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&m1 +55 "core" 1 +3 "manipulator"&I% +4 "core" %  ! ( +47 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &P +2 "manipulator"&4% +4 "core" %\  a  +2 "storage"(J% +4 "core" %^  +2 "storage"([. +2 "core" .( +3 "storage"(X& +3 "core" &   +2 "storage"(& +5 "core" &   + "manipulator"&& +4 "core" &   > 4 +2 "manipulator"&f% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +166 "core" ( + "manipulator"&.& +4 "core" & E O +2 "storage"(=& +4 "core" & 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +94 "core" ' +2 "storage"(>& +3 "core" & F  +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +282 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +2 "core" &   +3 "manipulator"&&& +3 "core" &  O +2 .tElbow.seek 3 +2 "manipulator"&%( +4 "core" ( + "manipulator"&E& +4 "core" &  ` O +2 "storage"(L& +4 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(T'X +6 "core" & O +3 "manipulator"&,% +4 "core" % ϡ S M +2 .tForearm.seek :retract +2 "manipulator"&o'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&O(s +171 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&1& +4 "core" &t $ N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +3 "core" &t   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +94 "core" ' +2 "manipulator"&G& +4 "core" &t # ] +2 "manipulator"&i% +4 "core" %  X $ +2 "processing"%M& +4 "core" &W +3 "processing"%g& +5 "core" &R +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &U  +8 &7a )w +10 &kW = +9 &sW H +9 &rdQ G +10 &4e_ G +9 &i\\ G +10 &gX G +9 &yiS G +9 &<fU G +10 &eT G +9 & fR G +9 &"dY G +10 &$DeQ G +9 &&iX G +10 &'fT G +9 &)iU G +9 &+LeR G +10 &- hW G +9 &.fK G +9 &0iF G +10 &2SeI G +9 &4dP G +10 &5eG F +9 &7eG F +9 &9[gD G +10 &;dE F +9 &<fT G +9 &>hY G +10 &@cdI G +9 &B&eP G +10 &ChW G +9 &Em[ H +9 &GfyV I +10 &I"H K +9 &JN L +9 &LS L +10 &NdQ L +9 &P%X M +10 &QN M +9 &SP L +9 &UiP M +10 &W*N N +9 &XO N +9 &Z?EbR %l +10 &Z (V ! +5 ( +2 "processing"%g& +4 "core" &ZS ! +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&_1 +56 "core" 1 + "manipulator"&:% +4 "core" % '  $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +3 "processing"%9& +4 "core" &ZH ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\ &  F !M +2 "storage"(q% +4 "core" %T $ +2 "storage"(Q. +3 "core" .( +2 "storage"(Z& +4 "core" &   +2 "storage"(u& +2 "manipulator"&& +8 "core" & B  + &t  6 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +47 "storage"(#]@K-0-\ b +4 "manipulator"&h(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(t'i +3 "core" ( +2 "manipulator"&U& +5 "core" &t  V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &t 8 +2 .tForearm.seek PC +2 "manipulator"&S' +97 "core" ' +2 .tHand.close + "manipulator"&e/ +58 "core" / +2 .tPC.seek :open +2 "processing"%*( +88 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +36 "core" ' +298 ( + "storage"(p& +4 "core" & $  +2 "manipulator"& & +4 "core" &t  H +2 "manipulator"&v% +4 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&j( +263 "core" ( +2 "manipulator"&& +3 "core" & ( Q ' +2 "storage"(k& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&w'9 +100 "core" ' +3 .tHand.open +2 "manipulator"&s1 +63 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(V'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -' +2 "storage"(& +4 "core" & W [   +2 "manipulator"&}& +4 "core" &   ' +2 .tElbow.seek 3 +2 "manipulator"&'( +4 "core" ( + "manipulator"&|& +4 "core" &  / ' +2 "storage"(& +4 "core" & [ Q  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +57 "core" ' +2 "manipulator"&c& +3 "core" &   ' +2 "storage"(3& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&)'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&]% +4 "core" %Έ   +2 "storage"(K& +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&~'ϴ +21 "core" ' +2 "manipulator"&/& +3 "core" & $ x ' +2 "storage"(n& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +29 "core" ' +2 "storage"(r% +3 "core" %s  +4 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (% +3 "core" %R^ : QL +2 "manipulator"&% +4 "core" %4 \  Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +91 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & M  +2 "collection"'B& +4 "core" &VT( A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&0% +4 "core" %\     +2 "storage"(\ % +4 "core" %`  +2 "storage"(. +2 "core" .( +2 "storage"(P& +4 "core" & X  +2 "storage"(y& +49 "core" & _  +3 "manipulator"&& +4 "core" &  & +2 .tElbow.seek 3 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&8& +4 "core" & ( / & +2 "storage"(z& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +99 "core" ' +2 "storage"(7& +4 "core" & S  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"("'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & & & +3 "storage"(& +3 "core" & e  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'} +22 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(F'N +33 "core" ' + "manipulator"&a% +4 "core" %΂  & +2 "storage"(+& +4 "core" & A  + .tForearm.force -20 +3 "manipulator"&5 +4 .tForearm.seek 3 + 305 counts +2 "manipulator"&'Ϯ +20 "core" ' + "manipulator"&D& +4 "core" & * N & +2 "storage"( & +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(I'= +41 "core" ' +2 "manipulator"&H& +3 "core" &  & +2 "manipulator"&% +4 "core" %8   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +155 "core" ( +3 "manipulator"&[& +3 "core" &$ ' U ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &#  ;5 +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'f( +413 "core" ( + "storage"(!& +4 "core" &   +2 "storage"(.& +3 "core" & )  +2 "manipulator"&=& +4 "core" &!  ; 8" +2 "manipulator"&>% +3 "core" %   Z +3 .tForearm.seek :retract + "manipulator"&2'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&R( +166 "core" ( + "manipulator"&(& +4 "core" &  A v +2 "storage"(@& +4 "core" & {  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&&'} +97 "core" ' +2 .tElbow.hold + "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +59 "core" 1 +2 "manipulator"& % +3 "core" % |  e +2 "storage"(<& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +3 "manipulator"&,'Ϩ +20 "core" ' +2 "manipulator"&$& +4 "core" &  B v +2 "storage"(A& +3 "core" & O  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +31 "core" ' + "storage"(;% +4 "core" %A ) +3 ."downElevator"SE.seek :down +42 "storage"(1'X +60 (6% +3 "core" %U . PG +3 "manipulator"&%% +3 "core" %) > +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +88 "core" ' +97 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'i& +3 "core" &6 +2 "manipulator"&M% +4 "core" %\  c  +2 "storage"(T% +4 "core" %]  +2 "storage"(o. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(#( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +3 "core" & +2 "manipulator"&:& +3 "core" &\ 5 v +3 .tElbow.seek 2 + "manipulator"&9( +34 "core" ( +2 "manipulator"&N& +4 "core" & & / $ +2 "storage"(q& +4 "core" & ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +103 "core" ' +2 "storage"(Z& +4 "core" & Q +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (u& +3 "core" & ? +2 "manipulator"&U& +3 "core" &  "} +2 .tElbow.seek 2 +2 "manipulator"&W( +9 "core" ( +2 "manipulator"&d& +4 "core" & ' 8 K +2 "storage"(e& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +8 "core" &  i K + "manipulator"&t% +4 "core" %  L H +2 .tForearm.seek :retract +2 "manipulator"&p'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&v& +4 "core" &% @ << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &%   << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +101 "core" ' +2 "manipulator"&k& +4 "core" &$ 3 W ;8 +2 "manipulator"&h% +4 "core" %,  c +2 "collection"'s& +5 "core" &> +2 "collection"'& +5 "core" &D +2 .tCC.seek :closed +2 "collection"'Y(V +5 "core" &  +9 &8| )w +9 &$k = +9 &r G +10 &g F +9 &Gi F +9 & g F +10 &eU F +9 &dZ F +9 &PdZ F +10 &i F +9 & i F +10 &"jw F +9 &$Wi F +9 &&h F +10 &'i F +9 &)hw F +9 &+^g G +10 &- g~ G +9 &.gv F +10 &0e F +9 &2gh F +9 &4(g G +10 &5gs F +9 &7cw F +10 &9pjx F +9 &;0hp G +9 &<ev F +10 &>c{ F +9 &@wh| F +9 &B8hx G +10 &Ckx F +9 &Enx G +9 &Gx}z I +10 &I6O J +9 &JjLH O +10 &LX}o Q +9 &Nk$0} P +9 &P+ Q +10 &Q  Q +9 &S\   R +9 &Ul  L ? +10 &VE\  | ` +9 &V K +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&1 +4 "core" &Vo K +58 1 +3 "manipulator"&}% +4 "core" % ,  5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &N +2 "manipulator"&`% +4 "core" %\   !  +2 "storage"(c% +3 "core" %`  +2 "storage"(3. +3 "core" .( +2 "storage"(]& +4 "core" & , +46 "storage"(K& +8 "core" & M +2 "manipulator"&b& +4 "core" &#  @ :0 +2 "manipulator"&/% +4 "core" %\   #  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&V( +165 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(r& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&j'ќ +87 "core" ' +2 "storage"(w& +3 "core" & V +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"&l& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&'( +4 "core" ( + "manipulator"&^& +4 "core" & a  +2 "storage"()& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +3 "storage"(0'X +8 "core" &   + "manipulator"&\ % +4 "core" % \ C +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&P& +4 "core" &t 6 t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &t   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + "manipulator"&8& +4 "core" &t $ r  +2 "manipulator"&z% +4 "core" %   +2 "processing"%& +4 "core" &U +3 "processing"%7& +5 "core" &T +2 .tPC.seek :closed +3 "processing"% (Z +3 "core" &\\ +6 &_ 9 +9 &LN] / +10 &zS D +9 &BiS G +9 &gT G +10 &eX G +9 &gU G +9 &JhS G +10 & g` G +14 &dW G +5 &fS G +12 &!SeJ G +6 &#gN G +10 &$cM G +9 &&dS G +10 &(YgL G +9 &*gN G +9 &+gO G +10 &-gH G +9 &/beJ G +9 &1$gN G +10 &2eN G +9 &4gV G +9 &6kgS G +10 &8,dJ G +9 &9hK G +10 &;fI G +9 &=seF G +9 &?6dL F +10 &@eJ G +9 &BhJ G +9 &DymG G +10 &F:pH H +9 &GS J +10 &IH L +9 &KtF L +9 &M4E M +10 &NE M +9 &PH M +9 &RzO M +10 &T<M M +9 &UH M +10 &WM N +9 &YF : +9 &Zo5F V +10 &ZH +2 ( +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&{% +4 "core" % ( ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 "processing"% & +3 "core" &ZD +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   7  +3 "storage"(% +3 "core" %\\ ! +2 "storage"(a. +3 "core" .( +2 "storage"(+& +4 "core" &  +2 "storage"(D& +2 "manipulator"& & +9 "core" &  + &t  \  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&H(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&?& +4 "core" &t    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &t  N  +2 .tForearm.seek PC +2 "manipulator"&"' +98 "core" ' +9 .tHand.close +2 "manipulator"&x/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(F- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['y +36 "core" ' +301 ( + "storage"(X& +4 "core" & 5 +2 "manipulator"&m& +4 "core" &t   +2 "manipulator"&C% +4 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&4( +252 "core" ( +2 "manipulator"&& +3 "core" &\ ' ' Z +2 "storage"(!& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&.'ќ +91 "core" ' + .tHand.open +2 "manipulator"&=1 +59 "core" 1 +2 "storage"(>- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(@' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(J& +4 "core" & [ [ - +2 "manipulator"&L& +4 "core" &\   Z +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&<& +4 "core" &\  Z +2 "storage"($& +3 "core" & Z Z +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +57 "core" ' + "manipulator"&2& +4 "core" &\  Z +2 "storage"(6& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%' +24 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(&'i +24 "core" ' + "manipulator"&,% +4 "core" %  < +2 "storage"(I& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&i' +19 "core" ' +2 "manipulator"&M& +4 "core" &\ & ) Z +2 "storage"(T& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&o'ќ +37 "core" ' +2 "storage"(-% +4 "core" %s +3 ."downElevator"SE.seek :down +3 "storage"(1'X +99 (\\% +5 "core" %bY t v } QL +2 "manipulator"&_% +4 "core" %с  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +96 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" &  +2 "collection"'q& +4 "core" &Vn K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Z% +4 "core" %\ #  ? +2 "storage"(E% +4 "core" %N A +2 "storage"(G. +2 "core" .( +2 "storage"(& +4 "core" & u +2 "storage"(u& +4 "core" &  + "manipulator"&U& +4 "core" &  D Z +2 .tElbow.seek 2 +2 "manipulator"&d( +4 "core" ( + "manipulator"&e& +4 "core" & f Z +2 "storage"(O& +4 "core" & ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +99 "core" ' +2 "storage"(t& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'i +282 "core" ' +2 "storage"(Q- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +4 "core" &\  Z +2 "storage"(S& +3 "core" & - +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&g' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(h'N +28 "core" ' + "manipulator"&s% +4 "core" %  l +2 "storage"(W& +4 "core" & Y +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&p& +4 "core" &\ ' 2 Z +2 "storage"(f& +4 "core" & Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'= +38 "core" ' + "manipulator"&& +4 "core" &\ Z +2 "manipulator"&`% +4 "core" %ѥ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +154 "core" ( +2 "manipulator"&]& +3 "core" &# 2 3 :0 +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +2 "core" &#  R :0 +3 .tForearm.seek CC +2 "manipulator"&K'" +93 "core" ' +2 .tHand.close + "manipulator"&b/ +55 "core" / +2 .tCC.seek :open +2 "collection"'/( +412 "core" ( +2 "storage"(& +3 "core" & . +3 "storage"(n& +3 "core" & +2 "manipulator"&r& +4 "core" &"  ? 9# +2 "manipulator"&w% +3 "core" % 0  9 +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&|( +157 "core" ( +2 "manipulator"&& +3 "core" & ' C  +2 "storage"(& +4 "core" & , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&l' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ( & +2 "storage"(B& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts +2 "manipulator"&\ ' +19 "core" ' + "manipulator"&V& +4 "core" &  +2 "storage"(j& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +38 "core" ' + "storage"(~% +4 "core" %E # +3 ."downElevator"SE.seek :down +4 "storage"(P'X +98 (y% +3 "core" %6W  QJ +2 "manipulator"&'% +4 "core" %p / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'z& +50 "core" &y +2 "manipulator"&% +4 "core" %\    +2 "storage"(0% +4 "core" %b F +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & /  +3 "manipulator"&{& +3 "core" & b  +2 .tElbow.seek 3 +2 "manipulator"& ( +15 "core" ( +2 "manipulator"&& +4 "core" & & P : +2 "storage"(& +4 "core" & /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +95 "core" ' +2 "storage"(+& +3 "core" & c  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +278 "core" ' +2 "storage"(D- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &  +2 "manipulator"&?& +4 "core" & : +2 .tElbow.seek 3 +2 "manipulator"&5( +4 "core" ( + "manipulator"&& +4 "core" & " : +2 "storage"(x& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϩ +18 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'X +8 "core" &  7 : +2 "manipulator"&% +4 "core" % ϳ  B +2 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +19 "core" ( +2 "manipulator"&C& +3 "core" &* 8 - @\\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &* ] @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +106 "core" ' +2 "manipulator"&!& +4 "core" &* 4 9 @[ +2 "manipulator"&H% +5 "core" %% u +2 "collection"'=& +4 "core" & +3 "collection"'>& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & +7 &KF #b +10 &^ 6 +9 &)V G +10 &cz F +9 &jy F +9 &og G +10 &2g F +9 &d F +9 &c F +10 &xh F +9 & :j F +10 &!i F +9 &#j F +9 &%j F +10 &'Bh F +9 &)g G +9 &*g F +10 &,d F +9 &.Jh F +10 &0 g G +9 &1g G +9 &3g F +10 &5Rc F +9 &7j F +9 &8eI G +10 &:g F +9 &e F +9 &?j F +9 &Ag G +10 &Cbh F +9 &E#l G +9 &Fv H +10 &H I +9 &JWG. M +10 &L|~ P +9 &M/@ P +9 &O! Q +10 &QT Q +9 &S R +9 &T   Q +10 &VAg   / +9 &V\  6 +9 &Vn D +6 ( +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&J1 +2 "core" &VW D +51 1 +2 "manipulator"&L% +4 "core" % % 4 ( +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +4 "core" &P +2 "manipulator"&% +4 "core" %\   g  +2 "storage"(2% +3 "core" %P 5 +2 "storage"(6. +3 "core" .( +2 "storage"(,& +4 "core" &   +2 "storage"(I& +3 "core" &   +2 "manipulator"&[& +4 "core" &) ! ( @[ +2 "manipulator"&M% +3 "core" %\  8  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&(( +165 "core" ( +2 "manipulator"&T& +3 "core" &  6 +2 "storage"(-& +4 "core" & X  +50 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&4'9 +87 "core" ' + "storage"(.& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +278 "core" ' +2 "storage"(\\- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" &  +2 "manipulator"&A& +4 "core" & 1 6 +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&;& +4 "core" & ' 6 +2 "storage"(%& +4 "core" & `  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +3 "storage"(Z'X +8 "core" &  + 6 +2 "manipulator"&E% +4 "core" % ϥ\ q +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +118 "core" ( +3 "manipulator"&& +4 "core" &m   \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +4 "core" &m % G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&U' +101 "core" ' +2 "manipulator"&e& +3 "core" &m ! [ \ +2 "manipulator"&O% +4 "core" %  T V +2 "processing"%o& +4 "core" &c +2 "processing"%t& +5 "core" &l +3 .tPC.seek :closed +3 "processing"%1(Z +3 "core" &^ +6 &c 6 +9 &LNe . +10 &yb C +9 &;eV G +10 &gc F +9 &f\\ G +9 &e[ G +10 &Df[ G +9 &hc G +9 &b^ F +10 &gZ G +9 &!Me` F +10 &#i[ F +9 &$g` G +9 &&ie G +10 &(Uf^ F +9 &*f^ G +9 &+j] G +10 &-eP G +9 &/]f^ F +10 &1gU F +9 &2g^ G +9 &4jZ G +10 &6eeZ F +9 &8'ee F +9 &9g_ G +10 &;ge G +9 &=lfS G +10 &?.jS G +9 &@jF G +9 &BgM G +10 &DrlE G +9 &F3oI H +9 &GF I +10 &IG L +9 &KnZ L +10 &M/N L +9 &NQ L +9 &PG L +10 &RsN M +9 &T4Q M +9 &UE M +10 &WO M +9 &Yz\\ : +10 &Zk5V Z +9 &ZQ ! +2 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&R1 +61 "core" 1 + "manipulator"&:% +4 "core" %  ^ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +91 "core" ' + "processing"%v& +4 "core" &ZP ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&S% +4 "core" %\   6  +2 "storage"(k% +4 "core" %b +2 "storage"(s. +2 "core" .( +2 "storage"(W& +4 "core" &  +2 "storage"(p& +3 "manipulator"&f& +5 "core" &   +2 &m \ G \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&(s +2 "storage"(`'i +5 "core" ( +2 "manipulator"&& +4 "core" &m 3 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &m  > \ +2 .tForearm.seek PC +2 "manipulator"&9' +96 "core" ' + .tHand.close +2 "manipulator"&g/ +55 "core" / +3 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(h- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'y +43 "core" ' +290 ( + "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &m  G \ +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +260 "core" ( +2 "manipulator"&Y& +4 "core" & ' W \ +2 "storage"(& +3 "core" & :  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +101 "core" ' + .tHand.open +2 "manipulator"&r1 +59 "core" 1 +2 "storage"(w- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(3& +4 "core" & [ Y  +2 "manipulator"&)& +3 "core" &  \ +3 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&B& +4 "core" & % 2 \ +2 "storage"(V& +4 "core" & V [  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&j'9 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(~' +39 "Can" F@8 +19 "core" ' + "manipulator"& & +4 "core" &  ; \ +2 "storage"(y& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&''} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +23 "core" ' + "manipulator"&\ % +4 "core" %s  $ +2 "storage"(z& +4 "core" & q  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 290 counts + "manipulator"&}'ϟ +20 "core" ' +2 "manipulator"&& +4 "core" & L \ +2 "storage"(0& +3 "core" & >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +42 "core" ' + "storage"(% +4 "core" %p A  +3 ."downElevator"SE.seek :down +4 "storage"(P'X +98 (#% +3 "core" %+b M RM +2 "manipulator"&% +4 "core" %т  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & 5  +3 "collection"'& +3 "core" &VX D +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&+% +3 "core" %\ #   @ +3 "storage"(^% +3 "core" %T S +2 "storage"(8. +3 "core" .( +2 "storage"(D& +4 "core" &   +2 "storage"(7& +4 "core" &   +2 "manipulator"&?& +4 "core" &   \ +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&x& +3 "core" & ' c \ +3 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' +2 "storage"(& +3 "core" & Y  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +282 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & \ +3 "storage"("& +48 "core" &   +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +30 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(!- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(5'N +32 "core" ' + "manipulator"&H% +4 "core" %x   +2 "storage"(=& +4 "core" & X  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 295 counts + "manipulator"& 'Ϥ +19 "core" ' +2 "manipulator"&X& +4 "core" & \ +2 "storage"(/& +4 "core" & N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(L'= +41 "core" ' +2 "manipulator"&$& +3 "core" & \ +2 "manipulator"&% +4 "core" %) = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +157 "core" ( +2 "manipulator"&,& +4 "core" &" '  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &"  B 9% +3 .tForearm.seek CC +2 "manipulator"&['" +99 "core" ' +2 .tHand.close + "manipulator"&>/ +58 "core" / +2 .tCC.seek :open +2 "collection"'M( +416 "core" ( + "storage"(& +4 "core" & 6  +2 "storage"(T& +3 "core" &   +2 "manipulator"&-& +4 "core" &" ! N 9$ +2 "manipulator"&m% +4 "core" % 3 ! X +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +165 "core" ( +2 "manipulator"&\\& +4 "core" &  v [ +2 "storage"(_& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&A'} +101 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +59 "core" 1 +2 "manipulator"&N% +4 "core" % ~ ( E +3 "storage"(q& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 301 counts + "manipulator"&E'Ϫ +21 "core" ' + "manipulator"&(& +4 "core" & [ +2 "storage"(4& +4 "core" & B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&@'9 +25 "core" ' +2 "storage"(i% +3 "core" %= 5 +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (u% +3 "core" % W z QI +3 "manipulator"& % +3 "core" %I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'O& +4 "core" &z +2 "manipulator"&o% +4 "core" %\   ' +2 "storage"(Z% +3 "core" %a ) +2 "storage"(G. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +46 "core" & ' +5 "manipulator"&:& +4 "core" & [ +2 .tElbow.seek 2 +2 "manipulator"&v( +38 "core" ( +2 "manipulator"&S& +4 "core" &  )  # +2 "storage"(k& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +101 "core" ' +2 "storage"(W& +3 "core" & ] +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +278 "core" ' +3 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & +2 "manipulator"&& +4 "core" &  U # +2 .tElbow.seek 2 +2 "manipulator"&d( +33 "core" ( + "manipulator"&U& +4 "core" &  | +2 "storage"(g& +3 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(1'X +7 "core" & \\ | +2 "manipulator"&`% +4 "core" %  j ` +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &' F f >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &' ! M >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'" +96 "core" ' + "manipulator"&& +4 "core" &' " E >K +2 "manipulator"&% +4 "core" %#  f +2 "collection"'r& +4 "core" && +3 "collection"'w& +5 "core" &N +2 .tCC.seek :closed +2 "collection"'K(V +4 "core" & +7 &BE $d +9 &]p 6 +9 &  G +10 &cO F +9 &h G +9 &fe F +10 &(e F +9 &i F +10 &h F +9 &mg G +9 & 0g F +10 &!d F +9 &#e F +9 &%ug G +10 &'8f F +9 &(b F +10 &*f G +9 &,~f F +9 &.Ab F +10 &0f G +9 &1g G +9 &3f F +10 &5Ic F +9 &7 g G +10 &8e F +9 &:i F +9 &g G +9 &?g F +9 &Ah F +10 &CWh G +9 &En G +10 &Fu H +9 &H J +9 &JLD+ M +10 &L|} P +9 &M.A P +9 &O* Q +10 &QJ Q +9 &S  R +10 &T\   R +9 &V=i  / +9 &V  8 +10 &Wd A +5 ( +2 "collection"'w& +4 "core" &WT A +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&31 +57 "core" 1 +3 "manipulator"&)% +4 "core" % # ( 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%V& +4 "core" &[ + "manipulator"&b% +4 "core" %\ ! ~ 5 +2 "storage"( % +4 "core" %_ - +2 "storage"(y. +2 "core" .( +3 "storage"(\ & +3 "core" & . +2 "storage"(]& +4 "core" & T +2 "manipulator"&z& +4 "core" &' O >I +2 "manipulator"&% +3 "core" %\ " 5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&0& +3 "core" & ( J  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +90 "core" ' + "storage"(n& +4 "core" & c +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(#- +3 "core" -' +49 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & +2 "manipulator"&j& +3 "core" & #  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +4 "core" &   +2 "storage"('& +4 "core" & V +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(+'X +7 "core" &   + "manipulator"&^% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&8'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&D& +4 "core" &x <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &x  Q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +102 "core" ' +2 "manipulator"&x& +4 "core" &x % P  +2 "manipulator"&% +4 "core" %  +2 "processing"%& +5 "core" &^ +2 "processing"%& +5 "core" &f +2 .tPC.seek :closed +2 "processing"%P(Z +5 "core" &e +6 &>e #b +9 &[l 6 +9 &h H +10 &eh G +9 &ik G +10 &[ee F +9 &fd G +9 &ih G +10 &j] G +9 &bdd G +10 & %fk F +9 &!ej F +9 &#fg F +10 &%jgm G +9 &'+kg G +9 &(fi F +10 &*ge G +9 &,rjf G +9 &.4de G +10 &/ee F +9 &1ea G +10 &3zcb G +9 &5=ge F +10 &6gg F +9 &8gf G +9 &:he G +9 &cf G +9 &?de G +10 &Ace G +9 &CLig G +9 &E lf G +10 &Fte H +9 &He J +9 &JEc L +10 &Lg L +9 &Mf M +10 &Og L +9 &QLf L +9 &S e M +10 &Te M +9 &Va M +9 &XQX M +10 &Ywxc "k +9 &Z(oZ , +9 ( +2 &ZW +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&|1 +53 "core" 1 +2 "manipulator"&{% +4 "core" % $ # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +99 "core" ' +2 "processing"%C& +4 "core" &ZY +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&"% +4 "core" %\   +2 "storage"(!% +4 "core" %R  +2 "storage"(H. +3 "core" .( +2 "storage"(=& +4 "core" &  +2 "storage"(X& +2 "manipulator"&/& +8 "core" & + &x  +3 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&$(s +5 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +3 "core" ( +2 "manipulator"&& +3 "core" &x  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &x d  +3 .tForearm.seek PC + "manipulator"& ' +96 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +3 .tPC.seek :open + "processing"% ( +86 "core" ' + "storage"(5- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'y +39 "core" ' +293 ( +2 "storage"(I& +3 "core" & * +2 "manipulator"&J& +4 "core" &x  +2 "manipulator"&F% +4 "core" % \ +2 .tForearm.seek :retract +2 "manipulator"&>'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&2( +310 "core" ( +2 "manipulator"&& +4 "core" & ' $ +2 "storage"(& +4 "core" & " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +96 "core" ' + .tHand.open +2 "manipulator"&-1 +58 "core" 1 +2 "storage"(m- +3 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(\\'E +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(_' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(6& +4 "core" & Z [  + "manipulator"&%& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&N( +7 "core" ( +2 "manipulator"&q& +3 "core" & & /  +2 "storage"((& +4 "core" & [ [ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(i' +57 "core" ' +2 "manipulator"&.& +4 "core" &  +2 "storage"(u& +4 "core" & ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +25 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(A'i +22 "core" ' +2 "manipulator"&E% +3 "core" %   +2 "storage"(O& +4 "core" & c +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&o' +21 "core" ' + "manipulator"&Z& +4 "core" &  +2 "storage"(G& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&L'ќ +23 "core" ' +2 "storage"(@% +4 "core" %j Q  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (*% +4 "core" %U _ PK +2 "manipulator"&R% +4 "core" %њ  o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (S& +2 "core" & K +3 "collection"'k& +4 "core" &WT A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&W% +4 "core" %\ # @ +2 "storage"(;% +4 "core" %^ - + "storage"(e. +3 "core" .( +2 "storage"(f& +4 "core" & +2 "storage"(t& +4 "core" & +2 "manipulator"&& +3 "core" & Y  +2 .tElbow.seek 2 +2 "manipulator"&U( +4 "core" ( + "manipulator"&g& +4 "core" & ' *  +2 "storage"(&& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +100 "core" ' + "storage"(`& +4 "core" & 6 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +283 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +2 "storage"(9& +4 "core" & p +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p' +32 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +28 "core" ' + "manipulator"&r% +4 "core" % | 4 +2 "storage"(d& +3 "core" & Q +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts +2 "manipulator"&1' +19 "core" ' + "manipulator"&& +4 "core" & -  +2 "storage"(M& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +22 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"()'= +37 "core" ' + "manipulator"&V& +4 "core" & a  +2 "manipulator"&b% +4 "core" %ј G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +157 "core" ( +4 "manipulator"&\ & +3 "core" &* ! > @Y +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +4 "core" &*  1 @Y +2 .tForearm.seek CC +2 "manipulator"&]'" +92 "core" ' +2 .tHand.close +2 "manipulator"&z/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(Y& +4 "core" & +2 "storage"(0& +4 "core" & U +2 "manipulator"&& +4 "core" &( T ?Q + "manipulator"&n% +4 "core" %  ( S +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&B( +159 "core" ( +2 "manipulator"&#& +4 "core" &  +2 "storage"(& +15 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&j' +100 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  B +3 "storage"(& +3 "core" & f +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&^' +18 "core" ' + "manipulator"&& +3 "core" & f  +3 "storage"(c& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +17 "core" ' +2 "storage"(}% +4 "core" %< h  +3 ."downElevator"SE.seek :down +3 "storage"(D'X +99 (7% +3 "core" %U [ PH +2 "manipulator"&% +4 "core" %х m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +87 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"&% +4 "core" %\   +2 "storage"(+% +4 "core" %a ! +2 "storage"(8. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" & +2 "manipulator"&{& +4 "core" & ;  +2 .tElbow.seek 3 +2 "manipulator"&C( +14 "core" ( + "manipulator"&"& +4 "core" & W +2 "storage"(!& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&H'9 +93 "core" ' +5 "storage"(=& +4 "core" & > +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(/- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +3 "core" & +2 "manipulator"&& +4 "core" & K W +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&?& +3 "core" & W +2 "storage"( & +4 "core" & | +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&5'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(P'X +8 "core" & c W +2 "manipulator"&% +3 "core" % ϔ  +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&F& +4 "core" &+ 4 \\ Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &+   Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&$'" +95 "core" ' +2 "manipulator"&& +3 "core" &, %  Bj +2 "manipulator"&% +4 "core" %!  5 +2 "collection"'-& +4 "core" & +3 "collection"'m& +5 "core" & +5 .tCC.seek :closed +2 "collection"'[(V +2 "core" & +5 & 9 +9 &MP / +10 &| D +9 &Jf F +9 &\ g G +10 &g F +9 &d F +10 &Qe F +9 &e F +9 &h F +10 &g G +9 &!Xg G +9 &#g G +10 &$h G +9 &&g F +10 &(ad F +9 &*"g G +9 &+g F +10 &-h F +9 &/ig F +9 &1+e F +10 &2c F +9 &4g F +10 &6rc F +9 &82g G +9 &9f F +10 &;h G +9 &=xg G +9 &?;h F +10 &@j F +9 &Bi F +10 &Dg G +9 &F@o H +9 &G I +10 &I& K +9 &Knzg P +9 &M/?Y P +10 &N' P +9 &P Q +10 &Rr  Q +9 &T2   R +9 &Uz  8 +10 &V2  !c +9 &VW B +2 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&61 +63 "core" 1 + "manipulator"&%% +4 "core" % ! 1 F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%(& +3 "core" &h  +2 "manipulator"&>% +4 "core" %\ !  P / +2 "storage"(.% +4 "core" %a - + "storage"(u. +3 "core" .( +2 "storage"(,& +4 "core" & z +2 "storage"(E& +4 "core" & +2 "manipulator"&O& +3 "core" &+ l Bj +2 "manipulator"&\\% +4 "core" %\ ! 4 / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +164 "core" ( + "manipulator"&G& +4 "core" & ' Z g +2 "storage"(@& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +105 "core" ' + "storage"(T& +4 "core" & ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'i +280 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" & L +2 "manipulator"&4& +3 "core" & J g +2 .tElbow.seek 3 +2 "manipulator"&N( +4 "core" ( + "manipulator"&i& +4 "core" & ^ g +2 "storage"( & +4 "core" & s +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'ϩ +49 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(W'X +6 "core" & 5 g +2 "manipulator"&;% +4 "core" % ϧ }  +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&A(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( + "manipulator"&f& +4 "core" &g % U  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &g  Q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&g& +3 "core" &g  +2 "manipulator"&&% +4 "core" % d +7 "processing"%L& +4 "core" &q  +3 "processing"%`& +5 "core" &c  +7 .tPC.seek :closed +2 "processing"%(Z +3 "core" &i  +5 &e = +9 &ZPl 1 +9 &f E +10 &cch G +9 &'ef F +9 &e` G +10 &hg G +9 &lce G +10 &/gl F +9 &eq F +9 &gh G +10 &!tcf G +9 &#5ek G +9 &$fo G +10 &&hl G +9 &(|dn G +10 &*?ge F +9 &,gl F +9 &-gp G +10 &/hn G +9 &1Eij G +9 &3 ec F +10 &4eh G +9 &6ji G +10 &8Nhe G +9 &:dj G +9 &;bf G +10 &=hk G +9 &?Vhh G +9 &Abg G +10 &Bfj G +9 &Dkl H +10 &FZsf H +9 &Hm J +9 &Ig L +10 &Kg L +9 &MUf M +9 &Oe M +10 &Pe M +9 &Rf M +10 &T]f M +9 &Vf M +9 &Wf M +10 &Yf 6 +9 &Zp,_ ^ +9 &Zd " +3 ( +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 11/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&<1 +52 "core" 1 +2 "manipulator"&:% +4 "core" % ) , d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +90 "core" ' +2 "processing"%& +3 "core" &ZO " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&9% +4 "core" %\   s  +2 "storage"(% +4 "core" %a H +2 "storage"(r. +2 "core" .( +2 "storage"(d& +4 "core" & +2 "storage"(& +3 "manipulator"&M& +5 "core" &  +2 &h   +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(V'i + "manipulator"&b(s +11 "core" ( + "manipulator"&Q& +4 "core" &k & U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +4 "core" &l  F +2 .tForearm.seek PC +2 "manipulator"&v' +95 "core" ' +2 .tHand.close +2 "manipulator"&p/ +64 "core" / +3 .tPC.seek :open +2 "processing"%1( +75 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'y +46 "core" ' +298 ( +2 "storage"(w& +3 "core" & +2 "manipulator"&3& +4 "core" &l  +2 "manipulator"&h% +3 "core" % \\ +3 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +257 "core" ( +2 "manipulator"&K& +4 "core" &   +2 "storage"(Y& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +98 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(n- +2 "core" -'y +50 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(#'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' +2 "storage"(y& +3 "core" & [ [ +2 "manipulator"&'& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & & )  +2 "storage"(& +4 "core" & [ Z +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(}' +55 "core" ' +2 "manipulator"&& +4 "core" & J  +2 "storage"(7& +4 "core" & a +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +24 "core" ' + "manipulator"&% +4 "core" %w +2 "storage"(& +4 "core" & b +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 294 counts + "manipulator"&^'ϣ +20 "core" ' +2 "manipulator"&+& +4 "core" &  +2 "storage"(8& +4 "core" & L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +16 "core" ' + "storage"(% +4 "core" %s > +3 ."downElevator"SE.seek :down +4 "storage"(D'X +98 (% +3 "core" %] QL +2 "manipulator"&|% +4 "core" %J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +97 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" & ! +2 "collection"'!& +4 "core" &V_J B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&=% +4 "core" %\ %  J +2 "storage"(~% +3 "core" %b +2 "storage"(x. +3 "core" .( +2 "storage"(/& +4 "core" &  +2 "storage"(X& +3 "core" &  +2 "manipulator"&& +5 "core" &  ~  + .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"& & +4 "core" & 1 C  +2 "storage"(l& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +95 "core" ' + "storage"(& +4 "core" & h +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +280 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & %  +2 "storage"( & +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +32 "core" ' +2 "manipulator"&% +4 "core" %Ύ   +2 "storage"(-& +4 "core" & J + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&P'Ϻ +21 "core" ' + "manipulator"&I& +4 "core" & I  +2 "storage"(& +4 "core" &  +41 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'= +41 "core" ' +2 "manipulator"&(& +3 "core" &  +2 "manipulator"&>% +4 "core" %@  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +171 "core" ( +3 "manipulator"&m& +4 "core" &+ ) & Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &*  ? Ad +2 .tForearm.seek CC +2 "manipulator"&E'" +93 "core" ' +2 .tHand.close + "manipulator"&O/ +60 "core" / +2 .tCC.seek :open + "collection"'\\( +413 "core" ( + "storage"($& +4 "core" &  +2 "storage"(G& +4 "core" & +2 "manipulator"&@& +3 "core" &+  ` Ad +2 "manipulator"&T% +4 "core" % " ' +2 .tForearm.seek :retract +2 "manipulator"&J'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&q( +162 "core" ( + "manipulator"&*& +4 "core" &  +2 "storage"(R& +4 "core" & M +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&4'} +97 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&S% +4 "core" % Έ * N + "storage"(k& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts +2 "manipulator"&;'ϴ +20 "core" ' +2 "manipulator"&Z& +3 "core" &   +2 "storage"(2& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +34 "core" ' + "storage"(o% +4 "core" %D  +3 ."downElevator"SE.seek :down +4 "storage"(f'X +98 (t% +3 "core" %]U  QH +2 "manipulator"&N% +4 "core" %? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +87 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'&& +3 "core" & +2 "manipulator"&L% +4 "core" %\   +2 "storage"(W% +4 "core" %a  +2 "storage"(e. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( ( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &  +2 "manipulator"&:& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +29 "core" ( +2 "manipulator"&9& +4 "core" &\ & d +2 "storage"(& +3 "core" &  C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +91 "core" ' +2 "storage"(d& +4 "core" &  n +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +3 "core" &  / +2 "manipulator"&Q& +3 "core" &\ & ] +45 .tElbow.seek 2 +6 "manipulator"&U( +3 "core" ( +2 "manipulator"&& +4 "core" &\ & 7 ] +2 "storage"(p& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"('X +8 "core" &\  ] +2 "manipulator"&V% +4 "core" % L +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&3( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&h& +4 "core" &' 4 >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &'   >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'" +103 "core" ' +3 "manipulator"&Y& +4 "core" &' % >K +2 "manipulator"&b% +4 "core" %! M +2 "collection"'& +4 "core" & +3 "collection"'n& +4 "core" & +3 .tCC.seek :closed + "collection"'z(V +5 "core" & +9 &J $d +9 &] 6 +10 &( G +9 &c F +10 &e F +9 &ph F +9 &0g G +10 &g F +9 &c F +9 &wh F +10 & 8h G +9 &!g F +10 &#d F +9 &%j F +9 &'@g G +10 &)g F +9 &*g G +9 &,g F +10 &.Ih F +9 &0 g F +10 &1d F +9 &3i F +9 &5Qg F +10 &7c F +9 &8e F +9 &:j F +10 &f F +10 &?d F +9 &Ai F +9 &C`h G +10 &E"i G +9 &Fu H +10 &H I +9 &JUG, M +9 &L{~ P +10 &M/D P +9 &O  Q +9 &QT P +10 &S  R +9 &T  R +9 &VCh   / +10 &V  3 +9 &Vt K +3 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&]1 +57 "core" 1 +3 "manipulator"&y% +4 "core" % ! L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +3 "core" &h +2 "manipulator"&% +4 "core" %\   + \ +2 "storage"(% +4 "core" %` r +2 "storage"(7. +3 "core" .( +2 "storage"(& +4 "core" &  D +2 "storage"(& +3 "core" &   +2 "manipulator"&\ & +4 "core" &&   =G +2 "manipulator"&+% +3 "core" %\    \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&8( +155 "core" ( +2 "manipulator"&#& +4 "core" & &   +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +101 "core" ' +2 "storage"(0& +4 "core" &  + +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +3 "core" &  O +2 "manipulator"&c& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&}& +4 "core" &  +2 "storage"(& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(='X +8 "core" &  + "manipulator"&~% +4 "core" %  o 6 +2 .tForearm.seek :retract +2 "manipulator"&j'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +116 "core" ( +2 "manipulator"&/& +4 "core" &l - <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +3 "core" &l A  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"& & +4 "core" &m & 6  +2 "manipulator"&l% +60 "core" %   +2 "processing"%)& +4 "core" &p +3 "processing"%& +5 "core" &s +2 .tPC.seek :closed +2 "processing"%D(Z +3 "core" &n  +10 &9y *x +9 &jt = +9 &sn H +10 &ucu G +9 &8eu F +9 &fu G +10 &gq G +9 &|is G +9 &@ex F +10 &fo G +9 & el F +10 &"eo G +9 &$Ger G +9 &&cm G +10 &'eq G +9 &)gr F +9 &+Nes G +10 &-ei F +9 &.eq G +10 &0eo G +9 &2Vjp G +9 &4eq F +10 &5en G +9 &7ep F +9 &9_gn G +10 &;!cq G +9 &<en F +10 &>en G +9 &@fin G +9 &B)gl G +10 &Cip G +9 &Epr H +10 &Giyr I +9 &I%m K +9 &Jp L +10 &Lm L +9 &Ngk L +9 &P)l L +10 &Qp M +9 &Sm M +10 &Unl M +9 &W/m M +9 &Xm M +10 &ZBDbm %l +9 &Z"l " +5 ( +3 "processing"%& +3 "core" &Zk " +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&B1 +53 "core" 1 +2 "manipulator"&{% +4 "core" % ) X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' + "processing"%F& +4 "core" &Z` " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\ #  $ < +3 "storage"(% +3 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"(-& +4 "core" &  \\ +2 "storage"(I& +3 "manipulator"&& +5 "core" &  3 +2 &m   +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(('i +2 "manipulator"&>(s +4 "core" ( +2 "manipulator"&a& +4 "core" &m ' >  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &m  $  +2 .tForearm.seek PC +2 "manipulator"&C' +101 "core" ' +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%P( +85 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'y +49 "core" ' +288 ( +2 "storage"(,& +3 "core" &  +3 "manipulator"&6& +4 "core" &n Y  +2 "manipulator"&5% +3 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&O'\ +93 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.( +260 "core" ( + "manipulator"&[& +4 "core" & ] +2 "storage"($& +5 "core" &  J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&G'ќ +96 "core" ' +2 .tHand.open + "manipulator"&@1 +56 "core" 1 +4 "storage"(T- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(*'E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(R' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(u& +4 "core" &  X Z +2 "manipulator"& & +3 "core" & +42 .tElbow.seek 2 +9 "manipulator"&S( +4 "core" ( +2 "manipulator"&k& +3 "core" & % / +2 "storage"(Z& +4 "core" &  [ ] +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(o' +58 "core" ' + "manipulator"&J& +4 "core" & j +2 "storage"(t& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +24 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'i +24 "core" ' + "manipulator"&;% +4 "core" %  , +2 "storage"(&& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&L' +18 "core" ' +2 "manipulator"&W& +4 "core" & ! +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +28 "core" ' + "storage"(_% +4 "core" %m   +3 ."downElevator"SE.seek :down +4 "storage"(f'X +98 (% +3 "core" %@_ \\ RL +2 "manipulator"&<% +5 "core" %Ѡ } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (9& +3 "core" &  +2 "collection"'& +4 "core" &Vm K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&d% +4 "core" %\ # @ +2 "storage"(i% +4 "core" %U  +2 "storage"(g. +2 "core" .( +2 "storage"(M& +4 "core" &  +2 "storage"(`& +3 "core" &  +2 "manipulator"&Q& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&p& +4 "core" &  % +2 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +97 "core" ' +2 "storage"(V& +4 "core" &  k +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" & +2 "storage"(v& +4 "core" &  { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(b'O +30 "core" ' + "manipulator"&U% +4 "core" % = 4 +2 "storage"(& +3 "core" &  ` +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&w& +3 "core" & @ +2 "storage"(\\& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&]'ќ +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'> +38 "core" ' + "manipulator"&& +4 "core" & G +2 "manipulator"&% +4 "core" %ѣ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&'\ +87 "core" ' +3 .tElbow.seek CC + "manipulator"&7( +167 "core" ( + "manipulator"&& +4 "core" &$ 1 2 ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$  K ;5 +2 .tForearm.seek CC +2 "manipulator"&n'" +95 "core" ' + .tHand.close +2 "manipulator"&\ / +64 "core" / +2 .tCC.seek :open +2 "collection"'+( +415 "core" ( +2 "storage"(K& +4 "core" &  \\ +2 "storage"(#& +3 "core" &   +2 "manipulator"&& +4 "core" &#   :1 +2 "manipulator"&0% +3 "core" % 0   +2 .tForearm.seek :retract +2 "manipulator"&3'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +163 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(|& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&c' +96 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&"% +4 "core" %  s +2 "storage"(!& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts +2 "manipulator"&~' +19 "core" ' +2 "manipulator"&8& +3 "core" &  +2 "storage"( & +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 "storage"(^% +3 "core" %A ? +3 ."downElevator"SE.seek :down +4 "storage"(/'X +99 (X% +3 "core" %X R QJ +2 "manipulator"&% +4 "core" %Ѧ b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'=& +4 "core" & +2 "manipulator"&l% +3 "core" %\  ?  +3 "storage"()% +3 "core" %[  +2 "storage"(j. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(1( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" & .  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&F( +14 "core" ( + "manipulator"& & +4 "core" & r Z +2 "storage"(& +4 "core" & D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' +2 "storage"(-& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&a& +4 "core" & Z +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +3 "core" & d Z +2 "storage"(& +4 "core" & 2  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +61 "core" / +49 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(D'X +8 "core" & v Z +2 "manipulator"&(% +4 "core" % P +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&5& +4 "core" & B 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" & ( > 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['" +96 "core" ' +2 "manipulator"&$& +4 "core" &  5 +2 "manipulator"&>% +4 "core" %*  " +2 "collection"'@& +5 "core" & +2 "collection"'T& +5 "core" & +2 .tCC.seek :closed +2 "collection"'E(V +4 "core" &  +8 &6 )w +10 &l = +9 &q F +10 &qf F +9 &3c F +9 &h F +10 &g G +9 &ye F +9 &;h F +10 &g F +9 & i F +10 &"h G +9 &$Cf F +9 &&d F +10 &'f G +9 &)e F +9 &+Kg F +10 &-c F +9 &.g F +10 &0e F +9 &2Tc F +9 &4f G +10 &5e F +9 &7f G +9 &9\\f F +10 &;h G +9 &<g F +10 &>c F +9 &@bg G +9 &B%f F +10 &Cj F +9 &Ek G +9 &Ge} I +10 &I# J +9 &JcE O +10 &L\\| Q +9 &NV(2 P +9 &P Q +10 &Q Q +9 &S  S +9 &UY  A +10 &Vo=   . +9 &Vm  @ +6 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&u1 +3 "core" &VU @ +59 1 +3 "manipulator"& % +3 "core" % * " q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%k& +3 "core" &~ +2 "manipulator"&Z% +4 "core" %\  T  +2 "storage"(J% +4 "core" %^  +2 "storage"(t. +2 "core" .( +3 "storage"(m& +3 "core" &   +2 "storage"(*& +4 "core" &  +2 "manipulator"&;& +3 "core" & 5 +2 "manipulator"&&% +4 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +167 "core" ( +2 "manipulator"&e& +3 "core" & x f +2 "storage"(_& +4 "core" & H  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +86 "core" ' +2 "storage"(G& +4 "core" & ^  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(R'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (<& +2 "core" &  +3 "manipulator"&2& +3 "core" & ! f +2 .tElbow.seek 3 +2 "manipulator"&S( +4 "core" ( + "manipulator"&o& +4 "core" & f +2 "storage"(N& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϩ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(d'X +7 "core" & j f +2 "manipulator"&i% +4 "core" % ϱ   +2 .tForearm.seek :retract +2 "manipulator"&4'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&M& +4 "core" &n s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &n  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +48 "manipulator"&Q' +102 "core" ' +2 "manipulator"&p& +4 "core" &o x  +2 "manipulator"&A% +4 "core" % +2 "processing"%%& +4 "core" & +3 "processing"%V& +5 "core" &v +2 .tPC.seek :closed +2 "processing"%f(Z +4 "core" &  +9 &7 )w +9 &k{ = +9 &s~ H +10 &sc{ G +9 &5c{ G +9 &e~ F +10 &gx G +9 &{j} G +10 &=cs G +9 &e| G +9 & eu G +10 &"hd G +9 &$Ecq G +9 &&eh G +10 &'jl G +9 &)go G +10 &+Ljt G +9 &-gl F +9 &.gn G +10 &0el G +9 &2Ugp G +9 &4cg G +10 &5ej G +9 &7hn G +10 &9^go F +9 &; eo F +9 &<gp G +10 &>jq G +9 &@eer G +9 &B'fq G +10 &Clq G +9 &Ekq H +10 &Gfxq I +9 &I$q K +9 &Jr M +10 &Ln L +9 &Neq L +9 &P'n L +10 &Qq L +9 &Sr M +10 &Uml L +9 &W-m M +9 &Xq M +10 &Z@Ebn %l +9 &Z (o +5 ( +3 "processing"%V& +3 "core" &Zl +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&q1 +59 "core" 1 +2 "manipulator"&:% +4 "core" % * E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' + "processing"%h& +4 "core" &Zp +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&v% +3 "core" %\   '  +2 "storage"(Y% +4 "core" %T  +2 "storage"(U. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(w& +4 "manipulator"&\\& +5 "core" &  + &o  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&s& +4 "core" &o   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &o  +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"(b- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +32 "core" ' +289 ( + "storage"(& +4 "core" & $  +2 "manipulator"&]& +4 "core" &o  +2 "manipulator"&% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +269 "core" ( +2 "manipulator"&z& +4 "core" &   +2 "storage"(K& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +93 "core" ' +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(0- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(|' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +3 "core" -' +2 "storage"(7& +4 "core" & X Z f  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&"( +2 "core" ( +2 "manipulator"&!& +4 "core" & &  +2 "storage"(8& +4 "core" & Z Z  +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +57 "core" ' +3 "manipulator"&3& +4 "core" & 7  +2 "storage"(X& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +23 "core" ' +2 "manipulator"&=% +3 "core" %΂ +2 "storage"(~& +4 "core" & P  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 305 counts + "manipulator"&l'Ϯ +21 "core" ' + "manipulator"&)& +4 "core" &  +2 "storage"(j& +5 "core" & L  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +29 "core" ' + "storage"(% +4 "core" %s c  +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 ( % +3 "core" %.] QL +2 "manipulator"&B% +5 "core" %; 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +86 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & a  +2 "collection"'& +4 "core" &VU @ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\   +2 "storage"(}% +4 "core" %R 0 +2 "storage"( . +2 "core" .( +2 "storage"(& +4 "core" & l  +2 "storage"(& +4 "core" & y  +2 "manipulator"&a& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & V  +2 "storage"(x& +4 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +100 "core" ' +2 "storage"((& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +280 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &  +3 "storage"(C& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&I'} +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(>'N +31 "core" ' +2 "manipulator"&?% +3 "core" %΀ +2 "storage"(@& +4 "core" & <  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&D'Ϭ +21 "core" ' + "manipulator"&,& +4 "core" &  +2 "storage"(+& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '= +39 "core" ' + "manipulator"&k& +4 "core" &  +2 "manipulator"&Z% +4 "core" %1 \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +162 "core" ( +2 "manipulator"&t& +4 "core" &" $ H 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &"   9) +2 .tForearm.seek CC +2 "manipulator"&*'" +96 "core" ' +40 .tHand.close +9 "manipulator"&;/ +57 "core" / +2 .tCC.seek :open +2 "collection"'&( +415 "core" ( +2 "storage"([& +4 "core" &   +2 "storage"(e& +3 "core" &   +2 "manipulator"&_& +4 "core" &"  9( +2 "manipulator"&G% +4 "core" % 2  ^  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O( +166 "core" ( +2 "manipulator"&& +4 "core" & E + "storage"(<& +4 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'} +98 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +61 "core" 1 +2 "manipulator"&9% +4 "core" % Ή  I +2 "storage"(& +6 "core" & /  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&i'ϵ +21 "core" ' + "manipulator"&W& +4 "core" & j E +2 "storage"(.& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +34 "core" ' +2 "storage"(L% +4 "core" %C } +3 ."downElevator"SE.seek :down +3 "storage"(M'X +100 (`% +2 "core" %Y P QJ +3 "manipulator"&S% +3 "core" %D [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'A& +3 "core" & +2 "manipulator"&%% +4 "core" %\ "  9 +2 "storage"(d% +4 "core" %` 8  +2 "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(P( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" & K +2 "manipulator"&:& +4 "core" & E +2 .tElbow.seek 2 +2 "manipulator"&h( +48 "core" ( +2 "manipulator"&v& +3 "core" & & [ !v +2 "storage"(Y& +4 "core" & +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 2 + 700 counts +4 "manipulator"&U'ќ +93 "core" ' +2 "storage"(& +5 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +278 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &  +2 "manipulator"&s& +4 "core" & !t +3 .tElbow.seek 2 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&Q& +3 "core" & Y  +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&b' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(f'X +7 "core" & {  +2 "manipulator"&% +4 "core" % 0 3 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +49 "core" ( +2 "manipulator"&& +4 "core" &(  Q ?S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &(  C ?S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&z'" +99 "core" ' +2 "manipulator"&K& +4 "core" &( 0 ?S +2 "manipulator"&% +4 "core" %)  +2 "collection"'& +4 "core" & +3 "collection"'0& +6 "core" & +2 .tCC.seek :closed +2 "collection"'n(V +5 "core" & +6 &J #b +10 &] 6 +9 &* G +10 &b F +9 &j F +9 &pe G +10 &3g F +9 &c F +9 &h F +10 &xf G +9 & :g G +9 &!f F +10 &#d F +9 &%c F +10 &'Dc F +9 &)f F +9 &*c F +10 &,f G +9 &.Ke F +10 &0 g G +9 &1g F +9 &3h F +10 &5Sf F +9 &7h G +9 &8f F +10 &:g F +9 &<[d F +9 &>g F +10 &?d F +9 &Ag F +10 &Ccd F +9 &E$o G +9 &Fu H +10 &H} I +9 &JXG, M +10 &Lx P +9 &M-< P +9 &O Q +10 &QT Q +9 &S   R +9 &T   R +10 &VEh / +9 &V\  5 +9 &Vn F +6 ( +2 "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&71 +4 "core" &V` F +49 1 +2 "manipulator"&% +4 "core" % ) , g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%8& +4 "core" &~ +2 "manipulator"&\ % +4 "core" %\   y  +2 "storage"(3% +3 "core" %[ H +2 "storage"(X. +3 "core" .( +2 "storage"(=& +4 "core" & \\ +2 "storage"(~& +3 "core" & k +2 "manipulator"&& +4 "core" &&  Y =A +2 "manipulator"&)% +3 "core" %\   Z  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j( +170 "core" ( + "manipulator"&& +4 "core" &  z +2 "storage"(& +3 "core" & C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +95 "core" ' +2 "storage"(#& +4 "core" & v +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(|'i +276 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" & y +2 "manipulator"& & +3 "core" & H z +2 .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&^& +4 "core" & \ z +2 "storage"(& +4 "core" & m +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(-'X +7 "core" &  z +2 "manipulator"&}% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +158 "core" ' +2 ."downElevator"SE.stop +6 "storage"(5 +107 "core" ( +2 "manipulator"&c& +4 "core" &h . R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&a' +98 "core" ' +2 "manipulator"&& +4 "core" &k  +2 "manipulator"&x% +4 "core" % T +2 "processing"%y& +4 "core" &y +2 "processing"%(& +5 "core" &v +3 .tPC.seek :closed + "processing"%/(Z +4 "core" &z  +9 &8} )w +50 &m} > +4 &q H +2 &|d F +2 &>g F + &g G + &j~ G +6 &c~ G +9 &Eb} G +9 &h} G +10 & ct G +9 &"dy G +10 &$Nft F +9 &&f| F +9 &'gz G +10 &)iw G +9 &+Ubt G +9 &-cs G +10 &.dl F +9 &0gr F +10 &2]gs G +9 &4hl G +9 &5ip G +10 &7ho G +9 &9eil G +9 &;'ge G +10 &<if G +9 &>if F +10 &@mgm G +9 &B.kf G +9 &Cif G +10 &Eof H +9 &Gnyg I +9 &I+i K +10 &Jm L +9 &Lo L +10 &Nlk M +9 &P/i L +9 &Qd L +10 &Sk L +9 &Utm M +9 &W6i M +10 &Xj M +9 &ZHC_p %l +10 &Z"l +5 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&'1 +2 "core" &Zn +56 1 + "manipulator"&{% +4 "core" % ' F T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 "processing"%5& +4 "core" &Ze +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&C% +4 "core" %\ (  ; D +2 "storage"($% +4 "core" %b X +2 "storage"(?. +2 "core" .( +2 "storage"(@& +4 "core" & +3 "storage"(,& +2 "manipulator"&+& +7 "core" & 0 + &l  c  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(k'i + "manipulator"&Z(s +7 "core" ( +2 "manipulator"&H& +4 "core" &l  3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l @  +2 .tForearm.seek PC +2 "manipulator"&F' +96 "core" ' +2 .tHand.close + "manipulator"&I/ +61 "core" / +3 .tPC.seek :open +2 "processing"%D( +89 "core" ' + "storage"(>- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +42 "core" ' +290 ( + "storage"(m& +4 "core" & +2 "manipulator"&u& +3 "core" &m   +2 "manipulator"&% +5 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&;'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&J( +258 "core" ( +2 "manipulator"&E& +3 "core" &  8 +2 "storage"([& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +98 "core" ' + .tHand.open +2 "manipulator"&_1 +59 "core" 1 +2 "storage"(G- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(<' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(*- +3 "core" -' +2 "storage"(T& +4 "core" & \ N\  b +2 "manipulator"&N& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&& +4 "core" & % % +2 "storage"(W& +3 "core" & \ U\ _ + +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(L' +54 "core" ' +2 "manipulator"&6& +4 "core" & +2 "storage"(`& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&S' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 .tSE.reconfigure :default +10 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'i +23 "core" ' +2 "manipulator"&i% +4 "core" % +2 "storage"(A& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts +2 "manipulator"&%' +20 "core" ' + "manipulator"&d& +4 "core" & s +2 "storage"(4& +4 "core" & < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +24 "core" ' +2 "storage"(R% +4 "core" %e M +2 ."downElevator"SE.seek :down +4 "storage"(M'X +99 (1% +3 "core" %] 7 QL +2 "manipulator"&q% +4 "core" %ѯ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +89 "core" ' +66 ' + ."downElevator"SE.stop +3 "storage"(5 +3 (v& +3 "core" & \\ +2 "collection"'Y& +3 "core" &V` F +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  +2 "storage"(o% +4 "core" %b  +2 "storage"(p. +3 "core" .( +2 "storage"(w& +4 "core" &  +2 "storage"(V& +4 "core" &  +2 "manipulator"&s& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&& +4 "core" & & +2 "storage"(g& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +90 "core" ' +2 "storage"(& +4 "core" & ^ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(h'i +282 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & +2 "storage"(b& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(K'N +27 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&f' +18 "core" ' +2 "manipulator"&& +3 "core" & > +2 "storage"(&& +4 "core" & 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +35 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +40 "core" ' +2 "manipulator"&8& +4 "core" & +2 "manipulator"&\ % +4 "core" %ѫ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +165 "core" ( +3 "manipulator"&=& +4 "core" &* ' i @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" &*  @W +2 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' + .tHand.close +2 "manipulator"&0/ +64 "core" / +2 .tCC.seek :open + "collection"')( +416 "core" ( +2 "storage"(z& +4 "core" & O + "storage"(& +4 "core" & g +2 "manipulator"&& +4 "core" &)   ?T +2 "manipulator"&#% +3 "core" % 1 8 +3 .tForearm.seek :retract +46 "manipulator"&]'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&!( +166 "core" ( +2 "manipulator"& & +3 "core" & q +2 "storage"(B& +4 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +99 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "manipulator"& % +4 "core" % f +2 "storage"(& +3 "core" & S +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&}' +18 "core" ' + "manipulator"&j& +4 "core" & @ q +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&|'ќ +19 "core" ' + "storage"(l% +4 "core" %B  +3 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (% +3 "core" %qZ * QI +2 "manipulator"&"% +4 "core" %р  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +3 "core" & +2 "manipulator"&y% +4 "core" %\   +2 "storage"(-% +4 "core" %` e +2 "storage"( . +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" &   +2 "manipulator"&{& +4 "core" & q +2 .tElbow.seek 3 +2 "manipulator"&5( +13 "core" ( + "manipulator"&C& +4 "core" & y l +2 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +94 "core" ' + "storage"(@& +4 "core" & O  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('i +278 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (+& +2 "core" &   +3 "manipulator"&H& +3 "core" & l +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&a& +4 "core" & % $ l +2 "storage"(I& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/'X +6 "core" & A l +2 "manipulator"&k% +4 "core" % ϧ +2 .tForearm.seek :retract +2 "manipulator"&m'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&u( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +3 "core" & 3 z 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +91 "core" ' + "manipulator"&[& +4 "core" &! # J 8 +2 "manipulator"&Z% +4 "core" %(  +2 "collection"'_& +51 "core" & +3 "collection"'G& +6 "core" & +2 .tCC.seek :closed +2 "collection"'*(V +4 "core" & +8 &8 #b +9 &\\ 6 +10 & G +9 &d F +9 &g F +10 &[g F +9 &g G +9 &g F +10 &h F +9 &bg G +10 & %f F +9 &!c F +9 &#d F +10 &%ki F +9 &'-h F +9 &(f F +10 &*c F +9 &,th F +10 &.5e F +9 &/g F +9 &1f G +10 &3{e F +9 &5=g F +9 &6f G +10 &8d F +9 &:g F +10 &c F +9 &?g G +10 &Af F +9 &CMi F +9 &Eh G +10 &Ft H +9 &H I +10 &JAB& M +9 &Kz| P +9 &M4D Q +10 &O}! Q +9 &Q> Q +9 &R  R +10 &T   R +9 &V*Z  2 +10 &V  R +8 ( +2 &Vs N +2 "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&T1 +57 "core" 1 +3 "manipulator"&N% +4 "core" % ( 1  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +4 "core" &~ +2 "manipulator"&;% +4 "core" %\   J  +2 "storage"(6% +4 "core" %X Q + "storage"(`. +3 "core" .( +2 "storage"(t& +4 "core" &  +2 "storage"(& +3 "core" &  +2 "manipulator"&i& +4 "core" &  P 8 +2 "manipulator"&A% +4 "core" %\  ) R  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +161 "core" ( + "manipulator"&4& +4 "core" & &  x +2 "storage"(J& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +105 "core" ' + "storage"(e& +4 "core" & N  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +276 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &   +2 "manipulator"&q& +4 "core" & h x +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&L& +4 "core" & X x +2 "storage"(S& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"('X +7 "core" & x +2 "manipulator"&o% +4 "core" % ϝ Z +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( + "manipulator"&w& +4 "core" &p = x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +99 "core" ' +2 "manipulator"&& +4 "core" &p ( +2 "manipulator"&g% +4 "core" % v +2 "processing"% & +4 "core" &| +3 "processing"%& +4 "core" &r +2 .tPC.seek :closed +2 "processing"%M(Z +4 "core" &}  +9 &8 )w +10 &k = +9 &r| H +9 &sd} F +10 &4eu G +9 &c} G +9 &e} F +10 &zf G +9 &=e} F +9 &g{ F +10 & e G +9 &"cy G +10 &$De| G +9 &&h| G +9 &'j} G +10 &)ex G +9 &+Kh G +9 &-e~ F +10 &.e} G +9 &0jp G +10 &2Tcy G +9 &4bz G +9 &5fu F +10 &7et G +9 &9\\ho G +9 &;hu G +10 &<ho G +9 &>cp G +10 &@ddo G +9 &B'ey F +9 &Cir G +10 &Eoq H +9 &Gfxg I +9 &I#h K +10 &Jf L +9 &Lh L +9 &Nef L +10 &P%i M +9 &Qf M +10 &Sk M +9 &Uks M +52 &W-x M +4 &Xj M + &Z?C_f %l + &Z (d " ( + &Zo " + &Zn " +3 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&O1 +2 "core" &Zl " +57 1 + "manipulator"&:% +4 "core" %  h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' +2 "processing"%\\& +4 "core" &Zd " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&b% +4 "core" %\ \  H  +2 "storage"(% +4 "core" %R N +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & 3  +2 "storage"(& +4 "manipulator"&&& +5 "core" & +  + &p S +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&8(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(\ 'i +2 "core" ( +2 "manipulator"&r& +6 "core" &p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &p +3 .tForearm.seek PC +2 "manipulator"&h' +98 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 .tPC.seek :open +2 "processing"%f( +88 "core" ' +2 "storage"(K- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='y +34 "core" ' +298 ( + "storage"(~& +4 "core" & R  +2 "manipulator"&7& +4 "core" &p  +2 "manipulator"&% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&3( +267 "core" ( +2 "manipulator"&n& +4 "core" & &  +2 "storage"(z& +3 "core" & E  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(#- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(B- +3 "core" -' +2 "storage"(X& +4 "core" &\ \   +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&& +4 "core" & & g  +2 "storage"(j& +4 "core" &\ \ ! Z  +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +60 "core" ' + "manipulator"&]& +4 "core" &  +2 "storage"(& +4 "core" & >  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'} +27 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +22 "core" ' + "manipulator"&x% +4 "core" %΃   +2 "storage"(}& +4 "core" & J  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 306 counts + "manipulator"&y'ϯ +20 "core" ' +2 "manipulator"&-& +4 "core" & .  +2 "storage"( & +4 "core" &   +46 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' + "storage"(|% +4 "core" %i +3 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (P% +3 "core" %_ K QL +2 "manipulator"&'% +4 "core" %B | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +86 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &  +2 "collection"'$& +3 "core" &Vs N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&@% +3 "core" %\   +2 "storage"(^% +4 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(,& +4 "core" & [  +2 "storage"(+& +3 "core" &   +2 "manipulator"&H& +4 "core" & t  +2 .tElbow.seek 3 +2 "manipulator"&a( +4 "core" ( + "manipulator"&I& +4 "core" & & )  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +106 "core" ' + "storage"(k& +4 "core" & $  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'i +283 "core" ' +3 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  +2 "storage"(F& +3 "core" & M  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&('} +26 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'N +28 "core" ' +2 "manipulator"&_% +4 "core" %y +2 "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 296 counts +6 "manipulator"&/'ϥ +21 "core" ' + "manipulator"&m& +4 "core" &  +2 "storage"()& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(N'= +38 "core" ' + "manipulator"&W& +4 "core" & I  +2 "manipulator"&;% +3 "core" %: I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +165 "core" ( +3 "manipulator"&t& +3 "core" &( 1 Q ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?T +2 .tForearm.seek CC +2 "manipulator"&G'" +93 "core" ' + .tHand.close +2 "manipulator"&i/ +58 "core" / +2 .tCC.seek :open + "collection"'A( +416 "core" ( +2 "storage"(E& +3 "core" & ]  +2 "storage"(4& +4 "core" & ,  +2 "manipulator"&J& +4 "core" &(  9 ?S +2 "manipulator"&e% +4 "core" % ,  ( +2 .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&.& +4 "core" & ) D ] +2 "storage"(1& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&q'} +98 "core" ' +9 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&S1 +55 "core" 1 +2 "manipulator"&v% +4 "core" % ΁ & S +2 "storage"(Y& +5 "core" & <  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&o'ϭ +20 "core" ' + "manipulator"&d& +4 "core" & + ] +2 "storage"(R& +4 "core" & .  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +33 "core" ' + "storage"(%% +4 "core" %G G +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (V% +3 "core" %NZ F QH +2 "manipulator"&9% +4 "core" %4 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'g& +4 "core" & +2 "manipulator"& % +4 "core" %\   +2 "storage"(% +3 "core" %W  +2 "storage"(2. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(D( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +3 "core" & D +2 "manipulator"&:& +4 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"&\\( +40 "core" ( +2 "manipulator"&b& +4 "core" & & " +2 "storage"(& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +3 "core" & N +2 "manipulator"&r& +4 "core" & a "~ +2 .tElbow.seek 2 +2 "manipulator"&Q( +2 "core" ( +2 "manipulator"&s& +4 "core" & h "~ +3 "storage"(& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&K' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +2 "storage"(M'X +5 "core" &   "~ +3 "manipulator"&\ % +4 "core" %   N +2 .tForearm.seek :retract +2 "manipulator"&~'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&& +4 "core" & @  8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" & 0 8" +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&n'" +100 "core" ' +3 "manipulator"&z& +4 "core" &! 1 8" +2 "manipulator"&8% +3 "core" %+  P +3 "collection"'& +3 "core" & +3 "collection"'#& +5 "core" & +3 .tCC.seek :closed + "collection"'B(V +5 "core" & +7 &9 #a +10 &[ 5 +9 & G +11 &b F +8 &f G +10 &[e F +8 &g G +10 &e F +9 &h F +10 &be F +9 & %c F +9 &!f G +10 &#g F +9 &%kc F +9 &',e F +10 &(b F +9 &*e F +10 &,sg F +9 &.4d F +54 &/e G +5 &1e F +4 &3zg F + &5<e F +2 &6b F + &8d F + &:g G +7 &b F +8 &?e F +9 &Ab F +9 &CLg F +10 &Ej F +9 &Fu G +10 &H J +9 &JAA% M +9 &K| P +10 &M5J Q +9 &O|% Q +9 &Q? P +10 &R R +9 &T\  R +10 &V/c  , +9 &V  ? +5 ( +2 "collection"'#& +4 "core" &VI > +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&X1 +61 "core" 1 +3 "manipulator"&% +5 "core" % * " X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%j& +4 "core" &| +2 "manipulator"&0% +4 "core" %\ \ W  +2 "storage"(]% +4 "core" %V  +2 "storage"(. +3 "core" .( +2 "storage"(x& +4 "core" &  +2 "storage"(=& +3 "core" &  +2 "manipulator"&}& +4 "core" & 8! +2 "manipulator"&% +4 "core" %\ \  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&-( +157 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(3& +4 "core" & b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +94 "core" ' + "storage"(|& +4 "core" & K +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & O +2 "manipulator"&'& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&l& +4 "core" &  k  + "storage"("& +4 "core" & +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&y' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(@'X +8 "core" &  +2 "manipulator"&^% +3 "core" % \  +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +116 "core" ( +3 "manipulator"&,& +4 "core" &j ,  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &j \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&H' +104 "core" ' + "manipulator"&I& +4 "core" &j z \ +2 "manipulator"&% +4 "core" %  ] +2 "processing"%& +4 "core" &t +2 "processing"%k& +5 "core" &t +2 .tPC.seek :closed +2 "processing"%c(Z +5 "core" &} +7 &F #b +9 &] 6 +10 & G +9 &d G +9 &j G +10 &ad G +9 &$e F +9 &f| F +10 &g G +9 &hg G +10 & +g G +9 &!d G +9 &#g F +10 &%qg G +9 &'3i G +10 &(b G +9 &*e F +9 &,yf~ G +10 &.;j~ G +9 &/hv G +9 &1c} G +10 &3f F +9 &5Cf~ G +9 &7hu G +10 &8i G +9 &:g G +10 & c{ G +9 &?e{ G +10 &Acj G +9 &CSh{ G +9 &Eku G +10 &Fsw H +9 &Hs J +10 &JLs L +9 &Lv L +9 &Mj L +10 &Ot L +9 &QSr L +9 &Sv M +10 &Ti M +9 &Vf M +10 &XZe M +9 &Yvur !i +9 &Z'kh , +9 ( +2 &Zg ! +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&!1 +63 "core" 1 +2 "manipulator"&{% +3 "core" % ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' + "processing"%& +4 "core" &Zn ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +49 "manipulator"&F% +4 "core" %\   +2 "storage"([% +4 "core" %`  +2 "storage"(_. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(m& +3 "manipulator"&)& +5 "core" &  +2 &j h \ +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&W(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'i +2 "core" ( +3 "manipulator"&& +3 "core" &j   \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &j  \ +3 .tForearm.seek PC +2 "manipulator"&5' +96 "core" ' + .tHand.close +2 "manipulator"&(/ +56 "core" / +2 .tPC.seek :open +2 "processing"%/( +88 "core" ' + "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +34 "core" ' +299 ( +2 "storage"(& +4 "core" & +2 "manipulator"&T& +4 "core" &j  \ +2 "manipulator"&>% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&6( +260 "core" ( + "manipulator"&*& +4 "core" & S  +2 "storage"(E& +4 "core" & $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&4'ќ +94 "core" ' + .tHand.open +2 "manipulator"&J1 +61 "core" 1 +3 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(.'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(1' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(`& +4 "core" & ^ \\ +2 "manipulator"&S& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&Y& +4 "core" & & :  +2 "storage"(d& +3 "core" & N P S +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +2 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(%' +58 "core" ' + "manipulator"&u& +4 "core" & T  +2 "storage"(V& +4 "core" & t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&9' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +25 "core" ' +2 "manipulator"&o% +3 "core" % +2 "storage"(g& +4 "core" & < +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"& ' +19 "core" ' +2 "manipulator"&& +4 "core" & Q  +2 "storage"(2& +4 "core" & A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +28 "core" ' + "storage"(<% +4 "core" %s + +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (% +5 "core" %'] n QL +2 "manipulator"&O% +4 "core" %у Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +47 "manipulator"&:'\ +95 "core" ' +7 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (b& +3 "core" & k +3 "collection"'& +3 "core" &VI > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ # A +3 "storage"(L% +3 "core" %b ' +2 "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & Q +2 "storage"(&& +3 "core" & 7 +2 "manipulator"&r& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&s( +4 "core" ( + "manipulator"&& +4 "core" & % H  +2 "storage"(p& +4 "core" & ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +106 "core" ' + "storage"(\ & +4 "core" & c +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & 7  +2 "storage"(h& +4 "core" & w + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +27 "Can" E`8 +2 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'N +27 "core" ' + "manipulator"&% +4 "core" %  @ ) +2 "storage"(Q& +3 "core" & A +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts +2 "manipulator"&M' +17 "core" ' +2 "manipulator"&~& +4 "core" & =  +2 "storage"(A& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +39 "core" ' +2 "manipulator"&j& +4 "core" &  +2 "manipulator"&0% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +151 "core" ( +2 "manipulator"&& +4 "core" &# ! 7 :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &#  :1 +2 .tForearm.seek CC +2 "manipulator"&='" +94 "core" ' + .tHand.close +2 "manipulator"&}/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +4 "storage"(n& +3 "core" & g +2 "storage"( & +3 "core" &  +3 "manipulator"&3& +3 "core" &#  e :* +2 "manipulator"&|% +4 "core" % 3  5 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&& +3 "core" & ) # ~ +2 "storage"(P& +4 "core" & \\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'' +99 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&"1 +52 "core" 1 +2 "manipulator"&C% +4 "core" % & 4 +2 "storage"($& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 2 + 317 counts +9 "manipulator"&^' +18 "core" ' +2 "manipulator"&-& +4 "core" & d ~ +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +28 "core" ' + "storage"(y% +5 "core" %G +2 ."downElevator"SE.seek :down +4 "storage"(,'X +100 (+% +3 "core" %V u PH +2 "manipulator"& % +3 "core" %ю  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +89 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"&% +4 "core" %\  A  +2 "storage"(@% +4 "core" %P  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(f( +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &   +2 "manipulator"&{& +5 "core" & ~ +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( +2 "manipulator"&F& +4 "core" & . Z +2 "storage"(k& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +92 "core" ' +2 "storage"(_& +3 "core" & /  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +3 "core" &   +2 "manipulator"&& +3 "core" & ` Z +2 .tElbow.seek 3 +2 "manipulator"&a( +4 "core" ( + "manipulator"&H& +4 "core" & l Z +2 "storage"((& +3 "core" & $  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(c'X +7 "core" & Z +2 "manipulator"&;% +4 "core" % ϟ +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&>& +4 "core" &' ( U >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &'  k >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&*'" +101 "core" ' +2 "manipulator"&E& +4 "core" &( 3 , >L +4 "manipulator"&W% +4 "core" %!  9 +2 "collection"'J& +4 "core" & +3 "collection"'e& +5 "core" & +2 .tCC.seek :closed +2 "collection"'G(V +5 "core" & +7 &J #c +9 &^ 7 +10 &, G +9 &b F +9 &e F +10 &rf G +9 &5f F +10 &c F +9 &g G +9 &{g F +10 & =d F +9 &!g G +9 &#g G +10 &%g F +9 &'Fc F +10 &)e F +9 &*d F +9 &,g G +10 &.Mf F +9 &0g G +9 &1g F +10 &3c F +9 &5Ue F +10 &7h F +9 &8e F +9 &:h G +10 &<]g F +9 &> i F +9 &?g F +10 &Ad F +9 &Cdh G +10 &E&n G +9 &Fv H +9 &H} I +10 &JYH+\ M +9 &Lt~ P +9 &M,= P +10 &O  Q +9 &QX P +10 &S R +9 &T  R +9 &VBc  - +10 &V   ^ +8 ( +3 "collection"'e& +3 "core" &Vy L +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&`1 +60 "core" 1 +3 "manipulator"&S% +51 "core" % !  s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%d& +3 "core" & +2 "manipulator"&i% +4 "core" %\   C  +2 "storage"(u% +4 "core" %b K +2 "storage"(V. +3 "core" .( +2 "storage"(o& +3 "core" & ;  +2 "storage"(g& +4 "core" &   +2 "manipulator"&t& +4 "core" &'  } >L +2 "manipulator"&.% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&2& +4 "core" & & 6 k +2 "storage"(<& +4 "core" & W  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&6'9 +99 "core" ' + "storage"(4& +4 "core" &   +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +4 "core" & 6  + "manipulator"&R& +4 "core" & k +2 .tElbow.seek 3 +2 "manipulator"&v( +4 "core" ( + "manipulator"&%& +4 "core" & % 1 k +2 "storage"(9& +4 "core" & X  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & k + "manipulator"&L% +4 "core" % ϛ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&& +4 "core" &p # t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +3 "core" &p   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +100 "core" ' +2 "manipulator"&& +4 "core" &p '  +2 "manipulator"&p% +4 "core" % +2 "processing"%\ & +4 "core" & +3 "processing"%N& +4 "core" & +3 .tPC.seek :closed +2 "processing"%w(Z +3 "core" & +7 &E #c +10 &^ 7 +9 & H +9 &f G +10 &e G +9 &fe G +10 &'g G +9 &e F +9 &f G +10 &ne G +9 & 0f G +10 &!b G +9 &#e G +9 &%ve G +10 &'7h G +9 &(e G +9 &*e G +10 &,}h G +9 &.Ae F +9 &0e G +10 &1d F +9 &3d G +10 &5Ie F +9 &7\ e G +9 &8c G +10 &:e G +9 &b G +9 &?f G +9 &Ab G +10 &CVg G +9 &Ek H +9 &Fu I +10 &H J +9 &JO M +9 &L M +10 &M M +9 &O M +10 &QW M +9 &S M +9 &T M +10 &V M +9 &X\\ N +9 &Zwv "k +10 &Z!] ' +9 ( +3 "processing"%N& +2 "core" &Z{ ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&:% +4 "core" % ) Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%& +4 "core" &Zz ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&h% +3 "core" %\ % ( E +2 "storage"(z% +4 "core" %`  +2 "storage"(. +2 "core" .( +2 "storage"(Q& +4 "core" & Z  +3 "storage"(~& +2 "manipulator"&A& +7 "core" & +  + &p  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +51 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&j(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'i +3 "core" ( +2 "manipulator"&U& +3 "core" &p M  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &p w  +3 .tForearm.seek PC +2 "manipulator"&\\' +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%M( +84 "core" ' +2 "storage"(8- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +46 "core" ' +290 ( +2 "storage"(x& +3 "core" & #  +3 "manipulator"&X& +3 "core" &p   +2 "manipulator"&K% +4 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&]( +266 "core" ( + "manipulator"&B& +4 "core" &  @  +2 "storage"(n& +4 "core" & R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +93 "core" ' + .tHand.open +2 "manipulator"&31 +63 "core" 1 +3 "storage"(|- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(P' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +3 "core" -' +2 "storage"(#& +4 "core" &\ P\ F -  +2 "manipulator"&"& +3 "core" & F  +3 .tElbow.seek 3 + "manipulator"&C( +3 "core" ( +2 "manipulator"&$& +4 "core" & '   +2 "storage"(-& +4 "core" & \    +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(7' +58 "core" ' + "manipulator"&y& +4 "core" & S  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&+'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"& , +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(''i +29 "core" ' + "manipulator"&^% +4 "core" %Ύ +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&'Ϻ +20 "core" ' + "manipulator"&@& +3 "core" &  +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +23 "core" ' +2 "storage"( % +5 "core" %q +2 ."downElevator"SE.seek :down +3 "storage"(,'X +99 (D% +5 "core" %_ | RM +2 "manipulator"&!% +3 "core" %N z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +94 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (F& +3 "core" & <  +2 "collection"'k& +4 "core" &Vy L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&_% +3 "core" %\   +3 "storage"(l% +3 "core" %b 6 +2 "storage"(I. +3 "core" .( +2 "storage"()& +49 "core" &   +3 "storage"(m& +3 "core" &   +2 "manipulator"&& +4 "core" & e  +2 .tElbow.seek 3 +2 "manipulator"&H( +4 "core" ( + "manipulator"&(& +4 "core" & S  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +99 "core" ' +2 "storage"(;& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  +2 "storage"(5& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(a'N +27 "core" ' +2 "manipulator"&W% +3 "core" %ΐ +2 "storage"(J& +3 "core" & .  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&c'ϼ +19 "core" ' +2 "manipulator"&& +3 "core" & v  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(S'= +39 "core" ' +2 "manipulator"&e& +4 "core" & F  +2 "manipulator"&d% +4 "core" %C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +163 "core" ( +2 "manipulator"&V& +4 "core" &( 2  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &(  G ?V +2 .tForearm.seek CC +2 "manipulator"&g'" +97 "core" ' +2 .tHand.close + "manipulator"&t/ +64 "core" / +2 .tCC.seek :open +2 "collection"'.( +416 "core" ( + "storage"(*& +4 "core" &  +2 "storage"(2& +4 "core" & i  +2 "manipulator"&<& +4 "core" &'  n =D +2 "manipulator"&4% +3 "core" % &  _ +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y( +163 "core" ( + "manipulator"&& +4 "core" &  > [ +2 "storage"(O& +4 "core" & 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&R'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +56 "core" 1 +3 "manipulator"&b% +3 "core" % Ύ $ ! +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&L'Ϻ +20 "core" ' +3 "manipulator"&& +4 "core" & $ [ +2 "storage"(6& +3 "core" & '  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&1'9 +28 "core" ' +2 "storage"( % +4 "core" %F  +49 ."downElevator"SE.seek :down +4 "storage"('X +98 (&% +3 "core" %\ U " PG +2 "manipulator"&v% +4 "core" %$ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'p& +3 "core" & +2 "manipulator"&\ % +4 "core" %\ &   ; +2 "storage"(% +4 "core" %a =  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(/( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  +2 "manipulator"&:& +4 "core" &   [ +2 .tElbow.seek 2 +2 "manipulator"&( +44 "core" ( + "manipulator"&h& +4 "core" & 0 B !u +2 "storage"(z& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' + "storage"(Q& +4 "core" & 3 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'i +280 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +2 "core" & +3 "manipulator"&U& +3 "core" & !r +2 .tElbow.seek 2 +3 "manipulator"&s( +31 "core" ( +2 "manipulator"&r& +4 "core" &  { +2 "storage"(& +3 "core" & ( +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&8' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&q/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(w'X +7 "core" & ~ { +2 "manipulator"&0% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&x'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&K& +4 "core" &$ 2 _ ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +4 "core" &$  Q ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&B'" +98 "core" ' +3 "manipulator"&n& +4 "core" &% ! 7 ;8 +2 "manipulator"&j% +4 "core" %,  W +2 "collection"'3& +4 "core" & +3 "collection"'|& +5 "core" & +2 .tCC.seek :closed +2 "collection"'=(V +4 "core" & +7 &B #b +10 &\\ 6 +9 & G +9 &b F +10 &h G +9 &ce F +10 &#g G +9 &f F +9 &g F +10 &jf F +9 & ,h F +9 &!f F +10 &#c F +9 &%rh F +10 &'4f F +9 &(h F +9 &*f F +10 &,yf G +9 &.=e F +9 &/f F +10 &1c F +9 &3g G +10 &5Ee F +9 &7g F +9 &8g F +10 &:g F +9 &f\ F +10 &?g G +9 &Ag F +10 &CSh G +9 &Ek G +9 &Fs H +10 &H I +9 &JID' M +9 &Lz} P +10 &M.@ P +9 &O Q +10 &QE  Q +9 &S  R +9 &T   R +10 &V;i  / +9 &V   9 +9 &We < +6 ( +2 "collection"'|& +3 "core" &WH < +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator" +55 "core" 1 +3 "manipulator"&"% +3 "core" % , &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%-& +4 "core" & +2 "manipulator"&}% +3 "core" %\ \  3  +2 "storage"(y% +4 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(^& +50 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&& +4 "core" &$ ;6 +2 "manipulator"&@% +4 "core" %\  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" & u +2 "storage"( & +4 "core" & 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +89 "core" ' + "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'i +284 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" & +2 "manipulator"&& +4 "core" & u +2 .tElbow.seek 2 +2 "manipulator"&C( +4 "core" ( + "manipulator"&7& +4 "core" & u u +2 "storage"(+& +4 "core" & t +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(_'X +7 "core" & U u +2 "manipulator"&l% +4 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&)& +3 "core" &o * $  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &o    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&(& +4 "core" &o % f  +2 "manipulator"& % +4 "core" %  +2 "processing"%& +4 "core" & +3 "processing"%;& +5 "core" & +2 .tPC.seek :closed +2 "processing"%,(Z +4 "core" &  +8 &8 )w +9 &m > +10 &p H +9 &{c G +10 &=c G +9 &f G +9 &d G +10 &e G +9 &Ef G +9 &g G +10 & d F +9 &"e G +10 &$Nd F +9 &&e G +9 &'d G +10 &)e G +9 &+Vc F +9 &-c G +10 &.h G +9 &0g G +10 &2\\j G +9 &4e G +9 &5h G +10 &7d F +9 &9ee G +9 &;'b G +10 &<e F +9 &>e G +10 &@li G +9 &B/g G +9 &Ci G +10 &Ep H +9 &Goy I +9 &I* K +10 &J L +9 &L L +10 &Nm L +9 &P/ L +9 &Q L +10 &S M +9 &Uu L +9 &W4 M +10 &X M +9 &ZHEb #g +10 &Z" " +5 ( +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z " +61 1 +2 "manipulator"&{% +3 "core" % % 7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +101 "core" ' +3 "processing"%>& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&5% +3 "core" %\ %  K +2 "storage"(E% +4 "core" %S + +2 "storage"(W. +3 "core" .( +2 "storage"(J& +3 "core" &  +3 "storage"(& +2 "manipulator"&& +7 "core" &  + &o N  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +3 "manipulator"&e(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'i +3 "core" ( +2 "manipulator"&?& +3 "core" &o  :  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &o  N  +3 .tForearm.seek PC +45 "manipulator"&' +105 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%c( +41 "core" ' + "storage"(a- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'y +46 "core" ' +331 ( + "storage"(o& +4 "core" & +2 "manipulator"&`& +4 "core" &o  +2 "manipulator"&Z% +4 "core" % P +2 .tForearm.seek :retract +2 "manipulator"&t'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i( +260 "core" ( +2 "manipulator"&G& +3 "core" & & L  +2 "storage"(*& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +96 "core" ' + .tHand.open +2 "manipulator"&<1 +64 "core" 1 +2 "storage"(4- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(O' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(u& +4 "core" & N N A +2 "manipulator"&9& +4 "core" & P  +2 .tElbow.seek 2 +2 "manipulator"&b( +10 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" & M M X +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + "manipulator"&T& +4 "core" & p  +2 "storage"(Y& +4 "core" & j +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&&' +22 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(R'i +23 "core" ' + "manipulator"&L% +4 "core" % J +2 "storage"(p& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&\ ' +19 "core" ' +2 "manipulator"&& +3 "core" & K  +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&S'ќ +28 "core" ' + "storage"(1% +4 "core" %q 0 +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (f% +4 "core" %Nb * RM +2 "manipulator"&% +3 "core" % P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (h& +3 "core" & t +2 "collection"'z& +4 "core" &WH < +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Q% +4 "core" %\  v  +2 "storage"(%% +3 "core" %` .  +2 "storage"(. +3 "core" .( +2 "storage"(~& +3 "core" & ` +2 "storage"(A& +4 "core" & X +2 "manipulator"&U& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&r( +9 "core" ( + "manipulator"&& +4 "core" & % / +2 "storage"(q& +3 "core" & [ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +41 "manipulator"&'ќ +98 "core" ' +2 "storage"(0& +4 "core" & Z +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & d +2 "storage"(\\& +4 "core" & # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(j'N +28 "core" ' + "manipulator"&3% +4 "core" %  ) +2 "storage"(s& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&w' +14 "core" ' +2 "manipulator"&x& +4 "core" & S +2 "storage"(.& +3 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'ќ +39 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"("'= +43 "core" ' +2 "manipulator"&-& +4 "core" & Z +2 "manipulator"&}% +4 "core" %Ѯ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +161 "core" ( +3 "manipulator"&^& +4 "core" &' # ? >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &'   >N +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'@( +415 "core" ( +2 "storage"(B& +4 "core" & p +2 "storage"(& +3 "core" & O +2 "manipulator"& & +4 "core" &\ '  : =A +2 "manipulator"& % +3 "core" % 2 ( +3 .tForearm.seek :retract + "manipulator"&X'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&$( +169 "core" ( +2 "manipulator"&D& +3 "core" & & d  +2 "storage"(!& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +99 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&+1 +55 "core" 1 +2 "manipulator"&F% +4 "core" % & +2 "storage"(k& +5 "core" & F +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&l' +20 "core" ' + "manipulator"&& +4 "core" & u  +2 "storage"(]& +4 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&P'ќ +23 "core" ' + "storage"(% +4 "core" %C ( +3 ."downElevator"SE.seek :down +3 "storage"()'X +99 (m% +3 "core" %;\\ \\ QJ +2 "manipulator"&C% +3 "core" %ш P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +48 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & +2 "manipulator"&% +4 "core" %\  }  +2 "storage"(_% +4 "core" %` +2 "storage"(I. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(M( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & >  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&>( +23 "core" ( +2 "manipulator"&5& +5 "core" & 9 l + "storage"(E& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;'9 +111 "core" ' + "storage"(W& +4 "core" & W  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'i +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & t  +3 "manipulator"&?& +3 "core" & * l +2 .tElbow.seek 3 +2 "manipulator"&H( +4 "core" ( + "manipulator"&& +4 "core" &  l +3 "storage"(& +3 "core" & J  +3 .tForearm.seek 3 + 300 counts + "manipulator"&a'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(,'X +7 "core" & l +2 "manipulator"&d% +4 "core" % Ϧ P +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +24 "core" ( +2 "manipulator"&Z& +4 "core" &* D  s @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &*  T @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +99 "core" ' +3 "manipulator"&*& +4 "core" &*   @^ +2 "manipulator"&e% +4 "core" %  F +2 "collection"'<& +5 "core" & +2 "collection"'4& +5 "core" & +2 .tCC.seek :closed +2 "collection"'g(V +5 "core" & +6 &A $d +10 &] 6 +9 &# G +9 &c F +10 &h G +9 &jf F +10 &-e F +9 &j F +9 &g G +10 &sf F +9 & 5i# F +10 &!f" F +9 &#d F +9 &%zh F +10 &'<g F +9 &(c F +9 &*g F +10 &,g G +9 &.Ef F +9 &0g F +10 &1d F +9 &3g F +10 &5Mc F +9 &7g F +9 &8e F +10 &:i F +9 &g F +10 &?g F +9 &Ag F +10 &C\\e F +9 &Ei G +9 &Fv H +10 &H I +9 &JPF+ M +9 &L v{ P +10 &M.? P +9 &O P +10 &QN Q +9 &S    R +9 &T   R +10 &V>h   / +9 &V  8 +9 &Wb @ +6 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&u1 +3 "core" &WT @ +50 1 +2 "manipulator"&9% +4 "core" % 0 Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &  +2 "manipulator"&t% +4 "core" %\     +2 "storage"(T% +3 "core" %a  +2 "storage"(Y. +3 "core" .( +2 "storage"(L& +5 "core" &   + "storage"(V& +4 "core" &   +2 "manipulator"&p& +4 "core" &) @^ + "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" & < t +2 "storage"(1& +48 "core" &   +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +94 "core" ' +2 "storage"(2& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'i +281 "core" ' +2 "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&6& +3 "core" & t +3 .tElbow.seek 3 + "manipulator"&b( +3 "core" ( +2 "manipulator"& & +4 "core" & & 9 t +2 "storage"(&& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'ϩ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"(Q'X +7 "core" & V t +2 "manipulator"&%% +4 "core" % Ͽ i N +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&~(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&R& +4 "core" &m +  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &m & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&U' +103 "core" ' +2 "manipulator"&& +4 "core" &m & = & +2 "manipulator"&q% +4 "core" %   +2 "processing"%S& +4 "core" &  +3 "processing"%0& +4 "core" &  +3 .tPC.seek :closed + "processing"%(Z +4 "core" &  +7 &N #c +10 &] 7 +9 &8 G +9 &d G +10 &e G +9 &e G +10 &Bc F +9 &e G +9 &b G +10 &e F +9 & Hf G +9 &" d G +10 &#h G +9 &%f G +10 &'Pi G +9 &)f G +9 &*e G +10 &,c G +9 &.Ye G +10 &0c G +9 &1f G +9 &3e G +10 &5`e G +9 &7#e G +9 &8h G +10 &:d G +9 &,f F +10 &?g G +9 &Af G +10 &Cqh G +9 &E/m H +9 &Ft I +10 &H K +9 &Jj L +10 &L* M +9 &M L +9 &O L +10 &Qq L +9 &S1 M +9 &T M +10 &V M +9 &Xv M +9 &Z ov ^ +10 &Z* 2 +9 ( +3 "processing"%0& +2 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&v1 +60 "core" 1 + "manipulator"&:% +4 "core" % &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%K& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\ #  : +2 "storage"(n% +4 "core" %P % +2 "storage"(3. +2 "core" .( +2 "storage"(s& +4 "core" & B  +3 "storage"(x& +2 "manipulator"&.& +7 "core" & (  + &m  7 & +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&-(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +2 "core" ( +2 "manipulator"&& +4 "core" &m , & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &m  [ & +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&N/ +61 "core" / +2 .tPC.seek :open +2 "processing"%w( +88 "core" ' + "storage"(j- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'y +46 "core" ' +287 ( +2 "storage"(|& +4 "core" &   +2 "manipulator"&#& +4 "core" &m & + "manipulator"&8% +4 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&y( +276 "core" ( + "manipulator"&=& +4 "core" & 2  +2 "storage"(B& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +2 .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "storage"( - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(D'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(!' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & Z Z  +2 "manipulator"&+& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&F( +4 "core" ( +2 "manipulator"&k& +3 "core" & &  +2 "storage"(& +4 "core" & Z Z  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +59 "core" ' + "manipulator"&X& +4 "core" &  +2 "storage"(m& +4 "core" & 4  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +21 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"& % +4 "core" %w +2 "storage"(l& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"&"'ϣ +21 "core" ' + "manipulator"&& +4 "core" & %  +2 "storage"(_& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +29 "core" ' +2 "storage"(P% +3 "core" %l {  +3 ."downElevator"SE.seek :down +3 "storage"()'X +99 (/% +3 "core" %\\ 3 QK +2 "manipulator"& % +5 "core" %F { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 (5& +3 "core" & .  +2 "collection"'E& +3 "core" &WT @ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&W% +3 "core" %\ % E +2 "storage"(7% +4 "core" %] T +2 "storage"((. +2 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +4 "core" &   +2 "manipulator"&?& +4 "core" & z  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&& +3 "core" & & 6  +2 "storage"('& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&['9 +101 "core" ' +2 "storage"(d& +3 "core" & W  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'i +283 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&Z& +3 "core" &  +2 "storage"(J& +46 "core" &   +6 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' +2 .tElbow.hold + "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(H- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(*'N +27 "core" ' + "manipulator"&e% +4 "core" %z +2 "storage"(<& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts +2 "manipulator"&,'Ϧ +19 "core" ' +2 "manipulator"&o& +3 "core" & y  +2 "storage"(@& +4 "core" & &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(9'= +39 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&t% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +166 "core" ( +2 "manipulator"&4& +4 "core" &' < >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &'  >M +2 .tForearm.seek CC +2 "manipulator"&V'" +94 "core" ' +2 .tHand.close + "manipulator"&p/ +65 "core" / +2 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(G& +3 "core" & +  +2 "storage"(& +4 "core" &   +2 "manipulator"&1& +3 "core" &'  >M +2 "manipulator"&`% +4 "core" %   D  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&f& +4 "core" & & 9 m +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&6'} +103 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +58 "core" 1 +2 "manipulator"&h% +4 "core" % ~ % 0 +2 "storage"(z& +4 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&%'Ϫ +21 "core" ' + "manipulator"&& +4 "core" & 4 m +2 "storage"(i& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&O'9 +27 "core" ' + "storage"(\ % +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"(R'X +99 (A% +3 "core" %U ; PH +2 "manipulator"&b% +4 "core" %4 E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'q& +4 "core" & + "manipulator"&S% +4 "core" %\  y  +2 "storage"(Q% +4 "core" %O - +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(c( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +45 (v& +6 "core" &  +2 "manipulator"&:& +4 "core" & X m +2 .tElbow.seek 2 +2 "manipulator"&K( +37 "core" ( +2 "manipulator"&\\& +4 "core" & % !v +2 "storage"(n& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +92 "core" ' + "storage"(s& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'i +279 "core" ' +3 "storage"(x- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +2 "core" & +2 "manipulator"&& +4 "core" & !t +2 .tElbow.seek 2 +2 "manipulator"&r( +4 "core" ( + "manipulator"&U& +4 "core" & !t +2 "storage"(N& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&j' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & !t +2 "manipulator"&}% +3 "core" %  w +2 .tForearm.seek :retract +2 "manipulator"&|'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&8& +4 "core" &' ( R >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &'   >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='" +98 "core" ' + "manipulator"&B& +4 "core" &' # Q >L +2 "manipulator"&-% +4 "core" %,  ] +2 "collection"' & +4 "core" & +3 "collection"' & +4 "core" & +3 .tCC.seek :closed + "collection"'(V +5 "core" & +7 &C #c +10 &\\ 6 +9 & G +9 &e G +10 &g F +9 &bb$ F +10 &"g% G +9 &f% F +9 &h& F +10 &ig% F +9 & +d% F +9 &!c& F +10 &#i! F +9 &%qi F +9 &'3f% F +10 &(b F +9 &*f( G +10 &,ye! F +9 &.:e G +9 &/f F +10 &1i F +9 &3f" F +9 &5Db! F +10 &7g! F +9 &8b F +10 &:g F +9 & g F +10 &?h\ F +9 &Af F +10 &CSi F +9 &En G +9 &Fs H +10 &H I +9 &JIB' M +9 &L|} P +10 &M5F P +9 &O" Q +10 &QE Q +9 &S R +9 &T  \ R +10 &V9i  / +9 &V  ,~ +9 &V O +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&+% +4 "core" % , * d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +3 "core" & +2 "manipulator"&% +5 "core" %\ #  x @ + "storage"(X% +4 "core" %\\  +2 "storage"(m. +2 "core" .( +3 "storage"( & +3 "core" &  +2 "storage"(^& +4 "core" & +2 "manipulator"&l& +4 "core" &' ) >L +2 "manipulator"&D% +3 "core" %\ #  3 @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +156 "core" ( +2 "manipulator"&_& +4 "core" & %  +2 "storage"(P& +4 "core" & 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +98 "core" ' +2 "storage"(& +4 "core" & . +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(!'i +282 "core" ' +2 "storage"(/- +56 "core" -' +6 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & * +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&& +4 "core" & % ,  +2 "storage"(C& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(W'X +8 "core" &  +2 "manipulator"&7% +4 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&('\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&& +3 "core" &q 2 ;  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &q  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +100 "core" ' +2 "manipulator"&& +4 "core" &q %  +2 "manipulator"&'% +3 "core" % +2 "processing"%I& +4 "core" & +3 "processing"%d& +5 "core" & +2 .tPC.seek :closed +2 "processing"%)(Z +3 "core" &  +10 &7 )w +9 &j = +9 &r H +10 &nd G +9 &1e F +9 &g G +10 &f G +9 &ve G +10 &9d F +9 &f G +9 & e G +10 &"}d G +9 &$?e G +9 &&e G +10 &'g G +9 &)c G +10 &+Gd G +9 &-\ c G +9 &.e F +10 &0g G +9 &2Pg G +9 &4e G +10 &5h G +9 &7e G +10 &9Xe G +9 &;b G +9 &<f G +10 &>e F +9 &@_h G +9 &B!g G +10 &Ci G +9 &Em H +10 &Gaw I +9 &I K +9 &J L +10 &L L +9 &N` L +9 &P! M +10 &Q M +9 &S M +10 &Ug M +9 &W( M +9 &X M +10 &Z;Eb %l +9 &Z * +5 ( +3 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&$1 +2 "core" &Z +53 1 + "manipulator"&{% +4 "core" % ' F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 "processing"%Z& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&J% +3 "core" %\    +2 "storage"(H% +4 "core" %S L +2 "storage"(e. +2 "core" .( +2 "storage"(<& +4 "core" & 0 +2 "storage"(o& +2 "manipulator"&@& +8 "core" &  +2 &q   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(t'i +2 "core" ( +3 "manipulator"&[& +4 "core" &q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &q b  +2 .tForearm.seek PC +2 "manipulator"&>' +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%,( +91 "core" ' +2 "storage"(*- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'y +35 "core" ' +296 ( + "storage"(L& +4 "core" & = +2 "manipulator"&u& +3 "core" &q  +2 "manipulator"&a% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +48 "manipulator"&T( +272 "core" ( + "manipulator"&g& +4 "core" & g  +2 "storage"(G& +4 "core" & @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +103 "core" ' +2 .tHand.open + "manipulator"&11 +60 "core" 1 +2 "storage"(`- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(V- +3 "core" -' +2 "storage"(Y& +4 "core" & M W 2 +2 "manipulator"&&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&z& +4 "core" &  +2 "storage"(& +4 "core" & Y X +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +10 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\ ' +58 "core" ' +2 "manipulator"&2& +4 "core" &   +2 "storage"(A& +4 "core" & B +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&b' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(6'i +22 "core" ' + "manipulator"&%% +4 "core" % +2 "storage"(q& +3 "core" & x +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts +2 "manipulator"&S' +25 "core" ' +2 "manipulator"&Q& +3 "core" & e  +3 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'ќ +24 "core" ' +2 "storage"(O% +4 "core" %k #  +3 ."downElevator"SE.seek :down +4 "storage"(R'X +98 (M% +3 "core" %[ w v P QL +2 "manipulator"&v% +4 "core" %ш 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +92 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" & L +2 "collection"'n& +4 "core" &V O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&s% +3 "core" %\ #  : +2 "storage"( % +4 "core" %\\  +2 "storage"(. +2 "core" .( +3 "storage"(x& +3 "core" & M +2 "storage"(.& +4 "core" & G +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&N& +4 "core" &  M  +2 "storage"(~& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +104 "core" ' +2 "storage"(}& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(K'i +282 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" &  +3 "storage"(& +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&0' +30 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +3 "core" -' +49 .tSE.seek 0.09 Pucks below Top Plate + "storage"(-'N +28 "core" ' +2 "manipulator"&r% +4 "core" %  g I +2 "storage"( & +3 "core" & e +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&|& +4 "core" & \  +2 "storage"(& +4 "core" & M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(+'= +38 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +4 "core" % ] v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +157 "core" ( + "manipulator"& & +4 "core" & ! A 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &   5 +2 .tForearm.seek CC +2 "manipulator"&^'" +92 "core" ' + .tHand.close +2 "manipulator"&l/ +64 "core" / +2 .tCC.seek :open +2 "collection"'D( +415 "core" ( +2 "storage"(=& +4 "core" & E +2 "storage"(_& +4 "core" & = +2 "manipulator"&P& +4 "core" & 5 + "manipulator"&% +4 "core" % 0 g +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&k( +161 "core" ( +2 "manipulator"&/& +3 "core" &  } +3 "storage"( & +3 "core" & % +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&]' +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +52 "core" 1 +2 "manipulator"&5% +4 "core" % & . +2 "storage"(E& +3 "core" & \\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 309 counts +2 "manipulator"&7' +19 "core" ' +2 "manipulator"&& +3 "core" & F } +2 "storage"(y& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +28 "core" ' + "storage"("% +4 "core" %C $ +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %U B QI +2 "manipulator"&F% +3 "core" %ѕ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"''& +3 "core" & +2 "manipulator"&I% +4 "core" %\   +2 "storage"(W% +4 "core" %] M + "storage"((. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(w( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" & 5  +2 "manipulator"&{& +4 "core" & } +2 .tElbow.seek 3 +2 "manipulator"&Z( +14 "core" ( +2 "manipulator"&J& +3 "core" & & W W +2 "storage"(H& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +135 "core" ' +5 "storage"(<& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +277 "core" ' +2 "storage"(o- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & Z  +3 "manipulator"&[& +4 "core" & S W +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&?& +4 "core" & - W +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"()'X +8 "core" & W +2 "manipulator"&t% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&L'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&a& +3 "core" & 3 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &  5 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +103 "core" ' +3 "manipulator"&g& +4 "core" & ! = 6 +2 "manipulator"&G% +4 "core" %)  a +2 "collection"'1& +4 "core" & +3 "collection"'`& +5 "core" & +3 .tCC.seek :closed +3 "collection"'V(V +2 "core" & +6 & 8 +9 &KM / +10 &| D +9 &Hb% F +9 &\ e' F +10 &h F +9 &f& F +9 &Qe F +10 &g' F +9 &e' G +10 &e& F +9 &!Yg F +9 &#f F +10 &$d$ F +9 &&e F +9 &(`e F +10 &*#e F +9 &+e F +10 &-e F +9 &/he F +9 &1+h& F +10 &2f F +9 &4g F +9 &6qe% F +10 &83e" F +9 &9e" F +10 &;g F +9 &=xe F +9 &?:e\ F +10 &@f F +9 &Bi F +9 &Dh F +10 &F@p G +9 &G{ H +10 &I& K +9 &Knyf O +9 &M/F` P +10 &N + O +9 &P P +9 &Rq Q +10 &T2   Q +9 &Uv   B +10 &V  %k +9 &W ) D +9 ( +3 "collection"'`& +2 "core" &WA > +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&Y1 +57 "core" 1 +3 "manipulator"&&% +4 "core" % ) 1 ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&p% +4 "core" %\ #  A B +2 "storage"(2% +4 "core" %S x + "storage"(A. +3 "core" .( +2 "storage"(%& +4 "core" & R  +2 "storage"(4& +4 "core" &   +2 "manipulator"&q& +3 "core" &  y 6 +2 "manipulator"&f% +4 "core" %\ #  $ B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Q( +165 "core" ( +2 "manipulator"&& +5 "core" & % : ? + "storage"(O& +4 "core" & C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T'9 +93 "core" ' +2 "storage"(& +4 "core" & o  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" & P  +2 "manipulator"&i& +4 "core" & 9 ? +2 .tElbow.seek 3 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&\ & +4 "core" & ? +2 "storage"(b& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +48 "manipulator"&S'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +5 "storage"(s'X +6 "core" & ? +2 "manipulator"& % +5 "core" % ϳ z +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&x(s +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&6& +3 "core" &n  5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&N& +4 "core" &n F +2 "manipulator"&~% +4 "core" % 4 U +2 "processing"%9& +4 "core" & +3 "processing"%}& +5 "core" & +2 .tPC.seek :closed +2 "processing"%R(Z +5 "core" & +7 &> #b +9 &[ 6 +9 & G +10 &c G +9 &i G +9 &ed F +10 &&c G +9 &g G +10 &i G +9 &ld G +9 & .g G +10 &!h G +9 &#e F +9 &%tf G +10 &'6c G +9 &(e G +10 &*i G +9 &,}f F +9 &.>f G +10 &0h G +9 &1c G +9 &3e G +10 &5Eh G +9 &7 e F +10 &8e F +9 &:c F +9 &e F +9 &?e G +9 &Ah G +10 &CVg G +9 &Ej G +10 &Fr H +9 &H J +9 &JM M +10 &L L +9 &M M +9 &O L +10 &QV L +9 &S M +10 &T M +9 &V M +9 &X\\ M +10 &Ywv "k +9 &Z#_ ' +9 ( +3 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +2 "core" &Z ! +59 1 + "manipulator"&:% +4 "core" %  & U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +91 "core" ' + "processing"%8& +4 "core" &Z} ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\  g  +2 "storage"(B% +4 "core" %N  +2 "storage"(r. +2 "core" .( +2 "storage"( & +4 "core" &   +2 "storage"(|& +2 "manipulator"&& +12 "core" &   +2 &n +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( + "manipulator"&& +4 "core" &n h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&K' +97 "core" ' + .tHand.close +2 "manipulator"&0/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' + "storage"(-- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'y +36 "core" ' +303 ( +2 "storage"( & +4 "core" &  +2 "manipulator"&& +4 "core" &n   +2 "manipulator"&j% +3 "core" %   k +2 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&X( +268 "core" ( + "manipulator"&& +4 "core" & % 5  +2 "storage"(=& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +96 "core" ' + .tHand.open +2 "manipulator"&P1 +56 "core" 1 +49 "storage"(- +5 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(/'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(^- +2 "core" -' +3 "storage"(m& +3 "core" & ^ ^   +2 "manipulator"&C& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&5( +7 "core" ( +2 "manipulator"&E& +4 "core" & %  +2 "storage"(& +4 "core" & X ] ,  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"("' +58 "core" ' +2 "manipulator"&#& +3 "core" &  +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&F'} +24 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +23 "core" ' +2 "manipulator"&'% +4 "core" %Έ +2 "storage"(7& +4 "core" & k  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&I'ϴ +20 "core" ' +2 "manipulator"&W& +3 "core" &  +2 "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +18 "core" ' +2 "storage"(!% +4 "core" %n   +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (c% +3 "core" %] = RM +2 "manipulator"&$% +5 "core" %) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +92 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 (J& +3 "core" &  +2 "collection"'H& +3 "core" &WA > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&<% +4 "core" %\ o 8 +2 "storage"(% +3 "core" %O +2 "storage"(. +4 "core" .( + "storage"(o& +4 "core" & .  +2 "storage"(d& +3 "core" & ^  +2 "manipulator"&[& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&?( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&;'9 +92 "core" ' +2 "storage"(t& +4 "core" & p  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +282 "core" ' +2 "storage"(e- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +4 "core" &  +2 "storage"(>& +4 "core" & C  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&@'} +17 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(G'N +32 "core" ' + "manipulator"&% +4 "core" %΄ +2 "storage"(1& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts +2 "manipulator"&)'ϰ +19 "core" ' +2 "manipulator"&L& +3 "core" & 9  +2 "storage"(D& +50 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(&'= +37 "core" ' +2 "manipulator"&& +4 "core" & 8  +2 "manipulator"&p% +3 "core" %[ Q v +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +164 "core" ( +2 "manipulator"&%& +4 "core" &' 0 M >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &'   >L +3 .tForearm.seek CC +2 "manipulator"&4'" +93 "core" ' + .tHand.close +2 "manipulator"&q/ +54 "core" / +2 .tCC.seek :open +2 "collection"'f( +416 "core" ( + "storage"(& +4 "core" & -  +2 "storage"(& +4 "core" &   +2 "manipulator"&O& +4 "core" &'   >K +2 "manipulator"&% +3 "core" % *   +3 .tForearm.seek :retract + "manipulator"&u'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&z( +166 "core" ( + "manipulator"&M& +4 "core" & d w +2 "storage"(v& +4 "core" & I  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&i'} +100 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +57 "core" 1 +2 "manipulator"&\\% +4 "core" % Έ & +2 "storage"(n& +6 "core" & A  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"& 'ϴ +20 "core" ' +2 "manipulator"&Q& +3 "core" & _ w +2 "storage"(T& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +29 "core" ' + "storage"(S% +4 "core" %F +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (.% +3 "core" % Y [ PH +2 "manipulator"&h% +3 "core" %"  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'~& +3 "core" & +2 "manipulator"&9% +4 "core" %\  ]  +2 "storage"(s% +4 "core" %a  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(,( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & +2 "manipulator"&:& +4 "core" & " w +2 .tElbow.seek 2 +2 "manipulator"&8( +28 "core" ( + "manipulator"&& +4 "core" &\ % N d +2 "storage"(B& +4 "core" & X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +97 "core" ' + "storage"( & +4 "core" & 2 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +2 "core" & J +3 "manipulator"&& +46 "core" &\ v _ +8 .tElbow.seek 2 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&& +3 "core" &\ m _ +3 "storage"(0& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&-' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +3 "storage"(R'X +8 "core" &\ S _ +2 "manipulator"&% +4 "core" % N & +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&j& +4 "core" && @ =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &&   =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +105 "core" ' +3 "manipulator"&=& +4 "core" && & & =A +2 "manipulator"&% +4 "core" %  +2 "collection"'P& +4 "core" &) +2 "collection"'& +6 "core" && +2 .tCC.seek :closed +2 "collection"'^(V +5 "core" &" +6 &A) $d +10 &]( 6 +9 &( G +10 &b" F +9 &g G +9 &fe$ F +10 &(h$ F +9 &g G +9 &e F +10 &oc F +9 & /g G +10 &!f F +9 &#c F +9 &%vb F +10 &'8g F +9 &(e F +9 &*c F +10 &,}f G +9 &.@e F +10 &0h F +9 &1f G +9 &3e F +10 &5Ig F +9 &7\ g F +9 &8g F +10 &:g F +9 &f G +9 &?f F +9 &Ac F +10 &CXi F +9 &En G +9 &Ft H +10 &H I +9 &JLC' M +10 &L| P +9 &M2E P +9 &O! P +10 &QJ Q +9 &S\   Q +9 &T   R +10 &V;h  / +9 &V\  * 9 +10 &WZ : +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&l1 +2 "core" &W= : +54 1 +2 "manipulator"&m% +4 "core" %  ) U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%E& +4 "core" & +2 "manipulator"&% +4 "core" %\   o  +2 "storage"(#% +4 "core" %R U + "storage"(. +3 "core" .( +2 "storage"('& +4 "core" & +2 "storage"( & +3 "core" & H +2 "manipulator"&7& +4 "core" &%   <: +2 "manipulator"&/% +4 "core" %\   d  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +161 "core" ( + "manipulator"&(& +4 "core" & h  +2 "storage"(!& +4 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&X'ќ +99 "core" ' + "storage"(_& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +278 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" & +2 "manipulator"&y& +4 "core" & E  +2 .tElbow.seek 2 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&"& +4 "core" & &   +2 "storage"(F& +3 "core" & t +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&I' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&H& +2 "storage"(<'X +7 "core" & O  +2 "manipulator"&% +4 "core" %  k R +2 .tForearm.seek :retract +49 "manipulator"&]'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +110 "core" ' + ."downElevator"SE.stop + "storage"(5 +156 "core" ( +2 "manipulator"&o& +3 "core" &q : k \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &q  ( \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&[' +103 "core" ' +2 "manipulator"&& +5 "core" &r %  \ + "manipulator"&% +4 "core" %   +2 "processing"%+& +4 "core" & +3 "processing"%t& +5 "core" & +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" & +6 & 7 +9 &HM / +10 &{ D +9 &Ad G +9 &d G +10 &c G +9 &i G +9 &Je F +10 & e G +9 &c G +10 &e G +9 &!Ph G +9 &#g G +10 &$h G +9 &&c F +9 &(Yf G +10 &*f F +9 &+g G +10 &-d G +9 &/ae G +9 &1"i G +10 &2d F +9 &4e G +9 &6ic G +10 &8,e F +9 &9h G +10 &;d G +9 &=re F +9 &?3e G +10 &@b G +9 &Bh G +9 &Dxj G +10 &F7q H +9 &G J +10 &I K +9 &Kq L +9 &M4 L +10 &N M +9 &P M +9 &Ry L +10 &T: M +9 &U M +10 &W M +9 &Y : +9 &Zo5 W +10 &Z +2 ( +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&k1 +59 "core" 1 +2 "manipulator"&{% +4 "core" % # v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' + "processing"%a& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&>% +3 "core" %\  _  +2 "storage"(g% +4 "core" %a  +2 "storage"(. +2 "core" .( +2 "storage"(1& +4 "core" &  +3 "storage"(L& +2 "manipulator"&D& +9 "core" &  + &r ` \ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'i +2 "core" ( +3 "manipulator"&;& +4 "core" &r  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &r 4 \ +2 .tForearm.seek PC +2 "manipulator"&Z' +102 "core" ' + .tHand.close +2 "manipulator"&@/ +58 "core" / +4 .tPC.seek :open +2 "processing"%)( +82 "core" ' +2 "storage"(G- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'y +36 "core" ' +304 ( + "storage"(`& +4 "core" & +2 "manipulator"&Y& +4 "core" &r \ +2 "manipulator"&*% +3 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&q'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&2( +260 "core" ( +2 "manipulator"&V& +4 "core" & & i \ +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +86 "core" ' +2 .tHand.open + "manipulator"&O1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(M'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(v' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(A& +4 "core" & ] ^ +41 "manipulator"&b& +12 "core" & u \ +2 .tElbow.seek 2 +2 "manipulator"&\\( +26 "core" ( +2 "manipulator"&n& +3 "core" & % ( & +2 "storage"(Q& +4 "core" & Z Z +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'ќ +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(S' +58 "core" ' + "manipulator"&u& +4 "core" & w & +2 "storage"(.& +4 "core" & 6 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&h' +24 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +23 "core" ' +2 "manipulator"&~% +4 "core" % +2 "storage"( & +3 "core" & j +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&9' +28 "core" ' + "manipulator"&s& +4 "core" & % % +2 "storage"(& +4 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +20 "core" ' +2 "storage"(% +4 "core" %n  \ +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (w% +2 "core" %_ 7 QK +3 "manipulator"&% +4 "core" %т q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & b +2 "collection"'B& +4 "core" &W= : +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +4 "core" %\   +2 "storage"(\ % +3 "core" %`  +2 "storage"(N. +2 "core" .( +2 "storage"(|& +4 "core" & +2 "storage"(}& +4 "core" & +2 "manipulator"&& +4 "core" & % +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&0& +4 "core" &  % +2 "storage"(x& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +95 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +283 "core" ' +3 "storage"(r- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" & % +2 "storage"(K& +4 "core" & t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +28 "core" ' +2 "manipulator"&U% +4 "core" %   + +2 "storage"(P& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&R' +18 "core" ' +2 "manipulator"& & +4 "core" & % ' % + "storage"(f& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(m'> +37 "core" ' +2 "manipulator"&E& +4 "core" & % +2 "manipulator"&% +4 "core" %z +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&'& +4 "core" && . @ =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &&  D =F +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&7/ +61 "core" / +2 .tCC.seek :open +2 "collection"'/( +415 "core" ( +2 "storage"(& +4 "core" & +2 "storage"((& +4 "core" & B +2 "manipulator"&!& +4 "core" &% : <@ +2 "manipulator"&_% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +158 "core" ( + "manipulator"&c& +4 "core" & %  +2 "storage"($& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&y' +99 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&F1 +52 "core" 1 +2 "manipulator"&J% +4 "core" % & u +2 "storage"(H& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&W& +4 "core" &   +2 "storage"(X& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +28 "core" ' +2 "storage"(I% +4 "core" %H F \ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (d% +2 "core" %V e QI +3 "manipulator"&5% +4 "core" %ђ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"&+% +4 "core" %\  @  +2 "storage"(<% +4 "core" %b  +2 "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" & [  +2 "manipulator"&{& +4 "core" & L  +2 .tElbow.seek 3 +2 "manipulator"&a( +17 "core" ( +2 "manipulator"&>& +3 "core" & % g ? +2 "storage"(g& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +96 "core" ' + "storage"(1& +4 "core" & R  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'i +278 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" & U  +2 "manipulator"&;& +4 "core" & ? +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&[& +4 "core" & y ? +2 "storage"(@& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&G'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +47 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"('X +6 "core" &  ? +2 "manipulator"&p% +4 "core" % ϫ  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&*& +4 "core" & 2 8 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & 4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'" +98 "core" ' +3 "manipulator"&& +4 "core" & ! 9 4 +2 "manipulator"&% +4 "core" %,  y +2 "collection"'O& +4 "core" &) +3 "collection"'& +4 "core" &' +3 .tCC.seek :closed + "collection"'4(V +5 "core" &$  +9 &9* *x +9 &k" = +10 &q G +9 &yf# F +9 &;h F +10 &f F +9 &c F +10 &e G +9 &Cg\ F +9 &h F +10 & g G +9 &"g F +9 &$Kc" F +10 && d F +9 &'g G +10 &)e F +9 &+Rg G +9 &-e F +10 &.g F +9 &0h F +9 &2\\c F +10 &4g F +9 &5b% F +10 &7f F +9 &9dh F +9 &;%g F +10 &<b F +9 &>h F +9 &@lc F +10 &B,h G +9 &Ch F +10 &El G +9 &Gn}' H +9 &I+  J +10 &JeF N +9 &L\\} Q +9 &N^&2# P +10 &P% Q +9 &Q Q +10 &S$ R +9 &Ua\  & ? +9 &VK  X +10 &V54% #k +9 &W < < +2 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&A1 +56 "core" 1 +2 "manipulator"&b% +4 "core" % , % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%n& +3 "core" & +2 "manipulator"&Q% +4 "core" %\ #  Z ? +2 "storage"(u% +4 "core" %\\ 1 +2 "storage"(.. +2 "core" .( +2 "storage"(%& +4 "core" & X  +2 "storage"(M& +4 "core" & +  +2 "manipulator"&~& +4 "core" &  l 4 + "manipulator"& % +4 "core" %\ # T ? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +162 "core" ( +2 "manipulator"&& +4 "core" & ) - a +2 "storage"(& +4 "core" & "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +95 "core" ' +2 "storage"(& +3 "core" & =  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'i +283 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  +2 "manipulator"&T& +4 "core" &  a +2 .tElbow.seek 3 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&S& +4 "core" & \\ a +2 "storage"(h& +4 "core" & B  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +56 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&B& +6 "storage"( 'X +3 "core" & { a +2 "manipulator"&\ % +5 "core" % ϱ ) +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&i& +3 "core" &n :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &}& +3 "core" &n   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek PC +3 "manipulator"&' +96 "core" ' +2 "manipulator"&0& +3 "core" &n & )  +2 "manipulator"&x% +4 "core" % Y +2 "processing"%&& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%6(Z +5 "core" & +7 &? #b +9 &\\ 6 +10 & H +9 &f G +10 &h G +9 &eg G +9 &'b G +10 &b G +9 &h G +9 &mi G +10 & /h G +9 &!h G +10 &#g G +9 &%uc G +9 &'6c G +10 &(e G +9 &*h G +9 &,}h G +10 &.?h G +9 &0g G +10 &1g G +9 &3a G +9 &5Gc G +10 &7 b G +9 &8c G +9 &:g G +10 &d F +10 &?e F +9 &Ac F +9 &CWg G +10 &Ej G +9 &Fr H +9 &H J +10 &JP L +9 &L L +10 &M L +9 &O M +9 &QV M +10 &S M +9 &T M +9 &V M +10 &X^ M +9 &Zxv !i +10 &Z$c ) +9 ( + &Z ! +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&z1 +64 "core" 1 + "manipulator"&:% +4 "core" % ) ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 "processing"%j& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +3 "core" %\     +2 "storage"(=% +4 "core" %_  +2 "storage"(U. +2 "core" .( +3 "storage"(P& +3 "core" & !  +2 "storage"( & +4 "manipulator"&f& +5 "core" &   + &n 1  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(E'i + "manipulator"&(s +7 "core" ( +2 "manipulator"&3& +4 "core" &n 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&8' +95 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +3 .tPC.seek :open +2 "processing"%R( +88 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +36 "core" ' +296 ( + "storage"( & +4 "core" &  +2 "manipulator"&l& +4 "core" &o  +2 "manipulator"&-% +5 "core" % h +2 .tForearm.seek :retract + "manipulator"&7'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&#( +267 "core" ( + "manipulator"&^& +4 "core" & % J \ +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&('9 +106 "core" ' +2 .tHand.open + "manipulator"&!1 +63 "core" 1 +2 "storage"(_- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +24 "core" ' +4 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"($' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"(& +4 "core" &\ \\\ Q  +2 "manipulator"&F& +4 "core" & b \ +2 .tElbow.seek 3 +2 "manipulator"&J( +7 "core" ( +2 "manipulator"&H& +4 "core" & % : +2 "storage"(W& +5 "core" &\ [\ P  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&X'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +47 "storage"(I' +59 "core" ' +2 "manipulator"&& +4 "core" & A +2 "storage"(d& +4 "core" & @  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'} +19 "core" ' +2 .tElbow.hold + "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'i +23 "core" ' +2 "manipulator"&% +4 "core" %Ή K +2 "storage"(& +4 "core" & B  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&+'ϵ +20 "core" ' + "manipulator"&<& +4 "core" & I +2 "storage"(]& +4 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +18 "core" ' + "storage"( % +4 "core" %s 4 \ +3 ."downElevator"SE.seek :down +3 "storage"(o'X +99 (,% +4 "core" %^ u QK +2 "manipulator"&k% +4 "core" %< B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (>& +3 "core" & <  +2 "collection"'g& +4 "core" &W D < +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&1% +4 "core" %\ # ? +2 "storage"("% +4 "core" %b ; +2 "storage"(. +2 "core" .( +2 "storage"(D& +4 "core" &   +2 "storage"(t& +3 "core" & ^  +2 "manipulator"&;& +4 "core" & T +2 .tElbow.seek 3 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&@& +4 "core" & & ^ +2 "storage"(& +3 "core" & I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +94 "core" ' +2 "storage"(p& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'i +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & i +2 "storage"(Z& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&L'} +25 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +30 "core" ' + "manipulator"&% +4 "core" %΍ +2 "storage"(O& +4 "core" & 5  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +20 "core" ' +2 "manipulator"&`& +3 "core" & E +2 "storage"(/& +4 "core" & !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(b'> +40 "core" ' +2 "manipulator"&n& +4 "core" & b +2 "manipulator"&Q% +4 "core" %^ y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&.( +161 "core" ( + "manipulator"&%& +4 "core" && ! . =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &&  C =G +2 .tForearm.seek CC +2 "manipulator"&M'" +146 "core" ' +2 .tHand.close +2 "manipulator"&~/ +54 "core" / +2 .tCC.seek :open +2 "collection"' ( +136 "Can" L l8 +280 "core" ( + "storage"(V& +4 "core" & B  +2 "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &%  ( ;4 +2 "manipulator"&% +3 "core" % 2   +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&q( +164 "core" ( +2 "manipulator"&w& +4 "core" & a  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&T'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +62 "core" 1 +2 "manipulator"&9% +4 "core" % ΁ % 9 +2 "storage"(B& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 304 counts + "manipulator"&\ 'ϭ +20 "core" ' +2 "manipulator"&s& +4 "core" & V  +2 "storage"(2& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&v'9 +28 "core" ' + "storage"(% +4 "core" %@  +3 ."downElevator"SE.seek :down +3 "storage"(i'X +99 (}% +3 "core" %=W ; QI +2 "manipulator"&\\% +4 "core" %5 ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'x& +3 "core" & +2 "manipulator"&&% +4 "core" %\   +2 "storage"( % +4 "core" %\\  +2 "storage"(N. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"()( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" & a +2 "manipulator"&:& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&j( +29 "core" ( + "manipulator"&K& +4 "core" & y n +2 "storage"(=& +4 "core" & E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +96 "core" ' + "storage"(P& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +2 "core" & [ +3 "manipulator"&3& +3 "core" &\ 4 ` +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &\ ` +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"(6'X +8 "core" &\ ` +2 "manipulator"&E% +3 "core" %  } D +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +150 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +50 "core" ( +2 "manipulator"&-& +4 "core" && = ] =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" && * =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'" +104 "core" ' +2 "manipulator"&& +3 "core" && & F =G +2 "manipulator"&% +4 "core" %:  < ( +2 "collection"'!& +4 "core" & +2 "collection"'_& +6 "core" & +2 .tCC.seek :closed +2 "collection"'(V +5 "core" &! +6 &9 #c +10 &\\ 6 +9 & G +10 &c F +9 &k F +9 &_f F +10 &!i# F +9 &g G +10 &e F +9 &hc' F +9 & (g( G +10 &!g) G +9 &#g F +9 &%od F +10 &'2c F +9 &(f F +9 &*c F +10 &,vf G +9 &.9e F +10 &/h F +9 &1g G +9 &3f F +10 &5Bg F +9 &7g F +9 &8g F +10 &:f F +9 &\ g G +9 &?g% F +9 &Ac F +10 &CPg G +9 &Em G +9 &Fy H +10 &H# H +9 &JE@$& M +10 &K}~. P +9 &M2G P +9 &O# P +10 &QC Q +9 &S" R +9 &T  Q +10 &V-Z\ # 1 +9 &V  N +9 ( +2 &Vk G +2 "collection"'_& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&F% +4 "core" % : " Q ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%7& +4 "core" & + "manipulator"&W% +4 "core" %\   5 +2 "storage"(% +4 "core" %a  +2 "storage"(d. +3 "core" .( +2 "storage"('& +4 "core" & Q +2 "storage"(c& +4 "core" & C +2 "manipulator"&& +4 "core" &&   =G +2 "manipulator"&% +3 "core" %\   5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&<( +156 "core" ( + "manipulator"&]& +4 "core" & % 9 +2 "storage"(#& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +102 "core" ' + "storage"((& +4 "core" & ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"($'i +276 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (k& +3 "core" & I +2 "manipulator"&X& +4 "core" & h +2 .tElbow.seek 2 + "manipulator"&J( +3 "core" ( +2 "manipulator"&I& +4 "core" & i +2 "storage"(5& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&>' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(1'X +8 "core" & +2 "manipulator"&"% +3 "core" %  z +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( +3 "manipulator"&y& +4 "core" &j + G  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +4 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +100 "core" ' +2 "manipulator"&@& +3 "core" &k & w  +2 "manipulator"&% +4 "core" % +2 "processing"%m& +5 "core" & +2 "processing"%p& +5 "core" & +3 .tPC.seek :closed + "processing"%o(Z +56 "core" & +4 & + & & + & + & + &> #b +4 &\\ 6 +10 & H +9 &f G +10 &g F +9 &fd F +9 &(d F +10 &c F +9 &i G +9 &mh G +10 & .g G +9 &!e F +10 &#d F +9 &%uc G +9 &'7d G +10 &(c G +9 &*d G +9 &,}c G +10 &.?c G +9 &0c F +10 &1d G +9 &3g G +9 &5Fe G +10 &7\ c F +9 &8g G +9 &:g F +10 &b G +9 &?c F +10 &Ac G +9 &CVj G +10 &Ej G +9 &Fr H +9 &H J +10 &JO L +9 &L L +10 &M L +9 &O L +9 &QW L +10 &S M +9 &T M +9 &V M +10 &X] M +9 &Zxu !i +10 &Z$b ) +9 ( + &Z " +2 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&C1 +61 "core" 1 + "manipulator"&{% +4 "core" % % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 "processing"%*& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Z% +4 "core" %\  +2 "storage"(?% +4 "core" %b  +2 "storage"(. +2 "core" .( +2 "storage"(O& +4 "core" &  +2 "storage"(`& +2 "manipulator"&/& +8 "core" & h +2 &k C  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&n(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'i +2 "core" ( +3 "manipulator"&e& +3 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &k g  +3 .tForearm.seek PC + "manipulator"&a' +94 "core" ' +3 .tHand.close + "manipulator"&L/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'y +36 "core" ' +296 ( +2 "storage"(& +4 "core" & C +2 "manipulator"&A& +3 "core" &k N  +2 "manipulator"&G% +4 "core" % C  +2 .tForearm.seek :retract +2 "manipulator"&~'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&u( +264 "core" ( +2 "manipulator"&4& +4 "core" & % + ~ +2 "storage"(V& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +101 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(M- +3 "core" -' +2 "storage"(.& +4 "core" & W Z +2 "manipulator"&h& +4 "core" & 8 ~ +2 .tElbow.seek 2 +2 "manipulator"&9( +8 "core" ( +2 "manipulator"&B& +3 "core" & ~ x +2 "storage"(s& +4 "core" & Z W +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&Y& +3 "core" & F x +2 "storage"(}& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +24 "core" ' +2 .tElbow.hold +41 "manipulator"&q, +11 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'i +23 "core" ' + "manipulator"&x% +4 "core" % m +2 "storage"(\ & +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&&' +19 "core" ' +2 "manipulator"& & +3 "core" & X x +2 "storage"(N& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&b'ќ +24 "core" ' +3 "storage"(v% +4 "core" %n n  +3 ."downElevator"SE.seek :down +3 "storage"(i'X +98 (% +3 "core" %\\ # QL +3 "manipulator"&z% +3 "core" %Ѯ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 (K& +3 "core" & _ +2 "collection"'=& +4 "core" &Vj G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&P% +4 "core" %\  W - +2 "storage"(S% +5 "core" %_  + "storage"(0. +3 "core" .( +2 "storage"( & +4 "core" &  +2 "storage"(f& +3 "core" &  +2 "manipulator"&3& +4 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & % b x +2 "storage"(|& +4 "core" & > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&r'ќ +95 "core" ' + "storage"(E& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'i +276 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & s x +2 "storage"(& +4 "core" & Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&-' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +8 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +28 "core" ' +2 "manipulator"&% +4 "core" %    + "storage"(!& +4 "core" & M +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&6' +15 "core" ' +2 "manipulator"& & +3 "core" &  x +2 "storage"( & +4 "core" & < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(F'> +37 "core" ' +2 "manipulator"&7& +4 "core" & q x +2 "manipulator"&W% +3 "core" %Ѳ | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +164 "core" ( +2 "manipulator"&'& +4 "core" &% / k <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &% t <= +2 .tForearm.seek CC +2 "manipulator"&c'" +92 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'( +413 "core" ( + "storage"(^& +4 "core" &  +2 "storage"(]& +4 "core" & +2 "manipulator"&#& +4 "core" &%  : <9 +40 "manipulator"&(% +11 "core" % 5  +3 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&H( +158 "core" ( + "manipulator"&,& +4 "core" & L  +2 "storage"(k& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&X' +99 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +60 "core" 1 +3 "manipulator"&+% +4 "core" % f +2 "storage"(g& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&"' +20 "core" ' +2 "manipulator"&<& +4 "core" & F  +2 "storage"( & +3 "core" & " +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +25 "core" ' + "storage"(>% +4 "core" %E +3 ."downElevator"SE.seek :down +3 "storage"(y'X +99 (t% +3 "core" %6W ( QI +2 "manipulator"&J% +4 "core" %Ѵ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +100 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & +2 "manipulator"&m% +4 "core" %\ \ {  +2 "storage"(1% +4 "core" %` _ +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(R( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" & U  +2 "manipulator"&{& +4 "core" & |  +2 .tElbow.seek 3 +2 "manipulator"&*( +14 "core" ( + "manipulator"&Z& +4 "core" & s e +2 "storage"(?& +4 "core" & I  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(p& +3 "core" & ;  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'i +278 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +3 "core" &   +2 "manipulator"&e& +3 "core" & e +3 .tElbow.seek 3 +2 "manipulator"&[( +2 "core" ( +2 "manipulator"&;& +4 "core" & W e +2 "storage"(L& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(o'X +8 "core" & e + "manipulator"&Q% +4 "core" % Ϯ n +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&G& +4 "core" &! @ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &!   8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&4'" +94 "core" ' +46 "manipulator"&V& +6 "core" &"  8 +2 "manipulator"&n% +4 "core" % @  +3 "collection"'& +4 "core" & +2 "collection"'& +5 "core" & +3 .tCC.seek :closed +2 "collection"'M(V +5 "core" & +6 &I #c +9 &^ 7 +9 &4~ G +10 &b' F +9 &h F +9 &{g, F +10 &=g' F +9 &b( F +9 &e* G +10 &e# F +9 & Dg" G +10 &"e F +9 &#c( F +9 &%i% F +10 &'Me F +9 &)h F +10 &*f F +9 &,f G +9 &.Ve! F +10 &0f G +9 &1e F +9 &3h F +10 &5]e F +9 &7 b F +9 &8e F +10 &:c F +9 &&f G +9 &?f F +9 &Ac F +10 &Cmi F +9 &E-n G +10 &Fu# H +9 &H~ I +9 &JaG* M +10 &Lw|% P +9 &M2C P +9 &O![ Q +10 &Q^ Q +9 &S R +10 &T  R +9 &VB\\  # (z +9 &V!\ " G +9 ( +2 &Va& C +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&.1 +64 "core" 1 +3 "manipulator"&h% +3 "core" %  1 7  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +4 "core" & +2 "manipulator"&~% +4 "core" %\   N  +2 "storage"(Y% +4 "core" %T _ +2 "storage"(}. +2 "core" .( +3 "storage"(%& +3 "core" &   +2 "storage"(w& +4 "core" & ;  +2 "manipulator"&x& +4 "core" &!  " 8 +2 "manipulator"&\ % +4 "core" %\   %  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +166 "core" ( + "manipulator"&N& +4 "core" & % M +2 "storage"(u& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +90 "core" ' + "storage"(v& +4 "core" & 8  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&z& +4 "core" & M +2 .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&& +3 "core" & d M +2 "storage"(\\& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&&'ϩ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(P'X +7 "core" & M +2 "manipulator"&S% +4 "core" % ϶ d S +2 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( +3 "manipulator"&T& +3 "core" &j ,   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &j  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&3' +102 "core" ' +2 "manipulator"&& +4 "core" &k   +2 "manipulator"&|% +3 "core" % < +2 "processing"%b& +4 "core" & +3 "processing"%E& +5 "core" & +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" & +7 &< #c +9 &[ 6 +10 & G +9 &a G +9 &h G +10 &bh G +9 &$g G +9 &f G +10 &e F +9 &jc G +9 & ,d G +10 &!c G +9 &#c G +10 &%sf F +9 &'5e F +9 &(e G +10 &*i G +9 &,{h F +9 &.<f G +10 &/f G +9 &1e F +10 &3e G +9 &5Dg G +9 &7h G +10 &8f G +9 &:d F +9 &d G +9 &?i G +56 &Ah G +4 &CSf G +5 &Ek H + &Fr H + &H J + &JM L + &L L +6 &M L +10 &O L +9 &QT L +9 &S M +10 &T M +9 &V L +9 &XZ M +10 &Ywv "j +9 &Z"` ( +9 ( +2 &Z ! +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&q1 +64 "core" 1 + "manipulator"&:% +4 "core" % % a < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +90 "core" ' +2 "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  3  +2 "storage"(% +4 "core" %a I +2 "storage"(. +2 "core" .( +2 "storage"(!& +4 "core" &  +3 "storage"( & +2 "manipulator"& & +6 "core" & 5  +2 &l h  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(7'i + "manipulator"&W(s +7 "core" ( +2 "manipulator"&r& +4 "core" &l  ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l  n  +2 .tForearm.seek PC +2 "manipulator"&j' +101 "core" ' + .tHand.close +2 "manipulator"&-/ +61 "core" / +3 .tPC.seek :open +2 "processing"%6( +75 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''y +35 "core" ' +309 ( + "storage"(_& +4 "core" &  +2 "manipulator"&& +3 "core" &l 7  +2 "manipulator"&8% +4 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +264 "core" ( +2 "manipulator"&& +4 "core" & %  +2 "storage"(^& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +104 "core" ' +2 .tHand.open + "manipulator" +54 "core" 1 +2 "storage"((- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(,'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +48 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(c- +2 "core" -' +2 "storage"(d& +4 "core" & W M =  +2 "manipulator"&5& +4 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&+( +8 "core" ( + "manipulator"&g& +4 "core" & \\ ~ +2 "storage"(<& +4 "core" & N M ;  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(>' +57 "core" ' +2 "manipulator"&l& +4 "core" & ~ +2 "storage"(t& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&J'} +21 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +23 "core" ' +2 "manipulator"&"% +3 "core" %Ή i +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&m'ϵ +43 "core" ' +8 "manipulator"&1& +4 "core" & ~ +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&F'9 +34 "core" ' +2 "storage"($% +3 "core" %r F +3 ."downElevator"SE.seek :down +3 "storage"(y'X +99 ()% +3 "core" %a " QK +2 "manipulator"&C% +4 "core" %> ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Z& +3 "core" &   +2 "collection"'?& +4 "core" &V` C +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&p% +4 "core" %\ %  J +2 "storage"(I% +4 "core" %N  +2 "storage"(@. +2 "core" .( +2 "storage"(/& +4 "core" &   +2 "storage"(`& +4 "core" & H  +2 "manipulator"&e& +4 "core" & x ~ +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&L& +4 "core" & & ; ~ +2 "storage"(D& +3 "core" & I  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +104 "core" ' +2 "storage"(Q& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(*'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & % ~ +3 "storage"(a& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&O'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(V- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(['O +34 "core" ' + "manipulator"&n% +4 "core" %w  +2 "storage"(& +4 "core" & 4  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"&o'ϣ +20 "core" ' +2 "manipulator"&& +3 "core" & % ~ +2 "storage"(& +4 "core" & %  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(h'> +39 "core" ' +2 "manipulator"&s& +3 "core" & 0 ~ +2 "manipulator"&~% +4 "core" %9 ] m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +161 "core" ( +8 "manipulator"&& +4 "core" &$  2 ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &$   ;8 +3 .tForearm.seek CC +2 "manipulator"&w'" +94 "core" ' + .tHand.close +2 "manipulator"&x/ +61 "core" / +2 .tCC.seek :open +2 "collection"'\ ( +412 "core" ( +2 "storage"(4& +4 "core" &  +2 "storage"(N& +3 "core" & -  +2 "manipulator"&u& +4 "core" &#  \ :/ +2 "manipulator"&v% +4 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +171 "core" ( +2 "manipulator"&2& +4 "core" & % g t +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +41 "manipulator"&$ ,(b +11 .tForearm.seek 3 +2 "manipulator"&z'} +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +61 "core" 1 +3 "manipulator"&K% +3 "core" % Ή & } +2 "storage"(=& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&S'ϵ +20 "core" ' + "manipulator"& & +4 "core" & ~ t +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +33 "core" ' + "storage"(&% +4 "core" %G ] +3 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (f% +3 "core" %X * QI +2 "manipulator"&9% +3 "core" %= n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'|& +3 "core" &  +2 "manipulator"&b% +4 "core" %\   +2 "storage"(P% +4 "core" %` Q +2 "storage"(0. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +336 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +3 "core" & < +2 "manipulator"&:& +4 "core" & t +2 .tElbow.seek 2 +2 "manipulator"&( +38 "core" ( + "manipulator"&& +4 "core" &\ f ^ +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +95 "core" ' +2 "storage"(!& +4 "core" & g +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(E'i +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & N +2 "manipulator"&r& +4 "core" &\ \ m Y +2 .tElbow.seek 2 +2 "manipulator"&( +26 "core" ( +3 "manipulator"&3& +4 "core" & L  +2 "storage"(-& +3 "core" & g +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& +4 "storage"(i'X +7 "core" &  +2 "manipulator"&7% +4 "core" %  i L +2 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +3 "manipulator"&8& +4 "core" &%  S <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &%   <: +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 "manipulator"&^& +4 "core" &% 0 b <: +2 "manipulator"&W% +4 "core" %$  @ +2 "collection"'#& +4 "core" &+  +3 "collection"'(& +4 "core" &)  +3 .tCC.seek :closed + "collection"'c(V +4 "core" &"  +9 &:% *x +9 &.n" > +10 &p G +9 &f# G +10 &Te# F +9 &g" F +9 &f' G +10 &e) G +9 &\\f" F +9 &c$ F +55 & h$ F +4 &"h# F +2 &$dh( F + &&&h! F +2 &'f! F +3 &)b$ F + &+kf G +7 &-.e F +10 &.b F +9 &0g* G +10 &2te$ F +9 &47b# F +9 &5e G +10 &7d# F +9 &9|e F +9 &;>d! F +10 &=b F +9 &>g! G +10 &@e% F +9 &BGh F +9 &Dg G +10 &Ei G +9 &G{ I +9 &IC J +10 &JhM O +9 &LSz( P +10 &Nx%. P +9 &P7 Q +9 &Q  Q +10 &S\  " R +9 &Ux  ? +9 &Vz5 ! +} +10 &Vt  E +5 ( +2 "collection"'(& +4 "core" &Vj E +2 #tCollection Clamp onSpring/offSpring for 9/29 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&d1 +63 "core" 1 +3 "manipulator"&5% +4 "core" % $  F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%<& +5 "core" & + "manipulator"&% +4 "core" %\   4  +2 "storage"(l% +4 "core" %[ +2 "storage"(t. +3 "core" .( +2 "storage"("& +4 "core" & N +2 "storage"(& +3 "core" & +2 "manipulator"&'& +4 "core" &%   <9 +2 "manipulator"&,% +4 "core" %\     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1( +157 "core" ( + "manipulator"&& +4 "core" & ~  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +105 "core" ' + "storage"(]& +4 "core" & / +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'i +276 "core" ' +2 "storage"()- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +3 "core" & +2 "manipulator"&C& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&+( +5 "core" ( +2 "manipulator"&>& +3 "core" & `  +2 "storage"(J& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& + "storage"(p'X +8 "core" &  + "manipulator"&I% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&@'\ +103 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +3 "manipulator"&X& +3 "core" &j + G  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&e' +101 "core" ' + "manipulator"&L& +4 "core" &j &  +2 "manipulator"&D% +4 "core" % +2 "processing"%F& +4 "core" & +2 "processing"%Q& +6 "core" & +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" & +8 &= #c +9 &\\ 6 +9 & G +10 &c G +9 &i G +10 &^d G +9 & e G +9 &h G +10 &c G +9 &fc G +9 & )f F +10 &!e G +9 &#i G +10 &%og F +9 &'1f F +9 &(g G +10 &*c G +9 &,we F +9 &.8e G +10 &/g G +10 &1e G +9 &3e F +9 &5@g G +9 &7h G +10 &8i G +9 &:` G +9 &\ c G +9 &?d G +10 &Ae F +9 &COh G +9 &Ek H +10 &Fr H +9 &H J +10 &JI L +9 &L\  L +9 &M M +10 &O L +9 &QO M +9 &S M +10 &T M +9 &V L +10 &XT N +9 &Yxv !i +9 &Z)o + +9 ( +2 &Z ! +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&H1 +57 "core" 1 +2 "manipulator"&{% +4 "core" % & W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +137 "core" ' +4 "processing"%G& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&a% +4 "core" %\   +2 "storage"(V% +4 "core" %S + +2 "storage"(n. +2 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "manipulator"&& +5 "core" &  +2 &j  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&s(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(~'i +3 "core" ( + "manipulator"&& +4 "core" &j   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &j  +3 .tForearm.seek PC + "manipulator"&*' +97 "core" ' +2 .tHand.close + "manipulator"&O/ +56 "core" / +2 .tPC.seek :open +2 "processing"%o( +96 "core" ' + "storage"([- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +32 "core" ' +293 ( +2 "storage"(%& +3 "core" & +2 "manipulator"&.& +4 "core" &j   +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Y( +268 "core" ( +2 "manipulator"&M& +4 "core" & % s  + "storage"(4& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&N'ќ +97 "core" ' +2 .tHand.open + "manipulator"&u1 +63 "core" 1 +2 "storage"(v- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(2'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(w- +2 "core" -' +2 "storage"(}& +4 "core" & \ H\  u +2 "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&=& +4 "core" & & o  +2 "storage"( & +3 "core" & N M L +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(&' +57 "core" ' +2 "manipulator"&A& +4 "core" & e  +2 "storage"(f& +3 "core" & E +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&9' +24 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +23 "core" ' +2 "manipulator"&S% +3 "core" % k +2 "storage"(|& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&b' +19 "core" ' +2 "manipulator"&P& +4 "core" & G  +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +19 "core" ' +2 "storage"(% +3 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"(T'X +99 (R% +3 "core" %xZ D QJ +2 "manipulator"&q% +43 "core" %ѝ +10 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +21 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & Z +2 "collection"'& +4 "core" &Vj E +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&!% +3 "core" %\ J 1 +2 "storage"(% +4 "core" %O  +2 "storage"(. +3 "core" .( +2 "storage"( & +4 "core" &  +2 "storage"( & +3 "core" &  +3 "manipulator"&r& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&3( +4 "core" ( +2 "manipulator"&-& +3 "core" & & M  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +103 "core" ' + "storage"(7& +4 "core" & ; +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & h  +3 "storage"(j& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&E' +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(W'N +26 "core" ' +2 "manipulator"&% +4 "core" % { +2 "storage"(#& +3 "core" & E +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&i' +18 "core" ' +2 "manipulator"&_& +4 "core" &  +2 "storage"(\ & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&d'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(5'= +39 "core" ' + "manipulator"&<& +4 "core" & h  +2 "manipulator"&% +4 "core" %Ѡ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +162 "core" ( +2 "manipulator"&"& +4 "core" &' F >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &'  >M +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' +2 .tHand.close + "manipulator"&'/ +64 "core" / +2 .tCC.seek :open +2 "collection"',( +416 "core" ( + "storage"(& +4 "core" & J +2 "storage"(& +4 "core" & +2 "manipulator"&& +4 "core" &&  =E +2 "manipulator"&]% +3 "core" % . )  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&g( +152 "core" ( + "manipulator"&)& +4 "core" &  +2 "storage"( & +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&C' +98 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +61 "core" 1 +3 "manipulator"&Z% +3 "core" % ) X  +2 "storage"(?& +44 "core" & J +10 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&I' +18 "core" ' +2 "manipulator"&1& +4 "core" & +2 "storage"($& +4 "core" & 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&k'ќ +28 "core" ' + "storage"(m% +4 "core" %E & +3 ."downElevator"SE.seek :down +4 "storage"(X'X +99 (`% +3 "core" %?V  QJ +2 "manipulator"&+% +4 "core" %ѕ o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'D& +4 "core" & +2 "manipulator"&F% +4 "core" %\ % K D +2 "storage"(p% +4 "core" %] | + "storage"(@. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(6( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" & C +2 "manipulator"&{& +4 "core" & 6 +2 .tElbow.seek 3 +2 "manipulator"&Q( +20 "core" ( +2 "manipulator"&G& +4 "core" &  j O +2 "storage"(a& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&V'9 +101 "core" ' + "storage"(n& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & Y  +3 "manipulator"&& +3 "core" & ] O +2 .tElbow.seek 3 +2 "manipulator"&;( +4 "core" ( + "manipulator"&e& +4 "core" &  O +2 "storage"(O& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&['ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(y'X +7 "core" & } O +2 "manipulator"&~% +4 "core" % ϫ E V +2 .tForearm.seek :retract +2 "manipulator"&%'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&& +3 "core" &' C ^ >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &'  J >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'" +105 "core" ' +2 "manipulator"&4& +3 "core" &' 1 Z >K +2 "manipulator"&s% +4 "core" %! q +2 "collection"'u& +4 "core" &) +4 "collection"'v& +5 "core" &( +2 .tCC.seek :closed +2 "collection"'w(V +4 "core" & +8 &8# #a +9 &Z& 5 +10 &- G +9 &b$ F +10 &g* G +9 &Ud) F +9 &h' F +10 &h) F +9 &e( G +9 &]f# F +10 & h' F +9 &!h) F +10 &#g% G +9 &%df, G +9 &''d+ F +10 &(b* F +9 &*e+ F +9 &,mc# F +10 &..e. G +9 &/e, F +10 &1h- F +9 &3ue# F +9 &56e+ G +10 &6g" F +9 &8e" F +9 &:}f) F +10 &g F +10 &?g# F +9 &Ac F +9 &CGg( F +10 &Eh( G +9 &Fs$ H +9 &H# I +10 &J;<$+ M +9 &Kyy# P +10 &M0? P +9 &Ov  Q +9 &Q:! P +10 &R\ ' R +9 &T  R +9 &V+`  " * +10 &V( $ B +8 ( +2 &VG = +3 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +46 .Hand.open +3 "manipulator"&}1 +61 "core" 1 +2 "manipulator"&\\% +4 "core" % ! $ / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&x% +4 "core" %\   6  +2 "storage"(A% +4 "core" %[  +2 "storage"(f. +2 "core" .( +3 "storage"(S& +3 "core" &   +2 "storage"(|& +4 "core" &   +2 "manipulator"&& +4 "core" &'   >K +2 "manipulator"&P% +3 "core" %\  I  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&2( +164 "core" ( + "manipulator"&0& +4 "core" & W Z +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y'9 +99 "core" ' + "storage"(N& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &  +2 "manipulator"&& +4 "core" & \\ Z +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&&& +4 "core" & I Z +2 "storage"(9& +3 "core" & -  +3 .tForearm.seek 3 + 300 counts + "manipulator"&b'ϩ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(!'X +7 "core" & { Z +2 "manipulator"&% +4 "core" % Ϭ , +2 .tForearm.seek :retract +2 "manipulator"&z'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"& & +4 "core" &z B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +95 "core" ' +2 "manipulator"&-& +4 "core" &z % k +2 "manipulator"& % +9 "core" % +2 "processing"%7& +3 "core" & +3 "processing"%h& +5 "core" & +2 .tPC.seek :closed +2 "processing"%T(Z +4 "core" & +8 &D #c +9 &^ 7 +10 &  G +9 &g G +9 &d F +10 &ge G +9 &)g G +9 &i G +10 &e G +9 &od G +10 & 1d G +9 &!b G +9 &#d F +10 &%xe F +9 &':e F +10 &(f G +9 &*d G +9 &,g F +10 &.Bf F +9 &0d F +9 &1d G +10 &3h G +9 &5Ii G +9 &7 h G +10 &8h G +9 &:h G +10 &c F +9 &?c G +10 &Ad F +9 &CXh G +9 &Ek G +10 &Fr H +9 &H J +10 &JQ L +9 &L L +9 &M L +10 &O L +9 &QY L +9 &S M +10 &T M +9 &V M +10 &X_ M +9 &Zxu !i +9 &Z#` ( +9 ( +2 &Z " +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&B1 +64 "core" 1 + "manipulator"&:% +4 "core" % R +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%8& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&j% +3 "core" %\    +2 "storage"(^% +4 "core" %O ( +2 "storage"(. +2 "core" .( +2 "storage"(#& +4 "core" &   +3 "storage"(_& +2 "manipulator"&\ & +7 "core" & W  +2 &z * +49 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&<(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('i + "core" ( +3 "manipulator"&U& +4 "core" &z  G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &z  $ +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 .tHand.close +2 "manipulator"&E/ +58 "core" / +2 .tPC.seek :open +2 "processing"%i( +81 "core" ' +2 "storage"(W- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"("'y +42 "core" ' +297 ( +3 "storage"((& +3 "core" & `  +2 "manipulator"&d& +4 "core" &z B +2 "manipulator"&% +4 "core" % < +2 .tForearm.seek :retract +2 "manipulator"&''\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&l( +270 "core" ( + "manipulator"&c& +4 "core" & % F  +2 "storage"(& +4 "core" & [  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +92 "core" ' +3 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(]- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(t& +4 "core" & Q N ;  +2 "manipulator"&J& +3 "core" & h  +2 .tElbow.seek 3 +2 "manipulator"&Z( +8 "core" ( +2 "manipulator"&?& +3 "core" & g  +2 "storage"(1& +4 "core" & O W 5  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&$'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&m& +3 "core" & ^  +2 "storage"(g& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&`'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +27 "core" ' +2 "manipulator"&I% +4 "core" %΄ ? +2 "storage"(D& +4 "core" & e  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&F'ϰ +19 "core" ' + "manipulator"&p& +5 "core" & ?  +2 "storage"(@& +3 "core" & ,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +32 "core" ' +2 "storage"(k% +3 "core" %s \\ +3 ."downElevator"SE.seek :down +3 "storage"(X'X +99 (% +3 "core" %P] M RL +2 "manipulator"&H% +4 "core" %/ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (G& +3 "core" &  +2 "collection"'a& +4 "core" &VG = +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&n% +3 "core" %\ ' r A +2 "storage"(>% +50 "core" %a E  +2 "storage"(L. +3 "core" .( +2 "storage"(& +4 "core" & g  +2 "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&O& +4 "core" &   +2 "storage"(/& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +101 "core" ' +2 "storage"(~& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Q'i +282 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   +3 "storage"(*& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(;- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(4'O +28 "core" ' + "manipulator"&s% +4 "core" %z +2 "storage"(u& +4 "core" & m  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 297 counts + "manipulator"&y'Ϧ +21 "core" ' +2 "manipulator"&%& +3 "core" &  +2 "storage"(,& +4 "core" & P  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(\\'> +43 "core" ' +2 "manipulator"&v& +4 "core" & c  +2 "manipulator"& % +3 "core" %B \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +165 "core" ( +3 "manipulator"&f& +3 "core" &% 0 A <? +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &%   <? +3 .tForearm.seek CC +2 "manipulator"&|'" +93 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'P( +413 "core" ( + "storage"(M& +4 "core" & x  +2 "storage"(0& +4 "core" &  + "manipulator"&& +4 "core" &%   <> +2 "manipulator"&N% +3 "core" %   ! +3 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&=( +169 "core" ( +2 "manipulator"&R& +3 "core" & % / Z +2 "storage"(q& +4 "core" & w  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +99 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +60 "core" 1 +2 "manipulator"&% +4 "core" % Ί &  +2 "storage"(& +4 "core" & L  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'϶ +19 "core" ' + "manipulator"&2& +4 "core" & K Z +2 "storage"(Y& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +42 "core" ' +9 "storage"(b% +4 "core" %9 c +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 ( % +3 "core" %nW p PI +2 "manipulator"&K% +4 "core" %' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +87 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +3 "core" &$ +2 "manipulator"&7% +4 "core" %\  ~  +2 "storage"(!% +4 "core" %N +2 "storage"(z. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(o( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" & ] +2 "manipulator"&:& +4 "core" & Z +2 .tElbow.seek 2 +2 "manipulator"&8( +39 "core" ( +2 "manipulator"&j& +4 "core" & z "{ +2 "storage"(^& +3 "core" & M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' + "storage"(h& +4 "core" & < +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +279 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &  +2 "manipulator"&U& +4 "core" &  !v +2 .tElbow.seek 2 +2 "manipulator"&3( +32 "core" ( +2 "manipulator"&r& +4 "core" & D o +2 "storage"(E& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&W' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(T'X +7 "core" & o +2 "manipulator"&% +4 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&('\ +105 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +136 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +29 "core" ( +2 "manipulator"&& +4 "core" &$ # 9 ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$  C ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'" +99 "core" ' +2 "manipulator"&& +4 "core" &% 0 : ;3 +2 "manipulator"&<% +4 "core" %  \ +2 "collection"'& +4 "core" &/ +3 "collection"']& +4 "core" && +3 .tCC.seek :closed + "collection"'(V +4 "core" &$ +7 &J> $d +10 &^, 7 +9 &1~, G +10 &b) F +9 &h/ F +9 &we& G +10 &:f F +9 &b+ F +9 &e* G +10 &e# F +9 & Cc, F +10 &"g^ F +9 &#g G +9 &%f+ F +10 &'Jc( F +9 &) h, F +9 &*f+ F +10 &,c) F +9 &.Sb% F +10 &0e" F +9 &1b* F +9 &3e% F +10 &5[b) F +9 &7f" F +9 &8e$ F +10 &:h) F +9 &%b( F +9 &?g* F +9 &Ag% F +10 &Cjj( F +9 &E,n$ F +9 &Fu$ H +10 &H- I +9 &J_H*' M +10 &Lu) P +9 &M)7& Q +9 &O+ Q +10 &Q[( Q +9 &S  " R +9 &T # R +10 &VA\\ . (z +9 &V / G +9 ( +2 &V`+ C +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&t1 +58 "core" 1 +2 "manipulator"&J% +4 "core" %  * X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%1& +4 "core" & +2 "manipulator"&'% +3 "core" %\   +2 "storage"(m% +4 "core" %_  +46 "storage"(g. +5 "core" .( +2 "storage"(I& +4 "core" & +2 "storage"(D& +5 "core" & + "manipulator"&"& +4 "core" &# } :0 +2 "manipulator"&)% +4 "core" %\ x  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&p( +165 "core" ( +2 "manipulator"&@& +3 "core" & i } +2 "storage"(k& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&l'ќ +89 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +2 "core" & f +3 "manipulator"&$& +3 "core" & M } +2 .tElbow.seek 2 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&& +4 "core" & % a } +2 "storage"(`& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(n'X +7 "core" & h } +2 "manipulator"&>% +4 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( +2 "manipulator"&& +3 "core" &p < [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&O& +4 "core" &p  0 +2 "manipulator"&/% +3 "core" % w +2 "processing"%5& +4 "core" & +3 "processing"%~& +4 "core" & +2 .tPC.seek :closed +2 "processing"%X(Z +4 "core" &  +9 &8 )v +9 &k = +10 &q H +9 &se G +10 &7d F +9 &e F +9 &g F +10 &|c G +9 &@e F +9 &j G +10 & b F +9 &"e G +10 &$Fh G +9 &&h G +9 &'j G +10 &)e G +9 &+Nc G +9 &-c G +10 &.d G +9 &0i G +9 &2Vh G +10 &4h G +9 &5h G +10 &7h G +9 &9^i G +9 &;!g F +10 &<g F +9 &>h G +10 &@fd G +9 &B(c G +9 &Ch G +10 &Em H +9 &Giw I +9 &I$ K +10 &J L +9 &L L +10 &Ng L +9 &P) L +9 &Q L +10 &S M +9 &Um M +9 &W/ M +10 &X M +9 &ZAC_ %l +9 &Z' " +6 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&+1 +2 "core" &Z " +57 1 + "manipulator"&{% +4 "core" %  \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +100 "core" ' +2 "processing"%& +4 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&*% +3 "core" %\ %   F +2 "storage"(;% +4 "core" %_ ? +2 "storage"(s. +2 "core" .( +3 "storage"(u& +4 "core" & I +2 "storage"(%& +4 "manipulator"&,& +3 "core" & 6 +2 &p  g +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(v'i +3 "manipulator"& (s +5 "core" ( +2 "manipulator"&& +4 "core" &p 0 N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &p  +46 .tForearm.seek PC +5 "manipulator"&Q' +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%y( +34 "core" ' +2 "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'y +35 "core" ' +351 ( + "storage"(S& +4 "core" &  +2 "manipulator"&}& +4 "core" &p +2 "manipulator"&[% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&x( +278 "core" ( +2 "manipulator"&w& +4 "core" & % # +2 "storage"(M& +3 "core" & v +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +101 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(N- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(R'E +20 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(q' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' +2 "storage"(A& +3 "core" & Z Z +2 "manipulator"&9& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & & 4 # +2 "storage"(2& +4 "core" & Z O / +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(b' +57 "core" ' + "manipulator"&.& +4 "core" & : # +2 "storage"( & +4 "core" & ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +6 "manipulator"&K' +22 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&% +4 "core" %  U +2 "storage"( & +3 "core" & > +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&7' +20 "core" ' + "manipulator"&!& +4 "core" & $ F # +2 "storage"(z& +4 "core" & * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +34 "core" ' +2 "storage"(% +4 "core" %r +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (6% +4 "core" %{a  QK +2 "manipulator"&B% +4 "core" %њ } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 (j& +2 "core" &  +3 "collection"'^& +4 "core" &V` C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&h% +4 "core" %\  $ +2 "storage"(&% +4 "core" %P  + "storage"(-. +3 "core" .( +2 "storage"(\ & +4 "core" &  +2 "storage"(_& +4 "core" &  +2 "manipulator"&U& +4 "core" & # +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&E& +4 "core" &  # +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"(& +4 "core" & C +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" & [ # +2 "storage"(#& +3 "core" & / +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(<'N +34 "core" ' +2 "manipulator"&3% +4 "core" %  ) +2 "storage"(& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&T' +20 "core" ' + "manipulator"&(& +4 "core" & % i "~ +2 "storage"(P& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +19 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(J'= +39 "core" ' + "manipulator"&1& +4 "core" & u "~ +2 "manipulator"&'% +4 "core" %џ w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +165 "core" ( +2 "manipulator"&]& +4 "core" &+ $ Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &+   Bf +2 .tForearm.seek CC +2 "manipulator"&D'" +96 "core" ' + .tHand.close +2 "manipulator"&"/ +62 "core" / +2 .tCC.seek :open +2 "collection"')( +413 "core" ( + "storage"(c& +4 "core" & V +2 "storage"(@& +4 "core" & d +2 "manipulator"&k& +3 "core" &(   >N +2 "manipulator"&% +4 "core" % /  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&?( +152 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(H& +4 "core" & / +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&$' +101 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&`1 +55 "core" 1 +2 "manipulator"&G% +3 "core" %  v +2 "storage"(a& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&>' +18 "core" ' +4 "manipulator"&p& +3 "core" & +2 "storage"(l& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"& 'ќ +28 "core" ' +2 "storage"(F% +3 "core" %B ? +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %Y  PI +2 "manipulator"&Z% +4 "core" %ъ } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +88 ' +8 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'/& +4 "core" &, +2 "manipulator"&5% +4 "core" %\ #  B +2 "storage"(n% +4 "core" %b +2 "storage"(C. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(i( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +3 "core" & s  +2 "manipulator"&{& +4 "core" & * +2 .tElbow.seek 3 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&*& +3 "core" & & ^ +2 "storage"(;& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&s'9 +100 "core" ' +2 "storage"(~& +4 "core" & e  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +277 "core" ' +2 "storage"(%- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &  +2 "manipulator"&& +4 "core" & ^ +2 .tElbow.seek 3 +2 "manipulator"&e( +4 "core" ( + "manipulator"&& +4 "core" & u ^ +2 "storage"(& +4 "core" & 4  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(X'X +8 "core" & ^ +2 "manipulator"&v% +3 "core" % ϣ +3 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&[& +3 "core" &" ! 5 :. +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &#  * :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&w'" +105 "core" ' +2 "manipulator"&M& +4 "core" &# 1  :. +2 "manipulator"& % +4 "core" %  0 +2 "collection"'& +4 "core" &; +3 "collection"'N& +4 "core" &4 +3 .tCC.seek :closed +2 "collection"'|(V +4 "core" &4 +8 &I8 #b +9 &^: 7 +10 &4~. G +9 &`+ F +9 &g$ F +10 &|b" F +9 &=f# F +10 &b$ F +9 &e' G +9 &e# F +10 & Dg( G +9 &"e" F +9 &#h' F +10 &%f' G +9 &'Me& F +10 &)e! F +9 &*b( F +9 &,e1 F +10 &.V`0 F +9 &0e, F +9 &1b8 F +10 &3f& G +9 &5]e. F +10 &7g* F +9 &8e( G +9 &:f5 F +10 &(b' F +9 &?g* F +10 &Ac2 F +9 &Cmg( F +10 &E.j+ G +9 &Fu6 H +9 &H8 J +10 &JaG+3 M +9 &Lt{3 P +9 &M,;5 P +10 &O!1 Q +9 &Q_1 Q +10 &S 6 R +9 &T  3 R +9 &VC\\  3 (y +10 &V  6 I +8 ( +3 "collection"'N& +3 "core" &V`7 D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&A1 +54 "core" 1 +3 "manipulator"&9% +4 "core" %   P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%2& +4 "core" & +2 "manipulator"&% +3 "core" %\   _  +2 "storage"(.% +5 "core" %P R + "storage"( . +3 "core" .( +2 "storage"(f& +4 "core" & X  +2 "storage"(& +4 "core" &  + "manipulator"& & +4 "core" &"  :. +2 "manipulator"&R% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&!( +159 "core" ( +2 "manipulator"&z& +50 "core" &   +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +102 "core" ' +2 "storage"(0& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(q'i +284 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (B& +3 "core" &  +2 "manipulator"&Y& +4 "core" & r  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&b& +4 "core" & O  +2 "storage"(K& +4 "core" & K  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&7'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(h'X +7 "core" &   +2 "manipulator"&&% +4 "core" % ϯ ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&-(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&\ & +4 "core" &x " M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U' +103 "core" ' +2 "manipulator"&E& +4 "core" &x  s +2 "manipulator"&% +5 "core" % +2 "processing"%\\& +3 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"% (Z +3 "core" &  +10 &8 )v +9 &k = +9 &r H +10 &ta F +9 &5e G +10 &h G +9 &e G +9 &{c G +10 &=c G +9 &i G +9 & c G +10 &"d F +9 &$Ed G +10 &&h G +9 &'h G +9 &)d G +10 &+Me G +9 &-i G +9 &.d G +10 &0g F +9 &2Ug G +10 &4g G +9 &5h G +9 &7d G +10 &9]g G +9 &; h F +9 &<e F +10 &>e F +9 &@ff F +10 &B(f F +9 &Ci G +9 &Eo H +10 &Ghx I +9 &I# K +9 &J L +10 &L L +9 &Ne L +10 &P( L +9 &Q L +9 &S M +10 &Um L +9 &W. M +9 &X M +10 &ZAD_ %k +9 &Z ( ! +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&=1 +2 "core" &Z ! +60 1 + "manipulator"&:% +4 "core" % % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&#% +3 "core" %\   +2 "storage"(% +4 "core" %X  +2 "storage"(3. +2 "core" .( +2 "storage"(& +4 "core" & ]  +3 "storage"((& +2 "manipulator"&P& +7 "core" & ;  + &x +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&1(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(''i +3 "core" ( + "manipulator"&& +4 "core" &x   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &x  @ +4 .tForearm.seek PC +2 "manipulator"&8' +95 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%T( +92 "core" ' +2 "storage"(<- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +42 ."raiseStack"SE.seek :place +9 "storage"(]'y +49 "core" ' +233 ( +2 "storage"(I& +3 "core" & \\  +2 "manipulator"&t& +4 "core" &x  +2 "manipulator"&W% +3 "core" %    +3 .tForearm.seek :retract +2 "manipulator"&"'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&m( +247 "core" ( +2 "manipulator"&& +3 "core" & ' = l +3 "storage"(c& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&@'9 +102 "core" ' +2 .tHand.open +2 "manipulator"&k1 +61 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(H' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(D- +2 "core" -' +2 "storage"(g& +4 "core" & N X X  +2 "manipulator"&`& +4 "core" & * h +2 .tElbow.seek 3 +2 "manipulator"&G( +4 "core" ( + "manipulator"&a& +4 "core" & % h +2 "storage"(p& +4 "core" & Z [  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(F' +59 "core" ' + "manipulator"&d& +4 "core" & ( h +2 "storage"(& +4 "core" & c  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'} +20 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +23 "core" ' + "manipulator"&>% +4 "core" %· 4 +2 "storage"(J& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&/'ϳ +19 "core" ' +2 "manipulator"&5& +4 "core" & 9 g +2 "storage"(n& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&C'9 +28 "core" ' +2 "storage"( % +4 "core" %q E +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (o% +4 "core" %k\\ D QK +2 "manipulator"&+% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (*& +3 "core" &   +2 "collection"';& +4 "core" &V` D +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&~% +4 "core" %\   +2 "storage"(% +4 "core" %N  +2 "storage"(O. +2 "core" .( +2 "storage"(%& +4 "core" &   +2 "storage"(,& +4 "core" &   +2 "manipulator"&& +3 "core" &\ f +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & n f +2 "storage"(L& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&V'9 +105 "core" ' +2 "storage"(v& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(s- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +48 "manipulator"&[& +5 "core" & R f +2 "storage"(Q& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&u'} +21 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'N +26 "core" ' +2 "manipulator"& % +3 "core" %΄  +2 "storage"(& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&X'ϰ +20 "core" ' + "manipulator"&S& +4 "core" & f e +2 "storage"()& +4 "core" & Z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&A'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(9'= +37 "core" ' +2 "manipulator"&2& +3 "core" & c e +3 "manipulator"&% +3 "core" % @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +151 "core" ( +2 "manipulator"&f& +4 "core" & ( L 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &   4 +2 .tForearm.seek CC +2 "manipulator"&N'" +94 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tCC.seek :open + "collection"'R( +416 "core" ( +2 "storage"(w& +3 "core" &   +2 "storage"(z& +4 "core" &  +2 "manipulator"&& +4 "core" & 4 + "manipulator"&}% +4 "core" % )  t +3 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( + "manipulator"&6& +4 "core" & & V +2 "storage"(B& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Y'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +61 "core" 1 +2 "manipulator"&j% +4 "core" % Ώ  W +2 "storage"(^& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&&'ϻ +21 "core" ' + "manipulator"&!& +4 "core" & i V +2 "storage"(x& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +25 "core" ' +2 "storage"(7% +3 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (_% +3 "core" %=R PH +2 "manipulator"&% +4 "core" %{ v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +97 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" && +2 "manipulator"&\\% +3 "core" %\ % Y C +3 "storage"(h% +3 "core" %a +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(y( +339 "core" ( +5 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" & { +2 "manipulator"&:& +4 "core" & { V +2 .tElbow.seek 2 +2 "manipulator"&( +36 "core" ( +2 "manipulator"&#& +4 "core" & % # +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +99 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +279 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &   +2 "manipulator"&& +4 "core" & " # +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&U& +5 "core" &  U # +2 "storage"(& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&<' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&-/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +6 "storage"( 'X +3 "core" & j # +3 "manipulator"&I% +4 "core" %  = U +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +3 "manipulator"&'& +3 "core" &   3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' +3 "manipulator"&c& +4 "core" & & 3 +2 "manipulator"&1% +4 "core" %!  l +2 "collection"'k& +4 "core" &= +3 "collection"'& +5 "core" &< +2 .tCC.seek :closed +2 "collection"'D(V +4 "core" &9  +9 &7: )v +9 &k; = +10 &p5 F +9 &qf0 G +9 &4e2 F +10 &b0 F +9 &e/ G +10 &ze0 F +9 &<h F +9 &f% F +10 & b. F +9 &"h3 F +10 &$Ce7 G +9 &&e7 F +9 &'g; F +10 &)e3 F +9 &+Kf5 G +10 &-e6 F +9 &.e6 F +9 &0c7 F +9 &2Te3 F +10 &4b2 F +9 &5e: F +10 &7f4 F +9 &9]e4 F +9 &;f4 F +10 &<b3 F +9 &>f6 G +10 &@ee7 F +9 &B&f7 F +9 &Cd: F +10 &Ek6 G +9 &Gfy5 I +9 &I% 3 J +10 &JbF7 N +9 &L\\}9 Q +10 &NV&26 Q +9 &P8 Q +9 &Q5 Q +10 &S  8 R +9 &UY 7 A +9 &Vq?  7 . +10 &VU7 ? +5 ( +2 "collection"'& +4 "core" &VU3 ? +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&g1 +63 "core" 1 +2 "manipulator"&`% +4 "core" % ! / L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%p& +3 "core" & +3 "manipulator"&"% +3 "core" %\  + 4 +2 "storage"(d% +4 "core" %b  +2 "storage"(. +2 "core" .( +2 "storage"(>& +4 "core" &   +2 "storage"(J& +4 "core" &  s +2 "manipulator"&]& +3 "core" &  x 3 +2 "manipulator"&5% +4 "core" %\  4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +152 "core" ( + "manipulator"&& +4 "core" & & 5  +2 "storage"( & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&m'ќ +98 "core" ' +2 "storage"(@& +4 "core" &  ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'i +327 "core" ' +5 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (+& +3 "core" &   +2 "manipulator"&l& +3 "core" & Y  +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&F& +4 "core" & +  +2 "storage"(Z& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&*/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(~'X +8 "core" &  +2 "manipulator"&% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&O'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +3 "manipulator"&%& +4 "core" &y  > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&& +3 "core" &y  m +2 "manipulator"&L% +4 "core" %   +2 "processing"%C& +4 "core" & +3 "processing"%v& +4 "core" & +3 .tPC.seek :closed +2 "processing"%(Z +3 "core" & +7 &E #b +10 &\\ 6 +9 & H +9 &f G +10 &c G +9 &ae F +10 &"e G +9 &b G +9 &e F +10 &ie F +9 & *g G +9 &!h G +10 &#e F +9 &%pf G +10 &'2h G +9 &(c G +9 &*e G +10 &,xg G +9 &.:h G +9 &/h G +10 &1c G +9 &3e F +10 &5Be G +9 &7h G +9 &8h G +10 &:b G +9 & c G +10 &?d G +9 &Ac G +10 &CQh G +9 &Ej G +9 &Fs H +10 &H J +9 &JK L +9 &L L +10 &M L +9 &O L +10 &QR L +9 &S M +9 &T M +10 &V L +9 &XW M +9 &Yww "k +10 &Z&f ( +9 ( +3 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&?1 +2 "core" &Z +50 1 + "manipulator"&{% +4 "core" % % S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +2 "processing"%[& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Q% +4 "core" %\  X  +2 "storage"(e% +4 "core" %a ' +2 "storage"( . +2 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(S& +2 "manipulator"&)& +8 "core" &  : +2 &y k +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&2(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +2 "manipulator"&V& +5 "core" &y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &y +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&u/ +64 "core" / +2 .tPC.seek :open +2 "processing"%X( +91 "core" ' + "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'y +44 "core" ' +286 ( + "storage"(& +4 "core" &  +2 "manipulator"&A& +3 "core" &y > +2 "manipulator"&4% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 .tElbow.seek 2 +9 "manipulator"&.( +272 "core" ( + "manipulator"&|& +4 "core" & & H  +2 "storage"(w& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +99 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +3 "storage"(}- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(6'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(B' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +2 "core" -' +2 "storage"( & +4 "core" &  \\ [  +2 "manipulator"&K& +4 "core" & 5  +2 .tElbow.seek 2 +2 "manipulator"&j( +4 "core" ( + "manipulator"&^& +4 "core" &  %  +2 "storage"(!& +4 "core" &  ] ] +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(7' +53 "core" ' + "manipulator"&0& +4 "core" & L  +2 "storage"(_& +4 "core" &  ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'i +23 "core" ' +2 "manipulator"&% +3 "core" % g +2 "storage"(&& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&\\' +29 "core" ' +2 "manipulator"&h& +3 "core" & n  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&9'ќ +25 "core" ' +2 "storage"(q% +4 "core" %s 7 +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (i% +3 "core" %^ QL +2 "manipulator"&=% +5 "core" %Ѭ N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +3 "core" &  n +2 "collection"'& +4 "core" &VT( ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  B  +2 "storage"(b% +4 "core" %O F +2 "storage"(E. +2 "core" .( +2 "storage"(P& +4 "core" &  +2 "storage"((& +4 "core" &  +2 "manipulator"&& +4 "core" & Y  +2 .tElbow.seek 2 +2 "manipulator"&U( +4 "core" ( + "manipulator"&& +3 "core" & & }  +3 "storage"(-& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +92 "core" ' +2 "storage"(I& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +276 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &   +2 "storage"(8& +4 "core" &  ) + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +47 "storage"(c- +5 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(1'N +28 "core" ' +2 "manipulator"&k% +4 "core" % v + "storage"(r& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"& ' +20 "core" ' + "manipulator"&t& +4 "core" &   +2 "storage"(R& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(`'= +39 "core" ' + "manipulator"&p& +4 "core" & ~  +2 "manipulator"&"% +4 "core" % x x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" &(  t ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &(  , ?V +2 .tForearm.seek CC +2 "manipulator"&J'" +102 "core" ' +2 .tHand.close + "manipulator"&]/ +61 "core" / +3 .tCC.seek :open + "collection"'5( +416 "core" ( + "storage"(& +4 "core" &   +2 "storage"(& +4 "core" &  F +2 "manipulator"& & +3 "core" & %   <= +2 "manipulator"&@% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&a( +156 "core" ( +2 "manipulator"&o& +4 "core" & & q  +2 "storage"(+& +3 "core" &  } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&l' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +59 "core" 1 +3 "manipulator"&*% +3 "core" % & \\ +2 "storage"(;& +4 "core" &  b +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&' +18 "core" ' +3 "manipulator"&n& +4 "core" &   +2 "storage"(m& +4 "core" &  ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +27 "core" ' + "storage"(/% +4 "core" %B +3 ."downElevator"SE.seek :down +4 "storage"(%'X +98 (,% +3 "core" %Y R QI +2 "manipulator"&G% +4 "core" % t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +27 "Can" > 38 +60 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'L& +3 "core" &&  +2 "manipulator"&C% +4 "core" %\  p  +2 "storage"(~% +4 "core" %\\  +2 "storage"(O. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(T( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &  +2 "manipulator"&{& +4 "core" & `  +2 .tElbow.seek 3 +2 "manipulator"&[( +14 "core" ( +2 "manipulator"&Q& +4 "core" & , ` +2 "storage"(e& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +3 "manipulator"& '9 +93 "core" ' +2 "storage"(& +3 "core" & ;  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'i +280 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +4 "core" & y  +2 "manipulator"&V& +4 "core" & { ` +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +5 "core" & ` + "storage"(u& +4 "core" & [  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"('X +7 "core" & Y ` +2 "manipulator"&% +4 "core" % ϟ p +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +27 "core" ( +2 "manipulator"&4& +4 "core" &) 5 D @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &)  @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'" +104 "core" ' + "manipulator"&w& +4 "core" &* % @[ +2 "manipulator"&2% +4 "core" %  / +2 "collection"'& +4 "core" &:  +3 "collection"'}& +5 "core" &6  +2 .tCC.seek :closed +2 "collection"'N(V +5 "core" &4  +6 &J8 #c +10 &\\6 6 +9 &%4 G +9 &b4 F +10 &g2 G +9 &me= F +9 &/h2 F +10 &e> G +9 &eA F +10 &ug@ F +9 & 6fA G +9 &!e: G +10 &#e7 F +9 &%}cA F +9 &'@b9 F +10 &)e9 G +9 &*e8 F +10 &,b8 F +9 &.Fd G +9 &0 e4 F +10 &1b5 F +9 &3e9 G +9 &5Oe7 F +10 &7g6 F +9 &8d7 F +10 &:h> F +9 &e7 G +10 &?e7 G +9 &AeF F +9 &C_c7 F +10 &E!j9 F +9 &Fv4 H +10 &H6 I +9 &JSD)7 M +9 &L s{7 P +10 &M*;7 P +9 &O4 Q +9 &QQ8 Q +10 &S  4 R +9 &T\ 7 R +10 &VAh\ 5 / +9 &V6 7 +9 &Wk8 B +6 ( +2 "collection"'}& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"& 1 +3 "core" &W`8 B +59 1 +3 "manipulator"&K% +3 "core" %  #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%!& +4 "core" & +2 "manipulator"& % +3 "core" %\ #  5 A +2 "storage"(0% +4 "core" %b  +2 "storage"(_. +2 "core" .( +2 "storage"(& +4 "core" & $  +2 "storage"(&& +4 "core" &   +2 "manipulator"&f& +4 "core" &)   @[ +2 "manipulator"&h% +3 "core" %\ #  J A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +163 "core" ( +2 "manipulator"&& +3 "core" & % t s +2 "storage"(q& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +93 "core" ' + "storage"(z& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(B'i +280 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +3 "core" &  +2 "manipulator"&x& +4 "core" & D s +2 .tElbow.seek 3 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&7& +4 "core" & ( s +2 "storage"(& +49 "core" &   +4 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&#/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & s +2 "manipulator"&b% +3 "core" % ϧ ] +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E(s +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( + "manipulator"&P& +4 "core" &m 9 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &m ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &m $ 0 +2 "manipulator"&-% +4 "core" % ] +2 "processing"%9& +5 "core" & +2 "processing"%I& +6 "core" & +2 .tPC.seek :closed +2 "processing"%\ (Z +3 "core" &  +9 &8 )w +9 &k = +10 &q H +9 &vc F +9 &7c G +10 &h G +9 &c G +10 &~e F +9 &@d F +9 &e F +10 & d G +9 &"g G +10 &$Gb G +9 &&\ d F +9 &'e G +10 &)h G +9 &+Ob G +9 &-e F +10 &.d G +9 &0h G +10 &2Wb G +9 &4b G +9 &5e F +10 &7e F +9 &9_e G +9 &;!g G +10 &<b G +9 &>h G +10 &@gc G +9 &B)e G +9 &Ck G +10 &Ej H +9 &Giw I +9 &I% K +10 &J L +9 &L M +10 &Ng L +9 &P) L +9 &Q L +10 &S M +9 &Un M +9 &W. M +10 &X M +9 &ZCEb %k +9 &Z" \  +6 ( +2 "processing"%I& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +4 "core" &Z  +55 1 + "manipulator"&:% +4 "core" % & o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 "processing"%'& +3 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&8% +4 "core" %\ "  B +3 "storage"(c% +3 "core" %b  +2 "storage"(k. +3 "core" .( +2 "storage"(r& +4 "core" &  +2 "storage"(t& +3 "manipulator"&R& +8 "core" &  + &m  [ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +3 "manipulator"&p(s +4 ."raiseStack"SE.seek :beamBreak + "storage"("'i +2 "core" ( +2 "manipulator"&& +6 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &m  +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tPC.seek :open +2 "processing"% ( +83 "core" ' +2 "storage"(1- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +36 "core" ' +301 ( + "storage"(>& +4 "core" &   +2 "manipulator"&g& +3 "core" &m e +2 "manipulator"&<% +4 "core" %  B  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +270 "core" ( + "manipulator"&D& +4 "core" &   +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' +2 .tHand.open +41 "manipulator"& 1 +60 "core" 1 +2 "storage"(@- +3 "core" -'y +4 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(o'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(+' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +3 "core" -' +2 "storage"(& +4 "core" & Z Z   +2 "manipulator"&Z& +5 "core" &   +2 .tElbow.seek 3 + "manipulator"&*( +4 "core" ( +2 "manipulator"&;& +4 "core" &   +2 "storage"(n& +3 "core" & Z Z  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +57 "core" ' +2 "manipulator"&W& +4 "core" & $  +2 "storage"(,& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&G'} +21 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(l'i +23 "core" ' +2 "manipulator"&% +3 "core" %Έ  +2 "storage"(L& +4 "core" & R  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&C'ϴ +20 "core" ' + "manipulator"&~& +4 "core" & N  +2 "storage"(O& +4 "core" & 9  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&`'9 +24 "core" ' +2 "storage"(H% +4 "core" %r B  +2 ."downElevator"SE.seek :down +4 "storage"(%'X +99 (y% +4 "core" %\\ R QK + "manipulator"&?% +4 "core" %T  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +3 "core" &   +2 "collection"'e& +4 "core" &W`7 B +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\  2 & +2 "storage"(F% +4 "core" %[  +2 "storage"(. +2 "core" .( +3 "storage"(S& +4 "core" &   + "storage"(v& +4 "core" &   +2 "manipulator"&V& +4 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&u& +4 "core" & & W  +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s'9 +97 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(['i +280 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & @  +2 "storage"()& +3 "core" & "  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(w'N +25 "core" ' +2 "manipulator"&2% +4 "core" %Ί . +2 "storage"(& +3 "core" & a  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +20 "core" ' +47 "manipulator"&& +4 "core" &   +2 "storage"(5& +4 "core" & 1  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +30 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(K'= +35 "core" ' +2 "manipulator"&!& +4 "core" & [  +2 "manipulator"& % +4 "core" %< o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +159 "core" ( +2 "manipulator"&}& +3 "core" && ) U =F +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &&   =F +3 .tForearm.seek CC +2 "manipulator"&&'" +95 "core" ' +2 .tHand.close + "manipulator"&f/ +63 "core" / +2 .tCC.seek :open +2 "collection"'h( +415 "core" ( +2 "storage"(|& +4 "core" & !  +2 "storage"(& +3 "core" &   +2 "manipulator"&q& +4 "core" &&  G =F +2 "manipulator"&z% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +168 "core" ( + "manipulator"&i& +4 "core" & V \\ +2 "storage"(=& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'} +100 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&#% +4 "core" % ΁ % Q +2 "storage"(& +4 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&b'ϭ +21 "core" ' + "manipulator"&6& +4 "core" & 9 \\ +2 "storage"(.& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +24 "core" ' +2 "storage"(\\% +4 "core" %:   +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 ((% +3 "core" %T G PG +2 "manipulator"&j% +4 "core" %t " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'-& +3 "core" &, +2 "manipulator"&9% +4 "core" %\  Q  +2 "storage"(% +4 "core" %Z +2 "storage"(Y. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(X( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & h +2 "manipulator"&:& +5 "core" & ( \\ +2 .tElbow.seek 2 + "manipulator"&'( +40 "core" ( + "manipulator"&8& +4 "core" &\  < E +2 "storage"(c& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +95 "core" ' +2 "storage"(r& +4 "core" & & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(I'i +278 "core" ' +2 "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +45 (t& +8 "core" & P +2 "manipulator"&& +4 "core" &\  E +2 .tElbow.seek 2 +2 "manipulator"&U( +25 "core" ( +2 "manipulator"&& +4 "core" & ; t +2 "storage"(& +4 "core" & A +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&1' +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(\ 'X +7 "core" & R t +2 "manipulator"&"% +4 "core" % $ I +2 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&<& +3 "core" &  ) ; 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   5 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&D'" +102 "core" ' + "manipulator"&& +4 "core" &  % 9 6 +2 "manipulator"&p% +4 "core" %% L : +2 "collection"' & +4 "core" &6 +3 "collection"'@& +5 "core" &5 +2 .tCC.seek :closed +3 "collection"'J(V +2 "core" &4 +7 &9 7 +9 &LM< / +9 &|7 C +10 &Ge0 F +9 & e8 F +9 &bC F +10 &eE F +9 &OcE F +10 &gD F +9 &e@ F +9 &bD F +10 &!WgE F +9 &#e? F +10 &$c< F +9 &&b; F +9 &(^e8 G +10 &*"e8 F +9 &+e? F +9 &-a: F +10 &/ge8 F +9 &1)b7 F +9 &2g5 F +10 &4f8 F +9 &6pg7 F +10 &81e8 F +9 &9e8 G +9 &;e; F +10 &=wb9 F +11 &?9g6 F +7 &@e5 F +10 &Bc8 F +9 &Dc7 F +10 &F>n6 G +9 &Gz6 I +9 &I" > K +10 &Kl{f6 P +9 &M+=Z4 Q +9 &N"7 Q +10 &P= P +9 &Rp\ A Q +10 &T/\ 4 R +9 &Ux < < +9 &V5 B !d +10 &VHJ > +2 ( +2 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&]% +4 "core" % % % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%;& +4 "core" & +2 "manipulator"&n% +4 "core" %\   ( +2 "storage"(W% +4 "core" %]  +2 "storage"(,. +2 "core" .( +2 "storage"(& +4 "core" & . +2 "storage"(L& +3 "core" & +2 "manipulator"&& +4 "core" &   6 +2 "manipulator"&~% +3 "core" %\   ( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +163 "core" ( +2 "manipulator"&o& +3 "core" & & '  +2 "storage"(H& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +99 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(+'i +281 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" & +2 "manipulator"&m& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&*( +8 "core" ( + "manipulator"&/& +4 "core" & % ,  +2 "storage"(G& +4 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&C' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"('X +6 "core" &  +2 "manipulator"&F% +50 "core" %  7 +4 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(s +114 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +154 "core" ( +2 "manipulator"&S& +3 "core" &q + @ \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &q s \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +100 "core" ' +2 "manipulator"&u& +3 "core" &q $  \ +2 "manipulator"&$% +4 "core" % +3 "processing"%`& +5 "core" & +2 "processing"%& +6 "core" & +2 .tPC.seek :closed +2 "processing"%%(Z +5 "core" &  +8 &8 )v +9 &k = +9 &r G +10 &xd F +9 &9c G +10 &d G +9 &e G +9 &c G +10 &Ag G +9 &i F +9 & c F +10 &"d F +9 &$Je F +10 && f F +9 &'g F +9 &)f F +10 &+Re F +9 &-h G +9 &.b F +10 &0e G +9 &2Xg G +10 &4e F +9 &5h G +9 &7h F +10 &9be F +9 &;#b G +9 &<g G +10 &>e G +9 &@id G +10 &B+c G +9 &Ci G +9 &En G +10 &Gjy I +9 &I' K +9 &J L +10 &L L +9 &Nk L +10 &P, L +9 &Q M +9 &S M +10 &Up M +9 &W2 M +9 &X M +10 &ZED_ %k +9 &Z" " +6 ( +2 "processing"%& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&a1 +61 "core" 1 + "manipulator"&{% +4 "core" % $ 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 "processing"%4& +3 "core" &Z " +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&)% +4 "core" %\   +2 "storage"(% +4 "core" %[ f +2 "storage"(2. +2 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(& +4 "manipulator"&5& +5 "core" & H + &q I \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(!'i +2 "manipulator"& (s +4 "core" ( +2 "manipulator"&s& +4 "core" &q % J \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &q  \ +3 .tForearm.seek PC + "manipulator"&[' +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(w- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(}'y +32 "core" ' +296 ( + "storage"(& +4 "core" & T +2 "manipulator"& & +4 "core" &q  \ +2 "manipulator"&M% +4 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +279 "core" ( + "manipulator"&N& +4 "core" & % ; " +2 "storage"(|& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +98 "core" ' + .tHand.open +2 "manipulator"&q1 +61 "core" 1 +2 "storage"(z- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(i'E +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' +48 "storage"(_& +5 "core" & Z Z +2 "manipulator"&& +3 "core" & "| +3 .tElbow.seek 2 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&& +4 "core" & ' "| +2 "storage"(6& +4 "core" & Z W 9 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&.'ќ +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +58 "core" ' + "manipulator"&A& +4 "core" & l "| +2 "storage"((& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'i +18 "core" ' + "manipulator"&b% +4 "core" % +2 "storage"(-& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&9' +29 "core" ' + "manipulator"&& +4 "core" & % $ "| +2 "storage"(Y& +4 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +19 "core" ' +2 "storage"(B% +4 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 (T% +3 "core" %` C RM +2 "manipulator"&% +4 "core" %ф 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (8& +2 "core" & R +3 "collection"'c& +3 "core" &VG8 > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&r% +3 "core" %\ ' !N +2 "storage"(7% +4 "core" %`  +2 "storage"(. +2 "core" .( +3 "storage"(R& +4 "core" &  + "storage"(t& +4 "core" & p +2 "manipulator"&& +4 "core" & "z +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ' y "z +2 "storage"(E& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&3'ќ +94 "core" ' +2 "storage"("& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(''i +281 "core" ' +2 "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & 8 "y +2 "storage"(& +4 "core" & @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&I' +28 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(p'O +34 "core" ' +2 "manipulator"&U% +3 "core" %   1 +2 "storage"( & +4 "core" & 7 +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&\ ' +18 "core" ' +2 "manipulator"&>& +4 "core" &  "x +2 "storage"(h& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(]'> +37 "core" ' +2 "manipulator"&;& +4 "core" & | !w +2 "manipulator"&n% +49 "core" %ђ  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +159 "core" ( + "manipulator"&& +4 "core" &  & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &   s 2 +2 .tForearm.seek CC +2 "manipulator"&@'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'~( +413 "core" ( + "storage"(D& +4 "core" & +2 "storage"(o& +4 "core" &  +2 "manipulator"&H& +3 "core" &   1 +2 "manipulator"&% +4 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z( +163 "core" ( +2 "manipulator"&y& +4 "core" &   +2 "storage"(?& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&m' +95 "core" ' +2 .tElbow.hold + "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&G1 +63 "core" 1 +2 "manipulator"&Q% +4 "core" % % 4 +2 "storage"(e& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 301 counts +2 "manipulator"&F' +16 "core" ' +2 "manipulator"&O& +4 "core" & '  + "storage"(d& +4 "core" & M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +35 "core" ' +2 "storage"(C% +4 "core" %H  +3 ."downElevator"SE.seek :down +3 "storage"(S'X +99 (v% +3 "core" %V  QI +2 "manipulator"&*% +3 "core" %Ѧ I +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +90 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'$& +3 "core" &, +2 "manipulator"&`% +3 "core" %\   ' +2 "storage"(% +4 "core" %a  +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"( ( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &   +3 "manipulator"&{& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&4( +13 "core" ( +2 "manipulator"&)& +4 "core" & % U { +2 "storage"(& +5 "core" & Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +93 "core" ' + "storage"(& +4 "core" & S  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" & H  +2 "manipulator"&s& +4 "core" & * { +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&V& +4 "core" & * { + "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tHand.close + "manipulator"&l/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(%'X +7 "core" & w { +2 "manipulator"&!% +5 "core" % ϟ 7 +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +24 "core" ( + "manipulator"&M& +4 "core" &# ( 4 ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &$  ' ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'" +97 "core" ' +2 "manipulator"&|& +4 "core" &$  r ;3 +2 "manipulator"& % +4 "core" %!  ; +2 "collection"'q& +4 "core" & +3 "collection"'z& +5 "core" & +2 .tCC.seek :closed +2 "collection"'&(V +4 "core" & +8 &J #c +9 &\\, 6 +10 &&C G +9 &bF F +9 &gE G +10 &meF F +9 &.fH G +9 &eF F +10 &gF F +9 &ueH F +9 & 7bG F +10 &!gB F +9 &#gD G +10 &%}fF F +9 &'@bK F +9 &)eF F +10 &*cG F +9 &,eB F +9 &.HbB F +10 &0 eC F +9 &1b> F +10 &3f@ G +9 &5PdF F +9 &7eB G +10 &8d@ F +9 &:e= F +10 &g8 F +9 &?f= F +10 &Ab8 F +9 &C^g7 G +9 &E m6 G +10 &Ft9 H +9 &H|4 I +10 &JSD(: M +9 &Lv{< P +9 &M.>8 P +10 &O9 P +9 &QP8 Q +9 &S\ 8 R +10 &T  5 R +9 &VAg\ = . +9 &V8 . +10 &Vu> N +2 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&_1 +59 "core" 1 +2 "manipulator"&f% +4 "core" % ! / O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" &  +2 "manipulator"&6% +4 "core" %\   r  +2 "storage"(A% +4 "core" %a  + "storage"((. +3 "core" .( +2 "storage"(}& +4 "core" &   +2 "storage"(i& +3 "core" & R  +3 "manipulator"&b& +4 "core" &$   ;3 + "manipulator"&-% +4 "core" %\   Y  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( + "manipulator"&Y& +4 "core" & a  +2 "storage"(B& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +94 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='i +282 "core" ' +2 "storage"(T- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" & c  +2 "manipulator"&.& +3 "core" & $  +3 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&\\& +4 "core" & % _  +2 "storage"(j& +3 "core" & O  +3 .tForearm.seek 3 + 300 counts + "manipulator"&9'ϩ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&8/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(r'X +8 "core" &  +2 "manipulator"&7% +4 "core" % 6 * +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&R& +4 "core" &w , j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &w _  +48 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" &w $ D  +2 "manipulator"&E% +4 "core" % +2 "processing"%K& +4 "core" &  +3 "processing"%"& +5 "core" &  +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &  +9 &; *x +9 &1m > +10 &n G +9 &d G +9 &Wc G +10 &e F +9 &f F +10 &e F +9 &`d F +9 &"e F +10 & e G +9 &"h G +9 &$gc G +10 &&*c F +9 &'f G +9 &)h G +10 &+oi G +9 &-1c G +10 &.c G +9 &0c G +9 &2xe F +10 &4:e F +9 &5e G +9 &7h G +10 &9j G +9 &;Ab G +10 &=c G +9 &>b G +9 &@c G +10 &BIf G +9 &D l G +10 &Ek H +9 &Gx I +9 &IE K +10 &K L +9 &L L +9 &N M +10 &PI L +9 &R  L +10 &S M +9 &U M +9 &WO M +10 &Y H +9 &ZG@n %m +9 &Z" ! +6 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&^1 +3 "core" &Z ! +50 1 + "manipulator"&:% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' + "processing"%<& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ # ^ = +2 "storage"(% +3 "core" %T  +2 "storage"(U. +3 "core" .( +2 "storage"( & +4 "core" &   +2 "storage"(>& +3 "manipulator"&h& +7 "core" &   + &w  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&;(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(n'i +2 "core" ( +3 "manipulator"&3& +4 "core" &w  Q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w  N  +2 .tForearm.seek PC +2 "manipulator"&'' +96 "core" ' +2 .tHand.close + "manipulator"&I/ +61 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +87 "core" ' +2 "storage"(p- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +45 "core" ' +288 ( +2 "storage"(L& +4 "core" & =  +2 "manipulator"&& +3 "core" &w }  +2 "manipulator"&1% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +265 "core" ( + "manipulator"&J& +4 "core" &  " \ +2 "storage"(D& +4 "core" & I  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +91 "core" ' + .tHand.open +2 "manipulator"&H1 +59 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(y'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(@- +3 "core" -' +2 "storage"(,& +4 "core" & M G   +2 "manipulator"&G& +3 "core" &  \ +2 .tElbow.seek 3 +2 "manipulator"&Q( +7 "core" ( +2 "manipulator"&e& +4 "core" &  +2 "storage"(O& +3 "core" & Q Z   +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&d'9 +3 "core" ' +3 .tSE.reconfigure :gently +42 "storage"(#QK-0-\ b +10 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(C' +58 "core" ' + "manipulator"&g& +4 "core" &  +2 "storage"(v& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&*'} +27 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(m'i +22 "core" ' +2 "manipulator"&F% +4 "core" %x  +2 "storage"($& +4 "core" & D  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&`'Ϥ +20 "core" ' +2 "manipulator"&& +4 "core" & ` +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&]'9 +15 "core" ' +2 "storage"(+% +3 "core" %j   +3 ."downElevator"SE.seek :down +4 "storage"(S'X +98 (X% +3 "core" %_  QL +2 "manipulator"&a% +8 "core" %? ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 ()& +3 "core" & "  +2 "collection"'& +4 "core" &Vp5 N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ #  A +2 "storage"(/% +4 "core" %[  + "storage"(u. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(5& +4 "core" &   +2 "manipulator"&s& +3 "core" & 9 +2 .tElbow.seek 3 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&& +4 "core" & % +2 "storage"(l& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +108 "core" ' +2 "storage"(!& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(4'i +278 "core" ' +3 "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & @ +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&['} +27 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'N +28 "core" ' + "manipulator"&% +4 "core" %΀ . +2 "storage"(q& +4 "core" & h  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts +2 "manipulator"&%'Ϭ +20 "core" ' + "manipulator"&& +4 "core" & i +2 "storage"(~& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(f'= +57 "core" ' +2 "manipulator"&& +5 "core" & $ + "manipulator"&6% +4 "core" %1 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&(( +159 "core" ( +2 "manipulator"&}& +3 "core" &  ) [ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &    4 +47 .tForearm.seek CC +3 "manipulator"&z'" +94 "core" ' +2 .tHand.close +2 "manipulator"&b/ +62 "core" / +2 .tCC.seek :open +2 "collection"'-( +416 "core" ( + "storage"(N& +4 "core" &   +2 "storage"(Y& +4 "core" &   +2 "manipulator"&B& +4 "core" &   M 4 +2 "manipulator"&% +3 "core" % ( +3 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&T& +3 "core" & $ r +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&.'} +102 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +54 "core" 1 +2 "manipulator"&8% +3 "core" % ΀ % @ +2 "storage"(c& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&7'Ϭ +20 "core" ' +2 "manipulator"&& +3 "core" & r +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +29 "core" ' +2 "storage"(9% +4 "core" %> # +2 ."downElevator"SE.seek :down +5 "storage"(R'X +99 (t% +3 "core" %%[  QI +2 "manipulator"&#% +4 "core" %" +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'E& +3 "core" &0 +2 "manipulator"&K% +4 "core" %\    +2 "storage"(r% +4 "core" %\\ - +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" & i +2 "manipulator"&:& +3 "core" &  r +2 .tElbow.seek 2 +2 "manipulator"&<( +34 "core" ( + "manipulator"&& +4 "core" &  H $ +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&U'ќ +99 "core" ' + "storage"( & +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'i +279 "core" ' + "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" & +2 "manipulator"&3& +4 "core" &  # +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  ` # +2 "storage"(I& +6 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(P'X +7 "core" & # +2 "manipulator"&n% +4 "core" %  d +2 .tForearm.seek :retract +2 "manipulator"&L'\ +101 "core" ' + .tElbow.seek CC +47 "manipulator"&( +99 "core" ' + ."downElevator"SE.stop + "storage"(5 +60 "core" ( +2 "manipulator"&1& +3 "core" &\  * t 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &\   c 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'" +102 "core" ' +2 "manipulator"&D& +4 "core" &\  & 2 +2 "manipulator"&;% +4 "core" %  +2 "collection"'H& +4 "core" & +3 "collection"'& +5 "core" &1 +3 .tCC.seek :closed + "collection"'@(V +4 "core" &A +8 &9W #b +9 &Z5 5 +10 &$ G +9 &as F +9 &e, F +10 &[dD F +9 &gP G +9 &eI F +10 &eL F +9 &ceJ F +10 & &bF F +9 &!eL F +9 &#eN F +10 &%lgO F +9 &'.dO F +9 &(eF F +10 &*eF F +9 &,sdH F +10 &.6`I F +9 &/cL F +9 &1eG F +10 &3{eS F +9 &5>aE F +9 &6eF F +10 &8cG F +9 &:eE F +10 &eC F +9 &?eC G +10 &Ad8 F +9 &CLfA G +9 &E jK G +10 &FrM H +9 &H: I +10 &JC@&H M +9 &K{|? P +9 &M-CJ P +10 &O}D Q +9 &Q@2 P +9 &R 7 R +10 &T  8 R +9 &V._\ ; + +10 &V!? > +9 ( + &V@> < +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&,1 +57 "core" 1 +2 "manipulator"&G% +4 "core" % ' 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" & +2 "manipulator"&% +4 "core" %\ &  & !M +2 "storage"(g% +3 "core" %b  +2 "storage"(v. +3 "core" .( +2 "storage"(& +3 "core" & W +3 "storage"(y& +3 "core" & K +2 "manipulator"&F& +4 "core" &\  > 2 +2 "manipulator"&$% +4 "core" %\ &   !M +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & % .  +2 "storage"(W& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +95 "core" ' +2 "storage"(o& +4 "core" & +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'i +282 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" & K +2 "manipulator"&d& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&Q( +2 "core" ( +2 "manipulator"&C& +4 "core" & N  +2 "storage"(*& +4 "core" & | +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&`' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +6 "storage"('X +3 "core" & T  +2 "manipulator"&/% +5 "core" %  D +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +107 "core" ( +3 "manipulator"&& +4 "core" &l ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &l b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +101 "core" ' + "manipulator"&& +4 "core" &m  +2 "manipulator"&l% +4 "core" % ( ] +2 "processing"%]& +4 "core" & +3 "processing"%!& +4 "core" & +3 .tPC.seek :closed +52 "processing"%S(Z +5 "core" & +2 & + & +2 & & + & + & 8 +6 &ON / +9 &| C +9 &Hd G +10 &\ i G +9 &g G +9 &g F +10 &Ph G +9 &g G +10 &b G +9 &c F +9 &!Yf F +10 &#h F +9 &$e G +9 &&c F +10 &(`g G +9 &*!g G +10 &+e F +9 &-h G +9 &/hc G +10 &1*i G +9 &2i G +9 &4i G +10 &6og G +9 &82c G +10 &9d G +9 &;h G +9 &=xe G +10 &?;c F +9 &@e G +9 &Bl G +10 &Dj G +9 &F?s H +10 &G I +9 &I L +9 &Ky L +10 &M; L +9 &N L +10 &P L +9 &R M +9 &TA M +10 &V L +9 &W M +9 &Y : +10 &Zw5 N +9 &Z  +2 ( +2 "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&Z1 +59 "core" 1 +2 "manipulator"&{% +4 "core" % G ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +98 "core" ' +2 "processing"%M& +3 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ \  +2 "storage"(|% +4 "core" %a + "storage"(. +3 "core" .( +2 "storage"(q& +4 "core" & +2 "storage"(& +2 "manipulator"&~& +9 "core" & + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(s +4 ."raiseStack"SE.seek :beamBreak + "storage"(6'i +2 "core" ( +2 "manipulator"& & +5 "core" &m % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&4' +91 "core" ' +2 .tHand.close +3 "manipulator"&[/ +61 "core" / +2 .tPC.seek :open +2 "processing"%%( +90 "core" ' +2 "storage"( - +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'y +50 "core" ' +280 ( +2 "storage"(i& +4 "core" &  +2 "manipulator"&_& +4 "core" &m = +2 "manipulator"&w% +3 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&b'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +260 "core" ( + "manipulator"&&& +4 "core" &  +2 "storage"(N& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +92 "core" ' +3 .tHand.open + "manipulator"&B1 +54 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(T'E +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +3 "core" -' +2 "storage"((& +4 "core" & ] ^ +2 "manipulator"&j& +4 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&8( +7 "core" ( +2 "manipulator"&c& +4 "core" & & M  +2 "storage"(& +3 "core" & [ R  +3 .tForearm.seek 2 + 700 counts + "manipulator"&0'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(9' +58 "core" ' + "manipulator"& & +4 "core" &   +2 "storage"(t& +3 "core" & +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&#' +19 "core" ' +45 .tElbow.hold +6 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +22 "core" ' +2 "manipulator"&7% +4 "core" %  +2 "storage"(E& +4 "core" & T +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&K' +19 "core" ' +2 "manipulator"&r& +3 "core" & 4  +2 "storage"(& +4 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +28 "core" ' + "storage"(=% +5 "core" %n 5  +3 ."downElevator"SE.seek :down +3 "storage"(R'X +99 ( % +3 "core" %_ + QL +2 "manipulator"&^% +4 "core" %њ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +96 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 8 +2 "collection"'& +4 "core" &VH6 < +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %\ D  +2 "storage"(\\% +4 "core" %V  +2 "storage"(. +2 "core" .( +2 "storage"(>& +4 "core" & < +2 "storage"("& +4 "core" & 5 +2 "manipulator"&3& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&I& +4 "core" & V  +2 "storage"(x& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +94 "core" ' +2 "storage"(n& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'i +281 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &   +3 "storage"(p& +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&1' +29 "core" ' +2 .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(;'N +28 "core" ' +2 "manipulator"&% +3 "core" %   7 +2 "storage"(H& +4 "core" & E + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts + "manipulator"&P' +19 "core" ' +2 "manipulator"&L& +4 "core" & D  +2 "storage"(-& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(G'= +41 "core" ' +2 "manipulator"&O& +4 "core" & k  +2 "manipulator"&% +4 "core" %Ѥ } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +157 "core" ( +3 "manipulator"&& +4 "core" &% ! x <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  N <= +2 .tForearm.seek CC +2 "manipulator"&y'" +100 "core" ' + .tHand.close +2 "manipulator"&F/ +54 "core" / +2 .tCC.seek :open +2 "collection"'$( +413 "core" ( + "storage"(J& +4 "core" & +2 "storage"(& +4 "core" & . +2 "manipulator"&W& +3 "core" & "  E 9% +48 "manipulator"&o% +33 "core" % /  g +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&e( +167 "core" ( +2 "manipulator"&X& +4 "core" & % E x +2 "storage"(a& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&d' +98 "core" ' +2 .tElbow.hold + "manipulator"&C, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&*1 +59 "core" 1 +2 "manipulator"&)% +4 "core" % % 2 +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&/' +17 "core" ' +2 "manipulator"&& +4 "core" &  x +2 "storage"(+& +4 "core" & w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&?'ќ +28 "core" ' + "storage"(`% +4 "core" %E \\ +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (5% +3 "core" %9W R PG +2 "manipulator"&Q% +4 "core" %њ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +3 "core" &@ +2 "manipulator"&]% +4 "core" %\  X  +2 "storage"(% +4 "core" %\\  +2 "storage"(u. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(\ ( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +4 "core" &   + "manipulator"&{& +4 "core" & L x +2 .tElbow.seek 3 +2 "manipulator"&M( +15 "core" ( + "manipulator"&& +4 "core" & $ c n +2 "storage"(|& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(q& +4 "core" & Q  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +280 "core" ' +2 "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"& & +4 "core" & q n +2 .tElbow.seek 3 +2 "manipulator"&V( +19 "core" ( + "manipulator"&s& +4 "core" &  +2 "storage"([& +4 "core" &  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(S'X +8 "core" & ! +2 "manipulator"&6% +4 "core" % ϯ c +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +2 "manipulator"&w& +4 "core" &  , _ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &   1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'" +99 "core" ' +4 "manipulator"&N& +5 "core" &   > 1 + "manipulator"&% +4 "core" %+  +2 "collection"'B& +4 "core" & +3 "collection"'& +5 "core" & +3 .tCC.seek :closed +2 "collection"'z(V +3 "core" & +8 &J: #c +9 &^, 7 +9 &+~V G +10 &a+ F +9 &e G +10 &sc F +9 &4e G +9 &d= F +10 &gP F +9 &{eP F +9 & =hQ F +10 &!eL F +9 &#cN F +10 &%gO F +9 &'EcL F +9 &)gK F +10 &*eO F +9 &,eF G +9 &.NeG F +10 &0eF F +9 &1bR F +10 &3dK F +9 &5V`N F +9 &7dK F +10 &8cL F +9 &:bN F +9 &<\\fD G +10 &>eD F +9 &?eG G +10 &AeF F +9 &CehK F +9 &E&mD G +10 &Ft? H +9 &HE J +9 &JYG9> M +10 &Ls|? P +9 &M,:: P +10 &OC Q +9 &QW9 Q +9 &S\  > R +10 &TA R +9 &VBb < , +9 &VF U +10 ( + &VsD J +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&(1 +58 "core" 1 +2 "manipulator"&j% +4 "core" % + & B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&b% +4 "core" %\   +2 "storage"( % +4 "core" %a 3 + "storage"(t. +3 "core" .( +2 "storage"(}& +3 "core" & ,  +3 "storage"(T& +3 "core" &  +2 "manipulator"&7& +4 "core" &  1 +2 "manipulator"&E% +4 "core" %\  K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&r( +165 "core" ( +2 "manipulator"&& +3 "core" & J z +2 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +91 "core" ' +2 "storage"(Y& +3 "core" & 9  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(0- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & p  +2 "manipulator"&^& +4 "core" & S z +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&9& +4 "core" & z +2 "storage"(#& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&K'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'X +7 "core" & z +2 "manipulator"&\\% +4 "core" % Ϥ * +2 .tForearm.seek :retract +2 "manipulator"&.'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +3 "manipulator"&>& +4 "core" &m 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +4 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&3' +98 "core" ' +2 "manipulator"&I& +4 "core" &m % . +2 "manipulator"&x% +4 "core" % b +2 "processing"%f& +4 "core" & +2 "processing"%n& +5 "core" & +3 .tPC.seek :closed + "processing"%R(Z +5 "core" & +7 &E #b +9 &^ 6 +10 & G +9 &b G +9 &i G +10 &ch G +9 &%a G +10 &c G +9 &c G +9 &kd G +10 & -e G +9 &!c G +9 &#e F +10 &%sf G +9 &'5i G +10 &(b G +9 &*e F +9 &,|f F +10 &.>f F +10 &0e F +8 &1e G +10 &3g G +9 &5Di G +9 &7b G +10 &8c G +9 &:b G +10 &c G +50 &?d G +4 &Ae F +2 &CTh G + &Ej G + &Fr H +3 &H J +5 &JN L +9 &L L +9 &M L +10 &O M +9 &QT M +10 &S L +9 &T M +9 &V M +10 &XZ M +9 &Yww "k +9 &Z&g ) +10 ( + &Z +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&:% +3 "core" % $ " +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +99 "core" ' +2 "processing"%h& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&p% +3 "core" %\ "  B +2 "storage"(D% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(H& +4 "core" &   +2 "storage"(L& +2 "manipulator"&-& +8 "core" & )  +2 &m +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&O(s +3 ."raiseStack"SE.seek :beamBreak +4 "storage"('i + "core" ( +3 "manipulator"&k& +4 "core" &m c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m ,  +2 .tForearm.seek PC +2 "manipulator"&<' +94 "core" ' +2 .tHand.close +2 "manipulator"&1/ +57 "core" / +4 .tPC.seek :open +2 "processing"%P( +90 "core" ' +2 "storage"(;- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +298 ( + "storage"(& +4 "core" & 4  +2 "manipulator"&,& +4 "core" &m +2 "manipulator"&'% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&F'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&g( +265 "core" ( + "manipulator"&@& +4 "core" & E  +2 "storage"(J& +4 "core" & H  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +92 "core" ' + .tHand.open +2 "manipulator"&W1 +56 "core" 1 +3 "storage"(o- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(X'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(a' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(v& +4 "core" & W Z   +2 "manipulator"&*& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&)( +4 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & Z Z  +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(`' +54 "core" ' + "manipulator"&& +4 "core" & i  +2 "storage"(5& +3 "core" & _  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&Q'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'i +23 "core" ' + "manipulator"&/% +4 "core" %Ή N +2 "storage"(l& +3 "core" & 6  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&]'ϵ +65 "core" ' +3 "manipulator"&& +4 "core" & \\  +2 "storage"(u& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +28 "core" ' +2 "storage"(?% +4 "core" %r +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %k\\  QK +3 "manipulator"&Z% +4 "core" %$ | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'|& +4 "core" &Vr6 J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&q% +3 "core" %\   +2 "storage"(C% +4 "core" %[ +2 "storage"(. +2 "core" .( +3 "storage"(~& +3 "core" & t  +2 "storage"(& +4 "core" &  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&s( +4 "core" ( + "manipulator"&[& +4 "core" & W  +2 "storage"(m& +4 "core" & X  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&2'9 +100 "core" ' + "storage"(6& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +4 "core" & s  +2 "storage"(4& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&!'} +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(N- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +26 "core" ' + "manipulator"&V% +4 "core" %Ώ  +2 "storage"(B& +3 "core" & S  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&S'ϻ +20 "core" ' +2 "manipulator"&i& +4 "core" & d  +2 "storage"($& +4 "core" & j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&('9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(j'= +37 "core" ' + "manipulator"&& +4 "core" & ^  +2 "manipulator"&b% +4 "core" %5 q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +151 "core" ( +3 "manipulator"&}& +4 "core" &  % 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &   7 +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&7/ +62 "core" / +2 .tCC.seek :open +2 "collection"'E( +416 "core" ( + "storage"(&& +4 "core" &   +2 "storage"(& +3 "core" &  +2 "manipulator"&A& +4 "core" & 3 7 +2 "manipulator"&Y% +4 "core" % 6 k +2 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&c( +161 "core" ( +2 "manipulator"&0& +4 "core" & 5  +2 "storage"( & +3 "core" &  +41 .tElbow.reconfigure :limp +10 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&^'} +97 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator" +59 "core" 1 +2 "manipulator"&% +4 "core" % ΃ % d +2 "storage"(& +5 "core" & S  + .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 3 + 306 counts + "manipulator"&\\'ϯ +21 "core" ' + "manipulator"&r& +4 "core" & _  +2 "storage"(=& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +33 "core" ' + "storage"(K% +4 "core" %F +3 ."downElevator"SE.seek :down +4 "storage"(>'X +98 ("% +3 "core" %V / PH +2 "manipulator"&8% +4 "core" %8 V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +17592 "Can"| 0\\8 +60002 t 0.8 +60002  08 +60002  0Z8 +60002 } 08 +60002 z 0A8 +60003 x 08 +60002 w 0i8 +60002 v 0H8 +60002 u 08 +60002 v 0& t8 +60002 u 0\ \ 8 +60002 n 0!N\ 8 +60002 x /" 68 +60002 y 0$v 8 +60002 w 0&\ b8 +60002 n 0' 8 +60002 w 0)2 8 +60002 q 0*$8 +60002 p 0,[8 +60002 k 0-P8 +60003 q 0/8 +60002 r 01|8 +60002 z 028 +60002 w 04?8 +60002 { 05>8 +60002 z 07g8 +60002 s 08j8 +60002 x /:8 +60002  0<#8 +60002 ~ 0=,8 +60002  0?K8 +60002 } 0@X8 +60002  /Bs8 +60002  0D8 +60002 | 0E8 +60002 | 0G/8 +60002 ~ 0HF8 +60002  0JW8 +60003  0Kr8 +60002 y 0M~8 +60002 } 0O8 +60002 { 0P48 +60002 | 0R:8 +60002 y 0S`8 +60002 | 0Ub8 +60002 ~ 0V8 +60002 { 0X"8 +60002 z 0Z8 +60002 u 0[ N8 +60002 z 0]F 8 +60003 z /^!z8 +60002 z 0`n"8 +60002 z 0b"8 +60002 | 0c#<8 +60002  0e)#8 +60002 y 0f$h8 +60002 { 0hQ$8 +60002 } 0i%8 +60002 ~ 0kx&*8 +60002  0m &8 +60002  0n'V8 +60002  0p4'8 +60002  0q(8 +60002 ~ 0s\\)8 +60002 } 0t)8 +60002  0v*D8 +60003 | 0x*8 +60002 ~ 0y+p8 +60002  /{@,8 +60002 } 0|,8 +60002  0~h-28 +60002 t 0-8 +60002 z /.^8 +60002 } 0#.8 +60002 ~ 0/8 +60002 ~ 0J0 8 +60002 | 008 +60002 x 0r1L8 +60002 ~ 018 +60002  02x8 +60002 } 0-38 +60003  038 +60002  0U4:8 @EST1736312483.85 | 148 +60002 z /}5f8 +60002  058 +60002  068 +60002  /97(8 +60002 } 078 +60002 } 0a8T8 +60002 } 088 +60002  098 +60002  0:8 +60002  /:8 +60002  0D;B8 +60003  0;8 +60002  0k08 +60002  0>8 +60002  0N?\\8 +60002  /?8 +60002  0v@8 +60002  0\ A8 +60002  0A8 +60002  02BJ8 +60002  0B8 +60002  0ZCv8 +60003  0D 8 +60002  /D8 +60002  0E88 +60002  0E8 +60002  0>Fd8 +60002  0F8 +60002  0eG8 +60002  0H&8 +60002  0ȍH8 +60002  0!IR8 +60002  0˵I8 +60002 } /IJ~8 +60002  0K8 +60003  1qK8 +60002  0L@8 +60002 y 0әL8 +60002 | 0-Ml8 +60002 ~ /N8 +60002 | 0TN8 +60002 | 0O.8 +60002 w 0{O8 +60002 { 0PZ8 +60002 { 0ޣP8 +60002  /6Q8 +60002 v 0R8 +60002 o 0]R8 +60002 t 0SH8 +60002 r 0S8 +60002 t 0Tt8 +60002 u 0U\ 8 +60003 { 0?U8 +60002 u 0V68 +60002 x 0fV8 @1736347467.07EST = =tMAIN =mMAIN_scheduler @EST1736347467.76 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +105 #"core_reset"Sent BREAK +2 #t@45742 select with ifg=0x10, ie=0xF5 + #@46389 receive with ifg=0x10, ie=0xFD #@47036 receive with ifg=0x10, ie=0xFD + #@47682 receive with ifg=0x10, ie=0xFD + #@48009 receive with ifg=0x80, ie=0xFD + #@47876 sendCRC with ifg=0x20, ie=0x7F #@48322 sendCRC with ifg=0x20, ie=0x7F + #@49913 sendCRC with ifg=0x08, ie=0x5F + #@32300 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +377 "Can"w .V + w .V #tPolling Can every 10:00 +48 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:630:in `restore!'"-/home/esp/esp2/lib/esp.rb:125:in `shell'"7/home/esp/esp2/lib/schedule.rb:497:in `initialize'"0/home/esp/esp2/lib/thread.rb:736:in `start'"7/home/esp/esp2/lib/schedule.rb:490:in `initialize'"'/home/esp/esp2/lib/schedule.rb:488 +981 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %c +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +25 "core" %  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1068 #-> 20.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'2& +4 "core" & +2 .tHand.open + "manipulator"&31 +21 "core" 1 + "manipulator"&4% +4 "core" %\ " ; +2 "storage"(5% +4 "core" %\\  +2 "storage"(6. +2 "core" ., +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(7( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &  +2 "manipulator"&9& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&:( +46 "core" ( + "manipulator"&;& +4 "core" &*\ # N +2 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +89 "core" ' +2 "storage"(>& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +281 "core" ' +2 "storage"(@- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +2 "core" &  +3 "manipulator"&B& +3 "core" &+\ M +2 .tElbow.seek 2 +2 "manipulator"&C( +22 "core" ( +2 "manipulator"&D& +4 "core" & Z } +2 "storage"(E& +5 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(I'X +7 "core" & } +2 "manipulator"&J% +4 "core" %  ~  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +159 "core" ( +2 "manipulator"&M& +4 "core" ' + &) ?R +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +6 &N& +3 "core" &) # ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&O'" +101 "core" ' +2 "manipulator"&P& +4 "core" &)  < ?Q +2 "manipulator"&Q% +3 "core" %! U +2 "collection"'R& +4 "core" & +2 "collection"'S& +5 "core" & +2 .tCC.seek :closed +2 "collection"'T(V +5 "core" & +7 &A $d +9 &] 7 +9 & H +10 &b G +9 &h H +10 &bi G +9 &#g H +9 &j G +10 &i H +9 &ii H +9 & ,f G +10 &!h G +9 &#h H +10 &%rj G +9 &'3e H +9 &(h H +10 &*h H +9 &,zf G +9 &.<f G +10 &/f H +9 &1g G +10 &3e H +9 &5Ch H +44 &7l G +9 &8f G +2 &:j G +2 & l H + &?j H +7 &Ag G +9 &CTj G +9 &Eq H +10 &F{ J +9 &H  K +9 &JGP4 O +10 &L Q +9 &Mx Q +10 &O;K Q +9 &QF) R +9 &S S +10 &T  S +9 &V?n  1 +9 &V 1 +10 &V M +2 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&U1 +52 "core" 1 +2 "manipulator"&V% +4 "core" % ! v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%X& +3 "core" &h +2 "manipulator"&Y% +4 "core" %\  D  +2 "storage"(Z% +4 "core" %\\ + "storage"([. +3 "core" .( +2 "storage"(\\& +4 "core" & +2 "storage"(]& +4 "core" & } a + "manipulator"&^& +4 "core" &( J >M +2 "manipulator"&_% +4 "core" %\  J  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +160 "core" ( + "manipulator"&a& +4 "core" & 3  +2 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +92 "core" ' +2 "storage"(d& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +277 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (g& +2 "core" & +3 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&i( +4 "core" ( +2 "manipulator"&j& +3 "core" & n  +2 "storage"(k& +4 "core" & T +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&l' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&n& +2 "storage"(o'X +7 "core" &  +2 "manipulator"&p% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&s& +4 "core" &{ * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &{ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +95 "core" ' + "manipulator"&v& +4 "core" &{ +3 "manipulator"&w% +4 "core" %   +2 "processing"%x& +4 "core" &d +3 "processing"%y& +5 "core" &i +2 .tPC.seek :closed +2 "processing"%z(Z +3 "core" &g +7 &Fh #c +10 &]f 7 +9 &g H +10 &d^ G +9 &h` H +9 &akd G +10 &"l_ H +9 &ja G +10 &j\\ G +9 &hk\\ H +9 & +hV G +10 &!mc G +9 &#gY G +9 &%rjY G +10 &'2kY H +9 &(gW G +9 &*hW H +10 &,ym` G +9 &.:mX H +10 &/jX G +9 &1ia G +9 &3ka G +10 &5Bh] H +9 &7hS H +9 &8jR H +10 &:fR G +9 & hU G +9 &?hV H +9 &AjY H +10 &CRiT H +9 &EnS H +9 &FyT J +10 &HQ K +9 &JLX M +10 &LS M +9 &MU L +9 &OQ L +10 &QTS M +9 &SR M +9 &TS M +10 &VS N +9 &XYT N +9 &YxvQ "j +10 &Z&fS ) +9 ( + &ZR ! +3 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&{1 +56 "core" 1 +3 "manipulator"&|% +4 "core" % K  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 "processing"%~& +4 "core" &Z= ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 0 6 +2 "storage"(% +4 "core" %` +2 "storage"(. +2 "core" .( +3 "storage"(& +3 "core" & E +3 "storage"(& +2 "manipulator"&& +7 "core" &  + &{  +38 ."raiseStack"SE.reconfigure :place +10 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +6 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC + "storage"('i +3 "manipulator"& (s +7 "core" ( + "manipulator"& & +4 "core" &{ k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &{ 6 +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +75 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"('y +50 "core" ' +296 ( +2 "storage"(& +4 "core" & 9 + "manipulator"&& +4 "core" &{ +2 "manipulator"&% +4 "core" % T +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&& +4 "core" &  g +2 "storage"(& +3 "core" & J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"( 'E +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(!' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +5 "core" & k [ e + "manipulator"&$& +4 "core" & \\ g +2 .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" & i g +2 "storage"('& +4 "core" & q o +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"()' +56 "core" ' + "manipulator"&*& +4 "core" & g +2 "storage"(+& +4 "core" & c +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&,' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +22 "core" ' +2 "manipulator"&/% +4 "core" %  [ +2 "storage"(0& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&1' +19 "core" ' +3 "manipulator"&2& +4 "core" & g +2 "storage"(3& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'ќ +16 "core" ' + "storage"(5% +4 "core" %q [ +3 ."downElevator"SE.seek :down +3 "storage"(6'X +99 (% +3 "core" %K] n a  QK +2 "manipulator"&8% +4 "core" %ф t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (;& +3 "core" &  +2 "collection"'<& +4 "core" &V| M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&>% +4 "core" %\  8 ) +2 "storage"(% +3 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"(@& +4 "core" & +2 "storage"(A& +3 "core" & q +2 "manipulator"&B& +4 "core" &\ = g +2 .tElbow.seek 2 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&E& +4 "core" & m g +2 "storage"(G& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +36 "manipulator"&H'ќ +98 "core" ' +2 "storage"(J& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'i +281 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & z g +2 "storage"(?& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&N' +29 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(C'N +29 "core" ' + "manipulator"&Q% +4 "core" % h & +2 "storage"(R& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&I' +19 "core" ' + "manipulator"&K& +4 "core" & H g +2 "storage"(\ & +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&U'ќ +36 "core" ' +4 .tSE.seek 1.09 Pucks below Top Plate + "storage"(V'= +41 "core" ' + "manipulator"&X& +4 "core" & g +2 "manipulator"&Y% +4 "core" %ќ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +148 "core" ( + "manipulator"&\\& +4 "core" &% Y <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &% x <; +3 .tForearm.seek CC +2 "manipulator"&^'" +90 "core" ' + .tHand.close +2 "manipulator"&S/ +64 "core" / +2 .tCC.seek :open +2 "collection"'_( +416 "core" ( +2 "storage"(O& +4 "core" & \ +2 "storage"(a& +3 "core" &  +2 "manipulator"&b& +4 "core" &# I :, +2 "manipulator"&d% +4 "core" % 5 e +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&W( +157 "core" ( + "manipulator"&f& +4 "core" & d  +2 "storage"(g& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&h' +97 "core" ' +2 .tElbow.hold + "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +63 "core" 1 +2 "manipulator"&m% +4 "core" % u +2 "storage"(n& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts + "manipulator"&p' +20 "core" ' +3 "manipulator"&`& +4 "core" & W  +2 "storage"(c& +3 "core" & _ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +30 "core" ' + "storage"(l% +4 "core" %A  +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (t% +3 "core" %@U  QI +2 "manipulator"&i% +3 "core" %њ / } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'w& +3 "core" & +2 "manipulator"&x% +4 "core" %\   +2 "storage"(o% +4 "core" %b  +2 "storage"(q. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &   +37 "manipulator"&|& +11 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&~( +15 "core" ( + "manipulator"&& +4 "core" & _ I +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"(& +4 "core" & d  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(y'i +277 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & %  +4 "manipulator"& & +4 "core" & I +2 .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +3 "manipulator"&u& +3 "core" & I +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&}& +4 "storage"(z'X +6 "core" & d I +2 "manipulator"&% +4 "core" % ϰ +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &' ' K >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' 9 >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +100 "core" ' +3 "manipulator"&& +4 "core" &(  >H +2 "manipulator"& % +4 "core" %&  +2 "collection"'& +4 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'"(V +3 "core" & +9 &8 #b +9 &Y 5 +10 &  H +9 &d F +10 &h G +9 &Ng G +9 &j H +10 &h G +9 &g G +9 &Wh G +10 & g G +9 &!h G +9 &#i G +10 &%^j G +9 &'!g G +11 &(g G +8 &*g G +9 &,gg G +10 &.*f G +9 &/g G +10 &1i G +9 &3og G +9 &52g G +10 &6h G +9 &8c G +9 &:wg G +10 &<9h G +9 &=g G +10 &?h G +9 &Ag G +9 &CAh G +10 &En H +9 &Fw I +10 &H~ J +9 &J5;# N +9 &K{ Q +9 &Mav Q +10 &Oq0> Q +9 &Q3  Q +10 &R  R +9 &T\  R +9 &V U 8 +10 &V 'p +9 &V O +2 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open + "manipulator" +54 "core" 1 +3 "manipulator"&$% +3 "core" % & ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +105 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &Z +2 "manipulator"&% +4 "core" %\  L  +2 "storage"(*% +4 "core" %U + "storage"(+. +3 "core" .( +2 "storage"(/& +3 "core" &  +3 "storage"(0& +3 "core" &  +2 "manipulator"&& +4 "core" &' >H +2 "manipulator"&2% +3 "core" %\  {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +166 "core" ( +2 "manipulator"&3& +4 "core" & / P +2 "storage"(5& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +95 "core" ' + "storage"(& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'i +280 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &  +2 "manipulator"&(& +4 "core" &  P +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&)& +4 "core" & P +2 "storage"(,& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +37 "manipulator"&1'ϩ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(>'X +8 "core" & z P +2 "manipulator"&% +3 "core" % F 3 +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +103 "core" ( +4 "manipulator"&@& +4 "core" &x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &x  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +103 "core" ' +2 "manipulator"&E& +4 "core" &{ w  +2 "manipulator"&G% +3 "core" % c +3 "processing"%4& +3 "core" &Z +3 "processing"%J& +5 "core" &_ +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &] +6 &Fd #b +10 &\\[ 6 +9 &^ H +9 &hX G +10 &jX G +9 &YhW G +10 &fX G +9 &i` G +9 &gZ G +10 &aj_ G +9 & #gZ G +9 &!jV G +10 &#hX H +9 &%iiU G +9 &'+gR G +10 &(kW G +9 &*kW G +10 &,qiW G +9 &.3fU G +9 &/jT G +10 &1hS H +9 &3ygU G +10 &5;fT G +9 &6jR G +9 &8hR G +10 &:dS G +9 &gR H +10 &?gS G +9 &AeR G +9 &CJkS H +10 &E pS H +9 &FuP I +10 &HT J +9 &JDM M +9 &LJ L +11 &MS L +8 &OL M +9 &QKG M +10 &S F M +9 &TD M +10 &VD M +9 &XRC M +9 &YwvD "k +10 &Z*sG - +9 ( + &ZE ! +3 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&-1 +56 "core" 1 + "manipulator"&9% +4 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +90 "core" ' +2 "processing"%M& +4 "core" &ZF ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&?% +4 "core" %\  v  +2 "storage"(P% +4 "core" %T  +2 "storage"(Q. +2 "core" .( +2 "storage"(R& +3 "core" & z  +3 "storage"(K& +2 "manipulator"&\ & +6 "core" &   +2 &{  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(X'i +4 "manipulator"&Y(s +6 "core" ( + "manipulator"&H& +4 "core" &{  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &{ f  +2 .tForearm.seek PC +2 "manipulator"&:' +96 "core" ' +2 .tHand.close + "manipulator"&N/ +54 "core" / +2 .tPC.seek :open +3 "processing"%I( +90 "core" ' +2 "storage"(C- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +38 "core" ' +292 ( +2 "storage"(]& +4 "core" &   +2 "manipulator"&U& +4 "core" &|  + "manipulator"&F% +4 "core" % p +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +252 "core" ( + "manipulator"&T& +4 "core" & g # +2 "storage"(O& +4 "core" & ;  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&a'9 +95 "core" ' + .tHand.open +2 "manipulator"&b1 +53 "core" 1 +2 "storage"(d- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(f'E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(g' +46 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"([& +40 "core" &\ - | {  +9 "manipulator"&k& +4 "core" & < # +2 .tElbow.seek 3 +2 "manipulator"&m( +30 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(`& +4 "core" & J J 4  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&c'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(l' +57 "core" ' + "manipulator"&L& +4 "core" &  +2 "storage"(t& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&i'} +23 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +21 "core" ' +2 "manipulator"&p% +3 "core" %Ώ & +2 "storage"(w& +5 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&x'ϻ +20 "core" ' + "manipulator"&o& +4 "core" &   +2 "storage"(q& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&V'9 +30 "core" ' + "storage"(e% +4 "core" %n  +3 ."downElevator"SE.seek :down +3 "storage"(s'X +99 (7% +2 "core" %[ e n QK +3 "manipulator"&{% +3 "core" %D  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &   +2 "collection"'& +4 "core" &V O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  - +2 "storage"(j% +4 "core" %a [ + "storage"(v. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "core" &  +3 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" & 0  +2 "storage"(r& +4 "core" & S  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +101 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(~'i +278 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & !  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&y'} +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'O +28 "core" ' +2 "manipulator"&% +4 "core" %y g + "storage"( & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&z'ϥ +21 "core" ' +2 "manipulator"&& +3 "core" & t  +2 "storage"(_& +4 "core" & ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +27 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'> +37 "core" ' + "manipulator"&'& +3 "core" &   +3 "manipulator"&% +3 "core" % u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&+( +158 "core" ( +2 "manipulator"&& +4 "core" && T =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" && e =E +2 .tForearm.seek CC +2 "manipulator"&0'" +92 "core" ' +9 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'2( +417 "core" ( +2 "storage"(& +3 "core" &   +3 "storage"(3& +3 "core" & Y  +2 "manipulator"&5& +4 "core" && =E +2 "manipulator"&% +4 "core" % 3  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&&( +154 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(8& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&('} +99 "core" ' +2 .tElbow.hold + "manipulator"&), +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +58 "core" 1 +2 "manipulator"&;% +3 "core" % · +2 "storage"(<& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +20 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!'9 +17 "core" ' +2 "storage"(1% +4 "core" %F 5 \ +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 (A% +3 "core" %S  PG +2 "manipulator"&%% +4 "core" %! @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +93 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'G& +3 "core" & +2 "manipulator"&4% +4 "core" %\  $ +2 "storage"(>% +3 "core" %\\ S +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 2 + "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (-& +2 "core" & [ +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&M( +35 "core" ( +2 "manipulator"&?& +3 "core" &  $ +2 "storage"(P& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +93 "core" ' + "storage"(R& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +281 "core" ' +2 "storage"(\ - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +3 "core" &  +2 "manipulator"&H& +4 "core" & ~ $ +2 .tElbow.seek 2 + "manipulator"&D( +3 "core" ( +2 "manipulator"&B& +4 "core" & $ +2 "storage"(N& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +3 "storage"(6'X +8 "core" & $ + "manipulator"&X% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +154 "core" ( +2 "manipulator"&F& +3 "core" &% P <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&:& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &% <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'" +95 "core" ' +3 "manipulator"&O& +3 "core" &% k <> +39 "manipulator"&Y% +11 "core" %* +3 "collection"'b& +3 "core" & +4 "collection"'d& +4 "core" & +3 .tCC.seek :closed + "collection"'^(V +4 "core" & +7 &9 #b +10 &\\ 6 +9 & H +9 &e F +10 &g F +9 &^e F +9 &g G +10 &g F +9 &g F +10 &ee G +9 & 'e G +9 &!g F +10 &#h F +9 &%mh G +9 &'/j G +10 &(g G +9 &*e G +10 &,ud G +9 &.7d G +9 &/j G +10 &1g G +9 &3}e G +9 &5?i G +10 &7j G +9 &8f G +10 &:g F +9 &\ g F +10 &?g G +9 &Ak F +9 &CPh F +10 &Em G +9 &Fy H +10 &H J +9 &JD<! M +9 &Kz P +10 &May Q +9 &O4@ Q +9 &QC$ P +10 &S  R +9 &T  R +10 &V0` )~ +9 &V( H +9 ( + &VU @ +3 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&[1 +60 "core" 1 +3 "manipulator"&k% +4 "core" % *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +93 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%n& +3 "core" &Y +2 "manipulator"&`% +4 "core" %\  V  +2 "storage"(L% +4 "core" %X +2 "storage"(t. +2 "core" .( +3 "storage"(\\& +3 "core" & N +2 "storage"(f& +4 "core" & +2 "manipulator"&p& +4 "core" &% _ <> +2 "manipulator"&w% +3 "core" %\  j  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&o( +161 "core" ( +2 "manipulator"&q& +3 "core" & [  +2 "storage"(e& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'ќ +102 "core" ' + "storage"(a& +4 "core" & c +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(g'i +282 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &  +2 "manipulator"&c& +4 "core" & f  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&l& +3 "core" & 2  +2 "storage"(i& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & W  +2 "manipulator"&j% +4 "core" % < p +2 .tForearm.seek :retract +2 "manipulator"&v'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&h(s +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +3 "manipulator"&& +4 "core" &j 9  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' + "manipulator"&& +4 "core" &j ~  +2 "manipulator"&r% +4 "core" % ~ e +2 "processing"%V& +5 "core" &Q +2 "processing"%& +5 "core" &P +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &X +7 &=Z #c +10 &[Y 6 +9 &X H +10 &e^ G +9 &gY G +9 &ZgY G +10 &gW G +9 &hY G +9 &i] H +10 &ch] G +9 & $hX G +10 &!h\\ G +9 &#gQ G +9 &%ihT G +10 &'+hH G +9 &(hS G +9 &*eT G +10 &,rhP G +9 &.3h? G +10 &/g> G +9 &1fT G +9 &3zdT G +10 &5<hR G +9 &6gT G +9 &8hR G +10 &:gL G +9 &gT G +9 &?hQ G +9 &AfK G +10 &CKjS G +9 &E mS G +9 &FtT I +10 &HT K +9 &JFT L +10 &LS M +9 &MP M +9 &OQ L +10 &QMH L +9 &S O M +10 &TQ M +9 &VH M +9 &XRR M +10 &YxuT "j +9 &Z'kU , +9 ( + &ZQ " +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&W1 +59 "core" 1 +2 "manipulator"&|% +41 "core" % e +11 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%& +4 "core" &Z5 " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %^ +2 "storage"(. +2 "core" .( +2 "storage"( & +4 "core" & +3 "storage"(& +2 "manipulator"&_& +7 "core" & + &j  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(''i + "manipulator"&(s +7 "core" ( +2 "manipulator"&}& +3 "core" &j `  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &j  +3 .tForearm.seek PC +2 "manipulator"&~' +97 "core" ' + .tHand.close +2 "manipulator"&y/ +56 "core" / +3 .tPC.seek :open + "processing"%z( +85 "core" ' +2 "storage"( - +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +35 "core" ' +302 ( + "storage"(/& +4 "core" &  +2 "manipulator"&#& +4 "core" &j  +2 "manipulator"&% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&*( +263 "core" ( +2 "manipulator"&"& +3 "core" & `  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +107 "core" ' + .tHand.open +2 "manipulator"&51 +64 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(8' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(+& +3 "core" & J J  +2 "manipulator"&,& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&;( +6 "core" ( +2 "manipulator"&<& +4 "core" &  +2 "storage"( & +4 "core" & J L / +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(1' +58 "core" ' + "manipulator"&& +4 "core" & G  +2 "storage"(A& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&%' +21 "core" ' +2 .tElbow.hold + "manipulator"&&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('i +22 "core" ' +2 "manipulator"&% +3 "core" % b +2 "storage"(G& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +2 "manipulator"&4' +15 "core" ' +2 "manipulator"&>& +4 "core" & '  +2 "storage"(& +4 "core" & H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'ќ +50 "core" ' + "storage"(!% +4 "core" %s 3  +3 ."downElevator"SE.seek :down +3 "storage"(@'X +99 ( % +2 "core" %Y  QJ +3 "manipulator"&-% +3 "core" %i g +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +88 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (?& +3 "core" &  +2 "collection"'P& +41 "core" &VT @ +9 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&R% +4 "core" %\   +2 "storage"()% +3 "core" %b ] +3 "storage"(E. +2 "core" .( +2 "storage"(\ & +4 "core" &  +2 "storage"(J& +4 "core" &  +2 "manipulator"&H& +4 "core" & \  +2 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&N& +3 "core" & H  +2 "storage"(.& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +90 "core" ' + "storage"(X& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +283 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &  +3 "storage"(:& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K' +31 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Y'N +28 "core" ' + "manipulator"&D% +4 "core" %  +2 "storage"(b& +4 "core" & A + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts +2 "manipulator"&6' +18 "core" ' +2 "manipulator"&]& +3 "core" & G  +2 "storage"(2& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&['ќ +49 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'= +37 "core" ' + "manipulator"&n& +4 "core" & U  +2 "manipulator"&`% +3 "core" %њ 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +156 "core" ( +2 "manipulator"&\\& +4 "core" &' \\ >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &' 7 >K +2 .tForearm.seek CC +2 "manipulator"&f'" +99 "core" ' + .tHand.close +2 "manipulator"&p/ +61 "core" / +2 .tCC.seek :open +2 "collection"'w( +413 "core" ( + "storage"(T& +4 "core" & +2 "storage"(q& +4 "core" &  + "manipulator"&e& +4 "core" && 1 =C +2 "manipulator"&a% +4 "core" % 6  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&S( +149 "core" ( +2 "manipulator"&7& +4 "core" & +2 "storage"({& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&c' +96 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&i1 +58 "core" 1 +2 "manipulator"&% +4 "core" % g +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&j' +19 "core" ' +2 "manipulator"&o& +4 "core" &  +2 "storage"(Z& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +46 "core" ' +2 "storage"(x% +3 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %S  PG +2 "manipulator"&m% +4 "core" % s +40 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'r& +4 "core" & +2 "manipulator"&V% +3 "core" %\ 8 +2 "storage"(% +4 "core" %b v +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(I( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +3 "core" & 9  +2 "manipulator"&|& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&& +4 "core" & z R +2 "storage"(& +4 "core" & @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &   +2 "manipulator"&}& +4 "core" & ^ R +2 .tElbow.seek 3 +2 "manipulator"&u( +2 "core" ( +3 "manipulator"& & +3 "core" & - R +2 "storage"(y& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +23 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(s'X +7 "core" & = R +2 "manipulator"&'% +4 "core" % Ϥ +2 .tForearm.seek :retract +2 "manipulator"&/'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &'  Z >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &' >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'" +105 "core" ' + "manipulator"&& +4 "core" &( >M +2 "manipulator"&% +4 "core" % F +2 "collection"'5& +6 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'0(V +4 "core" & +8 &C $d +10 &] 6 +9 &% G +9 &g F +10 &g G +9 &lh G +10 &/e F +9 &f G +9 &i F +10 &ue F +9 & 7g F +9 &!j G +10 &#k F +9 &%}h F +10 &'>j G +9 &(g G +9 &*c F +10 &,e F +9 &.Fc G +9 &0 h F +10 &1g F +9 &3d G +10 &5Oh F +9 &7d G +9 &8g F +10 &:i G +9 &g G +10 &?g F +9 &Ah G +10 &C^j G +9 &Ep G +9 &Fv I +10 &H J +9 &JQ=" N +9 &L y Q +10 &Mbv P +9 &O/> Q +10 &QP# Q +9 &S R +9 &T  R +10 &V?h / +9 &V 8 +9 &Wm B +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&+1 +2 "core" &W` B +59 1 +3 "manipulator"&,% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%<& +4 "core" &_ +2 "manipulator"& % +3 "core" %\    +2 "storage"(% +4 "core" %T +2 "storage"(A. +2 "core" .( +2 "storage"(& +4 "core" & g  +2 "storage"(G& +4 "core" &  + "manipulator"&& +4 "core" &' 8 >M +2 "manipulator"&>% +3 "core" %\  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" & 5 S +2 "storage"(!& +4 "core" & .  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +127 "core" ' +9 "storage"(3& +4 "core" & Q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(8'i +277 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (-& +3 "core" & P  +2 "manipulator"&& +4 "core" & Y S +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&1& +4 "core" & | S +2 "storage"(%& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&4'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"(('X +8 "core" & S +2 "manipulator"&R% +4 "core" % Ϭ +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E(s +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +3 "manipulator"&\ & +4 "core" &m W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&H' +102 "core" ' +4 "manipulator"&N& +3 "core" &m ] +2 "manipulator"&.% +4 "core" % % g +2 "processing"%$& +4 "core" &S +3 "processing"%X& +4 "core" &^ +3 .tPC.seek :closed + "processing"%@(Z +5 "core" &W +7 &D^ #b +10 &[Z 6 +9 &] H +10 &g^ G +9 &g_ G +9 &XfV G +10 &fY G +9 &gX G +9 &h` G +10 &`h^ G +9 & "gV G +10 &!fW G +9 &#gY G +9 &%hgU G +10 &'*gW G +9 &(gS H +9 &*h] G +10 &,qhY G +9 &.3gT G +10 &/fO G +9 &1eS G +9 &3yfS G +10 &5<gU G +9 &6gW G +9 &8hP G +10 &:eT G +9 &fV G +10 &?eT G +9 &AfV G +10 &CJiV G +9 &E jR H +9 &FsQ H +10 &HS J +9 &JDS L +10 &LT L +9 &MS M +9 &OT L +10 &QKS M +9 &S U M +9 &TN M +10 &VI M +9 &XQS M +9 &YxuQ "j +10 &Z+sQ + +9 ( + &ZS +3 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&&1 +56 "core" 1 +2 "manipulator"&9% +3 "core" % W g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' +2 "processing"%F& +4 "core" &Z6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&:% +4 "core" %\ \ E  +2 "storage"(O% +4 "core" %a   +2 "storage"(D. +2 "core" .( +2 "storage"(b& +4 "core" & H  +2 "storage"(]& +3 "manipulator"&2& +7 "core" &   + &m +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +3 "manipulator"&n(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'i +3 "core" ( + "manipulator"&=& +4 "core" &m O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &m +2 .tForearm.seek PC +2 "manipulator"&M' +93 "core" ' +2 .tHand.close + "manipulator"&K/ +64 "core" / +4 .tPC.seek :open + "processing"%6( +86 "core" ' +2 "storage"(Y- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'y +35 "core" ' +300 ( +2 "storage"(d& +3 "core" & '  +2 "manipulator"&[& +4 "core" &m +2 "manipulator"&C% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&L( +255 "core" ( +2 "manipulator"&^& +3 "core" &  & +50 "storage"(T& +90 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&q'9 +99 "core" ' +4 .tHand.open + "manipulator"&e1 +58 "core" 1 +2 "storage"(a- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"({' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +3 "core" -' +2 "storage"(t& +4 "core" &\ 8\ < X  +2 "manipulator"&i& +4 "core" & $ +2 .tElbow.seek 3 +2 "manipulator"&( +19 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(o& +3 "core" &\  v |  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(x' +54 "core" ' + "manipulator"&U& +4 "core" & /  +2 "storage"(& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&m'} +24 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'i +28 "core" ' +2 "manipulator"&j% +3 "core" %΋ w +2 "storage"(r& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&V'Ϸ +21 "core" ' + "manipulator"&& +4 "core" & J  +2 "storage"(v& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +33 "core" ' +2 "storage"(g% +3 "core" %p  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %UZ RL +2 "manipulator"&W% +4 "core" %: N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &   +2 "collection"'& +4 "core" &W` B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\    +2 "storage"(l% +4 "core" %\\  +2 "storage"(. +2 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(_& +3 "core" &   +2 "manipulator"&}& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&y& +3 "core" &  +2 "storage"(h& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +99 "core" ' + "storage"('& +4 "core" & ,  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(~& +4 "core" & c  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +23 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('N +44 "core" ' +8 "manipulator"&u% +4 "core" %Ώ o +2 "storage"(5& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts +2 "manipulator"&s'ϻ +19 "core" ' +2 "manipulator"&/& +4 "core" &  +2 "storage"(w& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&+'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(,'= +38 "core" ' +2 "manipulator"&<& +4 "core" & s  +2 "manipulator"& % +3 "core" %L +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +156 "core" ( + "manipulator"&& +4 "core" &' + >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' J >K +3 .tForearm.seek CC +2 "manipulator"&G'" +92 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'>( +416 "core" ( + "storage"("& +4 "core" &   +2 "storage"(& +4 "core" & J  +2 "manipulator"&!& +3 "core" &( r >K +2 "manipulator"&#% +4 "core" %  H +2 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"& & +4 "core" & 5 N +2 "storage"(-& +4 "core" & O  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +97 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +55 "core" 1 +2 "manipulator"&?% +4 "core" % · \\ +2 "storage"(P& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 310 counts + "manipulator"&R'ϳ +20 "core" ' +3 "manipulator"&& +4 "core" & N +2 "storage"(*& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +16 "core" ' +2 "storage"(4% +3 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (J% +3 "core" %U PH +2 "manipulator"&;% +3 "core" %7 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +97 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'.& +3 "core" & +2 "manipulator"&$% +4 "core" %\ \ K  +2 "storage"((% +3 "core" %a = +2 "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(z( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" & z ? +2 "manipulator"&9& +4 "core" & N +2 .tElbow.seek 2 +2 "manipulator"&F( +33 "core" ( +2 "manipulator"&:& +5 "core" & O # + "storage"(O& +4 "core" & F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +94 "core" ' + "storage"(b& +4 "core" &  +45 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(X'i +281 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" & M +2 "manipulator"&=& +4 "core" & O # +2 .tElbow.seek 2 +2 "manipulator"&B( +2 "core" ( +2 "manipulator"&H& +4 "core" & r # +2 "storage"(K& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(@'X +7 "core" & N # +2 "manipulator"&`% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&C& +5 "core" &( 1 ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &( ] ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'" +102 "core" ' +2 "manipulator"&n& +4 "core" &(  ?Q +2 "manipulator"&T% +4 "core" %)  +2 "collection"'e& +4 "core" & +2 "collection"'a& +6 "core" & +2 .tCC.seek :closed +2 "collection"'f(V +5 "core" &  +8 &6 )w +9 &l = +9 &u H +10 &og G +9 &2c F +9 &e F +10 &c G +9 &wf G +9 &9h G +10 &e F +9 & e F +10 &"g F +9 &$Ah G +9 &&h G +10 &'g G +9 &)c F +9 &+Jj F +10 &- c F +9 &.c F +10 &0f G +9 &2Qg G +9 &4i F +10 &5h F +9 &7i F +10 &9Yg G +9 &;j F +9 &<j G +10 &>h G +9 &@ag G +9 &B$d F +10 &Ce G +9 &Em G +9 &Gcz I +10 &I" J +9 &J[: O +10 &L P +9 &NVSi P +9 &P-; Q +10 &Q# Q +9 &S R +9 &UW   B +10 &Vm=\  . +9 &Vl @ +6 ( +2 "collection"'a& +3 "core" &VT @ +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 + .Hand.open + "manipulator"&t1 +63 "core" 1 +6 "manipulator"&i% +4 "core" % ) [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%p& +4 "core" &P +2 "manipulator"&o% +4 "core" %\ \ g  +2 "storage"(U% +4 "core" %T 4 + "storage"(. +3 "core" .( +2 "storage"(\\& +4 "core" & ? +2 "storage"(j& +4 "core" & C + "manipulator"&r& +4 "core" &' I >N +2 "manipulator"&7% +3 "core" %\ \ q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +178 "core" ( +2 "manipulator"&v& +4 "core" &\ C b +2 "storage"(L& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +111 "core" ' + "storage"(q& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"({'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (W& +2 "core" &  +2 "manipulator"&Z& +4 "core" & b +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&x& +4 "core" & b +2 "storage"(m& +3 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +46 .tHand.close +5 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & b +2 "manipulator"&c% +4 "core" %  z f +2 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&& +4 "core" &o + = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +100 "core" ' +2 "manipulator"&y& +4 "core" &o c +2 "manipulator"&h% +4 "core" % L +2 "processing"%k& +4 "core" &V +3 "processing"%'& +5 "core" &\\ +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &Z +8 &<b #c +9 &\\` 6 +10 &W H +9 &dc G +9 &gc G +10 &`fW G +9 &"e^ G +9 &eW G +10 &gX G +9 &ggX G +10 & )gV G +9 &!gX G +9 &#gV G +10 &%ogY G +9 &'1h_ G +9 &(gY G +10 &*fY G +9 &,xe` G +10 &.:f_ G +9 &/f\\ G +9 &1f_ G +10 &3e_ G +9 &5@j] G +9 &7eT G +10 &8fR G +9 &:eX G +10 & gS F +9 &?hS G +10 &AfS G +9 &CPhT G +9 &EnV H +10 &FsT H +9 &HR K +10 &JKU L +9 &L V M +9 &MQ L +10 &OU M +9 &QQU M +9 &SV M +10 &TT M +9 &VQ M +10 &XWR M +9 &YzvT !i +9 &Z(kU + +9 ( +2 &ZK " +2 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&S1 +53 "core" 1 +2 "manipulator"&|% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"%& +5 "core" &ZS " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&~% +3 "core" %\ " k = +2 "storage"(% +4 "core" %T  +2 "storage"(u. +3 "core" .( +2 "storage"(5& +4 "core" &  +2 "storage"(/& +2 "manipulator"&w& +8 "core" &  + &o a +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&<(s +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'i +2 "core" ( +3 "manipulator"&& +4 "core" &o t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &o + +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / +2 .tPC.seek :open + "processing"%s( +84 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +303 ( +2 "storage"(& +4 "core" & 9 +2 "manipulator"&+& +3 "core" &o +2 "manipulator"& % +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +265 "core" ( + "manipulator"&0& +3 "core" & U  +3 "storage"("& +3 "core" & A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +93 "core" ' +2 .tHand.open + "manipulator"&!1 +60 "core" 1 +2 "storage"(#- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +42 "core" ' +10 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(G- +2 "core" -' +3 "storage"(A& +3 "core" & K J J +2 "manipulator"&%& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&?( +8 "core" ( +2 "manipulator"&P& +3 "core" & g  +2 "storage"(& +4 "core" & K M > +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(4' +54 "core" ' + "manipulator"&3& +4 "core" & A  +2 "storage"(J& +4 "core" & 6 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&R% +4 "core" % +2 "storage"(.& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&$' +19 "core" ' +2 "manipulator"&(& +4 "core" & \\  +2 "storage"()& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'ќ +35 "core" ' +2 "storage"(8% +4 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(\ 'X +99 (I% +4 "core" %Y u PI +2 "manipulator"&&% +4 "core" %љ +2 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (:& +3 "core" & \\ +2 "collection"'O& +4 "core" &VT @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&b% +4 "core" %\   +2 "storage"(1% +4 "core" %Q K + "storage"(N. +3 "core" .( +2 "storage"(2& +4 "core" & @ +2 "storage"(]& +4 "core" &  +2 "manipulator"&=& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( +2 "manipulator"&K& +3 "core" & R  +2 "storage"(E& +4 "core" & y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Q'ќ +93 "core" ' +2 "storage"(`& +4 "core" & * +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'i +278 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & \\  +2 "storage"(M& +4 "core" & { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&X' +21 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(T'O +25 "core" ' +2 "manipulator"&e% +4 "core" % Y +2 "storage"(B& +3 "core" & x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&@' +16 "core" ' + "manipulator"&d& +4 "core" & J  +2 "storage"(>& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +47 "manipulator"&t'ќ +36 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(i'> +37 "core" ' +2 "manipulator"&p& +3 "core" &  +2 "manipulator"&o% +4 "core" %ѭ t h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +157 "core" ( +3 "manipulator"&& +3 "core" &% X <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &% 4 <@ +2 .tForearm.seek CC +2 "manipulator"&j'" +93 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open +2 "collection"'7( +416 "core" ( +2 "storage"(^& +4 "core" & ? +2 "storage"(v& +3 "core" & +2 "manipulator"&L& +5 "core" &% <@ + "manipulator"&[% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +154 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(W& +3 "core" & L +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Z' +103 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +60 "core" 1 +2 "manipulator"&% +4 "core" % i +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&c' +19 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(g& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +40 "core" ' + "storage"(V% +4 "core" %G ! +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (_% +3 "core" %T  PG +2 "manipulator"&% +4 "core" %Ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +4 "core" & +2 "manipulator"&k% +3 "core" %\   +2 "storage"(% +4 "core" %Q  +2 "storage"(l. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(6( +342 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +3 "core" & #  +2 "manipulator"&|& +4 "core" & x  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&~& +4 "core" & F b +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&u'9 +91 "core" ' + "storage"(5& +4 "core" & [  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''i +289 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +4 "core" & K  +2 "manipulator"&& +3 "core" & : b +2 .tElbow.seek 3 +2 "manipulator"& ( +51 "core" ( +3 "manipulator"&}& +4 "core" & > b +2 "storage"( & +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +8 "core" & b + "manipulator"& % +4 "core" % Ϟ \  +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"& & +4 "core" &$ 5 S ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$ ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +99 "core" ' +3 "manipulator"&"& +4 "core" &% ] ;2 +2 "manipulator"&<% +4 "core" %( + +2 "collection"'!& +5 "core" & +2 "collection"'#& +5 "core" & +2 .tCC.seek :closed +2 "collection"'G(V +4 "core" &  +9 &8 )v +10 &l = +9 &p G +9 &|f G +10 &>e G +9 &g F +9 &c F +10 &b F +9 &Gd F +10 & d F +9 & d F +9 &"e G +10 &$Ng G +9 &&i F +9 &'g G +10 &)e G +9 &+Wg F +10 &-c F +9 &.c F +9 &0f F +10 &2_c F +9 &4!h F +9 &5g G +10 &7e F +9 &9gc F +10 &;)i F +9 &<e F +9 &>f F +10 &@ng G +9 &B0g G +9 &Ck F +10 &Em G +9 &Gpz I +10 &I/ J +9 &J\\= O +9 &L Q +10 &NdRh P +9 &P#19 Q +9 &Q# Q +10 &S R +9 &Uc  ? +9 &VK  V +10 &V/= $o +9 &WT @ +3 ( +2 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&A1 +53 "core" 1 +2 "manipulator"&%% +4 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%P& +4 "core" &\\ +2 "manipulator"&% +4 "core" %\ \\  +2 "storage"(3% +4 "core" %b  +2 "storage"(J. +3 "core" .( +2 "storage"(& +3 "core" &   +2 "storage"(R& +4 "core" &   +2 "manipulator"&.& +4 "core" &# :1 +2 "manipulator"&(% +3 "core" %\ m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& ( +161 "core" ( + "manipulator"&)& +4 "core" & :  +2 "storage"(8& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(& +4 "core" & C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'i +278 "core" ' +2 "storage"(I- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (&& +2 "core" &   +3 "manipulator"&*& +3 "core" & 7  +2 .tElbow.seek 3 +2 "manipulator"&?( +4 "core" ( +2 "manipulator"&4& +3 "core" & +  +2 "storage"(;& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +3 "storage"(b'X +7 "core" &  + "manipulator"&1% +4 "core" % Ϟ Q +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +131 "core" ( +4 "manipulator"&2& +3 "core" &v \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &v \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +100 "core" ' +2 "manipulator"&K& +3 "core" &v _ \ +2 "manipulator"&E% +4 "core" % +2 "processing"%,& +4 "core" &P +3 "processing"%`& +5 "core" &Q +2 .tPC.seek :closed +2 "processing"%\ (Z +5 "core" &Y +6 &Da #b +10 &]] 6 +9 &c G +10 &db G +9 &gV G +9 &af` G +10 &#fb G +9 &gc G +9 &jW G +10 &ig^ G +9 & +g_ G +10 &!g\\ F +9 &#g` G +9 &%ohW G +10 &'2hY G +9 &(gV G +9 &*f` G +10 &,yfY G +9 &.;hY G +10 &/j_ G +9 &1f_ G +9 &3f` G +10 &5Dg` F +9 &7fZ G +9 &8eT G +10 &:hX G +9 & dS G +9 &?gR G +9 &AdS G +10 &CRiR G +9 &En[ H +9 &FuW H +10 &HS J +9 &JJR M +10 &L R L +9 &MR L +9 &OT L +10 &QRV M +9 &SU M +9 &TV M +10 &VV M +9 &XWT N +10 &YwwS "k +9 &Z'jS * +9 ( + &ZP +3 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&9% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +2 "processing"%C& +4 "core" &ZS +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\ " \\ 9 +2 "storage"(n% +4 "core" %S . +2 "storage"(e. +2 "core" .( +2 "storage"(B& +3 "core" &  +3 "storage"(d& +2 "manipulator"&>& +7 "core" & (  + &v \ +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +3 "manipulator"&p(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'i +2 "core" ( +2 "manipulator"&Q& +4 "core" &v \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &v _ \ +2 .tForearm.seek PC +2 "manipulator"&F' +97 "core" ' + .tHand.close +2 "manipulator"&X/ +58 "core" / +3 .tPC.seek :open +2 "processing"%@( +84 "core" ' + "storage"(T- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +42 "core" ' +294 ( +2 "storage"(\\& +3 "core" &   +2 "manipulator"&t& +4 "core" &v \ +2 "manipulator"&Y% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&a( +265 "core" ( +2 "manipulator"&f& +4 "core" & +2 "storage"(^& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +93 "core" ' + .tHand.open +2 "manipulator"&L1 +55 "core" 1 +2 "storage"([- +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(W' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(j- +3 "core" -' +2 "storage"(U& +4 "core" & J J J  +2 "manipulator"&m& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +49 "manipulator"&& +4 "core" & +2 "storage"(& +3 "core" & J J 3  +3 .tForearm.seek 3 + 700 counts + "manipulator"&g'9 +3 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +57 "core" ' +2 "manipulator"&q& +4 "core" & +2 "storage"(_& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'i +22 "core" ' +2 "manipulator"&c% +4 "core" %{ +2 "storage"(h& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 298 counts + "manipulator"&k'ϧ +20 "core" ' +2 "manipulator"&& +4 "core" & u +2 "storage"(l& +4 "core" & .  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +28 "core" ' +2 "storage"({% +3 "core" %m ?  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (z% +3 "core" %Z p QK +2 "manipulator"&S% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" & *  +2 "collection"'& +4 "core" &WT @ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %\   +3 "storage"(x% +3 "core" %b & +2 "storage"(y. +2 "core" .( +2 "storage"(w& +4 "core" &   +2 "storage"(/& +4 "core" &   +2 "manipulator"&& +3 "core" & +3 .tElbow.seek 3 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"& & +4 "core" & +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + "storage"( & +4 "core" & W  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(u- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & +2 "storage"(& +4 "core" & E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&''} +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(<'O +33 "core" ' + "manipulator"&!% +4 "core" %· +2 "storage"( & +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϳ +19 "core" ' +2 "manipulator"&& +3 "core" & N +2 "storage"(7& +4 "core" & R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +25 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(%'> +39 "core" ' + "manipulator"&P& +4 "core" & +2 "manipulator"&% +3 "core" %u +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&3'\ +95 "core" ' +41 .tElbow.seek CC +9 "manipulator"&J( +160 "core" ( +2 "manipulator"&& +4 "core" &+  w Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &* Ac +2 .tForearm.seek CC +2 "manipulator"&#'" +91 "core" ' + .tHand.close + "manipulator"&./ +63 "core" / +2 .tCC.seek :open +2 "collection"'(( +416 "core" ( +3 "storage"(0& +4 "core" & 9  +2 "storage"()& +4 "core" & "  + "manipulator"&8& +4 "core" &+ Ab +2 "manipulator"&% +4 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +162 "core" ( + "manipulator"&I& +4 "core" & = x +2 "storage"(&& +3 "core" & +  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'} +99 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +53 "core" 1 +2 "manipulator"&:% +4 "core" % ΄ +2 "storage"(O& +3 "core" & ?  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&1'ϰ +20 "core" ' +2 "manipulator"& & +3 "core" & ] x +2 "storage"(& +4 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +25 "core" ' +2 "storage"($% +4 "core" %H (  +3 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (?% +3 "core" %T  PF +2 "manipulator"&]% +4 "core" %P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +87 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'E& +4 "core" & +2 "manipulator"&,% +4 "core" %\   +2 "storage"(b% +3 "core" %a   +2 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(s( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & ( +3 "manipulator"&9& +3 "core" & x +2 .tElbow.seek 2 +2 "manipulator"&C( +28 "core" ( + "manipulator"&M& +4 "core" &\ x ^ +2 "storage"(n& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +102 "core" ' + "storage"(`& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'i +279 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &   +2 "manipulator"&Q& +4 "core" &\ U \\ +2 .tElbow.seek 2 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&=& +4 "core" &\ E \\ +2 "storage"(X& +3 "core" &   +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +103 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +3 "storage"(\ 'X +52 "core" &\ P \\ +4 "manipulator"&o% +5 "core" % +2 .tForearm.seek :retract + "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +3 "manipulator"&Y& +4 "core" && n =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &F& +2 "core" &&  =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'" +95 "core" ' +2 "manipulator"&^& +4 "core" &&  " =A +2 "manipulator"&p% +4 "core" %! ;  +2 "collection"'L& +4 "core" & +3 "collection"'[& +6 "core" & +2 .tCC.seek :closed +2 "collection"'j(V +3 "core" &  +9 &7 )w +10 &l = +9 &p G +9 &se G +10 &5e G +9 &e G +9 &f G +10 &{e G +9 &>e F +10 &c F +9 & c F +9 &"c F +10 &$Fb F +9 && e F +9 &'f F +10 &)b F +9 &+Mg G +10 &-f G +9 &.e F +9 &0j G +10 &2Ve F +9 &4g F +3 "Can"s FDW +6 "core" &5e G +10 &7e F +9 &9^h F +10 &;g G +9 &<h F +9 &>f G +10 &@ef G +9 &B'g G +9 &Ch G +10 &Ek G +9 &Gg} I +10 &I% J +9 &JU8 N +9 &L Q +10 &NYQj P +9 &P0; Q +9 &Q% Q +10 &S R +9 &UZ A +9 &VzD  %p +10 &V\  G +5 ( +2 "collection"'[& +4 "core" &Vk G +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&U1 +54 "core" 1 + "manipulator"&m% +4 "core" % !  O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &Y +2 "manipulator"&% +4 "core" %\  X  +2 "storage"(q% +3 "core" %a J +2 "storage"(_. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(& +3 "core" &   +2 "manipulator"&c& +4 "core" &% F <@ +2 "manipulator"&h% +4 "core" %\  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&l& +4 "core" &  +2 "storage"(a& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&{'ќ +97 "core" ' +3 "storage"(v& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +281 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (S& +2 "core" &   +3 "manipulator"&g& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +4 "core" & k  +2 "storage"(& +3 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(5'X +6 "core" &  +2 "manipulator"&x% +4 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&w(s +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&Z& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &t  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"& & +49 "core" &t ~ +4 "manipulator"&% +4 "core" % + +3 "processing"%i& +3 "core" &X +3 "processing"% & +5 "core" &[ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &a +7 &D\\ #b +9 &\\X 6 +10 &c H +9 &fc G +9 &iW G +10 &`fY F +9 &!eV G +10 &hX G +9 &iW G +9 &gdW G +10 & )fW G +9 &!hY G +9 &#gV F +10 &%ogZ G +9 &'1eY G +10 &(fY G +9 &*iY G +9 &,xf] F +10 &.9f` G +9 &/d` G +9 &1cX G +10 &3e` F +9 &5AeU G +10 &7h[ G +9 &8hS G +9 &:dR F +10 & fR G +9 &?jS G +10 &AeT G +9 &CPhS G +10 &ElQ G +9 &FsS H +9 &HQ J +10 &JJU L +9 &L V L +9 &MU M +10 &OX L +9 &QPV M +10 &SX M +9 &TV M +9 &V] M +10 &XWY M +9 &YxxR "j +9 &Z%gS * +9 ( +2 &ZT ! +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&|% +4 "core" % + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' +3 "processing"% & +4 "core" &ZH ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\  : - +2 "storage"("% +4 "core" %T  +2 "storage"(!. +3 "core" .( +2 "storage"( & +3 "core" &  H +2 "storage"(& +4 "manipulator"&7& +5 "core" &   + &t +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +4 "manipulator"&P(s +5 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +3 "manipulator"&& +4 "core" &t < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" &t [ +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + .tHand.close +2 "manipulator"&'/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"(<- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'y +47 "core" ' +293 ( + "storage"(& +4 "core" &   +2 "manipulator"&R& +3 "core" &t @ +2 "manipulator"&% +4 "core" % Q +2 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&3( +279 "core" ( + "manipulator"&G& +4 "core" & p !t +2 "storage"(0& +4 "core" &  x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +97 "core" ' +3 .tHand.open + "manipulator"&81 +60 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(I'E +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(&' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(J& +4 "core" & \  t +2 "manipulator"&;& +3 "core" & Q n +2 .tElbow.seek 2 +2 "manipulator"&:( +4 "core" ( + "manipulator"&O& +4 "core" & p n +2 "storage"( & +3 "core" & \ ;\ 8 y +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"($' +53 "core" ' +2 "manipulator"&+& +4 "core" & 7 n +2 "storage"(?& +49 "core" &  V +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]' +22 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +23 "core" ' + "manipulator"&1% +4 "core" % > +2 "storage"(E& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&,' +18 "core" ' +2 "manipulator"&b& +4 "core" & I n +2 "storage"(N& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'ќ +17 "core" ' + "storage"(-% +4 "core" %r C +5 ."downElevator"SE.seek :down +3 "storage"(2'X +99 (6% +3 "core" %[  PI +2 "manipulator"&% +4 "core" %ѓ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +4 (M& +3 "core" &  f +2 "collection"'n& +4 "core" &Vj G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&`% +4 "core" %\   +2 "storage"(4% +4 "core" %^  +2 "storage"(K. +2 "core" .( +2 "storage"(d& +4 "core" &   +2 "storage"(>& +3 "core" &   +2 "manipulator"&Q& +4 "core" & P m +3 .tElbow.seek 2 + "manipulator"&=( +3 "core" ( +2 "manipulator"&X& +4 "core" & G m +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'ќ +90 "core" ' +2 "storage"(o& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(C'i +19 "core" ' + "storage"(e- +4 "core" -'" + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 !to:Puck::Error: mesg"5Impossible stack Height of 24.98 pucks in tube 2:bt[":/home/esp/esp2/utils/puckmoves.rb:316:in `placeStack'"6/home/esp/esp2/utils/puckmoves.rb:446:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:445:in `unload'":/home/esp/esp2/utils/puckmoves.rb:971:in `unloadPuck'"4/home/esp/esp2/utils/shuffle.rb:28:in `shuffle'"7/home/esp/esp2/lib/log.rb:442:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" +37 "core" ' + "manipulator"&& +4 "core" & k +2 "manipulator"&% +4 "core" %Ѳ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +47 .tElbow.seek CC +3 "manipulator"&[( +162 "core" ( +2 "manipulator"&h& +4 "core" && =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" && { =G +2 .tForearm.seek CC +2 "manipulator"&l'" +96 "core" ' + .tHand.close +2 "manipulator"&a/ +61 "core" / +3 .tCC.seek :open +2 "collection"'v( +415 "core" ( +2 "storage"(t& +3 "core" &  | +2 "storage"(r& +4 "core" &   +2 "manipulator"&z& +4 "core" && h =A +2 "manipulator"&S% +3 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&g'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&V( +158 "core" ( + "manipulator"&& +4 "core" & x +2 "storage"(~& +4 "core" &  : +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&{% +4 "core" % +2 "storage"(W& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 306 counts + "manipulator"&k' +18 "core" ' +2 "manipulator"&Z& +4 "core" & % +2 "storage"(/& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 "storage"( % +4 "core" %G Z +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (i% +3 "core" %T  PH +2 "manipulator"&5% +3 "core" %Ѻ D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&y'\ +87 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'@& +3 "core" & +2 "manipulator"&% +4 "core" %\  R  +2 "storage"(|% +4 "core" %a   +2 "storage"( . +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +343 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +3 "core" & }   +2 "manipulator"&!& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"& ( +19 "core" ( +2 "manipulator"&7& +3 "core" & > ^ +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +110 "core" ' + "storage"(& +4 "core" & ]  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'i +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +2 "core" &   +2 "manipulator"&<& +4 "core" & ^ +2 .tElbow.seek 3 +2 "manipulator"&w( +4 "core" ( + "manipulator"&u& +4 "core" & f ^ +2 "storage"(& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"('X +52 "core" &  ^ +2 "manipulator"&% +5 "core" % ϩ \\ c +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +28 "core" ( + "manipulator"&P& +4 "core" && 4 [ =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &&  =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +102 "core" ' +2 "manipulator"&#& +3 "core" &&  E =F +2 "manipulator"&J% +4 "core" % s +2 "collection"';& +4 "core" & +3 "collection"'O& +4 "core" & +3 .tCC.seek :closed + "collection"' (V +5 "core" & +7 &@ #b +9 &\\ 6 +10 & G +9 &b F +9 &g G +10 &`d G +9 &"f G +9 &f G +10 &g F +9 &he G +10 & *f G +9 &!h F +9 &#i F +10 &%qh F +9 &'3h F +9 &(f G +10 &*e F +9 &,yc F +10 &.;h F +9 &/g F +9 &1h F +10 &3e G +9 &5Bd G +9 &7e F +10 &8` F +9 &:b F +10 & c F +9 &?c F +10 &Ac F +9 &CRc G +9 &Em G +10 &Fv H +9 &H J +10 &JF5 N +9 &L~w P +9 &Mcw Q +10 &O7B Q +9 &QE& Q +9 &S R +10 &T\  R +9 &V1^ * +10 &V$ A +8 ( +2 &VG > +2 "collection"'O& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&.1 +56 "core" 1 +3 "manipulator"&+% +4 "core" %  _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%A& +4 "core" &_ +2 "manipulator"&I% +3 "core" %\  5 +2 "storage"(1% +4 "core" %T ` +2 "storage"(E. +3 "core" .( +2 "storage"(b& +3 "core" & %  +2 "storage"(N& +4 "core" &  +2 "manipulator"&3& +4 "core" && : =F +2 "manipulator"&-% +3 "core" %\  5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&)( +168 "core" ( +2 "manipulator"&&& +4 "core" & l +2 "storage"(6& +4 "core" & b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(:'i +276 "core" ' +2 "storage"($- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]& +3 "core" &   +2 "manipulator"&,& +3 "core" & _ l +2 .tElbow.seek 3 +2 "manipulator"&M( +4 "core" ( + "manipulator"&n& +4 "core" & o l +2 "storage"(`& +4 "core" & r  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'ϩ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(*'X +7 "core" & ] l +2 "manipulator"&>% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&X(s +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +3 "manipulator"&& +4 "core" &s { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &s ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +100 "core" ' +2 "manipulator"&e& +50 "core" &s Y +3 "manipulator"&Y% +5 "core" % 7 +2 "processing"%2& +4 "core" &Q +2 "processing"%& +5 "core" &^ +2 .tPC.seek :closed +2 "processing"%9(Z +5 "core" &^ +7 &Dd #c +9 &]d 7 +10 &` H +9 &e^ G +9 &hd G +10 &gha G +9 &)c_ G +10 &e^ G +9 &fa G +9 &oe] G +10 & 2g\\ F +9 &!f^ F +9 &#f] G +10 &%wd] G +9 &'8eW G +10 &(f^ G +9 &*e^ G +9 &,g^ F +10 &.Ag_ G +9 &0i_ G +9 &1cW G +10 &3cZ G +9 &5HdW G +10 &7 g] F +9 &8fT G +9 &:hW G +10 &bX F +9 &?fT G +10 &Ac_ G +9 &CYh_ G +10 &ElV G +9 &FrT H +9 &HQ J +10 &JQT L +9 &LS L +9 &M^ L +10 &OT L +9 &QYZ L +10 &SY L +9 &TU L +9 &VS M +10 &X`Z M +9 &ZwvX !i +9 &Z#`\\ ( +9 ( +2 &Z[ # +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&C1 +63 "core" 1 +2 "manipulator"&T% +3 "core" % k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 "processing"%p& +4 "core" &ZO # +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&B% +4 "core" %\   +2 "storage"(\ % +4 "core" %S h +2 "storage"((. +2 "core" .( +2 "storage"(U& +4 "core" &   +2 "storage"(& +4 "manipulator"&& +5 "core" &   + &s +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +2 "core" ( +3 "manipulator"&D& +4 "core" &s g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &s Q +2 .tForearm.seek PC +2 "manipulator"&F' +95 "core" ' + .tHand.close +2 "manipulator"&L/ +53 "core" / +2 .tPC.seek :open +2 "processing"%m( +93 "core" ' + "storage"(\\- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +48 "core" ' +280 ( +2 "storage"(h& +4 "core" & 2  +2 "manipulator"&f& +5 "core" &s +2 "manipulator"&H% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&c( +267 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(t& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&r'9 +94 "core" ' +2 .tHand.open + "manipulator"&z1 +55 "core" 1 +2 "storage"(S- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(~' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(l- +3 "core" -' +2 "storage"([& +3 "core" & K J 7  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&{( +13 "core" ( + "manipulator"&W& +4 "core" & I H +2 "storage"(Z& +4 "core" & J K (  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + "manipulator"&g& +4 "core" & G +2 "storage"(i& +51 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&@% +4 "core" % 9 +2 "storage"(k& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&'ϫ +21 "core" ' + "manipulator"&|& +4 "core" & G +2 "storage"( & +4 "core" & 7  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&_'9 +34 "core" ' +2 "storage"(% +4 "core" %s )  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (s% +3 "core" %W  PJ +2 "manipulator"&"% +4 "core" %7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 (7& +2 "core" & S  +3 "collection"'& +3 "core" &VA > +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %\ # ; +2 "storage"(x% +4 "core" %`  +2 "storage"(y. +2 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"('& +3 "core" &   +2 "manipulator"&<& +4 "core" & F +2 .tElbow.seek 3 +2 "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" & F +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&R'9 +94 "core" ' +2 "storage"(& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +282 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" & F +2 "storage"(P& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'} +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(#'N +33 "core" ' + "manipulator"&J% +4 "core" %΅ +2 "storage"(;& +4 "core" & I  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&'ϱ +20 "core" ' + "manipulator"&G& +4 "core" & ? F +2 "storage"(v& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(+'= +40 "core" ' + "manipulator"&A& +4 "core" & F +6 "manipulator"&I% +4 "core" %@ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E( +159 "core" ( +2 "manipulator"&b& +4 "core" &( u ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &( e ?U +3 .tForearm.seek CC +2 "manipulator"&N'" +94 "core" ' + .tHand.close +2 "manipulator"&3/ +62 "core" / +46 .tCC.seek :open +4 "collection"'-( +414 "core" ( +2 "storage"(& +4 "core" & \  +2 "storage"(&& +4 "core" &   +2 "manipulator"&6& +3 "core" &( S ?T +2 "manipulator"&% +4 "core" %  q +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&?( +155 "core" ( +2 "manipulator"&$& +4 "core" &  +2 "storage"(]& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&,'} +97 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&`1 +64 "core" 1 +2 "manipulator"&K% +4 "core" % ΄ W +2 "storage"(d& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 307 counts + "manipulator"&>'ϰ +20 "core" ' +2 "manipulator"&)& +3 "core" & Z  +2 "storage"(& +4 "core" & M  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&:'9 +28 "core" ' +2 "storage"(4% +4 "core" %?  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (%% +3 "core" %&Y , QI +2 "manipulator"&M% +4 "core" %8 / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Y& +3 "core" & +2 "manipulator"&2% +3 "core" %\   +3 "storage"(*% +3 "core" %\\  +2 "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +3 "core" &  +2 "manipulator"&T& +3 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&p( +30 "core" ( +2 "manipulator"&B& +4 "core" & I "~ +2 "storage"(\ & +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +98 "core" ' +2 "storage"(U& +3 "core" & 1 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" & } @ +3 "manipulator"&D& +3 "core" & !u +2 .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( + "manipulator"&o& +4 "core" & U !u +2 "storage"(L& +4 "core" & # +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& +2 "storage"(9'X +6 "core" & !u +2 "manipulator"&% +4 "core" % \  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&f( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&H& +3 "core" &' p >K +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &F& +3 "core" && 7 >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'" +100 "core" ' +2 "manipulator"&t& +4 "core" &' T >K +2 "manipulator"&% +4 "core" % F : +2 "collection"'z& +4 "core" & +3 "collection"'S& +5 "core" & +2 .tCC.seek :closed +2 "collection"'l(V +3 "core" & +8 &B $e +9 &] 6 +10 &' G +9 &b F +9 &c F +10 &na F +9 &1f F +9 &e G +10 &g F +9 &ud G +10 & 7e G +9 &!e G +9 &#b F +10 &%~g F +9 &'@g F +10 &)g F +9 &*e G +9 &,d G +10 &.Hd F +9 &0\ b F +9 &1b F +10 &3b F +9 &5Qa F +10 &7h F +9 &8c G +9 &:e F +10 &e G +9 &?e G +10 &Ae G +9 &C_f G +9 &E!h G +10 &Fs I +9 &H J +10 &JT6 M +9 &L x P +9 &Mfx P +10 &O4D Q +9 &QR& Q +9 &S R +10 &T  R +9 &VBg  . +10 &V 8 +9 &W b > +5 ( +2 "collection"'S& +4 "core" &W H > +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&[1 +60 "core" 1 +3 "manipulator"&% +4 "core" %  d : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &_ +2 "manipulator"&a% +4 "core" %\ # # ? +2 "storage"(g% +4 "core" %W + "storage"(i. +3 "core" .( +2 "storage"(q& +4 "core" & X +2 "storage"(& +4 "core" & i +2 "manipulator"&@& +3 "core" &' >K +2 "manipulator"&k% +4 "core" %\ # ? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +153 "core" ( + "manipulator"& & +4 "core" & D  +2 "storage"(c& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +92 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'i +279 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +4 "core" &  +2 "manipulator"&/& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&{( +4 "core" ( + "manipulator"& & +4 "core" & @  +2 "storage"(5& +3 "core" & j +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" &   +2 "manipulator"&x% +3 "core" %  5 g +2 .tForearm.seek :retract +2 "manipulator"&y'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +3 "manipulator"&& +4 "core" &j [ W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &k V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +94 "core" ' +2 "manipulator"&& +4 "core" &k r V +2 "manipulator"&% +3 "core" %   +3 "processing"%_& +3 "core" &a +3 "processing"%& +5 "core" &] +2 .tPC.seek :closed + "processing"%(Z +4 "core" &` +7 &F^ #b +10 &]] 6 +9 &Y G +9 &gZ G +10 &dc G +9 &cdd G +9 &%bX G +10 &ca G +55 &ed G +5 &ked G +3 & -eb G &!d[ G +2 &#eX G + &%sd^ G + &'5eV G +8 &(gX F +9 &*fX G +10 &,zh^ G +9 &.>g] F +9 &0f^ F +10 &1gY G +9 &3i] G +9 &5EiX G +10 &7hW G +9 &8jY G +10 &:h` G +9 &i^ F +10 &?g] F +9 &Ag` F +9 &CThY G +10 &El_ G +9 &FsZ H +10 &H^ J +9 &JOY L +9 &LV L +10 &MS L +9 &OQ L +9 &QVT L +10 &SP M +9 &T\\ L +10 &V] L +9 &X\\X M +9 &YvsT !i +10 &Z'kT * +8 ( +3 "processing"%& +3 "core" &ZY +2 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&V1 +53 "core" 1 + "manipulator"&!% +4 "core" % R  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 "processing"%}& +3 "core" &ZI +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&P% +4 "core" %\   +2 "storage"(w% +4 "core" %S  +2 "storage"(J. +2 "core" .( +3 "storage"(;& +3 "core" &  +2 "storage"(G& +4 "manipulator"&v& +5 "core" &  + &k \  V +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&A(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'i +2 "core" ( +3 "manipulator"&R& +3 "core" &k k V +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &k V +3 .tForearm.seek PC + "manipulator"& ' +95 "core" ' +2 .tHand.close + "manipulator"&8/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(#- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +35 "core" ' +295 ( +2 "storage"(O& +3 "core" &  +2 "manipulator"&.& +4 "core" &k V +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1( +267 "core" ( + "manipulator"& & +4 "core" & c +2 "storage"(& +4 "core" & b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&&'ќ +94 "core" ' + .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "storage"(- +3 "core" -'y +5 .tSE.seek -0.12 Pucks below Top Plate + "storage"($'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(]' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(E& +3 "core" & I G O +2 "manipulator"&`& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&K( +5 "core" ( +2 "manipulator"&d& +3 "core" & U  +2 "storage"()& +3 "core" & J J % +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.08 Pucks below Top Plate + "storage"(4' +58 "core" ' +2 "manipulator"&0& +3 "core" &  +2 "storage"(%& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M' +24 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'i +69 "core" ' +6 "manipulator"&>% +3 "core" % \ +2 "storage"(Y& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&2' +20 "core" ' +2 "manipulator"&*& +4 "core" &   +2 "storage"(Q& +4 "core" & 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +25 "core" ' + "storage"(:% +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"('X +98 (% +3 "core" %^ QK +2 "manipulator"&C% +4 "core" %ѵ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (B& +3 "core" & W +2 "collection"'\ & +4 "core" &W G > +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&U% +4 "core" %\ 4 +2 "storage"(n% +3 "core" %\\ i +2 "storage"(e. +3 "core" .( +2 "storage"(& +4 "core" & " +2 "storage"(& +4 "core" & b + "manipulator"&D& +4 "core" & \   +2 .tElbow.seek 2 +2 "manipulator"&o( +4 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(X& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +92 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(p'i +283 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" &  +2 "storage"(F& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +23 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(t'N +35 "core" ' + "manipulator"&% +4 "core" % +2 "storage"(z& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&9' +20 "core" ' + "manipulator"&h& +5 "core" & R  + "storage"(-& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +26 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('= +40 "core" ' +2 "manipulator"&Z& +4 "core" & $  + "manipulator"&a% +4 "core" %Ѱ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +151 "core" ( + "manipulator"&q& +3 "core" &'  >M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &'  >M +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' +2 .tHand.close + "manipulator"&@/ +60 "core" / +2 .tCC.seek :open + "collection"'k( +417 "core" ( + "storage"(j& +4 "core" & # +2 "storage"( & +4 "core" &  + "manipulator"&c& +4 "core" &' [ >M +2 "manipulator"&% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +2 .tElbow.reconfigure :tight +42 "manipulator"&$&.,(\ #b +10 .tElbow.seek 2 +2 "manipulator"&W( +160 "core" ( + "manipulator"&s& +4 "core" & -  +2 "storage"("& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&/' +97 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +52 "core" 1 +4 "manipulator"&7% +4 "core" % + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 304 counts + "manipulator"&x' +15 "core" ' +2 "manipulator"&|& +4 "core" &   + "storage"(r& +4 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 700 counts +4 "manipulator"&~'ќ +31 "core" ' +2 "storage"(% +4 "core" %A O +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ('% +3 "core" % R ( PF +2 "manipulator"&{% +4 "core" %ѥ ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"&_% +4 "core" %\ \ %  +2 "storage"(% +3 "core" %T  +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(m( +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &   +2 "manipulator"&!& +4 "core" & F  +2 .tElbow.seek 3 +2 "manipulator"&}( +17 "core" ( +2 "manipulator"&P& +3 "core" & ; +2 "storage"(w& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +94 "core" ' +2 "storage"(;& +3 "core" & A  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +279 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & z  +2 "manipulator"&R& +4 "core" &  ; +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&<& +4 "core" & 2 ; +2 "storage"(8& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&#'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"('X +7 "core" & ; +2 "manipulator"&I% +3 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&O'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&& +4 "core" &(  j ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &( g ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '" +104 "core" ' + "manipulator"&& +4 "core" &( Y ?T +2 "manipulator"&A% +4 "core" %& u +3 "collection"'6& +3 "core" & +3 "collection"'& +51 "core" & +4 & + & +2 & + & +2 & +3 .tCC.seek :closed + "collection"'N(V +5 "core" & +2 & +5 &8 #c +9 &\\ 6 +10 & G +9 &` F +10 &h F +9 &`f F +9 &"h F +10 &b F +9 &a F +9 &hb F +10 & )b G +9 &!e G +10 &#g F +9 &%oh G +9 &'2d F +10 &(a F +9 &*a F +9 &,xb F +10 &.:a F +9 &/b F +10 &1c F +9 &3d G +9 &5Ad G +10 &7e G +9 &8b G +9 &:e G +10 & b F +10 &?g F +9 &Ab F +9 &CQc G +10 &Eg G +9 &Fp H +10 &H~ J +9 &JE5 N +9 &Kv Q +10 &M^v Q +9 &O1? Q +9 &QA# R +10 &S S +9 &T\  R +9 &V1^ * +10 &V# C +9 ( + &VS ? +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&E1 +57 "core" 1 + "manipulator"&`% +4 "core" % % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%)& +4 "core" &O +2 "manipulator"&3% +4 "core" %\  +2 "storage"(0% +4 "core" %\\  +2 "storage"(%. +2 "core" .( +2 "storage"(b& +4 "core" & W  +2 "storage"($& +4 "core" &  +2 "manipulator"&>& +3 "core" &( k ?T +2 "manipulator"&Y% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&*( +153 "core" ( +2 "manipulator"&Q& +3 "core" & X  +2 "storage"(1& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&:'9 +91 "core" ' +2 "storage"(&& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&C& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&4& +4 "core" & P  +2 "storage"(M& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&2'ϩ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"(U'X +7 "core" & `  +2 "manipulator"&n% +4 "core" % Ϭ +2 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"&,& +4 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &t E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&D' +100 "core" ' +2 "manipulator"&L& +4 "core" &t M +2 "manipulator"&X% +4 "core" % j +2 "processing"%+& +4 "core" &f +2 "processing"%& +5 "core" &f +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &j  +8 &7e )v +10 &jX = +9 &wY G +9 &qf_ F +10 &3fb F +9 &gZ G +9 &ib G +10 &xh_ G +9 &:h` G +10 &j` G +9 & jb G +9 &"cc G +10 &$Cec F +9 &&f` F +9 &'gc G +10 &)jd G +9 &+Jhd G +10 &- cc G +9 &.db G +9 &0e^ G +10 &2Sg^ F +9 &4e_ F +9 &5f^ F +10 &7f^ F +9 &9[f_ F +10 &;e_ F +9 &<e^ G +9 &>d_ G +10 &@be` G +9 &B$ea G +9 &Ci^ G +10 &Em^ G +9 &Gcx^ I +10 &I!_ K +9 &JX L +9 &L_ L +10 &Nc_ L +9 &P$X L +9 &Q^ L +10 &S` M +9 &UiW M +10 &W+_ M +9 &X` M +9 &Z>C_\\ %k +10 &Z\ )U ! +5 ( +52 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open + "manipulator"&?1 +3 "core" &Z[ ! + &ZX ! + &ZX ! + &ZX ! + &ZY ! + &ZY ! +55 1 +2 "manipulator"&T% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +100 "core" ' +2 "processing"%H& +18 "core" &ZV ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&F% +4 "core" %\ \ {  +2 "storage"(=% +4 "core" %S +2 "storage"(. +3 "core" .( +2 "storage"(z& +4 "core" &   +2 "storage"(h& +2 "manipulator"&-& +9 "core" & V  + &t +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&Z(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'i + "core" ( +3 "manipulator"&^& +4 "core" &t +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &t +3 .tForearm.seek PC + "manipulator"&p' +91 "core" ' +3 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%9( +88 "core" ' +2 "storage"(t- +3 "core" -'i +3 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'y +50 "core" ' +282 ( + "storage"(S& +4 "core" & w  +2 "manipulator"&[& +3 "core" &t +2 "manipulator"&\\% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&@'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&g( +274 "core" ( +2 "manipulator"&l& +3 "core" & f  +2 "storage"(j& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +96 "core" ' +2 .tHand.open +2 "manipulator"&c1 +54 "core" 1 +2 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +34 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(s' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +2 "core" -' +2 "storage"(i& +4 "core" &\ +    +2 "manipulator"&5& +4 "core" & }  +2 .tElbow.seek 3 +2 "manipulator"&7( +7 "core" ( + "manipulator"&& +4 "core" & ~ +2 "storage"(|& +4 "core" & \ *   +3 .tForearm.seek 3 + 700 counts + "manipulator"&r'9 +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 "manipulator"&f& +3 "core" & ~ +2 "storage"('& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +24 "core" ' + "manipulator"&x% +4 "core" %v +2 "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 293 counts + "manipulator"&_'Ϣ +21 "core" ' + "manipulator"&& +4 "core" &  ~ +2 "storage"(y& +3 "core" & |   +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +37 "core" ' +3 "storage"(~% +4 "core" %q Y  +2 ."downElevator"SE.seek :down +4 "storage"('X +99 (% +3 "core" %[ QJ +2 "manipulator"&V% +4 "core" %2 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +4 (P& +2 "core" & i  +3 "collection"'w& +3 "core" &VT ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&;% +3 "core" %\ ! 6 +3 "storage"( % +4 "core" %V 5 + "storage"(. +3 "core" .( +2 "storage"(G& +4 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&R& +3 "core" & ~ +2 .tElbow.seek 3 +2 "manipulator"&<( +4 "core" ( + "manipulator"&8& +4 "core" & ~ +2 "storage"(& +4 "core" & (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +101 "core" ' +2 "storage"(I& +3 "core" & ;  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +277 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  ~ +3 "storage"(v& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' +2 .tElbow.hold + "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(u'O +28 "core" ' +2 "manipulator"&A% +4 "core" %Ή +2 "storage"(6& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&'ϵ +21 "core" ' + "manipulator"&O& +4 "core" & ~ +2 "storage"(k& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(`'> +36 "core" ' +2 "manipulator"&)& +3 "core" & e ~ +2 "manipulator"&3% +4 "core" %G g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&%( +156 "core" ( +2 "manipulator"&b& +4 "core" &% ] <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &% r <? +2 .tForearm.seek CC +2 "manipulator"&$'" +92 "core" ' +2 .tHand.close + "manipulator"&>/ +65 "core" / +2 .tCC.seek :open + "collection"'Y( +417 "core" ( + "storage"( & +4 "core" & :  +2 "storage"(Q& +3 "core" & ?  +2 "manipulator"&1& +4 "core" &% * <? +2 "manipulator"&&% +3 "core" % " w +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +166 "core" ( +2 "manipulator"&& +4 "core" & 3 Z +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&C'} +98 "core" ' +4 .tElbow.hold +2 "manipulator"&4, +72 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +3 "manipulator"&M1 +64 "core" 1 +2 "manipulator"&B% +4 "core" % Ά +2 "storage"(\ & +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&n'ϲ +19 "core" ' +2 "manipulator"&*& +3 "core" & O Z +2 "storage"(:& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +35 "core" ' + "storage"(2% +4 "core" %F . +3 ."downElevator"SE.seek :down +3 "storage"(,'X +99 (% +3 "core" %Y  PG +2 "manipulator"&K% +4 "core" %K } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'X& +3 "core" & +2 "manipulator"&+% +4 "core" %\   +2 "storage"(U% +4 "core" %`  + "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &  +2 "manipulator"&T& +3 "core" & Z +2 .tElbow.seek 2 +2 "manipulator"&H( +44 "core" ( + "manipulator"&& +4 "core" & V !q +2 "storage"(F& +3 "core" &  N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +85 "core" ' +2 "storage"(& +4 "core" &  ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'i +281 "core" ' +2 "storage"(-- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +3 "core" &  } +2 "manipulator"&^& +4 "core" & q n +2 .tElbow.seek 2 + "manipulator"&o( +26 "core" ( +3 "manipulator"&D& +3 "core" & q  +2 "storage"(& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"('X +8 "core" & O  +2 "manipulator"&a% +3 "core" %  k  +3 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&\\& +3 "core" &' $ e >N +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &'  >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&l'" +97 "core" ' +3 "manipulator"&j& +4 "core" &'  C >M +2 "manipulator"&Z% +3 "core" % F +2 "collection"'c& +4 "core" & +2 "collection"'& +6 "core" & +2 .tCC.seek :closed +2 "collection"'"(V +5 "core" & +6 &I #b +10 &\\ 6 +9 &"~ G +9 &] F +10 &h F +9 &if F +10 &+h F +9 &b F +9 &b F +10 &qb F +9 & 3b F +10 &!c F +9 &#h F +9 &%xg G +10 &';d F +9 &(g F +9 &*g F +10 &,g F +9 &.Cg F +9 &0g F +55 &1g F +5 &3g F +3 &5Kf F + &7 g F &8f F +2 &:e G + &g G +10 &?e F +9 &Ab F +10 &C[e F +9 &Em G +9 &Fu H +10 &H J +9 &JO6 M +9 &Lu Q +10 &Mcx Q +9 &O4A Q +10 &QM# Q +9 &S  R +9 &T  R +10 &V<g / +9 &V - +9 &Vx R +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&i1 +59 "core" 1 +3 "manipulator"&5% +4 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%|& +4 "core" &k +2 "manipulator"&@% +4 "core" %\ o  +2 "storage"(f% +4 "core" %b  +2 "storage"('. +2 "core" .( +2 "storage"(q& +4 "core" &  +2 "storage"(x& +4 "core" &   +2 "manipulator"&& +4 "core" &' \  >M +2 "manipulator"&% +3 "core" %\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&y& +3 "core" & )  +2 "storage"(g& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +96 "core" ' + "storage"(~& +4 "core" &  z +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(s'i +281 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  i +2 "manipulator"&V& +4 "core" & F  +2 .tElbow.seek 2 +2 "manipulator"&7( +2 "core" ( +3 "manipulator"&& +3 "core" & a  +2 "storage"({& +4 "core" &  D +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&_' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(;'X +8 "core" & q  +2 "manipulator"& % +4 "core" %  7 +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +4 "manipulator"&/& +4 "core" &j W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +95 "core" ' + "manipulator"&8& +4 "core" &j [  +2 "manipulator"&% +4 "core" % 8  +2 "processing"%& +4 "core" &a +3 "processing"%I& +5 "core" &k +2 .tPC.seek :closed + "processing"%(Z +4 "core" &f +8 &>f #b +9 &Zc 5 +10 &c G +9 &b` F +9 &h_ G +10 &]cZ G +9 &cc G +9 &cW G +10 &jd G +9 &ejb G +10 & &g` G +9 &!e_ F +9 &#gd F +10 &%nf_ F +9 &'.i_ G +9 &(c^ G +10 &*ca G +9 &,uhd G +10 &.7h_ G +9 &/f_ G +9 &1eb F +10 &3~ec F +9 &5>j^ G +9 &7c^ F +10 &8e_ G +9 &:g] F +9 & c^ G +9 &?j^ G +10 &Aj_ F +9 &CNh_ G +9 &Ek_ G +10 &FsX H +9 &H_ J +10 &JH_ L +9 &L\ _ L +9 &M] L +10 &O^ L +9 &QO\\ L +9 &S_ M +10 &T` M +9 &V` M +9 &XVV M +10 &Yxv^ !h +9 &Z'k\\ , +9 ( +2 &ZX " +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&W1 +54 "core" 1 + "manipulator"&!% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 "processing"%& +3 "core" &ZT " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&v% +49 "core" %\  \   +5 "storage"(% +4 "core" %V +2 "storage"(A. +2 "core" .( +2 "storage"(6& +4 "core" &  M +3 "storage"(O& +2 "manipulator"&k& +6 "core" &  + &j  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"()'i +3 "manipulator"&3(s +6 "core" ( +2 "manipulator"& & +3 "core" &j 6  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&}' +95 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open + "processing"%( +90 "core" ' +2 "storage"(u- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'y +35 "core" ' +297 ( + "storage"(& +4 "core" &  1 +2 "manipulator"&E& +4 "core" &j  +2 "manipulator"&#% +3 "core" % \ +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&0( +271 "core" ( +2 "manipulator"&N& +4 "core" & m  +2 "storage"( & +4 "core" &  ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +97 "core" ' + .tHand.open + "manipulator"&11 +60 "core" 1 +2 "storage"(&- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(%& +4 "core" & \ I , +2 "manipulator"&M& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&B( +4 "core" ( +2 "manipulator"&\ & +3 "core" & d  +2 "storage"(*& +4 "core" &  \ , +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(.' +62 "core" ' +2 "manipulator"&2& +4 "core" &  +2 "storage"(d& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +28 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'i +25 "core" ' +2 "manipulator"&n% +4 "core" % v +2 "storage"(X& +3 "core" &  > +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&+' +20 "core" ' +2 "manipulator"&U& +4 "core" & M  +2 "storage"(e& +4 "core" &  c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +31 "core" ' +2 "storage"(]% +4 "core" %r X +2 ."downElevator"SE.seek :down +3 "storage"(,'X +99 (m% +3 "core" %\\ h e X QJ +2 "manipulator"&?% +4 "core" %ъ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +135 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &  v +3 "collection"'F& +3 "core" &Vu R +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(4% +4 "core" %_ +2 "storage"(L. +2 "core" .( +2 "storage"(-& +4 "core" &  x  +2 "storage"(h& +4 "core" &  X +2 "manipulator"&^& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +90 "core" ' +2 "storage"(a& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'i +284 "core" ' +3 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +4 "core" &  +2 "storage"(p& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&z' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +2 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +8 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(Z'N +28 "core" ' +2 "manipulator"&c% +4 "core" % + "storage"(o& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&S& +4 "core" & I  +2 "storage"(Y& +4 "core" &  . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +34 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(5'= +37 "core" ' +2 "manipulator"&|& +3 "core" &  +2 "manipulator"&@% +4 "core" %ѧ h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +158 "core" ( +2 "manipulator"&& +4 "core" &'  z >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &'  >O +3 .tForearm.seek CC +2 "manipulator"&x'" +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / + .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(l& +4 "core" &   +2 "storage"(y& +4 "core" &  Q +2 "manipulator"&g& +3 "core" &' S >M +2 "manipulator"&~% +4 "core" % # +2 .tForearm.seek :retract +2 "manipulator"&['\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +159 "core" ( +2 "manipulator"&r& +3 "core" &  +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&V' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&{1 +58 "core" 1 +2 "manipulator"&P% +3 "core" % c +2 "storage"(w& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"& ' +66 "core" ' + "manipulator"&& +4 "core" & j  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +27 "core" ' +2 "storage"(_% +4 "core" %G 5 \ +3 ."downElevator"SE.seek :down +3 "storage"(/'X +99 (% +3 "core" %+U  PG +2 "manipulator"&7% +4 "core" %у 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +4 "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +3 "manipulator"&% +3 "core" %\   +2 "storage"(;% +4 "core" %`  +2 "storage"(. +2 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(9( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" & _  +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&v& +4 "core" & > +2 "storage"(I& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' + "storage"(A& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(6'i +281 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & )  +2 "manipulator"& & +4 "core" & > +2 .tElbow.seek 3 +2 "manipulator"&<( +4 "core" ( + "manipulator"&R& +4 "core" & g > +2 "storage"( & +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"('X +8 "core" & K > +2 "manipulator"&)% +3 "core" % ϫ V ) +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&E( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&#& +4 "core" &&  ` =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +3 "core" && =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'" +104 "core" ' + "manipulator"& & +4 "core" &' =C +2 "manipulator"&3% +4 "core" % q +2 "collection"'1& +4 "core" & +3 "collection"'&& +6 "core" & +2 .tCC.seek :closed +2 "collection"'$(V +4 "core" & +8 &8 #b +10 &Z 5 +9 & G +10 &` F +9 &f F +9 &[` F +10 &f G +9 &f F +9 &g F +10 &be F +9 & $g F +10 &!e F +9 &#b F +9 &%jg F +10 &',e F +9 &(b F +9 &*e F +10 &,sb F +9 &.4e F +10 &/f F +9 &1e G +9 &3{c F +10 &5<d F +9 &6g F +9 &8c F +10 &:e F +9 &e F +9 &?b F +9 &Ae F +10 &CMb F +9 &E l G +10 &Ft H +9 &H J +9 &J@4 M +10 &K}v P +9 &Mev P +9 &O{5C Q +10 &Q=!& Q +9 &R R +9 &T  R +10 &V,^  , +9 &V$ > +9 ( +2 &VF < +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&%1 +54 "core" 1 +2 "manipulator"&M% +3 "core" % { +48 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%*& +4 "core" &[ +2 "manipulator"&>% +3 "core" %\  +2 "storage"(2% +4 "core" %a +2 "storage"(d. +3 "core" .( +2 "storage"(b& +4 "core" & F  +2 "storage"(n& +4 "core" & o  +2 "manipulator"&X& +3 "core" && =C +2 "manipulator"&% +5 "core" %\ ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&U( +164 "core" ( +2 "manipulator"&e& +4 "core" & Q j +2 "storage"(]& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&0'9 +94 "core" ' +2 "storage"(Q& +4 "core" & | B  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(m- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" & (  +2 "manipulator"&:& +4 "core" & j +2 .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&.& +4 "core" & 4 j +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&+'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +2 "storage"('X +6 "core" & j +2 "manipulator"&4% +5 "core" % Ϫ +2 .tForearm.seek :retract +2 "manipulator"&L'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +3 "manipulator"&-& +3 "core" &u  K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^' +94 "core" ' +2 "manipulator"&& +4 "core" &u U +2 "manipulator"&% +4 "core" % 6 +2 "processing"%`& +4 "core" &g +2 "processing"%a& +5 "core" &` +2 .tPC.seek :closed +2 "processing"%,(Z +5 "core" &n  +8 &7l )w +9 &ka = +10 &rk G +9 &sbm F +9 &5d_ F +10 &cc G +9 &cX F +10 &{ea F +9 &<h` G +9 &hb G +10 & cb F +9 &"ec F +9 &$Fd_ F +10 &&gd G +9 &'gb G +10 &)fd F +9 &+Ne` F +9 &-h_ G +10 &.gd F +9 &0de G +9 &2Tcc G +10 &4g] G +9 &5e` G +10 &7cb G +9 &9\\ha G +9 &;ea G +10 &<c] F +9 &>d] F +9 &@dc] G +10 &B&c^ G +9 &Cf] G +10 &Em] H +9 &Ggv^ H +9 &I#b K +10 &JY L +9 &LZ L +9 &Ne[ L +10 &P'_ L +9 &Q^ L +10 &S_ M +9 &Uk] M +9 &W-T M +10 &X^ M +9 &Z?C_X %l +9 &Z (W ! +6 ( +2 "processing"%a& +3 "core" &Z[ ! +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open + "manipulator"&K1 +60 "core" 1 +2 "manipulator"&T% +3 "core" % R 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 "processing"%\\& +3 "core" &ZZ ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&p% +4 "core" %\   +2 "storage"(j% +4 "core" %T y +2 "storage"(c. +2 "core" .( +3 "storage"(o& +3 "core" &  +3 "storage"(S& +4 "manipulator"&Y& +4 "core" &  + &u +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +50 .tElbow.seek PC +5 "manipulator"&|(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(@'i + "core" ( +4 "manipulator"&(& +3 "core" &u +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +2 "core" &u +3 .tForearm.seek PC +2 "manipulator"&H' +101 "core" ' +2 .tHand.close + "manipulator"&z/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(Z- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +31 "core" ' +310 ( + "storage"(q& +4 "core" &   +2 "manipulator"&i& +4 "core" &u + "manipulator"&t% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +267 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(l& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&y'9 +98 "core" ' +2 .tHand.open + "manipulator"&g1 +63 "core" 1 +2 "storage"(~- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(r'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +3 "core" -' +2 "storage"('& +4 "core" & I G +  +2 "manipulator"&{& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&w& +4 "core" &  +2 "storage"(& +3 "core" & z\  !  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +69 "core" ' + "manipulator"&_& +4 "core" &  +2 "storage"(& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold + "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'i +24 "core" ' +2 "manipulator"& % +4 "core" %} +2 "storage"(& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +20 "core" ' +2 "manipulator"&;& +4 "core" & %  +2 "storage"(& +4 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&5'9 +28 "core" ' + "storage"(s% +4 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (% +3 "core" %Z 1 PI +2 "manipulator"&W% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +4 (v& +2 "core" &  +3 "collection"'I& +3 "core" &VG < +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&A% +4 "core" %\   +2 "storage"(% +4 "core" %W w +2 "storage"(8. +2 "core" .( +3 "storage"(O& +3 "core" & R  +2 "storage"(k& +50 "core" & e  +3 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&R( +4 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(G& +4 "core" & y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +103 "core" ' +2 "storage"()& +4 "core" & 1  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &  +2 "storage"(}& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&6'} +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(3'N +34 "core" ' +2 "manipulator"&<% +4 "core" %Ή +2 "storage"(1& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +21 "core" ' + "manipulator"&& +4 "core" & /  +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(M'= +40 "core" ' + "manipulator"&&& +4 "core" &  +2 "manipulator"&*% +3 "core" %I _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +159 "core" ( +2 "manipulator"&d& +4 "core" &* J @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &) = @[ +3 .tForearm.seek CC +2 "manipulator"&n'" +94 "core" ' + .tHand.close +2 "manipulator"&X/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +413 "core" ( +2 "storage"(N& +3 "core" &   +2 "storage"(e& +4 "core" &   +2 "manipulator"&]& +3 "core" &(  >J +2 "manipulator"&Q% +3 "core" %  x +3 .tForearm.seek :retract + "manipulator"&E'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\ ( +156 "core" ( + "manipulator"&m& +4 "core" &  +2 "storage"(?& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&:'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Έ r +2 "storage"(F& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&4'ϴ +20 "core" ' +2 "manipulator"&U& +3 "core" &   +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 "storage"(+% +4 "core" %? 8 +3 ."downElevator"SE.seek :down +42 "storage"(-'X +60 (h% +3 "core" %T  PG +2 "manipulator"&B% +4 "core" %Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +103 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & +2 "manipulator"&`% +3 "core" %\   +3 "storage"(% +4 "core" %` | + "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" &  +2 "manipulator"&T& +4 "core" & ?  +2 .tElbow.seek 2 +2 "manipulator"&\\( +30 "core" ( + "manipulator"&p& +4 "core" & E !v +2 "storage"(j& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +87 "core" ' +2 "storage"(o& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(a'i +280 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +3 "core" & q +2 "manipulator"&(& +3 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&D( +4 "core" ( + "manipulator"&^& +4 "core" & _ o +2 "storage"(z& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +56 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(,'X +7 "core" & z o +2 "manipulator"&@% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&t& +4 "core" &(  ? ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &( X ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'" +97 "core" ' +2 "manipulator"&l& +4 "core" &( H ?R +2 "manipulator"&|% +4 "core" % +2 "collection"'g& +4 "core" & +3 "collection"'~& +5 "core" & +2 .tCC.seek :closed +2 "collection"'x(V +4 "core" & +6 &A $e +10 &] 6 +9 &# G +9 &` F +10 &f G +9 &jd F +10 &-b F +9 &e G +9 &d F +10 &sf F +9 & 4e F +9 &!b F +10 &#h F +9 &%zg F +10 &'<e F +9 &(a F +9 &*e F +10 &,b F +9 &.Dd F +9 &0b F +10 &1g F +9 &3e F +9 &5Lf F +10 &7e F +9 &8` F +10 &:e F +9 &g F +10 &?e G +9 &Ae F +9 &C\\b F +10 &Eh G +9 &Fs I +10 &H I +9 &JQ5 M +9 &L\ v P +10 &Mdx P +9 &O8D Q +10 &QM( Q +9 &S  R +9 &T\  R +10 &V>i  0 +9 &V 6 +9 &Vp D +6 ( +2 "collection"'~& +3 "core" &VZ D +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&'1 +63 "core" 1 +2 "manipulator"&{% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&w'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\\ +2 "manipulator"&% +4 "core" %\  _ ! +2 "storage"(_% +4 "core" %a 0 + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & I +46 "storage"( & +7 "core" & ( +2 "manipulator"&& +3 "core" &(  ?Q +2 "manipulator"&r% +4 "core" %\   ! +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +154 "core" ( +2 "manipulator"&& +3 "core" & i  +2 "storage"(s& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&f'ќ +91 "core" ' +2 "storage"(y& +3 "core" & v +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&[& +4 "core" & 5  +2 "storage"(& +3 "core" & Z +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&v/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& +2 "storage"(A'X +7 "core" & C  +2 "manipulator"&% +4 "core" %  N U +2 .tForearm.seek :retract +2 "manipulator"&V'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"&O& +3 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &u o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' + "manipulator"& & +4 "core" &u _ +2 "manipulator"&G% +3 "core" %  +3 "processing"%5& +4 "core" &d +2 "processing"%)& +5 "core" &p +2 .tPC.seek :closed +2 "processing"%/(Z +5 "core" &l +7 &Fg #b +9 &\\o 6 +9 &e G +10 &ff F +9 &fj F +10 &_ck G +9 &"c^ F +9 &el F +10 &gc F +9 &gid G +9 & (hd G +10 &!c` G +9 &#j_ G +9 &%nh] G +10 &'1dX G +9 &(d` G +10 &*i_ G +9 &,we] G +9 &.9c^ G +10 &/cb F +9 &1e[ F +9 &3f] F +10 &5Adc G +9 &7ce G +10 &8g_ G +9 &:g_ F +9 & h` G +9 &?i_ F +9 &Ae_ F +10 &COl_ G +9 &Ek_ G +10 &Fr^ H +9 &H] J +9 &JJ` L +10 &L ` L +9 &M\\ K +9 &O] L +10 &QP^ M +9 &S^ L +10 &TX L +9 &V_ M +9 &XX^ M +10 &Ywv] !i +9 &Z)oW + +9 ( +2 &ZU +2 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&71 +60 "core" 1 + "manipulator"&!% +4 "core" % j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%#& +4 "core" &ZQ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&}% +4 "core" %\   +2 "storage"( % +3 "core" %V  +2 "storage"(<. +4 "core" .( + "storage"(1& +4 "core" & < +2 "storage"(& +3 "manipulator"&& +5 "core" &  +2 &u +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&&(s +2 "storage"(*'i +4 "core" ( +3 "manipulator"&J& +4 "core" &u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &u +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +9 .tHand.close +2 "manipulator"&6/ +59 "core" / +3 .tPC.seek :open +2 "processing"%( +80 "core" ' + "storage"(3- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'y +40 "core" ' +301 ( + "storage"(b& +4 "core" &  +2 "manipulator"&%& +4 "core" &u  +2 "manipulator"&u% +3 "core" % +3 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&>( +264 "core" ( + "manipulator"&$& +4 "core" & +2 "storage"(N& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&e'ќ +92 "core" ' +2 .tHand.open + "manipulator"&]1 +58 "core" 1 +2 "storage"(Q- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(m'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(?' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +3 "core" -' +2 "storage"(2& +4 "core" & K L 1 +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&F& +4 "core" & p +2 "storage"(U& +4 "core" & L I / +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'ќ +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(+' +58 "core" ' + "manipulator"&E& +4 "core" & +2 "storage"(h& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&B' +22 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'i +24 "core" ' + "manipulator"&4% +4 "core" % +2 "storage"(M& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&`& +4 "core" & : +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&L'ќ +28 "core" ' +2 "storage"(% +3 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"(-'X +99 (9% +3 "core" %v^ T QK +2 "manipulator"&K% +4 "core" %Ѥ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 (p& +2 "core" & 9 +3 "collection"'j& +3 "core" &VZ D +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&o% +4 "core" %\  \ +2 "storage"(.% +3 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(Y& +4 "core" &  +2 "storage"(S& +3 "core" &  +2 "manipulator"&(& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&z& +3 "core" & J +2 "storage"(C& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&='ќ +90 "core" ' +3 "storage"(@& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +284 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +3 "core" & +3 "storage"(H& +4 "core" & l +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&a' +33 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(|'O +27 "core" ' + "manipulator"&g% +4 "core" % ; +2 "storage"(D& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&,' +17 "core" ' +2 "manipulator"&q& +4 "core" & ! +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"({'> +37 "core" ' +2 "manipulator"&& +4 "core" & $ +2 "manipulator"&% +3 "core" %ѐ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +3 "manipulator"&~& +4 "core" &'  >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' V >N +2 .tForearm.seek CC +2 "manipulator"& '" +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'r( +420 "core" ( + "storage"("& +4 "core" & H +2 "storage"(& +3 "core" & +2 "manipulator"&s& +4 "core" &' K >N +2 "manipulator"&y% +3 "core" % # C  +2 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&w( +156 "core" ( + "manipulator"&& +4 "core" & N  +2 "storage"(W& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +97 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&v% +4 "core" % c +2 "storage"(I& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&;& +3 "core" & X  +3 "storage"(f& +3 "core" & J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +28 "core" ' +2 "storage"(% +4 "core" %G ( \ +3 ."downElevator"SE.seek :down +3 "storage"(O'X +99 (k% +3 "core" %T  PG +2 "manipulator"&P% +4 "core" %ѝ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'G& +47 "core" & +5 "manipulator"&5% +4 "core" %\   +2 "storage"(A% +4 "core" %\\ P +2 "storage"(V. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &   +2 "manipulator"&!& +4 "core" & g  +2 .tElbow.seek 3 +2 "manipulator"&#( +14 "core" ( + "manipulator"&}& +4 "core" & j a +2 "storage"( & +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&<'9 +92 "core" ' +2 "storage"(1& +4 "core" & c  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ()& +3 "core" & 0  +2 "manipulator"&J& +3 "core" & D a +2 .tElbow.seek 3 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"& & +4 "core" & g a +2 "storage"(6& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϩ +21 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(/'X +7 "core" & a +2 "manipulator"&*% +4 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&b'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&u& +4 "core" &% G <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% | <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&$'" +104 "core" ' +2 "manipulator"&N& +3 "core" &%  t <> +2 "manipulator"&&% +4 "core" %$ D +2 "collection"']& +5 "core" & +2 "collection"'Q& +4 "core" & +4 .tCC.seek :closed + "collection"'n(V +5 "core" &  +9 &5 )v +9 &j < +10 &s G +9 &je F +9 &,g F +10 &e F +9 &b F +9 &pe G +10 &3f F +9 &b F +10 & g F +9 &"xg G +9 &$;d F +10 &%c F +9 &'g F +9 &)d F +10 &+Cg F +9 &-e F +10 &.b F +9 &0g F +9 &2L` F +10 &4 e F +9 &5b F +9 &7d F +10 &9Tb F +9 &;e F +10 &<b F +9 &>g G +9 &@\\e F +10 &Bf F +9 &Cd F +9 &Ek G +10 &G^{ H +9 &I J +10 &JV7 O +9 &L~~ P +9 &NNTh P +10 &P/9 Q +9 &Q$ Q +9 &S R +10 &UO  F +9 &VoG  'u +10 &Vj G +5 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&21 +2 "core" &V_ G +56 1 +2 "manipulator"&% +3 "core" % $ | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%U& +4 "core" &_ +2 "manipulator"&X% +4 "core" %\ \  +2 "storage"(E% +3 "core" %_ 3 +2 "storage"(h. +3 "core" .( +2 "storage"(4& +4 "core" & h  +2 "storage"(M& +3 "core" & ~  +2 "manipulator"&d& +4 "core" &% <> +2 "manipulator"&`% +3 "core" %\ \ g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m( +166 "core" ( +2 "manipulator"&& +3 "core" & N Z +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts +2 "manipulator"&>'9 +91 "core" ' +2 "storage"(e& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'i +280 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" & z  +2 "manipulator"&0& +4 "core" & Z +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&+& +4 "core" & @ Z +2 "storage"(B& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +19 "Can"v =X' +6 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(o'X +7 "core" & Z +2 "manipulator"&.% +4 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +3 "manipulator"&Y& +3 "core" &r { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" &r n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&(' +98 "core" ' +2 "manipulator"&z& +3 "core" &r +2 "manipulator"&C% +4 "core" %  +2 "processing"%L& +4 "core" &^ +3 "processing"%@& +4 "core" &i +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &f +8 &Fj #c +9 &\\e 6 +10 &n G +9 &fp G +9 &hh G +10 &^fe G +9 & bf G +10 &ck F +9 &fY F +9 &fc_ G +10 & (hf G +9 &!hd F +9 &#g_ F +10 &%neW G +9 &'0cX G +10 &(jZ G +9 &*hZ G +9 &,uf^ G +10 &.9e` F +9 &/h\\ G +9 &1cW F +10 &3~e] G +9 &5@j` G +10 &7g_ G +9 &8c] G +9 &:ba F +10 & e_ F +9 &?i^ G +10 &Ah_ F +9 &CPh_ G +10 &El_ G +9 &Fu^ H +9 &Ha J +10 &JIa L +9 &L ^ L +9 &M^ L +10 &Od L +9 &QP^ L +10 &S^ L +9 &T^ M +9 &Va M +10 &XWY M +9 &Yxv_ !h +10 &Z'kZ + +8 ( +2 &ZX ! +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&T% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' + "processing"%t& +4 "core" &Z] ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&H% +4 "core" %\  N  +2 "storage"(l% +4 "core" %T +2 "storage"(g. +2 "core" .( +2 "storage"(D& +4 "core" &  +2 "storage"(q& +3 "manipulator"&& +7 "core" &  + &r +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +6 "manipulator"&(s +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +3 "core" ( +2 "manipulator"&=& +4 "core" &r 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &r +2 .tForearm.seek PC +2 "manipulator"&\\' +96 "core" ' +2 .tHand.close + "manipulator"&a/ +63 "core" / +3 .tPC.seek :open +2 "processing"%,( +91 "core" ' +2 "storage"(|- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(~'y +34 "core" ' +294 ( + "storage"(& +51 "core" & j  +2 "manipulator"&'& +4 "core" &r +2 "manipulator"&Z% +3 "core" % +4 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&_( +271 "core" ( + "manipulator"&x& +4 "core" &  +2 "storage"("& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' + .tHand.open +2 "manipulator"&s1 +59 "core" 1 +2 "storage"(y- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(W' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +3 "storage"(& +3 "core" & L I 0  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&v( +7 "core" ( +2 "manipulator"&I& +3 "core" &  +2 "storage"(;& +4 "core" & I J %  +3 .tForearm.seek 3 + 700 counts + "manipulator"&f'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&i& +3 "core" &  +2 "storage"(k& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&P'} +27 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +24 "core" ' + "manipulator"&% +4 "core" %z +2 "storage"(G& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&{'Ϧ +20 "core" ' + "manipulator"&5& +4 "core" & e  +2 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&V'9 +25 "core" ' + "storage"(% +4 "core" %r F  +3 ."downElevator"SE.seek :down +4 "storage"(O'X +98 (% +4 "core" %>_ QK +2 "manipulator"&7% +4 "core" %f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +99 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" & 7  +2 "collection"' & +4 "core" &V^ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&1% +4 "core" %\   +2 "storage"([% +4 "core" %W  +2 "storage"( . +3 "core" .( + "storage"(& +4 "core" &   +2 "storage"()& +4 "core" & "  +2 "manipulator"&J& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&6& +3 "core" & N  +2 "storage"(8& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' + "storage"(*& +4 "core" & X  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'i +278 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" &  +3 "storage"(& +8 "core" & .  +2 .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(&'N +27 "core" ' + "manipulator"&R% +4 "core" %| \  +2 "storage"(]& +4 "core" & L  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&/'Ϩ +20 "core" ' +2 "manipulator"&b& +3 "core" & j  +3 "storage"(r& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2'9 +35 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +38 "core" ' + "manipulator"&U& +4 "core" & Y  +2 "manipulator"&X% +4 "core" %H V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +158 "core" ( +3 "manipulator"&Q& +4 "core" &% <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &%  <; +3 .tForearm.seek CC +2 "manipulator"&M'" +96 "core" ' + .tHand.close +2 "manipulator"&d/ +56 "core" / +2 .tCC.seek :open +2 "collection"'`( +416 "core" ( +2 "storage"($& +4 "core" &   +2 "storage"(& +3 "core" &  +2 "manipulator"&& +4 "core" &% <; +2 "manipulator"&%% +4 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +164 "core" ( + "manipulator"&9& +4 "core" & q +2 "storage"(K& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&0'} +98 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +62 "core" 1 +2 "manipulator"&p% +4 "core" % ΄ + "storage"(j& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts + "manipulator"&.'ϰ +20 "core" ' +2 "manipulator"&m& +4 "core" &  q +2 "storage"(>& +3 "core" & H  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&?'9 +26 "core" ' + "storage"(% +4 "core" %F   +3 ."downElevator"SE.seek :down +3 "storage"(Y'X +99 (S% +3 "core" %T  OF +2 "manipulator"&% +4 "core" %] n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'C& +3 "core" & +2 "manipulator"&L% +4 "core" %\ " 9 +2 "storage"(o% +4 "core" %\\ i +2 "storage"(:. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +3 "core" &  +2 "manipulator"&T& +46 "core" & q +6 .tElbow.seek 2 + "manipulator"&t( +39 "core" ( + "manipulator"&H& +4 "core" & T !u +2 "storage"(l& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +97 "core" ' +2 "storage"(D& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'i +275 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (q& +2 "core" &  y % +3 "manipulator"&=& +3 "core" & !q +2 .tElbow.seek 2 +2 "manipulator"&^( +4 "core" ( + "manipulator"&(& +4 "core" & d !q +2 "storage"(a& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(-'X +8 "core" & h !q +2 "manipulator"&% +4 "core" % J +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&Z& +4 "core" &-  [ Cq +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &- $  Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'" +97 "core" ' +2 "manipulator"&"& +4 "core" &-  Cp +3 "manipulator"&% +3 "core" %  +2 "collection"'s& +4 "core" & +3 "collection"'y& +5 "core" & +2 .tCC.seek :closed +2 "collection"' (V +5 "core" & +6 &J #b +9 &^ 6 +10 &( G +9 &` F +9 &g F +10 &ne G +9 &2d F +10 &e F +9 &f F +9 &xd F +10 & 9e F +9 &!e G +9 &#e F +10 &%f F +9 &'Bg F +10 &)d F +9 &*d F +9 &,e F +10 &.Jd F +9 &0 e F +9 &1g F +10 &3d F +9 &5Rd F +10 &7e F +9 &8c F +9 &:e F +10 &e F +9 &?f F +10 &Ae G +9 &Cbf F +10 &E"m G +9 &Fs H +9 &H J +10 &JU8 M +9 &Lx P +9 &M`x Q +10 &O3@ Q +9 &QR& Q +10 &S R +9 &T  R +9 &VCh / +10 &V 5 +9 &Vu F +5 ( +3 "collection"'y& +3 "core" &Vj F +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +3 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%;& +3 "core" &d +2 "manipulator"&% +4 "core" %\  o  +2 "storage"(i% +3 "core" %_  +2 "storage"(k. +4 "core" .( + "storage"(& +4 "core" &   +2 "storage"(G& +4 "core" &   + "manipulator"&~& +4 "core" &+ Aa +2 "manipulator"&5% +4 "core" %\  x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +155 "core" ( + "manipulator"&& +4 "core" & ] +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&_'ќ +102 "core" ' + "storage"(& +4 "core" &  m +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'i +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +46 "storage"(#QK-0-\ b +7 (7& +3 "core" &  N +2 "manipulator"&f& +5 "core" & + .tElbow.seek 2 +2 "manipulator"&v( +4 "core" ( + "manipulator"&& +4 "core" & V +2 "storage"(P& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&}/ +62 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +4 "storage"(1'X +5 "core" & k +2 "manipulator"&[% +4 "core" %  H z +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( +3 "manipulator"&& +4 "core" &g / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&J' +95 "core" ' + "manipulator"&6& +4 "core" &g ] +2 "manipulator"&8% +4 "core" %  +2 "processing"%V& +4 "core" &] +3 "processing"%*& +4 "core" &c +2 .tPC.seek :closed +2 "processing"%O(Z +4 "core" &k +8 &El #c +9 &\\j 6 +9 &i G +10 &fg G +9 &hl G +9 &`gi G +10 &%ci F +9 &hm G +9 &hg G +10 &ig` G +9 & +cb G +10 &!ha F +9 &#fU F +9 &%pi` G +10 &'4cY F +9 &(eR F +10 &*h_ G +9 &,yh` G +9 &.<h` F +10 &/eZ F +9 &1ha G +9 &3b_ F +10 &5De` F +9 &7d` F +10 &8h] G +9 &:ga F +9 &c` F +9 &?f` F +9 &Ae` F +10 &CSgb G +9 &Ej` G +10 &Fu` H +9 &H` J +9 &JL` L +10 &L_ L +9 &M` L +9 &Oa L +10 &QSa L +9 &S_ M +10 &T^ M +9 &V_ M +9 &XY_ M +10 &YxvX !i +9 &Z(jW * +9 ( +2 &Z_ ! +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&w1 +54 "core" 1 + "manipulator"&!% +4 "core" % T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +97 "core" ' + "processing"%u& +4 "core" &ZM ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ 6 +2 "storage"(N% +4 "core" %a  +2 "storage"(R. +3 "core" .( +2 "storage"(]& +4 "core" &  6 +2 "storage"(b& +2 "manipulator"&r& +9 "core" &   + &g ! +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&U(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'i +26 "core" ( + "manipulator"&& +4 "core" &n $ R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&#' +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%/( +68 "core" ' + "storage"(&- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(Q'y +34 "core" ' +319 ( +2 "storage"(4& +3 "core" &  ` +2 "manipulator"&2& +4 "core" &n +2 "manipulator"&3% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&d'\ +97 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&E( +258 "core" ( +47 "manipulator"&n& +5 "core" & +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +101 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(%- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +3 "storage"(9'E +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(K' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(M- +3 "core" -' +2 "storage"(h& +4 "core" &  y\  q +2 "manipulator"&B& +3 "core" & +3 .tElbow.seek 2 + "manipulator"&p( +10 "core" ( +2 "manipulator"&j& +3 "core" & B +2 "storage"(m& +4 "core" & \ * z Q +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'ќ +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +56 "core" ' + "manipulator"&e& +4 "core" & 0 +2 "storage"(S& +3 "core" &  ) +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'i +22 "core" ' +2 "manipulator"&.% +3 "core" % K +2 "storage"(C& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&L' +20 "core" ' + "manipulator"&o& +4 "core" & f +2 "storage"(:& +3 "core" &  p +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +27 "core" ' + "storage"(?% +4 "core" %s  +3 ."downElevator"SE.seek :down +4 "storage"(Y'X +98 (% +4 "core" %\\ QK +2 "manipulator"&\ % +4 "core" %ю +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" &  c +2 "collection"'l& +4 "core" &Vj F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&D% +4 "core" %\  +2 "storage"(+% +4 "core" %a  + "storage"(z. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(q& +4 "core" &   +2 "manipulator"&=& +3 "core" & : +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&a& +4 "core" & j +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&c'ќ +92 "core" ' +2 "storage"(& +4 "core" &  t +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'i +282 "core" ' +2 "storage"(g- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" & c +3 "storage"(\\& +3 "core" &  6 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"("- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +45 "storage"('N +31 "core" ' +2 "manipulator"&s% +4 "core" %   +2 "storage"(^& +3 "core" &  v +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&-' +19 "core" ' +2 "manipulator"&& +3 "core" & +2 "storage"(`& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +42 "core" ' +2 "manipulator"&;& +4 "core" & ? +2 "manipulator"&% +3 "core" %ѐ S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&k( +154 "core" ( +4 "manipulator"&& +3 "core" && c =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" && U =A +2 .tForearm.seek CC +2 "manipulator"&y'" +93 "core" ' +2 .tHand.close + "manipulator"&~/ +63 "core" / +2 .tCC.seek :open +2 "collection"'5( +416 "core" ( +2 "storage"(x& +3 "core" &   +2 "storage"(& +4 "core" &   +2 "manipulator"&& +4 "core" &% <@ + "manipulator"&% +4 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&''\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&I( +152 "core" ( + "manipulator"&& +4 "core" & t +2 "storage"(7& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&f' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&P1 +61 "core" 1 +2 "manipulator"&}% +4 "core" % +2 "storage"( & +3 "core" &   +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&[' +20 "core" ' +2 "manipulator"&A& +3 "core" & B +2 "storage"(_& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&W'ќ +21 "core" ' + "storage"({% +4 "core" %G { +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ()% +3 "core" %U 1 PH +2 "manipulator"&v% +4 "core" %ѡ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'8& +3 "core" & +2 "manipulator"&V% +4 "core" %\ # > +2 "storage"(1% +4 "core" %a  + "storage"( . +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(,( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &   +3 "manipulator"&!& +3 "core" & # +2 .tElbow.seek 3 +2 "manipulator"&u( +17 "core" ( +2 "manipulator"&& +3 "core" & l +2 "storage"(N& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +96 "core" ' + "storage"(]& +50 "core" & U  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +278 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +4 "core" & {  +3 "manipulator"&& +3 "core" & l +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&J& +4 "core" & N l +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&&'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(O'X +6 "core" & l +2 "manipulator"&X% +4 "core" % Ϡ +2 .tForearm.seek :retract +2 "manipulator"&4'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( +2 "manipulator"&3& +4 "core" &*  6 @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &* L @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&n'" +97 "core" ' +2 "manipulator"&U& +4 "core" &* ) @Z +2 "manipulator"&$% +4 "core" %" % +2 "collection"'& +4 "core" & +3 "collection"'%& +4 "core" & +2 .tCC.seek :closed +2 "collection"'M(V +5 "core" &  +8 &7 )w +9 &l = +9 &n G +10 &vc F +9 &7c F +9 &e G +10 &c F +9 &~d F +10 &?e F +9 &d G +9 & e F +10 &"e F +9 &$Ha F +9 && e F +10 &'d F +9 &)c F +10 &+Oe F +9 &-a F +9 &.c F +10 &0e F +9 &2Wc F +10 &4d F +9 &5d G +9 &7c F +10 &9`c F +9 &;"e F +9 &<e F +10 &>b F +9 &@gd F +10 &B)e F +9 &Cc F +9 &Ep G +10 &Ghy I +9 &I& J +9 &J[9 O +10 &L P +9 &N[Qe P +9 &P/9 Q +10 &Q" Q +9 &S R +10 &U[  A +9 &VL  Y +9 &V16 $n +10 &WN @ +2 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 + .Hand.open + "manipulator"&h1 +53 "core" 1 +3 "manipulator"&B% +4 "core" % " [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%m& +3 "core" &[ +2 "manipulator"&d% +4 "core" %\   ' +2 "storage"(e% +4 "core" %Z +2 "storage"(S. +2 "core" .( +2 "storage"(Q& +4 "core" &  +2 "storage"(.& +9 "core" &  + "manipulator"&C& +4 "core" &) @Z +2 "manipulator"&9% +9 "core" %\   ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&o( +156 "core" ( + "manipulator"&:& +4 "core" & x +2 "storage"(?& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&E'9 +95 "core" ' +2 "storage"(& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'i +280 "core" ' +2 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &  +2 "manipulator"&>& +4 "core" & x +2 .tElbow.seek 3 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&& +3 "core" & M x +2 "storage"(& +3 "core" & L  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϩ +24 "core" ' +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(D'X +7 "core" & x +2 "manipulator"&+% +4 "core" % ϣ  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(s +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +113 "core" ( +2 "manipulator"&& +4 "core" &p ) >  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +103 "core" ' +2 "manipulator"&a& +4 "core" &q N  +2 "manipulator"&% +4 "core" % x b +2 "processing"%& +4 "core" &t +2 "processing"%& +5 "core" &e +3 .tPC.seek :closed + "processing"%Y(Z +4 "core" &j  +9 &8n )w +9 &lc = +10 &qi G +9 &vcd F +9 &8db F +10 &hc G +9 &hd F +9 &~eh F +10 &?hn G +9 &hn F +10 & dj F +9 &"gc G +9 &$Hg[ F +10 &&\ d\\ F +9 &'h\\ G +9 &)hf G +10 &+Pg` F +9 &-dY F +10 &.g^ G +9 &0c_ F +9 &2We[ G +10 &4e\\ G +9 &5cZ G +9 &7b] F +10 &9`eV F +9 &;!gc G +10 &<fa G +9 &>b\\ F +9 &@hdj F +10 &B*ea F +9 &CgX G +9 &Ema G +10 &Gjwa H +9 &I%] K +10 &Jd L +9 &Lk L +9 &Nh_ L +10 &P)f L +9 &Q_ L +9 &S_ M +10 &Un` M +9 &W/\\ M +10 &Xd M +9 &ZCC^^ %k +9 &Z#Y ! +6 ( +2 "processing"%& +3 "core" &Z_ ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 +2 .Hand.open + "manipulator"&F1 +57 "core" 1 +2 "manipulator"&T% +3 "core" % b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' +2 "processing"%Z& +3 "core" &ZT ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\ U  +2 "storage"("% +4 "core" %a  +2 "storage"(s. +2 "core" .( +2 "storage"(^& +4 "core" &   +2 "storage"(& +2 "manipulator"&`& +8 "core" &   +2 &q  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&;(s +5 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +2 "manipulator"&c& +5 "core" &q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &q \   +2 .tForearm.seek PC +2 "manipulator"&t' +96 "core" ' + .tHand.close +2 "manipulator"&@/ +63 "core" / +3 .tPC.seek :open +2 "processing"%-( +86 "core" ' +2 "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('y +35 "core" ' +295 ( +2 "storage"(G& +4 "core" &   +2 "manipulator"&& +3 "core" &q  +2 "manipulator"&|% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&~'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&i( +261 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(x& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +48 "storage"('E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(7' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(k& +4 "core" &\ E\ L  +2 "manipulator"&P& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&}( +6 "core" ( +2 "manipulator"& & +4 "core" & J  +2 "storage"(A& +3 "core" &\ E\ ; j  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"({' +59 "core" ' + "manipulator"&'& +4 "core" &  +2 "storage"()& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&v'} +20 "core" ' +2 .tElbow.hold + "manipulator"&I, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'i +23 "core" ' +2 "manipulator"&8% +4 "core" %{ { + "storage"(V& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 298 counts + "manipulator"&['ϧ +21 "core" ' + "manipulator"&1& +4 "core" &  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +31 "core" ' +2 "storage"(W% +3 "core" %o ?  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %^ " QK +2 "manipulator"&w% +4 "core" %( w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +96 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +2 "core" & P  +3 "collection"'N& +3 "core" &WL @ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&]% +4 "core" %\ # ; +2 "storage"(% +4 "core" %_  +2 "storage"(6. +2 "core" .( +2 "storage"(b& +4 "core" &   +2 "storage"(*& +4 "core" &   +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&J( +5 "core" ( + "manipulator"&& +4 "core" & Y  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&<'9 +97 "core" ' +2 "storage"(X& +3 "core" & @  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'i +282 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  +2 "storage"(r& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&#'} +25 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"($'N +31 "core" ' + "manipulator"& % +4 "core" %~ +2 "storage"(& +3 "core" & Y  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +2 "manipulator"&O'Ϫ +19 "core" ' +2 "manipulator"&4& +4 "core" &   +2 "storage"(5& +4 "core" & ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek 3 + 700 counts +4 "manipulator"&h'9 +38 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(B'= +40 "core" ' + "manipulator"&m& +4 "core" & $  +2 "manipulator"&d% +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +170 "core" ( + "manipulator"&Q& +4 "core" &) c @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &* u @Y +2 .tForearm.seek CC +2 "manipulator"&%'" +96 "core" ' +2 .tHand.close + "manipulator"&C/ +64 "core" / +2 .tCC.seek :open +2 "collection"'9( +417 "core" ( + "storage"(n& +4 "core" & O  +2 "storage"(:& +4 "core" &  + "manipulator"&?& +4 "core" &* @Y +2 "manipulator"&% +4 "core" % & T +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&j( +159 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(\ & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&>'} +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&H% +4 "core" % ΃ +2 "storage"(l& +4 "core" & \\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&+'ϯ +21 "core" ' +2 "manipulator"&o& +3 "core" &   +2 "storage"(E& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +25 "core" ' +2 "storage"(L% +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (q% +3 "core" % Q PF +2 "manipulator"&p% +4 "core" %J 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & +3 "manipulator"&% +3 "core" %\   +2 "storage"(D% +5 "core" %[ l +2 "storage"(z. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(/( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" & +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&Z( +29 "core" ( +2 "manipulator"&\\& +4 "core" & ` f +2 "storage"("& +3 "core" & # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +100 "core" ' + "storage"(^& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & " +2 "manipulator"&c& +4 "core" &\ _ +2 .tElbow.seek 2 +46 "manipulator"&(( +7 "core" ( +2 "manipulator"&=& +3 "core" &\ % _ +2 "storage"(@& +4 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& +2 "storage"(Y'X +7 "core" &\ r _ +2 "manipulator"&% +4 "core" %  M +2 .tForearm.seek :retract +2 "manipulator"&G'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&|& +4 "core" &) 2 D @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &* %  @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +102 "core" ' +2 "manipulator"&x& +3 "core" &* @W +5 "manipulator"&;% +4 "core" %) Q +2 "collection"'& +5 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'~(V +5 "core" &  +9 &7 )v +9 &k = +9 &n F +10 &td F +9 &7e F +10 &d F +9 &c F +9 &{c G +10 &?d F +9 &d F +9 & e G +10 &"e F +9 &$Fc F +10 && b F +9 &'e F +9 &)d F +10 &+Ne F +9 &-e F +9 &.f F +10 &0e F +9 &2Wc F +10 &4c F +9 &5c F +9 &7d F +10 &9_d F +9 &; e F +9 &<g F +10 &>e F +9 &@fd F +10 &B'e G +9 &Cg F +9 &Em G +10 &Giy H +9 &I& J +9 &JW7 N +10 &L Q +9 &NZSh P +10 &P.8 Q +9 &Q! Q +9 &S R +10 &UZ  C +9 &Vl:  0 +9 &VV ? +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&y1 +2 "core" &VU ? +50 1 +2 "manipulator"&k% +4 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"% & +4 "core" &n  + "manipulator"&A% +4 "core" %\  +2 "storage"('% +4 "core" %a + "storage"(). +3 "core" .( +2 "storage"(8& +4 "core" & 8 +2 "storage"(& +4 "core" & * + "manipulator"&V& +4 "core" &( h ?U +2 "manipulator"&1% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( + "manipulator"& & +4 "core" & v  +2 "storage"(W& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&i'ќ +94 "core" ' +2 "storage"(& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'i +283 "core" ' +2 "storage"(- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &  +2 "manipulator"&_& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&}( +4 "core" ( + "manipulator"&{& +4 "core" &  +2 "storage"(v& +3 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&[' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&N& +4 "storage"(]'X +7 "core" & ~  +2 "manipulator"&% +3 "core" % \   +3 .tForearm.seek :retract +2 "manipulator"&6'\ +91 "core" ' +48 .tElbow.seek PC +3 "manipulator"&b(s +114 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +131 "core" ( + "manipulator"&f& +4 "core" &{  C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &{ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +102 "core" ' +2 "manipulator"&& +4 "core" &{ V +2 "manipulator"& % +4 "core" % +2 "processing"%& +4 "core" &j  +2 "processing"%X& +5 "core" &m  +3 .tPC.seek :closed + "processing"%(Z +5 "core" &h  +9 &9n )w +9 &-my > +10 &no G +9 &en G +10 &Riz G +9 &cw G +9 &ek F +10 &en F +9 &[ds F +9 &fi F +10 & ec G +9 &"i_ G +10 &$bc^ G +9 &&%dh F +9 &'ka G +10 &)h` G +9 &+jgk G +9 &-,c_ G +10 &.ci G +9 &0f_ F +9 &2rg_ G +10 &44c_ G +9 &5a` G +10 &7bk G +9 &9zc_ G +9 &;<b` G +10 &<f] F +9 &>e_ F +10 &@eh F +9 &BDeg G +9 &Dh^ G +10 &Enb H +9 &Gx^ J +10 &I@k K +9 &Kg L +9 &Lg L +10 &Nf L +9 &PD` L +9 &Rc L +10 &S_ L +9 &Ua M +9 &WKf M +10 &Y ` I +9 &ZF<\\d !_ +10 &Z:j \ +5 ( +2 "processing"%X& +3 "core" &Zi +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open + "manipulator"&I1 +60 "core" 1 +2 "manipulator"&!% +4 "core" % | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 "processing"%3& +4 "core" &ZU +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&r% +4 "core" %\ " ? +2 "storage"(U% +3 "core" %a +2 "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(4& +3 "manipulator"&5& +6 "core" & V + &{ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +8 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(m'i +3 "manipulator"&d(s +5 "core" ( +3 "manipulator"&<& +3 "core" &{ f +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &{ +3 .tForearm.seek PC +2 "manipulator"&u' +99 "core" ' +2 .tHand.close + "manipulator"&#/ +64 "core" / +3 .tPC.seek :open +2 "processing"%O( +75 "core" ' + "storage"($- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +42 "core" ' +303 ( +2 "storage"(.& +3 "core" &  +3 "manipulator"&h& +3 "core" &{ V +2 "manipulator"&&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&e( +270 "core" ( + "manipulator"&M& +4 "core" & _ +2 "storage"(n& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&:'ќ +95 "core" ' + .tHand.open +2 "manipulator"&?1 +64 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +3 "storage"(\ ' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(%- +2 "core" -' +3 "storage"(S& +3 "core" & L L " +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 2 +47 "manipulator"&H( +10 "core" ( +2 "manipulator"&l& +4 "core" & Z +2 "storage"(o& +4 "core" & I I 4 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&E'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(L' +57 "core" ' +2 "manipulator"&2& +3 "core" & c +2 "storage"(q& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&p' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'i +23 "core" ' +2 "manipulator"&+% +3 "core" % \  +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&' +22 "core" ' + "manipulator"&D& +4 "core" & +2 "storage"(z& +3 "core" & $ +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&B'ќ +17 "core" ' +2 "storage"(K% +4 "core" %q +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (,% +3 "core" %wY PJ +3 "manipulator"&F% +4 "core" %ѱ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +88 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 (\\& +3 "core" & +2 "collection"'"& +4 "core" &VU ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&^% +4 "core" %\   +2 "storage"(% +4 "core" %N U + "storage"(a. +3 "core" .( +2 "storage"(& +4 "core" & W +2 "storage"(& +4 "core" & S +2 "manipulator"&c& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&=( +4 "core" ( +2 "manipulator"&@& +3 "core" & ) +2 "storage"(0& +3 "core" & : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +94 "core" ' + "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(Z'i +280 "core" ' +2 "storage"(s- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" & +2 "storage"(t& +4 "core" & V +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&`' +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(;'O +28 "core" ' + "manipulator"&(% +4 "core" % S " +2 "storage"(& +3 "core" & t +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&Y' +16 "core" ' +2 "manipulator"&G& +4 "core" & p +2 "storage"(9& +3 "core" & N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +31 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(k'> +36 "core" ' +2 "manipulator"& & +4 "core" & q +2 "manipulator"&A% +3 "core" %ћ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +134 "core" ' +9 .tElbow.seek CC +2 "manipulator"&)( +161 "core" ( +3 "manipulator"&8& +3 "core" &* Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* ' Aa +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&V/ +64 "core" / +2 .tCC.seek :open +2 "collection"'1( +413 "core" ( + "storage"( & +4 "core" & 7 +2 "storage"( & +4 "core" & +2 "manipulator"&W& +3 "core" &* N @W +2 "manipulator"&% +5 "core" % #  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +159 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(w& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&_' +98 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ^ +2 "storage"(N& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +3 "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(i& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +33 "core" ' +2 "storage"([% +3 "core" %> +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (*% +3 "core" %T  PH +2 "manipulator"&}% +4 "core" %ѣ X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +3 "core" & +2 "manipulator"&% +3 "core" %\   +3 "storage"(]% +3 "core" %V  +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" & *  +2 "manipulator"&!& +4 "core" & z  +2 .tElbow.seek 3 +2 "manipulator"&3( +14 "core" ( + "manipulator"&r& +4 "core" & w q +2 "storage"(U& +4 "core" & "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +92 "core" ' +2 "storage"(X& +4 "core" & J  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +276 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +3 "core" &   +2 "manipulator"&<& +4 "core" & k q +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +3 "core" & y q +2 "storage"(#& +4 "core" & k  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +58 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&R& +2 "storage"('X +7 "core" & q +2 "manipulator"&m% +4 "core" % Ϡ +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&&& +4 "core" &(   ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &( w ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&M'" +96 "core" ' +3 "manipulator"&n& +4 "core" &( x ?V +2 "manipulator"&d% +3 "core" %$  +2 "collection"'?& +4 "core" & +3 "collection"'& +6 "core" & +2 .tCC.seek :closed + "collection"'%(V +5 "core" & +7 &A $e +10 &_ 7 +9 &- G +10 &c F +9 &e F +9 &t` F +10 &6e F +9 &d F +9 &g F +10 &|d F +9 & =e F +10 &"g F +9 &#e F +9 &%e G +10 &'Fc F +9 &)d F +10 &*e F +9 &,d F +9 &.Md F +10 &0e F +9 &1b F +9 &3d F +10 &5Vc F +9 &7e F +9 &8c F +10 &:e F +9 &<^b F +10 &>e F +9 &?g F +9 &Ae F +10 &Ceh F +9 &E&l G +10 &Fs H +9 &H| I +9 &JZ8 M +10 &Lu P +9 &Mgx P +9 &O9F Q +10 &QW"+ Q +9 &S R +9 &T R +10 &VEh\  / +9 &V 4 +10 &V{ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&S1 +3 "core" &Vy K +55 1 +3 "manipulator"&% +4 "core" % $ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%l& +4 "core" &m +2 "manipulator"&o% +4 "core" %\ ! & 3 +2 "storage"(2% +4 "core" %^ +2 "storage"(q. +2 "core" .( +2 "storage"(Q& +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&+& +3 "core" &( M ?V +2 "manipulator"&% +4 "core" %\ ! n 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&D( +155 "core" ( + "manipulator"&z& +4 "core" & Q  +2 "storage"(e& +4 "core" & )  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +95 "core" ' +2 "storage"(:& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'i +282 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" & B  +2 "manipulator"&E& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&H( +4 "core" ( + "manipulator"&L& +4 "core" & f  +2 "storage"(p& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(^'X +7 "core" &  +2 "manipulator"&% +3 "core" % ϡ +3 .tForearm.seek :retract +2 "manipulator"&a'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&>& +3 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +93 "core" ' +3 "manipulator"&@& +4 "core" &m ~ +2 "manipulator"&0% +4 "core" % ^ - +2 "processing"%B& +72 "core" &j +2 "processing"%& +6 "core" &g +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &i  +10 &7h )v +9 &ki = +10 &vk G +9 &scf F +9 &4eh G +10 &gk G +9 &hj G +9 &zcj G +10 &=em F +9 &ij G +9 & c^ G +10 &"ha G +9 &$Dco G +10 &&dd F +9 &'eZ G +9 &)j^ G +10 &+Me^ F +9 &-f` G +9 &.e_ F +10 &0g\\ G +9 &2Sj[ G +10 &4b_ G +9 &5e_ G +9 &7gh G +10 &9\\h` G +9 &;b` G +9 &<fj F +10 &>eh G +9 &@di_ G +10 &B&b` G +9 &Cg^ G +9 &En` H +10 &Gfvl I +9 &I#` K +9 &Jd L +10 &L] L +9 &Nd^ L +10 &P%` M +9 &Qa L +9 &S` M +10 &Uk` M +9 &W,a M +9 &X_ M +10 &Z?Ebb %l +9 &Z\ (U +6 ( +2 "processing"%& +3 "core" &Za +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"&j1 +63 "core" 1 +2 "manipulator"&T% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' + "processing"%|& +4 "core" &Z` +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&t% +4 "core" %\  _ # +2 "storage"(x% +4 "core" %a  + "storage"((. +3 "core" .( +2 "storage"(& +4 "core" & O  +2 "storage"(G& +3 "manipulator"&9& +7 "core" &  + &m +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +3 "manipulator"& (s +6 ."raiseStack"SE.seek :beamBreak + "storage"(A'i +2 "core" ( +3 "manipulator"&g& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &m +2 .tForearm.seek PC +2 "manipulator"&Z' +96 "core" ' +2 .tHand.close +2 "manipulator"&`/ +63 "core" / +2 .tPC.seek :open +2 "processing"%Y( +86 "core" ' +2 "storage"(;- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'y +33 "core" ' +302 ( +2 "storage"(8& +4 "core" &  +2 "manipulator"&& +4 "core" &m +2 "manipulator"&% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +273 "core" ( + "manipulator"&~& +4 "core" & \\  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +103 "core" ' +3 .tHand.open +2 "manipulator"&W1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(w' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +2 "storage"()& +4 "core" & K H -  +2 "manipulator"&v& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&N& +3 "core" & e  +2 "storage"(& +4 "core" &\ -  C  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&i'9 +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +59 "core" ' +47 "manipulator"&& +7 "core" & i  + "storage"(*& +4 "core" & c  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'} +23 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(_'i +24 "core" ' +2 "manipulator"&% +3 "core" % +2 "storage"( & +4 "core" & Q  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&'ϫ +20 "core" ' +2 "manipulator"&]& +4 "core" &  +2 "storage"(6& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&k'9 +26 "core" ' +3 "storage"(7% +4 "core" %s   +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (/% +3 "core" %Y h e PI +2 "manipulator"&I% +4 "core" %C / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (r& +3 "core" & R  +2 "collection"'U& +3 "core" &Vx K +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&X% +3 "core" %\  i  +2 "storage"({% +3 "core" %Q  +2 "storage"(. +3 "core" .( +2 "storage"(4& +4 "core" & 8  +2 "storage"(5& +4 "core" & @  +2 "manipulator"&<& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +4 "core" & _  +2 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&R'9 +95 "core" ' + "storage"(m& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(3'i +280 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +4 "core" &  +2 "storage"(&& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&u'} +27 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(d'O +33 "core" ' + "manipulator"&J% +4 "core" %΀ +2 "storage"(?& +3 "core" & e  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&'Ϭ +20 "core" ' + "manipulator"&.& +4 "core" & l  +2 "storage"(1& +3 "core" & N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +24 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"('> +40 "core" ' + "manipulator"&l& +4 "core" &   +2 "manipulator"&o% +4 "core" %n 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&q( +170 "core" ( +3 "manipulator"&Q& +3 "core" &.  Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &. H Dy +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&+/ +99 "core" / +9 .tCC.seek :open +2 "collection"'( +415 "core" ( +2 "storage"(M& +3 "core" & c  +2 "storage"(z& +4 "core" & l  +2 "manipulator"&e& +3 "core" &. r Dx +2 "manipulator"&:% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&C( +163 "core" ( +2 "manipulator"&,& +4 "core" & j + "storage"(F& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&E'} +99 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +55 "core" 1 +2 "manipulator"&\\% +4 "core" % Ώ + "storage"("& +4 "core" & }  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϻ +20 "core" ' + "manipulator"&D& +4 "core" &  j +2 "storage"(K& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ '9 +35 "core" ' + "storage"(% +4 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(>'X +99 (% +4 "core" %U  PH +2 "manipulator"&H% +3 "core" %Z 7 { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'0& +4 "core" & +2 "manipulator"&B% +3 "core" %\  . +2 "storage"(^% +4 "core" %a  +2 "storage"(a. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(O( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &  +2 "manipulator"&T& +4 "core" & j +2 .tElbow.seek 2 +2 "manipulator"&|( +45 "core" ( + "manipulator"&t& +4 "core" & U +2 "storage"(x& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +95 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +3 "core" & [ +2 "manipulator"&g& +4 "core" & Q +2 .tElbow.seek 2 +2 "manipulator"&=( +22 "core" ( + "manipulator"&c& +4 "core" & \\ +2 "storage"(`& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&;' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"('X +8 "core" & [ + "manipulator"&A% +4 "core" %   > +2 .tForearm.seek :retract +2 "manipulator"&8'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +49 "core" ( +3 "manipulator"&& +4 "core" &! 8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" & 8! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'" +95 "core" ' +2 "manipulator"& & +4 "core" &! 6 8! +2 "manipulator"& % +4 "core" % o +2 "collection"'W& +4 "core" & +3 "collection"'& +4 "core" & +3 .tCC.seek :closed + "collection"'(V +5 "core" & +7 &A #c +10 &] 6 +9 &  G +9 &c F +10 &e F +9 &gc F +9 &(d F +10 &e F +9 &c F +9 &pa F +10 & 1d F +9 &!e F +10 &#e F +9 &%ud G +9 &':c F +10 &(c F +9 &*d F +9 &,d F +10 &.Bc F +9 &0d F +10 &1c F +9 &3c F +9 &5Ic F +10 &7 d F +9 &8c F +9 &:e F +10 &d F +10 &?e G +9 &Ad F +13 &CYe F +6 &Ek G +13 &Fv H +6 &H~ I +9 &JL4 M +9 &Lu P +10 &Ml} P +9 &O@O Q +9 &QK&0 P +10 &S R +9 &T R +9 &V;h  / +10 &V  : +9 &W\\ < +6 ( +2 "collection"'& +3 "core" &WG < +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&)1 +63 "core" 1 +3 "manipulator"&v% +4 "core" %  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &w +2 "manipulator"&V% +3 "core" %\  B  +2 "storage"(% +4 "core" %U 2 + "storage"(*. +3 "core" .( +2 "storage"(y& +4 "core" & +2 "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" & 8 +2 "manipulator"& % +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&]( +155 "core" ( +2 "manipulator"&6& +4 "core" & K  +2 "storage"('& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +87 "core" ' +2 "storage"(7& +3 "core" & ~ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +277 "core" ' + "storage"(/- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I& +2 "core" &  +3 "manipulator"&i& +3 "core" & |  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&[& +4 "core" & J  +2 "storage"(}& +4 "core" & \\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(X'X +8 "core" &  +2 "manipulator"&{% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +3 "manipulator"&4& +3 "core" &w G  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&<' +101 "core" ' +2 "manipulator"&#& +3 "core" &w /  +2 "manipulator"&b% +4 "core" % Y +2 "processing"%k& +4 "core" &s +3 "processing"%m& +5 "core" &} +2 .tPC.seek :closed +2 "processing"%f(Z +3 "core" &} +8 &Ew #c +9 &\\o 6 +50 &| G +4 &fy G +2 &ho G + &ahz G + &#bq G + &bw G +7 &ds G +9 &icq G +10 & +d^ G +9 &!cm G +9 &#ew F +10 &%qfy G +9 &'2fk G +9 &(dk G +10 &*hj G +9 &,ybj G +10 &.;cq G +9 &/bj G +9 &1ce G +10 &3bm G +9 &5Ccj G +9 &7ce G +10 &8gj G +9 &:gl G +10 &de F +9 &?ha G +10 &Ade G +9 &CShb G +9 &Ekj G +10 &Fra H +9 &Hd J +10 &JLh L +9 &Lg L +9 &M_ L +10 &Oi L +9 &QRl M +9 &Sj L +10 &T` L +9 &Vb M +9 &XZ` M +10 &Yxvb !g +9 &Z(pl + +9 ( +2 &Za ! +2 "processing"%m& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&P1 +54 "core" 1 +2 "manipulator"&!% +4 "core" %  Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 "processing"%& +3 "core" &Z^ ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&&% +4 "core" %\  +2 "storage"(n% +4 "core" %S  +2 "storage"(J. +2 "core" .( +2 "storage"(?& +4 "core" &  +3 "storage"(.& +2 "manipulator"&1& +6 "core" &  + &w  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&l(s +2 "storage"(o'i +6 "core" ( + "manipulator"&R& +4 "core" &w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w #  +2 .tForearm.seek PC +2 "manipulator"&3' +95 "core" ' + .tHand.close +2 "manipulator"&u/ +61 "core" / +3 .tPC.seek :open + "processing"%( +83 "core" ' +2 "storage"(d- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'y +34 "core" ' +303 ( +2 "storage"(& +4 "core" &  +2 "manipulator"&S& +4 "core" &w  + "manipulator"&$% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +95 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&2( +273 "core" ( +2 "manipulator"&%& +3 "core" &   +2 "storage"(M& +4 "core" & I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +99 "core" ' + .tHand.open +2 "manipulator"&e1 +53 "core" 1 +2 "storage"(:- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(,'E +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(F' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(q& +3 "core" & M M +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(D& +3 "core" & M S p +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +2 "core" ' +3 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&h& +4 "core" &  +2 "storage"(& +3 "core" & 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +47 "storage"(#QK-0-\ b +5 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'i +24 "core" ' +2 "manipulator"&% +4 "core" % c L + "storage"(0& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&B' +21 "core" ' + "manipulator"&^& +4 "core" & N  +2 "storage"(a& +4 "core" & % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +25 "core" ' +2 "storage"(\ % +4 "core" %n   +2 ."downElevator"SE.seek :down +4 "storage"(>'X +98 (-% +3 "core" %^ t QJ +2 "manipulator"&j% +4 "core" %ѭ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (t& +4 "core" & W +2 "collection"'x& +3 "core" &WG < +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ # ; +2 "storage"(L% +4 "core" %`   +2 "storage"(@. +2 "core" .( +2 "storage"(9& +4 "core" &  +2 "storage"(G& +3 "core" &  +2 "manipulator"&g& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( + "manipulator"&`& +4 "core" &  +2 "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +95 "core" ' +2 "storage"(A& +3 "core" & S +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'i +283 "core" ' +2 "storage"((- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(;& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +26 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"( 'N +23 "core" ' +2 "manipulator"& % +3 "core" % { i +2 "storage"(W& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&8& +4 "core" & l  +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +37 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(v'= +36 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&V% +3 "core" %џ N } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +163 "core" ( +3 "manipulator"&y& +4 "core" && ] =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" && 6 =A +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"' ( +416 "core" ( +2 "storage"(~& +4 "core" & 9 +2 "storage"(6& +3 "core" & +2 "manipulator"&'& +4 "core" && =A +2 "manipulator"&7% +3 "core" % ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +137 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&N( +156 "core" ( +2 "manipulator"&/& +4 "core" & i  +2 "storage"(I& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&i' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +56 "core" 1 +3 "manipulator"&r% +4 "core" % +2 "storage"(U& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts + "manipulator"&{' +19 "core" ' + "manipulator"&]& +4 "core" &   +2 "storage"( & +4 "core" & X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&w'ќ +30 "core" ' + "storage"(% +4 "core" %G Q \ +3 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (5% +3 "core" %R 3 PF +2 "manipulator"&% +3 "core" %ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'b& +3 "core" & +2 "manipulator"&k% +4 "core" %\   +2 "storage"(X% +4 "core" %U " +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(Y( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &   +2 "manipulator"&!& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&&& +4 "core" & f +2 "storage"(n& +4 "core" & I  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&J'9 +94 "core" ' + "storage"(?& +5 "core" & s  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'i +279 "core" ' +2 "storage"(1- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & q  +2 "manipulator"&R& +4 "core" &  f +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( +2 "manipulator"&<& +3 "core" & R f +2 "storage"(u& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&d'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(f'X +7 "core" & 9 f +2 "manipulator"&o% +5 "core" % ϝ { V +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +29 "core" ( +2 "manipulator"&$& +3 "core" &'  a >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" && K >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'" +104 "core" ' +2 "manipulator"&M& +4 "core" && =G +3 "manipulator"&l% +4 "core" %& B +2 "collection"'e& +50 "core" & +5 "collection"':& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(V +4 "core" & +7 &I #c +9 &^ 7 +10 &%} G +9 &` F +10 &e F +9 &mc F +9 &/e F +10 &e F +9 &c F +9 &td F +10 & 7a F +9 &!d F +10 &#e F +9 &%{e G +9 &'?e F +10 &)d F +9 &*d F +9 &,e F +10 &.Fc F +9 &0d F +10 &1e F +9 &3d F +9 &5P` F +10 &7e F +9 &8c F +9 &:d F +10 &e F +10 &?g F +9 &Ae F +9 &C^f F +10 &Eg G +9 &Fs H +9 &H~ J +10 &JS5 M +9 &L ~t P +10 &Mj| P +9 &OLK P +9 &QQ'/ P +10 &S R +9 &T Q +9 &VBi\  / +10 &V  6 +9 &Vm G +6 ( +2 "collection"':& +3 "core" &V` G +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +3 .Hand.open + "manipulator"&q1 +62 "core" 1 +2 "manipulator"&p% +3 "core" % & / B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%D& +4 "core" &{ +2 "manipulator"&+% +4 "core" %\ % R 0 +2 "storage"(h% +3 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(Q& +4 "core" &   +2 "storage"(,& +4 "core" &   + "manipulator"&& +4 "core" && A =F +2 "manipulator"&0% +4 "core" %\ % O 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +162 "core" ( +2 "manipulator"&a& +4 "core" & x +2 "storage"(2& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&z'9 +97 "core" ' +2 "storage"(\ & +4 "core" & 3  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'i +279 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &  +2 "manipulator"&j& +4 "core" & @ x +2 .tElbow.seek 3 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&& +4 "core" &  x +2 "storage"(H& +3 "core" &  +3 .tForearm.seek 3 + 300 counts + "manipulator"&B'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"('X +6 "core" & x +2 "manipulator"&L% +6 "core" % ϧ +2 .tForearm.seek :retract + "manipulator"&@'\ +98 "core" ' +3 .tElbow.seek PC + "manipulator"&9(s +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&E& +4 "core" &n  j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&g' +105 "core" ' +2 "manipulator"&`& +4 "core" &n 6  +2 "manipulator"&% +4 "core" % ) f +2 "processing"%& +4 "core" &o +2 "processing"%A& +5 "core" &u +2 .tPC.seek :closed +2 "processing"%>(Z +5 "core" &y +6 &Dx #c +9 &\\{ 6 +10 &| G +9 &b{ F +9 &e| G +10 &dg| G +9 &&gz G +10 &gx G +9 &iz G +9 &ljz G +10 & .jw G +9 &!gz G +9 &#ey F +10 &%tfw G +9 &'5gu G +10 &(ew G +9 &*hy G +9 &,{gv G +10 &.?fr F +9 &0fv F +10 &1ez F +9 &3ew F +9 &5Ggt F +10 &7 es F +9 &8cs G +9 &:cu G +10 &il G +9 &?fm G +10 &Ael F +9 &CVgl G +10 &Ekl G +9 &Ftu H +9 &Hv J +10 &JPn L +9 &Ll L +10 &Mb L +9 &O_ L +9 &QVi L +10 &Sl M +56 &Tn M +5 &Vl M + &X\\l M +3 &Zwvm !i + &Z$cl ( + ( + &Zj ! + &Zk ! +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.39 + .Hand.open +2 "manipulator"&C1 +58 "core" 1 +2 "manipulator"&T% +4 "core" % f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +90 "core" ' +2 "processing"%& +4 "core" &Zn ! +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&;% +4 "core" %\   +2 "storage"(=% +4 "core" %b +2 "storage"( . +2 "core" .( +3 "storage"(W& +3 "core" & *  +3 "storage"(8& +2 "manipulator"&& +6 "core" &  +2 &n  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(s +2 "storage"(V'i +4 "core" ( +2 "manipulator"&s& +5 "core" &n Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &n  +2 .tForearm.seek PC +2 "manipulator"&|' +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' +2 "storage"( - +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'y +44 "core" ' +280 ( + "storage"(& +4 "core" &   +2 "manipulator"&)& +4 "core" &n  +2 "manipulator"&Z% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +268 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(~& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +92 "core" ' +3 .tHand.open +2 "manipulator"&'1 +60 "core" 1 +2 "storage"(7- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(/' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(*& +4 "core" & I I   +2 "manipulator"&}& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&U& +4 "core" & ^  +2 "storage"(]& +3 "core" & I I &  +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(5& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +26 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'i +24 "core" ' + "manipulator"&{% +4 "core" %΄ +2 "storage"(b& +4 "core" & 5  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&k'ϰ +20 "core" ' +2 "manipulator"&X& +4 "core" & K  +2 "storage"(& +3 "core" & 0  +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&v'9 +33 "core" ' +3 "storage"(w% +4 "core" %r   +3 ."downElevator"SE.seek :down +3 "storage"(4'X +99 (O% +2 "core" %Y PJ +3 "manipulator"&P% +4 "core" %1 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 (&& +2 "core" & %  +3 "collection"'n& +3 "core" &V_ G +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&?% +4 "core" %\   +2 "storage"([% +3 "core" %T +2 "storage"(#. +3 "core" .( +2 "storage"(1& +4 "core" &  +2 "storage"(m& +4 "core" &   + "manipulator"&R& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&<( +4 "core" ( + "manipulator"&u& +4 "core" & G  +2 "storage"(_& +4 "core" & p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +101 "core" ' +2 "storage"(o& +4 "core" & Q  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +278 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &  +3 "storage"(.& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&3'} +21 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(M'O +28 "core" ' + "manipulator"&l% +4 "core" %΃ E +2 "storage"(e& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&f'ϯ +20 "core" ' + "manipulator"&& +4 "core" & E  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +31 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate + "storage"(p'> +38 "core" ' +2 "manipulator"&D& +3 "core" & s  +2 "manipulator"&+% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&:& +4 "core" &# S :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &"  :. +2 .tForearm.seek CC +2 "manipulator"&,'" +91 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'0( +417 "core" ( + "storage"(%& +4 "core" & ?  +2 "storage"(a& +4 "core" &  + "manipulator"&2& +3 "core" &# H :. +2 "manipulator"&\ % +4 "core" % 1 +2 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&"( +158 "core" ( +2 "manipulator"&K& +4 "core" & { +2 "storage"(-& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&j'} +98 "core" ' +4 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +54 "core" 1 +3 "manipulator"&t% +3 "core" % } ^ +2 "storage"(x& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϩ +20 "core" ' +2 "manipulator"&^& +22 "core" & X { +2 "storage"(z& +3 "core" & (  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +20 "core" ' +2 "storage"(B% +3 "core" %G  +3 ."downElevator"SE.seek :down +4 "storage"(E'X +98 (G% +3 "core" %4W H PF +2 "manipulator"&\\% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" & +2 "manipulator"&% +4 "core" %\ ! 4 +2 "storage"(% +4 "core" %` H + "storage"(@. +3 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (C& +2 "core" & 5 +2 "manipulator"&T& +4 "core" & { +2 .tElbow.seek 2 +2 "manipulator"&( +33 "core" ( + "manipulator"&;& +4 "core" & Q !s +2 "storage"(=& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +100 "core" ' + "storage"(W& +4 "core" & 6 +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (A& +3 "core" & +2 "manipulator"&s& +3 "core" & l +2 .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( + "manipulator"&g& +4 "core" & S l +3 "storage"(& +4 "core" & 0 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&(& +2 "storage"(>'X +7 "core" & l +2 "manipulator"&V% +4 "core" % ! N +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&Z& +4 "core" &% # <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" &% ? <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&~& +4 "core" &% <? +2 "manipulator"&% +4 "core" %! +2 "collection"''& +4 "core" & +2 "collection"'7& +5 "core" & +3 .tCC.seek :closed + "collection"'I(V +6 "core" & +6 &8 #c +9 &\\ 6 +10 &~ G +9 &` F +10 &f F +9 &bc F +9 &$d F +10 &d F +9 &c F +9 &ie F +10 & +d F +9 &!a F +9 &#e F +10 &%qd F +9 &'4f F +10 &(c F +9 &*c F +9 &,zc F +10 &.<d F +9 &/d F +9 &1e F +51 &3c F +3 &5Cc F + &7d F + &8c F + &:e F +2 &e F +9 &?d F +10 &Ad F +9 &CSg F +10 &Ei G +9 &Fr H +9 &H~ I +10 &JG2 M +9 &L~v P +9 &Mq~ P +10 &OAP Q +9 &QE)2 Q +10 &S Q +9 &T R +9 &V1]  + +10 &V!\  = +5 ( +2 "collection"'7& +4 "core" &VD < +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&*1 +59 "core" 1 +4 "manipulator"&}% +4 "core" % ! ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%]& +3 "core" &{ +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +4 "core" %U > +2 "storage"(5. +2 "core" .( +3 "storage"({& +3 "core" & r +2 "storage"(b& +4 "core" & _ +2 "manipulator"&y& +4 "core" &$  ;7 +2 "manipulator"&X% +3 "core" %\    +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&& +4 "core" & p \ +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'ќ +95 "core" ' + "storage"(w& +4 "core" & ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(/'i +287 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +4 "core" & R + "manipulator"&P& +4 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&r( +4 "core" ( + "manipulator"&& +4 "core" & $ \ +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(?'X +7 "core" & \ +2 "manipulator"&[% +4 "core" % ' +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i(s +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +3 "manipulator"&1& +4 "core" &q  o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +92 "core" ' + "manipulator"&u& +4 "core" &s N  +2 "manipulator"&_% +4 "core" % ; +2 "processing"%v& +4 "core" &q +2 "processing"%o& +5 "core" &s +2 .tPC.seek :closed +2 "processing"%4(Z +3 "core" &y  +10 &7} )w +9 &lz = +9 &r{ H +10 &pe{ G +9 &2c{ G +9 &c{ G +10 &d{ F +9 &ye| F +10 &<e{ F +9 &i| G +9 & h{ G +10 &"e{ G +9 &$Cdv F +9 &&e{ F +10 &'j{ G +9 &)dw G +10 &+Kb{ F +9 &- ey F +9 &.f{ F +10 &0du G +9 &2Ren G +9 &4hr G +10 &5fy G +11 &7bm G +8 &9[cl F +9 &;et F +9 &<dm G +10 &>hp F +9 &@bep G +10 &B%cn F +9 &Chn G +9 &Emm G +10 &Gdvn I +9 &I!n K +9 &Jg K +10 &Ln L +9 &Ndm L +9 &P&a L +3 "Can"x WX +7 "core" &Qm L +9 &Sm M +10 &Uim M +9 &W*c M +9 &Xm M +10 &Z>C_g %k +9 &Z )i ! +5 ( +2 "processing"%o& +4 "core" &Zm ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 + .Hand.open +2 "manipulator"&N1 +54 "core" 1 +2 "manipulator"&!% +3 "core" % h ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 "processing"%$& +4 "core" &Zn ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +49 "manipulator"&.% +3 "core" %\  9  +2 "storage"(% +4 "core" %O h +2 "storage"(l. +4 "core" .( + "storage"(e& +4 "core" & V +3 "storage"(& +2 "manipulator"& & +8 "core" & n + &s  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&D(s +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'i +3 "core" ( + "manipulator"& & +4 "core" &s  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &<& +2 "core" &s $  +3 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&3/ +56 "core" / +2 .tPC.seek :open +2 "processing"%f( +86 "core" ' +2 "storage"(M- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(:'y +34 "core" ' +300 ( + "storage"(Q& +4 "core" &  +2 "manipulator"&q& +4 "core" &s  + "manipulator"&d% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&h( +262 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(%& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +98 "core" ' +2 .tHand.open + "manipulator"&21 +55 "core" 1 +2 "storage"(\ - +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(K'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(-' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(& +4 "core" & M K 2 +2 "manipulator"&H& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&t( +4 "core" ( + "manipulator"&x& +4 "core" & L +2 "storage"(^& +4 "core" & J I & +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&z'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(B' +59 "core" ' + "manipulator"&S& +4 "core" & +2 "storage"(G& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\' +23 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(j'i +24 "core" ' + "manipulator"&L% +4 "core" % +2 "storage"(& +3 "core" &  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(@& +3 "core" & = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&p'ќ +24 "core" ' +2 "storage"(F% +4 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(E'X +99 (Y% +3 "core" %3[ RL +2 "manipulator"&C% +4 "core" %Ѽ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&T'\ +94 "core" ' +11 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" & 1 +2 "collection"'=& +4 "core" &VG < +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&W% +4 "core" %\  +2 "storage"(% +4 "core" %` K +2 "storage"(`. +2 "core" .( +3 "storage"(& +3 "core" &  +2 "storage"(A& +4 "core" & +2 "manipulator"&s& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&g( +4 "core" ( + "manipulator"&& +4 "core" & i +2 "storage"(9& +3 "core" & 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +88 "core" ' +2 "storage"(V& +4 "core" & " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"( - +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & t +2 "storage"(|& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&8' +22 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +27 "core" ' +2 "manipulator"&'% +4 "core" % +2 "storage"(c& +3 "core" & 8 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&>' +18 "core" ' + "manipulator"&& +4 "core" & D +2 "storage"(0& +4 "core" & c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'= +38 "core" ' + "manipulator"&]& +4 "core" & ~ +2 "manipulator"&% +4 "core" %љ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +163 "core" ( +2 "manipulator"&{& +3 "core" &+  Bf +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &, Bf +2 .tForearm.seek CC +2 "manipulator"&b'" +94 "core" ' +2 .tHand.close + "manipulator"&y/ +53 "core" / +2 .tCC.seek :open +2 "collection"'X( +413 "core" ( +2 "storage"(& +4 "core" &  +2 "storage"(& +4 "core" & +2 "manipulator"&& +3 "core" &) ?U +2 "manipulator"&w% +4 "core" % / k  +2 .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&U( +158 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(O& +4 "core" & ! +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&P' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&&% +3 "core" % +2 "storage"(n& +4 "core" & + .tForearm.force -20 + "manipulator"&5 +48 .tForearm.seek 2 + 311 counts +5 "manipulator"&[' +26 "core" ' + "manipulator"&& +4 "core" & >  +2 "storage"(6& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +17 "core" ' +2 "storage"(k% +4 "core" %F + +3 ."downElevator"SE.seek :down +3 "storage"(1'X +99 (m% +2 "core" %T 8 QJ +3 "manipulator"&r% +4 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'_& +4 "core" & +2 "manipulator"&v% +4 "core" %\   +2 "storage"(?% +3 "core" %`  +2 "storage"(#. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +343 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&$( +14 "core" ( + "manipulator"&.& +4 "core" & J ] +2 "storage"(o& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(l& +3 "core" & Q  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'i +275 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & I  +3 "manipulator"& & +3 "core" & ] +3 .tElbow.seek 3 + "manipulator"&<( +3 "core" ( +2 "manipulator"&R& +4 "core" & g ] +2 "storage"(3& +3 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'ϩ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(4'X +7 "core" & ] +2 "manipulator"&+% +4 "core" % Ϭ +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( +2 "manipulator"&d& +4 "core" &(  y ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( < ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +107 "core" ' + "manipulator"&%& +4 "core" &(  n ?P +4 "manipulator"&D% +4 "core" % x +2 "collection"'2& +4 "core" & +3 "collection"'\ & +4 "core" & +2 .tCC.seek :closed +2 "collection"',(V +5 "core" &  +8 &8 *x +9 &l = +9 &p G +10 &d F +9 &@c F +9 &d F +10 &f F +9 &d F +10 &Fe G +9 &\ d F +9 & e G +10 &"e F +9 &$Ne G +9 &&d F +10 &'e F +9 &)e F +10 &+Xe F +9 &-e F +9 &.c F +10 &0h F +9 &2`d F +9 &4!d F +10 &5d F +9 &7e F +10 &9id F +9 &;)e F +9 &<e F +10 &>c F +9 &@oe F +9 &B0e G +10 &Cf F +9 &Ej G +10 &Gry H +9 &I. J +12 &JY9 O +7 &L~ P +9 &NcVi P +9 &P$4= P +10 &Q% Q +9 &S R +10 &Ud @ +9 &VL\  Q +9 &V(& $m +10 &Vj F +2 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&H% +48 "core" %  0 +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%^& +4 "core" &{ +2 "manipulator"&% +4 "core" %\  "  +2 "storage"(S% +4 "core" %_ +2 "storage"(G. +2 "core" .( +3 "storage"(L& +3 "core" & l  +2 "storage"(& +4 "core" & p  +2 "manipulator"&:& +3 "core" &( W ?P +3 "manipulator"&% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@( +162 "core" ( +2 "manipulator"&K& +4 "core" & y ` +2 "storage"(F& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&h'9 +101 "core" ' + "storage"(a& +4 "core" & R  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'i +282 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" & z 6  +2 "manipulator"&z& +3 "core" & ` +3 .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&B& +3 "core" & O ` +2 "storage"(\\& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&;/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(W'X +7 "core" & f ` +2 "manipulator"&% +4 "core" % ϥ +2 .tForearm.seek :retract +2 "manipulator"&`'\ +96 "core" ' +4 .tElbow.seek PC + "manipulator"&j(s +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&& +4 "core" &i 3 ] 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &i 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +101 "core" ' + "manipulator"&& +4 "core" &i e 4 +2 "manipulator"&9% +4 "core" % +2 "processing"%V& +4 "core" &| +2 "processing"%p& +5 "core" &} +2 .tPC.seek :closed +2 "processing"%E(Z +5 "core" &  +8 &7{ )w +9 &kx = +10 &qy G +9 &rc{ F +10 &4d{ F +9 &f{ F +9 &d{ F +10 &yb{ G +9 &<d{ F +9 &h| G +10 & c{ G +9 &"g| G +9 &$Cb{ G +10 &&by G +9 &'h| G +10 &)h| G +9 &+Kg} G +9 &- f| G +10 &.d{ F +9 &0ez G +9 &2Scz G +10 &4b{ G +9 &5cx G +10 &7bw F +9 &9[e{ G +9 &;g{ F +10 &<e| F +9 &>hu G +9 &@ccr G +10 &B%bz G +9 &Cgy G +10 &El| G +9 &Gdvu I +9 &I!x K +10 &J{ L +9 &Lg L +9 &Neq L +10 &P&s L +9 &Qt L +10 &So M +9 &Ujj M +9 &W,m M +10 &Xw M +9 &Z?C^p %k +9 &Z\ (g \  +6 ( +2 "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 + .Hand.open + "manipulator"&"1 +3 "core" &Zp  +53 1 +2 "manipulator"&T% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 "processing"%Z& +4 "core" &Zc  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&|% +4 "core" %\ " ? +2 "storage"(~% +4 "core" %a +2 "storage"('. +3 "core" .( +2 "storage"(c& +3 "core" &  +3 "storage"(& +2 "manipulator"&0& +7 "core" &  + &i M 4 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +51 "storage"(#]@K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&](s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +3 "core" ( +2 "manipulator"&(& +3 "core" &i j 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &i 4 +3 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + .tHand.close +2 "manipulator"&8/ +58 "core" / +2 .tPC.seek :open +2 "processing"%>( +92 "core" ' +2 "storage"(- +2 "core" -'i +3 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'y +42 "core" ' +286 ( +2 "storage"(7& +3 "core" & U  +3 "manipulator"&*& +3 "core" &i 4 +2 "manipulator"& % +3 "core" % +3 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +269 "core" ( +2 "manipulator"&I& +3 "core" & ^  +2 "storage"(& +4 "core" & [  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +107 "core" ' +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(w- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"( 'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(O' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +3 "core" -' +2 "storage"(5& +4 "core" &\ -  C  +2 "manipulator"&& +3 "core" &  +3 .tElbow.seek 3 +2 "manipulator"&&( +7 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(& +3 "core" &\ ,  3  +3 .tForearm.seek 3 + 700 counts + "manipulator"&6'9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"()' +57 "core" ' +2 "manipulator"&k& +4 "core" & y  +2 "storage"(U& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&m'} +20 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(P'i +23 "core" ' +2 "manipulator"&_% +4 "core" %΅ +2 "storage"(v& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&['ϱ +21 "core" ' + "manipulator"&?& +4 "core" &   +2 "storage"(#& +4 "core" & +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&}'9 +32 "core" ' +2 "storage"(/% +3 "core" %s   +3 ."downElevator"SE.seek :down +3 "storage"(1'X +100 (% +3 "core" %U t PI +2 "manipulator"&N% +4 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (.& +4 "core" & D  +2 "collection"'o& +3 "core" &Vi F +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&l% +3 "core" %\   +2 "storage"(% +4 "core" %Q  +2 "storage"(u. +2 "core" .( +3 "storage"(& +3 "core" &   +41 "storage"( & +11 "core" &   +2 "manipulator"& & +4 "core" & \ \  +2 .tElbow.seek 3 +2 "manipulator"&R( +4 "core" ( +2 "manipulator"&3& +3 "core" & i  +2 "storage"(i& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&J'9 +94 "core" ' +2 "storage"(+& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'i +278 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" & `  +2 "storage"(e& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +21 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(%'O +28 "core" ' +2 "manipulator"&D% +3 "core" %{ \  +2 "storage"(2& +4 "core" & E  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts + "manipulator"&4'ϧ +23 "core" ' +2 "manipulator"&Q& +3 "core" &   +2 "storage"(X& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(H'> +38 "core" ' + "manipulator"&\ & +4 "core" & "  +2 "manipulator"&^% +4 "core" %5 c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +159 "core" ( +3 "manipulator"&G& +3 "core" &( h ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &( ; ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' +2 .tHand.close + "manipulator"&:/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( + "storage"(& +4 "core" & e  +2 "storage"(K& +3 "core" & | D  +2 "manipulator"&F& +4 "core" &( ?Q +2 "manipulator"&a% +4 "core" % 7 +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +160 "core" ( +2 "manipulator"&Y& +4 "core" & w +2 "storage"(C& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 +2 "manipulator"&z'} +98 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&;% +4 "core" % ΃ +2 "storage"(=& +3 "core" & .  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&'ϯ +20 "core" ' + "manipulator"&@& +4 "core" & M w +2 "storage"(h& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +49 "core" ' + "storage"(% +4 "core" %G  +3 ."downElevator"SE.seek :down +50 "storage"('X +52 (A% +3 "core" %U ! QH +2 "manipulator"&t% +3 "core" %'  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +104 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'9& +4 "core" & +2 "manipulator"&V% +5 "core" %\  Y  + "storage"(W% +4 "core" %b K +2 "storage"(`. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(f( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ("& +3 "core" & N +2 "manipulator"&T& +4 "core" & 2 w +2 .tElbow.seek 2 +2 "manipulator"&Z( +31 "core" ( +2 "manipulator"&|& +4 "core" & ? j +2 "storage"(~& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +93 "core" ' +2 "storage"(c& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'i +279 "core" ' +2 "storage"(0- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  m +3 "manipulator"&(& +3 "core" &\ ` +2 .tElbow.seek 2 +2 "manipulator"&g( +4 "core" ( +2 "manipulator"&s& +3 "core" &\ m ` +2 "storage"(8& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&' +37 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +62 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +4 "storage"(E'X +5 "core" &\ S ` +2 "manipulator"&% +5 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"& & +4 "core" &'  >I +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &' z >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'" +95 "core" ' +3 "manipulator"&& +4 "core" &( >I +2 "manipulator"&]% +5 "core" %& +2 "collection"'& +3 "core" & +2 "collection"'w& +6 "core" & +2 .tCC.seek :closed +2 "collection"'b(V +4 "core" & +7 &8 #b +9 &Z 5 +9 & G +10 &` F +9 &e F +10 &\\c F +9 &e F +9 &d F +10 &d F +9 &cc F +9 & %c F +10 &!d F +9 &#e F +10 &%je F +9 &',d F +9 &(c F +10 &*d F +9 &,rd F +10 &.5c F +9 &/c F +9 &1d F +10 &3{d F +9 &5=d F +9 &6f F +10 &8c E +9 &:e F +10 &f F +9 &?e E +10 &Ad F +9 &CKd G +9 &E i G +10 &Fr H +9 &H I +9 &JA1 M +10 &Kt P +9 &Mj{ P +10 &O}<J P +9 &Q>$, Q +9 &R R +10 &T  Q +9 &V(V  8 +9 &V +{ +10 &V{ R +2 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&51 +55 "core" 1 +3 "manipulator"&% +4 "core" % & V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &{ +2 "manipulator"&y% +4 "core" %\ o 0 +2 "storage"(k% +3 "core" %a +2 "storage"(U. +2 "core" .( +2 "storage"(_& +4 "core" &  b +46 "storage"(v& +7 "core" &  +2 "manipulator"&{& +3 "core" &% a <@ +2 "manipulator"& % +4 "core" %\ i 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?( +156 "core" ( + "manipulator"&#& +4 "core" &  +2 "storage"(/& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(O'i +282 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" &  { W +2 "manipulator"&6& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&&( +3 "core" ( +2 "manipulator"&)& +4 "core" &  +2 "storage"(m& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&[' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&./ +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&o& +4 "storage"(l'X +5 "core" &  +2 "manipulator"&% +6 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(s +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&& +4 "core" &r  $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &r $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&3& +3 "core" &r $ +2 "manipulator"&i% +4 "core" % n +2 "processing"%}& +4 "core" & +3 "processing"%+& +5 "core" & +2 .tPC.seek :closed +2 "processing"%1(Z +3 "core" &  +9 &9 )w +9 &m > +10 &m G +9 &|d{ F +9 &>e{ F +10 &e| F +9 &f| G +9 &g| F +10 &Fc} F +9 &e| F +10 & g{ G +9 &"bz F +9 &$Mfz G +10 &&h| G +9 &'cz G +9 &)c| G +10 &+Vbz F +9 &-dz G +10 &.h} G +9 &0iz G +9 &2]i} G +10 &4 h{ F +9 &5f{ F +9 &7i{ G +10 &9fh| F +9 &;(d| F +10 &<j{ G +9 &>gz G +9 &@me} G +10 &B/e| G +9 &Cjy G +9 &Enz G +10 &Goxz I +9 &I,y K +10 &Jx L +9 &Ln L +9 &Nnr L +10 &P0t L +9 &Qy L +9 &Sn L +10 &Utu M +9 &W6n M +10 &Xm M +9 &ZID_o #f +9 &Z&x " +6 ( +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open + "manipulator"&r1 +3 "core" &Zk " +50 1 +2 "manipulator"&!% +3 "core" % r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +3 "processing"%d& +3 "core" &Zg " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&e% +4 "core" %\ # A +2 "storage"(<% +4 "core" %[ +2 "storage"(D. +3 "core" .( +2 "storage"(2& +4 "core" &  +2 "storage"(Q& +2 "manipulator"&X& +9 "core" &  + &r $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&\ (s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'i +2 "core" ( +3 "manipulator"&J& +4 "core" &r $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &r E $ +3 .tForearm.seek PC +2 "manipulator"&$' +140 "core" ' +5 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%4( +40 "core" ' +2 "storage"(%- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'y +32 "core" ' +347 ( +2 "storage"(L& +3 "core" &  +2 "manipulator"&& +4 "core" &r $ +2 "manipulator"&M% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +268 "core" ( + "manipulator"&,& +4 "core" & +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +100 "core" ' +3 .tHand.open + "manipulator"&F1 +60 "core" 1 +2 "storage"(a- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Y'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(C' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +2 "core" -' +3 "storage"(S& +3 "core" & \ Y\ L 6 +2 "manipulator"&\\& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&;( +4 "core" ( + "manipulator"&=& +4 "core" & j +2 "storage"(@& +4 "core" &  |\ + _ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&h'ќ +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 "manipulator"&q& +4 "core" & +2 "storage"(A& +3 "core" &  K +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&t' +28 "core" ' +2 .tElbow.hold + "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'i +24 "core" ' + "manipulator"&% +4 "core" % p +2 "storage"(9& +4 "core" &  h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&V' +20 "core" ' +2 "manipulator"&W& +3 "core" & +2 "storage"(`& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'ќ +22 "core" ' +2 "storage"(-% +3 "core" %s   +4 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %Z a g QK +2 "manipulator"&"% +4 "core" %| > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &  r  +2 "collection"'~& +4 "core" &Vw R +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&c% +4 "core" %\   +2 "storage"(B% +4 "core" %[ + "storage"(. +3 "core" .( +2 "storage"(0& +4 "core" &  +2 "storage"(& +3 "core" &  e +2 "manipulator"&(& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&s( +4 "core" ( + "manipulator"&8& +4 "core" & @ +2 "storage"(j& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +145 "core" ' +3 "storage"(& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'i +282 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(]'N +27 "core" ' +2 "manipulator"&% +3 "core" % / +2 "storage"(g& +4 "core" &  h d v +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&E' +19 "core" ' + "manipulator"&7& +4 "core" & +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +38 "core" ' + "manipulator"&& +4 "core" & 0 +2 "manipulator"&y% +3 "core" %ћ H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +162 "core" ( +2 "manipulator"&_& +4 "core" &&  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" && =G +2 .tForearm.seek CC +2 "manipulator"&v'" +94 "core" ' + .tHand.close +2 "manipulator"&{/ +61 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( + "storage"(I& +4 "core" &  - +2 "storage"(#& +4 "core" &   +2 "manipulator"&/& +3 "core" &%  ;8 +2 "manipulator"&% +4 "core" % ! V +2 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&n( +158 "core" ( +2 "manipulator"&& +4 "core" & X  +2 "storage"(N& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&6' +101 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&m1 +60 "core" 1 +2 "manipulator"&.% +4 "core" % e + "storage"(o& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +21 "core" ' +3 "manipulator"&?& +4 "core" & n  +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +29 "core" ' +2 "storage"([% +4 "core" %C - +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +4 "core" %R j OE +2 "manipulator"&&% +3 "core" %ѡ E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +93 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +45 "collection"'i& +6 "core" & +2 "manipulator"&}% +5 "core" %\ 5 + "storage"(l% +4 "core" %b W +2 "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +3 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&d( +14 "core" ( + "manipulator"&e& +4 "core" & 1 m +2 "storage"(<& +4 "core" & '  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +95 "core" ' +2 "storage"(2& +4 "core" & A  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'i +281 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" & U  +2 "manipulator"&J& +4 "core" & g m +2 .tElbow.seek 3 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"& & +4 "core" & m + "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&%'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(1'X +7 "core" & m +2 "manipulator"&^% +4 "core" % ϡ * +2 .tForearm.seek :retract +2 "manipulator"&L'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&M& +3 "core" &( $ ?Q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &$& +2 "core" &( ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'" +96 "core" ' + "manipulator"&& +4 "core" &( > ?Q +2 "manipulator"&\ % +4 "core" %+ 3 +2 "collection"'F& +4 "core" & +3 "collection"'a& +5 "core" & +4 .tCC.seek :closed +3 "collection"'(V +2 "core" & +6 & 8 +9 &MM / +9 &} D +9 &L` F +10 &c F +9 &a F +10 &c F +9 &Tc F +9 &c F +10 &d F +9 &g F +9 &![d F +10 &#d F +9 &$d F +10 &&c F +9 &(dc F +9 &*&c F +10 &+c E +9 &-c F +9 &/kd F +10 &1-c F +9 &2b F +10 &4c E +9 &6sc F +9 &86c F +10 &9c E +9 &;d F +9 &=zc F +10 &?=d F +9 &@d F +10 &Be F +9 &Df F +9 &FBm G +10 &G I +9 &I K +10 &Knt\\ P +9 &M/v P +9 &NAR P +10 &P(- P +9 &Rr Q +9 &T2  R +10 &Uv  C +9 &Vu !_ +9 &V" L +9 ( +2 &Vu I +2 "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&S1 +53 "core" 1 +2 "manipulator"&\\% +3 "core" % + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%@& +4 "core" & +2 "manipulator"&:% +4 "core" %\ #  ? +2 "storage"(q% +4 "core" %V + "storage"(A. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(G& +3 "core" &  +2 "manipulator"&9& +4 "core" &( s ?Q +2 "manipulator"&Y% +4 "core" %\ # K ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W( +159 "core" ( +2 "manipulator"&`& +3 "core" & v +2 "storage"(-& +4 "core" &   +47 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' +2 "storage"(K& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &  +2 "manipulator"&h& +4 "core" & v +2 .tElbow.seek 3 +2 "manipulator"&;( +4 "core" ( + "manipulator"&& +4 "core" & ] v +2 "storage"(t& +5 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&V'ϩ +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +64 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&~& +3 "storage"(c'X +8 "core" &  v +2 "manipulator"&B% +4 "core" % ϴ , u +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&z(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +4 "manipulator"&0& +3 "core" &g ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &g v ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&(' +101 "core" ' +2 "manipulator"&8& +3 "core" &g ? +2 "manipulator"&j% +4 "core" % +2 "processing"%H& +4 "core" & +3 "processing"%& +5 "core" & +3 .tPC.seek :closed +4 "processing"%(Z +2 "core" & +5 & 8 +10 &QN / +9 &{ D +9 &Jg G +10 & j G +9 &g G +9 &f} F +10 &Ri{ G +9 &h F +10 &b| F +9 &h| G +9 &![gz F +10 &#ez G +9 &$dz G +9 &&b{ F +10 &(bf{ G +9 &*$g{ G +10 &+cz F +9 &-dz F +9 &/kd{ F +10 &1-ez F +9 &2e{ F +9 &4h{ G +10 &6rb{ G +9 &84gz G +10 &9fv G +9 &;bv G +9 &={by F +10 &?=dz F +9 &@eu F +9 &Bgz F +10 &Djz G +9 &F@q~ H +10 &Gz J +9 &Iw L +9 &K|{ L +10 &M>r L +9 &Ov L +9 &Px L +10 &Rt L +9 &TDr L +10 &Vt L +9 &Wt M +9 &Yu : +10 &Zy5o L +9 &Zi ! +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&x1 +59 "core" 1 +2 "manipulator"&T% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +101 "core" ' + "processing"% & +4 "core" &Zh ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ \  +2 "storage"(% +4 "core" %S  +2 "storage"(. +3 "core" .( +2 "storage"(g& +4 "core" & (  +2 "storage"(7& +2 "manipulator"&& +8 "core" &   + &g ? +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('i + "manipulator"&y(s +28 "core" ( +2 "manipulator"& & +4 "core" &o h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &o v +2 .tForearm.seek PC +2 "manipulator"&Z' +93 "core" ' +2 .tHand.close + "manipulator"&p/ +63 "core" / +2 .tPC.seek :open +2 "processing"%E( +61 "core" ' + "storage"(]- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(_'y +60 "core" ' +299 ( +2 "storage"(w& +3 "core" &   +2 "manipulator"&5& +4 "core" &o +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&{'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&k( +247 "core" ( +2 "manipulator"&b& +4 "core" & @ # +2 "storage"(I& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&#'9 +92 "core" ' + .tHand.open +2 "manipulator"&/1 +56 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(N' +49 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(v- +2 "core" -' +2 "storage"(U& +67 "core" &\ ) x k  +2 "manipulator"&m& +3 "core" & # +2 .tElbow.seek 3 +2 "manipulator"&.( +4 "core" ( + "manipulator"&o& +4 "core" & # +2 "storage"(?& +4 "core" &\ 7\ S %  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"([' +57 "core" ' + "manipulator"&*& +4 "core" & # +2 "storage"( & +3 "core" & $  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'} +23 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(6'i +30 "core" ' +2 "manipulator"&i% +3 "core" %Ί M +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'϶ +20 "core" ' +2 "manipulator"&}& +3 "core" & # +2 "storage"(l& +4 "core" & w  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&P'9 +33 "core" ' +2 "storage"(O% +3 "core" %l  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (f% +3 "core" %O^ k u QK +2 "manipulator"&r% +4 "core" %7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +88 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (e& +3 "core" & F  +2 "collection"'<& +3 "core" &Vn I +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&2% +4 "core" %\  \\  +2 "storage"()% +4 "core" %\\ + "storage"(3. +3 "core" .( +2 "storage"(Q& +5 "core" & 4  + "storage"(+& +4 "core" & w  +2 "manipulator"&J& +3 "core" & # +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&& +3 "core" & ^ # +2 "storage"(u& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +96 "core" ' + "storage"(^& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +278 "core" ' +3 "storage"(D- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & # +2 "storage"($& +47 "core" &   +5 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&X'} +26 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\ 'O +27 "core" ' +2 "manipulator"&F% +4 "core" %| +2 "storage"(R& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 299 counts + "manipulator"&1'Ϩ +21 "core" ' +2 "manipulator"&L& +3 "core" & h # +2 "storage"( & +4 "core" & +  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&S'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate + "storage"(\\'> +38 "core" ' +2 "manipulator"&@& +4 "core" & \\ # + "manipulator"&:% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +159 "core" ( + "manipulator"&& +4 "core" && =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" && q =E +2 .tForearm.seek CC +2 "manipulator"&G'" +93 "core" ' +2 .tHand.close + "manipulator"&9/ +65 "core" / +2 .tCC.seek :open + "collection"'Y( +417 "core" ( + "storage"(,& +4 "core" & (  +2 "storage"(`& +4 "core" & Y  +2 "manipulator"&-& +3 "core" && =E +2 "manipulator"&% +4 "core" % + ` +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&=( +160 "core" ( + "manipulator"&& +4 "core" & ^ | +2 "storage"("& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&h'} +102 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +57 "core" 1 +2 "manipulator"&|% +3 "core" % | +2 "storage"(~& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts +2 "manipulator"&B'Ϩ +20 "core" ' +3 "manipulator"&W& +3 "core" &  | +2 "storage"(& +4 "core" & P  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&C'9 +33 "core" ' +2 "storage"(V% +4 "core" %D >  +3 ."downElevator"SE.seek :down +3 "storage"(0'X +99 (% +3 "core" %S OE +2 "manipulator"&;% +4 "core" %9 D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +93 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'j& +3 "core" & +2 "manipulator"&H% +4 "core" %\ " > +2 "storage"(c% +3 "core" %\\ , +2 "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(4( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +46 "core" & ? +6 "manipulator"&T& +4 "core" & | +2 .tElbow.seek 2 + "manipulator"& ( +43 "core" ( + "manipulator"&& +4 "core" & "~ +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' +2 "storage"(& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'i +278 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"& & +4 "core" & !w +2 .tElbow.seek 2 +2 "manipulator"&s( +30 "core" ( +2 "manipulator"&(& +4 "core" & ( } +2 "storage"(p& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&]' +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"('X +7 "core" & 4 } +2 "manipulator"&% +4 "core" %  d +2 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&& +3 "core" & 4 6 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'" +101 "core" ' +2 "manipulator"&I& +3 "core" & 3 6 +2 "manipulator"&y% +8 "core" %& F +3 "collection"'/& +4 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'v(V +4 "core" &  +9 &7 )v +9 &l = +10 &n F +9 &xc F +9 &;c E +10 &c F +9 &d F +9 &c F +10 &Aa F +9 &c F +10 & c F +9 &"b F +9 &$Ic F +10 && c F +9 &'c F +10 &)f F +9 &+Rc F +9 &-c E +10 &.b F +9 &0e F +9 &2Yf F +10 &4c F +9 &5f F +10 &7b F +9 &9af F +9 &;$c F +10 &<c F +9 &>g F +9 &@ic F +10 &B,d F +9 &Ce F +9 &El G +10 &Gkv H +9 &I) J +10 &JY7 N +9 &L P +9 &N]Pc P +10 &P-5 P +9 &Q Q +9 &S R +10 &U]  A +9 &Vt> . +10 &V_ @ +5 ( +2 "collection"'& +4 "core" &VT @ +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open + "manipulator"&{1 +63 "core" 1 +3 "manipulator"&U% +4 "core" % & \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%o& +4 "core" & +2 "manipulator"&?% +3 "core" %\  +2 "storage"(*% +4 "core" %]  +2 "storage"( . +2 "core" .( +2 "storage"(_& +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&i& +3 "core" & 6 +2 "manipulator"&% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&}( +150 "core" ( +2 "manipulator"&l& +4 "core" & f +2 "storage"(O& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +96 "core" ' +2 "storage"(#& +4 "core" & 0 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(N'i +276 "core" ' +2 "storage"(f- +2 "core" -' +46 .tSE.configure :default +6 "storage"(#QK-0-\ b +3 (r& +3 "core" &  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&[& +4 "core" & z +2 "storage"(&& +4 "core" & M +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(2'X +8 "core" & w +2 "manipulator"&)% +3 "core" %  @ h +3 .tForearm.seek :retract + "manipulator"&3'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6(s +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&Q& +4 "core" &j . g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &j A  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&J' +97 "core" ' +2 "manipulator"&& +4 "core" &j a  +2 "manipulator"&u% +3 "core" %  +2 "processing"%P& +4 "core" & +3 "processing"%^& +4 "core" & +3 .tPC.seek :closed + "processing"%(Z +4 "core" & +7 &D #b +10 &\\ 6 +9 & H +10 &e F +9 &h G +9 &`c F +10 &"d F +9 &e F +10 &i G +9 &hh F +9 & *f F +10 &!h G +9 &#c| G +9 &%oh~ G +10 &'0hv G +9 &(e{ F +9 &*ew F +10 &,wc{ G +9 &.9c{ G +10 &/gw G +9 &1hz F +9 &3e F +10 &5Ad G +9 &7b F +10 &8d{ F +9 &:c F +9 &\ g G +9 &?c} G +9 &Acw F +10 &CQgt G +9 &Ejz G +10 &Fuz H +9 &Hx J +9 &JKx L +10 &L  L +9 &Mu L +9 &Oz L +10 &QR L +9 &Sx M +10 &T{ L +9 &V{ L +9 &XXs M +10 &Yxv !h +9 &Z)uw - +9 ( + &Z{ +3 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&n1 +60 "core" 1 +2 "manipulator"&!% +4 "core" % i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +2 "processing"%M& +4 "core" &Z_ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&$% +4 "core" %\   +2 "storage"(% +4 "core" %Q  +2 "storage"(F. +3 "core" .( +2 "storage"(R& +3 "core" &  +3 "storage"(L& +2 "manipulator"& & +6 "core" & + &j  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&@(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(:'i +2 "core" ( +2 "manipulator"&& +4 "core" &j v  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&d' +91 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +2 .tPC.seek :open +2 "processing"%1( +87 "core" ' + "storage"(\ - +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +300 ( + "storage"(a& +4 "core" &  +2 "manipulator"&S& +4 "core" &j  +2 "manipulator"&%% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&q( +267 "core" ( +2 "manipulator"&& +4 "core" & h +2 "storage"(,& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&`'ќ +98 "core" ' + .tHand.open + "manipulator"&-1 +60 "core" 1 +2 "storage"(- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"("' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(G- +3 "core" -' +2 "storage"(A& +4 "core" & L M : +2 "manipulator"&t& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&~& +4 "core" & . +2 "storage"(W& +3 "core" & J K G +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(V' +59 "core" ' +2 "manipulator"&K& +3 "core" & - +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&;' +21 "core" ' +2 .tElbow.hold + "manipulator"&=, +3 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'i +24 "core" ' + "manipulator"&B% +4 "core" % +2 "storage"(j& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&H' +18 "core" ' +2 "manipulator"&c& +4 "core" & / +2 "storage"(& +4 "core" & G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&\\'ќ +29 "core" ' +2 "storage"(C% +4 "core" %n  +3 ."downElevator"SE.seek :down +3 "storage"(0'X +99 (>% +2 "core" %HX QJ +3 "manipulator"&x% +3 "core" %Ѩ a +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 2 +2 "collection"'& +4 "core" &VT @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %a  +2 "storage"(8. +3 "core" .( +2 "storage"(7& +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"& & +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&(( +4 "core" ( + "manipulator"&p& +4 "core" & M +2 "storage"(z& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +102 "core" ' +3 "storage"(& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(Z& +4 "core" & t +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&g' +28 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +47 "storage"(y'N +30 "core" ' + "manipulator"&s% +4 "core" % { 4 +2 "storage"(/& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&w& +4 "core" & Q +2 "storage"(Y& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'ќ +20 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(U'= +39 "core" ' + "manipulator"&o& +4 "core" & K +2 "manipulator"&?% +4 "core" %ѥ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +152 "core" ( +2 "manipulator"&& +3 "core" & [ 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" & i 6 +2 .tForearm.seek CC +2 "manipulator"&'" +94 "core" ' + .tHand.close +2 "manipulator"&i/ +54 "core" / +4 .tCC.seek :open + "collection"'( +416 "core" ( + "storage"(b& +4 "core" &  +2 "storage"(l& +3 "core" &  +2 "manipulator"&O& +4 "core" & 6 +2 "manipulator"&#% +3 "core" % ' +3 .tForearm.seek :retract + "manipulator"&5'\ +98 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&m( +159 "core" ( +2 "manipulator"&f& +3 "core" & (  +2 "storage"(r& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +100 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +64 "core" 1 +2 "manipulator"&e% +4 "core" % { +2 "storage"(<& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&)' +20 "core" ' +2 "manipulator"&}& +3 "core" &   +2 "storage"(k& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +24 "core" ' + "storage"(% +4 "core" %C  +3 ."downElevator"SE.seek :down +3 "storage"(Q'X +99 (+% +3 "core" %T PG +2 "manipulator"&.% +4 "core" %ы ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'u& +3 "core" & +2 "manipulator"&P% +5 "core" %\   +2 "storage"(2% +3 "core" %b  +2 "storage"(3. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(E( +341 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&M( +15 "core" ( +2 "manipulator"&$& +4 "core" & H T + "storage"(& +4 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +102 "core" ' +5 "storage"(R& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +280 "core" ' +2 "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (^& +2 "core" &   +3 "manipulator"&& +3 "core" & 7 T +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&J& +4 "core" &  T +2 "storage"(X& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"('X +8 "core" & T +2 "manipulator"&:% +3 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&%& +4 "core" &%  ~ <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &% <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'" +99 "core" ' + "manipulator"&,& +4 "core" &% <> +4 "manipulator"&@% +4 "core" % +2 "collection"'-& +4 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'G(V +4 "core" & +6 &I #b +10 &] 6 +9 &) G +9 &b F +10 &e F +9 &qc F +9 &3c F +10 &c F +9 &c F +10 &yc F +9 & ;e F +9 &!d F +10 &#e F +9 &%d F +9 &'Be F +10 &)e F +9 &*d F +10 &,d E +9 &.Jc F +9 &0 d F +10 &1d F +9 &3c F +9 &5Tc E +10 &7e F +9 &8c F +10 &:d E +9 &e F +10 &?d F +9 &Ae F +9 &Cbe F +10 &E!k G +9 &Fs H +10 &H I +9 &JU9 M +9 &L~w P +10 &MYq P +9 &O,9 P +9 &QT P +10 &S\  R +9 &T  R +10 &VEi / +9 &V 3 +9 &Vv J +6 ( +2 "collection"'& +3 "core" &Vj J +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&A1 +57 "core" 1 +3 "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +3 "core" & +2 "manipulator"&9% +4 "core" %\  +2 "storage"(K% +4 "core" %a +2 "storage"(. +2 "core" .( +2 "storage"(B& +4 "core" &  +2 "storage"(j& +4 "core" &  +2 "manipulator"&& +3 "core" &% <> +2 "manipulator"&c% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" & N X +2 "storage"(C& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&q'9 +94 "core" ' + "storage"(`& +4 "core" & :  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'i +276 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & O  +2 "manipulator"&& +4 "core" & ~ X +2 .tElbow.seek 3 +2 "manipulator"&|( +4 "core" ( + "manipulator"&V& +4 "core" & 4 X +2 "storage"(;& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&H'ϩ +65 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"('X +7 "core" & X +2 "manipulator"&% +4 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(s +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +3 "manipulator"&7& +4 "core" &w / \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &w \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +102 "core" ' +2 "manipulator"&p& +4 "core" &w D \ +2 "manipulator"&z% +4 "core" % > +2 "processing"%\\& +4 "core" & +3 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%0(Z +4 "core" &  +9 &9 )w +9 &m > +9 &p G +10 &d F +9 &Bb F +9 &e G +10 &e G +9 &b F +10 &Jc F +9 & c G +9 & b G +10 &"g F +9 &$Rc F +9 &&b G +10 &'g G +9 &)g G +10 &+Yd G +9 &-b F +9 &.e F +10 &0c G +9 &2bc F +9 &4$c F +10 &5d F +9 &7g G +10 &9hf G +9 &;+b G +9 &<h G +10 &>f G +9 &@qc G +9 &B3h G +10 &Ch F +9 &En G +10 &Gsx I +9 &I1 J +9 &J L +10 &L L +9 &Nt K +9 &P3 L +10 &Q M +9 &S M +10 &Ux M +9 &W: M +9 &X M +10 &ZLC` !b +9 &Z\ + # +5 ( +2 "processing"%& +4 "core" &Z # +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&=1 +57 "core" 1 +2 "manipulator"&T% +4 "core" %  x > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%& +3 "core" &Zr # +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Z% +4 "core" %\   +2 "storage"(I% +3 "core" %P +2 "storage"(s. +3 "core" .( +2 "storage"(/& +4 "core" & A  +2 "storage"(w& +2 "manipulator"&Y& +9 "core" & U  + &w \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&o(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'i +3 "core" ( + "manipulator"&'& +4 "core" &w \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &w \ +3 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&g/ +53 "core" / +3 .tPC.seek :open +2 "processing"%( +87 "core" ' + "storage"(y- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +302 ( + "storage"(_& +4 "core" & e  +2 "manipulator"&{& +4 "core" &w \ +2 "manipulator"&]% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&*( +263 "core" ( +2 "manipulator"&v& +4 "core" & b + "storage"(b& +4 "core" & ;  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&l'9 +97 "core" ' +2 .tHand.open + "manipulator"&O1 +63 "core" 1 +2 "storage"(#- +49 "core" -'y +6 .tSE.seek -0.12 Pucks below Top Plate + "storage"(f'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(r' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"( & +4 "core" & \ , p  +2 "manipulator"&&& +4 "core" & +2 .tElbow.seek 3 +2 "manipulator"&e( +8 "core" ( +2 "manipulator"&<& +3 "core" & m  +2 "storage"(}& +4 "core" &\ . ~ [  +3 .tForearm.seek 3 + 700 counts + "manipulator"&k'9 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(+& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&.'} +20 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&u% +4 "core" %Ύ +2 "storage"()& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&P'Ϻ +21 "core" ' +2 "manipulator"&2& +8 "core" & 1  +2 "storage"(3& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +25 "core" ' +2 "storage"(N% +3 "core" %l  \ +3 ."downElevator"SE.seek :down +3 "storage"(Q'X +99 (4% +3 "core" %KZ QJ +3 "manipulator"&n% +3 "core" %w ~ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ($& +3 "core" & z  +2 "collection"'& +4 "core" &Vh J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&R% +4 "core" %\   +2 "storage"([% +4 "core" %\\  +2 "storage"(. +3 "core" .( +2 "storage"(L& +3 "core" &   +2 "storage"(^& +4 "core" & k  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&J( +2 "core" ( +2 "manipulator"&X& +4 "core" & r  +2 "storage"(6& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&D'9 +96 "core" ' +2 "storage"(:& +3 "core" & ?  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'i +283 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &  +2 "storage"(d& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"& '} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(@'O +32 "core" ' + "manipulator"&-% +4 "core" %{ +2 "storage"( & +3 "core" & F  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 298 counts + "manipulator"&'ϧ +20 "core" ' + "manipulator"&a& +4 "core" & /  +2 "storage"(& +4 "core" &   +46 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(t'> +39 "core" ' + "manipulator"&W& +4 "core" & S  +2 "manipulator"&9% +4 "core" %; @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&B& +4 "core" &' s >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' e >N +2 .tForearm.seek CC +2 "manipulator"&j'" +93 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'c( +417 "core" ( + "storage"(& +4 "core" & ,  +2 "storage"(& +3 "core" &   +2 "manipulator"&C& +4 "core" &' >M +2 "manipulator"&`% +3 "core" % 2  +3 .tForearm.seek :retract + "manipulator"&S'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&~( +163 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"(x& +3 "core" &   +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +101 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +62 "core" 1 +2 "manipulator"&% +4 "core" % } _ +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +20 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(q& +4 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&"'9 +28 "core" ' +2 "storage"(H% +3 "core" %D l +3 ."downElevator"SE.seek :down +3 "storage"(7'X +99 (% +3 "core" %wU H PF +2 "manipulator"&|% +4 "core" %$  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'z& +3 "core" & +2 "manipulator"&\\% +4 "core" %\ $ C +2 "storage"(% +4 "core" %^  + "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(1( +341 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" & * +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +30 "core" ( + "manipulator"&Z& +4 "core" & $ +2 "storage"(I& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +94 "core" ' +2 "storage"(/& +3 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(Y'i +276 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & y J +2 "manipulator"&'& +4 "core" & # +44 .tElbow.seek 2 +7 "manipulator"&(( +4 "core" ( +2 "manipulator"& & +3 "core" & z # +2 "storage"(g& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&y' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(0'X +8 "core" & c "~ +2 "manipulator"&?% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&{( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&]& +5 "core" &   2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'" +96 "core" ' +2 "manipulator"&b& +4 "core" &\  2 +2 "manipulator"&o% +4 "core" % +2 "collection"'O& +4 "core" & +2 "collection"'#& +6 "core" & +2 .tCC.seek :closed +2 "collection"'i(V +3 "core" & +7 & : +9 &PP / +10 &| D +9 &Ne F +9 &c F +10 &d E +9 &d F +10 &Vc F +9 &e F +9 &c F +10 &d F +9 &!_e F +9 &#g F +10 &$e F +9 &&c F +10 &(fc F +9 &*)c F +9 &+c F +10 &-g F +9 &/od F +9 &12c E +10 &2d F +9 &4d F +10 &6vg F +9 &89c F +9 &9b F +10 &;e F +9 &=~e F +9 &?Ad F +10 &Ac F +9 &Bh F +10 &Df G +9 &FEl G +9 &H{ H +10 &I K +9 &Kqs\\ P +9 &M3v P +10 &N=P P +9 &P#+ Q +10 &Rt R +9 &T4\  R +9 &Uy ; +10 &V1 %o +9 &VW A +2 ( +2 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"& % +4 "core" %  t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%<& +4 "core" & +2 "manipulator"&}% +4 "core" %\ \  +2 "storage"(5% +4 "core" %a  + "storage"(+. +3 "core" .( +2 "storage"(u& +4 "core" &  +2 "storage"(& +4 "core" &  +2 "manipulator"&)& +3 "core" &\  2 +2 "manipulator"&f% +4 "core" %\ \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&2( +162 "core" ( +2 "manipulator"&3& +4 "core" & 7  + "storage"(N& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&*'ќ +104 "core" ' + "storage"(l& +4 "core" & W +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'i +282 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" & ( +2 "manipulator"&k& +4 "core" & 6  +2 .tElbow.seek 2 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(.& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&P' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&$/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(R'X +6 "core" & q  +2 "manipulator"&[% +4 "core" % h  +2 .tForearm.seek :retract +2 "manipulator"&'\ +145 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +112 "core" ' + ."downElevator"SE.stop + "storage"(5 +156 "core" ( + "manipulator"&L& +4 "core" &g [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +103 "core" ' + "manipulator"&X& +4 "core" &h +2 "manipulator"&6% +4 "core" % +2 "processing"%U& +4 "core" & +3 "processing"%:& +4 "core" & +3 .tPC.seek :closed +2 "processing"%Q(Z +4 "core" & +6 & 8 +9 &PN / +10 &{ D +9 &Jf F +9 & d G +10 &h G +9 &i F +9 &Qb G +10 &g G +9 &c G +10 &c F +9 &!Ze F +9 &#j G +10 &$c F +9 &&e F +9 &(ad G +10 &*$c F +9 &+e F +9 &-i G +10 &/jh F +9 &1,f F +10 &2h G +9 &4g G +9 &6qd G +10 &83h G +9 &9h G +9 &;c F +10 &=ze F +9 &?;h G +10 &@g F +9 &Bl G +9 &Dj G +10 &F@r H +9 &G I +10 &I K +9 &Kz L +9 &M= L +10 &N L +9 &P L +9 &R M +10 &TA M +9 &V L +10 &W M +9 &Y : +9 &Zw5 O +10 &Z +2 ( +2 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&m1 +57 "core" 1 +2 "manipulator"&!% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +100 "core" ' +2 "processing"%%& +3 "core" &Zy +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&d% +3 "core" %\ " v B +2 "storage"(,% +4 "core" %` +2 "storage"(-. +2 "core" .( +3 "storage"( & +3 "core" & w +2 "storage"(a& +3 "manipulator"&& +7 "core" & + &h +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&W(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'i +2 "core" ( +3 "manipulator"&D& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &i H  +2 .tForearm.seek PC +2 "manipulator"&M' +97 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +4 .tPC.seek :open + "processing"%( +87 "core" ' + "storage"(@- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'y +33 "core" ' +303 ( + "storage"(& +4 "core" &  +2 "manipulator"&A& +4 "core" &j  +2 "manipulator"&\ % +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&K( +240 "core" ( + "manipulator"&G& +4 "core" & # +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +88 "core" ' + .tHand.open +2 "manipulator"&C1 +62 "core" 1 +2 "storage"(`- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(>'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(x' +49 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(j- +2 "core" -' +3 "storage"(& +4 "core" & I I # + "manipulator"&;& +4 "core" & # +42 .tElbow.seek 2 +9 "manipulator"&( +4 "core" ( +2 "manipulator"&& +4 "core" & # +2 "storage"(& +3 "core" & I I # +3 .tForearm.seek 2 + 700 counts + "manipulator"&q'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(H' +58 "core" ' + "manipulator"&S& +4 "core" & # +2 "storage"(& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&|' +25 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"(z& +4 "core" & L +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&\\' +20 "core" ' +2 "manipulator"&& +3 "core" & ~ # +2 "storage"(8& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&t'ќ +24 "core" ' + "storage"("% +4 "core" %q  +3 ."downElevator"SE.seek :down +4 "storage"(7'X +98 (E% +3 "core" %sX RK +2 "manipulator"&=% +4 "core" %Ѥ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +3 "core" & " +2 "collection"'I& +4 "core" &VT A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&/% +4 "core" %\ " \  A +2 "storage"(V% +5 "core" %Y  + "storage"(p. +4 "core" .( + "storage"(w& +4 "core" & 8 +2 "storage"(& +4 "core" & $ + "manipulator"&'& +4 "core" & S # +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&g& +4 "core" & # +2 "storage"(h& +3 "core" & < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +97 "core" ' + "storage"(?& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +283 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +3 "core" & # +2 "storage"( & +4 "core" & @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&Y' +19 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(o'N +29 "core" ' +2 "manipulator"&O% +3 "core" % +2 "storage"((& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&0' +20 "core" ' +2 "manipulator"&_& +4 "core" & ( # +2 "storage"(c& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +23 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '= +39 "core" ' +2 "manipulator"&<& +4 "core" & # +2 "manipulator"&}% +3 "core" %р Q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +48 "manipulator"&5'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +157 "core" ( +3 "manipulator"&u& +4 "core" &( R ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&'" +95 "core" ' + .tHand.close +2 "manipulator"&)/ +58 "core" / +2 .tCC.seek :open +2 "collection"'f( +416 "core" ( +2 "storage"(v& +3 "core" & 6 +2 "storage"(3& +4 "core" & +2 "manipulator"&N& +3 "core" & % ;5 +2 "manipulator"&l% +4 "core" %  @ +2 .tForearm.seek :retract +2 "manipulator"&{'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&&( +165 "core" ( + "manipulator"&4& +4 "core" &  +2 "storage"(n& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&k' +97 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&.1 +62 "core" 1 +2 "manipulator"&$% +4 "core" % +2 "storage"(& +5 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&[' +20 "core" ' + "manipulator"&2& +4 "core" & 6  +2 "storage"(*& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +20 "core" ' +2 "storage"(P% +4 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"(L'X +99 (^% +3 "core" %W { : PG +2 "manipulator"&e% +3 "core" %ѧ S m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'6& +3 "core" &  +2 "manipulator"&U% +4 "core" %\  - +2 "storage"(R% +4 "core" %b # +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +339 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&%( +13 "core" ( + "manipulator"&d& +4 "core" & g S +2 "storage"(,& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +95 "core" ' +2 "storage"( & +3 "core" & X  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'i +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" & m  +2 "manipulator"&D& +4 "core" & S +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&& +4 "core" & r S +2 "storage"( & +3 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +49 ."downElevator"SE.seek :down +3 "manipulator"&F& +3 "storage"(Q'X +8 "core" & S +2 "manipulator"&9% +4 "core" % Ϭ H  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&\ & +4 "core" &  - a 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'" +101 "core" ' +2 "manipulator"&& +4 "core" &\  2 +2 "manipulator"&W% +4 "core" %  +2 "collection"'C& +5 "core" &  +2 "collection"'`& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'j(V +4 "core" &\  +9 & 8 )w +10 &$l = +9 &n G +10 &c E +9 &Gc F +9 & d F +10 &c F +9 &c F +9 &Pd F +10 &e F +9 & d F +10 &"e F +9 &$Xd F +9 &&d F +10 &'e F +9 &)c F +9 &+`e F +10 &-"d F +9 &.d F +10 &0e F +9 &2id F +9 &4*b F +10 &5e F +9 &7d F +9 &9pg F +10 &;3e F +9 &<e F +10 &>e F +9 &@yd F +9 &B:c F +10 &Cg F +9 &En G +9 &Gz{ H +10 &I7 J +9 &J[: O +10 &L~ P +9 &NjOb P +9 &P,+3 P +10 &Q Q +9 &S  R +9 &Ul  > +10 &VK P +9 &V% #k +9 ( +2 &V N +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +4 "manipulator"&;% +3 "core" %  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&% +4 "core" %\   +2 "storage"(S% +3 "core" %` +2 "storage"(. +3 "core" .( +2 "storage"(B& +4 "core" &  +2 "storage"(>& +3 "core" &  +2 "manipulator"&& +4 "core" &\  2 +2 "manipulator"&z% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&8& +4 "core" & - w +2 "storage"("& +3 "core" & 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K'9 +94 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'i +279 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" &  +3 "manipulator"&q& +3 "core" & w +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" & w +2 "storage"(|& +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'ϩ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +58 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&I& +4 "storage"(/'X +5 "core" & w +2 "manipulator"&% +4 "core" % Ϧ , +2 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p(s +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&w& +4 "core" &w  q ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" &w ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'' +150 "core" ' +2 "manipulator"&g& +4 "core" &w X ! +2 "manipulator"&h% +4 "core" % X i +2 "processing"%t& +4 "core" & +2 "processing"%?& +6 "core" & +2 .tPC.seek :closed +2 "processing"%7(Z +4 "core" &  +8 &8 )w +10 &l = +9 &p G +10 &tc F +9 &6c F +9 &e F +10 &c G +9 &{c G +9 &>b F +10 &e F +9 & e F +10 &"e F +9 &$Fd F +9 &&d F +10 &'f G +9 &)h G +9 &+Ng F +10 &-e F +9 &.c F +10 &0h G +9 &2Uc G +9 &4b G +10 &5g G +9 &7g F +9 &9^e F +10 &;b G +9 &<h G +10 &>e G +9 &@eb G +9 &B'c G +10 &Cg G +9 &El H +9 &Ggy I +10 &I$ K +9 &J L +10 &L L +9 &Ng L +9 &P) L +10 &Q L +9 &S L +9 &Um L +10 &W. M +9 &X M +10 &ZAC^ %k +9 &Z & +5 ( +2 "processing"%?& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&~1 +64 "core" 1 + "manipulator"&T% +4 "core" % Z i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +97 "core" ' + "processing"%]& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ " v ? +2 "storage"(b% +4 "core" %\\ +2 "storage"(O. +2 "core" .( +3 "storage"((& +4 "core" &  +2 "storage"(_& +2 "manipulator"&c& +8 "core" &  + &w ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&<(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'i +2 "core" ( +2 "manipulator"&& +5 "core" &w ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &w l ! +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 .tHand.close + "manipulator"&Y/ +58 "core" / +2 .tPC.seek :open +2 "processing"%0( +83 "core" ' + "storage"(o- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +42 "core" ' +292 ( +2 "storage"(#& +4 "core" & v  + "manipulator"&& +4 "core" &w ! +2 "manipulator"&y% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&)'\ +89 "Can"t D}YS +2 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&5( +266 "core" ( +2 "manipulator"&i& +3 "core" & ;  +2 "storage"(v& +4 "core" & m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +99 "core" ' + .tHand.open +2 "manipulator"&N1 +56 "core" 1 +2 "storage"(l- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(n' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +2 "core" -' +3 "storage"(+& +3 "core" &\ :\ 8 L  +2 "manipulator"&.& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&$( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(2& +3 "core" &\ N\ G ;  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&*'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(P' +115 "core" ' +3 "manipulator"&{& +4 "core" & B  +2 "storage"(^& +4 "core" & [  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&e'} +27 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'i +23 "core" ' +2 "manipulator"&6% +3 "core" %Ύ +2 "storage"([& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&U'Ϻ +19 "core" ' +2 "manipulator"&R& +4 "core" & A  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +29 "core" ' +2 "storage"(r% +4 "core" %o   +3 ."downElevator"SE.seek :down +3 "storage"(L'X +99 (1% +2 "core" %^ j l PJ +3 "manipulator"&m% +4 "core" %E p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +4 (d& +3 "core" & ?  +2 "collection"',& +3 "core" &V~ N +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\   +2 "storage"(% +4 "core" %S +2 "storage"(X. +2 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"(a& +3 "core" &  +3 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +3 "core" & {  +2 "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&F'9 +96 "core" ' + "storage"(9& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'i +279 "core" ' +2 "storage"(-- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &  +2 "storage"(M& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&:'} +21 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(W'O +29 "core" ' + "manipulator"&J% +4 "core" % +2 "storage"(C& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&Q'ϫ +20 "core" ' +2 "manipulator"&& +3 "core" &  +2 "storage"(f& +4 "core" & t  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +18 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(;'> +37 "core" ' +2 "manipulator"&& +3 "core" & r  +2 "manipulator"&% +4 "core" %/ X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +159 "core" ( +2 "manipulator"&B& +5 "core" &' >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &' >J +3 .tForearm.seek CC +2 "manipulator"&>'" +93 "core" ' +47 .tHand.close +3 "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'z( +416 "core" ( +2 "storage"(G& +3 "core" &   +2 "storage"(8& +4 "core" &   +2 "manipulator"&"& +4 "core" &% <; +2 "manipulator"&% +3 "core" % 1  +3 .tForearm.seek :retract + "manipulator"&A'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&E& +4 "core" & d j + "storage"(=& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 3 + "manipulator"&q'} +99 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +54 "core" 1 +2 "manipulator"&Z% +4 "core" % ΂ +2 "storage"(I& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 305 counts + "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&& +4 "core" & d j +2 "storage"(K& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&x'9 +29 "core" ' + "storage"(\\% +4 "core" %@ 1 \ +3 ."downElevator"SE.seek :down +3 "storage"(w'X +99 (% +3 "core" %R  OF +2 "manipulator"&% +4 "core" %E 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'h& +3 "core" & +2 "manipulator"&t% +4 "core" %\   +2 "storage"(/% +3 "core" %V  +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" & a +2 "manipulator"&T& +4 "core" & j +2 .tElbow.seek 2 +2 "manipulator"&]( +31 "core" ( +2 "manipulator"& & +4 "core" & "z +2 "storage"(b& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&O'ќ +94 "core" ' + "storage"(?& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +281 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +3 "core" & { +2 "manipulator"&& +3 "core" & !r +2 .tElbow.seek 2 +2 "manipulator"& ( +4 "core" ( + "manipulator"&'& +4 "core" & T !r +2 "storage"(Y& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&o' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(7'X +8 "core" & O !r + "manipulator"&}% +4 "core" % \ B +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop +46 "storage"(5 +5 "core" ( + "manipulator"&y& +4 "core" &' \  >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &' >J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'" +106 "core" ' +2 "manipulator"&v& +3 "core" &' 4 >J +2 "manipulator"&<% +4 "core" % % +2 "collection"'N& +4 "core" & +3 "collection"'l& +4 "core" & +3 .tCC.seek :closed +2 "collection"'(V +6 "core" &  +6 &6 )w +10 &l = +9 &r G +9 &sa F +10 &5c F +9 &b F +9 &d F +10 &{c F +9 &<g F +10 &d F +9 & g F +9 &"d F +10 &$Fc E +9 &&d F +9 &'d F +10 &)a F +9 &+Mc F +10 &-b F +9 &.c F +9 &0h F +10 &2Uc F +9 &4a F +9 &5c F +10 &7c E +9 &9]c F +10 &;b F +9 &<c F +9 &>d F +10 &@da F +9 &B&d F +10 &Cf F +9 &Ej G +9 &Gfx H +10 &I$ J +9 &JU7 N +9 &L P +10 &NVKb P +9 &P(4 P +9 &Q Q +10 &S\   R +9 &UX  D +10 &VqD (x +9 &Vv G +5 ( +2 "collection"'l& +4 "core" &Vj G +2 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&+1 +57 "core" 1 +2 "manipulator"&.% +4 "core" %  j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%2& +4 "core" &  +2 "manipulator"&)% +4 "core" %\  % ! +2 "storage"({% +3 "core" %a  +2 "storage"(^. +3 "core" .( +2 "storage"(u& +4 "core" & +2 "storage"(4& +4 "core" & +2 "manipulator"&6& +3 "core" &' 6 >I +2 "manipulator"&[% +4 "core" %\  ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&R( +161 "core" ( + "manipulator"&& +4 "core" & :  +2 "storage"(5& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'ќ +94 "core" ' + "storage"(n& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'i +281 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +2 "core" & +3 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&P& +4 "core" & )  +2 "storage"(e& +3 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&d/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& +2 "storage"( 'X +7 "core" & K  +2 "manipulator"&% +3 "core" % 2 +3 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(s +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&& +3 "core" &n  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +104 "core" ' +2 "manipulator"& & +3 "core" &n t +2 "manipulator"&% +4 "core" % +2 "processing"% & +4 "core" &  +2 "processing"%9& +5 "core" &  +2 .tPC.seek :closed +2 "processing"%L(Z +4 "core" &  +7 &O $d +56 &` 7 +7 &6 H + &b G + &g G +2 &g F &Bc F + &g G +7 &g G +10 &b F +9 & Id F +9 &"\ b G +10 &#b F +9 &%d F +9 &'Pc G +10 &)b F +9 &*c F +10 &,f G +9 &.We G +9 &0a G +10 &1g G +9 &3d G +9 &5`c G +10 &7#g F +9 &8c F +10 &:f G +9 &*b G +10 &?h G +9 &Af G +9 &Cpg G +10 &E1j G +9 &Fv H +10 &H J +9 &Jj L +9 &L- K +10 &M L +9 &O L +9 &Qo M +10 &S1 M +9 &T M +10 &V M +9 &Xw M +9 &Zkv d +10 &Z$` & +9 ( + &Z +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&&1 +64 "core" 1 + "manipulator"&!% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +98 "core" ' +2 "processing"%\ & +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&M% +5 "core" %\ % E + "storage"(% +4 "core" %b t +2 "storage"(J. +3 "core" .( +2 "storage"(C& +4 "core" & { +2 "storage"(& +4 "manipulator"&f& +3 "core" & +2 &n +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&(s +4 "core" ( +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&& +2 "storage"(F'i +5 "core" &n +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&%' +97 "core" ' + .tHand.close +2 "manipulator"&:/ +59 "core" / +3 .tPC.seek :open +2 "processing"%Q( +91 "core" ' +2 "storage"(W- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'y +36 "core" ' +295 ( +2 "storage"(`& +4 "core" & + "manipulator"&& +4 "core" &n +2 "manipulator"&@% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&S( +263 "core" ( +2 "manipulator"&j& +3 "core" &  +2 "storage"(G& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'ќ +88 "core" ' + .tHand.open +2 "manipulator"&"1 +64 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(E'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(& +4 "core" & |\ + i +2 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&I& +4 "core" & Z  +2 "storage"(& +4 "core" & \ - ~ +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(\\' +58 "core" ' +2 "manipulator"&A& +3 "core" &  +2 "storage"(& +4 "core" & x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&' +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +42 .tSE.reconfigure :default +10 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'i +23 "core" ' +2 "manipulator"&% +3 "core" % x +2 "storage"(h& +4 "core" & ' +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&t' +20 "core" ' + "manipulator"&/& +4 "core" & J  +2 "storage"(V& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'ќ +27 "core" ' +2 "storage"(x% +3 "core" %q  +3 ."downElevator"SE.seek :down +4 "storage"(w'X +98 (% +3 "core" %Y QI +2 "manipulator"&~% +4 "core" %ѧ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +97 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" & j +3 "collection"'b& +3 "core" &Vj G +3 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&?% +4 "core" %\ \   +2 "storage"(H% +3 "core" %N  +2 "storage"(g. +3 "core" .( +2 "storage"(c& +4 "core" &  +2 "storage"(_& +3 "core" &  +2 "manipulator"&& +4 "core" & b  +2 .tElbow.seek 2 +2 "manipulator"&'( +4 "core" ( + "manipulator"&Y& +4 "core" & _  +2 "storage"(p& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +94 "core" ' +2 "storage"(}& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'i +281 "core" ' +2 "storage"(O- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &  +2 "storage"(y& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&o' +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(v'O +28 "core" ' + "manipulator"&<% +4 "core" % ~ 0 +2 "storage"(N& +3 "core" & ^ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&7' +18 "core" ' +2 "manipulator"&#& +3 "core" &   +2 "storage"(z& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&+'ќ +33 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(.'> +37 "core" ' + "manipulator"&2& +4 "core" & [  +2 "manipulator"&)% +4 "core" %ъ 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +157 "core" ( +3 "manipulator"&u& +3 "core" & U 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" & 8 +2 .tForearm.seek CC +2 "manipulator"&4'" +94 "core" ' +2 .tHand.close + "manipulator"&6/ +58 "core" / +2 .tCC.seek :open +2 "collection"'[( +413 "core" ( +2 "storage"(i& +4 "core" &  + "storage"(& +4 "core" & +2 "manipulator"&5& +3 "core" &! 8 +2 "manipulator"&n% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +134 "core" ' +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&1& +4 "core" & R y +2 "storage"(m& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&*' +96 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&e1 +52 "core" 1 +4 "manipulator"&d% +4 "core" % F +2 "storage"(,& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&R& +4 "core" & + y +2 "storage"(3& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&r'ќ +34 "core" ' +2 "storage"(U% +4 "core" %D  +2 ."downElevator"SE.seek :down +5 "storage"('X +99 (a% +3 "core" %T _ PF +2 "manipulator"&$% +3 "core" %ё 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & +2 "manipulator"& % +4 "core" %\   +2 "storage"( % +3 "core" %T  +2 "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(0( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (&& +2 "core" &   +2 "manipulator"&!& +4 "core" & v y +3 .tElbow.seek 3 + "manipulator"&\ ( +15 "core" ( + "manipulator"&M& +4 "core" & T T +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +97 "core" ' + "storage"(J& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" & z R  +2 "manipulator"&& +4 "core" & X T +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&D& +4 "core" &  T + "storage"(:& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&W'ϩ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +4 "storage"(L'X +5 "core" & L T +2 "manipulator"&F% +4 "core" % Ϡ n S +3 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&@& +4 "core" & . ? 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" & 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'" +104 "core" ' + "manipulator"&G& +4 "core" & e 7 +2 "manipulator"&% +4 "core" % +2 "collection"'"& +50 "core" & +4 "collection"'& +5 "core" & +3 .tCC.seek :closed + "collection"'>(V +5 "core" & +7 &H #b +9 &^\ 7 +10 &5} G +9 &b F +10 &c F +9 &}` F +9 &?c F +10 &c F +9 &f F +9 &c F +10 & Ic E +9 &" c F +9 &#d F +10 &%d F +9 &'Of F +10 &)c E +9 &*d F +9 &,b E +10 &.Xb F +9 &0a F +9 &1b F +10 &3a F +9 &5ab E +10 &7!c F +9 &8a F +9 &:c F +10 &*d F +10 &?c\ E +9 &Ae F +9 &Cpe F +10 &E0j F +9 &Fv G +9 &H I +10 &Jb: M +9 &Lx P +9 &M_u P +10 &O/> P +9 &Q`! Q +10 &S  R +9 &T  R +9 &VAX * +10 &V = +5 ( +2 "collection"'& +4 "core" &VC = +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +4 "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" & +3 "manipulator"&% +3 "core" %\   +2 "storage"(A% +4 "core" %a  +2 "storage"(. +3 "core" .( +2 "storage"(B& +3 "core" &   +2 "storage"(E& +4 "core" & y  +2 "manipulator"&& +4 "core" & 7 +2 "manipulator"&h% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&/( +165 "core" ( + "manipulator"&V& +4 "core" & G @ +2 "storage"(S& +4 "core" & L  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&8'9 +101 "core" ' +2 "storage"(x& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(='i +277 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &   +3 "manipulator"&~& +3 "core" & f @ +2 .tElbow.seek 3 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&\\& +4 "core" & b @ +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(?'X +9 "core" & @ +2 "manipulator"&H% +4 "core" % ϭ f ' +2 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(s +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( + "manipulator"&c& +4 "core" &p  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &p ! \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&Y& +3 "core" &p ? \ +3 "manipulator"&p% +4 "core" % 0 +2 "processing"%;& +4 "core" & +2 "processing"%}& +5 "core" & +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &  +10 &8 )v +9 &k = +9 &p G +10 &va F +9 &8d F +9 &b G +10 &c F +9 &~e F +10 &?b G +9 &h F +9 & d F +10 &"g G +9 &$Hf F +9 &&\ d F +10 &'h G +9 &)h G +10 &+Oe G +9 &-b F +9 &.e G +10 &0f G +9 &2Wb G +9 &4g G +10 &5e G +9 &7c G +11 &9`g F +8 &;!a G +9 &<f G +10 &>e G +9 &@hc F +9 &B*e F +10 &Ch G +9 &Em G +10 &Gjw I +9 &I& K +9 &J K +10 &L L +9 &Nh L +10 &P* L +9 &Q L +9 &S L +52 &Un M +4 &W0 M + &X M + &ZAB` %m + &Z\ ( \  + ( + &Z  +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.39 + .Hand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&T% +3 "core" % 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +94 "core" ' +2 "processing"%(& +5 "core" &Z  +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&y% +4 "core" %\  ! +2 "storage"( % +3 "core" %S  +3 "storage"(<. +2 "core" .( +3 "storage"(N& +3 "core" &   +3 "storage"(#& +2 "manipulator"&z& +8 "core" &   + &p \ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&2(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"()'i +3 "core" ( +2 "manipulator"&s& +3 "core" &p g \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &p \ +3 .tForearm.seek PC + "manipulator"&]' +96 "core" ' + .tHand.close +2 "manipulator"&o/ +62 "core" / +3 .tPC.seek :open +2 "processing"%7( +81 "core" ' + "storage"(v- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'y +43 "core" ' +299 ( + "storage"(l& +4 "core" & )  +2 "manipulator"&+& +3 "core" &q \ +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&{( +262 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(i& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +100 "core" ' +2 .tHand.open + "manipulator"&51 +60 "core" 1 +2 "storage"(n- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(4'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(1' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(^& +4 "core" & @ I  +2 "manipulator"&e& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&d( +8 "core" ( +2 "manipulator"&,& +4 "core" &  +2 "storage"(R& +3 "core" & L L -  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(U' +58 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(a& +4 "core" & s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&$'} +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(*'i +23 "core" ' +2 "manipulator"&% +3 "core" %~ +2 "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"& 'Ϫ +21 "core" ' + "manipulator"& & +4 "core" & {  +2 "storage"(X& +4 "core" &   +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&.'9 +33 "core" ' + "storage"(r% +4 "core" %p  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +2 "core" %TW RK +3 "manipulator"&&% +3 "core" %4 B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &  + "collection"'& +4 "core" &V? = +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&J% +3 "core" %\   +2 "storage"(P% +4 "core" %a R +2 "storage"( . +2 "core" .( +2 "storage"(& +4 "core" & :  +2 "storage"(f& +4 "core" & &  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&D( +4 "core" ( + "manipulator"&:& +4 "core" &  +3 "storage"(k& +3 "core" & i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&-'9 +97 "core" ' + "storage"(F& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'i +281 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &  +3 "storage"(%& +3 "core" & s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'} +20 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +31 "core" ' + "manipulator"&% +4 "core" %} +2 "storage"("& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&L'ϩ +20 "core" ' +2 "manipulator"&`& +3 "core" & *  +2 "storage"([& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(|'= +39 "core" ' +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +4 "core" %@ W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +166 "core" ( +3 "manipulator"&B& +4 "core" &* ^ @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* v @^ +3 .tForearm.seek CC +2 "manipulator"&E'" +93 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'h( +413 "core" ( +2 "storage"(j& +3 "core" & '  +2 "storage"(V& +3 "core" & x  +2 "manipulator"&S& +4 "core" &) x ?P +2 "manipulator"&x% +3 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&I( +161 "core" ( +2 "manipulator"&K& +4 "core" & Y j +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&~'} +101 "core" ' +3 .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % ~ | +2 "storage"(b& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts +3 "manipulator"&H'Ϫ +20 "core" ' + "manipulator"&/& +4 "core" & . j +2 "storage"(8& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&='9 +26 "core" ' +2 "storage"(t% +5 "core" %E  +3 ."downElevator"SE.seek :down +4 "storage"(c'X +98 (_% +3 "core" %U  ND +2 "manipulator"&Z% +4 "core" %@  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'p& +4 "core" & +2 "manipulator"&;% +5 "core" %\   +2 "storage"(?% +4 "core" %` G  +2 "storage"(g. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Q( +338 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & K +2 "manipulator"&T& +4 "core" & r j +2 .tElbow.seek 2 +2 "manipulator"&(( +41 "core" ( +2 "manipulator"&y& +4 "core" & m + "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +93 "core" ' +2 "storage"(N& +4 "core" &  n +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'i +280 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (z& +2 "core" &  { I +2 "manipulator"&s& +4 "core" & ] +2 .tElbow.seek 2 +2 "manipulator"&'( +30 "core" ( +2 "manipulator"&& +4 "core" &  V +2 "storage"(o& +3 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"&v' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& + "storage"(w'X +8 "core" & V +2 "manipulator"&)% +3 "core" %  +3 .tForearm.seek :retract + "manipulator"&l'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +144 "core" ' + ."downElevator"SE.stop + "storage"(5 +25 "core" ( +2 "manipulator"&& +3 "core" &, 4 Q Bj +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &]& +2 "core" &+ d Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +106 "core" ' +3 "manipulator"&i& +4 "core" &, n Bi +2 "manipulator"&2% +4 "core" %* H +2 "collection"'5& +4 "core" & +2 "collection"'n& +5 "core" & +2 .tCC.seek :closed +2 "collection"'m(V +5 "core" &  +8 &9 *x +10 & l = +9 &n F +10 &c F +9 &Dc F +9 &c F +10 &c F +9 &c F +9 &Lc F +10 &d F +9 & c F +10 &"d F +9 &$Uc F +9 &&c E +10 &'c F +9 &)c F +10 &+]e F +9 &-d F +9 &.g F +10 &0e F +55 &2ec F +4 &4'c F +2 &5b F + &7d F + &9mc F +3 &;/e F + &<d F +8 &>e F +9 &@uc F +9 &B5g F +10 &Cf G +9 &Ek G +10 &Gux H +9 &I3 J +9 &J[9 O +10 &L P +9 &NfQd P +9 &P'*5 Q +10 &Q Q +9 &S  R +10 &Uh \  ? +9 &VK T +9 &V+2 %p +10 &V_ C +2 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.86 + .Hand.open + "manipulator"&^1 +53 "core" 1 +3 "manipulator"&e% +3 "core" % * B +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%R& +4 "core" & +2 "manipulator"&6% +4 "core" %\  |  +2 "storage"(% +3 "core" %a v +2 "storage"(a. +4 "core" .( + "storage"(& +4 "core" &  q +2 "storage"(& +4 "core" &  L +2 "manipulator"&u& +3 "core" &* m Ad +2 "manipulator"& % +4 "core" %\  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&4( +149 "core" ( +2 "manipulator"&X& +4 "core" & +2 "storage"({& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +90 "core" ' +2 "storage"(r& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(1'i +280 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  C +2 "manipulator"&&& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&U& +4 "core" & R +2 "storage"($& +3 "core" &   +3 .tForearm.seek 2 + 300 counts + "manipulator"& ' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&M/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(J'X +7 "core" & q +2 "manipulator"&P% +4 "core" %  r ` +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +106 "core" ( +3 "manipulator"&& +3 "core" &l  g +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +4 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&:& +4 "core" &n = +2 "manipulator"&k% +4 "core" % \\ < +2 "processing"%.& +3 "core" & +3 "processing"%F& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" & +9 &> #c +9 &\\ 6 +10 & G +9 &e F +10 &c G +9 &ab F +9 &#c F +10 &h G +9 &h F +9 &ic F +10 & +e F +9 &!c G +9 &#c F +10 &%qe F +9 &'2i G +10 &(h F +9 &*e F +9 &,xg G +10 &.:f G +9 &/b F +10 &1e F +9 &3b G +9 &5Bh G +10 &7e G +9 &8g G +9 &:e G +10 & e G +10 &?g G +9 &Ae G +9 &CQe G +10 &Ej G +9 &Fp H +9 &H J +10 &JK L +9 &L L +10 &M L +9 &O L +9 &QR L +10 &S L +9 &T L +9 &V L +10 &XX M +9 &Yxv !h +9 &Z'e ) +9 ( +2 &Z +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&!% +4 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 "processing"%@& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&%% +49 "core" %\ # @ +4 "storage"(G% +4 "core" %^ +2 "storage"(. +3 "core" .( +2 "storage"("& +4 "core" &  } +2 "storage"(`& +2 "manipulator"&[& +9 "core" &  + &n +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "storage"(#]@K-0-\ b +3 "manipulator"&(s +6 ."raiseStack"SE.seek :beamBreak + "storage"('i +2 "core" ( +3 "manipulator"&-& +4 "core" &n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &n +2 .tForearm.seek PC +2 "manipulator"&\ ' +104 "core" ' + .tHand.close +2 "manipulator"&C/ +53 "core" / +2 .tPC.seek :open +2 "processing"%L( +86 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "storage"(B'y +47 "core" ' +287 ( + "storage"(& +4 "core" &  F +2 "manipulator"&& +5 "core" &n +2 "manipulator"&W% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&A( +261 "core" ( +2 "manipulator"&>& +4 "core" & u +2 "storage"(j& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'ќ +108 "core" ' +2 .tHand.open + "manipulator"&S1 +64 "core" 1 +2 "storage"(x- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate + "storage"(K'E +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +2 "core" -' +2 "storage"(& +4 "core" &  I I  +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"& ( +9 "core" ( +2 "manipulator"&b& +3 "core" &  +2 "storage"(/& +4 "core" &  L L * +3 .tForearm.seek 2 + 700 counts + "manipulator"&8'ќ +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(t' +57 "core" ' +2 "manipulator"&& +4 "core" & h  + "storage"(_& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Z' +23 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(~'i +23 "core" ' +2 "manipulator"&p% +4 "core" % +2 "storage"(H& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 308 counts + "manipulator"&;' +15 "core" ' +2 "manipulator"&?& +3 "core" &  +3 "storage"(g& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'ќ +34 "core" ' + "storage"(=% +4 "core" %r  +3 ."downElevator"SE.seek :down +3 "storage"(c'X +99 (0% +3 "core" %T[ QJ +2 "manipulator"&% +4 "core" % : +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +47 "manipulator"&T'\ +96 "core" ' +7 ' + ."downElevator"SE.stop + "storage"(5 +4 (y& +2 "core" &   +3 "collection"' & +3 "core" &V` C +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&N% +4 "core" %\ " ? +2 "storage"(\\% +4 "core" %a   +2 "storage"(Y. +2 "core" .( +2 "storage"(#& +4 "core" &   +2 "storage"(z& +4 "core" &   +2 "manipulator"&s& +3 "core" &  +3 .tElbow.seek 2 + "manipulator"&( +4 "core" ( +2 "manipulator"&o& +4 "core" & _  +2 "storage"(q& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&O'ќ +93 "core" ' +2 "storage"()& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('i +283 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +3 "storage"(}& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]' +29 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(i'N +27 "core" ' + "manipulator"&2% +4 "core" % 8 +2 "storage"(5& +3 "core" &  B +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&w' +20 "core" ' + "manipulator"&l& +4 "core" & t  +2 "storage"(h& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&^'ќ +16 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(e'= +37 "core" ' +2 "manipulator"&R& +4 "core" &  +2 "manipulator"&6% +3 "core" %ѕ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +162 "core" ( +3 "manipulator"&& +3 "core" &% K <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% <? +3 .tForearm.seek CC + "manipulator"&u'" +96 "core" ' + .tHand.close +2 "manipulator"&n/ +64 "core" / +2 .tCC.seek :open + "collection"' ( +417 "core" ( +2 "storage"(X& +3 "core" &  +2 "storage"(& +4 "core" &  [ +2 "manipulator"&{& +3 "core" &# :0 +2 "manipulator"&r% +4 "core" % $ +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&,( +162 "core" ( + "manipulator"&3& +4 "core" & Y  +2 "storage"(& +4 "core" &  A +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&&' +100 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +57 "core" 1 +2 "manipulator"&M% +4 "core" % + "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +46 "manipulator"&P' +23 "core" ' + "manipulator"&4& +3 "core" & _  +3 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +25 "core" ' +2 "storage"( % +3 "core" %G } +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (f% +3 "core" %W  PG +2 "manipulator"&d% +4 "core" % @ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'k& +3 "core" & +2 "manipulator"&.% +4 "core" %\ " B +2 "storage"(J% +4 "core" %\\  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(7( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&@( +13 "core" ( + "manipulator"&%& +4 "core" &  E +2 "storage"(F& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&G'9 +93 "core" ' +2 "storage"(& +4 "core" & k  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'i +281 "core" ' +2 "storage"([- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" & &  +2 "manipulator"&-& +4 "core" &  E +2 .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&& +4 "core" & [ E + "storage"(C& +4 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"('X +7 "core" & i E +2 "manipulator"&% +4 "core" % Ϣ k  +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&W& +3 "core" &  6 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" & 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&>'" +97 "core" ' +2 "manipulator"&j& +3 "core" & ; 3 +2 "manipulator"&% +4 "core" %# +4 "collection"'S& +4 "core" & +2 "collection"'x& +5 "core" & +2 .tCC.seek :closed +2 "collection"'E(V +4 "core" &  +9 &7 )v +9 &l = +10 &k G +9 &zb F +10 &:f F +9 &c F +9 &c F +10 &c F +9 &Dc F +9 &` F +10 & c F +9 &"c F +10 &$Kc F +9 &&c F +9 &'c F +10 &)` F +9 &+Sc F +9 &-b F +10 &.b E +9 &0e F +10 &2[b F +9 &4b F +9 &5b F +10 &7e F +9 &9cc F +9 &;%c F +10 &<c F +9 &>d F +9 &@lc F +10 &B.c F +9 &Cf F +10 &Em G +9 &Gmx H +10 &I+ J +9 &J[7 O +9 &L P +9 &N^Nc P +10 &P)4 Q +9 &Q Q +10 &S\  R +9 &U_  @ +9 &VF !e +10 &V J +5 ( +2 "collection"'x& +4 "core" &Vr I +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +3 "core" % # +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +3 "core" & +2 "manipulator"&/% +4 "core" %\ " + > +2 "storage"(% +4 "core" %[ { +2 "storage"(_. +2 "core" .( +3 "storage"(B& +3 "core" & E  +2 "storage"(p& +5 "core" &  + "manipulator"&H& +4 "core" & 3 +2 "manipulator"&K% +3 "core" %\ # e > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&?( +164 "core" ( +2 "manipulator"&g& +3 "core" &  +2 "storage"(=& +4 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&A'9 +100 "core" ' +2 "storage"(V& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +286 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"&8& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"& ( +4 "core" ( + "manipulator"&t& +4 "core" & k  +2 "storage"(Z& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϩ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(N'X +7 "core" & C  +2 "manipulator"&\\% +4 "core" % Ϯ k +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +101 "core" ' +3 .tElbow.seek PC + "manipulator"&#(s +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&~& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +102 "core" ' +2 "manipulator"&o& +3 "core" &i +2 "manipulator"&q% +4 "core" % W +2 "processing"%|& +4 "core" & +3 "processing"%)& +4 "core" & +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" & +8 &D] #b +10 &\\ 6 +9 & G +9 &e G +10 &h F +9 &dc F +10 &%a G +9 &b F +9 &e G +10 &kf G +9 & -c G +9 &!g G +10 &#g F +9 &%te F +10 &'6d F +9 &(c F +9 &*e F +10 &,{g G +9 &.=h G +9 &/g G +10 &1h F +9 &3d F +10 &5Fe F +9 &7g G +9 &8g F +10 &:c F +9 &e G +10 &?b G +9 &Ab F +10 &CTg G +9 &Ej G +9 &Fq H +10 &H J +9 &JO L +10 &L L +9 &M L +9 &O L +10 &QU L +9 &S M +9 &T M +10 &V L +9 &X[ M +9 &Yxu !i +10 &Z&f ) +9 ( + &Z +3 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 + .Hand.open + "manipulator"&I1 +59 "core" 1 + "manipulator"&T% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +3 "processing"%& +3 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&}% +4 "core" %\   +2 "storage"('% +3 "core" %T +2 "storage"(2. +3 "core" .( +2 "storage"(5& +3 "core" & k  +3 "storage"(l& +2 "manipulator"&h& +6 "core" &  +2 &i +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +47 "storage"(#]@K-0-\ b +4 "manipulator"&R(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'i +3 "core" ( +2 "manipulator"&O& +3 "core" &i +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i ~ +3 .tForearm.seek PC +2 "manipulator"&(' +97 "core" ' + .tHand.close +2 "manipulator"&]/ +55 "core" / +2 .tPC.seek :open +2 "processing"%w( +92 "core" ' + "storage"(i- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +31 "core" ' +297 ( + "storage"(& +4 "core" &  +2 "manipulator"&^& +4 "core" &i +2 "manipulator"&v% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +266 "core" ( + "manipulator"&m& +4 "core" & L  +2 "storage"(X& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +97 "core" ' +3 .tHand.open +2 "manipulator"&{1 +53 "core" 1 +2 "storage"(r- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(3'E +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(a& +3 "core" &\ G\ G  +2 "manipulator"&$& +4 "core" &  +2 .tElbow.seek 3 +6 "manipulator"&M( +5 "core" ( + "manipulator"&& +4 "core" & }  +6 "storage"(4& +4 "core" &\ G\ G  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(+' +58 "core" ' +2 "manipulator"& & +4 "core" &  +2 "storage"(,& +3 "core" & \\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&f'} +26 "core" ' +2 .tElbow.hold + "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(&'i +24 "core" ' + "manipulator"&P% +4 "core" %΀ +2 "storage"(k& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&.'Ϭ +20 "core" ' + "manipulator"&J& +4 "core" & C  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +25 "core" ' +2 "storage"(1% +4 "core" %s   +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (Q% +3 "core" %V QJ +2 "manipulator"&% +4 "core" %q R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (%& +3 "core" &   +2 "collection"'F& +4 "core" &Vq I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\ # @ +3 "storage"(U% +3 "core" %V l +2 "storage"(:. +3 "core" .( +2 "storage"([& +3 "core" &   +2 "storage"(`& +49 "core" &  +3 "manipulator"&-& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +3 "manipulator"&C& +3 "core" & b  +2 "storage"(*& +4 "core" & _  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&9'9 +92 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(@'i +281 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&W& +3 "core" & g  +2 "storage"(\ & +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'} +18 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"('N +29 "core" ' +2 "manipulator"&D% +4 "core" %Ή | + "storage"(S& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&'ϵ +21 "core" ' + "manipulator"&& +4 "core" & h  +2 "storage"( & +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +42 "core" ' +2 "manipulator"&x& +3 "core" &   +2 "manipulator"&% +4 "core" %#  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&/'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +161 "core" ( +4 "manipulator"&_& +3 "core" &* @W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &* v @W +2 .tForearm.seek CC +2 "manipulator"&p'" +100 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 .tCC.seek :open +2 "collection"'K( +413 "core" ( +2 "storage"(>& +4 "core" & `  + "storage"(g& +4 "core" &   +2 "manipulator"&=& +4 "core" && =C +2 "manipulator"&V% +4 "core" % ) a +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&b( +161 "core" ( +2 "manipulator"&0& +3 "core" & L x +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&8'} +99 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Z1 +55 "core" 1 +2 "manipulator"&y% +4 "core" % ΁ +2 "storage"( & +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts +2 "manipulator"&\\'ϭ +20 "core" ' +2 "manipulator"&?& +4 "core" &  x +2 "storage"(A& +3 "core" & b  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +37 "core" ' +2 "storage"(;% +3 "core" %G  +3 ."downElevator"SE.seek :down +42 "storage"(~'X +60 (z% +2 "core" %W  QI +3 "manipulator"& % +3 "core" %z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +97 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'q& +4 "core" &  +2 "manipulator"&|% +4 "core" %\  $ +2 "storage"(N% +3 "core" %O  +2 "storage"(Y. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(L( +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +3 "core" & R +2 "manipulator"&T& +3 "core" & x +3 .tElbow.seek 2 + "manipulator"&( +34 "core" ( + "manipulator"&}& +3 "core" & $ +3 "storage"('& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&2'ќ +101 "core" ' +2 "storage"(5& +3 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'i +279 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &   +2 "manipulator"&O& +4 "core" & "~ +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&s& +4 "core" & D "} +3 "storage"(]& +4 "core" &  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&#' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&i/ +62 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&<& +4 "storage"(c'X +5 "core" & k "} +2 "manipulator"&6% +5 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&v& +3 "core" &( ( U ?T +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +4 "core" &( T ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'" +105 "core" ' +2 "manipulator"&X& +4 "core" &)  ?T +2 "manipulator"&R% +4 "core" % 9 +2 "collection"'{& +4 "core" &  +3 "collection"'r& +5 "core" &  +3 .tCC.seek :closed + "collection"'u(V +4 "core" &  +7 &H $d +10 &_ 7 +9 &;| G +9 &a F +10 &d F +9 &b E +9 &Ec! F +10 &b F +9 &f! F +10 &b! F +9 & Ma F +9 &"c F +10 &#c F +9 &%c F +9 &'Ue F +10 &)c F +9 &*f F +10 &,c F +9 &._c E +9 &0c F +10 &1c F +9 &3a F +9 &5fb F +10 &7'b F +9 &8c F +10 &:c F +9 &.g F +10 &?c F +9 &Ac F +9 &Cud F +10 &E5i G +9 &Fr H +10 &H I +9 &Ji9 M +9 &L"z P +10 &Mey P +9 &O5C Q +9 &Qf' Q +10 &S$ R +9 &T  R +10 &VFX 'w +9 &V" H +9 ( + &VZ C +3 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&a1 +57 "core" 1 +2 "manipulator"&$% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%4& +4 "core" & +2 "manipulator"&n% +4 "core" %\ # n : +2 "storage"( % +4 "core" %\\ + "storage"(,. +3 "core" .( +2 "storage"(& +4 "core" &  ! +2 "storage"(P& +48 "core" &  | +4 "manipulator"&k& +4 "core" &' >N +2 "manipulator"&3% +3 "core" %\ # D : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&J( +153 "core" ( + "manipulator"& & +4 "core" & F \ +2 "storage"(1& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  ' +3 "manipulator"&& +3 "core" & \ +2 .tElbow.seek 2 +2 "manipulator"&M( +4 "core" ( +2 "manipulator"&+& +3 "core" & : \ +2 "storage"(f& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"('X +7 "core" & \ +2 "manipulator"&U% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:(s +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +110 "core" ( +2 "manipulator"&[& +4 "core" &g  M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &g g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-' +96 "core" ' + "manipulator"&C& +4 "core" &g +2 "manipulator"&*% +4 "core" %  +2 "processing"%e& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +10 &8 )w +9 &k = +9 &pa G +10 &xc F +9 &:b F +9 &e F +10 &c G +9 &g G +10 &Ae G +9 &h F +9 & c F +10 &"g G +9 &$He G +9 && b G +10 &'h G +9 &)e G +10 &+Qb G +9 &-g F +9 &.d F +10 &0g G +9 &2Zg F +10 &4b G +9 &5b F +9 &7d F +10 &9ah G +9 &;"d G +9 &<b F +10 &>b F +9 &@ig G +9 &B*f G +10 &Ch G +9 &Ek G +10 &Gkv I +9 &I( K +9 &J L +10 &L L +9 &Nk L +9 &P- L +10 &Q L +9 &S M +10 &Up M +9 &W2 M +9 &X M +10 &ZFD^ $j +9 &Z ( " +5 ( +3 "processing"%& +3 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&d1 +64 "core" 1 +2 "manipulator"&!% +4 "core" % m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G'\ +96 "core" ' +2 "processing"%W& +3 "core" &Zw " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&\ % +4 "core" %\  ' +2 "storage"(j% +4 "core" %S + "storage"(D. +3 "core" .( +2 "storage"(S& +4 "core" &  +2 "storage"(& +3 "manipulator"& & +5 "core" &  +2 &g +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(x'i +3 "manipulator"&(s +11 "core" ( + "manipulator"&9& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&@' +95 "core" ' +45 .tHand.close +6 "manipulator"&"/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +28 "core" ' + "storage"(- +4 "core" -'i + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'y +48 "core" ' +343 ( +3 "storage"(B& +4 "core" &   +2 "manipulator"&& +4 "core" &k  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&/( +284 "core" ( + "manipulator"&E& +4 "core" & & +2 "storage"(>& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'ќ +111 "core" ' +2 .tHand.open +2 "manipulator"&=1 +52 "core" 1 +2 "storage"(V- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(0'E +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(& +4 "core" & \ D y 7 +2 "manipulator"&Z& +4 "core" & w $ +2 .tElbow.seek 2 +2 "manipulator"&y( +12 "core" ( + "manipulator"& & +4 "core" & = +2 "storage"(?& +3 "core" &  I I  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'ќ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(;' +59 "core" ' + "manipulator"&& +4 "core" & = +2 "storage"(z& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& ' +22 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(8'i +23 "core" ' +2 "manipulator"&\\% +4 "core" % +2 "storage"(& +3 "core" &  d +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&q' +20 "core" ' + "manipulator"&|& +4 "core" & 0 = +2 "storage"(N& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Y'ќ +28 "core" ' +2 "storage"(% +4 "core" %q  +2 ."downElevator"SE.seek :down +5 "storage"(~'X +99 (7% +3 "core" %\\ QL +2 "manipulator"&I% +3 "core" %ѕ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (}& +3 "core" &   +2 "collection"''& +4 "core" &VZ C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&5% +4 "core" %\ ! 8 +2 "storage"(t% +4 "core" %Q  + "storage"(o. +3 "core" .( +2 "storage"(l& +4 "core" &   +2 "storage"()& +4 "core" &   + "manipulator"&O& +4 "core" & | = +2 .tElbow.seek 2 +2 "manipulator"&s( +9 "core" ( +2 "manipulator"&]& +3 "core" &  +2 "storage"(i& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts + "manipulator"&<'ќ +97 "core" ' +47 "storage"(6& +5 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +280 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &  +2 "storage"((& +4 "core" &  | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&h' +30 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('O +28 "core" ' + "manipulator"&R% +4 "core" % X ) +2 "storage"({& +4 "core" &  u + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts +2 "manipulator"&c' +18 "core" ' + "manipulator"&& +4 "core" & i  +2 "storage"(K& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'ќ +34 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"($'> +43 "core" ' +2 "manipulator"&4& +4 "core" &  +2 "manipulator"&n% +3 "core" %Ѩ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +161 "core" ( +2 "manipulator"&& +4 "core" & ^ 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" & k 3 +2 .tForearm.seek CC +2 "manipulator"&P'" +94 "core" ' + .tHand.close +2 "manipulator"&k/ +59 "core" / +2 .tCC.seek :open +2 "collection"'3( +416 "core" ( +2 "storage"(m& +4 "core" &   +2 "storage"( & +3 "core" &   +2 "manipulator"&1& +5 "core" & 3 +2 "manipulator"&% +4 "core" % " { & +2 .tForearm.seek :retract +2 "manipulator"&^'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&Q& +3 "core" & O { +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +56 "core" 1 +2 "manipulator"&%% +3 "core" % +2 "storage"(F& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 309 counts + "manipulator"&U' +24 "core" ' +2 "manipulator"&J& +4 "core" & . { +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +105 "core" ' +2 "storage"(.% +4 "core" %H  +3 ."downElevator"SE.seek :down +3 "storage"(['X +99 (`% +3 "core" %YU 3 PG +2 "manipulator"&M% +4 "core" %x < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +87 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'*& +3 "core" & +45 "manipulator"&e% +7 "core" %\   +2 "storage"(% +5 "core" %N b +2 "storage"(&. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(w( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" &   +2 "manipulator"&!& +5 "core" & _ { + .tElbow.seek 3 +2 "manipulator"&W( +12 "core" ( + "manipulator"&\ & +4 "core" & 9 U +2 "storage"(j& +4 "core" & g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +97 "core" ' +2 "storage"(& +4 "core" & 0  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  +2 "manipulator"&9& +4 "core" & 9 U +2 .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&-& +4 "core" & a U +2 "storage"("& +9 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"('X +8 "core" & l U + "manipulator"&x% +4 "core" % ϥ c +2 .tForearm.seek :retract +2 "manipulator"&B'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" & 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'" +103 "core" ' +2 "manipulator"&>& +4 "core" & g 0 +2 "manipulator"&% +4 "core" %* +2 "collection"'=& +5 "core" & +2 "collection"'V& +5 "core" & +2 .tCC.seek :closed +2 "collection"'p(V +3 "core" & +9 &I #b +9 &^! 6 +10 &* G +9 &` E +9 &d F +10 &sc! F +9 &5d F +9 &c% F +10 &f! F +9 &zc! F +10 & <c F +9 &!c! F +9 &#d F +10 &%d F +9 &'Ec" F +9 &)c F +10 &*g F +9 &,d F +10 &.Lc F +9 &0c F +9 &1c F +10 &3g F +9 &5Ub F +9 &7c F +10 &8f F +9 &:c F +10 &<\\d F +9 &>d F +9 &?d F +10 &Ad F +9 &Cce F +9 &E$l G +10 &Fv H +9 &H I +10 &JX8 M +9 &Lw P +9 &Mh{ P +10 &O8G Q +9 &QT , Q +9 &S R +10 &T\  Q +9 &VBf  . +10 &V - +9 &V S +2 ( +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&Z% +4 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%?& +4 "core" &b +2 "manipulator"&H% +3 "core" %\   +2 "storage"(% +4 "core" %^ +2 "storage"(z. +2 "core" .( +2 "storage"(_& +4 "core" & {  +2 "storage"(\\& +4 "core" &  +2 "manipulator"&& +3 "core" & 0 +2 "manipulator"&0% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&|( +165 "core" ( + "manipulator"&N& +4 "core" & o +2 "storage"(& +3 "core" & p  +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 3 + 700 counts +2 "manipulator"&/'9 +92 "core" ' + "storage"(g& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +282 "core" ' +2 "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (I& +2 "core" &  +3 "manipulator"&A& +3 "core" & o +2 .tElbow.seek 3 +2 "manipulator"&y( +4 "core" ( + "manipulator"&;& +4 "core" & o +2 "storage"( & +4 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϩ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(5'X +8 "core" & [ o +2 "manipulator"&t% +3 "core" % ϲ & +3 .tForearm.seek :retract + "manipulator"&o'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(s +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +117 "core" ( +2 "manipulator"&l& +3 "core" &s +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &s  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&O' +94 "core" ' + "manipulator"&]& +4 "core" &u [  +2 "manipulator"&i% +4 "core" % 9 +2 "processing"%Y& +4 "core" &S +3 "processing"%6& +5 "core" & +2 .tPC.seek :closed +2 "processing"%~(Z +3 "core" &  +10 &8 )w +9 &k` = +9 &p H +10 &se F +9 &5c F +9 &g G +10 &b F +9 &{cb F +9 &=c F +10 &h G +9 & a F +10 &"d G +9 &$Ee F +9 &&d F +10 &'h G +9 &)c G +10 &+Mb F +9 &-c F +9 &.e F +10 &0h G +9 &2Ub F +9 &4c F +10 &5b G +9 &7c F +10 &9]e F +9 &; c F +9 &<h G +10 &>e G +9 &@dc G +9 &B&b G +10 &Ch G +9 &El H +10 &Gfy I +9 &I" K +9 &J L +10 &L L +9 &Ne L +9 &P& L +10 &Q L +9 &S L +10 &Ul L +9 &W, M +9 &X M +10 &Z@D] %k +9 &Z ' ! +5 ( +3 "processing"%6& +3 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&b1 +61 "core" 1 +2 "manipulator"&T% +3 "core" % 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 "processing"%v& +4 "core" &Zy ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&(% +4 "core" %\   +2 "storage"(X% +4 "core" %`  +2 "storage"(R. +2 "core" .( +3 "storage"({& +3 "core" &    +2 "storage"(& +3 "manipulator"&K& +7 "core" & 2  + &v  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b + "manipulator"&4(s +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'i +2 "core" ( +3 "manipulator"&<& +4 "core" &v j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &v  +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' +2 .tHand.close + "manipulator"&h/ +61 "core" / +2 .tPC.seek :open +2 "processing"%c( +86 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +33 "core" ' +301 ( +46 "storage"(r& +7 "core" &  +2 "manipulator"&a& +3 "core" &v t  +2 "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +262 "core" ( +2 "manipulator"&u& +3 "core" & {  +2 "storage"(m& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& '9 +97 "core" ' +2 .tHand.open + "manipulator"&11 +56 "core" 1 +3 "storage"(- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(Q'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +48 "core" ' +3 #tLights, camera, ACTION! + "storage"(P- +3 "core" -' +2 "storage"(,& +4 "core" &\ G\ G  +2 "manipulator"&f& +3 "core" &  +3 .tElbow.seek 3 + "manipulator"&%( +4 "core" ( +2 "manipulator"&F& +3 "core" &  +2 "storage"(J& +4 "core" &\ G\ G  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +60 "core" ' + "manipulator"&.& +4 "core" & g  +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&`'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&U% +4 "core" %Ί +2 "storage"(*& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&e'϶ +20 "core" ' +2 "manipulator"&$& +4 "core" &   + "storage"(& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&&'9 +31 "core" ' + "storage"(% +4 "core" %r  +3 ."downElevator"SE.seek :down +4 "storage"(['X +98 (L% +3 "core" %Y V ` QJ +2 "manipulator"&d% +4 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&!'\ +87 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +3 "core" & Z  +2 "collection"'j& +4 "core" &V S +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(+% +4 "core" %Q + "storage"(C. +3 "core" .( +2 "storage"(& +4 "core" &  +2 "storage"( & +3 "core" & h  +2 "manipulator"&9& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&"& +3 "core" & r  +2 "storage"(:& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&G'9 +96 "core" ' + "storage"(x& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(W'i +279 "core" ' +3 "storage"(D- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & |  +3 "storage"(@& +3 "core" &  +2 .tElbow.reconfigure :limp +47 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&S'} +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +28 "core" ' + "manipulator"&% +4 "core" %΂ +2 "storage"(=& +4 "core" & ~  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&'Ϯ +20 "core" ' +2 "manipulator"&B& +4 "core" & 1  +2 "storage"(3& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +40 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(Z'= +37 "core" ' +2 "manipulator"&?& +4 "core" & *  +2 "manipulator"&H% +3 "core" %x { w +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +164 "core" ( + "manipulator"&_& +4 "core" && ? =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" && =F +2 .tForearm.seek CC +2 "manipulator"&\\'" +95 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'0( +420 "core" ( +2 "storage"(E& +3 "core" &   +2 "storage"(N& +4 "core" &  +2 "manipulator"&& +3 "core" &% ;8 +2 "manipulator"&% +4 "core" % 5  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"& ( +155 "core" ( +2 "manipulator"&7& +3 "core" & .  +2 "storage"(I& +4 "core" & }  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&A'} +97 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +54 "core" 1 +3 "manipulator"&}% +3 "core" % Ά k +2 "storage"('& +4 "core" & L  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&t'ϲ +21 "core" ' +2 "manipulator"&|& +4 "core" & `  +2 "storage"(/& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +27 "core" ' +2 "storage"(q% +3 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"(l'X +99 ()% +3 "core" %W E PG +2 "manipulator"&y% +3 "core" %S S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'i& +3 "core" & +2 "manipulator"&Y% +4 "core" %\   +2 "storage"(5% +4 "core" %]  +2 "storage"(o. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" &  +2 "manipulator"&T& +47 "core" &  +5 .tElbow.seek 2 +2 "manipulator"&v( +26 "core" ( +2 "manipulator"&(& +4 "core" & =  +2 "storage"(X& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +101 "core" ' +2 "storage"({& +4 "core" & { +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'i +276 "core" ' +3 "storage"(K- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&<& +4 "core" & G  +2 .tElbow.seek 2 +2 "manipulator"&s( +19 "core" ( +2 "manipulator"&O& +3 "core" & %  +2 "storage"(h& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +2 "storage"(~'X +6 "core" & =  + "manipulator"&n% +6 "core" % ( +2 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&#& +3 "core" &&  F =F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'" +96 "core" ' +3 "manipulator"&m& +4 "core" && b =F +2 "manipulator"&4% +4 "core" %  +2 "collection"'1& +4 "core" & +3 "collection"'& +4 "core" & +2 .tCC.seek :closed +2 "collection"'P(V +4 "core" &  +9 &7 )w +9 &l = +9 &n F +10 &kc F +9 &,g F +10 &c F +9 &c# F +9 &rf F +10 &5c F +9 &a F +9 & c F +10 &"{d F +9 &$=a F +9 &%d F +10 &'a F +9 &)b F +11 &+Dg F +8 &-c F +9 &.g F +10 &0e F +9 &2Lf F +10 &4b F +9 &5c F +9 &7g F +10 &9Vc E +9 &;d F +9 &<e F +10 &>e F +9 &@\\h F +9 &Bd F +10 &Ce F +9 &Ek G +10 &G]x I +9 &I J +9 &JT3 N +10 &L P +9 &NPZo P +9 &P5> Q +10 &Q ' P +9 &S R +10 &UP  H +9 &VqI &u +9 &V _ +9 ( +2 &V S +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 7/29 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&,1 +54 "core" 1 +2 "manipulator"&f% +4 "core" %  K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%J& +4 "core" & +2 "manipulator"&k% +4 "core" %\  % + "storage"(.% +4 "core" %\\ * +2 "storage"(. +3 "core" .( +2 "storage"(U& +3 "core" & +3 "storage"(*& +3 "core" &  +2 "manipulator"&& +4 "core" &% <9 +2 "manipulator"&$% +3 "core" %\  % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&Q& +3 "core" &  +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +96 "core" ' + "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +277 "core" ' +2 "storage"(L- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +47 (d& +6 "core" & +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&%( +4 "core" ( + "manipulator"&^& +4 "core" & :  +2 "storage"(`& +3 "core" & +3 .tForearm.seek 2 + 300 counts + "manipulator"&e' +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"('X +8 "core" &  +2 "manipulator"&+% +3 "core" % y E +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C(s +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&& +4 "core" &q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&9' +105 "core" ' + "manipulator"&"& +4 "core" &q 0 +2 "manipulator"&:% +4 "core" % b R +2 "processing"%&& +4 "core" &\\ +2 "processing"%x& +5 "core" & +2 .tPC.seek :closed +2 "processing"%[(Z +4 "core" &  +9 &8E )w +10 &la = +9 &pO H +9 &v` F +10 &7c< G +9 &fH G +9 &e F +10 &}g G +9 &@ge F +10 &dB F +9 & h G +9 &"g G +10 &$Gge G +9 &&\ g[ F +9 &'e F +10 &)h G +9 &+Pg F +10 &-d F +9 &.g G +9 &0h G +10 &2Xh F +9 &4d F +9 &5b G +10 &7b F +9 &9`e F +10 &;!f G +9 &<f G +9 &>b F +10 &@he F +9 &B)c G +9 &Ch G +10 &Em G +9 &Giv I +10 &I% K +9 &J L +9 &L L +10 &Ni L +9 &P* L +9 &Q L +10 &S L +9 &Uo L +10 &W0 M +9 &X M +9 &ZDD^ $j +10 &Z\ ( ! +5 ( +2 "processing"%x& +4 "core" &Z ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open + "manipulator"&M1 +65 "core" 1 + "manipulator"&!% +4 "core" %  z R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' + "processing"%& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&@% +4 "core" %\   +2 "storage"(>% +4 "core" %N +2 "storage"(. +2 "core" .( +2 "storage"(=& +4 "core" & +2 "storage"(B& +2 "manipulator"&3& +9 "core" & + &q +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +3 "manipulator"&?(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'i + "core" ( +3 "manipulator"&G& +4 "core" &q +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &q +2 .tForearm.seek PC +2 "manipulator"&W' +96 "core" ' +2 .tHand.close + "manipulator"&S/ +55 "core" / +3 .tPC.seek :open +2 "processing"%( +97 "core" ' +2 "storage"(- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'y +47 "core" ' +278 ( + "storage"(V& +4 "core" & n +2 "manipulator"&& +4 "core" &q t + "manipulator"&% +4 "core" % 6 +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +255 "core" ( +48 "manipulator"&p& +5 "core" & & +2 "storage"(E& +4 "core" & +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&N'ќ +99 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(7'E +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(I' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(z& +4 "core" & \ G\ F [ +2 "manipulator"& & +4 "core" & & +2 .tElbow.seek 2 +2 "manipulator"&}( +2 "core" ( +3 "manipulator"&'& +3 "core" & & +2 "storage"(|& +4 "core" & \ G\ G O +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'ќ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(q' +59 "core" ' +2 "manipulator"&g& +4 "core" & & + "storage"()& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&y' +20 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(A'i +23 "core" ' +2 "manipulator"&t% +4 "core" % V +2 "storage"(i& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&Y' +18 "core" ' +2 "manipulator"&5& +4 "core" & & +2 "storage"(o& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'ќ +28 "core" ' + "storage"(% +4 "core" %o  +3 ."downElevator"SE.seek :down +3 "storage"(l'X +30 "Can"n VY +69 "storage"(w% +3 "core" %Y j m QJ +2 "manipulator"&b% +4 "core" %ѕ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ((& +2 "core" &  d +3 "collection"'X& +3 "core" &V S +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&{% +3 "core" %\   +3 "storage"(;% +3 "core" %^ ? +2 "storage"(]. +3 "core" .( +2 "storage"(K& +4 "core" & k +2 "storage"(& +3 "core" & +2 "manipulator"&<& +4 "core" & & +2 .tElbow.seek 2 +2 "manipulator"&O( +4 "core" ( + "manipulator"&h& +4 "core" & & +2 "storage"(8& +4 "core" & a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&2'ќ +102 "core" ' +2 "storage"(n& +3 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'i +282 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&#& +3 "core" & % +2 "storage"(6& +4 "core" & +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&' +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +45 "storage"(4'N +36 "core" ' +2 "manipulator"&s% +4 "core" % p +2 "storage"(1& +3 "core" & ` a S +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts +2 "manipulator"&~' +19 "core" ' + "manipulator"&r& +4 "core" & % +2 "storage"(0& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&,'ќ +33 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(f'= +39 "core" ' + "manipulator"&J& +4 "core" & % +2 "manipulator"&k% +4 "core" %Ѩ ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ( +2 "manipulator"&U& +3 "core" & K 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +4 "core" & 4 +2 .tForearm.seek CC +2 "manipulator"&'" +96 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'$( +416 "core" ( +2 "storage"(u& +4 "core" &  + "storage"(Q& +4 "core" & \ +2 "manipulator"&& +4 "core" & 4 +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&F( +160 "core" ( + "manipulator"&L& +4 "core" & r +2 "storage"(d& +3 "core" &  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +97 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&`1 +59 "core" 1 +2 "manipulator"&\ % +4 "core" % 5 +2 "storage"(j& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 313 counts + "manipulator"&+' +20 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +21 "core" ' +2 "storage"(e% +3 "core" %E  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 ( % +3 "core" %W  PF +2 "manipulator"&%% +4 "core" %ј < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +88 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"':& +4 "core" & +2 "manipulator"&&% +4 "core" %\  9  +2 "storage"(% +4 "core" %a p + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(c( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +4 "core" & }  +2 "manipulator"&!& +3 "core" & W +3 .tElbow.seek 3 + "manipulator"&( +16 "core" ( +2 "manipulator"&@& +4 "core" & { G +2 "storage"(>& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +94 "core" ' +45 "storage"(=& +7 "core" & z  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'i +281 "core" ' +2 "storage"(3- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +5 (B& +3 "core" &   +2 "manipulator"&G& +3 "core" & E G +2 .tElbow.seek 3 +2 "manipulator"&-( +4 "core" ( + "manipulator"&9& +4 "core" & u G +2 "storage"(S& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϩ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& +2 "storage"(['X +7 "core" & e G +2 "manipulator"&H% +4 "core" % Ϙ / +2 .tForearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" &"  Q 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &" r 9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&p'" +93 "core" ' + "manipulator"&?& +4 "core" &" 9% +2 "manipulator"&E% +4 "core" % +2 "collection"'& +4 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'\\(V +4 "core" &  +8 &9 *x +10 &m = +9 &n F +9 &}a F +10 &@b E +9 &c" F +10 &g' F +9 &` F +9 &Gb# F +10 &\ c" E +9 & c& F +9 &"g F +10 &$Oa F +9 &&c F +10 &'g F +9 &)e F +9 &+Wb F +10 &-a F +9 &.b E +9 &0d F +10 &2_f F +9 &4!f F +10 &5a F +9 &7c E +9 &9hc E +10 &;)d F +9 &<g F +9 &>e E +10 &@od F +9 &B1b F +10 &Cf F +9 &Ek G +9 &Gow I +10 &I. J +9 &JY8 N +9 &L P +10 &NaZn P +9 &P!3B Q +10 &Q"' Q +9 &S R +9 &Uc  ? +10 &VK   U +9 &V-6 %p +9 &VZ A +3 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&z1 +59 "core" 1 +3 "manipulator"& % +4 "core" %  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%|& +4 "core" & +2 "manipulator"&% +3 "core" %\ ~  +2 "storage"(g% +4 "core" %Z +2 "storage"(). +3 "core" .( +2 "storage"(t& +4 "core" & |  +2 "storage"(i& +4 "core" &  + "manipulator"&_& +4 "core" &" 9% +2 "manipulator"&5% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&o( +165 "core" ( +2 "manipulator"&7& +3 "core" & s +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +94 "core" ' +2 "storage"(N& +3 "core" & O  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'i +283 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (b& +2 "core" & _  +3 "manipulator"&/& +3 "core" & s +2 .tElbow.seek 3 +2 "manipulator"&}( +4 "core" ( + "manipulator"&q& +4 "core" &  s +2 "storage"(y& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϩ +22 "core" ' +47 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"({'X +8 "core" & b s +2 "manipulator"&;% +4 "core" % Ϝ +2 .tForearm.seek :retract +2 "manipulator"&]'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&A(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&K& +4 "core" &u *  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &u h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +102 "core" ' +2 "manipulator"&h& +4 "core" &u  +2 "manipulator"&8% +4 "core" % w +2 "processing"%Z& +4 "core" & +2 "processing"%n& +5 "core" & +3 .tPC.seek :closed + "processing"%l(Z +5 "core" & +6 &E #c +10 &\\< 6 +9 &> G +10 &e4 G +9 &e G +9 &db8 F +10 &&b3 F +9 &a G +9 &fF G +10 &lc> F +9 & .eL F +10 &!c G +9 &#bL F +9 &%teg F +10 &'5bE G +9 &(gX G +9 &*f G +10 &,|c F +9 &.>e F +9 &0d F +10 &1g G +9 &3g F +10 &5Fe F +9 &7g G +9 &8g F +10 &:c F +9 &e G +9 &?b G +9 &Ag G +10 &CUi G +9 &Ej G +10 &Fs H +9 &H I +9 &JN L +9 &L L +10 &M L +9 &O L +10 &QU L +9 &S M +9 &T M +10 &V M +9 &X[ M +10 &Ywu !i +9 &Z%b ( +9 ( + &Z ! +3 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"& 1 +52 "core" 1 + "manipulator"&T% +4 "core" % c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 "processing"%#& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&6% +4 "core" %\   +2 "storage"(m% +3 "core" %U +3 "storage"(s. +2 "core" .( +2 "storage"(1& +4 "core" &   +3 "storage"(r& +2 "manipulator"&0& +7 "core" &  + &u  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&J(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'i +3 "core" ( + "manipulator"&2& +6 "core" &u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &u }  +2 .tForearm.seek PC +2 "manipulator"&v' +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%~( +89 "core" ' + "storage"(4- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'y +34 "core" ' +296 ( +2 "storage"(*& +4 "core" &   +2 "manipulator"&,& +3 "core" &u l  +2 "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.( +268 "core" ( +2 "manipulator"&P& +3 "core" & +2 "storage"(u& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Q'9 +104 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"( - +3 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +42 "storage"(L'E +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(d' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &\ - ~ q  +2 "manipulator"&`& +3 "core" & +3 .tElbow.seek 3 +2 "manipulator"&\ ( +2 "core" ( +3 "manipulator"&j& +3 "core" & +2 "storage"(& +4 "core" &\ , ~  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(e' +59 "core" ' + "manipulator"&a& +4 "core" & k +2 "storage"( & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&%'} +28 "core" ' +4 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +24 "core" ' + "manipulator"&:% +4 "core" %| +2 "storage"(+& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&&'Ϩ +20 "core" ' +2 "manipulator"&& +3 "core" & ; +2 "storage"(& +4 "core" & !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&f'9 +50 "core" ' +2 "storage"(% +4 "core" %n | x +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %Y PJ +2 "manipulator"&M% +4 "core" %= = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (@& +3 "core" & O  +2 "collection"'>& +4 "core" &VW A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\ # = +2 "storage"(^% +4 "core" %_  +2 "storage"(". +3 "core" .( +2 "storage"(3& +3 "core" &   +2 "storage"(B& +4 "core" &   +2 "manipulator"&G& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&9( +3 "core" ( +3 "manipulator"&S& +3 "core" & T +2 "storage"(C& +5 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&D'9 +91 "core" ' +2 "storage"(H& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +280 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & +2 "storage"(x& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&W'} +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(E'N +27 "core" ' +2 "manipulator"&% +4 "core" %΅ +2 "storage"(-& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&['ϱ +19 "core" ' +2 "manipulator"&V& +3 "core" & Y +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +48 .tForearm.seek 3 + 700 counts +3 "manipulator"&z'9 +24 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"( '= +37 "core" ' +2 "manipulator"&|& +4 "core" & / +2 "manipulator"&% +3 "core" %r 2 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +162 "core" ( + "manipulator"&t& +4 "core" & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 7 +2 .tForearm.seek CC +2 "manipulator"&i'" +93 "core" ' +2 .tHand.close + "manipulator"&_/ +61 "core" / +2 .tCC.seek :open +2 "collection"'5( +417 "core" ( + "storage"(p& +4 "core" & G  +2 "storage"(7& +3 "core" & e  +2 "manipulator"&& +3 "core" & 7 +3 "manipulator"&N% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +163 "core" ( +2 "manipulator"&w& +4 "core" & O  +2 "storage"(b& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&/'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&q, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +62 "core" 1 +2 "manipulator"&(% +4 "core" % ΀ L + "storage"(X& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&;'Ϭ +20 "core" ' +2 "manipulator"&o& +4 "core" &   +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&I'9 +26 "core" ' + "storage"(Y% +4 "core" %C  +3 ."downElevator"SE.seek :down +3 "storage"(K'X +99 (% +2 "core" %"Y OF +3 "manipulator"&}% +3 "core" %> ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'8& +3 "core" & +2 "manipulator"&Z% +4 "core" %\  ?  +2 "storage"({% +3 "core" %X l +2 "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(( +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" & E +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&#( +27 "core" ( + "manipulator"&6& +4 "core" & s k +2 "storage"(m& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'ќ +102 "core" ' + "storage"(1& +4 "core" & ] +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'i +276 "core" ' + "storage"(r- +36 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (n& +2 "core" & 6 +2 "manipulator"&2& +4 "core" & ~ b +2 .tElbow.seek 2 +44 "manipulator"&O( +7 "core" ( +2 "manipulator"&<& +4 "core" & u b +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&4' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(l'X +7 "core" & b +2 "manipulator"&k% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&,( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&& +3 "core" &  6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&P'" +92 "core" ' +2 "manipulator"&u& +4 "core" & 9 6 +2 "manipulator"&J% +3 "core" %' 0 +3 "collection"'& +3 "core" & +3 "collection"' & +5 "core" &! +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &# +7 &G( $d +10 &_! 7 +9 &*~ G +9 &b F +10 &d F +9 &sf F +9 &5a F +10 &c F +9 &f# F +10 &|c E +9 & =c F +9 &!b F +10 &#c F +9 &%b F +9 &'Ec F +10 &)g F +9 &*c E +10 &,f F +9 &.Nc E +9 &0c F +10 &1g F +9 &3b F +9 &5Ub F +10 &7h F +9 &8c F +10 &:g F +9 &<]f F +9 &>e F +10 &?c F +9 &Ad F +9 &Cee F +10 &E&j F +9 &Fs G +10 &H% I +9 &JY7 M +9 &Lx P +10 &Mm~ P +9 &O>K$ P +9 &QU&, Q +10 &S( R +9 &T R +10 &VDf  - +9 &V  . +9 &Vr M +3 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ' ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%j& +4 "core" &e +2 "manipulator"&% +4 "core" %\   +2 "storage"(a% +3 "core" %` 3 +2 "storage"( . +3 "core" .( +2 "storage"(U& +4 "core" & +2 "storage"(:& +3 "core" & +2 "manipulator"&+& +4 "core" & 5 +2 "manipulator"&L% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" & 4  +2 "storage"(.& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&'ќ +96 "core" ' + "storage"(Q& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'i +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" & = +2 "manipulator"& & +4 "core" & *  +2 .tElbow.seek 2 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&e& +4 "core" &  +2 "storage"(%& +3 "core" &  +3 .tForearm.seek 2 + 300 counts + "manipulator"&&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"(='X +8 "core" &  + "manipulator"&^% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +101 "core" ' +48 .tElbow.seek PC +3 "manipulator"&(s +103 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +145 "core" ( + "manipulator"&3& +4 "core" &y / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &y 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&G' +101 "core" ' +2 "manipulator"&S& +3 "core" &y +2 "manipulator"&C% +4 "core" % +2 "processing"%f& +4 "core" &F +3 "processing"%H& +4 "core" & +3 .tPC.seek :closed + "processing"%(Z +5 "core" &I  +8 &8D )w +10 &k? = +9 &rD H +9 &s`? F +10 &4d> G +9 &e? G +10 &bH G +9 &{bN F +9 &=cG F +10 &h9 G +9 & g= G +10 &"eb G +9 &$DaL G +9 &&b7 G +10 &'g G +9 &)eb G +9 &+Lb G +10 &-bG F +9 &.eM F +9 &0c G +10 &2Tc G +9 &4f F +10 &5d F +9 &7g F +9 &9\\b G +10 &;b F +9 &<c G +9 &>g F +10 &@ee F +9 &B&h G +10 &Ch G +9 &Ek G +9 &Gfu I +10 &I! K +9 &J L +9 &L L +10 &Ne L +9 &P& L +10 &Q L +9 &S L +9 &Ul L +10 &W- M +9 &X M +9 &Z@E` %k +10 &Z# +5 ( +2 "processing"%H& +4 "core" &Z +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&F1 +64 "core" 1 +2 "manipulator"&!% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + "processing"%& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&x% +3 "core" %\ \  +2 "storage"(?% +4 "core" %a +2 "storage"(. +3 "core" .( +2 "storage"(-& +3 "core" & +3 "storage"(V& +2 "manipulator"&$& +8 "core" & + &y +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&|(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('i +2 "core" ( +2 "manipulator"&D& +4 "core" &y +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &y +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&W/ +57 "core" / +3 .tPC.seek :open +2 "processing"%[( +89 "core" ' + "storage"(E- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +33 "core" ' +299 ( +2 "storage"(& +4 "core" & +2 "manipulator"&z& +3 "core" &y +2 "manipulator"&% +5 "core" % T +2 .tForearm.seek :retract + "manipulator"&_'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +262 "core" ( + "manipulator"&\\& +4 "core" & ) +2 "storage"(p& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&7'ќ +96 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(N- +4 "core" -'y +2 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(w'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(b' +52 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"()& +3 "core" & \ 9\ > 7 +2 "manipulator"&y& +4 "core" & ( +2 .tElbow.seek 2 +47 "manipulator"&(( +6 "core" ( + "manipulator"&X& +4 "core" & ( +2 "storage"(o& +4 "core" & \ :\ F 4 +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Y' +56 "core" ' +2 "manipulator"&& +4 "core" & n ( +2 "storage"(& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&}' +24 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(/'i +18 "core" ' +2 "manipulator"&;% +5 "core" % T +2 "storage"(8& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&Z' +18 "core" ' + "manipulator"&{& +4 "core" & ' +2 "storage"(]& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +38 "core" ' + "storage"(I% +4 "core" %m  +3 ."downElevator"SE.seek :down +3 "storage"(K'X +99 (c% +19 "core" %^Q _ ` PF +2 "manipulator"& % +4 "core" %ц +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 (6& +3 "core" & = +2 "collection"'m& +4 "core" &Vm M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&1% +4 "core" %\ % E +2 "storage"(q% +4 "core" %a +2 "storage"(h. +3 "core" .( +2 "storage"(r& +3 "core" & +2 "storage"(n& +4 "core" & +2 "manipulator"&2& +4 "core" & ' +2 .tElbow.seek 2 + "manipulator"&<( +22 "core" ( +2 "manipulator"&& +3 "core" & M  +3 "storage"(A& +3 "core" & q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'ќ +99 "core" ' +2 "storage"(k& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'i +282 "core" ' +3 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(v& +4 "core" & 5 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&0' +27 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(u- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(J'N +27 "core" ' +2 "manipulator"&% +4 "core" % 2 : +2 "storage"(O& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&l' +18 "core" ' +2 "manipulator"&*& +4 "core" & s  +2 "storage"(5& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +36 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('= +37 "core" ' + "manipulator"&j& +4 "core" & |  +2 "manipulator"&% +3 "core" %ё +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +139 "core" ' +3 .tElbow.seek CC + "manipulator"& ( +161 "core" ( +2 "manipulator"&U& +4 "core" & t 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & 7 +3 .tForearm.seek CC +2 "manipulator"& '" +96 "core" ' + .tHand.close +2 "manipulator"&+/ +53 "core" / +2 .tCC.seek :open +2 "collection"'L( +416 "core" ( +2 "storage"(P& +4 "core" &  +2 "storage"(& +4 "core" & 8 +2 "manipulator"&.& +3 "core" & 7 +2 "manipulator"&Q% +4 "core" % ) +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`( +160 "core" ( + "manipulator"&& +4 "core" & _  +2 "storage"(M& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& ' +96 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +61 "core" 1 +2 "manipulator"&@% +4 "core" %  +2 "storage"(>& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&^' +20 "core" ' +2 "manipulator"&& +4 "core" & K  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&d'ќ +17 "core" ' + "storage"(&% +4 "core" %F w +3 ."downElevator"SE.seek :down +3 "storage"(3'X +99 (B% +2 "core" %T { PH +3 "manipulator"&\ % +3 "core" %ѥ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +45 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'C& +4 "core" & +2 "manipulator"&f% +4 "core" %\ # > +2 "storage"(=% +3 "core" %`   +2 "storage"(". +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(~( +339 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (F& +2 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +15 "core" ( + "manipulator"&x& +4 "core" & n Y +2 "storage"(?& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +95 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'i +275 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +3 "core" &   +2 "manipulator"&D& +4 "core" & d Y +2 .tElbow.seek 3 + "manipulator"&9( +3 "core" ( +2 "manipulator"&G& +4 "core" &  Y +2 "storage"(W& +3 "core" &   +3 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϩ +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +50 "manipulator"&& +2 "storage"('X +8 "core" & { Y +2 "manipulator"&% +4 "core" % ϲ \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +137 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +28 "core" ( +2 "manipulator"&& +3 "core" &$  / ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &$ X ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&\\'" +94 "core" ' +3 "manipulator"&p& +3 "core" &$ ;5 +2 "manipulator"&|% +4 "core" %! +2 "collection"'& +5 "core" &+ +2 "collection"'N& +5 "core" &, +2 .tCC.seek :closed +2 "collection"'i(V +5 "core" &  +8 &7 )v +9 &l = +10 &l G +9 &za F +9 &<c& F +10 &g F +9 &a F +9 &c F +10 &Cg F +9 &d E +10 & c F +9 &"b F +9 &$Mc E +10 && e F +9 &'c& E +9 &)c& F +10 &+Sh' F +9 &-c E +10 &.c$ F +9 &0g F +9 &2\\a F +10 &4a F +9 &5c E +9 &7d F +10 &9db F +9 &;'e E +10 &<e F +9 &>e F +9 &@kb F +10 &B.e F +9 &Cg F +9 &El G +10 &Gmw H +9 &I+ J +10 &JW7$ N +9 &L P +9 &N__r' P +10 &P7D% P +9 &Q"(& Q +9 &S R +10 &U^ D +9 &VsA  )z +10 &Vp F +5 ( +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.89 + .Hand.open +2 "manipulator"&)1 +3 "core" &Vj F +55 1 +3 "manipulator"&y% +4 "core" % ! G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +4 "core" & +2 "manipulator"&o% +4 "core" %\   +2 "storage"(% +4 "core" %a 2 + "storage"(. +3 "core" .( +2 "storage"(t& +4 "core" &  W  +2 "storage"(w& +3 "core" &  .  +2 "manipulator"&;& +4 "core" &# ;5 +2 "manipulator"&8% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&{( +168 "core" ( +2 "manipulator"&]& +4 "core" & h  +2 "storage"(g& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&I'9 +98 "core" ' +2 "storage"(7& +3 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'i +282 "core" ' +2 "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" &  +3 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&(( +4 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(}& +3 "core" & H  +3 .tForearm.seek 3 + 300 counts + "manipulator"&Z'ϩ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& +2 "storage"(1'X +7 "core" & G  +2 "manipulator"&q% +4 "core" % O ; +2 .tForearm.seek :retract +2 "manipulator"&h'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(s +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +2 "manipulator"&/& +4 "core" &k  <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&2' +103 "core" ' +3 "manipulator"&& +4 "core" &o o  +2 "manipulator"&A% +4 "core" %\ H +2 "processing"% & +4 "core" & +3 "processing"%k& +4 "core" &C +2 .tPC.seek :closed +2 "processing"%K(Z +5 "core" &? +7 &DN #b +9 &\\: 6 +9 & G +10 &eP F +9 &h{ F +9 &dbP G +10 &'g? F +9 &b8 G +10 &g8 G +9 &mcM F +9 & /eJ F +10 &!h? G +9 &#g> G +9 &%ubf F +10 &'7e F +9 &(g G +10 &*gf G +9 &,}cJ F +9 &.?e F +10 &0g G +9 &1f G +9 &3b F +10 &5Ge F +9 &7g G +10 &8g G +9 &:b F +9 &e F +9 &?h G +9 &Af G +10 &CVe G +9 &Ei G +10 &Fu H +9 &H J +9 &JO L +10 &L L +9 &M L +9 &O L +10 &QW L +9 &S M +10 &T L +9 &V M +9 &X\\ M +10 &Zwv !i +9 &Z%b ' +9 ( + &Z +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&'1 +52 "core" 1 +2 "manipulator"&T% +3 "core" % \ I H +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +91 "core" ' + "processing"%& +4 "core" &Z +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&v% +3 "core" %\   +2 "storage"(u% +4 "core" %b +2 "storage"(. +2 "core" .( +2 "storage"(O& +4 "core" &  +2 "storage"(*& +3 "manipulator"&5& +5 "core" & \\  +2 &o  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&j(s +4 ."raiseStack"SE.seek :beamBreak +3 "storage"('i +3 "core" ( +2 "manipulator"&R& +3 "core" &o  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &o `  +3 .tForearm.seek PC +2 "manipulator"&#' +95 "core" ' + .tHand.close +2 "manipulator"&0/ +56 "core" / +2 .tPC.seek :open +2 "processing"%l( +92 "core" ' + "storage"(J- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('y +34 "core" ' +297 ( + "storage"(U& +8 "core" &  +2 "manipulator"&:& +4 "core" &p  +2 "manipulator"&4% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +240 "core" ( + "manipulator"&& +4 "core" & !q +2 "storage"(P& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +105 "core" ' + .tHand.open +2 "manipulator"&.1 +55 "core" 1 +2 "storage"(Q- +2 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.79 Pucks below Top Plate + "storage"(M' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +3 "storage"( & +3 "core" & z\ G O  +3 "manipulator"&%& +3 "core" & !q +2 .tElbow.seek 3 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&>& +4 "core" & T !q +2 "storage"(& +3 "core" & ~\ , p  +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(&' +57 "core" ' + "manipulator"&,& +51 "core" & !q +2 "storage"(B& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&\ '} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +22 "core" ' + "manipulator"&C% +4 "core" %΅ +2 "storage"(f& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 308 counts + "manipulator"&^'ϱ +20 "core" ' +2 "manipulator"&=& +4 "core" & W !p +2 "storage"("& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +34 "core" ' +2 "storage"(d% +3 "core" %o  +3 ."downElevator"SE.seek :down +3 "storage"(3'X +99 (% +3 "core" %] Y i  QL +2 "manipulator"&F% +4 "core" %2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 (x& +3 "core" &  +2 "collection"'?& +4 "core" &Vj F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ # ? +2 "storage"(e% +3 "core" %` +2 "storage"(S. +3 "core" .( +2 "storage"($& +4 "core" &  +2 "storage"(V& +3 "core" &  +2 "manipulator"&D& +4 "core" & !p +2 .tElbow.seek 3 +2 "manipulator"&G( +4 "core" ( + "manipulator"&W& +4 "core" & !p +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +93 "core" ' + "storage"(& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +282 "core" ' +3 "storage"(H- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & !p +2 "storage"(-& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'} +18 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(p- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(|'N +33 "core" ' +2 "manipulator"&9% +3 "core" % +2 "storage"(& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 302 counts + "manipulator"&'ϫ +21 "core" ' + "manipulator"&& +4 "core" & w !p +2 "storage"(L& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)'9 +17 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(y'= +37 "core" ' +2 "manipulator"&X& +3 "core" & !p +2 "manipulator"&o% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +161 "core" ( +4 "manipulator"&t& +3 "core" &' x >M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &' _ >M +2 .tForearm.seek CC +2 "manipulator"&N'" +97 "core" ' + .tHand.close +2 "manipulator"&;/ +56 "core" / +4 .tCC.seek :open + "collection"'8( +415 "core" ( +2 "storage"(\\& +4 "core" & Z  +2 "storage"(]& +3 "core" &   +2 "manipulator"&g& +4 "core" &' >L +2 "manipulator"&7% +3 "core" % " +3 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&_( +165 "core" ( + "manipulator"&c& +4 "core" &  V +2 "storage"( & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +98 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +59 "core" 1 +3 "manipulator"&6% +3 "core" % ΅ { +2 "storage"(m& +5 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&q'ϱ +21 "core" ' +2 "manipulator"&{& +3 "core" &  V +2 "storage"(I& +5 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&b'9 +26 "core" ' +2 "storage"(Z% +3 "core" %F  +3 ."downElevator"SE.seek :down +4 "storage"(/'X +98 (n% +3 "core" %Z % PI +2 "manipulator"&(% +4 "core" %z / ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'A& +3 "core" & +2 "manipulator"& % +4 "core" %\  " +2 "storage"(1% +4 "core" %Z  +2 "storage"(h. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"([( +338 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &  +2 "manipulator"&T& +4 "core" & V +2 .tElbow.seek 2 +2 "manipulator"&( +36 "core" ( +2 "manipulator"&v& +4 "core" & & + "storage"(u& +4 "core" & G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +96 "core" ' + "storage"(O& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'i +281 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & s +2 "manipulator"&R& +4 "core" & % +2 .tElbow.seek 2 +2 "manipulator"&<( +2 "core" ( +2 "manipulator"&2& +4 "core" & Q % +2 "storage"(0& +4 "core" & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(K'X +7 "core" & % +2 "manipulator"&% +3 "core" % 2 +3 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +147 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&4& + "storage"(5 +53 "core" & a 6 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" & 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'" +97 "core" ' +2 "manipulator"&P& +4 "core" & 6 +2 "manipulator"&j% +4 "core" %( +2 "collection"'.& +4 "core" &+ +3 "collection"'Q& +5 "core" &/ +2 .tCC.seek :closed +2 "collection"' (V +3 "core" &&  +9 &8* )v +9 & m* = +10 &o F +9 &d F +9 &Fc F +10 &g F +9 &c F +10 &g F +9 &Nd F +9 &h F +10 & d F +9 &"b F +9 &$Uc" F +10 &&e* F +9 &'b) F +10 &)c+ F +9 &+]h0 F +9 &- d# F +10 &.a F +9 &0e F +9 &2gc! E +10 &4(c F +9 &5b$ F +10 &7c F +9 &9mg F +9 &;0e# F +10 &<d E +9 &>e( F +9 &@vc F +10 &B8e F +9 &Cj" F +10 &Eh' G +9 &Gvv' I +9 &I5, J +10 &JZ8* N +9 &L( P +9 &Nh_s$ P +10 &P(8E( Q +9 &Q&+( Q +10 &S$ R +9 &Uk) ? +9 &Vv:\ ' - +10 &V[ A +5 ( +2 "collection"'Q& +4 "core" &VM$ A +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"& 1 +62 "core" 1 +3 "manipulator"&%% +4 "core" % ( 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &~ +2 "manipulator"&+% +3 "core" %\   +2 "storage"(,% +4 "core" %a  +2 "storage"(B. +3 "core" .( +2 "storage"(& +3 "core" &  +2 "storage"(& +4 "core" &  + "manipulator"&C& +4 "core" & 5 +2 "manipulator"&f% +4 "core" %\  \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&=( +160 "core" ( +2 "manipulator"&"& +4 "core" &  y + "storage"(a& +4 "core" & I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +104 "core" ' +2 "storage"(d& +3 "core" &  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +282 "core" ' +2 "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &  +2 "manipulator"&& +3 "core" & } y +2 .tElbow.seek 2 +2 "manipulator"&@( +4 "core" ( + "manipulator"&&& +4 "core" & y +2 "storage"(\ & +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"('X +7 "core" & I y +2 "manipulator"&e% +4 "core" %  O T +2 .tForearm.seek :retract +2 "manipulator"&S'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&$(s +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +3 "manipulator"& & +4 "core" &t g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&D' +102 "core" ' + "manipulator"&W& +4 "core" &t n +3 "manipulator"&% +3 "core" % { b +2 "processing"%& +4 "core" &> +3 "processing"%& +4 "core" & +2 .tPC.seek :closed +2 "processing"%3(Z +5 "core" &N  +8 &8= )v +10 &k = +9 &pO G +9 &u` F +10 &6bQ G +56 &f G +6 &c F + &|cK G + &?g F + &h G + & e G + &"b F +8 &$Hdb F +9 && g# F +10 &'gF F +9 &)ha F +9 &+Ob F +10 &-d F +9 &.g G +9 &0e G +10 &2Wh F +9 &4g G +10 &5e G +9 &7g F +9 &9_h F +10 &;!b F +9 &<d F +9 &>f G +10 &@gc F +9 &B)e F +10 &Ck G +9 &Em G +9 &Ghv I +10 &I$ K +9 &J K +9 &L L +10 &Nh L +9 &P) L +9 &Q L +10 &S L +9 &Um M +10 &W. M +9 &X M +9 &ZAC_ %l +10 &Z' " +5 ( +2 "processing"%& +4 "core" &Z " +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.42 + .Hand.open + "manipulator"&`1 +59 "core" 1 +2 "manipulator"&!% +3 "core" % b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +97 "core" ' +2 "processing"%& +3 "core" &Z " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&-% +4 "core" %\ " : +2 "storage"(p% +3 "core" %T +2 "storage"(9. +3 "core" .( +2 "storage"(& +4 "core" & +2 "storage"(& +4 "manipulator"&L& +5 "core" & 5 + &t +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(X'i + "manipulator"&o(s +7 "core" ( +2 "manipulator"&& +3 "core" &t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &t w +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +4 .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(|- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'y +33 "core" ' +307 ( + "storage"(w& +4 "core" &  +2 "manipulator"&)& +4 "core" &t +2 "manipulator"&E% +3 "core" % +2 .tForearm.seek :retract +2 "manipulator"&;'\ +118 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +263 "core" ( +2 "manipulator"&i& +4 "core" & c +2 "storage"(\\& +4 "core" & 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&]'ќ +95 "core" ' +2 .tHand.open + "manipulator"&g1 +56 "core" 1 +2 "storage"(7- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(c'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"(& +4 "core" & H I T +2 "manipulator"&}& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&m& +3 "core" & = +2 "storage"({& +4 "core" & I I  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(Z' +60 "core" ' + "manipulator"&z& +4 "core" & z +2 "storage"(n& +3 "core" &  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&(' +27 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +39 .tSE.seek 0.11 Pucks below Top Plate +13 "storage"('i +23 "core" ' + "manipulator"&q% +4 "core" % +2 "storage"(A& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"& ' +22 "core" ' + "manipulator"&1& +4 "core" & Z +2 "storage"(h& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&y'ќ +25 "core" ' +2 "storage"(b% +4 "core" %o  +3 ."downElevator"SE.seek :down +3 "storage"(/'X +99 (~% +3 "core" %KZ QI +2 "manipulator"&'% +4 "core" %ѐ x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (v& +2 "core" & ) +3 "collection"'u& +3 "core" &VL A +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&O% +4 "core" %\   +2 "storage"(Y% +3 "core" %`  +2 "storage"(. +3 "core" .( +2 "storage"(5& +4 "core" &  +2 "storage"(k& +4 "core" &  + "manipulator"&R& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&2( +4 "core" ( +2 "manipulator"&0& +3 "core" & +2 "storage"(r& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&s'ќ +91 "core" ' +2 "storage"(& +3 "core" & Q +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +281 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" & +3 "storage"(*& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J' +29 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate + "storage"(P'N +41 "core" ' +2 "manipulator"&j% +3 "core" % , +2 "storage"(.& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&K' +19 "core" ' +2 "manipulator"&U& +4 "core" & w +2 "storage"(8& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'ќ +26 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(%'= +39 "core" ' +2 "manipulator"&& +3 "core" & , +2 "manipulator"&+% +4 "core" % /  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q( +164 "core" ( + "manipulator"&B& +4 "core" &&  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && 9 =C +3 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close +2 "manipulator"&C/ +56 "core" / +2 .tCC.seek :open +2 "collection"'f( +417 "core" ( + "storage"(& +4 "core" & +2 "storage"("& +4 "core" &  +2 "manipulator"&a& +3 "core" && C =A +2 "manipulator"&d% +4 "core" % 2 +2 .tForearm.seek :retract +2 "manipulator"&:'\ +97 "core" ' +47 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&>( +160 "core" ( + "manipulator"&& +4 "core" & a  +2 "storage"(F& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&' +102 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\ 1 +53 "core" 1 +4 "manipulator"&x% +3 "core" % x +2 "storage"(?& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&e' +19 "core" ' +2 "manipulator"&=& +4 "core" &  +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&M'ќ +36 "core" ' + "storage"(^% +4 "core" %D \ +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 (V% +4 "core" %W @ QH +2 "manipulator"&@% +3 "core" %ѕ V +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &  +2 "manipulator"&% +4 "core" %\   +2 "storage"(% +3 "core" %`  +2 "storage"(S. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(l( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &   +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&-& +8 "core" & , Q +2 "storage"(p& +4 "core" & a  +3 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&9'9 +96 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &   +2 "manipulator"&& +4 "core" & i Q +2 .tElbow.seek 3 +2 "manipulator"&G( +4 "core" ( + "manipulator"&D& +4 "core" & ; Q +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'ϩ +13 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(3'X +7 "core" & ~ Q +2 "manipulator"&X% +4 "core" % ϰ % +2 .tForearm.seek :retract +2 "manipulator"&w'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( +2 "manipulator"&E& +4 "core" && 3 E =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" && =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'" +103 "core" ' +2 "manipulator"&\\& +4 "core" && =G +2 "manipulator"&o% +4 "core" %$ > +3 "collection"'g& +4 "core" &+  +49 "collection"'7& +5 "core" &  +3 .tCC.seek :closed + "collection"'N(V +4 "core" &  +10 &8 )w +9 & o > +9 &n G +10 &b F +9 &Gc F +9 & d F +10 &c F +9 &c F +10 &Qd& E +9 &d& F +9 & c' F +10 &"c* F +9 &$Wc) F +9 &&c, F +10 &'c* F +9 &)c. E +9 &+^e2 F +10 &- c+ F +9 &.b) F +10 &0d( F +9 &2hc+ F +9 &4+c# E +10 &5c+ F +9 &7c. F +9 &9pc) F +10 &;2e0 F +9 &<e' F +10 &>d% F +9 &@xc F +9 &B8g) F +10 &Cf- F +9 &Ej( G +10 &Gyv* H +9 &I6( J +9 &JZ9+ O +10 &L) P +9 &NjZo- P +9 &P+4A# P +10 &Q#(' Q +9 &S% R +9 &Uk ? +10 &VK & N +9 &V#/ #i +9 ( +2 &Vx& L +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.90 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&}% +4 "core" % $ ^ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +4 "core" & +2 "manipulator"&;% +4 "core" %\  }  +2 "storage"(z% +4 "core" %\\ + "storage"(n. +3 "core" .( +2 "storage"(t& +4 "core" &  +2 "storage"(c& +4 "core" &  +2 "manipulator"&q& +3 "core" &% =G +2 "manipulator"&A% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&1( +160 "core" ( +2 "manipulator"&h& +4 "core" & i  +4 "storage"(& +5 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&]'9 +99 "core" ' + "storage"(b& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'i +277 "core" ' +2 "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (~& +2 "core" &  +3 "manipulator"&'& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&6( +4 "core" ( + "manipulator"&Z& +4 "core" & *  +2 "storage"((& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϩ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(O'X +7 "core" & f  +2 "manipulator"&Y% +4 "core" % ϯ ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(s +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +117 "core" ( +2 "manipulator"&5& +4 "core" &m  l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" &m D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&R' +97 "core" ' + "manipulator"&0& +4 "core" &m ~ +2 "manipulator"&r% +4 "core" %  +2 "processing"%y& +4 "core" &7 +3 "processing"%& +5 "core" & +2 .tPC.seek :closed + "processing"%/(Z +5 "core" & +7 &>B #b +9 &\\ 6 +9 & G +10 &_ F +9 &d F +9 &\\bb G +10 &b F +9 &d F +10 &b G +9 &eh F +9 & 'd F +10 &!f G +9 &#fA G +9 &%lf G +10 &'.c G +9 &(h G +10 &*e G +9 &,u` F +9 &.7d F +10 &/b G +9 &1a F +9 &3}d F +10 &5>c G +9 &7b F +10 &8c F +9 &:c F +9 &d G +9 &?b G +9 &Ah G +10 &CNj G +9 &Ek G +10 &Fu H +9 &H J +9 &JG L +10 &L  L +9 &M L +9 &O L +10 &QM M +9 &S M +10 &T M +9 &V L +9 &XS M +10 &Yxv "j +9 &Z&f * +9 ( +48 &Z ! +4 &Z ! +3 &Z ! +2 &Z ! + &Z ! + &Z ! + &Z ! +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&_1 +59 "core" 1 + "manipulator"&T% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%4& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&*% +4 "core" %\  l  +2 "storage"(<% +4 "core" %N +2 "storage"(j. +2 "core" .( +2 "storage"(.& +4 "core" &  +3 "storage"(U& +2 "manipulator"&8& +7 "core" &  + &m +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "storage"(#]@K-0-\ b +4 "manipulator"&(s +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'i +3 "core" ( + "manipulator"&s& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &m f +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&J/ +65 "core" / +2 .tPC.seek :open +2 "processing"%K( +79 "core" ' + "storage"(P- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'y +50 "core" ' +290 ( +2 "storage"(& +4 "core" &   +2 "manipulator"& & +3 "core" &m +2 "manipulator"&#% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&C'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&,( +262 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +4 "core" & p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&"'9 +95 "core" ' +3 .tHand.open +2 "manipulator"&a1 +53 "core" 1 +2 "storage"(d- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(F- +3 "core" -' +2 "storage"(Q& +4 "core" &\ :\ E b  + "manipulator"&\ & +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&x( +8 "core" ( +2 "manipulator"&?& +3 "core" &  +2 "storage"(=& +5 "core" &\ ;\ <   +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(^' +56 "core" ' + "manipulator"&:& +4 "core" &  +2 "storage"(V& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&@'} +26 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' +2 "manipulator"&e% +4 "core" %w l + "storage"(& +4 "core" & }  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 294 counts + "manipulator"&'ϣ +21 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(S& +4 "core" &   +2 .tForearm.reconfigure :tight +47 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 700 counts +2 "manipulator"&%'9 +28 "core" ' +3 "storage"(M% +4 "core" %s  +3 ."downElevator"SE.seek :down +3 "storage"( 'X +99 ([% +3 "core" %Z h _ QJ +2 "manipulator"&`% +3 "core" %< m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (-& +3 "core" &   +2 "collection"'p& +3 "core" &Vv L +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\   +2 "storage"(&% +3 "core" %a  +2 "storage"(W. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(L& +4 "core" & P  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&D( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"($& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&H'9 +95 "core" ' + "storage"(X& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +283 "core" ' +2 "storage"(9- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &  +2 "storage"(& +3 "core" & j  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +22 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(\\'N +29 "core" ' + "manipulator"&o% +4 "core" %΅ +2 "storage"(g& +3 "core" & {  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&3'ϱ +20 "core" ' +2 "manipulator"&w& +4 "core" & U  +2 "storage"(f& +3 "core" & i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(}'= +37 "core" ' + "manipulator"&{& +4 "core" & q  +2 "manipulator"&;% +3 "core" %x | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +162 "core" ( +9 "manipulator"&t& +3 "core" &' I >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &' >K +2 .tForearm.seek CC +2 "manipulator"&c'" +93 "core" ' +2 .tHand.close + "manipulator"&q/ +63 "core" / +2 .tCC.seek :open +2 "collection"'A( +417 "core" ( + "storage"(i& +4 "core" & J  +2 "storage"(h& +3 "core" &  +2 "manipulator"&& +4 "core" &' >K +2 "manipulator"&b% +4 "core" % $ +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&m( +164 "core" ( +2 "manipulator"&I& +3 "core" & 6 v +2 "storage"(~& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&''} +94 "core" ' +4 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +56 "core" 1 +2 "manipulator"&v% +4 "core" % Έ +2 "storage"(u& +3 "core" & !  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 311 counts + "manipulator"&Y'ϴ +20 "core" ' +2 "manipulator"&1& +4 "core" & ! v +2 "storage"(]& +4 "core" & :  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +30 "core" ' +2 "storage"( % +4 "core" %G P +3 ."downElevator"SE.seek :down +3 "storage"(5'X +99 (k% +3 "core" %Y  PG +2 "manipulator"&6% +4 "core" %D y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +15135 "Can"s /Z +60002 z /[ +60002 x /,[ +60002 u /\\A +60002 v /?\\׸ +60002 v /]m +36802 #t-> exit +7 #mEXIT @1736354443.41EST @1736440293.11EST = =tMAIN =mMAIN_scheduler @EST1736440293.83 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +108 #"core_reset"Sent BREAK +2 #t@647 select with ifg=0x10, ie=0xF5 + #@1295 receive with ifg=0x10, ie=0xFD + #@1943 receive with ifg=0x10, ie=0xFD #@2591 receive with ifg=0x10, ie=0xFD + #@2918 receive with ifg=0x80, ie=0xFD + #@6324 sendCRC with ifg=0x20, ie=0x7F #@6770 sendCRC with ifg=0x20, ie=0x7F + #@8362 sendCRC with ifg=0x08, ie=0x5F + #@40558 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +251 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +385 "Can"h , + h , + #tPolling Can every 10:00 +69 #Cleanly exited at 11:40:43EST08-Jan-25 +405 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +3 "core" % +2 .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  +2 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +525 #-> Puck.count +2 "storage"(2% +3 "core" %Z +2 .tSE.seek :down +2 "storage"(3'X +4 "core" ' + .tSE.stop + "storage"(5 +3 .tHand.open +2 "manipulator"&41 +26 "core" 1 +2 "manipulator"&5% +4 "core" %\  Z  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(6(S +654 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +4 "core" &U  +2 "manipulator"&8& +3 "core" & v +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&9(. +51 "core" ( +2 "manipulator"&:& +3 "core" &8 r  +2 "storage"(;& +4 "core" &W , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&<'ѷ +88 "core" ' + "storage"(=& +4 "core" &W  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'i +273 "core" ' +2 "storage"(?- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (@% +3 "core" %c  +3 ."downElevator"SE.seek :down +4 "storage"(A'X +98 (B% +4 "core" %]Y  QK + "manipulator"&C% +4 "core" %ѫ < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E( +341 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &   +2 "manipulator"&G& +4 "core" &8  +2 .tElbow.seek 2 +2 "manipulator"&H( +29 "core" ( + "manipulator"&I& +4 "core" & c J +2 "storage"(J& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&K'ќ +106 "core" ' +2 "storage"(L& +4 "core" &   +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'i +301 "core" ' +2 "storage"(N- +3 "core" -'4 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +5 (O% +2 "core" % .  +4 ."downElevator"SE.seek :down +4 "storage"(P'X +99 (Q% +3 "core" %VL \ OE +2 "manipulator"&R% +3 "core" %Ѣ ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +36 .tForearm.seek :retract +9 "manipulator"&S'\ +87 "core" ' +7 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +331 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" & 6  +2 "manipulator"&V& +4 "core" & J +2 .tElbow.seek 3 +2 "manipulator"&W( +27 "core" ( + "manipulator"&X& +4 "core" & j  +2 "storage"(Y& +4 "core" & m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&Z'9 +100 "core" ' +2 "storage"([& +3 "core" &   +3 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'i +300 "core" ' +2 "storage"(]- +3 "core" -'3 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^% +3 "core" % 6 j +3 ."downElevator"SE.seek :down +5 "storage"(_'X +97 (`% +3 "core" %cN  PF +2 "manipulator"&a% +3 "core" %5  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(c(,l +331 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &,i G +3 "manipulator"&e& +3 "core" & 3  +2 .tElbow.seek 4 +2 "manipulator"&f( +4 "core" ( + "manipulator"&g& +4 "core" & 3  +2 "storage"(h& +3 "core" &,f .  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&i'Ѽ +102 "core" ' +2 "storage"(j& +4 "core" &,f   +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(k'i +279 "core" ' +2 "storage"(l- +2 "core" -'i +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m% +3 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"(n'X +99 (o% +3 "core" %?Z A QJ +2 "manipulator"&p% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(r(<* +335 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &<)   +2 "manipulator"&t& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&v& +3 "core" & W  +2 "storage"(w& +4 "core" &<'   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&x'ы +99 "core" ' +2 "storage"(y& +3 "core" &<' ]  +2 .tSE.reconfigure :place +3 "storage"(#]@K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'i +271 "core" ' + "storage"({- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (|% +3 "core" %a # +3 ."downElevator"SE.seek :down +4 "storage"(}'X +98 (~% +4 "core" %R  PI +2 "manipulator"&% +4 "core" %р , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +330 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +36 "core" ( + "manipulator"&& +4 "core" & 8 +2 "storage"( & +4 "core" &K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +35 .tForearm.seek 6 + 700 counts +10 "manipulator"& 'a +92 "core" ' + "storage"( & +4 "core" &K  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('i +273 "core" ' +2 "storage"(- +3 "core" -'i +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (% +3 "core" %c  +3 ."downElevator"SE.seek :down +3 "storage"('X +99 (% +3 "core" %[R  PI +2 "manipulator"&% +4 "core" %V v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +337 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ 8  +2 "manipulator"&& +4 "core" & 8 +2 .tElbow.seek 7 +2 "manipulator"&( +28 "core" ( + "manipulator"&& +4 "core" & h +2 "storage"(& +4 "core" &[   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&'w +102 "core" ' + "storage"(& +4 "core" &[ L  +2 .tSE.reconfigure :place +2 "storage"(#]@K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'i +272 "core" ' + "storage"(!- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ("% +3 "core" %`  +3 ."downElevator"SE.seek :down +4 "storage"(#'X +98 ($% +3 "core" %[ 4 QJ +2 "manipulator"&%% +4 "core" %p 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +1884 #t-> 3.times{shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"''& +3 "core" & +2 "manipulator"&(% +4 "core" %\ \  1 +2 "storage"()% +4 "core" %S  +2 "storage"(*. +2 "core" .([ +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(+( +1603 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +3 "core" &  +2 "manipulator"&-& +3 "core" & \  h +3 .tElbow.seek 2 + "manipulator"&.( +19 "core" ( +2 "manipulator"&/& +4 "core" & V +2 "storage"(0& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +104 "core" ' +2 "storage"(2& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'i +280 "core" ' +2 "storage"(5- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &  / +2 "manipulator"&& +4 "core" & r +2 .tElbow.seek 2 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&8& +4 "core" & 6 +2 "storage"(:& +3 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & +2 "manipulator"&?% +4 "core" % B +2 .tForearm.seek :retract +2 "manipulator"&@'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&B( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +20 "core" ( + "manipulator"&C& +4 "core" &   . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" & M . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&<'" +97 "core" ' +3 "manipulator"&A& +4 "core" & ^ . +35 "manipulator"&6% +11 "core" % +2 "collection"'F& +5 "core" & +3 "collection"'G& +5 "core" & +2 .tCC.seek :closed +2 "collection"'I(V +5 "core" & +6 &9 #c +10 &Z 6 +9 &\ H +10 &e G +9 &g G +9 &Yg G +10 &j H +9 &i H +9 &h H +10 &_i H +9 & !i H +9 &!j H +10 &#i H +9 &%gi H +10 &')h H +9 &(h G +9 &*j G +10 &,oi H +9 &.1h H +9 &/h G +10 &1g G +9 &3xe G +10 &5;j G +9 &6j H +9 &8g G +10 &:k G +9 &h H +10 &?i G +9 &Ae G +10 &CJg G +9 &E n H +9 &Fz I +10 &H J +9 &J>;  N +9 &Ky Q +10 &M Q +9 &O|u Q +10 &Q=HY Q +9 &R)4 S +9 &T S +10 &V0e  , +9 &V F +9 ( + &Vb C +3 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&J1 +59 "core" 1 +3 "manipulator"&L% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%D& +4 "core" &  +2 "manipulator"&N% +4 "core" %\  k  +2 "storage"(O% +3 "core" %\\ +2 "storage"(Q. +3 "core" .( +2 "storage"(R& +5 "core" &  G +2 "storage"(M& +4 "core" &  +2 "manipulator"&K& +4 "core" & . +2 "manipulator"&P% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&E( +156 "core" ( +2 "manipulator"&U& +3 "core" & i  +2 "storage"(V& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&X'ќ +100 "core" ' +2 "storage"(Y& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(['i +281 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +3 "core" &   +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&^( +4 "core" ( +2 "manipulator"&`& +3 "core" &  +2 "storage"(a& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(T'X +8 "core" &  +2 "manipulator"&d% +4 "core" % 3 - +2 .tForearm.seek :retract +2 "manipulator"&e'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&g(s +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +3 "manipulator"&h& +3 "core" &t  c  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &j& +2 "core" &t }  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&W' +97 "core" ' +2 "manipulator"&b& +4 "core" &t  +2 "manipulator"&l% +4 "core" % +2 "processing"%m& +4 "core" &>  +3 "processing"%o& +5 "core" &<  +2 .tPC.seek :closed +2 "processing"%p(Z +4 "core" &=  +9 &9B )w +9 &.l > +10 &v H +9 &j^ G +9 &Oh G +10 &m G +9 &m G +9 &j H +10 &Vh H +9 &j G +10 & g G +9 &"g G +9 &$_k G +10 &&!l G +9 &'j H +10 &)j H +9 &+fh H +9 &-)i G +10 &.g G +9 &0m G +9 &2nl H +10 &41i G +9 &5f G +9 &7k G +10 &9vj H +9 &;:g G +10 &<k H +9 &>j G +9 &@i G +10 &BAh G +9 &Dm G +9 &Er H +10 &G} J +9 &I? K +10 &J L +9 &L L +9 &N L +10 &PC L +9 &R L +9 &S M +10 &U M +9 &WH M +10 &Y\  K +9 &ZJ<[ "b +9 &Z . " +6 ( +2 "processing"%o& +3 "core" &Z " +3 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.39 + .Hand.open + "manipulator"&k1 +64 "core" 1 +9 "manipulator"&i% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' + "processing"%c& +4 "core" &Zo " +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&s% +3 "core" %\   +2 "storage"(t% +4 "core" %\\ +7 "storage"(v. +4 "core" .( + "storage"(w& +4 "core" &  +7 "storage"(y& +2 "manipulator"&f& +8 "core" &  +2 &t   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]@K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&q(s +4 ."raiseStack"SE.seek :beamBreak +2 "storage"({'i +2 "core" ( +2 "manipulator"&|& +4 "core" &t h  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &t  +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + .tHand.close +2 "manipulator"&z/ +55 "core" / +3 .tPC.seek :open +2 "processing"%x( +85 "core" ' + "storage"(}- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +34 "core" ' +303 ( +2 "storage"(& +4 "core" &  +2 "manipulator"&& +3 "core" &t  +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& ( +262 "core" ( + "manipulator"&u& +4 "core" & \ +2 "storage"(& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +94 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate + "storage"(' +46 "core" ' +3 #tLights, camera, ACTION! +2 "storage"( - +2 "core" -' +3 "storage"(& +4 "core" &  e f < +2 "manipulator"&& +3 "core" & \ +3 .tElbow.seek 2 + "manipulator"&( +28 "core" ( + "manipulator"&& +4 "core" & Y # +2 "storage"(& +4 "core" &  m m +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&& +4 "core" & "} +2 "storage"(& +3 "core" &   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&!' +29 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'i +24 "core" ' + "manipulator"&%% +4 "core" % J Q +2 "storage"( & +4 "core" &  ^ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&' +26 "core" ' +2 "manipulator"&#& +3 "core" & "| +2 "storage"('& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&('ќ +19 "core" ' +2 "storage"()% +3 "core" %q  +3 ."downElevator"SE.seek :down +3 "storage"(*'X +100 (% +2 "core" %[ f i B PJ +3 "manipulator"&,% +3 "core" %Ѡ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +90 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (/& +37 "core" &  0 +10 "collection"'0& +4 "core" &Va C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&2% +4 "core" %\   +2 "storage"(% +4 "core" %` - +2 "storage"(&. +2 "core" .( +2 "storage"(5& +4 "core" &   +2 "storage"(3& +4 "core" &  ( +2 "manipulator"&& +4 "core" & f "| +2 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&:& +4 "core" & 4 "| +2 "storage"(=& +4 "core" &  c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' + "storage"(?& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(.'i +282 "core" ' +3 "storage"(1- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" & "| +2 "storage"(4& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>' +31 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(A- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(6'N +40 "core" ' +2 "manipulator"&7% +3 "core" %  +2 "storage"(F& +4 "core" &  x g O +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&@& +4 "core" & p "{ +2 "storage"(\ & +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'ќ +29 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(L'= +38 "core" ' + "manipulator"&D& +4 "core" & "{ +2 "manipulator"&N% +4 "core" %ѝ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +152 "core" ( + "manipulator"&G& +4 "core" &# ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &$ ~ ;3 +2 .tForearm.seek CC +2 "manipulator"&M'" +93 "core" ' +2 .tHand.close + "manipulator"&K/ +60 "core" / + .tCC.seek :open +2 "collection"'P( +414 "core" ( +2 "storage"(<& +4 "core" &  +2 "storage"(U& +4 "core" &  +2 "manipulator"&V& +3 "core" &" 8 +2 "manipulator"&Y% +4 "core" % , +2 .tForearm.seek :retract +2 "manipulator"&B'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&9( +163 "core" ( +2 "manipulator"&H& +4 "core" & #  +2 "storage"(S& +3 "core" &  @ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&]' +101 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +2 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +56 "core" 1 +2 "manipulator"&Z% +4 "core" % f I + "storage"(_& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 314 counts +2 "manipulator"&d' +20 "core" ' +2 "manipulator"&E& +3 "core" &   +2 "storage"(X& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +22 "core" ' +2 "storage"(\\% +4 "core" %F  +3 ."downElevator"SE.seek :down +3 "storage"(h'X +99 (j% +3 "core" %Y PI +2 "manipulator"&^% +38 "core" %ѯ +10 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +87 "core" ' +23 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +3 "core" & +2 "manipulator"&m% +4 "core" %\   +2 "storage"(T% +4 "core" %Z h +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +340 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" & 6  +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&c( +14 "core" ( + "manipulator"&s& +4 "core" & M +2 "storage"(t& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o'9 +97 "core" ' + "storage"(v& +4 "core" & 3  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'i +281 "core" ' +2 "storage"(f- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" & ]  +2 "manipulator"&|& +4 "core" & M +2 .tElbow.seek 3 +2 "manipulator"&~( +2 "core" ( +2 "manipulator"&W& +4 "core" & 5 M +2 "storage"(z& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&}'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +62 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(p'X +8 "core" &  M + "manipulator"&{% +4 "core" % Ϭ  Z +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +4 "core" &) # A ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( 6 ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'" +94 "core" ' +2 "manipulator"&& +3 "core" &) 9 ?T +2 "manipulator"&q% +4 "core" %% +2 "collection"'& +4 "core" & +3 "collection"'& +6 "core" & +2 .tCC.seek :closed +2 "collection"' (V +3 "core" & +8 &I $d +9 &\\ 6 +9 &( H +10 &f G +9 &i G +9 &og G +10 &2h G +9 &g G +10 &d G +9 &wg G +9 & 9h G +10 &!g G +9 &#h G +10 &%g G +9 &'Cf F +9 &)g G +10 &*g G +9 &,e G +9 &.Jg G +10 &0 g G +9 &1h F +10 &3g G +9 &5Rf G +9 &7j G +10 &8e F +9 &:g G +9 &g G +9 &?g F +9 &Ag G +10 &Cah G +9 &E o H +10 &F{ I +9 &H J +9 &JU3 N +10 &L~t Q +9 &Mx P +9 &OUa Q +10 &QT0= Q +9 &S! R +10 &T  S +9 &VDi / +9 &V 4 +10 &Vn E +5 ( +2 "collection"'& +4 "core" &V` E +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % % } +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&% +4 "core" %\  !  +2 "storage"(% +4 "core" %W + "storage"(. +3 "core" .( +2 "storage"(r& +4 "core" &  +2 "storage"(%& +4 "core" &  +2 "manipulator"& & +4 "core" &( S ?T + "manipulator"&% +4 "core" %\    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +165 "core" ( +2 "manipulator"&'& +4 "core" & W +2 "storage"( & +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +38 .tForearm.seek 3 + 700 counts +10 "manipulator"&)'9 +98 "core" ' + "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"('i +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (,& +3 "core" &  +2 "manipulator"&& +4 "core" & W +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & { W +2 "storage"(!& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'ϩ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(0'X +8 "core" & W +2 "manipulator"&2% +4 "core" % # +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&&(s +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&5& +4 "core" &v  ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&:& +3 "core" &v k  +3 "manipulator"&=% +3 "core" % ^  +2 "processing"%(& +4 "core" & +3 "processing"%?& +5 "core" & +2 .tPC.seek :closed +2 "processing"%*(Z +3 "core" & +8 &F #c +9 &] 7 +9 & H +10 &e G +9 &i G +9 &dh G +10 &%g G +9 &h G +10 &i G +9 &ki G +9 & -j G +10 &!h G +9 &#j G +9 &%th G +10 &'6i G +9 &(g G +9 &*i G +10 &,{h G +9 &.=h G +10 &/h G +9 &1h G +9 &3g G +10 &5Eh G +9 &7g G +9 &8h G +10 &:d G +9 &h G +9 &?h G +9 &Ah G +10 &CTj H +9 &Eo H +10 &Ft I +9 &H K +9 &JO L +10 &L L +9 &M M +9 &O M +10 &QW L +9 &S M +9 &T L +10 &V M +9 &X[ N +10 &Zwv "j +9 &Z!] & +9 ( + &Z ! +3 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&"1 +63 "core" 1 +2 "manipulator"&-% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' +3 "processing"%C& +4 "core" &Zp ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&4% +4 "core" %\  h  +2 "storage"(A% +4 "core" %S +2 "storage"(7. +2 "core" .( +3 "storage"(F& +3 "core" &   +3 "storage"(@& +3 "manipulator"&\ & +8 "core" &  + &v  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]@K-0-\ b +2 "manipulator"&D(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'i +2 "core" ( +3 "manipulator"&& +3 "core" &v  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &v  +3 .tForearm.seek PC +2 "manipulator"&.' +97 "core" ' +2 .tHand.close + "manipulator"&>/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' +2 "storage"(6- +2 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'y +36 "core" ' +298 ( +2 "storage"(R& +4 "core" & o  +2 "manipulator"&J& +3 "core" &v  +2 "manipulator"&;% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&K'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O( +262 "core" ( +37 "manipulator"&I& +12 "core" & A & +2 "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&U'9 +95 "core" ' +2 .tHand.open + "manipulator"&V1 +58 "core" 1 +2 "storage"(Y- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(H'E +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(S' +46 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +4 "core" -' + "storage"(Q& +4 "core" & K I R  +2 "manipulator"&a& +4 "core" & $ +2 .tElbow.seek 3 +2 "manipulator"&Z( +33 "core" ( +2 "manipulator"&_& +3 "core" & +2 "storage"(E& +4 "core" & < ; S  +3 .tForearm.seek 3 + 700 counts + "manipulator"&X'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate + "storage"(\\' +56 "core" ' +2 "manipulator"&B& +3 "core" & +2 "storage"(j& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&^'} +27 "core" ' +2 .tElbow.hold + "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'i +24 "core" ' + "manipulator"&d% +4 "core" %΅ \  +2 "storage"(l& +4 "core" & /  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&m'ϱ +20 "core" ' +2 "manipulator"&T& +4 "core" & C +2 "storage"(e& +4 "core" & 0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&L'9 +31 "core" ' +2 "storage"([% +3 "core" %m   +3 ."downElevator"SE.seek :down +4 "storage"(h'X +99 (+% +3 "core" %\ X QJ +2 "manipulator"&k% +4 "core" %0 z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +94 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (s& +4 "core" & B  +2 "collection"'t& +3 "core" &V_ E +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&v% +3 "core" %\  , +2 "storage"(`% +4 "core" %X  +2 "storage"(b. +3 "core" .( +2 "storage"(f& +4 "core" &   +2 "storage"(y& +4 "core" &   +2 "manipulator"&|& +3 "core" & +2 .tElbow.seek 3 +2 "manipulator"&W( +4 "core" ( + "manipulator"&z& +4 "core" & +2 "storage"(g& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&n'9 +95 "core" ' + "storage"({& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'i +283 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & +2 "storage"(& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&w'} +23 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(q'O +27 "core" ' +2 "manipulator"&% +3 "core" %΍ +2 "storage"(~& +4 "core" & @  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&p'Ϲ +21 "core" ' + "manipulator"&& +4 "core" & 1 +2 "storage"(P& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +38 "manipulator"&'9 +42 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +39 "core" ' +2 "manipulator"& & +4 "core" & 0 +2 "manipulator"&% +4 "core" % T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +2 "manipulator"&r& +3 "core" &( M ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &( U ?Q +3 .tForearm.seek CC + "manipulator"&%'" +95 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tCC.seek :open +2 "collection"'( +417 "core" ( +2 "storage"(u& +3 "core" &  +2 "storage"('& +4 "core" & S  +2 "manipulator"& & +4 "core" &( ?Q +2 "manipulator"&% +4 "core" % %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" & o +2 "storage"(,& +4 "core" & s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'} +91 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&!1 +57 "core" 1 +2 "manipulator"&% +4 "core" % Ύ a +2 "storage"($& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&2'Ϻ +19 "core" ' +3 "manipulator"&#& +4 "core" & + o +2 "storage"()& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +28 "core" ' +2 "storage"(/% +8 "core" %H  +3 ."downElevator"SE.seek :down +4 "storage"(5'X +98 (3% +3 "core" %U X OE +2 "manipulator"&% +4 "core" %1 H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'=& +3 "core" & +2 "manipulator"&(% +4 "core" %\ 8 +2 "storage"(0% +4 "core" %c   +2 "storage"(. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(x( +337 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ("& +3 "core" &  +2 "manipulator"&-& +4 "core" & o +2 .tElbow.seek 2 +2 "manipulator"&C( +44 "core" ( + "manipulator"&4& +4 "core" & m +2 "storage"(A& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&7'ќ +97 "core" ' +2 "storage"(?& +4 "core" &  [ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'i +280 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (@& +3 "core" &  +2 "manipulator"&& +4 "core" & a +2 .tElbow.seek 2 + "manipulator"&8( +30 "core" ( +2 "manipulator"&& +4 "core" & 8 P +2 "storage"(>& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&6' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"(*'X +44 "core" & P +9 "manipulator"&N% +4 "core" %  B +3 .tForearm.seek :retract + "manipulator"&R'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&;& +4 "core" &( 2 P ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &( m ?P +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&I'" +106 "core" ' +2 "manipulator"&D& +3 "core" &) ^ ?P +2 "manipulator"&<% +4 "core" % o +3 "collection"'V& +3 "core" & +3 "collection"'Y& +5 "core" & +2 .tCC.seek :closed +2 "collection"'M(V +4 "core" & +8 &/ "` +9 &Y 5 +9 & G +10 &c F +9 &g F +9 &Wf G +10 &k G +9 &d G +10 &e F +9 &_g G +9 & !j G +10 &!e G +9 &#g G +10 &%fj G +9 &')c G +9 &(c G +10 &*c G +9 &,oc G +9 &.2e F +10 &/f F +9 &1g G +9 &3wi G +10 &59h G +9 &6j G +10 &8g F +9 &:g G +9 &d G +9 &?c G +10 &Ac G +9 &CJg F +9 &E m G +10 &Ft H +9 &H I +9 &J=* N +10 &K}m Q +9 &My P +9 &OyWh Q +10 &Q<4? Q +9 &R& R +10 &T R +9 &V%U  8 +10 &V K +8 ( +2 &Vp I +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&Q1 +58 "core" 1 +3 "manipulator"&a% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%K& +3 "core" & +2 "manipulator"&E% +4 "core" %\  N  +2 "storage"(B% +3 "core" %a +2 "storage"(j. +3 "core" .( +2 "storage"(G& +4 "core" &  E +2 "storage"(d& +4 "core" &  T +2 "manipulator"&l& +4 "core" &' >J + "manipulator"&H% +4 "core" %\   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&T( +156 "core" ( +2 "manipulator"&e& +4 "core" & e  +2 "storage"(O& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&['ќ +96 "core" ' +2 "storage"(U& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'i +281 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (k& +3 "core" &   +2 "manipulator"&X& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&Z( +2 "core" ( +2 "manipulator"&\\& +4 "core" &  +2 "storage"(^& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&m' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(v'X +7 "core" &  +2 "manipulator"&`% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(s +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +104 "core" ( +3 "manipulator"&f& +4 "core" &n , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +3 "core" &n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&|' +104 "core" ' +2 "manipulator"&z& +3 "core" &n +2 "manipulator"&g% +4 "core" % s +2 "processing"%L& +4 "core" & +3 "processing"%{& +5 "core" & +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &  +9 &7 )v +10 &k = +43 &v G +10 &lg G + &/h G + &h G + &h G +3 &te G +6 &6g G +10 &h G +9 & g G +9 &"}i G +10 &$?g G +9 &&h G +10 &'i G +9 &)g G +9 &+Gg G +10 &-\ g F +9 &.h G +10 &0j G +9 &2Nj G +9 &4g G +10 &5g G +9 &7g G +9 &9Vf G +10 &;f G +9 &<h G +10 &>h F +9 &@^j G +9 &B i G +10 &Ck G +9 &En G +9 &G_y J +10 &I K +9 &J L +9 &L L +10 &N` L +9 &P! L +10 &Q M +9 &S L +9 &Uf M +10 &W( M +9 &X M +9 &Z;Eb %k +10 &Z - ! +5 ( +2 "processing"%{& +4 "core" &Zx ! +2 #tProcessing Clamp onSpring/offSpring for 12/26 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&91 +54 "core" 1 +2 "manipulator"&i% +3 "core" % b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +97 "core" ' +2 "processing"%& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\   +2 "storage"(% +4 "core" %S j +2 "storage"(. +3 "core" .( +2 "storage"(~& +4 "core" &  +3 "storage"(& +4 "manipulator"&P& +3 "core" &  +2 &n +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'i +3 "manipulator"&(s +6 "core" ( +2 "manipulator"&n& +4 "core" &n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &n } +2 .tForearm.seek PC +2 "manipulator"&c' +96 "core" ' + .tHand.close +2 "manipulator"&w/ +59 "core" / +2 .tPC.seek :open +2 "processing"%p( +86 "core" ' +2 "storage"(q- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +42 "core" ' +292 ( + "storage"(& +4 "core" &  A +2 "manipulator"&& +4 "core" &n +2 "manipulator"&}% +3 "core" % +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +259 "core" ( + "manipulator"& & +4 "core" & V  +2 "storage"(u& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&''ќ +100 "core" ' +2 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"('E +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(,' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +4 "core" -' + "storage"(& +4 "core" & \ :\ ; f +2 "manipulator"&!& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&$& +4 "core" & T  +2 "storage"(#& +3 "core" & \ L\ N  +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&)'ќ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(/' +57 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(3& +3 "core" &  ] +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&' +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +23 "core" ' + "manipulator"&2% +4 "core" % e +2 "storage"(=& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&(' +19 "core" ' +2 "manipulator"&0& +3 "core" & \\  +40 "storage"(& +12 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +33 "core" ' +2 "storage"(% +3 "core" %q ) +3 ."downElevator"SE.seek :down +3 "storage"(5'X +99 ( % +3 "core" %[ PJ +2 "manipulator"&"% +4 "core" %ј +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +3 "core" &  E +2 "collection"'A& +4 "core" &Vn I +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&?% +3 "core" %\  \ ( +3 "storage"(% +3 "core" %R  +2 "storage"(:. +4 "core" .( +3 "storage"(\ & +4 "core" &  D + "storage"(@& +4 "core" &  T +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&>& +4 "core" &  +2 "storage"(&& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'ќ +93 "core" ' +2 "storage"(N& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'i +278 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +4 "core" & \   +2 "storage"(;& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&.' +30 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(D- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(8'N +25 "core" ' +2 "manipulator"&<% +4 "core" % 9 / +2 "storage"(V& +3 "core" &  ~ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&*' +19 "core" ' +2 "manipulator"&R& +4 "core" &  +2 "storage"(& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'ќ +51 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(a'= +38 "core" ' + "manipulator"&K& +4 "core" & Y  +2 "manipulator"&E% +4 "core" %љ o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +158 "core" ( +3 "manipulator"&G& +4 "core" &* j @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &* M @Y +2 .tForearm.seek CC +2 "manipulator"&Y'" +92 "core" ' +2 .tHand.close + "manipulator"&l/ +55 "core" / +2 .tCC.seek :open +2 "collection"'H( +417 "core" ( +2 "storage"(I& +3 "core" &   +2 "storage"(e& +4 "core" &  # +2 "manipulator"&O& +3 "core" &( ?T +2 "manipulator"&U% +4 "core" % "  +2 .tForearm.seek :retract +2 "manipulator"&J'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&_( +159 "core" ( +2 "manipulator"&+& +3 "core" & b  +2 "storage"(k& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&X' +107 "core" ' + .tElbow.hold +2 "manipulator"&\\, +42 "core" , +9 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +54 "core" 1 +3 "manipulator"&s% +4 "core" % R +2 "storage"(t& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&`' +19 "core" ' +2 "manipulator"&T& +3 "core" &   +2 "storage"([& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&S'ќ +28 "core" ' +2 "storage"(m% +4 "core" %F S +3 ."downElevator"SE.seek :down +4 "storage"(f'X +98 (y% +3 "core" %tX  PI +2 "manipulator"&Z% +3 "core" %ѓ K +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'g& +3 "core" & +2 "manipulator"&L% +4 "core" %\   +2 "storage"(v% +4 "core" %b # +2 "storage"(]. +2 "core" .( +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +4 "core" &   +2 "manipulator"&i& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&& +3 "core" & K +2 "storage"(& +4 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +88 "core" ' +2 "storage"(~& +3 "core" & ^  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(P- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" & y M  +2 "manipulator"&n& +4 "core" & K +2 .tElbow.seek 3 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&|& +3 "core" & < K +2 "storage"(w& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϩ +20 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +3 "storage"(h'X +7 "core" & K +3 "manipulator"& % +3 "core" % ϧ +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&}& +5 "core" &$  V ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &$ ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '" +98 "core" ' +2 "manipulator"&u& +3 "core" &# R :1 +2 "manipulator"&% +4 "core" %, * +2 "collection"' & +4 "core" & +3 "collection"'& +6 "core" & +2 .tCC.seek :closed +2 "collection"'%(V +3 "core" & +9 &9 #a +10 &Z 5 +9 & G +9 &` F +10 &g F +9 &Wh G +9 &h G +10 &d F +9 &e F +10 &`i F +9 & !d G +9 &!e F +10 &#g F +9 &%hg F +9 &'*j F +10 &(d F +9 &*c F +10 &,pe F +9 &.2i F +9 &/j G +10 &1j F +9 &3wi G +9 &59g G +10 &6g G +9 &8c F +10 &:e G +9 &h G +10 &?d F +9 &Af F +48 &CIj G +11 &E\ j G +2 &Fu H + &H J + &J=)  N +2 &Kxl P + &My P +9 &OzZh Q +9 &Q=7D P +10 &R!( R +9 &T R +10 &V+^\  . +9 &V  G +9 ( + &V] B +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&!% +3 "core" % , { +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&$'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%#& +4 "core" & +2 "manipulator"& % +4 "core" %\   +2 "storage"(% +4 "core" %` z +2 "storage"(3. +2 "core" .( +3 "storage"(r& +3 "core" &  +2 "storage"(2& +4 "core" &  +2 "manipulator"&=& +4 "core" &# $ :1 +2 "manipulator"&% +4 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0( +169 "core" ( + "manipulator"&& +4 "core" & Z ` +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&''9 +95 "core" ' +2 "storage"(& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(,'i +279 "core" ' +2 "storage"()- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &   +2 "manipulator"&"& +4 "core" & ` +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&/& +4 "core" & P ` +2 "storage"(& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&('ϩ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +3 "storage"(?'X +7 "core" & ` +2 "manipulator"&% +4 "core" % Ϗ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:(s +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&\ & +4 "core" &{ m  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &{  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&>& +4 "core" &{ X  +2 "manipulator"&&% +4 "core" % T +2 "processing"%& +4 "core" & +3 "processing"%N& +5 "core" & +2 .tPC.seek :closed +2 "processing"%5(Z +5 "core" & +6 &E #c +10 &] 7 +9 & G +9 &e G +10 &e G +9 &fg G +10 &(c G +9 &g F +9 &i G +10 &ng G +9 & 0i G +9 &!e G +10 &#g G +9 &%ue G +10 &'8g G +9 &(j G +9 &*h G +10 &,~k G +9 &.Ah F +9 &0g G +10 &1d G +9 &3f F +10 &5Hh G +9 &7\ e G +9 &8h F +10 &:g G +9 &e G +10 &?g F +9 &Ag G +10 &CVl G +9 &El H +9 &Fs H +10 &H J +9 &JQ L +9 &L L +10 &M L +9 &O L +9 &QY L +10 &S M +9 &T M +10 &V L +9 &X_ M +9 &Zxv !h +10 &Z#` ' +9 ( + &Z ! +3 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 11/25 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&-% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +2 "processing"%F& +3 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&;% +4 "core" %\  ;  +2 "storage"(D% +3 "core" %b +2 "storage"(<. +43 "core" .( +9 "storage"(V& +4 "core" & i  +2 "storage"(R& +3 "manipulator"&& +7 "core" &   + &{  +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "storage"(#]@K-0-\ b +2 "manipulator"&K(s +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'i +2 "core" ( +3 "manipulator"&1& +3 "core" &{  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &{  +3 .tForearm.seek PC +2 "manipulator"&C' +98 "core" ' +2 .tHand.close +2 "manipulator"&./ +54 "core" / +2 .tPC.seek :open +2 "processing"%*( +93 "core" ' + "storage"(8- +4 "core" -'i +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'y +34 "core" ' +294 ( + "storage"(d& +4 "core" &  +2 "manipulator"&Q& +4 "core" &{  +2 "manipulator"&6% +4 "core" % T +2 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B( +270 "core" ( +2 "manipulator"&M& +3 "core" & ` y +2 "storage"(I& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&e'9 +99 "core" ' +2 .tHand.open +2 "manipulator"&O1 +60 "core" 1 +2 "storage"(U- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(+'E +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(k' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' +2 "storage"(j& +3 "core" &\ ;\ F  +2 "manipulator"&^& +4 "core" & y +2 .tElbow.seek 3 +2 "manipulator"&s( +8 "core" ( +2 "manipulator"&t& +3 "core" & l s +2 "storage"(T& +4 "core" &\ 8\ >   +3 .tForearm.seek 3 + 700 counts + "manipulator"&['9 +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(J' +55 "core" ' + "manipulator"&m& +4 "core" & s +2 "storage"(_& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&y'} +20 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'i +22 "core" ' +2 "manipulator"&`% +3 "core" %r +2 "storage"(g& +4 "core" & a  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 289 counts + "manipulator"&L'Ϟ +20 "core" ' +2 "manipulator"&v& +4 "core" & s +2 "storage"(]& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&a'9 +27 "core" ' + "storage"(S% +4 "core" %g  +3 ."downElevator"SE.seek :down +3 "storage"(f'X +99 (x% +3 "core" %Z QJ +2 "manipulator"&9% +3 "core" %q +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +49 (& +4 "core" &   +2 "collection"'& +3 "core" &V^ B +4 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&~% +3 "core" %\ \  +2 "storage"(\\% +4 "core" %N  +2 "storage"(z. +3 "core" .( +2 "storage"(P& +3 "core" &   +2 "storage"({& +4 "core" &   +2 "manipulator"&n& +4 "core" & s +2 .tElbow.seek 3 +2 "manipulator"&|( +4 "core" ( +2 "manipulator"&w& +3 "core" & U s +2 "storage"(b& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&o'9 +99 "core" ' +2 "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('i +278 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" & s +2 "storage"(c& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +19 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"('N +25 "core" ' +2 "manipulator"& % +4 "core" %Α + "storage"(W& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&h'Ͻ +19 "core" ' +2 "manipulator"&& +4 "core" & y s +2 "storage"(H& +4 "core" & C  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +25 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(!'= +37 "core" ' +2 "manipulator"&#& +3 "core" & F s +2 "manipulator"& % +4 "core" %H 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +156 "core" ( + "manipulator"&r& +4 "core" &  [ 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & : 7 +2 .tForearm.seek CC +2 "manipulator"&2'" +92 "core" ' +2 .tHand.close + "manipulator"&=/ +60 "core" / +2 .tCC.seek :open + "collection"'( +415 "core" ( +2 "storage"( & +4 "core" &   +2 "storage"(& +3 "core" & #  +3 "manipulator"&& +3 "core" & Q 7 +2 "manipulator"&% +4 "core" % - +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&$( +168 "core" ( + "manipulator"&)& +4 "core" & V K +2 "storage"( & +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&"'} +92 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&4% +4 "core" % ΍ U +2 "storage"(A& +5 "core" & 9  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&'Ϲ +20 "core" ' + "manipulator"&0& +4 "core" & 3 K +2 "storage"('& +50 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&,'9 +30 "core" ' + "storage"((% +4 "core" %B  +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (@% +3 "core" %0V  PG +2 "manipulator"&% +4 "core" %= t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'&& +4 "core" & +2 "manipulator"&% +3 "core" %\ / +2 "storage"(?% +4 "core" %[ E +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(p( +335 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & y +2 "manipulator"&-& +4 "core" & K +2 .tElbow.seek 2 +2 "manipulator"&F( +36 "core" ( + "manipulator"&;& +4 "core" & "} +2 "storage"(D& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&<'ќ +97 "core" ' +2 "storage"(N& +3 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(V'i +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (R& +3 "core" &   +2 "manipulator"&1& +4 "core" & !w +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & n !w +3 "storage"(.& +4 "core" &  < +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +3 "storage"(5'X +8 "core" & !w +2 "manipulator"&E% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&6& +3 "core" &# } ;5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &# M ;5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'" +103 "core" ' +3 "manipulator"&I& +4 "core" &$ = ;4 +2 "manipulator"&K% +4 "core" % h +2 "collection"'O& +4 "core" & +3 "collection"'U& +5 "core" & +2 .tCC.seek :closed +3 "collection"'Y(V +3 "core" & +6 & < +9 &`M 0 +10 &| D +9 &^e G +10 & f G +9 &h F +9 &h F +10 &gc F +9 &(e G +9 &f G +10 &g G +9 &!od F +10 &#1c F +9 &$g F +9 &&g F +10 &(wh F +9 &*9h F +9 &+h F +10 &-h F +9 &/i F +10 &1@i G +9 &3f F +9 &4d F +10 &6c F +9 &8Ic F +9 &: c F +10 &;d G +9 &=h G +10 &?Rc F +9 &Ah F +9 &Bi G +10 &Dh G +9 &FUp H +9 &H I +10 &I L +9 &KlT O +10 &MC Q +9 &Ohs P +9 &PAM Q +10 &R%/ Q +9 &TI Q +9 &Us  ; +10 &V/ b +9 &V_ C +2 ( +3 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&j1 +55 "core" 1 +2 "manipulator"&^% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +142 "core" ' +5 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%T& +4 "core" & +2 "manipulator"&l% +4 "core" %\ b 2 +2 "storage"(m% +3 "core" %R +2 "storage"(_. +4 "core" .( +2 "storage"(`& +3 "core" &  +2 "storage"(g& +4 "core" &  4 +2 "manipulator"&G& +4 "core" &# [ :, +2 "manipulator"&v% +4 "core" %\ R 2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&]( +162 "core" ( + "manipulator"&+& +4 "core" &  +2 "storage"(S& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&B'ќ +99 "core" ' + "storage"(e& +4 "core" &   +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(k'i +281 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &  | K +2 "manipulator"&[& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&s( +4 "core" ( + "manipulator"&J& +4 "core" & \\  +2 "storage"(y& +4 "core" &  , +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&L' +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +6 "storage"('X +5 "core" & D  +2 "manipulator"&~% +4 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&z(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +113 "core" ( +2 "manipulator"&P& +3 "core" &o  s  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &o m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +99 "core" ' +2 "manipulator"&w& +4 "core" &p  +2 "manipulator"&b% +4 "core" % +2 "processing"%a& +4 "core" &] +3 "processing"% & +4 "core" &) +3 .tPC.seek :closed +2 "processing"%f(Z +4 "core" &W  +9 &7 )w +9 &k = +10 &s H +9 &sd F +9 &4f G +10 &d G +9 &g F +9 &zg G +10 &<i G +9 &k G +10 & e F +9 &"g G +9 &$Dd G +10 &&e F +9 &'h G +9 &)e G +10 &+Mg F +9 &-g G +10 &.d G +9 &0f G +9 &2Uh F +10 &4f F +9 &5g G +9 &7i G +10 &9\\j G +9 &;j G +10 &<j G +9 &>j G +9 &@dk G +10 &B&e G +9 &Cj G +9 &En H +10 &Gfx I +9 &I# K +10 &J L +9 &L L +9 &Nf L +10 &P' L +9 &Q M +9 &S M +10 &Uj M +9 &W- M +10 &X M +9 &Z@C_ %k +9 &Z ( ! +6 ( +2 "processing"% & +3 "core" &Z ! +3 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.41 + .Hand.open + "manipulator"&Z1 +58 "core" 1 + "manipulator"&i% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +3 "processing"%}& +4 "core" &Z ! +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&c% +4 "core" %\ \  +3 "storage"(u% +3 "core" %a  +2 "storage"( . +3 "core" .( +2 "storage"(W& +4 "core" &   +2 "storage"(& +3 "manipulator"&H& +5 "core" &   +2 &p  +4 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]@K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&#(s +49 ."raiseStack"SE.seek :beamBreak +5 "storage"( 'i + "core" ( +4 "manipulator"&o& +4 "core" &p  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &p  +3 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%h( +88 "core" ' + "storage"(- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'y +36 "core" ' +296 ( +2 "storage"(& +4 "core" &   +2 "manipulator"&& +3 "core" &p  +2 "manipulator"&q% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +263 "core" ( +2 "manipulator"&%& +4 "core" &  +2 "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'ќ +89 "core" ' +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"()'E +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"( ' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(3& +4 "core" &  H H  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&4( +4 "core" ( + "manipulator"&A& +4 "core" & :  +2 "storage"(0& +4 "core" &  H I +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''ќ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&(& +4 "core" &  +2 "storage"($& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&@' +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"("'i +23 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(&& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&' +21 "core" ' + "manipulator"&?& +4 "core" & D  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&!'ќ +20 "core" ' +2 "storage"(,% +4 "core" %q )  +3 ."downElevator"SE.seek :down +4 "storage"(\ 'X +98 (% +4 "core" %X QJ +2 "manipulator"&% +4 "core" %ћ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +4 (;& +3 "core" &  R +2 "collection"'D& +4 "core" &V_ C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&N% +4 "core" %\   +2 "storage"(/% +4 "core" %^  + "storage"(>. +3 "core" .( +2 "storage"(& +4 "core" &   +2 "storage"(R& +4 "core" &   +2 "manipulator"&1& +4 "core" &  +2 .tElbow.seek 2 +47 "manipulator"&( +5 "core" ( + "manipulator"&.& +4 "core" &  +2 "storage"(:& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&7'ќ +95 "core" ' +2 "storage"(E& +4 "core" &  D +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'i +282 "core" ' +2 "storage"(<- +2 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +4 "core" &  +2 "storage"(C& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V' +31 "core" ' +2 .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(K'N +28 "core" ' + "manipulator"&% +4 "core" % w  +2 "storage"(O& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&5' +18 "core" ' +2 "manipulator"&d& +4 "core" & ,  +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'ќ +32 "core" ' +3 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"(^'= +37 "core" ' +2 "manipulator"&U& +3 "core" &  +2 "manipulator"&T% +4 "core" %џ N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +160 "core" ( +3 "manipulator"&_& +4 "core" && E =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" && =D +2 .tForearm.seek CC +2 "manipulator"&g'" +93 "core" ' +2 .tHand.close + "manipulator"&G/ +57 "core" / +2 .tCC.seek :open + "collection"'v( +415 "core" ( + "storage"(M& +4 "core" &   +2 "storage"(+& +3 "core" &  o +2 "manipulator"&S& +4 "core" &# :/ +2 "manipulator"&e% +3 "core" % / +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&t( +162 "core" ( + "manipulator"&x& +4 "core" & `  +2 "storage"(9& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&[' +98 "core" ' +7 .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +60 "core" 1 +2 "manipulator"&X% +4 "core" % +3 "storage"(& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 319 counts + "manipulator"&~' +19 "core" ' +2 "manipulator"&]& +4 "core" &   +2 "storage"(B& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'ќ +29 "core" ' +2 "storage"(L% +4 "core" %B  +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 ({% +3 "core" %\ V  PH +2 "manipulator"&s% +50 "core" %Ѧ \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +94 "core" ' +4 ' +2 ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'b& +4 "core" &  +2 "manipulator"&a% +4 "core" %\ " 3 +2 "storage"(% +4 "core" %Z  +2 "storage"(\\. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(*( +346 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Z& +2 "core" &   +3 "manipulator"&i& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&}( +14 "core" ( +2 "manipulator"&c& +4 "core" & ^ N +2 "storage"(u& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +95 "core" ' +2 "storage"( & +3 "core" & ,  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'i +278 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (H& +3 "core" & M  +2 "manipulator"&o& +4 "core" & N +2 .tElbow.seek 3 +2 "manipulator"&|( +3 "core" ( +2 "manipulator"&n& +4 "core" & N +2 "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϩ +22 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(f'X +8 "core" & N +2 "manipulator"& % +4 "core" % ϡ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&q& +4 "core" &%  1 <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'" +94 "core" ' +2 "manipulator"& & +4 "core" &% ) <? +2 "manipulator"&#% +3 "core" % B  +2 "collection"'& +4 "core" &  +3 "collection"'& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'2(V +4 "core" &  +8 &I $d +10 &^ 7 +9 &< G +9 &b F +10 &j F +9 &g F +10 &Fb F +9 &g G +9 &f G +10 &f F +9 & Md F +9 &"h F +10 &#h F +9 &%i F +10 &'Tg G +9 &)f F +9 &*h F +10 &,g G +9 &.]f F +9 &0j F +10 &1h F +9 &3f F +10 &5fg F +9 &7'f F +9 &8g F +10 &:g F +9 &/c F +10 &?h F +9 &Ag G +10 &Ctg G +9 &E5n G +9 &Fv I +10 &H J +9 &Jh. N +9 &L#zo P +10 &Mv| P +9 &OXg Q +10 &Qg7C Q +9 &S'"+ Q +9 &T Q +10 &VH\\  (z +9 &V E +9 ( +2 &V` C +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&31 +59 "core" 1 +2 "manipulator"&% +3 "core" %   \\  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%0& +4 "core" & +2 "manipulator"&=% +4 "core" %\ ! @ 5 +2 "storage"((% +4 "core" %U +2 "storage"($. +2 "core" .( +3 "storage"(& +3 "core" &  +2 "storage"(&& +4 "core" &  +2 "manipulator"&r& +3 "core" &% ] <? +2 "manipulator"&?% +50 "core" %\ ! E 5 +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( + "manipulator"&)& +4 "core" & m +2 "storage"(,& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'9 +103 "core" ' +2 "storage"(& +5 "core" & c  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'i +278 "core" ' +2 "storage"(- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  +2 "manipulator"&'& +4 "core" & ` m +2 .tElbow.seek 3 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&& +4 "core" & m +2 "storage"(@& +3 "core" &   +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϩ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&;/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(N'X +7 "core" & m +2 "manipulator"&/% +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(s +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&"& +4 "core" &x * ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &x > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&1' +95 "core" ' + "manipulator"&.& +4 "core" &x +2 "manipulator"&:% +4 "core" % +2 "processing"%!& +4 "core" & +3 "processing"%E& +5 "core" &_ +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &  +9 &8 )v +9 &k = +10 &s H +9 &wd F +9 &8f G +10 &j G +9 &f G +10 &f F +9 &Ae F +9 &g G +10 & h G +9 &"h G +9 &$Ig F +10 && f F +9 &'h G +10 &)e G +9 &+Pe G +9 &-e F +10 &.e F +9 &0g F +9 &2Xh G +10 &4h G +9 &5j G +10 &7i G +9 &9`j G +9 &;"h G +10 &<j G +9 &>d G +9 &@hf G +10 &B+h F +9 &Cj G +10 &Ep H +9 &Gi| I +9 &I& K +10 &J L +9 &L L +9 &Ni L +10 &P* L +9 &Q L +9 &S L +10 &Uo M +9 &W0 M +10 &X M +9 &ZCC_ %l +9 &Z$ +6 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 12/25 samples, on/off torque 1.41 + .Hand.open +2 "manipulator"&1 +2 "core" &Z +50 1 +2 "manipulator"&-% +4 "core" % l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' +3 "processing"%6& +3 "core" &Zz +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&C% +3 "core" %\   +2 "storage"(I% +4 "core" %N | +2 "storage"(. +2 "core" .( +3 "storage"(O& +3 "core" &  +3 "storage"(d& +2 "manipulator"&& +7 "core" &  + &x +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]@K-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(U'i + "manipulator"&T(s +7 "core" ( + "manipulator"&7& +4 "core" &x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &x F +3 .tForearm.seek PC + "manipulator"&F' +92 "core" ' + .tHand.close +2 "manipulator"&V/ +55 "Can"g X7x +2 "core" / +43 .tPC.seek :open +10 "processing"%5( +37 "core" ' +2 "storage"(K- +3 "core" -'i +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'y +49 "core" ' +335 ( + "storage"(`& +4 "core" &   +2 "manipulator"&j& +4 "core" &x +2 "manipulator"&8% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&l( +271 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(M& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&+'9 +92 "core" ' +3 .tHand.open +2 "manipulator"&S1 +64 "core" 1 +2 "storage"(e- +3 "core" -'y +3 .tSE.seek -0.12 Pucks below Top Plate +2 "storage"(x'E +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.79 Pucks below Top Plate +2 "storage"(9' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(m& +4 "core" & ? E  +2 "manipulator"&y& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&X( +7 "core" ( +2 "manipulator"&& +3 "core" & w +2 "storage"(]& +4 "core" & I H  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&B'9 +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.08 Pucks below Top Plate +2 "storage"(L' +59 "core" ' + "manipulator"&Q& +4 "core" & w +2 "storage"({& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&s'} +19 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['i +28 "core" ' + "manipulator"&~% +4 "core" %΀ +2 "storage"(b& +4 "core" & { /  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&a'Ϭ +20 "core" ' + "manipulator"&& +4 "core" & w +2 "storage"(\\& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&^'9 +17 "core" ' +2 "storage"(k% +4 "core" %p +3 ."downElevator"SE.seek :down +3 "storage"(P'X +99 (p% +2 "core" %K[ QK +3 "manipulator"&Z% +3 "core" %9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +4 (c& +2 "core" & 9  +3 "collection"'u& +3 "core" &V` C +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +3 "core" %\   +3 "storage"(J% +3 "core" %`  +2 "storage"(w. +4 "core" .( + "storage"(& +4 "core" &   +2 "storage"(H& +4 "core" &   +2 "manipulator"&o& +4 "core" & w +2 .tElbow.seek 3 + "manipulator"&n( +4 "core" ( + "manipulator"&& +4 "core" & T w +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&'9 +99 "core" ' + "storage"( & +4 "core" &   +2 .tSE.reconfigure :pick +48 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(}'i +281 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & w +2 "storage"(W& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'} +20 "core" ' +2 .tElbow.hold + "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +3 .tSE.seek 0.09 Pucks below Top Plate +2 "storage"(#'O +28 "core" ' +2 "manipulator"&% +4 "core" %΀ +2 "storage"(|& +3 "core" & U  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 303 counts + "manipulator"&f'Ϭ +21 "core" ' +2 "manipulator"&& +3 "core" &  w +2 "storage"(v& +4 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&3'9 +32 "core" ' +2 .tSE.seek 1.09 Pucks below Top Plate +2 "storage"('> +39 "core" ' +2 "manipulator"&0& +4 "core" &  w +2 "manipulator"&=% +4 "core" %$ G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +160 "core" ( +2 "manipulator"&& +4 "core" &" 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &" 9) +2 .tForearm.seek CC +2 "manipulator"&&'" +97 "core" ' +2 .tHand.close + "manipulator"&r/ +58 "core" / +2 .tCC.seek :open +2 "collection"'?( +417 "core" ( +2 "storage"(%& +4 "core" & (  +2 "storage"()& +3 "core" & m  +2 "manipulator"&,& +4 "core" &" ^ 9( +2 "manipulator"&% +3 "core" %  u +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&A( +161 "core" ( +2 "manipulator"&& +4 "core" & v +2 "storage"(& +3 "core" & B  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&''} +103 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&@1 +52 "core" 1 +2 "manipulator"&;% +4 "core" % } E +2 "storage"(D& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 300 counts + "manipulator"&/'ϩ +20 "core" ' +3 "manipulator"&& +4 "core" &  v +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& '9 +28 "core" ' +2 "storage"(% +3 "core" %D  +3 ."downElevator"SE.seek :down +3 "storage"("'X +99 (R% +3 "core" %U q PH +2 "manipulator"&4% +4 "core" %т ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +55804 "Can"h .x +32453 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:81:in `join'"1/home/esp/esp2/lib/esp.rb:81:in `mainThread'""/home/esp/esp2/lib/esp.rb:352 +7 #mEXIT @1736441825.97EST @1736523508.02EST = =mMAIN_scheduler =tMAIN @EST1736523508.74 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +109 #"core_reset"Sent BREAK +2 #t@32605 select with ifg=0x10, ie=0xF5 + #@33253 receive with ifg=0x10, ie=0xFD #@33901 receive with ifg=0x10, ie=0xFD + #@34549 receive with ifg=0x10, ie=0xFD + #@34876 receive with ifg=0x80, ie=0xFD + #@31606 sendCRC with ifg=0x20, ie=0x7F #@32053 sendCRC with ifg=0x20, ie=0x7F + #@33644 sendCRC with ifg=0x08, ie=0x5F + #@37761 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +253 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +382 "Can" +3 +  +3 + #tPolling Can every 10:00 +76 #Cleanly exited at 11:57:05EST09-Jan-25 +467 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %N +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %  +2 .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(2% +3 "core" %` .  +2 "manipulator"&3% +4 "core" %\   +2 "manipulator"&4& +4 "core" & v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(5(K +966 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K   +1105 #t-> access 3 +3 "storage"(7% +3 "core" %` .  +2 "manipulator"&8% +4 "core" %\   +2 "manipulator"&9& +3 "core" & v +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(:([ +336 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (;& +2 "core" &[ $  +1854 #t-> access 2 +3 "storage"(<% +3 "core" %` j  +2 "manipulator"&=% +3 "core" %\   +2 "manipulator"&>& +4 "core" & v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(?(K +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &K . +1434 #t-> exit +6 #mEXIT @1736523603.41EST @1736524006.89EST = =tMAIN =mMAIN_scheduler @EST1736524007.58 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@45211 receive with ifg=0x10, ie=0xFD + #@45858 receive with ifg=0x10, ie=0xFD + #@46515 receive with ifg=0x10, ie=0xFD #@47161 receive with ifg=0x10, ie=0xFD + #@47810 receive with ifg=0x10, ie=0xFD + #@48458 receive with ifg=0x10, ie=0xFD #@49106 receive with ifg=0x10, ie=0xFD + #@49432 receive with ifg=0x80, ie=0xFD #@21396 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +360 "Can" ,a +  ,a + #tPolling Can every 10:00 +488 #-> exit +6 #mEXIT @1736524019.72EST @1736524224.08EST = =mMAIN_scheduler =tMAIN @EST1736524224.77 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK +2 #t@45211 receive with ifg=0x10, ie=0xFD + #@45858 receive with ifg=0x10, ie=0xFD + #@46515 receive with ifg=0x10, ie=0xFD #@47161 receive with ifg=0x10, ie=0xFD + #@47810 receive with ifg=0x10, ie=0xFD + #@48458 receive with ifg=0x10, ie=0xFD #@49106 receive with ifg=0x10, ie=0xFD + #@49432 receive with ifg=0x80, ie=0xFD + #@44223 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +226 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +362 "Can" ,[ +  ,[ + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +7 #Preparing to sleep until + 00:00:05 + ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 1}\\nCan@10:50:31, 39% flow, 22.2C, 10% humidity, 14.5psia, 14.926V, 0.212A, 15.085Ah, 3.17W",Subject: "standAloneWCR_4 begun" +4 #tAsleep til + 00:00:05 +5 #Continuing at 10:50 +2 "Can" +l +22 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +257 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 1}\\nCan@10:50:32, 39% flow, 22.2C, 10% humidity, 14.5psia, 14.926V, 0.206A, 15.085Ah, 3.08W",Subject: "Asleep until 10:50" +202 "Can"  +8 #tPowering core bus +582 .Gate.power :raw,:ON +5 "sampler") +10 ) +4 "core"  +5 "collection"' +5 ' +7 "core"  +4 "processing"% +5 % +4 "core"  +9 "collection"' 9\ +5 ' 0\ +6 ' -\ +9 "processing"% 9\ +5 % 2\ +4 % *\ +4 % 0\ +9 "sampler")&\ +5 .tCS.configure :default +4 "collection"'#P d@b +6 .tPS.configure :default +4 "processing"%#A d`xb +6 .tSS.configure :default +4 "sampler")#.0X 1}\\nCan@10:51:20, 39% flow, 22.2C, 10% humidity, 14.5psia, 14.921V, 0.256A, 15.090Ah, 3.82W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +6 #tStarting initialPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &U +3 .tHand.open +2 "manipulator"&"1 +53 "core" 1 + "manipulator"&#& +7 "core" &  + "manipulator"&$% +4 "core" % \   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +179 "core" ( +2 "manipulator"&&& +4 "core" &, * +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &'& +3 "core" &, * +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +82 #"uploadLog"upsync +22 "core" ' +2 .tHand.close + "manipulator"&)/ +65 "core" / + "manipulator"&*& +4 "core" &, * +2 "manipulator"&+% +4 "core" % ϸ +2 .tForearm.seek :retract +2 "manipulator"&,'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&-( +284 "core" ( + "manipulator"&.& +4 "core" &, Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &, \  Bh +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +97 "core" ' +2 "manipulator"&1& +3 "core" &, s Bh +2 "manipulator"&2% +4 "core" %$ u +3 "collection"'3& +3 "core" &X +3 "collection"'4& +5 "core" &O +2 .tCC.seek :closed +2 "collection"'5(V +5 "core" &O +7 &NU #c +9 &y\\R 7 +9 &U H +10 &jR G +9 &phS H +9 &4eQ G +10 &lS G +9 &kS H +9 &yhQ G +10 &;gN G +9 &fY G +10 &!iY G +9 &#i] H +9 &%CjZ G +10 &'iQ H +9 &(hS H +10 &*jR H +9 &,JjT H +9 &. iR G +10 &/eV G +9 &1g_ G +9 &3SgU G +10 &5hU G +9 &6j] G +10 &8e[ G +9 &:[kT G +9 &<mS H +10 &=iS G +9 &?gP H +9 &AchR G +10 &C%gR G +9 &DmP G +10 &FsZ I +9 &HdR J +9 &J+U M +10 &KgQ P +9 &MP Q +9 &OXQ Q +10 &QqQ Q +9 &RDSQ R +9 &T'0V R +10 &V)kR (| +9 &V1 X M +9 ( +2 &VAP < +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + "collection"'6& +4 "core" &VB[ < +2 .tHand.open + "manipulator"&71 +53 "core" 1 +2 "manipulator"&8% +3 "core" %$ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +3 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &VBK < +2 "collection"';% +4 "core" %R  +2 .tCSV.dial CSR + "collection"'<  +164 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml +2 "collection"'='q +1325 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +37 "core" %qD  +8 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?': +599 "core" ' + .tCSV.dial :waste +2 "collection"'@ +120 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A' +1959 "core" ' +2 #tPurging external Intake + "collection"'B& +4 "core" &V@L < +2 "collection"'C% +3 "core" %O +2 .tCSV.dial :flush + "collection"'D  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +6 "collection"'E' V +2095 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'F +3 'G  +5 "core"  +61 ~ +2 .tCTV.dial :intake + "collection"'H  +71 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I' +2115 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air + "collection"'J  +70 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +4 "core" &VA@ < +2 "collection"'L% +4 "core" %C  + .tCSV.dial :flush +2 "collection"'M  +86 "core"  +2 .tCS.seek 5ml + "collection"'N'q +1090 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'O @ +48 "core" A +2 "collection"'P% +3 "core" %qH  +2 .tCS.seek 7ml +2 "collection"'Q' +496 "core" ' + ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R +2 'S  +5 "core"  +90 ~ + .tCTV.dial :air +2 "collection"'T  +5 "core"  +2 .tCS.seek 0ml + "collection"'U' +1495 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'2 +688 "core" ' + .tCSV.dial :waste +2 "collection"'W +50 "core" +2 .tCS.seek 0ml +2 "collection"'X' +687 "core" ' + "collection"'Y& +4 "core" &V@M < +2 "collection"'Z% +3 "core" %D +2 .tCSV.dial :flush + "collection"'[  +49 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'2 +690 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'] @ +50 "core" B +2 "collection"'^% +4 "core" %2P  +2 .tCS.seek 4.999ml + "collection"'_'q +488 "core" ' +3 .tCSV.dial :air + "collection"'` @ +4 "core" A +2 .tCS.seek 0ml + "collection"'a' +1098 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'2 +691 "core" ' +2 .tCSV.dial :waste + "collection"'c +69 "core" +2 .tCS.seek 0ml +2 "collection"'d' +687 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &+ Bg +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" &+ Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &+ Bg +3 .tForearm.seek CC + "manipulator"&i'" +94 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / +2 .tCC.seek :open + "collection"'k( +416 "core" ( +2 "manipulator"&l& +3 "core" &+ Bg +2 "manipulator"&m% +4 "core" % +  +35 .tForearm.seek :retract +8 "manipulator"&n'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(, +286 "core" ( +2 "manipulator"&p& +3 "core" &, Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &, Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +106 "core" ' + .tHand.open + "manipulator"&s1 +56 "core" 1 + "manipulator"&t% +4 "core" % Ϯ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +95 "core" ' + #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 10:55:19EST10-Jan-25\\n{2 => 1}\\nCan@10:51:20, 39% flow, 22.2C, 10% humidity, 14.5psia, 14.921V, 0.256A, 15.090Ah, 3.82W",Subject: "da wcr sampling at most 200ml" +2 #"WCR"Loading wcr puck from tube 2 into Collection Clamp +3 "collection"'v& +4 "core" &4 +2 "manipulator"&w% +3 "core" %\  z  +3 "storage"(x% +4 "core" %` E +2 "storage"(y. +3 "core" .( +3 ."WCR"SC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(z( +340 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" & L +2 "manipulator"&|& +4 "core" &, g +3 "manipulator"&}% +4 "core" %\  f  +4 ."WCR"Elbow.reconfigure :tight +2 #"uploadLog"upsync +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +193 "core" ( +2 "manipulator"&& +4 "core" & "  +2 "storage"(& +4 "core" &  c +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +91 "core" ' + "storage"(& +4 "core" &  w +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak +2 "storage"('i +279 "core" ' +2 "storage"(- +2 "core" -' +3 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   +2 "manipulator"&& +4 "core" & l  +2 ."WCR"Elbow.seek 2 +2 "manipulator"&( +20 "core" ( +2 "manipulator"& & +4 "core" &\ ] +2 "storage"(\ & +4 "core" &  +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +40 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('X +7 "core" &\  \\ +2 "manipulator"&% +4 "core" %   +39 ."WCR"Forearm.seek :retract +7 "manipulator"&'\ +97 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"& ( +119 "core" ' + ."downElevator"SE.stop + "storage"(5 +29 "core" ( + "manipulator"&& +4 "core" &)  @Y +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &) g @Y +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&'" +98 "core" ' +2 "manipulator"&& +4 "core" &) l @Y +2 "manipulator"& % +4 "core" %# +2 "collection"'& +4 "core" &? +3 "collection"'& +5 "core" &> +2 ."WCR"CC.seek :closed +2 "collection"'!(V +3 "core" &:  +9 &8? )w +10 &m5 > +9 &s7 H +9 &eE G +10 &CgC G +9 &eA G +10 &gC G +9 &jH G +9 &KeG G +10 & gL G +9 & jB G +9 &"hD G +10 &$RjE G +9 &&hH G +10 &'j@ G +9 &)iJ G +9 &+[eI G +10 &-fC F +9 &.fD F +9 &0iC G +10 &2beD G +9 &4&fF F +10 &5gE G +9 &7iE G +9 &9ke; G +10 &;-e8 G +9 &<fB G +9 &>eD G +10 &@tf: F +9 &B5g? G +10 &Ck: G +9 &EjC G +9 &GvvE H +10 &I7xB I +9 &JA K +9 &L@ O +10 &Nh7 P +9 &P(7 Q +10 &Q7 Q +9 &S5 R +9 &Uj7 ? +10 &VD4 a +9 &V3 F +5 ( +2 "collection"'& +4 "core" &Vj5 F +2 #"WCR"Collection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&"1 +58 "core" 1 + "manipulator"&#% +4 "core" % # } +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + + "sampler")'% +4 "core" % o +2 "collection"'& +4 "core" &Vj9 F +3 "Can" F` +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"')  +4 "core"  + ."WCR"SSV.dial :spit,avoiding: :exhaust +2 "sampler")* +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %+ +2 "sampler")=% +4 "core" %T2lg  +27 "collection"'@% +4 "core" %+ +2 "sampler")?% +3 "core" %T2pm  +32 "collection"'B% +3 "core" % +2 "sampler")C% +3 "core" %T2uq  +37 "collection"'D% +4 "core" %& + "sampler")A% +4 "core" %T2|v  +42 "collection"'G% +3 "core" %, +2 "sampler")F% +3 "core" %T2  +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )H% +3 "core" %T3  +2 ."WCR"SSV.dial :exhaust +2 "sampler")E  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")J' +388 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X  +17 "collection"'x% +3 "core" % +3 "sampler")n% +3 "core" %LM  +21 "collection"'y% +3 "core" % +2 "sampler")r% +4 "core" %_^  +24 "collection"'% +3 "core" % +2 "sampler"){% +4 "core" %qr  +28 "collection"'|% +3 "core" % +2 "sampler")}% +4 "core" %  + ."WCR"Intake.select :close +2 "sampler")0 +9 )% +3 "core" %  +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")o' +910 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")  +70 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml + .Intake.select :open + "sampler") +211 "collection"'u% +3 "core" % +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X% +3 "core" %\ +2 #"WCR"Intake @11.7psia, vacuum from 6.2 to 9.2psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0X0X  +21 "collection"'U% +3 "core" % +2 "sampler")v% +4 "core" %8JH  +24 "collection"'w% +3 "core" % +2 "sampler")x% +3 "core" %VT  +28 "collection"'n% +3 "core" % +2 "sampler")y% +4 "core" %ge 4 +32 "collection"'r% +3 "core" % +2 "sampler")% +4 "core" %xu 4 +36 "collection"'{% +3 "core" % +2 "sampler")|% +4 "core" % 4 +41 "collection"'}% +3 "core" % +2 "sampler")% +4 "core" % 4 +2 ."WCR"Intake.select :close + "sampler")0 +9 )% +3 "core" % 4 +2 ."WCR"SSV.dial :exhaust + "sampler")s  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml + "sampler")t' +875 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 "sampler")  + ."WCR"CBV.dial SSV +71 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 100.0ml +2 .Intake.select :open + "sampler") +210 "collection"'u% +3 "core" % +2 #"WCR"Intake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X% +3 "core" % +2 "sampler").% +3 "core" %  +54 "collection"'/% +3 "core" % +2 "sampler")?% +4 "core" %&% \ O +60 "collection"'B% +3 "core" % +2 "sampler")C% +4 "core" %52 \ O +69 "collection"'D% +4 "core" % +2 "sampler")A% +4 "core" %JF \ O +78 "collection"'7% +3 "core" % +2 "sampler")G% +3 "core" %fd \ O +89 "collection"'F% +10 "core" % +2 "sampler")H% +4 "core" % \ O +99 "collection"'E% +3 "core" % +2 "sampler")8% +4 "core" % \ O +2 ."WCR"Intake.select :close + "sampler")0 +10 )L% +3 "core" % \ O +2 ."WCR"SSV.dial :exhaust +2 "sampler")M  +68 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")I' +910 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")J  +69 "core"  + #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml +2 .Intake.select :open + "sampler") +210 "collection"'O% +4 "core" % +2 #"WCR"Intake @13.6psia, vacuum from 8.1 to 11.1psi + .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'+  +83 "core"  +2 "collection"'2% +3 "core" % X  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'3 ` +40 "core" ` +9 ."WCR"CS.seek 7.383ml +2 "collection"' ' +618 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'6  + ',  +33 "core"  +39  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"'1' +1526 "core" '  +2 ."WCR"CBV.dial :waste2b +2 "collection"':  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"';' +435 "core" ' +2 ."WCR"delay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'4  +120 "core" +3 #"WCR"Fix #1 of 1 (with RNAlater) for 5:00 + .CSV.dial CSR +2 "collection"'<  +46 "core"  + #"WCR"Pulling 2ml of CSR.RNAlater +2 .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'0'^ +584 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'' V +1687 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"' @ +69 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'>  +80 "core"  +2 "collection"'.% +4 "core" % Z(  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'/ ` +54 "core" ^ +3 ."WCR"CS.seek 7.26ml + "collection"'?' +643 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +4 "collection"'C  +2 'B  +34 "core"  +90  +3 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"'D' +1460 "core" 'W 4 +3 ."WCR"delay 5:00 +20610 "Can" D +9392 ."WCR"CBV.dial :waste2b +2 "collection"'A  +31 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml +2 "collection"'7' +470 "core" ' +3 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'G  +121 "core" + "collection"'F& +4 "core" &Vh` F +2 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&H% +4 "core" %\  +2 "storage"(E% +4 "core" %U + "storage"(8. +3 "core" .( +3 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."WCR"SC.seek 1 +2 "storage"(L(S +332 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 (M& +3 "core" &U e n +2 "manipulator"&(& +4 "core" &( @Y +3 "manipulator"&J% +4 "core" %\  +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 1 +2 "manipulator"&O(. +158 "core" ( + "manipulator"&I& +4 "core" &3 % } +2 "storage"(S& +4 "core" &X t +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&R'ѷ +94 "core" ' +2 "storage"(T& +44 "core" &X y +5 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(P'i +268 "core" ' +2 "storage"(N- +3 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."WCR"SE.seek :place + "storage"(@'y +49 "core" ' +2 "manipulator"&V& +4 "core" &3 q } +2 "manipulator"&Y% +3 "core" %Ѫ s 5 +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&W'\ +89 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&X( +157 "core" ( +2 "manipulator"&]& +4 "core" &( @Y +2 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &( @Y +3 ."WCR"Forearm.seek CC +2 "manipulator"&\\'" +91 "core" ' +2 ."WCR"Hand.close + "manipulator"&`/ +57 "core" / +4 ."WCR"CC.seek :open + "collection"'_( +417 "core" ( +2 "storage"(a& +4 "core" &X 4 +2 "storage"(c& +3 "core" &X  +2 "manipulator"&=& +4 "core" &) @Y +2 "manipulator"&K% +3 "core" % 6 +3 ."WCR"Forearm.seek :retract + "manipulator"&g'\ +92 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&Q(. +159 "core" ( + "manipulator"&h& +4 "core" &7 *  +2 "storage"(j& +4 "core" &X \\ +2 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&-' +103 "core" ' +2 ."WCR"Elbow.hold + "manipulator"&9, +4 "core" , + ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open +2 "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&5% +4 "core" %  n +2 "storage"(i& +4 "core" &X +2 ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 320 counts +2 "manipulator"&p'; +19 "core" ' + "manipulator"&q& +4 "core" &7 }  +2 "storage"(f& +3 "core" &X +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts + "manipulator"&U'ѷ +34 "core" ' + "storage"(v% +4 "core" % +3 ."downElevator"SE.seek :down +3 "storage"(['X +99 (w% +3 "core" %[ PH +2 "manipulator"&b% +4 "core" %Ѹ M +2 ."WCR"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&x'\ +89 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'n& +3 "core" &_ +3 "manipulator"&y& +3 "core" &7 \\  +2 "manipulator"&r% +41 "core" %\  b  +9 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +178 "core" ( + "manipulator"&{& +4 "core" &, N 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &, J 6 +3 .tForearm.seek :garage + "manipulator"&}'Ϧ +100 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + "manipulator"&l& +4 "core" &, 6 +2 "manipulator"&e% +4 "core" % Ϻ @ +2 .tForearm.seek :retract +2 "manipulator"&s'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&m( +281 "core" ( +2 "manipulator"&& +3 "core" &) @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &( @W +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'" +94 "core" ' +2 "manipulator"& & +4 "core" &) @W +2 "manipulator"&% +4 "core" %  +2 "collection"'& +4 "core" &v +3 "collection"'& +4 "core" &u +2 .tCC.seek :closed +2 "collection"'(V +4 "core" &m +8 &8v #b +9 &Zv 5 +9 &n G +10 &br F +9 &e{ F +10 &Uew F +9 &gw F +9 &gt F +10 &ew F +9 &^gr F +9 & et F +10 &!fy F +9 &#gv F +10 &%egv F +9 &''ft F +9 &(fp F +10 &*fo F +9 &,nfv F +9 &.0e F +10 &/ft F +9 &1gp F +10 &3wev F +9 &59fw F +9 &6ds F +10 &8ew F +9 &:~gw F +10 &<@fq F +9 &>f F +9 &?gw F +10 &Agu F +9 &CHg{ F +9 &E ix F +10 &Fmq G +9 &H|v H +9 &JAx K +10 &Ky O +9 &Ms P +10 &Oxv P +9 &Q;v P +9 &R R +10 &Tr R +9 &V%Vv 9 +9 &V ~} (q +10 &V|| S +5 ( +2 "collection"'& +4 "core" &Vs} S +2 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.79 + "collection"'~& +4 "core" &Vsz S +2 .tHand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" %  u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &Vs{ S +2 "collection"' % +4 "core" %y + .tCSV.dial CSR +2 "collection"'  +46 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"' 'q +1330 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 'o% +2 "core" %qd  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'': +595 "core" ' +3 .tCSV.dial :waste +2 "collection"' +151 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'' +1961 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'& +4 "core" &Vso S +2 "collection"'% +3 "core" %~ +2 .tCSV.dial :flush + "collection"'k  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'"'q +1087 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'\ @ +61 "core" ? + "collection"'#% +4 "core" %q~  +2 .tCS.seek 7ml +39 "collection"''' +496 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV + "collection"'  +2 '  +50 "core"  +76  +2 .tCBV.dial :waste2b + "collection"')  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'' +1516 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +4 "core" &Vs S +2 "collection"'u% +4 "core" % + .tCSV.dial CSR +2 "collection"'*  +47 "core"  +2 #tPulling 8ml of CSR.kill .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'' +1713 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml +2 "collection"'d' V +488 "core" ' +3 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'% +2 '+  +46 "core"  +76 +2 .tCTV.dial :intake + "collection"'2  +69 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'3'^ +1692 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'&  +69 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"',' +584 "core" ' +2 .tCSV.dial CSR +2 "collection"'6  +93 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"' 'q +1334 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +5 "collection"' +10 .tCS.seek 10ml + "collection"':' V +1333 "core" ' +2 .tCSV.dial CBV + "collection"'1 +119 "core" +2 .tCS.seek 0ml +2 "collection"'4' +2581 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&<& +4 "core" &( s @W +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&;( +4 "core" ( + "manipulator"&0& +4 "core" &( C @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( @W +3 .tForearm.seek CC + "manipulator"&>'" +94 "core" ' +2 .tHand.close + "manipulator"&./ +53 "core" / +2 .tCC.seek :open +2 "collection"'/( +416 "core" ( + "manipulator"&& +4 "core" &) @W +2 "manipulator"&B% +4 "core" % ( +2 .tForearm.seek :retract + "manipulator"&C'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&?(, +284 "core" ( +2 "manipulator"&A& +3 "core" &, Z 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &, L 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&G'Ϧ +108 "core" ' +2 .tHand.open + "manipulator"&F1 +61 "core" 1 +2 "manipulator"&H% +4 "core" % Ϭ z  +43 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +100 "core" ' + #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 10:51:20 +5 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 0}\\nCan@11:10:34, 38% flow, 22.4C, 10% humidity, 14.5psia, 14.897V, 0.362A, 15.222Ah, 5.39W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +397 #"uploadLog"upsync +8 #mEXIT @1736525856.04EST @1736530696.62EST = =tMAIN =mMAIN_scheduler @EST1736530697.30 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +101 #"core_reset"Sent BREAK +2 #t@23910 sendCRC with ifg=0x20, ie=0x7F + #@25745 sendCRC with ifg=0x08, ie=0x5F + #@63908 idle with ifg=0x84, ie=0x75 #@64586 select with ifg=0x10, ie=0xF5 + #@65234 receive with ifg=0x10, ie=0xFD + #@346 receive with ifg=0x10, ie=0xFD #@994 receive with ifg=0x10, ie=0xFD + #@1321 receive with ifg=0x80, ie=0xFD #@16522 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +361 "Can" 0ɫ u +  0ɫ u + #tPolling Can every 10:00 +3 #Cleanly exited at 11:17:35EST10-Jan-25 +2509 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +3 "collection"' +2 ' +2 "core"  +3 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %x +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % . +2 .tSS.configure :default +2 "sampler")#.0X access 21 +2 "storage"(2% +3 "core" %Z  +2 "manipulator"&3% +4 "core" %\  T  +2 "manipulator"&4& +4 "core" &, N 2 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(5(,l +968 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &,k   +454 #t-> access 1 +3 "storage"(7% +3 "core" %Z +2 "manipulator"&8% +3 "core" %\  \\  +2 "manipulator"&9& +4 "core" &, ` 2 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(:(<* +332 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &<(   +427 #t-> exit +7 #mEXIT @1736530768.26EST @1736976351.98EST = =tMAIN =mMAIN_scheduler @EST1736976352.73 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +108 #"core_reset"Sent BREAK + #t@2131 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +250 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +386 "Can" }R +  }R + #tPolling Can every 10:00 +2 #Cleanly exited at 12:39:28EST10-Jan-25 +452 #-> ESP.ready! +4 #Powering core bus +577 .Gate.power :raw,:ON +2 "sampler") +34 ) +3 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +3 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(1% +3 "core" %^  +2 "manipulator"&2% +3 "core" %\ !   +2 "manipulator"&3& +4 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(4(K +967 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &K J K p  +1577 #t-> exit +7 #mEXIT @1736976433.23EST @1737037318.04EST = =tMAIN =mMAIN_scheduler @EST1737037318.73 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +103 #"core_reset"Sent BREAK +2 #t@11902 receive with ifg=0x10, ie=0xFD #@12549 receive with ifg=0x10, ie=0xFD + #@13208 receive with ifg=0x10, ie=0xFD + #@13855 receive with ifg=0x10, ie=0xFD + #@14504 receive with ifg=0x10, ie=0xFD #@15153 receive with ifg=0x10, ie=0xFD + #@15802 receive with ifg=0x10, ie=0xFD + #@16128 receive with ifg=0x80, ie=0xFD #@61275 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +357 "Can" 4;w +2  4;w #tPolling Can every 10:00 +2 #Cleanly exited at 16:27:13EST15-Jan-25 +576 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +3 ' +2 "core"  +2 "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %o +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % l +2 .tSS.configure :default +3 "sampler")#.0X exit +7 #mEXIT @1737037353.03EST @1737037509.95EST = =tMAIN =mMAIN_scheduler @EST1737037510.66 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +100 #"core_reset"Sent BREAK + #t@38163 receive with ifg=0x10, ie=0xFD + #@38798 receive with ifg=0x10, ie=0xFD + #@39454 receive with ifg=0x10, ie=0xFD + #@40089 receive with ifg=0x10, ie=0xFD + #@40723 receive with ifg=0x10, ie=0xFD #@41358 receive with ifg=0x10, ie=0xFD + #@41992 receive with ifg=0x10, ie=0xFD #@42324 receive with ifg=0x80, ie=0xFD + #@32308 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +228 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +354 "Can" CJ<\ f +  CJ<\ f #tPolling Can every 10:00 +7 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +5 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{2 => 3}\\nCan@09:25:17, 39% flow, 22.1C, 9% humidity, 14.6psia, 14.877V, 0.356A, 4.255Ah, 5.29W",Subject: "standAloneWCR_4 begun" +5 #tAsleep til + 00:00:05 +4 #Continuing at 09:25 +3 "Can" CJ<\ w +21 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +272 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{2 => 3}\\nCan@09:25:17, 39% flow, 22.1C, 9% humidity, 14.6psia, 14.877V, 0.356A, 4.255Ah, 5.29W",Subject: "Asleep until 09:25" +172 #"uploadLog"upsync +14 "Can" L<  +8 #tPowering core bus +238 #"uploadLog"upsync +312 .tGate.power :raw,:ON + "sampler") +22 ) +2 "core"  +3 "collection"' +3 ' +2 "core"  +3 "processing"% +3 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tPS.configure :default +2 "processing"%#A d`xb +35 .tSS.configure :default +6 "sampler")#.0X 3}\\nCan@09:26:03, 39% flow, 22.1C, 10% humidity, 14.6psia, 14.906V, 0.262A, 4.260Ah, 3.91W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +5 #tStarting initialPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +4 "core" &h  +3 .tHand.open + "manipulator"&"1 +54 "core" 1 + "manipulator"&#& +5 "core" & # +3 "manipulator"&$% +4 "core" % \  o +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +181 "core" ( +2 "manipulator"&&& +6 "core" &, @ C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +3 "core" &, C +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +91 #"uploadLog"upsync +8 "core" ' + .tHand.close +2 "manipulator"&)/ +53 "core" / +2 "manipulator"&*& +3 "core" &, C +3 "manipulator"&+% +3 "core" % ϸ + +3 .tForearm.seek :retract + "manipulator"&,'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +276 "core" ( + "manipulator"&.& +5 "core" && =G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" && =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'" +98 "core" ' + "manipulator"&1& +5 "core" && ^ =G + "manipulator"&2% +5 "core" % / +2 "collection"'3& +3 "core" &]  +3 "collection"'4& +5 "core" &h  +2 .tCC.seek :closed +2 "collection"'5(V +3 "core" &]  +10 &9h *z +9 &nj ? +10 &vq H +9 &Sjp H +9 &lm H +10 &kh H +9 &jh H +9 &\\kt H +10 &ku H +9 &mq H +9 & ku H +10 &"chr H +9 &$&jx H +10 &%k| H +9 &'jq H +9 &)kmw H +10 &+-ks H +9 &,j{ H +10 &.kt H +9 &0sor H +9 &25js H +10 &3kq H +9 &5lr H +9 &7{kn H +10 &9=kf H +9 &;kV H +9 &<m^ H +10 &>kc H +9 &@Ehp H +10 &Bjs H +9 &Ckv H +9 &Ept H +10 &GI{w I +9 &Iv K +10 &J;$y N +9 &Ly+|g Q +9 &N;o Q +10 &Os R +9 &Qp R +9 &S{q S +10 &U<m M +9 &VlCk ){ +9 &Vwe D +6 ( +2 "collection"'4& +3 "core" &Ven D +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.77 + "collection"'6& +3 "core" &Veu D +3 .tHand.open + "manipulator"&71 +61 "core" 1 +2 "manipulator"&8% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +97 "core" ' +3 #tFlushing the Collection Valve::Manifold + "collection"':& +4 "core" &Vei D +2 "collection"';% +3 "core" %g +2 .tCSV.dial CSR +2 "collection"'<  +118 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1334 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +4 "collection"' +10 '>% +36 "core" %qo  +9 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?'8 +600 "core" ' + .tCSV.dial :waste +2 "collection"'@ +122 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'A' +1948 "core" ' +2 #tPurging external Intake + "collection"'B& +3 "core" &Vdk D +2 "collection"'C% +4 "core" %o +2 .tCSV.dial :flush + "collection"'D  +51 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'E' V +2101 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'F +2 'G  +6 "core"  +61 +2 .tCTV.dial :intake + "collection"'H  +70 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I' +2112 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'J  +70 "core" ~ +2 #tFlushing upper manifold + "collection"'K& +4 "core" &Vd] D + "collection"'L% +4 "core" %\\ +2 .tCSV.dial :flush + "collection"'M  +86 "core"  +3 .tCS.seek 5ml + "collection"'N'q +1090 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +49 "core" A + "collection"'P% +4 "core" %q\\  +2 .tCS.seek 6.999ml +2 "collection"'Q' +495 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'R +2 'S  +6 "core"  +89 ~ +2 .tCTV.dial :air + "collection"'T  +5 "core"  +2 .tCS.seek 0ml +2 "collection"'U' +1515 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'2 +701 "core" ' +2 .tCSV.dial :waste + "collection"'W +50 "core" +2 .tCS.seek 0ml +2 "collection"'X' +687 "core" ' + "collection"'Y& +4 "core" &Vc[ D +2 "collection"'Z% +3 "core" %R +2 .tCSV.dial :flush +2 "collection"'[  +48 "core"  +3 .tCS.seek 3ml + "collection"'\\'2 +699 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'] @ +51 "core" A + "collection"'^% +4 "core" %2^  +2 .tCS.seek 5ml +2 "collection"'_'q +487 "core" ' +3 .tCSV.dial :air + "collection"'` @ +4 "core" A +2 .tCS.seek 0ml +2 "collection"'a' +1091 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'2 +698 "core" ' + .tCSV.dial :waste + "collection"'c +69 "core" +3 .tCS.seek 0ml + "collection"'d' +700 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &% z =F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +4 "core" &%  =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &% =F +3 .tForearm.seek CC + "manipulator"&i'" +94 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / +2 .tCC.seek :open + "collection"'k( +413 "core" ( + "manipulator"&l& +5 "core" && =F + "manipulator"&m% +3 "core" % $ [ +36 .tForearm.seek :retract +8 "manipulator"&n'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&o(, +277 "core" ( +2 "manipulator"&p& +4 "core" &, t ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &, ] +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +109 "core" ' +2 .tHand.open + "manipulator"&s1 +57 "core" 1 + "manipulator"&t% +4 "core" % ϩ r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +107 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 09:30:02EST16-Jan-25\\n{2 => 3}\\nCan@09:26:03, 39% flow, 22.1C, 10% humidity, 14.6psia, 14.906V, 0.262A, 4.260Ah, 3.91W",Subject: "da wcr sampling at most 200ml" +3 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'v& +4 "core" &R +2 "manipulator"&w% +3 "core" %\  o  +4 "storage"(x% +4 "core" %Z U +2 "storage"(y. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 ."WCR"SC.seek 2 +3 "storage"(z( +338 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 ({& +3 "core" & x  +3 "manipulator"&|& +4 "core" &, > ] +2 "manipulator"&}% +3 "core" %\  _  +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 + "manipulator"&~( +5 #"uploadLog"upsync +177 "core" ( +2 "manipulator"&& +4 "core" & =  +2 "storage"(& +4 "core" &  S +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(& +4 "core" &  3 +2 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"('i +266 "core" ' + "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  u +2 "manipulator"&& +3 "core" & I  +3 ."WCR"Elbow.seek 2 + "manipulator"& ( +4 "core" ( +2 "manipulator"&& +4 "core" & X  + "storage"(\ & +5 "core" &  +3 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"& ' +21 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"('X +8 "core" & Y  + "manipulator"&% +4 "core" %   +3 ."WCR"Forearm.seek :retract +38 "manipulator"&'\ +100 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +99 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +52 "core" ( +2 "manipulator"&& +4 "core" &(  ?U + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &( ?U +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +94 "core" ' + "manipulator"&& +5 "core" &( | ?U + "manipulator"& % +5 "core" % +2 "collection"'& +3 "core" &X +3 "collection"'& +5 "core" &Q +3 ."WCR"CC.seek :closed + "collection"'!(V +5 "core" &S +6 &AY $d +10 &[\\ 6 +9 &X H +9 &iS G +10 &lK G +9 &aiV G +9 &#lU G +10 &lI G +9 &hI G +10 &ijJ G +9 & *jF H +9 &!jM G +10 &#mM G +9 &%qkL G +9 &'3iN G +10 &(iF G +9 &*iF G +10 &,yiD G +9 &.;iD G +9 &/i: G +10 &1h; G +9 &3i9 G +9 &5Dh@ G +10 &7i9 G +9 &8h8 G +10 &:i= G +9 &j: G +10 &?j8 G +9 &Aj4 G +9 &CUi5 G +10 &Em3 G +9 &Fp7 H +10 &Hy8 I +9 &JR9 K +9 &L 9 N +10 &M7 Q +9 &O9 Q +9 &QGE Q +10 &S< R +9 &T0 S +10 &V;jB 0 +9 &V3 7 +9 &Vk/ C +6 ( + "collection"'& +4 "core" &V`* C +3 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.70 + .Hand.open + "manipulator"&"1 +64 "core" 1 +3 "manipulator"&#% +3 "core" %  _ +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&$'\ +101 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")&+ +4 "core" + + "sampler")'% +4 "core" % g +2 "collection"'& +3 "core" &V`4 C +4 "Can" I% +3 "core" %, +2 "sampler")=% +4 "core" %T+fh  +27 "collection"'@% +3 "core" %( +3 "sampler")?% +4 "core" %T*lg  +31 "collection"'B% +3 "core" %, +2 "sampler")C% +4 "core" %T*pn  +36 "collection"'D% +3 "core" %- +2 "sampler")A% +4 "core" %T-tq  +41 "collection"'G% +3 "core" %# +2 "sampler")F% +5 "core" %T+xv  +46 "collection"'H% +3 "core" %& +2 "sampler")E% +4 "core" %T+~{  +2 ."WCR"Intake.select :close + "sampler")0 +10 )J% +2 "core" %T*~  +2 ."WCR"SSV.dial :exhaust +2 "sampler")K  +69 "core"  + ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")L' +428 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X +3 #"WCR"Vacuum too high -- waiting up to 40 seconds +2 .SS.reconfigure :exhale +2 "sampler")#.0X% +4 "core" %jD  +18 "collection"'=% +5 "core" % + "sampler")@% +4 "core" %jD  +21 "collection"'?% +4 "core" % +2 "sampler")B% +3 "core" %jD  +24 "collection"'C% +4 "core" % +2 "sampler")D% +4 "core" %jD  +27 "collection"'A% +4 "core" % +2 "sampler")G% +5 "core" %kD  + "collection"'7% +4 "core" % +2 #"WCR"Intake @11.6psia, vacuum from 6.1 to 9.1psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X0X0Xn  +3 #"WCR"Vacuum too high -- waiting up to 40 seconds +2 .SS.reconfigure :exhale +2 "sampler")#.0X% +3 "core" % +2 "sampler")=% +5 "core" %F  + "collection"'@% +4 "core" % +2 #"WCR"Intake @13.1psia, vacuum from 7.6 to 10.6psi +2 .SS.reconfigure :inhaling 0.73ml/s + "sampler")#.20X +24 "collection"'% +3 "core" % +2 "sampler")% +3 "core" % > +39 "collection"'% +10 "core" % +2 "sampler")% +5 "core" % > +31 "collection"'\ % +3 "core" % +2 "sampler")% +4 "core" %$ > +36 "collection"'% +3 "core" % +2 "sampler")% +4 "core" %*) > +41 "collection"'~% +3 "core" % +2 "sampler")% +4 "core" %54 > +47 "collection"'% +3 "core" % +2 "sampler")% +3 "core" %DC > +54 "collection"'% +3 "core" % +3 "sampler")% +4 "core" %UR > +60 "collection"' % +3 "core" % +2 "sampler")% +4 "core" %ee > +69 "collection"'% +4 "core" % +2 "sampler") % +3 "core" %vt > +78 "collection"'% +3 "core" % +2 "sampler") % +5 "core" % > + ."WCR"Intake.select :close +2 "sampler")0 +9 )% +2 "core" % > +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +71 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")o' +921 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")#  + "collection"'' @ +6 "core" ? +65 +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" % +2 #"WCR"Intake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 0.58ml/s +2 "sampler")#.(0X% +3 "core" % +2 "sampler")=% +4 "core" %2/ \ N +78 "collection"'@% +3 "core" % +2 "sampler")% +4 "core" %CA \ N +88 "collection"'C% +3 "core" % +2 "sampler")D% +3 "core" %YW \ N +100 "collection"'A% +3 "core" % +2 "sampler")G% +44 "core" %nl \ N +73 "collection"'7% +3 "core" % +2 "sampler")<% +4 "core" %{ \ N +127 "collection"'0% +5 "core" % +2 "sampler")E% +4 "core" % \ N +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )J% +2 "core" % \ N +3 ."WCR"SSV.dial :exhaust + "sampler")K  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")8' +915 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'I @ + "sampler")O  +5 "core" ? +67 +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +211 "collection"'P% +3 "core" % +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 0.58ml/s +2 "sampler")#.(0X- +3 "core" -'i +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."WCR"SE.seek :place + "storage"(='y +35 "core" ' +2 "manipulator"&@& +4 "core" &# r  +2 "manipulator"&% +4 "core" %Ѭ s ` +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&C'\ +88 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"&D( +152 "core" ( +2 "manipulator"&A& +3 "core" &+ Bh +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &+ Bh +3 ."WCR"Forearm.seek CC +2 "manipulator"&7'" +95 "core" ' + ."WCR"Hand.close +2 "manipulator"&J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" && ? >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'" +99 "core" ' +2 "manipulator"&p& +4 "core" && >J +2 "manipulator"&q% +3 "core" % +3 "collection"'f& +3 "core" &q +3 "collection"'s& +5 "core" &s +2 .tCC.seek :closed +3 "collection"'t(V +2 "core" &o +7 &Av #c +10 &[q 6 +9 &q H +10 &ep F +9 &is F +9 &Zjr G +10 &jo F +9 &hq F +9 &ju F +10 &bkw G +9 & $is G +10 &!gq F +9 &#jw F +9 &%jgs G +10 &'.fr F +9 &(kx G +9 &*iu F +10 &,sis F +46 &.5kw F +10 &/gu G +2 &1mt G + &3zhu G +2 &5<hs G + &6kt F +3 &8js F +10 &:fs F +9 &jt G +9 &?gv F +9 &Afw F +10 &CMiv F +9 &E ow G +9 &Fqv G +10 &H|w I +9 &JGy K +10 &Kp O +9 &Mp P +9 &O}r Q +10 &Q?u Q +9 &Rs Q +9 &Tp R +10 &V,\\p . +9 &Vo K +9 ( +3 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.76 +2 "collection"'v& +3 "core" &Vmj F +2 &Vmo F + .tHand.open + "manipulator"&n1 +59 "core" 1 +2 "manipulator"&b% +3 "core" %  ] +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +102 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'y& +3 "core" &Vlw F +2 "collection"'g% +4 "core" %v +2 .tCSV.dial CSR + "collection"'x  +48 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'r'q +1334 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +4 "collection"' +9 'w% +3 "core" %ql  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'e'; +595 "core" ' + .tCSV.dial :waste +2 "collection"' +151 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'5' +1949 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'l& +4 "core" &Vl F +2 "collection"'% +4 "core" % + .tCSV.dial :flush +2 "collection"'u  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"''q +1101 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +5 "collection"' @ +47 "core" A +2 "collection"'% +4 "core" %q  +2 .tCS.seek 7.001ml +2 "collection"'' +487 "core" ' +2 ."connect"CSV.dial CTV +3 "collection"'  + .tCTV.dial CSV +4 "collection"'\  +57 "core"  +72  +2 .tCBV.dial :waste2b +2 .CS.seek 0ml + "collection"'' +1494 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +4 "core" &Vl F + "collection"'% +4 "core" % +2 .tCSV.dial CSR + "collection"'H  +61 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'' +1701 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +2 "collection"'|' V +495 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'d +2 '  +47 "core"  +75 +2 .tCTV.dial :intake + "collection"'  +69 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"''^ +1695 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +68 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +582 "core" ' +2 .tCSV.dial CSR + "collection"'  +94 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml +2 "collection"' 'q +1325 "core" ' +38 .tdelay 5 seconds +509 .CSR.select :air + "collection"' +10 .tCS.seek 10ml + "collection"'' V +1325 "core" ' +2 .tCSV.dial CBV + "collection"' +119 "core" +2 .tCS.seek 0ml +2 "collection"'' +2580 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" && >J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&}( +4 "core" ( +2 "manipulator"&& +3 "core" && 4 >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" && >J +2 .tForearm.seek CC +2 "manipulator"&'" +93 "core" ' + .tHand.close + "manipulator"&o/ +57 "core" / +2 .tCC.seek :open +2 "collection"'{( +413 "core" ( + "manipulator"&& +3 "core" && >J +3 "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&*'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&&(, +285 "core" ( +2 "manipulator"&& +3 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &, o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&.'Ϧ +109 "core" ' + .tHand.open + "manipulator"&+1 +62 "core" 1 + "manipulator"&2% +5 "core" % ϯ .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 09:26:03 +4 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 1,\\n 2 => 2}\\nCan@09:45:20, 39% flow, 22.4C, 10% humidity, 14.6psia, 14.872V, 0.368A, 4.399Ah, 5.48W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +454 #"uploadLog"upsync +6 #mEXIT @1737039168.73EST @1737059138.64EST = =mMAIN_scheduler =tMAIN @EST1737059139.37 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK + #t@52215 sendCRC with ifg=0x20, ie=0x7F + #@54049 sendCRC with ifg=0x08, ie=0x5F + #@32203 idle with ifg=0x84, ie=0x75 + #@32881 select with ifg=0x10, ie=0xF5 + #@33529 receive with ifg=0x10, ie=0xFD #@34177 receive with ifg=0x10, ie=0xFD + #@34825 receive with ifg=0x10, ie=0xFD + #@35153 receive with ifg=0x80, ie=0xFD #@55819 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +11 #ESP2 v3.42 I2C Gateway v3.20 for core bus +225 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +368 "Can" ,Q)j +  ,Q)j + #tPolling Can every 10:00 +6 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +5 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{1 => 1,\\n 2 => 2}\\nCan@15:25:46, 39% flow, 22.4C, 10% humidity, 14.5psia, 14.916V, 0.212A, 5.574Ah, 3.17W",Subject: "standAloneWCR_4 begun" +7 #tAsleep til + 00:00:05 + #Continuing at 15:25 +3 "Can" -Q){ +25 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +244 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{1 => 1,\\n 2 => 2}\\nCan@15:25:46, 39% flow, 22.4C, 10% humidity, 14.5psia, 14.916V, 0.219A, 5.574Ah, 3.26W",Subject: "Asleep until 15:25" +140 #"uploadLog"upsync +70 "Can" Q* +4 #tPowering core bus +167 #"uploadLog"upsync +374 .tGate.power :raw,:ON +3 "sampler") +38 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tPS.configure :default +2 "processing"%#A d`xb +36 .tSS.configure :default +5 "sampler")#.0X 1,\\n 2 => 2}\\nCan@15:26:16, 39% flow, 22.2C, 10% humidity, 14.5psia, 14.911V, 0.231A, 5.576Ah, 3.44W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +3 #tStarting initialPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &  +3 .tHand.open +2 "manipulator"&"1 +57 "core" 1 +2 "manipulator"&#& +4 "core" & E +3 "manipulator"&$% +4 "core" % \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&%(, +177 "core" ( +2 "manipulator"&&& +6 "core" &, 4 ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +4 "core" &, d ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&('Ϧ +82 #"uploadLog"upsync +23 "core" ' +2 .tHand.close + "manipulator"&)/ +64 "core" / +2 "manipulator"&*& +3 "core" &, ' +3 "manipulator"&+% +4 "core" % Ϲ +2 .tForearm.seek :retract + "manipulator"&,'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-( +279 "core" ( +2 "manipulator"&.& +3 "core" &, ~ Bg +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &+ f Bg +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +102 "core" ' + "manipulator"&1& +4 "core" &, k Bg +2 "manipulator"&2% +5 "core" % y +2 "collection"'3& +3 "core" &  +3 "collection"'4& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'5(V +4 "core" &  +9 &8 *y +9 &k > +10 &y H +9 &Ej G +10 &l H +9 &j H +9 &n H +10 &Lk H +9 & i H +9 &k H +10 & k H +9 &"Sn H +10 &$k H +9 &%k G +9 &'j H +10 &)[m H +9 &+k H +9 &,n H +10 &.k G +9 &0dk H +10 &2&h H +9 &3k G +9 &5l H +10 &7jm H +9 &9.j H +9 &:j H +10 &<m H +9 &>tk H +10 &@6m H +9 &Ah H +9 &Ck H +10 &E{p H +9 &G:y I +9 &H K +10 &J N +9 &Lh Q +10 &N, Q +9 &O R +9 &Q Q +10 &Sk S +9 &U- Q +9 &Vd: , +10 &V @ +5 ( +2 "collection"'4& +4 "core" &VU @ +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.78 + "collection"'6& +3 "core" &VU @ +2 .tHand.open +2 "manipulator"&71 +52 "core" 1 +2 "manipulator"&8% +5 "core" % l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VU @ +3 "collection"';% +4 "core" % +2 .tCSV.dial CSR + "collection"'<  +153 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml + "collection"'='q +1333 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +37 "core" %q  +9 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?'9 +598 "core" ' + .tCSV.dial :waste +2 "collection"'@ +151 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'A' +1955 "core" ' +2 #tPurging external Intake +6 "collection"'B& +4 "core" &VU @ +2 "collection"'C% +4 "core" % +6 .tCSV.dial :flush +2 "collection"'D  +48 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2096 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core"  +61 + .tCTV.dial :intake +2 "collection"'H  +68 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'I' +2098 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'J  +68 "core"  +2 #tFlushing upper manifold + "collection"'K& +4 "core" &VTq @ +2 "collection"'L% +4 "core" %| + .tCSV.dial :flush +2 "collection"'M  +86 "core"  +2 .tCS.seek 5ml + "collection"'N'q +1098 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'O @ +49 "core" A +2 "collection"'P% +3 "core" %qz  +3 .tCS.seek 7ml + "collection"'Q' +505 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R +2 'S  +7 "core"  +87 ~ +2 .tCTV.dial :air + "collection"'T  +5 "core" +2 .tCS.seek 0ml +2 "collection"'U' +1494 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'V'2 +688 "core" ' +2 .tCSV.dial :waste + "collection"'W +50 "core" +3 .tCS.seek 0ml + "collection"'X' +693 "core" ' +2 "collection"'Y& +3 "core" &VTs @ +2 "collection"'Z% +4 "core" %q +2 .tCSV.dial :flush + "collection"'[  +50 "core"  +2 .tCS.seek 3ml +2 "collection"'\\'2 +701 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'] @ +48 "core" A +2 "collection"'^% +3 "core" %2r  +3 .tCS.seek 5ml + "collection"'_'q +487 "core" ' + .tCSV.dial :air +2 "collection"'` @ +5 "core" @ +2 .tCS.seek 0ml + "collection"'a' +1104 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'b'2 +694 "core" ' +2 .tCSV.dial :waste + "collection"'c +69 "core" +3 .tCS.seek 0ml + "collection"'d' +706 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +5 "core" &+ Bg +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" &+ q Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &+ Bg +3 .tForearm.seek CC + "manipulator"&i'" +95 "core" ' + .tHand.close +2 "manipulator"&j/ +64 "core" / +2 .tCC.seek :open +2 "collection"'k( +412 "core" ( +2 "manipulator"&l& +3 "core" &+ \  Bg +3 "manipulator"&m% +3 "core" % ! | +35 .tForearm.seek :retract +9 "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(, +282 "core" ( +2 "manipulator"&p& +3 "core" &, E : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" &, i : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'Ϧ +106 "core" ' + .tHand.open + "manipulator"&s1 +53 "core" 1 + "manipulator"&t% +4 "core" % Ϯ d  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +100 "core" ' + #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 15:30:15EST16-Jan-25\\n{1 => 1,\\n 2 => 2}\\nCan@15:26:16, 39% flow, 22.2C, 10% humidity, 14.5psia, 14.911V, 0.231A, 5.576Ah, 3.44W",Subject: "da wcr sampling at most 200ml" +4 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'v& +4 "core" &v +2 "manipulator"&w% +4 "core" %\  |  +3 "storage"(x% +3 "core" %` ~ +2 "storage"(y. +5 "core" .( +2 ."WCR"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 +2 "storage"(z( +337 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +4 ({& +2 #"uploadLog"upsync +5 "core" &   +2 "manipulator"&|& +4 "core" &, : +2 "manipulator"&}% +3 "core" %\   +3 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&~( +177 "core" ( +2 "manipulator"&& +5 "core" & ~ "| + "storage"(& +5 "core" &   +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +100 "core" ' +2 "storage"(& +4 "core" &  U +3 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('i +280 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +3 "storage"(#QK-0-\ b +3 (& +3 "core" &  9 +2 "manipulator"&& +3 "core" & "| +3 ."WCR"Elbow.seek 2 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +5 "core" & ' "| + "storage"(\ & +5 "core" &  # +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"& ' +23 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('X +7 "core" & ^ "| +2 "manipulator"&% +4 "core" %   Z +2 ."WCR"Forearm.seek :retract +40 "manipulator"&'\ +95 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +120 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +28 "core" ( +2 "manipulator"&& +3 "core" &#  7 :0 +3 ."WCR"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &" W :0 +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +100 "core" ' +2 "manipulator"&& +3 "core" &# :/ +3 "manipulator"& % +3 "core" % E +3 "collection"'& +3 "core" &v +3 "collection"'& +5 "core" &x +2 ."WCR"CC.seek :closed +2 "collection"'!(V +5 "core" &p +7 &C{ $d +9 &\\w 6 +9 &v H +10 &jq G +9 &pu G +9 &`iu G +10 &#kr G +9 &ko F +10 &ji G +9 &ijq G +9 & *nk G +10 &!kp G +9 &#mg G +9 &%pkp G +10 &'3jf G +9 &(ie G +10 &*k^ G +9 &,zjW F +9 &.;kY G +10 &/nR G +9 &1kN G +9 &3jU G +10 &5Cl\\ G +9 &7h[ G +10 &8h^ G +9 &:m[ G +9 & k[ G +9 &?kX F +9 &AjY G +10 &CTjO F +9 &EoU H +10 &FvS H +9 &HzY I +9 &JOY K +10 &L] O +9 &M_ Q +9 &OQ Q +10 &QFU Q +9 &SX S +10 &T[ R +9 &V5dW - +9 &VC Q +10 ( + &VrO H +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.70 + .Hand.open + "manipulator"&"1 +58 "core" 1 +2 "manipulator"&#% +3 "core" %  E +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&$'\ +100 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")&+ +4 "core" + + "sampler")'% +5 "core" %  + "collection"'& +4 "core" &VsD H +3 "Can" CQrP +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler")) +4 "core"  +3 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %6  +2 "sampler")=% +4 "core" %T+pq  +31 "collection"'@% +3 "core" %6  +2 "sampler")?% +5 "core" %Tvt K +35 "collection"'B% +3 "core" %7  +2 "sampler")C% +5 "core" %Tyz  + ."WCR"Intake.select :close +2 "sampler")0 +9 )D% +3 "core" %T|y  +2 ."WCR"SSV.dial :exhaust + "sampler")A  +69 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")G' +418 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X  +3 "sampler")h% +3 "core" % I +78 "collection"'j% +3 "core" %;  +2 "sampler")-% +4 "core" %$" I +88 "collection"'9% +3 "core" %/  +2 "sampler")5% +4 "core" %B? I +100 "collection"'l% +3 "core" %<  +2 "sampler")m% +3 "core" %ws I +113 "collection"'i% +3 "core" %=  +2 "sampler")p% +4 "core" % I +33 ."WCR"Intake.select :close +12 "sampler")0 +10 )q% +2 "core" % I +3 ."WCR"SSV.dial :exhaust + "sampler")f  +70 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")s' +905 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")t  + ."WCR"CBV.dial SSV +5 "collection"'v @ +4 "core" ? +62 + #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml +2 .Intake.select :open + "sampler") +210 "collection"'w% +3 "core" %<  +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X  +2 "sampler")% +5 "core" %(H  +30 "collection"' % +4 "core" %C  +2 "sampler")\ % +4 "core" %(H   +36 "collection"'% +3 "core" %C  +2 "sampler")% +4 "core" %(H  +41 "collection"'% +4 "core" %>  +2 "sampler")~% +3 "core" %(H  +47 "collection"'% +4 "core" %F  +2 "sampler")% +3 "core" %(H0.  +54 "collection"'% +3 "core" %@  +2 "sampler")% +5 "core" %+IXY  + "collection"' % +4 "core" %A  +2 #"WCR"Intake @12.8psia, vacuum from 7.3 to 10.3psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X ? +47 "collection"'(% +3 "core" %9  +2 "sampler").% +3 "core" %`` ? +54 "collection"'/% +3 "core" %?  +2 "sampler")*% +4 "core" % ? +2 ."WCR"Intake.select :close + "sampler")0 +10 )1% +2 "core" % ? +3 ."WCR"SSV.dial :exhaust +2 "sampler")2  +69 "core"  +4 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml +2 "sampler")3' +909 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler"),  +2 "collection"'% @ +6 "core" ? +63  +2 #"WCR"Allowing 130s for 25.0ml of remaining 150.0ml + .Intake.select :open + "sampler") +210 "collection"'7% +3 "core" %-  +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X  +18 "collection"'<% +3 "core" %3  +2 "sampler")0% +4 "core" %x%=  +21 "collection"'% +3 "core" %/  +3 "sampler")>% +3 "core" %x%=  +24 "collection"'=% +4 "core" %0  +2 "sampler")@% +4 "core" %x%=  +27 "collection"'?% +4 "core" %=  +2 "sampler")B% +3 "core" %x%>  +3 "collection"'C% +3 "core" %/  +2 #"WCR"Intake @11.7psia, vacuum from 6.2 to 9.2psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X0X0X% +5 "core" %&% ; +60 "collection"'=% +3 "core" %2  +2 "sampler")@% +4 "core" %64 ; +68 "collection"'?% +3 "core" %,  +2 "sampler")B% +4 "core" %LJ ; +78 "collection"'C% +3 "core" %+  +2 "sampler")8% +3 "core" %hi ; +89 "collection"':% +3 "core" %*  +2 "sampler")A% +3 "core" % ; +100 "collection"'6% +3 "core" %.  +2 "sampler")H% +5 "core" % ; + ."WCR"Intake.select :close +2 "sampler")0 +9 )E% +2 "core" % ; +2 ."WCR"SSV.dial :exhaust +2 "sampler")J  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")L' +916 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")K  + ."WCR"CBV.dial SSV +4 "collection"'G @ +48 "core" ? +20 +2 #"WCR"Allowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open + "sampler") +210 "collection"'M% +4 "core" %'  + #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X \ R +53 "collection"'% +3 "core" %,  +3 "sampler")x% +3 "core" %QP \ R +61 "collection"'n% +3 "core" %+  +2 "sampler")}% +3 "core" %fe \ R +69 "collection"'% +3 "core" %)  +2 "sampler")% +5 "core" %xy \ R +77 "collection"'o% +3 "core" %0  +2 "sampler")% +4 "core" % \ R +2 ."WCR"Intake.select :close + "sampler")0 +9 )u% +3 "core" % \ R +2 ."WCR"SSV.dial :exhaust +2 "sampler")q  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +53 ."WCR"SS.seek 0ml + "sampler")' +922 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 "sampler")  +2 ."WCR"CBV.dial SSV +4 "collection"' @ +5 "core" ? +59 +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'f% +3 "core" %6  +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 0.58ml/s +2 "sampler")#.(0X% +3 "core" %;  +3 "sampler")=% +3 "core" %Z  +24 "collection"'@% +4 "core" %:  +2 "sampler")?% +5 "core" %Z  +26 "collection"'B% +4 "core" %;  +2 "sampler")C% +4 "core" %[  +31 "collection"'8% +4 "core" %9  +2 "sampler"):% +5 "core" %Z   +35 "collection"'A% +4 "core" %;  +2 "sampler")6% +3 "core" %[  +42 "collection"'H% +3 "core" %>  +2 "sampler")E% +5 "core" %Z  +46 "collection"'J% +3 "core" %=  +2 "sampler")&% +5 "core" %Z   + "collection"'G% +4 "core" %?  +2 #"WCR"Intake @13.1psia, vacuum from 7.6 to 10.6psi +2 .SS.reconfigure :inhaling 0.47ml/s +2 "sampler")#. 0X  +2 "sampler")]% +3 "core" %j \ P +2 ."WCR"Intake.select :close +2 "sampler")0 +9 )^% +3 "core" %j \ P +2 ."WCR"SSV.dial :exhaust +2 "sampler")i  +74 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")m' +919 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampled 200.0ml +2 #Drying puck before fixing for 5:00 + .CBV.dial :waste2b + "collection"'p  +70 "core"  +2 ."WCR"delay 1:00 +6002 .CSV.dial :air +2 "collection"'l @ +85 "core" B +2 ."WCR"CS.seek 10ml +2 "collection"'O' V +2101 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV +37 "collection"'v @ +77 "core" ? +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'t  +83 "core"  +2 "collection"'w% +4 "core" % W7  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'s ` +31 "core" a +2 ."WCR"CS.seek 7.39ml +2 "collection"'e' +610 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'y  + 'r  +35 "core"  +36  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml +2 "collection"'' +1359 "core" 'O 7 +3 ."WCR"CBV.dial :waste2b + "collection"'x  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'n' +607 "core" ' + ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake +2 "collection"'}  +122 "core" +2 #"WCR"Fix #1 of 1 (with RNAlater) for 5:00 + .CSV.dial CSR +2 "collection"'  +46 "core"  +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"''^ +582 "core" ' + ."WCR"delay 5 seconds +503 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml +2 "collection"'o' V +1699 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"' @ +70 "core" > +52 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'u  +83 "core"  +2 "collection"'q% +3 "core" % VJ  +3 ."WCR"CSV.dial between air and CTV +2 "collection"'g ` +54 "core" ^ +3 ."WCR"CS.seek 7.219ml + "collection"''t +657 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'f  +2 '  +34 "core"  +89  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml + "collection"'' +1431 "core" ' Q +3 ."WCR"delay 5:00 +19558 "Can" E{RV +10445 ."WCR"CBV.dial :waste2b + "collection"'  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +2 ."WCR"CS.seek 0ml +2 "collection"'' +504 "core" ' +3 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'{  +122 "core" +2 "collection"'~& +3 "core" &Vo H +3 #"WCR"Storing wcr puck in Collection Clamp to tube 1 + "manipulator"&% +3 "core" %\  * +3 "storage"(% +3 "core" %b R S f +2 "storage"(. +3 "core" .( +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."WCR"SC.seek 1 +2 "storage"((S +333 "core" ( + ."WCR"SC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &T W\  e +2 "manipulator"&|& +5 "core" &" :- +2 "manipulator"&% +4 "core" %\  * +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&(. +174 "core" ( +3 "manipulator"&& +4 "core" &) t B +2 "storage"(& +3 "core" &V +3 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts + "manipulator"&'ѷ +100 "core" ' + "storage"(\ & +5 "core" &V  +2 ."WCR"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"(k'i +283 "core" ' + "storage"("- +4 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" &) w B +2 "storage"('& +3 "core" &V +3 ."WCR"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek 1 + "manipulator"& ' +32 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&, +4 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +3 ."WCR"SE.seek 0.08 Pucks below Top Plate + "storage"('E +28 "core" ' + "manipulator"&% +5 "core" % k + "storage"(& +4 "core" &V m n +2 ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 320 counts +2 "manipulator"&+'; +19 "core" ' + "manipulator"&& +4 "core" &) B +2 "storage"((& +3 "core" &V | +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&.'ѷ +38 "core" ' +2 ."WCR"SE.seek 1.08 Pucks below Top Plate +2 "storage"(/'4 +37 "core" ' +2 "manipulator"&*& +3 "core" &) i B +2 "manipulator"&1% +4 "core" %ѻ n u +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +2 ."WCR"Elbow.seek CC +2 "manipulator"& ( +156 "core" ( +3 "manipulator"&& +3 "core" &0 F +2 ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &0 F +3 ."WCR"Forearm.seek CC + "manipulator"&7'" +94 "core" ' + ."WCR"Hand.close +2 "manipulator"&3/ +64 "core" / +2 ."WCR"CC.seek :open +2 "collection"'%( +412 "core" ( +2 "storage"(& +3 "core" &V  +2 "storage"(<& +4 "core" &V  +2 "manipulator"&0& +3 "core" &. D{ +2 "manipulator"&% +4 "core" % 1  +2 ."WCR"Forearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 ."WCR"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 1 +2 "manipulator"&=(. +173 "core" ( + "manipulator"&@& +4 "core" &% X _ +2 "storage"(?& +3 "core" &V r +2 ."WCR"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."WCR"Forearm.seek 1 +2 "manipulator"&B' +97 "core" ' + ."WCR"Elbow.hold +2 "manipulator"&C, +46 "core" , +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Hand.open +2 "manipulator"&81 +59 "core" 1 +4 "manipulator"&:% +4 "core" %  w +2 "storage"(A& +3 "core" &V +2 ."WCR"Forearm.force -20 +2 "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 320 counts + "manipulator"&6'; +18 "core" ' +2 "manipulator"&;& +3 "core" && 4 ^ +2 "storage"(H& +5 "core" &V  +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 700 counts +2 "manipulator"&E'ѷ +35 "core" ' +2 "storage"(J% +3 "core" %8 J +3 ."downElevator"SE.seek :down +4 "storage"(&'X +98 (G% +3 "core" %O  PF +2 "manipulator"&4% +5 "core" % P r +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'N& +3 "core" &o +2 "manipulator"&S& +4 "core" &'\ U ] +2 "manipulator"&R% +3 "core" %\ L  +3 .tElbow.seek FlushPuck::Garage + "manipulator"&T(, +182 "core" ( + "manipulator"&Q& +5 "core" &, A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, A +2 .tForearm.seek :garage + "manipulator"&U'Ϧ +102 "core" ' +2 .tHand.close + "manipulator"&W/ +55 "core" / +2 "manipulator"&V& +3 "core" &, A +2 "manipulator"&Y% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&[( +283 "core" ( + "manipulator"&X& +4 "core" &) @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &) @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'" +91 "core" ' + "manipulator"&K& +3 "core" &) @[ +3 "manipulator"&I% +3 "core" %# +3 "collection"'F& +3 "core" & +3 "collection"'`& +5 "core" & +2 .tCC.seek :closed +2 "collection"'_(V +3 "core" & +8 &H $e +9 &^ 7 +9 &6 G +10 &d F +9 &j F +10 &~j F +9 &@i F +9 &i F +10 &i G +9 &i F +9 & Gj F +10 &"\ k F +9 &#j F +9 &%k F +10 &'Pi F +9 &)j F +10 &*j F +9 &,i G +9 &.Xh F +10 &0i F +9 &1i F +9 &3i G +10 &5`h F +9 &7"j F +10 &8i F +9 &:j F +9 &*j F +9 &?j F +9 &Ak F +10 &Cph F +9 &E1p F +10 &Fs G +9 &H} H +9 &Jh L +10 &L  O +9 &M P +9 &O Q +10 &Q` Q +9 &S  R +10 &T R +9 &VD[ 'w +9 &V# L +10 ( + &Vh E +2 "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 + "collection"'a& +3 "core" &Vi E +2 .tHand.open + "manipulator"&c1 +53 "core" 1 +9 "manipulator"&b% +3 "core" % # +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'h& +3 "core" &Vj E +3 "collection"'j% +4 "core" % +2 .tCSV.dial CSR + "collection"'-  +47 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'9'q +1329 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '5% +2 "core" %q  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"']'9 +614 "core" ' +2 .tCSV.dial :waste + "collection"'^ +153 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'i' +1957 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'M& +3 "core" &Vh E +2 "collection"'p% +4 "core" % +2 .tCSV.dial :flush + "collection"'l  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"'d'q +1086 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'v @ +51 "core" B + "collection"'t% +4 "core" %q  +2 .tCS.seek 6.999ml +2 "collection"'w' +490 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'s  + 'O  +48 "core"  +78  + .tCBV.dial :waste2b +2 "collection"'r  +5 "core"  +2 .tCS.seek 0ml + "collection"'y' +1495 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'e& +3 "core" &Vh E +2 "collection"'x% +5 "core" % + .tCSV.dial CSR +2 "collection"'  +47 "core"  + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'}' +1705 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'' V +492 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'n + '  +45 "core"  +77 +2 .tCTV.dial :intake + "collection"'  +69 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'u'^ +1689 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'q  +67 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'g' +576 "core" ' + .tCSV.dial CSR +2 "collection"'o  +94 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"''q +1331 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'f' V +1332 "core" ' +2 .tCSV.dial CBV + "collection"' +118 "core" +2 .tCS.seek 0ml +38 "collection"'' +2605 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" & % =B +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&{( +17 "core" ( +2 "manipulator"&~& +3 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & q / +3 .tForearm.seek CC + "manipulator"&'" +97 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tCC.seek :open + "collection"'z( +413 "core" ( +2 "manipulator"& & +4 "core" & / + "manipulator"&|% +4 "core" % 0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +278 "core" ( + "manipulator"&& +5 "core" &, ? X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &, h X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"& 'Ϧ +109 "core" ' + .tHand.open + "manipulator"&$1 +60 "core" 1 +2 "manipulator"&"% +3 "core" % ϭ   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +97 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 15:26:16 +5 #Asleep after completing standAloneWCR_4 assays + ."Qmail"GoodNews.email "{1 => 2,\\n 2 => 1}\\nCan@15:45:49, 39% flow, 22.5C, 10% humidity, 14.5psia, 14.877V, 0.368A, 5.712Ah, 5.48W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays" +410 #"uploadLog"upsync +7 #mEXIT @1737060782.81EST @1737121441.81EST = =mMAIN_scheduler =tMAIN @EST1737121442.53 #t\ Environmental Sample Processor built 30-May-23 (bfaf6774) +102 #"core_reset"Sent BREAK +2 #t@14194 sendCRC with ifg=0x20, ie=0x7F #@16029 sendCRC with ifg=0x08, ie=0x5F + #@1577 idle with ifg=0x84, ie=0x75 + #@2251 select with ifg=0x10, ie=0xF5 #@2900 receive with ifg=0x10, ie=0xFD + #@3548 receive with ifg=0x10, ie=0xFD + #@4195 receive with ifg=0x10, ie=0xFD #@4522 receive with ifg=0x80, ie=0xFD + #@58659 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +222 #\ Configuration for roman (12651-02) 2/3/21 brent@mbari.org\ /home/esp/esp2/type/shallow/roman/configure.rb\ +365 "Can" ) +  ) + #tPolling Can every 10:00 +7 #Loading /home/esp/esp2local/mission/standAloneWCR_4.rb mission +5 #Preparing to sleep until + 00:00:05 +2 ."Qmail"GoodNews.email "Starting standAloneWCR_4 w/pucks in tube 2\\n{1 => 2,\\n 2 => 1}\\nCan@08:44:09, 39% flow, 21.9C, 12% humidity, 14.6psia, 14.921V, 0.194A, 8.748Ah, 2.89W",Subject: "standAloneWCR_4 begun" +7 #tAsleep til + 00:00:05 + #Continuing at 08:44 +3 "Can" ) +25 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +262 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; standAloneWCR([nil,200], $da)\\n/home/esp/esp2local/mission/standAloneWCR_4.rb:10\\n{1 => 2,\\n 2 => 1}\\nCan@08:44:09, 39% flow, 21.9C, 12% humidity, 14.6psia, 14.921V, 0.194A, 8.748Ah, 2.89W",Subject: "Asleep until 08:44" +141 #"uploadLog"upsync +52 "Can"  +4 #tPowering core bus +208 #"uploadLog"upsync +312 .tGate.power :raw,:ON +3 "sampler") +50 ) +3 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +3 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 .tCS.configure :default +2 "collection"'#P d@b +3 .tPS.configure :default +2 "processing"%#A d`xb +35 .tSS.configure :default +6 "sampler")#.0X 2,\\n 2 => 1}\\nCan@08:44:39, 39% flow, 21.9C, 12% humidity, 14.6psia, 14.911V, 0.256A, 8.751Ah, 3.82W",Subject: "Started standAloneWCR_4 phase initialPurge; standAloneWCR([nil,200], $da)" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" &  +2 .tHand.open +2 "manipulator"&"1 +64 "core" 1 +2 "manipulator"&#& +4 "core" & 9 + "manipulator"&$% +5 "core" % \  3  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(, +173 "core" ( +4 "manipulator"&&& +7 "core" &, M +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &, M +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&('Ϧ +91 #"uploadLog"upsync +14 "core" ' +2 .tHand.close + "manipulator"&)/ +65 "core" / + "manipulator"&*& +5 "core" &, " K M + "manipulator"&+% +5 "core" % ϳ = +2 .tForearm.seek :retract + "manipulator"&,'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&-( +285 "core" ( +2 "manipulator"&.& +3 "core" &+  A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &+ A_ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'" +103 "core" ' + "manipulator"&1& +4 "core" &* j @^ +3 "manipulator"&2% +3 "core" %" +3 "collection"'3& +3 "core" &   +3 "collection"'4& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'5(V +3 "core" &   +8 &J  $d +10 &w\\  7 +9 &  H +9 &g  G +10 &ml  H +9 &0i   G +9 &l  H +10 &i  G +9 &uj  H +10 &7n\  H +9 &i   G +9 &!k  H +10 &#~j G +9 &%?i H +10 &'g H +9 &(f   H +9 &*i  G +10 &,Gj  H +9 &. h  H +9 &/i  G +10 &1j H +9 &3Nm  H +9 &5k H +10 &6n  H +9 &8h  H +10 &:Vn  H +9 &<k H +9 &=n H +10 &?h  H +9 &A`i   G +9 &C"j G +10 &Dn  H +9 &Fw I +10 &H` J +9 &J M +9 &K  P +10 &M Q +9 &OR R +9 &Q R +10 &R  R +9 &T R +10 &V.r (} +9 &V* G +9 ( + &VS ? +2 "collection"'4& +5 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.77 + "collection"'6& +3 "core" &VU ? +2 .tHand.open + "manipulator"&71 +53 "core" 1 + "manipulator"&8% +4 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"':& +3 "core" &VU  ? +3 "collection"';% +4 "core" %  + .tCSV.dial CSR +2 "collection"'<  +153 "core"  +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 5ml +2 "collection"'='q +1363 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '>% +37 "core" %q  +9 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'?'8 +592 "core" ' +2 .tCSV.dial :waste + "collection"'@ +152 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'A' +1956 "core" ' + #tPurging external Intake +2 "collection"'B& +4 "core" &VT  ? + "collection"'C% +4 "core" %  +2 .tCSV.dial :flush + "collection"'D  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'E' V +2103 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'F + 'G  +6 "core"  +61 + .tCTV.dial :intake +2 "collection"'H  +69 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'I' +2105 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'J  +69 "core" +2 #tFlushing upper manifold + "collection"'K& +3 "core" &VT  ? +2 "collection"'L% +4 "core" %  +2 .tCSV.dial :flush + "collection"'M  +85 "core"  +2 .tCS.seek 5ml +2 "collection"'N'q +1104 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +3 "collection"'O @ +50 "core" B +2 "collection"'P% +3 "core" %q   +3 .tCS.seek 7ml + "collection"'Q' +491 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'R + 'S  +7 "core"  +88  +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'T' +1498 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'U'2 +694 "core" ' +2 .tCSV.dial :waste + "collection"'V +51 "core" +2 .tCS.seek 0ml + "collection"'W' +696 "core" ' +2 "collection"'X& +4 "core" &VT  ? +2 "collection"'Y% +3 "core" % +2 .tCSV.dial :flush +2 "collection"'Z  +50 "core"  +2 .tCS.seek 3ml + "collection"'['2 +692 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'\\ @ +50 "core" B +2 "collection"']% +3 "core" %2   +3 .tCS.seek 5ml + "collection"'^'q +488 "core" ' +2 .tCSV.dial :air +2 "collection"'_ @ +15 "core" > +2 .tCS.seek 0ml + "collection"'`' +1094 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'a'2 +695 "core" ' + .tCSV.dial :waste + "collection"'b +68 "core" +2 .tCS.seek 0ml + "collection"'c' +692 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +3 "core" &( y ?Q +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&e( +2 "core" ( +3 "manipulator"&f& +3 "core" &(  ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &( % n ?Q +3 .tForearm.seek CC + "manipulator"&h'" +94 "core" ' +2 .tHand.close + "manipulator"&i/ +58 "core" / +2 .tCC.seek :open +2 "collection"'j( +412 "core" ( +2 "manipulator"&k& +4 "core" &( } ?Q +2 "manipulator"&l% +3 "core" % 2 " +3 .tForearm.seek :retract +34 "manipulator"&m'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(, +279 "core" ( +2 "manipulator"&o& +3 "core" &, j J +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &, J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'Ϧ +103 "core" ' + .tHand.open + "manipulator"&r1 +59 "core" 1 +2 "manipulator"&s% +3 "core" % ϯ ! 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 #tStarting stand-alone da WCR + #da wcr sampling at most 200ml +3 #Whole Cell Archive sampling 200ml +2 ."Qmail"DAfans.email "Started stand-alone da WCR in tube 2 at 08:48:39EST17-Jan-25\\n{1 => 2,\\n 2 => 1}\\nCan@08:44:39, 39% flow, 21.9C, 12% humidity, 14.6psia, 14.911V, 0.256A, 8.751Ah, 3.82W",Subject: "da wcr sampling at most 200ml" +3 #"WCR"Loading wcr puck from tube 2 into Collection Clamp + "collection"'u& +5 "core" &   +2 "manipulator"&v% +3 "core" %\  y  +3 "storage"(w% +3 "core" %Q +2 "storage"(x. +6 "core" .( +2 ."WCR"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."WCR"SC.seek 2 + "storage"(y( +340 #"uploadLog"upsync +2 "core" ( +2 ."WCR"SC.configure :limp +3 "storage"($\ 1b +3 (z& +3 "core" & \ +2 "manipulator"&{& +4 "core" &, J +2 "manipulator"&|% +4 "core" %\  T  +3 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."WCR"Elbow.seek 2 +2 "manipulator"&}( +194 "core" ( +2 "manipulator"&~& +4 "core" & b  +2 "storage"(& +4 "core" &  h +2 ."WCR"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 700 counts +2 "manipulator"&'ќ +108 "core" ' +2 "storage"(& +3 "core" &   +3 ."WCR"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('i +276 "core" ' +2 "storage"(- +3 "core" -' +2 ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +4 (& +2 "core" &  +3 "manipulator"&& +3 "core" & o  +3 ."WCR"Elbow.seek 2 + "manipulator"&( +5 "core" ( + "manipulator"& & +5 "core" & J  + "storage"(& +5 "core" &  L +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&\ ' +21 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Hand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"('X +8 "core" &  + "manipulator"&% +5 "core" %  +2 ."WCR"Forearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +8 ."WCR"Elbow.seek CC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"& & +5 "core" &% : =B + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &% [ =B +3 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek CC +2 "manipulator"&'" +100 "core" ' + "manipulator"&& +5 "core" && a =A + "manipulator"&% +5 "core" % +2 "collection"' & +3 "core" &   +3 "collection"'& +5 "core" &   +2 ."WCR"CC.seek :closed +2 "collection"'(V +4 "core" &\    +9 &8   *y +9 &m  > +9 &x\   G +10 &i  G +9 &Ch   G +10 &l\  G +9 &i   G +9 &h  G +10 &Kj   G +9 & j   G +9 & l   G +10 &"k  G +9 &$Rh   G +10 &&i  G +9 &'h  G +9 &)k   G +10 &+[j   G +9 &-k   G +9 &.h   G +10 &0k   G +9 &2dh   F +10 &4$h  G +9 &5i   G +9 &7k   G +10 &9ki\   G +9 &;+m   G +9 &<h   G +10 &>j   G +9 &@rh   G +10 &B5j   G +9 &Cj  G +9 &En  G +10 &Gvv   H +9 &I5|  J +10 &J  L +9 &L  P +9 &Nh  P +10 &P&  Q +9 &Q R +9 &S  S +10 &Ui  ? +9 &VL N +9 &V$  "h +10 ( + &Vm L +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 8/29 samples, on/off torque 1.74 + .Hand.open + "manipulator"&!1 +61 "core" 1 +4 "manipulator"&"% +3 "core" %  +3 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&#'\ +100 "core" ' +2 #"WCR"collectSample 200ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")$+ +2 "core" + +2 "sampler")&% +5 "core" % v + "collection"''& +4 "core" &Vm  L +3 "Can" DI +2 #"WCR"Calibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler") +5 "core"  +2 ."WCR"SS.reconfigure :fast +2 "sampler")#.0X +24  + ."WCR"delay 3.8 seconds +383 "collection"'% +3 "core" % +2 "sampler")(% +3 "core" %2 +2 #"WCR"Sensor limits: Intake max 149.5psia; Outlet max 141.9psia + .SSV.dial :spit +2 "sampler"). +121 "core" +3 ."WCR"SS.seek 0ml + "sampler")/' +248 "core" ' +2 ."WCR"SSV.dial CBV + "sampler")%  +124 "core"  + ."WCR"CTV.dial :intake +2 "collection"'1  +68 "core"  +2 ."connect"SSV.dial CBV +3 "sampler")2  + ."WCR"CBV.dial SSV +4 "collection"'3 @ +7 "core"  + ? +2 #"WCR"Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +210 "collection"',% +3 "core" % +2 #"WCR"Intake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X$% +3 "core" % +2 "sampler")=% +4 "core" %T - +31 "collection"'@% +4 "core" % +2 "sampler")?% +3 "core" %T - +36 "collection"'B% +3 "core" % +3 "sampler")C% +3 "core" %T - +45 "collection"'D% +3 "core" % +2 "sampler")A% +4 "core" %T - +2 ."WCR"Intake.select :close + "sampler")0 +10 )G% +2 "core" %T - +2 ."WCR"SSV.dial :exhaust +2 "sampler")F  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")H' +385 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 #"WCR"Sampling 200.0ml + .Intake.select :close + .Exhaust.select :close +2 .SS.reconfigure :default +2 "sampler")#.0X= \ M +69 "collection"'-% +3 "core" % +2 "sampler")9% +4 "core" %HG \ M +78 "collection"'5% +3 "core" % +2 "sampler")k% +4 "core" %^Z \ M +88 "collection"'l% +3 "core" % +2 "sampler")h% +4 "core" % \ M +100 "collection"'o% +3 "core" % +2 "sampler")p% +3 "core" % \ M +3 ."WCR"Intake.select :close +43 "sampler")0 +9 )e% +2 "core" % \ M +3 ."WCR"SSV.dial :exhaust + "sampler")r  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml + "sampler")s' +877 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"'u @ + "sampler")v  +5 "core" ? +67  + #"WCR"Allowing 130s for 25.0ml of remaining 175.0ml +2 .Intake.select :open + "sampler") +210 "collection"'w% +3 "core" % +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 2.19ml/s +2 "sampler")#.0X$<  +46 "collection"' % +4 "core" % +2 "sampler")% +3 "core" %̽<KG  +54 "collection"'% +4 "core" % +2 "sampler")\ % +3 "core" %̾;d`  +2 "collection"'% +5 "core" % +2 #"WCR"Intake @11.9psia, vacuum from 6.4 to 9.4psi + .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X$;  +28 "collection"'% +4 "core" % +2 "sampler")% +4 "core" %(DB  +31 "collection"'% +3 "core" % +2 "sampler")% +4 "core" %(KJ  +36 "collection"'$% +3 "core" % +2 "sampler")+% +4 "core" %(ZV  +41 "collection"'*% +10 "core" % +2 "sampler")% +5 "core" %(rl  +46 "collection"'(% +3 "core" % +2 "sampler").% +5 "core" %(  +52 "collection"')% +3 "core" % +2 "sampler")%% +5 "core" %   + ."WCR"Intake.select :close +2 "sampler")0 +9 )1% +3 "core" %   +2 ."WCR"SSV.dial :exhaust +2 "sampler")2  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")3' +890 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")/  +2 "collection"', @ +6 "core" ? +63  +2 #"WCR"Allowing 130s for 25.0ml of remaining 150.0ml + .Intake.select :open + "sampler") +211 "collection"'7% +3 "core" % +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 1.40ml/s +2 "sampler")#.`0X$% +3 "core" %pH,+  +24 "collection"'=% +4 "core" % +2 "sampler")@% +4 "core" %pH++  +27 "collection"'?% +4 "core" % +2 "sampler")B% +3 "core" %pH/,  +32 "collection"'C% +3 "core" % +3 "sampler") % +3 "core" %pH21  +3 "collection"'D% +4 "core" % + #"WCR"Intake @11.6psia, vacuum from 6.1 to 9.1psi +2 .SS.reconfigure :inhaling 1.12ml/s +2 "sampler")#.M0X$0X$0X$; \ O +42 "collection"'~% +3 "core" % +2 "sampler")% +3 "core" %DC \ O +47 "collection"'n% +4 "core" % +2 "sampler")% +4 "core" %NM \ O +53 "collection"'t% +3 "core" % +2 "sampler")% +3 "core" %]Z \ O +61 "collection"'% +3 "core" % +2 "sampler")% +4 "core" %sr \ O +69 "collection"'% +4 "core" % +3 "sampler") % +4 "core" % \ O +77 "collection"'m% +3 "core" % +2 "sampler")% +4 "core" % \ O +2 ."WCR"Intake.select :close + "sampler")0 +10 ) % +2 "core" % \ O +2 ."WCR"SSV.dial :exhaust +2 "sampler")x  +71 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")' +877 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +3 "collection"'} @ + "sampler")  +5 "core" ? +66  +2 #"WCR"Allowing 130s for 25.0ml of remaining 100.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" % +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 0.90ml/s +2 "sampler")#.>0X$<  +3 "collection"'% +4 "core" % + #"WCR"Intake @12.5psia, vacuum from 7.0 to 10.0psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X$ \ Q +28 "collection"'2% +3 "core" % +2 "sampler") % +3 "core" %GF \ Q +32 "collection"',% +4 "core" % +2 "sampler")/% +4 "core" %MK \ Q +35 "collection"'7% +4 "core" % +2 "sampler")3% +4 "core" %VR \ Q +41 "collection"';% +3 "core" % +2 "sampler")4% +3 "core" %_] \ Q +47 "collection"'<% +3 "core" % +3 "sampler")0% +3 "core" %om \ Q +54 "collection"'% +3 "core" % +2 "sampler")>% +3 "core" % \ Q +61 "collection"'=% +3 "core" % +2 "sampler")@% +4 "core" % \ Q +69 "collection"'?% +3 "core" % +2 "sampler")B% +3 "core" % \ Q +78 "collection"'C% +3 "core" % +2 "sampler") % +5 "core" % \ Q + ."WCR"Intake.select :close +2 "sampler")0 +9 )D% +3 "core" % \ Q +2 ."WCR"SSV.dial :exhaust +2 "sampler")8  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler"):' +917 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")F  + "collection"'6 @ +6 "core" ? +65  + #"WCR"Allowing 130s for 25.0ml of remaining 75.0ml +2 .Intake.select :open + "sampler") +210 "collection"'J% +3 "core" % +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 0.73ml/s +2 "sampler")#.20X$= D +28 "collection"'k% +3 "core" % +2 "sampler")}% +4 "core" %@? D +32 "collection"'% +3 "core" % +2 "sampler")% +3 "core" %GC D +37 "collection"'% +3 "core" % +2 "sampler")% +3 "core" %KI D +42 "collection"'% +3 "core" % +2 "sampler")\ % +3 "core" %SR D +48 "collection"'% +3 "core" % +2 "sampler")|% +3 "core" %\\\\ D +54 "collection"'% +3 "core" % +2 "sampler")% +4 "core" %ji D +61 "collection"'% +3 "core" % +2 "sampler")j% +4 "core" %yy D +68 "collection"'!% +3 "core" % +3 "sampler")"% +4 "core" % D +77 "collection"'&% +3 "core" % +2 "sampler")'% +5 "core" % D +87 "collection"'% +3 "core" % +2 "sampler")% +5 "core" % D + ."WCR"Intake.select :close +2 "sampler")0 +9 )% +2 "core" % D +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +70 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +11 ."WCR"SS.seek 0ml + "sampler"){' +910 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "collection"' @ +2 "sampler")*  +4 "core" ? +67 + #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +3 "core" % +2 #"WCR"Intake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 0.58ml/s +2 "sampler")#.(0X$% +3 "core" % +2 "sampler")=% +4 "core" %e\\A@  +53 "collection"'@% +4 "core" % +2 "sampler")?% +5 "core" %e\\FC  + "collection"'B% +4 "core" % +2 #"WCR"Intake @13.2psia, vacuum from 7.7 to 10.7psi +2 .SS.reconfigure :inhaling 0.47ml/s +2 "sampler")#. 0X$% +3 "core" %I  OD +2 "manipulator"&=% +5 "core" % +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract +2 "manipulator"&@'\ +90 "core" ' +45 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tStarting finalPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'?& +3 "core" & +3 "manipulator"&B& +3 "core" &/ y  +2 "manipulator"&(% +4 "core" %\   +3 .tElbow.seek FlushPuck::Garage + "manipulator"&D(, +180 "core" ( +3 "manipulator"&8& +4 "core" &, y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &, S y +3 .tForearm.seek :garage + "manipulator"&6'Ϧ +103 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +2 "manipulator"&J& +3 "core" &, y +2 "manipulator"&:% +4 "core" % ϭ p 8 +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&M( +292 "core" ( +2 "manipulator"&H& +3 "core" &  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &  o 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&E'" +98 "core" ' + "manipulator"&S& +4 "core" &  6 +2 "manipulator"&R% +3 "core" %$ 3 +3 "collection"'Q& +4 "core" & \ +2 "collection"'T& +5 "core" & +2 .tCC.seek :closed +2 "collection"'C(V +3 "core" &  +9 &7  #c +10 &\\ 6 +9 &  G +9 &f   F +10 &h  F +9 &[f  F +9 &h  F +10 &d   F +9 &h  F +10 &eh  F +9 & &e  F +9 &!h  F +10 &#i  F +9 &%mh  F +9 &'/g  F +10 &(g F +9 &*g  F +9 &,ug  F +10 &.7g   F +9 &/g  F +10 &1h  F +9 &3}g  F +9 &5?g\  F +10 &7g  F +9 &8f  F +10 &:g  F +9 &g  F +10 &?e F +9 &Ag  F +9 &CMg  F +10 &El  F +9 &Fp  G +10 &Hx  I +9 &JG K +9 &K  O +10 &M P +9 &O} Q +9 &Q@ P +10 &R R +9 &T R +10 &V._ + +9 &V# C +9 ( + &VI\  ? +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 8/28 samples, on/off torque 1.78 + "collection"'V& +3 "core" &VJ  ? +2 .tHand.open + "manipulator"&U1 +60 "core" 1 + "manipulator"&A% +5 "core" % $ w 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'Y& +3 "core" &VJ  ? +3 "collection"'Z% +4 "core" %! + .tCSV.dial CSR +2 "collection"'W  +46 "core"  + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'K'q +1338 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 '\\% +2 "core" %q  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'_'< +598 "core" ' +39 .tCSV.dial :waste +8 "collection"'^ +153 "core" +3 .tCS.reconfigure :default + "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'`' +1960 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"' & +4 "core" &VJ  ? +2 "collection"'L% +3 "core" % +2 .tCSV.dial :flush +2 "collection"'d  +50 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'c'q +1101 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'G @ +49 "core" A + "collection"']% +5 "core" %q$  +2 .tCS.seek 7ml + "collection"'[' +492 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'-  +2 'f  +48 "core"  +81  + .tCBV.dial :waste2b +2 .CS.seek 0ml +2 "collection"'g' +1495 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'9& +3 "core" &VJ+ ? +2 "collection"'i% +3 "core" %' +2 .tCSV.dial CSR +2 "collection"'h  +46 "core"  +2 #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +11 .tCS.seek 8ml + "collection"'l' +1704 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'p' V +502 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'e +2 'o  +46 "core"  +78 + .tCTV.dial :intake +2 "collection"'r  +70 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'b'^ +1695 "core" ' +2 .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'u  +69 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'v' +600 "core" ' +2 .tCSV.dial CSR + "collection"'w  +94 "core"  +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'N'q +1335 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +10 .tCS.seek 10ml + "collection"'' V +1348 "core" ' +2 .tCSV.dial CBV + "collection"'q +130 "core"  +2 .tCS.seek 0ml +2 "collection"'s' +2582 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&~& +4 "core" &  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&z( +14 "core" ( +2 "manipulator"&n& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" & - +3 .tForearm.seek CC + "manipulator"&'" +98 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +412 "core" ( +2 "manipulator"&y& +3 "core" & - +2 "manipulator"&% +44 "core" % " +5 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&m(, +285 "core" ( +2 "manipulator"& & +3 "core" &, d H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &, H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&}'Ϧ +104 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&#% +4 "core" % ϰ k V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 #tCompleted [initialPurge; standAloneWCR([nil,200], $da)] begun 08:44:39 +4 #Asleep after completing standAloneWCR_4 assays +2 ."Qmail"GoodNews.email "{1 => 3,\\n 2 => 0}\\nCan@09:04:12, 39% flow, 22.2C, 12% humidity, 14.6psia, 14.887V, 0.350A, 8.884Ah, 5.20W\\nSampled 200.0ml",Subject: "Asleep after completing standAloneWCR_4 assays"